Installation Manual

Epsilon EP
Servo Drive
"MOTION MADE EASY" ®

Part Number: 400518-01

Revision: B1
Date: December 29, 2017
 Epsilon EP Drive
Installation Manual

Information furnished by Control Techniques Americas is believed to be accurate and

reliable. However, no responsibility is assumed by Control Techniques Americas. Control
Techniques Americas reserves the right to change the design or operation of the equipment
described herein and any associated motion products without notice. Control Techniques
Americas 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 400518-01
Revision: B1
Date: December 29, 2017
© 2017 Control Techniques Americas a business unit of Nidec Motor Corporation.
Part Number: 400518-01
Revision: B1
Date: December 2017
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 Americas.
Control Techniques Americas is part of the Control Techniques global organization, a Nidec
Corporation business.
Control Techniques Americas is not affiliated with Microsoft Corporation, the owner of the
Microsoft, Windows, and Windows NT trademarks.
Modbus is a trademark of Schneider Electric.
Schaffner is a trademark of Schaffner
Mate-N-Lok is a trademark of Amp Incorporated Corp.
DeviceNet is a trademark of Open DeviceNet Vendor Association.

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.

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Customer Support
Control Techniques Americas
7078 Shady Oak Road
Eden Prairie, Minnesota 55344
U.S.A.
Telephone: (952) 995-8000 or (800) 893-2321
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 email found on our website, you can access Control Techniques
support information 24 hours a day, seven days a week.

FAX (952) 995-8129

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

Website and Email www.controltechniques.com

Website: www.controltechniques.com
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.

iii
Reference Materials
The following related reference manuals may be useful with your particular system.
Epsilon EP-I Indexing Drive Reference Manual (400518-02)
Epsilon EP-B Drive Reference Manual (400518-03)
Epsilon EP-P Drive Reference Manual (400518-04)
Epsilon EP-P Drive Connectivity Reference Manual (400518-05)
Epsilon EP-IDN DeviceNet Reference Manual (400518-08)

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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 this safety
information and this instruction manual carefully.

Control Techniques Epsilon EP-I and EP-IDN drives must not have configuration files downloaded while the drive
is in an "Enabled" state. "Enabled" state is defined as the state in which the Drive Enable is active (i.e. Drive Enable
input has 24 Vdc applied). The Drive must first be disabled by applying a "0" or Common GND to the Drive Enable
input before downloading configuration files to the drive via drive software. Failure to follow this procedure could
lead to unintended motion.
Once files and parameters have been changed, cautious testing of the system is needed to insure that the new
settings cause the intended motion and performance
The latest firmware can be downloaded and installed in a Control Techniques drive from
www.controltechniques.com.

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.

Enclosure
This product is intended to be mounted in an enclosure that prevents access except by qualified persons and that
prevents the ingress of contamination. This product is designed for use in an environment classified as pollution
degree 2 in accordance with IEC664-1. This means that only dry, non-conducting contamination is acceptable.

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.

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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 drive.

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

Supply isolation device

The AC supply or high voltage DC supply must be removed from the drive using an approved isolation device or
disconnect before any servicing work is performed, other than adjustments to the settings or parameters specified
in the manual. The drive contains capacitors which remain charged to a potentially lethal voltage after the supply
has been removed. Allow at least 6 minutes for Epsilon EP206/209/216 and 3 minutes for Epsilon EP202/204 after
removing the supply before carrying out any work which may involve contact with electrical connections to the
drive.

Products connected by plug and socket

A special hazard may exist where the drive is incorporated into a product which is connected to the AC supply by
a plug and socket. When unplugged, the pins of the plug may be connected to the drive input, which is only
separated from the charge stored in the bus capacitor by semiconductor devices. To avoid any possibility of
electric shock from the pins, if they are accessible, a means must be provided for automatically disconnecting the
plug from the drive (e.g., a latching contactor).

Grounding (Earthing, equipotential bonding) - High Leakage Current

The drive must be grounded by a conductor sufficient to carry all possible fault current in the event of a fault. This
equipment has high earth leakage current. You must comply with local safety regulations with respect to minimum
size and special installation requirements on the protective earth conductor for high leakage current equipment.
The ground connections shown in the manual must be followed.

Fuses
Fuses or over-current protection must be provided at the input in accordance with the instructions in the manual.
The drive alone does not provide branch circuit protection. Branch circuit protection must be provided in
accordance with the National Electrical Code and any additional local codes.

Isolation of control circuits

The installer must ensure that the external control circuits are isolated from human contact by at least one layer
of insulation rated for use at the applied AC supply voltage. External control circuits identified as PELV circuits do
not need this isolation when they are completely within a zone of equipotential bonding, generally within a single
enclosure or group of enclosures bonded together.

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Underwriters Laboratories Listed

LISTED 768R
IND. CONT. EQ.
File E 58592 Sec.5

The Epsilon Digital Servo Drives are marked with the “UL Listed” label after passing a rigorous set of design and
testing criteria developed by UL (UL508C). This label indicates that UL certifies this product to be safe when installed
according to the installation guidelines and used within the product specifications.
The “conditions of acceptability” required by UL are:
• Operating within ratings for Input Voltage, Input Current, and Output Current

Rated Output Current (Amps RMS)

Continuous
Drive Model Peak
(Full Load Amperes)
EP202 2.2 4.4
EP204 4.0 8.0
EP206 6.5 13.0
EP209 9.0 18.0
EP216 16.0 32.0

• Epsilon drive maximum surrounding air temperature 40°C (104°F) at rated Full Load Amperes (FLA)
• Epsilon drive maximum surrounding air temperature 50°C (122°F) with output current derated 15% for EP209,
20% for EP206, 10% for EP204, and no derating required for EP202 or EP216
• Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection
must be provided in accordance with the National Electrical Code and any additional local codes
• Copper only conductors with 75°C minimum insulation rating at all power and motor terminals
• EP202,EP204 and EP206 are suitable for use on a circuit capable of delivering not more than 10,000 rms
symmetrical Amperes, 240 Volts maximum, when protected by a Class RK1 fuse or equivalent. rated 15A, or
when protected by a circuit breaker having an interrupting rating not less than 10,000 rms symmetrical
Amperes, 240 Volts maximum, and a trip rating of 15 A.
• EP209 and EP216 are suitable for use on a circuit capable of delivering not more than 10,000 rms symmetrical
Amperes, 240 Volts maximum, when protected by a Class RK1 fuse or equivalent. rated 20A, or when protected
by a circuit breaker having an interrupting rating not less than 10,000 rms symmetrical Amperes, 240 Volts
maximum, and a trip rating of 20 A.
• Logic power and I/O power are to be supplied with a UL listed or "recognized component" power supply rated
as limited voltage/limited current or limited voltage/limited power
• The following warning is presented here and furnished on a label to be placed on the enclosure door

Drive has high fault current rating. The opening of the branch circuit protective device may be an indication that
a fault current has been interrupted. All current carrying parts and other components protected by this device
should be examined and replaced if damaged. If burn-out of the current element of an overload relay occurs,
the complete overload relay must be replaced.

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Drive Overload Protection

Solid state motor overload protection is provided in each model at no more than 115% of rated FLA. This overload
protection is based on maximum continuous output current capacity. It will allow up to 200 percent of drive FLA to
be delivered for the amount of time determined by the following chart.

Drive Output Current vs. Time graph

60

50

40

Time (seconds)
30

20

10

0
100 125 150 175 200
% Drive Rated Current

When motor rated FLA is less than drive FLA, the motor FLA parameter is to be entered into drive configuration.
Drive will then provide motor overload protection at correct value.

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CE Declaration of Conformity

Control Techniques Ltd Moteurs Leroy-Somer

The Gro Usine des Agriers
Newtown Boulevard Marcellin Leroy
SY16 3BE 16915 Angouleme Cedex 9
UK France
This declaration is issued under the sole responsibility of the manufacturer. The object of the declaration is in
conformity with the relevant European Union harmonisation legislation. The declaration applies to the variable
speed drive products shown below:

Product Range Epsilon EP Digital Servo Drive

EP202-B00, EP202-I00, EP202-IDN, EP202-P00, EP202-PDN, EP202-PPB,
EP204-B00, EP204-I00, EP204-IDN, EP204-P00, EP204-PDN, EP204-PPB,
Model Number EP206-B00, EP206-I00, EP206-IDN, EP206-P00, EP206-PDN, EP206-PPB,
EP209-B00, EP209-I00, EP209-IDN, EP209-P00, EP209-PDN, EP209-PPB,
EP216-B00, EP216-I00, EP216-IDN, EP216-P00, EP216-PDN, EP216-PPB
STI-24IO Interface Board
STI-SNCOA Analog/Sync Output Interface Board
System Options STI-SNCI Sync Input Interface Board
BRM-1 Motor Brake Relay
SM-Heatsink DBR1 Brake Resistor
The model number may be followed by other characters that do not affect the ratings.
The variable speed drive products listed above have been designed and manufactured in accordance with the
following European harmonised standards:
Adjustable speed electrical power drive systems - Part 5-1: Safety
EN 61800-5-1:2007 requirements - Electrical, thermal and energy
Adjustable speed electrical power drive systems - Part 3: EMC requirements
EN 61800-3: 2004+A1:2012 and specific test methods
Electromagnetic compatibility (EMC) - Part 6-2: Generic standards - Immunity
EN 61000-6-2: 2005 for industrial environments
Electromagnetic compatibility (EMC) - Part 6-4: Generic standards - Emission
EN 61000-6-4: 2007+ A1:2011 standard for industrial environments
Electromagnetic compatibility (EMC) - Part 3-2: Limits for harmonic current
EN 61000-3-2:2014 emissions (equipment input current ≤16 A per phase)
EN 61000-3-3:2013 Electromagnetic compatibility (EMC) - Part 3-3: Limitation of voltage changes,
voltage fluctuations and flicker in public, low voltage supply systems, for
equipment with rated current ≤16A per phase and not subject to conditional
connection
EN 61000-3-2: 2014 Applicable where input current < 16A. No limits apply for professional equipment where input power ≥ 1kW.
These products comply with the Restriction of Hazardous Substances Directive (2011/65/EU), the Low Voltage Directive
(2014/35/EU) and the Electromagnetic Compatibility Directive (2014/30/EU).

G Williams
Vice President, Technology
Date: 26th September 2016
These electronic drive products are intended to be used with appropriate motors, controllers, electrical protection
components and other equipment to form complete end products or systems. Compliance with safety and EMC
regulations depends upon installing and configuring drives correctly, including using the specified input filters.
The drives must be installed only by professional installers who are familiar with requirements for safety and EMC.
Refer to the Product Documentation. The assembler is responsible for ensuring that the end product or system
complies with all the relevant laws in the country where it is to be used.

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 Table of Contents
Customer Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Reference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv

Safety Information v
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Qualified Person . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Setup, Commissioning and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Safety of Machinery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Identification of Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
Underwriters Laboratories Listed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix
Drive Overload Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . x
CE Declaration of Conformity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi

Product Overview 1
Epsilon EP Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Installation 3
Step 1: Basic Installation Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Achieving Low Impedance Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Electrostatic Discharge (ESD) Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Environmental Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Wiring Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Panel Layout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Cable to Enclosure Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Step 2: Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Step 3: High Power Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
System Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
AC Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Transformer Sizing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Line Fusing and Wire Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
AC Input Power Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Operation on DC Input Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
External Shunt Electrical Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Motor Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Step 4: Low Power Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

xiii
 DC Logic Power Supply Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Motor Feedback Wiring (J6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Motor Brake Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Input/Output and Drive Enable Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Analog Command Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Encoder Output Signal Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Diagnostics and Troubleshooting 51

Diagnostic Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Status Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Fault Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Diagnostic Analog Output Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Drive Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Options and Accessories 59

Epsilon EP Drive Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
STI-24IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
STI-SNCOA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
STI-SNCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
STI-ENC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Specifications 65
Epsilon EP Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Epsilon EP Drive Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Cable Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
XV Motor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
NT and MG Motor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Sync Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Communications Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Index 87

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Product Overview
Epsilon EP Drive
The Epsilon EP drive is a stand-alone, fully digital brushless servo drive 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) inertia mismatches are possible with two
simple parameter settings.
The Epsilon EP drive can be quickly configured to many applications in less than 5 minutes with PowerTools Pro
software on a PC running Windows® 98, NT 4.0, 2000, ME and XP.
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.

Shunt Connector (J8)

Status/Diagnostic Display

Reset Button

AC Power Connections
Motor Connections
24 Vdc Logic Power Supply Connections

Serial
Connectors (J2) DeviceNet Connector (J9)
Ethernet
(EP-IDN or EP-PDN only)
Connector (J4)
(EP-Pxx only)
Digital I/O Connector (J3)

Model Number, Part Number,

Revision and Serial Number Label

Sync Input Connector (J10)

Analog/Sync Output
Connector (J5) Encoder Feedback Connector (J6)

Figure 1: Epsilon EP-PDN Drive Feature Location

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Shunt Connector (J8)

Status/Diagnostic Display
24 Vdc Logic Power
Reset Button Supply Connector

AC Power Connections
Serial
Connectors (J2) Motor Power Connections

Ethernet Connector (J4) Model Number, Part Number,

(EP-Pxx only) Revision and Serial Number Label
Sync Input Connector (J10)
Digital I/O Connector (J3)
Profibus Connector (J13)
(EP-PPB only)

Analog/Sync Output
Encoder Feedback Connector (J6)
Connector (J5)

Figure 2: Epsilon EP216 Drive Feature Location

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

Drive Model Continuous Power Rating Continuous Current Peak Current

Epsilon EP202 775 W 2.2 A RMS 4.4 A RMS
Epsilon EP204 1275 W 4.0 A RMS 8.0 A RMS
Epsilon EP206 1775 W 6.5 A RMS 13.0 A RMS
Epsilon EP209 2325 W 9.0 A RMS 18.0 A RMS
Epsilon EP216 4800 W 16.0 A RMS 32.0 A RMS

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Installation
Installation of the Epsilon EP drive is completed by following a simple step-by-step process. The Epsilon EP
installation begins by mounting the drive to a metal mounting panel. Next, the high power connections are made to
the drive, then the low power connections are made.
Step 1: Basic Installation and Panel Layout, page 3
Step 2: Mechanical Installation, page 8
Step 3: High Power Connections, page 13
Step 4: Low Power Connections, page 31

Step 1: Basic Installation Guidelines

You are required to follow all safety precautions during start-up such as providing proper equipment grounding,
correctly fused power and an effective Emergency Stop circuit which can immediately remove power in the case of
a malfunction. See the "Safety Considerations" section for more information.

Electromagnetic Compatibility (EMC)

Drives are designed to meet the requirements of EMC. Under extreme conditions a drive might cause or suffer from
disturbances due to electromagnetic interaction with other equipment. It is the responsibility of the installer to ensure
that the equipment or system into which the drive is incorporated complies with the relevant EMC legislation in the
country of use.
The following instructions provide you with installation guidance designed to help you meet the requirements of the
EMC Directive 89/336/EEC.
Adhering to the following guidelines will greatly improve the electromagnetic compatibility of your system, however,
final responsibility for EMC compliance rests with the machine builder, and Control Techniques Americas LLC cannot
guarantee your system will meet tested emission or immunity requirements.
If you need to meet EMC compliance requirements, EMI/RFI line filters must be used to control conducted and
radiated emissions as well as improve conducted immunity.
Physical location of these filters is very important in achieving these benefits. The filter output wires should be kept
as short as practical and routed away from the filter input wires. In addition:
• Choose an enclosure made of a conductive material such as steel, aluminum or stainless steel.
• Devices mounted to the enclosure mounting plate, which depend on their mounting surfaces for grounding,
must have the paint removed from their mounting surfaces and the mating area on the mounting plate to ensure
a good ground. See “Achieving Low Impedance Connections” on page 3 for more information.
• If grounding is required for cable grommets, connectors and/or conduit fittings at locations where cables are
mounted through the enclosure wall, paint must be removed from the enclosure surface at the contact points.
• Cables should be shielded, and all shields must be grounded to the enclosure.
To meet radiated emissions requirements, the enclosure door must be closed and have electrical conduction at
hinges and closure hardware or be fitted with a conductive gasket. Route cables away from the door where possible
to minimize coupling emissions to door where they can re-radiate. The door generally must be bonded to the
enclosure for electrical safety, but this is not sufficient to meet EMC.

Achieving Low Impedance Connections

Noise immunity can be improved and emissions reduced by making sure that all the components have a low
impedance connection to the same ground point. A low impedance connection is one that conducts high frequency
current with very little resistance. Impedance cannot be accurately measured with a standard ohmmeter, because
an ohmmeter measures DC resistance. For example, a 12 inch long 8 gauge round wire has a significantly higher
impedance than a 12 inch long 12 gauge flat braided conductor. A short wire has less impedance than a long one.
Multiple connections such as at the four corners of a plate provide much lower impedance than a single connection.
Straight line connections provide much lower impedance than ones with bends or corners.
Low impedance connections can be achieved by bringing large areas of conductive surfaces into direct contact with
each other. In most cases this requires paint removal because a ground connection through bolt threads is not
sufficient. However, component materials should be conductive, compatible and exhibit good atmospheric corrosion

Installation 3
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resistance to prevent loss through corrosion that will hinder the low impedance connection. Enclosure manufacturers
offer corrosion resistant, unpainted mounting plates to help.
Bringing components into direct contact cannot always be achieved. In these situations a conductor must be relied
upon to provide a low impedance path between components. Remember a flat braided wire has lower impedance
than a round wire of a large gauge rating.
A low impedance connection should exist between the following components, but not limited to:
• Enclosure and mounting plate
• Enclosure and door, if door does not have RF gaskets
• Servo drive chassis and mounting plate
• EMI/RFI AC line filter chassis and mounting plate
• Other interface equipment chassis and mounting plate
• Cable shields and enclosure, or terminal block, or connector
• Enclosure and conduit fittings or electrical connectors
• Enclosure mounting plate and earth ground
• Motor frame and conduit fittings or electrical connectors
• Encoder chassis and electrical connector

Electrostatic Discharge (ESD) Protection

Do not allow ESD to the drive while operating.

Though no damage occurs with electrostatic discharge at levels tested for EMC compliance, ESD directly to the drive
cover can interrupt proper drive operation. ESD to terminals on the breakout boards has not been evaluated because
wiring to these terminals is a maintenance activity. When doing any maintenance activity, make sure static electric
charge is drained off by touching the enclosure away from the drive before contacting the drive or its wiring terminals.
Use of ground straps or other techniques to prevent static buildup is a necessary part of any maintenance activity.

Environmental Considerations
The drive is rated to operate only in a pollution degree 2 environment, meaning that normally only non-conductive
pollution occurs and there is no condensation, but occasional condensation may occur when not operating.
If the installation environment contains atmospheric contaminants such as moisture, oils, conductive dust, chemical
contaminants and metallic particles, you must mount it vertically in a metal NEMA type 12 enclosure.
To prevent operation with condensation present, it is best to energize the logic power several minutes before
applying main power or keep logic power applied continuously.
If the ambient temperature inside the enclosure will exceed 40°C (104°F), you must consider forced air cooling.

It is necessary to maintain the drive surrounding air temperature at 40°C (104°F) or 50°C (122ºF) with
appropriate derating or below to maintain the drive UL ratings. See “Specifications” on page 65.for derating
by model.
The amount of cooling depends on the size of the enclosure, the thermal transfer of the enclosure to the ambient air
and the amount of power being dissipated inside the enclosure. Consult your enclosure manufacturer for assistance
with determining cooling requirements.
The power dissipated by a EP202-P is 35 W, a EP204-P is 55 W, a EP-206-P is 85 W, a EP209-P is 115 W and a
EP216 is 200 W. The power dissipation values includes up to 12 W of power from the logic power supply.

Wiring Notes
• To avoid problems associated with EMI (electromagnetic interference), you should route high power lines (AC
input power and motor power) away from low power lines (encoder feedback, serial communications, etc.).

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• If a neutral wire (not the same as Earth Ground) is supplied from the building distribution panel, it should never
be bonded with PE wire in the enclosure.
• You should consider future troubleshooting and repair when installing all wiring. All wiring should be either color
coded and/or tagged with industrial wire tabs.
• As a general rule, the minimum cable bend radius is ten times the cable outer diameter.
• All wiring and cables, stationary and moving, must be protected from abrasion.
• Ground wires should not be shared or "daisy-chained" with other equipment.
• Ensure that full metal to metal surface contact is made between the enclosure ground lug and the metal
enclosure, not simply through the mounting bolt and threads.
• All inductive coils must be suppressed with appropriate devices, such as diodes or resistor/capacitor (RC)
networks, except as described in this manual.
• If using a non-shielded Ethernet cable, install a clamp on ferrite, Control Techniques part number 157016-07,
Steward 28A0593-0A2 or equivalent.

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Panel Layout
NEMA Enclosure
Metallic
Raceway
PE
Filter
AC In Fuses
L2
Bonded to mounting plate
L1 and enclosure wall

External Encoder
Drive

Through wall shield grommets

Customer supplied
terminal strip (optional)
Connect shield through
and to mounting plate

Motor Feedback Cable

Motor Power Cable

Motor

Figure 3: AC Filter and Cable Connections

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Cable to Enclosure Shielding

Shielded motor, feedback, serial communications and external encoder cables were used for compliance testing and
are necessary to meet the EMC requirements. Each cable shield was grounded at the enclosure wall by the type of
grommet described earlier and shown in the following figure.

Outside Enclosure Inside Enclosure

O-Ring seals against outside of enclosure
to meet IP68 (comparable to NEMA 6)
Spring Contacts
When Lock Nut is tightened to inside of
enclosure, lock nut will cut through varnished,
anodized, and powder coated finishes.
Cable Shielding
Tighten lock nut so it cuts through the
finish and into housing.

Cable Jacket

Remove 1/2 to 1 inch of cable jacket.

The Spring Contacts will make a continuous
electrical path from the shield of the cable to
equipment ground.

After tightening lock nut and positioning cable

so that Spring Contacts are contacting the
cable shield, tighten Cable Seal Housing.

Figure 4: Through Wall Shield Grommet

Shielded Cable Grommet
Cable Type Cable Model Actual Hole Size
Kit Model
Motor Cable, 18 Ga XTMDS CGS-047 0.8125 or 13/16"
CMDS CGS-047 0.8125 or 13/16"
Motor Cable, 16 Ga
4X16SS CGS-047 0.8125 or 13/16"
Motor Cable, 18 Ga XCMDS CGS-047 0.8125 or 13/16"
CMMS CGS-069 1.125 or 1 1/8"
Motor Cable, 12 Ga
4X12SS CGS-069 1.125 or 1 1/8"
CFOS CGS-047 0.8125 or 13/16"
Feedback Cable
MGFS CGS-047 0.8125 or 13/16"
CMDF CGS-047 0.8125 or 13/16"
Flex Motor Cable, 16 Ga
4X16SF CGS-047 0.8125 or 13/16"
CMMF CGS-069 1.125 or 1 1/8"
Flex Motor Cable, 12 Ga
4X12SF CGS-069 1.125 or 1 1/8"
CFCF CGS-069 1.125 or 1 1/8"
Flex Feedback Cable CFOF CGS-069 1.125 or 1 1/8"
MGFF CGS-069 1.125 or 1 1/8"
External Encoder ENCO CGS-047 0.8125 or 13/16"
AC Power user supplied user supplied user supplied

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AC Line Filters
The AC line filters are necessary to comply with EMC emission and immunity standards. The drive was tested with
the filters presented in the table below and recommended by Control Techniques.

Epsilon EP Part # Control Techniques Part # Rating

Schaffner FN2070-10/06 960307-01 10 A, 240 V, 1 Ø
EP202, EP204
Schaffner FS5278-16/08 960305-01
16 A, 240 V, 1 Ø
EP206 Schaffner FS5278-16/08 960305-01
EP209 Corcom 20EQ1 960308-01 20 A, 240 V, 1 Ø
EP216 Schaffner FN3258-16-44 960310-01 16 A, 480 V, 3 Ø

The following filters are a suitable alternative:

Epsilon EP Part # Control Techniques Part # Rating

EP202 Schaffner FN2070-6/06 6 A, 240 V, 1 Ø
EP202, EP204, EP206 Corcom 20EQ1 20 A, 240 V, 1 Ø
EP206 Schaffner FN2070M-16/08 16 A, 240 V, 1 Ø
EP209 Schaffner FN2070-25/08 25 A, 240 V, 1 Ø
Schaffner FN3270H-20-29 20 A, 480 V, 3 Ø
EP216
Schaffner FN258/16 960304-01 16 A, 480 V, 3 Ø

AC Line Filter Installation Notes

• It is important to keep the filter inputs routed away from any electrical noise sources.
• EMC criteria can be met in installations where multiple drives are supplied through a single filter, however, it is
the installers responsibility to verify EMC compliance.

Step 2: Mechanical Installation

The drive must be back mounted vertically on a metal mounting panel such as a NEMA enclosure, Additional space
is necessary above and below the drive for wiring and cable connections.
To allow sufficient air flow for cooling, leave at least 0.25" [6.3 mm] clear space on vented cover (left) side plus 0.50"
[12.7 mm] on heatsink (right) side. Leave additional space if cables are routed through this space.

When drilling holes in mounting plate or trimming wires during installation of this or other equipment, do not
allow drill shavings or wire trimmings to enter the EP drive. Such foreign objects can compromise electrical
isolation creating a hazard or result in equipment failure.

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The following table applies to the "A" dimension as shown in figure 5 below for the EP202 - EP206 base and indexing
drives.

Dimension "A" Minimum Panel Width

Drive Model
inches [mm] inches [mm]
EP202-B, -I, -IDN 2.11 [53.59] 2.90 [74]
EP204-B, -I, -IDN 2.11 [53.59] 2.90 [74]
EP206-B, -I, -IDN 2.82 [71.63] 3.60 [91]

“A”
5.94
2.11
[150.88] [53.59]
5.22 1.20
[132.59] [30.48]
0.45 (4X)Ø.219
[23.4] [5.56]
.200
[5.08]

8.099
[205.72]

7.70
[195.58]

Figure 5: Mechanical Drawing for Epsilon EP202-206 Base and Indexing Drives

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The following table applies to the "A" dimension as shown in figure 6 for the EP202 - EP206 programming drives.

Dimension "A" Minimum Panel Width

Drive Model
inches [mm] inches [mm]
EP202-P, -PDN, -PPB 2.69 [68.3] 3.45 [88]
EP204-P, -PDN, -PPB 2.69 [68.3] 3.45 [88]
EP206-P, -PDN, -PPB 3.40 [86.4] 4.15 [105]

“A”
5.94
2.69
[150.88] [68.3]
5.22
1.03 1.20
[132.59] [30.48]
[26.16]
(4X)Ø.219
[5.56]
.200
[5.08]

8.099
[205.72]
7.70
[195.58]

Figure 6: Mechanical Drawing for Epsilon EP202-206 Programming Drive

To prevent drive from dropping out of position during installation, partially pre-install lower mounting screws,
then set drive in place with lower mounting screws in slots and then install at least one upper mounting screw.
For removal, loosen lower screws, remove upper screws and lift drive out.

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The following table applies to the minimum panel width for the EP209 drive.

Minimum Panel Width

Drive Model
inches [mm]
EP209-B, -I, -IDN, -P, -PDN, -PPB 4.15 (105)

3.40
5.94 [86.36]
[150.88]
5.86 2.69
[148.85] [68.33]
5.23 1.03 1.20
[132.84] [26.16] [30.48]

0.20 [5.08]

4X Ø.219

9.60
[243.84]
9.20
[233.68]

EP209-XXX-XX00
9606XX-XX A1
SN 0610E014

Figure 7: Mechanical Drawing for All Epsilon EP209 Models (EP209-PDN shown)

To prevent drive from dropping out of position during installation, partially pre-install lower mounting screws,
then set drive in place with lower mounting screws in slots and then install at least one upper mounting screw.
For removal, loosen lower screws, remove upper screws and lift drive out.

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The following table applies to the minimum panel width for the EP216 drive.

Minimum Panel Width

Drive Model
inches [mm]
EP216-B, -I, -IDN, -P, -PDN, -PPB 4.15 (105)

3.40
[86.36]
5.96
[151.38] 1.03 1.20
[26.16] [30.48]
5.23
[132.84]

9.60 9.20
[243.84] [233.68]

Figure 8: Mechanical Drawing for All Epsilon EP216 Models (EP216-PDN shown)

To prevent drive from dropping out of position during installation, partially pre-install lower mounting screws,
then set drive in place with lower mounting screws in slots and then install at least one upper mounting screw.
For removal, loosen lower screws, remove upper screws and lift drive out.

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Step 3: High Power Connections

System Grounding
To insure a safe and quiet electrical installation, good system grounding is imperative. The figure below is an
overview of the recommended system grounding. For more information on achieving an electrically quiet installation
refer to “Step 1: Basic Installation Guidelines” on page 3.

Conduit or
Metal
Raceway

AC Power Supply

Enclosure

To Enclosure Door
Door Bond Wire
Conduit Raceway Bond
Fuses

Redundant PE
Connection 3 Phase
Single Point Ground
(Bonded to Enclosure) Line Power

PE PE
Connection Connection

Control
J8
Transformer
Logic
Epsilon EP
Output
Power reset
L1

Supply L2
PE

24 Vdc
R
serial (J2)

Neutral Hot
motor

+
logic

+ -
3 MIN
digital i/o (J3)

EP209-I00-0000
9606XX-XX A1
SN 0610E014

EP204-I00-0000
9606XX-XX A1
SN 0610E014

J5 J10 J6

Epsilon Epsilon
Drive EP202-206 Convenience
Drive Outlet
Epsilon
EP209
Drive

Motor Motor

NOTE: The aluminum heatsink is electrically connected to the PE terminal.

Figure 9: Typical System Grounding Diagram

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Fixed Protective Earth (PE) connections are mandatory for human safety and proper operation. These
connections must not be fused or interrupted by any means. Failure to follow proper PE wiring can cause
death or serious injury. This equipment has high earth leakage current and requires a redundant PE
connection from either terminal marked PE at J8 to PE connection point.

AC Power Requirements
The Epsilon EP drives require 20 Vac to 264 Vac single phase power but, may operate on DC supplies, (See
Operation on DC Supply). An Epsilon EP drive can be connected to any pair of power phases on a 1 Ø or 3 Ø power
source that is grounded as shown in the following diagrams. Local electrical codes should be consulted before
installation.
When operating the drive at 90 V or less disable the Low DC Bus fault so the drive does not fault.

Where regeneration occurs, bus voltage will rise to 400 Vdc before shunt operation or a High DC Bus fault
limit voltage, whether shunt resistor is installed or not. Motors must have insulation rated for inverter duty at
240 Vac no matter what the operating voltage is, or bus voltage must be limited by other means.

The maximum voltage applied to the drive terminals must not exceed 264 Vac phase to phase and phase to
PE ground. The AC supply must be earthed (type TN) with PE connected to the earthed point at the source,
which is usually a distribution transformer but could be a service entrance.

AC Supplies NOT Requiring Transformers

If the distribution transformer is configured as shown in the figures below, the AC power supply can be connected
directly to the drive terminals.
DISTRIBUTION PANEL

L3

SECONDARY L2

To Fusing and
Typ. 208 Vac Drive Terminals

L1
120 Vac
PE
(Protective Earth)
EARTH
GROUND N
Neutral is used only when 120 Vac operation
is desired. It is never fused.

Figure 10: Earth Grounded WYE Distribution Transformer, 120/208Y 3Ø

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DISTRIBUTION PANEL

L3

SECONDARY
L2

230 Vac
To Fusing and
Drive Terminals
L1
No Fuse (N)

PE
(Protective Earth)
EARTH
GROUND

NOTE: For single phase drives using lines L1 & L2 or L1 & L3, only one fuse is
required on the high leg (L2 or L3). Lines L2 & L3 may be used to balance
the load, requiring two fuses.

Figure 11: Earth Grounded Delta Distribution Transformer, 240 Vac 3Ø

DISTRIBUTION PANEL

L3

SECONDARY
Typ. 240 Vac

L2

L1

PE
(Protective Earth)
EARTH
GROUND N
Used only for 120 Vac operation
with L1 or L2.
NOTE: L3 is a high leg, 208 Vac from Neutral/PE.
For single phase drives it is best to use lines L1 and L2.
L1 & L3 or L2 & L3 maybe used to balance loads.

Figure 12: Three Phase Delta (with mid-phase GND) Distribution,

120 Vac split/240 Vac 3Ø supply
AC Supplies Requiring Transformers
If the distribution transformer is configured as shown in the figures below, an isolation transformer is required.
If an isolation transformer is used between the power distribution point and the drives, the transformer secondary
must be grounded for safety reasons as shown in the figures below.

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DISTRIBUTION PANEL 3 Ø Isolation Transformer

L3

L2

To Fusing and
Drive Terminals

L1
N

EARTH PE
GROUND (Protective Earth)

Figure 13: Three-Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE

Isolation Transformer

DISTRIBUTION PANEL
3 Ø Isolation Transformer

L3

L2
To Fusing and
Drive Terminals
No Fuse
L1

EARTH PE
GROUND (Protective Earth)

Figure 14: Three-Phase Delta (ungrounded) Distribution to a Three-Phase Delta

Isolation Transformer

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DISTRIBUTION PANEL 3 Ø Isolation Step Down Transformer

L3

L2

To Fusing and
> 140 Vac Drive Terminals

L1
N

EARTH PE
GROUND (Protective Earth)

Figure 15: Grounded WYE Distribution >140 Vac Phase to Neutral. Recommend Using
Step Down Transformer so Line to Line is 240 Vac or less.

Fuse
L1

To Drive
Terminals
L2

Fuse
L1

To Drive
Terminals
L2
Fuse

Figure 16: Single Phase Power Supply Connections

Transformer Sizing
If your application requires a transformer, choose a transformer with a continuous power rating greater then the
maximum power usage of the drive/motor combination. Other factors that may influence the required KVA rating are
high transformer ambient temperatures (>40° C or >104° F) and drive operation near the maximum speeds.
Transformer output voltage drop may become a limiting factor at motor speeds and loads near maximum ratings.
Typically, higher KVA transformers have lower voltage drop due to lower impedance.
When multiple drives are connected to a single isolation transformer, add the suggested KVA ratings of the drives
that would be operating simultaneously together for transformer sizing.

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Line Fusing and Wire Size

You must incorporate over current protection for the incoming AC power with the rating shown here. The drive alone
does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National
Electrical Code and any additional local codes.

Fuse Miniature Circuit Breaker

Recommended
Drive Model Minimum AC/PE Ferraz-
Line Wire Gauge Fuse Class & Action Bussmann Allen Bradley Square D
Shawmut
RK1 Time-Delay LPN-RK-6SP A2D6R 1489-A1D060 60124
RK1 Quick-Acting KTN-R-6 A2K6R 6 A, 1 pole 6 A. 1 pole
16 AWG
EP202
ISO 1,5 CC Time-Delay LP-CC-6 ATDR6 1489-A2 D060 60158
CC Quick-Acting KTK-R-6 ATMR6 6 A, 2 pole 6 A, 2 pole

RK1 Time-Delay LPN-RK-10SP A2D10R 1489-A1D100 60127

RK1 Quick-Acting KTN-R-10 A2K10R 10 A, 1 pole 10 A, 1 pole
16 AWG
EP204
ISO 1,5 CC Time-Delay LP-CC-10 ATDR10 1489-A2D100 60161
CC Quick-Acting KTK-R-10 ATMR10 10 A, 2 pole 10 A, 2 pole

RK1 Time-Delay LPN-RK-15SP A2D15R 1489-A1D150 60129

RK1 Quick-Acting KTN-R-15 A2K15R 15 A, 1 pole 15 A, 1 pole
14 AWG
EP206
ISO 2,5 CC Time-Delay LP-CC-15 ATDR15 1489-A2D150 60163
CC Quick-Acting KTK-R-15 ATMR15 15 A, 2 pole 15 A, 2 pole

RK1 Time-Delay LPN-RK-20SP A2D20R 1489-A1D200 60130

RK1 Quick-Acting KTN-R-20 A2K20R 20 A, 1 pole 20 A, 1 pole
12 AWG
EP209
ISO 4 CC Time-Delay LP-CC-20 ATDR20 1489-A2D200 60164
CC Quick-Acting KTK-R-20 ATMR20 20 A, 2 pole 20 A, 2 pole

RK1 Time-Delay LPN-RK-20SP A2D20R 1489-A1D200 60130

RK1 Quick-Acting KTN-R-20 A2K20R 20 A, 1 pole 20 A, 1 pole

12 AWG CC Time-Delay LP-CC-20 ATDR20 1489-A2D200 60164

EP216
ISO 4 20 A, 2 pole 20 A, 2 pole
CC Quick-Acting KTK-R-20 ATMR20
1489-A3D200 60196
20 A, 3 pole 20 A, 3 pole

Use copper conductors only. Conductors must be rated 75°C or higher, preferably 90°C.
Suitable for use on a circuit capable of delivering not more than 10,000 rms symmetrical Amperes. When one of the
above current protection devices are used.

The Protective Earth (PE) wire connection is mandatory for human safety and proper operation. This
connection must not be fused or interrupted by any means. Failure to follow proper PE wiring can cause death
or serious injury.

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Frequency Input Current (Amps RMS) at Inrush Current

Drive Model Input Voltage (Vac)
(Hz) Full Drive Output Current (Amps)
EP202 5.0 40 (5 ms)
EP204 8.5 65 (5 ms)
240 / 1 Ø
EP206 12.0 100 (5 ms)
47 - 63
EP209 16.0 34 (5 ms)
240 / 3 Ø or
EP216 16.0 34 (5 ms)
240 / 1 Ø

This inrush current specification assumes the drive has been powered off for at least 8 minutes at 40ºC (104ºF)
ambient or 5 minutes at 25ºC (77ºF) ambient. If this amount of time has not elapsed since power off, the inrush
current will be higher. Exception is the EP209 and EP216, they use active inrush limiting. Listed inrush current is
maximum.

AC Input Power Connections

Power must be "Off" for a minimum of 6 minutes for the Epsilon EP206, EP209 and EP216 drives and 3
minutes for the Epsilon EP202 and EP204 drives before unplugging the power connection. This will ensure the
bus voltage has bled down to a safe level (below 50 Vdc).

Do not connect or disconnect AC power by inserting or removing the AC power connector. Using the
connector in this manner, even once, will damage the connector making it unusable.

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B+ PE SH PE B-
Front View PE Redundant PE connection

J8

L1 L1
50/60 Hz
L2 L2 *
90-264 Vac
PE PE
R

MOTOR
S
Tighten screws
T
to 5 in-lb.

24 Vdc
J1
EP204-I00-0000 Terminals are suitable for one 16 AWG to 12 AWG
or ISO 1,5 or ISO 2,5 stranded conductors.
9606XX-XX A1
SN 0610E014

* Note: If L2 is 120 Vac neutral it should not be fused.

Figure 17: Epsilon EP202-206 AC Power Wiring Diagram

B+ PE SH PE B-

PE Redundant PE connection

J8

L1
50/60 Hz
L2 *
90-264 Vac
PE

Tighten screws
to 5 in-lb.
J1
Terminals are suitable for one 16 AWG to 12 AWG
or ISO 1,5 or ISO 4 stranded conductors.
EP209-I00-0000
9606XX-XX A1
SN 0610E014

* Note: If L2 is 120 Vac neutral it should not be fused.

Figure 18: Epsilon EP209 AC Power Wiring Diagram

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Accessories

B+ PE SH PE B-
PE Redundant PE connection

J8

L1
L1
L2 L2* 50/60 Hz
L3 L3* 90-264 Vac

PE PE

R
Tighten screws
to 5 in-lb.

MOTOR
S
T

Terminals are suitable for one 16 AWG to 10 AWG

or ISO 1,5 to ISO 6 stranded conductors.

* Note: If L2 or L3 is 120Vac Neutral it should not be fused.

Figure 19: Epsilon EP216 AC Power Wiring Diagram

Operation on DC Input Supply

At this time, the EP drive is NOT UL listed for operation on a DC input supply,
The Epsilon EP202, EP204 and EP206 drive can operate on DC input as low as 20 Vdc, recommended minimum is
24 Vdc. The Epsilon EP209 and EP216 drive’s minimum is 140 Vdc. It can also operate from a common DC link with
voltage to 373 Vdc, the voltage resulting from 264 Vac applied to a rectifier, with regen to 400 Vdc intermittently.
For DC input supply less than 24 Vdc, the DC input should be connected to the B+ and B- terminals at J8 to avoid
losses in the rectifier and inrush limiter. At such low voltages the bus caps do not need inrush protection. For DC
supply greater than 24 Vdc, the supply should be connected to L1 and L2 terminals on J1. Polarity does not matter.
The rectifier blocks reverse current so regen energy will not come back to the supply. DC supply greater than 24 Vdc
may be applied to the B+ and B- terminals of J8, but the supply must provide soft-start or inrush current limiting and
must be able to handle any anticipated regen energy.
Both supply conductors must be fused except one that is grounded. The fuse must be rated for at least the voltage
applied. The current rating of the fuse should match the rated output current of the drive. A slow-blow fuse should
be used if high peak loads are expected.

Please contact Technical Support at Control Techniques Americas before connecting any EP drives with a
common DC link.

Installation 21
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Accessories

External Shunt Electrical Installation

Shunt connections at J8 remain at dangerous Voltages after disconnecting AC Power. Power must be "Off"
for a minimum of 6 minutes for an EP206/209/216 and 3 minutes for an EP202/204 before touching these
terminals.

The EP204, EP206, EP209, and EP216 drives provide an internal shunt transistor to direct regen energy to an
external shunt or braking resistor. The resistor is connected to the B+ and SH terminals at J8 on the top of the drive.

Shunt Control
The shunt transistor turns on when the bus voltage reaches 405 Vdc and shuts off when the bus voltage falls below
390 Vdc. An internal shunt control algorithm is used to prevent the external shunt resistor from overloading. It is
necessary to enter shunt energy rating, power rating and resistance for the attached shunt resistor in PowerTools
Pro software. Energy rating is the amount of energy that the resistor can absorb in a single shunt event assumed to
be so short that power dissipation is negligible. Power rating is the long term average power that can be dissipated.
PowerTools Pro default values are for the Control Techniques "SM-Heatsink DBR-1" resistor kit, marked P/N 1220-
2756-01 on the resistor.

External Shunt Resistor

Control Techniques offers an external shunt resistor kit, SM-Heatsink DBR-1, that attaches directly to the EP drive
heatsink. The resistance is 75 Ohms and has 1500 Joule energy rating and 50 W continuous power rating. It is
adequate for most infrequent machine stop sequences due to relatively high energy rating for its power rating. It
should be suitable for any EP204 application unless average power exceeds 50 W for repetitive cycles. For EP206,
EP209 and EP216, some applications may require lower resistance to prevent a high bus fault or higher energy
rating for a single event, as well as higher average power rating. The resistor in the kit is designed to eventually open
in the event of a shorted control transistor when operating with an AC input greater than 200 Vac. At this time the kit
should be used only when the drive is operating at 200 Vac to 240 Vac.
A different external shunt resistor should be used if average power is above 50 W, or other limits are exceeded as
described above. Higher power resistors should be mounted away from the drive to prevent overheating. If thermal
loading inside a cabinet is an issue, a resistor with suitable enclosure may be installed external to the drive enclosure.
The minimum resistance for an external shunt resistor is 33 Ohms. The resistor must have thermal overload
protection to remove power in the event of a shorted control transistor. The protection can simply open the circuit, in
which case a high bus fault will occur, or be wired to a contactor that isolates input power from the drive on overtemp.

Shunt Resistor Kit Installation

The SM-Heatsink DBR-1 attaches to the side of the EP204, EP206, EP209, or EP216 drive by lining up the two
captive screws to the special width slots in the heat sink. The exact position along the slot does not matter as long
as the body of the resistor does not extend beyond the top or bottom of the drive. Use a T-20 Torx driver to thread
the screws into position. After both are well started but not tight, carefully turn each screw until it is seated against
the resistor and the resistor back is seated against the heat sink. Then turn the screw 1/8 turn more. Do not
overtighten.
Strip 0.12 inch [3.0 mm] insulation from the ends of the resistor wires. Install the wires in the SH and B+ terminals of
J8 and tighten to 5 in-lb. Make sure the locking screws are installed on J8 to prevent the connector from pulling out.

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Accessories

SELF TAPPING SCREW (2)

B+ PE SH PE B-

B+ SH

Figure 20:Shunt Resistor Installation for the Epsilon EP and SM-Heatsink DBR-1 Kit

Do Not make any shunt resistor connections to B-.

Shunt connections are at main voltage potential. Components connected must be rated for the voltage and
selected for safety. The external shunt resistor must have protection for a failed ON state of the shunt control.

Installation 23
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Accessories

Motor Power Wiring

The following paragraphs provide details of motor connections. When motor power cables are long, 100ft. [30 m], a
ferrite (Control Techniques p/n 157016-13, Steward p/n 28A3851-0A2 or equivalent) installed on the three phase
conductors but not the shield, near J1 can significantly reduce high frequency switching harmonics that in some
cases can cause communications and encoder errors, see figures below. Maximum cable length is 200 ft [60 m].
With the Epsilon EP202/204/206/209 drive the J1 terminals are suitable for one 18 AWG to 14 AWG or ISO 0,75 to
ISO 2,5 stranded conductors. The Epsilon EP216 drive J1 terminals are suitable for one 16 AWG to 10 AWG or ISO
1,5 to ISO 6 stranded conductors. The ground/shield terminal may contain the shield and ground conductors together
if each is 16 AWG or ISO 0,75 or ISO 1,5. Otherwise a ferrule must be used to crimp both connectors together.

Front View

Ferrite
Motor
L1
Power Connections
L2

PE

R R
MOTOR

S S
T T
Ground
Connector Shell
24 Vdc

EP204-I00-0000
9606XX-XX A1
SN 0610E014

Figure 21: EP202-206 Ferrite Placement with Cable Lengths Longer Than 100 FT.

Front View

Ferrite
Motor
Power Connections

R R
MOTOR

S S
T T
Ground
Connector Shell
logic

EP209-I00-0000
9606XX-XX A1
SN 0610E014

Figure 22: EP209 Ferrite Placement with Cable Lengths Longer Than 100 FT.

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Accessories

Front View

L1 Ferrite
L2 Motor
Power Connections
L3

PE

R R

MOTOR
S S
T T
Ground
Connector Shell

Figure 23: EP216 Ferrite Placement with Cable Lengths Longer Than 100 FT.

Installation 25
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Accessories

NT and MG Motors
NT and MG motors are equipped with up to three male MS (Military Standard) connectors, one for stator
connections, one for encoder connections and one for the brake (if so equipped).
Stator connections from the drive to the motor are made with the CMDS or CMMS cable have a female MS style
connector on the motor end and four individual wires and shield that connect to the motor power connector on the
front of the drive.

The motor ground wire and shields must be run all the way back to the drive terminal and must not be
connected to any other conductor, shield or ground except the enclosure wall for EMC.

Wire crimp ferrules are recommanded:

For ground lead use -
Pheonix Contact p/n AI-TWIN 2X1, 5-8Bk/32 00 82 3
American Electrical/DigiKey 1381015/288-1130-ND
For motor leads use -
Pheonix Contact p/n AI 1,5-8 RD/32 01 13 6 or
ALTEC p/n H1.5/14 2204.0 Pk/100
Front View
NT or MG Motor
L1
Power Connection
L2

PE
Brown R
R
Black
MOTOR

S S
Blue
T T
Green/Yellow Ground
Shield Connector Shell
24 Vdc

Important: PE ground
should connect to drive
and motor only. Nothing
should be connected
between these devices. 2" and 3" motor cable
connector (CMDS-xxx cable)
Tighten screws to 5 in-lb.
EP204-I00-0000
9606XX-XX A1
SN 0610E014

Figure 24: Epsilon EP202-EP206 Drive - NT/MG Motor Power Wiring Diagram

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Front View
Wire crimp ferrules are recommanded:
For ground lead use -
Pheonix Contact p/n AI-TWIN 2X1, 5-8Bk/32 00 82 3
American Electrical/DigiKey 1381015/288-1130-ND
For motor leads use -
Pheonix Contact p/n AI 1,5-8 RD/32 01 13 6 or
ALTEC p/n H1.5/14 2204.0 Pk/100

NT or MG Motor
Power Connection

R
Brown R
Black

MOTOR
S S
T
Blue
T
Green/Yellow Ground
Shield Connector Shell
logic

EP209-I00-0000
9606XX-XX A1
SN 0610E014

Important: PE ground
should connect to drive
and motor only. Nothing
should be connected
between these devices. 2" and 3" motor cable
connector (CMDS-xxx cable)

Tighten screws to 5 in-lb.

Figure 25: Epsilon EP209 - NT/MG Motor Power Wiring Diagram

Front View
Wire crimp ferrules are recommanded:
For ground lead use -
Pheonix Contact p/n AI-TWIN 2X1, 5-8Bk/32 00 82 3
American Electrical/DigiKey 1381015/288-1130-ND
For motor leads use -
Pheonix Contact p/n AI 1,5-8 RD/32 01 13 6 or
ALTEC p/n H1.5/14 2204.0 Pk/100
L1
L2 NT or MG Motor
Power Connections
L3
PE
Brown
R R
Black
MOTOR

S S
Blue
T T
Green/Yellow
Ground
Shield Connector Shell

Important: PE ground should connect to drive

and motor only. Nothing should be connected
between these devices. 3" motor cable
connector (CMDS-xxx cable)

Figure 26: Epsilon EP216 - NT/MG Motor Power Wiring Diagram

Installation 27
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XV Motor Power Wiring

The XV 40 mm to 80 mm motors are equipped with up to three connectors, one for stator connections, one for
encoder connections and one for the brake (if so equipped).
Stator connections from the drive to the motor are made using the XTMDS cable, the motor end of the cable has an
Amp "Mate-N-Lok"® connector and the drive end has four individual wires and shield that connect to the motor power
connector on the front of the drive.
Wire crimp ferrules are recommanded:
For ground lead use -
Pheonix Contact p/n AI-TWIN 2X1-8RD/32 00 81 0 or
American Electrical/DigiKey 1381010/288-1127-ND
For motor leads use -
Pheonix Contact p/n AI 1-RD/32 00 03 0 or
American Electrical/DigiKey 1181010/288-1015-ND
Front View
XVM 40M, 60M, 80M Motor
L1
Power Connection
L2

PE
Brown R
R 1
Black
MOTOR

S 3 S
Blue
T 2 T
Green/Yellow Ground
4
Shield Connector Shell
24 Vdc

Important: PE ground
should connect to drive
and motor only. Nothing
should be connected
between these devices. motor cable
connector (XTMDS-xxx)
Tighten screws to 5 in-lb.
EP204-I00-0000
9606XX-XX A1
SN 0610E014

Figure 27: Epsilon EP202-EP206 - XV 40 mm - 80 mm Motor Power Wiring Diagram

Front View
Wire crimp ferrules are recommanded:
For ground lead use -
Pheonix Contact p/n AI-TWIN 2X1-8RD/32 00 81 0 or
American Electrical/DigiKey 1381010/288-1127-ND
For motor leads use -
Pheonix Contact p/n AI 1-RD/32 00 03 0 or
American Electrical/DigiKey 1181010/288-1015-ND

XVM 40M, 60M, 80M Motor

Power Connection

Brown R
R 1
Black
MOTOR

S 3 S
T
Blue
2 T
Green/Yellow Ground
4
Shield Connector Shell
logic

EP209-I00-0000
9606XX-XX A1
SN 0610E014

Important: PE ground
should connect to drive
and motor only. Nothing
should be connected
between these devices. motor cable
connector (XTMDS-xxx)

Tighten screws to 5 in-lb.

Figure 28: Epsilon EP209 - XV 40 mm - 80 mm Motor Power Wiring Diagram

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Front View
Wire crimp ferrules are recommanded:
For ground lead use -
Pheonix Contact p/n AI-TWIN 2X1-8RD/32 00 81 0 or
American Electrical/DigiKey 1381010/288-1127-ND
For motor leads use -
Pheonix Contact p/n AI 1-RD/32 00 13 0 or
American Electrical/DigiKey 1181010/288-1015-ND
L1
L2 XVM 40M, 60M, 80M Motor
Power Connections
L3
PE
Brown
R 1 R
Black

MOTOR
S 3 S
Blue
T 2 T
Green/Yellow
4 Ground
Shield Connector Shell

Important: PE ground should connect to drive

and motor only. Nothing should be connected
between these devices. motor cable
connector (XTMDS-xxx cable)

Figure 29: Epsilon EP216 - XV 40 mm - 80 mm Motor Power Wiring Diagram

The XV 130 mm motors have two MS (Military Standard) connectors, one for the stator connections and one for the
encoder connections. Stator connections from the drive to the motor are made with the XCMDS (motor without
brake) or the XCMDBS (motor with brake) cable.

Wire crimp ferrules are recommanded:

For ground lead use -
Panduit p/n PV10-P55-L
For motor leads use -
Pheonix Contact p/n AI 1,5-8 BU/32 00 52 2

Front View
XVM 130M Motor
L1
Power Connection
L2

PE
Brown U
R A
Black
MOTOR

S C V
Blue
T B W
Green/Yellow Ground
D
Shield Connector Shell
24 Vdc

Important: PE ground
should connect to drive
and motor only. Nothing
should be connected
between these devices. motor cable
connector (XCMDS-xxx)
Tighten screws to 5 in-lb.
EP204-I00-0000
9606XX-XX A1
SN 0610E014

Figure 30: Epsilon EP202-EP206 - XV 130 mm Motor Power Wiring Diagram

Installation 29
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Front View
Wire crimp ferrules are recommanded:
For ground lead use -
Panduit p/n PV10-P55-L
For motor leads use -
Pheonix Contact p/n AI 1,5-8 BU/32 00 52 2

XVM 130M Motor

Power Connection

Brown U
R A
Black
MOTOR

S C V
T
Blue
B W
Green/Yellow Ground
D
Shield Connector Shell
logic

EP209-I00-0000
9606XX-XX A1
SN 0610E014

Important: PE ground
should connect to drive
and motor only. Nothing
should be connected
between these devices. motor cable
connector (XCMDS-xxx)
Tighten screws to 5 in-lb.

Figure 31: Epsilon EP209 - XV 130 mm Motor Power Wiring Diagram

Front View

Wire crimp ferrules are recommanded:

For ground lead use -
Panduit p/n PV10-P55-L
For motor leads use -
Pheonix Contact p/n AI 1,5-8 BU/32 00 52 2

L1

L2 XVM 1300M Motor

Power Connections
L3

PE
Brown
R A R
Black
MOTOR

S C S
Blue
T B T
Green/Yellow
D Ground
Shield Connector Shell

Important: PE ground should connect to drive

and motor only. Nothing should be connected
between these devices. motor cable
connector (XCMDS-xxx cable)

Figure 32: Epsilon EP216 - XV 130 mm Motor Power Wiring Diagram

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Step 4: Low Power Connections

DC Logic Power Supply Wiring
The Epsilon drive requires a user supplied logic power supply, 24 Vdc ±10%, to power the internal logic of the drive.
Use the table below to determine the current requirements of the application. Users should consider keeping logic
power energized at all times because it helps prevent condensation and maintains position information in the drive.

Logic Power Supply Specification

Voltage Range Model Current
0.50 A* without sync encoder
EP-Pxx
24 Vdc ±10% 0.57 A* with 250 mA sync encoder
(21.6 Vdc to 26.4 Vdc) 0.31 A* without sync encoder
All EP Models except EP-Pxx
0.38 A* with 250 mA sync encoder

* All Epsilon EP216 models will draw an additional 100 mA.

Do not wire AC line into the logic power supply input. Doing so will damage the drive.

Front View
L1
L2
PE Fuse, if required 24 Vdc
R to protect wiring Logic Power Supply
S (User Supplied)
motor

L1
L2
PE
R T
S
motor

+
+ 24 Vdc
logic

logic

_ 24 V RTN

Single point PE ground

Tighten screws
to 5 in-lb.

EP204-I00-0000
9606XX-XX A1
SN 0610E014
To other drives or equipment , I/O supplies, etc..

Figure 33: Logic Power Supply Wiring Diagram for EP202-EP206 Drives

Installation 31
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Front View

Fuse, if required 24 Vdc

R
to protect wiring Logic Power Supply
(User Supplied)

MOTOR
S

24 Vdc

logic
EP209-I00-0000
9606XX-XX A1
SN 0610E014
24 V RTN

Single point PE ground

Tighten screws
to 5 in-lb.

To other drives or equipment , I/O supplies, etc.

Figure 34: Logic Power Supply Wiring Diagram for EP209 Drive

Front View
Fuse, if required 24 Vdc
to protect wiring Logic Power Supply
(User Supplied)
logic

24 Vdc
24 V RTN

Single point PE ground

To other drives or equipment , I/O supplies, etc.

Figure 35: Logic Power Supply Wiring Diagram for EP216 Drive

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For UL applications, the logic power supply must be a UL recognized or UL listed limited voltage/limited energy or
limited voltage/limited current supply, or a limited voltage supply with overcurrent protection appropriate for the wiring
and not to exceed 12 A. Isolate line connected circuits from low voltage circuits.
For applications to meet the EU Low Voltage Directive, an approved 24V supply must be used and the negative side
must be grounded to PE. PELV circuits must have protective separation for 300 V system voltage from mains
connected circuits, including separation between encoder circuits and motor power wiring. If all circuits connected
to the logic supply are PELV, the wiring need not be isolated from direct contact within a zone of equipotential
bonding, normally an enclosure or set of enclosures bonded together. Otherwise, logic wiring and circuits must be
isolated from direct contact by basic insulation for 300 V system voltage.
In all applications, do not interconnect extra low voltage power supplies so that voltages add.

Motor Feedback Wiring (J6)

Encoder feedback connections are made with the 15-pin high density “D” connector (J6) on the drive. Maximum
feedback cable length is 200 ft [60 m]. Voltage drop in encoder power connections is usually the limiting factor on
encoder cable lengths.

Connection of Encoder Quadrature and Marker Signals

For A, A/, B, B/ and Z, Z/ pairs, Control Techniques cables use low capacitance (~10 pf/ft) wire to get a high
characteristic impedance and low loss. The differential input circuit accepts RS-485 level signals, but if the differential
voltage is less than ±400 mV, an encoder fault is generated.

Connection of Encoder Commutation Signals to the Drive

The drive is capable of receiving U, V, and W commutation signals from either a differential or single ended source.
Figures 36 through 38 show a simplified circuit for the U, U/, V, V/, W, and W/ inputs on the drive. For single-ended
encoder outputs, leave U/, V/, and W/ unconnected at the drive. No PowerTools configuration is required. U, V, and
W have a 1K pull-up to 5V. Logic threshold is about 2.5 V with 0.1 V hysteresis.

Motor Overtemp Wiring

The motor overtemp circuit is compatible with PTC thermistor sensor with 2 k ohm resistance at the over temperature
trip point. The circuit provides 5V open circuit and 0.5 mA closed contacts to an overload switch. For motors without
over temperature protection sensors, pins 14 and 15 of J6 must be shorted together to prevent an overtemp fault in
the drive. Fault turn-on threshold is 0.83V and fault turn-off (reset) threshold is approximately 0.41 V.

Note: The drive provides a facility to monitor the motor thermal sensor and shut the drive down in the event of a motor
overtemp condition. This must be connected properly in order to enable the protection.
If the motor does not provide a thermal sensor this product does not provide motor over-temperature sensing.

Installation 33
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NT/MG Motor
Motor Feedback Cable Epsilon EP
Model # UFCS-XXX Drive
+5 V
NT or MG Motor
Green 2K 2K
A N 1 A
Brown
A/P 2 A/ A
Blue
B B 3 B 220 Ohm
Orange
B/C 4 B/
Black A/
Z M 5 Z Differential
Yellow Receiver
Z/U 6 Z/
White/Gray +5 V
U F 7 U
Gray/White
U/S 8 U/
White/Brown 2K 1K
V E 9 V
Brown/White
V/R 10 V/ U
Red/Orange
W G 11 W
Orange/Red U/
W/ H 12 W/
+ 5 Vdc *Red/Blue Differential
K 13 +5 Vdc 2K
GND *Blue/Red Receiver
T 14 GND
Motor Red/Green
Overtemp A 15 Motor Overtemp
Green/Red
J +5 V
Internal L Fault Thersholds
Motor Overtemp GND D Turn ON: 0.83 V
Thermal 10K Turn OFF: 0.41 V
Switch V
W
X
Y
Shield Z 10 Ohm
Connector Shell

PE
* = Note:18 ga Wire
= Twisted Pair Single Point
Ground

Figure 36: Motor Encoder Feedback Connector Pinout

XV 40-80 mm Motor
XVM 40mm, 60mm, Motor Feedback Cable Epsilon
and 80mm Motor Model # XUFTS-XXX Drive +5 V

3 Green
A 1 A 2K 2K

A/ 4 Brown
2 A/ A
B 1 Blue 220 Ohm
3 B
2 Orange A/
B/ 4 B/
Z 5 Black 5 Z
Z/ 6 Yellow 6 Z/ +5 V
U White/Gray
9 7 U
U/ 10 Gray/White 2K 1K
8 U/
7 White/Brown U
V 9 V
8 Brown/White U/
V/ 10 V/
W 11 Red/Orange
11 W 2K
Orange/Red
W/ 12 12 W/
*Red/Blue
+ 5 Vdc 13 13 +5 Vdc
14 *Blue/Red GND
GND 14
15 Red/Green
Shield 15 Motor Overtemp
Green/Red Fault Thersholds
+5 V Turn ON: 0.83 V
Connector Shell Overall Shield Drain Wire Turn OFF: 0.41 V
10K

* = 18 ga Wire
= Twisted Pair
10 Ohm

PE

Single Point
Ground

Figure 37: Motor Encoder Feedback Connection For XV 40-80 mm Motors

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XV 130 mm Motor
XVM 130mm Motor Motor Feedback Cable Epsilon
Model # XUFCS-XXX Drive +5 V

C Green
A 1 A 2K 2K

A/ Brown
D 2 A/ A
Blue 220 Ohm
B A 3 B
B/ B Orange A/
4 B/
Z E Black 5 Z
Z/ F Yellow 6 Z/ +5 V
U White/Gray
M 7 U
U/ N Gray/White 2K 1K
8 U/
White/Brown U
V K 9 V
Brown/White U/
V/ L 10 V/
W P Red/Orange
11 W 2K
Orange/Red
W/ R 12 W/
*Red/Blue
+ 5 Vdc H 13 +5 Vdc
G *Blue/Red GND
GND 14
J Red/Green
Shield 15 Motor Overtemp
Green/Red
Overall Shield Drain Wire Fault Thersholds
Connector Shell Turn ON: 0.83 V
+5 V Turn OFF: 0.41 V

10K
* = 18 ga Wire
= Twisted Pair
10 Ohm

PE

Single Point
Ground

Figure 38: Motor Encoder Feedback Connection For XV 130 mm Motors

Motor Brake Wiring
The NT and MG motors equipped with brakes have a three-pin MS style connector. The brake power cable (model
CBMS-XXX) has an MS style connector on the motor end and three wire leads on the drive end (see the following
wiring diagrams). The XV 40-80 mm motors with brakes have a two-position connector. The brake power cable
(model XTBMS-XXX) has a two position connector on the motor end and three wire leads on the drive end. The XV
130 mm motors equipped with brakes have two MS style connectors; one is the encoder feedback and the other has
the motor power and brake connections. The motor power/brake cable (model XCMDBS-XXX) has an MS style
connector on the motor end and six wire leads on the drive end.
You must provide a DC power supply rated at +24 Vdc with a 2 A minimum current capacity for the brake. If you use
this voltage source to power other accessories such as I/O or more than one brake, size the power supply for total
load.

Installation 35
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CBMS-xxx Cable

L1
Black -
L2
PE A1 A2
R
S
motor

+
logic

C
Customer K1 B
supplied drive
A
Output #3 enable contact Internal
8
to Motor
Drive Enable 10
2 Amp
Fuse
I/O Supply 19
digital i/o (J3)

14 11 Red +
1 Amp
Fuse Relay: NT or MG
I/O Common 20
EP204-I00-0000
Model# BRM-1 Motor
9606XX-XX A1
SN 0610E014

J3
- + Connected to
grounded
mounting panel.
Single point
PE ground 24 VDC

Figure 39: Epsilon EP to NT or MG Motor Brake Wiring Diagram

XV 40mm-80mm
Black - Motor
L1
L2
PE A1 A2
R
S
motor

+
logic

C
Customer K1 B
supplied drive
A
Output #3 enable contact Internal
8
to Motor
Drive Enable 10
2 Amp
Fuse
I/O Supply 19
digital i/o (J3)

14 11 Red +
1 Amp
Fuse Relay: XTBMS-xxx Cable
I/O Common 20
EP204-I00-0000
Model# BRM-1
9606XX-XX A1
SN 0610E014

J3
- + Connected to
grounded
mounting panel.
Single point
PE ground 24 VDC

Figure 40: Epsilon EP/XV 40-80 mm Motor Brake Wiring Diagram

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XV 130mm
L1
Blue/Wht
- - Motor
L2
PE A1 A2
R
S
motor

+ Internal to Motor
logic

F
Customer K1 E
supplied drive
A
Output #3 8 enable contact
B
Drive Enable 10
2 Amp C
Fuse D
I/O Supply 19
digital i/o (J3)

14 11 Blu +
1 Amp
Fuse Relay:
I/O Common 20
EP204-I00-0000
Model# BRM-1
9606XX-XX A1
SN 0610E014

XCMDBS-xxx Cable

J3
- +
Single point
PE ground 24 VDC

Figure 41: Epsilon EP/XV 130 mm Motor Brake Wiring Diagram

Input/Output and Drive Enable Wiring
The Epsilon EP-B drive is equipped with 5 optically isolated input lines (one is dedicated to a drive enable function)
and 3 optically isolated output lines. The Epsilon EP-I, EP-IDN and EP-P drives are equipped with 16 optically
isolated input lines (one is dedicated to a drive enable function) and 8 optically isolated output lines. All inputs and
outputs are configured as sourcing; that is, the outputs "source" current from the positive side of the I/O supply when
ON and the inputs are compatible with a sourcing output returning current to the grounded negative side of the I/O
supply.
Inputs are ON with +10 Vdc to +30 Vdc applied and OFF when less than +1.5 Vdc or 0.2 mA is applied. Input current
at 24 Vdc is 4.8 mA and input resistance is about 4.8k ohms.
Maximum load on each output channel is 150 mA with 3.5 Vdc max voltage drop from I/O supply + to output. Outputs
are rugged and require no freewheeling diode on inductive loads. Outputs are short-circuit proof to ground (0 V) or
any voltage from 0V to the I/O power supply voltage.
Optical isolation for I/O is functional only and does not provide safety rated isolation. I/O circuits must be PELV for
any extra low voltage circuits to be PELV. For UL installations, I/O wiring must be from a limited voltage/limited
energy or limited voltage.limited current supply.

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Front View

I/O supply
L1 +10 to +30 Vdc
L2
PE
R
S
motor

T
Output #3 8
+ Output #2 17
logic

Output #1 7
Input #4 12
devicenet (J9)

4.8 K Input #3 2
Fuse if required to
Input #2 11 protect wiring
Input #1 1
digital i/o (J3)

Drive Enable Input 10

I/O Supply + 19
I/O Conmmon - 20
EP204-I00-0000
9606XX-XX A1
SN 0610E014

Figure 42: Epsilon EP-B Input/Output Wiring Diagram

As part of PELV wiring, I/O circuits are intended to be used within a zone of equipotential bonding where cables or
wiring would typically be no more than 10 ft [3 m] long. These circuits have not been evaluated for EMC immunity
which would be required for longer cables.

I/O Connector (J3) Functions

The I/O connector is a 26-pin male high-density dsub connector on the front of the drive. A low profile standard
terminal interface board (STI-24IO) and cable assembly (EIO26-xxx) are available for making connections
convenient. Figure 42 shows pin-outs for I/O channels supported in the EP-B drive and for external wiring typical of
all I/O channels. Figure 43 shows pin-outs for EP-I and EP-P models. Input channels 1-8 have high speed capture
capability in the EP-P models. Figure 44 shows the STI-24IO interface board for discrete wiring to I/O.

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J3 Connector Function
Pin#
1 Input Line 1
2 Input Line 3
3 Input Line 5

4 Input Line 7
5 Input Line 9
6 Input Line 11
7 Output Line 1
8 Output Line 3
9 Output Line 5
10 Enable
11 Input Line 2
12 Input Line 4
13 Input Line 6
14 Input Line 8
15 Input Line 10
16 Input Line 12
17 Output Line 2
18 Output Line 4
19 I/O +V
20 I/O Common
21 Output Line 8
22 Input Line 13
23 Input Line 14
24 Input Line 15
25 Output Line 6
26 Output Line 7

Figure 43: I/O Connector (J3) Functions

INPUTS
EN
0
TB1
1
2
3
4
5
6
7

TB2 8
3.2
OUTPUTS 9
1 TB3 10
2 11
3 12
4 13
5 14
6 15
7
TB4 +24V
8
0V

2.1

Figure 44: STI-24IO Interface Board

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Analog/Sync Output Connector (J5)

All command, diagnostic, and sync signals are available using the 15-pin Analog/Sync Output connector.
If interfacing the drive using field wiring, the optional standard terminal interface board (STI-SNCOA) may be used.
It provides convenient connections using screw terminal strips.

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

Figure 45: STI-SNCOA

J5 Connector Function
Pin#
1 Motor Encoder A
2 Motor Encoder B
3 Motor Encoder Z
4 Pulse
5 Analog Input +
6 Analog Ground
7 Analog Output 1
8 Logic Common
9 Motor Encoder A/
10 Motor Encoder B/
11 Motor Encoder Z/
12 Direction
13 Analog Input -
14 Analog Ground
15 Analog Output 2

Figure 46:Analog/Sync Output Connector (J5) Functions

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Function Pin Numbers Electrical Characteristics

Encoder Out 1, 2, 3, 9, 10, 11 Differential line driver output (RS 422)
Diagnostic Output 7, 15 ± 10 Vdc 10 mA maximum analog diagnostic, ref. to pins 6 and 14
Diagnostic Output Common 6, 14 0.0 V, 10 ohms away from PE. 0 ohms away Logic Common (pin 8)
Pulse In 4 Single ended pulse input
Direction 12 Single ended direction input
Analog Command 5, 13 Differential; Analog Command Input

As part of PELV wiring, circuits at J5 are intended to be used within a zone of equipotential bonding where cables
or wiring would typically be no more than 10 ft [3 m] long. These circuits have not been evaluated fro EMC immunity
which would be required for longer cables.

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Sync Input Connector (J10)

Sync Input signals are connected to the drive using the 9-pin Sync Input connector.
If interfacing the drive using field wiring, the optional standard terminal interface board (STI-SNCI) may be used.

1234
5678

Figure 47: STI-SNCI Interface Board

J10 Connector Function

Pin#
1 Encoder A
2 Encoder A/
3 Encoder B
4 + 5 Vdc
5 Encoder B/
6 Encoder Z
7 Encoder Z/
8 Logic Common
9 NC

Figure 48:Sync Input Connector (J10) Functions

Function Pin Number Electrical Characteristics

Encoder In 1, 2, 3, 5, 6, 7 Differential line driver input (RS 422)
5 Vdc 4 +5 Vdc supply voltage
Ground 8 Logic Common

The Sync Input power meets EMC emissions and immunity for cables longer than 3 meters [10 ft], when using a
shielded cable. When a remote encoder is used, cable length may be limited by encoder supply voltage drop, and
should not exceed 200 ft [60 m].

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Analog Command Wiring

(Internal)

- Analog In
10 Ohm

+ Analog In
Logic
Analog/Sync Output Common
Connector (J5) PE
5 13

Single Point
Panel Ground

External
+ CW Rotation
Controller
+ Command = CW
Vdc With positive direction = CW
_

Controller Logic Common

Single Point
Panel Ground

Figure 49: Analog Command, Differential Wiring Diagram

(Internal)
- Analog In

10 Ohm
+ Analog In

Logic
Analog/Sync Output Common
Connector (J5) PE
5 13

Single Point
Panel Ground
External
+ Controller CW Rotation
+ Command = CW
Vdc With positive direction = CW
_

Single Point Controller Logic Common

Panel Ground

Figure 50: Analog Command, Single Ended Wiring Diagram

Encoder Output Signal Wiring
The encoder outputs meet RS-422 line driver specifications and can drive up to ten RS-422 signal receivers.
The default encoder output scaling is set to output the actual motor encoder resolutions. The standard MG and NT
motors have 2048 lines per revolution. With PowerTools Pro software this resolution is adjustable in one line per
revolution increments up to the density of the encoder in the motor.

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Note: If the external controller does not have an internal terminating resistor
R1, R2 and R3 must be mounted within 3 ft [1 m] of the external controller. A
120 ohm resistor is recommended for high frequency encoders (over 250 kHz)
or cables longer than 25 feet. If encoder signals are multi-dropped, termination
resistors are required only at the last drop point. Do not terminate at more than
one point.
Drive (J5)
A
1 A
A/ R1
9 A/

B 2 B
External
R2 Controller
B/ 10 B/ Encoder
Input
Z 3 Z
R3
Z/ 11 Z/

Connector Shell

Internal
10 Ohm

PE Single Point
PE Ground
= Twisted Pair

Figure 51: Analog/Sync Output Connector (J5) Encoder Output Wiring

Figure 52: Direction Convention Diagram

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Pulse Mode Wiring, Differential Inputs

500 ns Minimum Shield connected
500 ns Minimum Drive to connector shell
250 ns Minimum Sync Input Connector
(J10)
Motion occurs 10 Ohm
on rising edge
(A) Pulse
CW A A/ B B/
PE
1 2 3 5
CCW
(B) Direction
RS-422 Type
Differential Drives Single Point
Panel Ground
R1

= Twisted Pair
R2

Note: If the external controller does not have an internal terminating

resistor R1, and R2 must be mounted within 3 ft [1 m] of the drive.
A 120 ohm resistor is recommended for high frequency
Single Point (over 250 kHz) feedback signals or cable lengths longer
PE Ground than 25 feet.

Figure 53: Pulse Mode, Differential Output to Differential Input

500 ns Minimum
500 ns Minimum
250 ns Minimum Shield connected
Drive to connector shell
Motion occurs (A/) Pulse
Sync Input Connector
on falling edge (J10)
10 Ohm

CW

A A/ B B/
CCW PE
(B) Direction 1 2 3 5

+5 Out Single Point

R2 R3 Panel Ground
R1

Pulse
Resistor Values
Direction
1K Ohm Maximum
R1, R2
240 Ohm Minimum
R4 1K Ohm Maximum
R3 240 Ohm Minimum

R4 1/2 R3
120 Ohm Minimum
Single Point = Twisted Pair
PE Ground

Figure 54: Pulse Mode, Single Ended Output to Differential Input

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Pulse Mode Wiring, Single Ended Inputs

1 µs Minimum
1 µs Minimum
500 ns Minimum

Motion occurs Pulse

on falling edge Drive
Analog/Sync Output
Shield connected
(J5)
to connector shell
CW
logic
CCW Pulse Direction 10 common
Direction Ohm
4 12 8
Sinking PE
Outputs (typ)
Single Point
Panel Ground
Pulse

Direction

= Twisted Pair

Common isolated from other sources

Figure 55: Pulse Mode, Single Ended Output to Single Ended Input (twisted pair cable)

1 µs Minimum
1 µs Minimum
500 ns Minimum

Motion occurs Pulse

on falling edge
Drive
Analog/Sync Output Connector Shield connected
(J5) to connector shell
CW
logic
CCW Pulse Direction 10 common
Direction Ohm
4 12 8
Sinking PE
Outputs (typ)
Single Point
Panel Ground
Pulse

Direction

Common isolated from other sources

Figure 56: Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair
cable)

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1 µs Minimum
1 µs Minimum
500 ns Minimum

Motion occurs CW Pulse

on falling edge Drive
Analog/Sync Output Connector Shield connected
(J5) to connector shell
CW
logic
CCW 10 common
CCW Pulse Pulse Direction Ohm
4 12 8
Sinking PE
Outputs (typ)
Single Point
Panel Ground
CW Pulse

CCW Pulse

Common isolated from other sources

Figure 57: Pulse/Pulse Mode, Single Ended Output to Single Ended Input (non-twisted
pair cable)

Slave Drive Slave Drive Slave Drive

Sync Input Connector (J10) Sync Input Connector (J10) Sync Input Connector (J10)

Master Encoder A A/ B B/ Z Z/ A A/ B B/ Z Z/ A A/ B B/ Z Z/
or Drive Output 1 2 3 5 6 7 1 2 3 5 6 7 1 2 3 5 6 7

RS-422
Drivers
R1 R2 R3

Note: R1, R2, and R3 must be mounted within 3 ft [1m] of the end drive.
A 120 ohm resistor is recommended for high frequency
= Twisted Pair
(over 250 kHz) stepping or cable lengths longer than 25 feet.

Figure 58: Master/Slave Encoder Connections

Encoder outputs meet RS-422 driver specifications and can drive up to 10 RS-422 signal receivers. Each
differential pulse input is an RS-422 line receivers. The default encoder output resolution is 2048 lines per
motor revolution. This resolution is adjustable in one line per revolution increments with PowerTools Pro
software. The range is between 1 and the actual motor encoder density.

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Communications
Communications with the drive is provided through the RJ45 connectors located on the front of the drive. The two
RJ45 connectors are identical and are used to provide a way to daisy chain two or more drives together using the
DDC-RJ45 cable, see Figure 60. The Epsilon EP serial communication connector (serial port) as standard, supports
2 wire EIA485 communications. The RS-485 communications port is not isolated from drive electronics and the "0V"
pins are internally connected through a 10 Ohm resistor to PE. Interconnected drives should be within a zone of
equipotential bonding. Connection to a master device on the network, such as a MMI, SCADA, PLC, or PR can be
remote, but care should be taken to make sure the entire network operates within the +/-7 V common mode voltage
range of RS-485. Though the comm port is part of PELV circuits when properly installed, if the master device is
outside the zone of equipotential bonding the circuit needs to be isolated against direct contact. The minimal RS-485
network cable contains a shielded twisted pair for RX TX (pin 2) and RX/ TX/ (pin 7) with shield to the shell, though
a 0 V reference signal (pin 3) can improve immunity to ground differentials. See the following table for the connection
details for the RJ45 serial communication connector.

Pin Function
1 220 ohm Termination resistor to RX TX
2 RX TX
3 Isolated 0V
4 +15V (100 mA max)
5 NC
6 TX Enable
7 RX/ TX/
8 RX/ TX/ (If termination resistors are required, link to pin 1)
SHELL PE

The provision for connection of the internal 220 ohm terminating resistor at pin 1 and pin 8 would rarely, if ever, be
needed unless data rates much higher than 19.2K are supported. Since a terminator connection is only made at the
end of a trunk, it is most conveniently accomplished by crimping a short link from pin 1 to pin 8 in a new RJ45
connector and plugging it into the second RJ45 port on the "last" drive. Cable conductors should not be connected
to these pins.
The modbus protocol is sensitive to transitions on an idle line. In some cases it may be necessary to apply bias to
the trunk consisting of a pull-up resistor to RX TX and a pull-down resistor to RX/ TX/. Biasing is most important when
termination resistors are used. As an example, if the internal 220 ohm termination is connected at the last node on
the trunk, a 10K resistor from RX TX (pin 2) to +15 V (pin 4) and a 1 K resistor from RX/ TX/ (pin 7) to Isolated 0V
(pin 3) would provide good idle line bias. Only one node needs to provide bias, even with terminators at each end.
It is usually most convenient to provide bias at the connection to the Modbus master node.

Communication Converter Cables

The CT-Comms cable is an isolated RS-232 to RS-485 converter cable that may be used to connect one or more
EP drives to a master device using a standard 9 pin D-sub RS-232 serial comms port. The CT-USB-Cable is an
isolated USB to RS-485 converter cable that may be used to connect one or more drives to a master device using
a USB port.
The +15 V supply (pin 4) and the 0 V connection (pin 3) are intended only to provide power to the isolators in the CT
converter cables and are not to be used for any other purpose.
The TX Enable signal (pin 6) and 0 V (pin 3) provide a transmit enable signal from each interconnected drive to the
CT converter cable and are not to be used for any other purpose. They may be wired from drive to drive in a zone
of equipotential bonding to allow the CT converter cable to communicate with all drives in the group.
The DDC-RJ45 cable provides drive to drive (daisy chain) connections between EP drives, including support for the
CT converter cable in a group of drives.

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8
1

Figure 59: Epsilon EP Serial Communication Connector

DDC-RJ45
cable

Figure 60: 2 Epsilon Drives Daisy Chained Together

When connecting the serial port of your PC to the serial port of the drive, verify that your PC’s ground is the
same as the drive PE ground. Failure to do so can result in damage to your PC and/or your drive. It is best to
use an isolating cable such as the CT-Comms cable.

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Modbus Communications
The drive’s serial communication protocol is Modbus RTU slave with a 32 bit data extension. The Modbus protocol
is available on most operator interface panels and PLC’s.

Serial Communications Specifications

Max baud rate 19.2k
Start bit 1
Stop bit 2
Parity none
Data 8

Ethernet Port
The Ethernet port at J11 has only functional isolation from other low voltage circuits and PE at the drive. In order to
classify any low voltage circuits in the drive as PELV, the ethernet circuit must be installed as a PELV circuit. Refer
to installation instructions with the hub, switch or other devices connected for details.
The system meets EMC emissions and immunity requirements using unshielded ethernet cables when a clamp on
ferrite is attached to the ethernet cable as it leaves the enclosure or when using shielded ethernet cables.

DeviceNet Port
The DeviceNet port at J9 has only functional isolation from other low voltage circuits and PE at the drive.
In order to classify any low voltage circuits in the drive as PELV, the DeviceNet circuit must also be installed as a
PELV circuit.

Profibus Port
The Profibus port at J13 conforms to standard Profibus implementation, and may be used with a variety of trunk to
node connectors for Profibus. The signal wires are isolated to SELV requirements but the shell (shield connection)
is directly connected to PE. Classification of the Profibus circuit as PELV is independent of other circuits in the drive.

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Diagnostics and Troubleshooting

Diagnostic Display
Status Codes
The diagnostic display on the front of the drive shows drive status and fault codes. When a fault condition occurs,
the drive will display the fault code, overriding the status code. The decimal point is “On” when the drive is enabled
and the Stop input is not active. This indicates that the drive is ready to run and will respond to motion commands.
Commands will not cause motion unless the decimal point is “On”.

Display Indication Status Description

Motor brake is mechanically engaged. This
character will only appear if the Brake output
Brake Engaged (Output "Off") function is assigned to an output line.
See Brake Operation section for detailed
description of Brake Output function.

Disabled Power Stage is disabled.

The system is functioning normally and is ready

Ready
to execute a motion command

Program is executing. Other motion commands

Program
do not function.

Position or Pulse Pulse mode operation.

Velocity Velocity mode operation.

Deceleration ramp after the Stop or Travel Limit

Decelerating from Stop or Travel function is activated. The ramp is displayed while
Limit Decel decelerating, and the display will go back to
normal after completing the decel ramp.

Torque Analog Torque mode operation.

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Display Indication Status Description

Summation Summation mode operation.

RMS Foldback Motor torque is limited to 80 percent.

Drive output current is limited to 80 percent of the

Stall Foldback
drive’s stall current.

Ready to Run Drive enabled, no Stop input.

Home cycle is executing. Other motion

Homing
commands do not function.

A Index is executing. Other motion commands do

Indexing
not function.

Jog function is executing. Other motion

Jogging
commands do not function.

AutoTune AutoTune function is executing.

Gearing Gear function is executing.

Fault Codes
A number of diagnostic and fault detection circuits are incorporated to protect the drive. Some faults, like high DC
bus and drive or motor over temperature, can be reset with the Reset button on the front of the drive or the Reset
input function. Other faults, such as encoder faults, can only be reset by cycling power “Off” (wait until the diagnostics
display turns “Off”), then power “On”.
The drive accurately tracks motor position during fault conditions. For example, if there is a "Low DC Bus" fault where
the power stage is disabled, the drive will continue to track the motor’s position provided the logic power is not
interrupted.

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The +/- Travel Limit faults are automatically cleared when the fault condition is removed. The table below lists all the
fault codes in priority order from highest to lowest. This means that if two faults are active, only the higher priority
fault will be displayed.

Display Fault Action to Reset Bridge Disabled

Flash Invalid Reprogram the Flash Yes

Drive Power Up Test Cycle Logic Power Yes

NVM Invalid Reset Button or Input Line Yes

Invalid Configuration Reset Button or Input Line Yes

Drive Overtemp Allow Drive to cool down Yes

Power Module Reset Button or Input Line Yes

High DC Bus Reset Button or Input Line Yes

Low DC Bus Reset Button or Input Line Yes

Reset Button or Input Line on EP-P drive

Encoder State and Yes
Cycle Logic Power on the other models

Reset Button or Input Line on EP-P drive

Encoder Hardware and Yes
Cycle Logic Power on the other models

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Display Fault Action to Reset Bridge Disabled

Allow Motor to cool down,

Motor Overtemp Yes
Reset Button or Input Line

RMS Shunt Power

or Reset Button or Input Line Yes
Shunt Short Circuit

Overspeed Reset Button or Input Line Yes

Following Error
Reset Button or Input Line Yes
(Pulse mode only)

Travel Limit +/- Auto No

Sync Fault Cycle Logic Power Yes

Run Time
Reset Button or Input Line Yes
(EP-P Only)

Normally "On" for one second during power-

All "On" Yes
up

Fault Descriptions
Flash Invalid
This fault indicates that the firmware checksum has failed. From the Tools>Program Flash menu in PowerTools Pro
the firmware stored in flash memory can be reprogram or upgrade. If this problem persists, call Control Techniques.
A common cause would be an interrupted F/W Flash upgrade (cable disconnected during an upgrade process).

Power Up Test
This fault indicates that the power-up self-test has failed. This fault cannot be reset with the reset command or reset
button.

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NVM Invalid
At power-up the drive tests the integrity of the non-volatile memory. This fault is generated if the contents of the non-
volatile memory are invalid.

Invalid Configuration
This fault will occur if the digital board in the drive does not match the power board settings. It is only useful during
manufacturing. A drive with this fault should be returned for service.

Drive Overtemp
Indicates the drive internal temperature has reached an over temperature condition - not currently implemented in
the EP202, EP204 or EP206 models. For Epsilon EP209 and EP216 drive models, this fault will occur if the soft-start
circuit has failed or mis-wiring of the bus or shunt prevents proper start-up, resulting in overheating the soft-start
resistor internal to the drive. With the EP216 model this over temperature condition could be the result of fan failure.

Power Module
This fault is generated when a power stage over-temperature, over-current or loss of power stage logic supply
occurs. This can be the result of a motor short to ground, a short in the motor windings, a motor cable short or the
failure of a switching transistor.

High DC Bus
This fault will occur whenever the voltage on the DC bus exceeds the High DC Bus threshold. The most likely cause
of this fault would be an open external shunt, a high AC line condition, or an application that requires an external
shunt (e.g., a large load with rapid deceleration) but none is installed.

High DC Bus Threshold

Epsilon EP 415 Vdc

Low DC Bus
This fault will occur whenever the voltage on the DC bus drops below the Low DC Bus threshold. The most likely
cause of this fault is a reduction (or loss) of AC power. A 50 ms debounce time is used with this fault to avoid faults
caused by intermittent power disruption. With an Epsilon EP drive, the low DC bus monitoring can be disabled. In an
EP-B and EP-I this fault is disabled by clearing the check box on the Faults view, and for an EP-P the check box is
located on the Advanced view

Low DC Bus Threshold

Epsilon EP 60 Vdc

Special note for EP209 and EP216 drives, the Low DC Bus fault may not be disabled. The bus voltage must reach
140 Vdc (100 Vac input) before this fault will reset and it will reset automatically. It will occur again when the bus
voltage drops by 50 V from the voltage on the bus when soft-start mode ends and the drive is ready to run.

Encoder State
Certain encoder state transitions are invalid and will cause the drive to report an encoder state fault. This is usually
the result of noisy encoder feedback caused by poor shielding. For some types of custom motors it may be necessary
to disable this fault. With an Epsilon EP drive, the Encoder State monitoring can be disabled. In an EP-B and EP-I
this fault is disabled by clearing the check box on the Faults view, and for an EP-P the check box is located on the
Advanced view.

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Encoder Hardware
If any pair of complementary encoder lines (A, B, Z) are in the same state, an encoder line fault is generated. Also,
can be generated if all three commutation channels (U, V, W) are 0 or 1, an illegal state. The most likely cause is a
missing or bad encoder connection.

Motor Overtemp
This fault is generated when the motor thermal switch is open due to motor over-temperature or incorrect wiring.

Overspeed
This fault occurs in one of two circumstances:
1. When the actual motor speed exceeds the Overspeed Velocity Limit parameter or 150% of motor maximum
operating speed. This parameter can be accessed with PowerTools Pro software.

2. If the combination of command pulse frequency and Pulse Ratio can generate a motor command speed in
excess of the fixed limit of 13000 RPM, an Overspeed Fault will be activated. In Pulse mode operation and any
Summation mode which uses Pulse mode, the input pulse command frequency is monitored and this
calculation is made. For example, with a Pulse Ratio of 10 pulses per motor revolution, the first pulse received
will cause an Overspeed fault even before there is any motor motion.

RMS Shunt
This fault is generated when filtered average shunt power dissipation is greater than the design rating of the shunt
resistor.

Following Error
This fault is generated when the following error exceeds the following error limit (default following error limit for an
EP-I and EP-B is 0.2 revs). With PowerTools Pro you can change the Following Error Limit value or disable it in the
Position view. In an EP-B and EP-I the Following Error Limit is functional in Pulse mode only.

Travel Limit +/-

This fault is caused when either the + or - Travel Limit input function is active.

Sync Fault
This fault occurs when the user selected trajectory update rate is set too short based on the processor requirements.
The three possible trajectory update rates are 800µs, 1200 µs, or 1600 µs. Try changing the trajectory update rate
to the largest value (1600 µs) and run the application again. If the problem persists after setting to 1600 µs, contact
Control Techniques technical support. For more information on the trajectory update rate see the Epsilon EP-P
Drive and FM-3/4 Modules Reference Manual (P/N 400518-04).

Run Time Faults (EP-P only)

The "4" fault is caused by any of the following internal routine faults:
Trajectory Fault #1
This fault occurs when the drive commands motion that cannot be achieved due to excessive following error, accel,
decel, velocity settings, or unusable user units. Check the user units, velocities, accels and decels for correct values.

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Accessories

Trajectory Fault #2
This fault occurs when using the "Using Capture.#" option in a user program. If the capture has never been triggered,
or the capture data has gone "stale", the drive will not be able to process motion properly.
Program Fault
This fault indicates a problem was encountered in a user program. For example: an illegal math operation resulting
in a divide by zero or overflow of 32-bit data. This error can also occur if trying to access a drive parameter that is
non-existent or not available to the user.
Invalid Configuration Fault #2
The user program in flash memory will not run. Download the user program again using PowerTools Pro. A common
cause of this fault could be an interrupted configuration download, such as a cable being disconnected during the
download.
No Program
This fault will be displayed on initial power-up indicating that no configuration has been downloaded to the drive. To
clear the fault, download a valid configuration to the drive.

All "On"
This is a normal condition during power up of the drive. It will last for less than 1 second. If this display persists, call
Control Techniques Americas LLC for service advice.
Normally, "All On" for less than one second during power-up. All segments dimly lit when power is "Off" may occur
when an external signal is applied to the encoder inputs (motor or master) or serial port from an externally powered
device.

Diagnostic Analog Output Test Points

The drive has two 10-bit real-time Analog Outputs which may be used for diagnostics, monitoring or control
purposes. These outputs are referred to as Channel 1 and Channel 2. They can be accessed from the Analog/Sync
Output Connector (J5) on the drive.
Each Channel provides a programmable Analog Output Source.
Analog Output Source options are:
• Velocity Command
• Velocity Feedback
• Torque Command (equates to Torque Command Actual parameter)
• Torque Feedback
• Following Error
• Position Feedback (EP-B, EP-I, and EP-IDN)
• Custom Variable (EP-P only)
• Analog In (EP-P only)

Analog/Sync Output Connector (J5)

Channel
Pin#
1 7
2 15

Drive Faults
The Active Drive Faults dialog box is automatically displayed whenever a fault occurs. There are two options in this
dialog box: Reset Faults and Ignore Faults.

Diagnostics and Troubleshooting 57

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Safety Information Product Overview Installation Diagnostics Specification
Accessories

Figure 61: Active Drive Faults Detected Dialog Box

Resetting Faults
Some drive faults are automatically reset when the fault condition is cleared. Other faults require drive logic power
to be cycled or the drive to be “rebooted”. If you wish to continue working in the PowerTools Pro software without
resetting the fault, click the Ignore Fault button.
To reset faults that can be reset with the Reset Faults button, simply click the Reset Faults button in the Drive Faults
Detected dialog box or push the Reset button on the front of the drive where the fault occurred.

Viewing Active Drive Faults

To view all active drive faults, select the View Faults command from the Device menu or by clicking on the View
Faults button on the toolbar. The dialog box displayed is the same as Active Drive Faults Detected dialog box
described above.

Rebooting the Drive

To reboot the drive, cycle power or select the Reboot Drive command from the Device menu. This command reboots
the drive attached to the active Configuration Window.

58
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Accessories

Options and Accessories

Epsilon EP Drive Options
Drive Brake Relay,
BRM-1
External Shunt Resistor, 40, 60, 80 mm XV Motors
SM-Heatsink DBR1
Motor Power Cable, XTMDS-xxx

Motor Brake Cable, XTBMS-xxx

CTVue HMI to Drive, 130 mm XV Motors
CTVUE-EP-485-xxx

Motor Power or Motor Power/Brake Cable,

Drive to Drive, XCMDS-xxx or XCMDBS-XXX
Drive RS-485 to Drive RS-485,
DDC-RJ45-xxx
NT or MG Motors
J8 Motor Power Cable,
PC to Drive, PC RS232 to Drive RS485 CMDS-xxx or CMMS-xxx*
Serial Interface Cable,
CT-COMMS
Epsilon EP
Motor Brake Cable,
CBMS-xxx*
FM Motors

reset
L1
Ethernet to Drive, L2
Motor Power Cable,
ETH-PATCH--xxx PE
PSBAA-xxx, PBBAA-xxx
R
seria l (J2)

S
motor

+ Drive Sync In to Drive Sync Out Cable, SNCDD-915-xxx

log ic

_
Windows 98, NT 4.0, 2000 or XP act link

Compatible Computer
(Customer Supplied) Ethernet 4-port Switch,
ether net ( J4 )

ETH-S4 Drive Sync In Cable, SNCFLI-xxx

CT-MME-POWER-CD 3 MIN

Contains PowerTools Pro

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

Epsilon EP I/O Cable,
EIO26-xxx
digital i/o (J3)

Drive Sync In from SCSLD Encoder Cable, SNCE-xxx

INPUTS
1
2
3
4
5
6
7 1234
8
EP204-IDN-EN00 5678
EP204-P00-0000
9 9606XX-XX A1
9606XX-XX A1
OUTPUTS 10 SN 0610E014
SN 0610E014
1 11
2
3
12
13
J5 J10 J6
4 14
5 15
6 EN
7
8
+24V
0V
Drive Sync In Breakout Board, STI-SNCI

STI-24IO
40, 60, 80 mm XV Motors
1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

Drive Sync Out to Motor Feedback Cable, XUFTS-XXX

Drive Sync In Cable,
1 2 3 4 5 6 7 8

9 10 11 12 13 14 15
SNCDD-915-xxx 130 mm XV Motors
Motor Feedback Breakout Board,
STI-ENC
Motor Feedback Cable, XUFCS-XXX
Drive Sync Out Cable,
Drive Sync Out Breakout Board, SNCFLOA-xxx
STI-SNCOA NT or MG Motors

Drive Sync Out to

FM-3/4 Module In Cable,
Motor Feedback Cable, UFCS-XXX
SNCMD-815-xxx

FM Motors

Drive Command to Motor Feedback Cable, SIBAA-xxx

MC Controller Cable,
MC-CEP-xxx * Flex duty versions of these cables
are also available.

Figure 62: Epsilon EP-P Drive shown with Options

Options and Accessories 59

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Accessories

STI-24IO
The STI-24IO interface board allows access to all digital input and output signals. The STI-24IO mounts directly to
the digital I/O connector (J3) on the front of the EP drive. See figure 63 below.

Do not allow ESD directly to terminals. Always discharge static electricity to enclosure, not the drive when
performing maintenance.

Shield connection points are connected to the shell of the 26 pin “D” connector on the STI-24IO.

The STI-24IO wire range is #18 to 24 AWG stranded insulated wire.

Wiring should be done with consideration for future troubleshooting and repair. All wiring should be either color
coded and/or tagged with industrial wire tabs. Low voltage wiring should be routed away from high voltage wiring.

INPUTS
EN
0
TB1
1
2
3
4
5
6
7

TB2 8
3.2
OUTPUTS 9
1 TB3 10
2 11
3 12
4 13
5 14
6 15
7
TB4 +24V
8
0V

2.1

Figure 63: Dimensions of the STI-24IO Board

60
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Accessories

STI-SNCOA
The STI-SNCOA interface board allows access to the analog/sync signals. The STI-SNCOA plugs directly into the
J5 connector on the bottom of the drive. The numbers printed on the connector label correlate to the screw terminal
numbers.

Do not allow ESD directly to terminals. Always discharge static electricity to enclosure, not the drive when
performing maintenance.

Shield connection points are connected from the shell of the "D" connector to the faston lug connector.

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

Figure 64: STI-SNCOA Drive Analog/Sync Output Breakout Board

Options and Accessories 61

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Accessories

STI-SNCI
The STI-SNCI interface board allows access to the sync input connections on the EP drive. The STI-SNCI plugs
directly into the J10 connector on the bottom of the drive. The numbers printed on the connector label correlate to
the screw terminal numbers.

Do not allow ESD directly to terminals. Always discharge static electricity to enclosure, not the drive when
performing maintenance.

Shield connection points are connected from the shell of the "D" connector to the faston lug connector.

1234
5678

Figure 65: STI-SNCI Drive Sync In Breakout Board

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Accessories

STI-ENC
The STI-ENC interface board allows the user access to the encoder feedback connector (J6) on the EP drive. The
STI-ENC plugs directly in J6 on the bottom of the drive. The numbers printed on the connector label correlate to the
screw terminal numbers.

Do not allow ESD directly to terminals. Always discharge static electricity to enclosure, not the drive when
performing maintenance.

Shield connection points are connected from the shell of the "D" connector to the faston lug connector.

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

Figure 66: STI-ENC Drive Encoder Feedback Board

Options and Accessories 63

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Accessories

64
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Accessories

Specifications
Epsilon EP Specifications
Epsilon EP Series

DC Power
Model AC Power
(UL Pending)
EP202
20 Vac-264 Vac,
EP204 10 Vdc - 340 Vdc
1 Ø, 47-63 Hz
EP206
Power Requirements
(240 Vac for rated performance) 90 Vac - 264 Vac Type TN (Grounded)
EP209 140 Vdc - 340 Vdc Installation
1 Ø, 47-63 Hz
Category III
90 Vac - 264 Vac
3 Ø, 47-63 Hz
EP216 140 Vdc - 340 Vdc
90 Vac - 264 Vac
1 Ø, 47-63 Hz

SCCR 10,000 Symmetrical RMS Amps

(Short Circuit Current Rating)

Solid State Motor 115% of rated FLA

Overload Protection

Model Continuous Power Continuous Current Peak Current

EP202 775 W 2.2 A RMS at 40°C or 50°C 4.4 A RMS
4.0 A RMS at 40° C
EP204 1275 W 8 A RMS
3.6 A RMS at 50° C
6.5 A RMS at 40° C
EP206 1775 W 13 A RMS
Rated Output Current and Power 5.2 A RMS at 50° C
9.0 A RMS at 40° C
EP209 2325 W 18 A RMS
7.7 A RMS at 50° C
EP216 16.0 A RMS at 40° C
4800 W 32 A RMS
3 Ø Input 16.0 A RMS at 50° C
EP216 16.0 A RMS at 40° C
2325 W 32 A RMS
1 Ø Input 16.0 A RMS at 50° C

Model Continuous Current Inrush Current

EP202 5.0 A RMS at 40° C or 50° C 40 A RMS for 5 ms
8.5 A RMS at 40° C
EP204 65 A RMS for 5 ms
7.6 A RMS at 50° C
Continuous Input Current 12.0 A RMS at 40° C
EP206 100 A RMS for 5 ms
(AC Input) 9.6 A RMS at 50° C
16.0 A RMS at 40° C
EP209 34 A RMS for 5 ms
13.6 A RMS at 50° C
EP216, 3 Ø Input 16.0 A RMS at 40° C
34 A RMS for 5 ms
EP216, 1 Ø Input 16.0 A RMS at 50° C

Specifications 65
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Epsilon EP Series
EP-Pxx: 0.50 A* without master encoder,
0.57 A* with master encoder
24 Vdc ±10%
Logic Power Supply Input Other models: 0.31 A* without motor encoder,
0.38 A* with master motor encoder
* = All EP216 drive models will draw an additional 100 mA

Switching Frequency 10 kHz

Power Supply Output 5 Vdc, 250 mA maximum (for master encoder)

Efficiency - Drive AC Power 95% at full rated output power for each model

Drive: IP20
Ingress Protection (IP) Rating NT motors: IP65/IP54
Molded motor and feedback cables: IP65
RS-485
Serial Interface IModbus protocol with 32 bit data extension
19.2 k baud (default) or 9600 baud
10/100 M baud, auto negotiated
EtherNet Interface Auto crossover
EP-P Only Full/Half Duplex, auto negotiated
EtherNet I/P, Modbus TCP/IP, HTTP, and SMSC

DeviceNet Interface Baud Rates: 125K, 250K, 500K

EP-xDN Only Power from Network: 25 mA max.

Analog command: ±10 Vdc 14 bit, 100k ohm impedance, differential

Absolute Maximum Input Voltage Input: +/- 14 Vdc to ground or differential, including
drive enable
Control Inputs Digital Inputs: 5 on the EP-B and 16 on the EP-I and EP-P including the drive enable
input, 10 Vdc - 30 Vdc, 4.8k ohm impedance; current sourcing signal compatible (active
high); max input response time is 500 µs; optically isolated.

Input debounce: 0-2000 ms configured in PowerTools Pro

Diagnostic Analog Outputs: (2) ±10 Vdc into 10k ohm (single ended), short circuit proof
to ground, short circuit proof to ground, 10 bit, software selectable output signals

Digital Outputs: 3 on EP-B, 8 on the EP-I and EP-P, 150 mA max each, short circuit
proof, current source from 10 Vdc - 30 Vdc I/O power supply, 3.5 Vdc max supply to output
Control Outputs voltage drop @ 150 mA, opto-isolated

Motor Temp Sensor: Contact: 5 Vdc O.C. (tripped), 0.5 mA S.C. (normal)
Compatible with PTC thermistor with 2k ohm resistance at trip point. Fault Turn-on
Threshold = 0.83V and Fault Turn-off (Reset) Threshold = 0.41 V
Interface: Software selectable differential (RS422) or single ended (TTL Schmitt Trigger)

Maximum Input Frequency:

Differential - 1 MHz per channel; (4 million counts/second in quadrature),
0.5 µs minimum pulse width
Pulse Mode Single ended - 500 kHz per channel; (2 million counts/second in quadrature),
1 µs minimum pulse width

Ratio Capabilities: 20 to 163,840,000 PPR

Single ended inputs have 1k ohm pull-up to 5 V

66
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Accessories

Epsilon EP Series
Differential line driver, RS-422 and TTL compatible
Encoder Output Signal
Scalable in one line increment resolution up to 2048 lines/rev of the motor (NT)
Energy storage available in bus caps:
EP202: 8 J @ 240 Vac, 18 J @ 208 Vac, 39 J @ 120 Vac
EP204:12 J @ 240 Vac, 28 J @ 208 Vac, 58 J @ 120 Vac
EP206:20 J @ 240 Vac, 46 J @ 208 Vac, 97 J @ 120 Vac
EP209:24 J @ 240 Vac, 55 J @ 208 Vac, 117 J @ 120 Vac
EP216: 28 J @ 240 Vac, 62 J @ 208 Vac, 132 J @ 120 Vac

Shunt Resistor Capacity/

Regeneration Capacity Values are calculated based on maximum allowable input voltage above
nominal which is +10%. Operating at input voltages below this may increase
the energy storage available.

EP204/EP206/EP209 External Shunt Control:

12 A peak, 2 kW max average power, 30 ohm minimum external resistor
EP216 External Shunt Control:
20 A peak, 5 kW max average power, 20 ohm minimum external resistor
25 mA AC and < 0.1 mA DC with 15 ft (4.6 m) CMDS motor power cable and NT-330
Earth Leakage Current and RCD motor at 240 Vac. Leakage is higher with longer cables.
Compatibility The EP drive is compatible with a Type A Residual current Detector (RCD) that allows
expected leakage currents.
Low DC bus (can be disabled)
High DC bus
Power Stage fault
Logic power
Encoder state
Encoder line break
Drive overtemperature
Fault Detection Capability Motor overtemperature
Overspeed
Travel limit (+)
Travel limit (-)
Following error
Power-up self test failure
Non-volatile memory invalid

Cooling Method EP202, EP204, EP206, and EP209: Natural Convection

EP202-P - 35 W* at Continuous Full Load

EP204-P - 55 W* at Continuous Full Load
EP206-P - 85 W* at Continuous Full Load
Power Dissipation EP209-P - 115 W* at Continuous Full Load
EP216-P - 200 W* at Continuous Full Load
* Includes up to 12 W of power from Logic Power Supply
Pollution degree 2 environment, Maximum surrounding air temperature: 40°C full rating,
50°C with derating
Minimum operating temperature: 0°C
Storage Temperature: -25°C to 75°C
Environmental Rated Altitude: 3250 ft [1000 m]
Higher Altitude: Derate output current; 1% / 100m above 1000m
Humidity: 10% to 95% - non-condensing
Vibration: 2g, 10 Hz to 2000 Hz
UL listed
Standards and Agency Approvals Canadian UL listed
CE Mark: Low voltage directive; EMC directive

Specifications 67
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Accessories

Epsilon EP Series
EP202-B, -I, -IDN 3.6 lb (1.63 kg)
EP204-B, -I, -IDN 3.6 lb (1.63 kg)
EP206-B, -I, -IDN 4.2 lb (1.91 kg)
EP209-B, -I, -IDN 5.2 lb (2.35 kg)
Drive Weights EP202-P, -PDN, PPB 3.9 lb (1.77 kg)
EP204-P, -PDN, PPB 3.9 lb (1.77 kg)
EP206-P, -PDN, PPB 4.5 lb (2.04 kg)
EP209-P, -PDN, PPB 5.5 lb (2.50 kg)
EP216-P, -PDN, PPB 5.6 lb (2.54 kg)

68
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Accessories

Epsilon EP Drive Dimensions

The following table applies to A* and B* as shown in Figure 67 below.

Dimension A* Dimension B*
Drive Model
(shown in inches/mm) (shown in inches/mm)
EP202-B,-I,-IDN 2.11 [53.59] 0.45 [11.4]
EP204-B,-I,-IDN 2.11 [53.59] 0.45 [11.4]
EP206-B,-I,-IDN 2.82 [71.63] 0.45 [11.4]
EP202-P 2.69 [68.3] 1.03 [26.16]
EP204-P 2.69 [68.3] 1.03 [26.16]
EP206-P 3.40 [86.9] 1.03 [26.16]

“A”
5.94
[150.88] 2.5
[63.50]
5.22 “B” 1.20
[132.59] [30.48]
(4X)Ø.219
.200 [5.56]
[5.08]

DDC-RJ45 8.099
[205.72]

7.70
[195.58]

0.75
3.50 [19.05]
[88.0]
Cable
Clearence
EIO26 Cable

Figure 67: Dimensional Drawing for the Epsilon EP202 through EP206 Drives

Specifications 69
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Accessories

3.40
5.94 [86.36]
[150.88]
5.86 2.69
[148.85] [68.33]
5.23 1.03 1.20
[132.84] [26.16] [30.48]
2.5
[63.50] 0.20 [5.08]

4X Ø.219

9.60
[243.84]
DDC-RJ45 9.20
[233.68]

EP209-XXX-XX00
9606XX-XX A1
SN 0610E014

3.50 0.75
[88.0] [19.05]
Cable
Clearence
EIO26 Cable

Figure 68: Dimensional Drawing for all Epsilon EP209 Drives

70
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Accessories

3.40
5.96 [876.9]
[151.38] 1.03 1.20
[26.16] [30.48]
5.23
[132.84]

2.5
[63.50]

DDC-RJ45
9.60
[243.84]

9.20
[233.68]

0.75
[19.05]
3.50
[88.0]
Cable
Clearence EIO26 Cable

Figure 69: Dimensional Drawing for all Epsilon EP216 Drives

Specifications 71
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Accessories

Cable Diagrams
EIO26-XXX

1.530

PIN 1
EIO

0.770

ENABLE 10 LT. BLU

INPUT LINE 1 1 RED/WHT

INPUT LINE 2 LT. BLU/WHT

11
INPUT LINE 3 ORG/WHT
2
INPUT LINE 4 LT. GRN/WHT
12
INPUT LINE 5 GRN/WHT
3
INPUT LINE 6 YEL/GRY
13
INPUT LINE 7 PNK/WHT
4
OUTPUT LINE 1 ORG
7
OUTPUT LINE 2 YEL
17
OUTPUT LINE 3 PNK
8
OUTPUT LINE 4 BLU
18
I/O +V RED
19
I/O COM BLK
20
INPUT LINE 8 BLU/WHT
14
INPUT LINE 9 GRY/WHT
5
INPUT LINE 10 PUR/WHT
15
INPUT LINE 11 BRN/WHT
6
INPUT LINE12 BRN
16
OUTPUT LINE 8 BLK/WHT
21
INPUT LINE 13 WHT/BLK
22
INPUT LINE 14 GRN
23
INPUT LINE15 LIGHT GRN
24
OUTPUT LINE 5 GRY
9
OUTPUT LINE 6 PUR
25
WHT
OUTPUT LINE 7 26

DRAIN WIRE

1 2 3 4 5 6 7 8 9
10 11 12 13 14 15 16 17 18
19 20 21 22 23 24 25 26

SOLDER SIDE
Socket

72
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Accessories

XV Motor Cables
XTMDS-XXX

PIN 1

BRAID SHIELD FORM WIRE

PE/GND GRN/YEL
4
R BRN
1
S BLK
3
T BLU
2

1 2

3 4
REAR VIEW OF
CONNECTOR

Specifications 73
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Accessories

XCMDS-XXX

BRAID SHIELD FORM WIRE

PE/GND GRN/YEL
D
U BRN
A
V BLK
C
W BLU
B
BLU (20 AWG)
BLU/WHT (20 AWG)
Drain Wire

D A

C B

SOLDER SIDE
Socket

74
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Accessories

XCMDBS-XXX

FORM WIRE
BRAID SHIELD
PE/GND GRN/YEL
D
U BRN
A
V BLK
C
W BLU
B
BRK+ BLU (20 AWG)
E
BRK - BLU/WHT (20 AWG)
F
Drain Wire

F A
E G B
D C

SOLDER SIDE
Socket

Specifications 75
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Accessories

XTBMS-XXX

PIN 1

RED
+24V 1
0V BLK
2
DRAIN WIRE

1
2

REAR VIEW OF
CONNECTOR

76
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Accessories

XEFTS-XXX / XUFTS-XXX

Pin 1
PIN 1

GRN
A 3 1 A
BRN P
A/ 4 2 A/
BLU Inner Drain Wire
B 1 3 B
ORN P
B/ 2 4 B/
BLK Inner Drain Wire
Z 5 5 Z
YEL P
Z/ 6 6 Z/
WHT/GRY Inner Drain Wire
U 9 7 U
GRY/WHT P
U/ 10 8 U/
WHT/BRN
V 7 9 V
BRN/WHT P
V/ 8 10 V/
W 11 RED/ORG 11 W
ORG/RED P
W/ 12 12 W/
RED/BLU (18 ga.)
+5 VDC 13 13 +5 VDC
BLU/RED (18 ga.) P
0V 14 14 COMMON
RED/GRN Inner Drain Wire
15 MOTOR TEMP
GRN/RED P

SHIELD 15
Overall Shield Drain Wire

1 2 3 4 5
5 4 3 2 1
6 10
10 9 8 7 6
15 14 13 12 11
7 9
8 SOLDER SIDE
11 12 13 14 15
Pin
REAR VIEW OF
CONNECTOR

Specifications 77
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Accessories

XEFCS-XXX / XUFCS-XXX

Pin 1

GRN
A C 1 A
BRN P
A/ D 2 A/
BLU Inner Drain Wire
B A 3 B
ORN P
B/ B 4 B/
BLK Inner Drain Wire
Z E 5 Z
YEL P
Z/ F 6 Z/
WHT/GRY Inner Drain Wire
U M 7 U
GRY/WHT P
U/ N 8 U/
WHT/BRN
V K 9 V
BRN/WHT P
V/ L 10 V/
W P RED/ORG 11 W
ORG/RED P
W/ R 12 W/
RED/BLU (18 ga.)
+5 VDC H 13 +5 VDC
BLU/RED (18 ga.) P
0V G 14 COMMON
RED/GRN Inner Drain Wire
15 MOTOR TEMP
GRN/RED P

SHIELD J
Overall Shield Drain Wire

A
M B
N 5 4 3 2 1
L C
T P
D 10 9 8 7 6
K
S R E
15 14 13 12 11
J
H F
G SOLDER SIDE
Pin
SOLDER SIDE
Socket

78
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Accessories

NT and MG Motor Cables

CMDS-XXX

1 1/2" MAX. 3 3/4" MAX.

GRN/YEL D
BRN A
BLK B
BLU C
SHELL

A
G B
H
F C
D
E

SOLDER SIDE

CMMS-XXX

1 1/2" MAX.

GRN/YEL D
BRN A
BLK B
BLU C
SHELL

F A
E G B

D C

SOLDER SIDE

Specifications 79
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Accessories

CBMS-XXX

RED
B
BLK
C
DRAIN WIRE
GND A

C A

SOLDER SIDE
Socket

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Accessories

EFCS-XXX / UFCS-XXX

Pin 1

GRN
A N 1 A
BRN P
A/ P 2 A/
BLU Inner Drain Wire
B B 3 B
ORN P
B/ C 4 B/
BLK Inner Drain Wire
Z M 5 Z
YEL P
Z/ U 6 Z/
WHT/GRY Inner Drain Wire 7
U F U
GRY/WHT P
U/ S 8 U/
WHT/BRN
V E 9 V
BRN/WHT P
V/ R 10 V/
W G RED/ORG 11 W
ORG/RED P
W/ H 12 W/
RED/BLU
+5 VDC K 13 +5 VDC
BLU/RED P
GND T 14 COMMON
RED/GRN Inner Drain Wire
MOTOR OVERTEMP A 15 MOTOR TEMP
GRN/RED P
NOT USED V
Outer Drain Wire
Z

A
N
P
R B
5 4 3 2 1
M S
Y
Z
C
10 9 8 7 6
L X
W
T D
15 14 13 12 11
K V U E
J
H G F
SOLDER SIDE
SOLDER SIDE Pin
Socket
To Epsilon EP
To Motor MG/NT/MH

Specifications 81
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Accessories

Sync Cables
SNCDD-915-XXX

Pin 1
Pin 1

BLK
A 1 1 A
BRN P
A 2 9 A
RED
B 3 2 B
ORG P
B 5 10 B
YEL
Z 6 3 Z
GRN P
Z 7 11 Z
BLU
GND 8 8 GND
PUR P
5V 4
Drain Wire

5 4 3 2 1 8 7 6 5 4 3 2 1

9 8 7 6 15 14 13 12 11 10 9

SOLDER SIDE SOLDER SIDE

Pin Pin

SNCFLOA-XXX

Pin 1

Blunt end

BLU
ENCODER OUT A 1
ORN P
ENCODER OUT A 9
2 GRN
ENCODER OUT B
BRN P
ENCODER OUT B 10
BLK
ENCODER OUT Z 3
YEL P
ENCODER OUT Z 11
PULSE IN A (SINGLE ENDED) WHT/BRN
4
BRN/WHT P
PULSE IN B (SINGLE ENDED) 12
WHT/GRY
ANALOG OUT CHANNEL 1 + 7
GRY/WHT P
ANALOG OUT CHANNEL 2 + 15
RED/ORG
ANALOG OUT 0V 6
ORG/RED P
ANALOG OUT 0V 14
ANALOG COMMAND IN + RED/BLU
5
BLU/RED P
ANALOG COMMAND IN - 13
GRN/RED
GND 8
RED/GRN P

8 7 6 5 4 3 2 1

15 14 13 12 11 10 9

SOLDER SIDE
Pin

82
 Options and
Safety Information Product Overview Installation Diagnostics Specification
Accessories

SNCMD-815-XXX

Pin 1

+A RED 1
1 P
-A ORG
2 9
+B GRN
3 P 2
-B YEL
5 10
+Z BLK
6 P 3
-Z BRN
7 11
GND PUR
8 P 8
+5 VDC BLU
4
DRAIN WIRE

6 4
3 8 7 6 5 3 2 1
1 4 7
2
5 15 14 13 12 11 10 9
8

CONNECTOR END VIEW SOLDER SIDE

Pin Pin

SNCFLI-XXX

Pin 1
Blunt end

BLK
A 1
BRN P
A 2
RED
B 3
ORG P
B 5
YEL
Z 6
GRN P
Z 7
BLU
GND 8
PUR P
5V 4
N/C 9 Drain Wire

5 4 3 2 1

9 8 7 6

SOLDER SIDE
Pin

Specifications 83
 Options and
Safety Information Product Overview Installation Diagnostics Specification
Accessories

SNCMD-89-XXX

Pin 1

RED
A 1 1
ORG P
A 2 2
GRN
B 3 3
YEL P
B 5 5
BLK
Z 6 6
BRN P
Z 7 7
PUR
GND 8 8
BLU P
5V 4 4 Pin removed
9 Drain Wire
N/C

Completely remove pin 4

5 4 3 2 1
3
6
9 8 7 6 1 4 7
2
5
8
SOLDER SIDE
Pin CONNECTOR END VIEW
Pin

SNCE-XXX

Pin 1

RED/WHT
A+ 1 A A+
YEL/WHT P
A- 2 H A-
BLU/WHT
B+ 3 B B+
BLK/WHT P
B- 5 I B-
YEL
Z+ 6 C Z+
BLU P
Z- 7 J Z-
RED
+5 Vdc 4 D +5 Vdc
BLK P
GND 8 F GND
DRAIN WIRE

84
 Options and
Safety Information Product Overview Installation Diagnostics Specification
Accessories

Communications Cables
ESA-SP-485-XXX
Drain Wire
4
WHT/GRN
4 5
GRN P
SIGNAL GND 3 7 SIGNAL GND
TXRX+ 2 WHT/BLU
22 TXRX+
BLU P
TXRX- 7 10 TXRX-
WHT/ORG
5 15

470 Ω
470 Ω
220 Ω
ORG P
6 16
WHT/BRN
1 18
BRN P
8 25

470 Ω
13 12 11 10 9 8 7 6 5 4 3 2 1

25 24 23 22 21 20 19 18 17 16 15 14

220 Ω 470 Ω

SOLDER SIDE
Pin

PIN 1

Pin 1

ETH-PATCH-XXX

8 1

1 8

WHITE
1 1
ORANGE P
2 2
LIGHT GREEN
3 3
GREEN P
6 6
BLUE
4 4
LIGHT BLUE P
5 5
LIGHT BROWN
7 7
BROWN P
8 8

Specifications 85
 Options and
Safety Information Product Overview Installation Diagnostics Specification
Accessories

86
 Index
A E

AC Line Filter Installation Notes, 8 EIO26-XXX Cable, 72

AC Line Filters, 7 Electromagnetic Compatibility, 3
AC Supplies NOT Requiring Transformers, Encoder Output Signal Wiring, 43
14 Environmental Considerations, 4
AC Supplies Requiring Transformers, 15 Epsilon EP Drive Options, 59
Achieving Low Impedance Connections, 3 Epsilon EP Specifications, 65
Analog Command Wiring, 43
F
B
Fault Codes, 52
Basic Installation Guidelines, 3 Fault Descriptions, 54
Feature Location, 1
C
H
Cable Diagrams, 72
Cable to Enclosure Shielding, 7 High Power Connections, 13
CMDS-XXX Cable, 79
CMMS-XXX Cable, 79
I
D
Input Power Connections, 19
Input/Output, 37
DC Logic Power Supply Wiring, 31 Installation, 3
Declaration of Conformity, xi
Diagnostic Analog Output Test Points, 57
Diagnostic Display, 51 L
Diagnostics and Troubleshooting, 51
Drive Enable Wiring, 37 Line Fusing, 18
Drive Faults, 57 Logic Power Supply Specification, 31
Drive overload protection, x

87
M U

Motor Brake Wiring, 35 Underwriters Laboratories Recognition, ix

Motor Feedback Wiring, 33
Motor Power Wiring, 24
V
O
Viewing Active Drive Faults, 58

Options and Accessories, 59

W
P
Wire Size, 18
Wiring Notes, 4
Product Overview, 1
Pulse Mode Wiring, 45

Rebooting the Drive, 58

Resetting Faults, 58

Safety Information, v
Safety of Machinery, v
Safety Precautions, v
Setup, Commissioning and Maintenance, v
Shunt Control, 22
Shunt Resistor Kit Installation, 22
Specifications, 65

Transformer Sizing, 17

88
"MOTION MADE EASY" ®

Epsilon EP Servo Drive

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 of
use, reliability and high performance.
For more information about Control Techniques “Motion Made Easy” products
and services, call (800) 893-2321 or contact our website at
www.controltechniques.com.
Control Techniques Americas
7078 Shady Oak Road
Eden Prairie, Minnesota 55344
U.S.A.
For all customer questions and needs, please call us at the number below or visit
us online at www.controltechniques.com to find the appropriate email address
under the support tab.
Phone: (952) 995-8000 or (800) 893-2321
Fax: (952) 995-8129
Printed in U.S.A.