User Manual

ManualsBrandsRockwell Automation ManualsEquipment1398-DDM-xxx USE MNL/ULTRA 200 DIG.SERVO.DR

User

Manual

ULTRA

200 Series

Digital Servo

Drives

Allen-Bradley

Summary of content (307 pages)

PAGE 1
Allen-Bradley ULTRA 200 Series Digital Servo Drives User Manual
PAGE 2
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.
PAGE 3
Table of Contents IntroTable of Contents Table of Contents Intro-1 List of Figures Intro-7 List of Tables Intro-11 Preface Intro-15 About This Manual . . . . . . . . . . . . . . . . . . Additional Instructions and Manuals . . . . . . . . Host Commands and ULTRA Master . . . . . . TouchPad . . . . . . . . . . . . . . . . . . . . . . Symbols and Conventions . . . . . . . . . . . . . . Typographical and Wording Conventions . . . . Graphical Symbols and Warning Classifications Pictorial Index . . . .
PAGE 4
Intro-2 Table of Contents Communications . . . . . . . Autotuning . . . . . . . . . . Agency Approvals . . . . . . Options . . . . . . . . . . . . Motors . . . . . . . . . . . . . . European Union Requirements Chapter 3 . . . . . . . . . . . . . . . . . . . . . 2-4 . . . . . . . . . . . . . . . . . . . . . 2-5 . . . . . . . . . . . . . . . . . . . . . 2-5 . . . . . . . . . . . . . . . . . . . . . 2-5 . . . . . . . . . . . . . . . . . . . . . 2-6 . . . . . . . . . . . . . . . . . . . . .
PAGE 5
Table of Contents J2 Terminal Strip/Breakout Board J3 – Auxiliary Port . . . . . . . . . . J4 and J5 – Serial Port . . . . . . . . Serial Communications Overview RS-232 Connections . . . . . . . . Four Wire RS-485 Connections . . A1, A2, and COM – Analog Outputs Interface Connections . . . . . . . . . Chapter 7 . . . . . . . . . . . . . . . . 6-30 . . . . . . . . . . . . . . . . 6-31 . . . . . . . . . . . . . . . . 6-34 . . . . . . . . . . . . . . . . 6-36 . . . . . . . . . . . . . . . . 6-38 . . . . . .
PAGE 6
Intro-4 Table of Contents Operation . . . . . . . . . . . . . . . . . Position Follower (Step Up/Step Down) . Hardware Setup . . . . . . . . . . . . . Connection Diagram . . . . . . . . . . Configuration . . . . . . . . . . . . . . Tuning . . . . . . . . . . . . . . . . . . Operation . . . . . . . . . . . . . . . . . Incremental Indexing . . . . . . . . . . . Hardware Setup . . . . . . . . . . . . . Connection Diagram . . . . . . . . . . Configuration . . . . . . . . . . . . . . Tuning . . . . . . . . . .
PAGE 7
Table of Contents Intro-5 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2 Run-Time Error Codes . . . . . . . . . . . . . . . . . . . . . . . 10-2 Power-Up Error Codes . . . . . . . . . . . . . . . . . . . . . . . 10-3 Chapter 11 Maintenance and Troubleshooting Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . Periodic Maintenance . . . . . . . . . . . . . . . . . . Fuse Replacement . . . . . . . . . . . . . . . . . . . . EEPROM Personality Module . . . . . . . .
PAGE 8
Intro-6 Table of Contents Motor Selection Displays . . . . Motor Table . . . . TouchPad Options TouchPad Lists . . Appendix D . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . C-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . C-12 . . . . . . . . . . . . . . . . . . . . . . . . . . .
PAGE 9
List of Figures IntroList of Figures Product Parts Explained . . . . . . . . . . . . . . . . . . . . . Intro-21 Chapter 1 Safety Chapter 2 Selecting Other System Components Chapter 3 ULTRA Master Installation Chapter 4 Unpacking, Inspecting and Storing Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Chapter 5 Installation 1398-DDM Mounting Dimensions (sheet 1 of 2) . . . MDF AC Line Filter Mounting Diagrams . . . . . .
PAGE 10
Intro-8 List of Figures External Encoder Interface via TTL Differential Line Drivers . Complementary Encoder Interface via 7406 Line Drivers with Pull-up Resistors . . . . . . . . . . . . . . . . . . . . . . Complementary Encoder Interface via Standard TTL Logic . . Single-Ended Encoder Interface via Open Collector Transistor without Pull-up (not recommended) . . . . . . . Single-Ended Encoder Interface via Standard TTL Signals (not recommended) . . . . . . . . . . . . . . . . . . . . . . .
PAGE 11
List of Figures Registration Indexing Connection Diagram Absolute Indexing Examples . . . . . . . . . Absolute Indexing Connection Diagram . . PC Display Units – Default Dialog . . . . . . Chapter 9 Intro-9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-35 8-39 8-40 8-45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3 .
PAGE 12
Intro-10 List of Figures N-Series Power Cable (P/N 9101-1467) . . . . . . F or H-Series Motors to ULTRA 200 Series Drive F- or H-Series Motors to ULTRA 200 Series Drive using P2 Terminal Strip . . . . . . . . . . . . . . Y-Series Motors to ULTRA 200 Series Drive . . . . Y-Series Motors to ULTRA 200 Series Drive using P2 Terminal Strip . . . . . . . . . . . . . . Appendix C . . . . . . . . .B-25 . . . . . . . .B-26 . . . . . . . . .B-27 . . . . . . . . .B-28 . . . . . . . . .
PAGE 13
List of Tables IntroList of Tables Chapter 1 Safety Chapter 2 Selecting Other System Components Chapter 3 ULTRA Master Installation Chapter 4 Unpacking, Inspecting and Storing Chapter 5 Installation Qualified AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . 5-7 MDF AC Line Filter Dimensions . . . . . . . . . . . . . . . . . . . . 5-9 MIF AC Line Filter Dimensions. . . . . . . . . . . . . . . . . . . . 5-10 Chapter 6 Interfaces 24 Volt Power Supply Specifications . . . . . . . . .
PAGE 14
Intro-12 List of Tables Chapter 7 Power Connections TB1 – Motor Power Terminals . . . . . . . . . . . . . . . . . Motor Power Contact and Wire Sizing Recommendations . TB1 – DC Bus Terminals . . . . . . . . . . . . . . . . . . . . TB1 – AC Power Terminals. . . . . . . . . . . . . . . . . . . AC Input Power Sizing Requirements . . . . . . . . . . . . Auxiliary Power Terminals. . . . . . . . . . . . . . . . . . . Auxiliary Power Sizing Requirements . . . . . . . . . . . . TB2 – Shunt Regulator Terminals .
PAGE 15
List of Tables Home Type Parameter List for TouchPad . . . . . Homing Auto-Start Parameter List for TouchPad Reverse Enable for Homing . . . . . . . . . . . . . Digital Input Parameter List for TouchPad . . . . Digital Output Parameter List for TouchPad . . . Analog Output Parameter List for TouchPad . . Drive Status List for TouchPad . . . . . . . . . . . Input Flags Parameter List for TouchPad . . . . . Output Flags Parameter List for TouchPad . . . . . . . . . . . . . . . . . . . . . . Intro-13 . .
PAGE 16
Intro-14 List of Tables Publication 1398-5.
PAGE 17
Preface IntroPreface This manual provides a step-by-step approach to building a servo system using a ULTRA 200 Series drive. The manual is divided into chapters that cover specific phases of the system design process; from ordering components that will complement the performance of the ULTRA 200 Series drive, to receiving, installing and verifying the drive’s functionality.
PAGE 18
Intro-16 Preface About This Manual This manual provides instructions on how to setup and connect the ULTRA 200 Series drive to a controlling device and a motor. A ULTRA 200 Series drive may operate in one of several different functional modes. The hardware connections necessary to run the drive are explained and basic software instructions are provided for common set up procedures.
PAGE 19
Preface Intro-17 Title Power Connections Description Provides information on making motor power, DC bus and AC Power connections.
PAGE 20
Intro-18 Preface All documentation for both the Host Commands and ULTRA Master is on-line. Host Command information is available through a comprehensive on-line reference manual. ULTRA Master information is available through Help menus. The on-line documents provide indepth explanations of the Host Command language as well as the menus, windows and dialog boxes that make ULTRA Master a convenient method for programming ULTRA 200 Series drives.
PAGE 21
Preface Symbols and Conventions Intro-19 Typographical and Wording Conventions This manual uses the following typographical and wording conventions: Example » Description Text preceded by right guillemet explains how to access the particular function in the preceding paragraph. For example, To Start ULTRA Master in Windows » Drive Set Up Choose the icon ULTRA Master. Text shown in this font and underlined indicates a Hot Key (keystroke combination) to quickly access a command.
PAGE 22
Intro-20 Preface Graphical Symbols and Warning Classifications This manual uses the following graphical symbols and warning classifications. The use of a symbol and signal word is based on an estimation of the likelihood of exposure to the hazardous situation and what could happen as a result of exposure to the hazard. Example Description Protective conductor terminal (Earth ground) Chassis terminal (not a protective ground) ! Publication 1398-5.
PAGE 23
Preface Pictorial Index Intro-21 Shown here are face views of the product, with pointers to where individual parts are discussed. Product Parts Explained (sheet 1 of 3) Intro page 10-1, 11-6 page 7-11 page 6-44 page 6-36 page 6-34 WARNING: HIGH VOLTAGE MAY EXIST FOR UP TO FIVE MINUTES AFTER REMOVING POWER.
PAGE 24
Intro-22 Preface Product Parts Explained (sheet 2 of 3) Intro page 10-1, 11-6 page 7-11 page 6-44 page 6-36 page 6-34 WARNING: HIGH VOLTAGE MAY EXIST FOR UP TO EIGHT MINUTES AFTER REMOVING POWER. page 7-6 page 6-34 page 7-3 page 6-31 page 7-6 page 7-7 page 6-27 page 7-10 page 6-1 Models: 1398-DDM-075 and 1398-DDM-075X Publication 1398-5.
PAGE 25
Preface Intro-23 Product Parts Explained (sheet 3 of 3) Intro page 10-1, 11-6 page 7-11 page 6-44 page 6-36 page 6-34 WARNING: HIGH VOLTAGE MAY EXIST FOR UP TO EIGHT MINUTES AFTER REMOVING POWER. page 7-6 page 6-34 page 7-3 page 6-31 page 7-6 page 7-7 page 6-27 page 7-10 page 6-1 Models: 1398-DDM-150 and 1398-DDM-150X Publication 1398-5.
PAGE 26
Intro-24 Preface Publication 1398-5.
PAGE 27
Chapter 1 Safety Installing and Using the ULTRA 200 Series Chapter 1 Read the complete manual before attempting to install or operate the ULTRA 200 Series drive. By reading the manual you will become familiar with practices and procedures that allow you to operate the ULTRA 200 Series drive safely and effectively. Potential Hazards The equipment described in this manual is intended for use in industrial drive systems.
PAGE 28
1-2 Safety Your Responsibilities As the user or person installing this drive, you are responsible for determining the suitability of the product for the intended application. Rockwell Automation is neither responsible nor liable for indirect or consequential damage resulting from the inappropriate use of this product.
PAGE 29
Safety Safety Guidelines 1-3 Electrical shock and fire hazards are avoided by using normal installation procedures for electrical power equipment in an industrial environment. Installation must be undertaken by suitably qualified personnel. Note that this amplifier must be installed in an industrial cabinet such that access is restricted to suitable qualified personnel. Mechanical hazards are associated with potentially uncontrolled movement of the motor shaft.
PAGE 30
1-4 Safety ● ● ● ● ● ● ● Publication 1398-5.0 – October 1998 Before removing the cover of the unit, shut off the main and auxiliary power and measure the DC bus voltage to verify it has reached a safe level or wait for the time indicated in the warning on the front of the drive. Do not make any connections to the internal circuitry. Connections on the front panel are the only points where users should make connections. Be careful of the DC bus and shunt terminals.
PAGE 31
Chapter 2 Selecting Other System Components Chapter 2 The Allen-Bradley ULTRA 200 Series drives are part of a family of digital drives that use microcontrollers to manage the current, velocity, and position. All system and application parameters are set in software, which ensures repeatability of all functions and prevents element drift. This chapter reviews the ULTRA 200 Series and associated motors, command sources and interfaces.
PAGE 32
2-2 Selecting Other System Components Interface Cables Standard Allen-Bradley motor power and encoder feedback cables, as well as communications cables, are available to complete your motion control system and provide reliable, trouble free start-up. Refer to “Options and Accessories” on page A-1 for optional equipment. Use of these cables is required for compliance to the European Electromagnetic Compatibility (EMC) Directive and to protect your warranty rights.
PAGE 33
Selecting Other System Components 2-3 Encoder Output A selectable output allows the encoder resolution to be specified for maximum performance without adding circuitry. Outputs are differential line drivers capable of dividing the motor encoder signal, PPR (pulses per revolution), by a factor of 1, 2, 4 or 8. Digital I/O Digital I/O channels allow the user to program the drive to fit the specific application.
PAGE 34
2-4 Selecting Other System Components Multiple Protection Circuits Device and circuit protection, and diagnostic information is provided by: ● ● ● ● ● ● ● ● ● Seven segment drive status display Overtemperature, short circuit and overcurrent protection for the power output I2T (power-time) protection Bus Overvoltage Bus Undervoltage Overspeed Fault diagnostics Fused power supply outputs Three watchdog timers provide fail-safe operation ULTRA Master Software A Windows based software interface provides st
PAGE 35
Selecting Other System Components 2-5 Autotuning Digital auto tuning allows easy setup. All adjustments are made in software, which immediately sets the servo system compensation parameters. This eliminates the time-consuming adjustments required by potentiometers. Agency Approvals ● ● ● UL listed cUL listed CE marked. Options ● ● ● ● Power and feedback cables are potted and molded with 360 degree shielding. AC line filters. Breakout boards for I/O control and encoder interface.
PAGE 36
2-6 Selecting Other System Components Motors The ULTRA 200 Series is compatible with many motors, both Allen-Bradley motors and motors from other manufacturers. Drive and motor parameters for all compatible Allen-Bradley motors are programmed into each ULTRA 200 Series drive at the factory.
PAGE 37
Selecting Other System Components European Union Requirements 2-7 ULTRA 200 Series drives conform to the following European Union Directives: ● ● ● Machinery Directive (89/392/EEC, Article 4.2 and Annex II, sub B) Low Voltage Directive (72/23/EEC, 93/68/EEC) Electromagnetic Compatibility Directive (89/336/EEC, 92/31/ EEC, 93/68/EEC).
PAGE 38
2-8 Selecting Other System Components Publication 1398-5.
PAGE 39
Chapter 3 ULTRA Master Installation Chapter 3 Installation of ULTRA Master on a PC is covered in this chapter, which: ● ● ● ● Lists the minimum PC hardware and software necessary to run ULTRA Master. Provides step-by-step instructions on how to load ULTRA Master. Shows you how to start and quit ULTRA Master and introduces the Drive Window, the main command window for ULTRA Master. Instructs you on how to access on-line help.
PAGE 40
3-2 ULTRA Master Installation Installing ULTRA Master To install ULTRA Master software on a hard drive: 1. Make a backup copy of the ULTRA Master disk in one of the following ways: • Copy the ULTRA Master disk using the disk menu in the Windows File Manager. • If your computer has only one floppy disk drive, type from the DOS command line prompt diskcopy a: b: and then press ENTER. The software will prompt you when to insert the SOURCE (ULTRA Master) disk and when to insert the TARGET (blank) disk. 2.
PAGE 41
ULTRA Master Installation Starting and Quitting ULTRA Master 3-3 Version Level The release level and date for ULTRA Master may be displayed by selecting About ULTRA Master from the Help menu. This information also appears in the initial ULTRA Master screen. The About ULTRA Master window includes additional data about system resources typically displayed in Windows Help.
PAGE 42
3-4 ULTRA Master Installation From the C:> Prompt 1. Type win c:\ultramst\ultramst.exe. The ULTRA Master start-up screen will open. Note: This step assumes that ULTRA Master was loaded into the c:\ultramst directory during setup. From Windows 1. Choose the ULTRA Master program group from the Program Manager in Windows.
PAGE 43
Chapter 4 Unpacking, Inspecting and Storing Chapter 4 This chapter describes four steps which should ensure that the drive functions correctly. The steps include: ● ● ● ● Unpacking the Drive Unpacking the ULTRA 200 Series drive Inspecting the drive for shipping damage Testing the basic functionality of the drive Guidelines for storing the drive. 1. Remove the ULTRA 200 Series drive from the shipping carton and remove all packing materials from the unit.
PAGE 44
4-2 Unpacking, Inspecting and Storing Testing the Unit Drives are burned-in and individually tested before they leave the factory. However, damage may occur during shipping. Perform the procedures below to ensure the ULTRA 200 Series drive is operational and undamaged. Abbreviated directions for connecting the drive to a motor and a PC are provided.
PAGE 45
Unpacking, Inspecting and Storing 4-3 Hardware Setup Make the connections described below and shown in Figure 4.1. 1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the ULTRA 200 Series. • An Allen-Bradley cable connects the 9-pin serial port of the ULTRA 200 Series to a 9-pin D-shell connector on a serial port of the PC. Allen-Bradley cables are available in various lengths for connecting between J4 or J5 and a computer.
PAGE 46
4-4 Unpacking, Inspecting and Storing Figure 4.
PAGE 47
Unpacking, Inspecting and Storing 4-5 Initial Power-up 1. Verify the AC power is within specifications. 2. Switch the AC Power to ON and verify: • green DC BUS LED is ON • display is not flashing. 3. Switch the power OFF and wait until the DC Bus Voltage is below 30 Volts, to prevent electrical shock. 4. Connect the motor windings to: • R (TB1-1)for the Phase R winding • S (TB1-2) for the Phase S winding • T (TB1-3) for the Phase T winding • (TB1-4) for the Ground connection. 5.
PAGE 48
4-6 Unpacking, Inspecting and Storing 11. Switch AC power ON. 12. Select Read Drive Parameters from the Communications menu in ULTRA Master. 13. Select OK in the Drive Select dialog box. A dialog box indicating that the PC is reading drive parameters should appear. If this dialog box does not appear, a message appears that advises you to check the COM settings and the communication cable. If necessary, refer to “Troubleshooting” on page 11-6 for instructions on how to perform these checks.
PAGE 49
Unpacking, Inspecting and Storing 4-7 24. Choose Drive Enable and verify the motor shaft has holding torque. (i.e., The shaft cannot be moved or moves with resistance.) 25. Open the connection between J1-26 and J1-20 to disable the drive. 26. Choose Close from the Control Panel window. A drive completing these steps is functional. If the ULTRA 200 Series drive did not pass the steps above, refer to “Troubleshooting” on page 11-6.
PAGE 50
4-8 Unpacking, Inspecting and Storing Publication 1398-5.
PAGE 51
Chapter 5 Installation Mechanical Installation Requirements Chapter 5 1. Mount the unit in an enclosure providing protection to IP54 (protected against dust and splashing water), or IP65 (dust free and protected against water jets) if the work environment is poor. Many NEMA (National Electrical Manufacturers Association) Type 4 cabinets provide this level of protection. Minimum cabinet requirements are: • Depth: 30.5 cm (12 in.
PAGE 52
5-2 Installation Vibration and shock, altitude and humidity limits are: • Vibration: 2g at 10 to 2000 Hz • Shock: 15g 11 msec half sine • Altitude: 1500 meters (5000 feet), Derate power performance 3% for each 300 m above 1500 m (1000 ft above 5000 ft). • Humidity: 5% to 95% non-condensing Ambient operating temperature range and airflow clearances are: • 0 ° to 55° Celsius (32° to 131° Fahrenheit). • 50.8 mm (2 inches) above and below unit for airflow. 4.
PAGE 53
Installation Figure 5.1 5-3 1398-DDM Mounting Dimensions (sheet 1 of 2) Intro B C B3 B2 A3 B1 KEY mm (in) A4 1398-DDM-010 / 010X 1398-DDM-020 / 020X 1398-DDM-030 / 030X A5 A6 C1 A2 A1 A A8 A7 1398-DDM-075, 1398-DDM-075X A A1 A2 A3 A4 A5 A6 A7 A8 360.6 (14.2) 332.7 (13.1) 349.3 (13.75) 6.4 (0.25) 27.9 (1.1) 35.6 (1.4) 101.6 (4.0) 124.5 (4.9) 8.9 (0.35) 360.6 (14.2) 332.7 (13.1) 349.3 (13.75) 6.9 (0.27) 27.9 (1.1) 35.6 (1.4) 101.6 (4.0) 124.5 (5.3) 8.9 (0.35) B B1 B2 B3 104.1 26.7 25.4 25.
PAGE 54
5-4 Installation Figure 5.1 1398-DDM Mounting Dimensions (sheet 2 of 2) Intro B1 A3 B B4 B5 C C1 A4 1398-DDM-150 and 1398-DDM-150X A5 A6 A2 A A1 A7 A8 B6 Publication 1398-5.0 – October 1998 B7 mm (in) A A1 A2 A3 A4 A5 A6 A7 A8 360.7 (14.20) 331.5 (13.05) 349.0 (13.74) 6.86 (0.27) 33.02 (1.30 36.32 (1.43) 26.92 (1.06) 196.09 (7.72) 12.95 (0.51) B B1 B4 B5 B6 B7 203.20 31.70 69.80 139.7 31.70 139.70 (8.00) (1.25) (2.75) (5.50) (1.25) (5.50) C 224.50 (8.
PAGE 55
Installation Interface Connections 5-5 Input/output and power cables connect to the front panel of a ULTRA 200 Series drive, no internal connections are necessary. Intro ! ATTENTION: The user is responsible for conforming with all applicable local, national and international codes. Wiring practices, grounding, disconnects and overcurrent protection are of particular importance. Failure to observe this precaution could result in severe bodily injury or loss of life.
PAGE 56
5-6 Installation Wiring Wiring sizes and practices, as well as grounding and shielding techniques are described in the sections listed below. Refer to the “Power Wiring Diagrams” on page 5-11 for graphic depictions and recommended wire gaging. The descriptions represent common wiring practices and should prove satisfactory in the majority of applications. Note: Cables, listed in Appendix A, “Options and Accessories”, are not rated for continuous flexing.
PAGE 57
Installation Table 5.
PAGE 58
5-8 Installation Figure 5.2 MDF AC Line Filter Mounting Diagrams Intro D2 B1 D3 D1 A3 A2 B2 A1 B3 C3 C1 C2 A B MDF Single-phase Intro D2 D3 D1 B1 B2 A2 A1 B3 B4 B5 C2 C3 C1 A B MDF Three-phase Publication 1398-5.
PAGE 59
Installation Table 5.2: DIMENSION SINGLE PHASE 36 A and 50 A mm 5-9 MDF AC Line Filter Dimensions THREE PHASE 36 A in mm THREE PHASE 50 A in mm THREE PHASE 70 A in mm in A A1 A2 A3 174 104 (2) 80 (2) 20 6.85 4.09 (2) 3.15 (2) 0.79 230 110 (3) 120 (3) – 9.06 4.33 (3) 4.72 (3) – 230 110 (3) 120 (3) – 9.06 4.33 (3) 4.72 (3) – 238 150 (3) 120 (2) – 9.37 5.91 (3) 4.72 (2) – B B1 B2 B3 B4 B5 120 101 (2) 86 60 (2) – – 4.74 3.98 (2) 3.39 2.36 (2) – – 147 128 (2) 113 25 25 (2) 25 (2) 5.
PAGE 60
5-10 Installation Figure 5.3 MIF Single Phase AC Line Filter Mounting Diagram Intro B1 B B2 D1 A2 C A1 A A1 A2 C1 D2 Table 5.3: DIMENSION MIF AC Line Filter Dimensions A A1 A2 SINGLE PHASE 10 A mm in 214 8.43 192 (2) 7.56 (2) 11 (2) 0.43 (2) SINGLE PHASE 23 A mm in 214 8.43 192 (2) 7.56 (2) 11 (2) 0.43 (2) B B1 B2 145 20 (2) 104 (2) 5.71 0.79 (2) 4.09 (2) 204 20 (2) 164 (2) 8.03 0.79 (2) 6.46 (2) C C1 40 16 (2) 1.57 0.63 (2) 47 19 (4) 1.85 0.75 (4) D1 D2 5 (4) 7 (4) 0.
PAGE 61
5Installation Figure 5.4 Power Wiring Diagrams (sheet 1 of 3) Intro MOTOR POWER WIRES R,S,T,GND 1398-DDM-010 or 1398-DDM010X, MOTOR POWER MATING CONNECTOR CONTACT SIZE (GAUGE/mm ) MOTOR LD-2003 SIGNAL A B C D R S T MOTOR CASE DRIVE DIGITAL DRIVE MODULE INPUT CURRENT REQUIREMENTS TERMINAL(S) RECOMMENDED POWER WIRE (GAUGE/mm ) (75°C COPPER MIN.) L1 AUX, L2/N AUX 16 AWG/1.5mm 2 DDM-010 L1,L2/N, 14 AWG/2.5mm 2 DDM-020 L1,L2/N, 12 AWG/3.
PAGE 62
Power Wiring Diagrams (sheet 2 of 3) 5-12 1398-DDM-075 or 1398-DDM075X Installation Publication 1398-5.0 – October 1998 Figure 5.
PAGE 63
Figure 5.4 Power Wiring Diagrams (sheet 3 of 3) Intro MOTOR POWER WIRES R,S,T,GND 1398-DDM-150 or 1398-DDM150X MOTOR POWER MATING CONNECTOR CONTACT SIZE (GAUGE/mm 2) MOTOR H/S-6100 F-6100 H/S-6200 F-6200 H/S-6300 F-6300 H/S-8350 H/S-8500 INPUT POWER WIRES MOTOR POWER CONNECTOR MINIMUM RECOMMENDED POWER WIRE (GAUGE/mm 2) (75°C COPPER MIN) R S T MOTOR CASE DRIVE ALL DDM-150 8 AWG/10.0mm 2 10 AWG/6.0mm 2 8 AWG/10.0mm 2 8 AWG/10.0mm 2 4 AWG/25.0mm 4 AWG/25.0mm 2 2 8 AWG/10.0mm 6 AWG/16.
PAGE 64
5-14 Installation Publication 1398-5.
PAGE 65
Chapter 6 Interfaces Chapter 6 This chapter provides information about: ● ● ● J1 – Controller Interface signals available on the ULTRA 200 Series drive Commonly encountered interface cabling methods Optional signal extension kits and standard Allen-Bradley cables. J1 is a 50 pin female mini-D connector (AMP 2-178238-7) for connecting a host computer or controller to the ULTRA 200 Series drive. Contact between the connector’s shell and the grounded chassis provides shield termination.
PAGE 66
6-2 Interfaces Pin Signal 1 +5VDC Description Pin Signal Encoder +5V 21 RESET DC 2 ECOM Encoder 22 COMMAND+ Common 3 +5VDC Encoder 23 COMMAND+5V DC 4 ECOM Encoder 24 READY+ Common 5 +24VDC Isolated 25 READY+24 VDC 6 24VCOM Isolated 24V 26 +24VDC Common 7 AOUT+ Motor Encoder 27 +I LIMIT Output Channel A+ 8 AOUTMotor Encoder 28 ACOM Output Channel A9 BOUT+ Motor Encoder 29 -I LIMIT Output Channel B+ 10 BOUTMotor Encoder 30 ANALOG1 Output Channel B11 IOUT+ Motor Encoder 31 ANALOG2 Output Channel I+ 12 IOUTM
PAGE 67
Interfaces 6-3 Digital I/O Power ULTRA 200 Series drives provide +24VDC and +5VDC to power external devices within the following specifications. 24 Volt I/O Power One isolated 24 Volt power supply is accessible from the connector: ● The allowable load is <500 mA. ● The pin-outs are: +24VDC 24VCOM J1-5 J1-6 J1-26 J1-13 J3-5 J3-6 J3-26 J3-13 This supply is intended for powering the digital I/O circuitry. The 24 VCOM is a floating ground.
PAGE 68
6-4 Interfaces Table 6.2: Parameter Output Voltage (VDC) Output Current (mA) 5 Volt Power Supply Specifications Description Voltage between +5VDC and +5VCOM Minimum Maximum 4.75 5.25 0 250 Current flow Digital Inputs ULTRA 200 Series drives have active high, current sinking inputs, which prevent disconnects and ground faults from activating a drive. Figure 6.1 Digital Input Circuit Intro J1 Drive 5K 1K 24VCOM Two discrete input circuits types are available on the J1 connector.
PAGE 69
Interfaces 6-5 Refer to the I/O Configuration section of the ULTRA Master manual for information on choosing the input type for each channel. Table 6.3: Digital Input Pin Number ENABLE J1-20 FAULT RESET INPUT 1 INPUT 2 INPUT 3 INPUT 4 J1-21 Function/Description Reverse Enable Operation Mode Override J3-20 J3-21 J1-32 J1-33 J1-34 J1-35 Function Drive Mode Select Forward Enable Internal Connections Enables and disables the drive.
PAGE 70
6-6 Interfaces Table 6.4: Function Preset Select A Preset Select B Preset Select C Start Index Define Home Sensor Remove COMMAND Offset Fault Reset Start Homing INPUT1, INPUT2, INPUT3, INPUT4 and FAULT RESET Functions (continued) Description Activea or Inactiveb states select one of the eight presets shown in the following binary table: BINARY CODE C B A Description Preset 0 0 0 0 Preset 0 or Index 0 is selected. Preset 1 0 0 1 Preset 1 or Index 1 is selected.
PAGE 71
Interfaces 6-7 Input Interface Circuit Examples Figure 6.2 Drive Input Connected to a Switch/Relay Contact Intro J1 Drive 5 26 +24VDC 5K 1K 24COM Figure 6.3 Drive Input Connected to an Opto-Isolator Intro J1 5 26 Drive +24VDC 5K 1K 24VCOM Figure 6.4 Drive Input Connected to an Active High Sourcing Transistor Intro J1 5 26 Drive +24VDC 5K 1K 24VCOM Figure 6.
PAGE 72
6-8 Interfaces Figure 6.6 Drive Input Connected to Active Low Output using an Opto-Isolator Intro INPUT OUTPUT (Drive) +24VDC 5K 1K 24VCOM Figure 6.7 24VCOM Drive Input Connected to Sourcing Output Intro OUTPUT INPUT (Drive) +24VDC 5K 1K 24VCOM J1-6 or J1-13 Publication 1398-5.
PAGE 73
Interfaces 6-9 Digital Outputs Two types of discrete output circuits are available on the J1 connector: ● ● Dedicated relay outputs Selectable transistor based outputs Both types support 24 VDC logic interfaces: Dedicated Relay Outputs BRAKE and DRIVE READY. Each output is a normally open relay. The brake contacts are rated for 1 Amp at 50 Volts. The Drive Ready contacts are rated for 100 mA at 50 Volts.
PAGE 74
6-10 Interfaces Table 6.7: Parameter ON state resistance ON state current OFF state current OFF state Voltage BRAKE Output Specifications Description Internal resistance between J1-49 (+) and J1-50 (-) when the contacts are closed. Current flow through the relay when contacts are closed. Leakage current from either output when the relay contacts are open. Voltage difference between the outputs with open relay contacts. Figure 6.9 Maximum 1 Ohm 1A 0.
PAGE 75
Interfaces Table 6.9: Function Current Limit Up To Speed Drive Enabled Bus Charged Disabling Fault In Motion In Dwell Sequence Complete Registered At Home Axis Homed OUTPUT1, OUTPUT2, OUTPUT3 and OUTPUT4 Functions (continued) Description An active state indicates the torque current is limited. An active state indicates the velocity loop AT SPEED signal is active. The at speed level is a selectable setting. An active state indicates the ENABLE signal is active and no fault is detected.
PAGE 76
6-12 Interfaces Figure 6.11 Drive Output Connected to an LED Indicator Intro J1 Drive +24VDC 1K Pin 6 Pin 13 Figure 6.12 24VCOM Drive Output Connected to a Resistive Load Intro J1 Drive +24VDC 1K Pin 6 Pin 13 Figure 6.13 24VCOM Drive Output Connected to a Switch/Relay Intro J1 Drive I/O Pwr Pin 6 Pin 13 Publication 1398-5.
PAGE 77
Interfaces Figure 6.14 6-13 Drive Output Connected to Active Low Input using a Switch/Relay Intro OUTPUT INPUT (Drive) +24VDC 3.3K +24VDC Solid State Relay 24VCOM Figure 6.15 24VCOM Drive Output Connected to Active Low Input using an Opto-Isolator Intro OUTPUT INPUT (Drive) +24VDC 3.3 K +24VDC 1K 24VCOM Figure 6.16 24VCOM Drive Output Connected to Active High (Sinking) Input Intro OUTPUT (Drive) INPUT +24VDC 1K 24VCOM J1-6 or J1-13 24VCOM Publication 1398-5.
PAGE 78
6-14 Interfaces Analog Inputs Two types of analog input circuits are available on the J1 connector: ● ● The current limiting inputs support 0 to +10 Volt signals The command input supports 0 to ±10 Volt signals. Positive Current Limit (+I LIMIT) and Negative Current Limit (-I LIMIT) Figure 6.17 Positive and Negative Current Limit Circuits Intro J1 Drive +15 Volts 10K +I LIMIT or -I LIMIT + 20K 20K .01µF The +I LIMIT and -I LIMIT are current limit inputs to the drive.
PAGE 79
Interfaces 6-15 Command Input Figure 6.18 Analog COMMAND Input Circuit Intro 20K J1 Drive 10K 10K 10K .01uF 10K + COMMAND+ 20K COMMAND- ANALOG COMMAND 20K .01uF The analog command signal to the drive has a range of ±10 Volts. The signal is either a torque, velocity or position command, depending on the software configuration of the drive. The differential input is processed by a 16 bit analog to digital converter (ADC) to produce a digital value. Table 6.
PAGE 80
6-16 Interfaces Analog Outputs Figure 6.19 ANALOG 1 and ANALOG 2 Output Circuits Intro J1 Drive -5 Volts 10K 20K 100 ANALOG OUTPUT + Two selectable outputs are available for monitoring by the user: ANALOG 1 (J1-30) and ANALOG 2 (J1-31). A 12 bit digital to analog converter (DAC) generates ANALOG 1. ANALOG 2 is a filtered PWM signal with 8 bit resolution and a carrier frequency of 32.8 kHz. Both outputs are scaled to a range of -10 to +10 Volts.
PAGE 81
Interfaces Table 6.16: Specification ANALOG 1 Output Resolution (Bits) ANALOG 2 Output Resolution (Bits) Output Current (mA) Output Signal Range (Volts) 6-17 Analog Output Specifications Description Number of units that the ANALOG1 output voltage is converted into. Minimum Maximum 12 Number of units that the ANALOG2 output voltage is converted into. 8 Allowable current draw of the load +2 -2 Voltage range of the signal -10 +10 Motor Encoder Output Signals Figure 6.
PAGE 82
6-18 Interfaces For example, a motor with a 2000 line encoder is rotating at 3000 rpm, and the Motor Encoder Output signal is set to Divide by 1, the encoder signal frequency is: 3000 ⋅ 2000 f out = ---------------------------- = 100kHz 60 ⋅ 1 A counter counting all edges registers 400 kHz for this example. Table 6.
PAGE 83
Interfaces 6-19 Auxiliary Encoder Inputs Figure 6.21 Auxiliary Encoder Input Types Intro A B STEP DIR CW CCW The ULTRA 200 Series drive may be electronically geared by a remote signal. Electronic gearing may be driven by any of the following three signals: ● ● ● A master incremental encoder that generates quadrature encoder signals Step and direction signals, such as those created by indexers for step motors CW (Step Up)/CCW (Step Down) signals, typically used with stepper indexers.
PAGE 84
6-20 Interfaces Table 6.19: Auxiliary Encoder Input AX + and AX-, or Step + and Step-, or CW+ (Step Up+) and CW- (Step Up-) Auxiliary Encoder/Step and Diection/CW & CCW (Step Up & Down) Signals Pin Number J1-14 (+) J1-15 (-) BX (+) and BX(-), or DIR (+) and DIR(-), or CCW+ (Step Down+) and CCW- (Step Down-) J1-16 (+) J1-17 (-) IX (+) and IX (-) J1-18 (+) J1-19 (-) Description Auxiliary Channels A(+) and A(-). Differential, quadrature, or TTL level encoder input.
PAGE 85
Interfaces 6-21 Interface Cable Examples The use of differential signals is highly recommended. This is due to the immunity of differential signals to common mode interference. Single-ended encoder interface circuits are not recommended, and may result in system malfunction. To improve noise immunity, a cable shield should terminate at both ends of the cable. Shields should connect to the backshell of the connectors with termination around the full circumference (360°).
PAGE 86
6-22 Interfaces Figure 6.25 Complementary Encoder Interface via Standard TTL Logic ENCODER J1 74xx Ch A twisted pair AX+ AX- twisted pair 16 17 BX+ BX- twisted pair 18 19 IX+ IX- 74xx Ch B 74xx Ch I +5V Supply Return Drive 14 15 2 4 ECOM 3 1 +5VDC twisted pair +5 Volts +5V Supply 5V @ 250 mA For horizontal dashed lines, connect only if J1 sources Encoder power Encoder Case Figure 6.
PAGE 87
Interfaces Figure 6.27 6-23 Single-Ended Encoder Interface via Standard TTL Signals (not recommended) ENCODER J1 Drive 74xx TTL Output 14 Ch A twisted pair AX+ AX- 4 2 +5V Supply Return 74xx TTL Output ECOM twisted pair Ch B 16 BX+ BX- 18 IX+ IX- 74xx TTL Output Ch I +5 Volts +5V Supply Connect only if J1 sources Encoder power. 3 1 5V @ 250 mA Drive Chassis Encoder Case Figure 6.
PAGE 88
6-24 Interfaces Figure 6.29 Single-Ended Encoder Interface via Open Collector Transistor with 24 VDC Pull-up (not recommended) ENCODER J1 24VDC Ch A 14 5.1 V IN751 Drive AX+ AX- twisted pair 4 2 Supply Return ECOM twisted pair 24VDC 16 BX+ BX- 18 IX+ IX- Ch B 5.1 V IN751 24VDC Ch I 5.1 V IN751 Encoder Case Table 6.
PAGE 89
Interfaces Figure 6.30 External Step/Direction Interface via TTL Differential Line Drivers USER ELECTRONICS TTL Differential Line Drivers 6-25 J1 Step Step twisted pair 14 15 Step+ Step- Dir Dir twisted pair 16 17 Dir+ Dir- +5V Supply Return + - 2 4 ECOM 3 1 +5VDC twisted pair +5 Volts +5V Supply + - 5V @ 250 mA Encoder Case For horizontal dashed lines, connect only if J1 sources +5VDC power to user electronics Figure 6.
PAGE 90
6-26 Interfaces Figure 6.33 External CW/CCW (Step Up/Step Down) Interface via Single-Ended Line Drivers (not recommended) USER ELECTRONICS J1 CW 14 twisted pair CW+ CW- 4 2 +5V Supply Return + - ECOM twisted pair CCW 16 +5 Volts +5V Supply Drive Connect only if J1 sources +5VDC power to user electronics. CCW+ CCW- 3 1 + - +5VDC 5V @ 250 mA Drive Chassis J1 Terminal Strip/Breakout Board A 50-pin terminal strip kit is available for extending the signals from the J1 connector.
PAGE 91
Interfaces 6-27 6Interfaces J2 – Encoder Pin Signal Description Pin Signal Description 1 EPWR Encoder Power 11 I (+) 2 ECOM Encoder Common 12 I (-) Encoder Power Encoder Common Encoder Power Sense (+) Encoder Power Sense (-) Motor Encoder Input Channel A(+) Motor Encoder Input Channel A(-) Motor Encoder Input Channel B(+) Motor Encoder Input Channel B(-) 13 HALL A Motor Encoder Input Channel I(+) Motor Encoder Input Channel I(-) Hall Effect A 14 HALL B Hall Effect B 3 EPWR 4 ECOM 5 SENSE (
PAGE 92
6-28 Interfaces Figure 6.34 Motor Encoder Interface Circuit Intro J2 Drive 1K AM(+) 220pF 200 + .01uF AM 26LS33 1K AM(-) 220pF 1K 1K LINE BREAK DETECT Figure 6.35 Hall Effect Sensor Circuit Intro J2 +5V Drive 1K U, V or W 200 + +2.5V Table 6.22: Motor Encoder EPWR SENSE (+) SENSE (-) Pin Number J2-1 J2-3 J2-2 J2-4 J2-5 (+) J2-6 (-) A(+) A (-) B(+) B (-) I (+) I (-) J2-7 (+) J2-8 (-) J2-9 (+) J2-10 (-) J2-11 (+) J2-12 (-) ECOM Publication 1398-5.
PAGE 93
Interfaces Table 6.22: Motor Encoder HALL A Pin Number J2-13 6-29 J2- Motor Encoder Connector Pin-Outs (continued) Description Hall Effect A sensor logic level input. Internally pulled up to +5VDC through a 1 kOhm resistor. The input signal interfaces to both a differential and single-ended Hall effect sensor, using either a TTL level signal or open collector signal. A differential output connects only the (+) output to the drive.
PAGE 94
6-30 Interfaces Figure 6.36 ULTRA 200 Series Motor Encoder Connections Intro MOTOR ENCODER Drive EPWR ECOM EPWR ECOM SENSE+ SENSEAM+ AMBM+ BMIM+ IMHALL A HALL B HALL C ABS TS+ TS- J2-1 J2-2 J2-3 J2-4 J2-5 J2-6- J2-7 J2-8J2-9 J2-10 J2-11 J2-12 J2-13 J2-14 J2-15 J2-16 J2-19 J2-20 +5V COM A+ AB+ BZ+ ZHALL A1 HALL B1 HALL C1 ABS2 THERMOSTAT+ THERMOSTAT- NOTES: 1. For encoders with differential Hall outputs (A+, A-, B+, B-, C+ and C-) connect only the + outputs to the drive. 2.
PAGE 95
Interfaces 6-31 6Interfaces J3 – Auxiliary Port Pin Signal 1 +5VDC Description Encoder +5V DC 2 ECOM Encoder Common 3 +5VDC Encoder +5V DC 4 ECOM Encoder Common 5 +24VDC Isolated +24 VDC 6 24VCOM Isolated 24V Common 7 AOUT+ Motor Output Channel A+ 8 AOUTMotor Output Channel A9 BOUT+ Motor Output Channel B+ 10 BOUTMotor Output Channel B11 IOUT+ Motor Output Channel I+ 12 IOUTMotor Output Channel I13 24VCOM Isolated 24V Common Pin Signal 14 AX+ 15 AX16 BX+ 17 BX18 IX+ 19 IX20 ENABLE Description Auxiliar
PAGE 96
6-32 Interfaces Table 6.23: Motor Encoder + 5V Pin Number J3-1 J3-3 J3 – Auxiliary Connector Pin-Outs Description Encoder +5 VDC @ 250 mA power source for auxiliary encoder electronics. Internal Connections J1-1, J1-3 J3-1, J3-3 The output is fused internally by a 1 Amp fast acting fuse (F2). ECOM + 24V J3-2 J3-4 Refer to “5 Volt Power Supply Specifications” on page 6-4. Encoder common. Signal reference for the J1-2, J1-4 auxiliary encoder.
PAGE 97
Interfaces Table 6.23: Motor Encoder BX+ and BX-, or DIR+ and DIR-, or CCW (Step Down+) and CCW (Step Down-) IX (+) IX (-) ENABLE FAULT RESET COMMAND (+) COMMAND (-) Pin Number J3-16 (+) J3-17 (-) 6-33 J3 – Auxiliary Connector Pin-Outs (continued) Description Auxiliary Channel B(+) and B(-). Differential, quadrature, or TTL level encoder input. The signals are selectable as BX+ and BX-, or DIR+ and DIR-, or CCW (Step Down+). and CCW (Step Down-).
PAGE 98
6-34 Interfaces 6Interfaces J4 and J5 – Serial Port Pin Signal Description Use 1 RCV(+) Receive (+) 2 RCV 3 XMT 4 XMT(+) Receive Transmit Transmit (+) RS-485 (four wire) RS-232 RS-232 RS-485 (four wire) 5 COM 6 7 RCV(-) +5 VDC Common Reserveda Receive (-) 8 XMT(-) Transmit (-) 9 Reserved1 pin 9 pin 5 pin 6 pin 1 RS-485 (four wire) RS-485 (four wire) a. Do not connect any device to J4-6, J5-6, J4-9 or J5-9 except an Allen-Bradley TouchPad.
PAGE 99
Interfaces ● ● ● ● 6-35 Even, odd, and no parity generation/checking are supported. No parity is the factory default setting. The maximum number of ULTRA 200 Series drives allowable on an RS-485 bus is 32. The maximum length of an RS-232 cable is 15 meters (50 feet). The maximum length of an RS-485 cable is 1220 meters (4000 feet) with 0.20 mm2 (24 AWG) wire.
PAGE 100
6-36 Interfaces Serial Communications Overview ULTRA 200 Series drives communicate via a standard NRZ (nonreturn to zero) asynchronous serial format, which supports either RS232 or four wire RS-485. The pin-out arrangement on the drive serial ports provides self-sensing of the communication standard. To change from RS-232 to four wire RS-485 requires a simple change of the cable.
PAGE 101
Interfaces 6-37 Addressing Examples: ● Setting the rotary switch to position 0 forces the drive to communicate using the factory default settings (refer to Table 6.25). The drive ignores any software address assigned to it. However, the drive may be assigned a unique name. Note: This setting ensures that communications with the drive can be established at any time. ● ● Setting the rotary switch to position 1 assigns the drive to physical address 1.
PAGE 102
6-38 Interfaces RS-232 Connections The physical address is set using the 16 position rotary switch on the front panel. Note: Do not connect any device to J4-6, J5-6, J4-9 or J5-9 except an Allen-Bradley TouchPad. Figure 6.
PAGE 103
Interfaces 6-39 3. Verify the computer can communicate with the drive by performing the following: • Switch drive power to ON • Start ULTRA Master on the attached PC • Choose CANCEL from the Drive Select window • Select Communications from the menu • Select PC Set Up from the pull down menu • Verify the port settings, and if necessary, change them, then choose OK. • Select Communications from the menu • Select Read Drive Parameters from the pull down menu • Choose OK in the Drive Select window. 4.
PAGE 104
6-40 Interfaces Four Wire RS-485 Connections The ULTRA 200 Series drives use a variation of the RS-485 standard, known as four wire RS-485. Four wire RS-485 uses one differential signal for host to drive transmissions, and another differential signal for drive to host transmissions. (The RS-485 standard specifies a single differential signal for transmissions in both directions.) The four wire RS-485 configuration also allows the host to use a RS422 type interface.
PAGE 105
Interfaces 6-41 Multiple Axes Four-Wire RS-485 Communications Note: Do not connect any device to J4-6, J4-9, J5-6 or J5-9 except an Allen-Bradley TouchPad. 1. Set the rotary address switch on each drive to an unassigned address: • If physical addressing is used, set the rotary switch to a previously unused address (1-A). • If software addressing is used, set the rotary switch to address F and then select a previously unused address (1 - 32) in ULTRA Master. 2.
PAGE 106
6-42 Interfaces Four wire RS-485 connections are shown below. The cable diagram provides a wiring example of a daisy chain connection in a typical installation A multi-drop cable (Figure 6.42) may also be used. Note: RS-485 pin-outs vary between manufacturers. Check the hardware reference manual to ensure correct signal connections between the host computer and the drive. Figure 6.
PAGE 107
Interfaces Figure 6.42 6-43 RS-232 to RS-485 Multi-Drop Connection Diagram Return +12 VDC Intro PC RS-232 Interface COM* RCV* XMT* RS-232 to RS-485 Adapter COM RCVRCV+ XMTXMT+ * Pin-outs may vary by manufacturer. 1 7 4 8 1 7 4 8 RCV+ RCV- XMT+ XMT- RCV+ RCV- XMT+ XMT- J4 J4 1 7 4 8 RCV+ RCV- XMT+ XMT- J4 ....... Drive 1 Drive 2 Drive n NOTE: This example uses a 2-channel RS-232 to RS-485 adapter, manufactured by B&B Electronics (815.433.5100). Publication 1398-5.
PAGE 108
6-44 Interfaces 6Interfaces A1, A2, and COM – Analog Outputs Analog outputs may be monitored with external equipment, such as an oscilloscope, on the external output pins A1 (ANALOG 1), A2 (ANALOG 2) and COM (COMMON). These output signals are parallel connections to the analog command signals available on connector J1. Refer to “Analog Outputs” on page 6-16. Figure 6.
PAGE 109
Interfaces Interface Connections 6-45 Shown here are typical components and connections for a ULTRA 200 Series drive. Figure 6.44 1398-DDM Interface Connection Diagram Intro Publication 1398-5.
PAGE 110
6-46 Interfaces Publication 1398-5.
PAGE 111
Chapter 7 Power Connections TB1 – DC Bus and AC Power Chapter 7 Refer to Figure 5.4 on page 5-11 for power wiring connection diagrams for the drives.
PAGE 112
7-2 Power Connections The 1398-DDM-075 and 1398-DDM-075X are rated for either single phase or three phase power inputs. When connected to a single phase input, the user must change the current limits of the drive. The following drive parameters must be set: ● ● ● Positive Current Limit: 50 A peak Negative Current Limit: 50 A peak Average Current: 15 A continuous An explanation of how to set these values is contained in ULTRA Master on-line help.
PAGE 113
Power Connections 7-3 Motor Power Cabling Terminals 1 through 4 connect the drive to the windings of the motor. Note: Proper phasing of these outputs relative to the motor terminals is critical. Double check the connections after wiring the motor. Table 7.1 lists the drive terminals and typical motor connections; Table 7.2 lists the minimum wire size for making power wiring connections. Table 7.
PAGE 114
7-4 Power Connections Y-Series Power Cables Y-Series motors have a short “pigtail” cable which connects to the motor but is not shielded. The motor power cables have a 6 inch shield termination wire with a ring lug which should be connected to the closest earth ground. This shield termination may be extended to the full length of the motor pigtail if necessary, but it is best to connect the supplied wire directly to ground without lengthening. Figure 7.
PAGE 115
Power Connections Table 7.2: 7-5 Motor Power Contact and Wire Sizing Recommendations Motor Motor Power Mating Minimum Maximum Recommended 90°C Contact Size Power Wirea H-2005 H-3007 H-3016 H-4030, F-4030 H-4050, F-4050 H-4075, F-4075 H-6100, F-6100 H-6200, F-6200 H-6300, F-6300 H-8350 H-8500 N-Series Y-Series mm2 1.5 1.5 1.5 4.0 4.0 4.0 10.0 10.0 10.0 25.0 25.0 1.5 1.5 AWG2 16 16 16 12 12 12 8 8 8 4 4 16 16 mm2 1.5 1.5 1.5 1.5 2.5 2.5 4.0 10.0 10.0 16.0 16.0 1.5 1.
PAGE 116
7-6 Power Connections Emergency Stop Wiring An overlapping contactor may be inserted between the motor and the drive for emergency stop purposes. The contactor must not simply break the motor current, it also must switch a three phase resistive load in parallel with the motor windings. The three resistors provide dynamic braking. In addition, they prevent continuous arcing at the main contacts when breaking DC currents, such as when the motor stalls.
PAGE 117
Power Connections Figure 7.3 7-7 Emergency Stop Contactor Wiring Intro Overlapping Contactor Resistor Resistor Resistor Drive R R S S T T GND Motor GND Isolated terminal Unbraided shield Grounded terminal or stud Enclosure wall Table 7.3: TB1 – DC Bus Terminals Signal Description DC Bus + Positive DC Bus voltage signal DC Bus Negative DC Bus voltage signal NOTE: Torque all terminal connections to 1.25 Nm (11.0 lb-in).
PAGE 118
7-8 Power Connections Terminals 7, 8 and 9 are the single phase AC input power connections for the 1398-DDM-010, 1398-DDM-010X, 1398-DDM-020, 1398-DDM-020X, 1398-DDM-030 and 1398-DDM-030X. Terminals 7, 8, 9 and 10 are the three phase AC input power connections for the three-phase 1398-DDM-075, 1398-DDM-075X, 1398-DDM-150 and 1398-DDM-150X. Terminals 7, 8 and 10 are the AC input power connections when the 1398-DDM-075 and 1398-DDM-075X are powered from a single-phase input. .
PAGE 119
Power Connections 7-9 The inputs to the main (logic and motor supply) and the auxiliary (logic supply only) power sources are separated. This permits independent powering of the control power and the motor power. This dual power sourcing is useful for troubleshooting and diagnostics. Table 7.
PAGE 120
7-10 Power Connections The inputs to the main (logic and motor supply) and the auxiliary (logic supply only) power sources are separated. This permits the logic power to operate independently of the motor. This dual power sourcing is useful for troubleshooting and diagnostics. Auxiliary Power Auxiliary AC (Terminals 10 and 11) supplies power to the logic/ control circuits and fault logic. The main and auxiliary power must be connected in phase. Table 7.
PAGE 121
Power Connections The ULTRA 200 Series drive has a built-in shunt regulator. The figure depicts the internal shunt selection with a factory installed jumper between terminals TB-1 and TB-2. Removal of the internal shunt jumper and installation of an external shunt between terminals TB-1 and TB-3 allows voltage to be dissipated at a faster rate than possible with the internal shunt.
PAGE 122
7-12 Power Connections Intro ! Table 7.8: ATTENTION: Do not tin (solder) the exposed leads on cables. Solder contracts over time and may loosen the connection. TB2 – Shunt Regulator Terminals Terminal Description TB2-1 Positive DC bus TB2-2 Internal shunt regulator resistor TB2-3 Shunt regulator transistor collector NOTE:Torque all terminal connections to 11.0 lb-in. Table 7.
PAGE 123
Power Connections Table 7.11: Drive Model Minimum Resistance ± 10% (Ohms) Wire size mm2 (AWG) 7-13 Minimum Ratings for Customer Supplied External Shunt Resistor 1398-DDM010, 1398-DDM010X 1398-DDM020, 1398-DDM020X 1398-DDM030, 1398-DDM030X 1398-DDM075, 1398-DDM075X 1398-DDM150, 1398-DDM150X 30 30 30 16.5 9 2.5 (14) 2.5 (14) 2.5 (14) 2.5 (14) 6.0 (10) Figure 7.
PAGE 124
7-14 Power Connections External Shunt Connection The following procedure outlines the installation of an external shunt resistor. 1. Remove jumper between TB1-1 and TB1-2, the internal shunt connection. The jumper is supplied with the drive. 2. Wire an external shunt resistor between TB1-1 and TB1-3, the external shunt connections. Use wire of the size recommended in “Minimum Ratings for Customer Supplied External Shunt Resistor” on page 7-13. 3. Torque all terminals to 11.0 lb-in.
PAGE 125
Chapter 8 Application and Configuration Examples Chapter 8 This section explains how to install and verify the ULTRA 200 Series drive for various modes of operation. The procedures verify the installation by: ● ● ● ● Showing how the power and logic wiring is connected. Selecting the Operation Mode setup for the drive. Tuning the drive for a particular motor type and size. Verifying the basic functionality of the drive and motor combination.
PAGE 126
8-2 Application and Configuration Examples 5. Connect a jumper wire with a toggle switch between the following pins: • J1-20 (ENABLE) and J1-26 (I/O PWR) • J1-21 (FAULT RESET) and J1-26 (I/O PWR). These connections provide manual control for enabling or disabling the drive and resetting faults. The figure below shows the jumper, including normally open toggle switches. 6.
PAGE 127
Application and Configuration Examples 8-3 Configuration Carefully check all connections before entering these parameters. 1. Switch the AC Power to ON and verify: • green DC BUS LED is ON • display shows an operational status: A, F or P (Analog, Follower or Preset mode of operation). Refer to “Operating Messages” on page 10-1 for an explanation of the display codes. 2. Start ULTRA Master on the PC. 3. Choose Cancel from the Drive Select dialog box. 4.
PAGE 128
8-4 Application and Configuration Examples 9. If the message box appears that a motor must be selected, select OK. The Drive Set Up window is displayed with Motor Model selection parameter active. The motor may be selected from the drop down box. If this message box does not appear, the motor displayed in the Motor Model box was previously selected. 10. Select or verify the correct motor model number from the drop down Motor Model list. 11. If a message advises that the drive must be reset, choose Yes.
PAGE 129
Application and Configuration Examples 8-5 5. Close the toggle switch between J1-26 and J1-20 to enable the drive. Intro ! ATTENTION: Rotating motor shafts can cause extensive damage and injury. Motors must be properly guarded during testing and installation. 6. Choose Start from the Tuning window. The drive powers the motor shaft for a short period and then motion will cease. Then ULTRA Master displays the calculated gains and disables the drive. 7.
PAGE 130
8-6 Application and Configuration Examples 8Application and Configuration Examples Preset Controller The ULTRA 200 Series drive can be set up as a preset controller in the Velocity or Torque mode by making the connections described below. Three discrete digital inputs provide the programmable speed or torque control. Up to eight different preset speed or torque settings can be selected by using the three digital inputs in various binary combinations, as shown in the table below.
PAGE 131
Application and Configuration Examples 8-7 3. Connect a Power cable from the motor to TB1 (terminals R, S, T and ) on the drive. 4. Connect a jumper wire with a toggle switch between the following pins: • J1-20 (ENABLE) and J1-26 (I/O PWR) • J1-32 (INPUT1) and J1-26 (I/O PWR) • J1-33 (INPUT2) and J1-26 (I/O PWR) • J1-34 (INPUT3) and J1-26 (I/O PWR) • Connect a switch between J1-21 (FAULT RESET) and J1-26 (I/O PWR).
PAGE 132
8-8 Application and Configuration Examples Connection Diagram Figure 8.
PAGE 133
Application and Configuration Examples 8-9 • If the settings are different, correct the Port – Settings to allow communications with the drive. Factory default communications Port – Settings for the drive are: – Baud Rate: 9600 – Data Bits: 8 – Parity: None – Stop Bits: 1 – Serial Port: COM1 Refer to the section “RS-232 Communication Test” on page 11-11 for troubleshooting instructions. 6. Select Read Drive Parameters from the Communications menu. 7.
PAGE 134
8-10 Application and Configuration Examples 16. Choose Close to exit the Drive Parameters window. 17. Select the I/O Configuration command icon from the Drive window. 18. Assign one of the three Preset Selects (A, B and C) to each of the Digital Input Assignments. For example, the following selects three presets: • Input 1 to Preset Select A • Input 2 to Preset Select B • Input 3 to Preset Select C • Input 4 to Not Assigned The presets provide up to eight binary combinations of speed or current.
PAGE 135
Application and Configuration Examples 8-11 5. Close the toggle switch between J1-26 and J1-20 to enable the drive. Intro ! ATTENTION: Rotating motor shafts can cause extensive damage and injury. Motors must be properly guarded during testing and installation. 6. Choose Start from the Tuning window. The drive powers the motor shaft for a short period and then motion will cease. Then ULTRA Master displays the calculated gains and disables the drive. 7.
PAGE 136
8-12 Application and Configuration Examples 8Application and Configuration Examples Position Follower (Master Encoder) The ULTRA 200 Series can be electronically geared to a master incremental encoder generating quadrature encoder signals by making the hardware connections and performing the software setup and tuning described below. The connection diagram depicts the minimum hardware necessary. Interfacing the drive to an external controller requires similar circuitry from the controller to J1.
PAGE 137
Application and Configuration Examples 8-13 Connection Diagram Figure 8.
PAGE 138
8-14 Application and Configuration Examples 5. Verify the communications port settings of the PC match those of the drive. • If the settings are correct, select OK in the Port – Settings dialog box. • If the settings are different, correct the Port – Settings to allow communications with the drive.
PAGE 139
Application and Configuration Examples 8-15 16. Choose Close to exit the Drive Parameters window. 17. Verify the Status indicator is green. 18. Select the I/O Configuration command icon from the Drive Window. 19. Select an appropriate digital input from the pull-down lists available as Digital Input Assignments in the I/O Configuration window. For example: • Follower Enable as Input 1 • Not Assigned as Inputs 2 through 4. • Not Assigned as Outputs 1 through 4. 20.
PAGE 140
8-16 Application and Configuration Examples 7. Choose Normal Drive Operation from the Tuning window. 8. Open the switch between J1-26 and J1-20 to disable the drive. 9. Choose Close to exit the Tuning window. 10. Close any open windows or dialog boxes. Operation The drive is now configured as a Position Follower (Master Encoder). ● ● ● The current loop is compensated properly for the selected motor. The servo parameters have been setup with the unloaded motor.
PAGE 141
Application and Configuration Examples 8-17 8Application and Configuration Examples Position Follower (Step/ Direction) The ULTRA 200 Series drive can be set up as a Position Follower using Step/Direction commands by making the hardware connections and performing the software setup and tuning described below. This configuration allows the ULTRA 200 Series drive to electronically gear or drive a servo motor using step and direction signals that typically control a stepper drive.
PAGE 142
8-18 Application and Configuration Examples 6. Connect the drive to a 100/240 VDC, 50/60 Hz power source appropriate to the drive: • Single Phase: 1398-DDM-010, 1398-DDM-010X, 1398-DDM-020, 1398-DDM-020X, 1398-DDM-030, 1398-DDM-030X, 1398-DDM-075 or 1398-DDM-075X • Three Phase: 1398-DDM-075, 1398-DDM-075X, 1398-DDM-150 or 1398-DDM-150X Connection Diagram Figure 8.
PAGE 143
Application and Configuration Examples 8-19 2. Start ULTRA Master on the PC. 3. Choose Cancel from the Drive Select dialog box. 4. Select PC Set Up from the Communications menu in ULTRA Master to display the personal computer’s communication settings. 5. Verify the communications port settings of the PC match those of the drive. • If the settings are correct, select OK in the Port – Settings dialog box. • If the settings are different, correct the Port – Settings to allow communications with the drive.
PAGE 144
8-20 Application and Configuration Examples 14. Choose the Drive Parameters command icon from the Drive window and then select the Follower tab. 15. Enter an appropriate Gear Ratio as the Follower Input. The default Gear Ratio is 1:1 (motor encoder pulses:master pulses). If a Gear Ratio of 3:1 is entered, the motor is moved 3 encoder pulses for every incoming step pulse. 16. Choose Close to exit the Drive Parameters window. 17. Select the I/O Configuration command icon from the Drive Window. 18.
PAGE 145
Application and Configuration Examples 8-21 5. Close the toggle switch between J1-26 and J1-20 to enable the drive. Intro ! ATTENTION: Rotating motor shafts can cause extensive damage and injury. Motors must be properly guarded during testing and installation. 6. Choose Start from the Tuning window. The drive powers the motor shaft for a short period and then motion will cease. Then ULTRA Master displays the calculated gains and disables the drive. 7.
PAGE 146
8-22 Application and Configuration Examples 8Application and Configuration Examples Position Follower (Step Up/ Step Down) The ULTRA 200 Series can be set up as a Position Following using Step Up and Step Down signals typically used to control stepper drives. The connection diagram depicts the minimum hardware necessary. Interfacing the drive to a controller requires similar circuitry from the indexer to J1. Instructions are provided to configure the drive with ULTRA Master software.
PAGE 147
Application and Configuration Examples 8-23 Connection Diagram Figure 8.
PAGE 148
8-24 Application and Configuration Examples 5. Verify the communications port settings of the PC match those of the drive. • If the settings are correct, select OK in the Port – Settings dialog box. • If the settings are different, correct the Port – Settings to allow communications with the drive.
PAGE 149
Application and Configuration Examples 8-25 16. Choose Close to exit the Drive Parameters window. 17. Select the I/O Configuration command icon from the Drive Window. 18. Select an appropriate digital input from the pull-down lists available as Digital Input Assignments in the I/O Configuration window. For example: • Follower Enable as Input 1 • Not Assigned as Inputs 2 through 4. • Not Assigned as Outputs 1 through 4. 19. Choose Close to exit the I/O Configuration window.
PAGE 150
8-26 Application and Configuration Examples 8. Open the switch between J1-26 and J1-20 to disable the drive. 9. Choose Close to exit the Tuning window. 10. Close any open windows or dialog boxes. Operation The drive is now configured as either a Position Follower (Step Up/ Step Down). ● ● The servo parameters have been setup with the unloaded motor. The motor position is controlled by the step indexer. The firmware saves the parameters in EEPROM memory.
PAGE 151
Application and Configuration Examples 8-27 8Application and Configuration Examples Incremental Indexing Note: This feature is available only on drives capable of indexing: 1398-DDM-010X, 1398-DDM-020X, 1398-DDM-030X, 1398-DDM075X and 1398-DDM-150X. The ULTRA 200 Series drive can be set up as a incremental indexer by making the hardware connections and performing the software setup and tuning described below. A connection diagram depicts the minimum hardware necessary.
PAGE 152
8-28 Application and Configuration Examples Hardware Setup Make the connections described below and shown in the Figure 8.7. The appendix “Options and Accessories” on page A-1 lists the interconnect cables available from the factory. 1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the ULTRA 200 Series. A simple 3 wire cable is depicted in the figure below. 2. Connect a Motor/Feedback cable from the motor to the J2 connector on the ULTRA 200 Series. 3.
PAGE 153
Application and Configuration Examples 8-29 Connection Diagram Figure 8.
PAGE 154
8-30 Application and Configuration Examples 5. Verify the communications port settings of the PC match those of the drive. • If the settings are correct, select OK in the Port – Settings dialog box. • If the settings are different, correct the Port – Settings to allow communications with the drive.
PAGE 155
Application and Configuration Examples 8-31 15. Enter the following values for Index 0. Refer to “Incremental Indexing Examples” on page 8-27 for examples of Single and Batched Incremental Indexing profiles. Single Move Settings Batched Move Settings Incremental as Mode 8000 as Distance 1 as the Batch Count 0 as Dwell Incremental as Mode Appropriate values for Acceleration and Deceleration 8000 as Distance 3 as the Batch Count 1000 as Dwell Appropriate values for Acceleration and Deceleration 16.
PAGE 156
8-32 Application and Configuration Examples 5. Close the toggle switch between J1-26 and J1-20 to enable the drive. Intro ! ATTENTION: Rotating motor shafts can cause extensive damage and injury. Motors must be properly guarded during testing and installation. 6. Choose Start from the Tuning window. The drive powers the motor shaft for a short period and then motion will cease. Then ULTRA Master displays the calculated gains and disables the drive. 7.
PAGE 157
Application and Configuration Examples 8-33 8Application and Configuration Examples Registration Indexing Note: This feature is available only on drives capable of indexing: 1398-DDM-010X, 1398-DDM-020X, 1398-DDM-030X, 1398-DDM075X and 1398-DDM-150X. The ULTRA 200 Series drive can be set up as a registration indexer by making the hardware connections and performing the software setup and tuning described below. A connection diagram depicts the minimum hardware necessary.
PAGE 158
8-34 Application and Configuration Examples Hardware Setup Make the connections described below and shown in the Figure 8.9. The appendix “Options and Accessories” on page A-1 lists the interconnect cables available from the factory. 1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the ULTRA 200 Series. A simple 3 wire cable is depicted in the figure below. 2. Connect a Motor/Feedback cable from the motor to the J2 connector on the ULTRA 200 Series. 3.
PAGE 159
Application and Configuration Examples 8-35 Connection Diagram Figure 8.
PAGE 160
8-36 Application and Configuration Examples 5. Verify the communications port settings of the PC match those of the drive. • If the settings are correct, select OK in the Port – Settings dialog box. • If the settings are different, correct the Port – Settings to allow communications with the drive.
PAGE 161
Application and Configuration Examples 8-37 15. Enter the following values for Index 0. Note: The Registration Distance must be longer than the Deceleration Distance or the move will not be registered.
PAGE 162
8-38 Application and Configuration Examples 5. Close the toggle switch between J1-26 and J1-20 to enable the drive. Intro ! ATTENTION: Rotating motor shafts can cause extensive damage and injury. Motors must be properly guarded during testing and installation. 6. Choose Start from the Tuning window. The drive powers the motor shaft for a short period and then motion will cease. Then ULTRA Master displays the calculated gains and disables the drive. 7.
PAGE 163
Application and Configuration Examples 8-39 8Application and Configuration Examples Absolute Indexing The ULTRA 200 Series drive can be set up as a absolute indexer by making the hardware connections and performing the software setup and tuning described below. A connection diagram depicts the minimum hardware necessary. Interfacing the drive to an external controller requires similar circuitry from the controller to J1, refer to “J1 – Controller” on page 6-1.
PAGE 164
8-40 Application and Configuration Examples 4. Connect a jumper wire with a toggle switch between the following pins: • J1-20 (ENABLE) and J1-26 (I/O PWR) • J1-32 (INPUT1) and J1-26 (I/O PWR) • J1-33 (INPUT2) and J1-26 (I/O PWR) • J1-21 (FAULT RESET) and J1-26 (I/O PWR). These connections provide manual control for enabling or disabling the drive and resetting faults. The figure below shows the jumper, including normally open toggle switches. 5.
PAGE 165
Application and Configuration Examples 8-41 Configuration Carefully check all connections before entering these parameters. 1. Switch the AC Power to ON and verify: • green DC BUS LED is ON • display shows an operational status: A, F or P (Analog, Follower or Preset mode of operation). Refer to “Operating Messages” on page 10-1 for an explanation of the display codes. 2. Start ULTRA Master on the PC. 3. Choose Cancel from the Drive Select dialog box. 4.
PAGE 166
8-42 Application and Configuration Examples 9. If the message box appears that a motor must be selected, select OK. The Drive Setup window is displayed with Motor Model selection parameter active. The motor may be selected from the drop down box. If this message box does not appear, the motor displayed in the Motor Model box was previously selected. 10. Select or verify the correct motor model number from the drop down Motor Model list. 11. If a message advises that the drive must be reset, choose Yes.
PAGE 167
Application and Configuration Examples 8-43 Tuning Note: Do not attempt to Auto Tune systems that have gravitational effects. The ULTRA 200 Series will not hold initial position. 1. Choose the Tuning command icon from the Drive window. 2. Select AutoTune from the Tuning mode group. 3. Select the appropriate values for the following Auto Tune commands: • Distance and • Step Current. 4. Select the appropriate entry for the Motor Direction: • BiDirectional, • Forward Only or • Reverse Only. 5.
PAGE 168
8-44 Application and Configuration Examples Operation The drive is now configured as a Absolute Indexing controller. ● ● The servo parameters have been setup with the unloaded motor. Motion is commanded through the inputs. The firmware saves the parameters in EEPROM memory. Thus the drive can be power cycled and, after power-up, will use the parameters selected in the steps above. When motion is required: 1. Close the switch between J1-20 and J1-26 to enable the drive. 2.
PAGE 169
Application and Configuration Examples 8-45 8Application and Configuration Examples Modifying User Units The units displayed for any ULTRA 200 Series drive may be modified using a PC with ULTRA Master software. The PC Display Units help menu defines the various parameters displayed by ULTRA Master. Default settings for Units are shown in Figure 8.12. Figure 8.
PAGE 170
8-46 Application and Configuration Examples 5. Select the Acceleration Conversion Factor cell, and change 1. to .016. Mathematically 1.6 x 10-2 revs/sec2 is 1 RPM/sec, given the motor has a 2000 line (8000 count) encoder. 6. Choose OK to exit the PC Display Units dialog. The modified units will be displayed where appropriate within the ULTRA Master windows.
PAGE 171
Chapter 9 Tuning Chapter 9 ULTRA 200 Series drives are tuned quickly and easily for a wide variety of applications. Two tuning modes are available through the software: ● ● Tuning Guidelines Auto Tune Manual Tune The following tuning guidelines briefly describe the tuning adjustments. These guidelines provide you with a basic reference point should the application require additional adjustments. General Tuning Rules 1.
PAGE 172
9-2 Tuning Mechanical Resonance Mechanical resonance between the motor and the load occurs when the motor and load are oscillating with the same frequency but opposite phase: when the motor is moving clockwise the load is moving counter clockwise. The amplitude of the motor and load oscillations is such that the total momentum of the oscillating system is zero. In the case of a high load to motor inertia ratio this means that the motor may be moving quite a lot while the load is not moving nearly as much.
PAGE 173
Tuning Figure 9.1 9-3 Velocity Loop Structure Intro 1−Ζ−1 VELOCITY COMMAND MOTOR VELOCITY Dgain + - Σ + Σ + Σ Pgain VELOCITY CONTROL + VELOCITY ERROR + Σ Igain + SPEED WINDOW Ζ−1 Figure 9.
PAGE 174
9-4 Tuning Auto Tune Mode The Auto Tune mode uses a “self-tuning” algorithm that automatically adjusts the drive’s velocity loop gain parameters. Adjustments do not require special equipment. This mode will tune a drive for constant velocity loop response across different applications. The results will often provide acceptable response but in general should be considered a starting point.
PAGE 175
Tuning 9-5 1. Choose the Tuning command icon from the Drive window. 2. Choose Auto Tune from the Tuning window. This activates the Auto Tune Command and Motor Direction boxes within the Tuning window.
PAGE 176
9-6 Tuning Manual Tune Mode Manual tuning may be used to adjust the gain settings and filter frequency of the velocity regulator. The following sections briefly explain these settings. An understanding of the function for each type of gain and filtering will allow you to effectively tune the system. Two types of manual tuning are available: ● ● Velocity tuning Position tuning. Before manual tuning is invoked, the Velocity, Distance and Motor Direction parameters must be set.
PAGE 177
Tuning Table 9.2: Parameter Kp-gain 9-7 Position Loop Gains Description Proportional gain of the position loop. Kp-gain changes: • The position loop bandwidth. • The settling time of the position loop. In general, the higher the value of Kp-gain the faster the settling time. However, a high value of Kp-gain with inadequate velocity loop bandwidth results in overshoot and ringing. Kd-gain Note: Kp-gain is only for use with the position following mode. Differential gain of the position loop.
PAGE 178
9-8 Tuning Manual Tuning Manual tuning may be used to adjust the gain control parameters P, I, D and the filters. A square wave is generated by the drive to assist in the adjustment. Manual velocity tuning requires the following: ● ● Step Period value to be specified Step Velocity value to be specified. Note: Always tune the velocity loop before the position loop, as Velocity loop tuning affects the position loop response.
PAGE 179
Tuning 9-9 14. Disable the drive. 15. Choose Normal Drive Operation. 16. Choose Close. 17. Enable the drive. The drive’s velocity loop is tuned. Tuning the Position Loop Specify the step period and step position values, and then input a square wave to the position loop. Adjust the gain controls parameters Kp, Kd, Kff, Ki, and Ki Zone Filters to tune the system. Note: Tune the velocity loop before attempting to tune the position loop.
PAGE 180
9-10 Tuning 17. Enable the drive. The position loop has been tuned. The drive may be operated as a master encoder, step/direction or step up/down configuration. Velocity Loop Tuning Examples Figure 9.3 Signal Nomenclature Intro VELOCITY Overshoot Following Error or Steady State Error Undershoot Rise Time Settle Time Transient State Publication 1398-5.
PAGE 181
Tuning Figure 9.4 9-11 Underdamped Signal Intro UNDERDAMPED Motor Velocity consistently overshoots the Velocity Command. To correct: Decrease P-gain Decrease I-gain Figure 9.5 Overdamped Signal Intro OVERDAMPED Motor Velocity consistently undershoots the Velocity Command. To correct: Increase I-gain Increase P-gain Publication 1398-5.
PAGE 182
9-12 Tuning Figure 9.6 Critically Damped Signal (Ideal Tuning) Intro CRITICALLY DAMPED Motor Velocity quickly settles to the Velocity Command. Publication 1398-5.
PAGE 183
Chapter 10 Status Display Chapter 10 Two front panel indicators display the status of the drive on a continuous basis: ● ● The Status display shows the operating mode of the drive. The DC Bus LED lights whenever the bus is energized. The 7-segment Status display indicates the drive status and operating mode. After power-up or reset the operating mode is indicated by a single letter message. In the event of a fault, a flashing code is displayed.
PAGE 184
10-2 Status Display Error Messages If there is a fault, the drive provides specific error messages. Faults are detected by the drive in two ways: power-up hardware and run-time faults. A power-up fault usually requires servicing of the hardware, while a run-time fault can be cleared by resetting the drive. The Status display indicates faults by flashing the letter “E”, followed by additional digits to indicate the error. The error display repeats until the drive is reset or powered down. For example, “E.
PAGE 185
Status Display Table 10.1: Status Display E....1....8 E....1....9 E....2....0 E....2....1 E....2....2 E....2....3 E....2....4 E....2....5 E....2....6 E....2....7 E....2....8 E....2....9 E....3....0 E....3....1 E....3....
PAGE 186
10-4 Status Display Table 10.2: Status Display E....5....1 E....5....2 E....5....3 E....5....4 E....5....5 E....5....6 E....5....7 E....5....8 E....5....9 E....6....0 E....6....1 E....6....2 E....6....3 E....6....4 E....6....5 E....6....6 E....6....7 E....6....8 E....6....9 E....7....0 E....7....1 E....7....2 E....7....3 E....7....4 E....7....5 E....7....6 E....7....7 E....7....8 Publication 1398-5.
PAGE 187
Status Display Table 10.2: Status Display E....7....9....n Error Code 79-n E....8....0....1 E....8....1 E....8....2 E....8....3 E....8....
PAGE 188
10-6 Status Display Publication 1398-5.
PAGE 189
Chapter 11 Maintenance and Troubleshooting Maintenance Chapter 11 The ULTRA 200 Series drive is designed to function with minimum maintenance. Periodic Maintenance Normally the only maintenance required is removal of superficial dust and dirt from the drive and a quick check of cable insulation and connections. Cleaning To clean the drive, use an OSHA approved nozzle that provides compressed air under low pressure <20 kPa (30 psi) to blow the exterior surface and the vents clean.
PAGE 190
11-2 Maintenance and Troubleshooting EEPROM Personality Module The serial EEPROM, or personality module, stores all the drive setup parameters. The setup parameters configure the drive to match a particular motor and operate in a particular mode of operation. The personality module may be removed from a ULTRA 200 Series drive and installed in another drive. By transferring the personality module from a drive to another drive, the drive’s “personality” is moved to the new drive.
PAGE 191
Maintenance and Troubleshooting 11-3 5. Align the notch on the front of the personality module and the matching notch on the socket. 6. Place the properly orientated personality module in the IC chip insertion tool. Ensure the chip and socket notches are aligned. 7. Push the personality module firmly into the socket. 8. Install the protective cover and tighten the screws. 9. Reconnect the cables to the front of the drive. 10. Reapply power to the drive.
PAGE 192
11-4 Maintenance and Troubleshooting 7. Select the drive to be configured, and then press ENTER or choose OK to load the parameters into the personality module. Figure 11.1 Fuse and Jumper Locations Intro Remove JUMPERS P6 and P5 to power I/O circuitry with an external power source. PERSONALITY MODULE SPARE FUSE ENCODER FUSE Publication 1398-5.
PAGE 193
Maintenance and Troubleshooting Firmware Upgrading 11-5 ULTRA 200 Series drives may be upgraded in the field to the latest version of firmware. Firmware versions are available from the Allen-Bradley Product Support group. The procedure describes how to reload the firmware installed in your drive using the Upgrade Firmware command available in ULTRA Master software. ULTRA Master provides extensive checks and controls through message boxes which ensure that the loading of firmware is performed properly.
PAGE 194
11-6 Maintenance and Troubleshooting Troubleshooting Two front panel indicators display the status of the drive on a continuous basis: ● ● The Status display indicates the operating mode of the drive (A, F, P, etc.). The DC Bus LED lights whenever the main AC input is connected to line voltage. A table of problems, potential causes, and appropriate actions to take to resolve the problem is included below.
PAGE 195
Maintenance and Troubleshooting Table 11.1: Problem or Symptom +5V Fuse Blown 11-7 Troubleshooting Guide (continued) Error Code Possible Cause(s) 02 F2 Blown Action/Solution The fuse on the encoder power output for the +5 VDC power supply has tripped. Check/replace fuse F2 if necessary. Check for shorts on Encoder output signals or +5V output.
PAGE 196
11-8 Maintenance and Troubleshooting Table 11.
PAGE 197
Maintenance and Troubleshooting Table 11.
PAGE 198
11-10 Maintenance and Troubleshooting Table 11.1: Troubleshooting Guide (continued) Problem or Symptom Error Code Possible Cause(s) Auxiliary Encoder state error 21 Auxiliary encoder encountered an illegal transition Action/Solution Use shielded cables with twisted pair wires. Route the encoder cable away from potential noise sources. Bad encoder - replace encoder Motor Thermal Protection Fault 22 Internal filter protecting the motor from overheating has tripped.
PAGE 199
Maintenance and Troubleshooting 11-11 RS-232 Communication Test This test verifies the functionality of the communications port on an MS-DOS based personal computer. The test uses the Terminal mode available in Microsoft Windows. 1. Close all ULTRA Master windows. 2. Select Communication from ULTRA Master and verify your communication settings. 3. Verify the communication cable pin out and check cable continuity. Refer to “RS-232 Connection Diagrams” on page 6-38. 4.
PAGE 200
11-12 Maintenance and Troubleshooting A. If you see the character on the screen swap pins 2 and 3, close the Windows Terminal and restart ULTRA Master. B. If the character does not echo back on the screen, do the following: (a) Disconnect the cable from your PC. (b) Jumper Pins 2 and 3 on the communication port of the PC. (c) Type any character on the keyboard. (1) If the character echoes back, the communication port is OK and the cable or the connectors are defective.
PAGE 201
Maintenance and Troubleshooting 11-13 B. Brake Enable box, then measure the resistance between J1-49 and J1-50. (a) If the box is checked, the resistance should read approximately 1Ohm. (b) If the box is not checked, the resistance should be very high (> 1 MOhm). A load is necessary to test the transistor outputs listed below. A 1 kOhm resistor may be connected from the transistor output (J1-42, J1-43, J1-44 or J1-45) to the 24 VCOM (J1-6). C.
PAGE 202
11-14 Maintenance and Troubleshooting Testing Digital Inputs This test verifies the functionality of the selectable inputs. Test equipment requirements are: ● ● A PC running ULTRA Master A jumper wire. It assumes there are no error codes displayed, and the 24V power supply is connected correctly. 1. Enable the drive by closing the switch connecting J1-26 and J120. 2. Choose the I/O Display command icon from the Drive Window. A. Connect J1-20 to J1-26. The Enable indicator activates. B.
PAGE 203
Maintenance and Troubleshooting 11-15 6. Repeat step 11.1 using different positive or negative values for the D/A Level. Verify the meter reads the values you enter. Testing Analog Output 2 1. Disable the drive, by opening the connections between the ENABLE input and the + 24 VDC. 2. Disconnect the connections to J1-31. 3. Select Output Diagnostics icon from the Drive Window. 4. From the Output Diagnostics window select Analog Output 2. 5. Enter 1000 in the D/A level box. 6.
PAGE 204
11-16 Maintenance and Troubleshooting 8. Choose OK to close the Set Up window and activate the Drive Signals window. 9. Slowly adjust the potentiometer while viewing the Drive Signals window. The Current - Input Limit + value should update as the potentiometer is adjusted. Testing Negative Current Limit 1. Verify the accuracy of the potentiometer with an ohmmeter before installing. 2. Disable the drive by opening the connections between the ENABLE input and +24VDC. 3.
PAGE 205
Maintenance and Troubleshooting 11-17 Testing Encoder Inputs The following test verifies both reception and transmission of the line count from an encoder by the drive. The tests require: ● ● a PC running ULTRA Master, and a motor encoder. To test encoder inputs: 1. Disable the drive by opening the connections between the ENABLE input and +24VDC. 2. Choose the Drive Parameters command icon from ULTRA Master. 3. Choose Master Encoder as the Command Source. 4.
PAGE 206
11-18 Maintenance and Troubleshooting Publication 1398-5.
PAGE 207
Appendix A Options and Accessories Appendix A ULTRA 200 Series drives conformance to the European Union Directives is contingent on: ● ● Installation of AC line filters between the power source and the drive, and Use of Allen-Bradley cables to connect F-, H-, N- or Y- motors to a 1398-DDM-010, 1398-DDM-010X, 1398-DDM-020, 1398-DDM-020X, 1398-DDM-030, 1398-DDM-030X, 1398-DDM-075, 1398-DDM-075X, 1398-DDM-150 or 1398-DDM-150X drive.
PAGE 208
A-2 Options and Accessories Fuses Description Part Number 1 Ampere, fast acting, inline (Littelfuse R451001, or equivalent) for 1398-DDM-010 or 1398-DDM-010X, 1398-DDM-020 or 1398-DDM-020X, 1398-DDM-030 or 1398-DDM-030X, 1398-DDM-075 or 1398-DDM-075X, 1398-DDM-150 or 1398-DDM-150X * NOTE: *Contact Littelfuse at (847) 824-1188 for part numbers.
PAGE 209
Options and Accessories A-3 Publications Description Publication Number Manuals • TouchPad Card 1398-5.5 • Installation Manual 1398-DDM-010 or 1398-DDM-010X, 1398-DDM-020 or 1398-DDM-020X, 1398-DDM-030 or 1398-DDM-030X, 1398-DDM-075 or 1398-DDM-075X, 1398-DDM-150 or 1398-DDM-150X 1398-5.0 • Installation Manual 1398-DDM-005 or 1398-DDM-005X, 1398-DDM-009 or 1398-DDM-009X, 1398-DDM-019 or 1398-DDM-019X 1398-5.
PAGE 210
A-4 Options and Accessories Encoder Feedback Cables Diagrams and schematics for cables listed below are shown in Appendix B, “Interface Cables”, beginning on page B-14. Description F- or H-Series Motor to customer supplied connector (i.e., no connector) (ULTRA 200 Series drives only) (ULTRA 200 Series drives only) J2 to F- or H-Series Motor (ULTRA 200 Series drives only) (ULTRA 200 Series drives only) N-Series Motor to customer supplied connector (i.e.
PAGE 211
Options and Accessories Motor Power Cables A-5 Diagrams and schematics for cables listed below are shown in Appendix B, “Interface Cables”, beginning on page B-21.
PAGE 212
A-6 Options and Accessories Connector Kits Connector kits provide the ability to construct custom length cables. Kits are available for all ULTRA 200 Series connectors. Each kits consists of the appropriate 3M connector with the corresponding plastic backshell, and instructions.
PAGE 213
Appendix B Cable Diagrams, Schematics and Examples Appendix B Factory supplied cables allow ULTRA 200 Series drives to conform to the European Union Directives when connecting the drive to motors, controllers or computers. The following diagrams provide information on the cables available from the factory. Refer to Appendix A, “Options and Accessories” for ordering information. The information below applies to all factory supplied cables.
PAGE 214
B-2 Cable Diagrams, Schematics and Examples ● Publication 1398-5.
PAGE 215
Cable Diagrams, Schematics and Examples B-3 Interface Cables Figure B.1 J1 to J3 Interface Cable (P/N 9101-1367) Intro ( ( IHHW R R 0$5.(' :,7+ 3$57 $1' 5(9 0$18)$&785(56 3$57 5(9 $1' '$7( &2'( 0 [ 5(75$&7$%/( 0$&+,1(' 7+80%6&5(: )$67(16 ',5(&7/< 72 %2$5' &211(&725 0 [ 5(75$&7$%/( 0$&+,1(' 7+80%6&5(: )$67(16 ',5(&7/< 72 %2$5' &211(&725 Publication 1398-5.
PAGE 216
B-4 Cable Diagrams, Schematics and Examples Figure B.2 Intro 7$% Publication 1398-5.
PAGE 217
Cable Diagrams, Schematics and Examples Figure B.3 B-5 J3 to J3 Interface Cable (P/N 9101-1463) Intro Publication 1398-5.
PAGE 218
B-6 Cable Diagrams, Schematics and Examples BCable Diagrams, Schematics and Examples Figure B.4 J3 to No Connector Interface Cable (P/N 9101-1368) Intro 7$% Publication 1398-5.
PAGE 219
Cable Diagrams, Schematics and Examples Figure B.5 B-7 J1 to 50-pin Terminal Block Kit Diagram (P/N 9101-1391 and 9101-1560) Intro Mounting bracket 0002-7069 (shown) and cable 9101-1369-003 supplied with 9101-1391 kit. Mounting bracket 0002-7069 (shown) and cable 9101-1369-010 supplied with 9101-1560 kit. NOTES: The terminal block and cable provide a one-to-one transfer of the signals from the connector to the respective pin(s) on the terminal block.
PAGE 220
B-8 Cable Diagrams, Schematics and Examples Figure B.6 Intro Publication 1398-5.
PAGE 221
Cable Diagrams, Schematics and Examples Figure B.7 B-9 J2 to 25-pin Terminal Block Kit Diagram (P/N 9101-1392) Intro Mounting bracket 0002-7068 (shown) and cable 9101-1371-003 (next page) supplied with kit. NOTES: The terminal block and cable provide a one-to-one transfer of the signals from the connector to the respective pin(s) on the terminal block. The cabling examples beginning on page B-26 depict the use of this kit to pass a cable through a restricted bulkhead. Publication 1398-5.
PAGE 222
B-10 Cable Diagrams, Schematics and Examples Figure B.8 J2 to 25-pin D-Connector Cable (P/N 9101-1371) Intro 0.38 Publication 1398-5.
PAGE 223
Cable Diagrams, Schematics and Examples B-11 BCable Diagrams, Schematics and Examples Serial Interface Cables Figure B.9 J5 to 9-pin D-Shell Interface Diagram (P/N 9101-1372) Intro RED WHITE/RED GREEN WHITE/GREEN BLACK WHITE/BLACK Publication 1398-5.
PAGE 224
B-12 Cable Diagrams, Schematics and Examples Figure B.10 Intro Publication 1398-5.
PAGE 225
Cable Diagrams, Schematics and Examples Figure B.11 B-13 J5 to No Connector Serial Interface Cable (P/N 9101-1379) Intro Publication 1398-5.
PAGE 226
B-14 Cable Diagrams, Schematics and Examples BCable Diagrams, Schematics and Examples Encoder Feedback Cables Figure B.12 Intro Publication 1398-5.
PAGE 227
Cable Diagrams, Schematics and Examples Figure B.13 B-15 J2 to F- or H-Series Encoder Cable (P/N 9101-1366) Intro Publication 1398-5.
PAGE 228
B-16 Cable Diagrams, Schematics and Examples Figure B.14 J2 to Y-Series Encoder Cable (P/N 9101-1375) Intro 0.38 GRAY 16 AWG WHITE/GRAY 16 AWG BROWN 28 AWG WHITE/BROWN 28 AWG BLACK 28 AWG WHITE/BLACK 28 AWG REDK 28 AWG WHITE/RED 28 AWG GREEN 28 AWG WHITE/GREEN 28 AWG ORANGE 28 AWG WHITE/ORANGE 28 AWG BLUE 28 AWG DRAIN Publication 1398-5.
PAGE 229
Cable Diagrams, Schematics and Examples Figure B.15 B-17 No Connector to Y-Series Encoder Cable (P/N 9101-1373) Intro ( 67$57 2) %(1' 5$',86 02/',1* 0$5.(' :,7+ 3$57 $1' 5(9 0$18)$&785(56 3$57 5(9 $1' '$7( &2'( :,5,1* ',$*5$0 *5$< $:* :+,7( *5$< $:* %52:1 :+,7( %52:1 <(//2: :+,7( <(//2: %/$&. $:* $:* $:* $:* $:* :+,7( %/$&.
PAGE 230
B-18 Cable Diagrams, Schematics and Examples Figure B.16 J2 to No Connector Encoder Cable (P/N 9101-1380) Intro 0.38 28 AWG GRAY (16 AWG) 28 AWG 28 AWG WHITE/GRAY (16 AWG) 28 AWG BLUE (28 AWG) WHITE/BLUE (28 AWG) BLACK (28 AWG) WHITE/BLACK (28 AWG) RED (28 AWG) WHITE/RED (28 AWG) GREEN (28 AWG) WHITE/GREEN (28 AWG) YELLOW (28 AWG) WHITE/YELLOW (28 AWG) ORANGE (28 AWG) WHITE/ORANGE (28 AWG) BROWN (28 AWG) WHITE/BRONW (28 AWG) VIOLET (28 AWG) WHITE/VIOLET (286 AWG) DRAIN Publication 1398-5.
PAGE 231
Cable Diagrams, Schematics and Examples Figure B.17 B-19 J2 to N-Series Encoder Cable (P/N 9101-1468) Intro CABLE, SINE #KA-50203, ULTIMAX 80°C 30 VOLT, ONE 16 AWG TWISTED PAIR, EIGHT 28 AWG TWISTED PAIRS, FOIL SHIELD WITH 100% COVERAGE, BRAIDED SHIELD WITH 85% MINIMUM COVERAGE AND 28 AWG DRAIN WIRE. ø 1.16 ø0.38 0.63 "E" ft. 3.28 2.24 12±0.5 1.33 0.94 60° B C D A V S F L U K J T G 1.62 M N P R E H 0.
PAGE 232
B-20 Cable Diagrams, Schematics and Examples Figure B.18 No Connector to N-Series Encoder Cable (P/N 9101-1469) Intro CABLE, SINE #KA-50203, ULTI-MAX 80°C 30 VOLT ONE 16 AWG TWISTED PAIR, EIGHT 28 AWG TWISTED PAIRS, FOIL SHIELD WITH 100% COVERAGE, BRAIDED SHIELD WITH 85% MINIMUM COVERAGE AND 28 AWG DRAIN WIRE ø 1.16 .38 "E" ft. 4.70 3.28 CONNECTOR, ITT CANNON #KPSE05E14-19S-A71 B C D A P R E M L N V U T S F 0.94 1.33 G K J H OVERMOLDING, PVC, BLACK MARK WITH ASSY P/N & REV., MFG.
PAGE 233
Cable Diagrams, Schematics and Examples B-21 BCable Diagrams, Schematics and Examples Motor Power Cables Intro ! Figure B.19 ATTENTION: Shielded power cables must be grounded at a minimum of one point for safety. Failure to ground a shielded power cable will result in potentially lethal voltages on the shield and anything connected to it.
PAGE 234
B-22 Cable Diagrams, Schematics and Examples Figure B.20 4000 F- or H-Series Power Cable (P/N 9101-1382) Figure B.21 6100 or 6200 F- or H-Series Power Cable (P/N 9101-1383) Intro Intro :,5,1* ',$*5$0 $ 5 % 6 & 7 ' 6+,(/' $77$&+ 72 7+( 02/',1* $'$37(5 $1' :5$3 :,7+ $/80,180 )2,/ 7$3( %(7:((1 7+( 6+,(/' $1' 7+( $'$37(5 7+( 7$3( 0867 0$.
PAGE 235
Cable Diagrams, Schematics and Examples Figure B.22 6300 H-Series Power Cable (P/N 9101-1399) Figure B.23 8000 H-Series Power Cable (P/N 9101-1384) B-23 Intro Intro Publication 1398-5.
PAGE 236
B-24 Cable Diagrams, Schematics and Examples Figure B.24 Intro Publication 1398-5.
PAGE 237
Cable Diagrams, Schematics and Examples Figure B.25 B-25 N-Series Power Cable (P/N 9101-1467) Intro WIRING DIAGRAM BROWN A B C D E BLUE GRN/YEL N/C SHIELD CABLE, SINE #KA-50960, ULTI-MAX 90°C 600 VOLT 4/C 16 AWG, BRAIDED SHIELD, 85% MINIMUM COVERAGE ø 1.16 R S T BLACK ø 0.36 ATTACH TO THE MOLDING ADAPTER AND WRAP WITH ALUMINUM FOIL TAPE BETWEEN THE SHIELD AND THE ADAPTER. THE TAPE MUST MAKE CONTACT WITH THE ENTIRE SHIELD CIRCUMFERENCE AND ADAPTER CIRCUMFERENCE. FERRULE, INSULATED, ALTECH #2205.
PAGE 238
B-26 Cable Diagrams, Schematics and Examples BCable Diagrams, Schematics and Examples Cabling Examples Figure B.
PAGE 239
Cable Diagrams, Schematics and Examples Figure B.
PAGE 240
B-28 Cable Diagrams, Schematics and Examples Figure B.
PAGE 241
Cable Diagrams, Schematics and Examples Figure B.
PAGE 242
B-30 Cable Diagrams, Schematics and Examples Allen-Bradley 9/Series CNC Family Connections The tables below list the connections necessary between the connectors on Allen-Bradley 9/Series CNC Controllers. The controller may be wired to either a Breakout Board connection from the J2 connector or directly to the J1 connector on a ULTRA 200 Series drive. Table B.
PAGE 243
Cable Diagrams, Schematics and Examples Table B.4: 9/230 8520-ASM-4 Signal CHA_HI CHB_HI CHZ_HI CHA_LO CHB_LO CHZ_LO B-31 9/230 to J1 Connector Drive Connections Signal Mtr Output Chnl A+ Mtr Output Chnl B+ Mtr Output Chnl Index+ Mtr Output Chnl AMtr Output Chnl BMtr Output Chnl Index- Pin J1 Pin 11 7 10 9 39 11 41 8 40 10 9 12 NOTE: A-B 845 encoders are usually wired with the A- signal into the A+ signal on the Allen-Bradley drive Publication 1398-5.
PAGE 244
B-32 Cable Diagrams, Schematics and Examples Publication 1398-5.
PAGE 245
TouchPad Commands Installation and Operation 1. Power down the drive and remove all serial connections. 2. Install the TouchPad as shown. TouchPad Installation Steps 1. Insert tab 2. Mate connectors Drive Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Pin 9 Receive + Not used Not used Transmit + +5VDC Common TouchPad Sense Receive Transmit +5VDC Pin 5 Pin 9 Pin 1 Pin 6 3. Reapply power to the drive. TouchPad communications are: Address 0, 19200 Baud, 8 Data bits, 1 Stop bit and No Parity.
PAGE 246
DRVSETUP DRVPARM I/OCONFIG TUNING DISPLAY DRVINFO STATUS MotorSel Drv Mode DigInp1 SWEnable I Cmd FW Ver DrvStat IndxCtrl Motor Selection see Table Drive Mode Velocity or Torque Digital Input 1 see Table Software Enable Selection Current Command Amps Firmware Version Release Level Drive Status see Table Index Control On or Off CTLPANEL Drv Name Cmd Src DigInp2 TuneMode I Avg Boot Ver InpFlags StrtCtrl Drive Name <32 characters Command Source Path Selections Digital Input 2
PAGE 247
Appendix C TouchPad Instructions Appendix C The optional TouchPad is a compact and rugged device for interfacing with ULTRA 200 Series drives. It provides the operator with a convenient device for accessing status information, program variables, and control functions, plus message display capabilities on any ULTRA 200 Series drive. An 8-character dot matrix display and a sealed-membrane type keyboard are housed in a compact case.
PAGE 248
C-2 TouchPad Instructions Figure C.1 TouchPad Connection and Pinouts Intro 1. Insert tab 2. Mate serial connectors Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Pin 9 Receive + Not used Not used Transmit + +5VDC Common TouchPad Sense Receive Transmit +5VDC • Address 0 • 8 Data bits • 19200 Baud • 1 Stop bit Figure C.2 Pin 5 Pin 9 Pin 6 Pin 1 • No Parity bit TouchPad Version Number Display Intro Drive Type: Ver11.
PAGE 249
TouchPad Instructions TouchPad Commands Key C-3 Commands are entered by pressing a single key or combination of keys. Two modes of operation are available. Parameter mode allows you to move through the TouchPad Command Tree to each parameter. Modify mode allows you to monitor and change each parameter, often while the drive is operational. Function Toggles the parameter display between the two operating modes. Parameter mode shows the abbreviated command name of the selected parameter.
PAGE 250
C-4 TouchPad Instructions Figure C.
PAGE 251
TouchPad Instructions Figure C.
PAGE 252
C-6 TouchPad Instructions Supplemental Instructions Motor Selection Enter a Motor Identification number to load the correct motor parameters into the drive. Table C.2 and Table C.3 list the motors available in the motor table directory. Displays Selection of a motor defines default operating parameters for the drive and motor combination. Text A drive name longer than eight characters may require scrolling with the Left, , and Right, , arrow keys. Drive names may be up to 32 characters in length.
PAGE 253
TouchPad Instructions C-7 For example: If the SpeedWin setting is 5000 rpm and the key Maximum Speed in the motor table is 5200, pressing the increases the parameter to 5200 (the upper limit), but pressing the key decrements the parameter to 4000. The most significant digit is reserved when a parameter allows a negative (-) setting or the parameter provides a list of possible selections. The or key toggles the minus sign.
PAGE 254
C-8 TouchPad Instructions Ratio A FolRatio (gear ratio) longer than eight characters may require scrolling with the and keys. The ratios are numeric values that increment or decrement by 1 each time the , or , key is pressed. The method of display is dependent on the length of the ratios: Publication 1398-5.0 – October 1998 ● If the ratio is eight characters or less, it is displayed in full. For example, a Master to Follower ratio of one-thousand to ninehundred is displayed as 1000:900.
PAGE 255
TouchPad Instructions C-9 Fault/Error/Warning Table C.1 lists the possible fault, error and warning messages that may appear on the TouchPad. The items below describe the different types of messages. ● The TouchPad displays Fault and a description. A Fault message requires additional troubleshooting of the drive. Clear the fault display by depressing the and keys simultaneously. Fault codes are stored in the TouchPad parameter DrvStat and are explained with troubleshooting guidelines in Table 11.
PAGE 256
C-10 TouchPad Instructions Motor Table Table C.
PAGE 257
TouchPad Instructions Table C.
PAGE 258
C-12 TouchPad Instructions Table C.
PAGE 259
TouchPad Instructions C-13 TouchPad Lists Table C.5: Display 00 01 02 03 04 Table C.6: Drive Communications Parameter List for the TouchPad Parameter 7 Data Bits, 1 Stop Bit, Even Parity 7 Data Bits, 1 Stop Bit, Odd Parity 8 Data Bits, 1 Stop Bit, No Parity 8 Data Bits, 1 Stop Bit, Even Parity 8 Data Bits, 1 Stop Bit, Odd Parity Baud Rate Parameter List for TouchPad Display 00 01 02 03 04 Table C.7: Display ÷ by 1 ÷ by 2 ÷ by 4 ÷ by 8 Table C.
PAGE 260
C-14 TouchPad Instructions Table C.9: Index Pointer Parameter List for TouchPad Display 00 01 02 03 04 05 06 07 08 Parametera Index 0 Index 1 Index 2 Index 3 Index 4 Index 5 Index 6 Index 7 RAM Index a. Parameters available only if the drive supports Indexing. Table C.10: Index Termination Parameter List for TouchPad Display Stop NxtINow NxtIWt Parametera Stop Start another Index immmediately Start another Index at next Start Index transition a.
PAGE 261
TouchPad Instructions Table C.13: Display Inactive Active C-15 Reverse Enable for Homing Parametera No reversing if started on Sensor Reverse if started on Sensor a. Parameters available only if the drive supports Indexing. Table C.14: Display Not Asgn DrvMode IntInh FolEnab FwdEnab RevEnab CMD Ovrd PreSelA PreSelB PreSelC StrtInd DefHome Registr -CmdOfs Home FaltRst Table C.
PAGE 262
C-16 TouchPad Instructions Table C.16: Analog Output Parameter List for TouchPad Display Parameter I Cmd I Avg IPeak+ IPeakILimit+ ILimitVelMtr VelCmd VelErr PosMtr PosCmd PosErr PosEPk+ PosEPkPosMstr Table C.
PAGE 263
TouchPad Instructions Table C.17: Drive Status List for TouchPad (continued) Display Parameter PersWrt ServWrt CPUComm MtrOvt IPMFalt ExsVErr Comutat Not Homd C-17 Personality Write Error Service Write Error CPU Communications Error Motor Overtemperature IPM Fault Excess Velocity Error Commutation Angle Error Axis Not Homed NOTE: The Drive Status display is read-only. DrvEnab and DrvRdy indicate that the drive is functional. The other displays indicate an error condition. Table C.
PAGE 264
C-18 TouchPad Instructions Publication 1398-5.
PAGE 265
Appendix D Creating Custom Motor Files Appendix D Each motor controlled by a ULTRA 200 Series drive requires a unique parameter set. The parameter set provides the drive with information about the motor necessary for proper commutation, precise control and protection. Two types of motor parameter sets can be selected for a ULTRA 200 Series drive using ULTRA Master software: ● Standard motors parameters reside in a motor lookup table stored in the drive. Up to 65535 motors may be stored in the drive.
PAGE 266
D-2 Creating Custom Motor Files Drive and Motor File Configuration with ULTRA Master At startup ULTRA Master examines the contents of the /MOTORDIR subdirectory to determine the list of motors it will display. If a custom motor file is to appear, it must be copied into the /MOTORDIR directory before ULTRA Master is started. Each motor file is a binary file that contains: ● ● ● the motor parameter set, a table ID number, and a text string.
PAGE 267
Creating Custom Motor Files D-3 The text string translates the table ID into a real motor model number for display. For example, the user can select the text string “H-4030-PH” rather than entering the table ID #23. Figure D.1 defines the text string format of Allen-Bradley motors. Figure D.
PAGE 268
D-4 Creating Custom Motor Files Figure D.2 Intro Intro Required Back-EMF and Hall Signal Phasing for Clockwise Rotation Intro (a) Required Back-EMF Phasing (b) Required Hall Feedback Phasing Many motor manufacturers include drawings in their data sheets that identify the phasing of the back-EMF and Hall feedback signals, or an application engineer may have access to an internal document listing the information. As a last resort, the motor can be rotated in the lab to check the phasing.
PAGE 269
Creating Custom Motor Files D-5 Motor Parameter Definitions The parameters to configure in a custom motor file are defined below. ULTRA Master arranges motor parameters in an index card format. The groupings are: ● ● ● ● ● General, Feedback, Current Loop, Electrical, and Ratings. General Parameters Motor Model The motor model field is a text display from which a motor is selected.
PAGE 270
D-6 Creating Custom Motor Files Synchronous/Induction This field identifies whether the motor is a synchronous (permanent magnet) motor or an induction motor. The motor type informs ULTRA Master which fields are valid for a particular motor, and which fields are invalid (grayed). These instructions only cover permanent magnet motors, so the Synchronous box must be checked. Number of Poles The number of poles specifies the number of electrical cycles in two mechanical revolutions.
PAGE 271
Creating Custom Motor Files D-7 If a motor operates with trap drives, the torque constant is specified as a “square wave” torque constant. However, ULTRA 200 Series drives are sinusoidal drives and the torque constant must be specified as a “sine wave” torque constant or “sinusoidal” torque constant. To convert between sinusoidal torque constants and square wave torque constants, usually a factor of 5-10% is required.
PAGE 272
D-8 Creating Custom Motor Files Feedback Parameters Linecount The encoder linecount, or size, specifies the number of encoder lines per mechanical revolution of the motor, and is required in units of lines/mechanical revolution. The linecount value can be in the range from 100 to 15000 lines/rev. Note that the linecount value is in units of lines/rev, rather than counts/rev. The number of lines/rev will be 1/4th of the number of counts/rev.
PAGE 273
Creating Custom Motor Files D-9 The Hall signals, as well as the line-to-line back-EMF voltages, must sequence according to the Allen-Bradley standard (refer to Figure D.2 and the “Motor Phasing” on page D-3). The Hall offset value is the value the drive uses to correct for Hall signals that are shifted from the line-to-line back-EMF. Figure D.5(a) shows the Allen-Bradley standard for orientation of the Hall signals to the line-to-line back-EMF voltages. Figure D.
PAGE 274
D-10 Creating Custom Motor Files If the drive is set up for Hall/Hall startup commutation, the initial commutation angle is determined by the state of the three Hall feedback inputs: 001, 010, 011, 100, 101, or 110. When the motor begins moving, a transition from one Hall state to another (for example, 001 to 101) identifies a precise commutation angle, and the measurement is completed. After the final Hall measurement occurs, the encoder A/B inputs are used to track the commutation angle.
PAGE 275
Creating Custom Motor Files D-11 Inductance The inductance value is the measured phase-to-phase inductance in milliHenries of the stator winding. The inductance is used to set the current regulator gains, and is critical to current loop performance. The inductance value can be in the range from 0.0039 to 255.9961mH. The ratio of motor inductance to motor resistance is defined as the electrical time constant of the motor. Always verify this value is in a reasonable range.
PAGE 276
D-12 Creating Custom Motor Files Peak Torque The peak or maximum torque specifies the maximum current capability of the motor in peak Amps. (Note: This is peak Amps, rather than rms.) The drive uses the maximum torque value to limit the current applied to the motor. At run-time, the instantaneous current of the drive is limited to the minimum of this value, the drive’s peak rating, the analog current limit inputs, and the software current limits. The maximum torque value can be in the range from 0.
PAGE 277
Creating Custom Motor Files D-13 The thermal time constant of the motor is measured by stabilizing the motor temperature at its rated condition, disabling the drive, and measuring the time for the hottest part of the motor winding to drop 63% of the difference from ambient. Allen-Bradley, as well as many other motor manufacturers, specifies this parameter for motors, although it may not be published in catalogs or data sheets.
PAGE 278
D-14 Creating Custom Motor Files Example of Custom Motor File Creation The following is an example of a custom motor. A 50:1 gear is included inside this motor. The example illustrates how to configure a custom motor. Manufacturer’s Data The following specifications were taken from the manufacturer’s data sheet: ● ● ● ● ● ● ● ● ● ● ● ● Reduction Ratio = 1:50 Rated Current = 1.4 Amp Maximum Current = 3.8 Amp Maximum Speed = 80 RPM Torque Constant = 270 in-lb/Amp BEMF = 1.
PAGE 279
Creating Custom Motor Files D-15 Parameter Conversions The 1:50 gearing makes this motor an unusual case. The motor file must be generated as if the motor and gear are two separate devices. The inertia, torque, speed, etc., must be computed based on the motor side of the gearing, rather than the load side.
PAGE 280
D-16 Creating Custom Motor Files Custom Motor File The custom motor file parameters are as follows: GENERAL Motor Model: Table ID: Motor File: Motor Type: Number of Poles: Kt: Jm: Ke: A_CUSTOM -1 CUSTOM21.MTR Synchronous 8 0.61 N-m/Amp 2.26 kg-cm2 44.0 Volts/kRPM FEEDBACK Linecount: Index Offset: Hall Offset: Startup Commutation: Invert Direction: 1500 lines/rev 0 degrees 120 degrees Hall / Hall Unchecked CURRENT LOOP Current Feedforward: 0 degrees / kRPM ELECTRICAL Resistance: Inductance: 7.
PAGE 281
Appendix E Electromagnetic Compatibility Guidelines for Machine Design Appendix E This appendix provides background information about Electromagnetic Interference (EMI) and machine design guidelines for Electromagnetic Compatibility (EMC). The ULTRA 200 Series installation requirements for compliance to the European Electromagnetic Compatibility Directive are specified in “European Union Requirements” on page 2-7.
PAGE 282
E-2 Electromagnetic Compatibility Guidelines for Machine Design Figure E.1 EMI Source-Victim Model Intro CONDUCTED EMI EMI SOURCE EMI VICTIM RADIATED EMI EMI VICTIM The EMI model provides only three options for eliminating the EMC problem: ● ● ● reduce the EMI at the source, increase the victim’s immunity to EMI (harden the victim), or reduce or eliminate the coupling mechanism. In the case of servo drives, reducing the EMI source requires slowing power semiconductor switching speeds.
PAGE 283
Electromagnetic Compatibility Guidelines for Machine Design E-3 One method to improve the EMC characteristics of a drive is to use an isolation AC power transformer to feed the amplifier its input power. This minimizes inrush currents on power-up and provides electrical isolation. In addition, it provides common mode filtering, although the effect is limited in frequency by the interwinding capacitance.
PAGE 284
E-4 Electromagnetic Compatibility Guidelines for Machine Design Table E.1: AC Line Filter Installation Intro POOR GOOD CONDUCTED EMI DRIVE AC LINE DRIVE CONDUCTED EMI RADIATED EMI RADIATED EMI FILTER RADIATED EMI AC LINE FILTER CONDUCTED EMI Intro ! ATTENTION: Before applying power, the filter must be safety grounded. Without a proper ground, current leakage could build to a hazardous level. The only reasonable filtering at the drive output terminals is the use of inductance.
PAGE 285
Electromagnetic Compatibility Guidelines for Machine Design Grounding E-5 High frequency (HF) grounding is different from safety grounding. A long wire is sufficient for a safety ground, but is completely ineffective as an HF ground due to the wire inductance. As a rule of thumb, a wire has an inductance of 20 nH/in regardless of diameter. At low frequencies it acts as a constant impedance, at intermediate frequencies as an inductor, and at high frequencies as an antenna.
PAGE 286
E-6 Electromagnetic Compatibility Guidelines for Machine Design Shielding and Segregation The EMI radiating from the drive enclosure drops off very quickly over distance. Mounting the drive in an enclosure, such as an industrial cabinet, further reduces the radiated emissions. The primary propagation route for EMI emissions from a drive is through cabling. The cables conduct the EMI to other devices, and can also radiate the EMI.
PAGE 287
Appendix F DynamicBrakingResistorSelection Appendix F This appendix provides equations to assist in sizing resistors for dynamic braking. A properly sized resistive load may be required to dynamically brake the system by dissipating the energy stored in a motor. The section “Emergency Stop Wiring” on page 7-6 depicts the necessary circuitry. Winding inductance is ignored in this analysis, which allows the load on the motor winding to be considered as purely resistive when dynamic braking occurs.
PAGE 288
F-2 Dynamic Braking Resistor Selection Intro 2 2 ( J L + J M )ω o –2 t ⁄ τ K E K T ω o – 2t ⁄ τ P ( t ) = ------------------------------ e = 1.154 ------------------------- e 2τ ( R + 2R L ) (2) For this type of response, 98% of the energy will be dissipated in 4 time constants. Therefore the average power for each dynamic braking event can be calculated as: Intro 2 P AVE K E K T ωo 1 2 1 = --- ( J M + J L )ω o  ----- = 0.
PAGE 289
Dynamic Braking Resistor Selection F-3 Sample Calculations The following example uses an H4075 motor with a 10 times inertia mismatch and dynamic braking resistors sized at four times the motor winding resistance. The average power of the motor is 1116 Watts for the selected paramters, but it is unlikely that a resistor with this Wattage is required. Pulse type currents, such as this example, require sufficient thermal mass to absorb the energy and to dissipate or accomodate the peak Voltage.
PAGE 290
F-4 Dynamic Braking Resistor Selection Current Calculation (Amps): Intro –t ---τ KE ⋅ ωo ⋅ e i ( t ) := ------------------------------------------0.866 ( R + 2 ⋅ RL ) Instantaneous Power Calculation (Watts): Intro .e –2 ⋅ t R 1.154 2. R L⋅ K ⋅ K ⋅ ω 2 -----------o τ E T P ( t ) := ------------------------------------------------- ⋅ e P( t ) ( R + 2 ⋅ RL ) 4 1 10 7500 P( t ) 5000 2500 0 0 0.05 0.1 Average Power (Watts): Intro 2 KE ⋅ KT ⋅ ω o · P ave := 0.
PAGE 291
Appendix G Specifications Item Agency Approvals UL and cUL CE mark Environmental Operating Temperature 1398-DDM-010 or 1398-DDM-010X, 1398-DDM-020 or 1398-DDM-020X, 1398-DDM-050 or 1398-DDM-050X, 1398-DDM-075 or 1398-DDM-075X, 1398-DDM-150 or 1398-DDM-150X Storage Temperature Humidity Altitude Vibration Shock Weight 1398-DDM-010 or 1398-DDM-010X, 1398-DDM-020 or 1398-DDM-020X, 1398-DDM-050 or 1398-DDM-050X, 1398-DDM-075 or 1398-DDM-075X, 1398-DDM-150 or 1398-DDM-150X Dielectric Withstanding Voltage (HI-P
PAGE 292
G-2 Specifications Item Selectable (5) ENABLE Digital Outputs Selectable (4) BRAKE READY Digital I/O Power Supply Analog Inputs Positive Current Limit (+I LIMIT) Negative Current Limit (-I LIMIT) COMMAND Analog Outputs ANALOG1 ANALOG2 Auxiliary Encoder Signal Input 5 Volt Power Supply Motor Encoder Output Specification 24 Volt, Optically Isolated, Single ended, Active High, Current Sinking, 4.5 mA nominal 24 Volt, Optically Isolated, Single ended, Active High, Current Sinking, 4.
PAGE 293
Specifications Item Update Rate -3dB Bandwidth -45° Bandwidth Ripple Resolution Position Regulation Type Filters Low Pass Software Controls Data Collection (2) G-3 Specification 5 kHz 150 Hz 50 Hz ±2 RPM @ 1000 RPM 16-bit Digital, PID with Feedforward Digital, 0 - 1000 Hz, -3 dB Bandwidth, Selectable 128 samples @ 5 kHz Sample Rate Firmware Field Upgradeable via Flash Memory Operating Modes Torque or Velocity Command Sources Analog Auxiliary Encoder Presets Step/Direction CW/CCW Indexing Autotunin
PAGE 294
G-4 Specifications Item Run-Time Faults Specification Motor Overtemperature Bus Overvoltage IPM Fault Overspeed Excess Error Encoder State Change Encoder Line Break Fuse Illegal Hall State Selectable Digital Inputs Drive Mode Select Integrator Inhibit Follower Enable Forward Enable Reverse Enable Operation Mode Override Preset Selects Start Index Define Home Remove Command Offset Start Homing Sensor Selectable Digital Outputs In-Position Within Window Zero Speed Speed Window ± Current Limit Up To Spe
PAGE 295
Specifications G-5 Power Table G.
PAGE 296
G-6 Specifications Table G.1: ULTRA 200 Series Power Ratings (continued) 1398-DDM010, 1398-DDM010X 1398-DDM020, 1398-DDM020X 1398-DDM030, 1398-DDM030X 1398-DDM075, 1398-DDM075X 1398-DDM150, 1398-DDM150X 1170 1950 2730 4290 7520 1.25 2.5 3.75 (kWatts @ 240 Vrms) 2.5 5 7.5 14, 1∅ 20, 3∅ 36 Continuous Power Output2 (kWatts @ 120 Vrms) 0.6 1.2 1.8 3.5 (kWatts @ 240 Vrms) 1.0 2.0 3 7.5, 3∅ Bus Capacitance (µF) Peak Power Outputb (kWatts @ 120 Vrms) a.
PAGE 297
Specifications Power Dissipation Current as % of Rated Continuous Current G-7 The ULTRA 200 Series controller dissipates power that results in cabinet heating. The following table lists power dissipation values for the ULTRA 200 Series drives. Calculate the cabinet cooling requirements using the power dissipation information and formulas below.
PAGE 298
G-8 Specifications Publication 1398-5.
PAGE 299
Index HelpIndex A ABS Input G-1 Absolute Indexing 8-39 AC Bus 7-7 Line Filters 5-7 Power 7-7 see also Power Accessories A-1 Address Switch G-1 Agency Approvals G-1 Allen-Bradley 9/Series B-30 Altitude G-1 AM Line 11-8 Analog 6-44 Connections 6-44 Controller 8-1 Inputs G-2 COMMAND signal G-2 Current Limit 6-14 Outputs 11-14, G-2 Analog Controller 8-1 Application Example, see Example Auto Tune Guidelines 9-4 Overspeed Parameter 9-5 Procedure 9-4 Auxiliary Encoder Error, see Troubleshooting Auxiliary Encoder
PAGE 300
Index-2 Drive Addressing Serial Communications 6-36 TouchPad Defaults C-1 Default Parameters G-7 Installation Interface Connections 5-5 Mechanical Requirements 5-1 Storage 4-7 Dynamic Braking Resistors F-1 F Firmware 3-4 Displaying Revision Level 3-4 Hexadecimal Files 3-4 Upgrading 3-4 Fuses A-2 Inrush Current 7-10 Replacement 11-1 G E EEPROM G-2 Electromagnetic Compatibility (EMC) AC Line Filters E-3 European Union Directives 5-6 Filtering E-2 Grounding E-5 Guidelines Design E-6 General 5-6 System E-1 S
PAGE 301
Index-3 J1 6-1 J2 6-27 J3 6-31 J4 and J5 6-34 Motor Encoder Signal 6-17 Output Circuit Examples 6-11 Power 6-3 Selectable Outputs 6-9 Wiring 5-6 see also Troubleshooting I/O Connectors Auxiliary Port 6-31 Controller 6-1 Encoder 6-27 Interface Cable Examples 6-21 J1 6-26 J2 6-27, 6-30 J3 6-31 J4 and J5 6-34 I/O Power, see Power I-gain, defined 9-6 Illegal Hall State 11-8 IM Line, see Troubleshooting Incremental Indexing 8-27 Indexing Absolute 8-39 Incremental 8-27 Registration 8-33 Indicators DC Bus 10-1 St
PAGE 302
Index-4 Procedure Position Loop 9-9 Velocity Loop 9-8 Velocity Loop Examples 9-10 Mechanical Installation 5-1 Mechanical Resonance Possible Causes 9-2 Tuning Guidelines 9-2 Microcontroller Type G-2 Modifying User Units, see User Units Motor Cabling 7-3, B-21–?? Custom 2-6, D-1 Default Parameters G-7 Identification Table C-10, C-11 Information Missing 11-10 Overload Protection G-2 Overspeed 11-9 Overtemperature 11-7 Phase Connections 7-3 Thermal Protection 11-10 see also Troubleshooting Motor Encoder Error
PAGE 303
Index-5 Communication Test 11-11 Single Axis Set-up 6-38 RS-485 Multiple Axes Set-up 6-41 Run-Time Error Codes 10-2 Faults G-4 S Safety Guidelines 1-1 Sample Application, see Example Selectable I/O Digital Inputs G-4 Digital Outputs G-4 Selectable, see Specifications Self-Test C-2 Separation of Power Sources 7-9, 7-10 Serial Communications Drive Addressing 6-36, 6-38 RS-232 Single Axis Set-up 6-38 RS-485 Multiple Axes Set-up 6-41 Hardware Addressing 6-36 Ports J4 and J5 6-34 Serial Interface Cables Schema
PAGE 304
Index-6 Serial Protocol G-3 Shock G-1 Shunt Power Continuous G-5 Peak G-5 Speed Control Command G-4 Speed Regulation Bandwidth G-3 Resolution G-3 Ripple G-3 Update Rate G-3 Status Display G-1 Storage Temperature G-1 Thermostat Inputs G-1 Vibration G-1 Weight G-1 Speed Control Command G-4 Starting and Quitting Software 3-3 Status Display G-1 Status LED 10-1 Storage Temperature G-1 Storing the Drive 4-7 Symbols and Conventions Intro-19 T TB-1 7-7 AC Power Terminals 7-1 Auxiliary Power 7-10 DC Bus Terminals
PAGE 305
Index-7 U Unpacking the Drive 4-1 Update Rate, see Specifications User Units 8-45 V Velocity Loop Diagram 9-3 Version Level Firmware 3-4 Software 3-3 Version Level, TouchPad C-1 Vibration G-1 W Warning Classifications Intro-20 Defined Intro-20 Weight G-1 Wire Size 7-9, 7-10 Wiring I/O 5-6 Wording Conventions Intro-19 Publication 1398-5.
PAGE 306
Index-8 Publication 1398-5.
PAGE 307
Publication 1398-5.0 – October 1998 PN 0013-1042-002 Rev A Copyright 1997 Allen-Bradley Company, Inc.