Base Drive Operation: Stan Ar Ontrol Mo Es

www.emersonct.
com
800-893-2321
EN
Base Drive Operation

base EN drive can be easily controlled with single
The
and multi-axis controllers, PLCs and host controllers
EN Series
for medium power applications. The analog torque

or velocity modes can be used with classic position
controllers using analog outputs and encoder inputs.
The pulse mode is ideal for use with low-cost PLC
stepper controllers. This drive works in a variety of
applications where a host control provides a command
signal determining the desired motion profile.
The EN Drive is configurable for seven flexible modes of
operation, and the parameters for each mode can be
adjusted to tailor the drive to the specific application
using Windows-based PowerTools FM software.

Analog Torque Mode
Analog Velocity Mode
Digital Velocity Preset
Pulse Mode
Standard Control Modes

Analog Velocity/Torque Mode
MC
Position Controller
Pulse/Pulse
Pulse/Direction
Pulse/Quadrature
Summation of Analog Velocity and Digital Velocity

PLC
Programmable I/O
5 optically-isolated inputs (1 dedicated)
3 optically-isolated outputs
1 analog input 10 VDC, 14-bit
2 analog output 10 VDC, 10-bit
Programmable encoder output, (up to 8,192
lines per revolution)
Separate stop and travel limit decel ramps
Digital I/O
User Logic
Pulse Mode
PLC
Master Axis
Digital I/O
Synchronized Encoder
Torque, Travel, Following Error and velocity

limits
8 user defined speed presets with individual
accel/decel rates
2 Programmable Torque Level Outputs
In Motion Velocity Output
Auto-Tune
Software Oscilloscope
176
Summation of Analog Velocity

and Digital Velocity
PLC
Digital I/O
User Logic
Analog Trim
www.emersonct.com
800-893-2321
The operating mode of the drive is simply selected with
one click in the PowerTools FM Detailed Setup tab.
Pulse Mode
Application Examples
PLC pulse command outputs

Electronic gearing
Stepper drive replacement
Web line ratio control
Velocity Mode
Analog in Analog Velocity Mode the drive develops
a velocity command in proportion to the voltage (10
VDC) received on the Analog Input. Note: Analog full
scale voltage and offest are programmable.
Preset Velocity In this mode one of up to eight
digital velocities can be selected using the digital I/O
or Modbus. Each preset has its own accel/decel ramps.
EN Series
In Pulse Mode the drive will receive pulses from a

master source (single-ended or differential), which
can be interpreted in three ways:
Pulse/Pulse
Pulse/Direction
Pulse/Quadrature
Torque Mode
In Analog Torque Mode the drive develops a torque
command in proportion to the voltage (10 VDC)
received in the Analog Input. Note: Analog full scale
voltage and offest are programmable.

With position/velocity controller

Tension control
Flexible I/O Functionality
Clutch-brake replacement
Phase control with a differential
Automatic feed control for
machining operations
Spindle speed control
The digital I/O of the drive is completely programmable

with the ability to map one or more I/O functions to the
I/O points.
Velocity Summation This mode combines the

features of Analog Velocity and Preset Velocity in one
mode. It allows running a preset velocity and trimming
it with an analog input, or vice versa, allowing advanced
applications to be solved simply and elegantly without
complex controllers.
Input Functions
Output Functions
Stop
Drive OK
Reset
At Velocity
Travel Limit (+)
Travel Limits (+)
Travel Limit (-)
Travel Limits (-)
Torque Limit Enable
In Motion (+)
Torque Mode Enable
In Motion (-)
Velocity Presets (3)
Power Stage Enabled
Brake Release
Torque Limit Active
Brake Control
Velocity Limiting Active
Fault
Loop/dancer arm control

Phase advance/retard
Speed trimming
Brake
Shunt Active
Torque Level 1 & 2 Active
Foldback Active
177
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800-893-2321
EN
with FM Modules
EN-204
FM-4PB
Profibus
1
2
3
4
5
6
7
8
Outputs 10-30
VDC
Sync.
Output
Inputs
Sync.
Input
EN Series
FM control modules (see Controls)

provide EN drives with snap-on
functionality for Indexing (FM-2),
Programming (FM-3E), and Advanced
Programming (FM-4E). This modular
approach allows users to choose the
level of advanced machine control
they need, based on the applications
parameters and not the drive spec.
1
2
3
4
+
-
10-30
VDC
DRIVE
J6
ENABLE
For applications requiring traditional

multi-axis control, our MC controller
is easily integrated with a single cable
connection.
INPUT
OUTPUT
FM-2 Indexing Module

The FM-2 module enhances EN drives by
adding positioning capability including
Jog, Home, Index functions including
Position Tracker Fieldbus Indexing. The
FM-2 also includes additional I/O providing
8 digital inputs and 4 digital outputs.
Outputs 1
10-30 VDC
2
3
4
+
-
FM-3E Programming Module

The FM-3E Ethernet module transforms
the EN into a fully programmable
single-axis motion controller, and adds
Profibus (FM-3PB) and DeviceNet
(FM-3DN) options are also available.
Inputs
1
2
3
4
5
6
7
8
Outputs 10-30
VDC
Tension control
Flying cut off
Auger filler
Registration control
Slip compensation
Sync.
Output
Sync.
Input
FM-3E Application Examples
Ethernet
178
FM-3E
1
2
3
4
+
-
Random infeed conveyor

Merge conveyor
Rotary knife
High speed labeling
Phase synchronization
Electronic gearing
Point-to-point positioning
Thermoforming
Web control
FM-4E
1
2
3
4
5
6
7
8
Outputs 10-30
VDC
2
3
4
5
6
7
8
Inputs
Extend-retract arm
Indexing table
Indexing conveyor
Sync.
Output
FM-2
Inputs 1
Sync.
Input
FM-2 Application Examples
The FM-4E Advanced Programming

module has taken all of the features
and flexibility of the FM-3E, and added
the ability to create complex motion
profiles for sophisticated applications.
The FM-4E adds versatility and extends
functionality by including high speed
data capture, summation of multiple
motion profiles, program multi-tasking,
and an array of parameters suitable for
even the toughest applications. Profibus
(FM-4PB) and DeviceNet (FM-4DN)
options are also available.
Ethernet
FM-4E Advanced
Programming Module
1
2
3
4
+
-
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800-893-2321
EN Drive Terminals and Pinouts
AC Power
Terminal
L1
L2
L3
PE
Serial (J4)
3
2
6
5
4
9
1
7,8
Signal
RS232 TX
RS232 RX
Serial +5 VDC
Serial 0V Common
RS485+
RS485Shield
No Connect
Logic Backup Power (J3)

Terminal
Aux 1
Aux 2
15
14
8
9
23
24
37
38
27
41
26
40
25
39
20
36
16
1
2
3
4
19
18
17
33
34
31
32
29
43
44
11
12
28
6
21
5, 7, 10, 13,
22, 30, 35, 42
Signal
Logic Supply Backup +
Logic Supply Backup
0V Common
DC Power (J2)
Command (J5)
Pin Number
AC Input
AC Input
AC Input
PE
EN Series
Pin Number
Signal
Terminal
Signal
Analog Command In +
Analog Command In Encoder Out A
Encoder Out A/
Encoder Out B
Encoder Out B/
Encoder Out Z
Encoder Out Z/
Pulse In A
Pulse In A/
Pulse In B
Pulse In B/
Pulse In Z
Pulse In Z/
Pulse In A (single ended)
Pulse In B (single ended)
I/O Input Drive Enable
I/O Input 1
I/O Input 2
I/O Input 3
I/O Input 4
I/O Output 1
I/O Output 2
I/O Output 3
I/O Supply +
I/O Supply +
I/O Supply 0V
I/O Supply 0V
Analog Out 0V
Analog Out Channel 1 +
External Encoder +5VDC Power
External Encoder Common
+15V Power Out (10 mA)
RS485 +
RS485 No Connect
Logic Backup Power

and DC Power
located on top
beneath knock out
not shown.
Bus 1
Bus 2
Signal
DC Bus +
DC Bus -
Digital I/O (J6)

Pin Number
1
2
3
4
5
6
7
8
9
10
Signal
I/O Supply +
I/O Supply 0V
Drive Enable
Input 1
Input 2
Input 3
Input 4
Output 1
Output 2
Output 3
Feedback (J7)
Pin Number
1
10
2
11
3
12
4
13
5
14
6
15
7,8
17
9
16,18-26
Signal
Motor Encoder A
Motor Encoder A/
Motor Encoder B
Motor Encoder B/
Motor Encoder Z
Motor Encoder Z/
Motor Commutation U
Motor Commutation U/
Motor Commutation V
Motor Commutation V/
Motor Commutation W
Motor Commutation W/
Encoder +5 VDC Supply
Encoder 0V Common
Motor OverTemp
No Connect
Motor Power
Terminal
PE
R
S
T
Signal
PE
Motor Power R
Motor Power S
Motor Power T
179
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800-893-2321
EN Series
How to Order
Software is Free!
Depending on your motor selection, use one of the next

few pages to configure a basic EN system by selecting
one item from each of the four ordering columns, and
the fifth column if you are choosing a brake motor. Note
that item motor selection requires additional input as
to flange, and on NT systems connector type. (See the
Motor Order String boxes for details.) Items through
require cable lengths to be provided. The basic
systems represented on these pages can be customized
with a variety of components depending on your needs.
A guide to EN options and accessories can be found at
the end of this page.
The Control Techniques Motion Made Easy Power

CD (CT-MME-POWER-CD) is shipped with every product.
Software updates are free and can be downloaded from
our web site, as are firmware updates.
Select System and Motor

Select the EN drive appropriate to the needs of your
application.
Select a performance matched motor for your drive.
The system selection matrix for motors is found on the
following page.
Cable Ordering Options

Motor power, feedback and brake cables use MS style
connectors and are fully shielded with IP65 molded
connectors and are available in standard and custom
lengths. For more information on these and other
cables, see the Options and Accessories section.
Standard lengths of 5, 15, 25, 50 and 100 feet are
available from stock. Non-standard lengths require
additional lead time. Note: Equivalent FM Motor
cable lengths are in meters.
Feet=xxx or meters=yyy with specified lengths.
Example: 005 = 5 feet. For applications involving
continuous flexing, flexible cables are available. Cable
components such as connector kits and raw cable are
also available. See the Options and Accessories section
for details or consult factory for special requirements.
Motor Power Cables Example;
CMDS-xxx 16 AWG for 2-3 motors or CMMS-xxx 12
AWG for 4 motors, both cables have connectors on the
motor end and ferrules on the drive end.
Motor Feedback Cables Example;
CFCS-xxx Connectors on both ends.
Motor Brake Cable Example;
CBMS-xxx Required for all motors with brake option;
connector on motor end only.
180
EN Options and Accessories

Control Techniques provides a complete array of
options and accessories to complete your system. For
details, see the Options and Accessories section of the
catalog.
Brake Relays
BRM-1
Breakout Board
ECI-44, DEMO-FMIO-000, DEMO-DRIO-000
Diagnostics
DGNE
Auxiliary Logic Supplies
ALP-130, ALP-430
External Shunts/Resistors
(see Power Accessories)
AC Line Filters
960304-01 (EN-214), 960305-01 (EN-204, EN-208)
Synchronization Encoders
SCSLD-4, SCSLD-4R
Operator Interface
CTVue, OIT, CTIU
Prosoft Comms Modules
3100-MCM, 3150-MCM, MV156-MCM
Extended Warranty
Extends Two Year Warranty to Five Years
www.emersonct.com
800-893-2321
EN Series
Order String
xxx
The FM 230V line is a medium to high inertia line

for larger load applications. It is designed to allow
use in many applications and offers a wide range of
options. The FM line is offered in metric frame sizes,
75 mm, 95 mm, 115 mm, 142 mm and 190 mm. The
standard configured motor has a 4096 line encoder,
vertical connectors and non-brake. This configuration
is designed with low cogging torque to provide smooth
operation and excellent velocity regulation. The torque
range available is 19.8 lb-in (2 Nm) to 214 lb-in
(24.2 Nm). All models are rated IP65.
The FM motor is also available with many other options
like resolver and Sin/Cos feedback, NEMA flange,
different shaft diameters, 90 and rotatable connectors,
and a high peak torque option that allows intermittent
operation near 5 times their continuous torque levels.
x xx x B
A CA A BCD* DIA*

Inertia: A = Standard

Feedback Device:

CA = 4096 Incremental Encoder

Shaft Key: A = With Key

Connection Type: B = 90 Connectors

Brake: 0 = None, 1 = 24 VDC

Rated Speed: 20 = 2,000 rpm, 30 = 3,000 rpm,

40 = 4,000 rpm, 50 = 5,000 rpm

Stator Length: A, B, C, D, E, F, G, H
Peak Torque: 2 = Standard Peak Torque

Voltage E = 230V
Frame Size: 075, 095, 115, 142, 190
EN Series
230V FM Motor
* Bolt Circle & Shaft Diameter are standard dimensions

see FM Motor section for additional options.
Motor
Feedback Cable - SIBAH
Motor Power &

Brake Cable - PBBAA
BRM-1
R
Motor Power Cable - PSBAA

Drive (Bottom shown)
Servo System Order Guide
Note: Cable lengths in meters.
Drive
Model
Motor
Model
Motor Power Cable

(yyy=meters)
Feedback Cable
(yyy=meters)
Motor Power/Brake Cable

(required w/all brake motors)
(yyy=meters)
075E2B400 BACAA075140
PSBAA-yyy
SIBAH-yyy
EN-204
075E2B401 BACAA075140
075E2D300 BACAA075140
SIBAH-yyy
PSBAA-yyy
075E2D301 BACAA075140
095E2D400 BACAA100190
EN-208
095E2E300 BACAA100190
PSBAA-yyy
PSBAA-yyy
PSBAA-yyy
EN-214
115E2C300 BACAA115190
PSBAA-yyy
115E2E300 BACAA115240
115E2E301 BACAA115240
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBAA-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
115E2C301 BACAA115190
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
095E2D401 BACAA100190
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
095E2E301 BACAA100190
095E2D400 BACAA100190
SIBAH-yyy
SIBAH-yyy
095E2D401 BACAA100190
PBBAA-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PBBAA-yyy
181
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800-893-2321
EN - 230V FM Motor Specifications

Cont. Stall Peak Stall
Torque
Torque
lb-in
lb-in
Nm
Nm
EN Series
Drive
Model
Motor
Model
Rated
Torque
@Rated
Speed*
lb-in
Nm
Rated
Max.*
Encoder
Motor
Power Operating Resolution
Weight
Inertia
Motor Ke Motor Kt
HP
Speed
lines/rev
lb
lb-in-sec2 Vrms/krpm lb-in/Arms
kWatts
kg
RPM
kg-cm2
Nm/Arms
EN-204
075E2B400
19.75
57.35
15.05
0.95
4000
4096
0.001062
44
6.37
9.7
EN-204
075E2D300
2.23
34.57
6.48
74.07
1.70
30.98
0.71
1.47
3000
4096
1.2
0.00177
57
0.72
8.23
4.4
13.2
EN-208
095E2D400
4096
095E2E300
1.10
2.73
2.05
2.73
2.05
3.39
4000
EN-208
3.50
43.37
4.90
43.37
4.90
71.69
4096
095E2D400
8.37
114.70
12.96
165.67
18.72
148.15
4000
EN-214
3.91
57.35
6.48
66.91
7.56
74.07
3000
4096
0.93
6.37
0.72
6.37
0.72
8.23
6.0
19.1
8.7
19.1
8.7
21.8
EN-214
115E2C300
8.10
71.69
8.10
107.00
12.09
2.54
3.39
2.54
5.07
3.80
4096
115E2E300
16.74
213.99
24.18
213.99
24.18
3000
EN-214
8.37
83.95
9.49
107.00
12.09
3000
4096
0.93
8.23
0.93
8.23
0.93
9.9
25.5
11.6
33.9
15.4
2
0.004514
5.1
0.004514
5.1
0.005487
44
44
57
6.2
0.007965
9
0.012213
13.8
57
57
*Rated Speed = Maximum Operating Speed
EN - 230V FM Motor Speed Torque Curves

075E2D30-x with EN-204
075E2B40-x with EN-204
2000
1000
0
1000
10
20
1.13
2.26
30
40
3.39
50
4.52
5.65
60
6.78
70
20
Nm
Torque
40
2.26
60
4.52
6.78
Speed (RPM)
3000
2000
1000
80
9.04
lb-in 20
Nm
2.26
40
4.52
60
80
6.78 9.04
100
120 140 160 180
11.30 13.56 15.82 18.08 20.34
Torque
40
60
4.52
6.78
80
9.04
100
11.30
120
2000
1000
2000
1000
0
lb-in
Nm
20
2.26
40
4.52
60
6.78
80
9.04
100
11.30
120
140
160
13.56 15.82 18.08
Torque
lb-in
Nm
50
2.26
4.52
100
6.78
150
9.04
11.30
Torque
200
lb-in
Nm
50
5.65
100
11.30
Torque
150
16.95
200
22.60
250
28.25
250
13.56 15.82 18.08
Legend
Continuous Torque
Peak Torque
120V Curve
1000
140
13.56 15.82
Torque
115E2C30-x with EN-214
Voltage 240 VAC

Drive Frequency 10 kHz
Ambient Temperature 25C (77F)
Case Temperature 100C (212F)
2000
20
2.26
Torque
Specifications
3000
Nm
11.30
3000
115E2E30-x with EN-214
lb-in
100
1000
095E2E30-x with EN-208
3000
4000
2000
0
lb-in
7.91
Speed (RPM)
Nm
Speed (RPM)
3000
2000
0
lb-in
Speed (RPM)
4000
Speed (RPM)
Speed (RPM)
Speed (RPM)
3000
182
3000
4000
All performance data listed above has a +/-10% tolerance and is subject to change at any
time without notice. For more detailed information on performance data and test conditions
please refer to the motor section of the catalog. For brake motor information, complete motor
specifications and dimensions please refer to our motor section.
www.emersonct.com
800-893-2321
EN Series
Order String
NT
The NT motor is a high performance motor utilizing

patented technology to maximize torque in a compact
package. The NT motor uses powerful Neodymium
magnets and is manufactured with a segmented core to
maximize stator efficiency. The NT motor has a very low
inertia for applications that demand high accel and cycle
rates. NT motors are available in English (NEMA 23 or
34) or Metric (IEC-72-1) flanges, with or without brakes.
The standard encoder resolution is 2048 lines per rev.
NT motors can be ordered with MS style connectors, 1
m Flying Leads, or 1 m Flying Leads with MS connectors.
xx
x N S 0000
Special Options: DSXX = DSUB

Inertia: S = Standard, I = Medium
N = Encoder Feedback Type: Encoder
Brake Option: B = with Brake,

O = No Brake
Connector Type:
C = MS connectors on motor
T = MS connectors on one meter leads
L = one meter leads without connectors
EN Series
230V NT Motor Selection
Continuous Torque (lb-in): 7, 12, 20, 30, 45 or 55

Frame Size (in inches): 2 or 3
Mounting Flange: E = English, M = Metric
NT Motor Family
Motor Brake Cable - CBMS

(Brake Motors Only)
Motor
BRM-1
Feedback Cable - CFCS
Motor Power Cable - CMDS
For additional motor information see Motors.

For additional cable options see Options.
Drive
Model
Motor Model
(x=Flange type;
y=Connector type)
Motor Power Cable

(xxx=feet)
Feedback
Cable
(xxx=feet)
Motor Brake Cable

(xxx=feet)
NTx-207-yONS-0000
CMDS-xxx
CFCS-xxx
NTx-207-yBNS-0000
CMDS-xxx
CFCS-xxx
NTx-212-yONS-0000
CMDS-xxx
CFCS-xxx
EN-204-00-000
EN-208-00-000
EN-214-00-000
NTx-212-yBNS-0000
CMDS-xxx
CFCS-xxx
NTx-320-yONS-0000
CMDS-xxx
CFCS-xxx
NTx-320-yBNS-0000
CMDS-xxx
CFCS-xxx
NTx-330-yONS-0000
CMDS-xxx
CFCS-xxx
NTx-330-yBNS-0000
CMDS-xxx
CFCS-xxx
NTx-345-yONS-0000
CMDS-xxx
CFCS-xxx
NTx-345-yBNS-0000
CMDS-xxx
CFCS-xxx
NTx-355-yONS-0000
CMDS-xxx
CFCS-xxx
NTx-355-yBNS-0000
CMDS-xxx
CFCS-xxx
NTx-345-yONS-0000
CMDS-xxx
CFCS-xxx
NTx-345-yBNS-0000
CMDS-xxx
CFCS-xxx
NTx-355-yONS-0000
CMDS-xxx
CFCS-xxx
NTx-355-yBNS-0000
CMDS-xxx
CFCS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
183
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800-893-2321
EN - 230V NT Motor Specifications

Cont. Stall Peak Stall Rated Torque Rated
Drive Motor Torque
Torque @Rated Speed* Power
Model Model
lb-in
lb-in
lb-in
HP

Nm
Nm
Nm
kWatts
Max.*
Encoder
Motor
Operating Resolution
Inertia
Motor Ke
Motor Kt Weight
Speed
lines/rev
lb
RPM
kg-cm2
Nm/Arms
kg
EN Series
EN-204 NT-207

7.5
0.85
15
1.72
7.5
0.85
0.60
5000
2048
0.44
0.000094
35
0.106
5.12
0.58
3
1.36
EN-204 NT-212

12.5
1.41
27
3.05
12
1.4
1.03
5000
2048
0.77
0.000164
35
0.185
5.12
0.58
4
1.82
EN-208 NT-320

20
2.22
38
4.24
16
1.81
1.02
4000
2048
0.76
0.000328
29
0.370
3.50
0.40
6
2.72
EN-208 NT-330

27
3.05
58
6.55
27
3.05
1.71
4000
2048
1.28
0.000438
36
0.494
4.73
0.53
7.3
3.31
EN-208 NT-345

42
4.75
80
9.04
42
4.75
2.00
3000
2048
1.49
0.000668
50
0.754
6.37
0.72
10
4.54
EN-208 NT-355

48
5.42
90
10.17
48
5.42
2.28
3000
2048
1.71
0.000888
50
1.0
6.32
0.71
12.3
5.58
EN-214 NT-345

42
4.75
94
10.62
42
4.75
2.00
3000
2048
1.49
0.000668
50
0.754
6.37
0.72
10
4.54
EN-214 NT-355

48
5.42
116
13.10
48
5.42
228
3000
2048
1.71
0.000888
50
1.0
6.32
0.71
12.3
5.58
* Rated Speed = Maximum Operating Speed
EN - 230V NT Motor Speed Torque Curves

NT-207 with EN-204
5000
2000
1000
3000
Speed (RPM)
Speed (RPM)
3000
2000
1000
0
0
lb-in 2
10 12
14
16
18
Nm
Torque
4000
10
15
20
25
30
lb-in 5
10
15
20
25
30
35
0.57
1.13
1.70
2.26
2.83
3.39
Nm
1.13
1.70
2.26
2.83
3.39
3.96 4.52
Speed (RPM)
2000
1000
0
0.57
Torque
NT-345 with EN-208
3000
3000
1000
NT-330 with EN-208
2000
0
lb-in
Nm 0.23 0.45 0.68 0.90 1.13 1.36 1.58 1.81 2.03
2000
1000
2000
1000
0
lb-in
10
20
30
40
50
60
70
lb-in 10 20
lb-in
20
40
60
80
100
Nm
1.13
2.26
3.39
4.52
5.65
6.78
7.92
Nm 1.13 2.26 3.39 4.52 5.65 6.78 7.92 9.04 10.17
Nm
2.26
4.52
6.78
9.04
11.30
Torque
NT-345 with EN-214
3000
30

40
50
60 70
80
90
Torque
NT-355 with EN-214
3000
Speed (RPM)
2000
1000
Torque
Specifications
Voltage
Speed (RPM)
40
Torque
NT-355 with EN-208
3000
Speed (RPM)
Speed (RPM)
3000
NT-320 with EN-208
4000
4000
4000
Speed (RPM)
NT-212 with EN-204
5000
Drive Frequency
2000
Ambient Temperature
Case Temperature
1000
240 VAC
20 kHz
25C (77F)
100C (212F)
All performance data listed above has a +/-10% tolerance

and is subject to change at any time without notice. For
184
more detailed information on performance data and test
0
lb-in
20
Nm
2.26
40
60
80
100
lb-in
20
40
4.52
6.78
9.04
11.30
Nm
2.26
4.52
Torque
* Dashed line equals 120V curve
60
80
100
120
6.78
9.04
11.30
13.56
Torque
conditions please refer to the motor section of the catalog.

For brake motor information, complete motor specifications
and dimensions please refer to our motor section.
www.emersonct.com
800-893-2321
EN Series
Order String
230V MG Motor Selection
MG x
The MG motor is a low inertia motor that is great for

dynamic applications that have larger load inertias. MG
motors use Neodymium magnets to achieve a high
torque to inertia ratio giving them a size advantage
when compared to competitors motors. MG motors
are available in English (NEMA 23, 34, or 56) and
Metric (IEC-72-1) flanges, with or without brakes. The
standard encoder resolution is 2048 lines per rev. MG
motors come standard with MS style connectors. For
applications that require custom motors the MG line is
the choice.
xx
S 0000
Special Options

O = No Brake
Connector Type:
Continuous Torque (lb-in): 5, 8, 16, 40, 55, 90 or 120
EN Series
S = Shaft Seal (Standard)

Frame Size (in inches): 2, 3 or 4

MG Motor Family

(Brake Motors Only)
Motor
+
BRM-1
CMMS for MGX-4xx(x) series

EN Servo Drive
EN-204-00-000
EN-208-00-000
EN-214-00-000
Motor Power Cable

(xxx=feet)
Feedback
Cable
(xxx=feet)
Motor Brake Cable

(required w/ all brake motors)
(xxx=feet)
MGx-205-CONS-0000
CMDS-xxx
CFCS-xxx
MGx-205-CBNS-0000
CMDS-xxx
CFCS-xxx
MGx-208-CONS-0000
CMDS-xxx
CFCS-xxx
MGx-208-CBNS-0000
CMDS-xxx
CFCS-xxx
MGx-316-CONS-0000
CMDS-xxx
CFCS-xxx
MGx-316-CBNS-0000
CMDS-xxx
CFCS-xxx
MGx-316-CONS-0000
CMDS-xxx
CFCS-xxx
MGx-316-CBNS-0000
CMDS-xxx
CFCS-xxx
MGx-340-CONS-0000
CMDS-xxx
CFCS-xxx
MGx-340-CBNS-0000
CMDS-xxx
CFCS-xxx
MGx-455-CONS-0000
CMMS-xxx
CFCS-xxx
MGx-455-CBNS-0000
CMMS-xxx
CFCS-xxx
MGx-455-CONS-0000
CMMS-xxx
CFCS-xxx
MGx-455-CBNS-0000
CMMS-xxx
CFCS-xxx
MGx-490-CONS-0000
CMMS-xxx
CFCS-xxx
MGx-490-CBNS-0000
CMMS-xxx
CFCS-xxx
MGx-4120-CONS-0000
CMMS-xxx
CFCS-xxx
MGx-4120-CBNS-0000
CMMS-xxx
CFCS-xxx
MG Servo Motor
(x=Flange type)
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
185
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800-893-2321
EN - 230V MG Motor Specifications

Drive Motor Torque
Model Model
lb-in
lb-in
lb-in
HP

Nm
Nm
Nm
kWatts
Max.*
Encoder
Motor
Inertia
Motor Ke
Motor Kt Weight
Speed
lines/rev
lb
RPM
kg-cm2
Nm/Arms
kg
EN Series
EN-204 MG-205

5
0.56
16
1.81
3.7
0.41
0.29
5000
2048
0.22
0.000099
28
0.112
4.1
0.47
3
1.3
EN-204 MG-208

9
1.02
27
3.09
7.5
0.848
0.60
5000
2048
0.44
0.000169
28
0.191
4.1
0.47
4
1.8
EN-204 MG-316

18.6
2.10
42
4.75
16
1.81
1.02
4000
2048
0.76
0.000560
38
0.630
5.5
0.62
8.3
3.8
EN-208 MG-316

18.6
2.10
56
6.33
16
1.81
1.02
4000
2048
0.76
0.000560
38
0.630
5.5
0.62
8.3
3.8
EN-208 MG-340

50
5.65
133
15.03
42
4.75
2.00
3000
2048
1.49
0.001458
57
1.646
8.3
0.94
14.6
6.6
EN-208 MG-455

68
7.68
138
15.40
52
5.84
2.48
3000
2048
1.85
0.002658
60
3.000
8.8
0.99
20
9.1
EN-214 MG-455

68
7.68
200
22.60
52
5.84
2.48
3000
2048
1.85
0.002658
60
3.000
8.8
0.99
20
9.1
EN-214 MG-490

100
11.30
217
24.50
80
9.04
3.81
3000
2048
2.84
0.005175
59
5.823
8.6
0.97
26.8
13
EN-214 MG-4120

132
256
120
28.90
13.56
5.71
3000
2048
4.26
0.007458
14.90
72
8.4
10.5
37
1.19
16.8
EN - 230V MG Motor Speed Torque Curves

MG-205 with EN-204
5000
2000
1000
3000
2000
1000
0
0
4
10 12
14
16
18
Nm
Torque
Speed (RPM)
15
20
25
30
lb-in 5
0.57
1.13
1.70
2.26
2.83
3.39
Nm 0.57 1.13 1.70 2.26 2.83 3.39 3.96 4.52 5.09
2000
1000
0
Torque
2000
1000
10
15
20
25
30
35 40 45
Torque
MG-455 with EN-208
3000
2000
1000
0
lb-in
10
20
30
40
50
60
lb-in
20
40
60
80
100
120
140
lb-in 20
40
60
80
100
120
Nm
1.13
2.26
3.39
4.52
5.65
6.78
Nm
2.26
4.52
6.78
9.04
11.30
13.56
15.82
Nm
4.52
6.78
9.04
11.30
13.56 15.82
Torque
MG-455 with EN-214
Speed (RPM)
2000
3000
1000
Torque
MG-490 with EN-214
2000
1000
50
75 100 125
150 175 200
lb-in 25 50
Nm 2.83
5.65
8.48 11.30 14.13
16.95 19.78 22.60
Nm 2.83 5.65 8.48 11.30 14.13 16.95 19.78 22.60 25.43
Torque
Dashed line equals 120V curve.
Torque
MG-4120 with EN-214
3000
2000
1000
0
lb-in 25

2.26
Speed (RPM)
Speed (RPM)
3000
Speed (RPM)
10
MG-340 with EN-208
3000
4000
1000
MG-316 with EN-208
2000
0
lb-in
Speed (RPM)
lb-in 2
Nm 0.23 0.45 0.68 0.90 1.13 1.36 1.58 1.81 2.03
186
3000
Speed (RPM)
Speed (RPM)
Speed (RPM)
3000
MG-316 with EN-204
4000
4000
4000
3000
MG-208 with EN-204
5000
75 100 125 150 175 200 225

Torque
lb-in
50
100
150
200
250
Nm
5.65
11.30
16.95
22.60
28.25
Torque
140
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800-893-2321
EN Series
Order String
XV M
The new XV Servo Motor line delivers high-performance,

low inertia, and high torque in a compact motor
package. It offers a low cost solution with the features
of a premium priced servo offering. Intended for higher
throughputs and smaller machines, XV motors are
available in 4 frame sizes: 40, 60, 80 and 130 mm with
speeds ranging from 2000 to 5000 RPM.
xxx
xxx
N S 0000
Special Options
S = Standard
N = Incremental Encoder

O = No Brake
Connector Type:


T = Flying Lead with Connectors
Continuous Torque (lb-in): 1, 3, 6, 11, 17,

23, 28, 46, 51, 68, 89 or 101
Applications with continuous torque requirements up

to 101 lb-in (11.4 Nm) are the perfect match for the
XV motors. The XV motor series is CE, UL and RoHS
approved.
EN Series
230V XV Motor
Frame Size (in millimeters): 40, 60, 80 or 130
Mounting Flange: M = Metric
XV Motor Family

Drive
Motor Brake Cable - XTBMS (40, 60, 80 mm)

(Brake Motors Only)
BRM-1
Motor
Feedback Cable - XCFTS (40, 60, 80 mm)

XCFCS (130 mm)
Motor Power Cable

XTMDS (40, 60, 80 mm)

XCMDS (130 mm)
XCMDBS (130 mm with brakes)
130 mm Motors use
motor mounted MS
style connectors
187
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800-893-2321
EN Series
EN Servo Drive
XV Servo Motor*
Motor Power Cable

(xxx=feet)
Feedback Cable
(xxx=feet)
Motor Brake Cable

(xxx=feet)
XVM-6011-TONS-0000
XVM-6011-TBNS-0000
XVM-8017-TONS-0000
XVM-8017-TBNS-0000
XVM-8023-TONS-0000
XVM-8023-TBNS-0000
XVM-8028-TONS-0000
XVM-8028-TBNS-0000
XTMDS-xxx
XTMDS-xxx
XTMDS-xxx
XTMDS-xxx
XTMDS-xxx
XTMDS-xxx
XTMDS-xxx
XTMDS-xxx
XCFTS-xxx
XCFTS-xxx
XCFTS-xxx
XCFTS-xxx
XCFTS-xxx
XCFTS-xxx
XCFTS-xxx
XCFTS-xxx
XVM-13051-CONS-0000
XVM-13051-CBNS-0000
XCMDS-xxx
XCMDBS-xxx **
XCFCS-xxx
XCFCS-xxx
Combination Cable
XVM-8028-TONS-0000
XVM-8028-TBNS-0000
XTMDS-xxx
XTMDS-xxx
XCFTS-xxx
XCFTS-xxx
XTBMS-xxx
XVM-13046-CONS-0000
XVM-13046-CBNS-0000
XCMDS-xxx
XCMDBS-xxx **
XCFCS-xxx
XCFCS-xxx
Combination Cable
XVM-13089-CONS-0000
XVM-13089-CBNS-0000
XCMDS-xxx
XCMDBS-xxx **
XCFCS-xxx
XCFCS-xxx
Combination Cable
XVM-130101-CONS-0000
XVM-130101-CBNS-0000
XCMDS-xxx
XCMDBS-xxx **
XCFCS-xxx
XCFCS-xxx
Combination Cable
XVM-13068-CONS-0000
XVM-13068-CBNS-0000
XCMDS-xxx
XCMDBS-xxx **
XCFCS-xxx
XCFCS-xxx
Combination Cable
XVM-13089-CONS-0000
XVM-13089-CBNS-0000
XCMDS-xxx
XCMDBS-xxx **
XCFCS-xxx
XCFCS-xxx
Combination Cable
XVM-130101-CONS-0000
XVM-130101-CBNS-0000
XCMDS-xxx
XCMDBS-xxx **
XCFCS-xxx
XCFCS-xxx
Combination Cable
EN-204-00-000
EN-208-00-000
EN-214-00-000
XTBMS-xxx
XTBMS-xxx
XTBMS-xxx
XTBMS-xxx
** Combination Motor Power and Brake Cable
EN - 230V XV Motor Specifications

Drive
Model
Motor
Model
Cont. Stall Peak Stall

Torque
Torque
lb-in
lb-in
Nm
EN-204
188
XV-6011
Nm
11.24
32.3
1.27
3.65
EN-204
XV-8017
16.9
42.5
1.91
4.8
EN-204
XV-8023
23.3
54.9
2.63
6.2
EN-204
XV-8028
23.6
47.1
2.67
5.32
EN-204 XV-13051
50.7
110
5.73
12.4
EN-208
XV-8028
28.1
81.1
3.18
9.16
EN-208 XV-13046
46.5
133.3
5.25
15.1
EN-208 XV-13089
88.76
236.7
10.03
26.7
EN-208 XV-130101
101.4
239.2
11.46
27
EN-214 XV-13068
67.6
190.4
7.64
21.5
EN-214 XV-13089
88.76
260.4
10.03
29.4
EN-214 XV-130101
101.4
296.4
11.46
34.5
Rated
Torque
@Rated
Speed*
lb-in
Nm
Rated
Power
HP
kWatts
11.24
3.65
16.9
1.91
23.3
2.63
23.6
2.67
50.7
5.73
28.1
3.18
46.5
5.25
88.76
10.03
101.4
11.46
67.6
7.64
88.76
10.03
101.4
11.46
0.54
0.40
0.80
0.60
0.74
0.55
1.12
0.84
0.80
0.60
1.34
1.00
1.48
1.10
1.40
1.05
1.61
1.20
2.15
1.60
1.40
1.05
1.61
1.20
Max.*
Encoder
Inertia
Motor Kt Motor
Operating Resolution lb-in-sec2
lb-in/Arms Weight
Motor Ke
Speed
lines/rev
lb
Vrms/krpm
RPM
kg-cm2
5000
2048
5000
2048
3000
2048
5000
2048
2000
2048
5000
2048
3000
2048
2000
2048
2000
2048
3000
2048
2000
2048
2000
2048
0.000
0.321
0.001
1.092
0.001
1.59
0.002
1.97
0.011
11.99
0.002
1.927
0.011
11.99
0.015
17.34
0.020
22.68
0.015
17.34
0.015
17.34
0.020
22.68
29.5
35.2
44.6
39.2
85.8
39.2
53.1
94.6
90
54.2
94.6
90
Nm/Arms
kg
4.15
0.47
5
0.57
6.32
0.71
5.57
0.63
12.87
1.45
5.57
0.63
7.71
0.87
15.57
1.76
13.88
1.57
7.59
0.86
15.57
1.76
13.88
1.57
3.5
1.63
5.4
2.49
6.9
3.15
8.3
3.8
15.8
7.2
8.3
3.8
15.8
7.2
21.3
9.7
22.4
10.2
19.1
8.7
21.3
9.7
22.4
10.2
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800-893-2321
EN - 230V XV Motor Speed Torque Curves

XV-6011 with EN-204
5000
4000
1000
3000
2000
1000
Nm
10
20
30
40
1.13
2.26
3.39
4.52
Torque
lb-in
10
20
30
40
Nm
1.13
2.26
3.39
4.52
Torque
50
5.65
lb-in
Nm
30
40
3.39
50
4.52
5.65
60
6.78
Torque
4000
3000
2000
1000
Speed (RPM)
Speed (RPM)
Speed (RPM)
20
2.26
XV-8028 with EN-208
5000
2000
4000
1000
0
lb-in
10
Nm
20
1.13
30
2.26
3.39
40
50
4.52
5.65
20
Nm
Torque
2.26
60
4.52
6.78
80
9.04
100
11.30
lb-in
Torque
4.52
6.78
9.04
100
11.30
120
50
100
150
200
5.65
11.30
16.95
22.60
Torque
Torque
250
Speed (RPM)
1000
Nm
50
100
150
200
5.65
11.30
16.95
22.60
Torque
Nm
50
100
5.65
11.30
150
200
16.95
22.60
Torque
250
28.25
300
33.90
XV-130101 with EN-214

2000
1000
0
lb-in
lb-in
28.25
2000
2000
100
11.30
1000
XV-13089 with EN-214

3000
80
9.04
Nm
13.56 15.82
6.78
Torque
XV-130101 with EN-208
1000
lb-in
140
60
4.52
2000
Speed (RPM)
2.26
80
40
2.26
Speed (RPM)
Speed (RPM)
Nm
60
20
Nm
13.56
0
40
1000
1000
20
2000
120
2000
2000
40
lb-in
3000
lb-in
3000
Speed (RPM)
10
1.13
XV-8028 with EN-204
5000
1000
0
lb-in
2000
EN Series
2000
Speed (RPM)
3000
Speed (RPM)
XV-8023 with EN-204
3000
4000
Speed (RPM)
Speed (RPM)
XV-8017 with EN-204
5000
1000
0
lb-in
Nm
50
100
5.65
11.30
150
200
16.95
22.60
Torque
250
28.25
300
33.90
Specifications
Voltage 240 VAC
lb-in
50
100
150
200
250
300
Nm
5.65
11.30
16.95
22.60
28.25
33.90
Torque
350
3 9.55
Legend
Legend
120V Curve
Curve
120V
Continuous Torque
Torque
Continuous
Peak Torque
Torque
Peak
All performance data listed above has a +/-10% tolerance and is subject to change at any
time without notice. For more detailed information on performance data and test conditions
please refer to the motor section of the catalog. For brake motor information, complete motor
specifications and dimensions please refer to our motor section.
189
www.emersonct.com
800-893-2321
EN Specifications and Dimensions

Power Requirements
AC Input Voltage: 90 to 264 VAC, 47 - 63 Hz
(230 VAC for rated performance)
Minimum Connector
Clearance if used
6.90
[175.24]
0.41
[10.49]
EN-204: 1
EN-208: 1
EN-214: 3 (For 1, derate output
current by 20%)
0.39
[9.78]
1.75
[44.57]
0.33
[8.32]
"A"
1.85
[47.12]
EN Series
AC Input Current:
EN-204: 9.5 Arms (140A for 8 ms inrush)
EN-208: 19 Arms (140A for 8 ms inrush)
EN-214: 20 Arms, 1 (140A for 5 ms inrush)
EN-214: 14 Arms, 3 (100A for 5 ms inrush)
Ouput Continuous Current (RMS):
11.20
[284.54]
11.70
[297.08]
EN-204: 4.5 Arms

EN-208: 9 Arms
EN-214: 13 Arms (For 1, derate by 20%)
Output Peak Current:
EN-204: 9A
EN-208: 18A
EN-214: 26A (For 1, derate by 20%)
TIA, DDS or
CO485 Cable
Continuous Output Power:

EN-204: 1.8 kW
EN-208: 3.6 kW
EN-214: 5.2 kW
0.41
[10.37]
Switching Frequency 20 kHz
0.20 (5.08)
Typ. 4 Places
Drive Model
Dimension A
Logic Supply Internal
EN-204
2.93 [74.4]
Alternate Logic Supply +127 to 373 VDC, 22W
EN-208
3.43 [87.1]
Encoder Supply Output +5 VDC, 250 mA
EN-214
3.93 [99.8]
Efficiency 93%
Regeneration
Internal Energy Absorption (230V):
EN-204: 79 Joules
EN-208: 50 W Resistor plus 79 Joules
Internal Energy Absorption (115V):
EN-204: 150 Joules
External: Connection to RSR-2 with external resistor,
20 Ohm min, 15 Arms, 2 kW
Drive Control Inputs
Analog: (1) +/- 10 VDC 14 bit, 100 kOhm,
Differential
Analog Max Input Rating: Differential +/- 14 VDC,
Each Input with Reference to Analog Ground +/- 14
VDC
Digital: (5) +10 to 30 VDC, 2.8 kOHm,
Sourcing,Optically isolated
Pulse: (1) Differential: RS422, 2 MHz/ Channel,
50% Duty Cycle
190
Drive Control Outputs

Analog: (2) +/- 10 VDC 10-bit, single ended, 20 mA
Digital: (3) +10 to 30 VDC, 150 mA, Sourcing,
Optically isolated
Pulse Differential: RS422 and TTL compatible,
20ma/Channel, Sink or Source
I/O Supply +10 to 30 VDC
Environmental
Rated Ambient Temperature: 32 to 104F (0 to
40C) for rated performance
Cooling Method
EN-204: Convection
EN-208: Convection
EN-214: Integral Fan
Serial Interface RS232/RS485 Modbus RTU w/32-bit
extension 9600 to 19.2 kBaud Internal RS232 to
RS485 Converter
Drive Weight
EN-204: 6.4 lb (2.9 kg)
EN-208: 7.7 lb (3.5 kg)
EN-214: 8.9 lb ( 4.0 kg)
Maximum Ambient Temperature: 32 to 122F (0

to 50C) with power derating of 3.5%/1.8F (1C)
above 104F (40C)
Rated Altitude: 3280 (1000 m)
Maximum Altitude: For altitudes >3280 (1000 m)
derate output by 1%/328 (100 m) not to exceed
7560 (2000 m)
Vibration: 10 to 2000 Hz @ 2g
Humidity: 10 to 95% non-condensing
Single Ended: (1) TTL Schmitt Trigger 1 MHz/

Channel 50% Duty Cycle
Storage Temperature: -13 to 167F

(-25 to 75C)
Motor OverTemperature: (1) 0 to +5 VDC,

10 kOhm, single ended
Ingress Protection: IP-20
go to
Power CD
for complete data
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MDS
Modular Drive System
FM control modules, also used in our EN series drives,

can be snapped to the front of an MDS drive module
to extend drive functionality to the level required by
the application. Ethernet, DeviceNet and Profibus FM
controls are available for fieldbus communications.
New Analog Position mode

In Analog Position Mode the drive moves to an absolute
motor position in proportion to the voltage (10
VDC) received in the Analog Input. Note: Analog full
scale voltage and position are programmable.
MDS Series
The Modular Drive System, MDS, is a powerful and costeffective solution for applications with multiple axes.
The MDS employs a unique backplane architecture that
provides a common bus platform for one of three sizes
of power modules and up to eight drive modules. The
same MDS modules can operate on a 230V or 460V
AC input. Plus, there are five different sizes of drive
modules to meet the needs of almost any multiple axis
application.
Innovative Backplane
The MDS backplane provides a single AC input for the
Power Module, and distributed DC bus and Logic Power
for the Drive Modules. Installation time is minimized
because the DC bus and Logic Power lines are an
integral part of the backplane, so no extra wiring is
needed. Fuses come installed on the backplane. Other
than connecting motors, the installation is completed
when the backplane is mounted on the panel and the
power and drive modules are snapped into place and
tightened down with a screwdriver.
200 to 525 VAC, 3 input
AC Input
Pluggable connectors, Standard D-Shell and

Screw Terminals
State-Space Observer Control, which allows
10:1 inertia mismatch out of the box, and
50:1 with tuning
Free PowerTools software, and upgrades
Accepts FM control modules for positioning

control and enhanced programming capabilities
Programmable, optically-isolated I/O
Field programmable flash memory firmware,
upgrades are free
Auto-Tune support for any servo motor with
encoder feedback
* Optional
AC Line Filter *
Easy install, setup and operate
Contactor
Reduced Part Count and Install Cost

Innovative backplane makes installing
multiple drives quick and easy
Fuses
True Common Bus Architecture
External Shunt *
Up to 750 lb-in continuous torque

MP
DC Bus
Up to 8 drive modules
MD MD MD MD MD MD MD MD
To 240V or 480V Motors and Actuators
A very compact installation is possible because the

backplane allows drives to be mounted directly next to
one another. The use of a single, common power supply
for multiple drives also minimizes installation space, and
reduces cost, because with an MDS there is only one AC
Input, one AC Contactor, one set of AC Fuses, and one
AC Line Filter.
Digital Drive
MODBUS
MODBUS TCP/IP 191
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MDS Series
Power Module
FM Modules
MDS is a true common bus system. A single Power

Module provides the AC rectification and generates
DC bus power for the Drive Modules. This eliminates
the problems associated with pseudo common bus
systems, where each drive has its own power supply.
MDS doesnt have power-up conflicts.
FM control modules provide MDS Drive Modules

with snap on functionality for indexing (FM-2),
programming (FM-3), and advanced programming
(FM-4) applications. The modular approach allows users
to choose the level of advanced machine control they
need, based on application parameters, not the drive
spec. Because these sophisticated snap-on controls
are not built into the drive, users can stock drives and
not costly controls.
Bus inductance is minimized with the use of bus bars,

and by having a compact installation. Applications with
quick deceleration and/or large loads are easily handled
by an integrated microprocessor-controlled shunt
transistor, which can be connected to an external resistor
to dissipate regenerative energy. For emergency stops,
the system can quickly be de-energized via an input that
allows the user to instantly activate the shunt transistor.
MDS allows for true power supply optimization.
Easy Installation
Power Modules are available in three ratings and are

designed to accommodate the total, simultaneous
demand of the axes. In other words, the sizing of the
Power Module is based on the maximum continuous
and peak loads of the application at a given timenot
the sum of the maximum drive power ratings, as rarely
are all axes operating simultaneously or at peak power.
Drive Module
Five different-sized drive modules are available to
provide a full range of performance-matched solutions
for a variety of applications, whether needing high
acceleration and cycle rates, or heavy torque and
load handling capacity (up to 750 lb-in cont. torque).
Like all of our Motion Made Easy drives, the MDS
Drive Modules utilize our State-Space control,
which enables drives to operate with a 10-to-1 inertia
mismatch right out of the box, and up to a 50-to-1
inertia mismatch with optimization.
The MDS Drive Modules can operate in any of three
modes: Velocity, Torque or Pulse. In the Velocity Mode
the Drive Modules can run in Analog, Preset Velocity
or Summation Sub-Modes. The Pulse Mode is able to
interpret the signals as Pulse/Pulse, Pulse/Direction or
Pulse/Quadrature from either Differential or Single-Ended
outputs.
For a Motion Made Easy solution, our MDS Drive
Modules accept the same FM control modules as our
EN Series drives. These modules extend control capability
of the base drives for advanced applications such as
conveyor synchronization and high-speed labeling.
192
MDS installation is a snap.

The backplanes of the drive and power modules snap
together and are mounted to the panel with screws. The
drives are also grounded with screws. After tightening
the bus bar screws, the modules are snapped into place
and secured. Wiring is limited to a single AC power
connection and wiring the motors to the drives. An
external shunt resistor connection is also provided.
Advanced control capability is provided by adding FM
control modules to the system.
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MDS
Base Drive Operation
Position Tracker Analog Mode
Analog Torque Mode
Analog Velocity Mode
Pulse Mode
Pulse/Pulse
Pulse/Direction
Pulse/Quadrature

Summation of Analog Velocity and Digital Velocity
Programmable I/O
5 optically-isolated inputs (1 dedicated)
3 optically-isolated outputs
1 analog input 10 VDC, 14-bit
2 analog output 10 VDC, 10-bit
Programmable encoder output, (up to 8,192 lines

per revolution)
Standard Control Modes

Analog Velocity/Torque Mode
MC Controller
Position Controller

PLC
Digital I/O
User Logic
Pulse Mode
PLC
Master Axis
Digital I/O
Synchronized Encoder
Summation of Analog Velocity
and Digital Velocity
Separate stop and travel limit decel ramps
PLC
Torque, travel, following error and velocity limits
User Logic
8 user defined speed presets with individual

accel/decel rates
Analog Trim
2 programmable torque level outputs
New graphic
EP-B Drive
The drive is configurable for eight flexible modes of

operation, and the parameters for each mode can be
adjusted to tailor the drive to the specific application
using Windows-based PowerTools Pro software.
MDS Series
The MDS drives can be easily implemented with single

and multi-axis controllers, PLCs and host controllers
for medium power applications. The analog torque
or velocity modes can be used with classic position
controllers using analog outputs and encoder inputs.
The pulse mode is ideal for use with low-cost PLC
stepper controllers. This drive works in a variety of
applications where a host control provides a command
signal determining the desired motion profile.
Digital I/O

Position Tracker Analog Mode
In motion velocity output
PLC
Software oscilloscope
Analog Feedback
193
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The operating mode of the drive is simply selected with
one click in the PowerTools Pro Setup view.
Velocity Mode
MDS Series
Analog In Analog Velocity Mode the drive develops

a velocity command in proportion to the voltage (10
VDC) received on the Analog Input. Note: Analog full
scale voltage and offest are programmable.
Preset Velocity In this mode one of up to eight
digital velocities can be selected using the digital I/O or
Modbus. Each preset has its own accel/decel ramps. No
analog source is required!

Phase control with a differential
Automatic feed control
Spindle speed control
Velocity Summation This mode combines the

features of Analog Velocity and Preset Velocity in one
mode. It allows running a preset velocity and trimming
it with an analog input, or vice versa, allowing advanced
applications to be solved simply and elegantly without
complex controllers.
194
Torque Mode
In Analog Torque Mode the drive develops a torque
command in proportion to the voltage (10 VDC)
voltage and offest are programmable.

With position/velocity controller

Tension control
POSITION TRACKER ANALOG Mode

In this Analog Mode the drive moves to an absolute
motor position in proportion to the voltage (10 VDC)
voltage and position are programmable.
Loop/dancer arm control

Phase advance/retard
Speed trimming
Position Control with simple analog signal
Replaces expensive PLC position control modules
Pulse Mode
Flexible I/O Functionality
In Pulse Mode the drive will receive pulses from a master

source (single-ended or differential), which can be
interpreted in three ways:
The digital I/O of the drive is completely programmable

with the ability to map one or more I/O functions to the
I/O points.
Pulse/Pulse
Pulse/Direction
Pulse/Quadrature
Input Functions
Stop
Reset
Travel Limit (+ and -)
Torque Limit Enable
Torque Mode Enable
Velocity Presets (3)
Brake Release
Brake Control
Enable Analog Position
Teach Analog Position
PLC pulse command outputs

Electronic gearing
Stepper drive replacement
Web line ratio control
Define Analog Position
Output Functions
Drive OK
At Velocity
Travel Limits (+ and -)
In Motion (+ and -)
Power Stage Enabled
Torque Limit Active
Velocity Limiting Active
Fault
Brake
Shunt Active
Torque Level 1 or 2 Active
Foldback Active
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MDS
With FM Modules
MDS Series
FM control modules (see FM Controls) provide

MDS-MD drive modules with snap-on
functionality for Indexing (FM-2), Programming
(FM-3E), and Advanced Programming (FM-4E).
This modular approach allows users to choose the
level of advanced machine control they need, based
on the applications parameters and not the drive
spec.
Now programmed using the new PowerTools Pro
software. It can also be used with PowerTools FM.
For applications requiring traditional multi-axis control,
our MC controller is easily integrated with a single cable
connection.

The FM-2 module enhances EN drives by
adding positioning capability including
Jog, Home, Index functions including
Position Tracker Fieldbus Indexing. The
FM-2 also includes additional I/O providing
Extend-retract arm
Indexing table
Indexing conveyor
Inputs
1
2
3
4
5
6
7
8
Outputs 10-30
VDC
Tension control
Flying cut off
Auger filler
Registration control
Slip compensation
Sync.
Output
Sync.
Input
Ethernet
FM-3E
1
2
3
4
+
-
Random infeed conveyor

Merge conveyor
Rotary knife
High speed labeling
Phase synchronization
Electronic gearing
Point-to-point positioning
Thermoforming
Web control
Sync.
Output
The FM-3E Ethernet module transforms

the MDS into a fully programmable
single-axis motion controller, and adds
(FM-3DN) options are also available.
Sync.
Input
FM-4E
1
2
3
4
5
6
7
8
Outputs 10-30
VDC
Inputs
FM-2 Application Examples
The FM-4E Advanced Programming

module has taken all of the features
and flexibility of the FM-3E, and added
the ability to create complex motion
profiles for sophisticated applications.
The FM-4E adds versatility and extends
functionality by including high speed
data capture, summation of multiple
motion profiles, program multi-tasking,
and an array of parameters suitable for
even the toughest applications. Profibus
(FM-4PB) and DeviceNet (FM-4DN) options
are also available.
Ethernet
FM-4E Advanced Programming Module
1
2
3
4
+
-
195
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MDS Terminals
and Pinouts
Serial (J4)
Power Module
Drive Module
Pin Number
3
2
6
5
4
9
1
7,8
Signal
RS232 TX
RS232 RX
Serial +5VDC
Serial 0V Common
RS485+
RS485Shield
No Connect
MDS Series
Command (J5)
Pin Number
15
14
8
9
23
24
37
38
27
41
26
40
25
39
20
36
16
1
2
3
4
19
18
17
33
34
31
32
29
43
44
11
12
AC Power
Terminal
L1
L2
L3
PE
Signal
AC Input
AC Input
AC Input
PE
Digital I/O (J1)

Pin Number
Signal
1
2
3
4
5
6
7
8
9
10
System Ready Output

Shunt Active Output
Shunt Fault Output
OverTemp Output
High VAC
Drive Module Fault Output
AC Interlock Relay
AC Interlock Relay
External Shunt Control
Fault Reset Input
11
12
13
14
15
Logic Supply +24VDC

Logic Supply 0V Common
PE
I/O Supply
I/O Supply 0V
28
6
21
5, 7, 10, 13,
22, 30, 35, 42
DC Power
Terminal
B+
SHT
B-
Signal
Signal
Analog Command In +
Analog Command In Encoder Out A
Encoder Out A/
Encoder Out B
Encoder Out B/
Encoder Out Z
Encoder Out Z/
Pulse In A
Pulse In A/
Pulse In B
Pulse In B/
Pulse In Z
Pulse In Z/
Pulse In A (single ended)
Pulse In B (single ended)
I/O Input Drive Enable
I/O Input 1
I/O Input 2
I/O Input 3
I/O Input 4
I/O Output 1
I/O Output 2
I/O Output 3
I/O Supply +
I/O Supply +
I/O Supply 0V
I/O Supply 0V
Analog Out 0V
External Encoder +5VDC Power
External Encoder Common
+15V Power Out (10 mA)
RS485 +
RS485 No Connect
DC Bus +
External Shunt Output
DC Bus Feedback (J7)
Pin Number
Feedback Connector
below not shown
Digital I/O (J6)

Pin Number
196
1
2
3
4
5
6
7
8
9
10
Signal
I/O Supply +
I/O Supply 0V
Drive Enable
Input 1
Input 2
Input 3
Input 4
Output 1
Output 2
Output 3
Motor Power
Terminal
PE
T
S
R
Signal
PE
Motor Power T
Motor Power S
Motor Power R
1
10
2
11
3
12
4
13
5
14
6
15
7,8
17
9
16,18-26
Signal
Motor Encoder A
Motor Encoder A/
Motor Encoder B
Motor Encoder B/
Motor Encoder Z
Motor Encoder Z/
Motor Commutation U
Motor Commutation U/
Motor Commutation V
Motor Commutation V/
Motor Commutation W
Motor Commutation W/
Encoder +5 VDC Supply
Encoder 0V Common
Motor OverTemp
No Connect
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Power Requirements
AC Input Voltage: 3, 187 to 528 VAC, 47 - 63 Hz
(460 VAC for rated performance)
AC Input Current
MP-1250: 17 Arms (15A @ 100 ms soft start)
Output Continuous Current
MD-404: 4 Arms/2.8 Arms (5 kHz/10 kHz)
MD-407: 7 Arms/5 Arms
MD-410: 10 Arms/6.5 Arms
(Current ratings the same for 460V or 230V
operation)
Output Peak Current
MD-404: 8A/5.6A (5 kHz/10 kHz)
MD-407: 14A/10A
MD-410: 20A/13A
MD-420: 40A/28A
MD-434: 68A/44A
(Current ratings the same for 460V or 230V
operation)
Continuous Output Power
(Ratings based on 5 kHz, 460V/230V operation)
MP-1250: 12.5 kW/6.25 kW
MP-2500: 25 kW/12.5 kW
MP-5000: 50 kW/25.0 kW
MD-404: 3.3 kW/1.7 kW
MD-407: 5.8 kW/2.9 kW
MD-410: 8.3 kW/4.2 kW
MD-420: 16.7 kW/8.4 kW
MD-434: 28.3 kW/14.2 kW
Switching Frequency: 5 or 10 kHz
Logic Supply: +21.6 to 26.4 VDC,
(Required Accessory)
Encoder Supply Output: +5 VDC, 250 mA
System Efficiency: 90%
Regeneration
Internal Energy AbsorptionSystem Bus
Capacitance
Power Modules (460V/230V):
MP-1250: 110 Joules / 236 Joules
Drive Modules (460V/230V):

MD-404: 8 Joules / 17 Joules
Integral Transistor connected to an external
resistor:
MP-1250: 30 Ohm minimum, 6 kW max
I/O Supply: +10 to 30 VDC
Power Module Control Inputs
Digital:(2) +10 to 30 VDC, 2.8 kOhm,
Sourcing, Optically Isolated
Power Module Control Outputs
Digital:(6) Digital: +10 to 30 VDC, 150 mA,
Sourcing, Optically isolated
Relay Contact:(1) AC Interlock, 24 VDC, 5A
Drive Module Control Inputs
Analog: (1) Analog: +/- 10 VDC 14 bit,
100 kOhm, Differential
Analog Max Input Rating: +/- 14 VDC, Differential
or Each Input with Reference to Analog Ground
Digital: (5) +10 to 30 VDC, 2.8 kOHm, Sourcing,
Optically isolated
Pulse: (1) Pulse, Differential: RS422, 2 MHz/
Channel, 50 % Duty Cycle (1) Pulse, Single
Ended: TTL Schmitt
Trigger
Drive Module Control Outputs
Analog: (2) +/- 10 VDC 10-bit, single ended, 20 mA
Digital: (3) +10 to 30 VDC, 150 mA, Sourcing,
Optically isolated
Environmental
Rated Ambient Temperature: 32 to 104F
(0 to 40C)
MDS Series
MDS Specifications and Dimensions
Maximum Ambient Temperature: 32 to 122F

(0 to 50C) with power derating of 3.5% / 1.8F
(1C) above 104F (40C)
Rated Altitude: 3280 (1000 m)
Maximum Altitude: For altitudes >3280 (1000 m)
derate output by 1%/328 (100 m)
Vibration: 10 to 2000 Hz @ 2g
Storage Temperature: -13 to 167 (-25 to 75C)
Serial Interface
RS232/RS485 Modbus RTU - 9600 to 19.2 kBaud
Internal RS232 to RS485 Converter
Power Module Weight
MP-1250: 8.35 lb (3.78 kg)
MP-2500: 8.35 lb (3.78 kg)
MP-5000: 10.25 lb (4.65 kg)
Drive Module Weight
MP-404: 8.35 lb (3.78 kg)
MP-407: 8.35 lb (3.78 kg)
MP-410: 8.35 lb (3.78 kg)
MP-420: 10.25 lb (4.65 kg)
MP-434: 12.0 lb (5.44 kg)
Motor OverTemperature: (1) 0 to +5 VDC, single

ended
Pulse: Differential: RS422 and TTL
compatible, 20 mA/Channel,
Sink or Source
Cooling Method
MP-1250: Convection
MP-2500: Integral Fan
MP-5000: Integral Fan
MD-404: Convection
MD-407: Integral Fan
go to
Power CD
for complete data
197
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MDS Dimensions
go to
Power Modules MP-5000 Shown
Power CD
for complete data
Power Module Model
Dimension A
MP-1250 & MP-2500
2.75 in. [69.85 mm]
MP-5000
3.50 in. [88.90 mm]
MDS Series
16.23 [412.24]
9.00 [228.60]
DIM A
14.25 [361.96]
DIM "A"
Drive Modules MD-420 Shown

Drive Module Model
Dimension A
MD-404, MD-407 & MD-410
2.75 [69.85]
MD-420
3.50 [88.90]
MD-434
5.49 [139.50]
17.07 [433.58]
9.00 [228.60]
14.25 [361.95]
198
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Depending on your motor selection, use one of the

following drive to motor combination pages, to
configure a basic MDS system by selecting one item from
each of the four ordering columns, and the fifth column
if you are choosing a brake motor. Note that item
motor selection requires additional input as to flange,
and on NT systems connector type. (See the Motor Order
String boxes for details.) Items through require
cable lengths to be provided. After selecting each axis
combination, a power module will need to be selected
to complete the system. The basic systems represented
on the following pages can be customized with a variety
of components depending on your needs. A guide to
Options and Accessories for MDS can be found on the
next page, with details in the Options and Accessories
section.
Motor Feedback Cables

From this column, choose the appropriate feedback cable
for the motor.
Motor Brake Cable
Choose a brake cable if a brake motor is selected.
Power Module Selection
After selecting all of the axis combinations (drive
modules and motors), a power module needs to be
selected. To select the proper power module, use the
Total Axis Power Table below and add up the power
(kW) for each axis to determine the system power
required. Then, select the power module which has
sufficient power.
Drive Module
MD-404
Select System and Motor

Select the MDS Drive Module(s) appropriate to the
needs of your application and operating environment,
the 4-Amp MD-404, 7-Amp MD-407, 10-Amp MD-410,
20-Amp MD-420, or 34-Amp MD-434.
MD-407
Note: The current rating for the drive

module is the same whether 230V or 460V.
Select the motor model appropriate to the drive
module. (Note there are brake and non-brake models.)
MD-410
Cable Ordering Options

Motor power, feedback and brake cables with MS
style connectors are fully shielded with IP65 molded
connectors and are available in standard and custom
lengths. For more information on these and other
cables, see Options and Accessories section.
MD-420
Standard lengths of 5, 15, 25, 50 and 100 feet are

available from stock. Non-standard lengths require
additional lead time. Note: Equivalent FM Motor
cable lengths are in meters.
Feet=xxx or meters=yyy with specified lengths.
Example: 005 = 5 feet. For applications involving
continuous flexing, flexible cables are available. Cable
components such as connector kits and raw cable are
also available. See Options section for details or consult
factory for special requirements.
Motor Power Cables
Using the selection guide, choose the appropriate power
cable for the motor.
MD-434
Motor Model
Total Axis Power (kW)
MG-316
MH-316
MH-340
MH-455
95U2B400
95U2E400
MG-316
MG-340
NT-320
NT-330
MH-455
MH-490
95U2E400
115U2C300
115U2E300
142U2C300
MG-455
NT-345
NT-355
MH-490
MH-6120
115U2C300
115U2E300
142U2C300
142U2E300
MG-455
MG-490
MG-4120
MH-6200
MH-6300
MH-8250
142U2E300
190U2D300
190U2F200
MH-8500
MH-8750
190U2D300
190U2F200
0.9
1.0
1.6
2.1
1.6
2.5
1.0
1.8
1.0
1.6
2.2
2.2
3.0
4.4
4.4
4.4
2.2
2.0
2.4
2.2
3.8
3.2
5.0
4.8
6.3
2.3
3.4
5.0
4.1
4.5
8.8
7.1
12.6
12.6
11.7
16.5
13.0
13.2
Power
Module
Input Power
3 460V
3 230V
MP-1250
12.5 kW
6.25 kW
MP-2500
25 kW
12.5 kW
MP-5000
50 kW
25 kW
MDS Series
How to Order
199
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Options and Accessories for MDS

Control Techniques provides a complete array of options
and accessories to complete your system. For details, see
the Options and Accessories section of the catalog.
Brake Relays
BRM-1
MDS Series
Breakout Board
ECI-44, DEMO-FMIO-000, DEMO-DRIO-000
Diagnostics
DGNE
Required Accessory
Logic Supplies
The MDS requires an external

logic supply to power the
internal logic of the Power
Module and Drive Modules.
Use the table below to determine
the current requirements of the
application.
Module
Model Number
MLP-002-00, MLP-005-00, MLP-010-00

External Shunts/Resistors
(see Power Accessories)
AC Line Filters
MF-1250-20 (MP-1250), MF-2500-35 (MP-2500),
MF-5000-65 (MP-5000)
(A) RMS Current
MP-1250
Power Module
MP-2500
0.30
MP-5000
MD-404
MD-407
Drive Module
MD-410
0.60/Module
AC Line Reactor
MLR-2580-00 (MP-5000)
Consult Factory for AC Line Reactors used on
MP-1250 and MP-2500
Motor Power Filter
MPF-002-00, MPF-003-00
MD-420
MD-434
0.80/Module
FM Module
All
0.40/FM Module
Synchronization
Feedback Encoder
0.07/Encoder
Synchronization Encoders
SCSLD-4, SCSLD-4R
Operator Interface
CTVue, OIT, CTIU
Control Techniques offers the following 24 VDC logic-I/O

power supplies:
MLP-002-00
2.1 Amp, +24 VDC, universal input 90 to 264 VAC.
MLP-005-00
5 Amp, +24 VDC, universal input 90 to 264 VAC.
MLP-010-00
10 Amp, +24 VDC, universal input 90 to 264 VAC.
200
Prosoft Comms Modules

3100-MCM, 3150-MCM, MV156-MCM
Extended Warranty
Extends Two Year Warranty to Five Years
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MDS
230V FM Motor
MDS Series

range available is 19.0 lb-in (2.1 Nm) to 364 lb-in
MDS - 230V FM Motor Specifications

Drive
Model
MD-404
MD-404
MD-407
MD-407
MD-410
MD-410
MD-420
MD-420
MD-434
Motor
Model**
075E2B40
075E2C40
075E2D30
095E2B40
095E2D40
115E2C30
115E2E30
142E2D30
190E2D20
Cont. Stall
Torque
lb-in
Nm
Peak Stall Rated Torque

Torque
@Rated Speed*
lb-in
lb-in
Nm
Nm
Rated
Power
HP
kWatts
Max.*
Operating
Speed
RPM
Encoder
Resolution
lines/rev
4000
4096
19.50
50.98
15.05
0.95
2.23
5.76
1.70
0.71
25.49
50.98
20.36
1.28
2.88
5.76
2.30
0.96
34.57
103.54
30.98
1.47
3.91
11.70
3.50
1.10
38.13
89.21
26.55
1.68
4.32
10.08
3.00
1.26
63.72
127.44
43.37
2.73
7.20
14.40
4.90
2.05
82.31
164.61
71.69
3.39
9.30
18.60
8.10
2.54
135.80
329.22
111.51
5.28
15.35
37.20
12.60
3.96
164.61
329.22
107.97
6.61
18.60
37.20
12.20
4.96
364.27
842.52
326.57
10.31
41.16
95.20
36.90
7.73
Inertia
lb-in-sec2
kg-cm2
0.001
Motor Ke
Vrms/
krpm
44
1.2
4000
4096
0.001
44
1.6
3000
4096
0.002
57
2
4000
4096
0.003
44
2.9
4000
4096
0.005
44
5.1
3000
4096
0.008
57
9
3000
4096
0.012
57
13.8
3000
4096
0.024
57
27.6
2000
4096
0.076
86.4
85
Motor Kt
lb-in/Arms
Nm/Arms
Motor
Weight
lb
kg
6.37
9.7
0.72
4.4
6.37
11.4
0.72
5.2
8.23
13.2
0.93
6.0
6.37
13.9
0.72
6.3
6.37
19.1
0.72
8.7
8.23
25.5
0.93
11.6
8.23
33.9
0.93
15.4
8.23
41.6
0.93
18.9
12.39
74.6
1.40
33.9

**See the complete order string in the Servo motor section of this catalog.
201
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MDS - 230V FM Motor Speed Torque Curves

075E2B40-x with MD-404
4000
1000
0
10
20
30
40
50
Nm
1.13
2.26
3.39
4.52
5.65
Torque
6.78
10
20
30
40
50
60
Nm
.13
2.26
3.39
4.52
5.65
6.78
1000
Torque
lb-in
20
40
60
80
100
Nm
2.26
4.52
6.78
9.04
11.30
095E2D40-x with MD-410
4000
120
13.56
Torque
115E2C30-x with MD-410
3000
2000
1000
0
Speed (RPM)
3000
Speed (RPM)
2000
1000
0
lb-in 10
Nm
20
30
40
1.13 2.26 3.39
50
60
70
80
90 100
4.52 5.65 6.78 7.91 9.04 10.17 11.30
Torque
lb-in 20
40
Nm
2.26
115E2E30-x with MD-420
Speed (RPM)
1000
80
100
120
140
4.52
6.78
9.04
11.30
13.56
15.82
Torque
50
100 150
Nm
5.65
11.30
16.95
200
250
300
350
22.60
28.25
33.90
39.55
Torque
Legend
Continuous Torque
Peak Torque
1000
lb-in 20
Nm
3000
2000
1000
40
60
2.26 4.52 6.78
Torque
80
100 120
140 160 180
9.04 11.30 13.56 15.82 18.08 20.34
2000
1000
0
lb-in
2000
3000
2000
60
Speed (RPM)
Speed (RPM)
2000
0
lb-in
3000
Speed (RPM)
1000
60
095E2B40-x with MD-407
4000
202
2000
0
lb-in

Speed (RPM)
2000
3000
3000
Speed (RPM)
MDS Series
Speed (RPM)
3000
3000
075E2C40-x with MD-404
4000
lb-in
50
100
150
200
250
300
350
Nm
5.65
11.30
16.95
22.60
28.25
33.90
39.55
Torque
Specifications
Voltage 240 VAC
lb-in 100

Nm
200 300 400 500
600 700 800
900
11.30 22.60 33.90 45.20 56.50 67.80 79.10 90.40 101.69
Torque
All performance data listed above has a +/-10% tolerance and is subject
to change at any time without notice. For more detailed information on
performance data and test conditions please refer to the motor section of
the catalog. For brake motor information, complete motor specifications and
dimensions please refer to our motor section.
www.emersonct.com
800-893-2321
MDS
Order String
xxx
x xx x B
A CA A BCD* DIA*


Feedback Device:






40 = 4,000 rpm, 50 = 5,000 rpm


Voltage E = 230V
Frame Size: 075, 095, 115, 142, 190
Drive
Motor Power Cable - PSBxx
Motor Power &

Motor Brake Cable - PBBxx
(Drive conn. via BRM-1, not shown)
MDS Series
230V FM Motor Selection

For additional motor information see the

Servo Motor area in this section for details.
For additional cable options see Options
Motor
Drive
Model
Motor
Model
Motor Power
Cable
(yyy=meters)
Feedback
Cable
(yyy=meters)

(yyy=meters)
075E2B400 BACAA075140
PSBAA-yyy
SIBAH-yyy
MD-404
075E2B401 BACAA075140
075E2C400 BACAA075140
SIBAH-yyy
PSBAA-yyy
075E2C401 BACAA075140
075E2D300 BACAA075140
MD-407
SIBAH-yyy
PSBAA-yyy
075E2D301 BACAA075140
095E2B400 BACAA100190
095E2B401 BACAA100190
095E2D400 BACAA100190
MD-410
095E2D401 BACAA100190
115E2C300 BACAA115190
115E2C301 BACAA115190
115E2E300 BACAA115240
MD-420
115E2E301 BACAA115240
142E2D300 BACAA165240
142E2D301 BACAA165240
MD-434
190E2D200 BACAA215320
190E2D201 BACAA215320
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBBK-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBAA-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBAA-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBAA-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBAA-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBAA-yyy
PBBAA-yyy
SIBAH-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PBBBK-yyy
203
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MDS
230V NT and MG Motors
MDS Series
The NT is an economical, high performance motor

manufactured with powerful Neodymium magnets and
a patented segmented core to maximize torque and
minimize size. The NT motor has a very low inertia for
applications that demand high accel and cycle rates.
NT motors can be ordered with MS style connectors,
1 m Flying Leads or 1 m Flying Leads with MS connectors.
The MG Motor is a compact, low inertia motor ideal for
dynamic applications needing greater torque than the
NT. Both the NT and MG are available with English and
Metric flanges, with or without brakes. Both have a
standard encoder resolution of 2048 lines per rev.
MDS - 230V NT Motor Specifications

Drive
Motor
Torque
Model Model
lb-in
lb-in
lb-in
HP

Nm
Nm
Nm
kWatts
Max.*
Encoder
Motor
Inertia
Motor Ke
Motor Kt Weight
Speed
lines/rev
lb
RPM
kg-cm2
Nm/Arms
kg
MD-407 NT-320

19.5
2.2
38
4.3
16
1.8
1.02
4000
2048
0.8
0.000328
29
0.370
3.50
0.40
6
2.7
MD-407 NT-330

27
3.05
58
6.55
27
3.1
1.71
4000
2048
1.3
0.000438
36
0.494
4.73
0.53
7.3
3.3
MD-410 NT-345

42
4.75
80
9.04
42
4.75
2.00
3000
2048
1.49
0.000668
50
0.754
6.37
0.72
10.0
4.5
MD-410 NT-355

48
5.42
90
10.2
48
5.42
2.28
3000
2048
1.71
0.000888
50
1.0
6.32
0.71
12.3
5.6
MDS - 230V MG Motor Specifications

Drive
Motor
Torque
Model Model
lb-in
lb-in
lb-in
HP

Nm
Nm
Nm
kWatts
204
Max.*
Encoder
Motor
Inertia
Motor Ke
Motor Kt Weight
Speed
lines/rev
lb
RPM
kg-cm2
Nm/Arms
kg
MD-404 MG-316

18.6
2.1
42
4.6
16
1.8
1.02
4000
2048
0.8
0.000560
38
0.630
5.5
0.62
8.3
3.8
MD-407 MG-316

18.6
2.1
56
6.3
16
1.8
1.02
4000
2048
0.8
0.000560
38
0.630
5.5
0.62
8.3
3.8
MD-407 MG-340

50
5.7
133
15.0
42
4.8
2.00
3000
2048
1.5
0.001458
57
1.646
8.3
0.94
14.6
6.6
MD-410 MG-455

68
7.7
154
17.5
52
5.8
2.48
3000
2048
1.9
0.002658
60
3.0
8.8
0.99
20.0
9.1
MD-420 MG-455

68
7.7
200
22.6
52
5.8
2.48
3000
2048
1.9
0.002658
60
3.0
8.8
0.99
20.0
9.1
MD-420 MG-490

129
14.57
302
34.1
80
9.0
3.81
3000
2048
2.8
0.005175
59
5.823
8.6
0.97
28.6
13
MD-420 MG-4120

163
18.4
382
43.2
120
13.6
5.71
3000
2048
4.3
0.007458
72
8.4
10.5
1.19
37.0
16.8
www.emersonct.com
800-893-2321
MDS - 230V NT Motor Speed Torque Curves
1000
0
Speed (RPM)
2000
2000
1000
0
lb-in 5
10
15
20
25
30
35
Nm
1.13
1.70
2.26
2.83
3.39
3.96 4.52
0.57
40
NT-355 with MD-410
3000
2000
1000
0
lb-in
10
20
30
40
50
60
70
lb-in 10 20
Nm
1.13
2.26
3.39
4.52
5.65
6.78
7.92
Nm 1.13 2.26 3.39 4.52 5.65 6.78 7.92 9.04 10.17
Torque
NT-345 with MD-410
3000
3000
Speed (RPM)
Speed (RPM)
3000
Speed (RPM)
NT-330 with MD-407
4000
Torque
Legend
40
50
60 70
80
90
Torque
Specifications
Continuous Torque
2000
30

MDS Series
NT-320 with MD-407
4000
Voltage 240 VAC

Peak Torque
1000
0
lb-in
20
40
60
80
100
Nm
2.26
4.52
6.78
9.04
11.30
Torque
MDS - 230V MG Motor Speed Torque Curves

MG-316 with MD-404
4000
1000
Speed (RPM)
Speed (RPM)
2000
1000
lb-in 5
10
15
20
25
30
35 40 45
Nm 0.57 1.13 1.70 2.26 2.83 3.39 3.96 4.52 5.09
Torque
3000
Speed (RPM)
2000
1000
10
20
30
40
50
60
lb-in 20
40
60
80
100
120
140
Nm
1.13
2.26
3.39
4.52
5.65
6.78
Nm
4.52
6.78
9.04
11.30
13.56
15.82
MG-455 with MD-420
1000
25
50
75
100
125
150
175
Nm
2.82
5.65
8.47
11.3
14.12
16.95
19.77
Torque
Torque
MG-490 with MD-420
3000
2000
2.26
Torque
0
lb-in
1000
lb-in
MG-455 with MD-410
3000
2000
Speed (RPM)
Speed (RPM)
2000
MG-340 with MD-407
3000
3000
3000
Speed (RPM)
MG-316 with MD-407
4000
2000
1000
0
lb-in
Nm
50
5.65
100
11.3
Torque
150
16.95
200
22.6
lb-in
Nm
50
5.65
100
11.3
150
16.95
200
22.6
250
28.25
300
33.9
Torque
MG-4120 with MD-420
3000
Speed (RPM)
Specifications
All performance data listed above has a +/-10% tolerance
and is subject to change at any time without notice. For
more detailed information on performance data and test
conditions please refer to the motor section of the catalog.
For brake motor information, complete motor specifications
and dimensions please refer to our motor section.
2000
1000
0
lb-in
Nm
100
200
11.3
22.6
Torque
300
33.9
400
45.2
500
56.5
205
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800-893-2321
MDS
Order String
230V NT Motor Selection
NT x
MDS Series
The NT motor is a high performance motor utilizing

patented technology to maximize torque in a compact
package. The NT motor uses powerful Neodymium
magnets and is manufactured with a segmented core to
maximize stator efficiency. The NT motor has a very low
inertia for applications that demand high accel and cycle
rates. NT motors are available in English (NEMA 23 or
34) or Metric (IEC-72-1) flanges, with or without brakes.
The standard encoder resolution is 2048 lines per rev.
NT motors can be ordered with MS style connectors,
1 m Flying Leads, or 1 m Flying Leads with MS
connectors.
xx
N S 0000
Special Options: DSXX = DSUB

Inertia: S = Standard, I = Medium

O = No Brake
Connector Type:
T = MS connectors on one meter leads
L = one meter leads without connectors
Continuous Torque (lb-in): 20, 30, 45 or 55

Frame Size (in inches): 3
NT Motor Family

Drive
Motor
(Brake Motors Only)
+
BRM-1
Drive
Model
Motor Model
(x=Flange type)
(y=Connector)
Motor Power
Cable
(xxx=feet)
Feedback
Cable
(xxx=feet)
Motor Brake Cable (required

w/all brake motors)
(xxx=feet)
NTx-320-yONS-0000
CMDS-xxx
CFCS-xxx
NTx-320-yBNS-0000
CMDS-xxx
CFCS-xxx
NTx-330-yONS-0000
CMDS-xxx
CFCS-xxx
NTx-330-yBNS-0000
CMDS-xxx
CFCS-xxx
NTx-345-yONS-0000
CMDS-xxx
CFCS-xxx
NTx-345-yBNS-0000
CMDS-xxx
CFCS-xxx
NTx-355-yONS-0000
CMDS-xxx
CFCS-xxx
NTx-355-yBNS-0000
CMDS-xxx
CFCS-xxx
MD-407-00-000
MD-410-00-000
206
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
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800-893-2321
MDS
Order String
230V MG Motor Selection
MG x
The MG motor is a low inertia motor that is great for

dynamic applications that have larger load inertias. MG
motors use Neodymium magnets to achieve a high
when compared to competitors motors. MG motors
are available in English (NEMA 23, 34, or 56) and
Metric (IEC-72-1) flanges, with or without brakes. The
standard encoder resolution is 2048 lines per rev. MG
motors come standard with MS style connectors. For
applications that require custom motors the MG line is
the choice.
xx
N S 0000
Special Options

O = No Brake
Connector Type:
Continuous Torque (lb-in): 16, 40, 55, 90 or 120
MDS Series

Frame Size (in inches): 3 or 4

MG Motor Family

Drive
(Brake Motors Only)
BRM-1
+
Motor
Motor Power Cable - CMxx
Drive
Model
Motor Model
(x=Flange type)
Motor Power
Cable
(xxx=feet)
Feedback
Cable
(xxx=feet)
Motor Brake Cable (required

w/all brake motors)
(xxx=feet)
MGx-316-CONS-0000
CMDS-xxx
CFCS-xxx
MGx-316-CBNS-0000
CMDS-xxx
CFCS-xxx
MGx-316-CONS-0000
CMDS-xxx
CFCS-xxx
MGx-316-CBNS-0000
CMDS-xxx
CFCS-xxx
MGx-340-CONS-0000
CMDS-xxx
CFCS-xxx
MGx-340-CBNS-0000
CMDS-xxx
CFCS-xxx
MGx-455-CONS-0000
CMMS-xxx
CFCS-xxx
MGx-455-CBNS-0000
CMMS-xxx
CFCS-xxx
MGx-455-CONS-0000
CMMS-xxx
CFCS-xxx
MGx-455-CBNS-0000
CMMS-xxx
CFCS-xxx
MGx-490-CONS-0000
CMMS-xxx
CFCS-xxx
MGx-490-CBNS-0000
CMMS-xxx
CFCS-xxx
MGx-4120-CONS-0000
CMMS-xxx
CFCS-xxx
MGx-4120-CBNS-0000
CMMS-xxx
CFCS-xxx
MD-404-00-000
MD-407-00-000
MD-410-00-000
MD-420-00-000
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
207
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800-893-2321
MDS
460V FM Motor
MDS Series

range available is 38.2 lb-in (4.3 Nm) to 520 lb-in
MDS - 460V FM Motor Specifications

Drive
Model
Motor
Model
MD-404 095U2B400
MD-404 095U2E400
MD-407 095U2E400
MD-407 115U2C300
MD-410 115U2E300
MD-407 142U2C300
MD-410 142U2C300
MD-410 142U2E300
MD-420 142U2E300
MD-420 190U2D300
MD-434 190U2D300
MD-434 190U2F200
Cont. Stall
Torque
lb-in
Nm
Peak Stall
Torque
lb-in
Nm
Rated Torque
@Rated Speed*
lb-in
Nm
Rated
Power
HP
kWatts
Max.*
Operating
Speed
RPM
38.23
4.32
42.48
4.80
74.34
8.40
83.54
9.44
135.94
15.36
99.12
11.20
135.94
15.36
141.60
16.00
208.15
23.52
283.20
32.00
363.91
41.12
520.38
58.80
84.96
9.60
84.96
9.60
148.68
16.80
198.24
22.40
283.20
32.00
198.24
22.40
283.20
32.00
283.20
32.00
566.40
64.00
566.40
64.00
962.88
108.80
1444.32
163.20
26.55
3.00
42.48
4.80
50.45
5.70
71.68
8.10
111.51
12.60
99.12
11.20
107.97
12.20
141.60
16.00
159.30
18.00
283.20
32.00
283.20
32.00
446.04
50.40
1.68
1.26
2.68
2.01
3.19
2.39
3.39
2.54
5.28
3.96
4.69
3.52
5.11
3.83
6.71
5.03
7.53
5.65
13.40
10.05
13.81
10.36
14.07
10.55
208
Encoder
Resolution
lines/rev
Inertia
lb-in-sec2
kg-cm2
Motor Ke
Vrms/
krpm
Motor Kt
lb-in/Arms
Nm/Arms
4000
4096
74
4000
4096
4000
4096
3000
4096
3000
4096
3000
4096
3000
4096
3000
4096
3000
4096
3000
4096
3000
4096
2000
4096
0.002567
2.9
0.005487
6.2
0.005487
6.2
0.007965
9
0.012213
13.8
0.019647
22.2
0.019647
22.2
0.031329
35.4
0.031329
35.4
0.076464
86.4
0.076464
86.4
0.108944
123.1
10.62
1.20
10.62
1.20
10.62
1.20
14.16
1.60
14.16
1.60
14.16
1.60
14.16
1.60
14.16
1.60
14.16
1.60
14.16
1.60
14.16
1.60
21.24
2.40
74
74
98
98
98
98
98
98
98
98
147
Motor
Weight
lb
kg
6.3
5.2
9.9
6.0
9.9
6.0
11.6
6.3
15.4
8.7
35.4
16.1
35.4
16.1
47.7
21.7
47.7
21.7
74.6
33.9
74.6
33.9
93.5
42.5
www.emersonct.com
800-893-2321
MDS - 460V FM Motor Speed Torque Curves
1000
2000
1000
Nm
2.26
4.52
80
100
lb-in
20
40
60
80
6.78
9.04
11.30
Nm
2.26
4.52
6.78
9.04
Torque
2000
1000
lb-in
Nm
50
100
5.65
150
11.30
16.95
200
22.6 0
Torque
1000
250
lb-in
50
100
150
200
250
Nm
5.65
11.3 0
16.95
22.60
28.25
1000
50
100
150
200
250
Nm
5.65
11.3 0
16.95
22.60
28.25
50
100
150
200
250
33.90
Nm
5.65
11.3 0
16.95
22.60
28.25
190U2D30-x with MD-420
0
lb-in
Nm
100
11.30
200
300
22.60
33.90
Torque
Legend
Continuous Torque
Peak Torque
400
45.20
500
56.50
600
33.90
Torque
67.80
100
5.65
150
11.30
200
16.95
22.6 0
250
28.25
Torque
2000
1000
lb-in
100
200
300
400
500
Nm
11.3 0
22.60
33.90
45.20
56.50
2000
Speed (RPM)
1000
Torque
142U2E30-x with MD-420
3000
300
2000
50
Nm
190U2D30-x with MD-434
Speed (RPM)
1000
142U2C30-x with MD-407
lb-in
3000
2000
200
22.60
1000
0
lb-in
16.95
300
150
11.3
2000
Torque
1000
Torque
100
300
0
lb-in
50
5.65
3000
33.90
2000
lb-in
Nm
3000
Speed (RPM)
2000
Torque
11.30
2000
28.25
3000
100
3000
Speed (RPM)
Speed (RPM)
1000
0
60
3000
Speed (RPM)
40
Speed (RPM)
20
Speed (RPM)
lb-in

Speed (RPM)
2000
3000
3000
Speed (RPM)
Speed (RPM)
Speed (RPM)
2000
4000
3000
3000
4000
MDS Series
095U2B40-x with MD-404
4000
Torque
600
67.80
190U2F20-x with MD-434
1000
0
lb-in
200
400
Nm
22.60
45.20
Specifications
Voltage 480 VAC
600
800
1000
67.80
90.40
113.00
Torque
1200
135.60
lb-in
Nm
500
56.50
1000
113.00
1500
169.50
2000
22.60
Torque
209
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800-893-2321
MDS
Order String
460V FM Motor Selection
xxx
x xx x B
A CA A BCD* DIA*
Motor
MDS Series


Feedback Device:






40 = 4,000 rpm, 50 = 5,000 rpm


Voltage E = 230V, U = 460V
Frame Size: 075, 095, 115, 142, 190
Motor Power Cable - PSBxx
Motor Power &

Motor Brake Cable - PBBxx
Drive
(Drive conn. via BRM-1, not shown)

Motor
Model
Motor Power
Cable
(yyy=meters)
Feedback
Cable (yyy=meters)

(yyy=meters)
095U2E400 BACAA100190
PSBAA-yyy
SIBAH-yyy
Drive
Model
MD-404
095U2E401 BACAA100190
095U2E400 BACAA100190
MD-407
SIBAH-yyy
PSBAA-yyy
095U2E401 BACAA100190
115U2C300 BACAA115190
SIBAH-yyy
PSBAA-yyy
115U2C301 BACAA115190
MD-407
MD-410
MD-407
115U2E300 BACAA115240
115U2E301 BACAA115240
115U2E300 BACAA115240
115U2E301 BACAA115240
142U2C300 BACAA165240
142U2C301 BACAA165240
142U2C300 BACAA165240
MD-410
142U2C301 BACAA165240
142U2E300 BACAA165240
142U2E301 BACAA165240
142U2E300 BACAA165240
MD-420
142U2E301 BACAA165240
190U2D300 BACAA215320
190U2D301 BACAA215320
MD-434
MD-434
210
190U2D300 BACAA215320
190U2D301 BACAA215320
190U2F200 BACAA215320
190U2F201 BACAA215320
PBBAK-yyy
SIBAH-yyy
SIBAH-yyy
PSBCK-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBCK-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBAK-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBBA-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBBA-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBBA-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBAA-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBAA-yyy
PBBAA-yyy
SIBAH-yyy
SIBAH-yyy
PSBAA-yyy
PBBAA-yyy
SIBAH-yyy
PBBCK-yyy
SIBAH-yyy
SIBAH-yyy
PBBCK-yyy
Motors can be custom ordered with Parking Brake, High energy dissipation brake, fixed or vertical connectors, IEC
and NEMA flanges, Incremental, Absolute Sin/Cos Single and Multi-turn encoders, resolvers and extended peak
torque range. Custom bolt circle and shaft diameter are also available. Contact Factory for details.
www.emersonct.com
800-893-2321
MDS
460V MH Motor
MDS Series
The MH Motor is a low inertia motor that is ideally

suited to the MDS operating with 460 VAC Input.
Applications with torque requirements between 21.5
lb-in (2.4 Nm) and 748 lb-in (84.5 Nm) can be solved.
MH motors use Neodymium magnets to achieve a high
when compared to competitors motors. MH motors are
available in English and Metric flanges, with or without
brakes. The standard encoder resolution is 2048 lines
per rev. For applications that require custom motors the
MH line is the choice.
MDS - 460V MH Motor Specifications

Drive
Motor
Torque
Model Model** lb-in
lb-in
lb-in
HP

Nm
Nm
Nm
kWatts
Max.*
Encoder
Motor
Inertia
Motor Ke
Motor Kt Weight
Speed
lines/rev
lb
RPM
kg-cm2
Nm/Arms
kg
MD-404 MH-316

21.5
2.4
58
6.6
17.5
2
1.11
4000
2048
0.83
0.000673
75
0.8
10.98
1.24
8.3
3.8
MD-404 MH-340

46
5.2
135
15.3
37
4.2
1.76
3000
2048
1.31
0.001428
116
1.6
16.98
1.92
12.4
5.6
MD-404 MH-455

65
7.3
131
14.8
50.6
5.7
2.41
3000
2048
1.8
0.003557
120
4
17.57
1.99
18
8.2
MD-407 MH-455

72.5
8.2
210
23.7
50.6
5.7
2.41
3000
2048
1.8
0.003557
120
4
17.57
1.99
18
8.2
MD-407 MH-490

105
11.9
210
23.7
50
5.7
2.38
3000
2048
1.78
0.006727
110
7.6
16.10
1.82
26.2
11.9
MD-410 MH-490

105
11.9
300
33.9
50
5.7
2.38
3000
2048
1.78
0.006727
110
7.6
16.10
1.82
26.2
11.9
MD-410 MH-6120

119
13.4
336.8
38.1
91.4
10.3
4.35
3000
2048
3.25
0.010657
115
12
16.84
1.9
32.4
14.7
MD-420 MH-6200

234
26.4
673.6
76.1
95.9
10.8
4.57
3000
2048
3.41
0.018857
115
21.3
16.84
1.9
48
21.8
MD-420 MH-6300

299
33.8
673.6
76.1
105.4
11.9
5.02
3000
2048
3.74
0.027187
115
30.7
16.84
1.9
65
29.5
MD-420 MH-8250

285
32.2
607
68.6
210
23.7
10
3000
2048
7.45
0.059
128
61.4
18.70
2.11
77
35
MD-434 MH-8500

530
60.2
997
113.2
280
31.8
13.34
3000
2048
9.95
0.078
121.6
87.8
17.80
2.01
110
49.9
MD-434 MH-8750

748
84.5
1500
170.3
485
54.8
19.24
2500
2048
14.35
0.133
162
150
23.70
2.68
171
77.6

**See the complete order string in the Servo motor section of this catalog.
211
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800-893-2321
MDS - 460V MH Motor Speed Torque Curves

MH-316 with MD-404
Speed (RPM)
2000
1000
0
1000
10
1.13
20
2.26
30
40
3.39
4.52
50
5.65
60
6.78
Nm
Torque
40
2.26
4.52
MH-455 with MD-407
3000
Speed (RPM)
1000
60
80
6.78
9.04
100
11.3
120
13.56
140
lb-in 20
15.82
Nm
Torque
60
6.78
80
9.04
100
11.3
120
13.56
140
15.82
Torque
2000
1000
75 100 125 150 175 200 225
5.65 8.45 11.3 14.1 16.95 19.75 22.6 25.4
Speed (RPM)
1000
50
Nm 2.8
lb-in 50
Nm
Torque
5.65
MH-6200 with MD-420
3000
2000
MH-490 with MD-410
1000
lb-in 25
MH-6120 with MD-410
40
4.52
3000
3000
2.26
2000
lb-in 25 50 75 100 125 150 175 200 225

Nm 2.8 5.65 8.45 11.3 14.1 16.95 19.75 22.6 25.4

Torque
1000
MH-490 with MD-407
3000
2000
2000
0
lb-in 20
Speed (RPM)
Nm
Speed (RPM)
2000
0
lb-in
MH-455 with MD-404
3000
2000
1000
100
11.3
150
16.95
200
22.6
250
28.2
300
33.9
350
39.5
Torque
MH-6300 with MD-420
3000
Speed (RPM)
MDS Series
Speed (RPM)
3000
Speed (RPM)
MH-340 with MD-404
3000
Speed (RPM)
4000
2000
1000
0
lb-in 50
100
150
200
250
300
350
lb-in 100
200
300
400
500
600
700
lb-in 100
200
300
400
500
600
700
Nm
11.3
16.95
22.6
28.2
33.9
39.5
Nm
22.6
33.9
45.2
56.5
67.8
79.0
Nm
22.6
33.9
45.2
56.5
67.8
79.0
5.65
Torque
MH-8250 with MD-420
3000
11.3
Torque
MH-8500 with MD-434
3000
11.3
2500
Torque
MH-8750 with MD-434
1000
2000
Speed (RPM)
Speed (RPM)
Speed (RPM)
2000
2000
1000
200
300
400
500
600
700
Nm
22.6
33.9
45.2
56.5
67.8
79.0
11.3
Torque
1000
500
0
0
lb-in 100
1500
lb-in
Nm
200
400
22.6
600
45.2
67.8
800
90.4
1000
113
Torque
lb-in
400
Nm
45.2
800
90.4
1200
135.6
1600
180.8
Torque
Specifications
Legend
380V Curve
Continuous Torque
Peak Torque
212
Voltage 480 VAC

www.emersonct.com
800-893-2321
MDS
Order String
MH X
X XX C X N S 0000

Drive
N = Feedback Type: Encoder
(Brake Motors Only)

Drive conn. via BRM-1, not shown)
Special Options
Brake Option:
B = with brake
O = without brake
Connector Type:
MDS Series
460V MH Motor Selection

Continuous Torque (lb - in): 16, 40, 55, 90,

120, 200, 250, 300, 500, or 750
Frame Size (in inches): 3, 4, 6 or 8
Motor Power Cable - CMxx
MH Motor Family
Motor
Drive
Model
Motor Model
(x=flange type)
Motor Power
Cable
(xxx=feet)
Feedback
Cable
(xxx=feet)
Motor Brake Cable

(xxx=feet)
MHx-316-CONS-0000
CMDS-xxx
CFCS-xxx
MHx-316-CBNS-0000
CMDS-xxx
CFCS-xxx
MHx-340-CONS-0000
CMDS-xxx
CFCS-xxx
MD-404-00-000
MD-407-00-000
MD-410-00-000
MD-420-00-000
MD-434-00-000
MHx-340-CBNS-0000
CMDS-xxx
CFCS-xxx
MHx-455-CONS-0000
CMMS-xxx
CFCS-xxx
MHx-455-CBNS-0000
CMMS-xxx
CFCS-xxx
MHx-455-CONS-0000
CMMS-xxx
CFCS-xxx
MHx-455-CBNS-0000
CMMS-xxx
CFCS-xxx
MHx-490-CONS-0000
CMMS-xxx
CFCS-xxx
MHx-490-CBNS-0000
CMMS-xxx
CFCS-xxx
MHx-490-CONS-0000
CMMS-xxx
CFCS-xxx
MHx-490-CBNS-0000
CMMS-xxx
CFCS-xxx
MHM-6120-CONS-0000
CMMS-xxx
CFCS-xxx
MHM-6120-CBNS-0000
CMMS-xxx
CFCS-xxx
MHM-6200-CONS-0000
CMMS-xxx
CFCS-xxx
MHM-6200-CBNS-0000
CMMS-xxx
CFCS-xxx
MHM-6300-CONS-0000
CMMS-xxx
CFCS-xxx
MHM-6300-CBNS-0000
CMMS-xxx
CFCS-xxx
MHM-8250-CONS-0000
CMLS-xxx
CFCS-xxx
MHM-8250-CBNS-0000
CMLS-xxx
CFCS-xxx
MHM-8500-CONS-0000
CMLS-xxx
CFCS-xxx
MHM-8500-CBNS-0000
CMLS-xxx
CFCS-xxx
MHM-8750-CONS-0000
CMLS-xxx
CFCS-xxx
MHM-8750-CBNS-0000
CMLS-xxx
CFCS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
CBMS-xxx
213
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800-893-2321
FM Controls
for MDS and EN Series Drives
FM Controls
FM controls are application modules that provide

added functionality to EN Series and MDS Drives. These
modules mount directly to the front of any EN Series or
MDS drive. This is convenient for existing installations
with limited mounting space, and is an economical
solution for users wishing to stock drives and not
controls. Currently, there are eight FM control modules
from which to choose, depending upon the level of
control needed.

The FM-2 module enhances EN and MDS operation by
adding positioning capability including Jog, Home, and
Index functions. The FM-2 also includes additional I/O
providing 8 digital inputs and 4 digital outputs.
Every FM module provides

Unique Control Enhancements
8 additional optically-isolated digital Inputs
for a total of 12
4 additional optically isolated digital Outputs
for a total of 7
Every FM module has
Modbus RTU standard via the drive

Free, field upgradable firmware
Free Software and Software Upgrades
Two-Year warranty
Every FM Module is
Easy to Install
Easy to Program
Easy to Use

The FM-3E Ethernet module transforms the EN or
MDS drive into a fully programmable 1 axis motion
controller. For flexibility above and beyond the FM-2, the
FM-3E adds motion programming. The FM-3E utilizes
PowerTools Pro versatile software giving the user an easy
tool to create even the most complex of applications.
Profibus (FM-3PB) and DeviceNet (FM-3DN) options are
also available.
FM-4E Advanced Programming Module

For the most complex and challenging applications, the
FM-4E can do-it-all while still maintaining our tradition
of Motion Made Easy. The FM-4E Ethernet module
extends beyond FM-3E functionality offering program
multitasking, multiple profile summation, high speed
position capture, queuing and many more features.
Profibus (FM-4PB) and DeviceNet (FM-4DN) options are
also available.
Connectivity
Digital Drive
MODBUS TCP/IP
214
FM controls enable EN and MDS drives to seamlessly

integrate with Modbus, DeviceNet, Profibus, and
Ethernet networks. The Motion Made Easy
implementation of Ethernet, DeviceNet and Profibus
gives the user network setup that is as easy as drag
and drop.
www.emersonct.com
800-893-2321
FM-2
FM-3E
The FM-2 module expands the

capability of the EN and MDS
drives by adding positioning
capabilities, including Jog, Index,
and Home functions.
The FM-3E Ethernet

Programming Module allows
the user to create programs to
sequence motion, I/O control,
and other machine operations
in one environment. These
programs used in conjunction
with the Assignments or virtual
wiring feature, provide the user
with a powerful and easy-to-use
programming environment.
16 Indexes
Position Tracker Fieldbus Indexing
Chaining index capability
Chain indexes to home
Compound Indexing
Jogging and Homing
2 jog velocities
Homing
ome to sensor
ome to marker
ome to sensor/marker
Alternate Mode
Analog Velocity
Analog Torque (with Speed Limit)
Pulse Mode
User Units
Distance
Velocity
Time Scale
Acceleration
Auto-Tune
1
2
3
4
5
6
7
8
Outputs 10-30
VDC
Inputs
Indexing
Sync.
Output
Unique Control Enhancements

8 additional optically-isolated digital Inputs
for a total of 12
4 additional optically isolated digital Outputs
for a total of 7
FM-3E
Sync.
Input
Programmable I/O
With removable terminal

block connectors for I/O and a
pluggable sync cable for master
encoder connections, setup of
the FM-3E hardware is quick
and clean. For diagnostics, the
LCD keypad display on the front
of the module gives the user a
quick and handy way to change
parameters, monitor feedback
parameters, check module and
drive revisions, change baud
rates, view I/O states, and much
more! Profibus (FM-3PB) and
DeviceNet (FM-3DN) options are
also available.
1
2
3
4
+
-
Ethernet
Operating information is set

up via our free configuration
software PowerTools. The
FM-2 is designed to be extremely
easy to set up and run. This
saves time and money during
installation and also makes long
term support a breeze. For any
simple point to point motion
application, the FM-2 indexer is
the right choice.
Programming Control
FM Controls
Indexing Control
User-defined Units for Distance, Velocity,

Accel/Decel and Torque
User Programs
Synchronized Motion
Global and Index PLSs
S-Curve Accel and Decel
User Variables
Analog Input
Supports 57 Indexes
Ethernet (-3E), DeviceNet (-3DN)
or Profibus (-3PB) Options
Auto-Tune
215
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800-893-2321
FM-4E
FM-2 Specifications
Logic I/O Supply
Advanced Programming
+10 to 30 VDC, 0.75A
Control Inputs
(8) Digital: +10 to 30 VDC, 2.8 kOhm, Sourcing, Optically isolated
Control Outputs
FM Controls
The FM-4E Advanced

Programming Module with
Ethernet takes all of the power
and features of the FM-3E and
combines them with advanced
functions such as a Position
Capture Object, Multiple Profile
Summation, Queuing, and
Program Multitasking.
Module Weight
0.5 lb (0.23 kg)
FM-4E
Inputs
Sync.
Output
Outputs 10-30
VDC
Sync.
Input
Using the same software as the

FM-3E, PowerTools Pro makes
programming the FM-4E quick
and easy.
Ambient Temperature: 32 to 122F (0 to 50C) for rated

performance
Vibration: 10 to 2000 Hz @ 2 g
Humidity: 10 to 95% non-condensing Storage
Temperature: -13 to 167F (-25 to 75C)
Ethernet
The FM-4E module is the perfect

solution for applications with
complex motion profiles such as
a random infeed conveyor, rotary
knife, or high speed labeling
machine.
(4) Digital: +10 to 30 VDC, 150 mA, Sourcing, Optically isolated
Environmental

(FM-4DN) options are also
available.
1
2
3
4
5
6
7
8
1
2
3
4
+
-
FM-3E and FM-4E Specifications

Logic I/O Supply
+10 to 30 VDC, 0.75A
Control Inputs
Digital: (8) +10 to 30 VDC, 2.8 kOhm, Sourcing, Optically isolated

Pulse: Differential: RS422, 2 MHz/ Channel, 50% Duty Cycle
Control Outputs
Digital: (4) +10 to 30 VDC, 150 mA, Sourcing, Optically isolated

Pulse: Differential: RS422 and TTL compatible, 20 mA/Channel, Sink
or Source
Environmental
Ambient Temperature: 32 to 122F (0 to 50C) for rated

performance
Vibration: 10 to 2000 Hz @ 2 g
Storage Temperature: -13 to 167F (-25 to 75C)
Module Weight
0.5 lb (0.23 kg)
DeviceNet (Optional)
All the Programming Power of the FM-3E
module, plus the following benefits:
Program Multitasking
Multiple Profile Summation
Queuing
User Configurable Capture Objects
Ethernet (-4E), DeviceNet (-4DN)
or Profibus (-4PB) Options
216
Power Consumption: 25 mA
Baud Rates: 125, 250 and 500 kbps
Node Addresses: 00-63
Messaging: Explicit, Polled I/O, Change of State, Strobed and Cyclic
Connection: 5-wire terminal block
Profibus (Optional)
Baud Rates: Up to 12 Mbps

Node Addresses: 1-127
Messaging: Cyclic
Connector: DB9
Ethernet (Optional)
Data Rate: 10/100 base T

Messaging: Modbus TCP/IP, EtherNet/IP, SMTP, and HTTP
Connector: RJ45
www.emersonct.com
800-893-2321
FM Control Module Pinouts and Connections

Pin Number
Signal
1
2
3
4
5
6
7
8
Input 1
Input 2
Input 3
Input 4
Input 5
Input 6
Input 7
Input 8
Pin Number
Signal
Outputs
1
2
3
4
5
Output 1
Output 2
Output 3
Output 4
I/O Supply +
I/O Supply 0V
FM Controls
Inputs
Reserved
Pin Number
1
2
3
Signal
Reserved
Reserved
Reserved
Synchronized Input (mini-DIN)

Synchronized Output (mini-DIN)
Fieldbus Connectivity Options

(FM-3 and FM-4 only)
Ethernet (FM-3E and FM-4E only)
Pin Number
1
2
3
4
5
6
7
8
Signal (RJ45 connector)

TxData +
TxData RecvData +
NC
NC
RecvDataNC
NC
DeviceNet (FM-3DN and FM-4DN only)

Pin Number
1
2
3
4
5
Signal
DeviceNet VDeviceNet CAN_L
DeviceNet DRAIN
DeviceNet CAN_H
DeviceNet V+
Profibus (FM-3PB and FM-4PB only)

Pin Number
1
2
3
4
5
6
7
8
9
Signal (DB9 connector)

N/C
N/C
Signal + (B)
RTS
Data GND
+5 Volts (for Active Termination)
N/C
Signal - (A)
N/C
217
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800-893-2321
FM Dimensions
2.5
(63.5)
1.25
(31.75)
go to
Power CD
for complete data
FM Controls
7.187
(182.5)
1
2
3
Inputs
4
5
6
Exp. I/O
485 +
485 -
SHLD
Outputs
Sync.
Input
2
3
4
10-30
VDC
Sync.
Output
FM on EN Drive
+
-
2.45
[62.10]
9.40
(238.8)
FM on MDS Drive
8.15
(207.01)
6.90
(175.3)
1.25
(31.75)
9.00 [228.60]
218
11.80 [299.71]
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800-893-2321
FM Cabling Options (See Options section for more information.)
FM Synchronization CablesPlug and Play

From
Output
Device
Sync In
FM Controls
SNCLI-003
Sync In / Sync Out

SNCDD-001.5
Sync Out
SNCLO-003
To
Input
Device
Master Encoder Cable
Encoder
SNCE-XXX
Sync In
SNCI-003
Sync Out
SNCO-003
FM Profibus Connector and Cable
PBCONN
PBC CABLE-XXX
FM Ethernet Connector and Cable
Eth-Patch-XXX
Ethernet Switch
219
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Centralized
Multi-Axis Control
Motion Coordinator Series
MC Controllers
The Motion Coordinator series of centralized controllers

offer scalability, modularity, and flexibility. Scalability
is offered through the choice of two different base
controllers, four different servo drive series, and over 15

daughter board options.
Furthermore, all Motion Coordinators are programmed
with the free MotionPerfect2 software. Modularity is
offered by selecting only the daughter board required for
your specific application. Finally, flexibility is offered by
the controllers ability to perform interpolated, point to
point, camming and electronic gearing.
MC224/MC206X Expansion Daughter Boards

Motion Bus
I/O
SERCOS
Analog
Output
Analog
Input
Highspeed
Capture
SM-UNIVERSAL ENCODER
OUTPUT PLUS
Encoder Feedback
www.c
ontrol
techni
ques
.com
10 min
UNIDRIVE SP
220
DIGITAX ST
MDS
Analog Output/Encoder Feedback
EN
EP-B
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MC206X
MC Controllers
MC224
MC Canbus
Stepper
Stepper
Pulse
Encoder
Enhanced
Encoder
SSI
Encoder
Differential
Stepper
Incremental
Encoder
CAN-16
24V I/O
Fieldbus
Ethernet
TCP/IP
Ethernet
IP
Profibus
CAN-8
Analog Inputs
221
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MC206X
2-7 Axis Control

MC Controllers
The MC206X is a very capable all-in-one motion

controller and integrates easily with Control Techniques
scalable servo offering. The MC206X can coordinate 2-4
Control Techniques drives via encoder feedback, analog
output. The MC206X comes standard with onboard I/O
for high speed digital inputs, outputs, analog inputs, and
an additional encoder reference signal. The MC206X
with a SERCOS Daughter Board can coordinate up to 7
SM-SERCOS equipped Unidrive SP drives. Capable also
means, the MC206X is capable of Point to Point motion,
Camming, Velocity, Torque, and Circular Interpolated
motion all programmed using the simple and free
MotionPerfect2 programming software.
MotionPerfect2 Programming Software

MotionPerfect2 is a
powerful and fast
multitasking configuration
and programming
software. MotionPerfect2
provides comprehensive
system monitoring and
diagnostics tools. See
the software and connectivity catalog section for more
details.
Option Slot with

Optional Daughter board (P291)
with SERCOS. See details on the
Expansion Daugther Board page.
Flexible and Modular

Daughter Board Options
The MC206X accepts one of 15 plus daughter board
options providing unlimited flexibility. The slot can
be used for added axis control such as an additional
encoder/analog axis or SERCOS. The slot could also be
used to add Ethernet TCP/IP, EtherNet/IP or PROFIBUS.
Typical MC Configurations (Analog)

ANALOG
MDS
MC206X/Epsilon EP-B/Digitax
ST
MC206X Capabilities
222
250 s, 500 s, or 1 ms Servo cycle time

Multitasking processor with 7 tasks
Floating point Math
Interpolation; linear, circular, helical
Centralized point to point position controller
Cam Profiles
Electronic Gearing
Accel/Decel S Ramps Controls
4 encoder/analog axis control standard
2 virtual axis standard
1 master encoder standard
High speed latch inputs standard
7 axis control with optional SERCOS Daughter Board
5 axis control with optional encoder/feedback Board
Expandable I/O up to 256
One Daughter Board Expansion Slot
Analog
I/O
Inputs
Typical
MC Configurations
CANBUS
Expanded Unidrive
Analog
SP
SERCOS
MC206X/Unidrive SP/Digitax ST
Fiber Optic
CANBUS
Expanded
I/O
Analog
Inputs
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MC206X SPECIFICATIONS
General Ordering Information

Base Unit
4.21
(107mm)
2.08
(53mm)
Base Unit, 1 servo axis enabled

MC206X Daughter Board Adapter
Axis control
P201
P220
P291

Enhanced Servo Encoder Daughter Board

Reference Encoder Daughter Board
SERCOS Daughter Board 2 axis enabled
Requires SM-SERCOS on either the
Unidrive SP or Digitax ST
MC Controllers
MC206X
P399
Fieldbus
7.16 (182mm)
Size
107 mm x 182 mm x 53 mm
Weight
325 g
Operating Temp.
0-45 Celsius
Min Power Consump. 24V @ 300 mA (Nominal)
Max Power Consump. 24V @ 800 mA
Axes count
5 analog or 7 with SERCOS
Encoder Inputs
1 @ 6 MHz (Line Driver)
Bi-directional Ports
4 @ 6 MHz (Encoder) or

2 MHz (Stepper
Analog Outputs
4 @ +/-10V 16-bit

Resolution
Servo Cycle Time
1000 s, 500 s, or 250 s
Inputs
8 x 24V Opto-Isolated
Outputs
None
Bi-directional I/O
Analog Inputs
1 @ 0-10V 10-bit Resolution
Inputs Functions
Forward Limit / Reverse Limit /

Datum / F Hold
Watchdog Relay
1 Solid State Relay
24V @ 100 mA
Serial Ports
RS232 (Programming) /

RS232 / RS485 / TTL / USB
CAN Ports
1 @ 1 MBAUD max
Daughter board Slots 1 Slot
User Memory
512 kbytes
Table Memory
32000 values
Multi-tasking
2 Fast Tasks + 5 Normal
EMC Compliance
BS EN61000-6-2

BS EN61000-6-4
P296
P298
P297
P316
P325
EtherNet TCP/IP Daughter Board

EtherNet/IP Daughter Board
Profibus Daughter Board
CAN 16-I/O
CAN 8 Analogue Inputs
Programming Cables
P350

P361
PC to MC RS232 to RS232
programming cable
PC to MC USB programming cable
Enable Codes
P390
P393

P70x

Enable Code for Additional Servo Axis

Enable Code for Additional Reference
Encoder Input
Enable additional SERCOS axis 1, 2, 4, 8
or 16
Feedback cables
MC-CEN-xxx
MC-CEP-xxx
MC-EUN-xxx

Epsilon, EN, MDS command cable

Epsilon EP command cable
Unidrive SP command cable requires
encoder module on Unidrive SP
Notes:
MC206X has only one option slot.
For How to Order information see the last page in this section.
223
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MC224
Up to 24 Axis Control
MC Controllers
The MC224 is a high performance controller capable of

24 axis of coordinated motion control when combined
with Control Techniques scalable servo drive offering.
The MC224 motion capabilities include circular
interpolation, point to point, camming, electronic
gearing and basic accel/decel s-ramp motion profiles.
The MC224 is a flexible and modular system which
consists of base modules with option slots for flexible
daughter board options. A large 16 axis system would
consist of a MC224 base module and three expansion
modules connected together each with up to 4 flexible
daughter boards to fit your application needs.
MC224 Capabilities
Control up to 16 axis via analog/encoder or
up to 24 axis via SERCOS
250 s, 500 s, or 1 ms Servo cycle time
Multitasking processor with 14 tasks
Floating point Math Interpolation
Centralized point to point position controller
Cam Profiles
Electronic Gearing
Accel/Decel S Ramps Controls
Scalable axis via option slots and expansion base
Onboard I/O
Expandable I/O
Programmed using the free MotionPerfect2 Software
boards could control seven analog/encoder Epsilon EP-B

servo drives. Additionally, the available slots could be
used for SERCOS daughter boards which can control
eight axis per board. So a single MC224 with two
SERCOS daughter boards could control 16 Unidrive SP
axis. A flexible system consisting of a mixture of analog/
encoder and SERCOS axes could also be created.
ANALOG
MC224/Epsilon EP-B/Digitax ST
Flexible and Modular

Daughter Board Options
There are four daughter board
slots on the MC224 or expansion
modules. The slots can be used
for added axis control such as an
additional encoder/analog axis or
a SERCOS daughter board. The
slot could also be used to add
Ethernet (Modbus TCP/IP, EtherNet/IP) or Profibus.
The MC224 complements the MC206X by offering
capability for more than five analog/encoder servo axis
or more than seven SERCOS axis. For example, a MC224
with one expansion base and eight encoder daughter
224
SERCOS
MC224/Unidrive SP/Digitax ST
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800-893-2321
MC224 SPECIFICATIONS
General Ordering Information
MC224
P301
P355
P360
P365
10.3
(263mm)
2.7
(68mm)
7.75 (197mm)
Size
263 mm x 68 mm x 197 mm
Weight
750 g
Operating Temp.
0-45 Celsius
Min Power Consump. 24V @ 450 mA (Nominal)
Max Power Consump. 24V @ 800 mA
Axes count
16 analog or 24 with SERCOS
Encoder Inputs
None
Analog Outputs
None
Servo Cycle Time
1000 s, 500 s, or 250 s
Inputs
Outputs
None
Bi-directional I/O
Analog
Inputs 2 @ 0-10V

12-bit Resolution
Inputs Functions
Forward Limit / Reverse Limit /

Datum / F Hold
Watchdog Relay
2 Solid State Relays
24V @ 100 mA
Serial Ports
RS232 / RS485 / TTL / USB
CAN Ports
1 @ 1 M BAUD max
Daughter board Slots 4 Slots (expandable)
User Memory
1 Mbyte max
Table Memory
250,000 values
Multi-tasking
2 Fast Tasks + 12 Normal
EMC Compliance
BS EN61000-6-2

BS EN61000-6-4
Base Unit
MC224 Expander Unit
Expansion cable for adding 1 bay
Expansion cable for adding 2 bays
Expansion cable for adding 3 bays
Axis control
P201

P220
P291
P316
P325
P225
P242
Enhanced Servo Encoder Daughter

Board
Reference Encoder Daughter Board
SERCOS Daughter Board 2 axis enabled
CAN 16-I/O
CAN 8 Analog Inputs
Analog input 8 x 16-bit 0-10 VDC
Hardware PSWITCH (4 x 1 s)
MC Controllers
Base Unit
Fieldbus
P296
P298
P297
EtherNet TCP/IP Daughter Board

EtherNet/IP Daughter Board
Profibus Daughter Board
Programming Cables
P350

P361
P398
PC to MC RS232 to RS232
programming cable
PC to MC USB programming cable
MC controller memory stick
Enable Codes
P70x

Enable additional SERCOS axis

1, 2, 4, 8, or 16
Feedback cables
MC-CEN-xxx
MC-CEP-xxx
MC-EUN-xxx

Epsilon, EN, MDS command cable

Epsilon EP command cable
Unidrive SP command cable requires
SM-Encoder module on Unidrive SP
For How To Order information

see the last page of this section.
225
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800-893-2321
MC224/MC206X
Axis Control Boards
Expansion Daughter Boards

MC Controllers
The MC206X single and MC224 multiple expansion slot

accept the modular and flexible range of axis control, I/O,
and fieldbus daughter boards listed below. The MC206X
has one slot located on the right side of the unit. The
MC224 has four slots on the base unit and four slots in
each expansion bay.
Fieldbus Option Boards
Description: Controls 1 servo axis with analog

output and incremental encoder feedback
Encoder Input: 5V Line Drive Encoder 6 MHz max edge rate
Analog output: +/- 10v 16-bit resolution or 2 Mhz 90 A/B
quadrature output
Registration: 2 x 24V inputs @ 1 s accuracy
P270 SSI Servo Encoder Board

Description: Controls 1 servo axis with
analog output and SSI encoder feedback
P296 Ethernet TCP/IP Board

Description: Adds 1 channel of
Ethernet connectivity with the standard
stack
Network Speed: 10 BaseT
Protocols Supported: Modbus TCP server,
native TCP/IP, and ActiveX control
P201 Enhanced Servo Encoder

Board
Feedback: SSI standard configurable to max 24-bits
TCP/IP
Analog: +/- 10v 12-bit resolution
P220 Reference Encoder Board

Description: Input for 1 standard incremental
encoder with high speed latch
Feedback: 5V Line Drive Encoder 6 MHz max edge rate
P298 EtherNet/IP Follower Board

Description: Adds 1 channel of Ethernet IP
Server or commonly referred to as a follower device and
not a scanner.
Network Speed: 10/100 BaseT
Protocols Supported: Common Industrial
Protocol (CIP)
P297 Profibus DP Follower Board
Description: Adds Profibus DP follower
node for connection to a Profibus Master
Network Speed: Up to 12 Mb auto detection
Data Payload: 16 words input, 16 words output
I/O Boards
P225 Analog Input Board
Signal: 8 x 0-10V analog inputs
16-bit
P260 Analog Output Board
Signal: 1 x +/-10V 12-bit resolution
analog output
P242 Hardware PSWITCH
Description: 4 1 s high speed latch
inputs and one incremental encoder feedback
Feedback: 5V Line Drive Encoder 6 MHz qaudrature
For How To Order information see following page.
226
Registration: 1 x 24V inputs @ 1 s accuracy
P291 SERCOS Digital Drive Board

Description: SERCOS network master for
controlling Unidrive SP with SM-SERCOS module
Number of Axis per Board: 2 standard, 8 Max.
Axis Enable Code: 1, 2, 4, 8,16 axes with order codes
P701, P702, P704, P708, P716
Baud Rates: 2, 4, 8, 16 Mb
MC Expansion I/O
P316 Input/Output Expansion Module
Description: 16 I/O channels and each channel
can be freely configured as 24 VDC input or
output.
Communication bus: Proprietary protocol on Can
Bus Speed: 500 kbaud
Max Nodes: Connect up to 16 modules for total of 256 I/O
points.
Max Distance: 100 m total distance
P325 Analog Input Expansion Module

Description: 8 x +/-10V 12-bit resolution analog
input channels.
Communication bus: Proprietary protocol on Can
Bus Speed: 500 kbaud
Max Nodes: Connect up to 4 modules for a total of 32 analog
input channels.
Max Distance: 100 m total distance
www.emersonct.com
800-893-2321
P591-00-xxx SERCOS cables
SM SERCOS
MC-EUN-xxx
P351 USB or P350 serial interface
MDS
PC
Unidrive SP
Digitax ST
Unidrive SP
Digitax ST
EN
MC Controllers
MC-CEN-xxx
Epsilon EP
MC-CF-xxx
MC224
Reference
Axis
How to Order
Select Coordinator
All MC Coordinators are shipped with a CD containing Manuals and Software.

Additional information can be found on our web site at www.emersonct.com
Order: MC206X-00-000
1 servo and 1 sync encoder enabled, capable
of 4 onboard servo axis Expandable: accepts 1
daughter board.
# of Axis /
Expansion
MC206X Expansion Options
Slots
Software Enabled code, Order
P390-00-000 for each servo
axis, or P395-00-000 for each
stepper axis.
Daughter Board slot, Using a
daughter board on a MC206X
requires a P399-00-000
Daughter Board Adapter.
Up to 3
Additional
axis may be
added
1 Slot
Expansion Bay 1, Order (qty

1) 300-00-000 Expander and
P355-00-000 2 way ribbon
cable
cable
Select Expansion Option(s)
Order: P390-00-000 (MC206X only) 1

Additional Servo Axis Software Code
Enabled
Order: MC-CEP-XXX Command & Encoder

Feedback Cable for use with Epsilon EP,
(1 per Axis) (-002=2 ft, -004=4 ft)
Order: P220-00-000
Reference Encoder 2 MHz
Max Input
Order: P399-00-000 (MC206X only)

MC206X Daughter Board Adapter
Order: MC-CEN-XXX for MC206X or MC224

Command & Encoder Feedback Cable for use with
Epsilon, EN and MDS
(1 per Axis) (-002=2 ft, -004=4 ft)
Order: P242-00-000
Hardware PSWITCH,
Programmable Limit Switch
Order: P398-00-000
Memory Stick
Order: P301-00-000 (MC224 only)
Expander Bay - Up to 3 Expanders, Accepts
4 Additional Daughter Boards each
Order: P290-00-000**
CAN Bus 4 Axis
Order: P355-00-000 (MC224 only)

2 Way System Ribbon Cable Required for
1 Expander Bay is used
Daughter
Board Slots
available
Order: P295-00-000**
USB1.1 12 Mbit Rate
Order: P360-00-000 (MC224 only) 3 Way

System Ribbon Cable Required for
2 Expander Bays are used
4 Slots
Order: P296-00-000**
Ethernet 10 MHz
Order: P365-00-000 (MC224 only)

4 Way System Ribbon Cable Required for
3 Expander Bays are used
Order: P297-00-000**
Profibus 12 MHz
Order: P316-00-000
CAN 16-I/O, +24 VDC I/O
Order: P291-00-000
SERCOS INTERFACE
8 Axis per P291
2 Axis Included
Order: P325-00-000
CAN 8 Analog Inputs, +/-10 VDC, 12-bit
4 Slots
4 Slots

cable
** MC224 Notes: When using a CAN

Bus (P290), USB (P295), EtherNet (P296),
SERCOS (P291), or Profibus (P297) Daughter
boards, they must be placed in the Base
Unit. Expansion Bays do not accept these
daughter boards
4 Select Cable(s)
Order: P201-00-000
Servo Encoder w/Registration
Input
Order: P260-00-000
Analog Output, 12-bit
+/- 10 VDC
Order: MC224-00-000
Up to 24 Axes*, Accepts 4 Daughter Boards
*Requires Axis Expander(s)
MC224 Expansion Options
Select Daughter
Board(s)
Order: P298-00-000
Ethernet IP Follower
Order: MC-EUN-XXX for MC206X or MC224

Encoder Feedback Cable for Unidrive to controller
(-002=2 ft, -004=4 ft)
Order: MC-CF-XXX Bulk Cable for Command or
Feedback between Drive and MC Coordinator
(xxx = ft)
Order: P350-00-000
10ft RS232 Serial Cable PC to MC Controller
Order: P361-00-000
6 ft USB Cable PC to MC Controller
Order: P59X-00-000
SERCOS Cable (minimum 1 TX, 1 RX)

P591-00-000=1 meter

P592-00-000=2 meter

P595-00-000=5 meter
Order: P702-00-000
2 additional SERCOS Axes, Software code
Enabled
Order: P704-00-000
Enabled
Order: P708-00-000
Enabled
Order: P716-00-000
Enabled
227

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Base Drive Operation

for medium power applications. The analog torque

Analog Torque Mode

Analog Velocity Mode

Digital Velocity Preset

Standard Control Modes

Summation of Analog Velocity and Digital Velocity

Digital Velocity Preset

Torque, Travel, Following Error and velocity

Summation of Analog Velocity

PLC pulse command outputs

In Pulse Mode the drive will receive pulses from a

With position/velocity controller

Flexible I/O Functionality

The digital I/O of the drive is completely programmable

Velocity Summation This mode combines the

Travel Limit (+)

Travel Limits (+)

Travel Limit (-)

Travel Limits (-)

Torque Limit Enable

Torque Mode Enable

Velocity Presets (3)

Power Stage Enabled

Torque Limit Active

Velocity Limiting Active

Loop/dancer arm control

FM control modules (see Controls)

For applications requiring traditional

FM-2 Indexing Module

FM-3E Programming Module

FM-3E Application Examples

FM-4E Application Examples

Random infeed conveyor

FM-2 Application Examples

The FM-4E Advanced Programming

EN Drive Terminals and Pinouts

Logic Backup Power (J3)

Logic Backup Power

Digital I/O (J6)

Depending on your motor selection, use one of the next

The Control Techniques Motion Made Easy Power

Select System and Motor

Cable Ordering Options

EN Options and Accessories

The FM 230V line is a medium to high inertia line

* Bolt Circle & Shaft Diameter are standard dimensions

Feedback Cable - SIBAH

Motor Power &

Motor Power Cable - PSBAA

Servo System Order Guide

Note: Cable lengths in meters.

Motor Power Cable

Motor Power/Brake Cable

EN - 230V FM Motor Specifications

*Rated Speed = Maximum Operating Speed

EN - 230V FM Motor Speed Torque Curves

075E2B40-x with EN-204