Allen-Bradley 1394 SERCOS User Manual

Allen-Bradley

1394 Digital AC

Multi-Axis

Motion Control

System

(Catalog No. 1394-50)

User

Manual

Important User

Information

Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards.

The illustrations, charts, sample programs and layout examples shown in this guide are intended solely for purposes of example. Since there are many variables and requirements associated with any particular installation, Allen-Bradley does not assume responsibility or liability

(to include intellectual property liability) for actual use based upon the examples shown in this publication.

Allen-Bradley publication SGI-1.1,

Safety Guidelines for the

Application, Installation, and Maintenance of Solid-State Control

(available from your local Allen-Bradley office), describes some important differences between solid-state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication.

Reproduction of the contents of this copyrighted publication, in whole or in part, without written permission of Allen-Bradley Company, Inc., is prohibited.

Throughout this manual we use notes to make you aware of safety considerations:

!

ATTENTION:

Identifies information about practices or circumstances that can lead to personal injury or death, property damage or economic loss.

Attention statements help you to:

• identify a hazard

• avoid the hazard

• recognize the consequences

Important:

Identifies information that is critical for successful application and understanding of the product.

GML, IMC, Flex I/O, PanelView, Data Highway Plus, SCANport, SLC, SLC 5/03, SLC 5/04, and SLC 5/05 are trademarks of

Allen-Bradley Company, Inc.

PLC is a registered trademark of Allen-Bradley Company, Inc.

Preface

Overview

Installing Your 1394

(applies to all systems)

Table of Contents

Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-1

Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-1

Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-2

Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-3

Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-3

Module Series Designator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-3

1394 Product Receiving and Storage Responsibility . . . . . . . . . . . . . . . . .P-4

Allen-Bradley Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-4

Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-4

Technical Product Assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .P-4

Chapter 1

The 1394 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

Series Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2

1394 System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3

GMC System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3

CNC Interface System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

SERCOS System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6

Analog Servo System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7

9/440 CNC System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-8

What is a 1394 System?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-9

System Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-10

Axis Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-11

External Shunt Module (used with 22 kW System) . . . . . . . . . . . . . . . 1-11

1326AB Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-12

1326AS Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-12

1326AH Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-13

Drive Interface Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-14

DC Link Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-14

Standard Features of the 1394 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-15

Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-15

Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-16

Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-16

Chapter 2

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

Complying With European Union Directives . . . . . . . . . . . . . . . . . . . . . . . .2-1

EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

Before Mounting Your System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

Storing Your 1394 Before Installation . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

Unpacking Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

System Mounting Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

Determining Your System Mounting Hole Layout . . . . . . . . . . . . . . . . .2-4

Mounting Your 1394 Through the Back of the Cabinet . . . . . . . . . . . . . 2-6

Bonding Your System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6

Bonding Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6

Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8

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ii

Table of Contents

Wiring System, Axis, and Shunt

Modules, and Motors

(for all systems)

Mounting Your 1394 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

Mounting Your 1394-DCLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

Mounting the External Shunt Resistor for 5 and 10 kW System Modules 2-11

Mounting External Shunt Modules for 22 kW System Modules . . . . . . . . 2-11

Shunt Module Mounting Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

Shunt Module Mounted Outside the Cabinet . . . . . . . . . . . . . . . . . . . 2-13

Shunt Module Mounted Inside the Cabinet . . . . . . . . . . . . . . . . . . . . . 2-14

Mounting the Shunt Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

Mounting Considerations for GMC and GMC Turbo Systems . . . . . . . . . 2-16

Mounting GMC and GMC Turbo Systems Next to Flex I/O . . . . . . . . . 2-16

Chapter 3

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Finding Additional Wiring Information for 1394 Systems . . . . . . . . . . . . . . 3-1

Understanding Basic Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Routing High and Low Voltage Cables . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

System Module Wire Sizes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

EMI/RFI Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

EMI/RFI Bonding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Input Power Conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Determining Your Type of Input Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

Grounded Power Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

Ungrounded Power Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

Setting the Ground Jumper in a 5 or 10 kW System Module for

Ungrounded Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Setting the Ground Jumper in a 22 kW System Module for

Ungrounded Power Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

Grounding Your 1394 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

Grounding your System to the Subpanel . . . . . . . . . . . . . . . . . . . . . . 3-12

Grounding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13

Wiring System Module Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13

Terminal Block Locations for 5 and 10 kW System Module

(Series A and B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

Connector Locations for 5 and 10 kW System Module (Series C) . . . 3-15

Terminal Block Locations for a 22 kW System Module . . . . . . . . . . . . 3-16

Required Tools and Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

Connecting Power Wiring for 5 and 10 kW (Series A and B) and 22 kW System Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

Connecting Power Wiring for 5 and 10 kW System Modules

(Series C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

Connecting Motor Power to Axis Modules . . . . . . . . . . . . . . . . . . . . . . . . 3-19

Connecting Thermal and Brake Leads to Axis Modules . . . . . . . . . . . 3-20

Required Tools and Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

Wiring Motor Power, Thermals and Brakes . . . . . . . . . . . . . . . . . . . . . 3-21

Connecting Feedback to System Modules. . . . . . . . . . . . . . . . . . . . . . . . 3-24

Connecting Your Motor Cables to Motors. . . . . . . . . . . . . . . . . . . . . . . . . 3-26

Connecting Your External Shunt Resistor . . . . . . . . . . . . . . . . . . . . . . . . 3-26

Connecting Your External Shunt Resistor (Series A and B) . . . . . . . . 3-27

Connecting Your External Shunt Resistor (Series C) . . . . . . . . . . . . . 3-28

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Wiring 1394 GMC and GMC Turbo

Systems

Table of Contents

iii

Connecting Your Shunt Module (required for 22 kW system) . . . . . . . . . 3-28

Required Tools and Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28

Wiring the Shunt Module Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29

Wiring Shunt Module Fan Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33

Chapter 4

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Finding Additional Wiring Information for 1394 Systems . . . . . . . . . . . . . . 4-1

Understanding GMC and GMC Turbo Wiring and Connections . . . . . . . . 4-1

Understanding Input Wiring Board Layout. . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Using the Terminal Operating Tool to Insert Wires . . . . . . . . . . . . . . . . 4-4

Input Wiring Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . 4-5

Connecting Your Communication Cables . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

Encoder Feedback Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

Data Highway Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

AxisLink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

GMC Turbo System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

Remote I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

Flex I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

SLC Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17

Connecting a GMC and GMC Turbo to a 1394-DIM . . . . . . . . . . . . . . . . 4-19

1394-DIM System Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

1394-DIM with 1398-DDMxxx System Example . . . . . . . . . . . . . . . . 4-20

1394-DIM Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21

Configuration Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

1394-System Module Input Power Wiring When

Not Using Axis Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

Understanding DIM Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

DROK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

Drive Enable Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

Analog Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

Wiring and Configuring an External Drive to the 1394-DIM. . . . . . . . . . . 4-26

Connecting the Remote Drive to the DIM Connector . . . . . . . . . . . . . 4-26

Connecting the Position Feedback Encoder to the Feedback Input . . 4-29

Connecting the DIM Ground Wire to the 1394 System Ground . . . . . 4-30

Installing the Resolver Feedback Input Plug . . . . . . . . . . . . . . . . . . . 4-30

Chapter 5

Wiring Your 1394 Analog Servo System

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Finding Additional Wiring Information for 1394 Systems . . . . . . . . . . . . . . 5-1

Understanding Analog Servo Wiring and Connections . . . . . . . . . . . . . . . 5-1

Input Wiring Board Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Using the Terminal Operating Tool to Insert Wires . . . . . . . . . . . . . . . . 5-2

Input Wiring Board Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Connecting AQB and SCANport Cables . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

Analog Servo Encoder (A Quad B) Wiring . . . . . . . . . . . . . . . . . . . . . . 5-5

SCANport Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7

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Table of Contents

Commissioning 1394 GMC and GMC

Turbo Systems

Commissioning Your 1394 Analog

Servo System

Configuring Your 1394 Analog Servo

System

Troubleshooting

Chapter 6

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

General Startup Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Applying Power to the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

Setting Up Your System Using GML Commander . . . . . . . . . . . . . . . . . . . 6-3

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

Preparing the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

Setting Up Your System Using GML 3.

x.x . . . . . . . . . . . . . . . . . . . . . . . . . 6-5

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5

Preparing the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5

Chapter 7

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

General Startup Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

Setting Up Your 1394 Analog Servo System . . . . . . . . . . . . . . . . . . . . . . . 7-2

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

Exiting Before You’re Finished . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

Continuing From Where You Left Off . . . . . . . . . . . . . . . . . . . . . . . . 7-2

Removing and Re-Applying Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

Setting Up at the System Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

Setting Up Analog Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

Defining Your Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

Defining a Reference Source for Your Axes . . . . . . . . . . . . . . . . . . . . . 7-6

Defining Analog Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

Defining Analog Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8

Defining Digital Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8

Defining Digital Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

Defining Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10

Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11

Before You Perform an Auto Tune . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11

Performing the Auto Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11

Chapter 8

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

Where to Look for Other Programming Information . . . . . . . . . . . . . . . . . . 8-1

Conventions Used in this Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

Understanding Analog Servo System Parameters. . . . . . . . . . . . . . . . . . . 8-3

1394 Analog Servo Software Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . 8-28

Chapter 9

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

Understanding How to Detect a Problem. . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

Understanding System and Axis Module LEDs . . . . . . . . . . . . . . . . . . . . . 9-2

Understanding System Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5

Finding GMC Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5

Viewing Instantaneous Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5

Viewing Continuous Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6

Finding Analog Servo System Faults . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7

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Specifications

Table of Contents

v

Finding 9/440 Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7

Finding CNC Interface Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8

Understanding GMC Turbo and GMC Controller Faults. . . . . . . . . . . . . . . 9-9

Understanding Analog Servo System Module Faults . . . . . . . . . . . . . . . 9-10

Understanding Analog Servo System Axis Faults . . . . . . . . . . . . . . . 9-12

Troubleshooting General System Problems. . . . . . . . . . . . . . . . . . . . . . . 9-13

Replacing System and Axis Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16

Removing an Axis Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17

Installing a Replacement Axis Module . . . . . . . . . . . . . . . . . . . . . . . . 9-18

Removing a System Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19

Installing a Replacement System Module . . . . . . . . . . . . . . . . . . . . . 9-20

Replacing System Modules of the Same Series . . . . . . . . . . . . . . 9-22

Replacing System Modules of a Different Series . . . . . . . . . . . . . . 9-22

Completing Connections and Downloading Parameters . . . . . . . . 9-22

Checking for a Blown Fuse in the 1394-DCLM . . . . . . . . . . . . . . . . . . . . 9-23

Replacing the 1394 Shunt Module Fuse . . . . . . . . . . . . . . . . . . . . . . . . . 9-25

Replacing the 1394-SR10A Fuse . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-25

Replacing the 1394-SR9A, -SR9AF, -SR36A, and -SR36AF Fuse . . 9-26

Replacing the AM50 and AM75 Axis Module Fan . . . . . . . . . . . . . . . . . . 9-28

Removing the Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-28

Installing the New Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-31

Appendix A

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

System Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

System Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

Axis Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

Contact Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

DC Link Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4

Drive Interface Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4

Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4

User-Supplied Contactor (M1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5

User-Supplied Line Input Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5

User-Supplied 24V Logic Input Power . . . . . . . . . . . . . . . . . . . . . . . . . A-5

Input Transformer for 24V Control Power . . . . . . . . . . . . . . . . . . . . . . . A-6

User-Supplied 5V Auxiliary Encoder Power Supply . . . . . . . . . . . . . . . A-6

Circuit Breakers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6

External Shunt Resistor Kit for 5 and 10 kW Systems . . . . . . . . . . . . . A-8

1394 Shunt Module for the 22 kW System . . . . . . . . . . . . . . . . . . . . . . A-8

Environmental Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9

Power Dissipation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10

System Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10

Axis Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10

DC Link Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-11

Drive Interface Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-11

Internal Shunt Resistor for the 5 and 10 kW System (standard) . . . . A-11

Communication Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-11

Encoder Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-11

Publication 1394- 5.0 — May 2000

vi

Table of Contents

Interconnect and CE Diagrams

Using the Human Interface Module

(HIM)

Dedicated Discrete I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . A-12

Serial I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-12

DH-485 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-13

Flex I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-13

GMC System Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-14

Remote I/O Adapter Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . A-15

AxisLink Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-16

Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-17

1394 System Module Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . A-17

Axis Module Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-18

Filter Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20

External Shunt Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-22

Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-25

Servo Motor Performance Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-32

1326AB Performance Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-32

1326AS Performance Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-33

Appendix B

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

GMC, Analog Servo, and CNC Interface Interconnect Diagrams. . . . . . . . B-2

1394 GMC Interconnections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3

1394 Analog Servo Interconnections . . . . . . . . . . . . . . . . . . . . . . . . . . B-9

1394 CNC Interconnections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-12

Thermal Interconnect Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-14

1394 GMC Systems (1394 x-SJTxx-C and -T) . . . . . . . . . . . . . . . . . . B-15

1394 GMC Systems (1394C-SJT xx-L) . . . . . . . . . . . . . . . . . . . . . . . . B-19

1394 Analog Servo Systems (1394 x-SJTxx-A) . . . . . . . . . . . . . . . . . B-21

Cable Pin-outs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-23

1326 Cable Pin-outs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-23

1394 Cable Pin-outs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-26

Grounding for 1394 CE Requirements . . . . . . . . . . . . . . . . . . . . . . . . B-30

Appendix C

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1

The Human Interface Module (HIM). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1

Understanding HIM Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2

Understanding HIM Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4

Understanding HIM Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-5

Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-5

Program Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-5

Link Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-5

Startup Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-5

EEProm Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-5

Search Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6

Control Status Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-6

Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-6

Linking Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6

Using Copy Cat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-7

Copying a System’s Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-8

Publication 1394-5.0 — May 2000

Catalog Numbers

Table of Contents

vii

Pasting a System’s Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-9

Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-10

Getting an Overview of HIM Programming . . . . . . . . . . . . . . . . . . . . . C-11

Removing the HIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-14

Removing the HIM from the HIM Cradle . . . . . . . . . . . . . . . . . . . . . . C-14

Disconnecting the HIM from the System Module . . . . . . . . . . . . . . . . C-14

Setting Up the HIM for Hand-Held Use . . . . . . . . . . . . . . . . . . . . . . . C-15

Placing the HIM in the HIM Cradle . . . . . . . . . . . . . . . . . . . . . . . . . . . C-16

Appendix D

Understanding Catalog Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1

Determining Catalog Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1

System Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2

1394 System Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2

9/440 System Module (Resolver based systems) . . . . . . . . . . . . . . . . D-2

CNC Serial Drive System Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-3

9/440 High Resolution/Absolute CNC System Module . . . . . . . . . . . . D-3

Axis Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-4

External Shunt Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-4

Shunt Resistor Kit for 5 and 10 kW System Modules . . . . . . . . . . . . . . D-4

Shunt Modules for 22 kW System Modules . . . . . . . . . . . . . . . . . . . . . D-4

System Module Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-5

Control Interface Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-5

Single Axis Flying Lead Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-5

Two-Axis Prewired Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-5

1326AB Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-6

1326 Shaft Oil Seal Kit for 1326AB Motors . . . . . . . . . . . . . . . . . . . . . D-6

Motor Junction Box Kit for 1326AB Motors . . . . . . . . . . . . . . . . . . . . . . D-7

Feedback Mounting Adapter Kit for 1326AB Motors . . . . . . . . . . . . . . D-7

1326AS Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-8

1326 Shaft Oil Seal Kit for 1326AS Motors . . . . . . . . . . . . . . . . . . . . . D-8

Motor Junction Box Kit for 1326AS Motors . . . . . . . . . . . . . . . . . . . . . . D-9

Feedback Mounting Adapter Kit for 1326AS Motors . . . . . . . . . . . . . . D-9

1326AH Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-10

Power and Feedback Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-11

Motor Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-11

Motor Feedback Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-12

Encoder Feedback Cables for 1326AB Motors . . . . . . . . . . . . . . . . . D-12

Miscellaneous Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-13

Publication 1394- 5.0 — May 2000

viii

Table of Contents

Publication 1394-5.0 — May 2000

Who Should Use this Manual

Purpose of this Manual

Preface

Read this preface to familiarize yourself with the rest of the manual. This preface covers the following topics:

• Who should use this manual

• The purpose of this manual

• Contents of this manual

• Related documentation

• Conventions used in this manual

• 1394 product receiving and storage responsibility

• Allen-Bradley support

Use this manual if you are responsible for designing, installing, programming, or troubleshooting the Allen-Bradley 1394 family of products.

If you do not have a basic understanding of the 1394, contact your local

Allen-Bradley representative for information on available training courses before using this product.

This manual is a user guide for the 1394. It gives you an overview of the

1394 family and describes the procedures you use to install, set up, use, and troubleshoot the 1394.

Publication 1394-5.0 — May 2000

P-2

Preface

Contents of this Manual

Chapter

1

2

3

4

5

6

7

8

9

Appendix A

Appendix B

Appendix C

Appendix D

Preface

Overview

Title

Installing Your 1394

(applies to all systems)

Wiring System, Axis, and

Shunt Modules, and

Motors (for all systems)

Wiring 1394 GMC and

GMC Turbo Systems

Wiring Your 1394 Analog

Servo System

Commissioning 1394

GMC and GMC Turbo

Systems

Commissioning Your 1394

Analog Servo System

Configuring Your 1394

Analog Servo System

Troubleshooting

Specifications

Interconnect and CE

Diagrams

Using the Human Interface

Module (HIM)

Catalog Numbers

Provides mounting information for your 1394 system.

Contents

Describes the purpose, background, and scope of this manual. Also specifies the audience for whom this manual is intended.

Explains and illustrates the theory behind the

1394’s operation. Covers hardware and software features.

Provides information on how to connect your

1394 system components together.

Provides information on how to wire your 1394

GMC and GMC Turbo System Modules.

Provides information on how to wire your 1394

Analog Servo System Module.

Provides information about parameters used to configure your 1394 GMC and GMC Turbo.

Provides information about parameters used to configure your 1394 Analog Servo Module.

Provides supplemental information on using communication tools.

Explains how to interpret and correct problems with your 1394 system.

Provides physical, electrical, environmental, and functional specifications for the 1394.

Provides diagrams showing the interconnections for the available 1394 configurations and installation requirements to meet CE directives.

Provides information that will help you to use the

HIM.

Provides catalog number descriptions of 1394 and related products.

Publication 1394-5.0 — May 2000

Preface

P-3

Related Documentation

The following documents contain additional information concerning related Allen-Bradley products. To obtain a copy, contact your local

Allen-Bradley office or distributor.

For: Read This Document: Document Number:

A description and specifications for the 1394 family

A description and specifications for the 1326A Torque Plus

Motors used with the 1394

A description and specifications for the 1326A Rare Earth

Motors used with the 1394

Product information regarding cables used with the 1326AB and

1326AS motors

A user guide for GML



programming to be used with the 1394

GMC System.

An overview of the Flex I/O



products

Specifications for the Flex I/O products

An overview of the PanelView



550/600 product

An overview of the 9/Series products

1394 Digital, AC, Multi-Axis Motion Control

System Product Data

1326AB 460V, Torque Plus Series, AC Servo

Motors Product Data

1326AS Series 460V, Lo w Inertia, Brushless

Servo Motors Product Data

1326 Cables for 460V AC Servo Motors

GML Commander Reference Manual

Flex I/O Product Profile

Flex I/O Product Data

PanelView 550/600 Product Profile

9/Series CNC Product Profile

1394-2.0

1326A-2.9

1326A-2.10

1326A-2.11

GMLC-5.2

1794-1.14

1794-2.1

2711-1.13

8520-1.3

A manual that provides you information on RIO communications Installation Guidelines for the Twinaxial Cable 92-D1770-BCO

A manual that assists you with integrating and maintaining the

9/Series to be used with the 1394 CNC Interface System

9/Series Integration and Maintenance Manual 8520-6.2

An article on wire sizes and types for grounding electrical equipment

A glossary of industrial automation terms and abbreviations

National Electrical Code Published by the National Fire

Protection Association of Boston, MA.

Allen-Bradley Industrial Automation Glossary AG-7.1

Conventions Used in this Manual

Module Series Designator

The following conventions are used throughout this manual:

• Bulleted lists such as this one provide information, not procedural steps.

• Numbered lists provide sequential steps or hierarchical information.

• Words that you type or select appear in bold.

• When we refer you to another location, the section or chapter name appears in italics.

To determine the series designator, check the series field on the Allen-

Bradley label attached to your system, axis, and shunt modules. The series designator is located as shown in the example below.

Figure P.1

Allen-Bradley Label

Shunt Module Example

R

FOR FUSE REPLACEMENT USE:

BUSSMAN CAT. NO.

FOR USE WITH 1394-SJT22-X SYSTEM MODULE

Series Field

1394 Digital Servo Controller

300W Shunt Module

ALLEN-BRADLEY

BULLETIN 1394 300W SHUNT MODULE

CAT.

PART SER.

INPUT DC INPUT AC

FOR FUSE REPLACEMENT USE:

BUSSMAN CAT. NO.

FOR USE WITH 1394-SJT22-X SYSTEM MODULE

Publication 1394-5.0 — May 2000

P-4

Preface

1394 Product Receiving and

Storage Responsibility

Allen-Bradley Support

You, the customer, are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company.

Check the item(s) you receive against your purchase order. If any items are obviously damaged, it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill. Should you discover any concealed damage during unpacking, you are responsible for notifying the freight agent. Leave the shipping container intact and request that the freight agent make a visual inspection of the equipment.

Leave the product in its shipping container prior to installation. If you are not going to use the equipment for a period of time, store it:

• in a clean, dry location

• within an ambient temperature range of 0 to 65° C (32 to 149° F)

• within a relative humidity range of 5% to 95%, non-condensing

• in an area where it cannot be exposed to a corrosive atmosphere

• in a non-construction area

Allen-Bradley offers support services worldwide, with over 75 Sales/

Support Offices, 512 authorized Distributors and 260 authorized

Systems Integrators located throughout the United States alone, plus

Allen-Bradley representatives in every major country in the world.

Local Product Support

Contact your local Allen-Bradley representative for:

• sales and order support

• product technical training

• warranty support

• support service agreements

Technical Product Assistance

If you need to contact Allen-Bradley for technical assistance, please review the information in the

Troubleshooting

chapter first. Then call your local Allen-Bradley representative. For the quickest possible response, please have the catalog numbers of your products available when you call.

Publication 1394-5.0 — May 2000

The 1394 System

Chapter

1

Overview

The 1394 is a modular, multi-axis motion control and drive system family. Its unique design allows the 1394 to be used as an integrated motion controller and drive system (GMC) with Turbo or standard

IMC



S Class Compact functionality, an integrated 9/440 CNC system, a 9/Series CNC digital interface drive system, a SERCOS servo drive system, or an analog servo drive system.

All 1394 systems provide direct line connection (transformerless) for

360 and 480V three-phase input power, efficient IGBT power conversion, and slide-and-lock, module-to-module connection systems. Each system module can be configured with up to four axis modules, with each axis module interfacing to a motor. The 1394 provides significant panel space and interconnect savings.

Series Note

Series C system modules (catalog numbers 1394C-SJT

xx

-

x

) and axis modules (catalog numbers 1394C-AM

xx

and -AM

xx

-IH) include features not available on Series A and B modules (catalog numbers

1394-SJT

xx

-

x

and 1394-AM

xx

).

System Module Features:

Connector (plug-in) input power termination

Cable Clamp (strain relief, shield bond)

EMI filter (24V input power, registration)

Smart Power (Soft Start, power monitor)

Feature Availability

Series C

Yes

Yes

Yes

Yes

Series A and B

No

No

No

22 kW systems only

Axis Module Features:

Cable Clamp (strain relief, shield bond)

EMI filter (motor brake and thermal circuit)

Feature Availability

Series C

Yes

Yes

Series A and B

No

No

Series C system modules are interchangeable with Series A and B.

Likewise, Series A, B, and C axis modules are interchangeable with each other.

Series C is recommended for all new applications. See the tables above for feature availability. For help in determining the series of your module(s), refer to the section

Module Series Designator

in the

Preface

.

Publication 1394-5.0 — May 2000

1-2

Overview

Safety Precautions

The following general precautions apply to the 1394:

!

ATTENTION:

Only those familiar with the 1394

Digital, AC, Multi-Axis Motion Control System and associated machinery should plan or implement the installation, startup, and subsequent maintenance of the system. Failure to comply can result in personal injury and/or equipment damage.

ATTENTION:

This product contains stored energy devices. To avoid hazard of electrical shock, wait five minutes after removing power or verify that all voltage on the capacitors has been discharged before attempting to service, repair, or remove this unit. You should only attempt the procedures in this manual if you are qualified to do so and familiar with solid-state control equipment and the safety procedures in publication NFPA 70E.

ATTENTION:

The system integrator is responsible for local safety and electrical codes.

!

ATTENTION:

An incorrectly applied or installed drive can result in component damage or a reduction in product life. Wiring or application errors, such as undersizing the motor, incorrect or inadequate AC supply, or excessive ambient temperatures can result in malfunction of the drive.

ATTENTION:

This drive contains ESD

(Electrostatic Discharge) sensitive parts and assemblies. Static control precautions are required when installing, testing, servicing, or repairing this assembly. Component damage can result if ESD control procedures are not followed. If you are not familiar with static control procedures, refer to Allen-

Bradley publication 8000-4.5.2, Guarding Against

Electrostatic Damage or any other applicable ESD

Protection Handbook.

Publication 1394-5.0 — May 2000

1394 System Overview

PanelView 550

TM

SLC 500

Overview

1-3

GMC System

The 1394 GMC System provides all the functionality of the IMC S

Class Compact Motion Controller and power conversion within the

1394 system module. Allen-Bradley offers two versions of the 1394

GMC system module (Standard GMC and GMC Turbo). Both systems are completely programmed and commissioned using

GML



(Graphical Motion Control Language), offer Allen-Bradley

DH485, RS-232, and RS-422 as standard communications, and have

Remote I/O and AxisLink available as communication options.

The 1394

x

-SJT

xx

-C (Standard GMC) system supports four axis modules and provides four channels of auxiliary encoder input. The

1394C-SJT

xx

-L (Standard GMC) provides the same functionality of the 1394

x

-SJT

xx

-C, but supports only one axis module and provides two channels of auxiliary encoder input.

In addition, the 1394

x

-SJT

xx

-T (GMC Turbo) provides more GML application program memory and executes the programs faster. The

1394

x

-SJT

xx

-T offers 64K of memory with a 32-bit processor while the 1394

x

-SJT

xx

-C offers 32K of program memory with a 16-bit processor. The 1394

x

-SJT

xx

-T also includes a direct, high speed link to the SLC 5/03



, 5/04

, or 5/05

 that simplifies the programming required to transfer data between the 1394

x

-SJT

xx

-T and the SLC



.

Figure 1.1

Two GMC Turbo Systems (1394 x -SJT xx -T)

RIO

AxisLink

AxisLink

ALEC

845H

Encoder

SLC 5/03, 5/04, or 5/05

1

DH-485

1746-C7 or -C9

1

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

GML

RS-232/-422

1394 x-SJTxx-T

1326AB and 1326AS Motors

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

1394 x-SJTxx-T

1326AB and 1326AS Motors

Discrete Outputs

Discrete Inputs

Analog Outputs

Analog Inputs

Axis 0

Reset

Axis 1

A

10

9

8

7

6

8

7

6

5

B

5

4

3

2

1

4

3

2

1

A

B

2

1

A

B

A

8

7

6

5

10

9

8

7

6

B

4

3

2

1

5

4

3

2

1

Flex I/O 4100-AEC

Flex I/O

842A

Encoder

1

This interface is only available with the 1394 x-SJTxx-T system module.

Publication 1394-5.0 — May 2000

1-4

Overview

SLC 500

PanelView 550

DH-485

GML

RS-232/-422

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Figure 1.2

Two Standard GMC Systems (1394 x -SJT xx -C and 1394C-SJTxx -L)

RIO

AxisLink

ALEC

845H

Encoder

AxisLink

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

1394C-SJT xx-L

1326AB or 1326AS Motor

1394 x-SJTxx-C

1326AB and 1326AS Motors

845H Encoder

Flex I/O

Discrete Outputs

Discrete Inputs

Analog Outputs

Analog Inputs

Reset

Axis 0 Axis 1

A

10

9

8

7

6

B

8

7

6

5

4

3

2

1

5

4

3

2

1

A

B

2

1

A

B

A

8

7

5

10

6

9

8

7

6

B

4

3

2

1

5

4

3

2

1

Flex I/O 4100-AEC

842A

Encoder

Publication 1394-5.0 — May 2000

ODS Software

Overview

1-5

CNC Interface System

The 1394 9/Series CNC Interface system (1394-SJT

xx

-E) provides a digital servo system to be used with the 9/260 and 9/290 CNC. This system provides all power electronics and uses a cost-saving digital interface approach. Servo control for this system is handled by the 9/

Series CNC. A fiber optic I/O ring is provided to the 1394 and the system is completely interfaced with and programmed using ODS

(Off-Line Development System) and the CNC operator panel. Allen-

Bradley Remote I/O, MMS/Ethernet (9/260 and 9/290 only), and

Data Highway Plus



(9/260 and 9/290 only) communications are available options with the 9/Series CNC interface system.

Figure 1.3

CNC Interface System

1746 I/O

Fiber Optic Ring

Fiber Optic Ring

Operator Panel

MTB Panel

RIO

PLC

R

9/230, 9/260, or

9/290 CNC

Fiber Optic Ring

1394

1326AB Motors

Fiber Optic Ring

Publication 1394-5.0 — May 2000

1-6

Overview

ControlLogix Chassis

SERCOS System

The 1394 SERCOS system module (1394C-SJT

xx

-D) provides a digital servo drive system with a fiber-optic digital network interface.

It can be used as a velocity or torque control system and is quickly commissioned with the Allen-Bradley SERCOS Interface Module

(Bulletin 1756 with 1756-M

xx

SE), which provides access to auto tuning and start-up prompting. The 1394 also provides a SCANport

 interface as a standard feature.

1756-M xxSE Interface

For specific installation and wiring information refer to the

1394

SERCOS Multi-Axis Motion Control System User Manual

(publication 1394-5.20).

Figure 1.4

SERCOS System

1394 SERCOS System

SERCOS System Module

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

1326AB, 1326AS, and MP Series Motors

SERCOS

SERCOS

SERCOS

SERCOS System Module

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

1394 SERCOS System

1326AB, 1326AS, and MP Series Motors

Publication 1394-5.0 — May 2000

Overview

1-7

SLC 500

Analog Servo System

The 1394 Analog Servo system (1394

x

-SJT

xx

-A) provides a digital servo drive system with a traditional

±

10V DC analog interface. It can be used as a velocity or torque control system and is quickly commissioned with the Allen-Bradley universal Bulletin 1201 HIM

(Human Interface Module), which provides access to auto tuning and start-up prompting. The 1394 also provides a SCANport interface as a standard feature.

Figure 1.5

Analog Servo System

Bulletin 1201 HIM

(purchased separately)

RIO

PanelView 550

GML

DH-485

RS-232/-422

IMC S Class

Compact, Control

Logix (or other customer supplied motion controller)

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

1394

Discrete Outputs

Discrete Inputs

Analog Outputs

Analog Inputs

Flex I/O

SCANport

Optional Bulletin 1201

HIM or other remote

SCANport interface

Optional Bulletin 1203

Communication Module

To RIO, Serial, DeviceNET,

SLC, etc.

1326AB and 1326AS Motors

Publication 1394-5.0 — May 2000

1-8

Overview

9/440 CNC System

The 9/440 CNC system module gives you all the power and programming capabilities of a 9/Series CNC, integrated into the compact packaging of the 1394 System Module. The 9/440 CNC

System Module provides terminating points for:

• Resolvers

• Encoder feedback (for optional position feedback or spindle control)

• Two serial ports (for communicating with the 9/Series ODS or other peripherals such as printers or tape readers)

• E-STOP string and status

• Spindle outputs

• 9/Series fiber optic ring connection

• Touch probe interface

• Remote I/O connection

There are three versions of the 9/440 CNC System:

Number of

Version:

Catalog

Number:

Axis modules:

Resolver feedback ports:

Analog outputs:

Encoder feedback ports:

1 Axis 9/440 8520-1S x 1 1

3 Axis 9/440 8520-3S x 3

3

1

2

2

0

1

1

4 Axis 9/440 8520-4S x 4

4

2

2

3

2

1

You can connect a total of three feedback devices. If you use three resolvers, the encoder port (J11) is not available. If you use the encoder feedback port (J11), the third resolver feedback (J3) is disabled.

2

You can connect a total of six feedback devices. If you use four resolvers, the last encoder port (J11) is not available. If you use all three encoder feedback ports, the third resolver feedback (J3) is disabled.

For more information on the 9/440, refer to the

9/Series Integration and Maintenance Manual

(publication 8520-6.2).

Publication 1394-5.0 — May 2000

Figure 1.6

9/440 System

Overview

1-9

What is a 1394 System?

Optical signal cable

Terminal type connection

The 1394 system consists of the following components (catalog number appears in parenthesis):

• One System Module (1394

x

-SJT

xx-x

)

• One to four Axis Modules (1394

x

-AM

xx-xx

)

• One to four servo motors (1326Ax-B

xxxx

)

• One to four power and feedback cables

Also available are the DC Link Module (1394-DCLM) and Drive

Interface Module (1394-DIM).

The:

1394-DCLM

1394-DIM

Is used:

In addition to the axis module(s)

In place of an axis module.

Publication 1394-5.0 — May 2000

1-10

Overview

Axis modules are connected to system modules using slide-and-lock, module-to-module connections. For information on motors and cables, refer to the

1326AB 460V, Torque Plus Series, AC Servo Motors Product

Data

(publication 1326A-2.9),

1326AS Series 460V, Low Inertia,

Brushless Servo Motors Product Data

(publication 1326A-2.10), and

1326 Cables for 460V AC Servo Motors Product Data

(publication

1326A-2.11).

In addition to the equipment shown above, you will need to supply the following:

• Three phase input contactor

• Three phase input fusing

• 24V AC or DC logic power for system module and contactor enable (Analog Servo only)/DRIVEOK power (all modules)

Refer to

Appendix A

for information on these topics.

Note: An external shunt resistor kit (1394-SR10A) is available for 5 and 10 kW systems with regenerative loads that exceed the capacity of the internal 200W shunt resistor provided. Most 5 and 10 kW systems will not require a shunt resistor kit. All 22 kW 1394 based products require an external shunt module

(1394-SR9A

x

or 1394-SR36A

x

). This includes both 1394 and

8520 catalog items.

System Modules

System modules, available with ratings of 5, 10 and 22 kW (at 460V), house the system control PCB and convert 360 to 480VAC, threephase, 50/60 Hz input power to a 530 - 680V DC link voltage. The 5 and 10 kW system modules have an internal shunt resistor with a

200W continuous rating and a peak rating of 40,000W. The 22 kW system module requires an external shunt module.

Figure 1.7

1394 System module

ANGER

RISK OF ELECTRICAL SH

OCK.

EXIST UP TO FIVE MINUT ES

HIGH VOL AGE MAY

REMOVING POWER.

TO FIVE MINUTES AFTER

R.

AFTER REMOVING POWE

Publication 1394-5.0 — May 2000

Overview

1-11

Axis Modules

Axis modules, with continuous output currents (RMS) of 3.0, 4.5, 7.5

23.3 and 35.0A, convert the DC power supplied by the system module to a variable AC voltage. You will require one axis module for every

1326A

x

-B

xxxx

servo motor you plan to run using the 1394. Choose each axis module based on the current requirements of the servo motor.

Figure 1.8

1394 Axis Module

External Shunt Module (used with 22 kW System)

Shunt modules with (rms) power output of 300, 900, 1800 and

3600W continuous, 160,000W peak are available for use with the smart power 22 kW system module. The shunt module dissipates excess regenerative power from the Bulletin 1394 system. You must use one shunt module with each 22 kW smart power system module.

Available in two sizes, each package contains an integral fuse and terminal block. The 3600W package is available with a 115/230V AC cooling fan. Choose your shunt module based on the shunt requirements of the 1326A

x

-B

xxxx

servo motors you plan to run using the 1394.

Note: 5 and 10 kW system modules can use an optional 1400W shunt module kit to dissipate excess regenerative energy

(unpackaged components).

Figure 1.9

1394 External Shunt Module

Publication 1394-5.0 — May 2000

1-12

Overview

1326AB Motors

This family of high-performance, medium inertia, ferrite, three-phase servo motors feature a specially designed housing that reduces motor length. They are available with continuous torque ratings of 2.3 to 53.0

N-m (20.7 to 469.0 lb-in.). Refer to the

1326AB 460V, Torque Plus

Series, AC Servo Motors Product Data

(publication 1326A-2.9) for more information on features and options. IP65 protection rating is standard when used with the shaft oil seal kit. IP67 protection rating is available (specify -L in the catalog number, refer to

Appendix D

).

Figure 1.10

1326AB Motor

1326AS Motors

This family of high-performance servo motors feature neodymiumiron-boron permanent magnet rotors that provide low inertias, high accelerations and high peak torques. They are available with continuous torque ratings of 0.49 to 49.3 N-m (4.33 to 436 lb-in.).

Refer to the

1326AS Series 460V, Low Inertia, Brushless Servo

Motors Product Data

(publication 1326A-2.10) for more information on features and options. IP65 protection rating is standard when used with the shaft oil seal.

Important:

1326AS-B

xxxx

motors cannot be used with the 9/Series and 9/440 controllers.

Figure 1.11

1326AS Motor

Publication 1394-5.0 — May 2000

Overview

1-13

1326AH Motors

This family of hazardous duty motors are UL recognized AC brushless servo motors. Construction of the motor is a totally enclosed non-ventilated (TENV) square frame design utilizing a permanent magnet rotor and a fixed stator winding. Rare earth magnets, long life ball bearings, and brushless construction also assures maximum performance. They are available with continuous torque ratings of 2.97 to 16.9 N-m (26.3 to 149.8 lb-in.). Refer to the

1326AH Hazardous Duty Motors Product Data

(publication

1326AH-TD001B-US-P) for more information.

Figure 1.12

1326AH Motor

Publication 1394-5.0 — May 2000

1-14

Overview

Drive Interface Module

The 1394-DIM (Drive Interface Module) provides four channels of analog output, four drive enable outputs, and four drive fault inputs.

The 1394-DIM allows the 1394

x

-SJT

xx

-C

,

-T, or -L system module to be used to control any external drive with a

±

10V velocity torque reference command and quadrature encoder output. Each 1394-DIM can support up to four drives. However, the maximum number of axes

(1394-DIM controlled drives plus 1394

x

-AM

xx

axis modules) cannot exceed four per 1394

x

-SJT

xx

-C or -T system module and one per

1394C-SJT

xx

-L system module. The 1394-DIM is not compatible with the 1394

x

-SJT

xx

-A system module.

Figure 1.13

Drive Interface Module

DC Link Module

The 1394-DCLM (DC Link Module) provides additional load leveling and energy storage (capacitance) for 1394 systems. This allows additional regenerative energy to be stored during the machine cycle, increasing system capacity, lowering cycle time, and avoiding resistive heat loss. The module can be used alone or two modules can be used to interconnect two 1394 systems using the DC Link cable.

Figure 1.14

DC Link Module

Publication 1394-5.0 — May 2000

Overview

1-15

Standard Features of the 1394

The 1394 provides the following standard features:

• UL Listed and CUL Certified

• CE Marked

Control

• Supports Standard GMC (1394

x

-SJT

xx

-C and -L) and GMC

Turbo, CNC Interface, SERCOS, and Analog Servo configurations with a standard array of hardware.

• Digitally-adjusted velocity and current loop compensation, which accommodates a wide range of system inertias.

• Two configurable analog test outputs that can be linked to critical system parameters for troubleshooting (GMC and Analog Servo system modules).

• All systems provide digital fault and diagnostic utilities

(including a current monitor, thermal overload detection, and a feedback signal monitor).

• Status LEDs for system and axis modules.

• Status LEDs for motion board, Axislink, and RIO (GMC system only).

• Highly-integrated surface mount circuitry.

• Encoder signal output (A QUAD B) for encoder emulation

(Analog Servo system modules only).

• DSP assisted processing.

• Smart Power control, available on all 22 kW system modules and

5 and 10 kW system modules (Series C or later), allows poweruse monitoring for process optimization.

• Smart Power system modules, available on all 22 kW system modules and 5 and 10 kW system modules (Series C or later), include active Soft Start inrush current limiting for DC link charging.

• Electrical Noise Protection included on GMC, GMC Turbo,

SERCOS, and Analog Servo system modules (Series C or later) and axis modules (Series C or later).

• Improved grounding terminations on GMC, GMC Turbo,

SERCOS, and Analog Servo system modules (Series C or later) and axis modules (Series C or later).

Note: To determine the series of your module, refer to Figure P.1 in the

Preface

.

Publication 1394-5.0 — May 2000

1-16

Overview

Power

• IGBT technology for efficient, quiet operation.

• Transient (MOV) voltage, phase loss, and ground fault protected input.

• An integral 200W shunt resistor is available (5 and 10 kW only).

An external 1400W shunt kit is available (5 and 10 kW only).

Other external shunt kits and modules from 300 to 3600W continuous.

• Current ratings of 3.0, 4.5, and 7.5A continuous, at 50° C (122° F)

(inside cabinet) and 23.3 and 35A continuous, a t 40°C ( 104°F)

(with heat sinks out the back) with up to 300% motor ratings for high duty-cycle operation producing continuous torque ranges of

0.7 to 53.0 N-m (6 to 469 lb-in.).

• 324-528V AC, three-phase, 50/60 Hz direct line operation.

• No isolation transformer or inductors are required (360/480VAC

Hz direct line operation) for most applications.

• Advanced protective features, such as software-based current foldback, which provides overload tolerant operation and soft current limiting.

Integration

• Hinged system module front cover for easy access to control and power wiring.

• System and axis modules that can be quickly removed and easily interchanged for troubleshooting and diagnostics.

• Standard widths of 50 mm (1394

x

-AM03, -04, and -07) and 75 mm (1394

x

-AM50-

xx

and -AM75-

xx

) axis modules are available.

• Mass termination plugs and reliable, contact-type, terminal blocks are used for easy installation and service.

• Plug interconnects for auxiliary, encoder input (GMC), encoder output and motor resolver input (all).

• Slide-and-lock, module-to-module connection, which eliminates bus bars and wiring harnesses.

• Advanced communications and I/O capabilities help integrate the

1394 to standard plant floor networks.

Publication 1394-5.0 — May 2000

Chapter

2

Chapter Objectives

Installing Your 1394

(applies to all systems)

This chapter covers the following topics:

• Complying with European Union directives

• Before mounting your system

• Unpacking your modules

• System mounting requirements

• Bonding your system

• Mounting your 1394 system

• Mounting your 1394-DCLM

• Mounting the external shunt resistor for 5 and 10 kW system modules

• Mounting external shunt modules for 22 kW system modules

• Mounting considerations for GMC and GMC Turbo systems

!

ATTENTION:

The following information is a guideline for proper installation. The National

Electrical Code and any other governing regional or local codes overrule this information. The Allen-

Bradley Company cannot assume responsibility for the compliance or the noncompliance with any code, national, local or otherwise, for the proper installation of this system or associated equipment. If you ignore codes during installation, hazard of personal injury and/or equipment damage exists.

Complying With European Union

Directives

If this product is installed within the European Union or EEC regions and has the CE mark, the following regulations apply.

EMC Directive

This unit is tested to meet Council Directive 89/336 Electromagnetic

Compatibility (EMC) using a technical construction file and the following standards, in whole or in part:

• EN 5008

x

-2 EMC - Emission Standard, Part 2 - Industrial

Environment

• EN 5008

x

-2 EMC - Immunity Standard, Part 2 - Industrial

Environment

Publication 1394-5.0 — May 2000

2-2

Installing Your 1394 (applies to all systems)

Before Mounting Your System

The product described in this manual is intended for use in an industrial environment.

To meet CE requirements, the following additions are required:

• You must run three-phase input wiring in a conduit that is grounded to the enclosure.

• You must install a power line filter (Allen-Bradley catalog number SP-74102-006-01, SP-74102-006-02, SP-74102-006-03 or equivalent based on system current) between the three-phase input line and the system module input.

• You must terminate the shields of the motor power cables and the motor feedback cables to the enclosure at the point of entry.

Low Voltage Directive

These units are tested to meet Council Directive 73/23/EEC Low

Voltage Directive. The

EN 60204-1 Safety of Machinery-Electrical

Equipment of Machines, Part 1-Specification for General

Requirements

standard applies in whole or in part.

Refer to

Appendix B

for interconnect information.

Before you mount your 1394 system make sure you understand the following:

• how to store your 1394 before installation

• how to unpack the system and axis modules

• the minimum mounting requirements

• how to determine your mounting hole layout

Storing Your 1394 Before Installation

The 1394 System module and Axis modules should remain in their shipping containers prior to installation. If the equipment is not to be used for a period of time, store it as follows:

• Store the equipment in a clean, dry location that is not exposed to a corrosive atmosphere.

• Do not store equipment in a construction area.

• Store within an ambient temperature range of 0 to 65

°

C

(32 to

149°

F).

• Store within a relative humidity range of 5 to 95%, noncondensing.

Publication 1394-5.0 — May 2000

Unpacking Modules

System Mounting Requirements

Installing Your 1394 (applies to all systems)

2-3

Each 1394 System module ships with the following:

• One system module

• One system terminator

• One terminal operating tool (part number 1394-194)

• One user manual (publication 1394-5.0)

• One application program lock key (GMC and GMC Turbo only)

• Mating power connectors (5 and 10 kW Series C only)

• Cable shield grounding clamps (5, 10, and 22 kW Series C only)

Note: To determine the series of your module, refer to Figure P.1 in the

Preface

.

Each 1394 Axis Module ships with the following:

• One 1394 Axis module

• TB1 and TB2 connectors

• One 1394 Axis module information sheet (publication 1394-5.5)

Remove all packing material, wedges, and braces from within and around the components. After unpacking, check the item(s) nameplate catalog number against the purchase order. Refer to

Appendix D

for more information on catalog numbers.

There are several things that you need to take into account when preparing to mount the 1394:

• The ambient temperature of the location in which you will install the 1394 must not exceed 50° C (122° F).

• You must install the panel on a flat, rigid, vertical surface that won’t be subjected to shock, vibration, moisture, oil mist, dust, or corrosive vapors.

• You have to mount the system vertically.

• You need to maintain minimum clearances (see Figure 2.1) for proper airflow, easy module access, and proper cable bend radius.

Refer to

Appendix A

for mounting dimensions, power dissipation, and environmental specifications for the 1394.

Publication 1394-5.0 — May 2000

2-4

Installing Your 1394 (applies to all systems)

!

ATTENTION:

This drive contains ESD (Electrostatic

Discharge) sensitive parts and assemblies. You are required to follow static control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Allen-Bradley publication 8000-

4.5.2,

Guarding Against Electrostatic Damage

or any other applicable ESD Protection Handbook.

Figure 2.1

Minimum System and Axis Module Mounting Requirements

Allow 50.8 mm (2.00 in.) clearance for airflow and installation.

Allow 10.0 mm (0.4 in.) side clearance.

Allow 25.4 mm (1.00 in.) clearance at cover tab for opening and closing.

(See

ATTENTION:

statement below)

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Allow 10.0 mm (0.4 in.) side clearance.

Allow 76.2 mm (3.00 in.) clearance for depth of terminator.

Wire entry area for cable ground clamps and signal, power, and motor connections.

Allow additional clearance below the system module to provide the recommended cable bend radius.

Refer to 1326 Cables for 460V AC Servo Motors (publication 1326A-2.11) for more information.

!

ATTENTION:

If you are mounting a 1394

x

-SJT

xx

-

T system module, and using the SLC Interface, you will need an additional 101.6 mm (4 in.) of clearance to the left of the system module to allow for connecting the SLC interface cable (1746-C7 or -C9).

Determining Your System Mounting Hole Layout

To prepare your subpanel for mounting:

1.

Before you mount your 1394 System, use the illustration and table on the next page to identify your axis module combination.

Publication 1394-5.0 — May 2000

Installing Your 1394 (applies to all systems)

Figure 2.2

1394 Mounting Hole Layout

Dimensions are in millimeters and (inches)

50

(1.97)

0

(0.00)

62.5

(2.46)

50

(1.97)

100

(3.94)

137.5

(5.41)

125

(4.92)

150

(5.91)

175

(6.89)

212.5

(8.37)

200

(7.87)

225

(8.86)

250

(9.84)

287.5

(11.32)

275

(10.83)

System outline

385

(15.16)

System module mounting holes

A B

C

D

E

A B C

D

E

A B A

C

D

E

B

C

D E

Heat sink cutout for the

AM50/75 module only

Heat sink cutout for the

AM50/75 module only

Heat sink cutout for the

AM50/75 module only

Heat sink cutout for the

AM50/75 module only

2-5

19.5

(0.768)

348

(13.70)

33.5 TYP

(1.32)

67 TYP

(2.64)

8 TYP

(0.32)

M6 tapped hole or

1/4-20 UNC - 2B

Axis Module

Combination

Type of Axis Module Number of Axes Cutout Needed?

A

1394

x

-AM50, or -AM75, and

1394C-AM50-IH, or -AM75-IH

0 no

1394

x

-AM03, AM04, or AM07 up to 4

1394

x

-AM50, or -AM75, and

1394C-AM50-IH, or -AM75-IH

1 no yes (1394

x

-AM50 or -AM75) no (1394C-AM50-IH or -AM75-IH)

B

C

D

E

1394

x

-AM03, AM04, or AM07 up to 3

1394

x

-AM50, or -AM75, and

1394C-AM50-IH, or -AM75-IH

2

1394

x

-AM03, AM04, or AM07 up to 2

1394

x

-AM50, or -AM75, and

1394C-AM50-IH, or -AM75-IH

3

1394

x

-AM03, AM04, or AM07 up to 1

1394

x

-AM50, or -AM75, and

1394C-AM50-IH, or -AM75-IH

4 no yes (1394

x

-AM50 or -AM75) no (1394C-AM50-IH or -AM75-IH) no yes (1394

x

-AM50 or -AM75) no (1394C-AM50-IH or -AM75-IH) no yes (1394

x

-AM50 or -AM75) no (1394C-AM50-IH or -AM75-IH)

Note: When mounting axis module combinations, you must mount the 1394

x

-AM50, -AM75, -AM50-IH, and -AM75-IH closest to the system module and ahead of the 1394

x

-AM03, -AM04, and -AM07 axis modules.

2.

Once you have identified your axis module combination, modify your subpanel using the dimensions that correspond with the combination you chose in step one.

3.

Go to

Bonding Your System.

Publication 1394-5.0 — May 2000

2-6

Installing Your 1394 (applies to all systems)

Mounting Your 1394 Through the Back of the Cabinet

The figure below shows an example of the typical mounting of a 1394 system with 1394

x

-AM50 or -AM75 axis modules. The 1394

x

-AM50 and -AM75 have heatsinks that mount through the back of the electrical cabinet.

Figure 2.3

Mounting the 1394 with heatsinks through the back of the cabinet

Note: This configuration requires a gasket between the 1394 x-AM50 or -AM75 and the inside of the enclosure. Use the gasket provided.

Bonding Your System

Customer-supplied enclosure

After you have established your panel layout, you need to understand how to bond your system and subpanels. Bonding is the practice of connecting metal chassis, assemblies, frames, shields and enclosures to reduce the effects of electromagnetic interference (EMI).

Bonding Modules

Unless specified, most paints are not conductive and act as insulators.

To achieve a good bond between modules and the subpanel, the surfaces need to be paint-free or plated. Bonding metal surfaces creates a low impedance exit path for high frequency energy.

Improper bonding blocks that direct exit path and allows high frequency energy to travel elsewhere in the cabinet. Excessive high frequency energy can effect the operation of other microprocessor controlled equipment. The illustrations below show details of recommended bonding practices for painted panels, enclosures and mounting brackets.

Publication 1394-5.0 — May 2000

Installing Your 1394 (applies to all systems)

2-7

Figure 2.4

Bonding Examples

Subpanel

Star washer

Nut

Stud-mounting the subpanel to the enclosure back wall

Stud-mounting a ground bus or chassis to the subpanel

Subpanel

Back wall of enclosure

Flat washer

Welded stud

Use a wire brush to remove paint from threads to maximize ground connection.

Use plated panels or scrape paint on front of panel

Nut

Mounting bracket or ground bus

Welded stud

Scrape paint

Flat washer

Star washer

If the mounting bracket is coated with a non-conductive material (anodized, painted, etc.), scrape the material around the mounting hole.

Bolt-mounting a ground bus or chassis to the back-panel

Subpanel

Tapped hole

Bolt

Ground bus or mounting bracket

Nut

Flat washer

Nut

Flat washer

Scrape paint on both sides of panel and use star washers.

Star washer

Star washer

Star washer

If the mounting bracket is coated with a non-conductive material

(anodized, painted, etc.), scrape the material around each mounting hole.

Publication 1394-5.0 — May 2000

2-8

Installing Your 1394 (applies to all systems)

Bonding Multiple Subpanels

Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet. Subpanels that are not bonded together may not share a common low impedance path. This difference in impedance may affect networks and other devices that span multiple panels. Refer to the illustration below for recommended bonding practices.

Figure 2.5

Bonding Multiple Subpanels

Recommended:

Bond the top and bottom of each subpanel to the cabinet using 25.4 mm (1.0 in.) by 6.35 mm (.25 in.) (minimum) wire braid

Bonded cabinet ground bus to subpanel

Mounting Your 1394 System

Scrape the paint around each fastener to maximize metal-to-metal contact

The procedures in this section assume you have prepared your panel and understand how to bond your system. To mount your 1394 system:

1.

Install the top mounting fasteners on the subpanel for the system module and all axis modules. The heads of the fasteners should be at least 0.25 in. from the panel. Make sure all fasteners are properly bonded to the subpanel. Refer to

Bonding Your System

for more information.

2.

Hang the 1394 System Module on the two fasteners on the left side of the subpanel.

Important:

If you are mounting a GMC Turbo system module

(1394

x

-SJT

xx

-T), and using the SLC interface, you will need an additional 101.6 mm (4 in.) of clearance to the left of the system module to allow for connecting the SLC interface cable (1746-C7 or -C9).

Publication 1394-5.0 — May 2000

Installing Your 1394 (applies to all systems)

2-9

3.

If you are mounting a: Do this:

1394

x

-AM03, -AM04 or

-AM07; 1394C-AM50-

IH, or -AM75-IH axis module

1. Hang the axis module on the next mounting fastener.

2. Go to main step 5.

1394

x

-AM50 or -AM75 axis module with the heat sink through the back of the enclosure

(refer to Figure 2.3)

1. Remove the paper backing from the gasket that came with the

AM50/75 axis module.

2. Position the gasket so that the sticky side faces the axis module and the small hole side is on top.

3. Slide the gasket over the heat sink and attach it to the back of the axis module.

Figure 2.6

Gasket Position

gasket

1394-DCLM or

1394-DIM

4. Go to main step 4.

1. Hang the DCLM or the DIM as the last (right-most) module.

Note: If both DCLM and DIM are mounted on the same system, the DIM should be the last module.

2. Go to main step 5.

4.

Hang the AM50/75 axis module on the next mounting fastener.

5.

Engage the alignment tab (refer to Figure 2.7).

Figure 2.7

Alignment Tab

Engaged alignment tab

Publication 1394-5.0 — May 2000

2-10

Installing Your 1394 (applies to all systems)

6.

Slide the slide-and-lock mechanism on the axis module to the left until it locks into place.

Figure 2.8

Slide-and Lock Mechanism

Slide-and-Lock

Mechanism

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

7.

If you:

Have more axis modules for this system module

Do not have more axis modules for this system module

Do this:

Go to main step 3.

Go to main step 8.

8.

Install the lower fasteners for the system module and all axis modules.

9.

Attach the terminator to the last axis module. Slide it to the left until it locks in place.

Figure 2.9

Attaching the Terminator

Attach the

Terminator

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Important:

The terminator terminates the serial ring and provides protection for the DC Link. The 1394 system will not operate without the terminator.

10.

Tighten all mounting fasteners.

Publication 1394-5.0 — May 2000

Mounting Your 1394-DCLM

Installing Your 1394 (applies to all systems)

2-11

Two 1394 system power buses can be linked by connecting two

DCLMs together. This procedure is application specific and requires proper implementation. Please contact your Allen-Bradley sales representative for more information.

When using the 1394-DCLM for energy storage, the power plug must be installed (refer to Figure 2.10 for location).

Figure 2.10

Locating the Power Plug

Allen-Bradley

1394 Digital Servo Controller

System Module

DC Link

Module

DC Link Module

Mounting the External Shunt

Resistor for 5 and 10 kW System

Modules

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Power Plug

If your 5 or 10 kW 1394 system module requires a means of dissipating regenerative energy that exceeds the capacity of the internal shunt resistor, install a 1394 External Shunt Resistor Kit

(catalog number 1394-SR10A).

!

ATTENTION:

To avoid the hazard of shock or burn and ignition of flammable material, appropriate guarding must be provided. These resistors can reach temperatures in excess of 350

°

C (662

°

F). Install per local codes.

Mounting External Shunt Modules for 22 kW System Modules

To install the 1394-SR10A Shunt Resistor Kit use two M10 (3/8 in.) bolts and mount the external shunt resistor assembly vertically on a flat rigid metal surface that will not be subjected to shock, vibration, moisture, oil mist, dust or corrosive vapors.

Note: To extend the leadwire length up to 15 m (49 ft total overall length), use MTW, 105

°

C, (302

°

F) Class H insulated wire (UL styles 3349, 3374, or equivalent).

If you are using a 22 kW system module, you must use a shunt module (1394-SR9A, -SR9AF, -SR36A or -SR36AF). An external shunt module is required for 22 kW system modules because there is no internal shunt resistor.

Publication 1394-5.0 — May 2000

2-12

Installing Your 1394 (applies to all systems)

Shunt Module Mounting Orientation

Because the shunt module dissipates excess regenerative power in the form of heat, you need to consider the following guidelines. Refer to

Figure 2.11 and Figure 2.12 for shunt module spacing requirements.

Figure 2.11

Shunt Module Spacing Requirements Within an Enclosure

Incorrect Shunt Placement

Temperature sensitive component

(mounted above shunt module)

254 mm (10.0 in.) clearance for airflow and installation

Top of cabinet

FOR FUSE REPLACEMENT USE: BUSSMAN CAT. NO.

1394 Digital Servo Controller

3600W Shunt Module

155 mm (6.1 in.) clearance for airflow and installation

155 mm (6.1 in.) clearance for airflow and installation

ALLEN-BRADLEY

BULLETIN 1394 3600W SHUNT MODULE

CAT.

INPUT DC

PART

INPUT AC

BUSSMAN CAT. NO.

SER.

Wire entry area for signal, power and motor connections

155 mm (6.1 in.) clearance for airflow and installation

Figure 2.12

Shunt Module Spacing Requirements Outside of an Enclosure

Solid protective plate

254 mm (10.0 in.) clearance for airflow and installation

1394 Digital Servo Controller

3600W Shunt Module

155 mm (6.1 in.) clearance for airflow and installation

155 mm (6.1 in.) clearance for airflow and installation

ALLEN-BRADLEY

BULLETIN 1394 3600W SHUNT MODULE

CAT.

INPUT DC

PART

BUSSMAN CAT. NO.

INPUT AC

SER.

FOR USE WITH 1394-SJT22-X SYSTEM MODULE

Wire entry area for signal, power and motor connections

155 mm (6.1 in.) clearance for airflow and installation

Enclosure

Publication 1394-5.0 — May 2000

Low voltage

Communications

Control I/O wiring

Motor feedback cables

155 mm (6.1 in.) of clearance on all sides of the shunt module minimum

Installing Your 1394 (applies to all systems)

2-13

Shunt Module Mounted Outside the Cabinet

The illustration below details the proper position and cable routes for mounting the shunt module outside the cabinet.

Figure 2.13

Shunt Module Mounted Outside of the Cabinet

Customer-supplied metal enclosure (optional)

1394 Digital Servo Controller

300W Shunt Module

ALLEN-BRADLEY

BULLETIN 1394 300W SHUNT MODULE

CAT.

INPUT DC

PART

INPUT AC

FOR FUSE REPLACEMENT USE:

SER.

Metal conduit

1394 Digital Servo Controller

300W Shunt Module

ALLEN-BRADLEY

BULLETIN 1394 300W SHUNT MODULE

CAT.

INPUT DC

PART

INPUT AC

BUSSMAN CAT. NO.

SER.

FOR USE WITH 1394-SJT22-X SYSTEM MODULE

Motor power cables

360/480V

AC power

Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI.

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

8 AWG (8.4 mm

2

),

105 C, 600V wire

Max. Length 3.05 m

(10 ft) for each wire

Twisted conductors

(2 twists per foot) min. or a shielded twisted pair

Shielding is recommended for reducing the effects of EMI and RFI.

Publication 1394-5.0 — May 2000

2-14

Installing Your 1394 (applies to all systems)

Low voltage

Communications

Control I/O wiring

Motor feedback cables

Shunt Module Mounted Inside the Cabinet

The illustration below details the proper position and cable routes for mounting the shunt module inside the cabinet.

Figure 2.14

Shunt Module Mounted Inside of the Cabinet

Motor power cables

360/480V

AC power

Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI.

155 mm (6.1 in.) of clearance on all sides of the shunt module minimum

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

1394 Digital Servo Controller

300W Shunt Module

ALLEN-BRADLEY

BULLETIN 1394 300W SHUNT MODULE

CAT.

PART SER.

INPUT DC INPUT AC

FOR FUSE REPLACEMENT USE:

BUSSMAN CAT. NO.

FOR USE WITH 1394-SJT22-X SYSTEM MODULE

8 AWG (8.4 mm

2

),

105 C, 600V wire

Max. Length 3.05 m

(10 ft) for each wire

Use twisted conductors

(2 twists per foot) min. or a shielded twisted pair.

Shielding is recommended for reducing the effects of EMI and RFI.

!

ATTENTION:

If you choose to mount the shunt module inside your cabinet, you must make sure that the ambient temperature inside the cabinet does not exceed 50

°

C (122

°

F).

Publication 1394-5.0 — May 2000

Installing Your 1394 (applies to all systems)

2-15

Mounting the Shunt Module

The procedures in this section assume you have prepared your panel and understand how to bond your system. To mount your 1394 Shunt

Module:

1.

Install the top mounting fasteners on the subpanel for the shunt module. The heads of both fasteners should be at least 6.35 mm

(0.25 in.) from the panel. Make sure the fasteners are properly bonded to the subpanel. Refer to

Bonding Your System

for more information.

2.

Hang the 1394 Shunt Module on the two fasteners.

3.

Install the lower fasteners for the shunt module.

4.

Tighten all mounting fasteners.

Publication 1394-5.0 — May 2000

2-16

Installing Your 1394 (applies to all systems)

Mounting Considerations for GMC and GMC Turbo Systems

Consider the following when mounting 1394 GMC and GMC Turbo

Systems.

Mounting GMC and GMC Turbo Systems Next to Flex I/O



Separating low voltage communication wiring from high voltage power cables reduces the levels of EMI and RFI. Because high voltage motor wiring is present at the bottom of each axis module we recommend that you mount your Flex I/O modules to the left of the system module.

Figure 2.15

Mounting GMC and GMC Turbo Systems Next to Flex I/O

Preferred

Install

Flex I/O to the left of the axis modules

Bond DIN rail to sub panel

Preferred

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Screw Flex I/O connector to tapped hole in sub panel. This grounds flex cable shields.

Important:

You must separate low voltage I/O from all exposed high voltage conductors to avoid the affects of EMI and RFI.

Publication 1394-5.0 — May 2000

Chapter Objectives

Finding Additional Wiring

Information for 1394 Systems

Chapter

3

Wiring System, Axis, and Shunt

Modules, and Motors

(for all systems)

This chapter covers the following topics:

• Understanding basic wiring requirements

• Determining your type of input power

• Grounding your 1394 system

• Connecting system module power

• Connecting motor power to axis modules

• Connecting feedback to system modules

• Connecting your motor cables to motors

• Connecting your external shunt resistor

• Connecting your shunt module (required for 22 kW system)

The information and procedures included in this chapter apply to the following 1394 systems; GMC Turbo, GMC, 9/440 CNC, CNC

Interface, and Analog Servo.

For additional wiring information on:

GMC or GMC Turbo system modules

1394 Analog Servo system modules

CNC Interface or

9/440 system modules

1394 SERCOS system modules

Refer to the following:

Chapter 4 (Wiring 1394 GMC and GMC Turbo Systems) in this manual.

Chapter 5 (Wiring Your 1394 Analog Servo System) in this manual.

9/Series CNC Hardware Integration and Maintenance Manual

(publication 8520-6.2).

1394 SERCOS Multi-Axis Motion Control System User Manual

(publication 1394-5.20)

Publication 1394-5.0 — May 2000

3-2

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Understanding Basic Wiring

Requirements

This section contains basic wiring information for the 1394.

!

ATTENTION:

Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure. Because the system is of the open type construction, be careful to keep any metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry, which can result in damage to components.

Important:

This section contains common PWM servo system wiring configurations, size, and practices that can be used in a majority of applications. National Electrical

Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided.

Publication 1394-5.0 — May 2000

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-3

Routing High and Low Voltage Cables

Be aware that when you connect and route power and signal wiring on a machine or system, radiated noise from nearby relays (relay coils should have surge suppressors), transformers, and other electronic drives can be induced into motor or encoder feedback, communications, or other sensitive, low voltage signals. This can cause system faults and communication problems. To minimize the levels of radiated noise, route machine power and signal lines separately.

Figure 3.1

Routing Cables Inside Your Cabinet

Low voltage

Communications

Control I/O wiring

Motor feedback cables

Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI.

Always cross high and low voltage conductors at 90 degree angles.

Motor power cables

460/380V

AC power

Unshielded conductors

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Maximize distance between high and low voltage cables on parallel runs

Do not run low and high voltage wires in the same wire way

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Unshielded lead length less than or equal to

76.2 mm (3.0 in.)

Publication 1394-5.0 — May 2000

3-4

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

System Module Wire Sizes

All wire sizes in this manual are recommended minimums. Assume that wires are type MTW copper wire (machine tool wire, 75° C, minimum) per NFPA 79 unless otherwise noted. Consult the National

(or local) Electrical Code for factors related to ambient conditions, length, etc. See your Allen-Bradley Sales Representative for more information.

Shielding

To minimize radiated and induced noise problems or ground loops, separate feedback, command, and other shields from each other and connect them at a common machine or system earth ground. Connect all shields to a single earth ground point. Refer to

Grounding Your

1394 System

in this chapter and

Appendix B

for additional information.

Insulate the open-ended shields (resolver feedback cable at the resolver and velocity command cable at the servo drive) so that they do not cause ground loops.

EMI/RFI Shielding

The 1394 has an inverter carrier frequency of 5000 Hz. The drive’s output inverter switching sequence produces a carrier frequency of

10,000 Hz when measured at the motor. This can induce noise into sensitive equipment lines adjacent to it.

!

ATTENTION:

This system can produce electromagnetic radiation that can cause industrial or radio-controlled equipment to operate erratically and cause possible injury to personnel. The 1394 system is designed to be interconnected with Allen-Bradley EMI shielded motor cables only. Do not substitute cables.

The EMI shield of the motor power cable must be grounded at both ends to function properly.

EMI/RFI Bonding

The metal chassis of electrical components should be bonded to the subpanel in an electrical cabinet with metal to metal contact. The purpose of a high frequency (HF) bond is to provide HF noise currents a path of least impedance to return to their source.

Publication 1394-5.0 — May 2000

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-5

Input Power Conditioning

You can directly connect the 1394 to a three-phase, AC power line.

However, if certain power line conditions exist, the input power component can malfunction. If either of the following is true, you can use a line reactor or isolation-type transformer to reduce the possibility of this type of malfunction:

• The AC line supplying the drive has power factor correction capacitors.

• The AC line frequently experiences transient power interruptions or significant voltage spikes.

Important:

Line conditioning is not typically required. If you have experienced power problems in the past on a power distribution line, you may need to consider input power conditioning.

!

ATTENTION:

The 1394 does not supply line fuses or a circuit breaker. They are customer-supplied items.

Branch circuit breakers or disconnect switches cannot provide the level of protection required by drive components. Refer to

Appendix A

for size and type recommendations.

Publication 1394-5.0 — May 2000

3-6

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Determining Your Type of Input

Power

Before you ground or wire your 1394 system you must determine the type of 360/480V input power you will be connecting to. The 1394 system is designed to operate in both grounded and ungrounded environments.

Grounded Power Configuration

As shown in the figure below, the grounded power configuration allows you to ground your 3-phase power at a neutral point. Each

1394 system module has a factory-installed jumper configured for grounded power distribution. If you determine that you have grounded power distribution in your plant you do not need to modify your system.

Figure 3.2

Grounded Power Configuration

Conduit/4-Wire Cable

Ground grid or

Power distribution ground

U

V

W

PE

PE1

Status

DANGER

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

PE3 (drain/shield)

PE2 (wire 8)

W1 (wire 3)

V1 (wire 2)

U1 (wire 1)

1326 motor power cable

Publication 1394-5.0 — May 2000

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-7

Ungrounded Power Configuration

As shown in the figure below, the ungrounded power configuration does not allow for a neutral ground point. If you determine that you have ungrounded power distribution in your plant, you need to move the factory-installed jumper to the ungrounded power distribution position to prevent electrostatic buildup inside the 1394. Refer to the ground jumper procedures for the system module you need to configure.

Figure 3.3

Ungrounded Power Configuration

Conduit/4-Wire Cable

Ground grid or

Power distribution ground

W

PE

PE1

U

V

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

PE3 (drain/shield)

PE2 (wire 8)

W1 (wire 3)

V1 (wire 2)

U1 (wire 1)

1326 motor power cable

!

ATTENTION:

Ungrounded systems do not reference each phase potential to a power distribution ground.

This can result in an unknown potential to earth ground.

Publication 1394-5.0 — May 2000

3-8

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Setting the Ground Jumper in a 5 or 10 kW System Module for

Ungrounded Power Configurations

This procedure assumes that you have bonded and mounted your

1394

x

-SJT05-

x

or 1394

x

-SJT10-

x

system module to the subpanel and that there is no power applied to the system. To set the ground jumper for an ungrounded system:

Important:

If you have grounded power distribution, you do not need to set the ground jumper. Go to

Grounding Your

1394 System.

1.

Verify that all 24V control and 360/480V power has been removed from the system.

2.

Open the system module door.

3.

For ground jumper settings on this system module:

Do this:

Series A and B

1. Locate the jumper connected to J26 and

J27 on the circuit board behind the

Danger label in the upper right hand corner of the system module (refer to

Figure 3.4 for the jumper’s location).

2. Unplug the jumper from J26.

Series C

3. Plug the jumper in GND3.

4. Go to main step 4.

1. Unplug the ribbon cable from the input wiring board (refer to Figure 3.4 for location).

2. Remove the three control board screws.

3. Remove the control board (pull it straight out from system module).

4. Locate the jumper connecting J4 and J5, and move one end of the jumper from J5 to J6.

5. Re-install the control board. Align the guide pins in the rear of the enclosure with holes in the control board.

6. Re-install the three control board screws and re-connect the ribbon cable.

7. Go to main step 4.

Note: To determine the series of your module, refer to Figure P.1 in the

Preface

.

Publication 1394-5.0 — May 2000

Side

Control Board

Screw

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

4.

Close the system module door.

5.

Go to

Grounding Your 1394 System

.

Figure 3.4

Ground Jumper Locations for the 5 and 10 kW System Modules

1394C- SJT xx- x

(5 and 10 kW Series C)

1394- SJT xx- x

(5 and 10 kW Series A and B)

J26

J27

GND3

Upper

Control Board

Screw

Ribbon

Cable

Connector

J4

J5

J6

Lower

Control Board

Screw

3-9

Setting the Ground Jumper in a 22 kW System Module for

Ungrounded Power Configurations

This procedure assumes that you have bonded and mounted your

1394

x

-SJT22-

x

system module to the subpanel and that there is no power applied to the system. To set the ground jumper:

Important:

If you have grounded power distribution, you do not need to set the ground jumper. Go to

Grounding Your

1394 System.

1.

Verify that all 24V control and 360/480V power has been removed from the system.

2.

Open the system module door.

3.

Disconnect both ends of the input wiring board ribbon cable.

Refer to Figure 3.5 for the location of the ribbon cable.

4.

Remove the upper and lower input wiring board screws. Refer to

Figure 3.5 for the location of the screws.

5.

Remove the input wiring board.

Publication 1394-5.0 — May 2000

3-10

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Figure 3.5

Removing the Input Wiring Board in a 22 kW System Module

Disconnect both sides of the ribbon cable

Remove both input wiring board screws and remove the input wiring board

6.

Locate the ground jumper inside the system module. Refer to the figure below for jumper location.

Figure 3.6

Location of the 22 kW System Module Ground Jumper

Ground Jumper

Publication 1394-5.0 — May 2000

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-11

7.

Without removing the circuit board, unplug the jumper and move it to the ungrounded power distribution position. Refer to the figure below for the jumper positions.

Figure 3.7

22 kW System Module Jumper Positions

Front edge of board

Factory default jumper position for a grounded configuration

DO NOT REMOVE CIRCUIT

BOARD FROM 1394

Front edge of board

Jumper position for an ungrounded power configuration

8.

Re-install the input wiring board.

9.

Re-install the upper and lower input wiring board screws. Refer to Figure 3.5 for the location of the screws.

10.

Re-connect both ends of the input wiring board ribbon cable.

Refer to Figure 3.5 for the location of the ribbon cable.

11.

Close the system module door.

12.

Go to

Grounding Your 1394 System.

Publication 1394-5.0 — May 2000

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Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Grounding Your 1394 System

We recommend that all equipment and components of a machine or process system have a common earth ground point connected to their chassis. A grounded system provides a safety ground path for short circuit protection. Grounding your modules and panels minimizes shock hazards to personnel and damage to equipment caused by short circuits, transient overvoltages, and accidental connection of energized conductors to the equipment chassis.

Grounding your System to the Subpanel

The National Electrical Code contains grounding requirements, conventions, and definitions. Follow all applicable local codes and regulations to safely ground your system. Refer to the illustration below for details on grounding your system and axis modules. Refer to

Appendix B

for interconnect information.

Figure 3.8

PE Safety Ground Configuration with Multiple 1394 Systems on One Panel

Status

DANGER

22 kW or

5 and 10 kW

System Modules

(Series A and B)

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Connect the system module's PE and each axis module's PE1 to the PE bar

System module ground bar

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Bonded PE ground bar

All ground wiring must comply with local codes

22 kW or

5 and 10 kW

System Modules

(Series C or later)

System module ground bar

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Bonded cabinet ground bus

Always follow NEC and applicable local codes

Ground grid or power distribution ground

Publication 1394-5.0 — May 2000

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Grounding Multiple Subpanels

To ground multiple subpanels, refer to the figure below.

Figure 3.9

Subpanels Connected to a Single Ground Point

3-13

Always follow NEC and applicable local codes

Wiring System Module Power

Ground grid or power distribution ground

The system module provides terminating points for the AC power input, logic power, feedback, and various other control signals. The slide-and-lock mechanism transfers power and commutation signals to each axis module.

Each individual application requires different wiring. This section provides guidelines for wiring your system. Because of the diversity of applications and systems, no single method of wiring is applicable in all cases.

Publication 1394-5.0 — May 2000

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Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Terminal Block Locations for 5 and 10 kW System Module

(Series A and B)

The 5 and 10 kW system module (Series A and B) components use

IEC terminals for power connections. You will wire the system and axis modules using the power terminal block conveniently located at the bottom front of the system and axis modules. The maximum wire size allowed in the terminal blocks is 3.3 mm

2

(12 AWG). To gain access to the input power terminals, open the system module door and look in the lower right corner. Refer to Figure 3.10 for terminal block details.

!

ATTENTION:

To avoid personal injury and/or equipment damage ensure installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, and disconnect devices. The

National Electrical Code (NEC) and local codes outline provisions for safely installing electrical equipment.

Figure 3.10

Terminal Block for a 5 or 10 kW System Module (Series A and B)

Wire:

24V Logic

360/480V AC

Input Power

Input Power

Neutral

PE Ground

Description: Connects to terminal(s): Required (Y/N):

A user-supplied 24V AC rms or 24V DC power source. Refer to

Appendix A for 24V input power specifications.

W1 and W2

360/480V AC, three-phase power input Refer to Appendix A for system specifications for rated AC input voltage, tolerance, and source impedance.

U, V, and W

System ground bar Three-phase input neutral (present only on grounded power configurations).

The 1394’s ground connection to the bonded system ground bar on the subpanel.

External Shunt

Resistor

Optional 1400W external shunt resistor used to dissipate excess regenerative energy from the system module.

PE

DC+ and COL

Y

Y

N

Y

N

Note: Refer to

Appendices A

and

B

for information about three-phase input fusing and circuit breaker information as related to the power input. Refer to the section

Connecting Your External

Shunt Resistor

for information about wiring the optional shunt resistor to the 5 and 10 kW system modules.

Publication 1394-5.0 — May 2000

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-15

Connector Locations for 5 and 10 kW System Module (Series C)

The 5 and 10 kW system module (Series C) uses connectors instead of IEC terminals for connecting power. You will wire the system using power connectors (J1, J10, and J11) that mate with plugs (P1,

P10, and P11) conveniently located on the bottom of the system module. Figure 3.11 details the location of the connectors.

!

ATTENTION:

To avoid personal injury and/or equipment damage ensure installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, and disconnect devices. The

National Electrical Code (NEC) and local codes outline provisions for safely installing electrical equipment.

Figure 3.11

Connectors for 5 and 10 kW System Module (Series C)

J1

1 2

J10

1 2 3 4 1 2 3

J11

1394 bottom view

1394 front view

System module ground bar

24V Logic

Power

Wire:

360/480V AC Input

Description:

A user-supplied 24V AC rms or 24V DC power source. Refer to

Appendix A for 24V input power specifications.

360/480V AC, three-phase power input Refer to

Appendix A for system specifications for rated AC input voltage, tolerance, and source impedance.

Maximum wire size:

3.3 mm

5.3 mm

2

2

(12 AWG)

(10 AWG)

Input Power Neutral

PE Ground

Three-phase input neutral (present only on grounded power configurations).

The1394’s ground connection to the bonded system ground bar on the subpanel.

External Shunt Resistor Optional 1400W external shunt resistor used to dissipate excess regenerative energy from the system module.

5.3 mm

8.4 mm

2

(8 AWG)

5.3 mm

2

2

(10 AWG)

(10 AWG)

Connects to terminal(s):

J1-1 and

J1-2

J10-1 (U)

J10-2 (V) and

J10-3 (W)

J10-4

System module ground bar

J11-3 and

J11-1

Y

N

Y

N

Y

Required

(Y/N):

Note: Refer to

Appendices A

and

B

for information about three-phase input fusing and circuit breaker information as related to the power input. Refer to the section

Connecting Your External

Shunt Resistor

for information about wiring the optional shunt resistor to the 5 and 10 kW system modules.

Publication 1394-5.0 — May 2000

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Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Terminal Block Locations for a 22 kW System Module

All 22 kW system module components use IEC terminals for power connections. You will wire the system and axis modules using the power terminal block conveniently located at the bottom front of the system and axis modules. To gain access to the input power terminals, open the system module door and look in the lower right corner.

Figure 3.12 details the order of the terminal blocks.

!

ATTENTION:

To avoid personal injury and/or equipment damage, ensure installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, and disconnect devices. The

National Electrical Code (NEC) and local codes outline provisions for safely installing electrical equipment.

Figure 3.12

Terminal Block for 22 kW System Module

Wire: Description:

24V Logic A user-supplied 24V AC rms or 24V DC power source. Refer to

Appendix A for 24V input power specifications.

360/480V AC power input 360/480V AC, three-phase power input. Refer to Appendix A for system specifications for rated AC input voltage, tolerance, and source impedance.

Input Power Neutral Three-phase input neutral (present only on grounded power configurations).

Maximum wire size:

Connects to terminal(s):

3.3 mm

2

(12 AWG) W1 and W2

8.4 mm

2

(8 AWG)

8.4 mm

2

(8 AWG)

U, V, and W

PE Ground

External Shunt Module

The1394’s ground connection to the bonded system ground bar on the subpanel.

Used to dissipate excess regenerative energy from the system module.

8.4 mm

8.4 mm

2

2

(8 AWG)

(8 AWG)

Required

(Y/N):

Y

Y

System ground bar

(Series A and B)

N

PE (Series C) N

PE (Series A and B) Y

System module ground bar (Series C)

DC+ and COL

Y

Y

Note: Refer to

Appendices A

and

B

for information about three-phase input fusing and circuit breaker information as related to the power input. Refer to the section

Connecting Your Shunt

Module

for information about wiring the shunt module to the

22 kW system module.

Publication 1394-5.0 — May 2000

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-17

Required Tools and Equipment

Before you begin to connect power wiring, be sure to have the following:

• A small, flathead screwdriver

• User-supplied contactor

• User-supplied wiring for input power

Connecting Power Wiring for 5 and 10 kW (Series A and B) and 22 kW System Modules

To connect power wiring:

1.

Connect the ground wire for the system module to the bonded ground bus bar on the subpanel. For more information on bonding, refer to the chapter

Installing Your 1394

.

2.

Open the front door of the system module.

3.

Connect the system ground bar wire as follows:

If your system module is: Then:

5 and 10 kW or 22 kW

(Series A and B)

22 kW

(Series C)

Insert the system ground bar wire in the terminal block labeled PE.

Connect the system ground bar wire to the system module ground bar.

4.

Connect the three-phase incoming power wires as follows:

Insert the wire labeled:

U

V

W

Into this terminal block:

U

V

W

5.

Connect the three-phase input neutral wire as follows:

If your system module is: Then:

5 and 10 kW or 22 kW

(Series A and B)

22 kW

(Series C)

Connect the three-phase input neutral wire to the bonded system ground bar. For more information on bonding, refer to the chapter

Installing Your 1394

.

Insert the three-phase input neutral wire in the terminal block labeled PE.

Note: The three-phase input neutral connection is present only on grounded power configurations.

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Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

6.

Insert one of the 24V control power wires into the terminal block labeled W1.

7.

Insert the other 24V control power wire into the terminal block labeled W2.

8.

Tighten and torque all six screw terminals to the values in the following table.

System Module: Terminal Block

5 and 10 kW

22 kW

Designator:

All

Terminal Block

Torque:

0.56 - 0.62 N-m

(5.0 - 5.6 lb-in.)

W1, W2 0.56 - 0.62 N-m

(5.0 - 5.6 lb-in.)

DC+, COL, U, V, W, PE 2.21 - 2.66 N-m

(20.0 - 24.0 lb-in.)

9.

Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires.

10.

Go to the section

Connecting Motor Power to Axis Modules

.

Connecting Power Wiring for 5 and 10 kW System Modules

(Series C)

To connect power wiring:

1.

Connect the system module ground wire from the system module ground bar to the bonded ground bus bar on the subpanel. For more information on bonding, refer to the chapter

Installing Your

1394

.

2.

Insert the three-phase input neutral wire into connector terminal

J10-4 and tighten the J10-4 connector screw (torque value =

0.56-0.62 N-m, 5.0-5.6 lb-in.).

Note: The three-phase input neutral connection is present only on grounded power configurations.

3.

Insert the three-phase incoming power wires as follows and tighten the three J10 connector screws.

Insert the wire labeled:

Into connector terminal:

U

V

W

J10-1

J10-2

J10-3

Tighten to this torque value:

0.56-0.62 N-m

(5.0-5.6 lb-in.)

4.

Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires.

Publication 1394-5.0 — May 2000

Connecting Motor Power to Axis

Modules

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-19

5.

Plug J10 into P10.

6.

Insert one of the 24V control power wires into connector terminal

J1-1 and tighten the J1-1 connector screw (torque value =

0.56-0.62 N-m, 5.0-5.6 lb-in.).

7.

Insert the other 24V control power wire into connector terminal

J1-2 and tighten the J1-2 connector screw (torque value =

0.56-0.62 N-m, 5.0-5.6 lb-in.).

8.

Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires.

9.

Plug J1 into P1.

10.

Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires.

11.

Go to

Connecting Motor Power to Axis Modules.

The procedures in this section detail how to connect motor cable flying leads to the terminals on the front of each axis module. You must use one 1326-CP

x

1-

xxx

motor power cable for each of your

1326A

x

servo motors. Refer to the interconnect drawings in

Appendix B

for more information. The table below describes each of the terminals.

Terminal: Description:

U1

V1

W1

PE1

PE2

PE3

Motor Power A

Motor Power B

Motor Power C

Axis Ground

Motor Ground

Overall Shield

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Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Connecting Thermal and Brake Leads to Axis Modules

Axis modules provide terminating points for the motor power, thermal sensor, and brake. Axis module wiring is identical for all available axis module ratings.

Figure 3.13

Locating TB1 and TB2

Publication 1394-5.0 — May 2000

4

1

4

1

TB

1

TB

2

Important:

Noise filters on the motor thermal sensor and brake connectors (TB1 and TB2) add capacitance (1.0

µF) from each leg of the thermal switch and motor brake leads to ground. This should be considered when selecting

ground fault circuits.

Connect the motor thermal sensor and brake lead to the Axis Module at TB1 and TB2. Each axis module comes with a brake and thermal connector kit. Refer to

Appendix D

for more information.

Terminal:

TB1-1, 2

TB1-3, 4

TB2-1, 2

TB2-3, 4

Description:

Thermal Sensor Input from Motor Cable

Brake 24V DC from Motor Cable

Brake 24V DC from Fault System

Thermal Sensor Output to Fault System

Required Tools and Equipment

• A small, flathead screwdriver

• One 1326-CP

x

1-

xxx

motor power cable for each axis

• One axis module connector kit (catalog number 1394-199) for thermal switch and brake inputs. You will need one kit per axis module as each kit contains two connectors.

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-21

Wiring Motor Power, Thermals and Brakes

The procedures in this section assume that your system and axis modules are already mounted. We recommend that you start at either the first or last axis module, wire it completely, and then wire the module next to it completely, and so on until they are all wired.

To wire your 1394 axis modules:

1.

If your system module is:

Series A or B

Then do this:

Series C

1. Bond one end of the axis module ground wire to the subpanel.

2. Connect the other end of the ground wire to terminal block PE1.

3. Go to main step 7.

1. Connect one end of the axis module ground wire to the system module ground bar.

2. Connect the other end of the ground wire to terminal block PE1.

3. Go to main step 2. Refer to Figure 3.14 for main steps 2-6.

Note: For more information on bonding, refer to the chapter

Installing Your 1394

.

Publication 1394-5.0 — May 2000

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Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Important:

To improve the bond between the motor cable shield and the axis module PE ground, a cable shield clamp is included with the Series C axis modules.

Figure 3.14

Series C Axis Module Cable Clamp

Cable wires

51 mm

(2.0 in.)

1

Bracket screw

22 mm

(.875 in.)

1

Motor cable

Braided shield exposed

Cable Preparation

Clamp screw

Cable shield clamp

Feedback cable clamps

Axis cable clamp

1

Dimensions given are approximate and will vary depending on the specific installation. Keep wires as short as possible while maintaining adequate stress relief.

System module ground bar

Wiring to Axis Module

1394 front view

Clamp Attachment

2.

Prepare one end of the motor cable for attachment to the cable shield clamp by removing the outer insulation and braided shield from the motor cable. Ensure approximately 51 mm (2.0 in.) of the insulated cable wires are exposed (refer to Figure 3.14).

3.

Remove another 22 mm (.875 in.) of insulation to expose the braided shield underneath for clamp attachment.

Important:

When cutting into the insulation use care not to cut into the braided shield underneath.

4.

Position the cable shield clamp over the exposed braided shield

(ensure clamp screw is behind clamp and not braided shield).

5.

Tighten the clamp screw.

Important:

Do not overtighten the clamp screw or damage to the braided shield may result.

6.

Thread the bracket screw into the bottom of the axis module and tighten.

7.

Connect an axis module connector kit (catalog number 1394-199) to each motor cable that you will use. Refer to instructions that come with the kit for the specific connections.

Publication 1394-5.0 — May 2000

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-23

8.

On one axis, connect the wires as follows:

Insert the wire labeled: Into this terminal block:

1

2

3

8 bare wire (no label)

U1

V1

W1

PE2

PE3 (Series A and B modules)

N/A (Series C) The bare wire is replaced by the cable shield clamp on the motor cable.

9.

Tighten and torque all five screw terminals to the values in the following table.

Axis Module:

2 kW, 3 kW, 5 kW All

10 kW, 15 kW

Terminal Block

Designator:

Terminal Block Torque:

All

0.56 - 0.62 N-m

(5.0 - 5.6 lb-in.)

1.55 - 2.0 N-m

(14.0 - 18.0 lb-in.)

10.

Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten each loose wire.

11.

Connect the brake and thermal switch connector to the front-most mating half (TB1) under its axis module. Refer to Figure 3.13 for location of TB1. Refer to

Appendix B

for thermal switch interconnect information.

12.

If your motor:

Has the brake option

Do the following:

1. Connect the appropriate control wires to the second connector in the axis module connector kit to the appropriate cable.

Does not have the brake option

2. Insert the connector in the rear-most mating half (TB2) for its axis.

3. Go to main step 13.

Go to main step 13.

Publication 1394-5.0 — May 2000

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Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Connecting Feedback to System

Modules

13.

Wire your thermal switch into the appropriate control circuitry for monitoring purposes. Refer to

Appendix B

for thermal switch interconnect information.

ATTENTION:

To avoid damage to your motor, monitor the thermal switch for overheat conditions.

!

14.

If you:

Have more axis modules to wire

Have wired all of your axis modules

Do this:

1. Move to the next axis module.

2. Go to the main step 2.

Go to

Connecting Feedback to

System Modules

.

The procedure in this section assumes that your system and axis modules are already mounted and your power is wired. Wire the commutation resolver (integral to the 1326 motor) to the system at the connectors shown in the following table. You must use Allen-Bradley

1326-CCU-

xxx

shielded cables for proper operation. Refer to

Appendix D

for more information on connectors and accessories.

!

ATTENTION:

To guard against hazard of personal injury or damage to equipment, the interconnections between the motor and resolver must be made exactly as shown in

Appendix B

. Failure to do so could cause loss of motor control and/or severe oscillation of the motor shaft.

Note: All CCU cables are shipped with pre-pinned connections and loose connector housings for the system end.

If you are using this system module:

Connect it to terminal(s):

GMC Turbo or GMC

9/440 CNC or CNC

Interface

Analog Servo

J5 (axis 0), J6 (axis 1), J7 (axis 2), and J10 (axis 3).

Refer to Wiring 1394 GMC and GMC Turbo Systems for locations.

FB0 (axis 0) through FB3 (axis 3). Refer to the

9/Series Integration and Maintenance Manual

(publication 8520-6.2) for more information.

FB0 (axis 0), FB1 (axis 1), FB2 (axis 2), and FB3

(axis 3). Refer to Wiring Your 1394 Analog Servo

System for locations.

M = mandatory, O = optional, and N/A = non applicable

M

M

M

M, O, or

N/A:

Publication 1394-5.0 — May 2000

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-25

To improve the bond between the motor feedback cable shield and the system module PE ground, a cable shield clamp is included with the

Series C system modules.

Ensure an appropriate amount of the cable insulation and braided shield is removed from the feedback cable. Place the cable wires and exposed braided shield into the cable shield clamp and tighten the clamp screw. Then thread the bracket screw into the bottom of the system module and tighten. Refer to Figure 3.14 for an illustration.

The table below provides pin-outs for the resolver connection.

Terminal:

6

7

4

5

1

2

3

8

9

10

Wire Number: Color: Function:

1

2

3

3

1

1

2

Black

Shield

Black

Green

Shield

White

Shield

Axis x R1

Shield

Axis x S1

Axis x S2

Shield

Axis x R2

Shield

2

3

Red

Black

Axis x S3

Axis x S4

Overall Shield Overall Shield Overall Shield

To connect motor feedback:

1.

Connect the connector shells to the resolver feedback cables.

2.

For each axis/motor you will use, connect one motor resolver feedback cable to the appropriate feedback connector on the bottom of the system module control board. For the location of those connectors, refer to the drawing on the inside of the system module door or the section

Finding Additional Wiring

Information for 1394 Systems

.

3.

If you are: Do this:

Using the AQuadB option (for Analog

Servo system only)

1. Connect the connector shells to the 1394-

SA15 cables. Refer to the instructions that came with the cables for more information.

2. For each AQuadB output you will use, connect one 1394-SA15 cable to the

AQuadB mating slot under the system module.

Not using the

AQuadB option

3. Go to step 4.

Go to step 4.

Publication 1394-5.0 — May 2000

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Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Connecting Your Motor Cables to

Motors

Connecting Your External Shunt

Resistor

4.

If you have:

More motors to wire

Wired all of your motors

Do this:

1. Move to the next motor.

2. Go to the main step 1.

Go to

Connecting Your Motor

Cables to Motors

.

This procedure assumes that your system and axis modules are already mounted and wired. To connect your motor cables:

1.

Orient the motor end of the resolver cable so that the flat on the connector is facing the shaft of the motor.

2.

Push the cable onto the appropriate mating half until it clicks.

3.

Orient the motor end of the power cable so that the flat on the connector is facing the shaft of the motor.

4.

Push the cable onto the appropriate mating half until it clicks.

5.

If you have:

More motors to wire

Wired all of your motors

Do this:

1. Move to the next motor.

2. Repeat the steps above.

Go to the Commissioning chapter for your specific system.

These procedures assume that your external shunt resistor is already mounted.

To connect your external shunt resistor:

1.

Remove all 24V control power, contactor enable power, and 360/

480V AC input power from the system.

2.

If your system module is: Do this:

Series A and B Go to

Connecting Your External

Shunt Resistor (Series A and B).

Series C Go to

Connecting Your External

Shunt Resistor (Series C).

Publication 1394-5.0 — May 2000

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-27

Connecting Your External Shunt Resistor (Series A and B)

1.

Open the front door of the 1394 system module.

2.

Remove and discard the COL/INT jumper wire from the power terminal block in the lower right corner, as shown in the figure below.

Figure 3.15

1394 System Module Jumper Removal (Series A and B)

Jumper

3.

Install the jumper block in the P1 position, which is located directly behind the Status LED, as shown in the figure below.

Figure 3.16

1394 System Module Jumper Installation (Series A and B)

Jumper block to P1

4.

Install and tighten the resistor wire with the fuse in the DC+ terminal on the power terminal block in the lower right corner.

5.

Install and tighten the other resistor wire in the COL terminal on the power terminal block in the lower right corner.

Publication 1394-5.0 — May 2000

3-28

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Connecting Your External Shunt Resistor (Series C)

1.

Locate and unplug the J11 connector on the bottom of the system module.

2.

Remove and discard the jumper wire between J11-1 and J11-2, as shown in the figure below.

Figure 3.17

1394 System Module Jumper Removal (Series C)

Connecting Your Shunt Module

(required for 22 kW system)

Remove jumper

J11

1 2 3

1394 bottom view

3.

Install the shunt resistor wire leading to the fuse in connector

J11-1.

4.

Install the other shunt resistor wire in connector J11-3.

5.

Tighten the J11 connector screws (torque value = 0.56-0.62 N-m,

5.0-5.6 lb-in.).

The procedures in this section assume that your shunt module is already mounted. Wiring the shunt module consists of connecting power from the system module and, depending on the shunt module you ordered, connecting power to the fan inside the module.

Required Tools and Equipment

The required tools and equipment are:

• A small, flathead screwdriver

• User-supplied power wiring

• The two fan jumpers that came with your 1394-SR36AF shunt module.

Publication 1394-5.0 — May 2000

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-29

Wiring the Shunt Module Power

There are three types of cable that can be used to connect the 1394 shunt module to your 1394 system module. All shunt power wiring should meet the following general specifications:

• 8 AWG (8.4 mm

2

)

• 105

°

C

• 600V

• Maximum length of each wire is 3.05 m (10 ft.).

• If you mount the shunt module outside the cabinet, the shunt power cables and fan wiring must be inside metal conduit to minimize the levels of EMI and RFI.

To minimize the levels of EMI and RFI inside your cabinet, we recommend you:

• Use a single cable that contains a twisted pair with an overall shield. The shunt module is designed to accept a metal conduit which will also act as an overall shield.

• Route your shunt power cables with motor power cables.

• Separate shunt power cables from other sensitive, low voltage signal lines.

The table below details your shunt power wiring options.

For this Type of Cable:

Twisted pair with overall shield

Twist Conductors (Y/N):

N

Twisted pair (no shield)

Discrete conductors

1

N

Y (2 twists per foot)

1

Twisting cancels most of the RFI noise for the two conductors. Refer to Figure 3.18 and Figure 3.19 for more information.

To connect the shunt module to the 22 kW system module:

1.

Verify that there is no 24V control or 360/480V power applied to the system.

2.

Open the front door of the system module.

3.

Insert one end of one user-supplied 8.4 mm

2

(8 AWG), 105

°

C

(221

°

F), 600V, shielded wire in the terminal block labeled COL.

4.

Insert one end of the other user-supplied 8.4 mm

2

(8 AWG),

105

°

C (221

°

F), 600V, shielded wire in the terminal block labeled DC +.

5.

Tighten both screw terminals (torque = 2.5 N-m, 22.1 lb-in.).

6.

Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires.

Publication 1394-5.0 — May 2000

3-30

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Figure 3.18

Routing Shunt Module Wiring When the Module is Outside the Cabinet

Customer-supplied metal enclosure (optional)

Low voltage

Communications

Control I/O wiring

Motor feedback cables

155 mm (6.1 in.) of clearance on all sides of the shunt module minimum

1394 Digital Servo Controller

300W Shunt Module

ALLEN-BRADLEY

BULLETIN 1394 300W SHUNT MODULE

CAT.

PART

INPUT AC

SER.

FOR FUSE REPLACEMENT USE:

BUSSMAN CAT. NO.

FOR USE WITH 1394-SJT22-X SYSTEM MODULE

Metal conduit

1394 Digital Servo Controller

300W Shunt Module

ALLEN-BRADLEY

BULLETIN 1394 300W SHUNT MODULE

CAT.

INPUT DC

PART

INPUT AC

FOR FUSE REPLACEMENT USE:

SER.

Motor power cables

360/480V

AC power

Publication 1394-5.0 — May 2000

Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI.

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

8 AWG (8.4 mm

2

),

105 C, 600V wire

Max. Length 3.05 m

(10 ft) for each wire

Twisted conductors

(2 twists per foot) min. or a shielded twisted pair

Shielding is recommended for reducing the effects of EMI and RFI.

!

ATTENTION:

The resistors inside the 1394 shunt module can reach temperatures in excess of 350

°

C

(662

°

F). Be sure to provide appropriate guarding to avoid hazard of shock or burn and ignition of flammable material. Install per local codes.

3-31

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Low voltage

Communications

Control I/O wiring

Motor feedback cables

Figure 3.19

Routing Shunt Module Wiring When Module is Inside the Cabinet

Motor power cables

360/480V

AC power

Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI.

155 mm (6.1 in.) of clearance on all sides of the shunt module minimum

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

1394 Digital Servo Controller

300W Shunt Module

ALLEN-BRADLEY

BULLETIN 1394 300W SHUNT MODULE

CAT.

PART SER.

INPUT DC INPUT AC

FOR FUSE REPLACEMENT USE:

BUSSMAN CAT. NO.

FOR USE WITH 1394-SJT22-X SYSTEM MODULE

8 AWG (8.4 mm

2

),

105 C, 600V wire

Max. Length 3.05 m

(10 ft) for each wire

Use twisted conductors

(2 twists per foot) min. or a shielded twisted pair.

Shielding is recommended for reducing the effects of EMI and RFI.

!

ATTENTION:

To avoid burn hazard and ignition of flammable material, be sure to provide appropriate guarding. The resistors inside the 1394 shunt module can reach temperatures in excess of 350

°

C (662

°

F).

Install per local codes.

7.

Open the front door of the shunt module.

8.

Insert the wire from the system module terminal block labeled

COL in the top terminal on the left side of the shunt module.

Refer to Figure 3.20 for the terminal’s location.

9.

Insert the wire from the system module terminal block labeled

DC+ in the bottom terminal on the left side of the shunt module.

Refer to Figure 3.20 for the terminal’s location.

Publication 1394-5.0 — May 2000

3-32

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

Figure 3.20

Terminating Wires at the Shunt Module

Connected to COL on the

22 kW System Module

Connected to DC + on the

22 kW System Module

10.

Tighten both screw terminals (torque = 2.5 N-m, 22.1 lb-in.).

11.

Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten each loose wire.

12.

If your shunt module: Then:

Has a Fan

Does not have a fan

Go to

Wiring the Shunt

Module Fan Power.

Finish installing your system.

Publication 1394-5.0 — May 2000

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

3-33

Wiring Shunt Module Fan Power

This procedure assumes that you have bonded, mounted, and wired the power to your shunt module. The shunt fan can be wired for 115V or 230V input. Use 16 AWG 1.3 mm

2

[machine tool, 75

°

C (167

°

F)] copper wire for all fan power wiring. The current draw of each shunt module fan is shown in the table below.

For this input power:

115V AC

230V AC

The current draw is:

.2A

.1A

Important:

If you mount the shunt module outside the cabinet, the shunt fan power wiring must be inside metal conduit to minimize the levels of EMI and RFI.

To wire the shunt fan for 115V:

1.

Verify that all 24V control or 360/480V input power is removed from the system.

2.

Open the front door of the shunt module.

3.

Using a flat screw driver, remove the plate that covers the fan wire access hole located on the bottom right side of the module.

4.

Insert one wire from the 115V AC power supply into terminal 1.

5.

Insert the other wire from the 115V AC power supply into terminal 4.

6.

Insert one of the jumper wires that came with your shunt module into terminals 1 and 3. Refer to Figure 3.21 for the jumper’s location.

7.

Insert the other jumper wire that came with your shunt module into terminals 2 and 4. Refer to Figure 3.21 for the jumper’s location.

8.

Tighten all screw terminals.

9.

Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires.

To wire the shunt fan for 230V:

1.

Verify that all 24V control or 360/480V input power is removed from the system.

2.

Open the front door of the shunt module.

3.

Using a flat screw driver, remove the plate that covers the fan wire access hole located on the bottom right side of the module.

4.

Insert one wire from the 230V AC power supply into terminal 1.

Publication 1394-5.0 — May 2000

3-34

Wiring System, Axis, and Shunt Modules, and Motors (for all systems)

5.

Insert the other wire from the 230V AC power supply into terminal 4.

6.

Insert the jumper wire that came with your shunt module into terminals 2 and 3. Refer to Figure 3.21 for the jumper’s location.

7.

Tighten all screw terminals.

8.

Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires.

Figure 3.21

Wire Locations for the Shunt Module Fan

Wiring the fan for 115V

To power supply

To power supply

1

2

3

4

To power supply

To power supply

Wiring the fan for 230V

3

4

1

2

Publication 1394-5.0 — May 2000

Chapter

4

Chapter Objectives

Finding Additional Wiring

Information for 1394 Systems

Understanding GMC and GMC

Turbo Wiring and Connections

Wiring 1394 GMC and GMC Turbo

Systems

This chapter covers the following topics:

• Understanding GMC and GMC Turbo wiring and connections

• Understanding input wiring board layout

• Connecting your communication cables

• Connecting a GMC and GMC Turbo to a 1394-DIM

• Understanding DIM signals

• Wiring and Configuring an External Drive to the 1394-DIM

This chapter provides signal wiring and connection information required for the 1394 GMC and GMC Turbo system modules only.

For additional wiring information on:

1394 Analog Servo system modules

CNC Interface or

9/440 system modules

1394 SERCOS system modules

Refer to the following:

Chapter 5 (Wiring Your 1394 Analog Servo System) in this manual.

9/Series CNC Hardware Integration and Maintenance Manual

(publication 8520-6.2).

1394 SERCOS Multi-Axis Motion Control System User Manual

(publication 1394-5.20)

The 1394 GMC and GMC turbo contain an integrated IMC S Class motion controller that is functionally equivalent to the IMC S Class

Compact. GMC and GMC Turbo system modules provide connections for the following:

• Motor feedback (resolvers)

• Auxiliary encoders (optional)

• RS-232 and RS-422 serial communications

• Remote I/O

• Flex I/O

• DH-485

• AxisLink

• SLC Interface (Direct connection) (Turbo only)

Publication 1394-5.0 — May 2000

4-2

Wiring 1394 GMC and GMC Turbo Systems

Understanding Input Wiring Board

Layout

The input wiring board provides terminating points at TB1 and TB2 for the various control signals. The figure below shows the locations of the various signal terminations.

Figure 4.1

Input Wiring Board for 1394 x -SJT xx -C, -C-RL and -T, -T-RL

J5

C1

A1

24V INPUT COM

CHASSIS

REG0 5V

REG0 24V

REG COM

CHASSIS

REG2 5V

REG2 24V

REG COM

CHASSIS

A TEST 0

A TEST 1

A TEST COM

CHASSIS

SYS ENABLE

24V INPUT COM

CHASSIS

HOME0

POS 0TRAV0

NEG 0TRAV0

THERM FLT0

24V INPUT COM

CHASSIS

HOME2

POS 0TRAV2

NEG 0TRAV2

THERM FLT2

SYS ENABLE

24V INPUT COM

CHASSIS

HOME1

POS 0TRAV1

NEG 0TRAV1

THERM FLT1

24V INPUT COM

CHASSIS

HOME3

POS 0TRAV3

NEG 0TRAV3

THERM FLT3

24V INPUT COM

CHASSIS

REG1 5V

REG1 24V

REG COM

CHASSIS

REG3 5V

REG3 24V

REG COM

CHASSIS

DRIVE OK1

TP2 TP3

C16

TP1

DRIVE OK2

C1

CHASSIS

TB3

B16

B1

C6 C5

Important:

Use the terminal operating tool, as shown in Figure 4.3

(supplied with the system module), to help you insert and remove wires on the input wiring board.

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

Figure 4.2

Input Wiring Board for 1394C-SJT xx -L and -L-RL

J5

C1

A1

SYS ENABLE

24V_INPUT_COM

CHASSIS

HOME0

POS_0TRAV0

NEG_0TRAV0

THERM_FLT0

24V_INPUT_COM

CHASSIS

SYS ENABLE

24V_INPUT_COM

CHASSIS

4-3

REG0_5V

REG0_24V

REG_COM

CHASSIS

REG1_5V

REG1_24V

REG_COM

CHASSIS

C16

B16

A_TEST_0

A_TEST_1

A_TEST_COM

CHASSIS

DRIVE_OK1

TP2 TP3

TP1

DRIVE_OK2

CHASSIS

B1

Important:

Use the terminal operating tool, as shown in Figure 4.3

(supplied with the system module), to help you insert and remove wires on the input wiring board.

Publication 1394-5.0 — May 2000

4-4

Wiring 1394 GMC and GMC Turbo Systems

Using the Terminal Operating Tool to Insert Wires

Each system module you order comes with a terminal operating tool that allows you to easily insert your wires into the terminals. Refer to

Appendix D

for the part number.

Figure 4.3

Terminal Operating Tool

Insert wire here

Hook

Flat tab

To use the terminal operating tool with TB1:

1.

Put the hook into the hook slot with tab end of the tool to your left.

2.

Gently push the tool to the right to open the wire slot.

3.

Insert the wire.

4.

Gently release the tool by moving it to the left.

5.

Reverse directions for TB2.

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

4-5

Input Wiring Board Signal Descriptions

The following tables provide descriptions of the various control signals shown in Figure 4.1. Terminate the signals you need for your application using the terminal operating tool.

Wire: Description:

SYS

ENABLE

24V

INPUT

COM

A 24V DC input is applied to these terminals to enable the system.

Common grounding point for 24V signals.

CHASSIS Common chassis ground point.

Terminal connections for

1394 x-SJTxx-C, -C-RL and -T, -T-RL systems:

Terminal connections for

1394C-SJT xx-L and

-L-RL systems:

Either TB1 or TB2, terminal 1

TB1 and TB2 terminals 2,

8, and 14

Either TB1 or TB2, terminal 1

TB1 terminals 2 and 8

TB1 terminals 3,9,19 and 27

TB2 terminals 3,19,26 and 27

HOME0

POS

OTRAV0

NEG

OTRAV0

THERM

FLT0

Home switch inputs for each axis require

24V DC (each), 13 mA to energize. Each input is optically isolated and filtered to minimize switch bounce. Refer to Figure 4.4.

The positive limit switch inputs for each axis require 24V DC (each), 13 mA to energize.

Each input is optically isolated and filtered to minimize switch bounce. Refer to Figure 4.4.

The negative limit switch inputs for each axis require 24V DC (each), 12 mA to energize.

Each input is optically isolated and filtered to minimize switch bounce. Refer to Figure 4.4.

The thermal fault switch inputs for each axis require 24V DC (each), 12 mA to energize.

Each input is optically isolated and filtered to minimize switch bounce. Refer to Figure 4.4.

TB1 terminals 3, 9, 15,

19, 23, and 27

TB2 terminals 3, 9, 15,

19, 23, 26, and 27

TB1 - 4 (axis 0),

TB2 - 4 (axis 1),

TB1 - 10 (axis 2),

TB2 - 10 (axis 3)

TB1 - 5 (axis 0),

TB2 - 5 (axis 1),

TB1 - 11 (axis 2),

TB2 - 11 (axis 3)

TB1 - 6 (axis 0),

TB2 - 6 (axis 1),

TB1 - 12 (axis 2),

TB2 - 12 (axis 3)

TB1 - 7 (axis 0),

TB2 - 7 (axis1),

TB1 - 13 (axis 2),

TB2 - 13 (axis 3)

TB1 - 4 (axis 0)

TB1 - 5 (axis 0)

TB1 - 6 (axis 0)

TB1 - 7 (axis 0)

Mandatory or Optional:

Mandatory

Mandatory

Mandatory

Optional

Optional

Optional

Optional

Figure 4.4

Home, Travel and Thermal Fault Inputs

Publication 1394-5.0 — May 2000

4-6

Wiring 1394 GMC and GMC Turbo Systems

Wire:

REG 5V, 24V,

COM

Description:

High-speed, optically-isolated filtered registration input for each axis. Inputs can be either 5 or 24V DC. Refer to Figure 4.5 for typical registration device inputs.

Note:

To further reduce electrical noise, a dedicated power supply may be required for the registration sensors.

You can disable the registration input filters by removing jumpers P0-P3 on the input wiring board.

Terminal connections for

1394 x-SJTxx-C, -C-RL and -T, -T-RL systems:

Terminal connections for

1394C-SJT xx-L and

-L-RL systems:

For 5V

TB1 16 (axis 0)

TB2 16 (axis 1)

TB1 20 (axis 2)

TB2 20 (axis 3)

For 5V

TB1 16 (axis 0)

TB2 16 (axis 1)

For 24V

TB1 17 - 18 (axis 0)

TB2 17 - 18 (axis 1)

TB1 21 - 22 (axis 2)

TB2 21 - 22 (axis 3)

For 24V

TB1 17 - 18 (axis 0)

TB2 17 - 18 (axis 1)

For COM

(used with 5V and 24V)

TB1-18 (axis 0)

TB2-18 (axis 1)

TB1-22 (axis 2)

TB2-22 (axis 3)

For COM

(used with 5V and 24V)

TB1-18 (axis 0)

TB2-18 (axis 1)

Mandatory or Optional:

Optional

A TEST 1

A TEST 2

A TEST COM

Two software-programmable outputs are available:

•

A voltage corresponding to the motor velocity and direction of rotation will be present between these terminals.

±

1.0V/ krpm is available. Minimum impedance that can be placed across this output is 10k ohm.

•

A voltage corresponding to positive and negative current will be present between these terminals.

±

2.5V DC equals 100% of motor continuous current rating.

±

5.0V DC equals 200%. Minimum impedance that can be placed across this output is 10k ohms.

Any axis analog current/voltage output may be linked to either analog output using internal software parameters. By default

Axis 0 velocity is linked to A TEST 0 and

Axis 0 current is linked to A TEST 1.

DRIVE OK 1/2 When you apply 24V AC/DC control power to the system and no system faults are detected, the Drive OK relay contact closes.

The contact remains closed until a drive fault occurs, the DC bus voltage is lost, or you remove 360/480V input power from the system module. If a drive fault is detected or the DC bus voltage is lost, the relay contact opens. You can wire the Drive OK contacts into the Estop string to open the main power contactor if a fault occurs. The contact rating is 115V AC or 24V DC, 1A.

TB1-24 (A TEST 0)

TB1-25 (A TEST 1)

TB1-26 (A TEST COM)

TB1-24 (A TEST 0)

TB1-25 (A TEST 1)

TB1-26 (A TEST COM)

TB2 terminals 24 and 25 TB2 terminals 24 and 25

Optional

Mandatory

Publication 1394-5.0 — May 2000

+

Wiring 1394 GMC and GMC Turbo Systems

Figure 4.5

Typical Registration Inputs

+

4-7

+ +

Connecting Your Communication

Cables

Important:

Connections shown are typical only. Some input devices vary in their specific connections. Consult the wiring diagram for your device.

Important:

If you are using current sinking, you can only use one device per controller.

The 1394 GMC and GMC Turbo system modules provide the following communication options:

• Encoder feedback

• RS-232 and RS-422 serial communications

• DH-485

• AxisLink

• Remote I/O

• Flex I/O

• SLC Interface (Direct connection) (Turbo only)

Figures 4.6, 4.7, and 4.8 show the locations of the various communication connections.

Publication 1394-5.0 — May 2000

4-8

Wiring 1394 GMC and GMC Turbo Systems

Figure 4.6

Inside the 1394 GMC and GMC Turbo (catalog number 1394-SJT22)

Motion Board

Screw

Control

Status

Axislink and RS-422

Multi Drop Addresses

Remote I/O (2)

Status

SLC IN

(Turbo Only)

Control Reset

Input Wiring

Board Screw

Control Init

SLC OUT

(Turbo Only)

Remote I/O

0

1

2

Control

Status

AxisLink &

RS422 Multi Drop

Control Address

Control

Reset

Control

Init

Input Wiring

Board

Input Wiring

Board Screw

AxisLink

Status

SW1-SW6

Switches

Application Program Lock

DH-485 (2)

AxisLink

Status

Application

Program Lock

Serial

Port

Config.

DH-485 (J1)

DH-485 (J2)

Motion Board

Screw

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

Figure 4.7

Bottom View of the 1394-SJT xx -C and -T

4-9

Extended Axis Link Switch

(Turbo only)

AxisLink

Flex I/O

Axis 0 (J3)

Auxillary Encoder Input

Axis 1 (J4)

Auxillary Encoder Input

Axis 2 (J5)

Auxillary Encoder Input

Axis 3 (J10)

Auxillary Encoder Input

Figure 4.8

Bottom View of the 1394C-SJT xx -C, -L, and -T

1394-SJT22-T-RL System Module

RS-232 and RS-422

RS-232, RS-422 and DH-485

Axis 0 (J5)

Resolver Feedback Input

Axis 1 (J6)

Resolver Feedback Input

Axis 2 (J7)

Resolver Feedback Input

Axis 3 (J10)

Resolver Feedback Input

AxisLink

Flex I/O

Axis 0 (J3)

Auxillary Encoder Input

Axis 1 (J4)

Auxillary Encoder Input

1394C-SJT xx-L-RL System Module

RS-232 and RS-422

RS-232, RS-422 and DH-485

Axis 0 (J5)

Resolver Feedback Input

Publication 1394-5.0 — May 2000

4-10

Wiring 1394 GMC and GMC Turbo Systems

Encoder Feedback Wiring

These connectors accept encoder feedback signals from an optional encoder. Terminal 10 requires a user-supplied, regulated +5V DC

(

±

5%). We recommend Belden #9728 wire or equivalent. When you use a 5 volt power supply, there is a maximum distance between the encoder and 1394 of 12.2 meters (40 feet).

The 1394 interface circuitry requires 0.325A to operate. Any additional devices connected to the 1394, such as incremental encoders, may require an additional 0.2A per device to operate.

Check your device for operational requirements.

Make the encoder feedback connections according to the table below.

Connectors are located on the bottom of your system module (refer to

Figure 4.7 for 1394

x

-SJT

xx

-C and -T systems and Figure 4.8 for

1394C-SJT

xx

-L systems).

For this axis: Connect to this terminal:

0

1

2

3

J3

J4

J5

J10

To improve the bond between the motor feedback cable shield and the system module PE ground, a cable shield clamp is included with the

Series C system modules.

Ensure an appropriate amount of the cable insulation and braided shield is removed from the feedback cable. Place the cable wires and exposed braided shield into the cable shield clamp and tighten the clamp screw. Then thread the bracket screw into the bottom of the system module and tighten. Refer to the figure below for an illustration.

Figure 4.9

Series C System Module Cable Clamps

51 mm

(2.0 in.)

1

Cable wires

22 mm

(.875 in.)

1

Motor cable

Bracket screw

Braided shield exposed

Clamp screw

1

Dimensions given are approximate and will vary depending on the specific installation. Keep wires as short as possible while maintaining adequate stress relief.

Cable Preparation

Cable shield clamp

Clamp Attachment

Feedback cable clamps

System module ground bar

1394 front view

Wiring to System Module

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

4-11

The following cables are available to connect auxiliary encoder feedback to the 1394 GMC and GMC Turbo:

• 1394-GE15 (from the auxiliary incremental encoder to the 1394)

• 1394-GR04 (from the 4100-REC and -AEC to the 1394)

Refer to

Appendix D

for connectors and accessory part numbers.

Refer to the table below for interconnection information.

Pin: Description:

6

7

4

5

1

2

3

Channel A High

Channel A Low

Channel B High

Channel B Low

Channel Z High

Channel Z Low

Strobe x

8

9

+5V Out

Common Output

10 +5V Input (user supplied)

11 Common Input (user supplied)

12 Shield

Refer to

Appendix B

for 1326-CEU-

xxx

Encoder Feedback Cable information.

Serial Communications

The 1394 provides two optically-isolated RS-232/RS-422 serial ports

(CHAN A/J3 and CHAN B/J4). These ports are located on the bottom of the system module. Refer to Figure 4.7 for 1394-SJT

xx

-C and -T

(Series A and B) systems and Figure 4.8 for 1394C-SJT

xx

-C, -L, and

-T (Series C) systems. Both ports use 9-pin, AT compatible, DB-9 connectors and are identically wired.

You can configure CHAN A/port J3 for RS-232(C) or RS-422, and you can configure CHAN B/port J4 independently for RS-232, RS-

422, or DH-485. In addition, if you select RS-422 or DH-485, you can configure the port to use a termination resistor (if required). If you select DH-485, port J4 is disconnected. You configure both ports using switches on the system module. Refer to Figure 4.10 for switch settings and Figure 4.6 for location. Both ports are configured for RS-

232 operation when they are shipped from the factory.

Publication 1394-5.0 — May 2000

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Wiring 1394 GMC and GMC Turbo Systems

Figure 4.10

SW1 - SW6 (RS-232/RS-422) Switch Settings

SW1

Port J1, J2

SW2

Port J4

SW3

Port J3

SW4

Port J1, J2/J4

Left No DH-485 Terminal No RS-422 Terminal No RS-422 Terminal RS-232/422

Right DH-485 Terminal (220

Ω

) RS-422 Terminal (220

Ω

) RS-422 Terminal (220

Ω

) DH-485

SW5

Port J4

SW6

Port J3

RS-232 RS-232

RS-422 RS-422

When a port is configured for RS-232 operation, you can connect compatible serial communication devices using common RS-232 cables. Refer to the table below for signal designations and Figure

4.11 for cable recommendations. Refer to the

IMC S Class Motion

Control Installation and Setup Manual

(publication 999-122) for multidrop application instructions.

RS-232

Pin

1

4

5

2

3

8

9

6

7

Signal

NC

TxD

RxD

DTR

Com

DSR

RTS

CTS

NC

Description

No Connection

Transmitted Data

Received Data

Data Terminal Ready

Signal Common

Data Set Ready

Ready To sent

Clear To Send

No Connection

RS-422

Pin

1

2

3

4

5

6

7

8

9

Signal

TxD+

TxD-

RxD-

TxD+

Com

TxD+

RxD+

RxD+

NC

Refer to Data Highway Connection for DH-485 signal designations.

Description

Transmitted Data (+)

Transmitted Data (-)

Received Data (-)

Transmitted Data (+)

Signal Common

Transmitted Data (+)

Received Data (+)

Received Data (+)

No Connection

Important:

The RTS/CTS and DSR/DTR signals are internally jumpered to allow you to use standard RS-232 cables with serial devices requiring hardware handshaking.

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

4-13

Figure 4.11

RS-232/422 Cable Signals

RS-232C

Serial Device

Com

RxD

TxD

Shield

Recommended Cable -

Belden #9533 or Equivalent

J3/CHAN A

J4/CHAN B

1

5

2

3

1

1394 connector is 9 pin, AMP #205204-1 or equivalent.

Serial Device

RxD+

RxD-

TxD+

TxD-

Com

RS-422

J3/CHAN A

1

J4/CHAN B

7

3

4

2

5

Recommended Cable -

Belden #9503 or Equivalent

Data Highway Connection

The 1394 provides two optically-isolated ports (J1 and J2) for Data

Highway 485 (DH-485) communication. Both connectors are wired identically (you can use either one). A telephone-type connector provides the interface with the following signal designations.

Pin: Signal: Description:

6

7

4

5

8

1

2

3

Data A

Data B

NC

NC

Shield

Com

NC

Data A Transmit

Data B Transmit

No Connection

No Connection

Tx Enab Transmitted Data Enable

Signal Shield

Signal Common

No Connection

Publication 1394-5.0 — May 2000

4-14

Wiring 1394 GMC and GMC Turbo Systems

AxisLink

AxisLink provides a network to transfer data between multiple nodes

(up to eight standard) that allows you to synchronize complex motion applications. For example, these nodes can be eight GMC system modules, one ALEC and 7 GMC system modules, or some other combination. AxisLink allows one 1394 to be used as a master axis for electronic gearing, camming, etc. on other systems. Using the

Extended Node option in GML version 3.9.1 (or higher) with firmware version 3.5 (or higher) you can link up to 16 nodes. Connect the AxisLink cable to J1 with a three pin connector as shown in

Figure 4.12. The maximum end-to-end length for Daisy-Chain cabling configurations is 25 m (82 ft). The minimum distance between AxisLink nodes is 0.9 m (3 ft). Refer to Figures 4.7 and 4.8 for the AxisLink connector’s location.

Figure 4.12

AxisLink Connections for a GMC System

Connects to J1

AxisLink Connector

2

1

Blue

Shield

Clear

Required cable

AB 1770-CD

(Belden 9463 or equivalent)

150 ohm

Install a 150 ohm termination resistor across 1 and 2 if this is the first or last module on the line.

Important:

All nodes on the same AxisLink network should be operated at the same servo update rate.

Important:

Select your AxisLink node address (0-7) using the front panel switch (see Figure 4.6 for the switch’s location)

(standard mode only). Do not use positions 8 or 9.

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

4-15

GMC Turbo System

For those applications that require longer AxisLink cable lengths, the

GMC Turbo offers the AxisLink Extended Length option. The

Extended Length option allows the user to support up to eight nodes for a maximum end-to-end cable length of 125 m (410 ft) (user supplied cable). To enable the Extended Length option, set the switch located between the Flex I/O and AxisLink connectors on the bottom of the GMC Turbo system module. See Figure 4.7 for the switch’s location and Figure 4.14 for switch settings.

The Extended Node option allows the user to support up to 16 nodes for a maximum end-to-end cable length of 25 m (82 ft). This feature is enabled in GML version 3.9.1 (or higher) with Firmware version

3.5 (or higher).

Important:

You cannot use the Extended node option if the

Extended Length option is enabled.

Figure 4.13

AxisLink Connections for a GMC Turbo with Extended Length Option Enabled

Connects to J1

Extended Length

AxisLink Connector

2

1

Yellow

Shield

Black

Recommended cable

(Belden 9182, Carol C8014 or equivalent)

Figure 4.14

AxisLink Extend Length Switch Setting

AxisLink Extended

Length Enabled

Flex I/O connector

AxisLink connector

AxisLink Extended

Length Disabled

Bottom Edge of the1394 GMC Turbo Board

300 ohm

Install a 300 ohm termination resistor across 1 and 2 if this is the first or last module on the line.

Publication 1394-5.0 — May 2000

4-16

Wiring 1394 GMC and GMC Turbo Systems

Remote I/O

The Remote I/O (RIO) interface allows the 1394 to communicate with Allen-Bradley position controllers or other RIO devices. Two identical connectors (CHAN A/P3 and CHAN B/P4) are provided at the top of the Motion Drive Module. A three-pin connector is used for the interface. Refer to the

Installation Guidelines for the Twinaxial

Cable

(publication 92-D1770-BCO) for more information.

Figure 4.15

Remote I/O Connections

Remote I/O Connects to P3 or P4

Remote I/O Cable

1

Terminal

Blue

Shield

Clear

Clamping screws

2

Required cable AB 1770-CD (Belden 9463 or equivalent)

150 or 82 ohm

Install a 150 or 82 ohm termination resistor across 1 and 2 if this is the first or last module on the line.

Flex I/O

Flex I/O provides general purpose discrete inputs, discrete outputs, analog inputs and analog outputs (J2). The Flex I/O Module is connected to the 1394 with a 4100-CCF1 (maximum cable length is

305 mm (12 in.) or 4100-CCF3 cable (maximum cable length is

0.91m (3 ft). Up to eight modules of the following types can be connected in any order.

• 1794-IB16 16 Discrete Inputs (24V DC)

• 1794-OB16 16 Discrete Outputs (24V DC)

• 1794-IE8 8 Analog Inputs

• 1794-OE4 4 Analog Outputs

• 1794-IA8 8 115AC Discrete Inputs

• 1794-OA8 8 115V AC Outputs

• 1794-IE 4XOE 2 Analog combination module

• 1794-IB10XOB6 Discrete combination module

• 1794-OW8 Relay output module

• 1794-IF4I Isolated analog input module

• 1794-OB16P Discrete output (protected)

A 1794-ASB adapter is not required. Use a 4100-CCF1 or 4100-

CCF3 cable to connect the 1394 to Flex I/O modules.

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

4-17

SLC Interface

The GMC Turbo (catalog number 1394

x

-SJT

xx

-T) can connect directly to an SLC 5/03, 5/04, or 5/05 back plane using a 1746-C7 or -C9 cable. The SLC processor recognizes the GMC Turbo as an intelligent SLC module.

The GMC Turbo supports the transfer of input/output image files and

M0/M1 files.

If you are using:

GML Commander 4.

x.x

GML 3.

x.x

Refer to: Publication number:

GML Commander Reference

Manual

GMLC-5.2

GML Programming Manual,

Document Update

GML Programming Manual,

Document Update

999-104-DU1

999-104-DU1.1

For this information:

Programming

Programming

1394 SLC Interface

The figure below shows the location of the GMC Turbo to SLC connectors.

Figure 4.16

Connecting a GMC Turbo to an SLC

SLC right side connector

SLC IN connector

1746 Rack with

SLC 5/03, 5/04, or 5/05

SLC OUT connector

1746-C7 or -C9 cable

DANGER

EXIST UP TO FIVE MINUT

ES AFTER REMOVING PO

WER.

1394 GMC Turbo System

!

ATTENTION:

To avoid injury or damage to equipment do not install SLC interface cables (catalog numbers

1746-C7 and 1746-C9) while the unit(s) is powered up.

ATTENTION:

SLC Interface faults will not automatically shut down or stop the axes or application program operating in the 1394 GMC Turbo. These conditions must be handled in a safe manner with the user’s application program.

Publication 1394-5.0 — May 2000

4-18

Wiring 1394 GMC and GMC Turbo Systems

Figure 4.17

Configurations for Connecting a GMC Turbo to an SLC

SLC right side connector

1394 SLC IN connectors

1

1746 Rack with

SLC 5/03, 5/04, or 5/05

1394 SLC OUT connector

1

DANGER

1394 GMC Turbo System

DANGER

1394 GMC Turbo System

SLC right side connectors

1

1746 Rack with

SLC 5/03, 5/04, or 5/05

SLC left side connector

1746 Rack

1394 SLC IN connector

1

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

1394 GMC Turbo System

SLC right side connector

1

1746 Rack with

SLC 5/03, 5/04, or 5/05

DANGER

1394 SLC IN connector

1

Use cable 1746-C7 or 1746-C9 to connect the 1394

x

- SJT

xx

- T to the SLC.

1394 GMC Turbo System

Important:

The figure above shows connection information only and does not imply a specific mounting configuration.

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

4-19

Connecting a GMC and GMC Turbo to a 1394-DIM

The 1394-DIM acts as an interface between one 1394 GMC/GMC

Turbo system module and the external axis drive(s).

On the 1394

x

-SJT

xx

-C, -C-RL, -T, and -T-RL, the 1394-DIM acts in place of one to four axis modules. On the 1394C-SJT

xx

-L and -L-RL the 1394-DIM acts in place of one axis module. The 1394-DIM passes a standard servo output signal from the system module to each external drive connected to the 1394-DIM. Using a 1394-DIM as part of a 1394 system lets you control external drives and motors of any size.

1394-DIM System Example

The figure below shows an example of a 1394 GMC/GMC Turbo

System after connecting a 1394-DIM.

GML

1394 Axis Modules

1394 GMC or GMC

Turbo System Module

Figure 4.18

A 1394-DIM Connected to a GMC or GMC Turbo

1394-DIM

1394-DIM ground connector

+/- 10V reference

Drive Enable

Drive OK (see Figure 4.29)

RS-232/-422

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Axis connections located on the underside of DIM

Motor

See Figure 4.32 for Auxiliary Encoder input pin-outs and Figure B-1

(

Appendix B) to view the Auxiliary

Encoder Connectors on a bottom view of the 1394 GMC/GMC Turbo system module.

1394-GE15

1326AB

1326AB

Encoder Feedback Cable

Encoder Feedback Cable

Servo Amplifier

Encoder

Servo Amplifier

Motor

Encoder

1326-CEU-xxx

(if A-B 845H)

Figure 4.18 shows the 1394-DIM connected to a 1394 GMC Turbo with two 1394 axis modules. A 1326AB-B

xxxx

motor is directly connected to each of the 1394 axis modules. Two servo amplifiers with motors are connected to the 1394-DIM. It can accept two because there are two axis modules connected to the 1394 GMC

Turbo. The encoders attached to the motors have encoder feedback cables connected to the system module.

Publication 1394-5.0 — May 2000

4-20

Wiring 1394 GMC and GMC Turbo Systems

1394-DIM with 1398-DDMxxx System Example

Figure 4.19 shows the 1394-DIM connected to a 1394 GMC Turbo with two 1394 axis modules and a 1398-DDM-

xxx

servo controller. A

1326AB-B

xxxx

motor is directly connected to each of the 1394 axis modules. One servo amplifier with motor is connected to the

1394-DIM.

1394 Axis Modules

Figure 4.19

1394-DIM with 1398-DDMxxx System Example

1394-DIM

1394 GMC or GMC

Turbo System Module

1398-DDMxxx

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

1394-GE15

Encoder

J1 Breakout Board

(Refer to Figure 4.20)

1326AB

9101-1391

Motor

Power

TB1

J5

J2

J2

J1

J1

! ?

Encoder

H, F, Y, or N

Series Motor

Encoder

1326-CEUxxx

(If A-B 845H)

1326AB

9101-1392

J2 Breakout

Board

1326-CEUxxx

(If A-B 845H)

Figure 4.20 shows the J1 breakout board interconnect details between the 1394-DIM and the 1398-DDM-

xxx

. Refer to

ULTRA 200 User

Manual

(publication 1398-5.0) and

ULTRA 100 User Manual

(publication 1398-5.2) for more information.

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

4-21

Figure 4.20

1394-DIM to J1 Breakout Board Pinouts

1394-DIM Cable Connector

2

Belden 8163 cable or equivalent

+ Analog Out P x-1

– Analog Out P x-2

– Drive Enable P x-3

+ Drive Enable P x-4

+ DROK P x-5

– DROK P x-6

Shield P x-7

1

Required on ULTRA 100 only

2 x = axis controlled by DIM

J1 Breakout Board

J1-5

J1-6

J1-22 CMND +

J1-23 CMND -

J1-20 Enable

J1-26 I/O PWR

J1-25 Ready -

J1-24 Ready +

24V I/O

Power Supply

1

1394-DIM Configurations

The identity and number of the axes you can connect to a 1394-DIM depends upon the number of 1394 axis modules connected to your

1394 system in addition to the 1394-DIM.

The figure below shows the input connections located on the bottom of a typical 1394 system and a 1394-DIM.

Figure 4.21

A 1394-DIM Connected to a GMC or GMC Turbo

Front of the units

1394-DIM ground connector

Bottom of the

1394-DIM

Bottom of the

1394 GMC or 1394

GMC Turbo System

Rear of the units

A 1394

x

-SJT

xx

-C, -C-RL, -T, and -T-RL system module can control a maximum of four physical axes. The 1394C-SJT

xx

-L and -L-RL can control only one axis. Each 1394 axis module added to the 1394 system reduces the number of external drives and axes the 1394-DIM can control by one.

Publication 1394-5.0 — May 2000

4-22

Wiring 1394 GMC and GMC Turbo Systems

For example, if your 1394 system includes three 1394 axis modules, the 1394-DIM can control only one external drive and axis. See the following configuration information.

4

3

2

1

0

Number of 1394 axes: Maximum number of

DIM- controlled axes:

0

1

2

3

4

Important:

You can add only one 1394-DIM to a 1394 system.

Important:

The system requires 360/480V AC three-phase input power to run, even if the 1394-DIM is configured for four external drives.

Configuration Examples

The following examples show a variety of ways to incorporate the

1394-DIM into a 1394 GMC/GMC Turbo System. The examples show the input connections located on the bottom of a typical 1394 system and a 1394-DIM.

The example below shows two 1394 axes and two DIM output axes.

Figure 4.22

1394-DIM with Multiple Axis Modules

Axis 0 Axis 1

Axis 2 (J5)

Auxillary Encoder Input

Axis 3 (J10)

Auxillary Encoder Input

1394 GMC or GMC Turbo System

Axis 0 (J5)

Motor Resolver Feedback Input

Axis 1 (J6)

Motor Resolver Feedback Input

Axis 2 (J7)

1394 DIM Plug

Axis 3 (J10)

1394 DIM Plug

1394 x-AMxx 1394 x-AMxx 1394-DIM

7

DIM Axis A

Axis 2 on 1394

1

7

1

DIM Axis B

Axis 3 on 1394

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

4-23

The example below shows one 1394 axis and one DIM output axis.

Figure 4.23

1394-DIM with Single Axis Module

Axis 0

7

1

DIM Axis A

Axis 1 on 1394

Axis 1 (J4)

Auxillary Encoder Input

Axis 0 (J5)

Motor Resolver Feedback Input

Axis 1 (J6)

1394 DIM Plug

1394 GMC or GMC Turbo System 1394 x-AMxx 1394-DIM

The example below shows no 1394 axes and four DIM output axes.

Figure 4.24

1394-DIM Not Connected to Axis Module

Axis 0 (J3)

Auxillary Encoder Input

Axis 1 (J4)

Auxillary Encoder Input

Axis 2 (J5)

Auxillary Encoder Input

Axis 3 (J10)

Auxillary Encoder Input

1394 GMC Turbo System

Axis 0 (J5)

1394 DIM Plug

Axis 1 (J6)

1394 DIM Plug

Axis 2 (J7)

1394 DIM Plug

Axis 3 (10)

1394 DIM Plug

1394-DIM

7

DIM Axis A

Axis 0 on 1394

1

7

DIM Axis B

Axis 1 on 1394

1

7

DIM Axis C

Axis 2 on 1394

1

7

1

DIM Axis D

Axis 3 on 1394

Publication 1394-5.0 — May 2000

4-24

Wiring 1394 GMC and GMC Turbo Systems

1394-System Module Input Power Wiring When Not Using Axis

Modules

The figure below shows how to wire the 1394 system module for input power when no axis modules are used. The transformer is rated for 480V AC secondary and 500 VA. The fuse is a Brush (Bussmann)

600V AC, 10A (FRS-R-10A). The contactor is an Allen-Bradley

Bulletin 100-C12

x

10 contactor.

Figure 4.25

1394 System Module Wired for Input Power Without Using Axis Modules

1394 System Module

1394-DIM

Understanding DIM Signals

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Transformer

480V AC

F1

F2

F3

Fuse Contactor

M1

L1

M2

M3

L2

L3

U

V

W

DROK

The +/- DROK is a drive fault input from each external drive to the

1394-DIM. It consists of two wires connected to the external drive’s

DROK, an unpowered (dry) contact. The respective isolated + 15V

DC for this input is supplied by the 1394-DIM.

Figure 4.26

Drive OK Input

1394-DIM

+15V DC

Axis DROK+

P x-5

Axis DROK-

P x-6

Note: x = axis connector number

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

4-25

Drive Enable Output

The +/- Axis Enable is a signal from the 1394 system module that is used to control a DPDT relay in the 1394-DIM. This enable output is a normally open, unpowered (dry) signal.

Figure 4.27

Drive Enable Output

1394-DIM

Axis Enable+

P x-4

Normally

Open Relay

Axis Enable-

P x-3

Note: x = axis connector number

Analog Output

The analog output is an isolated signal provided by the 1394-DIM and has a range of

±

10V. The signal is either a torque or velocity command, depending on the configuration of the remote drive. The command is processed by the Bulletin 1394 System Module through a

12-bit Digital-Analog Converter (DAC). An output offset of

±

80 mV can be compensated to 0V through software configuration.

Figure 4.28

Analog Output

1394-DIM

Axis OUT+

P x-1

Axis OUT-

P x-2

Note: x = axis connector number

For additional DIM signal descriptions refer to

Appendix A

.

Publication 1394-5.0 — May 2000

4-26

Wiring 1394 GMC and GMC Turbo Systems

Wiring and Configuring an External

Drive to the 1394- DIM

This section includes the following steps for wiring and configuring an external drive to the 1394-DIM:

• Connecting the remote drive to the DIM connector that provides the

±

10V output, the drive enable output, and the drive status input.

• Connecting the position feedback encoder to the auxiliary feedback input on the 1394 GMC/GMC Turbo System module.

This provides position information for closing the position and velocity loop for the drive.

• Connecting the DIM ground wire to the 1394 system module.

• Installing the resolver feedback input plug for each DIM axis to prevent resolver loss faults.

!

ATTENTION:

To avoid personal injury as a result of unexpected motion or acceleration of the drive, insert the resolver plug in the correct location.

Belden 8163 or equivalent

Connecting the Remote Drive to the DIM Connector

The customer supplied DIM cable leads require terminating at the

DIM cable connector. Follow one of the example configurations, as shown in the figure below.

Figure 4.29

DIM Connector Wiring Examples

+ Analog Out P x-1

– Analog Out P x-2

– Drive Enable P x-3

+ Drive Enable P x-4

+ DROK P x-5

– DROK P x-6

Shield P x-7

DIM cable connector

+ Analog Out P x-1

– Analog Out P x-2

– Drive Enable P x-3

+ Drive Enable P x-4

+ DROK P x-5

– DROK P x-6

Shield P x-7

DIM cable connector

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

To wire the cable flying leads to the DIM cable connector:

1.

Turn off the power to the system (i.e., 1394 system external drives and other control hardware).

!

ATTENTION:

To avoid a shock hazard or personal injury, verify that all power has been removed before proceeding. This system may have multiple sources of power. More than one disconnect switch may be required to de-energize the system.

4-27

!

ATTENTION:

To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair or remove this unit. This product contains stored energy devices. You should attempt the procedures in this document only if you are qualified to do so, and are familiar with solid-state control equipment and the safety procedures in publication NFPA 70E.

2.

Look at the cable connector to make sure the terminal is open.

The figure below shows a terminal open and a terminal closed.

Figure 4.30

Open and Closed Terminal

Terminal closed

Terminal open

3.

Using the table below, follow the correct procedure for each termination point:

If the terminal is: Do this:

Closed

Open

Go to step 4.

Go to step 5.

4.

Turn the clamping screw counter-clockwise several times with a small, flat-head screwdriver to open the termination point.

Publication 1394-5.0 — May 2000

4-28

Wiring 1394 GMC and GMC Turbo Systems

5.

Strip the wire insulation back on the cable lead.

Important:

Use 14-20 gauge wire to ensure proper system operation.

6.

Trim the cable lead to expose 7.0 mm (0.275 in.) of metal wire.

7.

Insert the cable lead in the appropriate terminal.

Figure 4.31

Cable Connector

7

Insert cable wires into the connector openings here

1

8.

Use a screwdriver to tighten the clamping screw to the correct torque (0.25 N-m/2.2 lb-in.) until the cable lead cannot be pulled out of the terminal.

9.

Using the table below, complete the termination connections.

If the cable lead:

Pulls out of the terminal

Does not pull out of the terminal

Do this:

Go to main step 4.

1. Move to the next terminal and go to main step 2.

2. When all seven terminals are wired, go to step 10.

10.

Connect each external drive to the 1394-DIM.

Important:

Connect all DIM axes in succession (from the front of the unit to the back of the unit) starting with DIM

Axis A regardless of the number of servo axis modules in the 1394 system.

Publication 1394-5.0 — May 2000

Wiring 1394 GMC and GMC Turbo Systems

4-29

Connecting the Position Feedback Encoder to the Feedback Input

The figure below shows the pinouts and interconnect information for the auxiliary encoder input to the 1394-GMC.

Figure 4.32

1394-GE15 Cable Connections

1

394 Encoder

Feedback Connector

5

6

8

3

4

9

12

NC

7

1

2

Cable is Belden 9505

Black

Yellow

White

Black

Green

Black

Blue

Black

Red

Black

Shield

Flying Leads to

Incremental Encoder or

Customer-Supplied Termination

NC

Strobe

A High

A Low

B High

B Low

Z High

Z Low

+5V Out

Common Out

10

11

Shield

Red

Black

Encoder Power

1

(ENC. PWR)

+5V Input

Common In

Cable is Belden 9501

1

Customer supplied 5V DC power source is required for encoder board whether encoder supply voltage is

5V or not.

To connect the encoder feedback cable to the 1394 system module:

1.

Plug the 1394-GE15 cable for each DIM Axis into the correct auxiliary encoder input on the 1394 system module as shown in the table below. Refer to Figures 4.22, 4.23, and 4.24 for encoder input locations.

Install the Position Feedback Input plug for:

When this axis is used:

DIM axis A into: DIM axis B into: DIM axis C into: DIM axis D into:

0 (no axis installed)

1 (axis 0 installed)

J3

J4

J4

J5

J5

J10

J10

N/A

2 (axis 0, 1 installed) J5

3 (axis 0, 1, 2 installed) J10

J10

N/A

N/A

N/A

N/A

N/A

Note: The other end of the 1394-GE15 cable provides flying leads and must be connected to correct signals on a quadrature encoder.

Publication 1394-5.0 — May 2000

4-30

Wiring 1394 GMC and GMC Turbo Systems

Note: The feedback inputs for axis 0, 1, 2 and 3

(on 1394

x

-SJT

xx

-C and -T systems) and for axis 0 and 1

(on 1394

x

-SJT

xx

-L systems) run from front to back (see

Figure 1 in

Appendix B

).

2.

Connect the cable’s overall braided shield to the 1394 system ground bar.

Connecting the DIM Ground Wire to the 1394 System Ground

Connect one end of the ground wire to the connector on the 1394-

DIM (refer to Figure 4.21 for location) and connect the other end to the 1394 system ground bar.

Installing the Resolver Feedback Input Plug

For each axis controlled by the 1394-DIM, insert a 1394-DIM feedback plug into the 10-pin resolver feedback input on the 1394 system module, as shown in the table below. Refer to Figures 4.22,

4.23, and 4.24 for input locations and

Appendix B

for the 1394 system module interconnect information.

Install the Resolver Feedback Input plug for:

When this axis is used:

DIM axis A into: DIM axis B into: DIM axis C into: DIM axis D into:

0 (no axis installed) J5 J6 J7 J10

1 (axis 0 installed)

2 (axis 0,1 installed)

J6

J7

3 (axis 0,1,2 installed) J10

J7

J10

N/A

J10

N/A

N/A

N/A

N/A

N/A

Important:

Unused DIM axis modules do not require a feedback plug to be installed.

!

ATTENTION:

To avoid personal injury because of unexpected motion or acceleration of the drive, the resolver plug must be inserted in the correct location.

If you do not insert a 1394-DIM feedback plug into a 10-pin resolver feedback input for each DIM axis, a Resolver Loss Fault occurs for that axis if

Transducer Loss Detection

is selected in the Feedback page of the Configure Axis Use dialog box in GML Commander.

Important:

1394-DIM axes do not use the system module’s thermal fault inputs. You can use these inputs for any other purpose your hardware configuration allows.

Publication 1394-5.0 — May 2000

Chapter

5

Chapter Objectives

Finding Additional Wiring

Information for 1394 Systems

Understanding Analog Servo

Wiring and Connections

Wiring Your 1394 Analog Servo

System

This chapter covers the following topics:

• Understanding Analog Servo wiring and connections

• Understanding input wiring board layout

• Connecting AQB and SCANport cables

This chapter provides signal wiring and connection information required for the 1394 Analog Servo system module only.

For additional wiring information on:

GMC or GMC Turbo system modules

CNC Interface or

9/440 system modules

1394 SERCOS system modules

Refer to the following:

Chapter 4 (Wiring 1394 GMC and GMC Turbo Systems) in this manual.

9/Series CNC Hardware Integration and Maintenance Manual

(publication 8520-6.2).

1394 SERCOS Multi-Axis Motion Control System User Manual

(publication 1394-5.20)

The Analog Servo system module contains all of the components needed for an analog servo control system. The module provides connectors for the following:

• Motor feedback (resolver)

• AQB output and torque/velocity reference input to and from a motion controller

• Serial communications for the HIM module

Publication 1394-5.0 — May 2000

5-2

Wiring Your 1394 Analog Servo System

Input Wiring Board Layout

The input wiring board provides terminating points at TB1 and TB2 for the various control signals. The figure below shows the locations of the various signal terminations.

Figure 5.1

Input Wiring Board (22 kW system)

C1

A1

9

10

11

12

6

7

8

1

4

5

2

3

16

17

18

19

13

14

15

20

A0 VREF +

A0 VREF –

SHIELD

A0 TQREF +

A0 TQREF –

SHIELD

A0 ENABLE

A2 VREF +

A2 VREF –

SHIELD

A2 TQREF +

A2 TQREF –

SHIELD

A2 ENABLE

FAULT RESET

ANALOG OUT 1

ANALOG OUT 2

ANALOG COM

COM

CHASSIS

TB1

C32

A32

D3

D1

CR1

CR2

D4

D2

TB2

9

10

11

12

6

7

8

1

4

5

2

3

16

17

18

19

13

14

15

20

A1 VREF +

A1 VREF –

SHIELD

A1 TQREF +

A1 TQREF –

SHIELD

A1 ENABLE

A3 VREF +

A3 VREF –

SHIELD

A3 TQREF +

A3 TQREF –

SHIELD

C16

A3 ENABLE

24V ENABLE COM

CONTACTOR EN

CONTACTOR EN

DROK

DROK

C1

Important:

Use the terminal operating tool (supplied with the system module) to help you insert and remove wires on the input wiring board.

Using the Terminal Operating Tool to Insert Wires

Each system module you order comes with a terminal operating tool that allows you to easily insert your wires into the terminals (refer to

Figure 5.2). Refer to

Appendix D

for the part number.

Publication 1394-5.0 — May 2000

Wiring Your 1394 Analog Servo System

Figure 5.2

Terminal Operating Tool

5-3

Insert wire here

Hook

Flat tab

To use the terminal operating tool with TB1:

1.

Put the hook into the hook slot with tab end of the tool to your left.

2.

Gently push the tool to the right to open the wire slot.

3.

Insert the wire.

4.

Gently release the tool by moving it to the left.

5.

Reverse directions for TB2.

Publication 1394-5.0 — May 2000

5-4

Wiring Your 1394 Analog Servo System

Input Wiring Board Signal Descriptions

The tables below and on the following pages provide descriptions of the various control signals shown in Figure 5.1.

Wire: Description:

A VREF +

A VREF -

A TQREF +

A TQREF -

ENABLE

FAULT RESET

The drive will accept up to a +/-10V DC velocity command signal to achieve maximum motor speed. Voltages lower than

+/-10V DC can be used by reprogramming (Anlg Vel Scal). You must terminate the shield at one end only. The differential impedance of the velocity command input is 80k ohms (40k ohms for single ended inputs).

The drive will accept up to a +/-10V DC torque command signal to achieve maximum torque command. Shield must be terminated at one end only. The differential impedance of the command input is 80k ohms (40k ohms for single ended inputs).

3V DC = +/- 100% rated motor current.

Normal run commands to the drive are performed through the

Enable input and any additional user-supplied run control circuitry. With 24V control power (W1, W2), three-phase input power (U, V, W), Contactor Enable (TB2-16, 17) and Drive OK

(TB2-18, 19) applied, 24V DC user-supplied to this input enables the axis. When this input is de-energized, a regenerative braking action occurs on the motor.

Removing the Axis Enable signal and applying 24V DC between this terminal and signal common (TB1-19) resets the fault.

Important:

Do not perform a Reset until you have determined the cause of the fault and corrected it.

ANALOG OUT 1/

ANALOG COM

ANALOG OUT 2/

ANALOG COM

Motor current analog is available on TB1-16. It is scaled for

3.3V DC for 100% continuous rated motor current (10V DC =

300% motor rated current). Minimum load impedance between

TB1-16 and 18 is 10K ohm. This can be linked to other parameters.

Motor velocity analog is available on TB1-17. It is scaled for

2.0V DC per 1000 rpm. Minimum load impedance between

TB1-17 and 18 is 10K ohm. This can be linked to other parameters.

COM

TB1-19 must be connected to the ground bar with 3.3 mm

2

(12

AWG) wire.

CHASSIS Chassis ground reference terminal.

CONTACTOR EN A set of contacts for energizing the user’s three-phase line contactor coil

DROK When you apply 24V AC/DC control power to the system and no system faults are detected, the Drive OK relay contact closes. It can also be programmed for fault only, ignoring the bus voltage. The contact remains closed until a drive fault occurs, DC bus voltage is lost, or you remove 360/480V input power from the system module depending on how you set the

Drive OK mode parameter. If a drive fault is detected or the DC bus voltage is lost, the relay contact opens. You can wire the

Drive OK contacts into the stop string to open the main power contactor if a fault occurs. The contact rating is 115V AC or 24V

DC, 1A. DROK is located at CR2.

Connects to terminal(s):

TB1 and TB2 terminals 1,

2, 3, 8, 9, and 10

Mandatory or Optional:

Optional

TB1 and TB2 terminals 4,

5, 6, 11, 12, and 13

TB1 and TB2 terminals 7 and 14 and TB2 terminal

15

TB1 terminal 15

TB1 terminal 16 and 18

TB1 terminal 17 and 18

TB1 terminal 19

TB1 terminal 20

TB2 terminals 16 and 17

TB2 terminals 18 and 19

Optional

Mandatory

Mandatory

Optional

Optional

Mandatory

Optional

Mandatory

Optional

Publication 1394-5.0 — May 2000

Connecting AQB and SCANport

Cables

Wiring Your 1394 Analog Servo System

5-5

The 1394 Analog Servo system module provides connections for

AQB encoder feedback outputs to external positioning controllers and

SCANport. The figure below shows the locations of the AQB and

SCANport connections.

Figure 5.3

Bottom View of the Analog Servo System Module

1394-SJT22-A System Module

SCANport Adapter

Axis 0

AQB Encoder Feedback Output (AQB0)

Axis 1

AQB Encoder Feedback Output (AQB1)

Axis 2

AQB Encoder Feedback Output (AQB2)

Axis 3

AQB Encoder Feedback Output (AQB3)

FB0 (Axis 0)

Resolver Feedback Input

FB1 (Axis 1)

Resolver Feedback Input

FB2 (Axis 2)

Resolver Feedback Input

FB3 (Axis 3)

Resolver Feedback Input

Analog Servo Encoder (A Quad B) Wiring

A Quad B uses resolver feedback to emulate an encoder differential output for motion controller position feedback. It requires a usersupplied regulated +5V DC (1 amp maximum) at terminal 3. Wiring a

+5V DC power supply to one axis will provide power to all four ports

(parallel connection), therefore, you only need to connect the +5V

DC power supply to one AQB port. For the 1326AB series motors, the motor mechanical cycle is 2048 pulses per revolution (PPR). In addition, two marker pulses are generated per mechanical cycle. For the 1326AS series motors, the motor mechanical cycle is 1024 PPR.

In addition, one marker pulse is generated per mechanical cycle.

Refer to Figure 5.3 for connector locations. We recommend one

1394-SA15 (from the 1394 AQB output to the user-supplied control) cable per axis.

Publication 1394-5.0 — May 2000

5-6

Wiring Your 1394 Analog Servo System

Make the A Quad B connections at the bottom of the system module

(refer to Figure 5.3) as follows:

For this axis: Connect to this terminal:

0

1

2

3

AQB0

AQB1

AQB2

AQB3

To improve the bond between the motor feedback cable shield and the system module PE ground, a cable shield clamp is included with the

Series C system modules.

Ensure an appropriate amount of the cable insulation and braided shield is removed from the feedback cable. Place the cable wires and exposed braided shield into the cable shield clamp and tighten the clamp screw. Then thread the bracket screw into the bottom of the system module and tighten. Refer to the figure below for an illustration.

Figure 5.4

Series C System Module Cable Clamp

51 mm

(2.0 in.)

1

Cable wires

22 mm

(.875 in.)

1

Motor cable

Bracket screw

Braided shield exposed

Clamp screw

1

Dimensions given are approximate and will vary depending on the specific installation. Keep wires as short as possible while maintaining adequate stress relief.

Cable Preparation

Cable shield clamp

Clamp Attachment

Feedback cable clamps

System module ground bar

1394 front view

Wiring to System Module

Publication 1394-5.0 — May 2000

Wiring Your 1394 Analog Servo System

5-7

Refer to the

Appendix D

for more information about connectors and accessories and

Appendix B

for interconnect information. The table below describes each of the 12 connector pins.

Pin: Description:

7

8

9

10

11

12

1

2

3

4

5

6

Axis x, Vref +

Axis x, Tref +

+ 5V DC Power Supply

Channel A High

Channel B High

Channel Z High

Axis x, Vref -

Axis x, Tref -

Power Supply Common

Channel A Low

Channel B Low

Channel Z Low

!

ATTENTION:

To guard against possible damage to the A Quad B circuitry, assure that wiring between

AQB 0, 1, 2, 3 and the position controller is correct.

Each A Quad B interface includes both a velocity (terminals 1, 7) and torque command (terminals 2, 8) input reference for direct connection to external motion controllers. These reference command inputs are in parallel to the reference inputs on the system wiring board and are provided through this port as a convenience. Do not use Axis 0, 1, 2, 3 inputs (velocity/torque) on the system wiring board if these inputs are used.

SCANport Adapter

This port allows you to connect a SCANport device, such as a Human

Interface Module, to the 1394 Analog Servo System.

Publication 1394-5.0 — May 2000

5-8

Wiring Your 1394 Analog Servo System

Publication 1394-5.0 — May 2000

Chapter

6

Chapter Objectives

General Startup Precautions

Commissioning 1394 GMC and GMC

Turbo Systems

This chapter provides you with the information to set up and tune the

1394 System. This chapter includes:

• General startup precautions

• Applying power to the system

• Setting up your system using GML Commander

• Setting up your system using GML 3.

x.x

Before you begin the setup procedures, be sure to read and understand the information in the previous chapters of this manual.

Note: The procedures in this chapter do not include information regarding integration with other products.

The following precautions pertain to all of the procedures in this chapter.

Be sure to read and thoroughly understand them before proceeding.

!

ATTENTION:

You need to apply power to the drive to perform many of the adjustments specified in this chapter.

Voltages behind the system module front cover are at incoming line potential, voltages on the axis module front terminal block are at 360/480V AC. To avoid injury to personnel and/or damage to equipment, you should only perform these startup procedures if you are a qualified service person. Thoroughly read and understand the procedure before beginning. If an expected event does not occur while performing this procedure, do not proceed.

Remove power by opening the branch circuit disconnect device and correct the malfunction before continuing.

ATTENTION:

This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltages on the system bus network have been discharged before attempting to service, repair or remove this unit. Only qualified personnel familiar with solid state control equipment and safety procedures in publication NFPA 70E or applicable local codes should attempt this procedure.

Publication 1394-5.0 — May 2000

6-2

Commissioning 1394 GMC and GMC Turbo Systems

Applying Power to the System

!

ATTENTION:

This drive contains ESD

(Electrostatic Discharge) sensitive parts and assemblies. You are required to follow static control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Allen-Bradley publication 8000-4.5.2, Guarding Against

Electrostatic Damage or any other applicable ESD

Protection Handbook.

This procedure assumes that you have wired your 1394 GMC Turbo or GMC System, verified the wiring, and are ready to download your program. To apply power to your 1394 system:

1.

Verify that all 360/480V AC input power and 24V control power to the 1394 has been removed.

2.

Apply 24V control power to the system module. The Status LEDs on the axis modules flash red and green and the Status LED on the system module illuminates. This indicates that the control logic is ready, but the power bus is not active.

3.

Verify that the control power voltage at the input terminals of the

System Module is 24V AC (or 24V DC)

±

10%.

4.

If the system module LED: Then:

Flashes red and green Go to step 5.

Flashes green, flashes red, or remains solid red

Does not illuminate

You may have a wiring problem. Go to the

Troubleshooting

chapter.

1. Verify line and 24V control power.

2. Go to main step 1.

5.

Apply 360/480V AC input power.

6.

Verify that the 360/480V AC input voltage is present at the input terminals of the system module or at the user-supplied input contactor.

Publication 1394-5.0 — May 2000

Commissioning 1394 GMC and GMC Turbo Systems

6-3

Setting Up Your System Using GML

Commander

7.

If the system module LED: Then:

Flashes green The control and bus power are active, but the modules are not enabled.

Go to step 8.

Flashes red and green, flashes red, or remains solid red

Does not illuminate

You may have a wiring problem. Go to the

Troubleshooting

chapter.

8.

Apply 24V DC to the system enable (TB1-1, -2 or TB2-1, -2 on the input wiring board) to enable the system module. The system module’s Status LED should be solid green.

When you apply power to the motion controller, the hardware and software are initialized. Refer to the

GML Commander Reference

Manual

(publication GMLC-5.2) or

GML 3.x User Manual

(publication 999-104) for a listing of the initialized values.

This section provides the information you need to setup and tune your

1394 GMC and GMC Turbo system using GML Commander.

Before You Begin

Before you begin the setup procedure be sure to have the following:

• A computer running Windows 95 and GML Commander

Note: 1394C-SJT

xx

-L system modules require GML

Commander 4.03 or later.

• A nine-pin serial cable to connect the computer to the 1394 serial port

•

GML Commander Reference Manual

(publication GMLC-5.2)

• A voltmeter

• A standard screwdriver

Publication 1394-5.0 — May 2000

6-4

Commissioning 1394 GMC and GMC Turbo Systems

Preparing the System

Before you start your 1394 system be aware of the following:

To:

Be able to save setup menus

Set the remote node if you are using

AxisLink or multi-drop functions

Reset critical drive parameters to their factory default value if the 1394 does not communicate properly during power-up

Reset the system

Do this:

Set the Memory keyswitch to the unlock position.

Use the Address switch to set a unique address for each 1394 connected. The addresses can be set in any order. Refer to

Figure 4.6 in the Wiring GMC and GMC Turbo

Systems chapter for the switch’s location.

Hold down the Init switch while you power up the system.

Press the Reset switch.

For specific set up instructions using GML Commander, refer to the following sections of your GML Commander Reference Manual.

To: Refer to the: In this manual:

Publication

Number:

Understand the setup process

Define your user interface

Define your control options, axes, and Flex I/O

Setup RIO, SLC Interface, AxisLink, and DH-485

Establish communications with the

1394

Download your GML diagram to the

1394

Test your motor connections

(motor encoder and marker tests)

Tune your 1394 axes

Apply the changes you made

Configuring Control Options chapter

Configuring Control Options chapter

Configuring Control Options chapter

Configuring Control Options chapter

Accessing your Controller section of the

Going Online chapter

Translating a Diagram to a Program and

Downloading section of the Going Online chapter

Verifying Hookups section of the

Configuring Axis Use chapter

Tune Servo section of the Configuring Axis

Use chapter

Applying Axis Configuration Changes section of the Configuring Axis Use chapter

GML Commander

Reference Manual

GMLC-5.2

Publication 1394-5.0 — May 2000

Commissioning 1394 GMC and GMC Turbo Systems

6-5

Setting Up Your System Using GML

3.

x.x

This section provides the information you need to setup and tune your

1394 GMC and GMC Turbo using GML version 3.

x.x

.

Before You Begin

Before you begin the startup procedure be sure to have the following:

• A computer running Windows and GML , version 3.9.0 or later

• A nine-pin serial cable to connect the computer to the 1394 serial port

• A GML Programming Manual (publication 999-104)

• A voltmeter

• A standard screwdriver

Preparing the System

Before you start your system, be aware of the following:

To:

Be able to save setup menus

Set the remote node if you are using

AxisLink or multi-drop functions

Reset critical drive parameters to their factory default value if the 1394 does not communicate properly during power-up

Reset the system

Do this:

Set the Memory keyswitch to the unlock position.

Use the Address switch to set a unique address for each 1394 connected. The addresses can be set in any order. Refer to Figure 4.6 in the

Wiring 1394 GMC and GMC Turbo Systems chapter for location.

Hold down the Init switch while you power up the system.

Press the Reset switch or use the 1394 reset object in GML (GMC version only).

For specific set up instructions using GML 3.

x.x

, refer to your GML

Programming Manual (publication 999-104).

Publication 1394-5.0 — May 2000

6-6

Commissioning 1394 GMC and GMC Turbo Systems

Publication 1394-5.0 — May 2000

Chapter

7

Chapter Objectives

General Startup Precautions

Commissioning Your 1394 Analog

Servo System

This chapter provides you with the information to set up and tune your

1394 Analog Servo System. This chapter includes:

• General startup precautions

• Setting up your 1394 Analog Servo system

Before you begin the setup procedures, be sure to read and understand the information in the previous chapters of this manual.

Note: The procedures in this chapter do not include information regarding integration with other products.

The following precautions pertain to all of the procedures in this chapter.

Be sure to read and thoroughly understand them before proceeding.

!

ATTENTION:

You need to apply power to the drive to perform many of the adjustments specified in this chapter.

Voltages behind the system module front cover are at incoming line potential, voltages on the axis module front terminal block are at 360/480V AC. To avoid injury to personnel and/or damage to equipment, you should only perform these startup procedures if you are a qualified service person. Thoroughly read and understand the procedure before beginning. If an expected event does not occur while performing this procedure, do not proceed.

Remove power by opening the branch circuit disconnect device and correct the malfunction before continuing.

ATTENTION:

This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltages on the system bus network have been discharged before attempting to service, repair or remove this unit. Only qualified personnel familiar with solid state control equipment and safety procedures in publication NFPA 70E or applicable local codes should attempt this procedure.

Publication 1394-5.0 — May 2000

7-2

Commissioning Your 1394 Analog Servo System

!

ATTENTION:

This drive contains ESD

(Electrostatic Discharge) sensitive parts and assemblies. You are required to follow static control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Allen-Bradley publication 8000-4.5.2, Guarding Against

Electrostatic Damage or any other applicable ESD

Protection Handbook.

Setting Up Your 1394 Analog Servo

System

This section provides the following to help you set up and tune the

1394 Analog Servo System:

• Information you need before you begin

• Setup procedures

• The instructions in this chapter assume that you are using a HIM

Series A 3.0 or greater or a HIM Series B. Refer to

Appendix C

for general HIM programming information. To determine the series of your module, refer to Figure P.1 in the

Preface

.

In most cases, the default values in the startup procedure will work very well, however, you can modify the values, as needed, for your application.

During the startup procedures, the system automatically saves all the choices that you make to EEprom as you complete each step.

Before You Begin

Before you begin the startup procedure, verify that the system has been wired correctly and be sure to have a voltmeter.

Exiting Before You’re Finished

If you need to exit the procedures before you are finished, you can do one of two things:

• Remove and re-apply power.

• Press ESC until the Choose Mode display appears.

Continuing From Where You Left Off

To continue the procedure:

1.

At the HIM, press

ENTER

. The following message appears:

Choose Mode

Start Up

Publication 1394-5.0 — May 2000

Commissioning Your 1394 Analog Servo System

7-3

2.

Press

ENTER

. The following appears:

Start Up

Continue

3.

To:

Continue from where you left off

Start over from the beginning

Do this:

Press

ENTER

. The display at which you left off appears.

1. Press either the up or down arrow key until

Reset Sequence

appears.

2. Press

ENTER

. The display at which you left off appears.

Removing and Re-Applying Power

This procedure assumes that you have wired your 1394 Analog Servo

System and verified the wiring.

1.

Remove all 360/480V AC input power and 24V control power to the 1394.

2.

Apply 24V control power. The LEDs on the system and axis modules flash red and green. In addition, the HIM becomes active and a message similar to the following appears:

Sys Wait Bus

0

Note: When you apply power to the HIM, a series of messages appear before the final

Sys Wait Bus

or message appears.

3.

Verify that the voltage at the input terminals of the System

Module is 24V AC (or 24V DC)

±

10%.

4.

If the system module LED: Then:

Flashes red and green and the following appears on the HIM:

Sys Wait Bus

Go to step 5.

Flashes red, remains solid red, or does not illuminate

You may have a wiring or power problem. Go to the

Troubleshooting

chapter.

5.

Apply 360/480V AC input power. The system and axis module

LEDs flash green and the following appears on the HIM:

Sys Ready

6.

Verify that the 360/480V AC input voltage is present at the input terminals or at the user-supplied input contactor.

Publication 1394-5.0 — May 2000

7-4

Commissioning Your 1394 Analog Servo System

7.

If the system module LED: Then:

Flashes green and the following appears on the HIM:

Sys Ready

The control and bus power are active, but the modules are not enabled. Go to

Setting Up at the System Level

.

Flashes red and green, flashes red, remains solid red, does not illuminate

You may have a wiring problem. Go to the

Troubleshooting

chapter.

Setting Up at the System Level

This procedure assumes that you have wired your 1394 Analog Servo

System and have completed the procedure

Removing and

Re-Applying Power

earlier in this chapter.

When the LEDs on the system and axis modules are all flashing green and the Sys Ready message appears on the HIM, you are ready to begin these procedures.

To perform system-level setup:

1.

At the HIM, press

ENTER

. A message similar to the following appears:

Choose Mode

Display

2.

Press either the up or down arrow key until the following appears:

Choose Mode

Start Up

3.

Press

ENTER

. The following message appears:

ALLEN-BRADLEY

COPYRIGHT 1994

4.

Press

ENTER

. A message similar to the following appears:

Line Voltage

460 Volts AC

5.

Press

SEL

. The cursor moves to the bottom line.

6.

If you are using: Do this:

480 V AC Press

ENTER

choice.

. The system records your

360 V AC 1. Press either the up or down arrow key until 360 Volts AC appears.

2. Press

ENTER

. The system records your choice.

Publication 1394-5.0 — May 2000

Commissioning Your 1394 Analog Servo System

7-5

7.

Press

ENTER

. A message similar to the following appears:

Disp-D/A Monitor

Not Linked

8.

Go to

Setting Up Analog Test Points

.

Setting Up Analog Test Points

The 1394 startup procedures provide the ability to monitor an axis using analog test points.

Important:

When you set up test points and auto tune, you will always set up one complete axis and tune it before you begin another.

This procedure assumes that you have wired your 1394 Analog Servo

System and have completed the procedures in the following sections of this chapter:

• Removing and Re-Applying Power

• Setting Up at the System Level

To set up your system so that you can monitor an axis using analog test points:

1.

When the

Disp-D/A Monitor

message appears, press

SEL

. The cursor moves to the bottom line.

2.

Press either the up or down arrow key until the axis that you want to configure appears.

3.

Press

ENTER

. The system records your choice and the cursor moves to the top.

4.

Press

ENTER

. A message similar to the following appears:

Ax:Motor Type

Custom Motor

5.

Go to

Defining Your Motor

.

Defining Your Motor

This procedure assumes that you have wired your 1394 Analog Servo

System and have completed the procedures in the following sections of this chapter:

• Removing and Re-Applying Power

• Setting Up at the System Level

• Setting Up Analog Test Points

To define your motors:

1.

When the

Ax:Motor Type

message appears, press

SEL

. The cursor moves to the bottom line.

Publication 1394-5.0 — May 2000

7-6

Commissioning Your 1394 Analog Servo System

2.

To define: Do this:

A standard motor Go to step 3.

A custom motor 1. Select

Custom

.

2. Enter the appropriate information for your motor.

3. Go to step 6.

Note: Use only custom motor parameters supplied by Allen-Bradley.

3.

Press either the up or down arrow key until the base catalog number of the motor you will use for this axis appears.

4.

Press

ENTER

. The system records your choice and the cursor moves to the top line.

5.

Press

ENTER

. A message similar to the following appears:

Ax:Mode Sel

Anlg Vel

6.

Go to

Defining a Reference Source for Your Axes

.

Defining a Reference Source for Your Axes

This procedure assumes that you have wired your 1394 Analog Servo

System and have completed the procedures in the following sections of this chapter:

• Removing and Re-Applying Power

• Setting Up at the System Level

• Setting Up Analog Test Points

• Defining Your Motors

To define a reference for your axes:

1.

When the

Ax:Mode Sel

message appears, press

SEL

. The cursor moves to the bottom line.

2.

If the axis will get its reference from:

Analog velocity

Analog torque

Press either the up or down arrow until this appears:

Anlg Vel

Ana Torq

Digital velocity from

SCANport

Dig Vel

Digital torque from SCANport Dig Torq

3.

Press

ENTER

. The cursor moves to the top line.

Publication 1394-5.0 — May 2000

Commissioning Your 1394 Analog Servo System

7-7

4.

If you selected: Go to:

Anlg Vel

Defining Analog Velocity

.

Ana Torq

Dig Vel

Dig Torq

Defining Analog Torque

Defining Digital Velocity

Defining Digital Torque

.

.

.

Defining Analog Velocity

This procedure assumes that you have wired your 1394 Analog Servo

System and have completed the procedures in the following sections of this chapter:

• Removing and Re-Applying Power

• Setting Up at the System Level

• Setting Up Analog Test Points

• Defining Your Motors

These procedures continue from step 4 of

Defining a Reference

Source for Your Axes

.

To define analog velocity:

1.

When the

Ax:Mode Sel Anlg Vel

message appears, press ENTER.

A message similar to the following appears:

Ax:Anlg Vel Scal

+500.0 rm/v

2.

Press

SEL

. The cursor moves to the bottom line.

3.

Press either the up or down arrow until the parameter number that you want to use for the rpm/volt gain appears.

4.

Press

ENTER

. The system records your choice and the cursor moves to the top line.

5.

Press

ENTER

. A message similar to the following appears:

Short Ax:Vel In

Before Proceed

6.

On the system module’s input board, short the velocity reference inputs (AxVref+ and AxVref-) to null the analog velocity offset.

7.

Press

ENTER

. A message similar to the following appears:

Ax:Current Limit

+8.43 amps

8.

Remove the short on the velocity reference inputs.

9.

Go to

Defining Limits

.

Publication 1394-5.0 — May 2000

7-8

Commissioning Your 1394 Analog Servo System

Defining Analog Torque

This procedure assumes that you have wired your 1394 Analog Servo

System and have completed the procedures in the following sections of this chapter:

• Removing and Re-Applying Power

• Setting Up at the System Level

• Setting Up Analog Test Points

• Defining Your Motors

These procedures continue from step 4 of

Defining a Reference

Source for Your Axes

.

To define analog torque:

1.

When the

Ax:Mode Sel Ana Torq

message appears, press

ENTER

. A message similar to the following appears:

Ax:Current Limit

+8.43 amps

2.

Go to

Defining Limits

.

Defining Digital Velocity

This procedure assumes that you have wired your 1394 Analog Servo

System and have completed the procedures in the following sections of this chapter:

• Removing and Re-Applying Power

• Setting Up at the System Level

• Setting Up Analog Test Points

• Defining Your Motors

These procedures continue from step 4 of

Defining a Reference for

Your Axes

.

To define digital velocity:

1.

When the Ax:Mode Sel Dig Vel message appears, press

ENTER

.

A message similar to the following appears:

Ax:Vel Ref Whole

<204 > <---352

Note: The number on the left is the destination, while the number on the right is the source.

2.

Press

SEL

. The cursor moves to the bottom line.

3.

Press either the up or down arrow until the parameter number that you want to use for your digital velocity appears.

Publication 1394-5.0 — May 2000

Commissioning Your 1394 Analog Servo System

7-9

4.

Press

ENTER

. The system records your choice and the cursor moves to the top line.

5.

Press

ENTER

. A message similar to the following appears:

Ax:Current Limit

+8.43 amps

6.

Go to

Defining Limits

.

Defining Digital Torque

This procedure assumes that you have wired your 1394 Analog Servo

System and have completed the procedures in the following sections of this chapter:

• Removing and Re-Applying Power

• Setting Up at the System Level

• Setting Up Analog Test Points

• Defining Your Motors

These procedures continue from step 4 of

Defining a Reference for

Your Axes

.

To define digital torque:

1.

When the

Ax:Mode Sel Dig Torq

message appears, press

ENTER

. A message similar to the following appears:

Ax:Dig Torq Ref

<212> <---356

Note: The number on the left is the destination, while the number on the right is the source.

2.

Press

SEL

. The cursor moves to the bottom line.

3.

Press either the up or down arrow until the parameter you want to use for you digital torque appears.

4.

Press

ENTER

. The system records your choice and the cursor moves to the top line.

5.

Press

ENTER

. A message similar to the following appears:

Ax:Current Limit

+8.43 amps

6.

Go to

Defining Limits

.

Publication 1394-5.0 — May 2000

7-10

Commissioning Your 1394 Analog Servo System

Defining Limits

This procedure assumes that you have wired your 1394 Analog Servo

System and have completed the procedures in the following sections of this chapter:

• Removing and Re-Applying Power

• Setting Up at the System Level

• Setting Up Analog Test Points

• Defining Your Motors

• Defining a Reference Source for Your Axes

To define limits:

1.

When the

Ax: Current Limit

message appears, press

SEL

. The cursor moves to the bottom line.

2.

Press either the up or down arrow until the appropriate current limit appears.

3.

Default values are set by the motor type you selected. You cannot exceed this value.

4.

Press

ENTER

. The system records your choice and the cursor moves to the top line.

5.

Press

ENTER

. A message similar to the following appears:

Ax:Vel Lim

5000.0 rpm

Note: Default values are set by the motor type you selected. You cannot exceed this value.

6.

Press

SEL

. The cursor moves to the bottom line.

7.

Press either the up or down arrow until the appropriate velocity limit appears.

8.

Press

ENTER

. The system records your choice and the cursor moves to the top line.

9.

Press

ENTER

. A message similar to the following appears:

Ax:ATune Select

Idle

10.

Go to

Auto Tuning

.

Publication 1394-5.0 — May 2000

Commissioning Your 1394 Analog Servo System

7-11

Auto Tuning

This procedure assumes that you have wired your 1394 Analog Servo

System and have completed the procedures in the following sections of this chapter:

• Removing and Re-Applying Power

• Setting Up at the System Level

• Setting Up Analog Test Points

• Defining Analog Velocity

• Defining a Reference Source for Your Axes

• Defining Limits

Before You Perform an Auto Tune

Before you perform an auto tune, look at the status LED on the system module.

If the Status LED on the

System Module is:

Flashing green

Alternating red and green

Flashing red

Solid green

Solid red

Do this:

Go to Performing the Auto Tune.

1. Apply 360/480V AC line voltage.

2. Go to Performing the Auto Tune.

1. Clear the fault.

2. Apply 360/480V AC line voltage.

3. Go to Performing the Auto Tune.

1. Disable the axis that is currently enabled.

2. Go to Performing the Auto Tune.

A hardware fault has occurred. Refer to the

Troubleshooting chapter for more information.

Performing the Auto Tune

To auto tune your axes:

1.

When the

Ax:ATune Select Idle

message appears, press

SEL

. The cursor moves to the bottom line.

2.

Press either the up or down arrow until

Axis Tune

appears on the bottom line.

3.

Press

ENTER

. A message similar to the following appears:

Ax:ATune Select

Enable Axis

Note: If, the message is Not Ready, refer to the beginning of this

Auto Tuning

section for information.

ATTENTION:

When you auto tune an axis, the motor will move slightly.

!

Publication 1394-5.0 — May 2000

7-12

Commissioning Your 1394 Analog Servo System

4.

Apply 24V DC across the appropriate axes on the input wiring board to enable the axis that you are tuning. The LEDs on system module and specific axis module will be solid green, the motor will move slightly and the following messages appear sequentially on the HIM:

Ax:ATune Select

Wait, Tuning

Ax:ATune Select

Disable Axis

5.

Disable the axis. Messages similar to the following appear:

Ax:ATune Select

Opr Complete

Ax:ATune Select

Idle

Note: If you do not disable the axis, the system does it for you, however, you still need to manually disable it before you proceed.

6.

Press

ENTER

. A message similar to the following appears showing the next axis:

Ax:Motor Type

1326AB-B410G

7.

If you have: Then:

More axes to set up and tune Go to

Defining Your Motor

.

Set up and tuned all axes Press

ESC

until the Choose

Mode message appears. You are finished with the setup procedures.

Publication 1394-5.0 — May 2000

Chapter Objectives

Where to Look for Other

Programming Information

Chapter

8

Configuring Your 1394 Analog Servo

System

This chapter covers the following topics:

• Where to look for other programming information.

• Conventions used in this chapter.

• Understanding Analog Servo System parameters.

• 1394 Analog Servo software diagram

Because GML and the HIM provide auto tune and setup features, the information in this chapter is intended only a supplement to help you to understand the technical approach and to assist you with using communication tools, such as SCANport.

System configuration information for other 1394 systems are given in the table below.

For: Refer to:

GMC or GMC Turbo system configuration

GML Programming Manual (publication 999-104).

CNC Interface or

9/440 system configuration

9/Series CNC AMP Reference Manual (publication 8520-ARM2).

1394 SERCOS system modules

ControlLogix Motion Module Setup and Configuration Manual

(publication 1756-UM006A-EN-P).

Publication 1394-5.0 — May 2000

8-2

Configuring Your 1394 Analog Servo System

Conventions Used in this Chapter

The following conventions are used throughout this chapter.

• All parameters required for any given drive function are contained within a group, eliminating the need to change groups to complete a function.

• Each parameter will contain the following:

Parameter:

Name

Description

Number

Group

Display Units

Type

Change While

Running

Linkable

Minimum Value

Maximum Value

Default Value

Selections

Description:

The actual parameter name as displayed on the HIM (or ODS software). Parameter names appear within brackets, for example:

[100% Torq Vel].

An explanation of the parameter and, when feasible, an application example.

Each parameter is assigned a number that can be used for serial communication. The numbers are listed in order for Axis 0, 1, 2, 3.

Most parameters are contained in a group to make programming easier.

• ENUMS - A language statement pertaining to the selection made.

• Engineering - Standard display units such as; Hz, sec, volts, etc.

• Drive Units - These are internal Display Units used to communicate through the serial port, and to scale values properly when reading or writing to the drive.

• Read Only - The value is changed only by the drive and is used to monitor values.

• Read/Write - The value is changed through programming. This type can also be used to monitor a value.

States whether the parameter can be changed while the drive is running.

States whether the parameter can be linked.

This is the lowest setting possible for parameters.

This is the highest setting possible for parameters.

This is the value assigned to each parameter at the factory. It is also the value that will be restored if you choose to restore defaults from the HIM. Display text appears within quotation marks.

Predefined functions. Display text appears within quotation marks.

Note: To determine the series of your module, refer to Figure P.1 in the

Preface

.

Publication 1394-5.0 — May 2000

Understanding Analog Servo

System Parameters

Parameter Parameter Name

20

21

22

23

24

25

17

18

19

12, 13

14

16

1

2

3

4

5

6

7

8

9

10, 11

42

43

44

45

46

47

48

49

50

51

39

40

41

30, 32, 34, 36 Option x Code

31, 33, 35, 37 Option x Status

38 Sys Mod Status 2

Bus Voltage

Rg Power Usage

Mt Power Usage

Shunt Usage

Shunt Type

Shunt R

Shunt P

Shunt Ks

Shunt Kl

Shunt Ws

Shunt Type

DC Link Setup

Shunt Peak Usage

Software Version

Units Sel

Startup State

Language Sel

Slot 0 Opt Card

Sys Mod Data

Sys I/O Image

Status Display

Line Voltage

D/A Gain

D/A Value

System Type

Test Mode Sel

Type 1 Status

Type 2 Status

Drive OK Mode

Disp-D/A Monitor

Command Mask

Dig Cmd Mode

Typ 1 Logic Axis

Enble Input Mode

Hardware Version

Configuring Your 1394 Analog Servo System

8-3

A description of the 1394 Analog Servo parameters is provided on the following pages. The parameters are listed in alphabetical order and cross-referenced in the table that follows for locating parameters by number.

Parameter Parameter Name

108-111

112-115

116-119

120-123

124-127

128-131

132-135

136-139

140-143

144-147

148-151

152-155

58-69

70-85

90

91

92

93

94

95

100-103

104-107

156-159

164-167

172-175

176-179

180-183

184-187

188-191

192-195

196-199

200-203

204-207

208-211

212-215

216-219

220-223

224-227

Rem. Data In/Out:Px

Rem. Data In/Out:Ax

Pwr On Minutes

Pwr On Days

Enabled Minutes

Enabled Days

Sum On Minutes

Sum On Days

Motor Type

Mtr Rated Cur

Mtr Inertia

Mode Sel

Current Limit

Vel Lim

Mtr Peak Cur

CW Vel Lim

CCW Vel Lim

Vel Rate Lim

Vel LowPas BW

Ld/Lg Degrees

Ld/Lg Freq

CW OvSpd Vel

CCW OvSpd Vel

Cur Preload

Id RPM Start

Id RPM End

Id Slope

Pos Cur Lim

Neg Cur Lim

Cur Rate Lim

Mod Rng Data

State

Vel Ref Whole

Vel Ref Fract

Dig Torq Ref

Resolvr Posn

Vel Command

Vel Feedback

Parameter Parameter Name

268-271

272-275

276-279

284-287

288-291

292-295

296-299

300-303

304-307

308-311

324-327

328-331

228-231

232-235

236-239

240-243

244-247

248-251

252-255

256-259

260-263

264-267

344-347

348-351

352-355

356-359

360-363

364-367

368-371

372-375

376-379

380-383

384-387

388-391

392-395

396-399

400-403

404-407

Cur Lim Cause

Iq Cur Ref

Id Cur Ref

Stop Mode

Resolvr Turns

Up To Spd Tol

Desired BW

Vel Damp Sel

Bridge Lim

Cur Fbk Scale

Cur Fbk Rated

Anlg Vel Scal

Anlg Vel Ofst

ATune Vel

ATune Current

ATune Inertia

ATune Select

ATune Frictn

Max Bandwidth

Stopping Cur

Module Size

Axis Type

I(t) Cur Lim

Jog Vel

Int Vel Ref

Int Torq Ref

Torq Source

Vel Source

Prop Gain Kp

Intg Gain Ki

Feed Fwd Gain

Droop

Stop Time Lim

300% Torq Vel

100% Torq Vel

Mtr Pole Cnt

Fdbk Pole Cnt

Motor Type

Publication 1394-5.0 — May 2000

8-4

Configuring Your 1394 Analog Servo System

[100% Torq Vel]

Motor velocity at 100% rated motor torque.

Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor".

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[300%Torq Vel]

Motor velocity at 300% rated motor torque.

Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor".

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Anlg Vel Ofst]

An offset value that can be used on an analog velocity input to counter voltage offsets on that input. This value is added after the input scaling has taken place, therefore changing the analog input scaling will change this offset compensation.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

-

Maximum Value

+

Default Value

392

Mtr Data rpm

Read/Write

Yes

No

1 rpm

8000 rpm

This is determined by the motor catalog number.

388

Mtr Data rpm

Read/Write

Yes

No

1 rpm

8000 rpm

This is determined by the motor catalog number.

276, 277, 278, 279

Vel Cmd Data rpm

Read/Write

Yes

No

496.00 rpm

496.00 rpm

0.00 rpm

[Anlg Vel Scal]

Use this parameter to determine how the A/D converter value is scaled. It is set to the number of motor rpm that is to represent 1 volt of input command. The desired input velocity command voltage to motor rpm scaling is accomplished with this parameter. The default setting is 500 rpm/volt. Use the following formula if the maximum motor speed (rpm) and maximum velocity command (volts) are known.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

-

Maximum Value

Default Value

272, 273, 274, 275

Vel Cmd Data rpm/v

Read/Write

Yes

No

1000.0 rpm/v

+1000.0rpm/v

+500.0 rpm/v for example:

Max

i

mumVelocityCommand

=

Volts

8VDCMaximumCommand

=

Volts

[ATune Current]

The motor current used while an auto tune cycle is executing is specified with this parameter. In most cases, the default setting will be satisfactory.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

288, 289, 290, 291

ATune Config amps

Read/Write

Yes

No

10% rated motor current

200% rated motor current

50% rated motor current

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System

[ATune Frictn]

The system friction as measured by the auto tune cycle is represented through this parameter.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

300, 301, 302, 303

ATune Config

%

Read/Write

Yes

No

0%

12%

6%

[ATune Inertia]

System inertia as measured by auto tuning. This parameter is calculated during auto tune and is the time that the motor and load takes to reach

[ATune Vel] at [ATune Current] and back to zero rpm. This needs no manual user adjustment, since it is a product of the auto tune function. To determine the inertia of the machine system, use the following formula:

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

J system

=

[AutoTuneInertia]

[MtrInertia]

*

0.83

*

Rotor inertia

292, 293, 294, 295

ATune Config msec

Read/Write

Yes

No

0 msec

10000 msec

5 msec

[ATune Select]

This parameter initiates an auto tune cycle that measures the [ATune Inertia] and [ATune Frictn] by accelerating the motor up to the [ATune Vel] at the [ATune Current]. The parameter also calculates the gains based on auto tune information.

Parameter Numbers

Parameter Group

Parameter Type

Change While Running

Linkable

Default Value

0

Selections

0

1

2

[ATune Vel]

This parameter specifies the maximum velocity of the motor attained during an auto tune cycle, as well as direction of movement.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

296, 297, 298, 299

ATune Config, Startup Parms

Read/Write

Yes

No

"idle"

"Idle"

"Axis Tune"

"Calculate"

Indicates the auto tune system can be used, written command forces the system to idle.

Written as a command, initiates the auto tune process, messages will be displayed to enable axis, wait, disable axis. "Calculate" is also performed.

Calculates gain coefficients based off data acquired during auto tuning. This command can be issued manually to calculate gains after manual modifications to the auto-tune acquired information.

284, 285, 286, 287

ATune Config rpm

Read/Write

Yes

No

-2000.0 rpm

+2000.0 rpm

+1000.0 rpm

8-5

Publication 1394-5.0 — May 2000

8-6

Configuring Your 1394 Analog Servo System

[Axis Type]

Catalog number of Axis Module.

Selection codes for 1394C-AM50-IH and

1394C-AM75-IH are the same as 1394 x-AM50 and 1394 x-AM75 respectively.

Parameter Numbers

Parameter Group

Parameter Type

Linkable

Selections

5

6

8

3

4

0

2

[Bridge Lim]

Axis module/motor combination absolute maximum current limit magnitude. Twice module current rating or three times motor current rating, whichever is less.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Bus Voltage]

Displays the present value of the DC link

(DC bus) voltage

Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems only.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

Note: To determine the series of your module, refer to Figure P.1 in the Preface.

[CCW OvSpd Vel]

Counterclockwise trip velocity for an overspeed fault. This value is automatically set to 1000 rpm greater then [CCW Vel Lim] if this value would be greater then present setting.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[CCW Vel Lim]

Velocity mode counterclockwise maximum command limit. This value is automatically set to the motor rated velocity when the motor parameter is changed.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

328, 329, 330, 331

Configuration

Read Only

No

"NOT PRESENT"

"1394 x-AM03"

"1394 x-AM04"

"1394 x-AM07"

"1394 x-AM50"

"1394 x-AM75"

"1394-DIM"

260, 261, 262, 263

Linear List amps

Read Only

No

39

Smart Sys Data vlts

Read Only

No

156, 157, 158, 159

Vel Cmd Data rpm

Read/Write

Yes

No

0.0 rpm

8000.0 rpm

This is determined by the motor catalog number.

132, 133, 134, 135

Vel Cmd Data rpm

Read/Write

Yes

No

0.0 rpm

8000.0 rpm

This is determined by the motor catalog number.

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System

[Command Mask]

This parameter determines whether drive control from the indicated source is enabled or disabled.

Stop commands from any source are not maskable. If the drive loses communications to a source (SCANport port) that has command control enabled, the drive will fault.

Parameter Numbers

Parameter Group

Parameter Type

Change While Running

Linkable

Default

21

Setup

Read/Write

Yes

No

01111111

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Not Used

Drive I/O

SCANport P:1

SCANport P:2

SCANport P:3

SCANport P:4

SCANport P:5

SCANport P:6

[Cur Fbk Rated]

This parameter indicates the present full scale current rating of an axis module.

[Cur Fbk Scale]

Setting of the axis module that selects the full scale feedback rating.

[Cur Lim Cause]

This parameter displays the present source (if any) of current limiting for the axis.

[Cur Preload]

This parameter specifies the amount of preload added to the velocity loop PI output, when [Torq

Source] is configured to include a preload.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

Selections

2

3

0

1

4

5

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

268, 269, 270, 271

Torq Data amps

Read Only

No

264, 265, 266, 267

Linear List

None

Read Only

No

228, 229, 230, 231

Torq Data

None

Read Only

No

"Not Limited"

"User Neg Lim" - current motor limit

"User Pos Lim" + current motor limit

"Bridge Lim" transistor current limit

"I(t) Limit" current vs. time limit before foldback

"Dyn Mtr Lim" motor speed/torque curve

164, 165, 166, 167

Torq Data, AnBklsh Conf amps

Read/Write

Yes

No

-200% rated motor current

+200% rated motor current

0%

8-7

Publication 1394-5.0 — May 2000

8-8

Configuring Your 1394 Analog Servo System

[Cur Rate Lim]

The largest change in the current reference per velocity loop sample that will be allowed is specified through this parameter. Value shown on the display is in amperes/millisecond.

Description is based on percentage of motor rating to allow interpretation of value.

This parameter is automatically configured to its maximum value when [Motor Type] (parameter

100) is changed.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Current Limit]

This parameter automatically changes both positive and negative current limits to the same value (for convenience during commissioning).

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[CW OvSpd Vel]

Clockwise trip velocity for an overspeed fault.

This value is automatically set to 1000 rpm greater than [CCW Vel Lim] if this value would be greater then present setting.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[CW Vel Lim]

Velocity mode clockwise maximum command limit. This value is automatically set to the motor rated velocity when the motor parameter is changed.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[D/A #x Gain]

Scaling factor for the D/A output test point. For maximum resolution, this parameter should be set so Gain = 128/(Maximum D/A Value). Where

(Maximum D/A Value) is the largest value of the parameter that is linked to [D/A Value]

(parameter 12).

Important:

Velocity is scaled for

4096 counts = 1000 rpm. Current (I

Q

) is scaled for 8192 counts = 100% motor rated current.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

192, 193, 194, 195

Torq Data

A/ms

Read/Write

Yes

No

10% rated motor current/ms

100% rated motor current/ms

100% rated motor current/ms

116, 117, 118, 119

Startup Parms amps

Read/Write

Yes

No

10% rated motor current

300% rated motor current

10% rated motor current

152, 153, 154, 155

Vel Cmd Data rpm

Read/Write

Yes

No

0 rpm

8000.0 rpm

This is determined by the motor catalog number.

128, 129, 130, 131

Vel Cmd Data rpm

Read/Write

Yes

No

0.0 rpm

8000.0 rpm

This is determined by the motor catalog number.

10, 11

Setup

None

Read/Write

Yes

No

-2.0000

+2.0000

0.0000

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System

[D/A #x Value]

The unscaled value of the data that will be output on the D/A channel. This parameter must be the destination of link for any data to be output. All data output is treated as a signed word.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

Minimum Value

Maximum Value

Default Value

[DC Link Setup]

This parameter selects the mode of operation for systems fault detection. Unless DC Link is shared, "standard" should be selected.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

Selections

0

0

1

2

[Desired BW]

This is associated with the auto tune function and allows you to enter a desired velocity bandwidth less than or equal to the [Max Bandwidth] parameter as calculated by the auto tune cycle.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Dig Cmd Mode]

This parameter determines whether digital velocity commands are treated as signed

(Bipolar) inputs, or unsigned (Unipolar). If unipolar operation is selected, velocity direction is selected by the discrete direction commands.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

Selections

0

0

1

[Dig Torq Ref]

This parameter is the present value of digital torque reference. This parameter must be the destination of link for any data to be output.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

12, 13

Linear List

None

Read/Write

Yes

-32768

+32767

0

50

Smart Sys Data

None

Read/Write

No

No

"standard"

"standard"

"shared w/3ph"

"shared - no 3ph"

252, 253, 254, 255

ATune Config

Hz

Read/Write

Yes

No

1 Hz

60 Hz

30 Hz

22

Setup

None

Read/Write

No

No

"Bipolar"

"Bipolar"

"Unipolar"

212, 213, 214, 215

Torq Data amps

Read/Write

Yes

8-9

Publication 1394-5.0 — May 2000

8-10

Configuring Your 1394 Analog Servo System

[Disp-D/A Monitor]

This parameter quickly establishes links to the

D/A test points. It will link the selected axis [Iq

Cur Ref] to test point 1, and the [Vel Feedback] to test point 2. It will also link the [Vel Feedback] to all the SCANport analog display parameters.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

Selections

0

0

1

2

3

4

[Drive OK Mode]

This parameter selects operation of the Drive OK relay. (DROK)

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

Selections

0

0

1

20

Setup

None

Read/Write

No

No

"Axis 0"

"Axis 0"

"Axis 1"

"Axis 2"

"Axis 3"

"Not Linked"

19

Setup

None

Read/Write

Yes

No

"Fault Only"

"Fault Only"active fault opens DROK relay.

"Fault and UVlt"active fault or bus undervoltage opens DROK relay.

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System

[Droop]

This parameter is also referred to as "static gain."

It effectively acts as a very slow discharge of the velocity loop integrator and has two uses:

•

As a component of an external position loop system, setting this parameter to a higher, nonzero value will eliminate servo hunting due to load stick/slip friction effects.

•

As a deliberate "velocity droop" (secondary drives only) in multiple-motor systems where each drive axis is configured as a velocity loop and the motors are mechanically coupled together. Use of higher non-zero droop in this case promotes load sharing.This parameter selects the torque command source within the drive. When operating the drive in velocity mode, set to Velocity Mode 1 (#0). When operating in torque mode (using S Class), set to A/D Torque Block (#4).

This parameter selects the torque command source within the drive. When operating the drive in velocity mode, set to Velocity Mode 1 (#0).

When operating in torque mode (using S Class), set to A/D Torque Block (#4).

The droop scaling is defined as that specified droop in output rpm (i.e., velocity error) that will result in 100% rated torque being applied by the motor in reaction. This parameter only has effect if [Intg Gain Ki] is not zero.

For Example: Speed regulation of 0 to 0.05% maximum depending on optimization of system performance settings. 3000 rpm, 0.05% = 1.5 rpm tolerance.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Enabled Days]

Displays the number of days that the drive has been enabled.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Enabled Minutes]

Displays the number of minutes that the drive has presently been enabled.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Fdbk Pole Cnt]

The number of electrical poles on the resolver.

Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor".

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

380, 381, 382, 383

Vel Loop Data rpm

Read/Write

Yes

No

0.0 rpm (No Droop)

15.6 rpm

1.0 rpm

93

Linear List

None

Read Only

No

92

Linear List

None

Read Only

No

400

Mtr Data

None

Read/Write

No

No

2

8

This is determined by the motor catalog number.

8-11

Publication 1394-5.0 — May 2000

8-12

Configuring Your 1394 Analog Servo System

[Feed Fwd Gain]

Controls the negative feedforward gain of the velocity command contribution to the velocity regulator torque loop. Setting this to a value greater than zero reduces the velocity feedback overshoot in response to a step change in the velocity reference. The velocity loop response to a load disturbance is unaffected by the Feed

Forward Gain. The

default value

will be satisfactory in most cases.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Hardware Version]

This parameter specifies the revision level of the system module hardware.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[I(t) Cur Lim]

This parameter displays the present level of the

I(t) current limit for this axis.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Id Cur Ref]

This parameter displays the present level of the

Id current reference for this axis.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Id RPM End]

This parameter determines the velocity at which maximum Id current will be applied. It is automatically changed when a motor is selected by [Motor Type].

Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor".

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Id RPM Start]

This parameter determines the velocity at which

Id current will start to be applied. It is automatically changed when a motor is selected be [Motor Type].

Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor".

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

376, 377, 378, 379

Vel Loop Data

None

Read/Write

Yes

No

0% of [Vel Command]

100% of [Vel Command]

0

25

Monitor Parms

None

Read Only

No

344, 345, 346, 347

Linear List amps

Read Only

No

236, 237, 238, 239

Torq Data amps

Read Only

No

176, 177, 178, 179

Mtr Data rpm

Read/Write

Yes

No

0.0 rpm

8000.0 rpm

This is determined by the motor catalog number.

172, 173, 174, 175

Mtr Data rpm

Read/Write

Yes

No

0.0 rpm

5600.0 rpm

This is determined by the motor catalog number.

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System

8-13

[Id Slope]

Determines the amount of Id current (as a percent of motor rated) that would be required over a 1000 rpm span. It is automatically changed when a motor is selected by [Motor

Type].

Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor".

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Int Torq Ref]

This is a non-volatile torque preset that can be used as a digital torque reference if linked to [Dig

Torq ref].

Important: Current limits will prevent [Iq Cur Ref] from exceeding 300%.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Int Vel Ref]

This is a non-volatile velocity preset that can be used as a digital velocity reference if linked to

[Vel Ref Whole]. The "sign" of this parameter is changed by direction change requests.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Intg Gain Ki]

This parameter controls the integral error gain of the velocity regulator. For example, if KI = 8, then velocity (1000 rpm) error for 1 second will produce a (rated motor) current torque reference.

For Example: Use Ki to increase servo stiffness or reduce the amount of overshoot during rampup to the [Velocity Command].

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Iq Cur Ref]

This parameter displays the present level of the

Iq current reference for this axis (after all limiting has occurred)

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Jog Vel]

This is a jog velocity reference that is used when jogging the axis. The "sign" of this parameter is changed by direction change requests and is automatically changed to 20% of motor rated velocity when a motor is selected by [Motor

Type].

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

180, 181, 182, 183

Mtr Data

%/Kr

Read/Write

Yes

No

0.0%/Kr

400.0%/Kr

70.0%/Kr

356, 357, 358, 359

Torq Data amps

Read/Write

Yes

No

-400% rated motor current

+400% rated motor current

0%

352, 353, 354, 355

Vel Cmd Data rpm

Read/Write

Yes

No

-8000.0 rpm

+8000.0 rpm

0.0 rpm

372, 373, 374, 375

ATune Config, AnBklsh Conf

None

Read/Write

Yes

No

0

32879

0

232, 233, 234, 235

Monitor Parms, Torq data amps

Read Only

No

348, 349, 350, 351

Vel Cmd Data rpm

Read/Write

Yes

No

-1600.0 rpm

+1600.0 rpm

This is determined by the motor catalog number.

Publication 1394-5.0 — May 2000

8-14

Configuring Your 1394 Analog Servo System

[Language Sel]

Display language for text.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

Selections

0

0

[Ld/Lg Degrees]

If [Ld/Lg Freq] and [Ld/Lg Degrees] are set to non-zero values, a lead/lag filter (one pole, one zero) is additionally inserted into the feedback path of the velocity loop. This filter can be used to enhance the stability of the loop in the presence of load resonances.

This parameter specifies the amount of phase shift that occurs at the lead/lag center frequency.

A negative value specifies a lag, while a positive value specifies a lead.

In most cases, this filter will not be needed.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Ld/Lg Freq]

This parameter specifies the center frequency of the lead/lag filter in the velocity feedback path if employed (see [Ld/Lg Degrees]. If set to zero, the filter is disabled.

In most cases, this filter will not be needed.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Line Voltage]

This parameter selects input line voltage being used. It affects motor velocity ratings and must be configured prior to selecting motor types.

This value is set automatically in all Smart Power

22 kW systems and 5 and 10 kW (Series C or later) systems.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

Selections

0

0

1

[Max Bandwidth]

After an auto tune, this parameter displays the maximum system bandwidth that can be achieved with the machine mechanics.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

4

Linear List

None

Read/Write

Yes

No

English

English

144, 145, 146, 147

Vel Loop Tune degs

Read/Write

Yes

No

-50 (lag) degs

+50 (lead) degs

0 degs

148, 149, 150, 151

Vel Loop Tune

Hz

Read/Write

Yes

No

0 Hz

200 Hz

0 Hz

9

Configuration, Setup

None

Read/Write

Yes

No

460 Volts AC

460 Volts AC

380 Volts AC

304, 305, 306, 307

ATune Config

Hz

Read Only

No

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System

[Mod Rng Data]

Diagnostic information of data communicated between the controller and Axis Module.

Parameter Numbers

Parameter Group

Parameter Type

196, 197, 198, 199

Linear List

Read Only

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11

Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Control

Read/Write

Axis Enabled

Version of axis module EPLD

Scaling Bit

Scaling Bit

Scaling Bit

Scaling Bit

Size Bit

Size Bit

Size Bit

Size Bit

Power Fault

I(t) Fault

Bus Loss Warning

Ovr Temp Flt

[Mode Sel]

This parameter modifies both [Vel Source] and

[Torq Source] to appropriate value based on selection (for convenience during commissioning).

[Module Size]

Current rating of the Axis Module. This is set after the initialization of the 1394 Analog Servo

System DSP.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

0

Selections

2

3

0

1

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

112, 113, 114, 115

Configuration, Startup Parms

None

Read/Write

Yes

No

"Anlg Vel"

"Anlg Vel"

"Ana Torq"

"Dig Vel"

"Dig Torq"

324, 325, 326, 327

Torq Data amps

Read Only

No

8-15

Publication 1394-5.0 — May 2000

8-16

Configuring Your 1394 Analog Servo System

[Motor Type]

The catalog number of the motor is attached to the axis.

Important:

This parameter configures many other parameters, set it carefully.

Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor".

Note: Motors numbered 11 through 15 are available with Firmware version 2.01 or later.

Note: Selection number might vary for parameters 404-407.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

Selections

0

0

1

2

7

8

9

10

5

6

3

4

19

20

21

22

23

24

11

12

13

14

15

16

17

18

34

35

36

37

31

32

33

25

26

27

28

29

30

[Mt Power Usage]

Displays the present average power delivered to all motors from the system module.

Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

100, 101, 102, 103, 404, 405, 406, 407

Configuration, Startup Parms, Mtr Data

None

Read/Write

No

No

"custom motor"

"custom motor"

"1326AB-B410G"

"1326AB-B420E"

"1326AB-B430E"

"1326AB-B515E"

"1326AB-B520E"

"1326AB-B530E"

"1326AB-B410J"

"1326AB-B420H"

"1326AB-B430G"

"1326AB-B515G"

"1326AB-B520F"

"1326AS-B310H"

"1326AS-B330H"

"1326AS-B420G"

"1326AS-B440G"

"1326AS-B460F"

"1326AB-B720E"

"1326AB-B730E"

"1326AB-B740C"

"1326AS-B210H"

"1326AS-B220H"

"1326AS-B630F"

"1326AS-B660E"

"1326AS-B690E"

"1326AS-B840E"

"1326AS-B860C"

"1326AB-B505C"

"1326AS-B360F"

"1326AS-B515C"

"1326AS-B360Z"

"1326AB-B720C"

"1326AB-B720F"

"1326AB-B420C"

"1326AB-B530C"

"1326AN-B320H"

"External"

"1326AB-B740E"

41

Smart Sys Data

%

Read Only

No

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System

[Mtr Inertia]

Inertia of motor attached to drive. Automatically changed when [Motor Type] is changed (to motor is inertia + 20% for coupling) (Inertia is defined as time in milliseconds required to reach 1000 rpm at rated motor current). It is used as input to the auto tune procedure.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor".

[Mtr Peak Cur]

Motor peak current.

Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor".

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Mtr Pole Cnt]

The number of electrical poles on the motor.

Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor".

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Mtr Rated Cur]

Motor nameplate rated current. Automatically changed when [Motor Type] is changed. This value will be clamped to the current rating of the axis module if the motor rating is larger than the module.

Note: Before making modifications to Mtr Data parameters, [Motor Type] must be set to "custom motor".

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Neg Cur Lim]

The maximum allowable negative motor current that can be commanded is specified through this parameter. If greater than [Bridge Lim], then

[Bridge Lim] will set the limits.

Important: Setting this parameter to a value other than default will limit motor output torque in CCW direction.

For Example: If the value equals 100%, the axis module will not deliver more than 100% to motor, thus peak torque is limited to 100%.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

108, 109, 110, 111

Mtr Data msec

Read/Write

Yes

No

0 msec

500 msec

100 msec

124, 125, 126, 127

Mtr Data amps

Read/Write

No

No

0 %

300 %

Rated motor peak current

396

Mtr Data

None

Read/Write

2

8

No

No

This is determined by the motor catalog number.

104, 105, 106, 107

Mtr Data amps

Read/Write

No

No

0%

100%

0%

188, 189, 190, 191

Torq Data amps

Read/Write

Yes

No

10% rated motor current

300% rated motor current or 2 times drive rating

(whichever is less)

300% rated motor current

8-17

Publication 1394-5.0 — May 2000

8-18

Configuring Your 1394 Analog Servo System

[Option x Code]

Used for software options

Option 0 = Antibacklash

Option 1 = Future

Option 2 = Future

Option 3 = Future

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Option x Status]

Present status of a software option (enabled/ disabled). Once enabled via the [Option x Code] the status will be stored in non-volatile memory for future use.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

Selections

0

1

[Pos Cur Lim]

Specifies the maximum allowable positive motor current that can be commanded.

Important:

Setting this parameter to a value other than default will limit motor output torque in CW direction. Automatically changed when

[Current Limit] (parameter 116) is changed.

For Example: If the value equals 100%, the Axis

Module will not deliver more than 100% to motor, thus peak torque is limited to 100%.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Prop Gain Kp]

This parameter controls the proportional error gain of the velocity regulator. For example, if

KP = 1, then velocity error of 1000 rpm will produce a (rated motor) current torque reference.

Increase this value to attain a stiffer, more precise response.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Pwr On Days]

Displays the number of days that the drive has had control power applied.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Pwr On Minutes]

Displays the number of minutes that the drive has presently had control power applied.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Rem. Data In/Out:Ax]

This series of parameters represent linkable inputs and outputs to the SCANport Type 4/5/6/

7 DataLink inputs and outputs.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

30, 32, 34, 36

Linear List

None

Read/Write

Yes

No

0

65535

0

31, 33, 35, 37

Linear List

None

Read Only

No

"Disabled"

"Enabled"

184, 185, 186, 187

Torq Data amps

Read/Write

Yes

No

10% rated motor current

300% rated motor current or 2 times drive rating

(whichever is less)

300% rated motor current

368, 369, 370, 371

Vel Loop Tune, AnBklsh Conf

None

Read/Write

Yes

No

0

1024

0

91

Linear List

None

Read Only

No

90

Linear List

None

Read Only

No

70-85

Linear List

None

Read Only

In=No, Out=Yes

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System

[Rem. Data In/Out:Px]

This series of parameters represent

linkable

inputs and outputs to the SCANport "analog" inputs and outputs for each of the six available ports.

Parameter Numbers

Parameter Group

Display

Units

Parameter Type

Linkable

[Resolvr Posn]

This parameter supplies the position feedback count. 65,535 represents the counts per 1/2 revolution.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Resolvr Turns]

The number of resolver electrical turns is supplied by this parameter. When these values reach maximum, the value drops to -32768 and begins to again count up and down.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

58-69

Linear List

None

Read Only

In=No, Out=Yes

216, 217, 218, 219

Monitor Parms

None

Read Only

No

244, 245, 246, 247

Monitor Parms

None

Read Only

No

[Rg Power Usage]

Displays the present average power regenerated by all motors back to the system module.

Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

40

Smart Sys Data

%

Read Only

No

[Shunt Kl]

Shunt resistor long time constant, measured in seconds.

Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems.

This parameter only needs to be configured when you are using custom resistors.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

47

Linear List

S

Read/Write

Change While Running

Minimum Value

Maximum Value

Default Value (22 kW)

No

1

255

70

Default Value (5 and 10 kW

) 10

Note: [Shunt Type] must be set to "custom shunt" before making modifications to this shunt parameter (44-48).

[Shunt Ks]

Shunt resistor short time constant, measured in seconds.

Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems.

This parameter only needs to be configured when you are using custom resistors.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

46

Linear List ms

Read/Write

Change While Running

Minimum Value

Maximum Value

Default Value (22 kW)

No

250

2550

250

Default Value (5 and 10 kW

) 250

Note: [Shunt Type] must be set to "custom shunt" before making modifications to this shunt parameter (44-48).

8-19

Publication 1394-5.0 — May 2000

8-20

Configuring Your 1394 Analog Servo System

[Shunt P]

Shunt resistor continuous power rating.

Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems.

This parameter only needs to be configured when you are using custom resistors.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Minimum Value

Maximum Value

Default Value (22 kW)

45

Linear List

Watts

Read/Write

No

100

22000

900

Default Value (5 and 10 kW

) 200

Note: [Shunt Type] must be set to "custom shunt" before making modifications to this shunt parameter (44-48).

[Shunt Peak Usage]

This parameter shows the peak usage of the shunt resistor over the last ten seconds. (%) This parameter can be observed to determine proximity of usage to fault condition. Warning is set at 80%. Fault is set when value reaches

105%.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems.

[Shunt R]

Shunt resistor resistance. Set this parameter only when using a custom resistor.

Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Minimum Value

Note: [Shunt Type] must be set to "custom shunt" before making modifications to this shunt parameter (44-48).

Maximum Value

Default Value

51

Smart Sys Data

%

Read Only

No

44

Linear List

Ohms

Read/Write

No

4 (22kW systems)

16 (5 and 10 kW systems)

255

Set by [Shunt Type]

[Shunt Type]

Selects shunt module model number or type.

Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems.

Note: [Shunt Type] must be set to "custom shunt" before making modifications to associated shunt parameters (44-48).

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

6

Selections

0

1

2

3

4

5

6

[Shunt Usage]

% of shunt power used.

Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

43, 49

Linear List

None

Read/Write

No

No

"Internal" (5 and 10 kW systems)

"Custom Shunt"

"1394-SR-9A"

"1394-SR-9AF"

"1394-SR-36A"

"1394-SR-36AF"

"1394-SR-10A"

"Internal" (5 and 10 kW systems)

42

Smart Sys Data

%

Read Only

No

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System

[Shunt Ws]

Shunt short time constant weighting factor. This parameter determines the relationship between the short and long time constants in the thermal model of the shunt module. The long time constant weighting factor is 100% - Ws%.

Configure this parameter only when a custom resistor is selected.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Minimum Value

Maximum Value

Default Value

Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems.

Note: [Shunt Type] must be set to "custom shunt" before making modifications to associated shunt parameters (44-48).

[Slot 0 Opt. Card]

Description of adapter card in option slot.

[Software Version]

Numeric value of software version.

[Startup State]

Present state value of the startup procedure.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

Selections

0

Parameter Numbers

:

Parameter Group

:

Parameter Type

:

Linkable

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[State]

Present state of axis module; enabled/disabled.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

Selections

0

1

[Status Display]

Textual description of present status of drive.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

Selections

3

4

5

0

1

2

No

1

100

100

48

Linear List

%

Read/Write

200, 201, 202, 203

Linear List

None

Read Only

No

"Disabled"

"Enabled"

8

Linear List

None

Read Only

No

"Sys Faulted"

"Sys Wait Bus"

"Sys Bus Chrg"

"Sys Ready"

"Sys Enabled"

"Sys Stopping"

5

Linear List

None

Read Only

No

"No Opt Instd"

1

Configuration

Read Only

No

3

Linear List

None

Read/Write

Yes

No

0

100

1

8-21

Publication 1394-5.0 — May 2000

8-22

Configuring Your 1394 Analog Servo System

[Stop Mode]

Parameter to select whether the axis module should velocity command to zero (regen) or coast to a stop

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

Selections

0

0

1

[Stop Time Lim]

Maximum amount of time that the module will remain enabled while trying to stop. Useful for very slow velocity rate change settings.

Important:

If hardware enables are used to stop the drive, circuitry only allows 0.5 seconds before disabling (independent of this parameter).

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Stopping Cur]

During a regen stop, the amount of current available to stop the motor. (Only works when

StopMode = Regen)

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

240, 241, 242, 243

Vel Cmd Data

None

Read/Write

Yes

No

"Regen"

"Regen"

"Coast"

384, 385, 386, 387

Vel Cmd Data secs

Read/Write

Yes

No

2 secs

120secs

2 secs

308, 309, 310, 311

Vel Cmd Data amps

Read/Write

Yes

No

0% of rated motor current

300% of rated motor current

300% of rated motor current

[Sum On Days]

Displays the total number of days that the drive has ever had control power applied

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Sum On Minutes]

Display the total number of minutes that the drive has ever had control power applied.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

95

Linear List

None

Read Only

No

94

Linear List

None

Read Only

No

[Sys I/O Image]

Displays the processor image of these hardware signals.

Parameter Numbers

Parameter Group

Parameter Type

7

Linear List

Read Only

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Axis 2 feedback loss

Axis 3 feedback loss

Axis 0 feedback loss

Axis 1 feedback loss

Axis 2 enabled

Axis 3 enabled

Axis 0 enabled

Axis 1 enabled

Cont EN relay

Drive OK relay

Axis 0 HWD enable request

Axis 1 HWD enable request

Axis 2 HWD enable request

Axis 3 HWD enable request

HDW reset request

AQB disable

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System

[Sys Mod Data]

Diagnostic information of data communicated between the controller and system module.

Parameter Numbers

Parameter Group

Parameter Type

6

Linear List

Read Only

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11

Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Not Used

Size Bit

Size Bit

Size Bit

Size Bit

Version Bits

Bus 0V Flt

Bus Undr Vlt

Ovr Temp Flt

Ctrl Pwr Loss

Phs Loss Flt

Ground Fault

[Sys Mod Status 2]

Diagnostic information of smart power systems.

Active on all Smart Power 22 kW systems and 5 and 10 kW (Series C or later) systems

Parameter Numbers

Parameter Group

Parameter Type

38

Linear List

Read Only

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11

Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 = true

Note: Warnings are set at 80% rating.

Not Used

Bus 0V Fault

Bus Undr Vlt

Ovr Temp Flt

Ctrl Pwr Loss

Phs Loss Flt

Ground Fault

PreCharge Fault

Shunt Fault

CurLim Warn

Shunt Warn

CurLim Fault

[System Type]

Catalog number of System Module. Set during the initialization of the 1394 x-SJTxx-A system module.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

0

1

2

3

[Test Mode Sel]

Internal (factory) test mode selections.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

14

Configuration

None

Read Only

No

"NOT PRESENT"

"1394 x-SJT05"

"1394 x-SJT10"

"1394-SJT22"

16

Linear List

None

Read/Write

Yes

No

0

32767

0

8-23

Publication 1394-5.0 — May 2000

8-24

Configuring Your 1394 Analog Servo System

[Torq Source]

Configures the source of the torque reference for the axis. Automatically changed when [Mode

Sel] (parameter 112) is changed (for convenience during commissioning).

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

0

360, 361, 362, 363

Torq Data

None

Read/Write

Yes

No

"Vel Out"

Selections

0 "Vel Out" Axis is configured as a standard velocity commanded drive (velocity regulator output is the torque source). [Prop Gain Kp], [Intg Gain

Ki], [Feed Fwd Gain], and [Droop] are active

parameters.

.

1 "Vel+DTrq+PLd" Axis is configured as a standard velocity commanded drive with additional torque inputs. The additional inputs to the final torque summing node are the fixed [Cur Preload], and the dynamic [Dig Torq Ref] which can be linked to a real-time digital input (the velocity regulator output, the preload, and digital torque reference sum to become the torque source). [Prop Gain

Kp], [Intg Gain Ki], [Feed Fwd Gain], [Droop],

[Cur Preload] and [Dig Torq Ref] are active parameters.

2 "Dig Torq"

3 "Vel+ATrq+PLd"

Axis is configured as a digitally torque commanded drive. The dynamic [Dig Torq Ref] is meant to be linked to a real-time digital input.

[Dig Torq Ref] is the active parameter.

Axis is configured as a standard velocity commanded drive with additional torque inputs. The additional inputs to the final torque summing node are the fixed [Cur Preload], and the real-time analog voltage from the torque voltage is sampled every 256µs; typical use is a torque feedforward input in a high performance position loop system. Gain is 3V/100% rated torque. Analog range is +10V (the velocity

4

5

"ATrq1+PLd"

"ATrq2+PLd" reference sum to become the torque source).

[Prop Gain Kp], [Intg Gain Ki], [Feed Fwd Gain],

[Droop], and [Cur Preload] are active parameters.

Axis is configured as an analog torque commanded drive, with the fixed [Cur Preload] summed in. The real-time analog voltage from the torque inputs (TQREF+ and TQREF-) are utilized. This analog voltage is sampled every

256µs; typical use is a torque block for a tensioner, an external position or velocity controller, or as a torque follower. Gain is

3V/100% rated torque. Analog range is +10V

In this mode, [Cur Preload] is the active parameter.

Identical to Mode 4, except that the analog torque inputs come from VREF+ and VREF-

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System

8-25

[Typ 1 Logic Axis]

Configures which axes are affected by

SCANport type 1 commands (Jog, Start, etc). All axes will always respond to a stop command.

Parameter Numbers

Parameter Group

Parameter Type

Change While Running

Linkable

Default Value

23

Setup

Read/Write

No

No

00001111

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Not Used

Axis3

Axis2

Axis1

Axis0

[Type 1 Status]

This parameter displays status information about the system and the first [Typ 1 Logic Axis] (first axis with a bit set).

Parameter Numbers

Parameter Group

Parameter Type

17

Monitor Parms

Read Only

Bit 15

Bit 14

Bit 13

Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Ref Source

Ref Source

Ref Source

Ref Source

Local Owner

Local Owner

Local Owner

At Ref Vel

Warning

Sys Faulted

Rot Dir

Cmd Dir

Accelerating

Decelerating

Sys Enabled

Sys Running

[Type 2 Status]

This parameter displays status information about the system and axis modules.

Parameter Numbers

Parameter Group

Parameter Type

18

Monitor Parms

Read Only

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11

Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Sys Faulted

At Ref Vel

In Cur Limit

Enabled

Not Used

At Ref Vel

In Cur Limit

Enabled

Not Used

At Ref Vel

Enabled

In Cur Limit

At Ref Vel

Not Used

Enabled

In Cur Limit

[Units Sel]

If set to "internal," drive units will be displayed on the HIM, instead of the default engineering "user" units.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

Selections

0

0

1

[Up To Spd Tol]

Percentage of command velocity that feedback velocity must be within before asserting the "At

Ref" bits in [Type 1/2 Status].

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

2

Linear List

None

Read/Write

Yes

No

"User"

"User"

"Internal"

248, 249, 250, 251

Vel Cmd Data

%

Read/Write

Yes

No

0%

39%

3.90%

Publication 1394-5.0 — May 2000

8-26

Configuring Your 1394 Analog Servo System

[Enble Input Mode]

This parameter specifies whether the hardware enable signals are used on the wiring board for input. If configured as Not Used, the HIM or

SCANport device will provide the enable signal for the axis.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

Selections

0

0

1

[Vel Command]

Present velocity command for the axis (after all limiting has occurred).

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Vel Damp Sel]

This parameter is associated with the auto tune function and specifies the velocity damping desired by the user. The auto tuning procedure calculates a new set of Velocity Loop Gains and a new Current Rate Limit when the user initiates the Auto Tune Calculate function.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

Selections

0

0

1

2

3

[Vel Feedback]

Present velocity feedback for the axis (after all filtering has occurred).

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Vel Lim]

This parameter automatically changes both

[CW/CCW Vel Lim] to the same value. (for convenience during commissioning).

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Vel LowPas BW]

Specifies the single pole low pass velocity feedback filter bandwidth. A value of 0 disables the filter.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

24

Setup

None

Read/Write

Yes

No

"Used"

"Used"

"Not Used"

220, 221, 222, 223

Monitor Parms, Vel Cmd Data rpm

Read Only

No

256, 257, 258, 259

ATune Config

None

Read/Write

Yes

No

"Zeta=0.87"

"Zeta=0.87" Underdamped

"Zeta=1.00" Critically Damped

"Zeta=0.70" Underdamped

"Zeta=1.40" Overdamped

224, 225, 226, 227

Monitor Parms, Vel Cmd Data rpm

Read Only

No

120, 121, 122, 123

Velocity Cmd Data rpm

Read/Write

Yes

No

0.0 rpm

8000.0 rpm

This is determined by the motor catalog number.

140, 141, 142, 143

Vel Loop Tune

Hz

Read/Write

Yes

No

0 Hz

1500 Hz

0 Hz

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System

[Vel Rate Lim]

The rate at which a velocity command is incremented or decremented per unit of accel/ decel time (in seconds).

Important:

The velocity rate limit command overrides a position controller velocity rate limit command. This parameter is automatically changed to its maximum value when [Motor

Type] is selected.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Minimum Value

Maximum Value

Default Value

[Vel Ref Fract]

Lower 16 bits of [Vel Ref Whole] (parameter 204), forming a 32 bit velocity reference.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

[Vel Ref Whole]

This parameter is the present value of digital velocity reference and must be the destination of link for any data to be output.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Linkable

Minimum Value

Maximum Value

Default Value

[Vel Source]

Selects the velocity command source(s) within the drive. Automatically changed when [Mode

Sel] is changed (for convenience during commissioning).

For Example: Axis 0, 1, 2 could be set in (#0) analog reference while axis 3 could be set in (#1) digital input.

Parameter Numbers

Parameter Group

Display Units

Parameter Type

Change While Running

Linkable

Default Value

Selections

0

0

1

2

3

136, 137, 138, 139

Vel Cmd Data rpSS (revolutions/second/second)

Read/Write

Yes

No

0 rpSS

34015 rpSS

34015 rpSS

208, 209, 210, 211

Linear List rpm

Read/Write

Yes

204, 205, 206, 207

Vel Cmd Data rpm

Read/Write

Yes

-8000.0 rpm

+8000.0 rpm

0.0 rpm

364, 365, 366, 367

Vel Cmd Data

None

Read/Write

Yes

No

"Anlg Vel"

"Anlg Vel" analog ref from [Vel Command] (parameter 220)

"Dig Vel" internal digital reference [Vel Ref Whole/Fract] (204, 208)

"Anlg+Dig Vel" analog and digital reference

"Zero Vel" zero velocity reference

8-27

Publication 1394-5.0 — May 2000

VEL LIM

120

CW VEL LIM

128

CCW VEL LIM

132

VEL RATE LIM

136

VEL SOURCE

364

VELOCITY LIMITER

VELOCITY SOURCE TABLE

0 = ANALOG VEL

1 = DIGITAL VEL

2 = ANALOG + DIGITAL

3 = ZERO INPUT

ANLG VEL OFST

276

+

S

+

ANLG VEL SCAL

272

+

X + A/D

+/- 10v

(10v = 32767)

0

+

S

+

VEL REF WHOLE

204

352

INT VEL REF

348

JOG VEL

208

VEL REF FRACT

MODE SEL

112

MODE SELECT TABLE

0 = ANALOG VEL

1 = ANALOG TORQ

2 = DIGITAL VEL

3 = DIGITAL TORQ

404

MOTOR TYPE

104

MTR RATED CUR

### CONFIGURATION

### INPUT SOURCE

### READ ONLY, TEST PT

TYPICAL LINK

CURRENT LIMIT

116

VEL COMMAND

220

FEED FWD GAIN

376

+

+

+

X

S

-

+

S

-

+

S

-

356

INT TORQ REF

+/- 10v

(3V = 8192)

DIG TORQ REF

212

A/D

+

PROP GAIN Kp

368

S

-

+

+

X

INTG GAIN Ki

372

+

S

+

+

+

X

CUR PRELOAD

164

300

ATUNE FRICTN

DROOP

380

+

X +

TORQ SOURCE

360

POS CUR LIM

184

NEG CUR LIM

188

CUR RATE LIM

192

TORQUE SOURCE TABLE

0 = VEL OUT

1 = VEL + Dtrq + PLd

2 = DIG Torq

3 = VEL + ATrq + PLd

4 = ATrq1 + PLd

5 = ATrq2 + PLd

CURRENT LIMITER

344

I(t) CUR LIM

260

BRIDGE LIM

124

MTR PEAK CUR

228

CUR LIM CAUSE

232

Iq CUR REF

D/A 1 Gain

10

D/A 1 VALUE

12

+

X +

+/- 10v

(10V = 128)

CW OVSPD VEL

152

CCW OVSPD VEL

156

OVERSPEED

FLT

OVERSPEED

DETECT

+/- 10v

(10V = 128)

D/A 2 GAIN

11

VEL FEEDBACK

224

X+

+

D/A 2 VALUE

13

FEEDBACK FILTER

140

VEL LOWPAS BW

148

LD/LG FREQ

144

LD/LG DEGREES

Id RPM START

172

Id RPM END

176

Id SLOPE

180

Id GENERATION 236

Id CUR REF

RESOLVR TURNS

244

RESOLVR POSN

216

FEEDBACK

SCALING

FEEDBACK

ACCUMULATOR

POSITION

FEEDBACK

AUTOTUNE CUR

288

284

AUTOTUNE VEL LIM

V

292

AUTOTUNE INERTIA

AUTO TUNE

IDLE

SYSTEM TUNE

CALCULATE

0

1

2 t

300 AUTOTUNE FRICTION

FRICTION COMP

296

AUTOTUNE SELECT

DAMPING FACTOR SELECTOR

0.87

ZETA

1.00

0.70

1.40

0

1

2

3

256

VEL DAMP SELECT

296

AUTOTUNE

SELECT

(CALCULATE)

Wa

(140)

Ki

(372)

Kp

(368)

RATELIM

(192)

AUTO GAIN CHANGE

252 304 108

DESIRED

VEL BW

BW MAX MOTOR

INERTIA

(mSEC)

8-30

Configuring Your 1394 Analog Servo System

Publication 1394-5.0 — May 2000

Chapter Objectives

Chapter

9

Troubleshooting

This chapter covers:

• Understanding how to detect a problem

• Understanding system and axis module LEDs

• Understanding system faults

• Understanding GMC Turbo and GMC controller faults

• Understanding Analog Servo system module faults

• Troubleshooting general system problems

• Replacing system and axis modules

• Checking for a blown fuse in the 1394-DCLM

• Replacing 1394 the shunt module fuse

• Replacing the AM50 and AM75 axis module fan

!

ATTENTION:

This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair, or remove this unit. You should only attempt the procedures in this chapter if you are qualified to do so and familiar with solid-state control equipment and the safety procedures in publication NFPA 70E.

ATTENTION:

Do not attempt to defeat or override the drive fault circuits. You must determine the cause of a fault and correct it before you attempt to operate the system. If you do not correct a drive or system malfunction, it could result in personal injury and/or damage to equipment as a result of uncontrolled machine system operation.

ATTENTION:

If you use an oscilloscope (or chart recorder) for troubleshooting, you must properly ground it. The oscilloscope chassis can be at a potentially fatal voltage if you do not properly ground it. Always connect the oscilloscope chassis to an earth ground.

Publication 1394-5.0 — May 2000

9-2

Troubleshooting

Understanding How to Detect a

Problem

When a drive fault occurs, the LED on the front panel changes and a fault message appears.

The majority of 1394 faults cause the DROK contact to operate. If a drive fault occurs, you can reset the fault detection circuitry by removing and reapplying power. However, if it is a hardware fault, you need to correct the fault before restarting.

This material, along with the diagnostic/troubleshooting information included with the position controller, will help you identify most common system malfunctions and determine which module that problem pertains to.

Understanding System and Axis

Module LEDs

The system module and each axis module has one LED visible from the front of the module. The LEDs are labeled "Status" on all axis modules and "Status" for GMC, Analog Servo, and 9/440 versions and

"I/O Ring Status" for the CNC Interface system. They indicate status as follows:

For this module: For this LED:

GMC Turbo,

GMC or Analog

Servo System

Module

Status

Status of the

LED:

Potential Cause: Possible resolution:

Steady red

Flashing red

Alternating red and green

Malfunctioning system module.

A fault has occurred in system.

DC bus is not up.

Open fuse or malfunctioning contactor on user-supplied 3 phase input.

• Verify wiring.

• Secure wiring connections.

• Replace the module.

• Contact your local Allen-Bradley Support

Representative.

• Verify wiring.

• Secure wiring connections.

• Apply three-phase power.

• Check DC bus LED.

• Check wiring to start/stop circuitry.

• Check fuse.

Malfunctioning system module.

Replace the module.

Steady green The bus is up and axes are enabled.

None needed.

Flashing green

Not illuminated

The bus is up, but no axis is enabled

(Analog Servo only).

Enable signal from position controller is not present (Analog

Servo only).

Position controller has detected a machine system malfunction and will not enable the 1394 (Analog

Servo only).

System enable is not powered (GMC only).

There is no power to the system module.

• Check axes and enable them, if necessary.

• Verify that enable wiring is correct and not open.

• Check axes and enable them, if necessary.

• Verify that enable wiring is correct and not open.

• Check connections on input wiring board.

• Check position controller.

• Check the machine.

• Check the enable status at the Analog Servo wiring board.

• Check the enable status.

• Check for 24V DC on system enable signal,

TB1 and TB2 (refer to the chapter

Wiring

1394 GMC and GMC Turbo Systems

, Figure

4.1 and Figure 4.2).

Check the power supply to the system module.

Publication 1394-5.0 — May 2000

Troubleshooting

9-3

For this module: For this LED:

CNC Interface

System Module

9/440 System

Module

I/O Ring

Status

XILINX

Status

R-I/O

Status of the

LED:

Potential Cause:

Steady red The fiber optic ring has failed at some point before the 1394 system module.

Flashing red The fiber optic ring has failed at some point after the 1394 system module.

Not illuminated

No power to the system.

This LED is not illuminated when operating normally.

Steady red

Not illuminated

Operating normally.

Power to the system module is not on.

An XILINX hardware fault has occurred.

WATCHDOG

Steady red

Not illuminated

Steady red

Not illuminated

Steady or flashing red

Not illuminated

Possible resolution:

Check all components and connections before the 1394 on the fiber optic ring.

Check all components and connections after the 1394 on the fiber optic ring.

Check 24V control power and 460V AC input power for the 1394.

None needed.

• Cycle power.

• Apply power to the system module.

• Replace the system module.

• Contact your local Allen-Bradley Support

Representative.

None needed.

Apply power to the system module.

Operating normally.

Power to the system module is not on.

Watchdog has timed out and a processor failure has occurred.

• Cycle power.

• Replace the system module.

• Contact your local Allen-Bradley Support

Representative.

None needed.

Apply power to the system module.

Operating normally.

Power to the system module is not on.

Watchdog has timed out and a processor failure has occurred.

For systems with remote I/O, this indicates that communication with remote I/O is occurring.

Your system does not have remote

I/O or you have not enabled remote

I/O in your program.

• Cycle power.

• Replace the system module.

• Contact your local Allen-Bradley Support

Representative.

None needed.

• Verify that you have purchased the remote

I/O option for this system.

• Verify that you have enabled the remote I/O in your PAL program.

Publication 1394-5.0 — May 2000

9-4

Troubleshooting

For this module: For this LED:

Axis Module Status

Status of the

LED:

Steady red

Potential Cause:

Malfunctioning axis module.

Flashing red

Alternating red and green

Flashing green

Not illuminated

Axis fault has occurred.

DC bus is not up.

Axis is not enabled.

Enable signal from position controller is not present (Analog

Servo only).

Incorrect wiring or loose connections.

Axis setups may not be correct for the application.

There is no power to the axis module.

There is no power to the system.

Possible resolution:

• Verify wiring.

• Verify that the slider and terminator are securely engaged.

• Secure wiring connections.

• Replace the module.

• Verify wiring.

• Secure wiring connections.

• Check fault status on the HIM (Analog

Servo only), in GML (GMC only), or on the operator panel (CNC Interface and 9/440).

• Check 460V AC input power.

• Check axis status on the HIM (Analog

Servo only), in GML (GMC only), and on the operator panel (CNC Interface and

9/440)

• Check the system module’s LED.

• Check slider connections to verify that they are properly seated.

• Verify that the terminator is present on the last axis.

• Check axes and enable them, if necessary.

• Verify that enable wiring is correct and not open.

• Check axes and enable them, if necessary.

• Verify that enable wiring is correct and not open.

Check connections on the input wiring board.

• Verify that axis definitions are correct.

• Check tuning parameters.

Verify that the terminator is present on the last axis.

• Verify that the terminator is present on the last axis.

• Check system module power supply.

Publication 1394-5.0 — May 2000

Troubleshooting

9-5

Understanding System Faults

Depending on which 1394 system you are using, your faults will be displayed differently.

For this system module:

GMC Turbo or

GMC

CNC Interface

Analog Servo

9/440

This is where faults appear:

In GML in the Online

Manager or Watch window.

On the 9/Series operator panel.

On the HIM.

On the operator 9/Series panel.

This is where to look for additional fault information:

The GML Programming Manual V3.7 or greater

(publication 999-104) or the GML Commander

Reference Manual (publication GMLC-5.2).

The 9/Series Integration and Maintenance Manual

(publication 8520-6.2).

The Finding Analog Servo System Faults section of this chapter.

The 9/Series Integration and Maintenance Manual

(publication 8520-6.2).

Finding GMC Faults

To examine the fault status of the system or axis modules for the

GMC version, you can:

• View instantaneous status

• View constant status

Viewing Instantaneous Status

You can look at the status of a particular variable within GML at a particular point in time. To look at a status:

1.

Open GML. The GML window appears.

2.

Select

Diagram

from the menu bar. The Diagram menu appears.

3.

Select

Online

. The Online Manager window appears.

4.

In the

Axis

area, select the axis you want to see status on.

5.

In the area above the

Axis

area, select the variable for which you want to see status.

Note: For example, select the

Global Fault

variable to determine which system fault has occurred.

6.

Select

Examine

. Information about that variable appears in the box on the bottom of the Online Manager window.

Publication 1394-5.0 — May 2000

9-6

Troubleshooting

Viewing Continuous Status

When you use the Watch feature, a window appears within the Online

Manager window showing the variables you selected. GML constantly updates the status of those variables as they change.

To view continuous status:

1.

Open GML. The GML window appears.

2.

Select

Definitions

from the menu bar. The Definitions menu appears.

3.

Select

Watch Items

. The Watch Items window appears.

4.

Select any variables that you want to watch from the

Defined

Items

area and click on

Add

. Those items appear in the

Items to

Watch

area.

5.

Click on

Save

. The GML window appears.

6.

Select

Diagram

from the menu bar. The Diagram menu appears.

7.

Select

Online

. The Online Manager window appears.

8.

On the top right of the window, select the

Watch

. A message box appears. The variables that you selected and their status appear in this window.

Refer to the

Expression Builder

chapter of the

GML Programming

Manual V3.7 (or above)

for a list of fault and status variables.

Publication 1394-5.0 — May 2000

Troubleshooting

Finding Analog Servo System Faults

When a fault occurs for the Analog Servo version, a fault message appears on the HIM.

Figure 9.1

HIM Fault Display

Source of Fault

Fault Name

Hard Fault Indicator

9-7

Fault Number

Each area on the diagram in Figure 9.1 has a significance:

In this area: This information appears:

Source of fault The area in which the fault originated:

Ax0 = Axis module 0

Ax1 = Axis module 1

Ax2 = Axis module 2

Ax3 = Axis module 3

Sys = System module

CPU = The host CPU (hardware)

DSP = DSP CPU (hardware

Cus. = User action is the source of the fault

Hdw. = Drive hardware is the source of the fault

Fault name An abbreviated message indicating a particular fault.

Hard fault indicator If an exclamation point appears in this location, a hard fault has occurred. You need to cycle drive power to clear this type of fault.

Fault number The number associated with the particular fault.

Finding 9/440 Faults

Faults for the 9/440 appear on the second line of the operator panel.

There is also an error log that contains the most recent system faults.

To get to this error log screen:

1.

At the main menu, press the continue softkey. The softkey menu changes.

2.

Press the {ERROR MESAGE} softkey. The error message screen appears.

For more information on 9/440 system faults refer to the

9/Series

Integration and Maintenance Manual

(catalog 8520-6.2).

Publication 1394-5.0 — May 2000

9-8

Troubleshooting

Finding CNC Interface Faults

Faults for the CNC Interface appear on the second line of the operator panel. There is also an error log that contains the most recent system faults. To get to this error log screen:

1.

At the main menu, press the continue softkey. The softkey menu changes.

2.

Press the {ERROR MESAGE} softkey. The error message screen appears.

For more information on 9/Series system faults refer to the

9/Series

Integration and Maintenance Manual

(catalog 8520-6.2).

Publication 1394-5.0 — May 2000

Understanding GMC Turbo and

GMC Controller Faults

Troubleshooting

9-9

Use the table below to identify the GMC and GMC Turbo Controller faults. The status LEDs are located inside the system module in the upper left corner. The figure below shows a picture of the LEDs.

Figure 9.2

GMC Turbo and GMC Status LEDs

0:

Off

On

Off

On

Off

On

Off

On

1:

Off

Off

On

On

Off

Off

On

On

LED Status:

2:

Off

Off

Type:

Solid

Solid

Off Solid

Off Solid

On

On

On

On

Solid

Solid

Solid

Solid

On

Off

On

Off

On

Off

On

On

Off

Off

Off

On

On

On

Off

Off

Off

On

On

On

On

Flashing - fast

1

Flashing - fast

1

Flashing -fast

1

Flashing - fast

1

Flashing - fast

1

Flashing - fast

1

Flashing - fast

1

Potential cause: Possible resolutions:

Controller OK - no faults N/A

Memory fault - Setup or program checksum error

Re-Download the GML diagram with the setups

Reset the controller.

1394 Initialization failure

AxisLink initialization failure

RIO interface initialization failure

Reset the controller. If problem persists, return controller to the factory for repair.

Reset the controller. If problem persists, return controller to the factory for repair.

Reset the controller. If problem persists, return controller to the factory for repair.

Flex I/O initialization failure

Interrupt initialization failure

DSP or initialization failure

Reset the controller. If problem persists, return controller to the factory for repair.

Reset the controller. If problem persists, return controller to the factory for repair.

Reset the controller. If problem persists, return controller to the factory for repair.

DRAM test #1 failed

DRAM test #2 failed

DRAM test #3 failed

Applications memory functionality test failed

Setup memory funcitonality test failed

Dual port test #1 failed

Dual port test #2 failed

Return the controller to the factory for repair.

Return the controller to the factory for repair.

Return the controller to the factory for repair.

Return the controller to the factory for repair.

Return the controller to the factory for repair.

Return the controller to the factory for repair.

Return the controller to the factory for repair.

On

Off

On

Off

Off

On

On

Off

Off

Off

Off

On

Flashing - slow

1

Flashing - slow

1

Flashing - slow

1

Flashing - slow

1

Serial port test failed

Timer test failed

Initialization test failed

Auxiliary I/O test failed

On

Off

Off

On

On

On

Flashing - slow

1

Flashing - slow

1

CXIC failed

DRAM test failed

On On On

Flashing - slow

1 Transfer system failed

1

Flashing slow is twice per second, flashing fast is ten times per second.

Return the controller to the factory for repair.

Return the controller to the factory for repair.

Return the controller to the factory for repair.

Return the controller to the factory for repair.

Return the controller to the factory for repair.

Return the controller to the factory for repair.

Return the controller to the factory for repair.

Publication 1394-5.0 — May 2000

9-10

Troubleshooting

Understanding Analog Servo

System Module Faults

Fault Message:

Bus Config

Bus Low Vlt

Bus Ovr Vlt

CAN Hdwr

Cntctr Flt

Cur Limit

The faults that apply to the Analog Servo System’s system module appear in the following tables.

Note: Although these faults are for the Analog Servo version, in many instances, the descriptions, causes, and resolutions can also apply to the GMC version. The fault messages, however, would be different. Refer to the

GML Programming Manual

(publication 999-104) for more information.

Description:

The configured bus voltage mode does not match the hardware.

The DC power bus activates undervoltage limit when the bus drops to 275V DC or less. It will clear at 300V DC.

The DC Power Bus is continuously monitored.

If it exceeds a preset level (810V DC), a fault is sensed and the power supply is disabled.

Bus Voltage Operation

Shunt turns on at

800V DC

Shunt turns off at

750V DC

Over voltage trip point

810V DC

Under voltage trip point

275V DC

Under voltage fault clears at 300V DC

SCANport hardware error detected.

Three-phase power is either detected when it shouldn’t be or not detected when it should be.

The system module has reach its current limit.

Potential cause:

The system module detected an incorrect shunt module configuration (wrong shunt installed).

Custom shunt parameters exceed the system module shunt limits.

The voltage on the 360/480V AC input power is low.

If this fault occurs when you power up the system module with the M-contactor, the power distribution impedance might be stiff or line voltage might be too high.

The position controller acceleration / deceleration rate is incorrectly set.

The system inertia is too high causing excessive energy to be returned to the power supply bus.

A vertical axis with insufficient counterbalancing is overdriving the servo motor and causing excessive energy to be returned to the power supply bus.

Input line voltage exceeds the maximum input voltage rating.

Power Driver Board is malfunctioning and is incorrectly sensing the bus voltage.

The shunt regulator or transistor has malfunctioned.

External shunt regulator fuse has blown.

The SCANport device or cable is faulty.

The contactor is welded or failed to open.

• Correct wiring.

• Replace the contactor.

The input wiring to your contactor is incorrect. Correct wiring.

The motoring/regenerative current produced by the motor(s) and axis module(s) exceeds the current limit allowed by the system module.

Possible resolutions:

• Verify that the shunt module is rated for and compatible with your system module.

• Verify custom shunt parameters do not exceed the system module limitations.

Verify incoming AC voltage and change the supply source, if needed.

• Perform line conditioning.

• Verify that line voltage is within specifications.

Change the command profile to reduce speed or increase time.

• Change the command profile to reduce speed or increase time.

• Use a larger external shunt resistor.

• Use the external shunt resistor.

• Increase the mechanical counter-balance on the machine.

Verify incoming 360/480V AC input voltage and change the supply source, if needed.

Replace the system module.

Replace the system module.

Check and possibly replace the shunt resistor.

Check SCANport connections.

• Increase system module size. The sum of the axis modules continuous current exceeds the system module current limit rating.

Publication 1394-5.0 — May 2000

Troubleshooting

9-11

Fault Message:

Ground Flt

Hdwr Fault!

Memory!

NV Memory!

Ovr temp

Phase Loss

Pre Charge

Serial Flt!

Sftwr Flt!

Shunt TmOut

Unknown Flt!

Description:

The system generates a ground fault when there is an imbalance in the

DC bus of greater than

50A.

Control hardware fault detected.

Hardware memory error detected.

Non-volatile memory is corrupt.

Fault is detected but source is unknown.

Unkn Module!

A module unknown to this version of software is present.

Short to ground.

Potential cause:

Incorrect wiring.

Motor malfunction.

Axis Module IGBT malfunction.

Terminator is not installed.

The system module is bad.

CPU memory has failed.

A checksum failure has occurred on the personality module.

Possible resolutions:

• Verify motor and ground wiring.

• Replace cables.

Check the resistance of each motor winding phase to case ground with an ohm meter. Readings should be in mega ohms.

Replace the axis module.

• Replace the system or axis module.

• Check grounding and incoming power wiring.

Check slider connections/termination strip.

Replace the system module.

• Verify that EEproms are seated properly.

• Replace the system module.

• Reset and save defaults.

• Replace personality module.

• Replace system module.

Replace the system or axis module.

The 1394 contains a thermal sensor which senses the internal ambient temperature.

The three-phase input line is monitored and a fault will be issued whenever a phase loss is detected.

The bus voltage did not rise fast enough during the pre-charge state.

Serial communications lost.

The fan on the system module or an axis module failed.

The cabinet ambient temperature is above rating.

The machine duty cycle requires an RMS current exceeding the continuous rating of the controller.

The airflow access to the 1394 is limited or blocked.

One or more input line fuses have opened.

Input line contactor malfunction.

Incorrect wiring.

Short detected on the DC bus.

Axis enabled before the pre-charge checking has cleared.

Commanding torque to axis before full bus voltage is reached.

If the message contains "CUS," communications were lost to the SCANport device.

If the message contains "Axis," "Sys," or

"HDW," communications were lost.

Check the cabinet temperature.

Change the command profile to reduce speed or increase time.

Check airflow and re-route cables away from the 1394.

Check fuses and replace, as necessary.

• Correct wiring.

• Replace contactor.

Check 360/480V AC input power at system module.

• Check for shorts on the DC bus.

• Verify that all phases are functioning properly.

• Verify the axis is not enabled before the full 3-phase bus power is up.

Verify that SCANport device is connected.

• Check the system’s terminator.

• Check the slider.

• Verify [Shunt R] parameter value

Reset drive.

Software error detected.

A programming error was made.

The shunt resistor has timed out.

The regenerative energy produced by the motor exceeded the limit of the shunt resistor.

• Use a properly sized shunt or modify duty cycle of the application.

• System uses internal shunt and requires external shunt for additional capacity.

Wrong version of software for the hardware or loose internal or external connection.

• Check system terminator.

• Reset drive.

Wrong version of software for the firmware.

• Obtain firmware that supports new module type.

• Check slider terminations.

• Contact Allen-Bradley. Check software version in system module.

Publication 1394-5.0 — May 2000

9-12

Troubleshooting

Understanding Analog Servo System Axis Faults

The faults that apply to the Analog Servo System’s axis module appear in the following table.

Fault Message:

ATune Fault

Bus Loss

Ring Write!

Fdbck Loss

(Resolver)

I(t) Fault

Ovr Speed

Ovr temp

Description:

The auto tune cycle has exceeded two seconds.

The DC bus supply to the axis module was lost.

The axis module is not set to proper scaling.

The resolver wiring is open, shorted, or missing.

The output current is exceeding the time-current rating.

Motor velocity exceeded the overspeed trip limit.

The 1394 contains a thermal sensor that senses the internal ambient temperature.

Potential Cause: Possible resolution:

Motor is disconnected or not able to turn.

Connect the motor.

Motor power/resolver wiring is open or improperly wired.

Check motor power/resolver wiring.

Axis enable has not been applied within

60 seconds of fault during auto tune.

• Increase the auto tune current limit to increase motor torque.

• Decrease the auto tune velocity to decrease the auto tune cycle time. You must apply the enable signal within 60 seconds during auto tune.

The slider connections may not be secure.

Check slider connections/termination strip.

An axis module’s bus link fuse has blown.

Replace the module.

The slider connections may not be secure.

Check slider connections/termination strip.

The axis module is malfunctioning.

Open or short circuit has occurred on resolver wiring.

• Terminate signal common (TB1-19) to chassis (PE) ground.

• Replace the module.

Check the resolver cable connectors/wiring to the system module and motor.

The resolver wiring or termination to system module is incorrect.

Check the resolver cable connectors/wiring to the system module and motor.

Replace the motor resolver.

The motor resolver might be bad.

Accel/decel command from position controller is requiring peak current for an excessive amount of time.

The machine friction, inertial load, and/or viscous load is excessive.

Change the command profile to reduce speed or increase time.

The motor has been improperly sized.

• Change the command profile to reduce speed or increase time.

• Check for mechanical problems on the machine.

• Check motor size for your application.

• Contact your Allen-Bradley Support

Representative.

Check wiring between the axis and the motor.

A short circuit exists across the drive output terminals.

Logic supply circuits have malfunctioned or AC output is incorrectly wired.

Motor velocity has exceeded the overspeed value.

• Check wiring between the axis and the motor.

• Check power wiring between the axis and the motor.

• Check resolver wiring between the system module and the motor.

• Verify operating parameters.

• Verify application requirements.

Check the cabinet temperature

The cabinet’s ambient temperature is above rating.

The machine’s duty cycle requires an

RMS current exceeding the continuous rating of the controller.

The airflow access to the 1394 is limited or blocked.

Change the command profile to reduce speed or increase time.

Check airflow and re-route cables away from the 1394.

Publication 1394-5.0 — May 2000

Troubleshooting

9-13

Fault Message:

Power Fault

Description:

The current through any one of the power IGBTs has exceeded 300% if the

1394’s current rating.

PwrOn Enable

During active fault reset, an axis was enabled before system power-up.

Potential Cause:

The motor lead has shorted

The motor is malfunctioning

Power IGBTs are malfunctioning.

An axis hardware enable input was active during system control power on or during fault reset.

Possible resolution:

• Check the motor cable.

• Check the resistance of each power phase wire to ground. It should be in Mega ohms.

• Make sure ferrite cores are not installed on motor power conductors.

• Check the resistance of each motor winding phase to case ground with an ohm meter. Readings should be in Mega ohms.

• Return motor for repairs.

Replace the axis module.

Verify that axis is not enabled before power is applied.

Troubleshooting General System

Problems

The tables that follow provide potential conditions that could occur with your system and recommends possible resolutions to those conditions.

Condition:

Axis or System runs uncontrollably

Potential cause:

The velocity feedback, position feedback device, or velocity command signal wiring is incorrect or open.

Unintentionally in torque mode.

The system friction torque is excessive.

Available current is insufficient to supply the correct accel/decel rate.

[Vel Rate Lim] parameter (136 (Analog Servo only)) is incorrect.

[CW, CCW Vel Lim] parameters (128, 132 (Analog

Servo only)) are incorrect.

[Anlg Vel Scal] parameter (272 (Analog Servo only)) is incorrect.

Possible resolution:

Check wiring.

An internal malfunction exists.

Axis or System is unstable

[Prop Gain Kp, Intg Gain Ki, Feed Fwd Gain] parameters

(368, 372, 376 (Analog Servo only)) are set too high.

You cannot obtain the motor acceleration/ deceleration that you want

Position loop gain or position controller accel/decel rate is improperly set.

Improper grounding or shielding techniques are causing noise to be transmitted into the position feedback or velocity command lines, causing erratic axis movement.

[Motor Type] parameter (100 (Analog Servo only)) is incorrectly set (servo motor is not matched to 1394).

[Pos Cur Lim, Neg Cur Lim] parameters (184, 188

(Analog Servo only)) are set too low.

[Motor Type] parameter (100 (Analog Servo only)) is incorrectly set (Analog Servomotor is not matched to

1394).

The system inertia is excessive.

Check to see what mode was programmed.

Replace system or axis module.

Run auto tune.

Run auto tune.

Check wiring and ground.

• Check setups.

• Run auto tune.

Verify that current limits are set properly.

Program the correct motor and run auto tune again.

• Check motor size vs. application need.

• Review servo system sizing.

Check motor size vs. application need.

• Check motor size vs. application need.

• Review servo system sizing.

Verify that the parameters are set correctly and correct them, as necessary.

Verify that the parameters are set correctly and correct them, as necessary.

Verify that the parameters are set correctly and correct them, as necessary.

Publication 1394-5.0 — May 2000

9-14

Troubleshooting

Condition:

Motor does not respond to a Velocity Command

Presence of noise on

Command or resolver signal wires

Potential cause:

Check for possible faults.

The axis cannot be enabled for 1.5 seconds after disabling.

Enable signal has not been applied or the enable wiring is incorrect.

The motor wiring is open.

The motor thermal overload has tripped.

Possible resolution:

Verify that the parameters are set correctly and correct them, as necessary.

Disable the axis, wait for 1.5 seconds, and enable the axis.

• Check the controller.

• Check the wiring.

Check the wiring.

• Check for a fault.

• Check the wiring.

Repair or replace the motor.

Check and correct the mechanics.

The motor has malfunctioned.

The coupling between motor and machine has broken

(i.e., the motor moves, but the load/machine doesn’t).

[Vel Source] parameter (364 (Analog Servo only)) is set incorrectly.

[Torq Source] parameter (360 (Analog Servo only)) is set incorrectly.

[CW, CCW VEL Lim] parameters (128, 132 (Analog

Servo only)) are set incorrectly.

The axis module has a malfunction.

Recommended grounding per installation instructions and Appendix B has not been followed.

External 50/60 Hz line frequency may be present.

Check and properly set the parameter.

Check and properly set the parameter.

Check and properly set the parameter.

External 100/120 Hz from a single phase logic supply may be present.

External180 or 360 Hz from other adjustable speed drives may be present.

Variable frequency may be velocity feedback ripple or a disturbance caused by gear teeth or ballscrew balls etc.

The frequency may be a multiple of the motor power transmission components or ballscrew speeds resulting in velocity disturbance.

Replace the axis module.

• Verify grounding.

• Route wire away from noise sources.

• Verify grounding.

• Route wire away from noise sources.

• Verify grounding.

• Route wire away from noise sources.

• Verify grounding.

• Route wire away from noise sources.

• Decouple the motor for verification.

• Check and improve mechanical performance of the gearbox, ballscrew, etc.

Publication 1394-5.0 — May 2000

Troubleshooting

Condition:

No Rotation

Overheating

Abnormal Noise

Erratic Operation - Motor locks into position, runs without control or with reduced torque

Possible cause:

The motor connections are loose or open.

Foreign matter is lodged in the motor.

The motor load is excessive.

The bearings are worn.

The motor brake is engaged (if supplied).

The motor is not connect to the load.

The duty cycle is excessive.

Through bolts are loose.

The bearings are worn.

Phases A and B, A and C or B and C reversed.

Sine, Cosine or Rotor leads are reversed in the feedback cable connector.

Sine, Cosine, Rotor lead sets of resolver feedback are reversed.

Possible resolution:

Check motor wiring and connections.

Remove foreign matter.

Size the servo system.

Return the motor for repair.

• Check brake wiring and function.

• Return the motor for repair.

Check coupling.

Change the command profile to reduce accel/decel or increase time.

Return the motor for repair.

The rotor is partially demagnetized causing excessive motor current.

[Prop Gain Kp, Intg Gain Ki, Feed Fwd Gain] parameters

(368, 372, 376 (Analog Servo only)) are set too high.

Loose parts are present in the motor.

Run auto tune again.

• Remove the loose parts.

• Return motor for repair.

• Replace motor.

Tighten bolts.

Return motor for repair.

Check and correct motor power wiring.

Check and correct motor feedback wiring.

Check and correct motor feedback wiring.

9-15

Publication 1394-5.0 — May 2000

9-16

Troubleshooting

Replacing System and Axis

Modules

Use these procedures to:

• Determine what you need to replace modules

• Remove an axis module

• Install a replacement axis module

• Remove a system module

• Install a replacement system module

!

ATTENTION:

This drive contains ESD

(Electrostatic Discharge) sensitive parts and assemblies. You are required to follow static control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Allen-Bradley publication 8000-4.5.2, Guarding Against

Electrostatic Damage or any other applicable ESD

Protection Handbook.

Before You Begin

Before you replace modules, be sure to have the following:

• A phillips screw driver

• A standard screw driver

• A voltmeter

• A nutdriver

• A wrench

Publication 1394-5.0 — May 2000

Troubleshooting

9-17

Removing an Axis Module

To remove an axis module:

1.

Remove 24V control power and 360/480V AC input power from the system.

!

ATTENTION:

To avoid shock hazard or personal injury, assure that all power has been removed before proceeding. This system may have multiple sources of power. More than one disconnect switch may be required to de-energize the system.

2.

Allow five minutes for the DC bus to completely discharge before proceeding.

!

ATTENTION:

This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair, or remove this unit. You should only attempt the procedures in this chapter if you are qualified to do so and familiar with solid-state control equipment and the safety procedures in publication NFPA 70E.

3.

Remove connectors (TB1 and TB2) from the bottom of the axis module.

4.

Label and remove the motor leads and ground wiring from the terminal block on the axis module.

5.

Disconnect the slide-and-lock mechanism on the module you plan to remove and all modules to the right of it.

6.

Remove the bottom fastener on the axis module you plan to remove.

7.

Loosen the top fastener on the axis module you plan to remove.

8.

Lift the axis module and pull it out.

9.

If you are removing the right-most axis module, remove the terminator.

Publication 1394-5.0 — May 2000

9-18

Troubleshooting

Installing a Replacement Axis Module

To install a replacement axis module:

1.

Install the top mounting fastener on the system panel for the axis module. The head of the fastener should be at least 6.35 mm (0.25 in.) from the panel. Refer to

Mounting the 1394

in the

Installing

Your 1394

chapter for more information.

2.

If you are mounting: Do this:

A 1394x-AM03,

-AM04, -AM07

-AM50-IH, or

-AM75-IH axis module

A 1394

x

-AM50 or

-AM75 axis module with the heat sink through the back of the enclosure

Go to main step 3.

1. Remove the paper backing from the gasket that came with the AM50/75 axis module.

2. Position the gasket so that the small hole side is on top.

3. Slide the gasket over the heat sink and attach it to the back of the axis module.

4. Go to main step 3.

3.

Hang the axis module on the next mounting fastener.

4.

Engage the alignment tab.

5.

Slide the slide-and-lock mechanism on the axis module to the left until it locks into place.

6.

Install the lower fastener for all axis modules.

7.

If not already attached, attach the terminator to the last axis module slide-and-lock mechanism until it locks in place.

8.

Tighten all mounting fasteners.

9.

Reconnect TB1, TB2, motor, and ground wires.

10.

Apply power to the system.

11.

Verify that the system is operating properly.

Note: Because system and axis parameters reside in the system module software, you do not need to perform any tuning or setup at this time.

Publication 1394-5.0 — May 2000

Troubleshooting

9-19

Removing a System Module

If you are removing a: Refer to: Publication number:

9/440 system module 9/Series Integration and Maintenance

Manual

8520-6.2

SERCOS system module 1394 SERCOS Multi-Axis Motion Control

System User Manual

1394-5.20

To remove a system module:

1.

Remove all 360/480V AC input power from the system.

!

ATTENTION:

This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair, or remove this unit. You should only attempt the procedures in this chapter if you are qualified to do so and familiar with solid-state control equipment and the safety procedures in publication NFPA 70E.

2.

If you are removing a: Do this:

Analog Servo system module with a HIM module mounted in the door

1. Upload the drive parameters from the system module using the Copy

Cat feature. Refer to

Appendix C

for Copy Cat instructions.

2. Open the system module door.

3. Disconnect the SCANport cable.

Analog Servo system module without a HIM module mounted in the door

GMC Turbo, GMC or system module

CNC interface system module

4. Using a screw driver, disengage the two locking tabs inside the system module door that hold the

HIM in place.

5. Remove the HIM module.

6. Go to main step 3.

1. Upload the drive parameters from the system module using the Copy

Cat feature. Refer to

Appendix C

for Copy Cat instructions.

2. Go to main step 3.

1. Verify that you have a copy of your GML program. Refer to your

GML programming manuals for upload options.

2. Go to main step 3.

Go to main step 3.

3.

Remove all 24V control input power from the system.

Publication 1394-5.0 — May 2000

9-20

Troubleshooting

Note: 1394 input power and shunt connections are located on the lower front of a Series A and B system module. The same connections are located on the bottom of a Series C system module. For complete system interconnect information refer to

Appendix B

.

!

ATTENTION:

To avoid shock hazard or personal injury, assure that all power has been removed before proceeding. This system may have multiple sources of power. More than one disconnect switch may be required to de-energize the system.

4.

Allow five minutes for the DC bus to completely discharge before proceeding.

5.

Label and remove the 24V control power wiring from the system module.

6.

Label and remove the 360/480V AC input power wiring from the system module.

7.

Label and remove the ground wire and the external shunt connections (if applicable).

8.

Label and remove the feedback and communication connectors from the bottom of system module.

9.

Disconnect the slide-and-lock mechanism on the system module.

10.

Open the system module door.

11.

Label and remove any feedback and/or communication connectors from the control board.

12.

Remove the input wiring board.

13.

Loosen the top and bottom fasteners that hold the module in place.

14.

Lift the module up and pull it out.

Installing a Replacement System Module

To install a replacement system module:

1.

Install the top mounting fasteners on the system panel for the system module. The heads of the fasteners should be at least 6.35 mm (0.25 in.) from the panel. Refer to

Mounting Your 1394

System

in the

Installing Your 1394

chapter for more information.

2.

Hang the 1394 System Module on the two mounting fasteners on the left side of the panel.

3.

Install the lower fasteners for the system module.

Publication 1394-5.0 — May 2000

Troubleshooting

9-21

4.

If you removed a:

Analog Servo system module with a HIM module mounted in the door

Analog Servo system module without a HIM module mounted in the door

GMC, GMC Turbo, or

CNC, system module

Do this:

1. Remove the HIM or cover plate from the new system module.

2. Install the HIM module you removed from your existing drive into the door of your replacement system module.

3. Open the system module door.

4. Plug the SCANport cable from the drive in the top of the HIM module.

5. Go to main step 6.

Go to main step 5.

Go to main step 5.

5.

Open the system module door.

6.

If your old system module is:

And your new system module is:

Do this:

Series A and B

Series A and B

Series C

Series C

Series A and B

Series C

Series C

Series A and B

Go to

Replacing

System Modules of the Same Series

.

Go to

Replacing

System Modules of a

Different Series

.

Go to

Replacing

System Modules of the Same Series

.

Go to

Replacing

System Modules of a

Different Series

.

Important:

To avoid damaging the wires, miswiring the input wiring board, and potential damage to the system, only replace the input wiring board when replacing a system module of a different series (refer to the table above).

Note: To determine the series of your module, refer to Figure P.1 in the

Preface

.

Publication 1394-5.0 — May 2000

9-22

Troubleshooting

Replacing System Modules of the Same Series

1.

Remove the input wiring board from the new system module.

2.

Re-install the old input wiring board into the new system. Tighten it to the main board chassis using a phillips screw driver and the screws provided.

3.

Go to

Completing Connections and Downloading Parameters

.

Replacing System Modules of a Different Series

1.

Label and remove the wires from the old input wiring board.

2.

Re-insert the wires into the new wiring board.

3.

Go to

Completing Connections and Downloading Parameters

.

Completing Connections and Downloading Parameters

1.

Connect the slide-and-lock mechanism on the system module to the axis modules.

2.

Reconnect feedback and communication connectors to the system module. Refer to

Appendix B

for connection information.

3.

Connect the ground wire and if used, the external shunt resistor connections.

4.

Connect the 24V control power and 360/480V AC input power to the system module.

5.

Connect all shunt wiring (if applicable).

6.

Apply 24V control power to the system module.

7.

If you are commissioning a:

Analog Servo system

Do this:

GMC Turbo or GMC system module

CNC Interface system module

1. Download the drive parameters to the system module using the

Copy Cat feature. Refer to

Appendix C for Copy Cat instructions.

2. Go to main step 8.

1. Download your GML program.

Refer to your GML programming manuals for more information.

2. Go to main step 8.

Go to main step 8.

8.

Apply 360/480V AC input power to the system module.

9.

Verify that your system is operating properly.

Publication 1394-5.0 — May 2000

Troubleshooting

Checking for a Blown Fuse in the

1394-DCLM

To check the 1394-DCLM for a blown fuse:

1.

Remove power from your system including the 1394-DCLM.

!

ATTENTION:

To avoid shock hazard or personal injury, assure that all power has been removed before proceeding. This system may have multiple sources of power. More than one disconnect switch may be required to de-energize the system.

9-23

!

ATTENTION:

To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair, or remove this unit. This product contains stored energy devices. You should only attempt the procedures in this document if you are qualified to do so and familiar with solid-state control equipment and the safety procedures in publication NFPA 70E.

2.

Remove the terminator from the right side of the 1394-DCLM.

Figure 9.3

Removing the Terminator from the 1394-DCLM

Allen-Bradley

1394 Digital Servo Controller

System Module

DC Link

Module

Terminator

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

Cable plug

3.

Remove either the power plug from the stand-alone 1394-DCLM

(shown above) or remove the cable linking two systems together, as shown below.

Figure 9.4

Removing the Cable from the 1394-DCLM

Allen-Bradley

1394 Digital Servo Controller

System Module

DC Link

Module

Allen-Bradley

1394 Digital Servo Controller

System Module

DC Link

Module

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

DCLM cable

Publication 1394-5.0 — May 2000

9-24

Troubleshooting

4.

Check the circuit resistance of the two DCLM fuses by connecting the probes of an ohm meter as described in the table below. Refer to Figure 9.5 for the connector locations.

Connect the red lead to:

Top bus (DC+) power connector

Bottom bus (DC-) power connector

Connect the black lead to:

Left front socket

If the meter reading is:

The 1394-DCLM fuse is:

Open (high ohms)

Blown. Replace the

1394-DCLM.

Short (low ohms) Good.

Right front socket

Open (high ohms)

Blown. Replace the

1394-DCLM.

Short (low ohms) Good.

Figure 9.5

Checking for a Blown Fuse

1394-DCLM

Slide mechanism

Top bus (DC+) power connector

Bottom bus (DC-) power connector

Right front socket

Left front socket

Publication 1394-5.0 — May 2000

Troubleshooting

Replacing the 1394 Shunt Module

Fuse

To replace the fuse in 1394 shunt modules (Catalog Numbers 1394-

SR10A, -SR9A, -SR9AF, -SR36A, and -SR36AF) refer to the specific set of instructions.

Replacing the 1394-SR10A Fuse

1.

Remove power from your system including power to the shunt module.

!

ATTENTION:

This system may have multiple sources of power. More than one disconnect switch may be required to de-energize the system. To avoid shock hazard or personal injury, verify that all power has been removed before proceeding.

9-25

!

ATTENTION:

This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair, or remove this unit. You should only attempt the procedures in this document if you are qualified to do so and familiar with solid-state control equipment and the safety procedures in publication NFPA 70E.

2.

Locate the fuse holder.

Figure 9.6

Fuse Holder Location

Fuse holder

3.

Remove the fuse from the fuse holder with the fuse puller tool.

4.

Insert the new Bussmann 700V 40A fuse (FWP40A14F) or equivalent into the 1394-SR10A fuse holder.

5.

Apply power to your system.

Publication 1394-5.0 — May 2000

9-26

Troubleshooting

Replacing the 1394-SR9A, -SR9AF, -SR36A, and -SR36AF Fuse

To replace the 1394-SR9A, -SR9AF, -SR36A, and -SR36AF shunt module fuse:

1.

Remove power from your system including the shunt module.

!

ATTENTION:

To avoid shock hazard or personal injury, verify that all power has been removed before proceeding. This system may have multiple sources of power. More than one disconnect switch may be required to de-energize the system.

!

ATTENTION:

To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair, or remove this unit. This product contains stored energy devices. You should only attempt the procedures in this document if you are qualified to do so and familiar with solid-state control equipment and the safety procedures in publication NFPA 70E.

2.

Examine the fuse label for the UL mark.

Figure 9.7

Locating the UL Mark on the Fuse Label

1394-SR36A/36AF 1394-SR9A/9AF

1394 Digital Servo Controller

3600W Shunt Module

1394 Digital Servo Controller

300W Shunt Module

ALLEN-BRADLEY

BULLETIN 1394 300W SHUNT MODULE

CAT.

PART SER.

INPUT DC INPUT AC

FOR USE WITH 1394-SJT22-X SYSTEM MODULE

Fuse Label

ALLEN-BRADLEY

BULLETIN 1394 3600W SHUNT MODULE

CAT.

PART SER.

INPUT DC INPUT AC

FOR USE WITH 1394-SJT22-X SYSTEM MODULE

Fuse Label

Publication 1394-5.0 — May 2000

Troubleshooting

3.

If your 1394-SR9A,

-SR9AF, -SR36A, or

-SR36AF shunt module:

Has the UL mark

You need a:

Does not have the UL mark

Bussmann 600V DC 50A fuse

(FWP50A14F) or equivalent.

Bussmann 600V DC 40/50A fuse

(170N2013), FWP50A22F or equivalent.

4.

Locate the door panel latch(es).

Figure 9.8

1394 Shunt Modules Door Latches

1394-SR36A/36AF 1394-SR9A/9AF

9-27

1394 Digital Servo Controller

3600W Shunt Module

Door Latch

1394 Digital Servo Controller

300W Shunt Module

ALLEN-BRADLEY

BULLETIN 1394 300W SHUNT MODULE

CAT.

INPUT DC

PART

INPUT AC

SER.

FOR USE WITH 1394-SJT22-X SYSTEM MODULE

Door Latch

ALLEN-BRADLEY

BULLETIN 1394 3600W SHUNT MODULE

CAT.

PART SER.

INPUT DC INPUT AC

FOR USE WITH 1394-SJT22-X SYSTEM MODULE

Door Latch

5.

Undo the door panel latch(es).

6.

Open the door panel.

7.

Locate the fuse holder.

Figure 9.9

Locating the Fuse Holder for the 1394 Shunt Modules

1394-SR36A/36AF

1394-SR9A/9AF

Fuse Holder

Publication 1394-5.0 — May 2000

9-28

Troubleshooting

Replacing the AM50 and AM75 Axis

Module Fan

8.

Remove the fuse from the fuse holder with the fuse puller tool.

If your 1394-SR9A,

-SR9AF, -SR36A, or

-SR36AF shunt module:

Has the UL mark

Replace the fuse with a:

Does not have the UL mark

Bussmann 600V DC 50A fuse

(FWP50A14F) or equivalent.

Bussmann 600V DC 40/50A fuse

(170N2013), FWP50A22F or equivalent.

9.

Close the door panel.

10.

Secure the door panel.

11.

Apply power to your system including the shunt module.

The following procedure provides instructions for removal and replacement of the 10 and 15 kW axis module (1394

x

-AM50 and

-AM75) fan using kit number SP-74102-271-01.

Note: This procedure does not apply to the 1394C-AM50-IH or the

1394C-AM75-IH. The fan in these axis modules are not customer replaceable.

Removing the Fan

1.

Remove power from your system including the axis module.

!

ATTENTION:

This system may have multiple sources of power. More than one disconnect switch may be required to de-energize the system. To avoid shock hazard or personal injury, assure that all power has been removed before proceeding.

!

ATTENTION:

This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair, or remove this unit. You should only attempt the procedures in this document if you are qualified to do so and familiar with solid-state control equipment and the safety procedures in publication NFPA 70E.

2.

Remove the axis module from the 1394 system.

Publication 1394-5.0 — May 2000

Troubleshooting

3.

Place the axis module on its side so you can locate the fan housing.

Figure 9.10

Fan Housing on Axis Module

9-29

Fan Housing

4.

Remove the screws that hold the fan housing to the axis module.

Figure 9.11

Fan Housing Screws

Screw

Screw

5.

Gently slide the fan housing out a short distance until you see the fan plug.

Figure 9.12

Fan Plug

Fan Plug

Publication 1394-5.0 — May 2000

9-30

Troubleshooting

6.

Unplug the fan housing from the axis module.

7.

Locate the fan gasket that is attached to the fan housing.

Figure 9.13

Locating the Fan Gasket

Fan Gasket

Slit

8.

Remove the fan gasket from the fan housing. Make sure you slide the fan wires through the slit in the gasket.

9.

Remove the screws and nuts that hold the fan to the fan housing.

Figure 9.14

Removing Fan Screws and Nuts

10.

Remove the fan from the fan housing.

Publication 1394-5.0 — May 2000

Troubleshooting

Installing the New Fan

1.

Insert the new fan into the fan housing.

Figure 9.15

Fan Inserted into the Fan Housing

9-31

2.

Peel the adhesive backing off of the new fan gasket.

3.

Attach the new fan gasket to the fan housing in the direction shown in the figure below. Make sure you compress the slit in the gasket to minimize the air gap in the gasket.

Figure 9.16

Attaching the New Fan Gasket

Fan Gasket

Slit

4.

Press the gasket firmly to the fan housing to secure the gasket.

Publication 1394-5.0 — May 2000

9-32

Troubleshooting

5.

Secure the fan to the fan housing with two M4 screws and nuts using 1.6 N-m (14 lb-in.) of torque.

Figure 9.17

Securing the Fan to the Fan Housing

Nut

Nut

Screws

6.

Align the fan housing to the axis module.

7.

Plug the fan into the axis module.

Figure 9.18

Fan Plug Attached to the Axis Module

Fan Plug

8.

Slide the fan housing back into place.

9.

Secure the fan housing with two M3 x 6 mm screws using 0.70

N-m (6 lb-in.) of torque to the axis module.

10.

Place the axis module back into your 1394 system and apply power.

Publication 1394-5.0 — May 2000

Chapter Objectives

System Specifications

Appendix

A

Specifications

Appendix A contains specifications and dimensions for the 1394 system and dimensions and operating characteristics for the 1326AB/AS series servo motors. This appendix covers:

• System specifications

• Environmental specifications

• Power dissipation

• Communication specifications

• Dimensions

• Servo motor performance data

General 1394 specifications are provided below. Specifications are for reference only and are subject to change without notice.

Certification

The 1394 is certified for the following when the product or package is marked:

• UL listed (File E59272)

• CUL listed

• CE marked for all applicable directives

Publication 1394-5.0 — May 2000

A-2

Specifications

System Modules

The table below lists the specifications for system modules.

The:

Rated AC input voltage

AC input current

Peak inrush current

(Series A and B)

3

4,5

Peak inrush current

4

Continuous power output

For the 1394 x-SJT05

1,2

is: For the 1394 x-SJT10

1,2

is: For the 1394 x-SJT22

1

is:

324-528V AC, 50/60 Hz

Three phase

324-528V AC, 50/60 Hz

Three phase

324-528V AC, 50/60 Hz

Three phase

6.5A

975A

697A < 1

µ s

(Series C)

Line loss ride through 20 ms

Nominal bus output voltage 530/680V DC

4/5 kW

13.0A

1300A

697A < 1

20 ms

µ s

530/680V DC

8/10 kW

28.6A

697A < 1

µ s

697A < 1

20 ms

530/680V DC

17/22 kW

µ s

Peak power output

Efficiency

Number of Electronic Cam

Profile Points

Weight (Series A and B)

Weight (Series C)

28 kW

99%

13,000 Master/slave

11 kg (24.25 lb)

10.68 kg (23.5 lb)

28 kW

99%

13,000 Master/slave

11 kg (24.25 lb)

10.68 kg (23.5 lb)

136 kW

98%

13,000 Master/slave

12.7 kg (28.0 lb)

12.9 kg (28.5 lb)

Continuous current output 7.36A

14.73A

33.8A

Peak current output

Capacitance

(Series A and B)

15.0A

220

µ

F

29.46A

330

µ

F

200A

660

µ

F

Capacitance

(Series C)

220

µ

F 345

µ

F 660

µ

F

Inductance

Internal shunt resistor

1000

µ

H 750

µ

H

200W continuous, 40,000W peak (two second maximum on

500

µ

H

No internal Shunt Resistor time)

1

The Standard GMC and GMC Turbo system modules are identical except that the GMC Turbo (1394 x -SJT xx -T) offers a SLC backplane interface and 64K of memory with a 32-bit processor while the Standard GMC (1394 x -SJT xx -C) offers 32K of program memory with a 16bit processor without the SLC interface.

2

The Standard GMC (1394C-SJT xx -L) is functionally the same as the (1394 x -SJT xx -C) except it supports one axis and provides two auxiliary encoder inputs.

3

To determine the series of your module, refer to Figure P.1 in the Preface .

4

5 and 10 kW (Series C) system modules and all 22 kW system modules are limited to four contactor cycles per minute. 5 and 10 kW (Series

A and B) system modules are limited to an average of four contactor cycles per hour.

5

Peak inrush current for

5 and 10 kW systems

(Series A and B)

=

( line voltage x 1.1 x 2 )

(

Lsystem

)

Where: L = Inductance

C = Capacitance

(Csystem + Caxes)

Publication 1394-5.0 — May 2000

Specifications

A-3

Axis Modules

The table below lists the specifications for the axis modules.

The: For the 1394 x-AM03 is: For the 1394x-AM04 is: For the 1394x-AM07 is:

For the 1394 x-AM50 and 1394C-AM50-IH is:

For the 1394 x-AM75 and 1394C-AM75-IH is:

Speed Regulation

1

0 to 0.05% of base speed with 100% torque disturbance

0 to 0.05% of base speed with 100% torque disturbance

0 to 0.05% of base speed with 100% torque disturbance

0 to 0.05% of base speed with 100% torque disturbance

1.28

2.6

4.9

22.8

Static Gain

(rms A/mV)

1

Peak Current

Limit Adjust

Modulation

Frequency

Drift

Nominal Input

Voltage

Continuous

Current (rms)

Peak Current

(rms - 1 second)

Continuous

Power Out 360/

460V nominal

Efficiency

Weight

Capacitance

200%

5 kHz ±10%

0.03 rpm/degree C

530/680V DC

3.0A

6.0A

1.6/2 kW

98%

5 kg (11.02 lb)

110

µ

F

200%

5 kHz ±10%

0.03 rpm/degree C

530/680V DC

4.5A

9.0A

2.4/3 kW

98%

5 kg (11.02 lb)

110

µ

F

1

When used with the controller in the 1394 x -SJT xx system module.

200%

5 kHz ±10%

0.03 rpm/degree C

530/680V DC

7.5A

15.0A

4/5 kW

98%

5 kg (11.02 lb)

220

µ

F

143%

5 kHz ±10%

0.03 rpm/degree C

530/680V DC

23.3A

33.2A

11.34/15.6 kW

98%

7 kg (15.44 lb) (-AM50)

0 to 0.05% of base speed with 100% torque disturbance

22.8

143%

5 kHz ±10%

0.03 rpm/degree C

530/680V DC

35.0A

50.0A

17.8/23.8 kW

98%

7 kg (15.44 lb) (-AM75)

6.73 kg (14.8 lb) (-AM50-IH)

465

µ

F

6.73 kg (14.8 lb) (-AM75-IH)

660

µ

F

Contact Ratings

The table below lists the contact ratings of the drive relay outputs.

The contact rating for the: Is:

Drive OK (DROK)

Contactor Enable Relay

Thermal switch

115V AC/24V DC, 1A inductive

115V AC/24V DC, 1A inductive

115V AC/24V DC, 1A inductive

Publication 1394-5.0 — May 2000

A-4

Specifications

The:

Frequency

Voltage

Current

Operating Temperature

Vibration

Humidity

Weight

Power Loss

Roxburgh Catalog No.

DC Link Module

The table below lists the specifications for the DC Link Module.

The: For the 1394-DCLM is:

Firmware version

Software

Input voltage

Current

Capacitance

Energy storage

5.0 or higher with 1394 x-SJTxx-A systems

3.7 or higher with 1394 x-SJTxx-C-xx and -T-xx systems

3.9 or higher with 1394C-SJT xx-L-xx systems

GML Commander, version 4.02 or higher

530/680V DC, single phase

Continuous (rms) 32A, Peak (rms - 1 second) 200A

990 µF

7.36 joules based on a nominal 50V bus delta

Cables available (part numbers) 1394-CPDC-0015 and 1394-CPDC-0030

Cable lengths available 1.5 m (4.92 ft) or 3 m (9.84 ft)

Operating temperature 0

°

to 50

°

C (32

°

to 122

°

F)

Relative humidity

Weight

5-95%, non-condensing

4.8 kg (10.5 lbs)

Drive Interface Module

The table below lists the specifications for the Drive Interface

Module.

The:

Firmware version

Software

Input voltage

Analog output information

(P x-1,2)

Voltage

Signal isolation

Resolution

Impedance

Offset

Drive OK

Drive enable output

Operating temperature

Relative humidity

Weight

For the 1394-DIM is:

3.7 or higher with 1394 x-SJTxx-C-xx and -T-xx systems

3.9 or higher with 1394C-SJT xx-L-xx systems

GML Commander, version 4.01 or higher

24V, 50 kHz provided by the 1394 x-SJT-xx system module

0 to ± 10V analog

1500V rms

12 bits, 4.88 mV

220 ohms

± 80 mV maximum, compensated to 0 through software setup

15V DC @ 5 mA supplied by the DIM

30V DC @ 1 A

0

°

to 50

°

C (32

°

to 122

°

F)

5-95%

3 kg (6.6 lb)

Filters

The table below shows the requirements for filters that you can use.

For the SP-74102-006-01 is:

50/60 Hz

For the SP-74102-006-02 is:

50/60 Hz

For the SP-74102-006-03 is:

50/60 Hz

460V AC 460V AC 460V AC

23A @ 50

°

C (73.4

°

F) 30A @ 50

°

C (86

°

F) 75A @ 50

°

C (122

°

F)

-25

°

to 85

°

C (-13

°

to 185

°

F) -25

°

to 85

°

C (-13

°

to 185

°

F) -25

°

to 85

°

C (-13

°

to 185

°

F)

10-200 Hz @ 1.8 g 10-200 Hz @ 1.8 g 10-200 Hz @ 1.8 g

90% 90% 90%

1.6 kg (4.16 lb)

20W

MIF323-GS

2.7 kg (7.02 lb)

38W

MIF330-GS

5.2 kg (13.52 lb)

57W

MIF375-GS

Publication 1394-5.0 — May 2000

Specifications

A-5

User-Supplied Contactor (M1)

The table below shows the requirements for the contactor that you must supply.

The contactor:

Rating

For the 1394-SJT05 and

-SJT10 (Series A and B) is:

600V AC, 43A

1

For the 1394C-SJT05 and

-SJT10 (Series C) is:

600V AC, 23A

For the 1394

600V AC, 37A

x-SJT22 is:

Recommended types:

AC Coil Operation Allen-Bradley 100-C43 x10

2,3

Allen-Bradley x10

2,3

Allen-Bradley x10

2,3

DC Coil Operation Allen-Bradley 100-C43Z x10

2

Allen-Bradley x10

2

Allen-Bradley x10

2

1

Consider using a 60A contactor when the total capacitance of the axis modules is greater than 880 µF.

2 x indicates coil voltage.

3

A surge suppressor is required.

User-Supplied Line Input Fusing

The table below shows the requirements for the input fusing that you must supply.

The Recommended type of fuse for: Is:

1394-SJT05 systems Series A and B Bussmann FRS-R-20A or equivalent

1394C-SJT05 systems Series C Bussmann KTK-R-20 or equivalent

1394-SJT10 systems

Bussmann LPJ-SP 20 or equivalent

Series A and B Bussmann FRS-R-30A or equivalent

1394C-SJT10 systems Series C

1394 x-SJT22 systems

Bussmann KTK-R-30 or equivalent

Bussmann LPJ-SP 30 or equivalent

Bussmann FRS-R-35 or equivalent

Bussmann LPS-RK-SP 40 or equivalent

Bussmann LPJ-SP 45 or equivalent

Rating

600V AC, 20A

600V AC, 20A

600V AC, 20A

600V AC, 30A

600V AC, 30A

600V AC, 30A

600V AC, 35A

600V AC, 40A

600V AC, 45A

User-Supplied 24V Logic Input Power

The table below shows the requirements for the 24V logic input power that you must supply.

24V logic input voltage

Frequency Current

1

If you have: The current draw for usersupplied power supply must not exceed:

3.5A

19-28V AC RMS, single phase or

18.75-31.25V DC

50/60 Hz

1 axis

2 axis

3 axis

4.4A

5.2A

4 axis 6.0A

1

The power supply should be rated for 15A or greater inrush current upon power up.

Recommended Fuse

Bussmann MDA-15 or equivalent

Publication 1394-5.0 — May 2000

A-6

Specifications

Input Transformer for 24V Control Power

You can use any general purpose transformer with the following ratings.

The requirements for:

Input volt-amperes

Input voltage

Output voltage

Load regulation

For a 480V system is:

200 to 259 VA

480V RMS

24V RMS

2 to 5%

For a 360V system is:

200 to 259 VA

360V RMS

24V RMS

2 to 5%

If the input volt-amperes is more than 350 VA, adjust the load regulation to make the transformer leakage the same as or greater than the 250 VA transformer with 2% regulation.

User-Supplied 5V Auxiliary Encoder Power Supply

The table below shows the requirements for the 5V encoder that you can supply. If you use an encoder that requires more than 5V, you still need a 5V power supply for the 1394 encoder board electronics at a rating of 0.325A (applies to 1394

x

-SJT

xx

-C, -L, and -T systems only).

The:

Rating

Current

For 5V logic input power must be:

5V DC +/- 5%

0.325A plus the requirement of each encoder used. For example, if you use one encoder with a 0.2A requirement, the supply required is 0.525A (0.325A +

0.2A = 0.525A)

Circuit Breakers

While circuit breakers offer some convenience, there are limitations for their use. Circuit breakers do not handle high current inrush as well as fuses. The 1394 system needs to be protected by a device having a short circuit interrupt current rating of the service capacity provided or a maximum of 100,000A.

If an upstream circuit protection device is rated for the overload current and short circuit rating, a supplementary circuit protection device (such as the 1492) can be used as the only 1394 branch circuit protection device. The upstream fully rated device let-through must be less than or equal to the 10 kA interrupt rating of the 1492.

The wiring interconnection in Figure A.1 and Figure A.2 provide examples of the needed protection and follows UL and NEC codes.

Full compliance is dependent on final wiring design and installation.

Publication 1394-5.0 — May 2000

Specifications

A-7

Required Protection under 110-10 of

NEC 1999

Preferred Fully

Rated Breakers

Fully Rated

Fused

Disconnect

Fully Rated

Breaker

Figure A.1

Circuit Protection under NEC 1999 110-10 (preferred fully rated devices)

Required Protection under 110-10 of

NEC 1999

Preferred Fully

Rated Breakers

Distribution

Block

Fully Rated

Fused

Disconnect

Fully Rated

Breaker

Breakers Selected for Device

Protection

Fully Rated

Short Circuit

Interupt Capability

Drive Drive Drive

Breakers Selected for Device

Protection

Fully Rated

Short Circuit

Interupt Capability

Required Protection under 110-10 of

NEC 1999

Allowed But

No Longer Preferred

Traditional

Current Limit

Fused

Disconnect or

Breaker

Rated for

Short Circuit

Available

Limiting to

Short Circuit

Rating of Down

Stream Breaker

Breakers Selected for Device

Protection

With Limited Short

Circuit Interupt

Capability

Drive

Figure A.2

Circuit Protection under NEC 1999 110-10 (allowed but no longer preferred)

Required Protection under 110-10 of

NEC 1999

Allowed But

No Longer Preferred

Distribution

Block

Traditional

Current Limit

Fused

Disconnect or

Breaker

Rated for

Short Circuit

Available

Limiting to

Short Circuit

Rating of Down

Stream Breaker

Drive Drive

Breakers Selected for Device

Protection

With Limited Short

Circuit Interupt

Capability

Publication 1394-5.0 — May 2000

A-8

Specifications

To avoid nuisance tripping, refer to the following table and select the appropriate combination of system module, secondary circuit protection device, and axis modules.

Use System Module:

1394 x-SJT05-x

1394 x-SJT10-x

1394 x-SJT22-x

With Secondary Circuit

Protection Device:

1492-CB3-H300

And Axis Module Combination:

A 1492 device is not recommended for this option.

1492-CB3-H500

1492-CB3-H600

Any combination of AM03 and AM04 up to 4 axis modules. Any combination of AM03, AM04, and AM07 where no more than two

AM07s are being used. Use of other combinations of axis modules with this system module may result in nuisance tripping on power up due to a higher inrush current.

Other combinations of AM07, AM50, and AM75s. Some local electrical codes require that the circuit breaker rating not exceed

400% of the full load device current. The inrush current draw of the

1394 in some combinations exceeds the 30A breaker and will result in nuisance tripping.

All

All

External Shunt Resistor Kit for 5 and 10 kW Systems

The table below shows the ratings for the external (optional) shunt resistor.

Catalog Number Ratings

1394-SR10A 1400W continuous,

40,000W peak

(two second maximum on time)

Shipping Weight Resistance

4.99 kg (11 lb)

16 Ohms

Important:

Use fuse replacement kit (1394-SR10A-FUSE-A) when replacing the 1394-SR10A shunt fuse. Refer to the

Miscellaneous Accessories

section in

Appendix D

for more information.

1394 Shunt Module for the 22 kW System

The table below shows the ratings for the 1394 shunt module for the

22 kW system module.

Catalog Number Series Letter Ratings

1394-SR9A B 300W continuous, 160,000 W peak, module (no fan)

1394-SR9AF B

1394-SR36A

1394-SR36AF

B

B

900W continuous, 160,000 W peak, module (no fan)

1800W Continuous, 160,000 W peak, module (no fan)

3600W continuous, 160,000 W peak, fan-cooled module

Shipping Weight

3.63 kg (8 lb)

3.63 kg (8 lb)

8.6 kg (19.0 lb)

9.0 kg (20.0 lb)

Resistance Agency Certifications

4 Ohms For all applicable directives:

• UL Listed (file

#E59272)

• CUL Listed

• CE marked

Publication 1394-5.0 — May 2000

Environmental Specifications

Specifications

A-9

Refer to the following table for fuse replacement information.

If your 1394-SR9A, -SR9AF,

-SR36A, and -SR36AF shunt module:

Has the UL mark

You need a:

Does not have the UL mark

Bussmann 600V DC 50A fuse (FWP50A14F) or equivalent.

Bussmann 600V DC 40A fuse (170N2013) or equivalent.

Mount the 1394 in an enclosure that is clean and dry [IP55 protection rating minimum (IEC publication 529)]. For enclosures ventilated with ambient air, be sure to have appropriate filtering to protect against contamination. Keep the ambient air temperature between 0° and 50° C (32° and 122° F) and the humidity between 5% and 95%, non-condensing.

The 1394 can operate at elevations to 1000 meters (3300 ft) without derating, however, the continuous current rating must be derated by

3% for each additional 300 m (1000 ft) up to 3000 m (10,000 ft).

Consult with your local Allen-Bradley Sales Representative prior to operating at over 3000 m (10,000 ft).

Refer to the table below for 1394 shock and vibration specifications.

Mode

Operating

Non-operating

Maximum Shock

15g

30g

Maximum Vibration

1g

2.5g

Publication 1394-5.0 — May 2000

A-10

Specifications

Power Dissipation

The power dissipation characteristics of the 1394 system and axis modules are provided below (use for 480V or 360V input).

Important:

Use the power dissipation figures shown below to calculate cumulative system heat dissipation to ensure that the ambient temperature inside the enclosure does not exceed 50° C (122° F). To calculate total power dissipation, add the dissipation of the system module to the dissipation of the axis module(s).

System Modules

The power dissipation (in watts) of the system module types is shown below.

% of Rated Power Output

20

40

60

80

100

Power Dissipation (in watts)

1394 x-SJT05-x 1394 x-SJT10-x 1394 x-SJT22-x

66

70

73

77

80

70

77

84

81

98

100

150

200

250

300

Axis Modules

The power dissipation (in watts) of the axis modules is shown below:

Power Dissipation (in watts)

% of Rated Power

Output

Total

AM03 AM04 AM07

AM50

1

and

AM50-IH

2

AM75

1

and

AM75-IH

2

Inside Cabinet

AM50

1

AM75

1

Outside Cabinet

AM50

1

AM75

1

20

40

60

24

30

36

27

36

45

33

48

63

56

95

139

85

145

212

18

18

18

18

18

18

38

77

138

67

127

194

2

1

80

100

42

48

54

63

78

93

183

227

279

346

18

18

18

18

165

209

261

324

The AM50/75 are designed to mount with the rear heat sink extended outside the customer-supplied enclosure. If the modules are mounted entirely inside the customer supplied enclosure, the full power dissipation is inside the cabinet.

The AM50/75-IH are designed to mount entirely inside the customer-supplied enclosure.

Publication 1394-5.0 — May 2000

Communication Specifications

Specifications

A-11

DC Link Module

The power dissipation for the 1394-DCLM is shown below.

The:

Power dissipation

For the 1394-DCLM is:

4.225 W maximum

Drive Interface Module

The power dissipation for the 1394-DIM is shown below.

The:

Power dissipation

For the 1394-DIM is:

30 W maximum

Internal Shunt Resistor for the 5 and 10 kW System (standard)

When the shunt resistor inside 1394

x

-SJT05 and 1394

x

-SJT10 system module is active, some additional power will be dissipated at the system module. Its maximum dissipation is 200W. Most applications will use less than 10% of this capacity.

The: Is:

Rating of the internal shunt resistor 200W continuous, 40,000W peak (two second maximum on time)

Resistance of the internal shunt resistor 16 ohms

The communication specifications are listed in the tables starting below.

Encoder Input Specifications

The table below lists the encoder input specifications for the system module (1394

x

-SJT

xx

-C-

xx

, -L-

xx

, and -T-

xx

systems).

The:

Number of encoder inputs

Type of encoder input

Encoder interface IC

Compatible encoder types

Is:

4 (axis 0, 1, 2, and 3) for 1394 x-SJTxx-C-xx and -T-xx systems

2 (axis 0 and 1) for 1394C-SJT xx-L-xx systems

Incremental AB quadrature; optically isolated, differential with marker channel

AM26LS32 or equivalent

Differential, TTl-level (5V DC) line driver outputs, with or without marker

Decode modes 4 times quadrature, step/direction, count up/count down

Maximum encoder frequency 4,000,000 counts per second (4 MHz). This is equivalent to

Input impedance

Encoder power a channel frequency of 1 MHz in 4x quadrature decode mode.

7 kohms minimum (each input)

5V DC @ 1A, user supplied

Publication 1394-5.0 — May 2000

A-12

Specifications

Dedicated Discrete I/O Specifications

The table below lists the dedicated discrete I/O specifications for the system module (1394

x

-SJT

xx

-C-

xx

, -L-

xx

, and -T-

xx

systems)

.

The:

Number of dedicated discrete inputs

Dedicated discrete input functions

Input type

Operating voltage

Input On current

Input impedance

Input response time

Is:

16 (4 each for axis 0, 1, 2, and 3)

Home limit switch, positive overtravel limit switch, negative overtravel limit switch, position registration, and thermal fault.

Optically isolated

24V DC, 28V DC maximum or 5V DC nominal; 10V DC maximum for position registration inputs

12 mA per input (nominal); 2.5 mA for position registration inputs

2 kohms (resistive) per input; 8.8 kohms (resistive) for 24

V position registration inputs.

5 ms maximum; 1

µ s maximum for position registration inputs

Serial I/O Specifications

The table below lists the dedicated serial I/O specifications for the system module (1394

x

-SJT

xx

-C-

xx

, -L-

xx

, and -T-

xx

systems).

The:

Number of serial channels

Channel type

Information code

Baud rate

Number of start bits

Number of stop bits

Word length

Parity

Duplex

Data synchronization

Front panel connectors

RS-422 termination

Is:

2 (serial port A and serial port B)

Optically isolated RS-232 or RS-422; each channel individually configured via internal switch

ASCII

User-selectable up to 128 kbaud (rs-422); 115.2 kbaud

(RS-232)

One

One

8 bits (7 data bits plus 1 parity bit)

Space parity transmitted; receive parity ignored (may be mark, space, even, or odd)

Full or half (user-selectable)

XON (control-q)/XOFF (control-s)

IBM-PC/AT compatible 9-pin D-type female

User-selectable 220 ohm resistor via internal switch

Publication 1394-5.0 — May 2000

Specifications

A-13

DH-485 Specifications

The table below lists the DH-485 specifications for the system module (1394

x

-SJT

xx

-C-

xx

, -L-

xx

, and -T-

xx

systems).

The:

Number of DH-485 channels

Channel type

Baud rate

Front panel connectors

RS-485

Node address

Node type

Accessible data type

Is:

One; replaces serial port B when used

Optically isolated half-duplex RS-485

9,600 or 19.2 kbaud (user-selectable)

Two RJ-45 jacks (+24 V is not provided)

User-selectable 220 ohms resistor via internal switch

User-selectable between 0 and 31 inclusive

Token-passing master

• One binary file (B3) for up to 16,384 bits

• One integer file (N7) for up to 1,024 16-bit values

• One floating point file (F8) for up to 512 32-bit values

• One ASCII string file (A) for up to 2,048 characters

• Nine user-configured files; each can be individually configured as any of the above types or as a BCD file for floating point simulation

Flex I/O Specifications

The table below lists the Flex I/O specifications for the system module (1394

x

-SJT

xx

-C-

xx

, -L-

xx

, and -T-

xx

systems).

The:

Maximum number of Flex I/O modules

Compatible modules

Interface

Is:

8

• 1794-IB16; 16 24V DC discrete inputs

• 1794-IA8; 8 115V AC discrete inputs

• 1794-IE8; 8 current/voltage analog inputs

• 1794-OB16; 16 24V DC discrete outputs

• 1794-OA8; 8 115V AC discrete outputs

• 1794-OE4; 4 current/voltage analog outputs

• 1794-IE4XOE2; 4 current/voltage analog inputs and 2 current/voltage analog outputs

• 1794-IB10XOB6; discrete combination module

• 1794-OW8 relay output module

• 1794-IF4I isolated analog input module

• 1794-OB16P discrete output (protected)

Direct; no 1794-ASB or other adapter required

Publication 1394-5.0 — May 2000

A-14

Specifications

GMC System Specifications

The table below lists the specifications for the GMC system module

(1394

x

-SJT

xx

-C-

xx

, -L-

xx

, and -T-

xx

systems).

The:

Servo loop sample and update

Is:

250 Hz to 2 kHz for 4 axes rate

Maximum feedback frequency 4 MHz (4,000,000 feedback counts per second)

Absolute position range ± 1,000,000,000 feedback counts for linear axes; infinite number for rotary axes

Absolute position resolution

Speed range

15 position unit digits or 32 feedback count bits, whichever is less

0.00001 feedback counts per servo update to 4,000,000 feedback counts per second

Speed resolution

Electronic gearing gear ratio range

15 position unit digits or 15 feedback count bits, whichever is less

Acceleration/deceleration range 0.00001 feedback counts per servo update to 4,000,000 feedback counts per second

Acceleration/deceleration resolution

15 position unit digits or 15 feedback count bits, whichever is less

0.00001:1 to 9.99999:1 (slave counts:master counts)

8 position unit digits or 32 feedback count bits Electronic gearing gear ratio resolution

Servo gain resolution

Servo output limit range

32-bit floating point

0 to 100%

Servo gain units P = proportional gain (counts per millisecond/error count)

I = integral gain (counts per millisecond/error count)

V = velocity gain (millivolts/counts per millisecond)

F = feedforward gain (counts per millisecond/ counts per millisecond)

Publication 1394-5.0 — May 2000

Specifications

A-15

Remote I/O Adapter Specifications

The table below lists the remote I/O adapter specifications for the system module (1394

x

-SJT

xx

-C-

xx

, -L-

xx

, and -T-

xx

systems).

The:

Baud rate

Rack address

Rack width

Transfer type

Block

Discrete

Discrete

Discrete

Discrete

Discrete

Discrete

Discrete

Starting I/O group

Rack width

Is:

57.6 k, 115.2 k, or 230.4 k (user-selectable)

User-selectable between 0 and 31 decimal

User-selectable in quarter-rack increments (1/4, 1/2, 3/4, or full)

I/O Group

0 2 4 6 0 2 4

1 3 5 7 1 3 5

0 2

1 3

0

1

0 2 4 6

1/4

2 4 6

3 5 7

0 2 4

1/2

Number of discrete I/O bits • 12 dedicated inputs

• 12 dedicated outputs

2 4

3 5

4 6

5 7

0 2

3/4

2

3

4

5

6

7

0 full

• 1/4 rack width with 4 inputs and 4 outputs

• 1/2 rack width with 36 inputs and 36 outputs

• 3/4 rack width with 68 inputs and 68 outputs

• Full rack width with 100 inputs and 100 outputs

64 words (128 bytes) Maximum block transfer length

Block transfer data types • User variable values

• Axis data parameter value

• Axis data bit state

• Master cam position point values

• Master cam time point values

• Slave cam position point values

• Axis or system variable value

Block transfer data formats • 32-bit (double-word) 2s compliment integer

• 16-bit (single-word) 2s compliment integer

• 32-bit (8-digit) signed BCD

• 32-bit IEEE floating point

• Word-swapped 32-bit (double-word) 2s compliment integer

• Word-swapped 32-bit (8-digit) signed BCD

• Word-swapped 32-bit IEEE floating-point

Publication 1394-5.0 — May 2000

A-16

Specifications

AxisLink Specifications

The table below lists the AxisLink specifications for the system module (1394

x

-SJT

xx

-C-

xx

, -L-

xx

, and -T-

xx

systems).

The:

Baud rate

Is:

Standard and extended node configuration

One megabit per second

Cable type

Extended length configuration 500 kbits per second

Standard and extended node Allen-Bradley 1770-CD RIO cable (Belden 9463 or configuration equivalent)

Extended length configuration Belden 9182, Carol C8014, or equivalent

Cable length Standard and extended node configuration

25 m (82 ft) maximum. 1 m (3 ft) minimum between controllers.

Number of motion controllers

Extended length configuration 125 m (410 ft) maximum. 1 m (3 ft) minimum between controllers.

Standard and extended length configurations

8 maximum for a total of 32 possible axes

Extended node configuration 16 maximum for a total of 64 possible axes

Addressing Standard and extended length configurations

User-selectable address via rotary selector switch on front panel

Extended node configuration User-selectable address via GML

Number of virtual master axis Standard configuration

Type of virtual master axes

Extended length and extended node configurations

All configurations

4 maximum; 1 per motion controller. Any axis on any motion controller can be a virtual master axis to any other motion controller. Each motion controller can define a total of 2 separate axes on any other motion controllers as virtual master axes, but only one can be active any time. A total of 4 different axes can be active as virtual master axes at any time.

2 maximum; 1 per motion controller. Any axis on any motion controller can be a virtual master axis to any other motion controller. Each motion controller can define a total of 2 separate axes on any other motion controllers as virtual master axes, but only one can be active any time. A total of two different axes can be active as virtual master axes at any time.

Command and actual. Each virtual master axis may be defined to report its command or actual position.

Slave axes Standard and extended length configuration

31 maximum total per virtual master axis (3 local + 4 x

7 other motion controllers = 31).

Number of discrete I/O

Discrete I/O response

Extended node configuration 63 maximum total per virtual master axis (3 local + 4 x

15 other motion controllers = 63).

All configurations 112 inputs maximum and 16 user-defined outputs per motion controller. Any motion controller can read 16 discrete outputs of any other motion controller, giving a maximum of 7 x 16 = 112 discrete inputs per motion controller. For extended node configuration, discrete I/

O can still only be obtained from a maximum of 7 other controllers (112 inputs maximum), not from all 15 other

All configurations controllers available in a 16 node maximum extended node configuration.

≤

1 millisecond

Publication 1394-5.0 — May 2000

Dimensions

196.9

2

(7.75)

400.0

(15.75)

26.0

(1.02)

54.0

2

(2.13)

26.7

2

(1.05)

Specifications

Within this section, you will find dimensions for:

• The 1394 system module

• Axis modules (including 1394-DIM and 1394-DCLM)

• Filters

• External shunt modules

• Motors

1394 System Module Dimensions

Figure A.3

1394 x -SJT05, 1394 x -SJT10 and 1394 x -SJT22 System Module

150.0 (5.91)

91.0 (3.58)

50.0

(1.97)

25.0 (0.98)

8.0 (0.32)

Dimensions are in millimeters and (inches)

Depth = 280 (11.02)

A-17

350.0

(13.78)

385.0

(15.16)

Fastner

Mounting Hole Detail

8.0 (0.31)

10.1 (0.40)

15.9 (0.63)

Status

DANGER

RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY

EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

50.0

(1.97)

!

8.0 (0.31)

12.0 (0.47)

All Slots Accept M6 or 1/4-20 Mtg. Screws

1

Dimension shown is for mounting hardware location and does not reflect the location of the lower slot radius.

2

Dimensions apply to 1394 x-SJTxx-T (Turbo) system module only.

ATTENTION:

If you are mounting a 1394

x

-SJT-T system module, you will need an additional 101.6 mm

(4 in.) of clearance to the left of the system module to allow for connecting the SLC interface cable (1746-C7 or -C9).

Publication 1394-5.0 — May 2000

A-18

Specifications

400.0

(15.75)

350.0

(13.78)

25.0

(0.98)

Axis Module Dimensions

Figure A.4

1394 x -AM03, -AM04, -AM07, -DIM, and -DCLM Front View

8.0 (0.32)

Dimensions are in millimeters and (inches)

Mounting Hole Detail

8.0 (0.31)

10.1 (0.40)

385.0

(15.16)

Fastener location

1

8.0 (0.31)

15.9 (0.63)

12.0 (0.47)

All slots accept M6 or 1/4-20 mtg. screws

1

Dimension shown is for mounting hardware

location and does not reflect the location of

the lower slot radius.

50.0

(1.97)

50.0

(1.97)

50.0

(1.97)

Figure A.5

1394 x -AM03, -AM04, -AM07, -DIM, and -DCLM Side View

280

(11.02)

350

(13.78)

Dimensions are in millimeters and (inches)

40.13

(1.58)

Important:

Additional clearance below the axis is necessary to provide the recommended cable bend radius. Refer to 1326 Cables for 460V AC

Servo Motors (publication 1326A-2.11) for more information.

Publication 1394-5.0 — May 2000

37.5

(1.48)

Specifications

Figure A.6

1394 x -AM50, -AM50-IH, -AM75, and -AM75-IH Axis Module Front View

8.0 (0.32)

A-19

Dimensions are in millimeters and (inches)

Depth = 280 (11.02)

400.0

(15.75)

350.0

(13.78)

Mounting Hole Detail

8.0 (0.31)

10.1 (0.40)

385.0

(15.16)

Fastener location

1

15.9 (0.63)

8.0 (0.31)

12.0 (0.47)

All Slots Accept M6 or 1/4-20 Mtg. Screws

1

Dimension shown is for mounting hardware location and does not reflect the location of the lower slot radius.

When using the gasket provided with the axis module, torque the M6 to 7.9 N-m and the 1/4-20 to 75 lb-in.

75.0

(2.95)

385

(15.16)

280

(11.02)

75.0

(2.95)

Figure A.7

1394 x -AM50 and -AM75 Axis Module Side View

Dimensions are in millimeters and (inches)

Heat sink width only

338.1

(13.31)

105

(4.13)

43.69

(1.72)

Important:

Additional clearance below the axis is necessary to provide the recommended cable bend radius.

Refer to 1326 Cables for 460V AC

Servo Motors (publication 1326A-

2.11) for more information.

Publication 1394-5.0 — May 2000

A-20

Specifications

Figure A.8

1394C-AM50-IH and -AM75-IH Axis Module Side View

280

(11.01)

Dimensions are in millimeters and (inches)

11 (0.43)

Line

L3

L2

L1

E

19 (0.74)

192 (7.55)

Filter Dimensions

Figure A.9

SP-74102-006-01 Filter Dimensions

43.69

(1.72)

Important:

Additional clearance below the axis is necessary to provide the recommended cable bend radius. Refer to 1326 Cables for 460V AC

Servo Motors (publication 1326A-2.11) for more information.

20 (0.78)

Load

L3

L2

L1

E

164 (6.45)

Dimensions are in millimeters and (inches)

214 (8.42)

204 (8.03)

47 (1.85)

192 (7.55)

7.0 (0.275)

Publication 1394-5.0 — May 2000

20 (0.78)

L3

Line

L2

L1

E

35 (1.37)

20 (0.78)

15 (0.59)

L3

Line

L2

L1

E

25 (0.98)

15 (0.59)

Specifications

A-21

Figure A.10

SP-74102-006-02 Filter Dimensions

330 (12.99)

20 (0.78)

L3

Load

L2

L1

155 (6.10)

Dimensions are in millimeters and (inches)

E

360 (14.17)

195 (7.67)

50 (1.96)

330 (12.99)

Figure A.11

SP-74102-006-03 Filter Dimensions

646 (25.43)

35 (1.37)

L3

Load

L2

L1

192 (7.55)

Dimensions are in millimeters and (inches)

E

686 (27.00)

263 (10.35)

70 (2.75)

646 (25.43)

Publication 1394-5.0 — May 2000

A-22

Specifications

External Shunt Dimensions

Figure A.12

1394-SR10A Shunt Resistor Kit

External Shunt Resistor

Dimensions are in millimeters and (inches)

Depth = 100 (3.94)

165.1

(6.5)

Wire length = 203 (8.0)

Fuse Holder

Dimensions are in millimeters and (inches)

19.1

(0.75)

9.6

(0.38)

38.1

(1.50)

Wire length = 1524 (60.0)

380

(14.96)

342

(13.46)

17

(0.67)

82.5

(3.25)

Wire length = 1524 (60.0)

Wire length = 203 (8.0)

Fuse holder

82.6

(3.25)

38.1

(1.50)

9.5

(0.375 +/- 0.010)

36.5

(1.48)

!

ATTENTION:

To avoid the hazard of shock or burn and ignition of flammable material, provide appropriate guarding. The external shunt resistors and module enclosures can reach temperatures up to 350°

C (662° F). Install per local codes.

Publication 1394-5.0 — May 2000

8

(0.32)

Specifications

A-23

Figure A.13

1394-SR-9A and -9AF Front View Dimensions

150

(5.91)

100

(3.94)

25

(0.98)

24.8

(0.98)

Dimensions are in millimeters and (inches)

Depth = 280 (11.02)

Mounting Hole Detail

8.0 (0.31)

10.1 (0.40)

15.9 (0.63)

155

(6.10)

1

1394 Digital Servo Controller

300W Shunt Module

ALLEN-BRADLEY

R

BULLETIN 1394 300W SHUNT MODULE

CAT.

PART SER.

INPUT DC INPUT AC

FOR FUSE REPLACEMENT USE:

BUSSMAN CAT. NO.

FOR USE WITH 1394-SJT22-X SYSTEM MODULE

125

(4.92)

175

(6.89)

12.0 (0.47)

All Slots Accept M6 or 1/4-20 Mtg. Screws

1

Dimension shown is for mounting hardware location and does not reflect the location of the lower slot radius.

Figure A.14

1394-SR-9A and -9AF Side View Dimensions

280

(11.01)

175

(6.89)

125

(4.92)

Dimensions are in millimeters and (inches)

Publication 1394-5.0 — May 2000

A-24

Specifications

8

(0.32)

Figure A.15

1394-SR-36A and -36AF Front View Dimensions

150

(5.91)

100

(3.94)

25

(0.98)

24.8

(0.98)

385.0

(15.16)

(fastener location)

1

1394 Digital Servo Controller

3600W Shunt Module

350

(13.78)

400

(15.75)

Dimensions are in millimeters and (inches)

Depth = 280 (11.02)

Mounting Hole Detail

8.0 (0.31)

10.1 (0.40)

15.9 (0.63)

12.0 (0.47)

1

All Slots Accept M6 or 1/4-20 Mtg. Screws

Dimension shown is for mounting hardware location and does not reflect the location of the lower slot radius.

ALLEN-BRADLEY

R

BULLETIN 1394 3600W SHUNT MODULE

CAT.

PART SER.

INPUT DC INPUT AC

FOR FUSE REPLACEMENT USE:

Figure A.16

1394-SR-36A and -36AF Side View Dimensions

280

(11.01)

350

(13.78)

400

(15.75)

Dimensions are in millimeters and (inches)

Publication 1394-5.0 — May 2000

2.8 (0.11)

9.52/9.50 Dia.

(0.375/0.374 Dia.)

Specifications

C

AG

AD

Motor Dimensions

Figure A.17

1326AB-B4 Torque Plus Series (Resolver and High Resolution Feedback)

11.2

(0.44)

40

(1.57)

3.0

(0.118)

30.7

(1.21)

Key

Full Depth

Endmilled Keyway

Power Input

Recessed

Flinger and Shaft

Seal Provision

25.4

(1.00)

25.4

(1.00)

Commutation Resolver or High Resolution Output

24.4

(0.96)

126.5 max.

(4.98)

1

Inspection Holes (4), Top and Bottom

1/16-27 NPT Plugs

6.07/5.99

(0.239/0.236)

19.009/18.996 Dia.

(0.7484/0.7479)

M6 x 1.0 Tapped Hole

16 (0.63) Deep Min.

Shaft Detail

15.49/15.24

(0.610/0.600)

22.22

+_

(0.875)

.762 (.030)

Motor Front End

Bell Corner Radius

10 mm Dia. Thru-Hole

4 Required on a 115 mm Dia. B.C.

(0.394 Dia. on a 4.528 Dia. B.C.)

Mounting Bolts must be Cap Head Style

A-25

High-Resolution

Motor End

1

Shaft and Pilot Tolerances

Maximum Shaft Runout 0.04 (0.0016) T.I.R

Shaft Endplay 0.127 (0.005)

Maximum Pilot Eccentricity 0.08 (0.0032) T.I.R

Maximum Face Runout 0.08 (0.0032) T.I.R

6.1

(.24)

Name Plate Detail

Flange Mount in millimeters and (inches)

Feedback Catalog number

Description

1,2 AD AG C Key End milled keyway (full depth)

Resolver 1326AB-B410

1326AB-B420

1326AB-B430

x x x

-21

-21

-21 without brake without brake without brake

201.7

(7.94)

258.8

(10.19)

328.7

(12.94)

235.7

(9.28)

292.9

(11.53)

362.7

(14.28)

275.6

(10.85)

333.0

(13.11)

402.8

(15.86)

6 x 6 x 30

(0.236 x 0.236 x 1.18)

6 x 6 x 30

(0.236 x 0.236 x 1.18)

6 x 6 x 30

(0.236 x 0.236 x 1.18)

30.7

(1.21)

30.7

(1.21)

30.7

(1.21)

High-Resolution 1326AB-B410

1326AB-B420

x x

-21M/S

-21M/S without brake without brake

201.7

(7.94)

258.8

(10.19)

241.8

(9.52)

299.0

(11.77)

281.7

(11.09)

338.8

(13.34)

6 x 6 x 30

(0.236 x 0.236 x 1.18)

6 x 6 x 30

(0.236 x 0.236 x 1.18)

30.7

(1.21)

30.7

(1.21)

1326AB-B430

x

-21M/S without brake 328.7

(12.94)

368.8

(14.52)

408.7

(16.09)

6 x 6 x 30

(0.236 x 0.236 x 1.18)

30.7

(1.21)

1

If ordering a 1326AB-B4

xxxx

-21- K4 with optional 24V DC, 8.1 N- m (72 lb- in.) brake, add 45 mm (1.75 in.) to AD, AG and C.

2

If ordering a 1326AB- B4

xxxx

- 21-

x

K4L with optional 24V DC, 8.1 N-m (72 lb-in.) brake (IP67 rated), add 45 mm (1.75 in.) to AD, AG and C.

Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft tolerance per DIN 42955, “ N” tolerance.

Publication 1394-5.0 — May 2000

A-26

Specifications

2.0 (0.079)

9.52/9.50 Dia.

(0.3750/0.3745 Dia.)

Figure A.18

1326AB-B5 Torque Plus Series (Resolver and High Resolution Feedback)

8.08/8.00

(0.318/0.315)

C

AG

AD

M8 x 1.25

Eyebolt Thread

Inspection Holes (4), Top and Bottom

1/16-27 NPT Plugs

Shaft Detail

AL

15.0

(0.59)

50

(1.97)

3.5

(0.138)

41

(1.61)

Key

Full Depth

Endmilled Keyway

Power Input

Recessed

Flinger and Shaft

Seal Provision

25.4

(1.00)

25.4

(1.00)

Commutation Resolver or High Resolution Output

25.4

(1.00)

163.6 max.

(6.44)

1

24.009/23.996 Dia.

M8 x 1.25 Tapped Hole

19 (0.75) Deep Min.

19.99/19.74

(0.787/0.777)

(0.9452/0.9447)

31.75

(1.25)

Motor Front End

Bell Corner Radius

12 mm Dia. Thru - Hole

4 Required on a 165 mm Dia. B.C.

(0.472 Dia. on a 6.496 Dia. B.C.)

Mounting Bolts must be Cap Head Style

High-Resolution

Motor End

1

Shaft and Pilot Tolerances

Maximum Shaft Runout 0.05 (0.002) T.I.R

Shaft Endplay 0.127 (0.005)

Maximum Pilot Eccentricity 0.10 (0.004) T.I.R

Maximum Face Runout 0.10 (0.004) T.I.R

14.5

(.57)

Name Plate Detail

Flange Mount in millimeters and (inches)

Feedback Catalog number

Description

1,2 AL AD AG C Key End milled keyway

(full depth)

Resolver

High-

Resolution

1326AB- B515

1326AB- B520

1326AB- B530

1326AB- B515

1326AB- B520

x x x x x

-21

-21

-21 without brake without brake without brake

-21M/S without brake

-21M/S without brake

N/A

N/A

187

(7.362)

1,2

N/A

N/A

244.1

(9.61)

282.2

(11.11)

364.7

(14.36)

244.1

(9.61)

282.2

(11.11)

276.6

(10.89)

314.7

(12.39)

397.3

(15.64)

291.1

(11.46)

329.2

(12.96)

326.6

(12.86)

364.7

(14.36)

447.3

(17.61)

341.1

(13.43)

379.2

(14.93)

8 x 7 x 40

(0.315 x 0.276 x 1.57)

8 x 7 x 40

(0.315 x 0.276 x 1.57)

8 x 7 x 40

(0.315 x 0.276 x 1.57)

8 x 7 x 40

(0.315 x 0.276 x 1.57)

8 x 7 x 40

(0.315 x 0.276 x 1.57)

41.0

(1.61)

41.0

(1.61)

41.0

(1.61)

41.0

(1.61)

41.0

(1.61)

1326AB- B530

x

-21M/S without brake 187

(7.362)

1,2

364.7

(14.36)

411.7

(16.21)

461.8

(18.18)

8 x 7 x 40

(0.315 x 0.276 x 1.57)

41.0

(1.61)

1

If ordering a 1326AB-B5

xxxx

-21- K5 with optional 24V DC, 13.6 N- m (120 lb- in.) brake, add 76.2 mm (3.0 in.) to AD, AG and C (38.1 mm (1.5 in.) to AL).

2

If ordering a 1326AB- B5

xxxx

- 21-

x

K5L with optional 24V DC, 13.6 N-m (120 lb-in.) brake (IP67 rated), add 76.2 mm (3.0 in.) to AD, AG and C (38.1 mm (1.5 in.) to AL).

Dimensions are per NEMA Standards MG 7- 2.4.1.3 and IEC 72-1. Shaft tolerance per DIN 42955, ” N” tolerance.

Publication 1394-5.0 — May 2000

Specifications

Figure A.19

1326AB-B7 Torque Plus Series (Resolver and High Resolution Feedback)

9.52/9.50 Dia.

3.96 (0.156)

(0.3750/0.3745 Dia.)

C

AG

AD

M8 x 1.25

Eyebolt Thread

AL

20.6

(0.81)

Inspection Holes (4), Top and Bottom

1/16-27 NPT Plugs

10.08/10.01

(0.397/0.394)

M12 x 1.75 Tapped Hole

28 (1.10) Deep Min.

32.018/32.002 Dia.

(1.2606/1.2599)

Shaft Detail

26.87 (1.058)

60

(2.36)

4.0

(0.157)

50.8

(2.00)

Key

Full Depth

Endmilled Keyway

Power Input

Recessed

Flinger and Shaft

Seal Provision

28.7

(1.13)

28.7

(1.13)

Commutation Resolver or High Resolution Output

26.9

(1.06)

207.5 max.

(8.17)

1

38.1

(1.5)

Motor Front End

Bell Corner Radius

15 mm Dia. Thru - Hole

4 Required on a 215 mm Dia. B.C.

(0.590 Dia. on a 8.465 Dia. B.C.)

Mounting Bolts must be Cap Head Style

High-Resolution

Motor End

1

Shaft and Pilot Tolerances

Maximum Shaft Runout 0.05 (0.002) T.I.R

Shaft Endplay 0.127 (0.005)

Maximum Pilot Eccentricity 0.10 (0.004) T.I.R

Maximum Face Runout 0.10 (0.004) T.I.R

A-27

5.8

(.23)

Name Plate Detail

Flange Mount in millimeters and (inches)

Feedback Catalog number

Description

1,2

AL AD AG C Key

End milled keyway (full depth)

Resolver 1326AB-B720

1326AB-B730

1326AB-B740

High-Resolution 1326AB-B720

x x x x

- 21

- 21

- 21 without brake without brake without brake

- 21M/S without brake

164.3

(6.468)

1,2

208.7

(8.218)

1,2

253.2

(9.968)

1,2

164.3

(6.468)

1,2

324.6

(12.78)

413.5

(16.28)

502.4

(19.78)

324.6

(12.78)

366.0

(14.41)

454.9

(17.91)

543.8

(21.41)

371.9

(14.64)

426.0

(16.77)

514.9

(20.27

603.8

(23.77)

431.8

(17.00)

10 x 8 x 50

(0.39 x 0.31 x 1.97)

10 x 8 x 50

(0.39 x 0.31 x 1.97)

10 x 8 x 50

(0.39 x 0.31 x 1.97)

10 x 8 x 50

(0.39 x 0.31 x 1.97)

50.8

(2.00)

50.8

(2.00)

50.8

(2.00)

50.8

(2.00)

1326AB-B730

x

- 21M/S without brake 208.7

(8.218)

1,2

413.5

(16.28)

460.8

(18.14)

520.7

(20.50

10 x 8 x 50

(0.39 x 0.31 x 1.97)

50.8

(2.00)

1326AB-B740

x

- 21M/S without brake 253.2

(9.968)

1,2

502.4

(19.78)

549.7

(21.64)

609.6

(24.00)

10 x 8 x 50

(0.39 x 0.31 x 1.97)

50.8

(2.00)

1

If ordering a 1326AB- B7

xxxx

-21- K7 with an optional 24V DC, 45.1 N- m (400 lb- in.) brake, add 76.2 mm (3.0 in.) to AD, AG and C (38.1 mm (1.5) to AL).

2

If ordering a 1326AB- B7

xxxx

-21-

x

K7L with an optional 24V DC, 45.1 N- m (400 lb-in.) brake (IP67 rated), add 76.2 mm (3.0 in.) to AD, AG and C (38.1 mm (1.5) to AL).

Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft tolerance per DIN 42955, ” N” tolerance.

Publication 1394-5.0 — May 2000

A-28

Specifications

C

AG

AD

1.53

(0.060)

9.525/9.500 Dia.

(0.375/0.374)

5.00/4.97

(0.197/0.196)

Shaft Detail

Figure A.20

1326AS-B3 Series Servo Motor

10.9

(0.429)

3 0.2

(0.118)

30 0.5

(1.181)

Power Input

20

(0.787)

41

(1.61)

Commutation

Resolver Output

Key

89 sq.

(3.50)

1

27 0.3

(1.063)

M4 x 0.7 Tapped hole

10 (0.39) Deep min.

14.008/13.997

(0.5515/0.5511)

45 45

(.36)

7 mm Dia. Thru-Hole

4 required on a 100 mm Dia. B.C.

+_ .254 (.010)

Motor Front End

Cap Corner Radius

11.00/10.90

(0.433/0.429)

!

Shaft and Pilot Tolerances

Shaft Runout 0.025 (0.001) T.I.R

Shaft Endplay

Pilot Eccentricity

0.025 (0.001)

0.08 (0.0032) T.I.R

Maximum Face Runout 0.08 (0.0032) T.I.R

Name Plate Detail

Flange Mount in millimeters and (inches)

Catalog number Description

1

AD AG C Key

1

1326AS-B310

1326AS-B330 x-21 x-21 without brake without brake

135

(5.32)

186

(7.32)

165

(6.50)

216

(8.50)

195

(7.68)

246

(9.68)

5 x 5 x 20

(0.197 x 0.197 x 0.79)

5 x 5 x 20

(0.197 x 0.197 x 0.79)

If you are ordering a 1326AS-B3 xxxx -21-K3 with an optional 24V DC 2.26 N-m (20 lb-in.) brake, add 39 mm (1.54 in.) to AD, AG and C.

Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft and pilot tolerances are per DIN 42955, N tolerance.

End milled keyway (full depth)

20

(0.79)

20

(0.79)

Publication 1394-5.0 — May 2000

1.53

(0.060)

9.525/9.500Dia.

(0.375/0.374)

6.00/5.97

(0.236/0.235)

Shaft Detail

!

Shaft and Pilot Tolerances

Shaft Runout 0.04 (0.0016) T.I.R

Shaft Endplay

Pilot Eccentricity

0.025 (0.001)

0.08 (0.0032) T.I.R

Maximum Face Runout 0.08 (0.0032) T.I.R

C

AG

AD

Specifications

A-29

Figure A.21

1326AS-B4 Series Servo Motor

33.3

(1.311)

89 Dia.

(3.504)

M6 x 1 Tapped hole

16 (0.64) Deep min.

15.49/15.39

(0.610/0.606)

40 0.5

(1.575)

3 0.2

(0.118)

30

(1.181)

Power Input

41

(1.61)

Commutation

Resolver Output

Key

121 sq.

(4.76)

1

37 0.3

(1.460)

11.2

(0.441)

19.009/18.996

(0.7480/0.7475)

22.2

45 45

(.875)

10 mm Dia. Thru-Hole

4 required on a 115 mm Dia. B.C.

+_ .397 (.015)

Motor Front End

Cap Corner Radius

Name Plate Detail

Flange Mount in millimeters and (inches)

Catalog number Description

1

AD AG C Key

1326AS-B420

1326AS-B440 x-21 x-21 without brake without brake

208

(8.19)

259

(10.19)

238

(9.38)

289

(11.38)

278

(10.95)

329

(12.95)

6 x 6 x 30

(0.236 x 0.236 x 1.18)

6 x 6 x 30

(0.236 x 0.236 x 1.18)

1

1326AS-B460 x-21 without brake 310

(12.19)

340

(13.38)

380

(14.95)

6 x 6 x 30

(0.236 x 0.236 x 1.18)

If you are ordering a 1326AS-B4 xxxx

-21-K4 with an optional 24V DC 10.2 N-m (90 lb-in.) brake, add 46 mm (1.81 in.) to AD, AG and C.

Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft and pilot tolerances are per DIN 42955, N tolerance.

End milled keyway (full depth)

30.0

(1.18)

30.0

(1.18)

30.0

(1.18)

Publication 1394-5.0 — May 2000

A-30

23

(0.91)

Specifications

C

AG

AD1

AD2

AL

Figure A.22

1326AS-B6 Series Servo Motor

72.13

(2.84)

60.0±0.5

(2.36)

4.0±0.2

(0.157)

40

(1.57)

Key

1

18

(0.7)

26

(1.02)

190 sq.

(7.48)

12.6924/12.6746

(0.4997/0.4990)

10.00/9.96

(0.394/0.392)

Shaft Detail

!

Shaft and Pilot Tolerances

Shaft Runout 0.05 (0.002) T.I.R

Shaft Endplay

Pilot Eccentricity

0.025 (0.001)

0.10 (0.004) T.I.R

Maximum Face Runout 0.10 (0.004) T.I.R

20.45/18.92

(0.805/0.745)

21

(0.83)

M8 x 1.25 Tapped hole

19 (0.75) Deep min.

27.00/26.80

(1.063/1.055)

Ø 35

(1.38)

32.018/32.002

(1.261/1.260)

56±0.3

(2.20)

45

15 mm Dia. Thru-hole

4 required on a 215 mm Dia. B.C.

45

31.8

(1.25)

+_ .397 (.015)

Motor Front End

Cap Corner Radius

Name Plate Detail

Flange Mount in millimeters and (inches)

Catalog number Description

1

AL AD1 AD2 AG C Key

1326AS-B630 x-21 without brake 69

(2.71)

255

(10.03)

231

(9.09)

291

(11.45)

351

(13.81)

10 x 8 x 40

(0.394 x 0.315 x 1.57)

1

1326AS-B660

1326AS-B690 x-21 x-21 without brake without brake

145

(5.71)

221

(8.71)

331

(13.03)

407

(16.03)

307

(12.09)

383

(15.09)

367

(14.45)

443

(17.45)

427

(16.81)

503

(19.81)

10 x 8 x 40

(0.394 x 0.315 x 1.57)

10 x 8 x 40

(0.394 x 0.315 x 1.57)

If you are ordering a 1326AS-B6 xxxx -21-K6 with an optional 24V DC 36.7 N-m (325 lb-in.) brake, add 54 mm (2.13 in.) to AL, AD1, AD2, AG and C.

End milled keyway

(full depth)

40

(1.57)

40

(1.57)

40

(1.57)

Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft and pilot tolerances are per DIN 42955, N tolerance. The eye bolt diameter is 30.48 mm (1.20 in)

O.D. x 19.05 mm (0.75 in) I.D.

Publication 1394-5.0 — May 2000

Specifications

23

(0.91)

7.7/6.2

0.305/0.245

0.4997/0.4990

12.692/12.675

Figure A.23

1326AS-B8 Series Servo Motor

C

AG

AD

12.00/11.96

(0.472/0.471)

Shaft Detail

AL

85.0±0.5

(3.35)

4.0 ±0.2

(0.157)

73.15

(2.88)

25

(0.98)

60

(2.36)

Key

1

81.0 ± 0.3

(3.19)

22.4

(0.882)

M8 x 1.25 Tapped hole

20 (0.79) Deep min.

37.00/36.80

(1.457/1.449)

42.000/41.984

(1.654/1.653)

45

15 mm Dia. Thru-hole

4 required on a 265 mm Dia. B.C.

!

Shaft and Pilot Tolerances

Shaft Runout

Shaft Endplay

0.05 (0.002) T.I.R

0.025 (0.001)

Pilot Eccentricity 0.10 (0.004) T.I.R

Maximum Face Runout 0.10 (0.004) T.I.R

33

(1.3)

A-31

241 sq.

(9.49)

45

25.4

(1.00)

+_ .397 (.015)

Motor Front End

Cap Corner Radius

Name Plate Detail

1

Flange Mount in millimeters and (inches)

Catalog number

1326AS-B840

1326AS-B860 x-21 x-21

Description

1

without brake without brake

AL

131

(5.15)

235

(9.25)

AD

308

(12.13)

359

(14.13)

AG

346

(13.63)

397

(15.63)

C

431

(16.97)

482

(18.97)

Key

12 x 8 x 60

(0.472 x 0.315 x 2.36)

12 x 8 x 60

(0.472 x 0.315 x 2.36)

End milled keyway

(full depth)

60

(2.36)

60

(2.36)

If you are ordering a 1326AS-B8 xxxx -21-K8 with an optional 24V DC 50.9 N-m (450lb-in.) brake, add 103 mm (4.05 in.) to AD, AG and C. Add 51 mm (2.0 in) to AL.

Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft and pilot tolerances are per DIN 42955, N tolerance. The eye bolt diameter is 38.1 mm (1.50 in)

O.D. x 22.35 mm (0.88 in) I.D.

Publication 1394-5.0 — May 2000

A-32

Specifications

Servo Motor Performance Data

This section contains performance data for 1326AB and 1326AS motors and 1394 axis module combinations.

1326AB Performance Data

Motor Catalog

Number

1

Rated Speed

rpm

480V 360V

Motor Rated

Torque

N-m (lb-in.)

Motor

Rated

Output

kW

Rotor

Inertia

kg-m

2

(lb-in.-s

2

)

System

Continuous

Torque

N-m (lb-in.)

System Peak

Stall Torque

N-m (lb-in.)

System

Continuous

Stall Current

Amperes

System

Peak Stall

Current

Amperes

1394 Axis

Module

1326AB-B410G 5000

1326AB-B410J 7250

1326AB-B420E 3000

1326AB-B420H 6000

1326AB-B430E 3000

1326AB-B430G 5000

1326AB-B515E 3000

1326AB-B515G 5000

4000

6000

2500

5000

2500

4000

2500

4000

2.7 (24)

2.7 (24)

5.0 (44)

5.1 (45)

6.6 (58)

6.4 (57)

10.4 (92)

10.4 (92)

1.0

1.4

1.1

2.2

1.4

2.3

2.3

2.9

0.0005

(0.004)

0.0005

(0.004)

0.0008

(0.007)

0.0008

(0.007)

0.001

(0.01)

0.001

(0.01)

0.004

(0.03)

0.004

(0.03)

2.7 (24)

2.3 (21)

2.7 (24)

5.0 (44)

2.8 (25)

4.2 (37)

5.1 (45)

5.1 (45)

2

6.6 (58)

5.2 (46)

6.4 (57)

7.7 (68)

2

2

2

2

2

10.4 (92)

7.9 (70)

2

10.4 (92)

6.6 (58)

8.1 (72)

4.7 (42)

3

7.0 (62)

3

8.1 (72)

3

10.6 (94)

3

14.9 (132)

5.6 (50)

3

8.4 (74)

3

14.0 (124)

3

10.1 (89)

3

15.2 (135)

3

19.7 (174)

10.3 (92)

3

17.2 (153)

3

15.4 (136)

3

25.6 (226)

3

31.2 (276)

15.8 (140)

3

31.2 (276)

2.45

3.0

3.48

2.84

3.0

4.5

5.46

3.0

3.9

4.5

5.6

4.5

6.1

7.5

9.5

6.0

7.32

6.0

9.0

10.4

6.0

8.0

6.0

9.0

15.0

6.0

9.0

11.6

9.0

15.0

9.0

15.0

18.3

15

28.5

AM03

AM04

AM07

AM03

AM04

AM07

AM03

AM04

AM07

AM03

AM04

AM07

AM03

AM04

AM07

AM04

AM07

AM04

AM07

AM50/AM50-IH

AM75/AM75-IH

AM07

AM50/AM50-IH

1326AB-B520E 3000 2500 13.0 (115) 2.9

0.005

(0.04)

8.8 (78)

2

17.7 (157)

3

13.0 (115) 29.4 (260)

3

39.0 (345)

4.5

6.7

9.0

15.0

20.1

AM75/AM75-IH

AM04

AM07

AM50/AM50-IH

1326AB-B520F 3500 3000 13.1 (116) 2.9

0.005

(0.04)

11.2 (99)

2

22.4 (198)

13.1 (116) 39.3 (348)

3

7.5

8.8

15.0

26.4

AM75/AM75-IH

AM07

AM50/AM50-IH

AM75/AM75-IH

1326AB-B530E 3000

1326AB-B720E 3500

1326AB-B720F 5000

1326AB-B730E 3350

1326AB-B740C 2200

1326AB-B740E 3400

2500

3000

4100

2800

1800

2800

18.0 (160)

30.9 (273)

31.8 (281.7)

39.0 (345)

53.0 (469)

50.0 (450)

4.2

6.8

11.7

9.6

8.7

12.7

0.007

(0.06)

0.017

(0.15)

0.017

(0.15)

0.025

(0.23)

0.034

(0.30)

0.034

(0.30)

14.2 (126)

2

28.4 (251)

18.0 (160) 54.2 (480)

3

30.9 (273) 58.5 (518)

3

88.1 (780)

3

31.8 (281.7) 38 (336)

3

56 (495)

3

39.0 (345) 56.8 (502)

3

85.4 (756)

3

53.0 (469) 84.2 (745)

3

126.8 (1122)

3

50.0 (450) 52.7 (466)

3

79.4 (702)

3

7.5

9.5

17.5

27.5

22.8

20.9

32.0

15.0

28.5

33.2

50.0

33.2

50

33.2

50.0

33.2

50.0

33.2

50.0

AM07

AM50/AM50-IH

AM75/AM75-IH

AM50/AM50-IH

AM75/AM75-IH

AM50/AM50-IH

AM75/AM75-IH

AM50/AM50-IH

AM75/AM75-IH

AM50/AM50-IH

AM75/AM75-IH

AM50/AM50-IH

AM75/AM75-IH

1

All ratings are for 40° C (104° F) motor ambient,110° C (212° F) case, 50° C (122° F) amplifier ambient and 40° C (104° F) external heatsink ambient (AM50 and AM75).

For extended ratings at lower ambients contact Allen-Bradley.

2

3

Limited by axis module continuous current.

Limited by axis module peak current.

Publication 1394-5.0 — May 2000

Specifications

A-33

1326AS Performance Data

Motor Catalog

Number

1

1326AS-B310H 6200 5120 0.7 (6.1)

1326AS-B330H

1326AS-B420G

Rated Speed

rpm

480V

6500

5250

360V

5370

4340

Motor

Rated

Torque

N-m (lb-in.)

2.0 (18.0)

3.2 (28.0)

Motor

Rated

Output

kW

0.3

0.9

1.2

Rotor

Inertia

kg-m

2

(lb-in.-s

2

)

0.000045

(0.0004)

0.00009

(0.0008)

0.0003

(0.0027)

System

Continuous

Torque

N-m (lb-in.)

0.7 (6.1)

2.1 (18)

3.2 (28)

System

Peak Stall

Torque

N-m (lb-in.)

2.1 (18)

5.6 (50)

7.3 (65)

9.6 (84)

3

System

Continuous

Stall Current

Amperes

0.8

2.1

2.6

System

Peak Stall

Current

Amperes

2.4

6.0

6.0

7.8

3

1394 Axis

Module

AM03

AM03

AM04

AM03

AM04

AM07

1326AS-B440G

1326AS-B460F

5250

4300

4340

3550

6.4 (56.0)

9.0 (80.0)

2.0

2.8

0.0005

(0.0046)

0.00075

(0.0066)

5.3 (47)

6.4 (56)

6.6 (58)

9.0 (80)

2

2

10.5 (93)

3

4.5

17.6 (156) 5.4

2

19.0 (168)

13.1 (116)

3

4.5

2

21.9 (194) 6.2

27.1 (240)

20.6 (182)

3

7.5

2

25.4 (225) 7.8

27.3 (242)

3

7.5

2

54.2 (480) 11.8

54.2 (480)

63.6 (563)

3

19.0

9.0

3

15.0

16.2

9.0

3

15.0

18.6

15.0

3

18.5

15.0

3

29.8

29.8

33.2

3

41.3

33.2

3

39.5

33.2

3

44.4

AM04

AM07

AM50/AM50-IH

AM04

AM07

AM50/AM50-IH

AM07

AM50/AM50-IH

1326AS-B630F

1326AS-B660E

1326AS-B690E

1326AS-B840E

1326AS-B860C

4500

3000

3000

3000

2000

3720

2480

2480

2480

1650

10.7 (95.0)

21.5 (190)

36.4 (322)

37.6 (333)

49.3 (436)

2.4

3.4

5.0

4.7

6.0

0.0014

(0.012)

0.0025

(0.022)

0.0036

(0.032)

0.0063

(0.056)

0.0094

(0.083)

10.3 (91)

2

10.7 (95)

13.7 (121)

21.5 (190)

36.4 (322)

37.6 (333)

49.3 (436)

2

79.1 (700)

59.0 (522)

3

70.0 (620)

93.0 (823)

3

124.0

(1100)

21.2

17.6

AM07

AM50/AM50-IH

AM75/AM75-IH

AM50/AM50-IH

AM75/AM75-IH

AM50/AM50-IH

AM75/AM75-IH

AM50/AM50-IH

AM75/AM75-IH

1

All ratings are for 40° C (104° F) motor ambient,110° C (212° F) case, 50° C (122° F) amplifier ambient and 40° C (104° F) external heatsink ambient (AM50 and AM75).

For extended ratings at lower ambients contact Allen-Bradley.

2

Limited by axis module continuous current.

3

Limited by axis module peak current.

Publication 1394-5.0 — May 2000

A-34

Specifications

Publication 1394-5.0 — May 2000

Chapter Objectives

Appendix

B

Interconnect and CE Diagrams

This appendix covers the following:

• GMC, CNC interface, and analog servo interconnect diagrams

• GMC and analog servo thermal interconnect diagrams

• Cable pin-outs

• Grounding for 1394 CE requirements

Refer to the

9/Series Integration and Maintenance Manual

(8520-6.2) for

9/440 information.

Publication 1394-5.0 — May 2000

B-2

Interconnect and CE Diagrams

GMC, Analog Servo, and CNC

Interface Interconnect Diagrams

The following notes apply to the interconnect diagrams on the following pages.

18

19

20

21

22

23

24

25

26

27

28

29

12

13

14

8

9

10

11

5

6

7

3

4

1

2

Note:

15

16

17

Information:

Power wiring is 3.3 mm

2

(12 AWG), 75

°

C (167

°

F) minimum, copper wire.

Input fuse to be Bussmann. Refer to Appendix A for sizes

Control Wiring: 0.82 mm

2

(18 AWG) minimum, 15A maximum.

Allen-Bradley motor cables. Refer to 1326 Cables for 460V AC Servo Motors (publication 1326A-2.11).

Terminate shield on one end only.

Contactor coil (M1) needs an integrated surge suppressors for AC coil operation.

TB1 pins 24, 25, 26 (16, 17, 18 on Analog Servo) are used for speed and current output commands.

±

1.2V DC/1000 rpm (velocity) and

±

3V DC =

100% (current),

±

6V DC = 200%

±

9V DC = 300% (current command). Use the parameter link function to read the outputs for Axis 0, 1, 2 or 3 (analog servo only).

The RIO/AxisLink option (-RL) must be ordered with the system module and is installed at the factory. You cannot order these individually.

AxisLink and RIO board connections use Allen-Bradley 1770-CD (Belden 9463 or equivalent).

Use 4100-CCFl or -CCF3 Flex I/O cables. Cable length must not exceed 0.91 m (36 in.).

User-supplied 5V DC power source is required for encoder board regardless if encoder supply voltage is 5V or not.

Resolver inputs for Axis 0 (J5/FB0) are shown. Axis 1, 2 and 3 are identical - use J6/FB1 for Axis 1, J7/FB2 for Axis 2 and J10/FB3 for Axis 3.

Jumper is factory set for grounded system at user site. Ungrounded sites must jumper the bleeder resistor to prevent high electrostatic buildup.

For multiple axis systems requiring all axes to fault when one motor therm sensor trips - interconnect TB2, pin 3 of each axis to TB2 pin 4 of the adjacent axis. For single-axis control, wire each axis separately.

Either TB1-1, 2 or TB2-1, 2 system enable needs to be energized to enable (hardware) up to four axes. You do not need both TB1-1, 2 and TB2-1, 2.

System enable can be: 1) always tied to 24V DC, use GML software to enable each axis, 2) inserted in the ESTOP string to pull in/out with the M1 contactor, or 3) used in a secondary stop string (for example, photoeye work area).

You must jumper P1 for the optional external shunt resistor (5 and 10 kW Series A and B only). P1 is located behind the Status LED. The P1 jumper is available with the external shunt kit (1394-SR10A) and used on 1394-SJT05 and -SJT10 series A and B systems only.

You must supply source power for Flex I/O (for example, 1794-IB16-24V DC and 1794-IA8-115V AC).

This input is monitored by the CPU and is not intended to be a safety circuit.

The motor thermal switches should be wired in series to the customer stop circuit to prevent damage to the motor.

Ground bar is user-supplied item for (Series A and B) system modules. Ground bar is included on (Series C) system modules.

Brake control can be accomplished using the Flex I/O outputs and adding the appropriate logic to the GML application program. In this case, connect the leads from the axis module TB2 to the appropriate Flex I/O output.

Brake control must be provided by the user-supplied controller.

The brake circuit must be routed to the CNC output module. The brake control logic must be configured in PAL.

There is no internal shunt resistor in the 22 kW smart system module. An external shunt resistor module (1394-SR xAx) must be used.

The axis x VREF and TREF are analog reference inputs to the drive. They are parallel to the VREF and TREF inputs on the input wiring board. You can not use both set of inputs at the same time.

A user-supplied 5V DC power supply provides logic power to the 1394 Analog Servo. Applying 5V DC to one axis powers all four axes.

Grounding of the 24V DC common or the 24V AC neutral is recommended but not required. Grounding improves noise immunity to the logic supply.

The thermal switch and brake circuits are a source of conducted noise. Isolation from customer control devices may be required. A separate 24V

DC supply or relay can be used. Axis modules (Series C or later) include a thermal switch and motor brake filter to eliminate the need for a separate

24V DC supply.

Note: To determine the series of your module, refer to Figure P.1 in the

Preface

.

Publication 1394-5.0 — May 2000

Interconnect and CE Diagrams

1394 GMC Interconnections

Figure B.1

Bottom Front of the GMC (1394 x -SJT xx -C) and

GMC Turbo (1394 x -SJT xx -T) System Modules

The RIO/AxisLink option (-RL) must be ordered with

System module. It is installed at the factory. You cannot order these individually.

AxisLink and RIO board connections use Allen-Bradley

1770-CD (Belden 9463 or equivalent).

1394-GE15 Cable

Optional Encoder or 1394-GR04 Cable

(for Resolver with

4100-REC or 4100-AEC modules)

J5 wiring is typical for J3,

J4, and J10 Auxiliary

Encoder Inputs.

User-supplied 5V DC power source is required for encoder board regardless if encoder supply voltage is 5V or not.

Auxiliary

Encoder

Encoder (Optional)

Auxiliary

Encoder

Encoder (Optional)

J

D

F

I

B

A

H

C

D

F

C

J

I

B

A

H

Left Side

C LEAR

SHIELD

BLUE

FLEX I/O MODULES

NOTE 10, 18

Use 4100-CCF1 or -CCF3 Flex I/O cables. Cable length

must not exceed 0.91 mm (36 inches).

You must supply source power for Flex I/O (for example,

1794-IB16 24V DC and 1794-IA8 115V AC).

ENCODER CONNECTOR

(DRIVE END)

BOTTOM VIEW

1 7

6

12

CHANNEL A HIGH

CHANNEL A LOW

CHANNEL B HIGH

CHANNEL B LOW

CHANNEL Z HIGH

CHANNEL Z LOW

+5V OUT

COMMON OUT

SHIELD

STROBE X

+5V INPUT

COMMON INPUT

CHANNEL A HIGH

CHANNEL A LOW

CHANNEL B HIGH

CHANNEL B LOW

CHANNEL Z HIGH

CHANNEL Z LOW

+5V OUT

COMMON OUT

SHIELD

STROBE X

+5V INPUT

COMMON INPUT

Right Side

RS-232/RS-422

AxisLink

J1

1

2

Flex I/O

J2

Aux. Encoder

Feedback Input

J5

5

6

8

9

3

4

1

2

12

7

10

11

AXIS 2

Aux. Encoder

Feedback Input

J10

5

6

8

9

12

3

4

1

2

7

10

11

AXIS 3

RS-232/RS-422

DH-485

Aux. Encoder

Feedback Input

J3

5

6

8

9

3

4

1

2

12

7

10

11

AXIS 0

Aux. Encoder

Feedback Input

J4

8

9

5

6

12

7

3

4

1

2

10

11

AXIS 1

Resolver

Feedback Input

AXIS 0

J5

8

7

9

4

2

3

1

6

5

10

J4

1

2

3

6

7

8

9

4

5

Resolver

Feedback Input

AXIS 1

J6

9

4

8

7

2

3

1

6

5

10

Resolver

Feedback Input

AXIS 2

J7

2

3

1

6

8

7

9

4

5

10

Resolver

Feedback Input

AXIS 3

J10

8

7

9

4

2

3

1

6

5

10

J3

7

8

9

5

6

3

4

1

2

RS-232

NC

TXD

RXD

DTR

COM

DSR

RTS

CTS

NC

RS-422

TXD+

TXD–

RXD–

TXD+

COM

TXD+

RXD+

RXD+

NC

WIRE #1 - BLACK - AXIS X R1

WIRE #1 - WHITE - AXIS X R2

WIRE #1 - SHIELD

WIRE #2 - BLACK - AXIS X S1

WIRE #2 - RED - AXIS X S3

WIRE #2 - SHIELD

WIRE #3 - BLACK - AXIS X S4

WIRE #3 - GREEN - AXIS X S2

WIRE #3 - SHIELD

CABLE SHIELD

WIRE #1 - BLACK - AXIS X R1

WIRE #1 - WHITE - AXIS X R2

WIRE #1 - SHIELD

WIRE #2 - BLACK - AXIS X S1

WIRE #2 - RED - AXIS X S3

WIRE #2 - SHIELD

WIRE #3 - BLACK - AXIS X S4

WIRE #3 - GREEN - AXIS X S2

WIRE #3 - SHIELD

CABLE SHIELD

Plug into connector

Plug into connector

D

E

A

B

H

G

J5 wiring is typical for J6, J7, and J10 Resolver inputs. Use either Allen-Bradley Resolver cable (1326-CCUxxx) or

1394-DIM plug.

D

E

A

B

H

G

1326A x AC SERVO MOTOR

MOTOR

RESOLVER

MOTOR

RESOLVER

1326A x AC SERVO MOTOR

One 1394-DIM plug is required for each DIM axis. Four plugs are supplied with the DIM.

RESOLVER CONNECTOR

(DRIVE END)

BOTTOM VIEW

1 6

5 10

B-3

Publication 1394-5.0 — May 2000

B-4

Interconnect and CE Diagrams

NOTES 8, 9

BLUE

SHIELD

CLEAR

FROM 1746 I/O RACK OR A 1746 RACK

WITH AN SLC 5/03, 5/04, OR 5/05 PROCESSOR

TO SLC RACK OR 1394-SJT xx-T

Figure B.2

GMC System Interconnection Diagram

(1394 x -SJT xx -C and -T)

RIO BOARD

A

1

1394 GMC AND GMC TURBO

SYSTEM MODULE

P1

2

DC MINUS BUS

NOTE 17

SLC IN

SLC OUT

NOTE 13

Refer to the Wiring System, Axis, and Shunt Modules, and Motors (for all systems) chapter for ground jumper instructions.

CONTROL POWER

& SIGNALS

DC BUS POS.

DC BUS NEG.

SLIDER INTERCONNECT

NOTES 15, 16, 19

NOTES 3, 5

NOTE 7

22 KW INPUT POWER

SYS ENABLE

24V INPUT COM

SHIELD

HOME 0

POS 0TRAV 0

NEG 0TRAV 0

THERM FLT 0

24V INPUT COM

SHIELD

HOME 2

POS 0TRAV 2

NEG 0TRAV 2

THERM FLT 2

24V INPUT COM

SHIELD

REG0 5V

REG0 24V

REG COM

SHIELD

REG2 5V

REG2 24V

REG COM

SHIELD

A TEST 0

A TEST 1

A TEST COM

SHIELD

DATA A

DATA B

NC

NC

TX ENAB

SHIELD

COM

NC

TB1

19

20

21

22

15

16

17

18

23

24

25

26

27

12

13

14

8

9

10

11

5

6

7

3

4

1

2

Motion Input Wiring Board

1394 x-SJTxx-C, -C-RL and

1394 x-SJTxx-T, -T-RL

DRIVE O.K. RELAY

RATED AT 115VAC, 24VDC,

1A INDUCTIVE

J1

5

6

7

8

3

4

1

2

DH-485

SYSTEM MODULE

GROUND BAR

(Series C)

J2

5

6

7

8

3

4

1

2

DH-485

5 AND 10 KW INPUT POWER

(Series C)

17

18

19

13

14

15

16

8

9

10

11

12

6

7

4

5

24

25

26

27

20

21

22

23

TB2

1

2

3

SYS ENABLE

24V INPUT COM

SHIELD

HOME 1

POS 0TRAV 1

NEG 0TRAV 1

THERM FLT 1

24V INPUT COM

SHIELD

HOME3

POS 0TRAV 3

NEG 0TRAV 3

THERM FLT 3

24V INPUT COM

SHIELD

REG1 5V

REG1 24V

REG COM

SHIELD

REG3 5V

REG3 24V

REG COM

SHIELD

DRIVE OK1

DRIVE OK2

CHASSIS

CHASSIS

NOTES 15, 16, 19

NOTES 3, 5

START*

STOP*

CR1*

CR1*

DS1

SOLID GREEN = BUS UP, AXIS ENABLED

FLASHING GREEN = BUS UP, AXIS NOT ENABLED

FLASHING RED/GREEN = READY, BUS NOT UP

FLASHING RED = FAULT

SOLID RED = HARDWARE FAILURE

NOTES 3, 6

CR1*

M1*

24V AC/DC or

120V AC,

50/60 HZ

5 AND 10 KW INPUT POWER

(Series A and B)

A

NOTE 17

FACILITY GROUND

NOTE 25

* INDICATES USER SUPPLIED COMPONENT

Publication 1394-5.0 — May 2000

Interconnect and CE Diagrams

CONTROL POWER

& SIGNALS

DC BUS POS.

DC BUS NEG.

SLIDER INTERCONNECT

AXIS MODULE (TYPICAL)

DS1

SOLID GREEN = BUS UP, AXIS ENABLED

FLASHING GREEN = BUS UP, AXIS NOT ENABLED

FLASHING RED/GREEN = READY, BUS NOT UP

FLASHING RED = FAULT

SOLID RED = HARDWARE FAILURE

THERMOSTAT AND BRAKE FEEDTHRU

NOTE 29

MOTOR BRAKE

FILTER (Series C)

TB1

MOTOR THERMAL

SWITCH FILTER

(Series C)

TB2

SLIDER INTERCONNECT

TO ADDITIONAL AXIS MODULES

TERMINATOR CONNECTS

TO THE LAST AXIS MODULE

MOTOR POWER CABLE

NOTE 4

SEE BOTTOM VIEW

FOR RESOLVER CONNECTIONS

D

E

H

G

A

B

4 3 2 1 4 3 2 1

See Thermal Diagrams

For Connections

3.3 mm2 (12 AWG)

A

TO SYSTEM MODULE

GROUND BAR (Series C system modules)

NOTE 21

1 2 3 8 7 6 4 5 9

T1 T2 T3

GND

B2 B1 K2 K1

BRAKE

THERMOSTAT

MOTOR

POWER

TO OTHER AXES (PE GND)

3.3 mm2 (12 AWG)

BONDED SYSTEM

GROUND BAR*

(Series A and B system modules)

NOTE 21

3.3 mm2 (12 AWG)

FACILITY GROUND

2 (12

FROM 1394

SYSTEM MODULE

B

5, 10, and 22 kW (Series A and B) only

OPTIONAL THREE- PHASE

INPUT NEUTRAL

3.3 mm2 (12 AWG)

5, 10, and 22 kW (Series A and B) only

IMPORTANT:

GROUND BAR* MUST BE AS CLOSE TO DRIVE AS POSSIBLE

MOTOR

RESOLVER

* INDICATES USER SUPPLIED COMPONENT

1326A x AC SERVO MOTOR

B-5

Publication 1394-5.0 — May 2000

B-6

NOTES 15, 16, 19

NOTES 3, 5

Interconnect and CE Diagrams

NOTES 8, 9

BLUE

SHIELD

CLEAR

SYS ENABLE

24V INPUT COM

SHIELD

HOME 0

POS 0TRAV 0

NEG 0TRAV 0

THERM FLT 0

24V INPUT COM

SHIELD

Figure B.3

GMC System Interconnection Diagram

(1394C-SJT xx -L)

TB1

5

6

7

3

4

1

2

8

9

RIO BOARD

A

1

1394 GMC SYSTEM MODULE

P1

2

DC MINUS BUS

NOTE 17

J4 J5

NOTE 13

J6

Refer to the Wiring System, Axis, and Shunt Modules, and Motors (for all systems) chapter for ground jumper instructions.

Motion Input Wiring Board

1394C-SJT xx-L and -L-RL

TB2

1

2

3

SYS ENABLE

24V INPUT COM

SHIELD

CONTROL POWER

& SIGNALS

DC BUS POS.

DC BUS NEG.

SLIDER INTERCONNECT

NOTES 15, 16, 19

NOTE 7

REG1 5V

REG1 24V

REG COM

SHIELD

DATA A

DATA B

NC

NC

TX ENAB

SHIELD

COM

NC

A TEST 0

A TEST 1

A TEST COM

SHIELD

16

17

18

19

16

17

18

19

24

25

26

27

DRIVE O.K. RELAY

RATED AT 115VAC, 24VDC,

1A INDUCTIVE

24

25

26

27

J1

5

6

7

8

3

4

1

2

DH-485

J2

5

6

7

8

3

4

1

2

DH-485

5 AND 10 KW INPUT POWER

SYSTEM MODULE

GROUND BAR

REG1 5V

REG1 24V

REG COM

SHIELD

NOTES 3, 6

DRIVE OK1

DRIVE OK2

CHASSIS

CHASSIS

START*

STOP*

CR1*

CR1*

DS1

SOLID GREEN = BUS UP, AXIS ENABLED

FLASHING GREEN = BUS UP, AXIS NOT ENABLED

FLASHING RED/GREEN = READY, BUS NOT UP

FLASHING RED = FAULT

SOLID RED = HARDWARE FAILURE

CR1*

M1*

24V AC/DC or

120V AC,

50/60 HZ

FACILITY GROUND

A

* INDICATES USER-SUPPLIED COMPONENT

Publication 1394-5.0 — May 2000

Interconnect and CE Diagrams

CONTROL POWER

& SIGNALS

DC BUS POS.

DC BUS NEG.

SLIDER INTERCONNECT

AXIS MODULE (TYPICAL)

DS1

SOLID GREEN = BUS UP, AXIS ENABLED

FLASHING GREEN = BUS UP, AXIS NOT ENABLED

FLASHING RED/GREEN = READY, BUS NOT UP

FLASHING RED = FAULT

SOLID RED = HARDWARE FAILURE

THERMOSTAT AND BRAKE FEEDTHRU

NOTE 29

MOTOR BRAKE

FILTER (Series C)

MOTOR THERMAL

SWITCH FILTER

(Series C)

TB1 TB2

TERMINATOR CONNECTS

TO THE AXIS MODULE

MOTOR POWER CABLE

NOTE 4

4 3 2 1 4 3 2 1

See Thermal Diagrams for Connections

1 2 3 8 7 6 4 5 9

T1 T2 T3

GND

B2 B1 K2 K1

BRAKE

THERMOSTAT

3.3 mm

2

(12 AWG)

A

TO

SYSTEM MODULE

GROUND BAR

MOTOR

POWER

SEE BOTTOM VIEW

FOR RESOLVER CONNECTIONS

D

E

H

G

A

B

MOTOR

RESOLVER

1326A x AC SERVO MOTOR

B-7

Publication 1394-5.0 — May 2000

B-8

Interconnect and CE Diagrams

Figure B.4

Bottom Front of the GMC (1394C-SJT xx -L) System Module

Left Side

C LEAR

SHIELD

BLUE

The RIO/AxisLink option (-RL) must be ordered with

System module. It is installed at the factory. You cannot order these individually.

AxisLink and RIO board connections use Allen-Bradley

1770-CD (Belden 9463 or equivalent).

FLEX I/O MODULES

NOTE 10, 18

AxisLink

J1

1

2

Flex I/O

J2

Right Side

RS-232/RS-422

RS-232/RS-422

DH-485

J4

3

4

1

2

5

6

7

8

9

J3

7

8

9

5

6

3

4

1

2

RS-232

NC

TXD

RXD

DTR

COM

DSR

RTS

CTS

NC

RS-422

TXD+

TXD–

RXD–

TXD+

COM

TXD+

RXD+

RXD+

NC

Use 4100-CCF1 or -CCF3 Flex I/O cables. Cable length

must not exceed 0.91 mm (36 inches).

You must supply source power for Flex I/O (for example,

1794-IB16 24V DC and 1794-IA8 115V AC).

Auxiliary

Encoder

Encoder (Optional)

C

J

I

B

A

H

D

F

CHANNEL A HIGH

CHANNEL A LOW

CHANNEL B HIGH

CHANNEL B LOW

CHANNEL Z HIGH

CHANNEL Z LOW

+5V OUT

COMMON OUT

SHIELD

STROBE X

+5V INPUT

COMMON INPUT

Aux. Encoder

Feedback Input

J3

5

6

8

9

3

4

1

2

12

7

10

11

AXIS 0

Resolver

Feedback Input

AXIS 0

J5

8

7

9

4

2

3

1

6

5

10

WIRE #1 - BLACK - AXIS X R1

WIRE #1 - WHITE - AXIS X R2

WIRE #1 - SHIELD

WIRE #2 - BLACK - AXIS X S1

WIRE #2 - RED - AXIS X S3

WIRE #2 - SHIELD

WIRE #3 - BLACK - AXIS X S4

WIRE #3 - GREEN - AXIS X S2

WIRE #3 - SHIELD

CABLE SHIELD

Use either Allen-Bradley

Resolver cable (1326-CCUxxx) or 1394-DIM plug.

D

E

A

B

H

G

1326A x AC SERVO MOTOR

MOTOR

RESOLVER

Plug into J5 connector in place of servo motor.

One 1394-DIM plug is required for each DIM axis. Four plugs are supplied with the DIM.

Auxiliary

Encoder

Encoder (Optional)

D

F

C

J

I

B

A

H

CHANNEL A HIGH

CHANNEL A LOW

CHANNEL B HIGH

CHANNEL B LOW

CHANNEL Z HIGH

CHANNEL Z LOW

+5V OUT

COMMON OUT

SHIELD

STROBE X

+5V INPUT

COMMON INPUT

Aux. Encoder

Feedback Input

J4

5

6

8

9

12

3

4

1

2

7

10

11

AXIS 1

RESOLVER CONNECTOR

(DRIVE END)

BOTTOM VIEW

1 6

5 10

1394-GE15 Cable

Optional Encoder or 1394-GR04 Cable

(for Resolver with

4100-REC or 4100-AEC modules)

User-supplied 5V DC power source is required for encoder board regardless if encoder supply voltage is 5V or not.

ENCODER CONNECTOR

(DRIVE END)

BOTTOM VIEW

1 7

6

12

Publication 1394-5.0 — May 2000

Left Side

Interconnect and CE Diagrams

1394 Analog Servo Interconnections

Figure B.5

Bottom Front of the 1394 Analog Servo System Module

Right Side

SCANport

B-9

NOTE 26

INPUT FROM

MOTION CONTROLLER

NOTE 27

OUTPUT TO

MOTION CONTROLLER

AXIS X VREF+

AXIS X VREF–

AXIS X TREF+

AXIS X TREF–

+5V DC POWER SUPPLY INPUT

POWER SUPPLY COMMON

CHANNEL A HIGH

CHANNEL A LOW

CHANNEL B HIGH

CHANNEL B LOW

CHANNEL Z HIGH

CHANNEL Z LOW

1394-SA15 CABLE (OPTIONAL)

1394-SA15 CONNECTOR

(DRIVE END)

BOTTOM VIEW

1

6

7

12

AQB Encoder

Feedback Output

AQB0

3

9

4

10

2

8

1

7

5

11

6

12

AXIS 0

AQB Encoder

Feedback Output

AQB1

3

9

4

10

5

11

6

12

2

8

1

7

AXIS 1

AQB Encoder

Feedback Output

AQB2

3

9

4

10

2

8

1

7

5

11

6

12

AXIS 2

AQB Encoder

Feedback Output

AQB3

3

9

4

10

5

11

6

12

2

8

1

7

AXIS 3

SUB PANEL

Resolver

Feedback Input

AXIS 0

FB0

1

6

8

7

9

4

2

3

5

10

Resolver

Feedback Input

AXIS 1

FB1

8

7

9

4

5

10

2

3

1

6

Resolver

Feedback Input

AXIS 2

FB2

9

4

8

7

5

10

2

3

1

6

Resolver

Feedback Input

AXIS 3

FB3

8

7

9

4

2

3

1

6

5

10

WIRE #1 - BLACK - AXIS X R1

WIRE #1 - WHITE - AXIS X R2

WIRE #1 - SHIELD

WIRE #2 - BLACK - AXIS X S1

WIRE #2 - RED - AXIS X S3

WIRE #2 - SHIELD

WIRE #3 - BLACK - AXIS X S4

WIRE #3 - GREEN - AXIS X S2

WIRE #3 - SHIELD

CABLE SHIELD

RESOLVER CONNECTOR

(DRIVE END)

BOTTOM VIEW

1

5

6

10

NOTE 4

A

B

D

E

H

G

MOTOR

RESOLVER

1326A x AC SERVO MOTOR

Publication 1394-5.0 — May 2000

B-10

Interconnect and CE Diagrams

NOTES 3, 5

NOTE 7

A0 VREF+

A0 VREF-

SHIELD

A0 TQREF+

A0 TQREF-

SHIELD

A0 ENABLE

A2 VREF+

A2 VREF-

SHIELD

A2 TQREF+

A2 TQREF-

SHIELD

A2 ENABLE

FAULT RESET

ANALOG OUT 1

ANALOG OUT 2

ANALOG COM

COM

CHASSIS

TO GROUND BAR IF

NOT GROUNDED ELSEWHERE

22 KW INPUT POWER

Figure B.6

Analog Servo System Interconnect Diagram

1394 ANALOG SERVO SYSTEM MODULE

P1 NOTE 17

DC MINUS BUS

NOTE 13

Refer to the Wiring System, Axis, and Shunt Modules, and Motors (for all systems) chapter for ground jumper instructions.

TB1

11

12

13

14

7

8

9

10

3

4

1

2

5

6

15

16

17

18

19

20

COMMON

Analog Servo

Input Wiring Board

CONTACTOR ENABLE RELAY

RATED AT 115V AC, 24V DC,

1A INDUCTIVE

DRIVE O.K. RELAY

RATED AT 115VAC, 24VDC,

1A INDUCTIVE

(used for controller fault logic)

16

17

18

12

13

14

15

8

9

10

11

6

7

4

5

19

20

TB2

1

2

3

NC

SYSTEM MODULE

GROUND BAR

(Series C)

CONTROL POWER

& SIGNALS

DC BUS POS.

DC BUS NEG.

SLIDER INTERCONNECT

A1 VREF+

A1 VREF-

SHIELD

A1 TQREF+

A1 TQREF-

SHIELD

A1 ENABLE

A3 VREF+

A3 VREF-

SHIELD

A3 TQREF+

A3 TQREF-

SHIELD

A3 ENABLE

24V ENABLE COM

CONTACTOR EN

CONTACTOR EN

DROK

DROK

START*

NOTES 3, 5

STOP*

NOTES 3, 6

CR1*

CR1*

M1*

24V AC/DC or

120V AC,

50/60 HZ

CR1*

5 AND 10 KW INPUT POWER

(Series C)

DS1

SOLID GREEN = BUS UP, AXIS ENABLED

FLASHING GREEN = BUS UP, AXIS NOT ENABLED

FLASHING RED/GREEN = READY, BUS NOT UP

FLASHING RED = FAULT

SOLID RED = HARDWARE FAILURE

5 AND 10 KW INPUT POWER

(Series A and B)

A

NOTE 17

FACILITY

GROUND

NOTE 25

* INDICATES USER SUPPLIED COMPONENT

Publication 1394-5.0 — May 2000

Interconnect and CE Diagrams

CONTROL POWER

& SIGNALS

DC BUS POS.

DC BUS NEG.

SLIDER INTERCONNECT

AXIS MODULE (TYPICAL)

DS1

SOLID GREEN = BUS UP, AXIS ENABLED

FLASHING GREEN = BUS UP, AXIS NOT ENABLED

FLASHING RED/GREEN = READY, BUS NOT UP

FLASHING RED = FAULT

SOLID RED = HARDWARE FAILURE

THERMOSTAT AND BRAKE FEEDTHRU

NOTE 29

MOTOR BRAKE

FILTER (Series C)

TB1

MOTOR THERMAL

SWITCH FILTER

(Series C)

TB2

SLIDER INTERCONNECT

TO ADDITIONAL AXIS MODULES

TERMINATOR CONNECTS

TO THE LAST AXIS MODULE

MOTOR POWER CABLE

NOTE 4

SEE BOTTOM VIEW

FOR RESOLVER CONNECTIONS

A

B

D

E

H

G

4 3 2 1 4 3 2 1

See Thermal Diagrams

For Connections

3.3 mm2 (12 AWG)

A

TO SYSTEM MODULE

GROUND BAR (Series C system modules)

NOTE 21

1 2 3 8 7 6 4 5 9

T1 T2 T3

GND

B2 B1 K2 K1

BRAKE

THERMOSTAT

MOTOR

POWER

TO OTHER AXES (PE GND)

3.3 mm2 (12 AWG)

BONDED SYSTEM

GROUND BAR*

(Series A and B system modules)

NOTE 21

3.3 mm2 (12 AWG)

FACILITY GROUND

2 (12

FROM 1394

SYSTEM MODULE

B

5, 10, and 22 kW (Series A and B) only

OPTIONAL THREE- PHASE

INPUT NEUTRAL

3.3 mm2 (12 AWG)

5, 10, and 22 kW (Series A and B) only

IMPORTANT:

GROUND BAR* MUST BE AS CLOSE TO DRIVE AS POSSIBLE

MOTOR

RESOLVER

* INDICATES USER SUPPLIED COMPONENT

1326A x AC SERVO MOTOR

B-11

Publication 1394-5.0 — May 2000

B-12

Interconnect and CE Diagrams

1394 CNC Interconnections

Figure B.7

CNC Interface System Interconnect Diagram

OPTIONAL EXTERNAL SHUNT

USER SUPPLIED 24V AC RMS OR

24V DC. (NON-POLARIZED) NOTE 28

THREE- PHASE INPUT

360-480V AC RMS

NOTE 1, 2

INPUT FUSING * M1*

9/SERIES CNC

CONTROLLED BY

9/SERIES E-STOP STATUS

SERVO

CONNECTOR

10

40

39

9

4

34

11

41

5

43

35

1

2

32

3

33

15

19

28

29

8

38

13

31

16

FIBER OPTIC

BLK RED

NOTES 3, 5

DC+

COL

INT

W1

W2

U

V

W

PE

17

9

10

19

21

22

23

8

24

25

26

18

15

7

16

20

13

5

14

6

2

11

3

12

4

CNC SYSTEM MODULE

DS1

SOLID RED = FIBER OPTIC RING FAILED BEFORE

1394 SYSTEM MODULE

FLASHING RED = FIBER OPTIC RING FAILED AFTER

1394 SYSTEM MODULE

P1 NOTE 17

DC MINUS BUS

NOTE 13

CNC Interface Board

FIBER OPTIC

BLK RED

CONTROL POWER

& SIGNALS

DC BUS POS.

DC BUS NEG.

SLIDER INTERCONNECT

TO OTHER 9/SERIES

FIBER OPTIC RING DEVICES

CNC Input Wiring Board

FB3

FEEDBACK

NOTE 12

FB2 FB1 FB0

3

8

7

9

1

6

2

4

5

10

WIRE #1 - BLACK - AXIS X R1

WIRE #1 - WHITE - AXIS X R2

WIRE #1 - SHIELD

WIRE #2 - BLACK - AXIS X S1

WIRE #2 - RED - AXIS X S3

WIRE #2 - SHIELD

WIRE #3 - BLACK - AXIS X S4

WIRE #3 - GREEN - AXIS X S2

WIRE #3 - SHIELD

CABLE SHIELD

NOTE 4

TB

DRIVE O.K. RELAY

RATED AT 115VAC, 24VDC,

1A INDUCTIVE

DRIVE OK1

DRIVE OK2

TO 9/SERIES

E-STOP STRING

Publication 1394-5.0 — May 2000

Interconnect and CE Diagrams

B-13

AXIS MODULE (TYPICAL) ADDITIONAL AXES

DS1

SOLID GREEN = BUS UP, AXIS ENABLED

FLASHING GREEN = BUS UP, AXIS NOT ENABLED

FLASHING RED/GREEN = READY, BUS NOT UP

FLASHING RED = FAULT

SOLID RED = HARDWARE FAILURE

THERMOSTAT AND BRAKE FEEDTHRU

NOTE 29

MOTOR BRAKE

FILTER (Series C)

MOTOR THERMAL

SWITCH FILTER

(Series C)

NOTE 29

MOTOR BRAKE

FILTER (Series C)

MOTOR THERMAL

SWITCH FILTER

(Series C)

TERMINATOR

CONNECTOR

REQUIRED

ON LAST AXIS

MOTOR CABLE (TYPICAL)

NOTE 4

4 3

TB1

2 1 4 3

TB2

2 1

NOTE 14

4

TB1

MOTOR THERMOSTAT

AND BRAKE

TB2

1

USER BRAKE CONTROL INPUT

TO OTHER

AXES

*TB

1 2 3

T1 T2 T3

8 7 6 4 5 9

GND

Motor

B2

BRAKE

B1 K2 K1

THERMOSTAT

TO OTHER AXES (PE GND)

3.3 mm 2 (12 AWG)

USER BRAKE CONTROL INPUT

NOTES 20, 24

GROUND BAR*

3.3 mm 2 (12 AWG)

IMPORTANT: GROUND BAR MUST BE AS

CLOSE TO DRIVE AS POSSIBLE

3.3 mm 2 (12 AWG)

FACILITY GROUND

3.3 mm 2 (12 AWG)

OPTIONAL THREE- PHASE

INPUT NEUTRAL

H

G

A

B

D

E

Resolver

*

INDICATES USER SUPPLIED COMPONENT

1326AB AC SERVOMOTOR

Publication 1394-5.0 — May 2000

B-14

Interconnect and CE Diagrams

Thermal Interconnect Diagrams

Thermal switches, internal to each 1326 servo motor, can be wired in series to protect the motor from overheating. In the event of a fault condition, the switch opens and the motor responds to the system configuration. The explanation and example diagrams that follow show how to wire motor thermal switches for GMC, GMC Turbo, and

Analog Servo system modules.

Depending on the series of your of 1394 axis module, your customer control devices may require isolation the from the motor’s conducted noise. When using 1394 (Series A and B) axis modules, an isolated

24V DC power supply and relay is recommended. 1394 (Series C and above) axis modules contain internal motor brake and thermal switch filtering and do not require the isolation power supply and relay.

Individual thermal fault monitoring can be achieved with your 1394

GMC system by wiring each of the motor thermal switches to one of four dedicated thermal fault inputs (THERM FLT0 - THERM FLT3).

Your 1394 system can then be configured to monitor and disable one or all four of the axes. Alternately, you can wire the thermal switches into the E-Stop string to disable all axes when a fault occurs.

Publication 1394-5.0 — May 2000

Interconnect and CE Diagrams

B-15

Axis 0

1394C-AM xx

Axis 1

1394C-AM xx

1394 GMC Systems (1394 x-SJTxx-C and -T)

The example below shows 1394 (Series C) axis modules with internal brake and thermal switch filtering. Separate isolation power supply and relay are not required.

Figure B.8

Non-Isolated Series E-Stop

Axis 2

1394C-AM xx

Axis 3

1394C-AM xx

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

Motor

Thermal

Switch

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

TB1

19

20

21

22

15

16

17

18

23

24

25

26

27

11

12

13

14

7

8

9

10

3

4

1

2

5

6

1394 GMC Input Wiring Board

1394 x-SJTxx-C

1394 x-SJTxx-C-RL

AND

1394 x-SJTxx-T

1394 x-SJTxx-T-RL

Drive OK

Relay

16

17

18

19

12

13

14

15

8

9

10

11

6

7

4

5

TB2

1

2

3

24

25

26

20

21

22

23

27

START

STOP

CR1

CR1

CR1

M1

24V AC/DC or

120V AC,

50/60 HZ

Publication 1394-5.0 — May 2000

B-16

Interconnect and CE Diagrams

Axis 0

1394C-AM xx

The example below shows 1394 (Series C) axis modules wired for thermal fault monitoring. Depending on how the 1394 GMC system is configured, the fault can be used to disable one or all of the four axis modules.

Figure B.9

Non-Isolated Series E-Stop with Thermal Fault Monitoring

Axis 1 Axis 2 Axis 3

1394C-AM xx

1394C-AM xx 1394C-AM xx

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

Motor

Thermal

Switch

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

+24V DC

24V DC

Power Supply

24V DC com

24V DC com

THERM FLT 0

THERM FLT 2

12

13

14

15

16

17

18

23

24

25

26

27

19

20

21

22

10

11

8

9

6

7

4

5

TB1

1

2

3

1394 GMC Input Wiring Board

1394 x-SJTxx-C

1394 x-SJTxx-C-RL

AND

1394 x-SJTxx-T

1394 x-SJTxx-T-RL

TB2

9

10

11

12

13

14

15

16

7

8

5

6

3

4

1

2

21

22

23

17

18

19

20

24

25

26

27

THERM FLT 1

THERM FLT 3

Note: 120V AC (50 or 60 Hz) power may be used in place of a 24V DC power supply for motor thermal switch circuits.

Publication 1394-5.0 — May 2000

Axis 0

1394-AM xx

Interconnect and CE Diagrams

B-17

The example below shows 1394 (Series A and B) axis modules (no internal brake or thermal switch filter). Separate 24V DC isolation power supply and relay (CR2) are recommended.

Figure B.10

Isolated Series E-Stop

Axis 1 Axis 2

1394-AM xx 1394-AM xx

Axis 3

1394-AM xx

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

Motor Thermal

Switch

24V DC

Power Supply

+24V DC

24V DC com

Note: 120V AC (50 or 60 Hz) power may be used in place of a 24V DC power supply for motor thermal switch circuits.

4 3 2 1

TB2

4 3

CR2

17

18

19

20

13

14

15

16

9

10

11

12

7

8

5

6

25

26

27

21

22

23

24

TB1

3

4

1

2

1394 GMC Input Wiring Board

1394 x-SJTxx-C

1394 x-SJTxx-C-RL

AND

1394 x-SJTxx-T

1394 x-SJTxx-T-RL

Drive OK

Relay

TB2

1

14

15

16

17

10

11

12

13

8

9

6

7

4

5

2

3

22

23

24

25

18

19

20

21

26

27

START

STOP

CR1

CR1

CR2

M1

24V AC/DC or

120V AC,

50/60 HZ

CR1

Publication 1394-5.0 — May 2000

B-18

Interconnect and CE Diagrams

Axis 0

1394-AM xx

The example below shows 1394 (Series A and B) axis modules wired for thermal fault monitoring. Depending on how the 1394 GMC system is configured, the fault can be used to disable one or all of the four axis modules. Two separate 24V DC power supplies and four relays (CR2-CR5) are included to isolate the THERM FLT inputs from conducted noise.

Figure B.11

Isolated Series E-Stop with Thermal Fault Monitoring

Axis 1

1394-AM xx

Axis 2

1394-AM xx

Axis 3

1394-AM xx

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

CR2 CR3

Motor

Thermal

Switch

CR4 CR5

24V DC

Power Supply

+24V DC

24V DC com

+24V DC

24V DC

I/O

Power Supply

24V DC com

CR2

CR4

THERM FLT 0

THERM FLT 2

TB1

1

2

14

15

16

17

18

10

11

12

13

7

8

9

5

6

3

4

23

24

25

26

19

20

21

22

27

1394 GMC Input Wiring Board

1394 x-SJTxx-C

1394 x-SJTxx-C-RL

AND

1394 x-SJTxx-T

1394 x-SJTxx-T-RL

Note: 120V AC (50 or 60 Hz) power may be used in place of a 24V DC power supply for motor thermal switch circuits.

TB2

19

20

21

22

23

15

16

17

18

24

25

26

27

12

13

14

8

9

10

11

5

6

7

3

4

1

2

THERM FLT 1

THERM FLT 3

CR3

CR5

Publication 1394-5.0 — May 2000

Interconnect and CE Diagrams

B-19

16

17

18

19

12

13

14

15

8

9

10

11

6

7

4

5

24

25

26

27

20

21

22

23

TB1

1

2

3

1394 GMC Input Wiring Board

1394C-SJT xx-L

1394C-SJT xx-L-RL

Shaded areas on TB1 and TB2 designate signals not used on the

1394C-SJT xx-L and

1394C-SJT xx-L-RL system modules.

Drive OK

Relay

TB2

21

22

23

17

18

19

20

24

25

26

27

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

1394 GMC Systems (1394C-SJT xx-L)

The example below shows a 1394 (Series C) axis module with internal brake and thermal switch filtering. Separate isolation power supply and relay are not required.

Figure B.12

Non-Isolated Series E-Stop

Axis 0

1394C-AM xx

START

CR1

STOP

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

CR1

4 3 2 1

TB1

4 3 2 1

TB2

4 3

CR1

M1

24V AC/DC or

120V AC,

50/60 HZ

The example below shows a 1394 (Series C) axis module wired for thermal fault monitoring. The fault can be used to monitor or disable the axis.

Figure B.13

Non-Isolated Series E-Stop with Thermal Fault Monitoring

Axis 0

1394C-AM xx

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

4 3 2 1

TB1

24V DC

I/O

Power Supply

Motor

Thermal

Switch

24V DC com

+24V DC

4 3 2 1

TB2

4 3

THERM FLT 0

TB1

25

26

27

21

22

23

24

17

18

19

20

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

1394 GMC Input Wiring Board

1394C-SJT xx-L

1394C-SJT xx-L-RL

Shaded areas on TB1 and TB2 designate signals not used on the

1394C-SJT xx-L and

1394C-SJT xx-L-RL system modules.

TB2

1

2

14

15

16

17

10

11

12

13

7

8

9

5

6

3

4

22

23

24

25

18

19

20

21

26

27

Note: 120V AC (50 or 60 Hz) power may be used in place of a 24V DC power supply for the motor thermal switch circuit.

Publication 1394-5.0 — May 2000

B-20

Interconnect and CE Diagrams

The example below shows a 1394 (Series A and B) axis module (no internal brake and thermal switch filter). Separate 24V DC isolation power supply and relay (CR2) are recommended.

Figure B.14

Isolated Series E-Stop

Axis 0

1394-AM

4 3 2 1

TB1 xx

4 3 2 1

TB2

4 3

Motor

Thermal

Switch

+24V DC

24V DC

Power Supply

24V DC com

CR2

17

18

19

20

13

14

15

16

9

10

11

12

7

8

5

6

25

26

27

21

22

23

24

TB1

3

4

1

2

1394 GMC Input Wiring Board

1394C-SJT xx-L

1394C-SJT xx-L-RL

Shaded areas on TB1 and TB2 designate signals not used on the

1394C-SJT xx-L and

1394C-SJT xx-L-RL system modules.

Drive OK

Relay

TB2

1

14

15

16

17

10

11

12

13

8

9

6

7

4

5

2

3

22

23

24

25

18

19

20

21

26

27

START

CR1

Note: 120V AC (50 or 60 Hz) power may be used in place of a 24V DC power supply for the motor thermal switch circuit.

STOP

CR1

CR1

CR2

M1

24V AC/DC or

120V AC,

50/60 HZ

The example below shows a1394 (Series A and B) axis module wired for thermal fault monitoring. The fault can be used to monitor or disable the axis. Separate 24V DC power supply and isolation relay

(CR2) are included to filter conducted noise.

Figure B.15

Isolated Series E-Stop with Thermal Fault Monitoring

Axis 0

Motor

Thermal

Switch

24V DC

Power Supply

1394-AM

4 3 2 1

TB1

+24V DC xx

4 3 2 1

TB2

4 3

24V DC com

CR2

24V DC

I/O

Power Supply

24V DC com

+24V DC

THERM FLT 0

TB1

21

22

23

24

17

18

19

20

25

26

27

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

1394 GMC Input Wiring Board

1394C-SJT xx-L

1394C-SJT xx-L-RL

Shaded areas on TB1 and TB2 designate signals not used on the

1394C-SJT xx-L and

1394C-SJT xx-L-RL system modules.

Note: 120V AC (50 or 60 Hz) power may be used in place of a 24V DC power supply for the motor thermal switch circuit.

TB2

25

26

27

21

22

23

24

18

19

20

14

15

16

17

9

10

11

12

13

7

8

5

6

3

4

1

2

Publication 1394-5.0 — May 2000

Interconnect and CE Diagrams

B-21

Axis 0

1394C-AM xx

1394 Analog Servo Systems (1394 x-SJTxx-A)

The example below shows 1394 (Series C) axis modules with internal brake and thermal switch filtering. Separate isolation power supply and relay are not required.

Figure B.16

Non-Isolated Series E-Stop

Axis 1 Axis 2

1394C-AM xx 1394C-AM xx

Axis 3

1394C-AM xx

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

Motor brake filter (Series C)

Motor thermal switch filter

(Series C)

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

Motor Thermal

Switch

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

TB1

1

13

14

15

16

9

10

11

12

17

18

19

20

6

7

8

4

5

2

3

1394 Analog Servo Input Wiring Board

1394 x-SJTxx-A

Contactor

Enable

Relay

TB2

11

12

13

7

8

9

10

3

4

1

2

5

6

18

19

20

14

15

16

17

START

STOP

CR1

CR1

CR1

M1

24V AC/DC or

120V AC,

50/60 HZ

Publication 1394-5.0 — May 2000

B-22

Interconnect and CE Diagrams

Axis 0

1394-AM xx

The example below shows 1394 (Series A and B) axis modules (no internal brake and thermal switch filter). Separate 24V DC isolation power supply and relay (CR2) are recommended.

Figure B.17

Isolated Series E-Stop

Axis 1 Axis 2

1394-AM xx 1394-AM xx

Axis 3

1394-AM xx

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

4 3 2 1

TB1

4 3 2 1

TB2

4 3

Motor Thermal

Switch

24V DC

Power Supply

+24V DC

24V DC com

Note: 120V AC (50 or 60 Hz) power may be used in place of a 24V DC power supply for motor thermal switch circuits.

4 3 2 1

TB1

4 3 2 1

TB2

4 3

CR2

16

17

18

12

13

14

15

8

9

10

11

6

7

4

5

19

20

TB1

1

2

3

1394 Analog Servo Input Wiring Board

1394 x-SJTxx-A

Contactor

Enable

Relay

TB2

12

13

14

15

16

8

9

10

11

17

18

19

20

5

6

7

3

4

1

2

START

STOP

CR1

CR1

CR1

CR2

M1

24V AC/DC or

120V AC,

50/60 HZ

Publication 1394-5.0 — May 2000

Cable Pin-outs

Interconnect and CE Diagrams

B-23

1326 Cable Pin-outs

Pin-outs and interconnect information for the 1326 interconnect cables are provided starting below.

1326-CCU-

xxx

Standard Commutation Cable for Motor Resolver

Connector Pin Wire Color Gauge

mm

2

(AWG)

Black (Axis_0_R1) 0.519 (20)

White (Axis_0_R2) 0.519 (20)

Shield - Drain 0.519 (20)

Black (Axis_0_S1) 0.519 (20)

Red (Axis_0_S3) 0.519 (20)

Shield - Drain 0.519 (20)

Black (Axis_0_S4) 0.519 (20)

Green (Axis_0_S2) 0.519 (20)

Shield - Drain 0.519 (20)

Overall Shield N/A

A

B no connection

D

E no connection

H

G no connection no connection

4

5

7

9

10

2

3

8

1

6

System Module

Terminal #

1326-CCUT-

xxx

Flex Rated Commutation Cable for Motor

Resolver

Wire Color Connector Pin

White/Black (Axis_0_R1)

White (Axis_0_R2)

Shield

White/Black (Axis_0_S1)

White/Red (Axis_0_S3)

Shield

White/Black (Axis_0_S4)

White/Green (Axis_0_S2)

Shield

Green/Yellow

Gauge

mm

2

(AWG)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

N/A

A

B no connection

D

E no connection

H

G no connection no connection

4

5

10

7

9

3

8

1

6

System Module

Terminal #

2

Publication 1394-5.0 — May 2000

B-24

Interconnect and CE Diagrams

1326-CECU

x-xxx

L-

xxx

High-Resolution Feedback Cable Wiring

Information for High-Resolution Servo Motors Only

Wire Number Wire Color

I

H

I

G

J

E

F

I

D

A

B no connection

C

Black (power)

White (ground)

Shield

Black (ChA_LO)

Red (ChA_HI)

Shield

Black (ChB_LO)

Blue (ChB_HI)

Shield

Black (Comm_HI)

Green (Comm_LO)

Shield

Overall Shield

Gauge

mm

2

(AWG)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

0.519 (20)

N/A

System Module

Terminal #

5

4

7

6

1

8

9

12

10

3

2 no connection

11

1326-CPB1-

xxx

Standard Motor Power Cable for 1326AS-

B3

xxxx,

1326-AB/AS-B4

xxxx

and 1326AB-B5

xxxx

Servo Motors

Wire Number

1 (Power)

2 (Power)

3 (Power)

4 (Brake)

5 (Thermostat)

6 (Brake)

Braided shield

(GND)

9 (Thermostat)

Wire Color

Black

Black

Black

Black

Black

Black 1.3 (16)

Braided shield N/A

Green/Yellow

Black

1.3 (16)

1.3 (16)

Gauge

mm

2

(AWG)

1.3 (16)

1.3 (16)

1.3 (16)

1.3 (16)

1.3 (16)

8

9

6

7

4

5

2

3

Connector

Pin

1

1394

Terminal

U1

V1

W1

TB1-3

TB1-2

TB1-4

PE3

PE2

TB1-1

1326-CEU-

xxx

Encoder Feedback Cable

Pair #

1

2

3

4

5

Wire Color

Black

White

Black

Red

Black

Orange

Gauge

mm

2

(AWG)

0.34 (22)

0.34 (22)

0.34 (22)

0.34 (22)

0.34 (22)

0.34 (22)

Black

Blue

Black

Green

Braided Shield N/A

0.34 (22)

0.34 (22)

0.34 (22)

0.34 (22)

F

E

I

B

G

J

C

F

D

H

A

Connector

Pin

Description 1394

Terminal

A (NOT)

A

2

1

Common

+5V

Z (NOT)

Z

9

8

6

5

B (NOT)

B

Common no connection

Shield

4

3

9

Publication 1394-5.0 — May 2000

Interconnect and CE Diagrams

B-25

1326-CPC1-

xxx

Standard Power Cable for the 1326AS-B6

xxxx,

1326AS-B8

xxxx

and 1326AB-B7

xxxx

Servo Motors

Wire Number

1 (Power)

2 (Power)

3 (Power)

4 (Brake)

5 (Thermostat)

6 (Brake)

Braided shield

(GND)

9 (Thermostat)

Wire Color

Black

Black

Black

Black

Black

Black 1.3 (16)

Braided shield N/A

Green/Yellow

Black

3.3 (12)

1.3 (16)

Gauge

mm

2

(AWG)

5.3 (10)

5.3 (10)

5.3 (10)

1.3 (16)

1.3 (16)

8

9

6

7

4

5

2

3

Connector

Pin

1

1394

Terminal

U1

V1

W1

TB1-3

TB1-2

TB1-4

PE3

PE2

TB1-1

1326-CPB1T-

xxx

Flex Rated Power Cable for 1326AS-B3

xxxx,

1326AS-B4

xxxx

, and 1326AB-B5

xxxx

Servo Motors

Wire Number

1 (Power)

2 (Power)

3 (Power)

4 (Brake)

5 (Thermostat)

6 (Brake)

Braided Shield

(GND)

9(Thermostat)

Wire Color

White

White

White

White

Gauge

mm

2

(AWG)

1.3 (16)

1.3 (16)

1.3 (16)

1.3 (16)

White

White

1.3 (16)

1.3 (16)

Braided Shield N/A

Green/Yellow 1.3 (16)

White 1.3 (16)

7

8

5

6

9

3

4

1

2

Connector

Pin

1394

Terminal

U1

V1

W1

TB1-3

TB1-2

TB1-4

PE3

PE2

TB1-1

1326-CPC1T-

xxx

Flex Rated Power Cable for the 1326AS-

B6

xxxx,

1326AS-B8

xxxx,

and 1326AB-B7

xxxx

Servo Motors

Wire Number

1 (Power)

2 (Power)

3 (Power)

4 (Brake)

5 (Thermostat)

6 (Brake)

Braided Shield

(GND)

9 (Thermostat)

Wire Color

White

White

White

White

White

White

Braided Shield N/A

Green/Yellow 3.3 (12)

White 1.3 (16)

Gauge

mm

2

(AWG)

5.3 (10)

5.3 (10)

5.3 (10)

1.3 (16)

1.3 (16)

1.3 (16)

7

8

9

5

6

3

4

1

2

Connector

Pin

1394

Terminal

U1

V1

W1

TB1-3

TB1-2

TB1-4

PE3

PE2

TB1-1

Publication 1394-5.0 — May 2000

B-26

Interconnect and CE Diagrams

Enable/Drive Fault

7

12

System OK

7

1

12 6

1

6

Enable/Drive Fault

Publication 1394-5.0 — May 2000

Axis 0

Axis 1

1394 Cable Pin-outs

Pin-outs and interconnect information for the 1394 interconnect cables are provided starting below.

Figure B.18

1394-CCAE01, -03, -08, and -15 Cable Pin-outs

AXIS0

AQBx

AXIS1

AQBx

+5V

+5VCOM

3

9

CHANNEL A HIGH

CHANNEL A LOW

CHANNEL B HIGH

CHANNEL B LOW

CHANNEL Z HIGH

CHANNEL Z LOW

VREF+

VREF-

TREF+

TREF-

(DROK - 0)

(24V EN COM)

(24V)

(AX_ - ENABLE)

4

10

5

11

6

12

1

2

7

8

To system fault string

(DROK -1)

(24V EN COM)

(24V)

(AX_ - ENABLE)

VREF+

TREF+

VREF-

TREF-

CHANNEL A HIGH

CHANNEL A LOW

CHANNEL B HIGH

CHANNEL B LOW

CHANNEL Z HIGH

CHANNEL Z LOW

4

10

5

11

6

12

1

2

7

8

+5V

+5VCOM

3

9

RED 22GA

BLACK 22GA

DRAIN

ORANGE 22GA

WHT/ORG 22GA

YELLOW 22GA

WHT/YEL 22GA

GREEN 22GA

WHT/GRN 22GA

DRAIN

BLUE 22GA

WHT/BLU 22GA

DRAIN

VIOLET 22GA

WHT/VIO 22GA

GRAY 22GA

WHT/GRAY 22GA

DRAIN

RED 22GA

BLACK 22GA

DRAIN

VIOLET 22GA

WHT/VIO 22GA

GRAY 22GA

WHT/GRAY 22GA

DRAIN

BLUE 22GA

WHT/BLU 22GA

DRAIN

ORANGE 22GA

WHT/ORG 22GA

YELLOW 22GA

WHT/YEL 22GA

GREEN 22GA

WHT/GRN 22GA

DRAIN

RED 22GA

BLACK 22GA

DRAIN

26

28

30

32

34

36

24

+CHA-0

-CHA-0

+CHB-0

-CHB-0

+CHZ-0

-CHZ-0

2

4

12

+OUT-0

-OUT-0

CHASSIS

10

14

6

8

DRVFLT-0

IN_COM

+ENABLE-0

-ENABLE-0

22

21

23

+OK

-OK

CHASSIS

9

13

5

7

DRVFLT-1

IN_COM

+ENABLE-1

-ENABLE-1

25

27

29

31

33

35

1

3

11

+OUT-0

-OUT-0

CHASSIS

+CHA-1

-CHA-1

+CHB-1

-CHB-1

+CHZ-1

-CHZ-1

Figure B.19

1394-CCAE01, -03, -08, and -15 Cable

+5V AX0

1756-M02AE

+5V AX1

3.0 in.

ENABLE/DRIVE FAULT - AXIS 0

7

1

12 6

Interconnect and CE Diagrams

Figure B.20

1394-CFLAE01, -03, -08, -15 Cable Pin-outs

+5V

+5VCOM

3

9

RED 22GA

BLACK 22GA

DRAIN

CHANNEL A HIGH

CHANNEL A LOW

CHANNEL B HIGH

CHANNEL B LOW

CHANNEL Z HIGH

CHANNEL Z LOW

VREF+

TREF+

VREF-

TREF-

(DROK-0)

(24V EN COM)

(24V)

(AX_-ENABLE)

4

10

5

11

6

12

7

8

1

2

ORANGE 22GA

WHT/ORG 22GA

YELLOW 22GA

WHT/YEL 22GA

GREEN 22GA

WHT/GRN 22GA

DRAIN

BLUE 22GA

WHT/BLU 22GA

DRAIN

VIOLET 22GA

WHT/VIO 22GA

GRAY 22GA

WHT/GRY 22GA

DRAIN

TO SYSTEM

FAULT STRING

RED 22GA

BLACK 22GA

DRAIN

Figure B.21

1394-CFLAE01, -03, -08, and -15 Cable

Individually Jacketed Pairs

AXIS 0 1394-CFLAE

M02AE - OK

1756-M02AE

5.0 in.

5V ENC PWR - AXIS 0

1.0 in.

B-27

Publication 1394-5.0 — May 2000

B-28

Interconnect and CE Diagrams

Figure B.22

1394-GE15 Cable Connections

1

394 Encoder

Feedback Connector

NC

7

1

2

3

4

5

6

8

9

12

Cable is Belden 9505

Black

Yellow

White

Black

Green

Black

Blue

Black

Red

Black

Shield

Flying Leads to

Incremental Encoder or

Customer-Supplied Termination

NC

Strobe

A High

A Low

B High

B Low

Z High

Z Low

+5V Out

Common Out

Shield

Encoder Power

1

(ENC. PWR)

10

Red

+5V Input

11

Black

Common In

Cable is Belden 9501

1

Customer supplied 5V DC power source is required for encoder board whether encoder supply voltage is

5V or not.

Figure B.23

1394-GR04 Cable Connections

4100-REC Axis 0 or

Axis 1 Connector

4

10

5

9

2

11

6

12

Black

Red

White

Black

Green

Black

Blue

Black

Cable is Belden 9504

1394 GMC or GMC Turbo

Encoder Feedback Connector

1

2

3

9

7

4

5

6

Encoder Power

(ENC. PWR)

+5V DC

+5V DC Com

Red

Black

Cable is Belden 9501

12

12

10

11

Publication 1394-5.0 — May 2000

Interconnect and CE Diagrams

B-29

Figure B.24

1394-SA15 Cable Connections

1

394-SA15 Encoder

Feedback Connector

12

6

11

5

10

4

Cable is Belden 9503

Black

Green

Black

Red

Black

White

2

8

1

7

3

9

Cable is Belden 9729

Red

Black

White

Black

Cable is Belden 9501

Red

Black

Flying Leads of

Customer Supplied Cable

Z Low

Z High

B Low

B High

A Low

A High

Shield

Incremental Encoder

(ENCODER)

Shield

Axis X VREF+

Axis X VREF-

Axis X TREF+

Axis X TREF-

Shield

Shield

Analog Input

(V&TREF)

+5V Input

Common In

Shield

Encoder Power

(ENC. PWR)

Publication 1394-5.0 — May 2000

B-30

Interconnect and CE Diagrams

Three-Phase

Mains with

Ground

Conduit Clamp

Filtered Conductors

Grounding for 1394 CE Requirements

Refer to the figure below for CE grounding requirements for 1394 installation.

Figure B.25

1394 CE Requirements

Ground Conduit to Enclosure

E

Filter

User-Supplied

Discrete I/O

1

Unfiltered Conductors

User-Supplied

24V

Power Source

Enclosure

ESC SEL

JOG

Three-Phase

Contactor

3

5

Enclosure

Bonded System

Ground Bar

6

2

360 Shield

Termination at

Enclosure by

User

4

Resolver/

High Resolution

Feedback

Cables

1

The GMC version requires an Allen-Bradley filter (catalog number SP-74102-006-01, -02, -03) or equivalent Roxburgh filter (catalog number MIF323-GS, or

MIF330-GS, or MIF375-GS respectively).

Mount the filter as close to the 1394 as possible. Isolate filtered conductors from unfiltered conductors. It is recommended to mount the filter to the right of the axis modules to simplify routing of filtered (clean) and unfiltered (noisy) wiring. The load end of the filter is considered noisy and should be routed carefully away from clean signal wires.

2

360 shield termination for system module cables at the enclosure is required only for the GMC version. The termination for axis module cables are required

4 for all versions of the 1394. Use Wieland Electric commercial clamps or equivalent.

3

The filter shown is sized for one 1394. Equivalent filters may be used for multiple units. Size the filter following the manufacturers recommendation.

The 1326xxxx-Ex -xxx bulkhead cables are designed specifically to provide 360 shield termination.

5

Wire 5 and 10 kW (Series C) optional three-phase input power to the system via connector J10-4.

6

Ground bar is customer-supplied item for all Series A and B systems. Ground bar is included on all Series C systems.

I

mportant:

All three-phase power in the cabinet must be filtered to reduce EMI.

Publication 1394-5.0 — May 2000

Appendix

C

Chapter Objectives

The Human Interface Module

(HIM)

Using the Human Interface Module

(HIM)

This appendix covers:

• The Human Interface Module (HIM)

• Understanding HIM operation

• Auto tuning

• Removing the HIM

The 1394 Analog Servo System (1394

x

-SJT

xx

-A) provides a SCANport interface and uses the standard Allen-Bradley Bulletin 1201 HIM to make setup and configuration easy. This is the same device used with other

Allen-Bradley drives and general conventions and operation are the same.

We recommend that you use HIM firmware revision 3.0x and later or the

Series B HIM, which will give you the setup and copy cat (Series B HIM only) features.

Note: To determine the series of your module, refer to Figure P.1 in the

Preface

.

The drive-mounted HIM, which is available only with the analog servo version of the 1394, is accessible from the front of the drive as shown in

Figure C.1. The HIM has two main functions:

• Provide a means of programming the drive and viewing operating parameters.

• Allow different drive functions to be controlled.

There are three types of HIM modules available:

• 1201-HA2 (shown in Figure C.1)

• 1201-HAP (program only)

• 1201-HA1 (analog potentiometer)

Important:

The HIM is available only on the Analog Servo version of the 1394.

Publication 1394-5.0 — May 2000

C-2

Using the Human Interface Module (HIM)

Figure C.1

HIM Mounted on 1394 Analog Servo System

Allen-Bradley

1394 Digital Servo Controller

System Module

There are two SCANports located on the 1394 analog servo board.

Port 1 is located at the top of the analog servo board and port 2 is located at the bottom of the analog servo board.

When you are using the HIM:

In the HIM cradle

As a hand-held device

Understanding HIM Keys

The following diagram shows the HIM front panel.

Figure C.2

HIM Front Panel

Use port:

1

2

Publication 1394-5.0 — May 2000

Using the Human Interface Module (HIM)

C-3

The keys that are available for use on the HIM are described below:

Note: The keys that are not described (shaded in Figure C.2) are not currently used.

Escape

When you press the ESC key, the programming system goes back one level in the menu tree.

Select

When you press the SEL key the cursor move alternately to the top or bottom line of the display thereby activating that portion of the display. The flashing first character indicates which line is active.

Increment/Decrement

These keys increment and decrement a value or scroll through different groups or parameters.

Enter

When you press the enter key, a group or parameter is selected or a parameter value is entered into memory. After a parameter has been entered into memory, the top line of the display will automatically become active, allowing you to choose another parameter or group.

Start

If hardware is enabled and no other control devices are sending a Stop command, Start initiates drive operation

(default setting). To change this function, you need to reconfigure the [Command Mask] and [Typ 1 Logic Axis] parameters. Refer to the

Configuring Your 1394 Analog

Servo System

chapter.

!

ATTENTION:

To avoid personal injury or damage to equipment, you must supply a 24V DC enable signal to the axis that is in START mode.

Stop

When you press STOP, a stop sequence is initiated at the

System Module causing a controlled stop to be initiated in each axis, as determined by [Stop Mode], [Stop Time

Lim] and [Stopping Cur]. Refer to the

Configuring Your

1394 Analog Servo System

chapter for more information.

STOP can also be used to clear some fault messages after the condition that caused the fault is corrected.

Publication 1394-5.0 — May 2000

C-4

Using the Human Interface Module (HIM)

Understanding HIM Operation

Jog

At its default setting, when you press this key, the motor jogs at a speed determined by the [Jog Vel] parameter for any axis that is enabled (default is 20% of motor rated speed). Releasing the key stops the function. You can use this function during startup as a battery box to move an axis. To change this function, you need to reconfigure the

[Command Mask] and [Typ 1 Logic Axis] parameters.

Refer to the

Configuring Your 1394 Analog Servo System

chapter for more information.

To jog for the axis:

1.

Supply a 24V DC enable signal to the axis that is in

JOG mode.

2.

Press STOP on the HIM to have control of the velocity reference command.

3.

Press JOG for the axis to jog at the value set in the

[Jog Vel] parameter (348, 349, 350, 351). Refer to the

Configuring Your 1394 Analog Servo System

chapter for more information.

Change Direction

(Jog/Digital Velocity Reference Modes

Only)

Pressing this key causes the motor to change direction. The appropriate direction indicator illuminates to indicate direction.

Direction LEDs (Indicators)

These LEDs illuminate to indicate the direction of motor rotation for Axis 0 (by default). This is a display LED only.

When you first apply power to the drive, the HIM cycles through a series of displays:

• System/drive name

• HIM ID number

• Communication status

• Status display

Publication 1394-5.0 — May 2000

Figure C.3

Status Display

Using the Human Interface Module (HIM)

C-5

Press ENTER to display Choose Mode. Press the Increment or

Decrement keys to see different modes that you can select. Refer to

Figure C.4 and the descriptions on the following pages for more information.

Understanding HIM Modes

The HIM uses different modes for different purposes.

Display Mode

Display mode allows you to view any of the parameters without being able to modify them.

Program Mode

Program mode provides access to the complete listing of parameters available for programming.

Link Mode

Linking creates a connection between two parameters so that information can be passed to or from another device. Refer to

Linking

Parameters

for more information.

Startup Mode

Startup mode initiates the auto startup procedure for the 1394. Refer to the

Configuring Your 1394 Analog Servo System

chapter for more information.

EEProm Mode

EEProm mode allows you to reset all parameters to the factory default settings. The EEProm mode also allows you to save values that you program to nonvolatile memory (EEProm) to be used as user defaults.

Recall mode restores any previously stored user values. EEProm mode also contains the optional Copy Cat feature if it is available on your Series B HIM.

Important:

The Drive/System must be disabled in order for the save

Function to be executed properly.

Publication 1394-5.0 — May 2000

C-6

Using the Human Interface Module (HIM)

Search Mode

Search mode allows you to search for established links or modifiable parameters that are not at their default values.

Control Status Mode

Control Status enables or disables HIM control and provides access to a fault and warning queue, which lists the last eight faults that have occurred. If the word “Trip” appears with a fault, that fault actually tripped the drive. To clear the queue, use the clear function.

Password

The Password menu has three choices. The Password Login menu is used to enable programming by entering the correct password. The default password is 0, which disables the password function. The

Password Modify menu allows you to change the password. The password 1201 is permanently embedded in the system and can be used to override the current password. Finally, the Password Logout menu is used to logout of the programming mode.

Linking Parameters

Linking creates a connection between two parameters so that information can be passed to or from another device. The source parameter is the parameter from which the information is coming, and the destination parameter is the location into which the information will be put. For example, you might choose to link axis parameter 220

Vel Command (speed) to analog output 1 to provide an analog voltage signal to a chart recorder.

Note: You cannot change linked parameters while the system is running.

To link parameters:

Note: These steps assume that you are starting from the top level of the HIM (Sys Wait Bus).

1.

At the HIM, press

ENTER

. A message similar to the following appears:

Choose Mode

Display

2.

Press either the up or down arrow key until the following appears:

Choose Mode

Link

3.

Press

ENTER

. The system records your choice and the following message appears:

Link

Set Links

Publication 1394-5.0 — May 2000

Using the Human Interface Module (HIM)

C-7

4.

Press

ENTER

. The system records your choice, scans for linkable parameters, and a message similar to the following appears:

D/A # 1 Value

<12> <--- 232>

5.

The number on the left is the destination and the number on the right is the source.

6.

Press either the up or down arrow key until the parameter in which you want to store the linked value appears.

7.

Press

SEL

. The cursor moves to the source parameter.

8.

Press either the up or down arrow key until the parameter from which you will get the linked value appears.

9.

Press

ENTER

. The system records your choice and the cursor moves to the destination value.

10.

Press

ESC

. The following appears:

Link

Set Links

11.

Press

ESC

. The following appears:

Choose Mode

Link

12.

Press either the up or down arrow key until the following appears:

Choose Mode

EEPROM

13.

Press

ENTER

. The system records your choice and the following message appears:

EEPROM

Save Values

14.

Press

ENTER

. The system saves the values that you entered and the following message appears:

Choose Mode

EEPROM

Using Copy Cat

Copy Cat is an optional (Series B HIM only) file upload/download utility that copies the information from one drive and stores it in the

HIM so that you can make a duplicate of it to place in another system or create a backup of a system’s information. It copies parameters and links and pastes all the read/write parameters and links to another drive. You can store copies of up to two different systems in the HIM at one time.

Publication 1394-5.0 — May 2000

C-8

Using the Human Interface Module (HIM)

Copying a System’s Information

Note: These steps assume that you are starting from the top level of the HIM (Sys Wait Bus).

To copy a drive’s information using Copy Cat:

1.

At the HIM, press

ENTER

. A message similar to the following appears:

Choose Mode

Display

2.

Press either the up or down arrow key until the following appears:

Choose Mode

EEPROM

3.

Press

ENTER

. The system records your choice and a message similar to the following appears:

EEPROM

Save Values

4.

Press either the up or down arrow key until the following appears:

EEPROM

Drive -> HIM

5.

Press

ENTER

. The system records your choice and the following message appears:

Drive -> HIM

1

Note: You can store up to two sets of system/drive information in the HIM at one time. The 1 in the example above means that this is copy number 1.

6.

1

2

If you want to use location:

Press either the up or down arrow key until:

A 1 appears on the bottom.

A 2 appears on the bottom.

7.

Press

SEL

. A message similar to the following appears:

Drive -> HIM

1 A

Note: The A represents the symbols that you can use to give this copy a name.

8.

Press either the up or down arrow key until the location in which the A originally appeared becomes the first letter of the name that you want this copy to have.

9.

Press

SEL

. The letter is selected, appears on the display and another A appears next to it.

Publication 1394-5.0 — May 2000

Using the Human Interface Module (HIM)

C-9

10.

Repeat steps 8. through 10. until the complete name you want appears.

11.

Press

ENTER

. The cursor moves to the location number.

12.

Press

ENTER

. A message similar to the following appears:

B1394 Servo Drv

Version 3.00

Note: The version number on the bottom of the display represent the firmware revision of the information that you will copy.

13.

Press

ENTER

. The copy begins and a message similar to the following appears:

Drive -> HIM ##

■

Note: The numbers of the parameters scroll as they are copied and more solid boxes appear on the bottom to show the status of the copy.

When the copy is complete, a message similar to the following appears:

Drive --> HIM ###

Completed

14.

Press

ESC

. A message similar to the following appears:

Choose Mode

EEPROM

Pasting a System’s Information

To place one system’s information into another system using Copy

Cat:

1.

Connect the HIM to the system into which you want to paste the information stored in the HIM.

2.

At the HIM, press

ENTER

. A message similar to the following appears:

Choose Mode

Display

3.

Press either the up or down arrow key until the following appears:

Choose Mode

EEPROM

4.

Press

ENTER

. The system records your choice and the following message appears:

EEPROM

Save Values

5.

Press either the up or down arrow key until the following appears:

EEPROM

HIM -> Drive

Publication 1394-5.0 — May 2000

C-10

Auto Tuning

Using the Human Interface Module (HIM)

6.

Press

ENTER

. The system records your choice and a message similar to the following appears:

HIM -> Drive

1 FIRST

7.

If you have more than one copy of the contents of a drive stored in the HIM, press either the up or down arrow key until the number assigned to the information you want appears.

8.

Press

ENTER

. A message similar to the following appears:

B1394 Servo Drv

3.00 --> 3.00

Note: The numbers on the bottom of the display represent the firmware revision of the copy stored on the HIM (left) and the firmware revision of the system to which you will copy the information (right).

9.

Press

ENTER

. A message similar to the following appears:

Drive -> HIM ##

■

Note: The numbers of the parameters scroll as they are copied and more solid boxes appear on the bottom to show the status of the copy.

10.

When the copy is complete, a message similar to the following appears:

Drive --> HIM ###

Completed

11.

Press

ESC

. A message similar to the following appears:

Choose Mode

EEPROM

12.

Press

ENTER

. The system records your choice and the following message appears:

EEPROM

Save Values

13.

Press

ENTER

. The system saves the values that you entered and the following message appears:

Choose Mode

EEPROM

You will normally auto tune your system as part of the set up procedure. The procedures in this section describe how to auto tune at other times. It also includes details on parameters that are set as a result of auto tuning.

1.

Access the "ATune Config" group of parameters.

Publication 1394-5.0 — May 2000

Using the Human Interface Module (HIM)

C-11

2.

Set [Vel Damp Sel], [Desired BW], [ATune Vel], and [ATune

Current] parameters as desired.

Note: Normally the default values will be OK.

3.

Select [ATune Sel]. Verify that the axis is disabled and the drive has not faulted.

4.

Choose "Axis Tune." "Enable Axis" appears on the HIM.

5.

Enable the axis. Auto tune begins. In most cases, this will take less than a second and result in the motor turning 1/2 revolution.

The axis is disabled and "Opr Complete" appears on the HIM.

The following parameters will be calculated and set accordingly:

[Prop Gain Kp]

[Intg Gain Ki]

[Max Bandwidth]

[ATune Inertia]

[ATune Frictn]

In addition, the parameters listed below will be raised if necessary to assure stability.

[Vel LowPas BW]

[Cur Rate Lim]

6.

When the auto tune is complete, cycle Enable to Off.

7.

Cycle Enable to On. All new parameters take effect and the axis runs.

If the resultant dynamic loop tuning is not what you want, you can modify the tuning in several ways:

• Change the [Vel Damp Sel] parameter to a smaller value to result in a more precise response. Then set [ATune Sel] to "Calculate."

The new loop parameters will be recalculated and modified. A larger value will result in a less precise response.

• Raise [Desired BW] to make a more precise response or lower it for a less precise response. Then set [ATune Sel] to "Calculate."

The new loop parameters will be recalculated and modified.

Note: Increasing the BW can cause stability problems. If the axis is unstable, lowering the BW can help.

• Adjust Kp and Ki manually to obtain the desired response.

Getting an Overview of HIM Programming

The diagram on the following pages provides an overview of how the

HIM operates.

Publication 1394-5.0 — May 2000

C-12

Using the Human Interface Module (HIM)

OPERATOR LEVEL

Figure C.4

HIM Programming Flow Chart

Power-Up Mode &

Status Display

ESC

or

SEL

or or or

"Choose Mode"

MODE LEVEL

Display

(Read Only)

Program

(Read and Write)

Link

FILE LEVEL

Choose File

System Lvl Parms

Startup

Set Links

Clear All Links

Continue

Reset Sequence

Choose File

Axis 0 Params

GROUP LEVEL

Choose Group Choose Group

Configuration

Setup

Monitor

Parms

Smart Sys Data Linear List

Software Version

Line Voltage

System Type

Axis Type

Motor Type

Mode Sel

Drive OK Mode

Line Voltage

Disp-D/A Monitor

D/A Gain #1

D/A Gain #2

Command Mask

Typ 1 Logic Axis

Dig Cmd Mode

Enble Input Mode

Type 1 Status

Type 2 Status

Vel Command

Vel Feedback

Iq Cur Ref

Resolvr Posn

Resolvvr Turns

Sys I/O Image

Hardware Version

DC Link Setup

Shunt Peak Usage

Shunt Usage

Mt Power Usage

Rg Power Usage

Bus Voltage

PARAMETER LEVEL

Publication 1394-5.0 — May 2000

Startup Parms

Vel

Cmd Data

Motor Type

Mode Sel

Current Limit

Vel Lim

ATune Select

Vel Command

Vel Feedback

Vel Source

Vel Ref Whole

Int Vel Ref

CW Vel Lim

CCW Vel Lim

Vel Rate Lim

CW OvSpd Vel

CCW OvSpd Vel

Stop Mode

Stopping Cur

Stop Time Lim

Jog Vel

Up To Spd Tol

Anlg Vel Ofst

Anlg Vel Scal

Using the Human Interface Module (HIM)

C-13

OPERATOR LEVEL

EEPROM

Reset Defaults,

Recall Values,

Save Values

Search

Parameters

Links

Control

Status

Control Logic

Warning Queue

Fault Queue

Password

MODE LEVEL

FILE LEVEL

Login, Logout,

Modify

GROUP LEVEL

ATune

Config

Vel

Loop Tune

Torq

Data

Mtr Data

AnBklsh Conf

Optional

Linear List

ATune Select

Vel Damp Sel

Desired BW

Max Bandwidth

ATune Vel

ATune Current

ATune Inertia

ATune Frictn

Prop Gain Kp

Intg Gain Ki

Prop Gain Kp

Intg Gain Ki

Feed Fwd Gain

Droop

Vel LowPas BW

Ld/Lg Degrees

Ld/Lg Freq

Cur Lim Cause

Iq Cur Ref

Id Cur Ref

Torq Source

Dig Torq Ref

Int Torq Ref

Pos Cur Lim

Neg Cur Lim

Cur Rate Lim

Cur Preload

Module Size

Cur Fbk Rated

Note:

Parameters that appear in more than one group are shown in

Bold

Motor Type

Mtr Rated Cur

Mtr Peak Cur

Mtr Inertia

Id RPM Start

Id RPM End

Id Slope

300% Torq Vel

100% Torq Vel

Mtr Pole Cnt

Fdbk Pole Cnt

Torq Source

Cur Preload

AnBklsh Leadr

AnBklsh Sense

Prop Gain Kp

Intg Gain Ki

PARAMETER LEVEL

Publication 1394-5.0 — May 2000

C-14

Using the Human Interface Module (HIM)

Removing the HIM

You can remove the HIM and use it as a hand-held unit, up to 10 meters (33 feet) from the system.

!

ATTENTION:

To avoid an electric shock hazard, use extreme caution when removing/replacing the HIM cable. Some voltages present behind the System Module front cover are at incoming line potential.

Removing the HIM from the HIM Cradle

To remove the HIM from the HIM cradle:

1.

If you intend to disconnect the HIM, complete the steps in the

Removing Power From the HIM

section.

2.

Open the 1394 System Module door.

3.

On the inside of the door, there are four slots, one in each corner of the HIM cradle. Insert a screwdriver into each slot, one slot at a time, and gently push the tab holding the HIM to the outside until that corner of the HIM is no longer restrained. When the HIM is no longer restrained, it will pop out of the cradle.

Disconnecting the HIM from the System Module

Important:

Disconnecting a HIM (or other SCANport device) from the 1394 while power is applied can cause a Serial Fault.

Before you disconnect the HIM, you need to disable it. To disable the

HIM:

1.

At the HIM, press

ENTER

. The following message appears:

Choose Mode

Start Up

2.

Press

SEL

. The cursor moves to the bottom line.

3.

Press either the up or down arrow key until the following appears:

Choose Mode

Control Status

4.

Press

ENTER

. The system records your choice and the cursor moves to the top line.

5.

Press

ENTER

. The following message appears:

Control Status

Control Logic

6.

Press

SEL

. The cursor moves to the bottom line.

7.

Press

ENTER

. The system records your choice and the cursor moves to the top line.

Publication 1394-5.0 — May 2000

Using the Human Interface Module (HIM)

C-15

8.

Press

ENTER

. The following message appears:

Control Logic

Enabled

9.

Press

SEL

. The cursor moves to the bottom line.

10.

Press either the up or down arrow key until the following appears:

Control Logic

Disabled

11.

Press

ENTER

. The system records your choice and the cursor moves to the top line.

12.

Press

ESC

. Press the up or down arrow key until the following appears:

Choose Mode

EEPROM

13.

Press

ENTER

. The system records your choice and a message similar to the following appears:

EEPROM

Save Values

14.

Press

ENTER

. The system saves the values that you entered and the following message appears:

Choose Mode

EEPROM

15.

Remove power.

16.

Remove cable from the HIM.

Setting Up the HIM for Hand-Held Use

To prepare the HIM for hand-held use:

1.

If you are setting up:

Do this:

A new HIM Go to step 2 below.

A HIM that is currently in the

HIM cradle

1. Remove the HIM from the HIM cradle using the steps in the

Removing the HIM from the

HIM Cradle

section.

2. Complete the steps in the

Disconnecting the

HIM from the System Module

section.

3. Go to step 2 below.

2.

Connect the appropriate cable between the HIM and the communications port.

Note: A second SCANport connection is available

(communications port 2) at the bottom of the system module. This port can also be used for a hand-held HIM.

3.

Apply power.

Publication 1394-5.0 — May 2000

C-16

Using the Human Interface Module (HIM)

Placing the HIM in the HIM Cradle

To put the HIM in the HIM cradle:

1.

If it’s not already connected, connect the SCANport cable to the

HIM.

2.

With the keypad facing you, slide the top of the HIM up into the

HIM cradle and push the bottom end of the HIM into the cradle until the tabs latch the HIM. The tabs lock the HIM into place.

Publication 1394-5.0 — May 2000

Understanding Catalog

Numbers

Appendix

D

Catalog Numbers

Catalog numbers consist of various components that make up a 1394 system. Each character of the catalog number identifies a specific version or option for that component. The first four numbers represent the family of products (for example, 1394). The remaining characters represent a specific version or option of that module or family.

Determining Catalog Numbers

To help you to understand, we will provide an example of how to determine a catalog number for a 1394 system module.

The beginning portion of the catalog number for all 1394 system modules is 1394

x

-SJT (S for system module, J for 360/480V AC, 50/60 Hz, and T for three-phase). In addition, you have the following options for which you must make a selection:

The options must appear in the order shown.

1394series-SJT kw rating-option-RL option

For example, if you were to use the table in the following section

1394

System Modules

to select the Series C, 5 kW, integrated motion controller, with RIO and Axis Link, the catalog number would be:

1394C-SJT05-C-RL

When you combine all of the numbers, you create the catalog number for the system module that you require.

Publication 1394-5.0 — May 2000

D-2

Catalog Numbers

System Modules

Bulletin

Number

1394

1394 System Module

Type

Input

Voltage

Input

Phase kW

Rating

Factory Installed

Options

C = Series C enhancements

1

Blank = No Series C enhancements

S = System module

J = 360/480V AC, 50/60 Hz

T = three-phase

05 = 5 kW

10 = 10 kW

22 = 22 kW (not available with the -L option)

A = With +/-10V DC analog input (HIM not included)

C = With IMC S Class integrated motion controller (supports four axes and four auxiliary encoder inputs)

D = With SERCOS network interface

L = With IMC S Class integrated motion controller (supports one axis and two auxiliary encoder inputs)

T = With IMC S Class Turbo integrated motion controller

E = With 9/Series interface

RL = With RIO and AxisLink (can only be ordered with the -C, -L, or -T options)

1

Enhanced system modules have Smart Power, improved terminations, and EMI filtering. Enhancements available only with

1394C-SJT xx-A, -C, -D, -L, and -T system modules.

9/440 System Module (Resolver based systems)

Bulletin

Number

Number of

Axes

System

Type kW

Rating

8520 C

1 = 1 axis

3 = 3 axes

4 = 4 axes

S = 9/440

5 = 5 kW

10 = 10 kW

22 = 22 kW

Note: 8520-C (Series C) system modules include Smart Power, improved terminations, and EMI filtering.

Refer to 9/Series Integration and Maintenance Manual (publication 8520-6.2) for more information.

Publication 1394-5.0 — May 2000

Catalog Numbers

D-3

CNC Serial Drive System Module

Bulletin

Number kW

Rating

Auxiliary

Feedback

8520-SER

Auxiliary

Feedback

5 = 5 kW

10 = 10 kW

22 = 22 kW

2Q = Two ports Encoder Feedback

Blank = no option

4Q = Two more ports Encoder Feedback

Blank = no option

Note: Refer to 9/Series Integration and Maintenance Manual (publication 8520-6.2) for more information.

9/440 High Resolution/Absolute CNC System Module

Bulletin

Number

8520 CHR

kW

Rating

High Performance 1326 Motor Internal Feedback

Auxiliary Feedback

5 = 5 kW

10 = 10 kW

22 = 22 kW

A1 = Axis 1

Blank = no option

A2 = Axis 2

Blank = no option

A3 = Axis 3

Blank = no option

A4 = Axis 4

Blank = no option

2Q = Two ports Encoder Feedback

Blank = no option

4Q = Two more ports Encoder Feedback

Blank = no option

Note: 8520-CHR (Series C) system modules include Smart Power, improved terminations, and EMI filtering. Refer to 9/Series Integration and

Maintenance Manual (publication 8520-6.2) for more information.

Publication 1394-5.0 — May 2000

D-4

Catalog Numbers

Axis Modules

External Shunt Modules

Bulletin

Number

1394

Type

Output

Designator

C = Series C enhancements 1

Blank = No Series C enhancements

AM = Servo amplifer module

03 = 2 kW

04 = 3 kW

07 = 5 kW

50 = 15.6 kW

75 = 23.8 kW

IH = AM50 and AM75 with inside cabinet heatsink (Series C only)

Blank = 03, 04, 07, and AM50 and AM75 with through

cabinet heatsink only

1

Enhanced axis modules have improved terminations and EMI filtering.

Shunt Resistor Kit for 5 and 10 kW System Modules

Bulletin

Number Type kW

Rating

1394

SR = Shunt resistor

10A = 1400W continuous, 40,000W peak

Shunt Modules for 22 kW System Modules

Bulletin

Number Type Style/Rating

1394

SR = Shunt resistor

9A = 300W continuous 160,000W peak, no fan

9AF = 900W continuous, 160,000W peak, no fan

36A = 1800W continuous, 160,000W peak, no fan

36AF = 3600W continuous, 160,000W peak, fan cooled module

Publication 1394-5.0 — May 2000

System Module Cables

Catalog Numbers

D-5

Control Interface Cables

Bulletin

Number

1394

Type

SA15 = 5.9 m (15 ft) cable for the 1394 Servo

AQB interconnect to the motion controller.

GE15 = 5.9 m (15 ft) cable (drive-end connector on one end and flying leads on the other) from an external encoder to the 1394 GMC system module. You will also require 1326-CEU or equivalent cable to terminate to this cable.

GR04 = 1.2 m (4 ft) cable from the REC (Resolver to

Incremental Encoder Converter) to the 1394

GMC System Module.

Bulletin

Number

1394

Single Axis Flying Lead Cable

Type Flying Lead

1394 Interface to

Cable Style and Length

C = Cable

FL = Flying Lead

AE = Analog/Encoder ControlLogix Servo Module

01 = M02AE flying lead to 1394-SJT xx-A flying lead, 1 axis, 1 m (3.28 ft)

03 = M02AE flying lead to 1394-SJT xx-A flying lead, 1 axis, 3 m (9.84 ft)

08 = M02AE flying lead to 1394-SJT xx-A flying lead, 1 axis, 8 m (26.24 ft)

15 = M02AE flying lead to 1394-SJT xx-A flying lead, 1 axis, 15 m (49.2 ft)

Two-Axis Prewired Cable

Bulletin

Number

1394

Type 1394 Interface to

Cable Style and Length

CC = Cable with ControlLogix

M02AE Connector

AE = Analog/Encoder ControlLogix Servo Module

01 = M02AE pre-wired connector to 1394 x-SJTxx-A flying lead, 2 axes, 1 m (3.28 ft)

03 = M02AE pre-wired connector to 1394 x-SJTxx-A flying lead, 2 axes, 3 m (9.84 ft)

08 = M02AE pre-wired connector to 1394 x-SJTxx-A flying lead, 2 axes, 8 m (26.24 ft)

15 = M02AE pre-wired connector to 1394 x-SJTxx-A flying lead, 2 axes, 15 m (49.2 ft)

Publication 1394-5.0 — May 2000

D-6

Catalog Numbers

1326AB Servo Motors

Bulletin

Number

1326

Type Voltage

Frame

Series

Motor

Length

Motor

Winding

Designator

Flange and Shaft

Series

Feedbacks

2

Standard

Options

AB = Ferrite AC Servo Motor

B = 480/360V AC

4 = 108 mm frame diameter (115 mm bolt center)

5 = 149 mm frame diameter (165 mm bolt center)

7 = 194 mm frame diameter (215 mm bolt center)

Sequentially numbered to indicate the magnet stack length within a given frame size

Letter designation for rated motor speed

1

21 = IEC metric flange with keyway

M = Multi-turn high-resolution feedback

Blank = resolver-based feedback

L = IP67 environmental rating only for all frame series

K4 = 8.1 N-m (72 lb-in.) Holding brake with 24V DC coil for 1326AB-B4 frame series

K5 = 13.6 N-m (120 lb-in.) Holding brake with 24V DC coil for 1326AB-B5 frame series

K7 = 41 N-m (140 lb-in.) Holding brake with 24V DC coil for 1326AB-B7 frame series

K4L = 8.1 N-m (72 lb-in.) Holding brake with 24V DC coil for 1326AB-B4 frame series with IP67 environmental rating

K5L = 13.6 N-m (120 lb-in.) Holding brake with 24V DC coil for 1326AB-B5 frame series with IP67 environmental rating

K7L = 41 N-m (140 lb-in.) Holding brake with 24V DC coil for 1326AB-B7 frame series with IP67 environmental rating

1

Refer to the Servo Motor Performance Data section in Appendix A for the rated speeds of all 1326AB 460/380V Torque Plus Series motors

.

2

High resolution encoder option is only available with IP67 environmental rating.

1326 Shaft Oil Seal Kit for 1326AB Motors

Bulletin

Number

Type

Shaft

Seal

Material

1326AB

MOD = Modification Kit

SS = Shaft Seal

V = Viton

AB4 = For a B4 series motor (IEC metric)

B2 = For a B5 series motor (IEC metric)

C2 = For a B7 series motor (IEC metric)

Note: This kit is not required for IP67 motors. The shaft seal is factory installed.

Motor Series and Mounting

Publication 1394-5.0 — May 2000

Catalog Numbers

D-7

Motor Junction Box Kit for 1326AB Motors

Bulletin

Number

1326AB

Type

Description

MOD = Modification Kit

RJAB1 = Kit for all B4 and B5 series motors

RJC1 = Kit for all B7 series motors

Note: The motor comes standard with IP65 plug style connectors mounted radially to the motor. This kit allows the connectors to be brought out axially to the motor without further wiring. Kit includes a motor junction box and mounting hardware.

Note: Do not use this kit with the high resolution encoder option. Instead, use the right angle connector cable option.

Feedback Mounting Adapter Kit for 1326AB Motors

Bulletin

Number

Type

Mounting

Adapter Kit

1326AB

MOD = Modification Kit

M40 = Allen-Bradley 845H Encoder for the

B4 series motor

M50 = Allen-Bradley 845H Encoder for the

B5 series motor

M60 = Allen-Bradley 845H Encoder for the

B7 series motor

M42 = Allen-Bradley 842A-31 Encoder for the

B4 series motor

M52 = Allen-Bradley 842A-31 Encoder for the

B5 series motor

M72 = Allen-Bradley 842A-31 Encoder for the

B7 series motor

Note: All kits contain a feedback mounting adapter, mounting hardware, and a coupling. The kit does not contain a feedback device.

Note: Do not use this kit with the high resolution encoder feedback option.

Publication 1394-5.0 — May 2000

D-8

Catalog Numbers

1326AS Servo Motors

Bulletin

Number Type Voltage

Frame

Series

Motor

Length

Motor

Winding

Designator

Flange and Shaft

Series

Standard

Options

1326

AS = Rare Earth AC Servomotor

B = 460V AC

3 = 75 mm (Approximate stator size)

4 = 100 mm (Approximate stator size)

6 = 150 mm (Approximate stator size)

8 = 200 mm (Approximate stator size)

Sequentially numbered to indicate the magnet stack length within a given frame size

Letter designation for rated motor speed

1

21 = IEC metric flange with keyway

K3 = 2.26 N-m (20 lb-in.) Holding brake with 24V DC coil for 1326AS-B3 frame series

K4 = 10.2 N-m (90 lb-in.) Holding brake with 24V DC coil for 1326AS-B4 frame series

K6 = 36.7 N-m (325 lb-in.) Holding brake with 24V DC coil for 1326AS-B6 frame series

K8 = 50.9 N-m (450 lb-in.) Holding brake with 24V DC coil for 1326AS-B8 frame series xxxxx = Special design options (factory assigned)

1

Refer to the Servo Motor Performance Data section in Appendix A for the rated speeds of the entire 1326AS Series family of motors

.

1326 Shaft Oil Seal Kit for 1326AS Motors

Bulletin

Number Series

0041

5065 =

5066 =

Nitrile shaft seal for 1326AS-B3 xxxx motors

Nitrile shaft seal for 1326AS-B4 xxxx motors

5067 = Nitrile shaft seal for 1326AS-B6 xxxx motors

5053-005 = Nitrile shaft seal for 1326AS-B8 xxxx motors

Publication 1394-5.0 — May 2000

Catalog Numbers

D-9

Motor Junction Box Kit for 1326AS Motors

Bulletin

Number Type

1326AS

RJ34 = Right angle junction box for B3 and B4 series motors.

Note: The motor comes standard with IP65 plug style connectors mounted radially to the motor. This kit allows the connectors to be brought out axially to the motor without further wiring. Kit includes a motor junction box and mounting hardware.

Feedback Mounting Adapter Kit for 1326AS Motors

Bulletin

Number

1326AS

Type

Mounting

Adapter Kit

MOD = Modification Kit

M32 = Allen-Bradley 842A-31 Encoder for the

B3 series motor

M42 = Allen-Bradley 842A-31 Encoder for the

B4 series motor

M62 = Allen-Bradley 842A-31 Encoder for the

B6 series motor

M82 = Allen-Bradley 842A-31 Encoder for the

B8 series motor

Note: All kits contain a feedback mounting adapter, mounting hardware, and a coupling. The kit does not contain a feedback device.

Publication 1394-5.0 — May 2000

D-10

Catalog Numbers

1326AH Servo Motors

For specifications and a detailed description of the 1326AH

Hazardous Duty motors, refer to

1326AH Hazardous Duty Motors

Product Data

(publication 1326AH-TD001B-US-P).

Bolt Circle and Frame Size

Number of

Magnet Stacks

Motor

Speed Frontbell

Brake

Brake Size Bulletin Number

1326AH

Voltage

B = 480/360 Volts

3 = 100 mm (3.93 in.) bolt circle, 85.9 mm (3.38 in.) maximum flange

4 = 115 mm (4.52 in.) bolt circle, 109.2 mm (4.29 in.) maximum flange

5 = 165 mm (6.49 in.) bolt circle, 152.4 mm (5.99 in.) maximum flange

30 = 3.0 Magnets

40 = 4.0 Magnets

E = 3,000 rpm

F = 4,000 rpm

21 = IEC Metric

Blank = Without brake

K = With Brake

Blank = Without brake

3 = Brake for motor with 100 mm (3.93 in.) bolt circle

4 = Brake for motor with 115 mm (4.52 in.) bolt circle

5 = Brake for motor with 165 mm (6.49 in.) bolt circle

Publication 1394-5.0 — May 2000

Catalog Numbers

Power and Feedback Cables

Bulletin

Number

Type

1326

Motor Power Cables

Function

Motor Size

Used On

Flex Cable

Option

Connector

Accessory

IP

Rating

C = Connector and cable

assembly

P = Power connection

B1 = 1326AB-B4 xxxx , -B5xxxx or 1326AS-B3xxxx,

-B4 xxxx

C1 - 1326AB-B7 xxxx , or 1326AS-B6xxxx, -B8xxxx

T = Flex-rated cable for high-flex applications

Blank = No option, standard cable

Blank = Single-standard connector

D = Double-ended, standard connector

E = Bulkhead connector

EE = Double-ended, bulkhead connector

RA = Right-angle connector

RB = Right-angle connector

Blank = IP65

L = IP67, harsh environment

005 = 5m (16.4 ft)

015 = 15m (49.2 ft)

030 = 30m (98.4 ft)

060 = 60m (196.8 ft)

084 = 84m (275.5 ft)

090 = 90m (295.2 ft)

Cable

Length

D-11

Publication 1394-5.0 — May 2000

D-12

Catalog Numbers

Bulletin

Number

1326

Type

Motor Feedback Cables

Function

Motor Size

Used On

Flex Cable

Option

Connector

Accessory

IP

Rating

Cable

Length

C = Connector and cable

assembly

C = Resolver feedback

EC = High-resolution

1

U = Commutation and encoder cable for all series motors

T = Flex-rated cable for high-flex applications

Blank = No option, standard cable

Blank = Single-standard connector

D = Double-ended, standard connector

E = Bulkhead connector

EE = Double-ended, bulkhead connector

RA = Right-angle connector

RB = Right-angle connector

Blank = IP65

L = IP67, harsh environment

005 = 5m (16.4 ft)

015 = 15m (49.2 ft)

030 = 30m (98.4 ft)

060 = 60m (196.8 ft)

084 = 84m (275.5 ft)

090 = 90m (295.2 ft)

1

For use with 1326AB-B xxxx-Mx motors only.

Encoder Feedback Cables for 1326AB Motors

Use the following encoder feedback cables for connecting an optional

845H encoder to a 1326AB motor.

Bulletin

Number

1326

Type Function

Motor Size

Used On

Cable

Length

C = Connector and cable

assembly

E = 845H encoder

U = Commutation and encoder cable for all series motors

15 = 15 ft

30 = 30 ft

50 = 50 ft

1

100 = 100 ft

1

1

Recommended for use with 12V encoders only.

Publication 1394-5.0 — May 2000

Catalog Numbers

D-13

Miscellaneous Accessories

The following additional accessories are also available:

Accessory: A-B Catalog Number:

Terminal operating tool

Terminal operating tool, steel

Brake and thermal axis connector kit

Cable ground clamp kit

1394-194

1394-194S

1394-199

1394C-GCLAMP

1394-CCFK resolver feedback connector kit, (includes the connector, pins, and extraction tool to connect to 1326-

CCUxxx motor feedback cables)

1394-CCFK

Mating half for the 10-position resolver connector plug shell N/A

Connector pins for resolver connector

Crimp tool for Encoder/AQB

Crimp-tool for resolver

Extraction tool

Mating half for the AQuadB 12-position auxiliary encoder connector plug shells

Connector pins for AQuadB and encoder connector

23A Roxburgh filter

30A Roxburgh filter

75A Roxburgh filter

N/A

N/A

N/A

N/A

N/A

N/A

SP-74102-006-01

SP-74102-006-02

SP-74102-006-03

Terminator

1394 User manual

Brake and thermal connector operating tool

Auxiliary encoder connector kit

SP-74102-015-01

1394-5.0

N/A

8520-M12F

Fan replacement kit for 1394-AM50/AM75 axis modules SP-74102-271-01

Kit, fuse, for 1394-SR10A (5 and 10 kW system modules) 1394-SR10A-FUSE-A

Manufacturer’s

Number:

N/A

N/A

N/A

N/A

N/A

AMP 770580-1

AMP 770988-3

AMP 90758-1

AMP 90759-1

AMP 455822-2

AMP 770581-1

AMP 770986-3

Roxburgh MIF323-GS

Roxburgh MIF330-GS

Roxburgh MIF375-GS

N/A

N/A

Wago 231-304

N/A

N/A

Bussmann

FWP-40A14F

Kit, fuse, for 1394-SR9A (Series B)

Kit, fuse, for 1394-SR9AF (Series B)

Kit, fuse, for 1394-SR36A (Series B)

Kit, fuse, for 1394-SR36AF (Series B)

1394-SR9A-FUSE-B

1394-SR9AF-FUSE-B

1394-SR36A-FUSE-B

1394-SR36AF-FUSE-B

Bussmann

FWP-50A14F

Note: To determine the series of your module, refer to Figure P.1 in the

Preface

.

Publication 1394-5.0 — May 2000

D-14

Catalog Numbers

Publication 1394-5.0 — May 2000

Index

Numerics

1326 cable pin-outs

1326-CCUTxxx flex rated commutation cable B-23

1326-CCUxxx standard commutation cable B-23

1326-CECU x xxx Lxxx high-resolution feedback cable B-24

1326-CEUxxx encoder feedback cable B-24

1326-CPB1Txxx flex rated power cable B-25

1326-CPB1xxx standard motor power cable B-24

1326-CPC1Txxx flex rated power cable B-25

1326-CPC1xxx standard power cable B-25

1394 analog servo system commissioning 7-1 configuring 8-1

Human Interface Module (HIM) 1-7 interconnect diagrams B-9 parameters 8-3 setting up 7-2 software diagram (part 1) 8-28 software diagram (part 2) 8-29 wiring 5-1

1394 cable pin-outs

1394-CCAE B-26

1394-CFLAE B-27

1394-GE15 B-28

1394-GR04 B-28

1394-SA15 B-29

1394 programming information

CNC 8-1

GMC or GMC Turbo 8-1

SERCOS 8-1

1394 standard features 1-15 control 1-15 integration 1-16 power 1-16

1394 system commissioning GMC/GMC turbo 6-1 installing for all systems 2-1 overview 1-1 troubleshooting 9-1 wiring for all systems 3-1 wiring for GMC/GMC turbo 4-1

1394 system modules 1-10

1394 system overview

1394 system components 1-9

9/440 1-8

9/Series 1-5 analog servo 1-7

CNC interface 1-5

GMC 1-3

GMC Turbo 1-3

SERCOS 1-6

1394 System Safety Precautions 1-2

1394-DCLM checking for a blown fuse 9-23

DC link cable 1-14 dimensions A-18 linking two DCLMs together 2-11 mounting 2-11 power plug 2-11 specifications A-4

1394-DIM configuration 4-21 configuration examples 4-22

DIM not connected to axis 4-23

DIM with multiple axis 4-22

DIM with single axis 4-23 input power wiring 4-24 connected to 1394-GMC/GMC turbo 4-19 connected to 1398-DDMxxx 4-20 connecting DIM ground to system ground 4-30 connecting position feedback encoder 4-29 dimensions A-18 installing resolver feedback input plug 4-30 overview 1-14 specifications A-4 wiring and configuring external drive 4-26

24V logic input power specifications A-5

A

Allen-Bradley label series designator P-3 analog servo system

See 1394 analog servo system analog test points setting up for analog servo 7-5 analog torque defining for analog servo 7-8 analog velocity defining for analog servo 7-7 applying power for analog servo 7-3 for GMC 6-2 auto tuning C-10 for analog servo 7-11 axis module axis module overview 1-11 catalog numbers D-4 dimensions A-18 installing replacement 9-18

LED 9-2 power dissipation A-10 removing 9-17

Publication 1394-5.0 — May 2000

I–2

Index replacing AM50 and AM75 fan 9-28 installing the new fan 9-31 removing the fan 9-28 specifications A-3

AxisLink 4-14 extended length 4-15 extended node (GMC Turbo) 4-15 extended node (GMC) 4-14 setting (GMC) 6-4, 6-5

B

bonding modules multiple sub panels 2-8 bonding your system 2-6 bonding modules 2-6

C

cables

1326 cable pinouts B-23

1394 cable pinouts B-26 catalog numbers control interface D-5 power and feedback D-11 single axis flying lead D-5 system module D-5 two-axis prewired D-5 connecting 1394 Analog Servo to ControlLogix

(connector) B-26 connecting 1394 Analog Servo to ControlLogix

(flying leads) B-27 connecting AQB to analog servo 5-5 connecting motor 3-26 connecting SCANport to analog servo 5-5 system module D-5 catalog numbers axis module D-4 cables control interface D-5 power and feedback D-11 single axis flying lead D-5 system module D-5 two-axis prewired D-5 external shunt modules D-4 external shunt resistor D-4 feedback mounting adapter kit

1326AB motors D-7

1326AS motors D-9 miscellaneous accessories D-13 motor junction box kit

1326AB motors D-7

1326AS motors D-9 motors

1326AB D-6

1326AH D-10

1326AS D-8 shaft oil seal kit

1326AB motors D-6

1326AS motors D-8 shunt modules for 22 kW D-4 system module

1394 systems D-2

9/440 high resolution/absolute D-3

9/440 systems D-2

CNC Serial Drive D-3 understanding D-1

CE complying with 2-1

EMC directive 2-1 grounding to meet CE requirements B-30 low voltage directive 2-2 meeting requirements 2-2

CE diagrams B-1 certification A-1 circuit breakers specifications A-6

CNC interface system

Data Highway Plus 1-5 interconnect diagrams B-12 overview 1-5 commissioning

1394 GMC and GMC turbo systems 6-1 configuring

1394 analog servo system 8-1 connecting communication cables 4-7 contact ratings specifications A-3 contactor specifications for user-supplied A-5 contents of manual P-2 continuous status viewing 9-6 conventions conventions used in this manual P-3 used for parameters 8-2 copy cat C-7 copying system information C-8 pasting system information C-9 crimp tool D-13 customer responsibility receiving and storage P-4

D

data highway connection 4-13

Publication 1394-5.0 — May 2000

Index

I–3

DC Link Module (DCLM)

See 1394-DCLM

DCLM

See 1394-DCLM digital torque defining for analog servo 7-9 digital velocity defining for analog servo 7-8

DIM

See 1394-DIM dimensions

1394-DCLM A-18

1394-DIM A-18

AB motors

1326AB-B4 A-25

1326AB-B5 A-26

1326AB-B7 A-27

AS motors

1326AS-B3 A-28

1326AS-B4 A-29

1326AS-B6 A-30

1326AS-B8 A-31 axis module A-18 external shunt A-22 filter A-20 motors A-25 shunt module

1394-SR10A A-22

1394-SR-36 xx A-24

1394-SR-9 xx A-23 system module A-17 documentation related documentation P-3

Drive Interface Module (DIM)

See 1394-DIM

E

EEPROM 7-2

EMC directive 2-1 encoder feedback wiring 4-10 encoder feedback cables catalog numbers, 1326AB motors D-12 environmental specifications

See specifications A-9

European Union directives 2-1 exiting before you finish setting up for analog servo 7-2 extended length AxisLink 4-15 external shunt dimensions A-22 external shunt modules catalog numbers D-4 mounting 2-15 mounting inside the cabinet 2-14 mounting outside the cabinet 2-13 orientation 2-12 external shunt resistor connecting 3-26 mounting 2-11 extraction tool D-13

F

factory default resetting to 6-4, 6-5 faults analog servo

ATune Fault 9-12

Bus Config 9-10

Bus Loss 9-12

Bus Low Vlt 9-10

Bus Ovr Vlt 9-10

CAN Hdwr 9-10

Cntctr Flt 9-10

Cur Limit 9-10

Cur Scaling (changed to Ring Write) 9-12

Fdbck Loss (resolver) 9-12

Ground Flt 9-11

Hdwr Fault 9-11

I(t) Fault 9-12

Memory 9-11

NV Memory 9-11

Ovr Speed 9-12, 9-13

Ovr temp 9-11, 9-12, 9-13

Phase Loss 9-11

Pre Charge 9-11 ring write 9-12

Serial Flt 9-11

Sftwr Flt 9-11

Shunt TmOut 9-11

Unkn Module 9-11

Unknown Flt 9-11 finding for 9/440 system 9-5, 9-13 finding for analog servo system 9-5, 9-10 finding for CNC interface system 9-5, 9-10 finding for GMC system 9-5

HIM display 9-7 system module analog servo 9-10 understanding analog servo systems 9-10 axis module 9-12 viewing status continuous (GMC) 9-6 instantaneous (GMC) 9-5

Publication 1394-5.0 — May 2000

I–4

Index feedback mounting adapter kit catalog numbers

1326AB motors D-7

1326AS motors D-9 filters dimensions A-20 specifications A-4 flex I/O 4-16 fuses checking for a blown fuse in 1394-DCLM 9-23 replacing 1394-SR10A fuse 9-25 replacing 1994-SR9A, -SR9AF, SR36A, and

-SR36AF shunt modules 9-26 replacing in 1394 shunt module 9-25

G

GMC fault descriptions 9-9 interconnect diagrams B-3

GMC system

AxisLink connections 4-14

DH-485 connections 4-13 encoder wiring 4-10 extended AxisLink connections 4-15 fault LEDs 9-9 flex I/O connections 4-16 input wiring board descriptions 4-5 layout 4-2 overview 1-3 registration inputs 4-7 remote I/O connections 4-16 serial communications 4-11 setting up using GML 3.

x .

x 6-5 setting up using GML Commander 6-3

SLC interface connections 4-17 wiring 4-1

GMC Turbo

SLC interface setup 4-17

GML 6-5

GML window 9-5, 9-6

Online Manager window 9-5, 9-6 viewing status continuous 9-6 instantaneous 9-5 watch feature 9-6 window 9-6 grounding multiple sub panels 3-13

PE ground for safety 3-12 system to subpanel 3-12 to meet CE requirements B-30

H

HIM 7-2 continuing from where you left off

(analog servo) 7-2 control status mode C-6 copy cat feature C-7 disconnecting from the system module C-14 display mode C-5

EEProm mode C-5 link mode C-5 linking parameters C-6 overview C-1 overview of programming C-11 placing in the HIM cradle C-16 program mode C-5 removing from the HIM cradle C-14 removing the module from the 1394 C-14 search mode C-6 setting up for hand-held use C-15 startup mode C-5 understanding modes C-5 understanding operation C-4 understanding the keys C-2

Human Interface Module, See HIM

I

input power wiring 3-18 determining input power 3-6 ground jumper

22 kW settings 3-9

5 and 10kW settings 3-8 grounded power configuration 3-6 ungrounded power configuration 3-7 input transformer specifications A-6 input wiring board analog servo layout 5-2 analog servo system signal descriptions 5-4 installing 2-1 mounting 2-8 instantaneous status viewing 9-5 interconnect diagrams B-1 analog servo B-9

CNC interface B-12

GMC B-3

GMC, analog servo, CNC interface B-2 thermal analog servo, 1394 x -SJT xx -A B-21

GMC, 1394C-SJT xx -L B-19

GMC, 1394 x -SJT xx -C and -T B-15

Publication 1394-5.0 — May 2000

Index

I–5

L

LED

9/440 system 9-3 analog servo system 9-2 axis module 7-3, 9-2, 9-4

CNC Interface system 9-3

GMC system 9-2

I/O ring status 9-3

R-I/O 9-3 status 9-2, 9-3, 9-4 system module 9-2 system module status 6-3, 7-3, 7-11 understanding 9-2

WATCHDOG 9-3 limits defining for analog servo 7-10 line input fusing specifications for user-supplied A-5 low voltage directive 2-2 custom for analog servo 7-6 for analog servo 7-5 mounting

1394-DCLM 2-9, 2-11

1394-DIM 2-9 axis modules 2-9 external shunt modules 2-11 external shunt resistor 2-11

GMC and GMC turbo systems 2-16 mounting your 1394 system 2-8 requirements

See system mounting requirements requirements, system 2-3 system module 2-8 multi-drop setting 6-4, 6-5

O

Off-line Development System (ODS) 1-5

Online Manager window 9-6

M

modules installing replacement axis 9-18 installing replacement system 9-20 removing axis 9-17 replacing AM50 and AM75 fan 9-28 removing system 9-19 replacing 9-16 replacing 1394-SR10A fuse 9-25 replacing fuse in 1994-SR9A, -SR9AF, SR36A, and -SR36AF 9-26 monitoring an axis for analog servo 7-5 motor dimensions

See dimensions motor feedback cables catalog numbers D-12 motor junction box kit catalog numbers

1326AB motors D-7

1326AS motors D-9 motor power cables catalog numbers D-11 motors

1326AB 1-12

1326AH 1-13

1326AS 1-12 catalog numbers

1326AB motors D-6

1326AH motors D-10

1326AS motors D-8 defining

P

parameters

1394 analog servo system 8-3 descriptions 8-2 linking C-6 pin-outs

1326 cables B-23

1394 cables B-26 power applying to your analog servo system 7-3 applying to your GMC system 6-2 control 3-18, 3-19, 6-2, 7-3 input 3-6, 6-2, 7-3 wiring 3-18 power dissipation A-10

1394-DCLM A-11

1394-DIM A-11 axis module A-10 shunt resistor A-11 system module A-10 problems detecting 9-2 programming information 8-1

R

reference source defining for axis for analog servo 7-6 related documentation P-3 remote I/O 4-16

Publication 1394-5.0 — May 2000

I–6

Index resetting critical drive parameters 6-4, 6-5 the system 6-4, 6-5

S

saving enabling 6-5

SCANport adapter 5-7 analog servo System 1-7

SERCOS System 1-6 wiring for 1394 analog servo system 5-1

SERCOS system overview 1-6 serial communications 4-11

Series designator P-3 servo motor performance data

1326AB motors A-32

1326AS motors A-33 setting up analog servo system 7-2 analog test points for analog servo 7-5 at the system level for analog servo 7-4 precautions 7-1 preparing the system for 6-4, 6-5 what you need for analog servo 7-2 what you need for GMC 6-3, 6-5 shaft oil seal kit catalog numbers

1326AB motors D-6

1326AS motors D-8 shock A-9 shunt module cable routing 3-30 connecting 3-28 connecting power 3-29 dimensions

1394-SR10A A-22

1394-SR-36 xx A-24

1394-SR-9 xx A-23 fan wiring 3-33 replacing fuse in 1994-SR9A, -SR9AF, SR36A, and -SR36AF 9-26 specifications A-8 shunt resistor catalog numbers D-4 dimensions A-22 external D-4 power dissipation A-11 replacing 1394-SR10A fuse 9-25 specifications A-8

SLC interface, GMC Turbo 4-17 software diagram

1394 analog servo, part 1 8-28

1394 analog servo, part 2 8-29 specifications A-1

1394-DCLM A-4

1394-DIM A-4 axis module A-3 certifications A-1 circuit breakers A-6 communications A-11

AxisLink A-16 dedicated discrete I/O A-12

DH-485 A-13 encoder input A-11 flex I/O A-13

GMC system A-14 remote I/O adapter A-15 serial I/O A-12 contact ratings A-3 environmental air temperature A-9 elevation A-9 humidity A-9 shock A-9 vibration A-9 filters A-4 input transformer A-6 power dissipation A-10

1394-DCLM A-11

1394-DIM A-11 axis module A-10 shunt resistor A-11 system module A-10 shunt module A-8 shunt resistor A-8 system A-1 system module A-2 user-supplied components

24V logic input power A-5

5V external encoder power A-6 contactor A-5 line input fusing A-5 start up precautions 6-1 storage P-4 storing your 1394 2-2 support local product P-4 technical product assistance P-4 switches

Address 6-4, 6-5

Init 6-4, 6-5

Memory 6-4, 6-5

Reset 6-4, 6-5

Publication 1394-5.0 — May 2000

Index system module catalog numbers D-2 dimensions A-17 installing a replacement 9-20

LED 9-2 power dissipation A-10 removing 9-19 specifications A-2 system mounting requirements 2-3 layout on subpanel 2-4 mounting 1394 x -AM50/75 heatsink through the back of the cabinet 2-6 spacing 2-3 input power conditioning 3-5 routing cables 3-3 shielding 3-4 wire sizes 3-4 understanding DIM signals 4-24 analog output 4-25 drive enable output 4-25

DROK 4-24 unpacking modules 2-3 user-supplied components

See specifications

V

vibration A-9

T

terminal operating tool 4-4, 5-2, D-13 terminator 2-10 tools crimp D-13 extraction D-13 troubleshooting 9-1 axis running uncontrollably 9-13 motors no rotation 9-15 not responding to velocity command 9-14 overheating 9-15 noise on command or resolver signal wires 9-14 system running uncontrollably 9-13 unable to obtain desired motor acceleration/deceleration 9-13 unstable axis 9-13 unstable system 9-13 tuning C-10 for analog servo 7-11

U

understanding basic wiring requirements 3-2

EMI/RFI bonding 3-4

EMI/RFI shielding 3-4

W

watch 9-6 wiring

1394 analog servo system 5-1 analog servo encoder 5-5 axis power 3-19 thermal and brake leads 3-20 encoder feedback requirements 4-10 external shunt resistor 3-26 feedback to system modules 3-24 for all systems 3-1

GMC and GMC turbo systems 4-1 shunt modules 3-28 required tools and equipment 3-28 system module power

22 kW systems 3-17

5 and 10 kW systems 3-14 required tools and equipment 3-17 terminal blocks wiring 22 kW systems 3-16 wiring 5 and 10 kW systems 3-14 understanding requirements 3-14 understanding for analog servo system 5-1

I–7

Publication 1394-5.0 — May 2000

I–8

Index

Publication 1394-5.0 — May 2000

For more information refer to our w eb site:

w w w .ab.com/motion

For Rockw ell Automation Technical Support information refer to: w w w .rockw ellautomation.com/ support or Tel: (1) 440.646.3434

Publication 1394-5.0 — May 2000

Supersedes Publication 1394-5.0 — November 1999

74102-200-07

Copyright 2000 Allen-Bradley Company, Inc.

Printed in USA