Allen-Bradley 1394 SERCOS Interface Multi-Axis Motion Control System Installation Instructions

1394 SERCOS
Interface
Multi-Axis Motion
Control System
(Catalog Numbers
1394C-SJT05-D,
1394C-SJT10-D,
1394C-SJT22-D)
Integration Manual
Important User Information
Because of the variety of uses for the products described in this
publication, those responsible for the application and use of this
control equipment must satisfy themselves that all necessary steps
have been taken to assure that each application and use meets all
performance and safety requirements, including any applicable laws,
regulations, codes and standards.
The illustrations, charts, sample programs and layout examples
shown in this guide are intended solely for purposes of example.
Since there are many variables and requirements associated with any
particular installation, Allen-Bradley does not assume responsibility
or liability (to include intellectual property liability) for actual use
based upon the examples shown in this publication.
Allen-Bradley publication SGI-1.1, Safety Guidelines for the
Application, Installation and Maintenance of Solid-State Control
(available from your local Allen-Bradley office), describes some
important differences between solid-state equipment and
electromechanical devices that should be taken into consideration
when applying products such as those described in this publication.
Reproduction of the contents of this copyrighted publication, in
whole or part, without written permission of Rockwell Automation,
is prohibited.
Throughout this manual we use notes to make you aware of safety
considerations:
ATTENTION
!
Identifies information about practices or
circumstances that can lead to personal injury or
death, property damage or economic loss.
Attention statements help you to:
• identify a hazard
• avoid a hazard
• recognize the consequences
IMPORTANT
Identifies information that is critical for successful
application and understanding of the product.
Allen-Bradley is a registered trademark of Rockwell Automation.
ControlLogix, DriveExplorer, Logix, RSLogix, SoftLogix, and SCANport are trademarks of Rockwell Automation.
SERCOS interface is a trademark of the Interests Group SERCOS interface e.V. (IGS).
Table of Contents
Preface
Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . P-1
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . P-3
Product Receiving and Storage Responsibility . . . . . . . . . . . P-3
Allen-Bradley Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-4
Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . P-4
Technical Product Assistance . . . . . . . . . . . . . . . . . . . . P-4
Comments Regarding this Manual . . . . . . . . . . . . . . . . . P-4
Chapter 1
Commissioning Your 1394 SERCOS Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
General Startup Precautions . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Interface System
Understanding 1394 Connectors . . . . . . . . . . . . . . . . . . . . . 1-3
System Module Connectors . . . . . . . . . . . . . . . . . . . . . . 1-3
Axis Module Connectors . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Locating System Module Connectors and Indicators . . . . . . 1-4
Locating Axis Module Connectors and Indicators . . . . . . . . 1-6
Locating SERCOS Interface Fiber-Optic Connectors . . . . . . . 1-7
Configuring Your 1394 SERCOS interface System . . . . . . . . 1-7
Configuring Your 1394 System Module . . . . . . . . . . . . . 1-8
Configuring Your Logix SERCOS interface Module . . . . . . 1-11
Configuring Your Logix Controller. . . . . . . . . . . . . . . . 1-11
Configuring Your Logix Module . . . . . . . . . . . . . . . . . 1-13
Configuring Your 1394 System Module . . . . . . . . . . . . 1-15
Configuring the Motion Group . . . . . . . . . . . . . . . . . . 1-17
Configuring Axis Properties. . . . . . . . . . . . . . . . . . . . . 1-18
Downloading Your Program . . . . . . . . . . . . . . . . . . . . 1-19
Applying Power to the 1394 SERCOS interface System. . . . 1-20
Testing and Tuning Your Axes . . . . . . . . . . . . . . . . . . . . . 1-22
Testing Your Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-23
Tuning Your Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-26
Chapter 2
Troubleshooting Your 1394
SERCOS Interface System
i
Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Understanding How to Detect a Problem . . . . . . . . . . . . . . 2-2
Troubleshooting System and Axis Module LEDs . . . . . . . . . 2-3
Troubleshooting the SERCOS Network Status LED. . . . . . . . 2-5
Troubleshooting System and Axis Module Faults . . . . . . . . . 2-6
System Module Faults . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Axis Module Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
Troubleshooting General System Problems . . . . . . . . . . . . 2-12
Understanding Logix/Drive Fault Behavior . . . . . . . . . . . . 2-14
System Module Faults . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
Axis Module Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
Publication 1394-IN024B-EN-P — February 2004
ii
Table of Contents
Supplemental Troubleshooting Information. . . . . . . . . . . . 2-18
Tools for Changing Parameters . . . . . . . . . . . . . . . . . . 2-18
Using Analog Test Points to Monitor System Variables . 2-20
Changing Default Digital Output Settings . . . . . . . . . . . 2-22
Replacing System and Axis Modules . . . . . . . . . . . . . . . . . 2-23
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Removing an Axis Module. . . . . . . . . . . . . . . . . . . . . . 2-24
Installing a Replacement Axis Module . . . . . . . . . . . . . 2-25
Removing a System Module. . . . . . . . . . . . . . . . . . . . . 2-26
Installing a Replacement System Module . . . . . . . . . . . 2-27
Appendix A
Interconnect Diagrams
Publication 1394-IN024B-EN-P — February 2004
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
1394 SERCOS Interface Interconnect Diagram Notes . . . . . . A-2
Power Interconnect Diagrams. . . . . . . . . . . . . . . . . . . . . . . A-3
Shunt Module Interconnect Diagrams . . . . . . . . . . . . . . . . . A-4
Axis Module/Motor Interconnect Diagrams . . . . . . . . . . . . . A-6
Thermal Switch and Brake Interconnect Diagrams . . . . . . . . A-9
Understanding Motor Thermal Switches . . . . . . . . . . . . . A-9
How Your Feedback Cable Affects Thermal Switch
Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9
Thermal Switch Interconnect Diagrams . . . . . . . . . . . . . A-9
Brake Interconnect Diagrams . . . . . . . . . . . . . . . . . . . A-14
Preface
Read this preface to familiarize yourself with the rest of the manual.
The preface covers the following topics:
Who Should Use this
Manual
•
Who Should Use this Manual
•
Purpose of this Manual
•
Contents of this Manual
•
Related Documentation
•
Conventions Used in this Manual
•
Product Receiving and Storage Responsibility
•
Allen-Bradley Support
This manual is intended for engineers or programmers directly
involved in the operation, field maintenance, and integration of the
1394 SERCOS interface system with the Logix SERCOS interface
module.
If you do not have a basic understanding of the 1394, contact your
local Allen-Bradley representative for information on available training
courses before using this product.
Purpose of this Manual
1
This manual provides the startup, configuring, and troubleshooting
procedures for the 1394 SERCOS interface system. The purpose of this
manual is to assist you in the startup of your 1394 and the integration
of your 1394 with the ControlLogix 1756-MxxSE SERCOS interface
module or SoftLogix 1784-PM16SE SERCOS interface PCI card.
Publication 1394-IN024B-EN-P — February 2004
P-2
Preface
Contents of this Manual
Chapter
Title
Contents
Preface
Describes the purpose, background, and scope of this
manual. Also specifies the audience for whom this
manual is intended.
1
Commissioning Your 1394
SERCOS Interface System
Provides steps to follow when configuring your 1394
with the Logix SERCOS interface module and
describes how to apply power to your 1394 SERCOS
interface system for the first time.
2
Troubleshooting Your 1394
SERCOS Interface System
Provides diagnostic aids that help isolate problems
with your 1394 SERCOS interface system.
Interconnect Diagrams
Provides interconnect diagrams for the 1394 SERCOS
interface system.
Appendix A
Related Documentation
The following documents contain additional information concerning
related Allen-Bradley products. To obtain a copy, contact your local
Allen-Bradley office, distributor, or download them from
TheAutomationBookstore.com.
For:
Read This Document:
Publication Number:
The instructions needed for the installation and wiring
of the 1394 SERCOS interface system
1394 SERCOS interface Installation Manual
1394-IN002x-EN-P
A description and specifications for the Ultra3000
family including motors and motor accessories
Motion Control Selection Guide
GMC-SG001x-EN-P
Application sizing and configuration information
Motion Book Servo Sizing CD
Motion Book-mmmyy
More detailed information on the use of ControlLogix
motion features and application examples
ControlLogix Motion Module Programming Manual
1756-RM086x-EN-P
ControlLogix SERCOS interface module installation
instructions
8 or 16 Axis SERCOS interface Module Installation
Instructions
1756-IN572x-EN-P
SoftLogix SERCOS interface PCI card installation
instructions
16 Axis PCI SERCOS interface Card Installation
Instructions
1784-IN041x-EN-P
The instructions needed to program a motion
application
Logix Controller Motion Instruction Set Reference
Manual
1756-RM007x-EN-P
Information on configuring and troubleshooting your
ControlLogix motion module
ControlLogix Motion Module Setup and
Configuration Manual
1756-UM006x-EN-P
Information on configuring and troubleshooting your
SoftLogix PCI card
SoftLogix Motion Card Setup and Configuration
Manual
1784-UM003x-EN-P
Information on proper handling, installing, testing,
and troubleshooting fiber-optic cables
Fiber Optic Cable Installation and Handling
Instructions
2090-IN010x-EN-P
Information, examples, and techniques designed to
minimize system failures caused by electrical noise
System Design for Control of Electrical Noise
Reference Manual
GMC-RM001x-EN-P
For declarations of conformity (DoC) currently
available from Rockwell Automation
Rockwell Automation Product Certification website
www.ab.com/
certification/ce/docs
An article on wire sizes and types for grounding
electrical equipment
National Electrical Code
Published by the National
Fire Protection Association
of Boston, MA.
A glossary of industrial automation terms and
abbreviations
Allen-Bradley Industrial Automation Glossary
AG-7.1
Publication 1394-IN024B-EN-P — February 2004
Preface
Conventions Used in this
Manual
Product Receiving and
Storage Responsibility
P-3
The following conventions are used throughout this manual:
•
Bulleted lists such as this one provide information, not procedural
steps.
•
Numbered lists provide sequential steps or hierarchical
information.
•
Words that you type or select appear in bold.
•
When we refer you to another location, the section or chapter
name appears in italics.
You, the customer, are responsible for thoroughly inspecting the
equipment before accepting the shipment from the freight company.
Check the item(s) you receive against your purchase order. If any
items are obviously damaged, it is your responsibility to refuse
delivery until the freight agent has noted the damage on the freight
bill. Should you discover any concealed damage during unpacking,
you are responsible for notifying the freight agent. Leave the shipping
container intact and request that the freight agent make a visual
inspection of the equipment.
Leave the product in its shipping container prior to installation. If you
are not going to use the equipment for a period of time, store it:
•
in a clean, dry location
•
within an ambient temperature range of 0 to 65° C (32 to 149° F)
•
within a relative humidity range of 5% to 95%, non-condensing
•
in an area where it cannot be exposed to a corrosive atmosphere
•
in a non-construction area
Publication 1394-IN024B-EN-P — February 2004
P-4
Preface
Allen-Bradley Support
Allen-Bradley offers support services worldwide, with over 75 Sales/
Support Offices, 512 authorized Distributors and 260 authorized
Systems Integrators located throughout the United States alone, plus
Allen-Bradley representatives in every major country in the world.
Local Product Support
Contact your local Allen-Bradley representative for:
•
sales and order support
•
product technical training
•
warranty support
•
support service agreements
Technical Product Assistance
If you need to contact Allen-Bradley for technical assistance, please
review the information in Chapter 2 first, then call your local AllenBradley representative or Rockwell Automation Technical Support at
(440)-646-5800. For the quickest possible response, please have the
catalog numbers of your products available when you call. For
Rockwell Automation Technical Support on the web, go to
www.ab.com/support.
Comments Regarding this Manual
To offer comments regarding the contents of this manual, go to
www.ab.com/manuals/gmc and download the Motion Control
Problem Report form. Mail or fax your comments to the address/fax
number given on the form.
Publication 1394-IN024B-EN-P — February 2004
Chapter
1
Commissioning Your 1394 SERCOS Interface
System
Chapter Objectives
This chapter provides you with the information to set up, configure,
and apply power to your 1394 system. This chapter includes:
•
General Startup Precautions
•
Understanding 1394 Connectors
•
Locating System Module Connectors and Indicators
•
Locating Axis Module Connectors and Indicators
•
Locating SERCOS Interface Fiber-Optic Connectors
•
Configuring Your 1394 SERCOS interface System
•
Configuring Your Logix SERCOS interface Module
•
Applying Power to the 1394 SERCOS interface System
•
Testing and Tuning Your Axes
These procedures assume you have completed mounting, wiring, and
connecting your 1394 system and Logix SERCOS interface module as
described in the 1394 SERCOS Interface Installation Manual
(publication 1394-IN002x-EN-P).
Note: Some of the procedures in this chapter include information
regarding integration with other products.
1
Publication 1394-IN024B-EN-P — February 2004
1-2
Commissioning Your 1394 SERCOS Interface System
General Startup
Precautions
The following precautions pertain to all of the procedures in this
chapter. Be sure to read and thoroughly understand them before
proceeding.
ATTENTION
!
ATTENTION
!
Publication 1394-IN024B-EN-P — February 2004
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.
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.
Commissioning Your 1394 SERCOS Interface System
Understanding 1394
Connectors
1-3
The following tables provide a brief description of the 1394
connectors.
System Module Connectors
Present on this 1394
System Module
Description
Connector
Input Power
4-position connector housing
Logic Power
2-position connector housing
Shunt Power
3-position connector housing
Logic, Shunt, and Input Power
Terminal Block
8-position terminal block
Single Point Bond Bar
5-position grounding bar
Motor/Auxiliary Feedback
13-position connector housing
Relay Outputs
10-position connector housing
Analog Outputs
9-position connector housing
Discrete Input
8-position connector housing (4)
SERCOS Transmit and Receive
SERCOS fiber-optic (2)
DPI/SCANport
DPI/SCANport
1394C-SJT05-D /
1394C-SJT10-D
1394C-SJT22-D
1394C-SJT05-D,
1394C-SJT10-D, or
1394C-SJT22-D
Axis Module Connectors
Description
Connector
Motor Power Terminal Block
6-position terminal block
Motor Brake/Thermal (TB1/TB2)
4-position connector housing (2)
Publication 1394-IN024B-EN-P — February 2004
1-4
Commissioning Your 1394 SERCOS Interface System
Locating System Module
Connectors and Indicators
Use the figure below to locate the 1394C-SJT05-D and -SJT10-D
System Module connectors and indicators.
Figure 1.1
1394 System Modules (1394C-SJT05-D and -SJT10-D)
System Module, front view
(1394C-SJT05-D and -SJT10-D is shown)
1394 Digital Servo Controller
SERCOS interfaceTM
!
MORE THAN ONE
DISCONNECT SWITCH
MAY BE REQUIRED TO
DE-ENERGIZE THE
EQUIPMENT BEFORE
SERVICE.
RELAY OUTPUTS
1
DANGER
RISK OF ELECTRICAL SHOCK.
System Module
DRIVE SYSTEM OK
!
OUTPUT 3
Arrow on base address switch
indicates address setting
(factory default setting is 9).
ELECTRICAL SHOCK HAZARD
FROM ENERGY STROAGE
CAPACITORS.
OUTPUT 2
10
DANGER
OUTPUT 1
VERIFY LOW VOLTAGE
DISCHARGE BEFORE
SERVICING.
OUTPUT 0
SEE INSTRUCTIONAL MANUAL.
AXIS 3
Enable3
1394 System Module
Front Cover
1
5
4
8
Home3
Analog Outputs
Connector
Reg3_1
Pos_Otrav3
Neg_Otrav3
- Analog_Out_1
- Analog_Out_2
- Analog_Out_3
- Analog_Out_4
- Common
- N/C
- N/C
- N/C
- N/C
I/O_Com
Reg3_Com
Reg3_2
AXIS 2
Enable2
1
5
Home2
456
Neg_Otrav2
Reg2_Com
Reg2_1
Pos_Otrav2
I/O_Com
4
8
Reg2_2
AXIS 1
Neg_Otrav1
4
8
1
5
4
8
Home0
Neg_Otrav0
I/O_Com
Reg0_2
RELAY OUTPUTS
Relay Outputs
Connector
Pos_Otrav0
901
Reg0_1
Status
Reg1_2
AXIS 0
Enable0
Reg0_Com
System Module
Status LED
4 5
23
I/O_Com
8 09 1
Reg1_1
Pos_Otrav1
23
5
6 7
SERCOS Base Node
Address Switch
SERCOS System Module
1
Home1
78
Enable1
Reg1_Com
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
AXIS 1
- SERCOS
Receive
AXIS 0
Discrete Input
Connectors (4)
AXIS 2
AXIS 3
Network Status LED
3
SERCOS Receive (Rx) Connector
- SERCOS
Transmit
DIP switches set for
8M baud applications
(high power setting)
1
ON
3
OFF
1
2
SERCOS Transmit (Tx) Connector
2
Tie Down Anchor
ON
SERCOS Baud Rate
and Optical Power Switches
OFF
Tie Down Anchor
Single Point
Bond Bar
System Module, bottom view
(1394C-SJT05-D and -SJT10-D is shown)
Shunt Power Connector
DPI/SCANport Connector
Logic Power Connector
Axis 0 Auxiliary Feedback
Input Power Connector
Axis 3 Motor Feedback
(in four axis system) or
Axis 2 Auxiliary Feedback
(in three axis system)
Axis 1 Auxiliary Feedback
Axis 2 Motor Feedback
(in four axis system) or
Axis 3 Auxiliary Feedback
(in two axis system)
Axis 1 Motor Feedback
Axis 0 Motor Feedback
Cable Clamp Grounding Bracket
(one clamp installed)
Note: Power, feedback, and I/O connectors are shown, however for
wiring information, refer to the 1394 SERCOS Interface
Installation Manual (publication 1394-IN002x-EN-P).
Publication 1394-IN024B-EN-P — February 2004
Commissioning Your 1394 SERCOS Interface System
1-5
Use the figure below to locate the 1394C-SJT22-D System Module
connectors and indicators.
Figure 1.2
1394 System Modules (1394C-SJT22-D)
System Module, front view
(1394C-SJT22-D is shown)
1394 Digital Servo Controller
SERCOS interfaceTM
System Module
RELAY OUTPUTS
1
DRIVE SYSTEM OK
OUTPUT 3
OUTPUT 2
OUTPUT 1
10
OUTPUT 0
AXIS 3
5
Neg_Otrav3
Reg3_Com
Reg3_1
I/O_Com
4
8
1
5
Home2
I/O_Com
8
5
Home1
Reg2_2
4
8
4 5
23
I/O_Com
6 7
Reg1_1
Pos_Otrav1
Neg_Otrav1
Reg1_Com
Reg1_2
AXIS 0
Enable0
1
5
4
8
Home0
Reg0_1
Pos_Otrav0
78
1
Neg_Otrav0
Reg0_Com
I/O_Com
Reg0_2
Relay Outputs
Connector
Status
Network Status LED
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Discrete Input
Connectors (4)
Terminal Block for Logic Power, Input Power,
and External Shunt Connections
3
SERCOS Receive (Rx) Connector
2
Tie Down Anchor
ON
3
OFF
2
SERCOS Transmit (Tx) Connector
1
1
System Module
Status LED
456
Pos_Otrav2
Neg_Otrav2
4
AXIS 1
Enable1
23
Reg2_1
SERCOS System Module
Reg3_2
AXIS 2
Enable2
Reg2_Com
SERCOS Base Node
Address Switch
Pos_Otrav3
8 09 1
1394 System Module
Front Cover
1
Home3
901
Analog Outputs
Connector
Enable3
SERCOS Baud Rate
and Optical Power Switches
Single Point
Bond Bar
System Module, bottom view
(1394C-SJT22-D is shown)
DPI/SCANport Connector
Axis 1 Auxiliary Feedback
Axis 0 Auxiliary Feedback
Axis 3 Motor Feedback
(in four axis system) or
Axis 2 Auxiliary Feedback
(in three axis system)
Axis 2 Motor Feedback
(in four axis system) or
Axis 3 Auxiliary Feedback
(in two axis system)
Cable Clamp Grounding Bracket
(one clamp installed)
Axis 1 Motor Feedback
Axis 0 Motor Feedback
Note: Power, feedback, and I/O connectors are shown, however for
wiring information, refer to the 1394 SERCOS Interface
Installation Manual (publication 1394-IN002x-EN-P).
Publication 1394-IN024B-EN-P — February 2004
1-6
Commissioning Your 1394 SERCOS Interface System
Locating Axis Module
Connectors and Indicators
Use the figure below to locate the axis module connectors and
indicators. Shown below are typical 1394C-AM03, -AM04, and -AM07
axis modules. Although the physical size of the 1394C-AM50-xx and
AM75-xx model is larger, the location of the connectors and indicators
is identical.
Figure 1.3
1394 Axis Modules (1394C-AMxx and -AMxx-IH)
Axis Module, front view
(typical)
Axis Enabled LED
Terminator
U1
V1
W1
PE1
PE2
PE3
Motor Power Connections
4
TB1
1
Axis Module, bottom view
(typical)
4
TB2
1
Motor Brake and Thermal Connections
Note: Power and filter connectors are shown, however for wiring
information, refer to the 1394 SERCOS Interface Installation
Manual (publication 1394-IN002x-EN-P).
Publication 1394-IN024B-EN-P — February 2004
Commissioning Your 1394 SERCOS Interface System
Locating SERCOS Interface
Fiber-Optic Connectors
1-7
Use the figure below to locate the SERCOS interface fiber-optic
connectors. The fiber-optic ring is connected using the SERCOS
Receive and Transmit connectors.
Note: Plastic cable is available in lengths up to 32 m (105.0 ft). Glass
cable is available in lengths up to 200 m (656.7 ft).
Figure 1.4
ControlLogix and SoftLogix SERCOS Connector Locations
SERCOS interfaceTM
ABCDE
F 1
45
23 6 7
RSLogix 5000
89
OK
0
CP
ControlLogix
1756-MxxSE SERCOS
interface Module
OK
SoftLogix
1784-PM16SE SERCOS interface PCI Card
(as viewed from the back of your PC)
CP
TX
SERCOS Transmit Connector, Tx
Tx (rear)
Front View
RX
Rx (front)
SERCOS Receive Connector, Rx
Bottom View
SERCOS Receive Connector, Rx (front)
SERCOS Transmit Connector, Tx (rear)
Configuring Your
1394 SERCOS interface
System
These procedures assume you have completed mounting, wiring, and
connecting your SERCOS interface module and 1394 SERCOS interface
drive as described in the 1394 SERCOS Interface Installation Manual
(publication 1394-IN002x-EN-P).
The procedures in this section apply to 1394 SERCOS interface drive
components and describe how to:
• Configure your 1394 system module
• Configure your Logix SERCOS interface module using RSLogix
5000 software
• Download your program to your Logix controller
• Apply power to your 1394 drive components
• Test and tune your motor using RSLogix 5000 software
These procedures assume you have connected the fiber-optic cables
between your 1394 system module and the ControlLogix chassis with
1756-MxxSE interface module or personal computer with 1784PM16SE PCI card.
Publication 1394-IN024B-EN-P — February 2004
1-8
Commissioning Your 1394 SERCOS Interface System
Configuring Your 1394 System Module
To configure your 1394 system module:
1. Verify that there is no 360/480V AC input power or 24V logic
power applied to the system and that the SERCOS fiber-optic
cables are connected to the Tx and Rx connectors. To verify your
fiber-optic cable connections, refer to the 1394 SERCOS Interface
Installation Manual (publication 1394-IN002x-EN-P).
2. Set the base node address for each 1394 controller in your system
by setting the Base Address switch. Refer to the example table
below for switch settings. Refer to figures 1.1 and 1.2 for switch
location. Configurations with up to nine 1394 SERCOS interface
system modules are possible.
For example, if the
number of 1394
SERCOS interface
system modules
you have is:
Set the Base Address switch
for system number:
1 to:
2 to:
3 to:
4 to:
5 to:
6 to:
7 to:
8 to:
9 to:
1
1
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
2
1
2
N/A
N/A
N/A
N/A
N/A
N/A
N/A
3
1
2
3
N/A
N/A
N/A
N/A
N/A
N/A
4
1
2
3
4
N/A
N/A
N/A
N/A
N/A
5
1
2
3
4
5
N/A
N/A
N/A
N/A
6
1
2
3
4
5
6
N/A
N/A
N/A
7
1
2
3
4
5
6
7
N/A
N/A
8
1
2
3
4
5
6
7
8
N/A
9
1
2
3
4
5
6
7
8
9
Note: Base address 0 is used for troubleshooting and not a valid setting for normal operation.
Publication 1394-IN024B-EN-P — February 2004
Commissioning Your 1394 SERCOS Interface System
1-9
Refer to Figure 1.5 for an example of the fiber-optic ring connections
between the 1394 system module(s) and the SoftLogix PCI card.
Although Figure 1.5 only illustrates the SERCOS fiber-optic ring with
the SoftLogix PCI card, node addressing for SoftLogix is done the
same way as shown in the ControlLogix example.
SoftLogix
1784-PM16SE SERCOS
interface PCI Card
0
3456 72
ABCDE
Figure 1.5
Fiber-Optic Ring Connection (SoftLogix)
F 1
89
OK
CP
TX
Transmit
Receive
RX
SERCOS fiber-optic ring
SERCOS System Module
SERCOS System Module
1394 SERCOS
interface System
1394 SERCOS
interface System
Status
Status
DANGER
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Receive
Receive
Transmit
Transmit
Axis 0 of each system module has a node address of the switch setting
times 10 (for example: system number 1 times 10 = 10 and axes 1-3 on
this system are numbered 11, 12, and 13, respectively). Refer to Figure
1.6 for an example of how node addresses are assigned.
Figure 1.6
Axis Module Node Addresses
1756-MxxSE SERCOS interface Module
ControlLogix Chassis
1394 SERCOS interface System
Number 1
SERCOS System Module
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
SERCOS ring
13 = Axis 3 node address
12 = Axis 2 node address
11 = Axis 1 node address
1x10=10 = Axis 0 node address
SERCOS System Module
1394 SERCOS interface System
Number 2
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
SERCOS ring
SERCOS ring
23 = Axis 3 node address
22 = Axis 2 node address
21 = Axis 1 node address
2x10=20 = Axis 0 node address
Publication 1394-IN024B-EN-P — February 2004
1-10
Commissioning Your 1394 SERCOS Interface System
3. Set the baud rate using DIP switches 2 and 3. Refer to the table
below for baud rate switch settings. Refer to figures 1.1 and 1.2 for
DIP switch location.
For this baud rate:
Set switch 2: Set switch 3:
2M baud
OFF
OFF
4M baud
OFF
ON
8M baud
ON
OFF
4. Set the SERCOS optical power level to High using DIP switch 1, as
shown in Figure 1.7. Refer to the table below for optical power
level switch settings. Refer to Figure 1.1 for the optical power
switch location.
For this transmit level:
Set switch 1:
Low
OFF
High
ON
Figure 1.7
SERCOS Baud Rate and Optical Power DIP Switches
DIP switches set for
8M baud applications
(high power setting)
1
ON
OFF
ON
OFF
1
2
2
3
3
DIP switches set for
4M baud applications
(high power setting)
Switch in OFF position
Switch in ON position
Publication 1394-IN024B-EN-P — February 2004
Commissioning Your 1394 SERCOS Interface System
Configuring Your Logix
SERCOS interface Module
1-11
This procedure assumes that you have finished wiring your 1394
SERCOS interface system and have finished configuring the 1394
system module switches.
For greater detail on the RSLogix 5000 software as it applies to
ControlLogix and SoftLogix modules, refer to the table below for the
appropriate publication.
For:
Refer to this Document
Publication Number:
Detailed information on configuring and
troubleshooting your ControlLogix motion module
ControlLogix Motion Module
Setup and Configuration Manual
1756-UM006x-EN-P
Detailed information on configuring and
troubleshooting your SoftLogix PCI card
SoftLogix Motion Card Setup and
Configuration Manual
1784-UM003x-EN-P
If you have already configured your Logix module using one of the
setup and configuration manuals listed above, go directly to Applying
Power to the 1394 SERCOS interface System (page 1-20). If not, go to
Configuring Your Logix Controller beginning below.
Configuring Your Logix Controller
To configure your Logix controller:
1. Apply power to your Logix chassis/PC containing the SERCOS
interface module and open your RSLogix 5000 software.
2. Select New in the File menu. The New Controller window opens.
•
Select controller type
•
Name the file
•
Select the ControlLogix chassis size
•
Select the ControlLogix processor slot
3. Select OK.
4. Select Controller Properties in the edit menu. The Controller
Properties window opens.
Publication 1394-IN024B-EN-P — February 2004
1-12
Commissioning Your 1394 SERCOS Interface System
5. Select the Date and Time tab.
6. Check the box Make this controller the Coordinated System
Time master.
IMPORTANT
7. Select OK.
Publication 1394-IN024B-EN-P — February 2004
Only one ControlLogix processor can be
assigned as the Coordinated System Time master.
Commissioning Your 1394 SERCOS Interface System
1-13
Configuring Your Logix Module
To configure your Logix module:
1. Right-click on I/O Configuration in the explorer window and
select New Module. The Select Module Type window opens.
2. Select 1756-MxxSE or 1784-PM16SE as appropriate for your
actual hardware configuration.
3. Select OK. The Module Properties wizard opens.
•
Name the module
•
Select the slot where your module resides
•
Select an Electronic Keying option.
4. Select Next until the following screen opens.
Publication 1394-IN024B-EN-P — February 2004
1-14
Commissioning Your 1394 SERCOS Interface System
5. Select Data Rate, Cycle Time, and Optical Power settings.
•
Ensure the Data Rate setting matches DIP switches 2 and 3
(baud rate) as set on the system module, or use the Auto
Detect setting.
•
Set the Cycle Time according to the table below.
Logix SERCOS
1394 SERCOS interface
Module
System Module Series
1756-M08SE
(Series A)
C or D
1756-M08SE
(Series B)
D only
Data
Rate
Mbit/s
4
8
SERCOS Ring
Cycle Time
ms
Number
of Axes
0.5
N/A
1.0
up to 4
2.0
up to 8
0.5
N/A
1.0
2.0
C or D
4
1756-M16SE or
1784-PM16SE
D only
•
8
0.5
N/A
1.0
up to 4
2.0
up to 8
0.5
N/A
1.0
up to 8
2.0
up to 16
Ensure the Optical Power setting (high or low) matches DIP
switch 1 as set on the system module.
6. Select Finish. Your new module appears under the I/O
Configuration folder in the explorer window.
7. Repeat steps 1-6 for each Logix module.
Publication 1394-IN024B-EN-P — February 2004
up to 8
Commissioning Your 1394 SERCOS Interface System
1-15
Configuring Your 1394 System Module
To configure your 1394 system module:
1. Right-click on the new module you just created and select New
Module. The Select Module Type window opens.
2. Select your 1394C-SJTxx-D system module.
3. Select OK. The Module Properties window opens.
•
Name the module
•
Set the Base Node address
Note: Set node address in the software to match the node
setting on the drive. Refer to Configuring Your 1394
System Module, step 2, page 1-8.
•
Select an Electronic Keying option
4. Select Next until the following window opens.
5. Select the New Axis button. The New Tag window opens.
6. Provide/Select the following New Tag attributes:
•
Axis name
•
AXIS_SERVO_DRIVE as the Data Type
7. Select OK.
8. Repeat steps 5 and 6 for each axis. The axes appear under the
Ungrouped Axes folder in the explorer window.
Publication 1394-IN024B-EN-P — February 2004
1-16
Commissioning Your 1394 SERCOS Interface System
9. Assign each axis to a node address (as shown in the window
below).
10. Select Next until the following widow opens.
11. Select the Bus Regulator Catalog Number (shunt option) as
appropriate for your actual hardware configuration.
If your hardware configuration
includes this shunt option:
Then select:
1394C-SJT05-D or -SJT10-D with internal
shunt only
Internal or <none>
1394C-SJT05-D or -SJT10-D with optional
external shunt
1394-SR10A
1394C-SJT22-D with required external
shunt
1394-SR9A, -SR9AF,
-SR36A, or -SR36AF
12. Select Finish.
13. Repeat steps 1-12 for each 1394 system module. The axes appear
under the Ungrouped Axes folder in the explorer window.
Publication 1394-IN024B-EN-P — February 2004
Commissioning Your 1394 SERCOS Interface System
1-17
Configuring the Motion Group
To configure the motion group:
1. Right-click Motion Groups in the explorer window and select New
Motion Group. The New Tag window opens.
2. Name new motion group.
3. Select OK. New group appears under Motion Groups folder.
4. Right-click on the new motion group and select Properties. The
Motion Group Properties window opens.
5. Select the Axis Assignment tab and move your axes (created
earlier) from Unassigned to Assigned.
6. Select the Attribute tab and edit the default values as appropriate
for your application.
7. Select OK.
Publication 1394-IN024B-EN-P — February 2004
1-18
Commissioning Your 1394 SERCOS Interface System
Configuring Axis Properties
To configure axis properties:
1. Right-click on an axis in the explorer window and select
Properties. The Axis Properties window opens.
2. Select the Drive/Motor tab.
•
Set the Amplifier (system module) Catalog Number
•
Set the Motor Catalog Number
•
Set Loop Configuration to Position Servo
Note: For amplifier and motor catalog numbers refer to the
amplifier and motor name plate.
3. Select the Motor Feedback tab and verify the Feedback Type
shown is appropriate for your actual hardware configuration.
4. Select the Units tab and edit default values as appropriate for your
application.
5. Select the Conversion tab and edit default values as appropriate
for your application.
Publication 1394-IN024B-EN-P — February 2004
Commissioning Your 1394 SERCOS Interface System
1-19
6. Select the Fault Actions tab and click on the Set Custom Stop
Action... tab. The Custom Stop Action Attributes window opens.
•
Set the Brake Engage Delay Time (refer to Brake Interconnect
Diagrams in Appendix A for specific values).
•
Set the Brake Release Delay Time (refer to Brake Interconnect
Diagrams in Appendix A for specific values).
•
Select Close.
7. Select OK.
8. Repeat steps 1-7 for each 1394 axis module.
9. Verify your Logix program and save the file.
Downloading Your Program
After completing the Logix configuration you must download your
program to the Logix processor.
Publication 1394-IN024B-EN-P — February 2004
1-20
Commissioning Your 1394 SERCOS Interface System
Applying Power to the 1394
SERCOS interface System
This procedure assumes that you have wired your 1394 SERCOS
interface system, your SERCOS interface module and verified the
wiring. To apply power to your 1394 system:
1. Apply 24V logic power to the system module and verify that the
logic power voltage at the input terminals of the system module is
24V AC (or 24V DC) ±10%.
2. Observe the status LED on the system module.
If the system module
LED:
Do This:
Alternates red and green
System module ready.
Go to step 3.
Does not alternate red
and green
Go to the chapter Troubleshooting
Your 1394 SERCOS Interface System.
3. Observe the three SERCOS LEDs on the SERCOS interface module.
If the three SERCOS
LEDs:
Then:
Flash green and red
Establishing communication (wait
for steady green on all three LEDs).
Illuminates steady green
Communication ready.
Go to step 4.
Is not flashing or steady
green
Go to the appropriate Logix motion
module setup and configuration
manual for specific instructions and
troubleshooting.
4. Observe the network status LED on the system module.
If the network status
LED:
Publication 1394-IN024B-EN-P — February 2004
Then:
Flashes green
Establishing communication (wait
for steady green).
Illuminates steady green
Communication ready.
Go to step 5.
Is not flashing or steady
green
Go to the chapter Troubleshooting
Your 1394 SERCOS Interface System.
Commissioning Your 1394 SERCOS Interface System
1-21
5. Observe the status LEDs on the axis modules.
If the axis module
LED:
Then:
Alternates red and
green
Axis module ready. Go to step 7.
Does not alternates red
and green
Go to the chapter Troubleshooting Your
1394 SERCOS Interface System.
6. Disconnect the load from the motor(s).
ATTENTION
!
To avoid personal injury or damage to
equipment, disconnect the load from the
motor(s). Ensure each motor is free of all
linkages when initially applying power to the
system.
7. Apply main input power.
8. Verify that the main input phase-to-phase voltage is present at the
input terminals of the system module or at the user-supplied input
contactor.
If the voltage
measured between
terminals:
U and W
Is:
Then:
324-528V ac
Go to step 9.
Not within
324-528V ac
Go to the chapter
Troubleshooting Your
1394 SERCOS Interface
System.
Is:
Then:
324-528V ac
Go to step 10.
Not within
324-528V ac
Go to the chapter
Troubleshooting Your
1394 SERCOS Interface
System.
9.
If the voltage
measured between
terminals:
V and W
Publication 1394-IN024B-EN-P — February 2004
1-22
Commissioning Your 1394 SERCOS Interface System
10. Observe the status LED on the system module.
If the system module
LED:
Then:
Is flashing green
System module is ready.
Go to step 11.
Is not flashing green
Go to the chapter Troubleshooting
Your 1394 SERCOS Interface System.
11. Observe the status LED on the axis modules.
Testing and Tuning Your
Axes
If the axis module LED:
Then:
Is flashing green
Axis module is ready.
Go to the section Testing and
Tuning Your Axes.
Is not flashing green
Go to the chapter Troubleshooting
Your 1394 SERCOS Interface System.
This procedure assumes that you have configured your 1394 SERCOS
interface system, your SERCOS interface module, and applied power
to the system.
IMPORTANT
Before proceeding with testing and tuning your axes,
verify that the system and axis status LEDs are as
described in the table below.
Status LED:
Must be:
Status:
System Module (on front cover)
Flashing green
System module is ready.
Axis Module
Flashing green
Axis module is ready.
Network (inside front cover)
Illuminates steady green
Communication ready.
For greater detail on the RSLogix 5000 software as it applies to
ControlLogix and SoftLogix modules, refer to the table below for the
appropriate publication.
For:
Refer to this Document
Publication Number:
Detailed information on configuring and
troubleshooting your ControlLogix motion module
ControlLogix Motion Module
Setup and Configuration Manual
1756-UM006x-EN-P
Detailed information on configuring and
troubleshooting your SoftLogix PCI card
SoftLogix Motion Card Setup and
Configuration Manual
1784-UM003x-EN-P
If you have already tested and tuned your axes using one of the setup
and configuration manuals listed above, you are finished
commissioning your 1394 SERCOS interface system. If not, go to
Testing Your Axes beginning below.
Publication 1394-IN024B-EN-P — February 2004
Commissioning Your 1394 SERCOS Interface System
1-23
Testing Your Axes
To test your axes:
1. Verify the load was removed from each axis.
2. Right-click on an axis in your Motion Group folder in the explorer
window and select Axis Properties. The Axis Properties window
appears.
3. Select the Hookup tab.
4. Select 2.0 as the number of revolutions for the test (or another
number more appropriate for your application).
This Test:
Performs this Test:
Test Marker
Verifies marker detection capability
as you manually rotate the motor
shaft.
Test Feedback
Verifies feedback connections are
wired correctly as you manually
rotate the motor shaft.
Test Command &
Feedback
Verifies motor power and feedback
connections are wired correctly as
you command the motor to rotate.
Also, allows you to define polarity.
Publication 1394-IN024B-EN-P — February 2004
1-24
Commissioning Your 1394 SERCOS Interface System
5. Apply ENABLE input signal (Axis_x pin 1) for the axis you are
testing.
ATTENTION
!
To avoid personal injury or damage to
equipment, apply 24V ENABLE signal (Axis_x
pin 1) only to the axis you are testing.
6. Select the Test (Marker/Feedback/Command & Feedback) button
to verify connections. The Online Command window opens.
Follow the on-screen test instructions. When the test completes,
the Command Status changes from Executing to Command
Complete.
7. Select OK.
8. The Online Command - Apply Test window opens (Feedback and
Command & Feedback tests only). When the test completes, the
Command Status changes from Executing to Command Complete.
Publication 1394-IN024B-EN-P — February 2004
Commissioning Your 1394 SERCOS Interface System
1-25
9. Select OK.
If:
Then:
Your test completes successfully, this window 1. Select OK.
appears:
2. Remove the ENABLE input signal
(Axis_x pin 1) applied earlier.
3. Go to Tuning Your Axes.
1. Select OK.
Your test failed, this widow appears:
2. Verify that the main three-phase
bus power is up.
3. Verify that the ENABLE input
signal (Axis_x pin 1) is applied to
the axis you are testing.
4. Verify conversion constant entered
in the Conversion tab.
5. Return to step 6 and run the test
again.
Publication 1394-IN024B-EN-P — February 2004
1-26
Commissioning Your 1394 SERCOS Interface System
Tuning Your Axes
To tune your axes:
1. Verify the load is still removed from the axis being tuned.
ATTENTION
!
To reduce the possibility of unpredictable motor
response, tune your motor with the load
removed first, then re-attach the load and
perform the tuning procedure again to provide
an accurate operational response.
2. Select the Tune tab.
3. Enter values for Travel Limit and Speed. In this example, Travel
Limit = 5 and Speed = 2.
Note: Actual value of programmed units depend on your
application. For more information, contact Allen-Bradley
technical support.
4. Check Tune boxes as appropriate for your application.
5. Apply ENABLE input signal (Axis_x pin 1) for the axis you are
tuning.
ATTENTION
!
Publication 1394-IN024B-EN-P — February 2004
To avoid personal injury or damage to
equipment, apply 24V ENABLE signal (Axis_x
pin 1) only to the axis you are tuning.
Commissioning Your 1394 SERCOS Interface System
1-27
6. Select the Start Tuning button to auto-tune your axis. The Online
Command - Tune Servo window appears. When the test
completes, the Command Status changes from Executing to
Command Complete.
7. Select OK. The Tune Bandwidth window opens.
Note: Actual bandwidth values (Hz) depend on your application
and may require adjustment once motor and load are
connected.
Record your bandwidth data for future reference.
8. Select OK.
9. The Online Command - Apply Tune window opens. When the test
completes, the Command Status changes from Executing to
Command Complete.
Publication 1394-IN024B-EN-P — February 2004
1-28
Commissioning Your 1394 SERCOS Interface System
10. Select OK.
If:
Then:
Your test completes successfully, this window
appears:
1. Select OK.
2. Remove the ENABLE input signal
(Axis_x pin 1) applied earlier.
3. Go to step 11.
Your test failed, this widow appears:
1. Select OK.
2. Make an adjustment to motor
velocity.
3. Refer to appropriate Logix motion
module setup and configuration
manual for more information.
4. Return to step 6 and run the test
again.
11. Repeat Testing and Tuning Your Axes for each axis.
Publication 1394-IN024B-EN-P — February 2004
Chapter
2
Troubleshooting Your 1394 SERCOS Interface
System
Chapter Objectives
1
This chapter covers:
•
Safety Precautions
•
Understanding How to Detect a Problem
•
Troubleshooting System and Axis Module LEDs
•
Troubleshooting the SERCOS Network Status LED
•
Troubleshooting General System Problems
•
Troubleshooting System and Axis Module Faults
•
Troubleshooting General System Problems
•
Understanding Logix/Drive Fault Behavior
•
Supplemental Troubleshooting Information
•
Replacing System and Axis Modules
Publication 1394-IN024B-EN-P — February 2004
2-2
Troubleshooting Your 1394 SERCOS Interface System
Safety Precautions
Observe the following safety precautions when troubleshooting your
1394 SERCOS interface system.
ATTENTION
!
DC bus capacitors may retain hazardous voltages
after input power has been removed, but will
normally discharge in several seconds. Before
working on the drive, measure the DC bus voltage to
verify it has reached a safe level or wait the full time
interval listed on the warning on the front of the
drive. Failure to observe this precaution could result
in severe bodily injury or loss of life.
Do not attempt to defeat or override the drive fault
circuits. You must determine the cause of a fault and
correct it before you attempt to operate the system. If
you do not correct a drive or system malfunction, it
could result in personal injury and/or damage to
equipment as a result of uncontrolled machine
system operation.
If you use an oscilloscope (or chart recorder) for
troubleshooting, you must properly ground it. The
oscilloscope chassis can be at a potentially fatal
voltage if you do not properly ground it. Always
connect the oscilloscope chassis to an earth ground.
Understanding How to
Detect a Problem
When a drive fault occurs, the LED on the front panel changes and a
fault message is transmitted to the position controller.
The majority of 1394 faults cause the Drive System OK contact to
open. If a drive fault occurs, you can reset the fault detection circuitry
by removing and reapplying logic power. However, if it is a hardware
fault, you need to correct the fault before restarting.
IMPORTANT
You can also reset a fault condition using RSLogix
5000 software.
This material, along with the diagnostic/troubleshooting information
included with the position controller, will help you identify most
common system malfunctions and determine which module that
problem pertains to.
Publication 1394-IN024B-EN-P — February 2004
Troubleshooting Your 1394 SERCOS Interface System
Troubleshooting System
and Axis Module LEDs
2-3
The system module Status LED is visible from the front of the module.
Refer to figures 1.1 and 1.2 for the location of the system module
status LED.
If the System Module LED is:
Steady red
Flashing red
Alternating red and green
Steady green
Flashing green
Not illuminated
Potential Cause is:
Possible Resolution is:
Terminator not installed.
• Install terminator.
Malfunctioning system module.
• Verify wiring.
• Secure wiring connections.
• Replace the module.
• Check logic supply ratings.
• Contact your local Allen-Bradley
Support Representative.
A fault has occurred in the system
(check for faults through the RSLogix
5000, DriveExplorer, or the HIM).
• Reset faults.
• Verify wiring.
• Secure wiring connections.
• Check SERCOS fiber-optic
connections.
DC bus is not up.
Apply three-phase power.
Open fuse or malfunctioning contactor
on user-supplied 3 phase input.
• Check wiring to start/stop circuitry.
• Check the user program.
• Check fuse.
Malfunctioning system module.
Replace the module.
The bus is up and axes are enabled.
None needed.
The bus is up, but no axis is enabled.
• Check axes and enable them, if
necessary.
• Verify that enable wiring is correct
and not open.
Enable signal from position controller
is not present.
• Check axes and enable them, if
necessary.
• Verify that enable wiring is correct
and not open.
• Check I/O connections on control
board.
Controller has detected a machine
system malfunction and will not enable
the 1394.
• Check controller.
• Check the machine.
There is no power to the system
module.
• Check 24V ac/dc logic power
supply.
• Check main ac input power supply.
Publication 1394-IN024B-EN-P — February 2004
2-4
Troubleshooting Your 1394 SERCOS Interface System
The axis module status LED is visible from the front of the module.
Refer to Figure 1.3 for the location of the axis module status LED.
If the Axis Module LED is:
Potential Cause is:
Possible Resolution is:
Malfunctioning axis module.
• Verify wiring.
• Verify that the slider and
terminator connections are secure.
• Secure wiring connections.
• Replace the module.
Flashing red
Axis fault has occurred.
• Verify wiring.
• Secure wiring connections.
• Check fault status on the
controller.
• Check main ac input power.
• Check axis status on the controller.
• Verify that the terminator is
present on the last axis.
Alternating red and green
DC bus is not up.
• Check the system module LED.
• Check slider connections to verify
that they are properly seated.
Steady green
The bus is up and axes are enabled.
None needed.
Axis is not enabled.
• Check axes and enable them, if
necessary.
• Verify that enable wiring is correct
and not open.
Enable signal from controller is not
present.
• Check axes and enable them, if
necessary.
• Verify that enable wiring is correct
and not open.
Incorrect wiring or loose connections.
Check I/O connections on the control
board.
Axis setups may not be correct for the
application.
• Verify that axis definitions are
correct.
• Check tuning parameters.
There is no power to the axis module.
• Verify that the slider connections
are secure.
• Verify that the terminator is secure
on the last axis.
There is no power to the system.
• Check system module power
supply.
• Verify that the terminator is
present on the last axis.
Steady red
Flashing green
Not illuminated
Publication 1394-IN024B-EN-P — February 2004
Troubleshooting Your 1394 SERCOS Interface System
2-5
Troubleshooting the
SERCOS Network Status
LED
The SERCOS Network Status LED is located on the system module
control board and visible with the system module door open. Refer to
figures 1.1 and 1.2 for the location of the SERCOS Network Status
LED.
If the SERCOS
Network Status
LED is:
Status is:
Potential Cause is:
Possible Resolution is:
Steady Green
Communication ready
No faults or failures.
System is ready.
Control board failure.
• Cycle power.
• Replace system module.
Hardware failure.
Replace system module.
System is still in the process of establishing
SERCOS communication.
Wait for steady green LED status.
Node address setting on the 1394 system module
does not match SERCOS controller configuration.
Verify proper SERCOS base address switch
setting (refer to figures 1.1 and 1.2 for switch
location).
Loose fiber-optic connection.
Verify proper fiber-optic cable connections.
Dirty fiber-optic cable connectors.
Remove foreign material from connector.
Broken fiber-optic cable.
Replace fiber-optic cable.
Steady Orange
Flashing Green
Flashing Red
Control board failure
Establishing
communication
No communication 1
Weak fiber-optic signal due to long fiber-optic cable. Set SERCOS transmit level to HIGH.
1
Distorted fiber-optic signal due to short fiber-optic
cables.
Decrease SERCOS transmit level of previous
device in SERCOS ring.
Receive fiber-optic cable connected to SERCOS
transmit connector and visa versa.
Check proper SERCOS fiber-optic cable
connections.
Refer to Fiber Optic Cable Installation and Handling Instructions (publication 2090-IN010A-EN-P) for more
information.
Publication 1394-IN024B-EN-P — February 2004
2-6
Troubleshooting Your 1394 SERCOS Interface System
Troubleshooting System
and Axis Module Faults
Fault messages are transmitted to the SERCOS controller through the
SERCOS ring and/or SCANport. The tables on the following pages
provide a description of system and axis module faults, the potential
cause, and possible resolutions.
Note: Fault messages are shown as seen in RSLogix software (bold)
and when using the HIM or DriveExplorer (not bold).
System Module Faults
Use the table below for troubleshooting system module faults.
Fault Message
RSLogix (HIM):
DriveOvercurrent
Fault
Description:
The DC bus voltage is above
limits. If it exceeds (830V
dc), a fault is sensed and
the power supply is
disabled.
(Bus Overvoltage)
DriveUndervoltage
Fault
(Bus Precharge)
DriveUndervoltage
Fault
(Bus Undervoltage)
DriveHardFault
(Can Init)
Possible Resolution is:
Motor or transmission malfunction.
• Check for proper motor sizing.
• Check/replace transmission device.
• Check/replace motor.
System module not properly sized.
• Check for proper system module sizing.
• Install larger kW rated system module.
If this fault occurs when you power up the system
module with the M-contactor, the power
distribution impedance might be stiff or line
voltage might be too high.
• Perform line conditioning.
• Verify that line voltage is within
specifications.
The position controller acceleration / deceleration
rate is incorrectly set.
Change the command profile to reduce speed
or increase time.
The system inertia is too high causing excessive
energy to be returned to the power supply bus.
• Change the command profile to reduce
speed or increase time.
• Use a larger external shunt resistor.
A vertical axis with insufficient counterbalancing
is overdriving the servo motor and causing
excessive energy to be returned to the power
supply bus.
• Use the external shunt resistor.
• Increase the mechanical
counter-balance on the machine.
Input line voltage exceeds the maximum input
voltage rating.
Verify incoming main ac input voltage and
change the supply source, if needed.
Power Driver Board is malfunctioning and is
incorrectly sensing the bus voltage.
Replace the system module.
The shunt regulator or transistor has
malfunctioned.
Replace the system module.
External shunt regulator fuse has blown.
Check and possibly replace the shunt resistor.
Shunt type not selected properly.
Select proper shunt type.
The precharge circuit has malfunctioned.
• Check main ac line voltage.
• Check fusing.
• Replace the system module.
System module exceeded
current rating.
(Bus Overcurrent)
DriveOvervoltage
Fault
Potential Cause is:
Bus Voltage Operation
Shunt turns on at
805V dc.
Shunt turns off at
750V dc.
Over voltage trip point is
825V dc.
Under voltage trip point is
275V dc.
Under voltage fault clears
at 300V dc.
The system module precharge cycle has failed.
The DC power bus activates
undervoltage limit when the The voltage on the main ac input power is low.
bus drops to 275V dc or
less. It will clear at 300V dc.
• Verify incoming AC voltage and change
the supply source, if needed.
• Check fusing.
SCANport hardware
initialization fault detected.
• Cycle all input power.
• If fault persists, replace system module.
Publication 1394-IN024B-EN-P — February 2004
Control board hardware failure.
Troubleshooting Your 1394 SERCOS Interface System
Fault Message
RSLogix (HIM):
DriveHardFault
(Contactor Fault)
MotFeedbackFault
(Fdbk Watch Dog)
GroundShortFault
(Ground Short)
DriveHardFault
(IDMA Load)
Description:
Three-phase power is either
detected when it shouldn’t
be or not detected when it
should be.
A feedback hardware or
software fault detected.
Excessive ground current in
the system module was
detected.
Motor feedback hardware
initialization fault detected.
Potential Cause is:
Possible Resolution is:
The contactor is welded or failed to open.
• Correct wiring.
• Replace the contactor.
The input wiring to your contactor is incorrect.
Correct wiring.
The feedback processor has faulted.
• Cycle all input power.
• If fault persists, replace system module.
Incorrect wiring.
• Verify motor and ground wiring.
• Replace cables.
Motor malfunction.
Check the resistance of each motor winding
phase to case ground with an ohm meter.
Readings should be in mega ohms.
Axis Module IGBT malfunction.
Replace the axis module.
Short to ground.
• Replace the system or axis module.
• Check grounding and incoming power
wiring.
Control board hardware failure.
• Cycle all input power.
• If fault persists, replace system module.
Incorrect motor feedback wiring.
DriveHardFault
(Memory Init)
DriveHardFault
(NV Mem Init)
DriveHardFault
(Objects Init)
PowerPhaseLoss
Fault
(Phase Loss Flt)
DriveHardFault
(SCANport Comm)
SERCOSFault
(SERCOS Ring Flt)
DriveHardFault
(SERCOS Init)
DriveHardFault
(Serial Ring Init)
Memory hardware
initialization fault detected.
2-7
Improper feedback cable clamp attachment.
• Load default parameters, save to nonvolatile memory, and recycle power.
• Reset the drive.
• Replace the system module.
Control board hardware failure.
• Cycle all input power.
• If fault persists, replace system module.
Control board software error.
• Load default parameters, save to nonvolatile memory, and recycle power.
• Reset the drive.
• Replace the system module.
Control board hardware failure.
• Load default parameters, save to nonvolatile memory, and recycle power.
• Reset the drive.
• Replace the system module.
One or more input line fuses have opened.
Check fuses and replace, as necessary.
Input line contactor malfunction.
• Correct wiring.
• Replace contactor.
Incorrect wiring.
Check main ac input power at system module.
SCANport/DPI
Communication Failed.
The SCANport/DPI device or cable is faulty.
Check SCANport/DPI connections.
SERCOS ring not active
after being active and
operational.
SERCOS ring is physically broken.
• Check fiber optic cable connections.
• Replace fiber optic cable.
ControlLogix program is downloaded during
operation (this causes SERCOS ring to cycle).
Wait for SERCOS ring to cycle and fault to
reset.
Control board hardware failure.
• Cycle all input power.
• If fault persists, replace system module.
Terminator is not installed.
• Verify that the slider and terminator
connections are secure.
System module failure.
Replace the system module.
Non-volatile memory is
corrupt.
Non-volatile memory is
corrupt.
The three-phase input line
is monitored and a fault will
be issued whenever a
phase loss is detected.
SERCOS hardware
initialization fault detected.
Intermodule serial
communication failed.
Publication 1394-IN024B-EN-P — February 2004
2-8
Troubleshooting Your 1394 SERCOS Interface System
Fault Message
RSLogix (HIM):
Description:
SERCOSFault
(SERCOS Same Addr)
Duplicate node address detected on SERCOS ring.
Verify that each SERCOS drive is assigned a
unique node address.
Shunt resistor continuous
rating exceeded.
The regenerative energy produced by the motor
exceeded the limit of the shunt resistor.
• Use a properly sized shunt or modify duty
cycle of the application.
• System uses internal shunt and requires
external shunt for additional capacity.
The fan on the system module or an axis module
failed.
Replace the system or axis module.
The cabinet ambient temperature is above rating.
Check the cabinet temperature.
The machine duty cycle requires an RMS current
exceeding the continuous rating of the controller.
Change the command profile to reduce speed
or increase time.
Changes in mechanics have occurred causing an
increased torque output for the application move
profiles.
• Check mechanics for improper operation.
• Verify operating torque.
The airflow access to the 1394 is limited or
blocked.
Check airflow and re-route cables away from
the 1394.
Active when serial ring
detects unknown system
module.
Unknown system module.
Replace the system module.
Software initialization fault
detected.
Control board hardware failure.
• Cycle all input power.
• If fault persists, replace system module.
Fault is detected but source
is unknown.
Wrong version of software for the hardware or
loose internal or external connection.
• Check system terminator.
• Reset drive.
DriveOvervoltage
Fault
Potential Cause is:
(Shunt Time Out)
DriveOvertemp
Fault
(Sys Overtemp)
DriveHardFault
(Sys Mod Unknown)
DriveHardFault
(Task Init)
DriveHardFault
(Unknown Fault)
The 1394 thermal sensor
tripped when internal
ambient temperature
exceeded rating.
Publication 1394-IN024B-EN-P — February 2004
Possible Resolution is:
Troubleshooting Your 1394 SERCOS Interface System
2-9
Axis Module Faults
Use the table below for troubleshooting axis module faults.
Fault Message
RSLogix (HIM):
No Fault Message
(condition indicated
by on-screen
message)
Description:
Potential Cause is:
Possible Resolution is:
Auto tune procedure failed
to complete successfully.
Motor or feedback device malfunction.
• Check motor power/feedback wiring.
• Refer to on-screen message for resolution.
Hookup procedure failed to
complete successfully.
Motor or feedback device malfunction.
• Check motor power/feedback wiring.
• Refer to on-screen message for resolution.
Active when serial ring
detects unknown axis
module.
Unknown axis module.
• Check the slider connections.
• Replace the axis module.
(Ax: ATune Flt)
No Fault Message
(condition indicated
by on-screen
message)
(Axis x Hookup
Fault)
DriveHardFault
(Axis x Unknown)
• Use shielded cables with twisted pair
wires.
AuxFeedbackFault
(Ax: Aux Fdbk AQB)
Auxiliary Encoder State
Error
Auxiliary encoder has encountered an illegal
state transition.
• Route the feedback away from potential
noise sources.
• Check the system grounds.
• Replace the motor/encoder.
AuxFeedbackFault
(Ax: Aux Fdbk Comm)
AuxFeedbackFault
(Ax: Aux Fdbk Loss)
AuxFeedback
NoiseFault
Drive unable to
communicate with
auxiliary Smart feedback
device.
The feedback wiring is
open, shorted, or missing.
Excessive noise detected
on feedback signals.
The auxiliary encoder feedback signal is lost.
• Check auxiliary feedback wiring.
• Reset faults.
Open or short circuit has occurred on feedback
wiring.
Check the feedback cable connectors/wiring
to the system module and motor.
The feedback wiring or termination to system
module is incorrect.
Check the feedback cable connectors/wiring
to the system module and motor.
Motor feedback failure.
Replace the motor feedback.
Poor grounding.
• Check ground clamp connectors.
• Check system module grounding.
The slider connections may not be secure.
Check slider connections.
An axis module’s bus link fuse has blown.
Replace the axis module.
Power module malfunction.
Replace the axis module.
• An attempt was made to enable the axis
through software while the Drive Enable
hardware input was inactive.
• Disable the Drive Enable Input fault.
(Ax: Aux Fdbk Noise)
DriveUndervoltage
Fault
The DC bus supply to the
axis module was lost.
(Ax: Bus Loss)
DriveOvercurrent
Fault
(Ax: Desat)
DriveEnableInput
Fault
(Drive Enable Flt)
Too much current in the
axis module.
Missing Drive Enable Input
Signal
• The Drive Enable input transitioned from
active to inactive while the axis was enabled.
• Verify that Drive Enable hardware input is
active whenever the drive is enabled
through software.
Publication 1394-IN024B-EN-P — February 2004
2-10
Troubleshooting Your 1394 SERCOS Interface System
Fault Message
RSLogix (HIM):
PositionErrorFault
(Ax: Follow Error)
DriveOvercurrent
Fault
(Ax: I(t) Fault)
PosSoftOvertravel
Fault
(Ax: +Soft Ovrtrvl)
NegSoftOvertravel
Fault
(Ax: -Soft Ovrtrvl)
PosHardOvertravel
Fault
Description:
Potential Cause is:
Possible Resolution is:
Axis position error limit
has been exceeded. This
fault can be configured for
status only.
The motor cannot keep up with the position
command.
• Check motor load for binding.
• Increase position loop proportional gain.
• Increase the allowable following error.
Accel/decel command from position controller is
requiring peak current for an excessive amount of
time.
Change the command profile to reduce speed
or increase time.
The machine friction, inertial load, and/or viscous
load is excessive.
• Change the command profile to reduce
speed or increase time.
• Check for mechanical problems on the
machine.
The motor has been improperly sized.
• Check motor size for your application.
• Contact your Allen-Bradley Support
Representative.
A short circuit exists across the drive output
terminals.
Check wiring between the axis and the motor.
Logic supply circuits have malfunctioned or AC
output is incorrectly wired.
• Check wiring between the axis and the
motor.
• Check power wiring between the axis and
the motor.
• Check resolver wiring between the system
module and the motor.
Axis position exceeded
maximum software
positive travel limit.
Positive travel limit set too high.
• Jog motor to within limits.
• Increase travel range limits.
Axis position exceeded
maximum software
negative travel limit.
Negative travel limit set too low.
• Jog motor to within limits.
• Increase travel range limits.
Axis tripped positive hard
overtravel limit switch.
Axis moved beyond the physical travel limits.
• Disable checking and jog motor to within
limits.
• Move motor manually to within limits.
Axis tripped negative hard
overtravel limit switch.
Axis moved beyond the physical travel limits.
• Disable checking and jog motor to within
limits.
• Move motor manually to within limits.
The output current is
exceeding the time-current
rating.
(Ax: +Hard Ovrtrvl)
NegHardOvertravel
Fault
(Ax: -Hard Ovrtrvl)
• Use shielded cables with twisted pair
wires.
MotFeedbackFault
(Ax: Mtr Fdbk AQB)
Motor Encoder State Error
Motor encoder has encountered an illegal state
transition.
• Route the feedback away from potential
noise sources.
• Check the system grounds.
• Replace the motor/encoder.
MotFeedbackFault
(Ax: Mtr Fdbk Comm)
MotFeedbackFault
(Ax: Mtr Fdbk Loss)
Communication was not
established with an
intelligent (i.e. Stegmann)
encoder.
The feedback wiring is
open, shorted, or missing.
Publication 1394-IN024B-EN-P — February 2004
The encoder feedback signal is lost.
• Check motor feedback wiring
• Reset faults
Open or short circuit has occurred on feedback
wiring.
Check the feedback cable connectors/wiring
to the system module and motor.
The feedback wiring or termination to system
module is incorrect.
Check the feedback cable connectors/wiring
to the system module and motor.
The motor feedback might be bad.
Replace the motor feedback.
Troubleshooting Your 1394 SERCOS Interface System
Fault Message
RSLogix (HIM):
MotFeedback
NoiseFault
Description:
Potential Cause is:
Possible Resolution is:
Excessive noise detected
on feedback signals.
Poor grounding.
• Check ground clamp connectors.
• Check system module grounding.
The motor thermal switch
was tripped.
Motor overload.
• Allow motor to cool down and investigate
the cause of the motor overload.
• Motor not sized properly.
Motor velocity exceeded
the overspeed trip limit.
Axis speed has reached 150% of the maximum
rated setting. The 100% trip point is dictated by
the lesser of the user velocity limits or the motor
maximum speed rating.
• Verify operating parameters.
• Verify application requirements.
The fan on the system module or an axis module
failed.
Replace the system or axis module.
The cabinet ambient temperature is above rating.
Check the cabinet temperature.
The machine duty cycle requires an RMS current
exceeding the continuous rating of the controller.
Change the command profile to reduce speed
or increase time.
The airflow access to the 1394 is limited or
blocked.
Check airflow and re-route cables away from
the 1394.
The motor lead has shorted.
• Check the motor cable.
• Check the resistance of each power phase
wire to ground. It should be Mega ohms.
• Make sure ferrite cores are not installed
on motor power conductors.
The motor is malfunctioning.
• Check the resistance of each motor
winding phase to case ground with an
ohm meter. Readings should be in Mega
ohms.
• Return motor for repairs.
Power IGBTs are malfunctioning.
Replace the axis module.
(Ax: Mtr Fdbk Noise)
MotorOvertemp
Fault
(Ax: Motor x
Overtemp)
OverSpeedFault
(Ax: Overspeed)
DriveOvertemp
Fault
Axis module temperature
limit exceeded
(Ax: Overtemp)
DriveOvercurrent
Fault
(Ax: Power Fault)
2-11
The current through any
one of the power IGBTs has
exceeded 300% of the
1394’s current rating.
Publication 1394-IN024B-EN-P — February 2004
2-12
Troubleshooting Your 1394 SERCOS Interface System
Troubleshooting General
System Problems
Condition:
Axis or System runs
uncontrollably
Axis or System is unstable
You cannot obtain the motor
acceleration/deceleration
that you want
Motor does not respond to a
Velocity Command
Use the tables below for troubleshooting general system faults.
Potential Cause is:
Possible Resolution is:
The position feedback device is incorrect or open.
Check wiring.
Unintentionally in torque mode.
Check to see what primary operation mode
was programmed.
An internal malfunction exists.
Replace system or axis module.
Motor tuning parameters are set too high.
Run auto tune.
Position loop gain or position controller accel/decel rate is
improperly set.
Run auto tune.
Improper grounding or shielding techniques are causing noise to
be transmitted into the position feedback or velocity command
lines, causing erratic axis movement.
Check wiring and ground.
Motor Select parameter is incorrectly set (servo motor is not
matched to 1394).
• Check setups.
• Run auto tune.
Torque Limit parameters are set too low.
Verify that current limits are set properly.
Motor Select parameter is incorrectly set.
Program the correct motor and run auto tune
again.
The system inertia is excessive.
• Check motor size vs. application need.
• Review servo system sizing.
The system friction torque is excessive.
Check motor size vs. application need.
Available current is insufficient to supply the correct accel/decel
rate.
• Check motor size vs. application need.
• Review servo system sizing.
Acceleration parameter is incorrect.
Verify parameter settings and correct them,
as necessary.
Velocity Limit parameters are incorrect.
Verify parameter settings and correct them,
as necessary.
Check for possible faults.
Verify parameter settings and correct them,
as necessary.
The axis cannot be enabled for 1.5 seconds after disabling.
Disable the axis, wait for 1.5 seconds, and
enable the axis.
Enable signal has not been applied or the enable wiring is
incorrect.
• Check the controller.
• Check the wiring.
The motor wiring is open.
Check the wiring.
The motor thermal overload has tripped.
• Check for a fault.
• Check the wiring.
The motor has malfunctioned.
Repair or replace the motor.
The coupling between motor and machine has broken (i.e., the
motor moves, but the load/machine doesn’t).
Check and correct the mechanics.
Primary operation mode is set incorrectly.
Check and properly set the parameter.
Velocity limit parameters are set incorrectly.
Check and properly set the parameter(s).
The axis module has a malfunction.
Replace the axis module.
Publication 1394-IN024B-EN-P — February 2004
Troubleshooting Your 1394 SERCOS Interface System
Condition:
Presence of noise on
Command or resolver signal
wires
No Rotation
Overheating
Abnormal Noise
Erratic Operation - Motor
locks into position, runs
without control or with
reduced torque
2-13
Potential Cause is:
Possible Resolution is:
Recommended grounding per installation instructions and
Appendix A has not been followed.
• Verify grounding.
• Route wire away from noise sources.
External 50/60 Hz line frequency may be present.
• Verify grounding.
• Route wire away from noise sources.
External 100/120 Hz from a single phase logic supply may be
present.
• Verify grounding.
• Route wire away from noise sources.
External180 or 360 Hz from other adjustable speed drives may
be present.
• Verify grounding.
• Route wire away from noise sources.
Variable frequency may be velocity feedback ripple or a
disturbance caused by gear teeth or ballscrew balls etc. The
frequency may be a multiple of the motor power transmission
components or ballscrew speeds resulting in velocity
disturbance.
• Decouple the motor for verification.
• Check and improve mechanical
performance of the gearbox, ballscrew,
etc.
The motor connections are loose or open.
Check motor wiring and connections.
Foreign matter is lodged in the motor.
Remove foreign matter.
The motor load is excessive.
Size the servo system.
The bearings are worn.
Return the motor for repair.
The motor brake is engaged (if supplied).
• Check brake wiring and function.
• Return the motor for repair.
The motor is not connect to the load.
Check coupling.
The duty cycle is excessive.
Change the command profile to reduce accel/
decel or increase time.
The rotor is partially demagnetized causing excessive motor
current.
Return the motor for repair.
Motor tuning parameters are set too high.
Run auto tune again.
Loose parts are present in the motor.
• Return motor for repair.
• Replace motor.
Mounting bolts are loose.
Tighten bolts.
Shaft key loose.
Check coupling.
The bearings are worn.
Return motor for repair.
Phases U1 and V1, U1 and W1 or V1 and W1 reversed.
Check and correct motor power wiring.
Sine, Cosine or Rotor leads are reversed in the feedback cable
connector.
Check and correct motor feedback wiring.
Sine, Cosine, Rotor lead sets of resolver feedback are reversed.
Check and correct motor feedback wiring.
Publication 1394-IN024B-EN-P — February 2004
2-14
Troubleshooting Your 1394 SERCOS Interface System
Understanding Logix/Drive
Fault Behavior
This section provides the drive fault actions and indicates whether the
fault action is programmable.
The following drive fault action definitions apply:
Drive Fault Action
Definition
Shutdown
The drive disables and the contactor enable relay opens. Uncontrolled
stop, motor coasts to a stop.
Disable Drive
The drive is disabled. Uncontrolled Stop, motor coasts to a stop.
Stop Motion
The drive switches internally to velocity mode and sets the command to 0.
Logix configuration for velocity loop Kp/Ki is followed. When zero speed is
reached or stopping time is exceeded, the drive is disabled.
Note: Stopping time and stopping torque are configurable parameters in
RSLogix 5000.
Status Only
Drive continues to operate. Status is provided by System Module Status
LED and SCANport/DPI (if used).
System Module Faults
Fault Message
RSLogix (HIM):
DriveOvercurrent
Fault
Description:
Drive Fault
Action
RSLogix
Programmable
Fault Action?
System module exceeded current rating.
SHUTDOWN
No
The DC bus voltage is above limits. If it exceeds (830V dc), a fault is
sensed and the power supply is disabled.
SHUTDOWN
No
The system module pre-charge cycle has failed.
SHUTDOWN
No
The DC power bus activates undervoltage limit when the bus drops
to 275V dc or less. It will clear at 300V dc.
SHUTDOWN
No
SCANport hardware initialization fault detected.
SHUTDOWN
No
Three-phase power is either detected when it shouldn’t be or not
detected when it should be.
SHUTDOWN
No
A feedback hardware or software fault detected.
DISABLE
No
Excessive ground current in the system module was detected.
SHUTDOWN
No
Motor feedback hardware initialization fault detected.
SHUTDOWN
No
(Bus Overcurrent)
DriveOvervoltage
Fault
(Bus Overvoltage)
DriveUndervoltage
Fault
(Bus Precharge)
DriveUndervoltage
Fault
(Bus Undervoltage)
DriveHardFault
(Can Init)
DriveHardFault
(Contactor Fault)
MotFeedbackFault
(Fdbk Watch Dog)
GroundShortFault
(Ground Short)
DriveHardFault
(IDMA Load)
Publication 1394-IN024B-EN-P — February 2004
Troubleshooting Your 1394 SERCOS Interface System
Fault Message
RSLogix (HIM):
DriveHardFault
(Memory Init)
DriveHardFault
(NV Mem Init)
DriveHardFault
(Objects Init)
PowerPhaseLoss
Fault
2
2-15
Description:
Drive Fault
Action
RSLogix
Programmable
Fault Action?
Memory hardware initialization fault detected.
SHUTDOWN
No
Non-volatile memory is corrupt.
SHUTDOWN
No
Non-volatile memory is corrupt.
SHUTDOWN
No
The three-phase input line is monitored and a fault will be issued
whenever a phase loss is detected.
SHUTDOWN/ STOP No
SCANport/DPI Communication Failed
STOP
No
SERCOS ring not active after being active and operational.
STOP
No
SERCOS hardware initialization fault detected.
SHUTDOWN
No
Intermodule serial communication failed.
SHUTDOWN
No
Duplicate node address detected on SERCOS ring.
STOP
No
Shunt resistor continuous rating exceeded.
SHUTDOWN
No
The 1394 thermal sensor tripped when internal ambient temperature
exceeded rating.
SHUTDOWN
No
Active when serial ring detects unknown system module.
SHUTDOWN
No
Software initialization fault detected.
SHUTDOWN
No
Fault is detected but source is unknown
STOP
No
(Phase Loss Flt )
DriveHardFault
(SCANport Comm)
SERCOSFault
(SERCOS Ring Flt)
DriveHardFault
(SERCOS Init)
DriveHardFault
(Serial Ring Init)
SERCOSFault
(SERCOS Same Addr)
DriveOvervoltage
Fault
(Shunt Time Out)
DriveOvertemp
Fault
(Sys Overtemp)
DriveHardFault
(Sys Mod Unknown)
DriveHardFault
(Task Init)
DriveHardFault
(Unknown Fault)
Publication 1394-IN024B-EN-P — February 2004
2-16
Troubleshooting Your 1394 SERCOS Interface System
Axis Module Faults
Fault Message
RSLogix (HIM):
Description:
Drive Fault
Action
RSLogix
Programmable
Fault Action?
No Fault Message
(condition indicated by
on-screen message)
Auto tune procedure failed to complete successfully.
DISABLE
No
Hookup procedure failed to complete successfully.
DISABLE
No
Active when serial ring detects unknown axis module.
SHUTDOWN
No
Auxiliary encoder has encountered an illegal state transition.
DISABLE
No
Drive unable to communicate with auxiliary Smart feedback device.
STOP
No
The feedback wiring is open, shorted, or missing.
DISABLE
No
Excessive noise detected on feedback signals.
DISABLE
Yes
The DC bus supply to the axis module was lost.
SHUTDOWN
No
Too much current in the axis module.
STOP
No
Missing Drive Enable Input Signal
STOP
Yes
(Ax: Follow Error)
Axis position error limit has been exceeded. This fault can be
configured for status only.
DISABLE
Yes
DriveOvercurrent
Fault
The output current is exceeding the time-current rating.
SHUTDOWN
No
Axis position exceeded maximum software positive/negative travel
limit. This fault can be configured for status only.
STOP
Yes
(Ax: ATune Flt)
No Fault Message
(condition indicated by
on-screen message)
(Axis x Hookup
Fault)
DriveHardFault
(Axis x Unknown)
AuxFeedbackFault
(Ax: Aux Fdbk AQB)
AuxFeedbackFault
(Ax: Aux Fdbk Comm)
AuxFeedbackFault
(Ax: Aux Fdbk Loss)
AuxFeedback
NoiseFault
(Ax: Aux Fdbk Noise)
DriveUndervoltage
Fault
(Ax: Bus Loss)
DriveOvercurrent
Fault
(Ax: Desat)
DriveEnableInput
Fault
(Ax: Drive Enable Flt)
PositionErrorFault
(Ax: I(t) Fault)
SoftOvertravel
Fault
(Ax: ±Soft Ovrtrvl)
Publication 1394-IN024B-EN-P — February 2004
Troubleshooting Your 1394 SERCOS Interface System
Fault Message
RSLogix (HIM):
HardOvertravel
Fault
2-17
Description:
Drive Fault
Action
RSLogix
Programmable
Fault Action?
Axis moved beyond the physical travel limits in the positive/negative
direction. This fault can be configured for status only.
STOP
Yes
Motor encoder has encountered an illegal state transition.
DISABLE
No
Communication was not established with an intelligent (i.e.
Stegmann) encoder.
STOP
No
The feedback wiring is open, shorted, or missing.
DISABLE
No
Excessive noise detected on feedback signals.
DISABLE
Yes
The motor thermal switch was tripped.
STOP
Yes
Motor velocity exceeded the overspeed trip limit.
DISABLE
No
Axis module temperature limit exceeded
DISABLE
Yes
The current through any one of the power IGBTs has exceeded 300%
of the 1394’s current rating.
SHUTDOWN
No
(Ax: ±Hard Ovrtrvl)
MotFeedbackFault
(Ax: Mtr Fdbk AQB)
MotFeedbackFault
(Ax: Mtr Fdbk Comm)
MotFeedbackFault
(Ax: Mtr Fdbk Loss)
MotFeedback
NoiseFault
(Ax: Mtr Fdbk Noise)
MotorOvertemp
Fault
(Ax: Motor x Overtemp)
OverSpeedFault
(Ax: Overspeed)
DriveOvertemp
Fault
(Ax: Overtemp)
DriveOvercurrent
Fault
(Ax: Power Fault)
Publication 1394-IN024B-EN-P — February 2004
2-18
Troubleshooting Your 1394 SERCOS Interface System
Supplemental
Troubleshooting
Information
This section provides information for accessing and changing
parameters not accessible through RSLogix 5000 software.
Tools for Changing Parameters
Most parameters are accessible through RSLogix 5000 software.
Alternatives to RSLogix 5000 software for changing parameters include
the Human Interface Module (HIM) and DriveExplorer software. Refer
to the table below for catalog numbers.
Method:
DriveExplorer
HIM
(series B required)
1
Description:
Catalog Numbers:
Firmware Revision:
DriveExplorer Software1
9306-4EXP02ENE
2.01 or later
Serial to SCANport Adapter
1203-SSS (Series B)
3.004 or later
Programmer Only
1201-HAP
N/A
Analog Speed Potentiometer
1201-HA1
N/A
Digital Up-Down Speed Control
1201-HA2
N/A
Refer to DriveExplorer Getting Results Manual (publication 9306-GR001x-EN-E) for instructions.
Changing Parameters Using DriveExplorer
To navigate using DriveExplorer, refer to the figure below. In this
example, the I/O Interface group folder is open, the Analog Outputs
parameter is selected, and the parameter elements are displayed in the
box to the right.
Figure 2.1
DriveExplorer Example
Publication 1394-IN024B-EN-P — February 2004
Troubleshooting Your 1394 SERCOS Interface System
2-19
Changing Parameters Using the HIM
To navigate using the HIM, refer to the programming flowchart in the
figure below.
Figure 2.2
HIM Programming Flowchart
OPERATOR LEVEL
Power-Up Mode &
Status Display
ESC
or
SEL
or
or
or
"Choose Mode"
MODE LEVEL
Display
(Read Only)
Program
(Read and Write)
EEProm
Search
Control Status
Password
FILE LEVEL
Choose File
Axis x
Choose File
I/O Interface
Choose File
System Module
GROUP LEVEL
Choose Group
Digital Outputs
Analog Outputs
661 Output Image
662 Output 01 Source
663 Output 02 Source
664 Output 03 Source
665 Output 04 Source
666 Output 05 Source
681 AnaOut Ch1 Selec
682 AnaOut Ch1 Scale
683 AnaOut Ch2 Selec
684 AnaOut Ch2 Scale
685 AnaOut Ch3 Selec
686 AnaOut Ch3 Scale
687 AnaOut Ch4 Selec
688 AnaOut Ch4 Scale
Linear List
PARAMETER LEVEL
Publication 1394-IN024B-EN-P — February 2004
2-20
Troubleshooting Your 1394 SERCOS Interface System
Using Analog Test Points to Monitor System Variables
There are four analog output test points accessible from the connector
on the front of the system module (refer to the figure below for the
connector location).
Figure 2.3
Analog and Relay Output Connectors
1394C-SJTxx-D
(5 and 10 kW)
1394 Digital Servo Controller
SERCOS interfaceTM
!
MORE THAN ONE
DISCONNECT SWITCH
MAY BE REQUIRED TO
DE-ENERGIZE THE
EQUIPMENT BEFORE
SERVICE.
RELAY OUTPUTS
1
DRIVE SYSTEM OK
!
OUTPUT 3
DANGER
ELECTRICAL SHOCK HAZARD
FROM ENERGY STROAGE
CAPACITORS.
OUTPUT 2
VERIFY LOW VOLTAGE
DISCHARGE BEFORE
SERVICING.
OUTPUT 1
10
DANGER
RISK OF ELECTRICAL SHOCK.
System Module
OUTPUT 0
1
SEE INSTRUCTIONAL MANUAL.
AXIS 3
Enable3
1
5
4
8
Home3
Neg_Otrav3
Reg3_Com
Reg3_1
- Analog_Out_1
- Analog_Out_2
- Analog_Out_3
- Analog_Out_4
- Common
- N/C
- N/C
- N/C
- N/C
I/O_Com
Reg3_2
AXIS 2
Enable2
1
5
4
8
Home2
Pos_Otrav2
Neg_Otrav2
Analog_Out_3
I/O_Com
Reg2_Com
Reg2_1
Reg2_2
- Control Reset
Analog_Out_4
- SERCOS
Base Address
x10
Common
AXIS 1
5
4
8
Pos_Otrav1
Neg_Otrav1
45
23
I/O_Com
Reg1_2
678
1
Home1
Reg1_1
90 1
Enable1
Reg1_Com
1
Analog_Out_1
Analog_Out_2
Pos_Otrav3
AXIS 0
Enable0
1
5
Home0
DRIVE SYSTEM OK
Reg0_1
Pos_Otrav0
N/C
Neg_Otrav0
I/O_Com
Reg0_Com
4
8
Reg0_2
N/C
OUTPUT 0
RELAY OUTPUTS
AXIS 3
Analog Output Connector (9-pin)
- SERCOS
Receive
AXIS 0
10
N/C
SERCOS
Network Status
AXIS 2
OUTPUT 1
9
AXIS 1
OUTPUT 2
See Attention statement
below.
N/C
OUTPUT 3
Relay Output Connector (10-pin)
- SERCOS
Transmit
(Feedback and I/O connector kit
part number 1394C-CCK-D)
ON
1
2
3
OFF
ATTENTION
!
Publication 1394-IN024B-EN-P — February 2004
To avoid damage to the system, do not short
the unused pins (6-9) on the Analog Output
connector (shown above) together or to
ground.
Troubleshooting Your 1394 SERCOS Interface System
2-21
To use the four analog output test points to monitor system variables,
refer to the table below.
Analog
Output:
Controlling
Parameter Number:
Default Parameter
Number:
Scale Parameter:
1
681
40
682
2
683
1040
684
3
685
2040
686
4
687
3040
688
The value entered in Scale Parameter will scale the analog output so
that you can get a full scale reading of the specific parameter for the
dynamic range or values you are testing.
To monitor dynamic system variables on analog outputs, use the
values shown in the table below.
Attribute:
Parameter Number
(axis 0):
Parameter Number
(axis 1):
Parameter Number
(axis 2):
Parameter Number
(axis 3):
Velocity Feedback1
40
1040
2040
3040
Velocity Commanded1
36
1036
2036
3036
Torque Feedback2
84
1084
2084
3084
Torque Commanded2
80
1080
2080
3080
Following Error3
189
1189
2189
3189
1 Velocity Command and Feedback scaling value is 1V = 1000 rpm (using default scaling).
2 Torque Command and Feedback scaling value is 1V = 100% rated motor current or amplifier rating (whichever is
less) using default scaling.
3 Output scaling is dependant on feedback device and drive resolution.
Publication 1394-IN024B-EN-P — February 2004
2-22
Troubleshooting Your 1394 SERCOS Interface System
Changing Default Digital Output Settings
Change the system module parameters listed below by using either
the HIM or DriveExplorer software. To locate the relay output
connector, refer to Figure 2.3.
Digital Output
Number:
HIM Display:
Controlling
Parameter:
Default Parameter
Number:
Default Parameter
Description:
Delay Parameter
(on/off):
Drive System OK
Output01 Source
662
617
Drive System OK
Output 0
Output02 Source
663
528
Axis 0 brake control
2061/2072
Output 1
Output03 Source
664
1528
Axis 1 brake control
12061/12072
Output 2
Output04 Source
665
2528
Axis 2 brake control
22061/22072
Output 3
Output05 Source
666
3528
Axis 3 brake control
32061/32072
1
When the axis is enabled, there is a delay (ms) (Drive On Delay) between the axis having torque commanded
(brake releasing) and the axis following reference.
2
When the axis is disabled, there is a delay (ms) (Drive Off Delay) between the axis reaching zero speed or the
stopping time (brake engaging), and torque removed).
To monitor dynamic system variables on digital outputs, use the
values shown in the table below.
Parameter Number
Axis 0 Parameter
(Threshold Setting
Parameter)
Axis 1 Parameter
(Threshold Setting
Parameter)
Axis 2 Parameter
(Threshold Setting
Parameter)
Axis 3 Parameter
(Threshold Setting
Parameter)
At Zero Speed
331
(124)
1331
(1124)
2331
(2124)
3331
(3124)
At Programmed Speed
330
(157)
1330
(1157)
2330
(2157)
3330
(3157)
Velocity Command
Above Limit
335
(38+)
(39-)
1335
(1038+)
(1039-)
2335
(2038+)
(2039-)
3335
(3038+)
(3039-)
Velocity Below Limit
332
(125)
1332
(1125)
2332
(2125)
3332
(3125)
Torque Above Limit
334
(82+)
(83-)
1334
(1082+)
(1083-)
2334
(2082+)
(2083-)
3334
(3082+)
(3083-)
Torque Above
Threshold
333
(126)
1333
(1126)
2333
(2126)
3333
(3126)
In Position
336
(57)
1336
(1057)
2336
(2057)
3336
(3057)
Attribute:
Publication 1394-IN024B-EN-P — February 2004
Troubleshooting Your 1394 SERCOS Interface System
Replacing System and Axis
Modules
2-23
Use these procedures to:
•
Determine what you need to replace modules
•
Remove an axis module
•
Install a replacement axis module
•
Remove a system module
•
Install a replacement system module
Note: If you are replacing the fuse in 1394-SRxxxx shunt modules
refer to 1394 Shunt Modules Fuse Replacement Kit Installation
Instructions (publication 1394-6.6).
Note: If you are replacing the cooling fan in the 1394x-AM50 or -AM75
axis modules refer to Replacing the 10 and 15 kW Axis Module
Fan Installation Instructions (publication 1394-5.15).
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.
Before You Begin
Before you replace modules, be sure to have the following:
•
A phillips screw driver
•
A standard screw driver
•
A voltmeter
•
A nutdriver
•
A wrench
Publication 1394-IN024B-EN-P — February 2004
2-24
Troubleshooting Your 1394 SERCOS Interface System
Removing an Axis Module
To remove an axis module:
1. Remove 24V control power and main input power from the
system.
ATTENTION
!
To avoid shock hazard or personal injury, assure
that all power has been removed before
proceeding. This system may have multiple
sources of power. More than one disconnect
switch may be required to de-energize the
system.
2. Allow five minutes for the DC bus to completely discharge before
proceeding.
ATTENTION
!
To avoid hazard of electrical shock, verify that all
voltage on the capacitors has been discharged
before attempting to service, repair, or remove
this unit. This product contains stored energy
devices. You should only attempt the procedures
in this document if you are qualified to do so and
familiar with solid-state control equipment and
the safety procedures in publication NFPA 70E.
3. Remove connectors (TB1 and TB2) from the bottom of the axis
module.
4. Label and remove the motor leads and ground wiring from the
terminal block on the axis module.
5. Disconnect the slide-and-lock mechanism on the module you plan
to remove and all modules to the right of it.
6. Remove the bottom fastener on the axis module you plan to
remove.
7. Loosen the top fastener on the axis module you plan to remove.
8. Lift the axis module and pull it out.
9. If you are removing the right-most axis module, remove the
terminator.
Publication 1394-IN024B-EN-P — February 2004
Troubleshooting Your 1394 SERCOS Interface System
2-25
Installing a Replacement Axis Module
To install a replacement axis module:
1. Install the top mounting fastener on the system panel for the axis
module. The head of the fastener should be at least 6.35 mm (0.25
in.) from the panel. Refer to the 1394 SERCOS Interface
Installation Manual (publication 1394-IN002x-EN-P) for more
information.
2.
If you are mounting:
Do this:
A 1394x-AM03,
-AM04, -AM07
-AM50-IH, or
-AM75-IH axis module
Go to main step 3.
A 1394x-AM50 or
1. Remove the paper backing from
-AM75 axis module with
the gasket that came with the
AM50/75 axis module.
the heat sink through
the back of the
2. Position the gasket so that the
enclosure
small hole side is on top.
3. Slide the gasket over the heat sink
and attach it to the back of the
axis module.
4. Go to main step 3.
3. Hang the axis module on the next mounting fastener.
4. Engage the alignment tab.
5. Slide the slide-and-lock mechanism on the axis module to the left
until it locks into place.
6. Install the lower fastener for all axis modules.
7. If not already attached, attach the terminator to the last axis
module slide-and-lock mechanism until it locks in place.
8. Tighten all mounting fasteners.
9. Reconnect TB1, TB2, motor, and ground wires.
ATTENTION
!
If you are replacing a Series B axis module with a
Series C axis module you must use 24V dc in the
thermal switch circuit to avoid damage to the
filter components between TB1 and TB2. Refer to
the interconnect diagrams in Appendix A for
examples.
Publication 1394-IN024B-EN-P — February 2004
2-26
Troubleshooting Your 1394 SERCOS Interface System
10. Apply power to the system.
11. Verify that the system is operating properly.
Note: Because system and axis parameters reside in the system
module software, you do not need to perform any tuning or
setup at this time.
Removing a System Module
To remove a system module:
1. Remove the main input power from the system.
ATTENTION
!
To avoid shock hazard or personal injury, assure
that all power has been removed before
proceeding. This system may have multiple
sources of power. More than one disconnect
switch may be required to de-energize the
system.
2. Remove all 24V control input power from the system.
3. Allow five minutes for the DC bus to completely discharge before
proceeding.
ATTENTION
!
To avoid hazard of electrical shock, verify that all
voltage on the capacitors has been discharged
before attempting to service, repair, or remove
this unit. This product contains stored energy
devices. You should only attempt the procedures
in this document if you are qualified to do so and
familiar with solid-state control equipment and
the safety procedures in publication NFPA 70E.
4. Label and remove the 24V control power wiring from the system
module.
5. Label and remove the main input power wiring from the system
module.
6. Label and remove the ground wire and the external shunt
connections (if applicable).
7. Label and remove the feedback and communication connectors
from the bottom of system module.
Publication 1394-IN024B-EN-P — February 2004
Troubleshooting Your 1394 SERCOS Interface System
2-27
8. Disconnect the slide-and-lock mechanism on the system module.
9. Open the system module door.
10. Label and remove any feedback and/or communication
connectors from the control board.
11. Loosen the top and bottom fasteners that hold the module in
place.
12. Lift the module up and pull it out.
Installing a Replacement System Module
To install a replacement system module:
1. Install the top mounting fasteners on the system panel for the
system module. The heads of the fasteners should be at least 6.35
mm (0.25 in.) from the panel. Refer to the 1394 SERCOS Interface
Installation Manual (publication 1394-IN002x-EN-P) for more
information.
2. Hang the 1394 System Module on the two mounting fasteners on
the left side of the panel.
3. Install the lower fasteners for the system module.
4. Open the system module door.
5. Connect the slide-and-lock mechanism on the system module to
the axis modules.
6. Reconnect feedback and communication connectors to the system
module. Refer to Appendix A for connection information.
7. Connect the ground wire and if used, the external shunt resistor
connections.
8. Connect the 24V control power and main input power to the
system module.
9. Connect all shunt wiring (if applicable).
10. Apply 24V control power to the system module.
Publication 1394-IN024B-EN-P — February 2004
2-28
Troubleshooting Your 1394 SERCOS Interface System
11. Apply main input power to the system module.
IMPORTANT
If you are replacing a Series C system module
with a Series D system module, you must auto
tune each axis to ensure proper operation. Refer
to Testing and Tuning Your Axes beginning on
1-22 for more information.
12. Verify that your system is operating properly.
Publication 1394-IN024B-EN-P — February 2004
Appendix
A
Interconnect Diagrams
Chapter Objectives
1
This appendix covers the following:
•
Power Interconnect Diagrams
•
Shunt Module Interconnect Diagrams
•
Axis Module/Motor Interconnect Diagrams
•
Understanding Motor Thermal Switches
•
Brake Interconnect Diagrams
Publication 1394-IN024B-EN-P — February 2004
A-2
Interconnect Diagrams
1394 SERCOS Interface
Interconnect Diagram
Notes
This section provides interconnect diagrams to assist you in wiring the
1394 system. The notes in the table below apply to the interconnect
diagrams on the pages that follow.
Note: Information:
1
For power wiring specifications, refer to the 1394 SERCOS Interface Installation Manual (publication 1394-IN002x-EN-P).
2
For input fuse and circuit breaker sizes, refer to the 1394 SERCOS Interface Installation Manual (publication 1394-IN002x-EN-P).
3
For AC line filter specifications, refer to the 1394 SERCOS Interface Installation Manual (publication 1394-IN002x-EN-P).
4
Contactor coil (M1) needs integrated surge suppressors for AC coil operation.
5
Drive Enable input must be opened when main power is removed, or a drive fault will occur. A delay of at least 1.0 second must be observed
before attempting to enable the drive after main power is restored.
6
Cable shield clamp must be used in order to meet CE requirements. No external connection to ground required.
7
Jumper is factory set, indicating grounded system at user site. Ungrounded sites must jumper the bleeder resistor to prevent high electrostatic
buildup. Refer to the 1394 SERCOS Interface Installation Manual (publication 1394-IN002x-EN-P) for more information.
8
ATTENTION
!
Implementation of safety circuits and risk assessment is the responsibility of the
machine builder. Please reference international standards EN1050 and EN954
estimation and safety performance categories. For more information refer to
Understanding the Machinery Directive (publication SHB-900).
9
The recommended minimum wire size for wiring the safety circuit to the contactor enable connector is 1.5 mm2 (16 AWG).
10
If an external shunt resistor is used, remove the jumper between INT and COL.
11
There is no internal shunt resistor in the 22 kW system module. An external shunt resistor module (1394-SRx Ax) must be used.
12
The thermal switch and brake circuits are a source of conducted noise. Isolation from customer control devices may be required. A separate 24V
dc supply or relay can be used. Axis modules (Series C or later) include a thermal switch and motor brake filter to eliminate the need for a
separate 24V dc supply.
13
Use a flyback diode for noise suppression of the motor brake coil. For more information, refer to System Design for Control of Electrical Noise
Reference Manual (publication GMC-RM001x-EN-P).
14
For motor cable specifications, refer to Motion Control Selection Guide (publication GMC-SG001x-EN-P).
15
User supplied auxiliary contact is recommended. Use safety rated, mechanically linked contactor for M1.
Publication 1394-IN024B-EN-P — February 2004
Interconnect Diagrams
Power Interconnect
Diagrams
A-3
The power interconnect wiring for the 1394 SERCOS interface system
module is shown in the figures below.
Figure A.1
1394C-SJT05-D or -SJT10-D Interconnect Diagram
1394 SERCOS interface SYSTEM MODULE
1394C-SJT05-D or -SJT10-D
DC MINUS BUS
J4
J5
LOGIC POWER
& SIGNALS
J6
Notes 4, 9
DC BUS POS.
Note 7
STOP*
24V ac/dc
or
120V ac
50/60 Hz
DC BUS NEG.
START*
CR1*
M1*
SLIDER INTERCONNECT
CR1*
1
2
3
4
5
6
7
8
9
10
CR1*
Refer to Attention statement (Note 8)
Brake cable (2090-UXNBMP-18Sxx) for
MP-Series and 1326AB (M2L/S2L) motors
(refer to Brake Interconnect Diagrams
beginning on page A-14).
Input Fusing*
Drive System OK
Relay Output 3
W1
W2
Shunt Power
Connector
DC+
INT
COL
Input Power
Connector
PE
W
V
U
24V ac RMS or
24V dc (non-polarized)
Notes 1, 2
Relay Output 2
Relay Output 1
External Shunt
Connections (optional)
Note 10
Bonded Cabinet Ground Bu
Relay Output 0
Relay Outputs
Connector
To TB2-1 and TB2-2 for
1326AB/AS (resolver) motors.
(refer to Thermal Switch Interconnect Diagrams
beginning on page A-9).
Logic Power
Connector
Three-Phase
AC Line Filter
Note 3
Three-Phase Input
360-380V ac RMS
Notes 1, 2
M1*
Notes 4, 5
System Module
Single Point Bond Bar
A
Bonded Cabinet
Ground Bus*
to 1394 Axis Module PE1 terminal
Input Fusing *
* INDICATES USER-SUPPLIED COMPONENT
Figure A.2
1394C-SJT22-D Interconnect Diagram
1394 SERCOS interface SYSTEM MODULE
1394C-SJT22-D
DC MINUS BUS
J4
Notes 4, 9
J5
LOGIC POWER
& SIGNALS
J6
DC BUS POS.
Note 7
24V ac/dc
or
120V ac
50/60 Hz
STOP*
DC BUS NEG.
START*
CR1*
M1*
SLIDER INTERCONNECT
CR1*
CR1*
Refer to Attention statement (Note 8)
Brake cable (2090-UXNBMP-18Sxx) for
MP-Series and 1326AB (M2L/S2L) motors
(refer to Brake Interconnect Diagrams
beginning on page A-14).
1
2
3
4
5
6
7
8
9
10
Relay Output 3
Logic Power
Terminal Blocks
W1
W2
Shunt Power
Terminal Blocks
DC+
COL
Input Power
Terminal Blocks
PE
W
V
U
Relay Output 1
External Shunt
Connections
Note 11
Bonded Cabinet Ground Bus
Relay Output 0
Three-Phase
AC Line Filter
Note 3
M1*
Notes 4, 5
System Module
Single Point Bond Bar
Bonded Cabinet
Ground Bus*
24V ac RMS or
24V dc (non-polarized)
Notes 1, 2
Relay Output 2
Relay Outputs
Connector
To TB2-1 and TB2-2 for
1326AB/AS (resolver) motors.
(refer to Thermal Switch Interconnect
Diagrams beginning on page A-9).
Input Fusing*
Drive System OK
A
to 1394 Axis Module PE1 terminal
Three-Phase Input
360-380V ac RMS
Notes 1, 2
Input Fusing *
* INDICATES USER-SUPPLIED COMPONENT
Publication 1394-IN024B-EN-P — February 2004
A-4
Interconnect Diagrams
Shunt Module Interconnect
Diagrams
In the figure below, the 1394 system module is shown wired for
internal shunt operation. This is the factory default jumper setting.
IMPORTANT
Internal shunt operation is only present on the 1394
system modules listed in Figure A.3.
Figure A.3
Internal Shunt Interconnect Diagram
1394 System Modules
1394C-SJT05-D or
1394C-SJT10-D
DC+
INT
Shunt Power
Connector
COL
In the figure below, the 1394C-SJT05-D and -SJT10-D system modules
are shown wired with the optional external shunt resistor.
Figure A.4
External Shunt Module Interconnect Diagram (optional)
1394 System Modules
1394C-SJT05-D or
1394C-SJT10-D
External Passive
Shunt Module
1394-SR10A
DC+
COL
Publication 1394-IN024B-EN-P — February 2004
DC+
INT
COL
Shunt Power
Connector
Interconnect Diagrams
A-5
In the figure below, the 1394C-SJT22-D system module is show wired
with an external shunt resistor.
IMPORTANT
All 1394 configurations with 22 kW system modules
require an external shunt module.
Figure A.5
External Shunt Module Interconnect Diagram (required)
External Passive
Shunt Module
1394-SR9A,
1394-SR9AF,
1394-SR36A,
1394-SR36AF
Thermal
Switch 1
Fan
Connections 1
1394 System Module
1394C-SJT22-D
DC+
DC+
COL
COL
Shunt Power
Terminal Blocks
To customer-defined
control string
To customer-supplied
fan supply
1 The thermal switch and fan connections are only included with the 1394-SR36A and -SR36AF shunt modules.
Publication 1394-IN024B-EN-P — February 2004
A-6
Interconnect Diagrams
Axis Module/Motor
Interconnect Diagrams
This section contains the motor power, brake, and feedback signal
interconnect diagrams between an Axis Module and MP-Series,
1326AB, and 1326AS servo motors.
In the figure below, the 1394 axis module is shown connected to MPSeries Low Inertia (460V) motors.
Figure A.6
Axis Module to MP-Series Low Inertia Motors Interconnect Diagram
TERMINATOR CONNECTED TO
LAST AXIS MODULE
1394 AXIS MODULE
1394C-AMxx-xx
LOGIC POWER
& SIGNALS
DC BUS POS.
DC BUS NEG.
Motor Power Terminal Blocks
SLIDER INTERCONNECT
TO ADDITIONAL AXIS MODULES
SLIDER INTERCONNECT
U1
V1
W1
PE1
PE2
PE3
4.0 mm2 (12 AWG)
Axis Module
Cable Clamp
Note 6
A
B
C
D
U
V
W
PE
Three-Phase
Motor Power
2090-UXNBMP-18Sxx Brake Cable
Note 14
Black C
BR-
White A
BR+
Motor Brake
2090-XXNPMP-xxSxx or
2090-CDNBPMP-xxSxx
Motor Power Cable
Note 14
Ground
Motor Feedback
COM +24V
User-Supplied
+24V Power Supply
(1A max.)
Thermostat
MPL-Bxxxx (460V)
SERVO MOTORS WITH
HIGH RESOLUTION FEEDBACK
Note 13
A
To
System Module
Single Point
Bond Bar
Motor Feedback
Connector
(System Module)
1
2
A
B
BLACK
WHT/BLACK
C
D
E
F
RED
WHT/RED
SIN+
SINCOS+
COS-
GREEN
WHT/GREEN
DATA+
DATA-
N
P
R
ORANGE
WHT/ORANGE
BLUE
+9VDC
COM
TS+
8
9
6
5
12
S
WHT/BLUE
TS-
13
3
4
2090-CDNFDMP-xxSxx Feedback Cable
Note 14
System Module
Cable Clamp
Note 6
A
B
C
D
U
V
W
PE
Three-Phase
Motor Power
2090-UXNBMP-18Sxx Brake Cable
Note 14
Black C
BR-
White A
BR+
Motor Brake
Ground
Motor Feedback
COM +24V
User-Supplied
+24V Power Supply
(1A max.)
MPL-Bxxxx (460V)
SERVO MOTORS WITH
RESOLVER FEEDBACK
Note 13
Publication 1394-IN024B-EN-P — February 2004
Thermostat
Motor Feedback
Connector
(System Module)
A
B
BLACK
WHT/BLACK
S2
S4
1
2
C
D
RED
WHT/RED
S1
S3
3
4
G
H
YELLOW
WHT/YELLOW
R1
R2
10
11
R
BLUE
TS+
12
S
WHT/BLUE
TS-
13
2090-CDNFDMP-xxSxx Feedback Cable
Note 14
System Module
Cable Clamp Note 6
Interconnect Diagrams
A-7
In the figure below, the 1394 axis module is shown connected to
1326AB (460V) servo motors.
Figure A.7
Axis Module to 1326AB Motors Interconnect Diagram
TERMINATOR CONNECTED TO
LAST AXIS MODULE
1394 AXIS MODULE
1394C-AMxx-xx
Thermostat and Brake Noise Filtering
Note 12
LOGIC POWER
& SIGNALS
Motor Thermal Switch
Filter (Series C)
Motor Brake
Filter (Series C)
TB1
DC BUS POS.
DC BUS NEG.
TB2
PE3
SLIDER INTERCONNECT
TO ADDITIONAL AXIS MODULES
PE2
W1
V1
U1
SLIDER INTERCONNECT
PE1
Motor Power
Terminal Blocks
1
2
3
4
1
2
3
4
4.0 mm2 (12 AWG)
Axis Module
Cable Clamp
Note 6
A
B
C
D
U
V
W
PE
2090-XXNPMP-xxSxx or
2090-CDNBPMP-xxSxx
Motor Power Cable
Note 14
2090-UXNBMP-18Sxx Brake Cable
Note 14
BR+
White C
BR-
COM +24V
User-Supplied
+24V Power Supply
(1A max.)
Note 13
Motor Brake
1
2
A
B
BLACK
WHT/BLACK
C
D
E
F
RED
WHT/RED
SIN+
SINCOS+
COS-
GREEN
WHT/GREEN
DATA+
DATA-
N
P
R
ORANGE
WHT/ORANGE
BLUE
+9VDC
COM
TS+
8
9
6
5
12
S
WHT/BLUE
TS-
13
Motor Feedback
Black A
To
System Module
Single Point
Bond Bar
Motor Feedback
Connector
(System Module)
Ground
Three-Phase
Motor Power
A
Thermostat
1326AB (M2L/S2L) 460V
SERVO MOTORS WITH
HIGH RESOLUTION FEEDBACK
3
4
System Module
Cable Clamp
2090-CDNFDMP-xxSxx Feedback Cable
Note 14
Note 6
Thermostat and Brake Noise Filtering
Note 12
TB1
A
TB2
Refer to Thermal Switch and Brake
Interconnect Diagrams beginning on
page A-9 for connections.
PE3
PE2
W1
PE1
U1
To
System Module
Single Point
Bond Bar
V1
Motor Power
Terminal Blocks
1
2
3
4
1
2
3
4
4.0 mm2 (12 AWG)
Axis Module
Cable Clamp
Note 6
1326-CPx1-xxx
Motor Power Cable
Note 14
1
2
3
8
T1
T2
T3
PE
7
9
5
4
6
K2
K1 B2
B1
Three-Phase
Motor Power
Ground
Brake
Thermostat
Motor Feedback
1326AB (460V) SERVO MOTORS
WITH RESOLVER FEEDBACK
Motor Feedback
Connector
(System Module)
TS+
TS-
12
13
1
2
G
H
GREEN
BLACK
D
E
BLACK
RED
S2
S4
S1
S3
A
B
BLACK
WHITE
R1
R2
1326-CCU-xxx Feedback Cable
Note 14
3
4
10
11
System Module
Cable Clamp
Note 6
Publication 1394-IN024B-EN-P — February 2004
A-8
Interconnect Diagrams
In the figure below, the 1394 axis module is shown connected to
1326AS (460V) servo motors.
Figure A.8
Axis Module to 1326AS Motors Interconnect Diagram
TERMINATOR CONNECTED TO
LAST AXIS MODULE
1394 AXIS MODULE
1394C-AMxx-xx
Thermostat and Brake Noise Filtering
Note 12
LOGIC POWER
& SIGNALS
Motor Thermal Switch
Filter (Series C)
Motor Brake
Filter (Series C)
TB1
DC BUS POS.
DC BUS NEG.
A
PE3
SLIDER INTERCONNECT
TO ADDITIONAL AXIS MODULES
PE2
W1
PE1
U1
V1
SLIDER INTERCONNECT
To
System Module
Single Point
Bond Bar
TB2
Motor Power
Terminal Blocks
1
2
3
4
1
2
3
4
Refer to Thermal Switch and Brake
Interconnect Diagrams beginning on
page A-9 for connections.
4.0 mm2 (12 AWG)
Axis Module
Cable Clamp
Note 6
1326-CPx1-xxx
Motor Power Cable
Note 14
1
2
3
8
T1
T2
T3
PE
7
9
5
4
6
K2
K1 B2
B1
Three-Phase
Motor Power
Ground
Brake
Thermostat
Motor Feedback
1326AS (460V) SERVO MOTORS
WITH RESOLVER FEEDBACK
Motor Feedback
Connector
(System Module)
TS+
TS-
12
13
1
2
3
4
10
11
G
H
GREEN
BLACK
D
E
BLACK
RED
S2
S4
S1
S3
A
B
BLACK
WHITE
R1
R2
1326-CCU-xxx Feedback Cable
Note 14
System Module
Cable Clamp
Note 6
Publication 1394-IN024B-EN-P — February 2004
Interconnect Diagrams
Thermal Switch and Brake
Interconnect Diagrams
A-9
This section provides thermal switch and brake interconnect diagrams.
Understanding Motor Thermal Switches
Thermal switches, internal to each servo motor, can be wired in series
to protect the motor from overheating. In the event of a fault
condition, the switch opens and the motor responds to the system
configuration. The explanation and example diagrams that follow
show how to wire motor thermal switches to your system module.
Depending on the series of your 1394 axis module, your customer
control devices may require isolation from the motor’s conducted
noise. When using 1394 (Series A and B) axis modules, an isolated
24V dc power supply and relay is recommended. 1394 (Series C) axis
modules contain internal motor brake and thermal switch filtering and
do not require the isolation power supply and relay.
Individual thermal fault monitoring can be achieved by wiring each of
the motor thermal switches from the motor, through TB1/TB2 on the
axis module, or directly from the motor to one of four dedicated
thermal fault inputs on the system module. Your 1394 system can then
be configured to monitor and disable one or all four of the axes. As an
alternative, you can wire the thermal switches into the start/stop string
to disable all axes when a fault occurs.
How Your Feedback Cable Affects Thermal Switch Wiring
The examples shown on the following pages are for 1326AB/AS servo
motors with resolver feedback (using 1326-CCU-xxx feedback cables).
The motor thermal switch leads are in the motor power cable and
attach to TB1 of the axis module (refer to figures A.7 and A.8 for
motor/axis module interconnect diagrams).
1326AB (M2L/S2L) motors and MP-Series motors (both resolver and
high resolution feedback) use 2090-CDNFDMP-Sxx feedback cables.
The motor thermal switch wires are in the motor feedback cable and
attach directly to the feedback connector on the bottom of the 1394
system module. Refer to figures A.6 and A.7 for motor/system module
interconnect diagrams).
Thermal Switch Interconnect Diagrams
The example in Figure A.9 shows 1394 (Series C) axis modules with
internal brake and thermal switch filtering. Separate isolation power
supply and relay are not required. Using this start/stop string
configuration all axes are disabled when any one motor faults.
Publication 1394-IN024B-EN-P — February 2004
A-10
Interconnect Diagrams
Figure A.9
Non-Isolated Series Start/Stop String
Axis 1
Axis 0
Motor thermal
switch filter
Motor brake
(Series C)
filter (Series C)
Motor thermal
switch filter
Motor brake
(Series C)
filter (Series C)
3 4
TB1
1 2
1 2 3 4
TB2
3 4
3 4
TB1
Axis 3
1394C-AMxx
1394C-AMxx
1394C-AMxx
1 2
Axis 2
1 2 3 4
TB2
3 4
1394C-AMxx
Motor thermal
switch filter
Motor brake
(Series C)
filter (Series C)
1 2
3 4
TB1
1 2 3 4
TB2
3 4
Motor thermal
switch filter
Motor brake
(Series C)
filter (Series C)
1 2
3 4
TB1
1 2 3 4
TB2
3 4
Motor thermal switch wiring for
1326AB/AS motor resolver feedback
Drive System OK
Relay
1394 SERCOS Interface
Control Board
1394C-SJTxx-D
Relay Output
Connector
1
2
3
4
5
6
7
8
9
10
START
STOP
CR1
24V AC/DC
CR1
M1
CR1
Refer to Attention statement below
IMPORTANT
The thermal circuit includes filtering on the TB1/TB2
connector board that is rated for 24V only. For TB1/
TB2 wiring alternatives, refer to the table below.
If:
Then:
120V ac is used on the start/stop string
Option 1: Install a 24V pilot relay on the
thermal switch circuit.
Option 2: Bypass the TB1/TB2 terminations 1.
24V is used on the start/stop string
1
Follow the wiring shown in Figure A.9 above.
When bypassing the TB1/TB2 terminations, ensure that unshielded motor power conductors are kept as short as
possible at the drive, as they will radiate high levels of electrical noise.
Note: Refer to Figure 1.3 for the location of the TB1/TB2 connectors
and pin-out diagram.
ATTENTION
!
Publication 1394-IN024B-EN-P — February 2004
Implementation of safety circuits and risk assessment
is the responsibility of the machine builder. Please
reference international standards EN1050 and EN954
estimation and safety performance categories. For
more information refer to Understanding the
Machinery Directive (publication SHB-900).
Interconnect Diagrams
A-11
The example below shows 1394 (Series C) axis modules wired for
thermal fault monitoring. Depending on how the 1394 system is
configured, the fault can be used to disable one or all of the four axis
modules.
Figure A.10
Non-Isolated with Thermal Fault Monitoring
Axis 0
Axis 1
Axis 2
Axis 3
1394C-AMxx
1394C-AMxx
1394C-AMxx
1394C-AMxx
Motor thermal
switch filter
Motor brake
(Series C)
filter (Series C)
1 2
1 2 3 4
TB2
3 4
3 4
TB1
Motor thermal
switch filter
Motor brake
(Series C)
filter (Series C)
Motor thermal
switch filter
Motor brake
(Series C)
filter (Series C)
1 2
3 4
TB1
1 2
1 2 3 4
TB2
3 4
3 4
TB1
1 2 3 4
TB2
3 4
Motor thermal
switch filter
Motor brake
(Series C)
filter (Series C)
1 2
3 4
TB1
1 2 3 4
TB2
3 4
Motor thermal switch wiring for
1326AB/AS motor resolver feedback
12 13 Axis 1
12 13 Axis 0
TS+
TS-
TS+
TS-
12 13 Axis 3
12 13 Axis 2
TS+
TSMotor Feedback Connector
TS+
TS-
1394 SERCOS Interface
Control Board
1394C-SJTxx-D
Note: Refer to Figure 1.3 for the location of the TB1/TB2 connectors
and pin-out diagram.
Publication 1394-IN024B-EN-P — February 2004
A-12
Interconnect Diagrams
The example below shows 1394 (Series A and B) axis modules (no
internal brake or thermal switch filter). Separate 24V dc isolation
power supply and relay (CR2) are recommended. Using this start/stop
string configuration all axes are disabled when any one motor faults.
Figure A.11
Isolated Series Start/Stop String
Axis 0
Axis 1
Axis 2
Axis 3
1394-AMxx
1394-AMxx
1394-AMxx
1394-AMxx
1 2
1 2
1 2 3 4
TB2
3 4
3 4
TB1
3 4
TB1
1 2 3 4
TB2
3 4
1 2
3 4
1 2
1 2 3 4
TB2
3 4
TB1
3 4
TB1
1 2 3 4
TB2
3 4
Motor thermal switch wiring for
1326AB/AS motor resolver feedback
+24V dc
24V dc
Power Supply 1
CR2
24V dc com
START
STOP
CR1
CR2
1394 SERCOS Interface
Control Board
Drive System OK
Relay
1394C-SJTxx-D
Relay Output
Connector
1
1
2
3
4
5
6
7
8
9
10
CR1
M1
24V AC/DC
or
120V AC,
50/60 HZ
CR1
Refer to Attention statement below
120V ac (50/60 Hz) power may be used in place of 24V dc for motor thermal switch circuits in Series A and B axis
modules.
Note: Refer to Figure 1.3 for the location of the TB1/TB2 connectors
and pin-out diagram.
ATTENTION
!
Publication 1394-IN024B-EN-P — February 2004
Implementation of safety circuits and risk assessment
is the responsibility of the machine builder. Please
reference international standards EN1050 and EN954
estimation and safety performance categories. For
more information refer to Understanding the
Machinery Directive (publication SHB-900).
Interconnect Diagrams
A-13
The example below shows 1394 (Series A and B) axis modules wired
for thermal fault monitoring. Depending on how the 1394 system is
configured, the fault can be used to disable one or all of the four axis
modules. Two separate 24V dc power supplies and four relays (CR2CR5) are included to isolate the thermal inputs from conducted noise.
Figure A.12
Isolated with Thermal Fault Monitoring
Axis 0
Axis 1
Axis 2
Axis 3
1394-AMxx
1394-AMxx
1394-AMxx
1394-AMxx
1 2
3 4
TB1
1 2 3 4
TB2
3 4
1 2
3 4
TB1
1 2 3 4
TB2
3 4
1 2
3 4
TB1
1 2
1 2 3 4
TB2
3 4
3 4
TB1
1 2 3 4
TB2
3 4
Motor thermal switch wiring for
1326AB/AS motor resolver feedback
CR3
CR4
CR5
CR2
CR3
CR4
CR5
12 13 Axis 0
12 13 Axis 1
12 13 Axis 2
12 13 Axis 3
CR2
24V dc
+24V DC
Power Supply 1
24V DC com
TS+
TS-
TS+
TS-
TS+
TSMotor Feedback Connector
TS+
TS-
1394 SERCOS Interface
Control Board
1394C-SJTxx-D
1
120V ac (50/60 Hz) power may be used in place of 24V dc for motor thermal switch circuits in Series A and B axis
modules.
Note: Refer to Figure 1.3 for the location of the TB1/TB2 connectors
and pin-out diagram.
Publication 1394-IN024B-EN-P — February 2004
A-14
Interconnect Diagrams
Brake Interconnect Diagrams
The relay outputs (Output 0-3) are linked to the Brake Enable/Disable
configuration in RSLogix 5000 axis properties to allow control of a
motor brake for each axis. When an axis is enabled, the configured
output relay contact will close to disengage the associated motor
brake. At the same time, the axis will command sufficient torque to
hold the motor's position while the brake is disengaging. The length
of time that the axis will apply this torque is set by the Brake Off
Delay parameter for each axis. When an axis is disabled and the
motor has reached zero velocity, the configured output relay contact
will open to engage the associated motor brake. At the same time, the
axis will command sufficient torque to hold the motor's position while
the brake is engaging. The length of time that the axis will apply this
torque is set by the Brake On Delay parameter for each axis. Refer to
Configuring Axis Properties beginning on page 1-18 to set delay times
in RSLogix 5000.
Depending on the series of your 1394 axis module, your brake
circuitry may require isolation from the motor's conducted noise.
When using 1394 Series B axis modules, an isolated 24V dc power
supply and relay is recommended. 1394 Series C axis modules contain
an internal motor brake filter and do not require the isolation power
supply and relay. The Series C brake filter also contains a bidirectional snubber diode to protect the user-supplied 24V dc brake
power supply.
IMPORTANT
Publication 1394-IN024B-EN-P — February 2004
The output relay contacts are rated to control a 24V
dc motor brake rated up to 1A. Motor brakes rated
greater than 1A require an additional relay or
contactor with sufficient rating to handle the higher
current.
Interconnect Diagrams
A-15
The example below shows 1394 series C axis modules with internal
brake filtering. Each axis is connected to a motor with a brake rated at
less than 1A. A separate pilot relay is not required. Motor brakes that
do not require a pilot relay are shown in the table below.
Note: Suppression devices and pilot relays impact motor brake
response time.
Motor Series:
Brake Option:
Brake Response Time
Pickup/Dropout
mSec
1326AB-B4
K4
120/20
1326AS-B3
K3
38/10
1326AS-B4
K4
44/13
MPL-B3 (460V)
4
50/20
MPL-B4 (460V)
4
MPL-B45 (460V)
4
110/25
Figure A.13
Brake Interconnect Diagram
Axis 0
Axis 1
Axis 2
Axis 3
1394C-AMxx
1394C-AMxx
1394C-AMxx
1394C-AMxx
3 4
TB1
1 2
1 2 3 4
TB2
1 2
3 4
TB1
I <1A
Motor brake
filter (Series C)
Brake current rated
less than 1.0A
Brake current rated
less than 1.0A
Brake current rated
less than 1.0A
1 2
Motor brake
filter (Series C)
Motor brake
filter (Series C)
Motor brake
filter (Series C)
1 2
1 2 3 4
TB2
1 2
3 4
TB1
Brake current rated
less than 1.0A
1 2 3 4
TB2
1
1 2
2
I <1A
I <1A
3 4
TB1
1 2 3 4
TB2
1 2
I <1A
Motor Brake
9 Relay
10 Output 0
8
7
Relay
Output 1
6
5
Relay
Output 2
4
3
Relay
Output 3
1394 SERCOS Interface
Control Board
1394C-SJTxx-D
+ DC
24V DC
Power Supply
DC com
Note: Refer to Figure 1.3 for the location of the TB1/TB2 connectors
and pin-out diagram.
Note: Refer to figures 1.1 and 1.2 for the location of the 10-pin relay
output connector.
Publication 1394-IN024B-EN-P — February 2004
A-16
Interconnect Diagrams
The example below also shows 1394 series C axis modules with
internal brake filtering. Each axis is connected to a motor with a brake
rated at greater than 1A. A separate pilot relay is required for brake
current handling.
Note: Suppression devices and pilot relays impact motor brake
response time.
Motor Series:
Brake Option:
Brake Response Time
Pickup/Dropout
mSec
1326AB-B5
K5
150/25
1326AB-B7
K7
120/30
1326AS-B6
K6
114/11
1326AS-B8
K8
200/12
MPL-B5 (460V)
4
70/50
MPL-B6 (460V)
4
200/120
MPL-B8 (460V)
4
250/200
MPL-B9 (460V)
4
300/200
Figure A.14
Isolated Brake (with pilot relay) Interconnect Diagram
Axis 0
Axis 1
Axis 2
1394C-AMxx
1394C-AMxx
1394C-AMxx
Motor brake
filter (Series C)
Motor brake
filter (Series C)
1 2
3 4
TB1
Motor Brake
1 2 3 4
TB2
1 2
CR6
I >1A
1 2
3 4
TB1
1394C-AMxx
Motor brake
filter (Series C)
Brake current rated
greater than 1.0A
Brake current rated
greater than 1.0A
Axis 3
1 2 3 4
TB2
1 2
CR7
I >1A
Motor brake
filter (Series C)
Brake current rated
greater than 1.0A
1 2
3 4
TB1
1 2 3 4
TB2
1 2
CR8
I >1A
Brake current rated
greater than 1.0A
1 2
3 4
TB1
1 2 3 4
TB2
1 2
CR9
I >1A
+ DC
24V DC
Power Supply
DC com
CR6
10
CR7
9
Relay
Output 0
7
8
CR9
CR8
Relay
Output 1
1394 SERCOS Interface Control Board
5
6
Relay
Output 2
4
3
Relay
Output 3
1394C-SJTxx-D
Note: Refer to Figure 1.3 for the location of the TB1/TB2 connectors
and pin-out diagram.
Note: Refer to figures 1.1 and 1.2 for the location of the 10-pin relay
output connector.
Publication 1394-IN024B-EN-P — February 2004
Interconnect Diagrams
A-17
The example below shows 1394 Series B axis modules without
internal brake filtering. Any axis connected to a motor with a brake
requires a separate pilot relay for noise isolation.
Figure A.15
Isolated Brake (with pilot relay) Interconnect Diagram
Axis 0
Axis 1
Axis 2
Axis 3
1394-AMxx
1394-AMxx
1394-AMxx
1394-AMxx
1 2
3 4
TB1
1 2 3 4
TB2
1 2
1 2
3 4
TB1
1 2 3 4
TB2
1 2
CR6
1 2
3 4
TB1
1 2 3 4
TB2
1 2
CR7
1 2
3 4
TB1
1 2 3 4
TB2
1 2
CR9
CR8
Motor Brake
+ DC
24V DC
Power Supply
DC com
CR6
10
Relay
Output 0
CR7
9
7
8
CR9
CR8
Relay
Output 1
1394 SERCOS Interface Control Board
5
6
Relay
Output 2
4
3
Relay
Output 3
1394C-SJTxx-D
Note: Refer to Figure 1.3 for the location of the TB1/TB2 connectors
and pin-out diagram.
Note: Refer to figures 1.1 and 1.2 for the location of the 10-pin relay
output connector.
Publication 1394-IN024B-EN-P — February 2004
A-18
Interconnect Diagrams
Publication 1394-IN024B-EN-P — February 2004
Index
Numerics
1326AB (M2L/S2L)
interconnect diagram A-7
1326AS
interconnect diagram A-8
1394 SERCOS
commissioning 1-1
configuring 1-7
1394 system
troubleshooting 2-1
1756-MxxSE P-1
1756-MxxSE interface module
1-7
1784-PM16SE P-1
1784-PM16SE PCI card 1-7
A
analog connector 2-20
analog test points 2-20
applying power
24V 1-20
360/480V 1-21
attribute tab 1-17
axis assignment tab 1-17
axis module
connector designators 1-3, 1-6
installing replacement 2-25
removing 2-24
status LED 2-4
axis module status LED 1-21,
1-22
axis properties 1-18
B
base node address 1-8, 1-15
baud rate 1-10
bus regulator 1-16
C
cables
fiber-optic cable length 1-7
certifications
Rockwell Automation Product
Certification P-2
changing parameters 2-18
comments regarding this manual
P-4
commissioning 1-1
configuring
1
1394 SERCOS 1-7
Logix 1-11
optical power level 1-10
connector
analog 2-20
relay 2-20
connector designators
axis module 1-3
system module 1-3
connector locations
axis module 1-6
Logix 1-7
system module 1-4, 1-5
contents of manual P-2
controller properties 1-11
ControlLogix P-1
ControlLogix Motion Module
Setup and Configuration
Manual 1-11, 1-22
conventions used in this manual
P-3
conversion tab 1-18
cycle time 1-14
D
data rate 1-14
data type 1-15
date and time tab 1-12
detecting a problem 2-2
digital output settings 2-22
dip switches 1-14
disable drive 2-14
documentation P-2
download program 1-19
drive system ok 2-22
drive tab 1-18
DriveExplorer 2-18
F
fault actions tab 1-19
fault behavior 2-14
faults
axis module
+hard ovrtrvl 2-10
+soft ovrtrvl 2-10
ATune Flt 2-9
Aux Fdbk AQB 2-9
Aux Fdbk Loss 2-9
Aux Fdbk Noise 2-9
axis hookup fault 2-9
Publication 1394-IN024B-EN-P — February 2004
I-2
Index
axis unknown 2-9
Bus Loss 2-9
desat 2-9
drive enable 2-9
Follow Error 2-10
-hard ovrtrvl 2-10
I(t) Fault 2-10
Motor Overtemp 2-11
Mtr Fdbk AQB 2-10
Mtr Fdbk comm 2-9, 2-10
Mtr Fdbk Loss 2-10
Mtr Fdbk Noise 2-11
Overspeed 2-11
Overtemp 2-11
Power Fault 2-11
-soft ovrtrvl 2-10
axis module (Logix)
AuxFeedback 2-9
AuxFeedbackNoise 2-9
DriveEnableInput 2-9
DriveHard 2-9
DriveOvercurrent 2-9,
2-10, 2-11
DriveOvertemp 2-11
DriveUndervoltage 2-9
MotFeedback 2-10
MotFeedbackNoise 2-11
MotorOvertemp 2-11
NegHardOvertravel 2-10
NegSoftOvertravel 2-10
OverSpeed 2-11
PosHardOvertravel 2-10
PositionError 2-10
PosSoftOvertravel 2-10
system module
bus overcurrent 2-6
Bus Overvoltage 2-6
Bus Precharge 2-6
Bus Undervoltage 2-6
Can Init 2-6
contactor fault 2-7
Fdbk Watch Dog 2-7
Ground Short 2-7
IDMA load 2-7
Memory Init 2-7
NV Mem Init 2-7
Objects Init 2-7
Phase Loss Flt 2-7
SCANport Comm 2-7
SERCOS Init 2-7
SERCOS ring flt 2-7
Publication 1394-IN024B-EN-P — February 2004
SERCOS same address
2-8
Serial Ring Init 2-7
shunt time out 2-8
sys mod unknown 2-8
Sys Overtemp 2-8
task Init 2-8
unknown fault 2-8
system module (Logix)
DriveHard 2-6, 2-7, 2-8
DriveOvercurrent 2-6
DriveOvertemp 2-8
DriveOvervoltage 2-6,
2-8
DriveUndervoltage 2-6
GroundShort 2-7
MotFeedback 2-7
PowerPhaseLoss 2-7
SERCOS 2-7
SERCOSFault 2-8
feedback tab 1-18
fiber-optic cables
receive and transmit
connectors 1-7
H
HIM 2-18
programming flowchart 2-19
hookup tab 1-23
human interface module (HIM)
2-18
I
interconnect diagrams
1326AB (M2L/S2L) A-7
1326AS A-8
motor brake
Series B axis modules
A-17
Series C axis modules
A-15, A-16
MP-Series low inertia A-6
notes A-2
power A-3
shunt module A-4, A-5
thermal switch
Series A and B axis
modules A-12, A-13
Series C axis modules
A-10, A-11
Index
L
LED
axis module status 1-21, 1-22,
2-4
network status 1-20, 2-5
SERCOS module 1-20
system module status 1-20,
1-22, 2-3
local support P-4
Logix
connector designators 1-7
Logix interface module 1-11
loop configuration 1-18
M
manuals on-line P-4
modules
installing replacement axis
I-3
P
parameters, changing 2-18
power
control 24V 1-20
input 1-21
interconnect diagrams A-3
precautions
general startup 1-2
safety 2-2
problem report form P-4
R
receiving and storage P-3
related documentation
Motion Book Servo Sizing CD
P-2
relay connector 2-20
RSLogix 5000 software 1-11, 2-18
2-25
installing replacement system
2-27
removing axis 2-24
removing system 2-26
Motion Book Servo Sizing CD P-2
motion control problem report
form P-4
Motion Control Selection Guide
P-2
motion group properties 1-17
motor and feedback tab 1-18
motors
testing 1-22
tuning 1-22
MP-Series low inertia
interconnect diagram A-6
N
network status LED 1-20
node address switches
configuring
base node address 1-8
baud rate 1-10
noise P-2
S
safety precautions 2-2
SERCOS module LED 1-20
shunt module
configuring 1-16
interconnect diagram A-4, A-5
shutdown 2-14
SoftLogix P-1
SoftLogix Motion Card Setup and
Configuration Manual 1-11,
1-22
software
RSLogix 5000 1-11, 2-18
status LEDs 1-22
status only 2-14
stop motion 2-14
storage P-3
supplemental troubleshooting
information 2-18
support
comments regarding this
manual P-4
local product P-4
technical product assistance
P-4
O
optical power level 1-10, 1-14
switches
base node address 1-8
baud rate 1-10
dip 1-14
optical power level 1-10, 1-14
Publication 1394-IN024B-EN-P — February 2004
I-4
Index
System Design for Control of
Electrical Noise Reference
Manual P-2
system module
connector designators 1-3
connector locations 1-4, 1-5
installing a replacement 2-27
removing 2-26
system module status LED 1-20,
1-22, 2-3
shutdown 2-14
status only 2-14
stop motion 2-14
supplemental troubleshooting
information 2-18
changing digital output
settings 2-22
changing parameters
2-18
using analog test points
2-20
T
technical product assistance P-4
testing axes
hookup tab 1-23
testing motors 1-22
troubleshooting 2-1
axis module faults 2-9
axis module status LED 2-4
disable drive 2-14
fault behavior 2-14
general system problems 2-12
how to detect a problem 2-2
network status LED 2-5
Publication 1394-IN024B-EN-P — February 2004
system module faults 2-6
system module status LED 2-3
tune tab 1-26
tuning axes
tune tab 1-26
tuning motors 1-22
U
understanding
motor brake A-14
motor thermal switches A-9
units tab 1-18
For more information refer to our web site: www.ab.com/motion
For Rockwell Automation Technical Support information refer to: www.rockwellautomation.com/support or Tel: (1) 440.646.3434
Publication 1394-IN024B-EN-P — February 2004
Supersedes Publication 1394-IN024A-EN-P — July 2001
Copyright © 2004 Rockwell Automation. All rights reserved. Printed in USA.
">