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Dimensions

Appendix A

A-73

Figure A.4
External Shunt Resistor and Fuse Dimensions
Dimensions are in inches and (millimeters)

12.75 (323.8)

14.00 (355.6)

1.87

(47.5)

5.38

(136.6)

1.13

(28.7)

2.25

(57.1)

0.281 x 0.562

(7.1 x 14.2)

2.81

(71.4)

0.91

(23.1)

0.16 (4.1)

1.34 (34.0)

0.203 (5.2) Dia.
w/ 0.343 (8.7) Dia. C.B.

Summary of Contents for 1391B Series

Page 1: ...on 2 2 Transformer Power Dissipation 2 2 Receiving Unpacking and Chapter 3 Inspection Chapter Objectives 3 1 Receiving 3 1 Unpacking 3 1 Inspection 3 1 Storing 3 1 Description of Operation Chapter 4 C...

Page 2: ...tives 7 1 Start Up Procedure 7 1 The 1326AB AC Servomotor Chapter 8 Chapter Objectives 8 1 Introduction 8 1 Motor Options Accessories 8 3 Transformers and Shunt Regulators Chapter 9 Chapter Objectives...

Page 3: ...the controller remain the same when used in a system environment it must be noted that special considerations are to be given to characteristics of other peripheral solid state control equipment and...

Page 4: ...ocedures are not followed If you are not familiar with static control procedures reference Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protec...

Page 5: ...B ES contains a number of standard features required in a typical automated machine servo system Input protected against transient voltage A power line DB contactor which opens the AC line to the cont...

Page 6: ...cations such as an overhauling load have excessive regenerative energy to dissipate For these applications an external shunt regulator resistor rated at 386 watts continuous can be supplied for user m...

Page 7: ...Introduction Chapter 1 1 5 Figure 1 1 1391B ES AC Servo Controller TB2 Ground Stud TB 5 TB4 Circuit Breaker Fuse SW1 TB1 Diagnostic LED s...

Page 8: ...Introduction Chapter 1 1 6 End of Chapter...

Page 9: ...26A RMS 38A RMS Circuit Breaker Interrupt Rating Symmetrical Amperes 1300A 1300A 1300A Unit Weight in lbs kg 22 9 97 28 12 69 34 15 40 All Controller Ratings Static Gain A RMS 1 5 x Rated Motor Curre...

Page 10: ...s without derating however the current rating must be derated by 3 for each additional 1000 feet 305 meters up to 10 000 feet 3050 meters Consult with your local Allen Bradley Sales Representative pri...

Page 11: ...2 9 Important Power Dissipation figures shown are for use in calculating cumulative system heat dissipation to ensure ambient temperature inside enclosure does not exceed 60 C 140 F...

Page 12: ...visual inspection of the equipment Unpacking Remove all packing material wedges or braces from within and around the controller Remove all packing material from the cooling fans heat sink etc Importa...

Page 13: ...80 415 480V AC Three Phase 50 60 Hz 208 230 460 575V AC Three Phase 60 Hz Letter D E N kVA 1 5 3 5 5 0 10 0 12 5 15 0 Num ber 015 035 050 100 125 150 Description Trans former Open Core and Coil Let te...

Page 14: ...ccessory Modules 1388 X B First Position Second Posi tion Third Posi tion Bulletin Number Accessory Module Accessory Cod e A B C Description Anti Backlash Module w mounting assembly Accel Decel Board...

Page 15: ...ion Bulletin Number Fourth Position Motor Mounting1 A Fifth Posi tion Material 1 Description Modifica tion Kit Code MO D Shaft Seal Motor Series Sixth Position SS V Type Shaft Oil Seal Kit Description...

Page 16: ...A B 845H T Encoder for AB C series motor Type VC VD 4 25 108 mm Resolver for AB B series motor Type VC VD 4 25 108 mm Resolver for AB C series motor 0 375 9 5 mm diameter heavy duty shaft extension a...

Page 17: ...t 1 1 input master 255 256 master vernier for IMC 120 123 only Absolute master vernier format 1 1 input master 256 255 master vernier for 8600 series controls and Creonics only Description Modifica ti...

Page 18: ...tion 845H Encoder All 4 25 108 mm Resolver Packages F E V Description Connector Cable Assembly Connector on both ends for use with 1391C HB Letter C CC Type Series A B except 1326AB B4 Series C 1326A...

Page 19: ...Receiving Unpacking and Inspection Chapter 3 3 17 End of Chapter...

Page 20: ...o system can be configured with a 1391B ES Servo Controller 1326 AC Servomotor and 1391 Isolation Transformer Refer to the 1391B ES Block Diagram presented in Figure 4 3 300V DC Power Bus Supply The c...

Page 21: ...nt Referenc e Timing Signal Generator Shunt Regulator Operation The 1391B ES shunt regulator provides power dissipation for regenerative conditions when the energy returned to the controller by the mo...

Page 22: ...ulator off Refer to Chapter 9 for further shunt regulator information Logic Power Supply The 1391B ES control logic voltage is 12V DC and 5V DC The voltages are generated on the Power Driver Board whi...

Page 23: ...V DC or the resolver wiring is grounded or missing this fault will occur When a fault is detected the LED illuminates the DROK contact opens and the controller is disabled Overvoltage The DC power bus...

Page 24: ...n voltage is removed from the incoming isolation transformer Important The 1391B ES contains a definite purpose contactor that is not to be energized de energized more than twice an hour on a continuo...

Page 25: ...the 36V AC logic voltage is not de energized The dynamic braking effect depends on the value of the shunt regulator resistor and total load inertia Important Frequent cycling of the line DB contactor...

Page 26: ...tions occur b Re application of enable after resetting the controller and with 36V AC power still present will energize the controller Enable Signal Removed a Motor will regenerate to a stop b Output...

Page 27: ...Description of Operation Chapter 4 4 25 End of Chapter...

Page 28: ...ble for the 1391B ES See Figure 5 2 for terminal block locations Terminal Block TB1 Resolver Signals TB1 Terminals 1 10 These terminals are used for connection to the resolver Refer to Appendix B for...

Page 29: ...voltage present between this terminal and Signal Common corresponds to the motor current A voltage of 3 0V DC equals the rated motor current as set by switch S1 Enable Input TB2 Terminals 9 10 Normal...

Page 30: ...g 1 TB2 20 10 TB3 1 1 Recommended Wire Belden 9728 or equivalent Maximum distance between the A Quad B Board and the position controller is 40 feet 12 2 meters using a 5 volt signal For distances up t...

Page 31: ...r transformer details Terminal Block TB5 Motor Power Terminals TB5 Terminals 1 2 3 Motor power is provided at these terminals Refer to Chapter 6 and Appendix B for connection details Input Power Termi...

Page 32: ...DS8 TB1 1 20 1 10 Current Feedback Scaling Switch Configuration Switch Offset Overtemperature red Power Factor red Control Power red Overvoltage red Undervoltage yellow Current Foldback yellow Run En...

Page 33: ...nt available to the servomotor when TB2 5 is grounded The maximum setting is 300 of the motor rating or twice the continuous rating of the controller whichever is lower The pot can be calibrated fine...

Page 34: ...ws a controller to be used with 1326 AC Servomotors having lower current ratings Tables 5 B and C provide the information necessary to correctly set the current feedback scaling using switch S1 Table...

Page 35: ...Motor Catalog Number2 1326AB A1E 1326AB A2E 1326AB A3E 1326AB B1C 1326AB B1E 1326AB B2C 1326AB B2E 1326AB B3C 1326AB B3E 1326AB B4E 1326AB C1C 1326AB C1E 1326AB C2C 1326AB C2E 1326AB C3C 1326AB C3E 1...

Page 36: ...S2 9 10 S2 11 12 Function Tachometer Scaling ID Cut In ID Magnitude Drive OK Drive Ready Torque Block Veloc ity Loop Operation Velocity Loop Compensation Error Amp Gain Tachometer Filter Staircase Fi...

Page 37: ...326AB B3E 1326AB B4E 1326AB C1C 1326AB C1E S2 2 Switch Setting ON ON ON OFF ON OFF ON OFF ON OFF ON 1 Settings for 1326AP and 1326AB AC motors are identical If using blower increase the motor rated cu...

Page 38: ...the impact of this compensation at slightly lower inertias Error Amp Gain S2 7 8 1326AD motors require less gain on the velocity loop Switches S2 7 and 8 reduce the gain by a fixed percentage If both...

Page 39: ...Bradley IMC motion controllers the AMP parameters will be set according to the line count selected In general one parameter must be justified when using this device The normal line counts per cycle o...

Page 40: ...imensions for the 1391B ES Servo Controller can be found in Appendix A Chapter 2 provides information on power dissipation and environmental specifications The controller must be located on a flat rig...

Page 41: ...rity of applications The National Electrical Code local electrical codes special operating temperatures duty cycles or system configurations will take precedence over the values and methods listed Wir...

Page 42: ...he servo controller must be insulated so that they do not accidentally cause ground loops EMI Shielding The 1391B ES has an inverter carrier frequency of 2500 Hz Therefore the system may induce noise...

Page 43: ...tion wiring for the 1391B ES AC Servo Controller Typical control logic circuitry starting and stopping motor interconnections and grounding techniques are shown Motor Wiring The motor wiring size is d...

Page 44: ...be reversed When interfacing to IMC 121 or 123 controllers use the 1391 CAQB cable Refer to Chapter 5 for further information Transformer Wiring The transformer secondary 230V AC three phase connectio...

Page 45: ...age Table 6 C Fuse Current Rating A Primary Volt age 208V AC 240V AC 380V AC 415V AC 480V AC 575V AC 1 5 8 7 4 5 4 3 5 3 3 5 17 5 15 9 8 7 6 5 0 20 20 12 12 10 8 10 0 40 35 25 20 17 5 15 12 5 50 45 30...

Page 46: ...Start Up Procedure If an event does not occur while performing this start up Do Not Proceed Remove Power by opening the branch circuit disconnect device and correct the malfunction before continuing...

Page 47: ...ations shown The tolerance for all voltages is 10 Clear faults before replacing any blown fuses Location Voltage TB5 4 to TB5 5 230V AC TB5 4 to TB5 6 230V AC TB5 5 to TB5 6 230V AC TB4 19 to TB4 20 1...

Page 48: ...occur due to uncontrolled machine movements It is recommended that the motor be mechanically disconnected from the load if A Improper direction of rotation could cause damage to equipment B Uncontroll...

Page 49: ...otation of the motor shaft o 14 Open the branch circuit disconnect Remove jumper and reconnect the wires removed in step 9 Reapply power o 15 On position controlled systems the position loop gain syst...

Page 50: ...en using an oscilloscope or chart recorder it is recommended that the test probe ground be connected to TP12 o 19 Adjust the Velocity GAIN potentiometer R144 and observe the velocity response at TB2 7...

Page 51: ...r with the branch circuit disconnect o 21 Remove the local Enable switch and reconnect external wiring o 22 Apply power and check system operation o 23 Remove power with the branch circuit disconnect...

Page 52: ...perate at higher speeds without a reduction of torque In general the 1326 motor will follow the speed torque curve shown in Figure 8 2 Figure 8 2 Typical Bulletin 1326 Speed Torque Curve 0 10 20 30 40...

Page 53: ...S rating of either Duty Cycle Profile Decelerat e Tpd Accelerat e Tpa Repeat Move Cycle RPM Stead y Speed Tss Rest Tr Total Cycle Time t1 t2 t3 t4 where Trms The motors RMS or average torque over the...

Page 54: ...4 1 811 91 7 989 111 8 Rotor Inertia lb in s2 kg m2 0 004 0 0005 0 007 0 0008 0 010 0 001 0 05 0 006 0 05 0 006 0 08 0 009 0 08 0 009 0 14 0 015 0 22 0 024 0 29 0 032 0 29 0 032 Servo Amplifi er Catal...

Page 55: ...The 1326 AC Servomotor Chapter 8 8 57 End of Chapter...

Page 56: ...f the units in a 60 C ambient Important The maximum rating that can be connected to the 1391B ES is 15 kVA Important The 1391B ES controller uses a phase sensitive 36V AC transformer tap to provide po...

Page 57: ...phase NEMA Type 1 Enclosure Dimensions for the NEMA Type 1 enclosures are shown in Appendix A Important The NEMA Type 1 enclosure is shipped as a kit for customer assembly If other input voltages or...

Page 58: ...Shield 230V AC 230V AC 230V AC X0 Thermal switch for transformer protection rated 115V AC 1A 24V DC 0 25A min 185 C 5 C H6 H5 H7 H9 H8 G1 G2 X1 X2 X3 Primary Voltage 240V AC 380V AC 415V AC 480V AC C...

Page 59: ...hest The higher the setting the higher the average power seen by the shunt resistor The Duty Cycle Selector Switch settings for various controller shunt combinations are shown in Tables 9 A and B Impo...

Page 60: ...0 163 177 195 216 243 277 323 386 45A W Ext 5 Ohm Resis tor 215 227 241 256 274 294 317 344 378 417 466 527 607 715 872 1115 Denotes the maximum allowable settings for factory supplied configurations...

Page 61: ...t an electrical shock hazard ensure that all power to the controller has been removed prior to performing the following procedure and the bus voltage at terminal 9 and 7 of TB5 measures 0 00 volts 24...

Page 62: ...t the resistor against short circuits The shunt fuse is located on top of the controller near the circuit breaker for 15 and 22 5A controllers External resistors for 22 5A and 45A controllers are supp...

Page 63: ...Transformers and Shunt Regulators Chapter 9 9 61 End of Chapter...

Page 64: ...le 10 A provides a listing and description of the LED indicators In addition potential causes are listed Tables 10 B and 10 C provide a number of common system and servomotor malfunctions and their po...

Page 65: ...through the power output transistors is monitored If the current exceeds a fixed level greater than 300 of controller rating the LED will illuminate CONTROL POW ER FAULT RED OVERVOLTAGE RED OVERVOLTAG...

Page 66: ...N ENABLE LED is NOT Illuminated 1 The position controller has not enabled the controller 2 The Enable wiring to the controller is open 3 The position controller Enable relay switch has malfunctioned 4...

Page 67: ...on 2 The controller is not enabled 3 The power contactor is not energized 4 Power transformer is supplying the incorrect voltage or none at all 5 The motor wiring is open 6 The motor or transformer th...

Page 68: ...o position runs without control or with reduced torque Test Point Descriptions Table 10 D describes the various test points found in the 1391B ES controller Refer to Figure 10 1 for test point locatio...

Page 69: ...uration Switch Offset Overtemperature red Power Factor red Control Power red Overvoltage red Undervoltage yellow Current Foldback yellow Run Enable green Drive Ready green Gain Scale TB2 Adjustable Cu...

Page 70: ...roubleshooting Chapter 10 10 68 Figure 10 2 1391B ES Top Panel TB5 TB4 F31 F1 F2 MCB TB1 SW1 1 10 22 11 1 10 1 F3 provided on 15 and 22 5A units only 15A KLM 10 22 5 FNQ 6 1 4 series B only Ground Stu...

Page 71: ...Troubleshooting Chapter 10 10 69 End of Chapter...

Page 72: ...EADY 17 50 444 5 18 40 467 4 19 00 482 6 4 50 114 3 6 20 157 5 See Detail B 0 67 17 0 0 85 21 6 10 64 270 2 9 10 228 6 6 00 152 4 5 20 132 1 3 70 93 9 0 312 7 9 Dia 0 30 7 6 0 25 6 3 0 60 15 2 Dia See...

Page 73: ...T150ET NT kVA 1 5 2 5 3 5 5 0 10 0 12 5 15 0 A 9 00 228 9 00 228 11 00 279 11 00 279 11 00 279 11 00 279 11 00 279 11 00 279 12 00 305 12 00 305 12 00 305 12 00 305 13 00 330 13 00 330 B 10 00 254 10...

Page 74: ...A 72 Figure A 3 NEMA Type 1 Enclosure Dimensions Dimensions are in inches and millimeters A B D C E Front Side Catalog Number 1391 TA2 kVA All A 17 00 432 B 19 00 483 C 14 50 368 D 16 50 419 E 12 00...

Page 75: ...nal Shunt Resistor and Fuse Dimensions Dimensions are in inches and millimeters 12 75 323 8 14 00 355 6 1 87 47 5 5 38 136 6 1 13 28 7 2 25 57 1 0 281 x 0 562 7 1 x 14 2 2 81 71 4 0 91 23 1 0 16 4 1 1...

Page 76: ...Interconnect Drawing 1391B ES Interconnect Drawing The 1391B ES Interconnect Drawing is presented on pages B 2 and B 3 Refer to the Notes listed below when using this drawing Notes 1 Power Wiring unle...

Page 77: ...ck 20 H TB2 7 TB1 4 Green 20 G TB2 8 TB1 3 Shield Drain 20 N C TB2 9 TB1 2 Braided Shield 36 N C TB2 10 TB1 1 to Ground Stud 1326 CPABxx Motor Power Cable Servo Control Connection Wire Wire Gauge Conn...

Page 78: ...eld Mylar Shield 16 N C Ground Stud Ground Stud 1326 CVUxx Master Vernier Resolver Cable Master Wire Gauge Connector Vernier Pair Color AWG Pin Description Master 1 White 22 A Rotor 1 Black 22 B Rotor...

Page 79: ...to wiring 1 TB2 20 10 TB3 1 S3 2 1 Controller Top Logic Control Board A Quad B Board Cable Connection Wire Wire Number Color Signal Terminal Location 3 Black A TB3 1 AQB 12 Red A NOT TB3 2 Board 21 S...

Page 80: ...Cable Information Appendix C C 78 End of Appendix...

Page 81: ...gested for accuracy Attach a digital voltmeter between TP21 and TP12 of the controller For zero current adjust the 10k potentiometer until a zero 100 mV reading is achieved Alternately a variable 7 5V...

Page 82: ...Controller Options Appendix D D 80 End of Appendix...

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