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Publication 1394-5.0 — May 2000

8-28

Configuring Your 1394 Analog Servo System

1394 Analog Servo Software
Diagrams

The following diagrams describe the control loops of the 1394 analog
servo system.

Figure 8.1
1394 Analog Servo Software Diagram (part 1)

ORQ

UE SOURCE

ABLE

0 =

VEL OUT

1 =

VEL + Dtrq + PLd

2 = DIG

3 =

VEL + A

rq + PLd

4 = A

rq1 + PLd

5 = A

rq2 + PLd

MODE SELECT

ABLE

0 = ANALOG

VEL

1 = ANALOG

ORQ

2 = DIGIT

VEL

3 = DIGIT

ORQ

112

MODE SEL

360

ORQ SOURCE

220

VEL COMMAND

376

FEED FWD GAIN

368

OP GAIN Kp

372

INTG GAIN Ki

380

OOP

A/D

+/- 10v

(3V = 8192)

CURRENT LIMITER

184

POS CUR LIM

188

NEG CUR LIM

116

CURRENT LIMIT

192

CUR RA

TE LIM

344

I(t) CUR LIM

260

BRIDGE LIM

228

CUR LIM CA

USE

232

Iq CUR REF

164

CUR PRELO

DIG T

ORQ

REF

212

356

INT T

ORQ

REF

D/A 1 Gain

D/A 1

ALUE

+/- 10v

(10V = 128)

A/D

+/- 10v

(10v = 32767)

VELOCITY SOURCE

ABLE

0 = ANALOG

VEL

1 = DIGIT

VEL

2 = DIGIT

3 = ZER

O INPUT

364

VEL SOURCE

276

ANLG VEL

OFST

272

ANLG VEL

SCAL

348

JOG VEL

VEL REF

WHOLE

204

VEL REF FRA

208

VELOCITY LIMITER

128

CW VEL

LIM

132

CCW VEL

LIM

120

VEL LIM

136

VEL RA

TE LIM

352

INT VEL

REF

124

MTR PEAK CUR

TUNE FRICTN

300

INPUT SOURCE

###

READ ONL

TEST PT

###

CONFIGURA

TION

TYPICAL LINK

Velocity Feedback

Velocity Feedback (filtered)

404

OR TYPE

104

MTR RA

TED CUR

Содержание Allen-Bradley 1394

Страница 1: ...User Manual 1394 Digital AC Multi Axis Motion Control System Catalog No 1394 50 Allen Bradley...

Страница 2: ...ation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanicaldevicesthatshouldbet...

Страница 3: ...1 8 What is a 1394 System 1 9 System Modules 1 10 Axis Modules 1 11 External Shunt Module used with 22 kW System 1 11 1326AB Motors 1 12 1326AS Motors 1 12 1326AH Motors 1 13 Drive Interface Module 1...

Страница 4: ...Power Configuration 3 7 Setting the Ground Jumper in a 5 or 10 kW System Module for Ungrounded Power Configurations 3 8 Setting the Ground Jumper in a 22 kW System Module for Ungrounded Power Configu...

Страница 5: ...4 19 1394 DIM System Example 4 19 1394 DIM with 1398 DDM xxx System Example 4 20 1394 DIM Configurations 4 21 Configuration Examples 4 22 1394 System Module Input Power Wiring When Not Using Axis Mod...

Страница 6: ...em Level 7 4 Setting Up Analog Test Points 7 5 Defining Your Motor 7 5 Defining a Reference Source forYour Axes 7 6 Defining Analog Velocity 7 7 Defining Analog Torque 7 8 Defining Digital Velocity 7...

Страница 7: ...94 SR10A Fuse 9 25 Replacing the 1394 SR9A SR9AF SR36A and SR36AF Fuse 9 26 Replacing the AM50 and AM75 Axis Module Fan 9 28 Removing the Fan 9 28 Installing the New Fan 9 31 Appendix A Specifications...

Страница 8: ...CNC Interface Interconnect Diagrams B 2 1394 GMC Interconnections B 3 1394 Analog Servo Interconnections B 9 1394 CNC Interconnections B 12 Thermal Interconnect Diagrams B 14 1394 GMC Systems 1394x SJ...

Страница 9: ...System Module D 3 Axis Modules D 4 External Shunt Modules D 4 Shunt Resistor Kit for 5 and 10 kW System Modules D 4 Shunt Modules for 22 kW System Modules D 4 System Module Cables D 5 Control Interfa...

Страница 10: ...Publication 1394 5 0 May 2000 viii Table of Contents...

Страница 11: ...ley support Who Should Use this Manual Use this manual if you are responsible for designing installing programming or troubleshooting the Allen Bradley 1394 family of products If you do not have a bas...

Страница 12: ...4 Analog Servo System Module 6 Commissioning 1394 GMC and GMC Turbo Systems Provides information about parameters used to configure your 1394 GMC and GMC Turbo 7 Commissioning Your 1394 Analog Servo S...

Страница 13: ...1326AB and 1326AS motors 1326 Cables for 460V AC Servo Motors 1326A 2 11 A user guide for GML programming to be used with the 1394 GMC System GML Commander Reference Manual GMLC 5 2 An overview of th...

Страница 14: ...dry location within an ambient temperature range of 0 to 65 C 32 to 149 F within a relative humidity range of 5 to 95 non condensing in an area where it cannot be exposed to a corrosive atmosphere in...

Страница 15: ...s Series Note Series C system modules catalog numbers 1394C SJTxx x and axis modules catalog numbers 1394C AMxx and AMxx IH include features not available on Series A and B modules catalog numbers 139...

Страница 16: ...do so and familiar with solid state control equipment and the safety procedures in publication NFPA 70E ATTENTION The system integrator is responsible for local safety and electrical codes ATTENTION...

Страница 17: ...1394x SJTxx T offers 64K of memory with a 32 bit processor while the 1394x SJTxx C offers 32K of program memory with a 16 bit processor The 1394x SJTxx T also includes a direct high speed link to the...

Страница 18: ...Outputs Discrete Inputs Analog Outputs Analog Inputs AEC AEC Reset Axis 0 Axis 1 A B A B Axis 1 Axis 0 2 1 SSI Control Configuration Configuration Switches Switches Encoder Encoder Power SSI Control...

Страница 19: ...ber optic I O ring is provided to the 1394 and the system is completely interfaced with and programmed using ODS Off Line Development System and the CNC operator panel Allen Bradley Remote I O MMS Eth...

Страница 20: ...ovides a SCANport interface as a standard feature For specific installation and wiring information refer to the 1394 SERCOS Multi Axis Motion Control System User Manual publication 1394 5 20 Figure 1...

Страница 21: ...he 1394 also provides a SCANport interface as a standard feature Figure 1 5 Analog Servo System RIO PanelView 550 DH 485 GML Flex I O RS 232 422 Discrete Outputs Discrete Inputs Analog Outputs Analog...

Страница 22: ...connection There are three versions of the 9 440 CNC System 1 You can connect a total of three feedback devices If you use three resolvers the encoder port J11 is not available If you use the encoder...

Страница 23: ...s One System Module 1394x SJTxx x One to four Axis Modules 1394x AMxx xx One to four servo motors 1326Ax Bxxxx One to four power and feedback cables Also available are the DC Link Module 1394 DCLM and...

Страница 24: ...sistor kit 1394 SR10A is available for 5 and 10 kW systems with regenerative loads that exceed the capacity of the internal 200W shunt resistor provided Most 5 and 10 kW systems will not require a shu...

Страница 25: ...900 1800 and 3600W continuous 160 000W peak are available for use with the smart power 22 kW system module The shunt module dissipates excess regenerative power from the Bulletin 1394 system You must...

Страница 26: ...67 protection rating is available specify L in the catalog number refer to Appendix D Figure 1 10 1326AB Motor 1326AS Motors This family of high performance servo motors feature neodymium iron boron p...

Страница 27: ...square frame design utilizing a permanent magnet rotor and a fixed stator winding Rare earth magnets long life ball bearings and brushless construction also assures maximum performance They are availa...

Страница 28: ...lled drives plus 1394x AMxx axis modules cannot exceed four per 1394x SJTxx C or T system module and one per 1394C SJTxx L system module The 1394 DIM is not compatible with the 1394x SJTxx A system mo...

Страница 29: ...xis modules Status LEDs for motion board Axislink and RIO GMC system only Highly integrated surface mount circuitry Encoder signal output A QUAD B for encoder emulation Analog Servo system modules onl...

Страница 30: ...s are required 360 480VAC Hz direct line operation for most applications Advanced protective features such as software based current foldback which provides overload tolerant operation and soft curren...

Страница 31: ...as the CE mark the following regulations apply EMC Directive This unit is tested to meet Council Directive 89 336 Electromagnetic Compatibility EMC using a technical construction file and the followin...

Страница 32: ...ve The EN 60204 1 Safety of Machinery Electrical Equipment of Machines Part 1 Specification for General Requirements standard applies in whole or in part Refer to Appendix B for interconnect informati...

Страница 33: ...emove all packing material wedges and braces from within and around the components After unpacking check the item s nameplate catalog number against the purchase order Refer to Appendix D for more inf...

Страница 34: ...ok ATTENTION If you are mounting a 1394x SJTxx T system module and using the SLC Interface you will need an additional 101 6 mm 4 in of clearance to the left of the system module to allow for connecti...

Страница 35: ...AM75 and 1394C AM50 IH or AM75 IH 3 yes 1394x AM50 or AM75 no 1394C AM50 IH or AM75 IH 1394x AM03 AM04 or AM07 up to 1 no E 1394x AM50 or AM75 and 1394C AM50 IH or AM75 IH 4 yes 1394x AM50 or AM75 no...

Страница 36: ...es to reduce the effects of electromagnetic interference EMI Bonding Modules Unless specified most paints are not conductive and act as insulators To achieve a good bond between modules and the subpan...

Страница 37: ...racket or ground bus Flat washer Nut Star washer If the mounting bracket is coated with a non conductive material anodized painted etc scrape the material around the mounting hole Stud mounting a grou...

Страница 38: ...system 1 Install the top mounting fasteners on the subpanel for the system module and all axis modules The heads of the fasteners should be at least 0 25 in from the panel Make sure all fasteners are...

Страница 39: ...with the heat sink through the back of the enclosure refer to Figure 2 3 1 Remove the paper backing from the gasket that came with the AM50 75 axis module 2 Position the gasket so that the sticky sid...

Страница 40: ...the Terminator Important The terminator terminates the serial ring and provides protection for the DC Link The 1394 system will not operate without the terminator 10 Tighten all mounting fasteners Sli...

Страница 41: ...o M10 3 8 in bolts and mount the external shunt resistor assembly vertically on a flat rigid metal surface that will not be subjected to shock vibration moisture oil mist dust or corrosive vapors Note...

Страница 42: ...above shunt module Incorrect Shunt Placement 1394 Digital Servo Controller 3600W Shunt Module BULLETIN 1394 3600W SHUNT MODULE ALLEN BRADLEY FOR USE WITH 1394 SJT22 X SYSTEM MODULE CAT PART SER INPUT...

Страница 43: ...shunt module minimum Twisted conductors 2 twists per foot min or a shielded twisted pair 1394 Digital Servo Controller 300W Shunt Module BULLETIN 1394 300W SHUNT MODULE ALLEN BRADLEY FOR USE WITH 139...

Страница 44: ...les 360 480V AC power Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI Motor power cables 155 mm 6 1 in of clearance on all sides of the sh...

Страница 45: ...your 1394 Shunt Module 1 Install the top mounting fasteners on the subpanel for the shunt module The heads of both fasteners should be at least 6 35 mm 0 25 in from the panel Make sure the fasteners...

Страница 46: ...ommend that you mount your Flex I O modules to the left of the system module Figure 2 15 Mounting GMC and GMC Turbo Systems Next to Flex I O Status Status Bond DIN rail to sub panel Install Flex I O t...

Страница 47: ...d for 22 kW system Finding Additional Wiring Information for 1394 Systems The information and procedures included in this chapter apply to the following 1394 systems GMC Turbo GMC 9 440 CNC CNC Interf...

Страница 48: ...tional Electrical Code local electrical codes special operating temperatures duty cycles or system configurations take precedence over the values and methods provided ATTENTION Plan the installation o...

Страница 49: ...I O wiring Motor feedback cables 460 380V AC power Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI Status Status Status Status Motor power...

Страница 50: ...r feedback cable at the resolver and velocity command cable at the servo drive so that they do not cause ground loops EMI RFI Shielding The 1394 has an inverter carrier frequency of 5000 Hz The drive...

Страница 51: ...n The AC line supplying the drive has power factor correction capacitors The AC line frequently experiences transient power interruptions or significant voltage spikes Important Line conditioning is n...

Страница 52: ...the grounded power configuration allows you to ground your 3 phase power at a neutral point Each 1394 system module has a factory installed jumper configured for grounded power distribution If you det...

Страница 53: ...position to prevent electrostatic buildup inside the 1394 Refer to the ground jumper procedures for the system module you need to configure Figure 3 3 Ungrounded Power Configuration ATTENTION Unground...

Страница 54: ...of your module refer to Figure P 1 in the Preface For ground jumper settings on this system module Do this Series A and B 1 Locate the jumper connected to J26 and J27 on the circuit board behind the D...

Страница 55: ...mper Important If you have grounded power distribution you do not need to set the ground jumper Go to Grounding Your 1394 System 1 Verify that all 24V control and 360 480V power has been removed from...

Страница 56: ...t Wiring Board in a 22 kW System Module 6 Locate the ground jumper inside the system module Refer to the figure below for jumper location Figure 3 6 Location of the 22 kW System Module Ground Jumper D...

Страница 57: ...tall the input wiring board 9 Re install the upper and lower input wiring board screws Refer to Figure 3 5 for the location of the screws 10 Re connect both ends of the input wiring board ribbon cable...

Страница 58: ...or details on grounding your system and axis modules Refer to Appendix B for interconnect information Figure 3 8 PE Safety Ground Configuration with Multiple 1394 Systems on One Panel Status Status St...

Страница 59: ...s terminating points for the AC power input logic power feedback and various other control signals The slide and lock mechanism transfers power and commutation signals to each axis module Each individ...

Страница 60: ...istor for information about wiring the optional shunt resistor to the 5 and 10 kW system modules ATTENTION To avoid personal injury and or equipment damage ensure installation complies with specificat...

Страница 61: ...tions regarding wire types conductor sizes branch circuit protection and disconnect devices The National Electrical Code NEC and local codes outline provisions for safely installing electrical equipme...

Страница 62: ...quipment damage ensure installation complies with specifications regarding wire types conductor sizes branch circuit protection and disconnect devices The National Electrical Code NEC and local codes...

Страница 63: ...tem ground bar wire as follows 4 Connect the three phase incoming power wires as follows 5 Connect the three phase input neutral wire as follows Note The three phase input neutral connection is presen...

Страница 64: ...ground bus bar on the subpanel For more information on bonding refer to the chapter Installing Your 1394 2 Insert the three phase input neutral wire into connector terminal J10 4 and tighten the J10 4...

Страница 65: ...and tighten any loose wires 9 Plug J1 into P1 10 Gently pull on each wire to make sure it does not come out of its terminal Re insert and tighten any loose wires 11 Go to Connecting Motor Power to Ax...

Страница 66: ...sidered when selecting ground fault circuits Connect the motor thermal sensor and brake lead to the Axis Module at TB1 and TB2 Each axis module comes with a brake and thermal connector kit Refer to Ap...

Страница 67: ...y and so on until they are all wired To wire your 1394 axis modules 1 Note For more information on bonding refer to the chapter Installing Your 1394 If your system module is Then do this Series A or B...

Страница 68: ...ed shield underneath 4 Position the cable shield clamp over the exposed braided shield ensure clamp screw is behind clamp and not braided shield 5 Tighten the clamp screw Important Do not overtighten...

Страница 69: ...r thermal switch interconnect information 12 Insert the wire labeled Into this terminal block 1 U1 2 V1 3 W1 8 PE2 bare wire no label PE3 Series A and B modules N A Series C The bare wire is replaced...

Страница 70: ...monitor the thermal switch for overheat conditions If you Do this Have more axis modules to wire 1 Move to the next axis module 2 Go to the main step 2 Have wired all of your axis modules Go to Conne...

Страница 71: ...axis motor you will use connect one motor resolver feedback cable to the appropriate feedback connector on the bottom of the system module control board For the location of those connectors refer to t...

Страница 72: ...g half until it clicks 5 Connecting Your External Shunt Resistor These procedures assume that your external shunt resistor is already mounted To connect your external shunt resistor 1 Remove all 24V c...

Страница 73: ...elow Figure 3 15 1394 System Module Jumper Removal Series A and B 3 Install the jumper block in the P1 position which is located directly behind the Status LED as shown in the figure below Figure 3 16...

Страница 74: ...other shunt resistor wire in connector J11 3 5 Tighten the J11 connector screws torque value 0 56 0 62 N m 5 0 5 6 lb in Connecting Your Shunt Module required for 22 kW system The procedures in this...

Страница 75: ...ith motor power cables Separate shunt power cables from other sensitive low voltage signal lines The table below details your shunt power wiring options To connect the shunt module to the 22 kW system...

Страница 76: ...l conduit 155 mm 6 1 in of clearance on all sides of the shunt module minimum Twisted conductors 2 twists per foot min or a shielded twisted pair 1394 Digital Servo Controller 300W Shunt Module BULLET...

Страница 77: ...the 1394 shunt module can reach temperatures in excess of 350 C 662 F Install per local codes Status Low voltage Communications Control I O wiring Motor feedback cables 360 480V AC power Always separ...

Страница 78: ...w terminals torque 2 5 N m 22 1 lb in 11 Gently pull on each wire to make sure it does not come out of its terminal Re insert and tighten each loose wire 12 Connected to COL on the 22 kW System Module...

Страница 79: ...le located on the bottom right side of the module 4 Insert one wire from the 115V AC power supply into terminal 1 5 Insert the other wire from the 115V AC power supply into terminal 4 6 Insert one of...

Страница 80: ...ur shunt module into terminals 2 and 3 Refer to Figure 3 21 for the jumper s location 7 Tighten all screw terminals 8 Gently pull on each wire to make sure it does not come out of its terminal Re inse...

Страница 81: ...and GMC Turbo Wiring and Connections The 1394 GMC and GMC turbo contain an integrated IMC S Class motion controller that is functionally equivalent to the IMC S Class Compact GMC and GMC Turbo system...

Страница 82: ...tem module to help you insert and remove wires on the input wiring board J5 C1 SYS ENABLE 24V INPUT COM HOME0 CHASSIS POS 0TRAV0 NEG 0TRAV0 THERM FLT0 24V INPUT COM CHASSIS HOME2 POS 0TRAV2 NEG 0TRAV2...

Страница 83: ...stem module to help you insert and remove wires on the input wiring board SYS ENABLE 24V_INPUT_COM CHASSIS HOME0 POS_0TRAV0 NEG_0TRAV0 THERM_FLT0 24V_INPUT_COM CHASSIS REG0_5V REG0_24V REG_COM CHASSIS...

Страница 84: ...nsert your wires into the terminals Refer to Appendix D for the part number Figure 4 3 Terminal Operating Tool To use the terminal operating tool with TB1 1 Put the hook into the hook slot with tab en...

Страница 85: ...19 and 27 TB2 terminals 3 19 26 and 27 Mandatory HOME0 Home switch inputs for each axis require 24V DC each 13 mA to energize Each input is optically isolated and filtered to minimize switch bounce Re...

Страница 86: ...ng to the motor velocity and direction of rotation will be present between these terminals 1 0V krpm is available Minimum impedance that canbe placedacrossthisoutputis10kohm A voltage corresponding to...

Страница 87: ...your device Important If you are using current sinking you can only use one device per controller Connecting Your Communication Cables The 1394 GMC and GMC Turbo system modules provide the following c...

Страница 88: ...ntrol Reset Control Init AxisLink Status Application Program Lock Serial Port Config DH 485 J1 DH 485 J2 Remote I O 2 SLC IN Turbo Only SLC OUT Turbo Only Status Control Status Control Reset Control I...

Страница 89: ...coder Input Axis 2 J5 Auxillary Encoder Input Axis 3 J10 Auxillary Encoder Input Axis 0 J5 Resolver Feedback Input Axis 1 J6 Resolver Feedback Input Axis 2 J7 Resolver Feedback Input Axis 3 J10 Resolv...

Страница 90: ...Txx L systems To improve the bond between the motor feedback cable shield and the system module PE ground a cable shield clamp is included with the Series C system modules Ensure an appropriate amount...

Страница 91: ...nd T Series A and B systems and Figure 4 8 for 1394C SJTxx C L and T Series C systems Both ports use 9 pin AT compatible DB 9 connectors and are identically wired You can configure CHAN A port J3 for...

Страница 92: ...evices requiring hardware handshaking SW1 Port J1 J2 SW2 Port J4 SW3 Port J3 SW4 Port J1 J2 J4 SW5 Port J4 SW6 Port J3 Left No DH 485 Terminal No RS 422 Terminal No RS 422 Terminal RS 232 422 RS 232 R...

Страница 93: ...terface with the following signal designations Serial Device 5 2 3 Com RxD TxD Shield J3 CHAN A J4 CHAN B 1394 connector is 9 pin AMP 205204 1 or equivalent Recommended Cable Belden 9533 or Equivalent...

Страница 94: ...ble to J1 with a three pin connector as shown in Figure 4 12 The maximum end to end length for Daisy Chain cabling configurations is 25 m 82 ft The minimum distance between AxisLink nodes is 0 9 m 3 f...

Страница 95: ...option allows the user to support up to 16 nodes for a maximum end to end cable length of 25 m 82 ft This feature is enabled in GML version 3 9 1 or higher with Firmware version 3 5 or higher Importa...

Страница 96: ...305 mm 12 in or 4100 CCF3 cable maximum cable length is 0 91m 3 ft Up to eight modules of the following types can be connected in any order 1794 IB16 16 Discrete Inputs 24V DC 1794 OB16 16 Discrete O...

Страница 97: ...ference Manual GMLC 5 2 Programming GML 3 x x GML Programming Manual Document Update 999 104 DU1 Programming GML Programming Manual Document Update 999 104 DU1 1 1394 SLC Interface ATTENTION To avoid...

Страница 98: ...onnectors 1394 SLC OUT connector SLC left side connector 1746 Rack with SLC 5 03 5 04 or 5 05 1746 Rack with SLC 5 03 5 04 or 5 05 1746 Rack with SLC 5 03 5 04 or 5 05 1746 Rack 1394 GMC Turbo System...

Страница 99: ...rbo with two 1394 axis modules A 1326AB Bxxxx motor is directly connected to each of the 1394 axis modules Two servo amplifiers with motors are connected to the 1394 DIM It can accept two because ther...

Страница 100: ...shows the J1 breakout board interconnect details between the 1394 DIM and the 1398 DDM xxx Refer to ULTRA 200 User Manual publication 1398 5 0 and ULTRA 100 User Manual publication 1398 5 2 for more...

Страница 101: ...system module can control a maximum of four physical axes The 1394C SJTxx L and L RL can control only one axis Each 1394 axis module added to the 1394 system reduces the number of external drives and...

Страница 102: ...of ways to incorporate the 1394 DIM into a 1394 GMC GMC Turbo System The examples show the input connections located on the bottom of a typical 1394 system and a 1394 DIM The example below shows two 1...

Страница 103: ...0 J5 Motor Resolver Feedback Input Axis 1 J6 1394 DIM Plug DIM Axis A Axis 1 on 1394 Axis 0 1394 GMC or GMC Turbo System 1394x AMxx 1394 DIM 1 7 Axis 2 J5 Auxillary Encoder Input Axis 3 J10 Auxillary...

Страница 104: ...4 System Module Wired for Input Power Without Using Axis Modules Understanding DIM Signals DROK The DROK is a drive fault input from each external drive to the 1394 DIM It consists of two wires connec...

Страница 105: ...1394 DIM and has a range of 10V The signal is either a torque or velocity command depending on the configuration of the remote drive The command is processed by the Bulletin 1394 System Module through...

Страница 106: ...wire to the 1394 system module Installing the resolver feedback input plug for each DIM axis to prevent resolver loss faults Connecting the Remote Drive to the DIM Connector The customer supplied DIM...

Страница 107: ...ver to open the termination point ATTENTION To avoid a shock hazard or personal injury verify that all power has been removed before proceeding This system may have multiple sources of power More than...

Страница 108: ...in until the cable lead cannot be pulled out of the terminal 9 Using the table below complete the termination connections 10 Connect each external drive to the 1394 DIM Important Connect all DIM axes...

Страница 109: ...res 4 22 4 23 and 4 24 for encoder input locations Note The other end of the 1394 GE15 cable provides flying leads and must be connected to correct signals on a quadrature encoder 7 1 2 3 4 5 6 8 9 12...

Страница 110: ...tions and Appendix B for the 1394 system module interconnect information Important Unused DIM axis modules do not require a feedback plug to be installed If you do not insert a 1394 DIM feedback plug...

Страница 111: ...tions The Analog Servo system module contains all of the components needed for an analog servo control system The module provides connectors for the following Motor feedback resolver AQB output and to...

Страница 112: ...h system module you order comes with a terminal operating tool that allows you to easily insert your wires into the terminals refer to Figure 5 2 Refer to Appendix D for the part number A0 VREF A0 VRE...

Страница 113: ...l To use the terminal operating tool with TB1 1 Put the hook into the hook slot with tab end of the tool to your left 2 Gently push the tool to the right to open the wire slot 3 Insert the wire 4 Gent...

Страница 114: ...ying 24V DC between this terminal and signal common TB1 19 resets the fault Important Do not perform a Reset until you have determined the cause of the fault and corrected it TB1 terminal 15 Mandatory...

Страница 115: ...ports parallel connection therefore you only need to connect the 5V DC power supply to one AQB port For the 1326AB series motors the motor mechanical cycle is 2048 pulses per revolution PPR In additio...

Страница 116: ...cable shield clamp and tighten the clamp screw Then thread the bracket screw into the bottom of the system module and tighten Refer to the figure below for an illustration Figure 5 4 Series C System M...

Страница 117: ...nputs on the system wiring board and are provided through this port as a convenience Do not use Axis 0 1 2 3 inputs velocity torque on the system wiring board if these inputs are used SCANport Adapter...

Страница 118: ...Publication 1394 5 0 May 2000 5 8 Wiring Your 1394 Analog Servo System...

Страница 119: ...e drive to performmanyoftheadjustmentsspecifiedinthischapter Voltages behind the system module front cover are at incominglinepotential voltagesontheaxismodulefront terminal block are at 360 480V AC T...

Страница 120: ...is 24V AC or 24V DC 10 4 5 Apply 360 480V AC input power 6 Verify that the 360 480V AC input voltage is present at the input terminals of the system module or at the user supplied input contactor ATTE...

Страница 121: ...provides the information you need to setup and tune your 1394 GMC and GMC Turbo system using GML Commander Before You Begin Before you begin the setup procedure be sure to have the following A comput...

Страница 122: ...it switch while you power up the system Reset the system Press the Reset switch To Refer to the In this manual Publication Number Understand the setup process Configuring Control Options chapter GML C...

Страница 123: ...t your system be aware of the following For specific set up instructions using GML 3 x x refer to your GML Programming Manual publication 999 104 To Do this Be able to save setup menus Set the Memory...

Страница 124: ...Publication 1394 5 0 May 2000 6 6 Commissioning 1394 GMC and GMC Turbo Systems...

Страница 125: ...theadjustmentsspecifiedinthischapter Voltages behind the system module front cover are at incominglinepotential voltagesontheaxismodulefront terminal block are at 360 480V AC To avoid injury to person...

Страница 126: ...o EEprom as you complete each step Before You Begin Before you begin the startup procedure verify that the system has been wired correctly and be sure to have a voltmeter Exiting Before You re Finishe...

Страница 127: ...input terminals of the System Module is 24V AC or 24V DC 10 4 5 Apply 360 480V AC input power The system and axis module LEDs flash green and the following appears on the HIM 6 Verify that the 360 480...

Страница 128: ...ppears 3 Press ENTER The following message appears 4 Press ENTER A message similar to the following appears 5 Press SEL The cursor moves to the bottom line 6 If the system module LED Then Flashes gree...

Страница 129: ...t up your system so that you can monitor an axis using analog test points 1 When the Disp D A Monitor message appears press SEL The cursor moves to the bottom line 2 Press either the up or down arrow...

Страница 130: ...ections of this chapter Removing and Re Applying Power Setting Up at the System Level Setting Up Analog Test Points Defining Your Motors To define a reference for your axes 1 When the Ax Mode Sel mess...

Страница 131: ...The cursor moves to the bottom line 3 Press either the up or down arrow until the parameter number that you want to use for the rpm volt gain appears 4 Press ENTER The system records your choice and...

Страница 132: ...fining Digital Velocity This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter Removing and Re Applying Po...

Страница 133: ...efining Your Motors These procedures continue from step 4 of Defining a Reference for Your Axes To define digital torque 1 When the Ax Mode Sel Dig Torq message appears press ENTER A message similar t...

Страница 134: ...ither the up or down arrow until the appropriate current limit appears 3 Default values are set by the motor type you selected You cannot exceed this value 4 Press ENTER The system records your choice...

Страница 135: ...ursor moves to the bottom line 2 Press either the up or down arrow until Axis Tune appears on the bottom line 3 Press ENTER A message similar to the following appears Note If the message is Not Ready...

Страница 136: ...ages similar to the following appear Note If you do not disable the axis the system does it for you however you still need to manually disable it before you proceed 6 Press ENTER A message similar to...

Страница 137: ...pter is intended only a supplement to help you to understand the technical approach and to assist you with using communication tools such as SCANport Where to Look for Other Programming Information Sy...

Страница 138: ...to make programming easier Display Units ENUMS A language statement pertaining to the selection made Engineering Standard display units such as Hz sec volts etc Drive Units These are internal Display...

Страница 139: ...On Days 100 103 Motor Type 104 107 Mtr Rated Cur 108 111 Mtr Inertia 112 115 Mode Sel 116 119 Current Limit 120 123 Vel Lim 124 127 Mtr Peak Cur 128 131 CW Vel Lim 132 135 CCW Vel Lim 136 139 Vel Rate...

Страница 140: ...oup Vel Cmd Data Display Units rpm Parameter Type Read Write Change While Running Yes Linkable No Minimum Value 496 00 rpm Maximum Value 496 00 rpm Default Value 0 00 rpm Anlg Vel Scal Use this parame...

Страница 141: ...tor up to the ATune Vel at the ATune Current The parameter also calculates the gains based on auto tune information Parameter Numbers 296 297 298 299 Parameter Group ATune Config Startup Parms Paramet...

Страница 142: ...tems only Note To determine the series of your module refer to Figure P 1 in the Preface Parameter Numbers 39 Parameter Group Smart Sys Data Display Units vlts Parameter Type Read Only Linkable No CCW...

Страница 143: ...Units None Parameter Type Read Only Linkable No Cur Lim Cause This parameter displays the present source if any of current limiting for the axis Parameter Numbers 228 229 230 231 Parameter Group Torq...

Страница 144: ...trip velocity for an overspeed fault This value is automatically set to 1000 rpm greater than CCWVelLim ifthis valuewouldbe greater then present setting Parameter Numbers 152 153 154 155 Parameter Gro...

Страница 145: ...ionand allows you to enter a desired velocity bandwidth less than or equal to the Max Bandwidth parameter as calculated by the auto tune cycle Parameter Numbers 252 253 254 255 Parameter Group ATune C...

Страница 146: ...ter Numbers 20 Parameter Group Setup Display Units None Parameter Type Read Write Change While Running No Linkable No Default Value 0 Axis 0 Selections 0 Axis 0 1 Axis 1 2 Axis 2 3 Axis 3 4 Not Linked...

Страница 147: ...droop in output rpm i e velocity error that will result in 100 rated torque being applied by the motorin reaction Thisparameter only haseffect if Intg Gain Ki is not zero For Example Speed regulation...

Страница 148: ...splay Units amps Parameter Type Read Only Linkable No Id Cur Ref This parameter displays the present level of the Id current reference for this axis Parameter Numbers 236 237 238 239 Parameter Group T...

Страница 149: ...a Display Units rpm Parameter Type Read Write Change While Running Yes Linkable No Minimum Value 8000 0 rpm Maximum Value 8000 0 rpm Default Value 0 0 rpm Intg Gain Ki This parameter controlsthe integ...

Страница 150: ...ead degs Default Value 0 degs Ld Lg Freq Thisparameter specifiesthecenterfrequencyof the lead lag filter in the velocity feedback path if employed see Ld Lg Degrees If set to zero the filter is disabl...

Страница 151: ...play Units None Parameter Type Read Write Change While Running Yes Linkable No Default Value 0 Anlg Vel Selections 0 Anlg Vel 1 Ana Torq 2 Dig Vel 3 Dig Torq Module Size CurrentratingoftheAxisModule T...

Страница 152: ...0 custom motor 1 1326AB B410G 2 1326AB B420E 3 1326AB B430E 4 1326AB B515E 5 1326AB B520E 6 1326AB B530E 7 1326AB B410J 8 1326AB B420H 9 1326AB B430G 10 1326AB B515G 11 1326AB B520F 12 1326AS B310H 13...

Страница 153: ...Group Mtr Data Display Units None Parameter Type Read Write Change While Running No Linkable No Minimum Value 2 Maximum Value 8 Default Value This is determined by the motor catalog number Mtr Rated C...

Страница 154: ...y Units amps Parameter Type Read Write Change While Running Yes Linkable No Minimum Value 10 rated motor current Maximum Value 300 rated motor current or 2 times drive rating whichever is less Default...

Страница 155: ...22 kW systems and 5 and 10 kW Series C or later systems Parameter Numbers 40 Parameter Group Smart Sys Data Display Units Parameter Type Read Only Linkable No Shunt Kl Shunt resistor long time consta...

Страница 156: ...tance Set this parameter only when using a custom resistor Active on all Smart Power 22 kW systems and 5 and 10 kW Series C or later systems Note ShuntType mustbesetto customshunt before making modifi...

Страница 157: ...t Parameter Numbers 5 Parameter Group Linear List Display Units None Parameter Type Read Only Linkable No Selections 0 No Opt Instd Software Version Numeric value of software version Parameter Numbers...

Страница 158: ...rs 308 309 310 311 Parameter Group Vel Cmd Data Display Units amps Parameter Type Read Write Change While Running Yes Linkable No Minimum Value 0 of rated motor current Maximum Value 300 of rated moto...

Страница 159: ...p Configuration Display Units None Parameter Type Read Only Linkable No 0 NOT PRESENT 1 1394x SJT05 2 1394x SJT10 3 1394 SJT22 Test Mode Sel Internal factory test mode selections Parameter Numbers 16...

Страница 160: ...rque commanded drive The dynamic Dig Torq Ref is meant to be linked to a real time digital input Dig Torq Ref is the active parameter 3 Vel ATrq PLd Axis is configured as a standard velocity commanded...

Страница 161: ...s None Parameter Type Read Write Change While Running Yes Linkable No Default Value 0 User Selections 0 User 1 Internal Up To Spd Tol Percentage of command velocity that feedback velocity must be with...

Страница 162: ...256 257 258 259 Parameter Group ATune Config Display Units None Parameter Type Read Write Change While Running Yes Linkable No Default Value 0 Zeta 0 87 Selections 0 Zeta 0 87 Underdamped 1 Zeta 1 00...

Страница 163: ...rpm Parameter Type Read Write Linkable Yes Vel Ref Whole This parameter is the present value of digital velocityreferenceandmust bethe destinationof link for any data to be output Parameter Numbers 20...

Страница 164: ...380 DROOP A D 10v 3V 8192 CURRENT LIMITER 184 POS CUR LIM 188 NEG CUR LIM 116 CURRENT LIMIT 192 CUR RATE LIM 344 I t CUR LIM 260 BRIDGE LIM 228 CUR LIM CAUSE 232 Iq CUR REF 164 CUR PRELOAD DIG TORQ RE...

Страница 165: ...CUR REF FEEDBACK FILTER 144 LD LG DEGREES 148 LD LG FREQ 140 VEL LOWPAS BW 224 VEL FEEDBACK D A 2 GAIN D A 2 VALUE 13 10v 10V 128 X 11 Velocity Feedback Velocity Feedback filtered V t AUTOTUNE CUR AU...

Страница 166: ...Publication 1394 5 0 May 2000 8 30 Configuring Your 1394 Analog Servo System...

Страница 167: ...hargedbefore attempting to service repair or remove this unit You should only attempt the procedures in this chapter if you are qualified to do so and familiar with solid state control equipment and t...

Страница 168: ...nnections Replace the module Contact your local Allen Bradley Support Representative Flashing red A fault has occurred in system Verify wiring Secure wiring connections Alternating red and green DC bu...

Страница 169: ...lt has occurred Replace the system module Contact your local Allen Bradley Support Representative WATCHDOG Steady red Operating normally None needed Not illuminated Power to the system module is not o...

Страница 170: ...s not up Check the system module s LED Check slider connections to verify that they are properly seated Verify that the terminator is present on the last axis Flashing green Axis is not enabled Check...

Страница 171: ...above the Axis area select the variable for which you want to see status Note For example select the Global Fault variable to determine which system fault has occurred 6 Select Examine Information ab...

Страница 172: ...Watch Items The Watch Items window appears 4 Select any variables that you want to watch from the Defined Items area and click on Add Those items appear in the Items to Watch area 5 Click on Save The...

Страница 173: ...ears For more information on 9 440 system faults refer to the 9 Series Integration and Maintenance Manual catalog 8520 6 2 Fault Number Fault Name Hard Fault Indicator Source of Fault In this area Thi...

Страница 174: ...ere is also an error log that contains the most recent system faults To get to this error log screen 1 At the main menu press the continue softkey The softkey menu changes 2 Press the ERROR MESAGE sof...

Страница 175: ...If problem persists return controller to the factory for repair On Off Off Flashing fast1 DRAM test 1 failed Return the controller to the factory for repair Off On Off Flashing fast1 DRAM test 2 fail...

Страница 176: ...e might be stiff or line voltage might be too high Perform line conditioning Verify that line voltage is within specifications The position controller acceleration deceleration rate is incorrectly set...

Страница 177: ...The three phase input line is monitored and a fault will be issued whenever a phase loss is detected One or more input line fuses have opened Check fuses and replace as necessary Input line contactor...

Страница 178: ...tem module is incorrect Check the resolver cable connectors wiring to the system module and motor The motor resolver might be bad Replace the motor resolver I t Fault The output current is exceeding t...

Страница 179: ...stem is unstable Prop Gain Kp Intg Gain Ki Feed Fwd Gain parameters 368 372 376 Analog Servo only are set too high Run auto tune Position loop gain or position controller accel decel rate is improperl...

Страница 180: ...y is set incorrectly Check and properly set the parameter CW CCW VEL Lim parameters 128 132 Analog Servo only are set incorrectly Check and properly set the parameter The axis module has a malfunction...

Страница 181: ...ime The rotor is partially demagnetized causing excessive motor current Return the motor for repair Abnormal Noise Prop Gain Kp Intg Gain Ki Feed Fwd Gain parameters 368 372 376 Analog Servo only are...

Страница 182: ...ollowing A phillips screw driver A standard screw driver A voltmeter A nutdriver A wrench ATTENTION This drive contains ESD Electrostatic Discharge sensitive parts and assemblies You are required to f...

Страница 183: ...e 7 Loosen the top fastener on the axis module you plan to remove 8 Lift the axis module and pull it out 9 If you are removing the right most axis module remove the terminator ATTENTION To avoid shock...

Страница 184: ...tach the terminator to the last axis module slide and lock mechanism until it locks in place 8 Tighten all mounting fasteners 9 Reconnect TB1 TB2 motor and ground wires 10 Apply power to the system 11...

Страница 185: ...state control equipment and the safety procedures in publication NFPA 70E If you are removing a Do this Analog Servo system module with a HIM module mounted in the door 1 Upload the drive parameters f...

Страница 186: ...odule 10 Open the system module door 11 Label and remove any feedback and or communication connectors from the control board 12 Remove the input wiring board 13 Loosen the top and bottom fasteners tha...

Страница 187: ...nstall the HIM module you removed from your existing drive into the door of your replacement system module 3 Open the system module door 4 Plug the SCANport cable from the drive in the top of the HIM...

Страница 188: ...module to the axis modules 2 Reconnect feedback and communication connectors to the system module Refer to Appendix B for connection information 3 Connect the ground wire and if used the external shun...

Страница 189: ...ystem ATTENTION To avoid hazard of electrical shock verify that all voltage on the capacitors has been discharged before attempting to service repair or remove this unit This product contains stored e...

Страница 190: ...a Blown Fuse Connect the red lead to Connect the black lead to If the meter reading is The 1394 DCLM fuse is Top bus DC power connector Left front socket Open high ohms Blown Replace the 1394 DCLM Sho...

Страница 191: ...r equivalent into the 1394 SR10A fuse holder 5 Apply power to your system ATTENTION This system may have multiple sources of power More than one disconnect switch may be required to de energize the sy...

Страница 192: ...NTION To avoid hazard of electrical shock verify that all voltage on the capacitors has been discharged before attempting to service repair or remove this unit This product contains stored energy devi...

Страница 193: ...V DC 50A fuse FWP50A14F or equivalent Does not have the UL mark Bussmann 600V DC 40 50A fuse 170N2013 FWP50A22F or equivalent 1394 SR36A 36AF 1394 Digital Servo Controller 3600W Shunt Module 1394 SR9A...

Страница 194: ...from the 1394 system If your 1394 SR9A SR9AF SR36A or SR36AF shunt module Replace the fuse with a Has the UL mark Bussmann 600V DC 50A fuse FWP50A14F or equivalent Does not have the UL mark Bussmann 6...

Страница 195: ...can locate the fan housing Figure 9 10 Fan Housing on Axis Module 4 Remove the screws that hold the fan housing to the axis module Figure 9 11 Fan Housing Screws 5 Gently slide the fan housing out a s...

Страница 196: ...ached to the fan housing Figure 9 13 Locating the Fan Gasket 8 Remove the fan gasket from the fan housing Make sure you slide the fan wires through the slit in the gasket 9 Remove the screws and nuts...

Страница 197: ...using 2 Peel the adhesive backing off of the new fan gasket 3 Attach the new fan gasket to the fan housing in the direction shown in the figure below Make sure you compress the slit in the gasket to m...

Страница 198: ...the Fan Housing 6 Align the fan housing to the axis module 7 Plug the fan into the axis module Figure 9 18 Fan Plug Attached to the Axis Module 8 Slide the fan housing back into place 9 Secure the fa...

Страница 199: ...ystem specifications Environmental specifications Power dissipation Communication specifications Dimensions Servo motor performance data System Specifications General 1394 specifications are provided...

Страница 200: ...7 36A 14 73A 33 8A Peak current output 15 0A 29 46A 200A Capacitance Series A and B 220 F 330 F 660 F Capacitance Series C 220 F 345 F 660 F Inductance 1000 H 750 H 500 H Internal shunt resistor 200W...

Страница 201: ...t Adjust 200 200 200 143 143 Modulation Frequency 5 kHz 10 5 kHz 10 5 kHz 10 5 kHz 10 5 kHz 10 Drift 0 03 rpm degree C 0 03 rpm degree C 0 03 rpm degree C 0 03 rpm degree C 0 03 rpm degree C Nominal I...

Страница 202: ...5 lbs The For the 1394 DIM is Firmware version 3 7 or higher with 1394x SJTxx C xx and T xx systems 3 9 or higher with 1394C SJTxx L xx systems Software GML Commander version 4 01 or higher Input vol...

Страница 203: ...the axis modules is greater than 880 F 2 x indicates coil voltage 3 A surge suppressor is required The Recommended type of fuse for Is Rating 1394 SJT05 systems Series A and B Bussmann FRS R 20A or e...

Страница 204: ...vice having a short circuit interrupt current rating of the service capacity provided or a maximum of 100 000A If an upstream circuit protection device is rated for the overload current and short circ...

Страница 205: ...nect Fully Rated Breaker Breakers Selected for Device Protection Fully Rated Short Circuit Interupt Capability Required Protection under 110 10 of NEC 1999 Allowed But No Longer Preferred Traditional...

Страница 206: ...combinations of axis modules with this system module may result in nuisance tripping on power up due to a higher inrush current A 1492 device is not recommended for this option Other combinations of...

Страница 207: ...n condensing The 1394 can operate at elevations to 1000 meters 3300 ft without derating however the continuous current rating must be derated by 3 for each additional 300 m 1000 ft up to 3000 m 10 000...

Страница 208: ...e axis modules is shown below of Rated Power Output Power Dissipation in watts 1394x SJT05 x 1394x SJT10 x 1394x SJT22 x 20 66 70 100 40 70 77 150 60 73 84 200 80 77 81 250 100 80 98 300 of Rated Powe...

Страница 209: ...T xx systems The For the 1394 DCLM is Power dissipation 4 225 W maximum The For the 1394 DIM is Power dissipation 30 W maximum The Is Rating of the internal shunt resistor 200W continuous 40 000W pea...

Страница 210: ...put On current 12 mA per input nominal 2 5 mA for position registration inputs Input impedance 2 kohms resistive per input 8 8 kohms resistive for 24 V position registration inputs Input response time...

Страница 211: ...pe One binary file B3 for up to 16 384 bits One integer file N7 for up to 1 024 16 bit values One floating point file F8 for up to 512 32 bit values One ASCII string file A for up to 2 048 characters...

Страница 212: ...per second Speed resolution 15positionunitdigitsor 15feedbackcount bits whichever is less Acceleration deceleration range 0 00001 feedback counts per servo update to 4 000 000 feedback counts per sec...

Страница 213: ...3 4 full Number of discrete I O bits 12 dedicated inputs 12 dedicated outputs 1 4 rack width with 4 inputs and 4 outputs 1 2 rack width with 36 inputs and 36 outputs 3 4 rack width with 68 inputs and...

Страница 214: ...ny other motion controllers as virtual master axes but only one can be active any time A total of 4 different axes can be active as virtual master axes at any time Extended length and extended node co...

Страница 215: ...allow for connecting theSLC interface cable 1746 C7 or C9 All Slots Accept M6 or 1 4 20 Mtg Screws Depth 280 11 02 50 0 1 97 50 0 1 97 25 0 0 98 91 0 3 58 150 0 5 91 Mounting Hole Detail Dimensions a...

Страница 216: ...or 1 4 20 mtg screws Mounting Hole Detail 12 0 0 47 385 0 15 16 8 0 0 31 8 0 0 31 10 1 0 40 15 9 0 63 8 0 0 32 Fastener location1 1 Dimension shown is for mounting hardware location and does not refl...

Страница 217: ...20 Mtg Screws Depth 280 11 02 Mounting Hole Detail Dimensions are in millimeters and inches 8 0 0 31 8 0 0 31 10 1 0 40 15 9 0 63 12 0 0 47 Dimension shown is for mounting hardware location and does n...

Страница 218: ...imensions are in millimeters and inches Important Additional clearance below the axis is necessary to provide the recommended cable bend radius Refer to 1326 Cables for 460V AC Servo Motors publicatio...

Страница 219: ...imensions Dimensions are in millimeters and inches 330 12 99 20 0 78 155 6 10 360 14 17 15 0 59 195 7 67 50 1 96 25 0 98 15 0 59 330 12 99 L3 L2 L1 E Load L3 L2 L1 E Line Dimensions are in millimeters...

Страница 220: ...resistors and module enclosures can reach temperatures up to 350 C 662 F Install per local codes 380 14 96 342 13 46 165 1 6 5 Wire length 203 8 0 17 0 67 Wire length 1524 60 0 Wire length 1524 60 0 W...

Страница 221: ...ting Hole Detail Dimensions are in millimeters and inches 8 0 0 31 10 1 0 40 15 9 0 63 12 0 0 47 Dimension shown is for mounting hardware location and does not reflect the location of the lower slot r...

Страница 222: ...0 11 02 Mounting Hole Detail Dimensions are in millimeters and inches 8 0 0 31 10 1 0 40 15 9 0 63 12 0 0 47 Dimension shown is for mounting hardware location and does not reflect the location of the...

Страница 223: ...Shaft and PilotTolerances High Resolution Motor End 1 6 1 24 Flange Mount in millimeters and inches Feedback Catalog number Description1 2 AD AG C Key End milled keyway full depth Resolver 1326AB B41...

Страница 224: ...e Runout 0 10 0 004 T I R 1 14 5 57 Flange Mount in millimeters and inches Feedback Catalog number Description1 2 AL AD AG C Key End milled keyway full depth Resolver 1326AB B515x 21 without brake N A...

Страница 225: ...e Mount in millimeters and inches Feedback Catalog number Description1 2 AL AD AG C Key End milled keyway full depth Resolver 1326AB B720x 21 without brake 164 3 6 468 1 2 324 6 12 78 366 0 14 41 426...

Страница 226: ...10 90 0 433 0 429 50 1 97 43 1 69 23 0 91 7 mm Dia Thru Hole 4 required on a 100 mm Dia B C 1 53 0 060 41 1 61 1 30 0 5 3 0 2 27 0 3 Motor Front End Cap Corner Radius 9 1 36 _ 254 010 Name Plate Detai...

Страница 227: ...0 610 0 606 56 2 20 52 2 05 23 0 91 19 009 18 996 0 7480 0 7475 1 3 0 2 37 0 3 41 1 61 Motor Front End Cap Corner Radius 22 2 875 _ 397 015 Name Plate Detail Flange Mount in millimeters and inches Cat...

Страница 228: ...or Front End Cap Corner Radius 31 8 1 25 _ 397 015 Name Plate Detail Flange Mount in millimeters and inches Catalog number Description1 AL AD1 AD2 AG C Key End milled keyway full depth 1326AS B630x 21...

Страница 229: ...ordering a 1326AS B8xxxx 21 K8 with an optional 24V DC 50 9 N m 450lb in brake add 103 mm 4 05 in to AD AG and C Add 51 mm 2 0 in to AL Dimensions are per NEMA Standards MG 7 2 4 1 3 and IEC 72 1 Shaf...

Страница 230: ...1 15 0 AM07 31 2 276 18 3 AM50 AM50 IH AM75 AM75 IH 1326AB B515G 5000 4000 10 4 92 2 9 0 004 0 03 7 9 70 2 15 8 140 3 7 5 15 AM07 10 4 92 31 2 276 9 5 28 5 AM50 AM50 IH AM75 AM75 IH 1326AB B520E 3000...

Страница 231: ...58 2 13 1 116 3 4 52 9 03 AM04 9 0 80 21 9 194 6 2 15 0 AM07 27 1 240 18 6 AM50 AM50 IH 1326AS B630F 4500 3720 10 7 95 0 2 4 0 0014 0 012 10 3 91 2 20 6 182 3 7 52 15 03 AM07 10 7 95 25 4 225 7 8 18 5...

Страница 232: ...Publication 1394 5 0 May 2000 A 34 Specifications...

Страница 233: ...ves This appendix covers the following GMC CNC interface and analog servo interconnect diagrams GMC and analog servo thermal interconnect diagrams Cable pin outs Grounding for 1394 CE requirements Ref...

Страница 234: ...B2 1 2 16 System enable can be 1 always tied to 24VDC use GML software to enable each axis 2 inserted in the ESTOP string to pull in out with the M1 contactor or 3 used in a secondary stop string for...

Страница 235: ...puts Use either Allen Bradley Resolver cable 1326 CCU xxx or 1394 DIM plug 1 6 7 12 ENCODER CONNECTOR DRIVE END BOTTOM VIEW Left Side Right Side AXIS 0 AXIS 1 AXIS 2 AXIS 3 AXIS 0 AXIS 1 AXIS 2 AXIS 3...

Страница 236: ...5 16 17 18 19 20 21 22 23 24 25 26 27 SLIDER INTERCONNECT EXTERNAL SHUNT USER SUPPLIED 24V AC RMS OR 24V DC NON POLARIZED THREE PHASE INPUT 360 480V AC RMS M1 W U PE W1 W2 NOTE 1 2 INPUT FUSING COL DC...

Страница 237: ...m2 12 AWG 3 3mm2 12 AWG DS1 SOLID GREEN BUS UP AXIS ENABLED FLASHING GREEN BUS UP AXIS NOT ENABLED FLASHING RED GREEN READY BUS NOT UP FLASHING RED FAULT SOLID RED HARDWARE FAILURE MOTOR POWER MOTOR R...

Страница 238: ...REG1 24V REG COM SHIELD DRIVE OK1 DRIVE OK2 CHASSIS CHASSIS TB2 1 2 3 16 17 18 19 24 25 26 27 TB1 1 2 3 4 5 6 7 8 9 16 17 18 19 24 25 26 27 SLIDER INTERCONNECT RIO BOARD BLUE SHIELD CLEAR A 1 2 NOTES...

Страница 239: ...ions 3 3mm2 12 AWG DS1 SOLID GREEN BUS UP AXIS ENABLED FLASHING GREEN BUS UP AXIS NOT ENABLED FLASHING RED GREEN READY BUS NOT UP FLASHING RED FAULT SOLID RED HARDWARE FAILURE MOTOR POWER MOTOR RESOLV...

Страница 240: ...en Bradley Resolver cable 1326 CCU xxx or 1394 DIM plug Left Side Right Side AXIS 0 AXIS 1 AXIS 0 CHANNEL A HIGH CHANNEL A LOW CHANNEL B HIGH CHANNEL B LOW CHANNEL Z HIGH CHANNEL Z LOW 5V OUT COMMON O...

Страница 241: ...5 10 FB2 1 6 2 3 8 7 9 4 5 10 FB1 1 6 2 3 8 7 9 4 5 10 FB0 1 6 2 3 8 7 9 4 5 10 Resolver Feedback Input Resolver Feedback Input Resolver Feedback Input Resolver Feedback Input AQB0 1 7 2 8 3 9 4 10 5...

Страница 242: ...NABLE COM CONTACTOR EN CONTACTOR EN DROK DROK NC FAULT RESET ANALOG OUT 1 ANALOG OUT 2 ANALOG COM COM CHASSIS TO GROUND BAR IF NOT GROUNDED ELSEWHERE SLIDER INTERCONNECT Refer to the Wiring System Axi...

Страница 243: ...m2 12 AWG 3 3mm2 12 AWG DS1 SOLID GREEN BUS UP AXIS ENABLED FLASHING GREEN BUS UP AXIS NOT ENABLED FLASHING RED GREEN READY BUS NOT UP FLASHING RED FAULT SOLID RED HARDWARE FAILURE MOTOR POWER MOTOR R...

Страница 244: ...STRING DS1 SOLID RED FLASHING RED FIBER OPTIC RING FAILED BEFORE 1394 SYSTEM MODULE FIBER OPTIC RING FAILED AFTER 1394 SYSTEM MODULE DC MINUS BUS NOTE 12 NOTE 4 WIRE 1 BLACK AXIS X R1 WIRE 1 WHITE AX...

Страница 245: ...AND BRAKE TB TERMINATOR CONNECTOR REQUIRED ON LAST AXIS 1 2 3 4 1 2 3 4 1 4 PE1 GROUND BAR TO OTHER AXES PE GND OPTIONAL THREE PHASE INPUT NEUTRAL IMPORTANT GROUND BAR MUST BE AS CLOSE TO DRIVE AS POS...

Страница 246: ...ntrol devices may require isolation the from the motor s conducted noise When using 1394 Series A and B axis modules an isolated 24V DC power supply and relay is recommended 1394 Series C and above ax...

Страница 247: ...C Motor thermal switch filter Series C TB2 TB2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 TB1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 21 22 23 24 25 26 27 1394...

Страница 248: ...s Axis 0 Axis 1 Axis 2 Axis 3 24V DC Power Supply 24V DC 24V DC com Motor Thermal Switch TB2 1 2 3 4 5 6 7 8 9 10 11 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 24V DC com THERM FLT 2 THERM FLT 0 1394 GMC...

Страница 249: ...T 1394x SJTxx T RL TB2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 TB1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 21 22 23 24 25 26 27 24V DC Power Supply 24V DC 24...

Страница 250: ...6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 TB1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 21 22 23 24 25 26 27 24V DC I O Power Supply 24V DC 24V DC com CR3 CR2 CR4 CR5 THER...

Страница 251: ...9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 21 22 23 24 25 26 27 Shaded areas on TB1 and TB2 designate signals not used on the 1394C SJTxx L and 1394C SJTxx L RL system modules TB1 Motor b...

Страница 252: ...C Power Supply 24V DC 24V DC com CR2 Note 120V AC 50 or 60 Hz power may be used in place of a 24V DC power supply for the motor thermal switch circuit Drive OK Relay 24V AC DC or 120V AC 50 60 HZ STOP...

Страница 253: ...B2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 TB1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Contactor Enable Relay 24V AC DC or 120V AC 50 60 HZ STOP START CR1 CR1 CR1 M1 TB1 Motor br...

Страница 254: ...1394x SJTxx A TB2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 TB1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 24V DC Power Supply 24V DC 24V DC com CR2 Note 120V AC 50 or 60 Hz power ma...

Страница 255: ...ain 0 519 20 no connection 2 Black Axis_0_S1 0 519 20 D 3 Red Axis_0_S3 0 519 20 E 8 Shield Drain 0 519 20 no connection 7 Black Axis_0_S4 0 519 20 H 9 Green Axis_0_S2 0 519 20 G 4 Shield Drain 0 519...

Страница 256: ...I Shield 0 519 20 7 G Black Comm_HI 0 519 20 6 H Green Comm_LO 0 519 20 5 I Shield 0 519 20 4 J Overall Shield N A 1 Wire Number Wire Color Gauge mm2 AWG Connector Pin 1394 Terminal 1 Power Black 1 3...

Страница 257: ...3 16 6 TB1 4 Braided shield Braided shield N A 7 PE3 GND Green Yellow 3 3 12 8 PE2 9 Thermostat Black 1 3 16 9 TB1 1 Wire Number Wire Color Gauge mm2 AWG Connector Pin 1394 Terminal 1 Power White 1 3...

Страница 258: ...IN DRAIN DRAIN DRAIN DRAIN DRAIN WHT ORG 22GA YELLOW 22GA WHT YEL 22GA GREEN 22GA WHT GRN 22GA BLUE 22GA WHT BLU 22GA VIOLET 22GA WHT VIO 22GA GRAY 22GA WHT GRAY 22GA RED 22GA BLACK 22GA VIOLET 22GA W...

Страница 259: ...GH CHANNEL Z LOW VREF TREF VREF TREF 1 2 7 8 DROK 0 24V EN COM 24V AX_ ENABLE TO SYSTEM FAULT STRING RED 22GA BLACK 22GA DRAIN ORANGE 22GA WHT ORG 22GA YELLOW 22GA WHT YEL 22GA GREEN 22GA WHT GRN 22GA...

Страница 260: ...ield NC Strobe A High A Low B High B Low Z High Z Low 5V Out Common Out 1394 Encoder Feedback Connector Flying Leads to Incremental Encoder or Customer Supplied Termination NC Shield Red Black 5V Inpu...

Страница 261: ...NCODER 12 6 11 5 10 4 Shield Red Black 5V Input Common In Encoder Power ENC PWR Cable is Belden 9503 Cable is Belden 9501 Black Green Black Red Black White Z Low Z High B Low B High A Low A High Shiel...

Страница 262: ...red conductors It is recommended to mount the filter to the right of the axis modules to simplify routing of filtered clean and unfiltered noisy wiring The load end of the filter is considered noisy a...

Страница 263: ...at you use HIM firmware revision 3 0x and later or the Series B HIM which will give you the setup and copy cat Series B HIM only features Note To determine the series of your module refer to Figure P...

Страница 264: ...log servo board Port 1 is located at the top of the analog servo board and port 2 is located at the bottom of the analog servo board Understanding HIM Keys The following diagram shows the HIM front pa...

Страница 265: ...r a parameter has been entered into memory the top line of the display will automatically become active allowing you to choose another parameter or group Start If hardware is enabled and no other cont...

Страница 266: ...nal to the axis that is in JOG mode 2 Press STOP on the HIM to have control of the velocity reference command 3 Press JOG for the axis to jog at the value set in the Jog Vel parameter 348 349 350 351...

Страница 267: ...ode Linking creates a connection between two parameters so that information can be passed to or from another device Refer to Linking Parameters for more information Startup Mode Startup mode initiates...

Страница 268: ...an be used to override the current password Finally the Password Logout menu is used to logout of the programming mode Linking Parameters Linking creates a connection between two parameters so that in...

Страница 269: ...ESC The following appears 11 Press ESC The following appears 12 Press either the up or down arrow key until the following appears 13 Press ENTER The system records your choice and the following messa...

Страница 270: ...ollowing message appears Note You can store up to two sets of system drive information in the HIM at one time The 1 in the example above means that this is copy number 1 6 7 Press SEL A message simila...

Страница 271: ...atus of the copy When the copy is complete a message similar to the following appears 14 Press ESC A message similar to the following appears Pasting a System s Information To place one system s infor...

Страница 272: ...rs Note The numbers of the parameters scroll as they are copied and more solid boxes appear on the bottom to show the status of the copy 10 When the copy is complete a message similar to the following...

Страница 273: ...LowPas BW Cur Rate Lim 6 When the auto tune is complete cycle Enable to Off 7 Cycle Enable to On All new parameters take effect and the axis runs If the resultant dynamic loop tuning is not what you...

Страница 274: ...Data Linear List Vel Command Vel Feedback Vel Source Vel Ref Whole Int Vel Ref CW Vel Lim CCW Vel Lim Vel Rate Lim CW OvSpd Vel CCW OvSpd Vel Stop Mode Stopping Cur Stop Time Lim Jog Vel Up To Spd To...

Страница 275: ...Prop Gain Kp Intg Gain Ki Feed Fwd Gain Droop Vel LowPas BW Ld Lg Degrees Ld Lg Freq Torq Data Cur Lim Cause Iq Cur Ref Id Cur Ref Torq Source Dig Torq Ref Int Torq Ref Pos Cur Lim Neg Cur Lim Cur Rat...

Страница 276: ...ing the HIM from the System Module Important Disconnecting a HIM or other SCANport device from the 1394 while power is applied can cause a Serial Fault Before you disconnect the HIM you need to disabl...

Страница 277: ...rs 15 Remove power 16 Remove cable from the HIM Setting Up the HIM for Hand Held Use To prepare the HIM for hand held use 1 2 Connect the appropriate cable between the HIM and the communications port...

Страница 278: ...Cradle To put the HIM in the HIM cradle 1 If it s not already connected connect the SCANport cable to the HIM 2 With the keypad facing you slide the top of the HIM up into the HIM cradle and push the...

Страница 279: ...e of how to determine a catalog number for a 1394 system module The beginning portion of the catalog number for all 1394 system modules is 1394x SJT S for system module J for 360 480V AC 50 60 Hz and...

Страница 280: ...with the C L or T options J 360 480V AC 50 60 Hz A With 10V DC analog input HIM not included C With IMC S Class integrated motion controller supports four axes and four auxiliary encoder inputs D With...

Страница 281: ...Encoder Feedback Blank no option Auxiliary Feedback Bulletin Number kW Rating 8520 CHR 5 5 kW 10 10 kW 22 22 kW High Performance 1326 Motor Internal Feedback Auxiliary Feedback A1 Axis 1 Blank no opt...

Страница 282: ...nhancements 1 Enhanced axis modules have improved terminations and EMI filtering 1 IH AM50 and AM75 with inside cabinet heatsink Series C only Blank 03 04 07 and AM50 and AM75 with through cabinet hea...

Страница 283: ...ngth 1394 C Cable 01 M02AE flying lead to 1394 SJTxx A flying lead 1 axis 1 m 3 28 ft 03 M02AE flying lead to 1394 SJTxx A flying lead 1 axis 3 m 9 84 ft 08 M02AE flying lead to 1394 SJTxx A flying le...

Страница 284: ...in Holding brake with 24V DC coil for 1326AB B4 frame series K5 13 6 N m 120 lb in Holding brake with 24V DC coil for 1326AB B5 frame series K7 41 N m 140 lb in Holding brake with 24V DC coil for 1326...

Страница 285: ...eedback mounting adapter mounting hardware and a coupling The kit does not contain a feedback device Note Do not use this kit with the high resolution encoder feedback option Bulletin Number Type Desc...

Страница 286: ...c flange with keyway K3 2 26 N m 20 lb in Holding brake with 24V DC coil for 1326AS B3 frame series K4 10 2 N m 90 lb in Holding brake with 24V DC coil for 1326AS B4 frame series K6 36 7 N m 325 lb in...

Страница 287: ...ng Adapter Kit for 1326AS Motors Note All kits contain a feedback mounting adapter mounting hardware and a coupling The kit does not contain a feedback device Bulletin Number 1326AS Type RJ34 Right an...

Страница 288: ...e 85 9 mm 3 38 in maximum flange 4 115 mm 4 52 in bolt circle 109 2 mm 4 29 in maximum flange 5 165 mm 6 49 in bolt circle 152 4 mm 5 99 in maximum flange Voltage Number of Magnet Stacks E 3 000 rpm 2...

Страница 289: ...26AB B4xxxx B5xxxx or 1326AS B3xxxx B4xxxx C1 1326AB B7xxxx or 1326AS B6xxxx B8xxxx T Flex rated cable for high flex applications Blank No option standard cable Blank Single standard connector D Doubl...

Страница 290: ...cable for high flex applications Blank No option standard cable Blank Single standard connector D Double ended standard connector E Bulkhead connector EE Double ended bulkhead connector RA Right angle...

Страница 291: ...758 1 Crimp tool for resolver N A AMP 90759 1 Extraction tool N A AMP 455822 2 Mating half for the AQuadB 12 position auxiliary encoder connector plug shells N A AMP 770581 1 Connector pins for AQuadB...

Страница 292: ...Publication 1394 5 0 May 2000 D 14 Catalog Numbers...

Страница 293: ...rview 1394 system components 1 9 9 440 1 8 9 Series 1 5 analog servo 1 7 CNC interface 1 5 GMC 1 3 GMC Turbo 1 3 SERCOS 1 6 1394 System Safety Precautions 1 2 1394 DCLM checking for a blown fuse 9 23...

Страница 294: ...unting adapter kit 1326AB motors D 7 1326AS motors D 9 miscellaneous accessories D 13 motor junction box kit 1326AB motors D 7 1326AS motors D 9 motors 1326AB D 6 1326AH D 10 1326AS D 8 shaft oil seal...

Страница 295: ...h AxisLink 4 15 external shunt dimensions A 22 external shunt modules catalog numbers D 4 mounting 2 15 mounting inside the cabinet 2 14 mounting outside the cabinet 2 13 orientation 2 12 external shu...

Страница 296: ...anels 3 13 PE ground for safety 3 12 system to subpanel 3 12 to meet CE requirements B 30 H HIM 7 2 continuing from where you left off analog servo 7 2 control status mode C 6 copy cat feature C 7 dis...

Страница 297: ...les catalog numbers D 11 motors 1326AB 1 12 1326AH 1 13 1326AS 1 12 catalog numbers 1326AB motors D 6 1326AH motors D 10 1326AS motors D 8 defining custom for analog servo 7 6 for analog servo 7 5 mou...

Страница 298: ...sistor catalog numbers D 4 dimensions A 22 external D 4 power dissipation A 11 replacing 1394 SR10A fuse 9 25 specifications A 8 SLC interface GMC Turbo 4 17 software diagram 1394 analog servo part 1...

Страница 299: ...uning C 10 for analog servo 7 11 U understanding basic wiring requirements 3 2 EMI RFI bonding 3 4 EMI RFI shielding 3 4 input power conditioning 3 5 routing cables 3 3 shielding 3 4 wire sizes 3 4 un...

Страница 300: ...I 8 Index Publication 1394 5 0 May 2000...

Страница 301: ...on 1394 5 0 November 1999 Copyright 2000 Allen Bradley Company Inc Printed in USA For more information refer to our web site www ab com motion For Rockwell Automation Technical Support information ref...

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