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Emerson
P/N 400518-02
manual
Models:
P/N 400518-02
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Specifications
Error codes
Cable Diagrams
Pulse Signal Type
Following Error Group
Disconnecting Communications
Dimension
Configuration Group
Problem/Message Cause Solution
Reset
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Contents
Reference Manual
Page
Page
Page
Customer Support
Epsilon Only
Customer Service Sales 952 995-8000 or 800
Document Conventions
General Warning
Safety Instructions
Reference Materials
Qualified Person
Page
Safety of Machinery
Safety Considerations
Setup, Commissioning and Maintenance
Enclosure
Identification of Safety Information
General warning
Table of Contents
Options and Accessories
Tuning Procedures
Diagnostics and Troubleshooting 109
Specifications 143
FM-2 Indexing Module
Introduction
Epsilon Indexing Drives
FM-2 Indexing Module Feature Location
Data Capture Group
Setting Up Parameters
Graph View
Timing Group
Data Group
Identification Group
Setup View
Configuration Group
Drive Encoder Output Group
Switching Frequency Group FM-2 only
Motor View
Positive Direction Group
Motor Type List Box
Use Motor Data From .ddf File Check box
Motor Parameters Column
Apply to Config. Button
Values from Drive Column
Run Auto-Tune Button
Save .ddf Values Button
User Defined Motor Name Conflict Dialog Box
Overwrite existing .ddf file motor entry
Existing Motor Names List Box
Create new motor entry In .ddf File
Retain existing Motor Parameters without saving to .ddf
Velocity Group
User Units View
Distance Group
Acceleration Group
Position View
Time Scale Group
Index In Position Group
Online Tab
Following Error Group
Rotary Group
Motor Position Group
Pulse Input Posn
Following Error
Encoder Position
Trigger Group
Velocity View
Limits Group
Online Tab Velocity Group
Torque View
Settings Group
Ramps View
Ramps Group
Online Tab Torque Group
Load Group
Tuning View
Tuning Group
Position Error Integral Group
Low Pass Filter Group
Alternate Mode View
Alternate Mode Selection
Low DC Bus Fault Enable
Faults View
Fault Enable Group
Encoder State Fault Enable
Input Function Window
Setup
Input Lines View
Active Off Check Box
Attached Function
Input Line Window
Debounce Text box
Output Function Window
Configuration
Outputs View
Output Lines Window
Bandwidth
Analog Inputs View
Active Off Check Box
Analog Full Scale
Analog Outputs Group
Analog Outputs View
Jog View
Acceleration
Jog Velocity
Jog Fast Velocity
Deceleration
Home Reference
Home View
Home Type
Chain to Index
Index # View
Distance/Position/Limit Distance
Index Number
Index Type
Calculations Tab
Index Count Group
Registration Tab
Chain Tab
Compound Indexes
Index View Chain Tab
Status Online Tab
Pulse Input Posn Position Command
Status View
Position Group
Drive Status Group
ID Group
Time Group
Trigger
Data Capture
Channel 1
Graphical Plot
Page
How Motion Works
Operational Overview
User Interface
How Jogging Works
Jog Acceleration and Deceleration
Jog Input Functions
Jog and Jog Fast Velocity
How Home Works
Operational Overview
Standard Home
One Side Home
Standard Home Sequence
Initiate Home
One Side Home Sequence
Initiate Home
Marker Standard Home only
Establishing a Home Reference Position
Accuracy and Repeatability
Sensor and Marker Standard Home only
Home Offset
Sensor and Marker Position
Specified Home Offset
Example 2 Specified Offset, Greater than Calculated Offset
Home Offset Examples
Example 1 Calculated Offset
Specified Offset Screen
Moving Off Sensor Before Homing
End of Home Position
Home Limit Distance
Example 3 Specified Offset, Back up Required
Gear Reducer External Home Sensor
Output Functions
Home Input and Output Functions
Input Functions
Absolute Position Valid
Home Examples
Home Limit Distance Hit
Example 1 Linear Application
Home Screen, Sensor and Marker Selected
Example 2 Rotary Application
Gear Reducer
How Indexes Work
Complete Motion Sequence
Absolute Indexes
Index Type
Absolute vs. Incremental
Absolute Index
Rotary Plus and Rotary Minus Indexes
Incremental Indexes
Registration Indexes
Incremental Index
Distance/Position
Indexes with Rotary Rollover Enabled
Index Parameters
Index Count
Calculations Tab
Chaining Parameters
When this index is complete then
How Chaining Works
Inputs
Index Input and Output Functions
Global Chain Count
Run Next Index
Outputs
Registration Sensor
Repeat Current Index
End of Index Motion
Examples
End of Chaining Count
Index In Position
Example 1 Index1 is chained to Index2 with a Chain Count
How Alternate Mode Works
Alternate Mode Screen Pulse Mode
Analog Velocity Mode
Alternate Mode Select
Analog Torque Mode
Analog Input Group
Analog Torque Settings Group
Torque Mode Velocity Limiting Group
Pulse/Pulse Interpretation
Pulse Mode
Interpretation Mode Group
Pulse/Direction Interpretation
Pulse Signal Type
Pulse/Quadrature Interpretation
Differential Source
Differential input circuit specifications
Single ended input circuit specifications
Single Ended Source
Pulse Mode Velocity Group
Pulse Mode Ratio Setup Group
Pulse Mode Acceleration Group
Velocity Group
Alternate Mode Input and Output Functions
Distance Recovery Group
Torque Group
Current Foldback
Drive Modifiers
Encoder Output Scaling
+/- Travel Limits
RMS Foldback
Shunt Operation
Brake Operation
Epsilon EP-I
Brake Control
Analog Outputs
Brake Release
Brake
Analog Output Offset units
Default Analog Output Source
Digital Inputs and Outputs
Analog Output Scale units
Output Line Active State
Input Function Active State
Input Line Debounce Time
Input Lines Forced On and Forced Off
Brake Release
Input Functions
Brake Control
Index Select 0 through
Jog
Reset
Jog +
Jog Fast
Output Functions
Power Stage Enabled
Over Temperature Current Limit Active MDS Only
Power Module System Ready MDS Only
+ and In Motion
Uploading
Configuring Communication
How Communications Work
Downloading
Change Path Connection
Change Path Dialog Box
Entering General Drive Setup Information
Offline Setup
Opening an Offline Configuration Window
Quick Start
Entering Positive Direction Selections
Entering Configuration Parameters
Entering Identification Parameters
To assign an Input Function to an Input line
Assigning Inputs
Assigning Outputs
To make an Input Function Active Off
To unassign an Output Function from an Output Line
Setting Up Jogging
To assign an Output Function to an Output Line
To make an Output Function Active Off
Setting Up the Home Routine
Jogging Parameter Set-up
Setting Up Indexes
Index View Setup
Online Setup
Establishing Communications with Drive
Downloading the Configuration File
Opening an Online Configuration Window
Disconnecting Communications
Saving the Configuration File
Printing the Configuration File
Operation Verification
Page
Initial Settings
Tuning Procedures
Tuning Procedure
PID vs. State-Space
Tuning steps
General Tuning Hints
101
102
Friction
Tuning Parameters
Inertia Ratio
Response
Line Voltage
High Performance Gains
Feedforwards
Inertia Measurement Procedure
Determining Tuning Parameter Values
Initial Test Settings
Determining Inertia Ratio
Ramp Units Conversion
Conversion Formula
107
Page
Diagnostics and Troubleshooting
Diagnostic Display
Fault Codes
Display Fault Action to Reset Bridge Disabled
Fault Descriptions
EN E Series Only
All On
Diagnostic Analog Output Test Points
Max Following Error
114
Resetting Faults
Drive Faults
Faults View
Viewing Active Drive Faults
Watch Window
Watch Window Select Parameters Window
Clear All Button
Restore Selections Button
Select Defaults
Save Selections Button
Error Messages
Problem/Message Cause Solution
User Defined Motors
Procedure
Motor Wiring
Commutation Basics
120
Motor Feedback Wiring
Encoder Electrical Interfacing
Thermal Switch Interfacing
Phase Plot of a and B Encoder Channels
Encoder Logical Interfacing
CCW Reference Rotation
Determine Encoder Alignment
Reading Encoder Alignment
CW Reference Rotation
EUA = 90 + ⎜ tu
Establishing a Standard Alignment
Dynamic Alignment Method
Determine Motor Parameters
Static Alignment Method
Editing the MOTOR.DDF File
Motor Pole Count
Header
Motor Data
Motor Encoder Lines Per Revolution
Motor Parameter Descriptions
Motor Poles
Motor Encoder Marker Angle
Configuring the Drive
Verification and Checkout
Selecting a User Defined Motor
Rotation Test
CW Rotation of the Motor
Velocity Test
Torque Test
Commutation Accuracy Test
135
Page
Options and Accessories
Epsilon EP Drive Options
FM-2 Indexing Module Options
OIT-EN-232-XXX or OIT-EN-485-XXX
Dimensions of the STI-24IO Board
STI-24IO Interface
Dimensions of STI-EIO Board
STI-EIO Interface
ECI-44 External Connector Interface
Dimensions of ECI-44
142
Drive overload protection
Specifications
FM-2 Specifications
Dimensions and Clearances
Epsilon EP-I Drive
FM-2 Dimensions and Clearances
FM-2 Module Dimensions
Power Dissipation Calculation
TPL =
CMMS-XXX Cable
Cable Diagrams
CMDS-XXX Cable
ESA-SP-485
Snce
SNCDD-915
Sncfli
Sncfloa
Motor Power Cables
Xtmds
Xcmds
Xcmdbs
Motor Feedback Cables
Xefts
Xefcs
Efcs
Page
Glossary
EMC
LED
NTC
Modbus
NVM
PID
ROM
RAM
RMS
RPM
Index
164
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Page
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Contents