Epsilon EP-B Base Drive Reference Manual P/N 400518-03 Revision: A1 Date: April 9, 2007 © Control Techniques Americas LLC 2007
Epsilon EP-B Base Drive Reference Manual Information furnished by Control Techniques Drives Inc. (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.
© Control Techniques Americas LLC 2007 Part Number: 400518-03 Revision: A1 Date: April 2007 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.
Customer Support Control Techniques Americas LLC 12005 Technology Drive Eden Prairie, Minnesota 55344-3620 U.S.A. Telephone: (952) 995-8000 or (800) 893-2321 It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support you need.
Document Conventions Manual conventions have been established to help you learn to use this manual quickly and easily. As much as possible, these conventions correspond to those found in other Microsoft® Windows® compatible software documentation. Menu names and options are printed in bold type: the File menu. Dialog box names begin with uppercase letters: the Axis Limits dialog box. Dialog box field names are in quotes: “Field Name.” Button names are in italic: OK button.
Epsilon EP-B Base Drive Reference Manual 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 cause injury.
Epsilon EP-B Base Drive Reference Manual 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.
Epsilon EP-B Base Drive Reference Manual Table of Contents Customer Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Reference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv Safety Information v Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Epsilon EP-B Base Drive Reference Manual Diagnostics and Troubleshooting 79 Diagnostic Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Drive Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Epsilon EP-B Base Drive Reference Manual Introduction Epsilon EP-B Base Drive The Epsilon EP-B drives are stand-alone, fully digital brushless servo drives designed and built to reliably provide high performance and flexibility without sacrificing ease of use. The use of State-Space algorithms make tuning very simple and forgiving. The drives are designed to operate with up to a 10:1 inertia mismatch right out of the box.
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Epsilon EP-B Base Drive Reference Manual Quick Start Offline Setup Generally, online setup is used when editing parameters in a device. Offline setup editing is usually only done when not connected to a device. Step 1: Opening an Offline Configuration Window To open an offline Configuration Window, click the New button from the toolbar or select New from the File menu. Figure 2: New Dialog Box When the New dialog box appears, select the drive setup selection and click the OK button.
Epsilon EP-B Base Drive Reference Manual Figure 4: Setup View Entering Identification Parameters: 1. Enter an axis identifying name for the drive you are setting up. You can use up to 24 alpha-numeric characters. 2. Enter the Axis Address to which you wish to download the setup information. Unless you have changed the Modbus address of your device, leave this parameter set to the default value of 1. Entering Configuration Parameters: 1.
Quick Start Step 3: Assigning Inputs Inputs are assigned in the Inputs view which is divided into two windows. The “Input Functions” window, on the left side, displays the input functions available, the function polarity and the always active state. The “Input Lines” window, on the right side, displays the drive enable input, four input lines, the debounce value and input function assignments. You cannot assign functions or Debounce the Drive Enable input line.
Epsilon EP-B Base Drive Reference Manual Figure 7: Outputs View To assign an Output Function to an Output Line: 1. Assign an output by highlighting an output function in the “Output Function” window and drag the highlighted output function to the desired output line in the "Output Line" window. To unassign an Output Function from an Output Line: 1.
Quick Start Figure 8: Communications Setup Screen After communications are established the baud rate can be changed by selecting from the Device menu, choose Change Baud Rate. Step 2: Downloading the Configuration File When you are ready to download the information in the current Configuration Window, go to the Setup view and enter the address of the device you wish to download to in the “Axis Address” text box. Click the Download button in the toolbar or from the Device menu, Download.
Epsilon EP-B Base Drive Reference Manual Figure 9: Upload Drive Configuration Dialog Box Step 4: Operation Verification After downloading a configuration file to the device the user may want to verify the operation of the system using the checklist below. 1. I/O powered and Logic powered 2. Connections installed 3. Enable the drive 4. Verify “R” on the drive status/diagnostic display Step 5: Saving the Configuration File To save the drive setup information, select Save from the File menu.
Epsilon EP-B Base Drive Reference Manual Operational Overview User Interface The Epsilon EP-B Base Drive is set up using PowerTools Pro software. PowerTools Pro is an easy-to-use Windowsbased setup and diagnostics tool. It provides you with the ability to create, edit and maintain your drive’s setup. You can download or upload your setup data to or from a device. You can also save it to a file on your PC or print it for review or permanent storage.
Epsilon EP-B Base Drive Reference Manual Analog Velocity Sub-Mode The Analog Input receives an analog voltage which is converted to the Velocity Command Analog parameter using the Full Scale Velocity, Analog Input Full Scale, and Analog Input Zero Offset parameters.
Operational Overview VELOCITY (+) 2200 2000 1800 1600 1400 1200 1000 800 600 400 200 0 -200 -400 -600 -800 -1000 -1200 -1400 -1600 -1800 -2000 -2200 A/D 1 A/D 2 A/D 0 A/D 3 TIME A/D 2 Preset Velocity 0 Preset Velocity 1 Preset Velocity 2 Preset Velocity 3 Preset Velocity 0 A/D = Acceleration/Deceleration Ramp Figure 11: Velocity vs.
Epsilon EP-B Base Drive Reference Manual Preset Velocity 0 Preset Velocity 1 Preset Velocity Command Preset Velocity 2 Summation Point Preset Velocity 3 Velocity Command Analog Velocity Command Analog Input Figure 12: Summation Mode Block Diagram . VELOCITY (+) 2200 2000 1800 1600 1400 1200 1000 800 600 400 200 0 Figure 13: Velocity Command Analog Velocity Command Preset Velocity Command TIME Velocity vs.
Operational Overview Figure 14: Setup View - Pulse Mode High Performance Gains Enable check box in PowerTools Pro software is typically enabled when Pulse mode is used (the default is enabled). Interpretation Mode Group Pulse/Pulse Interpretation In Pulse/Pulse interpretation, pulses received on the A channel are interpreted as positive changes to the Pulse Position Input. Pulses received on the B channel are interpreted as negative changes to the Pulse Position Input.
Epsilon EP-B Base Drive Reference Manual Motion occurs on rising edge Pulse CW CCW Figure 16: Direction Pulse/Direction Signals, Differential Inputs Pulse/Quadrature Interpretation In Pulse/Quadrature interpretation, a full quadrature encoder signal is used as the command. When B leads A encoder counts are received they are interpreted as positive changes to the Pulse Position Input. When A leads B encoder counts are received they are interpreted as negative changes to the Pulse Position Input.
Operational Overview installation techniques are followed, the differential input setup will provide a more robust and noise immune system than a single ended input setup.
Epsilon EP-B Base Drive Reference Manual Actual motor rotation direction will depend on pulse ratio polarity and setting of the Positive Direction bit. Pulse Mode Parameters The Pulse Position Input parameter shows the total pulse count received by the drive since the last power-up. The Pulse Position Input, Position Command, Position Feedback Encoder and Position Feedback are initialized to zero on power-up. Only Position Feedback Encoder can be pre-loaded serially with a value after power-up.
Operational Overview Analog Position Mode Setup Within the PowerTools Pro click on Setup in the hierarchy tree and then select Analog Position Mode in the Setup view. The Analog Position Mode Setup tab will appear underneath where you made the operating mode selection. Figure 19: Setup View - Analog Position Mode Velocity Limit Starting This is a velocity limit during the initial analog command motion.
Epsilon EP-B Base Drive Reference Manual actual position. This move may occur more rapidly than the user would like. To have a slower and safer initial startup, the “Velocity Limit Starting” is used. It is only valid from the “Analog Position Mode Enable” until the position is reached. The acceleration is limited by “Analog Accel/Decel Limit”. Define Home Position The Home Position value is used by the drive to set the actual position to this value after the “Home” input is activated.
Operational Overview Analog Zero offset • Range -10.000 to +10.000 • Provides an offset voltage to zero the signal. For example, if your analog source has a 100mV signal when the velocity command is zero, this value can be set to -100mV so that the drive is commanding zero velocity. Analog Input – Position Group The four values in this box define the Voltage to Position relationship, by setting the endpoints of a straight line.
Epsilon EP-B Base Drive Reference Manual Position Limit Min • If “Position Limit Enable” is set, the value of “Position Limit Min” will be the lower limit of the allowable travel range. The motor will stop at this location when the analog input is commanding a position beyond this location. No fault is genterated. Position Limit Max • If “Position Limit Enable” is set, the value of “Position Limit Max” will be the upper limit of the allowable travel range.
Operational Overview • Units are defined by the source selected • Note: This is does not limit the D/A output value Analog Min Voltage • The lower Voltage in the point set (Value,Voltage): • RW Voltage units (volts) -10.000 – +10.000 • Units are defined by the source selected • Note: This is not limit the D/A output value Read taught values from the drive The Analog Outputs Max and Min values and voltages are read from the drive and loaded into the application.
Epsilon EP-B Base Drive Reference Manual Set Analog Out Ch2 Voltage • On teach, load the Channel 2 Analog Output’s “Analog Min Voltage” with current “A/D value” Set Position Limit • On teach, load the “Motion Limit Min” with current “Position Command”. Teach Max Group • On the second pulse of the teach function these functions are executed. Define Home • Set “Position Command” equal to “Define Home Position” • Note: Set “Define Home Position” within the throw of the linear arm.
Operational Overview Digital Input Setup for Analog Position Mode Analog Position Mode Enable • Move Motor from Starting “Position Command” to “Analog Position Command” Note: if the two values are equal no motion is expected • Motion is limited by “Accel Limit Starting” Define Analog Position • Set “Position Command” equal to “Analog Position Cmd” • Note: No motion is executed • Note: “Enable Analog Position” must be disabled. • Note: This basically redefines the home.
Epsilon EP-B Base Drive Reference Manual 4. Leave the operating mode in Velocity Presets. Step 3: 1. On the Input Lines view select the input functions to operate Analog Positioner. 2. Line 1 assign Velocity Preset #1 3. Line 2 assign Velocity Preset #2 and Velocity Preset#3, Line 1 and 2 will provide a jog to position capability. a. If both 1 and 2 inputs are off then it is Preset 0 which is 0 velocity. b. If both 1 and 2 switches are on then it is Preset 3 which is -50 rpm. c.
Operational Overview f. Select the “Set Position Limit” check box so the maximum point will also restrict the Analog Position Command so it does not go above this point Step 5: 1. In the Analog Inputs view, for this example we will not do much setup on this view. The teach function will load all the “Analog Input – Position” values and we will not be using the “Analog Input Velocity, Torque”. For Bandwidth the default will do for now 2.
Epsilon EP-B Base Drive Reference Manual +/- Travel Limits The + and - Travel Limit input functions will stop motion in the direction indicated by the input function using the Travel Limit Deceleration ramp. This feature is active in all modes. When an axis is stopped by a Travel Limit function, it will maintain position until it receives a command that moves it in the opposite direction of the active Travel Limit.
Operational Overview Torque Limiting The Torque Command is calculated as shown previously, but its value is limited by the Torque Limit parameter and the current foldback function (see "Torque Limit" and "Current Foldback"). The result of this limiting function is Torque Command Actual. This is the command that drives the Power Stage to generate current in the motor. The Torque Limit Active output function is active whenever the Torque Command Actual is less than the Torque Command.
Epsilon EP-B Base Drive Reference Manual Motor Direction Polarity The direction that the motor turns with a positive command can be changed with the Positive Direction parameter in PowerTools Pro. The positive direction by default causes the motor to turn CW as viewed looking at the shaft. CW and CCW rotation is determined by viewing the motor from the shaft end. Figure 22: Motor Rotation Positive direction is defined as the command which causes the internal position counter to count "Up".
Operational Overview Figure 23: RMS Foldback Trip Point (this graph is accurate to ±5 percent) Stall Foldback Stall Foldback will also be triggered when the drive sees repeated high currents in one of the three motor phases. This can occur when a motor is moved back and forth between two of its electrical poles.
Epsilon EP-B Base Drive Reference Manual Brake Release The Brake Release input function will release the brake under all conditions. When this input function is on, the Brake output function will be on (i.e., release brake). This input function overrides all other brake control, thus allowing the brake to be released while a fault is active or the power stage is disabled. See also Brake output function.
Operational Overview Analog Output Offset units: • Velocity Command = RPM • Velocity Feedback = RPM • Torque Command = Percent of continuous torque • Torque Feedback = Percent of continuous torque • Position Feedback = Revs • Following Error = Revs Analog Output Scale units: • Velocity Command = RPM/volt • Velocity Feedback = RPM/volt • Torque Command = Percent of continuous torque/volt • Torque Feedback = Percent of continuous torque/volt • Position Feedback = Revs/volts • Following Error = Revs/volts Exam
Epsilon EP-B Base Drive Reference Manual Input Lines Force On/Off Enable Input Terminal Input Line Raw Status Debounce Timer Input Line Debounced Status Input Line Status Input Lines Force On/Off Command Figure 24: Input Line Diagram If the Input Line attached to the home sensor is debounced, the actual rising edge of the Home Sensor is used to determine the Home Reference Position (the debounce time ensures a minimum pulse width).
Operational Overview Torque Mode Enable This Torque Mode Enable input function, when active, causes the drive to change operating mode to torque mode. When this input function is deactivated the default operating mode is enabled with no transitional ramping. Travel Limit + and The Travel Limit + and - input functions will stop motion in the direction indicated by the input function using the Travel Limit Deceleration rate. This feature is active in all modes.
Epsilon EP-B Base Drive Reference Manual Fault This output function is active whenever a drive fault condition exists. Foldback Active This output function is active when the drive is limiting motor current. If the RMS Foldback value exceeds 100 percent of the continuous rating, the current foldback circuit will limit the current delivered to the motor to 80 percent of the continuous rating.
Operational Overview How Communications Work Configuring Communication Before attempting to upload or download a configuration file using PowerTools Pro, the software must be configured to the correct communication settings for the intended communication connection. The communication connection may be selected in the Upload Drive Configuration, Download to Device IDx or the Change Path dialog boxes.
Epsilon EP-B Base Drive Reference Manual • • • • • • • • Modbus Address ID Drive Type Module Type Communication Options Base/Drive FW Revision Module FW Revision Module Serial Number Drive Serial Number Figure 26: Download to Device ID 1 Dialog Box Select the device to download to and click OK. Change Path Connection This function allows the user to change the drive and Ip address/Com port used for download and upload.
Operational Overview Figure 27: Change Path Dialog Box Select the device in the list and then click OK. The communication connection path will then be displayed in the status bar at the bottom of PowerTools Pro window.
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Epsilon EP-B Base Drive Reference Manual Setting Up Parameters Graph View The Graph view is only available when online with the drive. The Graphing function in the drive makes use of an internal high speed data capture. After this capture is “Arm”ed, the capture will begin to fill a rolling buffer with the data as specified by Channel 1 - Channel 4. Once triggered, the data capture will fill the rest of the allocated memory.
Epsilon EP-B Base Drive Reference Manual Timing Group The sliders can be moved in several different ways. 1. With the mouse pointer over the slider, left click and hold while dragging the slider back or forth to the desire setting. 2. With the mouse pointer over the slider, left click on the slider and then the arrow keys on the PC keyboard can be used to move the slider in fine increments. The Page Up and Page Down keys move the slider in course increments.
Setting Up Parameters Figure 29: Graphical Plot Setup View The Setup View contains all of the primary system setup parameters. These parameters must be setup prior to using your system. By selecting Setup in the Hierarchy Tree, the Setup view will appear on the right side of the view (see Figure 30). The Setup view is divided into five groups. The groups are Identification, Configuration, Drive Encoder Output, Positive Direction, and Operating Mode with an explanation of each function.
Epsilon EP-B Base Drive Reference Manual Identification Group The identification group consists of the Axis and the Axis Address. Axis Enter a 24 character alpha/numeric name for the device you are currently setting up. Assigning a unique name for each device in your system allows you to quickly identify a device when downloading, editing and troubleshooting. All keyboard characters are valid. Axis Address Enter the “Axis Address” to which you wish to download the configuration file information.
Setting Up Parameters Full Scale Velocity = 4000 RPM Figure 31: Velocity Mode Setup Tab - Analog Velocity Sub-Mode Full Scale Velocity This parameter is the maximum motor velocity (in RPM) desired when the drive receives an analog voltage equal to the Analog Input Full Scale parameter setting. Full Scale Velocity and Analog Input Full Scale do not set limits. They only set the proportion of motor speed to Analog Input Voltage.
Epsilon EP-B Base Drive Reference Manual Figure 33: Velocity Mode Setup Tab - Analog + Preset Summation Sub-Mode Full Scale Velocity This parameter is the motor velocity (in RPM) desired when the drive receives an analog voltage equal to the Analog Input Full Scale parameter setting. Preset Number Use the scroll arrows to select the Preset Velocity Number you are configuring. Preset Velocity Enter a value for each of the Preset Velocity you wish to use.
Setting Up Parameters Figure 34: Torque Mode Setup Tab Full Scale Torque This parameter specifies the Torque Command when the Analog Input voltage is equal to the Analog Full Scale parameter. Peak Torque Available This displays the maximum torque available from the selected drive and motor combination. This is calculated by PowerTools Pro and is not a drive parameter.
Epsilon EP-B Base Drive Reference Manual Pulse/Direction Radio Button Selecting this radio button puts your drive in Pulse/Direction interpretation. In Pulse Direction mode, pulses are received on the A channel, and the direction is received on the B channel. If the B is high, pulses received on the A are interpreted as positive changes to the Pulse Position Input. If the B is low, pulses received on the A are interpreted as negative changes to the Pulse Position Input.
Setting Up Parameters Analog Position Mode Figure 36: Setup View-Analog Position Mode Analog Position Mode Setup Tab Analog Limit Starting Enable Select this check box to enable the Velocity Limit Starting feature. Velocity Limit Starting The value entered here will be used to limit the starting velocity when the Analog Position Mode is enabled using the Enable Analog Position Input. Define Home Posn The value entered here will be used to define the home position of the Analog Position mode.
Epsilon EP-B Base Drive Reference Manual Figure 37: Motor Rotation Perspective CW Motor Rotation Option Button Select this option button for applications in which CW motor rotation is considered to be motion in the positive direction (increasing absolute position). CCW Motor Rotation Option Button Select this option button for applications in which CCW motor rotation is considered to be motion in the positive direction (increasing absolute position).
Setting Up Parameters Motor Type List Box Use this list box to select the motor type. PowerTools Pro software will display all the standard motor models and any user defined motors. Selecting the wrong motor type can cause instability and may cause property damage to the motor and/or drive. Use Motor Data From .ddf File Check box When selecting a motor for use with the Epsilon drive or a MDS/FM-2 module combination, the user has two basic options: 1.
Epsilon EP-B Base Drive Reference Manual Rotor Inertia This parameter specifies the inertia of the motor rotor. The drive uses this parameter to interpret the “Inertia Ratio” parameter. “Inertia Ratio” is specified as a ratio of reflected load inertia to motor inertia. Motor KE Specifies the Ke of the motor. The units are Vrms/ kRPM. The line-to-line voltage will have this RMS value when the motor is rotated at 1000 RPM. The range is 5.0 to 500.0 Vrms/ kRPM.
Setting Up Parameters Encoder Type The supported values for this parameter are 1 and 0. If set to a 1 the drive uses the Encoder Marker angle as well as the Encoder U Angle for commutation. If this parameter is set to a 0, the drive uses only the Encoder U Angle. Values from Drive Column The Values from Drive column is a group of parameters that are constantly being read from the drive. The theory of operation is that the user will often perform an Auto-Tune function that reads/measures/calculates data.
Epsilon EP-B Base Drive Reference Manual Figure 39: Auto-Tune Dialog Box - Auto-Tune Mode 3 After the Auto-Tune Mode has been selected, click Proceed, to start the Auto-Tune. When the Auto-Tune is completed the results will be in the Values from Drive column on the Motor view. Save .ddf Values Button Once the user has entered the data for the motor they are using, they may or may not wish to save the motor data to the Motor.ddf file so it can be easily recalled at a later time.
Setting Up Parameters Figure 40: The User Defined Motor Name Conflict Dialog Box The User Defined Motor Name Conflict dialog box presents the user with four options on how to proceed with saving the motor data. Those four options are: Create new motor entry In .ddf File The user can select to keep the existing data and create a new entry into the motor.ddf file with a different name. After selecting this option, the user simply enters a new name in the Please enter a new motor name text box.
Epsilon EP-B Base Drive Reference Manual Parameters Not Matching List This list is part of the User Defined Motor Name Conflict dialog box and displays the parameter value(s) from the Motor Parameters column that do not match the equivalent parameter value in either the motor.ddf or stdmotor.ddf files, for the motor with the matching name. This helps the user to determine whether they wish to overwrite, cancel, or create a new motor with this Save .ddf Values operation.
Setting Up Parameters Encoder Position The motor position in encoder counts since power up when the value was set to zero. This is a signed 32 bit value. This is set to zero when the Absolute Position Valid output function is activated. Velocity View This view allows the user to set the drive limits, and if online, view the velocity feedback parameters. Figure 42: Velocity View - Online Limits Group Overspeed Velocity This parameter specifies the maximum allowable speed.
Epsilon EP-B Base Drive Reference Manual Ramps View Figure 43: Ramps View Ramps Group Stop Deceleration The value the user enters here defines the rate of velocity change to zero speed when a Stop input function is activated. Travel Limit Deceleration The value the user enters here defines the rate of velocity change to zero speed when a Travel Limit input function is activated.
Setting Up Parameters Torque View This view allows the user to edit the Torque Limit and when online with the device view the torque parameters. Figure 44: Torque View - Online The Torque Limit value takes effect only when the Torque Limit Enable input function is active. These parameters are continuously updated while online with the drive. Settings Group Torque Limit This value is the level which the Torque Command will be limited to when the Torque Limit Enable input function is active.
Epsilon EP-B Base Drive Reference Manual Tuning View All parameters on the Tuning view are related to the load on the motor and application requirements. The load on the motor is specified by two parameters: Inertia Ratio and Friction. Typical application requirements are specified by the response adjustment and Feedforward Gains. Position Error Integral is provided to compensate for systems with high friction or vertical loads.
Setting Up Parameters Low Pass Filter Group Low Pass Filter Enable Check Box This check box when selected enables a low pass filter applied to the output of the velocity command before the torque compensator. The low pass filter is not active in Torque Modes. Low Pass Frequency This parameter defines the low pass filter cut-off frequency. Signals exceeding this frequency will be filtered at a rate of 40 dB per decade.
Epsilon EP-B Base Drive Reference Manual Resistance The resistance value of the shunt. Shunt Control Group Shunt Power RMS This parameter models the thermal heating and cooling of the drive internal shunt. This parameter indicates the percent of shunt capacity utilization. When this value reaches 100 percent, the drive will generate an RMS Shunt Power Fault. Bus Voltage Displays the actual measured voltage on the DC power bus.
Setting Up Parameters Set Analog Out Ch 2 Position Select this check box to load the position command value in the Analog Min Value for Channel 2 (on the Analog Outputs view) on the first pulse of the teach function. Set Analog Out Ch 2 Voltage Select this check box to load the position command value in the Analog Min Voltage for Channel 2 (on the Analog Outputs view) on the first pulse of the teach function.
Epsilon EP-B Base Drive Reference Manual Faults View Figure 47: Faults View - Online Fault Enable Group Low DC Bus Fault Enable This parameter’s default setting is enabled. When enabled, the drive will detect a low DC bus at 60 Vdc and will log a Low DC Bus Fault if a power down is not completed after the low DC bus is detected. Clearing this check box will disable the Low DC Bus Voltage Fault.
Setting Up Parameters I/O Setup Input Lines View The Input Lines view is used to assign an input function to an input line. This view is divided into two windows. The “Input Function” window, on the left side, displays the input functions available and the function configuration. The “Input Line” window, on the right side, displays the input lines, attached input functions and the debounce value.
Epsilon EP-B Base Drive Reference Manual Attached Function This displays the Input Function assigned each particular Input Line. Configuration The debounce value is displayed next to each input line, the active state for the attached input function is shown next to the input function. Input Lines Group Debounce Text box The debounce value is displayed next to each input line. This feature helps prevent false input triggering in noisy electrical environments. Enter a “Debounce Time” in milliseconds.
Setting Up Parameters Figure 50: Output Lines View for a Epsilon EP-B Drive For wiring information, refer to the “Installation” section of the Epsilon EP Installation Manual (P/N 400518-01). Output Function Window This window allows selection of the output function to be assigned to an output line. To assign an output function, position the mouse pointer over the function on the left to assign it to the line on the right. Press the left mouse button while over the function, and hold the button down.
Epsilon EP-B Base Drive Reference Manual Analog Inputs View The drive has one analog input channel that accepts a +10 V to -10 V signal. The drive has a 12-bit over sampled to 14bit analog to digital converter (A/D), which is used to transform the analog voltage to a usable parameter. The analog input is scanned by the drive every 100 microseconds and the module at the trajectory update rate.
Setting Up Parameters Analog Min Voltage This parameter sets the lower value in the point set in volts. Position Limit Enable Select this check box to enable the Position Limit Max and Position Limit Min feature. Position Limit Max When enabled the parameter entered here will be the upper limit of the Analog Position Command. Position Limit Min When enabled the parameter entered here will be the lower limit of the Analog Position Command.
Epsilon EP-B Base Drive Reference Manual Analog Outputs View This view displays the setup and feedback data for the two Analog Output channels. Figure 52: Analog Outputs View - Online Analog Outputs Group Source Select the signal to use as the source for the Analog Output. There are six options: Velocity Feedback, Velocity Command, Torque Feedback, Torque Command, Position Feedback and Following Error. The scaling and offset are affected by the source parameter selected.
Setting Up Parameters • Note: This does not limit the D/A output voltage Analog Min Value • The lower Value in the point set (Value,Voltage): • RW • Units are defined by the source selected • Note: This does not limit the D/A output value Analog Min Voltage • The lower Voltage in the point set (Value,Voltage): • RW Voltage units (volts) -10.000 to +10.
Epsilon EP-B Base Drive Reference Manual Position Command This is the commanded position generated by the device. Following Error The Following Error is the difference between the Position Command and the Position Feedback. It is positive when the Position Command is greater than the Position Feedback. Encoder Position The motor position in encoder counts since power up when the value was set to zero. This is a signed 32 bit value. Position Feedback This is the feedback position of the motor.
Setting Up Parameters Shunt Control Group Shunt Power RMS This parameter models the thermal heating and cooling of the drive internal shunt. This parameter indicates the percent of shunt capacity utilization. When this value reaches 100 percent the drive will generate an RMS Shunt Power Fault. Information Tab ID Group Firmware Revision Displays the revision of the firmware in the drive you are currently online with.
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Epsilon EP-B Base Drive Reference Manual Tuning Procedures The drive uses closed loop controllers to control the position and velocity Travel Limit of the attached motor. These position and velocity controllers and the associated tuning parameters are in effect when the drive is in velocity or pulse mode and have no effect when the drive is in Torque mode.
Epsilon EP-B Base Drive Reference Manual Basic Level Adjust Response to obtain the best performance. Intermediate Level 1. Calculate or estimate the load inertia. It is always better to estimate low. 2. Disable the drive. 3. Enter the inertia value calculated into the Inertia Ratio parameter. 4. Set the Line Voltage to the applied voltage (default is 230 Vac). 5. Leave all other tuning parameters at the initial values. 6. Enable the drive and run the system. 7.
Tuning Procedures Figure 55: Inertia Setting (5) 2. Increase the response parameter The Response is normally the next adjustment when tuning. For best performance the Response should be lower with a higher inertia mismatch (>10:1) and higher with a lower inertia mismatch. This is because most higher inertia systems have torsional compliance in the frequency range of interest.
Epsilon EP-B Base Drive Reference Manual Figure 57: PEI = off Figure 58: PEI = on Feedforwards gain can be enabled if the performance requirements are very demanding. However, when using them make sure the Inertia Ratio and Friction values are an accurate representation of the load. Otherwise, the system performance can actually be degraded or stability will suffer. Enabling Feedforwards makes the system less tolerant of inertia or friction variations during operation.
Tuning Procedures If you enter an inertia value lower than the actual inertia, but is between 10 and 90 percent of the actual, the drive will tend to be more sluggish than optimum but will usually operate satisfactorily. If the value you enter is less than 10 percent of the actual inertia, the drive will have a low frequency oscillation at speed. There are three guidelines for defining the inertia ratio: 1. In most applications the default value of 0 (zero) will be used. 2.
Epsilon EP-B Base Drive Reference Manual Feedforwards can be enabled in any operating mode, however, in certain modes they do not function. These modes are described in table below.
Epsilon EP-B Base Drive Reference Manual Diagnostics and Troubleshooting Diagnostic Display 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 code, 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 any motion command will cause motion.
Epsilon EP-B Base Drive Reference Manual The +/- Limit faults are automatically cleared when the fault condition is removed. The table below lists all the fault codes in priority order from highest to lowest. This means that if two faults are active, only the higher priority fault will be displayed.
Diagnostics and Troubleshooting Display Fault Action to Reset Bridge Disabled Following Error (Position mode) (Pulse mode) Reset Button or Input Line Yes Travel Limit +/- Auto No All “On” Normally "On" for one second during power up Yes Fault Descriptions Flash Invalid This fault indicates that the firmware checksum has failed. From the Tools menu, Flash Upgrade to reprogram/upgrade the firmware stored in flash memory. If this problem persists, call Control Techniques.
Epsilon EP-B Base Drive Reference Manual Encoder State Certain encoder states and 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. See Faults view section for more information. Encoder Hardware If any pair of encoder lines are in the same state, an encoder line fault is generated.
Diagnostics and Troubleshooting Drive Faults Faults View The Faults view displays any active faults in the system. Those faults that do not require a reboot, can be cleared by clicking on the Reset button on the front of the drive or module. Figure 59: Faults View Resetting Faults Some drive faults are automatically reset when the fault condition is cleared. Others require drive power to be cycled, logic power to be cycled, or the drive to be “rebooted” to be cleared.
Epsilon EP-B Base Drive Reference Manual Figure 60: Watch Window - Select Parameters Window The Select Parameters window as seen in Figure 60 allows the user to specify which parameters are to be seen in the Watch Window. To select a parameter for the Watch Window, simple double-click on the parameter in the "Drag Source" window or drag and drop the parameter from the "Drag Source" window on the left over to the "Parameters Displayed in Watch Window" on the right and it will be added to the Watch Window.
Diagnostics and Troubleshooting Clear All Button This button is used to clear all the parameter selections in the "Parameter Displayed in Watch Window" pane that were previously selected and the Watch Window will close. Save Selections Button This button saves the parameter selections. This enables the user to restore the same list of parameters for use in future online sessions.
Epsilon EP-B Base Drive Reference Manual Error Messages PowerTools Pro will pop-up an error message box to alert you to any errors it encounters. These message boxes will describe the error and offer a possible solution. The table below list the of common problems you might encounter when working with PowerTools Pro software along with the error message displayed, the most likely cause and solution. 86 Problem/Message Cause Solution Time-out while waiting for device response.
Epsilon EP-B Base Drive Reference Manual Glossary µs Microsecond, which is 0.000001 seconds. A Ampere. The unit of electrical current. Amplifier Servo drive. ARMS Ampere (RMS).Root Mean Square. AWG American Wire Gauge. Baud Rate The number of binary bits transmitted per second on a serial communications link such as RS-232. (1 character is usually 10 bits.) Check Box In a dialog box, a check box is a small box that the user can turn “On” or “Off” with the mouse.
Epsilon EP-B Base Drive Reference Manual Flash Another type of EEPROM. Flash File This file loads the firmware into the drive. Flash files can field upgrade the firmware. Hysteresis For a system with an analog input, the output tends to maintain its current value until the input level changes past the point that set the current output value. The difference in response of a system to an increasing input signal versus a decreasing input signal. I/O Input/Output.
Glossary Output Function A function (i.e., Drive OK, Fault) that may be assigned to an output line. Output Line The actual transistor or relay controlled output signal. Parameters User read only or read/write parameters that indicate and control the drive operation. These variables generally hold numerical data defined in the Setup Views. PE Protective Earth. PID Proportional-Integral-Derivative. An acronym that describes the compensation structure that can be used in many closed-loop systems.
Epsilon EP-B Base Drive Reference Manual Velocity The rate of change in position in a given direction during a certain time interval. Windows, Microsoft Microsoft Windows is an operating system that provides a graphical user interface, extended memory and multi-tasking. The screen is divided into windows and the user uses a mouse to start programs and make menu choices.
Epsilon EP-B Base Drive Reference Manual Specifications Epsilon EP Specifications Epsilon EP Series 20 Vac-264 Vac, 1 Ø, 47-63 Hz (240 Vac for rated performance) Type TN (Grounded) Installation Category III Power Requirements SCCR (Short Circuit Current Rating) Rated Output Current and Power Continuous Input Current (AC Input) Logic Power Supply Input 10,000 Symmetrical RMS Amps Model Continuous Power Continuous Current Peak Current EP202 670 W 2.2 A RMS at 40°C or 50°C 4.
Epsilon EP-B Base Drive Reference Manual Epsilon EP Series Differential line driver, RS-422 and TTL compatible Encoder Output Signal Shunt Resistor Capacity/ Regeneration Capacity Scalable in one line increment resolution up to 2048 lines/rev of the motor (NT) 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
Specifications Epsilon EP Drive Dimensions The following table applies to A* and B* as shown in the figure below. Drive Model Dimension A* (shown in inches/mm) Dimension B* (shown in inches/mm) EP202-B,-I,-IDN 2.11 [53.59] 0.45 [11.4] EP204-B,-I,-IDN 2.11 [53.59] 0.45 [11.4] EP206-B,-I,-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 [26.16] EP206-P 3.40 [86.9] 1.03 [26.16] 5.94 [150.88] 5.22 [132.59] “A” 1.20 [30.48] 2.5 [63.50] “B” .200 [5.
Epsilon EP-B Base Drive Reference Manual Cable Diagrams EIO26 Cable 1.530 0.770 EIO PIN 1 10 LT.
Specifications XV Motor Cables XTMDS Cable PIN 1 PE/GND 4 R 1 S 3 T 2 BRAID SHIELD GRN/YEL FORM WIRE BRN BLK BLU 1 2 3 4 REAR VIEW OF CONNECTOR XCMDS Cable PE/GND D U A V C W B BRAID SHIELD GRN/YEL FORM WIRE BRN BLK BLU BLU (20 AWG) BLU/WHT (20 AWG) Drain Wire D A C B SOLDER SIDE Socket 95
Epsilon EP-B Base Drive Reference Manual XCMDBS Cable PE/GND D U A V C W B BRK+ E BRK - BRAID SHIELD GRN/YEL BRN BLK BLU BLU (20 AWG) BLU/WHT (20 AWG) F Drain Wire F A G E D B C SOLDER SIDE Socket XTBMS Cable PIN 1 +24V 1 0V 2 RED BLK DRAIN WIRE 1 2 REAR VIEW OF CONNECTOR 96 FORM WIRE
Specifications XEFTS / XUFTS Cable Pin 1 Pin 1 GRN 3 A 4 A/ BLU 1 B BLK Z 5 Z/ 6 U 9 U/ 10 WHT/GRY P P RED/ORG P ORG/RED RED/BLU (18 ga.) 13 BLU/RED (18 ga.
Epsilon EP-B Base Drive Reference Manual XEFCS / XUFCS Cable 1 1/2" MAX. Pin 1 GRN C A A/ D B A B/ B Z E BLU U M U/ N V K BLK P W/ R +5 Vdc H 0V G P Inner Drain Wire P YEL WHT/GRY Inner Drain Wire P GRY/WHT WHT/BRN P BRN/WHT L V/ W Inner Drain Wire ORN F Z/ P BRN RED/ORG P ORG/RED RED/BLU (18 ga.) BLU/RED (18 ga.
Specifications NT and MG Motor Cables CMDS Cable 1 1/2" MAX. 3 3/4" MAX.
Epsilon EP-B Base Drive Reference Manual CBMS Cable RED B BLK C DRAIN WIRE A GND C A B SOLDER SIDE Socket EFCS / UFCS Cable Pin 1 A N A/ P B B B/ C Z M Z/ U U F U/ S V E V/ W R G W/ H +5 VDC K GND T MOTOR OVERTEMP A NOT USED V GRN BLU BLK GRY/WHT BRN/WHT ORG/RED P P RED/BLU BLU/RED P RED/GRN Inner Drain Wire GRN/RED P 1 A 2 A/ 3 B 4 B/ 5 Z 6 Z/ 7 U 8 U/ 9 V 10 11 V/ W 12 W/ 13 +5 VDC 14 COMMON 15 MOTOR TEMP Outer Drain Wire
Specifications Sync Cables SNCE Pin 1 A+ 1 A- 2 B+ 3 B- 5 Z+ 6 Z- 7 +5 Vdc 4 GND 8 RED/WHT P YEL/WHT BLU/WHT P BLK/WHT YEL P BLU RED P BLK A A+ H A- B B+ I B- C Z+ J Z- D +5 Vdc F GND DRAIN WIRE SNCDD-915 Pin 1 Pin 1 RED 1 A A 2 B 3 B 5 Z 6 Z 7 GND 8 5V 4 P ORG GRN P YEL BLK P BRN PUR 1 A 9 A 2 B 10 B 3 Z 11 Z 8 GND 4 3 P BLU Drain Wire 4 5 9 3 8 2 7 1 6 SOLDER SIDE Pin 8 7 6 5 2 1 15 14 13 12 11 10 9 SOLDER SI
Epsilon EP-B Base Drive Reference Manual SNCFLOA Pin 1 Blunt end BLU 1 ENCODER OUT A ENCODER OUT A 9 ENCODER OUT B 2 ENCODER OUT B 10 GRN P BRN BLK ENCODER OUT Z 3 ENCODER OUT Z 11 P YEL WHT/BRN PULSE IN A (SINGLE ENDED) 4 PULSE IN B (SINGLE ENDED) 12 P BRN/WHT WHT/GRY ANALOG OUT CHANNEL 1 + 7 ANALOG OUT CHANNEL 2 + 15 P GRY/WHT RED/ORG ANALOG OUT 0V 6 ANALOG OUT 0V 14 P ORG/RED RED/BLU ANALOG COMMAND IN + 5 ANALOG COMMAND IN - 13 P BLU/RED GRN/RED 8 GND P ORN
Specifications SNCFLI Pin 1 Blunt end A 1 A 2 B 3 B 5 Z 6 Z 7 GND 8 5V 4 RED ORG YEL BRN 9 P PUR BLU P Drain Wire 4 5 P BLK 9 N/C P GRN 3 8 2 7 1 6 SOLDER SIDE Pin SNCMD-89 Pin 1 A 1 A 2 B 3 B 5 Z 6 Z 7 GND 8 5V 4 RED ORG 2 GRN YEL 3 P 5 BLK BRN 6 P 7 PUR BLU 8 P 4 Pin removed Drain Wire 9 N/C 1 P Completely remove pin 4 4 5 3 2 1 6 3 9 8 7 6 1 4 2 5 7 8 SOLDER SIDE Pin CONNECTOR END VIEW Pin 103
Epsilon EP-B Base Drive Reference Manual Communications Cables ESA-SP-485 Drain Wire 7 WHT/BLU P 10 TXRX- WHT/ORG 5 P ORG 6 220 Ω BLU 7 15 16 WHT/BRN 1 18 P BRN 8 SIGNAL GND 22 TXRX+ 470 Ω TXRX+ 2 TXRX- 5 P GRN 3 470 Ω SIGNAL GND 4 WHT/GRN 4 25 470 Ω 13 12 11 10 9 8 7 6 5 4 3 2 25 24 23 22 21 20 19 18 17 16 15 220 Ω 1 14 470 Ω SOLDER SIDE Pin PIN 1 Pin 1 ETH-PATCH 8 1 1 8 1 2 3 6 4 5 7 8 104 WHITE ORANGE P LIGHT GREEN GREEN 6 4 P LIGHT BROWN BROWN 2
Epsilon EP-B Base Drive Reference Manual Index A O Analog Outputs, 30 Analog Velocity Submode, 10 Assigning Outputs, 5 Operational Overview, 9 C Cable Diagrams, 94 CMDS-XXX Cable, 99 CMMS-XXX Cable, 99 D Diagnostics and Troubleshooting, 79 Diagnostic Display, 79 Drive Faults, 83 Error Messages, 86 Fault Codes, 79 Watch Window, 83 Differential input, 15 Differential Input Spec, 15 Drive Modifiers, 25 E EIO26-XXX Cable, 94 Epsilon EP Specifications, 91 F Fault Codes, 79 Functional Overview, 9 G Glossa
Epsilon EP-B Base Drive Reference Manual T Torque Limiting, 27 Torque Mode, 12 Travel Limit Application Notes, 26 Tuning Procedures, 73 Fault Codes, 79 PID vs.
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) 397-3786 or contact our website at www.emersonct.com. Control Techniques Drives, Inc Division of EMERSON Co. 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A.
