Epsilon EP - Compact 1.5 Axis Servo Drive

From a simple amplifier to a completely programmable 1.5-axis motion controller

Epsilon EP

2.2 - 16.0 A rms (4.4 - 32 Peak)

115V / 230V

Epsilon EP, Control Techniques' compact and easy-to-use servo drive, is scalable from a simple amplifier to a completely programmable 1.5-axis motion controller.

The Epsilon EP is available in three flexible models – Epsilon EP-B (base), Epsilon EP-I (indexer), and Epsilon EP-P (programming).

Each model is available with five drive different power stages—2.2A, 4.0A, 6.5A, 9.0A and 16.0A—providing the capability to deliver over 198 lb-in (22.4 Nm) of torque at the rated motor speed and 396 lb-in (44.8 Nm) of peak torque for those high demanding pulse duty application.


Connectivity is the key

The Epsilon EP offers four of the most popular network connections for industrial controls. RS485 with the standard Modbus RTU interface is on all models allowing interfacing to PC Tools, simple HMI’s, and drive to drive configurations. Optional ProfiBus DP and DeviceNet communication configurations for system integration to common PLC platforms, and EtherNet, standard on every Epsilon EP-P, opening up a whole new world of interfacing possibilities are also available—see the communications section under the options tab for more information.

  • Features

    Integrated Control

    Our Epsilon EP servo drive product line offerings include integrated motion control solutions. The Epsilon EP product line offers product scalability with base, indexer and programming variants.

    Variants and their respective solutions include:

    • Epsilon EP- P  - Programmable - Create complete user programs to sequence the motion control

    • Epsilon EP- I  - Indexer drive - Position controller provides Home, Index, and Jog motion profiles

    • Epsilon EP - Base drive -  Ideal for servo applications utilizing an external motion controller

    Product Variant 

    Epsilon
    EP-P 

    Epsilon
    EP-I 

    Epsilon
    EP-B 

     PowerTools Pro

     √

     √

     CTSize

     √

    √ 

     

    Performance Advantage

    Control Techniques has incorporated several advanced features and capabilities in the Epsilon EP family to make these drives even more powerful and easier to use. The key features are incorporated into the four variants of this product line. The four variants are:

     

    Epsilon EP-B – Base

    The base drive is ideal for servo applications utilizing an external motion controller. It accepts an analog command signal and sends out position feedback. The EP-B has the unique capability of combining an analog command with a preset velocity for trimming or advance/retard operations. The EP-B drive is an excellent choice for stepper replacements or centralized control systems.


    Epsilon EP-I or EP-IDN – Indexer

    The EP-I drive is a highly capable position controller that provides Home, Index, and Jog motion profiles. The EP-I holds up to16 unique indexes that also can be chained together to create complex motion profiles. The EP-I has a unique alternate mode feature whereby it can perform an Index or Home function and then switch to an alternate mode such as Analog Torque, Analog Velocity, or Pulse Follower mode on the fly! This compact indexing drive is a cost effective solution for countless applications.

     

    Epsilon EP-P, EP-PDN and EP-PPB – Programming

    The EP-P drive provides the highest level of control by allowing the user to create complete programs to sequence the motion control along with other machine functionality. The EP-P can be used to solve the most complex motion applications and still be easy to use thanks to Control Techniques' FREE PowerTools Pro configuration software. PowerTools Pro uses simple drag-and-drop and fill-in-the-blank screens that make setup a snap. User programs are created using a text-based motion language that is as easy to read as it is to program. If you don’t know the command, simply drag it in from the drop-down box and PowerTools Pro will assist you with the syntax. With intuitive software and plenty of online help, programming this servo drive is truly “Motion Made Easy!”®

    Additional features include:

    Real-Time Program

    A Real-Time Program (RTP) is a user program that executes in a single servo update. A RTP allows synchronous execution of a user program with the internal motion kernel which enables the possibility of real-time modification of motion profiles, monitoring of key performance indicators, or to make time critical calculations needed to get the most out of your motion control system.


    Electronic Camming

    Programming electronic cams has taken a huge step forward with Control Techniques' easy-to-use camming functions. PowerTools Pro offers a unique graphical interface which show the motion engineer exactly what the cam profile looks like in polar or linear coordinates. Cam data can be imported from a CAD system or entered directly from the PowerTools Pro software or even self generated within a user program. Epsilon EP supports several different types of interpolation types including linear, cosine, square, cubic spline, and jerk free offering flexibility in trajectory generation. Cam profiles can be started as easily as turning on an input, with no user program involved. Of course for advanced capabilities, user programs can be also used enabling access to a wealth of cam information and dynamically monitoring.


    Modbus Master

    Modbus Master takes machine control capability to a whole new level. No longer limited to the drive's on-board I/O, the Modbus Master can manage a very large number of I/O and communicate updates to any Modbus follower device, giving machine builders extensive control options.


    Position TrackerTM

    Analog position control and Fieldbus position control allow the Epsilon EP to replace an expensive PLC motion control module with a simple, low cost analog signal or Fieldbus register. With Position Tracker, the closed loop feature of the position controller has been integrated into the drive itself. The user simply sends the drive an analog or Fieldbus signal that is proportional to the absolute motor/actuator position. Advanced features such as "teach" functions also contribute to faster set up.


    Built-in Timers

    These timers provide a simple and accurate way to trigger an action based on a previously initiated time delay. Select from up to seven different timer types to match your needs.


    Ethernet Programming

    The EP-P drive uses common Ethernet protocols for all levels of networking ranging from applications setup and monitoring to communicating to PLC’s via Ethernet/IP or connecting to an operator panel using Modbus TCP/IP.


    Technology for reliability and performance:

    • Flexible bus voltages DC, AC 10V to 264V
    • 5 Drive Power Options: 2.2, 4, 6.5, 9 and 16 Amps
    • 1 to 200 lb-in continuous torque range
    • Drive types: Base, Indexing, and Programmable
      Indexing and Programmable drives can be ordered with optional DeviceNet or Profibus
    • Easy install, setup and operation
    • Compact, space saving design, six-inch (152 mm) panel depth including cables
    • Pluggable connectors, Standard D-Shell and Screw Terminals
    • State-Space Observer Control, which allows 10-1 inertia mismatch out of the box, and 50-1 with tuning
    • FREE PowerTools software, and upgrades
    • Programmable, optically-isolated I/O
    • RS485 serial communication interface using Modbus protocol
    • Ethernet/IP and Modbus TCP/IP standard on the Epsilon EP-P programmable drive
    • Field programmable flash memory firmware (upgrades are free)
    • Wide variety of motor combinations: Unimotor HD, Unimotor FM, MG, NT, XV
    • Auto-Tune support for any servo motor with encoder feedback
    • 24 VDC input for logic power supply
  • Specifications

    Specifications and Dimensions

    Power Requirements

    AC Input Voltage, 47-63 Hz
    EP 202/204/206: 1Ø, 20 to 264 VAC
    EP 209: 1Ø, 90 to 264 VAC
    EP 216: 3Ø, 90 to 264 VAC
    (240 VAC for rated performance) SCCR 10kA

    DC Input Voltage
    EP 202/204/206: 10-340 VDC
    EP 209/216: 140-340VDC

    AC Input Current (max. continuous)
    EP202: 5.0 Arms (140A for 2 ms inrush)
    EP204: 8.5 Arms (140A for 2 ms inrush)
    EP206: 12.0 Arms (140A for 2 ms inrush)
    EP209: 16 Arms (34A for 5 ms inrush)
    EP216: 16 Arms (34A for 5 ms inrush)

    Output Current Continuous (rms) / Peak (4 sec.)
    EP202: 2.2A / 4.4A
    EP204: 4.0A / 8A
    EP206: 6.5A / 13A
    EP209: 9.0 A / 18A
    EP216: 16.0A / 32A

    Continuous Output Power
    EP202: 0.77 kW
    EP204: 1.27 kW
    EP206: 1.77 kW
    EP209: 2.32 kW
    EP216 3Ø: 4.8 kW
    EP216 1Ø: 2.32 kW

    Switching Frequency 10 kHz

    External Logic Supply +18 to 30 VDC @ 0.5A

    Encoder Supply Output +5 VDC, 250 mA

    I/O Supply +10 to 30 VDC

    System Efficiency 93%

    Cooling Method
    Convection EP202 through EP209 Internal Fan EP216

    Regeneration

    Internal Energy Absorption
    (115V / 230V)
    EP202: 39 Joules / 8 Joules
    EP204: 58 Joules / 12 Joules
    EP206: 97 Joules / 20 Joules
    EP209: 117 Joules / 24 Joules
    EP216: 132 Joules / 28 Joules

    External: Connection to external resistor, EP 202-209: 30 Ohm min, 12A peak, 2 kW avg.
    EP216: 20 Ohm min, 20A peak, 5 kW avg.

    Drive Control Inputs

    Analog
    : (1) +/-10 VDC, 14 bit, 100 kOhm,
    Differential

    Analog Max. Input Rating: Differential +/-14 VDC, Each Input with Reference to Analog Ground +/-14 VDC

    Digital: (16) (5 on EP-B) +10 to 30 VDC, 2.8 kOhm, Sourcing, Optically Isolated

    Pulse: (1) Differential RS-422, 1 MHz/Channel, 50% Duty Cycle

    Single Ended: (1) TTL Schmitt Trigger 500 kHz/ Channel, 50% Duty Cycle

    Motor Overtemperature: 0 to +5 VDC, 10 kOhm, single ended

    Drive Control Outputs

    Analog
    : (2) +/-10 VDC, 10 bit, Single-ended 20mA

    Digital: (8) (3 on EP-B) +10 to 30 VDC, 150 mA,
    Sourcing Optically Isolated
    Short Circuit Protected

    Pulse: Differential RS-422 and TTL compatible, 20 mA/Channel Sink or Source

    Environmental

    Rated Ambient Temperature
    : 32° to 104°F (0° to 40°C) for rated performance

    Maximum Ambient Temperature: 32° to 122°F (0° to 50°C) with power derating of 3.0%/1.8F (1°C) above 104°F (40°C)

    Rated Altitude: 3280’ (1000 m)

    Maximum Altitude: For altitudes >3280’ (1000 m) derate output by 1%/328’ (100 m )

    Vibration: 10 to 2000 Hz @ 2g

    Humidity: 10 to 95% non-condensing Storage Temperature: -13° to 167°F
    (-25° to 75°C)

    Ingress Protection: IP-20

    Serial Interface
    2 RS485 connectors for multi-drop
    applications Modbus RTU w/ 32-bit extension,
    9600 to 19.2 kBaud

    Ethernet Interface (EP-P only)
    1 RJ-45, Modbus TCP/IP or EtherNet/IP

    DeviceNet (EP-xDN models only)

    Power Consumption
    : 25 mA

    Baud Rates: 125, 250 and 500 kps

    Node Addresses: 00-63

    Profibus-DP (EP-PPB model only)
    Baud: 1.5 to 12 Mb, Address Range: 00-126

     

    Epsilon EP Dimensions

     

    Dimensions and Weight

     Dim. A

     Dim. B

    Weight (kg) 

     EP202 / EP204 -B,-I,-IDN

    53.3

    11.4

    1.63

     EP206-B,-I,-IDN

    71.6

    11.4

    1.91

     EP202 / EP204 -P 

    68.3

    26.1

    1.77

    EP206-P 

    86.3 

    26.1

    2.04

    EP209 / EP216 all models

    86.3

    26.1

    2.49

    Compliance and Standards:

    • UL/CUL certified
    • CE certified
    • RoSH Compliant
    • C-Tick certification by the Australian Communications Authority (ACA)
  • Options

    Communications                                                                                                              

    EtherNet, Profibus, DeviceNet

    Optional ProfiBus DP and DeviceNet communication configurations for system integration to common PLC platforms, and EtherNet, standard on every Epsilon EP-P, opening up a whole new world of interfacing possibilities are also available. The Epsilon EP-P’s EtherNet port supports EtherNet/IP, Modbus TCP/IP, HTTP, and SMSC with up to eight simultaneous connections (sockets) at a single time. That means you can be online with your HMI at the same time as your PC Tools, monitoring drive status remotely via a web browser, and have the drives communicating to each other for a true distributed control system, all at the same time!

    The Ethernet port is configured to communicate using two industrial protocols: EtherNet/IP and Modbus TCP/IP. Communication setup is easily done with drag and drop drive information into the Ethernet Mapping. The EP-PDN, EP-IDN (DeviceNet) and EP-PPB (Profibus) are the Epsilon EP drives with these industry standard fieldbus options.

    The EP-P has built in RS485 multi drop serial ports. The ports use industrial standard Modbus RTU. Making connectivity easily with many PLC and HMI products.

    Position Tracker™ – Fieldbus Indexing replaces expensive PLC motion controllers with fieldbus communications. Motion profiles can be dynamically changed on the fly.

     

     EP - b (base)

     ep - i (indexer)

     ep - p (programming)

    EtherNet 

     

     

     Standard - all units

     Profibus

     

     

     √

    DeviceNet

     

     √

     √

     

    Breakout Boards                                                                                                              

    STI-ENC
    Motor Feedback Breakout Board 
    STI-ENC

    STI-SNCI
    Drive Sync In Breakout Board
    STI-SNCI 
    STI-SNCOA
    Drive Sync Out and Analog In/Out Breakout Board
    STI-SNCOA 
    STI-24IO
    Screw Terminal Interface Breakout Board
    STI-24IO 

    Cables     
                                                                                                                            
    DDC-RJ45-xxx
    Drive RS485 to Drive RS485
    DDC-RJ45-xxx 

    CT-USB-CABLE
    PC USB Port to Drive RS485 Serial Interface
    CT-USB-CABLE 

    ETH-PATCH-xxx
    Ethernet to Drive
    ETH-Patch-xxx 

    EIO26-xxx
    Epsilon EP I/O

    EIO26-xxx

     

    SNCFLOA-xxx
    Drive Sync Out
    SNCFLOA-xxx 

    SNCMD-815-xxx
    Drive Sync Out to FM-3/4 Module In
    SNCMD-815 

    SNCFLI-xxx
    Drive Sync In
    SNCFLI-xxx 

    SNCMD-89-xxx
    Drive Sync In from FM-3/4 Module Out
    SNCMD-89-xxx 

    PSBAA-xxx, PBBAA-xxx**
    Motor Power Cable for FM Motors
    PSBAA-xxx 

    SIBAA-xxx**
    Motor Feedback Cable for FM Motors
    SIBAA-xxx 

    XTMDS-xxx*
    Motor Power Cable for 40, 60 & 80 mm XV Motors
    XTMDS-xxx 

    XTBMS-xxx*
    Motor Brake Cable for 40, 60 & 80 mm XV Motors
    XTMDS-xxx 

    XUFTS-xxx*
    Motor Feedback Cable for 40, 60 & 80 mm XV Motors
    XUFTS 

    XCMDS-xxx or XCMBBS-xxx*
    Motor Power (+ Brake) Cable for 130 mm XV Motors
    XCMDS 

    XUFCS-xxx*
    Motor Feedback Cable for 130 mm XV Motors
    XUFCS 

    CMDS-xxx or CMMS-xxx*
    Motor Power Cable for NT Motors
    CMDS 

    CBMS-xxx*
    Motor Brake Cable for NT Motors
    CBMS 

    UFCS-xxx*
    Motor Feedback Cable for NT Motors
    UFCS 

    CT-COMMS
    Drive RS485 to Drive RS485
    CT Comms

     

    SNCDD-915-xxx
    Drive Sync Out to Drive Sync In
    SNCDD-915

     

    Cable Notes:
    * Flex duty versions available
    ** Flex duty cable
     

    MiscellaneousBRM-1
    Drive Brake Relay
    BRM-1 

    SCSLD
    Master Synchronization Encoder
    SCSLD 

    ETH-S8
    Ethernet 8-port Switch

    ETH-S8

     

    Electromagnetic Compatibility Filters

    Line Filters
    Electromagnetic Compatibility Filters
    EMC Line Filters

     

    DB Resistors
    E-Stop Duty, Internal and Enclosed Dynamic Braking Resistors
    DB Resistors

  • Software

    Commissioning and monitoring software

    CTSoft - Drive configuration tool for Control Techniques drives
    CTSoft is a drive configuration tool for commissioning, optimizing and monitoring Control Techniques drives

    Automation and motion programming software

    SyPTPro - System programming toolkit for drive automation systems
    SyPTPro provides a full featured programming environment for PLC and motion control onboard Control Techniques AC, DC and servo drives

    PowerTools Pro - Advanced motion control programming
    Advanced motion control programming for Unidrive SP (with the SM-EZMotion module) and Digitax ST-Z drives and Epsilon EP, FM-3E and FM-4E modules

    Analysis software

    CTSize - Drive sizing software
    CTSize is an easy-to-use servo sizing software package that helps you size your application using a step-through process
  • Downloads

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