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Chapter 4
Description of Operation

4-2

Figure 4.1
PWM Waveform

300V DC

Bus

Time

0

Typical

400

µ

s

Typical

400

µ

s

Typical

400

µ

s

Typical

400

µ

s

The three-phase relationship between the reference signal and the timing
wave provide PWM pulses to the power transistor base drive. This base
drive switches the power transistors across the 300V DC bus, providing
current to the motor windings, thus causing the motor to turn. A resolver
attached to the motor provides a signal corresponding to the actual rotor
position of the motor. This signal is decoded to a signal representing rotor
position and is fed to the commutation logic along with the torque
command. In this way, the drive combines the desired position signal and
current reference with the decoded resolver signal to produce a reference
signal commanding the motor to speed up or slow down. See Figure 4.2.

Figure 4.2
Operation

Commutation

Logic & Current

Loop Integrator

PWM Generator

& Base Drive

Position Decoder

Motor

Resolver

Current

Reference

Timing Signal

Generator

«
...
21
22
23
24
25
...
»

Содержание ALLEN-BRADLEY 1391-DES

Страница 1: ...User Manual 1391 DES Digital AC Servo Drive...

Страница 2: ...ility or liability for actual use based upon the illustrative uses and applications No patent liability is assumed by Allen Bradley Company with respect to use of information circuits or equipment des...

Страница 3: ...nfo 3 4 7 8 New Important statement added to TB1 5 1 New Bus voltage info added to shunt resistor 5 4 New Important statement added 5 7 Clarification Parameter 69 name change 6 14 Update Parameter 170...

Страница 4: ...s and limitations of this equipment including hazards associated with installation programming and maintenance procedures Note the following points This equipment has been designed to meet the require...

Страница 5: ...may result if ESD control procedures 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...

Страница 6: ...in ratings of 15 22 5 and 45A RMS with all package sizes being identical A 1391 Transformer 1326 AC Servomotor and 1326 Cables complete the servo system Standard Features The 1391 DES contains a numb...

Страница 7: ...atts continuous can be supplied for user mounting on 22 5A drives This is selectable by removing the jumper on TB5 and using an external resistor The shunt has integral fusing accessible from the outs...

Страница 8: ...t Breaker Fuses 2 Line 16 Character LCD Display 5 Button Keypad used for Programming Duty Cycle Selector Switch Status LED Flashes green when no faults are present and the bus is low Steady green when...

Страница 9: ...Chapter 1 Introduction 1 10 End of Chapter...

Страница 10: ...Gain A RMS 1 5 x Rated Motor Current rpm typical Form Factor 1 03 or less Peak Current Limit Adjust 20 to 300 of Rated Motor Current or 2 x Continuous Rating of Drive max whichever achieves Drive Pea...

Страница 11: ...000 feet 3050 meters Consult with your local Allen Bradley Sales Representative prior to operation over 10 000 feet 3050 meters Drive Power Dissipation The 1391 DES dissipation characteristics are ap...

Страница 12: ...make a visual inspection of the equipment Unpacking Remove all packing material wedges or braces from within and around the drive Remove all packing material from the cooling fans heat sink etc Import...

Страница 13: ...and Coil Letter T Description 230V AC three phase and four 36V AC single phase C T windings Letter T 1391 Bulletin Number Accessory Module TA2 Description Fits all kVA ratings on 1386 1388 1389 and 13...

Страница 14: ...escription AC Servomotor PM Type Letter A Design Motor Length Description 72 lb in 8 1 N m Holding Brake w 90V DC Coil 120 lb in 13 6 N m Holding Brake w 90V DC Coil 360 lb in 40 7 N m Holding Brake w...

Страница 15: ...fth Position Series 21 Standard Options Description Ferrite AC Servomo tor Letter AB Voltage Motor Length Description 72 lb in 8 1 N m Holding Brake w 90V DC Coil for 1326AB A4 120 lb in 13 6 N m Hold...

Страница 16: ...A5 Torque Plus A B 845H T Encoder for AB C series motor A7 Torque Plus Type VC VD 4 25 108 mm Resolver for AB B series motor A5 Torque Plus Type VC VD 4 25 108 mm Resolver for AB C series motor A7 Tor...

Страница 17: ...5 turns of the resolver Absolute master vernier format 1 1 input master 255 256 master vernier for IMC 120 121 123 only Absolute master vernier format 1 1 input master 256 255 master vernier for 8600...

Страница 18: ...100 150 9 200 9 250 9 300 9 Description Connector Kit No Cable 15 4 6 m 30 9 1 m 50 15 2 m 100 30 4 m 150 45 7 m 200 61 m 250 76 2 m 300 91 4 m Commutation Feedback Connection 845H T Encoder All 4 25...

Страница 19: ...05 Fourth Position Used on 1326AB Motor Series Code A B C Standard Series A Series B Series C Planetary Gearbox LB 21 Code PG RP Description Straight Planetary Gearbox Right Angle Planetary Gearbox Op...

Страница 20: ...ves 3 1 Receiving 3 1 Unpacking 3 1 Inspection 3 1 Storing 3 1 Description of Operation Chapter 4 Chapter Objectives 4 1 General 4 1 300V DC Power Bus Supply 4 1 PWM Operation 4 1 Shunt Regulator Oper...

Страница 21: ...8 1 Start Up Procedure 8 1 Linear Accel Decel Control Module 8 11 1326AB AC Servomotor Chapter 9 Chapter Objectives 9 1 Introduction 9 1 Motor Options Accessories 9 3 Transformers and Shunt Regulator...

Страница 22: ...ocessor based logic boards isolated current sensing circuit breaker and line contactor 300V DC Power Bus Supply The drive contains an integral unregulated 300V DC nominal full load power supply It con...

Страница 23: ...urn A resolver attached to the motor provides a signal corresponding to the actual rotor position of the motor This signal is decoded to a signal representing rotor position and is fed to the commutat...

Страница 24: ...therefore the average power level at which the drive will trip out When this level is reached the drive will be forced to trip out on an Overvoltage Fault This action would be equivalent to turning t...

Страница 25: ...reaction of the DROK contacts to an undervoltage detection Two options are possible 1 DROK opens but closes when the bus voltage is restored 2 DROK is not affected by an undervoltage Important Regardl...

Страница 26: ...rol Board remains energized except when voltage is removed from the incoming isolation transformer Important The 1391 DES contains a definite purpose contactor that is not to be energized de energized...

Страница 27: ...ur during the DC bus decay provided 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 Freque...

Страница 28: ...able after resetting the drive and with 36V AC power still present will energize the drive Enable Signal Removed a Motor will regenerate to a stop b Output power stage is disabled c DROK relay maintai...

Страница 29: ...Output Velocity Output Adjustable Current Limit Enable Reset Torque Command Input DROK Contact Isolated Current Sense Board Brushless Resolver TB5 1 TB5 2 TB5 3 TB1 1 through TB1 10 TB4 12 TB5 4 TB5...

Страница 30: ...st be connected to chassis ground at the Ground Stud see Figure 5 2 for Ground Stud location Terminal Block TB2 Please note that there are no connections to TB2 18 19 20 Velocity Command Input TB2 Ter...

Страница 31: ...se is determined and corrected Adjustable Current Limit TB2 Terminal 13 14 The current limit of the drive is set to 300 of motor continuous rating or twice the continuous rating of the drive whichever...

Страница 32: ...B cable When interfacing to the integrated packages of the MAX or S Class controls use the 1391 SAQB or 1391 SAQBK cable TB3 Number 1 2 3 4 5 6 7 8 9 10 Description A A NOT B2 B NOT 2 Z Z NOT 5V DC 5...

Страница 33: ...ads are brought out to terminals 19 and 21 of TB4 See Chapter 10 for transformer details Terminal Block TB5 Motor Power Terminals TB5 Terminals 1 2 3 Motor power is provided at these terminals Refer t...

Страница 34: ...Adapter Boards Main Logic Control Board A Quad B Board 22 TB5 MCB 11 1 TB4 F1 F2 SW1 10 A Quad B Board TB3 1 1 S1 Main Logic Control Board 1 TB2 2 1 TB1 Top View of Controller Display Board Memory Bo...

Страница 35: ...re the average power level at which the drive will fault Refer to Chapter 10 for detailed switch setting information A Quad B Encoder Output Switch S1 S1 selects the line count that will be output fro...

Страница 36: ...evice Important For all IMC classic products IMC 110 12x the normal line counts per cycle of the encoder must be divided by two since the drive will see two markers per cycle Example using an IMC 12x...

Страница 37: ...Chapter 5 Inputs Outputs and Switch Settings 5 8 End of Chapter...

Страница 38: ...into several different sections as shown in Figure 6 1 Figure 6 1 LCD Display Level Indicator Parameter Name Parameter Number Parameter Value When power is applied to the 1391 DES the Basic Display s...

Страница 39: ...s will be described as required Left Arrow Key This key is used to scroll through parameters or move the cursor when modifying parameters Other key functions will be described as needed Right Arrow Ke...

Страница 40: ...configuration parameters listed below This level of programming allows parameter modification to some of the View level parameters and the other parameters listed The Modify level is denoted by two do...

Страница 41: ...or 44 External Torque Reference 46 Id Flux Current Reference 47 IT Protection Limit 48 Bridge Current Limit 49 Current Feedback Scale 58 D A 1 Command Value 59 D A 2 Command Value 129 Units Select 135...

Страница 42: ...Keys to Modify Enter to Select and Right Arrow Enter to Cancel View modify parameters Use Up Down Arrow Keys to View Faults View current drive status View current fault status Save retrieve drive para...

Страница 43: ...391 DES Basic Display The three parameter levels can be accessed by using the key combinations described below The parameter level can be confirmed by observing the number of dots in the upper left co...

Страница 44: ...Numeric parameter contains a numeric value When this type of parameter is displayed in the Modify or Maintenance levels pressing the Down Arrow key will cause the cursor to flash Pressing the right o...

Страница 45: ...personnel injury and or machine damage caused by improper programming parameter names followed by an asterisk should only be modified by qualified personnel Parameter 00 Reset Display Faults Rst Disp...

Страница 46: ...Not Used bit 10 External A D Conversion Fault bit 11 Internal A D Conversion Fault bit 12 Not Used bit 13 Not Used bit 14 EEprom Fault bit 15 Auto Tune Fault Parameter 07 Drive Status Drv Status A 16...

Страница 47: ...nternal digital velocity control has been selected in parameter 132 The data contained in this parameter represents the whole number of the velocity reference Parameter Type View modify in Maintenance...

Страница 48: ...ce level Minimum Value 8000 rpm Maximum Value 8000 rpm Parameter 23 Resolver Turns The number of resolver electrical turns is supplied by this parameter When these values reach maximum the value drops...

Страница 49: ...rque Current Reference Iq Current Ref This parameter displays the torque producing current reference Parameter Type View only in all levels Minimum Value 300 rated motor current or 2 times drive ratin...

Страница 50: ...14 1 11 3 8 4 5 6 2 8 Parameter 49 Value 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Parameter 50 Current Feedback Rated Cur Fdbk Rated This parameter displays the actual motor current scaling based on curr...

Страница 51: ...y the auto tune cycle is represented through this parameter Parameter Type View only in Modify level and Maintenance level Minimum Value 0 Maximum Value 100 rated motor current Parameter 128 EEprom Fu...

Страница 52: ...typically 0 to 10V DC 1 Digital Inp internal digital reference parameters 17 18 2 A D Digt1 analog and digital reference parameters 57 17 18 3 Zero Input zero velocity reference Parameter 133 Torque...

Страница 53: ...This parameter specifies the largest change in the velocity command per velocity loop sample that will be allowed except when an immediate stop causes the velocity limit block to be bypassed Paramete...

Страница 54: ...rrent Rate Limit Cur Rate Limit The largest change in the current reference per velocity loop sample that will be allowed is specified through this parameter Value shown on the display is in amperes s...

Страница 55: ...5 6 rpm Default Value 1 rpm Parameter 172 Velocity Loop Integrator Preset Intg Prest Val The velocity loop integrator will be set to the value in this parameter when the drive transitions into the run...

Страница 56: ...ter Type View modify in Modify level and Maintenance level Minimum Value 0 rads second Maximum Value 30000 rads second Default Value 30000 rads second Parameter 185 Lead Lag Velocity Fdbk Filter Gain...

Страница 57: ...ter 190 Auto Tune Select Auto Tune Sel This parameter initiates an auto tune cycle which measures the Auto Tune Inertia parameter 189 and Auto Tune Friction parameter 69 by accelerating the motor up t...

Страница 58: ...input command The desired input velocity command voltage to motor rpm scaling is accomplished with the Analog Velocity Gain parameter 211 The default setting is 500 rpm volt Use the following formula...

Страница 59: ...ce level Minimum Value 0 rpm Maximum Value 8000 rpm Default Value Set by Setup drive with motor data routine Parameter 224 Id Percent Limit Id Percnt Lim This parameter is associated with the field we...

Страница 60: ...irect Sink2 This parameter specifies the sink parameter for Indirect 2 Parameters 245 and 246 define a link between two other parameters The value of the parameter specified by parameter 246 is writte...

Страница 61: ...View modify in Maintenance level Default Value 1 No 1 No has not been setup 0 Yes has been setup Parameter 253 Display Software Version Display SW Ver This parameter displays the current display softw...

Страница 62: ...ng Mounting dimensions for the 1391 DES Servo Drive can be found in Appendix A Chapter 2 provides information on power dissipation and environmental specifications The drive must be located on a flat...

Страница 63: ...utting drilling tapping and welding can be accomplished with the drive removed from the enclosure The drive is of the open type construction and any metal debris must be kept from falling into it Meta...

Страница 64: ...excessive voltage drops Consult the National Electrical or local Code for factors on ambient conditions length etc or the Allen Bradley Sales Representative in your area for further information Shield...

Страница 65: ...er and can pickup PWM radiation Isolation from control devices may be required Grounding All equipment and components of a machine or process system shall have their chassis connected to a common eart...

Страница 66: ...ring The motor wiring size is determined by the continuous and overload current requirements RMS Duty Cycle NEC and local codes In general motors operated from the following drives would not require w...

Страница 67: ...utdown Without this power supply relay erroneous counts could be received by the IMC Classic Controller when AC power is cycled to the drive but not the controller When power is removed to the drive t...

Страница 68: ...se ratings shown in Table 7 C are the highest ratings allowed in a 25 C 77 F ambient temperature Higher electrical enclosure ambient temperatures will require fuses with higher current ratings Consult...

Страница 69: ...ead and understand the following procedure before beginning the Start Up Procedure If an event does not occur while performing this start up Do Not Proceed Remove Power by opening the branch circuit d...

Страница 70: ...30V AC TB4 21 to TB4 19 36V AC TP13 to TP12 12V DC TP14 to TP12 12V DC 7 Remove all power to the transformer 8 The wires connected to terminals 9 and 10 of TB2 must be marked and removed to allow for...

Страница 71: ...ly then within 4 seconds press the Up Left and Enter keys Access parameter 252 and enter a value of 1 press Enter Then press the Left or Right Arrow keys to access parameter 128 Select Save to save th...

Страница 72: ...resolver wiring 15 The display will now read disable drive to continue Disable the drive by opening the Enable input leaving the contactor energized Display press enter to exit motor test press Enter...

Страница 73: ...mum velocity command If the maximum command voltage exceeds the normal maximum level these values will limit the speed of the motor If unknown leave setting at the default value Important Factory defa...

Страница 74: ...nt and take precautions to guard against personnel injury or machine damage Depending on the inertia of the system several revolutions of the motor may occur Axis movement must take place for the driv...

Страница 75: ...disconnected apply power and check operation If motor rotation is incorrect reverse the Velocity Command Input leads at TB2 1 2 29 If the drive is to be run in torque control with S Class IMC 123 Con...

Страница 76: ...ase the value until the motor shaft does not rotate e Perform step 36 f De energize the Enable input remove power and reconnect all wiring if applicable 33 Analog Velocity Gain a Apply power to the dr...

Страница 77: ...Perform step 36 e Remove power and reconnect all wiring if applicable 36 Saving Current Parameters to EEprom If this step was just performed proceed to the System Compensation Procedure or step 39 a...

Страница 78: ...overshoot of 20 30 on accel and decel is optimal on a point to point positioning or velocity controlled system The Critically Damped curve is desirable on a contouring or metal removing system Parame...

Страница 79: ...Decel pots to the maximum counterclockwise position minimum accel decel time Important All potentiometers on the module are 15 turn bi directional The Local Speed pots are setup such that counterclock...

Страница 80: ...t Changing direction with the speed input follows the accel decel times set on the module 8 Move the meter leads to drive terminals 1 2 of TB2 The meter should indicate a voltage of approximately 10V...

Страница 81: ...ive and module Initiate a Start command by selecting speed input SEL1 Command a speed through the speed pot SPD 1 that represents approximately 10 of maximum speed i e 1V DC The motor should rotate sl...

Страница 82: ...el Accel SPD 1 SPD 3 SPD 4 J2 J2 J2 J1 J3 Local Speed 3 Local Speed 4 24V DC or 115V AC 24V DC or 115V AC R L 1 17 18 19 20 Bypass Bypass J1 J1 J1 J1 J2 Invert FWD REV M Enable Select 21 22 Deadman 10...

Страница 83: ...er 8 Start Up 8 15 Figure 8 3 Linear Accel Decel Control Module Dimensions 7 25 184 2 0 5 12 7 4 25 108 0 0 41 10 3 2 75 69 9 0 75 19 1 0 50 12 7 3 44 87 3 8 12 206 2 0 75 19 1 Dimensions are in inche...

Страница 84: ...Chapter 8 Start Up 8 16 End of Chapter...

Страница 85: ...ate at higher speeds without a reduction of torque In general the 1326 motor will follow the speed torque curve shown in Figure 9 1 Figure 9 1 Typical Bulletin 1326 Speed Torque Curve 0 20 40 60 80 10...

Страница 86: ...g of either Duty Cycle Profile Decelerate Tpd Accelerate Tpa Repeat Move Cycle RPM Steady Speed Tss Rest Tr Total Cycle Time t1 t2 t3 t4 where Trms The motors RMS or average torque over the duty cycle...

Страница 87: ...wo thermal switches wired in series that will open on an overtemperature condition They are set to open at 150 C typical and close at 90 100 C typical Contacts are rated for 1A at 115V AC 1A at 24V DC...

Страница 88: ...Chapter 9 1326 AC Servomotors 9 4 End of Chapter...

Страница 89: ...nsformer tap to provide power to the Logic Control Board It is recommended that a 1391 Isolation Transformer be used Contact your local Allen Bradley Sales Representative if a transformer of a differe...

Страница 90: ...former protection rated 115V AC 1A 24V DC 0 25A min H6 H5 H7 H9 H8 G1 G2 X1 X2 X3 Primary Voltage 240V AC 380V AC 415V AC 480V AC Connect H2 to H6 H7 to H11 H12 to H1 H3 to H6 H8 to H11 H13 to H1 H4 t...

Страница 91: ...witch settings for various drive shunt combinations are shown in Tables 10 A and B Important Accurate operation of the Duty Cycle Timer is dependent on the shunt resistor value Do Not substitute alter...

Страница 92: ...130 139 150 163 177 195 216 243 277 323 386 45A W Ext 5 Ohm Resistor 215 227 241 256 274 294 317 344 378 417 466 527 607 715 872 1115 Denotes the maximum allowable settings for factory supplied confi...

Страница 93: ...stor ATTENTION To guard against an electrical shock hazard ensure that all power to the drive has been removed prior to performing the following procedure and the bus voltage at terminal 9 and 7 of TB...

Страница 94: ...ect the resistor against short circuits The shunt fuse is located on top of the drive near the circuit breaker for 15 and 22 5A drives External resistors for 22 5A and 45A drives are supplied with a f...

Страница 95: ...l shock verify that all voltage on the capacitors has been discharged before attempting to service repair or remove this unit Voltage at terminals 9 and 7 of TB5 must be 0 00 as measured with a standa...

Страница 96: ...cilitate this technique The procedures provided must be followed when substituting or interchanging drives or board assemblies Refer to Figure 11 1 for board and connector locations ATTENTION This dri...

Страница 97: ...Remove the front cover from the drive 3 Remove the Memory Board by squeezing the nylon latches 4 Install the new Memory Board 5 Apply power to the system tuning will be required Logic Control Board S...

Страница 98: ...stall the Display Board and cable 8 Reconnect the signal connectors cables previously removed 9 Apply power to the system and check for proper operation tuning should not be required LED Indications T...

Страница 99: ...es removed The drive logic supplies are not operational 1 The logic supply fuses are blown 2 Logic supply AC voltage is missing 3 A drive malfunction has occurred but is not annunciated by the LED ind...

Страница 100: ...ue Control Voltage Fault cntrl voltage Bit 4 Potential Cause All circuits are functional Fault Description None Fault Message No Active Faults Drive Overtemperature amp overtemp Bit 1 The drive contai...

Страница 101: ...wer Bus is continuously monitored If it exceeds a preset level a fault is sensed and the power supply is disabled Component on Logic Control Board has malfunctioned replace Logic Control Board Compone...

Страница 102: ...lying the incorrect voltage or none at all 5 The motor wiring is open 6 The motor or transformer thermal overload has tripped 7 The motor has malfunctioned 8 The coupling between motor and machine has...

Страница 103: ...sing excessive motor current 2 Motor voltage is exceeding the maximum value 3 The duty cycle is excessive 1 Loose parts are present in the motor 2 Through bolts are loose 3 The bearings are worn 4 Par...

Страница 104: ...P20 Buffered Output Torque input TP21 Ext Current Limit Indicates the external current limit command 3V rated TP28 Signal Common TP29 30 IA IB Feedback Buffered motor current feedback signals scaled f...

Страница 105: ...1 TP19 TP15 TP21 TP10 TP9 TP8 TP28 TP14 TP2 TP30 TP29 TP12 TP13 TP11 TP52 TP50 TB1 2 1 F3 Display Memory and Adapter Boards Main Logic Control Board A Quad B Board 22 TB5 MCB 11 1 TB4 F1 F2 SW1 10 1 F...

Страница 106: ...Chapter 11 Troubleshooting 11 12 End of Chapter...

Страница 107: ...56 293 6 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 Detail A Detail A Detail B 0 39 9 9 0 312 7 9 Dia Notes 1 Mounting slots and keyholes will accept...

Страница 108: ...00 330 14 00 356 14 00 356 14 00 356 14 00 356 16 00 406 16 00 406 16 00 406 16 00 406 17 50 444 17 50 444 D 5 00 127 5 00 127 6 00 152 6 00 152 6 00 152 6 00 152 8 00 203 8 00 203 8 00 203 8 00 203...

Страница 109: ...1 TA2 kVA All A 17 00 432 B 19 00 483 C 14 50 368 D 16 50 419 E 12 00 305 Weight 35 5 16 1 The following items are included with the NEMA Type 1 Enclosure Qty Description 2 Steel Mounting Channels 4 3...

Страница 110: ...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...

Страница 111: ...391 DES 9 Series Interconnect Drawing 1391 DES Interconnect Drawing The 1391 DES Interconnect Drawing is presented on pages B 2 and B 3 Refer to the Notes listed below when using this drawing Notes 1...

Страница 112: ...PPLY 36V AC FROM MOTOR GROUND 1326 CFUXX CABLE FROM TB1 1 DS2 GREEN ENABLE DROK CLOSED OK 120V AC 1 AMP CONNECT TO GROUND STUD PHASE SENSITIVE FROM MOTOR CABLE EMI SHIELD RUN SEE NOTE 5 REFER TO CHAPT...

Страница 113: ...6AB CXX AND 1326AB B4X Y SECONDARY X SECONDARY CABINET GROUND BUS WHT BLK BLK RED BLK GRN BRANCH CIRCUIT DISCONNECT NOTE 1 NOTE 6 DROK M M EMI SHIELD B G H I F 8 3 2 1 6 4 C D A E 5 9 3 2 1 8 7 6 9 5...

Страница 114: ...RIVE DR RET SHLD DRIVE FAST I O CH A HI CH A LO SHLD CH B HI CH B LO SHLD CH Z HI CH Z LO ENCODER ENCODER POWER 1391 Digital Servo Drive A A B B Z Z 5V COMMON VELOCITY COM VELOCITY COM DROK 115V AC 1A...

Страница 115: ...G OUT STRING IN ESTOP FAST DRIVE DR RET SHLD DRIVE 0 ROT LO RESOLVER 0 CH A HI CH A LO SHLD CH B HI CH B LO CH Z HI CH Z LO SHLD ENCODER 0 5V 5V RET 15V 15V RET SHLD EXT PWR EXT RET ENCODER POWER 1391...

Страница 116: ...RESET STRING OUT STRING IN ESTOP FAST IN A X I S x Stop Reset P B Axis Overtravel Remote Hardwired Stop CR CR2 115V AC Brake when supplied Motor Resolver 1391 CAQB Cable 2 Male D Shell Connector to Ax...

Страница 117: ...axis connections TB3 are identical 6 If the drive is to be operated as a torque block command wires should be connected to 1391 DES TB2 15 16 17 1391 Digital Servo Drive A A B B Z Z 5V COMMON VELOCIT...

Страница 118: ...for Axis 3 6 If the drive is to be operated as a torque block command wires should be connected to 1391 DES TB2 15 16 17 1391 Digital Servo Drive A A B B Z Z 5V COMMON VELOCITY COM VELOCITY COM COMMON...

Страница 119: ...o be operated as a torque block command wires should be connected to 1391 DES TB2 15 16 17 1391 Digital Servo Drive A A B B Z Z 5V COMMON VELOCITY COM VELOCITY COM ENABLE SOURCE 23V DC ENABLE DROK 115...

Страница 120: ...connections 6 If the drive is to be operated as a torque block command wires should be connected to 1391 DES TB2 15 16 17 5 12V DC Power Supply 4 3 24V DC COMMON 1391 Digital Servo Drive A A B B Z Z...

Страница 121: ...terconnect Diagram For detailed 9 Series interconnect information please refer to the following publications Controller Publication 9 240 9 240 Integration Manual publication 8520 4 1 9 230 9 260 290...

Страница 122: ...Appendix B Interconnect Drawings B 12 End of Appendix...

Страница 123: ...k 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 Conne...

Страница 124: ...d Mylar Shield 16 No Conn 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 Rot...

Страница 125: ...Location 3 Black A TB3 1 AQB 12 Red A NOT TB3 2 Board 21 Shield Common No Connection 4 Black B TB3 4 AQB 13 White B NOT TB3 3 Board 22 Shield Common No Connection 5 Black Z TB3 5 AQB 14 Green Z NOT TB...

Страница 126: ...Appendix C Cable Information C 4 End of Appendix...

Страница 127: ...1 Block Diagrams Objectives Appendix D provides detailed software and hardware block diagrams for the 1391 Digital AC Servo Drive You may use these to gain a better understanding of the 1391 DES soft...

Страница 128: ...URRENT 4096 100 RESOLVER POSITION RESOLVER TURNS 23 24 PRELOAD 159 0 5 1 SELECT TORQUE 155 SLOW VOLATILE SLOW PARAMETER PARAMETER TEST POINT FAST SOURCE FAST SINK CURRENT LIMITER RATE LIM CURRENT CUR...

Страница 129: ...8 168 Kp 130 EEPROM FUNC DRIVE SW VERSION 3 2 1 128 254 1 0 DROK bit 6 bit 6 drive state bit DRIVE FAULTS 6 bit 10 bit 11 bit 12 bit 13 bit 14 bit 15 bit 9 bit 7 bit 8 int A D conv eeprom autotune pow...

Страница 130: ...TP9 CURRENT FEEDBACK COMMAND VELOCITY COMMAND TORQUE ANALOG OUT 1 ANALOG OUT 2 R1 R2 ROTOR SHIELD S1 S3 S2 S4 S1 S3 SHIELD S2 S4 SHIELD OVERALL SHIELD RESET COMMON ENABLE SOURCE ENABLE INPUT VELOCITY...

Страница 131: ...to the defaults listed and delete any previous values Parameters with a in the Actual column should not be changed unless you have consulted Allen Bradley Machine Designation Axis Designation Date Na...

Страница 132: ...it 157 Negative Current Limit 159 Current Preload 0 168 Kp Velocity Loop 100 169 Ki Velocity Loop 6667 170 Feed Forward Gain 0 171 Static Gain 1 rpm 182 Desired Velocity Bandwidth 200 rads sec 183 Vel...

Страница 133: ...erence 47 IT Protection Limit 48 Bridge Current Limit 49 Current Feedback Scale 58 D A 1 Command Value 59 D A 2 Command Value 129 Units Select 0 User Units 135 Up to Speed Tolerance 19 5 rpm 136 Drive...

Страница 134: ...Appendix E Parameter Record E 8 End of Appendix...

Страница 135: ...Notes...

Страница 136: ...Notes...

Страница 137: ...Notes...

Страница 138: ...Notes...

Страница 139: ...Notes...

Страница 140: ...Notes...

Страница 141: ...Notes...

Страница 142: ...Notes...

Страница 143: ...Notes...

Страница 144: ...Notes...

Страница 145: ...DESIGN IMPLEMENT ELECTRICAL SYSTEMS TRAIN EDUCATE MACHINE USERS SUPERVISE FLOOR OPERATIONS WHAT LEVEL OF EXPERIENCE DO YOU HAVE WITH EACH OF THE FOLLOWING PRODUCTS NONE LITTLE MODERATE EXTENSIVE PROG...

Страница 146: ...NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES BUSINESS REPLY MAIL PERMIT NO 413 MEQUON WI POSTAGE WILL BE PAID BY ADDRESSEE ALLEN BRADLEY Attn Marketing Communications P O Box 760 Mequon WI 530...

Страница 147: ...IMC is a trademark of Allen Bradley Company Inc...

Страница 148: ...1391 DES Digital AC Servo Drive 1391 DES Digital AC Servo Drive User Manual Publication 1391 5 3 June 1994 Publication 1391 5 3 June 1994 User Manual...

Страница 149: ...2975 60222 LATIN AMERICA HEADQUARTERS 1201 South Second Street Milwaukee WI 53204 USA Tel 414 382 2000 Telex 43 11 016 FAX 414 382 2400 ASIA PACIFIC HEADQUARTERS Allen Bradley Hong Kong Ltd Room 1006...

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