Emerson FM-3 Specifiche

Artisan Technology Group is your source for quality new and certied-used/pre-owned equipment• FAST SHIPPING AND DELIVERY• TENS OF THOUSANDS OF IN-S

viiUnderwriters Laboratories ListedThe EN Digital Servo Drives are marked with the “UL Listed” label after passing a rigorous set of design and testin

83GlossaryInput LineThe actual electrical input, a screw terminal.Least Significant BitThe bit in a binary number that is the least important or havin

84Epsilon Eb and EN Drives Reference ManualOutput FunctionA function (i.e., Drive OK, Fault) that may be attached to an output line.Output LineThe act

85GlossaryRPMRevolutions Per Minute.Serial PortA digital data communications port configured with a minimum number of signal lines. This is achieved b

86Epsilon Eb and EN Drives Reference ManualArtisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

87IndexAAC Line Filter Installation Notes, 5AC Line Filters, 5AC Supplies NOT Requiring Transformers, 11AC Supplies Requiring Transformers, 12Achievin

88Epsilon Eb and EN Drives Reference ManualInput/Output, 22Installation, 3Installation Notes, 3Introduction, 1IP Ratings, 52LLine Fusing, 15MMechanica

89IndexVVendor Contact Information, 79View Motor Parameters, 44Viewing Active Drive Faults, 42WWatch Window, 42Wire Size, 15Wiring Notes, 9Artisan Tec

90Epsilon Eb and EN Drives Reference ManualArtisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Since 1979, the “Motion Made Easy” products, designed and manufactured in Minnesota U.S.A., are renowned in the motion control industry for their ease

viiiCE Declaration of ConformityThe EN Digital Servo Drives are marked with the “Conformite Europeenne Mark” (CE mark) after passing a rigorous set of

Artisan Technology Group is your source for quality new and certied-used/pre-owned equipment• FAST SHIPPING AND DELIVERY• TENS OF THOUSANDS OF IN-S

ixDeclaration of ConformityManufacturer’s Name:Control TechniquesManufacturer’s Address:12005 Technology DriveEden Prairie, MN 55344USADeclares that t

xDeclaration of ConformityManufacturer’s Name:Control TechniquesManufacturer’s Address:12005 Technology DriveEden Prairie, MN 55344USADeclares that th

xiSafety ConsiderationsSafety PrecautionsThis product is intended for professional incorporation into a complete system. If you install the product in

xiiEN Drive Istallation Manualvoltages used in this unit can cause severe electric shock and/or burns, and could be lethal. Extreme care is necessary

xiiiSafety Considerations xiSafety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xivIP Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52E

1IntroductionEN DrivesThe EN drives are stand-alone, fully digital brushless servo drives designed and built to reliably provide high performance and

2EN Drive Installation Manualthrough assignments in the software. PowerTools software is an easy-to-use Microsoft® Windows® based setup and diagnostic

Installation ManualP/N 400501-02Revision: A5Date: January 10, 2003© Control Techniques Drives, Inc. 1999-2003EN DrivesArtisan Technology Group - Qual

3InstallationBasic Installation NotesYou are required to follow all safety precautions during start-up such as providing proper equipment grounding, c

4EN Drive Installation ManualAchieving Low Impedance ConnectionsNoise immunity can be improved and emissions reduced by making sure that all the compo

5InstallationAC Line FiltersThe AC line filters used during Control Techniques’ compliance testing are listed below. These filters are capable of supp

6EN Drive Installation Manual Figure 2: Assembly Drawing for Shielded Cable Grommet Kits In Table Below.Cable Type Cable ModelShielded Cable Grommet K

7Installation Figure 3: Assembly Drawing for Shielded Cable Grommet Kits Listed in Table Below.Cable Type Cable ModelShielded Cable Grommet Kit Model

8EN Drive Installation Manual Figure 4: AC Filter and Cable Connections for EN DrivesEnvironmental ConsiderationsIf the product will be subjected to a

9InstallationWiring Notes• To avoid problems associated with EMI (electromagnetic interference), you should route high power lines (AC input power and

10EN Drive Installation ManualElectrical InstallationSystem Grounding Figure 5: Typical System Grounding DiagramPower Supply RequirementsThe examples

11InstallationThe Protective Earth (PE) wire connection is mandatory for human safety and proper operation. This connection must not be fused or inter

12EN Drive Installation Manual Figure 7: Earth Grounded Delta Distribution TransformerAC Supplies Requiring TransformersIf the distribution transforme

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

13Installation Figure 9: Three Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE Isolation Transformer Figure 10: Delta to Delta Isolatio

14EN Drive Installation ManualTransformer SizingIf your application requires a transformer, use the following table for sizing the KVA rating. The val

15InstallationTransformer output voltage drop may become a limiting factor at motor speeds and loads near maximum ratings. Typically, higher KVA trans

16EN Drive Installation Manual Figure 12: EN AC Power Wiring DiagramL1 L2 L3 PEWire crimp ferrules are recommended:If 14 AWG, use panduit #PV14-P47.If

17InstallationDo not connect or disconnect AC power by inserting or removing the AC power connector. Using the connector in this manner, even once, wi

18EN Drive Installation ManualAs shown in Figure 13, the auxiliary logic power connector is accessed through a plastic punch-out tab located on top of

19Installation Figure 14: EN Motor Power Wiring DiagramRSTWire crimp ferrules are recommended:If 14 to 16 AWG, use panduit #PV14-P47.If 12 AWG, use Pa

20EN Drive Installation ManualMotor Feedback WiringEncoder feedback connections are made with the CFCS cable. This cable has an MS style connector on

21InstallationMotor Brake WiringMotors equipped with brakes have a three-pin MS style connector. The brake power cable (model CBMS-XXX) has an MS styl

22EN Drive Installation Manual Figure 17: EN Brake Wiring Diagram using the I/O ConnectorInput/Output and Drive Enable WiringDrives are equipped with

Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is as

23Installation Figure 18: EN Input/Output Wiring DiagramNoteThe I/O connector is a 10-pin removable terminal block. It is recommended that #18 to 24 A

24EN Drive Installation ManualNoteIf loads are applied to the same output signal on both Command Connector and I/O Connector, the sum total current lo

25Installation Figure 20: Command Connector (J5) Pinout and CMDO-XXX Wire Colors1234567891011121314151617181920212223242526272829303132333435363738394

26EN Drive Installation ManualFor information about Command Connector pinout and CMDO-XXX cable wire colors, see the "Specifications" sectio

27InstallationAnalog Command Wiring Figure 21: Analog Command, Differential Wiring Diagram Figure 22: Analog Command, Single Ended Wiring DiagramComma

28EN Drive Installation ManualEncoder Output Signal WiringThe encoder outputs meet RS-422 line driver specifications and can drive up to ten RS-422 si

29InstallationPulse Mode Wiring, Differential Inputs Figure 25: Pulse Mode, Differential Output to Differential Input Figure 26: Pulse Mode, Single En

30EN Drive Installation ManualPulse Mode Wiring, Single Ended Inputs Figure 27: Pulse Mode, Single Ended Output to Single Ended Input (twisted pair ca

31Installation Figure 29: Pulse/Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) Figure 30: Master/Slave Encoder Connect

32EN Drive Installation Manualoutput resolution is 2048 lines per motor revolution. This resolution is adjustable in one line per revolution increment

ii© Control Techniques Drives, Inc. 1999-2003Part Number: 400501-02Revision: A5Date: January 2003Printed in United States of AmericaInformation in thi

33InstallationModbus CommunicationsThe drive’s serial communication protocol is Modbus RTU slave with a 32 bit data extension. The Modbus protocol is

34EN Drive Installation Manual Figure 33: Multi-Drop Wiring Pinout+ 50 V6187345621987RX (232)TX (232)Ground345621987Computer345621987DriveSerial Port3

35Diagnostics and TroubleshootingDiagnostic DisplayThe diagnostic display on the front of the drive shows drive status and fault codes. When a fault c

36EN Drive Installation ManualFault CodesA number of diagnostic and fault detection circuits are incorporated to protect the drive. Some faults, like

37Diagnostics and TroubleshootingFault DescriptionsPower Up Test This fault indicates that the power-up self-test has failed. This fault cannot be res

38EN Drive Installation ManualNVM InvalidAt power-up the drive tests the integrity of the non-volatile memory. This fault is generated if the contents

39Diagnostics and TroubleshootingEncoder StateCertain encoder states and state transitions are invalid and will cause the drive to report an encoder s

40EN Drive Installation ManualTravel Limit +/- This fault is caused when either the + or - Travel Limit input function is active.All "On"Thi

41Diagnostics and Troubleshooting Figure 34: Diagnostic Analog Output Test PointsThe DGNE cable was designed to be used with either an oscilloscope or

42EN Drive Installation ManualDrive FaultsThe Active Drive Faults dialog box is automatically displayed whenever a fault occurs. There are two options

iiiCustomer SupportControl Techniques12005 Technology DriveEden Prairie, Minnesota 55344-3620U.S.A.Telephone: (952) 995-8000 or (800) 397-3786It is Co

43Diagnostics and TroubleshootingNoteYou cannot change the values of the parameters while they are being displayed in the Watch Window. The parameter

44EN Drive Installation ManualGroupThis list box enables you to view the complete list of parameters or just a group of parameters you are interested

45Diagnostics and TroubleshootingThe table below list the of common problems you might encounter when working with PowerTools software along with the

46EN Drive Installation ManualArtisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

47SpecificationsDrive SpecificationsEN Drive SpecificationsPower RequirementsAC Input Voltage:90 - 264 VAC, 47-63 Hz (240 VAC for rated performance)EN

48EN Drive Installation ManualControl InputsAnalog Command: (1) ±10 VDC 14 bit, 100 kOhm impedance, DifferentialAnalog Maximum Voltage Input Rating: D

49SpecificationsFault Detection CapabilityLow DC busHigh DC busPower Stage faultLogic powerEncoder stateEncoder line breakMotor over temperatureOversp

50EN Drive Installation ManualDrive and Motor Combination SpecificationsDrive MotorCont. Torquelb-in(Nm)Peak Torquelb-in(Nm)PowerHP @ Rated Speed(kWat

51SpecificationsMotor Brake Specifications Motor WeightsMotorHoldingTorquelb-in(Nm)Added Inertialb-in-sec2(kg-cm2)Added Weightlb (kg)Coil Voltage (VDC

52EN Drive Installation ManualAxial/Radial Loading Figure 40: Axial/Radial LoadingIP RatingsMotorMax RadialLoad (lb.)Max. AxialLoad (lb.)NTE/M-207 20

iv• Exact wording of any messages that appear on your screen• What you were doing when the problem occurred• How you tried to solve the problemNeed on

53SpecificationsEncoder SpecificationsPower DissipationIn general, the drive power stages are 90 to 95 percent efficient depending on the actual point

54EN Drive Installation ManualPower Dissipation CalculationCalculating actual dissipation requirements in an application can help minimize enclosure c

55SpecificationsSpeed Torque CurvesContinuous ratings of the MG and NT motors are based on 100°C (212°F) motor case temperature and 25°C (77°F) ambien

56EN Drive Installation ManualArtisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

57SpecificationsArtisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

58EN Drive Installation Manuallb-inNm3.3930Speed (RPM)0050001000150020101.13 2.263500250020003000450040005040Torque4.52 5.6570607.91NT-330 with EN-208

59SpecificationsEN Drive DimensionsModel Dim “A”EN-204 2.93 [74.4]EN-208 3.43 [87.1]EN-214 3.93 [99.8]11.20 [284.54]1.85 [47.12]"A"0.39[9.78

60EN Drive Installation ManualMG Motor DimensionsMGE-205 and 208 MotorsMGE-316 and 340 MotorsMGE-205 and 208 Mounting Dimensionsinches (mm)AG A BC AH

61SpecificationsMGE-455, 490 and 4120 Motors MGE-455, 490 and 4120 Mounting Dimensionsinches (mm)AG A BC AH U Max XD S Min R C Max AJ BB AK BF4558.61(

62EN Drive Installation ManualNT Motor DimensionsNTE-207 and 212 Motors; English Face (NEMA 23 with 3/8 inch shaft)NoteMounting ears have clearance fo

vIn addition, you will find the following typographic conventions throughout this manual. “Warning” indicates a potentially hazardous situation that,

63SpecificationsNTM-207 and 212 Motors; Metric FaceNoteMounting ears have clearance for 10mm across flats hex nut or 13mm O.D. washer.NTM-207, 212 -CO

64EN Drive Installation ManualNTE-207 and 212 Brake Motors; English Face (NEMA 23 with 3/8 inch shaft)NoteMounting ears have clearance for #10 or M5 A

65SpecificationsNTE-207 and 212 Brake Motors; Metric Face159,NoteMounting ears have clearance for 10mm across flats hex nut or 13mm O.D. washer.NTM-20

66EN Drive Installation ManualNTE/M-320, 330, 345 and 355 MotorsNTE-320, 330, 345, 355 -CONS, TONS and LONS Mounting Dimensions, inches (mm)NTM-320, 3

67SpecificationsMotor Wiring Color Cable*Encoder Shield and Power Shield must be separated from each other all the way back to the amplifier. They can

68EN Drive Installation ManualCable DiagramsDrive Signal CMDX, CMDO, ECI-44 CDRO AX4-CENAnalog Command In + X X XAnalog Command In - X X XEncoder Out

69SpecificationsI/O Power + In (1st wire) X X XI/O Power + In (2nd wire) X X XI/O Power 0V In (1st wire) X X XI/O Power 0V In (2nd wire) XAnalog Out 0

70EN Drive Installation ManualCMDX-XXX CableNoteSome CMDX cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/

71SpecificationsCMDO-XXX CableNoteSome CMDO cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown in

72EN Drive Installation ManualCDRO-XXX CablePIN 1174144433133191826291514371634233824894027BLU/PURPUR/BLUORG/PURPUR/ORGBRN/PURPUR/BRNRED/BLUBLU/REDGRN

viSafety InstructionsGeneral WarningFailure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product

73SpecificationsAX4-CEN-XXX CableDISCRETE INPUT (CW TRAVEL LIMIT)ANALOG COMMAND OUTPUT +ANALOG COMMAND OUTPUT -DISCRETE INPUT (DRIVE STATUS)DISCRETE I

74EN Drive Installation ManualTIA-XXX CableDDS-XXX CableMALE(PINS).63 MAX (2X)2.5 MAX (2X)0.250END VIEWEND VIEWPIN 1(SOCKETS)FEMALEPIN 1BLACKWHITEBLUE

75SpecificationsTERM-H (Head) TerminatorTERM-T (Tail) Terminator NoteSee the "Multi-drop Communications" section in the EN Reference Manual

76EN Drive Installation ManualCMDS-XXX CableCMMS-XXX Cable3.0 +/- 0.253.231.20FCSOLDER SIDEEDBLKBLUAGHBSHELLCBGRN/YELBRNAD3.0 +/- 0.253.991.40CBLUSOLD

77SpecificationsCFCS-XXX Cable1.181.552.243.16SOLDER SIDERED/GRN ORKRED/BLUSOLDER SIDEZDRAINSGRN/REDRED/GRNBLU/REDN/CN/CN/CN/CN/CN/CDWJXYAVLTLARGE 18G

78EN Drive Installation ManualCFCO-XXX CablePIN 12.241.55PLUGGING SIDEPPPPPPPPP= TWISTED PAIRSOLDER SIDEORN/RED15242526232221181617LARGE 18 GA PAIRRED

79SpecificationsCFOS-XXX Cable1.183.16RED/GRN ORKRED/BLUSOLDER SIDEZDRAINSGRN/REDRED/GRNBLU/REDN/CN/CN/CN/CN/CN/CDWJXYAVLTLARGE 18GA PAIRGRNWHT/BRNGRY

80EN Drive Installation ManualArtisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

81GlossaryµsMicrosecond.AAmps.ARMSAmps (RMS).AWGAmerican Wire Gauge.Baud RateThe number of binary bits transmitted per second on a serial communicatio

82Epsilon Eb and EN Drives Reference ManualDownloadingThe transfer of a complete set of parameters from PowerTools or an FM-P.EEPROMAn EEPROM chip is