Installation Manual Epsilon EP Drive P/N 400518-01 Revision: A7 Date: May 5, 2010 © Control Techniques Americas LLC, 2006-2010
Epsilon EP Drive Installation Manual 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.
© Control Techniques Americas LLC, 2006-2010 Part Number: 400518-01 Revision: A7 Date: May 2010 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.
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Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification “Caution” used without the safety alert symbol indicates a potentially 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Underwriters Laboratories Listed LISTED 768R IND. CONT. EQ. File E 58592 Sec.5 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.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification CE Declaration of Conformity The Epsilon Digital Servo Drives are marked with the “Conformite Europeenne Mark” (CE mark) after passing a 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.
Safety Information x Product Overview Installation Diagnostics Options and Accessories Specification
Table of Contents Customer Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Reference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv Safety Information v Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v Qualified Person . . . . . . . . . . . . . .
DC Logic Power Supply Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor Feedback Wiring (J6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor Brake Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Input/Output and Drive Enable Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Analog Command Wiring . .
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification 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.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Shunt Connector (J8) Status/Diagnostic Display 24 Vdc Logic Power Supply Connector Reset Button AC Power Connections Serial Connectors (J2) Motor Power Connections Ethernet Connector (J4) (EP-Pxx only) Model Number, Part Number, Revision and Serial Number Label Sync Input Connector (J10) Digital I/O Connector (J3) Profibus Connector (J13) (EP-PPB only) Analog/Sync Output Connector (J5) Figure 2:
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification resistance to prevent loss through corrosion that will hinder the low impedance connection. Enclosure manufacturers offer corrosion resistant, unpainted mounting plates to help. 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification • If a 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. • 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.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Panel Layout NEMA Enclosure Metallic Raceway PE Filter Fuses AC In L2 L1 Bonded to mounting plate and enclosure wall External Encoder Drive Through wall shield grommets Customer supplied terminal strip (optional) Connect shield through and to mounting plate Motor Feedback Cable Motor Power Cable Motor Figure 3: 6 AC Filter and Cable Connections
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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 requirements. Each cable shield was grounded at the enclosure wall by the type of grommet described earlier and shown in the following figure.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification The following table applies to the "A" dimension as shown in figure 5 below for the EP202 - EP206 base and indexing drives. Drive Model Dimension "A" inches [mm] Minimum Panel Width inches [mm] EP202-B, -I, -IDN 2.11 [53.59] 2.90 [74] EP204-B, -I, -IDN 2.11 [53.59] 2.90 [74] EP206-B, -I, -IDN 2.82 [71.63] 3.60 [91] “A” 2.11 [53.59] 5.94 [150.88] 5.22 [132.59] 1.20 [30.48] .200 [5.08] 0.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification The following table applies to the "A" dimension as shown in figure 6 for the EP202 - EP206 programming drives. Drive Model Dimension "A" inches [mm] Minimum Panel Width inches [mm] EP202-P, -PDN, -PPB 2.69 [68.3] 3.45 [88] EP204-P, -PDN, -PPB 2.69 [68.3] 3.45 [88] EP206-P, -PDN, -PPB 3.40 [86.4] 4.15 [105] “A” 5.94 [150.88] 2.69 [68.3] 5.22 [132.59] 1.03 [26.16] 1.20 [30.48] .200 [5.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification The following table applies to the minimum panel width for the EP209 drive. Drive Model Minimum Panel Width inches [mm] EP209-B, -I, -IDN, -P, -PDN, -PPB 4.15 (105) 3.40 [86.36] 5.94 [150.88] 5.86 [148.85] 2.69 [68.33] 1.03 [26.16] 5.23 [132.84] 1.20 [30.48] 0.20 [5.08] 4X Ø.219 9.60 [243.84] 9.20 [233.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification The following table applies to the minimum panel width for the EP216 drive. Drive Model Minimum Panel Width inches [mm] EP216-B, -I, -IDN, -P, -PDN, -PPB 4.15 (105) 3.40 [86.36] 5.96 [151.38] 1.03 [26.16] 5.23 [132.84] 9.60 [243.84] Figure 8: 1.20 [30.48] 9.20 [233.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Step 3: High Power Connections System Grounding To insure a safe and quiet electrical installation, good system 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.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification 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.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification DISTRIBUTION PANEL L3 SECONDARY L2 230 Vac No Fuse L1 (N) To Fusing and Drive Terminals PE (Protective Earth) EARTH GROUND NOTE: For single phase drives using lines L1 & L2 or L1 & L3, only one fuse is required on the high leg (L2 or L3). Lines L2 & L3 may be used to balance the load, requiring two fuses.
Safety Information Product Overview DISTRIBUTION PANEL Installation Options and Accessories Diagnostics Specification 3 Ø Isolation Transformer L3 L2 To Fusing and Drive Terminals L1 N PE (Protective Earth) EARTH GROUND Figure 13: Three-Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE Isolation Transformer DISTRIBUTION PANEL 3 Ø Isolation Transformer L3 L2 No Fuse EARTH GROUND Figure 14: 16 (Protective Earth) To Fusing and Drive Terminals L1 PE Three-Phase Delta (ungroun
Safety Information Product Overview DISTRIBUTION PANEL Installation Diagnostics Options and Accessories Specification 3 Ø Isolation Step Down Transformer L3 L2 To Fusing and Drive Terminals > 140 Vac L1 N PE (Protective Earth) EARTH GROUND Figure 15: Grounded WYE Distribution >140 Vac Phase to Neutral. Recommend Using Step Down Transformer so Line to Line is 240 Vac or less.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Line Fusing and Wire Size You must incorporate over current protection for the incoming AC power with the rating shown here. The drive alone does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes.
Safety Information Product Overview Drive Model Installation Input Voltage (Vac) Frequency (Hz) Options and Accessories Diagnostics Input Current (Amps RMS) at Full Drive Output Current Specification Inrush Current (Amps) EP202 5.0 40 (5 ms) EP204 8.5 65 (5 ms) 12.0 100 (5 ms) 16.0 34 (5 ms) 16.
Product Overview Installation Options and Accessories Diagnostics B+ PE SH PE B- Safety Information Front View PE Specification Redundant PE connection J8 L1 L2 * PE L1 L2 PE 50/60 Hz 90-264 Vac S Tighten screws to 5 in-lb. T 24 Vdc MOTOR R J1 Terminals are suitable for one 16 AWG to 12 AWG or ISO 1,5 or ISO 2,5 stranded conductors. EP204-I00-0000 9606XX-XX A1 SN 0610E014 * Note: If L2 is 120 Vac neutral it should not be fused.
Product Overview Installation Options and Accessories Diagnostics B+ PE SH PE B- Safety Information PE Specification Redundant PE connection J8 L1 L1 L2 L2* L3 L3* PE MOTOR R S 50/60 Hz 90-264 Vac PE Tighten screws to 5 in-lb. T Terminals are suitable for one 16 AWG to 10 AWG or ISO 1,5 to ISO 6 stranded conductors. * Note: If L2 or L3 is 120Vac Neutral it should not be fused.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification External Shunt Electrical Installation Shunt connections at J8 remain at dangerous Voltages after disconnecting AC Power. Power must be "Off" for a minimum of 6 minutes for an EP206/209/216 and 3 minutes for an EP202/204 before touching these terminals. The EP204, EP206, EP209, and EP216 drives provide an internal shunt transistor to direct regen energy to an external shunt or braking resistor.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification SELF TAPPING SCREW (2) B+ PE SH PE B- B+ SH Figure 20:Shunt Resistor Installation for the Epsilon EP and SM-Heatsink DBR-1 Kit Do Not make any shunt resistor connections to B-. 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Motor Power Wiring The following paragraphs provide details of motor connections. When motor power cables are long, 100ft.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Front View L1 L2 L3 Ferrite Motor Power Connections MOTOR PE R R S S T T Ground Connector Shell Figure 23: Installation EP216 Ferrite Placement with Cable Lengths Longer Than 100 FT.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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).
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Front View 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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).
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Front View 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 AI 1-RD/32 00 13 0 or American Electrical/DigiKey 1181010/288-1015-ND L1 XVM 40M, 60M, 80M Motor Power Connections L2 L3 PE Brown 1 3 2 4 MOTOR R S T Black Blue Green/Yellow R S T Ground Shiel
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Front View Wire crimp ferrules are recommanded: For ground lead use Panduit p/n PV10-P55-L For motor leads use Pheonix Contact p/n AI 1,5-8 BU/32 00 52 2 XVM 130M Motor Power Connection Brown Black Blue Green/Yellow EP209-I00-0000 9606XX-XX A1 SN 0610E014 S T Shield logic MOTOR R U C V W B D Ground Connector Shell Important: PE ground should connect to drive and motor only.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification 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.
Safety Information Product Overview Installation Options and Accessories Diagnostics Front View Fuse, if required to protect wiring EP209-I00-0000 9606XX-XX A1 SN 0610E014 S 24 Vdc Logic Power Supply (User Supplied) T 24 Vdc 24 V RTN logic MOTOR R Single point PE ground Tighten screws to 5 in-lb. To other drives or equipment , I/O supplies, etc.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification NT/MG Motor NT or MG Motor N P B C M U F S E R G H K GND T Motor A Overtemp J L Internal Motor Overtemp GND D Thermal V Switch W X Y Shield Z Connector Shell A A/ B B/ Z Z/ U U/ V V/ W W/ + 5 Vdc Motor Feedback Cable Model # UFCS-XXX Green Brown Blue Orange Black Yellow White/Gray Gray/White White/Brown Brown/White Red/Orange Orange/Red *Red/Blue *Blue/Red Red/Green Green/Red Epsilon EP Drive 1 2 3 4 5
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification XV 130 mm Motor XVM 130mm Motor C D A B E F M N K L P R H G J A A/ B B/ Z Z/ U U/ V V/ W W/ + 5 Vdc GND Shield Connector Shell Motor Feedback Cable Model # XUFCS-XXX Green Brown Blue Orange Black Yellow White/Gray Gray/White White/Brown Brown/White Red/Orange Orange/Red *Red/Blue *Blue/Red Red/Green Green/Red Epsilon Drive 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 +5 V A A/ B B/ Z Z/ U 2K U/ U V U/ V/ W W
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification CBMS-xxx Cable Black - L1 L2 A2 A1 PE motor S logic R + _ T digital i/o (J3) Output #3 Drive Enable 8 10 I/O Supply 19 I/O Common 20 Customer supplied drive enable contact C B A K1 Internal to Motor 2 Amp Fuse 14 1 Amp Fuse EP204-I00-0000 9606XX-XX A1 SN 0610E014 J3 11 Relay: Model# BRM-1 Red + NT or MG Motor - + Single point PE ground Connected to grounded mounting panel.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification XV 130mm Motor Blue/Wht - - L1 L2 A2 A1 PE motor S logic R + _ T Internal to Motor digital i/o (J3) Output #3 Drive Enable 8 10 I/O Supply 19 I/O Common 20 Customer supplied drive enable contact C D 2 Amp Fuse 14 1 Amp Fuse 11 Relay: Model# BRM-1 EP204-I00-0000 9606XX-XX A1 SN 0610E014 Blu + XCMDBS-xxx Cable J3 - + Single point PE ground Figure 41: F E A B K1 24 VDC Epsi
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Front View I/O supply +10 to +30 Vdc L1 L2 PE motor T Output #3 8 + _ Output #2 17 4.
Safety Information Product Overview Installation Diagnostics J3 Connector Pin# Figure 43: Options and Accessories Specification Function 1 Input Line 1 2 Input Line 3 3 Input Line 5 4 Input Line 7 5 Input Line 9 6 Input Line 11 7 Output Line 1 8 Output Line 3 9 Output Line 5 10 Enable 11 Input Line 2 12 Input Line 4 13 Input Line 6 14 Input Line 8 15 Input Line 10 16 Input Line 12 17 Output Line 2 18 Output Line 4 19 I/O +V 20 I/O Common 21 Output Line 8 22
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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 board (STI-SNCOA) may be used. It provides convenient connections using screw terminal strips.
Safety Information Product Overview Function Installation Pin Numbers Diagnostics Options and Accessories Specification Electrical Characteristics Encoder Out 1, 2, 3, 9, 10, 11 Differential line driver output (RS 422) Diagnostic Output 7, 15 ± 10 Vdc 10 mA maximum analog diagnostic, ref. to pins 6 and 14 Diagnostic Output Common 6, 14 0.0 V, 10 ohms away from PE.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Analog/Sync Output Connector (J5) - Analog In + Analog In Analog Command Wiring (Internal) 10 Ohm Logic Common PE 5 13 Single Point Panel Ground External Controller + CW Rotation + Command = CW With positive direction = CW Vdc _ Controller Logic Common Single Point Panel Ground Analog/Sync Output Connector (J5) - Analog In Analog Command, Differential Wiring Diagram + Analog In Figure 49: (I
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Pulse Mode Wiring, Differential Inputs 500 ns Minimum 500 ns Minimum 250 ns Minimum Motion occurs on rising edge Shield connected to connector shell Drive Sync Input Connector (J10) 10 Ohm (A) Pulse CW CCW RS-422 Type Differential Drives A A/ B B/ 1 2 3 5 PE (B) Direction Single Point Panel Ground R1 = Twisted Pair R2 Single Point PE Ground Figure 53: Note: If the external controller
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Pulse Mode Wiring, Single Ended Inputs 1 µs Minimum 1 µs Minimum 500 ns Minimum Motion occurs on falling edge Pulse Drive Analog/Sync Output Shield connected to connector shell (J5) CW CCW 10 Ohm Direction Pulse Direction 12 8 4 Sinking Outputs (typ) logic common PE Single Point Panel Ground Pulse Direction = Twisted Pair Common isolated from other sources Figure 55: Pulse Mode, Single
Safety Information Product Overview Installation 1 µs Minimum Options and Accessories Diagnostics Specification 1 µs Minimum 500 ns Minimum Motion occurs on falling edge CW Pulse Drive Analog/Sync Output Connector (J5) CW CCW CCW Pulse Shield connected to connector shell Pulse 12 8 4 Sinking Outputs (typ) 10 Ohm Direction logic common PE Single Point Panel Ground CW Pulse CCW Pulse Common isolated from other sources Figure 57: Pulse/Pulse Mode, Single Ended Output to Single Ended In
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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 60. The Epsilon EP serial communication connector (serial port) as standard, supports 2 wire EIA485 communications.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 1 8 1 8 Figure 59: Epsilon EP Serial Communication Connector DDC-RJ45 cable Figure 60: 2 Epsilon Drives Daisy Chained Together 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.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Modbus Communications The drive’s serial communication protocol is Modbus RTU slave 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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 code, overriding the status code. The decimal point is “On” when the drive is enabled and the Stop input is not active.
Safety Information Product Overview Display Indication Installation Diagnostics Options and Accessories Specification Status Description Summation Summation mode operation. RMS Foldback Motor torque is limited to 80 percent. Stall Foldback Drive output current is limited to 80 percent of the drive’s stall current. Ready to Run Drive enabled, no Stop input. Homing Home cycle is executing. Other motion commands do not function. Indexing A Index is executing.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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 highest to lowest. This means that if two faults are active, only the higher priority fault will be displayed.
Safety Information Product Overview Display Installation Diagnostics Options and Accessories Specification Fault Action to Reset Bridge Disabled Motor Overtemp Allow Motor to cool down, Reset Button or Input Line Yes RMS Shunt Power or Shunt Short Circuit Reset Button or Input Line Yes Overspeed Reset Button or Input Line Yes Following Error (Pulse mode only) Reset Button or Input Line Yes Travel Limit +/- Auto No Sync Fault Cycle Logic Power Yes Run Time (EP-P Only) Reset Butto
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification NVM Invalid At power-up the drive tests the integrity of the non-volatile memory. This fault is generated if the contents of the nonvolatile memory are invalid. 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Encoder Hardware If any pair of complementary encoder lines (A, B, 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Trajectory Fault #2 This fault occurs when using the "Using Capture.#" option in a user program. 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.
Safety Information Product Overview Figure 61: Installation Diagnostics Options and Accessories Specification 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.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Options and Accessories Epsilon EP Drive Options Drive Brake Relay, BRM-1 External Shunt Resistor, SM-Heatsink DBR1 40, 60, 80 mm XV Motors Motor Power Cable, XTMDS-xxx Motor Brake Cable, XTBMS-xxx CTVue HMI to Drive, CTVUE-EP-485-xxx 130 mm XV Motors Motor Power or Motor Power/Brake Cable, XCMDS-xxx or XCMDBS-XXX Drive to Drive, Drive RS-485 to Drive RS-485, DDC-RJ45-xxx NT or MG Motors J8 PC to
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification STI-24IO The STI-24IO interface board allows access to all digital input and output signals. The STI-24IO mounts directly to the digital I/O connector (J3) on the front of the EP drive. See figure 63 below. Do not allow ESD directly to terminals. Always discharge static electricity to enclosure, not the drive when performing maintenance.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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. Do not allow ESD directly to terminals. Always discharge static electricity to enclosure, not the drive when performing maintenance.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification STI-SNCI The STI-SNCI interface board 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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. Do not allow ESD directly to terminals. Always discharge static electricity to enclosure, not the drive when performing maintenance.
Safety Information 64 Product Overview Installation Diagnostics Options and Accessories Specification
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Specifications Epsilon EP Specifications Epsilon EP Series AC Power DC Power (UL Pending) 20 Vac-264 Vac, 1 Ø, 47-63 Hz 10 Vdc - 340 Vdc 90 Vac - 264 Vac 1 Ø, 47-63 Hz 140 Vdc - 340 Vdc Model EP202 EP204 Power Requirements (240 Vac for rated performance) EP206 EP209 EP216 90 Vac - 264 Vac 3 Ø, 47-63 Hz 90 Vac - 264 Vac 1 Ø, 47-63 Hz SCCR (Short Circuit Current Rating) 10,000 Symmetrical RMS Am
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Epsilon EP Series 24 Vdc ±10% Logic Power Supply Input EP-Pxx: 0.50 A* without master encoder, 0.57 A* with master encoder Other models: 0.31 A* without motor encoder, 0.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Epsilon EP Series Differential line driver, RS-422 and TTL compatible Encoder Output Signal Scalable in one line increment resolution up to 2048 lines/rev of the motor (NT) Energy storage available in bus caps: EP202: 8 J @ 240 Vac, 18 J @ 208 Vac, 39 J @ 120 Vac EP204:12 J @ 240 Vac, 28 J @ 208 Vac, 58 J @ 120 Vac EP206:20 J @ 240 Vac, 46 J @ 208 Vac, 97 J @ 120 Vac EP209:24 J @ 240 Vac, 55 J @ 208 Vac
Safety Information Product Overview Installation Diagnostics Epsilon EP Series Drive Weights 68 EP202-B, -I, -IDN EP204-B, -I, -IDN EP206-B, -I, -IDN EP209-B, -I, -IDN EP202-P, -PDN, PPB EP204-P, -PDN, PPB EP206-P, -PDN, PPB EP209-P, -PDN, PPB EP216-P, -PDN, PPB 3.6 lb (1.63 kg) 3.6 lb (1.63 kg) 4.2 lb (1.91 kg) 5.2 lb (2.35 kg) 3.9 lb (1.77 kg) 3.9 lb (1.77 kg) 4.5 lb (2.04 kg) 5.5 lb (2.50 kg) 5.6 lb (2.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Epsilon EP Drive Dimensions The following table applies to A* and B* as shown in Figure 67 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 3.40 [86.36] 5.94 [150.88] 5.86 [148.85] 2.69 [68.33] 1.03 [26.16] 5.23 [132.84] 2.5 [63.50] 1.20 [30.48] 0.20 [5.08] 4X Ø.219 DDC-RJ45 9.60 [243.84] 9.20 [233.68] EP209-XXX-XX00 9606XX-XX A1 SN 0610E014 3.50 [88.0] Cable Clearence 0.75 [19.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification 3.40 [876.9] 5.96 [151.38] 1.03 [26.16] 5.23 [132.84] 1.20 [30.48] 2.5 [63.50] DDC-RJ45 9.60 [243.84] 9.20 [233.68] 0.75 [19.05] 3.50 [88.
Safety Information Product Overview Installation Diagnostics Cable Diagrams EIO26-XXX 1.530 EIO PIN 1 0.770 10 LT.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification XV Motor Cables XTMDS-XXX PIN 1 PE/GND 4 R 1 S 3 T 2 1 BRAID SHIELD GRN/YEL FORM WIRE BRN BLK BLU 2 3 4 REAR VIEW OF CONNECTOR Specifications 73
Safety Information Product Overview Installation Diagnostics Options and Accessories XCMDS-XXX PE/GND D U A V C W B BRAID SHIELD GRN/YEL BRN BLK BLU BLU (20 AWG) BLU/WHT (20 AWG) Drain Wire D A C B SOLDER SIDE Socket 74 FORM WIRE Specification
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification XCMDBS-XXX PE/GND D U A V C W B BRK+ E BRK - F BRAID SHIELD GRN/YEL FORM WIRE BRN BLK BLU BLU (20 AWG) BLU/WHT (20 AWG) Drain Wire F A G E D B C SOLDER SIDE Socket Specifications 75
Safety Information Product Overview Installation XTBMS-XXX PIN 1 +24V 1 0V 2 RED BLK DRAIN WIRE 1 2 REAR VIEW OF CONNECTOR 76 Diagnostics Options and Accessories Specification
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification XEFTS-XXX / XUFTS-XXX Pin 1 PIN 1 A 3 A/ 4 B 1 B/ 2 Z 5 GRN P BRN BLU Inner Drain Wire P ORN BLK Inner Drain Wire YEL Z/ 6 U 9 U/ 10 P WHT/GRY Inner Drain Wire GRY/WHT P WHT/BRN V 7 V/ W 8 11 W/ 12 +5 VDC 13 0V 14 BRN/WHT P RED/ORG ORG/RED P RED/BLU (18 ga.) BLU/RED (18 ga.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification XEFCS-XXX / XUFCS-XXX Pin 1 A GRN C A/ D B A B/ B Z E Z/ F U M U/ N V K V/ W L P W/ R +5 VDC H 0V G P BRN BLU Inner Drain Wire P ORN BLK Inner Drain Wire P YEL WHT/GRY Inner Drain Wire P GRY/WHT WHT/BRN P BRN/WHT RED/ORG P ORG/RED RED/BLU (18 ga.) BLU/RED (18 ga.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification NT and MG Motor Cables CMDS-XXX 1 1/2" MAX. 3 3/4" MAX. GRN/YEL BRN D A B C BLK BLU SHELL A G B H F E C D SOLDER SIDE CMMS-XXX 1 1/2" MAX.
Safety Information Product Overview Installation CBMS-XXX RED B BLK C DRAIN WIRE A GND C A B SOLDER SIDE Socket 80 Diagnostics Options and Accessories Specification
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification EFCS-XXX / UFCS-XXX Pin 1 A N A/ P B B GRN BLU C Z M U U F U/ S V E V/ W R G W/ H +5 VDC K GND T MOTOR OVERTEMP A NOT USED V BLK GRY/WHT BRN/WHT P P RED/ORG ORG/RED 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 A P B
Safety Information Product Overview Installation Options and Accessories Diagnostics Sync Cables SNCDD-915-XXX Pin 1 Pin 1 A 1 A 2 BLK RED 3 B Z 6 Z 7 GND 8 5V 4 P ORG 5 B P BRN YEL P GRN BLU 1 A 9 A 2 B 10 B 3 Z 11 Z 8 GND 4 3 P PUR Drain Wire 4 5 9 3 8 2 7 8 1 7 6 5 2 1 15 14 13 12 11 10 9 6 SOLDER SIDE SOLDER SIDE Pin Pin SNCFLOA-XXX Pin 1 Blunt end ENCODER OUT A 1 ENCODER OUT A 9 ENCODER OUT B 2 ENCODER OUT B 10 ENCODER OUT Z
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification SNCMD-815-XXX Pin 1 +A -A +B -B +Z -Z GND +5 VDC RED ORG GRN YEL BLK BRN PUR BLU DRAIN WIRE 1 2 3 5 6 7 8 4 6 3 1 9 2 10 P 3 11 8 P P 8 7 6 5 4 3 2 1 7 4 2 1 P 5 15 14 13 12 11 10 9 8 SOLDER SIDE CONNECTOR END VIEW Pin Pin SNCFLI-XXX Pin 1 Blunt end A 1 A 2 B 3 B 5 Z 6 Z 7 GND 8 5V 4 BLK BRN ORG GRN 9 P BLU PUR P Drain Wire 4 5 P YEL 9 N/C P R
Safety Information Product Overview Installation Options and Accessories Diagnostics SNCMD-89-XXX Pin 1 A 1 A 2 B 3 B 5 Z 6 Z 7 GND 8 5V 4 N/C 9 RED 1 P ORG 2 GRN 3 P YEL 5 BLK 6 P BRN 7 PUR 8 P BLU 4 Pin removed Drain Wire Completely remove pin 4 4 5 3 2 1 6 3 9 8 7 6 1 4 2 5 7 8 SOLDER SIDE CONNECTOR END VIEW Pin Pin SNCE-XXX Pin 1 A+ 1 A- 2 B+ 3 B- 5 Z+ 6 Z- 7 +5 Vdc 4 GND 8 RED/WHT YEL/WHT BLU/WHT BLK/WHT P YEL BLU P RED B
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Communications Cables ESA-SP-485-XXX Drain Wire GRN 3 7 WHT/BLU 7 10 TXRX- WHT/ORG 5 ORG 6 P 15 16 WHT/BRN 1 BRN 8 SIGNAL GND 22 TXRX+ P 220 Ω BLU 470 Ω TXRX+ 2 TXRX- 5 P 470 Ω SIGNAL GND 4 WHT/GRN 4 18 P 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 1 14 470 Ω 220 Ω SOLDER SIDE Pin PIN 1 Pin 1 ETH-PATCH-XXX 8 1 1 8 1 2 3 6 4 5 7 8
Safety Information 86 Product Overview Installation Diagnostics Options and Accessories Specification
Index A E AC Line Filter Installation Notes, 8 AC Line Filters, 7 AC Supplies NOT Requiring Transformers, 14 AC Supplies Requiring Transformers, 15 Achieving Low Impedance Connections, 3 Analog Command Wiring, 43 EIO26-XXX Cable, 72 Electromagnetic Compatibility, 3 Encoder Output Signal Wiring, 43 Environmental Considerations, 4 Epsilon EP Drive Options, 59 Epsilon EP Specifications, 65 B Basic Installation Guidelines, 3 C Cable Diagrams, 72 Cable to Enclosure Shielding, 7 CMDS-XXX Cable, 79 CMMS-XXX C
M U Motor Brake Wiring, 35 Motor Feedback Wiring, 33 Motor Power Wiring, 24 Underwriters Laboratories Recognition, vii O Options and Accessories, 59 P Product Overview, 1 Pulse Mode Wiring, 45 R Rebooting the Drive, 58 Resetting Faults, 58 S Safety Information, v Safety of Machinery, v Safety Precautions, v Setup, Commissioning and Maintenance, v Shunt Control, 22 Shunt Resistor Kit Installation, 22 Specifications, 65 T Transformer Sizing, 17 88 V Viewing Active Drive Faults, 58 W Wire Size, 18 W
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.
