Emerson Epsilon Eb Digital Servo Drive manual

Installation Manual P/N: 4005 01-05 Revision: A2 Date: Octobe r 1, 2001 © Control Technique s Drive s, Inc. 2 000, 200 1 Epsilon Eb Digital Servo Drive[...]

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Informat ion furn ished by Co ntrol Techniques Dri ves Inc. (C ontrol Techn iques) is believed t o be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use. Control Techniques res erves th e right to change th e design or o peration of the equipment descri bed herein and an y associated motion pr oducts with[...]

ii © Contro l Tech niqu es Dri ves , Inc. 2 000, 20 01 Part Num ber: 4005 01-05 Revisi on: A2 Date: O ctober 1, 2001 Printed in United States of America Informat ion in thi s document is subject t o change w ithout not ice. No part o f this do cument may b e reproduced or trans mitted in any form or b y any means, electronic or mech anical, for an[...]

iii Customer Service Cont rol Tech niqu es 12005 Tech nology D rive Eden Prairie, Minnes ota 55344-36 20 U.S.A. Telephon e: (952) 9 95-800 0 or (800) 397-3 786 It is C ontrol Tech niques’ goal to ensur e your g reatest pos sible satis faction with the operat ion of our products. We are dedicated to providin g fast, friendly, and accurate assistan[...]

iv • Exact wording o f any messages that appear on yo ur screen. • What you w ere doing when the problem occur red. • How you tried to solve the problem. Need on-site h elp? Control Techni ques provides ser vice, in most cases, the next day. J ust call Control Techniqu es ’ technical service center when o n-site service or maintenance is re[...]

v In addition, you will find the following typographic conventions throughout this manual. Note For the purpo se of this manual and p roduct, “Note” indicates essen tial information about the product o r the respective par t of the manual. Ep silon Only For the purpo se of this manual an d product, the “Epsilon” symbol indicates information[...]

vi Safety Instructions General W arning Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product can cause severe electric shock and/or burns and cou ld be lethal. Extreme care is necessary at all times when wor k ing with or adjacent to t he produ ct. The installation must comply with all r[...]

vii Safety Considerations Safety Precautions This product is intended for professional in corporation into a co mplete system. If you in stall the product incor rectly, it may present a safety haz ard. The product and system may use high voltages and curr ents , carry a hig h level of stored electrical energ y , or are us ed to control mechanical e[...]

viii Epsilon Eb Digital Ser vo Driv e Installati on Manual at all tim es when work ing with or adjacen t to this equ ipment. T he installatio n must comp ly with a ll relevant safety le gislation in the country of use. AC supply is olation device The AC suppl y must be rem oved fr om the dri ve using an approve d isolat ion devi ce or disc onnect b[...]

ix Underwriters Laboratories Listed The Epsilon Digital Servo Drives are marked with the “UL Lis ted” label after passing a rigorous set of design and testing criteria d eveloped by UL (UL508C ). This label indi cates that UL certifies this product to be saf e when installed acco rding to the installation guidelines and used within the product [...]

x CE Declaration of Co nformity The Epsilon Digital Servo Drives are mark ed with the “Conformite Eur opeenne Mark” (CE mark) after passing a rigorous set of design and testing criteria. T h is label indicates that this product meets safe ty and noi se immunity and emissions (EMC) s tandards when instal led according to the ins t allation guide[...]

xi Declaration of Con formity Manufacturer’ s Name: Control T echniques Manufactu rer’s Address: 12005 T echnology Drive Eden Prairie, MN 55344 USA Declares th at the fo llowing product s: Prod ucts Des criptio n: Epsilon Digita l Servo Drive Model Number: Eb-202, Ei-202, Eb-203, Ei-203, Eb-205 and Ei-205 System Option s: This declaration cover[...]

xii[...]

xiii Reference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi Safety Considerations Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii Enclosure . . . . . . . . . . . . . . . . . . .[...]

xiv Epsilon Eb Digital Ser vo Driv e Installati on Manual Modbus Comm unications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Multi-Drop Communication s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Diagnostics and T roubleshooting Diagnos[...]

xv CMDS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 CMMS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 CFCS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [...]

xvi Epsilon Eb Digital Ser vo Driv e Installati on Manual[...]

1 Introduction Epsilon Eb Digital Servo Drive The Epsilon drives are standalone, fully digital brushless serv o drives designed and built to reliably provide high performance and flexibility without sacrificing ease of use. The use of State-Space algorithms make tu ning very sim ple and forgiving. Th e drives are designed to operate with up to a 10[...]

2 Epsilon Eb Digital Ser vo Driv e Installati on Manual • Extensive fau lt sensing and diagnostics, including storage and time st amping of the last ten faults • Maximum in put response ti m e is 500 µs for comm and and input f unctions • Peak torqu e up to three time s continu ous motor torque rating 200% for 5 seconds • Sinusoidal commu [...]

3 Installation Basic Installa tion Notes You are requir ed to follow all safety precautions dur ing startup su ch as provid ing proper equipmen t groundin g, correctly f u sed po wer, and an eff ect ive Emerg ency Stop cir cuit which can immediately remov e power in the case of a malfunction. See the “Safety Considerations” section for m ore in[...]

4 Epsilon Eb Digital Ser vo Driv e Installati on Manual Achieving Low Impe dance Connections Noise immunity can be imp roved and emissions reduced b y making sure that all the components have a low imp edance connection to the s ame ground point. A lo w impedance connection is one that conducts high frequency current with very little resistance. Im[...]

5 Installatio n AC Line Filters The AC line filters used du ring Control Techniqu es ’ compliance testing are l isted below. These filters are capab l e of supplyin g the drive input p ower to the specified drive under maximum output power con ditions . Alternately, Control Techniques has also seen good results with the follo wing line filters: A[...]

6 Epsilon Eb Digital Ser vo Driv e Installati on Manual Cable to Enclosure Shielding Shielded motor, feedba ck, serial communications, and exter nal encoder cables were used for Control Techni cques’ compliance testing and are neces sary to meet the E MC requirements. Each cable shield was grounded at the enclosure wall b y the type of grommet de[...]

7 Installatio n Figure 3: AC Filter and Cable Connections for Epsilon Dri ves Environmental Cons iderations If the product will be subjected to atmosp heric contaminants such as m oisture, oils, conductive dus t, chemical contaminan ts, and metallic particles, you must mount it vertically in a metal NEMA type 12 enclosure. If the ambient temperatur[...]

8 Epsilon Eb Digital Ser vo Driv e Installati on Manual Wiring Notes • To avoid problems asso ciated with EMI (electromagnetic interference), you should route high power lines (AC input power and motor power) away from low power lines (enco der feedback, s erial communications, etc. ). • If a neutral wire (no t the same as Earth Ground), is su [...]

9 Installatio n Electrical Installati on Figur e 4: Typical System G roundi ng Diagr am[...]

10 Epsilon Eb Digital Ser vo Driv e Installati on Manual Power Supply Requirements The examples b elow show AC powe r connections f or single phas e and three phas e drives. These examples are s hown for r eference only. Local electrical codes s hould be consulted before installation. The Protecti v e Earth (P E) wire conn ection is mandatory fo r [...]

11 Installatio n Figur e 5: Earth Ground ed WYE Dis tribut ion Transfor mer Figur e 6: Earth Grou nded Del ta Distr ibution Tra nsformer AC Supplies Requiring Tra nsformers If the distribution transformer is configured as shown in the figures below, an isolation transf ormer is requir ed. If an is olation t ransformer i s used b etween the power di[...]

12 Epsilon Eb Digital Ser vo Driv e Installati on Manual Figure 7: Three Phase Delta (with m id-phase G ND) Distri bution t o a Thr ee-Phase Delt a/WYE Iso lation Transf ormer Figur e 8: Three Phase WY E (ung rounded) Di stribution to a Three-Phase Del ta/WYE Isola tion Tra nsfor mer Figure 9: Delta to Delta Isolation Transformer[...]

13 Installatio n Figure 10: Single Ph ase Power Supply Co nnections Transformer Si zing If your application req uires a transformer, u se the following table f or sizing the KVA rating. The values in the table are based o n “worst case” power u sage and can be considered a conservative r ecommendation. You can down-size the values only if the m[...]

14 Epsilon Eb Digital Ser vo Driv e Installati on Manual Line Fusing an d Wire Size You must incorporate over current pro t ection for the incoming AC power with the minimum rating s hown below. Control Techniques recomme nds Bussman type: LP N or equivalent. Ep silon Only This inrush current specification assumes the driv e has been powered off fo[...]

15 Installatio n Inpu t Power Conn ections Ep silon Only Power mus t be "Off" for a mini mum of 6 minutes for the Epsilon dri ve before unpluggi ng the power connection, to ensure the bus voltage has bled down to a safe level (below 5 0 VDC). Figu re 11: Epsi lon AC Pow er Wir ing Di agra m Do not co nnect or d isconnect AC power by inser[...]

16 Epsilon Eb Digital Ser vo Driv e Installati on Manual Figure 12: Epsilo n Auxiliary Power Supply Wirin g Diagram Alternate Power Supply Wirin g An Alternate Power Supply (APS) allows th e drive to retain motor position information and serial communi cations when the main AC power supply is discon nected. You must reset th e drive, either using t[...]

17 Installatio n APS Input Specification Using the APS supply input to power the drive logic and m otor encoder allows the drive bus to operate at DC voltages below 42 VAC (60 VDC bus). The drive will operate down to 12 VDC on th e bus (10 VAC on L1 and L2). H owever the low DC bus monitori ng must be disabled to preven t faults at these low DC bus[...]

18 Epsilon Eb Digital Ser vo Driv e Installati on Manual Figure 13: Multip le APS Wiring Diagram Motor Power W iring Motors are equipped with up to three male MS (Military Style) connectors, one for stator connections, one for encod er connections and one for th e brake (if so equipped). Stator connections fro m the drive to the motor are made with[...]

19 Installatio n Note The motor ground wire and shields must b e run all the way back to the amplifier termin al and must not be conn ected to any other co nductor, shield or ground. Motor Feedba ck Wirin g Encoder feed back connections are mad e with the CFCS cable. This cable has an MS style connector on the motor end an d a 26-pin h igh density [...]

20 Epsilon Eb Digital Ser vo Driv e Installati on Manual Figure 16: Epsilon Br ake Wiring Diagram using the C ommand Connector Figu re 17: Epsi lon B rake Wi rin g Diag ram usin g the I/ O Co nnect or Bottom View - + K1 A Inte rnal to Moto r C B Red + Black - Connected to grounded mounting panel. Single point PE ground. 11 A2 14 A1 2 Amp Fuse Cu st[...]

21 Installatio n Input/ Outpu t and Drive Ena ble Wiring Drives are equipped with five optically isolated input lines (one is dedicated to a drive enable function) and three optically isolated o utput lines. They are designed to operate from a +10 to 30 VDC source. All inputs and outputs are configured as sourcing. You are respons ible for choosing[...]

22 Epsilon Eb Digital Ser vo Driv e Installati on Manual Figure 19: Epsilon I/O to Comm and Conn ector Inte rnal Con n ections Note If loads ar e applied to the same output signal on both Command C onnector and I/O Connector, the sum total current loading must be limited to 150 mA per output signal. Command Connec tor Wiring All command and digital[...]

23 Installatio n (ECI-44) which provides a con venient screw terminal connection strip. Conn ect one end o f the CMDX command cable to your drive and the o ther end to the ECI-44. Figure 20: Command Co nnector ( J5) Pinou t and CMDO-XXX W ire Colo rs For information about Command C onnector pinou t and CMDO-XXX cable wire colors, see the “Specifi[...]

24 Epsilon Eb Digital Ser vo Driv e Installati on Manual Command Cables The CMDO, CMDX and CDRO cab les are all cables that plug into th e C ommand Connecto r. The CMDO and CMDX cables both use the same straight co nnector style, same color code and carry the full complement of si gnals available from the Command Conn ector. The difference is the C[...]

25 Installatio n Analog Command Wiring Figur e 21: Analog Comma nd, Different ial Wiring D iagram Figur e 22: Analog Comma nd, Single Ended Wi ring Diagram Com man d Connec tor[...]

26 Epsilon Eb Digital Ser vo Driv e Installati on Manual Encoder Ou tput Signal Wiring The Epsilon drive encod er outputs meet RS-422 line driver specifications and can drive up to ten RS-422 si gnal recievers. The default encoder output resolution is s et so it outputs th e actual motor encoder resolutions. The standard MG and NT motors have 2048 [...]

27 Installatio n Pulse Mode Wiring, Different ial Inputs Figure 25: Pulse Mo de, Differential Output to Differen tial Input Figure 26: Pulse Mode, Single Ended Output to Differential Input[...]

28 Epsilon Eb Digital Ser vo Driv e Installati on Manual Pulse Mode Wi ring, Sing le Ended In puts Figure 27: Pulse Mod e, Single Ended Ou t put to Single Ended Inp ut (twist ed pair cable) Figur e 28: Pulse M ode, Sin gle Ended O utput t o Single E nded Input (non- twisted pair cable) Comm on i solated from other sources Si nk in g Outp uts (ty p)[...]

29 Installatio n Figure 29: Master/ Slave Enco der Connecti o ns Note Epsilon encoder ou t puts meet RS-422 driv er s pecifications and can drive up to 10 RS-422 signal recievers . Each Epsilon di fferential pulse inp u t is an RS-422 line recievers. The default encoder output resolution is 2048 lin es per motor revolution. This resolution is adjus[...]

30 Epsilon Eb Digital Ser vo Driv e Installati on Manual Serial Communicati ons Serial communications with the drive is pr ovided through the fem ale DB-9 connector located on the front of the d rive. The serial interface is either th ree wire non-isolated RS-232C or two wire non-i solated RS-48 5. RS-485 is also availabl e through the 44-pin Comm [...]

31 Installatio n Modbus Commu nications The drive’s serial communication protocol is Modbus RTU slave with a 3 2 bit data extension. The Modbus protocol is av ai lable on mos t operator interface panels and PLC’s. Control Techni ques’ Motion Interface p anels are supplied with a Modbus master communications driver. Multi-Drop Communicat ions [...]

32 Epsilon Eb Digital Ser vo Driv e Installati on Manual Figure 32: Multi-Drop Wir ing Pinout + 5 0 V 6 1 8 7 3 4 5 6 2 1 9 8 7 RX (232) TX (232) Ground 3 4 5 6 2 1 9 8 7 Computer 3 4 5 6 2 1 9 8 7 Drive Seri al Po rt 3 4 5 6 2 1 9 8 7 Drive Serial Port 3 4 5 6 2 1 9 8 7 Drive Seri al Po rt TER M-H TIA Cabl e DDS Cab le DDS Cab le TER M -T 120 Ohm [...]

33 Diagnostics and Troubleshooting Diagnostic Display The diagn ostic disp lay on the front of t he driv e shows dr i ve statu s and fault codes. When a fault condition occurs, the drive will display the fault code, overridin g the status code. The decimal point is “On” when the dr ive is enabled and the Stop input is not active. This ind icate[...]

34 Epsilon Eb Digital Ser vo Driv e Installati on Manual Fault Codes A number of diagnostic and fault detection c i rcuits are incor porated to protect the drive. Some faults, like high DC bus and amplifier or motor over temperature, can be reset with the Reset button on the front of the d r ive or the R eset input functio n. Other faults, such as [...]

35 Diagnos tics and T ro ubleshootin g Fault Descrip tions Power Up T est This fault indicates that the power-up self-test has failed. This faul t cannot be reset with the reset co mmand or reset button . NVM Invalid At power-up the drive tests the integrity of the non-volatile memory. This fault is gen erated if the contents of the non-volatile me[...]

36 Epsilon Eb Digital Ser vo Driv e Installati on Manual Invalid Configuration Ep silon Only This fault will occur if the digital board in the drive does not match the power board settings. It is only useful during manu facturing. A drive with this fault should be returned for serv ice. Drive Overtemp Indicates the dr ive IGBT temperature ha s reac[...]

37 Diagnos tics and T ro ubleshootin g Encode r State Certain encoder states and state transitions are invalid and will cause the drive to report an encoder state f ault. This is usually the result of noisy encoder feedb ack caused by poo r shielding. Encode r Hardw are If any pair o f complentary enco der lines are in th e same state, an encoder l[...]

38 Epsilon Eb Digital Ser vo Driv e Installati on Manual T ravel Li mit +/- This fault is caused when either the + or - Travel Limit input function is active. “All On” This is a normal condition during power up of the drive. It will las t for less than 1 second. If this display persists, call C ontrol Techniques for service advice. Normally, ?[...]

39 Diagnos tics and T ro ubleshootin g Note Connect ing the A.P. S. 24V return to chassis grou nd reduces o utput offset vol tage. Figur e 33: Diagnos tic Cable (DGNE ) Diagram Figu re 34: Epsi lon Loc atio n Drive F aults The Drive Faults Detected dialog bo x is automatically displayed w henever a fault occur s . There are three o ptions in this d[...]

40 Epsilon Eb Digital Ser vo Driv e Installati on Manual Figure 35: Drive Fau l ts Detected Dialog Box Resetting Faul ts Some drive faults are automatically reset when the fault condition is cleared. Others requ ire drive power to be cycled or the drive to be “rebooted” to be cleared. If you wish to continue working in the PowerTools software w[...]

41 Diagnos tics and T ro ubleshootin g Note It is normal to have the Watch Window show up with the three motor parameters already selected if the motor param eters window has been accessed previously. If you do not need to view them, simply push the Clear All button and select the parameters you wi sh to vie w. Figur e 36: Watch Wind ow The Watch W[...]

42 Epsilon Eb Digital Ser vo Driv e Installati on Manual Group This lis t box enables yo u to view the co mplete list of param et ers or just a group of par ameters you are interes ted in. The groups includ e: Clear All Button This button is used to clear all th e parameter selections that were previously selected. Save Sele ctions But ton This but[...]

43 Options and Accessories Epsilon Eb Digital Servo Drive Epsilon Eb Digital Se rvo Drive Installation Manual[...]

44 Epsilon Eb Digital Ser vo Driv e Installati on Manual ECI-44 External Connector Interface The ECI-44 allows access to all command and input and output signals. The ECI- 44 should be mounted clo se to the drive and away from any high voltage wiring. The ECI-44 comes complete with the hard w are necessary f o r mountin g to most DIN rail mo unting[...]

45 Opti ons an d Access ories STI-EIO Interface The STI-EIO interface allo ws access to all digital input and ou tput signals. The STI-EI O mounts directly to the J3 connector on the drive. See Figure 40 o n 45. Note Shield connection p oints are connected to the s hell of the 44- pin “D” connector on the STI EIO. The STI-EIO wire range is #18 [...]

46 Epsilon Eb Digital Ser vo Driv e Installati on Manual Figure 41: ECI-44 S i gnal C onnections + 15 V, 10 mA EN V + (Connector s hell and strain relief points) NC2 NC1 20 Pulse In put A, Singl e Ended Pulse In put B, Singl e Ended Ext En coder Supply Output[...]

47 Specifications Drive Sp ecifications Epsil on Series Power Requirem ents 42 - 264 V AC, 1 Ø, 47 - 63 Hz 240 V AC for rated performance or 12 - 375 VDC when using a n A.P .S. Logic Supply Input and disabled Low DC Bus alarm. Auxiliary Pow er Supply/ Auxiliary Lo gic Power In put For log ic backup, 24 VDC, 0. 5A Swit ching Freque ncy 20 kHz Power[...]

48 Epsilon Eb Digital Ser vo Driv e Installati on Manual Encod er Ou tput Signal Differential line driver, RS-422 and TTL compatible Scalable in one line increment resolution up to 2048 lines/rev of the motor (MG and NT) Output Device = AM26C31 20 mA per channel, sink and/or source V out Hi @ 20 mA = 3.8 - 4. 5 V V out Lo @ 20 mA = 0.2 - 0.4 V V ou[...]

49 Specif ications Drive and Motor Combination Specifications Amplifier Weights Eb-2023.3 lb ( 1.5 kg) Eb-2033.3 lb ( 1.5 kg) Eb-2053.7 lb ( 1.7 kg) *Add 1 lb f or shipping. Drive Motor Cont. To r q u e lb-i n (Nm) Peak To r q u e lb-in (Nm) Power HP @ Rated Speed (kW att s) Ine rtia lb-in-s ec 2 (kg-cm 2 ) Max speed RPM Encode r resolu tio n lines[...]

50 Epsilon Eb Digital Ser vo Driv e Installati on Manual Motor Brake Specifications Motor Weights Motor Holding T orque lb-in ( Nm) Added Inertia lb-in-sec2 (kg-cm2) Adde d Weigh t lb (kg) MGE-2XXCB 10 (1.13 ) 0.000025 (0.0282) 1.8 (0.55) MGE-316CB MGM-340CB 50 (5.6) 0.00015 (0.1693) 2.4 (1.1) MGE/M-455CB MG-490CB MG-4120CB 220 (24.9) 0.000412 (0.4[...]

51 Specif ications Axial/Radial Loading Figu re 42: Axial /Rad ial Lo adin g IP Ra ting s Moto r Max Rad ial Load (lb.) Max. Axia l Load (lb.) MGE-205 20 15 MGE-208 20 15 MGE-316 40 25 MGM-340 40 25 MGE/M-455 100 50 MGE/M-490 100 50 MGE/M-4120 100 50 Moto r Rating MG (all) IP65 NT -207 IP65 NT -207 (w/o seals) IP54 NT -212 IP65 NT -212 (w/o seals) [...]

52 Epsilon Eb Digital Ser vo Driv e Installati on Manual Encoder Specifications Power Dissipation In general, the drive power stages ar e 90 to 95 percent efficient depending on the actual po int of the torque speed curve the drive is oper ati ng. Logic power losse s on the Epsilon driv e are 11 W with norm al loads to 15 W with additional loads s [...]

53 Specif ications TPL = Total power losses (Watts) TRMS = RMS torque for the application (lb-in) Vmax = Maximum moto r speed in application (RPM) Pld = Logic Power Los ses Drive (Watts) Psr = Shunt Regulation Losses (Watts)-(RSR -2 losses or equivalent) Note TRMS * Vmax / 1500 = Power Stage Diss ipation = P p A more accurate calculation would incl[...]

54 Epsilon Eb Digital Ser vo Driv e Installati on Manual Figure 43 : Epsilon Speed Torque Curves, s heet 1 of 2[...]

55 Specif ications Figure 44 : Epsilon Speed Torque Curves, s heet 2 of 2[...]

56 Epsilon Eb Digital Ser vo Driv e Installati on Manual Epsilon Drive Dimensions: Eb 202, Eb -203, Eb-205 The follo wing table ap plies to A* and B* as shown i n Figure 45 . Figure 45 : Drive Dimesions Eb-202, Eb-203, Eb-2 05 Drive Mo del Dimen sion A* (shown in inches/mm ) Dimens ion B* (shown i n inch es/mm) Eb-202 2 .10 [53.3] .45 [1 1. 4] Eb-2[...]

57 Specif ications MG Motor Dimensions MGE-20 5 and 20 8 Moto rs MGE- 205 an d 20 8 Mou ntin g Dime nsions in ches (mm) AG A BC AH U Max XD S Min 205 5.60 (143.0 ) 2.25 (57.2) .46 (11.2) 1.20 (30.5) .375 (9.525 ) .563 (14.3) .127 (3.23 ) 208 6.75 (171.4 ) 2.25 (57.2) .46 (11.2) 1.20 (30.5) .375 (9.525 ) .563 (14.3) .127 (3.23 ) MGE- 205 an d 20 8 M[...]

58 Epsilon Eb Digital Ser vo Driv e Installati on Manual MGE-31 6 and 34 0 Moto rs MGE-3 16, MG M-316 , and MG M-340 M ounti ng Dime nsions inches (m m) AG A BC AH U Max XD 316 E 7.24 (184.0) 3.31 (84.0) .44 (1 1.2) 1.21 (30.7) .4997 (12.69) .90 (22.9) 316 M 7.24 (183.9) 3.50 (89.0) 0.44 (1 1.2) 1.20 (30.5) .5512 (14.00) 0.79 (20.0) 340 10. 24 (260[...]

59 Specif ications MGE-455 , 490 and 4120 Moto rs MGE-4 55, 49 0 and 41 20 Moun ting D imensi ons inch es (mm ) AG A BC AH U Max XD S Min 455 8.61 (218.7) 5.00 (127.0 ) .53 (13.5 ) 190 (48.2 ) .6245 (15.862 ) 1.50 (38.1 ) .1875 (4.763 ) 490 11. 11 (282.10 ) 5.00 (127.0 ) .53 (13.5 ) 190 (48.2 ) .8750 (22.225 ) 1.50 (38.1 ) .1875 (4.763 ) 4120 13.61[...]

60 Epsilon Eb Digital Ser vo Driv e Installati on Manual MGM-45 5, 490 an d 4120 Mo tors MGE-4 55, 49 0 and 41 20 Mo unting Dimen sion s mm (i nches) AG A BC AH U Max XD S Min 455 216.0 (8.59) 121.0 (4.764 ) 13.0 (.51) 50.5 (1.99 ) 19.000 (.7480) 40.0 (1.58 ) 6.00 (.236) 490 281.7 (1 1.09) 121.0 (4.764 ) 13.0 (.51) 50.5 (1.99 ) 24.000 (9.449) 37.1 [...]

61 Specif ications NT Motor Dimensions NTE-207 Motors; English Fa ce (NEMA 2 3 with 3/8 inch shaft) Note Mounting ears have clearance for #10 or M5 Allen head screw or .3125" or 8mm across flat hex nu t.[...]

62 Epsilon Eb Digital Ser vo Driv e Installati on Manual NTM-20 7 Mot ors; M etric F ace Note Mounting ears have clearance for #10 or M5 Allen head screw or .3125" or 8mm across flat hex nu t.[...]

63 Specif ications NTE-212 Motors; English Fa ce (NEMA 2 3 with 3/8 inch shaft) Note Mounting ears have cl earance for #10 mm or M5 Allen head screw or .3 125" or 8mm across flat head s crew.[...]

64 Epsilon Eb Digital Ser vo Driv e Installati on Manual NTM-21 2 Mot ors; M etric F ace Note Mounting ears have clearance for 10mm across flat hex nut or 13mm O.D. washer.[...]

65 Specif ications Cable Diagrams Driv e Signal C MDX, CMDO, EC I- 44 CDRO AX4-CEN Analog In + X X X Analog In - X X X Encoder Out A X X X Encoder Out A/ X X X Encoder Out B X X X Encoder Out B/ X X X Encoder Out Z X X X Encoder Out Z/ X X X Pulse In A X X Pulse In A/ X X Pulse In B X X Pulse In B/ X X Pulse In Z X Pulse In Z/ X Pulse In A (singl e[...]

66 Epsilon Eb Digital Ser vo Driv e Installati on Manual CMDX-XXX Cabl e Note Some CMDX cables may have W hite/Yellow and Yellow/White wires in place of the White/ Orange and Or ange/White shown i n the figure abov e (pins 6 and 21).[...]

67 Specif ications CMDO-XXX Cable Note Some CMDO cables may have W hite/Yellow and Yellow/White wires in place of the White/Or ange and Orange/Whi te shown i n the figure abov e (pins 6 and 21).[...]

68 Epsilon Eb Digital Ser vo Driv e Installati on Manual CDRO-XXX Cable[...]

69 Specif ications AX-CEN-XXX Cable[...]

70 Epsilon Eb Digital Ser vo Driv e Installati on Manual EIO- XXX Cable TIA-XXX Cable Input #1 Drive Enable Input Input #3 Input #2 Input #5 Input #4 Input #7 Input #6 Input #9 Input #8 Input #11 Input #10 Output #1 Output #2 Output #5 Input #12 Output #3 Output #4 I/O +V I/O Common N/C N/C N/C N/C Output #6 Output #7[...]

71 Specif ications DDS-XXX Cable TERM-H (Head) T erminator[...]

72 Epsilon Eb Digital Ser vo Driv e Installati on Manual TERM-T (Tail) Terminator Note See “Multi-Drop Communications” on page 31 for resistor values. CMDS-XXX Cabl e CMMS-XXX Cable[...]

73 Specif ications CFCS-XXX Cable[...]

74 Epsilon Eb Digital Ser vo Driv e Installati on Manual CFCO-XXX Cable[...]

75 Specif ications CFOS-XXX Cabl e[...]

76 Epsilon Eb Digital Ser vo Driv e Installati on Manual Vendor Contact Information Schaffner (AC Line Filters) (800) 367-5566 or (201) 379 -7778 www.schaffn er.com Cooper In dustries, In c. Crouse-Hinds Division (Cable Sh ield Grommets) (315) 477-5531 www.crouse-hinds.com Bussm an P.O. B ox 14460 St. Lois, MO . 63178- 4460 (314) 394-3877 www.b uss[...]

77 Index A AC Line Filter Installation Notes, 5 AC Line Filters, 5 AC Supplies NOT Requiring Transformers, 1 0 AC Supplies Requirin g Transformers, 11 Achievi ng Low Imp edance Co nnections, 4 Analog Comman d Wiring, 25 AX-CEN-XXX Cable, 69 Axial/Radial Loading, 51 C Cable Diagrams, 65 Cable to E nclosure Shield ing, 6 CDRO-XXX Cable, 68 CFCO-XXX C[...]

78 Epsilon Eb Digital Ser vo Driv e Installati on Manual L Line F usi ng, 14 M Mechanical Installation, 8 MG Motor Dimension s, 57 MGE-205 and 208 Motors, 57 MGE-316 and 340 Motors, 58 MGE-455, 490 and 41 20 Motors, 59, 60 Modbus C ommunications, 31 Motor Brake Specifi cations, 50 Motor Brake W iring, 19 Motor Feedback W iring, 19 Motor Mounting, 8[...]

79 Index W Watch Wi ndow, 40 Wire Size, 14 Wiring N otes, 8[...]

80 Epsilon Eb Digital Ser vo Driv e Installati on Manual[...]

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Since 1979 , the “Motion Mad e Easy” products, desi gned and manu factured in Minnesota U.S.A., are r enowned in the motion control industry fo r their ease of use, reli ability and high performance. For more infor m ation about Control Techni ques “Motion Made Easy ” products and services , call (800) 397-3 786 or cont act our web site at [...]