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134
Epsilon Eb and EN Drives Reference Manual
Tuning Procedure
Once the initial setup has been completed, you can run the system to determine if the level of
tuning is adequate for the application. There are basically four levels of tuning for a drive.
• No Tuning
•Basic Level
• Intermediate Level
• Fully Optimized Level
Each level is slightly more involved than the previous one requiring you to enter more
information. If your system needs optimization, we recommend that you start with the Basic
Level, then determine if further tuning is needed based on axis performance.
The setup procedures explained here assume that you are using PowerTools software or an
FM-P.
Initial settings
Pulse Mode (with or without a position controller)
Velocity Mode (without a position controller)
If you are using the drive in Pulse mode with or without a position controller or as an open
loop velocity drive only, set the drive tuning parameters as follows:
• Inertia Ratio = 0
• Friction = 0
• Response = 50
• High Performance Gains = Enabled
• Feedforwards = Disabled
Velocity Mode (with a position controller)
If you are using the drive in Velocity mode with a position controller, set the drive tuning
parameters as follows:
• Inertia Ratio = 0
• Friction = 0
• Response = 100
• High Performance Gains = Enabled
• Feedforwards = Disabled
Torque Mode (with or without a closed loop position controller)
If you are using the drive in Torque mode, without Stop inputs or Travel Limit inputs, no
tuning is required.
If you are operating in Torque mode and you are using the Stop or Travel Limit inputs, you
must setup the drive as if it were running in Velocity mode without a position controller. This
is because the drive will automatically shift into Velocity mode when either of these functions
is activated and will use the gain setups when decelerating and holding position.
- Attachment for 1
- Epsilon Eb and EN Drives 2
- Epsilon Eb and 4
- EN Drives 4
- Reference Manual 4
- Customer Support 6
- Document Conventions 7
- Safety Instructions 9
- Reference Materials 9
- Drive Overload Protection 10
- CE Declaration of Conformity 11
- Supplementary information: 12
- Safety Considerations 14
- Table of Contents 16
- Installation 77 17
- Glossary 233 19
- Index 239 19
- Introduction 20
- Epsilon Eb Drive 21
- E Series E 21
- Operational Overview 24
- How Motion Works 25
- Functional Overview 26
- Pulse Mode 26
- Pulse/Pulse Interpretation 29
- Pulse Mode Parameters 30
- Velocity Mode 31
- Presets Submode 32
- Summation Submode 33
- Torque Mode 34
- Drive Modifiers 35
- Torque Limiting 37
- Torque Limit Function 37
- Velocity Limiting 38
- Overspeed Velocity Parameter 38
- In Motion Velocity 39
- Motor Direction Polarity 39
- Current Foldback 40
- Stall Foldback 41
- Shunt Operation 42
- Heatsink RMS 43
- Drive Ambient Temperature 43
- External Shunt Operation 45
- + Auxiliary Supply 46
- - Auxiliary Supply 46
- Brake Operation 47
- Analog Command Input 48
- Command Connector 49
- With positive direction = CW 49
- Analog Outputs 50
- Digital Inputs and Outputs 51
- Input Functions 52
- Output Functions 54
- Setting Up Parameters 58
- (EZ Setup view only) 59
- (Detailed Setup view only) 59
- Load Group 60
- Operating Mode Group 61
- Source Group 62
- Ratio Formula 63
- Following Error Limit Group 63
- Velocity Mode Submode Group 64
- Torque Mode Group 66
- (Detailed Setup view only) 67
- Inputs Tab 68
- Epsilon Only 69
- Outputs Tab 71
- Limits Group 73
- Actual Group 74
- Trigger Group 76
- Configuration Group 79
- Low Pass Filter Group 80
- Encoder Output Group 80
- Tuning Group 81
- Position Error Integral Group 81
- Analog Inputs Group 82
- Analog Outputs Group 83
- I/O Status Tab 84
- Outputs Group 86
- Status Tab 88
- Velocity Group 89
- Torque Group 89
- Drive Status Group 90
- Fault Log Group 93
- Advanced Tab 94
- Bus Voltage Group 95
- AC Line Filters 98
- Cable to Enclosure Shielding 98
- NEMA Enclosure 100
- Mechanical Installation 101
- Motor Mounting 102
- Electrical Installation 103
- Power Supply Requirements 104
- Epsilon Only 104
- Transformer Sizing 106
- Input Power Connections 108
- Installation 110
- Front View 111
- Top View 112
- Side View 113
- APS Input Specification 114
- Motor Power Wiring 115
- Motor Feedback Wiring 117
- Motor Brake Wiring 118
- Command Connector (J5) Wiring 123
- Command Cables 125
- Analog Command Wiring 126
- External 127
- Controller 127
- Serial Communications 131
- Bottom View 132
- Modbus Communications 133
- Multi-Drop Communications 133
- Computer Serial 135
- Quick Start 136
- Detailed Setup View 137
- Pulse Mode Setup 140
- Velocity Mode Setup 140
- Torque Mode Setup 142
- Torque Limit Setup 142
- Torque Level 1 and 2 Setup 143
- Step 6: Assigning Inputs 144
- Step 7: Assigning Outputs 145
- Online Setup 146
- Tuning Procedures 152
- Tuning Procedure 153
- Tuning Parameters 155
- High Performance Gains 156
- Position Error Integral 157
- Feedforwards 157
- Line Voltage (EN Only) 158
- Determining Friction 159
- RPM - RPM 160
- FV )100(= 160
- Determining Inertia Ratio 161
- Ramp Units Conversion 162
- Conversion Formula: 163
- Diagnostic Display 166
- Fault Codes 167
- Fault Descriptions 169
- Channel #2 172
- Channel #1 172
- Analog GND 172
- E Series Drive 172
- Epsilon Drive 172
- Drive Faults 173
- Watch Window 174
- View Motor Parameters 175
- Error Messages 176
- The drive at address is use 177
- User Defined Motors 178
- Step 1: Motor Wiring 179
- Step 2: Motor Feedback Wiring 181
- Thermal Switch Interfacing 183
- Encoder Logical Interfacing 183
- Reading Encoder Alignment 185
- CCW Reference Rotation 186
- CW Reference Rotation 188
- Dynamic Alignment Method 190
- Static Alignment Method 190
- Motor Ke 191
- Motor Pole Count 192
- Motor Data 193
- Motor Parameter Descriptions 195
- Step 6: Configuring the Drive 198
- Rotation Test 200
- Torque Test 201
- Commutation Accuracy Test 202
- Velocity Test 203
- Options and Accessories 204
- Epsilon Eb Drive Options 205
- FM-1 Speed Module 208
- FM-2 Indexing Module 209
- Specifications 212
- Motor Brake Specifications 217
- Motor Weights 217
- Axial/Radial Loading 218
- IP Ratings 219
- Encoder Specifications 219
- Power Dissipation 220
- Power Dissipation Calculation 221
- Speed Torque Curves 222
- NT-345 with En-208 227
- NT-345 with En-214 227
- NT-355 with En-208 227
- NT-355 with En-214 227
- EN Drive Dimensions 228
- Epsilon Drive Dimensions 229
- MG Motor Dimensions 230
- MGE-455, 490 and 4120 Motors 231
- NT Motor Dimensions 232
- 1.98 [50.39] 235
- Motor Wiring Color Cable 237
- Cable Diagrams 238
- CMDX-XXX Cable 240
- CMDO-XXX Cable 241
- CDRO-XXX Cable 242
- AX4-CEN-XXX Cable 243
- EIO-XXX Cable 244
- TIA-XXX Cable 245
- DDS-XXX Cable 245
- TERM-H (Head) Terminator 246
- TERM-T (Tail) Terminator 246
- CMDS-XXX Cable 247
- CMMS-XXX Cable 247
- CFCS-XXX Cable 248
- CFCO-XXX Cable 249
- CFOS-XXX Cable 250
- Glossary 252
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