Emerson Epsilon Eb-202 Installation Manual
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Emerson Epsilon Eb-202 Installation Manual

Digital servo drive
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  • Page 1 (217) 352-9330 | Click HERE Find the Emerson Motion Control Epsilon Eb-203-00-000 at our website:...
  • Page 2 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 3 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 4 Eden Prairie, Minnesota 55344-3620 U.S.A. Telephone: (612) 995-8000 or (800) 397-3786 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.
  • Page 5 Technical Service (952) 995-8033 Email: [email protected] EMERSON Motion Control’s products are backed by a team of professionals who will service your installation wherever it may be. Our technical service center in Minneapolis, Minnesota is ready to help you solve those occasional problems over the telephone.
  • Page 6 Customer Service (Sales) (952) 995-8000 Email: [email protected] Authorized EMERSON Motion Control distributors may place orders directly with our Order Processing Department by calling the number listed above. For information on your local distributor, call EMERSON Motion Control.
  • Page 7 Epsilon Eb Digital Servo Drive Installation Manual Button names are in italic: OK button. Source code is printed in Courier font: Case ERMS. In addition, you will find the following typographic conventions throughout this manual. This Represents Characters that you must type exactly as they appear. For bold example, if you are directed to type a:setup, you should type all the bold characters exactly as they are printed.
  • Page 8 involved. In addition, this individual has the following qualifications: • Is trained and authorized to energize, de-energize, clear, ground and tag circuits and equipment in accordance with established safety practices. • Is trained in the proper care and use of protective equipment in accordance with established safety practices.
  • Page 9 Underwriters Laboratories Listed LISTED 51Y8 IND. CONT. EQ. The Epsilon Digital Servo Drives are marked with the “UL Listed” label after passing a rigorous set of design and testing criteria developed by UL (UL508C). This label indicates that UL certifies this product to be safe when installed according to the installation guidelines and used within the product specifications.
  • Page 10 Epsilon Eb Digital Servo Drive Installation 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 Digital Servo Drives are marked with the “Conformite Europeenne Mark”...
  • Page 11 Declaration of Conformity EMERSON Motion Control Manufacturer’s Name: 12005 Technology Drive Eden Prairie, MN 55344 Manufacturer’s Address: 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 Interface.

  • Page 12: Table Of Contents

    Table of Contents Introduction Overview ..........1 Features .
  • Page 13 Motor Feedback Wiring......32 Input/Output and Drive Enable Wiring....34 Command Connector Wiring .
  • Page 14 Drive Specifications........73 Drive and Motor Combination Specifications ....77 Motor Brake Specifications.
  • Page 15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 16: Overview

    Introduction Overview The Epsilon 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. The drives are designed to operate with up to a 10 :1 inertia mismatch right out of the box.

  • Page 17: Features

    Epsilon Eb Digital Servo Drive Installation Manual The MG and NT motors that are matched to the Epsilon drives provide low inertia, high power to size ratios, and encoder feedback for accurate positioning. Features • Digital drive design using DSP, ASIC and surface mount technologies.
  • Page 18 • 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. • Scalable Encoder Output in one line per revolution increments.

  • Page 19: How This Manual Is Organized

    Epsilon Eb Digital Servo Drive Installation Manual Figure 1: Epsilon Eb Drives Feature Location How this Manual is Organized This manual is divided into the following major sections: Introduction This section introduces you to the Epsilon Eb hardware and software features, requirements and operation. Safety Considerations This section describes a number of safety precautions that need to be addressed in a system design.

  • Page 20: Reference Materials

    Introduction Installation This section describes the Epsilon Eb drive hardware features including mounting, AC power wiring, I/O wiring and drive communications. Options and Accessories This section describes the various options and accessories for the Epsilon Eb drive. Specifications This section contains the specifications for the Epsilon Eb drive.
  • Page 21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 22: Safety Considerations

    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 • Setting Up, Commissioning and Maintenance • Safety of Machinery Safety Precautions This product is intended for professional incorporation into a complete system.

  • Page 23: Setup, Commissioning And Maintenance

    Epsilon Eb Digital Servo Drive Installation Manual is designed for use in an environment classified as pollution degree 2 in accordance with IEC664-1. This means that only dry, non-conducting contamination is acceptable. Setup, Commissioning and Maintenance It is essential that you give careful consideration to changes to drive settings.
  • Page 24 Safety Considerations AC supply isolation device The AC supply must be removed from the drive using an approved isolation device or disconnect before any servicing work is performed, other than adjustments to the settings or parameters specified in the manual. The drive contains capacitors which remain charged to a potentially lethal voltage after the supply has been removed.
  • Page 25 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 26: Installation

    Installation Overview This chapter describes how to install the drive, motor and cables. Specifically, it includes: • Basic Installation Notes • Mechanical Installation • Electrical Installation • Serial Communications Basic Installation Notes You are required to follow all safety precautions during start-up such as providing proper equipment grounding, correctly fused power and an effective Emergency Stop circuit which can immediately remove power in the case of a malfunction.
  • Page 27 EMC compliance rests with the machine builder, and EMERSON Motion Control cannot guarantee your system will meet tested emission or immunity requirements. If you need to meet EMC compliance requirements, EMI/RFI line filters must be used to control conducted and radiated emissions as well as improve conducted immunity.
  • Page 28 Installation very little resistance. Impedance cannot be accurately measured with a standard ohmmeter, because an ohmmeter measures DC resistance. For example, a 12 inch long 8 gauge round wire has a significatly higher impedance than a 12 inch long 12 gauge flat braided conductor. A short wire has less impedance than a larger one.
  • Page 29 3:1. 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.
  • Page 30 Cable to Enclosure Shielding Shielded motor, feedback, serial communications and external encoder cables were used for EMERSON Motion Control’s compliance testing and are necessary to meet the EMC requirements. Each cable shield was grounded at the enclosure wall by the type of grommet described earlier and shown in the figure below.
  • Page 31 Epsilon Eb Digital Servo Drive Installation Manual EMERSON Shielded Cable Conduit Cable Type Cable Grommet Dimension Hole Actual Hole Size Model Kit Part # Size Motor Cable, 16 Ga CMDS CGS-050 1/2" pipe 7/8" Motor Cable, 12 Ga CMMS CGS-050 1/2"...

  • Page 32: Environmental Considerations

    Installation Figure 3:AC Filter and Cable Connections for Epsilon Drives Environmental Considerations If the product will be subjected to atmospheric contaminants such as moisture, oils, conductive dust, chemical contaminants and metallic particles, you must mount it vertically in a metal NEMA type 12 enclosure.

  • Page 33: Wiring Notes

    Epsilon Eb Digital Servo Drive Installation Manual Note For Epsilon drives, surrounding air ambient temperature can be up to 50°C (122° F) with 3% linear derating for every degree above 40° C (104° F) The amount of cooling depends on the size of the enclosure, the thermal transfer of the enclosure to the ambient air and the amount of power being dissipated inside the enclosure.

  • Page 34: Mechanical Installation

    Installation • All inductive coils must be suppressed with appropriate devices, such as diodes or resistor/capacitor (RC) networks. Mechanical Installation Drive Mounting Drives must be back mounted vertically on a metal surface such as a NEMA enclosure. A minimum spacing of two inches must be maintained above and below the drive for ventilation.

  • Page 35: Electrical Installation

    Epsilon Eb Digital Servo Drive Installation Manual Electrical Installation Figure 4: Typical System Grounding Diagram Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 36: Power Supply Requirements

    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 37 Epsilon Eb Digital Servo Drive Installation 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 5: Earth Grounded WYE Distribution Transformer Figure 6: Earth Grounded Delta Distribution Transformer Artisan Technology Group - Quality Instrumentation ...
  • Page 38 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.

  • Page 39: Transformer Sizing

    Epsilon Eb Digital Servo Drive Installation Manual Figure 9: Delta to Delta Isolation Transformer Figure 10: Single Phase Power Supply Connections Transformer Sizing If your application requires a transformer, use the following table for sizing the KVA rating. The values in the table are based on “worst case”...
  • Page 40 Installation temperatures (>40° C or >104° F) and drive operation near the maximum speeds. Drive/Motor Combination Suggested KVA Rating Eb-202/NT-207 Eb-203/NT-207 Eb-202/NT-212 Eb-203/NT-212 Eb-203/MG-316 Eb-205 / MG-340 Transformer output voltage drop may become a limiting factor at motor speeds and loads near maximum ratings. Typically, higher KVA transformers have lower voltage drop due to lower impedance.

  • Page 41: Line Fusing And Wire Size

    Epsilon Eb Digital Servo Drive Installation Manual Line Fusing and Wire Size You must incorporate over current protection for the incoming AC power with the minimum rating shown below. EMERSON Motion Control recommends Bussman type: KTK-R, KTK, LPN or equivalent.
  • Page 42 Installation Front View 50/60 Hz 90-264 VAC Tighten screws to 5 lb-in. Figure 11: Epsilon AC Power Wiring Diagram Caution Do not connect or disconnect AC power by inserting or removing the AC power connector. Using the connector in this manner, even once, will damage the connector making it unusable.

  • Page 43: Alternate Power Supply Wiring

    Epsilon Eb Digital Servo Drive Installation Manual 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 44 Installation Use static control procedures when handling the jumper inside the drive case. The APS input is isolated from all other circuits on the Epsilon drive including the DC bus, logic and I/O. This permits you to use one common 24 VDC power supply for multiple drives without concern for ground loops and noise coupling between drives.
  • Page 45 Epsilon Eb Digital Servo Drive Installation Manual Warning Do not open the APS jumper access panel until at least six minutes after the main AC power has been removed from the L1 and L2 terminals. Note Connecting 24V common on the APS to chassis ground reduces offset voltage in Analog Diagnostic Outputs.

  • Page 46: Motor Power Wiring

    Installation Motor Power Wiring Motors are equipped with up to three male MS (Military Style) connectors, one for stator connections, one for encoder connections and one for the brake (if so equipped). Stator connections from the drive to the motor are made with the CMDS cable which has 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 47: Motor Feedback Wiring

    Figure 15: 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 48 Installation (model CBMS-XXX) has an MS style connector on the motor end and three wire leads on the amplifier end (see wiring diagram below). You must provide a DC power supply rated at +24 VDC with a 2 amp minimum current capacity for the brake. If you use this voltage source to power other accessories such as I/O or more than one brake, you must increase its current capability.

  • Page 49: Input/Output And Drive Enable Wiring

    Epsilon Eb Digital Servo Drive Installation Manual Front View CBMS-xxx Cable Black - Customer supplied drive enable contact Internal Output #3 to Motor Drive Enable 2 Amp Fuse I/O Supply Red + 1 Amp Relay: Motor Fuse I/O Common EMC #BRM-1 Connected to grounded mounting panel.
  • Page 50 Epsilon Input/Output Wiring Diagram 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 and cable (EIO-xxx) for connections. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 51 Epsilon Eb Digital Servo Drive Installation 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 Input #3...

  • Page 52: Command Connector Wiring

    Installation current loading must be limited to 150 mA per output signal. Command Connector Wiring All command and digital I/O signals are available using the 44- pin Command Connector. If you are interfacing your drive(s) to an AXIMA 2000 or 4000 multi-axis controller, simply connect the 44-pin connector of your AX-CEN-XXX cable to the drive and the 25-pin connector to the AXIMA multi-axis controller.
  • Page 53 Epsilon Eb Digital Servo Drive Installation Manual Shield Connected to Connector Shell Command Connector (RED/BRN) Input #1 10 Ohm (BRN/RED) Input #2 (BLK/BLU) Input #3 (BLU/BLK) Input #4 (WHT/ORG) RS 485+ (ORG/WHT) RS 485- (PRP/BLU) Encoder Output Channel A (BLU/PRP) Encoder Output Channel A/ (RED/BLU) Encoder Supply +5 Volts - Output.

  • Page 54: Command Cables

    Installation For information about Command Connector pinout and CMDO-XXX cable wire colors, see the "Specifications" section. Function Pin Numbers Electrical Characteristics Inputs and Drive 1, 2, 3, 4, 16 10-30 V (“On”) 0-3 V (“Off”) optically isolated Enable Outputs 17, 18, 19 10-30 VDC sourcing 150 mA I/O Supply 33, 34...

  • Page 55: Analog Command Wiring

    Epsilon Eb Digital Servo Drive Installation Manual with open wires on the other while the CMDX cable has male connectors on both ends. For information about CMDO-XXX and CMDX-XXX (18 pair cable) cable wire colors see the "Specifications" section. Note Some CMDO and 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).

  • Page 56: Encoder Output Signal Wiring

    Installation Command Connector Figure 22: Analog Command, Single Ended Output Wiring Diagram Encoder Output Signal Wiring The Epsilon drive encoder outputs meet RS-422 line driver specifications and can drive up to ten RS-422 signal recievers. The default encoder output resolution is set so it outputs the actual motor encoder resolutions.
  • Page 57 Epsilon Eb Digital Servo Drive Installation Manual Figure 23: Command Connector Encoder Output Wiring Figure 24: Direction Convention Diagram Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 58: Pulse Mode Wiring, Differential Inputs

    Installation Pulse Mode Wiring, Differential Inputs Figure 25: Pulse Mode, Differential Output to Differential Input Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 59: Pulse Mode Wiring, Single Ended Inputs

    Epsilon Eb Digital Servo Drive Installation Manual Figure 26: Pulse Mode, Single Ended Output to Differential Input Pulse Mode Wiring, Single Ended Inputs Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 60 Installation Logic Power Pulse Direct Sinking Outputs (typ) Common isolated from other sources Figure 27: Pulse Mode, Single Ended Output to Single Ended Input (twisted pair cable) Logic Power Pulse Direct Sinking Outputs (typ) Common isolated from other sources Figure 28: Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) Artisan Technology Group - Quality Instrumentation ...

  • Page 61: Serial Communications

    Epsilon Eb Digital Servo Drive Installation Manual Figure 29: Master/Slave Encoder Connections Note Epsilon encoder outputs meet RS-422 driver specifications and can drive up to 10 RS-422 signal recievers. Each Epsilon differential pulse input is an RS-422 line recievers. The default encoder output resolution is 2048 lines per motor revolution.
  • Page 62 Installation two wire non-isolated RS-485. RS-485 is also available through the 44-pin Command Connector. 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 30: Epsilon RS-232 and RS-485 Internal...

  • Page 63: Modbus Communications

    Serial Communications Specifications Max baud rate 19.2k Start bit Stop bit Parity none Data EMERSON Motion Control’s Motion Interface panels are supplied with a Modbus master communications driver. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 64: Multi-Drop Communications

    Installation 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. TERM-H...
  • Page 65 Epsilon Eb Digital Servo Drive Installation 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 TERM-H...

  • Page 66: Diagnostics And Troubleshooting

    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: • Diagnostic Display • Fault Codes •...
  • Page 67 Epsilon Eb Digital Servo Drive Installation Manual Display Indication Status Description Disabled Power Stage is disabled. Position Pulse mode operation. Velocity Velocity mode operation. Torque Torque mode operation. Summation Summation mode operation. RMS Foldback Motor torque is limited to 80 percent. Drive output current is limited to 80 Stall Foldback percent of drive stall current.

  • Page 68: Fault Codes

    Diagnostics and Troubleshooting Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive. Some faults, like high DC bus and amplifier or motor over temperature, can be reset with the Reset button on the front of the drive or the Reset input function.
  • Page 69 Epsilon Eb Digital Servo Drive Installation Manual Display Fault Action to Reset Bridge Disabled High DC Bus Button or Input Low DC Bus Button or Input Encoder State Power Encoder Hardware Power Cool down, Motor Overtemp Button or Input Overspeed Button or Input Max Following Error Button or Input...

  • Page 70: Fault Descriptions

    Diagnostics and Troubleshooting Display Fault Action to Reset Bridge Disabled Normally "On" for All "On" one second during power-up Fault Descriptions Power Up Test This fault indicates that the power-up self-test has failed. This fault cannot be reset with the reset command or reset button. NVM Invalid At power-up the drive tests the integrity of the non-volatile memory.
  • Page 71 If a cause for Z faults cannot be determined, write down all observations prior to and after the Z faults and contact Emerson Motion Control Technical Service. High DC Bus This fault will occur whenever the voltage on the DC bus exceeds 415 VDC.
  • Page 72 Diagnostics and Troubleshooting With and Epsilon drive, the low DC bus monitoring can be disabled with PowerTools software in the Advanced tab. High DC Bus Threshold Low DC Bus Treshold E Series Epsilon Encoder State Certain encoder states and state transitions are invalid and will cause the drive to report an encoder state fault.
  • Page 73 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. Normally, "All On" appears for less than one second during power-up. All segments are dimly lit when power is "Off." This...

  • Page 74: Diagnostic Analog Output Test Points

    Diagnostics and Troubleshooting Diagnostic Analog Output Test Points The drive has two 8-bit real-time 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 Analog Output Pins located on the front of the drive.
  • Page 75 Epsilon Eb Digital Servo Drive Installation Manual Note Connecting the A.P.S. 24V return to chassis ground reduces output offset voltage. Black (GND) Yellow Blue 10 Ohm 10 Ohm DGNE Cable Pin #'s Command Connector DGNE Cable Figure 33: Diagnostic Cable (DGNE) Diagram Figure 34: Epsilon Location Artisan Technology Group - Quality Instrumentation ...

  • Page 76: Drive Faults

    Diagnostics and Troubleshooting Drive Faults The Drive Faults Detected dialog box is automatically displayed whenever a fault occurs. There are three options in this dialog box: Reset Faults, Ignore Faults and Help. Figure 35: Drive Faults Detected Dialog Box Resetting Faults Some drive faults are automatically reset when the fault condition is cleared.

  • Page 77: Rebooting The Drive

    Epsilon Eb Digital Servo Drive Installation Manual Rebooting the Drive To reboot the drive, cycle power or select the Reboot Drive command from the Device menu. This command reboots the drive attached to the active Configuration Window. Watch Window This feature allows you to customize a window to monitor drive parameters which you select from a complete list of drive parameters.
  • Page 78 Diagnostics and Troubleshooting Figure 36: Watch Window The Watch Window is accessed by selecting Watch Drive Parameters from the Tools menu or by clicking on the Watch Window icon on the toolbar. The Watch Window will automatically appear as soon as you select a parameter from the Select Drive Parameters dialog box.
  • Page 79 Epsilon Eb Digital Servo Drive Installation Manual Group This list box enables you to view the complete list of parameters or just a group of parameters you are interested in. The groups include: Analog Out Fault Log Setup Communication Home (FM-2 / Ei only) Status Digital Inputs Torque...

  • Page 80: View Motor Parameters

    Diagnostics and Troubleshooting View Motor Parameters When online with the drive this feature allows you to display a pre-defined Watch Window to monitor three motor parameters. These parameters are normally used when testing the setup of a User Defined Motor for commutation accuracy. Figure 38: View Motor Parameters Window The View Motor Parameters window is accessed by selecting...
  • Page 81 Epsilon Eb Digital Servo Drive Installation Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 82: Options And Accessories

    Options and Accessories Epsilon Eb Digital Servo Drive STI-EIO Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 83: Eci-44 External Connector Interface

    Epsilon Eb Digital Servo Drive Installation Manual ECI-44 External Connector Interface The ECI-44 allows access to all command and input and output signals. The ECI-44 should be mounted close to the drive and away from any high voltage wiring. The ECI-44 comes complete with the hardware necessary for mounting to most DIN rail mounting tracks.

  • Page 84: Sti-Eio Interface

    Options and Accessories Use tie wraps to provide a strain relief and a ground connection at the shield connection points. If you do not wish to use the DIN rail mounting hardware, the ECI-44 can be disassembled and the mounting clips removed. The ECI-44 wire range is #18 to 24 AWG stranded insulated wire.
  • Page 85 Epsilon Eb Digital Servo Drive Installation Manual Figure 40: Dimensions of STI-EIO Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 86 Options and Accessories Figure 41: ECI-44 Signal Connections Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 87 Epsilon Eb Digital Servo Drive Installation Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 88: 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 • Epsilon Drive Dimensions • MG Motor Dimensions and NT Motor dimensions • Cable Diagrams •...
  • Page 89 Epsilon Eb Digital Servo Drive Installation Manual Epsilon Series RS-232 / RS-485 Internal RS-232 to RS-485 converter Serial Interface Modbus protocol with 32 bit data extention 9600 or 19.2 k baud Analog command: ±10 VDC 14 bit, 13 bit, 100 kohm impedance, differential Digital inputs: (5) 10-30 VDC, 2.8 kohm impedance;...
  • Page 90 Specifications Epsilon Series Differential line driver, RS-422 and TTL compatible Scalable in one line increment resolution up to 2048 lines/rev of the motor (MG and NT) Output Device = AM26C31 Encoder Output Signal 20 mA per channel, sink and/or source @ 20 mA = 3.8 - 4.5 V out Hi @ 20 mA = 0.2 - 0.4 V...
  • Page 91 Epsilon Eb Digital Servo Drive Installation Manual Epsilon Series Ambient temperature range for rated output: 32° F to 104° F (O° C to 40° C) Maximum ambient operating temperature: 104° F to 122° F (40° C to 50° C) with power derating of 3%/°C Rated altitude: 3,280 feet (1000 m) Environmental Vibration: 10 - 2000 Hz at 2g...

  • Page 92: Drive And Motor Combination Specifications

    Specifications Drive and Motor Combination Specifications Encode Motor Power Cont. Peak Motor HP @ Inertia Torque Torque resoluti lb-in/ Drive Motor Rated lb-in-sec speed lb-in lb-in VRMS/ ARMS Speed (kg-cm (Nm) (Nm) lines/ krpm (Nm/ (kWatts) ARMS) 13.5 0.31 0.000084 MG-205 5000 2048...

  • Page 93: Motor Brake Specifications

    Epsilon Eb Digital Servo Drive Installation Manual Motor Brake Specifications Holding Added Inertia Torque Added Weight Motor lb-in-sec2 lb-in lb (kg) (kg-cm2) (Nm) 0.000025 MGE-2XXCB (1.13) (0.0282) (0.55) MGE-316CB 0.00015 MGM-340CB (5.6) (0.1693) (1.1) MGE/M-455CB 0.000412 MG-490CB (24.9) (0.4652) (2.6) MG-4120CB Mechanical Mechanical...
  • Page 94 Specifications Motor Weights Weight Weight Motor lb (kg) lb (kg) without Brake with Brake MGE-205 3.0 (1.36) MGE-208 4.0 (1.8) 5.8 (2.6) MGE-316 8.3 (3.8) 10.7 (4.9) MGE/M-340 14.6 (6.6) 17.0 (7.7) MGE/M-455 18.5 (8.4) 24.3 (11.0) MGE/M-490 27.0 (12.3) 32.8 (14.9) MGE/M-4120 38.0 (17.3)
  • Page 95 Epsilon Eb Digital Servo Drive Installation Manual Axial/Radial Loading Max Radial Max. Axial Motor Load (lb.) Load (lb.) MGE-205 MGE-208 MGE-316 MGM-340 MGE/M-455 MGE/M-490 MGE/M-4120 Figure 42 Axial/Radial Loading Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 96: Encoder Specifications

    Specifications 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 RS422 A, B, Z, Comm U, 2048 250 kHz differential Comm W, Comm V 5V, 200 mA ±10%...

  • Page 97: Power Dissipation

    Epsilon Eb Digital Servo Drive Installation Manual Power Dissipation In general, the drive power stages are 90 to 95 percent efficient depending on the actual point of the torque speed curve the drive is operating. Logic power losses on the Epsilon drive are 11 W with normal loads to 15 W with additional loads such as external encoder and low input voltage (<22 VDC on A.P.S.
  • Page 98 Specifications 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 99: Speed Torque Curves

    Epsilon Eb Digital Servo Drive Installation Manual 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.
  • Page 100 Specifications Figure 43: Epsilon Speed Torque Curves, sheet 1 of 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 101 Epsilon Eb Digital Servo Drive Installation Manual Figure 44: Epsilon Speed Torque Curves, sheet 2 of 2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 102 Specifications Epsilon Drive Dimensions: Eb 202, Eb-203, Eb-205 The following table applies to A* and B* as shown in Figure 45. 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]...

  • Page 103: Mg Motor Dimensions

    Epsilon Eb Digital Servo Drive Installation Manual MG Motor Dimensions MGE-205 and 208 Motors MGE-205 and 208 Mounting Dimensions inches (mm) U Max S Min 5.60 2.25 1.20 .375 .563 .127 (143.0) (57.2) (11.2) (30.5) (9.525) (14.3) (3.23) 6.75 2.25 1.20 .375 .563...
  • Page 104 Specifications MGE-316 and 340 Motors MGE-316, MGM-316, and MGM-340 Mounting Dimensions inches (mm) U Max 7.24 3.31 1.21 .4997 (184.0) (84.0) (11.2) (30.7) (12.69) (22.9) 7.24 3.50 0.44 1.20 .5512 0.79 (183.9) (89.0) (11.2) (30.5) (14.00) (20.0) 10.24 3.50 1.20 .5512 .787 (260.1)
  • Page 105 Epsilon Eb Digital Servo Drive Installation Manual MGE-455, 490 and 4120 Motors MGE-455, 490 and 4120 Mounting Dimensions inches (mm) U Max S Min 8.61 5.00 .6245 1.50 .1875 (218.7) (127.0) (13.5) (48.2) (15.862) (38.1) (4.763) 11.11 5.00 .8750 1.50 .1875 (282.10) (127.0)
  • Page 106 Specifications MGM-455, 490 and 4120 Motors MGE-455, 490 and 4120 Mounting Dimensions mm (inches) U Max S Min 216.0 121.0 13.0 50.5 19.000 40.0 6.00 (8.59) (4.764) (.51) (1.99) (.7480) (1.58) (.236) 281.7 121.0 13.0 50.5 24.000 37.1 7.963 (11.09) (4.764) (.51) (1.99)

  • Page 107: Nt Motor Dimensions

    Epsilon Eb Digital Servo Drive Installation Manual NT Motor Dimensions NTE-207 Motors; English Face (NEMA 23 with 3/8 inch shaft) Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 108 Specifications Note Mounting ears have clearance for #10 or M5 Allen head screw or .3125" or 8mm across flat hex nut. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 109 Epsilon Eb Digital Servo Drive Installation Manual NTM-207 Motors; Metric Face Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 110 Specifications Note Mounting ears have clearance for #10 or M5 Allen head screw or .3125" or 8mm across flat hex nut. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 111 Epsilon Eb Digital Servo Drive Installation Manual NTE-212 Motors; English Face (NEMA 23 with 3/8 inch shaft) Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 112 Specifications Note Mounting ears have clearance for #10mm or M5 Allen head screw or .3125" or 8mm across flat head screw. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 113 Epsilon Eb Digital Servo Drive Installation Manual NTM-212 Motors; Metric Face Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 114 Specifications Note Mounting ears have clearance for 10mm across flat hex nut or 13mm O.D. washer. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 115: Cable Diagrams

    Epsilon Eb Digital Servo Drive Installation Manual 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...
  • Page 116 Specifications Drive Signal CMDX, CMDO, ECI-44 CDRO AX4-CEN Analog Out #1 + Analog Out #2 + External Encoder +5 Power Out (200 +15V Power Out (10 ma) RS-485 + RS-485 - Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 117: Cmdx-Xxx Cable

    Epsilon Eb Digital Servo Drive Installation Manual CMDX-XXX Cable Note Some CMDX cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown in the figure above (pins 6 and 21). Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 118: Cmdo-Xxx Cable

    Specifications CMDO-XXX Cable Note Some CMDO cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown in the figure above (pins 6 and 21). Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 119: Cdro-Xxx Cable

    CDRO-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 120: Ax-Cen-Xxx Cable

    Specifications AX-CEN-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 121: Eio-Xxx Cable

    Epsilon Eb Digital Servo Drive Installation Manual EIO-XXX Cable Input #1 Drive Enable Input Input #3 Input #2 Input #5 Input #4 Input #7 Input #6 Input #9 Input #8 Input #11 Input #10 Output #1 Output #2 Output #5 Input #12 Output #3 Output #4...

  • Page 122: Tia-Xxx Cable

    Specifications TIA-XXX Cable DDS-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 123: Term-H (Head) Terminator

    Epsilon Eb Digital Servo Drive Installation Manual 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 124: Cmds-Xxx Cable

    Specifications CMDS-XXX Cable CMMS-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 125: Cfcs-Xxx Cable

    CFCS-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 126: Cfco-Xxx Cable

    Specifications CFCO-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 127: Cfos-Xxx Cable

    Epsilon Eb Digital Servo Drive Installation Manual CFOS-XXX Cable Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 128: Vendor Contact Information

    Specifications 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 129 Epsilon Eb Digital Servo Drive Installation Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 130 Index Command Connector Wiring, 37 AC Line Filter Installation Notes, 14 AC Line Filters, 14 DDS-XXX Cable, 107 AC Supplies NOT Requiring Declaration of Conformity, x Transformers, 22 Diagnostic Analog Output Test AC Supplies Requiring Points, 59 Transformers, 23 Diagnostic Cable (DGNE) Achieving Low Impedance Diagram, 60 Connections, 12...
  • Page 131 Epsilon Eb Digital Servo Drive Installation Manual EMC, 11 Encoder Output Signal Wiring, Mechanical Installation, 19 Encoder Specifications, 81 MG Motor Dimensions, 88 Environmental Considerations, MGE-205 and 208 Motors, 88 MGE-316 and 340 Motors, 89 MGE-455, 490 and 4120 Motors, 90, 91 Modbus Communications, 48 Motor Brake Specifications, 78...
  • Page 132 Index TIA-XXX Cable, 107 Transformer Sizing, 24 Power Dissipation, 82 Power Dissipation Calculation, Power Supply Requirements, 21 Underwriters Laboratories Pulse Mode Wiring, 43 Recognition, ix Rebooting the Drive, 62 Vendor Contact Information, 113 Resetting Faults, 61 View Motor Parameters, 65 Viewing Active Drive Faults, 61 Safety Considerations, 7 Safety of Machinery, 8...
  • Page 133 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

This manual is also suitable for:

Epsilon eb-203Epsilon eb-205

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