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8
Epsilon Eb and EN Drives Reference Manual
• Pulse frequency > 250 kHz
• Pulse command cable length > 25 feet
• Noisy electrical environments
Differential input circuit specifications:
Input frequency maximum 2 Mhz
Input device: AM26C32
Input impedance 12 Kohms each input
Maximum voltage applied to input pins (A, A/) or (B, B/ )
Single Ended (referenced to 0V drive logic) +/-10V
Differential (referenced to mating differential input) +/-10V
Maximum common mode voltage +/-7 V
Minimum differential voltage required 200 mV
Input voltage hysteresis 60 mV
Single ended input circuit specifications:
Single ended input specifications:
1 MHz maximum input frequency
Internal 330 ohm pull-up to 5 Volt (non-isolated)
1.5 Volt low level
3.5 Volt high level
Output driver requirements:
15 mA sinking (open collector)
5 Volt capacity
ECI-44 Terminal
Command
Connector Pin #
Pulse-Direction
Signal
Pulse-Pulse
Signal
Pulse Quadrature
Signal
Sync Enc In “A” 27 Pulse Pulse + A
Sync Enc In “A/” 41 Pulse/ Pulse +/ A/
Sync Enc In “B” 26 Direction Pulse - B
Sync Enc In “B/” 40 Direction/ Pulse -/ B/
- 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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