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1394-5.0 - Rockwell Automation

1. Figure 4 22 1394 DIM with Multiple Axis Modules Axis 0 Axis 1 A A 5 Y m gt ELE t L IL 7 1 DIM Axis A a m Axis 2 on 1394 I 7 1 1 y DIM Axis B iij I zs Axis 3 on 1394 7 Xil C CIT TT Axis 0 J5 MIS THIS TD TT Motor Resolver Feedback Input E p gt CIS h Axis 1 Ws 3 Motor Resolver Feedback Input TRI n H Axis 2 J5 m Axis 2 J7 m 1 Ir Auxillary Encoder ie 1394 Plug sun d E DHL TA Axis 3 J10 Axis 3 J10 v Auxillary Encoder put 1394 DM Pug E TE n rr rr 4 II ET 5 r5 IIT 1394 GMC GMC Turbo System 1394x AMxx 1394 1394 DIM Publication 1394 5 0 May 2000 Wiring 1394 GMC and GMC Turbo Systems 4 23 The example below shows one 1394 axis and one DIM outpu
2. Figure 4 17 Configurations for Connecting a GMC Turbo to an SLC SLC right side connector 1394 SLC IN connectors 1 BEER OT OF Or Oe OF OF OF Or Oe cru 1 wee be ef meee 1 157 1746 Rack with TIT TTE TT SLC 5 03 5 04 or 5 05 a a e coo j CAL v a cA cA 1394 SLC OUT connector LR LR TA 1394 GMC Turbo System 1394 GMC Turbo System SLC right side connectors 6 6 8X 6 Or C 1 1 BERN ee T IST 1746 Rack with 1746 Rack SLC 5 03 5 04 or 5 05 CELA SLC left side connector 1394 SLC IN connector at tata 1394 GMC Turbo System SLC right side connector 0L Ot Or Or amp 1746 Rack with SLC 5 03 5 04 or 5 05 DELL 1394 SLC IN connector UL R
3. Figure 1 2 Two Standard GMC Systems 1394x SJTxx C and 1394C SJT xx L SLC 500 ALEC u 845 RIO AxisLink Encoder 8 C3 B AxisLink PEE SiO aoa 19940 SJDocL EE COT Oro LBS hd Soa DH 485 TH TTT UT 1326AB or 1326AS Motor 1394x SUTxx C B J BSS SO CC Fal m 1326AB and 1326AS Motors 845H Encoder ra e RS 232 422 i f Li 1 js L Flex I O 1 J oe T P lt F L Discrete Outputs lt J gt P Discrete Inputs gt l WESS 842 Analog Outputs F i Analog Inputs A Encoder Flex 4100 Publication 1394 5 0 May 2000 Overview 1 5 CNC Interface System The 1394 9 Series CNC Interface system 1394 SJTxx E provides a digital servo system to be used with the 9 260 and 9 290 CNC This system provides all power electronics and uses a cost saving digital interface approach Servo control for this system is handled by the 9 Series CNC A fiber optic I O ring is provided to the 1394 and the system is co
4. Refer to the Wiring System Axis and Shunt Modules CONTROL POWER amp SIGNALS DC BUS POS DC BUS NEG SLIDER INTERCONNECT Motion Input Wiring Board TB2 SYS ENABLE NOTES 15 16 19 2 24V INPUT COM EH FH 24V INPUT COM lt NOTES 15 16 19 SHIELD 3 1394x SJTxx C C RL 3 SHIELD y 0 1 afd 1 HOME NOTES 3 5 POS OTRAV 0 5 5 POS OTRAV 1 NOTES 3 5 5 NEG OTRAV 0 1394x SUTxx T T RL NEG OTRAV 1 2 THERM FLTO 7 2 THERM FLT 1 5 24V INPUT COM 8 24V INPUT COM SHIELD ro SHIELD HOME 2 1 10 HOMES lt 5 POS OTRAV 2 POS OTRAV 3 E NEG OTRAV 2 12 NEG OTRAV 3 lt THERM FLT 2 13 THERMFLT 3 24V INPUT CO 7 24V INPUT COM SHIELD 15 SHIELD gt REGO 5V 16 REGI 5V 5 EGO 24V T REGI 24V 2 5 EG CO H8 REG COM 9 SHIELD SHIELD REG25V REGS 5V lt EG2 24V REG3 24V 2 EG RE
5. 1 Conduit to Enclosure Enclosure Three Phase iQ O OG i AS User Supplied Mains with Discrete I O meum Ground e Ree sme Distal Serre na p p t ente I Conduit Clamp User Supplied 24V i Unfiltered Conductors Power Source Filtered Conductors FATTO TA 4 Olea I Three Phase al Contactor 5 44 aoe 4 mee 1 i E I i Y l Bonded System i I Ground Bar Enclosure 2 360 Shield Termination at Enclosure by User Resolver High Resolution Feedback Cables The GMC version requires an Allen Bradley filter catalog number SP 74102 006 01 02 03 or equivalent Roxburgh filter catalog number MIF323 GS or MIF330 GS or MIF375 GS respectively Mount the filter as close to the 1394 as possible Isolate filtered conductors from unfiltered 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 and should be routed carefully away from clean signal wires 360 sh
6. B 10 Interconnect and CE Diagrams Figure B 6 Analog Servo System Interconnect Diagram 1394 ANALOG SERVO SYSTEM MODULE T 1 CONTROL POWER amp SIGNALS P NOTE17 1 DC MINUS BUS AAA DC BUS POS NOTE 13 1 DC BUS NEG Refer to the Wiring System Axis and Shunt Modules 1 and Motors for all systems chapter 555 SLIDER INTERCONNECT for ground jumper instructions Ti Analog Servo TB2 a e 1 Input Wiring Board 1 WEE SHIELD a AO TOREF i 1 NOTES 3 5 NOTES 3 5 AO TOREF 5 5 SHIELD z AO ENABLE 7 2 A2 VREF A 8 4 VREF 9 T 2 A2 TOREF HELD 15 CONTACTOR ENABLE RELAY 24V ENABLE MAORA 13 RATED 115V AC 24V DC HS CONTACTOR 5 ANALOG QUT 1A INDUCTIVE H8 CONTACTOR EN START STOP Nor ANALOG COM DOC e 9 COMMON t Hs DROK L CR1 24V AC DC CHASSIS DRIVE OK RELAY lt QA s 20 RATED AT 115VAC 24VDC 20 NC CRI 120V AC TO GROUND BAR IF s Mt 50 60 HZ NOT GROUNDED ELSEWHERE 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 FAILU
7. Connect the system module s PE and each axis Bonded PE module s PE1 to the PE bar ground bar All ground wiring must comply with local codes 6 Ot 0 o a 22 kW or 5 and 10 kW System Modules Series C or later Always follow NEC and System module System module applicable local codes ground bar ground bar Ground grid or power distribution ground Bonded cabinet ground bus 7 29960 Publication 1394 5 0 May 2000 Wiring System Axis and Shunt Modules and Motors for all systems 3 13 Grounding Multiple Subpanels To ground multiple subpanels refer to the figure below Figure 3 9 Subpanels Connected to a Single Ground Point Always follow NEC and applicable local codes Wiring System Module Power Ground grid or power distribution ground The system module provides 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 modul
8. Figure A 23 1326AS B8 Series Servo Motor G gt 85 0 0 5 3 35 40402 0 157 23 73 15 0 91 AL 2 88 fa ELS 8 Ke Be Eu o top 4 4 0 8a A 88 5 T ios d 3 19 7 7 6 2 gt 1 0 305 0 245 0 4997 0 4990 24171 12 692 12 675 0 882 499949 1 25 Tapped hole A 37 00 36 80 1 457 1 449 Shaft Detail Shaft and Pilot Tolerances Shaft Runout Shaft Endplay Pilot Eccentricity Maximum Face Runout 0 05 0 002 0 025 0 001 0 10 0 004 0 10 0 004 Flange Mount in millimeters and inches 20 0 79 Deep min Name Plate Detail 15 mm Dia Thru hole 4 required on a 265 mm Dia B C Specifications A 31 241 sq 9 49 Allen Bradley SERIAL NO 25 4 1 00 397 015 Motor Front End Cap Corner Radius CAT NO SERIES PART NO DATE CODE MAX SPEED RPM RES OHMS 25 C MAX CONT OUTPUT POWER KW 40 MAX CONT STALL TORQUE A C MAX CONT RMS AMPERES AMPS 40 C BRAKE mm BRAKE OHMS 25 C RATED 40 C 51465
9. Remove jumper E J11 d 1394 bottom view TIT Install the shunt resistor wire leading to the fuse in connector J11 1 Install the other shunt resistor wire in connector J11 3 Tighten the J11 connector screws torque value 0 56 0 62 N m 5 0 5 6 Ib in The procedures in this section assume that your shunt module is already mounted Wiring the shunt module consists of connecting power from the system module and depending on the shunt module you ordered connecting power to the fan inside the module Required Tools and Equipment The required tools and equipment are A small flathead screwdriver User supplied power wiring The two fan jumpers that came with your 1394 SR36AF shunt module Wiring System Axis and Shunt Modules and Motors for all systems 3 29 Wiring the Shunt Module Power There are three types of cable that can be used to connect the 1394 shunt module to your 1394 system module shunt power wiring should meet the f
10. Y and the 1 4 20 to 75 Ib in Y Y x 75 0 750 gt 2 95 2 95 Figure A 7 1394x AM50 and AM75 Axis Module Side View 385 15 16 d 69 Tor 1 280 2 Dimensions 56 Heat sink width only 11 02 millimeters and inches e 338 1 5 13 31 iS o O D 5909 Important Additional clearance 14369 below the axis is necessary to provide 105 ep 1 72 the recommended cable bend radius C 413 Refer to 1326 Cables for 460V AC Servo Motors publication 1326A 2 11 for more information Publication 1394 5 0 May 2000 A 20 11 0 43 Line Specifications Figure A 8 1394 50 and 75 Axis Module Side View 280 11 01 Dimensions are in millimeters and inches o o 9 LZ X 14369 Important Additional clearance below the axis 172 is necessary to provide the recommended cable m 1 bend radius Refer to 1326 Cables for 460V AC lt Servo Motors publication 1326A 2 11 for more information Filter Dimensions Figure A 9 SP 74102 006 01 Filter Dimensions 192 7 55 v 20 07
11. Figure 5 1 Input Wiring Board 22 kW system O A 1 i N E l 4 M 1 1 nu 1 1 oo ks TB 1 TB2 Rm 2 AO VREF rii severe AQ VREF zu qn 2 mvae fee SHEL o 3 Ru AO TQREF nm At ToReF ENS AQ TQREF n fea 5 m Tae ae SHE E ee AQ ENAB 7 At ENABLE gin 1 Fi aS AQ VRE o 8 ADVREF e am sve C32 SHIELI 10 SHIELD AQ TOREF STREF cie AQ TQREF rj D3 2 astorer SHIELD 13 sew A2 ENABLE 4 As ENABLE FAULT RESET o mj 9 24V ENABLE com ANALOG OUT 1 oma contactor en ANALOG OUT 2 c contactor en ANALOG COM 080 COM 9 oro D4 CHASSIS c yo Bo Important Use the terminal operating tool supplied with the system module to help you insert and remove wires on the input wiring board Using the Terminal OperatingTool to Insert Wires Each 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 Publication 1394 5 0 May 2000 Wiring Your 1394
12. E 12 AQB Encoder Feedback Output co co co no 4 16 12 AQB Encoder Feedback Output co co gt 4 gt oa s Interconnect and CE Diagrams 1394 Analog Servo Interconnections Figure B 5 B 9 Bottom Front of the 1394 Analog Servo System Module SCANport Resolver Feedback Input Right Side WIRE 1 BLACK AXIS X R1 WIRE 1 WHITE AXIS X R2 WIRE 1 SHIELD WIRE 2 BLACK AXIS X 51 MOTOR WIRE 2 RED AXIS X S3 WIRE 2 SHIELD WIRE 3 BLACK AXIS X 54 RESOLVER WIRE 3 GREEN AXIS X S2 XX WIRE 3 SHIELD CABLE SHIELD Resolv Feedback Resolver Feedback Input Resolv Feedback SUB PANEL RESOLVER CONNECTOR DRIVE END BOTTOM VIEW 1 6 1326Ax AC SERVO MOTOR Publication 1394 5 0 May 2000
13. 3 1 Finding Additional Wiring Information for 1394 Systems 3 1 Understanding Basic Wiring 3 2 Routing High and LowVoltage Cables 3 3 System Module Wire Sizes 3 4 Shielding cr cere E ERE SER 34 EMI RFI Shielding pta Dy Ue Dorn a ER etr POR 3 4 EMI RFI Bonding 3 4 Input Power Conditioning 3 5 Determining Your Type 3 6 Grounded Power 3 6 Ungrounded 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 Configurations 3 9 Grounding Your 1394 System 3 12 Grounding your System to the Subpanel 3 12 Grounding Multiple Subpanels 3 13 Wiring System Module Power 3 13 Terminal Block Locations for 5 and 10 kW System Module Series A antd B di SE Pb ga pe Pipe DA 3 14 Connector Locations for 5 and 10 kW System Module Series 3 1
14. Optional Bulletin 1201 L5 HIM or other remote 22222 1 gjon lt Discrete Outputs lil SCANport interface J Discrete Inputs gt 1 Analog Outputs 11 Analog Inputs gt 11 Optional Bulletin 1203 2 Flex 1 0 Communication Module To RIO Serial DeviceNET SLC etc Publication 1394 5 0 May 2000 1 8 Overview Publication 1394 5 0 May 2000 9 440 CNC System The 9 440 CNC system module gives you all the power and programming capabilities of a 9 Series CNC integrated into the compact packaging of the 1394 System Module The 9 440 CNC System Module provides terminating points for e Resolvers e Encoder feedback for optional position feedback or spindle control e Two serial ports for communicating with the 9 Series ODS or other peripherals such as printers or tape readers e E STOP string and status e Spindle outputs OjSeries fiber optic ring connection e Touch probe interface e Remote I O connection There are three versions of the 9 440 CNC System Number of Resolver Encoder Catalog Axis feedback Analog feedback Version Number modules ports outputs ports
15. 2 2 Storing Your 1394 Before Installation 2 2 Unpacking MOUUIBS 2 3 System Mounting 2 3 Determining Your System Mounting Hole Layout 2 4 Mounting Your 1394 Through the Back of the Cabinet 2 6 Bonding Your System 2 6 Bonding Mod le Sinerien RO ye tps TP wae ESI DR 2 6 Bonding Multiple Subpanels 2 8 Publication 1394 5 0 May 2000 ii Table of Contents Wiring System Axis and Shunt Modules and Motors for all systems Publication 1394 5 0 May 2000 Mounting Your 1394 System 2 8 Mounting Your 1394 0 1 2 11 Mounting the External Shunt Resistor for 5 and 10 kW System Modules 2 11 Mounting External Shunt Modules for 22 kW System Modules 211 Shunt Module Mounting 2 12 Shunt Module Mounted Outside the Cabinet 2 13 Shunt Module Mounted Inside the 2 14 Mounting the Shunt 2 15 Mounting Considerations for GMC and GMC Turbo Systems 2 16 Mounting GMC and GMC Turbo Systems Next to Flex 2 16 Chapter 3 Chapter
16. 24 009 23 996 Dia 0 9452 0 9447 M8 x 1 25 Tapped Hole 19 0 75 Deep Min Kk 1999 1974 0 78710 777 Shaft and Pilot Tolerances Maximum Shaft Runout 0 05 0 002 T I R Shaft Endplay 0 127 0 005 Maximum Pilot Eccentricity 0 10 0 004 Maximum Face Runout 0 10 0 004 T I R Flange Mount in millimeters and inches Full Depth Endmilled Keyway Power Input Recessed Flinger and Shaft Seal Provisi 130 014 129 989 Dia 5 1186 5 1176 Dia Name Plate Detail 254 254 1 00 1 00 me Y Commutation Resolver or High Resolution Output ion 31 75 1 25 762 030 Motor Front End Bell Corner Radius 12 mm Dia Thru Hole 4 Required on a 165 mm Dia B C 0 472 Dia on a 6 496 Dia B C Mounting Bolts must be Cap Head Style Allen Bradley SERIAL NO CAT NO SERIES PART NO DATE CODE MAX CONT OUTPUT POWER MAX SPEED CONT STALL TORQUE CONT RMS AMPERES TERM RESISTANCE OHMS 29 RATED 40 C 57948 SAN Feedback Catalog number Description AL AD AG C Key End milled keyway full depth Resolver 1326AB B515x 21 without brake N A 244 1 216 6 326 6 8x7x40 41 0 9 61 10 89 12 86 0 315x0 276x1 57 1 61 1326AB B520x 21 without
17. 6 2 Setting Up Your System Using GML 6 3 Before You Begin 6 3 Preparing the System 6 4 Setting Up Your System Using GML 6 5 Before You Begin 6 5 Preparing the System 6 5 Chapter 7 Chapter 7 1 General Startup 7 1 Setting Up Your 1394 Analog Servo 7 2 7 2 Exiting Before You re Finished 7 2 Continuing From Where You Left Off 7 2 Removing and Re Applying Power 7 3 Setting Up at the System 74 Setting Up Analog Test 7 5 Defining Your Motor 7 5 Defining a Reference Source forYour Axes 7 6 Defining Analog 7 7 Defining Analog Torque 7 8 Defining Digital Velocity 7 8 Defining Digital Torque 7 9 Defining isss
18. D O O O O 2 O O 000 O O aj 32 La o o REGISV REGO 41 O REGI 24V REGCOM O O O REG COM cg CHASSIS CHASSIS S8 2 g 2 e S DRIVE_OK1 ATESTO O O j 2 A TEST 1 O O O E TP1 DRIVE OK2 ATESTCOM CHASSIS O O L 2 Important Use the terminal operating tool as shown in Figure 4 3 supplied with the system module to help you insert and remove wires on the input wiring board Publication 1394 5 0 May 2000 4 4 Wiring 1394 GMC and GMC Turbo Systems Publication 1394 5 0 May 2000 Using the Terminal OperatingTool to Insert Wires Each system module you order comes with a terminal operating tool that allows you to easily insert your wires into the terminals Refer to Appendix D for the part number Figure 4 3 Terminal Operating Tool 01010100 Hook Insert wire Flat tab here To use the terminal operating tool with TB1 1 Ux oc TES Put the hook into the hook slot with tab end of the tool to your left Gently push the tool to the right to open the wire slot Insert the wire Gently release the tool by moving it to the left
19. A 12 Serial Specifications A 12 DH 485 Specifications A 13 Flex I O Specifications A 13 GMC System Specifications A 14 Remote I O Adapter 5 A 15 AxisLink Specifications A 16 Dimensions ue Dite mt e P ER A 17 1394 System Module Dimensions A 17 Axis Module Dimensions A 18 Filter Dimensions A 20 External Shunt Dimensions A 22 Motor Dimensions A 25 Servo Motor Performance A 32 1326AB Performance A 32 1326AS Performance Data A 33 Appendix B Chapter Objectives 2 EEG pr rp B 1 GMC Analog Servo and CNC Interface Interconnect Diagrams B 2 1394 GMC Interconnections B 3 1394 Analog Servo Interconnections B 9 1394 CNC Interconnections B 12 Thermal Interconnect B 14 1394 GMC Systems 1394x SJTxx C and T B 15 1394 GMC Systems 139
20. AxisLink and RIO board connections use Allen Bradley 1770 CD Belden 9463 or equivalent 1394 GE15 Cable Optional Encoder or 1394 GR04 Cable for Resolver with 1 4100 REC or 4100 AEC modules _1 J5 wiring is typical for J3 Encoder Inputs User supplied 5V DC 1 power source is required 1 for encoder board regardless if encoder supply voltage is 5V or 1 J4 and J10 Auxiliary 1 1 not i Use 4100 CCF1 or CCF3 Flex I O cables Cable length must not exceed 0 91 mm 36 inches You must supply source power for Flex I O for example 1794 1816 24V DC and 1794 1 8 115V 1 ENCODER CONNECTOR DRIVE END BOTTOM VIEW 147 CHANNEL A HIGH ex I O Aux Encot der Feedback Input zA z Aux Enco AXIS 0 der Feedback Input o o e col no lt Dx E Aux Enco Feedback I CHANNEL A LOW CHANNEL B HIGH M CHANNEL B LOW Auxiliary CHANNEL Z HIGH Encoder CHANNEL Z LOW 5V OUT NW n o c o oo gt COMMON OU SHIELD
21. Allen Bradley 1394 Digital AC Multi Axis User Motion Control Manual System Catalog No 1394 50 Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation Allen Bradley does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradley publication SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted publication in whole orin part without written permission of Allen Bradley Company Inc is prohibited Throughou
22. Servo Motors publication 1326A 2 11 for more information Publication 1394 5 0 May 2000 Specifications A 19 Figure A 6 1394 x AM50 50 AM75 and AM75 IH Axis Module Front View 37 5 148 80 032 A p Pur OT A Dimensions are in millimeters and inches Depth 280 11 02 Axis Enabled Q Axis Enabled Q Axis Enabled Mounting Hole Detail 15KW Axis Module 15KW Axis Module 15KW Axis Module 8 0 0 31 n ie 400 0 7101 0 40 15 73 385 0 Fastener 15 16 location pd ee a Hl 80 031 7 fo 0 47 All Slots Accept M6 or 1 4 20 Mtg Screws Dimension shown is for mounting hardware 5955515 aaao Seo location and does not reflect the location of the lower slot radius When using the gasket provided with the axis module torque the M6 to 7 9 N m
23. C 11 Removing the C 14 Removing the HIM from the HIM Cradle C 14 Disconnecting the HIM from the System Module C 14 Setting Up the HIM for Hand Held Use C 15 Placing the HIM in the HIM Cradle C 16 Appendix D Understanding Catalog Numbers D 1 Determining Catalog Numbers D 1 System s douce tente Dot eur ko D 2 1394 System Module D 2 9 440 System Module Resolver based systems D 2 CNC Serial Drive System Module D 3 9 440 High Resolution Absolute CNC System Module D 3 Axis Modules enr xr re bera e es 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 D 5 Control Interface D 5 Single Axis Flying Lead Cable D 5 Two Axis Prewired Cable D 5 1326AB Servo D 6 1326 Shaft Oil Seal Kit for 1326AB Motors D 6 Motor Jun
24. gt a a m N a o Note 120 50 or 60 Hz power may be used in place of a 24V DC power supply for motor thermal switch circuits Publication 1394 5 0 May 2000 Interconnect and CE Diagrams B 17 The example below shows 1394 Series A and B axis modules no internal brake or thermal switch filter Separate 24V DC isolation power supply and relay CR2 are recommended Figure B 10 Isolated Series E Stop Axis 0 Axis 1 Axis 2 Axis 3 1394 AMxx 1394 AMxx 1394 1394 Motor Thermal Switch 24V DC 24V DC Power Supply 24V DC com Note 120V AC 50 or 60 Hz power may be used in place of a 24V DC power supply for motor thermal switch circuits 1394 GMC Input Wiring Board 52 2 1 1 2 2 3 1394x SUTxx C 3 1394x SJTxx C RL 4 5 AND 6 7 1394x SJDo T 7 Hi 1394x SJTxx T RL a 10 10 11 11 12 12 13 13 14 14 15 15 16 16 Lu 17 18 18 19 19 20 20 START STOP 21 21 CRI 2 2 LL T 2avacioc 23 23 lt 120V AC 24
25. 5V Input user supplied Common Input user supplied 12 Shield Refer to Appendix B for 1326 CEU xxx Encoder Feedback Cable information Serial Communications The 1394 provides two optically isolated RS 232 RS 422 serial ports CHAN A J3 and CHAN B J4 These ports are located on the bottom of the system module Refer to Figure 4 7 for 1394 SJTxx C and 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 RS 232 C or RS 422 and you can configure CHAN B port J4 independently for RS 232 RS 422 or DH 485 In addition if you select RS 422 or DH 485 you can configure the port to use a termination resistor if required If you select DH 485 port J4 is disconnected You configure both ports using switches on the system module Refer to Figure 4 10 for switch settings and Figure 4 6 for location Both ports are configured for RS 232 operation when they are shipped from the factory Publication 1394 5 0 May 2000 4 12 Wiring 1394 GMC and GMC Turbo Systems Figure 4 10 SW1 SW6 RS 232 RS 422 Switch Settings lt o Left X 8 Right N E sw1 SW2 SW3 5 4 SW5 SW6 Port J1 J2 Port J4 Port J3 Port J1 J2 J4 PortJ4 Port J3 Left No DH 485 Terminal No RS 422 Terminal No RS
26. 4 25 Analog 4 25 Wiring and Configuring an External Drive to the 1394 DIM 4 26 Connecting the Remote Drive to the DIM Connector 4 26 Connecting the Position Feedback Encoder to the Feedback Input 4 29 Connecting the DIM Ground Wire to the 1394 System Ground 4 30 Installing the Resolver Feedback Input Plug 4 30 Chapter 5 Chapter Objectives 5 1 Finding Additional Wiring Information for 1394 Systems 5 1 Understanding Analog Servo Wiring and Connections 5 1 Input Wiring Board 5 2 Using the Terminal Operating Tool to Insert Wires 5 2 Input Wiring Board Signal Descriptions 54 Connecting AQB and SCANport 5 5 Analog Servo Encoder A Quad B Wiring 5 5 SCANport Adapter 4 ioe ted uA REX Aet SEES T 5 7 Publication 1394 5 0 May 2000 iv Table of Contents Commissioning 1394 GMC and GMC Turbo Systems Commissioning Your 1394 Analog Servo System Configuring Your 1394 Analog Servo System Troubleshooting Publication 1394 5 0 May 2000 Chapter 6 Chapter 6 1 General Startup 6 1 Applying Power to the
27. FLEX I O MODULES NOTE 10 18 Use 4100 CCF1 or CCF3 Flex I O cables Cable length must not exceed 0 91 mm 36 inches Resolver cable 1326 CCU xxx 1 1394 DIM plug 1 4100 REC or 4100 AEC modules User supplied 5V DC power source is required for encoder board regardless if encoder supply voltage is 5V or not You must supply source power for Flex I O for example 1794 16 24V DC and 1794 1 8 115V AC i Aux Encoder E backs 1326Ax AC SERVO MOTOR Feedback Input eedback Input 3 WIRE 1 BLACK AXIS X R1 f A 1 WIRE 41 WHITE AXIS XR2 Y 2 WIRE 1 SHIELD CHANNEL B HIGH 2 13 WIRE 2 BLACK AXIS X 51 CHANNEL B LOW 4 3 WIRE 2 RED AXIS X 53 MOTOR Auxiliary C CHANNEL Z HIGH 8 RESOLVER r 5 WIRE 2 SHIELD Encoder J CHANNEL Z LOW 6 7 WIRE 3 BLACK AXIS X 54 D 5V OUT 8 91 WIRE 3 GREEN AXISXS2 XX COMMON OU 9 4 WIRE 3 SHIELD V SHIELD
28. B5xxxx or 1326 4 C1 1326 7 or 1326AS B6xxxx B8xxxx T Flex rated 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 connector RB Right angle connector Blank IP65 L IP67 harsh environment 005 5m 16 4 ft 015 15m 49 2 ft 030 30m 98 4 ft 060 60m 196 8 ft 084 84m 275 5 ft 090 90m 295 2 ft Publication 1394 5 0 May 2000 D 12 Catalog Numbers Bulletin Number Type Motor Feedback Cables Motor Size Flex Cable Connector IP Cable Function Used On Option Accessory Rating Length 1326 C Connector and cable assembly 15 C Resolver feedback EC High resolution 1 U Commutation and encoder cable for all series motors Blank No option standard cable T Flex rated cable for high flex applications Blank Single standard connector E Bulkhead connector RA Right angle connector RB Right angle connector D Double ended standard connector EE Double ended bulkhead connector Blank IP65 L IP67 harsh environment 005 5m 16 4 tt 015 15m 49 2 ft 030 30m 98 4 ft 060 60m
29. Note 120V AC 50 or 60 Hz power may be used in place of a 24V DC power supply for motor thermal switch circuits Publication 1394 5 0 May 2000 1394 GMC Input Wiring Board Interconnect CE Diagrams 1394 GMC Systems 1394C SJTxx L The example below shows a 1394 Series C axis module with internal brake and thermal switch filtering Separate isolation power supply and relay are not required Figure B 12 Non Isolated Series E Stop 54 2 Axis 0 1394 19 Motor thermal Motor brake filter Series C switch filter Series C rr STOP 24V AC DC or 120V AC 50 60 HZ The example below shows a 1394 Series C axis module wired for thermal fault monitoring The fault can be used to monitor or disable Non Isolated Series E Stop with Thermal Fault Monitoring 1 1 2 2 3 1394C SJTxx L 3 4 1394C SJTxx L RL 2 6 6 7 7 8 8 9 9 10 10 1 12 12 13 13 14 14 15 Shaded areas on TB1 and TB2 15 16 designate signals not used on the 16 17 1394C SJTxx L and 17 18 1394C SUTxx L RL 20 system modules 20 21 21 START 22 22 23 23 24 DriveOK 424 25 Relay 25 26 26 27 57 CRI the axis Figure B 13 Axis 0
30. ATESTO NOTE 7 5 1 DRIVE RELAY A TEST COM ED AT 115VAC 24VDC SHIELD 1A INDUCTIVE gt gt gt gt DH 485 x Publication 1394 5 0 May 2000 5 AND 10 KW INPUT POWER SYSTEM MODULE GROUND BAR 5 wr 9 z 5 E 5 T gt g as 2 FACILITY GROUND o 2 i c uo QN E zc a lt 29 L5 ED z AS Sta lt oz Ze 2 en lt gt c aa ut 5 gt 2 DA 8 us atr c lt gt e 25 oz E a o REGI 5V REGI V f 5 REG COM SHIELD NOTES 3 6 DRIVE OKI DRIVE START STOP 1 24V AC DC or 120V AC 50 60 HZ 051 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 INDICATES USER SUPPLIED COMPONENT Interconnect and CE Diagrams AXIS MODULE TYPICAL 051 CONTROL POWER amp SIGNALS FLASHING RED FAULT DC BUS POS SOLID RED HARDWARE FAILURE DC BUS NEG SLIDER INTERCONNECT SOLID GREEN BUS UP AXIS ENABLED F
31. 1394C AMxx Motor brake filter Series C Motor thermal Switch filter Series C 4 3 2 T8 B2 gt CHA Motor m Thermal Switch 24V DC com 24V DC Power Supply 24V DC THERM FLT 0 TBI 1394 GMC Input Wiring Board 1 1 2 2 3 1394C SUTxx L 3 1394C SJTxx L RL 6 7 8 9 10 10 11 121 12 13 13 14 14 15 Shaded areas on TB1 TB2 15 16 designate signals not used on the 16 17 1394C SJT L and 17 18 1394C SJTxx L RL He 20 system modules 20 21 21 22 22 23 23 24 24 25 25 26 26 27 27 54 2 Note 120V 50 or 60 Hz power be used in place of a 24V DC power supply for the motor thermal switch circuit Publication 1394 5 0 May 2000 B 20 Interconnect and CE Diagrams Axis 0 1394 AMxx The example below shows a 1394 Series A and B axis module no internal brake and thermal switch filter Separate 24V DC isolation power supply and relay CR2 are recommended Motor P d Thermal Switch 24V DC 24V DC CR2
32. Encoder Optional STROBE X 45V INPUT COMMON INP CHANNEL A x CHANNEL A LOW CHANNEL B H CHANNEL B LOW Auxiliary CHANNEL Z HIGH Encoder CHANNEL Z LOW 5V OUT n o JQ om r 2 COMMON OU Encoder Optional 45V INPUT COMMON INPUT AXIS 1 der RS 232 RS 422 Right Side RS 232 RS 422 NC TXD TXD TXD lt RXD RXD DTR TXD COM COM DSR TXD RTS RXD CTS RXD NC NC IAN RS 232 RS 422 e zm o o co ro RE Resolver Feedback WIRE 1 BLACK AXIS X R1 B 3 1 45 wiring is typical for J6 J7 and J10 Resolver inputs Use 1 either Allen Bradley Resolver cable 1326 CCU xxx or 1394 DIM plug i 1326Ax AC SERVO MOTOR WIRE 1 WHITE AXIS X R2 WIRE 1 SHIELD WIRE 2 BLACK AXIS X S1 MOTOR WIRE 2 RED AXIS X S3 AXIS 0 WIRE 2 SHIELD WIRE 3 BLACK AXIS X S4 WIRE 3 GREEN AXIS X S2 ea sco Sco coro oo s WIRE 3 SHIELD CABLE SHIELD o WIRE 1 BLA
33. Publication 1394 5 0 May 2000 Environmental Specifications Specifications A 9 Refer to the following table for fuse replacement information If your 1394 SR9A SR9AF You need a SR36A and SR36AF shunt module Has the UL mark Bussmann 600V DC 50A fuse FWP50A14F or equivalent Does not have the UL mark Bussmann 600V DC 40A fuse 170N2013 or equivalent Mount the 1394 in an enclosure that is clean and dry IP55 protection rating minimum IEC publication 529 For enclosures ventilated with ambient air be sure to have appropriate filtering to protect against contamination Keep the ambient air temperature between 0 and 50 C 32 and 122 F and the humidity between 5 and 95 non 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 ft Consult with your local Allen Bradley Sales Representative prior to operating at over 3000 m 10 000 ft Refer to the table below for 1394 shock and vibration specifications Mode Maximum Shock Maximum Vibration Operating 15g 1g Non operating 30g 2 5g Publication 1394 5 0 May 2000 A 10 Specifications Power Dissipation The power dissipation characteristics of the 1394 system and axis modules are provided below use for 480V or 360V input Important Use the power dissipat
34. 0 Endmilled Keyway 27 287 orHigh Resolution Output p 056 Power Input 1 13 1 13 M8 x 1 25 a Recessed Eyebolt Thread 20 6 0157 Finger and Shaft Y 081 50 8 Seal Provision 7000 K Br Bg 28 3 BS 88 A 38 1 gt lt 3 96 0 156 X Inspection Holes 4 Top and Bottom f 32 018 32 002 Dia 1 5 1 16 27 NPT Plugs 1 2606 1 2599 762 030 9 52 9 50 Dia 10 08 10 01 Motor Front End 0 3750 0 3745 Dia 0 397 0 394 M12 x 1 75 Tapped Hole Bell Corner Radius 2 e LAO 855010 15 mm Dia Thru Hole 4 Required a 215 mm Dia B C Shaft Detail 26 87 1 058 0 590 Dia on a 8 465 Dia B C Mounting Bolts must be Cap Head Style High Resolution Motor Allen Bradley T _ Shaft and Pilot Tolerances Maximum Shaft Runout 0 05 0 002 T I R an Shaft Endplay 0 127 0 005 RoR Uc Maximum Pilot Eccentricity 0 10 0 004 T I R LE CRINE LEE Maximum Face Runout 0 10 0 004 T I R MEM mE AM 57948 SAN ceu Name Plate Detail BULLETIN 1326 AC SERVO MOTOR 23 rond Flange Mount in millimeters and inches Feedback Catalog number Description AL AD AG C Key End milled keyway full depth Resolver 1326AB B720x 21 without brake 164 3 12 324 6 366 0 426 0 10x8x50 50 8 6 468 12 78 14 41 16 77 0 39 x0 31 x 1 97 2 00 1326AB B730x 21 without brake 208 7 12 413 5 4549 514 9 10 8 50 50 8 8 218 16 28
35. Absolute position range 1 000 000 000 feedback counts for linear axes infinite number for rotary axes Absolute position resolution 15 position unit digits or 32 feedback count bits whichever is less Speed range 0 00001 feedback counts per servo update to 4 000 000 feedback counts per second Speed resolution 15 position unit digits or 15 feedback count bits whichever is less Acceleration deceleration range 0 00001 feedback counts per servo update to 4 000 000 feedback counts per second Acceleration deceleration resolution 15 position unit digits or 15 feedback count bits whichever is less Electronic gearing gear ratio range 0 00001 1 to 9 99999 1 slave counts master counts Electronic gearing gear ratio resolution 8 position unit digits or 32 feedback count bits Servo gain resolution 32 bit floating point Servo output limit range 0 to 100 Servo gain units P proportional gain counts per millisecond error count integral gain counts per millisecond error count V velocity gain millivolts counts per millisecond F feedforward gain counts per millisecond counts per millisecond Specifications A 15 Remote I O Adapter Specifications The table below lists the remote I O adapter specifications for the system module 1394x SJTxx C xx L xx and T xx systems The Is
36. Bite Bits Bit 3 Bit2 Bit1 BitO Y SCANport P 6 Not Used Drive SCANport 1 SCANport P 2 SCANport P 3 Y SCANport P 4 SCANport P 5 Cur Fbk Rated This parameter indicates the present full scale current rating of an axis module Parameter Numbers Parameter Group Display Units Parameter Type Linkable 268 269 270 271 Torq Data amps Read Only No Cur Fbk Scale Setting of the axis module that selects the full scale feedback rating Parameter Numbers Parameter Group Display Units Parameter Type Linkable 264 265 266 267 Linear List None Read Only No Cur Lim Cause This parameter displays the present source if any of current limiting for the axis Parameter Numbers Parameter Group Display Units Parameter Type Linkable Selections 0 1 2 3 4 5 228 229 230 231 Data None Read Only No Not Limited User Neg Lim current motor limit User Pos Lim current motor limit Bridge Lim transistor current limit I t Limit current vs time limit before foldback Dyn Mtr Lim motor speed torque curve Cur Preload This parameter specifies the amount of preload added to the velocity loop PI output when Torq Source is configured to include a preload Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Mini
37. R R LR LA Power Plug If your 5 or 10 kW 1394 system module requires a means of dissipating regenerative energy that exceeds the capacity of the internal shunt resistor install a 1394 External Shunt Resistor Kit catalog number 1394 SR10A ATTENTION To avoid the hazard of shock or burn and ignition of flammable material appropriate guarding must be provided These resistors can reach temperatures in excess of 350 C 662 F Install per local codes To install the 1394 SR 10A Shunt Resistor Kit use two 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 To extend the leadwire length up to 15 m 49 ft total overall length use MTW 105 C 302 F Class H insulated wire UL styles 3349 3374 or equivalent If you are using a 22 kW system module you must use a shunt module 1394 SR9A SR9AF SR36A or SR36AF An external shunt module is required for 22 kW system modules because there is no internal shunt resistor Publication 1394 5 0 May 2000 2 12 Installing Your 1394 applies to all systems Shunt Module Mounting Orientation Because the shunt module dissipates excess regenerative power in the form of heat you need to consider the following guidelines Refer to Figure 2 11 and Figure 2 12 for shunt module spacing requirements Figure 2 11 S
38. 1394 GMC Turbo System 1 Use cable 1746 C7 or 1746 C9 to connect the 1394x 5 Txx T to the SLC Important The figure above shows connection information only and does not imply a specific mounting configuration Publication 1394 5 0 May 2000 Connecting a GMC and GMC Turbo to a 1394 DIM 1394 Axis Modules 1394 GMC or GMC Turbo System Module LEO AN 1 See Figure 4 32 for Auxiliary Encoder input pin outs and Figure 1 Appendix B to view the Auxiliary Encoder Connectors a bottom view of the 1394 GMC GMC Turbo system module _ 6 08 06 05805 Wiring 1394 GMC and GMC Turbo Systems 4 19 The 1394 DIM acts as an interface between one 1394 GMC GMC Turbo system module and the 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 1394 DIM System Example The figure below shows an example of a 1394 GMC GMC Turbo System after connecting a 1394 DIM Figure 4 18 A 1394 DIM Connected to a GMC or GMC Turbo 1394 DIM iE Y v ad 1394 DIM ground connector Ot Ot 10V referen
39. 5 WIRE 3 SHIELD CABLE SHIELD 10 TB DRIVE O K RELAY DRIVE RATED AT 115VAC 24VDC DRIVE OK2 EDS RING 1A INDUCTIVE Publication 1394 5 0 May 2000 Interconnect and CE Diagrams B 13 AXIS MODULE TYPICAL ADDITIONAL AXES 051 wy 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 EI THERMOSTAT AND BRAKE FEEDTHRU NOTE 29 NOTE 29 MOTOR BRAKE MOTOR THERMAL FILTER Series C SWITCH FILTER MOTOR BRAKE Series C FILTER Series C THERMAL TERMINATOR SWITCH FILTER CONNECTOR Series REQUIRED ON LAST AXIS ay sy 27 4 4 b 1 TO OTHER MOTOR CABLE TYPICAL NOTE 14 NOTE4 TB T MOTOR THERMOSTAT USER BRAKE CONTROL INPUT AND BRAKE 1 2 6 4 5 9 ZN nimis po Kt USER BRAKE CONTROL INPUT GND TO OTHER AXES PE GND NOTES 20 24 BRAKE 25 33mm 12 AWG GROUND BAR RMOSTAT mmt 33mm 12 AWG IMPORTANT GROUND BAR MUST BE AS CLOSE TO DRIVE AS POSSIBLE FACILITY GROUND 33mm 12 AWG OP
40. NEGOTRAVZ NEGOTRAV3 S9 99 avNPUTOOM ow INPUT COM 99 o o O gt O O gt O no S CHASSIS O chassis 25 X REGOM O Qe e 0 0 S INED TP2 TP3 8 8 Ci ATESTCM DRIVE OK2 CHASSIS CHASSIS 2 M 6 05 Important Use the terminal operating tool as shown in Figure 4 3 supplied with the system module to help you insert and remove wires on the input wiring board Publication 1394 5 0 May 2000 Wiring 1394 GMC and GMC Turbo Systems 4 3 Figure 4 2 Input Wiring Board for 1394C SJTxx L and L RL 45 Q 1 000 SYSENABLE 000 ooo COM Jooo O 24V_INPUTCOM 4 CHASSIS 000 CHASSIS HOMEO POSOTRAVO NEG OTRAVO 000 O 24 COM e CHASSIS
41. Publication 1394 5 0 May 2000 Configuring Your 1394 Analog Servo System 8 9 D A Value Parameter Numbers 12 13 The unscaled value of the data that willbe output Parameter Group Linear List on the D A channel This parameter must be the Display Units destination of link for any data to be output Parameter Type Read Write data output is treated as a signed word Linkable Yes Minimum Value 32768 Maximum Value 32767 Default Value 0 DC Link Setup Parameter Numbers 50 This parameter selects the mode of operation for Parameter Group Smart Sys Data systems fault detection Unless DC Link is Display Units None shared standard should be selected Parameter Type Read Write Change While Running No Linkable No Default Value 0 standard Selections 0 standard 1 shared w 3ph 2 shared no 3ph Desired BW Parameter Numbers 252 253 254 255 This is associated with the auto tune functionand Parameter Group Alune Config allows you to enter a desired velocity bandwidth Display Units no less than or equal to the Max Bandwidth Parameter Type Read Write parameter as calculated by the auto tune cycle Change While Running Yes Linkable No Minimum Value 1 Hz Maximum Value 60 Hz Default Value 30 Hz Dig Cmd Mode Parameter Numbers 22 This parameter determines whether digital Parameter Group Setup velocity commands are treated as signed Display Units None Bipolar inputs
42. Tighten both screw terminals torque 2 5 N m 22 1 Ib in Gently pull on each wire to make sure it does not come out of its terminal Re insert and tighten any loose wires Publication 1394 5 0 May 2000 3 30 Wiring System Axis and Shunt Modules and Motors for all systems Low voltage Communications Control I O wiring Motor feedback cables Publication 1394 5 0 May 2000 Figure 3 18 Routing Shunt Module Wiring When the Module is Outside the Cabinet Customer supplied metal enclosure optional 155 mm 6 1 in of clearance on all sides of the shunt module minimum Metal conduit OF OF O 210 A Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI 050 Motor power 360 480V cables AC power lt 8AWG 8 4 mm3 105 C 600V wire Max Length 3 05 m 10 ft for each wire Twisted conductors 2 twists per foot min or a shielded twisted pair Shielding is recommended for reducing the effects of EMI and RFI ATTENTION The resistors inside the 1394 shunt module can reach temperatures in excess of 350 C 662 F Be sure to
43. pul rs ens wt en 1 1 sca cdm 1 1 Safety 1 2 1994 System 1 3 GMC System e EE 1 3 CNC Interface System 1 5 SERCOS SYSIBITE erae tof 1 6 Analog Servo System 1 7 9 440 CNC System cnt cee nna ERES ED ERES 1 8 What is a 1394 1 9 System Modules 1 10 AXIS MOUUIBS E EE AEE 1 11 External Shunt Module used with 22 kW System 1 11 1926AB MOIOIS ocv aet DRE aee 1 12 1926AS sip p ELPE4XRX py e pra pa dares 1 12 secant scree s tet 1 18 Drive Interface 1 14 DG MK 1 14 Standard Features of the 1394 1 15 GOO soos iore eed 1 15 OWE C arci Ed E aU EU 1 16 1 16 Chapter 2 Chapter 2 1 Complying With European Union 2 1 EMG Directive m 255 ce e DC 2 1 Low Voltage Directive 2 2 Before Mounting Your
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45. EL Ground grid or Power distribution ground Publication 1394 5 0 May 2000 Wiring System Axis and Shunt Modules and Motors for all systems 3 7 Ungrounded Power Configuration As shown in the figure below the ungrounded power configuration does not allow for a neutral ground point If you determine that you have ungrounded power distribution in your plant you need to move the factory installed jumper to the ungrounded power distribution 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 Conduit 4 Wire Cable U drain shield V PE wire 8 1326 motor power cable W1 wire 3 w V1 wire 2 U1 wire 1 Ground grid or Power distribution ground ATTENTION Ungrounded systems do not reference each phase potential to a power distribution ground This can result in an unknown potential to earth ground Publication 1394 5 0 May 2000 3 8 Wiring System Axis and Shunt Modules and Motors for
46. SERCOS l H L5 Publication 1394 5 0 May 2000 Overview 1 7 Analog Servo System The 1394 Analog Servo system 1394x SJTxx A provides a digital servo drive system with a traditional 10V DC analog interface It can be used as a velocity or torque control system and is quickly commissioned with the Allen Bradley universal Bulletin 1201 HIM Human Interface Module which provides access to auto tuning and start up prompting The 1394 also provides a SCANport interface as a standard feature Figure 1 5 Analog Servo System SLC 500 6X Bulletin 1201 HIM RIO purchased separately PanelView 550 f IFA is IMC S Class Compact Control Logix or other 5351 customer supplied EE a ne motion controller Gs DH 485 Li 1 1326AB 1326 5 Motors 1 Ep 1 SCANport
47. aaa tute ta tts 4 Drive Interface Module 4 Filters dol n 4 User Supplied Contactor M1 A 5 User Supplied Line Input Fusing A 5 User Supplied 24V Logic Input Power A 5 Input Transformer for 24V Control Power 6 User Supplied 5V Auxiliary Encoder Power Supply A 6 6 External Shunt Resistor Kit for 5 and 10 kW Systems A 8 1394 Shunt Module for the 22 kW A 8 Environmental A 9 Power Dissipation A 10 System Modul6s ez sti Ee EEG caw o e s A 10 Axis Modules c eee e en eb ER A 10 Module aided tt Oe EH roca A 11 Drive Interface Module A 11 Internal Shunt Resistor for the 5 and 10 kW System standard A 11 Communication A 11 Encoder Input Specifications A 11 Publication 1394 5 0 May 2000 vi Table of Contents Interconnect and CE Diagrams Using the Human Interface Module HIM Publication 1394 5 0 May 2000 Dedicated Discrete I O Specifications
48. mes mice t Rear of the units 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 0 May 2000 4 22 Wiring 1394 GMC and GMC Turbo Systems For example if your 1394 system includes three 1394 axis modules the 1394 DIM can control only one external drive and axis See the following configuration information Number of 1394 axes Maximum number of DIM controlled axes amp Important You can add only 1394 DIM to a 1394 system Important The system requires 360 480V AC three 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
49. 20 0 47 All Slots Accept M6 or 1 4 20 Mtg Screws Dimension shown is for mounting hardware location and does not reflect the location of the lower slot radius Figure A 16 1394 SR 36A and 36AF Side View Dimensions 280 11 01 X A e e e i 350 13 78 Se Pra gt 400 15 75 E SSS 8 1 gt C gt C 29 e e e SS C 3659s Cane Gu Zo C 2 2 ID ez gt gt ID Y 61071 D gt gt ID Dimensions are in millimeters and inches 92 07 Dia 3 626 3 624 Dia Motor Dimensions Figure A 17 Specifications A 25 1326AB B4 Torque Plus Series Resolver and High Resolution Feedback m g gt Full Depth Endmilled Keyway Commutation Resolver 254 254 High Resolution Output Power Input 1 00 1 00 Recessed Flinger and Shaft Y Seal Provision 244 0 96 FEE Ss aa Y o 9 126 5 max wh gt lt 4 98 c wp oh 9 60 A P 22 22 gt 2 8 0 11 Inspection Holes 4 and Bottom f 19 009 18 996 Dia E 1 16 27 NPT Plugs 0 7484 0 7479 762 9 52 9 50 Dia Motor Front End 0 375 0 374 Dia 6 07 5 99 e Bell Corner Radius M6 x 1 0 Tapped Hole 16 0 63 Deep Min CEN X 15
50. Bus OV Fit Not Used Bus Undr Vit Ovr Temp Ctrl Pwr Loss Phs Loss Fit Size Bit Ground Fault Size Bit Version Bits Size Bit Size Bit Sys Mod Status 2 Parameter Numbers 38 Diagnostic information of smart power systems Parameter Group Linear List Parameter Type Read Only Active on all Smart Power 22 kW systems and 5 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 10 Bito Bits Bite Bits Bit2 Bito and 10 kW Series C or later systems Bus 0V Fault 1 true pes Ovr i Note Warnings are set at 80 rating Ctrl Pwr Loss Phs Loss Fit Ground Fault PreCharge Fault Shunt Fault CurLim Warn Shunt Warn CurLim Fault System Type Parameter Numbers 14 Catalog number of System Module Set during Parameter Group Configuration the initialization of the 1394x SJTxx A system Display Units None module Parameter Type Read Only Linkable No 0 NOT PRESENT 1 1394x SJT05 2 1394x SJT10 3 1394 SJT22 Test Mode Sel Parameter Numbers 16 Internal factory test mode selections Parameter Group Linear List Display Units None Parameter Type Read Write Change While Running Yes Linkable No Minimum Value 0 Maximum Value 32767 Default Value 0 Publication 1394 5 0 May 2000 8 24 Configuring Your 1394 Analog Servo System Torq Source Configures the source ofthe torque reference for the axis Automatically changed when Mode Sel parameter 11
51. Figure 1 1 Two Turbo Systems 1394x SJTxx T ALEC o 845 PanelView 550 MEF RIO AxisLink sj Encoder AxisLink 5 BE Of rt B L L L 4 5 loser B NE HU HO s um MN DH 485 i 1394x SJTxx T SLC 5 03 5 04 5 05 a oi Hosoi 1394 5 HR 1746 C7 or C9 i 1326AB 1326AS Motors Li 1326AB and 1326AS Motors i L 1 F Mz I3 LE J L3 H E L Li mm L3 Li 7 ra lt b l 1 Discrete Outputs lt 7 Discrete Inputs gt Dus 10 Analog Outputs E 842A i Analog Inputs Hlp w Encoder SS 4100 AEC 1 This interface is only available with the 1394x SJTxx T system module Publication 1394 5 0 May 2000 14 Overview
52. Metal conduit Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI OU O65 O50 is eel E N Motor power 360 480V cables AC power 8 AWG 8 4 mm 105 600V wire Max Length 3 05 m 10 ft for each wire Twisted conductors 2 twists per foot min or a shielded twisted pair Shielding is recommended for reducing the effects of EMI and RFI Publication 1394 5 0 May 2000 2 14 Installing Your 1394 applies to all systems Shunt Module Mounted Inside the Cabinet The illustration below details the proper position and cable routes for mounting the shunt module inside the cabinet Figure 2 14 Shunt Module Mounted Inside of the Cabinet Low voltage Motor power 360 480V Communications cables AC power Control I O wiring Motor feedback cables Always separate all low voltage signal 155 mm 6 1 in of wiring from high voltage power wiring to clearance on all sides reduce affects of EMI and RFI of the shunt module minimum AWG 8 4 mm2 105 C 600V wire Max Length 3 05 m 10 ft for each wire Use twisted conductors Publication 1394 5 0 Ma
53. Parameter Parameter Name 228 231 Cur Lim Cause 232 235 lq Cur Ref 236 239 Id Cur Ref 240 243 Stop Mode 244 247 Resolvr Turns 248 251 Up To Spd Tol 252 255 Desired BW 256 259 Vel Damp Sel 260 263 Bridge Lim 264 267 Cur Fbk Scale 268 271 Cur Fbk Rated 272 275 Anlg Vel Scal 276 279 Anlg Vel Ofst 284 287 ATune Vel 288 291 ATune Current 292 295 ATune Inertia 296 299 ATune Select 300 303 ATune Frictn 304 307 Max Bandwidth 308 311 Stopping Cur 324 327 Module Size 328 331 Axis Type 344 347 I t Cur Lim 348 351 Jog Vel 352 355 Int Vel Ref 356 359 Int Torq Ref 360 363 Source 364 367 Vel Source 368 371 Prop Gain Kp 372 375 Intg Gain Ki 376 379 Feed Fwd Gain 380 383 Droop 384 387 Stop Time Lim 388 391 300 Vel 392 395 100 Torq Vel 396 399 Mtr Pole Cnt 400 403 Fdbk Pole Cnt 404 407 Motor Type Publication 1394 5 0 May 2000 84 Configuring Your 1394 Analog Servo System 100 Torq Vel Motor velocity at 10096 rated motor torque Note Before making modifications to Mtr Data parameters Motor Type must be set to custom motor Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 392 Mtr Data rpm Read Write Yes No 1 rpm 8000 rpm This is determined by the motor catalog number 30095 Torq Vel Motor velocity at 30096 rated motor torque Note Before making modifications to Mtr Data
54. Publication 1394 5 0 May 2000 9 24 Troubleshooting 4 Check the circuit resistance of the two DCLM fuses by connecting the probes of an ohm meter as described in the table below Refer to Figure 9 5 for the connector locations Connect the Connect the If the meter red lead to black lead to reading is Ie SD ENGINES Blown Replace the Top bus DC Left front Open high ohms 1394 DCLM power connector Short low ohms Good Blown Replace the Bottom bus DC Right front Open high ohms 139 ISOLE power connector Short low ohms Good Figure 9 5 Checking for a Blown Fuse 1394 DCLM Slide mechanism Top bus DC power connector Bottom bus DC power connector Right front Left front socket Publication 1394 5 0 May 2000 Replacing the 1394 Shunt Module Fuse Troubleshooting 9 25 To replace the fuse in 1394 shunt modules Catalog Numbers 1394 SR10A SR9A SROAF SR36A and SR36AF refer to the specific set of instructions Replacing the 1394 SR10A Fuse 1 Remove power from your system including power to the shunt module ATTENTION This system may have multiple sources of power More than one disconnect switch may be required to de energize the system To avoid shock hazard or personal injury verify that all power has been removed before proceeding ATTENTION This product contains sto
55. minimum wire braid Bonded cabinet ground bus to subpanel Scrape the paint around each fastener to maximize metal to metal contact The procedures in this section assume you have prepared your panel and understand how to bond your system To mount your 1394 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 properly bonded to the subpanel Refer to Bonding Your System for more information 2 Hang the 1394 System Module on the two fasteners on the left side of the subpanel Important If you are mounting a GMC Turbo system module 1394x SJTxx T 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 connecting the SLC interface cable 1746 C7 or C9 Installing Your 1394 applies to all systems 2 9 If you are mounting a Do this 1394 AMOA or 1 Hang the axis module on the next 7 1394 50 mounting fastener IH or AM75 IH axis Goto main step 5 module 1394 50 or AM75 1 Remove the paper backing from axis module with the the gasket that came with the heat sink through the 50 75 axis module back of the enclosure refer to Figure 2 3 2 Position the gasket so that the sticky side faces
56. 1 Axis 9 440 8520 1Sx 1 1 2 0 3 Axis 9 440 8520 3Sx 3 31 2 11 4 Axis 9440 8520 45 4 42 2 32 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 feedback port J11 the third resolver feedback J3 is disabled You can connect a total of six feedback devices If you use four resolvers the last encoder port J11 is not available If you use all three encoder feedback ports the third resolver feedback J3 is disabled For more information on the 9 440 refer to the 9 Series Integration and Maintenance Manual publication 8520 6 2 Overview 1 9 Fig
57. 1326AS B420x 21 without brake 208 238 278 6x 6x 30 30 0 8 19 9 38 10 95 0 236 x 0 236 x 1 18 1 18 1326AS B440x 21 without brake 259 289 329 6x 6x30 30 0 10 19 11 38 12 95 0 236 x 0 236 x 1 18 1 18 1326 5 460 21 without brake 310 340 380 6x6x30 30 0 12 19 13 38 14 95 0 236 x 0 236 x 1 18 1 18 If you are ordering a 1326 5 4 21 4 with an optional 24V DC 10 2 90 Ib in brake add 46 mm 1 81 in to AD AG and C Dimensions are per NEMA Standards MG 7 2 4 1 3 and IEC 72 1 Shaft and pilot tolerances are per DIN 42955 N tolerance Publication 1394 5 0 May 2000 A 30 Specifications Figure A 22 1326AS B6 Series Servo Motor C 3 3 AG AD1 lt 23 0 91 i lt AL 1 180 014 179 989 7 087 7 086 1 12 6924 12 6746 20 45 18 92 21 32018 32 002 0 4997 0 4990 0 83 AS 125 0 805 0 745 035 1 261 1 260 1 38 397 015 0554059 7 MB 1 25 Tapped hole e Motor Front End 3 18 078 DS iin Cap Corner Radius 2 15 mm Dia Thru hole Shaft Detail els 27 00 26 80 ____56 0 3 4 required on a 215 mm Dia B C 1 063 1 055 2 20 GShaft and Pilot Tolerances All n Bradl Shaft Runout 0 05 0 002
58. Allen Bradley 842A 31 Encoder for the B4 series motor M52 Allen Bradley 842A 31 Encoder for the B5 series motor M72 Allen Bradley 842A 31 Encoder for the B7 series motor Note All kits contain a feedback 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 Publication 1394 5 0 May 2000 D 6 Catalog Numbers 1326AS Servo Motors Motor Flange Bulletin Frame Motor Winding and Shaft Number Type Voltage Series Length Designator Series Standard Options 1326 AS Rare Earth AC Servomotor B 460V AC 75 mm Approximate stator size 100 mm Approximate stator size 150 mm Approximate stator size 200 mm Approximate stator size gt Sequentially numbered to indicate the magnet stack length within a given frame size Letter designation for rated motor speed 21 IEC metric flange with keyway 2 26 N m K4 10 2 N m 20 Ib in Holding brake with 24V DC coil for 1326AS B3 frame series 90 Ib in Holding brake with 24V DC coil for 1326AS B4 frame series K6 36 7 N m 325 Ib in Holding brake with 24V DC coil for 1326AS B6 frame series K8 50 9 N m 450 Ib in Holding brake with 24V DC coil for 1326AS B8 frame series XXXxx Special design opt
59. SERCOS and Analog Servo system modules Series C or later and axis modules Series C or later Improved grounding terminations on GMC GMC Turbo SERCOS and Analog Servo system modules Series C or later and axis modules Series C or later Note determine the series of your module refer to Figure P 1 in the Preface Publication 1394 5 0 May 2000 1 16 Overview Publication 1394 5 0 May 2000 Power IGBT technology for efficient quiet operation Transient MOV voltage phase loss and ground fault protected input An integral 200W shunt resistor is available 5 and 10 kW only An external 1400W shunt kit is available 5 and 10 kW only Other external shunt kits and modules from 300 to 3600W continuous Current ratings of 3 0 4 5 and 7 5A continuous at 50 C 122 F inside cabinet and 23 3 and 35 continuous at 40 C 104 F with heat sinks out the back with up to 30096 motor ratings for high duty cycle operation producing continuous torque ranges of 0 7 to 53 0 N m 6 to 469 Ib in 324 528V AC three phase 50 60 Hz direct line operation No isolation transformer or inductors are required 360 480V AC Hz direct line operation for most applications Advanced protective features such as software based current foldback which provides overload tolerant operation and soft current limiting Integration Hinged system module front cover for easy access to control and power wiring
60. TB2 5 axis 1 Each input is optically isolated and filtered to TB1 11 axis 2 minimize switch bounce Refer to Figure 4 4 TB2 11 axis 3 NEG The negative limit switch inputs for each axis TB1 6 axis 0 TB1 6 axis 0 Optional OTRAVO require 24V DC each 12 mA to energize TB2 6 axis 1 Each input is optically isolated and filtered to TB1 12 axis 2 minimize switch bounce Refer to Figure 4 4 TB2 12 axis 3 THERM The thermal fault switch inputs for each axis TB1 7 axis 0 TB1 7 axis 0 Optional FLTO require 24V DC each 12 mA to energize TB2 7 axis Each input is optically isolated and filtered to TB1 13 axis 2 minimize switch bounce Refer to Figure 4 4 TB2 13 axis 3 Figure 4 4 Home Travel and Thermal Fault Inputs TB1 Axis 0 n Home oo Travel 5 oO Similar for Travel TB2 Terminals 4 9 Axis 1 6 0 TB1 Terminals 10 15 Axis 2 TB2 Terminals 10 15 Axis 3 Thermal 8 Common Shield 9 24V DC Publication 1394 5 0 May 2000 4 6 Wiring 1394 GMC and GMC Turbo Systems Terminal connections for Terminal connections for Wire Description 1394 5 C RL 1394C SUTxx L and TGA and T T RL systems L RL systems REG 5V 24V High speed optically isolated filtered For 5V For 5V Optional COM registration input for each axis Inputs can TB1 16 axis 0 TB1 16 axis 0 be either 5 or 24V DC Refer to Figure 4
61. nderstanding GMC Turbo and GMC controller faults U U Understanding system faults U U nderstanding Analog Servo system module faults Troubleshooting general system problems Replacing system and axis modules Checking for a blown fuse in the 1394 DCLM Replacing 1394 the shunt module fuse Replacing the AM50 and AM75 axis module fan ATTENTION This product contains stored energy devices 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 You should only attempt the procedures in this chapter if you are qualified to do so and familiar with solid state control equipment and the safety procedures in publication NFPA 70E ATTENTION Do not attempt to defeat or override the drive fault circuits You must determine the cause of a fault and correct it before you attempt to operate the system If you do not correct a drive or system malfunction it could result in personal injury and or damage to equipment as a result of uncontrolled machine system operation ATTENTION If you use an oscilloscope or chart recorder for troubleshooting you must properly ground it The oscilloscope chassis can be at a potentially fatal voltage if you do not properly ground it Always connect the oscilloscope chassis to an earth ground Publication 1394 5 0 May 2000 9 2 Troubleshooting Understanding How to Detect a Problem Understandin
62. 0 236 x 0 236 x1 18 1 21 High Resolution 1326AB B410x 21M S without brake 2017 2418 2817 6x6x30 30 7 7 94 9 52 11 09 0 236 x 0 236 x 1 18 1 21 1326AB B420x 21M S without brake 258 8 299 0 3388 6x6x30 30 7 10 19 11 77 13 34 0 236 x 0 236 x 1 18 1 21 1326AB B430x 21M S without brake 328 7 368 8 408 7 6x6x30 30 7 12 94 14 52 16 09 0 236 x 0 236 1 18 1 21 Tif ordering a 1326AB B4xxxx 21 K4 with optional 24V DC 8 1 N m 72 Ib in brake add 45 mm 1 75 in to AD AG and C 2 If ordering a 1326AB B4xxxx 21 xK4L with optional 24V DC 8 1 N m 72 Ib in brake IP67 rated add 45 mm 1 75 in to AD AG and C Dimensions are per NEMA Standards MG 7 2 4 1 3 and IEC 72 1 Shaft tolerance per DIN 42955 N tolerance Publication 1394 5 0 May 2000 A 26 gt Specifications Figure A 18 1326AB B5 Torque Plus Series Resolver and High Resolution Feedback lt C gt AG gt p I lt 5 gt 137 M8 x 1 25 X ls 0 138 Eyebolt Thread 4 gt 1 61 130 20 130 15 Dia 5 126 5 124 Dia 9 52 9 50 Dia 0 3750 0 3745 Dia High Resolution Motor End a 145 57 2 0 0 079 X Inspection Holes 4 Top and Bottom _ 1 16 27 NPT Plugs 8 08 8 00 0 318 0 315 Shaft Detail D
63. 1 cable or equivalent dis Power Supply Analog Out Px 1 1 22 CMND Analog Out Px 2 1 23 CMND Drive Enable 3 J1 20 Enable Drive Enable Px 4 J1 26 1 0 PWR DROK Px 5 J1 25 Ready DROK Px 6 iv J J1 24 Ready Shield Px 7 Required on ULTRA 100 only 2 x axis controlled by DIM 1394 DIM Configurations 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 Figure 4 21 A 1394 DIM Connected to a GMC or GMC Turbo Front of the units 1394 DIM ground connector 5 E Bottom of the 1394 DIM L B e H I 4 oa Bottom of the T qm 1394 GMC or 1394 z er GMC Turbo System m y LEE je Coase ao CE Cy 1 i J pS cH
64. 1 AQB1 2 AQB2 3 AQB3 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 of the cable insulation and braided shield is removed from the feedback cable Place the cable wires and exposed braided shield into the 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 Module Cable Clamp Cable wires 51 mm 2 0 in Bracket Y Screw 22 mm 524 Braided Cable Keel 875in R shield Clamp shield 5 exposed screw clamp Feedback cable clamps Motor 1 Dimensions given are approximate and will vary cable depending on the specific installation Keep wires 8 as short as possible while maintaining adequate stress relief System module 1394 front view ground bar Vd Cable Preparation Clamp Attachment Wiring to System Module Publication 1394 5 0 May 2000 Wiring Your 1394 Analog Servo System 5 7 Refer to the Appendix D for more information about connectors and accessories and Appendix B for interconnect information The table below describes each of the 12 connector pins a s Description Axis x Vref Axis x Tref 4 5V DC Power Su
65. 17 91 20 27 0 39 x0 31 x 1 97 2 00 1326AB B740x 21 without brake 253 2 2 502 4 543 8 603 8 10x8x50 50 8 9 968 19 78 21 41 23 77 0 39 x 0 31 x 1 97 2 00 High Resolution 1326AB B720x 21M S without brake 164 3 12 324 6 3719 4318 10x8x50 50 8 6 468 12 78 14 64 17 00 0 39 x0 31 x 1 97 2 00 1326AB B730x 21M S without brake 208 7 2 413 5 460 8 520 7 10x8x50 50 8 8 218 16 28 18 14 20 50 0 39 x0 31 x 1 97 2 00 1326AB B740x 21M S without brake 253 2 12 5024 5497 6096 10 8 50 50 8 9 968 19 78 21 64 24 00 0 39 x 0 31 x 1 97 2 00 1 If ordering a 1326 7 21 7 with an optional 24V DC 45 1 N m 400 Ib in brake add 76 2 mm 3 0 in to AD AG and C 38 1 mm 1 5 to AL 2 f ordering a 1326AB B7xxxx 21 xK7L with an optional 24V DC 45 1 N m 400 Ib in brake IP67 rated add 76 2 mm 3 0 in to AD AG and 38 1 mm 1 5 to AL Dimensions are per NEMA Standards MG 7 2 4 1 3 and IEC 72 1 Shaft tolerance per DIN 42955 N tolerance Publication 1394 5 0 May 2000 A 28 Specifications Figure A 20 1326AS B3 Series Servo Motor 3050 5 Commutation 1 181 Resolver Output Powerinput 7 1 61 7 ym 5 w a as
66. 21 Command Mask 22 Dig Cmd Mode 23 Typ 1 Logic Axis 24 Enble Input Mode 25 Hardware Version 30 32 34 36 Option x Code 31 33 35 37 Option x Status 38 Sys Mod Status 2 39 Bus Voltage 40 Rg Power Usage 41 Mt Power Usage 42 Shunt Usage 43 Shunt Type 44 Shunt R 45 Shunt P 46 Shunt Ks 47 Shunt 48 Shunt Ws 49 Shunt Type 50 DC Link Setup 51 Shunt Peak Usage Configuring Your 1394 Analog Servo System 8 3 A description of the 1394 Analog Servo parameters is provided on the following pages The parameters are listed in alphabetical order and cross referenced in the table that follows for locating parameters by number Parameter Parameter Name 58 69 Rem Data In Out Px 70 85 Rem Data In Out Ax 90 Pwr On Minutes 91 Pwr On Days 92 Enabled Minutes 93 Enabled Days 94 Sum On Minutes 95 Sum 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 Lim 140 143 Vel LowPas BW 144 147 Ld Lg Degrees 148 151 Ld Lg Freq 152 155 CW OvSpd Vel 156 159 CCW OvSpd Vel 164 167 Cur Preload 172 175 Id RPM Start 176 179 Id RPM End 180 183 Id Slope 184 187 Pos Cur Lim 188 191 Neg Cur Lim 192 195 Cur Rate Lim 196 199 Mod Rng Data 200 203 State 204 207 Vel Ref Whole 208 211 Vel Ref Fract 212 215 Dig Torq Ref 216 219 Resolvr Posn 220 223 Vel Command 224 227 Vel Feedback
67. 275 Vel Cmd Data rpm v Read Write Yes No 1000 0 rpm v 1000 0rpm v 500 0 rpm v for example 3000RPMMaximum _ _ 3000RPM _ RPM 9000RPMMaximum _ 8VDCMaximumCommand Volts 7 Volts ATune Current The motor current used while an auto tune cycle is executing is specified with this parameter In most cases the default setting will be satisfactory Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 288 289 290 291 ATune Config amps Read Write Yes No 10 rated motor current 200 rated motor current 50 rated motor current Publication 1394 5 0 May 2000 Configuring Your 1394 Analog Servo System 8 5 ATune Frictn The system friction as measured by the auto tune cycle is represented through this parameter Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 300 301 302 303 ATune Config 96 Read Write Yes No 096 1296 6 ATune Inertia System inertia as measured by auto tuning This parameter is calculated during auto tune and is the time that the motor and load takes to reach ATune Vel at ATune Current and back to zero rpm This needs no manual user adjustment since it is a product of the auto tune function To determinethe inertia ofthe machine system use the following
68. 2g as 89 sq t 58 7 SES 8 50 ef gc Y t 11 53 14 008 13 997 0 060 0 5515 0 5511 i 9 525 9 500 Dia 0 375 0 374 5 00 4 97 gt Fal x 0 7 Tapped hole 254 010 0 197 0 196 5 10 0 39 Deep min 7 mm Dia Thru Hole Motor Front End 4 i 1 Dia B C i Shaft Detail E 1100 1090 required on a 100 mm Dia B C Cap Corner Radius 0 433 0 429 O Shaft and Pilot Tolerances Allen Bradley Shaft Runout 0 025 0 001 T LR Shaft Endplay 0 025 0 001 SERIES Pilot Eccentricity 0 08 0 0032 PART NO DATE CODE Maximum Face Runout 0 08 0 0032 T I R MAX SPEED RPM RES XXX OHMS 25 C MAX CONT OUTPUT POWER KW 40 MAX CONT STALL TORQUE Nm LB IN 40 C MAX CONT RMS AMPERES AMPS 40 C BRAKE LB Voc ADC BRAKE COIL OHMS 25 RATED 40 C Name Plate Detail MADE IN U S A Flange Mount in millimeters and inches Catalog number Description AD AG C Key End milled keyway full depth 1326AS B310x 21 without brake 135 165 195 5x5x 20 20 5 32 6 50 7 68 0 197 x 0 197 x 0 79 0 79 1326 5 330 21 without brake 186 216 246 5x5x20 20 7 32 8 50 9 68 0 197 x 0 197 x 0 79 0 79 If you are ordering a 1326AS Baxxxx 21 K3 with an optional 24V DC 2 26 N m 20 Ib in brake add 39 mm 1 54 to AD AG and C Dimensions are per NEMA Standards MG 7 2 4 1 3 and IEC 72 1 Shaft and pilot tolerances are per DI
69. 4100 REC Axis 0 or Axis 1 Connector 1394 GMC or GMC Turbo Encoder Feedback Connector 9 a Black fA 9 2 lt XX Red gt 7 White 4 lt 1 10 XX Black 2 bs Green 3 11 lt Black 4 Blue 6 lt 5 12 XX Black 6 Cable is Belden 9504 12 Encoder Power gt 12 5V DC a Red 10 45V DC Com a Black gt 11 Cable is Belden 9501 Interconnect and CE Diagrams B 29 Figure B 24 1394 SA15 Cable Connections 1394 SA15 Encoder Flying Leads of Feedback Connector Customer Supplied Cable 12 lt Black RNC 6 XX Green gt Z High 11 pack gt B Low Red ioh Incremental Encoder e Black BHOh ENCODER 10 gt ALow ix White E Cable is Belden 9503 Shield oe 1 XX Red A Axis X VREF 74 SHE Axis X VREF White Analog Input 2 BEER gt Axis X TREF V amp TREF 8 lt gt Axis X TREF V ghield Cable is Belden 9729 Shield Hu dm gt 5V Input Encoder Power gia i Cable is Belden 9501 Commonin ENC PWR Shield Publication 1394 5 0 May 2000 B 30 Interconnect and CE Diagrams Grounding for 1394 CE Requirements Refer to the figure below for CE grounding requirements for 1394 installation Figure B 25 1394 CE Requirements
70. 5 ao az a5 FA E a2 T w Q aa 2 gt 5 lt y O 8 T z Azo lt c 5 gt aoe E oz aa a gt 154 2 ots E ug ROS 5 29 m bi z 3 E amp uz T INDICATES USER SUPPLIED COMPONENT E Publication 1394 5 0 May 2000 CONTROL POWER amp SIGNALS DC BUS POS DC BUS NEG SLIDER INTERCONNECT MOTOR POWER CABLE NOTE 4 SEE BOTTOM VIEW FOR RESOLVER CONNECTIONS Interconnect and CE Diagrams B 5 AXIS MODULE TYPICAL 051 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 SLIDER INTERCONNECT TO ADDITIONAL AXIS MODULES THERMOSTAT AND BRAKE FEEDTHRU NOTE 29 TERMINATOR CONNECTS MOTOR BRAKE MOTOR THERMAL TO THE LAST AXIS MODULE FILTER Series C SWITCH FILTER Series C Nx Ib NY YY See Thermal Diagrams For Connections X 33mm 12 AWG TO SYSTEM MODULE T gt GROUND BAR Series C system modules NOTE 21 TO OTHER AXES PE GND 33mm 12 AWG BONDED SYSTEM GROUND BAR Series A and B system modules THERMOSTAT NOTE 21 33mm 12 AWG oy FAC
71. Available Limiting to Short Circuit Rating of Down Stream Breaker T Distribution Block Breakers Selected for Device Protection With Limited Short 2 Circuit Interupt Capability Drive Drive Drive Required Protection under 110 10 of NEC 1999 Allowed But 1 4251 Traditional No Longer Preferred 54 N Current Limit Fused P Disconnect or Breaker Rated for 4 Short Circuit Available Limiting to Short Circuit Rating of Down Stream Breaker Breakers Selected for Device Protection 7 With Limited Short Circuit Interupt Capability Publication 1394 5 0 May 2000 8 Specifications To avoid nuisance tripping refer to the following table and select the appropriate combination of system module secondary circuit protection device and axis modules Use System Module With Secondary Circuit Protection Device And Axis Module Combination 1394x SJT05 x 1492 CB3 H300 Any combination of and AM04 up to 4 axis modules Any combination of 03 AM04 and 07 where no more than two 075 are being used Use of other 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 Other combinations of 07 50 and AM75s Some local rec
72. Baud rate 57 6 k 115 2 k or 230 4 k user selectable Rack address User selectable between 0 and 31 decimal Rack width User selectable in quarter rack increments 1 4 1 2 3 4 or full Transfer type Group Block 0246 024 0 2 0 Discrete 1357 135 13 1 Discrete 24 6 24 2 Discrete 357 3 5 3 Discrete 4 6 4 Discrete 57 5 Discrete 6 Discrete il Starting I O group 0246 024 0 2 0 Rack width 1 4 1 2 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 68 outputs Full rack width with 100 inputs and 100 outputs Maximum block transfer length 64 words 128 bytes Block transfer data types User variable values Axis data parameter value Axis data bit state Master cam position point values Master cam time point values Slave cam position point values Axis or system variable value Block transfer data formats 32 bit double word 2s compliment integer 16 bit single word 2s compliment integer 32 bit 8 digit signed BCD 32 bit IEEE floating point Word swapped 32 bit double word 2s compliment integer Word swapped 32 bit 8 digit signed BCD Word swapped 32 bit IEEE floating point Publication 1394 5 0 May 2000 A 16 Specifications AxisLink Specifications The table below lists
73. Checking for a Blown Fuse in the 1394 DCLM Troubleshooting 9 23 To check the 1394 DCLM for a blown fuse 1 Remove power from your system including the 1394 DCLM ATTENTION To avoid shock hazard or personal injury assure 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 only attempt the procedures in this document if you are qualified to do so and familiar with solid state control equipment and the safety procedures in publication NFPA 70E 2 Remove the terminator from the right side of the 1394 DCLM Figure 9 3 Removing the Terminator from the 1394 DCLM zz Terminator 7 Cable plug 3 Remove either the power plug from the stand alone 1394 DCLM shown above or remove the cable linking two systems together as shown below Figure 9 4 Removing the Cable from the 1394 DCLM mJ I o FE 70 DCLM cable
74. GR04 1 2 4 ft cable from the REC Resolver to Incremental Encoder Converter to the 1394 GMC System Module Single Axis Flying Lead Cable Bulletin Number Type Flying Lead 1394 Interface to 1394 C Cable FL Flying Lead AE Analog Encoder ControlLogix Servo Module Cable Style and Length 01 MO2AE flying lead to 1394 SUTxx A flying lead 1 axis 1 m 3 28 ft 03 MO2AE flying lead to 1394 SJT x A flying lead 1 axis 3 m 9 84 ft 08 MO2AE flying lead 1394 SJT x A flying lead 1 axis 8 m 26 24 ft 15 MO2AE flying lead to 1394 SJTxx A flying lead 1 axis 15 m 49 2 ft Two Axis Prewired Cable Bulletin Number Type 1394 Interface to 1394 CC Cable with ControlLogix 2 Connector AE Analog Encoder ControlLogix Servo Module Cable Style and Length 01 MO2AE pre wired connector to 1394x SJTxx A flying lead 2 axes 1 m 3 28 ft 03 MO2AE pre wired connector to 1394x SJTxx A flying lead 2 axes 3 m 9 84 ft 08 MO2AE pre wired connector to 1394x SJTxx A flying lead 2 axes 8 m 26 24 ft 15 MO2AE pre wired connector to 1394x SJTxx A flying lead 2 axes 15 m 49 2 ft Publication 1394 5 0 May 2000 D 6 Catalog Numbers 1326AB Servo Motors Motor Flange Bulletin Frame Motor Winding and Shaft Standard Number Type Voltage Series Length
75. Go to main step 4 Note To determine the series of your module refer to Figure P 1 in the Preface Publication 1394 5 0 May 2000 Side Control Board Screw Wiring System Axis and Shunt Modules and Motors for all systems 3 9 4 Close the system module door 5 Goto Grounding Your 1394 System Figure 3 4 Ground Jumper Locations for the 5 and 10 kW System Modules Q 1394C SJ Txx x 1394 5 Txx x A 5 and 10 kW Series C 5 and 10 kW Series A and B 5 9 DANGER O Upper O Control Board GND3 Screw T Ribbon Cable Connector Lower Control Board Screw DO Qa J4 J5 J6 Setting the Ground Jumper in a 22 kW System Module for Ungrounded Power Configurations This procedure assumes that you have bonded and mounted your 1394x SJT22 x system module to the subpanel and that there is no power applied to the system To set the ground jumper 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 the system 2 Open the system module door 3 Disconnect both ends of the input wiring board ribbon cable Refer to Figure 3 5 for
76. May 2000 Interconnect and CE Diagrams Axis 0 1394C AMxx Motor thermal Switch filter Series C Motor brake filter Series C The example below shows 1394 Series C axis modules wired for thermal fault monitoring Depending on how the 1394 GMC system is configured the fault can be used to disable one or all of the four axis modules Figure B 9 Non Isolated Series E Stop with Thermal Fault Monitoring Axis 1 1394C AMxx Motor brake filter Series C Motor thermal switch filter Series C Axis 2 1394C AMxx Motor thermal Motor brake switch filter filter Series C Series C P ry 4 3 L4 TE 3 bop Axis 3 1394C AMxx Motor thermal switch filter Series C Motor brake filter Series C 24V DC Power Supply 24V DC com 24V DC PN TBI 1394 GMC Input Wiring Board TB2 24V DC 1 1 3 1394x SJTxx C 2 1394x SUTxx C RL 4 THERM FLT 0 5 m E THERM FLT 1 17 1394x SJDocT 5 1394x SJTxx T RL 5 10 10 11 11 THERM FLT2 12 He THERM FLT 3
77. Reverse directions for TB2 Wiring 1394 GMC and GMC Turbo Systems 4 5 Input Wiring Board Signal Descriptions The following tables provide descriptions of the various control signals shown in Figure 4 1 Terminate the signals you need for your application using the terminal operating tool Terminal connections for Terminal connections for Mandator Wire Description 1394x SJTxx C C RL 1394C SJTxx L and and T T RL systems _ L RL systems p 5 5 A 24V DC input is applied to these terminals Either TB1 or TB2 Either TB1 or TB2 Mandatory ENABLE to enable the system terminal 1 terminal 1 24V Common grounding point for 24V signals TB1 and TB2 terminals 2 TB1 terminals 2 and 8 Mandatory INPUT 8 and 14 COM CHASSIS Common chassis ground point TB1 terminals 3 9 15 TB1 terminals 3 9 19 and 27 Mandatory 19 23 and 27 TB2 terminals 3 19 26 and 27 TB2 terminals 3 9 15 19 23 26 and 27 HOMEO Home switch inputs for each axis require 1 4 axis 0 4 axis 0 Optional 24V DC each 13 mA to energize Each TB2 4 axis 1 input is optically isolated and filtered to TB1 10 axis 2 minimize switch bounce Refer to Figure 4 4 TB2 10 axis 3 POS The positive limit switch inputs for each axis TB1 5 axis 0 TB1 5 axis 0 Optional OTRAVO require 24V DC each 13 mA to energize
78. TLR Allen Bradley Shaft Endplay 0 025 0 001 SERIAL NO ET CAT NO SERIES Pilot Eccentricity 0 10 0 004 T I R DATE Maximum Face Runout 0 10 0 004 MAX SPEED RPM RES XXX OHMS 25 C MAX CONT OUTPUT POWER KW 40 C MAX CONT STALL TORQUE Nm LB IN 40 C MAX CONT RMS AMPERES AMPS 40 C BRAKE LB voc ADC BRAKE COIL OHMS 25 C RATED 40 C TAN 146578 Plate Detail BULLETIN 1326 AC SERVO MOTOR MADE IN U S A Flange Mount in millimeters and inches Catalog number Description AL AD1 AD2 AG C Key End milled keyway full depth 1326AS B630x 21 without brake 69 255 231 291 351 10x 8x 40 40 2 71 10 03 9 09 11 45 13 81 0 394 x 0 315 x 1 57 1 57 1326AS B660x 21 without brake 145 331 307 367 427 10x 8x 40 40 5 71 13 03 12 09 14 45 16 81 0 394 x 0 315 x 1 57 1 57 1326AS B690x 21 without brake 221 407 383 443 503 10x 8x 40 40 8 71 16 03 15 09 17 45 19 81 0 394 x 0 315 x 1 57 1 57 Ifyou are ordering 1326AS B6xxxx 21 K6 with an optional 24V DC 36 7 N m 325 Ib in brake add 54 mm 2 13 in to AL AD1 AD2 AG and C Dimensions are per NEMA Standards MG 7 2 4 1 3 and IEC 72 1 Shaft and pilot tolerances are per DIN 42955 N tolerance The eye bolt diameter is 30 48 mm 1 20 in O D x 19 05 mm 0 75 I D Publication 1394 5 0 May 2000
79. Verify line and 24V control power 2 Goto main step 1 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 Setting Up Your System Using GML Commander Commissioning 1394 GMC and GMC Turbo Systems 6 3 7 If the system module LED Then Flashes green The control and bus power are active but the modules are not enabled Go to step 8 Flashes red and green flashes You may have a wiring red or remains solid red problem Go to the Troubleshooting chapter Does not illuminate 8 Apply 24V DC to the system enable 1 1 2 or TB2 1 2 on the input wiring board to enable the system module The system module s Status LED should be solid green When you apply power to the motion controller the hardware and software are initialized Refer to the GML Commander Reference Manual publication GMLC 5 2 or GML 3 x User Manual publication 999 104 for a listing of the initialized values This section 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 Acomputer running Windows 95 and GML Commander Note 1394C SJTxx L system modules require GML Commander 4 03 or later e serial cable to connect the compu
80. for 480V AC secondary and 500 VA The fuse is a Brush Bussmann 600V AC 10A FRS R 10A The contactor is an Allen Bradley Bulletin 100 C12x10 contactor Figure 4 25 1394 System Module Wired for Input Power Without Using Axis Modules 1394 System Module 1394 DIM Transformer Fuse Contactor U 3 F1 MI 480V AC V F2 M2 12 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 4 26 Drive OK Input 15V DC 1 1394 DIM Axis DROK Px 5 0 Axis DROK a Px 6 i L NA Note axis connector number Wiring 1394 GMC and GMC Turbo Systems 4 25 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 4 27 Drive Enable Output 1394 DIM Axis Enable 1 4 1 t 1 Normally 1 Open Relay Axis Enable Px 3 Note x axis connector number Analog Output The analog output is an isolated signal provided by the 1394 DIM and has a
81. or unsigned Unipolar If Parameter Read Write unipolar operation is selected velocity direction Change While Running No is selected by the discrete direction commands Linkable No Default Value 0 Bipolar Selections 0 Bipolar 1 Unipolar Dig Torq Ref This parameter is the present value of digital torque reference This parameter must be the destination of link for any data to be output Parameter Numbers Parameter Group Display Units Parameter Type Linkable 212 213 214 215 Torq Data amps Read Write Yes Publication 1394 5 0 May 2000 8 10 Configuring Your 1394 Analog Servo System Disp D A Monitor Parameter Numbers 20 This parameter quickly establishes links to the Parameter Group Setup D A test points It will link the selected axis Iq Display Units None Cur to test point 1 and the Vel Feedback Parameter Type Read Write to test point 2 It will also link the Vel Feedback Change While Running No to all the SCANport analog display parameters Linkable No Default Value 0 Axis 0 Selections 0 Axis 0 1 Axis 1 2 Axis 2 3 Axis 3 4 Not Linked Drive OK Mode Parameter Numbers 19 This parameter selects operation ofthe DriveOK Parameter Group Setup relay DROK Display Units None Parameter Type Read Write Change While Running Yes Linkable No Default Value 0 Fault Only Selections 0 Fault Only active fault opens DROK relay 1 F
82. volts etc Drive Units These are internal Display Units used to communicate through the serial port and to scale values properly when reading or writing to the drive Type Read Only The value is changed only by the drive and is used to monitor values Read Write The value is changed through programming This type can also be used to monitor a value Change While States whether the parameter can be changed while the drive is Running running Linkable States whether the parameter can be linked Minimum Value This is the lowest setting possible for parameters Maximum Value This is the highest setting possible for parameters Default Value This is the value assigned to each parameter at the factory It is also the value that will be restored if you choose to restore defaults from the HIM Display text appears within quotation marks Selections Predefined functions Display text appears within quotation marks Note determine the series of your module refer to Figure P 1 in the Preface Publication 1394 5 0 May 2000 Understanding Analog Servo System Parameters Parameter Parameter Name 1 Software Version 2 Units Sel 3 Startup State 4 Language Sel 5 Slot 0 Opt Card 6 Sys Mod Data 7 Sys I O Image 8 Status Display 9 Line Voltage 10 11 D A Gain 12 13 D A Value 14 System Type 16 Test Mode Sel 17 Type 1 Status 18 Type 2 Status 19 Drive OK Mode 20 Disp D A Monitor
83. 4 92 6 89 12 0 0 47 NB E lA DANGER All Slots Accept M6 or 1 4 20 Mtg Screws LEER Y Dimension shown is for mounting hardware Y location and does not reflect the location of the lower slot radius Figure A 14 1394 SR 9A and 9AF Side View Dimensions 280 i 11 01 A A 175 125 6 89 4 92 Y Y _ Dimensions are in millimeters and inches Publication 1394 5 0 May 2000 Specifications Figure A 15 1394 SR 36A and 36AF Front View Dimensions 3 150 5 91 25 0 98 0 32 Y 3 94 Y 0 98 6 Allen Bradley 1394 Digital Servo Controller 3600W Shunt Module 350 13 78 400 385 0 fastener location ALLEN SRADLEY Qf 1394 3600W SHUNT cca ma A Y Y i Y Publication 1394 5 0 May 2000 Dimensions are in millimeters and inches Depth 280 11 02 Mounting Hole Detail 8 0 0 31 gt 710 1 0 40 15 9 0 63
84. 422 Terminal RS 232 422 RS 232 RS 232 Right DH 485 Terminal 220Q RS 422 Terminal 220Q RS 422 Terminal 220Q DH 485 RS 422 RS 422 Publication 1394 5 0 May 2000 When a port is configured for RS 232 operation you can connect compatible serial communication devices using common RS 232 cables Refer to the table below for signal designations and Figure 4 11 for cable recommendations Refer to the IMC S Class Motion Control Installation and Setup Manual publication 999 122 for multidrop application instructions RS 232 RS 422 Pin Signal Description Pin Signal Description 1 NC No Connection 1 TxD Transmitted Data 2 TxD Transmitted Data 2 TxD Transmitted Data 3 RxD Received Data 3 RxD Received Data 4 DTR Data Terminal Ready 4 TxD Transmitted Data 5 Com Signal Common 5 Com Signal Common 6 DSR Data Set Ready 6 TxD Transmitted Data 7 RTS Ready To sent 7 RxD Received Data 8 CTS Clear To Send 8 RxD Received Data 9 NC No Connection 9 NC No Connection Refer to Data Highway Connection for DH 485 signal designations Important The RTS CTS and DSR DTR signals are internally jumpered to allow you to use standard RS 232 cables with serial devices requiring hardware handshaking Figure 4 11 RS 232 422 Cable Signals RS 232C JSICHAN A Serial Device J4 CHAN B Serial Device Com 5 RxD RxD 2 RxD TxD 3 T
85. 5 0 May 2000 Specifications A 17 Dimensions Within this section you will find dimensions for e The 1394 system module e Axis modules including 1394 DIM and 1394 DCLM e Filters e External shunt modules e Motors 1394 System Module Dimensions Figure A 3 1394x SJT05 1394x SJT10 and 1394x SJT22 System Module 150 0 5 91 9106358 25 0 0 98 lt 10 0 gt 1 97 8 0 0 32 260 m 1 02 Ly 1 n 1 N Dimensions are in millimeters and inches ey Depth 280 11 02 54 0 2 Allen Bradley k 2 13 26 7 uy Y 1 05 196 9 1394 Digital Servo Controller 7 75 GMC Turbo System Module Mounting Hole Detail 385 0 Fastner 400 0 Y celi 15 75 15 16 location soos j 10 1 0 40 Y o A lt gt a OSiatus 15 9 0 63 13 78 8 0 0 31 gt 4 DANGER 1 0 47 All Slots Accept M6 or 1 4 20 Mtg Screws 1 Dimension shown is for mounting hardware Y location and does not reflect the location of Y the lower slot radius Y 2 Dimensions apply to 1394x SJTxx T Turbo system module only ATTENTION If you are mounting a 1394x SJT T system module you will need an additional 101 6 mm 4 in of clearance to the left of the system module to allow for connecting the SLC interface cable 1746 C7 or C9 Publication 1394 5 0 M
86. 5 for TB2 16 axis 1 TB2 16 axis 1 typical registration device inputs TB1 20 axis 2 Note To further reduce electrical noise a TB2 20 axis 3 dedicated power supply may be required for the Sera For 24V For 24V TB1 17 18 axis 0 TB1 17 18 axis 0 You can disable the registration input filters TB2 17 18 axis 1 TB2 17 18 axis 1 by removing jumpers PO P3 on the input TB1 21 22 axis 2 wiring board TB2 21 22 axis 3 For COM For COM used with 5V and 24V used with 5V and 24V TB1 18 axis 0 TB1 18 axis 0 TB2 18 axis 1 TB2 18 axis 1 TB1 22 axis 2 TB2 22 axis 3 A TEST 1 Two software programmable outputs are TB1 24 A TEST 0 TB1 24 A TEST 0 Optional ATEST2 available TB1 25 A TEST 1 TB1 25 A TEST 1 ATESTCOM voltage corresponding to the motor TB1 26 A TEST COM TB1 26 A TEST COM velocity and direction of rotation will be present between these terminals 1 0V krpm is available Minimum impedance that canbe placed across this output is 10k ohm A voltage corresponding to positive and negative current will be present between these terminals 2 5 DC equals 10096 of motor continuous current rating 5 0V DC equals 200 Minimum impedance that can be placed across this output is 10k ohms Any axis analog current voltage output may be linked to either analog output using internal software parameters By default Axis 0 velocity is linked to A TEST 0 and Axis 0 current is linked to A T
87. Analog Servo System Publication 1394 5 0 May 2000 Defining Limits 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 Power Setting Up at the System Level Setting Up Analog Test Points Defining Your Motors Defining a Reference Source for Your Axes To define limits When the Ax Current Limit message appears press SEL The cursor moves to the bottom line Press either the up or down arrow until the appropriate current limit appears Default values are set by the motor type you selected You cannot exceed this value Press ENTER The system records your choice and the cursor moves to the top line Press ENTER A message similar to the following appears Ax Vel Lim 5000 0 rpm Note Default values are set by the motor type you selected You cannot exceed this value Press SEL The cursor moves to the bottom line Press either the up or down arrow until the appropriate velocity limit appears Press ENTER The system records your choice and the cursor moves to the top line Press ENTER A message similar to the following appears Ax ATune Select Idle 10 Go to Auto Tuning Commissioning Your 1394 Analog Servo System 7 11 Auto Tuning This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this cha
88. Analog Servo System 5 3 Figure 5 2 Terminal Operating Tool Insert wire Flat tab here To use the terminal operating tool with TB1 1 Putthe hook into the hook slot with tab end of the tool to your left Gently push the tool to the right to open the wire slot Insert the wire Gently release the tool by moving it to the left qu Reverse directions for TB2 Publication 1394 5 0 May 2000 Wiring Your 1394 Analog Servo System Input Wiring Board Signal Descriptions The tables below and on the following pages provide descriptions of the various control signals shown in Figure 5 1 Wire Description Connects to terminal s Mandatory or Optional A VREF A VREF The drive will accept up to a 10 DC velocity command signal to achieve maximum motor speed Voltages lower than 10V DC can be used by reprogramming Vel Scal You must terminate the shield at one end only The differential impedance of the velocity command input is 80k ohms 40k ohms for single ended inputs TB1 and TB2 terminals 1 2 3 8 9 and 10 Optional A TQREF A TQREF The drive will accept up to a 10 DC torque command signal to achieve maximum torque command Shield must be terminated at one end only The differential impedance of the command input is 80k ohms 40k ohms for single ended inputs 3V DC 10096 rated motor curr
89. CPC1 xxx standard power cable B 25 1394 analog servo system commissioning 7 1 configuring 8 1 Human Interface Module HIM 1 7 interconnect diagrams B 9 parameters 8 3 setting up 7 2 software diagram part 1 8 28 software diagram part 2 8 29 wiring 5 1 1394 cable pin outs 1394 CCAE B 26 1394 CFLAE B 27 1394 GE15 B 28 1394 GR04 B 28 1394 SA15 B 29 1394 programming information CNC 8 1 GMC or GMC Turbo 8 1 SERCOS 8 1 1394 standard features 1 15 control 1 15 integration 1 16 power 1 16 1394 system commissioning GMC GMC turbo 6 1 installing for all systems 2 1 overview 1 1 troubleshooting 9 1 wiring for all systems 3 1 wiring for GMC GMC turbo 4 1 1394 system modules 1 10 1394 system overview 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 Index 1394 System Safety Precautions 1 2 1394 DCLM checking for a blown fuse 9 23 DC link cable 1 14 dimensions A 18 linking two DCLMs together 2 11 mounting 2 11 power plug 2 11 specifications A 4 1394 DIM configuration 4 21 configuration examples 4 22 DIM not connected to axis 4 23 DIM with multiple axis 4 22 DIM with single axis 4 23 input power wiring 4 24 connected to 1394 GMC GMC turbo 4 19 connected to 1398 DDM xxx 4 20 connecting DIM ground to system ground 4 30 connecting position feedback encoder 4 29 dimensions A 18 installing resolver feedback input plug 4 30 overview 1 14 specifications A
90. Configuring Your 1394 Analog Servo System 8 27 Vel Rate Lim The rate at which a velocity command is incremented or decremented per unit of accel decel time in seconds Important The velocity rate limit command overrides a position controller velocity rate limit command This parameter is automatically changed to its maximum value when Motor Type is selected Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 136 137 138 139 Vel Cmd Data rpSS revolutions second second Read Write Yes No 0 rpSS 34015 rpSS 34015 rpSS Vel Ref Fract Lower 16 bits of Vel Ref Whole parameter 204 forming a 32 bit velocity reference Parameter Numbers Parameter Group Display Units Parameter Type Linkable 208 209 210 211 Linear List rpm Read Write Yes Vel Ref Whole This parameter is the present value of digital velocity reference and must be the destination of link for any data to be output Parameter Numbers Parameter Group Display Units Parameter Type Linkable Minimum Value Maximum Value Default Value 204 205 206 207 Vel Cmd Data rpm Read Write Yes 8000 0 rpm 8000 0 rpm 0 0 rpm Vel Source Selects the velocity command source s within the drive Automatically changed when Mode Sel is changed for convenience during commissioning For Example Axis 0 1 2
91. Continue from where Press ENTER The display at which you left off you left off appears Start over from the 1 Press either the up or down arrow beginning key until Reset Sequence appears 2 Press ENTER The display at which you left off appears Removing and Re Applying Power This procedure assumes that you have wired your 1394 Analog Servo System and verified the wiring 1 Remove all 360 480V AC input power and 24V control power to the 1394 Apply 24V control power The LEDs on the system and axis modules flash red and green In addition the HIM becomes active and a message similar to the following appears Sys Note When you apply power to the a series of messages appear before the final Sys Wait Bus or message appears Verify that the voltage at the input terminals of the System Module is 24V AC or 24V DC 10 If the system module LED Then Flashes red and green and the Go to step 5 following appears on the HIM Sys Wait Bus Flashes red remains solid red You may have a wiring or or does not illuminate power problem Go to the Troubleshooting chapter Apply 360 480V AC input power The system and axis module LEDs flash green and the following appears on the HIM Sys Ready Verify that the 360 480V AC input voltage is present at the input terminals or at the user supplied input contactor Publication 1394 5 0 May 2000 7 4 Commissioning Y
92. Designator Series Feedbacks Options 1326 AB Ferrite AC Servo Motor B 480 360V AC 4 108 mm frame diameter 115 mm bolt center 5 149 mm frame diameter 165 mm bolt center 7 194 mm frame diameter 215 mm bolt center Sequentially numbered to indicate the magnet stack length within a given frame size Letter designation for rated motor speed 21 IEC metric flange with keyway M Multi turn high resolution feedback Blank resolver based feedback L IP67 environmental rating only for all frame series K4 8 1 N m 72 lb in Holding brake with 24V DC coil for 1326AB B4 frame series K5 13 6 N m 120 Ib in Holding brake with 24V DC coil for 1326AB B5 frame series K7 41 N m 140 Ib in Holding brake with 24V DC coil for 1326AB B7 frame series K4L 8 1 N m 72 Ib in Holding brake with 24V DC coil for 1326AB B4 frame series with IP67 environmental rating K5L 13 6 N m 120 Ib in Holding brake with 24V DC coil for 1326AB B5 frame series with IP67 environmental rating K7L 41 N m 140 Ib in Holding brake with 24V DC coil for 1326AB B7 frame series with IP67 environmental rating 1 Refer to the Servo Motor Performance Data section in Appendix A for the rated speeds of all 1326AB 460 380V Torque Plus Series motors 2 High resolution encoder option is only available with IP67 env
93. Dive OK 2 24 50 60 HZ 25 Relay 25 26 26 25 2 CRI Publication 1394 5 0 May 2000 B 18 Interconnect and CE Diagrams The example below shows 1394 Series A and B axis modules wired for thermal fault monitoring Depending on how the 1394 GMC system is configured the fault can be used to disable one or all of the four axis modules Two separate 24V DC power supplies and four relays CR2 CR5 are included to isolate the THERM FLT inputs from conducted noise Figure B 11 Isolated Series E Stop with Thermal Fault Monitoring Axis 0 Axis 1 Axis 2 Axis 3 1394 1394 1394 1394 Motor ore CRS Thermal Switch e e 24V DC 424V DC Power Supply 24V DC com 4MVDC 9 24V DC 1 0 1394 Input Wiring Board TB2 Power Supply 24V DC com 4 2 1394x SUTxx C 2 4 1394 x SJTxx C RL 4 THERM FLT 0 te ip 5 THERMRLT 7 1394x SJTxx T 7 CR2 5 1394x SJTxx T RL 8 CR3 10 10 11 11 THERM FLT 2 12 Hi THERMFLT3 T CR4 E 4 CR5 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26 27 27
94. If the value equals 100 the axis module will not deliver more than 100 to motor thus peak torque is limited to 100 Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 188 189 190 191 Data amps Read Write Yes No 10 rated motor current 300 rated motor current or 2 times drive rating whichever is less 300 rated motor current Publication 1394 5 0 May 2000 8 18 Configuring Your 1394 Analog Servo System Option x Code Parameter Numbers 30 32 34 36 Used for software options Parameter Group Linear List Option 0 Antibacklash Display Units None Option 1 Future Parameter Type Read Write Option 2 Future Change While Running Yes Option 3 Future Linkable No Minimum Value 0 Maximum Value 65535 Default Value 0 Option x Status Parameter Numbers 5507 Present status of a software option enabled Parameter Group Linear List disabled Once enabled via the Option x Code Display Units None the status will be stored in non volatile memory Parameter Type Read Only for future use Linkable No Selections 0 Disabled 1 Enabled Pos Cur Lim Specifies the maximum allowable positive motor current that can be commanded Important Setting this parameter to a value other than default will limit motor output torque in CW direction Automatically changed when Current
95. Mating half for the AQuadB 12 position auxiliary encoder AMP 770581 1 connector plug shells Connector pins for AQuadB and encoder connector N A AMP 770986 3 23A Roxburgh filter SP 74102 006 01 Roxburgh MIF323 GS 30A Roxburgh filter SP 74102 006 02 Roxburgh MIF330 GS 75A Roxburgh filter SP 74102 006 03 Roxburgh MIF375 GS Terminator SP 74102 015 01 N A 1394 User manual 1394 5 0 N A Brake and thermal connector operating tool N A Wago 231 304 Auxiliary encoder connector kit 8520 M12F N A Fan replacement kit for 1394 AM50 AM75 axis modules SP 74102 271 01 N A Kit fuse for 1394 SR10A 5 and 10 kW system modules 1394 SR10A FUSE A Bussmann FWP 40A14F Kit fuse for 1394 SR9A Series B 1394 SR9A FUSE B Kit fuse for 1394 SR9AF Series B 1394 SR9AF FUSE B Bussmann Kit fuse for 1394 SR36A Series B 1394 SR36A FUSE B FWP SOA14F Kit fuse for 1394 SR36AF Series B 1394 SR36AF FUSE B Note To determine the series of your module refer to FigureP 1 in the Preface Publication 1394 5 0 May 2000 D 14 Catalog Numbers Publication 1394 5 0 May 2000 Numerics 1326 cable pin outs 1326 CCUT xxx flex rated commutation cable B 23 1326 CCU xxx standard commutation cable B 23 1326 CECUx xxx L xxx high resolution feedback cable B 24 1326 CEU xxx encoder feedback cable B 24 1326 CPB1T xxx flex rated power cable B 25 1326 CPB1 xxx standard motor power cable B 24 1326 CPC1T xxx flex rated power cable B 25 1326
96. Servo system module with a HIM module mounted in the door l Upload the drive parameters from the system module using the Copy Cat feature Refer to Appendix C for Copy Cat instructions Open the system module door Disconnect the SCANport cable Using a screw driver disengage the two locking tabs inside the system module door that hold the HIM in place Remove the HIM module 6 Goto main step 3 Analog Servo system 1 Upload the drive parameters from module without a HIM the system module using the Copy module mounted in the Cat feature Refer to Appendix C door for Copy Cat instructions 2 Goto main step 3 GMC Turbo GMC 1 Verify that you have a copy of system module your GML program Refer to your GML programming manuals for upload options 2 Goto main step 3 CNC interface system module Go to main step 3 3 Remove all 24V control input power from the system Publication 1394 5 0 May 2000 9 20 Troubleshooting Publication 1394 5 0 May 2000 Note 1394 input power and shunt connections are located on the 10 11 12 13 14 lower front of a Series A and B system module The same connections are located on the bottom of a Series C system module For complete system interconnect information refer to Appendix B ATTENTION To avoid shock hazard or personal injury assure that all power has been removed before proceeding This system may have multiple sour
97. Shield Shield 3 2 Black Axis x 61 4 3 Green Axis x S2 5 3 Shield Shield 6 1 White Axis x R2 7 2 Shield Shield 8 2 Red Axis x S3 9 3 Black Axis x S4 10 Overall Shield Overall Shield Overall Shield To connect motor feedback 1 Connect the connector shells to the resolver feedback cables 2 Foreach 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 the drawing on the inside of the system module door or the section Finding Additional Wiring Information for 1394 Systems If you are Do this Using the AQuadB option for Analog Servo system only 1 Connect the connector shells to the 1394 SA15 cables Refer to the instructions that came with the cables for more information 2 For each AQuadB output you will use connect one 1394 SA15 cable to the AQuadB mating slot under the system module 3 Go to step 4 Not using the AQuadB option Go to step 4 Publication 1394 5 0 May 2000 3 26 Wiring System Axis and Shunt Modules and Motors for all systems Connecting Your Motor Cables to Motors Connecting Your External Shunt Resistor Publication 1394 5 0 May 2000 If you have Do this More motors to wire 1 Move to the next motor 2 Goto the main step 1 Wired all of your motors Go to Connectin
98. System and axis modules that can be quickly removed and easily interchanged for troubleshooting and diagnostics Standard widths of 50 mm 1394x AMO3 04 and 07 and 75 mm 1394 50 and AM75 xx axis modules are available Mass termination plugs and reliable contact type terminal blocks are used for easy installation and service Plug interconnects for auxiliary encoder input GMC encoder output and motor resolver input all Slide and lock module to module connection which eliminates bus bars and wiring harnesses Advanced communications and I O capabilities help integrate the 1394 to standard plant floor networks Chapter Objectives Complying With European Union Directives Chapter 2 Installing Your 1394 applies to all systems This chapter covers the following topics e Complying with European Union directives e Before mounting your system e Unpacking your modules e System mounting requirements e Bonding your system e Mounting your 1394 system e Mounting your 1394 DCLM e Mounting the external shunt resistor for 5 and 10 kW system modules e Mounting external shunt modules for 22 kW system modules e Mounting considerations for GMC and GMC Turbo systems ATTENTION The following information is a guideline for proper installation The National Electrical Code and any other governing regional or local codes overrule this information The Allen Bradley Company cannot assume responsibil
99. TB1 terminal 19 Mandatory CHASSIS Chassis ground reference terminal TB1 terminal 20 Optional CONTACTOR EN A set of contacts for energizing the user s three phase line contactor coil TB2 terminals 16 and 17 Mandatory DROK When you apply 24V AC DC control power to the system and no system faults are detected the Drive OK relay contact closes It can also be programmed for fault only ignoring the bus voltage The contact remains closed until a drive fault occurs DC bus voltage is lost or you remove 360 480V input power from the system module depending on how you set the Drive OK mode parameter If a drive fault is detected or the DC bus voltage is lost the relay contact opens You can wire the Drive OK contacts into the stop string to open the main power contactor if a fault occurs The contact rating is 115V AC or 24V DC 1A DROK is located at CR2 TB2 terminals 18 and 19 Optional Publication 1394 5 0 May 2000 Connecting AQB and SCANport Cables SCANport Adapter AQB Encoder Feedback Output AQBO AQB Encoder Feedback Output AQB1 AQB Encoder Feedback Output AQB2 AQB Encoder Feedback Output AQB3 Wiring Your 1394 Analog Servo System 5 5 The 1394 Analog Servo system module provides connections for AQB encoder feedback outputs to external positioning controllers and SCANport The figure below shows the locations of the AQB and SCANport connections Figure 5 3 Bottom V
100. The sum reach its current limit by the motor s and axis module s exceeds of the axis modules continuous current the current limit allowed by the system exceeds the system module current module limit rating Publication 1394 5 0 May 2000 Troubleshooting 9 11 Fault Message Description Potential cause Possible resolutions Ground The system generates a Incorrect wiring Verify motor and ground wiring ground fault when there Replace cables is an imbalance in the Motor malfunction Check the resistance of each motor DC bus of greater than winding phase to case ground with an 50A ohm meter Readings should be in mega ohms Axis Module IGBT malfunction Replace the axis module Short to ground Replace the system or axis module Check grounding and incoming power wiring Hdwr Fault Control hardware fault Terminator is not installed Check slider connections termination detected strip The system module is bad Replace the system module Memory Hardware memory error CPU memory has failed Verify that EEproms are seated detected properly Replace the system module NV Memory Non volatile memory is A checksum failure has occurred on the Reset and save defaults corrupt personality module Replace personality module Replace system module Ovr temp The 1394 contains a The fan on the system module or an axis R
101. UD A es 7 10 PU rs 7 11 Before You Perform an Auto 7 11 Performing the Auto Tune 7 11 Chapter 8 Chapter Objectives ache toy toy cate sadam Lek de ee E Maa 8 1 Where to Look for Other Programming 8 1 Conventions Used in this 8 2 Understanding Analog Servo System 8 3 1394 Analog Servo Software 8 28 Chapter 9 Chapter 9 1 Understanding How to Detect a 9 2 Understanding System and Axis Module 9 2 Understanding System Faults 9 5 Finding GMC Faults 9 5 Viewing Instantaneous Status 9 5 Viewing Continuous 9 6 Finding Analog Servo System Faults 9 7 Specifications Table of Contents v Finding 9 440 9 7 Finding CNC Interface Faults 9 8 Understanding GMC Turbo GMC Controller Faults 9 9 Understanding Analog Servo System Module Faults 9 10 Understanding Analog Servo System Axis Faults 9 12 Trouble
102. Vel Counterclockwise trip velocity for an overspeed fault This value is automatically set to 1000 rom greater then CCW Vel Lim if this value would be greater then present setting Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 156 157 158 159 Vel Cmd Data rpm Read Write Yes No 0 0 rom 8000 0 rom This is determined by the motor catalog number CCW Vel Lim Velocity mode counterclockwise maximum command limit This value is automatically set to the motor rated velocity when the motor parameter is changed Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 132 133 134 135 Vel Cmd Data rpm Read Write Yes No 0 0 rom 8000 0 rpm This is determined by the motor catalog number Publication 1394 5 0 May 2000 Configuring Your 1394 Analog Servo System 8 7 Command Mask This parameter determines whether drive control fromthe indicated source is enabled or disabled Stop commands from any source are not maskable If the drive loses communications to a source SCANport port that has command control enabled the drive will fault Parameter Numbers Parameter Group Parameter Type Change While Running Linkable Default 21 Setup Read Write Yes No 01111111
103. Vel Damp Sel Intg Gain Ki Desired BW Feed Fwd Gain Max Bandwidth Droop ATune Vel Vel LowPas BW ATune Current Ld Lg Degrees ATune Inertia Ld Lg Freq ATune Frictn Prop Gain Kp Intg Gain Ki Note Parameters that appear in more than one group are shown in Bold heal Parameters Links Cur Lim Cause 19 Cur Ref d Cur Ref Torq Source Dig Torq Ref nt Torq Ref Pos Cur Lim eg Cur Lim Cur Rate Lim Cur Preload odule Size Cur Fbk Rated Control Status Control Logic Warning Queue Fault Queue Vel Torq AnBklsh Conf Mtr Rated Cur Mtr Peak Cur Mtr Inertia Id RPM Start Id RPM End ld Slope 300 Torq Vel 100 Torq Vel Mtr Pole Cnt Fdbk Pole Cnt Password FILE LEVEL Login Logout Modify GROUP LEVEL Torq Source Cur Preload AnBklsh Leadr AnBklsh Sense Prop Gain Kp Intg Gain Ki PARAMETER LEVEL Publication 1394 5 0 May 2000 C 14 Using the Human Interface Module HIM Removing the HIM Publication 1394 5 0 May 2000 You can remove the HIM and use it as a hand held unit up to 10 meters 33 feet from the system ATTENTION avoid an electric shock hazard use extreme caution when removing replacing the HIM cable Some voltages present behind the System Module front cover are at incoming line potential Removing the HIM from the HIM Cradle To remove the HIM from the HIM cradle 1 If you intend to disconnect the
104. Verify Shunt R parameter value Sftwr Fit Software error detected A programming error was made Reset drive Shunt TmOut The shunt resistor has The regenerative energy produced by the Use a properly sized shunt or modify timed out motor exceeded the limit of the shunt resistor duty cycle of the application System uses internal shunt and requires external shunt for additional capacity Unknown Fit Fault is detected but Wrong version of software for the hardware Check system terminator source is unknown loose internal or external connection Reset drive Unkn Module A module unknown to Wrong version of software for the firmware Obtain firmware that supports new this version of software is present module type Check slider terminations Contact Allen Bradley Check software version in system module Publication 1394 5 0 May 2000 9 12 Troubleshooting Understanding Analog Servo System Axis Faults The faults that apply to the Analog Servo System s axis module appear in the following table Fault Message Description Potential Cause Possible resolution ATune Fault The auto tune cycle has Motor is disconnected or not able to turn Connect the motor exceeded two seconds Motor power resolver wiring is open or Check motor power resolver wiring improperly wired Axis enable has not been applied within ncrease the auto tune current l
105. also assures maximum performance They are available with continuous torque ratings of 2 97 to 16 9 N m 26 3 to 149 8 Ib in Refer to the 1326AH Hazardous Duty Motors Product Data publication 1326AH TD001B US P for more information Figure 1 12 1326AH Motor Publication 1394 5 0 May 2000 1 14 Overview Publication 1394 5 0 May 2000 Drive Interface Module The 1394 DIM Drive Interface Module provides four channels of analog output four drive enable outputs and four drive fault inputs The 1394 DIM allows the 1394x SJTxx C T or L system module to be used to control any external drive with a 10 velocity torque reference command and quadrature encoder output Each 1394 DIM can support up to four drives However the maximum number of axes 1394 DIM controlled 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 module Figure 1 13 Drive Interface Module DC Link Module The 1394 DCLM DC Link Module provides additional load leveling and energy storage capacitance for 1394 systems This allows additional regenerative energy to be stored during the machine cycle increasing system capacity lowering cycle time and avoiding resistive heat loss The module can be used alone or two modules can be used to interconnect two 1394 systems using
106. arrow key until the following appears Control Logic Disabled Press ENTER The system records your choice and the cursor moves to the top line Press ESC Press the up or down arrow key until the following appears Choose Mode EEPROM Press ENTER The system records your choice and a message similar to the following appears EEPROM Save Values Press ENTER The system saves the values that you entered and the following message appears Choose Mode EEPROM Remove power Remove cable from the HIM Setting Up the HIM for Hand Held Use To prepare the HIM for hand held use 1 3 If you Do this setting up new HIM step 2 below HIM that is 1 Remove the HIM from the HIM cradle using currentlyinthe the steps in the Removing the HIM from the HIM cradle HIM Cradle section 2 Complete the steps in the Disconnecting the HIM from the System Module section 3 Go to step 2 below Connect the appropriate cable between the HIM and the communications port Note second SCANport connection is available communications port 2 at the bottom of the system module This port can also be used for a hand held HIM Apply power Publication 1394 5 0 May 2000 C 16 Using the Human Interface Module HIM Placing the HIM in the HIM Cradle To put the HIM in the HIM cradle 1 Ifit s not already connected connect the SCANport cable to the HIM 2 With the keypad
107. brake N A 282 2 314 7 364 7 8x7x40 41 0 11 11 12 39 14 36 0 315x0 276x1 57 1 61 1326AB B530x 21 without brake 187 364 7 397 3 447 3 8x7x40 41 0 7 362 2 14 36 15 64 17 61 0 315x0 276x1 57 1 61 High 1326AB B515x 21M S without brake N A 244 1 291 1 341 1 8x7x40 41 0 Resolution 9 61 11 46 13 43 0 315x0 276x1 57 1 61 1326AB B520x 21M S without brake N A 282 2 329 2 379 2 8x7x40 41 0 11 11 12 96 14 93 0 315x0 276x1 57 1 61 1326AB B530x 21M S without brake 187 364 7 4117 4618 8x7x40 41 0 7 362 12 14 36 16 21 18 18 0 315 0 276 1 57 1 61 Tif ordering a 1326AB B5xxxx 21 K5 with optional 24V DC 13 6 N m 120 Ib in brake add 76 2 mm 3 0 in to AD AG and C 38 1 mm 1 5 in to AL f ordering a 1326AB B5xxxx 21 xK5L with optional 24V DC 13 6 N m 120 Ib in brake IP67 rated add 76 2 mm 3 0 in to AD AG and C 38 1 mm 1 5 in to AL Dimensions are per NEMA Standards MG 7 2 4 1 3 and IEC 72 1 Shaft tolerance per DIN 42955 N tolerance Publication 1394 5 0 May 2000 Figure A 19 Specifications A 27 1326AB B7 Torque Plus Series Resolver and High Resolution Feedback lt AG gt Full Depth Commutation Resolver
108. cable mating half TB2 for its axis Go to main step 13 Does not have the brake option to main step 13 Publication 1394 5 0 May 2000 3 24 Wiring System Axis and Shunt Modules and Motors for all systems 13 Wire your thermal switch into the appropriate control circuitry for monitoring purposes Refer to Appendix B for thermal switch interconnect information ATTENTION To avoid damage to your motor monitor the thermal switch for overheat conditions 14 If you Do this Have more axis modules to 1 Move to the next axis module Se 2 Goto the main step 2 Have wired all of your axis Go to Connecting Feedback to modules System Modules Connecting Feedback to System The procedure in this section assumes that your system and axis p y y Modules modules are already mounted and your power is wired Wire the commutation resolver integral to the 1326 motor to the system at the connectors shown in the following table You must use Allen Bradley 1326 CCU xxx shielded cables for proper operation Refer to Appendix D for more information on connectors and accessories ATTENTION To guard against hazard of personal injury or damage to equipment the interconnections between the motor and resolver must be made exactly as shown in Appendix B Failure to do so could cause loss of motor control and or severe oscillation of the motor shaft Note All CCU cables are shipped with
109. choice Commissioning Your 1394 Analog Servo System 7 5 7 Press ENTER A message similar to the following appears Disp D A Monitor Not Linked 8 Goto Setting Up Analog Test Points Setting Up Analog Test Points The 1394 startup procedures provide the ability to monitor an axis using analog test points Important When you set up test points and auto tune you will always set up one complete axis and tune it before you begin another This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter e Removing and Re Applying Power e Setting Up at the System Level To set 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 key until the axis that you want to configure appears 3 Press ENTER The system records your choice and the cursor moves to the top 4 Press ENTER A message similar to the following appears Ax Motor Type Custom Motor 5 Goto Defining Your Motor Defining Your Motor This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter e Removing and Re Applying Power Setting Up at the System Level e Setting Up Analog Test Points To define your motors 1 Whe
110. facing you slide the top of the HIM up into the HIM cradle and push the bottom end of the HIM into the cradle until the tabs latch the HIM The tabs lock the HIM into place Publication 1394 5 0 May 2000 Understanding Catalog Numbers Appendix D Catalog Numbers Catalog numbers consist of various components that make up a 1394 system Each character of the catalog number identifies a specific version or option for that component The first four numbers represent the family of products for example 1394 The remaining characters represent a specific version or option of that module or family Determining Catalog Numbers To help you to understand we will provide an example 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 T for three phase In addition you have the following options for which you must make a selection The options must appear in the order shown 1394series SJT kw rating option RL option For example if you were to use the table in the following section 394 System Modules to select the Series C 5 kW integrated motion controller with RIO and Axis Link the catalog number would be 1394C SJTO5 C RL When you combine all of the numbers you create the catalog number for the system module that you require Publication 1394 5 0 May 2000 D 2 Catalog Nu
111. factory default settings The EEProm mode also allows you to save values that you program to nonvolatile memory EEProm to be used as user defaults Recall mode restores any previously stored user values EEProm mode also contains the optional Copy Cat feature if it is available on your Series B HIM Important The Drive System must be disabled in order for the save Function to be executed properly Publication 1394 5 0 May 2000 C 6 Using the Human Interface Module HIM Publication 1394 5 0 May 2000 Search Mode Search mode allows you to search for established links or modifiable parameters that are not at their default values Control Status Mode Control Status enables or disables HIM control and provides access to a fault and warning queue which lists the last eight faults that have occurred If the word Trip appears with a fault that fault actually tripped the drive To clear the queue use the clear function Password The Password menu has three choices The Password Login menu is used to enable programming by entering the correct password The default password is 0 which disables the password function The Password Modify menu allows you to change the password The password 1201 is permanently embedded in the system and can 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 p
112. feature 9 6 window 9 6 grounding multiple sub panels 3 13 PE ground for safety 3 12 system to subpanel 3 12 to meet CE requirements B 30 Publication 1394 5 0 May 2000 HIM 7 2 continuing from where you left off analog servo 7 2 control status mode C 6 copy cat feature C 7 disconnecting from the system module C 14 display mode C 5 EEProm mode C 5 link mode C 5 linking parameters C 6 overview C 1 overview of programming C 11 placing in the HIM cradle C 16 program mode C 5 removing from the HIM cradle C 14 removing the module from the 1394 C 14 search mode C 6 setting up for hand held use C 15 startup mode C 5 understanding modes C 5 understanding operation C 4 understanding the keys C 2 Human Interface Module See HIM input power wiring 3 18 determining input power 3 6 ground jumper 22 kW settings 3 9 5 and 10kW settings 3 8 grounded power configuration 3 6 ungrounded power configuration 3 7 input transformer specifications A 6 input wiring board analog servo layout 5 2 analog servo system signal descriptions 5 4 installing 2 1 mounting 2 8 instantaneous status viewing 9 5 interconnect diagrams B 1 analog servo B 9 CNC interface B 12 GMC B 3 GMC analog servo CNC interface B 2 thermal analog servo 1394x SUTxx A B 21 GMC 1394C SJTxx L B 19 GMC 1394x SUTxx C and T B 15 LED 9 440 system 9 3 analog servo system 9 2 axis module 7 3 9 2 9 4 CNC Interface system 9 3 GMC system 9 2 ring status
113. for the terminal s location Publication 1394 5 0 May 2000 3 32 Wiring System Axis and Shunt Modules and Motors for all systems Figure 3 20 Terminating Wires at the Shunt Module 5 Connected to COL on the 22 kW System Module Connected to DC on the 22 kW System Module 10 Tighten both screw terminals torque 2 5 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 If your shunt module Then Has a Fan Go to Wiring the Shunt Module Fan Power Does not have a fan Finish installing your system Publication 1394 5 0 May 2000 Wiring System Axis and Shunt Modules and Motors for all systems 3 33 Wiring Shunt Module Fan Power This procedure assumes that you have bonded mounted and wired the power to your shunt module The shunt fan can be wired for 115V or 230V input Use 16 AWG 1 3 mm machine tool 75 C 167 copper wire for all fan power wiring The current draw of each shunt module fan is shown in the table below For this input power The current draw is 115V AC 2 230 Important If you mount the shunt module outside the cabi
114. grounding or shielding techniques are causing noise to be transmitted into the position feedback or velocity command lines causing erratic axis movement Check wiring and ground Motor Type parameter 100 Analog Servo only is incorrectly set servo motor is not matched to 1394 Check setups Run auto tune You cannot obtain the motor acceleration deceleration that you want Pos Cur Lim Neg Cur Lim parameters 184 188 Analog Servo only are set too low Verify that current limits are set properly Motor Type parameter 100 Analog Servo only is incorrectly set Analog Servomotor is not matched to 1394 Program the correct motor and run auto tune again The system inertia is excessive Check motor size vs application need Review servo system sizing The system friction torque is excessive Check motor size vs application need Available current is insufficient to supply the correct accel decel rate Check motor size vs application need Review servo system sizing Vel Rate Lim parameter 136 Analog Servo only is incorrect Verify that the parameters are set correctly and correct them as necessary CW CCW Vel Lim parameters 128 132 Analog Servo only are incorrect Verify that the parameters are set correctly and correct them as necessary Anlg Vel Scal parameter 272 Analog Servo only is incorrect Verify that the p
115. installation complies with specifications 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 equipment Figure 3 11 Connectors for 5 and 10 kW System Module Series C D E H X 1394 front view FEES E System module EN 1394 bottom view ground bar T 1 Connectsto Required Wire Description Maximum wire size terminal s YIN 24V Logic user supplied 24V AC rms or 24V DC power source Refer to 3 3 12 1 1 and Y Appendix A for 24V input power specifications J1 2 360 480V AC Input 360 480V AC three phase power input Refer to Appendix A for 5 3 10 AWG J10 1 U Y Power System specifications for rated AC input
116. is correct and not open Incorrect wiring or loose connections Check connections on the input wiring board Axis setups may not be correct for the application Verify that axis definitions are correct Check tuning parameters Not illuminated There is no power to the axis module Verify that the terminator is present on the last axis There is no power to the system Verify that the terminator is present on the last axis Check system module power supply Publication 1394 5 0 May 2000 Troubleshooting 9 5 Understanding System Faults Depending on which 1394 system you are using your faults will be displayed differently Forthis system This Is faults This is where to look for additional fault information module appear GMC Turbo or In GML in the Online The GML Programming Manual V3 7 or greater GMC Manager or Watch publication 999 104 or the GML Commander window Reference Manual publication GMLC 5 2 CNC Interface On the 9 Series operator The 9 Series Integration and Maintenance Manual panel publication 8520 6 2 Analog Servo On the HIM The Finding Analog Servo System Faults section of this chapter 9 440 On the operator 9 Series The 9 Series Integration and Maintenance Manual panel publication 8520 6 2 Finding GMC Faults To examine the fault status of the system or axis modules for the GMC version you can e View in
117. is in START mode Stop When you press STOP a stop sequence is initiated at the System Module causing a controlled stop to be initiated in each axis as determined by Stop Mode Stop Time Lim and Stopping Cur Refer to the Configuring Your 1394 Analog Servo System chapter for more information STOP can also be used to clear some fault messages after the condition that caused the fault 1s corrected Publication 1394 5 0 May 2000 4 Using the Human Interface Module HIM Understanding HIM Operation Publication 1394 5 0 May 2000 JOG Jog At its default setting when you press this key the motor jogs at a speed determined by the Jog Vel parameter for any axis that is enabled default is 20 of motor rated speed Releasing the key stops the function You can use this function during startup as a battery box to move an axis To change this function you need to reconfigure the Command Mask and Typ 1 Logic Axis parameters Refer to the Configuring Your 1394 Analog Servo System chapter for more information To jog for the axis 1 Supply a 24V DC enable signal 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 Refer to the Configuring Your 1394 Analog Servo System chapter for more information Change Direction Jog Digital Velocity Reference M
118. is required User Supplied Line Input Fusing The table below shows the requirements for the input fusing that you must supply The Recommended type of fuse for Is Rating 1394 SJT05 systems Series A and B Bussmann FRS R 20A or 600V AC 20A equivalent 1394C SJT05 systems Series C Bussmann KTK R 20 or 600V AC 20A equivalent Bussmann LPJ SP 20 or 600V AC 20A equivalent 1394 SJT10 systems Series A and B Bussmann FRS R 30A or 600V AC 30A equivalent 1394C SJT10 systems Series C Bussmann KTK R 30 or 600V AC 30A equivalent Bussmann LPJ SP 30 or 600V AC 30A equivalent 1394x SJT22 systems Bussmann FRS R 35 or 600V 35A equivalent Bussmann LPS RK SP 40 600V AC 40A or equivalent Bussmann LPJ SP 45 or 600V AC 45A equivalent User Supplied 24V Logic Input Power The table below shows the requirements for the 24V logic input power that you must supply 24V logic input Frequency Current Recommended Fuse voltage If you have The current draw for user supplied power supply must not exceed 19 28V AC RMS 1 axis 3 5A single phase or ideis 2 axis 44 Bussmann MDA 15 18 75 31 25V DC 3 axis 5 2 or equivalent 4 axis 6 0A The power supply should be rated for 15A or greater inrush current upon power up Publication 1394 5 0 May 2000 A 6 Specifications Publication 1394 5 0 May 2000 Input Transformer fo
119. on the 16 17 1394C SJTxx L and 17 18 1394C SUTxx L RL He 20 system modules 20 21 21 22 22 23 23 24 24 25 25 2 26 27 27 power may be used in place of a 24V DC power supply for the motor thermal switch circuit 1394C AMxx Interconnect and CE Diagrams B 21 1394 Analog Servo Systems 1394x SJTxx A The example below shows 1394 Series C axis modules with internal brake and thermal switch filtering Separate isolation power supply and relay are not required Figure B 16 Non Isolated Series E Stop Axis 0 Axis 1 Axis 2 Motor thermal Motor brake Switch filter filter Series C Series C Motor brake 1394C AMxx filter Series C Series C 1394C AMxx Motor thermal switch filter filter Series C Motor thermal Motor brake Switch filter Series C 1 11 Axis 3 1394C AMxx Motor brake filter Seri Motor thermal Switch filter es C Series C Motor Thermal Switch 1394 Analog Servo Input Wiring Board 1394
120. or 9 440 system modules 9 Series CNC Hardware Integration and Maintenance Manual publication 8520 6 2 1394 SERCOS system modules 1394 SERCOS Multi Axis Motion Control System User Manual publication 1394 5 20 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 modules provide connections for the following e Motor feedback resolvers e Auxiliary encoders optional RS 232 and RS 422 serial communications e Remote I O Hex I O e DH 485 e AxisLink e SLC Interface Direct connection Turbo only Publication 1394 5 0 May 2000 4 2 Wiring 1394 GMC and GMC Turbo Systems Understanding Input Wiring Board The input wiring board provides terminating points at TB1 and TB2 p 5 p gp Layout for the various control signals The figure below shows the locations of the various signal terminations Figure 4 1 Input Wiring Board for 1394x SJTxx C C RL and T T RL _ TBI SYS ENABLE O eoVINPUT COM do chassis O CHASSIS 2 O O Home 99 POSoTRAW POSOTRAVI NGOURAO O O NEGOTRAVI THERMFLTO nennt 2V NPUTCOM O 24viNPUTCOM 99 CHASSIS O CHASSIS oo HME 99 POSOTRAV3
121. panels or scrape paint on front of panel 2 7 Stud mounting a ground bus or chassis to the subpanel Subpanel SL Mounting bracket or ground bus Welded stud Flat washer Scrape paint Flat washer If the mounting bracket is coated with a non conductive material anodized painted etc scrape the material around the mounting hole Bolt mounting a ground bus or chassis to the back panel Ground bus or mounting bracket Star washer Subpanel Tapped hole S soy e Star washer Scrape paint on both sides of panel and use star washers Star washer Flat washer If the mounting bracket is coated with a non conductive material anodized painted etc scrape the material around each mounting hole Publication 1394 5 0 May 2000 2 8 Installing Your 1394 applies to all systems Mounting Your 1394 System Publication 1394 5 0 May 2000 Bonding Multiple Subpanels Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet Subpanels that are not bonded together may not share a common low impedance path This difference in impedance may affect networks and other devices that span multiple panels Refer to the illustration below for recommended bonding practices Figure 2 5 Bonding Multiple Subpanels Recommended Bond the top and bottom of each subpanel to the cabinet using 25 4 mm 1 0 in by 6 35 mm 25 in
122. pre pinned connections and loose connector housings for the system end If you are using this system module Connect it to terminal s M O or N A GMC Turbo or GMC J5 axis 0 J6 axis 1 J7 axis 2 and J10 axis 3 Refer to Wiring 1394 GMC and GMC Turbo Systems for locations 9 440 CNC or CNC FBO axis 0 through FB3 axis 3 Refer to the M Interface 9 Series Integration and Maintenance Manual publication 8520 6 2 for more information Analog Servo FBO axis 0 FB1 axis 1 FB2 axis 2 and FB3 M axis 3 Refer to Wiring Your 1394 Analog Servo System for locations M mandatory optional and N A non applicable Publication 1394 5 0 May 2000 Wiring System Axis and Shunt Modules and Motors for all systems 3 25 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 of the cable insulation and braided shield is removed from the feedback cable Place the cable wires and exposed braided shield into the cable shield clamp and tighten the clamp screw Then thread the bracket screw into the bottom of the system module and tighten Refer to Figure 3 14 for an illustration The table below provides pin outs for the resolver connection Terminal Wire Number Color Function 1 1 Black Axis x R1 2 1
123. provide appropriate guarding to avoid hazard of shock or burn and ignition of flammable material Install per local codes Wiring System Axis and Shunt Modules and Motors for all systems 3 31 Figure 3 19 Routing Shunt Module Wiring When Module is Inside the Cabinet Low voltage Motor power 360 480V Communications cables AC power Control I O wiring Motor feedback cables Always separate all low voltage signal 155 mm 6 1 in of wiring from high voltage power wiring to clearance on all sides reduce affects of EMI and RFI of the shunt module minimum 8 AWG 8 4 mm 105 C 600V wire Max Length 3 05 m 10 ft for each wire Use twisted conductors 2 twists per foot min or a shielded twisted pair Shielding is recommended for reducing the effects of EMI and RFI ATTENTION To avoid burn hazard and ignition of flammable material be sure to provide appropriate guarding The resistors inside the 1394 shunt module can reach temperatures in excess of 350 C 662 F Install per local codes 7 Open the front door of the shunt module 8 Insert the wire from the system module terminal block labeled COL in the top terminal on the left side of the shunt module Refer to Figure 3 20 for the terminal s location 9 Insert the wire from the system module terminal block labeled DC in the bottom terminal on the left side of the shunt module Refer to Figure 3 20
124. 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 Converter DAC An output offset of 80 mV can be compensated to OV through software configuration Figure 4 28 Analog Output i 1394 DIM Axis OUT 1 Px 1 1 1 1 Axis OUT Px2 1 1 1 Vote x axis connector number For additional DIM signal descriptions refer to Appendix A Publication 1394 5 0 May 2000 4 26 Wiring 1394 GMC and GMC Turbo Systems 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 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 avoid personal injury as a result of unexpected motion or acceleration of the drive insert the resolver plug in the correct locatio
125. specified in this chapter Voltages behind the system module front cover are at incoming line potential voltages on the axis module front terminal block are at 360 480V AC To avoid injury to personnel and or damage to equipment you should only perform these startup procedures if you are a qualified service person Thoroughly read and understand the procedure before beginning If an expected event does not occur while performing this procedure do not proceed Remove power by opening the branch circuit disconnect device and correct the malfunction before continuing ATTENTION This product contains stored energy devices To avoid hazard of electrical shock verify that all voltages on the system bus network have been discharged before attempting to service repair or remove this unit Only qualified personnel familiar with solid state control equipment and safety procedures in publication NFPA 70E or applicable local codes should attempt this procedure Publication 1394 5 0 May 2000 7 2 Commissioning Your 1394 Analog Servo System Setting Up Your 1394 Analog Servo System Publication 1394 5 0 May 2000 ATTENTION This drive contains ESD Hlectrostatic Discharge sensitive parts and assemblies You are required to follow static control precautions when you install test service orrepairthis assembly If you do notfollow ESD control procedures components can be damaged If you are not familiar with static control procedures
126. the DC Link cable Figure 1 14 DC Link Module Overview 1 15 Standard Features of the 1394 The 1394 provides the following standard features UL Listed and CUL Certified CE Marked Control Supports Standard GMC 1394x SJTxx C and L and GMC Turbo CNC Interface SERCOS and Analog Servo configurations with a standard array of hardware Digitally adjusted velocity and current loop compensation which accommodates a wide range of system inertias Two configurable analog test outputs that can be linked to critical system parameters for troubleshooting GMC and Analog Servo system modules systems provide digital fault and diagnostic utilities including a current monitor thermal overload detection and a feedback signal monitor Status LEDs for system and axis 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 only DSP assisted processing Smart Power control available on all 22 KW system modules and 5 and 10 kW system modules Series C or later allows power use monitoring for process optimization Smart Power system modules available on all 22 kW system modules and 5 and 10 kW system modules Series C or later include active Soft Start inrush current limiting for DC link charging Electrical Noise Protection included on GMC GMC Turbo
127. the location of the ribbon cable 4 Remove the upper and lower input wiring board screws Refer to Figure 3 5 for the location of the screws 5 Remove the input wiring board Publication 1394 5 0 May 2000 3 10 Wiring System Axis and Shunt Modules and Motors for all systems Figure 3 5 Removing the Input Wiring Board in a 22 kW System Module Disconnect both sides of the ribbon cable Remove both input wiring board screws and remove the input wiring board OOOO 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 Ground Jumper Publication 1394 5 0 May 2000 Wiring System Axis and Shunt Modules and Motors for all systems 3 11 7 Without removing the circuit board unplug the jumper and move it to the ungrounded power distribution position Refer to the figure below for the jumper positions Figure 3 7 22 kW System Module Jumper Positions Front edge 7 of board Factory default jumper position for a grounded configuration cS DO NOT REMOVE CIRCUIT BOARD FROM 1394 Front edge of board dai Jumper position for an ungrounded power co configuration 9 m DU 8 Re install the input wirin
128. the terminal Go to main step 4 Does not pull out of the 1 Move to the next terminal terminal and go to main step 2 2 When all seven terminals are wired 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 Wiring 1394 GMC and GMC Turbo Systems 4 29 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 4 32 1394 GE15 Cable Connections Flying Leads to Incremental Encoder or 1394 Encoder Customer Supplied Termination Feedback Connector NC Black NC 7 XX Yellow Strobe E White gt AHigh 2 XX Black gt ALow 3 Gieen BHigh 4 XX Black Blow 5 a Blue ZHigh 6 XX Black gt ZLow 8 lt Red 5V Out 9 Black 12 SUNT MES CNN E Cable is Belden 9505 Shield Encoder Power PWR 10 5V Input 1 XX Bak gt Common In Cable is Belden 9501 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
129. tighten Connect an axis module connector kit catalog number 1394 199 to each motor cable that you will use Refer to instructions that come with the kit for the specific connections Wiring System Axis and Shunt Modules and Motors for all systems 3 23 On one axis connect the wires as follows Insert the wire labeled Into this terminal block 1 Ul 2 3 WI 8 PE2 bare wire no label PE3 Series A and B modules N A Series C The bare wire is replaced by the cable shield clamp on the motor cable 9 Tighten and torque all five screw terminals to the values in the 10 11 12 following table Axis Module Terminal Block Terminal Block Torque Designator 2 kW 3 kW 5 kW All 0 56 0 62 N m 5 0 5 6 Ib in 10 kW 15 kW 1 55 2 0 N m 14 0 18 0 Ib in Gently pull on each wire to make sure it does not come out of its terminal Re insert and tighten each loose wire Connect the brake and thermal switch connector to the front most mating half TB1 under its axis module Refer to Figure 3 13 for location of TB1 Refer to Appendix B for thermal switch interconnect information If your motor Do the following Has the brake 1 option 3 Insert the connector in the rear most Connect the appropriate control wires to the second connector in the axis module connector kit to the appropriate
130. voltage tolerance and J10 2 V and source impedance J10 3 W Input Power Neutral Three phase input neutral present only on grounded power 5 3 mm 10 AWG J10 4 N configurations PE Ground The1394 s ground connection to the bonded system ground bar g 4 mm 8 AWG System module Y on the subpanel ground bar External Shunt Resistor Optional 1400W external shunt resistor used to dissipate 5 3mm 10 AWG J11 3 and N excess regenerative energy from the system module J11 1 Note Refer to Appendices A and B for information about three phase input fusing and circuit breaker information as related to the power input Refer to the section Connecting Your External Shunt Resistor for information about wiring the optional shunt resistor to the 5 and 10 kW system modules Publication 1394 5 0 May 2000 3 16 Wiring System Axis and Shunt Modules and Motors for all systems Terminal Block Locations for a 22 kW System Module AII 22 kW system module components use IEC terminals for power connections You will wire the system and axis modules using the power terminal block conveniently located at the bottom front of the system and axis modules To gain access to the input power terminals open the system module door and look in the lower right corner Figure 3 12 details the order of the terminal blocks ATTENTION To avoid personal injury and or equipment damage ensure installation complies with spec
131. x x Before you begin the setup procedures be sure to read and understand the information in the previous chapters of this manual Note The procedures in this chapter do not include information regarding integration with other products The following precautions pertain to all of the procedures in this chapter Be sure to read and thoroughly understand them before proceeding ATTENTION You need to apply power to the drive to perform many of the adjustments specified in this chapter Voltages behind the system module front cover are at incoming line potential voltages on the axis module front terminal block are at 360 480V AC To avoid injury to personnel and or damage to equipment you should only perform these startup procedures if you are a qualified service person Thoroughly read and understand the procedure before beginning If an expected event does not occur while performing this procedure do not proceed Remove power by opening the branch circuit disconnect device and correct the malfunction before continuing ATTENTION This product contains stored energy devices To avoid hazard of electrical shock verify that all voltages on the system bus network have been discharged before attempting to service repair or remove this unit Only qualified personnel familiar with solid state control equipment and safety procedures in publication NFPA 70E or applicable local codes should attempt this procedure Publication 1394 5 0 Ma
132. you have experienced power problems in the past on a power distribution line you may need to consider input power conditioning ATTENTION The 1394 does not supply line fuses or a circuit breaker They are customer supplied items Branch circuit breakers or disconnect switches cannot provide the level of protection required by drive components Refer to Appendix A for size and type recommendations Publication 1394 5 0 May 2000 3 6 Wiring System Axis and Shunt Modules and Motors for all systems Determining Your Type of Input Before you ground or wire your 1394 system you must determine the Power type of 360 480V input power you will be connecting to The 1394 system is designed to operate in both grounded and ungrounded environments Grounded Power Configuration As shown in the figure below 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 determine that you have grounded power distribution in your plant you do not need to modify your system Figure 3 2 Grounded Power Configuration 1394 Digital Servo Controller dli Di GUE Toto Sem oue 1 o Histo Conduit 4 Wire Cable drain shield V PE wire 8 TM o motor E CMS pote cable W1 wire 3 W V1 wire 2 U1 wire 1 PE
133. 0 lq Cur Ref This parameter displays the present level of the Iq current reference for this axis after all limiting has occurred Parameter Numbers Parameter Group Display Units Parameter Type Linkable 232 233 234 235 Monitor Parms Torq data amps Read Only No Jog Vel This is a jog velocity reference that is used when jogging the axis The sign of this parameter is changed by direction change requests and is automatically changed to 20 of motor rated velocity when a motor is selected by Motor Type Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 348 349 350 351 Vel Cmd Data rpm Read Write Yes No 1600 0 rpm 1600 0 rpm This is determined by the motor catalog number Publication 1394 5 0 May 2000 8 14 Configuring Your 1394 Analog Servo System Language Sel Parameter Numbers 4 Display language for text Parameter Group Linear List Display Units None Parameter Type Read Write Change While Running Yes Linkable No Default Value 0 English Selections 0 English Ld Lg Degrees If Ld Lg Freq and Ld Lg Degrees are set to non zero values a lead lag filter one pole one zero is additionally inserted into the feedback path of the velocity loop This filter can be used to enhance the stability of the loop in the presence of load resonances This parameter sp
134. 12 5 CABLE SHIELD STROBE X 7 Lof Encoder Optional 35V INPUT 0 Op COMMON INPUT 1 1 1394 DIM plug is required Plug into J5 pu for each DIM axis Four plugs Aux Encoder connector ere supplied with the DIM 1 Feedback Input in place of EMO 1 A servo motor 1 A CHANNEL A HIGH 1 lt i H CHANNEL A LOW B HANNEL B HIGH 3 RESOLVER CONNECTOR i CHANNEL LOW DRIVE END Auxiliary C CHANNEL Z HIGH BOTTOM VIEW i Encoder J CHANNEL Z LOW H TOM 45V OUT 8 F COMMON OU 9 SHIELD 12 STROBE X 7 En r ional 35V INPUT 10 coder Optional OMMON INPUT 11 5 10 i 1394 GE15 Cable ENCODER CONNECTOR i Optional Encoder DRIVE END i or 1394 GR04 Cable BOTTOM VIEW 1 for Resolver with 1 Publication 1394 5 0 May 2000 AQB Encoder E Encoder Left Side NOTE 26 AXIS X VREF AXIS X VREF INPUT FROM p I MOTION CONTROLLER 5V DC POWER SUPPLY INPUT NOTE 27 POWER SUPPLY COMMON 2 CHANNEL A HIGH 5 0 CHANNEL A LOW OUTPUT TO 2 CHANNEL B HIGH CHANNEL B LOW CHANNEL Z HIGH MOTION CONTROLLER lt lt HANNEL 7 LOW 1394 SA15 CABLE OPTIONAL 1394 SA15 CONNECTOR DRIVE END BOTTOM VIEW 1 7
135. 1394 5 0 May 2000 9 32 Troubleshooting Publication 1394 5 0 May 2000 5 Secure the fan to the fan housing with two 4 screws and nuts using 1 6 N m 14 Ib in of torque Figure 9 17 Securing the Fan to the Fan Housing i Screws X k 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 o So v gua py Jv Fan Plug 8 Slide the fan housing back into place 9 Secure the fan housing with two M3 x 6 mm screws using 0 70 N m 6 Ib in of torque to the axis module 10 Place the axis module back into your 1394 system and apply power Chapter Objectives System Specifications Appendix A Specifications Appendix A contains specifications and dimensions for the 1394 system and dimensions and operating characteristics for the 1326AB AS series servo motors This appendix covers e System specifications e Environmental specifications e Power dissipation e Communication specifications e Dimensions e Servo motor performance data General 1394 specifications are provided below Specifications are for reference only and are subject to change without notice Certification The 1394 is certified for the following when the product or package is marked UL listed File E59272 e CUL listed e marked for all applicable directives Publication 1394 5 0 M
136. 1394x SJTxx T also includes a direct high speed link to the SLC 5 03 5 04 or 5 05 that simplifies the programming required to transfer data between the 1394x SJTxx T and the SLC
137. 1394x SUTxx A systems 3 7 or higher with 1394x SUT xx C xx and T xx systems 3 9 or higher with 1394C SJDocL xx systems Software GML Commander version 4 02 or higher Input voltage 530 680V DC single phase Current Continuous rms 32A Peak rms 1 second 200A Capacitance 990 uF Energy storage 7 36 joules based on a nominal 50V bus delta Cables available part numbers 1394 CPDC 0015 and 1394 CPDC 0030 Cable lengths available 1 5 m 4 92 ft or 3 m 9 84 ft Operating temperature 0 to 50 C 32 to 122 F Relative humidity 5 95 non condensing Weight 4 8 kg 10 5 lbs Drive Interface Module The table below lists the specifications for the Drive Interface Module The For the 1394 DIM is Firmware version 3 7 or higher with 1394x SUTxx C xx and T xx systems 3 9 or higher with 1394C SJT xx L xx systems Software GML Commander version 4 01 or higher Input voltage 24V 50 kHz provided by the 1394x SJT xx system module Analog output information Px 1 2 Voltage 0 to 10V analog Signal 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 30V DC 1A Operating temperature 0 to 50 C 32 to 122 F Relative humidity 5 95 Weight 3 kg 6 6 Ib
138. 196 8 ft 084 84m 275 5 ft 090 90m 295 2 ft For use with 1326 motors only Publication 1394 5 0 May 2000 Encoder Feedback Cables for 1326AB Motors Use the following encoder feedback cables for connecting an optional 845H encoder to a 1326AB motor Bulletin Motor Size Cable Number Type Function Used On Length 1326 C Connector and cable assembly E 845H encoder U Commutation and encoder cable for all series motors 15 15ft 30 30 ft 50 50 ft 100 100 ft Recommended for use with 12V encoders only Miscellaneous Accessories Catalog Numbers D 13 The following additional accessories are also available Accessory A B Catalog Number Terminal operating tool 1394 194 N A Terminal operating tool steel 1394 1945 Brake and thermal axis connector kit 1394 199 N A Cable ground clamp kit 1394C GCLAMP N A 1394 CCFK resolver feedback connector kit includes the 1394 CCFK N A connector pins and extraction tool to connect to 1326 CCU xxx motor feedback cables Mating half for the 10 position resolver connector plug shell N A AMP 770580 1 Connector pins for resolver connector N A AMP 770988 3 Crimp tool for Encoder AQB N A AMP 90758 1 Crimp tool for resolver N A AMP 90759 1 Extraction tool N A AMP 455822 2
139. 2 is changed for convenience during commissioning Parameter Numbers 360 361 362 363 Parameter Group Data Display Units None Parameter Type Read Write Change While Running Yes Linkable No Default Value 0 Vel Out Selections 0 Vel Out Axis is configured as a standard velocity 1 2 3 4 5 commanded drive velocity regulator output is the torque source Prop Gain Intg Gain Ki Feed Fwd Gain and Droop are active parameters Vel DTrq PLd Axis is configured as a standard velocity commanded drive with additional torque inputs The additional inputs to the final torque summing node are the fixed Cur Preload and the dynamic Dig Torq Ref which can be linked to a real time digital input the velocity regulator output the preload and digital torque reference sum to become the torque source Prop Gain Kp Intg Gain Ki Feed Fwd Gain Droop Cur Preload and Dig Torq Ref are active parameters Dig Torq Axis is configured as a digitally torque 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 Vel ATrq PLa Axis is configured as a standard velocity commanded drive with additional torque inputs The additional inputs to the final torque summing node are the fixed Cur Preload and the real time analog voltage from the torque inputs TQREF and TQREF This analog voltage is samp
140. 22GA 7 11 P WHT YEL22GA GREEN 22GA WHT GRN 22GA BLUE22GA WHT BLU 22GA Nn mes DOLENS Y remm MIOLET22GA gt 2 y WHT VIO 22GA 3 GRAY 22GA WHT GRY 22GA X 28 5 2 BLACK 22GA y 1394 CFLAE01 03 08 and 15 Cable Individually Jacketed Pairs AXIS 0 1394 CFLAE lt 5V ENC PWR AXiS 0 j MO2AE OK 1756 02 Publication 1394 5 0 May 2000 B 28 Interconnect and CE Diagrams Publication 1394 5 0 May 2000 Figure B 22 1394 GE15 Cable Connections Flying Leads to Incremental Encoder or 1994 Encoder Customer Supplied Termination Feedback Connector Black NC NC 7 XX Yellow Strobe E White AHigh 2 XX Black ALow 3 Green BHigh 4 lt XX Black Blow 5 Blue ZHigh 6 a XX Black to ZLow 8 Red 45V Out 9 XX Black i Common Out 12 Shield cv oed Cable is Belden 9505 Shield Encoder Power 1 ENC PWR Red 10 5 Input ub XX aa Common In Cable is Belden 9501 Customer supplied 5V DC power source is required for encoder board whether encoder supply voltage is 5V or not Figure B 23 1394 GR04 Cable Connections
141. 24V DC across the appropriate axes on the input wiring board to enable the axis that you are tuning The LEDs on system module and specific axis module will be solid green the motor will move slightly and the following messages appear sequentially on the HIM Ax ATune Select Wait Tuning Ax ATune Select Disable Axis Disable the axis Messages similar to the following appear Ax ATune Select Opr Complete Ax ATune Select Idle Note Ifyou do not disable the axis the system does it for you however you still need to manually disable it before you proceed Press ENTER A message similar to the following appears showing the next axis Ax Motor Type 1326AB B410G If you have Then More axes to set up and tune Go to Defining Your Motor Set up and tuned all axes Press ESC until the Choose Mode message appears You are finished with the setup procedures Chapter 8 Configuring Your 1394 Analog Servo System Chapter Objectives This chapter covers the following topics Where to look for other programming information e Conventions used in this chapter e Understanding Analog Servo System parameters e 1394 Analog Servo software diagram Because GML and the HIM provide auto tune and setup features the information in this chapter is intended only a supplement to help you to understand the technical approach and to assist you with using communication tools such as SCANport Wher
142. 27 1326AB B505C 28 1326AS B360F 29 1326AS B515C 30 1326 5 3607 31 1326 720 32 1326 720 33 1326 420 34 1326 530 35 1326AN B320H 36 External 37 1326 740 Mt Power Usage Parameter Numbers 41 Displays the present average power deliveredto Parameter Group Smart Sys Data all motors from the system module Display Units Parameter Type Read Only Active on all Smart Power 22 kW systems and5 Linkable No and 10 kW Series C or later systems Publication 1394 5 0 May 2000 Configuring Your 1394 Analog Servo System 8 17 Mtr Inertia Inertia of motor attached to drive Automatically changed when Motor Type is changed to motor is inertia 2096 for coupling Inertia is defined as time in milliseconds required to reach 1000 rpm at rated motor current It is used as input to the auto tune procedure Note Before making modifications to Mtr Data parameters Motor Type must be setto custom motor Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 108 109 110 111 Mtr Data msec Read Write Yes No 0 msec 500 msec 100 msec Mtr Peak Cur Motor peak current Note Before making modifications to Mtr Data parameters Motor Type must be set to custom motor Parameter Numbers Parameter Group Display Units Parameter Type Change
143. 394 5 0 May 2000 5 Insert the other wire from the 230V AC power supply into terminal 4 6 Insert the jumper wire that came with your 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 insert and tighten any loose wires Figure 3 21 Wire Locations for the Shunt Module Fan Wiring the fan for 115V To power supply 1 O 20 To power supply 4 O Wiring the fan for 230V To power supply 0 C 20 To power supply 4 O Chapter Objectives Finding Additional Wiring Information for 1394 Systems Understanding GMC and GMC Turbo Wiring and Connections Chapter 4 Wiring 1394 GMC and GMC Turbo Systems This chapter covers the following topics e Understanding GMC and GMC Turbo wiring and connections e Understanding input wiring board layout Connecting your communication cables e Connecting GMC and GMC Turbo to a 1394 DIM e Understanding DIM signals e Wiring and Configuring an External Drive to the 1394 DIM This chapter provides signal wiring and connection information required for the 1394 GMC and GMC Turbo system modules only For additional wiring information on Refer to the following 1394 Analog Servo system modules Chapter 5 Wiring Your 1394 Analog Servo System in this manual CNC Interface
144. 4 wiring and configuring external drive 4 26 24V logic input power specifications A 5 A Allen Bradley label series designator P 3 analog servo system See 1394 analog servo system analog test points setting up for analog servo 7 5 analog torque defining for analog servo 7 8 analog velocity defining for analog servo 7 7 applying power for analog servo 7 3 for GMC 6 2 auto tuning C 10 for analog servo 7 11 axis module axis module overview 1 11 catalog numbers D 4 dimensions A 18 installing replacement 9 18 LED 9 2 power dissipation A 10 removing 9 17 Publication 1394 5 0 May 2000 2 Index replacing AM50 AM75 fan 9 28 installing the new fan 9 31 removing the fan 9 28 specifications A 3 AxisLink 4 14 extended length 4 15 extended node GMC Turbo 4 15 extended node GMC 4 14 setting GMC 6 4 6 5 bonding modules multiple sub panels 2 8 bonding your system 2 6 bonding modules 2 6 C cables 1326 cable pinouts B 23 1394 cable pinouts B 26 catalog numbers control interface D 5 power and feedback 0 11 single axis flying lead D 5 system module D 5 two axis prewired D 5 connecting 1394 Analog Servo to ControlLogix connector B 26 connecting 1394 Analog Servo to ControlLogix flying leads B 27 connecting AQB to analog servo 5 5 connecting motor 3 26 connecting SCANport to analog servo 5 5 system module D 5 catalog numbers axis module D 4 cables control interface D 5 power and feedback
145. 49 15 24 0 610 0 600 0 239 0 236 Shaft Detail High Resolution Motor End and Pilot Tolerances 10 mm Dia Thru Hole 4 Required on a 115 mm Dia B C 0 394 Dia on a 4 528 Dia B C Mounting Bolts must be Cap Head Style e Allen Bradley SERIAL NO CAT NO SERIES Maximum Shaft Runout 0 04 0 0016 PART NO DATE CODE MAX SPEED RPM 40 C RES OHMS 25 C Shaft Endplay 0 127 0 005 MAX CONT OUTPUT POWER KW 40 Maximum Pilot Eccentricity 0 08 0 0032 T I R MAX CONT STALL TORQUE Nm LB IN 40 C MAX CONT RMS AMPERES AMPS 40 C Maximum Face Runout 0 08 0 0032 T I R BRAKE Nm IN LB voc ADC BRAKE COIL OHMS 257 RATED 40 C 4 NI 64 24 _ Name Plate Detail Flange Mount in millimeters and inches A 57948 BULLETIN 1326 AC SERVO MOTOR amp MADE IN U S A 080617 Feedback Catalog number Description AD AG C Key End milled keyway full depth Resolver 1326AB B410x 21 without brake 201 7 235 7 275 6 6 x6 x 30 30 7 7 94 9 28 10 85 0 236 x 0 236 x 1 18 1 21 1326AB B420x 21 without brake 258 8 292 9 333 0 6x6x30 30 7 10 19 11 53 13 11 0 236 x 0 236 x 1 18 1 21 1326AB B430x 21 without brake 328 7 362 7 402 8 6 x6 x 30 30 7 12 94 14 28 15 86
146. 4C SJTxx L B 19 1394 Analog Servo Systems 1394x SJTXX A B 21 LA Mods LM B 23 1 326 Cable PITFOU S uii racer e t SR tes B 23 T994 C able PINOS xat nci CS RR RC MINUS CR e B 26 Grounding for 1394 CE Requirements B 30 Appendix C Chapter Objectives ceo exerc VR E d LHP E ELO UTE C 1 The Human Interface Module C 1 Understanding HIM Keys C 2 Understanding HIM C 4 Understanding HIM Modes C 5 Display Mode C 5 Program Mode erri etm Re e e C 5 LINK soins eet lr eame o ete Ca et FOCAL C 5 Startup Mode ep d a p tebe dus C 5 EEProm Mode ertt e RR rr ves e Cre C 5 Search e bp a b deo aed dice C 6 Cohtral Status Mode cive mee x in geni e hr palme tert etis C 6 PassWord soot tota att ee e eme tod C 6 Linking Parameters C 6 Using Copy Galicia C 7 Copying a System s Information C 8 Catalog Numbers Table of Contents vii Pasting a System s Information C 9 BoM eee a pl na cob E e aig C 10 Getting an Overview of HIM
147. 5 Terminal Block Locations for 22 kW System Module 3 16 Required Tools and 3 17 Connecting Power Wiring for 5 and 10 kW Series A and B and 22 kW System Modules 3 17 Connecting Power Wiring for 5 and 10 KW System Modules Series C arbe ecd 3 18 Connecting Motor Power to Axis 0 5 3 19 Connecting Thermal and Brake Leads to Axis Modules 3 20 Required Tools and 3 20 Wiring Motor Power Thermals and 3 21 Connecting Feedback to System 3 24 Connecting Your Motor Cables to 3 26 Connecting Your External Shunt 3 26 Connecting Your External Shunt Resistor Series A and B 3 27 Connecting Your External Shunt Resistor Series C 3 28 Table of Contents iii Wiring 1394 GMC and GMC Turbo Systems Wiring Your 1394 Analog Servo System Connecting Your Shunt Module required for 22 KW system 3 28 Required Tools and Equipment 3 28 Wiring the Shunt Module 3 29 Wiring Shunt Module Fan Power 3 33 Chapter 4 Chapter Objectives 4 1 Find
148. 6 333 47 0 0063 37 6 333 59 0 b22 212 33 28 AM50 AM50 IH 0 056 70 0 620 39 5 AM75 AM75 IH 1326AS B860C 2000 1650 49 3 436 6 0 0 0094 49 3 436 93 0 823 17 6 33 23 AM50 AM50 IH 0 083 124 0 44 4 AM75 AM75 IH 1100 1 All ratings are for 40 C 104 F motor ambient 110 C 212 F case 50 C 122 F amplifier ambient and 40 C 104 F extemal heatsink ambient AM50 and 75 For extended ratings at lower ambients contact Allen Bradley Limited by axis module continuous current 3 Limited by axis module peak current Publication 1394 5 0 May 2000 A 34 Specifications Publication 1394 5 0 May 2000 Chapter Objectives Appendix B Interconnect and CE Diagrams This appendix covers the following e GMC CNC interface and analog servo interconnect diagrams e and analog servo thermal interconnect diagrams e Cable pin outs e Grounding for 1394 CE requirements Refer to the 9 Series Integration and Maintenance Manual 8520 6 2 for 9 440 information Publication 1394 5 0 May 2000 B 2 Interconnect and CE Diagrams GMC Analog Servo and CNC The following notes apply to the interconnect diagrams on the following Interface Interconnect Diagrams pages Note Information 1 Power wiring is 3 3 mm 12 AWG 75 C 167 F minimum copper wire 2 Input fuse to be Bussmann Refer to Appendix A
149. 78 BULLETIN 1326 AC SERVO MOTOR MADE IN U S A Catalog number Description AL AD AG C Key End milled keyway full depth 1326AS B840x 21 without brake 181 308 346 431 12 8 60 60 5 15 12 13 13 63 16 97 0 472 x 0 315 x 2 36 2 36 1326AS B860x 21 without brake 235 359 397 482 12x 8x60 60 9 25 14 13 15 63 18 97 0 472 x 0 315 x 2 36 2 36 If you are ordering a 1326 5 8 21 8 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 Shaft and pilot tolerances are per DIN 42955 N tolerance The eye bolt diameter is 38 1 mm 1 50 in O D x 22 35 mm 0 88 1 0 Publication 1394 5 0 May 2000 A 32 Specifications Servo Motor Performance Data This section contains performance data for 1326AB and 1326AS motors and 1394 axis module combinations 1326AB Performance Data Motor Catalog Rated Speed Motor Rated Motor Rotor System System Peak System System 1394 Axis Number rpm Torque Rated Inertia Continuous Stall Torque Continuous Peak Stall Module 480V 360V N m lb in Output kg m Torque N m Ib in Stall Current Current kW Ib in s N m Ib in Amperes
150. 8 E Load L3 12 164 6 4 L1 Dimensions are in millimeters and inches Et 204 8 03 gt Publication 1394 5 0 May 2000 47 1 85 192 7 55 7 0 0 275 Specifications A 21 Figure A 10 SP 74102 006 02 Filter Dimensions 15 0 59 330 12 99 v ES ES SS H 20 078 LI EI LE Bjo o ES ES E Load Co p 2 0 E ou E E E Line E 155 6 10 H o ES ES E Dimensions are in millimeters and inches LL LT ES ES LE E C ET EJ ES i v CE E oS 195 7 67 223 T 1 25 0 98 5 x t o a pum Y 15 0 59 gt 330 12 99 Figure A 11 SP 74102 006 03 Filter Dimensions 20 0 78 gt 646 25 43 BB 35437 3a DO 13 gg Oo Load Oo Oo EH Bs L2 20 oo 112 Se BH Line HB 192 7 55 L1 Dimensions are in millimeters and inches zig BH H EH Q oOo od 686 27 00 gt 963 1035 4 pomana 35 1 37 0500802080009008920800295085006708500950052 38
151. 9 12 9 13 Phase Loss 9 11 Pre Charge 9 11 ring write 9 12 Serial Fit 9 11 Sftwr Fit 9 11 Shunt TmOut 9 11 Unkn Module 9 11 Unknown Flt 9 11 finding for 9 440 system 9 5 9 13 finding for analog servo system 9 5 9 10 finding for CNC interface system 9 5 9 10 finding for GMC system 9 5 HIM display 9 7 system module analog servo 9 10 understanding analog servo systems 9 10 axis module 9 12 viewing status continuous GMC 9 6 instantaneous GMC 9 5 Publication 1394 5 0 May 2000 Index feedback mounting adapter kit catalog numbers 1326AB motors D 7 1326AS motors D 9 filters dimensions A 20 specifications A 4 flex I O 4 16 fuses checking for a blown fuse in 1394 DCLM 9 23 replacing 1394 SR10A fuse 9 25 replacing 1994 SR9A SR9AF SR36A and SR36AF shunt modules 9 26 replacing in 1394 shunt module 9 25 G GMC fault descriptions 9 9 interconnect diagrams B 3 GMC system AxisLink connections 4 14 DH 485 connections 4 13 encoder wiring 4 10 extended AxisLink connections 4 15 fault LEDs 9 9 flex I O connections 4 16 input wiring board descriptions 4 5 layout 4 2 overview 1 3 registration inputs 4 7 remote I O connections 4 16 serial communications 4 11 setting up using GML 3 x x 6 5 setting up using GML Commander 6 3 SLC interface connections 4 17 wiring 4 1 GMC Turbo SLC interface setup 4 17 GML 6 5 GML window 9 5 9 6 Online Manager window 9 5 9 6 viewing status continuous 9 6 instantaneous 9 5 watch
152. 9 3 9 3 status 9 2 9 3 9 4 system module 9 2 system module status 6 3 7 3 7 11 understanding 9 2 WATCHDOG 9 3 limits defining for analog servo 7 10 line input fusing specifications for user supplied A 5 low voltage directive 2 2 modules installing replacement axis 9 18 installing replacement system 9 20 removing axis 9 17 replacing AM50 and AM75 fan 9 28 removing system 9 19 replacing 9 16 replacing 1394 SR10A fuse 9 25 replacing fuse in 1994 SR9A SR9AF SR36A and SR36AF 9 26 monitoring an axis for analog servo 7 5 motor dimensions See dimensions motor feedback cables catalog numbers D 12 motor junction box kit catalog numbers 1326AB motors D 7 1326AS motors D 9 motor power cables 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 Index 5 custom for analog servo 7 6 for analog servo 7 5 mounting 1394 DCLM 2 9 2 11 1394 DIM 2 9 axis modules 2 9 external shunt modules 2 11 external shunt resistor 2 11 GMC and turbo systems 2 16 mounting your 1394 system 2 8 requirements See system mounting requirements requirements system 2 3 system module 2 8 multi drop setting 6 4 6 5 0 Off line Development System ODS 1 5 Online Manager window 9 6 P parameters 1394 analog servo system 8 3 descriptions 8 2 linking C 6 pin outs 1326 cables B 23 1394 cables B 26 power applying to yo
153. 9 T 70 2 75 9 Y 20 0 78 gt 646 25 43 Publication 1394 5 0 May 2000 A 22 Specifications External Shunt Dimensions Figure A 12 1394 SR10A Shunt Resistor Kit External Shunt Resistor Dimensions are in millimeters and inches Depth 100 3 94 Fuse Holder Dimensions are in millimeters and inches 165 1 9 6 6 5 Y Wire length 203 8 0 Ko A 0 75 0 38 li Wire length 1524 60 0 1346 Wire length 203 8 0 d 0475 ni 0 010 381 825 Fuse holder 7 150 8 25 Wire length 1524 60 0 5j ATTENTION To avoid the hazard of shock or burn and ignition of flammable material provide appropriate guarding The external shunt resistors and module enclosures can reach temperatures up to 350 C 662 F Install per local codes Publication 1394 5 0 May 2000 Specifications A 23 Figure A 13 1394 SR 9A and 9AF Front View Dimensions Dimensions are in millimeters and inches 150 Depth 280 11 02 5 5 91 25 lt 0 98 Mounting Hole Detail 8 24 8 8 0 0 31 lt 0 32 0 98 10 1 0 40 15 9 0 63 wu Allen Bradley 1 gt 155 1394 Di l Si 125 15 T igital Servo Controller 6 1 0 300W shunt Module
154. ASSIS an DRESS VIOLET22GA PAVEN COM R R i 13 EN 24V rt GRAY22GA 1 WHTIGRAY220A i8 1 5 ENABLE 1 ENABLE M DRAIN m 7 ENABLE 1 DEI ET rA Al BLUE 22GA TREF 2 S wurpiuzaca 0070 VREF 7 i DRAIN RE DE 3 OUT 0 TREF 8 1 111 CHASSIS zzz ORANGE 22GA 75 CHANNEL A HIGH 4 r ong naa 25 CHANNELALOW 10 6 VEU ERR 6 27 CHA AXIS1 CHANNEL HIGH 5 t WHTNELZ2GA 1 29 CHB 1 AQBx CHANNEL BLOW 11 S Gneci 12 87 OHB CHANNEL Z HIGH 6 p 33 082 CHANNELZLOW 12 e DRAIN 135 CHZ 1 3 ap 22 2 amp SVCOM 9 hn BORN hn Figure B 19 1394 CCAE01 03 08 and 15 Cable Enable Drive Fault 5V Axis 0 1756 M02AE Axis 1 5V AX1 Enable Drive Fault Publication 1394 5 0 May 2000 ENABLE DRIVE FAULT AXIS 0 Figure B 20 Interconnect and CE Diagrams B 27 1394 CFLAE01 03 08 15 Cable Pin outs 5 5VCOM CHANNEL A HIGH CHANNEL A LOW CHANNEL B HIGH CHANNEL B LOW CHANNEL Z HIGH CHANNEL Z LOW VREF TREF VREF TREF DROK 0 24V EN COM 24V ENABLE TO SYSTEM FAULT STRING Figure B 21 uc RED22GA 5 BLACK 22GA ne DRAIN TIT 4 zu ORANGE2 6A 10 y 12 WHT ORG226A 5 T YELLOW
155. Amperes 1326AB B410G 5000 4000 2 7 24 1 0 0 0005 2 7 24 6 6 58 2 45 6 0 0 004 8 1 72 7 32 4 07 1326AB B410J 7250 6000 2 7 24 1 4 0 0005 2 3 21 4 7 429 3 0 6 0 0 004 2 7 24 7 0 62 3 48 9 0 4 8 1 72 10 4 07 1326AB B420E 3000 2500 5 0 44 14 0 0008 5 0 44 10 6 94 2 84 6 0 0 007 14 9 132 8 0 04 07 1326AB B420H 6000 5000 5 1 45 22 0 0008 2 8 25 5 6 50 5 3 0 6 0 0 007 4 2 37 2 8 4 74 3 45 9 0 4 5 1 45 14 0 1243 546 15 0 07 1326AB B430E 3000 2500 6 6 58 14 0 001 5 1 45 104 89 3 0 6 0 0 01 6 6 58 15 2 1358 39 9 0 04 19 7 174 11 6 07 1326AB B430G 5000 4000 6 4 57 2 3 0 001 5 2 46 10 3 92 45 9 0 4 0 01 6 4 57 172 1533 56 15 0 07 1326AB B515E 3000 2500 10 4 92 2 3 0 004 7 7 68 15 4 136 45 9 0 4 0 03 10 4 92 25 6 2263 64 15 0 07 31 2 276 18 3 AM50 AM50 IH AM75 AM75 IH 1326AB B515G 5000 4000 10 4 92 2 9 0 004 7 9 70 15 8 140 75 15 07 0 03 10 4 92 31 2 276 9 5 28 5 AM50 AM50 IH AM75 AM75 IH 1326 520 3000 2500 13 0 115 2 9 0 005 8 8 78 17 7 1578 45 9 0 AM04 0 04 13 0 115 29 4 260 6 7 15 0 07 39 0 345 20 1 AMBO AMBO IH AM75 AM75 IH 1326AB B520F 3500 3000 13 1 116 29 0 005 11 2 99 22 4 198 75 15 0 07 0 04 131 116 39 3 248 8 8 26 4 AM50 AM
156. CK AXIS X R1 WIRE 1 WHITE AXIS X R2 WIRE 1 SHIELD WIRE 2 BLACK AXIS X 51 MOTOR AXIS 1 WIRE 2 RED AXIS X 53 i i i i RESOLVER A i 4 mo mmm An RESOLVER WIRE 2 SHIELD WIRE 3 BLACK AXIS X S4 WIRE 3 GREEN AXIS X S2 WIRE 3 SHIELD CABLE SHIELD Plug into connector Plug into connector 1326Ax AC SERVO MOTOR One 1394 DIM plug is required for each DIM axis Four plugs 1 are supplied with the DIM RESOLVER CONNECTOR DRIVE END BOTTOM VIEW 16 Publication 1394 5 0 2000 B4 Interconnect and CE Diagrams NOTES 8 9 gt BLUE Figure B 2 GMC System Interconnection Diagram 1394x SJTxx C and T 1394 GMC AND GMC TURBO SYSTEM MODULE RIO BOARD SHIELD P1 NOTE 17 CLEAR n gt FROM 1746 RACK OR A 1746 RACK WITH AN SLC 5 08 5 04 OR 5 05 PROCESSOR TO SLC RACK OR 1394 SJTxx T DC MINUS BUS ANV HL NOTE 13 SLC IN and Motors for all systems chapter SLC OUT for ground jumper instructions
157. D 11 single axis flying lead D 5 system module D 5 two axis prewired D 5 external shunt modules D 4 external shunt resistor D 4 feedback mounting 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 Publication 1394 5 0 May 2000 1326AH D 10 1326AS D 8 shaft oil seal kit 1326AB motors D 6 1326AS motors D 8 shunt modules for 22 kW D 4 system module 1394 systems D 2 9 440 high resolution absolute D 3 9 440 systems D 2 CNC Serial Drive D 3 understanding D 1 CE complying with 2 1 EMC directive 2 1 grounding to meet CE requirements B 30 low voltage directive 2 2 meeting requirements 2 2 CE diagrams B 1 certification A 1 circuit breakers specifications A 6 CNC interface system Data Highway Plus 1 5 interconnect diagrams B 12 overview 1 5 commissioning 1394 GMC and GMC turbo systems 6 1 configuring 1394 analog servo system 8 1 connecting communication cables 4 7 contact ratings specifications A 3 contactor specifications for user supplied A 5 contents of manual P 2 continuous status viewing 9 6 conventions conventions used in this manual P 3 used for parameters 8 2 copy cat C 7 copying system information C 8 pasting system information C 9 crimp tool D 13 customer responsibility receiving and storage P 4 D data highway connection 4 13 DC Link Module DCLM See 1394 DCLM DCLM See 1394 DCLM digita
158. EST 1 DRIVE OK 1 2 When you apply 24V AC DC control power TB2terminals 24 and 25 TB2 terminals 24 and 25 Mandatory to the system and no system faults are detected the Drive OK relay contact closes The contact remains closed until a drive fault occurs the DC bus voltage is lost or you remove 360 480V input power from the system module If a drive fault is detected or the DC bus voltage is lost the relay contact opens You can wire the Drive OK contacts into the Estop string to open the main power contactor if a fault occurs The contact rating is 115V AC or 24V DC 1A Publication 1394 5 0 May 2000 Wiring 1394 GMC and GMC Turbo Systems 4 7 Figure 4 5 Typical Registration Inputs 5V DC Power 24V DC Power Supply 2 5 mA Current Sinking Supply 2 5 mA me Registration Registration TB1 Axis 0 Device TB1 Axis 0 Device 16 Supply Similar for 17 Supply TB2 Terminals 16 19 Axis 1 18 Output TB1 Terminals 20 23 Axis 2 18 Output TB2 Terminals 20 23 Axis 3 19 Common 19 Common Shield Shield 5V DC Power 24V DC Power Supply 2 5 mA 22223 Current Sourcing Supply 2 5 mA Registration Registration Device Device Supply Supply TB1 Axis 0 TB1 Axis 0 Similar for 16 Output TB2 Terminals 16 19 Axis 1 17 Output TB1 Termi
159. Encoder Input HERS E D E Resolver Feedback Input Axis 1 J4 gt SB Auxillary Encoder Input e c E d 2 gt 2 Jt C D gt gt Publication 1394 5 0 2000 4 10 Wiring 1394 GMC and GMC Turbo Systems Encoder Feedback Wiring These connectors accept encoder feedback signals from an optional encoder Terminal 10 requires a user supplied regulated 5V DC X596 We recommend Belden 9728 wire or equivalent When you use a 5 volt power supply there is a maximum distance between the encoder and 1394 of 12 2 meters 40 feet The 1394 interface circuitry requires 0 325A to operate Any additional devices connected to the 1394 such as incremental encoders may require an additional 0 2A per device to operate Check your device for operational requirements Make the encoder feedback connections according to the table below Connectors are located on the bottom of your system module refer to Figure 4 7 for 1394x SJTxx C and T systems and Figure 4 8 for 1394C SJTxx L systems For this axis Connect to this terminal 0 J3 1 J4 2 J5 3 J10 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 of the cable insulation and braided shield is removed from the fe
160. Figure 1 7 1394 System module Overview 1 11 Axis Modules Axis modules with continuous output currents RMS of 3 0 4 5 7 5 23 3 and 35 0A convert the DC power supplied by the system module to a variable AC voltage You will require one axis module for every 1326Ax Bxxxx servo motor you plan to run using the 1394 Choose each axis module based on the current requirements of the servo motor Figure 1 8 1394 Axis Module External Shunt Module used with 22 kW System Shunt modules with rms power output of 300 900 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 use one shunt module with each 22 kW smart power system module Available in two sizes each package contains an integral fuse and terminal block The 3600W package is available with a 115 230V AC cooling fan Choose your shunt module based on the shunt requirements of the 1326Ax Bxxxx servo motors you plan to run using the 1394 Note Sand 10kW system modules can use an optional 1400W shunt module kit to dissipate excess regenerative energy unpackaged components Figure 1 9 1394 External Shunt Module Publication 1394 5 0 May 2000 1 12 Overview Publication 1394 5 0 May 2000 1326AB Motors This family of high performance medium inertia ferrite three phase
161. Filters The table below shows the requirements for filters that you can use The For the SP 74102 006 01 is For the SP 74102 006 02 is For the SP 74102 006 03 is Frequency 50 60 Hz 50 60 Hz 50 60 Hz Voltage 460V AC 460V AC 460V AC Current 23A 9 50 C 73 4 F 30A 9 50 C 86 F 75A 9 50 C 122 F Operating Temperature 25 to 85 C 13 to 185 25 to 85 C 13 to 185 25 to 85 C 13 to 185 F Vibration 10 200 Hz 1 80 10 200 Hz Q 1 8g 10 200 Hz Q 1 8g Humidity 9096 9096 9096 Weight 1 6 kg 4 16 Ib 2 7 kg 7 02 Ib 5 2 kg 13 52 Ib Power Loss 20W 38W 57W Roxburgh Catalog No MIF323 GS MIF330 GS MIF375 GS Publication 1394 5 0 May 2000 Specifications A 5 User Supplied Contactor M1 The table below shows the requirements for the contactor that you must supply The contactor For the 1394 SJT05 and For the 1394C SJT05 and For the 1394x SJT22 is SJT10 Series A and B is SJT10 Series C is Rating 600V AC 43 600V AC 23A 600V AC 37A Recommended AC Coil Operation Allen Bradley 100 C43x10 Allen Bradley 100 C23x10 3 Allen Bradley 100 37 1023 types DC Coil Operation Allen Bradley 100 C43Zx10 Allen Bradley 100 C23Zx10 Allen Bradley 100 C37Zx10 1 Consider using a 60A contactor when the total capacitance of the axis modules is greater than 880 pF x indicates coil voltage surge suppressor
162. G COM lt Y SHIELD SHIELD NOTES 3 6 ATESTO E DRIVE OK NOTE 7 ATES DRIVE RELAY DRIVE 5 KTEST CO RATED AT 115VAC 24VDC STAR ib SHELD 1A INDUCTIVE CHASSIS L e 24V AC DC or cri 120V AC 50 60 HZ Ji DH485 J2 DH485 gt DATAA 1 1 DATA B 2 2 DS1 NC 3 3 SOLID GREEN BUS UP AXIS ENABLED 5 NC 4 7 FLASHING GREEN BUS UP AXIS NOT ENABLED TX ENAB 5 FLASHING RED GREEN READY BUS NOT UP SHIELD re 5 FLASHING RED FAULT gt COM 7 7 SOLID RED HARDWARE FAILURE 5 NC 8 8 10 KW INPUT POWER Series C SYSTEM MODULE L rx GROUND BAR II Series C ala ix ojoj 2 cel 22 KW INPUT POWER 5 EE ps 5 AND 10 KW INPUT POWER F l Series A and B 88 uc LANA T de CM ds T T E 2 TO 5 u T FF ut 5 758 amp d wW es 9 oz e NOTE 17 o E c E po 2 EE 2 zt cs wW tit 0 lt 5 zu FACILITY GROUND z 55 iz En a 5 o orc E zc s ou z 5 Fe Eod E 2 gt 8 ce Oo 7 A 9 oz Ia 2 5 t 5 lt E 2N 5 LY 58 55 5 2 lt ta Stun lt ae ui ON t5 2g iz zo t 519 aot a So 5 Ql d 5g 586 ut x 59 SQ NOTES oko 2 Z zz e 5 uc Eo ums us
163. HIM complete the steps in the Removing Power From the HIM section 2 Open the 1394 System Module door 3 On the inside of the door there are four slots one in each corner of the HIM cradle Insert a screwdriver into each slot one slot at a time and gently push the tab holding the HIM to the outside until that corner of the HIM is no longer restrained When the HIM is no longer restrained it will pop out of the cradle Disconnecting 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 disable it To disable the HIM 1 Atthe HIM press ENTER The following message appears Choose Mode Start Up 2 Press SEL The cursor moves to the bottom line 3 Press either the up or down arrow key until the following appears Choose Mode Control Status 4 Press ENTER The system records your choice and the cursor moves to the top line 5 Press ENTER The following message appears Control Status Control Logic 6 Press SEL The cursor moves to the bottom line 7 Press ENTER The system records your choice and the cursor moves to the top line 10 11 12 13 14 15 16 Using the Human Interface Module HIM C 15 Press ENTER The following message appears Control Logic Enabled Press SEL The cursor moves to the bottom line Press either the up or down
164. IE A pel gt GAD H Zc c LL 0 J5 ET Mir P 88 He lt Motor Resolver Feedback Input WES Axis 1 J4 x i Auxillary Encoder Input 1394 DIM Plug gt Bi gt 225 H E Ea fe 2 E 1394 GMC or GMC Turbo System 1394 1394 DIM The example below shows no 1394 axes and four DIM output axes Figure 4 24 1394 DIM Not Connected to Axis Module FH i i H 7 B lt DIM Axis JE Axis 0 on 1394 f 717 A DIM Axis B P Axis 1 1394 P Axis 0 J3 __ J 2117 Auxillary Encoder Input 1 1594 DIM Plug DIM Axis C Axis 1 U4 Axis 2 on 1394 xis 1 J4 del Axis 1 J6 gt Auxillary Encoder Input 1394 DIM Plug gt 4 Axis 2 J5 ETT f Axis 2 J7 EE DIM Axis D Auxillary Encoder Input 711 1394 DIM Plug Axis 3 1394 L C DG 2 d Axis 3 J10 gt 3 10 Auxillary Encoder Input 1394 DIM Plug 1394 Turbo System 1394 DIM Publication 1394 5 0 May 2000 4 24 Wiring 1394 GMC and GMC Turbo Systems Understanding DIM Signals Publication 1394 5 0 May 2000 1394 System Module Input Power Wiring When Not Using Axis Modules The figure below shows how to wire the 1394 system module for input power when no axis modules are used The transformer is rated
165. ILITY GROUND a ng E lt SA OPTIONAL THREE PHASE FROM 1394 INPUT NEUTRAL SYSTEM MODULE 8 33mm 12 AWG 5 10 and 22 kW Series A and B only 5 10 and 22 kW Series A and B only MOTOR IMPORTANT GROUND BAR MUST BE AS CLOSE TO DRIVE AS POSSIBLE RESOLVER INDICATES USER SUPPLIED COMPONENT 1326Ax AC SERVO MOTOR Publication 1394 5 0 May 2000 B 6 NOTES 8 9 Interconnect and CE Diagrams Figure B 3 GMC System Interconnection Diagram 1394C SJTxx L 1394 GMC SYSTEM MODULE RIO BOARD gt SHIELD 1 Pi NOTE 17 CLEAR gt SYS ENABLE DC MINUS BUS ANNA CONTROL POWER amp SIGNALS DC BUS POS NOTE 13 DC BUS NEG Refer to the Wiring System Axis and Shunt Modules and Motors for all systems chapter for ground jumper instructions wo Motion Input Wiring Board 24V INPUT COM SLIDER INTERCONNECT SYS ENABLE A NOTES 15 16 19 gt SHIELD NOTES 15 16 19 1394C SJTxx L and L RL HOME 0 24V INPUT COM 9 SHIELD NOTES 3 5 2 POS OTRAV 0 NEG OTRAV 0 THERM FLT 0 24V INPUT COM SHIELD Isles REGI 5V NOT USED REG1 24V YY REG COM SHIELD
166. LASHING GREEN BUS UP AXIS NOT ENABLED FLASHING RED GREEN READY BUS NOT UP THERMOSTAT E FEEDTHRU TERMINATOR CONNECTS TO THE AXIS MODULE MOTOR BRAKE MOTOR THERMAL FILTER Series C SWITCH FILTER Series C Tai TB2 a 1 eL ELE Ls bel ell pL Iw E SIS See Thermal Diagrams for Connections MOTOR POWER CABLE M NOTE 4 4 TO THERMOSTAT SYSTEM MODULE GROUND BAR SEE BOTTOM VIEW FOR RESOLVER CONNECTIONS MOTOR RESOLVER 1326Ax AC SERVO MOTOR 33 12 AWG Publication 1394 5 0 May 2000 8 Interconnect and CE Diagrams Figure B 4 Bottom Front of the GMC 1394C SJTxx L System Module Left Side Right Side RS 232 RS 422 AxisLink B RS 232 RS 422 T E FE 52 A SHiELD 1 2 TXD TXD lt gt BLUE 3 RXD RXD DIR XD p DAR ee S a sale BEL LAU LUE 5 COM lt 1 The RIO AxisLink option RL must be ordered with 1 6 DSR TXD System module It is installed at the factory You cannot 1 RTS RXD order these individually 8 CTS RXD 9 NC NC lt AxisLink and RIO board connections use Allen Bradley 1770 CD Belden 9463 or equivalent o e
167. Limit parameter 116 is changed For Example If the value equals 100 the Axis Module will not deliver more than 100 to motor thus peak torque is limited to 10096 Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 184 185 186 187 Torq Data amps Read Write Yes No 10 rated motor current 300 rated motor current or 2 times drive rating whichever is less 300 rated motor current Prop Gain Kp Parameter Numbers 368 369 370 371 This parameter controls the proportional error Parameter Group Vel Loop Tune AnBkish Conf gain of the velocity regulator For example if Display Units None KP 1 then velocity error of 1000 rpm will Parameter Type Read Write produce a rated motor current torque Change While Running Yes reference Linkable No Increase this value to attain a stiffer more Minimum Value 0 precise response Maximum Value 1024 Default Value 0 Pwr On Days Parameter Numbers 91 Displays the number of days that the drive has Parameter Group Linear List had control power applied Display Units None Parameter Type Read Only Linkable No Pwr On Minutes Parameter Numbers 90 Displays the number of minutes thatthe drivehas Parameter Group Linear List presently had control power applied Display Units None Parameter Type Read Only Linkable No Rem Data In Out Ax P
168. N 42955 N tolerance Publication 1394 5 0 May 2000 Specifications A 29 Figure A 21 1326AS B4 Series Servo Motor C AG 4050 5 Commutation 1 575 Resolver Output 3 02 Power Input 1 61 333 0 118 i 1 311 ee ye 1 181 A Sey ZF P 55 12189 24 ex 4 76 915 25 woo EN Y 2880 89 Dia 222 8 504 0 441 875 9 525 9 500Dia 19 009 18 996 875 600597 0 7480 0 7475 397 015 0 236 0 235 64 Deep nole Motor Front End 10 mm Dia Thru Hole Cap Corner Radius 1 1549 1529 4 required on a 115 mm Dia B C pus eel E 0 610 0 606 Shaft and Pilot Tolerances Allen Bradley Shaft Runout 0 04 0 0016 T I R Shaft Endplay 0 025 0 001 SEPT prem Pilot Eccentricity 0 08 0 0032 T I R PART NG DATE CODE Maximum Face Runout 0 08 0 0032 T I R MAX SPEED RPM RES OHMS 25 C MAX CONT OUTPUT POWER KW 40 C CONT STALL TORQUE Nm LB IN 40 C MAX CONT RMS AMPERES AMPS 40 C BRAKE Nm IN LB Voc ADC BRAKE COIL OHMS 25 RATED 40 C Name Plate Detail ba shi MADE IN U S A Flange Mount in millimeters and inches Catalog number Description AD AG C Key End milled keyway full depth
169. NOT UP FLASHING RED FAULT SOLID RED HARDWARE FAILURE SLIDER INTERCONNECT TO ADDITIONAL AXIS MODULES THERMOSTAT AND BRAKE FEEDTHRU NOTE 29 TERMINATOR CONNECTS TO THE LAST AXIS MODULE MOTOR THERMAL SWITCH FILTER Series C TB1 BS 2 MOTOR BRAKE FILTER Series C SFEHBEEISY See Thermal Diagrams For Connections MOTOR POWER CABLE NOTE 4 SEE BOTTOM VIEW FOR RESOLVER CONNECTIONS TO SYSTEM MODULE GROUND BAR Series C system modules NOTE 21 33mm 12 AWG TO OTHER AXES PE GND 33mm 12 AWG BONDED SYSTEM GROUND BAR Series A and B system modules NOTE 21 RMOSTAT 33mm 12 AWG 5 MOTOR FACILITY GROUND POWER Ej a E E OPTIONAL THREE PHASE INPUT NEUTRAL FROM 1394 SYSTEM MODULE 8 3 3 12 AWG 5 10 and 22 kW Series A and B only 5 10 and 22 kW Series A and B only MOTOR IMPORTANT GROUND BAR MUST BE AS CLOSE TO DRIVE AS POSSIBLE RESOLVER INDICATES USER SUPPLIED COMPONENT 1326Ax AC SERVO MOTOR Publication 1394 5 0 May 2000 B 12 Interconnect and CE Diagrams 1394 CNC Interconnections Figure B 7 CNC Interface System Interconnect Diagram CNC SYSTEM MODULE OPTIONAL EXTERNAL SHUNT DS1 wy SOLID RED FIBER O
170. PTIC RING FAILED BEFORE 1394 SYSTEM MODULE USER SUPPLIED 24V AC RMSOR gt FLASHING RED FIBER OPTIC RING FAILED AFTER 24V DC NON POLARIZED NOTE 28 gt 1394 SYSTEM MODULE THREE PHASE INPUT 360 480V AC RMS NOTE 1 2 DC BUS POS DC BUS NEG 008 DC MINUS BUS INPUTFUSING Mt NOTE 13 9 SERIES CNC CONTROLLED BY mm 9 SERIES E STOP STATUS CNC Interface Board 1 2 2 3 33 4 SERVO 34 1 41 10 40 39 9 5 43 P1 NOTE 17 1 bere SLIDER INTERCONNECT 3 5555 3 E 25 35 lt 31 FIBER OPTIC FIBER OPTI NOTES 3 5 gt TO OTHER 9 SERIES gt FIBER OPTIC RING DEVICES CNC Input Wiring Board FEEI NO FB2 FBO 1 WIRE 1 BLACK AXIS X R1 NOTE 4 6 WIRE 1 WHITE AXIS X R2 XX 2 WIRE 1 SHIELD 3 WIRE 2 BLACK AXIS X 81 8 WIRE 2 RED AXIS X 53 7 WIRE 2 SHIELD 9 WIRE 3 BLACK AXIS X 54 4 WIRE 3 GREEN AXIS X S2
171. 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 4 22 4 23 and 4 24 for encoder input locations 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 O 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 leads and must be connected to correct signals on a quadrature encoder Publication 1394 5 0 May 2000 4 30 Wiring 1394 GMC and GMC Turbo Systems Publication 1394 5 0 May 2000 Note The feedback inputs for axis 0 1 2 and 3 on 1394x SJTxx C and T systems and for axis and 1 on 1394x SJTxx L systems run from front to back see Figure 1 in Appendix B 2 Connectthe cable s overall braided shield to the 1394 system ground bar 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 4 21 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 modu
172. Power Suppl iid 24V DC com Axis 0 1394 AMxx 4 3 21 p 43 Motor M Thermal Switch 24V DC 24V DC CR2 Power Suppl 24V DC Note 120V AC 50 or 60 Hz Publication 1394 5 0 May 2000 Figure B 14 Isolated Series E Stop 1394 GMC Input Wiring Board 2 1 2 1394C SJTxx L 3 1394C SJTxx L RL 6 7 8 9 10 11 12 13 Shaded areas TB1 and 2 14 designate signals not used on the 16 1394C SJTxx L and 17 1394C SJTxx L RL 18 lt System modules 20 START STOP 22 eI i TL 2 0 23 L 120V AC Drive OK 24 CRI Relay 25 50 60 HZ 26 KH CRI ote 120V AC 50 or 60 Hz power may be used in place of a 24V DC power supply for the motor thermal switch circuit The example below shows a1394 Series A and B axis module wired for thermal fault monitoring The fault can be used to monitor or disable the axis Separate 24V DC power supply and isolation relay CR2 are included to filter conducted noise Figure B 15 Isolated Series E Stop with Thermal Fault Monitoring TBI 1394 GMC Input Wiring Board TB2 24V DC com 1 1 24V DC 3 1394C SUTxx L 3 yo 4 1394C SUTxx L RL 2 Power Supply 4VDC THERMFLTO 5 5 1 9 9 10 10 11 11 12 12 13 13 14 14 15 Shaded areas on TB1 and TB2 15 16 designate signals not used
173. Press ENTER The system records your choice and a message similar to the following appears EEPROM Save Values 4 Press either the up or down arrow key until the following appears EEPROM Drive HIM 5 Press ENTER The system records your choice and the following message appears Drive HIM 1 Note Youcan 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 If you want to use Press either the up or down arrow key location until 1 1 appears on the bottom 2 A 2 appears on the bottom 7 Press SEL A message similar to the following appears Drive HIM 1A Note The A represents the symbols that you can use to give this copy a name 8 Press either the up or down arrow key until the location in which the A originally appeared becomes the first letter of the name that you want this copy to have 9 Press SEL The letter is selected appears on the display and another A appears next to it Using the Human Interface Module HIM C 9 10 Repeat steps 8 through 10 until the complete name you want appears 11 Press ENTER The cursor moves to the location number 12 Press ENTER A message similar to the following appears B1394 Servo Drv Version 3 00 Note The version number on the bottom of the display represent the firmware revision of the information that you will copy 13 Press ENTER
174. RE 5 AND 10 KW INPUT POWER Series C SYSTEM MODULE GROUND BAR 7 Series C mb 22 KW INPUT POWER 515 5 5 5 5 gt 5 5 AND 10 KW INPUT POWER Series A and B slaldia I s e alg 2 uo 2 E EN Ez reca pod 28 3 2 Ly o 5 5 NOTE 17 o ott ro E z 26 5 fe Se ES lt E o e 22 5 zu FACILITY E 5 5 g 85 GROUND 2k EI 5 5 a o o 5 a e g za amp 3 52 35 5 5 r n 25 B 5 LY 5 8 55 5 sa D HIS ca ge t 2E 5 2 m ug EI i amp lt Es wt x ag 3 z 32 a lt 2 amp amp 5 22 roo 2 a oz 25 SE u atv ay gt o e 59 z ae Zo 5 m ag EG amp aa Soa a5 5 ae EG a Ta 2 gt 658 5 0 aoe oz a a A gt oa ogg 5 8 65 a EGO 5 at gt 5 us m INDICATES USER SUPPLIED COMPONENT Publication 1394 5 0 May 2000 CONTROL POWER amp SIGNALS DC BUS POS DC BUS NEG 1 L SLIDER INTERCONNECT Interconnect and CE Diagrams B 11 AXIS MODULE TYPICAL 051 SOLID GREEN BUS UP AXIS ENABLED FLASHING GREEN BUS UP AXIS NOT ENABLED FLASHING RED GREEN READY BUS
175. S gt a Fees wires in the same wire way Unshielded lead length J less than or equal to 76 2 mm 3 0 in Publication 1394 5 0 May 2000 3 4 Wiring System Axis and Shunt Modules and Motors for all systems Publication 1394 5 0 May 2000 System Module Wire Sizes wire sizes in this manual are recommended minimums Assume that wires are type MTW copper wire machine tool wire 75 C minimum per NFPA 79 unless otherwise noted Consult the National or local Electrical Code for factors related to ambient conditions length etc See your Allen Bradley Sales Representative for more information Shielding To minimize radiated and induced noise problems or ground loops separate feedback command and other shields from each other and connect them at a common machine or system earth ground Connect all shields to a single earth ground point Refer to Grounding Your 1394 System in this chapter and Appendix B for additional information Insulate the open ended shields resolver 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 s output inverter switching seque
176. S50 IH AM75 AM75 IH 1326AB B530E 3000 2500 18 0 160 42 0 007 14 2 126 2 28 4 2515 7 5 15 0 07 0 06 18 0 160 54 2 480 9 5 28 5 AM50 AMS50 IH AM75 AM75 IH 1326AB B720E 3500 3000 30 9 273 68 0 017 30 9 273 58 5 5183 175 33 2 AMBO AMBO IH 0 15 88 1 780 50 0 AM75 AM75 IH 1326AB B720F 5000 4100 31 8 281 7 11 7 0 017 31 8 281 7 38 336 27 5 33 2 AM50 AM50 IH 0 15 56 4959 50 AM75 AM75 IH 1326AB B730E 3350 2800 39 0 345 9 6 0 025 39 0 345 56 8 502 228 33 2 5 50 0 23 85 4 756 50 0 AM75 AM75 IH 1326AB B740C 2200 1800 53 0 469 87 0 034 53 0 469 84 2 745 20 9 33 2 5 50 0 30 126 8 1122 50 0 AM75 AM75 IH 1326AB B740E 3400 2800 50 0 450 127 0 034 50 0 450 52 7 466 32 0 33 2 5 50 0 30 79 4 702 50 0 AM75 AM75 IH 1 Allratings are for 40 104 motor ambient 110 C 212 F case 50 C 122 F amplifier ambient and 40 104 F extemal heatsink ambient 50 and 75 Limited by axis module continuous current 3 Limited by axis module peak current P c blication 1394 5 0 May 2000 For extended ratings at lower ambients contact Allen Bradley Specifications A 33 1326AS Performance Data Motor Catal
177. TIONAL THREE PHASE INPUT NEUTRAL A B D 1 Resolver H 1 0 G INDICATES USER SUPPLIED COMPONENT 1326AB AC SERVOMOTOR Publication 1394 5 0 May 2000 B 14 Interconnect and CE Diagrams Thermal Interconnect Diagrams Publication 1394 5 0 May 2000 Thermal switches internal to each 1326 servo motor can be wired in series to protect the motor from overheating In the event of a fault condition the switch opens and the motor responds to the system configuration The explanation and example diagrams that follow show how to wire motor thermal switches for GMC GMC Turbo and Analog Servo system modules Depending on the series of your of 1394 axis module your customer control 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 axis modules contain internal motor brake and thermal switch filtering and do not require the isolation power supply and relay Individual thermal fault monitoring can be achieved with your 1394 GMC system by wiring each of the motor thermal switches to one of four dedicated thermal fault inputs THERM THERM FLT3 Your 1394 system can then be configured to monitor and disable one or all four of the axes Alternately you can wire the thermal switches into the E Stop string to disable all axes when a fault occurs Interconnec
178. The copy begins and a message similar to the following appears Drive gt HIM Note Thenumbers ofthe parameters scroll as they are copied and more solid boxes appear on the bottom to show the status of the copy When the copy is complete a message similar to the following appears Drive gt HIM Completed 14 Press ESC A message similar to the following appears Choose Mode EEPROM Pasting a System s Information To place one system s information into another system using Copy Cat 1 Connectthe HIM to the system into which you want to paste the information stored in the HIM 2 Atthe HIM press ENTER A message similar to the following appears Choose Mode Display 3 Press either the up or down arrow key until the following appears Choose Mode EEPROM 4 Press ENTER The system records your choice and the following message appears EEPROM Save Values 5 Presseither the up or down arrow key until the following appears EEPROM HIM gt Drive Publication 1394 5 0 May 2000 C 10 Auto Tuning Using the Human Interface Module HIM 10 11 12 13 Press ENTER The system records your choice and a message similar to the following appears HIM gt Drive 1 FIRST If you have more than one copy of the contents of a drive stored in the HIM press either the up or down arrow key until the number assigned to the information you want appears Press ENTER A message sim
179. Turbo Only o Input Wiring Input Wiring Board Screw AxisLink Serial SW1 SW6 au Switches Application Program Lock e A pp icati 9 FC DH 485 2 lt Publication 1394 5 0 2000 Motion Board Screw Wiring 1394 GMC and GMC Turbo Systems 4 9 Figure 4 7 Bottom View of the 1394 SJTxx C and T 1394 SJT22 T RL System Module AxisLink Extended Axis Link Switch Turbo only Flex I O RS 232 and RS 422 RS 232 RS 422 and DH 485 Axis 0 J5 Input Axis 1 J6 Feedback Input Axis 2 J7 Peso Feedback Input Axis 3 J10 Resolver Feedback Input Axis 0 3 Auxillary Encoder Inpu Axis 1 J4 Auxillary Encoder Input Axis 2 J5 Auxillary Encoder Inpu Axis 3 0 Auxillary Encoder Inpu Figure 4 8 Bottom View of the 1394C SJTxx C L and T CE E 1394C SJTxx L RL System Module NT AxisLink x e LE RS 232 and RS 422 HI iq ces Flex RS 232 RS 422 and DH 485 H H gt 6 gt C a 2 50 D a GT Axis 0 J3 LI C gt Axis 0 5 Auxillary
180. Twinaxial Cable publication 92 D1770 BCO for more information Figure 4 15 Remote I O Connections Remote I O Connects to or P4 Remote I O Cable 1 Terminal 150 or 82 ohm Clamping screws Install a 150 or 82 ohm termination resistor 2 across 1 and 2 if this is the first or last Required cable AB 1770 CD Belden 9463 or equivalent module on the line Flex I O Flex I O provides general purpose discrete inputs discrete outputs analog inputs and analog outputs J2 The Flex I O Module is connected to the 1394 with a 4100 CCF1 maximum cable length is 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 e 1794 IB16 16 Discrete Inputs 24V DC e 1794 OB16 16 Discrete Outputs 24V DC e 1794 IE8 8 Analog Inputs e 1794 OEF4 4 Analog Outputs e 1794 IA8 8 115 Discrete Inputs e 1794 OAS8 8 115V AC Outputs 1794 4XOE 2 Analog combination module e 1794 IB10XOB6 Discrete combination module e 1794 OW8 Relay output module e 1794 IF4I Isolated analog input module e 1794 OB16P Discrete output protected A 1794 ASB adapter is not required Use a 4100 CCF1 or 4100 CCF3 cable to connect the 1394 to Flex I O modules Wiring 1394 GMC and GMC Turbo Systems SLC Interface 4 17 The GMC Turbo catalog number 1394x SJTxx T can connect directly to an SLC 5 03 5 04 or 5 05 back plane using
181. Value 255 before making modifications to this shunt Default Value Set by Shunt Type parameter 44 48 Shunt Type Parameter Numbers 43 49 Selects shunt module model number or type Parameter Group Linear List Display Units None Active on all Smart Power 22 kW systems and 5 Parameter Type Read Write and 10 kW Series C or later systems Change While Running No Linkable No 1394 SR 9A 22 kW systems Internal 5 and 10 kW systems Custom Shunt 1394 SR 9A 1394 SR 9AF 1394 SR 36A 1394 SR 36AF 1394 SR 10A Internal 5 and 10 kW systems Shunt Usage of shunt power used Active on all Smart Power 22 kW systems and 5 and 10 kW Series C or later systems Parameter Numbers Parameter Group Display Units Parameter Type Linkable 42 Smart Sys Data Read Only No Publication 1394 5 0 May 2000 Configuring Your 1394 Analog Servo System 8 21 Shunt Ws Parameter Numbers 48 Shunt short time constant weighting factor This Parameter Group Linear List parameter determines the relationship between Display Units the short and long time constants in the thermal Parameter Type Read Write model of the shunt module The long time Change While Running No constant weighting factor is 100 Ws Minimum Value 1 Configure this parameter only when a custom Maximum Value 100 resistor is selected Default Value 100 Active on all Smart Powe
182. While Running Linkable Minimum Value Maximum Value Default Value 124 125 126 127 Mtr Data amps Read Write No No 0 300 Rated motor peak current Mtr Pole Cnt The number of electrical poles on the motor Note Before making modifications to Mtr Data parameters Motor Type must be set to custom motor Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 396 Mtr Data None Read Write No No 2 8 This is determined by the motor catalog number Mtr Rated Cur Motor nameplate rated current Automatically changed when Motor Type is changed This value will be clamped to the current rating of the axis module if the motor rating is larger than the module Note Before making modifications to Mtr Data parameters Motor Type must be set to custom motor Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 104 105 106 107 Mtr Data amps Read Write No No 0 100 0 Neg Cur Lim The maximum allowable negative motor current that can be commanded is specified through this parameter If greater than Bridge Lim then Bridge Lim will set the limits Important Setting this parameter to a value other than default will limit motor output torque in CCW direction For Example
183. a 1746 C7 or C9 cable The SLC processor recognizes the GMC Turbo as an intelligent SLC module The GMC Turbo supports the transfer of input output image files and 1 files If you are using Refer to Publication number For this information GML Commander Reference GML Commander 4 x x GMLC 5 2 Programming Manual GML Programming Manual any Document Update 999 104 DU1 Programming GML 3 x x GML Programming Manual Document Update 999 104 DU1 1 1394 SLC Interface The figure below shows the location of the GMC Turbo to SLC connectors Figure 4 16 Connecting a GMC Turbo to an SLC SLC right side connector SLC IN connector SLC OUT connector M 1746 Rack with SLC 5 03 5 04 or 5 05 y 1394 GMC Turbo System ATTENTION Toavoid injury or damage to equipment do not install SLC interface cables catalog numbers 1746 C7 and 1746 C9 while the unit s is powered up ATTENTION SLC Interface faults will not automatically shut down or stop the axes or application program operating in the 1394 GMC Turbo These conditions must be handled in a safe manner with the user s application program Publication 1394 5 0 May 2000 4 18 Wiring 1394 GMC and GMC Turbo Systems
184. ack power 0 519 20 3 B White ground 0 519 20 2 no connection Shield 0 519 20 no connection C Black ChA LO 0 519 20 11 D Red ChA HI 0 519 20 12 Shield 0 519 20 10 E Black LO 0 519 20 8 F Blue ChB HI 0 519 20 9 Shield 0 519 20 7 G Black Comm 0 519 20 6 H Green Comm LO 0 519 20 5 Shield 0 519 20 4 J Overall Shield N A 1 1326 CPB1 xxx Standard Motor Power Cable for 1326AS B3xxxx 1326 AB AS B4xxxx and 1326AB B5xxxx Servo Motors Wire Number Wire Color Gauge Connector 1394 mm AWG Pin Terminal 1 Power Black 1 3 16 1 U1 2 Power Black 1 3 16 2 V1 3 Power Black 1 3 16 3 Wi 4 Brake Black 1 3 16 4 TB1 3 5 Thermostat Black 1 3 16 5 TB1 2 6 Brake Black 1 3 16 6 1 4 Braided shield Braided shield N A 7 PE3 GND Green Yellow 1 3 16 8 PE2 9 Thermostat Black 1 3 16 9 TB1 1 1326 CEU xxx Encoder Feedback Cable Pair Wire Color Gauge Connector Description 1394 mm AWG Pin Terminal 1 Black 0 34 22 H NOT 2 White 0 34 22 A A 1 2 Black 0 34 22 F Common 9 Red 0 34 22 D 5V 8 3 Black 0 34 22 J Z NOT 6 Orange 0 34 22 C Z 5 4 Black 0 34 22 B NOT 4 Blue 0 34 22 B B 3 5 Black 0 34 22 F Common 9 Green 0 34 22 E no connection Braided Shield N A G Shield Publication 1394 5 0 May 2000 Interconnec
185. al block labeled PE Note The three phase input neutral connection is present only on grounded power configurations Publication 1394 5 0 May 2000 3 18 Wiring System Axis and Shunt Modules and Motors for all systems Publication 1394 5 0 May 2000 Insert one of the 24V control power wires into the terminal block labeled W1 Insert the other 24V control power wire into the terminal block labeled W2 Tighten and torque all six screw terminals to the values in the following table System Module Terminal Block Terminal Block Designator Torque 5 and 10 kW 0 56 0 62 N m 5 0 5 6 Ib in 22 kW W1 W2 0 56 0 62 N m 5 0 5 6 Ib in DC COL U V W PE 2 21 2 66 N m 20 0 24 0 Ib in Gently pull on each wire to make sure it does not come out of its terminal Re insert and tighten any loose wires 10 Go to the section Connecting Motor Power to Axis Modules Connecting Power Wiring for 5 and 10 kW System Modules Series C To connect power wiring 1 Connect the system module ground wire from the system module ground bar to the bonded ground bus bar on the subpanel For more information on bonding refer to the chapter Installing Your 1394 Insert the three phase input neutral wire into connector terminal J10 4 and tighten the J10 4 connector screw torque value 0 56 0 62 N m 5 0 5 6 Ib in Note The three phase input neutral
186. all systems Setting the Ground Jumper in a 5 or 10 kW System Module for Ungrounded Power Configurations This procedure assumes that you have bonded and mounted your 1394x SJTO5 x or 1394x SJT10 x system module to the subpanel and that there is no power applied to the system To set the ground jumper for an ungrounded system 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 the system 2 Open the system module door For ground jumper settings on this Do this system module Series A and B 1 Locate the jumper connected to 726 and J27 on the circuit board behind the Danger label in the upper right hand corner of the system module refer to Figure 3 4 for the jumper s location Unplug the jumper from J26 Plug the jumper in GND3 Go to main step 4 Series C 9 7 Unplug the ribbon cable from the input wiring board refer to Figure 3 4 for location Remove the three control board screws Remove the control board pull it straight out from system module Locate the jumper connecting J4 and J5 and move one end of the jumper from J5 to J6 Re install the control board Align the guide pins in the rear of the enclosure with holes in the control board Re install the three control board screws and re connect the ribbon cable
187. arameter Numbers 70 85 This series of parameters represent linkable Parameter Group Linear List inputs and outputs to the SCANport Type 4 5 6 Display Units None 7 DataLink inputs and outputs Parameter Type Read Only Linkable In No Out Yes Publication 1394 5 0 May 2000 Configuring Your 1394 Analog Servo System 8 19 Rem Data In Out Px This series of parameters represent linkable inputs and outputs to the SCANport analog inputs and outputs for each of the six available ports Parameter Numbers Parameter Group Display Units Parameter Type Linkable 58 69 Linear List None Read Only In No Out Yes Resolvr Posn This parameter supplies the position feedback count 65 535 represents the counts per 1 2 revolution Parameter Numbers Parameter Group Display Units Parameter Type Linkable 216 217 218 219 Monitor Parms None Read Only No Resolvr Turns Parameter Numbers 244 245 246 247 The number of resolver electrical turns is Parameter Group Monitor Parms supplied by this parameter When these values Display Units None reach maximum the value drops to 32768 and Parameter Type Read Only begins to again count up and down Linkable No Rg Power Usage Parameter Numbers 40 Displays the presentaverage power regenerated Parameter Group pan Sys Data by all motors back to the system module Display Units 7o Parameter Type Read Only Active on al
188. arameters are set correctly and correct them as necessary Publication 1394 5 0 May 2000 9 14 Troubleshooting Condition Potential cause Possible resolution Motor does not respond to a Velocity Command Check for possible faults Verify that the parameters are set correctly and correct them as necessary The axis cannot be enabled for 1 5 seconds after disabling Disable the axis wait for 1 5 seconds and enable the axis Enable signal has not been applied or the enable wiring is incorrect Check the controller Check the wiring The motor wiring is open Check the wiring The motor thermal overload has tripped Check for a fault Check the wiring The motor has malfunctioned Repair or replace the motor The coupling between motor and machine has broken i e the motor moves but the load machine doesn t Check and correct the mechanics Vel Source parameter 364 Analog Servo only is set incorrectly Check and properly set the parameter Torq Source parameter 360 Analog Servo only 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 Replace the axis module Presence of noise on Command or resolver signal wires Recommended grounding per installatio
189. arameters so that information can be passed to or from another device The source parameter is the parameter from which the information is coming and the destination parameter is the location into which the information will be put For example you might choose to link axis parameter 220 Vel Command speed to analog output 1 to provide an analog voltage signal to a chart recorder Note You cannot change linked parameters while the system is running To link parameters Note These steps assume that you are starting from the top level of the HIM Sys Wait Bus 1 Atthe HIM press ENTER A message similar to the following appears Choose Mode Display 2 Press either the up or down arrow key until the following appears Choose Mode Link 3 Press ENTER The system records your choice and the following message appears Link Set Links 10 11 12 13 14 Using the Human Interface Module HIM C 7 Press ENTER The system records your choice scans for linkable parameters and a message similar to the following appears D A 1 Value lt 12 gt lt 232 gt The number on the left is the destination and the number on the right is the source Press either the up or down arrow key until the parameter in which you want to store the linked value appears Press SEL The cursor moves to the source parameter Press either the up or down arrow key until the parameter from which you will get the linked val
190. ation 1394 5 0 May 2000 Wiring System Axis and Shunt Modules and Motors for all systems 3 17 Required Tools and Equipment Before you begin to connect power wiring be sure to have the following A small flathead screwdriver e User supplied contactor e User supplied wiring for input power Connecting Power Wiring for 5 and 10 kW Series A and B and 22 kW System Modules To connect power wiring 1 Connectthe ground wire for the system module to the bonded ground bus bar on the subpanel For more information on bonding refer to the chapter Installing Your 1394 2 Open the front door of the system module 3 Connectthe system ground bar wire as follows If your system module is Then 5 and 10 kW or 22 kW Insert the system ground bar wire Series A and B in the terminal block labeled PE 22kW Connect the system ground bar Series C wire to the system module ground bar 4 Connectthe three phase incoming power wires as follows Insert the wire labeled Into this terminal block U U V V WwW WwW 5 Connect the three phase input neutral wire as follows If your system module is Then 5 and 10 kW or 22 kW Connect the three phase input Series A and B neutral wire to the bonded system ground bar For more information on bonding refer to the chapter Installing Your 1394 22 kW Insert the three phase input Series C neutral wire in the termin
191. ault This value is automatically set to 1000 rpm greater than CCW Vel Lim if this value would be greater then present setting Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 152 153 154 155 Vel Cmd Data rpm Read Write Yes No 0 rpm 8000 0 rpm This is determined by the motor catalog number CW Vel Lim Velocity mode clockwise maximum command limit This value is automatically set to the motor rated velocity when the motor parameter is changed Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 128 129 130 131 Vel Cmd Data rpm Read Write Yes No 0 0 rom 8000 0 rpm This is determined by the motor catalog number D A x Gain Scaling factor for the D A output test point For maximum resolution this parameter should be set so Gain 128 Maximum D A Value Where Maximum D A Value is the largest value of the parameter that is linked to D A Value parameter 12 Important Velocity is scaled for 4096 counts 1000 rpm Current Iq is scaled for 8192 counts 100 motor rated current Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 10 11 Setup None Read Write Yes No 2 0000 2 0000 0 0000
192. ault and UVlt active fault or bus undervoltage opens DROK relay Publication 1394 5 0 May 2000 Configuring Your 1394 Analog Servo System 8 11 Droop Parameter Numbers 380 381 382 383 This parameter is also referredto as static gain Parameter Group Vel Loop Data It effectively acts as a very slow discharge of the Display Units LA velocity loop integrator and has two uses Parameter Type Read Write As a component of an external position loop Change While Running Yes system setting this parameter to a higher non Linkable No zero value will eliminate servo hunting due to Minimum Value 0 0 rpm No Droop load stick slip friction effects Maximum Value 15 6 rpm e As a deliberate velocity droop secondary drives only in multiple motor systems where each drive axis is configured as a velocity loop and the motors are mechanically coupled together Use of higher non zero droop in this case promotes load sharing This parameter selects the torque command source within the drive When operating the drive in velocity mode set to Velocity Mode 1 0 When operating in torque mode using S Class set to A D Torque Block 4 This parameter selects the torque command source within the drive When operating the drive in velocity mode set to Velocity Mode 1 0 When operating in torque mode using S Class set to A D Torque Block 4 The droop scaling is defined as that sp
193. ay 2000 2 Specifications System Modules The table below lists the specifications for system modules The For the 1394x SJT05 is For the 1394x SJT10 is For the 1394x SJT22 1 is Rated AC input voltage 324 528V AC 50 60 Hz Three phase 324 528V AC 50 60 Hz Three phase 324 528V AC 50 60 Hz Three phase AC input current 6 5A 13 0A 28 6A Peak inrush current 975A 1300A 697A tus Series A and B Peak inrush current 697A lt 1us 697A lt tus 697A lt tus Series C Line loss ride through 20 ms 20 ms 20 ms Nominal bus output voltage 530 680V DC 530 680V DC 530 680V DC Continuous power output 4 5 kW 8 10 kW 17 22 kW Peak power output 28 kW 28 kW 136 kW Efficiency 99 99 98 Number of Electronic Cam 13 000 Master slave 13 000 Master slave 13 000 Master slave Profile Points Weight Series A and B 11 kg 24 25 Ib 11 kg 24 25 Ib 12 7 kg 28 0 Ib Weight Series C 10 68 kg 23 5 Ib 10 68 kg 23 5 Ib 12 9 kg 28 5 Ib Continuous current output 7 36A 14 73A 33 8A Peak current output 15 0A 29 46A 200A Capacitance 220 uF 330 uF 660 uF Series A and B Capacitance 220 uF 345 uF 660 uF Series C Inductance 1000 uH 750 uH 500 uH Internal shunt resistor time 200W continuous 40 000W peak two second maximum on No internal Shunt Resistor Publication 1394 5 0 May 2000 T The Standard and GMC Turbo sy
194. ay 2000 A 18 Specifications Axis Module Dimensions Figure A 4 1394 4 07 DIM and DCLM Front View 25 0 0 98 F 8 0 0 32 f OF OF A Dimensions are in millimeters and inches Mounting Hole Detail Module Module Module Module 8 0 0 31 Ly 10 1 0 40 400 0 A 15 75 ee 350 0 385 0 Fastener 15 9 0 63 437 LL 15 16 location 8 0 0 31 lt E 0 47 All slots accept M6 or 1 4 20 mtg screws 2 m d d Dimension shown is for mounting hardware Y location and does not reflect the location of Y the lower slot radius LER LA 50 0 50 0 50 0 74 97 Figure A 5 1394 4 07 DIM and DCLM Side View 280 gt 11 02 350 13 78 le Dimensions are in millimeters and inches A e Y Important Additional clearance below the axis 40 13 is necessary to provide the recommended cable L 158 bend radius Refer to 1326 Cables for 460V AC
195. ay the total number of minutes that the drive Parameter Group Linear List has ever had control power applied Display Units None Parameter Type Read Only Linkable No Sys 1 0 Image Parameter Numbers 7 Displays the processor image of these hardware Parameter Group Linear List signals Parameter Type Read Only Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit9 Bit7 Bite Bit5 Bit4 Bit3 Bite Bit1 Bito Axis 1 feedback loss Axis 2 feedback loss Axis 3 feedback loss n 2 enabled Axis 3 enabled Axis 1 HWD enable request Axis 0 feedback loss Cont EN relay S nable reques Axis 2 HWD enable request Drive OK relay Axis 3 HWD enable request Axis 0 enabled HDW reset request Axis 1 enabled AQB disable Publication 1394 5 0 May 2000 Configuring Your 1394 Analog Servo System 8 23 Sys Mod Data Parameter Numbers 6 Diagnostic information of data communicated Parameter Group Linear List between the controller and system module Parameter Type Read Only Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit9 Bits Bit7 Bite Bit5 Bit4 Bit2 Bit1 Bito E Y
196. basic understanding of the 1394 contact your local Allen Bradley representative for information on available training courses before using this product This manual is a user guide for the 1394 It gives you an overview of the 1394 family and describes the procedures you use to install set up use and troubleshoot the 1394 Publication 1394 5 0 May 2000 P 2 Preface Contents of this Manual Chapter Title Contents Preface Describes the purpose background and scope of this manual Also specifies the audience for whom this manual is intended 1 Overview Explains and illustrates the theory behind the 1394 s operation Covers hardware and software features 2 Installing Your 1394 Provides mounting information for your 1394 applies to all systems System 3 Wiring System Axis and Provides information on how to connect your Shunt Modules and 1394 system components together Motors for all systems 4 Wiring 1394 GMC and Provides information on how to wire your 1394 GMC Turbo Systems GMC and GMC Turbo System Modules 5 Wiring Your 1394 Analog Provides information on how to wire your 1394 Servo System Analog Servo System Module 6 Commissioning 1394 Provides information about parameters used to GMC and GMC Turbo configure your 1394 GMC and GMC Turbo Systems 7 Commissioning Your 1394 Provides information about parameters used to Analog Servo System configure your 1394 Analo
197. c control precautions are required when installing testing servicing or repairing this assembly Component damage can result if ESD control procedures are not followed If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook Overview 1 3 1394 System Overview GMC System The 1394 GMC System provides all the functionality of the IMC S Class Compact Motion Controller and power conversion within the 1394 system module Allen Bradley offers two versions of the 1394 GMC system module Standard GMC and GMC Turbo Both systems are completely programmed and commissioned using GML Graphical Motion Control Language offer Allen Bradley DH485 RS 232 and RS 422 as standard communications and have Remote I O and AxisLink available as communication options The 1394x SJTxx C Standard GMC system supports four axis modules and provides four channels of auxiliary encoder input The 1394C SJTxx L Standard GMC provides the same functionality of the 1394x SJTxx C but supports only one axis module and provides two channels of auxiliary encoder input In addition the 1394x SJTxx T GMC Turbo provides more GML application program memory and executes the programs faster The 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
198. ce Drive Enable p lt Drive OK see Figure 4 29 2 c 8 a e Servo Amplifier Motor LT Servo Angier Motor 1326AB i h Encoder PF 1394 GE15 Encoder Feedback Cable 1326 CEU xxx f A B 845H Encoder Feedback Cable Figure 4 18 shows the 1394 DIM connected to a 1394 GMC Turbo with two 1394 axis modules A 1326A B 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 Publication 1394 5 0 May 2000 4 20 Wiring 1394 GMC and GMC Turbo Systems Publication 1394 5 0 May 2000 1394 DIM with 1398 DDM xxx System Example Figure 4 19 shows the 1394 DIM 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
199. ces of power More than one disconnect switch may be required to de energize the system Allow five minutes for the DC bus to completely discharge before proceeding Label and remove the 24V control power wiring from the system module Label and remove the 360 480V AC input power wiring from the system module Label and remove the ground wire and the external shunt connections if applicable Label and remove the feedback and communication connectors from the bottom of system module Disconnect the slide and lock mechanism on the system module Open the system module door Label and remove any feedback and or communication connectors from the control board Remove the input wiring board Loosen the top and bottom fasteners that hold the module in place Lift the module up and pull it out Installing a Replacement System Module To install a replacement system module 1 Install the top mounting fasteners on the system panel for the system module The heads of the fasteners should be at least 6 35 mm 0 25 in from the panel Refer to Mounting Your 1394 System in the Installing Your 1394 chapter for more information Hang the 1394 System Module on the two mounting fasteners on the left side of the panel Install the lower fasteners for the system module Troubleshooting 4 If you removed a Do this Analog Servo system 1 Remove the HIM or cover plate module with a HIM from the new system modu
200. chical information Words that you type or select appear in bold When we refer you to another location the section or chapter name appears in italics To determine the series designator check the series field on the Allen Bradley label attached to your system axis and shunt modules The series designator is located as shown in the example below Figure P 1 Allen Bradley Label ALLEN BRADLEY FA CE BULLETIN 1394 300W SHUNT MODULE PART SER INPUT DC INPUT AC FOR FUSE REPLACEMENT USE BUSSMAN CAT NO FOR USE WITH 1394 SJT22 X SYSTEM MODULE Series Field Shunt Module Example Publication 1394 5 0 May 2000 P 4 Preface 1394 Product Receiving and Storage Responsibility Allen Bradley Support Publication 1394 5 0 May 2000 You the customer are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company Check the item s you receive against your purchase order If any items are obviously damaged it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill Should you discover any concealed damage during unpacking you are responsible for notifying the freight agent Leave the shipping container intact and request that the freight agent make a visual inspection of the equipment Leave the product in its shipping container prior to i
201. cifications A 8 SLC interface GMC Turbo 4 17 Publication 1394 5 0 May 2000 software diagram 1394 analog servo part 1 8 28 1394 analog servo part 2 8 29 specifications A 1 1394 DCLM A 4 1394 DIM A 4 axis module A 3 certifications A 1 circuit breakers A 6 communications 11 AxisLink A 16 dedicated discrete I O A 12 DH 485 A 13 encoder input A 11 flex I O A 13 GMC system A 14 remote I O adapter A 15 serial I O A 12 contact ratings A 3 environmental air temperature A 9 elevation A 9 humidity A 9 shock A 9 vibration A 9 filters A 4 input transformer A 6 power dissipation A 10 1394 DCLM A 11 1394 DIM A 11 axis module A 10 shunt resistor A 11 system module A 10 shunt module A 8 shunt resistor A 8 System A 1 system module A 2 user supplied components 24V logic input power A 5 5V external encoder power 6 contactor A 5 line input fusing A 5 start up precautions 6 1 storage P 4 storing your 1394 2 2 support local product P 4 technical product assistance P 4 switches Address 6 4 6 5 Init 6 4 6 5 Memory 6 4 6 5 Reset 6 4 6 5 System module catalog numbers D 2 dimensions A 17 installing a replacement 9 20 LED 9 2 power dissipation A 10 removing 9 19 specifications A 2 system mounting requirements 2 3 layout on subpanel 2 4 mounting 1394x AM50 75 heatsink through the back of the cabinet 2 6 spacing 2 3 T terminal operating tool 4 4 5 2 D 13 terminator 2 10 tools crimp D 13 extrac
202. connection is present only on grounded power configurations Insert the three phase incoming power wires as follows and tighten the three J10 connector screws Insert the wire Into connector Tighten to this labeled terminal torque value U J10 1 0 56 0 62 N m Y ae 5 0 5 6 Ib in WwW J10 3 Gently pull on each wire to make sure it does not come out of its terminal Re insert and tighten any loose wires Connecting Motor Power to Axis Modules Wiring System Axis and Shunt Modules and Motors for all systems 3 19 10 11 Plug J10 into P10 Insert one of the 24V control power wires into connector terminal J1 1 and tighten the J1 1 connector screw torque value 0 56 0 62 N m 5 0 5 6 Ib in Insert the other 24V control power wire into connector terminal J1 2 and tighten the J1 2 connector screw torque value 0 56 0 62 N m 5 0 5 6 Ib in Gently pull on each wire to make sure it does not come out of its terminal Re insert and tighten any loose wires Plug J1 into P1 Gently pull on each wire to make sure it does not come out of its terminal Re insert and tighten any loose wires Go to Connecting Motor Power to Axis Modules The procedures in this section detail how to connect motor cable flying leads to the terminals on the front of each axis module You must use one 1326 CPx1 xxx motor power cable for each of your 1326Ax servo motors Refer to the interconnect drawings i
203. connectors 5 and 10 kW Series C only e Cable shield grounding clamps 5 10 and 22 kW Series C only Note determine the series of your module refer to Figure P 1 in the Preface Each 1394 Axis Module ships with the following One 1394 Axis module e TBI and TB2 connectors e One 1394 Axis module information sheet publication 1394 5 5 Remove 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 information on catalog numbers There are several things that you need to take into account when preparing to mount the 1394 e The ambient temperature of the location in which you will install the 1394 must not exceed 50 C 122 F e You must install the panel on a flat rigid vertical surface that won t be subjected to shock vibration moisture oil mist dust or corrosive vapors e You have to mount the system vertically e You need to maintain minimum clearances see Figure 2 1 for proper airflow easy module access and proper cable bend radius Refer to Appendix A for mounting dimensions power dissipation and environmental specifications for the 1394 Publication 1394 5 0 May 2000 2 4 Installing Your 1394 applies to all systems ATTENTION Thisdrive contains ESD Electrostatic Discharge sensitive parts and assemblies You are required to follow static control p
204. could be set in 0 analog reference while axis 3 could be set in 1 digital input Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Default Value 0 Selections 0 1 2 3 364 365 366 367 Vel Cmd Data None Read Write Yes No Anlg Vel Anlg Vel analog ref from Vel Command parameter 220 Dig Vel internal digital reference Vel Ref Whole Fract 204 208 Anlg Dig Vel analog and digital reference Zero Vel zero velocity reference Publication 1394 5 0 May 2000 The following diagrams describe the control loops of the 1394 analog servo system Figure 8 1 1394 Analog Servo Software Diagram part 1 Configuring Your 1394 Analog Servo System 1394 Analog Servo Software 8 28 Diagrams 4 9 8 5 0L v a 2 x D 8 S 3 8 gt 5 1 X 3 uno V3d YL 2 vel aoaia 08 92 gt Wn 246 V NIVO O1NI INNIY YALINIT pid
205. ction Box Kit for 1326AB D 7 Feedback Mounting Adapter Kit for 1326AB Motors D 7 1326AS Servo coder chc nal EN RIPE IER SRI D 8 1326 Shaft Oil Seal Kit for 1326AS Motors D 8 Motor Junction Box Kit for 1326AS D 9 Feedback Mounting Adapter Kit for 1326AS Motors D 9 2 Servo uos er eh icem D 10 Power and Feedback D 11 Motor Power Cables D 11 Motor Feedback Cables D 12 Encoder Feedback Cables for 1326AB Motors D 12 Miscellaneous 50 D 13 Publication 1394 5 0 May 2000 viii Table of Contents Publication 1394 5 0 May 2000 Who Should Use this Manual Purpose of this Manual Preface Read this preface to familiarize yourself with the rest of the manual This preface covers the following topics Who should use this manual e purpose of this manual e Contents of this manual e Related documentation e Conventions used in this manual e 1394 product receiving and storage responsibility e Allen Bradley support 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
206. cuitry contactor on user supplied 3 phase Check fuse input Malfunctioning system module Replace the module Steady green The bus is up and axes are enabled None needed Flashing The bus is up but no axis is enabled Check axes and enable them if necessary green Analog Servo only Verify that enable wiring is correct and not open Enable signal from position Check axes and enable them if necessary controller is not present Analog Verify that enable wiring is correct and not Servo only open Check connections on input wiring board Position controller has detected a Check position controller machine system malfunction and Check the machine will not enable the 1394 Analog Check the enable status at the Analog Servo Servo only wiring board System enable is not powered Check the enable status only Check for 24V DC on system enable signal TB1 and TB2 refer to the chapter Wiring 1394 GMC and GMC Turbo Systems Figure 4 1 and Figure 4 2 Not There is no power to the system Check the power supply to the system module illuminated module Publication 1394 5 0 May 2000 Troubleshooting 9 3 f th 3 For this module For this LED 5 ofthe Potential Cause Possible resolution CNC Interface I O Ring Steady red The fiber optic ring has failed at Check all components and connections before System Module Status some poin
207. d Write axes will always respond to a stop command Change While Running No Linkable No Default Value 00001111 Bit7 Bit6 Bit5 Bit4 Bit2 Bit1 Bito lo Not Used Axis Axis2 Axis3 Type 1 Status Parameter Numbers 17 This parameter displays status information about Parameter Group Monitor Parms the system and the first Typ 1 Logic Axis first Parameter Type Read Only axis with a bit set Bit 15 Bit t3 Bit 12 Bit t1 pic 10 Bito Bits Bit7 Bite Bit5 Bit4 Bit2 Bit Bito Ref Sys Enabled Sys Running Ref Source Dir Ref Source Rot Dir Ref Source Accelerating Local Owner Y Decelerating Local Owner Y Warning Local Owner y Sys Faulted At Ref Vel Type 2 Status Parameter Numbers 18 This parameter displays status information about Parameter Group Monitor Parms the system and axis modules Parameter Type Read Only 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit2 Bit1 T Sys Faulted Enabled In Cur Limit At Ref Vel At Ref Vel In Cur Limit Not Used Enabled Y Y Enabled Not Used Y n Cur Limit At Ref Vel Y At Ref Vel n Cur Limit Not Used Enabled Units Sel Parameter Numbers 2 If setto internal drive units will be displayed on Parameter Group Linear List the HIM instead ofthe defaultengineering user Display Units None units Parameter Type Read Write Cha
208. e Each individual application requires different wiring This section provides guidelines for wiring your system Because of the diversity of applications and systems no single method of wiring is applicable in all cases Publication 1394 5 0 May 2000 3 14 Wiring System Axis and Shunt Modules and Motors for all systems Terminal Block Locations for 5 and 10 kW System Module Series A and B The 5 and 10 kW system module Series A and B components use IEC terminals for power connections You will wire the system and axis modules using the power terminal block conveniently located at the bottom front of the system and axis modules The maximum wire size allowed in the terminal blocks is 3 3 mm 12 AWG To gain access to the input power terminals open the system module door and look in the lower right corner Refer to Figure 3 10 for terminal block details ATTENTION To avoid personal injury and or equipment 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 outline provisions for safely installing electrical equipment Figure 3 10 Terminal Block for a 5 or 10 kW System Module Series A and B Wire Description Connects to terminal s Required Y N 24V Logic user supplied 24V AC rms or 24V DC power source Refer to W1 W2 Y Appendi
209. e Limit when the user initiates the Auto Tune Calculate function Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Default Value 0 Selections 0 1 2 3 256 257 258 259 ATune Config None Read Write Yes No Zeta 0 87 Zeta 0 87 Underdamped Zeta 1 00 Critically Damped Zeta 0 70 Underdamped Zeta 1 40 Overdamped Vel Feedback Present velocity feedback for the axis after all filtering has occurred Parameter Numbers Parameter Group Display Units Parameter Type Linkable 224 225 226 227 Monitor Parms Vel Cmd Data rpm Read Only No Vel Lim This parameter automatically changes both CW CCW Vel Lim to the same value for convenience during commissioning Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 120 121 122 123 Velocity Cmd Data rpm Read Write Yes No 0 0 rom 8000 0 rpm This is determined by the motor catalog number Vel LowPas BW Specifies the single pole low pass velocity feedback filter bandwidth A value of 0 disables the filter Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 140 141 142 143 Vel Loop Tune Hz Read Write Yes No 0 Hz 1500 Hz 0 Hz Publication 1394 5 0 May 2000
210. e drive system a SERCOS servo drive system or an analog servo drive system 1394 systems provide direct line connection transformerless for 360 and 480V three phase input power efficient IGBT power conversion and slide and lock module to module connection systems Each system module can be configured with up to four axis modules with each axis module interfacing to a motor The 1394 provides significant panel space and interconnect savings Series Note Series C system modules catalog numbers 1394C SJTxx x and axis modules catalog numbers 1394 and include features not available on Series and B modules catalog numbers 1394 SJTxx x and 1394 AM xx Feature Availability System Module Features Series C Series A and B Connector plug in input power termination Yes No Cable Clamp strain relief shield bond Yes No EMI filter 24V input power registration Yes No Smart Power Soft Start power monitor Yes 22 kW systems only Feature Availability Axis Module Features Series C Series A and B Cable Clamp strain relief shield bond Yes No EMI filter motor brake and thermal circuit Yes No Series C system modules are interchangeable with Series A and B Likewise Series A B and C axis modules are interchangeable with each other Series C is recommended for all new applications See the tables above for feature availability For help in det
211. e to Look for Other System configuration information for other 1394 systems are given in the Programming Information table below For Refer to GMC or GMC Turbo system GML Programming Manual publication 999 104 configuration CNC Interface or 9 Series CNC AMP Reference Manual publication 8520 ARM2 9 440 system configuration 1394 SERCOS system ControlLogix Motion Module Setup and Configuration Manual modules publication 1756 UM006A EN P Publication 1394 5 0 May 2000 8 2 Configuring Your 1394 Analog Servo System Conventions Used in this Chapter The following conventions are used throughout this chapter e All parameters required for any given drive function are contained within a group eliminating the need to change groups to complete a function e Each parameter will contain the following Parameter Description Name The actual parameter name as displayed on the HIM or ODS software Parameter names appear within brackets for example 10096 Torq Vel Description An explanation of the parameter and when feasible an application example Number Each parameter is assigned a number that can be used for serial communication The numbers are listed in order for Axis 0 1 2 3 Group Most parameters are contained in a group to make programming easier Display Units ENUMS A language statement pertaining to the selection made Engineering Standard display units such as Hz sec
212. ecified droop in output rpm i e velocity error that will result in 10096 rated torque being applied by the motor in reaction This parameter only has effect if Intg Gain Ki is not zero For Example Speed regulation of 0 to 0 0596 maximum depending on optimization of system performance settings 3000 rpm 0 0596 1 5 rpm tolerance Enabled Days Parameter Numbers 93 Displays the number of days that the drive has Parameter Group Linear List been enabled Display Units None Parameter Type Read Only Linkable No Enabled Minutes Parameter Numbers 92 Displays the numberofminutesthatthedrivehas Parameter Group Linear List presently been enabled Display Units None Parameter Type Read Only Linkable No Fdbk Pole Cnt Parameter Numbers 400 The number of electrical poles on the resolver Parameter Group Mtr Data Display Units None Note Before making modifications to Mtr Data Parameter Read Write parameters Motor Type must be setto custom Change While Running No motor Linkable No Minimum Value 2 Maximum Value 8 Default Value This is determined by the motor catalog number Publication 1394 5 0 May 2000 8 12 Configuring Your 1394 Analog Servo System Feed Fwd Gain Controls the negative feedforward gain of the velocity command contribution to the velocity regulator torque loop Setting this to a value greater than zero reduces the velocity feedback overshoot in response to a step change in t
213. ecifies the amount of phase shift that occurs at the lead lag center frequency A negative value specifies a lag while a positive value specifies a lead In most cases this filter will not be needed Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 144 145 146 147 Vel Loop Tune degs Read Write Yes No 50 lag degs 50 lead degs 0 degs Ld Lg Freq Parameter Numbers 148 149 150 151 This parameter specifies the center frequency of Parameter Group Vel Loop Tune the lead lag filter in the velocity feedback path if Display Units Hz employed see Ld Lg Degrees If set to zero Parameter Type Read Write the filter is disabled Change While Running Yes In most cases this filter will not be needed Linkable No Minimum Value 0 Hz Maximum Value 200 Hz Default Value 0Hz Line Voltage Parameter Numbers 9 This parameter selects input line voltage being used It affects motor velocity ratings and must be configured prior to selecting motor types This value is set automatically in all Smart Power 22 kW systems and 5 and 10 kW Series C or later systems Parameter Group Display Units Parameter Type Change While Running Linkable Default Value 0 Selections 0 1 Configuration Setup None Read Write Yes No 460 Volts AC 460 Volts AC 380 Volts AC Max Bandwidth After an auto tune t
214. ed to do so and familiar with solid state control equipment and the safety procedures in publication NFPA 70E 2 Examine the fuse label for the UL mark Figure 9 7 Locating the UL Mark on the Fuse Label 1394 SR36A 36AF 1394 SR9A 9AF ur 1394 Digital Servo Controller 3600W Shunt Module Fuse Label Fuse Label Troubleshooting 9 27 If your 1394 SR9A You need a SR9AF SR36A or SR36AF shunt module Has the UL mark Bussmann 600V DC 50A fuse 50 14 or equivalent Does not have the UL Bussmann 600V DC 40 50A fuse mark 170N2013 FWP50A22F or equivalent 4 Locate the door panel latch es Figure 9 8 1394 Shunt Modules Door Latches 1394 SR36A 36AF 1394 SR9A 9AF Door Latch Door Latch Door Latch 5 Undo the door panel latch es 6 Open the door panel 7 Locate the fuse holder Figure 9 9 Locating the Fuse Holder for the 1394 Shunt Modules 1394 SR36A 36AF 1394 SR9A 9AF Fuse Holder Publication 1394 5 0 May 2000 9 28 Troubleshooting 8 Remove the fuse from the fuse holder with the fuse puller tool If your 1394 SR9A Replace the fuse with a SR9AF SR36A or SR36AF shunt module Has the UL mark Bussman
215. edback cable Place the cable wires and exposed braided shield into the 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 4 9 Series C System Module Cable Clamps Cable wires 51 mm 2 0 in Bracket screw Y T 22mm t RS iie Cable 875 in 4 pe Clamp shield 259 expose screw clamp Motor Dimensions given are approximate and will vary cable depending on the specific installation Keep wires as short as possible while maintaining adequate stress relief Cable Preparation Clamp Attachment Publication 1394 5 0 May 2000 Feedback cable clamps System module ground bar 1394 front view Wiring to System Module Wiring 1394 GMC and GMC Turbo Systems 4 11 The following cables are available to connect auxiliary encoder feedback to the 1394 GMC and GMC Turbo e 1394 GEI5 from the auxiliary incremental encoder to the 1394 e 1394 GR04 from the 4100 REC and AEC to the 1394 Refer to Appendix D for connectors and accessory part numbers Refer to the table below for interconnection information 9 5 Description Channel A High Channel A Low Channel B High Channel B Low Channel Z High Channel Z Low Strobe x 5 Out Common Output olo NI 0 A
216. ent TB1 and TB2 terminals 4 5 6 11 12 and 13 Optional ENABLE Normal run commands to the drive are performed through the Enable input and any additional user supplied run control circuitry With 24V control power W1 W2 three phase input power U V W Contactor Enable TB2 16 17 and Drive OK TB2 18 19 applied 24V DC user supplied to this input enables the axis When this input is de energized a regenerative braking action occurs on the motor TB1 and TB2 terminals 7 and 14 and TB2 terminal 15 Mandatory FAULT RESET Removing the Axis Enable signal and applying 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 ANALOG OUT 1 ANALOG COM Motor current analog is available on TB1 16 It is scaled for 3 3V DC for 10096 continuous rated motor current 10V DC 300 motor rated current Minimum load impedance between TB1 16 and 18 is 10K ohm This can be linked to other parameters TB1 terminal 16 and 18 Optional ANALOG OUT 2 ANALOG COM Motor velocity analog is available on TB1 17 It is scaled for 2 0V DC per 1000 rpm Minimum load impedance between TB1 17 and 18 is 10K ohm This can be linked to other parameters TB1 terminal 17 and 18 Optional COM TB1 19 must be connected to the ground bar with 3 3 mm 12 AWG wire
217. eplace the system or axis module thermal sensor which module failed senses the internal The cabinet ambient temperature is above Check the cabinet temperature ambient temperature rating The machine duty cycle requires an RMS Change the command profile to reduce current exceeding the continuous rating of the speed or increase time controller The airflow access to the 1394 is limited or Check airflow and re route cables away blocked from the 1394 Phase Loss The three phase input One or more input line fuses have opened Check fuses and replace as necessary line is monitored and a Input line contactor malfunction Correct wiring fault will be issued Replace contactor whenever a phaselossis Incorrect wiring Check 360 480V AC input power at detected system module Pre Charge The bus voltage did not Short detected on the DC bus Check for shorts on the DC bus rise fast enough during Axis enabled before the pre charge checking Verify that all phases are functioning the pre charge state has cleared properly Commanding torque to axis before full bus Verify the axis is not enabled before the voltage is reached full 3 phase bus power is up Serial Fit Serial communications If the message contains CUS Verify that SCANport device is lost communications were lost to the SCANport connected device If the message contains Axis Sys or Check the system s terminator HDW communications were lost Check the slider
218. er Type Change While Running Linkable Minimum Value Maximum Value Default Value 176 177 178 179 Mtr Data rpm Read Write Yes No 0 0 rom 8000 0 rpm This is determined by the motor catalog number Id RPM Start This parameter determines the velocity at which Id current will start to be applied It is automatically changed when a motor is selected be Motor Type Note Before making modifications to Mtr Data parameters Motor Type must be setto custom motor Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 172 173 174 175 Mtr Data rpm Read Write Yes No 0 0 rom 5600 0 rpm This is determined by the motor catalog number Publication 1394 5 0 May 2000 Configuring Your 1394 Analog Servo System 8 13 ld Slope Determines the amount of Id current as a percent of motor rated that would be required over a 1000 rpm span It is automatically changed when a motor is selected by Motor Type Note Before making modifications to Mtr Data parameters Motor Type must be setto custom motor Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 180 181 182 183 Mtr Data 9o Kr Read Write Yes No 0 0 Kr 400 0 Kr 70 0 Kr Int Torg Ref This is a non volatile torque pr
219. erheating The duty cycle is excessive Change the command profile to reduce accel decel or increase time 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 set too high Run auto tune again Loose parts are present in the motor Remove the loose parts Return motor for repair Replace motor Through bolts are loose Tighten bolts The bearings are worn Return motor for repair Erratic Operation Motor locks into position runs without control or with reduced torque Phases A and B A and C or B and C reversed Check and correct motor power wiring Sine Cosine or Rotor leads are reversed in the feedback cable connector Check and correct motor feedback wiring Sine Cosine Rotor lead sets of resolver feedback are reversed Check and correct motor feedback wiring Publication 1394 5 0 May 2000 9 16 Troubleshooting Replacing System and Axis Modules Publication 1394 5 0 May 2000 Use these procedures to e Determine what you need to replace modules e Remove an axis module e Install a replacement axis module e Remove a system module e Install a replacement system module ATTENTION This drive contains ESD Electrostatic Discharge sensitive parts and assemblies You are requ
220. ermining the series of your module s refer to the section Module Series Designator in the Preface Publication 1394 5 0 May 2000 1 2 Overview Safety Precautions Publication 1394 5 0 May 2000 The following general precautions apply to the 1394 ATTENTION Only those familiar with the 1394 Digital AC Multi Axis Motion Control System and associated machinery should plan or implement the installation startup and subsequent maintenance of the system Failure to comply can result in personal injury and or equipment damage ATTENTION This product contains stored energy devices To avoid hazard of electrical shock wait five minutes after removing power or verify that all voltage on the capacitors has been discharged before attempting to service repair or remove this unit You should only attempt the procedures in this manual if you are qualified to 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 An incorrectly applied or installed drive can result in component damage or a reduction in product life Wiring or application errors such as undersizing the motor incorrect or inadequate AC supply or excessive ambient temperatures can result in malfunction of the drive ATTENTION This drive contains ESD Electrostatic Discharge sensitive parts and assemblies Stati
221. erview of how the HIM operates Publication 1394 5 0 May 2000 C 12 Using the Human Interface Module HIM Figure C 4 HIM Programming Flow Chart OPERATOR LEVEL Power Up Mode amp Status Display Choose Mode MODE LEVEL gt Display Program Link 52 Read Only Read and Write FILE LEVEL Set Links Continue Clear All Links Reset Sequence Choose File Ta v Choose File System Lvl Parms Axis 0 Params gt Monitor gt yel Parms y Cmd Data Software Version Drive OK Mode Type 1 Status DC Link Setup Motor Type Vel Command Line Voltage Line Voltage Type 2 Status Shunt Peak Usage Mode Sel Vel Feedback System Type Disp D A Monitor Vel Command Shunt Usage Current Limit Vel Source Axis Type D A Gain 1 Vel Feedback Mt Power Usage Vel Lim Vel Ref Whole Motor Type D A Gain 2 Iq Cur Ref Rg Power Usage ATune Select Int Vel Ref Mode Sel Command Mask Resolvr Posn Bus Voltage CW Vel Lim Typ 1 Logic Axis Resolwr Turns CCW Vel Lim Dig Cmd Mode Sys I O Image Vel Rate Lim Enble Input Mode Hardware Version CW OvSpd Vel CCW OvSpd Vel Stop Mode Stopping Cur Stop Time Lim Jog Vel Up To Spd Tol PARAMETER LEVEL Anlg Vel Scal Publication 1394 5 0 May 2000 Using the Human Interface Module HIM C 13 OPERATOR LEVEL MODE LEVEL E Reset Defaults Recall Values Save Values ATune Select Prop Gain Kp
222. eset that can be used as a digital torque reference if linked to Dig Torq ref Important Current limits will prevent Iq Cur Ref from exceeding 30096 Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 356 357 358 359 Torq Data amps Read Write Yes No 400 rated motor current 400 rated motor current 0 Int Vel Ref This is a non volatile velocity preset that can be used as a digital velocity reference if linked to Vel Ref Whole The sign of this parameter is changed by direction change requests Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 352 353 354 355 Vel Cmd Data rpm Read Write Yes No 8000 0 rpm 8000 0 rpm 0 0 rpm Intg Gain Ki This parameter controls the integral error gain of the velocity regulator For example if KI 8 then velocity 1000 rpm error for 1 second will produce a rated motor current torque reference For Example Use Ki to increase servo stiffness or reduce the amount of overshoot during ramp up to the Velocity Command Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 372 373 374 375 ATune Config AnBklsh Conf None Read Write Yes No 0 32879
223. for sizes 3 Control Wiring 0 82 mm 18 AWG minimum 15A maximum 4 Allen Bradley motor cables Refer to 1326 Cables for 460V AC Servo Motors publication 1326A 2 11 5 Terminate shield on one end 6 Contactor coil M1 needs an integrated surge suppressors for AC coil operation 7 TB1 pins 24 25 26 16 17 18 on Analog Servo are used for speed and current output commands 1 2V DC 1000 rpm velocity and 3V DC 100 we DC 200 9V DC 300 current command Use the parameter link function to read the outputs for Axis 0 1 2 or 3 analog servo only 8 The RIO AxisLink option RL must be ordered with the system module and is installed at the factory You cannot order these indvidually 9 AxisLink and RIO board connections use Allen Bradley 1770 CD Belden 9463 or equivalent 10 Use 4100 CCFI or CCF3 Flex I O cables Cable length must not exceed 0 91 m 36 in 11 User supplied 5V DC power source is required for encoder board regardless if encoder supply voltage is 5V or not 12 Resolver inputs for Axis 0 5 0 are shown Axis 1 2 and 3 are identical use J6 FB1 for Axis 1 J7 FB2 for Axis 2 and J10 FB3 for Axis 3 13 Jumper is factory set for grounded system at user site Ungrounded sites must jumper the bleeder resistor to prevent high electrostatic buildup 14 For multiple axis systems requiring all axes to fault when one motor therm sensor trips interconnect TB2 pin 3 of each axis to TB2 pin 4 of the adjacent axi
224. formula Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value _ AutoTunelnertia system Mtrlnertia 0 83 x Rotor 292 293 294 295 ATune Config msec Read Write Yes No 0 msec 10000 msec 5 msec inertia Note The value for rotor inertia Ib in s is listed on the servo motor performace data table in Appendix A ATune Select This parameter initiates an auto tune cycle that measures the ATune Inertia and ATune Frictn by accelerating the motor up to the ATune Vel atthe ATune Current The parameter also calculates the gains based on auto tune information Parameter Numbers Parameter Group Parameter Type Change While Running Linkable Default Value 0 Selections 0 1 2 296 297 298 299 ATune Config Startup Parms Read Write Yes No idle Idle Indicates the auto tune system can be used written command forces the system to idle Axis Tune Written as a command initiates the auto tune process messages will be displayed to enable axis wait disable axis Calculate is also performed Calculate Calculates gain coefficients based off data acquired during auto tuning This command can be issued manually to calculate gains after manual modifications to the auto tune acquired information ATune Vel This parameter specifies the maximum velocity of the motor attained duri
225. g Manual publication 999 104 for more information Fault Message Description Potential cause Possible resolutions Bus Config The configured bus The system module detected an incorrect Verify that the shunt module is rated for voltage mode does not shunt module configuration wrong shunt and compatible with your system match the hardware installed module Custom shunt parameters exceed the system Verify custom shunt parameters do not module shunt limits exceed the system module limitations Bus Low The DC power bus The voltage on the 360 480V AC input power Verify incoming AC voltage and change activates undervoltage is low the supply source if needed limit when the bus drops to 275V DC or less It will clear at 300V DC Bus Ovr VIt The DC Power Bus is If this fault occurs when you power up the Perform line conditioning continuously monitored system module with the M contactor the Verify that line voltage is within If it exceeds a preset power distribution impedance might be stiff or specifications level 810V DC a fault line voltage might be too high is sensed and the power The position controller acceleration Change the command profile to reduce supply is disabled deceleration rate is incorrectly set speed or increase time The system inertia is too high causing Change the command profile to reduce Bus Voltage Operation excessive energy to be retu
226. g Servo For additional wiring information on Refer to the following GMC or GMC Turbo Chapter 4 Wiring 1394 GMC and GMCTurbo Systems in this system modules manual 1394 Analog Servo Chapter 5 Wiring Your 1394 Analog Servo System in this system modules manual CNC Interface or 9 440 system modules 9 Series CNC Hardware Integration and Maintenance Manual publication 8520 6 2 1394 SERCOS system modules 1394 SERCOS Multi Axis Motion Control System User Manual publication 1394 5 20 Publication 1394 5 0 May 2000 3 2 Understanding Basic Wiring Requirements Important Publication 1394 5 0 May 2000 Wiring System Axis and Shunt Modules and Motors for all systems This section contains basic wiring information for the 1394 ATTENTION Plan the installation of your system so that you can perform all cutting drilling tapping and welding with the system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage to components This section contains common PWM servo system wiring configurations size and practices that can be used in a majority of applications National Electrical Code local electrical codes special operating temperatures duty cycles or system configurations take precedence
227. g Servo Module 8 Configuring Your 1394 Provides supplemental information on using Analog Servo System communication tools 9 Troubleshooting Explains how to interpret and correct problems with your 1394 system Appendix A Specifications Provides physical electrical environmental and functional specifications for the 1394 Appendix B Interconnect and CE Provides diagrams showing the interconnections Diagrams for the available 1394 configurations and installation requirements to meet CE directives Appendix C Using the Human Interface Provides information that will help you to use the Module HIM HIM Appendix D Catalog Numbers Provides catalog number descriptions of 1394 and related products Publication 1394 5 0 May 2000 Related Documentation Preface The following documents contain additional information concerning related Allen Bradley products To obtain a copy contact your local Allen Bradley office or distributor For Read This Document Document Number A description and specifications for the 1394 family 1394 Digital AC Multi Axis Motion Control 1394 2 0 System Product Data A description and specifications for the 1326ATorque Plus 1326AB 460V Torque Plus Series AC Servo 1326A 2 9 Motors used with the 1394 Motors Product Data A description and specifications for the 1326A Rare Earth 1326AS Series 460V Low Inertia Brushless 1326A 2 10 Mo
228. g System and Axis Module LEDs When a drive fault occurs the LED on the front panel changes and a fault message appears The majority of 1394 faults cause the DROK contact to operate If a drive fault occurs you can reset the fault detection circuitry by removing and reapplying power However if it is a hardware fault you need to correct the fault before restarting This material along with the diagnostic troubleshooting information included with the position controller will help you identify most common system malfunctions and determine which module that problem pertains to The system module and each axis module has one LED visible from the front of the module The LEDs are labeled Status on all axis modules and Status for GMC Analog Servo and 9 440 versions and I O Ring Status for the CNC Interface system They indicate status as follows f th For this module For this LED ee orne Potential Cause Possible resolution GMC Turbo Status Steady red Malfunctioning system module e Verify wiring GMC or Analog e Secure wiring connections Servo System Replace the module Module Contact your local Allen Bradley Support Representative Flashing red A fault has occurred in system Verify wiring Secure wiring connections Alternating DC bus is not up Apply three phase power red and Check DC bus LED green Open fuse or malfunctioning Check wiring to start stop cir
229. g Your Motor Cables to Motors This procedure assumes that your system and axis modules are already mounted and wired To connect your motor cables 1 Orient the motor end of the resolver cable so that the flat on the connector is facing the shaft of the motor 2 Push the cable onto the appropriate mating half until it clicks 3 Orient the motor end of the power cable so that the flat on the connector is facing the shaft of the motor 4 Push the cable onto the appropriate mating half until it clicks If you have Do this More motors to wire 1 Move to the next motor 2 Repeat the steps above Wired all of your motors Go to the Commissioning chapter for your specific system These procedures assume that your external shunt resistor is already mounted To connect your external shunt resistor 1 Remove all 24V control power contactor enable power and 360 480V AC input power from the system 2 If your system module is this Series A and B Go to Connecting Your External Shunt Resistor Series A and B Series C Go to Connecting Your External Shunt Resistor Series C Wiring System Axis and Shunt Modules and Motors for all systems 3 27 Connecting Your External Shunt Resistor Series A and B 1 Open the front door of the 1394 system module 2 Remove and discard the COL INT jumper wire from the power terminal block in the lower right corner a
230. g 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 Refer to Figure 3 5 for the location of the ribbon cable 11 Close the system module door 12 Go to Grounding Your 1394 System Publication 1394 5 0 May 2000 3 12 Wiring System Axis and Shunt Modules and Motors for all systems Grou nding Your 1394 System We recommend that all equipment and components of a machine or process system have a common earth ground point connected to their chassis grounded system provides a safety ground path for short circuit protection Grounding your modules and panels minimizes shock hazards to personnel and damage to equipment caused by short circuits transient overvoltages and accidental connection of energized conductors to the equipment chassis Grounding your System to the Subpanel The National Electrical Code contains grounding requirements conventions and definitions Follow all applicable local codes and regulations to safely ground your system Refer to the illustration below for 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 22 kW or 5 and 10 kW System Modules Series A and B
231. he velocity reference The velocity loop response to a load disturbance is unaffected by the Feed Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value 376 377 378 379 Vel Loop Data None Read Write Yes No 0 of Vel Command 10096 of Vel Command Forward Gain The default value will be Default Value 0 satisfactory in most cases Hardware Version Parameter Numbers 25 This parameter specifies the revision level ofthe Parameter Group Monitor Parms system module hardware Display Units None Parameter Type Read Only Linkable No I t Cur Lim This parameter displays the present level of the I t current limit for this axis Parameter Numbers Parameter Group Display Units Parameter Type Linkable 344 345 346 347 Linear List amps Read Only No ld Cur Ref This parameter displays the present level of the Id current reference for this axis Parameter Numbers Parameter Group Display Units Parameter Type Linkable 236 237 238 239 Data amps Read Only No Id RPM End This parameter determines the velocity at which maximum ld current will be applied It is automatically changed when a motor is selected by Motor Type Note Before making modifications to Mtr Data parameters Motor Type must be set to custom motor Parameter Numbers Parameter Group Display Units Paramet
232. he controller to the factory for repair Flashing fast Dual port test 1 failed Return the controller to the factory for repair Flashing fast Dual port test 2 failed Return the controller to the factory for repair Flashing slow Serial port test failed Return the controller to the factory for repair Flashing slow Timer test failed Return the controller to the factory for repair Flashing slow Initialization test failed Return the controller to the factory for repair Flashing slow Auxiliary I O test failed Return the controller to the factory for repair Flashing slow CXIC failed Return the controller to the factory for repair Flashing slow DRAM test failed Return the controller to the factory for repair Flashing slow Transfer system failed Return the controller to the factory for repair 1 Flashing slow is twice per second flashing fast is ten times per second Publication 1394 5 0 May 2000 9 10 Troubleshooting Understanding Analog Servo System Module Faults The faults that apply to the Analog Servo System s system module appear in the following tables Note Although these faults are forthe Analog Servo version in many instances the descriptions causes and resolutions can also apply to the GMC version The fault messages however would be different Refer to the GML Programmin
233. he following diagram shows the HIM front panel Figure C 2 HIM Front Panel Publication 1394 5 0 May 2000 Using the Human Interface Module HIM C 3 The keys that are available for use on the HIM are described below Note The keys that are not described shaded in Figure C 2 are not currently used ESC Escape When you press the ESC key the programming system goes back one level in the menu tree Select SEL When you press the SEL key the cursor move alternately to the top or bottom line of the display thereby activating that portion of the display The flashing first character indicates which line is active Increment Decrement These keys increment and decrement a value or scroll through different groups or parameters Enter When you press the enter key a group or parameter is selected or a parameter value is entered into memory After 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 Ki Start If hardware is enabled and no other control devices are sending a Stop command Start initiates drive operation default setting To change this function you need to reconfigure the Command Mask and Typ 1 Logic Axis parameters Refer to the Configuring Your 1394 Analog Servo System chapter ATTENTION Toavoidpersonalinjury or damage to equipment you must supply a 24V DC enable signal to the axis that
234. he wire to ground It should be in Mega ohms 1394 s current rating Make sure ferrite cores are not installed on motor power conductors The motor is malfunctioning Check the resistance of each motor winding phase to case ground with an ohm meter Readings should be in Mega ohms Return motor for repairs Power IGBTs are malfunctioning Replace the axis module PwrOn Enable During active fault reset An axis hardware enable input was active Verify that axis is not enabled before power is an axis was enabled during system control power on or during applied before system power up fault reset Troubleshooting General System Problems The tables that follow provide potential conditions that could occur with your system and recommends possible resolutions to those conditions Condition Potential cause Possible resolution Axis or System runs uncontrollably The velocity feedback position feedback device or velocity command signal wiring is incorrect or open Check wiring Unintentionally in torque mode Check to see what mode was programmed An internal malfunction exists Replace system or axis module Axis or System 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 improperly set Run auto tune Improper
235. his parameter displays the maximum system bandwidth that can be achieved with the machine mechanics Parameter Numbers Parameter Group Display Units Parameter Type Linkable 304 305 306 307 ATune Config Hz Read Only No Publication 1394 5 0 May 2000 Configuring Your 1394 Analog Servo System 8 15 Mod Rng Data Diagnostic information of data communicated between the controller and Axis Module Parameter Numbers Parameter Group Parameter Type 196 197 198 199 Linear List Read Only Bit 15 Bit 14 Bit 13 12 Bit 11 Bit10 Bit9 Bit7 Bit6 Bit5 Bit4 Bit2 Bito Control Power Fault Read Write I t Fault Axis Enabled Bus Loss Warning Version of axis Y Ovr Temp Fit module EPLD Size Bit Scaling Bit Size Bit Scaling Bit Y Size Bit Scaling Bit Size Bit Scaling Bit Mode Sel Parameter Numbers 112 113 114 115 This parameter modifies both Vel Source and Parameter Group Configuration Startup Parms Torq Source to appropriate value based on Display Units None selection for convenience during Parameter Type Read Write commissioning 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 Current rating of the Axis Module Th
236. hunt Module Spacing Requirements Within an Enclosure Temperature sensitive component mounted above shunt module 254 mm 10 0 in clearance Incorrect Shunt Placement for airflow and installation 155 mm 6 1 in clearance 155 mm 6 1 in clearance for airflow and installation for airflow and installation Wire entry area for signal power and motor connections 155 mm 6 1 in clearance for airflow and installation Figure 2 12 Shunt Module Spacing Requirements Outside of an Enclosure Solid protective plate 254 mm 10 0 in clearance for airflow and installation 155 mm 6 1 in clearance 4 He 155 mm 6 1 in clearance for airflow and installation je for airflow and installation Wire entry area for signal power and motor connections 155 mm 6 1 in clearance for airflow and installation Enclosure Publication 1394 5 0 May 2000 Low voltage Communications Control I O wiring Motor feedback cables Installing Your 1394 applies to all systems 2 13 Shunt Module Mounted Outside the Cabinet The illustration below details the proper position and cable routes for mounting the shunt module outside the cabinet Figure 2 13 Shunt Module Mounted Outside of the Cabinet Customer supplied metal enclosure optional 155 mm 6 1 in of clearance on all sides of the shunt module minimum
237. ield termination for system module cables at the enclosure is required only for the GMC version The termination for axis module cables are required for all versions of the 1394 Use Wieland Electric commercial clamps or equivalent The filter shown is sized for one 1394 Equivalent filters may be used for multiple units Size the filter following the manufacturers recommendation The 1326 xxxx Ex xxx bulkhead cables are designed specifically to provide 360 shield termination 5 Wire 5 and 10 kW Series C optional three phase input power to the system via connector J10 4 8 Ground bar is customer supplied item for all Series A and B systems Ground bar is included on all Series C systems Important All three phase power in the cabinet must be filtered to reduce EMI Publication 1394 5 0 May 2000 Chapter Objectives The Human Interface Module HIM Appendix C Using the Human Interface Module HIM This appendix covers Human Interface Module HIM e Understanding HIM operation e Auto tuning e Removing the HIM The 1394 Analog Servo System 1394x SJTxx A provides a SCANport interface and uses the standard Allen Bradley Bulletin 1201 HIM to make setup and configuration easy This is the same device used with other Allen Bradley drives and general conventions and operation are the same We recommend that you use HIM firmware revision 3 0x and later or the Series B HIM which will give you the setup and copy cat Se
238. iew of the Analog Servo System Module 1394 SJT22 A System Module Axis 0 FBO Axis 0 Resolver Feedback Input FB1 Axis 1 Resolver Feedback Input FB2 Axis 2 Resolver Feedback Input FB3 Axis 3 Resolver Feedback Input Axis 1 Axis 2 Axis 3 Analog Servo Encoder A Quad B Wiring A Quad B uses resolver feedback to emulate an encoder differential output for motion controller position feedback It requires a user supplied regulated 5V DC 1 amp maximum at terminal 3 Wiring a 5V DC power supply to one axis will provide power to all four ports parallel connection therefore you only need to connect the 5 DC power supply to one AQB port For the 1326AB series motors the motor mechanical cycle is 2048 pulses per revolution PPR In addition two marker pulses are generated per mechanical cycle For the 1326AS series motors the motor mechanical cycle is 1024 PPR In addition one marker pulse is generated per mechanical cycle Refer to Figure 5 3 for connector locations We recommend one 1394 8A15 from the 1394 AQB output to the user supplied control cable per axis Publication 1394 5 0 May 2000 5 6 Wiring Your 1394 Analog Servo System Make the A Quad B connections at the bottom of the system module refer to Figure 5 3 as follows For this axis Connect to this terminal 0 AQBO
239. ifications 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 equipment Figure 3 12 Terminal Block for 22 kW System Module 222 Connects to Required Wire Description Maximum wire size terminal s YIN 24V Logic user supplied 24V AC rms or 24V DC power source Referto 3 3 mm 12 AWG Wt and W2 Appendix A for 24V input power specifications 360 480V AC power input 360 480V AC three phase power input Refer to Appendix A for 84 mm 8 AWG U V and W Y System specifications for rated AC input voltage tolerance and source impedance Input Power Neutral Three phase input neutral present only on grounded power 8 4 mm 8 AWG System ground bar N configurations Series A and B PE Series C N PE Ground The1394 s ground connection to the bonded system ground bar 8 4 mm 8 AWG PE Series AandB Y on the subpanel System module ground Y bar Series C External Shunt Module Used to dissipate excess regenerative energy from the system g 4 mm 8 AWG DC and COL Y module Note Refer to Appendices A and B for information about three phase input fusing and circuit breaker information as related to the power input Refer to the section Connecting Your Shunt Module for information about wiring the shunt module to the 22 kW system module Public
240. ilar to the following appears B1394 Servo Drv 3 00 gt 3 00 Note The numbers on the bottom of the display represent the firmware revision of the copy stored on the HIM left and the firmware revision of the system to which you will copy the information right Press ENTER A message similar to the following appears Drive gt HIM Note Thenumbers ofthe parameters scroll as they are copied and more solid boxes appear on the bottom to show the status of the copy When the copy is complete a message similar to the following appears Drive gt HIM Completed Press ESC A message similar to the following appears Choose Mode EEPROM Press ENTER The system records your choice and the following message appears EEPROM Save Values Press ENTER The system saves the values that you entered and the following message appears Choose Mode EEPROM You will normally auto tune your system as part of the set up procedure The procedures in this section describe how to auto tune at other times It also includes details on parameters that are set as a result of auto tuning 1 Publication 1394 5 0 May 2000 Access the ATune Config group of parameters Using the Human Interface Module HIM C 11 Set Vel Damp Sel Desired BW ATune Vel and ATune Current parameters as desired Note Normally the default values will be OK Select ATune Sel Verify that the axis is disabled and the dri
241. imit to 60 seconds of fault during auto tune increase motor torque Decrease the auto tune velocity to decrease the auto tune cycle time You must apply the enable signal within 60 seconds during auto tune Bus Loss The DC bus supply to the The slider connections may not be secure Check slider connections termination strip axis module was lost An axis module s bus link fuse has blown Replace the module Ring Write The axis module is not set The slider connections may not be secure Check slider connections termination strip to proper scaling The axis module is malfunctioning Terminate signal common TB1 19 to chassis PE ground Replace the module Fdbck Loss The resolver wiring is Open or short circuit has occurred on Check the resolver cable connectors wiring to Resolver open shorted or missing resolver wiring the system module and motor The resolver wiring or termination to Check the resolver cable connectors wiring to system module is incorrect the system module and motor The motor resolver might be bad Replace the motor resolver I t Fault The output current is Accel decel command from position Change the command profile to reduce speed exceeding the time current controller is requiring peak current foran increase time rating excessive amount of time The machine friction inertial load and or Change the command profile to reduce viscous load is excessive speed or increase time Check for
242. ing Additional Wiring Information for 1394 Systems 4 1 Understanding GMC and GMC Turbo Wiring and Connections 4 1 Understanding Input Wiring Board 4 2 Using the Terminal Operating Tool to Insert 4 4 Input Wiring Board Signal Descriptions 4 5 Connecting Your Communication Cables 4 7 Encoder Feedback Wiring 4 10 Serial Communications 4 11 Data Highway Connection 4 13 AXISEIDIK gt 2o sintered Mid ec OH P RR a c ales 4 14 GMC Turbo System 4 15 Remote VO e 4 16 FCO oi EE 4 16 SEG Interfaoe eid puit 4 17 Connecting GMC Turbo to a 1394 DIM 4 19 1394 DIM System Example 4 19 1394 DIM with 1398 DDM xxx System Example 4 20 1994 DIM Configurations 4 21 Configuration Examples 4 22 1394 System Module Input Power Wiring When Not Using Axis 4 24 Understanding DIM 5 0 4 24 DROK 4 24 Drive Enable Output
243. ing and start up prompting The 1394 also provides 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 4 SERCOS System 1756 MxxSE Interface oi Yro 6b c OG OG LE p Z Fz d 1394 SERCOS System al a L1 ControlLogix Chassis x RH LECCE CE CA 1326 1326 5 and MP Series Motors SERCOS Bi Oo E i Ll La iP pem 1 7 1 1 Ll LI 1 Of Of or Q 1394 SERCOS System FEE TI 1 1326AB 1326AS and MP Series Motors SERCOS
244. ion 3 5 or higher you can link up to 16 nodes Connect the AxisLink cable 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 ft Refer to Figures 4 7 and 4 8 for the AxisLink connector s location Figure 4 12 AxisLink Connections for a GMC System Connects to J1 21D O O Blue Clear AxisLink Connector Shield 150 Required cable AB 1770 CD Install a 150 ohm termination resistor Belden 9463 or equivalent across 1 and 2 if this is the first or last module on the line Important nodes on the same AxisLink network should be operated at the same servo update rate Important Select your AxisLink node address 0 7 using the front panel switch see Figure 4 6 for the switch s location standard mode only Do not use positions 8 or 9 Wiring 1394 GMC and GMC Turbo Systems 4 15 GMC Turbo System For those applications that require longer AxisLink cable lengths the GMC Turbo offers the AxisLink Extended Length option The Extended Length option allows the user to support up to eight nodes for a maximum end to end cable length of 125 m 410 ft user supplied cable To enable the Extended Length option set the switch located between the Flex I O and AxisLink connectors on the bottom of the GMC Turbo syste
245. ion figures shown below to calculate cumulative system heat dissipation to ensure that the ambient temperature inside the enclosure does not exceed 50 C 122 F To calculate total p ower dissipation add the dissipation of the system module to the dissipation of the axis module s System Modules The power dissipation in watts of the system module types is shown below Power Dissipation in watts of Rated Power Output 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 Axis Modules The power dissipation in watts of the axis modules is shown below Power Dissipation in watts 96 of Rated Power Total Inside Cabinet Outside Cabinet Output 1 1 50 and 75 and AMO3 4 07 2 gt AM50 5 50 75 20 24 27 33 56 85 18 18 38 67 40 30 36 48 95 145 18 18 77 127 60 36 45 63 139 212 18 18 138 194 80 42 54 78 183 279 18 18 165 261 100 48 63 93 227 346 18 18 209 324 1 The AM50 75 are designed to mount with the rear heat sink extended outside the customer supplied enclosure If the modules are mounted entirely inside the customer supplied enclosure the full power dissipation is inside the cabinet The AM50 75 IH are designed to mount entirely inside the customer supplied enclosure Publication 1394 5 0 May 2000 Commu
246. ions factory assigned 1 Refer to the Servo Motor Performance Data section in Appendix A for the rated speeds of the entire 1326AS Series family of motors 1326 Shaft Oil Seal Kit for 1326AS Motors Bulletin Number Series 0041 5065 Nitrile shaft seal for 1326AS B3 xxx motors 5066 Nitrile shaft seal for 1326AS B4xxxx motors 5067 Nitrile shaft seal for 1326AS B6xxxx motors 5053 005 Nitrile shaft seal for 1326AS B8xxxx motors Publication 1394 5 0 May 2000 Catalog Numbers D 9 Motor Junction Box Kit for 1326AS Motors Bulletin Number Type 132645 RJ34 Right angle junction box for B3 and B4 series motors Note The motor comes standard with IP65 plug style connectors mounted radially to the motor This kit allows the connectors to be brought out axially to the motor without further wiring Kit includes a motor junction box and mounting hardware Feedback Mounting Adapter Kit for 1326AS Motors Bulletin Mounting Number Type Adapter Kit 1326AS MOD Modification Kit M32 Allen Bradley 842A 31 Encoder for the B3 series motor M42 Allen Bradley 842A 31 Encoder for the B4 series motor M82 Allen Bradley 842A 31 Encoder for the B6 series motor M82 Allen Bradley 842A 31 Encoder for the B8 series motor Note All kits contain a feedback mounting adapter mounting hardware and a coupli
247. ique address for each 1394 connected The addresses can be set in any order Refer to Figure 4 6 in the Wiring 1394 GMC and GMCTurbo Systems chapter for location Reset critical drive parameters to their factory default value if the 1394 does not communicate properly during power up Hold down the Init switch while you power up the system Reset the system Press the Reset switch or use the 1394 reset object in GML GMC version only For specific set up instructions using GML 3 x x refer to your GML Programming Manual publication 999 104 Publication 1394 5 0 May 2000 6 6 Commissioning 1394 GMC and GMC Turbo Systems Publication 1394 5 0 May 2000 Chapter Objectives General Startup Precautions Chapter 7 Commissioning Your 1394 Analog Servo System This chapter provides you with the information to set up and tune your 1394 Analog Servo System This chapter includes e General startup precautions Setting up your 1394 Analog Servo system Before you begin the setup procedures be sure to read and understand the information in the previous chapters of this manual Note The procedures in this chapter do not include information regarding integration with other products The following precautions pertain to all of the procedures in this chapter Be sure to read and thoroughly understand them before proceeding ATTENTION You need to apply power to the drive to perform many of the adjustments
248. ired to follow static control precautions when you install test service or repair this assembly If you do notfollow ESD control procedures components can be damaged If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook Before You Begin Before you replace modules be sure to have the following Aphillips screw driver e A standard screw driver e A voltmeter e nutdriver A wrench Troubleshooting 9 17 Removing an Axis Module To remove an axis module 1 Remove 24V control power and 360 480V AC input power from the system ATTENTION To avoid shock hazard or personal injury assure 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 2 Allow five minutes for the DC bus to completely discharge before proceeding ATTENTION This product contains stored energy devices 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 You should only attempt the procedures in this chapter if you are qualified to do so and familiar with solid state control equipment and the safety procedures in publication NFPA 70E 3 Remove connectors TB1 and TB2 from the bottom of
249. iring board layout e Connecting and SCANport cables This chapter provides signal wiring and connection information required for the 1394 Analog Servo system module only For additional wiring information on GMC or GMC Turbo Chapter 4 Wiring 1394 GMC and GMCTurbo Systems in this system modules manual Refer to the following CNC Interface or 9 Series CNC Hardware Integration and Maintenance Manual 9 440 system modules publication 8520 6 2 1394 SERCOS system 1394 SERCOS Multi Axis Motion Control System User Manual modules publication 1394 5 20 The Analog Servo system module contains all of the components needed for an analog servo control system The module provides connectors for the following e Motor feedback resolver output and torque velocity reference input to and from a motion controller Serial communications for the HIM module Publication 1394 5 0 May 2000 5 2 Wiring Your 1394 Analog Servo System Input Wiring Board Layout The input wiring board provides terminating points at TB1 and TB2 for the various control signals The figure below shows the locations of the various signal terminations
250. ironmental rating 1326 Shaft Oil Seal Kit for 1326AB Motors Bulletin Shaft Motor Series Number Type Seal Material and Mounting 1326AB o HM MOD Modification Kit 55 Shaft Seal V Viton 4 For a B4 series motor IEC metric B2 For a B5 series motor IEC metric C2 For a B7 series motor IEC metric Note This kit is not required for IP67 motors The shaft seal is factory installed Publication 1394 5 0 May 2000 Catalog Numbers D 7 Motor Junction Box Kit for 1326AB Motors Bulletin m Number Type Description 1326AB E MOD Modification Kit RJAB1 Kit for all B4 and B5 series motors RJC1 Kit for all B7 series motors Note The motor comes standard with IP65 plug style connectors mounted radially to the motor This kit allows the connectors to be brought out axially to the motor without further wiring Kit includes a motor junction box and mounting hardware Note Do not use this kit with the high resolution encoder option Instead use the right angle connector cable option Feedback Mounting Adapter Kit for 1326AB Motors Bulletin Mounting Number Type Adapter Kit 1326AB MOD Modification Kit M40 Allen Bradley 845H Encoder for the B4 series motor M50 Allen Bradley 845H Encoder for the B5 series motor M60 Allen Bradley 845H Encoder for the B7 series motor M42
251. is is set after the initialization of the 1394 Analog Servo System DSP Parameter Numbers Parameter Group Display Units Parameter Type Linkable 324 325 326 327 Torq Data amps Read Only No Publication 1394 5 0 May 2000 8 16 Configuring Your 1394 Analog Servo System Motor Type Parameter Numbers 100 101 102 103 404 405 406 407 The catalog number of the motor is attached to Parameter Group Configuration Startup Parms Mtr Data the axis Important This parameter configures Display Units None many other parameters set it carefully Parameter Type Read Write Change While Running No Note Before making modifications to Mtr Data Linkable No parameters Motor Type must be setto custom Default Value 0 custom motor motor Selections 0 custom motor 1 1326AB B410G Note Motors numbered 11 through 15 are 2 1326AB B420E available with Firmware version 2 01 or later 3 1326AB B430E 4 1326 515 Note Selection number might vary for 5 1326 520 parameters 404 407 6 1326AB B530E 7 1326AB B410J 8 1326AB B420H 9 1326AB B430G 10 1326AB B515G 11 1326AB B520F 12 1326AS B310H 13 1326AS B330H 14 1326AS B420G 15 1326AS B440G 16 1326AS B460F 17 1326 720 18 1326 7 0 19 1326 740 20 1326AS B210H 21 1326AS B220H 22 1326AS B630F 23 1326AS B660E 24 1326AS B690E 25 1326AS B840E 26 1326AS B860C
252. ity for the compliance or the noncompliance with any code national local or otherwise for the proper installation of this system or associated equipment If you ignore codes during installation hazard of personal injury and or equipment damage exists If this product is installed within the European Union or EEC regions and has 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 following standards in whole or in part e EN 5008 2 EMC Emission Standard Part 2 Industrial Environment e EN 5008x 2 EMC Immunity Standard Part 2 Industrial Environment Publication 1394 5 0 May 2000 2 2 Installing Your 1394 applies to all systems Before Mounting Your System Publication 1394 5 0 May 2000 The product described in this manual is intended for use in an industrial environment To meet CE requirements the following additions are required e You must run three phase input wiring in a conduit that is grounded to the enclosure e You must install a power line filter Allen Bradley catalog number SP 74102 006 01 SP 74102 006 02 SP 74102 006 03 or equivalent based on system current between the three phase input line and the system module input e You must terminate the shields of the motor power cables and the motor feedback cables to the enclosure at the point of entr
253. l Smart Power 22 kW systems and 5 Linkable No and 10 kW Series C or later systems Shunt Parameter Numbers 47 Shunt resistor long time constant measured in Parameter Group Linear List seconds Display Units S Parameter Type Read Write Active on all Smart Power 22 kW systems and 5 Change While Running No and 10 kW Series C or later systems Minimum Value 1 Maximum Value 255 This parameter only needs to be configured Default Value 22 kW 70 when you are using custom resistors Default Value 5 10 kW 10 Note Shunt Type must be set to custom shunt before making modifications to this shunt parameter 44 48 Shunt Ks Parameter Numbers 46 Shunt resistor short time constant measured in Parameter Group Linear List seconds Display Units ms Parameter Type Read Write Active on all Smart Power 22 kW systems and5 Change While Running No and 10 kW Series C or later systems Minimum Value 250 Maximum Value 2590 This parameter only needs to be configured Default Value 22 kW 250 when you are using custom resistors Default Value 5 and 10 kW 250 Note Shunt Type must be set to custom shunt before making modifications to this shunt parameter 44 48 Publication 1394 5 0 May 2000 Note Shunt Type must be set to custom shunt before making modifications to associated shunt parameters 44 48 Default Value Selections 1 6 0 1 2 3 4 5 6 8 20 C
254. l torque defining for analog servo 7 9 digital velocity defining for analog servo 7 8 DIM See 1394 DIM dimensions 1394 DCLM A 18 1394 DIM A 18 AB motors 1326AB B4 A 25 1326AB B5 A 26 1326AB B7 A 27 AS motors 1326AS B3 A 28 1326AS B4 A 29 1326AS B6 A 30 1326AS B8 A 31 axis module A 18 external shunt A 22 filter A 20 motors A 25 shunt module 1394 SR10A A 22 1394 SR 36xx A 24 1394 SR 9xx A 23 System module A 17 documentation related documentation P 3 Drive Interface Module DIM See 1394 DIM E EEPROM 7 2 EMC directive 2 1 encoder feedback wiring 4 10 encoder feedback cables catalog numbers 1326AB motors D 12 environmental specifications See specifications A 9 European Union directives 2 1 exiting before you finish setting up for analog servo 7 2 extended length AxisLink 4 15 external shunt dimensions A 22 Index 1 3 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 shunt resistor connecting 3 26 mounting 2 11 extraction tool D 13 F factory default resetting to 6 4 6 5 faults analog servo ATune Fault 9 12 Bus Config 9 10 Bus Loss 9 12 Bus Low Vit 9 10 Bus Ovr Vit 9 10 CAN Hdwr 9 10 Cntctr Fit 9 10 Cur Limit 9 10 Cur Scaling changed to Ring Write 9 12 Fdbck Loss resolver 9 12 Ground Flt 9 11 Hdwr Fault 9 11 I t Fault 9 12 Memory 9 11 NV Memory 9 11 Ovr Speed 9 12 9 13 Ovr temp 9 11
255. lace the axis module on its side so you 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 short distance until you see the fan plug Figure 9 12 Fan Plug o i z 72002000 Fan Plug Publication 1394 5 0 May 2000 9 30 Troubleshooting Publication 1394 5 0 May 2000 6 Unplug the fan housing from the axis module 7 Locate the fan gasket that is attached to the fan housing Figure 9 13 Locating the Fan Gasket 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 that hold the fan to the fan housing Figure 9 14 Removing Fan Screws and Nuts 10 Remove the fan from the fan housing Troubleshooting 9 31 Installing the New Fan 1 Insert the new fan into the fan housing Figure 9 15 Fan Inserted into the Fan Housing 2 Peelthe 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 minimize the air gap in the gasket Figure 9 16 Attaching the New Fan Gasket Fan Gasket 4 Pressthe gasket firmly to the fan housing to secure the gasket Publication
256. le module mounted in the 2 Install the HIM module you door removed from your existing drive into the door of your replacement system module 3 Open the system module door Plug the SCANport cable from the drive in the top of the HIM module 5 Go to main step 6 Analog Servo system Go to main step 5 module without a HIM module mounted in the door GMC GMC Turbo or Go to main step 5 CNC system module 5 Open the system module door 6 If your old system And your new Do this module is system module is Series A and B Series and B Go to Replacing System Modules of the Same Series Series and B Series C Go to Replacing System Modules of a Different Series Series C Series C Go to Replacing System Modules of the Same Series Series C Series and B Go to Replacing System Modules of a Different Series Important To avoid damaging the wires miswiring the input wiring board and potential damage to the system only replace the input wiring board when replacing a system module of a different series refer to the table above Note To determine the series of your module refer to FigureP 1 in the Preface Publication 1394 5 0 May 2000 9 22 Troubleshooting Replacing System Modules of the Same Series 1 2 3 Remove the input wiring board from the new system module Re install the old input wiring board into the new system Tighten it to
257. le as shown in the table below Refer to Figures 4 22 4 23 and 4 24 for input locations and Appendix B 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 DIMaxis C into DIM axis D into 0 no axis installed J5 J6 J7 J10 1 axis 0 installed J6 J7 J10 N A 2 axis 0 1 installed J7 J10 N A N A 3 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 Chapter Objectives Finding Additional Wiring Information for 1394 Systems Understanding Analog Servo Wiring and Connections Chapter 5 Wiring Your 1394 Analog Servo System This chapter covers the following topics e Understanding Analog Servo wiring and connections e Understanding input w
258. led every 256ys typical use is a torque feedforward input in a high performance position loop system Gain is 3V 100 rated torque Analog range is 10V the velocity regulator output the preload and digital torque reference sum to become the torque source Prop Gain Kp Intg Gain Ki Feed Fwd Gain Droop and Cur Preload are active parameters Alrqi PLd Axis is configured as an analog torque commanded drive with the fixed Cur Preload summed in The real time analog voltage from the torque inputs TQREF and TQREF are utilized This analog voltage is sampled every 256us typical use is a torque block for a tensioner an external position or velocity controller or as a torque follower Gain is 3V 100 rated torque Analog range is 10V In this mode Cur Preload is the active parameter Alrq2 PLd Identical to Mode 4 except that the analog torque inputs come from VREF and VREF instead of TQREF and TQREF Publication 1394 5 0 May 2000 Configuring Your 1394 Analog Servo System 8 25 Typ 1 Logic Axis Parameter Numbers 23 Configures which axes are affected by Parameter Group Setup SCANporttype 1 commands Jog Start etc All ParameterType Rea
259. m module See Figure 4 7 for the switch s location and Figure 4 14 for switch settings The Extended Node 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 Important You cannot use the Extended node option if the Extended Length option is enabled Figure 4 13 AxisLink Connections for a GMC Turbo with Extended Length Option Enabled Connects to J1 20 O 0 i Extended Length AxisLink Connector Yellow Black Shield 300 ohm Recommended cable Belden 9182 Carol C8014 Install a 300 ohm termination resistor or equivalent across 1 and 2 if this is the first or last module on the line Figure 4 14 AxisLink Extend Length Switch Setting AxisLink Extended Length Enabled AxisLink connector Flex I O AxisLink Extended Length Disabled Bottom Edge of the1394 GMC Turbo Board Publication 1394 5 0 May 2000 4 16 Wiring 1394 GMC and GMC Turbo Systems Publication 1394 5 0 May 2000 Remote I O The Remote I O RIO interface allows the 1394 to communicate with Allen Bradley position controllers or other RIO devices Two identical connectors CHAN A P3 and CHAN B P4 are provided at the top of the Motion Drive Module three pin connector is used for the interface Refer to the Installation Guidelines for the
260. mbers System Modules 1394 System Module Bulletin Input Input kW Factory Installed Number Type Voltage Phase Rating Options 1394 C Series C enhancements Blank No Series C enhancements S System module J 360 480V AC 50 60 Hz T three phase 05 5 kW 10 10 kW 22 22 kW not available with the L option 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 SERCOS network interface L With IMC S Class integrated motion controller supports one axis and two auxiliary encoder inputs T With IMC S Class Turbo integrated motion controller E With 9 Series interface RL With RIO and AxisLink can only be ordered with the C L or T options 1 Enhanced system modules have Smart Power improved terminations and EMI filtering Enhancements available only with 1394C SJTxx A C D L and T system modules 9 440 System Module Resolver based systems Bulletin Number of System kW Number Axes Type Rating 8520 C 1 1 axis 3 3 axes 4 4 axes 9 440 5 5 10 10 kW 22 22 Note 8520 Series C system modules include Smart Power improved terminations and EMI filtering Refer to 9 Serie
261. mechanical problems on the machine The motor has been improperly sized Check motor size for your application Contact your Allen Bradley Support Representative A short circuit exists across the drive Check wiring between the axis and the motor output terminals Logic supply circuits have malfunctioned Check wiring between the axis and the or AC output is incorrectly wired motor Check power wiring between the axis and the motor Check resolver wiring between the system module and the motor Ovr Speed Motor velocity exceeded Motor velocity has exceeded the Verify operating parameters the overspeed trip limit overspeed value Verify application requirements Ovr temp The 1394 contains a The cabinet s ambient temperature is Check the cabinet temperature thermal sensor that senses above rating the internal ambient The machine s duty cycle requires an Change the command profile to reduce speed temperature RMS current exceeding the continuous or increase time rating of the controller The airflow access to the 1394 is limited Check airflow and re route cables away from or blocked the 1394 Publication 1394 5 0 May 2000 Troubleshooting 9 13 Fault Message Description Potential Cause Possible resolution Power Fault The current through any The motor lead has shorted Check the motor cable one of the power IGBTs Check the resistance of each power phase has exceeded 300 if t
262. mostat White 1 3 16 5 TB1 2 6 Brake White 1 3 16 6 TB1 4 Braided Shield Braided Shield N A 7 GND Green Yellow 3 3 12 8 PE2 9 Thermostat White 1 3 16 9 1 1 Publication 1394 5 0 May 2000 B 26 Interconnect and CE Diagrams 1394 Cable Pin outs Pin outs and interconnect information for the 1394 interconnect cables are provided starting below Figure B 18 1394 CCAE01 03 08 and 15 Cable Pin outs acct RED 22GA 5V 3 t o 7 CHANNELAHIGH 4 26 CHA 0 Xt WHT ORG 22GA X CHANNEL LOW 10 YELLOW 22GA 28 0 AXISO CHANNELB HIGH 5 coc 30 0 AQBx ER GH 119 GREEN 22GA 1 321 CHB 0 CHANNEL 6 Xi WHT GRN 22GA Xi 34 4CHZ 0 CHANNELZLOW 12 DRAIN 191 36 CHZ 0 iri 24 BLUE 22GA 2 2 OUT 0 7 101 WHIBLUZGA 10 4 OUT 0 191 IM TREF 8 12 CHASSIS G VIOLET220A DROK 0 WT WHTIVIO 22GA y DRVFLT 0 24V EN COM Lx anao N COM 24V WHT GRAY 22GA Wi ENABLE 0 _ ENABLE 9 DRAIN 8 ENABLE 0 aa 20 To system fault string Xi 226 17 es 23 CH
263. mpletely interfaced with and programmed using ODS Off Line Development System and the CNC operator panel Allen Bradley Remote I O MMS Ethernet 9 260 and 9 290 only and Data Highway Plus 9 260 and 9 290 only communications are available options with the 9 Series CNC interface system Figure 1 3 CNC Interface System ODS Software 9 230 9 260 or 9 290 CNC 1746 10 YA a 1394 Fiber Optic Ring us Fiber Optic Ring RIO E RU 1326AB Motors pat h Operator Panel CERE PLcO HEB eO panel 1 BE z q Bid Fiber Optic Ring Publication 1394 5 0 May 2000 1 6 Overview SERCOS System The 1394 SERCOS system module 1394C SJTxx D provides a digital servo drive system with a fiber optic digital network interface It can be used as a velocity or torque control system and is quickly commissioned with the Allen Bradley SERCOS Interface Module Bulletin 1756 with 1756 MxxSE which provides access to auto tun
264. mum Value Maximum Value Default Value 164 165 166 167 Torq Data AnBklsh Conf amps Read Write Yes No 200 rated motor current 200 rated motor current 0 Publication 1394 5 0 May 2000 8 8 Configuring Your 1394 Analog Servo System Cur Rate Lim 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 millisecond Description is based on percentage of motor rating to allow interpretation of value This parameter is automatically configured to its maximum value when Motor Type parameter 100 is changed Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 192 193 194 195 Torq Data A ms Read Write Yes No 10 rated motor current ms 100 rated motor current ms 100 rated motor current ms Current Limit This parameter automatically changes both positive and negative current limits to the same value for convenience during commissioning Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 116 117 118 119 Startup Parms amps Read Write Yes No 10 rated motor current 300 rated motor current 10 rated motor current CW OvSpd Vel Clockwise trip velocity for an overspeed f
265. n 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 configurations as shown in the figure below Figure 4 29 DIM Connector Wiring Examples Analog Out Px 1 Analog Out Px 2 Drive Enable Px 3 Drive Enable Px 4 Publication 1394 5 0 2000 DROK Px 5 DROK Px 6 Shield 7 Analog Out Px 1 Ll M cable connector Analog Out Px 2 Drive Enable Px 3 Drive Enable Px 4 DROK Px 5 DROK Px 6 Shield Px 7 N M cable connector Wiring 1394 GMC and GMC Turbo Systems 4 27 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 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 contain
266. n Appendix B for more information The table below describes each of the terminals Terminal Description U1 Motor Power A V1 Motor Power B Motor Power PE1 Axis Ground PE2 Motor Ground PE3 Overall Shield Publication 1394 5 0 May 2000 3 20 Wiring System Axis and Shunt Modules and Motors for all systems Publication 1394 5 0 May 2000 Connecting Thermal and Brake Leads to Axis Modules Axis modules provide terminating points for the motor power thermal sensor and brake Axis module wiring is identical for all available axis module ratings Figure 3 13 Locating TB1 and TB2 Important Noise filters on the motor thermal sensor and brake connectors TB1 and TB2 add capacitance 1 0 uF from each leg of the thermal switch and motor brake leads to ground This should be considered 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 Appendix D for more information Terminal Description TB1 1 2 Thermal Sensor Input from Motor Cable TB1 3 4 Brake 24V DC from Motor Cable TB2 1 2 Brake 24V DC from Fault System TB2 3 4 Thermal Sensor Output to Fault System Required Tools and Equipment e A small flathead screwdriver e One 1326 CPx1 x
267. n 600V DC 50 fuse FWP50A14F or equivalent Does not have the UL Bussmann 600V DC 40 50A fuse mark 170N2013 FWP50A22F or equivalent 9 Close the door panel 10 Secure the door panel 11 Apply power to your system including the shunt module Replacing the AM50 and AM75 Axis The following procedure provides instructions for removal and Module Fan replacement of the 10 and 15 kW axis module 1394 50 and AM75 fan using kit number SP 74102 271 01 Note This procedure does not apply to the 1394 50 or the 1394C AM75 IH The fan in these axis modules are not customer replaceable Removing the Fan 1 Remove power from your system including the axis module ATTENTION This system may have multiple sources of power More than one disconnect switch may be required to de energize the system To avoid shock hazard or personal injury assure that all power has been removed before proceeding ATTENTION This product contains stored energy devices 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 You should only attempt the procedures in this document if you are qualified to do so and familiar with solid state control equipment and the safety procedures in publication NFPA 70E 2 Remove the axis module from the 1394 system Publication 1394 5 0 May 2000 Troubleshooting 9 29 3 P
268. n instructions and Appendix B has not been followed Verify grounding Route wire away from noise sources External 50 60 Hz line frequency may be present Verify grounding Route wire away from noise sources External 100 120 Hz from a single phase logic supply may be present Verify grounding Route wire away from noise sources External180 or 360 Hz from other adjustable speed drives may be present Verify grounding Route wire away from noise sources Variable frequency may be velocity feedback ripple or a disturbance caused by gear teeth or ballscrew balls etc The frequency may be a multiple of the motor power transmission components or ballscrew speeds resulting in velocity disturbance Decouple the motor for verification Check and improve mechanical performance of the gearbox ballscrew etc Publication 1394 5 0 May 2000 Troubleshooting 9 15 Condition Possible cause Possible resolution No Rotation The motor connections are loose or open Check motor wiring and connections Foreign matter is lodged in the motor Remove foreign matter The motor load is excessive Size the servo system The bearings are worn Return the motor for repair The motor brake is engaged if supplied Check brake wiring and function Return the motor for repair The motor is not connect to the load Check coupling Ov
269. n the Ax Motor Type message appears press SEL The cursor moves to the bottom line Publication 1394 5 0 May 2000 7 6 Commissioning Your 1394 Analog Servo System 6 To define Do this A standard motor to step 3 A custom motor 1 Select Custom 2 Enter the appropriate information for your motor 3 Go to step 6 Note Use only custom motor parameters supplied by Allen Bradley Press either the up or down arrow key until the base catalog number of the motor you will use for this axis appears Press ENTER The system records your choice and the cursor moves to the top line Press ENTER A message similar to the following appears Ax Mode Sel Anlg Vel Go to Defining a Reference Source for Your Axes Defining a Reference Source for Your Axes 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 Power Setting Up at the System Level Setting Up Analog Test Points Defining Your Motors To define a reference for your axes 1 3 Publication 1394 5 0 May 2000 When the Ax Mode Sel message appears press SEL The cursor moves to the bottom line If the axis will get its Press either the up or down reference from arrow until this appears Analog velocity Anlg Vel Analog torque Ana Torq Digital velocity from Dig Vel SCANport Digi
270. nals 20 23 Axis 2 18 Common TB2 Terminals 20 23 Axis 3 18 Common 19 19 Shield Shield Important Connections shown are typical only Some input devices vary in their specific connections Consult the wiring diagram for your device Important If you are using current sinking you can only use one device per controller Connecting Your Communication The 1394 GMC and GMC Turbo system modules provide the y Cables following communication options e Encoder feedback e RS 232 and RS 422 serial communications DH 485 e AxisLink Remote I O e Flex I O e SLC Interface Direct connection Turbo only Figures 4 6 4 7 and 4 8 show the locations of the various communication connections Publication 1394 5 0 May 2000 Wiring 1394 GMC and GMC Turbo Systems Figure 4 6 Inside the 1394 GMC and GMCTurbo catalog number 1394 SJT22 Status Axislink and RS 422 Multi Drop Addresses Remote 1 0 2 Motion Board Screw Control Status 5 Remote 10 AxisLink amp 85422 Multi Drop Control Address O ZAXDANGER ZAXDANGER SLC IN Turbo Only Wo Control Reset x o R Input Wiring Board Screw Control Init SLC OUT
271. nce produces a carrier frequency of 10 000 Hz when measured at the motor This can induce noise into sensitive equipment lines adjacent to it ATTENTION This system can produce electromagnetic radiation that can cause industrial or radio controlled equipment to operate erratically and cause possible injury to personnel The 1394 system is designed to be interconnected with Allen Bradley EMI shielded motor cables only Do not substitute cables The EMI shield of the motor power cable must be grounded at both ends to function properly EMI RFI Bonding The metal chassis of electrical components should be bonded to the subpanel in an electrical cabinet with metal to metal contact The purpose of a high frequency HF bond is to provide HF noise currents a path of least impedance to return to their source Wiring System Axis and Shunt Modules and Motors for all systems 3 5 Input Power Conditioning You can directly connect the 1394 to a three phase AC power line However if certain power line conditions exist the input power component can malfunction If either of the following is true you can use a line reactor or isolation type transformer to reduce the possibility of this type of malfunction e AC line supplying the drive has power factor correction capacitors AC line frequently experiences transient power interruptions or significant voltage spikes Important Line conditioning is not typically required If
272. net the shunt fan power wiring must be inside metal conduit to minimize the levels of EMI and RFI To wire the shunt fan for 115V 1 Verify that all 24V control or 360 480V input power is removed from the system 2 Open the front door of the shunt module 3 Using flat screw driver remove the plate that covers the fan wire access hole 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 the jumper wires that came with your shunt module into terminals 1 and 3 Refer to Figure 3 21 for the jumper s location 7 Insert the other jumper wire that came with your shunt module into terminals 2 and 4 Refer to Figure 3 21 for the jumper s location 8 Tighten all screw terminals 9 Gently pull on each wire to make sure it does not come out of its terminal Re insert and tighten any loose wires To wire the shunt fan for 230V 1 Verify that all 24V control or 360 480V input power is removed from the system 2 Open the front door of the shunt module 3 Using a flat screw driver remove the plate that covers the fan wire access hole located on the bottom right side of the module 4 Insert one wire from the 230V AC power supply into terminal 1 Publication 1394 5 0 May 2000 3 34 Wiring System Axis and Shunt Modules and Motors for all systems Publication 1
273. ng The kit does not contain a feedback device Publication 1394 5 0 May 2000 D 10 Catalog Numbers 1326AH Servo Motors For specifications and a detailed description of the 1326AH Hazardous Duty motors refer to 326AH Hazardous Duty Motors Product Data publication 1326AH TD001 B US P Bulletin Number Voltage Number of Motor Bolt Circle and Frame Size Magnet Stacks Speed Frontbell Brake Brake Size 1326AH B 480 360 Volts 3 100 mm 3 93 in bolt circle 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 30 3 0 Magnets 40 4 0 Magnets IL E 3 000 rpm F 4 000 rpm 21 IEC Metric Blank Without brake With Brake Blank Without brake 3 Brake for motor with 100 mm 3 93 in bolt circle 4 Brake for motor with 115 mm 4 52 in bolt circle 5 Brake for motor with 165 mm 6 49 in bolt circle Publication 1394 5 0 May 2000 Catalog Numbers D 11 Power and Feedback Cables Motor Power Cables Bulletin Motor Size Flex Cable Connector IP Cable Number Type Function Used On Option Accessory Rating Length 1326 NRI A C Connector and cable assembly P Power connection B1 1326 4
274. ng an auto tune cycle as well as direction of movement Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 204 285 286 287 ATune Config rpm Read Write Yes No 2000 0 rpm 2000 0 rpm 1000 0 rpm Publication 1394 5 0 May 2000 8 6 Configuring Your 1394 Analog Servo System Axis Type Parameter Numbers 328 329 330 331 Catalog number of Axis Module Parameter Group Configuration Parameter Type Read Only Selection codes for 1394C AM50 IH and Linkable Ne 1 1394 75 are the same as 1394 50 Selections 0 RN and 1394x AM75 respectively 2 1394 03 3 1394 x AM04 4 1394 07 5 1394 50 6 1394 75 8 1394 DIM Bridge Lim Parameter Numbers 260 261 262 263 Axis module motor combination absolute Parameter Group Linear List maximum current limit magnitude Twice module Display Units amps current rating or three times motor currentrating Parameter Type Read Only whichever is less Linkable No Bus Voltage Parameter Numbers 39 Displays the present value of the DC link Parameter Group Smart Sys Data DC bus voltage Display Units vits Parameter Type Read Only Linkable No Active on all Smart Power 22 kW systems and 5 and 10 kW Series C or later systems only Note To determine the series of your module refer to Figure P 1 in the Preface CCW OvSpd
275. nge 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 within before asserting the At Ref bits in Type 1 2 Status Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 248 249 250 251 Vel Cmd Data 96 Read Write Yes No 0 39 3 90 Publication 1394 5 0 May 2000 8 26 Configuring Your 1394 Analog Servo System Enble Input Mode This parameter specifies whether the hardware enable signals are used on the wiring board for input If configured as Not Used the HIM or SCANport device will provide the enable signal for the axis Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Default Value 0 Selections 0 1 24 Setup None Read Write Yes No Used Used Not Used Vel Command Present velocity command for the axis after all limiting has occurred Parameter Numbers Parameter Group Display Units Parameter Type Linkable 220 221 222 223 Monitor Parms Vel Cmd Data rpm Read Only No Vel Damp Sel This parameter is associated with the auto tune function and specifies the velocity damping desired by the user The auto tuning procedure calculates a new set of Velocity Loop Gains and a new Current Rat
276. nication Specifications Specifications A 11 DC Link Module The power dissipation for the 1394 DCLM is shown below The For the 1394 DCLM is Power dissipation 4 225 W maximum Drive Interface Module The power dissipation for the 1394 DIM is shown below The For the 1394 DIM is Power dissipation 30 W maximum Internal Shunt Resistor for the 5 and 10 kW System standard When the shunt resistor inside 1394x SJTO5 and 1394x SJT10 system module is active some additional power will be dissipated at the system module Its maximum dissipation is 200W Most applications will use less than 1046 of this capacity The 15 Rating of the internal shunt resistor 200W continuous 40 000W peak two second maximum on time Resistance of the internal shunt resistor 16 ohms The communication specifications are listed in the tables starting below Encoder Input Specifications The table below lists the encoder input specifications for the system module 1394x SJTxx C xx L xx and T xx systems The Is Number of encoder inputs 4 axis 0 1 2 and 3 for 1394x SUT xx C xx and T xx systems 2 axis 0 and 1 for 1394 5 xx L xx systems Type of encoder input Incremental AB quadrature optically isolated differential with marker channel Encoder interface IC 261532 or equivalent Compatible encoder types Differential TTl level BV DC line driver outputs with or withou
277. nstallation If you are not going to use the equipment for a period of time store it e inaclean dry location e within an ambient temperature range of 0 to 65 C 32 to 149 F e within a relative humidity range of 5 to 95 non condensing e in an area where it cannot be exposed to a corrosive atmosphere e anon construction area Allen Bradley offers support services worldwide with over 75 Sales Support Offices 512 authorized Distributors and 260 authorized Systems Integrators located throughout the United States alone plus Allen Bradley representatives in every major country in the world Local Product Support Contact your local Allen Bradley representative for e sales and order support e product technical training warranty support support service agreements Technical Product Assistance If you need to contact Allen Bradley for technical assistance please review the information in the Troubleshooting chapter first Then call your local Allen Bradley representative For the quickest possible response please have the catalog numbers of your products available when you call The 1394 System Chapter 1 Overview The 1394 is a modular multi axis motion control and drive system family Its unique design allows the 1394 to be used as an integrated motion controller and drive system GMC with Turbo or standard IMC S Class Compact functionality an integrated 9 440 CNC system a 9 Series CNC digital interfac
278. nt system faults To get to this error log screen 1 Atthe main menu press the continue softkey The softkey menu changes 2 Press the ERROR MESAGE softkey The error message screen appears For more information on 9 440 system faults refer to the 9 Series Integration and Maintenance Manual catalog 8520 6 2 Publication 1394 5 0 May 2000 9 8 Troubleshooting Publication 1394 5 0 May 2000 Finding CNC Interface Faults Faults for the CNC Interface appear on the second line of the operator panel There is also an error log that contains the most recent system faults To get to this error log screen 1 Atthe main menu press the continue softkey The softkey menu changes 2 Press the ERROR 5 softkey The error message screen appears For more information on O Series system faults refer to the 9 Series Integration and Maintenance Manual catalog 8520 6 2 Understanding GMC Turbo and GMC Controller Faults Troubleshooting 9 9 Use the table below to identify the GMC and GMC Turbo Controller faults The status LEDs are located inside the system module in the upper left corner The figure below shows a picture of the LEDs Figure 9 2 GMC Turbo and GMC Status LEDs 0 1 2 Status LED Status 0 1 2 Type Potential cause Possible resolutions Off Off Off Solid Controller OK no faults N A On Off Off Solid Memory fault Setup Re D
279. ny time Extended length and extended node configurations 2 maximum 1 per motion controller Any axis on any motion controller can be a virtual master axis to any other motion controller Each motion controller can define a total of 2 separate axes on any other motion controllers as virtual master axes but only one can be active any time A total of two different axes can be active as virtual master axes at any time Type of virtual master axes All configurations Command and actual Each virtual master axis may be defined to report its command or actual position Slave axes Standard and extended length configuration 31 maximum total per virtual master axis 3 local 4 x 7 other motion controllers 31 Extended node configuration 63 maximum total per virtual master axis 3 local 4 x 15 other motion controllers 63 Number of discrete I O All configurations 112 inputs maximum and 16 user defined outputs per motion controller Any motion controller can read 16 discrete outputs of any other motion controller giving a maximum of 7 x 16 112 discrete inputs per motion controller For extended node configuration discrete Ocan still only be obtained from a maximum of 7 other controllers 112 inputs maximum not from all 15 other controllers available in a 16 node maximum extended node configuration Discrete I O response All configurations lt 1 millisecond Publication 1394
280. odes Em Y Only Pressing this key causes the motor to change direction The appropriate direction indicator illuminates to indicate direction Direction LEDs Indicators These LEDs illuminate to indicate the direction of motor rotation for Axis 0 by default This is a display LED only When you first apply power to the drive the HIM cycles through a series of displays e System drive name HIM ID number Communication status e Status display Using the Human Interface Module HIM C 5 Figure C 3 Status Display Press ENTER to display Choose Mode Press the Increment or Decrement keys to see different modes that you can select Refer to Figure C 4 and the descriptions on the following pages for more information Understanding HIM Modes The HIM uses different modes for different purposes Display Mode Display mode allows you to view any of the parameters without being able to modify them Program Mode Program mode provides access to the complete listing of parameters available for programming Link Mode 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 the auto startup procedure for the 1394 Refer to the Configuring Your 1394 Analog Servo System chapter for more information EEProm Mode EEProm mode allows you to reset all parameters to the
281. odules using slide and lock module to module connections For information on motors and cables refer to the 71326AB 460V Torque Plus Series AC Servo Motors Product Data publication 1326A 2 9 1326AS Series 460V Low Inertia Brushless Servo Motors Product Data publication 1326A 2 10 and 1326 Cables for 460V AC Servo Motors Product Data publication 1326A 2 11 In addition to the equipment shown above you will need to supply the following e Three phase input contactor e Three phase input fusing 24V AC or DC logic power for system module and contactor enable Analog Servo only DRIVEOK power all modules Refer to Appendix A for information on these topics Note Anexternal shunt resistor 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 shunt resistor kit All 22 kW 1394 based products require an external shunt module 1394 SR9 Ax 1394 SR36Ax This includes both 1394 and 8520 catalog items System Modules System modules available with ratings of 5 10 and 22 kW at 460V house the system control PCB and convert 360 to 480V AC three phase 50 60 Hz input power to a 530 680V DC link voltage The 5 and 10 kW system modules have an internal shunt resistor with a 200W continuous rating and a peak rating of 40 000W The 22 kW system module requires an external shunt module
282. of the 1394 axis modules One servo amplifier with motor is connected to the 1394 DIM Figure 4 19 1394 DIM with 1398 DDM xxx System Example 1394 Axis Modules Y Y Y 1394 DIM ond Q 1398 DDM xxx ge 0 1394 or GMC Turbo System Module 29 42 J1 Breakout Board 0 Refer to Figure 4 20 m 55 2 Motor 15 5 2 27 a E Encoder 1326 9101 1391 or N Series Motor J E 1326 CEU xxx gr If A B 845 Encoder 1326AB 1394 GE15 E T J2 Breakout He lt _ 1326 CEU xxx Board If A B 845H Figure 4 20 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 information Wiring 1394 GMC and GMC Turbo Systems 4 21 Figure 4 20 1394 DIM to J1 Breakout Board Pinouts 1394 DIM Cable Connector J1 Breakout Board T J1 5 24V I O
283. og Rated Speed Motor Motor Rotor System System System System 1394 Axis Number rpm Rated Rated Inertia Continuous Peak Stall Continuous PeakStall Module 480V 360V Torque Output kg m Torque Torque Stall Current Current N m Ib in kW Ib in s N m lb in N m Ib in Amperes Amperes 1326AS B310H 6200 5120 0 7 6 1 0 3 0 000045 0 7 6 1 2 1 18 0 8 24 03 0 0004 1326AS B330H 6500 5370 2 0 18 0 0 9 0 00009 2 1 18 5 6 50 2 1 6 0 03 0 0008 04 1326AS B420G 5250 4340 3 2 28 0 1 2 0 0003 3 2 28 7 3 65 2 6 6 08 03 0 0027 9 6 84 7 8 04 07 1326AS B440G 5250 4340 6 4 56 0 2 0 0 0005 5 3 47 10 5 93 4 5 9 0 04 0 0046 6 4 56 17 6 156 5 4 15 0 07 19 0 168 16 2 5 50 1326 5 460 4300 3550 9 0 80 0 2 8 0 00075 6 6 58 13 1 116 3 4 5 9 03 04 0 0066 9 0 80 21 9 194 6 2 15 0 07 27 1 240 18 6 AM50 AM50 IH 1326AS B630F 4500 3720 10 7 95 0 2 4 0 0014 10 3 91 20 6 182 3 7 5 15 08 07 0 012 10 7 95 25 4 225 7 8 18 5 AM50 AM50 IH 1326AS B660E 3000 2480 21 5 190 3 4 0 0025 13 7 121 27 3 242 3 7 5 15 08 07 0 022 21 5 190 54 2 480 11 8 29 8 AM50 AM50 IH 54 2 480 29 8 AM75 AM75 IH 1326AS B690E 3000 2480 36 4 322 5 0 0 0036 36 4 322 63 6 563 19 0 33 28 AM50 AM50 IH 0 032 79 1 700 41 3 AM75 AM75 IH 1326AS B840E 3000 2480 37
284. ollowing general specifications 8 AWG 8 4 mm 105 600V Maximum length of each wire is 3 05 m 10 ft If you mount the shunt module outside the cabinet the shunt power cables and fan wiring must be inside metal conduit to minimize the levels of EMI and RFI To minimize the levels of EMI and RFI inside your cabinet we recommend you Use a single cable that contains a twisted pair with an overall shield The shunt module is designed to accept a metal conduit which will also act as an overall shield Route your shunt power cables with motor power cables Separate shunt power cables from other sensitive low voltage signal lines The table below details your shunt power wiring options For this Type of Cable Twist Conductors Y N Twisted pair with overall shield N Twisted pair no shield N Discrete conductors Y 2 twists per foot Twisting cancels most of the RFI noise for the two conductors Refer to Figure 3 18 and Figure 3 19 for more information To connect the shunt module to the 22 kW system module 1 Verify that there is no 24V control or 360 480V power applied to the system Open the front door of the system module Insert one end of one user supplied 8 4 mm 8 AWG 105 C 221 F 600V shielded wire in the terminal block labeled COL Insert one end of the other user supplied 8 4 mm 8 AWG 105 C 221 P 600V shielded wire in the terminal block labeled DC
285. ommended for this electrical codes require that the circuit breaker rating not exceed option 400 of the full load device current The inrush current draw of the 1394 in some combinations exceeds the 30A breaker and will result in nuisance tripping 1394x SJT10 x 1492 CB3 H500 All 1394x SJT22 x 1492 CB3 H600 All External Shunt Resistor Kit for 5 and 10 kW Systems The table below shows the ratings for the external optional shunt resistor Catalog Number Ratings Shipping Weight Resistance 1394 SR10A 1400W continuous 4 99 kg 11 Ib 16 Ohms 40 000W peak two second maximum on time Important Use fuse replacement kit 1394 SR10A FUSE A when replacing the 1394 SR10A shunt fuse Refer to the Miscellaneous Accessories section in Appendix D for more information 1394 Shunt Module for the 22 kW System The table below shows the ratings for the 1394 shunt module for the 22 kW system module Catalog Number Series Letter Ratings Shipping Weight Resistance Agency Certifications 1394 SR9A B 300W continuous 160 000 W 3 63 kg 8 Ib 4 Ohms For all applicable peak module no fan directives 1394 SR9AF B 900W continuous 160 000 W 3 63 kg 8 Ib UL Listed file peak module no fan E59272 1394 SR36A B 1800W Continuous 160 000 W 8 6 kg 19 0 Ib CUL Listed peak module no fan 1394 SR36AF B 3600W continuous 160 000 W 9 0 kg 20 0 Ib peak fan cooled module
286. on For Rockwell Automation Technical Support information refer to ww w rockw ellautomation com support or Tel 1 440 646 3434 Power Control and information Solutions Headquarters Americas Rockwell mossis 1309 South Second Street Miekes WI 532042496 USA Tel 1 424 382 2000 Roe CD i Paope Middle Hast Africus Rockwell Aunenation oestlazn Boulevesd du Souveral 36 1170 Brussels 32 2663 06101 Pa 32 2 653 0640 Patti Beeler Level 14 Con E Cyberpor 3 100 Cyberpor Rad Hog TEE 857 2T 4788 Fux 952 2508 1845 Publication 1394 5 0 May 2000 74102 200 07 Supersedes Publication 1394 5 0 November 1999 Copyright 2000 Allen Bradley Company Inc Printed in USA
287. on the next mounting fastener Engage the alignment tab Slide the slide and lock mechanism on the axis module to the left until it locks into place Install the lower fastener for all axis modules If not already attached attach the terminator to the last axis module slide and lock mechanism until it locks in place Tighten all mounting fasteners Reconnect TB1 TB2 motor and ground wires Apply power to the system Verify that the system is operating properly Note Because system and axis parameters reside in the system module software you do not need to perform any tuning or setup at this time Troubleshooting Removing a System Module 9 19 If you are removing a Refer to Publication number 9 440 system module 9 Series Integration and Maintenance Manual 8520 6 2 SERCOS system module 1394 SERCOS Multi Axis Motion Control System User Manual 1394 5 20 To remove a system module 1 Remove all 360 480V AC input power from the system ATTENTION This product contains stored energy devices 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 You should only attempt the procedures in this chapter if you are qualified to do so and familiar with solid state control equipment and the safety procedures in publication NFPA 70E If you are removing a Do this Analog
288. onfiguring Your 1394 Analog Servo System Shunt P Parameter Numbers 45 Shunt resistor continuous power rating Parameter Group Linear List Display Units Watts Active on all Smart Power 22 KW systems and 5 Parameter Type Read Write and 10 kW Series C or later systems Change While Running No Minimum Value 100 This parameter only needs to be configured Maximum Value 22000 when you are using custom resistors Default Value 22 kW 900 Default Value 5 and 10 kW 200 Note Shunt Type must be set to custom shunt before making modifications to this shunt parameter 44 48 Shunt Peak Usage Parameter Numbers 51 This parameter shows the peak usage of the Parameter Group zu Sys Data shunt resistor over the last ten seconds This Display Units 7o parameter can be observed to determine Parameter Type Read Only proximity of usage to fault condition Warningis Linkable No set at 80 Fault is set when value reaches 105 Active all Smart Power 22 kW systems and 5 and 10 kW Series C or later systems Shunt R Parameter Numbers 44 Shunt resistor resistance Set this parameter Parameter Group Linear List only when using a custom resistor Display Units Ohms Parameter Type Read Write Active on all Smart Power 22 kW systems and5 Change While Running No and 10 kW Series C or later systems Minimum Value 4 22kW systems 16 5 and 10 kW systems Note Shunt Type mustbe setto custom shunt Maximum
289. or AM75 IH 1394 03 AM04 or AMO7 upto4 no 1394 50 or AM75 and 1 yes 1394 50 or 75 B 1394 50 or AM75 IH no 1394C AM50 IH or AM75 IH 1394x AM03 AMOA or AMO7 up to 3 no 1394 50 or AM75 and 2 yes 1394 50 or AM75 C 1394C AM50 IH or AM75 IH no 1394 50 or AM75 IH 1394x AM03 4 or AMO7 up to 2 no 1394 50 or AM75 and 3 yes 1394 50 or AM75 D 1394C AM50 IH or AM75 IH no 1394C AM50 IH or AM75 IH 1394x AM03 4 or AMO7 upto 1 no E 1394 50 or AM75 and 4 yes 1394 50 or AM75 1394 50 or AM75 IH no 1394 50 or 75 Note When mounting axis module combinations you must mount the 1394 50 AM75 50 1 and AM75 IH closest to the system module and ahead of the 1394x AMO3 4 and AMO7 axis modules 2 Once you have identified your axis module combination modify your subpanel using the dimensions that correspond with the combination you chose in step one Go to Bonding Your System Publication 1394 5 0 May 2000 2 6 Installing Your 1394 applies to all systems Bonding Your System Publication 1394 5 0 May 2000 Mounting Your 1394 Through the Back of the Cabinet The figure below shows an example of the typical mounting of a 1394 system with 1394 50 or AM75 axis modules The 1394 50 and AM75 have heatsinks that mount through
290. our 1394 Analog Servo System Publication 1394 5 0 May 2000 If the system module LED Then Flashes green and the following The control and bus power are appears on the HIM active but the modules are not Sys Ready enabled Go to Setting Up at the System Level Flashes red and green flashes red remains solid red does not illuminate You may have a wiring problem Go to the Troubleshooting chapter Setting Up at the System Level This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedure Removing and Re Applying Power earlier in this chapter When the LEDs on the system and axis modules are all flashing green and the Sys Ready message appears on the HIM you are ready to begin these procedures To perform system level setup 1 At the HIM press ENTER A message similar to the following appears Choose Mode Display Press either the up or down arrow key until the following appears Choose Mode Start Up Press ENTER The following message appears ALLEN BRADLEY COPYRIGHT 1994 Press ENTER A message similar to the following appears Line Voltage 460 Volts AC Press SEL The cursor moves to the bottom line If you are using this 480 V AC Press ENTER The system records your choice 360 V AC 1 Press either the up or down arrow key until 360 Volts AC appears 2 Press ENTER The system records your
291. ove the short on the velocity reference inputs Go to Defining Limits Publication 1394 5 0 May 2000 7 8 Commissioning Your 1394 Analog Servo System Publication 1394 5 0 May 2000 Defining Analog Torque This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter e Removing and Re Applying Power Setting Up at the System Level e Setting Up Analog Test Points e Defining Your Motors These procedures continue from step 4 of Defining a Reference Source for Your Axes To define analog torque 1 When the Mode Sel Ana Torq message appears press ENTER A message similar to the following appears Ax Current Limit 18 43 amps 2 Goto Defining Limits Defining 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 e Removing and Re Applying Power Setting Up at the System Level e Setting Up Analog Test Points e Defining Your Motors These procedures continue from step 4 of Defining a Reference for Your Axes To define digital velocity 1 When the Ax Mode Sel Dig Vel message appears press ENTER A message similar to the following appears Ax Vel Ref Whole 204 gt 352 Note Thenumberon the left is the destination while the number on the right is the source 2 Press SEL The cursor m
292. over the values and methods provided Low voltage Communications Control I O wiring Motor feedback cables Wiring System Axis and Shunt Modules and Motors for all systems 3 3 Routing High and LowVoltage Cables Be aware that when you connect and route power and signal wiring on a machine or system radiated noise from nearby relays relay coils should have surge suppressors transformers and other electronic drives can be induced into motor or encoder feedback communications or other sensitive low voltage signals This can cause system faults and communication problems To minimize the levels of radiated noise route machine power and signal lines separately Figure 3 1 Routing Cables Inside Your Cabinet Always cross high and low voltage conductors at 90 degree angles __ OF Motor rod 460 380V Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and Unshielded conductors OOF 05050 e m e TT 5 5 0 i Maximize distance between high and low voltage cables on parallel runs l Do not run low ca and high voltage SSe
293. oves to the bottom line 3 Press either the up or down arrow until the parameter number that you want to use for your digital velocity appears 6 Commissioning Your 1394 Analog Servo System 7 9 Press ENTER The system records your choice and the cursor moves to the top line Press ENTER A message similar to the following appears Ax Current Limit 18 43 amps Go to Defining Limits Defining Digital Torque 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 Power Setting Up at the System Level Setting Up Analog Test Points Defining 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 to the following appears Ax Dig Torq Ref 212 lt 356 Note Thenumberon the left is the destination while the number on the right is the source Press SEL The cursor moves to the bottom line Press either the up or down arrow until the parameter you want to use for you digital torque appears Press ENTER The system records your choice and the cursor moves to the top line Press ENTER A message similar to the following appears Ax Current Limit 8 43 amps Go to Defining Limits Publication 1394 5 0 May 2000 7 10 Commissioning Your 1394
294. ownload the GML diagram with the program checksum error setups Reset the controller Off On Off Solid 1394 Initialization failure Reset the controller If problem persists return controller to the factory for repair On On Off Solid AxisLink initialization failure Reset the controller If problem persists return controller to the factory for repair Off Off On Solid RIO interface initialization failure Reset the controller If problem persists return controller to the factory for repair On Off On Solid Flex I O initialization failure Reset the controller If problem persists return controller to the factory for repair Off On On Solid Interrupt initialization failure Reset the controller If problem persists return controller to the factory for repair On On On Solid DSP or initialization failure Reset the controller If problem persists return controller to the factory for repair Flashing fast DRAM test 1 failed Return the controller to the factory for repair Flashing fast DRAM test 2 failed Return the controller to the factory for repair Flashing fast DRAM test 3 failed Return the controller to the factory for repair Flashing fast Applications memory functionality test failed Return the controller to the factory for repair Flashing fast Setup memory funcitonality test failed Return t
295. parameters Motor Type must be set to custom motor Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 388 Mtr Data rpm Read Write Yes No 1 rpm 8000 rpm This is determined by the motor catalog number Anlg Vel Ofst An offset value that can be used on an analog velocity input to counter voltage offsets on that input This value is added after the input scaling has taken place therefore changing the analog input scaling will change this offset compensation Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 276 277 278 279 Vel Cmd Data rpm Read Write Yes No 496 00 rpm 496 00 rpm 0 00 rpm Anlg Vel Scal Use this parameter to determine how the A D converter value is scaled It is set to the number of motor rpm that is to represent 1 volt of input command The desired input velocity command voltage to motor rpm scaling is accomplished with this parameter The default setting is 500 rpm volt Use the following formula if the maximum motor speed rpm and maximum velocity command volts are known Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value MaximumDesiredMotorRPM MaximumVelocityCommand 272 278 274
296. pears Select Online The Online Manager window appears On the top right of the window select the Watch A message box appears The variables that you selected and their status appear in this window Refer to the Expression Builder chapter of the GML Programming Manual V3 7 or above for a list of fault and status variables Troubleshooting 9 7 Finding Analog Servo System Faults When a fault occurs for the Analog Servo version a fault message appears on the HIM Figure 9 1 HIM Fault Display Source of Fault Fault Name Hard Fault Indicator Fault Number Each area on the diagram in Figure 9 1 has a significance In this area This information appears Source of fault The area in which the fault originated Ax0 Axis module 0 Ax1 Axis module 1 Ax2 Axis module 2 Ax3 Axis module 3 Sys System module CPU The host CPU hardware DSP DSP CPU hardware Cus User action is the source of the fault Hdw Drive hardware is the source of the fault Fault name An abbreviated message indicating a particular fault Hard fault indicator If an exclamation point appears in this location a hard fault has occurred You need to cycle drive power to clear this type of fault Fault number The number associated with the particular fault Finding 9 440 Faults Faults for the 9 440 appear on the second line of the operator panel There is also an error log that contains the most rece
297. pply Channel A High Channel B High Channel Z High Axis x Vref Axis x Tref Co CO UF A N Power Supply Common I Channel Low I I Channel B Low I NA Channel Z Low ATTENTION To guard against possible damage to the A Quad B circuitry assure that wiring between 0 1 2 3 and the position controller is correct Each A Quad B interface includes both a velocity terminals 1 7 and torque command terminals 2 8 input reference for direct connection to external motion controllers These reference command inputs are in parallel to the reference inputs 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 This port allows you to connect a SCANport device such as a Human Interface Module to the 1394 Analog Servo System Publication 1394 5 0 May 2000 5 8 Wiring Your 1394 Analog Servo System Publication 1394 5 0 May 2000 Chapter Objectives General Startup Precautions Chapter 6 Commissioning 1394 GMC and GMC Turbo Systems This chapter provides you with the information to set up and tune the 1394 System This chapter includes e General startup precautions e Applying power to the system e Setting up your system using GML Commander e Setting up your system using GML 3
298. pter Removing and Re Applying Power Setting Up at the System Level Setting Up Analog Test Points Defining Analog Velocity Defining a Reference Source for Your Axes Defining Limits Before You Perform an Auto Tune Before you perform an auto tune look at the status LED on the system module If the Status LED on the Do this System Module is Flashing green Go to Performing the Auto Tune Alternating red and green 1 Apply 360 480V AC line voltage 2 Goto Performing the Auto Tune Flashing red 1 Clear the fault 2 Apply 360 480V AC line voltage 3 Goto Performing the Auto Tune Solid green 1 Disable the axis that is currently enabled 2 Goto Performing the Auto Tune Solid red A hardware fault has occurred Refer to the Troubleshooting chapter for more information Performing the Auto Tune To auto tune your axes 1 When the Select Idle message appears press SEL The cursor moves to the bottom line Press either the up or down arrow until Axis Tune appears on the bottom line Press ENTER A message similar to the following appears Ax ATune Select Enable Axis Note If the message is Not Ready refer to the beginning of this Auto Tuning section for information ATTENTION When you auto tune an axis the motor will move slightly Publication 1394 5 0 May 2000 7 12 Commissioning Your 1394 Analog Servo System Publication 1394 5 0 May 2000 4 Apply
299. r 22 kW systems and 5 and 10 kW Series C or later systems Note Shunt Type must be set to custom shunt before making modifications to associated shunt parameters 44 48 Slot 0 Opt Card Parameter Numbers 5 Description of adapter card in option slot Parameter Group Linear List Display Units None Parameter Type Read Only Linkable No Selections 0 No Opt Instd Software Version Parameter Numbers 1 Numeric value of software version Parameter Group Configuration Parameter Type Read Only Linkable No Startup State Parameter Numbers 3 Present state value of the startup procedure Parameter Group Linear List Display Units None Parameter Type Read Write Change While Running Yes Linkable No Minimum Value 0 Maximum Value 100 Default Value 1 State Parameter Numbers 200 201 202 203 Present state of axis module enabled disabled Parameter Group Linear List Display Units None Parameter Type Read Only Linkable No Selections 0 Disabled 1 Enabled Status Display Parameter Numbers 8 Textual description of present status of drive Parameter Group Linear List Display Units None Parameter Type Read Only Linkable No Selections 0 Sys Faulted 1 Sys Wait Bus 2 Sys Bus Chrg 3 Sys Ready 4 Sys Enabled 5 Sys Stopping Publication 1394 5 0 May 2000 8 22 Configuring Your 1394 Analog Servo System Stop Mode Parameter to select whether the axis module should velocity command to zero regen or coas
300. r 24V Control Power You can use any general purpose transformer with the following ratings The requirements for For a 480V system is For a 360V system is Input volt amperes 200 to 259 VA 200 to 259 VA Input voltage 480V RMS 360V RMS Output voltage 24V RMS 24V RMS Load regulation 2 to 596 2 to 5 If the input volt amperes is more than 350 VA adjust the load regulation to make the transformer leakage the same as or greater than the 250 VA transformer with 246 regulation User Supplied 5V Auxiliary Encoder Power Supply The table below shows the requirements for the 5V encoder that you can supply If you use an encoder that requires more than 5V you still need a 5V power supply for the 1394 encoder board electronics at a rating of 0 325A applies to 1394x SJTxx C L and T systems only The For 5V logic input power must be Rating 5V DC 5 Current 0 325A plus the requirement of each encoder used For example if you use one encoder with a 0 2A requirement the supply required is 0 525A 0 325A 0 2A 0 525A Circuit Breakers While circuit breakers offer some convenience there are limitations for their use Circuit breakers do not handle high current inrush as well as fuses The 1394 system needs to be protected by a device 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 ra
301. r 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 Nine user configured files each can be individually configured as any of the above types or as a BCD file for floating point simulation Flex I O Specifications The table below lists the Flex I O specifications for the system module 1394x SJTxx C xx L xx and T xx systems The Is Maximum number of Flex modules 8 Compatible modules 1794 IB16 16 24V DC discrete inputs 1794 1A8 8 115V AC discrete inputs 1794 1 8 8 current voltage analog inputs 1794 OB16 16 24V DC discrete outputs 1794 OA8 8 115V AC discrete outputs 1794 OE4 4 current voltage analog outputs 1794 IE4XOE2 4 current voltage analog inputs and 2 current voltage analog outputs 1794 IB10XOB6 discrete combination module 1794 OW8 relay output module 1794 IF4l isolated analog input module 1794 OB16P discrete output protected Interface Direct no 1794 ASB or other adapter required Publication 1394 5 0 May 2000 A 14 Specifications Publication 1394 5 0 May 2000 GMC System Specifications The table below lists the specifications for the GMC system module 1394x SJTxx C xx L xx and T xx systems The Is Servo loop sample and update rate 250 Hz to 2 kHz for 4 axes Maximum feedback frequency 4 MHz 4 000 000 feedback counts per second
302. re 3 14 Series C Axis Module Cable Clamp Cable wires 51 mm 2 0 in Bracket Screw 22 mm A Braided 75 shield 875 sbosed Clamp Y pose Screw Motor cable depending on the specific installation Keep wires as short as possible while maintaining adequate stress relief Cable Preparation Publication 1394 5 0 May 2000 i clamp J m y m Feedback ite i cable clamps FEX Dimensions given are approximate and will vary Cable shield Axis cable clamp System module ground bar 1394 front view Clamp Attachment Wiring to Axis Module Prepare one end of the motor cable for attachment to the cable shield clamp by removing the outer insulation and braided shield from the motor cable Ensure approximately 51 mm 2 0 in of the insulated cable wires are exposed refer to Figure 3 14 Remove another 22 mm 875 in of insulation to expose the braided shield underneath for clamp attachment Important When cutting into the insulation use care not to cut into the braided shield underneath Position the cable shield clamp over the exposed braided shield ensure clamp screw is behind clamp and not braided shield Tighten the clamp screw Important Do not overtighten the clamp screw or damage to the braided shield may result Thread the bracket screw into the bottom of the axis module and
303. recautions when you install test service or repair this assembly If you do not follow ESD control procedures components can be damaged If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook Figure 2 1 Minimum System and Axis Module Mounting Requirements Allow 50 8 mm 2 00 in clearance for airflow installation H oif E y t D Allow 10 0 mm 0 4 in side clearance Aow 25 4 mmi clearance a J Allow 76 2 mm 3 00 in clearance at cover tab for opening and closing for depth of terminator Allow 10 0 mm 0 4 in side clearance See ATTENTION statement below Wire entry area for cable ground clamps and signal power and motor connections gt Allow additional clearance below the system module to provide the recommended cable bend radius Refer to 1326 Cables for 460V AC Servo Motors publication 1326A 2 11 for more information 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 mod
304. red energy devices 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 You should only attempt the procedures in this document if you are qualified to do so and familiar with solid state control equipment and the safety procedures in publication NFPA 70E 2 Locate the fuse holder Figure 9 6 Fuse Holder Location Fuse holder 3 Remove the fuse from the fuse holder with the fuse puller tool 4 Insert the new Bussmann 700V 40A fuse FWP40A14F or equivalent into the 1394 SR 104A fuse holder 5 Apply power to your system Publication 1394 5 0 May 2000 9 26 Troubleshooting Publication 1394 5 0 May 2000 Replacing the 1394 SR9A SR9AF SR36A and SR36AF Fuse To replace the 1394 SR9A SROAF SR36A and SR36AF shunt module fuse 1 Remove power from your system including the shunt module ATTENTION To avoid 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 only attempt the procedures in this documentif you are qualifi
305. refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook This section provides the following to help you set up and tune the 1394 Analog Servo System Information you need before you begin e Setup procedures e The instructions in this chapter assume that you are using HIM Series A 3 0 or greater or a HIM Series B Refer to Appendix C for general HIM programming information To determine the series of your module refer to Figure P 1 in the Preface In most cases the default values in the startup procedure will work very well however you can modify the values as needed for your application During the startup procedures the system automatically saves all the choices that you make to 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 Finished If you need to exit the procedures before you are finished you can do one of two things e Remove and re apply power e Press ESC until the Choose Mode display appears Continuing From Where You Left Off To continue the procedure 1 Atthe HIM press ENTER The following message appears Choose Mode Start Up Commissioning Your 1394 Analog Servo System 7 3 2 Press ENTER The following appears Start Up Continue To Do this
306. remote Verify that you have purchased the remote illuminated I O or you have not enabled remote I O option for this system I O in your program Verify that you have enabled the remote I O in yourPAL program Publication 1394 5 0 May 2000 9 4 Troubleshooting For this module For this LED Status of the LED Potential Cause Possible resolution Axis Module Status Steady red Malfunctioning axis module Verify wiring Verify that the slider and terminator are securely engaged Secure wiring connections Replace the module Flashing red Axis fault has occurred Verify wiring Secure wiring connections Check fault status on the HIM Analog Servo only in GML GMC only or on the operator panel CNC Interface and 9 440 Check 460V AC input power Check axis status on the HIM Analog Servo only in GML GMC only and on the operator panel CNC Interface and 9 440 Alternating red and green DC bus is 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 axes and enable them if necessary Verify that enable wiring is correct and not open Enable signal from position controller is not present Analog Servo only Check axes and enable them if necessary Verify that enable wiring
307. ries B HIM only features Note To determine the series of your module refer to Figure P 1 in the Preface The drive mounted HIM which is available only with the analog servo version of the 1394 is accessible from the front of the drive as shown in Figure C 1 The HIM has two main functions e Provide a means of programming the drive and viewing operating parameters e Allow different drive functions to be controlled There are three types of HIM modules available e 1201 2 shown in Figure C 1 e 1201 program only e 1201 HAI analog potentiometer Important The HIM is available only on the Analog Servo version of the 1394 Publication 1394 5 0 May 2000 C 2 Using the Human Interface Module HIM Figure C 1 HIM Mounted on 1394 Analog Servo System IQ OF 06 I Allen Bradley wy 1394 Digital Servo Controller System Module NS bari Jano dne There are two SCANports located on the 1394 analog 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 When you are using the HIM Use port In the HIM cradle 1 As a hand held device 2 Understanding HIM Keys T
308. rned to the power speed or increase time Shunt turns on at supply bus Use a larger external shunt resistor 800V DC A vertical axis with insufficient Use the external shunt resistor Shunt turns off at RES LE counterbalancing is overdriving the servo ncrease the mechanical 750V DC motor and causing excessive energy to be counter balance on the machine Over voltage trip point 810V DC returned to the power supply bus an as Input line voltage exceeds the maximum input Verify incoming 360 480V AC input Under voltage trip point voltage rating voltage and change the supply source if 275V DC needed Under voltage fault EXE di i dul clears at 300V DC Power Driver Board 1s malfunctioning and is eplace the system module incorrectly sensing the bus voltage The shunt regulator or transistor has Replace the system module malfunctioned External shunt regulator fuse has blown Check and possibly replace the shunt resistor CAN Hdwr SCANport hardware The SCANport device or cable is faulty Check SCANport connections error detected Cntctr Fit Three phase power is The contactor is welded or failed to open Correct wiring either detected when it Replace the contactor shouldn t be or not The input wiring to your contactor is incorrect Correct wiring detected when it should be Cur Limit The system module has The motoring regenerative current produced Increase system module size
309. s For single axis control wire each axis separately 15 Either TB1 1 2 or TB2 1 2 system enable needs to be energized to enable hardware up to four axes You do not need both TB1 1 2 and TB2 1 2 16 System enable can be 1 always tied to 24V DC 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 example photoeye work area 17 You must jumper P1 for the optional external shunt resistor 5 and 10 kW Series A and B only P1 is located behind the Status LED The P1 jumper is available with the external shunt kit 1394 SR10A and used on 1394 SJT05 and SJT10 series A and B systems only 18 You must supply source power for Flex I O for example 1794 IB16 24V DC and 1794 1A8 115V 19 This input is monitored by the CPU and is not intended to be a safety circuit 20 The motor thermal switches should be wired in series to the customer stop circuit to prevent damage to the motor 21 Ground bar is user supplied item for Series A and B system modules Ground bar is included on Series C system modules 22 Brake control be accomplished using the Flex I O outputs and adding the appropriate logic to the GML application program In this case connect the leads from the axis module TB2 to the appropriate Flex I O output 23 Brake control must be provided by the user supplied controller 24 The brake circuit must be routed to the CNC output mod
310. s Integration and Maintenance Manual publication 8520 6 2 for more information Publication 1394 5 0 May 2000 Bulletin kW Number Rating Catalog Numbers D 3 CNC Serial Drive System Module Bulletin kW Auxiliary Auxiliary Number Rating Feedback Feedback 5 5kW 10 10 kW 22 22 kW 2Q Two ports Encoder Feedback Blank no option 4Q Two more ports Encoder Feedback Blank no option Note Refer to 9 Series Integration and Maintenance Manual publication 8520 6 2 for more information 9 440 High Resolution Absolute CNC System Module High Performance 1326 Motor Internal Feedback Auxiliary Feedback 8520 CHR 5 5 kW 10 10 kW 22 22 kW A1 Axis 1 Blank no option A2 Axis 2 Blank no option Axis 3 Blank no option A4 Axis 4 Blank no option 2Q Two ports Encoder Feedback Blank no option Blank no option 4Q Two more ports Encoder Feedback ote 8520 CHR Series C system modules include Smart Power improved terminations and EMI filtering Refer to 9 Series Integration and Maintenance Manual publication 8520 6 2 for more information Publication 1394 5 0 May 2000 D 4 Catalog Numbers Axis Modules External Shunt Modules Publication 1394 5 0 May 2000 Bulletin Outp
311. s shown in the figure below Figure 3 15 1394 System Module Jumper Removal Series A and B Jumper 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 1394 System Module Jumper Installation Series A and B Jumper block to P1 4 Install and tighten the resistor wire with the fuse in the DC terminal on the power terminal block in the lower right corner 5 Install and tighten the other resistor wire in the COL terminal on the power terminal block in the lower right corner Publication 1394 5 0 May 2000 3 28 Wiring System Axis and Shunt Modules and Motors for all systems Connecting Your Shunt Module required for 22 kW system Publication 1394 5 0 May 2000 Connecting Your External Shunt Resistor Series C 1 Locate and unplug the J11 connector on the bottom of the system module Remove and discard the jumper wire between J11 1 and J11 2 as shown in the figure below Figure 3 17 1394 System Module Jumper Removal Series C
312. s 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 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 4 30 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 0 May 2000 4 28 Wiring 1394 GMC and GMC Turbo Systems Publication 1394 5 0 May 2000 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 4 31 Cable Connector Insert cable wires into the connector openings here 8 Use screwdriver to tighten the clamping screw to the correct torque 0 25 N m 2 2 Ib in until the cable lead cannot be pulled out of the terminal 9 Using the table below complete the termination connections If the cable lead Do this Pulls out of
313. servo motors feature a specially designed housing that reduces motor length They are available with continuous torque ratings of 2 3 to 53 0 N m 20 7 to 469 0 Ib in Refer to the 326AB 460V Torque Plus Series AC Servo Motors Product Data publication 1326A 2 9 for more information on features and options IP65 protection rating is standard when used with the shaft oil seal kit IP67 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 permanent magnet rotors that provide low inertias high accelerations and high peak torques They are available with continuous torque ratings of 0 49 to 49 3 N m 4 33 to 436 Ib in Refer to the 1326AS Series 460V Low Inertia Brushless Servo Motors Product Data publication 1326A 2 10 for more information on features and options IP65 protection rating is standard when used with the shaft oil seal Important 1326AS Bxxxx motors cannot be used with the 9 Series and 9 440 controllers Figure 1 11 1326AS Motor Overview 1 13 1326AH Motors This family of hazardous duty motors are UL recognized AC brushless servo motors Construction of the motor is a totally enclosed non ventilated TENV square frame design utilizing a permanent magnet rotor and a fixed stator winding Rare earth magnets long life ball bearings and brushless construction
314. shooting General System 9 13 Replacing System and Axis Modules 9 16 Before You Begin 9 16 Removing an Axis Module 9 17 Installing a Replacement Axis Module 9 18 Removing a System Module 9 19 Installing a Replacement System Module 9 20 Replacing System Modules of the Same Series 9 22 Replacing System Modules of a Different Series 9 22 Completing Connections and Downloading Parameters 9 22 Checking for a Blown Fuse in the 1394 1 9 23 Replacing the 1394 Shunt Module 9 25 Replacing the 1394 SR10A 9 25 Replacing the 1394 SR9A SR9AF SR36A and SR36AF Fuse 9 26 Replacing the AM50 and AM75 Axis Module 9 28 Removing the Fan 9 28 Installing the New Fan 9 31 Appendix A Chapter Objectives A 1 System A 1 25 eer PER Fe NA Tea 1 System Modules 2 Axis Modules eher oe Eme des A 3 A 3 DG EINK Module
315. stantaneous status View constant status Viewing Instantaneous Status You can look at the status of a particular variable within GML at a particular point in time To look at a status Open GML The GML window appears Select Diagram from the menu bar The Diagram menu appears 1 2 3 Select Online The Online Manager window appears 4 Inthe Axis area select the axis you want to see status on 5 In the area above the Axis area select the variable for which you want to see status Note Forexample select the Global Fault variable to determine which system fault has occurred 6 Select Examine Information about that variable appears in the box on the bottom of the Online Manager window Publication 1394 5 0 May 2000 9 6 Troubleshooting Publication 1394 5 0 May 2000 Viewing Continuous Status When you use the Watch feature a window appears within the Online Manager window showing the variables you selected GML constantly updates the status of those variables as they change To view continuous status AM mv cu Open GML The GML window appears Select Definitions from the menu bar The Definitions menu appears Select Watch Items The Watch Items window appears 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 Click on Save The GML window appears Select Diagram from the menu bar The Diagram menu ap
316. stem modules are identical except that the GMCTurbo 1394x SJTxx T offers SLC backplane interface and 64K of memory wi bit processor without the SLC interface The Standard GMC 1394C SJTxx L is functionally the same as the 1394x SJT xx C except it supports one axis and provides two auxiliary encoder inputs determine the series of your module refer to Figure 1 in the Preface 5and 10 kW Series C system modules and all 22 kW system modules are limited to four contactor cycles per minute 5 and 10 kW Series A and B system modules are limited to an average of four contactor cycles per hour 5 Peak inrush current for 5 and 10 kW systems Series A and B line voltage x 1 1 x 72 Lsystem al Csystem Caxes Where L Inductance C Capacitance ith a 32 bit processor while the Standard GMC 1394 5 offers 32K of program memory with a 16 Specifications A 3 Axis Modules The table below lists the specifications for the axis modules For the 1394x AM50 For the 1394x AM75 The For the 1394 is For the 1394 04 is For the 1394x AM07 is and 1394C AMBO IH is 1394C AM75 IH is Speed Regulation 0 to 0 05 of base 0 to 0 05 of base 0 to 0 05 of base 0 to 0 05 of base speed 0 to 0 05 of base speed speed with 10096 torque speed with 100 torque speed with 10096 torque with 10096 torque with 10096 torque dist
317. stems The Is Number of serial channels 2 serial port A and serial port B Channel type Optically isolated RS 232 or RS 422 each channel individually configured via internal switch Information code ASCII Baud rate User selectable up to 128 kbaud rs 422 115 2 kbaud RS 232 Number of start bits One Number of stop bits One Word length 8 bits 7 data bits plus 1 parity bit Parity Space parity transmitted receive parity ignored may be mark space even or odd Duplex Full or half user selectable Data synchronization XON control q XOFF control s Front panel connectors IBM PC AT compatible 9 pin D type female RS 422 termination User selectable 220 ohm resistor via internal switch DH 485 Specifications Specifications A 13 The table below lists the DH 485 specifications for the system module 1394x SJTxx C xx L xx and T xx systems The Is Number of DH 485 channels One replaces serial port B when used Channel type Optically isolated half duplex RS 485 Baud rate 9 600 or 19 2 kbaud user selectable Front panel connectors Two RJ 45 jacks 24 V is not provided RS 485 User selectable 220 ohms resistor via internal switch Node address User selectable between 0 and 31 inclusive Node type Token passing master Accessible data type One binary file B3 for up to 16 384 bits One integer file N7 fo
318. t and CE Diagrams 1326 CPC1 xxx Standard Power Cable for the 1326A S B6xxxx 1326AS B8xxxx and 1326A B B7xxxx Servo Motors Wire Number Wire Color Gauge Connector 1394 mm AWG Pin Terminal 1 Power Black 5 3 10 1 U1 2 Power Black 5 3 10 2 V1 3 Power Black 5 3 10 3 4 Brake Black 1 3 16 4 1 3 5 Thermostat Black 1 8 16 5 TB1 2 6 Brake Black 1 3 16 6 TB1 4 Braided shield Braided shield N A 7 GND Green Yellow 3 3 12 8 PE2 9 Thermostat Black 1 8 16 9 TB1 1 1326 CPB1T xxx Flex Rated Power Cable for 1326AS B3xxxx 1326AS B4xxxx and 1326A B B5xxxx Servo Motors Wire Number Wire Color Gauge Connector 1394 mm AWG Pin Terminal 1 Power White 1 3 16 1 U1 2 Power White 1 3 16 2 V1 3 Power White 1 3 16 3 4 Brake White 1 3 16 4 1 3 5 Thermostat White 1 3 16 5 TB1 2 6 Brake White 1 3 16 6 TB1 4 Braided Shield Braided Shield N A 7 PE3 GND Green Yellow 1 3 16 8 PE2 9 Thermostat White 1 3 16 9 TB1 1 1326 CPC1T xxx Flex Rated Power Cable for the 1326AS B6xxxx 1326AS B8xxxx and 1326AB B7xxxx Servo Motors Wire Number Wire Color Gauge Connector 1394 mm AWG Pin Terminal 1 Power White 5 3 10 1 Ut 2 Power White 5 3 10 2 V1 3 Power White 5 3 10 3 4 Brake White 1 3 16 4 1 3 5 Ther
319. t and CE Diagrams B 15 1394 GMC Systems 1394x SJTxx C and T The example below shows 1394 Series C axis modules with internal brake and thermal switch filtering Separate isolation power supply and relay are not required Figure B 8 Non Isolated Series E Stop Axis 0 Axis 1 Axis 2 Axis 3 1394C AMxx 1394C AMxx 1394C AMxx 1394C AMxx Motor thermal Motor brake Switch filter filter Series C Series C Motor thermal Motor brake Switch filter filter Series C Series C Motor thermal Motor thermal Motor brake switch filter Motor brake switch filter filter Series C Series C filter Series C Series C 211 n4 FA hls Motor Thermal Switch TBI TB2 1 1394 GMC Input Wiring Board 1 3 3 4 1394x SUTxx C 4 5 1394x SJTxx C RL 5 7 AND 7 8 1394 5 8 1394x SJToc T RL Em 11 11 12 12 13 13 14 14 15 15 16 16 17 17 118 EE 19 19 2 20 START STOP CRI T 21 T 22 22 p 24V AC DC 23 DriveOK 53 o Q or 24 Relay 24 CRI 5060 HZ 25 25 1 E CRI 27 27 Publication 1394 5 0
320. t axis Figure 4 23 1394 DIM with Single Axis Module Axis 0 i 1 f P il c zt Lr H T S gt ji 7 k DIM Axis A ELE Ie RS um Axis 1 on 1394 H j L
321. t before the 1394 system the 1394 on the fiber optic ring module Flashing red The fiber optic ring has failed at Check all components and connections after some point after the 1394 system the 1394 on the fiber optic ring module Not No power to the system Check 24V control power and 460V AC input illuminated This LED is not illuminated when power for the 1394 operating normally 9 440 System XILINX Steady red Operating normally None needed Module Not Power to the system module is not Cycle power illuminated on Apply power to the system module An XILINX hardware fault has Replace the system module occurred Contact your local Allen Bradley Support Representative WATCHDOG Steady red Operating normally None needed Not Power to the system module is not Apply power to the system module illuminated on Watchdog has timed out and a Cycle power processor failure has occurred Replace the system module Contact your local Allen Bradley Support Representative Status Steady red Operating normally None needed Not Power to the system module is not Apply power to the system module illuminated on Watchdog has timed out and a Cycle power processor failure has occurred Replace the system module Contact your local Allen Bradley Support Representative R4 O Steady or For systems with remote I O this None needed flashing red indicates that communication with remote I O is occurring Not Your system does not have
322. t marker Decode modes 4 times quadrature step direction count up count down Maximum encoder frequency 4 000 000 counts per second 4 MHz This is equivalent to achannel frequency of 1 MHz in 4x quadrature decode mode Input impedance 7 kohms minimum each input Encoder power 5V DC 1A user supplied Publication 1394 5 0 May 2000 A 12 Specifications Publication 1394 5 0 May 2000 Dedicated Discrete I O Specifications The table below lists the dedicated discrete I O specifications for the system module 1394x SJTxx C xx L xx and T xx systems The Is Number of dedicated discrete 16 4 each for axis 0 1 2 and 3 inputs Dedicated discrete input functions Home limit switch positive overtravel limit switch negative overtravel limit switch position registration and thermal fault Input type Optically isolated Operating voltage 24V DC 28V DC maximum or 5V DC nominal 10V DC maximum for position registration inputs Input 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 5 ms maximum 1 us maximum for position registration inputs Serial 1 0 Specifications The table below lists the dedicated serial I O specifications for the system module 1394x SJTxx C xx L xx and T xx sy
323. t this manual we use notes to make you aware of safety considerations ATTENTION Identifiesinformation about practices or circumstances that can lead to personal injury or death property damage or economic loss Attention statements help you to identify a hazard avoid the hazard recognize the consequences Important Identifies information that is critical for successful application and understanding of the product GML IMC Flex I O PanelView Data Highway Plus SCANport SLC SLC 5 03 SLC 5 04 and SLC 5 05 are trademarks of Allen Bradley Company Inc PLC is a registered trademark of Allen Bradley Company Inc Preface Overview Installing Your 1394 applies to all systems Table of Contents Who Should Use this P 1 Purpose of this P 1 Contents of this P 2 Related Documentation P 3 Conventions Used in this P 3 Module Series Designator P 3 1394 Product Receiving and Storage Responsibility P 4 Allen Bradley P 4 Local Product Support caen CE se t oe eT P 4 Technical Product Assistance P 4 Chapter 1 Th SVSIOM
324. t to a stop Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Default Value 0 Selections 0 1 240 241 242 243 Vel Cmd Data None Read Write Yes No Regen Regen Coast Stop Time Lim Maximum amount of time that the module will remain enabled while trying to stop Useful for very slow velocity rate change settings Important If hardware enables are used to stop the drive circuitry only allows 0 5 seconds before disabling independent of this parameter Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value Default Value 384 385 386 387 Vel Cmd Data secs Read Write Yes No 2 secs 120secs 2 secs Stopping Cur During a regen stop the amount of current available to stop the motor Only works when StopMode Regen Parameter Numbers Parameter Group Display Units Parameter Type Change While Running Linkable Minimum Value Maximum Value 308 309 310 311 Vel Cmd Data amps Read Write Yes No 0 of rated motor current 300 of rated motor current Default Value 300 of rated motor current Sum On Days Parameter Numbers 95 Displays the total number of days that the drive Parameter Group Linear List has ever had control power applied Display Units None Parameter Type Read Only Linkable No Sum On Minutes Parameter Numbers 94 Displ
325. t you mount your Flex I O modules to the left of the system module Figure 2 15 Mounting GMC GMC Turbo Systems Next to Flex I O Preferred Install Flex I O to the left of the axis modules h Bond DIN rail 5 to sub panel X de e I ILI Preferred i Screw Flex I O connector to tapped hole in sub panel This grounds flex cable shields Important You must separate low voltage O from all exposed high voltage conductors to avoid the affects of EMI and RFI Chapter Objectives Finding Additional Wiring Information for 1394 Systems Chapter 3 Wiring System Axis and Shunt Modules and Motors for all systems This chapter covers the following topics e Understanding basic wiring requirements e Determining your type of input power e Grounding your 1394 system e Connecting system module power e Connecting motor power to axis modules e Connecting feedback to system modules e Connecting your motor cables to motors e Connecting your external shunt resistor e Connecting your shunt module required for 22 kW system The information and procedures included in this chapter apply to the following 1394 systems GMC Turbo GMC 9 440 CNC CNC Interface and Analo
326. tal torque from SCANport Dig Torq Press ENTER The cursor moves to the top line Commissioning Your 1394 Analog Servo System 7 7 If you selected Go to Anlg Vel Defining Analog Velocity Ana Torq Defining Analog Torque Dig Vel Defining Digital Velocity Dig Torg Defining Digital Torque Defining Analog 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 Power Setting Up at the System Level Setting Up Analog Test Points Defining Your Motors These procedures continue from step 4 of Defining a Reference Source for Your Axes To define analog velocity 1 When the Sel Anlg Vel message appears press ENTER A message similar to the following appears Ax Anlg Vel Scal 4500 0 rm v Press SEL The cursor moves to the bottom line Press either the up or down arrow until the parameter number that you want to use for the rpm volt gain appears Press ENTER The system records your choice and the cursor moves to the top line Press ENTER A message similar to the following appears Short Ax Vel In Before Proceed On the system module s input board short the velocity reference inputs AxVref and AxVref to null the analog velocity offset Press ENTER A message similar to the following appears Ax Current Limit 18 43 amps Rem
327. ted for the overload current and short circuit rating a supplementary circuit protection device such as the 1492 can be used as the only 1394 branch circuit protection device The upstream fully rated device let through must be less than or equal to the 10 kA interrupt rating of the 1492 The wiring interconnection in Figure A 1 and Figure A 2 provide examples of the needed protection and follows UL and NEC codes Full compliance is dependent on final wiring design and installation Figure A 1 Circuit Protection under NEC 1999 110 10 preferred fully rated devices Specifications Required Protection Required Protection under 110 10 of undril0 100 1999 Fully Rated NEC 1999 Preferred Fully Fused Preferred Fully sve yes Rated Breakers Disconnect Rated Breakers y N Fully Rated Fully Rated Breaker c Fused Disconnect Distribution im Block 4 Breakers Selected for Device Protection Fully Rated Short Circuit Breakers Selected Interupt Capability for Device 2 Protection Fully Rated Drive Drive Drive bn Circuit Interupt Capability Figure A 2 Circuit Protection under NEC 1999 110 10 allowed but no longer preferred Required Protection Traditional under 110 10 of Current Limit NEC 1999 Fused Allowed But Disconnect or No Longer Preferred Breaker Rated for Short Circuit
328. ter to the 1394 serial port e GML Commander Reference Manual publication GMLC 5 2 e voltmeter standard screwdriver Publication 1394 5 0 May 2000 Commissioning 1394 GMC and GMC Turbo Systems Preparing the System Before you start your 1394 system be aware of the following To Do this Be able to save setup menus Set the Memory keyswitch to the unlock position Set the remote node if you are using AxisLink or multi drop functions Use the Address switch to set a unique address for each 1394 connected The addresses can be set in any order Refer to Figure 4 6 in the Wiring GMC and GMC Turbo Systems chapter for the switch s location Reset critical drive parameters to their factory default value if the 1394 does not communicate properly during power up Hold down the Init switch while you power up the system Reset the system Press the Reset switch For specific set up instructions using GML Commander refer to the following sections of your GML Commander Reference Manual To Refer to the In this manual Number Understand the setup process Configuring Control Options chapter Define your user interface Configuring Control Options chapter Define your control options axes Configuring Control Options chapter and Flex I O Setup RIO SLC Interface AxisLink Configuring Control Options chapter and DH 485 Establish communications with
329. the Accessing your Controller section of the 1394 Going Online chapter GML Commander cunis Download your GML diagramtothe Translating a Diagram to a Program Reference Manual 1394 Downloading section of the Going Online chapter Test your motor connections motor encoder and marker tests Verifying Hookups section of the Configuring Axis Use chapter Tune your 1394 axes Tune Servo section of the Configuring Axis Use chapter Apply the changes you made Applying Axis Configuration Changes section of the Configuring Axis Use chapter Publication 1394 5 0 May 2000 Setting Up Your System Using GML 3 X X Commissioning 1394 GMC and GMC Turbo Systems 6 5 This section provides the information you need to setup and tune your 1394 GMC and GMC Turbo using GML version 3 x x Before You Begin Before you begin the startup procedure be sure to have the following Acomputer running Windows and GML version 3 9 0 or later e nine pin serial cable to connect the computer to the 1394 serial port e A GML Programming Manual publication 999 104 voltmeter A standard screwdriver Preparing the System Before you start your system be aware of the following To Do this Be able to save setup menus Set the Memory keyswitch to the unlock position Set the remote node if you are using AxisLink or multi drop functions Use the Address switch to set a un
330. the 1326 interconnect cables are provided starting below 1326 CCU xxx Standard Commutation Cable for Motor Resolver Wire Color Gauge Connector Pin System Module mm AWG Terminal Black Axis 0 R1 0 519 20 A 1 White Axis 0 R2 0 519 20 B 6 Shield Drain 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 20 no connection 5 Overall Shield N A no connection 10 1326 CCUT xxx Flex Rated Commutation Cable for Motor Resolver Wire Color Gauge Connector Pin System Module mm AWG Terminal White Black Axis 0 R1 0 519 20 A 1 White Axis 0 R2 0 519 20 B 6 Shield 0 519 20 no connection 2 White Black Axis 0 S1 0 519 20 D 3 White Red Axis 0 S3 0 519 20 E 8 Shield 0 519 20 no connection 7 White Black Axis 0 S4 0 519 20 H 9 White Green Axis 0 52 0 519 20 G 4 Shield 0 519 20 no connection 5 Green Yellow N A no connection 10 Publication 1394 5 0 May 2000 B 24 Interconnect and CE Diagrams 1326 CECUx xxx L xxx High Resolution Feedback Cable Wiring Information for High Resolution Servo Motors Only Wire Number Wire Color Gauge System Module mm AWG Terminal A Bl
331. the AxisLink specifications for the system module 1394x SJTxx C xx L xx and T xx systems The Is Baud rate Standard and extended node One megabit per second configuration Extended length configuration 500 kbits per second Cable type Standard and extended node Allen Bradley 1770 CD RIO cable Belden 9463 or configuration equivalent Extended length configuration Belden 9182 Carol C8014 or equivalent Cable length Standard and extended node 25 m 82 ft maximum 1 m 3 ft minimum between configuration controllers Extended length configuration 125 m 410 ft maximum 1 m 3 ft minimum between controllers Number of motion controllers Standard and extended length configurations 8 maximum for a total of 32 possible axes Extended node configuration 16 maximum for a total of 64 possible axes Addressing Standard and extended length configurations User selectable address via rotary selector switch on front panel Extended node configuration User selectable address via GML Number of virtual master axis Standard configuration 4 maximum 1 per motion controller Any axis on any motion controller can be a virtual master axis to any other motion controller Each motion controller can define a total of 2 separate axes on any 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 a
332. the axis module 4 Label and remove the motor leads and ground wiring from the terminal block on the axis module 5 Disconnect the slide and lock mechanism on the module you plan to remove and all modules to the right of it 6 Remove the bottom fastener on the axis module you plan to remove 7 Loosen the top fastener on the axis module you plan to remove 8 Liftthe axis module and pull it out 9 If you are removing the right most axis module remove the terminator Publication 1394 5 0 May 2000 9 18 Troubleshooting Publication 1394 5 0 May 2000 Installing a Replacement Axis Module To install a replacement axis module 1 10 1 Install the top mounting fastener on the system panel for the axis module The head of the fastener should be at least 6 35 mm 0 25 in from the panel Refer to Mounting the 1394 in the Installing Your 1394 chapter for more information If you are mounting Do this 1394 03 4 07 50 75 axis module Go to main step 3 1394 50 or 75 axis module with the heat sink through the back of 2 the enclosure Remove the paper backing from the gasket that came with the AM50 75 axis module Position the gasket so that the small hole side is on top 3 Slide the gasket over the heat sink and attach it to the back of the axis module 4 Goto main step 3 Hang the axis module
333. the axis module and the small hole side is on top 3 Slide the gasket over the heat sink and attach it to the back of the axis module Figure 2 6 Gasket Position gasket 4 Goto main step 4 1394 DCLM or 1 Hang the DCLM or the DIM as the 1394 DIM last right most module Note If both DCLM and DIM are mounted on the same system the DIM should be the last module 2 Go to main step 5 4 Hang the 50 75 axis module on the next mounting fastener 5 Engage the alignment tab refer to Figure 2 7 Figure 2 7 Alignment Tab Engaged alignment tab Publication 1394 5 0 May 2000 2 10 Installing Your 1394 applies to all systems Publication 1394 5 0 May 2000 6 Slide the slide and lock mechanism on the axis module to the left until it locks into place Figure 2 8 Slide and Lock Mechanism OF o Om tn _ Slide and Lock Mechanism E umm SU 7 If you Do this Have more axis modules for this system Go to main step 3 module Do not have more axis modules for this o to main step 8 system module ps 8 Install the lower fasteners for the system module and all axis modules 9 Attach the terminator to the last axis module Slide it to
334. the back of the electrical cabinet Figure 2 3 Mounting the 1394 with heatsinks through the back of the cabinet Note This configuration requires a gasket between the 1394 50 or AM75 and the inside of the enclosure Use the gasket provided Customer supplied P d enclosure After you have established your panel layout you need to understand how to bond your system and subpanels Bonding is the practice of connecting metal chassis assemblies frames shields and enclosures 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 subpanel the surfaces need to be paint free or plated Bonding metal surfaces creates a low impedance exit path for high frequency energy Improper bonding blocks that direct exit path and allows high frequency energy to travel elsewhere in the cabinet Excessive high frequency energy can effect the operation of other microprocessor controlled equipment The illustrations below show details of recommended bonding practices for painted panels enclosures and mounting brackets Installing Your 1394 applies to all systems Figure 2 4 Bonding Examples Stud mounting the subpanel to the enclosure back wall Back wall of enclosure Subpanel Star washer Use a wire brush to remove paint from threads to maximize ground connection Use plated
335. the left until it locks in place Figure 2 9 Attaching the Terminator IO 00 OF 066505050 Attach 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 Mounting Your 1394 DCLM Mounting the External Shunt Resistor for 5 and 10 kW System Modules Mounting External Shunt Modules for 22 kW System Modules Installing Your 1394 applies to all systems 2 11 Two 1394 system power buses can be linked by connecting two DCLMs together This procedure is application specific and requires proper implementation Please contact your Allen Bradley sales representative for more information When using the 1394 DCLM for energy storage the power plug must be installed refer to Figure 2 10 for location Figure 2 10 Locating the Power Plug e Allen Bradley DC Link Module TETTE TEILT SS zm
336. the main board chassis using a phillips screw driver and the screws provided Go to Completing Connections and Downloading Parameters Replacing System Modules of a Different Series 1 2 3 Label and remove the wires from the old input wiring board Re insert the wires into the new wiring board Go to Completing Connections and Downloading Parameters Completing Connections and Downloading Parameters 1 Connect the slide and lock mechanism on the system module to the axis modules Reconnect feedback and communication connectors to the system module Refer to Appendix B for connection information Connect the ground wire and if used the external shunt resistor connections Connect the 24V control power and 360 480V AC input power to the system module Connect all shunt wiring if applicable Apply 24V control power to the system module Do this commissioning a Analog Servo system 1 Download the drive parameters to the system module using the Copy Cat feature Refer to Appendix C for Copy Cat instructions 2 Goto main step 8 Turbo or Download your GML program system module Refer to your GML programming manuals for more information 2 Go to main step 8 CNC Interface system Go to main step 8 module 8 Apply 360 480V AC input power to the system module 9 Verify that your system is operating properly Publication 1394 5 0 May 2000
337. tion D 13 troubleshooting 9 1 axis running uncontrollably 9 13 motors no rotation 9 15 not responding to velocity command 9 14 overheating 9 15 noise on command or resolver signal wires 9 14 system running uncontrollably 9 13 unable to obtain desired motor acceleration deceleration 9 13 unstable axis 9 13 unstable system 9 13 tuning C 10 for analog servo 7 11 U understanding basic wiring requirements 3 2 EMI RFI bonding 3 4 EMI RFI shielding 3 4 Index 7 input power conditioning 3 5 routing cables 3 3 shielding 3 4 wire sizes 3 4 understanding DIM signals 4 24 analog output 4 25 drive enable output 4 25 DROK 4 24 unpacking modules 2 3 user supplied components See specifications V vibration A 9 W watch 9 6 wiring 1394 analog servo system 5 1 analog servo encoder 5 5 axis power 3 19 thermal and brake leads 3 20 encoder feedback requirements 4 10 external shunt resistor 3 26 feedback to system modules 3 24 for all systems 3 1 GMC and GMC turbo systems 4 1 shunt modules 3 28 required tools and equipment 3 28 system module power 22 kW systems 3 17 5 and 10 kW systems 3 14 required tools and equipment 3 17 terminal blocks wiring 22 kW systems 3 16 wiring 5 and 10 kW systems 3 14 understanding requirements 3 14 understanding for analog servo system 5 1 Publication 1394 5 0 May 2000 1 8 Index Publication 1394 5 0 May 2000 For more information refer to our web site w w w ab com moti
338. tors used with the 1394 Servo Motors Product Data Product information regarding cables used with the 1326AB and 1326 Cables for 460V AC Servo Motors 1326A 2 11 1326AS motors A user guide for GML programming to be used with the 1394 GML Commander Reference Manual GMLC 5 2 GMC System An overview of the Flex 1 products Flex I O Product Profile 1794 1 14 Specifications for the Flex I O products Flex I O Product Data 1794 2 1 An overview of the PanelView 550 600 product PanelView 550 600 Product Profile 2711 1 13 An overview of the 9 Series products 9 Series CNC Product Profile 8520 1 3 A manual that provides you information on RIO communications Installation Guidelines for the Twinaxial Cable 92 D1770 BCO A manual that assists you with integrating and maintaining the 9 Series Integration and Maintenance Manual 8520 6 2 9 Series to be used with the 1394 CNC Interface System An article on wire sizes and types for grounding electrical equipment National Electrical Code Published by the National Fire Protection Association of Boston MA A glossary of industrial automation terms and abbreviations Allen Bradley Industrial Automation Glossary AG 7 1 Conventions Used in this Manual Module Series Designator The following conventions are used throughout this manual Bulleted lists such as this one provide information not procedural steps Numbered lists provide sequential steps or hierar
339. ue appears Press ENTER The system records your choice and the cursor moves to the destination value Press ESC The following appears Link Set Links Press ESC The following appears Choose Mode Link Press either the up or down arrow key until the following appears Choose Mode EEPROM Press ENTER The system records your choice and the following message appears EEPROM Save Values Press ENTER The system saves the values that you entered and the following message appears Choose Mode EEPROM Using Copy Cat Copy Cat is an optional Series B HIM only file upload download utility that copies the information from one drive and stores it in the HIM so that you can make a duplicate of it to place in another system or create a backup of a system s information It copies parameters and links and pastes all the read write parameters and links to another drive You can store copies of up to two different systems in the HIM at one time Publication 1394 5 0 May 2000 8 Using the Human Interface Module HIM Publication 1394 5 0 May 2000 Copying a System s Information Note These steps assume that you are starting from the top level of the HIM Sys Wait Bus To copy a drive s information using Copy Cat 1 Atthe HIM press ENTER A message similar to the following appears Choose Mode Display 2 Press either the up or down arrow key until the following appears Choose Mode EEPROM 3
340. ule The brake control logic must be configured in PAL 25 There is no internal shunt resistor in the 22 kW smart system module An external shunt resistor module 1394 SR xAx must be used 26 The axis x VREF and TREF are analog reference inputs to the drive They are parallel to the VREF and TREF inputs on the input wiring board You can not use both set of inputs at the same time 27 A user supplied 5V DC power supply provides logic power to the 1394 Analog Servo Applying 5V DC to one axis powers all four axes 28 Grounding of the 24V DC common or the 24V AC neutral is recommended but not required Grounding improves noise immunity to the logic supply 29 The thermal switch and brake circuits are a source of conducted noise Isolation from customer control devices may be required A separate 24V Pek n can be used Axis modules Series or later include a thermal switch and motor brake filter to eliminate the need for a separate Note To determine the series of your module refer to Figure P 1 in the Preface Publication 1394 5 0 May 2000 EA ER 1 The RIO AxisLink option RL must be ordered with System module It is installed at the factory You cannot order these individually Interconnect and CE Diagrams 1394 GMC Interconnections Figure B 1 Bottom Front of the GMC 1394x SJTxx C and GMC Turbo 1394x SJTxx T System Modules AxisLink
341. ule to allow for connecting the SLC interface cable 1746 C7 or C9 Determining Your System Mounting Hole Layout To prepare your subpanel for mounting 1 Before you mount your 1394 System use the illustration and table on the next page to identify your axis module combination Publication 1394 5 0 May 2000 Installing Your 1394 applies to all systems 2 5 Figure 2 2 1394 Mounting Hole Layout Dimensions are in millimeters and inches 625 100 1375 175 2125 250 2875 2 46 3 94 5 41 6 89 8 37 9 84 11 32 50 0 50 125 150 200 225 275 195 1 97 000 1 97 4 92 5 91 7 87 6 86 10 83 6769 i 25 5 i TET ol i System module B ADB DE mounting holes System E outline Pun Heat sink Hea sink sink Heat sink io 15 16 cutout for the cutout for the cutout for the cutout for the 50 75 50 75 50 75 50 75 module module module module i i ohly dg 1 1 x L I t 186 6 33 5 _ uoce M6 tapped hole or 1 32 vas 0 32 1 4 20 UNC 2B H xni Type of Axis Module Number of Axes Cutout Needed Combination 1394 50 or AM75 and 0 no A 1394C AM50 IH
342. ur analog servo system 7 3 applying to your GMC system 6 2 control 3 18 3 19 6 2 7 3 input 3 6 6 2 7 3 wiring 3 18 power dissipation A 10 1394 DCLM A 11 1394 DIM A 11 axis module A 10 shunt resistor A 11 system module A 10 problems detecting 9 2 programming information 8 1 R reference source defining for axis for analog servo 7 6 related documentation P 3 remote I O 4 16 Publication 1394 5 0 May 2000 Index resetting critical drive parameters 6 4 6 5 the system 6 4 6 5 S saving enabling 6 5 SCANport adapter 5 7 analog servo System 1 7 SERCOS System 1 6 wiring for 1394 analog servo system 5 1 SERCOS system overview 1 6 serial communications 4 11 Series designator P 3 servo motor performance data 1326AB motors A 32 1326AS motors A 33 setting up analog servo system 7 2 analog test points for analog servo 7 5 at the system level for analog servo 7 4 precautions 7 1 preparing the system for 6 4 6 5 what you need for analog servo 7 2 what you need for GMC 6 3 6 5 shaft oil seal kit catalog numbers 1326AB motors D 6 1326AS motors D 8 shock A 9 shunt module cable routing 3 30 connecting 3 28 connecting power 3 29 dimensions 1394 SR10A A 22 1394 SR 36xx A 24 1394 SR 9xx A 23 fan wiring 3 33 replacing fuse in 1994 SR9A SR9AF SR36A and SR36AF 9 26 specifications A 8 shunt resistor catalog numbers D 4 dimensions A 22 external D 4 power dissipation A 11 replacing 1394 SR10A fuse 9 25 spe
343. urbance disturbance disturbance disturbance disturbance Static Gain 1 28 2 6 4 9 22 8 22 8 rms Peak Current 20096 20096 200 143 143 Limit Adjust Modulation 5 kHz 10 5 kHz 10 5 kHz 10 5 kHz 10 5 kHz 10 Frequency 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 Input 530 680V DC 530 680V DC 530 680V DC 530 680V DC 530 680V DC Voltage Continuous 3 0A 4 5 7 5 23 3A 35 0A Current rms Peak Current 6 0A 9 0A 15 0A 33 2A 50 0A rms 1 second Continuous 1 6 2 kW 2 4 3 kW 4 5 kW 11 34 15 6 kW 17 8 23 8 kW Power Out 360 460V nominal Efficiency 98 98 98 98 98 Weight 5 kg 11 02 Ib 5 kg 11 02 Ib 5 kg 11 02 Ib 7 kg 15 44 Ib AM50 7 kg 15 44 Ib AM75 6 73 kg 14 8 Ib AM50 IH 6 73 kg 14 8 Ib 75 Capacitance 110 uF 110 uF 220 uF 465 uF 660 uF When used with the controller in the 1394x SJTxx System module Contact Ratings The table below lists the contact ratings of the drive relay outputs The contact rating for the Is Drive OK DROK 115V AC 24V DC 1A inductive Contactor Enable Relay 115V AC 24V DC 1A inductive Thermal switch 115V AC 24V DC 1A inductive Publication 1394 5 0 May 2000 4 Specifications DC Link Module The table below lists the specifications for the DC Link Module The For the 1394 DCLM is Firmware version 5 0 or higher with
344. ure 1 6 9 440 System Incoming E Stop I e 120V AC Reset Power to Control processor Module PortB L 5 232 L RS 422 24V MTB Panel Transformer e 9 ncoming External 380 460 VAC E Stop MTB 1 0 Operator Remotel O amp J Panelior eee era ROPI assembly 8 MEN 9 440 Axis Axis Axis System Module Moia Medul 2 22 22 Samat e eae An Spindle drive High 1746 1 0 HPG Density Digita Analog 0 VO Touch Probe 0 1 d4 G Encoder 3 Encoder Y Y 2 Machine Machine Machine 24 Vdc 115 230V ac 115 24V dc 230V ac i 4 Resolver Motor 1 Resolver Motor 2 What is a 1394 System Resolver F1 Motor 3 D gt Optical signal cable Terminal type connection The 1394 system consists ofthe following components catalog number appears in parenthesis One System Module 1394x SJTxx x One to four Axis Modules 1394x AMxx xx e One to four servo motors 1326Ax Bxxxx e One to four power and feedback cables Also available are the DC Link Module 1394 DCLM and Drive Interface Module 1394 DIM The Is used 1394 DCLM In addition to the axis module s 1394 DIM In place of an axis module Publication 1394 5 0 May 2000 1 10 Overview Publication 1394 5 0 May 2000 Axis modules are connected to system m
345. ut Number Type Designator 1394 C Series C enhancements Blank No Series C enhancements AM Servo amplifer module 03 2 kW 04 3 kW 07 25 kW 50 15 6 kW 75 23 8 kW IH AM50 and AM75 with inside cabinet heatsink Series C only Blank 03 04 07 and AM50 and AM75 with through cabinet heatsink only 1 Enhanced axis modules have improved terminations and EMI filtering Shunt Resistor Kit for 5 and 10 kW System Modules Bulletin kW Number Type Rating 1394 SR Shunt resistor 10A 1400W continuous 40 000W peak Shunt Modules for 22 kW System Modules Bulletin Number Type Style Rating 1394 SR Shunt resistor 9A 300W continuous 160 000W peak no fan 9AF 900W continuous 160 000W peak no fan 36A 1800W continuous 160 000W no fan 36AF 3600W continuous 160 000W peak fan cooled module System Module Cables Catalog Numbers Control Interface Cables Bulletin Number Type D 5 1394 SA15 5 9 15 ft cable for the 1394 Servo AQB interconnect to the motion controller GE15 5 9 15 ft cable drive end connector on one end and flying leads on the other from an external encoder to the 1394 GMC system module You will also require 1326 CEU or equivalent cable to terminate to this cable
346. ve has not faulted Choose Axis Tune Enable Axis appears on the HIM Enable the axis Auto tune begins In most cases this will take less than a second and result in the motor turning 1 2 revolution The axis is disabled and Opr Complete appears on the HIM The following parameters will be calculated and set accordingly Prop Gain Kp Intg Gain Ki Max Bandwidth ATune Inertia ATune Frictn In addition the parameters listed below will be raised if necessary to assure stability Vel LowPas BW Cur Rate Lim When the auto tune is complete cycle Enable to Off Cycle Enable to On new parameters take effect and the axis runs If the resultant dynamic loop tuning is not what you want you can modify the tuning in several ways Change the Vel Damp Sel parameter to a smaller value to result in a more precise response Then set ATune Sel to Calculate The new loop parameters will be recalculated and modified A larger value will result in a less precise response Raise Desired BW to make a more precise response or lower it for a less precise response Then set ATune Sel to Calculate The new loop parameters will be recalculated and modified Note Increasing the BW can cause stability problems If the axis is unstable lowering the BW can help Adjust Kp and Ki manually to obtain the desired response Getting an Overview of HIM Programming The diagram on the following pages provides an ov
347. winoqwo 199198 ANNLOLNY VILYANI 103138 109138 13A HOION XVI INNLOLNY 962 804 05 252 962 a1ivinovo e it or 11 SNNLWALSAS e NIVO 271 040 o 192 E 180 ANNLOLNW WIT 1 1 782 zu HOLOGT3S HOLOVJ NOLLOIHJ INNLOLNY 00 Sus a 1 uno ANNLOLAY 5 261 896 2 6 ovi VILBSNI INNLOLNY ps dy A E 6 z o o 2 e No 4 lt 2 5 821 AOL d ZZ GD gt 4 2 NTYOS AOL NOLLISOd xovaadgad ywovadaas ANIA wd s334930 91 01 vv a NIVO lt 1 gt lt pre gt 0343 907 SYdMO7 NSOdHAIOS3H SNH lHATOSdH 81 193130 HNO PI Y A lt 92 gt 4 NOLWWHANaOPI 4 e gt uaLlJ ovaaaa4 I nd 4 081 9 1 211 39015 Pl LYVLS PI 991 291 Velocity Feedback filtered Velocity Feedback TAA GdSAO GdSAO MO Publication 1394 5 0 May 2000 8 30 Configuring Your 1394 Analog Servo System Publication 1394 5 0 May 2000 Chapter Objectives Chapter 9 Troubleshooting This chapter covers nderstanding how to detect a problem nderstanding system and axis module LEDs
348. x A for 24V input power specifications 360 480V AC 360 480V AC three phase power input Refer to Appendix A for U V and W Y Input Power system specifications for rated AC input voltage tolerance and source impedance Input Power Three phase input neutral present only on grounded power System ground bar N Neutral configurations PE Ground 1394 s ground connection to the bonded system ground PE Y bar on the subpanel External Shunt Optional 1400W external shunt resistor used to dissipate DC and COL N Resistor excess regenerative energy from the system module Publication 1394 5 0 May 2000 Note Refer to Appendices A and B for information about three phase input fusing and circuit breaker information as related to the power input Refer to the section Connecting Your External Shunt Resistor for information about wiring the optional shunt resistor to the 5 and 10 kW system modules Wiring System Axis and Shunt Modules and Motors for all systems 3 15 Connector Locations for 5 and 10 kW System Module Series C The 5 and 10 kW system module Series C uses connectors instead of IEC terminals for connecting power You will wire the system using power connectors J1 J10 and J11 that mate with plugs P10 and P11 conveniently located on the bottom of the system module Figure 3 11 details the location of the connectors ATTENTION To avoid personal injury and or equipment damage ensure
349. x SUTxx A Contactor START STOP Enable Relay 27129 CRI CR1 7 24V AC DC or 120V AC 50 60 HZ e lt Publication 1394 5 0 May 2000 B 22 Interconnect and CE Diagrams Axis 0 1394 AMxx The example below shows 1394 Series A and B axis modules no internal brake and thermal switch filter Separate 24V DC isolation power supply and relay CR2 are recommended Figure B 17 Isolated Series E Stop Axis 1 1394 AMxx Axis 2 1394 AMxx Axis 3 1394 AMxx PP Motor Thermal Switch 24V DC Power Supply 24V DC Note 120V AC 50 or 60 Hz power may be used in place of a 24V DC power supply for motor thermal switch circuits 111 TB2 394 Analog Servo Input Wiring Board T wo gt gt Fe Publication 1394 5 0 May 2000 24V DC com 1394x SUTxx A lehelete 10 15 _ Contactor 116 17 START STOP Enable 1 Relay 5 8793 lt CRI TL vame CR2 a 120V AC 50 60 HZ Mi Cable Pin outs 1326 Cable Pin outs Interconnect and CE Diagrams B 23 Pin outs and interconnect information for
350. xD Shield TxD Recommended Cable Com Wiring 1394 GMC and GMC Turbo Systems Belden 9533 or Equivalent 11394 connector is 9 205204 1 or equivalent Data Highway Connection 4 13 RS 422 J3 CHAN J4 CHAN B 4 Co N TI Recommended Cable Belden 9503 or Equivalent The 1394 provides two optically isolated ports J1 and J2 for Data Highway 485 DH 485 communication Both connectors are wired identically you can use either one A telephone type connector provides the interface with the following signal designations Pin Signal Description 1 Data A Data A Transmit 2 Data B Data B Transmit 3 NC No Connection 4 NC No Connection 5 TxEnab Transmitted Data Enable 6 Shield Signal Shield 7 Com Signal Common 8 NC No Connection Publication 1394 5 0 May 2000 4 14 Wiring 1394 GMC and GMC Turbo Systems Publication 1394 5 0 May 2000 AxisLink AxisLink provides a network to transfer data between multiple nodes up to eight standard that allows you to synchronize complex motion applications For example these nodes can be eight GMC system modules one ALEC and 7 GMC system modules or some other combination AxisLink allows one 1394 to be used as a master axis for electronic gearing camming etc on other systems Using the Extended Node option in GML version 3 9 1 or higher with firmware vers
351. xx motor power cable for each axis e One axis module connector kit catalog number 1394 199 for thermal switch and brake inputs You will need one kit per axis module as each kit contains two connectors Wiring System Axis and Shunt Modules and Motors for all systems 3 21 Wiring Motor Power Thermals and Brakes The procedures in this section assume that your system and axis modules are already mounted We recommend that you start at either the first or last axis module wire it completely and then wire the module next to it completely and so on until they are all wired To wire your 1394 axis modules 1 If your system module is Then do this Series A or B 1 Bond one end of the axis module ground wire to the subpanel 2 Connect the other end of the ground wire to terminal block PE1 3 Goto main step 7 Series C 1 Connect one end of the axis module ground wire to the system module ground bar 2 Connect the other end of the ground wire to terminal block PEI 3 Goto main step 2 Refer to Figure 3 14 for main steps 2 6 Note For more information on bonding refer to the chapter Installing Your 1394 Publication 1394 5 0 May 2000 3 22 Wiring System Axis and Shunt Modules and Motors for all systems Important improve the bond between the motor cable shield and the axis module PE ground a cable shield clamp is included with the Series C axis modules Figu
352. y Low Voltage Directive These units are tested to meet Council Directive 73 23 EEC Low Voltage Directive 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 information Before you mount your 1394 system make sure you understand the following e how to store your 1394 before installation e how to unpack the system and axis modules e the minimum mounting requirements e how to determine your mounting hole layout Storing Your 1394 Before Installation The 1394 System module and Axis modules should remain in their shipping containers prior to installation If the equipment is not to be used for a period of time store it as follows e Store the equipment in a clean dry location that is not exposed to a corrosive atmosphere e Do not store equipment in a construction area e Store within an ambient temperature range of 0 to 65 C 32 to 149 e Store within a relative humidity range of 5 to 95 noncondensing Unpacking Modules System Mounting Requirements Installing Your 1394 applies to all systems 2 3 Each 1394 System module ships with the following e system module One system terminator e One terminal operating tool part number 1394 194 e One user manual publication 1394 5 0 e One application program lock key GMC GMC Turbo only e Mating power
353. y 2000 2 twists per foot min or a shielded twisted pair Shielding is recommended for reducing the effects of EMI and RFI ATTENTION If you choose to mount the shunt module inside your cabinet you must make sure that the ambient temperature inside the cabinet does not exceed 50 C 122 F Installing Your 1394 applies to all systems 2 15 Mounting the Shunt Module The procedures in this section assume you have prepared your panel and understand how to bond your system To mount 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 are properly bonded to the subpanel Refer to Bonding Your System for more information 2 Hang the 1394 Shunt Module on the two fasteners 3 Install the lower fasteners for the shunt module 4 Tighten all mounting fasteners Publication 1394 5 0 May 2000 2 16 Installing Your 1394 applies to all systems Mounting Considerations for GMC and GMC Turbo Systems Publication 1394 5 0 May 2000 Consider the following when mounting 1394 GMC and GMC Turbo Systems Mounting GMC and GMC Turbo Systems Next to Flex Separating low voltage communication wiring from high voltage power cables reduces the levels of EMI and RFI Because high voltage motor wiring is present at the bottom of each axis module we recommend tha
354. y 2000 6 2 Commissioning 1394 GMC and GMC Turbo Systems Applying Power to the System Publication 1394 5 0 May 2000 ATTENTION This drive contains ESD Electrostatic Discharge sensitive parts and assemblies You are required to follow static control precautions when you install test service or repair this assembly If you do notfollow ESD control procedures components can be damaged If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook This procedure assumes that you have wired your 1394 GMC Turbo or GMC System verified the wiring and are ready to download your program To apply power to your 1394 system 1 Verify that all 360 480V AC input power and 24V control power to the 1394 has been removed 2 Apply 24V control power to the system module The Status LEDs on the axis modules flash red and green and the Status LED on the system module illuminates This indicates that the control logic is ready but the power bus is not active 3 Verify that the control power voltage at the input terminals of the System Module is 24V AC or 24V DC 10 If the system module LED Then Flashes red and green Go to step 5 Flashes green flashes red or remains solid red You may have a wiring problem Go to the Troubleshooting chapter Does not illuminate 1

1394-5.0 - Rockwell Automation

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