8720MC HIGH PERFORMANCE DRIVE

8720MC HIGH PERFORMANCE DRIVE
Over 100 years cumulative experience
24 hour rush turnaround / technical support service
Established in 1993
The leading independent repairer of servo motors and drives in North America.
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8720MC
HIGH PERFORMANCE
DRIVE
User Manual
Important User
Information
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Table of Contents
Preface
Who Should Use this Manual ..........................................................................P-1
Purpose of this Manual ..................................................................................P-1
What is the 8720MC Drive? ............................................................................P-1
Contents of this Manual .................................................................................P-1
Related Documentation ..................................................................................P-2
Common Techniques Used in this Manual ......................................................P-2
Allen-Bradley Support ....................................................................................P-3
Local Product Support ..............................................................................P-3
Technical Product Assistance ...................................................................P-3
Your Questions or Comments on this Manual ...........................................P-3
Safety Precautions ..........................................................................................P-4
Chapter 1
Introduction
Chapter Objectives .........................................................................................1-1
8720MC Drive Overview ...........................................................................1-1
Drive Amplifiers for Non Line Regeneration ...............................................1-1
Drive Amplifiers for Line Regeneration ......................................................1-1
Key Features of the 8720MC Drive Amplifiers ...........................................1-3
Non Line Regenerative Applications ............................................................... 1-4
Common Bus Architecture and Product Structure ...........................................1-6
Key Features of the Common Bus Amplifiers ............................................1-6
Product Structure of the Line Regenerative Drive Amplifiers ......................1-7
Regenerative Power Supplies..........................................................................1-9
Product Structure of the 8720MC Regenerative Power Supply ................. 1-9
Key Features of the 8720MC Regenerative Power Supply ......................1-10
Product Structure of the 1336R Regenerative Power Supplies ................1-10
Key Features of the 1336R Regenerative Power Supplies .......................1-11
8720SM AC Spindle Motor Overview ............................................................1-11
Product Structure of the 8720SM High Performance AC Motors ..............1-12
Key Features of the 8720SM AC Spindle Motors .....................................1-13
Chapter 2
Specifications
Chapter Objectives .........................................................................................2-1
Common Specifications ..................................................................................2-2
Specifications Common to all 8720MC Drive Amplifiers and Motors .........2-2
Specifications for 5.5 to 37 kW - 8720SM Motors with 8720MC-RPS
Regenerative Power Supply ............................................................................2-4
Curves for 5.5 to 37 kW - 8720SM Motors with 8720MC-RPS
Regenerative Power Supply ............................................................................2-7
Power and Torque Curves ........................................................................2-7
Specifications for 45 To 93 kW - 8720SM Motors with .................................2-10
8720MC-RPS Master and Slave Regenerative Power Supplies ......................2-10
Curves for 45 to 93 kW 8720SM Motors with 8720MC
Regenerative Power Supply 750 vdc Input ....................................................2-13
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ii
Power and Torque Curves ..................................................................... 2-13
Specifications for 5.5 to 22 kW - 8720SM Motors with 460V AC Input ......... 2-15
Curves for 5.5 to 22 kW - 8720SM Motors with 460V AC Input .................... 2-16
Power and Torque Curves ..................................................................... 2-16
Specifications for 380V AC Input Drives........................................................ 2-18
Curves for 380V AC Input Drives .................................................................. 2-20
Power and Torque Curves ...................................................................... 2-20
Specifications for 750V DC Input Drives with Dual Wound
8720SM AC Motors ..................................................................................... 2-22
Curves for 750V DC Input Drives with Dual Wound 8720SM AC Motors ...... 2-23
Power and Torque Curves ..................................................................... 2-23
Chapter 3
Dimensions
Chapter Objectives .........................................................................................3-1
8720MC Regenerative Power Supply Dimensions ..........................................3-2
Dimensions for Frames B and C .....................................................................3-3
Dimensions Allowing for Heat Dissipation .......................................................3-5
Motor Dimensions ..........................................................................................3-6
Notes to Motor Drawings .........................................................................3-6
Frame DL1106 through DL1110 Dimensions Before March 01 .................3-7
Frame DL1106 through DL1110 Dimensions After March 01 ....................3-8
Frame DL1307 through DL1310 Dimensions, 250mm Flange .................. 3-9
Frame DL1307 through DL1310 Dimensions, 230mm Flange ................3-10
Frame DL1611 through DL1613 Dimensions ..........................................3-11
Frame DL1811 through DL1815 Dimensions ..........................................3-12
Frame DL2010 through DL2012 Dimensions ..........................................3-13
8720MC Line Reactor Dimensions ...............................................................3-14
Chapter 4
Drive Installation and Wiring
Chapter Objectives .........................................................................................4-1
Before Mounting Your Drive ............................................................................4-1
Required Tools and Equipment .................................................................4-2
Distance Between the Motor and the Drive ...............................................4-2
Allowing for Heat Dissipation ....................................................................4-2
Mounting Your Drive .......................................................................................4-2
User-Supplied Enclosures ........................................................................4-3
Grounding Your Drive .....................................................................................4-4
Connecting the Drive to the System Ground .............................................4-5
Defining the High Frequency Ground Current Paths ..................................4-5
Connecting the Ground Conductor of the Motor Cable ..............................4-5
Grounding the Safety Ground (PE) ............................................................4-5
Grounding the Optional RFI Filter ..............................................................4-6
AC Supply Source Information for AC Input Drives ..........................................4-6
Unbalanced Distribution Systems .............................................................4-7
Ungrounded Distribution Systems ............................................................4-7
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iii
Is a Line Reactor or Isolation-Type Transformer Required? .......................4-7
Connecting Power to Your Drive ....................................................................4-8
8720MC Drive Connector Layout .............................................................4-8
TB1 Terminal Block Drive Connections ..................................................4-10
General Terminal Specifications ............................................................ 4-12
Wire and Torque Specifications............................................................. 4-12
Selecting the Proper Lug Kit for Your System ........................................4-12
Selecting Motor Cables ..............................................................................4-13
Shielded Motor Cable............................................................................ 4-13
Armored Cable ......................................................................................4-14
Conduit .................................................................................................4-14
General Wire Guidelines ........................................................................4-15
By-pass Contactors ...............................................................................4-16
Connecting Power to the 8720MC-RPS and
1336R Regenerative Power Supplies ...........................................................4-16
AC Supply Source .................................................................................4-16
Control Interface Wiring ...............................................................................4-18
Control and Logic Connections...............................................................4-19
Analog I/O Signal Wire Specifications ....................................................4-23
SERCOS Wiring .....................................................................................4-23
8720MC AC Input Drives .......................................................................4-25
8720MC Drive with a 8720MC Regenerative Power Supply ...................4-26
8720MC Drive with a 1336 Regenerative Power Supply ........................4-29
8720MC Input/Output Wiring .................................................................4-31
Input/Output Power ...............................................................................4-31
Universal Feedback Interface ................................................................4-32
Encoder Power ......................................................................................4-34
Connections to the Feedback Interface and Feedback Cables ................4-37
A quad B “Virtual Encoder” Output ........................................................4-37
Connecting the Analog Inputs ................................................................4-39
Connecting the Analog Outputs .............................................................4-39
Connecting the Relay Outputs ...............................................................4-40
Connecting the Digital Inputs ................................................................4-40
Connecting the Digital Outputs ..............................................................4-41
Connecting the Registration Inputs ........................................................4-42
Disconnecting the Drive Output ...................................................................4-43
Starting and Stopping the Motor ..................................................................4-43
Electrical Interference - EMI/RFI ..................................................................4-43
Immunity ..............................................................................................4-43
Emission ...............................................................................................4-44
Do I Need an RFI Filter?.............................................................................. 4-44
Installing an RFI Filter ............................................................................4-45
RFI Filter Leakage Current .....................................................................4-45
Chapter 5
Motor Installation and Wiring
Chapter Objectives .........................................................................................5-1
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iv
8720SM AC Motor Overview ...........................................................................5-1
8720SM AC Spindle Motor Family .............................................................5-1
Before Mounting Your Motor ...........................................................................5-2
Handling ...................................................................................................5-2
Storage .....................................................................................................5-3
Location ....................................................................................................5-3
Mounting Considerations ...........................................................................5-3
Power Supply ............................................................................................5-4
Conduit Box ..............................................................................................5-4
Bolt and Torque Requirements ..................................................................5-4
Belted Drives and Coupled Drives ..............................................................5-5
Belted Drives ............................................................................................ 5-6
Coupled Drives ..........................................................................................5-6
Wiring Your Motor ..........................................................................................5-6
Distance Between the Motor and the Drive ................................................5-7
Cable Sizes ...............................................................................................5-7
Wiring Diagram for the Motor ....................................................................5-7
Dual Voltage Motors ..................................................................................5-8
Direction of Rotation .................................................................................5-9
Thermal Protector (Thermostat Leads) ......................................................5-9
Blower Motor ..........................................................................................5-10
Connecting the Blower Motor ..................................................................5-10
Wiring a Feedback Device ............................................................................5-13
Types of Feedback Devices .....................................................................5-13
Maximum Cable Lengths for Feedback Devices ......................................5-14
Starting Your Motor ......................................................................................5-15
Checking Motor Performance ..................................................................5-15
Balancing the Motor................................................................................ 5-15
Maintaining Your Motor ................................................................................5-15
Chapter 6
Interface Signal Description
Chapter Objectives .........................................................................................6-1
I/O Command Interface ..................................................................................6-1
Digital Inputs and Outputs ........................................................................6-1
Digital Input and Output Assignments .......................................................6-2
Default Digital Input Descriptions .............................................................6-4
Default Digital Output Descriptions ...........................................................6-5
Registration Inputs ...................................................................................6-6
Analog Inputs and Outputs .......................................................................6-8
Changing the Default Digital Output Links ..............................................6-10
Changing the default Analog Output links ...............................................6-11
SERCOS Command Interface ........................................................................6-12
SCANport command interface ................................................................6-14
SCANport Command Logic Inputs ...........................................................6-15
SCANport Logic Status Outputs ..............................................................6-17
SCANport Data Interface ........................................................................6-18
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v
Chapter 7
Using the Human Interface Module (HIM)
Chapter Objectives .........................................................................................7-1
What Is the Human Interface Module? ............................................................7-1
HIM Display Panel and Control Panel ........................................................7-1
Him Display Panel Keys ............................................................................7-2
HIM Control Panel Keys ............................................................................7-3
HIM Control Panel Indicators ....................................................................7-5
HIM Operation ................................................................................................7-5
Initial Status Display .................................................................................7-5
Choosing a HIM Mode ..............................................................................7-6
HIM Menu Tree ..............................................................................................7-7
HIM Menu Tree ..............................................................................................7-8
Using the Program and Display Modes ...........................................................7-9
Modifying Parameters ....................................................................................7-9
Viewing Bit Pattern .........................................................................................7-9
Changing a Bit in a Bit Pattern ......................................................................7-11
Using the EEProm Mode ...............................................................................7-11
Saving Values/Recalling Values ..............................................................7-11
Restoring the Factory Default Values ......................................................7-11
Saving Values to Flash Memory ..............................................................7-12
Recalling Values from Flash Memory ......................................................7-12
Uploading a Parameter Profile ................................................................7-12
Downloading a Parameter Profile ...........................................................7-12
Using the Search Mode ................................................................................7-13
Viewing the Fault Queue/Warning Queue ......................................................7-14
Using the Password Mode ............................................................................7-15
Programming a Password When Drive Power is Applied .........................7-15
Logging Out ...........................................................................................7-15
Creating or Changing a Link .........................................................................7-16
Removing a Link ..........................................................................................7-17
A-B Drive Explorer ........................................................................................7-17
Chapter 8
Programming Parameters
Chapter Objectives 8-1
Understanding the Parameter Files and Groups ..............................................8-1
Parameter Groups, Files and Elements ..........................................................8-2
Parameter Groups, Files and Elements ...........................................................8-3
Standard 8720MC Parameters in Numerical Order .........................................8-4
Standard 8720MC Parameters in Numerical Order .........................................8-5
Standard 8720MC Parameters in Numerical Order .........................................8-6
A-B (S) Parameter Descriptions ......................................................................8-7
A-B (S) Parameter Descriptions ......................................................................8-7
A-B (P) Parameters in Numerical Order .........................................................8-46
A-B (P) Parameters in Numerical Order .........................................................8-47
A-B (P) Parameters in Numerical Order .........................................................8-48
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vi
A-B (P) Parameters in Numerical Order .........................................................8-49
A-B (P) Parameters in Numerical Order .........................................................8-50
A-B (P) Parameters in Numerical Order .........................................................8-51
A-B (P) Parameter Descriptions ....................................................................8-52
Servo Loop Parameter numbers: Groups 0 to 7 .............................................8-77
Chapter 9
Starting Up Your 8720MC
Chapter Objectives .........................................................................................9-1
General Startup Precautions ...........................................................................9-1
Setting Up Your 8720MC Drive .......................................................................9-2
Before You Begin .....................................................................................9-2
Exiting Before You’re Finished ........................................................................9-3
Removing and Re-Applying Power ...........................................................9-3
Key Set-up Parameters ............................................................................9-4
Initial Checks ...........................................................................................9-4
Servo Loop Parameters ..................................................................................9-5
Selecting a Servo Loop Parameter Group ........................................................9-5
Setting the Servo Loop Parameters ................................................................9-6
Acc/Dec Parameters .......................................................................................9-7
AutoTuning .....................................................................................................9-7
Before You Perform an Auto Tune ............................................................9-8
Performing the Auto Tune ........................................................................9-8
Scaling of Auto Velocity Analog Reference ......................................................9-9
Scaling of Manual Velocity Analog Reference ...............................................9-10
Operating in Manual Mode Using Digital I/O Interface ...................................9-11
Operating in Manual Mode with an Internal or External HIM ..........................9-11
Start-up of Motor Orient ...............................................................................9-12
Optimizing the Motor Orient Procedure .........................................................9-15
Chapter 10
Troubleshooting
Chapter Objectives .......................................................................................10-1
Required Equipment .....................................................................................10-1
Start Up Troubleshooting Procedures ............................................................10-1
Viewing the Fault Queue ...............................................................................10-3
Fault Descriptions ........................................................................................10-4
Understanding the Fault Parameters ............................................................10-7
Troubleshooting the Digital I/O ...................................................................10-10
Troubleshooting SCANport I/O ....................................................................10-11
Troubleshooting the 8720MC-RPS Regenerative Power Supply ..................10-13
Appendix A
Derating Guidelines
Appendix Objectives .......................................................................................A-1
Derating Guidelines ........................................................................................A-2
8720MC - B027 Enclosure .......................................................................A-2
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vii
8720MC - B034 Enclosure .......................................................................A-3
8720MC - B042 Enclosure .......................................................................A-3
8720MC - B048 Enclosure .......................................................................A-4
8720MC - D065 Enclosure .......................................................................A-4
8720MC - D078 Enclosure .......................................................................A-5
8720MC - D120 Enclosure .......................................................................A-5
8720MC - D149 Enclosure .......................................................................A-6
8720MC - D180 Enclosure .......................................................................A-6
8720MC - All Amplifiers at High Altitudes .................................................A-7
8720SM - Motor Temperature Derating Curves ........................................A-8
Appendix B
Replacement Spare Parts
Appendix Objectives ...................................................................................... B-1
8720MC Drive Spare Parts ............................................................................ B-1
8720SM Motor Spare Parts ........................................................................... B-2
8720MC-RPS Regenerative Power Supply Spare Parts ................................. B-2
Publication 8720MC-UM 001C-EN-P Feb 2001
viii
Publication 8720MC-UM 001C-EN-P Feb 2001
Preface
Preface
Read the preface to become familiar with the rest of the manual. This
preface covers the following topics:
•
who should use this manual
•
purpose of this manual
•
what is the 8720MC Drive?
•
contents of this manual
•
related documentation
•
common techniques used in this manual
•
terms and abbreviations
•
Allen-Bradley support
•
safety precautions
Who Should Use this Manual
Use this manual if you are responsible for setting up and servicing the
8720MC Drive. You must have previous experience with and a basic
understanding of electrical terminology, programming procedures,
required equipment, and safety precautions before attempting to
service the 8720MC Drive.
Purpose of this Manual
This manual provides the necessary information to install, program,
start up, and maintain the 8720MC Drive.
What is the 8720MC Drive?
The Allen-Bradley 8720MC Drive System is a family of products
designed to satisfy a wide range of machine tool spindle and power
servo applications. For applications which do not require line
regeneration, Allen-Bradley offers five 380 to 460 VAC input high
performance digital drives with current outputs ranging from 21 to 48
amperes. For applications requiring line regeneration, the same five
drives plus an additional 14 amp drive can be connected to a
regenerative power supply via a 750V DC common bus interface. The
complete family includes a set of twelve drive amplifiers capable of
controlling a family of motors ranging in power from 5.5 to 93 kW.
Contents of this Manual
This manual contains the information shown in the following table.
Chapter:
Title
Preface
1
Introduction
2
Specifications
3
Dimensions
Publication 8720MC-UM 001C-EN-P Feb 2001
P-2
Preface
4
Drive Installation and Wiring
5
Motor Installation and Wiring
6
Interface Signal Description
7
Programming Terminals
8
Programming Parameters
9
Start-up
10
Troubleshooting
Appendix A
Related Documentation
The following documents contain additional information about
related Allen-Bradley products. To obtain a copy, contact your local
Allen-Bradley office or distributor.
Catalog Number:
Publication
Number:
Document Title:
N/A
8720MC Product Specification
8720SR001A-US-P
N/A
8720MC Product Brochure
8720MCBR001A-US-P
8720MC-PSU
8720MC Regenerative Power Supply User Manual
8720MCRM001B-US-P
8520-ARM2
9/Series Adjustable Machine Parameters Manual
8520-4.3
1336R -VB
1336 REGEN 5.0 - 1336R Line Regenerative
Package User Manual
1336REGEN5.0
1336-WA, WB, WC
1336 5.65 – Series A Brake Chopper Module
1336 - 5.65
1394-50
1394-5.0 1394 Digital AC Multi-Axis Motion
Control System
1394-5.0
The IEC Specification 1491 provides a complete description of the
standard for Serial Communications System or Sercos. You can
obtain this specification from the International Electrotechnical
Commission.
Common Techniques Used in this
Manual
Publication 8720MC-UM 001C-EN-P Feb 2001
The following conventions are used throughout this manual:
•
Bulleted lists provide information, not procedural steps.
•
Numbered lists provide sequential steps or hierarchical
information.
•
Italic type is used for parameter and chapter names.
Preface
P-3
Identifies tips that have been added to call attention to
useful information.
Important: Identifies information that is critical for successful
application and understanding of the product.
!
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:
Allen-Bradley Support
•
identify a hazard
•
avoid a hazard
•
recognize the consequences
Allen-Bradley offers support services worldwide, with over 75 sales/
support offices, 512 authorized distributors and 260 authorized
systems integrators located throughout the United States alone, plus
Allen-Bradley representatives in every major country in the world.
Local Product Support
Contact your local Allen-Bradley representative for:
•
sales and order support
•
product technical training
•
warranty support
•
support service agreements
Technical Product Assistance
If you need to contact Allen-Bradley for technical assistance, please
review the Troubleshooting chapter first. If the problem persists, then
call your local Allen-Bradley representative. For the quickest possible
response, we recommend that you have the catalog numbers of your
products available when you call.
Your Questions or Comments on this Manual
If you find a problem with this manual, please notify us of it on the
enclosed Publication Problem Report.
Publication 8720MC-UM 001C-EN-P Feb 2001
P-4
Preface
Safety Precautions
The following general precautions apply to the 8720MC Drive.
!
ATTENTION: Only those familiar with the 8720MC
Drive and associated machinery should plan or
implement the installation, startup, and subsequent
maintenance of the system. Failure to comply can result
in personal injury and/or equipment damage.
ATTENTION: This product contains stored energy
devices. To avoid hazard of electrical shock, verify that
all voltage on the capacitors has been discharged before
attempting to service, repair, or remove this unit. You
should only attempt the procedures in this manual if you
are qualified to do so and familiar with solid-state
control equipment and the safety precautions in
publication NFPA 70E.
ATTENTION: The system integrator is responsible
for local safety and electrical codes.
ATTENTION: An incorrectly applied or installed
drive can result in component damage or a reduction in
product life. Wiring or application errors, such as under
sizing the motor, incorrect or inadequate AC supply, or
excessive ambient temperatures can result in
malfunction of the drive.
ATTENTION: This drive contains ESD (Electrostatic
Discharge) sensitive parts and assemblies. Static control
precautions are required when installing, testing,
servicing, or repairing this assembly. Component
damage can result if ESD control procedures are not
followed. If you are not familiar with static procedures,
refer to the Allen-Bradley publication 8000-4.5.2,
Guarding Against Electrostatic Damage or any other
applicable ESD Protection Handbook.
Publication 8720MC-UM 001C-EN-P Feb 2001
Chapter
1
Introduction
Chapter Objectives
8720MC Drive Overview
This chapter provides an overview of the 8720MC High Performance
Drive. It covers information on the three basic components of the
drive, which include:
•
8720MC Drive Amplifier
•
8720MC Regenerative Power Supply (also called regenerative
converter)
•
8720SM AC Induction Motor
The Allen-Bradley 8720MC Drive System is a family of products
designed to satisfy a wide range of machine tool spindle and power
servo applications.
Drive Amplifiers for Non Line Regeneration
For lower power applications which do not require line regeneration,
Allen-Bradley offers five 460 VAC input high performance digital
drive amplifiers with current outputs ranging from 21 to 48 amperes.
These amplifiers can support frequent high acceleration/deceleration
cycles when used in conjunction with the A-B 1336WB Brake
Chopper Module. There are five available 8720SM AC motors,
ranging in power from 5.5 to 18.5 kW that are compatible with the
460 VAC input drive amplifiers. Four of these drive amplifier ratings
can also be operated off 380 VAC directly when providing motor
current for the 5.5, 7.5, 11, and 15 kW, 380 VAC input compatible,
8720SM motors
Drive Amplifiers for Line Regeneration
For applications requiring line regeneration, the six smaller drive
ratings (14, 21, 27, 34, 42, and 48 amperes) can alternatively be
connected to a regenerative power supply via a 750V DC common
bus interface. These high performance digital drive amplifiers are
complemented by another six, common bus only, drive amplifiers
with output capacities of 65, 78, 97, 120, 149 and 180 amperes.
The complete family of common bus offerings includes a set of
twelve drive amplifiers capable of controlling a family of motors
ranging in power from 5.5 to 93 kW. For motors ranging from 5.5 to
37 kW, the 750V DC common bus drive amplifiers are powered by
the 8720MC–RPS065 line regenerative power supply which provides
up to 65 amperes at a controlled bus voltage of 750V DC. For motors
ranging in power from 45 to 93 kW, the 8720MC RPS065
Regenerative Power Supply can be operated in master slave mode.
1-2
Introduction
An 8720MC-RPS065 master can to provide up to 74 kw of
continuous motor power when operating with one slave and 110 kw
when operating with two slaves.
Figure 1.1 shows 8720MC drive configurations for line regenerative
and non line regenerative applications.
Figure 1.1
8720MC Drive System Configurations
380 TO 460 VAC -15% +10%
380 TO 460 VAC -15% +10%
Fuses
Fuses
Line Filter
Line Filter
(Optional)
Line Reactor
Isolation
Transformer
(Optional)
IGBT/Rect
Bridge
Control
Board
Regenerative Power Supply
SERCOS
Interface
Control
Board
IGBT/Rect
Bridge
Rectifier
Bridge
Analog
Interface
Univ. Fbk
Interface
Control
Board
IGBT/Rect
Bridge
Univ. Fbk
Interface
5.5 kw to 18.5 KW
5.5 kw to 93 kw
Enc.
Fbk
Analog
Interface
AC Drive
AC Drive
Motor
SERCOS
Interface
Dyanamic
Brake
(Option)
Motor
Enc.
Fbk
8720MC DRIVE SYSTEM CONFIGURATIONS
30830-M-R2
The CNC or GMC motion controller interfaces to the 8720MC can be
either a Sercos digital command or a standard +/- 10V DC analog
command. Both the Sercos and analog interfaces are available with
all of the 8720MC drive amplifiers.
Publication 8720MC-UM 001C-EN-P Feb 2001
Introduction
1-3
Key Features of the 8720MC Drive Amplifiers
The following features apply to all 8720MC Drive amplifiers:
•
High performance digital position, velocity and current loops
permit high bandwidth servo operation
•
+/- 500 Hz output frequency, 30,000 RPM 2 pole motor operation
•
High resolution (4 million counts/rev) feedback capability
provides superior velocity and position resolution; Feedback
sampling every 125 micro seconds
•
High resolution feedback port for motor mounted feedback
device provides excellent motor smoothness of operation, even at
very low speeds
•
Additional feedback port for a high resolution spindle or axis
mounted feedback device, available with SERCOS version only
•
Option for resident or SCANport connected Human Interface
Module (HIM)
•
ScanPort interface for hand held terminals
•
DeviceNet, ControlNet, Remote I/O, and DH 485
communications via ScanPort
•
Simplified entry of configuration parameters in engineering units
•
Two configurable +/- 10 V DC analog outputs (12 bits resolution)
•
Ten 24V DC discrete sourcing inputs
•
Four 24V DC isolated relay contact outputs
•
Six additional 24V DC configurable, isolated, current limiting
discrete outputs
•
One 5V DC and one 24V DC registration input
•
One 5 V DC TTL A quad B encoder output with marker provides
a motion controller position interface, 1024 pulses per motor
revolution
•
Sercos Interface:
- Sercos 2/4 mbaud fiber optic digital command interface
•
Analog Interface:
-Two +/- 10V DC analog inputs (14 bits resolution)
•
UL and CUL listed
•
CE marked to meet European requirements for low voltage and
electromagnetic compatibility directives
Publication 8720MC-UM 001C-EN-P Feb 2001
1-4
Introduction
Non Line Regenerative
Applications
The smallest five 8720MC drive amplifiers can be configured for
either non line regenerative or line regenerative applications. Figure
1.2 illustrates the AC input non line regenerative drive amplifier
configurations that are available when used in conjunction with the
Allen-Bradley 1336-WB dynamic braking modules.
Figure 1.2
8720MC Non Line Regenerative Drive Amplifier Configuration
- 8720MC NONREGENERATIVE DRIVE Drive
Explorer
PRODUCT STRUCTURE
COMMUNICATIONS
MODULES
* Remote I/O
* Devicenet
* RS 232/422/485 DF1/DH485
380 TO 460 VAC -15% +10%
FUSE KIT
PC
RS232
REMOTE
HIM
8720MC-B048-aa-HAh-op
18.5 kW
8720MC-B042-aa-HAh-op
15kW
SCANport
8720MC-B034-aa-HAh-op
11kW
8720MC-B027-aa-HAh-op
7.5kW
1336 -WBxxx
9/35/110 AMP
DYNAMIC
BRAKE
CHOPPER
8720MC-B021-aa-HAh-op
DC Bus
SCANport
5.5kw
DRIVE
AN = open
AA= Enclosed
No
HIM MODULE,
=HASB
Std.
HIM MODULE,
=HASP
Analog
HIM MODULE,
Digital.
=HAS1
HIM MODULE,
=HAS2
30784-M-R3
Motor F.B. Spindle F.B.
These five drive amplifiers range in output capacity from 21 to 48
amperes. They are equipped with 380 to 460V AC, 3 phase input
capability in addition to the DC common bus input capability
provided on all drive amplifiers.
Publication 8720MC-UM 001C-EN-P Feb 2001
Introduction
1-5
In the non regenerative configuration, the DC bus terminals are
brought out to interface to the A-B 1336 WB Dynamic Braking
Module. In a situation where a high inertia drive load is decelerated
rapidly, the motor returns energy to the 8720MC DC bus. To prevent
unwanted DC bus over voltage trips, the 1336-WB Dynamic Braking
Module senses the rising bus voltage and shunts the bus current
through a shunt resistor connected to the 1336-WB. Under normal
operation when the motor is under load, the 1336-WB essentially
disconnects the shunt resistor. In this way the motor can be
decelerated at its maximum allowable rate without causing a DC bus
over voltage shut down.
The 8720MC drive amplifiers are equipped with either Sercos digital
or standard analog command interfaces and can include an integrated
human interface module (HIM). Drive configuration can be
accomplished with the integrated HIM, a remote hand held HIM or a
personal computer using Drive ExplorerTM; a Windows 95, NT or
CETM compatible drive configuration tool. Figure 1.3 shows the
product structure of the 8720MC amplifiers for non line regenerative
direct AC input applications.
Figure 1.3
Product Structure of Non Line Regenerative Drives, Ratings 014 to 048
8720MC HIGH PERFORMANCE DIGITAL DRIVE
-AC INPUT/COMMON BUS DRIVE PRODUCT STRUCTURE -
8720MC-v xxx-aa-HASh-op
BASE CATALOG
NUMBER
INPUT
VOLTAGE
B =380 to 460 VAC/
750VDC COMMON BUS
AMPLIFIER SIZE
(AMPERES)
ENCLOSURE
TYPE
HUMAN
INTERFACE
OPTIONS
021=20.9 Amp
027=27.2 Amp
034=33.7 Amp
042=41.8 Amp
048=48.2 Amp
AN=OPEN
AA=Enclosed
HASP=Std. HIM
HASB=No HIM
HAS1=Analog HIM
HAS2=Digital HIM
BLANK=NONE
01= OPTION1
30782-M-R3
Publication 8720MC-UM 001C-EN-P Feb 2001
1-6
Introduction
Common Bus Architecture and
Product Structure
Applications involving multiple spindles or multiple power servos
can benefit from the common bus architecture available with the
8720MC Drive. In this configuration, an 8720MC regenerative power
supply (converter) produces a common 750 V DC bus, which can be
used by multiple 8720MC drive amplifiers, as shown in Figure 1.4.
This allows a single regenerative power supply to be used with
multiple spindle or power servo drives, thereby enhancing the cost
effectiveness of multiple drive applications.
Figure 1.4
8720MC Regenerative Drive System Common Bus Configuration
380 TO 460 VAC -15% +10%
380 TO 460 VAC -15% +10%
8720MC REGENERATIVE DRIVE SYSTEM
COMMON BUS CONFIGURATION
Fuses
Fuses
Line Filter
Line Filter
Line Reactor
Line Reactor
IGBT/Rect
Bridge
IGBT/Rect
Bridge
Control
Board
Regenerative Power Supply
(Master)
Programmable
DC Common Bus
Factory Set to 750 vdc
IGBT/Rect
Bridge
SERCOS
Interface
Control
Board
Analog
Interface
IGBT/Rect
Bridge
Univ. Fbk
Interface
14 to 180 AMP
@ 505VAC
5.5 to 93 kw
AC Motor
Regenerative Power supply
(Optional Slave)
8720MC Drive Amplifier
8720MC Drive Amplifier
8720MC Drive Amplifier
Control
Board
Control
Board
SERCOS
Interface
Control
Board
Analog
Interface
Univ. Fbk
Interface
IGBT/Rect
Bridge
14 to 180 AMP
@ 505VAC
5.5 to 93 kw
AC Motor
Enc.
Fbk
Enc.
Fbk
SERCOS
Interface
Analog
Interface
Univ. Fbk
Interface
14 to 180 AMP
@ 505VAC
5.5 to 93kw
AC Motor
Enc.
Fbk
30831-M-R2
Key Features of the Common Bus Amplifiers
Key features of the twelve available common bus amplifiers include:
Publication 8720MC-UM 001C-EN-P Feb 2001
•
Adjustable bus voltage, 750 V DC nominal
•
505V AC maximum RMS output voltage at maximum speed, 3
phase, +/- 500 Hz
•
12 sizes, 5.5 kW (7.5 hp), 13.9 amperes to 93 kW (125 hp), 180
amperes
Introduction
1-7
Product Structure of the Line Regenerative Drive Amplifiers
The 8720MC Spindle Drive can be provided in an energy efficient
line regenerative configuration. Figure 1.5, 1.6, and 1.7 illustrate the
various regenerative amplifier configurations that are available when
used in conjunction with the 8720MC Regenerative Power Supplies.
Figure 1.5
8720MC Line Regenerative Drive Amplifier Configuration
8720MC-D180-aa-HAh-op
93 kW
- 8720MC REGENERATIVE DRIVE PRODUCT STRUCTURE
8720MC-D149-aa-HAh-op
75 kW
8720MC-D120-aa-HAh-op
55 - 63kW
380 TO 460 VAC -15%+ 10%
8720MC
VARISTOR
COMMUNICATIONS
MODULES
* Remote I/O
* Devicenet
* RS 232/422/485 DF1/DH485
8720MC-D097-aa-HAh-op
45 kW
8720MC-D078-aa-HAh-op
37 kW
Drive
Explorer
PC
8720MC-D065-aa-HAh-op
30 kW
8720MC-B048-aa-HAh-op
22 kW
8720MC
HARMONIC
FILTER
REMOTE
HIM
RS232
8720MC-B042-aa-HAh-op
18.5 kW
8720MC-B034-aa-HAh-op
15kW
8720MC
REACTOR
SCANport
8720MC-B027-aa-HAh-op
11kW
8720MC-B021-aa-HAh-op
7.5kW
8720MC-RPS
SCANport
8720MC-B014-aa-HAh-op
REGEN
CONVERTER(S)
Common DC Bus for one or
Multiple AC Spindle Drives
5.5kw
DRIVE
AN = open
AA= Enclosed
No
HIM MODULE,
=HASB
Std.
HIM MODULE,
=HASP
Analog
HIM MODULE,
=HAS1
Digital.
HIM MODULE,
=HAS2
Motor F.B. Auxiliary F.B.
30795-M-R3
There are 6 DC input drives to 48 amps which are provided in the B
chassis configuration. There are 2 DC input drives which are
provided in the C chassis configuration. The remaining 4 DC input
drives are provided in the D chassis configuration. Each drive is
available in an open package or a Nema 1 enclosed package. There
are four options for an integrally mounted human interface module
called a HIM.
•
The drives can be provided with a blank filler panel wherein a
remote HIM module can be used for programming and manual
operation.
•
A integral programmer only HIM wherein only configuration and
status monitoring can be performed.
•
An analog HIM which includes a potentiometer and jog controls
•
A digital HIM which has a digital speed control and jog controls
Publication 8720MC-UM 001C-EN-P Feb 2001
1-8
Introduction
Figure 1.6
Product Structure of Line Regenerative Drives, Ratings 014 to 048 Amps i
8720MC HIGH PERFORMANCE DIGITAL DRIVE
-AC INPUT/COMMON BUS DRIVE PRODUCT STRUCTURE -
8720MC-v xxx-aa-HASh-op
BASE CATALOG
NUMBER
INPUT
VOLTAGE
B =380 to 460 VAC/
750VDC COMMON BUS
AMPLIFIER SIZE
(AMPERES)
ENCLOSURE
TYPE
HUMAN
INTERFACE
OPTIONS
021=20.9 Amp
027=27.2 Amp
034=33.7 Amp
042=41.8 Amp
048=48.2 Amp
AN=OPEN
AA=Enclosed
HASP=Std. HIM
HASB=No HIM
HAS1=Analog HIM
HAS2=Digital HIM
BLANK=NONE
01= OPTION1
30782-M-R3
Figure 1.7
Product Structure of Line Regenerative Drives, Ratings 065 to 180 Amps
8720MC HIGH PERFORMANCE DIGITAL DRIVE
- COMMON BUS INPUT DRIVE PRODUCT STRUCTURE -
8720MC-v xxx-aa-HASh-op
BASE CATALOG
NUMBER
INPUT
VOLTAGE
D = 750VDC, Common Bus
Publication 8720MC-UM 001C-EN-P Feb 2001
AMPLIFIER SIZE
(AMPERES)
065 = 64.5 Amp
078 = 78.2 Amp
097 = 96.9 Amp
120 = 120.3 Amp
149 = 149.2 Amp
180 = 180.4 Amp
ENCLOSURE
TYPE
HUMAN
INTERFACE
OPTIONS
AN=Open
AA=Enclosed
HASP=Std. HIM
HASB=No HIM
HAS1=Analog HIM
HAS2=Digital HIM
Blank=None
01= Option1
30783-M-R3
Introduction
Regenerative Power Supplies
1-9
Product Structure of the 8720MC Regenerative Power Supply
For motors up to 37 kW (50 hp), the 8720MC – RPS065 is the
standard choice for a regenerative power supply (also called
regenerative converter). Designed for either 380 or 460V AC 3 phase
input, this power supply provides a regulated and configurable DC
bus voltage. When used with the 8720MC drive amplifiers, the bus
voltage is factory set at 750V DC. The product structure of the
8720MC regenerative power supply is shown in Figure 1.8.
Figure 1.8
8720MC Regenerative Power Supply Product Structure
8720MC REGENERATIVE CONVERTER
- PRODUCT STRUCTURE -
8720MC -RPSxxx v m - opt
BASE CATALOG
NUMBER - CONVERTER
REGENERATIVE
POWER SUPPLY SIZE
065= 65 amp
INPUT VOLTAGE
TYPE
B=380 TO 460 vac
M= master
S = Slave
See Note1
Note 1: Blank includes the 8720MC - RPS only as a spare part.
HV1 option includes the 8720MC - RPS as well as 8720MC-HF-B harmonic filter and 8720MC-VA-B varistor
Harmonic Filter
Line Reactor
8720MC - HF - b
8720MC - LR xx -a yyy b
Inductance as
% Voltage Drop
03 = 3%
05 = 5%
10 = 10%
14 = 14%
Enclosure
blank = open
A = NEMA type 1
Current Rating
032 = 32 Amp
048 = 48 Amp
062 = 62 Amp
070 = 70 Amp
Voltage
B = 380 to 460 vac
Voltage
Varistor
B = 380 to 460 vac
8720MC - VA - b
30781-M-R3
Voltage
B = 380 to 460 vac
The HV1 Option for the 8720MC Regenerative Power Supply
includes a harmonic filter and a varister. These are required
separately mounted items. In addition a line reactor, sized to the load,
must be placed in each incoming AC phase. The 8720MC-LR is an
assembly consisting of 3 single phase line reactors on a common
base. If CE compliance is a requirement for the application an
additional filter is required. For details on this filter please see
publication 8720MC-RM001B-US-P, Regenerative Power Supply
User Manual.
Publication 8720MC-UM 001C-EN-P Feb 2001
1-10
Introduction
Key Features of the 8720MC Regenerative Power Supply
Key features of the 8720MC Regenerative Power supplies are:
•
380 to 460V AC, +10%/-15%, 3 phase input voltage, 50/60 Hz,
45 kVA
•
64 amperes continuous output current, 96 amperes peak (1 min)
•
Programmable bus voltage (nominal 750 V DC) with under and
over voltage trip points
•
Built in programmer allows display and adjustment of
parameters, status monitoring of faults as well as reset of faults
•
4 segment display provides status monitoring of AC input
current, AC input voltage, DC bus voltage, motor power, and %
load
•
Compact design provides small footprint
•
Capable of supporting multiple common bus drive amplifiers
•
-10 to 55 degrees C operating temperature, 5 to 95% humidity
•
Diagnostic messages
•
Run, fault, and fault reset discrete I/O
•
Master/slave operation for parallel regenerative power supplies:
- UL and CUL listed
- CE marked to meet European requirements for low voltage and
electromagnetic compatibility
In addition to the 8720MC-RPS065 regenerative power supply, a line
reactor is required for each incoming phase as well as a varistor, a
harmonic filter, and a contactor.
The 8720MC-RPS is available in both master and slave
configurations. You can double or triple the current capacity of the
DC bus by interconnecting the master and slave control boards with
ribbon cable and wiring their DC bus outputs in parallel. When the
master unit is configured for master/slave operation, the master unit
assures that the slave regenerative power supplies share the bus
output so as to appear as a single x2 or x3 power supply. In this
configuration, a master/slave 8720MC-RPS pair can control motors
to 74 kw or 100 hp. In addition a single master and 2 slave units can
provide up to 110 kw of continuous output power.
Product Structure of the 1336R Regenerative Power Supplies
As an alternative, the 1336R-VB048, -VB078, and -VB180 are
available choices for regenerative power supplies. The product
structure of the 1336R-VBxxx regenerative power supply
(regenerative converter) is shown in Figure 1.9.
Publication 8720MC-UM 001C-EN-P Feb 2001
Introduction
1-11
Figure 1.9
1336R Regenerative Power Supply Product Structure
1336R-VB-xxx-Ay-mod Regenerative Converters
1336R-180PRE-VB-AA
PRECHARGE
1321-3LR180-B
10% LINE
REACTOR
1336R-VB-048CNV-AA-HAP
180 Amp Regen.Conv.
1321-3LR078-B
10% LINE
REACTOR
1336R-078PRE-VB-AA
PRECHARGE
1336R-048PRE-VB-AA
PRECHARGE
1336R-VB-078CNV-AA-HAP
78 Amp Regen. Conv.
1336R-VB-048CNV-AA-HAP
48 Amp Regen. Conv.
1321-3LR048-B
10% LINE
REACTOR
DC+
1336
Line
Filter
To 8720MC
DC common
30786-M-R2
Key Features of the 1336R Regenerative Power Supplies
Key features of the 1336R Regenerative Power supplies include:
8720SM AC Spindle Motor
Overview
•
380 to 460V AC, +10%/-15%, 3 phase input voltage, 48 to 62 Hz
•
52, 85 and 196 amperes continuous output current
•
Programmable bus voltage (nominal 735 V DC) and overload trip
points
•
Built in programmer and display
•
Separate pre-charge unit
•
Capable of supporting multiple common bus drive amplifiers
•
0 to 55 degrees C operating temperature, 5 to 95% humidity
The 8720SM High Performance AC Motors have been specifically
designed to meet the needs of modern high performance industrial
machinery. To cover a wide variety of spindle motor requirements,
both a standard single winding series of motors and a dual winding
series are available. All standard motors are provided with precision
steel bearings.
The standard motor includes an integrated high resolution single-turn,
absolute feedback encoder. A multi-turn, absolute feedback encoder
as well as a sinusoidal incremental encoder are available as options.
The feedback devices assure precision servo performance for both
spindle and power servo applications. Highly accurate position and
velocity control is readily attainable.
Publication 8720MC-UM 001C-EN-P Feb 2001
1-12
Introduction
Product Structure of the 8720SM High Performance AC Motors
A family of thirteen standard AC induction motors ranging in power
from 5.5 to 93 kW (7.5 to 125 hp) is available for operation with the
750 V DC bus provided by the 8720MC - RPS. Standard motor
windings are also available for 460 V AC & 380 V AC input drive
amplifiers. In addition several (wye/delta) dual wound motors are
available for wide constant horsepower applications. See Publication
8720-SR001A-US-P, 8720MC Product Specification, for a complete
listing of the available standard motors. Figures 1.10 and 1.11 show
the product range and product structure of the AC spindle motors.
Figure 1.10
8720SM AC Spindle Motor Family
37KW
50HP
• 3 Phase AC Induction Motor
• Laminated Const. Blower cooled (TEAO-BC)
• IEC or FANUC ALPHA P Flange Dimensions
• Dual Winding Option for 12 to 1 Const. HP
• Flange or Foot Mount
• 1500 Base Speed
• 9,000 Max RPM for up to 11kw, 8000 for 22kw
• High Resolution Feedback, Absolute Option
30KW
40HP
93KW
125HP
22KW
30HP
75KW
100HP
18.5KW
25HP
63KW
85HP
15KW
20HP
11KW
15HP
55KW
75HP
45KW
60HP
7.5KW
10HP
5.5KW
7.5HP
30812-M-R2
These high performance AC motors are available with one of three
feedback device options. The standard offering is a single turn
absolute high resolution encoder providing 4 million counts/rev of
resolution. The other options are an incremental encoder, also with 4
million counts/rev of resolution. This option is used in applications
where the 8720MC drive’s A quad B encoder output is required. Also
available is a multi-turn absolute encoder providing 4096 turns and 4
million counts/rev of resolution. Only the incremental “S3” option is
available with the analog version.
Publication 8720MC-UM 001C-EN-P Feb 2001
Introduction
1-13
Figure 1.11
8720SM AC Motor Product Structure
8720SM - ppp w f nn s f - mm
BASE CATALOG
NUMBER
TYPE WINDING
POWER IN kw
S = Single
D = Dual
005 = 5.5 kw
007 = 7.5 kw
011 = 11 kw
015 = 15 kw
018 = 18.5 kw
022 = 22 kw
030 = 30 kw
037 = 37 kw
045 = 45 kw
055 = 55 kw
063 = 63 kw
075 = 75 kw
093 = 93 kw
FRAME NO.
1 = 112
2 = 132
3 = 132A
4 = 160
5 = 180
6 = 200
nn = CURVE NO.
SPEED CLASS
See motor curves in
Product Specification
S = Standard
H = High
FEEDBACK
MOD NO
1 = SRS-60
2 = SCM-60
3 = SNS-60
8720MC HIGH PERFORMANCE DIGITAL DRIVE
-MOTOR PRODUCT STRUCTURE -
30787-M-R3
NOTE: The 132 frame has standard IEC dimensions for the
mounting flange, 250 mm pilot diameter and 300 mm bolt circle. The
132A frame has A-B 1327AB compatible dimensions for the
mounting flange with a 230 mm pilot diameter and a 265 mm bolt
circle. All other dimensions are identical for these two offerings.
Refer to Chapter 3 for detailed dimensions for all frames.
Key Features of the 8720SM AC Spindle Motors
Key features of the 8720SM AC spindle motors include:
•
Compact design, laminated stack, enclosed construction,
asynchronous, 4 pole AC induction motor
•
Blower cooled with integral fan, air over design, IP55 protection
•
Low rotor inertia for rapid acceleration and deceleration
•
Integrally mounted 4 million count per revolution industrial
single-turn absolute feedback encoder. Other options include an
incremental 4 million count per revolution encoder or Multi-turn
absolute 2 million count per revolution encoder
•
High speeds – 9,000 RPM up to 11 kW, 8,000 RPM up to 22 kW
with permanently greased steel bearings
•
Precision balance
•
Wide constant power range – single wound Y connected motors
up to 6:1standard, 16 to 1 optional, dual wye/delta wound motors
up to 12:1. Power range from 5.5 to 93 kW (5 to 125 hp)
•
Five IEC standard frame sizes, 6 flange sizes, for flange or foot
mount
Publication 8720MC-UM 001C-EN-P Feb 2001
1-14
Introduction
Publication 8720MC-UM 001C-EN-P Feb 2001
•
High Reliability – The 8720SM motors use field proven stator
and rotor designs
•
Windings for 460 vac input, 380 vac and 750 VDC input drives
•
Custom windings – If the available standard windings do not
provide the desired speed vs. kW or speed vs. torque performance
curves, special requirements can be accommodated
Chapter
2
Specifications
Chapter Objectives
Chapter 2 contains:
•
specifications common to all 8720MC drive amplifiers and
motors
•
specifications for 5.5 to 37 kW motors with the 8720MC, 750V
DC input, Drive Amplifier and 8720MC-RPS Regenerative
Power Supply
•
power and torque curves for 5.5 to 37 kW motors with the
8720MC, 750V DC Input, Drive Amplifier and 8720MC-RPS
Regenerative Power Supply
•
specifications for 45 to 93 kW motors with the 8720MC, 750V
DC input, Drive Amplifier and the Master/Slave 8720MC-RPS
Regenerative Power Supply
•
power and torque curves for 45 to 93 kW motors with the
8720MC, 750V DC input, Drive Amplifier and the Master/Slave
8720MC-RPS Regenerative Power Supply
•
specifications for 5.5 kW to 18.5 kW motors with the 8720MC,
460V AC input, Drive Amplifier.
•
power and torque curves for 5.5 to 18.5 kW motors with the
8720MC, 460 VAC input, Drive Amplifier.
•
specifications for 5.5 kW to 15 kW motors with the 8720MC,
380 V AC input, Drive Amplifier.
•
power and torque curves for 5.5 to 15 kW motors with the
8720MC, 380V AC input, Drive Amplifier.
•
specifications for 15 kW to 30 kW dual winding wide speed
range motors with the 8720MC Drive Amplifier, 750V DC Input
Drives, and 8720MC-RPS Regenerative Power Supply
•
power and torque curves for 15 kW to 30 kW dual winding wide
speed range motors with the 8720MC, 750V DC Input, Drive
Amplifier and 8720MC-RPS Regenerative Power Supply
The following Conversion factors apply to the tables:
Torque: 1 newton meter = .7376 ft-lb = 8.85 in-lb
Inertia: 1 kg-meter2 = 23.7 lb-ft2 = 8.85 in-lb sec2
Power: 1 horsepower = .746 kW
Weight 1 kg = 2.205 lbs
2-2
Specifications
Common Specifications
Specifications Common to all 8720MC Drive Amplifiers and
Motors
Some specifications are common to all the drive amplifiers and
motors. Tables 2.1, 2.2., 2.3, and 2.4 provide a summary of these
common specifications.
Table 2.1:
Common 8720MC 750 vdc Input Drive Amplifier Specifications
Specification Type
Units
Value
Frequency range
Hz
0 to +/- 500
2 pole AC motor speed range
RPM
0 to +/-30,000
Voltage at maximum speed
volts RMS
505
Max Velocity loop bandwidth (-3db)
Hz
100
Peak Current (1 minute)
% rated
150
Speed regulation
% max speed
.01% with 100%
disturbance
Rated operating temp (Open)
deg C
0 to 50
Rated operating temp (enclosed)
deg C
0 to 40
Storage temperature
deg C
-40 to 70
Ambient humidity
%
5 to 95%
Altitude
meters (feet)
1000 (3300)
Vibration as displacement
in. @ 1G
.0006
Shock
G peak, 11ms
15
Agency Certification
UL/CUL/CE
Table 2.2:
Common Drive Amplifier I/O Specifications
Specification Type
Publication 8720MC-UM 001C-EN-P Feb 2001
Units
Value
24V DC input current - sourcing
mA
3.3 to 12
24V DC output current sourcing
capability
mA
up to 75
Dry contact current capacity
amps
5 amps AC or DC
Dry contact voltage range
V DC (AC)
up to 30 V DC
(250 AC)
24V DC registration input current
mA
5 to 15
Specifications
Specification Type
Units
2-3
Value
24V DC registration input voltage
range
V DC
17.5 to 38
5V DC registration input current
mA
5 to 15
5V DC registration input voltage
V DC
4 to 7.5
+/- 10V DC analog input
resolution
Mv/LSB (bits)
1.25mv/LSB (14
bits)
+/- 10V DC analog output
resolution
Mv/LSB (bits)
5mv/LSB (12 bits)
Available 22V DC +/-25% VDC
output power
mA
120 mA
continuous
Available 5V DC +/-10% VDC
output power
mA
250 mA
continuous
Sercos data rate
mbits/sec
2 or 4
ScanPort data rate
kbits/sec
125
Table 2.3:
Common 8720SM Motor Specifications
Specification Type
Units
Value
Rated ambient temperature
deg C
0 to 40
Storage temperature
deg C
-20 to 80
Environmental protection
IP 55
Agency certification
UL/CSA/CE
Available mounting methods
flange/foot
Table 2.4:
Motor Encoder Specifications - SNS-60 Sinusoidal, Incremental
Specification Type
Units
Value
Absolute accuracy
Arc seconds
20
number of sinusoidal periods per
revolution
periods
1024
8720MC Drive position resolution
counts/rev
4 million
Input voltage range
V DC
7 to 12
Operating current without loads
mA
80
Available memory
bytes
128
Absolute turns counter (optional
capability)
turns
N/A
Max recommended cable length
meters
90
Publication 8720MC-UM 001C-EN-P Feb 2001
2-4
Specifications
Specifications for 5.5 to 37 kW 8720SM Motors with 8720MC-RPS
Regenerative Power Supply
Tables 2.5, 2.6, and 2.7 contain specifications for 5.5 to 37 kW motors
with the 8720MC Drive Amplifier, 750V DC input, and 8720MC
Regenerative Power Supply. Information is divided into three
categories:
•
Table 2.5 - motor specifications
•
Table 2.6 - drive amplifier specifications
•
Table 2.7 - line reactor specifications
•
Table 2.8 - regenerative power supply specifications
Table 2.5:
Motor Specifications - 750vdc Input
8720MC Motor Specifications when used with 750V DC Input Drives and 8720MC-RPS Regenerative Power Supply
Motor Specifications
Units
Motor Data for Each Power Rating
Motor catalog number
8720SM-
005S1BA
007S1CA
011S1DA
015S2EA
018S2FA
022S2GA
030S4JA
037S4KA
DL1106
DL1108
DL1110
DL1307
DL1308
DL1310
DL1611
DL1613
Motor frame number
Continuous power -
kW (hp)
5.5 (7.5)
7.5(10)
11(15)
15(20)
18.5(25)
22(30)
30(40)
37(50)
S6 - 50% duty - power
kW (hp)
7.5 (10)
10 (13.4)
15(20.1)
18(24.1)
22(29.5)
30(40.2)
37(49.6)
45(60.3)
1 minute peak power
kW (hp)
8.3 (11.1)
11.5(15.4)
16.5(22.1)
23(30.8)
28(37.5)
33(44.2)
45(60.3)
55(76.1)
Rated torque at base speed
N-M (lb-ft)
35(25.8)
48 (35.4)
70 (51.6)
96 (70.8)
118 (90)
140
(103.2
192
(141.5)
238
(175.4)
peak torque at base speed
N-M (lb-ft)
53 (39)
72 (53.1)
105 (77.4)
143
(105.5)
176
(129.8)
210
(154.9)
290
(213.4)
355
(261.8)
Base speed - rpm
rpm
1500
1500
1500
1500
1500
1500
1500
1500
Max speed - foot mount
rpm
9000
9000
9000
8000
8000
7400
6500
6500
Max speed - flange mount
rpm
9000
9000
9000
8000
8000
7400
6000
5800
4.1:1
5.5:1
4.4:1
4.1:1
4.3:1
4.2:1
4.0:1
3.9:1
.0165
(.391)
.0222
(.527)
.0272
(.645)
.0809
(1.92)
.0977
(2.32)
.111
(2.63)
.176
(4.2)
.209
(4.9)
Constant power speed range
Rotor inertia
kg-m2
2
(lb-ft )
Rated continuous motor
current at base speed
amps (RMS
cont.)
13.5
20.3
26.8
33.4
41.4
48
63.1
76.1
S6 current at base speed
amps (RMS)
17.2
25.3
34.6
39.1
47.2
61.2
74.6
89.2
Peak current at base speed
amps (RMS)
18.7
27.9
37.6
46
57
66.5
88.5
107
Voltage at Base Speed
volts (RMS)
350
315
335
370
364
369
371
375
Voltage at max speed
volts (RMS)
505
505
505
505
505
505
505
505
Motor weight
kg (lbs)
75 (165)
91 (201)
102 (225)
131 (289)
150 (331)
163 (359)
226 (497)
272 (598)
Max radial bearing load
kg (lbs)
206 (455)
206(455)
206(455)
243 (535)
243 (535)
243 (535)
350 (770)
350 (770)
Publication 8720MC-UM 001C-EN-P Feb 2001
Specifications
2-5
Table 2.6:
Drive Amplifier Specifications
8720MC Drive Amplifier Specifications for 750V DC Input 8720MC-RPS Regenerative Power Supply and 8720SM AC Motor
Drive Amp. Specifications
Units
Drive Amplifier Data for Each Power Rating
Motor catalog number
8720SM-
005S1BA
007S1CA
011S1DA
015S2EA
018S2FA
022S2GA
030S4JA
037S4KA
Rated continupous motor
current at base speed
amps (RMS
cont.)
13.5
20.3
26.8
33.4
41.4
48
63.1
76.1
Drive amplifier catalog no.
8720MC-
B014
B021
B027
B034
B042
B048
D065
D078
DC input current @750 Vdc
amps
8.9
12.1
16.9
23.3
28.4
33.4
44.1
53.8
Max cont. output power
kW (hp)
5.5 (7.5)
7.5 (10)
11 (15)
15 (20)
18.5 (25)
22 (30)
30 (40)
37 (50)
Max cont. output current
amps (RMS)
14
21
27
34
42
48
65
78
B
B
B
B
B
B
C
C
Drive amplifier frame
DC Bus Capacitance
micro farads
1350
1350
2150
2150
4300
4300
6450
6450
Rated operating temp. (open)
deg C
0 to 50
0 to 50
0 to 50
0 to 50
0 to 50
0 to 50
0 to 50
0 to 50
Weight
kg(lbs)
22.7 (50)
22.7 (50)
22.7 (50)
22.7 (50)
22.7 (50)
22.7 (50)
38.6 (85)
38.6 (85)
Table 2.7:
Line Reactor Specifications
8720MC Line Reactor Specifications for 750V DC Input Drives with 8720MC-RPS Regenerative Power Supply and 8720SM AC Motor
Line Reactor
Specifications
Units
Line Reactor Data for Each Power Rating
Motor catalog number
8720SM-
005S1BA
007S1CA
011S1DA
015S2EA
018S2FA
022S2GA
030S4JA
037S4KA
Req. RPS continuous Input
current
amps (RMS)
9
12
18
25
31
36
50
61
Drive amplifier catalog no.
8720MC-
B014
B021
B027
B034
B042
B048
D065
D078
Line Reactor Catalog No.
8720MC-
LR03-032B
LR03-032B
LR03-032B
LR03-032B
LR05-048B
LR05-048B
LR10-062B
LR10-062B
Max cont. current
amps (RMS)
32
32
32
32
48
48
62
62
Inductance
uH
850
850
850
850
800
800
1100
1100
Weight
kg(lbs)
17 (37.4)
17 (37.4)
17 (37.4)
17 (37.4)
21 (46.2)
21 (46.2)
27 (59.4)
27 (59.4)
Publication 8720MC-UM 001C-EN-P Feb 2001
2-6
Specifications
Table 2.8:
8720MC-RPS Regenerative Power Supply Specifications
8720MC-RPS Regenerative Power Supply Specifications when used with 750V DC Input Drives and 8720SM AC Motors
8720MC-RPS Regen. P.S.
Units
Power Supply Specifications
Motor catalog number
8720SM-
005S1BA
007S1CA
011S1DA
015-S2EA
018S2FA
022S2GA
030S4JA
037S4KA
Drive amplifier catalog
number
8720MC-
B014
B021
B027
B034
B042
B048
D065
D078
Regen. P. S. catalog
number
8720MC-
RPS027BM
RPS027BM
RPS027BM
RPS027BM
RPS065BM
RPS065BM
RPS065BM
RPS065BM
AC Input voltage
+10/-15%
RMS Volts
380 to 460
380 to 460
380 to 460
380 to 460
380 to 460
380 to 460
380 to 460
380 to 460
Input frequency
Hz +/-3%
50/60
50/60
50/60
50/60
50/60
50/60
50/60
50/60
.98 or less
.98 or less
.98 or less
.98 or less
.98 or less
.98 or less
.98 or less
.98 or less
Input power factor
Required input KVA
kVA
7
10
14
20
24
29
39
49
Required input current
amps RMS
9
12
18
25
31
36
50
61
Required input 1 min
current
amps RMS
14
19
27
37
46
55
74
92
Required output KVA
kVA
7
9
13
18
22
27
36
45
Required output current
amps DC
8.9
12.1
16.9
23.3
28.4
33.4
44.1
53.8
Required max current(1
min)
amps DC
13
18
27
36
45
53
73
90
Design Bus voltage
volts DC
750
750
750
750
750
750
750
750
Rated input KVA
kVA
20
20
20
20
50
50
50
50
Rated input current
amps RMS
28
28
28
28
65
65
65
65
rated input 1 min current
amps RMS
42
42
42
42
98
98
98
98
Rated output KVA
kVA
19
19
19
19
45
45
45
45
Rated output current
amps DC
27
27
27
27
64
64
64
64
Rated max output current
(1 min)
amps DC
40.5
40.5
40.5
40.5
96
96
96
96
Operating Temperature
deg C
-10 to 55
-10 to 55
-10 to 55
-10 to 55
-10 to 55
-10 to 55
-10 to 55
-10 to 55
Storage temperature
deg C
-40 to 65
-40 to 65
-40 to 65
-40 to 65
-40 to 65
-40 to 65
-40 to 65
-40 to 65
Ambient humidity
%
5 to 95%
5 to 95%
5 to 95%
5 to 95%
5 to 95%
5 to 95%
5 to 95%
5 to 95%
Altitude
meters
(feet)
1000
(3300)
1000
(3300)
1000
(3300)
1000
(3300)
1000
(3300)
1000
(3300)
1000
(3300)
1000
(3300)
Vibration
G
<1G @
25Hz
<1G @
25Hz
<1G @
25Hz
<1G @
25Hz
<1G @
25Hz
<1G @
25Hz
<1G @
25Hz
<1G @
25Hz
shock
G
<2G
<2G
<2G
<2G
<2G
<2G
<2G
<2G
weight
kg(lbs)
11 (24.3)
11 (24.3)
11 (24.3)
11 (24.3)
13.5 (29.8)
13.5 (29.8)
13.5 (29.8)
13.5 (29.8)
Publication 8720MC-UM 001C-EN-P Feb 2001
Specifications
Curves for 5.5 to 37 kW - 8720SM
Motors with 8720MC-RPS
Regenerative Power Supply
2-7
Power and Torque Curves
The following power and torque curves contain data for 5.5 kW,
7.5kW, 11kW, 15kW, 18.5kW, 22kW, 30kW, and 37kW motors at
1500 RPM base speed.
Figure 2.1
5.5kW Motor
5.5 kW at 1500 RPM Base Speed
DL1106 Frame Catalog No. 005S1BA
9
60
maximum kW
8
Maximum
54
S6 (50%ED) kW
48
6
42
Torque in N-M
7
Continuous (S1) kw
kW
5
4
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
3
2
Torque in Nt-M
Rated 35
S6-50% 47.5
Max. 52.5
Rated
36
30
24
18
Amps at Base Speed Cont Amps 13.5
17.2
S6 Amps
18.7
Max Amps
1
S6-50%
12
6
0
0
0
1000
2000
3000
4000
5000
6000
7000
8000
0
9000
1000
2000
3000
4000
RPM
5000
RPM
6000
7000
8000
9000
30737-M-R2
Figure 2.2
7.5kW Motor
7.5 kW at 1500 RPM Base Speed
DL1108 Frame Catalog No. 007S1CA
80
12
Maximum
72
maximum kW
10
Torque in Nt-M
Rated 48
S6-50% 64
Max. 72
56
8
Torque in N-M
Continuous (S1) kW
kW
S6-50%
64
S6 (50%ED) kW
6
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
4
Amps at Base Speed Cont Amps 20.3
25.3
S6 Amps
27.9
Max Amps
2
Rated
48
40
32
24
16
8
0
0
0
1000
2000
3000
4000
5000
RPM
6000
7000
8000
9000
0
1000
2000
3000
4000
5000
RPM
6000
7000
8000
9000
30738-M-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
2-8
Specifications
Figure 2.3 11Kw Motor
11 kW at 1500 RPM Base Speed
DL1110 Frame Catalog No. 011S1DA
120
18
maximum kW
Maximum
108
16
S6-50%
96
S6 (50%ED) kW
14
Torque in Nt-M
Rated 70
S6-50% 95
Max. 105
84
12
Torque in N-M
Continuous (S1) kW
kW
10
8
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
6
Amps at Base Speed Cont Amps 26.8
34.6
S6 Amps
37.6
Max Amps
4
2
Rated
72
60
48
36
24
12
0
0
0
1000
2000
3000
4000
5000
6000
8000
7000
1000
0
9000
2000
3000
4000
RPM
5000
RPM
6000
7000
8000
9000
30739-M-R2
Figure 2.4 15kW Motor
15 kW at 1500 RPM Base Speed
DL1307 Frame Catalog No. 015S2EA
150
25
Maximum
maximum kW
20
135
120
S6 (50%ED) kW
S6-50%
Torque in Nt-M
Rated 96
S6-50% 118
Max. 140
105
Rated
Continuous (S1) kW
kW
Torque in N-M
15
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at Base Speed Cont Amps 33.4
39.1
S6 Amps
46
Max Amps
10
5
90
75
60
45
30
15
0
0
0
1000
2000
3000
5000
4000
RPM
6000
7000
1000
0
8000
2000
3000
4000
5000
RPM
6000
7000
8000
30740-M-R2
Figure 2.5 18.5kW Motor
18.5 kW at 1500 RPM Base Speed
DL1308 Frame Catalog No.018S2FA
30
180
maximum kW
162
25
144
S6 (50%ED) kW
20
126
Torque in N-M
kW
Continuous (S1) kW
15
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at Base Speed Cont Amps 41.4
47.2
S6 Amps
57
Max Amps
10
5
Maximum
S6-50%
Torque in Nt-M
Rated 118
S6-50% 140
Max. 176
Rated
108
90
72
54
36
18
0
0
0
1000
2000
3000
4000
5000
RPM
Publication 8720MC-UM 001C-EN-P Feb 2001
6000
7000
8000
0
1000
2000
3000
4000
5000
RPM
6000
7000
8000
30741-M-R2
Specifications
2-9
Figure 2.6 22.5kW Motor
22 kW at 1500 RPM Base Speed
DL1310 Frame Catalog No. 022S2GA
220 Maximum
35
maximum kW
30
198
S6 (50%ED) kW
154
Continuous (S1) kW
15
Torque in N-M
kW
25
20
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at Base Speed Cont Amps 48
61.2
S6 Amps
66.5
Max Amps
10
5
S6-50%
176
Torque in Nt-M
Rated 140
S6-50% 191
Max. 210
Rated
132
110
88
66
44
22
0
0
1000
0
2000
3000
5000
4000
7000
6000
8000
0
3000
2000
1000
4000
RPM
5000
RPM
6000
7000
8000
30742-M-R2
Figure 2.7 30kW Motor
30 kW at 1500 RPM Base Speed
DL1611 Frame Catalog No. 030S4JA
300 Maximum
50
maximum kW
45
40
270
Torque in N-M
Continuous (S1) kW
30
25
20
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at Base Speed Cont Amps 63.1
74.6
S6 Amps
88.5
Max Amps
15
10
5
Torque in Nt-M
Rated 192
S6-50% 235
Max. 288
Rated
210
35
180
150
120
90
60
30
0
0
1000
0
2000
3000
RPM
4000
5000
6000
0
7000
1000
2000
3000
4000
RPM
5000
6000
7000
30743-M-R2
Figure 2.8 37kW Motor
37 kW at 1500 RPM Base Speed
DL1613 Frame Catalog No. 037S4KA
60
360
maximum kW
288
S6 (50%ED) kW
252
40
Torque in N-M
Continuous (S1) kW
30
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
20
Amps at Base Speed Cont Amps 76.1
89.2
S6 Amps
107
Max Amps
10
Maximum
324
50
kW
kW
S6-50%
240
S6 (50%ED) kW
S6-50%
Torque in Nt-M
Rated 238
S6-50% 285
Max. 355
Rated
216
180
144
108
72
36
0
0
0
1000
2000
3000
4000
RPM
5000
6000
7000
0
1000
2000
3000
4000
5000
RPM
6000
7000
30744-M-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
2-10
Specifications
Specifications for 45 To 93 kW 8720SM Motors with 8720MC-RPS
Master and Slave Regenerative
Power Supplies
Tables 2.8, 2.9, and 2.10 contain specifications for 45 to 93 kW
motors with the 8720MC Drive Amplifier, 750V DC input, and
8720MC-RPS Regenerative Power Supplies. Information is divided
into three categories:
•
Table 2.9 - motor specifications
•
Table 2.10 - drive amplifier specifications
•
Table 2.11 - regenerative power supply specifications
•
Table 2.12 - Line Reactor Specification
Table 2.9:
Motor Specifications
8720SM Motor Specifications - for 750V DC Input Drives with Master/Slave Regenerative Power Supplies
Motor Specifications
Units
Motor Data for Each Power Rating
Motor catalog number
8720SM-
045S5NA
055S5PA
063S5QA
075S6SA
093S6TA
DL1811
DL1813
DL1815
DL2010
DL2012
Motor frame number
Continuous power -
kW (hp)
45 (60)
55 (73.7)
63 (84.4)
75(100.5)
93 (125)
S6 - 50% duty -
kW (hp)
55 (73.7)
63 (84.4)
76 (101.8)
92 (123.3)
110(147.4)
1 minute peak -
kW (hp)
68 (91.1)
82 (110)
95 (127.3)
112 (150)
140 (187.7)
Rated torque at base speed
N-m (lb-ft)
287 (211.5)
350 (258)
400 (294.8)
480 (353.8)
590 (434.8)
peak torque at base speed
N-M (lb-ft)
430 (317.2)
525 (387.24)
600 (442)
720 (531.1)
890 (656.5)
Base speed - rpm
rpm
1500
1500
1500
1500
1500
Max speed - foot mount
rpm
6500
5000
5000
5000
4500
Max speed - flange mount
rpm
6000
5000
5000
4500
4000
3.7:1
3.3:1
3.3:1
3.3:1
3.0:1
Constant power speed range
Rotor inertia
kg-m2 (lb-ft2)
.35
(8.3)
.409
(9.7)
.468
(11.1)
.885
(21.0)
1.01
(24.0)
Rated continuous motor current at
base speed
amps (RMS cont.)
93
116
117.5
137
176
S6 current at base speed
amps (RMS)
110
129
135
161
200
Peak current at base speed
amps (RMS)
131
161
163
188
242
Voltage at Base Speed
volts (RMS)
375
370
418
430
410
Voltage at max speed
volts (RMS)
505
505
505
505
505
Motor weight
kg (lbs)
297 (655)
324 (714)
350 (772)
453 (999)
478 (1054)
Max radial bearing load
kg (lbs)
390 (860)
390 (860)
390 (860)
422 (930)
422 (930)
Publication 8720MC-UM 001C-EN-P Feb 2001
Specifications
2-11
Table 2.10:
Drive Amplifier Specifications
8720MC Drive Amplifier Specifications - for 750V DC Input 8720MC-RPS Regenerative Power Supplies and 8720SM AC Motor
Drive Amplifier Specifications
Units
Drive Amplifier Data for Each Power Rating
Motor catalog number
8720SM-
045S5NA
055S5PA
063S5QA
075S6SA
093S6TA
Rated Continuous motor current at
base speed
amps (RMS cont.)
93
116
117.5
137
176
Drive amplifier catalog number
8720MC-
D097
D120
D120
D149
D180
DC input current @ 750 V DC
amps
65.7
80.9
92.6
111.1
135.3
Max continuous output power
kW (hp)
45 (60.3)
63 (84.4)
63 (84.4)
75 (100.5)
93 (125)
Max continuous output current
amps
97
120
120
149
180
DC Bus Capacitance
Micro Farads
9000
9000
9000
9000
12000
D
D
D
D
D
108.9 (240)
108.9 (240)
108.9 (240)
108.9 (240)
108.9 (240)
Drive amplifier frame
Weight
kg(lbs)
Table 2.11:
8720MC Master/Slave Regenerative Power Supply Specifications
Specifications for 8720MC-RPS Master and Slave(s) Regenerative Power Supplies with 750 vdc Drives and 8720SM AC Motors
8720MC-RPS065 Regen. P.S.
Units
Power Supply Specifications
Motor catalog number
8720SM-
045S5NA
055S5PA
063S5QA
075S6SA
093S6TA
Drive amplifier catalog number
8720MC-
D097
D120
D120
D149
D180
Regen. Power supply catalog number
8720MC-RPS065
BM and BS
BM and BS
BM and BS
BM and BS
BM & quan 2 BS
AC input voltage AC+10/-15%
RMS volts
380 to 460
380 to 460
380 to 460
380 to 460
380 to 460
Input frequency
Hz +/-3%
50/60
50/60
50/60
50/60
50/60
.98
.98
.98
.98
.98
Input power factor
Required input KVA
kVA
56.5
72.4
83.6
99.5
122.5
Required input current
amps RMS
71
91
105
125
154
Required input 1 min current
amps RMS
106.5
136.5
157.5
187.5
231
Required output KVA
kVA
49.3
60.6
69.4
83.2
101.9
Required output current
amps DC
65.7
80.8
92.5
110.9
135.9
Required max current (1 min)
amps DC
98
121
139
166
204
Design Bus voltage
volts DC
750
750
750
750
750
Rated input KVA
kVA
100
100
100
100
150
Rated input current
amps RMS
130
130
130
130
195
rated input 1 min current
amps RMS
196
196
196
196
292
Publication 8720MC-UM 001C-EN-P Feb 2001
2-12
Specifications
Specifications for 8720MC-RPS Master and Slave(s) Regenerative Power Supplies with 750 vdc Drives and 8720SM AC Motors
Rated output KVA
kVA
90
90
90
90
135
Rated output current
amps DC
128
128
128
128
192
Rated max output current (1 min)
amps DC
192
192
192
192
288
Operating Temperature (open)
deg C
0 to 50
0 to 50
0 to 50
0 to 50
0 to 50
Operating Temperature (Nema1)
deg C
0 to 40
0 to 40
0 to 40
0 to 40
0 to 40
Storage temperature
deg C
-40 to 85
-40 to 85
-40 to 85
-40 to 85
-40 to 85
Ambient humidity
%
5 to 95%
5 to 95%
5 to 95%
5 to 95%
5 to 95%
Altitude
meters (feet)
1000 (3300)
1000 (3300)
1000 (3300)
1000 (3300)
1000 (3300)
Shock
G peak for 11 ms
15
15
15
15
15
Vibration
mm (in)
displacement at 1g
.152 (.0006)
.152 (.0006)
.152 (.0006)
.152 (.0006)
.152 (.0006)
Weight
kg(lbs)
38.6 (85)
108.9 (240)
108.9 (240)
108.9 (240)
108.9 (240)
Table 2.12: 8720MC Line Reactor Specifications
8720MC Line Reactor Specifications for 750V DC Input Drives with Multiple 8720MC-RPS Regen Power Supplies and 8720SM AC Motor
Line Reactor Specifications
Units
Line Reactor Data for Each Power Rating
Motor catalog number
8720SM-
045S5NA
055S5PA
063S5QA
075S6SA
093S6TA
Req. RPS continuous Input current
amps RMS
71
91
105
125
154
Drive amplifier catalog no.
8720MC-
D097
D120
D120
D149
D180
Line Reactor Catalog No.
8720MC-
LR05-048B
LR05-048B
LR10-062B
LR14-070B
LR10-062B
Number of Reactor Assemblies Req
quantity
2
2
2
2
3
Max cont. current
amps RMS
48
48
62
70
62
Inductance
uH
800
800
1100
1200
1100
Weight
kg (lbs)
21 (46.2)
each
21 (46.2)
each
27 (59.4)
each
38 (83.8)
each
27 (59.4)
each
Because of the larger current requirements for motors from 45 to 75
kw a master 37 kw regenerative power supply (RPS) and a slave 37
kw RPS are required . A master 37 kw RPS and two slave 37 kw RPS
units are required for the 93 kw motor. Each master or slave RPS
requires its own line reactor, harmonic filter and varister. The master
and slave RPS units are designed to share the current loads equally so
incoming AC fuses and wiring should be sized accordingly.
Publication 8720MC-UM 001C-EN-P Feb 2001
Specifications
Curves for 45 to 93 kW 8720SM
Motors with 8720MC Regenerative
Power Supply 750 vdc Input
2-13
Power and Torque Curves
The following power and torque curves contain data for 45 kW,
55kW, 63kW, 75kW, and 93kW motors at 1500 RPM base speed.
Figure 2.9
45kW Motor
45 kW at 1500 RPM Base Speed
DL1811 Frame Catalog No. 045S5NA
80
450
70
405
maximum kW
360
60
S6 (50%ED) kW
315
Torque in N-M
Continuous (S1) kW
40
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
30
20
S6-50%
Torque in Nt-M
Rated 287
S6-50% 350
Max. 430
Rated
270
225
180
135
Amps at Base Speed Cont Amps 93
110
S6 Amps
131
Max Amps
10
90
45
0
0
0
1000
2000
3000
4000
5000
6000
7000
0
1000
2000
3000
4000
RPM
5000
RPM
6000
7000
30745-M-R2
Figure 2.10
55kW Motor
55 kW at 1500 RPM Base Speed
DL1813 Frame Catalog No. 055S5PA
540
90
Maximum
maximum kW
486
80
S6-50%
432
70
S6 (50%ED) kW
60
378
Continuous (S1) kW
Torque in N-M
kW
kW
50
Maximum
50
40
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at Base Speed Cont Amps 116
129
S6 Amps
161
Max Amps
30
20
Torque in Nt-M
Rated 350
S6-50% 400
Max. 530
Rated
324
270
216
162
108
10
54
0
0
0
1000
2000
3000
RPM
4000
5000
0
1000
2000
RPM
3000
4000
5000
30746-M-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
2-14
Specifications
Figure 2.11 63kW Motor
63 kW at 1500 RPM Base Speed
DL1815 Frame Catalog No. 063S5QA
100
90
540
S6-50%
80
480
70
S6 (50%ED) kW
420
60
Continuous (S1) kW
360
Torque in N-M
kW
Maximum
600
maximum kW
50
40
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at Base Speed Cont Amps 117.5
135
S6 Amps
163
Max Amps
30
20
10
Torque in Nt-M
Rated 400
S6-50% 480
Max. 600
Rated
300
240
180
120
60
0
0
0
1000
2000
3000
RPM
4000
1000
0
5000
2000
RPM
3000
4000
5000
30747-M-R2
Figure 2.12 75kW Motor
75 kW at 1500 RPM Base Speed
DL2010 Frame Catalog No. 075S6SA
120
750
maximum kW
Maximum
675
100
600
S6-50%
Torque in N-M
Rated 480
S6-50% 590
Max. 720
S6 (50%ED) kW
525
80
Torque in N-M
kW
Continuous (S1) kW
60
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
40
Amps at Base Speed Cont Amps 137
161
S6 Amps
188
Max Amps
20
Rated
450
375
300
225
150
75
0
0
0
1000
2000
3000
4000
5000
0
6000
1000
2000
3000
4000
5000
30748-M-R2
RPM
RPM
Figure 2.13 93kW Motor
93 kW at 1500 RPM Base Speed
DL2012 Frame Catalog No. 093S6TA
160
900
maximum kW
140
Maximum
810
S6-50%
720
120
S6 (50%ED) kW
630
Continuous (S1) kW
Torque in N-M
kW
100
80
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at Base Speed Cont Amps 176
200
S6 Amps
242
Max Amps
60
40
20
450
360
270
90
0
1000
2000
3000
RPM
Publication 8720MC-UM 001C-EN-P Feb 2001
4000
Rated
540
180
0
0
Torque in N-M
Rated 590
S6-50% 700
Max. 890
5000
6000
0
1000
2000
RPM
3000
4000
30749-M-R2
5000
Specifications
Specifications for 5.5 to 22 kW 8720SM Motors with 460V AC
Input
2-15
Tables 2.13 and 2.14 contain specifications for 5.5 to 18.5 kW motors
with the 8720MC Drive Amplifier operating with 460V AC input
drives. Information is divided into two categories:
•
Table 2.13 - motor specifications
•
Table 2.14 - drive amplifier specifications
Table 2.13:
Motor Specifications
8720SM Motor Specifications for 460V AC Input Drives
Motor Specifications
Units
Motor Data for Each Power Rating
Motor catalog number
8720SM-
005S1BB
007S1CB
011S1DB
015S2EB
018S2FB
DL1106
DL1108
DL1110
DL1307
DL1308
Motor frame number
Continuous power -
kW (hp)
5.5 (7.5)
7.5(10)
11(15)
15(20)
18.5(25)
S6 - 50% duty -
kW (hp)
7.5 (10)
10 (13.4)
15(20.1)
18(24.1)
22(29.5)
1 minute peak -
kW (hp)
8.3 (11.1)
11.5 (15.4)
16.5(22.1)
23(30.8)
28(37.5)
Rated Torque at Base Speed
N-m ( lb-ft )
35 (25.8)
48 (35.4)
70 (51.7)
96 (70.8)
118 (87)
Peak Torque at Base Speed
N-m ( lb-ft )
53 (39.1)
72 (53.1)
105 (77.4)
143 (105.5)
177 (130.5)
Base speed - rpm
rpm
1500
1500
1500
1500
1500
Max speed S series
rpm
9000
9000
9000
8000
8000
5.8:1
6:1
4.5:1
4.3:1
3.9:1
Constant power speed range
Rotor inertia
kg-m2 ( lb-ft2 )
.0165 (.392)
.0222 (.528)
.0272 (.645)
.0809 (1.92)
.0977 (2.32)
Rated continuous motor current at
base speed
amps ( RMS cont. )
19.3
26.4
32.3
41.5
47.1
S6 current at base speed
amps ( RMS )
25
33
42
49
54
Peak current at base speed
amps ( RMS )
27.5
37
46
58
65
Voltage at Base Speed
volts ( RMS )
245
243
278
297
320
Voltage at max speed
volts ( RMS )
420
420
420
420
420
Motor weight
kg ( lbs )
75 (165)
91 (201)
102 (225)
131 (289)
150 (331)
Max radial bearing load
kg ( lbs )
206(455)
206(455)
206(455)
243 (535)
243 (535)
Publication 8720MC-UM 001C-EN-P Feb 2001
2-16
Specifications
Table 2.14:
Drive Amplifier Specifications
8720MC Drive Amplifier Specifications for 460 V AC Input Drives
Drive Amplifier Specifications
Units
Drive Amplifier Data for Each Power Rating
Motor catalog number
8720SM-
005S1BB
007S1CB
011S1DB
015S2EB
018S2FB
Rated motor current at base speed
amps (RMS cont.)
19.3
26.4
32.3
41.5
47.1
Drive amplifier catalog number
8720MC-
B021
B027
B034
B042
B048
AC input voltage
volts (RMS)
460
460
460
460
460
AC input current
amps (RMS)
22
28
35
43
49
Rated Input KVA
KVA
18
23
29
35
40
Max continuous output power
kW (hp)
5.5 (7.5)
7.5 (10)
11 (15)
15 (20)
18.5 (25)
Max continuous output current
amperes
21
27
34
42
48
Rated output KVA
KVA
15
20
35
43
49
DC Bus Capacitance
Micro Farads
B
B
B
B
B
22.7 (50)
22.7 (50)
22.7 (50)
22.7 (50)
22.7 (50)
Drive amplifier frame
Weight
kg(lbs)
Curves for 5.5 to 22 kW - 8720SM
Motors with 460V AC Input
Power and Torque Curves
The following power and torque curves contain data for 5.5 kW,
7.5kW, 11kW, 15kW, and 18.5kW motors, 1500 RPM base speed,
motors wound for operation with 460 vac input drive amplifiers.
Figure 2.14 5.5 Kw Motor with 460 vac Input
5.5 kW at 1500 RPM Base Speed
DL1106 Frame Catalog No. 005S1BB
9
60
Maximum kW
8
S6-50%
48
6
42
Torque in N-M
7
Continuous (S1) kW
kW
5
4
Performance assumes 460 VAC
input inverter with a minimum of
420 VAC at motor.
3
2
36
Torque in N-M
Rated 35
S6-50% 47
Max. 52.5
Rated
30
24
18
Amps at Base Speed Cont Amps 19.3
25
S6 Amps
27.5
Max Amps
1
Maximum
54
S6 (50%ED) kW
12
6
0
0
0
1000
2000
3000
4000
5000
RPM
Publication 8720MC-UM 001C-EN-P Feb 2001
6000
7000
8000
9000
0
1000
2000
3000
4000
5000
RPM
6000
7000
8000
9000
30461-M
Specifications
2-17
Figure 2.15 7.5 Kw Motor with 460 vac Input
7.5 kW at 1500 RPM Base Speed
DL1108 Frame Catalog No. 007S1CB
80
12
Maximum
72
maximum kW
10
Torque in N-M
Rated 48
S6-50% 64
Max. 72
56
8
Torque in N-M
Continuous (S1) kW
kW
S6-50%
64
S6 (50%ED) kW
6
Performance assumes 460 VAC
input inverter with a minimum of
420 VAC at motor.
4
Amps at Base Speed Cont Amps 26.4
33
S6 Amps
37
Max Amps
2
Rated
48
40
32
24
16
8
0
0
0
1000
2000
5000
4000
3000
6000
7000
8000
0
9000
1000
2000
3000
4000
RPM
5000
RPM
6000
7000
8000
9000
30462-M
Figure 2.16 11Kw Motor with 460 vac Input
11 kW at 1500 RPM Base Speed
DL1110 Frame Catalog No. 011S1DB
18
120
maximum kW
108 Maximum
16
Torque in N-M
Rated 70
S6-50% 95
Max. 105
84
12
Continuous (S1) kW
Torque in N-M
kW
S6-50%
96
S6 (50%ED) kW
14
10
8
Performance assumes 460 VAC
input inverter with a minimum of
420 VAC at motor.
6
Amps at Base Speed Cont Amps 32.3
42
S6 Amps
46
Max Amps
4
2
Rated
72
60
48
36
24
12
0
0
0
1000
2000
4000
3000
5000
6000
7000
8000
9000
0
1000
2000
3000
4000
RPM
5000
RPM
6000
7000
8000
9000
30463-M
Figure 2.17 15 Kw Motor with 460 vac Input
15 kW at 1500 RPM Base Speed
DL1307 Frame Catalog No. 015S2EB
150
25
Maximum
maximum kW
20
135
120
S6 (50%ED) kW
S6-50%
Torque in N-M
Rated 96
S6-50% 118
Max. 145
105
Rated
Continuous (S1) kW
kW
Torque in N-M
15
Performance assumes 460 VAC
input inverter with a minimum of
420 VAC at motor.
Amps at Base Speed Cont Amps 41.5
49
S6 Amps
58
Max Amps
10
5
90
75
60
45
30
15
0
0
0
1000
2000
3000
5000
4000
RPM
6000
7000
8000
0
1000
2000
3000
4000
5000
RPM
6000
7000
8000
30464-M
Publication 8720MC-UM 001C-EN-P Feb 2001
2-18
Specifications
Figure 2.18 18.5 Kw Motor with 460 vac Input
18.5 kW at 1500 RPM Base Speed
DL1308 Frame Catalog No. 018S2FB
30
180 Maximum
maximum kW
162
25
144
S6 (50%ED) kW
126
Continuous (S1) kW
Torque in N-M
kW
20
15
Performance assumes 460 VAC
input inverter with a minimum of
420 VAC at motor.
Amps at Base Speed Cont Amps 47.1
54
S6 Amps
65
Max Amps
10
5
S6-50%
Torque in N-M
Rated 118
S6-50% 140
Max. 176
Rated
108
90
72
54
36
18
0
0
0
1000
2000
3000
6000
5000
4000
RPM
7000
8000
0
1000
3000
2000
4000
5000
RPM
6000
7000
8000
30465-M
Specifications for 380V AC Input
Drives
Tables 2.15 and 2.16 contain specifications for 5.5 to 15 kW motors
with the 8720MC Drive Amplifier and 380V AC input drives.
Information is divided into two categories:
•
Table 2.15 - motor specifications
•
Table 2.16 - drive amplifier specifications
Table 2.15:
Motor Specifications
8720SM AC Motor Specifications for 380 V AC Input Drives
Motor Specifications
Units
Motor Data for Each Power Rating
Motor catalog number
8720SM-
005S1BC
007S1CC
011S1DC
015S2EC
DL1106
DL1108
DL1110
DL1307
Motor frame number
Continuous power -
kW (hp)
5.5 (7.5)
7.5(10)
11(15)
15(20)
S6 - 50% duty -
kW (hp)
7.5 (10)
10 (13.4)
15(20.1)
18(24.1)
1 minute peak -
kW (hp)
8.3 (11.1)
11.5 (15.4)
16.5(22.1)
23(30.8)
Rated torque at base speed
N-m (ft-lb)
35 (25.8)
48 (35.4)
70 (51.7)
96 (70.8)
Peak Torque at Base Speed
N-m ( lb-ft )
53 (39.17)
72 (53.1)
105 (77.4)
142 (104.7)
Base speed - rpm
rpm
1500
1500
1500
1500
Max speed S series
rpm
9000
9000
9000
8000
4.1:1
4.3:1
3:1
3.8:1
Constant power speed range
Rotor inertia
kg-m2 (lb-ft2)
.0165 (.392)
.0222 (.528)
.0272 (.645)
.0809 (1.92)
Rated continuous motor current at
base speed
amps (RMS cont.)
20.2
26.4
32.3
48
S6 current at base speed
amps (RMS)
25.8
33
42
56
Publication 8720MC-UM 001C-EN-P Feb 2001
Specifications
2-19
8720SM AC Motor Specifications for 380 V AC Input Drives
Peak current at base speed
amps (RMS)
28
37
46
66
Voltage at max speed
volts (RMS)
345
345
345
345
Voltage at base speed
volts (RMS)
245
243
278
260
Motor weight
kg (lbs)
75 (165)
91 (201)
102 (225)
131 (289)
Max radial bearing load
kg (lbs)
206 (455)
206 (455)
206 (455)
243 (535)
Table 2.16:
Drive Amplifier Specifications
8720MC Drive Amplifier Specifications for 380 V AC Input Drives with 8720SM AC Motors
Drive Amplifier Specifications
Units
Drive Amplifier Data for Each Power Rating
Motor catalog number
8720SM-
005S1BC
007S1CC
011S1DC
015S2EC
Rated continuous motor current at
base speed
amps (RMS cont.)
20.2
26.4
32.3
48
Drive amplifier catalog number
8720MC-
B021
B027
B034
B048
AC input voltage
volts (RMS)
380
380
380
380
AC input current
amps (RMS)
22
28
35
49
Rated input KVA
KVA
14
18
23
32
Max continuous output power
kW (hp)
5.5 (7.5)
7.5 (10)
11 (15)
15 (20)
Max continuous output current
amperes
21
27
34
48
Rated output KVA
KVA
12.4
16.5
20.6
29.7
DC Bus Capacitance
Micro Farads
B
B
B
B
22.7 (50)
22.7 (50)
22.7 (50)
22.7 (50)
Drive amplifier frame
Weight
kg(lbs)
Publication 8720MC-UM 001C-EN-P Feb 2001
2-20
Specifications
Curves for 380V AC Input Drives
Power and Torque Curves
The following power and torque curves contain data for 5.5 kW,
7.5kW, 11kW, and 15kW motors, 1500 RPM base speed, motors
wound for operation with 380 vac input drive amplifiers.
Figure 2.19 5.5 Kw Motor with 380 vac Input.
5.5 kW at 1500 RPM Base Speed
DL1106 Frame Catalog No. 005S1BC
9
60
maximum kW
8
Maximum
54
S6 (50%ED) kW
48
6
42
Torque in N-M
7
Continuous (S1) kW
kW
5
4
Performance assumes 380 VAC
input inverter with a minimum of
340 VAC at motor.
3
2
Torque in N-M
Rated 35
S6-50% 47.5
Max. 52.5
Rated
36
30
24
18
Amps at Base Speed Cont Amps 20.2
26
S6 Amps
28
Max Amps
1
S6-50%
12
6
0
0
0
1000
2000
3000
4000
5000
7000
6000
8000
0
9000
1000
2000
3000
4000
RPM
5000
RPM
6000
7000
8000
9000
30466-M
Figure 2.20 7.5 Kw Motor with 380 vac Input
7.5 kW at 1500 RPM Base Speed
DL1108 Frame Catalog No. 007S1CC
80
12
Maximum
maximum kW
72
S6 (50%ED) kW
64
10
Torque in N-M
Rated 48
S6-50% 64
Max. 72
56
8
Torque in N-M
Continuous (S1) kW
kW
S6-50%
6
Performance assumes 380 VAC
input inverter with a minimum of
340 VAC at motor.
4
Amps at Base Speed Cont Amps 26.4
33
S6 Amps
37
Max Amps
2
Rated
48
40
32
24
16
8
0
0
0
1000
2000
3000
4000
5000
RPM
6000
7000
8000
9000
0
1000
2000
3000
4000
5000
RPM
6000
7000
8000
9000
30467-M
Publication 8720MC-UM 001C-EN-P Feb 2001
Specifications
2-21
Figure 2.21 11 Kw Motor with 380 vac Input
11 kW at 1500 RPM Base Speed
DL1110 Frame Catalog No. 011S1DC
120
18
maximum kW
Maximum
108
16
Torque in N-M
Rated 70
S6-50% 95
Max. 105
84
12
Continuous (S1) kW
Torque in N-M
kW
S6-50%
96
S6 (50%ED) kW
14
10
8
Performance assumes 380 VAC
input inverter with a minimum of
340 VAC at motor.
6
Amps at Base Speed Cont Amps 32.3
42
S6 Amps
46
Max Amps
4
2
Rated
72
60
48
36
24
12
0
0
0
1000
3000
2000
4000
5000
6000
7000
8000
1000
0
9000
2000
3000
4000
RPM
5000
RPM
6000
7000
8000
9000
30468-M
Figure 2.22 15 Kw Motor with 380 vac Input
15 kW at 1500 RPM Base Speed
DL1307 Frame Catalog No. 015S2EC
150
25
Maximum
maximum kW
20
135
120
S6 (50%ED) kW
S6-50%
Torque in N-M
Rated 96
S6-50% 118
Max. 142
105
Rated
Continuous (S1) kW
kW
Torque in N-M
15
Performance assumes 380 VAC
input inverter with a minimum of
340 VAC at motor.
Amps at Base Speed Cont Amps 48
56
S6 Amps
66
Max Amps
10
5
90
75
60
45
30
15
0
0
0
1000
2000
3000
5000
4000
RPM
6000
7000
8000
0
1000
2000
3000
4000
5000
RPM
6000
7000
8000
30469-M
Publication 8720MC-UM 001C-EN-P Feb 2001
2-22
Specifications
Specifications for 750V DC Input
Drives with Dual Wound 8720SM
AC Motors
Table 2.17 contains motor specifications for wide constant power
dual wound 8720SM Motors with 750V DC input 8720MC Drive
Amplifier and 8720MC Regenerative Power Supply.
Dual Wound Motor Specifications
8720 SM Dual Wound Motors Specifications for 750V DC Input Drives and 8720MC-RPS065 Regenerative Power Supply
Motor Specifications
Units
Motor Data for Each Power Rating
Motor catalog number
8720SM-
015D5ND
018D5PD
020D5QD
025D6SD
030D6TD
DL1811
DL18113
DL1815
DL2010
DL2012
Motor frame number
Continuous power -
kW (hp)
15 (20)
18 (24)
20 (27)
25 (33.5)
30 (40)
S6 - 50% duty -
kW (hp)
18 (24)
22 (29)
25 (33)
30 (40)
37 (50)
1 minute peak -
kW (hp)
23 (30)
27 (36)
30 (40)
38 (51)
45 (60)
Rated torque at base speed
N-m (lb-ft)
288 (212)
343 (253)
385 (284)
475 (350)
575 (424)
Peak torque at base speed
N-m (lb-ft)
430 (317)
518 (382)
575 (424)
720 (531)
860 (634)
Base speed - rpm
rpm
500
500
500
500
500
Max speed foot mount
rpm
6500
5000
5000
5000
4500
Max speed flange mount
6000
5000
5000
4500
4000
Constant power speed range
12:1
10:1
10:1
10:1
9:1
Rotor inertia
kG-m2 (lb-ft2)
.35
(8.305)
.409
(9.706)
.486
(11.533)
.885
(21.001)
1.01
(23.967)
Rated continuous motor current at
base speed
amps (RMS cont.)
41
42.5
47
51
60.5
S6 current at base speed
amps (RMS)
47
50
56
58
70.4
Peak current at base speed
amps (RMS)
58
60
66
68
81.5
Min volts at max speed
volts (RMS)
505
505
505
505
505
Motor weight
kg (lbs)
297 (655)
324 (714)
350 (772)
453 (999)
478 (1054)
Max radial bearing load
kg (lbs)
860
860
860
930
930
Drive catalog number
8720MC-
B042
B042
B048
D065
D078
Regen Power Supply Cat No.
8720MC-
RPS065
RPS065
RPS065
RPS065
RPS065
Line Reactor Cat No.
8720MC-
LR05-048B
LR05-048B
LR05-048B
LR10-062B
LR10-062B
Publication 8720MC-UM 001C-EN-P Feb 2001
Specifications
Curves for 750V DC Input Drives
with Dual Wound 8720SM AC
Motors
2-23
Power and Torque Curves
The following curves contain power and torque data for 15kW, 20
Kw, 25kW and 30 Kw dual wound motors with 500 RPM base speed
and 13:1 constant power speed range. The wide speed range is
achieved by switching from a “low winding” (wye connection
configuration) to a “high winding” (delta connection configuration).
There are power and torque curves shown for both the Low and the
high windings. Switching between the wye and the delta connections
is accomplished with high and low winding contactors. Chapter 4
illustrates the I/O and power wiring necessary to properly connect
the 8720 high and low contactors to the motor. Looking at the
curves in figures 2.23 and 2.24 it can be seen that a constant 15 Kw
continuous power can be achieved from 500 to 6500 Rpm which
represents a 13:1 speed range.
Figure 2.23
15kW Dual Wound Motor - Low Winding
15 kW at 500 RPM Base Speed DL1811 Frame
Dual Winding (WYE) Design
440
25
maximum kW
20
Maximum
400
360
S6 (50%ED) kW
S6-50%
Torque in Nt-M
Rated 288
S6-50% 345
Max. 430
320
Continuous (S1) kW
Rated
Torque in Nt-M
kW
15
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at 500 RPM, based on
WYE conn Cont Amps 41
47
S6 Amps
58
Max Amps
10
5
280
240
200
160
120
80
0
40
0
1000
2000
3000
5000
4000
RPM
6000
7000
0
400
800
1200
1600 2000
RPM
2400
2800
3200
30853-M
Figure 2.24 15kW Dual Wound Motor - High Winding
15 kW at 1900 RPM Base Speed DL1811 Frame
Dual Winding (Delta) Design
120
25
Maximum
maximum kW
110
20
100
S6 (50%ED) kW
S6-50%
Torque in Nt-M
Rated 75
S6-50% 90
Max. 113
90
Continuous (S1) kW
Torque in Nt-M
kW
15
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at 500 RPM, based on
Delta conn Cont Amps 41
47
S6 Amps
58
Max Amps
10
5
1000
2000
3000
5000
4000
RPM
6000
Rated
70
60
50
40
30
0
0
80
7000
20
0
1000
2000
3000
4000 5000
RPM
6000
7000
8000
30854-MR1
Publication 8720MC-UM 001C-EN-P Feb 2001
2-24
Specifications
Figure 2.25 18 KW Dual Wound Motor - Low Winding
18 kW at 500 RPM Base Speed DL1813 Frame
Dual Winding (WYE) Design
30
520
maximum kW
Maximum
480
440
25
S6 (50%ED) kW
Continuous (S1) kW
20
S6-50%
400
360
Rated
Torque in Nt-M
Rated 343
S6-50% 420
518
Max.
320
Torque in Nt-M
kW
15
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at 500 RPM, based on
WYE conn Cont Amps 42.5
50
S6 Amps
60
Max Amps
10
5
280
240
200
160
120
80
0
40
0
1000
2000
3000
5000
4000
RPM
6000
7000
0
400
600
800
1000 1200
RPM
1400
1600
1800 2000
30855-MR1
Figure 2.26 18 kW Dual Wound Motor - High Winding
18 kW at 500 RPM Base Speed DL1813 Frame
Dual Winding (Delta) Design
30
260
maximum kW
240
220
25
S6 (50%ED) kW
200
Continuous (S1) kW
20
180
Maximum
Torque in Nt-M
Rated 115
S6-50% 140
172
Max.
160
S6-50%
Torque in Nt-M
kW
15
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at 500 RPM, based on
Delta conn Cont Amps 42.5
50
S6 Amps
60
Max Amps
10
5
140
Rated
120
100
80
60
40
0
20
0
1000
2000
3000
5000
4000
RPM
6000
7000
0
1000
1500
2000
2500 3000
RPM
3500
4000 4500
5000
30856-MR1
Figure 2.27 20kW Dual Wound Motor - Low Winding
20 kW at 500 RPM Base Speed DL1815 Frame
Dual Winding (WYE) Design
35
650
600
Maximum
maximum kW
550
30
S6-50%
500
S6 (50%ED) kW
450
25
400
Torque in Nt-M
kW
20
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at 500 RPM, based on
WYE conn Cont Amps 47
56
S6 Amps
66
Max Amps
15
10
Torque in Nt-M
Rated 385
S6-50% 480
575
Max.
Rated
Continuous (S1) kW
350
300
250
200
150
100
0
50
0
1000
2000
3000
5000
4000
RPM
Publication 8720MC-UM 001C-EN-P Feb 2001
6000
7000
0
400
600
800
1000 1200
RPM
1400 1600
1800 2000
30857-MR1
Specifications
2-25
Figure 2.28 20 kW Dual Wound Motor - High Winding
20 kW at 500 RPM Base Speed DL1815 Frame
Dual Winding (Delta) Design
35
260
240
maximum kW
220
30
Maximum
200
S6 (50%ED) kW
180
25
Torque in N-M
Rated 128
S6-50% 158
Max. 191
S6-50%
160
Continuous (S1) kW
Torque in N-M
kW
20
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at 500 RPM, based on
Delta conn Cont Amps 47
56
S6 Amps
66
Max Amps
15
10
140
Rated
120
100
80
60
40
0
20
0
1000
5000
4000
RPM
3000
2000
6000
7000
1500
1000
0
2000
2500 3000
RPM
3500 4000
4500 5000
30858-M
Figure 2.29 25 kW Dual Wound Motor - Low Winding
25 kW at 500 RPM Base Speed DL2010 Frame
Dual Winding (WYE) Design
60
1400
1300
1200
50
1000
900
40
Torque in N-M
Rated 475
S6-50% 575
Max. 720
maximum kW
800
Maximum
S6 (50%ED) kW
Torque in N-M
30
kW
Continuous (S1) kW
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at 500 RPM, based on
WYE conn Cont Amps 51
58
S6 Amps
68
Max Amps
20
10
700
600
S6-50%
500
Rated
400
300
200
0
100
0
1000
2000
3000
5000
4000
RPM
6000
7000
400
0
600
800
1000 1200
RPM
1400 1600
1800 2000
30859-M
Figure 2.30 25 kW Dual Wound Motor - High Winding
25 kW at 500 RPM Base Speed DL2010 Frame
Dual Winding (Delta) Design
60
260
240
Maximum
220
50
200
S6-50%
180
40
maximum kW
Torque in N-M
Rated 160
S6-50% 191
239
Max.
Rated
160
S6 (50%ED) kW
Torque in N-M
30
kW
Continuous (S1) kW
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at 500 RPM, based on
Delta conn Cont Amps 51
58
S6 Amps
68
Max Amps
20
10
140
120
100
80
60
40
0
20
0
1000
2000
3000
5000
4000
RPM
6000
7000
0
100
1500
2000
2500 3000
RPM
3500 4000
4500 5000
30860-MR1
Publication 8720MC-UM 001C-EN-P Feb 2001
2-26
Specifications
Figure 2.31 30 kW Dual Wound Motor - Low Winding
30 kW at 500 RPM Base Speed DL2012 Frame
Dual Winding (WYE) Design
60
1300
1200
1100
50
maximum kW
1000
40
900
S6 (50%ED) kW
Maximum
Torque in N-M
Rated 575
S6-50% 700
Max. 860
800
S6-50%
kW
Torque in N-M
Continuous (S1) kW
30
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at 500 RPM, based on
WYE conn Cont Amps 60.5
70.4
S6 Amps
81.5
Max Amps
20
10
700
600
Rated
500
400
300
200
0
100
0
1000
3000
2000
5000
4000
RPM
6000
7000
0
400
600
800
1000 1200
RPM
1400 1600
1800 2000
30861-M
Figure 2.32 30 kW Dual Wound Motor - High Winding
30 kW at 500 RPM Base Speed DL2012 Frame
Dual Winding (Delta) Design
60
520
480
440
50
maximum kW
400
S6 (50%ED) kW
40
360
Torque in N-M
Rated 190
S6-50% 235
285
Max.
320
Maximum
kW
Torque in N-M
Continuous (S1) kW
30
Performance assumes regenerative
converter with 750 VDC bus and
505 VAC at motor.
Amps at 500 RPM, based on
Delta conn Cont Amps 60.5
70.4
S6 Amps
81.5
Max Amps
20
10
280
240
S6-50%
200
Rated
160
120
80
0
40
0
1000
2000
3000
Publication 8720MC-UM 001C-EN-P Feb 2001
5000
4000
RPM
6000
7000
0
1000
1500
2000
2500 3000
RPM
3500 4000
4500 5000
30862-MR1
Chapter
3
Dimensions
Chapter Objectives
This chapter contains dimensions that pertain to the 8720MC Drive,
the Regenerative Power Supply, and the 8720SM spindle motor.
Information includes:
•
dimensions for the 8720MC-RPS Regenerative Power Supply
•
dimensions for the B and C frames, which apply to all the
8720MC-Bxxx Drive Amplifiers as well as the 8720MC-D065,
and the 8720MC-D078 Drive Amplifiers
•
dimensions for frame D, which is used with the 8720MC-D097,
8720MC-D120, 8720MC-D149, and 8720MC-D180 Drive
Amplifiers
•
mounting dimensions which assure proper heat dissipation
around the drive
•
dimensions and radial bearing capacities for various 8720SM
motors, including frames DL1106 through DL2012
•
dimensions for the 3-phase 380 to 460V AC 8720MC line reactor
assemblies
3-2
Dimensions
8720MC Regenerative Power
Supply Dimensions
The following dimensions are for the 8720MC-RPS Regenerative
Power Supply, sometimes referred to as the Regenerative Converter.
Figure 3.1
8720MC-RPS Regenerative Power Supply Dimensions
9 (0.35) dia.
18 (0.71) dia.
10
(0.39)
127
(5.0)
9
(0.35) 30
(1.2)
395
(15.6)
333.2
(13.12)
RST
PRG
ENT
8720MC
REGENERATIVE POWER SUPPLY
30
(1.2)
10
(0.39)
9 (0.35)
127
(5.0)
179.4
(7.063)
Publication 8720MC-UM 001C-EN-P Feb 2001
318.3
(12.53)
Unit: Millimeter (Inch)
30700-M-R2
Dimensions
Dimensions for Frames B and C
3-3
The following dimensions are for the B and C frames, which are used
with the 8720MC-Bxxx Drive Amplifier and the 8720MC-D065 and
D078 Drive Amplifiers.
Figure 3.2
Dimensions for Frames B and C
A
Y
Z
D
C Max.
AA E B
8720MC
HIGH PERFORMANCE DRIVE
BB
CC
Mounting Holes (4)
Knockouts
(Location Will Vary with HP)
7.0 (0.28)
7.0 (0.28)
12.7 (0.50)
12.7 (0.50)
All dimensions are in Millimeters and (inches)
All weights are in kilograms and (pounds)
A
B
C Max
D
E
Y
Z
AA
BB
CC
Knockouts
3-Dual Size, 1-Fixed
Shipping
Weight
B1, B2
276.4
(10.88)
476.3
(18.75)
231.0
(9.12)
212.6
(8.37)
461.0
(18.15)
32.00
(1.26)
7.6
(0.30)
131.1
(5.16)
180.8
(7.12)
71.9
(2.83)
28.6/34.9, 22.2
(1.125/1.375, 0.975)
22.7kg
(50 lbs.)
C
301.8
(11.88)
701.0
(27.60)
231.0
(9.12)
238.0
(9.37)
685.8
(27.00)
32.00
(1.26)
7.6
(0.30)
131.1
(5.16)
374.7
(14.75)
71.9
(2.83)
28.6/34.9, 22.2
(1.125/1.375, 0.875)
38.6kg
(85 lbs.)
Frame 1
Reference
Publication 8720MC-UM 001C-EN-P Feb 2001
3-4
Dimensions
Dimensions for Frame D
The following dimensions are for frame D, which is used with the
8720MC-Dxxx Drive Amplifier.
Figure 3.3
Dimensions for Frame D
A
Y
Z
D
C Max.
AA E B
8720MC
HIGH PERFORMANCE DRIVE
BB
Knockouts
CC
Mounting Holes (4)
7.0 (0.28)
7.0 (0.28)
12.7 (0.50)
All Dimensions in Millimeters and (inches)
All Weights in Kilograms and (Pounds)
12.7 (0.50)
Frame 1
Reference
D
A
B
C Max
D
381.5
(15.02)
1240.0
(48.82)
277.37
(10.92)
325.9
1216.2 27.94 111.94 131.1
(12.83) (47.88) (1.10) (0.47) (5.16)
E
Y
Z
AA
BB
CC
688.6 71.9
(27.11) (2.83)
Knockouts
3-Dual Size, 3-Fixed
Shipping
Weight
62.7/6.2, 34.9/50.0 34.9
108.9 kg
(2.47/3.00, 1.38/1.97, 1.38) (240 lbs.)
30699-M-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
Dimensions
Dimensions Allowing for Heat
Dissipation
3-5
You need to mount the drive so that there is sufficient space at the top,
sides, and front of the cabinet to let the heat dissipate.
Figure 3.4
Dimensions that Assure Heat Dissipation
152.4 mm
(6.0 in)
152.4 mm
(6.0 in)
101.6 mm
(4.0 in)
152.4 mm
(6.0 in)
101.6 mm
(4.0 in)
8720MC
HIGH PERFORMANCE DRIVE
8720MC
HIGH PERFORMANCE DRIVE
RST PRG ENT
8720MC
REGENERATIVE POWER SUPPLY
UP
152.4 mm
(6.0 in)
152.4 mm
(6.0 in)
152.4 mm
(6.0 in)
30725-M-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
3-6
Dimensions
Motor Dimensions
Notes to Motor Drawings
The following notes apply to all motor dimensional drawings:
NOTE (1) "h" Dimension will not be exceeded. Shims up to .5mm
thickness are usually required for coupled or geared machines.
NOTE (2) Shaft extensions are according to Din 748. Tolerances are
based on the ISO fitting system using K6 for diameters up to 50mm
and m6 for diameters above.
NOTE (3) "t" varies +.018/-.290mm.
NOTE (4) Walls or obstructions must not encroach on air inlet space
"XL" for blower or fan cooling.
NOTE (5) Tolerances for flange according to DIN42948.
NOTE (6) For the DL1106, DL1108 and DL1110 frames conduit
entry is available on both sides of the terminal box. The plugged
hole has a PG 29 metric pipe tap, 1.41 in. I.D.,suitable for 1 in.
conduit.
NOTE (7) For all other frames:
•
Terminal box can be rotated in 90 degree increments.
•
Terminal box is mounted on top as standard
•
Terminal box can be located on side in F1 or F2 position when
specified.
NOTE (8) The 132 mm (DL1307, DL1308 and DL1310) frames are
available with two different mounting flanges. The standard 132
flange has a 250 mm pilot diameter and a 300 mm bolt circle. The
132A flange has dimensions to match previous A-B 1327 motor
designs. The 132A flange has a 230 mm pilot diameter and a 265 mm
bolt circle. All other dimensions for the 132 and 132A offerings are
identical. See Chapter 1, Figure 1.11 for Catalog Numbers.
Publication 8720MC-UM 001C-EN-P Feb 2001
Dimensions
3-7
Frame DL1106 through DL1110 Dimensions Before March 01
The following motor dimensions are for frames DL1106 through
DL1110, 180 mm flange and 215 mm bolt circle manufactured before
March, 2001.
Figure 3.5
Motor Dimensions for Frames DL1106 - DL1110
"g1"
"XL*(4)"
"f1"
"c1"
"k"
Terminal Box
MS
Connector
"g"
"I2"
"s1"
"a1"
"u"
"I"
"x1"
"b1"
"p"
"t"
"d"
"c" "h"
"e1"
"n"
"b"
"f"
"a"
"e"
Blower
Terminal Box
3-3/16" Dia
1-5/8" Dp
"w1"
"s"
30732-M-R3
Table 3.1:
Common Dimensions for DL1106 - DL1110 (in millimeters)
Type
DIN
IEC
DL1106 - DL1110
f
AB
h(1)
H
b
A
233
112
190
c
HA
9
s
K
n
AA
g
AC
g1
w1
C
a1
P
b1
N
c1
LA
e1
M
12
83.5
240
242
106
250
180
13
215
f1
T
4
s1
S
p
HD
14
305
XL(4)
Xl(4)
38
Table 3.2:
Specific Dimensions for DL1106 - DL1110 (in millimeters)
Type
DIN
IEC
Drive End Shaft and Key
(2)
d
I
I2
t(3)
u
D
E
GA
F
WT.
kg
Radial Load
@1500 rpm
in lbs
Radial Load
@9000 rpm
in lbs
k
L
e
x1
a
DL1106
642
269
134
203
38
80
80
41
10
65
455
240
DL1108
687
313
178
248
38
80
80
41
10
78
455
240
DL1110
725
352
216
286
38
80
80
41
10
89
455
240
Publication 8720MC-UM 001C-EN-P Feb 2001
3-8
Dimensions
Frame DL1106 through DL1110 Dimensions After March 01
The following motor dimensions are for frames DL1106 through
DL1110, 180 mm flange and 215 mm bolt circle manufactured after
March, 2001.
Figure 3.6
Motor Dimensions for Frames DL1106 - DL1110
Air Space
"XL*(4)"
"k"
"g"
"f1" Terminal Box
"c1"
MS
Connector
Y
X
"I2"
"s1"
"a1"
"u"
"I"
"b1"
"p"
"x1"
"d"
"t"
"c" "h"
"e1"
"a"
"e"
"b"
"f"
Blower
Terminal Box
3-3/16" Dia
1-5/8" Dp
"w1"
"s"
30733-M-R3
Table 3.3:
Common Dimensions for DL1106 - DL1110 (DIN Symbols in millimeters)
Type
DIN
IEC
DL1106 - DL1110
f
AB
h(1)
H
b
A
c
HA
s
K
g
AC
g1
w1
C
a1
P
b1
N
c1
LA
e1
M
223
112
190
11
12
240
242
106
250
180
13
215
f1
T
4
s1
S
p
HD
14
353
XL(4)
Xl(4)
38
Table 3.4:
Specific Dimensions for DL1106 - DL1110 (DIN Symbols in millimeters)
Type
DIN
IEC
Drive End Shaft and Key
I
I2
t(3)
u
D
E
GA
F
d(2)
Radial Load
@1500 rpm
in lbs
Radial Load
@9000 rpm
in lbs
k
L
e
x1
a
DL1106
642
269
134
203
38
80
80
41
10
65
455
240
DL1108
687
313
178
248
38
80
80
41
10
78
455
240
DL1110
725
352
216
286
38
80
80
41
10
89
455
240
DL1112
776
403
267
337
38
80
80
41
10
104
455
240
Publication 8720MC-UM 001C-EN-P Feb 2001
WT.
kg
Dimensions
3-9
Frame DL1307 through DL1310 Dimensions, 250mm Flange
The following motor dimensions are for frames DL1307, 1308 and
DL1310, the standard “132” with 250 mm flange and 300 mm bolt
circle. Catalog number 8720SM-0ppS2.
Figure 3.7
Motor Dimensions for Frames DL1307 - DL1310, 250mm Flange,
MS Connector
"g"
"g1"
"k"
"f1"
"XL"
"c1"
"l"
"s1"
"a1"
"u"
"d"
"p"
"e1"
"b1"
"t"
"x1"
"h"
"m1"
"l2"
Blower
Terminal
Box *(4)
"m2"
"a"
"e"
"w1"
"c"
"n"
"s"
"b"
"f"
30730-M-R3
Table 3.5:
Common Dimensions for DL1307 - DL1310, 250mm Flange (in millimeters)
TYPE
DIN
IEC
DL1307 DL1310
f
AB
h(1)
H
b
A
261
132
216
c
HA
13
s
K
n
AA
g
AC
w1
C
m1
BA
m2
a1
P
b1
N
c1
LA
e1
M
12
51
267
89
61
139
350
250
17
300
f1
T
s1
S
5
18
XL(4)
Xl(4)
43
Table 3.6:
Frame Specific Dimensions for DL1307 - DL1310, 250mm Flange in mm
Type DIN
IEC
Drive End Shaft and Key
d(2)
I
I2
t(3)
u
D
E
GA)
F
Radial Load
@1500 rpm
in lbs
Radial Load
@8000 rpm
in lbs
131
535
290
14
150
535
290
14
163
535
290
k
L
e
x1
a
DL1307
800
431
298
389
48
110
110
51.5
14
DL1308
838
469
336
427
48
110
110
51.5
DL1310
870
501
368
459
48
110
110
51.5
WT.
kg
Table 3.7:
Junction Box for DL1307 - DL1310, 250 mm Flange
Type
DIN
IEC
DL 1307 - DL1310
Amps
g1
p
HD
100
272
385
Publication 8720MC-UM 001C-EN-P Feb 2001
3-10
Dimensions
Frame DL1307 through DL1310 Dimensions, 230mm Flange
The following motor dimensions are for frames DL1307, 1308 and
DL1310, the A-B 1327AB compatible “132A” with 230 mm flange
and 265 mm bolt circle. Catalog number 8720SM-0ppS3.
Figure 3.8
Motor Dimensions for Frames DL1307 - Dl1310, 230mm Flange
MS Connector
"g"
"g1"
"k"
"f1"
"XL"
"c1"
"l"
"s1"
"a1"
"u"
"d"
"p"
"e1"
"b1"
"t"
"x1"
"h"
"l2"
Blower
Terminal
Box *(4)
"m2"
"m1"
"a"
"e"
"w1"
"c"
"n"
"s"
"b"
"f"
30730-M-R3
Table 3.8:
Common Dimensions for DL1307 - Dl1310, 230mm Flange (in millimeters)
Type
DIN
IEC
DL1307 -DL1310
f
AB
h(1)
H
b
A
261
132
216
c
HA
13
s
K
12
n
AA
51
g
AC
267
w1
C
89
m1
BA
61
m2
a1
P
b1
N
139
300
230
c1
LA
e1
M
17
265
f1
T
5
s1
S
14
Table 3.9:
Frame Specific Dimensions for DL1307 - Dl1310, 230mm Flange in mm
Drive End Shaft and Key
I
I2
t(3) u
d(2)
D
E
GA
F
Radial Load
@1500 rpm
in lbs
Radial Load
@8000 rpm
in lbs
k
L
e
x1
a
DL1307
800
431
298
389
48
110
110
51.5
14
131
535
290
DL1308
838
469
336
427
48
110
110
51.5
14
150
535
290
DL1310
870
501
368
459
48
110
110
51.5
14
163
535
290
Type
DIN
IEC
WT.
kg
Table 3.10:
Junction Box for DL1307 - Dl1310, 230mm Flange
Type
DIN
IEC
DL 1307 - DL1310
Publication 8720MC-UM 001C-EN-P Feb 2001
Amps
g1
p
HD
100
272
385
XL(4)
Xl(4)
43
Dimensions
3-11
Frame DL1611 through DL1613 Dimensions
The following motor dimensions are for frames DL1611 through
DL1613, 300 mm flange and 350 mm bolt circle.
Figure 3.9
Motor Dimensions for Frames DL1611 - DL1613
MS Connector
"g"
"g1"
"k"
"f1"
"XL"
"c1"
"l"
"s1"
"a1"
"u"
"d"
"p"
"e1"
"b1"
"t"
"x1"
"h"
"l2"
Blower
Terminal
Box *(4)
"m2"
"m1"
"a"
"e"
"w1"
"c"
"n"
"s"
"b"
"f"
30730-M-R3
Table 3.11:
Common Dimensions for DL1611 - DL1613 (in millimeters)
Type
DIN
IEC
DL1611 and
DL1613
f
AB
h(1)
H
b
A
c
HA
s
K
n
AA
g
AC
w1
C
m1
BA
m2
a1
P
b1
N
c1
LA
e1
M
313
160
254
14
14
60
319
108
65
153
400
300
21
350
f1
T
5
s1
S
18
XL(4)
Xl(4)
43
Table 3.12:
Frame Specific Dimensions for DL1611 - DL1613 (in millimeters)
Type DIN
IEC
Drive End Shaft and Key
1
12
t(3) u
D
E
GA
F
d(2)
Radial Load
@1500 rpm
in lbs
WT.
kg
Radial Load
@6500 rpm
in lbs
k
L
e
x1
a
DL1611
923
539
408
497
55
110
110
59
16
226
770
450
DL1613
974
589
458
548
55
110
110
59
16
272
770
450
Table 3.13:
Junction box for DL1611 - DL1613
Type
DIN
IEC
DL1611 and DL1613
Amps
g1
p
HD
100
299
436
Publication 8720MC-UM 001C-EN-P Feb 2001
3-12
Dimensions
Frame DL1811 through DL1815 Dimensions
The following motor dimensions are for frames DL1811 through
DL1815, 300 mm flange and 350 mm bolt circle.
Figure 3.10
Motor Dimensions for Frames DL1811 - DL1815
MS Connector
"g"
"g1"
"k"
"f1"
"XL"
"c1"
"l"
"s1"
"a1"
"u"
"d"
"p"
"e1"
"b1"
"t"
"x1"
"h"
"l2"
Blower
Terminal
Box *(4)
"m2"
"m1"
"a"
"e"
"w1"
"c"
"n"
"s"
"b"
"f"
30730-M-R3
Table 3.14:
Common Dimensions for DL1811 - DL1815 (in millimeters)
Type DIN
IEC
f
AB
h(1)
H
b
A
DL1811 - DL1815
350
180
279
c
HA
15
s
K
n
AA
g
AC
w1
C
m1
BA
m2
a1
P
b1
N
c1
LA
e1
M
15
70
355
121
65
175
400
300
21
350
f1
T
5
s1
S
18
XL(4)
Xl(4)
43
Table 3.15:
Frame Specific Dimensions for DL1811 - DL1815 (in millimeters)
Drive End Shaft and Key
I
I2
t(3) u
D
E
GA
F
Radial Load
@1500 rpm
in lbs
WT.
kg
Radial Load
@6500 rpm
in lbs
k
L
e
x1
a
DL1811
997
571
421
520
60
140
140
64
18
297
860
500
DL1813
1048
622
472
571
60
140
140
64
18
324
860
500
DL1815
1099
673
523
622
60
140
140
64
18
350
860
500
Type DIN
IEC
d(2)
Table 3.16:
Junction Box DL1811 - DL1815
Type
DIN
IEC
DL 1811 - DL1815
Publication 8720MC-UM 001C-EN-P Feb 2001
Amps
g1
p
HD
160
319
491
Dimensions
3-13
Frame DL2010 through DL2012 Dimensions
The following motor dimensions are for frames DL2010 through
DL2012.
Figure 3.11
Motor Dimensions for Frames DL2010 - DL2012
MS Connector
"g"
"g1"
"k"
"f1"
"XL"
"c1"
"l"
"s1"
8-Holes
"a1"
"d"
"u"
"p"
"b1"
"t"
"x1"
"h"
"l2"
Blower
Terminal
Box (4)
"m2"
"m1"
"a"
"e"
"w1"
30729-M-R3
"c"
"n"
"s"
"b"
"f"
Table 3.17:
Common Dimensions for DL2010 - DL2012 (in millimeters)
Type DIN
IEC
DL2010 and DL2012
f
AB
h(1)
H
b
A
396
200
318
c
HA
18
s
K
n
AA
g
AC
w1
C
m1
BA
m2
a1
P
b1
N
c1
LA
e1
M
19
80
418
133
82
203
450
350
22
400
f1
T
5
s1
S
18
XL(4)
Xl(4)
43
Table 3.18:
Frame Specific Dimensions for DL2010 - DL2012 (in millimeters)
Drive End Shaft and Key
I
I2
t(3) u
D
E
GA
F
WT.
kg
Radial Load
@1500 rpm
in lbs
Radial Load
@5000 rpm
in lbs
k
L
e
x1
a
DL2010
1155
705
499
654
65
140
140
69
18
453
930
575
DL2012
1219
769
563
718
65
140
140
69
18
478
930
575
Type DIN
IEC
d(2)
Table 3.19:
Junction Box DL2010 - DL2012
Type
DIN
IEC
DL 2010, DL2012
Amps
g1
p
HD
160
351
534
Publication 8720MC-UM 001C-EN-P Feb 2001
3-14
Dimensions
8720MC Line Reactor Dimensions
The following dimensions are for a 3% 3-phase 380 to 460V AC
8720MC Line Reactor.
Figure 3.12
3-Phase 380 - 460V AC 8720MC Line Reactor
A
B
C
D
E F
G
L
G
I
H
J
K
J
30811-M-R2
Table 3.20:
A through I Line Reactor Dimensions (in millimeters)m
A-B Catalog Number
A
B
C
D
E
F
G
H
I
8720MC-LR03-032B
32 amps @ 460V AC
345
+/-2
112.5
120
+/-1
112.5
140
max
100
+1/-.5
4-7
127
+/- 5
80
+/- 10
8720MC-LR05-048B
48 amps @ 460V AC
400
+/-2
132.5
135
+/-1
132.5
155
max
105
+1/-.5
4-7
125
+/- 5
80
+/- 10
8720MC-LR10-062B
62 amps @ 460V AC
440
+/-2
145
150
+/-1
145
160
max
110
+1/-.5
4-9.5
125
+/- 5
80
+/- 10
8720MC-LR14-070B
75 amps @ 460V AC
460
+/-2
155
150
+/-1
155
180
max
125
+1/-.5
4-9.5
140
+/- 5
80
+/- 10
Publication 8720MC-UM 001C-EN-P Feb 2001
Dimensions
3-15
Table 3.21:
J through L Line Reactor Dimensions (in millimeters)
A-B Catalog Number
J
K
L
Amps
Cont.
Inductance
850 uH
8720MC-LR03-032B
15
4-15
6(R22-6)
32
8720MC-LR05-048B
15
4-15
6(R22-6)
48
800 uH
8720MC-LR10-062B
15
4-15
6(R22-6)
62
1100 uH
8720MC-LR14-070B
15
4-15
6(R38-6)
70
1200 uH
Publication 8720MC-UM 001C-EN-P Feb 2001
3-16
Dimensions
Publication 8720MC-UM 001C-EN-P Feb 2001
Chapter
4
Drive Installation and Wiring
Chapter Objectives
Chapter 4 provides the following information so that you can mount
and wire your 8720MC Drive:
•
before mounting your drive
•
mounting your drive
•
grounding your drive
•
AC supply source information for AC input drives
•
connecting power to your drive
•
selecting your motor cables
•
connecting power to the 8720MC-RPS and 1336-R Regenerative
Power Supplies
•
control interface wiring
•
disconnecting the drive output
•
starting and stopping the motor
•
electrical interference - EMI/RFI
•
RFI filters
Important: Some of the mounting and wiring information is specific
to the individual frame sizes. If you do not know what
your frame size is, refer to Chapter 3: Dimensions.
!
Before Mounting Your Drive
ATTENTION: The following information is merely a
guide for proper installation. The National Electric
Code (NEC) and any other governing national, regional,
or local code will overrule this information. AllenBradley cannot assume responsibility for the
compliance or noncompliance to any code, national,
local, or otherwise, for the proper installation of this
drive or associated equipment. A hazard of personal
injury and/or equipment damage exists if codes are
ignored during installation.
Before mounting your drive, consider the following:
•
what tools and equipment you need to mount your drive
4-2
Drive Installation and Wiring
•
the distance between the motor and the drive
•
the distance between the drive and other surfaces
Important: Before you mount your drive, you need to thoroughly
read and understand the information presented in this
chapter. You should take every precaution to complete
the wiring as instructed.
Required Tools and Equipment
At a minimum, you will need the following tools and equipment to
mount your drive:
•
a small regular screw driver
•
a medium phillips screw driver
•
a box end wrench or socket set
•
wire strippers
Distance Between the Motor and the Drive
Make sure there are no more than 90 meters of cable distance
between the motor and the drive.
Allowing for Heat Dissipation
You need to mount the drive so that there is sufficient space at the top,
sides, and front of the cabinet to let the heat dissipate. For further
information, see “Dimensions Allowing for Heat Dissipation” in
Chapter 3:Dimensions.
Mounting Your Drive
Read the following attention text before mounting your drive:
!
ATTENTION: You must be careful to prevent debris
(such as metal shavings and conduit knockouts) from
falling into the drive while performing any installation
work around the drive. A hazard of personal injury and/
or equipment damage exists if foreign material lodges
inside the drive.
To mount your drive, you need to
1. Get the dimensions for your drive from Chapter 3: Dimensions.
2. Drill the holes at the appropriate spot (as determined from the
drive dimensions).
3. Bolt the drive to the mounting surface.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-3
User-Supplied Enclosures
If you are supplying your own enclosure for the 8720MC Drive, you
can mount your drive within an enclosure or you can mount the drive
to let the heat sink extend outside the enclosure.
Use the information in Table 4.1 along with the enclosure
manufacturer’s guidelines for sizing. This table contains numbers in
parenthesis. These indicate notes at the end of the table. Figure
references are for illustrations contained in Appendix A.
Table 4.1:
Information for User-supplied Enclosures
Catalog
Number
Base Derate
Amps(2)
Drive Frame
Size
Derate
Curve(1)(2)
Heat
Dissipation
Drive
Watts(1)(2)
Heat sink
Watts(1)(2)
Total
Watts(1)(2)
380 - 480V AC Input Drives
BO14
14
B
Not required
91
270
361
BO21
21
B
Not required
103
394
497
BO27
27
B
Figure A.1
117
486
603
BO34
34
B
Figure A.2
140
628
768
BO42
42
B
Figure A.3
141
720
861
BO48
48
B
Figure A.4
141
820
961
DO65
65
C
Figure A.5
175
933
1108
DO78
78
C
Figure A.6
193
1110
1303
DO97
97
D
Note (3)
361
1708
2069
D120
120
D
Figure A.7
361
1708
2069
D149
149
D
Figure A.8
426
1944
2307
D180
180
D
Figure A.9
522
2664
3186
NOTE (1) The open packaged drive ambient operating temperature is 50°C. The cabinet
enclosure should be designed to provide an operating temperature that does not exceed
50°C in worst case ambient conditions. If the enclosed version is operating between 41 and
50°C and the drive PWM switching frequency is above the threshold shown in the derating
curves in Appendix A the continuous current must be derated.
NOTE (2) Drive rating is based on altitudes of 1000 meters (3000 feet) or less. If installed
at a higher altitude, derate the drive. Refer to Figure A.10 in Appendix A.
NOTE (3)
Not available at time of publication.
Publication 8720MC-UM 001C-EN-P Feb 2001
4-4
Drive Installation and Wiring
Grounding Your Drive
Great care must be taken to assure that the 8720MC Drive is properly
grounded. Spurious electrical noise must be minimized by using
proper grounding, wire routing and shielding practices. Control
circuits will not perform properly unless the appropriate preventative
measures are taken. Figure 4.1 shows the grounding
recommendations for the drive
Figure 4.1
Recommended 8720MC Grounding
Conduit/4-Wire Cable
R (L1)
Common
Mode Shield
Core*
U (T1)
S (L2)
V (T2)
8720MC
HIGH PERFORMANCE DRIVE
T (L3)
TE
W (T3)
PE/Gnd
PE
Ground Rod/Grid
or Building Structure Steel
Motor Frame
Motor
Terminator *
Communications
Options
or Analog
Common
Mode Core*
PE
Ground per
Local Codes
* Options that can be installed as needed.
To Computer/Position Controller
30800-M-R2
To ground your 8720MC Drive:
1. Identify a good source of earth ground such as a ground rod or a
clean low resistance connection to a steel building structure.
Connect the PE terminal provided on TB1 to earth ground.
2. Define the paths through which the high frequency ground currents flow. Isolate the wires carrying these currents.
3. Connect the ground conductor of the motor cable (drive end)
directly to the drive ground PE terminal, not to the enclosure
ground bus bar.
4. Connect the enclosure ground bus bar to adjacent building steel
or a floor ground rod.
5. Solidly ground the RFI filter, if you need to use one.
6. The D-frame amplifiers (097, 120, 149, and 180) have a TE terminal. The TE block is used for all control signal shields internal
to the drive. It must be connected to an earth ground by a separate
continuous lead.
These steps are explained in greater detail in the following sections.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-5
Connecting the Drive to the System Ground
Connect the drive to earth ground via the power ground (PE) terminal
provided on the power terminal block (TB1). Ground impedance
must conform to the requirements of national and local industrial
safety regulations (such as NEC, VDE 0160, and BSI). You should
inspect and test the ground impedance at appropriate and regular
intervals.
Even if you have a floating secondary, the building must have a
safety (earth) ground.
In any cabinet, you should use a single, low-impedance ground point
or ground bus bar. You should:
•
Ground all circuits independently and directly to this ground
point or bus bar.
•
Directly connect the AC supply ground conductor to this ground
point or bus bar.
Defining the High Frequency Ground Current Paths
High frequency currents flow through the motor cable shield, the
motor case ground wire and the feedback cable shield. Special care is
required in terminating these connections. Defining the high
frequency current paths helps to assure that noise-sensitive circuits do
not share a path with high-frequency ground currents. You must
separate current carrying ground conductors. Control and signal
ground conductors should not run near or parallel to a power ground
conductor.
Connecting the Ground Conductor of the Motor Cable
Connect the ground conductor of the motor cable (drive end) directly
to the drive ground (PE) terminal, not to the enclosure bus bar.
Grounding directly to the drive (and filter, if installed) provides a
direct route for high-frequency current returning from the motor
frame and ground conductor. At the motor end, you should also
connect the ground conductor to the motor case ground stud. Shielded
or armored four-wire cable is required. See “Selecting Your Motor
Cables” later in this chapter.
Grounding the Safety Ground (PE)
Most codes require a safety ground. You can connect the ground bus
to adjacent building steel (such as a girder or joist) or a floor ground
loop, provided that the grounding points comply with your national
(such as NEC), regional, or local regulations. Figure 4.1 shows TE
ground. The TE ground is used to ground internal control circuits in
the D frame drives.
Publication 8720MC-UM 001C-EN-P Feb 2001
4-6
Drive Installation and Wiring
Grounding the Optional RFI Filter
If you are using an RFI filter, you must solidly ground the RFI filter.
Additional information about the optional RFI filter is located in
Appendix B, CE Conformity, Publication 1336 Impact-5.0
AC Supply Source Information for
AC Input Drives
The five 8720MC AC input drives are suitable for use in circuits that
can deliver up to a maximum of 70 rms symmetrical amperes when
used with the AC input line fuses specified in the tables in this
section.
The 8720MC AC input drives do not contain input power short circuit
fusing. Specifications for the recommended size and type of fuses
necessary to protect against short circuits are shown in Table 4.2. The
table is based on approximately 150% peak motor demand.
Table 4.2:
Max Recommended AC Input Line Fuse Ratings (380 to 460 vac Input)
Motor Cat. No.
8720SM460VAC/
380VAC
Drive Cat. No
8720MC-
Max RMS AC
Input Fuse
Current 380 to
460V AC
Bussman Fuse
Gould Shawmut
Fuse
005S1BB/
005S1BC
B021
35 amps
JKS-35
A4J35
AWG 10 / 5.3 mm2
007S1CB/
007S1CC
B027
40 amps
JKS-40
A4J40
AWG 10 / 5.3 mm2
011S1DB
011S1DC
B034
50 amps
JKS-50
A4J50
AWG 8 / 8.4 mm2
015S1EB
B042
70 amps
JKS-70
A4J70
AWG 6 / 13.3 mm2
018S1FB/
018S1FC
B048
80 amps
JKS-80
A4J80
AWG 6 / 13.3 mm2
!
Publication 8720MC-UM 001C-EN-P Feb 2001
Input Wire Size
AWG/mm2
ATTENTION: To guard against personal injury and/
or equipment damage caused by improper fusing, use
only the recommended line fuses specified in the tables
in this chapter. Branch circuit breakers or disconnect
switches cannot provide this level of protection for drive
components.
Drive Installation and Wiring
4-7
Unbalanced Distribution Systems
The AC input drives are designed for use with conventional threephase supplies that are symmetrical with respect to ground. Surge
suppression devices are included to protect the drive from lightninginduced over voltage between line and ground. For this reason, we
recommend a neutral grounded system. The drive works with a
grounded phase, but you may want to use an isolation transformer to
provide a supply balanced with respect to ground.
Ungrounded Distribution Systems
All 8720MC AC input drives are equipped with a metal oxide varistor
(MOV). The MOV provides voltage surge protection, phase-to-phase
as well as phase-to-ground, which is designed to meet IEEE 587. The
MOV circuit is designed for surge suppression only (transient line
protection), not continuous operation.
With ungrounded distribution systems, the phase-to-ground MOV
connection could become a continuous current path to ground. MOV
line-to-line and line-to-ground voltages should not exceed the input
voltage rating shown in Chapter 2: Specifications. Exceeding these
values may cause physical damage to the MOV.
Is a Line Reactor or Isolation-Type Transformer Required?
When using the 8720MC-RPS Regenerative Power Supply you
always need Line reactors. Refer to publication 8720-1.4, the
8720MC-RPS User Manual for details on the input wiring for this
unit. When using the AC input amplifiers for 5.5 to 18.5 kW non
regenerative applications, typically, you can connect the 8720MC AC
input drive directly to a three-phase AC power line. However, certain
power line conditions, as discussed in table 4.3, may introduce the
possibility of drive input power component malfunction. To reduce
the possibility of these malfunctions, a line reactor or isolation-type
transformer may be required.
Use the following table to determine if a line reactor or isolation-type
transformer is required for your AC input system.
Table 4.3:
Determining if a Line Reactor or Isolation Type Transformer is Needed
If the AC line supplying the drive:
Then an AC line reactor or isolationtype transformer:
Has power factor correction capacitor
connected and switched
Is recommended between the capacitor
bank and the input to the drive.
Frequently experiences transient power
interruptions or significant voltage spikes
May be required
Is run off the same line as a line
commutated DC drive
May be required.
Publication 8720MC-UM 001C-EN-P Feb 2001
4-8
Drive Installation and Wiring
Connecting Power to Your Drive
Read the following attention text before wiring power to your
8720MC Drive.
!
ATTENTION: The national codes and standards
(such as NEC, VDE, and BSI) and local codes outline
provisions for safely installing electrical equipment.
Installation must comply with specifications regarding
wire type, conductor sizes, branch circuit protection,
and disconnect devices. Failure to do so may result in
personal injury and/or equipment damage.
Important: For maintenance and set up procedures, you may
operate the drive without having a motor connected.
8720MC Drive Connector Layout
Figure 4.2 shows the connector layout for the B frame chassis of the
8720MC Drive.
Figure 4.2
Drive Connector Layout for the B Frame Chassis
8720MC
Control
Board
P1 P4
Shield
Clamps
P5
SERCOS
TB 1
B Frame Chassis
30809-M-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-9
Figure 4.3 shows the connector layout for the C and D frame chassis
of the 8720MC Drive.
Figure 4.3
Drive Connector Layout for the C and D Frame Chassis
8720MC
Control
Board
P1 P4 P5
Sercos
Pre- Charge Board
1
TB1
3
W1
1
2
3
Precharge PCB on
C and D Frame
common bus drives
TB 1
C & D Frame Chassis
30807-M-R3
For Figures 4.2 and 4.3 Terminal Strip TB1 is always the power
terminal connection point and has terminals for both AC input power
and DC input power. If in your application you will be using a
regenerative power supply input use the DC input terminals only. If
you have a direct AC input application use the 3 AC input terminals
for 3 phase 380 to 460 vac incoming power. Use the 2 DC terminals
for connection to a 1336 WB Brake Chopper Module. Always
connect the PE terminal to an earth ground such as a ground rod or a
steel building ground. Connect the U,V,W motor leads to the U,V,W
connections at the drive and the motor. Always use 4 wire shielded
cable. The ground wire should be firmly bonded to the motor ground
terminal and the drive Chassis ground. The shield should also be
firmly bonded to the motor ground terminal and the drive PE
terminal.
For the C and D chassis +24vdc must be connected to terminal TB1T1 and +24 vdc return must be connected to TB1-T3 on the precharge
PCB shown in figure 4.3 and 4.15. Either +24vdc and +24 vdc return
from P5-22 and P5-23 on the 8720MC control module or external
+24vdc may be used. Also pins 1 and 2 must be jumpered on the W1
shorting plug. See figure 4.15.
Publication 8720MC-UM 001C-EN-P Feb 2001
4-10
Drive Installation and Wiring
TB1 Terminal Block Drive Connections
Figures 4.4 and 4.5 show the TB1 drive connections for the B frame.
Figure 4.4
TB1 Drive Connections for B Frame (5.5 to 11 kW)
750Vdc, 5.5kW-11kW (7.5-15 HP) Terminal Designations and
380-480V, 5.5kW-11kW (7.5-15 HP) Terminal Designations
PE
PE
DC
+
R
(L1)
DC
-
S
(L2)
T
(L3)
U
(T1)
V
W
(T2) (T3)
Dynamic Brake
or
Regen Converter
To Motor
To Motor
1
Required Branch
Circuit Disconnect
AC Input Line
1 Required
Input Fusing
30414-M-R4
Figure 4.5
TB1 Drive Connections for B Frame (15 to 22 kW)
750V dc, 15-22 kW (20 to 30 HP) Terminal Designations
380-480V, 15-22kW (20-30 HP) Terminal Designations
PE
PE
GRD GRD
DC
+
DC
-
R
(L1)
S
(L2)
T
(L3)
U
(T1)
V
W
(T2) (T3)
Dynamic Brake
or
Regen Converter
To Motor
To Motor
1
Required Branch
Circuit Disconnect
AC Input Line
No connection when
using the DC Input
1
User supplied
30726-M-R3
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-11
Figure 4.6 shows the TB1 drive connections for the C frame.
Figure 4.6
TB1 Drive Connections for C Frame
750V dc, 30, 37kW (40, 50 HP) Terminal Designations - C Frame
PE
PE
GRD GRD
DC
+
DC
-
R
(L1)
S
(L2)
T
(L3)
U
(T1)
V
W
(T2) (T3)
To Motor
To Motor
30701-M-R4
Figure 4.7 shows the TB1 drive connections for the D frame.
Figure 4.7
TB1 Drive Connections for D Frame
750V dc, 45-93 kW ( 60 to 125 HP) Terminal Designations.
DC
+
DC PE
- GRD
PE
GRD
TE
GRD
To Motor
R
(L1)
S
(L2)
T
(L3)
U
(T1)
V
(T2)
To Motor
W
(T3)
30727-M-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
4-12
Drive Installation and Wiring
General Terminal Specifications
Table 4.4 provides general terminal information for the power
terminations on TB1.
Table 4.4:
General Terminal Specifications
Terminal
Description
PE
Power earth ground
R (Ll), S (L2), T (L3)
AC line input terminals
+DC, -DC
DC bus terminals
U (TI), V (T2), W (T3)
Motor connection
Wire and Torque Specifications
Table 4.5 provides information about the maximum/minimum wire
size and maximum torque used for the various frame sizes.
Table 4.5:
Wire and Torque Specifications by Frame Size
If you have this
frame size:
The maximum/minimum
wire size(1) in mm2
(AWG) is:
The maximum torque in N-m
(lb.-in.) is:
B
13.3/0.5 (6/20)
1.70 (15)
C
26.7/0.8 (3/18)
5.65 (50)
D(3)
127.0/2.1 (250 MCM114)
67.4/2.1 (00/14)(2)
6.00 (52)
6.00 (52)
NOTE (1) Wire sizes given are the maximum/minimum sizes that TB1 will accept. These
are not recommendations.
NOTE (2)
Applies to 45 and 56 kW (60 and 75 hp) 750V DC drives only.
NOTE (3) These configurations of TB1 are stud type terminations and require the use of lug
type connectors to terminate field installed conductors. Lug kits are available for use with
these configurations.Wire size used is determined by selecting the proper lug kit based on
the drive catalog number, as explained below.
Selecting the Proper Lug Kit for Your System
The D frame has stud type terminals, which require using lug
connectors for cable terminations. Additional cable information is
explained in “Selecting Your Motor Cables” below. Table 4.6 shows
the lug selection for each possible cable choice. Choose connectors
for each installation based on the desired cable sizes, the application
requirements, and all applicable national, state, and local codes.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-13
Table 4.6:
Lug Selection
Drive Catalog
Number
DC+
DC-
Output U, V, W and PE
TE
Cable (per Phase)
mm2 (AWG)
T & B Part No.
(8 required)
Cable (per Phase)
mm2 (AWG)
T & B Part No.
(2 required)
Cable (per Phase)
mm2 (AWG)
T & B Part No.
Number
8720MC-D097
33.6 (2)
54147 (1)
21.2 (4)
54139 (1)
13.3 (6)
54135 (1)
8720MC-D120
53.5 (1/0)
54153 (1)
33.6 (3), (2)
54142 (1)
13.3 (6)
54135 (1)
8720MC-D149
85.0 (3/0)
54163 (1)
53.5 (1/0)
54153 (1)
13.3 (6)
54135 (1)
8720MC-D180
107.2 (4/0)
54168 (1)
67.4 (2/0)
54110 (1)
21.2 (4)
54139 (1)
NOTE (1)
Selecting Motor Cables
5/16 inch stud. All other studs are 3/8 inch
The selection of motor cable is critical to assuring that the
electromagnetic field, naturally produced when large amounts of
electrical energy are switched at high frequency, don’t cause
unwanted electromagnetic interference to control equipment.
Shielded Motor Cable
The use of a four-wire type VFD, 600 volt, UL listed cable is strongly
recommended for all motor currents at or below 130 amperes. Figure
4.8 illustrates the type of cable required. Use of shielded conductors
is mandatory for preventing radiated EMI from migrating to noise
sensitive microprocessor hardware. The combination of thick wire
insulation, 85% braided shield coverage and 100% foil shield
coverage works to minimize the electrical EMI generated by the
motor leads, particularly if long distances are involved. Four-wire
VFD cable is available in wire sizes from #16AWG to #2AWG.
Recommended sources are Belden Wire and Cable Co. and Olflex
Wire and Cable, Inc. In sizing the wire for the application, use 150 %
of the rated motor continuous current, assuming no greater than 25 °C
ambient temperature.
Figure 4.8
Required Cable Type
Variable Frequency Drive Cable
4 condutor 600V
Stranded drain wire
Foil sheild
Stranded tinned
copper conductors
FRPVC jacket (sun res.)
Oversized XHHW-2 insulation
Tinned copper
braid 85% coverage
30416-M-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
4-14
Drive Installation and Wiring
You should always use shielded motor cable. You must connect the
shield to the drive chassis (PE) connection and the motor frame.
Make the connection at both ends to minimize the external magnetic
field.
If you use cable trays or large conduits to distribute the motor leads
for multiple drives, use shielded cable to reduce or capture the noise
from the motor leads and to minimize cross coupling of noise
between the leads of different drives. Connect to the ground (PE)
connections at both the motor and the drive end.
Armored Cable
Armored cable also provides effective shielding. Ideally, you should
ground armored cable only at the drive (PE) and motor frame. Some
armored cable has a PVC coating over the armor to prevent incidental
contact with grounded structure. If, due to the type of connector, you
must ground the armor at the cabinet entrance, use shielded cable
within the cabinet to continue as far as possible with the coaxial
arrangement of power cable and ground.
In some hazardous environments, you cannot ground both ends of the
armored cable. When cable armor is grounded at both ends a ground
loop is formed. If the ground loop is cut by a strong magnetic field
induced from proximity to powerful electric machines there is a
possibility for high circulating current operating at low frequency. In
this case, make a ground connection at one end through a capacitance
that blocks the low, line frequency current but presents a low
impedance to RF. Due to the highly pulsed nature of the circulating
current, the capacitor type used must be rated for AC-to-ground
voltage. Consult the factory for specific guidelines.
Conduit
For applications above 130 amperes, metal conduit is required for
cable distribution. Follow these guidelines:
Publication 8720MC-UM 001C-EN-P Feb 2001
•
Drives are normally mounted in cabinets, and ground connections
are made at a common ground point in the cabinet. If the conduit
is connected to the motor junction box and the drive end is
connected to the ground panel in the cabinet, you do not need any
additional conduit connections.
•
Route no more than three sets of motor leads and a ground wire
through a single conduit. This minimizes cross talk that could
reduce the effectiveness of the noise reduction methods
described. If more than three drive/motor connections per conduit
are required, use shielded cable. If practical, each conduit should
contain only one set of motor leads.
•
It is recommended that you use a thick insulation lead wire, such
as type RHW-2 or equal.
Drive Installation and Wiring
!
4-15
ATTENTION: To avoid a possible shock hazard
caused by induced voltages, ground unused wires in the
conduit at both ends. For the same reason, if a drive
sharing a conduit is being serviced or installed, disable
all drives using this conduit. This eliminates the
possible shock hazard from cross coupled drive motor
leads.
General Wire Guidelines
You should observe all applicable safety and national and local
regulations when selecting the appropriate wire size for your system.
Due to the drive overload capacity of 150% of the continuous current
rating for one minute, the conductors for the transformer primary and
secondary must be sized (at a minimum) for 125% to 160% of the
maximum continuous input current for the motor selected. See the
specification tables in Chapter 2 for input currents. The motor
conductors must also be rated for a minimum of 125% to 160% of the
full load motor continuous current. If less than 150% overload is
required the torque limit parameters must be set in the drive
accordingly. The distance between the drive and motor may affect the
size of the conductors used. To protect against interference, use
shielded wire in motor and control circuits. A shielded cable is
required for all feedback signal wires.
Figure 4.9
Recommended Shielded Cable Practices
Signal
Signal
Shield
Clamp
Shield
2-Conductor Shielded Cable
Shield Connections are provided
via braided shield clamps
Signal
Signal
2-Conductor Shielded Cable
Signal
Signal
Shield
Clamp
Shield
Signal
Signal
Shield
Clamp
Muti-Conductor Shielded Cable wth
Individual Shielded Twisted Pairs
Shield
Signal
Signal
30415-M-R3
Publication 8720MC-UM 001C-EN-P Feb 2001
4-16
Drive Installation and Wiring
Specific requirements for wiring the feedback and analog I/O
shielded cables are found in Figures 4.19 and 4.21 in this chapter
By-pass Contactors
Please read the following Attention regarding by-pass contactors.
!
ATTENTION: An incorrectly applied or installed
system can result in component damage or reduction in
product life. The most common causes are:
•
Wiring AC line to drive output or control
terminals.
•
Improper by-pass or output circuits not approved
by Allen-Bradley.
•
Output circuits which do not connect directly to
the motor.
•
Incorrect or inadequate AC supply.
•
Excessive ambient temperature.
Contact Allen-Bradley for assistance with application or wiring.
Connecting Power to the
8720MC-RPS and 1336R
Regenerative Power Supplies
AC Supply Source
The 14 amp through 180 amp 8720MC DC input drives are suitable
for use in circuits that can deliver up to a maximum of 250 rms
symmetrical motor amperes when used with the 8720MC-RPS or
1336R Regenerative Power Supplies and the AC input line fuses
specified in the tables in this section.
For detailed installation information on the 8720MC-RPS
Regenerative Power Supply, refer to publication number 8720MCRM001B-US, titled 8720MC Regenerative Power Supply User’s
Manual. For detailed installation information about the 1336R
Regenerative Converter, refer to publication number 1336 REGEN5.0, titled 1336R Line Regenerative Package User Manual. The
following tables are provided to assist in selecting the appropriate
fuses and wire for the regenerative power supplies. The data in the
tables are based on 25 °C operating temperature and 70 °C insulation.
Always plan to use a cabinet disconnect switch as well as an AC line
contactor in conjunction with the AC line input fuses or circuit
breakers. To protect the AC input, install a circuit breaker or fuse in
each incoming phase.In some locations local codes require fuses
instead of circuit breakers. When using 8720MC-RPS in master slave
operation both the master and slave units must have incoming AC
circuit protection. See the 8720MC Regenerative Power supply
User’s Manual, Chapter 4 for details.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-17
Table 4.7: .
600V AC Input Fuse Specifications for Regenerative Power Supplies I
Drive Cat. No
8720MC-
Max Input Fuse
Current 380 to
460V AC
Bussman Fuse
Gould Shawmut
Fuse
005S1BA
B014
16 amps
JKS-20
A4J20
AWG 14 / 2.1 mm2
007S1CA
B021
21 amps
JKS-25
A4J25
AWG 12 / 3.3 mm2
011S1DA
B027
32 amps
JKS-35
A4J35
AWG 10 / 5.3 mm2
015S2EA
B034
44 amps
JKS-45
A4J45
AWG 8/ 8.4 mm2
018S2FA
B042
54 amps
JKS-60
A4J60
AWG 6/ 13.3 mm2
022S2GA
B048
63 amps
JKS-70
A4J70
AWG 6/ 13.3 mm2
030S4JA
D065
88 amps
JKS-90
A4J90
AWG 4/ 21.2 mm2
037S4KA
D078
107amps
JKS-110
A4J110
AWG 4/ 21.2 mm2
045S5NA
D097
JKS-70
A4J60
AWG 6/ 13.3 mm2
055S5PA
D120
JKS-80
A4J80
AAWG 6/ 13.3 mm2
063S5QA
D120
JKS-100
A4J100
AWG 4/ 21.2 mm2
075S6SA
D149
JKS-110
A4J110
AWG 4/ 21.2 mm2
093S6TA
D180
63 amp master
63 amp slave
73 amp master
73 amp slaver
92 amp master
92 amp slaver
110 amp master
110 amp slaver
90 amp master
2-90amp slaves
JKS-90
A4J90
AWG 4/ 21.2 mm2
Motor Cat. No.
8720SM-
Wire Size AWG
/mm2
Table 4.7 demonstrates that any 8720SM motor application above
37kw requires a master and at least one or two slave RPS units. When
two or three 8720MC-RPS065 Regenerative Power Supplies are
operating in a master/slave mode, the output load is shared equally
between the power supplies. When a master and one slave is required
input fuses and wire should be sized to 1/2 of the total required
maximum continuous input current for the total required drive load,
multiplied by 1.75. When a master and two slaves are required input
fuses and wire should be sized to 1/3 of the total required maximum
continuous input current for the total required drive load, multiplied
by 1.75. Table 4.7 uses this relationship.
Bus Bar and DC Drive Input Fuses
When multiple drives and/or master/slave RPS units are needed to
meet the load requirements a common bus architecture is preferred.
For common bus applications Allen-Bradley’s Bulletin 140 bus bar
and panel mounting components is recommended. Size the bus bar
capacity to at least 175% of total RPS continuous output current. The
DC input wire and fuses to each drive should be sized to 175% of
each drives maximum continuous input current requirements.
Publication 8720MC-UM 001C-EN-P Feb 2001
4-18
Drive Installation and Wiring
All fuses on the DC bus must be rated for 1,000 VDC operation. For
DC bus fuses use Gould A1-100P, Gould A100C (80 amps and
higher) or equal. Publication 8720MC-RM001C-US provides wiring
diagrams for master slave RPS configurations.
When a single RPS is matched to a single drive, DC drive input fuses
are not required. Table 4.8 is used to select DC drive input fuses and
assumes more than one drive is connected to the RPS common bus,
otherwise DC drive input fuses are not required. Suggested wire sizes
assume single conductor connections. It is perfectly acceptable to use
2 or 3 conductors in parallel as long as the total amperage
requirements are met. For example 2 parallel #12 conductors could be
used in place of a single # 10 conductor.
Table 4.8:
1000 vdc Input Fuse Specifications for use with multiple Drives & RPS unit(s)
Motor Cat. No.
8720SM-
Drive Cat. No
8720MC-
Drive input Fuse
Current
@ 750V DC
Bussman Fuse
Gould Shawmut
Fuse
Wire Size AWG
/mm2
005S1BA
B014
15 amps
A100P15-1
AWG 14 / 2.1 mm2
007S1CA
B021
20 amps
A100P20-1
AWG 14/ 2.1 mm2
011S1DA
B027
30 amps
A100P-30-1
AWG 12 / 3.3 mm2
015S2EA
B034
40 amps
FWJ-40
A100P-40-1
AWG 12 / 3.3 mm2
018S2FA
B042
50 amp
FWJ-50
A100P-50-4
AWG 10 / 5.3 mm2
022S2GA
B048
60 amps
FWJ-60
A100P-60-4
AWG 8 / 8.4 mm2
030S4JA
D065
77 amps
FWJ-80
A100P-80-4
AWG 6 / 13.3 mm2
037S4KA
D078
94 amps
FWJ-100
A100P-100-4
AWG 4 / 21.2 mm2
045S5NA
D097
115 amps
FWJ-125
A100P-125-4
AWG 2 / 33.6 mm2
055S5PA
D120
141.5 amps
FWJ-150
A100P-150-4
AWG 1/0 / 53.3 mm2
063S5QA
D120
162 amps
FWJ-175
A100P-175
AWG 2/0 / 67.4 mm2
075S6SA
D149
194 amps
FWJ-200A
A100P-200-4
AWG 3/0 / 83.2 mm2
093S6TA
D180
236 amps
FWJ-250
A100P-250-4
AWG 4/0 / 107.3 mm2
Control Interface Wiring
Publication 8720MC-UM 001C-EN-P Feb 2001
Before you can transfer data to or from the drive, you need to wire
the analog inputs, the analog outputs, the digital inputs, the digital
outputs, the output relays, the registration sensor, feedback devices
and the SERCOS connections. The following sections will focus on
the control wiring.
Drive Installation and Wiring
4-19
Control and Logic Connections
Figure 4.10 shows the control and logic connections for the 8720MC
Drive. A total of 6 Weidmueller connectors (3 double row pairs) are
used to connect the motor feedback, the auxiliary feedback, the
analog I/O, the registration inputs, the digital I/O and the relay
outputs. The front and back connectors are identical and
consequently care must be taken to label and dress the cables so that
they can not be inadvertently switched. Three tables follow the
illustration. The tables contain:
•
Table 4.5 - pinout information for the P1 connector
•
Table 4.6 - pinout information for the P4 connector
•
Table 4.7 - pinout information for the P5 connector
Figure 4.10
Control and Logic Connections for the 8720MC Drive
Power
Structure
Ribbon
Connector
SERCOS
Baud Rate
Switch
SERCOS Address
Thumbwheel Switch
8720MC
Control Board
SCANport
Connector
Note: Connectors shown
rotated 90 deg
P1
P4
SERCOS Optical
Connectors
P5
TX RX
5 6 7 8
19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
14151617181920 212223242526
1 2 3 4 5 6 7 8 9 10111213
Motor & Load
Feedback and
Analog Commands
1 2 3 4
Analog Outputs
& Registration Inputs
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
Discrete I/O
30805-M-R4
Publication 8720MC-UM 001C-EN-P Feb 2001
4-20
Drive Installation and Wiring
Analog Outputs &
Registration
Inputs
Auxiliary Feedback/
Analog Commands
Customer Logic Interface/
A quad B Output
SERCOS
Ring
Motor Feedback
PC Board
TX
RX
30407-M-R1
Table 4.9:
P1 Connector Pinout Information
P1 Connector - Motor and Load Feedback and Analog Inputs
Weidmueller Double Row 5.00mm Terminals
Row1
Description
Row2
Description
1
Ch1: Sine or A Channel Data (motor)
14
Ch2 Sine or A Channel Data or Analog In 1
2
Ch1: Sine Return or not A Channel Data
15
Ch2 Sine Return or not Channel A Data or
Analog In 1 return
3
Ch1: Cosine or B Channel Data (motor)
16
Ch2 Cosine or B Channel Data or Analog In 2
4
Ch1: Cosine Return or not B Channel Data
17
Ch2 Cosine Return or not Channel B Data or
Analog In 2 return
5
Ch1: Encoder Power Common
18
Ch2: Encoder Power Common
6
Ch1 +9vdc Encoder Power (motor)
19
Ch2: +9vdc Encoder Power (auxiliary)
7
Ch1 +5vdc Encoder Power
20
Ch2: +5vdc Encoder Power
8
Ch1: Index/Communication Non-Inverted
Data
21
Ch2: Index/Communication Non-Inverted
Data
9
Ch1: Index/Communication Inverted Data
22
Ch2: Index/Communication Inverted Data
10
Ch1: SSI Clock Non Inverted
23
Ch2: SSI Clock Non Inverted
11
Ch1 SSI Clock Inverted
24
Ch2: SSI Clock Inverted
12
Ch1: Motor Thermal Switch Input
25
Not Used
13
Ch1: Motor Thermal Switch Input
26
Not Used
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-21
Table 4.10:
P4 Connector Pinout Information
P4 Connector - Analog Outputs and Registration Inputs
Weidmueller Double Row 5.00mm Terminals
Row1
Description
Row2
Description
1
Analog Output 1
5
Analog Output 2
2
+5vdc Registration Input
6
Analog Output Common
3
+24vdc Registration Input
7
Registration Common
4
+5vdc Power for Registration Input
8
+5vdc Registration Power Return
Figure 4.2 and 4.3 (shown earlier in this chapter) illustrate the
location of the P1, P4 and P5 connectors on the 8720MC main control
board. The P4 and P5 connectors have two mating connectors each.
One is for the front row and one is for the back row when looking
directly at the main control PC board. P4 connections 1-4, back row,
are made through the lower mating connector and connections 5-8 are
made through the front mating connector. The same is true for P5, but
the lower terminations are 1-18 and the upper terminations are 19-36.
The wire terminations for P4 and P5 are designed for stripped AWG
22 to AWG 14 wire. The wire insulation should be stripped back 1/2
inch to assure that the connector grips the wire and not the insulation.
Each terminal has a spring type clamping mechanism which firmly
grips the stripped wire. You can release the wire clamp by depressing
the release spring located at each termination with a small instrument
screw driver, as shown in Figure 4.11. The mating connectors are
mechanically keyed and, therefore, it is not possible to put the
connectors in backward. It is possible to switch the front and back
connectors therefore care must be taken to prevent reversing the
upper and lower connectors. You can accomplish this by using
connector labels or you can tie wrap the cables to the chassis.
Publication 8720MC-UM 001C-EN-P Feb 2001
4-22
Drive Installation and Wiring
Table 4.11:
P5 Connector Pinout Information
P5 Connector - Discrete I/O - Weidmueller Double Row 5.00mm Terminals
Row1
Description
Row2
Description
1
A quad B: A + channel output
19
A quad B: A - channel output
2
A quad B: B + channel output
20
A quad B: B - channel output
3
A quad B: Z + channel output
21
A quad B: Z - channel output
4
A quad B common
22
8720MC +24vdc power for inputs
5
Not used
23
8720MC +24vdc input power return
6
Relay output 1, Terminal 1
24
Relay output 3, Terminal 1
7
Relay output 1, Terminal 2
25
Relay output 3, Terminal 2
8
Relay output 2, Terminal 1
26
Relay output 4, Terminal 1
9
Relay output 2, Terminal 2
27
Relay output 4, Terminal 2
10
+ 24vdc Digital Output 5
28
+ 24vdc Digital Output 6
11
+ 24vdc Digital Output 7
29
+ 24vdc Digital Output 8
12
+ 24vdc Digital Output 9
30
+ 24vdc Digital Output 10
13
+24vdc Digital Input common
31
External +24vdc for Digital Outputs
14
+24vdc Digital Input 1
32
+24vdc Digital Input 2
15
+24vdc Digital Input 3
33
+24vdc Digital Input 4
16
+24vdc Digital Input 5
34
+24vdc Digital Input 6
17
+24vdc Digital Input 7
35
+24vdc Digital Input 8
18
+24vdc Digital Input 9
36
+24vdc Digital Input 10
The digital I/O and analog I/O have default functional assignments.
Refer to chapter 6, tables 6.1 thru 6.7 for these functional definitions.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-23
Figure 4.11
Releasing the Wire Clamp with an Instrument
308 52-M
Analog I/O Signal Wire Specifications
Table 4.12 contains recommended control signal wire specifications.
The analog input connections are terminated to connector P1 per
figure 4.10 and Table 4.9 The analog output connections are
terminated to P4 per table 4.10
Table 4.12:
Control Signal Wire Specifications
This Belden wire or
equivalent:
Should have these specifications:
8760
0.750 mm2 (18 AWG), twisted pair, braided shield
8770
0.750 mm2 (18 AWG) 3 conductor, braided shield
9460
0.750 mm2 (18AWG) twisted pair, braided shield
The location of the terminal blocks is frame specific, as shown in
figures 4.2 and 4.3
SERCOS Wiring
SERCOS stands for Serial Real-time COmmunications System.
SERCOS is a high speed (up to 4 Mbaud) serial interface, which was
developed for communications between motion controllers and
drives.
Publication 8720MC-UM 001C-EN-P Feb 2001
4-24
Drive Installation and Wiring
Since SERCOS uses a ring topology two fiber optic cables are
required for each SERCOS node. One cable is for transmitting and
the other is for receiving. Both cables are fiber optic, 1000 µm in
diameter. The transmit cable is connected to the TX optical connector
on the 8720MC control board. The receive cable is connected to the
RX optical connector on the control board or another node. Figure
4.10 (shown earlier in this chapter) indicates where the fiber optic
cables are connected to the control board.
Two types of pre-made fiber optic cables are available for the
SERCOS ring connections. Cables for internal cabinet connections
are 2.2 mm in diameter and have a PVC jacket. Cables for use in
external raceways and open external connections are 5.3 mm in
diameter and have a thick PVC jacket.
Figure 4.12 shows the SERCOS fiber optic cable assembly for
internal cabinet use.
Figure 4.12
1000 µm SERCOS Fiber Optic Cable
1000µm SERCOS Fiber Optic Cable
L
100± 10mm
1
SMA (905) connector kit
part number, 3-504566-1 2 PLC
1000µm plastic simplex
part number, 501232-5
30470-M
Table 4.13 contains catalog numbers for SERCOS fiber optic cables
used within cabinets.
Table 4.13:
Catalog Numbers for Fiber Optic Cables Used Inside Cabinets
Cable Catalog Number
Amp Part Number
Length in meters
(and inches)
8720MC-SC01
1278140-1
1.0 + 0.05 (39.0 + 2.0)
8720MC-SC02
1278140-2
2.0 + 0.05 (79.0 + 2.0)
8720MC-SC03
1278140-3
3.0 + 0.05 (118.0 + 2.0)
8720MC-SC05
1278140-5
5.0 + 0.08 (197.0 + 3.0)
8720MC-SC10
1-1278140-0
10.0 + 0.15 (394.0 + 6.0)
Table 4.14 contains catalog numbers for SERCOS fiber optic cables
used outside cabinets.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-25
Table 4.14:
Catalog Numbers for Fiber Optic Cables Used Outside Cabinets
Cable Catalog Number
Amp Part Number
Length in meters
(and inches)
8520-SC2
96-7002-1-2
2 + 0.05 (79 + 2)
8520-SC4
96-7002-1-1
4 + 0.08 (157 + 3)
8520-SC10
96-7002-1-3
10 + 0.15 (394 + 6)
8520-SC25
96-7002-1-5
25 + 0.3 (984 + 12)
8720MC AC Input Drives
Figure 4.13 provides information about the connections for the
SERCOS or analog versions of the 8720MC non regenerative AC
input B size chassis. This configuration uses a 1336-WBnnn Brake
Chopper Module to compensate for high inertia loads which require
rapid deceleration. For more information see publication 1336-5.65.
Since the 8720MC-RPS065 is not used in the direct AC input
configuration terminal P5-36 must be jumpered to P5-22, +24 vdc, to
by-pass the regenerative power supply fault. Also if P5-22 is used as
the source for +24vdc for the DC inputs, as is recommended, terminal
P5-13 should be jumpered to P5-23 to connect the input driver
commons to the 8720MC +24vdc power supply return.
Publication 8720MC-UM 001C-EN-P Feb 2001
4-26
Drive Installation and Wiring
Figure 4.13
8720MC AC Input Drive Connections
A-B 9/Series CNC Connections for
the SERCOS or Analog Versions of
The 8720MC (non regen) Drive
9/Series CNC
Analog or SERCOS
1394 or Ultra
SERCOS
380 VAC -15%/+10%, 50 HZ
480 VAC -15%/+10%, 60 HZ
Cabinet
Disconnect
A-B 1494V
Line
Fuses
CNC
I/O
MC
SERCOS Configuration
L1 L2 L3
TE
PE
R
S
(P1-14)
T Sercos
Analog Command Input
(P1-15)
Earth
Grnd
Drive Enable
8720MC
SERCOS
Drive
+24vdc (P5-22)
(P5-6)
(P5-7)
Regen
PS OK
DRIVE OK
(P5-14)
CNC E-Stop string
(P5-36)
note 2
(P5-13)
(P5-23)
DC+
DC-
Motor
DC Bus +
DC Bus -
A-B 1336-WBnnn
Brake
Chopper
Module
IPC
Resistor
Package
U
V
W
PE
Note 1: Jumper P5-13 to P5-23 when 8720MC +24vdc input power is used.
When external +24vdc power is used connect +24vdc return to P5-13
Note 2: Jumper +24vdc to P5-36 when the 8720MC-RPS
Regenerative Power supply is not used.
30717-M-R3
8720MC Drive with a 8720MC Regenerative Power Supply
Figures 4.14 and 4.15 provide information about the AC power and
logic connections for the 8720MC Drive with the 8720MC-RPS027
or the 8720MC-RPS065 Regenerative Power Supply. The RPS065 is
a master/slave type regenerative converter, which can supply 37, 74
or 110 kW of 750V DC power. You can use one or several of the
common bus 8720MC drives with this power supply. For more
information on the 8720MC-RPS065 Regenerative Power Supply, see
publication number 8720MC-RM001B, titled 8720MC-RPS065 User
Manual. It should be noted that both the RPS and the drive source
24vdc for interlocking connections. The +24 vdc power supplied on
the 8720MC Drive and 8720MC- RPS should be used for the
8720MC drive/RPS interlocks as shown in Figures 4.14, 4.16, 4.17
and 4.18.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-27
External +24vdc is not required for these interlocks. The drive and
RPS 24vdc power should be kept isolated from each other as shown.
Figure 4.14
8720MC Drive with 8720MC Regenerative Power Supply
Power and Logic Connections for the
SERCOS or Analog Versions of the 8720MC Drive
with the 8720MC Regenerative Power Supply
380 VAC -15%/+10%, 50 HZ
460 VAC -15%/+10%, 60 HZ
Cabinet
Disconnect
1394 or Ultra
SERCOS Drive
A-B SERCOS
Master
*9/PC
*RS-Logix 5000
A-B 1494V
Analog Command
Line
Fuses
A-B 1491-N333
E-Stop string
Customer
supplied
120 VAC
Optional CE Filter
8720MC-RFI 80
SERCOS Fiber Optic Ring
A-B 100-C43D10
(MC) Main Contactor
T(L3)
Motion Cont.
I/O
R(L1)
S(L2)
MC1
MC
To motor
fan
MC2
R
Harmonic
Filter
E
8720MC-RPS
Regenerative
Power Supply
(P5-7)
Drive OK
L1 (R)
S
T
Varistor
(P1-14)
(P1-15)
Analog
in
Sercos
(P5-14) Enable
Drive 1
(P5-6)
L2 (S)
DC+
P
DCN
L3 (T)
Reactors
.47uf
Note 4
8720MC-RPS
Run
L1AUX (R1)
Drive Error
Reset
(P5-15) Drive Error 1
Reset
(P5-22) + 24VDC
Source
RDY
COM
L2AUX (S1)
L3AUX (R1)
G
DC+
8720MC
DC- SERCOS/Analog
Drive
FR
8720MCRPS Fault
(P5-36)
FR
Motor
Regen PS OK
U
V
W
PE
PR1
Start Drive Stop Drive
PR2
PR3
CR1
CR1
Drive Error
Reset
RST
+24VDC 24V
Source
Customer Magnetics
Earth Gnd
PE
Drive Error
Reset
PWR
TE
Earth Gnd
CR1
(P5-23)
+24vdc Return
Earth Gnd
MC AUX
2
1 Note 1: These functions are available in SERCOS and are therefore optional
MC
24 vdc Input
connections for the SERCOS Configuration. They can be used to provide
Common
(P5-13)
a redundant hardware connection.
Customer Magnetics
2 Note 2: Jumper P5-13 to P5-23 when 8720MC +24vdc input power is used.
When external +24vdc power is used connect the +24vdc return to P5-13 and eliminate the jumper
Note 3: For the C and D frames +24vdc must be connected to TB1-T1 and TB1-T3 on the precharge board. Also T1 and T2 must be jumpered on W1.
Note 4: A .47 uf, 1200 vdc/800 vac polypropylene high frequency capacitor is recommended between terminal E, harmonic filter, and earth ground
30710-M-R4
Figure 4.15
C and D Frame Precharge Board
Pre- Charge Board
24vdc (P5-22)
1
TB1
3
Note: Jumper W1 has to be
set between pins 1
and 2 in order to use
+24 vdc
W1
1
2
3
24vdc Return
(P5-23)
8720 Precharge
Publication 8720MC-UM 001C-EN-P Feb 2001
4-28
Drive Installation and Wiring
For the C an D frame drives +24 vdc must be connected to terminal 1
and +24 vdc return must be connected to terminal 3 of TB1 on the
8720MC C or D frame precharge board. The jumper must be between
pins 1 and 2 on the W1 shorting plug.
Figure 4.16
Multiple 8720MC Drives with One 8720MC Regenerative Power Supply
Power and Logic Connections for
two SERCOS or Analog 8720MC Regenerative Drives
operating from one 8720MC Regenerative Converter
Motion controller Drive Enable
A-B SERCOS
Master
(P5-14) Enable
(P5-6)
* 9/PC
* RS-Logix 5000
380 VAC -15%/+10%, 50 HZ
460 VAC -15%/+10%, 60 HZ
Drive
Sercos
(P1-14)
1
Analog
command
(P1-15)
(P5-7)
Drive OK
Cabinet
Disconnect
A-B 1494V or equal
Sercos
Drive Error
Reset
DC-
A-B 1491-N333
Fuse Block
or equal
Line
Fuses
Motor
DC+
8720MC
SERCOS/Analog
Drive 1
U
V
W
PE
8720SM
PE
(P5-15) Drive Error
Reset
Critical-Stop string
Optional CE Filter
8720MC-RFI 80
(P5-22)
(P5-36)
Customer
supplied
120 VAC
FR
8720MC-RPS
Fault
MC1
MC
To 8720SM
MC2
fans motors
Varistor
E
.47uf
Note 4
P
L3 (T)
N
DC-
PR1
CR1
PR2
PR3
EarthGnd
2
24VDC Sercos
common
Motor
8720MC
SERCOS/Analog
Drive 2
U
V
W
PE
(P5-15)
COM
(P5-22) +
24VDC
Earth Gnd
TE
source
(P5-36)
Fault RST
Reset
RPS Fault
Reset
+24VDC 24V
Source
Customer Magnetics
PWR
Earth Gnd
Regen PS OK
CR1
Earth Gnd
1 Note 1: These functions are available in SERCOS and are therefore optional
MC AUX
MC
connections for the SERCOS Configuration. They can be used to
provide a redundant hardware connection.
Customer Magnetics
2 Note 2: Jumper P5-13 to P5-23 when 8720MC +24vdc input power is used.
When external +24vdc power is used connect the +24vdc return to P5-13 and eliminate the jumper
Note 3: For the C and D frames +24vdc must be connected to TB1-T1 and TB1-T3 on the precharge board. Also T1 and T2 must be jumpered on W1.
Note 4: A .47 uf, 1200 vdc/800 vac polypropylene high frequency capacitor is recommended between terminal E, harmonic filter, and earth ground
Publication 8720MC-UM 001C-EN-P Feb 2001
8720SM
PE
Drive Error
Reset
1
RDY
(P1-14)
Analog
command
(P1-15)
DC-
G
CR1
(P5-23)
Drive Error
Reset
8720MC-RPS
Run
L1 Aux(R1)
AC low
(P5-13)
DC+
L2 Aux(S1)
Drive power on Drive power off
(P5-23)
Drive OK
DC+
L3 Aux (T1)
AC high
(P5-13)
(P5-7)
L2 (S)
8720MC-LR
Line Reactor
Harmonic
Filter
Regen PS OK
+24VDC 24VDC
return common
+24VDC
return
Enable
1
(P5-6) Drive
L1 (R)
T
TE
(P5-14)
8720MC-RPS
Regenerative
Converter
R
S
Earth Gnd
+24VDC
source
FR
A-B 100-C43D10
(MC) Main Contactor
T(L3) S(L2) R(L1)
1
30817-M-R4
Drive Installation and Wiring
4-29
8720MC Drive with a 1336 Regenerative Power Supply
Figures 4.16 a provides information about the AC power and logic
connections for the 8720MC Drive with the 1336R Regenerative
Converter. For more information, see publication number 1336
REGEN-5.0, titled 1336R Line Regenerative Package User Manual.
Figure 4.17
8720MC Regenerative Drive with 1336 Regenerative Power Supply
Power and Logic Connections for the
SERCOS or Analog Versions of the 8720MC Drive
with the 1336R Regenerative Converter
9/260 or 9/290
Analog
380 VAC +15%/-10%, 50 HZ
460 VAC +15%/-10%, 60 HZ
Cabinet
Disconnect
A-B 1494V
Line
Fuses
CNC E-Stop string
A-B 100-CnnD10
3 phase contactor
with aux contact or equal
Analog Command
MC
CNC
I/O
LINE/120VAC
Transformer
To motor
fans
(P1-14)
CR1
R(L1) S(L2) T(L3)
PE
Earth Gnd
1394 or Ultra
SERCOS Drive
TB1-1
TB1-3
1336R
Fuses &
Precharge
MC
120 VAC
Fault
120 VAC
120 VAC Common
R1
R1
S1
T1
PE
S1
T1
Gnd
1321-3R
Line
Reactor
S2
T2
Gnd
Control Wiring Sync Cable
S
T
PE
J16-6
(P5-7)
120 VAC Common
R
R2
DC+
DC1336R
Regenerative
Converter
(P1-15)
(P5-14) Drive Analog
in
Enable
(P5-6)
J16-5
Note 1
DC+
DC-
Drive Fault Reset
DRIVE OK
8720MC
SERCOS/Analog
Drive
(P5-15) Drive error
Reset
(P5-22)
+24VDC
PE
+24VDC J15-1
PE
Run
J15-4
CR1
U
V
W
PE
J16-1
VSC Run
Start DriveStop Drive
CR1
CR1
Sercos
Earth Gnd
TE
Customer Magnetics
External Fault
Digital comm
Earth Gnd
J16-2
J15-6
(P5-23) +24vdc Return
J15-3
24VDC comm J15-2
Fault Reset J15-5
(P5-13)
Drive Fault
Reset
Note1: The 48 and 78 ampere regenerative converters do not require external 120vac control power.
The 180 and 328 ampere units require external 120vac control power.
Customer Magnetics
PE
Earth Gnd
24 vdc Input
Common
TE
Earth Gnd
30712-M-R4
Publication 8720MC-UM 001C-EN-P Feb 2001
4-30
Drive Installation and Wiring
Figure 4.17 illustrates the power and logic connections for multiple
8720MC Drives operating from one 1336R Regenerative Power
Supply.
Figure 4.18
Multiple 8720MC Drives with One 1336R Regenerative Power Supply
Power and Logic Connections for
two Sercos or Analog 8720MC Regenerative Drives
with the 1336R Regenerative Converter
(P5-14) Drive
Sercos
(P1-14)
Enable
(P5-6)
Analog
command
(P5-7)
380 VAC +10%/-15%, 50 HZ
480 VAC +10%/-15%, 60 HZ
DC+
Sercos
DC-
9/SERIES CNC
Cabinet
Disconnect
(P5-22)
or
Motion controller
To motor
fans
To motor
fans
Earth Gnd
+24VDC
Motor
Reset
24VDC
Return
CNC Critical Stop String
120vac high Customer Supplied 120vac low
120 vac
CR1
R(L1) S(L2) T(L3)
MC
PE
Note 1
120 VAC
120 VAC
TB1-1
120 VAC Common
TB1-3
120 VAC Common
R2
R
R1
R1
1321-3R
S1
S2
S
S1
1336R-PRE
Line
Fuses &
T1
T2
T
T1
Reactor
Precharge
Gnd
PE
Gnd
PE
Fault
(P5-23)
(P5-13)
(P5-23)
24VDC
Return
24VDC
common
J16-6
DC+
DC-
DC+
DC-
Drive Error Reset
(P1-14)
Control Wiring Sync Cable
Analog
command
(P1-15)
8720MC
SERCOS/Analog
Drive 2
Reset
(P5-22)
Run
Sercos
DRIVE OK
(P5-15) Drive error
+24VDC
TE
Drive
(P5-6) Enable
(P5-7)
1336R-VB
Regenerative
Converter
24VDC
common
(P5-13)
(P5-14)
J16-5
PE
PE
U
V
8720SM Motor
W
PE
PE
(P5-15) Drive Error
CNC Drive
Enable
A-B 100-Cnn10
(MC) Main Contactor
8720MC
SERCOS/Analog
Drive 1
Drive Error
Reset
Line
Fuses
(P1-15)
DRIVE OK
+24VDC
Motor
U
V 8720SM Motor
W
PE
J15-1
J15-4
CR1
PE
J16-1
Drive Power ON
120vac high
VSC Run
Drive Power OFF
CR1
CR1
120vac low
Earth Gnd
TE
External Fault
Earth Gnd
24VDC comm
Fault Reset
CustomerMagnetics
Digital comm
J16-2
Earth Gnd
TE
J15-6
J15-3
J15-2
Earth Gnd
J15-5
RPS Fault Reset
Note1: The 48 and 78 ampere regenerative converters do not require external 120vac control power.
The 180 unit requires external 120vac control power.
Customer Magnetics
30816-M-R4
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-31
8720MC Input/Output Wiring
Figures 4.19 through 4.21 provide information about the digital input/
output and feedback wiring for the 8720MC Drive.
Figure 4.19
8720MC Input/Output Wiring
8720MC Digital I/O Wiring
Analog Outputs
ScanPort
Motor Encoder Feedback
Aux
FB
u
U
FB
8720 MC Drive I/O
Auxiliary Encoder Feedback
v
V
8720SM
motor
w
W
x
lo
y
lo
z
lo
PE
A quad B Output
24vdc probe
(P4-3)
5vdc probe
(P4-2)
(P4-7)
(P4-4)
(P4-8)
(P5-23)
VSC J16-2 or 8720MC-RPS-COM
(P5-22)
hi
+24vdc Registration Input (note 1)
hi
+5vdc Registration Input (note 1)
hi
Registration Input Common
(P5-6)
+5vdc
Drive OK to (Relay 1)
Motion Controller
+5vdc return
+24vdc return (Notes 1 & 3)
(P5-8)
Enable Brake
(Relay 2)
Solenoid
+24vdc for inputs
Typical 24vdc input
(P514)
Hi Contactor output (Relay 3)
(Input 1) Drive Enable
Typical 24vdc input (P5-15) (Input 3) Drive Error Reset
Typical 24vdc input (P5-16) (Input 5) Parameter set bit 2
Typical 24vdc input
(P5-17)
Typical 24vdc input
(P5-18) (Input 9) Parameter set bit 0
Typical 24vdc input
Typical 24vdc input
Typical 24vdc input
(P5-32)
(P5-33)
(P5-34)
(Input 2) Orient Request
(Input 4) Auto/Manual Select
Typical 24vdc input
Note 3
SERCOS
(P5-36)
(P5-13)
(Output 5) Zero Speed
(Note 4)
(Output 7) Shut Down Fault
(Output 9) Auto Ref Enabled
(Output 6) Orient Complete
(Input 6) Jog
(Output 8) Torque > Limit
(Input 10) Regen PS OK
(Output 10) At Speed
(P5-27)
LO
Customer supplied +24vdc or 120vac
(P5-10) Typical 24vdc output
(P5-11) Typical 24vdc output
(P5-12) Typical 24vdc output
(P5-28) Typical 24vdc output
(P5-29) Typical 24vdc output
(P5-30) Typical 24vdc output
+24 vdc Input Common
Output +24vdc (note 2)
HI
(P5-25)
(P5-26)
Lo Contactor output (Relay 4)
(Input 7) Parameter set bit 1
Typical 24vdc input (P5-35) (Input 8) Reserved
P5-22
brake
(P5-9)
(P5-24)
P5-22 or external +24vdc
+24 = true
To Motion Controller E-stop String
(P5-7)
P5-31
CR
CR
CR
CR
+24vdc when true
CR
CR
Customer Supplied +24 vdc
for Drive +24 vdc Outputs
Customer+24vdc return
Customer +24vdc for Outputs
Note 1:When using the 8720MC supplied +5vdc for the probe input (P4-2), terminal P4-7 must be tied to P4-8. - Do not jumper when external +5vdc is used.
- not jumper when external +24vdc is used.
When using the 8720MC supplied +24vdc for the probe input (P4-3), terminal P4-7 must be tied to P5-23. Do
Note 2: When using the 6 solid state 24vdc outputs available with the 8720MC , the customer must supply external +24vdc to P5-31.
Note 3: When using the 8720MC supplied +24vdc for the 10 available inputs, terminal P5-13 must be tied to P5-23 - otherwise connect to external +24vdc return.
Note 4: The digital inputs and outputs are shown with the I/O links that occur when the drive is in the analog command configuration. See Chapter 6
30714-M-R7
Input/Output Power
Terminals P5-22 and P523 provide isolated +24V DC user power for
use with registration and digital inputs. This power is limited to 120
mA continuous at 22V DC +/-25%.
Terminals P4-4 and P4-8 provide isolated +5V DC user power for use
with the +5 V DC registration inputs and the A quad B output. This
power is limited to 250 mA at 5 VDC +/- 10%.
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4-32
Drive Installation and Wiring
There are four relay contact outputs as shown in Figures 4.18 and
4.23. The contacts are rated at 5 amps and the power must be
provided externally through user 120V AC or 24V DC power
supplies.
There are six 24V DC digital outputs for customer use. Each output
can deliver up to 75 mA at 24V DC. Considering the limitation of 120
mA (total) at 24V DC of the 8720 MC 24V DC power supply, all
power to the 24V DC digital I/O should be, in most cases, provided
externally by the user as shown in figure 4.19.
The Output points are linkable to the 8720MC software. The default
factory linkages for the I/O assignments are application dependent.
The common default assignments are shown in figure 4.18. Chapter
6: Interface Signal Description describes how to link the I/O to
variables other than the defaults.
Universal Feedback Interface
Figure 4.20 and 4.22 illustrate that the 8720MC supports a motor
feedback port, an auxiliary feedback port (SERCOS version only),
and an A quad B motion controller position feedback output port. The
motor feedback port interfaces to the motor mounted feedback
device. In the case of the 8720SM motor this is one of three devices
depending on the application.
The Stegmann SNS-60 device is an incremental sine/cosine encoder
used for spindle and power servo applications where an analog
velocity command is the required motion controller interface. It’s
output signals include a marker pulse. This device is required if the
8720MC encoder output signals are interfaced with a motion
controller for position feedback.
The Stegmann SRS-60 is a single-turn absolute feedback device used
in spindle applications, as well as power servo applications which
require single-turn absolute feedback. This is only available in the
SERCOS version.
The Stegmann SRM-60 is a multi-turn absolute feedback device
capable of providing absolute feedback from 0 to 4096 turns of the
motor. Each of these feedback devices outputs accurate sine and
cosine signals. The SNS-60, SRS-60 and SRM-60 output 1024
sinusoidal periods per revolution. These sine waves are interpolated
by the 8720 MC and provide position and velocity resolution of 4
million counts per revolution.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-33
Figure 4.20
Feedback Wiring for the 8720MC SERCOS Configuration
8720MC Signal Interface Wiring - Sercos
(P4-1)
+/- 10vdc analog out
(P4-6)
+/- 10vdc analog out
(P4-5)
Analog output 1
signal
Analog output 1 & 2 signal return
(P5-1)
A Channel
(P5-19)
A Channel
(P5-2)
B Channel
(P5-20)
B Channel
Analog output 2 signal return
Ground Shield
via Braid Clamp
A quad B Output to Motion Controller
(P5-3)
Z Channel
Sercos
8720SM Motor connector
PIN numbers.
Ground Shield
via Braid Clamp
Sine Return or A
(P1-2)
B
Cosine or B
(P1-3)
Cosine Return or B
(P1-4)
RS - 485 or Z
(P1-8)
RS - 485 Return or Z
(P1-9)
C
D
P
R
(P5-4)
(P1-1)
Sine or A
A
+9 vdc
(P1-6)
F
Enc. power common
(P1-5)
Motor Thermal Switch
(P1-12)
MotorThermal Switch
(P1-13)
G
(P5-21)
8720 MC Drive
Signal Interfaces
Sercos Configuration
Shields Grounded
to chassis
via Braid Clamp
Port 1
Motor
Feedback
Motion Controller AqB
Encoder Power Common
(P1-14)
Sine or A
(P1-15)
Sine Return or A
(P1-16)
Cosine or B
(P1-17)
Cosine Return or B
(P1-21)
(P1-22)
Port 2
Auxiliary
Feedback
Z Channel
(P1-19)
(P1-18)
RS - 485 or Z
RS - 485 Return or Z
+9vdc
Enc. power common
K
L
T
Encoder Case Ground
Used with SSI
devices only
Ground to
drive chassis
clock
(P1-10)
Not clock
(P1-11)
+5 vdc for 5 volt encoders
Enc. power common
(P1-7)
(P1-20)
+5vdc
(P1-23)
clock
(P1-24)
Not clock
Used with SSI
devices only
30715-M-R5
The universal feedback interface also supports sinusoidal gear type or
magnetic frameless spindle motor feedback devices as well as A quad
B square wave encoders. The feedback choice is a software
configuration option. Figure 4.20 shows the nature of the sinusoidal
feedback signals. A one volt peak to peak sine or cosine wave ride on
a 2.5 vdc offset voltage. These signals are returned to the 8720MC via
differential amplifiers and A/D converters.
Publication 8720MC-UM 001C-EN-P Feb 2001
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Drive Installation and Wiring
Figure 4.21
Sinusoidal Encoder Signals, SRS-60, SNS-60 and SRM-60
A total of eight feedback signal wires are required: two for sine, two
for cosine, two for power, and two for RS485 communication. The
RS485 channel is used to store key product and initialization data at
manufacture. The 8720MC can read the feedback device and identify
the type of motor, type of feedback device, and the key motor and
feedback device specific parameters. Any of these can be overridden
during system configuration, as explained in Chapter 7 and 8:
Programming Terminals and Programming Parameters. Provisions
for the motor thermal switch are made at the feedback interface
through terminals P1-12 and P1-13, as shown in Figures 4.20 and
4.22. Also the encoder case ground, motor connector pin T, should be
connected to earth ground via the 8720MC chassis ground. This can
be accomplished by a separate lead when using 6 paired encoder
shielded cable or connecting the cable overall shield or the drain wire
to pin T on the motor mating connector. See Figure 5.5 in Chapter 5
for details of the motor connector. The drive end of the encoder case
ground must be connected to earth ground via the PE connection or
cable clamp.
Encoder Power
The motor and auxiliary feedback port connectors provide terminals
for both 5 vdc and 9 vdc encoder power. The encoder voltage to be
used is determined by the feedback device selected. Table 4.15
provides a list of feedback devices and their required input voltages.
The standard 8720SM motor Stegmann feedback devices use 9 vdc
encoder power. Make sure the proper feedback device voltage is
connected to the encoder before applying power to the 8720MC
Drive. A total of 300 ma of 5 vdc encoder current is shared between
the two 5 vdc encoder power terminals, P1-7 and P1-20. This means
that if the 5 vdc motor feedback device uses 100 ma then 200 ma is
available for the auxiliary 5 vdc feedback device. In a like manner, a
total of 300 ma of 9 vdc encoder current is shared between the two 9
vdc encoder power terminals, P1-6 and P1-19.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-35
The combined current requirements for two 5 vdc encoders or two 9
vdc encoders cannot exceed 300 ma. A single common power return
terminal is provided for both 5 vdc and 9 vdc power supplies on each
feedback channel. Term. P1-5 is the encoder power return for the
motor feedback channel. Term. P1-18 is the power return for the
auxiliary feedback channel.
A 300 ma 9 vdc encoder can be connected to the motor feedback port
and a 300 ma 5 vdc to the auxiliary or visa versa.
Figure 4.22
Feedback Wiring for the 8720MC Analog Configuration
8720MC Signal Interface Wiring - Analog
+/- 10vdc analog out
+/- 10vdc analog out
(P4-1) Analog output 1
signal
(P4-6)
Analog output 1 & 2
signal return
(P4-5)
Analog output 2
signal return
Ground Shield
via Braid Clamp
(P1-1)
Sine or A
A
Sine Return or A
Cosine or B
(P1-3)
Cosine Return or B
(P1-4)
RS - 485 or Z
(P1-8)
RS - 485 Return or Z
(P1-9)
C
D
P
R
+9 vdc
(P5-19)
A Channel
(P5-2)
B Channel
(P5-20)
B Channel
(P5-3)
Z Channel
(P5-21)
Z Channel
(P5-4)
(P1-2)
B
A Channel
A quad B Output to Motion Controller
Ground Shield
via Braid Clamp
8720SM Motor connector
PIN numbers.
(P5-1)
8720 MC Drive
Signal Interfaces
Analog Configuration
Shields Grounded
to chassis
via Braid Clamp
Analog input 1
(P1-6)
Motion Controller AqB
Encoder Power Common
(P1-14)
F
Enc. power common
(P1-5)
Motor Thermal Switch
(P1-12)
MotorThermal Switch
(P1-13)
G
K
L
T
Analog input 1 Return
Port 1
Motor
Analog input 2
Analog input 2 Return
Analog input 1
(P1-15)
(P1-16)
Analog input 2
(P1-17)
Encoder Case Ground
Used with SSI
devices only
clock
(P1-10)
Not clock
(P1-11)
+5 vdc for 5 volt encoders
(P1-7)
30716-M-R5
The Universal feedback interface supports a second feedback port.
The “auxiliary feedback port” is provided for axis or spindle mounted
feedback devices. The auxiliary feedback port is only available when
the SERCOS command interface is chosen during the drive
configuration. This feedback interface is shown in figure 4.20. Table
4.15 provides a list of feedback devices that are supported by the
8720MC.
Publication 8720MC-UM 001C-EN-P Feb 2001
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Drive Installation and Wiring
Table 4.15:
Feedback Devices Supported by the 8720MC
Device
Vender
Rotary
/Linear
Commutation
Data Available
Output
Type
Power
Supply
Cycles/Pulses
Per Revolution/
ML
Absolute/
Incremental
SNS-60
(Sincoder)
8720SM Motor
Stegmann
Rotary
Optical
Hiperface RS485
Hiperface
Differential
Sine/Cosine
7-12 V
60 mA
1024
Single Marker
High Resolution
Incremental
SRS-60
Sincos
8720SM Motor
Stegmann
Rotary
Optical
Hiperface RS485
Hiperface
Differential
Sine/Cosine
7-12 V
130 mA
1024
Single-Turn
Absolute
SRM-60
Sincos
8720SM Motor
Stegmann
Rotary
Optical
Hiperface RS485
Hiperface
Differential
Sine/Cosine
7-12 V
130 mA
1024
4096 Turns
Multi-Turn
Absolute
ERN480
Auxiliary
Heidenhain
Rotary
Optical
N
Differential
Sine/Cosine
Analog Z
5V
150 mA
+/- 10%
1024-5000
Incremental
LS186
Auxiliary
Heidenhain
Linear
Optical
N
Differential
Sine/Cosine
Analog Z
5V
150 mA
+/- 5%
20um Signal Per.
240-3040 mm
ML
Incremental
LS186C
Auxiliary
Heidenhain
Linear
Optical
N
Differential
Sine/Cosine
DC Marks
5V
150 mA
+/- 5%
20um Signal Per.
240-3040 mm
ML
Semi-Absolute
Distance Coded
LS176
Auxiliary
Heidenhain
Linear
Optical
N
Differential
TTL A q B, Z
5V
140 mA
+/- 5%
4um Signal Per.
240-340 mm
ML
Incremental
LS176C
Auxiliary
Heidenhain
Linear
Optical
N
Differential
TTL A q B,
DC Marks
5V
140 mA
+/- 5%
4um Signal Per.
240-340 mm
ML
Semi-Absolute
Distance Coded
ERN420
Auxiliary
Heidenhain
Rotary
Optical
N
Differential
TTL
A q B, Z
5V
150 mA
+/- 10%
1024-5000
Incremental
ERM180.1
Frameless Motor
Heidenhain
Rotary
Magnetic
N
Differential
Sine/Cosine
Analog Z
5V
150 mA
+/- 10%
ERM180.3:1024
ERM180.1:2048
Incremental
GEL 244K
Frameless Motor
Lenord
Bauer
Magnetic
Toothed
Wheel
Sensor
N
Differential
Sine/Cosine
Analog Z
5V
200 mA
+/- 5%
256-1024 Teeth
Incremental
1392 Compatible
Encoder (not
available on drive)
Yaskawa
Rotary
Optical
N
AqB
Differential
+/- 12 VDC
1024 lines
Incremental
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-37
This list includes the feedback devices that were tested for
compatibility with the 8720MC. There are a variety of other feedback
devices which follow standard encoder interface practices which will
interface successfully to the 8720MC. Standard A quad B differential
TTL encoders and scales, as well as 1 volt peak to peak scales and
encoders, are examples. Check with your local A-B technical support
personnel to assure compatibility with devices not listed.
Connections to the Feedback Interface and Feedback Cables
Connections to the feedback interface are made through Weidmueller
removable connectors at the 8720MC drive end. These connectors are
designed for stripped #22 wire connections. A small instrument screw
driver is required to release the spring loaded wire clamp. See Figure
4.11 earlier in this chapter for an illustration of the method of
releasing the spring clamp. With the clamp released, the stripped wire
is inserted into the connection point. Approximately 1/2 inch of
insulation should be stripped from the wire. The recommended
feedback interface cable has 6 twisted pairs of #22 AWG or larger
wire preferably with both a foil shield around the twisted pairs and a
braided shield overall and a drain wire. The wire should minimally
have a PVC jacket and preferably polyethylene in areas where
coolants or other corrosive chemicals will be found. Samples of
acceptable feedback cable are Belden #8306. Also Olflex Unitroic 190 CY paired cable #602206TP or Olflex Unitonic FD paired cable
#35903 or #35910. Beldon #8778 has Beldfoil sheilds around each
twisted pair with a drain wire for each pair. This cable can also be
used if the drain wires are wrapped together and firmly held by the
cable clamps. The 8720MC chassis has special shield clamps to
assure that the shields are properly bonded to chassis ground.
Bonding the braided shields to chassis ground is a mandatory
requirement to assure signal noise immunity. The Weidmueller
connectors are mechanically keyed, therefore, it is not possible to put
the connectors in backward. It is possible to switch the front and back
connectors, therefore, care must be taken to prevent reversing the
front and back connectors. To prevent this, make sure the cables and
connectors are clearly labeled. Also tie wrap the cables to the tie
points provided.
It is always good practice to keep the feedback and signal wiring
separated from noise generating sources such as the motor cables.
Wherever possible run the control wires in different conduits from the
motor leads.
A quad B “Virtual Encoder” Output
A virtual 1024 line encoder output interface is provided for use with
any motion controller which provides an analog velocity or torque
command and expects a 5V TTL A quad B signal from the motor. The
quadrature outputs are connected to P5-1, P5-2, P5-3, P5-19, P5-20
and P5-21, as shown earlier in Figures 4.20 and 4.22.
Publication 8720MC-UM 001C-EN-P Feb 2001
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Drive Installation and Wiring
Figure 4.23 below shows the exact nature of the A quad B signals. If
the quadrature output signals are required, the SNS-60 Sincoder must
be the 8720SM motor feedback device. The marker from this
feedback device has a random width from encoder to encoder. The
edge rise is repeatable for any given encoder. This feedback device is
best suited for uni-directional homing and referencing. The 8720MC
provides the 5VDC power required to drive the signals shown in
Figure 4.22. It is necessary to connect the motion controller encoder
ground terminal to the 8720MC P5-4 terminal, “A quad B common.”
This assures that the signals are properly referenced to the motion
controller encoder ground. The motion controller will count square
wave edges and will achieve a 4096 count per turn resolution.
Figure 4.23
A quad B Output
5 VDC
A Channel
0 VDC
1024 lines/revolution
5 VDC
B Channel
0 VDC
1024 lines/revolution
Reference
90 DEG minimum marker
5 VDC
0 VDC
630 DEG
maximum marker
A quad B output
30472-M
For connections to the encoder output use 4 twisted pair, #22 AWG or
larger, shielded cable, Beldon 8304 or equal. A special multiplier box
is available for the Stegmann encoders. This multiplier box can be
used to simulate a 5120 lines per revolution virtual encoder. In this
instance the motion controller will also count square wave edges but
will achieve a 20480 count per turn resolution. For details contact
your Rockwell Automation Motion Application Engineer.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-39
Connecting the Analog Inputs
The 8720MC Drive has the analog inputs described in Table 4.16.
Table 4.16:
8720MC Drive Analog Inputs
Quantity
2
Description
Range of +10V
Input Impedance
20K Ohms
These are differential inputs with noise rejection filtering. Each input
has a scale factor parameter and an offset parameter for adjustment.
The A/D converter is a 14-bit device, where an input value of +10V
DC results in a digital value of 8192 with a scale factor of 1.
Likewise, an input value of -10V DC results in a digital input value of
-8192 with a scale factor of 1. Typical analog input connections are
shown in Figure 4.22, earlier in this chapter.
For velocity reference the analog input1 and 2 scale factors are set to
the maximum motor speed required at 10 Volts input. For example: if
the maximum required speed is 8,000 RPM a value of 8000RPM/10
volts is entered into parameter 695. This produces a velocity
resolution of approximately 1 rpm per A/D bit. The required
operating speed range of the motor and the available analog input
signal voltage range are used to determine the scale factor values. If
torque mode is activated the analog scaling will automatically be set
to 2.5 volts = 100% rated motor torque. Refer to Chapter 8 for details
For connecting the analog inputs use 2 wire, 1 twisted pair, #22 AWG
or larger, shielded cable. Beldon 8302 or equal.
Connecting the Analog Outputs
The 8720MC Drive has two analog outputs with a range of +10V DC
and a digital resolution of 12 bits. The following table provides
additional information about the analog outputs. The typical analog
output connections are shown in Figure 4.22, earlier in this chapter.
Table 4.17:
Analog Output Characteristics
Quantity
2
Description
Impedance
Range of +10V
50 Ohms,
20 mA maximum
Each analog output can be linked to an internal 8720MC variable as is
discussed in chapter 6. Each output also has a scale factor which is
used to scale the output voltage to the receiving device. Refer to
Chapter 8 for details.
Publication 8720MC-UM 001C-EN-P Feb 2001
4-40
Drive Installation and Wiring
For connecting the analog outputs use 2 wire, 1 twisted pair, #22
AWG or larger, shielded cable. Beldon 8302 or equal.
Connecting the Relay Outputs
The 8720MC Drive has four discrete outputs in the form of normally
open dry relay contacts. The fault outputs from the 8720MC Drive are
supplied at terminal blocks. Fault outputs provide warning or fault
signals based on drive programming. The following values are the
contact ratings for the programmable relays:
•
5A at 250V AC
•
5A at 30V DC
Figure 4.23 shows a typical isolated relay output circuit.Use # 16 to
# 18 hook-up wire, Alpha 3075 or 3077 or equal.
Figure 4.24Typical Isolated Relay Output Connections
P5-n
Isolated Relay Output Circuit
On state up to 250 vac, up to 5 A
On state up to 30 vdc, up to 5 A
4 outputs - P5-6 and P5-7
P5-8 and P5-9
P5-24 and P5-25
P5-26 and P5-27
Customer
power supply
P5-n+1
Customer
output device
Ch4-104-R2
Connecting the Digital Inputs
Ten digital inputs are available in the 8720MC Drive. These inputs
are optically isolated to 500V from control power. They have
hardware filtering with a time constant of 300 micro seconds and a
software debounce, which requires stable input for 5 milli second
prior to validation. Table 4.18 shows the digital input characteristics.
Table 4.18:
Digital Input Characteristics
Condition
Voltage
Amperage
On
12 - 38V DC
3.3 - 12mA
Off
less than 6.6V DC
less than 1.5mA leakage
Figure 4.24 shows the typical digital input connections. Use # 16 to
#18 hook-up wire, Alpha 3075 or 3077 or equal.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-41
Figure 4.25
Typical Digital Input Connections
Customer
Customer +24vdc
switch
or
8720MC +24vdc P5-22
Customer +24vdc Return
or
8720MC +24vdc P5-23
Return
vcc
P5-n
P5-13
24 vdc Digital Input Circuit
On state 12 - 38 vdc, 3.3 - 12 mA
Off state < 6.6 vdc, <1.5 mA leakage
Optically isolated to 500 v
Filter with 300 uSec time constant
10 inputs - P5-14 thru P5-18 and
P5-32 thru P5-36
P5-13 is common
Ch4-101-R2
Connecting the Digital Outputs
Six discrete solid state DC current sourcing outputs are available in
the 8720MC Drive. These outputs are optically isolated to 500V from
control power. They have hardware filtering with a time constant of
300 micro seconds and a software debounce, which requires stable
input for 5 milli second prior to validation. Table 4.19 shows the
digital output characteristics.
Table 4.19:
Digital Output Characteristics
Condition
Voltage
Amperage
On
Up to 40V DC
Up to 75mA current limited
Off
N/A
less than 0.25mA leakage
Figure 4.25 shows the typical digital output connections.Use # 16 to
#18 hook-up wire, Alpha 3075 or 3077 or equal.
Figure 4.26
Typical Digital Output Connections
+24 vdc Output
External Power
P5-31
+
Customer
+24vdc
power supply
+
Customer
output device
P5-n
24 vdc Digital Output Circuit
On state up to 40 vdc, up to 75 mA
Off state < .25 mA leakage
Optically isolated to 500 v
6 outputs - P5-10 thru P5-12 and
P5-28 thru P5-30
P5-31 is external power
Ch4-IO3-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
4-42
Drive Installation and Wiring
Connecting the Registration Inputs
You can use the two registration (pulse) inputs also as digital inputs.
These inputs are optically isolated to 500V from control power. The
registration inputs can cause latching of the feedback position to
within 4 micro seconds. Software parameters are available to cause
the arming and indicate triggering of these inputs. For more
information on the software parameters, refer to Chapter 8:
Programming Parameters.
One of the registration inputs is configured for +24V DC type devices
with the characteristics shown in Table 4.20. This input has hardware
filtering with a time constant of 3 micro seconds and a software
debounce, which requires stable input for 5 milli seconds prior to
validation. The debounce applies only when the registration input is
used as a digital input.
Table 4.20:
Characteristics for the +24vdc Registration Input
Condition
Voltage
Amperage
On
17.5 - 38V DC
5 - 15mA
Off
less than 6.9V DC
less than 1.5mA
leakage
The other registration input is configured for +5V DC type devices
with the characteristics shown in Table 4.21. This input has hardware
filtering with a time constant of 0.3 micro seconds and a software
debounce, which requires stable input for 5 milli seconds prior to
validation. The debounce applies only when the registration input is
used as a digital input
Table 4.21:
Characteristics for the +5vdc Registration Input
Condition
Voltage
Amperage
On
4 - 7.5V DC
5 - 15mA
Off
less than 2V DC
less than 1.5mA
leakage
Figure 4.26shows the typical registration input connections. For
connecting the registration inputs use 2 wire, 1 twisted pair, #24
AWG or larger, shielded cable. Alpha 6412 or equal.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-43
Figure 4.27
Typical Registration Input Connections
Registration
8720MC +5vdc P4-4
input
P4-2 +5vdc reg in
or
P4-3 +24vdc reg in
8720MC +24vdc P5-22
vcc
+5 vdc Registration input
On state 4 - 7.5 vdc, 5 - 15 mA
Off state < 2 vdc, < 1.5 mA leakage
1 input - P4-2, P4-7 common
+24vdc Registration input
On state 17.5 - 38 vdc, 5 - 15 mA
Off state < 6.9 vdc, < 1.5 mA leakage
1 input - P4-3, P4-7 common
8720MC +5vdc Return P4-8
or
P4-7 +Registration
8720MC +24vdc Return P5-23
common
Ch4-102-R2
Disconnecting the Drive Output
Any method of disconnecting the drive output terminals U, V, and W
must disable the drive if opened during drive operation. If opened
during drive operation, the drive may fault. You should remove the
Drive Enable before the contactor is opened. When the Drive Enable
is removed, the drive stops modulating.
Starting and Stopping the Motor
Before designing the input connections to the 8720MC Drive, read
the Attention information shown below.
!
Electrical Interference - EMI/RFI
ATTENTION: The 8720MC Drive control circuitry
includes solid-state components. If hazards due to
accidental contact with moving machinery or
unintentional flow of liquid, gas, or solids exist, an
additional hard wired stop circuit may be required to
remove AC line power to the drive. When AC input
power is removed, there is a loss of inherent
regenerative braking effect and the motor coasts to a
stop. An auxiliary braking method may be required.
Immunity
The immunity of 8720MC Drives to externally generated interference
should be adequate for most applications. Usually, no special
precautions are required beyond the installation practices provided in
this manual.
All coils of DC relays and contactors should be suppressed with
diodes. All coils of AC relays and contactors should be suppressed
with the manufacturers recommended coil suppressor.
In areas subject to frequent lightning strikes, additional surge
suppression is advisable. You should use suitable metal oxide
varistors (MOVs) connected between each line and ground.
Publication 8720MC-UM 001C-EN-P Feb 2001
4-44
Drive Installation and Wiring
Emission
To avoid interference with nearby sensitive equipment, you must
carefully arrange the power and ground connections to the drive.
Route the cable that goes to the motor well away from sensitive
equipment, as the motor cable carries high energy switched voltages.
Connect the ground conductor of the motor cable to the drive ground
(PE) terminal directly. Connecting this ground conductor to a cabinet
ground point or ground bus bar may cause high frequency current to
circulate in the ground system of the enclosure. You must solidly
connect the motor end of this ground conductor to the motor case
ground.
Shielded cable is recommended to prevent radiated emissions from
the motor cable. Connect the shield to the drive chassis.
Common mode chokes are recommended at the drive output to
reduce the common mode noise. An AC input RFI filter can be used
and in most situations provides an effective reduction of RFI
emissions that may be conducted into the main supply lines. It should
be noted that the higher the PWM frequency the higher the chances of
radiated emissions
Do I Need an RFI Filter?
The 8720MC-RPS and 1336R Regenerative Power Supplies require
external harmonic filters. The 8720MC ac input drives should also be
supplied with an RFI filter wired on the input to the drive to reduce
the potential for noise emission. The RFI filter controls radiofrequency conducted emissions into the main supply lines and ground
wiring. If you follow the cabling and installation instructions
described in this manual, interference problems are unlikely when the
drive is used with conventional industrial electronic circuits and
systems.
You should use the optional RFI filter if:
•
You must conform to a standard such as EN 5501 1, VDE0875,
BSI, or FCC.
•
You need to achieve very low emission levels.
•
You are installing sensitive devices or circuits on the same AC
supply-
•
The motor cable exceeds 50 meters (164 feet). Beyond this
length, capacitance to ground increases the supply emissions.
•
You must comply with European CE Requirements
Important: The conformity of the drive and filter to any standard
does not assure that the entire installation conforms.
Other factors can influence the total installation and only
direct measure can verify total conformity.
Publication 8720MC-UM 001C-EN-P Feb 2001
Drive Installation and Wiring
4-45
Installing an RFI Filter - CE Option
To install the RFI filter, follow the instructions provided by the filter
manufacturer. In addition, you should note the following information:
•
Connect the RFI filter between the incoming AC supply line and
the drive power input terminals as shown in Figures 4.14 and
4.16.
•
Install the filter on the same mounting plate as the drive, if
possible. The filter should be physically close to the drive with
short connections.
•
Keep the 3 phase AC leads tightly bundled together between the
RFI filter and the drive input.
Important: To assure that the RFI filter is effective, you must shield
or armor the motor cable and follow the guidelines given
in this manual.
RFI Filter Leakage Current
The optional RFI filter may cause ground leakage currents.Therefore,
you must provide an appropriate ground connection. Refer to the
grounding instructions on page 4-6.
!
ATTENTION: To guard against possible equipment
damage, you can only use RFI filters with AC supplies
that are nominally balanced with respect to ground. In
some countries, three-phase supplies are occasionally
connected in a 3-wire configuration with one phase
grounded (Grounded Delta). The filter must not be used
in Ground Delta supplies.
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4-46
Drive Installation and Wiring
Publication 8720MC-UM 001C-EN-P Feb 2001
Chapter
5
Motor Installation and Wiring
Chapter Objectives
8720SM AC Motor Overview
Chapter 5 provides the following information so that you can mount
and wire your 8720SM AC Motor:
•
8720SM AC motor overview
•
before mounting your motor
•
mounting your motor
•
wiring your motor
•
grounding your motor
•
wiring a feedback device
•
starting your motor
•
maintaining your motor
The 8720SM motors are high performance AC induction motors
specifically designed for use with the Allen Bradley 8720MC Drives.
The basic design includes Class H insulation, 1.0 service factor, 40°C
ambient temperature, continuous duty. Standard motors are totally
enclosed, blower cooled and meet IP55 environmental protection
requirements. The 8720SM AC Motors have been designed and
manufactured to meet the needs of modern high performance
industrial machinery. To cover a wide variety of spindle motor
requirements, both a standard single winding series of motors and a
dual winding series are available. All standard motors are provided
with permanently greased, sealed deep groove ball bearings.
An integrated high resolution incremental, single-turn absolute or
multi-turn absolute feedback device provides responsive servo
performance for both spindle and power servo applications. Highly
accurate position and velocity control is readily available.
8720SM AC Spindle Motor Family
A family of thirteen standard AC spindle motors is available with
power ratings from 5.5 to 93 kW (7.5 to 125 hp). The motors are
designed to operate with the A-B 8720MC 380V AC to 480V AC
input inverters, as well as the 8720MC regenerative power supply or
the 1336R regenerative power supply. The following table provides
general rating information for the 8720SM AC spindle motors.
5-2
Motor Installation and Wiring
Table 5.1:
General Information for the 8720SM Motors
Frame
kW at 1500 rpm
Base Speed
Horsepower at
1500 rpm Base
Speed
Rated Current
(amps) at 1500
rpm Base
Speed(1)
DL1106
5.5
7.5
13.5
DL1108
7.5
10
20.3
DL1110
11
15
26.8
DL1307
15
20
33.4
DL1308
18.5
25
41.4
DL1310
22
30
48
DL1611
30
40
63.1
DL1613
37
50
76.1
DL1811
45
60
93
DL1813
55
75
116
DL1815
63
85
117.5
DL2010
75
100
137
DL2012
93
125
176
NOTE (1) Currents are based on operation with the 8720MC-RPS Regenerative Power
Supply. Base speed is 1500 rpm for all motors.
Before Mounting Your Motor
Handling
The 8720SM motors are equipped with lifting eye bolts. These eye
bolts are provided to assist in handling and mounting the motors. The
motors can accommodate either flange or foot mount. Dimensional
details for mounting and lifting each of the thirteen standard frames is
provided in Chapter 3: Dimensions.
!
Publication 8720MC-UM 001C-EN-P Feb 2001
ATTENTION: Eyebolts may unscrew during lifting.
Check eyebolts to insure that they are tight. Secure
eyebolts from turning. Failure to observe this
precaution could result in bodily injury.
Motor Installation and Wiring
5-3
Storage
Store motors in a clean, dry area protected from extreme
temperatures, moisture, shock, and vibration. Observe storage
temperatures of 20°C to 80° C with a relative humidity of 5 to 95%.
In addition, if motors are subjected to extended storage, follow the
requirements listed in the Reliance Electric Service Bulletin A-8018
available from your Rockwell Automation Sales Office.
Important: All drains are fully operable while in storage. Store
motors so that the drain is at the lowest point. Drains are
located in the lower portion of the motor castings on both
the drive and non-drive ends of the motor.
!
ATTENTION: Only qualified electrical personnel
familiar with the construction and operation of this
equipment and the hazards involved should install,
adjust, operate, and/or service this equipment. Read and
understand this chapter in its entirety before proceeding.
Failure to observe precaution could result in severe
bodily injury or loss of life.
The application of motors and other electrical equipment in
hazardous locations is restricted by the National Electric Code. To
ensure compliance, observe these regulations and consult with local
code inspection and enforcement agencies.
Location
The 8720SM motors are designed for the ambient temperature
indicated on the nameplate. The standard motor maximum ambient is
40°C or 104°F. Locate the motor where the ambient temperature
requirements are satisfied and where clean air has free access to
ventilating intake and outlet openings. Except for machines with a
suitable protective enclosure, the location should be clean and dry.
NOTE: The cooling system on standard 8720SM blower cooled
motors requires that clean air is forced through ducts which are
integral to the stator frame. It is important that you keep these air
passages clean and that sufficient clearance is provided on the motor
air inlets and stator duct outlets for unrestricted air flow.
Mounting Considerations
Before mounting your 8720SM motor, consider the following:
•
You can mount the motor horizontally or vertically with the shaft
down or up.
Publication 8720MC-UM 001C-EN-P Feb 2001
5-4
Motor Installation and Wiring
•
The 132mm (DL1308 thru DL2012) and larger motors are blower
cooled with air flow from the drive end to the blower end. The
112mm motors (DL1106, Dl1108 and DL1110) are supplied
standard with air flow from the blower end to the drive end. The
air flow must be flowing in the direction of the arrow on the
motor to provide adequate cooling. Both air inlets and outlets
must be free of obstructions. Maintain a clearance of at least 150
mm (6 inches) at the blower exhaust area. Maintain a clearance of
at least 100 mm (4 inches) at the blower inlet area. Reverse air
flow motors can be provided when the application and
environment are suitable. Reverse air flow motors must be
purchased with a reverse air flow blower.
•
When mounted, the motor must not be exposed to direct splash or
spray of cutting fluids or lubricating oils.
•
Motors include a labyrinth type shaft seal with flinger, which
provides excellent protection against oil splash. However, it will
not provide protection against oil flooding.
•
In an environment where high humidity is present or the motor
blower inlet air is saturated with coolant mist make sure the
motor is mounted with the feet down and the drain holes at the
bottom of the motor must be open.
Power Supply
The 8720SM motor is an adjustable speed motor designed for
operation with the 8720MC Drive.
Verify that the motor nameplate data corresponds to the 8720MC
Drive output rating.
Conduit Box
The standard conduit box location for totally enclosed motors is top
mounted for left or right conduit entry without motor disassembly.
The 132 mm frames and larger allow rotation of the conduit box in 90
degree increments for lead outlet at front, back, or sides. For the 112
mm frame, left and right side metric threaded outlets are standard.
Use a metric conduit adaptor such as a Thomas and Betts #PG29-100
for 1 inch conduit or a #PG29-125 for 1.25 inch conduit.
Publication 8720MC-UM 001C-EN-P Feb 2001
Motor Installation and Wiring
5-5
Bolt and Torque Requirements
Read the following attention text before mounting your motor.
ATTENTION: You must be careful to prevent debris
(such as metal shavings and conduit knockouts) from
falling into the motor while performing any installation
work around the motor. A hazard of personal injury and/
or equipment damage exists if foreign material lodges
inside the motor.
!
Mount your motor on a rigid, solid base or foundation. Poor base
construction may cause resonances in the motor/base assembly,
which can result in bearing failure and other motor damage. Use the
correct grade of all hold down bolts for the type of mounting. Torque
the bolts to their recommended value, as listed in Table 5.2.
Table 5.2
Motor Mounting Specifications
Hole Diameter
(mm)
Bolt Size and
Thread
Recommended
Torque
(Foot - Pounds)
Bolt Grade
8.8 System
12
M10-1.5
39
12
M10-1.5
39
14
M12-1.75
67
15
M12-1.75
67
18
M16-2.00
167
19
M16-2.00
167
Publication 8720MC-UM 001C-EN-P Feb 2001
5-6
Motor Installation and Wiring
Belted Drives and Coupled Drives
8720SM motors are supplied with a shaft suitable for a belt or
coupled drive. Bearing loads will vary depending on the belt load.
The bearing load increases as the sheave centerline moves away from
the motor flange mounting surface. For more information, check belt
loads against allowable radial loads, as described in the motor
specification tables in Chapter 2.
!
ATTENTION: Incorrect motor rotation may cause
personal injury or damage the equipment. Check the
direction of the motor rotation before coupling the
motor to the load.
ATTENTION: Insure that all guards are properly
installed before proceeding. Exercise extreme care to
avoid contacting rotating parts. Failure to observe these
precautions could result in bodily injury.
Proper alignment is a key step for long life of bearings, shafts and
belts, and minimum downtime. Misalignment can cause excessive
vibration and damaging forces to the shaft and bearings. During high
speed operation, a small unbalance can cause significant vibration.
For direct coupled drives, flexible couplings facilitate alignment. For
belt drives, place the sheave as close as possible to the motor bracket.
Make sure to accurately dynamically balance any gears, pulleys, or
couplings that are mounted to the motor shaft. Best results are
obtained by balancing after the device is mounted to the shaft.
Belted Drives
If you use motor slide bases or rails, you must securely anchor them
to the foundation with the proper bolts. Make sure the motor shaft and
load shaft are parallel, and that the sheaves are aligned.
When a motor is belt coupled, the belt tension must not exceed the
radial load capabilities of the motor bearings, as described in the
motor specification tables in Chapter 2. The maximum allowable
radial load is assumed to be applied at the end of the motor drive
shaft. Do not exceed the maximum allowable radial load on the end of
the shaft.
Coupled Drives
Use flexible couplings between the motor shaft and the load shaft.
Align the motor shaft and the load shaft to values recommended for
the specific coupling before coupling is connected.
Standard 8720SM motors will operate successfully mounted on the
floor, wall, or ceiling, and with the shaft at any angle from horizontal
to vertical.
Publication 8720MC-UM 001C-EN-P Feb 2001
Motor Installation and Wiring
Wiring Your Motor
5-7
Read the following attention text before wiring your motor.
!
ATTENTION: You are responsible for conforming
with the National Electrical Code (NEC) and all other
applicable local codes, wiring practices, grounding,
disconnects, and over current protection of particular
importance. Failure to observe these precautions could
result in severe bodily injury or loss of life.
ATTENTION: This equipment is at line voltage when
AC power is connected. Disconnect and lock out all
ungrounded conductors of the AC power line. Failure
to observe these precautions could result in severe
bodily injury or loss of life.
Distance Between the Motor and the Drive
If the distance between the motor and the drive requires long motor
cables, you may need to add an output reactor or cable terminators to
limit voltage reflections at the motor. The maximum recommended
cable length is 90 meters.
Cable Sizes
Table 5.3 gives the appropriate variable frequency drive shielded
cable to use based on 150% overload capability and 25°C operating
temperature. Use the cable described in Figure 4.8 in Chapter 4.
Table 5.3
Cable Sizes
1.5x Rated Continuous
Motor Current
VFD Cable Size
12 amps
#16 AWG
17 amps
#14 AWG
21 amps
#12 AWG
30 amps
#10 AWG
55 amps
#8 AWG
65 amps
#6 AWG
95 amps
#4 AWG
130 amps
#2 AWG
For applications above 130 amps, use thick insulation lead wire, such
as RHW-2 or equal. Make sure you thread the four wires (U, V, W,
and grnd) through a single, grounded, metal conduit.
Publication 8720MC-UM 001C-EN-P Feb 2001
5-8
Motor Installation and Wiring
Wiring Diagram for the Motor
Figures 5.1 and 5.2 show the conduit box wiring diagrams for the
8720SM motors. Figure 5.1 is used with the DL106, 1108 and
DL1110 frame motors. Figure 5.2 is used for all other motor frames.
Bring 4 wire shielded Beldon VFD cable or equal to these
connections: U to T1, V to T2, W to T3, and the ground wire to the
ground bolt on the motor. Connect the shield to both the motor ground
and the PE ground on the drive. Make sure the 8720MC Drive PE
ground is connected to earth ground with an AWG 10 or larger
conductor.
Figure 5.1
Wiring Diagram for 8720SM Motors - 132 MM Frame and Larger
Ground Bolt
V/T2
U/T1
W/T3
Rotatable Conduit Box
30806-M-R1
Figure 5.2
Wiring Diagram for 8720SM Motors - 112 MM Frame
Main terminal strip
Main terminal insulator
U/T1
V/T2
W/T3
Ground Label
M8 ground bolt &
flat washer
Conduit box connections for 112 frame size
Publication 8720MC-UM 001C-EN-P Feb 2001
Ground Label
30473-M
Motor Installation and Wiring
5-9
Dual Voltage Motors
For dual winding motors make sure the motor leads are connected
properly for the desired “Low” or “High” voltage connections, as
shown in Figure 4.19. Since the high/low contactor is likely to be
located in the drive cabinet it will be necessary to connect two 4 wire
shielded cables from the drive cabinet to the motors.
Direction of Rotation
8720SM motors are capable of bidirectional shaft rotation. It is
important that the feedback device leads and the motor leads are
connected properly as shown in the wiring diagrams in chapter 4. The
direction of rotation of the motor field can be reversed by changing
any 2 of the 3 motor leads. The feedback electrical rotation can be
changed by reversing either the sine or cosine polarity by switching
the leads. For example switching P1-1 and P1-2 changes the polarity
of the sine and therefore reverses the feedback rotation. If the motor
field is rotating in the opposite direction of the feedback signals
unstable erratic motion will result. The motor is not properly phased.
If this occurs you must change the direction of rotation as follows:
1. Make sure the feedback direction is correct by applying power to
the drive with the motor disabled. On the HIM or through Drive
Explorer monitor the motor feedback via parameter 51. Rotate the
shaft clockwise and the feedback should increase. If this is not the
case either the sine or cosine leads are reversed and should be
corrected. This will correct the motor phasing problem.
2. 2.If the feedback rotation was correct and therefore was not
changed turn off and lock out all power to the motor.
!
ATTENTION: The 8720MC Drive may apply
hazardous voltages to the motor leads after you have
turned off power to the drive. Before proceeding,
verify that the drive cannot deliver hazardous
voltages and that voltage at the motor is zero. Failure
to observe this precaution may result in severe
bodily injury or loss of life.
3. Before proceeding, verify that the voltage at the motor leads is
zero.
4. Reverse any two of the three motor power leads.
The motor should now be in phase with the feedback device
Publication 8720MC-UM 001C-EN-P Feb 2001
5-10
Motor Installation and Wiring
Thermal Protector (Thermostat Leads)
As a standard feature, 8720SM motors have three normally closed
thermostats. There is one thermostat per phase, connected in series,
with leads terminated to pins K and L in the feedback connector.To
protect against overheating the motor, make sure that you connect the
thermostats to the appropriate 8720MC Drive connector, Connector
P1 pins 12 and 13. Prior to initial startup assure that there is very high
resistance between each of the motor leads and the thermal switch
leads, as well as very high resistance from ground to the thermal
switch leads.
!
ATTENTION: Failure to connect the thermostats will
void the motor warranty. Refer to Table 4.5 in Chapter
4 for correct thermostat lead connections.
Blower Motor
8720SM motors are blower cooled. The motors incorporate an
independently powered three-phase AC blower motor to assure
continuous cooling air flow, regardless of the AC motor speed.
!
ATTENTION: The blower motor is typically wired to
the AC input of the 8720MC Drive and is energized
even when the drive is not running. Before touching
blower motor components, make sure to turn off and
lock out or tag the main power supply. Failure to observe
this precaution could result in severe bodily injury or
loss of life.
Connecting the Blower Motor
The specific 8720SM AC blower motor will vary, depending on
frame size and enclosure. The smallest 2 frames, 112 mm and 132
mm, DL1106 thru DL1310 have a 547 CFM blower while the 160,
180 and 200 mm frames DL1611 thru DL2012) have a 1117 CFM
blower. Follow the connection diagram supplied with the blower
motor, which in general will be the high voltage 460 vac connection
shown in Figure 5.3. The blowers should have a fuse in each motor
phase as shown in the wiring diagrams in chapter 4, Figures 4.14,
4.16, 4.17 and 4.18. The 112 mm and 132 mm frames should be fused
to 1 amp maximum. The 160 mm, 180 mm and 200 mm frames
should be fused to 2 amps. Use #16 to # 18 AWG 600 volt hook-up
wire, Alpha 3075 or 3077 or equal.
Publication 8720MC-UM 001C-EN-P Feb 2001
Motor Installation and Wiring
5-11
Figure 5.3
Blower Motor Connections
EBM Blower Connections
(Delta, 230 VAC)
(Star, 460 VAC)
W2
W2
U2
V2
U1
V1
W1
U1
U2
V1
V2
W1
L2
L3
L1
L2
L3 L1
Low Volts
High Volts
U1 = Black
U2 = Green
V1 = Blue
V2 = White
W1 = Brown
W2 = Yellow
30819-M-R2
To connect the blower motor:
1. Connect for high voltage, “Star”, as shown in Figure 5.3.
Caution: If you connect the blower for low voltage and apply
more than 240 vac to it the motor the warranty conditions are
violated.
2. Check that the direction of air flow is in agreement with the
“direction of air flow” arrows mounted on the motor.
3. If directional air flow is incorrect, interchange power leads L1
and L2, or U1 and V1.
Table 5.4 lists the necessary air flow CFM requirements for the 5
motor frame sizes. The cooling inlet air must not exceed 40 degrees
C. Allow a 4 inch gap, minimum, at the back of the motor to assure
free air flow.
If the blower motor direction of rotation is not correct the airflow will
be opposite to the arrow on the motor and it will be far lower in air
flow than what is required to cool the motor. In the standard
configuration the 112 mm motors (DL1108 to DL1110) blow air from
the blower end to the drive end. All other motors blow air from the
drive end to the blower end.
Publication 8720MC-UM 001C-EN-P Feb 2001
5-12
Motor Installation and Wiring
Table 5.4:
8720SM Air Flow Requirements
Frame Size
CFM
Static Pressure
DL 112
200
1.5
DL 130
200
1.5
DL 160
325
1.75
DL 180
425
2.00
DL 200
525
2.25
You need to properly ground your 8720SM motor.
!
ATTENTION: Connect an appropriate equipment
grounding conductor to the 8720MC Drive ground
terminal, the motor frame, the transformer enclosure if
used, the drive electrical enclosure, and an appropriate
grounding electrode. Failure to observe these
precautions could result in severe bodily injury or loss
of life.
Figure 5.5 shows general grounding information for both the
8720MC Drive and the 8720SM motor.
Figure 5.4
General Grounding Recommendations for 8720MC Drive and 8720SM Motor
Conduit/4-Wire Cable
R (L1)
Common
Mode Shield
Core*
U (T1)
S (L2)
V (T2)
8720MC
HIGH PERFORMANCE DRIVE
T (L3)
TE
W (T3)
PE/Gnd
PE
Ground Rod/Grid
or Building Structure Steel
Motor Frame
Communications
Options
or Analog
Common
Mode Core*
To Computer/Position Controller
Publication 8720MC-UM 001C-EN-P Feb 2001
Motor
Terminator *
PE
Ground per
Local Codes
* Options that can be installed as needed.
30800-M-R2
Motor Installation and Wiring
5-13
You are responsible for insuring that the motor grounding method is
in accordance with the National Electric Code and applicable local
codes. The ground connection should be a solid and permanent
metallic connection between the ground point, the motor terminal
housing, and the motor frame. A ground bolt is provided inside the
8720SM motor power junction box, as show in Figures 5.1 and 5.2,
earlier in this chapter.
Wiring a Feedback Device
Types of Feedback Devices
The 8720SM AC motors come equipped with one of three types of
integrated feedback devices:
•
Incremental sine/cosine encoder - standard
•
Single-turn absolute feedback encoder - optional
•
Multi-turn absolute feedback encoder -optional
These feedback devices provide precision servo performance for both
spindle and power servo applications. Refer to Chapter 4 for more
information about the 8720SM motor feedback device options. Table
4.9 in that chapter shows the pin designations for the P1 feedback
connector on the drive. The cable connections at the drive end are
made by stripping the insulation from the leads and inserting them
into the spring clamp for each termination, as described in Chapter 4.
A mating right-angle P-Lock connector is provided with each
8720SM motor. This connector is designed for solder joints at each
termination. Figure 5.4, below, shows the connector terminations for
the mating 17 pin P-Lock motor connector, Sine Systems catalog
number P3106Z2029S23. Catalog number ST-385-16S-08D pins are
also provided.
Publication 8720MC-UM 001C-EN-P Feb 2001
5-14
Motor Installation and Wiring
,
Figure 5.5
Motor Feedback Connector, Sine P-Lockr
34.9 mm
1.375 in
61.7 mm
2.43 in
34.9 mm
1.375 in
37.29 mm
1.47 in
26.9 mm
1.06 in
Twisted Pair
Twisted Pair
Twisted Pair
Twisted Pair
Twisted Pair
or
Cable shield
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
Internal
Wire
Color
Blue
Violet
Yellow
Orange
Red
Black
Gray
Brown
Green
M
D
R
E
N
T
L
S
K
J
G
H
viewed from
connector face
Wiring Diagram
Twisted Pair
P
F
1.19-18
MS
Terminal
A
B
C
Description
Sine
Sine Return
Cosine
Cosine Return
N/C
Encoder Power
Encoder Common
N/C
N/C
Thermal Switch
Thermal Switch
N/C
N/C
Non-Inverted Data
Inverted Data
N/C
Overall Shield
Encoder Case Ground
30818-M-R3
Maximum Cable Lengths for Feedback Devices
Table 5.5 contains information about maximum cable lengths for
8720SM motor feedback devices. Feedback cable wiring should
always be shielded. The recommended shielded cable is discussed in
Chapter 4 of this user manual. Wherever possible separate long runs
of feedback cable from the motor cable or any other power
conductors to prevent unwanted noise from coupling to the feedback
interface.
Table 5.5
Maximum Cable Lengths for Feedback Devices
Feedback Device
SNS-60
Publication 8720MC-UM 001C-EN-P Feb 2001
Maximum Cable
Length
90 m
Attainable
Resolution
4 x 106
Absolute
Capability
none
Motor Installation and Wiring
Starting Your Motor
5-15
Checking Motor Performance
While operating the motor, observe the performance. It should run
smoothly with little noise. The bearings should not overheat and
should reach a leveling off of temperature.
If there is any undue noise, overheating or erratic motor performance,
immediately investigate the situation and take corrective action to
prevent serious damage. Before attempting any repairs, please contact
your local Allen-Bradley GTS office.
Balancing the Motor
Motors are dynamically balanced to stay within a vibration limit of
12 in/sec, measured in accordance with NEMA MG1-12.06. Balance
is done with a full length 1/2 height shaft key. A full shaft key is
shipped with the motor. Sheave or coupling should be balanced with a
1/2 height shaft key.
Maintaining Your Motor
Read the following attention text before proceeding.
!
ATTENTION: Internal parts of the motor may be at
line potential even when the motor is not rotating.
Before performing any maintenance that involves
contacting an internal part, make sure to disconnect all
power from the motor. Failure to observe this precaution
could result in bodily injury or loss of life.
ATTENTION: The surface of the motor may reach
high temperatures. Avoid contact with motor surfaces
and wear suitable protective equipment.
The standard 8720SM motors are equipped with sealed deep groove
ball bearings. They are packed with the appropriate lubricant at
manufacturing and, therefore, do not require any continuing
maintenance.
Publication 8720MC-UM 001C-EN-P Feb 2001
5-16
Motor Installation and Wiring
Publication 8720MC-UM 001C-EN-P Feb 2001
Chapter
6
Interface Signal Description
Chapter Objectives
I/O Command Interface
Chapter 6 provides information on the various inputs and outputs
available as part of the 8720MC Drive. Included are signal level
definitions and detailed function descriptions for each I/O point. The
following topics are covered:
•
Digital Inputs and Outputs
•
Registration Inputs
•
Analog Inputs and Outputs
•
Changing Default Digital Output Links
•
Changing Default Analog Output Links
•
SERCOS Interface
•
SCANport Interface
•
SCANport I/O Linking
Digital Inputs and Outputs
The 8720MC High Performance Drive supports 10 digital inputs, 4
relay contact outputs and 6 digital outputs. Figures 4.23, 4.24 and
4.25 illustrate the 8720MC circuits that provide the interface to
discrete external I/O devices. Figure 4.10 and Table 4.11 illustrate the
connector interface for these digital I/O. Figure 6.1 illustrates the
recommended wiring for the digital I/O. The isolated +24vdc power
available from the 8720MC is limited to 120 Ma and is adequate for
use with the 10 digital inputs but may be inadequate when the full set
of 6 digital outputs are used. When using the 8720MC isolated +24
vdc power for the digital I/O be sure to keep the current requirements
below 120 Ma total for inputs and outputs. If more than 120 Ma is
required plan to provide an external, +24vdc power supply.
Each major 8720MC application category, as determined by
parameter 501, defines a set of I/O assignments as shown in Tables
6.1 and 6.2. The input assignments are fixed as shown in Table 6.1.
The output assignments can be modified but each application
category has a default set of output assignments as shown in Table
6.2. All output assignments, other than “Drive OK”, can be changed
by linking different 8720MC I/O event variables to the Digital Output
Parameters. Descriptions of the I/O event and digital output
parameters can be found in Chapter 8.
6-2
Interface Signal Description
Figure 6.1
8720MC Digital I/O Connections
8720MC Digital I/O Wiring
8720 MC Drive I/O
Customer Supplied
External +24 vdc (notes 1 & 2)
(P5-6)
Drive_OK
to CNC (Relay 1)
(P5-23)
+24vdc return (Note 2)
(P5-13)
connect for internal +24 vdc only
+24 = true
P5-22
(P5-22)
Typical 24vdc input
(P514)
Typical 24vdc input
(P5-15)
Typical 24vdc input
(P5-16)
Typical 24vdc input
(P5-17)
Typical 24vdc input
(P5-18)
Typical 24vdc input
(P5-32)
Typical 24vdc input
(P5-33)
Typical 24vdc input
(P5-34)
Typical 24vdc input
(P5-35)
Typical 24vdc input
(P5-36)
To Motion Controller E-stop String
(P5-7)
(P5-8)
+24vdc input common (Note 2)
(Relay 2)
(P5-9)
(P5-24)
(Relay 3)
(P5-25)
+ 24vdc for inputs (Note 2)
(Input 1) Drive_Enable
(P5-26)
(Input 3) Drive_Err_Reset
(Relay 4)
(Input 5)
(Input 7)
Table 6.1
(Output 5)
(Input 9)
(Output 7)
(Input 2)
(Input 4) Auto/Manual Select
(Output 9)
Table 6.2
(Output 6)
(Input 6)
Table 6.1
(Input 8)
(Input 10) Regen_PS_OK
(Output 8)
(P5-27)
Customer supplied +24vdc or 120vac
(P5-10) Typical 24vdc output
(P5-11) Typical 24vdc output
CR
CR
(P5-12) Typical 24vdc output CR
(P5-28) Typical 24vdc output
(P5-29) Typical 24vdc output
+24vdc when true
CR
CR
(Output 10) (P5-30) Typical 24vdc output CR
Output +24vdc (note: 1)
P5-31
Customer Supplied + 24vdc
for Drive +24 vdc Outputs
Customer+24vdc return
Customer +24vdc for Outputs
Note 1: When using the 6 solid state 24vdc outputs available with the 8720MC , the customer must supply external +24vdc to P5-31.
Note 2: When using the 8720MC supplied +24vdc for the 10 available inputs, terminal P5-13 must be tied to P5-23 - otherwise connect to external +24vdc return to P5-13.
30714J-M-R1
The 24 vdc digital inputs can be operated from the isolated 8720MC
+24vdc power provided on connector P5, Terminal 22 (+24vdc) and
Terminal 23 (+ 24 vdc return) or an external customer supplied +24
vdc power supply. The solid lines on Figure 6.1 illustrate the proper
way to connect the +24 vdc using 8720MC power. The dotted lines
indicate the proper connections for external power. Choose one of the
two options, not both. As mentioned earlier the 8720MC +24 vdc is
limited to 120 ma. This can be used for the outputs also if the total
current requirements for +24 vdc inputs, +24 vdc registration and 24
vdc outputs do not exceed 120 ma. For most industrial output device
loads an external +24 vdc power supply will be required. Figure 6.1
shows the proper connections for external + 24 vdc output power.
Digital Input and Output Assignments
Parameter 501 described in Chapter 8 is used to select the primary
8720MC application category. Changing this parameter determines
the source of the velocity or torque command reference and the
default scaling for the command reference.
Publication 8720MC-UM 001C-EN-P Feb 2001
Interface Signal Description
6-3
Changing parameter 501 also changes the default analog and digital
I/O links as shown in tables 6.1, 6.2 and 6.3. With the exception of
“Drive OK”, Digital Output 1, any of the digital or analog default
output assignments can be changed. The digital input assignments
are fixed as shown in Table 6.1. See the section “Changing the
Default Output Links” in this chapter for details on how to change
default output assignments.
Table 6.1:
Analog Spindle/
Power Servo
Connection
Digital Input Assignments Based on Application
SERCOS - Spindle /
Power Servo
SCANport - Spindle/
Power Servo
P5-14 / Input 1
Drive Enable
Drive Enable
Drive Enable
P5-15 / Input 3
Drive Error Reset
Drive Error Reset
Drive Error Reset
P5-16 / Input 5
Parameter set bit 2
(high/low)
Reserved
Reserved
P5-17 / Input 7
Parameter set bit 1
Reserved
Reserved
P5-18 / Input 9
Parameter set bit 0
Reserved
Reserved
P5-32 / Input 2
Orient Request
Reserved
Reserved
P5-33 / Input 4
Auto/Manual Select
Auto/Manual Select
Auto/Manual Select
P5-34 / Input 6
Jog
Reserved
Jog
P5-35 / Input 8
Reserved
Home Switch
Home Switch
P5-36 / Input 10
Regen PS - OK
Regen PS - OK
Regen PS - OK
Table 6.2:
Connection
IDN /
Parameter
Number
Digital Output Default Links Based on Application
Analog Spindle/
Power Servo
SERCOS - Spindle /
Power Servo
SCANport - Spindle/
Power Servo
P5-6&7 / Relay 1
P00162 / 662
Drive OK
Drive OK
Drive OK
P5-8&9 / Relay 2
P00163 / 663
Enable Brake Sol.
Enable Brake Sol.
Enable Brake Sol.
P5-24&25 / Relay 3
P00164 /664
Hi Winding Select
Hi Winding Select
Hi Winding Select
P5-26&27 / Relay 4
P00165 / 665
Lo Winding Select
Lo Winding Select
Lo Winding Select
P5-10 / Output 5
P00166 / 666
Zero Speed
Reserved
Reserved
P5-11 / Output 7
P00168/ 668
Shut Down Fault
Reserved
Reserved
P5-12 / Output 9
P00170 / 670
Auto Reference
Enabled
Reserved
Reserved
P5-28 / Output 6
P00167 / 667
Orient Complete
Reserved
Reserved
P5-29 / Output 8
P00169 / 669
Torque ≥ Torq Limit
Reserved
Reserved
P5-30 / Output 10
P00171 / 671
At Speed
Reserved
Reserved
Publication 8720MC-UM 001C-EN-P Feb 2001
6-4
Interface Signal Description
Default Digital Input Descriptions
Drive Enable - The drive enable input is used to inform the drive that
the regenerative power supply and the motion controller are ready for
the drive to follow the auto or jog reference command. Assuming
there are no internal drive shut down faults the drive will apply torque
to the motor as directed by the reference commands when the drive is
enabled. The drive will come to a regen stop when the enable is
removed.
Drive Error Reset Request - If a drive shut down fault has occurred
setting the Drive_Err_Reset bit is required in order to reset the fault.
The fault cannot be reset unless the drive is disabled and the fault
condition is removed. A transition from low to high is required to
reset a drive shut down error. Power cycling also resets the drive
error.
Parameter Set Select bit 0, 1 and 2 - Setting these 3 binary bits
determines which parameter set is in use and /or which motor
winding, high or low, is selected. The choices are:
000 = low 0, 001 = low 1, 010 = low 2, 011 = low 3
100 = high 0, 101 = high 1, 110 = high 2. 111 = high 3
When any or all of the 3 bits change and remain changed for a 50 ms
filter delay the new parameter set will be enabled.
Orient Request - When the Orient Request bit, parameter 152, is set
an orient will be initiated as determined by the Auto Home Parameter,
582. In addition the orient parameters 153, orient angle, 154, orient
options, 222, orient speed, and 260, positioning acc/dec rate, will be
used to characterize the orient move. The orient will terminate when
the motor reaches the orient position and the orient complete status
bit is set. The drive is placed in positioning mode in order to execute
the orient. If holding torque is required after the orient position is
achieved then the orient request must be maintained even if the orient
complete output is set. The drive will ignore the reference and hold
position until the orient request is removed. The orient can be
initiated when the motor is rotating or stationary.
Manual/Auto Select - When the manual mode bit is set true the
manual mode is selected. In this mode the drive can be operated from
an Internal HIM, an external HIM or a SCANport connected PLC via
the jog reference and jog bit or the digital interface via analog input 2
and the jog digital input. In auto mode only the configured auto
command reference is followed by the drive. Whenever the drive is
switched from auto to manual the drive will come to a regenerative
stop. It will follow the jog reference from the source that is providing
the jog request. If the drive is switched from manual to auto the drive
will also come to a regenerative stop. A positive transition on the
drive enable input from 0 to +24 vdc will be required to restore auto
operation of the drive wherein the drive follows the auto reference
command.
Jog Request - When the drive is enabled in manual mode with no
drive faults and the jog command bit on digital input 6 is set true, the
drive will respond to the jog reference, Analog Input 2.
Publication 8720MC-UM 001C-EN-P Feb 2001
Interface Signal Description
6-5
Since jog is a momentary function the drive will continue to follow
the reference until the jog is released. When the jog input is released
the motor will regenerate to a stop.
Regen Power Supply OK - Input 10 is used to interface to the
8720MC - RPS fault output. This is a normally open contact which is
closed when there are no RPS faults. Figures 4.14 and 4.15 show how
to wire this input. Since a high is required on this input it must be tied
to +24vdc if the regenerative converter is not used.
Default Digital Output Descriptions
Drive OK - When the drive is clear of all shut down faults the Drive
OK contact will be closed. The drive does not have to be enabled to
be in the drive ok state. This normally open contact is available for
use in the motion controller emergency stop string. The contact is
closed when there are no faults.
Enable Brake solenoid - This output contact can be used to interface
to a brake solenoid. The contact closes immediately after the drive
enable is applied. The drive will apply zero speed holding torque for a
configurable on delay time period after the drive has been enabled,
parameter 206. This assures that there is holding torque available
while the brake is being released. An additional off time delay is
provided, parameter 207. The brake contact will open after a
configurable time delay period (parameter 207) from when the drive
enable input is removed. The drive will remain enabled for the off
delay period to provide regenerative braking until the motor is at zero
speed.
High Winding Select - When bit 2 of the parameter set binary code is
set to 1 the High Winding Select contact is closed. When interfaced to
a contactor this output can be used to select the high motor winding.
This contact can be closed only when the low contact output is open.
Low Winding Select - When bit 2 of the parameter set binary code is
set to 0 the Low Winding Select contact is closed. When interfaced to
a contactor this output can be used to select the Low motor winding.
This contact can be closed only when the High contact output is open.
Zero Speed - Parameter 124 is used to determine the zero speed
window. When the motor velocity falls within the configured zero
speed window for 50 ms the zero speed output is set true.
Shut Down Fault - Parameter 11 contains a bit pattern which
describes a set of different conditions which can initiate a shut down
fault. When any of these conditions exist the Shut Down Fault output
will be true. Selection of parameter 11 in display mode via the Him or
Drive ExplorerTM will allow access to a 16 character display
describing the fault.
Auto Reference Enabled - Parameter 529 (P00029) is an event link
which indicates that there are no drive faults, the drive is enabled and
it is in auto mode and it is capable of following the auto reference.
This event has a default link to both the digital interface and the
SCANport Logic Status Word.
Publication 8720MC-UM 001C-EN-P Feb 2001
6-6
Interface Signal Description
Orient complete - If an orient has been initiated and the orient
position is achieved the drive will enter an orient position achieved
state. The “orient complete” output is used to indicate to the motion
controller that the orient position achieved state is established. The
orient complete output is turned off when the motor leaves the orient
position.
Torque ≥ Torque Limit - Parameters 82 and 83 are configuration
parameters which establish the + and - torque limits for the
application. There are 8 sets of torque limits since they are part of the
servo parameter sets. If any of these torque limits are reached or
exceeded the Torque ≥ Torque Limit Output will be enabled.
Parameter 520 can be used to determine the source of the torque limit
At Speed - Parameter 157 is a configuration parameter which
establishes the At Speed Window. When the velocity error
represented by the difference between the commanded velocity and
the feedback velocity is less than parameter 157, the “At Speed”
output is enabled.
Registration Inputs
The 8720MC provides 2 registration inputs. One input is for +24 vdc
operation and one is for +5 vdc operation. The 8720MC can provide
+5 vdc or +24 vdc to be used with a switch type registration or orient
sensor. Both registration inputs can be used in a given application.
Tables 4.20 and 4.21 as well as Figure 4.26 describe the electrical
characteristics of the registration inputs. From a software perspective
the registration inputs are used by the 8720MC software to capture a
position within 4 microseconds of a closure of the registration sensor.
This can be used by the drive for orienting to a registration sensor or
used by a SERCOS motion controller for probing or position
registration. With a SERCOS motion controller the registered
position is returned to the motion controller via the SERCOS link as a
result of a Registration Procedure. The registration inputs are isolated
and can use either the 8720MC +5vdc or +24vdc power or customer
supplied external +5vdc or+24vdc. Figure 6.2 shows the connections
required for the probe inputs when internal dc power is used.
Publication 8720MC-UM 001C-EN-P Feb 2001
Interface Signal Description
6-7
Figure 6.2
Registration Interface Using 8720MC Internal Power
8720MC Digital Registration Interface Using 8720MC Internal Power
8720 MC Drive
(P4-3)
+24vdc Registration Input (note 1)
(P4-2)
+5vdc Registration Input (Note 1)
24vdc
probe
5vdc
probe
(P4-7)
(P4-4)
(P4-8)
(P5-23)
8720MC +24vdc
Registration Power
(P5-22)
Registration Input Common
+5vdc
+5vdc return (Note 1)
+24vdc return (Note 1 )
+24vdc for inputs
Note 1 :When using the 8720MC supplied +5vdc for the probe input (P4-2), terminal P4-7 must be tied to P4-8.
Do not jumper when external +5vdc is used.
When using the 8720MC supplied +24vdc for the probe input (P4-3), terminal P4-7 must be tied to P5-23.
Do not jumper when external +24vdc is used.
30714-J6
Figure 6.3 shows the connections required for the probe inputs when
external, customer supplied +24vdc and/or 5 vdc power is used.
Figure 6.3
Registration interface using External Power
8720MC Digital Registration Interface Using External Power
8720 MC Drive
24vdc probe
Probe
switch
+24 vdc
Ps
(P4-3)
5vdc probe (P4-2)
+24vdc Registration Input
+5vdc Registration Input
Probe
switch
+5 vdc
Ps
(P4-7)
Registration Input Common
30715-J1
Publication 8720MC-UM 001C-EN-P Feb 2001
6-8
Interface Signal Description
Analog Inputs and Outputs
The 8720MC has two +/- 10 vdc analog outputs and two +/- 10 vdc
analog inputs. The analog inputs are only available in the analog
input spindle or power servo software configurations, (parameter
501). In the SERCOS configuration the analog inputs are used to
interface to the auxiliary, spindle or axis mounted, feedback device
that is connected to the auxiliary feedback connector. In the analog
input spindle or power servo software configurations, as determined
by parameter 501, Analog Input 1 provides the torque or velocity
command reference to the drive. Analog Input 2 provides a manual
velocity reference for manual operator stations. Figure 6.4 illustrates
the recommended connections for the analog inputs and outputs.
Table 6.3 illustrates the default analog input links to the 8720MC
software.
A description of the Analog Input Parameters, analog Inputs 1 and 2,
can be found in Chapter 8 under parameters 691 to 692. Each analog
input has a scaling factor associated with it, Parameters 695 and 696.
Refer to Chapter 8 for details on how to use the scaling parameters
with the analog inputs. The default velocity scaling is 100 rpm/volt
for both analog input 1 and 2. As an example assume the motion
controller is scaled such that 8 volts produces a maximum speed of
6,000 rpm. The drive should also be scaled such that 8 volts equals
6,000 rpm. This is accomplished by using a scaling factor value of
750 rpm/volt or a value of 7500 in parameter 695. The A/D resolution
is +/-8192 bits or 1.2 mv/bit, based on a +/- 10 volt input command. It
is always best to use the full +/-10 Volt range so that maximum
velocity resolution is achieved. When in torque mode the scaling
factor for analog input 1 is fixed at 2.5 volts = 100% continuous rated
torque.
A description of the Analog output Parameters, analog Outputs 1
and 2, can be found in Chapter 8 under parameters 681 and 683. Each
analog output has an scaling parameter associated with it. Parameters
682 and 684 are scaling parameters. Refer to Chapter 8 for details on
how to use the scaling parameters with the analog outputs.
Figure 6.4
Publication 8720MC-UM 001C-EN-P Feb 2001
Interface Signal Description
6-9
Analog Input and Output Connection Diagram
8720MC Analog Input Configuration
Sample Wiring
Regen P.S.
Run
CNC
Drive
Enable
Auto Enable
(P514)
+24 vdc
Drive Enable
(Input 1)
(P1-14) Analog input 1
Analog input 1
Auto Ref from Motion Controller
(P1-15)
Analog input 1 Return
(P1-6)
2.5 K
pot
Polarity Switch
(P4-1)
8720 MC Drive I/O
Analog Ouput 1 Return
+ 9vdc encoder power
Analog Output 2
(P1-16)
Analog Output 2 Return
Analog input 2
Analog input 2
Manual Ref
Analog Output 1
Analog Output 1
(P4-6)
(P4-5)
Analog Output 2
(P4-6)
(P1-17) Analog input 2 Return
(P1-5)
Encoder Common
Shields Grounded
to chassis
via Braid Clamp
P5-22 +24vdc
Drive Error Reset
(P5-15)
Parameter Set Bit 2 (P5-16)
Parameter Set Bit 1 (P5-17)
(Input 3)
(Input 5)
(Input 7)
Parameter Set Bit 0 (P5-18)
(Input 9)
+24 = true
Orient Request
(P5-32)
Auto/Manual Select (P5-33)
Jog input
(P5-34)
Regen PS OK
(P5-36)
Application
Assigned
Parameter 501
(Input 2)
(Input 4)
(Input 6)
(Input 8)
P5-22
jumper to P5-23
(P5-13)
(Input 10)
+24 vdc Input Common
30714-Ja1
Table 6.3:
Analog Default links
Connection
IDN /
Parameter
Number
Analog
Spindle
Analog
Power Servo
SERCOS - Spindle /
Power Servo
SCANport - Spindle/
Power Servo
P5-14 & 15 /
Analog Input 1
P00161/ 661
Auto Velocity
Reference
Auto Velocity
Reference
Not Available
Reserved
P5-16 & 17 /
Analog Input 2
P00164 / 664
Manual Velocity
Reference.
Manual Velocity
Reference.
Not Available
Manual Velocity
Reference.
P4-1 & 6 /
Analog Output 1
P00181 / 681
Velocity Feedback
Velocity Feedback
Velocity Feedback
Velocity Feedback
P4-5 & 6 /
Analog Output 2
S00386 / 386
Motor Shaft Power
% Rated Torque
IDN 00084
Motor Shaft Power
Motor Shaft Power
Publication 8720MC-UM 001C-EN-P Feb 2001
6-10
Interface Signal Description
The analog input assignments are fixed as shown in Table 6.3. In the
SERCOS configuration the analog inputs are not available since the
velocity or position command is provided by the SERCOS fiber optic
ring. In their place a second feedback channel is provided for spindle
or axis mounted feedback devices. In the SCANport configuration the
velocity or torque reference is provided by a PLC via a DeviceNet,
Remote I/O or ControlNet connection to a SCANport communication
bridge module. Any of the analog output default links can be changed
by entering a new linkable parameter number into the Analog Output
1 or 2, parameters 681 or 683.
Changing the Default Digital Output Links
As was discussed earlier in this chapter, when you select a primary
application type via parameter 501 the 8720MC establishes a default
set of I/O assignments appropriate for the application per tables 6.1,
6.2 and 6.3. For most situations there is little reason to change the
default I/O assignments and in fact it is not possible to change the
analog or digital input assignments. If necessary, changing one or
several default output assignments can be accomplished by modifying
the pointer or “link” values in the digital output parameters (662
through 671). This may be accomplished with the Him module in
“Program” mode or Drive ExplorerTM. Tables 6.4 and 6.5 show the
linking relationship between the 8720MC I/O Event variables and the
Digital output parameters. Referring to Tables 6.4 and 6.5, entering
the parameter number of the “source” 8720MC I/O event into the
“sink” 8720MC digital output parameter will create a link between
the 8720MC I/O event variable and the digital output.
For example, assigning Digital Output 5 to the motor at
“Zero_Speed” variable can be accomplished by entering the value
331 into parameter 666 using either the HIM in program mode or
Drive ExplorerTM. The state of Digital Output 5 or any other digital
output can be observed via the HIM module in Display Mode or
Drive ExplorerTM by selecting parameter 661, “Digital Output
Status”. The status of all 10 digital outputs will be displayed as a bit
array. A display of 1 is true and 0 is false for each output. An x
indicates an unused bit. Bit 5 will be “1” whenever the motor falls
within the zero speed window.
The state of the Zero_Speed variable can also be observed by
selecting parameter 331 using either the HIM in display mode or
Drive ExplorerTM. It will indicate 1 for true and 0 for false.
If you change the digital output default assignments the 8720MC will
change parameter 501 to “Custom Configuration” so that it is clear
that this configuration has modified values which are different from
the default values.
Publication 8720MC-UM 001C-EN-P Feb 2001
Interface Signal Description
6-11
If you use Drive Explorer to restore the defaults by selecting and
storing one of the application types in parameter 501 the modified
parameters will be changed back to the default values associated with
that application type. If you have a custom configuration Drive
explorer or the HIM can be used to identify parameters which do not
conform to the application defaults. Table 6.5 gives examples of
parameters that can be linked to the digital outputs.
.
Table 6.4:
Sinks for Digital Output Links
Table 6.5:
Sources for Digital Output Links
Link
Sinks
IDN
Number
Parameter
Number
P00163
663
P00164
Typical Sources
IDN
Number
Param
Number
Digital_Output_2
S00330
330
At Programmed Speed
664
Digital_Output_3
S00331
331
Zero Speed
P00165
665
Digital_Output_4
S00332
332
Motor Speed Below Threshold
P00166
666
Digital_Output_5
S00334
334
Torque Above Limit
P00167
667
Digital_Output_6
S00335
335
Velocity Above Limit
P00168
668
Digital_Output_7
S00136
336
In Position
P00169
669
Digital_Output_8
S00339
339
Speed Below Minimum
P00170
670
Digital_Output_9
S00340
340
Speed Above Maximum
P00171
671
Digital_Output_10
P00026
526
High Winding Enable
P00027
527
Low Winding Enable
P00028
528
Enable Brake Solenoid
P00029
529
Auto Reference Enabled
P00030
530
Manual Mode Selected
P00083
583
Orient Complete
P00115
615
Shut Down Error
Parameter
Parameter
Changing the default Analog Output links
The analog outputs can be changed from there default linkages in the
same way as the digital outputs. The default assignments were
presented in table 6.3. Tables 6.6 and 6.7 give examples off possible
analog output assignments.
Publication 8720MC-UM 001C-EN-P Feb 2001
6-12
Interface Signal Description
Table 6.7:
Typical Sources for Analog Outputs
Table 6.6:
Typical Links for Analog Outputs
Link
Sinks
IDN
Number
Parameter
Number
P00181
681
Analog Output 1
P00183
683
Analog Output 2
Parameter
Typical Sources
IDN
Number
Parameter
Number
S00040
40
Velocity Feedback
S00084
84
Torque Feedback
S00159
189
Position Following Error
S00347
347
Velocity Error
S00380
380
Bus Voltage
S00385
386
Motor Shaft Power
S00036
36
Velocity Command
S00080
80
Torque Command
Parameter
SERCOS Command Interface
The SERCOS link to the master motion controller is made via a 4
megabit fiber optic ring. There is a receiver and a transmitter
connection which is located on the 8720MC main control board.
Two types of Fiber optic cables in varying lengths are available from
Rockwell Automation. One type is intended for internal cabinet
connections while the other is best suited for external conduits and
raceways. When either SERCOS Spindle or SERCOS Power Servo
applications are selected in parameter 501 all position, velocity,
torque and procedure commands are delivered to the 8720MC from
the master motion controller via the SERCOS ring. All position,
velocity, torque feedback and status information is returned to the
master motion controller from the 8720MC via the SERCOS ring. For
more details on SERCOS see IEC Specification 61491 and Chapter 8
in this manual.
SCANport command interface
SCANport is a Rockwell Automation Can based peripheral
communication network which is used by the 8720MC to
communicate with the integral HIM, a remote HIM, a PC running
Drive Explorer in a “MS - Windows” environment or a Rockwell
PLC. SCANport is a multi-channel communication network which
supports multiple nodes or “ports”. The 8720MC has an internal
SCANport connection point and an external SCANport connection
point. The integrated HIM option is connected to the internal Port 6
connector as shown in Figure 6.5.
Publication 8720MC-UM 001C-EN-P Feb 2001
Interface Signal Description
6-13
The HIM is an optional device therefore Port 6 can also be used for
other purposes such as an unpackaged peripheral communications
interface module to one of Rockwell’s communication networks.
Figure 6.5
SCANport Peripheral Interface
8720 MC SCANport Connections
Enclosed Style
1203-GK5
Port 6
Embedded HIM
Option
Red = V+
White + CAN H
Shield
Blue = CAN L
Black = Common
PLC Processor
Remote HIM
Anacanda
1203-SSS
2
6
Unpackaged Peripheral
Communication Option
2
3
4
5
SCAN port Expander
1203-SG2 - Two Port Expander
1203-SG4 - Four Port Expander
Notebook, Desktop or
Handheld PC with
Drive Exporer
30865-M
The 8720MC external SCANport connection uses the Port 2 address.
It can be used as a single connection to a remote HIM or a PC or a
PLC. It can also be connected to a 2 or 4 port expander as shown in
Figure 6.5. The SCANport expander is very useful in situations where
a PLC is used as the source of the command reference and the logic
interface. The expander allows easy plug in of a Personal Computer
running Drive ExplorerTM for the purpose of displaying and/or
modifying parameters as well as monitoring process parameters
while the process is executing. The PLC interface is accomplished via
a SCANport Gateway Module connected to one of Rockwell’s
communication networks such as remote I/O, DeviceNet or
ControlNet. The 1203-GK5 module shown in Figure 6.5 is a stand
alone DeviceNet Gateway. A PLC can use the 8720MC analog/digital
interface or the SCANport digital interface for the purposes of
controlling the 8720MC Drive. Use of a SCANport Gateway Module
with a PLC allows the control of position as well as velocity or
torque. See parameters 258, Target_Position, 259, Posn-Velocity and
260, Posn_Accel _Rate in Chapter 8 for details
Publication 8720MC-UM 001C-EN-P Feb 2001
6-14
Interface Signal Description
The analog/ digital interface described in this chapter can be used
when a PLC analog output module and digital I/O are the preferred
interface. In this case the positioning mode is limited to the orient
function.
SCANport command reference
For applications where a Rockwell digital communications network
interface is the preferred interface one of the Rockwell 1200 series
SCANport gateway modules must be used. Regardless of the control
network the method of passing data to and from the drive is the same.
Figure 6.6 illustrates the nature of the data exchanged. The
illustration uses DeviceNet as an example of a Rockwell open
communication network.
Figure 6.6
SCANport Gateway Communication Interface
Scanner
1203-GK5
DeviceNet to SCANport
8720MC Drive 1
Output Mapping
(Write)
Word 0
Word 1
Word 2 1
Word 3 1
Word 4 1
Word 5 1
Word 6 1
Word 7 1
Word 8 1
Word 9 1
Logic Command
Reference
Datalink A1
Datalink A2
Datalink B1
Datalink B2
Datalink C1
Datalink C2
Datalink D1
Datalink D2
SP_Logic_Command
SCANp_An1_Value
SP_Data_Input_A1
SP_Data_Input_A2
SP_Data_Input_B1
SP_Data_Input_B2
SP_Data_Input_C1
SP_Data_Input_C2
SP_Data_Input_D1
SP_Data_Input_D2
Input Mapping
(Read)
Word 0
Word 1
Word 2 1
1
Word 3
1
Word 4
1
Word 5
1
Word 6
1
Word 7
1
Word 8
1
Word 9
Logic Status
Feedback
Datalink A1
Datalink A2
Datalink B1
Datalink B2
Datalink C1
Datalink C2
Datalink D1
Datalink D2
SP_Logic_Status
SCANp_Analog_Out
SP_Data_Output_A1
SP_Data_Output_A2
SP_Data_Output_B1
SP_Data_Output_B2
SP_Data_Output_C1
SP_Data_Output_C2
SP_Data_Output_D1
SP_Data_Output_D2
PLC,
SLC,
PC
Message
Handler
Message
Buffers
1
Message Handler
Optional enabled using DIP switches on the module.
30864-M
Publication 8720MC-UM 001C-EN-P Feb 2001
Interface Signal Description
6-15
Basically, the communication gateway allows the exchange of ten 16
bit command input words to the drive from the PLC and ten - 16 bit
status output words from the drive to the PLC. SCANp_AN1_Value is
the parameter location (parameter 713) where the incoming velocity
or torque command value, as received from the gateway, is stored.
When either SCANport Spindle or SCANport Power Servo
applications are selected in parameter 501 all velocity, torque and
logic commands are delivered to the 8720MC from the PLC via the
communication gateway on SCANport. SCANp_Analog_Out is the
parameter location (parameter 715) where the out going actual
velocity or torque value is stored.
SCANport_AN1_Value has a scaling factor associated with it as
defined in chapter 8. The default velocity scaling +/-1 LSB = +/- 1
rpm. The torque scaling is fixed at +/- 1000 = +/- 100% rated torque
All velocity feedback or torque feedback and logic status information
is returned to the PLC from the 8720MC via the communication
gateway on SCANport. The drive can operate in position, velocity or
torque modes. The mode is determined by the primary operating
mode parameter for the active parameter set. There are 8 servo
parameter sets available to accommodate gear range switching, high /
low windings and mode switching. The active parameter set is stored
in (parameter 254). Each parameter set has a primary operating mode
parameter. Refer to parameter 32 in Chapter 8 for a description of
the Primary Operating Mode Parameter. The SCANport gateway
reference command must be scaled by the PLC if something other
than the default scaling is required. The default velocity scaling +/-1
LSB = +/- 1 rpm. The torque scaling is fixed at +/- 1000 = +/- 100%
rated torque
SCANport Command Logic Inputs
When SCANport is the primary command interface the velocity or
the torque command is provided from an A-B PLC via a SCANport
gateway. The key logic commands as described in Table 6.7 are
passed through the Logic Input Command Word and the Logic Output
Status Word. The following descriptions apply:
Regenerative Stop Request - When this bit is set true by the PLC the
drive will come to a regenerative stop regardless of the auto or jog
reference command.
Start Request - When the start command bit is set true and there are
no faults the drive will respond to the auto reference in auto mode and
the jog reference in manual mode. It will continue to follow the
reference until there is a regenerative stop or a coast stop request or
the active reference is set to zero.
Jog Request - If the drive is stopped (disabled via bit 00 of the
command word) and the jog command bit is set true (rising edge) and
there are no faults, the drive will assert the jog reference enabled state
and follow SCANport jog reference command on SCANport
Gateway Input Word 2 shown in table 6.10.
Publication 8720MC-UM 001C-EN-P Feb 2001
6-16
Interface Signal Description
The drive will continue to follow the jog reference until the jog is
released. It will then regenerate to a stop.
The manual reference request, bit 11 of the SCANport Logic
Command Word, does not need to be asserted. This will automatically
occur when the jog bit 02 is set.
Fault Clear - If a drive shut down fault has occurred setting the
Drive_Err_Reset bit is required in order to reset the drive shut down
error. The fault cannot be reset unless the fault condition is removed.
Coast Stop Request - If the drive is running and the Coast Stop
Request bit is set the drive power will be removed from the motor and
it will not regenerate. Under this condition the motor will coast until
the friction of the motor and load bring it to a stop.
Table 6.7:
SCANport Logic interface
Table 6.8: SCANport Command Input Word
Table 6.9: SCANport Output Status Command
SCANport Input Command Word
Bit
Description
SCANport Output Status Word
Bit
Description
00
Regenerative Stop Request
00
Drive Enabled
01
Start Request
01
Auto Reference Enabled
02
Jog Request
02
Rotation Direction
03
Fault Clear
03
Drive OK
04
Coast Stop Request
04
At Zero Speed
05
Parameter Set Select bit 0
05
At Reference Speed
06
Parameter Set Select bit 1
06
Orient complete
07
Parameter Set Select bit 2
07
Reserved
08
Parameter Strobe
08
Brake Solenoid enabled
09
Orient Request
09
Torque greater than Torque Limit
10
Home Request
10
High Winding Selected
11
Manual Reference Select
11
Low Winding Selected
12
Reserved
12
Shut Down Fault
13
Reserved
13
Reserved
14
Reserved
14
Reserved
15
Reserved
15
Manual Reference Selected
Publication 8720MC-UM 001C-EN-P Feb 2001
Interface Signal Description
6-17
Parameter Set Select bit 0, 1 and 2 - Setting these 3 binary bits
determines which parameter set is in use and /or which motor
winding is selected. The choices are:
000 = low 0, 001 = low1, 010 = low 2, 011 = low 3
100 = high 0, 101 = high1, 110 = high 2. 111 = high 3
Parameter Strobe - When the parameter strobe bit is set
momentarily the preselected parameter set number (bits 5, 6 and 7)
will be selected and the associated parameters will be enabled.
Orient Request - The SCANport orient request is identical to the
digital I/O orient request. When the Orient Request bit is set an orient
will be initiated as determined by the Auto Home Parameter,
parameter 582, and the orient parameters 150 motor marker offset,
153 orient angle, 154 orient options, 222 orient speed and 260
positioning acc/dec rate. The orient will terminate when the orient
complete status bit is set and the orient request is removed.
Manual Reference Select - When the manual reference select bit is
set true in the SCANport command word the manual (jog) reference
is enabled. In this state the drive will follow the manual jog reference
provided on SCANport gateway input word 2, see table 6.10. When
initiating a jog the manual reference request, bit 11 of the SCANport
Logic Command Word, does not need to be asserted. This will
automatically occur when the jog bit 02 of the Input Command Word
is set. To terminate a manual start or disable the jog reference state,
with Manual Reference Select not asserted, bit 00 of the Input
Command Word “Stop Request” must be set true. The auto command
reference is then followed by the drive
SCANport Logic Status Outputs
Several of the logic output signals have already been defined in the
section, Default Digital I/O Descriptions. The following is an
explanation of those that have not already been described.
Drive Enabled - The drive is in the enabled state when the drive
enable digital input is true and there are no shut down faults. Drive
enabled means the power IGBT’s are switching and the drive is
capable supplying motor torque.
Auto Reference Enabled - Parameter 529 (P00029) is an event link
which indicates that there are no drive faults, the drive is enabled and
it is in auto mode and it is capable of following the auto reference.
This event has a default link to both the digital interface and the
SCANport Logic Status Word.
Rotation Direction - The rotation direction bit is used to identify the
direction of motor rotation.
Manual Reference Selected - Whenever the digital or SCANport
interfaces select the manual reference the drive acknowledges this
state by setting the manual reference selected bit 15, SCANport
Output Status Word.
Publication 8720MC-UM 001C-EN-P Feb 2001
6-18
Interface Signal Description
Table 6.10:
SCANport Gateway Data Assignments
Gateway Data
Word
Data Link
Identifier
8720MC
Parameter
Assignment
Default
Link
8720MC Data Description
Data Type
(16 bit word)
Input Word 0
Logic Command
717
717
SCANport Logic Command Word
bit pattern
Input Word 1
Command
Reference
713
36 or 80
after scaling
SCANport velocity/torque Input
Reference Value
signed integer
Input Word 2
Data In A1
725
692 after
scaling
SCANport manual jog velocity
signed integer
Input Word 3
Data In A2
726
258
Target Position
+/- 32,768 resolution units
signed integer
Input Word 4
Data In B1
727
Reserved
signed integer
Input Word 5
Data In B2
728
Reserved
signed integer
Input Word 6
Data In C1
729
Reserved
signed integer
Input Word 7
Data IN C2
730
Reserved
signed integer
Input Word 8
Data IN D1
731
Reserved
signed integer
Input Word 9
Data In D2
732
Reserved
signed integer
Output Word 0
Logic Status
718
718
SCANport Logic Status Word
bit pattern
Output Word 1
Velocity
Feedback
715
40
SCANport Velocity Feedback
signed integer
Output Word 2
Data Out A1
733
11
Shut Down Errors
bit pattern
Output Word 3
Data Out A2
734
129
8720MC Drive Errors
bit pattern
Output Word 4
Data Out B1
735
13
Drive Status
bit pattern
Output Word 5
Data Out B2
736
386
Motor Shaft power
integer
Output Word 6
Data Out C1
737
254
Actual parameter set
binary 0 -7
Output Word 7
Data Out C2
738
Reserved
signed integer
Output Word 8
Data Out D1
739
347
Velocity Error
signed integer
Output Word 9
Data Out D2
740
84
Torque Feedback
signed integer
SCANport Data Interface
In addition to the SCANport Logic Command word, the SCANport
Logic Status word, the SCANport Command Reference and the
SCANport Feedback Output there are 16 additional 16 bit words
which can be exchanged between an A-B PLC and the drive. Figure
6.10 describes the fixed assignments for the eight 16 bit input data
words and the eight 16 bit output data words.
Publication 8720MC-UM 001C-EN-P Feb 2001
Chapter
7
Using the Human Interface Module (HIM)
Chapter Objectives
What Is the Human Interface
Module?
Chapter 7 provides the following information so that you can use the
Human Interface Module:
•
what is the Human Interface Module?
•
HIM operation
•
using the program and display modes
•
viewing and changing bit definitions
•
using the EEprom mode
•
using the control status mode
•
using the password mode
•
creating and changing a link
•
removing a link
•
Drive ExplorerTM
The Human Interface Module (HIM) is the standard user interface for
the 8720MC Drive. When a drive mounted HIM is supplied, it can be
accessed from the front of the drive. A remote Him is also available
for connection via a SCANport interface cable. The HIM provides a
way to display and modify drive parameters and to view the operating
parameters. The HIM also provides a means of starting, stopping,
jogging, switching directions and adjusting manual speeds.
!
When a drive mounted HIM is not supplied on enclosed
drives, you must install the blank cover plate (option
HAB) to close the opening in the front cover of the
enclosure. Failure to install the blank cover plate allows
access to electrically live parts that may result in
personal injury and/or equipment damage.
HIM Display Panel and Control Panel
The HIM contains a display panel and a control panel:
•
The display panel lets you program the drive, view the various
operating parameters and monitor the drive status.
7-2
Using the Human Interface Module (HIM)
•
The control panel lets you perform manual control functions such
as start, stop, jog and setting the manual velocity.
Figure 7. 1 shows what a HIM looks like.
Figure 7.1
Example of a HIM
Display/
Program
Panel
Sys Ready
+0 rpm
ESC
SEL
Control Panel
JOG
8720 MC
HIGH PERFORMANCE DRIVE
Human Interface Module
(HIM)
303850M-R1
Him Display Panel Keys
The HIM programming panel provides the 5 keys and a 2 line by 16
character LCD display as shown in Figure 7.2 keys.
Figure 7.2
HIM Display Panel Keys
Sys Ready
+0 rpm
ESC
Program Panel
SEL
JOG
30374-MR1
Publication 8720MC-UM 001C-EN-P Feb 2001
Using the Human Interface Module (HIM)
7-3
Table 7.1:
Keys on the HIM Display Panel
Press this key:
ESC
SEL
To:
It is called:
Go back one level in the menu tree that the
HIM uses to organize information
Escape key
Alternates which display line (top or bottom)
is currently active. Also allows navigation in
numerical fields or bit patterns
Select key
Increment (increase) the selected value. If no
value is selected, use this key to scroll
through the groups or parameters that are
currently selected.
Increment key
Decrement (decrease) the selected value. If
no value is selected, use this key to scroll
through the groups or parameters that are
currently selected.
Decrement key
Select the group or parameter that is
currently active or enter the selected
parameter value into memory. The top line of
the display automatically becomes active to
let you choose another parameter or group.
Enter key
HIM Control Panel Keys
The HIM provides the eight keys for motor control in the control
panel section as shown in Figure 7.3:
Figure 7.3
Him Control Panel Keys
Sys Stopping
ESC
SEL
JOG
Control Panel
30374J-MR1
Publication 8720MC-UM 001C-EN-P Feb 2001
7-4
Using the Human Interface Module (HIM)
Table 7.2:
Keys on the HIM Control Panel
Press this key:
To:
If the drive is in manual mode and no other
control devices are sending a Stop
command, the start key will cause the motor
to rotate in the HIM selected direction and
velocity. Speed will be based on the Him
reference command.
Start key
Pressing the stop key will nitiate a stop
sequence if the drive is running. The drive
stops according to the stopping torque
specified in parameter 571.
The stop key also issues a clear fault
command if the drive is currently faulted.
Stop key
In manual mode depressing the jog key will
Jog the motor at the HIM selected jog
reference speed and direction. Releasing the
key will initiate a decelerated stop. The drive
stops according to the stopping torque
specified in parameter 571.
Jog key
Pressing the direction key will change the
motor direction if it is being controlled from
this HIM. The appropriate direction indicator
light will light to indicate direction.
Change Direction
key
Increase or decrease the HIM speed
command. An indication of this command is
shown on the visual Speed Indicator.
Parameter 696 determines the maximum
manual speed.
Up Arrow and Down
Arrow keys
Press both keys simultaneously to store the
current HIM speed command in HIM memory.
Cycling power or removing the HIM from the
drive sets the speed command to the value
stored in HIM memory.
These arrows are only available with digital
speed control.
Publication 8720MC-UM 001C-EN-P Feb 2001
It is called:
Using the Human Interface Module (HIM)
7-5
HIM Control Panel Indicators
The HIM control panel has the following indicators.
Table 7.3:
Indicators on the HIM Control Panel
This indicator:
HIM Operation
Provides information about:
It is called:
The direction of motor rotation
Direction LED
An approximate visual indication of the
command manual jog speed. This indicator is
only available with digital speed control.
Speed Indicator
Initial Status Display
When you first apply power to the 8720MC Drive, the HIM cycles
through a series of displays. These displays show the initialization
and communication status. When complete, the following type of
status display is shown. The display indicates the current status of the
drive (such as Sys Bus Chrg or Enabled) or any faults that may be
present. The display hardware is a two line, 16 characters per line,
LCD display panel. Selecting one of the 2 display lines is
accomplished with the “Sel” select button.
Figure 7.4
Initial Status Display
S
y
s
R
e
a
d
y
30387-M
Publication 8720MC-UM 001C-EN-P Feb 2001
7-6
Using the Human Interface Module (HIM)
Choosing a HIM Mode
From the Initial Status Display, press any one of the five display panel
keys. “Choose Mode” is displayed. Press the Increment or Decrement
key to scroll through the modes. The navigation diagram for the
available modes in shown Figure 7.5 “Him Menu Tree”. The HIM
modes are displayed in a circular register. Depressing the increment
up key selects the next mode while depressing the decrement down
key selects the previous mode. Once the desired mode is displayed it
is necessary to depress the enter key to select the mode. File, group
and parameter names are limited to 16 characters, one line of the HIM
display. Selections within a parameter are limited to 12 characters.
Because of these limitations the names may be abbreviated.
The following modes are available:
Table 7.4:
HIM Modes
This mode:
Publication 8720MC-UM 001C-EN-P Feb 2001
Lets you:
Display
View the value of any parameter. You cannot modify parameters in
this mode.
Program
Access the complete listing of parameters available for
programming.
EEProm
Reset all parameters to the factory default settings or save
modified parameters. In addition, you can upload/download
parameters between the HIM and the drive.(remote HIM only)
Search
Search for parameters that are not at their default values.
Control Status
You can access the fault and warning queues from Control Status.
A clear function clears the queue. It will not clear an active fault.
Refer to Chapter 10:Troubleshooting, for more information about
the fault and warning queues.
Password
Protect the drive parameters against programming changes by
unauthorized personnel. When a password has been assigned,
you must have the correct password to access the Program/
EEProm modes and the Control Logic/Clear Fault Queue menus.
You can choose any five digit number between 00000 and 65535
for the password.
Using the Human Interface Module (HIM)
HIM Menu Tree
7-7
Figure 7.5 provides a graphical representation of the method of
navigating through the modes of operation of the Him Module.
“Parameter Files, Groups and Elements”, in Chapter 8, provides an
overall view of the 7 major files and their associated groups and
elements. Display or modification of any parameter (element) is
accomplished by selecting the display or program mode, selecting a
file, selecting a group within the file and selecting the desired
(element) or parameter. All parameters may be read. If the parameter
is a read/ write parameter it may be modified from its default value.
See “Using Display and Programming modes” in this chapter. The
parameters or elements may be replicated in different groups and files
to simplify the navigation process and enhance functional
organization. The HIM increment, decrement, select and enter keys
are used to navigate through the files, groups and elements.
Publication 8720MC-UM 001C-EN-P Feb 2001
7-8
Using the Human Interface Module (HIM)
HIM Menu Tree
Figure 7.5 shows the HIM menu tree.
Figure 7.5
HIM Menu Tree
Operator Level
Power up and
Status Display
ESC
OR
SEL
OR
OR
OR
Choose Mode
Mode Level
Display
Program
EEProm
Search
Control
Status
Save Value
Recall Values
Reset Defalts
Drive to HIM
HIM to Drive
Parameters
changed
from
defaults
Control Logic
Reset Drive
Fault Queue
View/clear
Password
Choose:
Display
or
Program
Login
Logout
Modify
File Level
7 Parameter Files:
Select one
See "Parameters, Groups and Files" in Chapter 8
Group Level
Parameter Groups in File:
Select one
See "Parameters, Groups and Files" in Chapter 8
Element Level
IDN's or Parameters in Group:
Select One
See "Parameters, Groups and Files" in Chapter 8
30384-MR2
Publication 8720MC-UM 001C-EN-P Feb 2001
Using the Human Interface Module (HIM)
Using the Program and Display
Modes
7-9
The Display and Program modes let you view and modify parameters.
To use these modes, follow these steps:
1. Press any key from the status display. Choose Mode is shown.
2. Press the increment up key or the decrement down key to display
“Program” if you want to change the value of a parameter or
“Display” if you only want to view the value of a parameter.
3. Press the enter key
4. Press the increment up key or the decrement down key to scroll
through the available files. You may choose among the following
files: Status/Faults, Control, Procedure, Motor/Drive/Fdbk, Servo
Loop, I/O Interface, or Communications.
5. After displaying the desired file press the enter key to display the
groups within the file.
6. Press the increment up key or the decrement down key to scroll
through the available groups. See Chapter 8: Programming
Parameters for the groups that are available for each file.
7.
After displaying the desired group press the enter key to display
the parameters (elements) within the group.
8. Press the increment up key or the decrement down key to scroll
through the parameters (elements) for the group you chose.
9. After displaying the desired parameter name press the enter key
to select the parameter.
Modifying Parameters
Once you have selected a read/write parameter in “Program” mode
you can modify it by making the parameter’s value active. This is
done be depressing the “Select” key. If the parameter is a value like:
“+_ Velocity_Limit_0” the least significant character will blink on the
bottom data line. The value can be increased or decreased with the
increment and decrement buttons. The select key can be used to move
from character to character. After all the characters have been
changed to the desired value depressing the enter key will store the
new value.
If the value is an enumerated selection the currently active selection
will be displayed on the bottom line. The selection may be changed
by using the increment and decrement keys to scroll through the
available choices. Once finding the desired new selection depressing
the enter key will store the change.
Viewing Bit Pattern
Some parameters, such as “Dig_Output_Status” (parameter 661),
have a bit pattern that you can view, and in some cases, change. You
can use your HIM to see what each bit means.
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Using the Human Interface Module (HIM)
For example, if you want to check if the orient complete bit is being
set for your analog spindle application perform the following:
Navigate through the HIM menu tree structure to parameter 667,
“Digital_Output_6”, which is located in the file: “I/O Interface” and
the group: “Digital Outputs”.
1. Make sure the output link for Digital Output 6 is parameter 583
“Orient Complete”. This is the default link for the analog spindle
configuration as determined by parameter 501.
2. Navigate through the HIM menu tree structure to parameter 661
“Dig_Output_Status”, which is located in the file: “I/O Interface”
and the group: “Digital Outputs”.
3. Press the enter key to view the bit pattern definition. Bit 0 is
located in the lower right. The bits are numbered from 15 to 8 on
the top row and 7 to 0 are on the bottom row. An “x” in any bit
position indicates that bit is not defined. A “1” indicates the output is on. A “0” indicates the output is off.
4. In this example, if we were to execute a spindle orient, output 6
would transition from 0 to 1 after the orient was complete. This
means that bit 5 of the Dig_Output_Status would transition from
0 to 1 as shown in figure 7.6.
5. For the 8720MC there are 10 digital outputs in the file: “I/O Interface” and the group: “Digital Outputs”. Depressing the increment
up key will progressively steps your through the output assignments for digital outputs 1 thru 10. If you wish to change an output assignment, first locate the output you wish to change and
then press enter. Press select to locate the curser in the parameter
field. Use the increment up and increment down keys to change
the output parameter assignment. Press enter to save your
changes and press exit to step up one level in the parameter tree.
Figure 7.6
Bit Pattern Display
Bit 15
O
u
t
p
u
t
x
0
x
0
x
1
x
0
x
0
x
0
Bit 5
Publication 8720MC-UM 001C-EN-P Feb 2001
I
0
0
m
a
g
e
0
0
Bit 0
30387-I-O
Using the Human Interface Module (HIM)
7-11
Changing a Bit in a Bit Pattern
Some of the bit pattern parameters can be changed. For example, if
you wish to change the configuration selections for the auto tune
procedure. First, using the increment, decrement and enter keys
navigate to parameter 546 in the file “Procedure” and the group
“Auto Tune”. This is a bit pattern used to select the auto tune options.
Using the select key you can highlight the bit you wish to change.
Depressing the enter key changes the bit from 1 to 0. Depressing the
enter key again changes the bit back to 1. When the bit is highlighted
the top line contains the description of the bit. For example bit 0 =
“Auto Save”.
Using the EEProm Mode
You can use EEProm mode to save values, recall values, reset values
to the factory defaults, upload a parameter profile from the drive to
the HIM, or download a parameter profile. To perform any of these
functions, you need to first enter EEProm mode by selecting it from
the Choose Mode prompt.
Saving Values/Recalling Values
The 8720MC Drive stores parameters in flash memory. When the
drive is shipped from the factory a set of default values for all the
parameters is provided. Most of these default parameters are suitable
for a wide variety of applications and therefore will not need to be
changed. The motor and amplifier specific parameters in the file
“Motor/Drive/Fdbk” are directly read from the motor feedback device
and the power structure of the 8720MC therefore these parameters
should not be changed. Several of the Servo Loop parameters can be
auto tuned by the drive and therefore these parameters should not
require manual entry by the user. Under the EEProm mode you can:
1. Select Restore Defaults
2. Select Save Values
3. Select Recall Values
4. Upload or download parameters from the HIM or Drive Explorer
Restoring the Factory Default Values
To reset the values of all parameters to the factory default values, first
disable the drive if it is enabled, then:
1. From the EEProm mode prompt, press the increment up key or
the decrement down key until “Reset Defaults” is displayed.
2. Press the enter key to restore all parameters to their original factory setting.
3. Press Escape. Reprogram Fault is displayed.
4. Press the Stop key to reset the fault. If A-B Application, parameter 501 was previously set to a value other than analog spindle,
cycle drive power to reset.
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Using the Human Interface Module (HIM)
Saving Values to Flash Memory
When parameter changes are made their new values are stored in
volatile memory. This means if power is removed any parameters
which were changed and were not saved will be lost. For this reason
it is always good practice to save modified parameters to flash
memory after making changes. This can be done from the HIM or
Drive Explorer. With the HIM, from the EEProm mode prompt press
the increment up key or the decrement down key until “Save” is
displayed. Depressing the enter key will execute the save.
Recalling Values from Flash Memory
It is possible to make changes to parameters on an experimental basis
which do not produce the desired benefit. In this situation it is
possible to recall the flash stored values without cycling power by
disabling the drive, choosing the “Recall” selection under the
EEProm mode and depressing the enter key.
Uploading a Parameter Profile
You can transfer a parameter profile from the 8720MC Drive to a
remote HIM, Cat. No. 1201-HAx, as a means of transferring a
parameter set from one 8720MC to another. This functionality is not
available with the 8720MC built in HIM. To upload a parameter
profile from the drive to the HIM:
1. From the EEProm mode prompt, press the increment up key or
the decrement down key until “Drive -> HIM” is displayed.
2. Press a - A profile name (up to 14 characters) is displayed on line
2 of the HIM.
3. Change this name or enter a new name. Use the increment up key
to move the cursor to the left. Use the increment up key or the
decrement down key to change the characters.
4. Press enter. An informational display is shown. This display indicates the drive type and firmware version.
5. Press enter to start the upload. The parameter number currently
being uploaded is displayed on line I of the HIM. Line 2 indicates
the total progress. Press ESC to stop the upload.
6. Press enter when “COMPLETE” is displayed on line 2. If line 2
reports “ERROR”, refer to Chapter 10.Troubleshooting.
Downloading a Parameter Profile
To download a parameter profile from the remote HIM to a drive:
The download function is only available when a valid profile is stored
in the HIM.
Publication 8720MC-UM 001C-EN-P Feb 2001
Using the Human Interface Module (HIM)
7-13
1. From the EEProm mode prompt, press the increment up key or
the decrement down key until “HIM →Drive” is displayed.
2. Press enter. A profile name (up to 14 characters) is displayed on
line 2 of the HIM.
3. Press the increment up key or the decrement down key to scroll to
a second profile (if available).
4. Press enter when the desired profile name is displayed. An information display is shown that indicates the version numbers of the
profile and the drive.
5. Press enter to start the download. The parameter number currently being downloaded is displayed on line I of the HIM. Line 2
indicates the total progress. Press ESC to stop the download.
6. Press enter when “COMPLETE” is displayed on line 2. If line 2
reports ‘ERROR”, refer to the following table.
Table 7.5:
Error Message Table
If you receive this
error:
Using the Search Mode
Then
Error 1
An EEPROM CRC error occurred.
Error 2
The profile is a different length than the master.
Error 3
You are downloading between different types of masters.
Error 4
The data is out or range or illegal
Error 5
You attempted the download while the drive was running.
Error 6
You are downloading between different types of masters.
Search mode lets you search through the parameter list and display all
parameters that are not at the factory default values. You can also
search for links that are not the factory defaults.
To use Search mode:
1. From the status display, press any key. “Choose Mode” is shown.
2. Press the increment up key or the decrement down key to display
“Search” mode.
3. Press enter
4. To search through the parameter list, press the increment up key
or the decrement down key. The HIM will search in ascending or
descending order depending on which key was depressed. The
display will scroll and stop at the next parameter or link which is
Publication 8720MC-UM 001C-EN-P Feb 2001
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Using the Human Interface Module (HIM)
not at it’s default value.
5. Press the increment up key or the decrement down key again. The
HIM searches for the next parameter which is not at it’s default
value. In this way all parameters/links that are not at their factory
defaults can be displayed on the HIM.
6. Press the escape key to leave search mode and return to the next
higher level in the HIM logic tree.
Viewing the Fault Queue/Warning
Queue
Control Status mode lets you view the fault queue
To view the fault queue:
1. Press any key from the status display. “Choose Mode” is shown.
2. Press the increment up key or the decrement down key to show
“Control Status”.
3. Press enter to select Control Status
4. Press the increment up key or the decrement down key until
“Fault Queue” is displayed.
5. Press enter to select “Fault Queue”
6. Press the increment up key or the decrement down key until
“View Queue” is displayed.
7. Press enter to select “View Queue”
The fault queue can contain up to 32 faults. The 8720MC Drive
reports the faults using the following format.
Figure 7.7
Fault Format
Fault name
A
1
F
Fault queue
indicator
:
2
O
v
e
0
2
8
Fault code
number
r
T
e
m
p
T
r
i
T
p
r
p
1
Position in
fault queue
30386-M
Publication 8720MC-UM 001C-EN-P Feb 2001
•
The trip indicator is only present if this fault caused the drive to
trip.
•
The last number (1) indicates this faults position within the fault
queue.
Using the Human Interface Module (HIM)
Using the Password Mode
7-15
Password mode lets you enable password protection and change the
password. By default, the password is 0, which disables password
protection. To use Password mode:
1. Press any key from the status display. “Choose Mode” is shown.
2. Press the increment up key or the decrement down key to show
“Password”.
3. Press the enter key
4. Press the increment up key or the decrement down key until
“Modify” is displayed.
5. Press the enter key
6. “Enter Password” is displayed on the top line and a blinking 0
appears on the bottom line.
7. Press the increment up key or the decrement down key to increase
or decrease the least significant digit. Press the select key to go to
the next most significant digit and repeat until the desired password number is displayed. The number can range from 0 to
65535. 0 is the default value meaning there is no password.
8. Press enter to save your new password.
Programming a Password When Drive Power is Applied
With a Series B remote HIM, you can program Password mode to be
displayed when drive power is applied. To do this, you need to press
the Increment and Decrement keys simultaneously while the
Password display is shown.
Once you set the password, the Program/EEProm modes and the
Control Logic/Clear Queue menus are password protected and are not
displayed in the menu. To access these modes, you need to:
1. Press any key from the status display. Choose Mode is shown.
2. Press the increment up or decrement down keys to show “Password.”
3. Press the enter key. “Enter Password” is displayed.
4. Press the increment up or the decrement down key until the correct password digit is displayed. The select key can be used to
move the cursor from digit to digit.
5. When the correct password number is displayed press enter
You can now access the Program and EEProm modes.
Logging Out
To prevent future access to program changes, you need to logout:
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Using the Human Interface Module (HIM)
1. Press any key from the status display. “Choose Mode” is shown.
2. Press the increment up or the decrement down key to show
“Password”.
3. Press enter
4. Press the increment up or the decrement down key until “Logout”
is displayed.
5. Press enter to log out of Password mode.
Creating or Changing a Link
The 8720MC analog, digital and SCANport outputs can be linked to
different variables within the 8720 system. The analog, digital and
SCANport inputs have fixed links and cannot be modified. The
outputs have default links as discussed in Chapter 6. These default
links were chosen to suit most spindle or power servo applications. If
the 8720MC application needs a different set of outputs the output
links my be changed. To change an output parameter link you simply
select the output parameter and change its address value so that it
points to the parameter that you wish to link to that output. For
example, if you wish to link parameter 380, “Bus_Voltage” to
“Analog_Output_2”, the following procedure should be followed:
1. From the “Choose Mode” prompt, use the increment up key or
the decrement down key to display “Program” and press the enter
key.
2. Press the increment up key or the decrement down key to display
the “I/O Interface” file. Pressing the enter key will select this file.
3.
Press the increment up key or the decrement down key to display
the “Analog_Output” group. Pressing the enter key will display
this group parameters.
4. Use the increment up key or the decrement down key to scroll
through the parameter list until you come to
“Anaout_Ch2_Selec”, parameter 683. Pressing the enter key will
select this parameter. For a spindle application the value displayed will be the factory default setting of “386”, the parameter
number for Mtr_Shaft_Power.
5. Press the select key and the character 6 will blink indicating that
the parameter number may be changed.
6. Press the decrement down key to decrease the parameter number
to 380 which is the parameter number for DC_Bus_Voltage.
7. Press the enter key to store the value.
8. Press escape when you have finished to exit the Set Links mode.
9. If you wish to retain the new output link after power is recycled
you must store it to non volatile flash memory. See “Storing Values to Flash Memory” in this chapter.
Publication 8720MC-UM 001C-EN-P Feb 2001
Using the Human Interface Module (HIM)
7-17
10. The available output links are discussed in Chapter 6. If you
attempt to link to a reserved parameter the drive will display a
numerical value of 12. The output will be disabled.
Removing a Link
You may remove an output link by setting it’s parameter address
value to zero. The procedure for changing a parameter link discussed
above may be used for this purpose if the parameter address value is
changed to zero. Note that the displayed value will be 12 since 0 is a
reserved parameter.
!
A-B Drive Explorer
ATTENTION: Be careful when removing links. If the
source parameter has already written a value to the
destination parameter, the destination parameter retains
the value until you explicitly remove it. For some
parameters, this may produce undesirable results.
The functionality available on the HIM module is also available on a
MS Windows 95, CE and NT TM compatible A-B program called
Drive ExplorerTM. A desktop, laptop or handheld PC can be
connected to the SCANport connector via a catalog number 1203SSS AnacandaTM adaptor and the PC serial port. The additional
power of a Windows PC significantly simplifies the 8720MC
configuration task. For details on Drive Explorer see publication
9306-5.0 Drive Explorer User Manual.
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Using the Human Interface Module (HIM)
Publication 8720MC-UM 001C-EN-P Feb 2001
Chapter
8
Programming Parameters
Chapter Objectives
Understanding the Parameter Files
and Groups
Chapter 8 provides the following information so that you can
program your 8720MC Drive:
•
parameter files and groups
•
numerical listing of the parameters
•
parameter conventions
•
parameter descriptions
The 8720MC Parameters are divided into 7 files to help organize the
parameters into logical groupings that simplify programming and
operator access. Each of the 7 files are divided into groups, and each
parameter is an element in a specific group. Parameters may be used
as elements in more than one group. When using the file/group/
element navigation method, searching is accomplished by first
finding a file, then a group within the file, and then a specific element
within the group. Once finding the element or “parameter” it may be
read, modified or linked depending on the type of parameter. Each
parameter has a SERCOS IDN number and an 8720MC parameter
number. The tables in this chapter provide a cross reference between
the SERCOS IDN’s and the 8720MC parameter numbers
You can also view the parameters in a linear mode. This lets you view
the entire parameter table in numerical order. You can access the
linear mode from the bottom of any group. The parameter numbers
range from 0 to 999. The list of parameters used is far less than 1,000
since there are reserved spaces provided for future product growth.
The current tools available to read, modify or link the 8720MC
parameters are:
•
(1) an integral HIM module
•
(2) a remote HIM module
•
(3) Drive ExplorerTM
Drive ExplorerTM is an Allen-Bradley Windows NT/Windows 95/
Windows CETM compatible drive configuration program. For more
information on Drive Explorer see Publication 9306-5.0, “Drive
ExplorerTM User Manual”.
The following tables list the parameters that are available in each file
and group.
8-2
Programming Parameters
Parameter Groups, Files and
Elements
Param
No.
IDN
ELEMENT
Number
NAME
FILE : GROUP
Status/Faults :
13
S00013
380
S00380
386
S00386
520
P00020
661
P00161
690
P00190
717
P00217
718
P00218
Drive Status
Drive_Status
DC_Bus_Voltage
Mtr_Shaft_Power
Cur_Limit_Source
Output_Image
Input_Image
Logic_Command
SP_Logic_Status
Status/Faults :
11
S00011
14
S00014
99
S00099
129
S00129
Errors
Shut_Down_Errors
Commun_Errors
Drive_Err_Reset
A-B_Fault
Status/Faults :
57
S00057
124
S00124
125
S00125
126
S00126
157
S00157
159
S00159
220
S00220
221
S00221
272
S00272
Setup
In_Posn_Value
Zero_Spd_Window
Speed_Threshold
Torque_Threshold
At_Spd_Window
Max_Foll_Error
Min_Spindle_Spd
Max_Spindle_Spd
Speed_Window_%
Param
No.
S
NOTE: S = SERCOS specific,
* = included in the 02.001 analog software release
IDN
ELEMENT
Number
NAME
FILE : GROUP
36
37
40
43
44
45
46
347
Control :
S00036
S00037
S00040
S00043
S00044
S00045
S00046
S00347
Velocity
Velocity_Command
Velocity_Offset
Velocity_Fdback
Velocity_Polarity
Vel_Scale_Type
Vel_Scale_Factor
Vel_Scale_Expon
Velocity_Error
47
51
53
55
76
77
78
79
103
189
Control : Position
S00047 Position_Command
S00051 Motor_Posn_Fback
S00053 Aux_Posn_Fback
S00055 Posn_Polarity
S00076 Position scaling
S00077 Posn_Scal_Factor
S00078 Posn_Scale_Expon
S00079 Rot_Posn_Resolut
S00103 Modulo_Value
S00189 Posn_Foll_Error
80
84
85
86
93
94
571
572
Control :
S00080
S00084
S00085
S00086
S00093
S00094
P00071
P00072
Torque
Torque_Command
Torque_Feedback
Torque_Polarity
Torq_Scale_Type
Torq_Scal_Factor
Torq_Scale_Expon
Stopping_Torque
Stop_Time_Limit
160
161
162
260
Control :
S00160
S00161
S00162
S00260
Acceleration
Acc_Scale_Type
Acc_Scale_Factor
Acc_Scale_Expon
Posn_Acc_Rate
Param
No.
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
IDN
ELEMENT
Number
NAME
FILE : GROUP
154
582
103
150
151
152
153
222
260
Procedure :
S00154
P00082
S00103
S00150
S00151
S00152
S00153
S00222
S00260
Orient
Orient_Options
Auto_Home
Modulo_Value
Mtr_Marker_Ofset
Aux_Marker_Ofset
Spin_Orient_Req
Orient_Angle
Spin_Orient_Spd
Posn_Acc_Rate
216
217
254
Procedure :
S00216
S00217
S00254
Parameter Switch
Switch_Param_Set
Select _Param_Set
Actual_Param_Set
541
542
543
544
546
547
Procedure:
P00041
P00042
P00043
P00044
P00046
P00047
Auto Tune
ATune_Select
ATune_Torq_Limit
ATune_Vel_Limit
ATune_Posn_Limit
ATune_Config
ATune_Status
Param
No.
S
S
IDN
ELEMENT
Number
NAME
FILE : GROUP
Motor/Drive/Fdbk :
501
P00001
110
S00110
112
S00112
141
S00141
522
P00022
563
P00063
30
S00030
Drive Data
A-B_Application
Drive_Peak_Amps
Drive_Cont_Amps
Motor_Data
PWM_Frequency
Regen_Energy_Val
Version_Data
Motor/Drive/Fdbk :
777
P00277
141
S00141
109
S00109
111
S00111
113
S00113
114
S00114
196
S00196
741
P00241
742
P00242
778
P00278
779
P00279
780
P00280
781
P00281
782
P00282
783
P00283
784
P00284
785
P00285
786
P00286
787
P00287
788
P00288
789
P00289
790
P00290
791
P00291
792
P00292
793
P00293
Motor Data
Motor_Select
Motor_Data
Mtr_Peak_Current
Mtr_Cont_Curent
Max_Mtr_Speed
Mtr_Torq_Overld
Mtr_Cont_Current
Enc_Mem_Map_Rev
Motor_Parm_Rev
Motor_Type
Motor_Pole_Count
Mtr_Rated_Accel
Base_Speed
Motor_Rated_Power
Motor_Max_Volts
Mtr_Rated_Volts
Rated_Torque
Motor_Back_EMF
R1_Motor_Stator
R2_Motor_Rotor
X1_Stator_Self/Lk
XM_Stator_Mutual
X2_Rotor_Leakage
Mtr_Mag_Current
Mtr_Slip_Freq
Motor/Drive/Fdbk :
116
S00116
177
S00177
277
S00277
502
P00002
Motor Feedback
Mtr_Fdbk_Resoluti
Motor_Abs_Offset
Mtr_Fbck_Config1
Mtr_Fbck_Type
Motor/Drive/Fdbk :
121
S00121
122
S00122
123
S00123
Mechanics
Input_Gear_Rev
Output_Gear_Rev
Linr_Feed_Const
S
S
S
S
Motor/Drive/Fdbk : Brake
206
S00206 Drive_On_Delay
207
S00207 Drive_Off_Delay
Motor/Drive/Fdbk :
115
S00115
117
S00117
118
S00118
165
S00165
166
S00166
173
S00173
174
S00174
178
S00178
503
P00003
Publication 8720MC-UM 001C-EN-P Feb 2001
Aux Feedback
Aux_Fbck_Config1
AuxFdbk_Resoluti
Aux_Linear_Resol
Dcscale_Lg_Pdist
Dcscale_Sm_Pdist
Marker_Posn_A
Marker_Posn_B
Aux_Abs_Offset
AuxFbck_Type
S
S
S
S
S
S
S
S
Programming Parameters
8-3
Parameter Groups, Files and
Elements
Param
No.
32
38
39
82
83
100
101
104
105
136
137
296
348
523
561
562
IDN
ELEMENT
Number
NAME
FILE : GROUP
Servo Loop :
S00032
S00038
S00039
S00082
S00083
S00100
S00101
S00104
S00105
S00136
S00137
S00296
S00348
P00023
P00061
P00062
Group 0
Prim_Op_Mode_0
+Vel_Limit_0
-Vel_Limit_0
+Torque_Limit_0
-Torque_Limit_0
Vel_Prop_Gain_0
Vel_Integ_Time_0
Pos_Loop_Gain_0
Pos_Integ_Time_0
Accel_Limit_0 *
Decel_Limit_0 *
Vel_Fdfwd_Gain_0
Acc_Fdfwd_Gain_0
System_Accel_0
Torq_Notch_Freq0
Torq_Lowpas_Frq0
811
812
813
814
815
816
817
818
819
825
826
820
821
822
823
824
Servo Loop :
S10032
S10038
S10039
S10082
S10083
S10100
S10101
S10104
S10105
S10136
S10137
S10296
S10348
P00322
P00323
P00324
Group 1
Prim_Op_Mode_1
+Vel_Limit_1
-Vel_Limit_1
+Torque_Limit_1
-Torque_Limit_1
Vel_Prop_Gain_1
Vel_Integ_Time_1
Pos_Loop_Gain_1
Pos_Integ_Time_1
Accel_Limit_1 *
Decel_Limit_1 *
Vel_Fdfwd_Gain_1
Acc_Fdfwd_Gain_1
System_Accel_1
Torq_Notch_Freq1
Torq_Lowpas_Frq1
831
832
833
834
835
836
837
838
839
845
846
840
841
842
843
844
Servo Loop :
S20032
S20038
S20039
S20082
S20083
S20100
S20101
S20104
S20105
S20136
S20137
S20296
S20348
P00342
P00343
P00344
851
852
853
854
855
856
857
858
859
865
866
860
861
862
863
864
Servo Loop :
S30032
S30038
S30039
S30082
S30083
S30100
S30101
S30104
S30105
S30136
S30137
S30296
S30348
P30362
P30363
P30364
Param
No.
871
872
873
874
875
876
877
878
879
885
886
880
881
882
883
884
IDN
ELEMENT
Number
NAME
FILE : GROUP
Servo Loop :
S40032
S40038
S40039
S40082
S40083
S40100
S40101
S40104
S40105
S40136
S40137
S40296
S40348
P00382
P00383
P00384
Group 4
Prim_Op_Mode_4
+Vel_Limit_4
-Vel_Limit_4
+Torque_Limit_4
-Torque_Limit_4
Vel_Prop_Gain_4
Vel_Integ_Time_4
Pos_Loop_Gain_4
Pos_Integ_Time_4
Accel_Limit_4 *
Decel_Limit_4 *
Vel_Fdfwd_Gain_4
Acc_Fdfwd_Gain_4
System_Accel_4
Torq_Notch_Freq4
Torq_Lowpas_Frq4
891
892
893
894
895
896
897
898
899
905
906
900
901
902
903
904
Servo Loop :
S50032
S50038
S50039
S50082
S50083
S50100
S50101
S50104
S50105
S50136
S50137
S50296
S50348
P00402
P00403
P00404
Group 5
Prim_Op_Mode_5
+Vel_Limit_5
-Vel_Limit_5
+Torque_Limit_5
-Torque_Limit_5
Vel_Prop_Gain_5
Vel_Integ_Time_5
Pos_Loop_Gain_5
Pos_Integ_Time_5
Accel_Limit_5 *
Decel_Limit_5 *
Vel_Fdfwd_Gain_5
Acc_Fdfwd_Gain_5
System_Accel_5
Torq_Notch_Freq5
Torq_Lowpas_Frq5
Group 2
Prim_Op_Mode_2
+Vel_Limit_2
-Vel_Limit_2
+Torque_Limit_2
-Torque_Limit_2
Vel_Prop_Gain_2
Vel_Integ_Time_2
Pos_Loop_Gain_2
Pos_Integ_Time_2
Accel_Limit_2 *
Decel_Limit_2 *
Vel_Fdfwd_Gain_2
Acc_Fdfwd_Gain_2
System_Accel_2
Torq_Notch_Freq2
Torq_Lowpas_Frq2
911
912
913
914
915
916
917
918
919
925
926
920
921
922
923
924
Servo Loop :
S60032
S60038
S60039
S60082
S60083
S60100
S60101
S60104
S60105
S60136
S60137
S60296
S60348
P00422
P00423
P00424
Group 6
Prim_Op_Mode_6
+Vel_Limit_6
-Vel_Limit_6
+Torque_Limit_6
-Torque_Limit_6
Vel_Prop_Gain_6
Vel_Integ_Time_6
Pos_Loop_Gain_6
Pos_Integ_Time_6
Accel_Limit_6 *
Decel_Limit_6 *
Vel_Fdfwd_Gain_6
Acc_Fdfwd_Gain_6
System_Accel_6
Torq_Notch_Freq6
Torq_Lowpas_Frq6
Group 3
Prim_Op_Mode_3
+Vel_Limit_3
-Vel_Limit_3
+Torque_Limit_3
-Torque_Limit_3
Vel_Prop_Gain_3
Vel_Integ_Time_3
Pos_Loop_Gain_3
Pos_Integ_Time_3
Accel_Limit_3 *
Decel_Limit_3 *
Vel_Fdfwd_Gain_3
Acc_Fdfwd_Gain_3
System_Accel_3
Torq_Notch_Freq3
Torq_Lowpas_Frq3
931
932
933
934
935
936
937
938
939
945
946
940
941
942
943
944
Servo Loop :
S70032
S70038
S70039
S70082
S70083
S70100
S70101
S70104
S70105
S70136
S70137
S70296
S70348
P00442
P00443
P00444
Group 7
Prim_Op_Mode_7
+Vel_Limit_7
-Vel_Limit_7
+Torque_Limit_7
-Torque_Limit_7
Vel_Prop_Gain_7
Vel_Integ_Time_7
Pos_Loop_Gain_7
Pos_Integ_Time_7
Accel_Limit_7 *
Decel_Limit_7 *
Vel_Fdfwd_Gain_7
Acc_Fdfwd_Gain_7
System_Accel_7
Torq_Notch_Freq7
Torq_Lowpas_Frq7
Param
No.
IDN
ELEMENT
Number
NAME
FILE : GROUP
I/O Interface :
661
P00161
662
P00162
663
P00163
664
P00164
665
P00165
666
P00166
667
P00167
668
P00168
669
P00169
670
P00170
671
P00171
Digital Outputs
Output_Image
Output_01_Source
Output_02_Source
Output_03_Source
Output_04_Source
Output_05_Source
Output_06_Source
Output_07_Source
Output_08_Source
Output_09_Source
Output_10_Source
690
I/O Interface : Digital Inputs
P00190 Dig_Input_Status
330
331
332
334
335
336
339
340
526
527
528
529
530
583
610
615
617
I/O Interface :
S00330
S00331
S00332
S00334
S00335
S00336
S00339
S00340
P00026
P00027
P00028
P00029
P00030
P00083
P00110
P00115
P00117
Event Links
At_Prog_Speed
Zero_Speed
Vel_Below_Thresh
Torq_Above_Limit
Vel_Above_Limit
In_Position
Spd_Below_Min
Spd_Above_Max
HI_Wind_enable
Lo_Wind_Enable
Enable_Brake_Sol
Auto_Ref _Enabled
Manual _Mode_On
Orient_Complete
Drive_OK
Shut_down_Error
Power_Supply_OK
691
692
693
694
695
696
I/O Interface :
P00191
P00192
P00193
P00194
P00195
P00196
Analog Inputs
AnaInput_1_Value
AnaInput_2_Value
AnaInput_1_Offse
AnaInput_2_Offse
Analog_Vel_Scale
Manual_Vel_Scale
681
682
683
684
I/O Interface :
P00181
P00182
P00183
P00184
Analog Outputs
AnaOut_Ch1_Selec
AnaOut_Ch1_Gain
AnaOut_Ch2_Selec
AnaOut_Ch2_Gain
Param
No.
IDN
ELEMENT
Number
NAME
FILE : GROUP
Communication: SCANp_Ref/Fdback
713
P00213 SCANp_An1_Value
715
P00215 Analog_Out_Parm
Communication:
716
P00216
717
P00217
725
P00225
726
P00226
727
P00227
728
P00228
729
P00229
730
P00230
731
P00231
732
P00232
SCANp Data In
SP_ Logic_Mask
Logic_Command
SP_Data_Input_A1
SP_Data_Input_A2
SP_Data_Input_B1
SP_Data_Input_B2
SP_Data_Input_C1
SP_Data_Input_C2
SP_Data_Input_D1
SP_Data_Input_D2
Communication:
718
P00218
733
P00233
734
P00234
735
P00235
736
P00236
737
P00237
738
P00238
739
P00239
740
P00240
SCANp Data Out
SP_Logic_Status
SP_Data_Out_A1
SP_Data_Out_A2
SP_Data_Out_B1
SP_Data_Out_B2
SP_Data_Out_C1
SP_Data_Out_C2
SP_Data_Out_D1
SP_Data_Out_D2
Publication 8720MC-UM 001C-EN-P Feb 2001
8-4
Programming Parameters
Standard 8720MC Parameters in
Numerical Order
SERCOS IDN 8720MC Param
No.
No.
DESCRIPTION
16 Character Name
File
Group
SERCOS Only?
S00011
11
Class 1 diagnostics
Shut_Down_Errors
Status/Faults
Errors
S00013
13
Class 3 diagnostics
Drive_Status
Status/Faults
Drive Status
S00014
14
Interface status
Commun_Errors
Status/Faults
Errors
S00030
30
Manufacturer version
Version_Data
Motor/Drive/Fdbk
Drive Data
Sn0032
32
Primary operation mode - 8 groups (n = 0 - 7)
Prime_OP_Mode_0
Servo Loop
Group 0
S00036
36
Velocity command
Velocity_Command
Control
Velocity
Sn0038
38
Positive velocity limit value
+Vel_Limit_0
Servo Loop
Group 0
Sn0039
39
Negative velocity limit value
-Vel_Limit_0
Servo Loop
Group 0
S00040
40
Velocity feedback value
Velocity_Fback
Control
Velocity
S00043
43
velocity polarity parameter (Reserved)
Velocity_Polarity
Control
Velocity
yes
S00044
44
Velocity data scaling type (Reserved)
Vel_Scale_Type
Control
Velocity
yes
S00045
45
Velocity data scaling factor (Reserved)
Vel_Scale_Factor
Control
Velocity
yes
S00046
46
Velocity data scaling exponent (Reserved)
Vel_Scale_Expon
Control
Velocity
yes
S00047
47
Position command value
Position_Command
Control
Position
S00051
51
Position feedback value 1 (Motor feedback)
Motor_Posn_Fback
Control
Position
S00053
53
Position feedback value 2 (External feedback)
Aux_Posn_Fback
Control
Position
yes
S00055
55
Position polarity parameter
Posn_Polarity
Control
Position
yes
S00057
57
Position window (in position)
In_Posn_Value
Status/Faults
Setup
S00076
76
Position data scaling type
Posn_Scaling
Control
Position
yes
S00077
77
Linear position data scaling factor (Reserved)
Posn_Scal_Factor
Control
Position
yes
S00078
78
Linear position data scaling exponent (Reserved)
Posn_Scale_Expon
Control
Position
yes
S00079
79
Rotational position resolution
Rot_Posn_Resolut
Control
Position
S00080
80
Torque command value
Torque_Command
Control
Torque
Sn0082
82
Positive torque limit value (n=0-7)
+Torque_Limit_0
Servo Loop
Group 0
Sn0083
83
Negative torque limit value (n=0-7)
-Torque_Limit_0
Servo Loop
Group 0
S00084
84
Torque feedback value
Torque_Fback
Control
Torque
S00085
85
Torque polarity parameter (Reserved)
Torque_Polarity
Control
Torque
yes
S00086
86
Torque/force data scaling type (Reserved)
Torq_Scale_Type
Control
Torque
yes
S00093
93
Torque/force data scaling factor (Reserved)
Torq_Scal_Factor
Control
Torque
yes
S00094
94
Torque/force data scaling exponent (Reserved)
Torq_Scale_Expon
Control
Torque
yes
S00099
99
Reset class 1 diagnostic
Drive_Err_Reset
Status/Faults
Errors
Sn0100
100
Velocity loop proportional gain
Vel_Prop_Gain_0
Servo Loop
Group 0
Sn0101
101
Velocity loop integral action time
Vel_Integ_Time_0
Servo Loop
Group 0
S00103
103
Modulo value (rotary roll over)
Modulo_Value
Control
Position
Publication 8720MC-UM 001C-EN-P Feb 2001
yes
Programming Parameters
8-5
Standard 8720MC Parameters in
Numerical Order
SERCOS IDN 8720MC Param
No.
No.
DESCRIPTION
16 Character Name
File
Group
SERCOS Only?
Sn0104
104
Position loop Kv-factor
Pos_Loop_Gain_0
Servo Loop
Group 0
Sn0105
105
Position loop integral action time
Pos_Int_Time_0
Servo Loop
Group 0
S00109
109
Motor peak current
Mtr_Peak_Current
Motor/Drive/Fdbk
Motor Data
S00110
110
Amplifier peak current
Drive_Peak_Amps
Motor/Drive/Fdbk
Drive Data
S00111
111
Motor continuous stall current
Mtr_Cont_Current
Motor/Drive/Fdbk
Motor Data
S00112
112
Amplifier rated current
Drive_Cont_Amps
Motor/Drive/Fdbk
Drive Data
S00113
113
Maximum motor speed
Max_Mtr_Speed
Motor/Drive/Fdbk
Motor Data
S00116
116
Resolution of motor feedback 1
MtrFdbk_Resoluti
Motor/Drive/Fdbk
Motor Feedback
S00121
121
Input revolutions of load gear
Input_Gear_Rev
Motor/Drive/Fdbk
Mechanics
yes
S00122
122
Output revolutions of load gear
Output_Gear_Rev
Motor/Drive/Fdbk
Mechanics
yes
S00123
123
Feed constant
Lin_Feed_Const
Motor/Drive/Fdbk
Mechanics
yes
S00124
124
Standstill window (zero speed)
Zero_Spd_Window
Status/Faults
Setup
S00125
125
Velocity threshold nx, (n feedback< nx)
Speed_Threshold
Status/Faults
Setup
S00126
126
Torque threshold Tx, (T>Tx)
Torque_Threshold
Status/Faults
Setup
S00129
129
8720MC drive error
A-B Fault
Status/Faults
Errors
S00136
136
Acceleration limit for servo Parameter set 0
Accel_Limit_0
Servo Loop
Group 0
S00137
137
Deceleration limit for servo Parameter set 0
Decel_Limit_0
Servo Loop
Group 0
S00141
141
Motor Identification - 8720SM Catalog Number
Motor_Data
Motor/Drive/Fdbk
Drive Data
S00150
150
Reference offset 1 (motor marker offset )
Mtr_Marker_Ofset
Procedure
Orient
S00151
151
Reference offset 2 ( aux marker offset)
Aux_Marker_Ofset
Procedure
Orient
S00152
152
Position spindle procedure command
Spin_Orient_Req
Procedure
Orient
S00153
153
Spindle angle position (absolute)
Orient_Angle
Procedure
Orient
S00154
154
Spindle position parameter
Orient_Options
Procedure
Orient
S00157
157
Velocity window (at speed)
At_Spd_Window
Status/Faults
Setup
S00159
159
Monitoring window (Max following error)
Max_Foll_Error
Status/Faults
Setup
S00160
160
Acceleration data scaling type
Acc_Scale_Type
Control
Acceleration
yes
S00161
161
Acceleration data scaling factor
Acc_Scale_Factor
Control
Acceleration
yes
S00162
162
Acceleration data scaling exponent
Acc_Scale_Expon
Control
Acceleration
yes
S00177
177
Motor absolute machine zero position Offset
Mtr_Abs_Offset
Motor/Drive/Fdbk
Motor Feedback
yes
S00189
189
Following distance
Posn_Foll_Error
Control
Position
S00196
196
Motor rated current
Mtr_Cont_Current
Motor/Drive/Fdbk
Motor Data
S00206
206
Delay Time Before Brake Solenoid is Enabled
Drive_On_Delay
Motor/Drive/Fdbk
Brake
S00207
207
Delay Time Before Brake Solenoid is Disabled
Drive_Off_Delay
Motor/Drive/Fdbk
Brake
S00216
216
Switch parameter set procedure command
Switch_Param_Set
Procedure
Parameter Switch
yes
yes
Publication 8720MC-UM 001C-EN-P Feb 2001
8-6
Programming Parameters
Standard 8720MC Parameters in
Numerical Order
SERCOS IDN 8720MC Param
No.
No.
DESCRIPTION
16 Character Name
File
Group
S00217
217
Parameter set preselection
Select _Param_Set
Procedure
Parameter Switch
S00220
220
Minimum spindle speed
Min_Spindle_Spd
Status/Faults
Setup
S00221
221
Maximum spindle speed
Max_Spindle_Spd
Status/Faults
Setup
S00222
222
Spindle positioning speed
Spin_Orient_Spd
Procedure
Orient
S00254
254
Actual parameter set
Actual_Param_Set
Procedure
Parameter Switch
S00258
258
Target position for positioning mode
Target_Position
Linear List
Linear List
S00259
259
Velocity for positioning mode
Posn _Velocity
Linear List
Linear List
S00260
260
Positioning Acceleration
Posn_Acc_Rate
Procedure
Orient
S00272
272
Velocity window percentage
Speed_Window_%
Status/Faults
Setup
S00277
277
Position feedback 1 type (extended)
Mtr_Fbck_Config1
Motor/Drive/Fdbk
Motor Feedback
Sn0296
296
Velocity feed forward gain
Vel_Fdfwd_Gain_0
Servo Loop
Group 0
S00330
330
Status "nfeedback = "ncommand"
At_Prog_Speed
I/O Interface
Event Links
S00331
331
Status "n feedback = 0"
Zero_Speed
I/O Interface
Event Links
S00332
332
Status "n feedback<nx"
Vel_Below_Thresh
I/O Interface
Event Links
S00333
333
Status "T> Tx, Torque above Threshold
Torq_Above_Thres
Linear List
Linear List
S00334
334
Status "T> Tlimit
Torq_Above_Limit
I/O Interface
Event Links
S00335
335
Status "ncommand > nlimit"
Vel_Above_Limit
I/O Interface
Event Links
S00336
336
Status "In position"
In_Position
I/O Interface
Event Links
S00339
339
Status "n feedback < Minimum spindle speed"
Spd_Below_Min
I/O Interface
Event Links
S00340
340
Status "n feedback > Maximum spindle speed"
Spd_Above_Max
I/O Interface
Event Links
S00347
347
Velocity Error
Velocity_Error
Control
Velocity
Sn0348
348
Acceleration Feed Forward Gain
Acc_Fdfwd_Gain_0
Servo Loop
Group 0
S00380
380
DC Bus Voltage Value
DC_Bus_Voltage
Status/Faults
Drive Status
S00384
384
Drive heat sink temperature
Heatsink_Temp
Linear List
Linear List
S00386
386
Estimated shaft motor power in kw
Mtr_Shaft_Power
Status/Faults
Drive Status
Publication 8720MC-UM 001C-EN-P Feb 2001
SERCOS Only?
Programming Parameters
A-B (S) Parameter Descriptions
8-7
This section of chapter 8 provides detailed definition of the A-B
standard SERCOS (IDN’s) supported by the 8720MC Drive. These
parameters are required to provide the basic drive functionality
defined in the IEC 61491 Standard. To simplify the 8720MC displays
and data base the standard SERCOS IDN’s, S00001 thru S00500 are
found in 8720MC parameters 1 thru 500. Some of the parameters are,
“R”, read only and are available for display only. Some are, “R/W”,
user read/write variables which can be modified via the HIM module
or other SCANport device such as Drives ExplorerTM operating on a
WindowsTM CE, NT or 95 platform. “L” variables can be linked to
outputs. The SERCOS master can also modify parameters via the
SERCOS service channel. For more in depth knowledge of SERCOS
parameters and operation refer to IEC Standard IEC 61491. Each
parameter explaination gives a cross reference to both the SERCOS
parameter number and the 8720MC parameter number.
A-B (S) Parameter Descriptions
IDN: S00011
Name: Shut_Down_Errors
Data Display: Bit pattern
R
Parameter No.
11
File:
Status/Faults
Group:
Errors
Description: Class 1 diagnostic (C1D). Drive shut-down error.
A drive error status of C1D leads to the following:
a) A best case deceleration followed by torque release at nfeedback = 0 (Parameter 331)
b) The drive shut-down error bit for C1D is set to ’1’ in the SERCOS drive status (bit 13). The error bit is reset to ’0’
by the drive only when no errors of C1D exists and after the command ’reset class 1 diagnostic’ (IDN 00099) has
been received by the drive via the SERCOS service channel.
In the analog configuration, parameter 615 is set true indicating there is a shut down failure.
Enumerated Bit Pattern:
Structure of C1D:
Bit 0: Drive overload shut-down
Bit 1: Drive over temperature shut-down
Bit 2: motor over temperature shut-down
Bit 3: cooling error shut-down (not supported in 8720MC)
Bit 4: control voltage error (not supported in 8720MC)
Bit 5: feedback error
Bit 6: error in the "commutation" system (not supported in 8720MC)
Bit 7: overcurrent error
Bit 8: overvoltage error
Bit 9: undervoltage error
Bit 10: power supply phase error (not supported in 8720MC)
Bit 11: excessive following error (see IDN 00159)
Bit 12: communication error
Bit 13: overtravel limit is exceeded (not supported in drive)
Bit 14: reserved
Bit 15: A-B drive fault (see IDN 00129)
0 = no error
1 = error
Default
NA:
Length
2 bytes
Minimum/Maximum
NA
Scaling Resolution
NA
Units
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
8-8
Programming Parameters
IDN: S00013
Name: Drive_Status
Data Display: Bit pattern
R
Parameter No.
13
File:
Status/Faults
Group:
Drive Status
Description: Class 3 diagnostic (C3D). Drive operation status flags.
When a condition changes in the drive, the corresponding bit changes in the C3D, this sets the change bit for C3D
in the SERCOS drive status (bit 11) to a binary ’1’. When the C3D is read via the service channel, the C3D change
bit is reset to ’0’. Bits defined by C3D are also defined by IDNs.
Enumerated Bit Pattern:
Structure of C3D:
Bit 0: nfeedback = ncommand (see IDN 00330) “At_Prog_Speed”
Bit 1: nfeedback = 0 (see IDN 00331) “Zero Speed”
Bit 2: nfeedback < nx (see IDN 00332) “Velocity Below Threshold”
Bit 3: T ≥ Tx (see IDN 00333) “Torque Above Threshold”
Bit 4: T ≥ Tlimit (see IDN 00334) “Torque Above Limit”
Bit 5: ncommand > |n limit (see IDN 00335) “Velocity Above Limit”
Bit 6: In Position (see IDN 00336)
Bit 7: P ≥ Px (see IDN 00337) not supported in the 8720MC
Bit 8: reserved
Bit 9: nfeedback ≤ minimum spindle speed (see IDN 00339) “Speed Below Minimum”
Bit 10: nfeedback ≥ maximum spindle speed (see IDN 00340) “Speed Above Maximum”
Bit 11: Reserved
Bit 12: Reserved
Bit 13: Reserved
Bit 14: reserved
Bit 15: A-B Drive Status (see IDN 00182)
Bit = 0, condition does not exist
Bit = 1, condition exists
Default:
NA
Length
2 bytes
Minimum/Maximum
NA
IDN: S00030
Name: Version_Data
Parameter No.
30
File:
Motor/Drive/
Fdbk
Group:
Drive Data
Description: Manufacturer version. The operation data of the manufacturer version contains the actual version
and additional information of the manufacturer. The structure of the manufacturer version appears as:
Vers: 01.00, where the first 2 numbers are the major revision and the second 2 numbers are the minor revision.
Default:
NA
Length
variable
characters
Minimum/Maximum
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
Scaling Resolution
NA
Units
NA
Data Display: ascii characters
R
Scaling Resolution
NA
Units
NA
Programming Parameters
IDN: 00032
Name: Prime_OP_Mode_n
Parameter No.
32
File:
Servo Loop
Group:
Group 0
Description:
Primary operation mode - There are 8 groups of servo parameters (n = 0 - 7) and “Primary Operating Mode” is
one of them. The choices available for primary operating mode are:
Enumerated Bit Pattern:
bits 0-2
001 - Torque Mode
010 - Velocity Mode
011 - Position with feedback 1, motor feedback (SERCOS only)
100 - Position with feedback 2, auxiliary feedback (SERCOS only)
101 - Position Control using both motor and auxiliary feedback (SERCOS only)
bit 3 - 15 reserved
In the analog version each of the 8 parameter sets has a “Prime_Op_Mode_n” parameter. Group zero is
parameter 32. In the SERCOS version the drive modes of operation defined by this parameter becomes active
when the operation mode is selected via bits 9 and 8 in the SERCOS control word of the MDT. The activated
operation mode is indicated by bits 9 and 8 of the SERCOS drive status in the AT telegram from the drive to the
master.
In the analog configuration only position with motor feedback (feedback 1), velocity and torque modes are
available. The operating mode can be changed on line in the analog version by switching parameter sets.
Default: 010,
velocity
Length
2 bytes
IDN: S00036
Name: Velocity_Command
Parameter No.
36
File:
Control
Group:
Velocity
Description: Velocity command value.This parameter contains the value of the reference velocity command.
Possible sources are Analog Input 1 (parameter 691), SCANp An1 Value (parameter 713), and the SERCOS cyclic
telegram. The source of the velocity reference command is determined by parameter 501, “A-B Application”.
With the suggested feedback and motor wiring a positive velocity reference produces clockwise rotation when
viewed from the shaft end of the motor.
Default:
0
Length
2 bytes
Analog/SCANport Min/Max
Min. ≥ -30,000
Max. ≤ +30,000
Analog/SCANport Scaling Resolution
1 = 1RPM
Units
RPM
Default:
0 - preferred
scaling
Length
4 bytes
SERCOS Min/Max
Min.≥ -231
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00044
Scaling factor: IDN 00045
Scaling exponent: IDN 00046
Units
IDN 00044
Minimum/Maximum
NA
Data display: enumerated selection
8-9
R/W
Scaling Resolution
NA
Units
NA
Data Display: decimal
R, Link
Publication 8720MC-UM 001C-EN-P Feb 2001
8-10
Programming Parameters
IDN: S00038
Name: +Vel_Limit_0
Parameter No.
38
File:
Servo Loop
Group:
Group 0
Description: Positive velocity limit value. This parameter describes the maximum allowable velocity in the
positive direction. If the velocity limit value is exceeded, the drive responds by setting the status ’ncommand >
nlimit' in C3D (see IDN 00013) as well as parameter 335 “Vel_Above_Limit”. This parameter appears in 8 sets of
servo loop parameters. Parameter 38 appears in Group 0. See Parameter Groups, Files and Elements in this
chapter. The commanded positive RPM will be limited to this value. If for any reason the actual motor velocity
exceeds + Vel_Limit_0 by 50% an overspeed fault will disable the drive.
Default:
6000
Length
2 bytes
Analog/SCANport Min/Max
Min. ≥ 0
Max. ≤ +30,000
Analog/SCANport Scaling Resolution
1 = 1RPM
Units
RPM
Default:
6000
Length
4 bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +231 - 1
Scaling Resolution
Scaling type: IDN 00044
Scaling factor: IDN 00045
Scaling exponent: IDN 00046
Units
IDN 00044
IDN: S00039
Name: -Vel_Limit_0
Data Display: signed decimal
R/W
Parameter No.
39
File:
Servo Loop
Group:
Group 0
Description: Negative velocity limit value. This parameter describes the maximum allowable velocity in the
negative direction. If the velocity limit value is exceeded, the drive responds by setting the status 'ncommand >
nlimit' in C3D (see IDN 00013) as well as parameter 335 “Vel_Above_Limit”. This parameter appears in 8 sets of
servo loop parameters. Parameter 39 appears in Group 0. See Parameter Groups, Files and Elements in this
chapter. The commanded negative RPM will be limited to this value. If for any reason the actual motor velocity
exceeds - Vel_Limit_0 by 50% an overspeed fault will disable the drive.
Default:
-6000
Length
2 bytes
Analog/SCANport Min/Max
Min. ≥ -30,000
Max. ≤ 0
Analog/SCANport Scaling Resolution
1 = 1RPM
Units
RPM
Default:
-6000
Length
4 bytes
MInimum/Maximum
Min. ≥ -231
Max. ≤ 0
Scaling Resolution
Scaling type: IDN 00044
Scaling factor: IDN 00045
Scaling exponent: IDN 00046
Units
IDN 00044
IDN: S00040
Name: Velocity_Fback
Data Display: Decimal
R, Link
Parameter No.
40
File:
Control
Group:
Velocity
Description: The velocity feedback value. In the SERCOS configuration the velocity feedback value is transferred
from the drive to the control unit in each AT cyclic telegram in order to allow the control unit to have access to the
actual velocity. In both the analog and SERCOS configurations the motor encoder supplied velocity feedback is
used to close the velocity loop. With the suggested feedback and motor wiring a positive velocity reference
produces clockwise rotation when viewed from the shaft end of the motor.
Default:
0
Length
2 bytes
Analog/SCANport Min/Max
Min. ≥ -30,000
Max. ≤ 30,000
Analog/SCANport Scaling Resolution
1 = 1RPM
Units
RPM
Default:
0
Length
4 bytes
Minimum/Maximum
Min. ≥ -231
Max. ≤ +231 - 1
Scaling Resolution
Scaling type: IDN 00044
Scaling factor: IDN 00045
Scaling exponent: IDN 00046
Units
IDN 00044
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Display: signed decimal
R/W
Programming Parameters
Data display: enumeration of choices
8-11
IDN: S00043
Name: Velocity_Polarity
R/W
Parameter No.
43
File:
Control
Group:
Velocity
Description: Velocity polarity parameter. This parameter is used to switch polarities of velocity data for specific
applications. Polarities are not switched internally but externally (on the input and output) of a closed loop system.
The motor shaft turns clockwise when there is a positive velocity command difference and no inversion is
programmed. SERCOS version only.
Default:
x000
Length
2 bytes
Enumeration:
Structure of velocity polarity parameter (see figure C.5):
Bit 0 – Velocity command value
0 = non-inverted
1 = inverted
Bit 1 – Additive velocity command value (SERCOS Configuration only)
0 = non-inverted
1 = inverted
Bit 2 – Velocity feedback value
0 = non-inverted
1 = inverted
Bits 15-3 (reserved)
This parameter is available with the 8720MC SERCOS Release.
Minimum/Maximum
NA
Scaling Resolution
NA
Units
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
8-12
Programming Parameters
IDN: S00044
Name: Vel_Scale_Type
Data Display: bit pattern
R/W
Parameter No.
44
File:
Control
Group:
Velocity
Description: SERCOS Velocity Data Scaling Type. A variety of scaling methods can be selected by means of the
scaling type parameter. Bit 5 is set to “minutes” for preferred data.
Default
x000x010:
Length
2 bytes
IDN: S00045
Name: Vel_Scale_Factor
Parameter No.
45
File:
Control
Group:
Velocity
Description: Velocity data scaling factor. This parameter defines the scaling factor for all velocity data in a
SERCOS configured drive.
This parameter is available with the 8720MC SERCOS Release.
Default:
preferred
Length
2 bytes
Enumeration:
Structure of velocity data scaling type:
Bits 2–0: Scaling method
000 = no scaling
001 = linear scaling
010 = rotational scaling
Bit 3:
0 = preferred scaling
1 = parameter scaling
Bit 4: Units for linear scaling
0 = meters (m)
1 = inches (in)
Bit 4: Units for rotational scaling
0 = revolutions (R)
1 = (reserved)
Bit 5: Time units
0 – minutes (min)
1 – seconds (s)
Bit 6: Data reference
0 – at the motor shaft
1– at the load
(all other bits are reserved)
This parameter is available with the 8720MC SERCOS Release.
Minimum/Maximum
NA
SERCOS Min/Max
Min. ≥ 1
Max. ≤ +215 - 1
Publication 8720MC-UM 001C-EN-P Feb 2001
Scaling Resolution
NA
Units
NA
Data Display: integer
R/W
SERCOS Scaling Resolution
Structure of the scaling factor:
Bits 15-0: factor
Units
scaler
Programming Parameters
IDN: S00046
Name: Vel_Scale_Expon
Parameter No.
46
File:
Control
Group:
Velocity
Description: Velocity data scaling exponent. This parameter defines the scaling exponent for all velocity data in a
SERCOS configured drive.
Default:
preferred
Length
2 bytes
IDN: S00047
Name: Position_Command
Parameter No.
47
File:
Control
Group:
Position
Description: Position command value. In the SERCOS configurations, during the positioning mode of operation,
the position command values are transferred from the motion control unit to the drive in the cyclic master data
telegram via IDN00047. In the analog versions the only commanded position is the orient position.
See parameter 153,”Orient angle”. In the SCANport configurations the position is available from 1203 Gateway
Communication Modules via parameter 258 “Target Position”
Default:
NA
Length
2 bytes
Analog/SCANport Min/Max
Min. ≥ -32768
Max. ≤ +32767
Analog/SCANport Scaling Resolution
Units
360/IDN00079 = rotary position increment in deg.
IDN 00079
IDN 00079 = rotary position increment in counts/rev.
Default:
NA
Length
4 bytes
SERCOS Min/Max
Min. ≥ -231
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00076
Scaling factor: IDN 00077
Scaling exponent: IDN 00078
Rotational position resolution: IDN 00079
SERCOS Min/Max
Min. ≥ -215
Max. ≤ +215- 1
Data Display: signed integer
8-13
R/W
SERCOS Scaling Resolution
Structure of the scaling exponent:
Bit 15: Sign of the exponent
0 – positive
1 – negative
Bits 14-0: Exponent
Units
scaler
Data Display: decimal
R/W
Units
IDN 00076
Publication 8720MC-UM 001C-EN-P Feb 2001
8-14
Programming Parameters
IDN: S00051
Name: Motor_Posn_Fback
Parameter No.
51
File:
Control
Group:
Position
Description: Position feedback value 1 (motor feedback). This value is available from the drive to the SERCOS
master in the SERCOS configuration via the AT cyclic telegram. In the analog spindle and power servo
configurations the feedback is always scaled for rotary feedback with modulo format using parameter scaling.
This means that the resolution of the feedback as displayed in IDN 00051 is defined by IDN 00079 and the
feedback is modulo in that it ranges from 0 to IDN 00103 counts absolute and rolls over to zero. In the analog
spindle and power servo configurations the absolute zero of the rotary axis feedback can be shifted clockwise or
counter-clockwise via parameter 150, “Motor Marker Offset”. The HIM display of parameter 51 in the analog
configurations will be the absolute accumulation of the modulo axis feedback after it is modified by parameter
150. This is true after the first orient regardless of whether the feedback type is incremental or single turn
absolute. In the analog version the display is in rotary resolution units as defined in parameter 79. It’s range will
be 0 to parameter 103, the modulo rotary axis value.
Default:
NA
Length
2 bytes
Analog/SCANport Min/Max
Min. ≥ -32768
Max. ≤ +32767
Analog/SCANport Scaling Resolution
360/param 79 = rotary position increment in deg.
Units
param.79
Default:
NA
Length
4 bytes
SERCOS Min/Max
Min. ≥ -231
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00076
Scaling factor: IDN 00077
Scaling exponent: IDN 00078
Rotational position resolution: IDN 00079
Units
IDN 00076
IDN: S00053
Name: Aux_Posn_Fback
Data Display: Decimal
R
Parameter No.
53
File:
Control
Group:
Position
Description: Position feedback value 2 (auxiliary feedback). This value is available from the drive to the SERCOS
master in the SERCOS configuration via the cyclic telegram. It is used for slide or spindle mounted feedback
devices such as linear scales or toothed wheel spindle encoders. This parameter is not available for analog
configurations.
Default:
NA
Length
4 bytes
SERCOS Min/Max
Min. ≥ -231
Max. ≤ +231 - 1
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Display: Resolution Units
SERCOS Scaling Resolution
Scaling type: IDN 00076
Scaling factor: IDN 00077
Scaling exponent: IDN 00078
Rotational position resolution: IDN 00079
R
Units
IDN 00076
Programming Parameters
Data display:
8-15
IDN: S00055
Name: Posn_Polarity
R/W
Parameter No.
55
File:
Control
Group:
Position
Description: Position polarity parameters. This parameter is used to switch polarities of reported position data for
specific applications. Polarities are switched outside (i.e. on the input and output) of a closed loop system. The
motor shaft turns clockwise (when viewed from the output shaft) when there is a positive position command
difference and no inversion is programmed.
Default:
0
Length
2 bytes
IDN: S00057
Name: IN_Posn_Value
Parameter No.
57
File:
Status/Fault
Group:
Setup
Description: Position window. When the difference between the accumulated position command value and the
position feedback value is within the range of the position window, then the drive sets the status “in position” (IDN
00336). When needed, the status 'in position' is assigned to a real-time status bit within the drive status and then
transferred to the control unit (see IDN 00305).
Analog/
SCANport
Default:
10 counts
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ 0
Max. ≤ +30,000
Analog/SCANport Scaling Resolution
1 = 1 count/rev as determined by parameter 79,
with parameter 79 set at 3,600 then each count will
equal. 1 degree
e.g. with IDN 00079 set for 3600, 2 = .2 degree
Units
IDN00079
counts/rev
Default:
Length
4 bytes
SERCOS Min/Max
Min. ≥ 0
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00076
Scaling factor: IDN 00077
Scaling exponent: IDN 00078
Rotational position resolution: IDN 00079
Units
IDN 00076
Enumerations:
Structure of the Position polarity parameter:
Bit 0 Position command value
0 = Non-inverted
1 = Inverted
Bit 1 Additive position command value
0 = Non-inverted
1 = Inverted
Bit 2 Position feedback value 1
0 = Non-inverted
1 = Inverted
Bit 3 Position feedback value 2
0 = Non-inverted
1 = Inverted
Bit 4 Position limit values
0 – disabled
1 – enabled
Bit 5: Underflow / Overflow threshold (IDN 00280, 00281)
0 – disabled
1 – enabled Bits 15-6 (reserved)
This parameter is available with the 8720MC SERCOS Release.
SERCOS Min/Max
NA
SERCOS Scaling Resolution
NA
Units
NA
Data Display: Decimal, nnn.nn
R/W
Publication 8720MC-UM 001C-EN-P Feb 2001
8-16
Programming Parameters
IDN: S00076
Name: Position Scaling
Data Display: Bit pattern
R/W
Parameter No.
76
File:
Control
Group:
Position
Description: Position data scaling type. A variety of scaling methods can be selected by means of the scaling
type parameter (see also figure 51). This parameter applies to the SERCOS and 32 bit SCANport (DPI)
configurations. By default the analog version uses rotational and parameter scaling. For any analog application
using positioning, as with spindle orient, bit 7, Processing format, should be set to “modulo”. Resolution is
determined by parameter 79. For more details see IEC 61491, page 213.
Enumerated Bit Pattern:
Structure of position data scaling type:
Bits 2–0: Scaling method
000 – no scaling
001 – linear scaling
010 – rotational scaling
Bit 3:
0 – preferred scaling
1 – parameter scaling
Bit 4: Units for linear scaling
or Bit 4: Units for rotational scaling
0 – meters (m)
0 – degrees
1 – inches (in)
1 – (reserved)
Bit 5: (reserved)
Bit 6: Data reference
0 – at the motor shaft
1 – at the load
Bit 7: Processing format
0 – absolute format
1 – modulo format (see IDN 00103)
(all other bits are reserved)
This parameter is available with the 8720MC SERCOS Release.
Default:
x00x01010
Length
2 bytes
SERCOS Min/Max
NA
IDN: S00077
Name: Posn_Scal_Factor
Parameter No.
77
File:
Control
Group:
Position
Description: Linear position data scaling factor. This parameter defines the scaling factor for all linear position
data in a drive. Parameter 77 applies to the SERCOS and 32 bit SCANport (DPI) configurations when preferred
scaling is not used. Parameter 79, not 77, is used for analog configurations.
This parameter is available with the 8720MC SERCOS Release.
Default:
1
Length
2 bytes
SERCOS Min/Max
Min.≥1
Max. ≤ +216 - 1
Publication 8720MC-UM 001C-EN-P Feb 2001
SERCOS Scaling Resolution
NA
Units
NA
Data Display: integer
R/W
SERCOS Scaling Resolution
Structure of the scaling factor:
Bits 15-0: factor
Units
NA
Programming Parameters
IDN: S00078
Name: Posn_Scale_Expon
Parameter No.
78
File:
Control
Group:
Position
Description: Linear position data scaling exponent. This parameter defines the scaling exponent for all linear
position data in a SERCOS configured drive. Parameter 78 applies to the SERCOS and 32 bit SCANport (DPI)
configurations when preferred scaling is not used. Parameter 79, not 78, is used for analog configurations.
This parameter is available with the 8720MC SERCOS Release.
Default:
Preferred
10-4 degree
10-6 inch
Length
2 bytes
IDN: S00079
Name: Rot_Posn_Resolut
Parameter No.
79
File:
Control
Group:
Position
Description: Rotational position resolution. This parameter defines the rotational position resolution for all
position data in a drive when rotational scaling and parameter scaling are selected in IDN 00076. With the analog
configuration the default scaling is rotational and parameter scaling therefore parameter 79 is required to
determine the position resolution for orient. Parameter 79 is entered as an integer value representing the number
of position counts per revolution of the motor.
Default:
3600 counts or
.1 deg
Length
2 bytes
IDN: S00080
Name: Torque_Command
Parameter No.
80
File:
Control
Group:
Torque
Description: Torque command value. In the SERCOS configuration, during the torque control operation mode of
the drive, torque command values are transferred from the control unit to the drive via IDN 00080 in the cyclic
master data telegram. This functionality is not supported in the standard 8720MC telegram, “telegram type 5”
and therefore a telegram including torque must be chosen. The IEC 61491 SERCOS Standard supports this
capability.
Analog/
SCANport
Default:
0.0
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ -1000.0
Max. ≤ +1000.0
Analog/SCANport Scaling Resolution
1=.1%
Units
%
Default:
0
Length
2 bytes
SERCOS Min/Max
Min. ≥ -215
Max. ≤ +215 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00086
Scaling factor: IDN 00093
Scaling exponent: IDN 00094
Units
IDN 00086
Minimum/Maximum
Min. ≥ -215
Max. +215- 1
Analog Minimum/Maximum
Min. ≥ 1
Max. ≤ +65535
Data Display: Signed integer
8-17
R/W
Scaling Resolution
Structure of the scaling exponent:
Bit 15: Sign of the exponent
0 – positive
1 – negative
Bits 14–0: Exponent
Units
NA
Data Display: integer
R/W
Analog Scaling Resolution
1 = 1 drive feedback count
360/IDN00079 = rotary position increment in deg.
Units
counts/rev.
Data Display: decimal
R/W
Publication 8720MC-UM 001C-EN-P Feb 2001
8-18
Programming Parameters
IDN: S00082
Name: +Torque_Limit_0
Parameter No.
82
File:
Servo Loop
Group:
0
Description: The positive torque limit value limits the maximum torque in the positive direction. If the torque
limit value is exceeded, the drive sets the status ’T ≥ Tlimit’ in C3D (IDN 00013). There are 8 sets of + Torque Limit
and - Torque limit parameters. +Torque_Limit_0 applies to group zero.
Analog/
SCANport
Default:
400.0
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ 0
Max. ≤ +1000.0
Analog/SCANport Scaling Resolution
1=.1%
Units
%
Default:
400.0
Length
2 bytes
SERCOS Min/Max
Min. ≥ 0
Max. ≤ +215 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00086
Scaling factor: IDN 00093
Scaling exponent: IDN 00094
Units
IDN 00086
IDN: S00083
Name: -Torque_Limit_0
Data Display: decimal
R/W
Parameter No.
83
File:
Servo Loop
Group:
0
Description: The negative torque limit value limits the maximum torque in the negative direction. If the torque
limit value is exceeded, the drive sets the status ’T ≥ Tlimit’ in C3D (IDN 00013). There are 8 sets of + Torque
Limit and - Torque limit parameters
Analog/
SCANport
Default:
-400.0
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ -1000.0
Max. ≤ 0
Analog/SCANport Scaling Resolution
1=.1%
Units
%
Default:
-400.0
Length
2 bytes
SERCOS
Minimum/Maximum
Min. ≥ -215
Max. ≤ 0
Scaling Resolution
Scaling type: IDN 00086
Scaling factor: IDN 00093
Scaling exponent: IDN 00094
Units
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Display: decimal
R/W
Programming Parameters
Data display: decimal
8-19
IDN: S00084
Name: Torque_Fback
R, Link
Parameter No.
84
File:
Control
Group:
Torque
Description: The torque feedback value can be is transferred from the drive to the control unit via the SERCOS AT
cyclic data telegram. This functionality is not supported in the standard 8720MC telegram, “telegram type 5” and
therefore a telegram including torque must be chosen. The IEC 61491 SERCOS Standard supports this capability.
Analog/
SCANport
Default:
0.0
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ -1000.0
Max. ≤ +1000.0
Analog/SCANport Scaling Resolution
1=.1%
Units
%
Default:
0
Length
2 bytes
SERCOS Min/Max
Min. ≥ -215
Max. ≤ +215 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00086
Scaling factor: IDN 00093
Scaling exponent: IDN 00094
Units
IDN 00086
IDN: S00085
Name: Torque_Polarity
Data Display: Bit pattern
R/W
Parameter No.
85
File:
Control
Group:
Torque
Description: Torque polarity parameter. This parameter is used to switch polarities of reported torque data for
specific applications. Polarities are not switched internally but externally (on the input and output) of a closed loop
system. The motor shaft turns clockwise when there is a positive torque command difference and no inversion.
Default:
x000
Length
2 bytes
Enumerated Bit Pattern:
Structure of torque polarity parameter (see figure C.7):
Bit 0 – Torque command value
0 = non-inverted
1 = inverted
Bit 1 – Additive torque command value
0 = non-inverted
1 = inverted
Bit 2 – Torque feedback value
0 = non-inverted
1 = inverted
Bits 15-3 (reserved)
This parameter is available with the 8720MC SERCOS Release.
Minimum/Maximum
NA
Scaling Resolution
NA
Units
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
8-20
Programming Parameters
IDN: S00086
Name: Torq_Scale_Type
Data Display: Bit pattern
R/W
Parameter No.
86
File:
Control
Group:
Torque
Description: Torque/force data scaling type. In the SERCOS configuration a variety of scaling methods can be
selected by means of this scaling type parameter. In the analog configuration percent scaling of motor torque is
the only available choice. For more details see IEC 61491, page 223.
Default:
x000
Length
2 bytes
IDN: S00093
Name: Torq_Scal_Factor
Parameter No.
93
File:
Control
Group:
Torque
Description: Torque/force data scaling factor. In the SERCOS configuration this parameter defines the scaling
factor for all torque/force data in a drive. This parameter is only used when the preferred scaling is not selected in
IDN 00086. In the analog configuration the scale factor is always 1.
This parameter is available with the 8720MC SERCOS Release.
Default:
1
Length
2 bytes
Enumerated Bit Pattern:
Structure of torque/force data scaling type:
Bits 2–0: Scaling method
000 – percentage scaling
001 – linear scaling (force)
010 – rotational scaling (torque)
Bit 3:
0 – preferred scaling
1 – parameter scaling
Bit 4: Units for force
or
Bit 4: Units for torque
0 – newton (N)
0 – newton metre (Nm)
1 – pound force (lbf)
1 – inch pound force (in lbf)
Bit 5: (reserved)
Bit 6: Data reference
0 – at the motor shaft
1 – at the load
(all other bits are reserved)
This parameter is available with the 8720MC SERCOS Release.
Minimum/Maximum
NA
Minimum/Maximum
Min. ≥ 1
Max. ≤ +216 - 1
Publication 8720MC-UM 001C-EN-P Feb 2001
Scaling Resolution
NA
Units
NA
Data Display: integer
R/W
Scaling Resolution
Structure of the torque/force data scaling factor:
Bits 15-0: factor
Units
scaler
Programming Parameters
IDN: S00094
Name: Torq_Scale_Expon
Parameter No.
94
File:
Control
Group:
Torque
Description: Torque/force data scaling exponent. TIn the SERCOS configuration his parameter defines the scaling
exponent for all torque/force data in a drive. This parameter is only used when the preferred scaling is not
selected in IDN 00086. In the analog configuration the scale exponent is always 10-1.
This parameter is available with the 8720MC SERCOS Release.
Default:
10-1
Length
2 bytes
IDN: S00099
Name: Drive_Err_Reset
Parameter No.
99
File:
Status/Faults
Group:
Errors
Description: Reset class 1 diagnostic. In the SERCOS configuration when this procedure command is received by
the drive via the service channel and no error exists in IDN 00011, “Class 1 Diagnostics” (C1D) or IDN 000129,
“A-B Fault”, the manufacturer's C1D, the drive shut-down error bit in the SERCOS drive status word (bit 13), will
be reset by the drive. This essentially means that any shut-down errors detected by the drive and subsequently
removed will be reset by the drive. (see IDN 00011, and IDN 00129). In the analog configuration this function is
provided by the Drive Error Reset reset input.
Minimum/Maximum
Min. ≥ -215
Max. ≤ +215 - 1
Data display: integer
8-21
R/W
Scaling Resolution
Structure of the torque/force data scaling exponent:
Bit 15: Sign of the exponent
0 – positive
1 – negative
Bits 14-0: Exponent
Units
scaler
Data Display: Bit pattern
R
Enumerated Bit Pattern:
Structure of reset class 1 diagnostic: (see IEC 61491, table 16, 7.4.4)
Structure of procedure command acknowledgment (see IEC 61491, table 17, 7.4.4)
Default:
NA
Length
2 bytes
Minimum/Maximum
NA
IDN: S00100
Name: Vel_Prop_Gain_0
Parameter No.
100
File:
Servo Loop
Group:
group 0
Description: Velocity loop proportional gain. This is one of the parameters included in the 8 sets of servo loop
parameters. Increasing this parameter produces faster velocity loop dynamic response with higher risk of
instability. It will also reduce the dynamic velocity error. Decreasing this parameter will soften the dynamic
response, increase the dynamic velocity error and reduce the velocity loop instability. This parameter may be auto
tuned. See parameter 541
Default:
600
Length
2 bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +30000
Scaling Resolution
NA
Units
NA
Data Display: integer
R/W
Scaling Resolution
1 = 1/sec
Units
1/sec
Publication 8720MC-UM 001C-EN-P Feb 2001
8-22
Programming Parameters
IDN: S00101
Name: Vel_Integ_Time_0
Parameter No.
101
File:
Servo Loop
Group:
group 0
Description: Velocity loop integral action time. This is one of the parameters included in the 8 sets of servo loop
parameters. Decreasing this value will increase the dynamic response in the velocity loop and reduce the steady
state velocity error. This value will be modified as a result of auto tuning.
Default:
240
Length
2 bytes
IDN: S00103
Name: Modulo_Value
Parameter No.
103
File:
Control
Group:
Position
Description: Modulo value. In the SERCOS configuration if the modulo format is selected in the position scaling
parameter (IDN 00076), the modulo value defines the range that the drive & control must implement. This value
determines the roll over point of a modulo axis. In the analog configuration the position data scaling type is
always rotary axis. For example, if a 360 degree roll over point is desired, 3600 must be entered into IDN 00103,
assuming IDN 00079 is set up for a resolution of 3600 counts per revolution. In this configuration the motor will
move from o to 359.9 and roll over to zero in one motor revolution when rotating in the positive clockwise
direction and viewing from the shaft end of the motor. As another example a 7200 count modulo rotary axis can be
set up by entering 7200 in IDN 00103 and 7200 in IDN 00079. In this case the position feedback display will
rollover after 7200 feedback counts of the motor. As yet another example, a 30,000 count modulo rotary axis can
be set up by entering 30,000 in IDN 00103 and 30,000 in IDN 00079. In this case the position feedback will
accumulate from 0 to 29999 and rollover back to 0 after 1 revolution of the motor and the resolution will be one in
30,000. It is always a good practice for applications using orient to set the value of parameter 103 to the same
value as parameter 79, “Rotary Position Resolution”. This assures that an orient from stand still will take one
revolution.
Default:
3600 counts
Length
2 bytes
Analog Minimum/Maximum
Min. ≥ +1
Max. ≤ +65535
Analog Scaling Resolution
1 = 1 count as determined by parameter 79
Units
param 79
in counts
Default:
Length
4 bytes
Minimum/Maximum
Minimum Input: > 1
Maximum Input: ≤ 231-1
Scaling Resolution
Scaling type IDN 00076
Scaling factor IDN 00077
Scaling exponent IDN 0078
Rotational position resolution IDN 00079
Preferred scaling:
–rotational = 1x10-4 degrees
–linear = 1x10-7 m or 1x10-6 in
Units
IDN 00076
IDN: S00104
Name: Pos_Loop_Gain_0
Data Display: Decimal
R/W
Parameter No.
104
File:
Servo Loop
Group:
group 0
Description: Position loop KV -factor. The KV-factor determines the gain of the position loop regulator throughout
the entire velocity range. Increasing this parameter produces faster position loop dynamic response with higher
risk of instability. It will also reduce the dynamic position error. Decreasing this parameter will soften the dynamic
response, increase the dynamic position error and reduce the position loop instability.
Default:
60
Length
2 bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +6553.5
Minimum/Maximum
Min. > 0
Max. ≤ 30,000
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Display: decimal
R/W
Scaling Resolution
1 = .1 msec
Units
msec
Data Display: integer
R/W
Scaling Resolution
1 = .01 m/min/mm or .01 in/min/.001 in
Units
(m/min)/
mm
Programming Parameters
IDN: S00105
Name: Pos_Int_Time_0
Parameter No.
105
File:
Servo loop:
Group:
group 0
Description: Position loop integral action time. Increasing this parameter will increase the integration time and
thus reduce the dynamic response. Decreasing this parameter will decrease the integration time and thus
increase the dynamic response.
Default:
6553.5
Length
2 bytes
IDN: S00109
Name: Mtr_Peak_Current
Parameter No.
109
File:
Motor/Drive/
Fdbk
Group:
Motor Data
Description: If the motor peak current is less than the capacity of the drive amplifier, the amplifier is
automatically limited to the level of the motor peak current. Parameter 109 (IDN00109), motor peak RMS current
at rated (base) speed. For a standard 8720SM motor with Stegmann feedback this value is read from the motor
encoder memory.
Default:
From motor
encoder
Length
2 bytes
Analog Minimum/Maximum
Min. > 0
Max. ≤1000.0
Analog Scaling Resolution
1 = .1 amps
Units
amps
Default:
From motor
encoder
Length
4 bytes
SERCOS Min/Max
Min. > 0
Max.≤ 232 - 1
SERCOS Scaling Resolution
1 = .001 amps
Units
amps
IDN: S00110
Name: Drive_Peak_Amps
Data Display: Decimal
R
Parameter No.
110
File:
Motor/Drive/
Fdbk
Group:
Drive Data
Description: The amplifier peak current is limited by the drive hardware, which means that the current for the
maximum attainable torque limit value is fixed as well. This parameter is determined by the drive and can’t be
changed.
Default:
From drive
amplifier
Length
2 bytes
Analog Minimum/Maximum
Min. > 0
Max. ≤ 3000.0
Analog Scaling Resolution
1 = .1 amps
Units
amps
Default:
From drive
amplifier
Length
4 bytes
SERCOS Min/Max
Min. > 0
Max.≤ 232 - 1
SERCOS Scaling Resolution
1 = .001 amps
Units
amps
Minimum/Maximum
Min. > .1
Max. ≤ 6553.5
Data Display: Decimal
8-23
R/W
Scaling Resolution
1 = .1 msec
Units
msec
Data Display: Decimal
R/W
Publication 8720MC-UM 001C-EN-P Feb 2001
8-24
Programming Parameters
IDN: S00111
Name: Mtr_Cont_Current
Parameter No.
111
File:
Motor/Drive/
Fdbk
Group:
Motor Data
Description: The motor continuous stall current is the current at which the motor produces the continuous
standstill torque according to the motor spec sheet. For all motors except for asynchronous motors, this
parameter is used as a reference for all torque data and for determining motor-related current values. This
parameter is ignored for induction motors therefore it does not apply to 8720SM motors.
Default:
null
Length
4 bytes
IDN: S00112
Name: Drive_Cont_Amps
Parameter No.
112
File:
Motor/Drive/
Fdbk
Group:
Drive Data
Description: The amplifier rated current is equal to the allowable continuous current of the drive unit. This
parameter is determined by the drive and can’t be changed.
Default:
From drive
amplifier
Length
2 bytes
Analog Minimum/Maximum
Min. > 0
Max. ≤ 1000.0
Analog Scaling Resolution
1 = .1 amps
Units
amps
Default:
From drive
amplifier
Length
4 bytes
Minimum/Maximum
Min. > 0
Max.≤ 232 - 1
SERCOS Scaling Resolution
1 = .001 amps
Units
amps
IDN: S00113
Name: Max_Mtr_Speed
Data Display: Integer
R/W
Parameter No.
113
File:
Motor/Drive/
Fdbk
Group:
Motor Data
Description: The maximum motor speed is the maximum rated operating speed of the motor. With the standard
8720SM motors this value is stored in the motor encoder. If this value is exceeded by 20% an overspeed fault will
disable the drive. Parameter 129, “A-B Faults”, bit 15 will be set true.
Default:
From motor
encoder
Length
2 bytes
Analog Minimum/Maximum
Min. > 0
Max. ≤ 30,000
Analog Scaling Resolution
1 = 1 rpm
Units
rpm
Default:
From motor
encoder
Length
4 bytes
SERCOS Min/Max
Min. > 0
Max.≤ 232 - 1
SERCOS Scaling Resolution
10-4
Units
min-1
Minimum/Maximum
Min. > 0
Max.≤ 1000.0
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Display: Decimal
R/W
SERCOS Scaling Resolution
1 = .1 amps
Units
amps
Data Display: Decimal
R/W
Programming Parameters
Data Type: integer
8-25
IDN: S00116
Name: MtrFdbk_Resoluti
R/W
Parameter No.
116
File:
Motor/Drive/
Fdbk
Group:
Motor Feedback
Description: For rotary feedback the resolution parameter of feedback 1 (motor feedback) defines the number of
cycles per revolution of the motor. For a sinusoidal device this represents the number of periods per revolution.
For a TTL devices this represents the number of lines per motor revolution. For a linear feedback the grid constant
is entered. For the standard Stegmann motor feedback devices this will be self identified at 1024 counts.
Default:
From motor
encoder
Length
2 bytes
Analog Minimum/Maximum
Min. > 0
Max. ≤ 32,000
Analog Scaling Resolution
1 = 1 cycle/motor revolution
Units
fdbk cycles
Default:
From motor
encoder
Length
4 bytes
SERCOS Min/Max
Min. > 0
Max.≤ 232 - 1
SERCOS Scaling Resolution
1 [cycles/motor revolution]
Units
fdbk cycles
IDN: S00121
Name: Input_Gear_Rev
Data Display: Integer
R/W
Parameter No.
121
File:
Motor/Drive/
Fdbk
Group:
Mechanics
Description: Input revolutions of load gear set as viewed from the motor. Input revolutions must be entered as an
integer value. This parameter applies to the SERCOS configuration only.
Analog Default: Length
1
2 bytes
Analog Minimum/Maximum
Min. ≥ 0
Max. ≤ +65535
Analog Scaling Resolution
1 revolution of the input shaft
Units
revs
Default:
1
Length
4 bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +232 - 1
Scaling Resolution
1 [input revolution]
Units
revs
IDN: S00122
Name: Output_Gear_Rev
Data Display: Integer
R/W
Parameter No.
122
File:
Motor/Drive/
Fdbk
Group:
Mechanics
Description: Output revolutions of load gear set. Output revolutions must be entered as an integer value. For
example: If the input makes 4 turns for each output revolution, a value of 4 is entered into parameter 121 and a
value of 1 is entered into parameter 122. This parameter applies to the SERCOS configuration only.
Analog Default: Length
1
2 bytes
Analog Minimum/Maximum
Min. ≥ 0
Max. ≤ +65535
Analog Scaling Resolution
1 revolution of the output shaft
Units
revs
Default:
1
SERCOS Min/Max
Min. > 0
Max.≤ 232 - 1
SERCOS Scaling Resolution
1 [output revolution]
Units
revs
Length
4 bytes
Publication 8720MC-UM 001C-EN-P Feb 2001
8-26
Programming Parameters
IDN: S00123
Name: Lin_Feed_Const
Parameter No.
123
File:
Motor/Drive/
Fdbk
Group:
Mechanics
Description: The feed constant describes the machine element which converts a rotational motion into a linear
motion. The feed constant indicates the linear distance during one revolution of the feed motor. This parameter is
used with the SERCOS configuration.
Default:
1
Length
4 bytes
IDN: S00124
Name: Zero_Spd_Window
Parameter No.
124
File:
Status/faults
Group:
Setup
Description: The standstill window describes the amount of the deviation of the velocity from 0. If the velocity
feedback value is within the standstill window the drive sets the status n feedback = 0 (IDN 00331).
SERCOS Min/Max
Min. > 0
Max.≤ 232 - 1
Data Display:
Scaling Resolution
Units
Data Display: Integer
R/W
Analog Default: Length
10
2 bytes
Analog Minimum/Maximum
Min. ≥ 0
Max. ≤ +30,000
Analog Scaling Resolution
1 = 1 rpm
Units
rpm
Default:
Length
4 bytes
SERCOS Min/Max
Min. > 0
Max.≤ 232 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00044
Scaling factor: IDN 00045
Scaling exponent: IDN 00046
Units
IDN 00044
IDN: S00125
Name: Speed_Threshold
Data Display: Integer
R/W
Parameter No.
125
File:
Status/faults
Group:
Setup
Description: Velocity threshold (nx). If the velocity feedback value falls below the velocity threshold nx, the drive
sets the status ’nfeedback < nx ’ (IDN 00332) in C3D.
Analog Default: Length
1000
2 bytes
Analog Minimum/Maximum
Min. ≥ 0
Max. ≤ +30,000
Analog Scaling Resolution
1 = 1 rpm
Units
rpm
Default:
1
SERCOS Min/Max
Min. > 0
Max.≤ 232 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00044
Scaling factor: IDN 00045
Scaling exponent: IDN 00046
Units
IDN 00044
Length
4 bytes
Publication 8720MC-UM 001C-EN-P Feb 2001
Programming Parameters
Data Display: decimal
8-27
IDN: S00126
Name: Torque_Threshold
R/W
Parameter No.
126
File:
Status/faults
Group:
Setup
Description: Torque threshold (Tx ). If the torque feedback value exceeds the torque threshold T x, the drive sets
the status ’T ≥ Tx’ in C3D (IDN 00333).
Analog Default: Length
100.0
2 bytes
Analog Minimum/Maximum
Min. ≥ 0
Max. ≤ +1000.0
Analog Scaling Resolution
1 = .1 %
Units
% Rated
motor torq
Default:
100.0
Length
2 bytes
SERCOS Min/Max
Min. > 0
Max.≤ 215- 1
SERCOS Scaling Resolution
Scaling type: IDN 00086
Scaling factor: IDN 00093
Scaling exponent: IDN 00094
Units
IDN 00086
IDN: S00129
Name: A-B Fault
Data Display: Bit pattern
R
Parameter No.
129
File:
Status/Faults
Group:
Errors
Description: Manufacturer class 1 diagnostic. The 8720MC defines additional shut-down errors in manufacturer
class 1 diagnostic (C1D). If an error is set in the manufacturer class 1 diagnostic, the manufacturer-specific error
bit in class 1 diagnostic (see IDN 00011) is set as well. The drive cancels the manufacturer-specific error and
resets to ’0’ only if the error in manufacturer class 1 diagnostic has been eliminated and on receiving the
command ’reset class 1 diagnostic’ (see IDN 00099) via the SERCOS service channel or the drive error reset
input.
Enumerated faults:
0: positive software overtravel fault
1: negative software overtravel fault
2: + hardware overtravel
3: - hardware overtravel
4: motor feedback 1 lost signal
5: motor feedback 1 noise fault
6: aux feedback 2 lost signal
7: aux feedback 2 noise fault
8: reserved
9: reserved
10: reserved
11: reserved
12: reserved
13: Power structure ground short
14: Drive Hardware Fault
15: Overspeed = 120% of parameter 113, “Max Motor Speed”, or 150% of the velocity limits set for the active
servo loop parameter set, parameters 38 and 39 for servo loop group 0, etc.
Default:
NA
Length
2 bytes
Minimum/Maximum
NA
Scaling Resolution
NA
Units
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
8-28
Programming Parameters
IDN: S00136
Name: Accel_Limit_0
Parameter No.
136
File:
Servo loop
Group:
Group 0
Description: Acceleration Limit
Parameter 136 contains the desired acceleration limit for parameter set zero in radians per sec2. This parameter
applies to the command reference regardless of it’s source e. g. Analog input, SCANport or HIM. Reducing the
acceleration rate will prevent shocking the mechanical system while increasing the speed.
Default:
65535
Length
2 bytes
Analog/SCANport Min/Max
Min. ≥ 0
Max. ≤ 65535
Analog/SCANport Scaling Resolution
1 = 1rad/sec2
Units
rad/sec2
Default:
65535
Length
4 bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +231 - 1
Scaling Resolution
Scaling type: IDN 00160
Scaling factor: IDN 00161
Scaling exponent: IDN 162
Units
IDN 00160
IDN: S00137
Name: Decel_Limit_0
Data Display: Signed Integer
R/W
Parameter No.
137
File:
Servo loop
Group:
Group 0
Description: Deceleration Limit
Parameter 137 contains the desired deceleration limit for parameter set zero in radians per sec2. This parameter
applies to the command reference regardless of it’s source e. g. Analog Input, SCANport or HIM. Reducing the
deceleration rate may be required to prevent bus over voltage when neither a regenerative converter or a brake
chopper are required. Also reducing the deceleration rate may be required to prevent overcurrent faults caused by
fast deceleration at high speeds.
Default:
-32768
Length
2 bytes
Analog/SCANport Min/Max
Min. ≤ 0
Max. ≥ −32768
Analog/SCANport Scaling Resolution
1 = 1rad/sec2
Units
rad/sec2
Default:
-32768
Length
4 bytes
Minimum/Maximum
Min. ≤ 0
Max. ≥ -231
Scaling Resolution
Scaling type: IDN 00160
Scaling factor: IDN 00161
Scaling exponent: IDN 162
Units
IDN 00160
IDN: S00141
Name: Motor_Data
Data Display: Ascii representation of Enumeration
R
Parameter No.
141
File:
Motor/Drive/
Fdbk
Group:
Drive Data,
Motor Data
Description: Motor Catalog Number
Parameter 141 contains the Allen-Bradley catalog number of the motor. This is a 64 character string which contains
multiple display elements. The data which can be displayed is as follows:
* 8720SM motor catalog number
* 8720SM motor serial number
* Date motor manufactured
* Manufacturing lot
* Motor ID Number
Default:
From motor
encoder mem.
Length
64 character
string
Minimum/Maximum
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Display: Integer
Scaling Resolution
NA
R/W
Units
NA
Programming Parameters
Display format: signed integer
8-29
IDN: S00150
Name: Mtr_Marker_Ofset
R/W
Parameter No.
150
File:
Procedure
Group:
Orient, Homing
Description: Reference offset 1 is used to offset the motor encoder zero point. This parameter describes the
distance between the incremental encoder zero reference marker pulse or the single turn absolute encoder zero
reference point and the desired mechanical zero reference of the axis motor or spindle motor. “Position feedback
1”, parameter 51 - the motor mounted feedback rotary position feedback value, can be modified with this offset.
Parameter 150 provides an offset that compensates for rotary mis-alignment between the encoder zero point and
the desired mechanical zero of the spindle or axis. This parameter is used to configure the axis or spindle motor
zero during startup. A - value produces a clockwise offset angle when facing the shaft end of the motor and a +
value produces a counter-clockwise offset. It should be noted that this is the opposite sense to the position and
orient angle signs. To prevent reversals during orient use a - signed offset for cw orient and a + signed offset for
ccw orient.
Analog Default: Length
0.00
2 bytes
Analog Minimum/Maximum
Min. ≥ -32768,
Max. ≤ +32767
Analog Scaling Resolution
1 = 1 count as determined by parameter 79
e.g.: with IDN 00079 at 3600 cnts/rev, 1 count = .1
degree, Practical Range = -360.0 to + 360.0 degrees
Units
param. 79
Counts/rev
SERCOS
Default:
0.0
Length
4 bytes
SERCOS Min/Max
Min. ≥ -231
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00076
Scaling factor: IDN 00077
Scaling exponent: IDN 00078
Rotational position resolution: IDN 00079
Units
IDN 00076
IDN: S00151
Name: Aux_Marker_Ofset
Display format: signed integer
R/W
Parameter No.
151
File:
Procedure
Group:
orient, homing
Description: Reference offset 2 is used to offset the axis or spindle mounted encoder zero point. This parameter
describes the distance between the incremental encoder zero reference marker pulse or the single turn absolute
encoder zero reference point and the desired mechanical zero reference of the axis or spindle. “Position
feedback 2”, parameter 53 - the axis or spindle mounted feedback device position feedback value can be
modified with this offset. Parameter 151 provides an offset that compensates for mis-alignment between the
spindle or axis mounted encoder zero point and the desired mechanical zero of the spindle or axis. This parameter
is used to configure the axis or spindle zero during startup. Parameter 151 is used in the SERCOS configuration
only. The secondary auxiliary feedback port is not available in the analog configuration. A + value produces a
clockwise offset angle when facing the shaft end of the motor and a - value produces a counter-clockwise offset.
SERCOS
Default:
0.0
Length
4 bytes
SERCOS Min/Max
Min. ≥ -231
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00076
Scaling factor: IDN 00077
Scaling exponent: IDN 00078
Rotational position resolution: IDN 00079
Units
IDN 00076
Publication 8720MC-UM 001C-EN-P Feb 2001
8-30
Programming Parameters
IDN: S00152
Name: Spin_Orient_Req
Data display: Bit pattern
R/W
Parameter No.
152
File:
Procedure
Group:
Orient
Description: Spindle Orient Procedure Command. This procedure command automatically switches the drive to
internal position loop control, below the spindle orient speed (IDN 00222), and initiates an orient to the defined
orient position. In a SERCOS drive when bits 0 and 1 of parameter 152 are set true an orient is requested. Orient
is also requested when input 2 is set true at the digital interface. While the orient procedure is active, all changes
to external velocity, position or torque command values are ignored.
If the drive is stopped an orient procedure command initiates a clockwise, counter-clockwise or shortest
path orient depending on the spindle Orient Options, Parameter 154 (IDN 00154). The drive positions the spindle
to the programmed orient angle, parameter 153 (IDN 00153), using the spindle orient speed specified in
parameter 222 and the position acceleration rate defined in parameter 260. The actual target position is derived
from the motor or spindle mounted encoder as determined by it’s zero reference marker in the case of an
incremental encoder or it’s absolute zero position in the case of a single turn absolute encoder. For motor
mounted feedback the target position is calculated by the 8720MC as encoder zero − parameter 150 + parameter
153. For spindle mounted feedback in the SERCOS configuration the final position is calculated by the 8720MC as
encoder zero ± parameter 151 ± parameter 153. When the drive interpolator reaches the selected orient position,
the drive sets the status “Orient Complete”, parameter 583. The status “In Position” (parameter 336) is true as
long as the drive is in the orient position and the spindle position is within the in- position band established by
parameter 57, “IN_Pos_Value”.
If the drive is rotating at a speed higher than the orient speed when the orient request is received the drive
will decelerate at the acceleration rate defined in parameter 260 to the orient speed defined in parameter 222. If
parameter 154 calls for clockwise orient and the drive is already rotating clockwise and the drive has decelerated
to orient speed, the drive will place itself in positioning mode and decelerate to the calculated target orient angle
moving in the clockwise direction. If parameter 154 calls for counter-clockwise orient and the drive is already
rotating clockwise and the drive has decelerated to orient speed the drive will place itself in positioning mode and
decelerate to a stop. It will then move to the calculated target orient angle moving in the counter-clockwise
direction. If parameter 154 calls for shortest path orient and the drive is already rotating clockwise or counterclockwise once the drive decelerates to orient speed the drive will place itself in positioning mode and decelerate
to the calculated target orient angle moving in the same direction as the spindle was rotating when the orient
request occurred. For motor mounted feedback the target position is calculated by the 8720MC as encoder zero
− parameter 150 + parameter 153. For spindle mounted feedback in the SERCOS configuration the final position
is calculated by the 8720MC as encoder zero ± parameter 151 ± parameter 153. Since it is being subtracted a value in parameter 151 produces a clockwise offset angle when facing the shaft end of the motor or the drive end
of the spindle and a + value in parameter 151 produces a counter-clockwise offset.
The drive will remain oriented in servo position lock as long as the spindle orient request input is enabled.
When the orient request is removed the drive switches over to the mode of operation called for in the mode
parameter of the active parameter set. The drive will immediately follow the auto reference if auto mode is active.
Comments:
In the SERCOS configuration the definition of the structure of the Spindle Orient Procedure Command is described
in table 16, 7.4.4 of IEC Specification 61491. The definition of the structure of procedure command
acknowledgment is described table 17, 7.4.4 of IEC Specification 61491.
Default:
null
Length
2 bytes
Minimum/Maximum
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
Scaling Resolution
NA
Units
NA
Programming Parameters
Data Display: integer
8-31
IDN: S00153
Name: Orient_Angle
Parameter No.
153
File:
Procedure
Group:
Orient
Description: Spindle angle position. This parameter is the absolute spindle position angle relative to the zero
position reference point as modified by the motor marker offset (parameter 150) or the spindle mounted encoder
marker offset (parameter 151, SERCOS and SCANport configurations only). Parameter 153 can be provided by a
SCANport peripheral port terminal or a SCANport gateway communication module via explicit message or the
SERCOS link. It is enabled only in connection with the spindle orient request command (see IDN 00152). For a
motor mounted feedback source a + sign produces a clockwise orient angle when facing the shaft end of the
motor. For a spindle mounted feedback source a + sign produces a clockwise orient angle when viewed from the
face of the spindle. A value greater than 1 revolution in resolution counts produces a multiple turn orient from a
stand still position. Also for orients the sign of “orient_angle” should agree with the orient direction established
by parameter 154, if clockwise or counter- clockwise is selected. For example: with parameter 79 and parameter
103 both set at 3600 counts and parameter 153 “orient angle” set to 0 counts, a stand still cw orient will take 1
revolution. If parameter 153 is changed to 3600 counts a stand still cw orient will take 2 revolutions. If parameter
153 is changed to 7200 counts a stand still cw orient will take 3 revolutions, etc. If ccw orient is desired
parameter 153 should have a negative value.,
Analog/
SCANport
Default:
0.00
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ -32768
Max. ≤ +32767
Analog /SCANport Scaling Resolution
1 = 1 count as determined by parameter 79,
with paramter 79 set at 3600 cnts/rev, 1 increment
= .1 degree, Range = -3276.8 to +3276.7 degrees
SERCOS
Default:
0.0
Length
4 bytes
SERCOS Min/Max
Min. ≥ -231
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Units
Scaling type: IDN 00076
IDN 00076
Scaling factor: IDN 00077
Scaling exponent: IDN 00078
Rotational position resolution: IDN 00079 (see 8.6.1)
IDN: S00154
Name: Orient_Options
Parameter No.
154
File:
Procedure
Group:
Orient
Description: Spindle Orient Configuration Parameter. When the velocity feedback value is equal to zero, as
defined by the zero speed window (parameter 124) and the spindle orient request is active, the direction and
source of feedback device for spindle orient is defined by this parameter.
If the spindle velocity value is not equal to zero and the current turning direction does not match the
configured orient direction (ccw or cw) the spindle will stop and return to target orient position in the selected
orient direction. If shortest path is selected and the spindle is rotating when the orient request is received the
spindle will orient in the direction of rotation.
Data display: bit pattern
R/W
Units
param 79
counts
R/W
Enumerated Bit Pattern:
Structure of spindle position parameter:
Bit 0-1: 00 – rotate clockwise
01 – rotate counter-clockwise
10 – take shortest path
Bit 2:
0 - spindle angle position (IDN 00153) - SERCOS version
Bit 3:
0 – motor feedback - SERCOS version
1 – spindle feedback
For orients greater than 360 degrees the clockwise or counter-clockwise orient direction must be selected. Also
the sign of the orient angle should agree with the orient direction. That is if a clockwise orient greater than 360
degrees is required the orient angle, parameter 153, should be expressed as a positive angle. If a counterclockwise orient greater than 360 degrees is required the orient angle should be expressed as a negative angle.
Default:
0000
Length
2 bytes
Minimum/Maximum
NA
Scaling Resolution
NA
Units
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
8-32
Programming Parameters
IDN: S00157
Name: At_Spd_Window
Parameter No.
157
File:
Status/faults
Group:
setup
Description: The velocity window relates the current velocity to the velocity command value (IDN 00036). If the
current velocity feedback value falls within the calculated velocity window, the drive sets the status
“n feedback = n command” (IDN 00330). A value of zero disables the occurrence of the At_Prog_Speed event,
parameter 330
Analog/
SCANport
Default:
10
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ 0
Max. ≤ +30,000
Analog/SCANport Scaling Resolution
1 RPM, range - 0 to +30,000 RPM
Units
RPM
Default:
5
Length
4 bytes
SERCOS Min/Max
Min. ≥ 0
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00044
Scaling factor: IDN 00045
Scaling exponent: IDN 00046
Units
IDN 00044
IDN: S00159
Name: Max_Foll_Error
Data Display: integer
R/W
Parameter No.
159
File:
Status/faults
Group:
setup
Description: Monitoring window. By means of the monitoring window, the maximum position deviation, as
referenced to the active actual position value, can be defined for the position feedback value. When the position
error value exceeds the maximum position window value, the drive sets an error for excessive position deviation
in C1D (IDN 00011).
Analog/
SCANport
Default:
30,000
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ 0
Max. ≤ +65535
Analog/SCANport Scaling Resolution
360/IDN 00079, default: with IDN 00079 at 3600
cnts/rev, increment = .1 degree, Range = 0 to
+3276.7 degrees
Units
Param 79
counts/rev
Default:
+231 - 1
Length
4 bytes
Minimum/Maximum
Min. ≥0
Max. ≤ +231 - 1
Scaling Resolution
Scaling type IDN 00076
Scaling factor IDN 00077
Scaling exponent IDN 00078
Rotational position resolution IDN 00079 (see 8.6.1)
Units
IDN 00076
Publication 8720MC-UM 001C-EN-P Feb 2001
Data display: Integer
R/W
Programming Parameters
Data Display: Bit pattern
8-33
IDN: S00160
Name: Acc_Scale_Type
R/W
Parameter No.
160
File:
Control
Group:
Acceleration
Description: Acceleration data scaling type. A variety of scaling methods can be selected by means of the
acceleration data scaling type parameter. This parameter is used with SERCOS configuration. For the analog
configuration see parameter 260.
Default:
Preferred
Length
2 bytes
IDN: S00161
Name: Acc_Scale_Factor
Parameter No.
161
File:
Control
Group:
Acceleration
Description: Acceleration data scaling factor. In the SERCOS configuration this parameter defines the scaling
factor for all acceleration data in a drive.
Default:
preferred
Length
2 bytes
Enumerated Bit Pattern:
Structure of the acceleration data scaling type:
Bits 2–0: Scaling method
000 – no scaling
001 – linear scaling
010 – rotational scaling
Bit 3:
0 – preferred scaling
1 – parameter scaling
Bit 4: Units for linear scaling
0 – meters (m)
1 – inches (in) see annex K
Bit 4: Units for rotational scaling
0 – radian (rad)
1 – (reserved)
Bit 5: Time units
0 – seconds (s)
1 – (reserved)
Bit 6: Data reference
0 – at the motor shaft
1 – at the load (see 8.8)
(all other bits are reserved)
Minimum/Maximum
NA
Minimum/Maximum
Min. ≥ 1
Max. ≤ +231 - 1
Scaling Resolution
NA
Units
NA
Data Display: Integer
R/W
Scaling Resolution
Structure of the scaling factor:
Bits 15-0: factor
Units
scaler
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8-34
Programming Parameters
IDN: S00162
Name: Acc_Scale_Expon
Parameter No.
162
File:
Control
Group:
Acceleration
Description: Acceleration data scaling exponent. This parameter defines the scaling exponent for all acceleration
data in a drive.
Default:
preferred
Length
2 bytes
IDN: S00177
Name: Motor_Abs_Offset
Minimum/Maximum
Min. ≥ -215
Max. ≤ +215-1
Data Display: Integer
R/W
Scaling Resolution
Structure of the scaling exponent:
Bit 15: Sign of the exponent
0 – positive
1 – negative
Bits 14-0: Exponent
Units
scaler
Data Display: Decimal
R/W
Parameter No. Description: Absolute distance 1. This parameter describes the distance between the machine zero point and the
177
zero point of an absolute feedback system on the motor. This parameter is used with the SERCOS configuration.
File:
Motor/Drive/
Fdbk
Group:
Motor Feedback
SERCOS Min/Max
Min. ≥ -231
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00076
Scaling factor: IDN 00077
Scaling exponent: IDN 00078
Rotational position resolution: IDN 00079
Units
IDN 00076
Data Display: Integer
R,Link
Default:
0
Length
4 bytes
IDN: S00189
Name: Posn_Foll_Error
Parameter No.
189
File:
Control
Group:
Position
Description: Following distance. The drive uses the operation data of this IDN to store the distance between
position command value and the appropriate position feedback value 1/2. Calculation of the following distance:
following distance = position command value – position feedback value 1/2
Analog/
SCANport
Default:
0.00
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ -32768
Max. ≤ +32767
Analog /SCANport Scaling Resolution
1 = 1 count as determined by parameter 79,
with paramter 79 set at 3600 cnts/rev, 1 increment
= .1 degree, Range = -3276.8 to +3276.7 degrees
Units
param 79
counts
Default:
0
Length
4 bytes
SERCOS Min/Max
Min. ≥ -231
Max. ≤ +231 - 1
Scaling Resolution
Scaling type: IDN 00076
Scaling factor: IDN 00077
Scaling exponent: IDN 00078
Rotational position resolution: IDN 00079
Units
IDN 00076
Publication 8720MC-UM 001C-EN-P Feb 2001
Programming Parameters
Data Display:
8-35
IDN: S00196
Name: Mtr_Cont_Current
R/W
Parameter No.
196
File:
Motor/Drive/
Fdbk
Group:
Motor Data
Description: Motor rated current. The motor rated current is the current at which the motor produces the rated
torque according to the motor spec sheet. For all asynchronous motors, this parameter is used as a reference for
all torque data and for determining motor related current values.
Analog Default: Length
Motor encoder 2 bytes
Analog Minimum/Maximum
Min. ≥ 0
Max. ≤ +1000.0
Analog Scaling Resolution
1 = .1 amp
Units
amp
Default:
Motor encoder
Length
4 bytes
SERCOS Min/Max
Min. ≥ 0
Max. ≤ +231 - 1
SERCOS Scaling Resolution
1 = .001 amp
Units
amp
IDN: S00206
Name: Drive_On _Delay
Data Display: Decimal
R/W
Parameter No.
206
File:
Motor/Drive/
Fdbk
Group:
Brake
Description: Drive on delay time. When "drive on" and "drive enable" are set (bits 14 and 15 of the SERCOS
master control word) torque is activated at once, but the drive follows the command values after this waiting time
has elapsed. In the analog configuration this delay occurs after the drive enable input is energized. This allows
the drive time to develop holding torque before energizing the release brake solenoid.
Default:
0
Length
2 bytes
IDN: S00207
Name: Drive_Off _Delay
Parameter No.
207
File:
Motor/Drive/
Fdbk
Group:
Brake
Description: Drive off delay time. After "drive off" (bit 15 of the SERCOS master control word) is reset and
nfeedback = 0 (parameter 124) is reached, the torque remains activated in the drive until this waiting time is
elapsed. In the analog configuration this delay occurs after the zero speed output is energized. This allows the
drive time to develop holding torque before de energizing the release brake solenoid.
Default:
0
Length
2 bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +6,553.5
Minimum/Maximum
Min. ≥ 0
Max. ≤ +6,553.5
Scaling Resolution
1 = .1 msec
Units
msec
Data Display: Decimal
R/W
Scaling Resolution
1 = .1 msec
Units
msec
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8-36
Programming Parameters
IDN: S00216
Name: Switch_Param_Set
Parameter No.
216
File:
Procedure
Group:
parameter
switch
Description: Switch parameter set procedure command. This procedure command allows the system to switch
parameter sets. The drive switches to the parameter set which is programmed in the parameter set preselection
(IDN 00217). This parameter is used with the SERCOS configuration. If this parameter is set true, “1”, the active
parameter set will be changed to the selected value in paramter 217.
Enumerated Bit Pattern:
Structure of the switch parameter set procedure command: see IEC 61491, table 16, 7.4.4.
Structure of command acknowledgment: see table IEC 61491,17, 7.4.4.
Default:
0
Length
2 bytes
IDN: S00217
Name: Select_Param_Set
Parameter No.
217
File:
Procedure
Group:
parameter
switch
Description: Parameter set preselection. In the SERCOS configuration the desired parameter set of the drive is
selected by means of the parameter set preselection. The switch parameter set procedure command (see IDN
00216) is used to switch parameter sets. If the drive has no switchable parameter sets, it will only accept
parameter set 0. Therefore, parameter set 0 must be available in every drive and will be activated during
initialization. In the analog configuration the binary set code is provided to the drive via the digital input.
Changing the digital input binary value will initiate switching of the parameter set.
Minimum/Maximum
NA
Data Display: Bit pattern
R/W
Scaling Resolution
NA
Units
NA
Data Display: Binary
R/W
Enumerated Bit Pattern:
Structure of parameter set preselection:
Bit 2 – 0:
0 0 0 – parameter set 0
0 0 1 – parameter set 1
0 1 0 – parameter set 2
0 1 1 – parameter set 3
1 0 0 – parameter set 4
1 0 1 – parameter set 5
1 1 0 – parameter set 6
1 1 1 – parameter set 7
(all other bits are reserved)
Bit 2 of parameter 217 is linked to Digital Input 5. In addition to being used to select the parameter set, if
Digital Input 5 is true, +24 vdc, the high winding will be selected for a dual wound motor and the “High Winding
Enable” linkable variable (parameter 526) will be true. In the Spindle configuration this is linked to Relay Output 3
and this relay contact output can be used to close a the high winding motor contactor and open the low winding
contactor. If Digital Input 5 is false, 0 vdc, the Low winding will be selected for a dual wound motor and the “Low
Winding Enable” linkable variable (parameter 527) will be true. In the Spindle configuration this is linked to Relay
Output 4 and this relay contact output can be used to close a the low winding motor contactor and open the high
winding contactor.
Bits 1 and 0 of parameter 217 are also linked to Digital Inputs 7 and 9. In dual winding applications this interface
allows for 4 sets of high winding servo parameters and 4 sets of low winding parameters. In single winding
configurations all 8 sets of parameters are available and the high and low winding relay outputs can be linked to
other 8720MC event links.
This value can be set via drive explorer or the HIM as well.
Default:
000
Length
2 bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ 7 binary
Publication 8720MC-UM 001C-EN-P Feb 2001
Scaling Resolution
NA
Units
NA
Programming Parameters
Data Display: integer
8-37
IDN: S00220
Name: Min_Spindle_Spd
R/W
Parameter No.
220
File:
Status/Faults
Group:
Setup
Description: Minimum spindle speed. When the speed falls below minimum spindle speed, the state “Speed
Below Minimum” (IDN 00339, parameter 339) is created. This event can be linked to a digital output or SCANport
status bit. It can also be assigned to a real time SERCOS status bit.
Analog Default: Length
10,000
2 bytes
Analog Minimum/Maximum
Min. ≥ 0
Max. ≤ +30,000
Analog Scaling Resolution
1 = 1 rpm
Units
rpm
Default:
0
Length
4 bytes
Minimum/Maximum
Min.≥ 0
Max.≤ 231 - 1
Scaling Resolution
10-4
Units
min–1
IDN: S00221
Name: Max_Spindle_Spd
Data Display: integer
R/W
Parameter No.
221
File:
Status/Faults
Group:
Setup
Description: Maximum spindle speed. When the speed moves above the maximum spindle speed, the state
“Speed Above Maximum” (IDN 00340, parameter 340) is created. This event can be linked to a digital output or
SCANport status bit. It can also be assigned to a real time SERCOS status bit.
Analog Default: Length
10,000
2 bytes
Analog Minimum/Maximum
Min. ≥ 0
Max. ≤ +30,000
Analog Scaling Resolution
1 = 1 rpm
Units
rpm
Minimum/Maximum
Min.≥ 0
Max.≤ 231 - 1
Scaling Resolution
10-4
Units
min–1
Data Display: decimal
R/W
Default:
231 - 1
Length
4 bytes
IDN: S00222
Name: Spind_Orient_Spd
Parameter No.
222
File:
Procedure
Group:
Orient
Description: Spindle positioning speed. When the orient spindle procedure command (see IDN 00152, parameter
152) is received, the drive accelerates or decelerates to the spindle orient speed, depending upon the current
speed. The spindle orient speed is the velocity at which the orient is executed.
Analog/
SCANport
Default:
100
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ 0
Max. ≤ +30,000
Analog/SCANport Scaling Resolution
1 = 1 RPM
Units
RPM
SERCOS
Default:
50.0
Length
4 bytes
SERCOS Min/Max
Min. ≥ 0
Max. ≤ +231 - 1
SERCOS Scaling Resolution
10 -4
Units
RPM
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Programming Parameters
IDN: S00254
Name: Actual_Param_Set
Data Display: bit pattern
R
Parameter No.
254
File:
Procedure
Group:
parameter
switch
Description: Actual parameter set. This parameter stores the current active parameter set in the drive. In the
SERCOS configuration if a new parameter set is to be activated, it must first be preselected using parameter set
preselection (IDN 00217, parameter 217). Parameter set 0 must be active in every drive before and during
initialization. In the analog version the actual parameter set can be linked to the SCANport output word.
Default:
000
Length
2 bytes
IDN: S00258
Name: Target_Position
Parameter No.
258
File:
LInear list
Group:
LInear list
Description: Target Position - The target position may be provided by the DPI master via SCANport “Data IN A2”
or the SERCOS master. For example with the DPI configuration selected in parameter 501 and the resolution set to
3000 units in Parameter 79 and a modulo axis of 30,000 units as set by parameter 103 a target move of 15,000
units would take 5 motor revolutions CW at a speed determined by parameter 259 velocity and an acceleration
and deceleration determined by parameter 260, assuming the position move started from 0. The primary
operating mode, parameter 32, must be set to position control using motor feedback. Target position cannot be
used if Analog Spindle or Analog Servo are selected in parameter 501
SCANport
Default:
0
Length
2 bytes
SCANport Minimum/
Maximum
Min. ≥ -32768
Max. ≤ +32767
Analog/SCANport Scaling Resolution
Resolution units as determined by parameter 79
Units
Param. 79
counts/rev
SERCOS
Default:
0
Length
4 bytes
Minimum/Maximum
Min. ≥ -231
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Scaling type IDN 00076
Scaling factor IDN 00077
Scaling exponent IDN 00078
Rotational Position Resolution IDN 00079
SERCOS
Units
IDN 00076
IDN 00077
IDN 00078
Structure of the actual parameter set:
Bit 2 – 0:
0 0 0 – parameter set 0 active
0 0 1 – parameter set 1 active
0 1 0 – parameter set 2 active
0 1 1 – parameter set 3 active
1 0 0 – parameter set 4 active
1 0 1 – parameter set 5 active
1 1 0 – parameter set 6 active
1 1 1 – parameter set 7 active
(all other bits are reserved)
Minimum/Maximum
Min. ≥ 0
Max. ≤ 7 binary
Publication 8720MC-UM 001C-EN-P Feb 2001
Scaling Resolution
NA
Units
NA
Data Display: decimal
R/W
Programming Parameters
IDN: S00259
Name: Posn_Velocity
Parameter No.
259
File:
LInear list
Group:
LInear list
Description: Positioning Velocity. The “positioning velocity” is used in the “drive resident position interpolation”
operation mode as the positioning velocity during a DPI or SERCOS commanded change in target position,
Parameter 258, IDN00258
Analog/
SCANport
Default:
1000
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ 0
Max. ≤ +30,000
Analog/SCANport Scaling Resolution
1 rev/min, 0 to +30,000
Units
RPM
SERCOS
Default:
1000
Length
4 bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Scaling type IDN 00160
Scaling factor IDN 00161
Scaling exponent IDN 00162
SERCOS
Units
IDN 00160
IDN: S00260
Name: Posn_Accel_Rate
Data Display: decimal
R/W
Parameter No.
260
File:
Control,
Procedure
Group:
Acceleration,
Orient
Description: Positioning acceleration. The “positioning acceleration” is used in the “drive resident interpolation”
operation mode as the rate to accelerate to and decelerate from the positioning velocity (IDN 00222) during an
orient procedure request (IDN 00152, parameter 152). This acceleration rate is also used with SERCOS or DPI
initiated positioning moves to “Target Position”, parameter 258.
Analog/
SCANport
Default:
100
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ 0
Max. ≤ +65535
Analog/SCANport Scaling Resolution
1 rad/sec2
Units
Rad/Sec2
SERCOS
Default:
Length
4 bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Scaling type IDN 00160
Scaling factor IDN 00161
Scaling exponent IDN 00162
SERCOS
Units
IDN 00160
IDN: S00272
Name: Speed_Window_%
Data Display: Decimal
R/W
Parameter No.
272
File:
Status/Faults
Group:
Setup
Description: Velocity window percentage. The velocity window percentage refers to a percentage of the “Velocity
command value” (IDN 00036). See IDN 330 for additional information. If the velocity feedback value (IDN 00040)
is found to be within a window of the velocity command defined by this percentage, the drive will set the status
““n feedback = n command” (IDN 00330). This IDN serves the same function as IDN 00157 but is expressed as a %
rather than RPM
Default:
1.00
Length
2 bytes
Minimum/Maximum
Min. ≥
Max. ≤ 655.35
Data Display: decimal
8-39
Scaling Resolution
0.01
R/W
Units
%
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8-40
Programming Parameters
IDN: S00277
Name: Mtr_Fdbk_Config1
Parameter No.
277
File:
Motor/Drive/
Fdbk
Group:
Motor Feedback
Description: Position feedback 1 type. The position feedback 1 type parameter refers only to a motor feedback
device. This parameter is programmed to define the corresponding conditions which apply to reading the motor
feedback device.
Enumerated Bit Pattern:
Structure of Position Feedback 1 Type:
Bit 0: Feedback type
0 – rotational feedback (IDN 00116)
1 – linear feedback (not defined)
Bit 1: Distance coded feedback
0 – no distance coded reference marks
1 – distance coded reference marks (IDNs 00165, 00166)
Bit 2: Feedback resolution (IDN 00118 - linear) or (IDN 00116 - rotary)
0 – resolution = metric
or 0 - resolution = degree
1 – resolution = inches
or 1 - resolution = (reserved)
Bit 3: Direction polarity
0 – not inverted
1 – inverted
Bit 4: marker pulse quantity
0 – only one reference marker pulse
1 – multiple cyclic reference marker pulses
Bit 5: Structure of distance coded feedback
0 – counting positive with positive direction
1 – counting negative with positive direction
Bit 6: Type of measuring system
0 - relative (incremental) measuring system
1 - absolute measuring system
Bit 7: Usage
0 - absolute measurements with an absolute measuring system
1 - relative (incremental) measurements with an absolute measuring system
Bits 15-8 (reserved)
Default:
xxxx0000
Length
2 bytes
IDN: S00296
Name: Vel_Fdfwd_Gain_0
Parameter No.
296
File:
Servo Loop
Group:
Group 0
Description: Velocity feed forward gain. This IDN is one of the 8 sets of servo parameters. The velocity feed
forward parameter is effective in the operation mode “Position control without following error (lag-less)”, and
serves to reduce the velocity-dependent following error.
Default:
0.00
Length
2 bytes
Minimum/Maximum
NA
Minimum/Maximum
Minimum Input: ≥ 0
Maximum Input: ≤100.00
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Display: Bit pattern
R/W
Scaling Resolution
NA
Units
NA
Data Display: decimal
R/W
Scaling Resolution
1 = .01%
Units
%
Programming Parameters
Data Display: Bit
8-41
IDN: S00330
Name: At_Prog_Speed
R,Link
Parameter No.
330
File:
I/O Interface
Group:
Event Links
Description: Status ’nfeedback = ncommand’. This parameter is used to define an IDN for the status ’’nfeedback =
ncommand’’ In the SERCOS configuration this allows the status ’nfeedback = ncommand’ to be assigned to a real-time
status bit (see IDN 00305). The status ’ nfeedback = ncommand’ is defined as a C3D bit (IDN 00013) and is set when
the velocity feedback value (IDN 00040) lies within the calculated command value for the velocity window (IDN
00157 and / or IDN 00272) which is based upon the velocity command value (see IDN 00036). Bit 0 is defined for
operation data only. This parameter can be linked to the digital I/O or the SCANport logic word.
Calculation of nfeedback = ncommand’:
|n feedback -n com m and |≤ |n com m and |* IDN 00272 + IDN 00157
Bit Pattern:
Structure of status ’nfeedback = ncommand’
Bit 0 = 0:nfeedback ≠ ncom m and
1: nfeedback = ncommand
Default:
NA
Length
2 bytes
Minimum/Maximum
NA
Scaling Resolution
NA
Units
NA
IDN: S00331
Name: Zero_Speed
Data Display: Bit
R, Link
Parameter No.
331
File:
I/O Interface
Group:
Event Links
Description: Status ’nfeedback = 0’. This parameter is used to define an IDN for the status ’nfeedback = 0’. In the
SERCOS configuration this allows the status ’nfeedback = 0’ to be assigned to a real-time status bit (see IDN
00305). The status ’nfeedback = 0’ is defined as a C3D bit (IDN 00013) and is set when the velocity feedback value
(IDN 00040) is within the standstill window (see IDN 00124). Bit 0 is defined for operation data only. This
parameter can be linked to the digital I/O or the SCANport logic word.
Bit Pattern:
Structure of status ’nfeedback = 0’:
Bit 0 = 0: nfeedback ≠ 0
1: nfeedback = 0
Default:
NA
Length
2 bytes
Minimum/Maximum
NA
Scaling Resolution
NA
Units
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
8-42
Programming Parameters
IDN: S00332
Name: Vel_Below_Thresh
Data Display: Bit
R, Link
Parameter No.
332
File:
I/O Interface
Group:
Event Links
Description: Status ’nfeedback < nx’(nx = velocity threshold). This parameter is used to define an IDN for the
status ’nfeedback < nx’. In the SERCOS configuration this allows the status ’nfeedback < nx’ to be assigned to a realtime status bit (see IDN 00305). The status ’nfeedback < nx’ is defined as a C3D bit (IDN 00013) and is set when the
velocity feedback value (see IDN 00040) is smaller than the velocity threshold nx (see IDN 00125). Bit 0 is defined
for operation data only. This parameter can be linked to the digital I/O or the SCANport logic word.
Enumerated Bit Pattern:
Structure of status nfeedback<nx:
Bit 0 = 0:|nfeedback| ≥ |nx |
1: |nfeedback| < |nx |
Default:
NA
Length
2 bytes
Minimum/Maximum
NA
Scaling Resolution
NA
Units
NA
IDN: S00334
Name: Torq_Above_Limit
Data Display: Bit
R, Link
Parameter No.
334
File:
I/O Interface
Group:
Event Links
Description: Status ’T ≥Tlimit ’. This parameter is used to define an IDN for the status ’T ≥Tlimit ’. In the SERCOS
configuration this allows this allows the status ’T ≥Tlimit ’ to be assigned to a real-time status bit (see IDN 00305).
The status ’T ≥Tlimit ’ is defined as a C3D bit (IDN 00013) and is set when the torque feedback value (see IDN
00084) lies beyond the programmed torque limits (see IDN 00082 and IDN 00083). Bit 0 is defined for operation
data only. This parameter can be linked to the digital I/O or the SCANport logic word.
Bit Pattern:
Structure of status ’T ≥Tlimit ’:
Bit 0 = 0: |T | < |Tlimit |
1: |T | ≥ |Tlimit |
Default:
NA
Length
2 bytes
Minimum/Maximum
NA
Scaling Resolution
NA
Units
NA
IDN: S00335
Name: Vel_Above_Limit
Data Display: Bit
R, Link
Parameter No.
335
File:
I/O Interface
Group:
Event Links
Description: Status ’ncommand > nlimit'. This parameter is used to define an IDN for the status ‘ncommand > nlimit'.'
In the SERCOS configuration this allows the status ‘ncommand > nlimit' to be assigned to a real-time status bit (see
IDN 00305). The status ‘ncommand > nlimit' is defined as a C3D bit (IDN 00013) and is set when the velocity
command value (see IDN 00036) is greater than the velocity limit value (see IDN 00038 and IDN 00039). Bit 0 is
defined for operation data only. This parameter can be linked to the digital I/O or the SCANport logic word.
Bit Pattern:
Structure of status ncommand > nlimit':
Bit 0 = 0 : |ncommand | ≤ |nlimit |
1 : |ncommand | > |nlimit |
Default:
NA
Length
2 bytes
Minimum/Maximum
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
Scaling Resolution
NA
Units
NA
Programming Parameters
Data Display: Bit
8-43
IDN: S00336
Name: In_Position
R/Link
Parameter No.
336
File:
I/O Interface
Group:
Event Links
Description: Status ’In position’. In the SERCOS configuration this parameter is used to define an IDN for the
status ’in position’. This allows ’In position’ to be assigned to a real-time status bit (see IDN 305). The status ’in
position’ is defined as a C3D bit (IDN 00013) and is set when the position feedback value falls within the position
window (see IDN 00057) relative to the position command value (see IDN 00047). Bit 0 is defined for operation
data only. This parameter can be linked to the digital I/O or the SCANport logic word.
Bit Pattern:
Structure of status ’in position’:
Bit 0 = 0: outside of position window
1: within position window
Default:
NA
Length
2 bytes
Minimum/Maximum
NA
Scaling Resolution
NA
Units
NA
IDN: S00339
Name: Spd_Below_Min
Data Display: Bit
R/Link
Parameter No.
339
File:
I/O Interface
Group:
Event Links
Description: Status ’nfeedback ≤ minimum spindle speed’. In the SERCOS configuration this parameter is used to
define an IDN for the status ’nfeedback ≤ minimum spindle speed’. This allows the status ’nfeedback ≤ minimum
spindle speed’ to be assigned to a real-time status bit (see IDN 00305). The status ’nfeedback ≤ minimum spindle
speed’ is defined as a C3D bit (IDN 00013) and is set when the velocity feedback value (IDN 00040) is lower than
or equal to the programmed minimum spindle speed (IDN 00220).
Bit 0 is defined for operation data only.
Bit Pattern:
Structure of ’nfeedback ≤ minimum spindle speed’:
Bit 0 = 0 – | 'nfeedback | < minimum spindle speed'
1– | 'nfeedback | ≤ minimum spindle speed'
Default:
NA
Length
2 bytes
Minimum/Maximum
NA
Scaling Resolution
NA
Units
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
8-44
Programming Parameters
IDN: S00340
Name: Spd_Above_max
Data Display: Bit
Parameter No.
340
File:
I/O Interface
Group:
Event Links
Description: Status ’nfeedback ≥ maximum spindle speed’. In the SERCOS configuration this
parameter is used to define an IDN for the status 'nfeedback ≥ maximum spindle speed’. This allows
the status 'nfeedback ≥ maximum spindle speed’ to be assigned to a real–time status bit (see IDN
00305).
The status 'nfeedback ≥ maximum spindle speed’ is defined as a C3D bit (IDN 00013) and is set
when the velocity feedback value (IDN 00040) is greater than or equal to the programmed
maximum spindle speed (IDN 00221).
Bit 0 is defined for operation data only.
R, Link
Enumerated Bit Pattern:
Structure of nfeedback ≥ maximum spindle speed':
Bit 0 = 0 – | nfeedback | < maximum spindle speed
1 – | 'nfeedback ≥ maximum spindle speed’
Default:
NA
Length
2 bytes
Minimum/Maximum
NA
IDN: S00347
Name: Velocity_Error
Parameter No.
347
File:
Control
Group:
Velocity
Description: Velocity error. The current difference between the commanded velocity and actual velocity is placed
in this parameter
Analog/
SCANport
Default:
0
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ -30,000
Max. ≤ +30,000
Analog/SCANport Scaling Resolution
1 = 1 RPM
Units
RPM
Default:
Length
4 bytes
Minimum/Maximum
Minimum Input: ≥ -231
Maximum Input: ≤ +231-1
Scaling Resolution
Scaling type IDN 00044
Scaling factor IDN 00045
Scaling exponent IDN 00046 (see 8.6.2)
Units
IDN 00044
IDN: S00348
Name: Acc_Fdfwd_Gain_0
Data Display: Decimal
R/W
Parameter No.
348
File:
Servo Loop
Group:
Group 0
Description: Acceleration feed forward gain. This IDN is one of the 8 sets of servo loop parameters. Acceleration
feed forward is when minimum following error is desired and serves to reduce acceleration / decelerationdependent following error.
Default:
0.00
Length
2 bytes
Minimum/Maximum
Minimum Input: ≥ 0
Maximum Input: ≤ +100.00
Publication 8720MC-UM 001C-EN-P Feb 2001
Scaling Resolution
NA
Units
NA
Data Display: Decimal
R, Link
Scaling Resolution
1 = .01%
Units
%
Programming Parameters
8-45
IDN: S00380
Name: DC_Bus_Voltage
Parameter No.
380
File:
Status/Faults
Group:
Drive Status
Description: DC bus voltage. The drive’s DC (intermediate) bus voltage value is placed in this parameter.
Default:
From RPS
Length
2 bytes
IDN: S00386
Name: Mtr_Shaft_Power
Parameter No.
386
File:
Status/Faults
Group:
Drive Status
Description: Motor shaft power. The drive places the estimated motor shaft power in this parameter.
Default:
Length
2 bytes
Minimum/Maximum
Minimum Input: ≥ 0
Maximum Input: ≤ +1000
Minimum/Maximum
Minimum Input: ≥ 0
Maximum Input: ≤ +655.35
Data Display: Decimal
R, Link
Scaling Resolution
1 = 1 volt
Units
Volt
Data Display: Decimal
R, Link
Scaling Resolution
1 = .01 kw
Units
kw
Publication 8720MC-UM 001C-EN-P Feb 2001
8-46
Programming Parameters
A-B (P) Parameters in Numerical Order
SERCOS IDN
No.
8720MC
Param No.
P00001
501
A-B Drive Type/Application
A-B_Application
Motor/Drive/Fdbk
Drive Data
P00002
502
A-B Motor/feedback Configuration Extensions
Mtr_Fbck_Type
Motor/Drive/Fdbk
Motor Feedback
P00003
503
A-B Aux Position Feedback "2 type" Extensions
Aux_Fbck_Type
Motor/Drive/Fdbk
Aux Feedback
P00020
520
Current Limit Source
Cur_Limit_Source
Status/Faults
Drive Status
P00022
522
PWM Frequency
PWM_Frequency
Motor/Drive/Fdbk
Drive Data
P00023
523
System acceleration
System_Accel_0
Servo Loop
Group 0
P00026
526
Enable the High Winding - disable the low
HI_Wind_enable
I/O Interface
Event Links
P00027
527
Enable the Low Winding - disable the High
Lo_Wind_Enable
I/O Interface
Event Links
P00028
528
Enable/Disable Brake
Enable_Brake_Sol
I/O Interface
Event Links
P00029
529
Drive is capable of following the auto reference
Auto_Ref_Enabled
I/O Interface
Event Links
P00030
530
Drive is in manual mode
Manual_Mode_On
I/O Interface
Event Links
P00041
541
System Auto Tune Select
ATune _Select
Procedure
Auto Tune
P00042
542
Auto Tune Torque Limit
ATune_Torq_Limit
Procedure
Auto Tune
P00043
543
Auto Tune Velocity Limit
ATune_Vel_Limit
Procedure
Auto Tune
P00044
544
Auto Tune Position Limit
ATune_Posn_Limit
Procedure
Auto Tune
P00046
546
Auto Tune Configuration Setup
ATune_Config
Procedure
Auto Tune
P00047
547
Auto Tune Status
ATune_Status
Procedure
Auto Tune
P00061
561
Torque Reference Notch Filter Frequency
Torq_Notch_Freq0
Servo Loop
Group 0
P00062
562
Torque Reference Low Pass Filter Bandwidth
Torq_Lowpas_Frq0
Servo Loop
Group 0
P00063
563
Regenerative Energy Capacity
Regen_Energy_Val
Motor/Drive/Fdbk
Drive Data
P00071
571
Stopping Torque
Stopping_ Torque
Control
Torque
P00072
572
Stopping time limit
Stop_Time_Limit
Control
Torque
P00081
581
Homing Strategy
Homing_Strategy
Procedure
Homing
P00082
582
Orient Strategy
Auto_Home
Procedure
Orient
P00083
583
Orient Complete
Orient_Complete
I/O Interface
Event Links
P00110
610
Drive is capable of running - no faults
Drive_OK
I/O Interface
Event Links
P00115
615
A Shut Down Error has occurred
Shut_down_Error
I/O Interface
Event Links
P00117
617
Regenerative Power Supply Fault
Power_Supply_OK
I/O Interface
Event Links
P00161
661
Digital Output Status
Output_Image
I/O Interface
Digital Outputs
P00162
662
Digital Output 1 - Source
Output_01_Source
I/O Interface
Digital Outputs
P00163
663
Digital Output 2 - Source
Output_02_Source
I/O Interface
Digital Outputs
P00164
664
Digital Output 3 - Source
Output_03_Source
I/O Interface
Digital Outputs
P00165
665
Digital Output 4 - Source
Output_04_Source
I/O Interface
Digital Outputs
P00166
666
Digital Output 5 - Source
Output_05_Source
I/O Interface
Digital Outputs
P00167
667
Digital Output 6 - Source
Output_06_Source
I/O Interface
Digital Outputs
P00168
668
Digital Output 7 - Source
Output_07_Source
I/O Interface
Digital Outputs
DESCRIPTION
Publication 8720MC-UM 001C-EN-P Feb 2001
16 Character Name
File
Group
Programming Parameters
8-47
A-B (P) Parameters in Numerical Order
SERCOS IDN
No.
8720MC
Param No.
P00169
669
Digital Output 8 - Source
P00170
670
P00171
DESCRIPTION
16 Character Name
File
Group
Output_08_Source
I/O Interface
Digital Outputs
Digital Output 9 - Source
Output_09_Source
I/O Interface
Digital Outputs
671
Digital Output 10 - Source
Output_10_Source
I/O Interface
Digital Outputs
P00181
681
Analog Output 1 - Source
AnagOut1_Source
I/O Interface
Analog Outputs
P00182
682
Analog Output 1 Scale Factor
AnagOut1_Gain
I/O Interface
Analog Outputs
P00183
683
Analog Output 2 - Source
AnagOut2_Source
I/O Interface
Analog Outputs
P00184
684
Analog Output 2 Scale Factor
AnagOut2_Gain
I/O Interface
Analog Outputs
P00190
690
Digital Input Status
Input_Image
I/O Interface
Digital Inputs
P00191
691
Analog Input 1- Auto Reference
Ana_In1_Value
I/O Interface
Analog Inputs
P00192
692
Analog Input 2 - Manual Reference
Ana_In2_Value
I/O Interface
Analog Inputs
P00193
693
Analog Input 1 Auto Reference Offset
Ana_In1_Offset
I/O Interface
Analog Inputs
P00194
694
Analog Input 2 Manual Reference Offset
Ana_In2_Offset
I/O Interface
Analog Inputs
P00195
695
Analog Input 1 Auto Scale Factor
Analog_Vel_Scale
I/O Interface
Analog Inputs
P00196
696
Analog Input 2 Manual Scale Factor
Manual_Vel_Scale
I/O Interface
Analog Inputs
P00213
713
The value in SCANport Analog Input 1
SCANp_An1_Value
Communication
SCANp_Ref/fdback
P00215
715
Analog output shared by all SCANports
Analog_Out_Param
Communication
SCANp_Ref/fdback
P00216
716
SCANport Logic Mask
Sp_Logic_Mask
Communication
SCANp_Data_In
P00217
717
SCANport Logic Command
Logic_Command
Communication
SCANp_Data_In
P00218
718
SCANport Logic Status
SP_Logic_Status
Communication
SCANp_Data_Out
P00225
725
SCANport In Channel A1
SP_Data_Input_A1
Communication
SCANp_Data_In
P00226
726
SCANport In Channel A2
SP_Data_Input_A2
Communication
SCANp_Data_In
P00227
727
SCANport In Channel B1
SP_Data_Input_B1
Communication
SCANp_Data_In
P00228
728
SCANport In Channel B2
SP_Data_Input_B2
Communication
SCANp_Data_In
P00229
729
SCANport In Channel C1
SP_Data_Input_C1
Communication
SCANp_Data_In
P00230
730
SCANport In Channel C2
SP_Data_Input_C2
Communication
SCANp_Data_In
P00231
731
SCANport In Channel D1
SP_Data_Input_D1
Communication
SCANp_Data_In
P00232
732
SCANport In Channel D2
SP_Data_Input_D2
Communication
SCANp_Data_In
P00233
733
SCANport Out Channel A1
SP_Data_Out_A1
Communication
SCANp_Data_Out
P00234
734
SCANport Out Channel A2
SP_Data_Out_A2
Communication
SCANp_Data_Out
P00235
735
SCANport Out Channel B1
SP_Data_Out_B1
Communication
SCANp_Data_Out
P00236
736
SCANport Out Channel B2
SP_Data_Out_B2
Communication
SCANp_Data_Out
P00237
737
SCANport Out Channel C1
SP_Data_Out_C1
Communication
SCANp_Data_Out
P00238
738
SCANport Out Channel C2
SP_Data_Out_C2
Communication
SCANp_Data_Out
P00239
739
SCANport Out Channel D1
SP_Data_Out_D1
Communication
SCANp_Data_Out
P00240
740
SCANport Out Channel D2
SP_Data_Out_D2
Communication
SCANp_Data_Out
P00241
741
Encoder Memory Map Revision
Enc_Mem_Map_Rev
Mtr/Drive/Fdbk
Motor Data
Publication 8720MC-UM 001C-EN-P Feb 2001
8-48
Programming Parameters
A-B (P) Parameters in Numerical Order
SERCOS IDN
No.
8720MC
Param No.
P00242
742
Motor Parameter Revision
Motor_Param_Rev
Mtr/Drive/Fdbk
Motor Data
P00277
777
Motor Catalog Number
Motor_Select
Mtr/Drive/Fdbk
Motor Data
P00278
778
Allen Bradley Motor Type Selection
Motor_Type
Mtr/Drive/Fdbk
Motor Data
P00279
779
Motor Pole Count/Linear Motor Pole Pitch
Motor_Poles_Count
Mtr/Drive/Fdbk
Motor Data
P00280
780
Motor Rated Acceleration
Mtr_Acceleration
Mtr/Drive/Fdbk
Motor Data
P00281
781
Motor Base Speed
Base_Speed
Mtr/Drive/Fdbk
Motor Data
P00282
782
Motor Rated Continuous Power
Motor_Rated_Power
Mtr/Drive/Fdbk
Motor Data
P00283
783
Motor Maximum Voltage
Motor_Max_Volts
Mtr/Drive/Fdbk
Motor Data
P00284
784
Motor - Voltage at base Speed
Motor_Base_Volts
Mtr/Drive/Fdbk
Motor Data
P00285
785
Motor rated Continuous Torque
Rated_Torque
Mtr/Drive/Fdbk
Motor Data
P00286
786
Motor - Back Emf Constant
Motor_Back_EMF
Mtr/Drive/Fdbk
Motor Data
P00287
787
Motor - Stator Resistance R1/Rs
R1_Motor_Stator
Mtr/Drive/Fdbk
Motor Data
P00288
788
Motor - Rotor Resistance R2
R2_Motor_Rotor
Mtr/Drive/Fdbk
Motor Data
P00289
789
Motor - Stator Self/Leakage Inductance
X1_Stat_Self/Lk
Mtr/Drive/Fdbk
Motor Data
P00290
790
Motor - Stator Magnetizing Inductance
XM_Stator_Mutual
Mtr/Drive/Fdbk
Motor Data
P00291
791
Motor - Rotor leakage Inductance
X2_Rotor_Leakage
Mtr/Drive/Fdbk
Motor Data
P00292
792
Motor - Magetizing Current
Mtr_Mag_Current
Mtr/Drive/Fdbk
Motor Data
P00293
793
Motor - Slip Constant
Mtr_Slip_Freq
Mtr/Drive/Fdbk
Motor Data
S10032
811
Primary Operating Mode (n=1)
Primary_Op_Mode1
Servo Loop
Group 1
S10038
812
Positive velocity limit value (n=1)
+Vel_Limit_1
Servo Loop
Group 1
S10039
813
Negative velocity limit value (n=1)
-Vel_Limit_1
Servo Loop
Group 1
S10082
814
Positive torque limit value (n=1)
+Torque_Limit_1
Servo Loop
Group 1
S10083
815
Negative torque limit value (n=1)
-Torque_Limit_1
Servo Loop
Group 1
S10100
816
Velocity loop proportional gain
Vel_Prop_Gain_1
Servo Loop
Group 1
S10101
817
Velocity loop integral action time
Vel_Integ_Time_1
Servo Loop
Group 1
S10104
818
Position loop Kv-factor
Pos_Loop_Gain_1
Servo Loop
Group 1
S10105
819
Position loop integral action time
Pos_Int_Time_1
Servo Loop
Group 1
S10296
820
Velocity feed forward gain
Vel_Fdfwd_Gain_1
Servo Loop
Group 1
S10384
821
Acceleration Feed Forward Gain
Acc_Fdfwd_Gain_1
Servo Loop
Group 1
P00322
822
System Acceleration
System_Accel_1
Servo Loop
Group 1
P00323
823
Torque Reference Notch Filter Frequency
Torq_Notch_Freq1
Servo Loop
Group 1
P00324
824
Torque Reference Low Pass Filter Bandwidth
Torq_Lowpas_Frq1
Servo Loop
Group 1
S10136
825
Acceleration limit parameter group 1
Accel_Limit_1
Servo Loop
Group 1
S10137
826
Deceleration limit parameter group 1
Decel_Limit_1
Servo Loop
Group 1
S20032
831
Primary Operating Mode
Primary_Op_Mode2
Servo Loop
Group 2
S20038
832
Positive velocity limit value (n=2)
+Vel_Limit_2
Servo Loop
Group 2
DESCRIPTION
Publication 8720MC-UM 001C-EN-P Feb 2001
16 Character Name
File
Group
Programming Parameters
8-49
A-B (P) Parameters in Numerical Order
SERCOS IDN
No.
8720MC
Param No.
S20039
833
Negative velocity limit value (n=2)
-Vel_Limit_2
Servo Loop
Group 2
S20082
834
Positive torque limit value (n=2)
+Torque_Limit_2
Servo Loop
Group 2
S20083
835
Negative torque limit value (n=2)
-Torque_Limit_2
Servo Loop
Group 2
S20100
836
Velocity loop proportional gain
Vel_Prop_Gain_2
Servo Loop
Group 2
S20101
837
Velocity loop integral action time
Vel_Integ_Time_2
Servo Loop
Group 2
S20104
838
Position loop Kv-factor
Pos_Loop_Gain_2
Servo Loop
Group 2
S20105
839
Position loop integral action time
Pos_Int_Time_2
Servo Loop
Group 2
S20296
840
Velocity feed forward gain
Vel_Fdfwd_Gain_2
Servo Loop
Group 2
S20384
841
Acceleration Feed Forward Gain
Acc_Fdfwd_Gain_2
Servo Loop
Group 2
P00342
842
System Acceleration
System_Accel_2
Servo Loop
Group 2
P00343
843
Torque Reference Notch Filter Frequency
Torq_Notch_Freq2
Servo Loop
Group 2
P00344
844
Torque Reference Low Pass Filter Bandwidth
Torq_Lowpas_Frq2
Servo Loop
Group 2
S20136
845
Acceleration limit parameter group 2
Accel_Limit_2
Servo Loop
Group 2
S20137
846
Deceleration limit parameter group 2
Decel_Limit_2
Servo Loop
Group 2
S30032
851
Primary Operating Mode
Primary_Op_Mode3
Servo Loop
Group 3
S30038
852
Positive velocity limit value (n=3)
+Vel_Limit_3
Servo Loop
Group 3
S30039
853
Negative velocity limit value (n=3)
-Vel_Limit_3
Servo Loop
Group 3
S30082
854
Positive torque limit value (n=3)
+Torque_Limit_3
Servo Loop
Group 3
S30083
855
Negative torque limit value (n=3)
-Torque_Limit_3
Servo Loop
Group 3
S30100
856
Velocity loop proportional gain
Vel_Prop_Gain_3
Servo Loop
Group 3
S30101
857
Velocity loop integral action time
Vel_Integ_Time_3
Servo Loop
Group 3
S30104
858
Position loop Kv-factor
Pos_Loop_Gain_3
Servo Loop
Group 3
S30105
859
Position loop integral action time
Pos_Int_Time_3
Servo Loop
Group 3
S30296
860
Velocity feed forward gain
Vel_Fdfwd_Gain_3
Servo Loop
Group 3
S30384
861
Acceleration Feed Forward Gain
Acc_Fdfwd_Gain_3
Servo Loop
Group 3
P00362
862
System Acceleration
System_Accel_3
Servo Loop
Group 3
P00363
863
Torque Reference Notch Filter Frequency
Torq_Notch_Freq3
Servo Loop
Group 3
P00364
864
Torque Reference Low Pass Filter Bandwidth
Torq_Lowpas_Frq3
Servo Loop
Group 3
S30136
865
Acceleration limit parameter group 3
Accel_Limit_3
Servo Loop
Group 3
S30137
866
Deceleration limit parameter group 3
Decel_Limit_3
Servo Loop
Group 3
S40032
871
Primary Operating Mode
Primary_Op_Mode4
Servo Loop
Group 4
S40038
872
Positive velocity limit value (n=4)
+Vel_Limit_4
Servo Loop
Group 4
S40039
873
Negative velocity limit value (n=4)
-Vel_Limit_4
Servo Loop
Group 4
S40082
874
Positive torque limit value (n=4)
+Torque_Limit_4
Servo Loop
Group 4
S40083
875
Negative torque limit value (n=4)
-Torque_Limit_4
Servo Loop
Group 4
S40100
876
Velocity loop proportional gain
Vel_Prop_Gain_4
Servo Loop
Group 4
DESCRIPTION
16 Character Name
File
Group
Publication 8720MC-UM 001C-EN-P Feb 2001
8-50
Programming Parameters
A-B (P) Parameters in Numerical Order
SERCOS IDN
No.
8720MC
Param No.
S40101
877
Velocity loop integral action time
Vel_Integ_Time_4
Servo Loop
Group 4
S40104
878
Position loop Kv-factor
Pos_Loop_Gain_4
Servo Loop
Group 4
S40105
879
Position loop integral action time
Pos_Int_Time_4
Servo Loop
Group 4
S40296
880
Velocity feed forward gain
Vel_Fdfwd_Gain_4
Servo Loop
Group 4
S40384
881
Acceleration Feed Forward Gain
Acc_Fdfwd_Gain_4
Servo Loop
Group 4
P00382
882
System Acceleration
System_Accel_4
Servo Loop
Group 4
P00383
883
Torque Reference Notch Filter Frequency
Torq_Notch_Freq4
Servo Loop
Group 4
P00384
884
Torque Reference Low Pass Filter Bandwidth
Torq_Lowpas_Frq4
Servo Loop
Group 4
S40136
885
Acceleration limit parameter group 4
Accel_Limit_4
Servo Loop
Group 4
S40137
886
Deceleration limit parameter group 4
Decel_Limit_4
Servo Loop
Group 4
S50032
891
Primary Operating Mode
Primary_Op_Mode5
Servo Loop
Group 5
S50038
892
Positive velocity limit value (n=5)
+Vel_Limit_5
Servo Loop
Group 5
S50039
893
Negative velocity limit value (n=5)
-Vel_Limit_5
Servo Loop
Group 5
S50082
894
Positive torque limit value (n=5)
+Torque_Limit_5
Servo Loop
Group 5
S50083
895
Negative torque limit value (n=5)
-Torque_Limit_5
Servo Loop
Group 5
S50100
896
Velocity loop proportional gain
Vel_Prop_Gain_5
Servo Loop
Group 5
S50101
897
Velocity loop integral action time
Vel_Integ_Time_5
Servo Loop
Group 5
S50104
898
Position loop Kv-factor
Pos_Loop_Gain_5
Servo Loop
Group 5
S50105
899
Position loop integral action time
Pos_Int_Time_5
Servo Loop
Group 5
S50296
900
Velocity feed forward gain
Vel_Fdfwd_Gain_5
Servo Loop
Group 5
S50384
901
Acceleration Feed Forward Gain
Acc_Fdfwd_Gain_5
Servo Loop
Group 5
P00402
902
System Acceleration
System_Accel_5
Servo Loop
Group 5
P00403
903
Torque Reference Notch Filter Frequency
Torq_Notch_Freq5
Servo Loop
Group 5
P00404
904
Torque Reference Low Pass Filter Bandwidth
Torq_Lowpas_Frq5
Servo Loop
Group 5
S50136
905
Acceleration limit parameter group 5
Accel_Limit_5
Servo Loop
Group 5
S50137
906
Deceleration limit parameter group 5
Decel_Limit_5
Servo Loop
Group 5
S60032
911
Primary Operating Mode
Primary_Op_Mode6
Servo Loop
Group 6
S60038
912
Positive velocity limit value (n=6)
+Vel_Limit_6
Servo Loop
Group 6
S60039
913
Negative velocity limit value (n=6)
-Vel_Limit_6
Servo Loop
Group 6
S60082
914
Positive torque limit value (n=6)
+Torque_Limit_6
Servo Loop
Group 6
S60083
915
Negative torque limit value (n=6)
-Torque_Limit_6
Servo Loop
Group 6
S60100
916
Velocity loop proportional gain
Vel_Prop_Gain_6
Servo Loop
Group 6
S60101
917
Velocity loop integral action time
Vel_Integ_Time_6
Servo Loop
Group 6
S60104
918
Position loop Kv-factor
Pos_Loop_Gain_6
Servo Loop
Group 6
S60105
919
Position loop integral action time
Pos_Int_Time_6
Servo Loop
Group 6
S60296
920
Velocity feed forward gain
Vel_Fdfwd_Gain_6
Servo Loop
Group 6
DESCRIPTION
Publication 8720MC-UM 001C-EN-P Feb 2001
16 Character Name
File
Group
Programming Parameters
8-51
A-B (P) Parameters in Numerical Order
SERCOS IDN
No.
8720MC
Param No.
S60384
921
Acceleration Feed Forward Gain
Acc_Fdfwd_Gain_6
Servo Loop
Group 6
P00422
922
System Acceleration
System_Accel_6
Servo Loop
Group 6
P00423
923
Torque Reference Notch Filter Frequency
Torq_Notch_Freq6
Servo Loop
Group 6
P00424
924
Torque Reference Low Pass Filter Bandwidth
Torq_Lowpas_Frq6
Servo Loop
Group 6
S60136
925
Acceleration limit parameter group 6
Accel_Limit_6
Servo Loop
Group 6
S60137
926
Deceleration limit parameter group 6
Decel_Limit_6
Servo Loop
Group 6
S70032
931
Primary Operating Mode
Primary_Op_Mode7
Servo Loop
Group 7
S70038
932
Positive velocity limit value (n=7)
+Vel_Limit_7
Servo Loop
Group 7
S70039
933
Negative velocity limit value (n=7)
-Vel_Limit_7
Servo Loop
Group 7
S70082
934
Positive torque limit value (n=7)
+Torque_Limit_7
Servo Loop
Group 7
S70083
935
Negative torque limit value (n=7)
-Torque_Limit_7
Servo Loop
Group 7
S70100
936
Velocity loop proportional gain
Vel_Prop_Gain_7
Servo Loop
Group 7
S70101
937
Velocity loop integral action time
Vel_Integ_Time_7
Servo Loop
Group 7
S70104
938
Position loop Kv-factor
Pos_Loop_Gain_7
Servo Loop
Group 7
S70105
939
Position loop integral action time
Pos_Int_Time_7
Servo Loop
Group 7
S70296
940
Velocity feed forward gain
Vel_Fdfwd_Gain_7
Servo Loop
Group 7
S70384
941
Acceleration Feed Forward Gain
Acc_Fdfwd_Gain_7
Servo Loop
Group 7
P00442
942
System Acceleration
System_Accel_7
Servo Loop
Group 7
P00443
943
Torque Reference Notch Filter Frequency
Torq_Notch_Freq7
Servo Loop
Group 7
P00444
944
Torque Reference Low Pass Filter Bandwidth
Torq_Lowpas_Frq7
Servo Loop
Group 7
S70136
945
Acceleration limit parameter group 7
Accel_Limit_7
Servo Loop
Group 7
S70137
946
Deceleration limit parameter group 7
Decel_Limit_7
Servo Loop
Group 7
DESCRIPTION
16 Character Name
File
Group
Publication 8720MC-UM 001C-EN-P Feb 2001
8-52
Programming Parameters
A-B (P) Parameter Descriptions
The remainder of this chapter describes the A-B specific
programming parameters available to the 8720MC Drive. These
parameters are required to extend the drive functionality beyond what
the IEC 61491 Standard supports. IEC 61491 defines all special
parameters as “P” parameters. For example: special parameter 105 is
typically represented as SERCOS parameter P00105. Standard
parameter 105 is represented as SERCOS parameter S00105. To
simplify the 8720MC displays and data base the standard SERCOS
parameters are found in 8720MC parameters 1 to 500. The special
SERCOS parameters are found in 8720MC parameters 501 to 999.
The range of 8720MC parameters is therefore 1 to 999, decimal. Each
parameter explaination gives a reference to both the SERCOS
parameter number and the 8720MC parameter number.
IDN: P00001
Name: A-B_Application
Data Type: Ascii characters
R/W
Parameter No.
501
File:
Motor/Drive/
Fdbk
Group:
Drive Data
Description: This IDN is used to provide A-B drive application configuration choices which otherwise do not
appear in the SERCOS Standard. These choices are used to identify the I/O faults, the data scaling and the
reference source for automatic operation. The choices available are:
* 000 - Analog Spindle “Ana Spindle”
* 001 - Analog power servo “Ana Servo”
* 010 - SERCOS spindle “SERCOS Spindle”
* 011 - SERCOS power servo “SERCOS Servo”
* 100 - SCANport Digital Peripheral Interface spindle “DPI Spindle”
* 101- SCANport Digital Peripheral Interface power servo - “DPI Servo”
When choosing Analog Spindle or Analog Servo make sure parameter 503 is set to “Analog_Ref”
Default:
Analog Spindle
Length
2 bytes
Minimum/Maximum
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
Scaling Resolution
NA
Units
NA
Programming Parameters
IDN: P00002
Name: Mtr_Fbck_Type
Parameter No.
502
File:
Motor/Drive/
Fdbk
Group:
Motor Feedback
Description: This IDN is used to provide A-B drive configuration choices which otherwise do not appear in the
SERCOS Standard. The feedback type of the motor mounted feedback device is found in IDN S00277. The
resolution for rotary devices is found in IDNS00116 and IDN S00118 for linear devices. IDN P00002 is used to
provide additional motor feedback information in support of the information found in the standard SERCOS IDN’s.
Default:
SRS_60
Structure of motor feedback type:
Bits: 3-0: 0000 = No Feedback
0001 = SRS_60
0010 = SRM_60
0011 = SCS_60
0100 = SCM_60
0101 = SNS_60
0110 = MHG_90
0111 = Resolver
1000 = Analog Reference
1001 = Sin/Cos
1010 = TTL
1011 = UVW
1100 = unknown Stegmann
1101 = Endat
Length
2 bytes
Minimum/Maximum
NA
Data Type: Ascii characters
8-53
R/W
* = Auto detected Hiperface Stegmann Device
Single turn absolute 1024 S/C per rev
Multi-turn absolute 1024 S/C per rev
Single turn absolute 512 S/C per rev
Multi-turn absolute 512 S/C per rev
High resolution incremental 1024 S/C per rev
Single turn absolute magnetic encoder 512 S/C per rev
Transmitter type; 0.25 TR
+/- 10 vdc differential
Generic linear or rotary S/C device w/index
Generic linear or rotary TTL A quad B device w/index
Differential hall effect commutation signals
Unrecognized Stegmann device
Heidenhain Endat SSI S/C feedback device
Scaling Resolution
NA
Units
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
8-54
Programming Parameters
IDN: P00003
Name: Aux_Fbck_Type
Data Type: Ascii characters
R/W
Parameter No.
503
File:
Motor/Drive/
Fdbk
Group:
Aux Feedback
Description: This IDN is used to provide A-B drive configuration choices which otherwise do not appear in the
SERCOS Standard. The feedback type for a machine mounted feedback device is found in IDN S00115. The
resolution of the machine mounted feedback device is found in IDN S00117 for both rotary and linear devices.
IDN P00003 is used to provide additional motor feedback information in support of the information found in the
standard SERCOS IDN’s.
Default:
Analog Ref
Length
2 bytes
IDN: P00020
Name: Cur_Limit_Source
Parameter No.
520
File:
Status/Faults
Group:
Drive Status
Description: This parameter displays the present source, if any, of an 8720MC Drive.current limit request.
Default:
0
Length
2 bytes
Structure of motor feedback type:
* = Auto detected Hiperface Stegmann Device
Bits: 3-0: 0000 = No Feedback
0001 = SRS_60
Single turn absolute 1024 S/C per rev
0010 = SRM_60
Multi-turn absolute 1024 S/C per rev
0011 = SCS_60
Single turn absolute 512 S/C per rev
0100 = SCM_60
Multi-turn absolute 512 S/C per rev
0101 = SNS_60
High resolution incremental 1024 S/C per rev
0110 = MHG_90
Single turn absolute magnetic encoder 512 S/C per rev
0111 = Resolver
Transmitter type; 0.25 TR
1000 = Analog Reference
+/- 10 vdc differential
1001 = Sin/Cos
Generic linear or rotary S/C device w/index
1010 = TTL
Generic linear or rotary TTL A quad B device w/index
1011 = UVW
Differential hall effect commutation signals
1100 = unknown Stegmann Unrecognized Stegmann device
1101 = Endat
Heidenhain Endat SSI S/C feedback device
Analog reference must be chosen whenever the drive is configured for an analog command reference.
See parameter 500
Minimum/Maximum
NA
Scaling Resolution
NA
Units
NA
Data Type: ascii representation of enumeration
R
Structure of the current limit source:
Bits 2 - 0
000 = Not limited
001 = Negative current limit
010 = Positive current limit
011 = Bridge current limit
100 = I(t) limit (current vs time before foldback)
101 = Dynamic motor limit
This parameter is not available in the analog version of the 8720MC
Minimum/Maximum
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
Scaling Resolution
NA%
Units
NA
Programming Parameters
IDN: P00022
Name: PWM_Frequency
Parameter No.
522
File:
Motor/Drive/
Fdbk
Group:
Drive Data
Description: The 8720MC supports a programmable PWM frequency for the power IGBT’s. Parameter 522 is
matched to the connected motor to minimize the audible noise without reducing the motor and amplifier thermal
capacities. This parameter should not be changed for any standard 8720SM motors.
Default:
4000 hz
Length
2 bytes
IDN: P00023
Name: System_Accel_0
Parameter No.
523
File:
Servo Loop
Group:
Group 0
Description: The 8720MC supports 8 sets of Servo Parameters (0-7). The SERCOS link, the I/O interface or
SCANport can select which set of parameters is to be enabled. Group 0 is the default group. IDN P00023 is used
to provide the drive with the required motor acceleration that will produce 100% torque for Servo group 0. This
value should be derived by the drive via auto tuning with the desired load connected. It will effect the stability of
the velocity loop. This parameter is used by the drive to translate acceleration commands (output of the velocity
regulator) to torque commands. The data is represented by an unsigned integer.
Default:
65535
Length
2 bytes
IDN: P00026
Name: Hi_Wind_Enable
Parameter No.
526
File:
I/O Interface
Group:
Event Link
Description: The 8720MC drive support dual (wye - Delta) wound motors. The motor is connected wye for low
speed and delta for high speed. These motors require switching via external contactors. Parameter 526 (P00026)
can be linked to a digital output relay contact by writing it’s parameter number into a digital relay output word.
When this I/O link is created the relay output contact will close whenever the high winding is selected. Also the
low winding output will be disabled since both cannot be on concurrently.
Default:
0
Length
2 bytes
IDN: P00027
Name: Lo_Wind_Enable
Parameter No.
527
File:
I/O Interface
Group:
Event Link
Description: The 8720MC drive support dual (wye - Delta) wound motors. The motor is connected wye for low
speed and delta for high speed. These motors require switching via external contactors. Parameter 527 (P00027)
can be linked to a digital output relay contact by writing it’s parameter number into a digital relay output word.
When this I/O link is created the relay output contact will close whenever the low winding is selected. Also the
high winding output will be disabled since both cannot be on concurrently.
.
Default:
0
Length
2 bytes
Minimum/Maximum
1000 to 30,000
Minimum/Maximum
Minimum Input: ≥ 0
Maximum Input: ≤65535
Minimum/Maximum
NA
Minimum/Maximum
NA
Data Type: Integer
8-55
R
Scaling Resolution
1 = 1hz
Units
hz
Data Type: Integer
R/W
Scaling Resolution
1 = 1 rad/sec2
Units
rad/sec2
Data Display: bit flag
R, Link
Scaling Resolution
NA
Units
NA
Data Display: bit flag
R, Link
Scaling Resolution
NA
Units
NA
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8-56
Programming Parameters
IDN: P00028
Name: Enable_Brake_SOL
Parameter No.
528
File:
I/O Interface
Group:
Event Links
Description: The 8720MC digital I/O can be linked to events within the drive. One of the 8720MC relay contact
outputs can be linked to IDN P00028. IDN P00028 is true whenever the drive is enabled and the brake delay
constants (parameters 206 and 207) are satisfied. Entering 528 into digital outputs 2, 3, or 4 will link the “Enable
Brake Solenoid” event to one of the relay contact outputs.
Default:
0
Length
2 bytes
IDN: P00029
Name: Auto_Ref_Enabled
Parameter No.
529
File:
I/O Interface
Group:
Event Links
Description: Parameter 529 (P00029) can be linked to a digital output and is provided in the SCANport logic
status word. It is used to identify when the 8720MC is capable of following the auto reference from the primary
source identified in parameter 501. If the drive enable input is true and the auto mode of operation is active and
there are no drive faults, parameter 565 will be true.
Default:
0
Length
2 bytes
IDN: P00030
Name: Manual_Mode_On
Parameter No.
530
File:
I/O Interface
Group:
Event Links
Description: Parameter 530 (P00030) can be linked to a digital output and is used by the system to indicate that
the manual mode of operation is selected. The manual mode of operation can be established from the HIM by
depressing the stop button. It can also be requested from the digital I/O and the SCANport command word. When
parameter 530 is true manual mode is selected. In manual mode the drive can be jogged by the HIM, the digital
I/O or SCANportat at the jog reference speed established by the requesting device. When switching from manual
mode back to auto it is necessary to auto enable the drive by dropping the drive enable input low and returning it
back to the true (+24 vdc) state. This prevents an auto ref start when selecting auto mode.
Default:
0
Length
2 bytes
Minimum/Maximum
NA
Minimum/Maximum
NA
Minimum/Maximum
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Type: bit flag
R, Link
Scaling Resolution
NA
Units
N/A
Data Type: bit flag
R, Link
Scaling Resolution
NA
Units
NA
Data Type: bit flag
R, Link
Scaling Resolution
NA
Units
NA
Programming Parameters
IDN: P00041
Name: ATune_Select
Parameter No.
541
File:
Procedure
Group:
Auto Tune
Description: The 8720MC supports auto tuning. IDN P00041 initiates the auto tune cycle procedure command.
This cycle measures the auto tune inertia and auto tune friction by accelerating the motor up to the auto tune
velocity at the auto tune current. The gains are also calculated based on the auto tune information. For the servo
loop parameter set selected auto tuning will calculate: “Vel_Prop_Gain_n”, “Vel_Int_Time_n”, “System_Accel_n”
and “Torq_Lowpas_Frqn”. It will also calculate parameter 693, “Auto_Ref_Offset” to zero the analog command
reference.
The structure of Auto tune Select is:
Bits 1-0
00 = Idle - The auto tune system can be used
01 = Axis tune - Initiates the auto tune process.
Default:
0
Length
2 bytes
IDN: P00042
Name: ATune_Torq_Limit
Parameter No.
542
File:
Procedure
Group:
Auto Tune
Description: IDN 00042, parameter 542, specifies the motor torque used while an auto tuning cycle is executed
Default:
100%
Length
2 bytes
IDN: P00043
Name: ATune_Vel-Limit
Parameter No.
543
File:
Procedure
Group:
Auto Tune
Description: IDN 00043, parameter 543, specifies the maximum motor velocity the motor may attain when an
auto tuning cycle is executed.
Default:
1000
Length
2 bytes
Analog/SCANport Min/Max
Min. ≥ -0
Max. ≤ 10,000
Analog/SCANport Scaling Resolution
1 = 1RPM
Units
RPM
Default:
0
Length
4 bytes
SERCOS Min/Max
Min. ≥ -231
Max. ≤ +231 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00044
Scaling factor: IDN 00045
Scaling exponent: IDN 00046
Units
IDN 00044
Minimum/Maximum
NA
Minimum/Maximum
Minimum Input: ≥ 0
Maximum Input: ≤ +100.0
Data Type: bit pattern
8-57
R/W
Scaling Resolution
NA
Units
N/A
Data Type: Decimal
R/W
Scaling Resolution
1 = .1% motor current
Units
%
Data Type: decimal
R/W
Publication 8720MC-UM 001C-EN-P Feb 2001
8-58
Programming Parameters
IDN: P00044
Name: ATune_Posn_Limit
Parameter No.
544
File:
Procedure
Group:
Auto Tune
Description: IDN P00044, parameter 544, specifies the maximum position the motor shaft may attain during
execution of an auto tuning cycle.
Default:
65535
Length
2 bytes
IDN: P00046
Name: ATune_Config
Parameter No.
546
File:
Procedure
Group:
Auto Tune
Description: IDN P00046, parameter 546 is used to allow the user a means of configuring the auto tune
procedure execution.
Structure of the auto tune selections:
Bits 3-0:
Bit 0 = Auto Save- If selected, the calculated auto tune parameters are saved after completion of the auto
tune cycle
Bit 1 = Calculate Gains - If selected, the loop gains will be calculated.
Bit 2 = Inertia - If selected, the auto tune procedure performs an inertial tune.
Bit 3 = Analog Offset - If selected, the auto tune procedure calculates the auto zero speed A/D offset,
Parameter 693, “AnaInput 1 Offse”.
Default:
1111
Length
2 bytes
IDN: P00047
Name: ATune_Status
Parameter No.
547
File:
Procedure
Group:
Auto Tune
Description: IDN P00047, parameter 547 indicates the status of the auto tune procedure.
Structure of the auto tune status:
Bits 2-0:
000 = Successful - The auto tune process was successful
001 = In process - Auto tuning is active.
010 = Tune aborted - Auto tuning was cancelled by user.
011 = Tune Timeout - Auto tuning timed out
100 = Drive Fault - Auto tuning did not complete due to drive fault.
101 = Travel limit - Travel Limit was exceeded during auto tune
111 = Polarity fault - The feedback polarity was incorrect.
Default:
000
Length
2 bytes
Analog/SCANport Min/Max
Min. ≥ -0
Max. ≤ 65535
Analog/SCANport Min/Max
NA
Analog/SCANport Min/Max
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Type: decimal
R/W
Analog/SCANport Scaling Resolution
1 = 1 resolution unit as defined by IDN 00079.
Units
IDN 00079
counts/rev
Data Type: Bit Pattern
R/W
Analog/SCANport Scaling Resolution
NA
Units
NA
Data Type: Ascii representation of enumeration
R
Analog/SCANport Scaling Resolution
NA
Units
NA
Programming Parameters
IDN: P00061
Name: Torq_Notch_Freq0
Parameter No.
561
File:
Servo Loop
Group:
Group 0
Description: The 8720MC supports 8 sets of Servo Parameters (0-7). The SERCOS link, the I/O interface or
SCANport can select which set of parameters is to be enabled. Group 0 is the default group.
IDNP00061,parameter 561, is used to provide the drive with the Torque reference notch filter frequency for Servo
group 0. This parameter is used to minimize resonances in the mechanical system. It’s value defines a notch filter
frequency at which the torque command is attenuated. The data is represented by an unsigned integer. This
parameter is not implemented in the first analog release.
Default:
0
Length
2 bytes
IDN: P00062
Name: Torq_Lowpas_Frq0
Parameter No.
562
File:
Servo Loop
Group:
Group 0
Description: The 8720MC supports 8 sets of Servo Parameters (0-7). The SERCOS link, the I/O interface or
SCANport can select which set of parameters is to be enabled. Group 0 is the default group. IDNP00062 is used
to provide the drive with the Torque reference low pass filter frequency for Servo group 0. This value should
initially be derived by the drive via auto tuning with the load connected. The parameter establishes the 3db point
of the low pass filter applied to the torque commands. The data is represented by an unsigned integer.
Default:
2000
Length
2 bytes
IDN: P00063
Name: Regen_Energy_Val
Parameter No.
563
File:
Motor/Drive/
Fdbk
Group:
Drive Data
Description: IDN 00063, parameter 563, specifies the amount regenerative energy capacity available to the
8720MC Drive. This parameter is useful in AC input applications where the supplied regenerative capacity is less
than 100% of the motor current. Parameter 563, Regen_Energy_Val, is used to limit the regeneration current
above base speed. It is expressed as a percentage of continuous current at base speed. Reducing this value will
reduce the deceleration rate and therefore the regenerative current supplied by the motor to the brake chopper
module or the regenerative converter. It can be used to eliminate over voltage trips during rapid motor
deceleration.
Default:
1000.0%
Length
2 bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ 10,000
Minimum/Maximum
Min. ≥ 0
Max. ≤ 10000
Minimum/Maximum
Min. ≥ 0
Max. ≤ 1000.0
Data Type: Integer
8-59
R/W
Scaling Resolution
1
Units
rad/sec
Data Type: Integer
R/W
Scaling Resolution
1
Units
rad/sec
Data Type: Decimal
R/W
Scaling Resolution
10-1
Units
%
Publication 8720MC-UM 001C-EN-P Feb 2001
8-60
Programming Parameters
IDN: P00071
Name: Stopping_Torque
Parameter No.
571File:
Control
Group:
Torque
Description: IDN 00071, parameter 571, specifies the maximum amount of torque available to stop the motor
when the drive enable signal is removed from the drive interface. This parameter is expressed as a percentage of
rated motor continuous torque. Reducing this value will reduce the amount of stopping torque and therefore limit
the current produced by the motor when the drive is disabled while it is running.
Analog/
SCANport
Default:
1000.0
Length
2 bytes
Analog/SCANport
Minimum/Maximum
Min. ≥ 0.0
Max. ≤ +1000.0
Analog/SCANport Scaling Resolution
1=.1%
Units
%
Default:
1000.0%
Length
2 bytes
SERCOS Min/Max
Min. ≥ -215
Max. ≤ +215 - 1
SERCOS Scaling Resolution
Scaling type: IDN 00086
Scaling factor: IDN 00093
Scaling exponent: IDN 00094
Units
IDN 00086
IDN: P00072
Name: Stop_Time_Limit
Data Type: Decimal
R/W
Parameter No.
572
File:
Control
Group:
Torque
Description: IDN 00072, parameter 572, specifies the maximum amount of time that the module will remain
enabled while stopping the motor. This is useful for applications where the deceleration rate is very slow.
Default:
10
Length
2 bytes
IDN: P00081
Name: Homing_Strategy
Parameter No.
581
File:
Procedure
Group:
Homing
Description: When the 8720MC is configured for power servo and single-turn absolute or incremental feedback is
selected homing is required. Parameter 582 (IDN P00082) determines what homing strategy will be used. The
possible choices are:
(00) next marker - Proceed to the next marker after the home limit switch is detected
(01) previous marker - Stop and return to the last marker after the home limit switch is detected.
This parameter is not available for the 8720MC analog version.
Default:
00
Length
2bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +1000
Minimum/Maximum
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Type: Decimal
R/W
Scaling Resolution
1
Units
sec
Data Type: Ascii representation of enumeration
R/W
Scaling Resolution
NA
Units
NA
Programming Parameters
IDN: P00082
Name: Auto_Home
Parameter No.
582
File:
Procedure
Group:
Orient
Description: When the 8720MC is configured for spindle operation, typically it is required to orient the spindle to
a specific tool change location. Parameter 582 (IDN P00082) determines what orient strategy will be used. The
possible choices are:
00 = Disabled
01 = “Index” - Orient to the motor encoder marker or absolute zero, if single turn
absolute feedback is used. Parameter 154 is used to determine if the motor encoder or the spindle
encoder is the assigned feedback orient device.
02 = “Reg 0 Rise” - Orient to a spindle mounted registration sensor using the rising edge of the
+24 vdc registration input.
03 = “Reg 0 Fall” - Orient to a spindle mounted registration sensor using the falling edge of the
+24 vdc registration input.
04 = “Reg 1 Rise” - Orient to a spindle mounted registration sensor using the rising edge of the
+5 vdc registration input.
05 = “Reg 1 Fall” - Orient to a spindle mounted registration sensor using the falling edge of the
+5 vdc registration input.
In most applications it is required to orient to the 8720SM motor encoder marker. In this case “Index” must
be selected.
Default:
00
Length
2bytes
IDN: P00083
Name: Orient_Complete
Parameter No.
583
File:
I/O Interface
Group:
Event Links
Description: With the 8720MC drive analog configuration a drive orient can be initiated via Digital Input 2.
+24vdc on Digital Input 2 causes parameter 152 (IDN S000152) “Spin_Orient_Req” to become true. Parameter
583 (IDN P00083) can be linked to a digital output by entering 583 into one of the digital output words. In so
doing when the spindle orient procedure is complete the digital output will become true. Accordingly in the analog
spindle configuration a spindle orient can be requested and acknowledged to be complete via the digital I/O. In
the SERCOS spindle configuration the orient is handled as a drive orient procedure initiated by the master via the
SERCOS link.
Default:
0
Length
2 bytes
IDN: P00110
Name: Drive_Ok
Parameter No.
610
File:
I/O Interface
Group:
Event Link
Description: The 8720MC drive parameter 610 (IDN P00110) , “Drive OK”, is permanently linked to digital
output 1, Parameter 661, the drive OK output relay contact. This is provided as a motion controller output to
indicate that there are no major faults and that the drive can be enabled.
Default:
0
Length
2 bytes
Minimum/Maximum
NA
Minimum/Maximum
NA
Minimum/Maximum
NA
Data Display: ascii representation of enumeration
8-61
R/W
Scaling Resolution
NA
Units
NA
Data Type: bit flag
R, Link
Scaling Resolution
NA
Units
NA
Data Type: bit flag
R, Link
Scaling Resolution
NA
Units
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
8-62
Programming Parameters
IDN: P00115
Name: Shut_Down_Error
Parameter No.
615
File:
I/O Interface
Group:
Event Link
Description: The 8720MC drive parameter 11 (IDN S00011) defines 14 different types of shut down errors
which can occur. Parameter 615 becomes true if any of these shut down errors occur. Parameter 615 remains
true until the fault is removed and its is cleared by the Drive Error Reset input or the SERCOS master. Parameter
615 can be linked to a digital output by writing its parameter number into an output source word. In so doing if a
shut down error occurs the digital output will become true.
Default:
0
Length
2 bytes
IDN: P00117
Name: Power_Supply_OK
Parameter No.
617
File:
I/O Interface
Group:
Event Links
Description: The standard 8720MC-RPS has a regenerative power supply fault relay contact output. If this fault
is connected to terminal P5-36, Digital Input 10, an interlock to “Power Supply OK” is created. When 8720MCRPS Fault contact is closed an RPS fault condition does not exist. Therefore, a high input to the 8720MC digital I/
O is interpreted as “Power Supply OK” when it is linked to parameter 617. If the 8720MC digital input goes low,
“Power Supply OK” will become false and an 8720MC shut down error (IDN S00011, bit 9) will occur. After the
fault is removed a Drive Error Reset is necessary to clear this error. Parameter 617 can be linked to an digital
output.
Default:
0
Length
2 bytes
IDN: P00161
Name: Output_Image
Parameter No.
661
File:
Status/Faults or
I/O Interface
Group:
Drive Status or
event Links
Description: The standard 8720MC has 10 digital inputs and 10 digital outputs. Parameter 661 (IDN P00161)
provides a means of monitoring the status of the 10 digital outputs. The status of each of the 10 outputs appears
in one of the bits (0 to 9) in the Output Image word. The output status can be displayed on the HIM or Drive
ExplorerTM via SCANport as a bit pattern.
Structure of the digital output word:
Bit 0 = Digital Output 1 (P 00162)
Bit 1 = Digital Output 2 (P 00163)
Bit 2 = Digital Output 3 (P 00164)
Bit 3 = Digital Output 4 (P 00165)
Bit 4 = Digital Output 5 (P 00166)
Bit 5 = Digital Output 6 (P 00167)
Bit 6 = Digital Output 7 (P 00168)
Bit 7 = Digital Output 8 (P 00169)
Bit 8 = Digital Output 9 (P 00170)
Bit 9 = Digital Output 10 (P 00171)
Default:
0
Length
2bytes
Minimum/Maximum
NA
Minimum/Maximum
NA
Minimum/Maximum
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Display: bit flag
R/Link
Scaling Resolution
NA
Units
NA
Data Type: bit flag
R/link
Scaling Resolution
NA
Units
NA
Data Type: - bit pattern
R
Scaling Resolution
NA
Units
NA
Programming Parameters
IDN: P00162 to
IDN: P00171
Name: Output n Source (n = 1 to 10)
Parameter No.
662 to 671
File:
I/O Interface
Group:
Digital Outputs
Description: Parameters 662 to 671 (IDN’s P00162 to P00171) contain the linkable parameter number for the
8720MC digital outputs. For example if it is desired to support an output that indicates that the 8720SM motor
high winding output is enabled, via digital relay contact output 3, then this can be accomplished by entering
parameter number 526, “Hi_Wind_Enable” into parameter 664. Entry can be made via the HIM or Drive
ExplorerTM. Parameter 610, “Drive_OK”, is permanently assigned to parameter 662. All other outputs have
default assignments based on the application as determined by parameter 501. Parameters 663 to 671 can be
modified by the user if the default settings are not appropriate for the intended application. For the 8720MC
outputs 1 to 4 are relay contacts while 5 to 10 are solid state 24vdc drivers.
Default:
See Chapter 6
Length
2 bytes
IDN: P00181
Name: AnaOut_Ch1_Selec
Parameter No.
681
File:
I/O Interface
Group:
Analog outputs
Description: The 8720MC Drive supports two +/-11 bit analog outputs. Parameter 681 (P00181) provides a
means of linking the 8720MC physical address of: connector P4, row 1, terminal 1 and row 2, terminal 6 (analog
output 1) to a variable within the drive. This allows the user to link an external analog output to a linkable variable
within the 8720MC Drive. A +/- 10 vdc analog voltage can be provided at analog output 1 which represents the
value of an 8720MC parameter such as % rated torque value or velocity feedback value or % power. Analog
output 1, parameter 681 contains the parameter number of the linked variable. If a +/- 10 vdc analog output
representing actual velocity is desired at analog output 1 then parameter number 40, velocity feedback, must be
entered into parameter 681. The analog output value can be modified by multiplying the source variable by the
scaling factor stored in parameter 682 (P00182).
D/A output = (Variable * scaling factor), D/A range +/- 2048 = +/- 10 vdc)
Default:
40
Length
2 bytes
IDN: P00182
Name: AnaOut_Ch1_Gain
Parameter No.
682
File:
I/O Interface
Group:
Analog outputs
Description: Parameter 682 (P00182) provides a means of scaling analog output 1. This parameter is used to
assign a scale factor to Analog Output 1 which is the analog output tied to the 8720MC physical address of:
connector P4, row 1, terminals 1 and row 2 terminal 6. This allows the user to apply a scale factor to an external
analog output which is linked to a variable within the 8720MC Drive. The value of the source variable linked by
parameter 681 (IDN P00181) is multiplied by the scale factor stored in parameter 682 in order to produce the
value delivered to the digital to analog converter. For example, with a scale factor of 1, a variable with a value of
100% will produce a D/A output of 10 vdc.
Default:
1.0
Length
2 bytes
Minimum/Maximum
0/10,000
Minimum/Maximum
Min. ≥ 0
Max. ≤ +65535
Minimum/Maximum
Min. ≥ -3.0000
Max. ≤ +3.0000
Data Type: Unsigned Integer
8-63
R/W
Scaling Resolution
1
Units
param no.
Data Type: integer
R/W
Scaling Resolution
1
Units
param
number
Data Type: Integer
R/W
Scaling Resolution
10-4
Units
Publication 8720MC-UM 001C-EN-P Feb 2001
8-64
Programming Parameters
IDN: P00183
Name:AnaOut_Ch2_Selec
Parameter No.
683
File:
I/O Interface
Group:
Analog outputs
Description: The 8720MC Drive supports two +/-11 bit analog outputs. Parameter 683 (P00183) provides a
means of linking the 8720MC physical address of: connector P4, row 2, terminal 5 and row 2, terminal 6 (analog
output 2) to a variable within the drive. This allows the user to link an external analog output to a linkable variable
within the 8720MC Drive. A +/- 10 vdc analog voltage can be provided at analog output 2 which represents the
value of an 8720MC parameter such as % rated torque value or velocity feedback value or % power. Analog
output 2, parameter 683 contains the parameter number of the linked variable. If a +/- 10 vdc analog output
representing torque is desired at analog output 2 then parameter number 84, torque feedback, must be entered
into parameter 683. The analog output value can be modified by multiplying the source variable by the scaling
factor stored in parameter 684 (P00184).
D/A output = (Variable * scaling factor), D/A range +/- 2048 = +/- 10 vdc)
Default:
84 (IDN 00084)
Length
2 byte
IDN: P00184
Name: AnaOut_Ch2_Gain
Parameter No.
684
File:
I/O Interface
Group:
Analog outputs
Description: Parameter 684 (P00184) provides a means of scaling analog output 2. This parameter is used to
assign a scale factor to Analog Output 2 which is the analog output tied to the 8720MC physical address of:
connector P4, row 2, terminal 5 and row 2, terminal 6. This allows the user to apply a scale factor to an external
analog output which is linked to a variable within the 8720MC Drive. The value of the source variable linked by
parameter 683 (IDN P00183) is multiplied by the scale factor stored in parameter 684 in order to produce the
value delivered to the digital to analog converter. For example, with a scale factor of 1, a variable with a value of
100% will produce a D/A output of 10 vdc.
Default:
1.0
Length
2 bytes
Minimum/Maximum
0/10,000
Minimum/Maximum
Min. ≥ -3.000
Max. ≤ +3.000
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Type: integer
R/W
Scaling Resolution
1
Units
param no.
Data Type: Integer
R/W
Scaling Resolution
10-4
Units
Programming Parameters
IDN: P00190
Name: Input_Image
Parameter No.
690
File:
Fault/Status or
I/O Interface
Group:
Drive Status or
Digital Inputs
Description: The standard 8720MC has 10 digital inputs and 10 digital outputs. Parameter 690 (IDN P00190)
provides a means of monitoring the digital input status. The status of each of the 10 inputs plus the 2 registration
inputs appears in one of the bits (0 to 11) in the Input Image status word. The input status can be displayed on
the HIM or Drive ExplorerTM via SCANport as a bit pattern.
Structure of the digital output word:
Bit 0 = Digital Input 1
Bit 1 = Digital Input 2
Bit 2 = Digital Input 3
Bit 3 = Digital Input 4
Bit 4 = Digital Input 5
Bit 5 = Digital Input 6
Bit 6 = Digital Input 7
Bit 7 = Digital Input 8
Bit 8 = Digital Input 9
Bit 9 = Digital Input 10
Bit 10 = +24v registration
Bit 11 = +5 v registration
Default:
0
Length
2bytes
IDN: P00191
Name: AnaInput1_Value
Parameter No.
691
File:
I/O Interface
Group:
Analog inputs
Description: The 8720MC Drive analog configuration supports two +/-13 bit analog inputs. Analog input 1, the
auto analog reference, is connected to the 8720MC physical address of: connector P1, row 2, terminals 14 and
15. Parameter 691 (P00191) “AnaInput1_Value” the digital representation of +/- 10 vdc analog voltage. Analog
Input 1 is defined in the 8720MC as the analog auto reference command. After scaling, parameter 691 is
permanently linked to parameter 36, the velocity command variable within the 8720MC Drive. This value may be
modified by the scaling factor stored in parameter 695 (P00195), the analog velocity scale factor. For auto mode,
param. 691 % * param 695 rpm/100% = Param 36 analog auto velocity reference command in rpm. Parameter
691 is automatically offset to zero during auto tuning.
Default:
0
Length
2 bytes
IDN: P00192
Name: AnaInput2_Value
Parameter No.
692
File:
I/O Interface
Group:
Analog inputs
Description: The 8720MC Drive analog configuration supports two +/-13 bit analog inputs. Analog input 2 the
manual analog reference, is connected to the 8720MC physical address of: connector P1, row 2, terminals 16 and
17. Parameter 692 (P00192) “AnaInput2_Value” stores the digital representation of +/- 10 vdc analog voltage.
Analog Input 2 is defined in the 8720MC as the analog manual reference command. Parameter 692 is
permanently linked to parameter 36, the velocity command variable within the 8720MC Drive. This value may be
modified by the scaling factor stored in parameter 696 (P00196), the manual velocity reference scale factor. For
manual mode, param. 692 % * param 696 rpm/100% = Param 36 analog velocity reference command in rpm.
Default:
0
Length
2 bytes
Minimum/Maximum
NA
Minimum/Maximum
Min. ≥ -100.00
Max. ≤ +100.00
Minimum/Maximum
Min. ≥ -100.00
Max. ≤ +100.00
Data Type: - bit pattern
8-65
R
Scaling Resolution
NA
Units
NA
Data Type: decimal
R
Scaling Resolution
1 = 10-2
Units
%
Data Type: integer
R/Link
Scaling Resolution
1 = 10-2
Units
%
Publication 8720MC-UM 001C-EN-P Feb 2001
8-66
Programming Parameters
IDN: P00193
Name: AnaInput 1 Offse
Parameter No.
693
File:
I/O Interface
Group:
Analog inputs
Description: Parameter 693 (P00193) provides a means of offsetting analog input 1. This parameter is used to
assign an A/D offset to “AnaInput1_Value”, parameter 691, which is the analog input tied to the 8720MC physical
address of: connector P1, row 2, terminals 16 and 17. This allows the user to apply an offset to an external analog
input which is linked to a variable within the 8720MC Drive. Analog Input 1 is used as the motion controller
reference command. Parameter 693 contains an offset variable in % which may be used to adjust the drive for
zero speed or zero torque when the motion controllers reference is 0 volts. This offset may be auto tuned if “auto
Offset” is selected in parameter 546
Default:
0.00
Length
2 bytes
IDN: P00194
Name: AnaInput 2 Offse
Parameter No.
694
File:
I/O Interface
Group:
Analog inputs
Description: Parameter 694 (P00194) provides a means of offsetting analog input 2. This parameter is used to
assign an A/D offset to “AnaInput1_Value”, parameter 692, which is the analog input tied to the 8720MC physical
address of: connector P1, row 2, terminals 16 and 17. This allows the user to apply an offset to an external analog
input which is linked to a variable within the 8720MC Drive. Analog Input 2 is only used as the manual analog
velocity reference. Parameter 694 contains offset factor in % which may be used to adjust the drive for zero
speed when the manual analog reference is at 0 volts.
Default:
0.00
Length
2 bytes
IDN: P00195
Name: Analog_Vel_Scale
Parameter No.
695
File:
I/O Interface
Group:
Analog inputs
Description: Parameter 695 (P00195) provides a means of scaling analog input 1. This parameter is used to
assign a scale factor to “AnaInput1_Value” which is the analog input tied to the 8720MC physical address of:
connector P1, row 2, terminals 14 and 15. This allows the user to apply a scale factor to an external analog input
which is linked to a variable within the 8720MC Drive. When the drive is configured for velocity mode, parameter
32 for parameter set 0, parameter 695 parameter contains the velocity scale factor in rpm/10 volt. For example,
if the incoming analog voltage full scale range is +/- 8 volts and the desired max rpm range is +/- 6000 rpm, then
the scale factor would be 6000 *10/8 or 7500 rpm/10 volts. This parameter should not generate a speed
requirement greater than the maximum speed of the motor, parameter 113. For applications were torque mode is
used, parameter 695, Analog Input 1 is always scaled to 25% (2.5 volts) = 100% rated torque. See parameter 32
for mode setting.
Default:
1000
Length
2 bytes
Minimum/Maximum
Min. ≥ -100.00
Max. ≤ +100.00
Minimum/Maximum
Min. ≥ -100.00
Max. ≤ +100.00
Minimum/Maximum
Min. ≥ -30000
Max. ≤ +30000
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Type: signed Integer
R/W
Scaling Resolution
1=.01%
Units
%
Data Type: signed Integer
R/W
Scaling Resolution
1=.01%
Units
%
Data Type: signed Integer
R/W
Scaling Resolution
1
Units
rpm/100%
Programming Parameters
IDN: P00196
Name: Manual_Vel_Scale
Parameter No.
696
File:
I/O Interface
Group:
Analog inputs
Description: Parameter 696 (P00196) provides a means of scaling analog input 2. This parameter is used to
assign a scale factor to “AnaInput2_Value” which is the analog input tied to the 8720MC physical address of:
connector P1, row 2, terminals 16 and 17. This allows the user to apply a scale factor to an external analog input
which is linked to a variable within the 8720MC Drive. Analog Input 2 is only used in manual velocity mode.
Parameter 696 contains the velocity scale factor in rpm/100%. For example, if the incoming analog voltage full
scale range is +/- 9 volts and the desired max rpm range is +/- 3000 rpm, then the scale factor would be 3000
*10/9 or 3333 rpm/100%. This parameter should not generate a speed requirement greater than the maximum
speed of the motor, parameter 113. Analog Input 2 supports only velocity scaling.
Default:
1000
Length
2 bytes
IDN: P00213
Name: SCANp_AN1_Value
Parameter No.
713
File:
Communication
Group:
SCANp_Ref/
fdback
Description: Parameter 713 (P000213) contains the value of the reference as provided by a SCANport
connected PLC. Parameter 713 (P00213) is linked to the velocity reference command 36 or the torque reference
command, parameter 80, by the 8720MC drive software as determined by the velocity/torque mode parameter
IDN Sn0032. The value of parameter 713, as provided by the plc, should be scaled to motor rpm when in velocity
mode and % rated torque when in torque mode. See IDN Sn0032 “Primary Operating Mode” for an explanation of
the 8720MC operating modes.
Default:
0
Length
2 bytes
IDN: P00215
Name: Analog_Out _Parm
Parameter No.
715
File:
Communication
Group:
SCANp_Ref/
fdback
Description: Parameter 715 (P000215) contains the linkable parameter number for the SCANport analog output.
The value transferred is a 16 bit integer variable within the 8720MC. Examples of common links are: parameter
40, velocity feedback, parameter 84, torque feedback, parameter 347, velocity error, parameter 386, motor shaft
power etc. See chapter 6, Table 6.7, for a description of the potential links. Parameter 715 contains
theparameter number of a linkable variable. This output is available to a SCANport connected communication
gateway as the reference feedback.
Default:
36
Length
2bytes
Minimum/Maximum
Min. ≥ -30,000
Max. ≤ +30,000
Minimum/Maximum
Min. ≥ -32768
Max. ≤ +32767
Minimum/Maximum
Min. ≥ 0
Max. ≤ +1000
Data Type: signed Integer
8-67
R/W
Scaling Resolution
1
Units
rpm/100%
Data Type: integer
R/W
Scaling Resolution
1 = 1 rpm or 1 = .1% rated torque
Units
rpm or %
rated torq
Data Type: Integer
R/W
Scaling Resolution
see IDN definition for the linked variable. For velocity:
1 = 1 rpm, for torque 1 = .1 %
Units
Param.
address
Publication 8720MC-UM 001C-EN-P Feb 2001
8-68
Programming Parameters
IDN: P00216
Name: SP_Logic_Mask
Parameter No.
716
File:
Communication
Group:
SCANp Data In
Description: The 8720MC drive can be operated by an A-B PLC via a SCANport gateway. Parameter 716, (IDN
P00216) is used to set the SCANport logic mask bits. This function may be used to enable or prevent some of the
SCANport nodes from controlling the 8720MC. This is a 16 bit word with a bit pattern which the 8720MC defines
as follows:
If a bit is set true (1) the function is enabled.
Bit 0: Digital I/O
Tables 6.1 and 6.2
Bit 1: Port control 1
Bit 2: Port control 2
Bit 3: Port control 3
Bit 4: Port control 4
Bit 5: Port control 5
Bit 6: Port control 6
Embedded HIM Module
Default:
x1111111
Length
2 bytes
IDN: P00217
Name: Logic_Command
Parameter No.
717
File:
Communication
Group:
SCANp Data In
Description: The 8720MC drive can be operated by an A-B PLC via a SCANport gateway. Parameter 717, (IDN
P00217) contains the “Logic Command” word coming from the gateway product. This is a 16 bit word with a bit
pattern which the 8720MC defines as follows:
If a bit is set true (1) the function is enabled.
Bit 0: Regenerative stop request
Bit 1: Start request
Bit 2: Jog request
Bit 3: Drive Error Reset request
Bit 4: Coast stop request
Bit 5: Parameter Set Select bit 0
Bit 6: Parameter Set Select bit 1
Bit 7: Parameter Set Select bit 2
Bit 8: Parameter Set Change
Bit 9: Orient Request,
Bit 10: Reserved
Bit 11: Manual/Auto request, 1 = manual
Bits 12 to 15 are reserved:
The Scanport Logic command word is used by the 8720MC when it is configured for SCANport PLC operation as
determined by parameter 501
Default:
00
Length
2 bytes
Minimum/Maximum
NA
Minimum/Maximum
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Type: 16 bit word, bit pattern
R/W
Scaling Resolution
NA
Units
NA
Data Type: 16 bit word, bit pattern
R
Scaling Resolution
NA
Units
NA
Programming Parameters
IDN: P00218
Name: SP_Logic_Status
Parameter No.
718
File:
Communication
Group:
SCANp Data Out
Description: The 8720MC drive can be operated by an A-B PLC via a SCANport gateway. Parameter 718, (IDN
P00218) contains the “Logic Status” word going to the gateway communication product. This is a 16 bit word
which the 8720MC defines as follows:
If a bit is set true (1) the function is enabled.
Bit 0: Drive enabled
Bit 1: Drive auto reference enabled
Bit 2: Rotation direction
Bit 3: Drive O.k.
Bit 4: Zero Speed
Bit 5: At reference speed
Bit 6: Orient complete
Bit 7 Reserved
Bit 8 Brake solenoid enabled
Bit 9: Torque >/= Torque limit
Bit 10: High Winding Selected
Bit 11: Low winding Selected
Bit 12: Shut down fault
Bit 13: Reserved
Bit 14: Reserved
Bit 15: Manual mode selected
The Scanport Logic Status word is Provided by the 8720MC to a gateway communication module when it is
configured for SCANport PLC operation as determined by parameter 501
Default:
00
Length
2 bytes
IDN: P00225
to P00232
Name: SP_Data_Input_xx
xx=A1, A2, B1, B2, C1, C2, D1 or D2
Parameter No.
725 to 732
File:
SCANport
Group:
Gateway Data In
Description: The 8720MC drive can be operated by an A-B PLC via a SCANport DeviceNet, Remote I/O or
ControlNet gateway communication adapter. It is possible to connect the PLC to port 2 or ports 2, 3, 4 or 5 using
a SCANport expander. Parameters 725 to 732 are a group of eight 16 bit PLC words which have fixed input links
to internal 8720 variables or flags. This provides a means of passing one to eight 16 bit PLC variables to the
8720MC Drive.
See chapter 6, Table 6.10, for the definition of the input links. These parameters can be used as bit flags as well
as signed or unsigned 16 bit integers. The data type is determined by the PLC and the 8720 variables they are
linked to.
The relationship to the gateway variable descriptions are as follows:
725 = P00225 = SCANport Data Input A1
726 = P00226 = SCANport Data Input A2
727 = P00227 = SCANport Data Input B1
728 = P00228 = SCANport Data Input B2
729 = P00229 = SCANport Data Input C1
730 = P00230 = SCANport Data Input C2
731 = P00231 = SCANport Data Input D1
732 = P00232 = SCANport Data Input D2
See Table 6.10 for the default assignments
Default:
00
Length
2 bytes
Minimum/Maximum
NA
Minimum/Maximum
+/- 32768 or 0 to 65535
Data Type: 16 bit word, bit pattern
8-69
R
Scaling Resolution
NA
Units
NA
Data Type: integer
R, Link
Scaling Resolution
NA
Units
NA
Publication 8720MC-UM 001C-EN-P Feb 2001
8-70
Programming Parameters
IDN: P00233
to P00240
Name: SP_Data_Outputxx
xx=A1, A2, B1, B2, C1, C2, D1 or D2
Parameter No.
733 to 740
File:
SCANport
Group:
Gateway Data
Out
Description: The 8720MC drive can be operated by an A-B PLC via a SCANport DeviceNet, Remote I/O or
ControlNet gateway communication adapter. It is possible to connect the PLC to port 2 or ports 2, 3, 4 or 5 using
a SCANport expander. Parameters 733 to 740 are a group of eight 16 bit words which can be linked to internal
8720 variables or flags. These variables are then made available via the SCANport gateway as output words to be
used by an A-B PLC interfaced to the SCANport gateway product.
See chapter 6, Table 6.1, for the default output links and the linking methodology. These parameters can be used
as bit flags as well as signed or unsigned 16 bit integers. The data type is determined by the PLC and the 8720
variables they are linked to.
The relationship to the gateway variable descriptions are as follows:
733 = P00233 = SCANport Data Output A1
734 = P00234 = SCANport Data Output A2
735 = P00235 = SCANport Data Output B1
736 = P00236 = SCANport Data Output B2
737 = P00237 = SCANport Data Output C1
738 = P00238 = SCANport Data Output C2
739 = P00239 = SCANport Data Output D1
740 = P00240 = SCANport Data Output D2
See Table 6.10 for the default assignments
Default:
00
Length
2 bytes
Minimum/Maximum
+/- 32768 or 0 to 65535
Data Type: integer
Scaling Resolution
NA
R/W
Units
NA
Parameters 741 (P00241) thru 793 (P00293) represent the 8720MC
image of the Allen-Bradley motor and encoder parameters stored in
the motor encoder memory at manufacture. Under normal
circumstances when using a 8720SM motor, the user should never
have to modify these parameters. Any of the encoder stored
parameters may be read from the 8720MC memory image via the
HIM or Drive ExplorerTM.
IDN: P00241
Name: Enc_Mem_Map_Rev
Parameter No.
741
File:
Motor/Drive
Group:
Motor data
Description: The 8720MC Drive supports an intelligent feedback device which stores all motor and feedback
specific parameters for standard A-B Motors. At power up these parameters are available to the drive to configure
it’s operation. Parameter 741 (IDN P00241) identifies the revision of the memory map to the drive.
Default:
Length
1 byte
Minimum/Maximum
Min. ≥ 0
Max. ≤ +255
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Type: Integer
Scaling Resolution
NA.
R
Units
NA
Programming Parameters
IDN: P00242
Name: Motor_Param_Rev
Parameter No.
742
File:
Motor/Drive
Group:
Motor data
Description: The 8720SM Motor parameters are subject to revision over time. Parameter 742 (P00242) is used to
identify the revision number of the motor parameters
Default:
Length
1 byte
IDN: P00277
Name: Motor_Select
Parameter No.
777
File:
Motor/Drive
Group:
Motor data
Description: The standard 8720SM Motors have assigned 8720SM catalog numbers. Parameter 777 provides a
list of the available standard 8720 motors. If the motor catalog number does not appear on the list “custom” must
be entered and all motor specific parameters must be entered individually. For standard 8720SM motors this
parameter is set by the data stored in the encoder and cannot be changed unless the feedback is disconnected
and power recycled.
Default:
custom
Length
2 bytes
IDN: P00278
Name: Motor_Type
Parameter No.
778
File:
Motor/Drive
Group:
Motor data
Description: The 8720MC can be used with several different types of motors. Parameter 778 (P00278) identifies
the type of motor the 8720MC is connected to. The possible enumerations are:
* 000 - Rotary PM Brushless
* 001 - Rotary Induction
* 010 - Rotary Induction Dual Winding
* 011 - Linear PM Brushless
* 100 - Linear PM Brushless AC Ironless
Default:
001
Length
1byte
IDN: P00279
Name: Motor_Pole_Count
Parameter No.
779
File:
Motor/Drive
Group:
Motor data
Description: The standard 8720SM Motors have 4 poles. Parameter 779 (P00279) provides the drive with the
number of motor poles. If the motor is a linear motor this parameter provides the linear motor pole pitch in
millimeters
Default:
4
Length
1 byte
Minimum/Maximum
Min. ≥ 0
Max. ≤ +255
Minimum/Maximum
0 to 65535
Minimum/Maximum
0 to 255
Minimum/Maximum
2/255
Data Type: Integer
8-71
R
Scaling Resolution
1
Units
NA
Data Type: Ascii enumeration of motor catalog
numbers
R/W
Scaling Resolution
NA
Units
NA
Data Type: binary
R/W
Scaling Resolution
NA
Units
NA
Data Type: unsigned integer
R/W
Scaling Resolution
NA
Units:
poles/rev
poles/mm
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8-72
Programming Parameters
IDN: P00280
Name: Mtr_Acceleration
Parameter No.
780
File:
Motor/Drive
Group:
Motor data
Description: Parameter 780 (P00280) is defined as the continuous force/torque (in newtons /newton-meters) at
rated base speed divided by the rotor mass/inertia in (Kg/ Kg-m2)
Default:
NA
Length
4 bytes
IDN: P00281
Name: Base_Speed
Parameter No.
781
File:
Motor/Drive
Group:
Motor data
Description: The standard 8720SM motors are rated at 1500 rpm base speed. Parameter 781 (P00281) defines
the base speed, the speed at which the motor continuous power and torque are rated.
Default:
1500
Length
2bytes
IDN: P00282
Name: Mtr_Rated_Power
Parameter No.
782
File:
Motor/Drive
Group:
Motor data
Description: The standard 8720SM motors are rated from 5.5 to 93 kw at 1500 rpm base speed. Parameter 533
(P00033) identifies the motor power in kilowatts The possible enumerations are:
5.5, 7.5, 11, 15, 18.5, 22, 30, 37, 45, 55, 63, 75, 93 kw
Default:
NA
Length
2bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +65535
Minimum/Maximum
Min. ≥ 0
Max. ≤ +30000
Minimum/Maximum
Min. ≥ 0
Max. ≤ +6553.5
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Type: Unsigned Integer
R/W
Scaling Resolution
1
Units:
Rad/sec2
m/sec2
Data Type: Unsigned Integer
R/W
Scaling Resolution
1
Units
rpm
Data Type: Unsigned Integer
R/W
Scaling Resolution
10-1
Units
kw
Programming Parameters
IDN: P00283
Name: Motor_Max_Volts
Parameter No.
783
File:
Motor/Drive
Group:
Motor data
Description: This parameter defines the maximum DC bus voltage required in the constant power region. For
most 8720SM motors this will produce 505 vac RMS at maximum speed.
Default:
Motor
Specific
Length
2 byte2
IDN: P00284
Name: Mtr_Rated_Volts
Parameter No.
784
File:
Motor/Drive
Group:
Motor data
Description: This parameter defines the nominal DC bus voltage required to acheive base speed and rated
torque. For most standard 8720SM motors this will produce approximately 350 vac RMS at base speed.
Default:
Motor
Specific
Length
2 bytes
IDN: P00285
Name: Rated_Torque
Parameter No.
785
File:
Motor/Drive
Group:
Motor data
Description: This fparameter defines the continuous torque rating of the of the motor at base speed and 40 ° C
Default:
Length
2bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +6553.5
Minimum/Maximum
Min. ≥ 0
Max. ≤ +6553.5
Minimum/Maximum
Min. ≥ 0
Max. ≤ +6553.5
Data Type: unsigned integer
8-73
R/W
Scaling Resolution
.1
Units
volts
Data Type: Unsigned Integer
R/W
Scaling Resolution
.1
Units
volts
Data Type: Unsigned Integer
R/W
Scaling Resolution
10-1
Units
newtonmeters or
newtons
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8-74
Programming Parameters
IDN: P00286
Name: Motor_Back_EMF
Parameter No.
786
File:
Motor/Drive
Group:
Motor data
Description: This parameter defines the synchronous motor back emf phase to phase constant at 25 degrees C.
This is set to zero for asynchronous motors and therefore should be set to zero for 8720SM motors.
Default:
0
Length
2bytes
IDN: P00287
Name: R1_Motor_Stator
Parameter No.
787
File:
Motor/Drive
Group:
Motor data
Description: This parameter defines the per unit stator phase to neutral resistance R1 @ 25 ° C in %. This
parameter is set to zero for synchronous motors.
Default:
per motor
Length
2 byte
IDN: P00288
Name: R2_Motor_Rotor
Parameter No.
788
File:
Motor/Drive
Group:
Motor data
Description: This parameter defines the per unit rotor phase to neutral resistance as referred to the stator @ 25
° C in %. This parameter is set to zero for synchronous motors.
Default:
per motor
Length
2 bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +655.35
Minimum/Maximum
Min. ≥ 0
Max. ≤ +30.000
Minimum/Maximum
Min. ≥ 0
Max. ≤ +30.000
Publication 8720MC-UM 001C-EN-P Feb 2001
Data Type: Unsigned Integer
R/W
Scaling Resolution
10-2
Units
volts rms
Data Type: unsigned integer
R/W
Scaling Resolution
10-3
Units
%
Data Type: Unsigned Integer
R/W
Scaling Resolution
10-3
Units
%
Programming Parameters
IDN: P00289
Name: X1_Stat_Self/Lk
Parameter No.
789
File:
Motor/Drive
Group:
Motor data
Description: This parameter defines the per unit motor stator leakage reactance at base frequency for
synchronous motors.
Default:
per motor
Length
2bytes
IDN: P00290
Name: XM_Stator Mutual
Parameter No.
790
File:
Motor/Drive
Group:
Motor data
Description: This parameter defines the per unit asynchronous motor stator magnetizing reactance @ base
frequency, phase to neutral. This is also the per unit synchronous motor stator magnetizing reactance at 1000
rpm (phase to neutral)
Default:
per motor
Length
2 byte
IDN: P00291
Name: X2_Rotor_Leakage
Parameter No.
791
File:
Motor/Drive
Group:
Motor data
Description: This IDN defines the per unit asynchronous motor rotor leakage reactance @ base frequency,
phase to neutral. This is set to zero for synchronous motors.
Default:
per motor
Length
2 bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +30.000
Minimum/Maximum
Min. ≥ 0
Max. ≤ +300.00
Minimum/Maximum
Min. ≥ 0
Max. ≤ +30.000
Data Type: Unsigned Integer
8-75
R/W
Scaling Resolution
10-3
Units
%
Data Type: unsigned integer
R/W
Scaling Resolution
10-2
Units
%
Data Type: Unsigned Integer
R/W
Scaling Resolution
10-3
Units
%
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8-76
Programming Parameters
IDN: P00292
Name: Mtr_Mag_Current
Data Type: Unsigned Integer
Parameter No.
792
File:
Motor/Drive
Group:
Motor data
Description: This parameter defines the per unit asynchronous motor magnetizing current as a ratio to the
continuous current. This is set to zero for synchronous motors.
Default:
per motor
Length
2bytes
IDN: P00293
Name: Mtr_Slip_Freq
Parameter No.
793
File:
Motor/Drive
Group:
Motor data
Description: This IDN parameter asynchronous motor slip frequency.This is set to zero for synchronous motors.
Default:
Length
2bytes
Minimum/Maximum
Min. ≥ 0
Max. ≤ +100.0
Minimum/Maximum
Min. ≥ 0
Max. ≤ +100.00
R/W
Scaling Resolution
10-1
Units
%
Data Type: Unsigned Integer
R/W
Scaling Resolution
10-2
Units
rad/sec
The remaining P parameters are 7 sets of servo loop parameters found
in File: Servo Loop, Groups: 1 to 7. The 14 elements in groups 1 to
7 are the same as those found in parameter group 0. The element
definitions for Servo Loop: Group 0 are found the following
parameter descriptions:
•Parameter 32 Primary_Op_Mode0
•Parameter 38 +Velocity_Limit_0
•Parameter 39 -Velocity_Limit_0
•Parameter 82 +Torque_Limit_0
•Parameter 83 -Torque_Limit_0
•Parameter 100 Vel_Prop_Gain_0
•Parameter 101 Vel_Integ_Time_0
•Parameter 104 Pos_Loop Gain_0
•Parameter 105 Pos_Integ_Time_0
•Parameter 136 Accel_Limit__0
•Parameter 137 Decel_Limit__0
•Parameter 296 Vel_Fdfwd_Gain_0
•Parameter 348 Acc_Fdfwd_Gain_0
Publication 8720MC-UM 001C-EN-P Feb 2001
Programming Parameters
8-77
•Parameter 523 System_Accel_0
•Parameter 561 Cur_Notch_Freq0
•Parameter 562 Cur_Lowpas_Frq0
The following table is presented to illustrate the relationship between
the servo loop parameter groups:
Servo Loop Parameter numbers: Groups 0 to 7
Parameter Name
Param. No
Group 0
Param. No
Group 1
Param. No
Group 2
Param. No
Group 3
Param. No
Group 4
Param. No
Group 5
Param. No
Group 6
Param. No
Group 7
Primary_Op_Mode_n
32
811
831
851
871
891
911
931
+Velocity_Limit_n
38
812
832
852
872
892
912
932
-Velocity_Limit_n
39
813
833
853
873
893
913
933
+Torque_Limit_n
82
814
834
854
874
894
914
934
-Torque_Limit_n
83
815
835
855
875
895
915
935
Vel_Prop_Gain_n
100
816
836
856
876
896
916
936
Vel_Integ_Time_n
101
817
837
857
877
897
917
937
Pos_Loop_Gain_n
104
818
838
858
878
898
918
938
Pos_Integ_Time_n
105
819
839
859
879
899
919
939
Accel_Limit__0
136
825
845
865
885
905
925
945
Decel_Limit_0
137
826
846
866
886
906
926
946
Vel_Fdfwd_Gain_n
296
820
840
860
880
900
920
940
Acc_Fdfwd_Gain_n
348
821
841
861
881
901
921
941
System_Accel_n
523
822
842
862
882
902
922
942
Torq_Notch_Freq_n
561
823
843
863
883
903
923
943
Torq_Lowpas_Freq_n
562
824
844
864
884
904
924
944
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8-78
Programming Parameters
Publication 8720MC-UM 001C-EN-P Feb 2001
Chapter
9
Starting Up Your 8720MC
Chapter Objectives
This chapter provides you with the information to start up and tune
your 8720MC System.This chapter includes:
•
General startup precautions
•
Setup and tuning procedures for the 8720MC drive
•
Procedure for running the drive in manual mode
Before you begin the startup procedures, be sure to read and
understand the information in the previous chapters of this manual.
Note:
General Startup Precautions
The procedures in this chapter do not include information
regarding integration with other products.
The following precautions pertain to all of the procedures in this
chapter. Be sure to read and thoroughly understand them before
proceeding.
!
ATTENTION: You need to apply power to the drive to
perform many of the adjustments specified in this chapter.
Voltages behind the drive front cover are at incoming line
potential. To avoid injury to personnel and/or damage to
equipment, you should only perform these startup
procedures if you are a qualified service person.
Thoroughly read and understand the procedure before
beginning. If an expected event does not occur while
performing this procedure, do not proceed. Remove
power by opening the branch circuit disconnect device
and correct the malfunction before continuing.
ATTENTION: This product contains stored energy
devices. To avoid hazard of electrical shock, verify that
all voltages on the system bus network have been
discharged before attempting to service, repair or remove
this unit. Only qualified personnel familiar with solid
state control equipment and safety procedures in
publication NFPA 70E or applicable local codes should
attempt this procedure.
9-2
Starting Up Your 8720MC
!
Note:
Setting Up Your 8720MC Drive
ATTENTION: This drive contains ESD (Electrostatic
Discharge) sensitive parts and assemblies. You are
required to follow static control precautions when you
install, test, service, or repair this assembly. If you do not
follow ESD control procedures, components can be
damaged. If you are not familiar with static control
procedures, refer to Allen-Bradley publication 80004.5.2, Guarding Against Electrostatic Damage or any
other applicable ESD Protection Handbook.
The following procedures only apply to the drive component
of the 8720MC product line. For details on starting up the
8720MC-RPS Regenerative Power Supply, refer to Chapters
5, 6, and 7 of publication 8720-RM001B, the 8720MC
Regenerative Power Supply User Manual.
This section provides the following to help you set up and tune the
8720MC drive:
•
Information you need before you begin
•
Setup procedures
The instructions in this chapter assume that you are using a HIM
Series A 3.0 or greater or a HIM Series B. Refer to HIM
Programming for general HIM programming information.
Note:
The start-up procedure can also be performed on a desktop, lap
top or hand-held personal computer using Allen-Bradley’s
DriveExplorer™, WindowsNT™, Windows95™ and CE™
compatible drive configuration utility. This method greatly
enhances the ability to navigate through and display or modify
parameters. For more information on DriveExplorer™, see
publication 9306-5.0, the DriveExplorer User Manual. When
using DriveExplorer™ with the 8720MC you must use the
cat. no.1203-SSS series B or later “Anaconda” SCANport
to RS-232 serial port adaptor to interface your PC to the
SCANport connector on the drive.
In most cases, the default values in the startup procedure will work
very well; however, you can modify the values, as needed, for your
application.
Before You Begin
In an initial start-up it is always good practice to check the motor
windings before you apply power to the drive. This is done by first
disconnecting the motor leads from the drive, terminals T1, T2 and
T3. Using a multi-meter check continuity between the motor leads.
There should be very low resistance between T1 and T2, T2 and T3
and T3 and T1. Make sure there is no continuity between any of the
motor leads and the motor case ground.
Publication 8720MC-UM 001C-EN-P Feb 2001
Starting Up Your 8720MC
9-3
Before reconnecting the motor leads make sure there is no continuity
between the motor leads and the temperature switch leads. Connect a
multi-meter between terminal P1-12 and each of the motor leads.
There should be almost infinite resistance. Also make sure there is no
continuity between terminal P1-13 and each of the motor leads.
Examine the drive input wiring carefully and make sure that there are
no shorts to ground on the incoming leads. Before you begin the
startup procedure, verify that the system has been wired correctly per
the drawings in Chapter 4 and that you have a good quality digital
multi-meter available for troubleshooting. In complicated systems it
may be best to remove all fuses and bring up the system gradually by
installing the device fuses as needed to bring on line additional
equipment.
Exiting Before You’re Finished
If you need to exit the start-up procedures before you are finished,
you should always save your parameters to EEprom memory. If you
fail to do this before removing power any changes made after the last
save to EEprom will be lost. The procedure for saving parameters to
EEprom is discussed in Chapter 7.
Applying Power
This procedure assumes that you have wired your 8720MC System
and verified the wiring.
1. Apply 380/460V AC input power to the 8720MC-RPS or
2. Apply 380/460V AC input power to the drive. The Status LED on
the Control PCB flashes green. In addition, the HIM becomes
active and a message similar to the following appears:
System Ready
Note:
When you apply power to the HIM, a series of
messages appears before the final System Ready
message appears.
3.
If the drive LED:
Flashes green and the
following appears on the HIM:
System Ready
Flashes red
Remains solid red
Does not illuminate
Then:
The control and bus power is
active, but the drive is not
enabled.
Refer to Defining Drive
Application Type.
You may have a wiring or
power problem.
Refer to Troubleshooting.
Publication 8720MC-UM 001C-EN-P Feb 2001
9-4
Starting Up Your 8720MC
Key Set-up Parameters
The 8720MC Drive can be controlled from analog inputs or the
SCANport or SERCOS in a future revision. It also can be used as an
spindle or a power servo. Parameter 501, “A-B Application”, is used
to identify the specific application use of the 8720MC Drive. You
must select one of the 7 application choices provided in parameter
501:
•
Analog spindle
•
Analog power servo
•
SERCOS spindle
•
SERCOS power servo
•
Scanport, Digital Peripheral Interface, spindle
•
Scanport, Digital Peripheral Interface, power servo
•
Custom
When you choose “Analog Spind” or “Analog Pwr S” parameter 503,
“Aux_Fbck_Type must be set to “analog ref”. For analog input
applications make sure parameter 503 is set to “Analog Ref”.
For analog spindle applications make sure that “Position Scaling”,
parameter 76, bit 7 is set to “modulo”. When modulo is selected the
“Motor Posn Fdbk”, parameter 51 will display actual motor position
to whatever resolution is selected in “Rot Posn Resolut”, parameter
79. For example if Parameter 79 and parameter 103 are set for 30,000
resolution counts/rev, the motor position, parameter 51, will count
from 0 to 29,999 and back to 0 as it is rotated clockwise when viewed
from the drive end.
Also for analog spindle or power servo applications where the A quad
B simulated digital encoder output is used, parameter 582 must be set
to “Index” to assure that the encoder marker is available at the motion
controller interface on terminals P5-3 and P5-21
Initial Checks
With power on the drive, the drive disabled and the load disconnected
display parameter 51 “Motor_Pos_Fdbk”, found in file: Control,
group: Position. Rotate the motor shaft cw and the display should
increase as the shaft rotates. Turning the shaft ccw should decrease
the position display. This confirms that the feedback device and
wiring are performing properly.
After enabling the drive by applying +24vdc to input 1 “Drive
Enable” on the digital I/O interface, the module status LED should
illuminate steady green and the motor drive shaft should be very stiff.
Usually the motor will slowly rotate since it is in velocity mode with
the position loop open.
Publication 8720MC-UM 001C-EN-P Feb 2001
Starting Up Your 8720MC
9-5
If the motor is erratic and uncontrollable it is probably improperly
phased. Refer to chapter 5 under “Motor Direction” to correct the
phasing. With the load unconnected press the stop button on the HIM
module. This will tell the drive that the HIM module is the controlling
input. Press the green start button on the HIM and increase the speed
command with the speed pot (HAS1 option) or up/down arrows
(HAS2 option).The motor should rotate faster or slower based on the
HIM speed selected. The direction key should reverse the motor
direction. Depress the stop button to stop the motor and remove the
+24vdc from the drive enable. The drive should be disabled with the
module status LED flashing green and the motor shaft will freely
rotate by hand. If these initial checks are successful and there are no
error messages on the HIM you are ready to connect the load and tune
the drive.
Servo Loop Parameters
This section explains the importance of adjusting servo loop
parameters:
One of the most important tasks to be performed during startup is the
adjustment of the servo loop parameters. Adjustment of these
parameters is essential to get the maximum performance from a drive
application. The 8720MC is supplied with a set of default parameters
which are intended to provide a good starting point. In addition all the
motor-specific parameters are stored in the motor encoder.
As a consequence, only a few key servo loop parameters require
tuning to the specific load and application.
The traditional method of tuning the servo loop parameters is
performed by a process of trial and error adjustment. The 8720MC
Drive provides an auto tuning procedure which greatly simplifies this
task. The “Parameter Groups, Files and Elements” charts presented in
Programming Parameters show that there are 8 sets of servo loop
parameters. Each group has 16 servo loop parameters or “elements”
of which 4 are set by the auto tuning procedure. The 8 groups of servo
loop parameters are provided to support multiple gear ranges, high /
low winding motors and multiple operating modes. Each unique gear
range, winding or operating mode requires a separates set of servo
loop parameters and each should be separately auto tuned. Auto
tuning compensates for the changes in the reflected inertia and
changes in the motor operating characteristics caused by gear changes
or switching the high/low winding.
Selecting a Servo Loop Parameter
Group
This section provides the information you will need to select a servo
loop parameter group:
Before beginning auto tuning it will be necessary to select the servo
loop parameter group that you wish to auto tune. This may be done
from the HIM, Drive Explorer or the digital I/O. Assuming you wish
to select parameter group 4, the HIM procedure for changing the
active parameter group is explained below:
Publication 8720MC-UM 001C-EN-P Feb 2001
9-6
Starting Up Your 8720MC
1. At the HIM, press ENTER. A message similar to the following
appears:
Choose Mode
Display
2. Press either the up or down arrow key until the following appears:
Choose Mode
Program
3. Press ENTER. Press either the up or down arrow key until the
following appears:
Choose File
Procedure
4. Press ENTER. Press either the up or down arrow key until the
following appears:
Choose Group
Parameter Switch
5. Press ENTER. Press either the up or down arrow key until you
have located “Select Param Set”, parameter 217.
6. Press SEL and the number on the bottom line will flash. Use the
up or down arrow key to change the number to 4 and press
ENTER.
7. To activate parameter group 4, press the up or down arrow key
until you find “Param Set Switch”, parameter 216.
8. Press the SEL and the number on the bottom line will flash. Use
the up or down arrow key to change the number to 1, and then
press ENTER.
Parameter group 4 is now the active parameter group.
9. To confirm that parameter group 4 is the active parameter group,
view parameter 254, “Actual Param Set”, by pressing the up or
down arrow key until the top line displays “Actual Param Set”.
The bottom line should display a value of 4, confirming that
parameter group 4 is active.
Note:
Setting the Servo Loop Parameters
Publication 8720MC-UM 001C-EN-P Feb 2001
The procedure for changing parameter groups described above
can also be performed with Drive ExplorerTM in much the same
way. In addition the parameter groups may be changed via the
digital I/O by selecting the proper binary bit pattern at the
interface. Each servo loop parameter group which your
application requires will require setting and tuning of the servo
parameters.
This section provides the information you need to set a group’s servo
loop parameters:
Starting Up Your 8720MC
9-7
Each group of servo loop parameters can have its own set of values
for mode of operation, velocity limits and torque limits. In the analog
version of the 8720MC drive, the mode of operation can be set for
either velocity or torque modes. The parameter for making this
selection for group 0 is Parameter 32, “Primary Op Mode0”. The
parameter numbers are different for each of the 8 servo loop
parameter groups as described in Programming Parameters. The
default mode for Parameter 32 and all 7 of the other primary
operation mode parameters is “Velocity”. If torque mode is required
use the techniques described in Using the Human Interface Module
(HIM) to modify this parameter. The velocity limits should be
modified to suit the application. Parameters 38 and 39, “+Velocity
Limit 0” and “-Velocity Limit 0” are the velocity limit parameters for
servo loop parameter group 0.
The parameter numbers are different for each of the 8 servo loop
parameter groups as described in Programming Parameters. Locate
these parameters and change their values to the maximum motor
speed in rpm, as desired for the application.
The torque limits should also be modified to suit the application.
Parameters 82 and 83, “+Torque Limit 0” and “-Torque Limit 0” are
the torque limit parameters for servo loop parameter group 0. The
parameter numbers are different for each of the 8 servo loop
parameter groups as described in Programming Parameters. Locate
these parameters and change their values to the maximum allowable
motor torque for the application as a percentage of full-rated
continuous motor torque, as desired for the application. The drive is
now ready to auto tune the remaining servo loop parameters.
Acc/Dec Parameters
Each parameter set has an acceleration parameter and a deceleration
parameter. For parameter group 0 the acceleration parameter number
is 136 and the deceleration parameter is 137. These parameters are
used to select the maximum acceleration and deceleration rates in
radians per second squared for a given parameter set. The
acceleration and deceleration parameters are used to limit the rate of
change of velocity of the motor to a level that can be supported with
load connected. With high inertia loads it is often necessary to limit
the deceleration to prevent bus over voltage or over current trips
caused by over running loads. The values for acceleration and
deceleration are adjusted by trial and error to suit the application.
AutoTuning
This section provides the information you need to auto tune your
8720MC drive:
This procedure assumes that you have wired your 8720MC drive and
have completed the procedures already covered in this chapter.
Publication 8720MC-UM 001C-EN-P Feb 2001
9-8
Starting Up Your 8720MC
Before You Perform an Auto Tune
Before you perform an auto tune, look at the status LED on the
system module.
Note:
Auto tune default parameter values are normally adequate. To
change them, refer to Programming Parameters.
Performing the Auto Tune
1. Before initiating the auto tuning of the motor make sure the
desired application load for this group of servo loop parameters is
connected to the motor.
2. For the analog input command configuration, set Parameter 501,
the application parameter, to either “Analog Spind” or “Analog
Pwr S” as required by the application.
3. Set Parameter 503, “Aux Fdbk Type”, to “Analog Ref” to ensure
the drive is prepared to accept an analog command reference via
the auxiliary feedback port. This is a general requirement for any
analog input application and not specifically for auto tuning.
Note:
!
Auto tuning will initiate a fast rotation in one direction of the
motor shaft followed by a fast rotation in the opposite direction.
ATTENTION: Auto tuning will cause rapid motion of
the motor and the connected load. Make sure all
mechanical connections are securely fastened and that
nothing is in the path of the load. Failure to observe this
precaution could result in bodily injury.
With the load connected, you are ready to tune the servo loop
parameters.
4. For the analog configuration, auto tuning will automatically
calculate the following Group 0 Servo Loop parameters:
Parameter 100, “Vel Prop Gain 0”; Parameter 101, “Vel Integ
Time 0”; Parameter 523, “System Accel 0”; Parameter 562, “Torq
Lowpas Frq0” and “Pos Loop Gain 0”.
5. Before initiating the auto tune procedure, ensure that the
Parameter 546, “Atune Config”, has the four lowest significant
bits set to one. This means that:
Publication 8720MC-UM 001C-EN-P Feb 2001
•
bit 0 - “Auto Save” is on and the calculated parameters will be
automatically saved
•
bit 1 - “Calc Gains” is on and the proportional and integral gains
for the selected servo loop parameter group will be calculated
•
bit 2 - “Inertia” is on and the system acceleration for the selected
servo loop parameter group will be calculated
Starting Up Your 8720MC
•
9-9
bit 3 - “Auto Offset” is on and the system calculates the analog
auto reference offset, parameter 693.
Note:
The speed for the auto tune procedure as well as the torque and
the maximum distance for the auto tune moves can be
modified. Parameter 543, “ATune Vel Limit”; Parameter 542,
“ATune Torq Limit” and Parameter 544, “ATune Posn Limit”
serve this purpose. The default values are 1000 RPM, 100%
rated continuous torque and 65,535 counts, respectively.
Changing these values will change the calculated values of the
servo loop parameters. The default values represent a good
compromise and should be used unless the application does
not support the default values. For example: if you know the
torque will be limited to 75% of rated motor torque, Parameter
542 should be set to 75%.
6. With the drive disabled set parameter 541 to “Auto tune”.
7. Making sure the motor and load are safe to operate, enable the
drive. The motor will quickly rotate clockwise and counterclockwise indicating that the auto tune procedure has executed.
Parameter 547 will indicate “successful” if the auto tune
procedure executed properly
Scaling of Auto Velocity Analog
Reference
This section provides the information you need to scale an auto
velocity analog reference:
Note:
Default setting is 1000 rpm/10V
To change the scale factor for the auto velocity analog reference,
perform the following procedure:
1. At the HIM, press the escape key get to the top level display then
depress ENTER. A message similar to the following appears:
Choose Mode
Display
2. Press either the up or down arrow key until the following appears:
Choose Mode
Program
3. Press ENTER. Press either the up or down arrow key until the
following appears:
Choose File
I/O Interface
4. Press enter. Press either the up or down arrow key until the
following appears
Choose Group
Analog Inputs
5. Press enter. Use the up and down arrow keys to find Parameter
695, “Auto Vel Scale”.
6. Press SEL to select the numerical value.
Publication 8720MC-UM 001C-EN-P Feb 2001
9-10
Starting Up Your 8720MC
7. Use the up and down arrow keys to change the numerical value.
8. To change the motor direction for a given analog voltage input,
press SEL to highlight the sign character.
9. Use the up and down arrow keys to change the sign.
Press ENTER.
Note:
Remember to save any changed values to nonvolatile
EEPROM memory. Refer to Using the Human Interface
Module (HIM), Chapter 7.
In velocity mode with 0 volts at the auto analog reference input the
drive may still slowly rotate cw or ccw. To minimize this parameter
693, “Auto_Ref_Offset”, is provided. Values ranging from +/-.01%
to +/-100% can be entered. A + value is used to offset in the cw
direction and a - value is used to offset in the ccw direction.
Scaling of Manual Velocity Analog
Reference
This section provides the information you need to scale a manual
velocity analog reference:
Note:
Default scaling is 1000 rpm/10 volts.
To scale motor jog speed:
1. At the HIM, press ENTER. A message similar to the following
appears:
Choose Mode
Display
2. Press either the up or down arrow key until the following appears:
Choose Mode
Program
3. Press ENTER. Press either the up or down arrow key until the
following appears:
Choose File
I/O Interface
4. Press ENTER. Press either the up or down arrow key until the
following appears:
Choose Group
Analog Inputs
5. Press enter. Use the up and down arrow keys to find Parameter
696, “Manual Vel Scale”.
6. Press ENTER. The following message appears:
Manual Vel Scale
+ 1000 RPM
7. Press SEL. The cursor moves to the bottom line. Continue
pressing SEL until the cursor moves to the digits that you need to
change.
Publication 8720MC-UM 001C-EN-P Feb 2001
Starting Up Your 8720MC
9-11
8. Press the up and down arrows to change the scale value.
9. To change the shaft direction from positive to negative, press
SEL until the cursor is on the plus sign and press the up or down
arrow key.
Note:
Default shaft direction is positive (clockwise while looking at
the shaft).
10. Press ENTER.
In velocity mode with 0 volts at the manual analog reference input
the drive may still slowly rotate cw or ccw. To minimize this
parameter 694 “Man_Ref_Offset” is provided. Values ranging from
+/-.01% to +/-100% can be entered. A + value is used to offset in the
cw direction and a - value is used to offset in the ccw direction.
Operating in Manual Mode Using
Digital I/O Interface
This section provides the information you need to operate your
8720MC drive in manual mode using a digital I/O interface:
Note:
Before beginning this procedure, scale the manual velocity
analog reference for the desire speed range and shaft direction.
Refer to Scaling of Motor Speed.
To operate the 8720MC drive in manual mode using digital I/O
interface:
1. Using your voltmeter, verify that all analog reference signals
connected to analog inputs are set to zero.
2. Set the Auto/Manual Select digital input 4 high.
3. Enable the drive by setting the Drive Enable, digital input 1, high.
Note:
Upon completion of the next step, your drive will be ready to
jog in manual mode.
4. Set the digital input 6 to high in order to jog the motor.
The drive will follow the reference signal voltage and polarity
provided to analog input 2. Refer to Programming Parameters.
Disabling the drive will stop the motor.
Operating in Manual Mode with an
Internal or External HIM
This section provides the information you need to operate your
8720MC drive with an internal or external HIM:
Note:
Before beginning this procedure, scale the manual velocity
analog reference for the desired motor speed range and shaft
direction. Refer to Scaling of Manual Velocity Reference.
To operate the 8720MC drive in manual mode using an internal or
external HIM:
1. Enable the drive by setting the Drive Enable digital input 1 high.
Publication 8720MC-UM 001C-EN-P Feb 2001
9-12
Starting Up Your 8720MC
2. Depress the red stop button on the HIM module. Use the speed
potentiometer or speed arrows on the HIM to set the speed
reference to zero.
Note:
Refer to HIM Programming.
3. Push the start or green HIM button to run the motor, or the jog
button to jog the motor.
4. Use the speed potentiometer or speed arrows to increase your
speed reference to a desired level.
Disabling the drive, pressing the HIM red stop button, or releasing the
jog button will stop the motor.
Start-up of Motor Orient
This section provides the information you will need to orient your
motor:
The motor orient procedure provides a means of positioning the
motor to a precise location regardless of whether the motor is starting
from standstill or rotating at high speed. The procedure that follows
assumes that the motor feedback device is an SNS-60 Sincoder.
Note:
To understand the drive controlled motor orient feature refer
to Parameter 152, “Spin Orient Req”; Parameter 150, “Mtr
Marker Ofset”; Parameter 153, “Orient Angle”; Parameter154
“Orient Options”; Parameter 157, “At Spd Window”;
Parameter 222, “Spin Orient Spd”; Parameter 260, “Pos Accel
Rate”; Parameter 582, “Auto Home”, Parameter 76, “Position
Scaling” Parameter 79, “Rot Posn Resolut” and parameter
103, “Modulo Value” in Chapter 8, Programming Parameters.
1. As an initial check, make sure that Parameter 582 “Auto Home”
is set for “Index” and Parameter 76, “Position Scaling”, has
modulo checked.
2. Verify that Parameter 79, “Rot Posn Resolut” = 3600 counts/
revolution. Increase the resolution if higher resolution than 3600
counts per revolution is desired. This can be increased to 32,767
counts.
3. Verify that the following parameters are set to the described
values:
•
Parameter 150, “Mtr Marker Ofset” = 0 counts
•
Parameter 153, “Orient Angle” = 0 counts
•
Parameter 222, “Spin Orient Spd” = 100 rpm.
Note:
•
Parameter 260, “Pos Accel Rate” = 100 rad/sec.
Note:
•
Publication 8720MC-UM 001C-EN-P Feb 2001
Reduce the speed if it is too high for the application.
Reduce the acceleration if it is too high for the application.
Parameter 103, “Modulo Value” = the value in parameter 79.
Starting Up Your 8720MC
9-13
4. Navigate to Parameter 154, “Orient Options” and select an orient
direction. The application will dictate this choice. The available
options are “CW”, “CCW” or “Shortest Pth”.
5. Enable the drive.
6. Toggle the orient request input, P5-32, to a true state or navigate
to Parameter 152, “Spin Orient Req” and select a state of “1” and
press enter.
The motor will rotate in velocity mode in the selected direction at the
selected orient speed until the encoder marker is detected. The drive
will then transfer to positioning mode and calculate the desired end
point of zero motor offset angle and zero programmed angle.
Regardless of the orient direction chosen, with the end location at
zero counts the motor will stop and return via shortest path to the
marker and stop.
Note:
Because the motor is randomly assembled to the mechanical
system this is probably not the actual orient position required
for the application.
7. To change the motor position to the desired zero angle Parameter
150, “Mtr Marker Ofset”, must be modified to reflect the
difference between the actual zero angle and the desired zero
angle.
8. To determine the motor marker offset first orient the spindle with
zero in Parameter 150. Navigate to Parameter 51, “Mtr Posn
Fdbk”, and the position value displayed will be zero in counts.
9. With the drive disabled, rotate the motor to the desired motor
angle and record that position.
The required correction angle is the difference between the marker 0
angle reading and the desired angle 0 reading for the application.
Note:
Signs are very important in determining offsets. Make sure to
record if the position value increased or decreased. Viewing
from the drive end of the motor, for standard configurations,
CCW (or -) rotation decreases parameter 51. CW (or +) rotation
increases parameter 51. Parameter 150 has the opposite sense
since it is subtracted from the position. Therefore if the desired
offset direction is CW it should have a minus value. Conversely
ccw offset should have a + value.
Note:
To prevent reversals in direction during orient it is good
practice to make the direction of the offset the same as the
direction of the selected orient rotation. That is if the orient
direction is CW the offset angle should be CW. If the orient
direction is CCW the offset angle should be CCW. Accordingly
it may be necessary to calculate the complimentary offset value
to assure there are no direction reversals during the orient.
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9-14
Starting Up Your 8720MC
Note:
Assuming modulo scaling is selected the complimentary offset
value is defined as the number of resolution units set in
Parameter 79, minus the modulo position value in parameter
51, “Motor Posn Fback”. A simple rule of thumb is to use the
complimentary offset value if the orient direction is CCW.
For Example: Assume Parameter 79, “Rot Posn Resolut” = 10,000
counts/revolution; Parameter 103, “Modulo Value” = 10,000 counts/
revolution; Parameter 154, “Orient Options” = CW and Servo Loop
Parameter Group 0 is selected as determined by Parameter 254,
“Actual Param Set”. Initiate an orient by setting parameter 152,
“Orient Request”, to a value of 1. Note that after an orient with zero
in Parameter 150, “Mtr Marker Ofset” and zero also in Parameter
153, “Orient Angle” the position display, Parameter 51, “Mtr Posn
Fdbk” = 0 or 10,000 counts. To determine the required offset
correction manually rotate the motor to the desired angle with the
drive disabled. Assume after doing this Parameter 51 reads 2,500
counts meaning we rotated cw 2500 counts. For parameter 150 CW
offsets have a minus value. We record the difference as -2500 counts
CW by setting Parameter 150 to -2500. To prevent orient direction
reversals it is always good practice to record the marker offset
direction the same as the desired orient direction. In this example
since the selected orient direction is CW and we do not desire
direction reversal during orient and the orient direction is also
clockwise. To achieve the same target orient position with a CCW
orient direction we would set Parameter 150, “Mtr Marker Ofset” to a
complimentary CCW offset. This is done by subtracting the measured
offset counts from the number of counts per revolution, Parameter 79.
In this case we subtract 2500 from 10,000 and get 7,500 counts,
CCW. For parameter 150 CCW offsets have a plus value. We now
then enter 7500 in Parameter 150, “Mtr Marker Ofset”. Assuming a
CCW orient direction and the motor standing still, if we request an
orient via the digital I/O or Parameter 152, “Spin Orient Req”, the
motor will behave as follows:
Publication 8720MC-UM 001C-EN-P Feb 2001
•
Accelerate to “Spin Orient Spd”, Parameter 222, in the CCW
direction using the “Posn Accel Rate”, Parameter 260, until it is
within the velocity speed window, Parameter 157, “At Spd
Window” or Parameter 272, “Speed Window %”. The drive will
not look for the encoder marker until it determines the motor
speed is within the selected velocity window.
•
Once achieving the “At Program Speed” state, Parameter 330, the
drive will find the marker. After detecting the marker it will
change to positioning mode and determine the desired end point.
In this case it determines it must continue rotating in CCW
direction for another 7500 counts.
Starting Up Your 8720MC
•
9-15
At this time the drive will issue the “Orient Complete” event,
Parameter 583. The motor will be locked in the orient position
until the orient request is removed. As long as the orient request
is maintained the drive will ignore the analog references. As soon
as the orient request is released the drive will follow the analog
references based on the current active mode of operation.
It is possible to orient to a specific angle other than zero as well as
perform multi-revolution orients. If the application calls for this see
the description of parameter 153 “Orient Angle” in Chapter 8.
With the SNS-60 encoder marker orient, the drive does not know
where the marker is when motor orient is initiated. If the motor is at
standstill when the orient request is received and “Shortest Pth” is
selected in Parameter 154 “Orient Options” the drive will assume a
clockwise orient direction. If it is rotating at speed and “Shortest Pth”
is selected in Parameter 154 “Orient Options” it will assume the
orient direction is the same as the direction it is rotating in. If it is
rotating at speed and “CW or CCW” is selected in Parameter 154
“Orient Options” it will assume the orient direction is as programmed
in 154, regardless of the direction that it is currently rotating in. If the
orient direction is different from the current motor speed direction it
will stop and reverse direction for the orient.
As a final note to the operation of motor orient, the drive will hold the
motor locked in the orient position until the orient request from either
the digital I/O or SCANport is released. If the drive is enabled and
there is a non zero analog reference command on Analog Input 1 in
Auto Mode or Analog Input 2 in Manual Mode the drive will
immediately respond to the input reference and motor will accelerate
to the commanded speed. If this is undesirable make sure the analog
references are zero after an orient is complete
!
ATTENTION: Unexpected motor rotation may occur
after a spindle orient request is released from the digital
input. If motion is not desired after an orient request is
removed from the drive digital input make sure your
logic assures that zero speed is commanded or that the
drive is disabled.
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9-16
Starting Up Your 8720MC
Optimizing the Motor Orient
Procedure
This section provides the information you need to optimize your
motor’s orientation: Usually motor orient cycle time is a critical issue.
It is therefore important to adjust the parameters to get the most out of
the drive and motor. The 8720MC is capable of high accelerations,
speeds and torques therefore the mechanical systems usually become
the limit. To achieve maximum performance it is desirable to get the
maximum orient speed and acceleration the mechanical system can
support.
The key parameters in achieving this are Parameter 222, “Spin Orient
Spd”; Parameter 260, “Posn Accel Rate”; Parameter 157, “At Spd
Window” or Parameter 272, “Speed Window%” and Parameter 100,
“Vel Prop Gain” assuming Servo Loop Parameter Group 0.
Note:
In general the optimizing procedure is to first auto tune the
motor with the orient load, such as a spindle or indexing
mechanism, connected. Refer to “Performing the Auto Tune.”
1. Next gradually increase the orient speed and orient acceleration
in unison.
2. After each change in Parameters 222 and 260 execute an orient.
Continue to do this until the desired cycle time is achieved or the
maximum capability of the mechanical system is realized.
Note:
Publication 8720MC-UM 001C-EN-P Feb 2001
It may be necessary to increase the “At Spd Window” via
Parameter 157 or 272 to avoid missing a marker and taking an
extra revolution to achieve the orient position. Also, if the
motor and load mechanism are overshooting the orient angle,
it may help to increase the velocity proportional gain,
Parameter 100, “Vel Prop Gain 0” assuming Servo Loop
Parameter Group 0. It may also be necessary to increase the +
and- torque limits via Parameters 82 and 83 assuming Servo
Loop Parameter Group 0.
Chapter
10
Troubleshooting
Chapter Objectives
Chapter 10 provides information to help you determine the cause of a
drive fault or improper 8720MC Drive operation and define possible
corrective actions. The subjects discussed include:
•
required equipment
•
start up troubleshooting procedures
•
viewing the fault queues on the HIM
•
fault descriptions
•
understanding fault parameters
•
troubleshooting digital I/O
•
troubleshooting SCANport I/O
•
troubleshooting 8720MC-RPS Regenerative Power Supply
Required Equipment
The 8720MC can be supplied with a resident HIM display module. If
the drive is not equipped with a resident HIM it will be necessary to
use a remote Him module or Drive Explorer to troubleshoot the drive.
The A-B remote HIM catalog number is 1203-HA2 - Series B or later
can be connected to the external SCANport connector. As an
alternative to the HIM, a laptop computer running Windows 95TM or
Windows NTTM or a handheld running Windows CETM can be used
as a diagnostic tool. The available portable computer should be
equipped with A-B’s Drive ExplorerTM software. If you are not
familiar with Drive Explorer a copy of publication 9306 - 5.0 “Drive
Explorer User Manual” will be helpful. In addition to these diagnostic
tools a volt meter, a battery box and some small hand tools may be
necessary. In rare instances an oscilloscope may be necessary to
analyze feedback signals.
Start Up Troubleshooting
Procedures
Before installing fuses into the AC input lines of the drive or
regenerative power supply, if supplied, first check that the incoming
AC voltage falls within the range of 324 to 505 Vrms across each of
the 3 phases. Make sure the AC or DC power inputs are properly
wired per chapter 4 of this manual. Also make sure the motor and
feedback devices are wired per Chapter 4 and 5 using the
recommended shielded cables. For the feedback cables make sure
there is continuity between the motor and drive connectors. Make
sure the Weidmueller spring clamps are clamped to the wire and not
the insulation.
10-2
Troubleshooting
If you are using an 8720MC Regenerative Power Supply Refer to
Publication 8720MC-RM001B-US-P, “8720MC RPS User Manual”
for configuration and startup information on this equipment.
After power is applied to the drive the first thing to observe is the
status of the control board LEDs and the HIM display on the drive.
There are 4 LEDs on the control board. If you have an enclosed
8720MC Drive you must first remove the cover to observe the LEDs.
The LED to the far left is used to indicate the status of the drive
control board. The LED to the far right indicates the status of the
SERCOS ring. The middle 2 LEDs indicate the transmit and receive
traffic on the SERCOS ring. Table 10.1 indicates how these LED’s
should be interpreted.
Table 10.1:
Control Board LED Fault Diagnostics
LED Name
LED Status
Control
Board Status
Not
Illuminated
There is no power to the
Control Board
Check the incoming AC power for AC input
drives or the incoming DC power DC for
common bus drives
Control
Board Status
Steady Red
Malfunctioning Control
Board
Software or hardware failure. Replace the
Control Board
Control
Board Status
Flashing
Red
A fault has occurred in the
system
Verify wiring. Use the HIM fault log or Drive
Explorer to investigate the fault
Control
Board Status
Alternating
red and
greens
DC bus is not up
Check 3 phase AC incoming or DC incoming
power
Control
Board Status
Flashing
Green
There are no faults and the
DC bus is up but the enable
input is not being detected.
As a consequence no
torque is being applied to
the motor.
The drive may be in manual
mode and the jog button has
not been depressed.
* Check if +24 vdc is on the enable input
* Check the run output from the RPS
* Check the enable output from the Motion
Controller
* Check the enable input wiring.
* Recycle the enable
* If in manual mode depress jog button.
Control
Board Status
Steady
Green
Drive is enabled and ready
to follow the auto or
manual reference.
No corrective action
SERCOS
Status
Steady Red
There is a SERCOS ring
communication error.
Make sure the fibre optic ring is connected at all
nodes on the ring and that power is on all the
nodes. Make sure power is on the master.
SERCOS
Status
Off
Normal operation
No corrective action
SERCOS
RX
Green
Flashing
Normal operation
No corrective action
SERCOS
TX
Green
Flashing
Normal operation
No corrective action
Publication 8720MC-UM 001C-EN-P Feb 2001
Potential Cause
Possible corrective action
Troubleshooting
10-3
One of the best diagnostic tools available to investigate drive
problems is the drive itself. Diagnostic messages can be displayed on
the HIM or on a PC running Drive Explorer. When power is first
applied the HIM display will illuminate and display the message
“HIM Connecting”. If there are no drive, RPS or feedback faults the
HIM will display “Sys Ready” on the top line and “0 RPM” on the
bottom line. This assumes the HIM has successfully connected to the
drive via it’s SCANport connection. If there are no faults and +24 vdc
is applied to the enable input the HIM message will change to:
“Sys Enabled”.
At this point the drive is capable of following the motion controller
reference. If there are any faults, the fault messages will be placed in
a fault message queue in the order the faults are detected. The last
fault message detected will be displayed on the HIM. A history of up
to 8 faults can be displayed on the HIM or Drive ExplorerTM.
Viewing the Fault Queue
Control Status mode on the HIM or Explore - Devices Properties Faults in Drive Explorer let you view the fault queue.
To view the fault queue on the HIM:
1. Press any key from the status display. “Choose Mode” is shown.
2. Press the increment up key or the decrement down key to show
“Control Status”.
3. Press enter to select Control Status
4. Press the increment up key or the decrement down key until
“Fault Queue” is displayed.
5. Press enter to select “Fault Queue”
6. Press the increment up key or the decrement down key until
“View Queue” is displayed.
7. Press enter to select “View Queue”
The fault queue can contain up to 8 faults. The 8720MC Drive reports
the faults using the following format.
Publication 8720MC-UM 001C-EN-P Feb 2001
10-4
Troubleshooting
Figure 10.1
Fault queue Format
Fault Display
B
u
F
Fault queue
indicator
s
4
R
e
g
1
0
4
Fault code
number
u
l
a
t
o
r
1
Position in
fault queue
30386-Bus
The number (1) on the display in Fig. 10.1 indicates this faults
position within the fault queue.
The regulator fault shown in Figure 10.1 is caused by a loss of the
Regen PS OK input, Input 10, P5-36 on the digital I/O connector.
This input must be jumpered to +24vdc for AC input drives. For
applications using the 8720MC -RPS regenerative power supply P536 must be connected to the 8720MC -RPS fault relay contact. See
Chapter 4 for proper wiring. For regenerative applications this
message signals a regenerative power supply fault.
The 8720MC fault queue can also be monitored with Drive Explorer.
The fault queue can be accessed through the Explore pull down menu,
the Device Properties command and the Faults tab.
Fault Descriptions
When a fault occurs, the fault is displayed until you initiate a Drive
Error Reset from the digital I/O or depress the stop button from the
HIM module. A Drive Reset command from the HIM clears all faults
and reboots the drive resident processor software. A Clear Queue
command from the HIM clears the fault queue. If a fault is not
removed it will not be cleared. The Clear Queue and Drive Reset
commands are found under the HIM Control Status mode. Depressing
the stop button on the HIM module also clears faults. These
operations can be performed with Drive Explorer under the Explore
pull down menu, the Device Properties command and the Faults tab.
Table 10.2 provides a list of the faults, their probable causes and the
drives response to the faults.
Publication 8720MC-UM 001C-EN-P Feb 2001
Troubleshooting
10-5
Table 10.2:
8720MC Fault Messages
Fault Message
Probable Cause/Drive Response
Corrective Actions
Axis 1 ATune Flt
Auto Tuning procedure failed to
complete successfully
Assure that the drive and motor are functional
and repeat the auto tune procedure.
Bus Overvoltage
Bus voltage exceeded 810 vdc. This is
usually caused by a high inertia motor
load being decelerated very fast.
/ Disable stop: the drive will disable
and the motor will coast to a stop with
an error message on the HIM. The
control board status LED will be
flashing and the drive OK output will
be open.
* Monitor the AC line for high voltage or
transient conditions.
* Decrease the deceleration parameter for the
active parameter set, param. 137 for set zero
* Decrease the stopping torque, parameter 571.
* Increase the dynamic braking capacity by
increasing the brake chopper capacity.
* Adjust parameter 563 to a lower value. This
will limit the motor deceleration rate.
* Check for 8720MC-RPS faults.
* Reduce the 8720MC-RPS bus voltage
Bus Loss
The DC bus voltaged has dropped
below the minimum acceptable level.
/ Disable stop
* Monitor the AC line for low voltage or power
interruption.
* Check for 8720MC-RPS faults.
Ground Short
A current path to earth ground in
excess of drive rated current has been
detected at one of the output terminals.
/ Disable stop
* Check the motor wiring to the drive output
terminals for a grounded condition.
* Replace the drive
Bus Regulator
The regenerative power supply has
faulted.
/ Disable stop
Investigate the 8720MC-RPS message display
on the unit. Refer to publication 8720MCRM001 for diagnostic trouble shooting
procedures. Check input 10, Regen PS-OK.
Bus Precharge
The precharge time could not complete
within 30 seconds.
A1: Desat
There was to much current in the
system.
/ Disable stop
Check for shorted motor or motor wiring
A1: Follow Error
Excessive following error has been
detected. This means that the motor
cannot keep up with the position
command.
/ Regen stop
* Investigate motor load for any possible
binding.
* increase position loop proportional gain
* increase the allowable following error,
parameter 159
A1: Overcurrent
A drive overcurrent has occurred. The
current has exceeded 150% of the
inverter rated continuous current.
/ Disable stop.
* Decrease the deceleration parameter for the
active parameter set, param. 137 for set zero
The drive is particularly sensitive to this fault
at high speeds.
* Adjust parameter 563 to a lower value.
* Check for a shorted motor or shorted motor
wiring.
* Replace the drive
Publication 8720MC-UM 001C-EN-P Feb 2001
10-6
Troubleshooting
Fault Message
Probable Cause/Drive Response
Corrective Actions
A1: Overtemp
A drive heat sink temperature has
exceeded the specified limit.
/ Regen stop
* Check the cabinet filters, drive fans and heat
sinks.
* Check the thermal sensor and sensor wiring.
* Reduce the load or duty cycle.
A1: Fdbk 1 Loss
The motor encoder feedback signal has
been lost.
/ Disable stop: the drive will disable
and the motor will coast to a stop with
an error message on the HIM. The
control board status LED will be
flashing and the drive OK output will
be open.
* Make sure the feedback wires are firmly
crimped on the 8720MC mating feedback
connector.
* Check the MS motor feedback connector.
* Check the encoder connector inside the motor.
* Check for wire breaks in the feedback cable.
* Make sure encoder power is available on P1-6.
* If all connections are verified and encoder
power is available and encoder output is still
not present - replace motor.
A1: Fdbk 2 Loss
The auxiliary encoder feedback signal
has been lost. SERCOS configuration
only.
/ Disable stop
* Make sure the feedback wires are firmly
crimped on the 8720MC mating feedback
connector.
* Check the MS motor feedback connector.
* Check the encoder connector inside the motor.
* Check for wire breaks in the feedback cable.
* Make sure encoder power is available on
P1-19 or P1-20.
* If all connections are verified and encoder
power is available and encoder output is still
not present - replace motor.
A1: Fdbk 1 AQB
A feedback counting error has
occurred on the motor feedback
interface. Electromagnetic interference
is the probable cause.
/ Disable stop
* Check that the feedback cable braided shield
is firmly bonded to the drive chassis via the
shield clamps.
* Make sure the feedback and motor cables
recommended in Chapter 4 are being used.
* Make sure the shield and drain wire for the
motor cable is securely bonded to the drive
chassis. Make sure 4 wire shielded motor cable
is being used and that the ground wire is
connected to drive PE ground.
* If the recommended cable is being used and all
shields are tied to earth ground replace the
motor.
A1: Fdbk 2 AQB
A feedback counting error has
occurred on the motor feedback
interface.
SERCOS configuration only
/ Disable stop
* Check that the feedback cable braided shield
is firmly bonded to the drive chassis via the
shield clamps.
* Make sure the feedback and motor cables
recommended in Chapter 4 are being used.
* Make sure the shield and drain wire for the
motor cable is securely bonded to the drive
chassis. Make sure 4 wire shielded motor cable
is being used and that the ground wire is
connected to drive PE ground.
* If the recommended cable is being used and all
shields are tied to earth ground replace the
motor.
Publication 8720MC-UM 001C-EN-P Feb 2001
Troubleshooting
Fault Message
Probable Cause/Drive Response
Corrective Actions
A1: Overspeed
The maximum commanded motor
speed has exceeded the maximum
allowable motor speed.
/ Disable stop
* check the velocity limit parameters for the
active parameter set against parameter 113,
max motor speed.
* Check parameter 695, the analog scale factor
Memory Init
Control board hardware Failure
Fatal error - replace control board
EEprom Init
Control board hardware Failure
Fatal error - replace control board
CPLD Load
Control board hardware Failure
Fatal error - replace control board
IDMA Load
Control board hardware Failure
Fatal error - replace control board
CAN Init
Control board hardware Failure
Fatal error - replace control board
SERCOS Init
Control board hardware Failure
Fatal error - replace control board
Task Init
Control board software error
Fatal error - replace control board
Objects Init
Control board software error
Recall parameters, save to non volatile memory,
recycle power or reset the drive. If this fails to
produce positive results replace the control
board.
NV Mem Init
Control board software error
Recall parameters, save to non volatile memory,
recycle power or reset the drive. If this fails to
produce positive results replace the control
board.
Fdbk Watch dog
The feedback processor has faulted
Fatal error - replace control board
Motor 1 Overtemp
The motor over temperature switch has
tripped
Allow motor to cool down and investigate the
cause of the motor overload.
SCANport Comm
The controlling HIM has lost
communication with the drive.
Investigate the SCANport cable and make sure it
is properly connected
No Fault
No fault message appears in the fault
que when there are no faults
No action is needed
Understanding the Fault
Parameters
10-7
Using the HIM module or Drive ExplorerTM is an effective way of
finding the source of a drive fault. Several of the parameters are
specifically designed to annunciate drive status and faults. The
following is a description of the fault parameters. The 12 character
fault messages are shown in italics.
Parameter 11 - Shutdown Errors - This parameter is a bit pattern that
identifies any active major fault within the drive. IDN 00011, parameter 11 is a SERCOS standard variable conforming to IEC Standard
61491. The structure of parameter 11 is as follows:
If any bit is true an error is indicated.
Bit 0 = Overload shut down - “Drive Ovrld”
Bit 1 = Amplifier over temperature shut-down - “Drive Ovrtmp”
Bit 2 = Motor over temperature shut down - “Motor Ovrtmp”
Bit 3 = Reserved
Bit 4 = Reserved
Publication 8720MC-UM 001C-EN-P Feb 2001
10-8
Troubleshooting
Bit 5 = Feedback error - “Feedback”
Bit 6 = Commutation error - “Commutation”
Bit 7 = Overcurrent error - “Overcurrent”
Bit 8 = Overvoltage error - “Bus Overvolt”
Bit 9 = Undervoltage error - “Bus Undervlt”
Bit 10 = “Phase Loss”
Bit 11 = Excess position error - “Follow Error”
Bit 12 = “Communicate”
Bit 13 = “Overtravel”
Bit 14 = Reserved
Bit 15 = 8720MC Drive Specific error - “AB Specific”
See parameter 129
Display mode on the HIM or Drive Explorer allows the user to view
the fault message.
To view the fault parameters on the HIM:
1. Press any key from the status display. “Choose Mode” is shown.
2. Press the increment up key or the decrement down key to show
“Display”. Press the enter key to select it.
3. Press the increment or decrement key to find “Status/Faults”.
Press the enter key to select the file
4. Press the increment up key or the decrement down key until
“Errors” is displayed.
5. For this example press enter to select the “Errors” group
6. Press the increment up key or the decrement down key until “Shut
Down Errors” is displayed.
7. Press enter to select “Shut Down Errors”
The 8720MC Drive fault parameters are reported using the format
shown in Figure 10.2. In this example a “1” in bit 2 indicates a motor
over temperature fault.
Figure 10.2
Fault Parameter Format
Bit 15
S
h
u
t
0
0
0
0
0
o
0
0
0
0
D
o
w
0
1
0
0
0
0
Bit 2
n
Bit 0
E
r
r
o
r
s
30387-I-O
Depressing the select key allows the user to determine the nature of
the fault. Each time the select key is depressed the arrow symbol
Publication 8720MC-UM 001C-EN-P Feb 2001
Troubleshooting
10-9
moves to the next higher bit. The top line provides the message text
associated with that fault as shown in Figure 10.3
Figure 10.3
Fault Display
M
o
t
o
r
0
0
0
0
0
0
0
0
0
0
0
1
O
v
0
0
0
0
r
t
m
p
Error indication - Bit 2
Parameters 13 and 129 are additional parameters that have the same
fault display format.
Parameter 13 - Drive Status - This parameter is a bit pattern that
identifies the status of the drive the drive. The structure of parameter
13 is as follows:
Bit 0: true = Command speed = motor speed - “At Speed”
Event parameter 330, Setup parameter 157 or 272
Bit 1: true = Motor speed = 0 - “Zero Speed”
Event parameter 331, Setup parameter 124
Bit 2: true = Motor is below threshold speed - “Vel Below Th”
Event parameter 332, Setup parameter 125
Bit 3: true = Torque greater than threshold torque “Trq above Th”
Event parameter 333, Setup parameter 126
Bit 4: true = Torque greater than torque limit “Trq Above Lt”,
Event parameter 334, Setup parameter 82 or 83
Bit 5: true = Commanded motor velocity is greater
than the velocity limit - “Vel above Lt”,
Event parameter 335, Setup parameter 38 or 39
Bit 6: true = Motor is in Position - “In Position”
Event parameter 336, Setup parameter 57
Bit 7 = Reserved
Bit 8 = Reserved
Bit 9: true = Spindle feedback is less than the minimum spindle
speed - “Spd Below Mn”,
Event parameter 339, Setup parameter 220
Bit 10: true = Spindle feedback is greater than the maximum
spindle speed - “Spd Above Mx”,
Event parameter 340, Setup parameter 221
Publication 8720MC-UM 001C-EN-P Feb 2001
10-10
Troubleshooting
Bit 11 = Reserved
Bit 12 = Reserved
Bit 13 = Reserved
Bit 14 = Reserved
Bit 15 = AB Specific
Parameter 129 - 8720MC Drive Errors - This parameter is a bit pattern that identifies drive error conditions that are in addition to the
shutdown faults in parameter 11. The structure of parameter 129 is
as follows:
If any bit is true an error is indicated.
Bit 0 = + Software Overtravel - “+Sft ovrtrvl”
Bit 1 = - Software Overtravel - “-Sft ovrtrvl”
Bit 2 = + Hardware Overtravel “+Hrd ovrtrvl”
Bit 3 = - Hardware Overtravel “-Hrd ovrtrvl”
Bit 4 = Motor feedback loss - “Mtr fdbk los”
Bit 5 = Motor feedback noise - “Mtr fdbk nse”
Bit 6 = Aux feedback loss - “Aux fdbk los”
Bit 7 = Aux feedback noise - “Mtr fdbk nse”
Bit 8 = Reserved
Bit 9 = Reserved
Bit 10 = Reserved
Bit 11 = Reserved
Bit 12 = Reserved
Bit 13 = Power structure ground short - “Ground Short”
Bit 14 = Drive hardware - “Drv hardware”
Bit 15 = Motor overspeed - “Overspeed”
Troubleshooting the Digital I/O
Publication 8720MC-UM 001C-EN-P Feb 2001
In troubleshooting the digital I/O interface it is often necessary to
monitor the status of the digital and analog inputs and outputs to
determine the source of the problem. Six parameters can be used for
this purpose
Parameter 666 - Digital Output Status - This parameter is also a bit
pattern as shown in Figure 7.6. Bit 0 corresponds to Output 1 and bit
9 corresponds to Output 10. All other bits are not used. Bits 0 to 9 will
change from 0 to 1 when the linked event variable comes true.
Parameters 662 to 671 are used to link the output to an internal event
variable. See Chapter 6 for the default links and the assignable event
links.
Troubleshooting
10-11
Parameter 690 - Digital Input Status - Figure 10.4 illustrates the
digital input image display. Bit 0 corresponds to Input 1 and bit 9
corresponds to Input 10. Bits 10 and 11 are the registration inputs. All
other bits are not used. Bits 0 to 11 will change from 0 to 1 when the
input comes true. The input variable assignments are discussed in
Chapter 6.
Figure 10.4
Input Image Display
Parameters 691 and 692 - Analog Input 1 value and Analog Input 2
value - These parameters may be used to display the analog inputs as
the 8720MC sees them. The scaling is .00% to 100.00% where 100%
= 10 volts. The displayed values include the associated analog offsets,
Parameters 693 and 694.
Troubleshooting SCANport I/O
Two parameters are available to monitor the SCANport command and
status information exchange, parameters 717 and 718.
Parameter 717 - SCANport Logic Command - A SCANport
peripheral gateway device such as an A-B plc can initiate drive
activity via the SCANport Logic Command word. The structure of
parameter 717 is as follows. The 12 character command messages are
shown in italics.
If any bit is true the function is selected.
Bit 0: Regenerative stop request - “Regen Stop”
Bit 1: Start request - “Start”
Bit 2: Jog request - “Jog”
Bit 3: Clear fault request - “Fault Clear”
Bit 4: Coast stop request - “Coast Stop”
Bit 5: Parameter Set Select bit 0 - “Parmset Bit0”
Bit 6: Parameter Set Select bit 1 - “Parmset Bit1”
Bit 7: Parameter Set Select bit 2 - “Parmset Bit2”
Bit 8: Parameter Set Strobe - “Parmset Chg”
Publication 8720MC-UM 001C-EN-P Feb 2001
10-12
Troubleshooting
Bit 9: Orient Request - “Orient Req”
Bit 10: Home request - “Home Req”
Bit 11: Manual/Auto request - “Man Mode Req”
Bits 12 to 15 are reserved:
Display mode on the HIM or Drive Explorer allows the user to view
the command bits.
Parameter 718 - SCANport Logic Status - The 8720MC drive sends
a status word to any SCANport connected device via a SCANport
communication gateway. This may used by an A-B plc to monitor the
status of the drive. This may also be used for diagnostic purposes.
The structure of parameter 718 is as follows. The 12 character status
messages are shown in italics.
If a bit is set true (1) the function is enabled.
Bit 0: Drive enabled - “Enabled”
Bit 1: Drive auto enabled - “Auto Ref Ena”
Bit 2: Rotation direction - “Rotate Dir”
Bit 3: Drive O.k. - “Drive OK”
Bit 4: Zero speed - “Zero Speed”
Bit 5: At reference speed - “At Ref Speed”
Bit 6: Orient complete - “Orient Done”
Bit 7 Reserved
Bit 8 Brake solenoid enabled - “Brake Enable”
Bit 9: Torque >/= Torque limit - “Torque Limit”
Bit 10: High Winding Selected - “Hi Wind Sel”
Bit 11: Low winding Selected - “Lo Wind Sel”
Bit 12: Shut down fault - “Shutdn Fault”
Bit 13: Reserved
Bit 14: Reserved
Bit 15: Manual mode selected - “Manual Mode”
Parameter 716 - SCANport Logic Mask - This parameter may be
used to prevent any SCANport device from controlling the drive. The
structure of parameter 716 is as follows:
If a bit is set true (1) the device interface is enabled.
Bit 0: Digital I/O - “I/O”
Bit 1: Port control 1 - “Port Cntrl 1”
Bit 2: Port control 2 - “Port Cntrl 2”
Bit 3: Port control 3 - “Port Cntrl 3”
Bit 4: Port control 4 - “Port Cntrl 4”
Bit 5: Port control 5 - “Port Cntrl 5”
Bit 6: Port control 6 - “Port Cntrl 6”
Publication 8720MC-UM 001C-EN-P Feb 2001
Troubleshooting
Troubleshooting the 8720MC-RPS
Regenerative Power Supply
10-13
The 8720MC-RPS regenerative power supply is equipped with a 4
character display, 6 LEDs and 5 function keys. The display can be
used to monitor incoming AC voltage, outgoing DC bus voltage,
input current to the RPS, output power in kw and % RPS load. In
addition the display can be used to view the RPS error log which can
contain up to 10 error messages in the form of fault codes. The error
messages are displayed as a 2 or 3 character flashing display. The last
error that occurred is the first one to appear on the screen when
accessing the error log. If multiple errors occur at the same time the
corresponding error codes are scrolled, flashing one by one. To reset
an error code, press the reset, “RST”, key or recycle power after
removing the cause of the error.
Chapter 8 of publication 8720MC-RM001B, “8720MC Regenerative
Power Supply”, contains a complete listing of all the fault codes
along with appropriate corrective measures. Chapter 9 provides
troubleshooting procedures as well as a troubleshooting flowchart.
Refer to this publication before attempting to resolve 8720MC-RPS
problems.
Chapter 4 of this manual shows how to wire the various
configurations between the drive and RPS. In general, it is
recommended that the run output is connected in series with Input 1,
“Drive Enable”, on P5-14. It is required to tie the RPS fault output to
input 10 on the drive, P5-36, “Regen PS OK”. Parameter 617 “Regen
PS Fault” can be monitored on the HIM or Drive ExplorerTM to
determine the state of the RPS. This parameter can also be linked to a
digital output if the application requires it.
Publication 8720MC-UM 001C-EN-P Feb 2001
10-14
Troubleshooting
Publication 8720MC-UM 001C-EN-P Feb 2001
Appendix
A
Derating Guidelines
Appendix Objectives
This appendix contains derating guidelines for the 8720MC Drives
and 8720SM Motors.
A number of factors can affect drive ratings. If your drive is affected
by more than one factor, contact Allen-Bradley, Rockwell
Automation.
Table J.1:
Derating Information for User-supplied Enclosures
Catalog
Number
Base Derate
Amps(1)
Derate
Curve(2)(3)
380 - 480V AC Input Drives
B014
14
Not required
B021
21
Not required
B027
27
Figure A.1
B034
34
Figure A.2
B042
42
Figure A.3
B048
48
Figure A.4
D065
65
Figure A.5
D078
78
Figure A.6
D097
97
Note 3
D120
120
Figure A.7
D149
149
Figure A.8
D180
180
Figure A.9
High altitudes
(above 1000 m)
All Drives
Figure A.10
NOTE (1) The drive ambient operating temperature is 50°C with open packaging. If either
the operating temperature of the open package exceeds 50°C or the enclosed version is
operating between 41 and 50°C, you must use the derating curves in this Appendix
NOTE (2) Drive rating is based on altitudes of 1000 meters (3300 feet) or less. If installed
at a higher altitude, derate the drive using Figure A.11 in this Appendix.
NOTE (3) Not available at the time of publication
A-2
Derating Guidelines
Derating Guidelines
The following 8720MC derating curves are provided to graphically
demonstrate the effect of temperature and frequency on the
continuous current capacity of the drive. The dark solid line on each
graph indicates the current capacity, as a percent of full load current,
of either the open drive operating at or below 50 degrees C or the
enclosed drive operating at or below 40 degrees C. The dashed line
indicates the derating factor which should be applied to the
continuous current capability when operating an enclosed drive
between 41and 50 degrees C. For example: Figure A.1 demonstrates
that if an enclosed B027 drive is operarted at 41 to 50 degrees C and
an IGBT switching frequency above 10 khz its continuous current
capacity must be derated by the % indicated in the graph.
Specifically if the switching frequency is 11 khz then the drive should
be derated to 94% of it’s rated continuous current capacity.
8720MC - B027 Enclosure
Figure A.1 shows the derating curves for A-B catalog number B027
enclosed and open ventilated drives.
Figure J.5
8720MC - B027
100%
95%
90%
% of Drive
Rated Amps
8720MC-B027
85%
80%
75%
70%
65%
1
2
3
4
5
6
7
Carrier Frequency in kHz
8
9
10
11
12
30417-M-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
Derating Guidelines
A-3
8720MC - B034 Enclosure
Figure A.2 shows the derating curves for A-B catalog number
B034enclosed and open ventilated drives.
Figure J.6
8720MC - B034
100%
95%
90%
% of Drive
Rated Amps
8720MC-B034
85%
80%
75%
70%
65%
1
2
3
4
5
6
7
Carrier Frequency in kHz
8
9
10
11
12
30418-M-R2
8720MC - B042 Enclosure
Figure A.3 shows the derating curves for A-B catalog number
B042enclosed and open ventilated drives.
Figure J.7
8720MC - B042
100%
95%
90%
% of Drive
Rated Amps
8720MC-B042
85%
80%
75%
70%
65%
60%
55%
1
2
3
4
5
6
7
Carrier Frequency in kHz
8
9
10
11
12
30419-M-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
A-4
Derating Guidelines
8720MC - B048 Enclosure
Figure A.4 shows the derating curves for A-B catalog number B048
enclosed and open ventilated drives.
Figure J.8
8720MC - B048
100%
95%
90%
85%
% of Drive
Rated Amps
8720MC-B048
80%
75%
70%
65%
60%
55%
50%
1
2
3
4
5
6
7
Carrier Frequency in kHz
8
9
10
11
12
30420-M-R2
8720MC - D065 Enclosure
Figure A.5 shows the derating curves for A-B catalog number B065
enclosed and open ventilated drives.
Figure J.9
8720MC - D065
100%
95%
% of Drive
Rated Amps
8720MC-D065
90%
85%
80%
75%
70%
65%
60%
1
Publication 8720MC-UM 001C-EN-P Feb 2001
2
3
4
5
6
7
Carrier Frequency in kHz
8
9
10
11
12
30421-M-R2
Derating Guidelines
A-5
8720MC - D078 Enclosure
Figure A.6 shows the derating curves for A-B catalog number B078
enclosed and open ventilated drives.
Figure J.10
8720MC - D078
100%
95%
90%
85%
80%
% of Drive
Rated Amps
8720MC-D078
75%
70%
65%
60%
55%
50%
45%
1
2
3
4
5
6
7
Carrier Frequency in kHz
8
9
10
11
12
30422-M-R2
8720MC - D120 Enclosure
FFigure A.7 shows the derating curves for A-B catalog number B120
enclosed and open ventilated drives.
Figure J.11
8720MC - D120
100%
95%
% of Drive
Rated Amps
8720MC-D120
90%
85%
80%
75%
70%
65%
60%
1
2
3
4
Carrier Frequency in kHz
5
6
30423-M-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
A-6
Derating Guidelines
8720MC - D149 Enclosure
Figure A.8 shows the derating curves for A-B catalog number D149
enclosed and open ventilated drives.
Figure J.12
8720MC - D149
100%
% of Drive
Rated Amps
8720MC - D149
95%
90%
85%
80%
75%
70%
65%
1
2
3
4
Carrier Frequency in kHz
5
6
30424-M-R2
8720MC - D180 Enclosure
Figure A.9 shows the derating curves for A-B catalog number D180
enclosed and open ventilated drives.
Figure J.13
8720MC - D180
100%
% of Drive
Rated Amps
8720MC-D180
95%
90%
85%
80%
75%
70%
65%
1
2
3
4
Carrier Frequency in kHz
5
6
30425-M-R1
Publication 8720MC-UM 001C-EN-P Feb 2001
Derating Guidelines
A-7
8720MC - All Amplifiers at High Altitudes
Figure A.10 shows the derating curve for all 8720MC drive
amplifiers at altitudes above 1000 meters (3300 feet).
Figure J.14
8720MC - All Amplifiers
100%
% of Drive
Rated Amps
All Amplifiers
90%
80%
0
1,000
(3,300)
2,000
(6,600)
Altitude
3,000
4,000 M
(9,900) (13,200) (ft)
30426-M-R2
Publication 8720MC-UM 001C-EN-P Feb 2001
A-8
Derating Guidelines
8720SM - Motor Temperature Derating Curves
Figure A.11 shows the derating curve for all 8720SM Motors
operating at temperatures above the 40 degree C rating temperature
Figure J.15
8720SM - Motors
8720SM Motor Temperarture Derating
Percent of nominal rating
105%
100%
95%
90%
85%
80%
75%
70%
40
Publication 8720MC-UM 001C-EN-P Feb 2001
45
50
55
60
Ambient Temperature in Degrees C
65
70
Appendix
B
Replacement Spare Parts
Appendix Objectives
This appendix contains a listing of the recommended spare parts for
the 8720MC Drive, the 8720MC Regenerative Power Supply and the
8720SM Motors.To get information about ordering spare parts call
the Rockwell Automation Spare Parts Hub toll free at 1-888-3601515 or 216-266-0700. You will be asked if the part is an AllenBradley part or a Reliance part. For drive and regenerative power
supply parts specify Allen Bradley. For motors specify Reliance
Electric. For telephone technical assistance call 262-512-8176. For
questions about all 8720MC products have the catalog numbers ready
for reference. For 8720SM motors always have the motor catalog
number and motor ID number which can be acquired from the motor
name plate.
8720MC Drive Spare Parts
Table B.1:
8720MC Drive Spare Parts
Allen-Bradley
Catalog Number
Part Description
8720MC-AQBX5
Stegmann times 5 encoder box for 5120 simulated
encoder output
8720MC-CN1
Control Module Mating Connector Kit
8720MC-CNMF
Motor right angle mating connector
8720MC-MCM
Drive Main Control Module - PC Board
1336-FAN-SP1A
Drive fan for the 8720MC B and C frame drives
1336-FAN-SP2A
Drive fan for the 8720MC D frame drives
1336-TR-SP1A
Kit, Thermistor, 8720MC B frame
1336-TR-SP2A
Kit, Thermistor, 8720MC C frame
1336-TR-SP3A
Kit, Thermistor, 8720MC D frame
1336-WB009
Brake chopper module,460 VAC, 9 amp
1336-WB035
Brake chopper module,460 VAC, 35 amp
B-2
Replacement Spare Parts
8720SM Motor Spare Parts
Table B.2:
8720MC Motor Spare Parts
Reliance
Catalog Number
Part Description
613450-1G
Blower Motor for DL 1106 to DL 1110
613450-1C
Blower Motor for DL 1307 to DL 1310
613450-2C
Blower Motor for DL 1611 to DL 1613
613450-21A
Blower Motor for DL 1811 to DL 1813
613450-21A
Blower Motor for DL 2010 to DL 2012
607980-112A
Stegmann SNS-60 Encoder
8720MC-RPS Regenerative Power Supply Spare Parts
Table B.3:
8720MC-Regerative Power Supply Spare Parts
Allen-Bradley
Catalog Number
Publication 8720MC-UM 001C-EN-P Feb 2001
Regen Power Supply Part Description
8720MC-RPS027BM
Complete 15KW, 27 amp, Master Regenerative Power
Supply
8720MC-RPS065BM
Complete 37KW, 65 amp, Master Regenerative Power
Supply
8720MC-RPS065BS
Complete 37KW, 65 amp, Slave Regenerative Power
Supply
8720MC-RPS190BM
Complete 125KW, 190 amp, Master Regenerative Power
Supply
8720MC-RPS190BM
Complete 125KW, 190 amp, Master Regenerative Power
Supply
8720MC-HF-B
460 VAC Harmonic Filter
8720MC-VA-B
460 VAC Varistor
8720MC-LR03-032B
3%, 32 amp, 460 VAC Line Reactor
8720MC-LR05-048B
5%, 48 amp, 460 VAC Line Reactor
8720MC-LR10-062B
10%, 62 amp, 460 VAC Line Reactor
Replacement Spare Parts
Allen-Bradley
Catalog Number
B-3
Regen Power Supply Part Description
8720MC-LR14-070B
14%, 70 amp, 460 VAC Line Reactor
8720MC-LR10-100B
10%, 100 amp, 460 VAC Line Reactor
8720MC-RFI80
Schafner FN3100-80/35 Filter for 15 0r 37 kw CE
Applications
8720MC-EF190-VB
AC Line Filter for 190 amp CE Applications
Table B.4:
8720MC-8720MC-RPS027 Regerative Power Supply Spare Parts
REJ
Part Number
Part Description
826751
S-B0001 Regulator Board, BDSR-1
286040
500VFA16A Ferraz 16 amp Fuse, 16x32 for Fuse1 Precharge
926024
UOA528500 Cooling Fan
926023
UOA528400 Precharge Resistor
Table B.5:
8720MC-8720MC-RPS065 Regerative Power Supply Spare Parts
REJ
Part Number
Part Description
826751
S-B0001 Regulator Board, BDSR-1
286040
500VFA16A Ferraz 16 amp Fuse, 16x32 for Fuse1 Precharge
926504
MB-B0012 Cooling Fan
926503
MB-B0011 Precharge Resistor
352311
MB-B0013 Master to Slave ribbon cable
Publication 8720MC-UM 001C-EN-P Feb 2001
B-4
Replacement Spare Parts
Table B.6:
8720MC-8720MC-RPS190 Regerative Power Supply Spare Parts
REJ
Part Number
Publication 8720MC-UM 001C-EN-P Feb 2001
Part Description
826751
S-B0001 Regulator Board, BDSR-1
286005
6JX30 (600V 30 A) Fuse
286007
6JX3 (600V 3 A) Fuse
926524
60-03136-00 for CN26 of APS-011 Cooling Fan
926525
60-03136-01 for CN27 of APS-011 Cooling Fan
926526
60-03137-00 Precharge resistor
926523
60-03170-00 Master to Slave Ribbon Cable
Index
Symbols
"Virtual Encoder" output
A quad B 4-36
Numerics
1336R regenerative power supplies
key features 1-11
product structure 1-10
380V AC input drives
power and torque curves 2-17
specifications 2-15
45 to 93 kW 8720SM motors with 8720MC
regenerative power supply 750 vdc input
power and torque curves 2-11
45 to 93 kW 8720SM motors with 8720MC-RPS
master and slave regenerative power supplies
specifications 2-8
5.5 to 22 kW 8720SM motors with 460V AC input
power and torque curves 2-13
specifications 2-11
5.5 to 37 kW 8720SM motors with 8720MC-RPS
regenerative power supply
power and torque curves 2-7
specifications 2-4
750V DC input drives with dual wound 8720SM AC motors
power and torque curves 2-20
specifications 2-19
8720MC 750 vdc input drive amplifier
common specifications 2-2
8720MC drive(s)
1336 regenerative power supply 4-28
8720MC regenerative power supply 4-25
AC input 4-24
amplifiers’ and motors’ common specifications 2-2
amplifiers’ key features 1-3
B027 enclosure A-2
B034 enclosure A-3
B042 enclosure A-3
B048 enclosure A-4
common bus architecture 1-6
common product structure 1-6
connector layout 4-8
D065 enclosure A-4
D078 enclosure A-5
D120 enclosure A-5
D149 enclosure A-6
D180 enclosure A-6
input/output wiring 4-30
line reactor dimensions 3-13
overview 1-1
setting up 9-2
system P-1
8720MC regenerative power supply
8720MC drive(s) 4-25
dimensions 3-2
key features 1-10
8720MC-RPS and 1336R regenerative power supplies
connecting power 4-16
8720MC-RPS regenerative power supply
troubleshooting 10-13
8720SM AC spindle motor(s)
common specifications 2-3
family 5-1
key features 1-13
overview 1-11, 5-1
power supply 5-4
product structure 1-12
A
A quad B
"Virtual Encoder" output 4-36
A-B Drive Explorer 7-17
AC input
8720MC drives 4-24
AC input drives
AC supply source information 4-6
AC supply source information
AC input drives 4-6
ambience
motor 5-3
analog
inputs 6-8
inputs connecting 4-38
outputs 6-8
outputs connecting 4-38
reference scaling 9-6
signal wire specifications 4-22
applications
nonline regenerative 1-4
armored cable
selecting 4-14
autotuning 9-5
before performing 9-5
performing 9-5
B
B027 enclosure
8720MC drives A-2
B034 enclosure
8720MC drives A-3
B042 enclosure
8720MC drives A-3
B048 enclosure
8720MC drives A-4
Publication 8720MC-UM 001C-EN-P Feb 2001
I–2
Index
balancing
motor 5-13
before mounting drive
distance between motor and drive 4-1
heat dissipation 4-1
required tools and equipment 4-1
belted
drives 5-5
bit
changing 7-11
bit pattern
changing 7-11
viewing 7-9
blower
motor 5-9
blower motor
connecting 5-9
bolt
requirements 5-4
bolt and torque
requirements 5-4
box
conduit 5-4
bypass
contactors 4-16
C
cable
sizes 5-6
cable distribution
metal conduit 4-14
changing
bit 7-11
bit pattern 7-11
default analog output links 6-11
default digital output links 6-10
link 7-16
checking
motor performance 5-13
choosing a HIM mode
HIM operation 7-6
choosing transformer
line reactor or isolation-type 4-7
command interface
I/O 6-1
SCANport 6-12
SERCOS 6-12
command logic inputs
SCANport 6-15
command reference
SCANport 6-14
Publication 8720MC-UM 001C-EN-P Feb 2001
common
8720MC 750 vdc input drive amplifier specifications 2-2
8720MC drive amplifiers’ and motors’ specifications 2-2
8720MC drive(s) bus architecture 1-6
8720MC drive(s) product structure 1-6
8720SM AC spindle motors’ specifications 2-3
bus amplifiers’ key features 1-6
drive amplifier I/O specifications 2-2
specifications 2-2
conduit
box 5-4
connecting
analog inputs 4-38
analog outputs 4-38
blower motor 5-9
digital inputs 4-39
digital outputs 4-40
drive system ground 4-5
relay outputs 4-39
connecting cable ground conductor
motor 4-5
connecting power
8720MC-RPS and 1336R regenerative power supplies 4-16
drive 4-8
connections
control 4-18
control and logic 4-18
feedback interface 4-36
logic 4-18
connector layout
8720MC drive(s) 4-8
considerations
mounting 5-3
contactors
bypass 4-16
control
connections 4-18
interface wiring 4-18
signal wire specifications 4-22
control and logic
connections 4-18
coupled
drives 5-5
creating
link 7-16
D
D065 enclosure
8720MC drives A-4
D078 enclosure
8720MC drives A-5
D120 enclosure
8720MC drives A-5
Index
D149 enclosure
8720MC drives A-6
D180 enclosure
8720MC drives A-6
data interface
SCANport 6-17
default analog output links
changing 6-11
default digital I/O descriptions
At Speed 6-6
inputs 6-4
outputs 6-5
default digital I/O descriptions - inputs
Drive Enable 6-4
Drive Error Reset Request 6-4
Jog Request 6-4
Manual/Auto Select 6-4
Orient Request 6-4
Parameter Set Select bit 0, 1 and 2 6-4
Regen Power Supply OK 6-5
default digital I/O descriptions - outputs
Auto Reference Enabled 6-5
Drive OK 6-5
Enable Brake solenoid 6-5
High Winding Select 6-5
Low Winding Select 6-5
Orient complete 6-6
Shut Down Fault 6-5
Torque/Torque Limit 6-6
Zero Speed 6-5
default digital output links
changing 6-10
defining
drive application type 9-3
high frequency ground current paths 4-5
primary mode of operation 9-4
derating
guidelines A-1
derating curve
high-altitude 8720 amplifiers A-7
descriptions
fault 10-4
parameter 8-7
digital
input assignments 6-2
inputs 6-1
output assignments 6-2
outputs 6-1
digital assignments
input/output 6-2
digital I/O
troubleshooting 10-10
digital I/O interface
operating in manual mode 9-7
I–3
digital inputs
connecting 4-39
digital outputs
connecting 4-40
dimensions
8720MC regenerative power supply 3-2
frames B and C 3-3
heat dissipation 3-5
direction
rotation 5-8
disconnecting
drive output 4-42
display
mode 7-9
display panel keys
HIM 7-2
distance
motor and drive 5-6
distribution systems
unbalanced 4-7
ungrounded 4-7
documentation
related P-1, P-2
downloading profile
parameter(s) 7-12
drive
connecting power 4-8
grounding 4-4
mounting 4-2
drive amplifier I/O
common specifications 2-2
drive amplifiers
line regeneration 1-1
nonline regeneration 1-1
drive application type
defining 9-3
drive connections
TB1 terminal block 4-10
drive output
disconnecting 4-42
drives
belted 5-5
coupled 5-5
dual voltage
motors 5-8
E
EEPROM mode
using 7-11
electrical
emission 4-43
interference 4-42
electrical interference
immunity 4-42
Publication 8720MC-UM 001C-EN-P Feb 2001
I–4
Index
elements
parameters 8-2
EMI/RFI 4-42
emission
electrical 4-43
enclosures
user-supplied 4-3
encoder specifications(single turn absolute)
motor 2-3
F
factory default values
restoring 7-11
fault
descriptions 10-4
fault parameters
understanding 10-7
fault queue
viewing 7-14, 10-3
feedback device
wiring 5-11
feedback devices
maximum cable lengths 5-12
types 5-11
feedback interface
connections 4-36
files
parameter 8-2
flash memory
recalling values 7-12
flash memory values
saving 7-12
frames B and C
dimensions 3-3
G
general
terminal specifications 4-12
wire guidelines 4-15
General safety precautions P-4
general startup precautions 9-1
getting started
troubleshooting 10-1
grounding
drive 4-4
motor 5-10
optional RFI filter 4-6
safety ground (PE) 4-5
groups
parameter 8-2
guidelines
derating A-1
Publication 8720MC-UM 001C-EN-P Feb 2001
H
handling
motor 5-2
heat dissipation
dimensions 3-5
high frequency ground current paths
defining 4-5
high-altitude 8720 amplifiers
derating curve A-7
HIM
control panel indicators 7-5
control panel keys 7-3
display panel 7-2
display panel keys 7-2
menu tree 7-7
operation 7-5
HIM control panel
indicators 7-5
keys 7-3
HIM operation
choosing a HIM mode 7-6
initial status display 7-5
human interface module (HIM) 7-1
I
I/O
command interface 6-1
immunity
electrical interference 4-42
indicators
HIM control panel 7-5
initial status display
HIM operation 7-5
input assignments
digital 6-2
input/output
8720MC wiring 4-30
digital assignments 6-2
power 4-30
inputs
analog 6-8
default digital I/O descriptions 6-4
digital 6-1
registration 6-6
inputs connection
registration 4-41
installing
RFI filter 4-44
interface
universal feedback 4-31
interface wiring
control 4-18
interference
electrical 4-42
Index
internal or external HIM
operating in manual mode 9-8
K
key features
1336R regenerative power supplies 1-11
8720MC drive amplifiers 1-3
8720MC regenerative power supply 1-10
8720SM AC spindle motors 1-13
common bus amplifiers 1-6
keys
HIM control panel 7-3
L
leakage current
RFI filter 4-44
LED
system module Status 9-5
line reactor dimensions
8720MC drive(s) 3-13
line reactor or isolation-type transformer
choosing 4-7
line regeneration
drive amplifiers 1-1
line regenerative drive amplifiers
product structure 1-7
link
changing 7-16
creating 7-16
removing 7-17
location
motor 5-3
logging out 7-15
logic
connections 4-18
logic status outputs
SCANport 6-17
lug kit selection
system 4-12
M
maintenance
motor 5-13
manuals
related P-1, P-2
maximum cable lengths
feedback devices 5-12
menu tree
HIM 7-7
metal conduit
cable distribution 4-14
I–5
mode
display 7-9
program 7-9
modifying
parameters 7-9
motor
ambience 5-3
balancing 5-13
blower 5-9
checking performance 5-13
connecting cable ground conductor 4-5
encoder specifications(single turn absolute) 2-3
frame dimensions - DL1106 through DL1110 3-6
frame dimensions - DL1307 through DL1310
(230mm flange) 3-9
frame dimensions - DL1307 through DL1310
(250mm flange) 3-8
frame dimensions - DL1611 through DL1613 3-10
frame dimensions - DL1811 through DL1815 3-11
frame dimensions - DL2010 through DL2012 3-12
grounding 5-10
handling 5-2
location 5-3
maintenance 5-13
mounting 5-2
scaling speed 9-6
selecting cables 4-13
starting 4-42, 5-13
starting and stopping 4-42
stopping 4-42
storage 5-3
wiring 5-6
wiring diagram 5-7
motor and drive
distance 5-6
motor cable ground conductor
connecting 4-5
motors
dual voltage 5-8
mounting
considerations 5-3
drive 4-2
motor 5-2
N
nonline
regeneration drive amplifiers 1-1
regenerative applications 1-4
numerical listing
8720MC parameters 8-4
Publication 8720MC-UM 001C-EN-P Feb 2001
I–6
Index
O
operating in manual mode
internal or external HIM 9-8
using digital I/O interface 9-7
operation
HIM 7-5
optional RFI filter
grounding 4-6
output assignments
digital 6-2
output fuses
using 4-18
outputs
analog 6-8
default digital I/O descriptions 6-5
digital 6-1
overview
8720MC drive 1-1
8720SM AC spindle motor(s) 1-11
8720SM AC spindle motors 5-1
P
parameter files
understanding 8-1
parameter groups
understanding 8-1
parameter(s)
descriptions 8-7
downloading profile 7-12
elements 8-2
files 8-2
groups 8-2
modifying 7-9
uploading profile 7-12
password
programming 7-15
password mode
using 7-15
power
input/output 4-30
removing and reapplying 9-3
power and torque curves
380V AC input drives 2-17
45 to 93 kW 8720SM motors with 8720MC
regenerative power supply 750 vdc input 2-11
5.5 to 22 kW 8720SM motors with 460V AC input 2-13
5.5 to 37 kW 8720SM motors with
8720MC-RPS regenerative power supply 2-7
750V DC input drives with dual wound
8720SM AC motors 2-20
power supplies
regenerative 1-9
power supply
8720SM AC spindle motor 5-4
Publication 8720MC-UM 001C-EN-P Feb 2001
primary mode of operation
defining 9-4
product structure
1336R regenerative power supplies 1-10
8720MC regenerative power supply 1-9
8720SM AC spindle motors 1-12
line regenerative drive amplifiers 1-7
products
related P-1, P-2
program
mode 7-9
programming
password 7-15
protector
thermal 5-9
publications
related P-1, P-2
R
recalling
values 7-11
recalling values
flash memory 7-12
regenerative
power supplies 1-9
registration
inputs 6-6
inputs connection 4-41
related products and documentation P-1, P-2
relay outputs
connecting 4-39
removing
link 7-17
removing and reapplying
power 9-3
required equipment
troubleshooting 10-1
requirements
bolt 5-4
bolt and torque 5-4
torque 5-4
restoring
factory default values 7-11
RFI filter 4-43
installing 4-44
leakage current 4-44
rotation
direction 5-8
S
safety ground (PE)
grounding 4-5
Index
Safety precautions
general P-4
saving
flash memory values 7-12
values 7-11
scaling
analog reference 9-6
motor speed 9-6
SCANport
command interface 6-12
command logic inputs 6-15
command reference 6-14
data interface 6-17
logic status outputs 6-17
SCANport command logic inputs
Coast Stop Request 6-16
Fault Clear 6-15
Jog Request 6-15
Manual/Auto Select 6-17
Orient Request 6-17
Parameter Set Select bit 0, 1 and 2 6-16
Parameter Strobe 6-16
Regenerative Stop Request 6-15
Start Request 6-15
SCANport I/O
troubleshooting 10-11
SCANport logic status outputs
Auto Reference Enabled 6-17
Drive Enabled 6-17
Manual Mode Selected 6-17
Rotation Direction 6-17
search mode
using 7-13
selecting
armored cable 4-14
motor cable 4-13
shielded motor cable 4-13
SERCOS
command interface 6-12
wiring 4-23
setting up
8720MC drive(s) 9-2
precautions 9-1
shielded motor cable
selecting 4-13
signal wire specifications
analog 4-22
control 4-22
sizes
cable 5-6
specifications
380V AC input drives 2-15
45 to 93 kW 8720SM motors with 8720MC-RPS master
and slave regenerative power supplies 2-8
5.5 to 22 kW 8720SM motors with 460V AC input 2-11
I–7
5.5 to 37 kW 8720SM motors with 8720MC-RPS
regenerative power supply 2-4
750V DC input drives with dual wound 8720SM AC motors
2-19
common 2-2
motor encoder(single turn absolute) 2-3
wire and torque 4-12
standard 8720MC parameters
numerical listing 8-4
starting
motor 4-42, 5-13
starting and stopping
motor 4-42
stopping
motor 4-42
storage
motor 5-3
system
8720MC drive(s) P-1
lug kit selection 4-12
system ground
connecting the drive 4-5
T
TB1 terminal block
drive connections 4-10
terminal specifications
general 4-12
thermal
protector 5-9
thermal protector leads
thermostat 5-9
thermostat
thermal protector leads 5-9
torque
requirements 5-4
troubleshooting
8720MC-RPS regenerative power supply 10-13
digital I/O 10-10
getting started 10-1
required equipment 10-1
SCANport I/O 10-11
types
feedback devices 5-11
U
unbalanced
distribution systems 4-7
understanding
fault parameters 10-7
parameter files 8-1
parameter groups 8-1
Publication 8720MC-UM 001C-EN-P Feb 2001
I–8
Index
ungrounded
distribution systems 4-7
universal feedback
interface 4-31
uploading profile
parameter(s) 7-12
user-supplied
enclosures 4-3
using
EEPROM mode 7-11
output fuses 4-18
password mode 7-15
seach mode 7-13
V
values
recalling 7-11
saving 7-11
viewing
bit pattern 7-9
fault queue 7-14, 10-3
warning queue 7-14
W
warning queue
viewing 7-14
wire and torque
specifications 4-12
wire guidelines
general 4-15
wiring
feedback device 5-11
motor 5-6
SERCOS 4-23
wiring diagram
motor 5-7
Publication 8720MC-UM 001C-EN-P Feb 2001
Index
I–9
Publication 8720MC-UM 001C-EN-P Feb 2001
Back Cover
Publication 8720MC-UM 001C-EN-P Feb 2001296
PN 198124
© Year Rockwell International Corporation. Printed in the U.S.A.
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