1394-5.12 Installing Your 1394 Drive Interface Module
Contents
1. Figure 12 1394 System Module Wired for Input Power Without Using Axis Modules 1394 System Module y y 1394 DIM __ 6 OG Oe Om SEE a N Transformer Fuse Contactor U 3 F1 mi o 480V AC V L2 t F2 M2 W F3 M3 L3 DROK The DROK is a drive fault input from each external drive to the 1394 DIM It consists of two wires connected to the external drive s DROK an unpowered dry contact The respective isolated 15V DC for this input is supplied by the 1394 DIM Figure 13 Drive OK Input i 15V DC 1394 DIM Axis DROK I Px5 0 i 1 t Axis DROK i ral Px 6 i k V 1 WwW t R Note x axis connector number Installing Your 1394 Drive Interface Module 9 Drive Enable Output The Axis Enable is a signal from the 1394 system module that is used to control a DPDT relay in the 1394 DIM This enable output is a normally open unpowered dry signal Figure 14 Drive Enable Output 1 1 i 1394 DIM Axis Enable 1 n Px4 i Normally 1 Open Relay 1 Axis Enable f P x 3 i Note x axis connector number Analog Output The analog output is an isolated signal provided by the 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 a 12 bit Digital Analog C2. Q imi ai E w Slide and lock 4 mechanism M ninin we 1394 DIM Configurations Installing Your 1394 Drive Interface Module 5 5 Attach the terminator to the 1394 DIM and slide it to the left until it locks into place as shown in the figure below Figure 7 Attaching the Terminator O OF OF OF at Q mim mere Ese I Attaching the th 4 Terminator Go 6 Install the lower fastener 7 Tighten the upper and lower fasteners The identity and number of the axes you can connect to a 1394 DIM depends upon the number of 1394 axis modules connected to your 1394 system in addition to the 1394 DIM The figure below shows the input connections located on the bottom of a typical 1394 system and a 1394 DIM
3. 1 WIRE 3 BLACK AXIS X94 rete Pr A ory 4 5 WIRE 3 GREEN AXIS X 52 5 WIRE 3 SHIELD Aus Encoder a CABLE SHIELD Feedback Input oe Resolver A CHANNEL A HIGH Feedback Input H CHANNEL A LOW B CHANNEL B HIGH ial a CHANNEL B LOW Pug ito uxiliary C CHANNEL Z HIGH ar lied with the DIM Encoder a CHANNEL Z LOW connector cee D 5V OUT F COMMON OU I SHIELD mpe j RESOLVER CONNECTOR Encoder Optiona COMMON INPUT DRIVE END Figure 20 Installing Your 1394 Drive Interface Module 15 Bottom Front of the GMC 1394x SJTxx C and L and GMC Turbo 1394x SJTxx T System Modules CHANNEL A H Encoder back Input N CHANNEL A LOW CHANNEL B H CHANNEL B LOW Auxiliary CHANNEL ZH Encoder CHANNEL Z LOW AXIS 3 5V OUT COMMON OU SHIELD Encoder Optiona 5V INPUT COMMON IN AXIS 3 J5 wiring is typical for J6 J7 and J10 Resolver inputs Use i either Allen Bradley Resolver A cable 1326 CCU xxx or 1394 DIM plug L Reso
4. Figure 8 A 1394 DIM Connected to a GMC or GMC Turbo Front of the units jam ee ee Doo I gt il JT S6BSGE j 1394 DIM ground connector ia 7 E Bottomofthe m gt H B l 1394 DIM E gt H TE Pra ak D H Hi 2 i qi ee Bottom of the Hy ao Se 1394GMC or 1394 gt E Fa OE Srp GMC Turbo System gt oe lt i o Th a BS a I IE i iR I gt i red Ty a CSS SS i E ae IEE l o FI T t Rear of the units t A 1394x SJTxx C C RL T and T RL 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 axes the 1394 DIM can control by one Publication 1394 5 12 December 1999 6 Installing Your 1394 Drive Interface Mod ule For example if your 1394 system includes three 1394 axis modules the 1394 DIM can control only one external drive and axis Refer to the table below for configuration combinations Maximum number of numser a 1394 axes DIM controlled axes O N w gt gt A w N ejl oO Important You can add only one 1394 DIM to a 1394 system Important The system requires 360 480V AC three
5. go to step 10 10 Connect each external drive to the 1394 DIM Important Connect all DIM axes in succession from the front of the unit to the back of the unit starting with DIM Axis A regardless of the number of servo axis modules in the 1394 system Installing Your 1394 Drive Interface Module 13 Connecting the Position Feedback Encoder to the Feedback Input The figure below shows the pinouts and interconnect information for the auxiliary encoder input to the 1394 GMC Figure 19 1394 GE15 Cable Connections Flying Leads to Incremental Encoder or 1394 Encoder Customer Supplied Termination Feedback Connector Nee ee NC Black gt NC I XX Yellow Strobe 1a White gt AHigh 2 a XX Black gt ALow 3 Green gt B High 4a XX Black gt BLow 5 Blue gt ZHigh 6 XX Black gt ZLow 8 a Red gt 45V Out 9 XX Black gt Common Out 12 Shield taaa Cable is Belden 9505 Shield Encoder Power f ENC PWR Red 10 5V Input ll XX Black Common In Cable is Belden 9501 1 Customer supplied 5V DC power source is required for encoder board whether encoder supply voltage is 5V or not To connect the encoder feedback cable to the 1394 system module 1 Plug the 1394 GE15 cable for each DIM Axis into the correct auxiliary encoder input on the 1394 system module as shown in the table below Refer to Figures 9 10 and 11 for encoder input loca
6. Figures 9 10 and 11 for input locations and Figure 20 for the 1394 system module interconnect information Install the Resolver Feedback Input plug for When this axis is used DIM axis A into DIM axis B into DIM axis C into DIM axis D into no axis installed J5 J6 J7 J10 axis 0 installed J6 J7 10 N A axis 0 1 installed J7 J10 N A N A axis 0 1 2 installed J10 N A N A N A Important Unused DIM axis modules do not require a feedback plug to be installed ATTENTION To avoid personal injury because of unexpected motion or acceleration of the drive the resolver plug must be inserted in the correct location If you do not insert a 1394 DIM feedback plug into a 10 pin resolver feedback input for each DIM axis a Resolver Loss Fault occurs for that axis if Transducer Loss Detection is selected in the Feedback page of the Configure Axis Use dialog box in GML Commander Important 1394 DIM axes do not use the system module s thermal fault inputs You can use these inputs for any other purpose your hardware configuration allows Left Side Right Side RS 232 RS 422 AxisLink RS 232 RS 422 NC TXD TXD TXD fi pman gt RXD RXD DIR TxD Rese See d 5 COM COM The RIO AxisLink option RL must be ordered with 1 DSR TXD lt System module It is installed at the factory You cannot RTS RXD order these individually CTS RXD 1 NC NC lt AxisL
7. Introduction Specifications Installation Instructions Installing Your 1394 Drive Interface Module Catalog Number 1394 DIM This publication provides installation instructions for adding the 1394 Drive Interface Module to your 1394 system Use these instructions in conjunction with the 1394 Digital AC Multi Axis Motion Control System User Manual publication 1394 5 0 Note For instructions on using GML Commander to configure your 1394 DIM refer to the GML Commander Reference Manual publication GMLC 5 2 The 1394 DIM acts as an interface between one 1394 GMC GMC Turbo system module and an external axis drive s On the 1394x SJTxx C C RL T and T RL the 1394 DIM acts in place of one to four axis modules On the 1394C SJTxx L and L RL the 1394 DIM acts in place of one axis module The 1394 DIM passes a standard servo output signal from the system module to each external drive connected to the 1394 DIM Using a 1394 DIM as part of a 1394 system lets you control external drives and motors of any size The table below lists the 1394 DIM specifications The For the 1394 DIM is Firmware version 3 7 or higher with 1394x S Txx C xx and T xx systems 3 9 or higher with 1394C S Txx L xx systems Software GML Commander version 4 01 or higher Input voltage 24V 50 kHz provided by the 1394x S T xx system module Analog output information P x 1 2 Voltage 0 to 10V analog Signa
8. a 2 0 0 47 d All slots accept M6 or 1 4 20 mtg screws i 5 1 Dimension shown is for mounting hardware e e e 1 i location and does not reflect the location E an a S N pjt of the lower slot radius lt gt 50 0 1 97 1394 DIM System Examples In the figure below the 1394 DIM is connected to a 1394 GMC Turbo 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 there are two axis modules connected to the 1394 GMC Turbo The encoders attached to the motors have encoder feedback cables connected to the system module Figure 2 1394 DIM Connected to a GMC or GMC Turbo 1394 DIM ify 1394 Axis Modules l y i gt Ue Le 1394 DIM ground connector 1394 GMC or GMC S55 10V reference Turbo System Module C E lt ___ _ lt Drive Enable Sea el Drive OK see Figure 16 GML P CIO RS 232 422 oed pre cone v C e ow pe Oeste of m 9 i o amp m oL i r f z See Figure 19 for Auxiliary Encoder 1326AB a Servo Amplifier aa Motor input pin outs and Figure 20 to view ls Encoder BP the Auxiliary Encoder Connectors on 1 D a bottom view of the 1394 GMC GMC Servo Amplifier Motor Turbo system module 1326AB 5 UO Tee enn ag ee oy apne eras encanta a 1 J 1 Encoder 1 1 CI 1394 GE15 Fs Encoder Feedback Cable x 1326 CEU v x j if A B 845H gt Encoder F
9. coder Input E4 SS ESS i30 a Pile gE o or HHH lle F k mm Ga fu a 5 7 fi E PT TA 1394 GMC or GMC Turbo System Figure 11 f S a i LYS cI Soy A a Hi ti y l ESI LES g Axis 0 3 aS xi zJ FE SE i Auxillary Encoder Input Ks z Toe DIM Plug Axis 1 J4 ea Og Auxillary Encoder Input EEE F 7 m B Dot DM Plug fo c Axis 2 5 AE a i Axis 2 7 Auxillary Encoder Input a a gt 1394 DIM Plug A am i ay Car i Axis 3 J 10 Ee a C 1 Axis 3 10 Auxillary Encaderinput E Ea Ey Yc T1394 DIM Plug im i oF rte 1394 GMC Turbo System gt TEJ Lim axis c l L 1 Axis 2 on 1394 gt HIRTZ i DIM Axis D i i Axis 3 on 1394 F 1394 DIM Publication 1394 5 12 December 1999 8 Installing Your 1394 Drive Interface Module Wiring the 1394 System Module Input Power When Not Using Axis Modules Understanding DIM Signals Publication 1394 5 12 December 1999 The figure below shows how to wire the 1394 system module for input power when no axis modules are used The transformer is rated for 480V AC secondary and 500 VA The fuse is a Bussmann 600V AC 10A FRS R 10A The contactor is an Allen Bradley Bulletin 100 C12x10 contactor
10. configurations as shown in the figure below Figure 16 DIM Connector Wiring Examples Analog Out Px 1 Analog Out Px2 O o Drive Enable P x 3 L iP Drive Enable P x4 Publication 1394 5 12 December 1999 DROK Px5 C4 DROK Px6 C4 Lah w Shield Px7 x Analog Out P x 1 l Analog Out P x 2 Drive Enable P x 3 Drive Enable P x 4 DROK Px 5 DROK Px6 Shield P x 7 N DIM cable connector Installing Your 1394 Drive Interface Module 11 To wire the cable flying leads to the DIM cable connector 1 Turn off the power to the system i e 1394 system external drives and other control hardware 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 one disconnect switch may be required to de energize the system 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 energy devices You should attempt the procedures in this document only if you are qualified to do so and are familiar with solid state control equipment and the safety
11. eedback Cable Publication 1394 5 12 December 1999 Installing Your 1394 Drive Interface Module 3 In the figure below the 1394 DIM is connected to a 1394 GMC Turbo with two 1394 axis modules and a 1398 DDM xxx servo controller A 1326AB Bxxxx motor is directly connected to each of the 1394 axis modules One servo amplifier with motor is connected to the 1394 DIM Figure 3 1394 DIM Connected to a 1398 DDM xxx 1394 Axis Modules y y y 1394 DIM Go OF OF 0t Q mre 1394 GMC or GMC Turbo System Module Axis 2 ome one 7 1398 DDM xxx IT T 5b lo i 8 oa 7B1 ER fe a 1 Breakout Board tH e Refer to Figure 4 A rm Motor re y 4 a Power Me a Encoder I pane 9101 1391 H F Y orN Encoder Series Motor JH 1326 CE Uo If A B 845H Encoder 1326AB 1394 GE15 Pree J 2 Breakout ee O a 1326 CEU xxx Board If A B 845H Figure 4 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 f
12. ink and RIO board connections use Allen Bradley 1770 CD Belden 9463 or equivalent i RS 232 RS 422 ia gia ic eis a aint oink ae DH 485 4 1 2 io gt 3 i 4 i 5 Sees aes SI Sosa senso s a aS SSS Sees cia Aux Encoder 6 Use 4100 CCF1 or CCF3 Flex I O cables Cable length Feedback Input T7 must not exceed 0 91 mm 36 inches i 8 1 9 You must supply source power for Flex I O for example az 1794 IB16 24V DC and 1794 IA8 115V AC 1 Lie ae ae PEE A DE GA GA DA G E a eee oe eee eee eS 1 Resolver Feedback Input AXIS 0 5 WIRE 1 BLACK AXIS X R1 7 WIRE 1 WHITE AXIS X R2 XX i 7 WIRE 1 SHIELD Soe eee codes tact ese eu i 3 WIRE 2 BLACK AXIS X S1 D 1394 GE15 Cable Optional Axis o E il PED AXI x53 X i Te Encoder or 1394 GR04 Cable ENCODER CONNECTOR 7 WIRE 3 BLACK AXIS KSI for Resolver with 4100 REC 9 or 4100 AEC modules i DRIVE END Aux Encoder 4 WIRE GREEN AXIS X52 XX i Ee 1 BOTTOM VIEW Feedback Input 5 WIRE 3 SHIELD J5 wiring is typical for J3 J4 17 P i CABLE SHIELD and J10 Auxiliary Encoder 1 Inputs Resolver Auxiliary Encoder inputs LILI Feedback Input for axis 2 and 3 J5 and J10 ini J6 are not present on the i T WIRE 1 BLACK AXIS X R1 1394C SJTxx L and L RL H AXIS 1 6 WIRE a ui AXIS X R2 User supplied 5V DC power 2 source is required for encoder 3 WRE i s BLACK AXB XS1 board regardless if encoder 6 D AXIS 1 8 WIRE SHIELD supply voltage is 5V or not
13. l isolation 1500V rms Resolution 12 bits 4 88 mV Impedance 220 ohms Offset 80 mV maximum compensated to 0 through software setup Drive OK 15V DC 5 mA supplied by the DIM Drive enable output 30VDC 1A Operating temperature 0 to 50 C 32 to 122 F Relative humidity 5 95 Weight 3 kg 6 6 lb Certification The certified 1394 DIM product displays the following e UL Listed File E59272 e CUL Listed CE marked for all applicable directives Publication 1394 5 12 December 1999 2 Installing Your 1394 Drive Interface Module Dimensions The 1394 DIM dimensions are shown below Figure 1 1394 DIM Dimensions 25 0 P 280 i oad F p 80032 11 02 C ACT r eo Dimensions are in millimeters and inches Mounting Hole Detail 400 0 ar asai 80039 10 1 0 40 350 350 0 385 0 fastener location wal A 13 78 13 78 15 16 15 9 0 63 e ii 8 003 NS
14. lver Feedback inputs for i axis 1 2 and 3 J6 J7 and i J10 are not present on the f 1394C SJTxx L and L RL 1 1326AxAC SERVO MOTOR MOTOR RESOLVER MOTOR RESOLVER nput stlh Plug into connector 1326Ax AC SERVO MOTOR One 1394 DIM plug is required for each DIM axis Four plugs BOTTOM VIEW 6 LiL E TAn a an a R ke oe Publication 1394 5 12 December 1999 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 1394 5 12 December 1999 195032 01 Supersedes Publication 1394 5 0 DU3 August 1998 1999 Rockwell International Corporation All Rights Reserved Printed in USA
15. onverter DAC An output offset of 80 mV can be compensated to OV through software configuration Figure 15 Analog Output L L 1 1394 DIM Axis OUT t q __ Px1 0 1 i i Axis OUT l t P x 2 b 1 t Note x axis connector number For additional DIM signal descriptions refer to the Specifications section in the manual Publication 1394 5 12 December 1999 10 Installing Your 1394 Drive Interface Module Wiring and Configuring an External Drive to the 1394 DIM Belden 8163 or equivalent This section includes the following steps for wiring and configuring an external drive to the 1394 DIM e Connecting the remote drive to the DIM connector that provides the 10V output the drive enable output and the drive status input e Connecting the position feedback encoder to the auxiliary feedback input on the 1394 GMC GMC Turbo system module This provides position information for closing the position and velocity loop for the drive e Connecting the DIM ground wire to the 1394 system module e Installing the resolver feedback input plug for each DIM axis to prevent resolver loss faults ATTENTION To avoid personal injury as a result of unexpected motion or acceleration of the drive insert the resolver plug in the correct location Connecting the Remote Drive to the DIM Connector The customer supplied DIM cable leads require terminating at the DIM cable connector Follow one of the example
16. or more information Figure 4 1394 DIM to J1 Breakout Board Pinouts 1394 DIM Cable Connector 2 J 1 Breakout Board Belden 8163 J15 ae ai cable or equivalent J 1 6 Power Supply Analog Out P x 1 1 22 CMND Analog Out P x 2 l J1 23 CMND Drive Enable P x 3 J1 20 Enable Drive Enable P x4 J 1 26 1 0 PWR DROK Px5 J1 25 Ready DROK P x 6 y J J 1 24 Ready Shield P x7 e o 1 Required on ULTRA 100 only x axis controlled by DIM Publication 1394 5 12 December 1999 4 Installing Your 1394 Drive Interface Module Mounting Your 1394 DIM Publication 1394 5 12 December 1999 To mount your 1394 DIM hardware 1 Install the top mounting fastener on the system panel The head of the fastener must be at least 0 25 inches from the panel 2 Hang the 1394 DIM on the top mounting fastener Important The 1394 DIM must be the last or right most module in the 1394 system 3 Engage the alignment tabs as shown in the figure below Figure 5 Engaging the Alignment Tab Engaged alignment tab RRR R s a4 4 Slide the slide and lock mechanism on the 1394 DIM to the left until it locks into place as shown in the figure below Figure 6 Attaching the Slide and Lock Mechanism O Of OF OG ob Oe
17. phase input power to run even if the 1394 DIM is configured for four external drives Configuration Examples The following examples show a variety 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 1394 axes and two DIM output axes Figure 9 1394 DIM with Multiple Axis Modules Axis 0 Axis 1 A op es flo i TP Eon Aco ii i i i f al 77 5 a DIM Axis A i i H T s 2 on 1394 gt i 7 E 4 DIM Axis B MS a a MSZ Axis 3 on 1394 TE ul E x E Axis 0 5 TNS pl MMS A Fr Hor ec aeeai sc a Len er Axis 1 J 6 paT a m 1 Motor Resolver Feedback Input r mjt Axis 2 J5 L o C Axis 2 l 7 r Hp Auxillary Encoder Input EE i 1394 DIM Plug x i E Axis 3 J10 5 II Axis 3 10 SIE Auxillary Encoder Input Fey gt 2 T1394 DIM Plug eee eee 1394 GMC or GMC Turbo System Publication 1394 5 12 December 1999 e Si os n 1394 x AM xx 1394 x AM xx 1394 DIM Installing Your 1394 Drive Interface Module The example below shows one 1394 axis and one DIM o
18. procedures in publication NFPA 70E 2 Look at the cable connector to make sure the terminal is open The figure below shows a terminal open and a terminal closed Figure 17 Open and Closed Terminal Terminal closed Terminal open 3 Using the table below follow the correct procedure for each termination point If the terminalis Do this Closed Go to step 4 Open Go to step 5 4 Turn the clamping screw counter clockwise several times with a small flat head screwdriver to open the termination point Publication 1394 5 12 December 1999 12 Installing Your 1394 Drive Interface Module Publication 1394 5 12 December 1999 5 Strip the wire insulation back on the cable lead Important Use 14 20 gauge wire to ensure proper system operation 6 Trim the cable lead to expose 7 0 mm 0 275 in of metal wire 7 Insert the cable lead in the appropriate terminal Figure 18 Cable Connector Insert cable wires into the connector openings here 8 Use a screwdriver to tighten the clamping screw to the correct torque 0 25 N m 2 2 lb in until the cable lead cannot be pulled out of the terminal 9 Using the table below complete the termination connections terminal If the cable lead Do this Pulls out of the terminal Go to step 4 Does not pull out of the 1 Move to the next terminal and go to step 2 When all seven terminals are wired
19. tions When this axis is used Install the Position Feedback Input plug for DIM axis A into DIM axis B into DIM axis C into DIM axis D into 0 no axis installed J3 J4 J5 J10 1 axis 0 installed J4 J5 J10 N A 2 axis 0 1 installed J5 J10 N A N A 3 axis 0 1 2 installed J10 N A N A N A Note The other end of the 1394 GE15 cable provides flying Note leads and must be connected to correct signals on a quadrature encoder The feedback inputs for axis 0 1 2 and 3 on 1394x SJTxx C and T systems and for axis 0 and 1 on 1394x SJTxx L systems run from front to back see Figure 20 Publication 1394 5 12 December 1999 14 Installing Your 1394 Drive Interface Module Publication 1394 5 12 December 1999 2 Connect the cable s overall braided shield to the 1394 system ground bar For more information on grounding the 1394 system refer to the 1394 Digital AC Multi Axis Motion Control System User Manual publication 1394 5 0 Connecting the DIM Ground Wire to the 1394 System Ground Connect one end of the ground wire to the connector on the 1394 DIM refer to Figure 8 for location and connect the other end to the 1394 system ground bar Installing the Resolver Feedback Input Plug For each axis controlled by the 1394 DIM insert a 1394 DIM feedback plug into the 10 pin resolver feedback input on the 1394 system module as shown in the table below Refer to
20. utput axis Figure 1394 DIM with Single Axis Module 10 Motor Resolver Feedback Input 7 A i _ gt ERY 4 DIM Axis A Axis 1 on 1394 l i a FeAl ft eae 1394 x AM xx 1394 DIM The example below shows no 1394 axes and four DIM output axes 1394 DIM Not Connected to Axis Module Axis 0 J 5 Axis 1 J4 E jO ll eiie Auxillary En
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