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1394 SERCOS
Interface
Multi-Axis Motion
Control System
(Catalog Numbers
1394C-SJT05-D,
1394C-SJT10-D,
1394C-SJT22-D)
Installation Manual
Allen-Bradley PLCs
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 part, without written permission of Rockwell Automation, 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 a hazard
• recognize the consequences
IMPORTANT
Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley is a registered trademark of Rockwell Automation.
ControlLogix, RSLogix 5000, and SCANport are trademarks of Rockwell Automation.
SERCOS interface is a trademark of the Interests Group SERCOS interface e.V. (IGS).
UL is a registered trademark of Underwriters Laboratories.
Table of Contents
Preface
Installing Your 1394 SERCOS
Interface System
Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . P-1
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . P-3
1394 Product Receiving and Storage Responsibility . . . . . . . P-3
Allen-Bradley Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3
Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . P-4
Technical Product Assistance . . . . . . . . . . . . . . . . . . . . P-4
Chapter 1
Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Complying With European Union Directives . . . . . . . . . . . . 1-2
EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Low Voltage Directive. . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Before Mounting Your System . . . . . . . . . . . . . . . . . . . . . . 1-3
Storing Your 1394 Before Installation . . . . . . . . . . . . . . 1-3
Unpacking Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
System Mounting Requirements . . . . . . . . . . . . . . . . . . . . . 1-4
Determining Your System Mounting Hole Layout . . . . . . 1-5
Mounting Your 1394 Through the Back of the Cabinet. . 1-7
Bonding Your System . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Bonding Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . 1-9
Mounting Your 1394 SERCOS interface System . . . . . . . . . . 1-9
Mounting the External Shunt Resistor for
5 and 10 kW System Modules . . . . . . . . . . . . . . . . 1-12
Mounting External Shunt Modules for
22 kW System Modules . . . . . . . . . . . . . . . . . . . . . 1-12
Shunt Module Mounting Orientation . . . . . . . . . . . . . . 1-13
Shunt Module Mounted Outside the Cabinet . . . . . . . . 1-14
Shunt Module Mounted Inside the Cabinet . . . . . . . . . 1-15
Mounting the Shunt Module . . . . . . . . . . . . . . . . . . . . 1-16
Chapter 2
i
Connecting Your 1394 SERCOS
Interface System
Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Understanding Basic Wiring Requirements . . . . . . . . . . . . . 2-1
Routing High and Low Voltage Cables. . . . . . . . . . . . . . 2-2
System Module Wire Sizes . . . . . . . . . . . . . . . . . . . . . . 2-3
Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
EMI/RFI Shielding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
EMI/RFI Bonding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Input Power Conditioning. . . . . . . . . . . . . . . . . . . . . . . 2-4
Determining Your Type of Input Power . . . . . . . . . . . . . . . 2-5
Grounded Power Configuration . . . . . . . . . . . . . . . . . . 2-5
Ungrounded Power Configuration . . . . . . . . . . . . . . . . . 2-6
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
ii Table of Contents
Specifications
Grounding Your 1394 SERCOS interface System . . . . . . . . 2-10
Grounding your System to the Subpanel . . . . . . . . . . . 2-10
Grounding Multiple Subpanels . . . . . . . . . . . . . . . . . . 2-11
Connecting System Module Power . . . . . . . . . . . . . . . . . . 2-11
Connecting Ground Wires . . . . . . . . . . . . . . . . . . . . . . 2-11
Connector Locations for 5 and 10 kW System Modules . 2-12
Terminal Block Locations for 22 kW System Modules . . 2-13
Required Tools and Equipment . . . . . . . . . . . . . . . . . . 2-14
Connecting Power Wiring for 5 and 10 kW
System Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
Connecting Power Wiring for 22 kW System Modules . 2-15
Connecting Motor Power to Axis Modules. . . . . . . . . . . . . 2-16
Connecting Thermal and Brake Leads to Axis Modules . 2-17
Required Tools and Equipment . . . . . . . . . . . . . . . . . . 2-18
Wiring Motor Power, Thermals and Brakes . . . . . . . . . 2-18
Connecting Feedback to System Modules . . . . . . . . . . . . . 2-21
Required Tools and Equipment . . . . . . . . . . . . . . . . . . 2-22
Connecting Feedback Cables . . . . . . . . . . . . . . . . . . . . 2-23
Connecting Your Motor Cables to Motors . . . . . . . . . . . . . 2-26
SCANport Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
Understanding I/O Connections . . . . . . . . . . . . . . . . . . . . 2-27
I/O Signal Pin-outs . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
I/O Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . 2-29
Wiring I/O Connections . . . . . . . . . . . . . . . . . . . . . . . 2-30
Connecting Your SERCOS Fiber Optic Cables . . . . . . . . . . 2-31
Connecting Your Internal Shunt Resistor
(5 and 10 kW Systems) . . . . . . . . . . . . . . . . . . . . . 2-32
Connecting Your External Shunt Resistor
(5 and 10 kW Systems) . . . . . . . . . . . . . . . . . . . . . 2-33
(required for 22 kW system). . . . . . . . . . . . . . . . . . 2-34
Required Tools and Equipment . . . . . . . . . . . . . . . . . . 2-34
Wiring the Shunt Module Power . . . . . . . . . . . . . . . . . 2-34
Wiring Shunt Module Fan Power . . . . . . . . . . . . . . . . . 2-39
Appendix A
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
System Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
System Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Contact Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Axis Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Publication 1394-5.20 — July 2001
Interconnect Diagrams
Table of Contents iii
User-Supplied Contactor (M1) . . . . . . . . . . . . . . . . . . . . A-4
User-Supplied Line Input Fusing . . . . . . . . . . . . . . . . . . A-4
User-Supplied 24V Logic Input Power . . . . . . . . . . . . . . A-5
Input Transformer for 24V Control Power . . . . . . . . . . . A-5
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-9
System Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10
Axis Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10
Internal Shunt Resistor for the 5 and 10 kW System . . . A-10
Communication Specifications . . . . . . . . . . . . . . . . . . . . . A-11
Dedicated I/O Specifications . . . . . . . . . . . . . . . . . . . . A-11
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-11
1394 System Module Dimensions . . . . . . . . . . . . . . . . A-12
Axis Module Dimensions . . . . . . . . . . . . . . . . . . . . . . A-13
AC Line Filter Dimensions. . . . . . . . . . . . . . . . . . . . . . A-15
External Shunt Dimensions . . . . . . . . . . . . . . . . . . . . . A-17
Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20
Servo Motor Performance Data . . . . . . . . . . . . . . . . . . . . . A-30
MP-Series Performance Data . . . . . . . . . . . . . . . . . . . . A-30
1326AB Performance Data . . . . . . . . . . . . . . . . . . . . . A-31
1326AS Performance Data . . . . . . . . . . . . . . . . . . . . . . A-32
Appendix B
Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
1394 SERCOS Interface Interconnect Diagrams . . . . . . . . . . B-1
1394 SERCOS Interconnections . . . . . . . . . . . . . . . . . . . B-2
Thermal and Brake Interconnect Diagrams . . . . . . . . . . . . . B-7
Understanding Motor Thermal Switches. . . . . . . . . . . . . B-7
How Your Feedback Cable Affects Thermal Switch
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7
Thermal Switch Interconnect Diagrams . . . . . . . . . . . . . B-7
Brake Interconnect Diagrams . . . . . . . . . . . . . . . . . . . B-12
Motor Cable Pin-Outs . . . . . . . . . . . . . . . . . . . . . . . . . . . B-16
MP-Series Motor Feedback Cables . . . . . . . . . . . . . . . . B-16
1326 Motor Feedback Cables. . . . . . . . . . . . . . . . . . . . B-17
MP-Series Motor Power Cables . . . . . . . . . . . . . . . . . . B-18
1326 Motor Power Cables . . . . . . . . . . . . . . . . . . . . . . B-19
Grounding for 1394 CE Requirements . . . . . . . . . . . . . . . . B-21
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
iv Table of Contents
Appendix C
Catalog Numbers and Accessories
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
1394 System Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
1394 Axis Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
External Shunt Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
SERCOS Interface Fiber Optic Cables . . . . . . . . . . . . . . . . . C-3
Motor Cables and Connector Kits . . . . . . . . . . . . . . . . . . . . C-4
Miscellaneous Accessories . . . . . . . . . . . . . . . . . . . . . . . . . C-6
Publication 1394-5.20 — July 2001
Preface
Who Should Use this
Manual
Purpose of this Manual
Read this preface to familiarize yourself with the rest of the manual.
The 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 for designing, installing, or wiring your Allen-
Bradley 1394 SERCOS interface
system. The manual is intended for engineers or technicians directly involved in the installation and wiring of the 1394.
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 provides the mounting, wiring, and connecting procedures for the 1394 SERCOS interface system and standard
Rockwell Automation/Allen-Bradley motors recommended for use with the 1394.
For system integration with the ControlLogix
SERCOS interface module (1756-M08SE), refer to the 1394 SERCOS Interface
Integration Manual (publication 1394-IN024 x -EN-P). This manual is available at TheAutomationBookstore.com electronically (as a .pdf) or in hardcopy.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
P-2 Preface
Contents of this Manual
Chapter
1
2
Appendix A
Appendix B
Appendix C
Title
Contents
Describes the purpose, background, and scope of this manual. Also specifies the audience for whom this manual is intended.
Provides mounting information for your 1394 SERCOS interface system.
Provides information on how to connect your 1394
SERCOS interface system components together.
Provides physical, electrical, environmental, and functional specifications for the 1394 SERCOS interface system.
Provides diagrams showing the interconnections for the 1394 SERCOS interface system, cable pin-outs, and installation requirements to meet CE directives.
Provides catalog numbers and descriptions of the
1394 SERCOS interface system and related products.
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:
System integration information needed to startup and troubleshoot the 1394 with the ControlLogix motion module
A description and specifications for the 1394 family including
1326 motors and motor accessories
More detailed discussion on use of ControlLogix motion features and application examples
Installation Instructions for the ICP 8 Axis SERCOS interface
Module
Information on the instructions needed to program a motion application
Information for configuring and troubleshooting your ControlLogix motion module
An article on wire sizes and types for grounding electrical equipment
A glossary of industrial automation terms and abbreviations
Read This Document:
1394 SERCOS Interface Integration Manual
Motion Control Selection Guide
ControlLogix Motion Module Programming
Manual
ICP 8 Axis SERCOS interface Module
Installation Instructions
Logix5000 Controller Motion Instruction Set
Reference Manual
ControlLogix Motion Module Setup and
Configuration Manual
Document Number:
1394-IN024
GMC-SG001
1756-RM086
1756-IN572 x x
1756-RM007
1756-UM006 x
-EN-P x
-EN-P
-EN-P
-EN-P x x
-EN-P
-EN-P
National Electrical Code
Published by the National Fire
Protection Association of Boston,
MA.
Allen-Bradley Industrial Automation Glossary AG-7.1
Publication 1394-5.20 — July 2001
Conventions Used in this
Manual
Preface
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.
P-3
1394 Product Receiving and
Storage Responsibility
You, the customer, are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company. Check the item(s) you receive against your purchase order. If any items are obviously damaged, it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill. 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%, noncondensing
• in an area where it cannot be exposed to a corrosive atmosphere
• in a non-construction area
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
P-4 Preface
Allen-Bradley Support
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 technical assistance, call your local Allen-Bradley representative or Rockwell Automation Technical Support at
(440)-646-5800. Please have the catalog numbers of your products available when you call.
Publication 1394-5.20 — July 2001
Chapter Objectives
Chapter
1
Installing Your 1394 SERCOS Interface
System
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 SERCOS interface system
•
Mounting the external shunt resistor for 5 and 10 kW system modules
•
Mounting external shunt modules for 22 kW system modules
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.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
1-2 Installing Your 1394 SERCOS Interface System
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 50081-2 EMC - Emission Standard, Part 2 - Industrial
Environment
•
EN 50082-2 EMC - Immunity Standard, Part 2 - Industrial
Environment
•
EN 61800-3 EMC - Adjustable Speed Electrical Power Drive
Systems - Second Environment, Restricted Distribution Class
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.
Low Voltage Directive
These units are tested to meet Council Directive 73/23/EEC Low
Voltage Directive. The EN 50178-1 Electronic Equipment for Use in
Power Installations and EN 60204-1 Safety of Machinery-Electrical
Equipment of Machines, Part 1-Specification for General Requirements standards apply in whole or in part.
Refer to
Appendix B of this document for interconnect information.
Publication 1394-5.20 — July 2001
Before Mounting Your
System
Installing Your 1394 SERCOS Interface System 1-3
Before you mount your 1394 SERCOS interface 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.
Unpacking Modules
Each 1394 system module ships with the following:
•
One system module
•
One system terminator
•
One installation manual (publication 1394-5.20)
•
Mating power connectors (5 and 10 kW Series C only)
•
Mating I/O and feedback connectors
•
Cable shield grounding clamps
Each 1394 axis module ships with the following:
•
One 1394 axis module
•
TB1 and TB2 connectors
•
Cable shield grounding clamp
•
One 1394 axis module information sheet (publication 1394-5.5)
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
1-4 Installing Your 1394 SERCOS Interface System
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 C for more information on catalog numbers.
System Mounting
Requirements
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 Environmental Specifications as shown
in
.
•
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 1.1) 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.
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.
Publication 1394-5.20 — July 2001
Installing Your 1394 SERCOS Interface System
Figure 1.1
Minimum System and Axis Module Mounting Requirements
50.8 mm (2.0 in.) clearance for airflow and installation
1-5
Allow 10.0 mm (0.4 in.) side clearance
Allow 25.4 mm (1.0 in.) clearance at cover tab for opening and closing.
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 (3.0 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 the Motion Control Selection Guide (publication GMC-SG001x-EN-P) for more information.
Determining Your System Mounting Hole Layout
To prepare your subpanel for mounting:
1.
Before you mount your 1394 System, use the following illustration
(refer to Figure 1.2) and table to identify your axis module
combination.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
1-6 Installing Your 1394 SERCOS Interface System
Figure 1.2
1394 Mounting Hole Layout
Dimensions are in millimeters and (inches)
50
(1.97)
0
(0.00)
50
62.5
(2.46)
(1.97)
100
(3.94)
125
137.5
(5.41)
175
(6.89)
(4.92)
150
(5.91)
212.5
(8.37)
250
(9.84)
287.5
(11.32)
200
(7.87)
225
(8.86)
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
Heatsink cutout for the
AM50/75 module only
Heatsink cutout for the
AM50/75 module only
Heatsink cutout for the
AM50/75 module only
Heatsink cutout for the
AM50/75 module only
19.5
(0.768)
348
(13.70)
33.5 TYP
(1.32)
8 TYP
(0.32)
M6 tapped hole or
1/4-20 UNC - 2B
67 TYP
(2.64)
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
1394 x -AM03, AM04, or AM07 up to 4 no
B
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) no
C
1394 x -AM03, AM04, or AM07 up to 3
1394 x -AM50, or -AM75, and
1394C-AM50-IH, or -AM75-IH
2 yes (1394 x -AM50 or -AM75) no (1394C-AM50-IH or -AM75-IH) no
D
1394 x -AM03, AM04, or AM07 up to 2
1394 x -AM50, or -AM75, and
1394C-AM50-IH, or -AM75-IH
3 yes (1394 x -AM50 or -AM75) no (1394C-AM50-IH or -AM75-IH) no
E
1394 x -AM03, AM04, or AM07 up to 1
1394 x -AM50, or -AM75, and
1394C-AM50-IH, or -AM75-IH
4 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
Publication 1394-5.20 — July 2001
Installing Your 1394 SERCOS Interface System 1-7
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 1.3
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.
Customer-supplied enclosure
Bonding Your System
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 that follow (refer to Figure 1.4)
show details of recommended bonding practices for painted panels, enclosures and mounting brackets.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
1-8 Installing Your 1394 SERCOS Interface System
Figure 1.4
Bonding Examples
Subpanel
Star washer
Nut
Stud-mounting the subpanel to the enclosure back wall
Back wall of enclosure
Stud-mounting a ground bus or chassis to the subpanel
Subpanel
Mounting bracket or ground bus
Welded stud
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.
Flat washer
Nut
Star washer
Flat washer
Scrape paint
If the mounting bracket is coated with a non-conductive material (anodized, painted, etc.), scrape the material around the mounting hole.
Ground bus or mounting bracket
Bolt-mounting a ground bus or chassis to the back-panel
Subpanel
Bolt
Tapped hole
Nut
Flat washer
Nut
Star washer
Flat washer
Star washer
Scrape paint on both sides of panel and use star washers.
Star washer
If the mounting bracket is coated with a non-conductive material (anodixed, painted, etc.), scrape the material around the mounting hole.
Publication 1394-5.20 — July 2001
Installing Your 1394 SERCOS Interface System 1-9
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 Figure 1.5 for
recommended bonding practices.
Figure 1.5
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 (0.25 in.) wire braid
Bonded cabinet ground bus to subpanel
Scrape the paint around each fastener to maximize metal to-metal-contact.
Mounting Your 1394
SERCOS interface System
The procedures in this section assume you have prepared your panel and understand how to bond your system. To mount your 1394
SERCOS interface 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 the section Bonding
Your System for more information.
2.
Hang the 1394 system module on the two fasteners on the left side of the subpanel.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
1-10 Installing Your 1394 SERCOS Interface System
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.
1394 x -AM50 or -AM75 axis module with the heat sink through the back of the enclosure
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 1.6
Gasket Position gasket
4.
Hang the AM50/75 axis module on the next mounting fastener.
5.
Engage the alignment tab (refer to Figure 1.7).
Figure 1.7
Alignment Tab
Engaged alignment tab
Publication 1394-5.20 — July 2001
Installing Your 1394 SERCOS Interface System 1-11
6.
Slide the slide-and-lock mechanism on the axis module to the left until it locks into place.
Figure 1.8
Slide-and Lock Mechanism
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Slide-and-Lock mechanism
7.
If you:
Have more axis modules for this system module
Do this:
Do not have more axis modules for this system module
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 1.9
Attaching the Terminator
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Attach the terminator
IMPORTANT
The terminator terminates the serial ring. The
1394 system will not operate without the terminator.
10.
Tighten all mounting fasteners.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
1-12 Installing Your 1394 SERCOS Interface System
Mounting the External
Shunt Resistor for 5 and 10 kW System Modules
If your 5 or 10 kW 1394 system module requires a means of dissipating regenerative energy that exceeds the capacity of the internal shunt resistor, install a 1394 External Shunt Resistor Kit
(catalog number 1394-SR10A).
ATTENTION
To avoid the hazard of shock or burn and ignition of flammable material, appropriate guarding must be provided. These resistors can reach temperatures in excess of 350
°
C (662
°
F). Install per local codes.
!
To install the 1394-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).
Mounting External Shunt
Modules for 22 kW System
Modules
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 1394-5.20 — July 2001
Installing Your 1394 SERCOS Interface System 1-13
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 1.10 and Figure 1.11 for shunt module spacing requirements.
Figure 1.10
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
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.
PART SER.
INPUT DC INPUT AC
FOR FUSE REPLACEMENT USE:
BUSSMAN CAT. NO.
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
Figure 1.11
Shunt Module Spacing Requirements Outside of an Enclosure
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.
PART SER.
INPUT DC INPUT AC
FOR FUSE REPLACEMENT USE:
BUSSMAN CAT. NO.
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
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
1-14 Installing Your 1394 SERCOS Interface System
Low voltage
Communications
Control I/O wiring
Motor feedback cables
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 1.12
Shunt Module Mounted Outside of the Cabinet
Customer supplied metal enclosure (optional)
155 mm (6.1 in.) of clearance on all sides of the shunt module minimum
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
Metal conduit
1394 Digital Servo Controller
300W Shunt Module
ALLEN-BRADLEY
BULLETIN 1394 300W SHUNT MODULE
CAT.
INPUT DC
PART
INPUT AC
SER.
FOR FUSE REPLACEMENT USE:
BUSSMAN CAT. NO.
FOR USE WITH 1394-SJT22-X SYSTEM MODULE
Motor power cables
360/480V
AC power
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI.
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
8 AWG (8.4mm
2
)
105
°
C, 600V wire.
Max. length 3.05 mm
(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 1394-5.20 — July 2001
Installing Your 1394 SERCOS Interface System 1-15
Shunt Module Mounted Inside the Cabinet
Low voltage
Communications
Control I/O wiring
Motor feedback cables
The illustration below details the proper position and cable routes for mounting the shunt module inside the cabinet.
Figure 1.13
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
SERCOS System Module
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 (8.4mm
105
°
2
)
C, 600V wire.
Max. length 3.05 mm
(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
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).
!
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
1-16 Installing Your 1394 SERCOS Interface System
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 the section
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 1394-5.20 — July 2001
Chapter
2
Connecting Your 1394 SERCOS Interface
System
Chapter Objectives
Understanding Basic Wiring
Requirements
This chapter covers the following topics:
•
Understanding basic wiring requirements
•
Determining your type of input power
•
Grounding your 1394 SERCOS interface system
•
Connecting system module power
•
Connecting motor power to axis modules
•
Connecting feedback to system modules
•
Connecting your motor cables to motors
•
Understanding I/O connections
•
Connecting your SERCOS fiber optic cables
•
Connecting you internal shunt resistor
•
Connecting your external shunt resistor
•
Connecting your shunt module
This section contains basic wiring information for the 1394.
Refer to
Appendix A for circuit breaker, line fuse, and contactor
specifications.
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. Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-2 Connecting Your 1394 SERCOS Interface System
Low voltage
Communications
Control I/O wiring
Motor feedback cables
Always cross high and low voltage conductors at 90 degree angles.
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 2.1
Routing Cables Inside Your 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 RFT.
Unshielded conductors
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
SERCOS System Module
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.
SERCOS System Module
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 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-3
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 SERCOS interface System in this chapter and
additional information.
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.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-4 Connecting Your 1394 SERCOS Interface System
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 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-5
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. The 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 2.2
Grounded Power Configuration
SERCOS System Module
Status
DANGER
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
System module single point bond bar
Conduit/4-Wire Cable
U
V
W
PE1
Cable clamp around shield
PE2
W1
V1
U1
Shield
Bonded cabinet ground bus
Ground grid or power distribution ground
1326 or MP-Series motor power cable
Note: The input power terminal designated PE is electrically common to the system module single point bond bar.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-6 Connecting Your 1394 SERCOS Interface System
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
instructions on page 7 for 5 and 10 kW system modules, and starting
on page 8 for 22 kW system modules.
Figure 2.3
Ungrounded Power Configuration
SERCOS System Module
Status
DANGER
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
System module single point bond bar
Conduit/4-Wire Cable
U
V
W
PE1
Cable clamp around shield
PE2
W1
V1
U1
Bonded cabinet ground bus
Shield
Ground grid or power distribution ground
1326 or MP-Series 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. !
Note: The input power terminal designated PE is electrically common to the system module single point bond bar.
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-7
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
1394C-SJT05-D or 1394C-SJT10-D 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
Your 1394 SERCOS interface System.
1.
Verify that all 24V control and 360/480V power has been removed from the system.
2.
Open the system module door.
3.
Remove the three control board screws (refer to Figure 2.4 for
locations).
4.
Remove ribbon cable from control board (refer to Figure 2.4 for
location).
Note: You should not find it necessary to remove both ends of the ribbon cable. Remove only the control board end.
5.
Remove the control board for easy access to ground jumpers (pull it straight out from system module).
6.
Locate the jumper connecting J4 and J5 on the assembly adjacent to the control board, and move one end of the jumper from J5 to
J6 (refer to Figure 2.4 for locations).
7.
Re-install the control board. Align the guide pins in the rear of the enclosure with the holes in the control board.
8.
Re-install ribbon cable into the control board connector.
9.
Re-install the three control board screws.
10.
Close the system module door.
11.
Go to
Grounding Your 1394 SERCOS interface System .
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-8 Connecting Your 1394 SERCOS Interface System
Figure 2.4
Ground Jumper Locations for the 5 and 10 kW System Modules
1394C-SJTxx-D
(5 and 10 kW)
Ribbon
Cable
Connector
1394 Digital Servo Controller
SERCOS interface
System Module
TM
RELAY OUTPUTS
1
DRIVE SYSTEM OK
OUTPUT 3
OUTPUT 2
OUTPUT 1
10
OUTPUT 0
Enable3
Home3
AXIS 3
1 5 Pos_Otrav3
Neg_Otrav3
Reg3_Com
Reg3_1 4 8
I/O_Com
Reg3_2
Enable2
AXIS 2
1 5 Pos_Otrav2
Home2
Reg2_Com
Reg2_1 4 8
Neg_Otrav2
I/O_Com
Reg2_2
Enable1
Home1
Reg1_Com
Reg1_1
AXIS 1
1 5
4 8
Pos_Otrav1
Neg_Otrav1
I/O_Com
Reg1_2
Enable0
Home0
AXIS 0
1 5 Pos_Otrav0
Neg_Otrav0
Reg0_Com
Reg0_1 4 8
I/O_Com
Reg0_2
3
4 5 6
!
- Analog_Out_1
- Analog_Out_2
- Analog_Out_3
- Analog_Out_4
- Common
- N/C
- N/C
- N/C
- N/C
- SERCOS
Base Address
x10
DANGER
EQUIPMENT BEFORE
SER
!
DANGER
ELECTRICAL SHOCK HAZARD
CAP ORS.
VERIFY AGE
- Control Reset
Upper Control Board Screw
Side
Control Board
Screw
SERCOS
Network Status
- SERCOS
Receive
OFF ON
- SERCOS
Transmit
Lower Control Board Screw
J4
J5
J6
Ground Jumper Terminals
Setting the Ground Jumper in a 22 kW System Module for
Ungrounded Power Configurations
This procedure assumes that you have bonded and mounted your
1394C-SJT22-D 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
Your 1394 SERCOS interface System.
1.
Verify that all 24V control and 360/480V power has been removed from the system.
2.
Open the system module door.
3.
Locate the ground jumper inside the system module (refer to
Figure 2.5 for jumper location).
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-9
4.
Without removing the circuit board, unplug the jumper and move
it to the ungrounded power distribution position. Refer to Figure
Figure 2.5
Location of the 22 kW System Module Ground Jumper
1394C-SJT22-D
Ground Jumper
Figure 2.6
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 on ungrounded power configuration
5.
Close the system module door.
Publication 1394-5.20 — July 2001
2-10 Connecting Your 1394 SERCOS Interface System
Grounding Your 1394
SERCOS interface 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 figure below for details on grounding your system and axis modules. Refer to
Appendix B for interconnect information.
Figure 2.7
PE Safety Ground Configuration with Multiple 1394 Systems on One Panel
1394C-SJT xx-x System Modules
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Bonded ground bar
(optional)
All ground wiring must comply with local codes
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
System module single point bond bar
Bonded cabinet ground bus
Always follow NEC and applicable local codes
Ground grid or power distribution ground
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System
Grounding Multiple Subpanels
To ground multiple subpanels, refer to the figure below.
Figure 2.8
Subpanels Connected to a Single Ground Point
2-11
Always follow NEC and applicable local codes
Ground grid or power distribution ground
Connecting System Module
Power
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.
Connecting Ground Wires
The 1394 system module provides a grounding bar as a common point of chassis ground for the system and axis modules, as shown in
Figure 2.9. The system module single point bond bar wires to the
bonded system ground bus on the sub-panel.
Figure 2.9
1394 Ground Wire Connections
1394 Front View
PE1 PE1
PE1 PE1
System module single point bond bar
To bonded cabinet ground bus
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-12 Connecting Your 1394 SERCOS Interface System
Connector Locations for 5 and 10 kW System Modules
The 1394C-SJT05-D and 1394C-SJT10-D system modules use connectors for wiring power. You will wire the system using power connector plugs that mate with connectors conveniently located on
the bottom of the system module. Refer to Figure 2.10 for the
connector locations.
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 2.10
Connectors for 5 and 10 kW System Modules
Logic Power
Connector
W1 W2
Input Power
Connector
U V W P E
Shunt Power
Connector
COL INT DC+
1394 Bottom View
Wire:
24V Logic
360/480V AC
Input Power
Ground
Ground
External Shunt
Resistor
Description: Maximum wire size:
Connects to terminal(s):
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.
3.3 mm
2
(12 AWG)
5.3 mm
2
(10 AWG)
The1394’s ground connection to the bonded system ground bar on the subpanel.
The1394’s ground connection to the bonded system ground bar on the subpanel.
Optional 1400W external shunt resistor used to dissipate excess regenerative energy from the system module.
5.3 mm
8.4 mm
5.3 mm
2
2
2
(10 AWG)
(8 AWG)
(10 AWG)
W1 and W2
U, V, and W
PE
System module single point bond bar
DC+ and COL
Required
(Y/N):
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 (5 and 10 kW Systems) for information about
wiring the optional shunt resistor to the 5 and 10 kW system modules.
Note: The input power terminal designated PE is electrically common to the system module single point bond bar.
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-13
Terminal Block Locations for 22 kW System Modules
All 1394C-SJT22-D system module components use IEC terminals instead of connectors for making 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 2.11
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 2.11
Terminal Block for 22 kW System Module
1394 Front View
(Series C)
System module single point bond bar
Wire:
24V Logic
360/480V AC power input
Ground
Ground
External Shunt
Module
Description: Maximum wire size:
Connects to terminal(s):
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.
3.3 mm
2
(12 AWG)
8.4 mm
2
(8 AWG)
The1394’s ground connection to the bonded system ground bar on the subpanel.
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
8.4 mm
2
2
2
(8 AWG)
(8 AWG)
(8 AWG)
W1 and W2
U, V, and W
Y
Y
PE N
System module single point bond bar
DC+ and COL
Required
(Y/N):
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 (required for 22 kW system) for information about
wiring the shunt module to the 22 kW system module.
Note: The input power terminal designated PE is electrically common Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-14 Connecting Your 1394 SERCOS Interface System
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 System Modules
To connect power wiring:
1.
Connect the system module ground wire from the system module single point bond bar to the bonded ground bar or bonded
cabinet ground bus on the subpanel (as shown in Figure 2.7). For
more information on bonding, refer to the chapter
1394 SERCOS Interface System .
2.
Insert the incoming power wires into the input power connector plug as follows and tighten the four connector plug screws.
Insert the wires labeled:
U
V
W
Ground
Into connector plug terminals labeled:
Tighten to this torque value:
U
V
0.56-0.62 N-m
(5.0-5.6 lb-in.)
W
PE
3.
Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires.
ATTENTION
!
To avoid personal injury or damage to equipment, verify that keys are inserted into the beveled slots above terminals V and W of the input power connector plug and PE and COL on the system module input and shunt power connectors, respectively. If the keys are missing, refer to Installing Your 1394C Power Connector
Key Kit Installation Instructions (publication
1394-IN023 x -EN-P).
4.
Insert the input power connector plug into the input power
connector (refer to Figure 2.10 for connector location).
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-15
5.
Insert the incoming 24V control power wires into the logic power connector plug as follows and tighten the connector plug screws.
Insert the wires labeled:
W1
W2
Into connector plug terminals labeled:
W1
W2
Tighten to this torque value:
0.56-0.62 N-m
(5.0-5.6 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.
7.
Insert the logic power connector plug into the logic power
connector (refer to Figure 2.10 for connector location).
8.
Go to
Connecting Motor Power to Axis Modules.
Connecting Power Wiring for 22 kW System Modules
To connect power wiring:
1.
Connect the system module ground wire from the system module single point bond bar to the bonded ground bar or bonded
cabinet ground bus on the subpanel (as shown in Figure 2.7). For
more information on bonding, refer to the chapter
1394 SERCOS Interface System .
2.
Open the front door of the system module and locate the 22 kW
system module terminal blocks (refer to Figure 2.11).
3.
Insert the incoming power wires into the terminal blocks as follows and tighten the four terminal block screws.
Insert the wires labeled:
U
V
W
Ground
Into the terminal blocks labeled:
Tighten to this torque value:
U
V
W
PE
2.21 - 2.66 N-m
(20.0 - 24.0 lb-in.)
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-16 Connecting Your 1394 SERCOS Interface System
4.
Insert the incoming 24V control power wires into the terminal blocks as follows and tighten the connector plug screws.
Insert the wires labeled:
W1
W2
Into the terminal blocks labeled:
W1
W2
Tighten to this torque value:
0.56-0.62 N-m
(5.0-5.6 lb-in.)
5.
Gently pull on each wire to make sure it does not come out of its terminal block. Re-insert and tighten any loose wires.
6.
Go to the section Connecting Motor Power to Axis Modules .
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 motor power cable for each of your servo motors. Refer to the interconnect drawings in
Appendix B for more information. The
table below describes each of the terminals.
Terminal
U1
V1
W1
PE1
1326AB/AS
Motor Power Cable
1326-CP x 1xxx
(resolver feedback)
Motor Power T1
Motor Power T2
Motor Power T3
Axis Ground
PE2
PE3
Motor Ground
No Connection
Cable Clamp Overall Shield
Description
1326AB
Motor Power Cable
2090-CDNPBMPxx S xx
(high-resolution feedback)
Motor Power U
Motor Power V
Motor Power W
Axis Ground
Motor Ground
No Connection
Overall Shield
MP-Series
Motor Power Cable
2090-CDNPBMPxx S xx
(resolver and high-resolution)
Motor Power U
Motor Power V
Motor Power W
Axis Ground
Motor Ground
No Connection
Overall Shield
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-17
Connecting Thermal and Brake Leads to Axis Modules
Axis modules provide terminating points for the motor power, thermal sensor, and brake (as shown in the figure below). Axis module wiring is identical for all available axis module ratings.
Figure 2.12
Locating TB1, TB2, and Input Power Terminals
1
4
1
4
TB2
TB1
IMPORTANT
Noise filters on the motor thermal sensor and brake connectors (TB1 and TB2) add capacitance (1.0
µ
F) 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 B for interconnect 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 or system module
Thermal Sensor Output to Fault System or system module
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-18 Connecting Your 1394 SERCOS Interface System
Required Tools and Equipment
•
A small flathead screwdriver
•
One motor power cable for each axis
•
One axis module connector kit (included with each axis module) for thermal switch and brake inputs. You will need one kit per axis module as each kit contains two connectors. Refer to
Appendix C for connector kit replacement part number.
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.
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.
To wire your 1394 axis modules:
1.
Connect one end of the axis module ground wire to the system module single point bond bar.
2.
Connect the other end of the ground wire to terminal block PE1.
3.
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 2.13).
4.
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.
5.
Position the cable shield clamp over the exposed braided shield
(ensure clamp screw is behind clamp and not braided shield).
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-19
6.
Tighten the clamp screw.
IMPORTANT
Do not overtighten the clamp screw or damage to the braided shield may result.
51 mm
(2.0 in.)
1
22 mm
(.875 in.)
1
Motor cable
Cable wires
Bracket screw
2
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.
2
Remove plastic (captive) washer, if present.
7.
Thread the bracket screw into the bottom of the axis module and tighten.
Figure 2.13
Motor Power Cable Clamp Preparation
1394 Front View
Clamp shield clamp Feedback cable clamps
Axis cable clamp
System module single point bond bar
Motor power cable
PE1 connections
To bonded cabinet ground bus or power distribution ground
Cable Preparation Cable Attachment Wiring to Axis Module
8.
On the axis module, connect the motor power wires as follows:
Insert this wire (number/color):
1326-Series: MP-Series:
1 / Black
2 / Black
3 / Black
Green/Yellow
U / Brown
V / Black
Into this terminal block:
U1
V1
W / Blue W1
PE / Green/Yellow PE2
9.
Tighten and torque all five screw terminals to the values in the following table.
Axis Module: Terminal Block Torque: Terminal
Block
Designator:
2 kW, 3 kW, 5 kW All
0.56 - 0.62 N-m
(5.0 - 5.6 lb-in.)
10 kW, 15 kW All
1.55 - 2.0 N-m Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-20 Connecting Your 1394 SERCOS Interface System
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.
Using the operating tool, wire the brake and thermal switch
connections as shown in the table below. Refer to Appendix B
for
1394/motor interconnect diagrams.
Note: The axis module connector kit (catalog number 1394-199) contains the operating tool and two identical mating connector plugs for TB1 and TB2.
For this cable:
Insert this pin (signal):
Into this connector plug terminal:
TB1
Motor
Feedback
Connector
1
1326-CP x 1xxx
Motor Power Cable:
9 (K2)
5 (K1)
4 (B2)
6 (B1)
2090-CDNFDMP-S xx
Motor Feedback Cable:
R (TS+)
S (TS-)
2090-UXNBMP-18S
Motor Brake Cable: xx
A (BR+)
C (BR-)
1
2
3
4
3
4
12
13
1
For motor feedback connector wiring instructions, refer to the section Connecting
.
12.
Insert the brake and thermal switch connector plug into the front-
most mating half (TB1) under the axis module. Refer to Figure
2.12 for the location of connector TB1.
13.
Connect the appropriate thermal switch control wires to the
second connector plug in the kit (pins 3 and 4). Refer to Appendix
B for thermal switch interconnect diagrams.
ATTENTION
To avoid damage to your motor, monitor the thermal switch for overheat conditions.
!
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-21
14.
If your motor: Do the following:
Has the brake option
Does not have the brake option
1. Connect the appropriate brake control wires to the second connector plug in the
kit (pins 1 and 2). Refer to Appendix B
for brake interconnect diagrams.
2. Insert the connector plug in the rear-most mating half (TB2) for its axis.
1. Insert the connector plug in the rear-most mating half (TB2) for its axis.
15.
If you:
Have more axis modules to wire
Have wired all of your axis modules
Do this:
1. Move to the next axis module.
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. You will prepare the feedback cables for wiring to the connector housings, make the connections, and plug the housings into mating feedback connectors on the bottom of the system module.
For this motor series:
1326
MP
Using this type of feedback: Use this feedback cable:
High-resolution encoder 2090-CDNFDMP-S xx
Motor resolver
High-resolution encoder
1326-CCU x-xxx
2090-CDNFDMP-S xx
Motor resolver
Refer to Figure 2.14 for a detailed illustration of cable construction.
Refer to
Appendix C for more information on connectors and
accessories.
IMPORTANT
To improve the bond between the feedback cable shield and the system module chassis ground, cable shield clamps are included with system modules.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-22 Connecting Your 1394 SERCOS Interface System
ATTENTION
!
To guard against hazard of personal injury or damage to equipment, the interconnections between the motor and the feedback device must be made exactly as shown in
. Failure to do so could cause loss of motor control and/or severe oscillation of the motor shaft.
Figure 2.14
Typical Feedback Cable Construction
Bare wires
Drain wire
Wire insulation
Foil shield
Braided shield
Outer insulation
1326-CEUxxx
1326-CCU x-xxx
2090-CDNFDMP-S xx
Note: In the examples above, four twisted pairs are shown. The actual number of twisted pairs varies from cable to cable.
Connector housings are included in the system module connector kit
(part number 1394C-CCK-D). Each terminal has a spring type clamping mechanism which firmly grips the bare wire.
Required Tools and Equipment
•
A small flathead screwdriver, 0.5 mm (0.02 in.)
•
One motor feedback cable for each axis
•
One cable shield clamp for each feedback cable
•
One system module connector kit (PN 1394C-CCK-D)
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-23
Connecting Feedback Cables
To wire your 1394 system module feedback:
1.
Begin preparation of the feedback cable by cutting off the pins already crimped to the wires.
2.
If not already done, remove approximately 45 mm (1.75 in.) of the outer insulation, braided shield, and foil shield to expose the
individual insulated wires and drain wires (refer to Figure 2.15).
Note: 2090-CDNFDMP-S xx motor feedback cables do not include drain wires.
3.
Strip approximately 13 mm (0.50 in.) of insulation from the end of
the individual wires (refer to Figure 2.15).
IMPORTANT
Ensure enough insulation is removed or the connector housing spring will make contact with the insulation and not the bare wire.
Figure 2.15
Feedback Cable Clamp Preparation
13 mm
(0.50 in.)
1
1394 Front View
45 mm
(1.75 in.)
1
22 mm
(.875 in.)
1
Feedback cable
2
3
Drain wires
4
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.
2
Only two sets of wires are shown.
3
Remove plastic (captive) washer, if present.
4
Drain wires are not included with 2090-CDNFMP-S xx motor feedback cables.
Cable Preparation
Drain wires
4
Clamp shield clamp
Cable Attachment
Feedback cable clamps
System module single point bond bar
Attaching Feedback to System Module
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-24 Connecting Your 1394 SERCOS Interface System
4.
Wire the connector housings. Depress the clamp spring with a small screw driver, insert the wire, and release the spring. Refer to
the table below for pin-out information and Figure 2.16 for an
illustration. Refer to
for more information on cables.
5
6
3
4
1
2
Pin: High Resolution (SIN/COS)
Feedback Signals
SIN+
SIN-
7
COS+
COS-
No Connection
Quadrature Encoder
Feedback Signals
AM+
AM-
BM+
BM-
COM COM
+9V DC (output from drive) No Connection
+5V DC (output from drive)
8
9
DATA+
DATA-
10 No Connection
11 No Connection
12 TS+ (thermal switch input)
13 TS- (thermal switch input)
IM+
IM-
No Connection
No Connection
Resolver
Feedback Signals:
S2
S4
S1
S3
No Connection
No Connection
No Connection
No Connection
No Connection
R1
R2
TS+ (thermal switch input) TS+ (thermal switch input)
TS- (thermal switch input) TS- (thermal switch input)
Figure 2.16
Inserting Wires into the Connector Housing
Blade thickness
:
0.5 mm (0.02 in.)
1
5.
Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and test any loose wires.
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-25
6.
Plug the connector housing into the appropriate feedback
connector on the bottom of the system module (refer to Figure
IMPORTANT
The connectors and connector housings are keyed and cannot be connected backwards.
However, each housing is identical so care should be taken to match the proper feedback cable with the appropriate connector.
Figure 2.17
Feedback Connector Locations
1394C-SJT xx -D
(bottom view)
SCANport
Axis 0 Auxiliary Feedback
Axis 3 Auxiliary Feedback
(in four axis system) or
Axis 2 Auxiliary Feedback
(in three axis system)
Axis 1 Motor Feedback
Axis 1 Auxiliary Feedback
Axis 2 Motor Feedback
Axis 0 Motor Feedback
Cable clamp grounding bracket
Note: Six feedback channels are available. Refer to Appendix B
7.
Thread the cable clamp bracket screw into the bottom of the system module and tighten.
8.
Remove another 22 mm (.875 in.) of outer insulation to expose the
braided shield underneath for clamp attachment (refer to Figure
IMPORTANT
When cutting into the outer insulation use care not to cut into the braided shield underneath.
9.
Fold drain wires back over the braided shield and position the cable shield clamp over the braided shield and drain wires (refer
Ensure clamp screw is behind clamp and not
IMPORTANT braided shield.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-26 Connecting Your 1394 SERCOS Interface System
10.
Tighten the clamp screw.
IMPORTANT
Do not overtighten the clamp screw or damage to the braided shield may result.
11.
If you have:
More motor feedback or auxiliary feedback to wire
Wired all of your motors
Do this:
1. Move to the next motor or auxiliary feedback device.
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 feedback cable so that the flat side is facing the shaft of the motor.
2.
Push the cable connector onto the appropriate mating half of motor connector until it clicks.
3.
Orient the motor end of the power cable so that the flat side is facing the shaft of the motor.
4.
Push the cable connector onto the appropriate mating half of motor connector 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
SCANport Adapter
This port allows you to connect a SCANport device, such as a Human
Interface Module (HIM), to the 1394 SERCOS Interface system. Refer
to Figure 2.17 for SCANport location. Refer to the
1394 SERCOS
Interface Integration Manual (publication 1394-IN024 x -EN-P) for information on using the HIM.
Publication 1394-5.20 — July 2001
Understanding I/O
Connections
Connecting Your 1394 SERCOS Interface System 2-27
This section provides detailed information that applies to wiring input and output connections. You will wire the connector housings and plug them into mating I/O connectors on the front of the system module. Refer to the figure below for the location of each connector.
Figure 2.18
I/O Connectors
1394C-SJT xx -D
(5 and 10 kW)
1394 Digital Servo Controller
SERCOS interface
System Module
TM
RELAY OUTPUTS
1
DRIVE SYSTEM OK
OUTPUT 3
!
DE-ENERGIZE THE
!
DANGER
DANGER
OUTPUT 2
OUTPUT 1
10
OUTPUT 0
Enable3
AXIS 3
1 5
Home3
Reg3_Com
Reg3_1 4 8
Pos_Otrav3
Neg_Otrav3
I/O_Com
Reg3_2
Enable2
AXIS 2
1 5
Home2
Reg2_Com
Reg2_1 4 8
Pos_Otrav2
Neg_Otrav2
I/O_Com
Reg2_2
Enable1
AXIS 1
1 5
Home1
Reg1_Com
Reg1_1 4 8
Pos_Otrav1
Neg_Otrav1
I/O_Com
Reg1_2
Enable0
AXIS 0
1 5
Home0
Reg0_Com
Reg0_1 4 8
Pos_Otrav0
Neg_Otrav0
I/O_Com
Reg0_2
4 5 6
FROM ENERGY STROAGE
CAP ORS.
VERIFY AGE
DISCHARGE BEFORE
SER VICING.
SEE INSTRUCTIONAL MANUAL.
- Analog_Out_1
- Analog_Out_2
- Analog_Out_3
- Analog_Out_4
- Common
- N/C
- N/C
- N/C
- N/C
- Control Reset
- SERCOS
Base Address
x10
Discrete
Input
Connectors
Relay
Output
Connector
Axis 3
Axis 2
Axis 1
Axis 0
Wire Tie-Down
Anchors
SERCOS
Network Status
- SERCOS
Receive
OFF ON
- SERCOS
Transmit
I/O Signal Pin-outs
The output signal pin-outs are shown in the figure below. Refer to
Figure 2.18 for the location of the Relay Output Connector.
Figure 2.19
Relay Output Signals
1394 SERCOS interface
Control Board
1394C-SJT xx -D
7
8
5
6
9
10
3
4
1
2
Drive System OK
Rated at 115V AC
24V DC, 1A inductive
Output 3
Output 2
Output 1
Output 0
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-28 Connecting Your 1394 SERCOS Interface System
The discrete input signal pin-outs are shown in the figure below.
Refer to Figure 2.18 for the location of the input connectors.
Figure 2.20
Discrete Input Signals
Enable3
Home3
Reg3_Com
Reg3_1
Enable2
Home2
Reg2_Com
Reg2_1
Enable1
Home1
Reg1_Com
Reg1_1
Enable0
Home0
Reg0_Com
Reg0_1
Axis 3
3
4
1
2
7
8
5
6
Axis 2
3
4
1
2
7
8
5
6
Axis 1
3
4
1
2
7
8
5
6
Axis 0
3
4
1
2
5
6
7
8
1394 SERCOS interface
Control Board
1394C-SJT xx -D
Pos_Otrav3
Neg_Otrav3
I/O_Com
Reg3_2
Pos_Otrav2
Neg_Otrav2
I/O_Com
Reg2_2
Pos_Otrav1
Neg_Otrav1
I/O_Com
Reg1_2
Pos_Otrav0
Neg_Otrav0
I/O_Com
Reg0_2
Connector housings are included in the system module connector kit
(part number 1394C-CCK-D). Each terminal has a spring type clamping mechanism which firmly grips the bare wire.
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-29
I/O Signal Descriptions
The following table provides a description of the various discrete
input signals, as shown in Figure 2.20.
Wire: Description: Connector:
Enable
I/O_Com
Home
Pos
Otrav
Neg
Otrav
Reg_Com
Reg_1
Reg_2
A 24V DC input is applied to these terminals to enable each axis.
Axis 0-3 input pin 1
Common grounding point for input signals (Home, Enable,
Pos/Neg_Otrav)
Axis 0-3 input pin 7
Home switch (normally open contact) inputs for each axis require 24V DC (nominal), 15 mA (max) to energize. Each input is optically isolated and filtered to minimize switch
The positive limit switch (normally closed contact) inputs for each axis require 24V DC (nominal), 15 mA (max) to energize. Each input is optically isolated and filtered to
minimize switch bounce. Refer to Figure 2.21.
24V DC high-speed, optically-isolated filtered registration input for each axis.
Axis 0-3 input pin 2
Axis 0-3 input pin 5
The negative limit switch (normally closed contact) inputs for each axis require 24V DC (nominal), 15 mA (max) to energize. Each input is optically isolated and filtered to
minimize switch bounce. Refer to Figure 2.21.
Axis 0-3 input pin 6
Axis 0-3 input pin 3
Axis 0-3 input pin 4
Axis 0-3 input pin 8
1
Optional if not configured in RSLogix 5000
axis configuration.
Mandatory or
Optional:
Mandatory
Mandatory
Optional
1
Optional
1
Optional
1
Optional
1
Figure 2.21
Home and Travel Fault Inputs
(Axis 0)
2
Home
Pos_Otrav
5
Neg_Otrav
6
I/O_Com
7
24V DC
Note: Similar for Axis 1, 2, and 3.
Figure 2.22
Typical Registration Input
Reg_1
Output 4
3
Reg_Com
Registration
Device Common
Supply
+
24V DC
Note: Similar for Reg_2 input.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-30 Connecting Your 1394 SERCOS Interface System
The following table provides a description of the various relay output
signals, as shown in Figure 2.19.
Wire:
Drive System
OK
Output 0
Output 1
Output 2
Output 3
Description:
The Drive System OK 1 output is intended to be wired into the drive’s stop string to open the main power contactor if a drive system fault occurs. The
Drive System OK relay output can be configured to open and close based on the status of any internal drive parameter, however it is highly recommended that the default link to the Drive System OK parameter be used. This default configuration will cause the Drive System OK contacts to close after 24V control power is applied and no system faults are detected. The contact will remain closed until a drive system fault occurs. The Drive System OK output relay contact is rated at 115V AC, 24V DC, 1A.
Connector:
Relay output pins 1 and 2
The relay outputs can be configured to open and close based on the status of any internal drive parameter. The outputs are linked to the Brake Enable/
Disable parameters to allow control of a motor brake for each axis. The output relay contacts are rated at 115V AC, 24V DC, 1A.
Relay output pins:
9 and 10 = Axis 0
7 and 8 = Axis 1
5 and 6 = Axis 2
3 and 4 = Axis 3
1
Refer to
(Figure B.1) for a wiring diagram.
Wiring I/O Connections
These procedures assume you have determined your I/O wiring needs and are ready to attach wires. To connect the input and output wiring:
1.
Prepare your I/O wires, 0.82 mm
2
(18 AWG) maximum, by stripping approximately 6 mm (0.25 in.) of insulation from the end.
Note: Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
2.
Using a small blade type screw driver, 0.5 mm (0.02 in.), depress the housing connector spring clamp next to the pin you are
prepared to wire and insert the wire. Refer to Figure 2.16 for an
example of how to insert wires.
3.
Remove the screw driver and gently pull on the wire to make sure it does not come out of its terminal. Re-insert and test any loose wires.
4.
Repeat steps 2 and 3 for all remaining I/O connector housing wires.
5.
Plug the connector housings into the appropriate I/O connector
on the front of the system module (refer to Figure 2.18 for
connector locations).
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-31
6.
Secure the I/O wires by slipping a plastic tie-down through the
tie-down anchor (refer to Figure 2.18 for tie down anchor
locations) and bundle the wires together.
Connecting Your SERCOS
Fiber Optic Cables
This procedure assumes you have your ControlLogix chassis with
1756-M08SE interface and 1394 SERCOS interface system(s) mounted and are ready to connect the fiber optic cables.
The SERCOS fiber optic ring is connected using the SERCOS Receive
and Transmit connectors. Refer to Figure 2.23 for the location of these
connectors. Refer to Figure 2.24 for an example of fiber optic ring
connections.
Figure 2.23
SERCOS Fiber Optic Connections
1394C-SJT xx -D
(5 and 10 kW)
SERCOS interface TM
1756-M08SE SERCOS interface Module
CP OK
1394 Digital Servo Controller
SERCOS interface
System Module
TM
RELAY OUTPUTS
1
DRIVE SYSTEM OK
!
DANGER
DE-ENERGIZE THE
OUTPUT 3
!
DANGER
OUTPUT 2
OUTPUT 1
10
OUTPUT 0
Enable3
AXIS 3
1 5
Home3
Reg3_Com
Reg3_1 4 8
Pos_Otrav3
Neg_Otrav3
I/O_Com
Reg3_2
Enable2
AXIS 2
1 5
Home2
Reg2_Com
Reg2_1 4 8
Pos_Otrav2
Neg_Otrav2
I/O_Com
Reg2_2
Enable1
AXIS 1
1 5
Home1
Reg1_Com
Reg1_1 4 8
Pos_Otrav1
Neg_Otrav1
I/O_Com
Reg1_2
Enable0
AXIS 0
1 5
Home0
Reg0_Com
Reg0_1 4 8
Pos_Otrav0
Neg_Otrav0
I/O_Com
Reg0_2
4 5 6
FROM ENERGY STROAGE
CAP ORS.
VERIFY AGE
DISCHARGE BEFORE
SER VICING.
SEE INSTRUCTIONAL MANUAL.
- Analog_Out_1
- Analog_Out_2
- Analog_Out_3
- Analog_Out_4
- Common
- N/C
- N/C
- N/C
- N/C
- Control Reset
- SERCOS
x10
SERCOS Receive Connector
SERCOS Transmit Connector
SERCOS
Network Status
- SERCOS
Receive
OFF ON
- SERCOS
Transmit
Front View
Tx (rear)
Rx (front)
Bottom View
SERCOS Receive Connector, Rx (front)
SERCOS Transmit Connector, Tx (rear)
To connect the SERCOS fiber optic cables:
1.
Insert one end of a fiber optic cable into the Receive SERCOS connector on the 1394 system module control board.
2.
Thread the connector on finger tight.
3.
Insert the other end of the cable (from step 1) into the Transmit
SERCOS connector on the 1756-M08SE interface module.
4.
Thread the connector on finger tight.
5.
Insert one end of another fiber optic cable into the Transmit
SERCOS connector on the 1394 system module control board.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-32 Connecting Your 1394 SERCOS Interface System
6.
Thread the connector on finger tight.
7.
Insert the other end of the cable (from step 5) into the Receive
SERCOS connector on the 1756-M08SE interface module.
8.
Thread the connector on finger tight.
Note: Fiber optic cable lengths of 1.0 m (3.2 ft) to 32 m (105.0 ft) are available in plastic or glass. Lengths of 50 m (164.2 ft) to 200 m
(656.7 ft) are available in glass only.
Figure 2.24
Fiber Optic Ring Connection Example
1756-M08SE SERCOS interface Module
ControlLogix Chassis
1394 SERCOS interface System
SERCOS System Module
Receive Transmit
1394 SERCOS interface System
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
SERCOS System Module
SERCOS ring
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Receive Transmit
SERCOS ring Receive Transmit
SERCOS ring
Connecting Your Internal
Shunt Resistor (5 and 10 kW
Systems)
This procedure applies to 5 and 10 kW system modules and assumes that your system does not require an external shunt resistor.
To connect your internal shunt resistor:
1.
Verify that there is no 24V control power or 360/480V AC input power applied to the system.
2.
Verify that the jumper is installed between COL and INT in the
shunt power connector plug (refer to Figure 2.10 for the jumper
location).
3.
Insert the shunt power connector plug into the shunt power
connector on the bottom of the system module (refer to Figure
2.10 for the connector location).
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-33
Connecting Your External
Shunt Resistor (5 and 10 kW
Systems)
This procedure applies to 5 and 10 kW system modules and assumes that your external shunt resistor is already mounted.
To connect your external shunt resistor:
1.
Verify that there is no 24V control power, contactor enable power, or 360/480V AC input power applied to the system.
2.
Locate and unplug the shunt power connector from the bottom of
the system module (refer to Figure 2.25 for connector location).
3.
Remove and discard the jumper wire between COL and INT, as shown in the figure below.
Figure 2.25
1394 System Module Jumper Removal
1394 Bottom View
Shunt Power
Connector
COL INT DC+
Remove jumper
4.
Insert the shunt power wires into the terminal blocks as follows and tighten the connector plug screws.
Insert the wires labeled:
COL
(leads to shunt fuse)
DC+
Into the terminal blocks labeled:
Tighten to this torque value:
COL
DC+
0.56-0.62 N-m
(5.0-5.6 lb-in.)
5.
Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten each loose wire.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-34 Connecting Your 1394 SERCOS Interface System
Connecting Your Shunt
Module (required for 22 kW system)
The procedures in this section apply to 22 kW system modules and assume that your shunt module is already mounted. Wiring the shunt module consists of connecting power from the system module and, depending on the shunt module you ordered, connecting power to the fan inside the module.
Required Tools and Equipment
The required tools and equipment are:
•
A small, flathead screwdriver
•
User-supplied power wiring
•
The two fan jumpers that came with your 1394-SR36AF shunt module.
Wiring the Shunt Module Power
All shunt power wiring should meet the following general specifications:
•
8.4 mm
2
(8 AWG)
•
105
°
C (221
°
F)
•
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.
Publication 1394-5.20 — July 2001
Connecting Your 1394 SERCOS Interface System 2-35
There are three types of cable that can be used to connect the 1394 shunt module to your 1394 system module. The table below details your shunt power wiring options.
For this Type of Cable: Twist Conductors (Y/N):
Twisted pair with overall shield N
Twisted pair (no shield)
Discrete conductors
1
N
Y (2 twists per foot)
1
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 and locate the COL and
DC+ terminal blocks (refer to Figure 2.11 for terminal locations).
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 and torque to 2.21-2.66 N-m (20-24 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.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-36 Connecting Your 1394 SERCOS Interface System
Low voltage
Communications
Control I/O wiring
Motor feedback cables
Figure 2.26
Routing Shunt Module Wiring When the Module is Outside the Cabinet
Customer supplied metal enclosure (optional)
155 mm (6.1 in.) of clearance on all sides of the shunt module minimum
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
Metal conduit
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
Motor power cables
360/480V
AC power
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI.
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
8 AWG (8.4mm
105
°
2
)
C, 600V wire.
Max. length 3.05 mm
(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 1394-5.20 — July 2001
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.
Connecting Your 1394 SERCOS Interface System
Low voltage
Communications
Control I/O wiring
Motor feedback cables
Figure 2.27
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
SERCOS System Module
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 (8.4mm
2
)
105
°
C, 600V wire.
Max. length 3.05 mm
(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.
2-37
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.
IMPORTANT
When the shunt module is mounted inside the cabinet, ensure the
Environmental Specifications for
temperature limits, as found in Appendix A
, are not exceeded.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-38 Connecting Your 1394 SERCOS Interface System
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 2.28 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 2.28 for the terminal’s location.
Figure 2.28
Terminating Wires at the Shunt Module
Publication 1394-5.20 — July 2001
Connected to COL on the
22 kW System Module
Connected to DC+ on the
22 kW System Module
10.
Tighten both screw terminals and torque to 2.21-2.66 N-m (20-24 lb-in.).
11.
Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten each loose wire.
12.
If your shunt module:
Then:
Has a Fan Go to
Does not have a fan Finish installing your system.
Connecting Your 1394 SERCOS Interface System 2-39
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 1.3 mm
2
(16 AWG) [machine tool, 75
°
C (167
°
F)] copper wire for all fan power wiring. The current draw of each shunt module fan is shown in the table below.
For this input power: The current draw is:
115V AC 0.2A
230V AC 0.1A
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 2.29 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 2.29 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.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
2-40 Connecting Your 1394 SERCOS Interface System
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.
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 2.29 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 2.29
Wire Locations for the Shunt Module Fan
Wiring the fan for 115V
To power supply
1
To power supply
2
3
4
To power supply
To power supply
Wiring the fan for 230V
3
4
1
2
Publication 1394-5.20 — July 2001
Chapter Objectives
System Specifications
Appendix
A
Specifications
This appendix contains specifications, dimensions, and operating characteristics for the 1394 SERCOS interface system,
1326AB/AS motors, and MP-Series 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 to U.S. and Canadian safety standards (File
E59272)
•
CE marked for all applicable directives
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-2 Specifications
System Modules
The table below lists the specifications for system modules.
The:
Rated AC input voltage
For the 1394C-SJT05-D is: For the 1394C-SJT10-D is: For the 1394C-SJT22-D is:
324-528V AC, 50/60 Hz
Three phase
6.5A
324-528V AC, 50/60 Hz
Three phase
13.0A
324-528V AC, 50/60 Hz
Three phase
28.6A
AC input current
Peak inrush current
1, 2 8A
Line loss ride through 20 ms
Nominal bus output voltage 530/680V DC
4/5 kW Continuous power output
Peak power output
3
Efficiency
28 kW
99%
8A
20 ms
530/680V DC
8/10 kW
28 kW
99%
8A
20 ms
530/680V DC
17/22 kW
136 kW
98%
Weight
Continuous current output
10.68 kg (23.5 lb)
7.36A
10.68 kg (23.5 lb)
14.73A
12.9 kg (28.5 lb)
33.8A
Peak current output
Capacitance
Inductance
Internal shunt resistor
15.0A
220
µ
F
1000 µ H
29.46A
345
µ
F
750 µ H
200W continuous, 40,000W peak (two second maximum on time)
200A
660
µ
F
500 µ H
No internal Shunt Resistor
1
5, 10, and 22 kW system modules are limited to four contactor cycles per minute.
2
Peak inrush current is limited by an internal 80 ohm resistor. The 8A peak inrush current for all Series C system modules will experience no more than a 40A peak loss (less 1 ms).
3
The peak power output rating is based on a current limit of 105% of two times the rated continuous current output for 600ms or the rated peak power output for a duration equal to the equivalent watt-seconds.
AC Line Filters
The table below shows the requirements for filters that you can use.
The:
Frequency
Voltage
For the SP-74102-006-01 is:
50/60 Hz
460V AC
For the SP-74102-006-02 is:
50/60 Hz
460V AC
For the SP-74102-006-03 is:
50/60 Hz
460V AC
Current 23A @ 50 ° C (122 ° F) 30A @ 50 ° C (122 ° F) 75A @ 50 ° C (122 ° F)
Operating Temperature -25 ° to 85 ° C (-13 ° to 185 ° F) -25 ° to 85 ° C (-13 ° to 185 ° F) -25 ° to 85 ° C (-13 ° to 185 ° F)
Vibration
Humidity
Weight
Power Loss
Roxburgh Catalog No.
10-200 Hz @ 1.8 g
90%
1.6 kg (4.16 lb)
20W
MIF323-GS
10-200 Hz @ 1.8 g
90%
2.7 kg (7.02 lb)
38W
MIF330-GS
10-200 Hz @ 1.8 g
90%
5.2 kg (13.52 lb)
57W
MIF375-GS
Publication 1394-5.20 — July 2001
Specifications A-3
Contact Ratings
The table below lists the contact ratings of the drive relay outputs.
The contact rating for the: Is:
Drive System OK
Output 0-3
Thermal switch (motor)
115V AC/24V DC, 1A inductive
The:
Speed
Regulation
1
For the
1394 x -AM03
2
is:
0 to 0.05% of base speed with 100% torque disturbance
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
1.28
200%
5 kHz ±10%
0.03 rpm/degree C
530/680V DC
3.0A
6.0A
1.6/2 kW
98%
Weight 5 kg (11.02 lb)
Capacitance 110 µ F
Axis Modules
The table below lists the specifications for the axis modules.
For the
1394 x -AM04
2
is:
0 to 0.05% of base speed with 100% torque disturbance
2.6
200%
5 kHz ±10%
0.03 rpm/degree C
530/680V DC
4.5A
For the
1394 x -AM07
2
is:
0 to 0.05% of base speed with 100% torque disturbance
4.9
200%
5 kHz ±10%
0.03 rpm/degree C
530/680V DC
7.5A
For the 1394 x -AM50 and 1394C-AM50-IH is:
0 to 0.05% of base speed with 100% torque disturbance
For the 1394 x -AM75 and 1394C-AM75-IH is:
0 to 0.05% of base speed with 100% torque disturbance
22.8
22.8
143%
5 kHz ±10%
0.03 rpm/degree C
530/680V DC
23.3A
143%
5 kHz ±10%
0.03 rpm/degree C
530/680V DC
35.0A
9.0A
15.0A
33.2A
50.0A
2.4/3 kW 4/5 kW 11.34/15.6 kW 17.8/23.8 kW
98% 98% 98% 98%
5 kg (11.02 lb)
110 µ F
5 kg (11.02 lb)
220 µ F
7 kg (15.44 lb) (-AM50)
6.73 kg (14.8 lb) (-AM50-IH)
465 µ F
7 kg (15.44 lb) (-AM75)
6.73 kg (14.8 lb) (-AM75-IH)
660 µ F
1
When used with the controller in the 1394 x -SJT xx system module.
2
Series A axis modules (1394-AM03, -AM04, and -AM07) are not compatible with the 1394C-SJT xx -D system module.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-4 Specifications
User-Supplied Contactor (M1)
The table below shows the requirements for the contactor that you must supply.
The contactor:
Rating
Recommended types:
For the 1394C-SJT05 and
1394C-SJT10 is:
600V AC, 23A
For the 1394C-SJT22 is:
600V AC, 37A
AC Coil Operation Allen-Bradley 100-C23 x 10 1,2 Allen-Bradley x 10 1,2
DC Coil Operation Allen-Bradley 100-C23Z x 10
1
Allen-Bradley x 10
1
1 x indicates coil voltage.
2
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:
1394C-SJT05 systems
1394C-SJT10 systems
1394C-SJT22 systems
Is: Rating
Bussmann KTK-R-20 or equivalent
Bussmann LPJ-SP 20 or equivalent
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
600V AC, 20A
600V AC, 20A
600V AC, 30A
600V AC, 30A
600V AC, 35A
600V AC, 40A
600V AC, 45A
Publication 1394-5.20 — July 2001
Specifications A-5
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
19-28V AC RMS, single phase or
18.75-31.25V DC
Current
Frequency
50/60 Hz
If you have:
1 axis
2 axis
3 axis
4 axis
The current draw for user-supplied power supply must not exceed:
3.5A
4.4A
5.2A
6.0A
Recommended Fuse
Bussmann MDA-15 or equivalent
Note: The power supply should be rated for 15A or greater inrush current upon power up.
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.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-6 Specifications
Required Protection under 110-10 of
NEC 1999
Preferred Fully
Rated Breakers
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.
Figure A.1
Circuit Protection under NEC 1999 110-10 (preferred fully rated devices)
Fully Rated
Fused
Disconnect
Fully Rated
Breaker
Distribution
Block
Required Protection under 110-10 of
NEC 1999
Preferred Fully
Rated Breakers
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
Publication 1394-5.20 — July 2001
Specifications A-7
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
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
Breakers Selected for Device
Protection
With Limited Short
Circuit Interupt
Capability
Drive Drive Drive
Breakers Selected for Device
Protection
With Limited Short
Circuit Interupt
Capability
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:
1394C-SJT05-D
1394C-SJT10-D
1394C-SJT22-D
With Secondary
Circuit Protection
Device:
1492-CB3-H300
A 1492 device is not recommended for this option.
1492-CB3-H500
1492-CB3-H600
And Axis Module Combination:
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
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-8 Specifications
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
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
1394-SR9AF
1394-SR36A
1394-SR36AF
B
B
B
B
Shipping Weight Resistance
300W continuous, 160,000 W peak, module (no fan)
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
3.63 kg (8 lb)
3.63 kg (8 lb)
8.6 kg (19.0 lb)
9.0 kg (20.0 lb)
4 Ohms
Agency
Certifications
For all applicable directives:
• UL Listed (file
#E59272)
• UL Listed
• CE marked
Refer to the following table for fuse replacement information.
If your 1394-SR9A, -SR9AF,
-SR36A, and -SR36AF shunt module:
Has the UL mark
Does not have the UL mark
You need a:
Bussmann 600V DC 50A fuse (FWP50A14F) or equivalent.
Bussmann 600V DC 40A fuse (170N2013) or equivalent.
Publication 1394-5.20 — July 2001
Environmental
Specifications
Power Dissipation
Specifications A-9
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 humidity between 5% and 95%, non-condensing.
Refer to the table below for ambient air temperature requirements.
This 1394 module:
Heatsink In this mounting configuration:
Requires this cabinet ambient air temperature:
1394 x -AM03, -AM04, -AM07,
-AM50-IH, -AM75-IH
2
1394-AM50 or -AM75
1394-AM50 or -AM75
1394 x -SJT xx-x
1
1
Inside cabinet
Inside cabinet
Outside cabinet
Inside cabinet
0-50
°
C (32
°
-122
°
F)
0-40
°
C (32
°
-122
°
F)
0-50
°
C (32
°
-104
°
F)
0-50
°
C (32
°
-122
°
F)
1
The AM50/75 are designed to mount with the rear heat sink extended outside the customer-supplied enclosure.
2
The AM50/75-IH are designed to mount entirely inside the customer-supplied enclosure.
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
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. Ensure that the ambient temperature inside the enclosure does not exceed specifications as given in
Environmental Specifications . To calculate total
power dissipation, add the dissipation of the system module to the dissipation of the axis module(s).
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-10 Specifications
System Modules
The power dissipation (in watts) of the system module types is shown below.
20
40
60
80
100
% of Rated Power Output
73
77
80
Power Dissipation (in watts)
1394C-SJT05-D 1394C-SJT10-D 1394C-SJT22-D
66
70
70
77
100
150
84
81
98
200
250
300
20
40
60
80
100
% of Rated
Power Output
24
30
36
42
48
Total
AM03
Axis Modules
The power dissipation (in watts) of the axis modules is shown below:
AM04 AM07
Power Dissipation (in watts)
Inside Cabinet
AM50
1 and
AM50-IH
2
AM75
1 and
AM75-IH
2
AM50
1
AM75
1
56
95
85
145
18
18
18
18
Outside Cabinet
AM50
1
AM75
1
27
36
45
54
33
48
63
78
139
183
212
279
18
18
18
18
38
77
138
165
67
127
194
261
63 93 227 346 18 18 209 324
1
The AM50/75 are designed to mount with the rear heat sink extended outside the customer-supplied enclosure. If the modules are mounted entirely inside the customer supplied enclosure, the full power dissipation is inside the cabinet.
2
The AM50/75-IH are designed to mount entirely inside the customer-supplied enclosure.
Internal Shunt Resistor for the 5 and 10 kW System
When the shunt resistor inside 1394C-SJT05-D and 1394C-SJT10-D 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:
Rating of the internal shunt resistor
Is:
200W continuous, 40,000W peak (two second maximum on time)
Resistance of the internal shunt resistor 16 ohms
Publication 1394-5.20 — July 2001
Communication
Specifications
Dimensions
Specifications
The communication specifications are listed in the table below.
A-11
Dedicated I/O Specifications
The table below lists the dedicated I/O specifications for the system module .
The:
Number of dedicated inputs
Dedicated input functions
Input type
Operating voltage
Input impedance
Input response time
Is:
24 (6 each for axis 0, 1, 2, and 3)
Enable, home limit switch, positive overtravel limit switch, negative overtravel limit switch, position registration_1 and position registration_2.
Optically isolated
24V DC (nominal)
ON state: 17.5-38V DC, 5-15 mA
OFF state: <6.9V DC, <1.5 mA leakage
3.5 kohms (resistive) per input
20 ms maximum; 1
µ s maximum for position registration inputs
Within this section, you will find dimensions for:
•
The 1394 system module
•
Axis modules
•
AC line filters
•
External shunt modules
•
Motors
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-12
26.0
(1.02)
Specifications
1394 System Module Dimensions
150.0 (5.91)
91.0 (3.58)
50.0
(1.97)
Figure A.3
1394C-SJT05-D, 1394C-SJT10-D and 1394C-SJT22-D System Module
25.0 (0.98)
8.0 (0.32)
Dimensions are in millimeters and (inches)
280
(11.02)
1394C-SJT22-D
System Module
385.0
(15.16)
Fastener
400.0
(15.75)
350.0
(13.78)
Status
DANGER
50.0
(1.97) Feedback Cable Clamps
67.31
(2.65)
2
Mounting Hole Detail
8.0 (0.31)
10.1 (0.40)
1394C-SJT05 or
1394C-SJT10-D
System Module
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.
Feedback Cable Clamps
2
2
57.15
(2.25)
Important: Additional clearance below the system module is necessary to provide the recommended cable bend radius. Refer to the Motion Control Selection Guide (publication GMC-SG001x-EN-P) for more information.
Publication 1394-5.20 — July 2001
400.0
(15.75)
350.0
(13.78)
Specifications A-13
Axis Module Dimensions
25.0
(0.98)
Figure A.4
1394 x -AM03, -AM04, and -AM07 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, and -AM07 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 the Motion Control Selection Guide
(publication GMC-SG001 x-EN-P) for more information.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-14 Specifications
37.5
(1.48)
Figure A.6
1394 x -AM50, -AM50-IH, -AM75, and -AM75-IH Axis Module Front View
8.0 (0.32)
Dimensions are in millimeters and (inches)
Depth = 280 (11.02)
400.0
(15.75)
350.0
(13.78)
385.0
(15.16)
Fastener location
1
Mounting Hole Detail
8.0 (0.31)
10.1 (0.40)
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)
75.0
(2.95)
Figure A.7
1394 x -AM50 and -AM75 Axis Module Side View
385
(15.16)
280
(11.02)
Dimensions are in millimeters and (inches)
Heat sink width only
338.1
(13.31)
Publication 1394-5.20 — July 2001
105
(4.13)
43.69
(1.72)
Important: Additional clearance below the axis is necessary to provide the recommended cable bend radius. Refer to Motion Control Selection Guide
(publication GMC-SG001 x-EN-P) for more information.
Specifications
Figure A.8
1394C-AM50-IH and -AM75-IH Axis Module Side View
280
(11.01)
A-15
Dimensions are in millimeters and (inches)
11 (0.43)
43.69
(1.72)
Important: Additional clearance below the axis is necessary to provide the recommended cable bend radius. Refer to Motion Control Selection Guide
(publication GMC-SG001 x-EN-P) for more information.
AC Line Filter Dimensions
Figure A.9
SP-74102-006-01 Filter Dimensions
192 (7.55)
20 (0.78)
Load
L3
L2
E
L1
164 (6.45)
Dimensions are in millimeters and (inches)
Line
L3
L2
L1
E
204 (8.03)
214 (8.42)
19 (0.74)
47 (1.85)
11 (0.43) 192 (7.55)
7.0 (0.275)
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-16 Specifications
15 (0.59)
L3
Line
L2
L1
E
25 (0.98)
15 (0.59)
20 (0.78)
L3
L2
Line
L1
E
35 (1.37)
20 (0.78)
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 1394-5.20 — July 2001
Specifications A-17
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)
++
++
36.5
(1.48)
9.5
(0.375 +/- 0.010)
38.1
(1.50)
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.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-18 Specifications
8
(0.32)
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)
155
(6.10)
1
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
125
(4.92)
175
(6.89)
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.
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 1394-5.20 — July 2001
Specifications A-19
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)
8.0 (0.31)
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
BULLETIN 1394 3600W SHUNT MODULE
CAT.
PART SER.
INPUT DC INPUT AC
FOR FUSE REPLACEMENT USE:
BUSSMAN CAT. NO.
FOR USE WITH 1394-SJT22-X SYSTEM MODULE
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)
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-20 Specifications
Motor Dimensions
AD
67.8
(2.67)
Without brake option
88.9
(3.5)
With brake option
1
HD
3.3
(0.13)
Figure A.17
MPL-B3 xx Series Motors (Resolver and High Resolution Feedback)
L
LB
LA
T
L-LB
D
S diameter holes in
M diameter bolt circle
Shaft diameter
Ø 15,997 - 16,008
(0.6298 - 0.6301)
See Detail “A”
P
High
Resolution
2 motor end
LD
Connector housing may be rotated for rearward connector orientation
Optional shaft seal
Ø 17 x Ø 47 x 7
Pilot diameter
Ø 79,993 - 80,012
(3.1493 - 3.1501)
Connectors without brake
N
Connectors with brake
1
Shaft end threaded hole
MPL-B310, -B320, -B330 motors:
Thread = M5 x 0.8 (0.0315)
Thread Depth = 12.5 (0.49)
Detail “A”
Flush to pilot
± 0,83 (0.032)
Shaft Detail with Key
Name Plate Detail
MPL-B310, -B320, -B330 motors:
Ø 16,94 ± 0,05 (0.667 ± 0.002)
F
GE
MPL-B310, -B320, -B330 = 5 x 5 x 25 Key
Motor
Series
MPL-
AD mm
(in.)
HD mm
(in.)
L-LB mm
(in.)
T mm
(in.)
LA mm
(in.)
LD mm
(in.)
L mm
(in.)
LB mm
(in.)
D mm
(in.)
M mm
(in.)
S mm
(in.)
B310
70.7
(2.78)
164.7
(6.48)
124.7
(4.91)
B320
80.9
(3.19)
125.7
(4.95)
40
(1.57)
3
2.87
(0.11)
9.9
(0.39)
96.1
(3.78)
190.1
(7.49)
150.1
(5.91)
16
(0.63)
100
(3.94)
7
(0.28)
4
B330
121.5
(4.78)
215.5
(8.49)
175.5
(6.91)
1
If ordering an MPL-B310, -B320, or -B330 motor with brake, add 34.5 mm (1.36 in.) to dimensions L, LB, and LD.
2
If ordering an MPL-B310, -B320, or -B330 motor with high-resolution feedback, add 3.3 mm (0.13 in.) to dimensions L and LB.
3
Tolerance for this dimension is ±0.7 (±.028).
4
Tolerance for this dimension is +0.36 (±0.007).
5
Tolerance for this dimension is +0.1 (+0.004).
6
Tolerance for this dimension is -0.03 (-0.001).
N mm
(in.)
80
(3.15)
P mm
(in.)
89.4
(3.52)
F mm
(in.)
GE mm
(in.)
3.0
(0.12)
5
5.0
(0.2)
6
Publication 1394-5.20 — July 2001
Specifications A-21
AD
67.8
(2.67)
Without brake option
88.9
(3.5)
With brake option
1
HD
3.3
(0.13)
Figure A.18
MPL-B4 xx Series Motors (Resolver and High Resolution Feedback)
L
LB
L-LB
LA
T S diameter holes in
M diameter bolt circle
D
Shaft diameter
Ø 18,996 - 19,009
(0.7479- 0.7483)
See Detail “A”
P
High
Resolution
2 motor end
LD
Connector housing may be rotated for rearward connector orientation
Optional shaft seal
Ø 20 x Ø 52 x 7
Pilot diameter
Ø 94,991 - 95,013
(3.7398 - 3.7407)
Connectors without brake
N
Connectors with brake
1
Shaft end threaded hole
MPL-B420, -B430 motors:
Thread = M6 x 1.0 (0.0394)
Thread Depth = 16.0 (0.63)
Detail “A”
Flush to pilot
± 0,83 (0.032)
Shaft Detail with Key
Name Plate Detail
MPL-B420 and B430 motors:
Ø 19,94 ± 0,05 (0.785 ± 0.002)
F
GE
MPL-B420 and B430 = 6 x 6 x 25 Key
Motor
Series
MPL-
AD mm
(in.)
HD mm
(in.)
L-LB mm
(in.)
T mm
(in.)
LA mm
(in.)
LD mm
(in.)
L mm
(in.)
LB mm
(in.)
D mm
(in.)
M mm
(in.)
S mm
(in.)
B420
83.9
(3.30)
132.8
(5.23)
40
(1.57)
3
2.87
(0.11)
10.2
(0.40)
92.5
(3.64)
186.5
(7.34)
146.5
(5.77)
19
(0.75)
115
(4.53)
B430
117.9
(4.64)
211.9
(8.34)
171.9
(6.77)
1
If ordering an MPL-B420 or -B430 motor with brake, add 48.5 mm (1.91 in.) to dimensions L, LB, and LD.
2
If ordering an MPL-B420 or -B430 motor with high-resolution feedback, add 3.3 mm (0.13 in.) to dimensions L and LB.
3
Tolerance for this dimension is ±0.7 (±.028).
4
Tolerance for this dimension is +0.36 (±0.007).
5
Tolerance for this dimension is +0.1 (+0.004).
6
Tolerance for this dimension is -0.03 (-0.001).
10
(0.41)
4
N mm
(in.)
95
(3.74)
P mm
(in.)
98.3
(3.87)
F mm
(in.)
GE mm
(in.)
3.5
(0.14)
5
6.0
(0.2)
6
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-22 Specifications
AD
67.8
(2.67)
Without brake option
88.9
(3.5)
With brake option
1
HD
3.3
(0.13)
Figure A.19
MPL-B45xx Series Motors (Resolver and High Resolution Feedback)
L
LB
L-LB
LA
T S diameter holes in
M diameter bolt circle
D
Shaft diameter
Ø 23,996 - 24,009
(0.9448 - 0.9451)
See Detail “A”
P
High
Resolution
2 motor end
LD
Connector housing may be rotated for rearward connector orientation
Optional shaft seal
Ø 25 x Ø 62 x 7
Pilot diameter
Ø 109,991 - 110,013
(4.3303 - 3.3312)
Connectors without brake
N
Connectors with brake
1
Shaft end threaded hole
MPL-B4520, -B4530, -B4540 motors:
Thread = M8 x 1.25 (0.0492)
Thread Depth = 19 (0.75)
Detail “A”
Flush to pilot
± 0,83 (0.032)
Shaft Detail with Key
Name Plate Detail
MPL-B4520, -B4530, -B4540 motors:
Ø 24,94 ± 0,05 (0.982 ± 0.002)
F
GE
MPL-B4520, -B4530, -B4540 = 8 x 7 x 32 Key
Motor
Series
MPL-
AD mm
(in.)
HD mm
(in.)
L-LB mm
(in.)
T mm
(in.)
LA mm
(in.)
LD mm
(in.)
L mm
(in.)
LB mm
(in.)
D mm
(in.)
M mm
(in.)
S mm
(in.)
B4520
95.8
(3.77)
199.8
(7.87)
149.8
(5.90)
B4530
91.5
(3.60)
148.3
(5.84)
50
(1.97)
3
3.38
(0.13)
12.2
(0.48)
121.2
(4.77)
225.2
(8.87)
175.2
(6.90)
24
(0.95)
130
(5.12)
10
(0.41)
4
B4540
146.6
(5.77)
250.6
(9.87)
200.6
(7.90)
1
If ordering an MPL-B4520, -B4530, or -B4540 motor with brake, add 48.5 mm (1.91 in.) to dimensions L, LB, and LD.
2
If ordering an MPL-B4520, -B4530, or -B4540 motor with high-resolution feedback, add 3.3 mm (0.13 in.) to dimensions L and LB.
3
Tolerance for this dimension is ±0.7 (±.028).
4
Tolerance for this dimension is +0.36 (±0.007).
5
Tolerance for this dimension is +0.2 (±0.007).
6
Tolerance for this dimension is -0.03 (-0.001).
N mm
(in.)
110
(4.33)
P mm
(in.)
113.7
(4.48)
F mm
(in.)
GE mm
(in.)
4.0
(0.16)
5
8.0
(0.3)
6
Publication 1394-5.20 — July 2001
Specifications A-23
2.8 (0.11)
9.52/9.50 Dia.
(0.375/0.374 Dia.)
High-Resolution
Motor End
C
AG
AD
Figure A.20
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)
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
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
Name Plate Detail 6.1
(.24)
Flange Mount in millimeters and (inches)
Feedback Catalog number Description
1,2 AD AG C Key
Resolver
High-Resolution
1326AB-B410 x -21
1326AB-B420 x -21
1326AB-B430 x -21 without brake without brake without brake
1326AB-B410 x -21M/S without brake
1326AB-B420 x -21M/S without brake
201.7
(7.94)
258.8
(10.19)
328.7
(12.94)
201.7
(7.94)
258.8
(10.19)
235.7
(9.28)
292.9
(11.53)
362.7
(14.28)
241.8
(9.52)
299.0
(11.77)
275.6
(10.85)
333.0
(13.11)
402.8
(15.86)
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)
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)
End milled keyway (full depth)
30.7
(1.21)
30.7
(1.21)
30.7
(1.21)
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)
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 -21x 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.
Allen-Bradley PLCs
30.7
(1.21)
Publication 1394-5.20 — July 2001
A-24 Specifications
2.0 (0.079)
9.52/9.50 Dia.
(0.3750/0.3745 Dia.)
Figure A.21
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
Resolver
Catalog number
1326AB-B515
1326AB-B520 x x
-21
-21
Description without brake without brake
1,2
AL
N/A
N/A
AD
244.1
(9.61)
282.2
(11.11)
364.7
(14.36)
AG
276.6
(10.89)
314.7
(12.39)
397.3
(15.64)
C
326.6
(12.86)
364.7
(14.36)
447.3
(17.61)
Key
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)
End milled keyway
(full depth)
41.0
(1.61)
41.0
(1.61)
1326AB-B530 x -21 without brake
187
(7.362)
1,2
41.0
(1.61)
1326AB-B515 x -21M/S without brake N/A
244.1
(9.61)
291.1
(11.46)
341.1
(13.43)
8 x 7 x 40
(0.315 x 0.276 x 1.57)
41.0
(1.61)
High-
Resolution
1326AB-B520 x -21M/S without brake N/A
282.2
(11.11)
329.2
(12.96)
379.2
(14.93)
8 x 7 x 40
(0.315 x 0.276 x 1.57)
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 -21x 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).
Note: Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft tolerance per DIN 42955,”N” tolerance.
Publication 1394-5.20 — July 2001
Specifications A-25
Figure A.22
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
Name Plate Detail
5.8
(.23)
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 x -21
1326AB-B730 x -21
1326AB-B740 x -21 without brake without brake without brake
1326AB-B720 x -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)
High-
Resolution
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 -21x 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).
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-26 Specifications
C
AG
AD
Figure A.23
1326AS-B3 Series Servo Motor
3 0.2
(0.118)
30 0.5
(1.181)
Power Input
10.9
(0.429)
20
(0.787)
1.53
(0.060)
9.525/9.500 Dia.
(0.375/0.374)
5.00/4.97
(0.197/0.196)
Shaft Detail
41
(1.61)
Commutation
Resolver Output
Key
89 sq.
(3.50)
1
27 0.3
(1.063)
14.008/13.997
(0.5515/0.5511)
M4 x 0.7 Tapped hole
10 (0.39) Deep min.
7 mm Dia. Thru -Hole
4 required on a 100 mm Dia. B.C.
9.1
45 45
(.36)
11.00/10.90
(0.433/0.429)
Motor Front End
Cap Corner Radius
➀
Shaft and Pilot Tolerances
Shaft Runout
Shaft Endplay
Pilot Eccentricity
0.025 (0.001) T.I.R
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
1326AS-B310 x -21 without brake
135
(5.32)
165
(6.50)
195
(7.68)
5 x 5 x 20
(0.197 x 0.197 x 0.79)
1326AS-B330 x -21 without brake
186
(7.32)
216
(8.50)
246
(9.68)
5 x 5 x 20
(0.197 x 0.197 x 0.79)
1
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.
Note: 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 1394-5.20 — July 2001
Specifications A-27
1.53
(0.060)
9.525/9.500Dia.
(0.375/0.374)
6.00/5.97
(0.236/0.235)
Shaft Detail
C
AG
AD
Figure A.24
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)
45 45
10 mm Dia. Thru -Hole
4 required on a 115 mm Dia. B.C.
22.2
(.875)
Motor Front End
Cap Corner Radius
➀
Shaft and Pilot Tolerances
Shaft Runout
Shaft Endplay
0.04 (0.0016) T.I.R
0.025 (0.001)
Pilot Eccentricity 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
1326AS-B420 x -21
1326AS-B440 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)
End milled keyway (full depth)
30.0
(1.18)
30.0
(1.18)
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)
1
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.
30.0
(1.18)
Note: 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.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-28
23
(0.91)
Specifications
C
AG
AD1
AD2
AL
Figure A.25
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)
20.45/18.92
(0.805/0.745)
21
(0.83)
M8 x 1.25 Tapped hole
19 (0.75) Deep min.
Shaft Detail 27.00/26.80
(1.063/1.055)
➀
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
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)
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
End milled keyway
(full depth)
1326AS-B630
1326AS-B660 x x
-21
-21 without brake without brake
69
(2.71)
145
(5.71)
255
(10.03)
331
(13.03)
231
(9.09)
307
(12.09)
291
(11.45)
367
(14.45)
351
(13.81)
427
(16.81)
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)
40
(1.57)
40
(1.57)
1326AS-B690 x -21 without brake
221
(8.71)
407
(16.03)
383
(15.09)
443
(17.45)
503
(19.81)
10 x 8 x 40
(0.394 x 0.315 x 1.57)
40
(1.57)
1
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.
Note: 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 1394-5.20 — July 2001
Specifications
Figure A.26
1326AS-B8 Series Servo Motor
23
(0.91)
C
AG
AD
7.7/6.2
0.305/0.245
0.4997/0.4990
12.692/12.675
12.00/11.96
(0.472/0.471)
Shaft Detail
➀
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
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.
33
(1.3)
A-29
241 sq.
(9.49)
45
25.4
(1.00)
Motor Front End
Cap Corner Radius
Name Plate Detail
Flange Mount in millimeters and (inches)
Catalog number
1326AS-B840 x -21
Description without brake
1
AL
131
(5.15)
AD
308
(12.13)
AG
346
(13.63)
C
431
(16.97)
Key
12 x 8 x 60
(0.472 x 0.315 x 2.36)
End milled keyway
(full depth)
60
(2.36)
1326AS-B860 x -21 without brake
235
(9.25)
359
(14.13)
397
(15.63)
482
(18.97)
12 x 8 x 60
(0.472 x 0.315 x 2.36)
60
(2.36)
1
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.
Note: 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.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-30 Specifications
Servo Motor Performance
Data
This section contains performance data for MP-Series, 1326AB, and
1326AS motors and motor/1394 axis module combinations.
MP-Series Performance Data
Motor
Catalog
Number
1
MPL-B310P
Rated Speed rpm
460V
5000
380V
4500
Motor
Rated
Torque
N-m (lb-in.)
1.58 (14)
Motor
Rated
Output kW
0.72
Rotor
Inertia kg-m
2
(lb-in.-s
2
)
0.000064
(0.00056)
System
Continuous
Torque
N-m (lb-in.)
1.58 (14)
System Peak
Stall Torque
N-m (lb-in.)
2.48 (21.95)
System
Continuous
Stall Current
Amperes
2.40
4
System
Peak Stall
Current
Amperes
4.30
4
1394
Axis
Module
AM03
MPL-B320P 5000 4500 2.94 (26) 1.3
0.000098
(0.00087)
2.77 (24.52)
2
2.94 (26.02)
2.91 (25.71)
2
4.52 (40)
5.62 (49.77)
3
4.24
4.50
4.24
7.10
8.50
AM03
AM04
AM03
MPL-B330P 5000 4500 4.18 (37) 1.7
0.00014
(0.0012)
4.18 (36.99) 6.55 (57.97) 6.10
9.90
AM04
AM07
MPL-B420P
MPL-B430P
5000
5000
4500
4000
4.74 (42)
6.55 (58)
1.9
2.4
0.00028
(0.0025)
0.00040
(0.0035)
3.14 (27.79)
4.74 (41.95)
2
3.02 (26.72)
2
4.56 (40.33)
2
5.62 (49.71)
3
8.39 (74.27)
3
8.59 (76.02)
5.90 (52.22)
8.82 (78.02)
3
3
4.24
6.40
4.24
6.40
8.50
12.70
13.00
8.50
12.70
AM03
AM04
AM07
AM03
AM04
MPL-B4520P 5000 4600 6.10 (54) 2.5
0.00030
(0.0026)
6.55 (57.97)
3.04 (26.93)
4.59 (40.65)
2
2
11.80 (104.43)
4.78 (42.31)
3
7.14 (63.22)
3
11.81 (104.54)
3
9.20
4.24
6.40
17.00
8.50
12.70
21.00
AM07
AM03
AM04
AM07
6.10 (53.99) 8.50
MPL-B4530F 3000 3000 8.36 (74) 2.2
0.00042
(0.0037)
4.99 (44.18)
2
7.54 (66.69)
2
8.36 (73.99)
3.22 (28.52)
2
13.50 (119.48)
8.32 (73.64)
3
12.43 (110.03)
3
18.60 (164.61)
5.86 (51.82)
3
4.24
6.40
7.10
4.24
24.00
8.50
12.70
19.00
8.50
AM50
AM03
AM04
AM07
AM03
MPL-B4530K 4000 4000 8.36 (74) 2.6
0.00042
(0.0037)
4.86 (43.05)
2
8.06 (71.30)
2
8.36 (73.99)
8.75 (77.43)
3
14.47 (128.03)
3
18.60 (164.61)
6.40
10.60
11.00
12.70
21.00
27.00
AM04
AM07
AM50
4.75 (42.06)
2
8.76 (77.51)
3 4.24
8.50
AM03
MPL-B4540F 3000 3000 10.2 (90) 3.0
0.00054
(0.0048)
7.17 (63.49)
2
13.09 (115.82)
3 6.40
12.70
AM04
21.64 (191.51)
3
21.00
AM07
10.20 (90.27) 9.10
23.70 (209.75) 23.00
AM50
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) exter nal 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.
4
Continuous and peak stall current values are 0 to peak.
Publication 1394-5.20 — July 2001
Specifications A-31
1326AB Performance Data
Motor
Catalog
Number
1
Rated Speed rpm
460V 380V
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
6.6 (58)
3 6.0
AM03
1326AB-B410G 5000 4000 2.7 (24) 1.0
0.0005
(0.004)
2.7 (24)
8.1 (72)
2.45
7.32
AM04
AM07
2.3 (21)
2
1326AB-B410J 7250 6000 2.7 (24) 1.4
0.0005
(0.004)
2.7 (24)
4.7 (42)
3
7.0 (62)
3
8.1 (72)
10.6 (94)
3
3.0
3.48
6.0
9.0
10.4
6.0
AM03
AM04
AM07
AM03
1326AB-B420E 3000 2500 5.0 (44) 1.1
0.0008
(0.007)
5.0 (44)
14.9 (132)
2.84
8.0
AM04
AM07
1326AB-B420H 6000 5000 5.1 (45)
1326AB-B430E 3000 2500 6.6 (58)
1326AB-B430G 5000 4000 6.4 (57)
2.2
1.4
2.3
0.0008
(0.007)
0.001
(0.01)
0.001
(0.01)
2.8 (25)
2
4.2 (37)
2
5.1 (45)
5.1 (45)
2
6.6 (58)
5.2 (46)
2
6.4 (57)
7.7 (68) 2
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
3.0
4.5
5.46
3.0
3.9
4.5
5.6
4.5
6.0
9.0
15.0
6.0
9.0
11.6
9.0
15.0
9.0
15.0
AM03
AM04
AM07
AM03
AM04
AM07
AM04
AM07
AM04
AM07
1326AB-B515E 3000 2500 10.4 (92) 2.3
0.004
(0.03)
10.4 (92)
31.2 (276)
6.1
18.3
AM50/AM50-IH
AM75/AM75-IH
7.9 (70) 2 15.8 (140) 3 7.5
15 AM07
1326AB-B515G 5000 4000 10.4 (92) 2.9
0.004
(0.03) 10.4 (92) 31.2 (276) 9.5
28.5
AM50/AM50-IH
AM75/AM75-IH
8.8 (78)
2 4.5
9.0
AM04 17.7 (157)
3
29.4 (260)
3 15.0
AM07
1326AB-B520E 3000 2500 13.0 (115) 2.9
0.005
(0.04)
13.0 (115)
39.0 (345)
6.7
20.1
AM50/AM50-IH
AM75/AM75-IH
11.2 (99)
2
22.4 (198)
3 7.5
15.0
AM07
1326AB-B520F 3500 3000 13.1 (116) 2.9
0.005
(0.04)
13.1 (116) 39.3 (348) 8.8
26.4
AM50/AM50-IH
AM75/AM75-IH
14.2 (126)
2
28.4 (251)
3 7.5
15.0
AM07
1326AB-B530E 3000 2500 18.0 (160) 4.2
0.007
(0.06)
18.0 (160) 54.2 (480) 9.5
28.5
AM50/AM50-IH
AM75/AM75-IH
1326AB-B720E 3500 3000 30.9 (273)
1326AB-B730E 3350 2800 39.0 (345)
1326AB-B740C 2200 1800 53.0 (469)
1326AB-B740E 3400 2800 50.0 (450)
6.8
1326AB-B720F 5000 4100 31.8 (281.7) 11.7
9.6
8.7
12.7
0.017
(0.15)
0.017
(0.15)
0.025
(0.23)
0.034
(0.30)
0.034
(0.30)
30.9 (273)
31.8 (281.7)
39.0 (345)
53.0 (469)
50.0 (450)
58.5 (518) 3
88.1 (780) 3
38 (336)
3
56 (495)
3
56.8 (502)
3
85.4 (756)
3
84.2 (745)
3
126.8 (1122)
3
52.7 (466) 3
79.4 (702)
3
17.5
27.5
22.8
20.9
32.0
33.2
50.0
33.2
50
33.2
50.0
33.2
50.0
33.2
50.0
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
3
2
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) exter nal heatsink ambient (AM50 and AM75).
For extended ratings at lower ambients contact Allen-Bradley.
Limited by axis module continuous current.
Limited by axis module peak current.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
A-32 Specifications
1326AS Performance Data
Motor Catalog
Number
1
1326AS-B310H
Rated Speed rpm
460V
6200
380V
5120
Motor
Rated
Torque
N-m (lb-in.)
0.7 (6.1)
Motor
Rated
Output kW
0.3
Rotor
Inertia kg-m 2
(lb-in.-s
2
)
0.000045
(0.0004)
System
Continuous
Torque
N-m (lb-in.)
0.7 (6.1)
System
Peak Stall
Torque
N-m (lb-in.)
2.1 (18)
System
Continuous
Stall Current
Amperes
0.8
System
Peak Stall
Current
Amperes
2.4
1394 Axis
Module
AM03
1326AS-B330H 6500 5370 2.0 (18.0) 0.9
0.00009
(0.0008)
2.1 (18) 5.6 (50) 2.1
6.0
AM03
AM04
7.3 (65)
3
6.0
3 AM03
1326AS-B420G 5250 4340 3.2 (28.0) 1.2
0.0003
(0.0027)
3.2 (28)
9.6 (84)
2.6
7.8
AM04
AM07
1326AS-B440G 5250 4340 6.4 (56.0) 2.0
0.0005
(0.0046)
5.3 (47)
6.4 (56)
2
6.6 (58) 2
10.5 (93)
3
17.6 (156)
19.0 (168)
13.1 (116) 3
4.5
5.4
2
4.5
2
9.0
3
15.0
16.2
9.0
3
AM04
AM07
AM50/AM50-IH
AM04
1326AS-B460F 4300 3550 9.0 (80.0) 2.8
0.00075
(0.0066)
9.0 (80)
21.9 (194)
27.1 (240)
6.2
15.0
18.6
AM07
AM50/AM50-IH
1326AS-B630F 4500 3720 10.7 (95.0) 2.4
0.0014
(0.012)
10.3 (91) 2 20.6 (182) 3 7.5
2 15.0
3 AM07
10.7 (95)
13.7 (121)
2
25.4 (225)
27.3 (242)
3
7.8
7.5
2
18.5
15.0
3
AM50/AM50-IH
AM07
1326AS-B660E 3000 2480 21.5 (190) 3.4
1326AS-B690E 3000 2480 36.4 (322) 5.0
1326AS-B840E 3000 2480 37.6 (333) 4.7
0.0025
(0.022)
0.0036
(0.032)
0.0063
(0.056)
21.5 (190)
36.4 (322)
37.6 (333)
54.2 (480)
54.2 (480)
63.6 (563)
3
79.1 (700)
59.0 (522) 3
70.0 (620)
11.8
19.0
21.2
29.8
29.8
33.2
3
41.3
33.2
3
39.5
AM50/AM50-IH
AM75/AM75-IH
AM50/AM50-IH
AM75/AM75-IH
AM50/AM50-IH
AM75/AM75-IH
1326AS-B860C 2000 1650 49.3 (436) 6.0
0.0094
(0.083)
49.3 (436)
93.0 (823) 3
17.6
33.2
3 AM50/AM50-IH
124.0 (1100) 44.4
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) exter nal 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 1394-5.20 — July 2001
Appendix
B
Interconnect Diagrams
Chapter Objectives
This appendix covers the following:
•
1394 SERCOS interface interconnect diagrams
•
Thermal and brake interconnect diagrams
•
Motor cable pin-outs
•
Grounding for 1394 CE requirements
1394 SERCOS Interface
Interconnect Diagrams
The following notes apply to the interconnect diagrams on the following pages.
4
5
6
Note: Information:
1 Power wiring is 3.3 mm
2
(12 AWG), 75 ° C (167 ° F) minimum, copper wire.
2
3
Input fuse to be Bussmann. Refer to Appendix A for fuse sizes.
Control Wiring: 0.82 mm
2
(18 AWG) maximum, 15A maximum.
7
8
9
Allen-Bradley motor cables. Refer to Motion Control Selection Guide (publication GMC-SG001
Contactor coil (M1) needs an integrated surge suppressors for AC coil operation.
x -EN-P).
Motor feedback connections are shown for example and apply to all feedback inputs.
Jumper is factory set, indicating grounded system at user site. Ungrounded sites must jumper the bleeder resistor to prevent high electrostatic buildup.
There is no internal shunt resistor in the 22 kW system module. An external shunt resistor module (1394-SR x A x ) must be used.
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.
10
ATTENTION
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to
Understanding the Machinery Directive (publication SHB-900).
!
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
B-2 Interconnect Diagrams
1394 SERCOS Interconnections
Figure B.1
1394 SERCOS Interface Interconnection Diagram
Analog Output
Test Port
Enable3
Home3
Reg3_Com
Reg3_1
Input Connections
Enable2
Home2
Reg2_Com
Reg2_1
NOTE 3
Enable1
Home1
Reg1_Com
Reg1_1
Enable0
Home0
Reg0_Com
Reg0_1
22 kW INPUT POWER
1394 SERCOS INTERFACE
SYSTEM MODULE
CONTROL POWER
& SIGNALS
DC MINUS BUS
J4 J5 J6
NOTE 7
Refer to the
Connecting Your 1394 SERCOS Interface System
chapter for ground jumper instructions.
DC BUS POS.
DC BUS NEG.
SLIDER INTERCONNECT
NOTES 3, 5, 10
6
7
8
9
3
4
5
1
2
Analog_Out_1
Analog_Out_2
Analog_Out_3
Analog_Out_4
Common
N/C
N/C
N/C
N/C
Drive System OK
Rated at 115VAC,
24VDC, 1A inductive
7
8
9
10
4
5
6
1
2
3
START* STOP*
Output 3
Output 2 CR1*
Output 1
CR1*
Output 0
Relay Output
Connections
Refer to Attention statement below
System Reset Button
CR1*
M1*
24V AC/DC or
120V AC,
50/60 HZ
Axis 3
1
2
3
4
5
6
7
8
Axis 2
1
2
3
4
5
6
7
8
Axis 1
1
2
3
4
5
6
7
8
Pos_Otrav3
Neg_Otrav3
I/O_Com
Reg3_2
Pos_Otrav2
Neg_Otrav2
I/O_Com
Reg2_2
3
4 5 6 7
01
9
Pos_Otrav1
Neg_Otrav1
I/O_Com
Reg1_2
Axis 0
3
4
1
2
7
8
5
6
Pos_Otrav0
Neg_Otrav0
I/O_Com
Reg0_2
OFF ON
5 and 10 kW POWER CONNECTORS
SYSTEM MODULE SINGLE
POINT BOND BAR
Input Power
Connector
Shunt Power
Connector
Logic Power
Connector
SERCOS
Base Address X10
Selector Switch
SERCOS Network Status LED
(for status LED information, refer to the 1394 SERCOS Interface
Integration Manual (publication 1394-IN024 x -EN-P).
SERCOS Receive
Fiber Optic
Connector
SERCOS Transmit
Fiber Optic
Connector
SERCOS Baud Rate DIP Switch (3)
SERCOS Baud Rate DIP Switch (2)
SERCOS Transmit Level Select DIP Switch (1)
DIP 1
OFF
ON
Transmit
Level
Low
High
DIP 2
OFF
OFF
ON
ON
DIP 3
OFF
ON
OFF
ON
SERCOS Baud Rate
2MBaud
4MBaud
8MBaud (available in future)
16MBaud (available in future)
TO BONDED
GROUND BAR OR
CABINET
GROUND BUS
A
System Module Status LED
Solid Red
Flashing Red
Flashing Red and Green
Flashing Green
Solid Green
Hardware Failure
Fault
Ready, Bus not up
Bus up, Axis not enabled
Bus up, Axis enabled
NOTE 8
* INDICATES USER-SUPPLIED COMPONENT
Publication 1394-5.20 — July 2001
CONTROL POWER
& SIGNALS
DC BUS POS.
DC BUS NEG.
SLIDER INTERCONNECT
Interconnect Diagrams B-3
Figure B.2
1394 SERCOS with MP-Series Motors Interconnect Diagram
AXIS MODULE (TYPICAL)
Axis Module Status LED
Solid Red
Flashing Red
Flashing Red and Green
Flashing Green
Solid Green
Hardware Failure
Fault
Ready, Bus not up
Bus up, Axis not enabled
Bus up, Axis enabled
THERMOSTAT AND BRAKE FEEDTHRU
MOTOR THERMAL
NOTE 9
SWITCH FILTER
(Series C)
MOTOR BRAKE
FILTER (Series C)
TB1 TB2
Axis Module
Cable Clamp
SLIDER INTERCONNECT
TO ADDITIONAL AXIS MODULES
TERMINATOR CONNECTS
TO THE LAST AXIS MODULE
2090-CDNFDMP-S xx
FEEDBACK CABLE
S
R
B
A
D
C
H
G
1 2 3 4
2090-UXNBMP-18S xx
BRAKE CABLE
A C
BR+ BR-
BRAKE
1 2 3 4
See Thermal and Brake
Interconnect Diagrams for Connections
4.0 mm
2
(12 AWG)
A B C
U V W
THREE-PHASE
MOTOR POWER
PE
GND
D
2090-CNDPBMPxx Sxx
MOTOR POWER CABLE
NOTE 4
TS-
TS+
R2
R1
S3
S1
S4
S2
THERMOSTAT
for motor resolver connections
MP x-B (460V) SERVO MOTORS
WITH RESOLVER FEEDBACK
A
TO
SYSTEM MODULE
SINGLE POINT
BOND BAR
A C A B C D
BR+ BR-
BRAKE
U V W
THREE-PHASE
MOTOR POWER
PE
GND
2090-CDNFDMP-S xx
FEEDBACK CABLE
S
R
P
N
B
A
D
C
F
E
TS-
TS+
COM
+9VDC
DATA-
DATA+
COS-
COS+
SIN-
SIN+
THERMOSTAT
for high-resolution encoder connections
MP x-B (460V) SERVO MOTORS
WITH HIGH RESOLUTION FEEDBACK
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
B-4
CONTROL POWER
& SIGNALS
DC BUS POS.
DC BUS NEG.
SLIDER INTERCONNECT
Interconnect Diagrams
Axis Module
Cable Clamp
Figure B.3
1394 SERCOS with 1326AB Motors Interconnect Diagram
AXIS MODULE (TYPICAL)
Axis Module Status LED
Solid Red
Flashing Red
Flashing Red and Green
Flashing Green
Solid Green
Hardware Failure
Fault
Ready, Bus not up
Bus up, Axis not enabled
Bus up, Axis enabled
THERMOSTAT AND BRAKE FEEDTHRU
NOTE 9
MOTOR THERMAL
SWITCH FILTER
(Series C)
MOTOR BRAKE
FILTER (Series C)
TB1 TB2
SLIDER INTERCONNECT
TO ADDITIONAL AXIS MODULES
TERMINATOR CONNECTS
TO THE LAST AXIS MODULE
1 2 3 4 1 2 3 4
1326-CP x1-xxx
MOTOR POWER CABLE
NOTE 4
1326-CCUxxx
FEEDBACK CABLE
A
B
D
E
H
G
1 2 3 8 7 9 5 4 6
4.0 mm
2
(12 AWG)
A
TO
SYSTEM MODULE
SINGLE POINT
BOND BAR
T1 T2
THREE-PHASE
T3
MOTOR POWER
R1
R2
S1
S3
S4
S2
for motor resolver connections
K2 K1 B2 B1
GND
THERMOSTAT
BRAKE
1326AB SERVO MOTORS
WITH RESOLVER FEEDBACK
TB1 TB2
Axis Module
Cable Clamp
2090-CDNFDMP-S xx
FEEDBACK CABLE
S
R
P
N
B
A
D
C
F
E
1 2 3 4
2090-UXNBMP-18S xx
BRAKE CABLE
A C
1 2 3 4
A B C D
4.0 mm
2
(12 AWG)
2090-CNDPBMPxx Sxx
MOTOR POWER CABLE
NOTE 4
A
TO
SYSTEM MODULE
SINGLE POINT
BOND BAR
BR+ BR-
TS-
TS+
COM
+9VDC
DATA-
DATA+
COS-
COS+
SIN-
SIN+
BRAKE
THERMOSTAT
high-resolution encoder connections
U V W
THREE-PHASE
MOTOR POWER
PE
GND
1326AB SERVO MOTORS
WITH HIGH RESOLUTION FEEDBACK
Publication 1394-5.20 — July 2001
CONTROL POWER
& SIGNALS
DC BUS POS.
DC BUS NEG.
SLIDER INTERCONNECT
Interconnect Diagrams B-5
Axis Module
Cable Clamp
Figure B.4
1394 SERCOS with 1326AS Motors Interconnect Diagram
AXIS MODULE (TYPICAL)
Axis Module Status LED
Solid Red
Flashing Red
Flashing Red and Green
Flashing Green
Solid Green
Hardware Failure
Fault
Ready, Bus not up
Bus up, Axis not enabled
Bus up, Axis enabled
THERMOSTAT AND BRAKE FEEDTHRU
MOTOR THERMAL
NOTE 9
SWITCH FILTER
(Series C)
MOTOR BRAKE
FILTER (Series C)
TB1 TB2
SLIDER INTERCONNECT
TO ADDITIONAL AXIS MODULES
TERMINATOR CONNECTS
TO THE LAST AXIS MODULE
1326-CP x1-xxx
MOTOR POWER CABLE
NOTE 4
1326-CCUxxx
FEEDBACK CABLE
A
B
D
E
H
G
1 2 3 4
1 2 3 8 7 9 5 4 6
T1 T2
THREE-PHASE
T3
MOTOR POWER
R1
R2
S1
S3
S4
S2
for motor resolver connections
K2 K1
B2 B1
GND
THERMOSTAT
BRAKE
1326AS SERVO MOTORS
WITH RESOLVER FEEDBACK
1 2 3 4
See Thermal and Brake
Interconnect Diagrams for Connections
4.0 mm
2
(12 AWG)
A
TO
SYSTEM MODULE
SINGLE POINT
BOND BAR
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
B-6 Interconnect Diagrams
Figure B.5
SCANport and Feedback Connections (1394 System Module, Bottom View)
Left Side (1394 Front)
SCANport
Right Side
4
3
6
5
2
1
13
12
11
10
9
8
7
AXIS 0
Auxiliary Fdbk
AXIS 1
Auxiliary Fdbk
4
3
2
1
6
5
8
7
13
12
11
10
9
IM-
IM+
+5V DC
COM
BM-
BM+
AM-
AM+
BLK
BLK
BLU
BLK
WHT
1326-CEUxxx
Feedback Cable
BLK
ORN
RED
Note 6
J
C
D
B
H
A
F
I
845H Quadrature
ENCODER Feedback
QUADRATURE
MOTOR
ENCODER
System Module Cable Clamp
G
MP x -B (460V) Motor with
High Resolution ENCODER
Feedback
S
Note 6
THERMOSTAT
R
2090-CDNFDMP-S xx
Feedback Cable
WHT/BLUE
BLUE
TS-
TS+
HI-RES
MOTOR
ENCODER
N
P
D
C
B
A
F
E
WHT/GREEN
GREEN
ORANGE
WHT/ORANGE
WHT/RED
RED
WHT/BLACK
BLACK
DATA-
DATA+
+9V DC
COM
COS-
COS+
SIN-
SIN+
6
5
4
3
2
1
8
7
10
9
13
12
11
AXIS 3
Motor Fdbk
(4 axis system) or
AXIS 2
Auxiliary Fdbk
(3 axis system)
4
3
6
5
2
1
13
12
11
10
9
8
7
AXIS 2
Motor Fdbk
System Module Cable Clamp
MP x -B (460V)
Motor RESOLVER
Feedback
THERMOSTAT
MOTOR
RESOLVER
D
C
B
A
S
R
H
G
Note 6
2090-CDNFDMP-S xx
Feedback Cable
WHT/BLUE
BLUE
WHT/YELLOW
YELLOW
TS-
TS+
R2
R1
WHT/RED
RED
WHT/BLACK
BLACK
System Module Cable Clamp
S3
S1
S4
S2
9
8
7
6
13
12
11
10
3
2
5
4
1
AXIS 1
Motor Fdbk
7
6
9
8
13
12
11
10
3
2
1
5
4
AXIS 0
Motor Fdbk
S3
S1
S4
S2
TS-
TS+
R2
R1
TS-
TS+
DATA-
DATA+
+9V DC
COM
COS-
COS+
SIN-
SIN+
2090-CDNFDMP-S xx
Feedback Cable
WHT/BLUE
BLUE
WHT/GREEN
GREEN
ORANGE
WHT/ORANGE
WHT/RED
RED
WHT/BLACK
BLACK
System Module Cable Clamp
1326-CCUxxx
Feedback Cable
WHT
BLK
RED
BLK
BLK
GRN
System Module Cable Clamp
Note 6
S
1326AB Motor with
High Resolution ENCODER
Feedback
THERMOSTAT
R
Note 6
D
C
B
A
N
P
F
E
E
D
H
G
B
A
HI-RES
MOTOR
ENCODER
1326AB or 1326AS
Motor RESOLVER
Feedback
MOTOR
RESOLVER
(1394 Back)
Publication 1394-5.20 — July 2001
Thermal and Brake
Interconnect Diagrams
Interconnect Diagrams
This section provides thermal and brake interconnect diagrams.
B-7
Understanding Motor Thermal Switches
Thermal switches, internal to each 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 to your system module.
Depending on the series of your 1394 axis module, your customer control devices may require isolation 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) 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 by wiring each of the motor thermal switches from the motor, through TB1/TB2 on the axis module, or directly from the motor to one of four dedicated thermal fault inputs on the system module. Your 1394 system can then be configured to monitor and disable one or all four of the axes. As an alternative, you can wire the thermal switches into the start/stop string to disable all axes when a fault occurs.
How Your Feedback Cable Affects Thermal Switch Wiring
The examples shown on the following pages are for 1326AB/AS servo motors with resolver feedback (using 1326-CCUxxx feedback cables).
The motor thermal switch leads are in the motor power cable and
attach to TB1 of the axis module (refer to figures B.3 and B.4 for
motor/axis module interconnect diagrams).
1326AB motors (with high resolution feedback) and MP-Series motors
(both resolver and high resolution feedback) use 2090-CDNFDMP-S xx cables. The motor thermal switch leads are in the motor feedback cable and attach directly to the feedback connector on the bottom of the 1394 system module for thermal fault monitoring (refer to figures
B.2, B.3, and B.5 for motor/system module interconnect diagrams).
Thermal Switch Interconnect Diagrams
The example in Figure B.6 shows 1394 (Series C) axis modules with
internal brake and thermal switch filtering. Separate isolation power supply and relay are not required. Using the start/stop string Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
B-8 Interconnect Diagrams
Axis 0
1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
Figure B.6
Non-Isolated Series Start/Stop String
Axis 1 Axis 2
1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
Axis 3
1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
1 2 3 4
TB1
1 2 3 4
TB2
3 4
1 2
TB1
3 4 1 2 3 4
TB2
3 4
Motor thermal switch wiring for
1326AB/AS motor resolver feedback
1394 SERCOS Interface
Control Board
1394C-SJT xx-D
Drive System OK
Relay
Relay Output
Connector
1
8
9
6
7
4
5
2
3
10
1 2
TB1
3 4 1 2 3 4
TB2
3 4
1 2 3 4
TB1
1 2 3 4
TB2
3 4
START STOP
CR1
CR1
CR1
Refer to Attention statement below
M1
24V AC/DC
The thermal circuit includes filtering on the TB1/TB2 connector board that is rated for 24V only. For TB1/TB2 wiring alternatives, refer to the table below.
If:
120V ac is used on the start/stop string
Then:
Option 1: Install a 24V pilot relay on the thermal switch circuit.
Option 2: Bypass the TB1/TB2 terminations
1
.
Follow the wiring shown in Figure B.6 above.
24V is used on the start/stop string
1
When bypassing the TB1/TB2 terminations, ensure that unshielded motor power conductors are kept as short as possible at the drive, as they will radiate high levels of electrical noise.
Note: Refer to Figure 2.12 in the chapter
SERCOS Interface System for the TB1/ TB2 pin-out diagram.
ATTENTION
!
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to Understanding the
Machinery Directive (publication SHB-900).
The example below shows 1394 (Series C) axis modules wired for thermal fault monitoring. Depending on how the 1394 system is
Publication 1394-5.20 — July 2001
Interconnect Diagrams B-9
Axis 0
1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C) configured, the fault can be used to disable one or all of the four axis modules.
Figure B.7
Non-Isolated with Thermal Fault Monitoring
Axis 1 Axis 2
1394C-AM xx 1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
Axis 3
1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
1 2 3 4
TB1
1 2 3 4
TB2
3 4
Motor thermal switch wiring for
1326AB/AS motor resolver feedback
TS+
TS-
12 13
Axis 0
1 2
TB1
3 4 1 2 3 4
TB2
3 4
TS+
TS-
12 13
Axis 1
1 2
TB1
3 4 1 2 3 4
TB2
3 4
TS+
TS-
Motor Feedback Connector
1394 SERCOS Interface
Control Board
1394C-SJT xx-D
12 13
Axis 2
1 2 3 4
TB1
1 2 3 4
TB2
3 4
TS+
TS-
12 13
Axis 3
Note: Refer to Figure 2.12 in the chapter
SERCOS Interface System for the TB1 and TB2 pin-out diagram.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
B-10 Interconnect Diagrams
Axis 0
1394-AM xx
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. Using the start/stop string configuration all axes are disabled when any one motor faults.
Figure B.8
Isolated Series Start/Stop String
Axis 1
1394-AM xx
Axis 2
1394-AM xx
Axis 3
1394-AM xx
1 2 3 4
TB1
1 2 3 4
TB2
3 4
1 2
TB1
3 4 1 2 3 4
TB2
3 4
1 2
TB1
3 4 1 2 3 4
TB2
3 4
1 2 3 4
TB1
1 2 3 4
TB2
3 4
Motor thermal switch wiring for
1326AB/AS motor resolver feedback
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.
CR2
1394 SERCOS Interface
Control Board
1394C-SJT xx-D
Drive System OK
Relay
Relay Output
Connector
3
4
1
2
5
6
7
8
9
10
START STOP
CR1
CR1
CR2
M1
CR1
Refer to Attention statement below
24V AC/DC or
120V AC,
50/60 HZ
Note: Refer to Figure 2.12 in the chapter
SERCOS Interface System for the TB1 and TB2 pin-out diagram.
ATTENTION
!
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to Understanding the
Machinery Directive (publication SHB-900).
Publication 1394-5.20 — July 2001
Axis 0
1394-AM xx
Interconnect Diagrams B-11
The example below shows 1394 (Series A and B) axis modules wired for thermal fault monitoring. Depending on how the 1394 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 thermal inputs from conducted noise.
Figure B.9
Isolated with Thermal Fault Monitoring
Axis 1 Axis 2
1394-AM xx 1394-AM xx
Axis 3
1394-AM xx
1 2 3 4
TB1
1 2 3 4
TB2
3 4
1 2
TB1
3 4 1 2 3 4
TB2
3 4
1 2
TB1
3 4 1 2 3 4
TB2
3 4
1 2 3 4
TB1
1 2 3 4
TB2
3 4
Motor thermal switch wiring for
1326AB/AS motor resolver feedback
CR2
24V DC
Power Supply
+24V DC
24V DC com
CR2
CR3 CR4 CR5
CR3 CR4 CR5
TS+
TS-
12 13
Axis 0
TS+
TS-
12 13
Axis 1
TS+
TS-
Motor Feedback Connector
12 13
Axis 2
TS+
TS-
12 13
1394 SERCOS Interface
Control Board
1394C-SJT xx-D
Note: 120V AC (50 or 60 Hz) power may be used in place of a 24V DC power supply for motor thermal switch circuits.
Axis 3
Note: Refer to Figure 2.12 in the chapter
SERCOS Interface System for the TB1 and TB2 pin-out diagram.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
B-12 Interconnect Diagrams
Brake Interconnect Diagrams
The relay outputs (Output 0-3) are linked to the Brake Enable/Disable parameters to allow control of a motor brake for each axis. When an axis is enabled, the configured output relay contact will close to disengage the associated motor brake. At the same time, the axis will command sufficient torque to hold the motor's position while the brake is disengaging. The length of time that the axis will apply this torque is set by the Brake Off Delay parameter for each axis. When an axis is disabled and the motor has reached zero velocity, the configured output relay contact will open to engage the associated motor brake. At the same time, the axis will command sufficient torque to hold the motor's position while the brake is engaging. The length of time that the axis will apply this torque is set by the Brake
On Delay parameter for each axis. Refer to the 1394 SERCOS Interface
Integration Manual (publication 1394-IN024 x -EN-P) for more information).
Depending on the series of your 1394 axis module, your brake circuitry may require isolation from the motor's conducted noise.
When using 1394 Series B axis modules, an isolated 24V DC power supply and relay is recommended. 1394 Series C axis modules contain an internal motor brake filter and do not require the isolation power supply and relay. The Series C brake filter also contains a bidirectional snubber diode to protect the user-supplied 24V DC brake power supply.
IMPORTANT
The output relay contacts are rated to control a 24V
DC motor brake rated up to 1A. Motor brakes rated greater than 1A require an additional relay or contactor with sufficient rating to handle the higher current.
Publication 1394-5.20 — July 2001
Interconnect Diagrams B-13
Axis 0
1394C-AM xx
Motor brake filter (Series C)
Brake current rated less than 1.0A
The example below shows 1394 series C axis modules with internal brake filtering. Each axis is connected to a motor with a brake rated at less than 1A. A separate pilot relay is not required. Motor brakes that do not require a pilot relay are shown in the table below.
For this motor series: Use this brake option:
1326AB K4
1326AS
MP x -B3 (460V)
K3 or K4
4
MP x -B4 (460V)
MP x -B45 (460V)
4
4
Figure B.10
Brake Interconnect Diagram
Axis 1 Axis 2
1394C-AM xx
Motor brake filter (Series C)
Brake current rated less than 1.0A
1394C-AM xx
Motor brake filter (Series C)
Brake current rated less than 1.0A
Axis 3
1394C-AM xx
Motor brake filter (Series C)
Brake current rated less than 1.0A
Motor Brake
1 2 3 4
TB1
I <1A
1 2 3 4
TB2
1 2
9
10
Relay
Output 0
1 2 3 4
TB1
1 2 3 4
TB2
1 2
I <1A
1 2 3 4
TB1
I <1A
8
7
Relay
Output 1
1394 SERCOS Interface
Control Board
1394C-SJT xx-D
1 2 3 4
TB2
1 2
6
5
Relay
Output 2
1 2 3 4
TB1
I <1A
1 2 3 4
TB2
1 2
4
3
Relay
Output 3
24V DC
Power Supply
+ DC
DC com
Note: Refer to Figure 2.12 in the chapter
SERCOS Interface System for the TB1 and TB2 pin-out diagram.
Note: Refer to Figure B.1 for location of 10-pin relay output connector.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
B-14 Interconnect Diagrams
The example below also shows 1394 series C axis modules with internal brake filtering. Each axis is connected to a motor with a brake rated at greater than 1A. A separate pilot relay is required for brake current handling.
For this motor series: Use this brake option:
1326AB K5 or K7
1326AS K6 or K8
Axis 0
1394C-AM xx
Motor brake filter (Series C)
Brake current rated greater than 1.0A
Figure B.11
Isolated Brake (with pilot relay) Interconnect Diagram
Axis 1 Axis 2
1394C-AM xx
Motor brake filter (Series C)
Brake current rated greater than 1.0A
1394C-AM xx
Motor brake filter (Series C)
Brake current rated greater than 1.0A
Axis 3
1394C-AM xx
Motor brake filter (Series C)
Brake current rated greater than 1.0A
1 2 3 4
TB1
Motor Brake
24V DC
Power Supply
+ DC
DC com
I >1A
1 2 3 4
TB2
1 2
CR6
CR6
1 2 3 4
TB1
I >1A
1 2 3 4
TB2
1 2
CR7
CR7
1 2
TB1
3 4
I >1A
1 2 3 4
TB2
1 2
CR8
CR8
1 2
TB1
3 4
I >1A
1 2 3 4
TB2
1 2
CR9
CR9
10
Relay
Output 0
9 8
Relay
Output 1
7 6
Relay
Output 2
5
1394 SERCOS Interface Control Board 1394C-SJT xx-D
4
Relay
Output 3
3
Note: Refer to Figure 2.12 in the chapter
SERCOS Interface System for the TB1 and TB2 pin-out diagram.
Publication 1394-5.20 — July 2001
Axis 0
1394x-AM xx
Interconnect Diagrams B-15
The example below shows 1394 Series B axis modules without internal brake filtering. Any axis connected to a motor with a brake requires a separate pilot relay for noise isolation.
Figure B.12
Isolated Brake (with pilot relay) Interconnect Diagram
Axis 1 Axis 2
1394x-AM xx 1394x-AM xx
Axis 3
1394x-AM xx
Motor Brake
24V DC
Power Supply
+ DC
DC com
1 2 3 4
TB1
1 2 3 4
TB2
1 2
CR6
CR6
10
Relay
Output 0
9
1 2 3 4
TB1
1 2 3 4
TB2
1 2
CR7
CR7
1 2
TB1
3 4 1 2 3 4
TB2
1 2
CR8
CR8
8
Relay
Output 1
7 6
Relay
Output 2
5
1394 SERCOS Interface Control Board 1394C-SJT xx-D
1 2
TB1
3 4 1 2 3 4
TB2
1 2
CR9
CR9
4
Relay
Output 3
3
Note: Refer to Figure 2.12 in the chapter
SERCOS Interface System for the TB1 and TB2 pin-out diagram.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
B-16 Interconnect Diagrams
Motor Cable Pin-Outs
The following sections contain cable pin-outs for the MP-Series,
1326AB, and 1326AS motor power and feedback cables (motor to
1394 system/axis module).
1
2
4
6
Pair
MP-Series Motor Feedback Cables
Wire Color
2090-CDNFDMP-S xx Feedback Cable for Motor Resolver
Description
S2
Gauge mm
2
(AWG)
0.34 (22)
Connector Pin
A
System Module Terminal #
1394C-SJT
1 xx -D
Black
White/
Black
S4 0.34 (22) B 2
Red S1
White/Red S3
R1 Yellow
White/
Yellow
R2
0.34 (22)
0.34 (22)
0.34 (22)
0.34 (22)
C
D
G
H
3
4
10
11
Blue TS+
White/Blue TS-
0.34 (22)
0.34 (22)
Overall Shield N/A
R
S
12
13 no connection no connection
Pair
1
2
3
5
6
Wire Color
2090-CDNFDMP-S xx High-Resolution Feedback Cable
Description
SIN+
Gauge mm
2
(AWG)
0.34 (22)
Connector Pin
A
System Module Terminal #
1394C-SJT
1 xx -D
Black
White/
Black
SIN0.34 (22) B 2
Red COS+
White/Red COS-
DATA+ Green
White/
Green
Orange
White/
Orange
DATA-
+9V DC
COMMON
0.34 (22)
0.34 (22)
0.34 (22)
0.34 (22)
0.34 (22)
0.34 (22)
C
D
E
F
N
P
3
4
8
9
6
5
Blue TS+
White/Blue TS-
0.34 (22)
0.34 (22)
Overall Shield N/A
R
S
12
13 no connection Cable Clamp
Note: The wiring information in this table applies only to high-resolution servo motors.
Publication 1394-5.20 — July 2001
Interconnect Diagrams B-17
1326 Motor Feedback Cables
Pair
1
2
3
5
6
Wire Color
Black
2090-CDNFDMP-S xx High-Resolution Feedback Cable
Description
SIN+
Gauge mm
2
(AWG)
0.34 (22)
Connector Pin
A
System Module Terminal #
1394C-SJT
1 xx -D
White/
Black
SIN-
Red COS+
White/Red COS-
DATA+ Green
White/
Green
Orange
DATA-
+9V DC
0.34 (22)
0.34 (22)
0.34 (22)
0.34 (22)
0.34 (22)
0.34 (22)
B
C
D
E
F
N
2
3
4
8
9
6
White/
Orange
COMMON
Blue TS+
White/Blue TS-
0.34 (22)
0.34 (22)
0.34 (22)
Overall Shield N/A
P
R
S
5
12
13 no connection Cable Clamp
Note: The wiring information in this table applies only to high-resolution servo motors.
Pair
1
2
3
4
5
Wire
Color
Black
White
Black
Red
Black
Orange
Black
Blue
Black
Green
Encoder
1326-CEUxxx Quadrature Encoder Cable
Description
1394 Drive
Gauge mm
2
(AWG)
Connector Pin
A (NOT)
A
Shield
COMMON
AM-
AM+
Shield
COMMON
0.34 (22)
0.34 (22)
N/A
0.34 (22)
H
A
System Module Terminal #
1394C-SJT
2
1 no connection Cable Clamp
F 5 xx -D
+5V DC
Shield
Z (NOT)
Z
+5V DC
Shield
IM-
IM+
0.34 (22)
N/A
0.34 (22)
0.34 (22)
D no connection Cable Clamp
J
C
7
9
8
Shield
B (NOT)
B
Shield
Shield
BM-
BM+
Shield
N/A
0.34 (22)
0.34 (22)
N/A
COMMON COMMON 0.34 (22) no connection no connection 0.34 (22)
Overall Shield Overall Shield N/A
F
E
I no connection Cable Clamp
4
B 3 no connection Cable Clamp
G
5 no connection
Cable Clamp
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
B-18 Interconnect Diagrams
Pair
1
2
3
Pair
1
2
3
Wire
Color
1326-CCUxxx Standard Commutation Cable for Motor Resolver
Description
Gauge mm
2
(AWG)
Connector Pin
System Module Terminal #
1394C-SJT xx -D
Black
White
Black
Red
R1
R2
Shield
S1
0.5 (20)
0.5 (20)
N/A
0.5 (20)
A
B no connection
D
10
11
Cable Clamp
3
Green
Black
S3
Shield
S2
S4
0.5 (20)
N/A
0.5 (20)
0.5 (20)
G
H
E 4 no connection Cable Clamp
1
2
Shield N/A
Overall Shield N/A no connection Cable Clamp no connection Cable Clamp
Wire
Color
1326-CCUTxxx Flex Rated Commutation Cable for Motor Resolver
Description
Gauge mm
2
(AWG)
Connector Pin
System Module Terminal #
1394C-SJT xx -D
White/
Black
R1 0.5 (20) A 10
N/A
B 11 no connection Cable Clamp
White R2
Shield
White/
Black
S1
White/Red S3
Shield
White/
Green
S2
0.5 (20)
N/A
0.5 (20)
D
E no connection
G
3
4
Cable Clamp
1
White/
Black
S4 0.5 (20) H 2
Shield N/A
Green/Yellow N/A no connection Cable Clamp no connection Cable Clamp
MP-Series Motor Power Cables
Wire Number/
Color
U / Brown
V / Black
2090-CDNPBMP-16S xx Motor Power Cable
Description
Gauge mm
2
(AWG)
Connector
Pin
Axis Module Terminal #
1394C AM xx
Power (U)
Power (V)
W / Blue Power (W)
PE / Green/
Yellow
Ground
Braided shield Shield
1.5 (16)
1.5 (16)
N/A
A
B
C
D
N/A
U1
V1
W1
PE2
Cable Clamp
Publication 1394-5.20 — July 2001
Interconnect Diagrams B-19
1326 Motor Power Cables
Wire Number/
Color
1 / Black
2 / Black
3 / Black
4 / Black
5 / Black
1326-CPB1xxx Standard Motor Power Cable
Description
Gauge mm
2
(AWG)
Connector
Pin
Axis Module Terminal #
1394C AM xx
Power (T1)
Power (T2)
Power (T3)
Brake (B2)
Thermostat
(K1)
1.5 (16)
1.5 (16)
1.5 (16)
1
2
3
4
5
U1
V1
W1
TB1-3
TB1-2
6 / Black Brake (B1) 1.5 (16)
Braided shield Overall shield N/A
Green/Yellow 1.5 (16)
9 / Black
Ground
Thermostat
(K2)
1.5 (16)
6
7
8
9
TB1-4
Cable Clamp
PE2
TB1-1
Note: The wiring information in this table applies only to 1326AS-B3 xxxx , 1326-AB/AS-B4 xxxx and 1326AB-B5 xxxx servo motors.
Wire Color
1 / White
2 / White
3 / White
4 / White
5 / White
6 / White Brake (B1) 1.5 (16)
Braided Shield Overall shield N/A
Green/Yellow Ground
9 / White
1326-CPB1Txxx Flex Rated Motor Power Cable
Description
Gauge mm
2
(AWG)
Connector
Pin
Axis Module Terminal #
1394C AM xx
Power (T1)
Power (T2)
Power (T3)
Brake (B2)
Thermostat
(K1)
1.5 (16)
1.5 (16)
1.5 (16)
1
2
3
4
5
U1
V1
W1
TB1-3
TB1-2
Thermostat
(K2)
1.5 (16)
1.5 (16)
6
7
8
9
TB1-4
Cable Clamp
PE2
TB1-1
Note: The wiring information in this table applies only to 1326AS-B3 xxxx , 1326-AB/AS-B4 xxxx and 1326AB-B5 xxxx servo motors.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
B-20 Interconnect Diagrams
Wire Color
1 / Black
2 / Black
3 / Black
4 / Black
5 / Black
1326-CPC1xxx Standard Motor Power Cable
Description
Gauge mm
2
(AWG)
Connector
Pin
Axis Module Terminal #
1394C AM xx
Power (T1)
Power (T2)
Power (T3)
Brake (B2)
Thermostat
(K1)
6.0 (10)
1.5 (16)
1.5 (16)
1
2
3
4
5
U1
V1
W1
TB1-3
TB1-2
6 / Black Brake (B1) 1.5 (16)
Braided shield Overall shield N/A
4.0 (12) Green/Yellow Ground
9 / Black
Thermostat
(K2)
1.5 (16)
6
7
8
9
TB1-4
Cable Clamp
PE2
TB1-1
Note: The wiring information in this table applies only to 1326AS-B6 xxxx, 1326AS-B8 xxxx, and 1326AB-B7 xxxx servo motors.
Wire Color
1 / White
2 / White
3 / White
4 / White
5 / White
1326-CPC1Txxx Flex Rated Motor Power Cable
Description
Gauge mm
2
(AWG)
Connector
Pin
Axis Module Terminal #
1394C AM xx
Power (T1)
Power (T2)
Power (T3)
Brake (B2)
Thermostat
(K1)
Brake (B1)
6.0 (10)
1.5 (16)
1.5 (16)
1.5 (16)
1
2
3
4
5
6
U1
V1
W1
TB1-3
TB1-2
TB1-4 6 / White
Braided Shield Overall shield N/A
Green/Yellow Ground 4.0 (12)
9 / White
Thermostat
(K2)
1.5 (16)
7
8
9
Cable Clamp
PE2
TB1-1
Note: The wiring information in this table applies only to 1326AS-B6 xxxx, 1326AS-B8 xxxx, and 1326AB-B7 xxxx servo motors.
Publication 1394-5.20 — July 2001
Interconnect Diagrams B-21
Grounding for 1394 CE
Requirements
Three-Phase
Mains with
Ground
Conduit Clamp
Filtered Conductors
Refer to the figure below for CE grounding requirements for 1394 installation.
Figure B.13
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
2
3
Bonded Cabinet
Ground Bus
Enclosure
Resolver/
High Resolution
Feedback
Cables
1
An Allen-Bradley filter (catalog number SP-74102-006-01, -02, -03) or Roxburgh filter (catalog number MIF323-GS, or MIF330-GS, or MIF375-GS respectively) is required.
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
The filter shown is sized for one 1394. Equivalent filters may be used for multiple units. Size the filter following the manufacturers recommendation.
3
The input power PE terminal must be wired to the bonded cabinet ground bus for grounded power configurations.
IMPORTANT
All three-phase power in the cabinet must be filtered to reduce EMI.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
B-22 Interconnect Diagrams
Publication 1394-5.20 — July 2001
Chapter Objectives
1394 System Modules
Appendix
C
Catalog Numbers and Accessories
This appendix lists the 1394 system components and accessory items in tables by catalog number, providing detailed descriptions of each. This appendix describes catalog numbers for:
•
1394 system and axis modules
•
External shunt modules
•
AC line filters
•
SERCOS interface fiber optic cables
•
Motor cables and connector kits
•
Miscellaneous accessories
Contact your local Allen-Bradley sales office for additional information. Refer to the Motion Control Selection Guide
(publication GMC-SG001 x -EN-P) for detailed information on products.
1394 system modules have power ratings of 5, 10, and 22 kW.
Available 1394 system modules are listed in the table below.
Description
System Module, 5 kW with SERCOS interface, Series C, controls up to four axes
System Module, 10 kW with SERCOS interface, Series C, controls up to four axes
System Module, 22 kW with SERCOS interface, Series C, controls up to four axes
Catalog Number
1394C-SJT05-D
1394C-SJT10-D
1394C-SJT22-D
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
C-2 Catalog Numbers and Accessories
1394 Axis Modules
1394 axis modules have power ratings of 2, 3, 5, 10, and 15 kW.
Available 1394 axis modules are listed in the table below.
Description
Axis Module, 2 kW, 3.0A continuous with 6.0A peak
Axis Module, 3 kW, 4.5A continuous with 9.0A peak
Axis Module, 5 kW, 7.5A continuous with 15.0A peak
Axis Module, 10 kW, 23.3A continuous with 33.2A peak, external heatsink
Axis module, 15 kW, 35.0A continuous with 50.0A peak, external heatsink
Axis Module, 10 kW, 23.3A continuous with 33.2A peak, internal heatsink
Axis module, 15 kW, 35.0A continuous with 50.0A peak, internal heatsink
Catalog Number
1394C-AM03
1394C-AM04
1394C-AM07
1394C-AM50
1394C-AM75
1394C-AM50-IH
1394C-AM75-IH
External Shunt Modules
Use the following table to identify the external shunt module/kit for your system.
Description
External shunt module for 22 kW system, 300W continuous, 160,000W peak (no fan)
Catalog Number
1394-SR9A
External shunt module for 22 kW system, 900W continuous, 160,000W peak (no fan)
External shunt module for 22 kW system, 1800W continuous,
160,000W peak (no fan)
1394-SR9AF
1394-SR36A
External shunt module for 22 kW system, 3600W continuous,
160,000W peak (fan-cooled module)
1394-SR36AF
External shunt resistor kit for 5 and 10 kW system, 1400W continuous,
40,000W peak
1394-SR10A
AC Line Filters
Use the following table to identify the AC line filters for your system.
Description
Three-phase, 23A
Three-phase, 30A
Three-phase, 75A
Allen-Bradley Catalog
Number
SP-74102-006-01
SP-74102-006-02
SP-74102-006-03
Roxburgh Catalog
Number
MIF323-GS
MIF330-GS
MIF375-GS
Publication 1394-5.20 — July 2001
SERCOS Interface Fiber
Optic Cables
Catalog Numbers and Accessories C-3
Use the following table to identify the SERCOS interface fiber optic cables and accessories for your 1394. Connectors are provided at both ends of cable. Length of cable x-x is in meters (0-3, 1-0, 3-0, 5-0, 8-0,
10-0, 15-0, 20-0, 25-0, 32-0, 50-0, 100-0, 150-0, and 200-0).
Description
SERCOS fiber optic plastic cable (for use inside enclosure only)
SERCOS fiber optic plastic (PVC) cable (for use outside enclosure)
SERCOS fiber optic plastic (nylon) cable (for use outside enclosure in harsh environments)
SERCOS fiber optic glass (PVC) cable
SERCOS fiber cable bulkhead adaptor (2 per pack)
Catalog Number
2090-SCEP
2090-SCVP x-x x-x
2090-SCNP x-x
2090-SCVG x-x
2090-S-BLHD
Note: Lengths of 0.3 m (1.0 ft) to 32 m (105.0 ft) are available in plastic or glass. Lengths of 50 m (164.2 ft) to 200 m
(656.7 ft) are available in glass only.
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
C-4 Catalog Numbers and Accessories
Motor Cables and
Connector Kits
Use the following tables to identify the motor cables and connector kits for your 1394 SERCOS interface system.
Motor Power Cables
Use the following table to identify the MP-Series or 1326 motor power cable for your 1394 SERCOS interface system.
Motor(s)
MPL-B3 xx , -B4 xx , and -B45 xx motors with resolver or high-resolution feedback.
1326AB-B4 and -B5 motors with high-resolution feedback.
Description
Motor power cable, 1.5 mm
2
(16 AWG), straight nonflex connector, in lengths of 5, 15, 30, 60, and 90 meters.
1326AB-B7 motors with high-resolution feedback.
1326AB-B4, -B5, and 1326AS-B3, -B4 motors with resolver feedback.
1326AB-B7, and 1326AS-B6, -B8 motors with resolver feedback.
Motor power cable, 6.0 mm
2
(10 AWG), straight nonflex connector, in lengths of 5, 15, 30, 60, and 90 meters.
Motor power cable (single-ended), available in lengths of 5, 15, 30, 60, and 90 meters.
Motor power cable (double-ended), available in lengths of 5, 15, 30, 60 and 84 meters.
Motor power cable (bulkhead connector), available in lengths of 1, 2, 4, 6, 8, and 10 meters.
Motor power cable (right-angle, shaft exit), available in lengths of 5, 15, 30, 60, and 90 meters.
Motor power cable (right-angle, rear exit), available in lengths of 5, 15, 30, 60, and 90 meters.
Motor power cable (double-ended bulkhead, flex), available in lengths of 5, 15, 30, 60, and 90 meters. The
-L option is not available for this cable.
Motor power cable (single-ended), available in lengths of 5, 15, 30, 60, and 90 meters.
Motor power cable (double-ended), available in lengths of 5, 15, 30, 60 and 84 meters.
Motor power cable (bulkhead connector), available in lengths of 1, 2, 4, 6, 8, and 10 meters.
Motor power cable (right-angle, shaft exit), available in lengths of 5, 15, 30, 60, and 90 meters.
Motor power cable (right-angle, rear exit), available in lengths of 5, 15, 30, 60, and 90 meters.
Motor power cable (double-ended bulkhead, flex), available in lengths of 5, 15, 30, 60, and 90 meters. The
-L option is not available for this cable.
Catalog Number
2090-CDNPBMP-16S xx
2090-CDNPBMP-10S xx
1326-CPB1xxx
1,2
1326-CPB1-Dxxx
1,2
1326-CPB1-Exxx
1,2
1326-CPB1-RAxxx
1,2
1326-CPB1-RBxxx
1,2
1326-CPB1T-EExxx
1326-CPC1xxx
1,2
1326-CPC1-Dxxx
1,2
1326-CPC1-Exxx
1,2
1326-CPC1-RAxxx
1,2
1326-CPC1-RBxxx
1,2
1326-CPC1T-EExxx
1
High flex option for these cables is indicated by the letter T after CP x 1.
For example, 1326-CP x 1T-RBxxx .
2
IP67 environmental protection (single or double-ended) is available for these cables (used on -L motors) and indicated by the letter L. For example, 1326-CPB1T-RBLxxx .
Publication 1394-5.20 — July 2001
Catalog Numbers and Accessories C-5
Motor Feedback Cables
Use the following table to identify the MP-Series or 1326 motor feedback cable for your 1394 SERCOS interface system.
Motor
MP-Series motors with resolver or highresolution feedback
1326AB motors with high-resolution feedback
1326AB and 1326AS motors with resolver feedback
Description
Resolver or high-resolution cable is available in lengths of 5, 15, 30, 60, and 90 meters.
High-resolution cable is available in lengths of 5, 15,
30, 60, and 90 meters.
Resolver feedback cable (single-ended) is available in 5,
15, 30, 60, and 90 meters.
Resolver feedback cable (double-ended) is available in
5, 15, 30, 60, and 84 meters.
Resolver feedback cable (with bulkhead connector) is available in 1, 2, 4, 6, 8, and 10 meters.
Resolver feedback cable (right-angle, shaft exit) is available in 5, 15, 30, 60, and 90 meters.
Resolver feedback cable (right-angle, rear exit) is available in 5, 15, 30, 60, and 90 meters.
Resolver feedback cable (double-ended bulkhead, flex) is available in 5, 15, 30, 60, and 90 meters. The -L option is not available for this cable.
Catalog Number
2090-CDNFDMP-S
1326-CCUxxx
1326-CCU-D-
1326-CCU-Exxx xxx
1326-CCU-RA-
1326-CCU-RB-
1326-CCUT-EExxx xxx xxx xx
1
High flex option for these cables is indicated by the letter T after CCU.
For example, 1326-CCUT-RBxxx .
2
IP67 environmental protection (single or double-ended) is available for these cables (used on -L motors) and indicated by the letter L. For example, 1326-CCU-RBLxxx .
MP-Series Motor Brake Cable
Description
MP-Series motor brake cable, 0.75 mm
2
(18 AWG), is available in lengths of 5, 15, 30, 60, and 90 meters.
Catalog Number
2090-UXNBMP-18S xx
MP-Series Motor Connector Kits
Description
MP-Series motor brake connector kit
MP-Series motor feedback connector kit
MP-Series motor power connector kit
Catalog Number
2090-MPBC-S
2090-MPFC-S
2090-MPPC-S
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
C-6
Miscellaneous
Accessories
Catalog Numbers and Accessories
The following additional accessories are also available:
Accessory:
Feedback and I/O connector kit for 1394C-SJT xx -D
Power connector kit for 5 and 10 kW system modules
Brake and thermal axis connector kit
Cable ground clamp kit
Analog Output (9-pin) mating connector
Terminator
1394 SERCOS Interface User manual
Brake and thermal connector operating tool
1394C-CCK-D
1394C-CONN-KEY
1394-199
1394C-GCLAMP
N/A
SP-74102-015-01
1394-5.20
N/A
Fan replacement kit for 1394-AM50/AM75 axis modules SP-74102-271-01
Kit, fuse, for 1394-SR10A (5 and 10 kW system modules)
A-B Catalog Number:
1394-SR10A-FUSE-A
Manufacturer’s
Number:
N/A
N/A
N/A
N/A
AMP 103958-8
N/A
N/A
Wago 231-304
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
Publication 1394-5.20 — July 2001
1
Index
Numerics
1394 system installing
wiring
1756-M08SE interface module
24V logic input power specifications
A
AC line filters
AC line filters
axis module
cables fiber optic cables
motor feedback
motor power
MP-series brake cable
miscellaneous accessories
MP-series motor connector kits
CE shunt module
shunt resistor
system module
catalog numbers
dimensions
specifications
accessories, miscellaneous
complying with
EMC directive
axis module catalog numbers
dimensions
power dissipation
specifications
grounding to meet CE requirements
low voltage directive
meeting requirements
CE diagrams
certification
B
bonding your system
bonding modules
multiple sub panels
brake interconnect diagrams
,
brake cable
MP-series
C
circuit breakers specifications
connector kits
MP-series
contact ratings specifications
contactor specifications for user-supplied
contents of manual
conventions used in this manual
cables
1326 motor feedback pinouts
customer responsibility receiving and storage
1326 motor power pinouts
D
catalog numbers dimensions
AB motors connecting fiber optic
1326AB-B4
connecting motor
1326AB-B5
fiber optic cable length
1326AB-B7
MP-series motor feedback
AC line filters
pinouts
AS motors
MP-series motor power
1326AS-B3
pinouts
1326AS-B4
SERCOS interface fiber optic
1326AS-B6
1326AS-B8
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001
I-2 Index
Publication 1394-5.20 — July 2001 axis module
external shunt resistor
motors
MP-Series motors
MPL-B3 xx
MPL-B45 xx
MPL-B4 xx
shunt module
1394-SR10A
1394-SR-36 xx
1394-SR-9 xx
system module
documentation related documentation
E
EMC directive
environmental specifications
See specifications
European Union directives
external shunt modules
external shunt resistor
F
feedback connectors
fiber optic cables cable lengths
catalog numbers
receive and transmit connectors
filters, AC line catalog numbers
dimensions
specifications
G
grounding multiple sub panels
PE ground for safety
system to subpanel
to meet CE requirements
H
HIM
human interface module (HIM)
I
I/O connections
connector locations
descriptions
input
output
input power wiring
determining input power
ground jumper
22 kW settings
5 and 10kW settings
grounded power configuration
ungrounded power configuration
input transformer specifications
inputs home and travel faults
registration
installing mounting
installing the 1394 system
interconnect diagrams
brake
,
feedback connectors
notes
SERCOS interface
thermal
feedback cable wiring
series C axis modules, non-isolated
understanding
L
line input fusing specifications for user-supplied
low voltage directive
M
miscellaneous accessories, catalog numbers
motor dimensions
motors servo motor performance data
Index I-3
1326AB
1326AS
MP-Series
mounting dimensions
AB-Series motors
AS-Series motors
MP-Series motors
external shunt modules
external shunt resistor
mounting your 1394 system
requirements
catalog numbers
connecting power
dimensions
1394-SR10A
1394-SR-36 xx
1394-SR-9 xx
fan wiring
mounting
mounting inside the cabinet
mounting outside the cabinet
orientation
specifications
shunt resistor
system module
P
pinouts
1326 motor feedback
1326 motor power
I/O signals
MP-series motor feedback
MP-series motor power
power control 24V
input
wiring
power dissipation
axis module
shunt resistor
system module
R
receiving and storage responsibility
related documentation
catalog numbers
connecting power
dimensions
mounting
power dissipation
specifications
specifications
AC line filters
axis module
certifications
circuit breakers
communications
dedicated discrete I/O
contact ratings
environmental air temperature
elevation
humidity
shock
vibration
input transformer
power dissipation
axis module
shunt resistor
system module
shunt module
S
shunt resistor
SCANport
system
servo motor performance data system module
1326AB motors
user-supplied components
1326AS motors
24V logic input power
MP-Series motors
shock
contactor
shunt module storage line input fusing
Publication 1394-5.20 — July 2001
I-4 Index storing your 1394
support local product
technical product assistance
system module catalog numbers
dimensions
power dissipation
specifications
system mounting requirements
layout on subpanel
mounting 1394 x -AM50/75 heatsink through the back of the cabinet
spacing
T
terminator
thermal interconnect diagrams
,
U
understanding basic wiring requirements
EMI/RFI bonding
EMI/RFI shielding
input power conditioning
routing cables
shielding
wire sizes
unpacking modules
V
vibration
W
wiring
1394 SERCOS interface system
axis power
thermal and brake leads
external shunt resistor for 5 and 10 kW systems
feedback to system modules
I/O connections
shunt modules required tools and equipment
shunt modules for 22 kW systems
system module power
22 kW systems
5 and 10 kW systems
required tools and equipment
terminal blocks wiring 22 kW systems
wiring 5 and 10 kW systems
Publication 1394-5.20 — July 2001
For more information refer to our web site: www.ab.com/motion
Allen-Bradley PLCs
Publication 1394-5.20 — July 2001 307140-P01
Copyright
2001 Rockwell Automation. All rights reserved. Printed in USA.
Supersedes Publication 1394-5.20 — November 2000
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