Epsilon EP

A Nidec Brand

Epsilon EP

Compact 1.5 Axis Servo Drive
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.

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 drive

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)

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

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-SNCI
Drive Sync In Breakout Board

STI-SNCOA
Drive Sync Out and Analog In/Out Breakout Board

STI-24IO
Screw Terminal Interface Breakout Board

Cables

DDC-RJ45-xxx
Drive RS485 to Drive RS485

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

ETH-PATCH-xxx
Ethernet to Drive

EIO26-xxx
Epsilon EP I/O

EIO26-xxx

SNCFLOA-xxx
Drive Sync Out

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

SNCFLI-xxx
Drive Sync In

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

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

SIBAA-xxx**
Motor Feedback Cable for FM Motors

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

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

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

Software

Windows-basierte Software-Pakete von Control Techniques ermöglichen die Einbindung über Ethernet, CTNet, serielle Schnittstellen oder USB-Port. Ethernet-Kommunikationsmodule gestatten den weltweiten Fernzugriff.

Software für Inbetriebnahme und Überwachung

	CTSoft - Tool zur Gerätekonfiguration von Control Techniques Umrichtern CTSoft ist ein Softwarepaket zur Inbetriebnahme, Optimierung und Überwachung von Control Techniques Umrichtern
	CTScope - virtuelles Echtzeit-Oszilloskop CTScope ist ein virtuelles Echtzeit-Oszilloskop mit komplettem Funktionsumfang zur Darstellung und Auswertung von variablen Kenndaten des Umrichters

Software zur Programmierung von Automatisierungs- und Motion-Programmen

	SyPTPro - Programmiersoftware für Antriebs- und Automatisierungssysteme SyPTPro ist eine voll ausgestattete Programmierumgebung für integrierte SPS- und Motion-Controller in AC-, DC- und Servoantrieben von Control Techniques
	SyPTLite - Editor zur Entwicklung einfacher Programme für Control Techniques Umrichter SYPTLite ist ein Kontaktplan-Editor zur Entwicklung einfacher Programme für Umrichter und Zusatzmodule von Control Techniques
	PowerTools Pro - Für die fortgeschrittene Programmierung von Motion Control Fortgeschrittene Motion Control-Programmierung für Unidrive SP (mit dem SM-EZMotion Modul), Digitax ST-Z- und Epsilon EP, FM-3E und FM-4E-Umrichter

Auswertungssoftware

	Energy Savings Estimator - Software zur Optimierung der Energieeffizienz Unsere Software zur Energieoptimierung unterstützt Sie bei der Auswertung Ihres Energieverbrauchs in unterschiedlichen Anwendungsumgebungen und kalkuliert die Kosteneinsparungen, die durch drehzahlgeregelte Antriebe erzielt werden können
	CT Harmonic Calculator - Analyse der Oberschwingungen des Antriebssystems Das CT Harmonic Calculator Programm dient zur Berechnung von Oberschwingungen und unterstützt Sie dadurch bei der wirtschaftlich optimalen Gestaltung der Installation

Kommunikationssoftware

CTOPCServer - OPC-konformer Server
CTOPCServer ist ein OPC-konformer Server zur Kommunikation zwischen der Software Ihres PCs und Umrichtern von Control Techniques

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