Introduction
Specifications
Installation Instructions
Installing Your 1394 Drive Interface
Module
(Catalog Number 1394-DIM)
This publication provides installation instructions for adding the 1394
Drive Interface Module to your 1394 system. Use these instructions in conjunction with the 1394 Digital, AC, Multi-Axis Motion Control
System User Manual (publication 1394-5.0).
Note: For instructions on using GML Commander to configure your
1394-DIM, refer to the GML Commander Reference Manual
(publication GMLC-5.2).
The 1394-DIM acts as an interface between one 1394 GMC/GMC
Turbo system module and an external axis drive(s).
On the 1394x-SJTxx-C, -C-RL, -T, and -T-RL, the 1394-DIM acts in place of one to four axis modules. On the 1394C-SJTxx-L and -L-RL the 1394-DIM acts in place of one axis module. The 1394-DIM passes a standard servo output signal from the system module to each external drive connected to the 1394-DIM. Using a 1394-DIM as part of a 1394 system lets you control external drives and motors of any size.
The table below lists the 1394-DIM specifications.
The: For the 1394-DIM is:
Firmware version
Software
Input voltage
Analog output information (Px-1,2)
Voltage
Signal isolation
Resolution
Impedance
Offset
Drive OK
Drive enable output
Operating temperature
Relative humidity
Weight
3.7 or higher with 1394x-SJTxx-C-xx and -T-xx systems
3.9 or higher with 1394C-SJTxx-L-xx systems
GML Commander, version 4.01 or higher
24V, 50 kHz provided by the 1394x-SJT-xx system module
0 to ± 10V analog
1500V rms
12 bits, 4.88 mV
220 ohms
± 80 mV maximum, compensated to 0 through software setup
15V DC @ 5 mA supplied by the DIM
30V DC @ 1 A
0° to 50° C (32° to 122° F)
5-95%
3 kg (6.6 lb)
Certification
The certified 1394-DIM product displays the following:
• UL Listed (File E59272)
• CUL Listed
• CE marked for all applicable directives
Publication 1394-5.12 — December 1999
2
Installing Your 1394 Drive Interface Module
Dimensions
The 1394-DIM dimensions are shown below.
Figure 1
1394-DIM Dimensions
25.0
(0.98)
400.0
(15.75)
350.0
(13.78)
8.0 (0.32)
Dimensions are in millimeters and (inches)
Mounting Hole Detail
8.0 (0.31)
10.1 (0.40)
385.0 (fastener location)
1
(15.16)
8.0 (0.31)
15.9 (0.63)
12.0 (0.47)
All slots accept M6 or 1/4-20 mtg. screws
1 Dimension shown is for mounting hardware
location and does not reflect the location
of the lower slot radius.
50.0
(1.97)
280
(11.02)
350
(13.78)
1394-DIM System Examples
In the figure below, the 1394-DIM is connected to a 1394 GMC Turbo with two 1394 axis modules. A 1326AB-Bxxxx motor is directly connected to each of the 1394 axis modules. Two servo amplifiers with motors are connected to the 1394-DIM. It can accept two because there are two axis modules connected to the 1394 GMC
Turbo. The encoders attached to the motors have encoder feedback cables connected to the system module.
GML
1394 Axis Modules
1394 GMC or GMC
Turbo System Module
Figure 2
1394-DIM Connected to a GMC or GMC Turbo
1394-DIM
1394-DIM ground connector
+/- 10V reference
Drive Enable
Drive OK (see Figure 16)
Status
RS-232/-422
Axis connections located on the underside of DIM
Motor
See Figure 19 for Auxiliary Encoder input pin-outs and Figure 20 to view the Auxiliary Encoder Connectors on a bottom view of the 1394 GMC/GMC
Turbo system module.
1394-GE15
1326AB
1326AB
Encoder Feedback Cable
Encoder Feedback Cable
Servo Amplifier
Encoder
Servo Amplifier
Motor
Encoder
1326-CEU-xxx
(if A-B 845H)
Publication 1394-5.12 December 1999
Installing Your 1394 Drive Interface Module
3
In the figure below, the 1394-DIM is connected to a 1394 GMC Turbo with two 1394 axis modules and a 1398-DDM-xxx servo controller. A
1326AB-Bxxxx motor is directly connected to each of the 1394 axis modules. One servo amplifier with motor is connected to the
1394-DIM.
1394 Axis Modules
Figure 3
1394-DIM Connected to a 1398-DDM-xxx
1394-DIM
1394 GMC or GMC
Turbo System Module
1398-DDM-xxx
Status
Encoder
J1 Breakout Board
(Refer to Figure 4)
1326AB
9101-1391
Motor
Power
TB1
J5
J2
J2
J1
J1
! ?
Encoder
H, F, Y, or N
Series Motor
1394-GE15
Encoder
1326-CEU-xxx
(If A-B 845H)
1326AB
1326-CEU-xxx
(If A-B 845H)
J2 Breakout
Board
9101-1392
Figure 4 shows the J1 breakout board interconnect details between the
1394-DIM and the 1398-DDM-xxx. Refer to ULTRA 200 User
Manual (publication 1398-5.0) and ULTRA 100 User Manual
(publication 1398-5.2) for more information.
Figure 4
1394-DIM to J1 Breakout Board Pinouts
1394-DIM Cable Connector
2
Belden 8163 cable or equivalent
+ Analog Out Px-1
– Analog Out Px-2
– Drive Enable Px-3
+ Drive Enable Px-4
+ DROK Px-5
– DROK Px-6
Shield Px-7
1
Required on ULTRA 100 only
2
x = axis controlled by DIM
J1 Breakout Board
J1-5
J1-6
J1-22 CMND +
J1-23 CMND -
J1-20 Enable
J1-26 I/O PWR
J1-25 Ready -
J1-24 Ready +
24V I/O
Power Supply
1
Publication 1394-5.12 December 1999
4
Installing Your 1394 Drive Interface Module
Mounting Your 1394-DIM
To mount your 1394-DIM hardware:
1. Install the top mounting fastener on the system panel. The head of the fastener must be at least 0.25 inches from the panel.
2. Hang the 1394-DIM on the top mounting fastener.
Important: The 1394-DIM must be the last (or right-most) module in the 1394 system.
3. Engage the alignment tabs, as shown in the figure below.
Figure 5
Engaging the Alignment Tab
Engaged alignment tab
4. Slide the slide-and-lock mechanism on the 1394-DIM to the left until it locks into place, as shown in the figure below.
Figure 6
Attaching the Slide-and-Lock Mechanism
Slide-and-lock mechanism
Publication 1394-5.12 December 1999
1394-DIM Configurations
Installing Your 1394 Drive Interface Module
5
5. Attach the terminator to the 1394-DIM and slide it to the left until it locks into place, as shown in the figure below.
Figure 7
Attaching the Terminator
Attaching the
Terminator
6. Install the lower fastener.
7. Tighten the upper and lower fasteners.
The identity and number of the axes you can connect to a 1394-DIM depends upon the number of 1394 axis modules connected to your
1394 system in addition to the 1394-DIM.
The figure below shows the input connections located on the bottom of a typical 1394 system and a 1394-DIM.
Figure 8
A 1394-DIM Connected to a GMC or GMC Turbo
Front of the units
1394-DIM ground connector
Bottom of the
1394-DIM
Bottom of the
1394 GMC or 1394
GMC Turbo System
Rear of the units
A 1394x-SJTxx-C, -C-RL, -T, and -T-RL system module can control a maximum of four physical axes. The 1394C-SJTxx-L and -L-RL can control only one axis. Each 1394 axis module added to the 1394 system reduces the number of external drives and axes the 1394-DIM can control by one.
Publication 1394-5.12 December 1999
6
Installing Your 1394 Drive Interface Module
For example, if your 1394 system includes three 1394 axis modules, the 1394-DIM can control only one external drive and axis. Refer to the table below for configuration combinations.
2
1
0
4
3
Number of 1394 axes:
2
3
4
0
1
Maximum number of
DIM-controlled axes:
Important: You can add only one 1394-DIM to a 1394 system.
Important: The system requires 360/480V AC three-phase input power to run, even if the 1394-DIM is configured for four external drives.
Configuration Examples
The following examples show a variety of ways to incorporate the
1394-DIM into a 1394 GMC/GMC Turbo System. The examples show the input connections located on the bottom of a typical 1394 system and a 1394-DIM.
The example below shows two 1394 axes and two DIM output axes.
Figure 9
1394-DIM with Multiple Axis Modules
Axis 0 Axis 1
Axis 2 (J5)
Auxillary Encoder Input
Axis 3 (J10)
Auxillary Encoder Input
1394 GMC or GMC Turbo System
Axis 0 (J5)
Motor Resolver Feedback Input
Axis 1 (J6)
Motor Resolver Feedback Input
Axis 2 (J7)
1394 DIM Plug
Axis 3 (J10)
1394 DIM Plug
1394x-AMxx 1394x-AMxx 1394-DIM
7
DIM Axis A
Axis 2 on 1394
1
7
1
DIM Axis B
Axis 3 on 1394
Publication 1394-5.12 December 1999
Installing Your 1394 Drive Interface Module
The example below shows one 1394 axis and one DIM output axis.
Figure 10
1394-DIM with Single Axis Module
Axis 0
7
7
1
DIM Axis A
Axis 1 on 1394
Axis 1 (J4)
Auxillary Encoder Input
Axis 0 (J5)
Motor Resolver Feedback Input
Axis 1 (J6)
1394 DIM Plug
1394 GMC or GMC Turbo System
1394x-AMxx
1394-DIM
The example below shows no 1394 axes and four DIM output axes.
Figure 11
1394-DIM Not Connected to Axis Module
Axis 0 (J3)
Auxillary Encoder Input
Axis 1 (J4)
Auxillary Encoder Input
Axis 2 (J5)
Auxillary Encoder Input
Axis 3 (J10)
Auxillary Encoder Input
1394 GMC Turbo System
Axis 0 (J5)
1394 DIM Plug
Axis 1 (J6)
1394 DIM Plug
Axis 2 (J7)
1394 DIM Plug
Axis 3 (10)
1394 DIM Plug
7
1
7
1
7
DIM Axis A
Axis 0 on 1394
DIM Axis B
Axis 1 on 1394
DIM Axis C
Axis 2 on 1394
1
7
DIM Axis D
Axis 3 on 1394
1
1394-DIM
Publication 1394-5.12 December 1999
8
Installing Your 1394 Drive Interface Module
Wiring the 1394 System Module
Input Power When Not Using Axis
Modules
The figure below shows how to wire the 1394 system module for input power when no axis modules are used. The transformer is rated for 480V AC secondary and 500 VA. The fuse is a Bussmann 600V
AC, 10A (FRS-R-10A). The contactor is an Allen-Bradley Bulletin
100-C12x10 contactor.
Figure 12
1394 System Module Wired for Input Power Without Using Axis Modules
1394 System Module 1394-DIM
Understanding DIM Signals
Status
Transformer
480V AC
F1
F2
F3
Fuse Contactor
M1
L1
M2
M3
L2
L3
U
V
W
DROK
The +/- DROK is a drive fault input from each external drive to the
1394-DIM. It consists of two wires connected to the external drive’s
DROK, an unpowered (dry) contact. The respective isolated + 15V
DC for this input is supplied by the 1394-DIM.
Figure 13
Drive OK Input
1394-DIM
+15V DC
Axis DROK+
P x -5
Axis DROK-
P x-
6
Note: x
= axis connector number
Publication 1394-5.12 December 1999
Installing Your 1394 Drive Interface Module
9
Drive Enable Output
The +/- Axis Enable is a signal from the 1394 system module that is used to control a DPDT relay in the 1394-DIM. This enable output is a normally open, unpowered (dry) signal.
Figure 14
Drive Enable Output
1394-DIM
Axis Enable+
P x -4
Normally
Open Relay
Axis Enable-
P x -3
Note: x
= axis connector number
Analog Output
The analog output is an isolated signal provided by the 1394-DIM and has a range of
10V. The signal is either a torque or velocity command, depending on the configuration of the remote drive. The command is processed by the Bulletin 1394 System Module through a
12-bit Digital-Analog Converter (DAC). An output offset of
80 mV can be compensated to 0V through software configuration.
Figure 15
Analog Output
1394-DIM
Axis OUT+
P x -1
Axis OUT-
P x2
Note: x = axis connector number
For additional DIM signal descriptions refer to the Specifications section in the manual.
Publication 1394-5.12 December 1999
10
Installing Your 1394 Drive Interface Module
Wiring and Configuring an External
Drive to the 1394-DIM
This section includes the following steps for wiring and configuring an external drive to the 1394-DIM:
• Connecting the remote drive to the DIM connector that provides the
10V output, the drive enable output, and the drive status input.
• Connecting the position feedback encoder to the auxiliary feedback input on the 1394 GMC/GMC Turbo system module.
This provides position information for closing the position and velocity loop for the drive.
• Connecting the DIM ground wire to the 1394 system module.
• Installing the resolver feedback input plug for each DIM axis to prevent resolver loss faults.
!
ATTENTION: To avoid personal injury as a result of unexpected motion or acceleration of the drive, insert the resolver plug in the correct location.
Belden 8163 or equivalent
Connecting the Remote Drive to the DIM Connector
The customer supplied DIM cable leads require terminating at the
DIM cable connector. Follow one of the example configurations, as shown in the figure below.
Figure 16
DIM Connector Wiring Examples
+ Analog Out Px-1
– Analog Out Px-2
– Drive Enable Px-3
+ Drive Enable Px-4
+ DROK Px-5
– DROK Px-6
Shield Px-7
DIM cable connector
+ Analog Out Px-1
– Analog Out Px-2
– Drive Enable Px-3
+ Drive Enable Px-4
+ DROK Px-5
– DROK Px-6
Shield Px-7
DIM cable connector
Publication 1394-5.12 December 1999
Installing Your 1394 Drive Interface Module
To wire the cable flying leads to the DIM cable connector:
1. Turn off the power to the system (i.e., 1394 system external drives and other control hardware).
!
ATTENTION: To avoid a shock hazard or personal injury, verify that all power has been removed before proceeding. This system may have multiple sources of power. More than one disconnect switch may be required to de-energize the system.
11
!
ATTENTION: To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair or remove this unit. This product contains stored energy devices. You should attempt the procedures in this document only if you are qualified to do so, and are familiar with solid-state control equipment and the safety procedures in publication NFPA 70E.
2. Look at the cable connector to make sure the terminal is open.
The figure below shows a terminal open and a terminal closed.
Figure 17
Open and Closed Terminal
Terminal closed
Terminal open
3. Using the table below, follow the correct procedure for each termination point:
If the terminal is: Do this:
Closed
Open
Go to step 4.
Go to step 5.
4. Turn the clamping screw counter-clockwise several times with a small, flat-head screwdriver to open the termination point.
Publication 1394-5.12 December 1999
12
Installing Your 1394 Drive Interface Module
5. Strip the wire insulation back on the cable lead.
Important: Use 14-20 gauge wire to ensure proper system operation.
6. Trim the cable lead to expose 7.0 mm (0.275 in.) of metal wire.
7. Insert the cable lead in the appropriate terminal.
Figure 18
Cable Connector
7
Insert cable wires into the connector openings here
1
8. Use a screwdriver to tighten the clamping screw to the correct torque (0.25 N-m/2.2 lb-in.) until the cable lead cannot be pulled out of the terminal.
9. Using the table below, complete the termination connections.
If the cable lead:
Pulls out of the terminal
Does not pull out of the terminal
Do this:
Go to step 4.
1. Move to the next terminal and go to step 2.
2. When all seven terminals are wired, go to step 10.
10. Connect each external drive to the 1394-DIM.
Important: Connect all DIM axes in succession (from the front of the unit to the back of the unit) starting with DIM
Axis A regardless of the number of servo axis modules in the 1394 system.
Publication 1394-5.12 December 1999
Installing Your 1394 Drive Interface Module
13
Connecting the Position Feedback Encoder to the Feedback Input
The figure below shows the pinouts and interconnect information for the auxiliary encoder input to the 1394-GMC.
Figure 19
1394-GE15 Cable Connections
1394 Encoder
Feedback Connector
5
6
8
9
12
NC
7
1
2
3
4
Cable is Belden 9505
Black
Yellow
White
Black
Green
Black
Blue
Black
Red
Black
Shield
Flying Leads to
Incremental Encoder or
Customer-Supplied Termination
NC
Strobe
A High
A Low
B High
B Low
Z High
Z Low
+5V Out
Common Out
10
11
Shield
Red
Black
Encoder Power
1
(ENC. PWR)
+5V Input
Common In
Cable is Belden 9501
1
Customer supplied 5V DC power source is required for encoder board whether encoder supply voltage is
5V or not.
To connect the encoder feedback cable to the 1394 system module:
1. Plug the 1394-GE15 cable for each DIM Axis into the correct auxiliary encoder input on the 1394 system module as shown in the table below. Refer to Figures 9, 10, and 11 for encoder input locations.
Install the Position Feedback Input plug for:
When this axis is used:
DIM axis A into: DIM axis B into: DIM axis C into: DIM axis D into:
0 (no axis installed) J3 J4 J5 J10
1 (axis 0 installed) J4
2 (axis 0, 1 installed) J5
3 (axis 0, 1, 2 installed) J10
J5
J10
N/A
J10
N/A
N/A
N/A
N/A
N/A
Note: The other end of the 1394-GE15 cable provides flying leads and must be connected to correct signals on a quadrature encoder.
Note: The feedback inputs for axis 0, 1, 2 and 3 (on 1394x-SJTxx-
C and -T systems) and for axis 0 and 1 (on 1394x-SJTxx-
L systems) run from front to back (see Figure 20).
Publication 1394-5.12 December 1999
14
Installing Your 1394 Drive Interface Module
2. Connect the cable’s overall braided shield to the 1394 system ground bar. For more information on grounding the 1394 system, refer to the 1394 Digital, AC, Multi-Axis Motion Control System
User Manual (publication 1394-5.0).
Connecting the DIM Ground Wire to the 1394 System Ground
Connect one end of the ground wire to the connector on the 1394-
DIM (refer to Figure 8 for location) and connect the other end to the
1394 system ground bar.
Installing the Resolver Feedback Input Plug
For each axis controlled by the 1394-DIM, insert a 1394-DIM feedback plug into the 10-pin resolver feedback input on the 1394 system module, as shown in the table below. Refer to Figures 9, 10, and 11 for input locations and Figure 20 for the 1394 system module interconnect information.
When this axis is used:
Install the Resolver Feedback Input plug for:
DIM axis A into: DIM axis B into: DIM axis C into: DIM axis D into:
0 (no axis installed)
1 (axis 0 installed)
2 (axis 0,1 installed)
J5
J6
J7
3 (axis 0,1,2 installed) J10
J6
J7
J10
N/A
J7
J10
N/A
N/A
J10
N/A
N/A
N/A
Important: Unused DIM axis modules do not require a feedback plug to be installed.
!
ATTENTION: To avoid personal injury because of unexpected motion or acceleration of the drive, the resolver plug must be inserted in the correct location.
If you do not insert a 1394-DIM feedback plug into a 10-pin resolver feedback input for each DIM axis, a Resolver Loss Fault occurs for that axis if Transducer Loss Detection is selected in the Feedback page of the Configure Axis Use dialog box in GML Commander.
Important: 1394-DIM axes do not use the system module’s thermal fault inputs. You can use these inputs for any other purpose your hardware configuration allows.
Publication 1394-5.12 December 1999
Installing Your 1394 Drive Interface Module
Figure 20
Bottom Front of the GMC (1394x-SJTxx-C and -L) and
GMC Turbo (1394x-SJTxx-T) System Modules
The RIO/AxisLink option (-RL) must be ordered with
System module. It is installed at the factory. You cannot order these individually.
AxisLink and RIO board connections use Allen-Bradley
1770-CD (Belden 9463 or equivalent).
1394-GE15 Cable Optional
Encoder or 1394-GR04 Cable
(for Resolver with 4100-REC or 4100-AEC modules).
J5 wiring is typical for J3, J4, and J10 Auxiliary Encoder
Inputs.
Auxiliary Encoder inputs for axis 2 and 3 (J5 and J10) are not present on the
1394C-SJT
xx
-L and -L-RL.
User-supplied 5V DC power source is required for encoder board regardless if encoder supply voltage is 5V or not.
Auxiliary
Encoder
Encoder (Optional)
Auxiliary
Encoder
Encoder (Optional)
D
F
C
J
I
B
A
H
D
F
C
J
I
B
A
H
Left Side
C LEAR
SHIELD
BLUE
FLEX I/O MODULES
NOTE 10, 18
Use 4100-CCF1 or -CCF3 Flex I/O cables. Cable length
must not exceed 0.91 mm (36 inches).
You must supply source power for Flex I/O (for example,
1794-IB16 24V DC and 1794-IA8 115V AC).
ENCODER CONNECTOR
(DRIVE END)
BOTTOM VIEW
1 7
6
12
CHANNEL A HIGH
CHANNEL A LOW
CHANNEL B HIGH
CHANNEL B LOW
CHANNEL Z HIGH
CHANNEL Z LOW
+5V OUT
COMMON OUT
SHIELD
STROBE X
+5V INPUT
COMMON INPUT
CHANNEL A HIGH
CHANNEL A LOW
CHANNEL B HIGH
CHANNEL B LOW
CHANNEL Z HIGH
CHANNEL Z LOW
+5V OUT
COMMON OUT
SHIELD
STROBE X
+5V INPUT
COMMON INPUT
Right Side
RS-232/RS-422
AxisLink
J1
1
2
Flex I/O
J2
Aux. Encoder
Feedback Input
J3
3
4
1
2
5
6
8
9
12
7
10
11
AXIS 0
Aux. Encoder
Feedback Input
J4
5
6
8
9
3
4
1
2
12
7
10
11
AXIS 1
Resolver
Feedback Input
AXIS 0
Aux. Encoder
Feedback Input
J5
8
9
5
6
12
7
10
11
3
4
1
2
AXIS 2
Aux. Encoder
Feedback Input
J10
1
4
5
2
3
6
8
9
12
7
10
11
AXIS 3
Resolver
Feedback Input
AXIS 1
J6
8
7
9
4
2
3
1
6
5
10
Resolver
Feedback Input
AXIS 2
J7
8
7
9
4
2
3
1
6
5
10
Resolver
Feedback Input
AXIS 3
J10
2
3
1
6
8
7
9
4
5
10
J5
9
4
8
7
2
3
1
6
5
10
RS-232/RS-422
DH-485
J4
7
8
9
5
6
3
4
1
2
J3
7
8
5
6
9
3
4
1
2
RS-232
NC
TXD
RXD
DTR
COM
DSR
RTS
CTS
NC
RS-422
TXD+
TXD–
RXD–
TXD+
COM
TXD+
RXD+
RXD+
NC
WIRE #1 - BLACK - AXIS X R1
WIRE #1 - WHITE - AXIS X R2
WIRE #1 - SHIELD
WIRE #2 - BLACK - AXIS X S1
WIRE #2 - RED - AXIS X S3
WIRE #2 - SHIELD
WIRE #3 - BLACK - AXIS X S4
WIRE #3 - GREEN - AXIS X S2
WIRE #3 - SHIELD
CABLE SHIELD
WIRE #1 - BLACK - AXIS X R1
WIRE #1 - WHITE - AXIS X R2
WIRE #1 - SHIELD
WIRE #2 - BLACK - AXIS X S1
WIRE #2 - RED - AXIS X S3
WIRE #2 - SHIELD
WIRE #3 - BLACK - AXIS X S4
WIRE #3 - GREEN - AXIS X S2
WIRE #3 - SHIELD
CABLE SHIELD
Plug into connector
Plug into connector
H
G
A
B
D
E
J5 wiring is typical for J6, J7, and J10 Resolver inputs. Use either Allen-Bradley Resolver cable (1326-CCUxxx) or
1394-DIM plug.
Resolver Feedback inputs for axis 1, 2, and 3 (J6, J7, and
J10) are not present on the
1394C-SJT
xx
-L and -L-RL.
H
G
A
B
D
E
1326Ax AC SERVO MOTOR
MOTOR
RESOLVER
MOTOR
RESOLVER
1326Ax AC SERVO MOTOR
One 1394-DIM plug is required for each DIM axis. Four plugs are supplied with the DIM.
RESOLVER CONNECTOR
(DRIVE END)
BOTTOM VIEW
1 6
5 10
15
Publication 1394-5.12 December 1999
Publication 1394-5.12 — December 1999
Supersedes Publication 1394-5.0-DU3 — August 1998
195032(01)
© 1999 Rockwell International Corporation. All Rights Reserved. Printed in USA
