Allen-Bradley 1394 SERCOS Interface Multi-Axis Motion Control System, 1394C SJT05-D, SJT10-D, SJT22-D System Module Installation Manual
Below you will find brief information for Multi-Axis Motion Control System 1394 SERCOS Interface, System Module 1394C SJT05-D, System Module 1394C SJT10-D, System Module 1394C SJT22-D. The 1394 SERCOS interface system includes multiple system modules for controlling up to four axes with either 5, 10, or 22 kW continuous output depending on the system module selected. The system module can be mounted in a cabinet and can be configured and controlled by a ControlLogix or SoftLogix SERCOS interface module or PCI card.
Advertisement
Advertisement
1394 SERCOS
Interface
Multi-Axis Motion
Control System
(Catalog Numbers
1394C-SJT05-D,
1394C-SJT10-D,
1394C-SJT22-D)
Installation 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, Logix, RSLogix, SoftLogix, and SCANport are trademarks of Rockwell Automation.
Bussmann is a registered trademark of Cooper Industries, Inc.
Hiperface is a registered trademark of Stegmann, Inc.
SERCOS interface is a trademark of the Interests Group SERCOS interface e.V. (IGS).
Windows is a registered trademark of Microsoft Corporation.
UL is a registered trademark of Underwriters Laboratories.
Table of Contents
Preface
Installing Your 1394 SERCOS
Interface System
Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . P-1
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Product Receiving and Storage Responsibility . . . . . . . . . . . P-2
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3
Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . 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
Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Complying With European Union Directives . . . . . . . . . . . . 1-2
EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Meeting CE Requirements . . . . . . . . . . . . . . . . . . . . . . . 1-2
Low Voltage Directive. . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1394 System Component Overview . . . . . . . . . . . . . . . . . . 1-3
Before Mounting Your System . . . . . . . . . . . . . . . . . . . . . . 1-5
Unpacking Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
System Mounting Requirements. . . . . . . . . . . . . . . . . . . 1-6
Ventilation Requirements . . . . . . . . . . . . . . . . . . . . . . . 1-7
Determining Your System Mounting Hole Layout . . . . . . 1-8
Mounting Your 1394 Through the Back of the Cabinet . . 1-9
HF Bonding Your System. . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Bonding Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . 1-11
Planning Your Panel Layout . . . . . . . . . . . . . . . . . . . . . . . 1-12
Establishing Noise Zones . . . . . . . . . . . . . . . . . . . . . . 1-12
Cable Categories for the 1394 . . . . . . . . . . . . . . . . . . . 1-14
Mounting Guidelines to Reduce Electrical Noise . . . . . 1-15
Mounting Your 1394 SERCOS interface System . . . . . . . . . 1-18
Mounting Your External Shunt Resistor Kit . . . . . . . . . . . . 1-21
i
1394 SERCOS Interface Connector
Data
Chapter 2
Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Locating System Module Connectors and Indicators . . . . . . 2-2
System Module Connector Pin-outs . . . . . . . . . . . . . . . . . . 2-4
System Module Connectors . . . . . . . . . . . . . . . . . . . . . . 2-4
Discrete Input Connector Pin-out . . . . . . . . . . . . . . . . . 2-5
Relay Output Connector Pin-out . . . . . . . . . . . . . . . . . . 2-6
Analog Output Connector . . . . . . . . . . . . . . . . . . . . . . . 2-7
Motor Feedback Connector Pin-outs . . . . . . . . . . . . . . . 2-8
Auxiliary Feedback Connector Pin-outs . . . . . . . . . . . . . 2-9
System Module Input Power Pin-outs . . . . . . . . . . . . . 2-11
SCANport Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Locating Axis Module Connectors and Indicators . . . . . . . 2-12
Publication 1394-IN002B-EN-P — February 2004
ii Table of Contents
Connecting Your 1394 SERCOS
Interface System
Axis Module Connector Pin-outs . . . . . . . . . . . . . . . . . . . . 2-13
Axis Module Connectors . . . . . . . . . . . . . . . . . . . . . . . 2-13
Motor Power and Brake Connector Pin-outs. . . . . . . . . 2-13
Understanding I/O Specifications . . . . . . . . . . . . . . . . . . . 2-15
Discrete Input Specifications . . . . . . . . . . . . . . . . . . . . 2-15
Analog Output Specifications. . . . . . . . . . . . . . . . . . . . 2-17
Drive System OK Relay Specifications . . . . . . . . . . . . . 2-18
Motor Brake Relay Specifications . . . . . . . . . . . . . . . . . 2-19
SERCOS Connection Specifications . . . . . . . . . . . . . . . 2-20
Logic Power Input Specifications . . . . . . . . . . . . . . . . . 2-20
Understanding Feedback Specifications. . . . . . . . . . . . . . . 2-21
Motor and Auxiliary Feedback Specifications . . . . . . . . 2-21
Chapter 3
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Understanding Basic Wiring Requirements . . . . . . . . . . . . . 3-1
Building Your Own Cables . . . . . . . . . . . . . . . . . . . . . . 3-2
Routing Power and Signal Wiring . . . . . . . . . . . . . . . . . 3-2
Input Power Conditioning . . . . . . . . . . . . . . . . . . . . . . . 3-3
Determining Your Type of Input Power . . . . . . . . . . . . . . . 3-4
Grounded Power Configuration . . . . . . . . . . . . . . . . . . . 3-4
Ungrounded Power Configuration . . . . . . . . . . . . . . . . . 3-5
Setting the Ground Jumper in Ungrounded Power
Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Setting the Ground Jumper in 5 and 10 kW
System Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Setting the Ground Jumper in 22 kW System Modules . . 3-7
Grounding Your 1394 SERCOS Interface System . . . . . . . . . 3-9
Grounding Your System to the Subpanel . . . . . . . . . . . . 3-9
Grounding Multiple Subpanels . . . . . . . . . . . . . . . . . . 3-10
Motor Power Cable Shield Termination . . . . . . . . . . . . 3-11
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . 3-13
1394 Power Wiring Requirements . . . . . . . . . . . . . . . . 3-13
Connecting Input Power. . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Connecting Power Wiring for 5 and 10 kW
System Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Connecting Power Wiring for 22 kW System Modules . 3-17
Connecting Motor Power, Thermal Switch, and Brake . . . . 3-20
Connecting the Ground Wire and Cable Clamp . . . . . . 3-20
Wiring the Motor Power Connector . . . . . . . . . . . . . . . 3-22
Wiring the TB1/TB2 Connectors (1326AB/AS Motors). . 3-23
Wiring the Relay Outputs Connector . . . . . . . . . . . . . . 3-25
Understanding Feedback and I/O Cable Connections . . . . 3-26
Motor Feedback Connector Pin-outs . . . . . . . . . . . . . . 3-26
Wiring Feedback Connectors . . . . . . . . . . . . . . . . . . . . 3-29
Attaching the Cable Shield Clamp . . . . . . . . . . . . . . . . 3-31
Wiring Discrete Input Connectors . . . . . . . . . . . . . . . . 3-32
Publication 1394-IN002B-EN-P — February 2004
Table of Contents iii
Understanding External Shunt Connections . . . . . . . . . . . . 3-34
Connecting Your SERCOS Fiber-Optic Cables . . . . . . . . . . 3-35
Chapter 4
Troubleshooting Status Indicators
Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Understanding How to Detect a Problem . . . . . . . . . . . . . . 4-1
Troubleshooting System and Axis Module LEDs . . . . . . . . . 4-2
Troubleshooting the SERCOS Network Status LED. . . . . . . . 4-4
Troubleshooting System and Axis Module Faults . . . . . . . . . 4-5
System Module Faults . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Axis Module Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Troubleshooting General System Problems . . . . . . . . . . . . 4-11
Appendix A
Specifications and Dimensions
Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
System Module Power Specifications . . . . . . . . . . . . . . . A-2
Axis Module Power Specifications . . . . . . . . . . . . . . . . . A-3
Axis Module Series Information. . . . . . . . . . . . . . . . . . . A-3
Circuit Breaker Specifications . . . . . . . . . . . . . . . . . . . . A-4
Fuse Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
Contactor (M1) Specifications . . . . . . . . . . . . . . . . . . . . A-5
Relay Contact Specifications . . . . . . . . . . . . . . . . . . . . . A-6
24V Logic Input Power Specifications . . . . . . . . . . . . . . A-6
Input Transformer Specifications for 24V Logic Power . . A-6
1394 System Power Dissipation Specifications . . . . . . . . A-7
General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
Environmental Specifications. . . . . . . . . . . . . . . . . . . . . A-8
AC Line Filter Specifications . . . . . . . . . . . . . . . . . . . . . A-9
External Shunt Module/Resistor Specifications . . . . . . . . A-9
Maximum Feedback Cable Lengths . . . . . . . . . . . . . . . A-10
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-11
1394 System Module Dimensions . . . . . . . . . . . . . . . . A-11
Axis Module Dimensions . . . . . . . . . . . . . . . . . . . . . . A-12
Publication 1394-IN002B-EN-P — February 2004
iv Table of Contents
Interconnect Diagrams
Appendix B
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
1394 SERCOS Interface Interconnect Diagram Notes . . . . . . B-2
Power Interconnect Diagrams . . . . . . . . . . . . . . . . . . . . . . . B-3
Shunt Module Interconnect Diagrams . . . . . . . . . . . . . . . . . B-4
Axis Module/Motor Interconnect Diagrams . . . . . . . . . . . . . B-6
Thermal Switch and Brake Interconnect Diagrams . . . . . . . . B-9
Understanding Motor Thermal Switches . . . . . . . . . . . . . B-9
How Your Feedback Cable Affects Thermal Switch
Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-9
Thermal Switch Interconnect Diagrams . . . . . . . . . . . . . B-9
Brake Interconnect Diagrams . . . . . . . . . . . . . . . . . . . B-14
Appendix C
Catalog Numbers and Accessories
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
1394 System Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
1394 Axis Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
RSLogix 5000 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
External Shunt Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
Motor Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
Motor Feedback Cables . . . . . . . . . . . . . . . . . . . . . . . . . C-4
MP-Series Motor Brake Cable . . . . . . . . . . . . . . . . . . . . C-4
SERCOS Interface Fiber-Optic Cables . . . . . . . . . . . . . . . C-4
Motor End Connector Kits . . . . . . . . . . . . . . . . . . . . . . . C-5
1394 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-5
Publication 1394-IN002B-EN-P — February 2004
Preface
1
Who Should Use this
Manual
Read this preface to familiarize yourself with the rest of the manual.
The preface covers the following topics:
•
•
•
•
Product Receiving and Storage Responsibility
•
•
Conventions Used in this Manual
•
Use this manual for designing, installing, and wiring your 1394
SERCOS interface
Multi-Axis Motion Control System. The manual is intended for engineers or technicians directly involved in the installation and wiring of the 1394.
If you do not have a basic understanding of the 1394, contact your local Allen-Bradley representative for information on available training courses before using this product.
Purpose of this Manual
This manual provides the mounting, wiring, and connecting procedures for the 1394 and standard Rockwell Automation/Allen-
Bradley motors recommended for use with the 1394.
For power up procedures, troubleshooting, and system integration with the ControlLogix
and SoftLogix
SERCOS module/PCI card
(see table below) refer to the 1394 SERCOS Interface Integration
Manual (publication 1394-IN024x-EN-P). Manuals are available electronically (as a .pdf) or in hardcopy from www.theautomationbookstore.com.
Interface
SERCOS interface
ControlLogix Module SoftLogix PCI Card
1756-MxxSE 1784-PM16SE
Publication 1394-IN002B-EN-P — February 2004
P-2 Preface
Contents of this Manual
Refer to the following listing for the descriptive contents of this installation manual.
Chapter
1
2
3
4
Appendix A
Appendix B
Appendix C
Title
Troubleshooting Status
Indicators
Contents
Describes the purpose, background, and scope of this manual. Also specifies the audience for whom this manual is intended.
Provides system mounting information for the
1394 SERCOS interface components.
Provides system module and axis module connector locations, signal descriptions, and I/O specifications.
Provides connection and wiring information for the 1394 SERCOS interface components.
Provides troubleshooting tables that define the
1394 status LEDs and fault codes.
Provides mounting dimensions, and power, weight, environmental, and functional specifications for the 1394.
Provides power, shunt, and drive/motor interconnect diagrams for the 1394.
Provides catalog numbers and descriptions of the
1394 and related products.
Product Receiving and
Storage Responsibility
You, the customer, are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company.
Check the item(s) you receive against your purchase order. If any items are obviously damaged, it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill. Should you discover any concealed damage during unpacking, you are responsible for notifying the freight agent. Leave the shipping container intact and request that the freight agent make a visual inspection of the equipment.
Store the product in its shipping container prior to installation. If you are not going to use the equipment for a period of time, store using the following guidelines.
•
Use a clean, dry location
•
Maintain an ambient temperature range of -40 to 70° C
(-40 to 158° F)
•
Maintain a relative humidity range of 5% to 95%, non-condensing
•
Store it where it cannot be exposed to a corrosive atmosphere
•
Store it in a non-construction area
Publication 1394-IN002B-EN-P — February 2004
Preface P-3
Related Documentation
The following documents contain additional information concerning related Allen-Bradley products. To obtain a copy, contact your local
Allen-Bradley office, distributor, or download them from
TheAutomationBookstore.com.
For:
Information on configuring and troubleshooting your
1394 SERCOS interface
A description and specifications for the 1394 family including motors and motor accessories
Application sizing and configuration information
Read This Document:
1394 SERCOS interface Integration Manual
Motion Control Selection Guide
Motion Book Servo Sizing CD
(v4.0 or above)
Publication Number:
1394-IN024x-EN-P
GMC-SG001x-EN-P
Motion Book-mmmyy
Information on the use of ControlLogix motion features and application examples
ControlLogix SERCOS interface module installation instructions
SoftLogix SERCOS interface PCI card installation instructions
The instructions needed to program a motion application
Information on configuring and troubleshooting your
ControlLogix motion module
Information on configuring and troubleshooting your
SoftLogix PCI card
Information on proper handling, installing, testing, and troubleshooting fiber-optic cables
Information, examples, and techniques designed to minimize system failures caused by electrical noise
For declarations of conformity (DoC) currently available from Rockwell Automation
An article on wire sizes and types for grounding electrical equipment
A glossary of industrial automation terms and abbreviations
ControlLogix Motion Module Programming Manual 1756-RM086x-EN-P
8 or 16 Axis SERCOS interface Module Installation
Instructions
16 Axis PCI SERCOS interface Card Installation
Instructions
Logix™ Controller Motion Instruction Set Reference
Manual
ControlLogix Motion Module Setup and
Configuration Manual
SoftLogix Motion Card Setup and Configuration
Manual
Fiber-Optic Cable Installation and Handling
Instructions
System Design for Control of Electrical Noise
Reference Manual
Rockwell Automation Product Certification website
National Electrical Code
Allen-Bradley Industrial Automation Glossary
1756-IN572x-EN-P
1784-IN041x-EN-P
1756-RM007x-EN-P
1756-UM006x-EN-P
1784-UM003x-EN-P
2090-IN010x-EN-P
GMC-RM001x-EN-P www.ab.com/ certification/ce/docs
Published by the National
Fire Protection Association of Boston, MA.
AG-7.1
Conventions Used in this
Manual
The conventions starting below 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
Publication 1394-IN002B-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 technical assistance, contact your local Allen-Bradley representative or Rockwell Automation Technical Support at
(440) 646-5800 / www.ab.com/support. Please have the catalog numbers of your products available when you call.
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-IN002B-EN-P — February 2004
1
Chapter Objectives
Chapter
1
Installing Your 1394 SERCOS Interface System
This chapter covers the following topics:
•
Complying With European Union Directives
•
•
•
•
•
•
Mounting Your 1394 SERCOS interface System
•
Mounting Your External Shunt Resistor Kit
ATTENTION
!
The following information is a guideline for proper installation. The National Electrical Code and any other governing regional or local codes overrule this information. The Allen-Bradley Company cannot assume responsibility for the compliance or the noncompliance with any code, national, local or otherwise, for the proper installation of this system or associated equipment. If you ignore codes during installation, hazard of personal injury and/or equipment damage exists.
Publication 1394-IN002B-EN-P — February 2004
1-2 Installing Your 1394 SERCOS Interface System
Complying With European
Union Directives
If this product is installed within the European Union or EEC regions and has the CE mark, the following regulations apply.
For more information on the concept of electrical noise reduction, refer to System Design for Control of Electrical Noise Reference Manual
(publication GMC-RM001x-EN-P).
EMC Directive
This unit is tested to meet Council Directive 89/336 Electromagnetic
Compatibility (EMC) using a technical construction file and the following standards, in whole or in part:
•
EN 50081-2 EMC - Emission Standard, Part 2 - Industrial
Environment
•
EN 50082-2 EMC - Immunity Standard, Part 2 - Industrial
Environment
•
EN 61800-3 EMC - Adjustable Speed Electrical Power Drive
Systems - Second Environment, Restricted Distribution Class
The product described in this manual is intended for use in an industrial environment.
Meeting CE Requirements
To meet CE requirements, the following components are required:
•
You must install a power line filter (Allen-Bradley catalog number
SP-74102-006-01, SP-74102-006-02, SP-74102-006-03 or equivalent based on system current) between the three-phase input line and the system module input.
•
For MP-Series and 1326AB (M2L/S2L) motors use 2090 series motor power and feedback cables and terminate the cable shields
to the chassis clamps provided (refer to Chapter 3 for wiring
instructions).
•
For 1326AB/AS (resolver) motors use 1326 series motor power and feedback cables and terminate the cable shields to the chassis
clamps provided (refer to Chapter 3 for wiring instructions).
•
Combined motor power cable length for all (up to 4) axes must not exceed 360 m (1181 ft).
Publication 1394-IN002B-EN-P — February 2004
Installing Your 1394 SERCOS Interface System 1-3
•
Install the 1394 SERCOS interface system inside an enclosure. Run input power wiring (grounded to the enclosure) in conduit outside of the enclosure. Separate signal and power cables as
shown in Planning Your Panel Layout of this chapter.
Low Voltage Directive
These units are tested to meet Council Directive 73/23/EEC Low
Voltage Directive. The EN 50178-1 Electronic Equipment for Use in
Power Installations and EN 60204-1 Safety of Machinery-Electrical
Equipment of Machines, Part 1-Specification for General Requirements standards apply in whole or in part.
Refer to Appendix B of this document for interconnect information.
1394 System Component
Overview
This section provides an overview of the 1394 system components and a typical installation.
1394 Component:
System Module
Axis Module
ControlLogix/
SoftLogix Platforms
RSLogix™ 5000 software
Servo Motors
Cables
AC Line Filters
External Shunt
Modules
Catalog Numbers:
1394C-SJTxx-D
1394C-AMxx
1756-MxxSE module
1784-PM16SE PCI card
9324-RLD300ENE
MP-Series, 1326AB, and
1326AS servo motors
Motor Power, Feedback, and Brake cables
Fiber-Optic cables
SP-74102-006-01
SP-74102-006-02
SP-74102-006-03
1394-SR10A
1394-SR-xxxx
Description:
The 1394 multi-axis System Modules are available with 5, 10, or 22 kW continuous output and 360V/
480V ac input power. Each system module accommodates up to four axis modules.
The 1394 Axis Modules are available with 2, 3, 5, 15.6, and 23.8 kW continuous output.
The SERCOS interface module/PCI card serves as a link between the ControlLogix/SoftLogix platform and 1394 system. The communication link uses the IEC 61491 SErial Real-time COmmunication
System (SERCOS) protocol over a fiber-optic cable.
RSLogix 5000 provides support for programming, commissioning, and maintaining the Logix family of controllers.
The MP-Series (low inertia) 460V, 1326AB (M2L/S2L), and 1326AB (resolver) motors are available for use with the 1394 SERCOS interface system.
Motor power, feedback, and brake cables include integral molded, bayonet style, quick connect/ quick-release connectors at the motor. Power and brake cables have flying leads on the drive end and straight connectors that connect to servo motors. Standard feedback cables have a straight connector on the motor end and flying leads that wire to a feedback connector on the drive end.
SERCOS fiber-optic cables are available in enclosure only, PVC, nylon, and glass with connectors at both ends.
The SP-74102-006-01 three-phase AC line filter is suitable for 1394C-SJT05-D system modules.
The SP-74102-006-02 three-phase AC line filter is suitable for 1394C-SJT10-D system modules.
The SP-74102-006-03 three-phase AC line filter is suitable for 1394C-SJT22-D system modules.
The Bulletin 1394-SR10A external passive shunt resistor is available when the 1394C-SJT05/10-D internal shunt capability is exceeded.
One Bulletin 1394 external passive shunt module is required for each 1394C-SJT22-D system module.
Note: Refer to Appendix C for a complete list of catalog numbers for
the 1394 components listed above.
Publication 1394-IN002B-EN-P — February 2004
1-4 Installing Your 1394 SERCOS Interface System
The typical 1394 SERCOS interface system installation includes the following components.
Figure 1.1
Typical 1394 SERCOS interface System Installation
ControlLogix Programming Network
1756-MxxSE Interface
Workstation with RSLogix 5000
1394C-SJT xx-D
SERCOS System Module
ControlLogix Chassis
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
1326AB, 1326AS, and MPL-Bxxxx Motors
SERCOS ring
SERCOS ring
SERCOS ring
(Resolver-based or absolute high resolution feedback)
SERCOS System Module
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
1394C-SJT xx-D
1326AB, 1326AS, and MPL-Bxxxx Motors
(Resolver-based or absolute high resolution feedback)
Publication 1394-IN002B-EN-P — February 2004
Before Mounting Your
System
Installing Your 1394 SERCOS Interface System 1-5
Before you mount your 1394 SERCOS interface system make sure you understand the following:
• how to unpack the 1394 system and axis modules
• the system mounting requirements
• how to determine your mounting hole layout
Unpacking Modules
Each 1394 system module ships with the following:
•
One system module
•
One system terminator
•
One installation manual (publication 1394-IN002x-EN-P)
•
Mating power connectors (5 and 10 kW only)
•
Mating I/O and feedback connectors
•
Cable shield grounding clamps
Each 1394 axis module ships with the following:
•
One 1394 axis module
•
TB1 and TB2 connectors
•
Cable shield grounding clamp
•
One 1394 axis module information sheet (publication 1394-5.5)
Remove all packing material, wedges, and braces from within and around the components. After unpacking, check the item(s) nameplate catalog number against the purchase order. Refer to
Appendix C for more information on catalog numbers.
Publication 1394-IN002B-EN-P — February 2004
1-6 Installing Your 1394 SERCOS Interface System
System Mounting Requirements
There are several things that you need to take into account when preparing to mount the 1394:
•
The ambient temperature of the location in which you will install
the 1394 must not exceed Environmental Specifications as shown
•
You must install the panel on a flat, rigid, vertical surface that won’t be subjected to shock, vibration, moisture, oil mist, dust, or corrosive vapors.
•
You have to mount the system vertically.
•
You need to maintain minimum clearances (see Figure 1.2) for
proper airflow, easy module access, and proper cable bend radius.
•
The 1394 can operate at elevations to 1000 m (3300 ft) without derating, however, the continuous current rating must be de-rated by 3% for each additional 300 m (1000 ft) up to 3000 m (10,000 ft).
Consult your local Allen-Bradley representative prior to operating at over 3000 m (10,000 ft)
Refer to Appendix A for mounting dimensions, power dissipation, and
environmental specifications for the 1394.
ATTENTION
!
Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure.
Because the system is of the open type construction, be careful to keep any metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry, which can result in damage to components.
Publication 1394-IN002B-EN-P — February 2004
Installing Your 1394 SERCOS Interface System 1-7
Ventilation Requirements
This section provides information to assist you in sizing your cabinet
and locating your 1394 system components. Refer to Figure 1.2 for
minimum clearance requirements for power rail components mounted inside the cabinet.
Figure 1.2
Minimum System and Axis Module Mounting Requirements
50.8 mm (2.0 in.) clearance for airflow and installation
Allow 10.0 mm (0.4 in.) side clearance
Allow 25.4 mm (1.0 in.) clearance at cover tab for opening and closing.
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Allow 10.0 mm (0.4 in.) side clearance
Allow 76.2 mm (3.0 in.) clearance for depth of terminator.
Wire entry area for cable ground clamps and signal, power, and motor connections.
Allow additional clearance below the system module to provide the recommended cable bend radius. Refer to the Motion Control Selection Guide (publication GMC-SG001x-EN-P) for more information.
IMPORTANT
If the cabinet is ventilated, use filtered or conditioned air to prevent the accumulation of dust and dirt on electronic components. The air should be free of oil, corrosives, or electrically conductive contaminates.
Refer to Appendix A for 1394 power dissipation specifications.
Publication 1394-IN002B-EN-P — February 2004
1-8 Installing Your 1394 SERCOS Interface System
Determining Your System Mounting Hole Layout
Based on your actual axis module combination, use the following illustration and table to modify your subpanel using the dimensions that correspond to that specific combination.
Figure 1.3
1394 Mounting Hole Layout
Dimensions are in millimeters and (inches)
50
(1.97)
0
(0.00)
50
62.5
(2.46)
(1.97)
100
(3.94)
125
137.5
(5.41)
175
(6.89)
(4.92)
150
(5.91)
212.5
(8.37)
250
(9.84)
287.5
(11.32)
200
(7.87)
225
(8.86)
275
(10.83)
19.5
(0.768)
System outline
385
(15.16)
System module mounting holes
A B
C
D
E
A B C
D
E
A B A
C
D
E
B C D E
Heatsink cutout for the
AM50/75 module only
Heatsink cutout for the
AM50/75 module only
Heatsink cutout for the
AM50/75 module only
Heatsink cutout for the
AM50/75 module only
348
(13.70)
33.5 TYP
(1.32)
67 TYP
(2.64)
8 TYP
(0.32)
M6 tapped hole or
1/4-20 UNC - 2B
Axis Module
Combination
A
B
C
D
E
Type of Axis Module
1394x-AM50, or -AM75, and
1394C-AM50-IH, or -AM75-IH
1394x-AM03, AM04, or AM07
1394x-AM50, or -AM75, and
1394C-AM50-IH, or -AM75-IH
1394x-AM03, AM04, or AM07
1394x-AM50, or -AM75, and
1394C-AM50-IH, or -AM75-IH
1394x-AM03, AM04, or AM07
1394x-AM50, or -AM75, and
1394C-AM50-IH, or -AM75-IH
1394x-AM03, AM04, or AM07
1394x-AM50, or -AM75, and
1394C-AM50-IH, or -AM75-IH
Number of Axes
0 up to 4
1 up to 3
2 up to 2
3 up to 1
4
Cutout Needed?
no no yes (1394x-AM50 or -AM75) no (1394C-AM50-IH or -AM75-IH) no yes (1394x-AM50 or -AM75) no (1394C-AM50-IH or -AM75-IH) no yes (1394x-AM50 or -AM75) no (1394C-AM50-IH or -AM75-IH) no yes (1394x-AM50 or -AM75) no (1394C-AM50-IH or -AM75-IH)
Note: When mounting axis module combinations, you must mount the 1394x-AM50, -AM75, -AM50-IH, and -AM75-
IH closest to the system module and ahead of the 1394x-AM03, -AM04, and -AM07 axis modules.
Publication 1394-IN002B-EN-P — February 2004
Installing Your 1394 SERCOS Interface System 1-9
Mounting Your 1394 Through the Back of the Cabinet
The figure below shows an example of the typical mounting of a 1394 system with 1394x-AM50 or -AM75 axis modules. The 1394x-AM50 and -AM75 have heatsinks that mount through the back of the electrical cabinet.
Figure 1.4
Mounting the 1394 with heatsinks through the back of the cabinet
Note: This configuration requires a gasket between the 1394x-AM50 or -AM75 and the inside of the enclosure. use the gasket provided.
Customer-supplied enclosure
HF Bonding Your System
Bonding is the practice of connecting metal chassis, assemblies, frames, shields and enclosures to reduce the effects of electromagnetic interference (EMI). For more information on the concept of highfrequency (HF) bonding, the ground plane principle, and electrical noise reduction, refer to System Design for Control of Electrical Noise
(publication GMC-RM001x-EN-P).
Bonding Modules
Unless specified, most paints are not conductive and they act as insulators. To achieve a good bond between power rail and the subpanel, surfaces need to be paint-free or plated. Bonding metal surfaces creates a low-impedance return path for high-frequency energy.
IMPORTANT
To improve the bond between the 1394 SERCOS interface system and subpanel, construct your subpanel out of zinc plated (paint-free) steel.
Improper bonding blocks the direct return path and allows highfrequency energy to travel elsewhere in the cabinet. Excessive highfrequency energy can effect the operation of other microprocessor controlled equipment.
Publication 1394-IN002B-EN-P — February 2004
1-10 Installing Your 1394 SERCOS Interface System
The illustrations that follow (Figure 1.5) show details of recommended
bonding practices for painted panels, enclosures, and mounting brackets.
Subpanel
Star washer
Nut
Figure 1.5
Recommended Bonding Practices for Painted Panels
Stud-mounting the subpanel to the enclosure back wall
Back wall of enclosure
Stud-mounting a ground bus or chassis to the subpanel
Subpanel
Mounting bracket or ground bus
Welded stud
Welded stud
Use a wire brush to remove paint from threads to maximize ground connection.
Use plated panels or scrape paint on front of panel.
Flat washer
Nut
Star washer
Scrape paint
Flat washer
If the mounting bracket is coated with a non-conductive material (anodized, painted, etc.), scrape the material around the mounting hole.
Bolt-mounting a ground bus or chassis to the back-panel
Subpanel
Bolt
Tapped hole
Ground bus or mounting bracket
Nut
Flat washer
Nut
Flat washer
Star washer
Scrape paint on both sides of panel and use star washers.
Star washer
Star washer
If the mounting bracket is coated with a non-conductive material (anodized, painted, etc.), scrape the material around the mounting hole.
Publication 1394-IN002B-EN-P — February 2004
Installing Your 1394 SERCOS Interface System 1-11
Bonding Multiple Subpanels
Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet. Subpanels that are not bonded together may not share a common low impedance path. This difference in impedance may affect networks and other devices that span multiple panels.
Figure 1.6
Bonding Multiple Subpanels
Recommended:
Bond the top and bottom of each subpanel to the cabinet using 25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) wire braid
Bonded cabinet ground bus to subpanel
Scrape the paint around each fastener to maximize metal to-metal-contact.
Publication 1394-IN002B-EN-P — February 2004
1-12 Installing Your 1394 SERCOS Interface System
Planning Your Panel Layout
This section outlines the practices which minimize the possibility of noise-related failures as they apply specifically to 1394 installations.
For more information on the concept of electrical noise reduction, refer to System Design for Control of Electrical Noise Reference Manual
(publication GMC-RM001x-EN-P).
Establishing Noise Zones
Observe the following guidelines when laying out your panel (refer to
Figure 1.7 for zone locations).
•
The clean zone (C) is to the left of the 1394 and includes the
I/O wiring, feedback cable, and DC filter (grey wireway).
•
The dirty zone (D) is beneath and to the right of the 1394 (black wireway) and includes the circuit breakers, transformer, 24V dc power supply, contactors, AC line filter, and motor power cables.
•
The very dirty zone (VD) is limited to where the AC line (EMC) filter VAC output jumpers over to the 1394. Shielded cable is required only if the very dirty cables enter a wireway.
•
The SERCOS fiber-optic cables are immune to electrical noise, but are relatively fragile and best run with other light weight cables.
Figure 1.7
Establishing Noise Zones
Clean Wireway Dirty Wireway
(1)
C D
Publication 1394-IN002B-EN-P — February 2004
1394 SERCOS interface System
DC
Filter
2
SERCOS System Module
24V Motor
Brake PS
Circuit
Breaker
3
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
AC
Line Filter
I/O
1 and
Feedback Cables
VD
Contactors
D D
C Very dirty unshielded power connections segregated (not in wireway)
Route Encoder/Analog/Registration
Shielded Cable
Route 24V dc I/O
Shielded Cable
XFMR
1
If I/O cable contains (dirty) relay wires, route wires in dirty wireway.
2
This is a clean 24V dc available for any device that may require it. The 24V enters the clean wireway and exits to the left.
3
This is a dirty 24V dc available for motor brakes and contactors. The 24V enters the dirty wireway and exits to the right.
Installing Your 1394 SERCOS Interface System 1-13
Observe the following guidelines when installing your 1756-MxxSE
SERCOS interface module (refer to Figure 1.8 for zone locations).
•
The clean zone (C) is beneath the less noisy modules (I/O, analog, encoder, registration, etc. (grey wireway).
•
The dirty zone (D) is above the chassis and below the noisy modules (black wireway).
•
The SERCOS fiber-optic cables are immune to electrical noise, but are relatively fragile and best run with other light weight cables.
Figure 1.8
Establishing Noise Zones (ControlLogix)
Clean Wireway
(1)
Dirty Wireway
Route dirty wireways directly above the ControlLogix rack
(shielded by the chassis)
EMC
Filter
Spare Slot(s)
EMC filter/power supply connections segregated
(not in clean wireway)
Clean I/O
(Analog, Encoder
Registration, etc.)
Dirty I/O
(24V dc I/O, AC I/O)
Publication 1394-IN002B-EN-P — February 2004
1-14 Installing Your 1394 SERCOS Interface System
Cable Categories for the 1394
The table below indicates the zoning requirements of cables connecting to the 1394.
Wire/Cable Connections
AC input power from filter to system module (unshielded option)
AC input power from filter to system module (shielded option)
Motor Power (must be shielded)
Thermal wires
Brake wires (requires suppression)
24V dc logic power
COM, PWR (24V dc), filtered
1
COM, PWR (24V dc), unfiltered
2
U, V, W, PE
U1, V1, W1, PE2
TB1/TB2
Feedback
Registration Inputs
Enable, Overtravel, and Home inputs
Analog Outputs
W1, W2
Discrete Inputs
Discrete Inputs
Motor
Auxiliary
Discrete Inputs
Discrete Inputs
Analog Outputs
Relay Outputs Relay Outputs
DPI/SCANport
Fiber-Optic
DPI/SCANport
Rx and Tx
1
Refer to Footnote 2 on page 1-12.
2
Refer to Footnote 3 on page 1-12.
Very
Dirty
X
Zone
Dirty Clean
X
X
X
X
X
X
X
X
X
X
X
X
X
Ferrite
Sleeve
Method
Shielded
Cable
X
No Restrictions
The table below indicates the zoning requirements of cables connecting to the External Shunt Resistor Kit.
X
X
X
X
X
X
X
Wire/Cable
Shunt Power (shielded option)
Shunt Power (unshielded option)
Thermal Switch
Fan (if present)
Connections
Very
Dirty
COL, INT, DC+
N/A
N/A
X
Zone
Dirty
X
Clean
Ferrite
Sleeve
Method
Shielded
Cable
X
X
X
X
Publication 1394-IN002B-EN-P — February 2004
Installing Your 1394 SERCOS Interface System 1-15
Mounting Guidelines to Reduce Electrical Noise
When mounting an AC line (EMC) filter, external shunt resistor, or wiring the motor brake and thermal switch, refer to the sections below for guidelines designed to reduce system failures caused by excessive electrical noise.
AC Line Filters
Observe the following guidelines when mounting your AC line (EMC)
filter (refer to Figure 1.7 for an example).
•
Mount the AC line filter on the same panel as the 1394 along the right side of the right-most axis module.
•
Good HF bonding to the panel is critical. For painted panels, refer
•
Segregate input and output wiring as far as possible.
IMPORTANT
CE test certification applies only to AC line filter and single 1394 drive. Multiple drive loads may perform satisfactorily, but the user takes legal responsibility.
Publication 1394-IN002B-EN-P — February 2004
1-16 Installing Your 1394 SERCOS Interface System
External Shunt Modules
Observe the following guidelines when mounting your external shunt
module (refer to Figure 1.9 and for an example).
•
Mount circuit components and wiring in the very dirty zone or in an external shielded enclosure. Run shunt power and fan wiring inside metal conduit to minimize the effects of EMI and RFI.
•
Mount resistors (other than metal-clad) in a shielded and ventilated enclosure outside the cabinet.
•
Keep unshielded wiring as short as possible. Keep shunt wiring as flat to the cabinet as possible.
•
Route thermal switch and fan wires separate from shunt power.
Figure 1.9
External Shunt Module Outside the Enclosure
Customer-supplied metal enclosure
150 mm (6.0 in.) of clearance on all sides of the shunt module
(minimum)
Metal conduit
(where required by local code)
C
Clean Wireway
Shunt Power Wiring Methods:
Twisted pair in conduit (1st choice)
Shielded twisted pair (2nd choice)
Twisted pair, 2 twists per foot min. (3rd choice)
(1)
C
1394 Digital Servo Controller
300W Shunt Module
ALLEN-BRADLEY
BULLETIN 1394 300W SHUNT MODULE
CAT.
PART SER.
INPUT DC INPUT AC
FOR FUSE REPLACEMENT USE:
BUSSMAN CAT. NO.
FOR USE WITH 1394-SJT22-X SYSTEM MODULE
Enclosure
D
Shunt thermal switch and fan wires (when exist)
Dirty Wireway
1394 SERCOS interface System
DC
Filter
SERCOS System Module
24V Motor
Brake PS
Circuit
Breaker
Status
DANGER
AC
Line Filter
I/O and
Feedback Cables
VD
C Very dirty shunt connections segregated (not in wireway)
Route Encoder/Analog/Registration
Shielded Cable
VD
Enclosure
D
Contactors
D
Route 24V dc I/O
Shielded Cable
XFMR
Publication 1394-IN002B-EN-P — February 2004
Installing Your 1394 SERCOS Interface System 1-17
Clean Wireway
When mounting your shunt module inside the enclosure, follow these
additional guidelines (refer to Figure 1.10 and for an example).
•
Metal-clad modules can be mounted anywhere in the dirty zone, but as close to the 1394 as possible.
•
Shunt power wires can be run with motor power cables.
•
Keep unshielded wiring as short as possible. Keep shunt wiring as flat to the cabinet as possible.
•
Separate shunt power cables from other sensitive, low voltage signal cables.
Figure 1.10
External Shunt Module Inside the Enclosure
Enclosure Dirty Wireway 150 mm (6.0 in.) of clearance on all sides of the shunt module (minimum)
C
Shunt Power Wiring Methods:
Twisted pair in conduit (1st choice)
Shielded twisted pair (2nd choice)
Twisted pair, 2 twists per foot min. (3rd choice)
C
1394 Digital Servo Controller
300W Shunt Module
ALLEN-BRADLEY
BULLETIN 1394 300W SHUNT MODULE
CAT.
PART SER.
INPUT DC INPUT AC
FOR FUSE REPLACEMENT USE:
BUSSMAN CAT. NO.
FOR USE WITH 1394-SJT22-X SYSTEM MODULE
1394 SERCOS interface System
DC
Filter
SERCOS System Module
Status
DANGER
AC
Line Filter
I/O and
Feedback Cables
VD
VD
C
Very dirty shunt connections segregated (not in wireway)
Route Encoder/Analog/Registration
Shielded Cable
Enclosure
Shunt thermal switch and fan wires (when exist)
D
24V Motor
Brake PS
D
Contactors
D
Route 24V dc I/O
Shielded Cable
Circuit
Breaker
XFMR
Motor Brake and Thermal Switch
The thermal switch and brake are mounted inside the motor, but how you connect to the axis module depends on the motor series. Refer to
Connecting Motor Power, Thermal Switch, and Brake in Chapter 3 for
wiring guidelines specific to your drive/motor combination. Refer to
Axis Module/Motor Interconnect Diagrams in Appendix B for the
interconnect diagram for your drive/motor combination.
Publication 1394-IN002B-EN-P — February 2004
1-18 Installing Your 1394 SERCOS Interface System
Mounting Your 1394
SERCOS interface System
The procedures in this section assume you have prepared your panel and understand how to bond your system. For installation instructions regarding equipment and accessories not included here, refer to the instructions that came with those items.
ATTENTION
!
This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies. You are required to follow static control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Allen-Bradley publication 8000-
4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook.
1. Layout the position for your 1394 in the enclosure (refer to
Establishing Noise Zones for panel layout recommendations).
Mounting hole dimensions for the 1394 are shown in Appendix A.
Note: For help with the mounting hole layout for any combination
of axis modules, refer to Determining Your System Mounting
2. Install the top mounting fasteners on the subpanel for the system module and all axis modules. The heads of the fasteners should be at least 6.35 mm (0.25 in.) from the panel. Make sure the 1394 is
properly bonded to the subpanel. Refer to the section HF Bonding
Your System for proper bonding techniques.
IMPORTANT
To improve the bond between the 1394 and subpanel, construct your subpanel out of zinc plated (paint-free) steel.
3. Hang the 1394 system module on the two fasteners on the left side of the subpanel.
Publication 1394-IN002B-EN-P — February 2004
Installing Your 1394 SERCOS Interface System 1-19
4.
If you are mounting a: Do this:
1394x-AM03, -AM04 or -
AM07; 1394C-AM50-IH, or -AM75-IH axis module
1. Hang the axis module on the next mounting fastener.
1394x-AM50 or -AM75 axis module with the heat sink through the back of the enclosure
1. Remove the paper backing from the gasket that came with the
AM50/75 axis module.
2. Position the gasket so that the sticky side faces the axis module and the small hole side is on top.
3. Slide the gasket over the heat sink and attach it to the back of the axis module.
Figure 1.11
Gasket Position gasket
5. Hang the AM50/75 axis module on the next mounting fastener.
6. Engage the alignment tab (refer to Figure 1.12).
Figure 1.12
Alignment Tab
Engaged alignment tab
Publication 1394-IN002B-EN-P — February 2004
1-20 Installing Your 1394 SERCOS Interface System
7. Slide the slide-and-lock mechanism on the axis module to the left until it locks into place.
Figure 1.13
Slide-and Lock Mechanism
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Slide-and-Lock mechanism
8.
If you:
Have more axis modules for this system module
Do this:
Do not have more axis modules for this system module
9. Install the lower fasteners for the system module and all axis modules.
10. Attach the terminator to the last axis module. Slide it to the left until it locks in place.
Figure 1.14
Attaching the Terminator
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Attach the terminator
Publication 1394-IN002B-EN-P — February 2004
IMPORTANT
The terminator terminates the serial ring. The
1394 system will not operate without the terminator.
11. Tighten all mounting fasteners.
Mounting Your External
Shunt Resistor Kit
Installing Your 1394 SERCOS Interface System
If your 1394 requires a means of dissipating regenerative energy that exceeds the capacity of the shunt module, install an External Shunt
Resistor Kit (refer to Appendix C for catalog numbers).
ATTENTION
To avoid the hazard of shock or burn and ignition of flammable material, appropriate guarding must be provided. These resistors can reach temperatures in excess of 350
°
C (662
°
F). Install per local codes.
!
To install your External Shunt Resistor Kit:
1. Layout the position for your shunt resistor in the enclosure (refer
to Establishing Noise Zones for panel layout recommendations).
2. Attach the shunt resistor to the cabinet. The recommended mounting hardware is M6 metric (1/4 in.) bolts. Make sure all fasteners are properly bonded to the subpanel. Refer to the
section HF Bonding Your System for proper bonding techniques.
3. Tighten all mounting fasteners.
For mounting dimensions, refer to the Motion Control Selection Guide
(publication GMC-SG001x-EN-P).
1-21
Publication 1394-IN002B-EN-P — February 2004
1-22 Installing Your 1394 SERCOS Interface System
Publication 1394-IN002B-EN-P — February 2004
Chapter Objectives
Chapter
2
1394 SERCOS Interface Connector Data
This chapter provides power, feedback, and I/O connector locations and signal descriptions for your 1394 SERCOS interface system. This chapter includes:
•
Locating System Module Connectors and Indicators
•
System Module Connector Pin-outs
•
Locating Axis Module Connectors and Indicators
•
Axis Module Connector Pin-outs
•
Understanding I/O Specifications
•
Understanding Feedback Specifications
Switch and LED locations are shown, however for switch and LED configuration, refer to the 1394 SERCOS Interface Integration Manual
(publication 1394-IN024x-EN-P).
1 Publication 1394-IN002B-EN-P — February 2004
2-2 1394 SERCOS Interface Connector Data
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 2.1
1394 System Modules (1394C-SJT05-D and -SJT10-D)
1394 System Module
Front Cover
System Module
Status LED
SERCOS System Module
System Module, front view
(1394C-SJT05-D and -SJT10-D is shown)
Analog Outputs
Connector
SERCOS Base Node
Address Switch
1394 Digital Servo Controller
SERCOS interface
System Module
TM
RELAY OUTPUTS
1
DRIVE SYSTEM OK
!
DANGER
RISK OF ELECTRICAL SHOCK.
DISCONNECT SWITCH
MAY BE REQUIRED TO
DE-ENERGIZE THE
EQUIPMENT BEFORE
SERVICE.
OUTPUT 3
OUTPUT 2
OUTPUT 1
10
OUTPUT 0
Enable3
Home3
Reg3_Com
Reg3_1
AXIS 3
1 5
4 8
Pos_Otrav3
Neg_Otrav3
I/O_Com
Reg3_2
Enable2
Home2
Reg2_Com
Reg2_1
AXIS 2
1 5
4 8
Pos_Otrav2
Neg_Otrav2
I/O_Com
Reg2_2
Enable1
Home1
Reg1_Com
Reg1_1
AXIS 1
1 5
4 8
Pos_Otrav1
Neg_Otrav1
I/O_Com
Reg1_2
Enable0
Home0
Reg0_Com
Reg0_1
AXIS 0
1 5
4 8
Pos_Otrav0
Neg_Otrav0
I/O_Com
Reg0_2
3
4 5 6
!
DANGER
ELECTRICAL SHOCK HAZARD
FROM ENERGY STROAGE
CAPACITORS.
VERIFY LOW VOLTAGE
DISCHARGE BEFORE
SERVICING.
SEE INSTRUCTIONAL MANUAL.
- Analog_Out_1
- Analog_Out_2
- Analog_Out_3
- Analog_Out_4
- Common
- N/C
- N/C
- N/C
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Relay Outputs
Connector
Discrete Input
Connectors (4)
SERCOS Receive (Rx) Connector
Tie Down Anchor
SERCOS Transmit (Tx) Connector
Tie Down Anchor
SERCOS Baud Rate and Optical Power Switches
- SERCOS
Receive
OFF ON
- SERCOS
Transmit
Single Point
Bond Bar
Network Status LED
System Module, bottom view
(1394C-SJT05-D and -SJT10-D is shown)
DPI/SCANport Connector
Axis 0 Auxiliary Feedback
Axis 3 Motor Feedback
(in four axis system) or
Axis 2 Auxiliary Feedback
(in three axis system)
Axis 1 Motor Feedback
Shunt Power Connector
Logic Power Connector
Input Power Connector
Axis 1 Auxiliary Feedback
Axis 2 Motor Feedback
(in four axis system) or
Axis 3 Auxiliary Feedback
(in two axis system)
Axis 0 Motor Feedback
Cable Clamp Grounding Bracket
(one clamp installed)
Note: Switch and LED locations are shown, however for switch and
LED configuration, refer to the 1394 SERCOS Interface
Integration Manual (publication 1394-IN024x-EN-P).
Publication 1394-IN002B-EN-P — February 2004
1394 System Module
Front Cover
System Module
Status LED
1394 SERCOS Interface Connector Data 2-3
Use the figure below to locate the 1394C-SJT22-D System Module connectors and indicators.
Figure 2.2
1394 System Modules (1394C-SJT22-D)
System Module, front view
SERCOS System Module
(1394C-SJT22-D is shown)
Analog Outputs
Connector
SERCOS Base Node
Address Switch
1394 Digital Servo Controller
SERCOS interface
System Module
TM
RELAY OUTPUTS
1
DRIVE SYSTEM OK
OUTPUT 3
OUTPUT 2
OUTPUT 1
10
OUTPUT 0
Enable3
Home3
Reg3_Com
Reg3_1
AXIS 3
1 5
Pos_Otrav3
Neg_Otrav3
4 8
I/O_Com
Reg3_2
Enable2
Home2
Reg2_Com
Reg2_1
AXIS 2
1 5
Pos_Otrav2
Neg_Otrav2
4 8
I/O_Com
Reg2_2
Enable1
Home1
Reg1_Com
Reg1_1
AXIS 1
1 5
4 8
Pos_Otrav1
Neg_Otrav1
I/O_Com
Reg1_2
Enable0
Home0
Reg0_Com
Reg0_1
AXIS 0
1 5
4 8
Pos_Otrav0
Neg_Otrav0
I/O_Com
Reg0_2
3
4 5 6
Relay Outputs
Connector
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Discrete Input
Connectors (4)
SERCOS Receive (Rx) Connector
Tie Down Anchor
SERCOS Transmit (Tx) Connector
SERCOS Baud Rate and Optical Power Switches
OFF ON
Single Point
Bond Bar
Network Status LED
Terminal Block for Logic Power, Input Power, and External Shunt Connections
System Module, bottom view
(1394C-SJT22-D is shown)
DPI/SCANport Connector
Axis 0 Auxiliary Feedback
Axis 3 Motor Feedback
(in four axis system) or
Axis 2 Auxiliary Feedback
(in three axis system)
Axis 1 Motor Feedback
Axis 1 Auxiliary Feedback
Axis 2 Motor Feedback
(in four axis system) or
Axis 3 Auxiliary Feedback
(in two axis system)
Cable Clamp Grounding Bracket
(one clamp installed)
Axis 0 Motor Feedback
Note: Switch and LED locations are shown, however for switch and
LED configuration, refer to the 1394 SERCOS Interface
Integration Manual (publication 1394-IN024x-EN-P).
Publication 1394-IN002B-EN-P — February 2004
2-4 1394 SERCOS Interface Connector Data
System Module Connector
Pin-outs
The System Module connectors are described in the table below.
System Module connector pin-outs and signal descriptions follow.
System Module Connectors
Description Connector
Main Input Power
Logic Power
Shunt Power
Logic, Shunt, and Main Input Power
Terminal Block
Single Point Bond Bar
Motor/Auxiliary Feedback
Relay Outputs
Analog Outputs
Discrete Input
SERCOS Transmit and Receive
DPI/SCANport
4-position connector housing
2-position connector housing
3-position connector housing
8-position terminal block
5-position grounding bar
13-position connector housing
10-position connector housing
9-position connector housing
8-position connector housing (4)
SERCOS fiber-optic (2)
DPI/SCANport
Present on this 1394
System Module
1394C-SJT05-D /
1394C-SJT10-D
1394C-SJT22-D
1394C-SJT05-D,
1394C-SJT10-D, or
1394C-SJT22-D
Publication 1394-IN002B-EN-P — February 2004
1394 SERCOS Interface Connector Data 2-5
1
2
Axis x
Pin
3
4
Description
Hardware Enable
Home Switch Input
Common for Registration
High Speed Registration 1 Input
Discrete Input Connector Pin-out
The following table and figure below provides the signal descriptions and pin-out for the Axis 0-3 (8-pin) discrete inputs connector. Refer to
Discrete Input Specifications on page 2-15 and Analog Output
Specifications on page 2-17 for I/O signal specifications.
IMPORTANT
The 24V dc supplies for use with discrete inputs and registration inputs are user-supplied. Connect the
24V dc common (pins 3 and 7, not internally connected) as described in the table below.
Signal
ENABLEx
HOMEx
REGx_COM
REGx_1
5
6
Axis x
Pin
7
8
Description Signal
Positive limit switch
Negative limit switch
Common for HOME, ENABLE, and POS/
NEG_OTRAV Signals
High Speed Registration 2 Input
POS_OTRAVx
NEG_OTRAVx
I/O_COM
REGx_2
Figure 2.3
Pin Orientation for 8-pin Discrete Inputs Connector
Enable3
Home3
Reg3_Com
Reg3_1
1394 SERCOS interface
Control Board
1394C-SJTxx-D
Enable2
Home2
Reg2_Com
Reg2_1
Enable1
Home1
Reg1_Com
Reg1_1
Enable0
Home0
Reg0_Com
Reg0_1
Axis 3
1
2
3
4
Axis 2
1
2
3
4
Axis 1
3
4
1
2
3
4
1
2
Axis 0
5
6
7
8
5
6
7
8
7
8
5
6
7
8
5
6
Pos_Otrav3
Neg_Otrav3
I/O_Com
Reg3_2
Pos_Otrav2
Neg_Otrav2
I/O_Com
Reg2_2
Pos_Otrav1
Neg_Otrav1
I/O_Com
Reg1_2
Pos_Otrav0
Neg_Otrav0
I/O_Com
Reg0_2
Publication 1394-IN002B-EN-P — February 2004
2-6 1394 SERCOS Interface Connector Data
Relay Output Connector Pin-out
The following table and figure below provides the signal descriptions
and pin-out for the Relay Output (10-pin) connector. Refer to Drive
System OK Relay Specifications on page 2-18 and Motor Brake Relay
Specifications on page 2-19 for relay signal specifications.
Pin
1
2
7
8
9
10
5
6
3
4
Description
When wired properly in the control string, this relay opens the main power contactor if a drive system fault occurs. Refer to
figures B.1 and B.2 for examples.
Signal
DRIVE
SYSTEM OK
Allows control of motor brake using
Enable/Disable parameters for Axis 3.
OUTPUT 3
Allows control of motor brake using
Enable/Disable parameters for Axis 2.
OUTPUT 2
Allows control of motor brake using
Enable/Disable parameters for Axis 1.
Allows control of motor brake using
Enable/Disable parameters for Axis 0.
OUTPUT 1
OUTPUT 0
Figure 2.4
Pin Orientation for 10-pin Relay Output Connector
1394 SERCOS interface
Control Board
1394C-SJTxx-D
1
2
3
4
5
6
9
10
7
8
Drive System OK
Output 3
Output 2
Output 1
Output 0
Publication 1394-IN002B-EN-P — February 2004
1394 SERCOS Interface Connector Data 2-7
Analog Output Connector
The following table provides the signal descriptions and pin-outs for
the analog output (9-pin) connector. Refer to Analog Output
Specifications on page 2-17 for analog output signal specifications.
6
7
4
5
8
9
2
3
Pin
1
Description
Test Point
Test Point
Test Point
Test Point
Common
N/C
N/C
N/C
N/C
Signal
ANALOG_OUT_1
ANALOG_OUT_2
ANALOG_OUT_3
ANALOG_OUT_4
ANALOG_OUT_COM
—
—
—
—
Figure 2.5
Pin Orientation for 9-pin Analog Output Connector
1394 SERCOS interface
Control Board
1394C-SJTxx-D
9
1 Analog_Out_1
Analog_Out_2
Analog_Out_3
Analog_Out_4
Analog_Out_COM
N/C
N/C
N/C
N/C
Publication 1394-IN002B-EN-P — February 2004
2-8
6
7
2
3
Pin
1
4
5
6
7
2
3
Pin
1
4
5
1394 SERCOS Interface Connector Data
Description
Sine Differential Input+
Sine Differential Input-
Cosine Differential Input+
Cosine Differential Input-
Common
Encoder Power (+9V)
Reserved
Description
Sine Differential Input+
Sine Differential Input-
Cosine Differential Input+
Cosine Differential Input-
Reserved
Reserved
Reserved
Motor Feedback Connector Pin-outs
The following table provides the signal descriptions and pin-out for
the motor and auxiliary feedback (13-pin) connectors. Motor and
Auxiliary Feedback Specifications begin on page 2-21.
Stegmann Hiperface (SRS/SRM)
Refer to Appendix B for interconnect drawings showing how to
connect Stegmann Hiperface
®
feedback to MPL-Bxxxx-M and -S,
-Axxxx-M and -S, and 1326AB-Bxxxx-M2L and -S2L 460V motors.
Signal
SINE+
SINE-
COS+
COS-
ECOMM
EPWR_9VM
—
Pin
8
9
10
11
12
13
Description
Hiperface data channel
Hiperface data channel
Reserved
Reserved
Signal
DATA+
DATA-
—
—
Motor Thermal Switch (normally closed) TS+
Motor Thermal Switch (normally closed) TS-
Resolver Transmitter TR = 0.25
Note: TR=0.25 is an abbreviation for Transformation Ratio 0.25.
Refer to Appendix B for interconnect drawings showing how to
connect resolver transmitter feedback to MPL-Bxxxx-R and
1326AB-Bxxxx-21 Series 460V motors.
Signal
S2
S4
S1
S3
—
—
Pin
8
9
10
11
12
13
Description
Reserved
Reserved
Resolver Excitation
Resolver Excitation
Motor Thermal Switch (normally closed)
1
Motor Thermal Switch (normally closed)
1
Signal
—
—
R1
R2
TS+
TS-
—
1
When using 1326AB (resolver-based) motors, the thermal switch wires pass through the TB1/TB2 noise filter circuitry on the bottom of the axis module.
IMPORTANT
To meet CE requirements, combined motor power cable length for all (up to 4) axes must not exceed
360 m (1181 ft).
Publication 1394-IN002B-EN-P — February 2004
6
7
4
5
2
3
Pin
1
6
7
4
5
2
3
Pin
1
Description
Sine Differential Input+
Sine Differential Input-
Cosine Differential Input+
Cosine Differential Input-
Hiperface data channel
Common
Encoder Power (+5V)
Description
A+ / Sine Differential Input+
A- / Sine Differential Input-
B+ / Cosine Differential Input+
B- / Cosine Differential Input-
Index Pulse+
Common
Encoder Power (+5V)
1394 SERCOS Interface Connector Data 2-9
Auxiliary Feedback Connector Pin-outs
The following tables provide the signal descriptions and pin-outs for the auxiliary feedback (13-pin) connectors when used with different
feedback devices. Motor and Auxiliary Feedback Specifications begin on page 2-21.
Note: For TTL devices, the position count will increase when A leads
B. For sinusoidal devices, the position count will increase when cosine leads sine.
Stegmann Hiperface (SRS and SRM)
Signal
SINE+
SINE-
COS+
COS-
DATA+
ECOM
EPWR_5V
11
12
13
Pin
8
9
10
Description
Reserved
Reserved
Hiperface data channel
Reserved
Reserved
Reserved
TTL or Sine/Cosine with Index Pulse
—
—
—
Signal
—
—
DATA-
Signal
A+ / SINE+
A- / SINE-
B+ / COS+
B- / COS-
I+
ECOM
EPWR_5V
11
12
13
Pin
8
9
10
Description
Reserved
Reserved
Index Pulse-
Reserved
Reserved
Reserved
—
—
—
Signal
—
—
I-
Publication 1394-IN002B-EN-P — February 2004
2-10 1394 SERCOS Interface Connector Data
Figure 2.6
Pin Orientation for 13-pin Motor/Auxiliary Feedback Connectors
Front
Axis 0 Auxiliary Feedback
Axis 3 Motor Feedback
(in four axis system) or
Axis 2 Auxiliary Feedback
(in three axis system)
Axis 1 Motor Feedback
Axis 1 Auxiliary Feedback
Axis 2 Motor Feedback
(in four axis system) or
Axis 3 Auxiliary Feedback
(in two axis system)
2
1
4
3
6
5
8
7
13
12
11
10
9
1394 System Module
Feedback Connectors
(bottom view)
Axis 0 Motor Feedback
Back
Publication 1394-IN002B-EN-P — February 2004
1394 SERCOS Interface Connector Data 2-11
System Module Input Power Pin-outs
PE
DC+
INT
COL
V
W
Pin
W1
W2
U
The following table provide the signal descriptions and pin-outs for the system module input power connections.
For the location of 1394C-SJT05-D and -SJT10-D input connectors,
refer to Figure 2.1 on page 2-2. For the location of 1394C-SJT22-D
input terminal block, refer to Figure 2.2 on page 2-3. Refer to Logic
Power Input Specifications on page 2-20 for signal specifications.
Description
Logic power input
Three-phase main input power
Chassis Ground
External Shunt Connections
V
W
Signal
W1
W2
U
DC+
INT
COL
Figure 2.7
1394C-SJTxx-D Input Power
W1 W2
U V W P E COL INT DC+
1394C-SJT05-D and -SJT10-D
Input Power Connectors
1394C-SJT22-D
Input Power Terminal Blocks
SCANport Adapter
This port allows you to connect a SCANport device, such as a Human
Interface Module (HIM), to the 1394 SERCOS Interface system. Refer
to figures 2.1 and 2.2 for SCANport location. Refer to the 1394
SERCOS Interface Integration Manual (publication 1394-IN024x-EN-P) for information on using the HIM.
Publication 1394-IN002B-EN-P — February 2004
2-12 1394 SERCOS Interface Connector Data
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 2.8
1394 Axis Modules (1394C-AMxx and -AMxx-IH)
Front View
(typical)
Axis Enabled LED
Terminator
Motor Power Connections
Bottom View
(typical)
Motor Brake and Thermal Connections
Publication 1394-IN002B-EN-P — February 2004
Axis Module Connector
Pin-outs
1394 SERCOS Interface Connector Data 2-13
The Axis Module connectors are described in the table below. Axis
Module connector pin-outs and signal descriptions follow.
Axis Module Connectors
Description
Motor Power Terminal Block
Motor Brake/Thermal (TB1/TB2)
Connector
6-position terminal block
4-position connector housing (2)
Motor Power and Brake Connector Pin-outs
The following tables provide the signal descriptions and pin-outs for
the Axis Module motor power and brake connections. Refer to Motor
Brake Relay Specifications on page 2-19 for signal specifications.
Motor Power Connections
The following table provides the signal descriptions and pin-outs for the motor power (6-position) terminal block.
Terminal
U1
V1
W1
PE1
PE2
Description
Three-phase motor power
Axis Ground
Motor Ground
PE3 No Connection
Cable Clamp Overall Shield
Signal
U1
V1
W1
IMPORTANT
To meet CE requirements, combined motor power cable length for all (up to 4) axes must not exceed
360 m (1181 ft).
Publication 1394-IN002B-EN-P — February 2004
2-14 1394 SERCOS Interface Connector Data
Motor Brake/Thermal Connectors
The following table provides the signal descriptions and pin-outs for the motor brake and thermal (4-pin) TB1 and TB2 connectors.
2
3
TB1 Pin
1
4
Description
Thermal Sensor Input from Motor Cable
Brake wires from Motor Power Cable
Signal
TS+
TS-
BR+
BR-
2
3
TB2 Pin
1
4
Description
Filtered brake wires from Fault System or System Module
Filtered thermal sensor output to Fault
System or System Module
Signal
Filtered TS+
Filtered TS-
Filtered BR+
Filtered BR-
Publication 1394-IN002B-EN-P — February 2004
Understanding I/O
Specifications
1394 SERCOS Interface Connector Data 2-15
A description of the 1394 discrete inputs, analog outputs, relay outputs, SERCOS connections, and logic power connections is provided on the following pages.
IMPORTANT
To improve registration input EMC performance, refer to the System Design for Control of Electrical
Noise Reference Manual (GMC-RM001x-EN-P).
Discrete Input Specifications
Two fast registration inputs and four other inputs are available for the machine interface on the four discrete input connectors. These are sinking inputs that require a sourcing device.
IMPORTANT
The discrete input 24V dc power supply is user-supplied.
IMPORTANT
Overtravel limit input devices must be normally closed and configured in RSLogix 5000.
Discrete Input Pin:
Axis 0-3 input pin 1
Axis 0-3 input pin 2
Axis 0-3 input pin 5
Axis 0-3 input pin 6
Signal:
ENABLE
HOME
POS_OTRAV
NEG_OTRAV
Description:
Capture
Time
50 ms A 24V dc input is applied to these terminals to enable each axis.
The Home switch input is a normally open or normally closed contact configured in RSLogix 5000. Inputs for each axis require 24V dc (nominal),
15 mA (max) to energize. Each input is optically isolated and filtered to
minimize switch bounce. Refer to Figure 2.9.
50 ms
The positive/negative limit switch input is a normally closed contact configured in RSLogix 5000. Inputs for each axis require 24V dc (nominal),
15 mA (max) to energize. Each input is optically isolated and filtered to
minimize switch bounce. Refer to Figure 2.9.
50 ms
Common grounding point for input signals (Home, Enable, Pos/Neg_Otrav) N/A Axis 0-3 input pin 7
Axis 0-3 input pin 3
Axis 0-3 input pin 4
Axis 0-3 input pin 8
I/O_Com
REG_COM
REG_1
REG_2
24V dc high-speed, optically-isolated filtered registration input for each
500 ns
Edge/Level
Sensitive
Level
Level
Level
N/A
Edge
Publication 1394-IN002B-EN-P — February 2004
2-16 1394 SERCOS Interface Connector Data
24V dc
I/O Supply
Input
Discrete
Input Pins
1, 2, 5, 6
Figure 2.9
Enable, Home, and Overtravel Digital Input Circuits
3k
Ω
1000 pF 511
Ω
IO_COM
Customer-Supplied Input
Discrete
Input Pin 7
1394 System Module
VCC
1k
Ω
CTRL_INPUT
+24V dc
I/O Supply
Input
Discrete
Input Pins
4 and 8
Figure 2.10
Registration Digital Input Circuits
3k
Ω
1000 pF
Discrete
Input Pin 3
IO_COM
Customer-Supplied Registration 1394 System Module
511
Ω
VCC
1k
Ω
CTRL_INPUT
The following table provides a description of the digital input
specifications, as shown in figures 2.9 and 2.10.
Parameter
ON State Voltage
ON State Current
OFF State Voltage
Description Minimum
Voltage applied to the input, with respect to
IOCOM, to guarantee an ON state.
Current flow to guarantee an ON State
17.5V dc
5.0 mA
Voltage applied to the input, with respect to
IOCOM, to guarantee an OFF state.
—
Maximum
38V dc
15.0 mA
6.9V dc
Publication 1394-IN002B-EN-P — February 2004
1394 SERCOS Interface Connector Data
1394 System Module CH1
2-17
Analog Output Specifications
The 1394 SERCOS interface drive includes two analog outputs that can
be configured through software to represent drive variables. Figure
2.11 shows the configuration of the analog outputs. The table below
provides a description of the analog outputs.
Note: Refer to Analog Output Connector on page 2-7 for connector
pin-outs and figures 2.1 and 2.2 for the connector location.
Figure 2.11
Analog Output Configuration
Oscilloscope
CH2
0V = 0 ref
DAC
(second channel not shown)
IMPORTANT
Output values can vary during power-up until the specified power supply voltage is reached.
The following table provides a description of the analog output specifications.
Parameter Description
Resolution
Number of states that the output signal is divided into, which is 2
(to the number of bits)
.
Output
Current
Current capability of the output.
Output
Signal Range
Range of the output voltage.
Offset Error Deviation when the output should be at 0V.
Bandwidth Frequency response of the analog output
Minimum
—
0
-10V
—
DC
Maximum
±11 bits
+2 mA
+10V
1 mV
3.6k Hz (3 db)
For configuration/setup of the analog outputs, refer to the 1394
SERCOS Interface Integration Manual (publication
1394-IN024x-EN-P).
Publication 1394-IN002B-EN-P — February 2004
2-18 1394 SERCOS Interface Connector Data
Drive System OK Relay Specifications
The Drive System OK output is intended to be wired into the drive’s start/stop string to open the main power contactor if a drive system fault occurs. This configuration will cause the Drive System OK contacts to close after 24V logic power is applied and no system faults are detected. It is capable of handling 120V ac at 1A or less. An active state indicates the drive is operational and does not have a fault.
Figure 2.12
Drive System OK Relay
Normally
Open
Relay
1394 System Module
DRIVE SYSTEM OK_1
DRIVE SYSTEM OK_2
The following table provides a description of the relay output specifications.
Parameter Description
ON State
Current
Current flow when the relay is closed
ON State
Resistance
Contact resistance when the relay is closed
OFF State
Voltage
Voltage across the contacts when the relay is open
Maximum switched load
Minimum Maximum
— 1A
—
—
—
1
Ω
120V ac
24V dc
1A Inductive
Publication 1394-IN002B-EN-P — February 2004
1394 SERCOS Interface Connector Data 2-19
Motor Brake Relay Specifications
The connections are rated for +24V, 1A operation. An active signal releases the motor brake. The brake signal uses the turn-on and turn-off delays specified by the brake active delay and brake inactive delay. The delay times are software configurable in RSLogix 5000. For the list of motors rated for 1A operation, the delay times and example
diagram, refer to Brake Interconnect Diagrams on page B-15.
IMPORTANT
For motors requiring more than 1A, a relay must be added. For the list of motors rated at greater than 1A operation, the delay times and example diagram,
refer to Brake Interconnect Diagrams on page B-16.
Figure 2.13
Relay Outputs
Normally
Open
Relay
1394 System Module
3 5 7 9
Axis 3 Axis 2 Axis 1 Axis 0
4 6 8 10
The following table provides a description of the relay output specifications.
Parameter Description
ON State
Current
Current flow when the relay is closed
ON State
Resistance
Contact resistance when the relay is closed
OFF State
Voltage
Voltage across the contacts when the relay is open
Maximum switched load
Minimum Maximum
— 1A
— 1
Ω
—
—
30V
1A Inductive
Refer to Brake Interconnect Diagrams beginning on page B-14 for
wiring examples.
Publication 1394-IN002B-EN-P — February 2004
2-20 1394 SERCOS Interface Connector Data
SERCOS Connection Specifications
Two fiber-optic connectors (transmit and receive) are provided on the
1394 system module. The table below lists SERCOS communication specifications.
Specification
Data Rates
Node Addresses
Description
2, 4, and 8 MBd
Determined by hardware configuration. Refer to the 1394 SERCOS
Interface Integration Manual (publication 1394-IN0024x-EN-P).
Logic Power Input Specifications
The 1394 system module must be wired with a logic power input.
Refer to figures 2.1 and 2.2 for the location of the logic power
connector/terminal blocks and page A-6 for the 24V Logic Input Power
Publication 1394-IN002B-EN-P — February 2004
1394 SERCOS Interface Connector Data 2-21
Understanding Feedback
Specifications
The 1394 SERCOS interface system module can accept motor feedback signals from the following types of encoders:
•
Stegmann Hiperface
•
Resolver Transmitter TR = 0.25
•
TTL AQB or Sine/Cosine (Feedback Only axis configuration in
RSLogix 5000)
The 1394 SERCOS interface system module can accept auxiliary feedback signals from the following types of encoders:
•
Stegmann Hiperface
•
TTL AQB or Sine/Cosine with index pulse
Note: Auto-configuration in RSLogix 5000 software of intelligent absolute or high-resolution is possible only with Allen-Bradley motors.
Motor and Auxiliary Feedback Specifications
The table below lists motor encoder feedback specifications.
Specification
Encoder Types
Maximum Input Frequency
Description
Sine/Cosine, Intelligent, Resolver, and Absolute
200 kHz (Sine/Cosine input)
Publication 1394-IN002B-EN-P — February 2004
2-22 1394 SERCOS Interface Connector Data
Supply
+5V dc
+9V dc
The following table provides a description of the AM, BM, and IM inputs for auxiliary (TTL) motor encoders.
Parameter
AM, BM, and IM
ON State
Input Voltage
AM, BM, and IM
OFF State
Input Voltage
Common Mode
Input Voltage
DC Current Draw
AM, BM Input
Signal Frequency
IM Pulse Width
AM, BM Phase Error
2.5 MHz Line
Frequency
AM, BM Phase Error
1 MHz Line
Frequency
Description
Input voltage difference between the + input and the - input that is detected as an ON state.
Input voltage difference between the + input and the - input that is detected as an OFF state.
Potential difference between any encoder signal and logic ground.
Current draw into the + or - input.
Frequency of the AM or BM signal inputs.
The count frequency is 4 times this frequency, since the circuitry counts all four transitions.
Pulse width of the index input signal. Since the index is active for a percentage of a revolution, the speed will determine the pulse width.
Amount that the phase relationship between the AM and BM inputs can deviate from the nominal 90°.
Amount that the phase relationship between the AM and BM inputs can deviate from the nominal 90°.
Minimum Maximum
+1.0V
-1.0V
-7.0V
-30 mA
—
125 nS
-22.5°
-45°
+7.0V
-7.0V
+12.0V
30 mA
1.0 MHz
—
+22.5°
+45°
The following table provides a description of the AM and BM inputs for Sine/Cosine encoders when used as motor or auxiliary feedback.
Parameter
Sine/cosine
Input Signal
Frequency
Sine/cosine
Input Voltage
Description
Frequency of the Sine or Cosine signal inputs.
Peak-to-peak input voltages of the Sine or Cosine inputs.
Minimum Maximum
— 200 kHz
0.5V (p-p) 2.0V (p-p)
Feedback Power Supply
The 1394 system module generates the +5V and +9V dc for the motor and auxiliary feedback power supplies. Short circuit protection and separate common mode filtering for each channel is included. Refer to the table below for specifications.
Reference
EPWR_5V
EPWR_9V
Minimum
5.13
8.3
1
5 volt total for all axes.
2
9 volt total for all axes.
Voltage
Nominal
5.4
9.1
Maximum
5.67
9.9
Minimum
Current mA
Maximum
10
10
400
1
275
2
Publication 1394-IN002B-EN-P — February 2004
1
Chapter Objectives
Understanding Basic
Wiring Requirements
Chapter
3
Connecting Your 1394 SERCOS Interface
System
This chapter covers the following topics:
•
Understanding Basic Wiring Requirements
•
Determining Your Type of Input Power
•
Setting the Ground Jumper in Ungrounded Power Configurations
•
Grounding Your 1394 SERCOS Interface System
•
•
•
Connecting Motor Power, Thermal Switch, and Brake
•
Understanding Feedback and I/O Cable Connections
•
Understanding External Shunt Connections
•
Connecting Your SERCOS Fiber-Optic Cables
This section contains basic wiring information for the 1394.
ATTENTION
!
Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure.
Because the system is of the open type construction, be careful to keep any metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry, which can result in damage to components.
IMPORTANT
This section contains common PWM servo system wiring configurations, size, and practices that can be used in a majority of applications. National Electrical
Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided.
Publication 1394-IN002B-EN-P — February 2004
3-2 Connecting Your 1394 SERCOS Interface System
Building Your Own Cables
IMPORTANT
Factory made cables are designed to minimize EMI and are recommended over hand-built cables to ensure system performance.
When building your own cables, follow the guidelines listed below.
•
Connect the cable shield to the motor end connector with a complete 360° connection and the cable clamp on the drive end.
•
Use a twisted pair cable whenever possible. Twist differential signals with each other and twist single-ended signals with the appropriate ground return.
Refer to Appendix C for MP-Series and 1326AB (M2L/S2L) motor end
connector kit descriptions and catalog numbers.
Routing Power and Signal Wiring
Be aware that when you route power and signal wiring on a machine or system, radiated noise from nearby relays, transformers, and other electronic drives, can be induced into motor or encoder feedback, communications, or other sensitive low voltage signals. This can cause system faults and communication problems.
Refer to Chapter 1 for examples of routing high and low voltage
cables in wireways. Refer to System Design for Control of Electrical
Noise (publication GMC-RM001x-EN-P) for more information.
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System 3-3
Input Power Conditioning
In most applications, you can connect the 1394 system module directly to a three-phase, AC power line. However, if certain power line conditions exist, the input power component can malfunction. If either of the following is true, you can use a line reactor or isolationtype transformer to reduce the possibility of this type of malfunction:
•
The AC line supplying the drive has power factor correction capacitors.
•
The AC line frequently experiences transient power interruptions or significant voltage spikes.
IMPORTANT
Line conditioning is not typically required. If you have experienced power problems in the past on a power distribution line, you may need to consider input power conditioning.
Publication 1394-IN002B-EN-P — February 2004
3-4 Connecting Your 1394 SERCOS Interface System
Determining Your Type of
Input Power
Before you ground or wire your 1394 system you must determine the type of power distribution system you will be connecting to for main input power. The 1394 system is designed to operate in both grounded and ungrounded environments.
Grounded Power Configuration
The grounded power configuration allows you to ground your threephase power at a neutral point. The 1394 system module has a factory installed jumper configured for grounded power distribution. If you determine that you have grounded power distribution in your plant you do not need to modify your system.
Figure 3.1
Grounded Power Configuration
SERCOS System Module
Status
DANGER
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
System module single point bond bar
Conduit/4-Wire Cable
U
V
W
PE1
Cable clamp around shield
PE2
W1
V1
U1
Shield
Bonded cabinet ground bus
Ground grid or power distribution ground
1326 or MP-Series motor power cable
Note: The input power terminal designated PE is electrically common to the system module single point bond bar.
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System
Ungrounded Power Configuration
The ungrounded power configuration does not allow for a neutral ground point. If you determine that you have ungrounded power distribution in your plant, you need to move the factory installed jumper to the ungrounded power distribution position to prevent electrostatic buildup inside the 1394. Refer to the instructions on
page 3-6 for 5 and 10 kW system modules, and starting on page 3-7
for 22 kW system modules.
Figure 3.2
Ungrounded Power Configuration
3-5
SERCOS System Module
Status
DANGER
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
System module single point bond bar
Conduit/4-Wire Cable
U
V
W
PE1
Cable clamp around shield
PE2
W1
V1
U1
Shield
Bonded cabinet ground bus
Ground grid or power distribution ground
1326 or MP-Series motor power cable
ATTENTION
!
Ungrounded systems do not reference each phase potential to a power distribution ground. This can result in an unknown potential to earth ground.
Note: The input power terminal designated PE is electrically common to the system module single point bond bar.
Publication 1394-IN002B-EN-P — February 2004
3-6 Connecting Your 1394 SERCOS Interface System
Setting the Ground Jumper in Ungrounded Power
Configurations
These procedures assumes that you have bonded and mounted your system module to the subpanel and that there is no power applied to the system.
IMPORTANT
If you have grounded power distribution, you do not
need to set the ground jumper. Go to Grounding
Your 1394 SERCOS Interface System.
Setting the Ground Jumper in 5 and 10 kW System Modules
This procedures applies to 1394C-SJT05-D and -SJT10-D system modules. To set the ground jumper for an ungrounded system:
1. Verify that all 24V logic and main input power has been removed from the system.
2. Open the system module door.
3. Remove the three control board screws (refer to Figure 3.3 for
locations).
4. Remove ribbon cable from control board (refer to Figure 3.3 for
location).
Note: You should not find it necessary to remove both ends of the ribbon cable. Remove only the control board end.
5. Remove the control board for easy access to ground jumpers (pull it straight out from system module).
6. Locate the jumper connecting J4 and J5 on the assembly adjacent to the control board, and move one end of the jumper from J5 to
J6 (refer to Figure 3.3 for locations).
7. Re-install the control board. Align the guide pins in the rear of the enclosure with the holes in the control board.
8. Re-install ribbon cable into the control board connector.
9. Re-install the three control board screws.
10. Close the system module door.
11. Go to Grounding Your 1394 SERCOS Interface System.
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System
Figure 3.3
Ground Jumper Locations for the 5 and 10 kW System Modules
1394C-SJTxx-D
(5 and 10 kW)
Ribbon
Cable
Connector
1394 Digital Servo Controller
SERCOS interface
System Module
TM
RELAY OUTPUTS
1
DRIVE SYSTEM OK
OUTPUT 3
OUTPUT 2
OUTPUT 1
10
OUTPUT 0
Enable3
Home3
Reg3_Com
Reg3_1
AXIS 3
1 5
Pos_Otrav3
4 8
Neg_Otrav3
I/O_Com
Reg3_2
Enable2
Home2
AXIS 2
1 5 Pos_Otrav2
Neg_Otrav2
Reg2_Com
Reg2_1 4 8
I/O_Com
Reg2_2
Enable1
AXIS 1
1 5 Pos_Otrav1
Home1
Reg1_Com
Reg1_1 4 8
Neg_Otrav1
I/O_Com
Reg1_2
Enable0
Home0
Reg0_Com
Reg0_1
AXIS 0
1 5 Pos_Otrav0
Neg_Otrav0
I/O_Com
4 8
Reg0_2
3
4 5 6
!
DANGER
RISK OF ELECTRICAL SHOCK.
MORE THAN ONE
DISCONNECT SWITCH
MAY BE REQUIRED TO
DE-ENERGIZE THE
EQUIPMENT BEFORE
SERVICE.
!
DANGER
ELECTRICAL SHOCK HAZARD
FROM ENERGY STROAGE
CAPACITORS.
VERIFY LOW VOLTAGE
DISCHARGE BEFORE
SERVICING.
SEE INSTRUCTIONAL MANUAL.
- Analog_Out_1
- Analog_Out_2
- Analog_Out_3
- Analog_Out_4
- Common
- N/C
- N/C
- N/C
- N/C
- SERCOS
Base Address
x10
Upper Control Board Screw
3-7
Side
Control Board
Screw
SERCOS
Network Status
- SERCOS
Receive
OFF ON
- SERCOS
Transmit
Lower Control Board Screw
J4
J5
J6
Ground Jumper Terminals
Setting the Ground Jumper in 22 kW System Modules
This procedures applies to 1394C-SJT22-D system module. To set the ground jumper for an ungrounded system:
1. Verify that all 24V logic and main input power has been removed from the system.
2. Open the system module door.
3. Locate the ground jumper inside the system module (refer to
Figure 3.4 for jumper location).
4. Without removing the circuit board, unplug the jumper and move
it to the ungrounded power distribution position. Refer to Figure
IMPORTANT
Do not remove circuit board from 1394 system module.
Publication 1394-IN002B-EN-P — February 2004
3-8 Connecting Your 1394 SERCOS Interface System
Figure 3.4
Location of the 22 kW System Module Ground Jumper
1394C-SJT22-D
Ground Jumper
Figure 3.5
22 kW System Module Jumper Positions
Front edge of board
Factory default jumper position for a grounded configuration
Front edge of board
Jumper position on ungrounded power configuration
5. Close the system module door.
6. Go to Grounding Your 1394 SERCOS Interface System.
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System 3-9
Grounding Your 1394
SERCOS Interface System
We recommend that all equipment and components of a machine or process system have a common earth ground point connected to their chassis. A grounded system provides a safety ground path for short circuit protection. Grounding your modules and panels minimizes shock hazards to personnel and damage to equipment caused by short circuits, transient overvoltages, and accidental connection of energized conductors to the equipment chassis. For CE grounding
requirements, refer to Chapter 1.
IMPORTANT
To improve the bond between your 1394 and the subpanel, construct your subpanel out of zinc plated
(paint-free) steel.
Grounding Your System to the Subpanel
This section provides examples for connecting the chassis ground to your 1394 and the subpanel. The 1394 system module provides a grounding bar as a common point of chassis ground for the system
and axis modules, as shown in Figure 3.6.
ATTENTION
!
The National Electrical Code contains grounding requirements, conventions, and definitions. Follow all applicable local codes and regulations to safely
ground your system. Refer to Appendix B for the
1394 interconnect diagrams.
Figure 3.6
1394 Ground Wire Connections
1394 Front View
System module single point bond bar
PE1 PE1
PE1 PE1
To bonded cabinet ground bus or power distribution ground
The system module single point bond bar wires to the bonded system
ground bus on the sub-panel. Refer to Figure 3.7 for grounding
configuration examples.
Publication 1394-IN002B-EN-P — February 2004
3-10 Connecting Your 1394 SERCOS Interface System
Figure 3.7
PE Safety Ground Configuration with Multiple 1394 Systems on One Panel
1394C-SJTxx-x System Modules
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Bonded ground bar
(optional)
All ground wiring must comply with local codes
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
System module single point bond bar
Bonded cabinet ground bus
Always follow NEC and applicable local codes
Ground grid or power distribution ground
Grounding Multiple Subpanels
To extend the chassis ground to multiple subpanels, refer to the figure below.
Figure 3.8
Subpanels Connected to a Single Ground Point
Always follow NEC and applicable local codes
Ground grid or power distribution ground
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System
Motor Power Cable Shield Termination
Factory supplied motor power cables for MP-Series and 1326AB/AS motors are shielded, and the braided cable shield must terminate at the drive during installation. A small portion of the cable jacket must be removed to expose the shield braid. The exposed area must be clamped (using the clamp provided) in front of the axis module, as
shown in Figure 3.9, and the power wires terminated in the axis
module terminal block.
ATTENTION
!
To avoid hazard of electrical shock, ensure shielded power cables are grounded at a minimum of one point for safety.
IMPORTANT
Cable clamps, designed to accommodate cables 1.5 to 6 mm
2
(16 to 10 AWG) in size, are shipped with each axis module. If your axis module (1394x-AM75)
/motor combination requires 10 mm
2
(8 AWG) cable, a larger cable clamp (catalog number 1394C-8AWG-
GCLAMP) is necessary to accommodate the larger diameter cable.
Connecting MP-Series (Low Inertia) and 1326AB Motor Power
When using MP-Series (low inertia) or 1326AB (M2L/S2L) motors, only the three-phase motor power wires are included in power cable, as shown in the figure below. These motors have a separate connector on the motor for brake connections and thermal switch wires are included in the feedback cable.
Figure 3.9
Motor Power Cable (2090-XXNPMP-xxSxx or -CDNBPMP-xxSxx)
1394 Front View
3-11
Motor Power
Cable Clamp
Publication 1394-IN002B-EN-P — February 2004
3-12 Connecting Your 1394 SERCOS Interface System
Connecting 1326AB/AS (resolver) Motor Power
When using 1326AB/AS motors with resolver feedback, the thermal switch and brake wires are included in the motor power cable (1326-
CPx1-xxx). To improve the EMC performance of your system, route
the motor brake and thermal switch wires to TB1 (as shown in Figure
Figure 3.10
Motor Power Cable (1326-CPx1-xxx)
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Motor Brake and
Thermal Switch Wires
1326-CPx1-xxx Motor Power Cable
TB2
TB1
1326-CPx1-xxx Motor Power Cable
TB2
TB1
Publication 1394-IN002B-EN-P — February 2004
Power Wiring
Requirements
Connecting Your 1394 SERCOS Interface System 3-13
Power wiring requirements are given in the tables below. Wire should be copper with 75
°
C (167
°
F) minimum rating, per NFPA 79 unless otherwise noted. Phasing of main input power is arbitrary and earth ground connection is required for safe and proper operation.
IMPORTANT
The National Electrical Code and local electrical codes take precedence over the values and methods provided.
1394 Power Wiring Requirements
Module
System Module
1394C-SJT05-D or
1394C-SJT10-D
System Module
1394C-SJT22-D
Description
Main Input Power
Input Logic Power
Shunt Resistor
Connections
Main Input Power
Input Logic Power
External Shunt Module
Connections
Connects to
Terminals
U, V, W, PE
W1, W2
U, V, W, PE
W1, W2
DC+, COL
1
COL, INT, DC+
1
Recommended
Wire Size mm
2
(AWG)
6 (10)
4 (12)
6 (10)
10 (8)
4 (12)
10 (8)
2
2
Torque Value
Nm (lb-in.)
0.56 - 0.62
(5.0 - 5.6)
2.21 - 2.66
(20.0 - 24.0)
System Module
1394C-SJTxx-D
Ground
Single Point
Bond Bar
10 (8) 1.6 (14)
Drive System OK and
Brake Relay Circuits
Relay Outputs 0.2-4.0 (26-12)
Axis Module
1394C-AM03,
-AM04, and -AM07
Motor Power
U1, V1, W1, and PE2
Motor power cable depends on motor/drive combination,
6 (10) maximum
0.56 - 0.62
(5.0 - 5.6)
Ground PE1
Axis Module
1394C-AM50,
-AM75, -AM50-IH, and -AM75-IH
Motor Power
Ground
U1, V1, W1, and PE2
PE1
Motor power cable depends on motor/drive combination,
10 (8) maximum
10 (8)
1.55 - 2.0
(14.0 - 18.0)
Axis Module
1394C-AMxx and
-AMxx-IH
Thermal Switch and
Brake Filter Circuits
TB1/TB2 0.2-4.0 (26-12)
0.56 - 0.62
(5.0 - 5.6)
1
The input power terminal designated PE is electrically common to the system module single point bond bar, so the ground connection at PE is optional. However, the ground connection at the single point bond bar is mandatory.
2
105° C (221° F), 600V.
DC+ connections.
Publication 1394-IN002B-EN-P — February 2004
3-14 Connecting Your 1394 SERCOS Interface System
For additional information refer to Power Specifications in Appendix A.
Refer to Appendix B for the 1394 interconnect diagrams.
ATTENTION
!
This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies. You are required to follow static control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Allen-Bradley publication 8000-
4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook.
ATTENTION
!
To avoid personal injury and/or equipment damage, ensure motor power connectors are used for connection purposes only. Do not use them to turn the unit on and off.
To avoid personal injury and/or equipment damage, ensure shielded power cables are grounded to prevent potentially high voltages on the shield.
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System 3-15
Connecting Input Power
The system module provides terminating points for the main input power, logic power, feedback, and various other control signals. The slide-and-lock mechanism transfers power and commutation signals to each axis module. This procedure assumes you have the 1394
SERCOS interface system mounted on your panel and are ready to wire the input power.
Each individual application requires different wiring. This section provides guidelines for wiring your system. Because of the diversity of applications and systems, no single method of wiring is applicable in all cases.
IMPORTANT
When tightening screws to secure the wires, refer to
the tables beginning on page 3-13 for torque values.
IMPORTANT
To ensure system performance, run wires and cables
in the wireways as established in Chapter 1.
Refer to Appendix B for the 1394 interconnect diagrams.
If you have this System Module:
1394C-SJT05-D (5 kW) or
1394C-SJT10-D (10 kW)
1394C-SJT22-D (22 kW)
Then Go To:
Connecting Power Wiring for 5 and 10 kW
System Modules beginning below.
Connecting Power Wiring for 22 kW System
Modules beginning on page 3-17.
Connecting Power Wiring for 5 and 10 kW System Modules
The 1394C-SJT05-D and 1394C-SJT10-D system modules use connectors for wiring the main input power and logic power. You will wire the system using connector plugs that mate with connector
housings. Refer to Figure 2.1 for the connector locations.
ATTENTION
!
To avoid personal injury and/or equipment damage ensure installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, and disconnect devices. The National
Electrical Code (NEC) and local codes outline provisions for safely installing electrical equipment.
Publication 1394-IN002B-EN-P — February 2004
3-16 Connecting Your 1394 SERCOS Interface System
Wiring Main Input Power
To wire the main input power connector:
1. Prepare the incoming three-phase power wires for attachment to the input power connector by removing 10 mm (0.375 in.) of insulation.
IMPORTANT
Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
2. Route the three-phase power wires (U, V, W, and PE) to your 1394 system module.
3. Connect the system module ground wire from the system module single point bond bar to the bonded ground bar or bonded
cabinet ground bus on the subpanel (as shown in Figure 3.7). For
more information on bonding, refer to Chapter 1.
4. Insert the incoming power wires into the input power connector plug as follows and tighten the four connector plug screws.
Insert the wires labeled: Into connector terminals labeled:
U
V
U
V
W
Ground
W
PE
5. Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires.
ATTENTION
!
To avoid personal injury or damage to equipment, verify that keys are inserted into the beveled slots above terminals V and W of the input power connector plug and PE and COL on the system module input and shunt power connectors, respectively. If the keys are missing, refer to Installing Your 1394C Power Connector
Key Kit Installation Instructions (publication
1394-IN023x-EN-P).
6. Insert the input power connector plug into the input power
connector on the bottom of the system module (refer to Figure 2.1
for the connector location).
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System 3-17
Wiring Logic Power
To wire the logic power connector:
1. Prepare the incoming 24V dc logic power wires for attachment to the logic power connector by removing 10 mm (0.375 in.) of insulation.
IMPORTANT
Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
2. Route the 24V dc power wires (W1 and W2) to your 1394 system module.
3. Insert the incoming 24V dc logic power wires into the logic power connector plug as follows and tighten the connector plug screws.
Insert the wires labeled: Into the connector terminals labeled:
W1
W2
W1
W2
4. Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires.
5. Insert the logic power connector plug into the logic power
connector on the bottom of the system module (refer to Figure 2.1
for the connector location).
6. Go to Connecting Motor Power, Thermal Switch, and Brake.
Connecting Power Wiring for 22 kW System Modules
The 1394C-SJT22-D system module use IEC terminal blocks instead of connectors for making power connections. You will wire the system
module using the power terminal blocks. Refer to Figure 2.2 for the
terminal block location.
ATTENTION
!
To avoid personal injury and/or equipment damage, ensure installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, and disconnect devices. The National
Electrical Code (NEC) and local codes outline provisions for safely installing electrical equipment.
Publication 1394-IN002B-EN-P — February 2004
3-18 Connecting Your 1394 SERCOS Interface System
Wiring Main Input Power
To wire the main input power terminal block:
1. Prepare the incoming three-phase power wires for attachment to the input power terminals by removing 10 mm (0.375 in.) of insulation.
IMPORTANT
Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
2. Route the three-phase power wires (U, V, W, and PE) to your 1394 system module.
3. Connect the system module ground wire from the system module single point bond bar to the bonded ground bar or bonded
cabinet ground bus on the subpanel (as shown in Figure 3.7). For
more information on bonding, refer to Chapter 1.
4. Open the front door of the system module and locate the 22 kW
system module terminal blocks (refer to Figure 2.2).
5. Insert the incoming power wires into the terminal blocks as follows and tighten the four terminal block screws.
Insert the wires labeled: Into the terminal blocks labeled:
U U
V
W
Ground
V
W
PE
6. Gently pull on each wire to make sure it does not come out of its terminal block. Re-insert and tighten any loose wires.
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System 3-19
Wiring Logic Power
To wire the logic power terminal block:
1. Prepare the incoming 24V dc logic power wires for attachment to the logic power terminals by removing 10 mm (0.375 in.) of insulation.
IMPORTANT
Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
2. Route the 24V dc power wires (W1 and W2) to your 1394 system module.
3. Open the front door of the system module and locate the 22 kW
system module terminal blocks (refer to Figure 2.2).
4. Insert the incoming 24V dc logic power wires into the terminals as follows and tighten the terminal block screws.
Insert the wires labeled: Into the terminal blocks labeled:
W1 W1
W2 W2
5. Gently pull on each wire to make sure it does not come out of its terminal block. Re-insert and tighten any loose wires.
6. Go to the section Connecting Motor Power, Thermal Switch, and
Publication 1394-IN002B-EN-P — February 2004
3-20 Connecting Your 1394 SERCOS Interface System
Connecting Motor Power,
Thermal Switch, and Brake
These procedures assume you have mounted your 1394 SERCOS interface system, wired your three-phase input power, logic power, and are ready to wire the motor power, thermal switch, and brake connections.
Note: We recommend that you start at either the first or last axis module, wire it completely, then wire the adjacent module completely, and so on until all axis modules are wired.
IMPORTANT
When tightening screws to secure the wires, refer to
the tables beginning on page 3-13 for torque values.
IMPORTANT
To ensure system performance, run wires and cables
in the wireways as established in Chapter 1.
Refer to Appendix B for the 1394 interconnect diagrams. For motor
power cable catalog numbers, refer to Motor Power Cables in
Connecting the Ground Wire and Cable Clamp
IMPORTANT
To improve the bond between the motor cable shield and the axis module PE ground, a cable shield clamp is included with the Series C axis modules.
To wire your PE1 ground wire and cable clamp:
1. Connect one end of the axis module ground wire to the system module single point bond bar.
2. Connect the other end of the ground wire to PE1 terminal block.
3. Route the motor power cable to your axis module. For the
location of motor power connections, refer to Figure 2.8.
4. Prepare the motor cable for attachment to the cable shield clamp by removing the outer insulation and braided shield from the motor cable. Ensure approximately 51 mm (2.0 in.) of the
insulated cable wires are exposed (refer to Figure 3.11).
Publication 1394-IN002B-EN-P — February 2004
51 mm
(2.0 in.)
1
Cable wires
22 mm
(.875 in.)
1
Braided shield exposed
Motor cable
Cable Preparation
Connecting Your 1394 SERCOS Interface System 3-21
5. Remove another 22 mm (0.875 in.) of insulation to expose the braided shield underneath for clamp attachment.
IMPORTANT
When cutting into the insulation use care not to cut into the braided shield underneath.
6. Position the cable shield clamp over the exposed braided shield
(ensure clamp screw is behind clamp and not braided shield).
7. Tighten the clamp screw.
IMPORTANT
Do not overtighten the clamp screw or damage to the braided shield may result.
8. Thread the bracket screw into the bottom of the axis module and tighten.
Figure 3.11
Motor Power Cable Clamp Preparation
1394 Front View
Bracket screw
2
Clamp screw
Clamp shield clamp
Axis cable clamp
PE1 connections
System module single point bond bar
Motor power cable
To bonded cabinet ground bus or power distribution ground
Cable Attachment Wiring to Axis Module
1
Dimensions given are approximate and will vary depending on the specific installation. Keep wires as short as possible while maintaining adequate stress relief.
2
Remove plastic (captive) washer, if present.
IMPORTANT If your 1394x-AM75 axis module requires 10 mm
2
(8
AWG) cable, replace the clamp that shipped with your axis module with catalog number 1394C-8AWG-
GCLAMP.
Publication 1394-IN002B-EN-P — February 2004
3-22 Connecting Your 1394 SERCOS Interface System
Wiring the Motor Power Connector
To wire your motor power connections:
1. Prepare your conductors by removing the precut insulation or stripping approximately 10 mm (0.375 in.) of insulation from the end of each wire.
IMPORTANT
Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
2. Insert the motor power wires into the axis module terminal block as follows and tighten the terminal block screws.
Insert this wire (number/color):
1326AB/AS
(resolver) motors:
MP-Series and
1326AB (M2L/S2L) motors:
Into this axis module terminal block:
1 / Black
2 / Black
3 / Black
Green/Yellow
U / Brown
V / Black
W / Blue
PE / Green/Yellow
U1
V1
W1
PE2
3. Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten each loose wire.
4.
If your motor:
Includes the brake option
Does not include the brake option
Do the following:
5.
For this motor:
MP-Series (low inertia) and
1326AB (M2L/S2L) motors
Using this motor power cable:
2090-XXNPMP-xxSxx
2090-CDNBPMP-xxSxx
1326AB/AS (resolver) motors
1326-CPx1-xxx
Do the following:
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System 3-23
Wiring the TB1/TB2 Connectors (1326AB/AS Motors)
This procedure assumes you are using 1326AB/AS (resolver) motors, have the motor cable attached to the shield clamp, have wired the axis module terminal block, and are ready to connect the thermal switch and brake wires to the TB1 and TB2 connectors. Refer to
Figure 2.8 to locate the TB1/TB2 connectors.
The 1326AB/AS (resolver) motor thermal switch and brake wires are in the motor power cable and must pass through noise filters (TB1 and TB2) on the bottom of each axis module.
IMPORTANT
One axis module connector kit (included with each axis module) is for thermal switch and brake inputs.
You will need one kit per axis module as each kit
contains two identical connectors. Refer to Appendix
C for the connector kit replacement part number.
IMPORTANT
Noise filters on the motor thermal sensor and brake connectors (TB1 and TB2) add capacitance (1.0
µ
F) from each leg of the thermal switch and motor brake leads to ground. This should be considered when selecting ground fault circuits.
To wire your thermal switch and brake connections:
1. Prepare your conductors by removing the precut insulation or stripping approximately 10 mm (0.375 in.) of insulation from the end of each wire.
IMPORTANT
Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
2. Using the operating tool, insert the thermal switch and brake wires into the first connector (TB1) as follows and tighten the TB1 screws.
Insert this 1326-CPx1-xxx motor power wire: wire (signal)
9 (K2)
5 (K1)
Thermal switch connections
4 (B2)
6 (B1)
Brake connections
Into this TB1 connector plug terminal:
1
2
3
4
Publication 1394-IN002B-EN-P — February 2004
3-24 Connecting Your 1394 SERCOS Interface System
3. Gently pull on each TB1 wire to make sure it does not come out of its terminal. Re-insert and tighten each loose wire.
4. Insert the first connector plug (TB1) into the front-most mating half under the axis module.
5. Connect the appropriate thermal switch control wires to the second connector plug (TB2) in the kit (pins 3 and 4) and tighten
the TB2 screws. Refer to Appendix B for thermal switch
interconnect diagrams.
ATTENTION
To avoid damage to your motor, monitor the thermal switch for overheat conditions.
!
6. Connect the appropriate brake control wires to the second connector plug (TB2) in the kit (pins 1 and 2) and tighten the
screws. Refer to Appendix B for brake interconnect diagrams.
7. Gently pull on each TB2 wire to make sure it does not come out of its terminal. Re-insert and tighten each loose wire.
8. Insert the second connector plug (TB2) into the rear-most mating half under the axis module.
9. Go to Wiring the Relay Outputs Connector on page 3-25.
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System 3-25
Wiring the Relay Outputs Connector
This procedure assumes you have brake wires (user-supplied) leading from the TB2 connector or a brake cable (2090-UXNBMP-18Sxx) leading from your motor brake connector and are ready to connect your brake wires to the relay outputs connector on the 1394 system module.
To wire your relay outputs connector:
1. Prepare your relay wires, 0.82 mm
2
(18 AWG) maximum, by stripping approximately 10 mm (0.375 in.) of insulation from the end.
IMPORTANT
Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
2. Route the cable to your 1394 system module. For the location of
the relay outputs connector, refer to figures 2.1 and 2.2.
3. Reference Brake Interconnect Diagrams beginning on page B-14
for typical brake interconnect diagrams.
4.
If you:
Have more axis modules to wire
Have wired all of your axis modules
Do this:
1. Move to the next axis module.
2. Go to Connecting the Ground
Publication 1394-IN002B-EN-P — February 2004
3-26 Connecting Your 1394 SERCOS Interface System
Understanding Feedback and I/O Cable Connections
The procedure in this section assumes that your 1394 system and axis modules are already mounted and your power is wired. In this section you will:
•
Prepare the feedback and I/O cables for wiring to connector housings.
•
Make the connections and plug the housings into mating connectors on the bottom of the 1394 system module.
•
Attach the feedback cable clamp to the feedback cable shield.
For this motor series:
MP-Series (low inertia) or
1326AB (M2L/S2L)
MP-Series
1326AB/AS
Using this type of feedback: Use this feedback cable:
High-resolution encoder
2090-CDNFDMP-Sxx
Motor resolver
Motor resolver 1326-CCUx-xxx
IMPORTANT
To improve the bond between the feedback cable shield and the system module chassis ground, cable shield clamps are included with system modules.
Motor Feedback Connector Pin-outs
The following table provides the signal descriptions and pin-outs for the motor feedback (13-pin) connector to MP-Series and 1326AB
(M2L/S2L) motors.
Motor
Connector
Pin
N
P
E
F
C
D
A
B
R
S
Shield
High Resolution Feedback
Signals for:
MPL-Bxxx-M/-S and
1326AB-Bxxx-M2L/-S2L
460V Motors
Sine+
Sine-
Cos+
Cos-
Data+
Data-
EPWR_9V
ECOM
TS+
TS-
Shield
System Module
Connector Pin
1
2
3
4
8
9
6
5
12
13
Shield Clamp
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System 3-27
The following table provides the signal descriptions and pin-outs for the motor feedback (13-pin) connector to MP-Series (resolver-based) motors.
Motor
Connector
Pin
C
D
A
B
R
S
G
H
Shield
S1
S3
R1
R2
Resolver Feedback for
MPL-Bxxxx-R
460V Motors
S2
S4
TS+
TS-
Overall Shield
System Module
Connector Pin
3
4
1
2
10
11
12
13
Shield Clamp
The following table provides the signal descriptions and pin-outs for the motor feedback (13-pin) connector to 1326AB (resolver-based) motors.
A
B
Drain
D
E
Drain
G
H
Drain
Shield
Motor
Connector
Pin
Resolver Feedback for
1326AB-Bxxxx-21
460V Motors
R1
System Module
Connector Pin
1
10
R2
Drain
S1
S3
11
Shield Clamp
3
4
Drain
S2
S4
Drain
Overall Shield
Shield Clamp
1
2
Shield Clamp
Shield Clamp
Axis Module
Connector Pin
2
TB2-3
TB2-4
Resolver Feedback for
1326AB-Bxxxx-21
460V Motors
TS+
System Module
Connector Pin
2
12
TS13
1
2
Thermal switch wires (5 and 9) are in the motor power cable (1326-CPx1-xxx). Route these wires through the noise
filter (TB1/TB2) and reference Figure 3.10.
Publication 1394-IN002B-EN-P — February 2004
3-28 Connecting Your 1394 SERCOS Interface System
The following table provides the signal descriptions and pin-outs for the motor feedback (13-pin) connector to motors with the 845H quadrature encoder feedback using the 1326-CEU-xxx cable.
Drain
F
D
Drain
C
J
Drain
Shield
Motor
Connector
Pin
A
I
B
H
Drain
845H Quadrature Encoder
Feedback
460V Motors
AM+
AM-
Drain
BM+
BM-
Drain
COM
+5V dc
Drain
IM+
IM-
Drain
Overall Shield
System Module
Connector Pin
1
2
Shield Clamp
3
4
Shield Clamp
5
8
9
7
Shield Clamp
Shield Clamp
Shield Clamp
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System 3-29
Wiring Feedback Connectors
To wire your 1394 feedback connectors:
1. Begin preparation of the feedback cable by cutting off the pins already crimped to the wires.
2. If not already done, remove approximately 45 mm (1.75 in.) of the outer insulation, braided shield, and foil shield to expose the
individual insulated wires and drain wires (refer to Figure 3.12).
Note: 2090-CDNFDMP-Sxx motor feedback cables do not include drain wires.
3. Strip approximately 13 mm (0.50 in.) of insulation from the end of
the individual wires (refer to Figure 3.12).
IMPORTANT
Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
Figure 3.12
Feedback Cable Clamp Preparation
13 mm
(0.50 in.)
1
45 mm
(1.75 in.)
1 3
Drain wires
4
1394 Front View
22 mm
(.875 in.)
1
Drain wires
4
Braided shield exposed
Bracket screw
Clamp screw
Cable shield clamp
Feedback cable
2
Feedback cable clamps
Cable Preparation Clamp Attachment Attaching Feedback to System Module
1
Dimensions given are approximate and will vary depending on the specific installation. Keep wires as short as possible while maintaining adequate stress relief.
2
Only two sets of wires are shown.
3
Remove plastic (captive) washer, if present.
4
Drain wires are not included with 2090-CDNFDMP-Sxx motor feedback cables.
IMPORTANT
Ensure enough insulation is removed or the connector housing spring will make contact with the insulation and not the bare wire.
Publication 1394-IN002B-EN-P — February 2004
3-30
Bare wires
Wire insulation
Foil shield
Braided shield
Outer insulation
Connecting Your 1394 SERCOS Interface System
4. Select one of the six feedback connector housings shipped with your system module, depress the clamp spring with a small screw driver, insert the wire, and release the spring.
Note: Refer to the tables beginning on page 3-26 for motor/drive
pin-out information and figures 3.13 and 3.14 for an
illustration. Refer to Appendix B for interconnect drawings.
5. Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and test any loose wires.
6. Plug the connector housing into the appropriate feedback
connector on the bottom of the system module (refer to Figure
IMPORTANT
The connectors and connector housings are keyed and cannot be connected backwards.
However, each housing is identical so care should be taken to match the proper feedback cable with the appropriate connector.
Back
Figure 3.13
Wiring 2090-CDNFDMP-Sxx Feedback Cables
1394 System Module
Feedback Connectors
(bottom view)
Front
6
5
8
7
4
13
12
11
10
9
3
2
1
1
Blade thickness
:
0.5 mm (0.02 in.)
Feedback Cable
Replacement connector housings are included in the system module connector kit (part number 1394C-CCK-D). Each terminal has a spring type clamping mechanism which firmly grips the bare wire.
Publication 1394-IN002B-EN-P — February 2004
Bare wires
Drain wire
Wire insulation
Foil shield
Braided shield
Outer insulation
Connecting Your 1394 SERCOS Interface System
1326-CCU -xxx or
1326-CEUxxx
1394 System Module
Feedback Connectors
(bottom view)
Front
Back
Figure 3.14
Wiring 1326-CCU-xxx Feedback Cables
7
6
9
8
5
13
12
11
10
2
1
4
3
1
1326-CCU-xxx or 1326-CEU-xxx
Motor Feedback Cable
Thermal Switch Wires from TB2-3 and -4
Blade thickness
:
0.5 mm (0.02 in.)
3-31
Drain Wires (3)
Replacement connector housings are included in the system module connector kit (part number 1394C-CCK-D). Each terminal has a spring type clamping mechanism which firmly grips the bare wire.
Attaching the Cable Shield Clamp
IMPORTANT
To improve the HF bond (and reduce electrical noise) between the feedback cable shield and the system module chassis ground, use the cable shield clamps included with your system module.
To attach the cable shield clamp:
1. Thread the cable clamp bracket screw into the bottom of the system module and tighten using 1.6 Nm (14 lb-in.) torque.
2. Remove another 22 mm (.875 in.) of outer insulation from the feedback cable to expose the braided shield underneath for clamp
attachment (refer to Figure 3.12).
IMPORTANT
When cutting into the outer insulation use care not to cut into the braided shield underneath.
Publication 1394-IN002B-EN-P — February 2004
3-32 Connecting Your 1394 SERCOS Interface System
3. Fold drain wires back over the braided shield and position the cable shield clamp over the braided shield and drain wires (refer
Note: 2090-CDNFDMP-Sxx motor feedback cables do not include drain wires.
IMPORTANT
Ensure clamp screw is behind clamp and not braided shield.
4. Tighten the clamp screw.
IMPORTANT
Do not overtighten the clamp screw or damage to the braided shield may result.
5.
If you have:
More motor feedback or auxiliary feedback to wire
Wired all of your motors
Do this:
1. Move to the next motor or auxiliary feedback device.
Wiring Discrete Input Connectors
To wire the discrete input connectors:
1. Prepare your I/O wires, 0.82 mm
2
(18 AWG) maximum, by stripping approximately 6 mm (0.25 in.) of insulation from the end.
IMPORTANT
Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
2. Using a small blade type screw driver, 0.5 mm (0.02 in.), depress the housing connector spring clamp next to the pin you are
prepared to wire and insert the wire. Refer to Figure 3.15 for an
example of how to insert wires.
3. Remove the screw driver and gently pull on the wire to make sure it does not come out of its terminal. Re-insert and test any loose wires.
Publication 1394-IN002B-EN-P — February 2004
1394 SERCOS interface
Control Board
1394C-SJTxx-D
Axis 3
Axis 2
Axis 1
Axis 0
Connecting Your 1394 SERCOS Interface System 3-33
4. Repeat steps 2 and 3 for all remaining I/O connector housing wires.
5. Plug the connector housings into the appropriate I/O connector
on the front of the system module (refer to figures 2.1 or 2.2 for
connector locations).
6. Secure the I/O wires by slipping a plastic tie-down through the
tie-down anchor (refer to figures 2.1 or 2.2 for tie down anchor
locations) and bundle the wires together.
Figure 3.15
Wiring I/O Cables
Blade thickness
:
0.5 mm (0.02 in.)
1
2
3
4
7
8
5
6
Replacement connector housings are included in the system module connector kit (part number 1394C-CCK-D). Each terminal has a spring type clamping mechanism which firmly grips the bare wire.
Publication 1394-IN002B-EN-P — February 2004
3-34 Connecting Your 1394 SERCOS Interface System
Understanding External
Shunt Connections
Follow these guidelines when wiring your Bulletin 1394 External
Shunt Resistor/Module.
IMPORTANT
When tightening screws to secure the wires, refer to
the tables beginning on page 3-13 for torque values.
IMPORTANT
To ensure system performance, run wires and cables
in the wireways as established in Chapter 1.
If your application requires an:
Internal Passive
Shunt Resistor
External Passive
Shunt Resistor
External Passive
Shunt Module
Refer to Appendix B for the 1394 interconnect diagrams.
Catalog Number:
N/A
1394-SR10A
1394-SRxxxx
And you are wiring to this 1394C system module:
Then:
1394C-SJT05-D or
1394C-SJT10-D
1394C-SJT22-D
•
Verify the internal shunt jumper is in place between COL and INT,
•
Remove the internal shunt jumper between COL and INT.
•
Refer to Planning Your Panel Layout and Mounting Your External
Shunt Resistor Kit in Chapter 1.
•
Refer to System Module Input Power Pin-outs in Chapter 2.
•
Refer to The Shunt Module Interconnect Diagrams in Appendix B.
1394C-SJT05-D or -SJT10-D
System Module (bottom view)
Figure 3.16
System Module Jumper
Shunt Power
Connector
COL INT DC+
Jumper
1
1
This is the factory default jumper setting.
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System 3-35
Connecting Your SERCOS
Fiber-Optic Cables
This procedure assumes you have your ControlLogix chassis with
1756-MxxSE interface module or personal computer with 1784-
PM16SE PCI card and 1394 SERCOS interface system(s) mounted and are ready to connect the fiber-optic cables.
The SERCOS fiber-optic ring is connected using the SERCOS Receive
and Transmit connectors. Refer to Chapter 2 for the location of the
connectors on your 1394 drive(s) and Figure 3.17 to locate the
connectors on your SERCOS interface module or PCI card.
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 3.17
ControlLogix and SoftLogix SERCOS Connector Locations
SERCOS interface TM
CP OK
ControlLogix
1756-M xxSE SERCOS interface Module
Front View
Tx (rear)
Rx (front)
Bottom View SERCOS Receive Connector, Rx (front)
SERCOS Transmit Connector, Tx (rear)
RSLogix 5000
D
E F
0
8 9A
1 2 3
67
OK
SoftLogix
1784-PM16SE SERCOS interface PCI Card
(as viewed from the back of your PC)
TX
CP
SERCOS Transmit Connector, Tx
RX
SERCOS Receive Connector, Rx
Refer to Figure 3.18 for an example of fiber-optic ring connections
between the 1394 SERCOS interface drive(s) and the SoftLogix
SERCOS interface PCI card.
Figure 3.18
Fiber-Optic Ring Connection (Example 1)
Transmit
Receive
E
F
1
2
OK
CP
TX
RX
SoftLogix
1784-PM16SE SERCOS interface PCI Card
SERCOS fiber-optic ring
1394 SERCOS interface System
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Receive Transmit
1394 SERCOS interface System
SERCOS System Module
Status
DANGER
Receive Transmit
Publication 1394-IN002B-EN-P — February 2004
3-36 Connecting Your 1394 SERCOS Interface System
Refer to figures 3.19 and 3.20 for examples of fiber-optic ring
connections between the 1394 SERCOS interface drive(s) and the
ContolLogix SERCOS interface module.
Figure 3.19
Fiber-Optic Ring Connection (Example 2)
1756-MxxSE SERCOS interface Module
ControlLogix Chassis
SERCOS System Module
1394 SERCOS interface System
Receive Transmit Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
SERCOS System Module
1394 SERCOS interface System
SERCOS Fiber-Optic Ring
Receive Transmit
Status
DANGER
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Transmit
SERCOS Fiber-Optic Ring Receive Transmit
SERCOS Fiber-Optic Ring
Cable lengths of 32 m (105 ft) for plastic cable and 200 m (656.7 ft) for glass cable are possible for each transmission section (point A to B).
In Figure 3.20, the second 1394 system is located in a separate cabinet
and connected with bulkhead adapters.
IMPORTANT
To avoid signal loss, do not mix glass and plastic cables when connecting to a bulkhead adapter. Use glass-to-glass or plastic-to-plastic cable on both sides of the adapter.
Figure 3.20
Fiber-Optic Ring Connection (Example 3)
1756-MxxSE SERCOS
Interface Module
SERCOS interface TM
CP OK
ControlLogix Chassis
Tx (rear)
Rx (front)
A B
SERCOS Fiber-Optic Ring SERCOS Fiber-Optic Ring
SERCOS System Module
Status
DANGER
RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
1394 SERCOS interface System
B A
SERCOS Fiber-Optic Ring
SERCOS Fiber-Optic
Bulkhead Adapter
SERCOS System Module
Status
DANGER
1394 SERCOS interface System
B A
SERCOS Fiber-Optic Ring
Publication 1394-IN002B-EN-P — February 2004
Connecting Your 1394 SERCOS Interface System 3-37
IMPORTANT
Clean the fiber-optic cable connectors prior to installation. Dust in the connectors can reduce signal strength. For more information, refer to Fiber Optic
Cable Installation and Handling Instructions
(publication 2090-IN010x-EN-P).
To connect the SERCOS fiber-optic cables:
1. Insert one end of a fiber-optic cable into the Receive SERCOS connector on the 1394 system module and thread the connector on finger tight.
2. Insert the other end of the cable (from step 1) into the Transmit
SERCOS connector on the ControlLogix module/SoftLogix PCI
Card and thread the connector on finger tight.
3. Insert one end of another fiber-optic cable into the Transmit
SERCOS connector on the last 1394 system module in the ring and thread the connector on finger tight.
4. Insert the other end of the cable (from step 3) into the Receive
SERCOS connector on the ControlLogix module/SoftLogix PCI
Card and thread the connector on finger tight.
5. Complete the ring by connecting the Transmit and Receive connectors from one drive to the next until all are connected
(refer to the examples above).
Refer to Appendix C for SERCOS fiber-optic cable and bulkhead
adapter catalog numbers.
Publication 1394-IN002B-EN-P — February 2004
3-38 Connecting Your 1394 SERCOS Interface System
Publication 1394-IN002B-EN-P — February 2004
1
Chapter
4
Chapter Objectives
Troubleshooting Status Indicators
This chapter covers:
•
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
For power up procedures and system integration with the
ControlLogix and SoftLogix SERCOS modules/PCI cards (see table below) refer to the 1394 SERCOS interface Integration Manual
(publication 1394-IN024x-EN-P). Manuals are available electronically
(as a .pdf) or in hardcopy from www.theautomationbookstore.com.
Interface
SERCOS interface
ControlLogix Module SoftLogix PCI Card
1756-MxxSE 1784-PM16SE
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-IN002B-EN-P — February 2004
4-2 Troubleshooting Status Indicators
Troubleshooting System and Axis Module LEDs
The system module Status LED is visible from the front of the module.
Refer to figures 2.1 and 2.2 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:
Terminator not installed.
Malfunctioning system module.
A fault has occurred in the system
(check for faults through the RSLogix
5000, DriveExplorer
DC bus is not up.
, or the HIM).
Open fuse or malfunctioning contactor on user-supplied 3 phase input.
Possible Resolution is:
• Install terminator.
• Verify wiring.
• Secure wiring connections.
• Replace the module.
• Check logic supply ratings.
• Contact your local Allen-Bradley
Support Representative.
• Reset faults.
• Verify wiring.
• Secure wiring connections.
• Check SERCOS fiber-optic connections.
Apply three-phase power.
• Check wiring to start/stop circuitry.
• Check the user program.
• Check fuse.
Malfunctioning system module.
The bus is up and axes are enabled.
The bus is up, but no axis is enabled.
Enable signal from position controller is not present.
Replace the module.
None needed.
• Check axes and enable them, if necessary.
• Verify that enable wiring is correct and not open.
• Check axes and enable them, if necessary.
• Verify that enable wiring is correct and not open.
• Check 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-IN002B-EN-P — February 2004
Troubleshooting Status Indicators 4-3
The axis module status LED is visible from the front of the module.
Refer to Figure 2.8 for the location of the axis module status LED.
If the Axis Module LED is:
Steady red
Potential Cause is:
Malfunctioning axis module.
Possible Resolution is:
• 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
Steady green
DC bus is not up.
• Check the system module LED.
• Check slider connections to verify that they are properly seated.
The bus is up and axes are enabled.
None needed.
Flashing green
Not illuminated
Axis is not enabled.
Enable signal from controller is not present.
Incorrect wiring or loose connections.
Axis setups may not be correct for the application.
There is no power to the axis module.
There is no power to the system.
• Check axes and enable them, if necessary.
• Verify that enable wiring is correct and not open.
• Check axes and enable them, if necessary.
• Verify that enable wiring is correct and not open.
Check I/O connections on the control board.
• Verify that axis definitions are correct.
• Check tuning parameters.
• Verify that the slider connections are secure.
• Verify that the terminator is secure on the last axis.
• Check system module power supply.
• Verify that the terminator is present on the last axis.
Publication 1394-IN002B-EN-P — February 2004
4-4 Troubleshooting Status Indicators
Troubleshooting the
SERCOS Network Status
LED
If the SERCOS
Network Status
LED is:
Steady Green
Status is:
Communication ready
Steady Orange Control board failure
Flashing Green
Establishing communication
Flashing Red No communication
1
The SERCOS Network Status LED is located on the system module control board and visible with the system module door open. Refer to
figures 2.1 and 2.2 for the location of the SERCOS Network Status
LED.
Potential Cause is: Possible Resolution is:
No faults or failures.
Control board failure.
System is ready.
• Cycle power.
• Replace system module.
Replace system module.
Hardware failure.
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.
Loose fiber-optic connection.
Dirty fiber-optic cable connectors.
Verify proper SERCOS base address switch
setting (refer to figures 2.1 and 2.2 for switch
location).
Verify proper fiber-optic cable connections.
Remove foreign material from connector.
Broken fiber-optic cable.
Replace fiber-optic cable.
Weak fiber-optic signal due to long fiber-optic cable. Set SERCOS transmit level to HIGH.
Distorted fiber-optic signal due to short fiber-optic cables.
Receive fiber-optic cable connected to SERCOS transmit connector and visa versa.
Decrease SERCOS transmit level of previous device in SERCOS ring.
Check proper SERCOS fiber-optic cable connections.
1
Refer to Fiber Optic Cable Installation and Handling Instructions (publication 2090-IN010A-EN-P) for more information.
Publication 1394-IN002B-EN-P — February 2004
Troubleshooting System and Axis Module Faults
Troubleshooting Status Indicators 4-5
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):
Description: Potential Cause is: Possible Resolution is:
DriveOvercurrent
Fault
(Bus Overcurrent)
System module exceeded current rating.
Motor or transmission malfunction.
System module not properly sized.
• Check for proper motor sizing.
• Check/replace transmission device.
• Check/replace motor.
• Check for proper system module sizing.
• Install larger kW rated system module.
DriveOvervoltage
Fault
(Bus Overvoltage)
If this fault occurs when you power up the system module with the M-contactor, the power distribution impedance might be stiff or line voltage might be too high.
The position controller acceleration / deceleration rate is incorrectly set.
The DC bus voltage is above limits. If it exceeds (830V dc), a fault is sensed and the power supply is disabled.
The system inertia is too high causing excessive energy to be returned to the power supply bus.
• Perform line conditioning.
• Verify that line voltage is within specifications.
Change the command profile to reduce speed or increase time.
• Change the command profile to reduce speed or increase time.
• Use a larger external shunt resistor.
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.
A vertical axis with insufficient counterbalancing is overdriving the servo motor and causing excessive energy to be returned to the power supply bus.
Input line voltage exceeds the maximum input voltage rating.
Power Driver Board is malfunctioning and is incorrectly sensing the bus voltage.
The shunt regulator or transistor has malfunctioned.
External shunt regulator fuse has blown.
Shunt type not selected properly.
• Use the external shunt resistor.
• Increase the mechanical
Replace the system module.
Check and possibly replace the shunt resistor.
Select proper shunt type.
counter-balance on the machine.
Verify incoming main ac input voltage and change the supply source, if needed.
Replace the system module.
DriveUndervoltage
Fault
(Bus Precharge)
The system module precharge cycle has failed.
The precharge circuit has malfunctioned.
• Check main ac line voltage.
• Check fusing.
• Replace the system module.
DriveUndervoltage
Fault
(Bus Undervoltage)
The DC power bus activates undervoltage limit when the bus drops to 275V dc or less. It will clear at 300V dc.
The voltage on the main ac input power is low.
• Verify incoming AC voltage and change the supply source, if needed.
• Check fusing.
DriveHardFault
(Can Init)
SCANport hardware initialization fault detected.
Control board hardware failure.
• Cycle all input power.
• If fault persists, replace system module.
Publication 1394-IN002B-EN-P — February 2004
4-6 Troubleshooting Status Indicators
Fault Message
RSLogix (HIM):
Description: Potential Cause is:
DriveHardFault
(Contactor Fault)
Three-phase power is either detected when it shouldn’t be or not detected when it should be.
The contactor is welded or failed to open.
The input wiring to your contactor is incorrect.
MotFeedbackFault
(Fdbk Watch Dog)
A feedback hardware or software fault detected.
The feedback processor has faulted.
Incorrect wiring.
GroundShortFault
(Ground Short)
DriveHardFault
(IDMA Load)
DriveHardFault
(Memory Init)
DriveHardFault
(NV Mem Init)
DriveHardFault
(Objects Init)
Excessive ground current in the system module was detected.
Motor feedback hardware initialization fault detected.
Memory hardware initialization fault detected.
Non-volatile memory is corrupt.
Non-volatile memory is corrupt.
Motor malfunction.
Axis Module IGBT malfunction.
Short to ground.
Control board hardware failure.
Incorrect motor feedback wiring.
Improper feedback cable clamp attachment.
Control board hardware failure.
Control board software error.
Control board hardware failure.
PowerPhaseLoss
Fault
(Phase Loss Flt)
DriveHardFault
(SCANport Comm)
The three-phase input line is monitored and a fault will be issued whenever a phase loss is detected.
One or more input line fuses have opened.
Input line contactor malfunction.
Incorrect wiring.
SCANport/DPI
Communication Failed.
The SCANport/DPI device or cable is faulty.
SERCOSFault
(SERCOS Ring Flt)
DriveHardFault
(SERCOS Init)
DriveHardFault
(Serial Ring Init)
SERCOS ring not active after being active and operational.
SERCOS ring is physically broken.
ControlLogix program is downloaded during operation (this causes SERCOS ring to cycle).
SERCOS hardware initialization fault detected.
Control board hardware failure.
Intermodule serial communication failed.
Terminator is not installed.
System module failure.
Possible Resolution is:
• Correct wiring.
• Replace the contactor.
Correct wiring.
• Cycle all input power.
• If fault persists, replace system module.
• Verify motor and ground wiring.
• Replace cables.
Check the resistance of each motor winding phase to case ground with an ohm meter.
Readings should be in mega ohms.
Replace the axis module.
• Replace the system or axis module.
• Check grounding and incoming power wiring.
• Cycle all input power.
• If fault persists, replace system module.
• Load default parameters, save to nonvolatile memory, and recycle power.
• Reset the drive.
• Replace the system module.
• Cycle all input power.
• If fault persists, replace system module.
• Load default parameters, save to nonvolatile memory, and recycle power.
• Reset the drive.
• Replace the system module.
• Load default parameters, save to nonvolatile memory, and recycle power.
• Reset the drive.
• Replace the system module.
Check fuses and replace, as necessary.
• Correct wiring.
• Replace contactor.
Check main ac input power at system module.
Check SCANport/DPI connections.
• Check fiber optic cable connections.
• Replace fiber optic cable.
Wait for SERCOS ring to cycle and fault to reset.
• Cycle all input power.
• If fault persists, replace system module.
• Verify that the slider and terminator connections are secure.
Replace the system module.
Publication 1394-IN002B-EN-P — February 2004
Troubleshooting Status Indicators 4-7
Fault Message
RSLogix (HIM):
SERCOSFault
(SERCOS Same Addr)
DriveOvervoltage
Fault
(Shunt Time Out)
DriveOvertemp
Fault
(Sys Overtemp)
DriveHardFault
(Sys Mod Unknown)
Description:
Shunt resistor continuous rating exceeded.
The 1394 thermal sensor tripped when internal ambient temperature exceeded rating.
Active when serial ring detects unknown system module.
Potential Cause is:
Duplicate node address detected on SERCOS ring.
Possible Resolution is:
The regenerative energy produced by the motor exceeded the limit of the shunt resistor.
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.
The airflow access to the 1394 is limited or blocked.
• Use a properly sized shunt or modify duty cycle of the application.
• System uses internal shunt and requires external shunt for additional capacity.
• Check mechanics for improper operation.
• Verify operating torque.
Check airflow and re-route cables away from the 1394.
Unknown system module.
Verify that each SERCOS drive is assigned a unique node address.
Replace the system module.
DriveHardFault
(Task Init)
Software initialization fault detected.
Control board hardware failure.
• Cycle all input power.
• If fault persists, replace system module.
DriveHardFault
(Unknown Fault)
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.
Publication 1394-IN002B-EN-P — February 2004
4-8 Troubleshooting Status Indicators
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)
(Ax: ATune Flt)
Description:
Auto tune procedure failed to complete successfully.
Potential Cause is:
Motor or feedback device malfunction.
No Fault Message
(condition indicated by on-screen message)
(Axis x Hookup
Fault)
Hookup procedure failed to complete successfully.
Motor or feedback device malfunction.
DriveHardFault
(Axis x Unknown)
Active when serial ring detects unknown axis module.
Unknown axis module.
Possible Resolution is:
• Check motor power/feedback wiring.
• Refer to on-screen message for resolution.
• Check motor power/feedback wiring.
• Refer to on-screen message for resolution.
AuxFeedbackFault
(Ax: Aux Fdbk AQB)
Auxiliary Encoder State
Error
Auxiliary encoder has encountered an illegal state transition.
• Check the slider connections.
• Replace the axis module.
•
Use shielded cables with twisted pair wires.
•
Route the feedback away from potential noise sources.
•
Check the system grounds.
•
Replace the motor/encoder.
AuxFeedbackFault
(Ax: Aux Fdbk Comm)
Drive unable to communicate with auxiliary Smart feedback device.
The auxiliary encoder feedback signal is lost.
• Check auxiliary feedback wiring.
• Reset faults.
AuxFeedbackFault
(Ax: Aux Fdbk Loss)
The feedback wiring is open, shorted, or missing.
Open or short circuit has occurred on feedback wiring.
The feedback wiring or termination to system module is incorrect.
Motor feedback failure.
Check the feedback cable connectors/wiring to the system module and motor.
Check the feedback cable connectors/wiring to the system module and motor.
Replace the motor feedback.
AuxFeedback
NoiseFault
(Ax: Aux Fdbk Noise)
DriveUndervoltage
Fault
(Ax: Bus Loss)
DriveOvercurrent
Fault
(Ax: Desat)
Excessive noise detected on feedback signals.
The DC bus supply to the axis module was lost.
Too much current in the axis module.
DriveEnableInput
Fault
(Drive Enable Flt)
Poor grounding.
The slider connections may not be secure.
An axis module’s bus link fuse has blown.
Power module malfunction.
• Check ground clamp connectors.
• Check system module grounding.
Check slider connections.
Replace the axis module.
Replace the axis module.
Missing Drive Enable Input
Signal
•
An attempt was made to enable the axis through software while the Drive Enable hardware input was inactive.
•
The Drive Enable input transitioned from active to inactive while the axis was enabled.
•
Disable the Drive Enable Input fault.
•
Verify that Drive Enable hardware input is active whenever the drive is enabled through software.
Publication 1394-IN002B-EN-P — February 2004
Troubleshooting Status Indicators 4-9
Fault Message
RSLogix (HIM):
MotFeedbackFault
(Ax: Mtr Fdbk Loss)
Description:
The feedback wiring is open, shorted, or missing.
Potential Cause is: Possible Resolution is:
PositionErrorFault
(Ax: Follow Error)
DriveOvercurrent
Fault
(Ax: I(t) Fault)
Axis position error limit has been exceeded. This fault can be configured for status only.
The motor cannot keep up with the position command.
Accel/decel command from position controller is requiring peak current for an excessive amount of time.
Logic supply circuits have malfunctioned or AC output is incorrectly wired.
• Check motor load for binding.
• Increase position loop proportional gain.
• Increase the allowable following error.
Change the command profile to reduce speed or increase time.
The output current is exceeding the time-current rating.
The machine friction, inertial load, and/or viscous load is excessive.
The motor has been improperly sized.
A short circuit exists across the drive output terminals.
• Change the command profile to reduce speed or increase time.
• Check for mechanical problems on the machine.
• Check motor size for your application.
• Contact your Allen-Bradley Support
Representative.
Check wiring between the axis and the motor.
• 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.
PosSoftOvertravel
Fault
(Ax: +Soft Ovrtrvl)
NegSoftOvertravel
Fault
(Ax: -Soft Ovrtrvl)
PosHardOvertravel
Fault
(Ax: +Hard Ovrtrvl)
NegHardOvertravel
Fault
(Ax: -Hard Ovrtrvl)
Axis position exceeded maximum software positive travel limit.
Axis position exceeded maximum software negative travel limit.
Axis tripped positive hard overtravel limit switch.
Positive travel limit set too high.
Negative travel limit set too low.
Axis moved beyond the physical travel limits.
Axis tripped negative hard overtravel limit switch.
Axis moved beyond the physical travel limits.
• Jog motor to within limits.
• Increase travel range limits.
• Jog motor to within limits.
• Increase travel range limits.
• Disable checking and jog motor to within limits.
• Move motor manually to within limits.
MotFeedbackFault
(Ax: Mtr Fdbk AQB)
Motor Encoder State Error
Motor encoder has encountered an illegal state transition.
• Disable checking and jog motor to within limits.
• Move motor manually to within limits.
•
Use shielded cables with twisted pair wires.
•
Route the feedback away from potential noise sources.
•
Check the system grounds.
•
Replace the motor/encoder.
MotFeedbackFault
(Ax: Mtr Fdbk Comm)
Communication was not established with an intelligent (i.e. Stegmann) encoder.
The encoder feedback signal is lost.
• Check motor feedback wiring
• Reset faults
Open or short circuit has occurred on feedback wiring.
The feedback wiring or termination to system module is incorrect.
The motor feedback might be bad.
Check the feedback cable connectors/wiring to the system module and motor.
Check the feedback cable connectors/wiring to the system module and motor.
Replace the motor feedback.
Publication 1394-IN002B-EN-P — February 2004
4-10 Troubleshooting Status Indicators
Fault Message
RSLogix (HIM):
MotFeedback
NoiseFault
(Ax: Mtr Fdbk Noise)
MotorOvertemp
Fault
(Ax: Motor x
Overtemp)
OverSpeedFault
(Ax: Overspeed)
DriveOvertemp
Fault
(Ax: Overtemp)
Fault
(Ax: Power Fault)
DriveOvercurrent
Description:
Excessive noise detected on feedback signals.
The motor thermal switch was tripped.
Potential Cause is:
Poor grounding.
Motor overload.
Possible Resolution is:
• Check ground clamp connectors.
• Check system module grounding.
• 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 module temperature limit exceeded
The current through any one of the power IGBTs has exceeded 300% of the
1394’s current rating.
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.
The airflow access to the 1394 is limited or blocked.
The motor lead has shorted.
The motor is malfunctioning.
Power IGBTs are malfunctioning.
Change the command profile to reduce speed or increase time.
Check airflow and re-route cables away from the 1394.
• 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.
• Check the resistance of each motor winding phase to case ground with an ohm meter. Readings should be in Mega ohms.
• Return motor for repairs.
Replace the axis module.
Publication 1394-IN002B-EN-P — February 2004
Troubleshooting Status Indicators 4-11
Troubleshooting General
System Problems
Use the tables below for troubleshooting general system faults.
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
Potential Cause is:
The position feedback device is incorrect or open.
Unintentionally in torque mode.
An internal malfunction exists.
Motor tuning parameters are set too high.
Position loop gain or position controller accel/decel rate is improperly set.
Improper grounding or shielding techniques are causing noise to be transmitted into the position feedback or velocity command lines, causing erratic axis movement.
Possible Resolution is:
Check wiring.
Check to see what primary operation mode was programmed.
Replace system or axis module.
Run auto tune.
Run auto tune.
Check wiring and ground.
Motor Select parameter is incorrectly set (servo motor is not matched to 1394).
Torque Limit parameters are set too low.
Motor Select parameter is incorrectly set.
The system inertia is excessive.
The system friction torque is excessive.
Available current is insufficient to supply the correct accel/decel rate.
Acceleration parameter is incorrect.
Velocity Limit parameters are incorrect.
Check for possible faults.
The axis cannot be enabled for 1.5 seconds after disabling.
Enable signal has not been applied or the enable wiring is incorrect.
The motor wiring is open.
The motor thermal overload has tripped.
• Check setups.
• Run auto tune.
Verify that current limits are set properly.
Program the correct motor and run auto tune again.
• Check motor size vs. application need.
• Review servo system sizing.
Check motor size vs. application need.
• Check motor size vs. application need.
• Review servo system sizing.
Verify parameter settings and correct them, as necessary.
Verify parameter settings and correct them, as necessary.
Verify parameter settings and correct them, as necessary.
Disable the axis, wait for 1.5 seconds, and enable the axis.
• Check the controller.
• Check the wiring.
Check the wiring.
• Check for a fault.
• Check the wiring.
Repair or replace the motor.
The motor has malfunctioned.
The coupling between motor and machine has broken (i.e., the motor moves, but the load/machine doesn’t).
Primary operation mode is set incorrectly.
Velocity limit parameters are set incorrectly.
The axis module has a malfunction.
Check and correct the mechanics.
Check and properly set the parameter.
Check and properly set the parameter(s).
Replace the axis module.
Publication 1394-IN002B-EN-P — February 2004
4-12 Troubleshooting Status Indicators
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
Potential Cause is:
Recommended grounding per installation instructions and
Appendix B has not been followed.
External 50/60 Hz line frequency may be present.
External 100/120 Hz from a single phase logic supply may be present.
External180 or 360 Hz from other adjustable speed drives may be present.
Possible Resolution is:
• Verify grounding.
• Route wire away from noise sources.
• Verify grounding.
• Route wire away from noise sources.
• Verify grounding.
• Route wire away from noise sources.
• Verify grounding.
• Route wire away from noise sources.
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.
The motor connections are loose or open.
Foreign matter is lodged in the motor.
The motor load is excessive.
The bearings are worn.
The motor brake is engaged (if supplied).
The motor is not connect to the load.
The duty cycle is excessive.
• Decouple the motor for verification.
• Check and improve mechanical performance of the gearbox, ballscrew, etc.
Check motor wiring and connections.
Remove foreign matter.
Size the servo system.
Return the motor for repair.
• Check brake wiring and function.
• Return the motor for repair.
Check coupling.
Change the command profile to reduce accel/ decel or increase time.
The rotor is partially demagnetized causing excessive motor current.
Motor tuning parameters are set too high.
Return the motor for repair.
Loose parts are present in the motor.
Run auto tune again.
• Return motor for repair.
• Replace motor.
Mounting bolts are loose.
Shaft key loose.
The bearings are worn.
Phases U1 and V1, U1 and W1 or V1 and W1 reversed.
Tighten bolts.
Check coupling.
Return motor for repair.
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-IN002B-EN-P — February 2004
1
Chapter Objectives
Certifications
Appendix
A
Specifications and Dimensions
This appendix covers the following topics:
•
•
•
•
The 1394 SERCOS interface system is certified for the following when the product or package is marked:
•
UL
®
Listed to U.S. and Canadian safety standards (UL 508C File
E59272)
•
CE marked for all applicable directives
Note: Refer to www.ab.com/certification/ce/docs for more information.
Publication 1394-IN002B-EN-P — February 2004
A-2 Specifications and Dimensions
Power Specifications
This section contains power specifications for the 1394 SERCOS interface system.
System Module Power Specifications
The:
Rated AC input voltage
For the 1394C-SJT05-D is: For the 1394C-SJT10-D is: For the 1394C-SJT22-D is:
324-528V AC, 50/60 Hz
Three phase
324-528V AC, 50/60 Hz
Three phase
324-528V AC, 50/60 Hz
Three phase
AC input current (A rms
)
Peak inrush current
1, 2
Line loss ride through
Nominal bus output voltage
6.5A
8A
20 ms
530/680V dc
4/5 kW
13.0A
8A
20 ms
530/680V dc
8/10 kW
28.6A
8A
20 ms
530/680V dc
17/22 kW Continuous power output
Peak power output
3
Efficiency
Weight
28 kW
99%
10.68 kg (23.5 lb)
28 kW
99%
10.68 kg (23.5 lb)
136 kW
98%
12.9 kg (28.5 lb)
Continuous current output (A dc
) 7.36A
14.73A
Intermittent current output (A dc
) 15.0A
Capacitance
Inductance
220 µ F
1000
µ
H
Internal shunt resistor
29.46A
345 µ F
750
µ
H
200W continuous, 40,000W peak (two second maximum on time)
33.8A
200A
660 µ F
500
µ
H
No internal Shunt Resistor
1
1394C-SJT05-D, -SJT10-D, and -SJT22-D system modules are limited to four contactor cycles per minute.
2
Peak inrush current is limited by an internal 80 ohm resistor. The 8A peak inrush current for all Series C system modules will experience no more than a 40A peak loss (less 1 ms).
3
The peak power output rating is based on a current limit of 105% of two times the rated continuous current output for 600ms or the rated peak power output for a duration equal to the equivalent watt-seconds.
Publication 1394-IN002B-EN-P — February 2004
Specifications and Dimensions A-3
Axis Module Power Specifications
The:
Speed
Regulation
1
Static Gain
(rms A/mV)
1
Peak Current
Limit Adjust
Modulation
Frequency
Drift
Nominal
Input Voltage
Continuous
Current (rms)
Peak Current
(rms - 1 second)
Continuous
Power Out
360/460V nominal
Efficiency
For the
1394x-AM03 is:
0 to 0.05% of base speed with 100% torque disturbance
1.28
200%
5 kHz ±10%
0.03 rpm/degree C
530/680V dc
3.0A
6.0A
1.6/2 kW
98%
Weight 5 kg (11.02 lb)
Capacitance 110
µ
F
For the
1394x-AM04 is:
0 to 0.05% of base speed with 100% torque disturbance
2.6
200%
5 kHz ±10%
0.03 rpm/degree C
530/680V dc
4.5A
9.0A
For the
1394x-AM07 is:
0 to 0.05% of base speed with 100% torque disturbance
4.9
200%
5 kHz ±10%
0.03 rpm/degree C
530/680V dc
7.5A
15.0A
For the 1394x-AM50 and 1394C-AM50-IH is:
0 to 0.05% of base speed with 100% torque disturbance
22.8
143%
5 kHz ±10%
0.03 rpm/degree C
530/680V dc
23.3A
33.2A
For the 1394x-AM75 and 1394C-AM75-IH is:
0 to 0.05% of base speed with 100% torque disturbance
22.8
143%
5 kHz ±10%
0.03 rpm/degree C
530/680V dc
35.0A
50.0A
2.4/3 kW 4/5 kW 11.34/15.6 kW 17.8/23.8 kW
98% 98% 98%
5 kg (11.02 lb)
110
µ
F
5 kg (11.02 lb)
220
µ
F
7 kg (15.44 lb) (-AM50)
6.73 kg (14.8 lb) (-AM50-IH)
465
µ
F
1
When used with the controller in the 1394x-SJTxx-x system module.
98%
7 kg (15.44 lb) (-AM75)
6.73 kg (14.8 lb) (-AM75-IH)
660
µ
F
Axis Module Series Information
Axis Module Features
Cable Clamp (strain relief, shield bond)
EMI filter
1
(motor brake and thermal circuit)
1
Voltage rating = 24V ac.
Series C
Feature Availability
Series A and B
Yes No
Yes No
Note: Series A, B and C axis modules are physically interchangeable with each other.
Note: Series A axis modules (1394-AM03, -AM04, and -AM07) are not functionally compatible with the 1394C-SJTxx-D system module.
Publication 1394-IN002B-EN-P — February 2004
A-4 Specifications and Dimensions
Required Protection under 110-10 of
NEC 1999
Preferred Fully
Rated Breakers
Breakers Selected for Device Protection
Fully Rated Short Circuit
Interrupt Capability
Drive
Circuit Breaker Specifications
Fully Rated
Fused
Disconnect
Fully Rated
Breaker
While circuit breakers offer some convenience, there are limitations for their use. Circuit breakers do not handle high current inrush as well as fuses. The 1394 needs to be protected by a device having a short circuit interrupt current rating of the service capacity provided or a maximum of 100,000A.
If an upstream circuit protection device is rated for the overload current and short circuit rating, a supplementary circuit protection device (such as the 1492) can be used as the only 1394 branch circuit protection device. The upstream fully rated device let-through must be less than or equal to the 10 kA interrupt rating of the 1492.
The wiring interconnection in Figure A.1 and Figure A.2 provide
examples of the needed protection and follows UL and NEC codes.
Full compliance is dependent on final wiring design and installation.
Figure A.1
Circuit Protection under NEC 1999 110-10 (preferred fully rated devices)
Fully Rated
Fused
Disconnect
Fully Rated
Breaker
Distribution
Blocks
Required Protection under 110-10 of
NEC 1999
Preferred Fully
Rated Breakers
Fully Rated
Fused
Disconnect
Fully Rated
Breaker
Breakers Selected for Device Protection
Fully Rated Short Circuit
Interrupt Capability
Drive Drive
Required Protection under 110-10 of
NEC 1999
Allowed But
No Longer Preferred
Breakers Selected for Device Protection
With Limited Short
Circuit Interrupt
Capability
Drive
Distribution
Blocks
Figure A.2
Circuit Protection under NEC 1999 110-10 (allowed but no longer preferred)
Distribution
Blocks
Traditional
Current Limit
Fused
Disconnect or
Breaker
Rated for
Short Circuit
Available
Limiting to
Short Circuit
Rating of Down
Stream Breaker
Required Protection under 110-10 of
NEC 1999
Allowed But
No Longer Preferred
Breakers Selected for Device Protection
With Limited Short
Circuit Interrupt
Capability
Traditional
Current Limit
Fused
Disconnect or
Breaker
Rated for
Short Circuit
Available
Limiting to
Short Circuit
Rating of Down
Stream Breaker
Drive Drive
Publication 1394-IN002B-EN-P — February 2004
Specifications and Dimensions A-5
To avoid nuisance tripping, refer to the following table and select the appropriate combination of system module, supplementary circuit protection device, and axis modules.
Use System Module:
With Supplementary
Circuit Protection
Device:
And Axis Module Combination:
1394C-SJT05-D
1394C-SJT10-D
1394C-SJT22-D
1492-CB3-H300
A 1492 device is not recommended for this option.
1492-CB3-H500
1492-CB3-H500
Any combination of AM03 and AM04 up to 4 axis modules. Any combination of AM03, AM04, and AM07 where no more than two
AM07s are being used. Use of other combinations of axis modules with this system module may result in nuisance tripping on power up due to a higher inrush current.
Other combinations of AM07, AM50, and AM75s. Some local electrical codes require that the circuit breaker rating not exceed
400% of the full load device current. The inrush current draw of the 1394 in some combinations exceeds the 30A breaker and will result in nuisance tripping.
All
All
Fuse Specifications
System
1394-SJT05 systems
1394C-SJT05 systems
1394-SJT10 systems
1394C-SJT10 systems
1394x-SJT22 systems
Fuse Description
Series A and B Bussmann
®
FRS-R-20A or equivalent
Series C and D
Bussmann KTK-R-20 or equivalent
Bussmann LPJ-SP 20 or equivalent
Series A and B Bussmann FRS-R-30A or equivalent
Bussmann KTK-R-30 or equivalent
Series C and D
Bussmann LPJ-SP 30 or equivalent
Bussmann FRS-R-35 or equivalent
Bussmann LPS-RK-SP 40 or equivalent
Bussmann LPJ-SP 45 or equivalent
Rating
600V ac, 20A
600V ac, 20A
600V ac, 20A
600V ac, 30A
600V ac, 30A
600V ac, 30A
600V ac, 35A
600V ac, 40A
600V ac, 45A
Contactor (M1) Specifications
Contactor
Rating
Recommended types:
AC Coil Operation
DC Coil Operation
1394-SJT05 and -SJT10
(Series A and B)
600V ac, 43A 1
Allen-Bradley 100-C43x10 2,3
1394C-SJT05 and -SJT10
(Series C and D)
600V ac, 23A
Allen-Bradley 100-C23x10 2,3
1394x-SJT22
600V ac, 37A
Allen-Bradley 100-C37x10 2,3
Allen-Bradley 100-C43Zx10 2 2 Allen-Bradley 100-C37Zx10
1
Consider using a 60A contactor when the total capacitance of the axis modules is greater than 880 µF.
2 x indicates coil voltage.
3
A surge suppressor is required.
2
Publication 1394-IN002B-EN-P — February 2004
A-6 Specifications and Dimensions
Relay Contact Specifications
1394C-SJTxx-D SERCOS Interface System
Specification Description
Drive System OK
Relay Outputs 0-3
115V AC/24V dc, 1A inductive
24V Logic Input Power Specifications
24V Logic Input
Voltage
19-28V ac RMS, single phase
18.75-31.25V dc
Frequency
50/60 Hz
Axis
1 axis
2 axis
3 axis
4 axis
Current
Maximum User-Supplied
Power Supply
3.5A
4.4A
5.2A
6.0A
Recommended Fuse
Bussmann MDA-15 or equivalent
Note: The power supply should be rated for 15A or greater inrush current upon power up.
Input Transformer Specifications for 24V Logic Power
Specification
Input volt-amperes
Input voltage
Output voltage
Load regulation
480V System
200 to 259 VA
480V RMS
24V RMS
2 to 5%
Description
360V System
200 to 259 VA
360V RMS
24V RMS
2 to 5%
Note: If the input volt-amperes is more than 350VA, adjust the load regulation to make the transformer leakage the same as or greater than the 250VA transformer with 2% regulation.
Publication 1394-IN002B-EN-P — February 2004
Specifications and Dimensions A-7
1394 System Power Dissipation Specifications
The following section contains the power dissipation characteristics of the 1394 system modules, axis modules, and internal shunt resistors.
IMPORTANT
Use the power dissipation figures shown below to calculate cumulative system heat dissipation to ensure that the ambient temperature inside the enclosure does not exceed 50° C (122° F). To calculate total power dissipation, add the dissipation of the system module to the dissipation of the axis module(s).
Percentage of Rated
Power Output
Total
AM03
20
40
60
80
100
24
30
36
42
48
System Modules
20
40
60
80
100
Percentage of Rated
Power Output
70
73
77
80
Power Dissipation
Watts
1394x-SJT05-x 1394x-SJT10-x 1394x-SJT22-x
66 70 100
77
84
81
98
150
200
250
300
Axis Modules
AM04
27
36
45
54
63
AM07
33
48
63
78
93
AM50
1 and
AM50-IH
2
56
95
139
183
227
Power Dissipation
Watts
Inside Cabinet
AM75 and
85
145
212
279
346
1
AM75-IH
2
AM50
18
18
18
18
18
1
AM75
18
18
18
18
18
1
Outside Cabinet
AM50
38
77
138
165
209
1
AM75
67
127
194
261
324
1
1
The AM50/75 are designed to mount with the rear heat sink extended outside the customer-supplied enclosure. If the modules are mounted entirely inside the customer supplied enclosure, the full power dissipation is inside the cabinet (the sum of the inside/outside columns).
2
The AM50/75-IH are designed to mount entirely inside the customer-supplied enclosure.
Publication 1394-IN002B-EN-P — February 2004
A-8 Specifications and Dimensions
Internal Shunt Resistor
The 1394C-SJT05-D and -SJT10-D system modules include an internal shunt resistor. Shunt specifications are shown in the table below.
The:
Rating of the internal shunt resistor
Is:
200W continuous, 40,000W peak (two second maximum on time)
Resistance of the internal shunt resistor 16 ohms
Note: When the shunt resistor is active, some additional power will be dissipated at the system module. Its maximum dissipation is
200W. Most applications will use less than 10% of this capacity.
General Specifications
The following sections provide environmental, AC line filter, external shunt module, resistive brake module, maximum feedback cable lengths, and dedicated discrete I/O specifications for the 1394 SERCOS interface system.
Environmental Specifications
Specification
Ambient Operating Temperature:
System Module
Description
1394x-SJTxx-x
Ambient Operating Temperature
Axis Module
Relative Humidity
Altitude
Vibration
Shock
0° C to 50° C (32° F to 122° F)
1394x-AM03, -AM04, -AM07, -AM50-
IH, -AM75-IH (Inside Cabinet)
0° C to 50° C (32° F to 122° F)
1394-AM50 or -AM75 (Inside Cabinet) 0° C to 50° C (32° F to 122° F)
1394-AM50 or -AM75 (Outside Cabinet) 0° C to 40° C (32° F to 104° F)
5-95% noncondensing
1000 m (3300 ft) - Derate 3% per 300 m (984.3 ft) up to 3000 m (10,000 ft)
Operating: 1g
Non-operating: 2.5g
Operating: 15g
Non-operating: 30g
Publication 1394-IN002B-EN-P — February 2004
Specifications and Dimensions A-9
1394 System
Modules
1394x-SJT05-x
1394x-SJT10-x
1394x-SJT22-x
AC Line Filter Specifications
The following AC line filters are compatible with the 1394 drive family.
AC Line Filter
Catalog Number
Voltage Phase
SP-74102-006-01
SP-74102-006-02
460V ac
50/60 Hz
Three
SP-74102-006-03
Specifications
Current
Power
Loss
23A @ 50° C
(122° F)
30A @ 50° C
(122° F)
75A @ 50° C
(122° F)
20W
38W
57W
Weight
1.6 kg
(4.16 lb)
2.7 kg
(7.02 lb)
5.2 kg
(13.52 lb)
Humidity
90% RH
Vibration
10-200 Hz
@ 1.8 g
Operating
Temperature
-25 to 85° C
(-13 to 185° F)
External Shunt Module/Resistor Specifications
The passive external shunt resistor kit (1394-SR10A) is available for 5 and 10 kW systems with regenerative loads that exceed the capacity of the internal 200W shunt resistor provided. Most 5 and 10 kW systems will not require an external shunt resistor kit.
All 22 kW 1394 system modules require an external shunt module
(1394-SR9Ax or 1394-SR36Ax). Shunt modules with (rms) power output of 300, 900, 1800 and 3600W continuous, 160,000W peak are available for use with the smart power 22 kW system module. You must use one shunt module with each 22 kW smart power system module. Available in two sizes, each package contains an integral fuse and terminal block. The 3600W package is available with a 115/230V ac cooling fan. Choose your shunt module based on the shunt requirements from analysis using Motion Book v4.0 (or later).
1394 System
Modules
1394x-SJT05-x and
-SJT10-x
1394x-SJT22-x
Shunt Module
Catalog Number
1394-SR10A
1394-SR9A
1394-SR9AF
1394-SR36A
1394-SR36AF
Drive
Voltage
VAC
Resistance
Ohms
Specifications
Peak
Power kW
Peak
Current
Amps
16 40 40
Continuous
Power
Watts
1400
Weight kg (lbs)
300
460 900
4 160 200
1800
3600
(fan cooled)
1
Bussmann part number.
Note: CE marked and UL Listed to U.S. and Canadian safety standards.
3.63 (8.0)
3.63 (8.0)
8.6 (19.0)
9.0 (20.0)
Fuse Replacement
4.99 (11.0) 1394-SR10A-FUSE-A
FWP-50A14F
1
Publication 1394-IN002B-EN-P — February 2004
A-10 Specifications and Dimensions
Maximum Feedback Cable Lengths
Although motor feedback cables are available in standard lengths up to 90 m (295.3 ft), the drive/motor/feedback combination may limit the maximum cable length, as shown in the tables below. These tables assume the use of recommended cables as shown in the Motion
Control Selection Guide (publication GMC-SG001x-EN-P).
The maximum cable lengths for 1394 system/axis modules with MP-
Series (460V) and 1326AB/AS motors are given in the table below.
MPL-B (460V) Motors
Drive Family
Absolute
High-Res m (ft)
1
1394C-SJTxx-D 90 (295.3)
Resolver m (ft)
2
1326AB (M2L/S2L)
(460V) Motors
Absolute
High-Resolution m (ft)
3
1326AB/AS
(460V) Motors
Resolver m (ft)
4
90 (295.3) 90 (295.3) 90 (295.3)
1
Refers to MPL-BxxxxS/M (single-turn or multi-turn) low inertia motors with absolute high-resolution feedback.
2
Refers to MPL-BxxxxR low inertia motors with 2-pole resolver feedback.
3
Refers to 1326AB-Bxxxx-M2L/S2L (single-turn or multi-turn) motors with absolute high-resolution feedback.
4
Refers to 1326AB/AS-Bxxxx-21 motors with resolver feedback.
Publication 1394-IN002B-EN-P — February 2004
Dimensions
Specifications and Dimensions
Within this section, you will find dimensions for the 1394 SERCOS interface system modules and axis modules.
A-11
26.0
(1.02)
1394 System Module Dimensions
150.0 (5.91)
91.0 (3.58)
50.0
(1.97)
Figure A.3
1394C-SJT05-D, 1394C-SJT10-D and 1394C-SJT22-D System Module
25.0 (0.98)
8.0 (0.32)
Dimensions are in millimeters and (inches)
280
(11.02)
1394C-SJT22-D
System Module
385.0
(15.16)
Fastener
400.0
(15.75)
350.0
(13.78)
Status
DANGER
50.0
(1.97) Feedback Cable Clamps
67.31
(2.65)
2
Mounting Hole Detail
8.0 (0.31)
10.1 (0.40)
1394C-SJT05 or
1394C-SJT10-D
System Module
15.9 (0.63)
8.0 (0.31)
12.0 (0.47)
All Slots Accept M6 or 1/4-20 Mtg. Screws
1 Dimension shown is for mounting hardware location and does not reflect the location of the lower slot radius.
Feedback Cable Clamps
2
2
57.15
(2.25)
Important: Additional clearance below the system module is necessary to provide the recommended cable bend radius. Refer to the Motion Control Selection Guide (publication GMC-SG001x-EN-P) for more information.
Publication 1394-IN002B-EN-P — February 2004
A-12 Specifications and Dimensions
25
(0.98)
Axis Module Dimensions
8 (0.32)
Figure A.4
1394 Axis Module Dimensions (1394x-AM03, -AM04, and -AM07)
Dimensions are in millimeters and (inches)
280
(11.02)
Mounting Hole Detail
8 (0.31)
Fastener
Location
1
385
(15.16)
350
(13.78)
15.9 (0.63)
8 (0.31)
10.1 (0.4)
400
(15.75)
350
(13.78)
400
(15.75)
350
(13.78)
50
(1.97)
50
(1.97)
37.5 (1.48)
75
(2.95)
75
(2.95)
50
(1.97)
12 (0.47)
40.13
(1.58)
All slots accept M6 or 1/4-20 Mtg. screws.
Important: Additional clearance below the axis module is necessary to allow for the recommended cable bend radius.
1
Dimension shown is for mounting hardware location and does not reflect the location of the lower slot.
8 (0.32)
Figure A.5
1394 Axis Module Dimensions (1394x-AM50, -AM50-IH, -AM75, and -AM75-IH)
385
2
(15.16)
280
(11.02)
Dimensions are in millimeters and (inches)
Mounting Hole Detail
8 (0.31)
65 (2.56)
Heat sink width
2
10.1 (0.4)
385
(15.16)
338.1
2
(13.31)
15.9 (0.63)
8 (0.31)
12 (0.47)
Fastener
Location
1
43.69
(1.72)
All slots accept M6 or 1/4-20 Mtg. screws.
105
(4.13)
2
Important: Additional clearance below the axis is necessary to allow for the recommended cable bend radius.
1
Dimension shown is for mounting hardware location and does not reflect the location of the lower slot.
2
This dimension does not apply to 1394C-AMxx-IH (internal heatsink) axis modules.
Publication 1394-IN002B-EN-P — February 2004
Chapter Objectives
Interconnect Diagrams
This appendix covers the following:
•
•
Shunt Module Interconnect Diagrams
•
Axis Module/Motor Interconnect Diagrams
•
Understanding Motor Thermal Switches
•
Appendix
B
1 Publication 1394-IN002B-EN-P — February 2004
B-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.
13
14
15
9
10
11
12
6
7
4
5
2
3
Note: Information:
1
For power wiring specifications, refer to Power Wiring Requirementsin Chapter 3.
For AC line filter specifications, refer to AC Line Filter Specifications in Appendix A.
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.
Cable shield clamp must be used in order to meet CE requirements. No external connection to ground required.
Jumper is factory set, indicating grounded system at user site. Ungrounded sites must jumper the bleeder resistor to prevent high electrostatic
buildup. Refer to Determining Your Type of Input Power in Chapter 3 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).
!
The recommended minimum wire size for wiring the safety circuit to the contactor enable connector is 1.5 mm
2
(16 AWG).
If an external shunt resistor is used, remove the jumper between INT and COL.
There is no internal shunt resistor in the 22 kW system module. An external shunt resistor module (1394-SRx Ax) must be used.
The thermal switch and brake circuits are a source of conducted noise. Isolation from customer control devices may be required. A separate 24V dc supply or relay can be used. Axis modules (Series C or later) include a thermal switch and motor brake filter to eliminate the need for a separate 24V dc supply.
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).
For motor cable specifications, refer to Motion Control Selection Guide (publication GMC-SG001x-EN-P).
User supplied auxiliary contact is recommended. Use safety rated, mechanically linked contactor for M1.
Publication 1394-IN002B-EN-P — February 2004
Interconnect Diagrams B-3
Power Interconnect
Diagrams
24V ac/dc or
120V ac
50/60 Hz
STOP* START*
CR1*
M1* 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 B-14).
To TB2-1 and TB2-2 for
1326AB/AS (resolver) motors.
(refer to Thermal Switch Interconnect Diagrams beginning on page B-9).
Bonded Cabinet
Ground Bus*
The power interconnect wiring for the 1394 SERCOS interface system module is shown in the figures below.
Figure B.1
1394C-SJT05-D or -SJT10-D Interconnect Diagram
1394 SERCOS interface SYSTEM MODULE
1394C-SJT05-D or -SJT10-D
DC MINUS BUS J4
ground jumper instructions.
J5 J6
LOGIC POWER
& SIGNALS
DC BUS POS.
DC BUS NEG.
SLIDER INTERCONNECT
7
8
5
6
9
10
1
2
3
4
Drive System OK
Relay Output 3
Relay Output 2
Relay Output 1
Relay Output 0
Relay Outputs
Connector
System Module
Single Point Bond Bar
Logic Power
Connector
Shunt Power
Connector
W1
W2
DC+
INT
COL
Input Fusing*
24V ac RMS or
24V dc (non-polarized)
External Shunt
Connections (optional)
Bonded Cabinet Ground Bu
Input Power
Connector
PE
W
V
U
Three-Phase
AC Line Filter
M1*
Input Fusing *
Three-Phase Input
360-380V ac RMS
A to 1394 Axis Module PE1 terminal
* INDICATES USER-SUPPLIED COMPONENT
Figure B.2
1394C-SJT22-D Interconnect Diagram
24V ac/dc or
120V ac
50/60 Hz
STOP* START*
CR1*
M1* 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 B-14).
To TB2-1 and TB2-2 for
1326AB/AS (resolver) motors.
(refer to Thermal Switch Interconnect
Diagrams beginning on page B-9).
Bonded Cabinet
Ground Bus*
1394 SERCOS interface SYSTEM MODULE
1394C-SJT22-D
DC MINUS BUS J4
ground jumper instructions.
J5 J6
LOGIC POWER
& SIGNALS
DC BUS POS.
DC BUS NEG.
SLIDER INTERCONNECT
8
9
6
7
10
3
4
1
2
5
Drive System OK
Relay Output 3
Relay Output 2
Relay Output 1
Relay Output 0
Relay Outputs
Connector
System Module
Single Point Bond Bar
Logic Power
Terminal Blocks
W1
W2
Shunt Power
Terminal Blocks
DC+
COL
Input Fusing*
24V ac RMS or
24V dc (non-polarized)
External Shunt
Connections
Bonded Cabinet Ground Bus
Input Power
Terminal Blocks
PE
W
V
U
Three-Phase
AC Line Filter
M1*
Input Fusing *
Three-Phase Input
360-380V ac RMS
A to 1394 Axis Module PE1 terminal
* INDICATES USER-SUPPLIED COMPONENT
Publication 1394-IN002B-EN-P — February 2004
B-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 B.3.
Figure B.3
Internal Shunt Interconnect Diagram
1394 System Modules
1394C-SJT05-D or
1394C-SJT10-D
DC+
INT
COL
Shunt Power
Connector
In the figure below, the 1394C-SJT05-D and -SJT10-D system modules are shown wired with the optional external shunt resistor.
Figure B.4
External Shunt Module Interconnect Diagram (optional)
External Passive
Shunt Module
1394-SR10A
DC+
COL
DC+
INT
COL
1394 System Modules
1394C-SJT05-D or
1394C-SJT10-D
Shunt Power
Connector
Publication 1394-IN002B-EN-P — February 2004
Interconnect Diagrams B-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 B.5
External Shunt Module Interconnect Diagram (required)
External Passive
Shunt Module
1394-SR9A,
1394-SR9AF,
1394-SR36A,
1394-SR36AF
DC+
COL
DC+
COL
1394 System Module
1394C-SJT22-D
Shunt Power
Terminal Blocks
Thermal
Switch
1
To customer-defined control string
Fan
Connections
1
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-IN002B-EN-P — February 2004
B-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 MP-
Series Low Inertia (460V) motors.
Figure B.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.
SLIDER INTERCONNECT
2090-UXNBMP-18Sxx Brake Cable
Black
C
White A
COM +24V
User-Supplied
+24V Power Supply
(1A max.)
Axis Module
Cable Clamp
BR-
BR+
U1
Motor Power Terminal Blocks
A
V1
B
W1 PE1
C
PE2
D
PE3
4.0 mm
2
(12 AWG)
2090-XXNPMP-xxSxx or
2090-CDNBPMP-xxSxx
Motor Power Cable
SLIDER INTERCONNECT
TO ADDITIONAL AXIS MODULES
A
To
System Module
Single Point
Bond Bar
U V
Three-Phase
Motor Power
W
Motor Brake
MPL-Bxxxx (460V)
SERVO MOTORS WITH
HIGH RESOLUTION FEEDBACK
PE
Ground
Motor Feedback
Thermostat
N
P
A
B
E
F
C
D
R
S
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
ORANGE
WHT/ORANGE
BLUE
WHT/BLUE
SIN+
SIN-
COS+
COS-
DATA+
DATA-
+9VDC
COM
TS+
TS-
2090-CDNFDMP-xxSxx Feedback Cable
Motor Feedback
Connector
(System Module)
1
2
8
9
3
4
6
5
12
13
System Module
Cable Clamp
A B C D
2090-UXNBMP-18Sxx Brake Cable
Black
C
White A
COM +24V
User-Supplied
+24V Power Supply
(1A max.)
U V
Three-Phase
Motor Power
W
BR-
BR+
Motor Brake
MPL-Bxxxx (460V)
SERVO MOTORS WITH
RESOLVER FEEDBACK
PE
Ground
Motor Feedback
Thermostat
G
H
R
A
B
C
D
S
BLACK
WHT/BLACK
RED
WHT/RED
YELLOW
WHT/YELLOW
BLUE
WHT/BLUE TS-
2090-CDNFDMP-xxSxx Feedback Cable
S2
S4
S1
S3
R1
R2
TS+
Motor Feedback
Connector
(System Module)
3
4
1
2
10
11
12
13
System Module
Cable Clamp
Publication 1394-IN002B-EN-P — February 2004
Interconnect Diagrams B-7
In the figure below, the 1394 axis module is shown connected to
1326AB (460V) servo motors.
Figure B.7
Axis Module to 1326AB Motors Interconnect Diagram
LOGIC POWER
& SIGNALS
1394 AXIS MODULE
1394C-AMxx-xx
Thermostat and Brake Noise Filtering
Motor Thermal Switch
Filter (Series C)
Motor Brake
Filter (Series C)
TB1 TB2
TERMINATOR CONNECTED TO
LAST AXIS MODULE
DC BUS POS.
DC BUS NEG.
SLIDER INTERCONNECT
Motor Power
Terminal Blocks
SLIDER INTERCONNECT
TO ADDITIONAL AXIS MODULES
Axis Module
Cable Clamp
2090-UXNBMP-18Sxx Brake Cable
Black
A
White C
COM +24V
User-Supplied
+24V Power Supply
(1A max.)
1 2 3 4 1 2 3 4
A B C D
2090-XXNPMP-xxSxx or
2090-CDNBPMP-xxSxx
Motor Power Cable
U V W
Three-Phase
Motor Power
BR+
BR-
PE
Ground
Motor Brake
1326AB (M2L/S2L) 460V
SERVO MOTORS WITH
HIGH RESOLUTION FEEDBACK
Motor Feedback
Thermostat
A
B
E
F
C
D
N
P
R
S
4.0 mm
2
(12 AWG)
A
To
System Module
Single Point
Bond Bar
Motor Feedback
Connector
(System Module)
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
ORANGE
WHT/ORANGE
BLUE
WHT/BLUE
SIN+
SIN-
COS+
COS-
DATA+
DATA-
+9VDC
COM
TS+
TS-
2090-CDNFDMP-xxSxx Feedback Cable
3
4
1
2
6
5
8
9
12
13
System Module
Cable Clamp
Thermostat and Brake Noise Filtering
TB1 TB2
Motor Power
Terminal Blocks
1 2 3 4 1 2 3 4
Refer to Thermal Switch and Brake
Interconnect Diagrams beginning on page B-9 for connections.
Motor Feedback
Connector
(System Module)
To
System Module
Single Point
Bond Bar
A
4.0 mm
2
(12 AWG)
Axis Module
Cable Clamp
1326-CPx1-xxx
Motor Power Cable
1 2 3
T1 T2 T3
Three-Phase
Motor Power
8
PE
7 9 5 4 6
K2 K1 B2 B1
Ground
Thermostat
Brake
Motor Feedback
1326AB (460V) SERVO MOTORS
WITH RESOLVER FEEDBACK
D
E
A
B
G
H
GREEN
BLACK
BLACK
RED
BLACK
WHITE
TS+
TS-
S2
S4
S1
S3
R1
R2
1326-CCU-xxx Feedback Cable
12
13
3
4
10
11
1
2
System Module
Cable Clamp
Publication 1394-IN002B-EN-P — February 2004
B-8 Interconnect Diagrams
In the figure below, the 1394 axis module is shown connected to
1326AS (460V) servo motors.
Figure B.8
Axis Module to 1326AS Motors Interconnect Diagram
1394 AXIS MODULE
1394C-AMxx-xx
Thermostat and Brake Noise Filtering
Motor Thermal Switch
Filter (Series C)
Motor Brake
Filter (Series C)
TB1 TB2
Motor Power
Terminal Blocks
TERMINATOR CONNECTED TO
LAST AXIS MODULE
SLIDER INTERCONNECT
TO ADDITIONAL AXIS MODULES
LOGIC POWER
& SIGNALS
DC BUS POS.
DC BUS NEG.
SLIDER INTERCONNECT
To
System Module
Single Point
Bond Bar
A
4.0 mm
2
(12 AWG)
Axis Module
Cable Clamp
1326-CPx1-xxx
Motor Power Cable
1 2 3
1 2 3 4
8 7 9 5 4 6
1 2 3 4
Refer to Thermal Switch and Brake
Interconnect Diagrams beginning on page B-9 for connections.
TS+
TS-
T1 T2 T3
Three-Phase
Motor Power
PE
Ground
K2 K1 B2 B1
Thermostat
Brake
Motor Feedback
D
E
A
B
G
H
1326AS (460V) SERVO MOTORS
WITH RESOLVER FEEDBACK
GREEN
BLACK
BLACK
RED
BLACK
WHITE
S2
S4
S1
S3
R1
R2
1326-CCU-xxx Feedback Cable
Motor Feedback
Connector
(System Module)
12
13
3
4
1
2
10
11
System Module
Cable Clamp
Publication 1394-IN002B-EN-P — February 2004
Interconnect Diagrams B-9
Thermal Switch and Brake
Interconnect Diagrams
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 B.7 and B.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 B.6 and B.7 for motor/system module
interconnect diagrams).
Thermal Switch Interconnect Diagrams
The example in Figure B.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-IN002B-EN-P — February 2004
B-10 Interconnect Diagrams
Axis 0
1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
Figure B.9
Non-Isolated Series Start/Stop String
Axis 1 Axis 2
1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
Axis 3
1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
1 2 3 4
TB1
1 2 3 4
TB2
3 4
1 2
TB1
3 4 1 2 3 4
TB2
3 4
Motor thermal switch wiring for
1326AB/AS motor resolver feedback
1394 SERCOS Interface
Control Board
1394C-SJT xx-D
Drive System OK
Relay
Relay Output
Connector
1
8
9
6
7
4
5
2
3
10
1 2
TB1
3 4 1 2 3 4
TB2
3 4
1 2 3 4
TB1
1 2 3 4
TB2
3 4
START STOP
CR1
CR1
CR1
Refer to Attention statement below
M1
24V AC/DC
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:
Option 1: Install a 24V pilot relay on the thermal switch circuit.
120V ac is used on the start/stop string
24V is used on the start/stop string
Option 2: Bypass the TB1/TB2 terminations
1
.
Follow the wiring shown in Figure B.9 above.
1
When bypassing the TB1/TB2 terminations, ensure that unshielded motor power conductors are kept as short as possible at the drive, as they will radiate high levels of electrical noise.
Note: Refer to Figure 2.8 for the location of the TB1/TB2 connectors
and pin-out diagram.
ATTENTION
!
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to Understanding the
Machinery Directive (publication SHB-900).
Publication 1394-IN002B-EN-P — February 2004
Interconnect Diagrams B-11
Axis 0
1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
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 B.10
Non-Isolated with Thermal Fault Monitoring
Axis 1 Axis 2
1394C-AM xx 1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
Axis 3
1394C-AM xx
Motor thermal switch filter
(Series C)
Motor brake filter (Series C)
1 2 3 4
TB1
1 2 3 4
TB2
3 4
Motor thermal switch wiring for
1326AB/AS motor resolver feedback
TS+
TS-
12 13
Axis 0
1 2
TB1
3 4 1 2 3 4
TB2
3 4
TS+
TS-
12 13
Axis 1
1 2
TB1
3 4 1 2 3 4
TB2
3 4
TS+
TS-
Motor Feedback Connector
1394 SERCOS Interface
Control Board
1394C-SJT xx-D
12 13
Axis 2
1 2 3 4
TB1
1 2 3 4
TB2
3 4
TS+
TS-
12 13
Axis 3
Note: Refer to Figure 2.8 for the location of the TB1/TB2 connectors
and pin-out diagram.
Publication 1394-IN002B-EN-P — February 2004
B-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 B.11
Isolated Series Start/Stop String
Axis 1
1394-AM xx
Axis 2
1394-AM xx
Axis 3
1394-AM xx
Axis 0
1394-AM xx
1 2 3 4
TB1
1 2 3 4
TB2
3 4
Motor thermal switch wiring for
1326AB/AS motor resolver feedback
24V dc
Power Supply
1
+24V dc
24V dc com
1 2
TB1
3 4 1 2 3 4
TB2
3 4
1 2
TB1
3 4 1 2 3 4
TB2
3 4
1 2 3 4
TB1
1 2 3 4
TB2
3 4
CR2
1394 SERCOS Interface
Control Board
1394C-SJTxx-D
Drive System OK
Relay
Relay Output
Connector
1
6
7
8
4
5
2
3
9
10
START STOP
CR1
CR1
CR2
M1
CR1
Refer to Attention statement below
24V AC/DC or
120V AC,
50/60 HZ
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 2.8 for the location of the TB1/TB2 connectors
and pin-out diagram.
ATTENTION
!
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to Understanding the
Machinery Directive (publication SHB-900).
Publication 1394-IN002B-EN-P — February 2004
Axis 0
1394-AM xx
Interconnect Diagrams B-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 (CR2-
CR5) are included to isolate the thermal inputs from conducted noise.
Figure B.12
Isolated with Thermal Fault Monitoring
Axis 1 Axis 2
1394-AM xx 1394-AM xx
Axis 3
1394-AM xx
1 2 3 4
TB1
1 2 3 4
TB2
3 4
1 2
TB1
3 4 1 2 3 4
TB2
3 4
1 2
TB1
3 4 1 2 3 4
TB2
3 4
1 2 3 4
TB1
1 2 3 4
TB2
3 4
Motor thermal switch wiring for
1326AB/AS motor resolver feedback
CR2
24V dc
Power Supply
1
+24V DC
24V DC com
CR2
CR3 CR4 CR5
CR3 CR4 CR5
TS+
TS-
12 13
Axis 0
TS+
TS-
12 13
Axis 1
TS+
TS-
Motor Feedback Connector
12 13
Axis 2
1394 SERCOS Interface
Control Board
1394C-SJTxx-D
TS+
TS-
12 13
Axis 3
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 2.8 for the location of the TB1/TB2 connectors
and pin-out diagram.
Publication 1394-IN002B-EN-P — February 2004
B-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 the 1394 SERCOS Interface Integration Manual (publication 1394-
IN024x-EN-P) to configure the brake parameters.
Depending on the series of your 1394 axis module, your brake circuitry may require isolation from the motor's conducted noise.
When using 1394 Series B axis modules, an isolated 24V dc power supply and relay is recommended. 1394 Series C axis modules contain an internal motor brake filter and do not require the isolation power supply and relay. The Series C brake filter also contains a bidirectional snubber diode to protect the user-supplied 24V dc brake power supply.
IMPORTANT
The output relay contacts are rated to control a 24V dc motor brake rated up to 1A. Motor brakes rated greater than 1A require an additional relay or contactor with sufficient rating to handle the higher current.
Publication 1394-IN002B-EN-P — February 2004
Interconnect Diagrams B-15
Axis 0
1394C-AM xx
Motor brake filter (Series C)
Brake current rated less than 1.0A
The example below shows 1394 series C axis modules with internal brake filtering. Each axis is connected to a motor with a brake rated at less than 1A. A separate pilot relay is not required. Motor brakes that do not require a pilot relay are shown in the table below.
Note: Suppression devices and pilot relays impact motor brake response time.
Motor Series:
1394C-AM xx
Motor brake filter (Series C)
Brake current rated less than 1.0A
Brake Option:
1326AB-B4
1326AS-B3
1326AS-B4
MPL-B3 (460V)
MPL-B4 (460V)
MPL-B45 (460V)
Figure B.13
Brake Interconnect Diagram
Axis 1
4
4
K4
K3
K4
4
Axis 2
1394C-AM xx
Motor brake filter (Series C)
Brake current rated less than 1.0A
Brake Response Time
Pickup/Dropout mSec
120/20
38/10
44/13
50/20
110/25
Axis 3
1394C-AM xx
Motor brake filter (Series C)
Brake current rated less than 1.0A
Motor Brake
1 2 3 4
TB1
I <1A
1 2 3 4
TB2
1 2
9
10
Relay
Output 0
1 2 3 4
TB1
1 2 3 4
TB2
1 2
I <1A
1 2 3 4
TB1
I <1A
8
7
Relay
Output 1
1394 SERCOS Interface
Control Board
1394C-SJT xx-D
1 2 3 4
TB2
1 2
6
5
Relay
Output 2
1 2 3 4
TB1
I <1A
1 2 3 4
TB2
1 2
4
3
Relay
Output 3
24V DC
Power Supply
+ DC
DC com
Note: Refer to Figure 2.8 for the location of the TB1/TB2 connectors
and pin-out diagram.
Note: Refer to figures 2.1 and 2.2 for the location of the 10-pin relay
output connector.
Publication 1394-IN002B-EN-P — February 2004
B-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:
1326AB-B5
1326AB-B7
1326AS-B6
1326AS-B8
MPL-B5 (460V)
MPL-B6 (460V)
MPL-B8 (460V)
MPL-B9 (460V)
Brake Option:
4
4
4
4
K5
K7
K6
K8
Brake Response Time
Pickup/Dropout mSec
150/25
120/30
114/11
200/12
70/50
200/120
250/200
300/200
Axis 0
1394C-AM xx
Motor brake filter (Series C)
Brake current rated greater than 1.0A
Figure B.14
Isolated Brake (with pilot relay) Interconnect Diagram
Axis 1
1394C-AM xx
Motor brake filter (Series C)
Brake current rated greater than 1.0A
Axis 2
1394C-AM xx
Motor brake filter (Series C)
Brake current rated greater than 1.0A
Axis 3
1394C-AM xx
Motor brake filter (Series C)
Brake current rated greater than 1.0A
1 2 3 4
TB1
Motor Brake
I >1A
24V DC
Power Supply
+ DC
DC com
CR6
1 2 3 4
TB2
1 2
CR6
1 2 3 4
TB1
I >1A
1 2 3 4
TB2
1 2
CR7
CR7
1 2
TB1
3 4
I >1A
1 2 3 4
TB2
1 2
CR8
CR8
1 2
TB1
3 4
I >1A
1 2 3 4
TB2
1 2
CR9
CR9
10
Relay
Output 0
9 8 7 6 5
Relay
Output 1
Relay
Output 2
1394 SERCOS Interface Control Board 1394C-SJT xx-D
4
Relay
Output 3
3
Note: Refer to Figure 2.8 for the location of the TB1/TB2 connectors
and pin-out diagram.
Note: Refer to figures 2.1 and 2.2 for the location of the 10-pin relay
output connector.
Publication 1394-IN002B-EN-P — February 2004
Axis 0
1394-AM xx
Interconnect Diagrams B-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 B.15
Isolated Brake (with pilot relay) Interconnect Diagram
Axis 1 Axis 2
1394-AM xx 1394-AM xx
Axis 3
1394-AM xx
Motor Brake
24V DC
Power Supply
+ DC
DC com
1 2 3 4
TB1
1 2 3 4
TB2
1 2
CR6
CR6
10
Relay
Output 0
9
1 2 3 4
TB1
1 2 3 4
TB2
1 2
CR7
CR7
1 2
TB1
3 4 1 2 3 4
TB2
1 2
CR8
CR8
8
Relay
Output 1
7 6
Relay
Output 2
5
1394 SERCOS Interface Control Board 1394C-SJT xx-D
1 2
TB1
3 4 1 2 3 4
TB2
1 2
CR9
CR9
4
Relay
Output 3
3
Note: Refer to Figure 2.8 for the location of the TB1/TB2 connectors
and pin-out diagram.
Note: Refer to figures 2.1 and 2.2 for the location of the 10-pin relay
output connector.
Publication 1394-IN002B-EN-P — February 2004
B-18 Interconnect Diagrams
Publication 1394-IN002B-EN-P — February 2004
1
Catalog Numbers and Accessories
Appendix
C
Chapter Objectives
1394 System Modules
This appendix lists the 1394 system components and accessory items in tables by catalog number, providing detailed descriptions of each.
This appendix describes catalog numbers for:
•
•
•
•
•
•
•
Contact your local Allen-Bradley sales office for additional information. Refer to the Motion Control Selection Guide (publication
GMC-SG001x-EN-P) for detailed information on products.
1394 system modules have power ratings of 5, 10, and 22 kW.
Available 1394 system modules are listed in the table below.
Description
System Module, 5 kW with SERCOS interface, Series C, controls up to four axes
System Module, 10 kW with SERCOS interface, Series C, controls up to four axes
System Module, 22 kW with SERCOS interface, Series C, controls up to four axes
Catalog Number
1394C-SJT05-D
1394C-SJT10-D
1394C-SJT22-D
Publication 1394-IN002B-EN-P — February 2004
C-2 Catalog Numbers and Accessories
1394 Axis Modules
1394 axis modules have power ratings of 2, 3, 5, 10, and 15 kW.
Available 1394 axis modules are listed in the table below.
Description
Axis Module, 2 kW, 3.0A continuous with 6.0A peak
Axis Module, 3 kW, 4.5A continuous with 9.0A peak
Axis Module, 5 kW, 7.5A continuous with 15.0A peak
Axis Module, 10 kW, 23.3A continuous with 33.2A peak, external heatsink
Axis module, 15 kW, 35.0A continuous with 50.0A peak, external heatsink
Axis Module, 10 kW, 23.3A continuous with 33.2A peak, internal heatsink
Axis module, 15 kW, 35.0A continuous with 50.0A peak, internal heatsink
Catalog Number
1394C-AM03
1394C-AM04
1394C-AM07
1394C-AM50
1394C-AM75
1394C-AM50-IH
1394C-AM75-IH
RSLogix 5000 Software
The 1394 SERCOS interface system is configured using RSLogix 5000 software. RSLogix 5000 is a Windows
based application that allows drive configuration to be done off-line and saved to disk.
Description
RSLogix 5000 Software (version 11.0 or above)
Catalog Number
9324-RLD300ENE
AC Line Filters
Use the following table to identify the AC line filters for your system.
Description
Three-phase, 23A
Three-phase, 30A
Three-phase, 75A
Catalog Number
SP-74102-006-01
SP-74102-006-02
SP-74102-006-03
External Shunt Modules
Use the following table to identify the Bulletin 1394 external shunt module/kit for your system.
Description
External shunt module for 22 kW system, 300W continuous, 160,000W peak
(no fan)
External shunt module for 22 kW system, 900W continuous, 160,000W peak
(no fan)
External shunt module for 22 kW system, 1800W continuous, 160,000W peak
(no fan)
External shunt module for 22 kW system, 3600W continuous, 160,000W peak
(fan-cooled module)
External shunt resistor kit for 5 and 10 kW system, 1400W continuous,
40,000W peak
Catalog Number
1394-SR9A
1394-SR9AF
1394-SR36A
1394-SR36AF
1394-SR10A
Publication 1394-IN002B-EN-P — February 2004
Cables
Catalog Numbers and Accessories C-3
Use the following tables to identify motor power, feedback, SERCOS fiber-optic, and brake cables for your 1394 SERCOS interface system.
For standard available cable lengths, refer to the Motion Control
Selection Guide (publication GMC-SG001x-EN-P).
Motor Power Cables
Description
MPL-Bxxxx or 1326AB (M2L/S2L) motors, non flex, 1.5 mm
2
(16 AWG), straight
Catalog Number
2090-CDNBPMP-16Sxx
2090-XXNPMP-16Sxx
MPL-Bxxxx or 1326AB (M2L/S2L) motors, non flex, 6.0 mm
2
(10 AWG), straight
1326AB-B4, -B5, and 1326AS-B3, -B4 motors
(resolver feedback), non flex, 1.5 mm
2
16 AWG
Single-ended
Double-ended
Bulkhead connector
Right-angle, shaft exit
Right-angle, rear exit
2090-CDNBPMP-10Sxx
1326-CPB1-xxx
1326-CPB1-D-xxx
1, 2
1326-CPB1-E-xxx
1, 2
1326-CPB1-RA-xxx
1, 2
1326-CPB1-RB-xxx
1, 2
Double-ended bulkhead, flex (the -L option is not available for this cable)
1326-CPB1T-EE-xxx
Single-ended 1326-CPC1-xxx
1, 2
1326AB-B7, and 1326AS-B6, -B8 motors
(resolver feedback), non flex, 6.0 mm
2
10 AWG
Double-ended
Bulkhead connector
Right-angle, shaft exit
Right-angle, rear exit
1326-CPC1-D-xxx
1, 2
1326-CPC1-E-xxx
1, 2
1326-CPC1-RA-xxx
1, 2
1326-CPC1-RB-xxx
1, 2
Double-ended bulkhead, flex (the -L option is not available for this cable)
1326-CPC1T-EE-xxx
1
High flex option for these cables is indicated by the letter T after CPx1. For example, 1326-CPx1T-RB-xxx.
2
IP67 environmental protection (single or double-ended) is available for these cables (used on -L motors) and indicated by the letter L. For example, 1326-CPB1T-RBL-xxx.
Publication 1394-IN002B-EN-P — February 2004
C-4 Catalog Numbers and Accessories
Motor Feedback Cables
Motor Description
MPL-Bxxxx motors with resolver or high-resolution feedback
1326AB (M2L/S2L) motors with high-resolution feedback
Single-ended
Double-ended
1326AB and 1326AS motors with resolver feedback
Bulkhead connector
Right-angle, shaft exit
Right-angle, rear exit
Double-ended bulkhead, flex (the -L option is not available for this cable)
Catalog Number
2090-CDNFDMP-Sxx
1326-CCU-xxx
1, 2
1326-CCU-D-xxx
1, 2
1326-CCU-E-xxx
1, 2
1326-CCU-RA-xxx
1, 2
1326-CCU-RB-xxx
1, 2
1326-CCUT-EE-xxx
1
High flex option for these cables is indicated by the letter T after CCU. For example, 1326-CCUT-RB-xxx.
2
IP67 environmental protection (single or double-ended) is available for these cables (used on -L motors) and indicated by the letter L. For example, 1326-CCU-RBL-xxx.
MP-Series Motor Brake Cable
Description
MP-Series motor brake cable, 0.75 mm
2
(18 AWG)
Catalog Number
2090-UXNBMP-18Sxx
SERCOS Interface Fiber-Optic Cables
Use the following table to identify the SERCOS interface fiber-optic cables for your 1394 system module. Connectors are provided at both ends.
Description
SERCOS fiber-optic plastic cable (for use inside enclosure only)
SERCOS fiber-optic plastic (PVC) cable (for use outside enclosure)
SERCOS fiber-optic plastic (nylon) cable (for use outside enclosure in harsh environments)
SERCOS fiber-optic glass (PVC) cable
SERCOS fiber cable bulkhead adapter (2 per pack)
Catalog Number
2090-SCEPx-x
2090-SCVPx-x
2090-SCNPx-x
2090-SCVGx-x
2090-S-BLHD
Note: Cable length (x-x) is in meters. 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).
Publication 1394-IN002B-EN-P — February 2004
Catalog Numbers and Accessories
Motor End Connector Kits
Motor Series
MP-Series and
1326AB (M2L/S2L)
Description
Straight Power Connector Kit
Straight Feedback Connector Kit
Straight Brake Connector Kit
Catalog Number
2090-MPPC-S
2090-MPFC-S
2090-MPBC-S
C-5
1394 Accessories
Accessory
Feedback and I/O connector kit for 1394C-SJTxx-D
SERCOS fiber cable bulkhead adaptor (2 per pack)
Brake and thermal axis connector kit
Cable ground clamp kit for cables 1.5 to 6 mm
2
(16 to 10 AWG) in size.
Cable ground clamp kit for cables 10mm
2
(8 AWG) in size
1394-CCFK resolver feedback connector kit, (includes the connector, pins, and extraction tool to connect to 1326-CCU-xxx motor feedback cables). It does not apply to
1394-SJTxx-D.
Brake and thermal connector operating tool
A-B Catalog Number Manufacturer’s Number
1394C-CCK-D N/A
2090-S-BLHD
1394-199
N/A
N/A
1394C-GCLAMP
1394-CCFK
N/A
N/A
1394C-8AWG-GCLAMP N/A
N/A
Kit, fuse, for 1394-SR10A (5 and 10 kW system modules) 1394-SR10A-FUSE-A
Wago 231-304
Bussmann
FWP-40A14F
Kit, fuse, for 1394-SR9A (Series B)
Kit, fuse, for 1394-SR9AF (Series B)
Kit, fuse, for 1394-SR36A (Series B)
Kit, fuse, for 1394-SR36AF (Series B)
1394-SR9A-FUSE-B
1394-SR9AF-FUSE-B
1394-SR36A-FUSE-B
1394-SR36AF-FUSE-B
Bussmann
FWP-50A14F
Publication 1394-IN002B-EN-P — February 2004
C-6 Catalog Numbers and Accessories
Publication 1394-IN002B-EN-P — February 2004
1
Index
Numerics
1326AB (M2L/S2L) interconnect diagram
1326AS interconnect diagram
1394 SERCOS interface
Integration Manual
1394 system bonding
bonding multiple subpanels
component overview
installing
mounting
mounting hole layout
troubleshooting
typical installation
wiring
16 axis SERCOS interface PCI card installation instructions
1756-M08SE module
1756-M16SE module
1784-PM16SE PCI card
8 or 16 axis SERCOS interface module installation instructions
A
AC line filters catalog numbers
noise reduction
specifications
analog outputs pin-outs
specifications
auxiliary feedback pin-outs
specifications
axis module catalog numbers
connector designators
dimensions
series information
status LED
wiring requirements
B
basic wiring requirements
bonding
brake relay
building your own cables
C
cables building your own cables
catalog numbers
categories
fiber-optic cable length
maximum fdbk cable length
shield, EMC
,
catalog number
AC line filters
axis module
cables
external shunt modules
fiber-optic cables
miscellaneous accessories
motor connector kits
RSLogix 5000
system module
CE complying with
low voltage directive
meeting requirements
certifications
Rockwell Automation Product
Certification
circuit breaker specifications
connecting feedback and I/O
input power
motor brake
motor power
SERCOS cables
thermal switch
connector catalog numbers
data
connector designators axis module
system module
connector locations axis module
system module
contactor specifications
Publication 1394-IN002B-EN-P — February 2004
I-2 Index
Publication 1394-IN002B-EN-P — February 2004 contents of manual
control power input specifications
ControlLogix integration
ControlLogix motion module programming manual
ControlLogix motion module setup and configuration manual
conventions used in this manual
receive and transmit connectors
fiber-optic signals
fuse specifications
G
grounding multiple subpanels
PE ground for safety
system to subpanel
D
detecting a problem
dimensions axis module
system module
discrete inputs
pin-outs
wiring
drive system OK relay
E
elevation requirements
EMC cable shield
directive
motor ground termination
EMI (ElectroMagnetic
Interference) bonding
environmental specifications
European Union directives
external shunt catalog numbers
noise reduction
wiring
external shunt resistor mounting
F
feedback power supply
specifications
,
wiring
Fiber-Optic Cable Installation
Instructions
fiber-optic cables catalog numbers
H
HIM
human interface module (HIM)
I
input power conditioning
pin-outs
input power wiring
ground jumper
22 kW settings
5 and 10kW settings
grounded power configuration
ungrounded power configuration
input transformer specifications
installing the 1394 system
integration
interconnect diagrams
1326AB (M2L/S2L)
1326AS
motor brake
Series B axis modules
Series C axis modules
MP-Series low inertia
notes
power
shunt module
,
thermal switch
Series A and B axis modules
Series C axis modules
Index I-3
L
LED axis module status
network status
system module status
logic input power specifications
power wiring
Logix controller motion instruction set reference manual
low voltage directive
M
manuals on-line
maximum fdbk cable length
miscellaneous accessories
Motion Book Servo Sizing CD
motion control problem report form
Motion Control Selection Guide
motor thermal switch wiring
motors
brake pin-outs
brake wiring
connector kits catalog numbers
feedback pin-outs
ground termination
power pin-outs
power wiring
1326AB (M2L/S2L)
1326AB/AS
MP-Series Low Inertia
thermal switch pin-outs
mounting external shunt resistor
,
guidelines to reduce noise
MP-Series low inertia interconnect diagram
N
National Electrical Code
noise
noise zones
,
P
panel cable categories
layout
noise zones
pin-outs
ControlLogix
auxiliary feedback connector
axis module motor brake
motor power
motor thermal switch
motor feedback connector
,
system module analog outputs
discrete inputs
input power
relay outputs
power dissipation specifications
input
interconnect diagrams
power specifications
power supply, feedback
problem report form
purpose of this manual
R
related documentation
relay contact specifications
relay outputs pin-outs
Rockwell Automation Product
Certification
routing power and signal wiring
RSLogix 5000 catalog number
S
SCANport
SERCOS connecting cables
connections
series information
1394 axis module
Publication 1394-IN002B-EN-P — February 2004
I-4 Index
Publication 1394-IN002B-EN-P — February 2004 shunt module interconnect diagram
specifications
shunt resistor power dissipation
shunt resistor external mounting
SoftLogix integration
SoftLogix Motion Card Setup and
Configuration Manual
specifications ac line filters
auxiliary feedback
axis module power
circuit breakers
environmental
feedback
power supply
fuse
I/O analog outputs
brake relay
control power input
discrete inputs
drive system OK relay
input transformer
logic input power
M1 contactor
maximum fdbk cable length
power dissipation
shunt resistor
relay contacts
SERCOS connections
shunt modules
system module power
storage
support comments regarding this manual
local product
technical product assistance
System Design for Control of
Electrical Noise Reference
Manual
system module catalog numbers
connector designators
connector locations
dimensions
wiring requirements
system module status LED
system mounting requirements
mounting 1394C-AM50/75 heatsink through the back of the cabinet
spacing
T
terminator
The Automation Bookstore
training
troubleshooting
axis module faults
axis module status LED
general system problems
how to detect a problem
network status LED
system module faults
system module status LED
U
understanding basic wiring requirements
external shunt resistor
input power conditioning
motor brake
motor thermal switches
wiring feedback to system modules
unpacking modules
W
who should use this manual
wiring
1394 SERCOS interface system
building your own cables
cable clamp
discrete input
external shunt
feedback connectors
ground wires
I/O connections
input power
logic power
motor brake
motor power
,
motor thermal switch
requirements system/axis module
routing power and signal
Index I-5 wiring
SERCOS fiber-optic cables
system module power
22 kW systems
5 and 10 kW systems
Publication 1394-IN002B-EN-P — February 2004
I-6 Index
Publication 1394-IN002B-EN-P — February 2004
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-IN002B-EN-P — February 2004
Supersedes Publication 1394-5.20 — July 2001
307140-P02
Copyright © 2004 Rockwell Automation. All rights reserved. Printed in USA.
Advertisement
Key features
- Up to 4 axes control
- 5, 10 or 22 kW output
- SERCOS communication protocol
- ControlLogix or SoftLogix interface
- Cabinet mounting