Control Techniques Epsilon EP-B Base Drive Reference Manual

Epsilon EP-B Base Drive

Reference Manual

P/N 400518-03

Revision: A1

Date: April 9, 2007

© Control Techniques Americas LLC 2007

Epsilon EP-B Base Drive

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 400518-03

Revision: A1

Date: April 9, 2007

© Control Techniques Americas LLC 2007

© Control Techniques Americas LLC 2007

Part Number: 400518-03

Revision: A1

Date: April 2007

Printed in United States of America

Information in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any
form or by any means, electronic or mechanical, for any purpose, without the express written permission of Control Techniques.

The following are trademarks of Control Techniques and may not be reproduced in any fashion without written approval of Control
Techniques: EMERSON Motion Control,
EMERSON Motion Control PowerTools, AXIMA, “Motion Made Easy.”

Control Techniques is a division of EMERSON Co.

Control Techniques is not affiliated with Microsoft Corporation, owner of the Microsoft, Windows, and Windows NT trademarks.

Modbus is a registered trademark of Gould, Inc.
Schaffner is a registered trademark of Schaffner

This document has been prepared to conform to the current released version of the product. Because of our extensive development
efforts and our desire to further improve and enhance the product, inconsistencies may exist between the product and documentation
in some instances. Call your customer support representative if you encounter an inconsistency.

ii

Customer Support

Control Techniques Americas LLC
12005 Technology Drive
Eden Prairie, Minnesota 55344-3620
U.S.A.

Telephone: [phone] or [phone]
It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation of our products. We are

dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support
you need. Whether it’s by phone, fax or modem, you can access Control Techniques support information 24 hours a
day, seven days a week. Our wide range of services include:

FAX [phone]

You can FAX questions and comments to Control Techniques. Just send a FAX to the number listed above.

Website and Email www.emersonct.com

Website: www.emersonct.com
Email: [e-mail]
If you have Internet capabilities, you also have access to technical support using our website. The website includes

technical notes, frequently asked questions, release notes and other technical documentation. This direct technical
support connection lets you request assistance and exchange software files electronically.

Technical Support [phone] or [phone]

Email: [e-mail]
Control Techniques’ “Motion Made Easy” products are backed by a team of professionals who will service your

installation. Our technical support center in Eden Prairie, Minnesota is ready to help you solve those occasional
problems over the telephone. Our technical support center is available 24 hours a day for emergency service to help
speed any problem solving. Also, all hardware replacement parts, if needed, are available through our customer service
organization.

When you call, please be at your computer, with your documentation easily available, and be prepared to provide the
following information:

• Product version number, found by choosing About from the Help menu

• The type of controller or product you are using

• Exact wording of any messages that appear on your screen

• What you were doing when the problem occurred

• How you tried to solve the problem
Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’

technical support center when on-site service or maintenance is required.

Training Services [phone] or [phone]

Email: [e-mail]
Control Techniques maintains a highly trained staff of instructors to familiarize customers with Control Techniques’

“Motion Made Easy” products and their applications. A number of courses are offered, many of which can be taught in
your plant upon request.

Application Engineering [phone] or [phone]

Email: [e-mail]
An experienced staff of factory application engineers provides complete customer support for tough or complex

applications. Our engineers offer you a broad base of experience and knowledge of electronic motion control
applications.

Customer Service (Sales) [phone] or [phone]

Email: [e-mail]
Authorized Control Techniques distributors may place orders directly with our Customer Service department. Contact

the Customer Service department at this number for the distributor nearest you.

iii

Document Conventions

Manual conventions have been established to help you learn to use this manual quickly and easily. As much as possible,
these conventions correspond to those found in other Microsoft® Windows® compatible software documentation.

Menu names and options are printed in bold type: the File menu.
Dialog box names begin with uppercase letters: the Axis Limits dialog box.
Dialog box field names are in quotes: “Field Name.”
Button names are in italic: OK button.
Source code is printed in Courier font: Case ERMS.
In addition, you will find the following typographic conventions throughout this manual.

This Represents

bold

italic

ALL CAPITALS Directory names, file names, key names, and acronyms.

SMALL CAPS Non-printable ASCII control characters.

KEY1+KEY2
example: (Alt+F)

KEY1,KEY2
example: (Alt,F)

Reference Materials

The following related reference and installation manuals may be useful with your particular system.

• Epsilon EP Drive Installation Manual (P/N 400518-01)

Characters that you must type exactly as they appear. For example, if you are directed to type
a:setup, you should type all the bold characters exactly as they are printed.

Placeholders for information you must provide. For example, if you are directed to type
filename, you should type the actual name for a file instead of the word shown in italic type.

A plus sign (+) between key names means to press and hold down the first key while you press
the second key.

A comma (,) between key names means to press and release the keys one after the other.

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Epsilon EP-B Base Drive Reference Manual

Safety Information

Safety Precautions

This product is intended for professional incorporation into a complete system by qualified persons. If you install the
product incorrectly, it may present a safety hazard. The product and system may use high voltages and currents, carry
a high level of stored electrical energy, or are used to control mechanical equipment that can cause injury.

You must give close attention to the electrical installation and system design to avoid hazards either in normal operation
or in the event of equipment malfunction. System design, installation, commissioning and maintenance must be carried
out by personnel who have the necessary training and experience. Read and follow all safety information in this
instruction manual and the Epsilon EP Drive Installation Manual (400518-01) carefully.

Qualified Person

For the purpose of this manual and product, a “qualified person” is one who is familiar with the installation, construction
and operation of the equipment and the hazards involved. In addition, this individual has the following qualifications:

Is trained and authorized to energize, de-energize, clear and ground and tag circuits and equipment in accordance with
established safety practices.

Is trained in the proper care and use of protective equipment in accordance with established safety practices.
Is trained in rendering first aid.

Setup, Commissioning and Maintenance

It is essential that you give careful consideration to changes to drive settings. Depending on the application, a change
could have an impact on safety. You must take appropriate precautions against inadvertent changes or tampering.
Restoring default parameters in certain applications may cause unpredictable or hazardous operation.

Safety of Machinery

Within the European Union all machinery in which this product is used must comply with Directive 89/392/EEC, Safety
of Machinery.

The product has been designed and tested to a high standard, and failures are very unlikely. However the level of
integrity offered by the product’s control function – for example stop/start, forward/reverse and maximum speed – is not
sufficient for use in safety-critical applications without additional independent channels of protection. All applications
where malfunction could cause injury or loss of life must be subject to a risk assessment, and further protection provided
where needed.

Identification of Safety Information

Safety related information through out this manual is identified with the following markings.

“Warning” indicates a potentially hazardous situation that, if not avoided, could result in death or serious injury.

"Caution indicates a potentially hazardous situation that, if not avoided, may result in minor or moderate injury.

“Caution” used without the safety alert symbol indicates a potentially hazardous situation that, if not avoided,
may result in property damage

For the purpose of this manual and product, “Note” indicates essential information about the product or the
respective part of the manual.

Throughout this manual, the word “drive” refers to an Epsilon EP-B drive.

General warning

Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in this unit can cause

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Epsilon EP-B Base Drive Reference Manual

severe electric shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or
adjacent to this equipment. The installation must comply with all relevant safety legislation in the country of use.

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Epsilon EP-B Base Drive Reference Manual

Table of Contents

Customer Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Reference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv

Safety Information v

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .v

Introduction 1

Epsilon EP-B Base Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Quick Start 3

Offline Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Online Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Operational Overview 9

User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

How Motion Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Functional Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Drive Modifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Current Foldback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Shunt Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Brake Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Analog Command Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Digital Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

How Communications Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Setting Up Parameters 39

Graph View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Setup View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Motor View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Position View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Velocity View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Ramps View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Torque View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Tuning View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Shunt View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Teach View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Faults View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

I/O Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Input Lines View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Output Lines View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Analog Inputs View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Analog Outputs View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Status View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Tuning Procedures 73

PID vs. State-Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

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Epsilon EP-B Base Drive Reference Manual

Diagnostics and Troubleshooting 79

Diagnostic Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Drive Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Watch Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Glossary 87

Specifications 91

Epsilon EP Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Epsilon EP Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Cable Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Index 105

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Epsilon EP-B Base Drive Reference Manual

Introduction

Epsilon EP-B Base Drive

The Epsilon EP-B drives are stand-alone, fully digital brushless servo drives designed and built to reliably provide high
performance and flexibility without sacrificing ease of use.

The use of State-Space algorithms make tuning very simple and forgiving. The drives are designed to operate with up
to a 10:1 inertia mismatch right out of the box. Higher (50:1 and more) inertial mismatches are possible with two simple
parameter settings.

The Epsilon EP-B drive can be quickly configured to many applications in less than 5 minutes with Emerson Control
Techniques PowerTools Pro v4.0
Complete diagnostics are provided for quick troubleshooting. A status/diagnostic display on the front of the drive informs

the user of the operational or fault status. The last 10 faults are stored in non-volatile memory along with a time stamp
for easy recall.

1

software on a PC running Windows® 98, NT 4.0, 2000, ME or XP.

Shunt Connector (J8)

Status/Diagnostic Display

Reset Button

AC Power Connections (J1)
Motor Connections (J1)
24 Vdc Logic Power Supply Connections (J1)

Serial
Connectors (J2)

Digital I/O Connctor (J3)

X00

X-X

EP20X-XX

A1

X

9606XX-X

0610E014

SN

Sync Input Connector (J10)

Analog/Sync Output
Connector (J5)

Encoder Feedback Connector (J6)

Figure 1: Epsilon EP-B Drive Feature Location

Epsilon EP drives are rated at 240 Vac input voltage and can operate with an input voltage from 20 to 264 Vac. The
Epsilon EP drives are available in three current ratings.

Drive Model Continuous Power Rating Continuous Current Peak Current

EP202-Bxx-EN00 670 W 2.2 A RMS 4.4 A RMS

EP204-Bxx-EN00 1140 W 4.0 A RMS 8.0 A RMS

EP206-Bxx-EN00 1610 W 6.5 A RMS 13.0 A RMS

The NT and MG motors that are matched to the Epsilon drive provide low inertia, high power to size ratios, and encoder
feedback for accurate positioning.

1.In this manual Emerson Control Techniques PowerTools Pro v4.0 will be referred to as PowerTools Pro.

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Epsilon EP-B Base Drive Reference Manual

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Epsilon EP-B Base Drive Reference Manual

Quick Start

Offline Setup

Generally, online setup is used when editing parameters in a device. Offline setup editing is usually only done
when not connected to a device.

Step 1: Opening an Offline Configuration Window

To open an offline Configuration Window, click the New button from the toolbar or select New from the File menu.

Figure 2: New Dialog Box

When the New dialog box appears, select the drive setup selection and click the OK button. A new Configuration Window
will be displayed.

Figure 3: Offline Configuration Window

All drive setup parameters are accessible in the hierarchy tree of the offline configuration window.
You can now proceed to setup the drive parameters as desired.

Step 2: Entering General Drive Setup Information

The Setup view contains system data such as drive type, motor type and axis name.

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Epsilon EP-B Base Drive Reference Manual

Figure 4: Setup View

Entering Identification Parameters:

1. Enter an axis identifying name for the drive you are setting up. You can use up to 24 alpha-numeric characters.

2. Enter the Axis Address to which you wish to download the setup information. Unless you have changed the
Modbus address of your device, leave this parameter set to the default value of 1.

Entering Configuration Parameters:

1. Click the down arrow of the Drive Type list box, then select the drive model of the drive you are currently
setting up.

2. Click the down arrow of the Motor Type list box, then select the motor connected to the drive you are setting
up.

Selecting the wrong motor type can cause poor performance and may even damage the motor and/or drive.

Entering Positive Direction Selections:

1. Click which direction, clockwise (CW) or counterclockwise (CCW), to be considered as motion in the positive
direction.

CW and CCW rotation is determined by viewing the motor from the shaft end.

Figure 5: Motor Rotation

4

Quick Start

Step 3: Assigning Inputs

Inputs are assigned in the Inputs view which is divided into two windows. The “Input Functions” window, on the left side,
displays the input functions available, the function polarity and the always active state. The “Input Lines” window, on the
right side, displays the drive enable input, four input lines, the debounce value and input function assignments.

You cannot assign functions or Debounce the Drive Enable input line.

Figure 6: Inputs View

To assign an Input Function to an Input line:

1. Assign an input by highlighting an input function in the “Input Functions” window and drag the highlighted input
function to the desired input line in the “Input Lines” window.

2. To unassign an input function from an input line, select the desired input function from the “Input Functions”
window, then drag the highlighted input assignment back to the “Input Functions” window.

To make an Input Function “Active Off”:

1. Select the desired input function in the “Input Functions” window.

2. Click the “Active Off” check box. The Active State column in the “Input Functions” window will automatically
update to the current setup.

To make an input function “Always Active”:

1. Select the desired input function in the “Input Functions” window.

2. Click the “Always Active” check box. The Active State column in the “Input Functions” window will
automatically update to the current setup.

Step 4: Assigning Outputs

Output functions are assigned in the Outputs view which is divided into two windows. The “Output Functions” window,
on the left side, displays the output functions available. The “Output Lines” window, on the right side, displays the output
lines, the line active state and the output function assignments.

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Epsilon EP-B Base Drive Reference Manual

Figure 7: Outputs View

To assign an Output Function to an Output Line:

1. Assign an output by highlighting an output function in the “Output Function” window and drag the highlighted
output function to the desired output line in the "Output Line" window.

To unassign an Output Function from an Output Line:

1. To unassign an output function from an output line, select the desired output function from the "Output Line"
window, then drag the highlighted output assignment back to the "Output Function" window.

To make an Output Function “Active Off”:

1. Select the desired output line in the "Output Line" window.

2. Click the “Active Off” check box. The Configuration column in the "Output Line" window will automatically
update to the current setup.

Online Setup

These steps assume you have already created a configuration file. If you have already downloaded the configuration
file, go to Step 3. If you have not yet created the configuration file, go to Offline Setup Step 1. Do Steps 1 through 7 in
the previous section, “Offline Setup”, before establishing communications.

Generally, online setup is used when editing parameters in a device. Offline setup editing is usually only done
when not connected to a device.

Step 1: Establishing Communications with Drive

Now that the basic device setup parameters are entered, it is time to establish communications with the device and
download the configuration data. Before proceeding, be sure to connect the serial communication cable between your
PC and the device.

When attempting to download a configuration using PowerTools Pro, the software may need to be configured to the
correct communication settings for the intended connection.

To configure the preferences, select the Options|Preferences|Ptools Operations from the menu bar then select the
Communications tab see Figure 8. This dialog box allows the user to configure which communication connections are
scanned when performing any communication operations. Default is all ports are scanned.

The serial communication baud rate can be changed, the drive baud rate and PowerTools Pro baud rate must match.
Default drive baud rate = 19200. PowerTools Pro will not check to see if any devices with node addresses higher than
the number entered are available on the network. The default number is 4 with a maximum number of 32 node
addresses.

6

Figure 8: Communications Setup Screen

Quick Start

After communications are established the baud rate can be changed by selecting from the Device menu, choose

Change Baud Rate.

Step 2: Downloading the Configuration File

When you are ready to download the information in the current Configuration Window, go to the Setup view and enter
the address of the device you wish to download to in the “Axis Address” text box.

Click the Download button in the toolbar or from the Device menu, Download.
PowerTools Pro will establish communications and transfer all the information in the current Configuration Window to

the device you select.

Downloading will automatically clear an Invalid Configuration fault (“U” fault).

Step 3: Opening an Online Configuration Window

If you are not already online with the device, use this section to upload a configuration for online editing.
To open an online Configuration Window, click the Upload button on the toolbar. PowerTools Pro will display the Change

Path dialog box while it scans your PC’s ports for any compatible devices. Next, select the device you wish to upload
into a Configuration window.

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Epsilon EP-B Base Drive Reference Manual

Figure 9: Upload Drive Configuration Dialog Box

Step 4: Operation Verification

After downloading a configuration file to the device the user may want to verify the operation of the system using the
checklist below.

1. I/O powered and Logic powered

2. Connections installed

3. Enable the drive

4. Verify “R” on the drive status/diagnostic display

Step 5: Saving the Configuration File

To save the drive setup information, select Save from the File menu. Follow the dialog box instructions.

Step 6: Printing the Configuration File

To generate a printed copy of all the data in the drive configuration, select Print from the File menu. If you print while
online, the print-out will include several pages of useful online diagnostic information.

Step 7: Disconnecting Communications

After you successfully download to the drive, you may want to disconnect the serial communications link between the
drive and your PC to clear the serial port or to access some PowerTools Pro options only available when offline.

To disconnect serial communications, click the Disconnect button on the toolbar (or select the Disconnect command
from the Device menu).

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Epsilon EP-B Base Drive Reference Manual

Operational Overview

User Interface

The Epsilon EP-B Base Drive is set up using PowerTools Pro software. PowerTools Pro is an easy-to-use Windows­based setup and diagnostics tool. It provides you with the ability to create, edit and maintain your drive’s setup. You can
download or upload your setup data to or from a device. You can also save it to a file on your PC or print it for review or
permanent storage.

Figure 10: PowerTools Pro Setup View For An Epsilon EP-B Drive

How Motion Works

Below is a list of details related to motion in a drive.

• The Stop input function overrides motion in all operating modes including Pulse and Torque mode. It shifts the mode
to Velocity mode and decelerates the axis according to the Stop deceleration ramp.

• The Travel Limits work in all operating modes including; Pulse, Velocity and Torque modes.

• When a Travel Limit has been activated in a particular direction, uninhibited motion is allowed in the opposite direction.

• The Positive Direction parameter affects all motion by specifying which direction the motor shaft will rotate (CW or
CCW) when the command position is increasing.

• When changing modes with Torque Mode Enable input function, no ramping occurs between the two different
commands.

• When using Analog + Preset Summation mode, the properties of both summed modes are honored.

Functional Overview

The drive is a digital servo drive which provides four modes of operation: Pulse, Velocity, Torque and Analog Position.
The Operating Mode selection defines the basic operation of the drive.

External control capability is provided through the use of input and output functions. These functions may be assigned
to any input or output line which may be controlled by external devices, such as a PLC or multi-axis controller, to affect
the drive operation.

Drive parameters can be modified using PowerTools Pro software. All drive parameters have a pre-assigned Modbus
address which allows you to access them using a Modbus interface.

Velocity Mode

Three sub-modes are associated with Velocity mode: Analog Velocity, Preset Velocity and Analog + Preset Summation.

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Epsilon EP-B Base Drive Reference Manual

Analog Velocity Sub-Mode

The Analog Input receives an analog voltage which is converted to the Velocity Command Analog parameter using the
Full Scale Velocity, Analog Input Full Scale, and Analog Input Zero Offset parameters. The equation for this conversion
is:

VCA −=

FSV) AZO) ((AI

AFS

Where:

VCA = Velocity Command Analog (RPM)
AI = Analog Input (volts)
AZO = Analog Input Zero Offset (volts)
FSV = Full Scale Velocity (RPM)
AFS = Analog Input Full Scale (volts)

The Velocity Command is always equal to the Velocity Command Analog in Analog Velocity mode. The Velocity
Command is the command received by the velocity closed loop control.

Analog Accel/Decel Limit

This feature in the Analog sub-mode allows you to limit the accel and decel rate when using the analog input for velocity
control. This makes it very simple to use the drive in high performance, variable speed, start-stop applications such as
Clutch-Brake replacements without requiring a sophisticated controller to control the acceleration ramps. In applications
which do not require the drive to limit the ramps such as when using an external position controller, the parameter can
be set to “0” (its default value). If the Analog Accel/Decel Limit parameter value is changed during a ramp, the new ramp
limit is imposed within the next servo loop update.

The Analog Accel/Decel Limit parameter is accessed on the Ramps view. Its range is 0.0 to 32700.0 ms/kRPM.

Preset Velocity Sub-Mode

Preset Velocity sub-mode provides up to eight digital Velocity Presets and associated Accel/Decel Presets. At any time
only one Velocity Preset can be selected. They are selected using the Velocity Preset 1, Velocity Preset 2 and Velocity
Preset 3 input functions (see table below).

Velocity Preset 3 Velocity Preset 2 Velocity Preset 1

000 0

001 1

010 2

011 3

100 4

101 5

110 6

111 7

Selected Preset #

Velocity and Accel / Decel

* (0) = Inactive input function, (1) = Active input function

When one of the Velocity Presets is selected, the Target Velocity is set equal to the Preset Velocity value and the accel/
decel ramp rate is set to the Preset Accel/Decel value associated with that velocity preset.

If the Velocity Command Preset is not equal to the Target Velocity, an acceleration (or deceleration) ramp is in progress.
In this state, the Velocity Command Preset will be increased (or decreased) based upon the acceleration (or
deceleration) ramp rate of the selected velocity preset. During the acceleration/deceleration ramp, the At Velocity output
function is inactive.

If the Velocity Command Preset is equal to the Target Velocity, all ramping is complete, the Velocity Command Preset
is constant and the At Velocity output function is active.

The Velocity Command is always equal to the Velocity Command Preset in Preset Velocity sub-mode.

10

VELOCITY
(+)

2200
2000
1800
1600
1400
1200
1000

-1000

-1200

-1400

-1600

-1800

-2000

-2200

A/D 1

800
600
400
200

0

-200

-400

-600

-800

Preset
Velocity 0

Preset
Velocity 1

A/D 2

A/D 3

A/D 2

Preset
Velocity 2

A/D = Acceleration/Deceleration Ramp

Preset
Velocity 3

Operational Overview

A/D 0

TIME

Preset
Velocity 0

Figure 11: Velocity vs. Time Diagram using Preset Velocities

Analog + Preset Summation Sub-Mode

In Analog + Preset Summation sub-mode the Velocity Command is the result of the sum of the Velocity Command
Analog and the Velocity Command Preset values:

PC AC VC +=

Where:

VC = Velocity Command
AC = Velocity Command Analog
PC = Velocity Command Preset

Example 1:

Use of Velocity Presets in a phase advance/retard application. Velocity Preset 0 is set to 0 RPM, Velocity Preset 1 is set
to +5 RPM, and Velocity Preset 2 is set to -5 RPM. The Analog Input is the command source for a web application where
a phase adjustment may be useful. Without interrupting the operation, you may select either Velocity Preset 1 or 2 to
speed up or slow down the motor thereby advancing or retarding the phase between the motor and the web material.

Example 2:

Use the Velocity Command Analog as a trim adjustment to the digital Velocity Presets. Velocity Preset 2 is selected with
Analog Input at 0, so the Velocity Command Preset and Velocity Command are equal (set to match a conveyor speed).
You can use the Analog Input (Velocity Command Analog) as a fine adjust for the Velocity Command to exactly match
the conveyor speed.

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Epsilon EP-B Base Drive Reference Manual

A

Preset

Velocity 0

Preset

Velocity 1

Preset

Velocity 2

Preset

Velocity 3

Preset

Velocity

Command

Summation Point

Velocity Command

Analog

Input

Analog

Velocity

Command

Figure 12: Summation Mode Block Diagram

.

VELOCITY
(+)

2200
2000
1800
1600
1400
1200
1000

800
600
400
200

Preset Velocity Command

0

Velocity Command

Analog Velocity Command

Figure 13: Velocity vs. Time Diagram, Analog + Preset Summation Sub-Mode

Torque Mode

In Torque mode both the position and velocity loops are disabled and only the torque loop is enabled.

TIME

Velocity related faults and velocity related input and output functions are still enabled (including Stop and Travel
Limits).

In Torque mode the drive receives an Analog Input which is scaled to the Analog Torque Command by the Full Scale
Torque, Analog Input Full Scale, and Analog Input Zero Offset parameters. The equation is:

TC−=

FST) AZO) ((AI

FS

Where:

TC = Torque Command
AI = Analog Input (volts)
AZO = Analog Input Zero Offset (volts)
FST = Full Scale Torque (%)
AFS = Analog Full Scale (volts)

Pulse Mode

In Pulse mode, the drive will receive pulses which are used to control the position and velocity of the motor.
There are three pulse interpretations associated with Pulse mode: Pulse/Pulse, Pulse/Direction and Pulse/Quadrature.

These selections determine how the input pulses are interpreted by the drive.

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Figure 14: Setup View - Pulse Mode

Operational Overview

High Performance Gains Enable check box in PowerTools Pro software is typically enabled when Pulse mode is
used (the default is enabled).

Interpretation Mode Group

Pulse/Pulse Interpretation

In Pulse/Pulse interpretation, pulses received on the A channel are interpreted as positive changes to the Pulse Position
Input. Pulses received on the B channel are interpreted as negative changes to the Pulse Position Input.

Motion occurs
on rising edge

Channel A (CW)

Channel B (CCW)

Figure 15: Pulse/Pulse Signals, Differential Inputs

Pulse/Direction Interpretation

In Pulse/Direction interpretation, pulses are received on the A channel and the direction is received on the B channel. If
the B is high, pulses received on the A are interpreted as positive changes to the Pulse Position Input. If the B is low,
pulses received on the A are interpreted as negative changes to the Pulse Position Input.

+ Pulse Input

- Pulse Input

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Epsilon EP-B Base Drive Reference Manual

Motion occurs
on rising edge

Pulse

CW

CCW

Direction

Figure 16: Pulse/Direction Signals, Differential Inputs

Pulse/Quadrature Interpretation

In Pulse/Quadrature interpretation, a full quadrature encoder signal is used as the command. When B leads A encoder
counts are received they are interpreted as positive changes to the Pulse Position Input. When A leads B encoder counts
are received they are interpreted as negative changes to the Pulse Position Input. All edges of A and B are counted,
therefore one revolution of a 2048 line encoder will produce an 8192 count change on the Pulse Position Input. Any two
consecutive edges must be separated by .2/f max in time for correct interpretation.

B leads A = + Pulse Position Inputs

Channel A

Channel B

Figure 17: Pulse/Quadrature Signals, + Command

A leads B = - Pulse Position Inputs

Channel A

Channel B

Figure 18: Pulse/Quadrature Signals, – Command

Pulse Signal Type

The drive provides two types of pulse input circuits which allows you to choose the appropriate input type to match the
device generating the position pulses. The selection is done by wiring to the desired input pins of the Analog/Sync Output
connector (J5) or the Sync Input connector (J10) and setting the Pulse Signal type selection in the Setup view. The
Differential setting (default) is perfect for most encoders or upstream drives. The Single Ended setting is a good match
for any open collector driver that requires an external pull up resistor or 5 Volt logic driver making it ideal for most stepper
controllers, PLC stepper cards and PC computer parallel printer ports.

The two hardware input circuits are included in the drive and are accessible through the drives Analog/Sync Output
connector or the Sync Input connector. The differential input circuit is RS-485 compatible making it inherently noise
immune while being able to accept pulse rates of up to 1 Mhz per channel. The single ended inputs have internal pull­up resistors to the drive’s 5 Volt logic supply so external pull-ups and biasing circuitry is not required. When proper

14

Operational Overview

installation techniques are followed, the differential input setup will provide a more robust and noise immune system than
a single ended input setup.

Differential input is recommended under any of the following conditions:

• Pulse width < 2 µs

• Pulse frequency > 250 kHz

• Pulse command cable length > 25 feet

• Noisy electrical environments

Differential input circuit specifications:

Input frequency maximum (f max): 1 Mhz (4 million counts per second quadrature)

Input device: AM26C32 - RS-485 receiver

Input impedance: 12 Kohms

Maximum voltage applied to input pins (A, A/) or (B, B/):

Single Ended (referenced to 0V drive logic):+12/-7 V

NOTE: As long as each is in single ended range, differential is O.K.

Maximum common mode voltage: +/-7 V

Minimum differential voltage required: 200 mV

Input voltage hysteresis: 60 mV

STI-SNCI Terminal

11PulsePulse +A

2 2 Pulse/ Pulse +/ A/

3 3 Direction Pulse - B

5 5 Direction/ Pulse -/ B/

Sync Input Connector (J10)

Pin #

Pulse-Direction

Signal

Pulse-Pulse

Single ended input circuit specifications:

Input frequency maximum (f max): 500 khz (2 million counts per second quadrature)

Input electrical description: Internal 390 ohms pull-up to 5 Volt 9non-isolated)

Input Low Voltage (Vil): 1.5 Volt max.

Input high Voltage (Vhl): 3.5 Volt min.

Output driver requirements:

15 mA sinking (open collector) min at 0.4V max

Can drive to 5.5 V max. (will work with TTL or 5V CMOS outputs)

Output driver requirements:

• 15 mA sinking (open collector)

• 5 Volt capacity

• Signal common connected to Drive Logic 0V (Sync Encoder Common 0V)

STI-SNCOA Terminal Analog/Sync Output Connector (J5) Pin #

4 4 Pulse / Pulse CW / A

12 12 Direction Pulse CCW / B

Pulse-Direction

Signal

Signal

Pulse-Pulse

Signal

Pulse Quadrature

Signal

Pulse Quadrature

Signal

Pulse /: Commands motion on the falling edge (active edge).

Direction: Positive (+) motion when high (inactive) and Negative (-) motion when low (active).

Pulse CW /: Commands positive (+) motion on the falling edge (active edge) of a pulse.

Pulse CCW /: Commands negative (-) motion on the falling edge (active edge) of a pulse.

A and B: Encoder Quadrature signal interpretation. When B leads A Positive (+) motion commands will

be generated, When A leads B, negative (-) motion commands will be generated.

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Epsilon EP-B Base Drive Reference Manual

Actual motor rotation direction will depend on pulse ratio polarity and setting of the Positive Direction bit.

Pulse Mode Parameters

The Pulse Position Input parameter shows the total pulse count received by the drive since the last power-up.
The Pulse Position Input, Position Command, Position Feedback Encoder and Position Feedback are initialized to zero

on power-up. Only Position Feedback Encoder can be pre-loaded serially with a value after power-up.
The Pulse Mode Ratio parameter includes a numerator which represents motor revolutions, and a denominator which

represents master pulses. The Pulse Ratio Revolutions is allowed to be negative which reverses all Pulse mode motion.
The Pulse Position Input is multiplied by the Pulse Mode Ratio to produce the Position Command.

Following Error/Following Error Limit

The Following Error is the algebraic difference between the Position Command and the Position Feedback. It is positive
when the Position Command is greater than the Position Feedback. All accumulated Following Error will be cleared
when the drive is disabled.

The Following Error Limit is functional in Pulse mode only. A Following Error Limit can be set using PowerTools Pro.
This limit is in motor revolutions and has a range of .001 to 10.000 revolutions. The Following Error Limit can be enabled
or disabled.

Pulse Mode Following Error

In Pulse Mode, the range of the Following Error is ±2863.3 revolutions. If the Following Error Limit is not enabled and
the Following Error exceeds 2863.3 revolutions, the displayed value is limited to this maximum value and will not rollover.

If the Following Error Limit Enable is enabled, the absolute value of the Following Error will be compared to the Following
Error Limit. If the limit is exceeded, a fault will be generated. If the Following Error Limit Enable is disabled, the Following
Error Limit is not used.

Velocity Mode Following Error

In Velocity mode, the maximum Following Error possible varies based on the gain and torque limit settings. When the
Actual Torque Command reaches the maximum possible level, the following error will stop increasing and any additional
position error will be dropped. In Velocity mode, when the following error exceeds the Following Error Limit parameter
there is no action.

Encoder Position and Position Feedback

Encoder Position and Position Feedback are two separate parameters which indicate the same physical motor position.
Encoder Position is the position change since power up in motor encoder counts and Position Feedback is the total
position change since power up in motor revolutions. The Position Direction parameter setting will change which
direction the motor rotates when the position feedback and position command are counting up. In the default setting the
position counts up when the motor shaft rotates clockwise (when viewed from the shaft end).

The Encoder Position parameter can be pre-loaded serially by setting the Position Feedback Encoder Modbus
parameter.

Analog Position Mode

Analog Position Mode Description

Analog position is an operating mode for the Epsilon EP-B drive. The drive receives an analog input signal and drives
the motor to a corresponding absolute position. The analog signal has a range of +/- 10 volts and is scaled to a motor
position in revolutions or other motor user units. An analog output on the drive can also be setup to provide an analog
output feedback signal.

An example of a basic analog position setup would be as follows: An input voltage of 0 volts can be setup to equal a
position of zero revolutions and a voltage of 10 volts can be setup to be a position of 10 revolutions. Therefore, if the
analog input signal on the drive reads 5 volts the position would equal 5 revolutions. An analog input signal of 10 volts
would equal 10 motor revolutions.

The analog position parameters can be setup using PowerTools Pro 4.0 software or can be taught by manually moving
the axis, setting the corresponding analog input and activating the “teach” input function.

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Operational Overview

Analog Position Mode Setup

Within the PowerTools Pro click on Setup in the hierarchy tree and then select Analog Position Mode in the Setup view.
The Analog Position Mode Setup tab will appear underneath where you made the operating mode selection.

Figure 19: Setup View - Analog Position Mode

Velocity Limit Starting

This is a velocity limit during the initial analog command motion. If the analog position command does not match your
current position when the Analog Input mode is enabled, the drive will move the motor to match the commanded vs.

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Epsilon EP-B Base Drive Reference Manual

actual position. This move may occur more rapidly than the user would like. To have a slower and safer initial startup,
the “Velocity Limit Starting” is used. It is only valid from the “Analog Position Mode Enable” until the position is reached.
The acceleration is limited by “Analog Accel/Decel Limit”.

Define Home Position

The Home Position value is used by the drive to set the actual position to this value after the “Home” input is activated.
A “Home” input is defined during the teach function

• Distance units (revs) has a range of -214748.3647 to [phone]

Analog Deadband

• Provides a deadband around the current position to filter out noise and prevent the motor from following the noise
signal

• Range: Volts 0 – 10.000

Following Error Limit

• Defines maximum position error between commanded position and the actual motor position.

• Drive will generate fault if following error is exceeded

Mode Selection

Once the analog position settings have been entered you can keep “Analog Position mode” selected and the drive will
operate in the analog position mode. Or you can select another operating mode such as Velocity and the drive will
operate in velocity mode until analog position mode is enabled via an input. The analog position settings window will
disappear but the values entered will still be set in the drive.

Analog Input Setup

Analog Input is used for Analog Velocity, Analog Torque and Analog Position.
Both Analog Velocity and Analog Torque use the settings of scale and offset while Analog Position uses a two point

definition. The two point definition allows for a teach method to define and calibrate the analog input settings to encoder
values by using an input function.

Figure 20: Analog Inputs View

Bandwidth

• Bandwidth provides a lowpass filter on the analog input. Frequencies above this value will be ignored.

Analog Full Scale

• Range -10.000 to +10.000

• Defines the “Full Scale Velocity” or “Full Scale Torque” analog scaling.

18

Operational Overview

Analog Zero offset

• Range -10.000 to +10.000

• Provides an offset voltage to zero the signal. For example, if your analog source has a 100mV signal when the velocity
command is zero, this value can be set to -100mV so that the drive is commanding zero velocity.

Analog Input – Position Group

The four values in this box define the Voltage to Position relationship, by setting the endpoints of a straight line.

Voltage

Position, Voltage:
Max Values

Position, Voltage:
Min Values

Figure 21: Shows The Relationship Between The Min And Max Values

Analog Max Position

• The upper value in the point set (Value,Voltage):

• RW Distance units (revs) -214748.3647 – +214748.3647

• Note: This is not the limit the distance.

• This value will update upon a Teach input

Analog Max Voltage

• The upper Voltage in the point set (Value,Voltage):

• RW Voltage units (volts) -10.000 – +10.000

• Note: This is not the limit the input voltage

• This value will update upon a Teach input

Analog Min Position

• The lower Value in the point set (Value,Voltage):

• RW Distance units (revs) -214748.3647 – +214748.3647

• Note: This is not the limit the input voltage

• This value will update upon a Teach input

Position

Analog Min Voltage

• The lower Voltage in the point set (Value,Voltage):

• RW voltage units (volts) -10.000 – +10.000

• Note: This is not the limit the input voltage

• This value will update upon a Teach input

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Epsilon EP-B Base Drive Reference Manual

Position Limit Min

• If “Position Limit Enable” is set, the value of “Position Limit Min” will be the lower limit of the allowable travel range.
The motor will stop at this location when the analog input is commanding a position beyond this location. No fault is
genterated.

Position Limit Max

• If “Position Limit Enable” is set, the value of “Position Limit Max” will be the upper limit of the allowable travel range.
The motor will stop at this location when the analog input is commanding a position beyond this location. No fault is
genterated.

Analog Output Setup

The user is allowed to use two different modes to define the Analog Output scaling:

1. Directly define the Scale and Offset

2. Define two data points

The concept of two points is to define the Analog Output’s profile (slope and offset). These points do not limit the Analog
Output range. The range is limited by the digital to analog converter’s (D/A) -10 to +10 volts range.

Analog Output Min/Max Mode

• This selects which Analog Output scaling mode to use.

Source

• Defines what the data source is to be converted from binary data to an analog signal.

• The source selection sets the decimal and units in the Analog Max and Min Values as well as the Offset and Scale.

Analog Max Value

• The upper Value in the point set (Value,Voltage):

•RW

• Units are defined by the source selected

• Note: This is does not limit the D/A output value

Analog Max Voltage

• The upper Voltage in the point set (Value,Voltage):

• RW Voltage units (volts) -10.000 – +10.000

• Units are defined by the source selected

• Note: This is not limit the D/A output value

Analog Min Value

• The lower Value in the point set (Value,Voltage):

•RW

20