Page 1 (217) 352-9330 | Click HERE Find the Emerson Motion Control Epsilon Eb-203-00-000 at our website:...
Page 2 P/N 400501-01 Revision: A3 Date: May 9, 2000 © 2000 EMERSON Motion Control. All rights reserved. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 4 Drives Reference Manual Information furnished by EMERSON Motion Control is believed to be accurate and reliable. However, no responsibility is assumed by EMERSON Motion Control for its use. EMERSON Motion Control reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice.
Page 5 EMERSON Motion Control. The following are trademarks of EMERSON Motion Control and may not be reproduced in any fashion without written approval of EMERSON Motion Control.
Page 6 Customer Service It is EMERSON Motion Control’s 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. Whether it’s by phone, fax or modem, you can access EMERSON Motion Control support information 24 hours a day, seven days a week.
Page 7 Application engineers may be contacted by email at [email protected] or at the telephone number listed above. 952.995.8011 You can FAX questions and comments to EMERSON Motion Control. Just send a FAX to the number listed above. Website: www.emersondrivesolutions.com...
Page 8 This Represents Place holders for information you must provide. For example, if you are directed to type italic filename, you should type the actual name for a file instead of the word shown in italic type. ALL CAPITALS Directory names, file names, key names, and acronyms. SMALL CAPS Non-printable ASCII control characters.
Page 9 Epsilon Only For the purpose of this manual and product, the “Epsilon” symbol indicates information about the Epsilon drive specifically. E Series Only For the purpose of this manual and product, the “E ” symbol indicates information about the E Series drive specifically. Throughout this manual, the word "drive"...
Page 10 Underwriters Laboratories Listed LISTED 51Y8 IND. CONT. EQ. The Epsilon and E Series 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.
Page 11 Epsilon Eb and E Series EN Drives Reference Manual Rated output current (Amps RMS) Drive Model Continuous Peak Eb-202 Eb-203 Eb-205 10.0 Drive Output Current vs. Time graph % Drive Rated Current CE Declaration of Conformity The Epsilon and E Series Digital Servo Drives are marked with the “Conformite Europeenne Mark”...
Page 12 Declaration of Conformity Manufacturer’s Name: EMERSON Motion Control 12005 Technology Drive Manufacturer’s Address: Eden Prairie, MN 55344 Declares that the following products: Epsilon Series Digital Servo Drive Products Description: Eb-202, Ei-202, Eb-203, Ei-203, Eb-205 and Ei-205 Model Number: This declaration covers the above products with the ECI-44 Screw Terminal System Options: Interface.
Page 13 Epsilon Eb and E Series EN Drives Reference Manual Declaration of Conformity Declares that the following products: E Series Digital Servo Drive Products Description: EN-204, EN-208 and EN-214 Model Number: This declaration covers the above products with the ALP-130 Backup Logic Power Supply and ECI-44 System Options: Screw Terminal Interface.
Page 14: Table Of Contents
Epsilon Eb and E Series EN Drives Reference Manual Table of Contents Introduction Overview ............1 Features .
Page 15 Epsilon Eb and E Series EN Drives Reference Manual Inputs Tab............69 Outputs Tab .
Page 16 Serial Communications..........184 Options and Accessories E Series EN Drive Options .
Page 17 Epsilon Eb and E Series EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 18: Overview
Epsilon Eb and E Series EN Drives Reference Manual Introduction Overview The Epsilon Eb and E Series drives are stand-alone, 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.
Page 19: Features
Pulse mode input type selectable between differential and single-ended. • Removable connectors for easy installation. • Single cable connection to EMERSON Motion Control’s AXIMA 2000 and 4000 multi- axis controllers. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 20 Introduction • Scalable Encoder Output in one line per revolution increments. • Travel Limit Function in Torque mode. • Able to operate non-EMERSON motors with encoders. Epsilon Eb Drive Drive Reset Button Logic Power Supply Status Display Selection Access Panel...
Page 21 Epsilon Eb and E Series EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 22: Safety Considerations
Epsilon Eb and E Series EN Drives Reference Manual Safety Considerations Overview This chapter describes the safety issues which need to be addressed in the system design when using this product. Specifically, it includes: • Safety Precautions • Enclosure Design •...
Page 23: Safety Of Machinery
Epsilon Eb and E Series EN Drives Reference Manual Safety of Machinery Within the European Union all machinery in which this product is used must comply with Directive 89/392/EEC, Safety of Machinery. The product has been designed and tested to a high standard, and failures are very unlikely. However the level of integrity offered by the product’s control function –...
Page 24: Quick Start
Epsilon Eb and E Series EN Drives Reference Manual Quick Start Overview This section provides a complete quick start description of the drive. It is intended to provide you with a general understanding of the drive’s functionality and operation. Offline Setup Note Generally, online setup is used when editing parameters in a drive.
Page 25 Epsilon Eb and E Series EN Drives Reference Manual Figure 2: PowerTools Window, EZ Setup View Detailed Setup View The Detailed Setup view allows you to access many additional parameters and details about your drive. When you are online with a drive, PowerTools will display twelve tabs if you have selected to view the Advanced tab in the Options|Preferences|General dialog box.
Page 26 Quick Start Step 2: Opening an Offline Configuration Window To open an offline Configuration Window, click the New icon from the toolbar or select New from the File menu. Figure 4: New Dialog Box When the Predefined Setup Selection dialog box appears, select the desired predefined setup and press the OK button.
Page 27 Epsilon Eb and E Series EN Drives Reference Manual Figure 6: EZ Setup Tab Identification Group: Enter an identifying name in the “Name” box for the drive you are setting up. You can use up to 24 alpha-numeric characters. Enter the “Target Drive Address(es)” to which you wish to download the setup information.
Page 28 Quick Start Positive Direction Selections: Click which direction, clockwise (CW) or counterclockwise (CCW), is to be considered as motion in the positive direction. Note CW and CCW rotation is determined by viewing the motor from the shaft end. Figure 7: Clockwise Motor Rotation Step 4: Selecting an Operating Mode Depending on the mode you select, PowerTools software will display related submodes and/...
Page 29 Epsilon Eb and E Series EN Drives Reference Manual Note The coarsest ratio possible is 10 input counts per motor revolution. Settings below this will cause an overspeed fault. If needed, enable the “Following Error Limit” by checking the “Enable” check box. Enter a value between 0.0010 and 10.000 revolutions of the motor.
Page 30 Quick Start Figure 10: Velocity Submode, Velocity Presets Select the desired “Velocity Preset” number. Enter a "Velocity Preset" for each "Preset Number" being used. Enter an “Accel/Decel Presets” value for each "Preset Number" being used. Click on the Inputs tab. Assign the “Velocity Preset Line #1” and “Velocity Preset Line #2”...
Page 31 Epsilon Eb and E Series EN Drives Reference Manual Figure 12: Operating Mode, Torque Mode Selected Enter a “Full Scale Torque” value. This "Full Scale Torque" value corresponds to an Analog Full Scale parameter, which is defaulted to a 10V analog command. Torque Limit Setup This function can be active in any operating mode.
Page 32 Quick Start Figure 13: Torque Tab Step 5: Entering Load Parameters The load on the motor is specified by the Inertia Ratio and Friction parameters. Application requirements are specified by the Response adjustment. If more accurate tuning is required, see the “Tuning Procedures” section. Note Also, refer to the Enable High Performance Gains and Feedforward Gains features.
Page 33 Epsilon Eb and E Series EN Drives Reference Manual tune the velocity and position loops, including feedforward compensation (if enabled). A typical value would be between 0.0 and 1.0. Note If the value is unknown, use a conservative value or a zero value. Response The Response adjusts the velocity loop bandwidth with a range of 1 to 500 Hertz.
Page 34 Quick Start To unassign an input function from an input line, select the desired input function from the “Input Functions” window, then select the “Unassigned” radio button or by dragging the highlighted input assignment back to the "Input Functions" window. To make an Input Function “Active Off”: Select the desired input function in the “Input Functions”...
Page 35: Online Setup
Epsilon Eb and E Series EN Drives Reference Manual To assign an Output Function to an Output Line: Assign an output by highlighting an output function in the "Output Functions" window and selecting the desired output radio button or by dragging the highlighted output function to the desired output in the "Output Lines"...
Page 36 Quick Start Figure 16: Communications Setup Dialog Box Select the Com port you will be using on your PC and baud rate. Click the OK button. Note The default baud rate for all drives is 19200. Step 2: Downloading the Configuration File When you are ready to download the information in the current Configuration Window, go to the Setup tab and enter the address(es) of the drive(s) you wish to download to in the “Target Drive Address(es)”...
Page 37 The Show drives button will display the Available Devices dialog box. This dialog box displays a list of the devices that are attached to your system (or network). This includes both EMERSON Motion Control and non-EMERSON devices. Devices which are not serviceable by PowerTools software will be grayed.
Page 38 Quick Start Figure 18: Available Devices Dialog Box From this dialog box select the device(s) you wish to upload into a Configuration Window. You can only select non-grayed items. The list box is updated at regular intervals. Please allow time when connecting and disconnecting devices to the system. Click the OK button to begin the upload.
Page 39 Epsilon Eb and E Series EN Drives Reference Manual Step 7: Disconnecting Communications After you successfully download to the drive, you may want to disconnect the serial communications link between the drive and your PC to clear the serial port or to access some PowerTools options only available when offline.
Page 40: Operational Overview
Epsilon Eb and E Series EN Drives Reference Manual Operational Overview Overview This section provides a complete functional description of the drive. It is intended to provide you with a thorough understanding of all drive operations. The description includes references to many drive parameters (shown in italics) which can be displayed and/or edited using PowerTools software, a FM-P or through any Modbus interface.
Page 41 Epsilon Eb and E Series EN Drives Reference Manual Figure 19: PowerTools Window, EZ Setup View Figure 20: PowerTools Window, Detailed Setup View FM-P (Function Module - Portable) Option E Series Only Another user interface option is the FM-P. The FM-P provides display and modification of most E Series drive parameters.
Page 42: How Motion Works
Operational Overview applied) without affecting the drive operation or damaging the drive. The FM-P has non-volatile memory (NVM) which can store a complete E Series drive setup. The NVM is used to clone a drive’s setup, then transfer it to another drive giving them identical setups (refer to the FM-P Portable Module User’s Guide, P/N 400505-01, for more information).
Page 43: Functional Overview
Epsilon Eb and E Series EN Drives Reference Manual • The Positive Direction parameter affects all motion by specifying which direction the motor shaft will rotate (CW or CCW) when the command position is increasing. • When changing modes with Torque Mode Enable input function, no ramping occurs between the two different commands.
Page 44 Operational Overview drive’s 5 volt logic supply so external pull-ups and biasing circuitry is not required. When proper installation techniques are followed as shown below, the differential input setup will provide a more robust and noise immune system than a single ended input setup. Differential input is recommended under any of the following conditions: •...
Page 45 Epsilon Eb and E Series EN Drives Reference Manual Output driver requirements: 15 mA sinking (open collector) 5 volt capacity Signal common connected to Drive Logic 0V (Sync Encoder Common 0V) Command Pulse-Direction Pulse-Pulse Pulse Quadrature ECI-44 terminal Connector Pin # Signal Signal Signal...
Page 46 Operational Overview Pulse/Quadrature Interpretation In Pulse/Quadrature interpretation, a full quadrature encoder signal is used as the command. When B leads A encoder counts are received they are interpreted as positive changes to the Pulse Position Input. When A leads B encoder counts are received they are interpreted as negative changes to the Pulse Position Input.
Page 47 Epsilon Eb and E Series EN Drives Reference Manual Figure 25: Pulse/Pulse Signals, Differential Inputs Pulse Mode Parameters The Pulse Position Input parameter shows the total pulse count received by the drive since the last power-up. The Pulse Position Input, Position Command, Position Feedback Encoder and Position Feedback are initialized to zero on power-up.
Page 48: Velocity Mode
Operational Overview Velocity Mode Following Error In Velocity mode, the maximum Following Error possible varies based on the gain and torque limit settings. When the Actual Torque Command reaches the maximum possible level, the following error will stop increasing and any additional position error will be dropped. In Velocity mode, when the following error exceeds the Following Error Limit parameter there is no action.
Page 49 Epsilon Eb and E Series EN Drives Reference Manual Where: VCA = Velocity Command Analog (RPM) AI = Analog Input (volts) AZO = Analog Input Zero Offset (volts) FSV = Full Scale Velocity (RPM) AFS = Analog Input Full Scale (volts) The Velocity Command is always equal to the Velocity Command Analog in Analog Velocity mode.
Page 50 Operational Overview If the Velocity Command Preset is not equal to the Target Velocity, an acceleration (or deceleration) ramp is in progress. In this state, the Velocity Command Preset will be increased (or decreased) based upon the acceleration (or deceleration) ramp rate of the selected velocity preset.
Page 51 Epsilon Eb and E Series EN Drives Reference Manual Example 1: Use of Velocity Presets in a phase advance/retard application. Velocity Preset #0 is set to 0 RPM, Velocity Preset #1 is set to +5 RPM, and Velocity Preset #2 is set to -5 RPM. The Analog Input is the command source for a web application where a phase adjustment may be useful.
Page 52: Torque Mode
Operational Overview Torque Mode In Torque mode both the position and velocity loops are disabled and only the torque loop is enabled. Note Velocity related faults and velocity related input and output functions are still enabled (including Stop and Travel Limits). In Torque mode the drive receives an Analog Input which is scaled to the Analog Torque Command by the Full Scale Torque, Analog Input Full Scale, and Analog Input Zero Offset parameters.
Page 53 Epsilon Eb and E Series EN Drives Reference Manual Warning When the Stop input function is deactivated, the previous operating mode is restored within 400 µs and the drive and motor will respond immediately with no ramping unless ramping is part of the selected mode. +/- Travel Limits The + and - Travel Limit input functions will stop motion in the direction indicated by the input function using the Travel Limit Deceleration rate.
Page 54 Operational Overview Host Controller Travel Limits If the host controller decelerates the drive faster than the Travel Limit Deceleration ramp, the drive allows the controller to maintain full control of the axis during the deceleration. This results in no following error build up in the controller and easier recovery. Vertical Loads in Velocity Mode In applications with horizontal, counterbalanced or un-counterbalanced vertical loads, the load will held in position when motion is stopped due to a + or - Travel Limit.
Page 55 Epsilon Eb and E Series EN Drives Reference Manual Travel limit. The stored command pulses can also be cleared by activating both Travel Limit input functions at the same time, activating the Stop input function or disabling the drive for as little as 5 msec (plus any debounce time).
Page 56 Operational Overview Example 1: If the Motor Type is an MG-316, the maximum motor speed of the MG-316 is 4000 RPM. If the Line Voltage parameter is set to 230 VAC and the Velocity Limit is equal to 112.5 percent of 4000 RPM or 4500 RPM.
Page 57: Current Foldback
Epsilon Eb and E Series EN Drives Reference Manual Motor Direction Polarity The direction that the motor turns with a positive command can be changed with the Positive Direction parameter. This can be accessed with PowerTools in the EZ Setup tab or Detailed Setup tab.
Page 58 Operational Overview During current foldback the Torque Command Actual will be limited to 80 percent continuous motor torque. Current foldback is cancelled when the RMS Foldback level falls below 70 percent. This could take several seconds or several minutes depending on the load. The RMS Foldback value is dependent on both torque and velocity.
Page 59: Shunt Operation
Epsilon Eb and E Series EN Drives Reference Manual Once Stall Foldback is activated, the drive current is reduced to 80 percent of the stall current threshold until the Torque Command Actual is reduced to less than 70 percent of the stall current threshold for about 200 ms or until the motor velocity exceeds 100 RPM.
Page 60 Operational Overview Shunt Monitoring Algorithm E Series Only The algorithm used for monitoring shunt utilization accurately determines the shunt resistor capacity available under various operating conditions. The drive monitors the amount of power being dissipated by the shunt and if the power dissipation exceeds the allowable limit a Shunt Fault is generated.
Page 61 Epsilon Eb and E Series EN Drives Reference Manual sink can dissipate. Each Watt of power dissipated will produce an incremental rise in temperature. So, if the ambient temperature is lower, more wattage can be dissipated before reaching the temperature limit of the components mounted to the heatsink. By default, we assume an ambient temperature of 40 °...
Page 62 Operational Overview The charts below indicate the operating range for a given ambient temperature. 140% 120% 100% 20 C 30 C 40 C 50 C 100% 150% Heatsink RMS Figure 31: EN-208 Shunt Power RMS vs. Heatsink RMS 140% 120% 100% 20 C 30 C...
Page 63 Epsilon Eb and E Series EN Drives Reference Manual External Shunt Operation The DC bus is accessible for applications requiring an external shunt regulator. EMERSON Motion Control offers an external shunt regulator (model RSR-2) which can provide additional regenerative power dissipation.
Page 64 Operational Overview Use 16 to 18 AWG stranded Top View wire - Auxiliary Supply + Auxiliary Supply Two position receptacle. The mating cables are supplied with the ALP Auxiliary Power Supply. Figure 34: Bus Connections Front View Side View Figure 35: Epsilon Bus Connections Artisan Technology Group - Quality Instrumentation ...
Page 65: Brake Operation
The drive outputs are limited to 150 mA capacity, therefore, a suppressed relay is required to control motor coil. EMERSON Motion Control offers a relay, model BRM-1. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 66: Analog Input
Operational Overview Analog Input The Analog Input can be used as a velocity or torque command. The drive accepts a ±10 VDC differential analog command on pins 14 and 15 of the Command Connector and has 14 bits of resolution. The Analog Input Bandwidth, Analog Input Full Scale and Analog Input Zero Offset parameters are applied to the Analog Input to generate either an analog velocity or torque command.
Page 67 Epsilon Eb and E Series EN Drives Reference Manual Analog Command Wiring Command Connector with positive direction = CW Figure 36: Analog Command, Differential Wiring Diagram Command Connector Figure 37: Analog Command, Single-ended Wiring Diagram Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 68: Analog Outputs
Operational Overview Analog Outputs The drive has two 8 bit Analog Outputs which may be used for diagnostics, monitoring or control purposes. These outputs are referred to as Channel 1 and Channel 2. They can be accessed from the Command Connector on the drive or from the diagnostics output pins located on the front of the drive.
Page 69: Digital Inputs And Outputs
Epsilon Eb and E Series EN Drives Reference Manual Example: You could use the Analog Outputs to accurately measure velocity overshoot. For example, to measure a target velocity of 2000 RPM at a resolution of ±10 V = ±200 RPM do the following.
Page 70 Operational Overview Input Line Debounce Time You can program a “Debounce Time” which means the line will need to be active for at least the debounce time before it is recognized. This feature helps prevent false triggering in applications with high ambient noise. Figure 38: Input Line Diagram Output Line Active State...
Page 71 Epsilon Eb and E Series EN Drives Reference Manual drive. Once the axis is driven off the limit switch, the fault will be cleared and the “L” will disappear. If both Travel Limit input functions are activated simultaneously, the drive will respond as if the Stop input function has been activated and will use the Stop Deceleration ramp.
Page 72 Operational Overview Selected Velocity and Accel/ Velocity Preset #3 Velocity Preset Line #2 Velocity Preset Line #1 Decel Preset # (0) = Inactive input function (1) = Active input function Torque Limit Enable This input function, when active, causes the Torque Command to be limited to the value of the Torque Limit parameter.
Page 73 Foldback Active This output function is active when the drive is limiting motor current. If the RMS Foldback value exceeds 100 percent of the continuous rating, the current foldback algorithm will limit the current delivered to the motor to 80 percent of the continuous rating. Drive OK This output function is active whenever no fault condition exists.
Page 74 Operational Overview If the Actual Velocity Command exceeds the velocity limit, the command will be limited and the Velocity Limiting Active output function will be active. Shunt Active This is a real time indicator of the internal shunt activity. For EN-204 and Epsilon drives this output can be used to control all external shunt control switches.
Page 75 Epsilon Eb and E Series EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 76: Setting Up Parameters
Epsilon Eb and E Series EN Drives Reference Manual Setting Up Parameters Overview This chapter describes the various tabs and their fields. Specifically, it includes: • EZ Setup/Detailed Setup Tab • Inputs Tab • Outputs Tab • Position Tab • Velocity Tab •...
Page 77 Epsilon Eb and E Series EN Drives Reference Manual Identification Group Name Enter a 24 character alpha-numeric name for the drive you are currently setting up. Assigning a unique name for each drive in your system allows you to quickly identify a drive when downloading, editing and troubleshooting.
Page 78 Setting Up Parameters value higher than the actual inertia, the resultant motor response will tend to be more oscillatory. Friction This parameter is characterized in terms of the rate of friction increase per 100 motor RPM. If estimated, always use a conservative (less than or equal to actual) estimate. If the friction is completely unknown, a value of zero should be used.
Page 79 Epsilon Eb and E Series EN Drives Reference Manual Torque Mode Radio Button Selecting this radio button will put your drive in Torque mode and activates the Full Scale Torque and the Torque Limit data entry boxes. In Torque mode the drive develops torque in proportion to the voltage received on the Analog Input.
Page 80: Source Group
Setting Up Parameters Source Group Differential Radio Button Selects the differential hardware input of the drive to receive pulses (default) these pulse inputs are as follows: Command Pulse-Direction Pulse-Pulse Pulse Quadrature ECI-44 Terminal Connector Pin # Signal Signal Signal Sync Enc In “A” Pulse Pulse + Sync Enc In “A/”...
Page 81 Epsilon Eb and E Series EN Drives Reference Manual Following Error Limit The Following Error Limit is functional in Pulse mode only. This limit is in motor revolutions and has a range of .001 to 10.000 revolutions. Velocity Mode Submode Group Analog Radio Button Selecting this radio button puts the drive into Analog submode.
Page 82 Setting Up Parameters MG-316 4000 RPM @ 10V MG-340, MG-455, MG490 and MG-4120 3000 RPM @ 10V Presets Radio Button Selecting this radio button puts the drive into Presets submode. Presets submode provides up to eight digital Velocity Presets and associated Accel/Decel Presets. At any time, only one Velocity Preset can be selected.
Page 83 Epsilon Eb and E Series EN Drives Reference Manual Velocity Presets Enter a value for each of the Velocity Presets you wish to use. The units are RPM and the range is from ± maximum motor velocity. A positive value will cause CW motion and a negative value will cause CCW motion.
Page 84 Setting Up Parameters Figure 45: Operating Mode, Torque Mode Selected Full Scale Torque This parameter specifies the Torque Command when the Analog Input voltage is equal to the Analog Full Scale parameter. Torque Limit This value is the level which the Torque Command will be limited to when the Torque Limit input function is active.
Page 85 Epsilon Eb and E Series EN Drives Reference Manual Figure 46: Detailed Setup Window Positive Direction Group (Detailed Setup view only) Figure 47: Detailed Setup View CW Motor Rotation Radio Button This defines that the motor will rotate clockwise when given a positive velocity, torque or position command.
Page 86: Inputs Tab
Setting Up Parameters Caution The Line voltage must never be set to 115 VAC if the applied voltage is actually 230 VAC. This can cause drive instability and failure. Inputs Tab This tab is divided into two windows: The “Input Functions” window, on the left side, displays the input functions available, the function polarity and the always active state.
Page 87 Epsilon Eb and E Series EN Drives Reference Manual Input Line Selection Radio Button E Series Only This selection box is used to assign an input function to an input line. Highlight the function you wish to assign, then select the appropriate input line. To unassign an input function, highlight the function in the Input Functions window, then select the “Unassigned”...
Page 88: Outputs Tab
Setting Up Parameters input function “Always Active” then assign it to an input line, that function will be active whether or not voltage is applied to the line it is assigned to. Input Lines Window Debounce The debounce value is displayed next to each input line. See “Debounce” below. Functions assigned ...
Page 89 Epsilon Eb and E Series EN Drives Reference Manual Output Functions Window This window allows you to select the output function you wish to assign to an output line. Output Line Selection Radio Button E Series Only This selection box is used to assign an output function to an output line. Highlight the function you wish to assign, then select the appropriate output line.
Page 90 Setting Up Parameters Active Off Check Box The default active state of an output line is "Active On". This means that the output line will supply a voltage when the result of the logical OR of the output function(s) assigned to that output line is active.
Page 91: Position Tab
Epsilon Eb and E Series EN Drives Reference Manual Position Tab This tab allows you to enable and define the Following Error Limit and view actual operating parameters. Figure 56: Position Tab Limits Group Enable Following Error Limit Check Box Check this box to enable or disable the Following Error Limit.
Page 92 Setting Up Parameters Actual Group Pulse Position Input This parameter returns the total number of actual pulses received on the pulse input hardware. This value is active in all operating modes. Position Command This is the commanded position generated by either the pulse command or velocity command. In Pulse Summation mode, it is the sum total position command by both pulse and velocity commands.
Page 93: Velocity Tab
Epsilon Eb and E Series EN Drives Reference Manual Velocity Tab This tab allows you to set the drive limits, and if you are online, view the actual operating velocity feedback parameters. Figure 57: Velocity Tab Limits Group Stop Deceleration The value you enter here defines the rate of velocity change to zero speed when a Stop input function is activated.
Page 94 Setting Up Parameters Overspeed Velocity This parameter specifies the maximum allowable speed. If the Velocity Feedback exceeds either the drive’s internal overspeed fault limit or the value of the Overspeed Velocity which is lower, an Overspeed fault will be generated. The internal overspeed fault limit is equal to 150 percent of the Motor Maximum Operating Speed.
Page 95: Torque Tab
Epsilon Eb and E Series EN Drives Reference Manual Velocity Presets Enter a value for each of the Velocity Presets you wish to use. The units are RPM and the range is from ± maximum motor velocity. A positive value will cause CW motion and a negative value will cause CCW motion.
Page 96: Motor Tab
Setting Up Parameters Actual Group Torque Command This parameter returns the torque command value before it is limited. The Torque Command may be limited by either the Torque Limit (if the Torque Limit Enable input function is active) or current foldback. Torque Limit This value is the level which the Torque Command will be limited to when the Torque Limit input function is active.
Page 97 Epsilon Eb and E Series EN Drives Reference Manual All parameters on the Motor tab are related to the load on the motor and application requirements. The load on the motor is specified by two parameters: Inertia Ratio and Friction. Typical application requirements are specified by the response adjustment and Feedforward Gains.
Page 98 Setting Up Parameters Low Pass Filter Group Low Pass Filter Enable Checkbox This enables a low pass filter applied to the output of the velocity command before the torque compensator. The low pass filter is only active in Pulse and Velocity modes, not Torque Modes.
Page 99 Epsilon Eb and E Series EN Drives Reference Manual Tuning Group Response The Response adjusts the velocity loop bandwidth with a range of 1 to 500 Hz. In general, it affects how quickly the drive will respond to commands, load disturbances and velocity corrections.
Page 100: Analog Tab
Setting Up Parameters Enable Feedforwards Check Box When feedforwards are enabled, the accuracy of the Inertia and Friction are very important. If the Inertia is larger than the actual inertia, the result could be a significant overshoot during ramping. If the Inertia is smaller than the actual inertia, following error during ramping will be reduced but not eliminated.
Page 101: I/O Status Tab
Epsilon Eb and E Series EN Drives Reference Manual Analog Zero Offset This parameter is used to null any voltage present at the drive when a zero velocity or torque command is provided by a controller. The amount of offset can be measured by the Analog Input parameter when a zero velocity or torque command is supplied.
Page 102 Setting Up Parameters Figure 61: I/O Status Tab Inputs Group Inputs Lines Window This feature shows the various input lines and whether they are active. The line is active if the circle next to the line is green or lit-up. Active State The active state is shown for each input line.
Page 103 Epsilon Eb and E Series EN Drives Reference Manual Sort By Function/Line Button Click on this button to change how the "Inputs" window is sorted (i.e., by functions or lines). The window can be sorted by either function or line. The functions and lines are arranged in a hierarchy.
Page 104 Setting Up Parameters Active State The active state is displayed for each output line. Forced The forced state is displayed for each output line. Forced On and Forced Off You can force an output line to a level by using the "Forced On" and "Forced Off" check boxes.
Page 105: Status Tab
Epsilon Eb and E Series EN Drives Reference Manual If the function or line is currently active, the "LED" to the left of the function or line name will be green. Note When a function or line is active, the state of the "LED" associated with the function or line is dependent on how the "Always Active", "Forced On or Off"...
Page 106 Setting Up Parameters Position Command This is set to zero when the Absolute Position Valid output function is activated. Following Error The Following Error is the difference between the Position Command and the Position Feedback. It is positive when the Position Command is greater than the Position Feedback. Encoder Feedback The motor position in encoder counts since power up when the value was set to zero.
Page 107 Epsilon Eb and E Series EN Drives Reference Manual Torque Group Torque Command This parameter returns the torque command value before it is limited. The torque command may be limited by either the Torque Limit (if the Torque Limit Enable input function is active) or current foldback.
Page 108 Setting Up Parameters Actual Operating Mode This parameter returns the actual (or current) operating mode or state of the drive. This is determined by the Operating Mode Default, Alternate Operating Mode, Input Functions which override the operating mode, fault conditions, function modules or disabling the drive. Bus Voltage Epsilon Only Displays the actual measured voltage on the DC power bus.
Page 109 Epsilon Eb and E Series EN Drives Reference Manual Figure 65: Active Drive Faults Dialog Box Fault Log Group (EZ Setup view only) Figure 66: Fault Log View Fault Type Window This window displays the last ten drive faults with time stamps. The first fault is the most recent fault.
Page 110: History Tab
Setting Up Parameters History Tab This tab displays a complete fault history including a "Fault Log" window and a "Fault Count" window. Figure 67: History Tab Note The "Fault Log" and "Fault Counts" cannot be cleared. Fault Log Group Fault Log Window This window displays the last ten drive faults with time stamps.
Page 111: Advanced Tab
Epsilon Eb and E Series EN Drives Reference Manual Fault Counts Group Fault Counts Window The "Fault Counts" window displays all the faults that can occur and the number of times those faults happened since the drive was orginally powered-up. The information in this window cannot be edited or cleared.
Page 112 Setting Up Parameters Bus Voltage Group Low DC Bus Enable Epsilon Only This parameter’s default setting is enabled. When enabled, the drive will detect a low DC bus at 60 VDC and will log a Low DC Bus Fault if a power down is not completed after the low DC bus is detected.
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Page 114: Tuning Procedures
Epsilon Eb and E Series EN Drives Reference Manual Tuning Procedures Overview The drive uses closed loop controllers to control the position and velocity of the attached motor. These position and velocity controllers and the associated tuning parameters are in effect when the drive is in velocity or pulse mode and have no effect when the drive is in Torque mode.
Page 115: Tuning Procedure
If your system needs optimization, we recommend that you start with the Basic Level, then determine if further tuning is needed based on axis performance. The setup procedures explained here assume that you are using EMERSON Motion Control’s PowerTools software or an FM-P.
Page 116 Tuning Procedures This unique feature offers an extra level of safety because the drive can override the position controller and bring the axis to a safe stop if the controller loses the ability to control the axis. Tuning steps If your Inertia Ratio is greater than 10 times the motor inertia go directly to the Intermediate Level tuning.
Page 117: Tuning Parameters
Epsilon Eb and E Series EN Drives Reference Manual Enable the drive and run the system. Adjust Response to obtain the best performance. General Tuning Hints The Response is normally the final adjustment when tuning. For best performance the Response should be lower with a higher inertia mismatch (>10:1) and higher with a lower inertia mismatch.
Page 118 Tuning Procedures If you enter an inertia value lower than the actual inertia, but is between 10 and 90 percent of the actual, the drive will tend to be more sluggish than optimum but will usually operate satisfactorily. If the value you enter is less than 10 percent of the actual inertia, the drive will have a low frequency oscillation at speed.
Page 119 Epsilon Eb and E Series EN Drives Reference Manual High Performance Gains, when enabled, make the system less forgiving in applications where the actual inertia varies or the coupling between the motor and the load has excessive windup or backlash. Note When using an external position controller, some applications will benefit in rare instances by disabling High Performance Gains.
Page 120 Tuning Procedures When Feedforwards are enabled, the accuracy of the Inertia Ratio and Friction parameters is very important. If the Inertia Ratio parameter is larger than the actual inertia, the result would be a significant velocity overshoot during ramping. If the Inertia parameter is smaller than the actual inertia, velocity error during ramping will be reduced but not eliminated.
Page 121: Determining Tuning Parameter Values
Epsilon Eb and E Series EN Drives Reference Manual Warning The Line Voltage must never be set to 115 VAC if the applied voltage is actually 230 VAC. This can cause drive instability and failure. Determining Tuning Parameter Values For optimum performance you will need to enter the actual system parameters into the drive. This section discusses the methods which will most accurately determine those parameters.
Page 122 Tuning Procedures • In the procedure below, the Torque Command and Velocity Feedback parameters can be measured using the drive’s analog outputs, PowerTools software. • With vertical loads the test readings must be taken while traveling in the same direction. •...
Page 123 Epsilon Eb and E Series EN Drives Reference Manual Figure 70: Trapezoidal Velocity Waveform with Torque Waveform Determining Inertia Ratio Actual system Inertia Ratio is determined by accelerating and decelerating the load with a known ramp while measuring the torque required. Consider the following before determining the inertia: •...
Page 124 Tuning Procedures Inertia Measurement Procedure: Note The test profile will need to be run a number of times in order to get a good sample of data. Enable the drives and run the test profiles. Note the Torque Command Limited value during acceleration and deceleration. Use the appropriate formula below to calculate the inertia.
Page 125 Epsilon Eb and E Series EN Drives Reference Manual Ramp Units Conversion If you are using an external position controller to generate motion you may need to convert the ramp units as desired below. Many position controllers define acceleration in units per sec .
Page 126 Tuning Procedures Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 127 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 128: Diagnostics And Troubleshooting
Epsilon Eb and E Series EN Drives Reference Manual Diagnostics and Troubleshooting Overview This section provides you with guidelines and hints on troubleshooting various problems that may be encountered during setup and operation of your Epsilon or E Series drive. Specifically, it includes: •...
Page 129: Fault Codes
Epsilon Eb and E Series EN Drives Reference Manual Display Indication Status Description Torque Torque mode operation. Summation Summation mode operation. RMS Foldback Motor torque is limited to 80 percent. Stall Foldback Drive output current is limited to 80 percent of drive (E Series drive only) stall current.
Page 130 Diagnostics and Troubleshooting Display Fault Action to Reset Bridge Disabled NVM Invalid Button or Input Drive Overtemp Cool down, (Epsilon drive only) Cycle Power Invalid Configuration Button or Input (E Series drive only) Button or Input (for E Power Module Series) Power (for Epsilon) High DC Bus...
Page 131 Epsilon Eb and E Series EN Drives Reference Manual Display Fault Action to Reset Bridge Disabled Following Error Button or Input (Pulse mode only) Travel Limit +/- Auto Normally "On" for one All "On" second during power-up Fault Descriptions Power Up Test This fault indicates that the power-up self-test has failed.
Page 132 Diagnostics and Troubleshooting Power Module This fault is generated when a power stage over-temperature, over-current or loss of power stage logic supply occurs. This can be the result of a motor short to ground, a short in the motor windings, a motor cable short or the failure of a switching transistor. It can also occur if the drive enable input is cycled "Off"...
Page 133 This is a normal condition during power up of the drive. It will last for less than 1 second. If this display persists, call EMERSON for service advice. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 134: Diagnostic Analog Output Test Points
Diagnostics and Troubleshooting Normally, "All On" for less than one second during power-up. All segments dimly lit when power is "Off" is normal when an external signal is applied to the encoder inputs (motor or master) or serial port from an externally powered device. The signals applied to the inputs cannot exceed 5.5V level required to drive logic common or drive damage will occur.
Page 135 Epsilon Eb and E Series EN Drives Reference Manual Channel #2 Analog GND Channel #1 Epsilon Drive E Series Drive Figure 71: Diagnostic Analog Output Test Points The DGNE cable was designed to be used with either an oscilloscope or a meter. The wires are different lengths to avoid shorting to each other.
Page 136: Drive Faults
Diagnostics and Troubleshooting Drive Faults The Active Drive Faults dialog box is automatically displayed whenever a fault occurs. There are two options in this dialog box: Reset Faults and Ignore Faults. Figure 73: Active Drive Faults Dialog Box Resetting Faults Some drive faults are automatically reset when the fault condition is cleared.
Page 137: Watch Window
Epsilon Eb and E Series EN Drives Reference Manual Watch Window This feature allows you to customize a window to monitor drive parameters which you select from a complete list of drive parameters. From this window you can watch the parameters you selected in real time.
Page 138: View Motor Parameters
Diagnostics and Troubleshooting Figure 75: Select Drive Parameters Dialog Box 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: Analog In, Analog Out, Communication, Digital Inputs, Execution, Fault Counts, Fault Log, ID, Input Functions, Motor, Output Functions, Position, Setup, Status, Torque, Tuning, User Defined Motor, and Velocity.
Page 139: Error Messages
Type” list box to match the drive you are make necessary corrections. are downloading to. downloading to. Non-EMERSON device attached (address). This error is caused When you attempting to Disconnect the device(s) that has been When trying to program more than one drive,...
Page 140 Diagnostics and Troubleshooting Problem/Message Cause Solution No device selected. No device selected suring flash upgrade. Select device(s) from list box. Close any other windows that are using the The drive at address is use. same addresses and try again. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 141 Epsilon Eb and E Series EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 142: User Defined Motors
Verification and Checkout Drives can be configured to operate with brushless DC (synchronous permanent magnet) motors not manufactured by EMERSON Motion Control. This feature is very useful for users who are retrofitting drives on existing systems or who have special motor requirements.
Page 143: Procedure
Method to securely hold the motor during operation (a vise or large C-clamp). Procedure The steps required to assemble a servo system consisting of a drive, and a non-EMERSON Motion Control motor are listed below: Determine if your motor is compatible with the drive by verifying its characteristics.
Page 144 User Defined Motors Warning The rotation of the motor will generate dangerous voltages and currents on the motor phase leads. Make sure the wires and connections are properly insulated. Connect the scope to read VCA and VBA. VCA and VBA are measured by putting the probe ground clips on A and the scope probes on C and B.
Page 145 Note For the remainder of this procedure we will refer to the motor terminals using the EMERSON Motion Control designations R, S and T. Step 2: Motor Feedback Wiring This step describes how to wire the feedback signals to the drive. There are two parts to this step: electrical interfacing and logical interfacing.
Page 146 User Defined Motors Encoder Electrical Interfacing Each of the encoder signals is received by a differential receiver to minimize the noise susceptibility and to increase frequency bandwidth. This requires two wires for each logical signal. (i.e., signal A requires channel A and A/, etc.). For optimum performance these signals should be generated by an encoder with a line driver output.
Page 147 Epsilon Eb and E Series EN Drives Reference Manual Figure 80: User Defined Motor Single Ended Feedback Connections Thermal Switch Interfacing The drive provides a facility to monitor the motor thermal sensor and shut the drive down in the event of a motor overtemp condition. This must be connected properly in order to enable the protection.
Page 148 User Defined Motors There are two steps in interfacing the encoder signals: Determine whether your encoder has all the required signals to operate with a drive. Some encoders, for example, do not provide a marker pulse or the marker pulse may not have a fixed phase relationship to the commutation tracks.
Page 149 Epsilon Eb and E Series EN Drives Reference Manual Note It is important that all the encoder phases match the phase plot in the figure above. (i.e., A leads B, U leads V and V leads W. No particular phase relationship is required between the A and B pari and the U, V, W signals.
Page 150 User Defined Motors Figure 83: Oscilloscope Connections CCW Reference Rotation Before reading the motor signals, zero the V oscilloscope channel on a horizontal graduation marker to allow more accurate readings. Couple the drill motor to the motor shaft. While spinning the motor counter-clockwise, use an oscilloscope to examine the phase relationship between encoder channel U and positive peak of V (the voltage at motor power terminal T with reference to S).
Page 151 Epsilon Eb and E Series EN Drives Reference Manual Figure 84: CCW Electrical Angle Plot   °     Where: EUA = Motor Encoder “U” Angle If EUA is >360° subtract 360°. Next, use the oscilloscope to examine the phase relationship between Z and V .
Page 152 User Defined Motors   °     Where: EMA = Motor Encoder Marker Angle If EMA is >360° subtract 360°. Many encoders are designed so that the encoder marker pulse occurs a specified number of electrical degrees from the rising edge of U. You could obtain this value from the encoder specification sheet however, to minimize errors in conversion, you should make this measurement.
Page 153 Epsilon Eb and E Series EN Drives Reference Manual Figure 85: CW Electrical Angle Plot In Figure 84 the electrical angle decreases from left to right and the positive peak of V occurs at zero degrees electrical. In Figure 85 the electrical angle increases from left to right and the negative peak of V occurs at zero degrees electrical.
Page 154 User Defined Motors Dynamic Alignment Method This method is used at EMERSON Motion Control to establish the alignment on motors. It is accomplished by spinning the motor CCW with another device while monitoring U and V Then while the motor is spinning CCW, the encoder body is rotated on it’s mounting until the desired alignment is established.
Page 155 Epsilon Eb and E Series EN Drives Reference Manual Figure 87: Static Alignment Schematic The current applied through R to S should be the same polarity each time (i.e., + on R) and the current must be controlled to no more than 50 percent of the RMS stall current rating of the motor.
Page 156 User Defined Motors Note When using an oscilloscope, use the following formula to determine the motor velocity in RPM. RPM = Seconds/Re volutions Use the following formula to determine the Ke of the motor after the voltage and speed measurements. VRMS Ke = 1000...
Page 157 The header includes the revision and serial number information along with a count of how many special motor definitions are included in the particular file. Standard EMERSON Motion Control motors will not appear in this file because their data is hard coded into the drive’s memory.
Page 158 User Defined Motors MotorID is used for each motor to mark the beginning of a new user defined motor definition. The format is [MotorXX] where XX is the ID number starting with zero and incrementing by one. You must use both ID numbers. For example, an ID of 1 would be entered as 01. There is no practical limit to the number of user defined motors allowed in the .ddf file.
Page 159 These parameters are valid and active only when a user defined motor is selected. When an EMERSON Motion Control motor is selected, the data in these registers remain at the last value set and do not update to reflect the data of the EMERSON Motion Control motor selected.
Page 160 User Defined Motors n = Motor Encoder Lines per Rev Coefficient x = Motor Encoder Exponent The total number of encoder lines is used both for commutation and for position/ velocity control. To properly commutate the motor, the drive must know the electrical angle (the angle between the motor magnetic field and stator coils).
Page 161 Epsilon Eb and E Series EN Drives Reference Manual When the drive receives the marker pulse, the drive will, within one second, gradually shift the commutation to the more accurate electrical angle specified by this parameter. The system will then operate more efficiently. See “Step 3: Determine Encoder Alignment” for a detailed procedure on how to determine this parameter.
Page 162 PowerTools software. Once PowerTools is started it will read the MOTOR.DDF file and you will be able to select the non- EMERSON Motion Control motor. Selecting a User Defined Motor Use the following procedure to select the user defined motor with PowerTools: Start PowerTools and either open an existing file or start a new file offline.
Page 163 Download the configuration to the drive. Select the OK button. The drive will now be configured for the non-EMERSON Motion Control motor. Step 7: Verification and Checkout Once the cabling and interface circuitry have been assembled and the drive has been correctly configured, you are ready to power-up the drive.
Page 164 User Defined Motors Warning The motor may run away during this test. Make sure it is securely fastened and that there is nothing connected to the motor shaft. At a certain point in the test it will be necessary to manually rotate the motor through an integral number of revolutions.
Page 165 Epsilon Eb and E Series EN Drives Reference Manual signals are wired correctly and the Motor Encoder Reference Motion parameter is correct. Manually rotate the motor as accurately as you can, CW 20 revolutions. The Position Feedback should increase by exactly 20 revs. If the change has some significant fractional part (20.5 for example) the Motor Encoder Lines Per Revolution parameter is probably wrong.
Page 166 User Defined Motors Move to the Analog tab and find the "Analog Input" parameter. Using your simulator adjust the analog command until the value of this parameter is approximately 0 volts. Enable the drive. It should not move. If the drive faults at this point you most likely have a wiring problem (see “Step 1: Motor Wiring”).
Page 167 Epsilon Eb and E Series EN Drives Reference Manual Velocity Test Disable the drive. Select Velocity Analog mode and set "Full Scale Velocity" parameter to 12 RPM. Use the simulator to adjust the analog command voltage to 5 volts. Enable the drive. Find the "Velocity Command Analog" parameter on the Status tab. Adjust the analog command until this parameter reads exactly 6 RPM.
Page 168: Installation
Adhering to the following guidelines will greatly improve the electromagnetic compatibility of your system, however, final responsibility for EMC compliance rests with the machine builder, and EMERSON Motion Control cannot guarantee your system will meet tested emission or immunity requirements.
Page 169 Epsilon Eb and E Series EN Drives Reference Manual mating area on the mounting plate to ensure a good ground. See the, "Achieving Low Impedance Connections" section for more information. • If grounding is required for cable grommets, connectors and/or conduit fittings at locations where cables are mounted through the enclosure wall, paint must be removed from the enclosure surface at the contact points.
Page 170 Installation AC Line Filters The AC line filters used during EMERSON Motion Control’s 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 E Series...
Page 171 Epsilon Eb and E Series EN Drives Reference Manual Figure 90: Through Wall Shield Grommet EMERSON Cable Shielded Cable Grommet Conduit Dimension Cable Type Actual Hole Size Model Kit Part # Hole Size Motor Cable, 16 Ga CMDS CGS-050 1/2" pipe 7/8"...
Page 172 Installation Figure 91: AC Filter and Cable Connections for E Series Drives Figure 92: AC Filter and Cable Connections for Epsilon Drives Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 173: Mechanical Installation
Epsilon Eb and E Series EN Drives Reference Manual 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°...
Page 174 Installation Motor Mounting Motors should be mounted firmly to a metal mounting surface to ensure maximum heat transfer for maximum power output and to provide a good ground. For motor dimensions, weights and mounting specifications, see the "Specifications" section. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 175: Electrical Installation
Epsilon Eb and E Series EN Drives Reference Manual Electrical Installation System Grounding Figure 93: Typical System Grounding Diagram Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 176 Installation 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. Warning The Protective Earth (PE) wire connection is mandatory for human safety and proper operation.
Page 177 Epsilon Eb and E Series EN Drives Reference Manual AC Supplies NOT Requiring Transformers If the distribution transformer is configured as shown in the figures below, the AC power supply can be connected directly to the amplifier terminals. Figure 94: Earth Grounded WYE Distribution Transformer Figure 95: Earth Grounded Delta Distribution Transformer...
Page 178 Installation 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. Figure 96: Three Phase Delta (with mid-phase GND) Distribution to a Three-Phase Delta/WYE Isolation Transformer...
Page 179 Epsilon Eb and E Series EN Drives Reference Manual Figure 99: 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.
Page 180: Input Power Connections
Installation Line Fusing and Wire Size You must incorporate over current protection for the incoming AC power with the minimum rating shown here. EMERSON Motion Control recommends Bussman type: KTK-R, KTK, LPN or equivalent. Recommended Minimum AC/PE Line Wire Drive Model...
Page 181 Epsilon Eb and E Series EN Drives Reference Manual E Series Only According to UL requirements, the E Series drive is suitable for use on a circuit capable of delivering not more than 5000 RMS symmetrical amperes, 240 volts maximum. Wire crimp ferrules are recommended: If 14 AWG, use panduit #PV14-P47.
Page 182 21 watts. This can be accomplished by isolating, rectifying and filtering 90 to 264 VAC. EMERSON Motion Control offers Auxiliary Logic Power Supplies (models ALP-130 and - 430) that supply enough power for one E Series drive with an FM-P module and four E Series drives with FM-P’s respectively.
Page 183 Epsilon Eb and E Series EN Drives Reference Manual Use 16 to 18 AWG stranded Top View wire - Auxiliary Supply + Auxiliary Supply Two position receptacle. The mating cables are supplied with the ALP Auxiliary Power Supply. 0.5 Amp Drive #1 Fuses -V Auxiliary...
Page 184 Installation Front View Side View Fuse 24 VDC Single point PE ground (recommended) Important: Slide the side access panel up into the open position. Remove the jumper from the AC position (Default) and reinstall it into the 24 V position (A.P.S.).
Page 185 Epsilon Eb and E Series EN Drives Reference Manual APS Input Specification Voltage Range Current Inrush Current 0.5 A maximum 0.7 A peak 80 A for 1 ms if not limited by power 18-30 VDC ( 0.4 A maximum supply 0.76 A peak if external encoder is not used ) Drive Logic with Motor Encoder Only Add for Master Encoder...
Page 186 Installation Front View Front View Fuse Fuse Single point PE ground (recommended) 24 VDC Figure 104: Multiple APS Wiring Diagram Motor Power Wiring MG and NT 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 from the drive to the motor are made with the CMDS or CMMS cable have a female MS style connector on the motor end and four individual wires and shield that connect to the motor power connector on the bottom of the drive.
Page 187 Epsilon Eb and E Series EN Drives Reference Manual Motor Power Bottom View Connection Drive Shield Connector Shell Green/Yellow Ground Brown Black Blue Important: Ground 2" or 3" Motors: PT06A-15-8SSR 4" Motors: MS3106A-20-15SSR should connect to drive and motor only. Nothing should be connected between these devices.
Page 188 Motor Feedback Connector Pinout Motor Brake Wiring Motors equipped with brakes have a three-pin MS style connector. The EMERSON Motion Control brake power cable (model CBMS-XXX) has an MS style connector on the motor end and three wire leads on the amplifier end (see the following wiring diagrams).
Page 189 Epsilon Eb and E Series EN Drives Reference Manual Figure 108: E Series Brake Wiring Diagram using the Command Connector Figure 109: E Series Brake Wiring Diagram using the I/O Connector Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 190 Installation CBMS-xxx Cable Black - Bottom View Customer supplied drive Internal enable contact Output #3 to Motor Drive Enable 2 Amp I/O Supply Fuse I/O Supply Red + 1 Amp I/O Common Relay: Motor Fuse I/O Common EMC #BRM-1 Connected to grounded mounting panel.
Page 191 Epsilon Eb and E Series EN Drives Reference Manual Figure 112: E Series Input/Output Wiring Diagram Front View A highspeed diode (such as a 1N4000) is required for inductive I/O supply loads such as a relay, +10 to 30 VDC solenoid or contactor.
Page 192 The I/O connector is a 10-pin removable terminal block. It is recommended that #18 to 24 AWG stranded wire be used. Epsilon Only The I/O connector is a 26-pin male connector on the front of the drive. EMERSON Motion Control offers a low profile interface plug (STI-EIO) and cable (EIO-xxx) for connections.
Page 193 Epsilon Eb and E Series EN Drives Reference Manual Bottom View Internal to Drive Input #4 2.8 k Input #3 Input #2 Input #1 Drive Enable Input Output #3 Output #2 Output #1 Front View I/O Common - I/O Common - I/O Supply + I/O Supply + Input #4...
Page 194 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) Input #1 10 Ohm (BRN/RED) Input #2 (BLK/BLU)
Page 195 Epsilon Eb and E Series EN Drives Reference Manual For information about Command Connector pinout and CMDO-XXX cable wire colors, see the "Specifications" section. Function Pin Numbers Electrical Characteristics Inputs and Drive Enable 1, 2, 3, 4, 16 10-30 V (“On”) 0-3 V (“Off”) optically isolated Outputs 17, 18, 19 10-30 VDC sourcing 150 mA...
Page 196 Installation Analog Command Wiring Command Connector with positive direction = CW Figure 117: Analog Command, Differential Output Wiring Diagram Command Connector Figure 118: Analog Command, Single Ended Output Wiring Diagram Encoder Output Signal Wiring The encoder outputs meet RS-422 line driver specifications and can drive up to ten RS-422 signal recievers.
Page 197 Epsilon Eb and E Series EN Drives Reference Manual The default encoder output scaling is set to output the actual motor encoder resolutions. The standard MG and NT motors have 2048 lines per revolution. With PowerTools this resolution is adjustable in one line per revolution increments up to the density of the encoder in the motor.
Page 198 Installation Pulse Mode Wiring, Differential Inputs Figure 121: Pulse Mode, Differential Output to Differential Input Figure 122: Pulse Mode, Single Ended Output to Differential Input Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 199 Epsilon Eb and E Series EN Drives Reference Manual Pulse Mode Wiring, Single Ended Inputs Logic Power Direct Pulse Sinking Outputs (typ) Common isolated from other sources Figure 123: Pulse Mode, Single Ended Output to Single Ended Input (twisted pair cable) Logic Power Pulse...
Page 200 Installation CW Pulse Logic Power CCW Pulse Sinking Outputs (typ) CW Pulse CCW Pulse Common isolated from other sources Figure 125: Pulse/Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) Figure 126: Master/Slave Encoder Connections Note Encoder outputs meet RS-422 driver specifications and can drive up to 10 RS-422 signal recievers.
Page 201: Serial Communications
Epsilon Eb and E Series EN Drives Reference Manual 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. Serial Communications Serial communications with the drive is provided through the female DB-9 connector located on the front of the drive.
Page 202 Installation Front View RS-485 - Comm Common RS-485 + TX (232) To drive processor. RX (232) Shield Bottom View RS-485 - RS-485 + 10 Ohm Single point ground Figure 128: Epsilon RS-232 and RS-485 Internal Connections between the Command Connector and the Serial Communication Connector Caution 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.
Page 203 Multi-Drop Communications The RS-485 option (pins 4 and 9) is provided for multi-drop configurations of up to 32 drives. EMERSON Motion Control provides a special multi-drop serial cable which allows you to easily connect two or more drives. TIA-XXX...
Page 204 Installation TERM-H TERM-T TIA-XXX DDS-XXX DDS-XXX Serial Cable Serial Cables Serial Cables Note: The terminating resistor packs, TERM-H and TERM-T, should be installed on the first (TERM-H) and last (TERM-T) drive in the string if the total cable length is over 50 feet.
Page 205 Epsilon Eb and E Series EN Drives Reference Manual TIA Cable DDS Cable DDS Cable TERM-T TERM-H RX (232) TX (232) 485 + Ground 485 - Computer Drive Drive Drive Serial Port Serial Port Serial Port Computer Serial Drive Serial Port Drive Serial Port Drive Serial Port Port...
Page 206: Options And Accessories
Epsilon Eb and E Series EN Drives Reference Manual Options and Accessories E Series E Drive Options Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 207: Epsilon Eb Drive Options
Epsilon Eb and E Series EN Drives Reference Manual Epsilon Eb Drive Options STI-EIO Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 208: Sti-Eio Standard Terminal Interface
Options and Accessories STI-EIO Standard Terminal 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 the figure below. Note Shield connection points are connected to the shell of the 44-pin “D” connector on the STI EIO.
Page 209: Eci-44 External Connector Interface
Epsilon Eb and E Series EN Drives Reference 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.
Page 210 Options and Accessories Figure 134: ECI-44 Signal Connections Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 211: Fm-P Portable Module
E Series drive. The FM-1 is setup using EMERSON Motion Control’s PowerTools-FM software. PowerTools-FM is an easy-to-use Microsoft®...
Page 212: Fm-2 Indexing Module
Series drive. It provides eight digital input lines and four digital output lines in addition to the four input and three output lines available on the E Series drive. The FM-3 is setup using EMERSON Motion Control’s PowerTools FM-3 software. PowerTools FM-3 is an easy-to- use Microsoft® Windows®-based setup and diagnostics tool.
Page 213 Epsilon Eb and E Series EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 214: Revision History
Epsilon Eb and E Series EN Drives Reference Manual Revision History Overview This chapter describes the drive’s firmware revision history. Each firmware revision incorporated new features and/or enhanced existing ones. This information is very useful to anyone that has a drive with firmware revision A5 or older. PowerTools-Base Revisions with Firmware Revisions Firmware Revision PowerTools...
Page 215: Powertools-Fm Revisions With Firmware Revisions
Epsilon Eb and E Series EN Drives Reference Manual PowerTools-FM Revisions with Firmware Revisions Firmware Revision PowerTools Interface Revision Revision FM-P FM-1 FM-2 REV_13 REV_11 REV_10 REV_9 REV_8 REV_7 REV_6 REV_5 B2, B1 A2, A1 REV_4 All revisions are backward compatible. EN A3, A4 and B3 were never released.
Page 216: Specifications
Specifications Specifications Overview This chapter describes the drive/motor specifications and cable diagrams. Specifically, it includes: • Drive and Motor Specifications • Power Dissipation • Speed Torque Curves • E Series Drive Dimensions • Epsilon Drive Dimensions • MG Motor Dimensions •...
Page 217 E Series Epsilon Series Analog command: ±10 VDC 14 bit, 100 kOhm impedance, differential Maximum Voltage Input Rating: Differential = +/- 14VDC, each input to 0V = +/- 14 VDC Control Inputs Digital inputs: (5) 10-30 VDC, 2.8 kohm impedance; current sourcing signal compatible (active high);...
Page 218 Specifications E Series Epsilon Series Low DC bus Low DC bus (can be disabled) High DC bus High DC bus Power Stage fault Power Stage fault Logic power Logic power Encoder state Encoder state Encoder line break Encoder line break Motor over temperature Drive overtemperature Overspeed...
Page 219: Drive And Motor Combination Specifications
Drive and Motor Combination Specifications Power Cont. Peak Inertia HP @ Torqu Torqu lb-in- Encoder Motor Kt Rated Motor Ke Drive Motor speed resolution lb-in/ARMS Speed VRMS/krpm lb-in lb-in (kg- lines/rev (Nm/ARMS) (kWatt (Nm) (Nm) 15.6 0.38 0.000084 MGE-205 5000 2048 28.3 (0.59)
Page 220: Motor Brake Specifications
Specifications Motor Brake Specifications Holding Added Inertia Added Mechanical Mechanical Torque Coil Voltage Coil Current Motor lb-in-sec2 Weight Disengagement Engagement lb-in (VDC) (Amps) (kg-cm2) lb (kg) Time Time (Nm) 0.000025 MGE-2XXCB 24 (±10%) 0.48 (±10%) 25 ms 40 ms (1.13) (0.0282) (0.55) MGE-316CB...
Page 221: Encoder Specifications
Figure 135 Axial/Radial Loading IP Ratings Rating Motor MG (all) IP65 NT-207 IP65 NT-207 (w/o seals) IP54 NT-212 IP65 NT-212 (w/o seals) IP54 Encoder Specifications Output Density Output Type Output Signals Power Supply Motor Frequency A, B, Z, Comm U, RS422 differential MG and NT 2048 lines/rev...
Page 222: Power Dissipation
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 E Series drive is 11 W minimum to 21 W depending on external loading such as FM modules and input voltages.
Page 223 Power Dissipation Calculation Calculating actual dissipation requirements in an application can help minimize enclosure cooling requirements, especially in multi-axis systems. To calculate dissipation in a specific application, use the following formula for each axis and then total them up. This formula is a generalization and will result in a conservative estimate for power losses.
Page 224: Speed Torque Curves
Specifications Speed Torque Curves Continuous ratings of the MG and NT motors are based on 100°C (212°F) motor case temperature and 25°C (77°F) ambient temperature with the motor mounted to an aluminum mounting plate as shown in the table below. Motor Mounting Plate Size MG-205 and 208, NT-207 and 212...
Page 225 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 226 Specifications Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 227 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 228 Specifications Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 229: E Series Drive Dimensions
E Series Drive Dimensions Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 230 Specifications Epsilon Drive Dimensions The following table applies to A* and B* as shown in the figure below. Dimension A* Dimension B* Drive Model (shown in (shown in inches/mm) 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 [17.78]...
Page 231: Mg Motor Dimensions
MG Motor Dimensions MGE-205 and 208 Motors MGE-205 and 208 Mounting Dimensions inches (mm) U Max S Min C Max 5.60 2.25 1.20 .375 .563 .127 0.300 2.625 .063 1.502 .205 (143.0) (57.2) (11.2) (30.5) (9.525) (14.3) (3.23) (7.62) (51) (66.68) (1.60) (38.15)
Page 232 Specifications MGE-455, 490 and 4120 Motors MGE-455, 490 and 4120 Mounting Dimensions inches (mm) U Max S Min C Max 8.61 5.00 .6245 1.50 .1875 3.20 5.875 4.500 3/8-16 (218.7) (127.0) (13.5) (48.2) (15.862) (38.1) (4.763) (13.0) (81.3) (149.23) (2.50) (114.30) 11.11 5.00...
Page 233: Nt Motor Dimensions
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 flats hex nut. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 234 Specifications NTM-207 Motors; Metric Face Note Mounting ears have clearance for 10mm across flats hex nut or 13mm O.D. washer. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 235 NTE-212 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 flats hex nut. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 236 Specifications NTM-212 Motors; Metric Face Note Mounting ears have clearance for 10mm across flats hex nut or 13mm O.D. washer. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 237: Cable Diagrams
Cable Diagrams Drive Signal CMDX, CMDO, ECI-44 CDRO AX4-CEN Analog In + Analog In - Encoder Out A Encoder Out A/ Encoder Out B Encoder Out B/ Encoder Out Z Encoder Out Z/ Pulse In A Pulse In A/ Pulse In B Pulse In B/ Pulse In Z Pulse In Z/...
Page 238 Specifications 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). Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 239 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). Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 240 Specifications CDRO-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 241 AX-CEN-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 242 Specifications EIO-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 243 TIA-XXX Cable DDS-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 244 Specifications TERM-H (Head) Terminator TERM-T (Tail) Terminator Note See the "Multi-drop Communications" section for resistor values. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 245 CMDS-XXX Cable CMMS-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 246 Specifications CFCS-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 247 CFCO-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 248 Specifications CFOS-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 249: Vendor Contact Information
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 Bussman P.O. Box 14460 St. Lois, MO. 63178-4460 (314) 394-3877 www.bussman.com Littelfuse 800 E. Northwest Hwy Des Plaines, IL.
Page 250: Glossary
Epsilon Eb and E Series EN Drives Reference Manual Glossary µs Microsecond. Amps. ARMS Amps (RMS). American Wire Gauge. Baud Rate The number of binary bits transmitted per second on a serial communications link such as RS-232. (1 character is usually 10 bits.) Check Box In a dialog box, a check box is a small box that the user can turn “On”...
Page 251 Epsilon Eb and E Series EN Drives Reference Manual Downloading The transfer of a complete set of parameters from PowerTools or an FM-P. EEPROM An EEPROM chip is an Electrically Erasable Programmable Read-Only Memory; that is, its contents can be both recorded and erased by electrical signals, but they do not go blank when power is removed.
Page 252 Glossary Input Function A function (i.e., Stop, Preset) that may be attached to an input line. Input Line The actual electrical input, a screw terminal. Least Significant Bit The bit in a binary number that is the least important or having the least weight. Light Emitting Diode.
Page 253 Epsilon Eb and E Series EN Drives Reference Manual Opto-isolated A method of sending a signal from one piece of equipment to another without the usual requirement of common ground potentials. The signal is transmitted optically with a light source (usually a Light Emitting Diode) and a light sensor (usually a photosensitive transistor).
Page 254 Glossary RAM is an acronym for Random-Access Memory, which is a memory device whereby any location in memory can be found, on average, as quickly as any other location. Root Mean Squared. For an intermittent duty cycle application, the RMS is equal to the value of steady state current which would produce the equivalent heating over a long period of time.
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Page 256 Epsilon Eb and E Series EN Drives Reference Manual Index CFCO-XXX Cable, 230 CFCS-XXX Cable, 229 CFOS-XXX Cable, 231 AC Line Filter Installation Notes, 153 Changing the Default View, 7 AC Line Filters, 153 CMDO-XXX Cable, 222 AC Supplies NOT Requiring CMDS-XXX Cable, 228 Transformers, 160 CMDX-XXX Cable, 221...
Page 257 Epsilon Eb and E Series EN Drives Reference Manual Disconnecting Communications, 22 Fault Descriptions, 114 Downloading the Configuration File, 19 Feature Location, 3 Drive Ambient Temperature, 43 Features, 2 Drive and Motor Combination Feedforwards, 102 Specifications, 202 FM-1 Speed Module, 194 Drive Enable Wiring, 173 FM-2 Indexing Module, 195 Drive Faults, 119...
Page 258 Index Opening an Online Configuration Window, Operation Verification, 21 Line Fusing, 163 Operational Overview, 23 Line Voltage, 103 Options and Accessories, 189 Output Functions, 55 Outputs Tab, 71 Mechanical Installation, 156 MG Motor Dimensions, 214 MGE-205 and 208 Motors, 214 PID vs.
Page 259 Epsilon Eb and E Series EN Drives Reference Manual Rebooting the Drive, 119 Torque Test, 148 Resetting Faults, 119 Transformer Sizing, 162 Response, 101 Travel Limit Application Notes, 36 Revision History, 197 Tuning Hints, 100 RMS Foldback, 40 Tuning Parameters, 100 Rotation Test, 147 Tuning Procedure, 98 Tuning Procedures, 97...
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Page 261 Since 1979, EMERSON Motion Control, a subsidiary of the Emerson Electric Company, has been a leader in the development and manufacturing of motion control equipment and software. EMERSON Motion Control continues to lead the industry in supplying motion control devices designed to improve production efficiency.

This manual is also suitable for:

Epsilon e series Epsilon eb-202 Epsilon eb-203 Epsilon eb-205 Epsilon en-204 Epsilon en-208 ... Show all

Emerson Epsilon Eb Series Reference Manual

Introduction

Safety Considerations

Quick Start

Operational Overview

Setting up Parameters

Tuning Procedures

Diagnostics and Troubleshooting

User Defined Motors

Installation

Options and Accessories

Revision History

Specifications

Glossary

Quick Links

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Summary of Contents for Emerson Epsilon Eb Series

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Table of Contents