Emerson P/N 400518-02 specs

Epsilon EP-I Indexing Drives and

FM-2 Indexing Module

Reference Manual

Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Control Techniques also assumes no responsibility for any errors that may appear in this document. Information in this document is subject to change without notice.

P/N 400518-02

Revision: A1

Date: December 22, 2006

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Contents

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

Emerson P/N 400518-02 manual

Models: P/N 400518-02