Epsilon Series Digital Servo Drives epsilon Series Digital Servo Drives CONTENTS Epsilon OVERVIEW ....................................... A2-A5 EPSILON DRIVE CONFIGURATIONS ....... A6-A11 EN DRIVE SPECIFICATIONS ................... A12-A14 MOTOR DIMENSIONS ..................... A15-A19 HOW TO ORDER ............................ A20-A21 MX OPTIONS AND ACCESSORIES ............ A22-A26 FX AXIMA Options Reference A1 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G A B C D E F G Epsilon Series Overview Features Description • Digital drive design using DSP, ASIC and SMT The Epsilon Series is Emerson's smallest servo drive and Epsilon technology despite its size it delivers all the performance, reliability • 90 to 264 VAC 1Ş input power and convenience you expect from a product designed and EN built by Emerson. It's also been carefully designed to fit • Epsilon Drives use MG and NT Series servo motors utilizing encoder feedback for position control into a 6 inch deep enclosure... with cables connected. • 5 lb-in to 15.8 lb-in standard torque range MX The small size of the Epsilon Series is attainable with the • CE, UL and Canadian UL approvals pending use of ASICs, surface mount devices, and our high density • Six inch (152 mm) panel installation depth power section. The effort put into minimizing the Epsilon's • Provision for alternate logic supply FX size is matched by the quality designed into it. • Optically isolated I/O • RS-232/485 serial communication interface using The Epsilon Series consistns of two drive sizes, each having AXIMA Modbus™ protocol three unique configurations that focus the drive toward • Extensive fault sensing and diagnostics including specific applications. storage and time stamping of last 10 faults Options • Status and diagnostic display The different configurations are: • 400 μs max. response to inputs Eb Epsilon Base Reference • Sinusoidal commutation for efficiency and smooth Es Epsilon Speed Control motion Ei Epsilon Indexing • Programmable encoder output density • Removable connectors We've taken advantage of new technologies to develop these products without losing sight of the reality that • Two-year extended warranty on drives and motors reliability is key to any design. New technologies and a rigorous set of qualification tests coupled with decades of experience in servo drives culminates with Epsilon drives and NT motors — the state-of-the-art in performance, reliability, power density, and convenience. Epsilon Series A2 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives Epsilon Series Digital Servo Drives Serial Link RS-232-485 Encoder Feedback Analog cmd Epsilon Series Overview New NT Series Motors Emerson's new NT series motors, which complement the Epsilon Epsilon, deliver very high power to size ratios that were previously impossible. We accomplished this with the use EN of the latest motor design and production technology that achieves a high motor slot fill along with high-energy Neodymium-Iron-Boron magnets. The NT motors and MX Epsilon drives are a natural combination where small size and high performance are needed. FX The advantage of the NT motor design is apparent when you compare it to standard “high performance” motor designs. The NT motor design delivers up to 46% more AXIMA torque in 20% less space. Options Standard 3” Motor (16 lb-in) Reference Standard 2” Motor (9 lb-in) NT Series 2” Motor (12.5 lb-in) Typical Epsilon Eb (Base Drive) System Configuration Position Controller Epsilon NT Motor A3 Host Device Limit Switch Inputs 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G Emerson Motor Power Cable Encoder/Thermistor Cable A B C D E F G Epsilon Series Overview Control response and tuning operator interfacing The control designed into the Epsilon series drive is based Operator terminals can be easily interfaced to the Epsilon Epsilon on the latest in State-Space algorithms, which allow the series drives. The wide array of parameters available drive to control a wide range of loads. The high speed DSP through the serial port makes the operator interface a EN processors used to execute these algorithms also make sub- window into the drive for easy diagnostics and adjustments. millisecond I/O response a reality. Most of the parameters need no scaling or translation to be usable so the data can be displayed as is, further MX No tuning is required, in most cases, because of the wide simplifying your interfacing effort. An example of a load range capability designed into the control. The Epsilon Emerson OIT-3165 Operator Interface is shown below. series drive will work out of the box in applications with FX up to a 10:1 inertia mismatch. Inertia ratios of up to and over 50:1 are easily accommodated with just two parameter settings; Load Inertia Ratio and Response Level. AXIMA Emerson's commitment to making servos easy to apply is Options shown in the set up screen at right. It displays the system load adjustments in real measurable terms such as Inertia Ratio and Friction, therefore eliminating the “art” in servo Reference applications. Drive Communications The Epsilon series drive communicates through an RS- ™ OIT-3165 Operator Interface 232 or RS-485 serial interface port using Modbus protocol. This standard protocol simplifies communication and eliminates the problems encountered when developing a custom serial interface. The built-in error checking and high-speed multi-drop capability greatly simplify implementation and make your communications robust by design. The drives will accept a standard RS-232 serial input from the host while converting it internally to an RS-485 signal for easy multi-dropping. Multi-dropping is made even easier with the use of our standard low profile multi-drop cables (DDS-xxx) and termination modules (TERM-H/ TERM-T). This simple interfacing makes connection to a variety of host controllers painless including: • PLC's • Operator Interfaces Epsilon Series Drive load definition screen • PC platform controllers (PC software drivers available) A4 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives Epsilon Series Digital Servo Drives Epsilon Series Overview ™ PRE-defined system Setup PowerTools Base User Interface Software ™ Commissioning an Epsilon Series Drive is simplified by The PowerTools user interface software works on any PC Epsilon ™ ™ giving the user a choice of pre-defined setups which will using Windows 95/98 or Windows NT 4.0. The software configure the drive to most applications without going enables the user to upload and download configuration through the setup screens. The setups will define EN parameters into the Epsilon Series Drive. The screen below everything you need to start up a typical system. This is a sample of the configuration screen of the Eb Base includes I/O definition, matching the drive to the motor Epsilon Series drive. MX and tuning the system to deliver good performance over a very wide load range of up to 10:1 inertia mismatch. More specific parameter adjustments are easily accessible with FX ™ the PowerTools software package. The seven pre-defined setups available for the Eb Drive AXIMA include: • Analog velocity command with limit switches disabled Options • Analog velocity command with limit switches enabled • Analog velocity command for AXIMA 2000/4000 with limit switches enabled Reference • Analog torque command with limit switches disabled • Analog torque command with limit switches enabled • Analog torque command for Axima 2000/4000 with limit switches enabled • Pulse-direction command with limit switches enabled PowerTools configuration screen for Epsilon Series. A5 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G EN-204 Digital Servo Drive A B C D E F G AXIMA 4000 Epsilon EB (Base) Drives Features Inputs Outputs Five current sourcing compatible Three user programmable, current • Digital drive design Epsilon input lines (Active “high”) are sourcing output lines (active “high”) • Five modes of operation: available for interfacing. Four of the are available. Each is capable of input lines are user programmable sourcing 30 volts at up to 150 mA to • 5 optically isolated inputs and one or more of the ten input easily drive relays without another EN • 3 optically isolated outputs functions can be assigned to each of interface layer. One or more of the them. The fifth input is a dedicated thirteen output functions can be • Programmable encoder output density Drive Enable input, which imposes assigned to each output. hardware control over the output • Single cable connection to AXIMA MX Power Stage to help ensure safety. Output functions available are: Series Multi-Axis controller • Drive OK • Compact 6” (152 mm) installed depth Input functions available are: • At Velocity • Stop with cables • Travel Limits (+) FX • Reset • Travel Limits (-) • Travel Limit (+) • Foldback Active Description • Travel Limit (-) • In Motion (+) AXIMA • Torque Limit Enable The Epsilon Series Eb (Base) Drive is a • In Motion (-) • Torque Mode Enable • Power Stage Active compact drive that is ideal for use with • Velocity Presets • Torque Limit Active single and multi-axis controllers and PLCs. • Brake Release • Velocity Limiting Options The analog torque and velocity modes can • Brake Control • Fault be used with classic servo controllers using • Brake • Shunt Active analog outputs and encoder inputs. The Reference pulse mode is ideal for use with low cost PLC stepper controllers and for upgrading stepper applications where analog command with encoder feedback stepping motors and drives cannot deliver the required Analog command is a very popular choice for closed loop performance. This drive works in a variety of applications controllers and the Epsilon allows for both Analog Velocity where a host control provides a command signal and Analog Torque command methods. The 14-bit analog determining the desired motion profile. The Eb Drive is input delivers very high command resolution for smooth configurable for five flexible modes of operation: and precise control. The Programmable Analog input filter • Analog Velocity mode permits you to filter out unwanted system noise from the • Analog Torque mode command before it causes a problem. • Pulse Follower • Digital Velocity preset • Summation of Analog Velocity plus Digital Velocity EN The drive parameters for each mode can be adjusted to tailor the drive to the particular application using Motion ® ™ Windows based PowerTools software. Interface Epsilon AXIMA Travel limits and stop motion inputs are fully functional in all operating modes to provide an extra measure of safety and confidence. Servo Motor Programmable Resolution Encoder The encoder output provides a convenient and accurate method of position feedback. The resolution is programmable and can be set to provide any integer Encoder A6 resolution in 1 pulse/rev increments up to the actual motor Servo Motor encoder value. This allows you to optimize the feedback resolution for the particular mechanism to eliminate accumulative error with closed loop positioning systems. 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives Motion Interface Epsilon Series Digital Servo Drives AXIMA 4000 Epsilon EB (Base) Drives Velocity Preset Mode velocity summation mode This mode allows the Epsilon series drive to store four This mode combines all the features of Analog Velocity Epsilon user-defined velocities with accel / decel ramps which can and Preset Velocity in one mode. It allows you to run at a then be selected with input lines. The velocities are preset velocity and trim it with an analog input or vice EN programmable with resolution of 0.1 RPM and ramps from versa, so advanced applications can be solved simply 0 to 3278.8 milliseconds per 1000 RPM. without complex controllers. ™ MX Application Examples The preset velocities can be changed with PowerTools setup software or with any operator interface using the • Loop/dancer arm control Modbus protocol. • Phase advance/retard FX • Speed trimming Application Examples • Clutch-brake replacement AXIMA Stepper Motion • Phase control with a differential Control Card • Automatic feed control for machining operations Options • Spindle speed control PLC Reference Pulse Follower Mode Pulse Command In the Pulse follower mode, ratios from 20 to 163,840,000 Signal input pulses per motor revolution are easily selectable with ™ the PowerTools setup software. There are 3 command CW Motion choices available • Quadrature encoder CCW Motion • Pulse – Direction • CW/CCW pulse 2 axis application using pulse output from a PLC motion card to Epsilon Eb Drives Any of these signals can be one of the two command signal source types: • Differential 5 volt (RS-422) • Single ended TTL with customer or drive supplying the pull up resistor Application Examples • PLC pulse command outputs • Electronic gearing • Stepper drive replacement • Web line ratio control Z Y X A7 Three axis gantry pick and place system using an X Y AXIMA 4000 Motion Controller with Epsilon Eb Drives Z 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G A B C D E F G Epsilon ES (speed Control) Drives Features Inputs Outputs Twelve general purpose digital inputs Seven general purpose digital outputs • 8 Velocity presets Epsilon (10-30 VDC, active-high, optically (10-30 VDC, active-high, optically • 8 Torque presets isolated) are available for interfacing. isolated) are available. Each is capable One or more of the 13 input functions of driving relays without another • 8 Ratio presets (late ’99) can be assigned to each input. The interface layer. One or more of the 13 EN dedicated Drive Enable input imposes output functions can be assigned to • Ratio acceleration ramps (late ’99) hardware control over the Power Stage each output. • Ratio plus velocity (preset or analog) to help assure safety. • Drive OK summation modes • Travel Limit + • In + Motion MX • Travel Limit - • In - Motion • Alternate mode selection with I/O • Velocity Select 1 • At Velocity input • Velocity Select 2 • Fault • 12 general purpose inputs • Velocity Select 3 FX • Travel Limit + • Torque Limit Enable • Travel Limit - • 7 general purpose outputs • Torque Select 1 • Brake • Compact 6” (152 mm) installed depth • Torque Select 2 • Torque Limit Active AXIMA with cables • Torque Select 3 • Shunt Active • Ratio Select 1 • Foldback Active • Ratio Select 2 • Velocity Limiting Active Description • Ratio Select 3 • Power Stage Enabled Options The Epsilon Series Es (Speed Control) • Alternate Operating Mode • Brake Control Drive offers a number of powerful features • Brake Release in addition to the base drive functions, Reference • Reset while maintaining the compact Epsilon package •Stop • Ratio Stop size. These features are over and above those in the base Epsilon Eb Drive described on the preceeding pages. Applications requiring any of the functions listed below, and others, can be easily implemented without a complex controller or a lot of programming time. • Line shafting with “key to key” phasing and no phase loss during speed changes • Simple phase adjustment of a follower axis with I/O or analog signals • Acceleration ramping of the follower while the master is running Travel limits and stop motion inputs are fully Es setup screen using PowerTools-FM functional in all operating modes to provide an extra measure of safety and confidence. Firmware is stored in Flash Memory so that feature updates can be accomplished in the field. The drive is configured ™ with Emerson’s powerful PowerTools FM Software. A8 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives Epsilon Series Digital Servo Drives Epsilon ES (speed Control) Drives Epsilon Servo Motor Pick and EN Place Unit Follower Axis MX Servo Motor FX Encoder AXIMA Master Axis Options Main Drive Motor Dual Conveyor Phase Advance/Retard Synchronization Reference Encoder In this application, the follower always synchronizes to the master and can be phase advanced and retarded as necessary whether the master is running or not. Only a simple master to slave synchronization signal is required to lock the axes line shaft synchronization with phase advance/retard together. Two inputs on the follower control the phase advance and retard. This application demonstrates the ability of the drive to change operation modes. The idea is to have the drive “Home” to a sensor stop position and wait until the master trips the “Go” flag. Once the “Go” flag is tripped, the follower accelerates to the speed of the master following a repeatable ramp. When the follower matches the master speed, it always comes into the same phase even if the master speed varies from time to time. Input functions for phase advance and retard can be used for phase adjustment while in motion. Servo Motor Analog Encoder Master Axis Dancer Arm with Analog Output Master Encoder Dancer arm loop control Follower Axis In this application, the follower is synchronized to the master and pays out material according to the master speed. If the material loop is too high or too low, the analog command will adjust the speed of the pay out to correct the loop depth. Motor multiple ratio A9 The follower is synchronized to the master and its ratio can be changed on the fly to drop product on the conveyor at different spacings. 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G A B C D E F G Epsilon EI (indexing) Drives Features Inputs Outputs Twelve general purpose digital inputs Seven general purpose digital outputs • 16 indexes Epsilon (10-30 VDC, active-high, optically (10-30 VDC, active-high, optically • Jogging isolated) are available for interfacing. isolated) are available. Each is capable One or more of the 13 input functions of driving relays without another •Homing can be assigned to each input. The interface layer. One or more of the 13 EN dedicated Drive Enable input imposes output functions can be assigned to • Fixed units include: distance (revs); hardware control over the Power Stage each output. velocity (RPM); accel/decel (ms/kRPM) to help assure safety. • Absolute Position Valid • Firmware is stored in flash memory • Index Initiate • End of Index MX • Index Select 0 and is field upgradeable through the • End of Home • Index Select 1 • At Velocity drive’s serial port • Index Select 2 • In + Motion • 12 general purpose inputs • Index Select 3 FX • In - Motion • Home Initiate • 7 general purpose outputs • Drive OK • Home Sensor • Fault • Compact 6” (152 mm) installed depth •Stop • Brake AXIMA with cables • Zero Position • Travel Limit + • Jog + • Travel Limit - • Jog - • Foldback Active Description • Jog Fast • Shunt Active Options The Epsilon Series Ei (Indexing) Drive • Travel Limit + • Torque Limit Active offers indexing, homing and jogging, and • Travel Limit - • Brake Control additional I/O in a package that is the Reference • Brake Release same compact size as the base Eb Epsilon • Reset Drive. Operating information is setup via a PC. These setup parameters are easily entered and stored with the use of ® ™ our feature filled Windows -based PowerTools-FM software. The setup can be downloaded, stored on disk or printed out for documentation. The ease-of-use saves time and money during installation and makes long term support a breeze. Control Panel: Part of the benefit of using the PowerTools – FM software is the capability to monitor the performance of the Ei Drive. This screen allows the user to jog, index, or home with the click of a button. This helps reduce the time required to setup an Ei Drive and simplifies diagnostics. A10 Configuring the Ei Drive is done by stepping through the tabbed setup screens and editing the appropriate parameters. 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives Epsilon Series Digital Servo Drives Epsilon EI (indexing) Drives Operating Performance Jogging • Index initiate: 700 μsec max • Inputs: Jog +, Epsilon Jog -, Jog Fast • Positioning resolution: 8192 counts/rev • Parameters for EN Jog Velocity, Jog 700 μs Fast Velocity, Motion Accel and Decel MX Indexing • 16 indexes FX Initiate Motion • Incremental and absolute Time • Parameters for AXIMA Distance, Velocity, Accel and Decel Options Homing Reference • Sensor, Marker, Sensor & Marker • If on home sensor, then back off before homing • Home Offset distance relative to sensor/marker • Parameters for Velocity, Accel, Decel, Home Offset, End-of-Home Position and Limit Distance Epsilon Ei Drive Modbus communications Input/Output Screens: To configure the 12 input and 7 output lines of the Ei Drive system, the user selects the function on the left and drags it onto the I/O line on the right. Configuring Input and Output functions can’t get any easier or more flexible than that! Check weight system with digital communications Weight feedback A11 Auger filler controller with and Epsilon Ei Drive 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G A B C D E F G Epsilon Series Specifications Specifications Specifications below apply to all Epsilon Series Eb, Es and Ei units. Epsilon Combined Amplifier/Motor Specifications EN Constant Peak Power Inertia* Maximum Motor 2 Amplifier Motor Torque Torque HP lb-in-sec Speed Weight* 2 Model Model lb-in (Nm) lb-in (Nm) (kW) (kg-cm ) RPM lb (kg) MX Eb-202 NT-207 7.3 (0.82) 15.2 (1.72) 0.45 (0.34) 0.000094 (0.106) 5000 3.0 (1.36) NT-212 9.2 (1.04) 18.0 (2.03) 0.71 (0.53) 0.000164 (0.185) 5000 4.0 (1.81) MG-205 5.0 (0.56) 13.5 (1.53) 0.31 (0.23) 0.000084 (0.095) 5000 3.0 (1.36) FX MG-208 6.7 (0.76) 13.2 (1.49) 0.53 (0.40) 0.000114 (0.163) 5000 4.0 (1.81) Eb-203 NT-212 12.5 (1.41) 27.0 (3.05) 0.80 (0.60) 0.000164 (0.185) 5000 4.0 (1.81) AXIMA MG-205 5.0 (0.56) 15.0 (1.69) 0.31 (0.23) 0.000084 (0.095) 5000 3.0 (1.36) MG-208 9.1 (1.03) 20.0 (2.26) 0.58 (0.43) 0.000144 (0.163) 5000 4.0 (1.81) Options MG-316 15.8 (1.79) 31.8 (3.59) 1.00 (0.75) 0.000498 (0.562) 4000 8.3 (3.80) *Without brake Reference Epsilon Series Amplifier Overview Units Eb-202 Eb-203 Continuous Output Power Watts RMS 650 1100 Continuous Output Current Amps RMS 1.8 3.0 Maximum Output Current (2 sec) Amps RMS 3.6 6.0 Input Line Voltage & Frequency 90 to 264 VAC; 47 to 63 Hz Number of AC Line Phases 11 2 Recommended Input Power Wire Gauge AWG (mm ) 16 (1.5) 16 (1.5) Input Line Current Amps RMS 46 In-Rush Line Current Amps/Time (@ 60 Hz) 140 / 2 ms 140 / 2 ms Input Fusing (Low Peak Slow Blow Fuse) Amps 68 2 Recommended Output (Motor) Wire Gauge AWG (mm ) 18 (1.5) 18 (1.5) Efficiency Watts loss 7% of output power + 11 watts Holding Brake Specifications (Optional) Mechanical Mechanical Holding Inertia Added Coil Coil Engagement Disengagement 2 Torque lb-in-sec Weight Voltage Current Time (ms) Time (ms) 2 Model lb-in (Nm) (kg-cm ) lb (kg) VDC Amps Brake Holding Brake Release MGE - 2XXB 10 (1.1) 0.000025 (0.0282) 1.8 (0.55) 24 ±10% 0.48 ±10% 25 40 MGM/E - 3XXB 50 (5.6) 0.00015 (0.1693) 2.4 (1.1) 24 ±10% 0.52 ±10% 100 250 A12 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives Epsilon Series Digital Servo Drives Epsilon Series Performance Curves EB 202 Speed Torque Curves Performance curves below apply to all Epsilon Series Eb, Es and Ei units. Based on 240 VAC, 25° C motor Epsilon ambient, 75° C rise on motor surface, motor mounted to an aluminum plate. Eb-202 WITH NT-207 Eb-202 WITH MG-205 6000 5000 EN 5000 4000 4000 120 3000 Speed VAC MX 3000 Speed (RPM) 120 VAC (RPM) 2000 2000 1000 1000 Continuous Peak FX Continuous Peak 0 0 0 2.5 5 7.5 10 12.5 15 17.5 20 lb-in 0 2.5 5 7.5 10 12.5 15 17.5 20 lb-in 0 0.28 0.57 0.85 1.13 1.41 1.70 1.98 2.26 Nm 02 0.28 0.57 0.85 1.13 1.41 1.70 1.98.26 Nm Torque AXIMA Torque Eb-202 WITH NT-212 Eb-202 WITH MG-208 6000 5000 Options 5000 4000 120 VAC 4000 3000 Speed Speed 120 VAC Reference 3000 (RPM) (RPM) 2000 2000 1000 1000 Continuous Peak Continuous Peak 0 0 0 2.5 5 7.5 10 12.5 15 17.5 20 lb-in 0 2.5 5 7.5 10 12.5 15 17.5 20 lb-in 02 0.28 0.57 0.85 1.13 1.41 1.70 1.98.26 Nm 02 0.28 0.57 0.85 1.13 1.41 1.70 1.98.26 Nm Torque Torque EB 203 Speed Torque Curves Performance curves below apply to all Epsilon Series Eb, Es and Ei units. Eb-203 WITH NT-212 Eb-203 WITH MG-208 6000 5000 5000 4000 4000 120 VAC 3000 Speed Speed 3000 120 VAC (RPM) (RPM) 2000 2000 1000 1000 Continuous Peak Continuous Peak 0 0 0 5 1015202530 35 lb-in 0 5 10152025 30 lb-in 04 0.57 1.13 1.70 2.26 2.83 3.39.00 Nm 03 0.57 1.13 1.70 2.26 2.83.39Nm Torque Torque Eb-203 WITH MG-316 Eb-203 WITH MG-205 4000 5000 4000 3000 3000 120 VAC Speed Speed 120 VAC 2000 A13 (RPM) (RPM) 2000 1000 1000 Continuous Peak Continuous Peak 0 0 0 2.5 5 7.5 10 12.5 15 17.5 20 lb-in 0 5 101520253035 40 lb-in 02 0.28 0.57 0.85 1.13 1.41 1.70 1.98.26 Nm 04 0.57 1.13 1.70 2.36 2.83 3.39 4.00.52 Nm Torque Torque 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G A B C D E F G Epsilon Series Specifications Epsilon Amplifier general Epsilon Amplifier Dimensions Inches [mm] Specifications Epsilon AC Power 0.25 (6.4) 90-264 VAC 1Ş 47-63 Hz (240 VAC for rated side clearance EN for heat sink 5.96 performance) [151.4] 5.39 2.10 Alternate Power Supply [136.9] [53.3] 5.21 Ş0.22 2.0 1.20 [132.3] For logic backup: 24 VDC, 2 amps [5.6] 0.20 [50.8] [30.1] MX [5.08] 1.04 Power Supply Output [26.4] 5 VDC 250mA maximum for master encoder usage Efficiency 3.0 FX [76.2] Drive: 93% TIA Cable Regeneration Capacity & CO422 7.75 (optional) [196.8] Internal: full speed, full torque decel with NT-212 AXIMA 8.27 7.15 motor and 5:1 inertial load. No internal shunt [210] [181.6] resistor. External: Bus connection provided for external DDS (optional) regeneration unit (EMC model RSR-2 with a 20Ω DDS, Term-H, Term-T (optional) Options resistor) 15 ARMS capacity. Serial Interface I/O Cable (optional) RS-232 / RS-485 ModBus Reference Control Inputs 0.75 0.45 1.20 0.56 [19.05] 3.5 [11.4] [30.5] [14.2] *Analog command: ±10 VDC 14 bit [88.9] 1.84 Cable 1.85 Digital inputs: Eb = 5 inputs; Es, Ei = 13 inputs Clearance [46.7] [46.9] 10-30 VDC, 2.8 K ohm impedance; current sourcing signal compatible (active high); optically isolated Control Outputs Fault Detection Capability Cooling Method Digital outputs: Eb = 3 outputs; Es, Ei = 7 outputs 10-30 VDC 150 mA max, current sourcing, (active Low DC bus Epsilon 202 and 203 (Eb, Es, Ei): Convection high) optically isolated High DC bus Environmental Analog diagnostic outputs: Power Stage fault Ambient temp. range for rated output: (2) ±10 VDC 10-bit, real-time, single ended, Logic power 32° F to 104° F (O° C to 40° C) 20 mA, software selectable output signals Encoder state Maximum operating temperature: Encoder line break *Pulse Mode 104° F to 122° F (40° C to 50° C) with power Drive overtemperature Input type: Software selectable differential (RS422) or derating of 35% at 50° C Motor overtemperature single ended (TTL Schmitt Trigger) Rated altitude: 3,280 feet (1000 m) Overspeed Maximum Input Frequency: Derating altitude: Above 3,280 ft (1000 m) reduce Travel limit (+) Differential: 2 MHz per channel; 50% duty cycle output by 1% per 328 ft (100 m) Travel limit (-) (8 MHz count in quadrature) Vibration: 10 - 2000 Hz at 2g Pulse mode position error Single ended: 1 MHz per channel; 50% duty cycle Humidity requirement: 10 - 95% Non-condensing Watchdog timer (4 MHz count in quadrature) Storage temperature: -13° F to 167° F (-25° C to Power-up self test failure Ratio Capabilities: 20 to 163,840,000 PPR 75° C) Non-volatile memory invalid Encoder Output Signal Standards & Agency Approvals Ingress Protection Rating Differential line driver, RS-422 & TTL compatible UL listing Amplifier: IP20 Scalable in one line increment resolution up to 2048 Canadian UL listing MG motors: IP65 lines/rev of the motor (NT and MG motors) CE Mark: Low voltage directive; EMC directive NT motors: IP65/IP54 Amplifier Weight Molded motor and feedback cables: IP65 Epsilon 202 and 203 (Eb, Es, Ei): * These functions are excluded from Ei models. Bare: 3.3 lb (1.5 kg) Shipping weight: 4.3 lb (1.95 kg) A14 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives Epsilon Series Digital Servo Drives NT Series Motor Dimensions English Motors NEMA 23 Face 0.375 inch shaft Diameter IP54 without shaft seal Epsilon IP65 with shaft seal EN NTE-207-C Encoder Conn: PT02E-16-23P Inches [mm] [ ] 1.500 38.100 Mating Conn: PT06E-16-23S Ş 1.498 [38.049] Motor Conn: PT02E-16-8P MX [ ] Mating Conn: PT06E-16-8S 0.079 2.007 0.075 [1.905] [ ] 0.3750 9.525 0.3745 [9.512] 1.925 FX [48.89] 45° Max AXIMA 0.1260 [3.200] 0.1248 [3.170] 0.295 Options 2.27 [7.49] 0.70 [57.66] [17.78] Sq (max) 0.100 Min [2.54] [ ] 1.210 30.73 Ş0.205 ± 0.010 [5.21 ± 0.25] 5.550 Reference Drilled thru (4) Eq Spaced on a [140.97] 1.170 [29.72] 2.625 [66.68] Dia B.C. Mounting ears have clearance for #10 or M5 Allen head screw or 0.3125” or 8mm across flats hex nut Connectors only on NTE-207-T; NTE-207-L has lead wires NTE-207-T / NTE-207-L Inches [mm] Motor Conn: PT01E-16-8P Mating Conn: PT06E-16-8S Flying Lead Length 39.37 ± 2.00 [1000 ± 50.8] Encoder Conn: PT01E-16-23P Mating Conn: PT06E-16-23S [ ] 1.500 38.100 Ş 1.498 [38.049] [ ] 0.079 2.007 0.075 [1.905] [ ] 0.3750 9.525 0.3745 [9.512] 1.780 [45.21] 45° Max [ ] 0.1260 3.200 0.1248 [3.170] 0.295 2.27 0.70 [7.49] [57.66] A15 [17.78] Sq (max) 0.100 Min [2.54] Ş0.205 ± 0.010 [5.21 ± 0.25] [ ] 1.210 30.73 4.390 Drilled thru (4) Eq Spaced on a [111.51] 1.170 [29.72] 2.625 [66.68] Dia B.C. Mounting ears have clearance for #10 or M5 Allen head screw or 0.3125” or 8mm across flats hex nut 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G A B C D E F G NT Series Motor Dimensions METRIC Motors IP54 without shaft seal Epsilon IP65 with shaft seal EN NTM-207-C Inches [mm] Encoder Conn: PT02E-16-23P 2.363 [60.012] Mating Conn: PT06E-16-23S Ş 2.362 [59.993] Motor Conn: PT02E-16-8P MX [ ] Mating Conn: PT06E-16-8S 0.083 2.10 0.079 [2.00] [ ] 0.4330 10.998 0.4326 [10.988] 1.925 FX [48.89] 45° Max AXIMA [ ] 0.158 4.00 0.156 [3.97] 0.295 2.566 Options 0.512 [7.49] [65.18] [13.0] Sq (max) Min 0.100 + 0.012 [2.54] Ş0.228 Drilled thru - 0.000 [ ] 0.926 23.51 5.550 (4) Eq Spaced on a Reference + 0.300] [140.97] 0.886 [22.49] 2.953 [75.00] Dia B.C. [Ş5.80 - 0.000] Mounting ears have clearance for 10mm across flats hex nut or 13 mm O.D. washer NTM-207-T / NTM-207-L Connectors only on NTM-207-T; NTM-207-L has lead wires Inches [mm] Motor Conn: PT01E-16-8P Mating Conn: PT06E-16-8S Flying Lead Length 39.37 ± 2.00 [1000 ± 50.8] Encoder Conn: PT01E-16-23P Mating Conn: PT06E-16-23S [ ] 2.363 60.012 Ş 2.362 [59.993] [ ] 0.083 2.10 0.079 [2.00] [ ] 0.4330 10.998 0.4326 [10.988] 1.780 [45.21] 45° Max [ ] 0.158 4.00 0.156 [3.97] 0.295 2.566 0.512 [7.49] [65.18] [13.0] A16 Sq (max) 0.100 Min + 0.012 [2.54] Ş0.228 Drilled thru - 0.000 [ ] 0.926 23.51 4.390 (4) Eq Spaced on a + 0.300] [115.51] 0.886 [22.49] [Ş5.80 2.953 [75.00] Dia B.C. - 0.000] Mounting ears have clearance for 10mm across flats hex nut or 13 mm O.D. washer 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives Epsilon Series Digital Servo Drives NT Series Motor Dimensions English Motors NEMA 23 Face 0.375 inch shaft Diameter IP54 without shaft seal Epsilon IP65 with shaft seal EN NTE-212-C Encoder Conn: PT02E-16-23P Inches [mm] [ ] 1.500 38.100 Mating Conn: PT06E-16-23S Ş 1.498 [38.049] Motor Conn: PT02E-16-8P MX 0.079 [2.007] Mating Conn: PT06E-16-8S 0.075 [1.905] [ ] 0.3750 9.525 0.3745 [9.512] FX 1.925 [48.89] 45° Max AXIMA [ ] 0.1260 32.00 Options 0.1248 [3.170] 0.295 0.70 2.27 [7.49] [17.78] [57.66] Sq (max) 0.100 Min Reference [2.54] [ ] 1.210 30.73 6.550 Ş0.205 ± 0.010 [5.21 ± 0.25] Drilled thru (4) Eq Spaced on a [166.37] 1.170 [29.72] 2.625 [66.68] Dia B.C. Mounting ears have clearance for #10 or M5 Allen head screw or 0.3125” or 8mm across flats hex nut Connectors only on NTE-212-T; NTE-212-T / NTE-212-L NTE-212-L has lead wires Inches [mm] Motor Conn: PT01E-16-8P Mating Conn: PT06E-16-8S Flying Lead Length 39.37 ± 2.00 [1000 ± 50.8] Encoder Conn: PT01E-16-23P Mating Conn: PT06E-16-23S [ ] 1.500 38.100 Ş 1.498 [38.049] [ ] 0.079 2.007 0.075 [1.905] [ ] 0.3750 9.525 0.3745 [9.512] 1.780 [45.21] 45° Max [ ] 0.1260 3.200 0.1248 [3.170] 0.295 2.27 [7.49] 0.70 A17 [57.66] [17.78] Sq (max) 0.100 Min [2.54] [ ] 1.210 30.73 5.390 Ş0.205 ± 0.010 [5.21 ± 0.25] [136.91] 1.170 [29.72] Drilled thru (4) Eq Spaced on a 2.625 [66.68] Dia B.C. Mounting ears have clearance for #10 or M5 Allen head screw or 0.3125” or 8mm across flats hex nut 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G A B C D E F G NT Series Motor Dimensions METRIC Motors IP54 without shaft seal Epsilon IP65 with shaft seal EN NTM-212-C Inches [mm] Encoder Conn: PT02E-16-23P 2.363 [60.012] Mating Conn: PT06E-16-23S Ş MX 2.362 [59.993] Motor Conn: PT02E-16-8P [ ] Mating Conn: PT06E-16-8S 0.083 2.10 0.079 [2.00] [ ] 0.4330 10.998 FX 0.4326 [10.988] 1.925 [48.89] 45° Max AXIMA [ ] 0.158 4.00 Options 0.156 [3.97] 0.295 2.566 [7.49] 0.512 [65.18] [13.0] Sq (max) 0.100 Min + 0.012 Reference [2.54] Ş0.228 Drilled thru - 0.000 0.926 [23.51] 6.550 (4) Eq Spaced on a + 0.300] [166.37] 0.886 [22.49] 2.953 [75.00] Dia B.C. [Ş5.80 - 0.000] Mounting ears have clearance for 10mm across flats hex nut or 13 mm O.D. washer NTM-212-T / NTM-212-L Inches [mm] Connectors only on NTM-212-T; NTM-212-L has lead wires Motor Conn: PT01E-16-8P Mating Conn: PT06E-16-8S Flying Lead Length 39.37 ± 2.00 [1000 ± 50.8] Encoder Conn: PT01E-16-23P Mating Conn: PT06E-16-23S [ ] 2.363 60.012 Ş 2.362 [59.993] [ ] 0.083 2.10 0.079 [2.00] [ ] 0.4330 10.998 0.4326 [10.988] 1.780 [45.21] 45° Max [ ] 0.158 4.00 0.156 [3.97] 0.295 2.566 A18 [7.49] 0.512 [65.18] [13.0] Sq (max) 0.100 Min + 0.012 [2.54] Ş0.228 Drilled thru - 0.000 [ ] 0.926 23.51 5.390 (4) Eq Spaced on a + 0.300] [136.91] 0.886 [22.49] [Ş5.80 2.953 [75.00] Dia B.C. - 0.000] Mounting ears have clearance for 10mm across flats hex nut or 13 mm O.D. washer 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives Epsilon Series Digital Servo Drives MG Series Motor Dimensions English Motor NEMA 23 FACE 0.375 INCH SHAFT Diameter IP65 with shaft seal Epsilon EN MGE-205 / MGE-208 0.205 [5.21] Thru Inches [mm] (4) Eq. Spaced on PT02E-16-23P 2.625 [66.68] Dia. B.C. Encoder Conn. [ ] 0.3750 9.525 Dia. MX 0.3745 [9.512] 2.0 [ ] 0.127 3.23 [51.0] 0.125 [3.18] 45° Max. FX 0.563 [14.30] AXIMA Min. 0.300 PT02E-16-8P 0.63 0.46 [7.62] Motor Conn. [1.60] [11.70] [ ] 1.502 38.15 Options [ ] 1.200 30.50 1.498 [38.05] "A" 1.160 [29.50] (Add 1.50 [38.10] with Brake Option) 2.250 [57.20] Sq. Reference MODEL MGE-205 MGE-208 Dim "A" 5.60 [143.0] 6.75 [171.4] English Motor NEMA 34 FACE 0.5 INCH SHAFT Diameter IP65 with shaft seal MGE-316 Inches [mm] PT02E-16-23P 0.223 [5.66] Thru (4) Eq. Spaced Encoder Conn. 2.60 [66.0] Max. on 3.875 [98.43] Dia. B.C. PT02E-16-8P MGE-316CB Only Motor Conn. [ ] 0.4997 12.692 Dia. 0.4993 [12.682] 2.50 [ ] 0.1265 3.213 [64.0] 0.1250 [3.175] 45° Max. 0.90 [22.9] Min. Brake Power 0.06 0.42 Conn. PT02E-8-3P [1.6] [10.7] (MGE-316CB Only) 0.44 [ ] 2.877 73.08 [11.2] 2.873 [72.97] A19 7.24 [ ] 1.22 31.00 3.31 [183.9] 1.16 [29.40] [84.0] (Add 1.50 [38.10] with Brake Option) Sq. 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G PowerTools Base Software A B C D E F G Epsilon Digital Servo Drive Selection How to Order To build a complete Epsilon system, one item from each of the following five Epsilon ordering columns must be selected. Note that items 2-5 require additional input as to motor type and cable lengths.The basic systems respresented on this page can be built upon with a variety of optional configurations and accessory components that are ordered separately. Descriptions of these options and EN accessories begin on page A21. 1 2 3 4 5 MX FX Epsilon Servo Drive NT or MG Servo Motor Motor Power Cable Feedback Cable Software Eb-202 NT-207 CMDS-xxx CFCS-xxx PTools-FM (all models) Es-202 NT-212 CFCO-xxx PTools-BASE (Eb Drives only) AXIMA Ei-202 MG-205 CFOS-xxx PTools-BASE-DSK (Eb Drives only) MG-208* Eb-203 NT-212 CMDS-xxx CFCS-xxx PTools-FM (all models) Options Es-203 MG-205 CFCO-xxx PTools-BASE (Eb Drives only) Ei-203 MG-208* CFOS-xxx PTools-BASE-DSK (Eb Drives only) MG-316* Reference * Available with integral brake. Requires CBMS brake power cable or equivalent. Cable Ordering Options 2 Motor Model Number Guide Motor power, feedback and brake cables are fully shielded with IP65 molded connectors and are available in standard and custom lengths. NTE - 212-CONS-0000 Motor Series Several standard lengths including 5, 15, 25, 50 and 100 feet are MG or NT available from stock. (Non-standard lengths require additional lead time.) When ordering, replace xxx with specified length in feet (i.e. 005 = 5 ft). Mounting Flange Type For applications involving continuous flexing, flexible cables are E = English M = Metric available. Cable components such as connector kits and raw cable are also available. See pages A24-A26 for details or consult factory Frame Size for special requirements. (approximate in inches) Continuous Torque Motor power cables 3 (approximate lb-in) To Drive CMDS-xxx 16 AWG for 2-3” Connector Type motors; connector on motor end, C = MS connectors on motor To Moto ferrules on drive end CMDS IP65 T = MS connectors on 1 meter leads To Drive L = 1 meter leads; no connectors 4 Motor Feedback Cables Brake Option To Drive CFCS-xxx Connectors on both ends B = with Brake 0= No Brake To Moto CFCS CFCO-xxx Connector on drive end Feedback Type To Moto CFCO N = Encoder Feedback To Moto CFOS-xxx Connector on motor end CFOS Seal Configuration S = Standard (MG motors include shaft seals; NT motors do not) Motor Brake Cable L = Lip seal installed (NT motors only) CBMS-xxx Required for all motors with Special Options CBMS brake option; connector on motor end only PowerT 5 ools Software Options for Epsilon Drives PTools-BASE-DSK PowerTools BASE (Disk Only) Used to configure Epsilon Eb Series Drives. 3.5” diskette, serialized and registerable; no manuals included. (Available free of charge if ordered with system.) A20 PTools-BASE PowerTools BASE Used to configure Epsilon Eb Series Drives. 3.5” diskette, serialized and registerable; reference manuals for amplifier included in a bookshelf box. PTools-FM PowerTools-FM Used to configure Epsilon Eb, Es and Ei Series Drives. 3.5” diskette, serialized and registerable; reference manuals for amplifier included in a bookshelf box. 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives Epsilon Series Digital Servo Drives Epsilon Series Options and Accessories Epsilon EN External Shunt COntroller and resistor (Page A23) Serial Interface Connections TO: • Operator Interface Terminals MX (Page A22) • Serial Interace Cables for: (Page A25) FX – Drive-to-Drive (DDS) – Drive-to-PC (TIA OR TIX) – Drive-to-RS485 (CO485) MOTOR POWER Cable – REQUIRED AXIMA (Page A20) • CMDS • CBMS Brake Cable (required for use Options with integral brake on certain motors) Reference DIGITAL I/O INTERFACE CABLE (Page A25) •EIO Command Cables (page A25) • AX4-CEN • CDRO •CMDO • CMDX MOTOR FEEDBACK Cables – REQUIRED A21 (Page A20) • CFCS • CFCO • CFOS 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G A B C D E F G Epsilon Series Options and Accessories Operator Interface Terminals AXIMA Series Multi-Axis Controller A variety of operator interface panels can communicate with The Epsilon Series Drive is ideally suited to interface with Epsilon Epsilon Drives. Refer to the Options and Accessories Section Emerson’s AXIMA Multi-Axis Controller Series. Interfacing F, pages F2-F9 at the back of this catalog for complete to an AXIMA is as easy as connecting the single Emerson EN specifications. supplied interface cable from the AXIMA command connector to the Epsilon Series Drive command connector. OIT-3165 Operator Requires either an AX4-CEN or CDRO cable. (See Section Interface Panel MX E for AXIMA details.) OIT-3165 2 line by 20 character, back lit LCD display; 24 user programmable keys with a slide-in key AX4-CEN-xxx Command cable required to connect Epsilon drive with AXIMA FX legend; Modbus communications; CE 2000/4000. Standard lengths of 2, 4 and 10 feet are offered, with custom lengths rated. available on special order. See command cables on page A25 for details. CDRO-xxx Recommended command cable for use with Axima Classic. See AXIMA command cables on page A25 for details. Motion Interface Touch Screen Panels MI-710 7.4” gray scale; 4 shades and 4 blink Options MI-730 8” dual scan color; 8 colors and 8 blink MI-740 8” dual scan color; 256 colors with dynamic graphics Reference PowerTools Software Options for Epsilon Drives PowerTools Software for Epsilon Series Drives are available in a variety of packages depending on the drive configuration PTools-BASE-DSK PowerTools BASE (Disk Only) Used to configure Epsilon Eb Series Drives. 3.5” diskette, serialized and registerable; no manuals included. (Available free of charge if ordered with system.) PTools-BASE PowerTools BASE Used to configure Epsilon Eb A22 Series Drives. 3.5” diskette, serialized and registerable; reference manuals for amplifier included in a bookshelf box. PTools-FM PowerTools-FM Used to configure Epsilon Eb, Es and Ei Series Drives. 3.5” diskette, serialized and registerable; reference manuals for amplifier included in a bookshelf box. 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives Epsilon Series Digital Servo Drives Epsilon Series Options and Accessories Miscellaneous Accessories Epsilon Drives are available with a variety of accessory items to accommodate Epsilon specific application requirements. Modbus Communication External Shunt Control Encoders for Master EN Modules for PLCs and Resistors Brake Relay Module Synchronization Feedback - Line Driver 3100-MCM ModBus communication RSR-2 2kW regeneration shunt BRM-1 Interfaces the drive I/O (See Options and Accessories Section, module for A-B PLC5 (1771 Series) regulator. One RSR-2 with an outputs to the motor brake. This is a MX pages F38-F39 for complete Supplied by ProSoft appropriately sized shunt resistor can mechanical relay with a flyback diode specifications on SCSLD encoders.) increase the regeneration capacity of a and screw terminals with provisions 3150-MCM ModBus communication SCSLD-2 1000 line (4000 counts/ drive up to 2kW. Multiple RSR-2s can for DIN rail mounting. 24 V coil with module for A-B SLC5 (1746 Series) rev) be “stacked” for additional capacity. internal flyback diode, 1 N.O. contact, FX Diagnostic Cable 6 amp rating. Resistors include open vented SCSLD-2R 1000 line (4000 counts/ enclosure and overtemperature switch. rev) w/right angle connection DGNE Diagnostic analog output See Options and Accessories Section connection cable provides a SCSLD-3 2500 line (10000 counts/ AXIMA F, Page F40-F41 for further convenient method of connecting test rev) specifications. equipment such as an oscilloscope to SCSLD-3R 2500 line (10000 counts/ ES-20-500 20 , 0.5kW (14”w x 7”h x the diagnostic analog outputs on the rev) w/right angle connection 5”d) Epsilon Drive. Options SCSLD-4 3000 line (12000 counts/ ES-20-1K 20 , 1kW (14”w x 13”h x 5”d) rev) ES-20-2K 20 , 2kW (21”w x 13”h x 5”d) SCSLD-4R 3000 line (12000 counts/ Reference AC Line Filters rev) w/right angle connection Required for CE installations. See Options and Accessories Section F, Page F42 for further specifications. Encoder Cable to Epsilon Drive 960307-01 For all Epsilon models, ENCO-xxx Available in standard 240 VAC 1Ø, 10 A lengths of 15 ft (015); 25 ft (025); and 50 ft (050). Use with ECI-44. Non- standard lengths can be special ordered from the factory. See Options and Accessories Section F, pages F38- 39. A23 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G A B C D E F G Standard Duty Cables and connections Bulk Cable A variety of cable and connection options are available to Twenty feet minimum order on all bulk cable. configure your Epsilon Drive and motor to your specific Epsilon 4X16SS Motor power cable for NT and MG 2” and 3” motors; 4 wire, 16 AWG w/ installation requirements. shield; 0.380” (9.7 mm) diameter MGFS-xxx Motor feedback cable for NT and MG motors; 8 pair w/shield; 0.390” EN Motor Power Cables and Connectors (9.9 mm) diameter; 26 GA, low capacitance signal wires 18 GA encoder power 13PX26SS-xxx Command cable 13 pair,; 26 AWG w/shield; 0.380” (9.7 mm) diameter for use on CDRO cable MX To Drive To Drive 18PX26SS-xxx Command cable 18 pair,; 26 AWG w/shield; 0.410” (10.4 mm) CGS-050 diameter for use on CMDX and CMDO cable IP65 Shielded To Moto FX To Moto CMDS Cable Connector Kits CMDS IP65 IP65 DB44P-SA For Epsilon command cable; DB 44 pin male; 45° cable outlet; metallized plastic backshell. 0.490” (11.5 mm) max cable diameter AXIMA 2" & 3" Motor Powe DB26P-SS For Epsilon feedback cable; DB 26 pin male; straight cable outlet; 4X16SS Cable PTO6A-16-8SSR metallized plastic backshell. 0.330” (8.4 mm) max cable diameter Not IP65 Not Shielded DB26P-SA For Epsilon feedback cable; DB 26 pin male; 45° cable outlet; Options metallized plastic backshell. 0.330” (8.4 mm) max cable diameter Motor Feedback Cables and Connectors DB9P-SS For Epsilon serial cable; DB 9 pin male; straight cable outlet; metallized plastic backshell. 0.330” (8.4 mm) max cable diameter Reference DB9P-SA For Epsilon serial cable; DB 9 pin male; 45° cable outlet; metallized To Drive To Drive plastic backshell. 0.330” (8.4 mm) max cable diameter To Moto To Moto CFCO CFCS PTO6A-16-23 SSR Not IP65 Not Shielded DB26P-SS DB26P-SA CGS Through-Wall Cable Grommet Sizing To Moto CGS-xxx IP65 shielded grommet provides through-wall connection for a CFOS variety of power and feedback cables. CGS-XXX To Drive PTB-16-23 To Moto CFCS CFOS PTO6A-16-23 PWS CGS-038 0.25 -0.375 ID for use CGS-063 0.50-0.625 ID for use IP65 Shielded with ENCO-xxx master encoder with: cable. MGFF CFCF CFOF To Drive CGS-050 0.375-0.50 ID for use CGS-050 CGS-075 0.625-0.75 ID for use IP65 Shielded with: with: 4x12SF CMMF To Moto 4x16SS CMDS MGFS CFCO CFOS 4x12SS CMMS CDRO IP65 4x16SF CMDF CFCO 13PX26SS CMDO CFOS 18PX26SS CMDX A24 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives Epsilon Series Digital Servo Drives Standard Duty Cables and connections Serial Interface Cables Command Cables Terminal Strip AX4-CEN-xxx TIA-xxx ECI-44 Epsilon EN RS232 serial interface cable; DB9-S (AT Command cable required to connect Epsilon drive with AXIMA 2000/4000. type) straight molded connector on Standard lengths of 2, 4 and 10 feet are offered, with custom lengths available on computer end; DB9-P straight molded special order. Order Number AX4-CEN-002 for 2 ft; AX4-CEN-004 for 4 ft. or AX4- connector on drive end. Black PVC outer MX CEN-010 for 10 ft. jacket. Standard length of 10, 25 and 50 External connection interface terminal feet available. Order Number TIA-010 for strip; provides a convenient field 10 ft; TIA-025 for 25 ft; or TIA-050 for CDRO-xxx wiring screw terminal strip for all 50 ft. FX connections available on the Epsilon command connector. Requires a TIX-xxx CMDX-xxx cable (see description, below left) to connect to the drive. AXIMA Command cable to position controller; 13 pair; 45° angle connector at drive (DB44); Includes labeled terminals and pigtails on other end for screw terminals. Standard lengths of 5, 10 and 15 feet are provisions for DIN rail mounting. offered, with custom lengths available on special order. Recommended cable for RS232 serial interface cable; DB9-P Options use with AXIMA Classic and other position controllers.Order Number CDRO-005 straight, assembled connector on drive for 5 ft; CDRO-010 for 10 ft; or CDRO-015 for 15 ft. end and DB25-S (XT type) straight, assemble on other. Gray PVC outer jacket. Standard length of 10, 25 and 50 Reference CMDO-xxx feet available. Order Number TIX-010 for 10 ft; TIX-025 for 25 ft; or TIX-050 for 50 ft. Command cable; 18 pair; DB44M straight connector on drive end; pigtails on other end for screw terminals. Standard lengths of 3, 5 and 15 feet are offered, with CO485-xxx custom lengths available on special order. Order Number CMDO-003 for 3 ft; CMDO-005 for 5 ft; or CMDO-015 for 15 ft. RS485 serial interface cable; DB9-P straight, molded connector on drive end CMDX-xxx and flying leads on computer end. Black PVC outer jacket. Standard length of 10, 25 and 50 feet available. Order Number Command cable; 18 pair; DB44M straight connectors on both ends. Used in CO485-010 for 10 ft; CO485-025 for 25 ft; or CO485-050 for 50 ft. conjuction with ECI-44 screw terminal interface (see ECI-44 description, above right). Standard lengths of 3, 5 and 15 feet are offered, with custom lengths available on special order. Order Number CMDX-003 for 3 ft; CMDX-005 for 5 ft; or DDS-xxx CMDX-015 for 15 ft. Standard multi-drop drive to drive serial interface cable. Standard lengths of 1, 5, Digital I/O Interface Cable 10 and 20 feet available, with custom EIO-xxx lengths available on special order. Use with TERM-H and TERM-T termination plugs at both ends if total multi-drop I/O interface cable provides access to all digital I/O points while maintaining 6” drive serial cable length is greater than 50 feet. installation depth.; 18 pair; DB44M straight connector on drive end; pigtails on other Order Number DDS-001 for 1 ft; DDS- end for screw terminals. Standard lengths of 3, 5 and 15 feet are offered, with 05 for 5 ft; DDS-10 for 10 ft; or DDS- custom lengths available on special order. Order Number EIO-003 for 3 ft; EIO-005 020 for 20 ft. for 5 ft; or EIO-015 for 15 ft. A25 TERM-H Terminator block for head of serial string TERM-T Terminator block for tail of serial string 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com A B C D E F G A B C D E F G Flexible Duty Cables and connections For Epsilon Drive applications involving continuous flexing, Motor FLex cable Connector clearances a variety of flexible cable configurations are available. Epsilon 2.25 Unplugging Clearance [27.2] K Bend Rad. K Flex Motor Power Cables Motor SizePower FBK EN CMDF-A-xxx For 2” and 3” motors; circular connector at motor end only 0.430” 0.4 0.4 2" and 3" (11 mm) diameter 6.25 [10.2] [10.2] [158.8] 4.25 [108] MX FX CMDF-A-xxx Flex Motor Feedback Cables • 16 AWG (2" & 3" motors) • MS Connector at motor end AXIMA • Shielded • IP65 Rated Options Shielded cable grommet kit CMDF Cable = CGS-050 CFCF-A-xxx •MS Connector Reference at both ends •Shielded Molded IP65 •IP65 Rated To To Moto Drive CMDS CMDEF 2" and 3" Motor Molded 2"and 3" Motor Molded Standard Cable IP65 Extension Flex CableIP65 Through wall connect CFCS-xxx P/N PTB-16-23 Std Motor Feedback Cable •MS Connector at motor end •25 Pin "D" type at drive end •Shielded Flex Motor Cable and Connector Kits CGS-050 2" and 3" Motor Powe 4X16SF PTO6A-16-8SWSF IP65 Shielded Molded IP65 2" and 3 CFOF-A-xxx To Motor Customer Drive •MS Connector Power CMMF 4X16SF supplied at motor end MS3106A-20-15PWSF terminal strip •Shielded MS3101A-20-15PWSF •IP65 Rated IP65 Shielded To Drive DB-26 CGS-063 CFCO-xxx Shielded cab Std Motor Feedback Cable grommet kit All Mot FBK •25 Pin "D" type at drive end CFCS MGFF PTO6A-16-23PWSF PTO1A-16-23PWSF IP65 Shielded IP65 Shielded To Drive Locking Pins Ring To Moto CFCS-xxx CFEF-xxx A26 Flexible Duty Bulk Cable Motor Feedback Extension Flex Cable Twenty feet minimum order. 4X16SF-xxx Flexible duty motor power cable for NT and MG 2” and 3” motors; 4 wire, 16 AWG w/shield; 0.430” (11 mm) diameter MGFF-xxx Flexible duty motor feedback cable for MG motors; 8 pair w/shield; 0.590” (15 mm) diameter 12005 Technology Drive 800/397-3786 or 612/995-8000 24-hour tech support: Eden Prairie, MN 55344 fax: 612/995-8011 612/995-8033 web site: www.emersonmotioncontrol.com e-mail: info@emersonmotioncontrol.com Epsilon Series Digital Servo Drives