Allen-Bradley 1394 Digital AC Multi-Axis Motion Control System (Catalog No.
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.
Table of Contents Preface Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-1 Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-1 Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-2 Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-3 Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . .
ii Table of Contents Mounting Your 1394 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Mounting Your 1394-DCLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 . . . . . . . . 2-11 Shunt Module Mounting Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12 Shunt Module Mounted Outside the Cabinet . . . .
Table of Contents Connecting Your Shunt Module (required for 22 kW system) . . . . . . . . . Required Tools and Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wiring the Shunt Module Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wiring Shunt Module Fan Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii 3-28 3-28 3-29 3-33 Chapter 4 Wiring 1394 GMC and GMC Turbo Systems Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
iv Table of Contents Chapter 6 Commissioning 1394 GMC and GMC Turbo Systems Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 General Startup Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 Applying Power to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2 Setting Up Your System Using GML Commander . . . . . . . . . . . . . . . . . . . 6-3 Before You Begin . . . . . . . . . .
Table of Contents v Finding 9/440 Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7 Finding CNC Interface Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8 Understanding GMC Turbo and GMC Controller Faults. . . . . . . . . . . . . . . 9-9 Understanding Analog Servo System Module Faults . . . . . . . . . . . . . . . 9-10 Understanding Analog Servo System Axis Faults . . . . . . . . . . . . . . . 9-12 Troubleshooting General System Problems. .
vi Table of Contents Dedicated Discrete I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . A-12 Serial I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-12 DH-485 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-13 Flex I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-13 GMC System Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents vii Pasting a System’s Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-9 Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-10 Getting an Overview of HIM Programming . . . . . . . . . . . . . . . . . . . . . C-11 Removing the HIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-14 Removing the HIM from the HIM Cradle . . . . . . . . . . . . . . . . . . . . . .
viii Table of Contents Publication 1394-5.
Preface Read this preface to familiarize yourself with the rest of the manual.
P-2 Preface Contents of this Manual Chapter Title Preface 1 Overview 2 Installing Your 1394 (applies to all systems) Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Wiring 1394 GMC and GMC Turbo Systems Wiring Your 1394 Analog Servo System Commissioning 1394 GMC and GMC Turbo Systems Commissioning Your 1394 Analog Servo System Configuring Your 1394 Analog Servo System Troubleshooting 3 4 5 6 7 8 9 Appendix A Appendix B Appendix C Appendix D Publication 1394-5.
Preface Related Documentation P-3 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 System Product Data 1394-2.
P-4 Preface 1394 Product Receiving and Storage Responsibility 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.
Chapter 1 Overview The 1394 System 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 interface drive system, a SERCOS servo drive system, or an analog servo drive system.
1-2 Overview Safety Precautions 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.
Overview 1394 System Overview 1-3 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).
1-4 Overview Figure 1.2 Two Standard GMC Systems (1394x-SJTxx-C and 1394C-SJT-xx-L) SLC 500 ALEC AxisLink RIO 845H Encoder AxisLink PanelView 550 1394C-SJTxx-L DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. 1326AB or 1326AS Motor DH-485 1394x-SJTxx-C DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
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 completely interfaced with and programmed using ODS (Off-Line Development System) and the CNC operator panel.
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 tuning and start-up prompting. The 1394 also provides a SCANport interface as a standard feature.
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.
1-8 Overview 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.
Overview 1-9 Figure 1.6 9/440 System Optical signal cable Terminal type connection What is a 1394 System? The 1394 system consists of the following components (catalog number appears in parenthesis): • One System Module (1394x-SJTxx-x) • One to four Axis Modules (1394x-AMxx-xx) • One to four servo motors (1326Ax-Bxxxx) • One to four power and feedback cables Also available are the DC Link Module (1394-DCLM) and Drive Interface Module (1394-DIM).
1-10 Overview Axis modules are connected to system modules using slide-and-lock, module-to-module connections. For information on motors and cables, refer to the 1326AB 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).
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.
1-12 Overview 1326AB Motors This family of high-performance, medium inertia, ferrite, three-phase 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 lb-in.). Refer to the 1326AB 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.
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 also assures maximum performance. They are available with continuous torque ratings of 2.97 to 16.9 N-m (26.3 to 149.8 lb-in.).
1-14 Overview 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 ±10V velocity torque reference command and quadrature encoder output. Each 1394-DIM can support up to four drives.
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.
1-16 Overview 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.
Chapter 2 Installing Your 1394 (applies to all systems) Chapter Objectives This chapter covers the following topics: • Complying with European Union directives • Before mounting your system • Unpacking your modules • System mounting requirements • Bonding your system • Mounting your 1394 system • 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 • Mounting considerations for GMC and G
2-2 Installing Your 1394 (applies to all systems) The product described in this manual is intended for use in an industrial environment. To meet CE requirements, the following additions are required: • You must run three-phase input wiring in a conduit that is grounded to the enclosure.
Installing Your 1394 (applies to all systems) Unpacking Modules 2-3 Each 1394 System module ships with the following: • One system module • One system terminator • One terminal operating tool (part number 1394-194) • One user manual (publication 1394-5.
2-4 Installing Your 1394 (applies to all systems) 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 not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Allen-Bradley publication 80004.5.
Installing Your 1394 (applies to all systems) 2-5 Figure 2.2 1394 Mounting Hole Layout 62.5 100 137.5 175 212.5 250 287.5 (2.46) (3.94) (5.41) (6.89) (8.37) (9.84) (11.32) 125 150 50 275 200 225 (4.92) (5.91) (7.87) (8.86) (10.83) (1.97) Dimensions are in millimeters and (inches) 50 (1.97) 0 (0.00) System module mounting holes System outline 385 (15.16) Heat sink cutout for the AM50/75 module only 33.5 TYP (1.
2-6 Installing Your 1394 (applies to all systems) Mounting Your 1394 Through the Back of the Cabinet The figure below shows an example of the typical mounting of a 1394 system with 1394x-AM50 or -AM75 axis modules. The 1394x-AM50 and -AM75 have heatsinks that mount through 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 1394x-AM50 or -AM75 and the inside of the enclosure.
Installing Your 1394 (applies to all systems) 2-7 Figure 2.4 Bonding Examples Stud-mounting a ground bus or chassis to the subpanel Stud-mounting the subpanel to the enclosure back wall Subpanel Back wall of enclosure Mounting bracket or ground bus Subpanel Star washer Nut Welded stud Scrape paint Flat washer Welded stud Flat washer Nut Use a wire brush to remove paint from threads to maximize ground connection.
2-8 Installing Your 1394 (applies to all systems) 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.
Installing Your 1394 (applies to all systems) 2-9 3. If you are mounting a: 1394x-AM03, -AM04 or -AM07; 1394C-AM50IH, or -AM75-IH axis module 1394x-AM50 or -AM75 axis module with the heat sink through the back of the enclosure (refer to Figure 2.3) Do this: 1. Hang the axis module on the next mounting fastener. 2. Go to main step 5. 1. Remove the paper backing from the gasket that came with the AM50/75 axis module. 2.
2-10 Installing Your 1394 (applies to all systems) 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 Slide-and-Lock Mechanism Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. 7. If you: Have more axis modules for this system module Do not have more axis modules for this system module Do this: Go to main step 3. Go to main step 8. 8.
Installing Your 1394 (applies to all systems) Mounting Your 1394-DCLM 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.
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 Shunt Module Spacing Requirements Within an Enclosure Temperature sensitive component (mounted above shunt module) 254 mm (10.0 in.
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) Low voltage Communications Control I/O wiring Motor feedback cables 155 mm (6.1 in.
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 Motor power cables Low voltage Communications Control I/O wiring Motor feedback cables 360/480V AC power 155 mm (6.1 in.
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.
2-16 Installing Your 1394 (applies to all systems) Mounting Considerations for GMC and GMC Turbo Systems Consider the following when mounting 1394 GMC and GMC Turbo Systems. Mounting GMC and GMC Turbo Systems Next to Flex I/O 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 that you mount your Flex I/O modules to the left of the system module.
Chapter 3 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Chapter Objectives Finding Additional Wiring Information for 1394 Systems This chapter covers the following topics: • Understanding basic wiring requirements • Determining your type of input power • Grounding your 1394 system • Connecting system module power • Connecting motor power to axis modules • Connecting feedback to system modules • Connecting your motor cables to motors • Connecting your external shunt
3-2 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Understanding Basic Wiring Requirements 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.
Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-3 Routing High and Low Voltage 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.
3-4 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) System Module Wire Sizes All 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.
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: • The AC line supplying the drive has power factor correction capacitors.
3-6 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Determining Your Type of Input Power Before you ground or wire your 1394 system you must determine the 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.
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.
3-8 Wiring System, Axis, and Shunt Modules, and Motors (for 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-SJT05-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.
Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-9 4. Close the system module door. 5. Go to Grounding Your 1394 System. Figure 3.
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 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.
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 of board Factory default jumper position for a grounded configuration DO NOT REMOVE CIRCUIT BOARD FROM 1394 Front edge of board Jumper position for an ungrounded power configuration 8.
3-12 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Grounding 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. A grounded system provides a safety ground path for short circuit protection.
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 Ground grid or power distribution ground Wiring System Module Power The system module provides terminating points for the AC power input, logic power, feedback, and various other control signals.
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 mm2 (12 AWG).
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 (P1, P10, and P11) conveniently located on the bottom of the system module. Figure 3.11 details the location of the connectors.
3-16 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Terminal Block Locations for a 22 kW System Module All 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.
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 • User-supplied contactor • 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. Connect the ground wire for the system module to the bonded ground bus bar on the subpanel.
3-18 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 6. Insert one of the 24V control power wires into the terminal block labeled W1. 7. Insert the other 24V control power wire into the terminal block labeled W2. 8. Tighten and torque all six screw terminals to the values in the following table. System Module: Terminal Block Designator: Terminal Block Torque: 5 and 10 kW All 0.56 - 0.62 N-m (5.0 - 5.6 lb-in.) 22 kW W1, W2 0.56 - 0.62 N-m (5.0 - 5.6 lb-in.
Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-19 5. Plug J10 into P10. 6. 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 lb-in.). 7. 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 lb-in.). 8. Gently pull on each wire to make sure it does not come out of its terminal.
3-20 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 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. TB 1 TB 2 4 1 4 1 U1 V1 W1 PE1 PE2 PE3 Figure 3.13 Locating TB1 and TB2 Important: Noise filters on the motor thermal sensor and brake connectors (TB1 and TB2) add capacitance (1.
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: Series A or B Then do this: 1.
3-22 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Important: To 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. Figure 3.14 Series C Axis Module Cable Clamp Cable wires 51 mm (2.0 in.) 1 Bracket screw 22 mm 1 (.875 in.
Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-23 8. On one axis, connect the wires as follows: Insert the wire labeled: Into this terminal block: 1 U1 2 V1 3 W1 8 PE2 bare wire (no label) PE3 (Series A and B modules) N/A (Series C) The bare wire is replaced by the cable shield clamp on the motor cable. 9. Tighten and torque all five screw terminals to the values in the following table.
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. Connecting Feedback to System Modules If you: Do this: Have more axis modules to wire 1. Move to the next axis module.
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.
3-26 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 4. If you have: Do this: More motors to wire 1. Move to the next motor. 2. Go to the main step 1. Wired all of your motors Connecting Your Motor Cables to Motors Go to Connecting 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.
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, as shown in the figure below. Figure 3.15 1394 System Module Jumper Removal (Series A and B) Jumper 3.
3-28 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Connecting Your External Shunt Resistor (Series C) 1. Locate and unplug the J11 connector on the bottom of the system module. 2. 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) Remove jumper J11 1 2 3 1394 bottom view 3. Install the shunt resistor wire leading to the fuse in connector J11-1. 4.
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. All shunt power wiring should meet the following general specifications: • 8 AWG (8.4 mm2) • 105° C • 600V • Maximum length of each wire is 3.05 m (10 ft.).
3-30 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Figure 3.18 Routing Shunt Module Wiring When the Module is Outside the Cabinet Customer-supplied metal enclosure (optional) Low voltage Communications Control I/O wiring Motor feedback cables 155 mm (6.1 in.) of clearance on all sides of the shunt module minimum 1394 Digital Servo Controller 300W Shunt Module 1394 Digital Servo Controller 300W Shunt Module ALLEN-BRADLEY ALLEN-BRADLEY R R BULLETIN 1394 300W SHUNT MODULE CAT.
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 Motor power cables Low voltage Communications Control I/O wiring Motor feedback cables 360/480V AC power 155 mm (6.1 in.) of clearance on all sides of the shunt module minimum Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI.
3-32 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Figure 3.20 Terminating Wires at the Shunt Module 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 N-m, 22.1 lb-in.). 11. Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten each loose wire. 12. If your shunt module: Then: Has a Fan Go to Wiring the Shunt Module Fan Power.
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 mm2 [machine tool, 75° C (167° F)] 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 .2A 230V AC .
3-34 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 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.
Chapter 4 Wiring 1394 GMC and GMC Turbo Systems Chapter Objectives Finding Additional Wiring Information for 1394 Systems Understanding GMC and GMC Turbo Wiring and Connections This chapter covers the following topics: • Understanding GMC and GMC Turbo wiring and connections • Understanding input wiring board layout • Connecting your communication cables • Connecting a GMC and GMC Turbo to a 1394-DIM • Understanding DIM signals • Wiring and Configuring an External Drive to the 1394-DIM This
4-2 Wiring 1394 GMC and GMC Turbo Systems Understanding 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. Figure 4.
Wiring 1394 GMC and GMC Turbo Systems 4-3 Figure 4.
4-4 Wiring 1394 GMC and GMC Turbo Systems Using the Terminal Operating Tool 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 Insert wire here Hook Flat tab To use the terminal operating tool with TB1: 1. Put the hook into the hook slot with tab end of the tool to your left. 2.
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. Wire: Description: Terminal connections for Terminal connections for 1394x-SJTxx-C, -C-RL 1394C-SJTxx-L and and -T, -T-RL systems: -L-RL systems: SYS ENABLE A 24V DC input is applied to these terminals to enable the system.
4-6 Wiring 1394 GMC and GMC Turbo Systems Wire: Description: REG 5V, 24V, COM High-speed, optically-isolated filtered registration input for each axis. Inputs can be either 5 or 24V DC. Refer to Figure 4.5 for typical registration device inputs.
Wiring 1394 GMC and GMC Turbo Systems 4-7 Figure 4.5 Typical Registration Inputs + + + + 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.
4-8 Wiring 1394 GMC and GMC Turbo Systems Figure 4.
Wiring 1394 GMC and GMC Turbo Systems 4-9 Figure 4.
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 (±5%). 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.
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: • 1394-GE15 (from the auxiliary incremental encoder to the 1394) • 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.
4-12 Wiring 1394 GMC and GMC Turbo Systems Figure 4.
Wiring 1394 GMC and GMC Turbo Systems 4-13 Figure 4.11 RS-232/422 Cable Signals RS-232C Serial Device J3/CHAN A 1 J4/CHAN B RS-422 Serial Device J3/CHAN A 1 J4/CHAN B Com 5 RxD+ 4 RxD 2 RxD- 2 TxD 3 TxD+ 7 TxD- 3 Com 5 Shield Recommended Cable Belden #9533 or Equivalent 1 1394 connector is 9 pin, AMP #205204-1 or equivalent.
4-14 Wiring 1394 GMC and GMC Turbo Systems 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.
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 system module. See Figure 4.
4-16 Wiring 1394 GMC and GMC Turbo Systems 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. A three-pin connector is used for the interface. Refer to the Installation Guidelines for the Twinaxial Cable (publication 92-D1770-BCO) for more information. Figure 4.
Wiring 1394 GMC and GMC Turbo Systems 4-17 SLC Interface The GMC Turbo (catalog number 1394x-SJTxx-T) can connect directly to an SLC 5/03, 5/04, or 5/05 back plane using 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 M0/M1 files. If you are using: Refer to: Publication number: For this information: GML Commander 4.x.x GML Commander Reference Manual GMLC-5.
4-18 Wiring 1394 GMC and GMC Turbo Systems Figure 4.17 Configurations for Connecting a GMC Turbo to an SLC 1394 SLC IN connectors SLC right side connector 1 1 1746 Rack with SLC 5/03, 5/04, or 5/05 DANGER DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Wiring 1394 GMC and GMC Turbo Systems Connecting a GMC and GMC Turbo to a 1394-DIM 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.
4-20 Wiring 1394 GMC and GMC Turbo Systems 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 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 1394-DIM 1398-DDM-xxx Status J5 DANGER RISK OF ELECTRICAL SHOCK.
Wiring 1394 GMC and GMC Turbo Systems 4-21 Figure 4.
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: 4 0 3 1 2 2 1 3 0 4 Important: You can add only one 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.
Wiring 1394 GMC and GMC Turbo Systems 4-23 The example below shows one 1394 axis and one DIM output axis. Figure 4.23 1394-DIM with Single Axis Module Axis 0 7 1 DIM Axis A Axis 1 on 1394 Axis 0 (J5) Motor Resolver Feedback Input Axis 1 (J4) Auxillary Encoder Input Axis 1 (J6) 1394 DIM Plug 1394x-AMxx 1394 GMC or GMC Turbo System 1394-DIM The example below shows no 1394 axes and four DIM output axes. Figure 4.
4-24 Wiring 1394 GMC and GMC Turbo Systems 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 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.
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+ Px-4 Normally Open Relay Axis EnablePx-3 Note: x = axis connector number Analog Output The analog output is an isolated signal provided by the 1394-DIM and has a range of ±10V.
4-26 Wiring 1394 GMC and GMC Turbo Systems Wiring and Configuring an External Drive to the 1394-DIM This section includes the following steps for wiring and configuring an external drive to the 1394-DIM: • 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.
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.
4-28 Wiring 1394 GMC and GMC Turbo Systems 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. 7 Figure 4.31 Cable Connector 1 Insert cable wires into the connector openings here 8. Use a screwdriver to tighten the clamping screw to the correct torque (0.25 N-m/2.2 lb-in.
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.
4-30 Wiring 1394 GMC and GMC Turbo Systems Note: The feedback inputs for axis 0, 1, 2 and 3 (on 1394x-SJTxx-C and -T systems) and for axis 0 and 1 (on 1394x-SJTxx-L systems) run from front to back (see Figure 1 in Appendix B). 2. Connect the 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 1394DIM (refer to Figure 4.
Chapter 5 Wiring Your 1394 Analog Servo System Chapter Objectives Finding Additional Wiring Information for 1394 Systems Understanding Analog Servo Wiring and Connections This chapter covers the following topics: • Understanding Analog Servo wiring and connections • Understanding input wiring board layout • Connecting AQB and SCANport cables This chapter provides signal wiring and connection information required for the 1394 Analog Servo system module only.
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. Figure 5.
Wiring Your 1394 Analog Servo System 5-3 Figure 5.2 Terminal Operating Tool Insert wire here Hook Flat tab To use the terminal operating tool with TB1: 1. Put the hook into the hook slot with tab end of the tool to your left. 2. Gently push the tool to the right to open the wire slot. 3. Insert the wire. 4. Gently release the tool by moving it to the left. 5. Reverse directions for TB2. Publication 1394-5.
5-4 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. Mandatory or Optional: Wire: Description: Connects to terminal(s): A VREF + A VREF - The drive will accept up to a +/-10V DC velocity command signal to achieve maximum motor speed. Voltages lower than +/-10V DC can be used by reprogramming (Anlg Vel Scal). You must terminate the shield at one end only.
Wiring Your 1394 Analog Servo System Connecting AQB and SCANport Cables 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.
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 1 2 3 AQB0 AQB1 AQB2 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.
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.
5-8 Wiring Your 1394 Analog Servo System Publication 1394-5.
Chapter 6 Commissioning 1394 GMC and GMC Turbo Systems Chapter Objectives This chapter provides you with the information to set up and tune the 1394 System. This chapter includes: • General startup precautions • Applying power to the system • Setting up your system using GML Commander • Setting up your system using GML 3.x.x Before you begin the setup procedures, be sure to read and understand the information in the previous chapters of this manual.
6-2 Commissioning 1394 GMC and GMC Turbo Systems ! Applying Power to the System 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 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.
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 (TB1-1, -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.
6-4 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.
Commissioning 1394 GMC and GMC Turbo Systems Setting Up Your System Using GML 3.x.x 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: • A computer running Windows and GML , version 3.9.
6-6 Commissioning 1394 GMC and GMC Turbo Systems Publication 1394-5.
Chapter 7 Commissioning Your 1394 Analog Servo System Chapter Objectives This chapter provides you with the information to set up and tune your 1394 Analog Servo System. This chapter includes: • 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.
7-2 Commissioning Your 1394 Analog Servo System ! Setting Up Your 1394 Analog Servo System 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 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.
Commissioning Your 1394 Analog Servo System 7-3 2. Press ENTER. The following appears: Start Up Continue 3. To: Continue from where you left off Start over from the beginning Do this: Press ENTER. The display at which you left off appears. 1. Press either the up or down arrow 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.
7-4 Commissioning Your 1394 Analog Servo System 7. If the system module LED: Flashes green and the following appears on the HIM: Sys Ready Then: The control and bus power are active, but the modules are not enabled. Go to Setting Up at the System Level. Flashes red and green, flashes You may have a wiring red, remains solid red, does not problem. Go to the illuminate Troubleshooting chapter.
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. Go to 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.
7-6 Commissioning Your 1394 Analog Servo System 2. To define: A standard motor A custom motor Do this: Go to step 3. 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. 3. Press either the up or down arrow key until the base catalog number of the motor you will use for this axis appears. 4. Press ENTER. The system records your choice and the cursor moves to the top line. 5. Press ENTER.
Commissioning Your 1394 Analog Servo System 7-7 4. If you selected: Anlg Vel Ana Torq Dig Vel Dig Torq Go to: Defining Analog Velocity. Defining Analog Torque. Defining Digital Velocity. Defining Digital Torque.
7-8 Commissioning Your 1394 Analog Servo System 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: • 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 torque: 1.
Commissioning Your 1394 Analog Servo System 7-9 4. Press ENTER. The system records your choice and the cursor moves to the top line. 5. Press ENTER. A message similar to the following appears: Ax:Current Limit +8.43 amps 6. Go to Defining Limits.
7-10 Commissioning Your 1394 Analog Servo System 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: 1. When the Ax: Current Limit message appears, press SEL. The cursor moves to the bottom line. 2.
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 chapter: • 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 syste
7-12 Commissioning Your 1394 Analog Servo System 4. Apply 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 5. Disable the axis.
Chapter 8 Configuring Your 1394 Analog Servo System Chapter Objectives This chapter covers the following topics: • Where to look for other programming information. • Conventions used in this chapter. • Understanding Analog Servo System parameters.
8-2 Configuring Your 1394 Analog Servo System Conventions Used in this Chapter The following conventions are used throughout this chapter. • All parameters required for any given drive function are contained within a group, eliminating the need to change groups to complete a function. • 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: [100% Torq Vel].
Configuring Your 1394 Analog Servo System Understanding Analog Servo System Parameters 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.
8-4 Configuring Your 1394 Analog Servo System [100% Torq Vel] Motor velocity at 100% rated motor torque. Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor". [300%Torq Vel] Motor velocity at 300% rated motor torque. Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor". [Anlg Vel Ofst] An offset value that can be used on an analog velocity input to counter voltage offsets on that input.
Configuring Your 1394 Analog Servo System [ATune Frictn] The system friction as measured by the auto tune cycle is represented through this parameter. [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.
8-6 Configuring Your 1394 Analog Servo System [Axis Type] Catalog number of Axis Module. Selection codes for 1394C-AM50-IH and 1394C-AM75-IH are the same as 1394x-AM50 and 1394x-AM75 respectively. [Bridge Lim] Axis module/motor combination absolute maximum current limit magnitude. Twice module current rating or three times motor current rating, whichever is less.
Configuring Your 1394 Analog Servo System [Command Mask] This parameter determines whether drive control from the 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.
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.
Configuring Your 1394 Analog Servo System [D/A #x Value] The unscaled value of the data that will be output on the D/A channel. This parameter must be the destination of link for any data to be output. All data output is treated as a signed word. [DC Link Setup] This parameter selects the mode of operation for systems fault detection. Unless DC Link is shared, "standard" should be selected.
8-10 Configuring Your 1394 Analog Servo System [Disp-D/A Monitor] This parameter quickly establishes links to the D/A test points. It will link the selected axis [Iq Cur Ref] to test point 1, and the [Vel Feedback] to test point 2. It will also link the [Vel Feedback] to all the SCANport analog display parameters. [Drive OK Mode] This parameter selects operation of the Drive OK relay. (DROK) Publication 1394-5.
Configuring Your 1394 Analog Servo System [Droop] This parameter is also referred to as "static gain." It effectively acts as a very slow discharge of the velocity loop integrator and has two uses: • As a component of an external position loop system, setting this parameter to a higher, nonzero value will eliminate servo hunting due to load stick/slip friction effects.
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 the velocity reference. The velocity loop response to a load disturbance is unaffected by the Feed Forward Gain. The default value will be satisfactory in most cases.
Configuring Your 1394 Analog Servo System [Id 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 set to "custom motor". [Int Torq Ref] This is a non-volatile torque preset that can be used as a digital torque reference if linked to [Dig Torq ref].
8-14 Configuring Your 1394 Analog Servo System [Language Sel] Display language for text. [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 specifies the amount of phase shift that occurs at the lead/lag center frequency.
Configuring Your 1394 Analog Servo System [Mod Rng Data] Diagnostic information of data communicated between the controller and Axis Module.
8-16 Configuring Your 1394 Analog Servo System [Motor Type] The catalog number of the motor is attached to the axis. Important: This parameter configures many other parameters, set it carefully. Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor". Note: Motors numbered 11 through 15 are available with Firmware version 2.01 or later. Note: Selection number might vary for parameters 404-407.
Configuring Your 1394 Analog Servo System [Mtr Inertia] Inertia of motor attached to drive. Automatically changed when [Motor Type] is changed (to motor is inertia + 20% 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 set to "custom motor". [Mtr Peak Cur] Motor peak current.
8-18 Configuring Your 1394 Analog Servo System [Option x Code] Used for software options Option 0 = Antibacklash Option 1 = Future Option 2 = Future Option 3 = Future [Option x Status] Present status of a software option (enabled/ disabled). Once enabled via the [Option x Code] the status will be stored in non-volatile memory for future use. [Pos Cur Lim] Specifies the maximum allowable positive motor current that can be commanded.
Configuring Your 1394 Analog Servo System [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. [Resolvr Posn] This parameter supplies the position feedback count. 65,535 represents the counts per 1/2 revolution. [Resolvr Turns] The number of resolver electrical turns is supplied by this parameter.
8-20 Configuring Your 1394 Analog Servo System [Shunt P] Shunt resistor continuous power rating. Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems. This parameter only needs to be configured when you are using custom resistors.
Configuring Your 1394 Analog Servo System [Shunt Ws] Shunt short time constant weighting factor. This parameter determines the relationship between the short and long time constants in the thermal model of the shunt module. The long time constant weighting factor is 100% - Ws%. Configure this parameter only when a custom resistor is selected.
8-22 Configuring Your 1394 Analog Servo System [Stop Mode] Parameter to select whether the axis module should velocity command to zero (regen) or coast to a stop [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).
Configuring Your 1394 Analog Servo System [Sys Mod Data] Diagnostic information of data communicated between the controller and system module.
8-24 Configuring Your 1394 Analog Servo System [Torq Source] Configures the source of the torque reference for the axis. Automatically changed when [Mode Sel] (parameter 112) is changed (for convenience during commissioning).
Configuring Your 1394 Analog Servo System [Typ 1 Logic Axis] Configures which axes are affected by SCANport type 1 commands (Jog, Start, etc). All axes will always respond to a stop command.
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. [Vel Command] Present velocity command for the axis (after all limiting has occurred). [Vel Damp Sel] This parameter is associated with the auto tune function and specifies the velocity damping desired by the user.
Configuring Your 1394 Analog Servo System [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. [Vel Ref Fract] Lower 16 bits of [Vel Ref Whole] (parameter 204), forming a 32 bit velocity reference.
Publication 1394-5.
+ + X AUTOTUNE VEL LIM 284 288 IDLE AUTO TUNE CALCULATE SYSTEM TUNE V 13 D/A 2 VALUE ZETA 1.00 0.87 AUTOTUNE SELECT 256 3 2 1 0 VEL DAMP SELECT 1.
8-30 Configuring Your 1394 Analog Servo System Publication 1394-5.
Chapter 9 Troubleshooting Chapter Objectives This chapter covers: • Understanding how to detect a problem • Understanding system and axis module LEDs • Understanding system faults • Understanding GMC Turbo and GMC controller faults • Understanding 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
9-2 Troubleshooting Understanding How to Detect a Problem 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.
Troubleshooting For this module: For this LED: CNC Interface System Module I/O Ring Status 9/440 System Module XILINX Status of the LED: Potential Cause: Possible resolution: Steady red The fiber optic ring has failed at some point before the 1394 system module. Check all components and connections before the 1394 on the fiber optic ring. Flashing red The fiber optic ring has failed at some point after the 1394 system module.
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. Flashing red Axis fault has occurred. Alternating red and green DC bus is not up. Flashing green Axis is not enabled. • Verify wiring. • Verify that the slider and terminator are securely engaged. • Secure wiring connections. • Replace the module. • Verify wiring. • Secure wiring connections.
Troubleshooting Understanding System Faults 9-5 Depending on which 1394 system you are using, your faults will be displayed differently. For this system module: This is where faults appear: This is where to look for additional fault information: GMC Turbo or GMC In GML in the Online Manager or Watch window. The GML Programming Manual V3.7 or greater (publication 999-104) or the GML Commander Reference Manual (publication GMLC-5.2). CNC Interface On the 9/Series operator panel.
9-6 Troubleshooting 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: 1. Open GML. The GML window appears. 2. Select Definitions from the menu bar. The Definitions menu appears. 3. Select Watch Items. The Watch Items window appears. 4.
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.
9-8 Troubleshooting 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. At the 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/Series system faults refer to the 9/Series Integration and Maintenance Manual (catalog 8520-6.2).
Troubleshooting Understanding GMC Turbo and GMC Controller Faults 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.
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: Fault Message: Description: Bus Config The configured bus voltage mode does not match the hardware. Bus Low Vlt The DC power bus activates undervoltage limit when the bus drops to 275V DC or less. It will clear at 300V DC. The DC Power Bus is continuously monitored.
Troubleshooting Fault Message: Ground Flt Description: The system generates a ground fault when there is an imbalance in the DC bus of greater than 50A. Potential cause: Incorrect wiring. Motor malfunction. Axis Module IGBT malfunction. Short to ground. Hdwr Fault! Control hardware fault detected. Memory! Hardware memory error detected. NV Memory! Non-volatile memory is corrupt. A checksum failure has occurred on the personality module.
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: ATune Fault Description: The auto tune cycle has exceeded two seconds. Potential Cause: Motor is disconnected or not able to turn. Possible resolution: Connect the motor. Motor power/resolver wiring is open or improperly wired. Check motor power/resolver wiring.
Troubleshooting Fault Message: Power Fault Description: The current through any one of the power IGBTs has exceeded 300% if the 1394’s current rating. Potential Cause: The motor lead has shorted The motor is malfunctioning Power IGBTs are malfunctioning. PwrOn Enable During active fault reset, an axis was enabled before system power-up.
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. Disable the axis, wait for 1.5 seconds, and enable the axis. The axis cannot be enabled for 1.5 seconds after disabling. Enable signal has not been applied or the enable wiring is incorrect. The motor wiring is open. The motor thermal overload has tripped. The motor has malfunctioned.
Troubleshooting 9-15 Condition: Possible cause: Possible resolution: No Rotation The motor connections are loose or open. Foreign matter is lodged in the motor. Check motor wiring and connections. 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. Check coupling. The motor is not connect to the load.
9-16 Troubleshooting Replacing System and Axis Modules Use these procedures to: • Determine what you need to replace modules • Remove an axis module • Install a replacement axis module • Remove a system module • Install a replacement system module ! 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.
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.
9-18 Troubleshooting Installing a Replacement Axis Module To install a replacement axis module: 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. 2.
Troubleshooting 9-19 Removing a System Module If you are removing a: Refer to: Publication number: 9/440 system module 9/Series Integration and Maintenance 8520-6.2 Manual SERCOS system module 1394 SERCOS Multi-Axis Motion Control 1394-5.20 System User Manual To remove a system module: 1. Remove all 360/480V AC input power from the system. ! ATTENTION: This product contains stored energy devices.
9-20 Troubleshooting Note: ! 1394 input power and shunt connections are located on the 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 sources of power.
Troubleshooting 9-21 4. If you removed a: Do this: 1. Remove the HIM or cover plate Analog Servo system from the new system module. module with a HIM 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. 4. Plug the SCANport cable from the drive in the top of the HIM module. Analog Servo system module without a HIM module mounted in the door GMC, GMC Turbo, or CNC, system module 5.
9-22 Troubleshooting Replacing System Modules of the Same Series 1. Remove the input wiring board from the new system module. 2. Re-install the old input wiring board into the new system. Tighten it to the main board chassis using a phillips screw driver and the screws provided. 3. Go to Completing Connections and Downloading Parameters. Replacing System Modules of a Different Series 1. Label and remove the wires from the old input wiring board. 2. Re-insert the wires into the new wiring board. 3.
Troubleshooting Checking for a Blown Fuse in the 1394-DCLM 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.
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 red lead to: Connect the If the meter black lead to: reading is: Top bus (DC+) power connector Left front socket Open (high ohms) Blown. Replace the 1394-DCLM. Short (low ohms) Good. Bottom bus (DC-) power connector Right front socket Open (high ohms) Blown. Replace the 1394-DCLM.
Troubleshooting Replacing the 1394 Shunt Module Fuse 9-25 To replace the fuse in 1394 shunt modules (Catalog Numbers 1394SR10A, -SR9A, -SR9AF, -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.
9-26 Troubleshooting Replacing the 1394-SR9A, -SR9AF, -SR36A, and -SR36AF Fuse To replace the 1394-SR9A, -SR9AF, -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.
Troubleshooting 9-27 3. If your 1394-SR9A, -SR9AF, -SR36A, or -SR36AF shunt module: Has the UL mark Does not have the UL mark You need a: Bussmann 600V DC 50A fuse (FWP50A14F) or equivalent. Bussmann 600V DC 40/50A fuse (170N2013), FWP50A22F or equivalent. 4. Locate the door panel latch(es). Figure 9.
9-28 Troubleshooting 8. Remove the fuse from the fuse holder with the fuse puller tool. If your 1394-SR9A, -SR9AF, -SR36A, or -SR36AF shunt module: Has the UL mark Does not have the UL mark Replace the fuse with a: Bussmann 600V DC 50A fuse (FWP50A14F) or equivalent. Bussmann 600V DC 40/50A fuse (170N2013), FWP50A22F or equivalent. 9. Close the door panel. 10. Secure the door panel. 11. Apply power to your system including the shunt module.
Troubleshooting 9-29 3. Place the axis module on its side so you can locate the fan housing. Figure 9.10 Fan Housing on Axis Module Fan Housing 4. Remove the screws that hold the fan housing to the axis module. Figure 9.11 Fan Housing Screws Screw Screw 5. Gently slide the fan housing out a short distance until you see the fan plug. Figure 9.12 Fan Plug Fan Plug Publication 1394-5.
9-30 Troubleshooting 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 Slit 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. Publication 1394-5.
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. Peel the adhesive backing off of the new fan gasket. 3. Attach the new fan gasket to the fan housing in the direction shown in the figure below. Make sure you compress the slit in the gasket to minimize the air gap in the gasket. Figure 9.16 Attaching the New Fan Gasket Fan Gasket Slit 4. Press the gasket firmly to the fan housing to secure the gasket.
9-32 Troubleshooting 5. Secure the fan to the fan housing with two M4 screws and nuts using 1.6 N-m (14 lb-in.) of torque. Figure 9.17 Securing the Fan to the Fan Housing Nut Nut Screws 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 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 lb-in.) of torque to the axis module. 10.
Appendix A Specifications Chapter Objectives System 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: • System specifications • Environmental specifications • Power dissipation • Communication specifications • Dimensions • Servo motor performance data General 1394 specifications are provided below.
A-2 Specifications System Modules The table below lists the specifications for system modules.
Specifications A-3 Axis Modules The table below lists the specifications for the axis modules. The: For the 1394x-AM03 is: For the 1394x-AM04 is: For the 1394x-AM07 is: Speed Regulation1 0 to 0.05% of base speed with 100% torque disturbance Static Gain 1.28 (rms A/mV)1 Peak Current 200% Limit Adjust Modulation 5 kHz ±10% Frequency Drift 0.03 rpm/degree C Nominal Input 530/680V DC Voltage Continuous 3.0A Current (rms) Peak Current 6.0A (rms - 1 second) Continuous 1.
A-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 1394x-SJTxx-A systems 3.7 or higher with 1394x-SJTxx-C-xx and -T-xx systems 3.9 or higher with 1394C-SJTxx-L-xx systems GML Commander, version 4.02 or higher 530/680V DC, single phase Continuous (rms) 32A, Peak (rms - 1 second) 200A 990 µF 7.36 joules based on a nominal 50V bus delta 1394-CPDC-0015 and 1394-CPDC-0030 1.5 m (4.92 ft) or 3 m (9.
Specifications A-5 User-Supplied Contactor (M1) The table below shows the requirements for the contactor that you must supply.
A-6 Specifications Input Transformer for 24V Control Power You can use any general purpose transformer with the following ratings.
Specifications A-7 Figure A.
A-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: 1394x-SJT05-x With Secondary Circuit Protection Device: 1492-CB3-H300 A 1492 device is not recommended for this option. 1394x-SJT10-x 1394x-SJT22-x 1492-CB3-H500 1492-CB3-H600 And Axis Module Combination: Any combination of AM03 and AM04 up to 4 axis modules.
Specifications A-9 Refer to the following table for fuse replacement information. If your 1394-SR9A, -SR9AF, -SR36A, and -SR36AF shunt module: Has the UL mark Does not have the UL mark Environmental Specifications You need a: Bussmann 600V DC 50A fuse (FWP50A14F) or equivalent. 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)].
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 dissipation 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 power dissipation, add the dissipation of the system module to the dissipation of the axis module(s).
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-SJT05 and 1394x-SJT10 system module is active, some additional power will be dissipated at the system module.
A-12 Specifications 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).
Specifications A-13 DH-485 Specifications The table below lists the DH-485 specifications for the system module (1394x-SJTxx-C-xx, -L-xx, and -T-xx systems). The: Number of DH-485 channels Channel type Baud rate Front panel connectors RS-485 Node address Node type Accessible data type Is: One; replaces serial port B when used Optically isolated half-duplex RS-485 9,600 or 19.
A-14 Specifications GMC System Specifications The table below lists the specifications for the GMC system module (1394x-SJTxx-C-xx, -L-xx, and -T-xx systems).
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: Baud rate Rack address Rack width Transfer type Block Discrete Discrete Discrete Discrete Discrete Discrete Discrete Starting I/O group Rack width Number of discrete I/O bits Maximum block transfer length Block transfer data types Is: 57.6 k, 115.2 k, or 230.
A-16 Specifications AxisLink Specifications The table below lists the AxisLink specifications for the system module (1394x-SJTxx-C-xx, -L-xx, and -T-xx systems).
Specifications Dimensions A-17 Within this section, you will find dimensions for: • The 1394 system module • Axis modules (including 1394-DIM and 1394-DCLM) • Filters • External shunt modules • Motors 1394 System Module Dimensions Figure A.3 1394x-SJT05, 1394x-SJT10 and 1394x-SJT22 System Module 150.0 (5.91) 25.0 (0.98) 91.0 (3.58) 50.0 (1.97) 8.0 (0.32) 26.0 (1.02) Dimensions are in millimeters and (inches) Depth = 280 (11.02) 2 54.0 (2.13) 196.9 (7.75) 2 26.7 (1.
A-18 Specifications Axis Module Dimensions Figure A.4 1394x-AM03, -AM04, -AM07, -DIM, and -DCLM Front View 25.0 (0.98) 8.0 (0.32) Dimensions are in millimeters and (inches) Mounting Hole Detail 8.0 (0.31) 10.1 (0.40) 400.0 (15.75) 385.0 Fastener (15.16) location1 350.0 (13.78) 15.9 (0.63) 8.0 (0.31) 12.0 (0.47) All slots accept M6 or 1/4-20 mtg. screws 1 Dimension shown is for mounting hardware location and does not reflect the location of the lower slot radius. 50.0 (1.97) 50.0 (1.97) 50.0 (1.
Specifications A-19 Figure A.6 1394x-AM50, -AM50-IH, -AM75, and -AM75-IH Axis Module Front View 37.5 (1.48) 8.0 (0.32) Dimensions are in millimeters and (inches) Depth = 280 (11.02) Mounting Hole Detail 8.0 (0.31) 10.1 (0.40) 400.0 (15.75) 385.0 Fastener (15.16) location 1 15.9 (0.63) 350.0 (13.78) 8.0 (0.31) 12.0 (0.47) All Slots Accept M6 or 1/4-20 Mtg. Screws 1 Dimension shown is for mounting hardware location and does not reflect the location of the lower slot radius.
A-20 Specifications Figure A.8 1394C-AM50-IH and -AM75-IH Axis Module Side View 280 (11.01) Dimensions are in millimeters and (inches) 43.69 (1.72) Important: Additional clearance below the axis is necessary to provide the recommended cable bend radius. Refer to 1326 Cables for 460V AC Servo Motors (publication 1326A-2.11) for more information. Filter Dimensions Figure A.9 SP-74102-006-01 Filter Dimensions 11 (0.43) 192 (7.55) 20 (0.78) Line Load L3 L2 164 (6.
Specifications A-21 Figure A.10 SP-74102-006-02 Filter Dimensions 330 (12.99) 15 (0.59) 20 (0.78) L3 L3 Load L2 L2 L1 155 (6.10) L1 E E Line Dimensions are in millimeters and (inches) 360 (14.17) 195 (7.67) 25 (0.98) 50 (1.96) 15 (0.59) 330 (12.99) Figure A.11 SP-74102-006-03 Filter Dimensions 20 (0.78) 646 (25.43) 35 (1.37) L3 L3 Load L2 L2 L1 192 (7.55) L1 E E Line Dimensions are in millimeters and (inches) 686 (27.00) 263 (10.35) 35 (1.37) 20 (0.78) 70 (2.75) 646 (25.
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) 165.1 (6.5) Fuse Holder Dimensions are in millimeters and (inches) 380 (14.96) 82.6 (3.25) 342 (13.46) Wire length = 1524 (60.0) 17 (0.67) 19.1 (0.75) Wire length = 203 (8.0) 9.6 (0.38) + + Wire length = 203 (8.0) 82.5 Fuse holder 38.1 (1.50) 9.5 (0.375 +/- 0.010) 36.5 (1.48) 38.1 (1.50) (3.
Specifications A-23 Figure A.13 1394-SR-9A and -9AF Front View Dimensions Dimensions are in millimeters and (inches) Depth = 280 (11.02) 150 (5.91) 25 (0.98) 100 (3.94) 8 (0.32) Mounting Hole Detail 8.0 (0.31) 24.8 (0.98) 10.1 (0.40) 15.9 (0.63) 155 1 (6.10) 1394 Digital Servo Controller 300W Shunt Module ALLEN-BRADLEY 125 (4.92) 175 (6.89) 12.0 (0.47) R BULLETIN 1394 300W SHUNT MODULE CAT. PART SER. INPUT DC INPUT AC FOR FUSE REPLACEMENT USE: BUSSMAN CAT. NO.
A-24 Specifications Figure A.15 1394-SR-36A and -36AF Front View Dimensions 150 (5.91) 25 (0.98) 24.8 (0.98) 100 (3.94) 8 (0.32) Dimensions are in millimeters and (inches) Depth = 280 (11.02) Mounting Hole Detail 8.0 (0.31) 10.1 (0.40) 1394 Digital Servo Controller 3600W Shunt Module 350 (13.78) 15.9 (0.63) 400 (15.75) 385.0 (15.16) 1 (fastener location) 12.0 (0.47) All Slots Accept M6 or 1/4-20 Mtg. Screws 1 ALLEN-BRADLEY R BULLETIN 1394 3600W SHUNT MODULE CAT. PART SER.
Specifications A-25 Motor Dimensions Figure A.17 1326AB-B4 Torque Plus Series (Resolver and High Resolution Feedback) C AG 40 (1.57) AD 3.0 (0.118) 11.2 (0.44) 30.7 (1.21) 1 2.8 (0.11) 9.52/9.50 Dia. (0.375/0.374 Dia.) 6.07/5.99 (0.239/0.236) Shaft Detail High-Resolution Motor End 1 Commutation Resolver or High Resolution Output Recessed Flinger and Shaft Seal Provision 19.009/18.996 Dia. (0.7484/0.7479) Inspection Holes (4), Top and Bottom 1/16-27 NPT Plugs 25.4 25.4 (1.00) (1.
A-26 Specifications Figure A.18 1326AB-B5 Torque Plus Series (Resolver and High Resolution Feedback) C AG AD AL M8 x 1.25 Eyebolt Thread Full Depth Endmilled Keyway 50 (1.97) 15.0 (0.59) 3.5 (0.138) 41 (1.61) Power Input Recessed Flinger and Shaft Seal Provision 1 24.009/23.996 Dia. (0.9452/0.9447) Inspection Holes (4), Top and Bottom 1/16-27 NPT Plugs 9.52/9.50 Dia. (0.3750/0.3745 Dia.) 8.08/8.00 (0.318/0.315) 163.6 max. (6.44) 45 M8 x 1.25 Tapped Hole 19 (0.75) Deep Min. 1 45 31.75 (1.
Specifications A-27 Figure A.19 1326AB-B7 Torque Plus Series (Resolver and High Resolution Feedback) C AG AD AL M8 x 1.25 Eyebolt Thread Full Depth Endmilled Keyway 60 (2.36) 4.0 (0.157) 20.6 (0.81) 50.8 (2.00) Power Input 9.52/9.50 Dia. (0.3750/0.3745 Dia.) 10.08/10.01 (0.397/0.394) 32.018/32.002 Dia. (1.2606/1.2599) 207.5 max. (8.17) 45 M12 x 1.75 Tapped Hole 28 (1.10) Deep Min. 1 45 38.1 (1.5) +_ .762 (.030) Motor Front End Bell Corner Radius 15 mm Dia.
A-28 Specifications Figure A.20 1326AS-B3 Series Servo Motor C AG 3 0.2 (0.118) AD 41 (1.61) Power Input 20 (0.787) 1 27 0.3 80.012/79.993 (3.150/3.149) Key 76.18/76.23 Dia. (2.999/3.001) 43 (1.69) 50 (1.97) 23 (0.91) 10.9 (0.429) Commutation Resolver Output 30 0.5 (1.181) 89 sq. (3.50) (1.063) 1.53 (0.060) 9.525/9.500 Dia. (0.375/0.374) 14.008/13.997 (0.5515/0.5511) 5.00/4.97 (0.197/0.196) Shaft Detail M4 x 0.7 Tapped hole 10 (0.39) Deep min. 11.00/10.90 (0.433/0.429) 45 9.1 (.
Specifications A-29 Figure A.21 1326AS-B4 Series Servo Motor C Commutation Resolver Output 40 0.5 (1.575) AG AD 33.3 (1.311) 23 (0.91) Power Input 3 0.2 (0.118) 41 (1.61) 56 52 (2.20) (2.05) 92.10/92.05 3.626/3.624 30 (1.181) 1 37 0.3 (1.460) 1.53 (0.060) 9.525/9.500Dia. (0.375/0.374) 11.2 (0.441) 19.009/18.996 (0.7480/0.7475) 89 Dia. (3.504) 6.00/5.97 (0.236/0.235) M6 x 1 Tapped hole 16 (0.64) Deep min. 121 sq. (4.76) 45 10 mm Dia. Thru-Hole 4 required on a 115 mm Dia. B.C. 15.49/15.
A-30 Specifications Figure A.22 1326AS-B6 Series Servo Motor C AG 60.0±0.5 (2.36) 23 (0.91) AL 72.13 (2.84) 4.0±0.2 (0.157) 18 (0.7) 75 (2.95) 40 (1.57) Key 75 (2.95) 1 12.6924/12.6746 (0.4997/0.4990) 20.45/18.92 (0.805/0.745) 10.00/9.96 (0.394/0.392) 21 (0.83) Ø 35 (1.38) 26 (1.02) 180.014/179.989 (7.087/7.086) AD1 AD2 190 sq. (7.48) 32.018/32.002 (1.261/1.260) 45 M8 x 1.25 Tapped hole 19 (0.75) Deep min. 56±0.3 (2.20) 27.00/26.80 (1.063/1.055) Shaft Detail 15 mm Dia.
Specifications A-31 Figure A.23 1326AS-B8 Series Servo Motor C AG 85.0±0.5 (3.35) AD 4.0 ±0.2 (0.157) 25 (0.98) 73.15 (2.88) AL 85 (3.35) 60 (2.36) Key 85 (3.35) 1 33 (1.3) 230.000/229.954 9.055/9.053 23 (0.91) 241 sq. (9.49) 81.0 ± 0.3 (3.19) 7.7/6.2 0.305/0.245 0.4997/0.4990 12.692/12.675 22.4 (0.882) 12.00/11.96 (0.472/0.471) 42.000/41.984 (1.654/1.653) M8 x 1.25 Tapped hole 20 (0.79) Deep min. Shaft Detail 45 45 25.4 (1.00) +_ .397 (.
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 Number1 Rated Speed Motor Rated rpm Torque N-m (lb-in.) 480V 360V Motor Rated Output kW Rotor Inertia kg-m2 (lb-in.-s2) System System Peak Continuous Stall Torque Torque N-m (lb-in.) N-m (lb-in.
Specifications A-33 1326AS Performance Data Motor Catalog Number1 1 2 3 1326AS-B310H Rated Speed Motor rpm Rated 480V 360V Torque N-m (lb-in.) 6200 5120 0.7 (6.1) Motor Rated Output kW 0.3 1326AS-B330H 6500 5370 2.0 (18.0) 0.9 1326AS-B420G 5250 4340 3.2 (28.0) 1.2 1326AS-B440G 5250 4340 6.4 (56.0) 1326AS-B460F 4300 3550 1326AS-B630F 4500 1326AS-B660E Rotor Inertia kg-m2 (lb-in.-s2) 0.000045 (0.0004) 0.00009 (0.0008) 0.0003 (0.0027) System Continuous Torque N-m (lb-in.) 0.7 (6.
A-34 Specifications Publication 1394-5.
Appendix B Interconnect and CE Diagrams Chapter Objectives This appendix covers the following: • GMC, CNC interface, and analog servo interconnect diagrams • GMC and analog servo thermal interconnect diagrams • Cable pin-outs • Grounding for 1394 CE requirements Refer to the 9/Series Integration and Maintenance Manual (8520-6.2) for 9/440 information. Publication 1394-5.
B-2 Interconnect and CE Diagrams GMC, Analog Servo, and CNC Interface Interconnect Diagrams Note: 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 The following notes apply to the interconnect diagrams on the following pages. Information: 2 Power wiring is 3.3 mm (12 AWG), 75° C (167° F) minimum, copper wire. Input fuse to be Bussmann. Refer to Appendix A for sizes Control Wiring: 0.82 mm2 (18 AWG) minimum, 15A maximum. Allen-Bradley motor cables.
Interconnect and CE Diagrams B-3 1394 GMC Interconnections Figure B.1 Bottom Front of the GMC (1394x-SJTxx-C) and GMC Turbo (1394x-SJTxx-T) System Modules Left Side AxisLink C LEAR SHIELD BLUE J3 1 2 3 4 5 6 7 8 9 J1 1 2 The RIO/AxisLink option (-RL) must be ordered with System module. It is installed at the factory. You cannot order these individually. AxisLink and RIO board connections use Allen-Bradley 1770-CD (Belden 9463 or equivalent).
B-4 Interconnect and CE Diagrams Figure B.2 GMC System Interconnection Diagram (1394x-SJTxx-C and -T) RIO BOARD NOTES 8, 9 1394 GMC AND GMC TURBO SYSTEM MODULE A 1 BLUE SHIELD CLEAR 2 P1 CONTROL POWER & SIGNALS NOTE 17 DC MINUS BUS DC BUS POS.
Interconnect and CE Diagrams B-5 AXIS MODULE (TYPICAL) DS1 SOLID GREEN = BUS UP, AXIS ENABLED FLASHING GREEN = BUS UP, AXIS NOT ENABLED FLASHING RED/GREEN = READY, BUS NOT UP FLASHING RED = FAULT SOLID RED = HARDWARE FAILURE CONTROL POWER & SIGNALS DC BUS POS. SLIDER INTERCONNECT TO ADDITIONAL AXIS MODULES DC BUS NEG.
B-6 Interconnect and CE Diagrams Figure B.3 GMC System Interconnection Diagram (1394C-SJTxx-L) 1394 GMC SYSTEM MODULE RIO BOARD NOTES 8, 9 BLUE SHIELD CLEAR A 1 2 P1 CONTROL POWER & SIGNALS NOTE 17 DC MINUS BUS J5 J4 J6 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.
Interconnect and CE Diagrams B-7 AXIS MODULE (TYPICAL) DS1 SOLID GREEN = BUS UP, AXIS ENABLED FLASHING GREEN = BUS UP, AXIS NOT ENABLED FLASHING RED/GREEN = READY, BUS NOT UP FLASHING RED = FAULT SOLID RED = HARDWARE FAILURE CONTROL POWER & SIGNALS DC BUS POS. DC BUS NEG.
B-8 Interconnect and CE Diagrams Figure B.4 Bottom Front of the GMC (1394C-SJTxx-L) System Module Left Side AxisLink C LEAR SHIELD BLUE J1 1 2 The RIO/AxisLink option (-RL) must be ordered with System module. It is installed at the factory. You cannot order these individually. AxisLink and RIO board connections use Allen-Bradley 1770-CD (Belden 9463 or equivalent). Flex I/O FLEX I/O MODULES J2 NOTE 10, 18 Use 4100-CCF1 or -CCF3 Flex I/O cables. Cable length must not exceed 0.91 mm (36 inches).
Interconnect and CE Diagrams B-9 1394 Analog Servo Interconnections Figure B.
B-10 Interconnect and CE Diagrams Figure B.6 Analog Servo System Interconnect Diagram 1394 ANALOG SERVO SYSTEM MODULE P1 CONTROL POWER & SIGNALS NOTE 17 DC MINUS BUS NOTES 3, 5 NOTE 7 DC BUS NEG. Refer to the Wiring System, Axis, and Shunt Modules, and Motors (for all systems) chapter for ground jumper instructions.
Interconnect and CE Diagrams B-11 AXIS MODULE (TYPICAL) DS1 SOLID GREEN = BUS UP, AXIS ENABLED FLASHING GREEN = BUS UP, AXIS NOT ENABLED FLASHING RED/GREEN = READY, BUS NOT UP FLASHING RED = FAULT SOLID RED = HARDWARE FAILURE CONTROL POWER & SIGNALS DC BUS POS. SLIDER INTERCONNECT TO ADDITIONAL AXIS MODULES DC BUS NEG.
B-12 Interconnect and CE Diagrams 1394 CNC Interconnections Figure B.7 CNC Interface System Interconnect Diagram OPTIONAL EXTERNAL SHUNT USER SUPPLIED 24V AC RMS OR 24V DC. (NON-POLARIZED) NOTE 28 THREE- PHASE INPUT 360-480V AC RMS NOTE 1, 2 INPUT FUSING * M1* CNC SYSTEM MODULE DC+ COL INT W1 W2 U V W PE DS1 SOLID RED = FIBER OPTIC RING FAILED BEFORE 1394 SYSTEM MODULE FLASHING RED = FIBER OPTIC RING FAILED AFTER 1394 SYSTEM MODULE P1 CONTROL POWER & SIGNALS NOTE 17 DC BUS POS. DC BUS NEG.
Interconnect and CE Diagrams AXIS MODULE (TYPICAL) B-13 ADDITIONAL AXES DS1 SOLID GREEN = BUS UP, AXIS ENABLED FLASHING GREEN = BUS UP, AXIS NOT ENABLED FLASHING RED/GREEN = READY, BUS NOT UP FLASHING RED = FAULT SOLID RED = HARDWARE FAILURE THERMOSTAT AND BRAKE FEEDTHRU NOTE 29 TB1 PE3 PE2 PE1 V1 W1 U1 4 3 NOTE 29 MOTOR THERMAL SWITCH FILTER (Series C) MOTOR BRAKE FILTER (Series C) MOTOR BRAKE FILTER (Series C) MOTOR THERMAL SWITCH FILTER (Series C) TERMINATOR CONNECTOR REQUIRED ON LAST
B-14 Interconnect and CE Diagrams Thermal Interconnect Diagrams 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.
Interconnect 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.
B-16 Interconnect and CE Diagrams 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.
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.
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.
Interconnect and CE Diagrams B-19 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.
B-20 Interconnect and CE Diagrams 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. Figure B.
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.
B-22 Interconnect and CE Diagrams 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.
Interconnect and CE Diagrams Cable Pin-outs B-23 1326 Cable Pin-outs Pin-outs and interconnect information for the 1326 interconnect cables are provided starting below. 1326-CCU-xxx Standard Commutation Cable for Motor Resolver Wire Color Gauge mm2 (AWG) Connector Pin System Module 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.
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 mm2 (AWG) System Module Terminal # A B no connection C D I E F I G H I J Black (power) White (ground) Shield Black (ChA_LO) Red (ChA_HI) Shield Black (ChB_LO) Blue (ChB_HI) Shield Black (Comm_HI) Green (Comm_LO) Shield Overall Shield 0.519 (20) 0.519 (20) 0.519 (20) 0.519 (20) 0.519 (20) 0.519 (20) 0.519 (20) 0.519 (20) 0.
Interconnect and CE Diagrams B-25 1326-CPC1-xxx Standard Power Cable for the 1326AS-B6xxxx, 1326AS-B8xxxx and 1326AB-B7xxxx Servo Motors Wire Number Wire Color Gauge mm2 (AWG) Connector Pin 1394 Terminal 1 (Power) Black 5.3 (10) 1 U1 2 (Power) Black 5.3 (10) 2 V1 3 (Power) Black 5.3 (10) 3 W1 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 TB1-4 Braided shield Braided shield N/A 7 PE3 (GND) Green/Yellow 3.
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.
Interconnect and CE Diagrams B-27 Figure B.
B-28 Interconnect and CE Diagrams Figure B.22 1394-GE15 Cable Connections Flying Leads to Incremental Encoder or Customer-Supplied Termination 1394 Encoder Feedback Connector NC 7 1 2 3 4 5 6 8 9 12 Black Yellow White Black Green Black Blue Black Red Black Shield NC Strobe A High A Low B High B Low Z High Z Low +5V Out Common Out Shield Encoder Power 1 (ENC.
Interconnect and CE Diagrams B-29 Figure B.
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.
Appendix C Using the Human Interface Module (HIM) Chapter Objectives The Human Interface Module (HIM) This appendix covers: • The Human Interface Module (HIM) • Understanding HIM operation • Auto tuning • 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.
C-2 Using the Human Interface Module (HIM) Figure C.1 HIM Mounted on 1394 Analog Servo System Allen-Bradley 1394 Digital Servo Controller System Module 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 The following diagram shows the HIM front panel. Figure C.
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. Escape When you press the ESC key, the programming system goes back one level in the menu tree. Select 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.
C-4 Using the Human Interface Module (HIM) 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.
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.
C-6 Using the Human Interface Module (HIM) 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.
Using the Human Interface Module (HIM) C-7 4. Press ENTER. The system records your choice, scans for linkable parameters, and a message similar to the following appears: D/A # 1 Value <12> <--- 232> 5. The number on the left is the destination and the number on the right is the source. 6. Press either the up or down arrow key until the parameter in which you want to store the linked value appears. 7. Press SEL. The cursor moves to the source parameter. 8.
C-8 Using the Human Interface Module (HIM) 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. At the 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. Press ENTER.
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.
C-10 Using the Human Interface Module (HIM) 6. Press ENTER. The system records your choice and a message similar to the following appears: HIM -> Drive 1 FIRST 7. 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. 8. Press ENTER. A message similar to the following appears: B1394 Servo Drv 3.00 --> 3.
Using the Human Interface Module (HIM) C-11 2. Set [Vel Damp Sel], [Desired BW], [ATune Vel], and [ATune Current] parameters as desired. Note: Normally the default values will be OK. 3. Select [ATune Sel]. Verify that the axis is disabled and the drive has not faulted. 4. Choose "Axis Tune." "Enable Axis" appears on the HIM. 5. 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.
C-12 Using the Human Interface Module (HIM) Figure C.
Using the Human Interface Module (HIM) C-13 OPERATOR LEVEL MODE LEVEL EEPROM Search Control Status Password FILE LEVEL Reset Defaults, Recall Values, Save Values Control Logic Warning Queue Fault Queue Parameters Links Login, Logout, Modify GROUP LEVEL ATune Config ATune Select Vel Damp Sel Desired BW Max Bandwidth ATune Vel ATune Current ATune Inertia ATune Frictn Prop Gain Kp Intg Gain Ki Vel Loop Tune Prop Gain Kp Intg Gain Ki Feed Fwd Gain Droop Vel LowPas BW Ld/Lg Degrees Ld/Lg Freq Tor
C-14 Using the Human Interface Module (HIM) Removing the HIM You can remove the HIM and use it as a hand-held unit, up to 10 meters (33 feet) from the system. ! ATTENTION: To 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.
Using the Human Interface Module (HIM) C-15 8. Press ENTER. The following message appears: Control Logic Enabled 9. Press SEL. The cursor moves to the bottom line. 10. Press either the up or down arrow key until the following appears: Control Logic Disabled 11. Press ENTER. The system records your choice and the cursor moves to the top line. 12. Press ESC. Press the up or down arrow key until the following appears: Choose Mode EEPROM 13. Press ENTER.
C-16 Using the Human Interface Module (HIM) Placing the HIM in the HIM Cradle To put the HIM in the HIM cradle: 1. If it’s not already connected, connect the SCANport cable to the HIM. 2. With the keypad facing you, slide the top of the HIM up into the HIM cradle and push the bottom end of the HIM into the cradle until the tabs latch the HIM. The tabs lock the HIM into place. Publication 1394-5.
Appendix D Catalog Numbers Understanding 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.
D-2 Catalog Numbers System Modules 1394 System Module Bulletin Number Type Input Voltage Input Phase kW Rating Factory Installed Options 1394 C = Series C enhancements 1 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 n
Catalog Numbers D-3 CNC Serial Drive System Module Bulletin Number kW Rating Auxiliary Feedback Auxiliary Feedback 8520-SER 5 = 5 kW 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.
D-4 Catalog Numbers Axis Modules Bulletin Number Output Designator Type 1394 C = Series C enhancements1 Blank = No Series C enhancements AM = Servo amplifer module 03 = 2 kW 04 = 3 kW 07 = 5 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 External Shunt Modules Enhanced axis modules have improved terminations and EMI filtering.
Catalog Numbers System Module Cables D-5 Control Interface Cables Bulletin Number Type 1394 SA15 = GE15 = GR04 = 5.9 m (15 ft) cable for the 1394 Servo AQB interconnect to the motion controller. 5.9 m (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. 1.
D-6 Catalog Numbers 1326AB Servo Motors Bulletin Number Type Voltage Frame Series Motor Winding Designator Motor Length Flange and Shaft Series 2 Feedbacks Standard 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 1 21 = IEC m
Catalog Numbers D-7 Motor Junction Box Kit for 1326AB Motors Bulletin Number Type Description 1326AB 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.
D-8 Catalog Numbers 1326AS Servo Motors Bulletin Number Type Voltage Frame Series Motor Length Motor Winding Designator Flange and Shaft Series 1326 AS = Rare Earth AC Servomotor B = 460V AC 3 = 75 mm (Approximate stator size) 4 = 100 mm (Approximate stator size) 6 = 150 mm (Approximate stator size) 8 = 200 mm (Approximate stator size) Sequentially numbered to indicate the magnet stack length within a given frame size Letter designation for rated motor speed1 21 = IEC metric flange with keyway K3 =
Catalog Numbers D-9 Motor Junction Box Kit for 1326AS Motors Bulletin Number Type 1326AS 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.
D-10 Catalog Numbers 1326AH Servo Motors Bulletin Number Voltage For specifications and a detailed description of the 1326AH Hazardous Duty motors, refer to 1326AH Hazardous Duty Motors Product Data (publication 1326AH-TD001B-US-P). Number of Motor Bolt Circle and Frame Size Magnet Stacks Speed 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.
Catalog Numbers Power and Feedback Cables Bulletin Number Type D-11 Motor Power Cables Function Motor Size Used On Flex Cable Option Connector Accessory IP Rating Cable Length 1326 C = Connector and cable assembly P = Power connection B1 = 1326AB-B4xxxx, -B5xxxx or 1326AS-B3xxxx, -B4xxxx C1 - 1326AB-B7xxxx, or 1326AS-B6xxxx, -B8xxxx T = Flex-rated cable for high-flex applications Blank = No option, standard cable Blank = Single-standard connector D = Double-ended, standard connector E = Bulkhead c
D-12 Catalog Numbers Motor Feedback Cables Bulletin Number Type Function Motor Size Used On Flex Cable Option Connector Accessory IP Rating Cable Length 1326 C = Connector and cable assembly C = Resolver feedback EC = High-resolution 1 U = Commutation and encoder cable for all series motors 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 connec
Catalog Numbers Miscellaneous Accessories D-13 The following additional accessories are also available: Accessory: A-B Catalog Number: Manufacturer’s Number: Terminal operating tool 1394-194 N/A Terminal operating tool, steel 1394-194S N/A 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 connector, pins, and extraction tool to connect to 1326CCU-xxx motor feedback cables) 1394-CCFK N/A Mati
D-14 Catalog Numbers Publication 1394-5.
Index 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-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
I–2 Index replacing AM50 and 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 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 B bonding modules multiple sub panels 2-8 bonding you
Index DC Link Module (DCLM) See 1394-DCLM DCLM See 1394-DCLM digital 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 documentat
I–4 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
Index L 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 I/O ring status 9-3 R-I/O 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 I–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
I–6 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
Index 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 extraction 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
I–8 Index Publication 1394-5.
For more information refer to our web site: www.ab.com/motion For Rockwell Automation Technical Support information refer to: www.rockwellautomation.com/support or Tel: (1) 440.646.3434 Publication 1394-5.0 — May 2000 Supersedes Publication 1394-5.0 — November 1999 74102-200-07 Copyright 2000 Allen-Bradley Company, Inc.
