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Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual
• Position Feedback
Default Analog Output Source:
• Channel 1 = Velocity Command
• Channel 2 = Velocity Command
Each channel includes a programmable Analog Output Offset and an Analog Output Scale. This feature allows you to “zoom
in” to a desired range effectively increasing the resolution. The units for both of these parameters is dependent upon the
Analog Output Source selection.
Analog Output Offset units:
• Velocity Command = RPM
• Velocity Feedback = RPM
• Torque Command = Percent of continuous torque
• Torque Feedback = Percent of continuous torque
• Position Feedback = Revs
• Following Error = Revs
Analog Output Scale units:
• Velocity Command = RPM/volt
• Velocity Feedback = RPM/volt
• Torque Command = Percent of continuous torque/volt
• Torque Feedback = Percent of continuous torque/volt
• Position Feedback = Revs/volts
• Following Error = Revs/volts
Example:
You could use the Analog Outputs to accurately measure velocity overshoot. For example, to measure a target velocity of
2000 RPM at a resolution of ±10V = ±200 RPM do the following.
1. Selected Velocity Feedback for the Analog Output Source.
2. Set the Analog Output Offset to 2000 RPM.
3. Set the Analog Output Scale to 20 RPM/VOLT.
This will provide an active range from -10 to +10 Volts to represent 1800 to 2200 RPM. Therefore, the measured resolution
has been increased.
Digital Inputs and Outputs
External control capability is provided through the use of input and output functions. These functions may be assigned to any
input or output line on the drive or the module. After they are assigned to lines, external controllers, such as a PLC or other
motion controllers, may be used to affect or monitor the device’s operation.
Base drives are equipped with five optically isolated input lines (one dedicated to a Drive Enable function) and three optically
isolated output lines. The FM-2 Module has an additional eight input and four output lines.
The base drive’s input and output lines can be accessed through the removable 10-pin I/O connector (J6), or through the 44-
pin command connector (J5).
The drive’s input and output lines can be accessed through the 26-pin digital I/O connector (J3) on the front of the drive.
Output Source Offset Scale
1 Velocity Command 0 600 RPM/volt
2 Velocity Command 0 600 RPM/volt