Allen-Bradley 1394 SERCOS Installation Manual
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Allen-Bradley 1394 SERCOS Installation Manual

Multi-axis motion control system
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Download this manual See also: User Manual
1394 SERCOS
Interface
Multi-Axis Motion
Control System
(Catalog Numbers
1394C-SJT05-D,
1394C-SJT10-D,
1394C-SJT22-D)
Installation Manual
Allen-Bradley PLCs

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  • Page 1 1394 SERCOS Interface Multi-Axis Motion Control System (Catalog Numbers 1394C-SJT05-D, 1394C-SJT10-D, 1394C-SJT22-D) Installation Manual Allen-Bradley PLCs...
  • Page 2 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.

  • Page 3: Table Of Contents

    1394 Product Receiving and Storage Responsibility ..P-3 Allen-Bradley Support ......P-3 Local Product Support .
  • Page 4 Ungrounded Power Configurations ... 2-8 Grounding Your 1394 SERCOS interface System ..2-10 Grounding your System to the Subpanel ... 2-10 Grounding Multiple Subpanels .
  • Page 5 1394 SERCOS Interface Interconnect Diagrams ..B-1 1394 SERCOS Interconnections ....B-2 Thermal and Brake Interconnect Diagrams ... . . B-7 Understanding Motor Thermal Switches.
  • Page 6 Table of Contents Appendix C Catalog Numbers and Accessories Chapter Objectives ....... C-1 1394 System Modules .

  • Page 7: Who Should Use This Manual

    Allen-Bradley support Who Should Use this Use this manual for designing, installing, or wiring your Allen- Bradley 1394 SERCOS interface  system. The manual is intended Manual for engineers or technicians directly involved in the installation and wiring of the 1394.
  • Page 8 Describes the purpose, background, and scope of this Preface manual. Also specifies the audience for whom this manual is intended. Installing Your 1394 SERCOS Provides mounting information for your 1394 SERCOS Interface System interface system. Connecting Your 1394 SERCOS Provides information on how to connect your 1394 Interface System SERCOS interface system components together.

  • Page 9: Conventions Used In This Manual

    0 to 65° C (32 to 149° F) • within a relative humidity range of 5% to 95%, non- condensing • in an area where it cannot be exposed to a corrosive atmosphere • in a non-construction area Allen-Bradley PLCs Publication 1394-5.20 — July 2001...

  • Page 10: Allen-Bradley Support

    • support service agreements Technical Product Assistance If you need technical assistance, call your local Allen-Bradley representative or Rockwell Automation Technical Support at (440)-646-5800. Please have the catalog numbers of your products available when you call. Publication 1394-5.20 — July 2001...

  • Page 11: Installing Your 1394 Sercos Interface System

    Unpacking your modules • System mounting requirements • Bonding your system • Mounting your 1394 SERCOS interface system • Mounting the external shunt resistor for 5 and 10 kW system modules • Mounting external shunt modules for 22 kW system modules...

  • Page 12: Complying With European Union Directives

    You must run three-phase input wiring in a conduit that is grounded to the enclosure. • You must install a power line filter (Allen-Bradley catalog number SP-74102-006-01, SP-74102-006-02, SP-74102-006-03 or equivalent based on system current) between the three-phase input line and the system module input.

  • Page 13: Before Mounting Your System

    Installing Your 1394 SERCOS Interface System Before Mounting Your Before you mount your 1394 SERCOS interface system make sure you understand the following: System • how to store your 1394 before installation • how to unpack the system and axis modules •...

  • Page 14: System Mounting Requirements

    Installing Your 1394 SERCOS Interface System Remove all packing material, wedges, and braces from within and around the components. After unpacking, check the item(s) nameplate catalog number against the purchase order. Refer to Appendix C for more information on catalog numbers.

  • Page 15: Determining Your System Mounting Hole Layout

    Installing Your 1394 SERCOS Interface System Figure 1.1 Minimum System and Axis Module Mounting Requirements 50.8 mm (2.0 in.) clearance for airflow and installation Allow 10.0 mm (0.4 in.) side clearance Allow 10.0 mm (0.4 in.) side clearance Allow 76.2 mm (3.0 in.) clearance Allow 25.4 mm (1.0 in.) clearance...
  • Page 16 Installing Your 1394 SERCOS Interface System Figure 1.2 1394 Mounting Hole Layout Dimensions are in millimeters and (inches) 62.5 137.5 212.5 287.5 (2.46) (3.94) (5.41) (6.89) (8.37) (11.32) (9.84) 19.5 (1.97) (0.00) (1.97) (4.92) (5.91) (7.87) (8.86) (10.83) (0.768) System module...

  • Page 17: Mounting Your 1394 Through The Back Of The Cabinet

    Installing Your 1394 SERCOS Interface System 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.
  • Page 18 Installing Your 1394 SERCOS Interface System Figure 1.4 Bonding Examples Stud-mounting a ground bus Stud-mounting the subpanel or chassis to the subpanel to the enclosure back wall Subpanel Back wall of Mounting bracket or enclosure ground bus Subpanel Welded stud...

  • Page 19: Bonding Multiple Subpanels

    Installing Your 1394 SERCOS Interface System 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.
  • Page 20 1-10 Installing Your 1394 SERCOS Interface System If you are mounting a: Do this: 1394x-AM03, -AM04 or 1. Hang the axis module on the next mounting fastener. -AM07; 1394C-AM50- IH, or -AM75-IH axis 2. Go to main step 5. module 1394x-AM50 or -AM75 1.
  • Page 21 Installing Your 1394 SERCOS Interface System 1-11 6. Slide the slide-and-lock mechanism on the axis module to the left until it locks into place. Figure 1.8 Slide-and Lock Mechanism SERCOS System Module Slide-and-Lock mechanism Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

  • Page 22: Mounting The External Shunt Resistor For

    1-12 Installing Your 1394 SERCOS Interface System Mounting the External If your 5 or 10 kW 1394 system module requires a means of dissipating regenerative energy that exceeds the capacity of the Shunt Resistor for 5 and 10 internal shunt resistor, install a 1394 External Shunt Resistor Kit kW System Modules (catalog number 1394-SR10A).

  • Page 23: Shunt Module Mounting Orientation

    Installing Your 1394 SERCOS Interface System 1-13 Shunt Module Mounting Orientation Because the shunt module dissipates excess regenerative power in the form of heat, you need to consider the following guidelines. Refer to Figure 1.10 and Figure 1.11 for shunt module spacing requirements.

  • Page 24: Shunt Module Mounted Outside The Cabinet

    1-14 Installing Your 1394 SERCOS Interface System Shunt Module Mounted Outside the Cabinet The illustration below details the proper position and cable routes for mounting the shunt module outside the cabinet. Figure 1.12 Shunt Module Mounted Outside of the Cabinet...

  • Page 25: Shunt Module Mounted Inside The Cabinet

    Installing Your 1394 SERCOS Interface System 1-15 Shunt Module Mounted Inside the Cabinet The illustration below details the proper position and cable routes for mounting the shunt module inside the cabinet. Figure 1.13 Shunt Module Mounted Inside of the Cabinet...

  • Page 26: Mounting The Shunt Module

    1-16 Installing Your 1394 SERCOS Interface System Mounting the Shunt Module The procedures in this section assume you have prepared your panel and understand how to bond your system. To mount your 1394 Shunt Module: 1. Install the top mounting fasteners on the subpanel for the shunt module.

  • Page 27: Connecting Your 1394 Sercos Interface System

    This chapter covers the following topics: • Understanding basic wiring requirements • Determining your type of input power • Grounding your 1394 SERCOS interface system • Connecting system module power • Connecting motor power to axis modules • Connecting feedback to system modules •...

  • Page 28: Routing High And Low Voltage Cables

    Connecting Your 1394 SERCOS Interface System Routing High and Low Voltage Cables Be aware that when you connect and route power and signal wiring on a machine or system, radiated noise from nearby relays (relay coils should have surge suppressors), transformers, and other electronic drives can be induced into motor or encoder feedback, communications, or other sensitive, low voltage signals.

  • Page 29: System Module Wire Sizes

    Connect all shields to a single earth ground point. Refer to Grounding Your 1394 SERCOS interface System in this chapter and Appendix B for additional information. EMI/RFI Shielding The 1394 has an inverter carrier frequency of 5000 Hz.

  • Page 30: Input Power Conditioning

    Connecting Your 1394 SERCOS Interface System Input Power Conditioning You can directly connect the 1394 to a three-phase, AC power line. However, if certain power line conditions exist, the input power component can malfunction. If either of the following is true, you can...

  • Page 31: Determining Your Type Of Input Power

    Connecting Your 1394 SERCOS Interface System Determining Your Type of Before you ground or wire your 1394 system you must determine the type of 360/480V input power you will be connecting to. The 1394 Input Power system is designed to operate in both grounded and ungrounded environments.

  • Page 32: Ungrounded Power Configuration

    Connecting Your 1394 SERCOS Interface System Ungrounded Power Configuration As shown in the figure below, the ungrounded power configuration does not allow for a neutral ground point. If you determine that you have ungrounded power distribution in your plant, you need to move the factory-installed jumper to the ungrounded power distribution position to prevent electrostatic buildup inside the 1394.

  • Page 33: Setting The Ground Jumper In A 5 Or 10 Kw System Module For Ungrounded Power Configurations

    8. Re-install ribbon cable into the control board connector. 9. Re-install the three control board screws. 10. Close the system module door. 11. Go to Grounding Your 1394 SERCOS interface System. Allen-Bradley PLCs Publication 1394-5.20 — July 2001...

  • Page 34: Setting The Ground Jumper In A 22 Kw System Module For Ungrounded Power Configurations

    Connecting Your 1394 SERCOS Interface System Figure 2.4 Ground Jumper Locations for the 5 and 10 kW System Modules 1394C-SJTxx-D DANGER 1394 Digital Servo Controller RISK OF ELECTRICAL RISK OF ELECTRICAL SHOCK. SHOCK. SERCOS interface (5 and 10 kW) MORE...
  • Page 35 DO NOT REMOVE CIRCUIT Front edge BOARD FROM 1394 of board Jumper position on ungrounded power configuration 5. Close the system module door. Allen-Bradley PLCs 6. Go to Grounding Your 1394 SERCOS interface System. Publication 1394-5.20 — July 2001...

  • Page 36: Grounding Your 1394 Sercos Interface System

    2-10 Connecting Your 1394 SERCOS Interface System Grounding Your 1394 We recommend that all equipment and components of a machine or process system have a common earth ground point connected to their SERCOS interface System chassis. A grounded system provides a safety ground path for short circuit protection.

  • Page 37: Grounding Multiple Subpanels

    Connecting Your 1394 SERCOS Interface System 2-11 Grounding Multiple Subpanels To ground multiple subpanels, refer to the figure below. Figure 2.8 Subpanels Connected to a Single Ground Point Always follow NEC and applicable local codes Ground grid or power distribution ground...

  • Page 38: Connector Locations For 5 And 10 Kw System Modules

    2-12 Connecting Your 1394 SERCOS Interface System Connector Locations for 5 and 10 kW System Modules The 1394C-SJT05-D and 1394C-SJT10-D system modules use connectors for wiring power. You will wire the system using power connector plugs that mate with connectors conveniently located on the bottom of the system module.

  • Page 39: Terminal Block Locations For 22 Kw System Modules

    Connecting Your 1394 SERCOS Interface System 2-13 Terminal Block Locations for 22 kW System Modules All 1394C-SJT22-D system module components use IEC terminals instead of connectors for making power connections. You will wire the system and axis modules using the power terminal block conveniently located at the bottom front of the system and axis modules.

  • Page 40: Required Tools And Equipment

    2-14 Connecting Your 1394 SERCOS Interface System Required Tools and Equipment Before you begin to connect power wiring, be sure to have the following: • A small flathead screwdriver • User-supplied contactor • User-supplied wiring for input power Connecting Power Wiring for 5 and 10 kW System Modules To connect power wiring: 1.

  • Page 41: Connecting Power Wiring For 22 Kw System Modules

    Connecting Your 1394 SERCOS Interface System 2-15 5. Insert the incoming 24V control power wires into the logic power connector plug as follows and tighten the connector plug screws. Insert the Into connector plug Tighten to this wires labeled: terminals labeled: torque value: 0.56-0.62 N-m...

  • Page 42: Connecting Motor Power To Axis Modules

    2-16 Connecting Your 1394 SERCOS Interface System 4. Insert the incoming 24V control power wires into the terminal blocks as follows and tighten the connector plug screws. Insert the Into the terminal Tighten to this wires labeled: blocks labeled: torque value: 0.56-0.62 N-m...

  • Page 43: Connecting Thermal And Brake Leads To Axis Modules

    Connecting Your 1394 SERCOS Interface System 2-17 Connecting Thermal and Brake Leads to Axis Modules Axis modules provide terminating points for the motor power, thermal sensor, and brake (as shown in the figure below). Axis module wiring is identical for all available axis module ratings.

  • Page 44: Required Tools And Equipment

    2-18 Connecting Your 1394 SERCOS Interface System Required Tools and Equipment • A small flathead screwdriver • One motor power cable for each axis • One axis module connector kit (included with each axis module) for thermal switch and brake inputs. You will need one kit per axis module as each kit contains two connectors.
  • Page 45 Connecting Your 1394 SERCOS Interface System 2-19 6. Tighten the clamp screw. Do not overtighten the clamp screw or damage IMPORTANT to the braided shield may result. 7. Thread the bracket screw into the bottom of the axis module and tighten.
  • Page 46 2-20 Connecting Your 1394 SERCOS Interface System 10. Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten each loose wire. 11. Using the operating tool, wire the brake and thermal switch connections as shown in the table below.

  • Page 47: Connecting Feedback To System Modules

    Connecting Your 1394 SERCOS Interface System 2-21 If your motor: Do the following: 1. Connect the appropriate brake control wires to the second connector plug in the kit (pins 1 and 2). Refer to Appendix B for Has the brake brake interconnect diagrams.

  • Page 48: Required Tools And Equipment

    2-22 Connecting Your 1394 SERCOS Interface System To guard against hazard of personal injury or damage ATTENTION to equipment, the interconnections between the motor and the feedback device must be made exactly as shown in Appendix B. Failure to do so could cause loss of motor control and/or severe oscillation of the motor shaft.

  • Page 49: Connecting Feedback Cables

    Connecting Your 1394 SERCOS Interface System 2-23 Connecting Feedback Cables To wire your 1394 system module feedback: 1. Begin preparation of the feedback cable by cutting off the pins already crimped to the wires. 2. If not already done, remove approximately 45 mm (1.75 in.) of the outer insulation, braided shield, and foil shield to expose the individual insulated wires and drain wires (refer to Figure 2.15).
  • Page 50 2-24 Connecting Your 1394 SERCOS Interface System 4. Wire the connector housings. Depress the clamp spring with a small screw driver, insert the wire, and release the spring. Refer to the table below for pin-out information and Figure 2.16 for an illustration.
  • Page 51 Connecting Your 1394 SERCOS Interface System 2-25 6. Plug the connector housing into the appropriate feedback connector on the bottom of the system module (refer to Figure 2.17). The connectors and connector housings are IMPORTANT keyed and cannot be connected backwards.

  • Page 52: Connecting Your Motor Cables To Motors

    This port allows you to connect a SCANport device, such as a Human Interface Module (HIM), to the 1394 SERCOS Interface system. Refer to Figure 2.17 for SCANport location. Refer to the 1394 SERCOS Interface Integration Manual (publication 1394-IN024x-EN-P) for information on using the HIM.

  • Page 53: Understanding I/O Connections

    Connecting Your 1394 SERCOS Interface System 2-27 Understanding I/O This section provides detailed information that applies to wiring input and output connections. You will wire the connector housings and Connections plug them into mating I/O connectors on the front of the system module.
  • Page 54 2-28 Connecting Your 1394 SERCOS Interface System The discrete input signal pin-outs are shown in the figure below. Refer to Figure 2.18 for the location of the input connectors. Figure 2.20 Discrete Input Signals Axis 3 Enable3 Pos_Otrav3 Home3 Neg_Otrav3...

  • Page 55: I/O Signal Descriptions

    Connecting Your 1394 SERCOS Interface System 2-29 I/O Signal Descriptions The following table provides a description of the various discrete input signals, as shown in Figure 2.20. Mandatory Wire: Description: Connector: Optional: A 24V DC input is applied to these terminals to enable...

  • Page 56: Wiring I/O Connections

    2-30 Connecting Your 1394 SERCOS Interface System The following table provides a description of the various relay output signals, as shown in Figure 2.19. Wire: Description: Connector: The Drive System OK output is intended to be wired into the drive’s stop string to open the main power contactor if a drive system fault occurs.

  • Page 57: Connecting Your Sercos Fiber Optic Cables

    Connecting Your SERCOS This procedure assumes you have your ControlLogix chassis with 1756-M08SE interface and 1394 SERCOS interface system(s) mounted Fiber Optic Cables and are ready to connect the fiber optic cables. The SERCOS fiber optic ring is connected using the SERCOS Receive and Transmit connectors.

  • Page 58: Connecting Your Internal Shunt Resistor

    2-32 Connecting Your 1394 SERCOS Interface System 6. Thread the connector on finger tight. 7. Insert the other end of the cable (from step 5) into the Receive SERCOS connector on the 1756-M08SE interface module. 8. Thread the connector on finger tight.

  • Page 59: Connecting Your External Shunt Resistor

    Connecting Your 1394 SERCOS Interface System 2-33 Connecting Your External This procedure applies to 5 and 10 kW system modules and assumes that your external shunt resistor is already mounted. Shunt Resistor (5 and 10 kW Systems) To connect your external shunt resistor: 1.

  • Page 60: Connecting Your Shunt Module

    2-34 Connecting Your 1394 SERCOS Interface System Connecting Your Shunt The procedures in this section apply to 22 kW system modules and assume that your shunt module is already mounted. Wiring the shunt Module (required for 22 kW module consists of connecting power from the system module and,...
  • Page 61 Connecting Your 1394 SERCOS Interface System 2-35 There are three types of cable that can be used to connect the 1394 shunt module to your 1394 system module. The table below details your shunt power wiring options. For this Type of Cable:...
  • Page 62 2-36 Connecting Your 1394 SERCOS Interface System Figure 2.26 Routing Shunt Module Wiring When the Module is Outside the Cabinet Customer supplied metal enclosure (optional) 155 mm (6.1 in.) of clearance on all sides Motor power 360/480V of the shunt module...
  • Page 63 Connecting Your 1394 SERCOS Interface System 2-37 Figure 2.27 Routing Shunt Module Wiring When Module is Inside the Cabinet Motor power 360/480V Low voltage cables Communications AC power Control I/O wiring Motor feedback cables 155 mm (6.1 in.) of Always separate all low voltage signal...
  • Page 64 2-38 Connecting Your 1394 SERCOS Interface System 7. Open the front door of the shunt module. 8. Insert the wire from the system module terminal block labeled COL in the top terminal on the left side of the shunt module. Refer to Figure 2.28 for the terminal’s location.

  • Page 65: Wiring Shunt Module Fan Power

    Connecting Your 1394 SERCOS Interface System 2-39 Wiring Shunt Module Fan Power This procedure assumes that you have bonded, mounted, and wired the power to your shunt module. The shunt fan can be wired for 115V (16 AWG) [machine tool, 75 ° C (167 ° F)] or 230V input.
  • Page 66 2-40 Connecting Your 1394 SERCOS Interface System To wire the shunt fan for 230V: 1. Verify that all 24V control or 360/480V input power is removed from the system. 2. Open the front door of the shunt module. 3. Using a flat screw driver, remove the plate that covers the fan wire access hole located on the bottom right side of the module.

  • Page 67: Specifications

    Appendix Specifications Chapter Objectives This appendix contains specifications, dimensions, and operating characteristics for the 1394 SERCOS interface system, 1326AB/AS motors, and MP-Series motors. This appendix covers: • System specifications • Environmental specifications • Power dissipation • Communication specifications • Dimensions •...

  • Page 68: System Modules

    Specifications System Modules The table below lists the specifications for system modules. The: For the 1394C-SJT05-D is: For the 1394C-SJT10-D is: For the 1394C-SJT22-D is: 324-528V AC, 50/60 Hz 324-528V AC, 50/60 Hz 324-528V AC, 50/60 Hz Rated AC input voltage Three phase Three phase Three phase...

  • Page 69: Contact Ratings

    220 µF 465 µF 660 µF Capacitance When used with the controller in the 1394x-SJTxx system module. Series A axis modules (1394-AM03, -AM04, and -AM07) are not compatible with the 1394C-SJTxx-D system module. Allen-Bradley PLCs Publication 1394-5.20 — July 2001...

  • Page 70: User-Supplied Contactor (M1

    For the 1394C-SJT05 and The contactor: For the 1394C-SJT22 is: 1394C-SJT10 is: Rating 600V AC, 23A 600V AC, 37A AC Coil Operation Allen-Bradley 100-C23x10 Allen-Bradley 100-C37x10 Recommended types: DC Coil Operation Allen-Bradley 100-C23Zx10 Allen-Bradley 100-C37Zx10 x indicates coil voltage. A surge suppressor is required.

  • Page 71: User-Supplied 24V Logic Input Power

    2 to 5% If the input volt-amperes is more than 350 VA, adjust the load regulation to make the transformer leakage the same as or greater than the 250 VA transformer with 2% regulation. Allen-Bradley PLCs Publication 1394-5.20 — July 2001...

  • Page 72: Circuit Breakers

    Specifications Circuit Breakers While circuit breakers offer some convenience, there are limitations for their use. Circuit breakers do not handle high current inrush as well as fuses. The 1394 system needs to be protected by a device having a short circuit interrupt current rating of the service capacity provided or a maximum of 100,000A.
  • Page 73 400% of the full load device current. The inrush current draw of option. the 1394 in some combinations exceeds the 30A breaker and will result in nuisance tripping. 1394C-SJT10-D 1492-CB3-H500 1394C-SJT22-D 1492-CB3-H600 Allen-Bradley PLCs Publication 1394-5.20 — July 2001...

  • Page 74: External Shunt Resistor Kit For 5 And 10 Kw Systems

    Specifications External Shunt Resistor Kit for 5 and 10 kW Systems The table below shows the ratings for the external (optional) shunt resistor. Catalog Number Ratings Shipping Weight Resistance 1400W continuous, 1394-SR10A 40,000W peak 4.99 kg (11 lb) 16 Ohms (two second maximum on time) Use fuse replacement kit (1394-SR10A-FUSE-A) when IMPORTANT...

  • Page 75: Environmental Specifications

    3% for each additional 300 m (1000 ft) up to 3000 m (10,000 ft). Consult with your local Allen-Bradley Sales Representative prior to operating at over 3000 m (10,000 ft).

  • Page 76: System Modules

    A-10 Specifications System Modules The power dissipation (in watts) of the system module types is shown below. Power Dissipation (in watts) % of Rated Power Output 1394C-SJT05-D 1394C-SJT10-D 1394C-SJT22-D Axis Modules The power dissipation (in watts) of the axis modules is shown below: Power Dissipation (in watts) Total Inside Cabinet...

  • Page 77: Communication Specifications

    20 ms maximum; 1 µs maximum for position registration Input response time inputs Dimensions Within this section, you will find dimensions for: • The 1394 system module • Axis modules • AC line filters • External shunt modules • Motors Allen-Bradley PLCs Publication 1394-5.20 — July 2001...

  • Page 78: 1394 System Module Dimensions

    A-12 Specifications 1394 System Module Dimensions Figure A.3 1394C-SJT05-D, 1394C-SJT10-D and 1394C-SJT22-D System Module 150.0 (5.91) Dimensions are in millimeters and (inches) 25.0 (0.98) 26.0 91.0 (3.58) (1.02) 50.0 8.0 (0.32) (1.97) (11.02) 1394C-SJT22-D System Module Fastener 385.0 400.0 location (15.16) (15.75) Status...

  • Page 79: Axis Module Dimensions

    Dimensions are in millimeters and (inches) Important: Additional clearance below the axis is 40.13 necessary to provide the recommended cable bend (1.58) radius. Refer to the Motion Control Selection Guide (publication GMC-SG001 x -EN-P) for more information. Allen-Bradley PLCs Publication 1394-5.20 — July 2001...
  • Page 80 A-14 Specifications Figure A.6 1394x-AM50, -AM50-IH, -AM75, and -AM75-IH Axis Module Front View 37.5 8.0 (0.32) (1.48) Dimensions are in millimeters and (inches) Depth = 280 (11.02) Mounting Hole Detail 8.0 (0.31) 400.0 10.1 (0.40) (15.75) Fastener 385.0 (15.16) location 15.9 (0.63) 350.0 (13.78)

  • Page 81: Ac Line Filter Dimensions

    SP-74102-006-01 Filter Dimensions 11 (0.43) 192 (7.55) 20 (0.78) Load 164 (6.45) Line Dimensions are in millimeters and (inches) 204 (8.03) 214 (8.42) 19 (0.74) 47 (1.85) 11 (0.43) 192 (7.55) 7.0 (0.275) Allen-Bradley PLCs Publication 1394-5.20 — July 2001...
  • Page 82 A-16 Specifications Figure A.10 SP-74102-006-02 Filter Dimensions 15 (0.59) 330 (12.99) 20 (0.78) Load Line 155 (6.10) Dimensions are in millimeters and (inches) 360 (14.17) 195 (7.67) 25 (0.98) 50 (1.96) 15 (0.59) 330 (12.99) Figure A.11 SP-74102-006-03 Filter Dimensions 20 (0.78) 646 (25.43) 35 (1.37)

  • Page 83: External Shunt Dimensions

    To avoid the hazard of shock or burn and ATTENTION ignition of flammable material, provide appropriate guarding. The external shunt resistors and module enclosures can reach temperatures up to 350° C (662° F). Install per local codes. Allen-Bradley PLCs Publication 1394-5.20 — July 2001...
  • Page 84 15.9 (0.63) 8.0 (0.31) 1394 Digital Servo Controller (6.10) (6.89) (4.92) 300W Shunt Module 12.0 (0.47) ALLEN-BRADLEY BULLETIN 1394 300W SHUNT MODULE CAT. PART SER. INPUT DC INPUT AC All Slots Accept M6 or 1/4-20 Mtg. Screws FOR FUSE REPLACEMENT USE: BUSSMAN CAT.
  • Page 85 INPUT DC INPUT AC FOR FUSE REPLACEMENT USE: BUSSMAN CAT. NO. FOR USE WITH 1394-SJT22-X SYSTEM MODULE Figure A.16 1394-SR-36A and -36AF Side View Dimensions (11.01) (13.78) (15.75) Dimensions are in millimeters and (inches) Allen-Bradley PLCs Publication 1394-5.20 — July 2001...

  • Page 86: Motor Dimensions

    A-20 Specifications Motor Dimensions Figure A.17 MPL-B3xx Series Motors (Resolver and High Resolution Feedback) Pilot diameter Ø 79,993 - 80,012 L-LB (3.1493 - 3.1501) (0.13) S diameter holes in M diameter bolt circle Shaft diameter Ø 15,997 - 16,008 (0.6298 - 0.6301) See Detail “A”...
  • Page 87 If ordering an MPL-B420 or -B430 motor with high-resolution feedback, add 3.3 mm (0.13 in.) to dimensions L and LB. Tolerance for this dimension is ±0.7 (±.028). Tolerance for this dimension is +0.36 (±0.007). Tolerance for this dimension is +0.1 (+0.004). Tolerance for this dimension is -0.03 (-0.001). Allen-Bradley PLCs Publication 1394-5.20 — July 2001...
  • Page 88 A-22 Specifications Figure A.19 MPL-B45xx Series Motors (Resolver and High Resolution Feedback) Pilot diameter Ø 109,991 - 110,013 L-LB (4.3303 - 3.3312) (0.13) S diameter holes in M diameter bolt circle Shaft diameter Ø 23,996 - 24,009 (0.9448 - 0.9451) See Detail “A”...
  • Page 89 If ordering a 1326AB-B4xxxx-21-x K4L with optional 24V DC, 8.1 N-m (72 lb-in.) brake (IP67 rated), add 45 mm (1.75 in.) to AD, AG and C. Allen-Bradley PLCs Note: Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft tolerance per DIN 42955, “N” tolerance.
  • Page 90 A-24 Specifications Figure A.21 1326AB-B5 Torque Plus Series (Resolver and High Resolution Feedback) Full Depth Commutation Resolver Endmilled Keyway or High Resolution Output 25.4 25.4 (1.00) (1.00) (1.97) Power Input Recessed M8 x 1.25 (0.138) Flinger and Shaft Eyebolt Thread 15.0 25.4 Seal Provision...
  • Page 91 If ordering a 1326AB-B7xxxx-21-x K7L with an optional 24V DC, 45.1 N-m (400 lb-in.) brake (IP67 rated), add 76.2 mm (3.0 in.) to AD, AG and C (38.1 mm (1.5) to AL). Allen-Bradley PLCs Note: Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft tolerance per DIN 42955,”N” tolerance.
  • Page 92 A-26 Specifications Figure A.23 1326AS-B3 Series Servo Motor Commutation 30 0.5 Resolver Output (1.181) 3 0.2 (0.118) (1.61) Power Input 10.9 (0.429) (0.787) 89 sq. (3.50) 27 0.3 (1.063) 1.53 14.008/13.997 (0.060) (0.5515/0.5511) (.36) 9.525/9.500 Dia. 5.00/4.97 M4 x 0.7 Tapped hole (0.375/0.374) + _ .254 (.010) (0.197/0.196)
  • Page 93 If you are ordering a 1326AS-B4xxxx-21-K4 with an optional 24V DC 10.2 N-m (90 lb-in.) brake, add 46 mm (1.81 in.) to AD, AG and C. Note: Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft and pilot tolerances are per DIN 42955, N tolerance. Allen-Bradley PLCs Publication 1394-5.20 — July 2001...
  • Page 94 A-28 Specifications Figure A.25 1326AS-B6 Series Servo Motor 60.0±0.5 (2.36) 4.0±0.2 (0.157) 72.13 (0.7) (1.02) (0.91) (2.84) (1.57) 190 sq. (7.48) 31.8 12.6924/12.6746 20.45/18.92 32.018/32.002 (0.83) (1.25) (0.4997/0.4990) (0.805/0.745) Ø 35 (1.261/1.260) (1.38) + _ .397 (.015) 10.00/9.96 M8 x 1.25 Tapped hole Motor Front End (0.394/0.392) 19 (0.75) Deep min.
  • Page 95 Note: Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft and pilot tolerances are per DIN 42955, N tolerance. The eye bolt diameter is 38.1 mm (1.50 in) O.D. x 22.35 mm (0.88 in) I.D. Allen-Bradley PLCs Publication 1394-5.20 — July 2001...

  • Page 96: Servo Motor Performance Data

    All ratings are for 40° C (104° F) motor ambient,110° C (212° F) case, 50° C (122° F) amplifier ambient and 40° C (104° F) exter nal heatsink ambient (AM50 and AM75). For extended ratings at lower ambients contact Allen-Bradley.

  • Page 97: 1326Ab Performance Data

    All ratings are for 40° C (104° F) motor ambient,110° C (212° F) case, 50° C (122° F) amplifier ambient and 40° C (104° F) exter nal heatsink ambient (AM50 and AM75). For extended ratings at lower ambients contact Allen-Bradley.

  • Page 98: 1326As Performance Data

    All ratings are for 40° C (104° F) motor ambient,110° C (212° F) case, 50° C (122° F) amplifier ambient and 40° C (104° F) external heatsink ambient (AM50 and AM75). For extended ratings at lower ambients contact Allen-Bradley. Limited by axis module continuous current.

  • Page 99: Interconnect Diagrams

    Control Wiring: 0.82 mm (18 AWG) maximum, 15A maximum. Allen-Bradley motor cables. Refer to Motion Control Selection Guide (publication GMC-SG001x-EN-P). Contactor coil (M1) needs an integrated surge suppressors for AC coil operation. Motor feedback connections are shown for example and apply to all feedback inputs.

  • Page 100: 1394 Sercos Interconnections

    I/O_Com Base Address X10 Reg3_1 Reg3_2 Selector Switch Axis 2 SERCOS Network Status LED Enable2 Pos_Otrav2 (for status LED information, refer to the 1394 SERCOS Interface Home2 Neg_Otrav2 Integration Manual (publication 1394-IN024x-EN-P). Reg2_Com I/O_Com Reg2_1 Reg2_2 Input Connections SERCOS Receive...
  • Page 101 Interconnect Diagrams Figure B.2 1394 SERCOS with MP-Series Motors Interconnect Diagram AXIS MODULE (TYPICAL) Axis Module Status LED Hardware Failure Solid Red CONTROL POWER Flashing Red Fault & SIGNALS Flashing Red Ready, Bus not up and Green DC BUS POS.
  • Page 102 Interconnect Diagrams Figure B.3 1394 SERCOS with 1326AB Motors Interconnect Diagram AXIS MODULE (TYPICAL) Axis Module Status LED Hardware Failure Solid Red CONTROL POWER Flashing Red Fault & SIGNALS Flashing Red Ready, Bus not up and Green DC BUS POS.
  • Page 103 Interconnect Diagrams Figure B.4 1394 SERCOS with 1326AS Motors Interconnect Diagram AXIS MODULE (TYPICAL) Axis Module Status LED Hardware Failure Solid Red CONTROL POWER Fault Flashing Red & SIGNALS Flashing Red Ready, Bus not up and Green DC BUS POS.
  • Page 104 Interconnect Diagrams Figure B.5 SCANport and Feedback Connections (1394 System Module, Bottom View) (1394 Front) Left Side Right Side SCANport 845H Quadrature Note 6 ENCODER Feedback 1326-CEU- xxx Feedback Cable +5V DC QUADRATURE MOTOR ENCODER AXIS 0 AXIS 1 Auxiliary Fdbk Auxiliary Fdbk System Module Cable Clamp MP x -B (460V) Motor with...

  • Page 105: Thermal And Brake Interconnect Diagrams

    The example in Figure B.6 shows 1394 (Series C) axis modules with internal brake and thermal switch filtering. Separate isolation power supply and relay are not required. Using the start/stop string Allen-Bradley PLCs configuration all axes are disabled when any one motor faults. Publication 1394-5.20 — July 2001...
  • Page 106 1 2 3 4 Motor thermal switch wiring for 1326AB/AS motor resolver feedback Drive System OK Relay START STOP 1394 SERCOS Interface Control Board 24V AC/DC 1394C-SJT xx -D Relay Output Connector Refer to Attention statement below The thermal circuit includes filtering on the TB1/TB2 connector board that is rated for 24V only.
  • Page 107 12 13 12 13 12 13 12 13 Motor Feedback Connector 1394 SERCOS Interface Control Board 1394C-SJT xx -D Note: Refer to Figure 2.12 in the chapter Connecting Your 1394 SERCOS Interface System for the TB1 and TB2 pin-out diagram.
  • Page 108 START STOP 24V AC/DC 120V AC, Drive System OK 50/60 HZ Relay 1394 SERCOS Interface Control Board Refer to Attention statement below 1394C-SJT xx -D Relay Output Connector Note: Refer to Figure 2.12 in the chapter Connecting Your 1394 SERCOS Interface System for the TB1 and TB2 pin-out diagram.
  • Page 109 12 13 12 13 12 13 Motor Feedback Connector 1394 SERCOS Interface Control Board 1394C-SJT xx -D Note: 120V AC (50 or 60 Hz) power may be used in place of a 24V DC power supply for motor thermal switch circuits.

  • Page 110: Brake Interconnect Diagrams

    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) for more information).
  • Page 111 Relay Relay Relay Relay Output 3 Output 1 Output 2 Output 0 1394 SERCOS Interface Control Board 1394C-SJT xx -D + DC 24V DC Power Supply DC com Note: Refer to Figure 2.12 in the chapter Connecting Your 1394 SERCOS Interface System for the TB1 and TB2 pin-out diagram.
  • Page 112 Output 3 Output 1 Output 2 1394C-SJT xx -D 1394 SERCOS Interface Control Board Note: Refer to Figure 2.12 in the chapter Connecting Your 1394 SERCOS Interface System for the TB1 and TB2 pin-out diagram. Publication 1394-5.20 — July 2001...
  • Page 113 Output 3 Output 1 Output 2 1394C-SJT xx -D 1394 SERCOS Interface Control Board Note: Refer to Figure 2.12 in the chapter Connecting Your 1394 SERCOS Interface System for the TB1 and TB2 pin-out diagram. Allen-Bradley PLCs Publication 1394-5.20 — July 2001...

  • Page 114: Motor Cable Pin-Outs

    B-16 Interconnect Diagrams Motor Cable Pin-Outs The following sections contain cable pin-outs for the MP-Series, 1326AB, and 1326AS motor power and feedback cables (motor to 1394 system/axis module). MP-Series Motor Feedback Cables 2090-CDNFDMP-Sxx Feedback Cable for Motor Resolver Gauge System Module Terminal # Pair Wire Color Description Connector Pin...

  • Page 115: 1326 Motor Feedback Cables

    B (NOT) 0.34 (22) Blue 0.34 (22) Shield Shield no connection Cable Clamp Black COMMON COMMON 0.34 (22) Green no connection no connection 0.34 (22) no connection Overall Shield Overall Shield Cable Clamp Allen-Bradley PLCs Publication 1394-5.20 — July 2001...

  • Page 116: Mp-Series Motor Power Cables

    B-18 Interconnect Diagrams 1326-CCU-xxx Standard Commutation Cable for Motor Resolver Gauge Wire Connector Pin System Module Terminal # Pair Description Color 1394C-SJTxx-D (AWG) Black 0.5 (20) White 0.5 (20) Shield no connection Cable Clamp Black 0.5 (20) 0.5 (20) Shield no connection Cable Clamp Green...

  • Page 117: 1326 Motor Power Cables

    Braided Shield Overall shield Cable Clamp Green/Yellow Ground 1.5 (16) Thermostat 9 / White 1.5 (16) TB1-1 (K2) Note: The wiring information in this table applies only to 1326AS-B3xxxx, 1326-AB/AS-B4xxxx and 1326AB-B5xxxx servo motors. Allen-Bradley PLCs Publication 1394-5.20 — July 2001...
  • Page 118 B-20 Interconnect Diagrams 1326-CPC1-xxx Standard Motor Power Cable Gauge Connector Axis Module Terminal # Wire Color Description 1394C-AMxx (AWG) 1 / Black Power (T1) 2 / Black Power (T2) 6.0 (10) 3 / Black Power (T3) 4 / Black Brake (B2) 1.5 (16) TB1-3 Thermostat...

  • Page 119: Grounding For 1394 Ce Requirements

    Feedback Cables An Allen-Bradley filter (catalog number SP-74102-006-01, -02, -03) or Roxburgh filter (catalog number MIF323-GS, or MIF330-GS, or MIF375-GS respectively) is required. Mount the filter as close to the 1394 as possible. Isolate filtered conductors from unfiltered conductors. It is recommended to mount the filter to the right of the axis modules to simplify routing of filtered (clean) and unfiltered (noisy) wiring.
  • Page 120 B-22 Interconnect Diagrams Publication 1394-5.20 — July 2001...

  • Page 121: 1394 System Modules

    SERCOS interface fiber optic cables • Motor cables and connector kits • Miscellaneous accessories Contact your local Allen-Bradley sales office for additional information. Refer to the Motion Control Selection Guide (publication GMC-SG001x-EN-P) for detailed information on products. 1394 System Modules 1394 system modules have power ratings of 5, 10, and 22 kW.

  • Page 122: 1394 Axis Modules

    External shunt resistor kit for 5 and 10 kW system, 1400W continuous, 1394-SR10A 40,000W peak AC Line Filters Use the following table to identify the AC line filters for your system. Allen-Bradley Catalog Roxburgh Catalog Description Number Number Three-phase, 23A...

  • Page 123: Sercos Interface Fiber Optic Cables

    Note: Lengths of 0.3 m (1.0 ft) to 32 m (105.0 ft) are available in plastic or glass. Lengths of 50 m (164.2 ft) to 200 m (656.7 ft) are available in glass only. Allen-Bradley PLCs Publication 1394-5.20 — July 2001...

  • Page 124: Motor Cables And Connector Kits

    Catalog Numbers and Accessories Motor Cables and Use the following tables to identify the motor cables and connector kits for your 1394 SERCOS interface system. Connector Kits Motor Power Cables Use the following table to identify the MP-Series or 1326 motor power cable for your 1394 SERCOS interface system.
  • Page 125 Catalog Numbers and Accessories Motor Feedback Cables Use the following table to identify the MP-Series or 1326 motor feedback cable for your 1394 SERCOS interface system. Motor Description Catalog Number MP-Series motors with resolver or high- Resolver or high-resolution cable is available in lengths resolution feedback of 5, 15, 30, 60, and 90 meters.

  • Page 126: Miscellaneous Accessories

    1394-199 Cable ground clamp kit 1394C-GCLAMP Analog Output (9-pin) mating connector AMP 103958-8 Terminator SP-74102-015-01 1394 SERCOS Interface User manual 1394-5.20 Brake and thermal connector operating tool Wago 231-304 Fan replacement kit for 1394-AM50/AM75 axis modules SP-74102-271-01 Bussmann Kit, fuse, for 1394-SR10A (5 and 10 kW system modules)
  • Page 127 A-25 1326AB-B7 MP-series motor feedback A-15 AC line filters B-16 pinouts AS motors MP-series motor power A-26 1326AS-B3 B-18 pinouts A-27 1326AS-B4 SERCOS interface fiber optic A-28 1326AS-B6 Allen-Bradley PLCs A-29 1326AS-B8 catalog numbers Publication 1394-5.20 — July 2001...
  • Page 128 Index A-13 axis module A-17 external shunt resistor 2-27 I/O connections A-20 motors 2-27 connector locations MP-Series motors 2-29 descriptions A-20 MPL-B3xx 2-29 input A-22 MPL-B45xx 2-30 output A-21 MPL-B4xx 2-14 input power wiring shunt module determining input power A-17 1394-SR10A ground jumper A-19...
  • Page 129 A-31 1326AB motors user-supplied components A-32 1326AS motors 24V logic input power A-30 MP-Series motors shock contactor shunt module line input fusing Allen-Bradley PLCs 2-36 cable routing storage Publication 1394-5.20 — July 2001...
  • Page 130 A-11 dimensions wiring A-10 power dissipation 1394 SERCOS interface system specifications system mounting requirements 2-16 axis power thermal and brake leads layout on subpanel 2-17 mounting 1394x-AM50/75 external shunt resistor for 5...
  • Page 131 For more information refer to our web site: Allen-Bradley PLCs Publication 1394-5.20 — July 2001 307140-P01 Copyright  2001 Rockwell Automation. All rights reserved. Printed in USA. Supersedes Publication 1394-5.20 — November 2000...

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