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Emerson Epsilon EP Drive Installation Manual

1. WHITE ORANGE P LIGHT GREEN GREEN P BLUE LIGHT BLUE P LIGHT BROWN BROWN P oom s o o m 72 A AC Line Filter Installation Notes 7 AC Line Filters 6 AC NOT Requiring Transformers 11 AC Requiring Transformers 12 Achieving Low Impedance Connections 3 Analog Command Wiring 32 B Basic Installation Guidelines 3 C Cable Diagrams 59 Cable to Enclosure Shielding 6 CMDS XXX Cable 66 CMMS XXX Cable 66 D DC Logic Power Supply Wiring 22 Declaration of Conformity vii Diagnostic Analog Output Test Points 47 Diagnostic Display 41 Diagnostics and Troubleshooting 41 Drive Enable Wiring 26 Drive Faults 47 Drive overload protection vi 73 Index E EIO26 XXX Cable 59 Electromagnetic Compatibility 3 Encoder Output Signal Wiring 32 Environmental Considerations 4 Epsilon EP Drive Options 49 Epsilon EP Specifications 55 F Fault Codes 42 Fault Descriptions 44 Feature Location 1 H High Power Connections 10 Input Power Connections 17 Input Output 26 Installation 3 L Line Fusing 16 Logic Power Supply Specification 22 M U Motor Brake Wiring 25 Underwriters Laboratories Recognition v Motor Feedback Wiring 23 Motor Power Wiring 19 V O e Viewing Active Drive Faults 48
2. Controller B Encoder Input Z Ra 7 Connector Shell B 2 Ra External Internal 10 Ohm Single Point Ground W Twisted Pair Figure 35 Analog Sync Output Connector J5 Encoder Output Wiring Figure 36 Direction Convention Diagram Installation 33 Safety Information Product Overview Installation Options and Specification Accessories Pulse Mode Wiring Differential Inputs 500 ns Minimum Shield connected Drive to connector shell 250 ns Minimum Sync Input Connector Motion occurs 910 10 Ohm on rising edge A Pulse 500 ns Minimum Cw RS 422 Type B Direction Differential Drives Single Point Panel Ground W 1 W Twisted Pair E Note If the external controller does not have an internal terminating resistor R1 and R2 must be mounted within 3 ft 1 m of the drive A 120 ohm resistor is recommended for high frequency over 250 kHz feedback signals or cable lengths longer than 25 feet Single Point PE Ground Figure 37 Pulse Mode Differential Output to Differential Input 500 ns Minimum 500 ns Minimum 250 ns Minimum Shield connected Drive to connector shel Motion occurs Sync Input Connector A Pulse on falling edge CS A J10 10
3. CONNECTOR END VIEW SOLDER SIDE Pin Pin Blunt end 1 i Q 2 3 i 5 EL EP 6 7 BRN UE P 8 4 F P 9 1 A e 70 SOLDER SIDE Pin Safety Information Product Overview Installation Options and Specification Accessories SNCMD 89 XXX Pin 1 gt RED O A 1 n gt EP gt 1 GRN B ST B I 3 B 5 YEL I 5 7 6 BLK 6 z Li EP GND 8 PUR 8 5V 4 I BLU 4 Pin removed N C 9 Drain Wire L Completely remove pin 4 6 e 7 Ve es SOLDER SIDE Pin CONNECTOR END VIEW Pin Specifications 71 Safety Information Product Overview Installation Options and Specification Accessories Communications Cables ESA SP 485 XXX ae Drain Wire 4 i 4 WHT GRN L 5 P 1 SIGNAL GND 3 GRN 7 SIGNAL TXRX 2 AHTIBLU L RE 22 7 st 10 TXRX WHT ORG 15 5 ____ bo ER T T i WHT BRN E ia i 5 BRN c P SOLDER SIDE Pin 5 PIN 1 ETH PATCH XXX
4. BLU WHT 20 AWG 2 Drain Wire Sy SOLDER SIDE Socket 62 Safety Information Product Overview Installation Options and Specification Accessories XTBMS XXX gt RED BLK DRAIN WIRE REAR VIEW OF CONNECTOR Specifications 63 Safety Information Product Overview Installation Options and Specification Accessories XEFTS XXX Cable D m a RHO BLU i 2 Ky SRN 2 B 3 GRN Inner Drain Wire 3 B 4 LJ BRN 1D 4 Z 5 BLK Inner Drain Wire 5 7 z 6 S e z U 7 WHT BRN Inner Drain Wire 7 U w BRN WHT M 8 u 9 WHT GRY 1 9 vi ho GRY WHT rt 10 v w n RED ORG W 12 ORG RED M 12 w 5 h3 RED BLU 18 ga i 13 45 VDC o i BLU RED 18 ga t 14 COMMON C REUIGEN Term g dm MOTOR TEMP GRN RED M SHIELD 15K J Overall Shield Drain Wire 12345 s eee ee 71 Tie a 15 14 13 12 11 REAR VIEW OF sm e e e CONNECTOR SOLDER SIDE Pin 64 Safety Information Product Overview Installation Options and Specificat
5. encoder All EP Models except EP P 0 38 A with 250 mA sync encoder CAUTION Do not wire AC line into the logic power supply input Doing so will damage the drive Front View Fuse if required 24 to protect wiring Logic Power Supply User Supplied 24 Vdc 24 V RTN eeeeeeeece E Tighten screws Single point PE ground to 5 in Ib To other drives or equipment I O supplies etc Figure 19 Logic Power Supply Wiring Diagram For UL applications the logic power supply must be a UL recognized or UL listed limited voltage limited energy or limited voltage limited current supply or a limited voltage supply with overcurrent protection appropriate for the wiring and not to exceed 12 A Isolate line connected circuits from low voltage circuits For applications to meet the EU Low Voltage Directive an approved 24V supply must be used and the negative side must be grounded to PE PELV circuits must have protective separation for 300 V system voltage from mains connected circuits including separation between encoder circuits and motor power wiring If all circuits connected 22 Safety Information Product Overview Installation Options and Specification Accessories to the logic supply are PELV the wiring need not be isolated from direct contact within a zone of equipotential bonding normal
6. 17 Operation on DC Input Supply 17 External Shunt Electrical Installation 18 Motor Power 2 52 dote ale use SOY 19 Step 4 Low Power Connections 22 DC Logic Power Supply Wiring 22 Motor Feedback Wiring J6 Motor Brake Wiring Input Output and Drive Enable Wiring Analog Command Wiring Encoder Output Signal Wiring Communications Diagnostics and Troubleshooting Diagnostic Display u See pe NT tee unas ves Status COMES score eet CEA E Fault Codes sida BY be Oy AE Sees oe San Fault Descriptions Diagnostic Analog Output Test Points Dr ve Eaults z P IRE RAE E Options and Accessories Epsilon EP Drive Options SEI 241Q ren serie eri APIS NEUF MEDIE Recta STI SNCOA oer ee UR CR Ra STESNGL o ub ver PIDE Pb dense STIENG ein Rer REI env EE A Rer a Y Specifications Epsilon EP Specifications Epsilon EP D
7. logic Direction 4 1 Sinking Outputs typ Single Point Panel Ground Direction ease isolated from other sources Figure 40 Pulse Mode Single Ended Output to Single Ended Input non twisted pair cable Installation 35 Safety Information Product Overview Installation Options and Specification Accessories 1 us Minimum 1 us Minimum I 500 ns Minimum Motion occurs on falling edge MI CW Pulse Drive Analog Sync Output Connector Shield connected to connector shell Cw logic Ccw CCW Pulse I 109 I I I I Pulse Direction 441 Sinking Outputs typ Single Point CW Pulse Panel Ground CCW Pulse isolated from other sources Pulse Pulse Mode Single Ended Output to Single Ended Input non twisted pair cable L2 9 0 o Figure 41 Slave Drive Sync Input Connector J10 Slave Drive Slave Drive Sync Input Connector J10 Sync Input 1 B B 315 H Master Encoder or Drive Outpu 2 Drivers Note R1 R2 and R3 must be mounted within 3 ft 1m of the end drive 120 ohm resistor is recommended for high frequency over 250 kHz stepping or
8. 5v 4 m Drain Wire 15 14 13 12 11 10 9 OOoooe ee SOLDER SIDE SOLDER SIDE Pin Pin SNCFLOA XXX Blunt end pu ENCODEROUTA 1 BLU i a Fo et ORN ENCODER OUT A 9 4 KH I ENCODEROUTB 2 GBN a ol BRN EP ENCODER 10 tH T ENCODER OUTZ 3 BLK i gt Hill YEL ENCODER OUTZ 11 H PULSE IN A SINGLE ENDED 4 i WHT BRN EL PULSE IN B SINGLE ENDED 12 1 1 BRN WHT ANALOG OUT CHANNEL 1 7 H WHT GRY LE ANALOG OUT CHANNEL 2 15 GRY WHT ANALOG OUT OV 6 RED ORG _ Ir 5 I ANALOG OUT ov 14 ORG RED 5 ANALOG COMMAND IN 5 RED BLU al P ANALOG COMMAND IN 13 BLU RED z O4 GND 8 GRN RED 1 1 pum RED GRN FP NL 444 U SOLDER SIDE Pin Specifications 69 Safety Information Product Overview Installation Options and Specification Accessories SNCMD 815 XXX A B 2 GND 5 VDC SNCFLI XXX Pin 1 NIN gt gt 5 lt 6 N C RED ORG GRN YEL BLK BRN 1 9 2 10 PUR BLU 11 ile 205 DRAIN WIRE 2 d FFP A N 2 D 15 14 13 12 11 10 9 D 00 e
9. CONTROL 727 TECHNIQUES Epsilon EP Drive Installation Manual P N 400518 01 Revision A1 Date December 15 2006 Control Techniques Americas LLC 2006 EMERSON Industrial Automation Epsilon EP Drive Installation Manual gt CONTROL 727 TECHNIQUES Information furnished by Control Techniques Americas LLC Control Techniques is believed to be accurate and reliable However no responsibility is assumed by Control Techniques for its use Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice Control Techniques also assumes no responsibility for any errors that may appear in this document Information in this document is subject to change without notice P N 400518 01 Revision Al Date December 15 2006 Control Techniques Americas LLC 2006 Control Techniques Americas LLC 2006 Part Number 400518 01 Revision Al Date December 2006 Printed in United States of America Information in this document is subject to change without notice No part of this document may be reproduced or transmitted in any form or by any means electronic or mechanical for any purpose without the express written permission of Control Techniques Americas LLC Control Techniques Americas LLC a division of EMERSON Co Control Techniques Americas LLC is not affiliated with Microsoft Corporation owner of the Micros
10. NT and MG Motors NT and MG motors are equipped with up to three male MS Military Standard connectors one for stator connections one for encoder connections and one for the brake if so equipped 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 front of the drive The motor ground wire and shields must be run all the way back to the drive terminal and must not be connected to any other conductor shield or ground except the enclosure wall for EMC Installation 19 Safety Information Product Overview Installation Options and Specification Accessories 20 Front View Figure 16 Wire crimp ferrules are recommanded For ground lead use Pheonix Contact p n AI TWIN 2X1 5 8Bk 32 00 82 3 American Electrical DigiKey 1381015 288 1130 ND For motor leads use Pheonix Contact p n AI 1 5 8 RD 32 01 13 6 or ALTEC p n H1 5 14 2204 0 Pk 100 NT or MG Motor Power Connection Ground Connector Shell Important PE ground should connect to drive and motor only Nothing should be connected between these devices 2 and 3 motor cable connector CMDS xxx cable Tighten screws to 5 in lb Epsilon EP NT MG Motor Power Wiring Diagram Safety Information Product
11. X Flash Invalid This fault indicates that the firmware checksum has failed From the Tools Program Flash menu in PowerTools Pro the firmware stored in flash memory can be reprogram or upgrade If this problem persists call Control Techniques A common cause would be an interrupted F W Flash upgrade cable disconnected during an upgrade process 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 44 Safety Information Product Overview Installation Diagnostics Options and Specification Accessories N NVM Invalid At power up the drive tests the integrity of the non volatile memory This fault is generated if the contents of the non volatile memory are invalid u Invalid Configuration This fault will occur if the digital board in the drive does not match the power board settings It is only useful during manufacturing A drive with this fault should be returned for service H Drive Overtemp Indicates the drive IGBT temperature has reached an over temperature condition This fault is not currently implemented in the EP drive 7 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 H High DC Bus This fault will o
12. Options and Accessories 49 W P Wire Size 16 Wiring Notes 4 Product Overview 1 Pulse Mode Wiring 34 R Rebooting the Drive 48 Resetting Faults 48 S Safety Information iii Safety of Machinery iii Safety Precautions iii Setup Commissioning and Maintenance iii Shunt Control 18 Shunt Resistor Kit Installation 18 Specifications 55 T Transformer Sizing 14 74 Since 1979 the Motion Made Easy products designed and manufactured in Minnesota U S A are renowned in the motion control industry for their ease of use reliability and high performance For more information about Control Techniques Motion Made Easy products and services call 800 893 2321 or contact our website at www emersonct com Control Techniques Americas LLC Division of EMERSON Co 12005 Technology Drive Eden Prairie Minnesota 55344 3620 U S A Customer Service Phone 952 995 8000 or 800 893 2321 Fax 952 995 8129 Technical Support Phone 952 995 8033 or 800 893 2321 Fax 952 995 8020 Printed in U S A
13. SECONDARY To Fusing and Drive Terminals No Fuse EARTH GROUND NOTE For single phase drives using lines L1 amp L2 or L1 amp L3 only one fuse is required on the high leg L2 or L3 Lines L2 amp L3 may be used to balance the load requiring two fuses Figure 8 Earth Grounded Delta Distribution Transformer 240 Vac 38 DISTRIBUTION PANEL SECONDARY Typ 240 Vac L2 L1 PE Protective Earth EARTH GROUND N Used only for 120 Vac operation with L1 or L2 NOTE L3 is a high leg 208 Vac from Neutral PE For single phase drives it is best to use lines L1 and L2 L1 amp L3 or L2 amp L3 maybe used to balance loads Figure 9 Three Phase Delta with mid phase GND Distribution 120 Vac split 240 Vac 30 supply 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 12 Safety Information Product Overview Installation Options and Specification Accessories DISTRIBUTION PANEL 3 Isolation Transformer To Fusing and Drive Terminals N PE Figure 10 Three Phase WYE ungrounded Distribution to a Three Phase Delta WYE Isolation Transformer DISTRIBUTION PANEL Isolation Transformer To Fusing and Drive Term
14. aluminum or stainless steel Devices mounted to the enclosure mounting plate which depend on their mounting surfaces for grounding must have the paint removed from their mounting surfaces and the mating area on the mounting plate to ensure a good ground See Achieving Low Impedance Connections on page 3 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 Cables should be shielded and all shields must be grounded to the enclosure To meet radiated emissions requirements the enclosure door must be closed and have electrical conduction at hinges and closure hardware or be fitted with a conductive gasket Route cables away from the door where possible to minimize coupling emissions to door where they can re radiate The door generally must be bonded to the enclosure for electrical safety but this is not sufficient to meet EMC Achieving Low Impedance Connections Noise immunity can be improved and emissions reduced by making sure that all the components have a low impedance connection to the same ground point A low impedance connection is one that conducts high frequency current with 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
15. correctly fused power and an effective Emergency Stop circuit which can immediately remove power in the case of a malfunction See the Safety Considerations section for more information Electromagnetic Compatibility EMC Drives are designed to meet the requirements of EMC Under extreme conditions a drive might cause or suffer from disturbances due to electromagnetic interaction with other equipment It is the responsibility of the installer to ensure that the equipment or system into which the drive is incorporated complies with the relevant EMC legislation in the country of use The following instructions provide you with installation guidance designed to help you meet the requirements of the EMC Directive 89 336 EEC 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 Control Techniques Americas LLC 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 Physical location of these filters is very important in achieving these benefits The filter output wires should be kept as short as practical and routed away from the filter input wires In addition Choose an enclosure made of a conductive material such as steel
16. 16 CMMF CGS 069 1 125 or 1 1 8 Flex Motor Cable 12 Ga 4X12SF CGS 069 1 125 or 1 1 8 CFCF CGS 069 1 125 or 1 1 8 Flex Feedback Cable CFOF CGS 069 1 125 or 1 1 8 MGFF CGS 069 1 125 or 1 1 8 External Encoder ENCO CGS 047 0 8125 or 13 16 AC Power user supplied user supplied user supplied Safety Information Product Overview Installation Options and Specification Accessories AC Line Filters The AC line filters are necessary to comply with EMC emission and immunity standards The drive was tested with the filters presented in the table below and recommended by Control Techniques Epsilon EP Schaffner Part Control Techniques Part Rating FN2070 10 06 960307 01 10 A 240 V 1 EP202 EP204 FS5278 16 08 960305 01 16 A 240 V 1 EP206 FS5278 16 08 960305 01 The following filters are a suitable alternative Epsilon EP Part Rating EP206 Schaffner FN 2070M 16 8 20 A 240 V 1 EP202 EP204 EP206 Corcom 20EQ1 EP202 Schaffner FN 2070 6 06 6 A 240 V 1 AC Line Filter Installation Notes Itis important to keep the filter inputs routed away from any electrical noise sources criteria can be met in installations where multiple drives are supplied through a single filter however it is the installers responsibility to verify EMC compliance Step 2 Mechanical Installation The drive must be back mounted vertically on a metal mounti
17. 16 EP206 P 3 40 86 9 1 03 26 16 5 94 150 88 25 5 22 63 50 1 20 132 59 130 48 gt 0 45 4 0 219 200 123 4 5 56 15 08 22998 j 3 50 88 0 Cable Clearence 58 Li d J i DDC RJ45 8 099 C Va 205 72 8 A 5 7 70 oo co 195 58 mj B Y 0 75 19 05 E1026 Cable Safety Information Product Overview Installation Options and Specification Accessories Cable Diagrams 21026 Cable PIN 1 i 0 770 T LT ENABLE 10 LT BLU I INPUTLINE1 1 RED WHT INPUT 2 11 LT BLU WHT INPUT LINE3 2 ORG WHT INPUT LINE4 12 LT GRN WHT INPUT LINE5 3 GRN WHT INPUT LINE6 13 YEL GRY INPUTLINE7 4 I OUTPUTLINE1 7 OUTPUT LINE2 17 I YEL OUTPUT LINE3 8 OUTPUT 4 18 BLU 119 RED lO COM 20 BLK INPUTLINE8 14 BLU WHT INPUTLINE9 5 GRY WHT INPUT LINE 10 15 PUR WHT INPUT LINE 11
18. 6 BRN WHT INPUTLINE12 16 I BRN OUTPUT LINE 8 21 I BLK WHT INPUT LINE 13 22 WHT BLK INPUT LINE 14 23 GRN INPUT LINE1S 24 LIGHT GRN OUTPUTLINES 9 GRY OUTPUTLINE6 25 PUR OUTPUTLINE7 26 WHT DRAIN WIRE 1020304050007 9e 0001020 29 9 19 20 21 22 23 24 25 26 eo e o o eo o 0 6 SOLDER SIDE Socket Specifications 59 Safety Information Product Overview Installation Options and Specification Accessories XV Motor Cables XTMDS XXX Cable 6 BRAID SHIELD FORM WIRE S TN PE GND 4 GRN YEL R BRN S 3 BLK BLU T 2 lt 1 2 Ba l 3 4 REAR VIEW OF CONNECTOR 60 Safety Information Product Overview Installation Options and Specification Accessories XCMDS XXX 6 BRAID SHIELD FORM WIRE fa GRN YEL 53 PE GND D U A BRN vic BLK W B BLU la BLU 20 AWG la BLU WHT 20 AWG Drain Wire V SOLDER SIDE Socket Specifications 61 Safety Information Product Overview Installation Options and Specification Accessories XCMDBS XXX FORM WIRE Pex BRAID SHIELD PE GND 0 GRN YEL n BRN wile BLK wla BLU BRKE TE M BLU 20AWG N
19. DRAIN WIRE GND A 5 C gt pe SOLDER SIDE Socket Specifications 67 Safety Information Product Overview Installation Options and Specification Accessories EFCS XXX Cable Pin 1 gt BLU L 7 68 E 2 B N GRN Inner Drain Wire 3 B B 5 88 4 B z M BLK Inner Drain Wire 5 7 U EL E 6 zi WHT BRN Inner Drain Wire U R BRN WHT P al U v WHT GRY 9 ye 8 GRY WHT 10 wi w RED ORG W MIT ORG RED P 12 W 45VDC K RED BLU z 13 45 VDC GND T BLU RED 5 14 COMMON MOTOR OVERTEMP A RED GEN imer Drain Wire 15 MOTOR NOTUSED V ___ 7 Outer Drain Wire x SOLDER SIDE Socket To Motor MG NT MH 68 0504030201 10 9 se 7e SOLDER SIDE Pin To Epsilon EP Safety Information Product Overview Installation Options and Specification Accessories Sync Cables SNCDD 915 XXX 3 Pin 1 Pin 1 ae a RED Ta x Lm 2 9 8 GRN 21 le 5 YEL TE BLK L 2 7 BAN 11 Z GND EUR 8 GND
20. Enable VO Supply Relay XTBMS xxx Cable VO Common Model BRM 1 J3 Connected to grounded mounting panel Single point PE ground Figure 24 Epsilon EP XV 40 80 mm Motor Brake Wiring Diagram XV 130mm Blue Wht Motor Internal to Motor 1000000000 Customer supplied drive Output 3 enable contact Drive Enable Supply Relay Model BRM 1 VO Common Single point 4 PE ground Figure 25 Epsilon EP XV 130 mm Motor Brake Wiring Diagram using the I O Connector Input Output and Drive Enable Wiring The Epsilon EP B drive is equipped with 5 optically isolated input lines one is dedicated to a drive enable function and 3 optically isolated output lines The Epsilon EP I EP IDN and EP P drives are equipped with 16 optically isolated input lines one is dedicated to a drive enable function and 8 optically isolated output lines All inputs and outputs are configured as sourcing that is the outputs source current from the positive side of the I O supply when ON and the inputs are compatible with a sourcing output returning current to the grounded negative side of the 1 0 supply 26 Safety Information Product Overview Installation Options and Specification Accessories Inputs are ON with 10 Vdc to 30 Vdc applied and OFF when less than 1 5 Vdc or 0 2 mA is applied Inpu
21. Laboratories Listed File E 58592 Seco GN L US 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 The conditions of acceptability required by UL are Operating within ratings for Input Voltage Input Current and Output Current Rated Output Current Amps RMS i Continuous Drive Model Full Load Amperes Peak EP202 2 2 44 204 4 0 8 0 206 6 5 13 0 Epsilon drive maximum surrounding air temperature 40 C 104 F at rated Full Load Amperes FLA Epsilon drive maximum surrounding air temperature 50 C 122 F with output current derated 20 for EP206 10 for EP204 and no derating required for EP202 Integral solid state short circuit protection does not provide branch circuit protection Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes Copper only conductors with 75 C minimum insulation rating at all power and motor terminals This product is suitable for use on a circuit capable of delivering not more than 10 000 RMS symmetrical amperes 240 volts maximum when protected by a Class RK1 or Class CC fuse rated not more than 15 A Logic
22. Mode Interface Software selectable differential RS422 or single ended TTL Schmitt Trigger Maximum input frequency Differential 1 MHz per channel 4 million counts second in quadrature 0 5 us minimum pulse width Single ended 500 kHz per channel 2 million counts second in quadrature 1 us minimum pulse width Ratio Capabilities 20 to 163 840 000 PPR Single ended inputs have 1 kohm pull up to 5 V Encoder Output Signal Differential line driver RS 422 and TTL compatible Scalable in one line increment resolution up to 2048 lines rev of the motor NT Shunt Resistor Capacity Regeneration Capacity Energy storage available in bus caps EP202 15 J 240 Vac 30 J 120 Vac EP204 24 J 240 Vac 63 J 120 Vac EP206 40 J 240 Vac 104 J 120 Vac EP204 EP206 External Shunt Control 12 A peak 2 kW max average power 33 ohm minimum external resistor Earth Leakage Current and RCD Compatibility 25 mA AC and 0 1 mA DC with 15 ft 4 6 m CMDS motor power cable and NT 330 motor at 240 Vac Leakage is higher with longer cables The EP drive is compatible with a Type A Residual current Detector RCD that allows expected leakage currents 56 Safety Information Product Overview Installation Options and Specification Accessories Epsilon EP Series Fault Detection Capability Cooling Method Low DC bus can be disabled High DC bus Power Stage fault Logic power Encoder st
23. Ohm Cw CCW B Direction Single Point 5 Out Parel G R1 anel Groun Pulse Resistor Values 1K Ohm Maximum lt 240 Ohm Minimum L x 9 4 V Direction f 4 1K Ohm Maximum 240 Ohm Minimum d T T 1 J 1 2 R3 Single Point W Twisted Pair 120 Ohm Minimum PE Ground Figure 38 Pulse Mode Single Ended Output to Differential Input 34 Safety Information Product Overview Installation Options and Specification Accessories Pulse Mode Wiring Single Ended Inputs 1 us Minimum 1 us Minimum I 500 ns Minimum Motion occurs Pulse on falling Pis uw Drive Analog Sync Output as Shield connected to connector shell CW logic common CCW Direction I I Direction 1 Sinking Outputs typ Single Point Panel Ground Eu X Twisted Pair Common isolated from other sources Figure 39 Pulse Mode Single Ended Output to Single Ended Input twisted pair cable 1 us Minimum io I 1 us Minimum 500 ns Minimum Motion occurs Pulse on falling edge Lu Drive Analog Sync Output Connector Shield connected 35 to connector shell CW 10 common Pulse Direction
24. Overview Installation Options and Specification Accessories XV Motor Power Wiring The XV 40 mm to 80 mm motors are equipped with up to three connectors one for stator connections one for encoder connections and one for the brake if so equipped Stator connections from the drive to the motor are made using the XTMDS cable the motor end of the cable has an Amp Mate N Lok connector and the drive end has four individual wires and shield that connect to the motor power connector on the front of the drive Wire crimp ferrules are recommanded For ground lead use Pheonix Contact p n AI TWIN 2X1 8RD 32 00 81 0 or American Electrical Digikey 1381010 288 1127 ND For motor leads use Pheonix Contact p n Al 1 RD 32 00 03 0 or American Electrical DigiKey 1181010 288 1015 ND XVM 40M 60M 80M Motor Power Connection Front View Ground Connector Shell Important PE ground should connect to drive and motor only Nothing 2 should be connected between these devices motor cable connector XTMDS xxx Tighten screws to 5 in lb Figure 17 Epsilon EP XV 40 mm 80 mm Motor Power Wiring Diagram The XV 130 mm motors have two MS Military Standard connectors one for the stator connections and one for the encoder connections Stator connections from the drive to the mot
25. cause injury You must give close attention to the electrical installation and system design to avoid hazards either in normal operation or in the event of equipment malfunction System design installation commissioning and maintenance must be carried out by personnel who have the necessary training and experience Read and follow this safety information and this instruction manual carefully Qualified Person For the purpose of this manual and product a qualified person is one who is familiar with the installation construction and operation of the equipment and the hazards involved In addition this individual has the following qualifications Is trained and authorized to energize de energize clear and 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 Is trained in rendering first aid Enclosure This product is intended to be mounted in an enclosure that prevents access except by qualified persons and that prevents the ingress of contamination This product 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 Itis essential that you give careful consideration to changes to drive settings Depending on the application a change co
26. dialog box or push the Reset button on the front of the drive where the fault occurred Viewing Active Drive Faults To view all active drive faults select the View Faults command from the Device menu or by clicking on the View Faults button on the toolbar The dialog box displayed is the same as Active Drive Faults Detected dialog box described above 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 48 Safety Information Product Overview Installation Diagnostics Options and Specification Accessories Epsilon EP Drive Options ESA HMI to Drive ESA SP 485 xxx Drive to Drive Drive RS485 to Drive RS485 DDC RJ45 xxx PC to Drive PC RS232 to Drive RS485 Serial Interface Cable CT COMMS Ethernet Splitter RJ45 5 U Ethernet to Drive Windows 98 NT 4 0 2000 or XP Compatible Computer Customer Supplied CT MME POWER CD PowerTools Pro Ethernet 5 port Switch ETH 405TX 2 1 Epsilon EP 1 0 Cable EIO26 xxx STI 2410 Drive Sync Out to Drive Sync In Cable SNCDD 915 xxx Drive Sync Out Cable SNCFLOA xxx Drive Sync Out to FM 3 4 Module In Cable SNCMD 815 xxx Drive Sync Out Breakout Board STI SNCOA Figure 46 Options and Accessories
27. discharge static electricity to enclosure not the drive when performing maintenance NOTE Shield connection points are connected to the shell of the 26 pin D connector on the STI 2410 The STI 2410 wire range is 18 to 24 AWG stranded insulated wire NOTE Wiring should be done with consideration for future troubleshooting and repair All wiring should be either color coded and or tagged with industrial wire tabs Low voltage wiring should be routed away from high voltage wiring Figure 47 Dimensions of the STI 24IO Board 50 Safety Information Product Overview Installation ane and Specification ccessories STI SNCOA The STI SNCOA interface board allows access to the analog sync signals The STI SNCOA plugs directly into the J5 connector on the bottom of the drive The numbers printed on the connector label correlate to the screw terminal numbers CAUTION Do not allow ESD directly to terminals Always discharge static electricity to enclosure not the drive when performing maintenance NOTE Shield connection points are connected from the shell of the D connector to the faston lug connector 12345678 9 10 11 12 13 14 15 Figure 48 STI SNCOA Drive Analog Sync Output Breakout Board Options and Accessories 51 Options and Safety Information Product Overview Installation Accessories Specification STI SNCI The STI SNCI interface bo
28. power and I O power are to be supplied with a UL listed or recognized component power supply rated as limited voltage limited current or limited voltage limited power The following warning is presented here and furnished on a label to be placed on the enclosure door A WARNING Drive has high fault current rating The opening of the branch circuit protective device may be an indication that a fault current has been interrupted All current carrying ports and other components protected by this device should be examined and replaced if damaged If burn out of the current element of an overload relay occurs the complete overload relay must be replaced vi Safety Information Product Overview Installation Options and Specification Accessories Drive Overload Protection Solid state motor overload protection is provided in each model at no more than 115 of rated FLA This overload protection is based on maximum continuous output current capacity It will allow up to 200 percent of drive FLA to be delivered for the amount of time determined by the following chart Drive Output Current vs Time graph 3 5 5 3 2 o E M 8 125 150 175 Drive Rated Current When motor rated FLA is less than drive FLA the motor FLA parameter is to be entered into drive configuration Drive will then provide motor overload protection at correct value Safety Information Prod
29. the EMC Directive 89 336 EEC This servo drive is intended to be used with an appropriate motor electrical protection components and other equipment to form a complete end product or system It must be installed by a professional assembler who is familiar with safety and electromagnetic compatibility EMC requirements The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used Refer to the product manual for installation guidelines December 12 2006 Steve Bartz Director Motion Control Product Line Date Sobetra Automation Langeveldpark Lot 10 P Dasterleusstraat 2 1600 St Pieters Leeuw Belgium European Contact vii Safety Information Product Overview Installation Options Specification Accessories viii Table of Contents Reference US VC UR CU ee TES AS li Safety Information iii Safety Precautions enar eA aie re vis ever vi ee Oen iii Qualified c aga eee ae a r OR Eve SSS ee ee dies iii Enclosure s se an E od ch sd NS ced eel te ele O E E en iii Setup Commissioning and Maintenance iii oea nn een She iii Identification of Safety Information iii Underwriters Laboratories Listed v Dr
30. wire has a significantly higher impedance than a 12 inch long 12 gauge flat braided conductor A short wire has less impedance than a long one Low impedance connections can be achieved by bringing large areas of conductive surfaces into direct contact with each other In most cases this requires paint removal because a ground connection through bolt threads is not sufficient However component materials should be conductive compatible and exhibit good atmospheric corrosion resistance to prevent loss through corrosion that will hinder the low impedance connection Enclosure manufacturers offer corrosion resistant unpainted mounting plates to help Installation 3 Safety Information Product Overview Installation Options Specification Accessories Bringing components into direct contact cannot always be achieved In these situations a conductor must be relied upon to provide a low impedance path between components Remember a flat braided wire has lower impedance than a round wire of a large gauge rating A low impedance connection should exist between the following components but not limited to Enclosure and mounting plate Enclosure and door if door does not have RF gaskets Servo drive chassis and mounting plate EMI RFI AC line filter chassis and mounting plate Other interface equipment chassis and mounting plate Other interface equipment chassis and electrical connectors Enclosure and conduit fittings or electrical conne
31. 89 2 DOGO 60158 CC Quick Acting KTK R 6 ATMR6 6 A 2 pole 6 A 2 pole RK1 Time Delay LPN RK 10SP A2D10R 4489 A1D100 60127 16 AWG RK1 Quick Acting KTN R 10 A2K10R 10 Tpole 10 1 pole es 1901 5 CC Time Delay LP CC 10 ATDR10 1489 A2D100 60161 CC Quick Acting KTK R 10 ATMR10 10 A 2 pole 10 A 2 pole Time Delay LPN RK 15SP A2D15R 4489 A1D150 60129 14 AWG RK1 Quick Acting KTN R 15 A2K15R 15 15 A 1 pole 19029 CC Time Delay LP CC 15 ATDR15 489 A2D150 60263 CC Quick Acting KTK R 15 ATMR15 15 2 pole 15 A 2 pole Use copper conductors only Conductors must be rated 75 C or higher preferably 90 C WARNING The Protective Earth PE wire connection is mandatory for human safety and proper operation This connection must not be fused or interrupted by any means Failure to follow proper PE wiring can cause death or serious injury Drive Model Input Voltage Frequency Input Current Amps RMS at Inrush Current Vac Hz Full Drive Output Current Amps EP202 5 0 40 5 ms EP204 240116 47 63 8 5 65 5 ms EP206 12 0 100 5 ms This inrush current specification assumes the drive has been powered off for at least 8 minutes at 40 C 104 F ambient 5 minutes at 25 C 77 F ambient If this amount of time has not elapsed since power off the inrush current will be higher 16 Safety Information Product Ov
32. External Shunt Resistor SM Heatsink DBR1 N Epsilon EP seria z z L4 z L4 z Drive Brake Relay BRM 1 Motor Power Cable XTMDS xxx XV Motors D Motor Brake Cable XTBMS xxx Motor Power Cable XCMDS xxx or XCMDBS XXX gt T or MG Motors Motor Power Cable CMDS xxx or CMMS xxx Motor Brake Cable CBMS xxx EZ Motors Motor Power Cable PSBAA xxx PBBAA xxx Drive Sync In to Drive Sync Out Cable SNCDD 915 xxx Drive Sync Cable SNCFLI xxx aa Drive Sync In from FM 3 4 Module Out Cable SNCMD 89 xxx Drive Sync In Breakout Board STI SNCI Motor Feedback Breakout Board STI ENC Epsilon EP P Drive shown with Options XV Motors Motor Feedback Cable XEFTS XXX r Motor Feedback Cable XEFCS XXX NT or MG Motors Motor Feedback Cable EFCS XXX EZ Motors Ta maana Motor Feedback Cable SIBAA xxx Flex duty versions of these cables are also available Options and Accessories 49 Safety Information Product Overview Installation M mE Specification ccessories STI 2410 The STI 2410 interface board allows access to all digital input and output signals The STI 2410 mounts directly to the digital I O connector J3 on the front of the EP drive See figure 47 below CAUTION Do not allow ESD directly to terminals Always
33. PDN only Connector J11 EP Pxx only Digital 1 0 Connctor J3 Model Number Part Number Revision and Serial Number Label Sync Input Connector J10 Analog Sync Output Connector J5 Figure 1 Epsilon EP PDN Drive Feature Location Product Overview 1 Safety Information Product Overview Installation Options Specification Accessories Epsilon EP drives rated at 240 Vac input voltage and can operate with an input voltage from 20 to 264 Vac The EP drives are available in three current ratings Drive Model Continuous Power Rating Continuous Current Peak Current Epsilon EP202 670 W 2 2 ARMS 4 4 A RMS Epsilon EP204 1140 W 4 0 A RMS 8 0 A RMS Epsilon EP206 1610 W 6 5 A RMS 13 0 A RMS Safety Information Product Overview Installation Options and Specification Accessories Installation Installation of the Epsilon EP drive is completed by following a simple step by step process The Epsilon EP installation begins by mounting the drive to a metal mounting panel Next the high power connections are made to the drive then the low power connections are made Step 1 Basic Installation and Panel Layout page 3 Step 2 Mechanical Installation page 7 Step 3 High Power Connections page 10 Step 4 Low Power Connections page 22 Step 1 Basic Installation Guidelines You are required to follow all safety precautions during start up such as providing proper equipment grounding
34. alled if the master device is outside the zone of equipotential bonding the circuit needs to be isolated against direct contact The minimal RS 485 network cable contains a shielded twisted pair for RX TX pin 2 and RX TX pin 7 with shield to the shell though a 0 V reference signal pin 3 can improve immunity to ground differentials See the following table for the connection details for the RJ45 serial communication connector Pin Function 1 120 ohm Termination resistor RX TX Isolated OV 15V 100 mA max Isolated OV TX Enable RX TX N O aj O 8 RX TX If termination resistors are required link to pin 1 SHELL PE The provision for connection of the internal 120 ohm terminating resistor at pin 1 and pin 8 would rarely if ever be needed unless data rates much higher than 19 2K are supported Since a terminator connection is only made at the end of a trunk it is most conveniently accomplished by crimping a short link from pin 1 to pin 8 in a new RJ45 connector and plugging it into the second RJ45 port on the last drive Cable conductors should not be connected to these pins Communication Cables The CT Comms cable is an isolated RS 232 to RS 485 convertor that may be used to connect one or more EP drives to a master device using a standard 9 pin D sub RS 232 serial comms port The 15 V supply at pin 4 and the 0 V connection at pin 5 are intended only to provide power to the is
35. ard allows access to the sync input connections on the EP drive The STI SNCI plugs directly into the J10 connector on the bottom of the drive The numbers printed on the connector label correlate to the screw terminal numbers Do not allow ESD directly to terminals Always discharge static electricity to enclosure not the drive when performing maintenance NOTE Shield connection points are connected from the shell of the D connector to the faston lug connector 1234 5678 Figure 49 STI SNCI Drive Sync In Breakout Board 52 Safety Information Product Overview Installation and Specification ccessories STI ENC The STI ENC interface board allows the user access to the encoder feedback connector J6 on the EP drive The STI ENC plugs directly in J6 on the bottom of the drive The numbers printed on the connector label correlate to the screw terminal numbers CAUTION Do not allow ESD directly to terminals Always discharge static electricity to enclosure not the drive when performing maintenance NOTE Shield connection points are connected from the shell of the D connector to the faston lug connector 12345678 9 10 11 12 13 14 15 Figure 50 STI ENC Drive Encoder Feedback Board Options and Accessories 53 Options and Accessories Safety Information Product Overview Installation 54 Specification Safety Information Product Overview Installation O
36. ate Encoder line break Drive overtemperature Motor overtemperature Overspeed Travel limit Travel limit Following error Power up self test failure Non volatile memory invalid EP202 EP204 EP206 Natural Convection Environmental Pollution degree 2 environment Maximum surrounding air temperature 40 C full rating 50 C with derating Minimum operating temperature 0 C Storage Temperature 25 C to 75 C Rated Altitude 3250 ft 1000 m Higher Altitude Derate output current 1 100m above 1000m Humidity 10 to 95 non condensing Vibration 2g 10 Hz to 2000 Hz Standards and Agency Approvals UL listed Canadian UL listed CE Mark Low voltage directive EMC directive Drive Weights EP202 B I IDN 3 6 Ib 1 63 kg EP204 B IDN 3 6 Ib 1 63 kg EP206 B I IDN 4 2 Ib 1 91 kg EP202 P 3 9 Ib 1 77 kg EP204 P 3 9 Ib 1 77 kg EP206 P 4 5lb 2 04 kg Specifications 57 Safety Information Product Overview Installation Options and Specification Accessories Epsilon EP Drive Dimensions The following table applies to A and B as shown in the figure below Drive Model Dimension A Dimension B shown in inches mm shown in inches mm EP202 B 1 IDN 2 11 53 59 0 45 11 4 EP204 B 1 IDN 2 11 53 59 0 45 11 4 EP206 B 1 IDN 2 82 71 63 0 45 11 4 EP202 P 2 69 68 3 1 03 26 16 EP204 P 2 69 68 3 1 03 26
37. bus caps do not need inrush protection For DC supply greater than 24 Vdc the supply should be connected to L1 and L2 terminals on J1 Polarity does not matter The rectifier blocks reverse current so regen energy will not come back to the supply DC supply greater than 24 Vdc may be applied to the B and B terminals of J8 but the supply must provide soft start or inrush current limiting and must be able to handle any anticipated regen energy Installation 17 Safety Information Product Overview Installation Options Specification Accessories Both supply conductors must be fused except one that is grounded The fuse must be rated for at least the voltage applied The current rating of the fuse should match the rated output current of the drive slow blow fuse should be used if high peak loads are expected External Shunt Electrical Installation WARNING Shunt connections at J8 remain at dangerous Voltages after disconnecting AC Power Power must be Off for a minimum of 6 minutes for an EP206 and 3 minutes for an EP202 204 before touching these terminals The EP204 and EP206 drives provide an internal shunt transistor to direct regen energy to an external shunt or braking resistor The resistor is connected to the B and SH terminals at J8 on the top of the drive Shunt Control The shunt transistor turns on when the bus voltage reaches 405 Vdc and shuts off when the bus voltage falls below 390 Vdc An internal shu
38. cable lengths longer than 25 feet XX Twisted Pair Figure 42 Encoder outputs meet RS 422 driver specifications and can drive up to 10 RS 422 signal receivers Each differential pulse input is an RS 422 line receivers The default encoder output resolution is 2048 lines per motor revolution This resolution is adjustable in one line per revolution increments with PowerTools Pro software The range is between 1 and the actual motor encoder density Master Slave Encoder Connections 36 Safety Information Product Overview Installation Options and Specification Accessories Communications Communications with the drive is provided through the RJ45 connectors located on the front of the drive The two RJ45 connectors are identical and are used to provide a way to daisy chain two or more drives together using the DDC RJ45 cable see Figure 44 The Epsilon EP serial communication connector serial port as standard supports 2 wire EIA485 communications The RS 485 communications port is not isolated from drive electronics and the 0 V pins are internally connected through a 10 Ohm resistor to PE Interconnected drives should be within a zone of equipotential bonding Connection to a master device on the network such as a MMI SCADA PLC or PR can be remote but care should be taken to make sure the entire network operates within the 7 V common mode voltage range of RS 485 Though the comm port is part of PELV circuits when properly inst
39. ccur whenever the voltage on the DC bus exceeds the High DC Bus threshold The most likely cause of this fault would be an open external shunt a high AC line condition or an application that requires an external shunt e g a large load with rapid deceleration but none is installed High DC Bus Threshold Epsilon EP 415 Vdc B Low DC Bus This fault will occur whenever the voltage on the DC bus drops below the Low DC Bus threshold The most likely cause of this fault is a reduction or loss of AC power A 50 ms debounce time is used with this fault to avoid faults caused by intermittent power disruption With an Epsilon EP drive the low DC bus monitoring can be disabled In an EP B and EP I this fault is disabled by clearing the check box on the Faults view and for an EP P the check box is located on the Advanced view Low DC Bus Threshold Epsilon EP 60 Vdc E Encoder State Certain encoder state transitions are invalid and will cause the drive to report an encoder state fault This is usually the result of noisy encoder feedback caused by poor shielding For some types of custom motors it may be necessary to disable this fault With an Epsilon EP drive the Encoder State monitoring can be disabled In an EP B and this fault is disabled by clearing the check box on the Faults view and for an EP P the check box is located on the Advanced view Diagnostics and Troubleshooting 45 Safety Information Produc
40. ctors Enclosure mounting plate and earth ground Motor frame and conduit fittings or electrical connectors Encoder chassis and electrical connector A good rule to follow when specifying conductors for high frequency applications is to use a metal strap with a length to width ratio that is less than 3 1 Electrostatic Discharge ESD Protection CAUTION Do not allow ESD to the drive while operating Though no damage occurs with electrostatic discharge at levels tested for EMC compliance ESD directly to the drive cover can interrupt proper drive operation ESD to terminals on the breakout boards has not been evaluated because wiring to these terminals is a maintenance activity When doing any maintenance activity make sure static electric charge is drained off by touching the enclosure away from the drive before contacting the drive or its wiring terminals Use of ground straps or other techniques to prevent static buildup is a necessary part of any maintenance activity Environmental Considerations The drive is rated to operate only in a pollution degree 2 environment meaning that normally only non conductive pollution occurs and there is no condensation but occasional condensation may occur when not operating If the installation environment contains atmospheric contaminants such as moisture oils conductive dust chemical contaminants and metallic particles you must mount it vertically in a metal NEMA type 12 enclo
41. d Specification Accessories Sync Input Connector J10 Sync Input signals are connected to the drive using the 9 pin Sync Input connector If interfacing the drive using field wiring the optional standard terminal interface board STI SNCI may be used 1234 5678 Figure 31 STI SNCI Interface Board J10 Connector Pind Function Encoder A Encoder A Encoder B 4 5 Vdc Encoder B Encoder Z Encoder Z Logic Common NC Figure 32 Analog Input Connector 710 Functions Function Pin Number Electrical Characteristics Encoder In 19223 576 7 Differential line driver input RS 422 5 Vdc 4 5 Vdc supply voltage Ground 8 Logic Common The Sync Input power meets EMC emissions and immunity for cables longer than 3 meters 10 ft when using a shielded cable When a remote encoder is user cable length may be limited by encoder supply voltage drop and should not exceed 200 ft 60 Installation 31 Safety Information Product Overview Installation Options Specification Accessories Analog Command Wiring Analog In Analog Sync Output Connector J5 Analog In Internal 10 Ohm Logic Common co Single Point Panel Ground Single Point Panel Ground Figure 33 Analog Sync Output Connector J5 Analog In 1 External Control
42. de overriding the status code The decimal point is On when the drive is enabled and the Stop input is not active This indicates that the drive is ready to run and will respond to motion commands Commands will not cause motion unless the decimal point is On Display Indication Status Description Motor brake is mechanically engaged This character will only appear if the Brake output Brake Engaged Output Off function is assigned to an output line See Brake Operation section for detailed description of Brake Output function Disabled Power Stage is disabled The system is functioning normally and is ready Ready N to execute a motion command P Program is executing Other motion commands rogram do not function _ Position or Pulse Pulse mode operation Velocity Velocity mode operation Deceleration ramp after the Stop or Travel Limit Decelerating from Stop or Travel function is activated The ramp is displayed while Limit Decel decelerating and the display will go back to normal after completing the decel ramp Torque Analog Torque mode operation Diagnostics and Troubleshooting 41 Safety Information Product Overview Installation Diagnostics Options and Specification Accessories Display Indication Status Description A Summation Summation mode operation RMS Foldback Motor torque is limited to 80 percent Stall Foldback Driv
43. e Gray v Gray White w Red Orange w Orange Red 5 Vde PARN 45 Vdc GND GND Red Green L Shield 1 Green Red Motor Overtemp l Connector Shell Overall Shield Drain Wire 18 ga Wire XX Twisted Pair Ww AOA AAA Single Point Ground Figure 21 Motor Encoder Feedback Connection For XV 40 80 mm Motors XV 130 mm Motor XVM 130mm Motor Motor Feedback Cable Epsilon Model XEFCS XXX Drive Blue Orange Green Brown Black Yellow White Brown Brown White White Gray Gray White Red Orange Orange Red Red Blue 5 Blue Red 5 Vdc GND GND Red Green Shield m is Green Red Motor Overtemp Overall Shield Wire lt gt lt w W OP ZEA 0 gt Connector Shell i 18 ga Wire W Twisted Pair Single Point Ground Figure 22 Motor Encoder Feedback Connection For XV 130 mm Motors 24 Safety Information Product Overview Installation Options and Specification Accessories Motor Brake Wiring The NT and MG motors equipp
44. e output current is limited to 80 percent of the drive s stall current Ready to Run Drive enabled no Stop input Home cycle is executing Other motion Homing commands do not function Indexin A Index is executing Other motion commands do g not function Joadin Jog function is executing Other motion gging commands do not function Stop or Travel Limit Decel Stop or Travel Limit Decel is executing No other motion will function Gearing Gear function is executing Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive Some faults like high DC bus and drive or motor over temperature can be reset with the Reset button on the front of the drive or the Reset input function Other faults such as encoder faults can only be reset by cycling power Off wait until the diagnostics display turns Off then power The drive accurately tracks motor position during fault conditions For example if there is a Low DC fault where the power stage is disabled the drive will continue to track the motor s position provided the logic power is not interrupted 42 Safety Information Product Overview Installation Diagnostics Options and Specification Accessories The Travel Limit faults are automatically cleared when the fault condition is removed The table below lists all the fault codes in priority order from h
45. ed with brakes have a three pin MS style connector The brake power cable model CBMS XXX has an MS style connector on the motor end and three wire leads on the drive end see the following wiring diagrams The XV 40 80 mm motors with brakes have a two position connector The brake power cable model XTBMS XXX has a two position connector on the motor end and three wire leads on the drive end The XV 130 mm motors equipped with brakes have two MS style connectors one is the encoder feedback and the other has the motor power and brake connections The motor power brake cable model XCMDBS XXX has an MS style connector on the motor end and six wire leads on the drive end You must provide a DC power supply rated at 24 Vdc with a 2 A 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 size the power supply for total load Customer supplied drive Output 3 enable contact Internal to Motor Drive Enable Supply 1 0 Common J3 Connected to grounded mounting panel Single point PE ground Figure 23 Epsilon EP to NT or MG Motor Brake Wiring Diagram Installation 25 Safety Information Product Overview Installation Options and Specification Accessories XV 40mm 80mm Customer supplied drive Output 3 enable contact Internal to Motor Drive
46. erview Installation Options and Specification Accessories AC Input Power Connections AWARNING Power must be Off for a minimum of 6 minutes for the Epsilon EP206 drive and 3 minutes for the Epsilon EP202 204 drives before unplugging the power connection This will ensure the bus voltage has bled down to a safe level below 50 Vdc 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 Front View PE Redundant PE connection B PE SH PE B 20000000 BALAA 50 60 Hz 90 264 Vac Tighten screws to 5 in Ib Terminals are suitable for one 16 AWG to 12 AWG or ISO 1 5 or ISO 2 5 stranded conductors Figure 14 Epsilon EP AC Power Wiring Diagram Operation on DC Input Supply At this time the EP drive is not UL listed for operation on a DC input supply The EP drive can operate on DC input as low as 10 Vdc though recommended minimum is 24 Vdc It can also operate from a common DC link with voltage to 373 Vdc the voltage resulting from 264 Vac applied to a rectifier with regen to 400 Vdc intermittently For DC input supply less than 24 Vdc the DC input should be connected to the B and B terminals at J8 to avoid losses in the rectifier and inrush limiter At such low voltages the
47. grounding is imperative The figure below is an overview of the recommended system grounding For more information on achieving an electrically quiet installation refer to Step 1 Basic Installation Guidelines on page 3 Conduit or Metal Raceway AC Power Supply Enclosure To Enclosure Door E 5 Door Bond Wire Conduit Raceway Bond Fuses Redundant i Single Point Ground 3 Phase Bonded to Enclosure Line Power PE Connection Control Transformer Output Neutral Hot Epsilon Epsilon Drive Drive Convenience Outlet a H Figure 6 Typical System Grounding Diagram 10 Safety Information Product Overview Installation Options and Specification Accessories AWARNING Fixed Protective Earth PE connections are mandatory for human safety and proper operation These connections must not be fused or interrupted by any means Failure to follow proper PE wiring can cause death or serious injury This equipment has high earth leakage current and requires a redundant PE connection from either terminal marked PE at J8 to PE connection point AC Power Requirements The Epsilon EP drives require 20 Vac to 264 Vac single phase power but may operate on DC supplies See Operation on DC Supply An Epsilon EP drive can be connected to any pair of power phases on a 1 or 3 power source that is grounded as show
48. ighest to lowest This means that if two faults are active only the higher priority fault will be displayed Display Fault Action to Reset Bridge Disabled Flash Invalid Reprogram the Flash Yes Drive Power Up Test Cycle Logic Power Yes NVM Invalid Reset Button or Input Line Yes Invalid Configuration Reset Button or Input Line Yes Allow Drive to cool down Drive Overtemp Cycle Logic Power Yes f Power Module Reset Button or Input Line Yes High DC Bus Reset Button or Input Line Yes Low DC Bus Reset Button or Input Line Yes Reset Button or Input Line on EP P drive Encoder State and Yes Cycle Logic Power on the other models Reset Button or Input Line on EP P drive Encoder Hardware and Yes Cycle Logic Power on the other models Diagnostics and Troubleshooting 43 Safety Information Product Overview Installation Diagnostics Options and Specification Accessories Display Fault Action to Reset Bridge Disabled Allow Motor to cool down M Motor Overtemp Reset Button or Input Line Yes RMS Shunt Power Reset Button or Input Line Yes __ Overspeed Reset Button or Input Line Yes Following Error Reset Button or Input Line Yes N Pulse mode only Travel Limit Auto No Sync Fault Cycle Logic Power Yes Run Time EP P Only Reset Button or Input Line Yes M All On Normally On for s during power Yes Fault Descriptions
49. inals EARTH GROUND Figure 11 Three Phase Delta ungrounded Distribution to a Three Phase Delta Isolation Transformer Installation 13 Safety Information Product Overview Installation Options and Specification Accessories DISTRIBUTION PANEL Isolation Step Down Transformer To Fusing and 140 Vac Drive Terminals EARTH O PE GROUND Protective Earth Figure 12 Grounded WYE Distribution gt 140 Vac Phase to Neutral Recommend Using Step Down Transformer so Line to Line is 240 Vac or less To Drive Terminals To Drive Terminals Figure 13 Single Phase Power Supply Connections Transformer Sizing If your application requires a transformer use the following table for sizing the KVA rating The values in the table are based on worst case power usage and can be considered a conservative recommendation You can down size the values only if the maximum power usage is less than the transformer continuous power rating Other factors that may influence the required KVA rating are high transformer ambient temperatures 240 C or gt 104 F and drive operation near the maximum speeds 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 14 Safety Information Product Overview Installation Options and Specification Accessories When multiple drives are connected to a
50. ion Accessories XEFCS XXX Cable 6 BLU lt 1 A ra _ ___ EP H 2 GRN nner Drain Wire 3 B IE BRN r P al B Z nner Drain Wire 5 7 E YEL EP 6 Z u en mea p 7 U an BRN WHT LP 8 U MET WHT GRY 9 v o DN GRY WHT LP 10 w WIE RED ORG w WIE ORG RED Lr 12 W RED BLU 18 ga 13 45 VDC ow BLU RED 18 ga pr E 14 COMMON RED GRN 15 MOTOR TEMP GRN RED LP SHIELD J KL J Overall Shield Drain Wire SOLDER SIDE Pin SOLDER SIDE Socket Specifications 65 Safety Information Product Overview Installation Options and Specification Accessories NT and MG Motor Cables CMDS XXX Cable 1 1 2 MAX 3 3 4 MAX GRN YEL D BRN A B BLK BLU SOLDER SIDE CMMS XXX Cable 1 1 2 MAX GRN YEL D BRN A BLK B BLU C SHELL M FO e Le SOLDER SIDE 66 Safety Information Product Overview Installation Options and Specification Accessories CBMS XXX Cable 6 B gt BLK
51. ive Overload Protection vi CE Declaration of Conformity vil Product Overview 1 Epsilon EP Drives ne APER A pue Baht ee BS Hue TM MER 1 Installation 3 Step 1 Basic Installation Guidelines 3 Electromagnetic Compatibility EMC 3 Achieving Low Impedance Connections 3 Electrostatic Discharge ESD Protection 4 Environmental Considerations 4 E Me 4 Panel mate ete Sut V PEE dr Agee buo 5 Cable to Enclosure Shielding 6 AC Lime Filters nes anna wat BER SRS be SCENE TAA 7 Step 2 Mechanical Installation 7 Step 3 High Power Connections 10 System Grounding io yere ee en RR e n 10 AC Power Requirements ee Se eee Y 11 Transformer Sizing seal a EE ERR eR ds 14 Line Fusing and Wire Size ut dan ty hae epee dy btw ments ete eae ee ells 16 AC Input Power Connections
52. l shunt resistor should be used if average power is above 50 W or other limits are exceeded as described above Higher power resistors should be mounted away from the drive to prevent overheating If thermal loading inside a cabinet is an issue a resistor with suitable enclosure may be installed external to the drive enclosure The minimum resistance for an external shunt resistor is 33 Ohms The resistor must have thermal overload protection to remove power in the event of a shorted control transistor The protection can simply open the circuit in which case a high bus fault will occur or be wired to a contactor that isolates input power from the drive on overtemp Shunt Resistor Kit Installation The SM Heatsink DBR 1 attaches to the side of an EP204 or EP206 drive by lining up the two captive screws to the special width slots in the heat sink The exact position along the slot does not matter as long as the body of the resistor does not extend beyond the top or bottom of the drive Use a T 20 Torx driver to thread the screws into position After both are well started but not tight carefully turn each screw until it is seated against the resistor and the resistor back is seated against the heat sink Then turn the screw 1 8 turn more Do not overtighten Strip 0 12 inch 3 0 mm insulation from the ends of the resistor wires Install the wires in the SH and B terminals of J8 and tighten to 5 in Ib Make sure the locking screws are installed on J8 to p
53. lave with a 32 bit data extension The Modbus protocol is available on most operator interface panels and PLC s Serial Communications Specifications Max baud rate 19 2k Start bit 1 Stop bit 2 Parity none Data 8 Ethernet Port The Ethernet port at J11 has only functional isolation from other low voltage circuits and PE at the drive In order to classify any low voltage circuits in the drive as PELV the ethernet circuit must be installed as PELV circuit Refer to installation instructions with the hub switch or other devices connected for details The system meets EMC emissions and immunity requirements using unshielded ethernet cables when a clamp on ferrite is attached to the ethernet cable as it leaves the enclosure DeviceNet Port The DeviceNet port at J9 has only functional isolation from other low voltage circuits and PE at the drive In order to classify any low voltage circuits in the drive as PELV the DeviceNet circuit must also be installed as a PELV circuit Installation 39 Safety Information Product Overview Installation Options Specification Accessories 40 Safety Information Product Overview Installation Diagnostics Options and Specification Accessories Diagnostics and Troubleshooting Diagnostic Display Status Codes The diagnostic display on the front of the drive shows drive status and fault codes When a fault condition occurs the drive will display the fault co
54. ler Controller Logic Common Internal 10 Ohm x Logic Common o Analog In wo Single Point Panel Ground S gt Single Point Panel Ground Figure 34 External Controller roller Logic Common Encoder Output Signal Wiring The encoder outputs meet RS 422 line driver specifications and can drive up to ten RS 422 signal receivers 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 Pro software this resolution is adjustable in one line per revolution increments up to the density of the encoder in the motor 32 CW Rotation Command CW With positive direction CW Analog Command Differential Wiring Diagram CW Rotation Command CW With positive direction CW Analog Command Single Ended Wiring Diagram Safety Information Product Overview Installation Options and Specification Accessories Note If the external controller does not have an internal terminating resistor R1 R2 and R3 must be mounted within 3 ft 1 m of the external controller A 120 ohm resistor is recommended for high frequency encoders over 250 kHz or cables longer than 25 feet If encoder signals are multi dropped termination resistors are required only at the last drop point Do not terminate at more than one point A A Ris
55. ly an enclosure or set of enclosures bonded together Otherwise logic wiring and circuits must be isolated from direct contact by basic insulation for 300 V system voltage In all applications do not interconnect extra low voltage power supplies so that voltages add Motor Feedback Wiring J6 Encoder feedback connections are made with the 15 pin high density D connector J6 on the drive Maximum feedback cable length is 200 ft 60 Connection of Encoder Quadrature and Marker Signals For A A B B and Z Z pairs Control Techniques cables use low capacitance 10 pf ft wire to get a high characteristic impedance and low loss The differential input circuit accepts RS 485 level signals but if the differential voltage is less than 400 mV an encoder fault is generated Connection of Encoder Commutation Signals to the Drive The drive is capable of receiving U V and W commutation signals from either a differential or single ended source Figures 20 through 22 show a simplified circuit for the U U V V W and W inputs on the drive For single ended encoder outputs leave U V and W unconnected at the drive No PowerTools configuration is required U V and W have a 1K pull up to 5V Logic threshold is about 2 5 V with 0 1 V hysteresis Motor Overtemp Wiring The motor overtemp circuit is compatible with PTC thermistor sensor with 1K resistance at the over temperature trip point The circuit provides 5V open circui
56. n in the following diagrams Local electrical codes should be consulted before installation When operating the drive at 90 V or less disable the Low DC Bus fault so the drive does not fault AWARNING Where regeneration occurs bus voltage will rise to 400 Vdc before shunt operation or a High DC Bus fault limit voltage whether shunt resistor is installed or not Motors must have insulation rated for inverter duty at 240 Vac no matter what the operating voltage is or bus voltage must be limited by other means NOTE The maximum voltage applied to the drive terminals must not exceed 264 Vac phase to phase and phase to PE ground The AC supply must be earthed type TN with PE connected to the earthed point at the source which is usually a distribution transformer but could be a service entrance 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 drive terminals DISTRIBUTION PANEL To Fusing and 208 Drive Terminals 1 120 Protective Earth EARTH GROUND N Neutral is used only when 120 Vac operation is desired It is never fused Figure 7 Earth Grounded WYE Distribution Transformer 120 208Y 39 Installation 11 Safety Information Product Overview Installation Options and Specification Accessories DISTRIBUTION PANEL
57. ng panel such as a NEMA enclosure Additional space is necessary above and below the drive for wiring and cable connections To allow sufficient air flow for cooling leave at least 0 25 6 3 mm clear space on vented cover left side plus 0 50 12 7 mm on heatsink right side Leave additional space if cables are routed through this space WARNING When drilling holes in mounting plate or trimming wires during installation of this or other equipment do not allow drill shavings or wire trimmings to enter the EP drive Such foreign objects can compromise electrical isolation creating a hazard or result in equipment failure Installation 7 Safety Information Product Overview Installation Options and Specification Accessories The following table applies to the A dimension as shown in figure 4 below for the base and indexing drives Drive Model Dimension A Minimum Panel Width B or l only inches mm inches mm EP202 2 11 53 59 2 90 74 EP204 2 11 53 59 2 90 74 EP206 2 82 71 63 3 60 91 5 94 150 88 5 22 132 59 BODO Figure 4 Mechanical Drawing for Epsilon Base and Indexing Drives 8 099 205 72 7 70 195 58 x OOOOOOOOQ 0005 EPSON EN A E
58. nt control algorithm is used to prevent the external shunt resistor from overloading It is necessary to enter shunt energy rating power rating and resistance for the attached shunt resistor in PowerTools Pro software Energy rating is the amount of energy that the resistor can absorb in a single shunt event assumed to be so short that power dissipation is negligible Power rating is the long term average power that can be dissipated PowerTools Pro default values are for the Control Techniques SM Heatsink DBR 1 resistor kit marked P N 1220 2756 01 on the resistor External Shunt Resistor Control Techniques offers an external shunt resistor kit SM Heatsink DBR 1 that attaches directly to the EP drive heatsink The resistance is 75 Ohms and has 1500 Joule energy rating and 50 W continuous power rating It is adequate for most infrequent machine stop sequences due to relatively high energy rating for its power rating It should be suitable for any EP204 application unless average power exceeds 50 W for repetitive cycles For an EP206 some applications may require lower resistance to prevent a high bus fault or higher energy rating for a single event as well as higher average power rating The resistor in the kit is designed to eventually open in the event of a shorted control transistor when operating with an AC input greater than 200 Vac At this time the kit should be used only when the drive is operating at 200 Vac to 240 Vac A different externa
59. oft Windows and Windows NT trademarks Modbus is a trademark of Gould Inc Schaffner is a trademark of Schaffner Mate N Lok is a trademark of Amp Incorporated Corp DeviceNet is a trademark of Open DeviceNet Vendor Association Reference Materials The following related reference manuals may be useful with your particular system Epsilon EP I Indexing Drive and FM 2 Indexing Module Reference Manual 400518 02 Epsilon EP B Drive Reference Manual 4005 18 03 Epsilon EP P Drive and FM 3 4 Modules Reference Manual 4005 18 04 Epsilon EP P Drive Connectivity Reference Manual 400518 05 Epsilon EP IDN DeviceNet Reference Manual 400518 08 This document has been prepared to conform to the current released version of the product Because of our extensive development efforts and our desire to further improve and enhance the product inconsistencies may exist between the product and documentation in some instances Call your customer support representative if you encounter an inconsistency Safety Information Product Overview Installation Options and Specification Accessories Safety Information Safety Precautions This product is intended for professional incorporation into a complete system by qualified persons If you install the product incorrectly it may present a safety hazard The product and system may use high voltages and currents carry a high level of stored electrical energy or are used to control mechanical equipment that can
60. olators in the CT Comms cable and are not to be used for any other purpose The TX Enable signal at pin 6 and 0 V at pin 3 provide a transmit enable signal from each interconnected drive to a CT Comms cable and are not to be used for any other purpose They may be wired from drive to drive in a zone of equipotential bonding to allow the CT Comms cable to communicate with all drives in the group The DDC RJ45 provides drive to drive daisy chain connections between EP drives including support for the CT Comms cable in a group of drives Installation 37 Safety Information Product Overview Installation Options and Specification Accessories y Li Ecocoocococg Uu 00000000 E N DDC RJ45 cable Figure 44 2 Epsilon Drives Daisy Chained Together 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 Failure to do so can result in damage to your PC and or your drive It is best to use an isolating cable such as the CT Comms cable 38 Safety Information Product Overview Installation Options and Specification Accessories Modbus Communications The drive s serial communication protocol is Modbus RTU s
61. or are made with the XCMDS motor without brake or the XCMDBS motor with brake cable Wire crimp ferrules are recommanded For ground lead use Panduit p n PV10 P55 L For motor leads use Pheonix Contact p n Al 1 5 8 BU 32 00 52 2 Front View UTTIN c XVM 130M Motor Power Connection _ Green Yellow Li Ground vg Shield ee Connector Shell Important PE ground should connect to drive M and motor only Nothing 2229299999 FC i should be connected between these devices motor cable connector XCMDS xxx 1 Tighten screws to 5 in lb Figure 18 Epsilon EP XV 130 mm Motor Power Wiring Diagram Installation 21 Safety Information Product Overview Installation Options and Specification Accessories Step 4 Low Power Connections DC Logic Power Supply Wiring The Epsilon drive requires a user supplied logic power supply 24 Vdc 10 to power the internal logic of the drive Use the table below to determine the current requirements of the application Users should consider keeping logic power energized at all times because it helps prevent condensation and maintains position information in the drive Logic Power Supply Specification Voltage Range Model Current EP P 050 A without sync encoder 24 10 0 57 A with 250 mA sync encoder 21 6 Vdc to 26 4 Vdc 0 31 without 5
62. ow profile standard terminal interface board STI 241O and cable assembly EIO26 xxx are available for making connections convenient Figure 26 shows pin outs for I O channels supported in the EP B drive and for external wiring typical of all I O channels Figure 27 shows pin outs for EP I and EP P models Input channels 1 8 have high speed capture capability in the EP P models Figure 28 shows the STI 2410 interface board for discrete wiring to I O Installation 27 Safety Information Product Overview Installation Options and Specification Accessories 28 Figure 27 Figure 26 J3 Connector Pins 1 Function Input Line 1 Input Line 3 Input Line 5 Input Line 7 Input Line 9 Input Line 11 Output Line 1 Output Line 3 Output Line 5 Enable Input Line 2 Input Line 4 Input Line 6 Input Line 8 Input Line 10 Input Line 12 Output Line 2 Output Line 4 V 1 0 Common Output Line 8 Input Line 13 Input Line 14 Input Line 15 Output Line 6 Output Line 7 I O Connector J3 Functions STI 24IO Interface Board Safety Information Product Overview Installation Options and Specification Accessories Analog Sync Output Connector J5 All command diagnostic and sync signals are available using the 15 pin Analog Sync Output connector If interfacing the drive using field wiring the optional standard terminal interface boa
63. pins of the plug may be connected to the drive input which is only separated from the charge stored in the bus capacitor by semiconductor devices To avoid any possibility of electric shock from the pins if they are accessible a means must be provided for automatically disconnecting the plug from the drive e g a latching contactor Grounding Earthing equipotential bonding High Leakage Current The drive must be grounded by a conductor sufficient to carry all possible fault current in the event of a fault This equipment has high earth leakage current You must comply with local safety regulations with respect to minimum size and special installation requirements on the protective earth conductor for high leakage current equipment The ground connections shown in the manual must be followed Fuses Fuses or over current protection must be provided at the input in accordance with the instructions in the manual Isolation of control circuits The installer must ensure that the external control circuits are isolated from human contact by at least one layer of insulation rated for use at the applied AC supply voltage External control circuits identified as PELV circuits do not need this isolation when they are completely within a zone of equipotential bonding generally within a single enclosure or group of enclosures bonded together Safety Information Product Overview Installation Options and Specification Accessories Underwriters
64. ptions and Specification Accessories Specifications Epsilon EP Specifications Epsilon EP Series Power Requirements 20 Vac 264 Vac 1 47 63 Hz 240 Vac for rated performance Type TN Grounded Installation Category III SCCR 10 000 S trical RMS A Short Circuit Current Rating mee Model Continuous Power Continuous Current Peak Current EP202 670 W 2 2 ARMS at 40 C or 50 C 4 4A RMS 4 0 A RMS at 40 C Rated Output Current and Power EP204 1140 W 36ARMS 50 8 ARMS 6 5 A RMS at 40 C EP206 1610 W 52 RMS at 50 C 13 ARMS Model Continuous Current Inrush Current EP202 5 0 RMS at 40 or 50 40 A RMS for 5 ms Continuous Input Current EP204 s oe a HE 65 A RMS for 5 ms AC Input 12 0 A RMS at 40 C EP206 9 6 A RMS at 50 C 100 A RMS for 5 ms EP P 0 50 A without master encoder 0 57 A with master encoder Logic Power Supply Input 24 Vdc 10 Other models 0 31 without motor encoder 0 38 with master motor encoder Switching Frequency 10 kHz Power Supply Output 5 Vdc 250 mA maximum for master encoder Efficiency Drive Ingress Protection IP Rating EP202 204 93 at full rated output power EP206 95 at full rated output power Drive IP20 NT motors IP65 IP54 Molded motor and feedback cables IP65 Serial Interface RS 485 IModbus protocol with 32 bit data extension 19 2 k baud default or 9600 ba
65. rd STI SNCOA may be used It provides convenient connections using screw terminal strips 12345678 9 10 11 12 13 14 15 Figure 29 STI SNCOA J5 Connector Pind Function Motor Encoder A Motor Encoder B Motor Encoder Z Pulse Analog Input Analog Ground Analog Output 1 Logic Common Motor Encoder A Motor Encoder B Motor Encoder Z Direction 1 2 3 4 5 6 7 8 9 10 E N Analog Input Analog Ground E Analog Output 2 Figure 30 Analog Sync Output Connector J5 Functions Installation 29 Function Pin Numbers Electrical Characteristics Encoder Out 1 2 3 9 10 11 Differential line driver output RS 422 Diagnostic Output 7 15 10 10 mA maximum analog diagnostic ref to pins 6 and 14 Diagnostic Output Common 6 14 0 0 V 10 ohms away from PE 0 ohms away Logic Common pin 8 Pulse In 4 Single ended pulse input Direction 12 Single ended direction input Analog Command 5 13 Differential Analog Command Input part of PELV wiring circuits at J5 are intended to be used within a zone of equipotential bonding where cables or wiring would typically be no more than 10 ft 3 m long These circuits have not been evaluated fro EMC immunity which would be required for longer cables 30 Safety Information Product Overview Installation Options an
66. revent the connector from pulling out 18 Safety Information Product Overview Installation Options and Specification Accessories Figure 15 Shunt Resistor Connections showing SM Heatsink DBR 1 Kit CAUTION Do Not make any shunt resistor connections to B WARNING Shunt connections are at main voltage potential Components connected must be rated for the voltage and selected for safety The external shunt resistor must have protection for a failed ON state of the shunt control Motor Power Wiring The following paragraphs provide details of motor connections When motor power cables are long 100ft 30 a ferrite Control Techniques p n 157016 13 Steward p n 28A3851 0A2 or equivalent installed on the three phase conductors but not the shield near J1 can significantly reduce high frequency switching harmonics that in some cases can cause communications errors Maximum cable length is 200 ft 60 m J1 terminals are suitable for one 18 AWG to 14 AWG or ISO 0 75 to ISO 2 5 stranded conductors The ground shield terminal may contain the shield and ground conductors together if each is 16 AWG or ISO 0 75 or ISO 1 5 Otherwise a ferrule must be used to crimp both connectors together
67. rive Dimensions Cable Diagrams us antenne sue XV Motor Cables NT and MG Motor Cables Sync Cables iei De EE dd e RR Gada ses Communications Cables Index Safety Information Product Overview Installation Options and Specification Accessories Product Overview Epsilon EP Drive The Epsilon EP drive is a stand alone fully digital brushless servo drive designed and built to reliably provide high performance and flexibility 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 Higher 50 1 and more inertia mismatches are possible with two simple parameter settings The Epsilon EP drive can be quickly configured to many applications in less than 5 minutes with PowerTools Pro software on a PC running Windows 98 NT 4 0 2000 ME and XP Complete diagnostics are provided for quick troubleshooting status diagnostic display on the front of the drive informs the user of the operational or fault status The last 10 faults are stored in non volatile memory along with a time stamp for easy recall Shunt Connector J8 Status Diagnostic Display Reset Button Serial Connectors J2 DeviceNet Connector J9 Eth t e EP IDN or EP
68. rogram If the capture has never been triggered or the capture data has gone stale the drive will not be able to process motion properly Program Fault This fault indicates a problem was encountered in a user program For example an illegal math operation resulting in a divide by zero or overflow of 32 bit data This error can also occur if trying to access a drive parameter that is non existent or not available to the user Invalid Configuration Fault 2 The user program in flash memory will not run Download the user program again using PowerTools Pro Acommon cause of this fault could be an interrupted configuration download such as a cable being disconnected during the download No Program This fault will be displayed on initial power up indicating that no configuration has been downloaded to the drive To clear the fault download a valid configuration to the drive i All On This is a normal condition during power up of the drive It will last for less than 1 second If this display persists call Control Techniques Americas LLC for service advice Normally All On for less than one second during power up All segments dimly lit when power is Off may occur when an external signal is applied to the encoder inputs motor or master or serial port from an externally powered device Diagnostic Analog Output Test Points The drive has two 10 bit real time Analog Outputs which may be used for diagnostics monitoring or cont
69. rol purposes These outputs are referred to as Channel 1 and Channel 2 They can be accessed from the Analog Sync Output Connector J5 on the drive Each Channel provides a programmable Analog Output Source Analog Output Source options are Velocity Command Velocity Feedback Torque Command equates to Torque Command Actual parameter Torque Feedback Following Error Position Feedback EP B EP I and EP IDN Custom Variable EP P only Analog In EP P only Channel Analog Sync Output Connector J5 Pins 1 7 2 15 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 Diagnostics and Troubleshooting 47 Safety Information Product Overview Installation Diagnostics Options and Specification Accessories AXIS 1 Drive Faults Detected EJ Reset Faults Ignore Faults Figure 45 Active Drive Faults Detected Dialog Box Resetting Faults Some drive faults are automatically reset when the fault condition is cleared Other faults require drive logic power to be cycled or the drive to be rebooted If you wish to continue working in the PowerTools Pro software without resetting the fault click the Ignore Fault button To reset faults that can be reset with the Reset Faults button simply click the Reset Faults button in the Drive Faults Detected
70. ror limit default following error limit for an EP I and is 0 2 revs With PowerTools Pro you can change the Following Error Limit value or disable it in the Position view In an EP B and the Following Error Limit is functional in Pulse mode only L Travel Limit This fault is caused when either the or Travel Limit input function is active Sync Fault This fault occurs when the user selected trajectory update rate is set too shortbased on the processor requirements The three possible trajectory update rates 800us 1200 us 1600 us Try changing the trajectory update rate to the largest value 1600 us and run the application again If the problem persists after setting to 1600 us contact Control Techniques technical support For more information on the trajectory update rate see the Epsilon EP P Drive and FM 3 4 Modules Reference Manual P N 400518 04 H Run Time Faults EP P only The 4 fault is caused by any of the following internal routine faults Trajectory Fault 1 This fault occurs when the drive commands motion that cannot be achieved due to excessive following error accel decel velocity settings or unuseable user units Check the user units velocities accels and decels for correct values 46 Safety Information Product Overview Installation Diagnostics Options and Specification Accessories Trajectory Fault 2 This fault occurs when using the Using Capture option in a user p
71. s is ten times the cable outer diameter All wiring and cables stationary and moving must be protected from abrasion Ground wires should not be shared or daisy chained with other equipment Ensure that full metal to metal surface contact is made between the enclosure ground lug and the metal enclosure not simply through the mounting bolt and threads All inductive coils must be suppressed with appropriate devices such as diodes or resistor capacitor RC networks except as described in this manual If using a non shielded Ethernet cable install a clamp on ferrite Control Techniques part number 157016 07 Steward 28A0593 0A2 or equivalent Panel Layout NEMA Enclosure Metallic F Raceway Filter 2 am E d LL External Encoder gt Through wall shield grommets Customer supplied terminal strip optional Connect shield through and to mounting plate Motor Feedback Cable Motor Power Cable iit Figure 2 AC Filter and Cable Connections Installation 5 Safety Information Product Overview Installation Options and Specification Accessories Cable to Enclosure Shielding Shielded motor feedback serial communications and external encoder cables were used for compliance testing and are necessary to meet the EMC req
72. single isolation transformer add the suggested KVA ratings of the drives that would be operating simultaneously together for transformer sizing Drive Motor Combination Suggested KVA Rating EP202 NT 207 1 2 EP202 NT 212 1 2 EP204 NT 207 1 2 EP204 NT 212 1 7 EP206 NT 212 1 7 EP206 NT 320 3 0 EP206 NT 330 3 0 EP206 NT 345 3 0 EP202 XV 402 0 2 EP202 XV 403 0 3 EP202 XV 604 0 8 EP202 XV 606 0 8 EP204 XV 6011 1 3 EP204 XV 8017 2 0 EP204 XV 8022 2 2 EP204 XV 8023 2 1 EP206 XV 8014 2 0 EP206 XV 8022 2 2 EP206 XV 8023 2 1 EP206 XV 8028 2 6 EP206 XV 13046 3 3 EP206 XV 13051 2 1 EP206 XV 13089 3 6 Installation 15 Safety Information Product Overview Installation Options Specification Accessories Line Fusing and Wire Size You must incorporate over current protection for the incoming AC power with the rating shown here NOTE UL approval for operation with the circuit breakers identified in the table below is pending At present fuses shown must be used for installation to meet UL Recommended Fuse Miniature Circuit Breaker Drive Model Minimum AC PE Forces Line Wire Gauge Fuse Class amp Action Bussman Shawmut Allen Bradley Square D RK1 Time Delay LPN RK 6SP A2D6R 1489 A1D060 60124 16 AWG RK1 Quick Acting KTN R 6 A2K6R 6 A 1 pole 6 A 1 pole BEBE 15971 5 Time Delay LP CC 6 ATDR6 14
73. sure To prevent operation with condensation present it is best to energize the logic power several minutes before applying main power or keep logic power applied continuously If the ambient temperature inside the enclosure will exceed 40 C 104 F you must consider forced air cooling It is necessary to maintain the drive surrounding air temperature at 40 C 104 F or 50 C 122 F with appropriate derating or below to maintain the drive UL ratings See specifications for derating by model 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 Consult your enclosure manufacturer for assistance with determining cooling requirements Wiring Notes To avoid problems associated with EMI electromagnetic interference you should route high power lines AC input power and motor power away from low power lines encoder feedback serial communications etc Ifa neutral wire not the same as Earth Ground is supplied from the building distribution panel it should never be bonded with PE wire in the enclosure Safety Information Product Overview Installation Options and Specification Accessories You should consider future troubleshooting and repair when installing all wiring All wiring should be either color coded and or tagged with industrial wire tabs As a general rule the minimum cable bend radiu
74. t Overview Installation Diagnostics Options and Specification Accessories Encoder Hardware If any pair of complementary encoder lines A Z are in the same state an encoder line fault is generated Also can be generated if all three commutation channels U V W are 0 or 1 an illegal state The most likely cause is a missing or bad encoder connection M Motor Overtemp This fault is generated when the motor thermal switch is open due to motor over temperature or incorrect wiring n Overspeed This fault occurs in one of two circumstances 1 When the actual motor speed exceeds the Overspeed Velocity Limit parameter or 15096 of motor maximum operating speed This parameter can be accessed with PowerTools Pro software 2 Ifthe combination of command pulse frequency and Pulse Ratio can generate a motor command speed in excess of the fixed limit of 13000 RPM an Overspeed Fault will be activated In Pulse mode operation and any Summation mode which uses Pulse mode the input pulse command frequency is monitored and this calculation is made For example with a Pulse Ratio of 10 pulses per motor revolution the first pulse received will cause an Overspeed fault even before there is any motor motion N RMS Shunt This fault is generated when filtered average shunt power dissipation is greater than the design rating of the shunt resistor F Following Error This fault is generated when the following error exceeds the following er
75. t and 0 5 mA closed contacts to an overload switch For motors without over temperature protection sensors pins 14 and 15 of J6 must be shorted together to prevent an overtemp fault in the drive NT MG Motor Motor Feedback Cable NT or MG Motor Model EFCS XXX A Blue Orange Green Brown Black Yellow White Brown Brown White White Gray Gray White Red Orange Orange Red Red Blue Blue Red Red Green Green Red Differential Z Receiver U v w w 2 45 Vdc 2K yes GND leceiver GND Motor ze 25 EX 25 29 Motor Overtemp O Overtemp 5 Vdc Internal Motor Thermal Overtemp GND Switch lt 5 jor gt a A r 9 o mimic e v ziojo Shield Connector Shell 1 esse eed W Twisted Pair Single Point Ground Figure 20 Motor Encoder Feedback Connector Pinout Installation 23 Safety Information Product Overview Installation Options and Specification Accessories XV 40 80 mm Motor XVM 40mm 60mm Motor Feedback Cable Epsilon and 80mm Motor Model XEFTS XXX Blue Orange Green Brown 220 Ohm Black J Yellow White Brown U Brown White Whit
76. t current at 24 Vdc is 4 8 mA and input resistance is about 4 8k ohms Maximum load on each output channel is 150 mA with 3 5 Vdc max voltage drop from I O supply to output Outputs are rugged and require no freewheeling diode on inductive loads Outputs are short circuit proof to ground 0 V or any voltage from OV to the I O power supply voltage Optical isolation for I O is functional only and does not provide safety rated isolation I O circuits must be PELV for any extra low voltage circuits to be PELV For UL installations I O wiring must be from a limited voltage limited energy or limited voltage limited current supply Front View UT rL EMERSON VO supply 10 to 30 Vdc ao Output 3 Output 2 Output 1 Input 4 Input 3 Te Fuse if required to Input 2 0 0 protect wiring Input 1 Drive Enable Input Supply 1 0 Single point PE ground Figure 26 Epsilon EP B Input Output Wiring Diagram As part of PELV wiring I O circuits are intended to be used within a zone of equipotential bonding where cables wiring would typically be no more than 10 ft 3 m long These circuits have not been evaluated for EMC immunity which would be required for longer cables 1 0 Connector J3 Functions The I O connector is 26 pin male high density dsub connector on the front of the drive A l
77. uct Overview Installation Options and Specification Accessories CE Declaration of Conformity The Epsilon Digital Servo Drives are marked with the Conformite Europeenne Mark CE mark after passing rigorous set of design and testing criteria This label indicates that this product meets safety and noise immunity and emissions EMC standards when installed according to the installation guidelines and used within the product specifications Declaration of Conformity Manufacturer s Name Control Techniques Americas LLC 12005 Technology Drive Manufacturer s Address Eden Prairie MN 55344 USA Declares that the following products Product Name Epsilon EP Digital Servo Drive EP202 B00 202 100 EP202 IDN EP202 P00 EP202 PDN Model Number EP204 B00 204 100 EP204 IDN EP204 P00 EP204 PDN EP206 B00 206 100 EP206 IDN EP206 P00 EP206 PDN STI 2410 Interface Board STI SNCOA Analog Sync Output Interface System Options Board STI SNCI Sync Input Interface Board BRM 1 Motor Brake Relay and SM Heatsink DBR 1 Brake Resistor Conforms to the following product specification Electomagnetic Compatibility EMC EN 61800 3 1997 For second environment restricted distribution Electrical Thermal and Energy Safety Requirements EN 61800 5 1 2003 Supplementary information The products herewith comply with the requirements of the Low Voltage Directive LVD 73 23 EEC and amended by 93 68 EEC and
78. ud EtherNet Interface EP P Only 10 100 M baud auto negotiated Auto crossover Full Half Duplex auto negotiated EtherNet I P Modbus TCP IP HTTP and SMSC DeviceNet Interface EP xDN Only Baud Rates 125K 250K 500K Power from Network 25 mA max Specifications 55 Safety Information Product Overview Installation Options Specification Accessories Epsilon EP Series Control Inputs Analog command 10 Vdc 14 bit 100 impedance differential Absolute Maximum Input Voltage Input 14 Vdc to ground or differential including drive enable Digital Inputs 5 on the EP B and 16 on the and EP P including the drive enable input 10 Vdc 30 Vdc 4 8 kohm impedance current sourcing signal compatible active high max input response time is 500 us optically isolated Input debounce 0 2000 ms configured in PowerTools Pro Control Outputs Diagnostic Analog Outputs 2 10 Vdc into 10 Kohm single ended short circuit proof to ground short circuit proof to ground 10 bit software selectable output signals Digital Outputs 3 on EP B 8 on the EP I and EP P 150 mA max each short circuit proof current source from 10 Vdc 30 I O power supply 3 5 max supply to output voltage drop 150 mA opto isolated Motor temp sensor Contact 5 Vdc O C tripped 0 5 mA S C normal Compatible with PTC thermistor with 1 kOhm resistance at trip point Pulse
79. uirements Each cable shield was grounded at the enclosure wall by the type of grommet described earlier and shown in the following figure Outside Enclosure Inside Enclosure O Ring seals against outside of enclosure to meet IP68 comparable to NEMA 6 Spring Contacts When Lock Nut is tightened to inside of enclosure lock nut will cut through varnished anodized and powder coated finishes Tighten lock nut so it cuts through the finish and into housing Cable Shielding Cable Jacket Remove 1 2 to 1 inch of cable jacket The Spring Contacts will make a continuous electrical path from the shield of the cable to equipment ground After tightening lock nut and positioning cable so that Spring Contacts are contacting the cable shield tighten Cable Seal Housing Figure 3 Through Wall Shield Grommet Shielded Cable Grommet Cable Type Cable Model Kit Model Actual Hole Size Motor Cable 18 Ga XTMDS CGS 047 0 8125 or 13 16 CMDS CGS 047 0 8125 or 13 16 Motor Cable 16 Ga 4X16SS CGS 047 0 8125 or 13 16 Motor Cable 18 Ga XCMDS CGS 047 0 8125 or 13 16 CMMS CGS 069 1 125 or 1 1 8 Motor Cable 12 Ga 4X12SS CGS 069 1 125 or 1 1 8 CFOS CGS 047 0 8125 or 13 16 Feedback Cable MGFS CGS 047 0 8125 or 13 16 CMDF CGS 047 0 8125 or 13 16 Flex Motor Cable 16 Ga 4X16SF CGS 047 0 8125 or 13
80. uld have an impact on safety You must take appropriate precautions against inadvertent changes or tampering Restoring default parameters in certain applications may cause unpredictable or hazardous operation 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 for example stop start forward reverse and maximum speed is not sufficient for use in safety critical applications without additional independent channels of protection All applications where malfunction could cause injury or loss of life must be subject to a risk assessment and further protection provided where needed Identification of Safety Information Safety related information through out this manual is identified with the following markings WARNING Warning indicates a potentially hazardous situation that if not avoided could result in death or serious injury CAUTION Caution indicates a potentially hazardous situation that if not avoided may result in minor or moderate injury Safety Information iii Safety Information Product Overview Installation Options Specification Accessories Caution used without the safety alert symbol indicates a potentiall
81. x 4 219 5 56 Safety Information Product Overview Installation Options and Specification Accessories The following table applies to the A dimension as shown in figure 5 for the programming drives Dimension A Minimum Panel Width prive Leet inches mm inches mm EP202 Pxx xxxx 2 69 68 3 3 45 88 EP204 Pxx xxxx 2 69 68 3 3 45 88 EP206 Pxx xxxx 3 40 86 4 4 15 105 Le 5 94 150 88 5 22 182 59 OOOOH Figure 5 To prevent drive from dropping out of position during installation partially pre install lower mounting screws then set drive in place with lower mounting screws in slots and then install at least one upper mounting screw 8 099 205 72 7 70 195 58 2 69 68 3 1 03 26 16 1 20 30 48 Ea 000000000 22 8 Mechanical Drawing for Epsilon Programming Drive For removal loosen lower screws remove upper screws and lift drive out Installation Safety Information Product Overview Installation Options and Specification Accessories Step 3 High Power Connections System Grounding To insure a safe and quiet electrical installation good system
82. y hazardous situation that if not avoided may result in property damage For the purpose of this manual and product Note indicates essential information about the product or the respective part of the manual Throughout this manual the word drive refers to an Epsilon EP drive WARNING General warning Failure to follow safe installation guidelines can cause death or serious injury The voltages used in this unit can cause severe electric shock and or burns and could be lethal Extreme care is necessary at all times when working with or adjacent to this equipment The installation must comply with all relevant safety legislation in the country of use Supply isolation device The AC supply or high voltage DC 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 Allow at least 6 minutes for Epsilon EP206 and 3 minutes for Epsilon EP202 204 after removing the supply before carrying out any work which may involve contact with electrical connections to the drive Products connected by plug and socket A special hazard may exist where the drive is incorporated into a product which is connected to the AC supply by a plug and socket When unplugged the

Emerson Epsilon EP Drive Installation Manual

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