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AB Quality ALLEN-BRADLEY 1391-DES User Manual

Digital ac servo drive
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1391-DES Digital
AC Servo Drive
User Manual

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Summary of Contents for AB Quality ALLEN-BRADLEY 1391-DES

  • Page 1 1391-DES Digital AC Servo Drive User Manual...
  • Page 2 Important User Information Because of the variety of uses for this equipment and because of the differences between this solid-state equipment and electromechanical equipment, the user of and those responsible for applying this equipment must satisfy themselves as to the acceptability of each application and use of the equipment.
  • Page 3 Summary of Changes Summary of Changes Summary of Manual Changes This release of the 1391-DES User Manual contains some new and updated information. The new and updated information is summarized in the table below. For further information, refer to the page numbers provided. Description of New or Updated Information Page Type...
  • Page 4 Chapter Introduction Manual Objectives This manual is meant to guide the interface, installation, programming and troubleshooting of a 1391-DES Digital AC Servo Drive. The contents are arranged in order from a general description of the drive to troubleshooting and maintenance. To assure successful installation and operation, the material presented must be thoroughly read and understood before proceeding.
  • Page 5 Chapter 1 Introduction General Precautions In addition to the precautions listed throughout this manual, the following statements which are general to the drive must be read and understood. ATTENTION: Only personnel familiar with the 1391-DES Digital Servo Drive and associated machinery should plan or implement the installation, start-up and subsequent maintenance of the drive.
  • Page 6 Chapter 1 Introduction The 1391-DES is generally used with computer aided, closed loop positioning systems such as Allen-Bradley “S” Class or IMC products. These systems control the position and linear or rotary motion of various machine members on an automated machine. To enhance system reliability, the 1391-DES has an encoder output (AQB) that produces four channels of 2048, 1024, 512 or 256 lines and two marker pulses per motor revolution which feeds position information to the position controller.
  • Page 7 Chapter 1 Introduction Options/Modifications The 1391-DES contains most functions needed in a servo system. The following are selectable at the user’s option: Contactor Auxiliary Switch Two N.O. (normally open) contacts are mounted on the main power contactor and wired to the power terminal block. These contacts can be used in a motor brake control circuit or as an indicator that the contactor has closed.
  • Page 8 Chapter 1 Introduction Figure 1.1 1391-DES Digital AC Servo Drive Duty Cycle Selector Switch Ground Stud TB5 – Power Connections TB4 – Control Signals Circuit Breaker Fuses 2 Line, 16 Character LCD Display 5 Button Keypad used for Programming Status LED - Flashes green when no faults are present and the bus is low.
  • Page 9 Chapter 1 Introduction End of Chapter 1-10...
  • Page 10 Chapter Specifications Chapter Objectives Chapter two contains the electrical and environmental specifications for the 1391-DES. Dimensions are provided in Appendix A. Drive Specifications The general specifications of the 1391-DES are provided in the listing below. The specifications are divided when necessary for the various drive ratings.
  • Page 11 Chapter 2 Specifications Environmental Specifications The 1391-DES must be mounted in an enclosure that is clean, dry and ventilated by filtered or cooled air. Enclosures vented with ambient air must have appropriate filtering to protect against contamination caused by oils, coolants, dust, condensation etc. The ambient air temperature must be kept between 0 to 60 C (32 to 140 F) and the humidity between 5 and 95%, non-condensing.
  • Page 12 Chapter Receiving, Unpacking and Inspection Chapter Objectives Chapter 3 provides the information needed to unpack, properly inspect and if necessary, store the 1391-DES and related equipment. The section entitled Inspection provides a complete explanation of the 1391-DES catalog numbering system. Receiving It is the responsibility of the user to thoroughly inspect the equipment before accepting the shipment from the freight company.
  • Page 13 Chapter 3 Receiving, Unpacking and Inspection Isolation Transformer 1391 – First Position Second Position Third Position Fourth Position Fifth Position Bulletin Primary Voltage Secondary Number & Frequency Voltage Type kVA Rating Letter Description Number Letter Description Letter Description Transformer 240/480V AC, Three- 230V AC, three-phase Open Core Phase, 60 Hz...
  • Page 14 Chapter 3 Receiving, Unpacking and Inspection Bulletin 1391-DES Drive 1391 – DES15 – – – First Position Second Position Third Position Fourth Position Fifth Position Bulletin Configuration/ User Output Number Current Rating Interface Configuration Options Code Description Code Description Code Description Letter Description...
  • Page 15 Chapter 3 Receiving, Unpacking and Inspection 1326AB Torque Plus Series Servomotor 1326 – – – First Position Second Position Third Position Fourth Position Fifth Position Sixth Position Seventh Position Eighth Position Bulletin Motor Max. Operating Mounting & Shaft Standard Number Type Voltage Series...
  • Page 16 Chapter 3 Receiving, Unpacking and Inspection Motor Junction Box Kit 1326AB – – RJAB First Position Second Position Third Position Bulletin Type Description Number Code Description Code Description Modifica- RJAB For all AB-A & B Series Motors tion Kit (A4 & A5 Torque Plus Motors) For all AB-B4 &...
  • Page 17 Chapter 3 Receiving, Unpacking and Inspection Feedback Coupling 1326 – – First Position Second Position Third Position Coupling Bulletin Type Size Number – Size Motor Shaft to Encoder Shaft Code Description Code 3/8” to 3/8” (9.5 mm to 9.5 mm) – Modifica- Standard on all 1326AB Motors tion Kit...
  • Page 18 Chapter 3 Receiving, Unpacking and Inspection Power and Feedback Cables 1326 – First Position Second Position Third Position Fourth Position Fifth Position Sixth Position Bulletin Motor Size Power Track Cable Number Type Function Used On Cable Length Code Description Code Description Letter Description...
  • Page 19 Chapter 3 Receiving, Unpacking and Inspection Planetary Gearbox 1326AB – – – First Position Second Position Third Position Fourth Position Fifth Position Sixth Position Bulletin Used on 1326AB Gear Ratio Number Type Motor Series (Motor Shaft:Output Shaft) Options Adapter Code Description Code Description...
  • Page 20 Table of Contents Introduction Chapter 1 Manual Objectives ......... General Precautions .
  • Page 21 Table of Contents Programming Chapter 6 Chapter Objectives ......... Display Description .
  • Page 22 Chapter Description of Operation Chapter Objectives Chapter 4 is intended to familiarize the reader with the circuitry of the 1391-DES in terms of function and operation. General The intended use of the 1391-DES is to control the speed and torque of an AC servomotor in a closed loop position system.
  • Page 23 Chapter 4 Description of Operation Figure 4.1 PWM Waveform 300V DC 400µs 400µs Typical Typical Time 400µs 400µs Typical Typical The three-phase relationship between the reference signal and the timing wave provide PWM pulses to the power transistor base drive. This base drive switches the power transistors across the 300V DC bus, providing current to the motor windings, thus causing the motor to turn.
  • Page 24 Chapter 4 Description of Operation Shunt Regulator Operation The 1391-DES shunt regulator provides power dissipation for regenerative conditions when the energy returned to the drive by the motor exceeds that which can be stored in the bus capacitors. The shunt regulator monitors the bus voltage and at a predetermined “ON”...
  • Page 25 Chapter 4 Description of Operation Overtemperature The drive contains a thermal switch on the heat sink which indirectly senses transistor module temperature. If the temperature rating of the switch is exceeded, the DROK contact opens and the drive is disabled. Power Fault A fault related to the power bridge section of the drive will cause the drive to be disabled and open the DROK contact.
  • Page 26 Chapter 4 Description of Operation Microprocessor Control The 1391-DES is controlled by an 80C196KB microprocessor. Velocity control, sequencing, fault logic, programming and option control is performed by the processor. Current control is analog, as is the input velocity command. The input command is fed through a 14 bit digital to analog converter (13 bits/8192 resolution and a +/–...
  • Page 27 Chapter 4 Description of Operation ATTENTION: The user has the ultimate responsibility to determine which stopping method is best suited to the applica- tion and will meet applicable standards for operator safety. Starting and Stopping must be accomplished by hardwired user supplied elements as shown in Appendix B.
  • Page 28 Chapter 4 Description of Operation Power-Up/Down Sequence Figure 4.3 describes the various steps involved in the power-up/down sequence of the 1391-DES Drive. Figure 4.3 Drive Power-Up / Down Sequence POWER-UP SEQUENCE POWER-DOWN SEQUENCE Apply AC Input Power to Isolation Transformer Enable Signal Removed Fault a) Logic power supplies and base drive circuits...
  • Page 29 Chapter 4 Description of Operation Figure 4.4 1391-DES Block Diagram TB5–1 TB5–2 External Shunt TB5–3 Regulator 1326A AC Resistor Servomotor Rectifier D1 Contactor Shunt Power Transistor Regulator Output Modules TB4–11 TB4–12 Transistor Contactor Coil Shunt Transistor Logic Power Fault Regulator Base Drive Suppy Protection...
  • Page 30 Chapter Inputs, Outputs and Switch Settings Chapter Objectives Chapter 5 contains descriptions of the various inputs and outputs available on the 1391-DES Digital Servo Drive. Additionally, information for properly setting the drive switches is provided for reference when you perform start-up. For information on shunt regulator adjustments, refer to Chapter 10.
  • Page 31 Chapter 5 Inputs, Outputs and Switch Settings Analog Out 2 (Current) (TB2, Terminal 6) A voltage corresponding to positive and negative current will be present at this terminal and signal common (Terminal 7). +3V DC equals 100% of the continuous rating of the motor with +6V DC equaling 200%. Minimum impedance that can be placed across this output is 10k ohm.
  • Page 32 Chapter 5 Inputs, Outputs and Switch Settings Terminal Block - TB3 (A Quad B Board) Figure 5.1 provides interconnect information between the position controller and TB3 on the A Quad B Board. ATTENTION: To guard against possible damage to the A Quad B Board, assure that wiring between TB3 and the position controller is correct.
  • Page 33 Chapter 5 Inputs, Outputs and Switch Settings “M” Contactor Auxiliary Contacts (TB4, Terminals 13, 14, 15, 16) The auxiliary contacts of the integral contactor are accessed through these terminals. Refer to Table 5.A for contact ratings. Table 5.A “M” Contact Ratings (minimum 50 mA at all voltages) AC Ratings DC Ratings Volts...
  • Page 34 Chapter 5 Inputs, Outputs and Switch Settings Figure 5.2 Terminal Block, Circuit Board and Switch Locations Main Logic Control Board Display Board A Quad B Board Memory Board Ground Stud Top View of Controller F3 provided on 15 & 22.5A units only 15A = Bussmann KLM10 or equivalent 22.5A = Bussmann FNQ6 1/4 or equivalent A Quad B Board...
  • Page 35 Chapter 5 Inputs, Outputs and Switch Settings Switch Settings This section provides information on setting the Duty Cycle Selector switch (SW1) and the A Quad B Encoder Output switch (S1). Note that the settings for 1326AP motors are the same as 1326AB motors. Refer to Figure 5.2 for switch locations.
  • Page 36 Chapter 5 Inputs, Outputs and Switch Settings When using the A Quad B option with Allen-Bradley IMC motion controllers, the AMP parameters will be set according to the line count selected. In general, one parameter must be justified when using this device.
  • Page 37 Chapter 5 Inputs, Outputs and Switch Settings End of Chapter...
  • Page 38 Chapter Programming Chapter Objectives This chapter explains the programming/setup system of the 1391-DES Digital AC Servo Drive. Included is an explanation of the display, general programming procedure and description of the programmable parameters. You will need to read this chapter before performing the start-up procedure provided in Chapter 8.
  • Page 39 Chapter 6 Programming Figure 6.2 1391-DES Display Panel Display Keypad Up Arrow Key This key is used to increase values when modifying parameters. Other uses will be described when applicable. Down Arrow Key The Down Arrow key is used to activate modifiable parameters or decrease values.
  • Page 40 Chapter 6 Programming Parameter Levels For ease of use, the various parameters of the 1391-DES are numbered and arranged in three different levels. The levels range from viewing simple drive status parameters to more complex setup information. The three levels are as follows: View Level The View level allows viewing only of the drive operating conditions (see below).
  • Page 41 Chapter 6 Programming D/A #1 Gain Cable Compensation Maintenance Level The Maintenance level allows access to all of the parameters listed in the View and Modify levels in addition to the parameters listed below. Two squares ( ) will be present in the upper left corner of the display to denote that this level is active (see Figure 6.1).
  • Page 42 Chapter 6 Programming Figure 6.3 1391-DES Programming Levels Digital Servo Allen-Bradley Co Basic Display (alternating) 1391-DESxx Copyright 1992 View Level Use Left & Right = Down Arrow Key View/modify View current View current Arrow Keys to Move parameters drive status fault status through Selections = Up Arrow Key...
  • Page 43 Chapter 6 Programming Accessing Parameter Levels To help guard against access to advanced programming levels by untrained personnel, special key combinations must be pressed to gain access. When power is first applied to the 1391-DES the Basic Display (see Figure 6.4) will be shown. The Basic Display alternates (every 2 seconds) between the two displays shown.
  • Page 44 Chapter 6 Programming Programming Important: Programming of most 1391-DES parameters is not required. When power is initially applied to the drive, a prompted start-up procedure will occur (first time only). The display will guide the user through this procedure, which will set all of the main parameters for machine operation. Parameters listed in this chapter are essentially for reference only.
  • Page 45 Chapter 6 Programming Parameter Descriptions This section lists and describes the various parameters currently available (software version 2.01). Not all parameters will be available in every parameter level. Refer to the “Parameter Type” classification in each description for further information. In addition to the Parameter Type, each description (when applicable) will also provide Minimum, Maximum and Default Values.
  • Page 46 Chapter 6 Programming Parameter 06 – Drive Faults (Drv Faults) * Parameter 06 is a 16 bit, binary word that represents the drive faults. A “1” indicates that a fault has occurred. If a “0” is displayed, a fault has not occurred.
  • Page 47 Chapter 6 Programming Parameter 08 – Auto Tune Status (ATn Status) * A 16 bit, binary word represents the auto tune status. A “1” indicates that a particular state exists. If a “0” is displayed, that state does not exist. Refer to the list below for an explanation of the individual bits.
  • Page 48 Chapter 6 Programming Parameter 20 – Velocity Feedback (Vel Feedback) * The unfiltered motor velocity is displayed through this parameter. Parameter Type: View only, all levels Minimum Value: –8000 rpm Maximum Value: +8000 rpm Parameter 21 – Filtered Velocity Feedback (Filtrd Vel Fb) * The filtered velocity feedback which is output by the lead/lag filter is supplied by this parameter.
  • Page 49 Chapter 6 Programming Parameter 34 – Velocity Loop PI Output (Vel PI Output) * Indicates the latest output of the velocity PI regulator. Parameter Type: View only in Maintenance level Minimum Value: –8000 rpm Maximum Value: +8000 rpm Parameter 35 – Integral Velocity Error (Intg Vel Error) * The error between the Final Velocity Command (parameter 19) and the Velocity Feedback (parameter 20) is supplied by this parameter.
  • Page 50 Chapter 6 Programming Parameter 49 – Current Feedback Scale (Cur Fdbk Scale) * The current feedback scaling is displayed based on motor current rating and drive size (parameters 155 & 3). See Table 6.A. Parameter Type: View only in Maintenance level Minimum Value: Maximum Value: Table 6.A...
  • Page 51 Chapter 6 Programming Parameter 58 – D/A #1 Command Value (D/A 1 Cmd Val) * This parameter displays the actual value input to D/A Converter 1. Parameter Type: View only in Maintenance level Minimum Value: –2047 Maximum Value: +2047 Parameter 59 – D/A #2 Command Value (D/A 2 Cmd Val) * This parameter displays the actual value input to D/A Converter 2.
  • Page 52 Chapter 6 Programming Parameter 130 – Drive OK Mode This parameter specifies how the Drive OK (DROK) relay is controlled. If the parameter is set to “0,” the relay will be opened when a fault occurs. If the parameter is set to “1,” the relay will open when a fault occurs and there is not sufficient DC bus voltage.
  • Page 53 Chapter 6 Programming Parameter 136 – Drive Address * This parameter is not active at this time. Parameter Type: View/modify in Maintenance level Minimum Value: Maximum Value: Default Value: Parameter 144 – Clockwise Velocity Limit (CW Vel Limit) Specifies maximum velocity reference in the clockwise (positive) direction.
  • Page 54 Chapter 6 Programming Parameter 156 – Positive Current Limit (Pos. Cur Limit) Parameter 156 specifies the maximum allowable positive motor current that can be commanded. If greater than parameter 48, parameter 48 will then set the limits. Parameter Type: View/modify in Modify level and Maintenance level Minimum Value: 10% rated motor current Maximum Value:...
  • Page 55 Chapter 6 Programming Parameter 169 – Kl Velocity Loop (Intg Gain ki) This parameter controls the integral error gain of the velocity regulator. For example, if KI = 8, then velocity (1000 rpm) error for 1 second will produce a (rated motor) current torque reference. Parameter Type: View/modify in Modify level and Maintenance level Minimum Value:...
  • Page 56 Chapter 6 Programming Parameter 183 – Velocity Damping Selection (Vel Damp Selct) This parameter is associated with the auto tune function and specifies the velocity damping desired by the user. The auto tuning procedure calculates a new set of Velocity Loop Gains (parameters 168 & 169) and a new Current Rate Limit (parameter 158) when the user initiates the Auto Tune Calculate function.
  • Page 57 Chapter 6 Programming Parameter 188 – Auto Tune Current Limit (Auto Tune Cur) The motor current used while an auto tune cycle is executing is specified with this parameter. Parameter Type: View/modify in Modify level and Maintenance level Minimum Value: Maximum Value: 200% rated motor current in amperes Default Value:...
  • Page 58 Chapter 6 Programming Parameter 201 – Friction Bit (Frictn Bit) The number of bits surrounding Friction Hysteresis (parameter 200). Parameter Type: View/modify in Maintenance level Minimum Value: Maximum Value: Default Value: Parameter 210 – Analog to Digital Converter Offset (Anlg Vel Offst) This parameter adds an offset to the A/D converter value to correct for input A/D offset and user input command D/A output offset.
  • Page 59 Chapter 6 Programming Parameter 213 – Digital to Analog #2 Gain (D/A 2 Gain) This parameter scales the D/A #2 Command Value (parameter 59) before it is output to D/A Converter 2. To change scaling: Desired Voltage /Rated Current x 0.05553. Parameter Type: View/modify in Maintenance level Minimum Value:...
  • Page 60 Chapter 6 Programming Parameter 243 – Indirect Sink Parameter 1 (Indirect Sink1) * This parameter specifies the sink parameter for Indirect Link 1. Parameters 243 and 244 define a link between two other parameters. The value of the parameter specified by parameter 244 is written to the parameter specified by parameter 243 once every velocity loop update.
  • Page 61 Chapter 6 Programming Parameter 252 – Drive Initialization Status (Drv Init Stats) This parameter specifies if the drive has gone through an out-of-the-box start-up procedure (defined in Chapter 8). Parameter Type: View/modify in Maintenance level Default Value: 1 No No – has not been setup Yes –...
  • Page 62 Chapter Chapter Installation Chapter Objectives Chapter 7 provides the information needed to help properly mount and wire the 1391-DES Servo Drive for operation. Since most start-up difficulties are the result of incorrect wiring, every precaution must be taken to assure that the wiring is done as instructed. All items must be read and thoroughly understood before the actual installation begins.
  • Page 63 Chapter 7 Installation ATTENTION: The installation of the drive must be planned such that all cutting, drilling, tapping and welding can be accomplished with the drive removed from the enclosure. The drive is of the open type construction and any metal debris must be kept from falling into it.
  • Page 64 Chapter 7 Installation Wiring Recommendations General Information The information supplied in this manual on wire sizes, practices, layouts, system configurations and grounding/shielding techniques for the 1391-DES Servo Drive are presented as guidelines. Due to the diversity of applications and systems, no single method of wiring is completely applicable.
  • Page 65 Chapter 7 Installation Open ended shields (resolver feedback cable at the resolver and velocity command cable at the servo drive) must be insulated so that they do not accidentally cause ground loops. EMI Shielding The 1391-DES has an inverter carrier frequency of 2500 Hz. Therefore, the system may induce noise into sensitive equipment lines adjacent to it.
  • Page 66 Chapter 7 Installation The Interconnect Drawing presented in Appendix B provides typical interconnection wiring for the 1391-DES AC Servo Drive. Typical control logic circuitry (starting and stopping), motor interconnections and grounding techniques are shown. Please note that the drive circuit breaker (MCB) is not designed or intended to meet branch circuit protection requirements.
  • Page 67 Chapter 7 Installation Motor Feedback Wiring Connections to the integral commutation resolver must be made using an Allen-Bradley 1326-CFUxx shielded cable. ATTENTION: To guard against hazard of personal injury or damage to equipment, the interconnections to the motor and resolver 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 68 Chapter 7 Installation Table 7.B Minimum Transformer Wire Sizes – AWG (mm Input Voltage 10.0 12.5 15.0 208V AC #12 (2.5) #12 (2.5) #12 (2.5) #8 (6) #8 (6) #6 (10) 240V AC #12 (2.5) #12 (2.5) #12 (2.5) #8 (6) #8 (6) #8 (6) 380V AC...
  • Page 69 Chapter Start-Up Chapter Objectives Chapter 8 provides the steps needed to help properly start-up the 1391-DES Digital AC Servo Drive. Included in the procedure are typical adjustments and voltage checks to assure proper operation. The information contained in Chapters 5, 6 and 7 must be read and understood before proceeding.
  • Page 70 Chapter 8 Start-Up Check terminal block connections as described in Chapter 5 and Appendix B. Set switches S1 (A Quad B Board) and SW1 (top of drive) as explained in Switch Settings in Chapter 5 Assure that the drive circuit breaker (MCB), contactor (M) and Enable input are OFF (de-energized).
  • Page 71 Chapter 8 Start-Up The drive will now prompt you through a start-up procedure. Read the following important points before continuing. From time to time the drive will display the message “EEprom Fnction in progress.” This message alerts the user that an EEprom function is in progress and that operation will return to normal momentarily.
  • Page 72 Chapter 8 Start-Up ATTENTION: In the following steps, reverse rotation or uncontrolled rotation at high speed can occur. Be prepared to remove drive power by opening (MCB) or the branch circuit disconnect device if this occurs. This movement may be due to a wiring error or system component malfunction and must be corrected before proceeding.
  • Page 73 Chapter 8 Start-Up The display will now read “enter parameter information” – press the Enter key to continue. The drive will allow you to enter a value for the Analog Velocity Gain. The desired input velocity command voltage to motor rpm scaling is accomplished with the Analog Velocity Gain parameter (211).
  • Page 74 Chapter 8 Start-Up Display: “autotune the servo drive” – press Enter to continue. Assure that the drive Enable input is de-energized and the contactor (M) is energized. The drive will display the message “drive not ready to tune” if this has not been done. The drive will prompt you for Auto Tune Current Limit.
  • Page 75 Chapter 8 Start-Up The drive will display the Bandwidth Max. parameter (68). The value displayed is the maximum bandwidth, in rads/sec. your system can achieve. Record this value for future reference and press Enter. Bandwidth Maximum = rads/sec. (rads/sec. can be converted to Hertz (Hz) by dividing by 6.28) The drive will display the Desired Velocity BW (182).
  • Page 76 Chapter 8 Start-Up Manual Tuning Procedure If manual tuning of certain parameters is required, the following procedure can be followed after all of the previous steps have been performed. Parameters referenced in the following steps are located in the Modify programming level.
  • Page 77 Chapter 8 Start-Up Clockwise/Counterclockwise Velocity Limits a) Apply power to the drive. b) Energize the contactor (M), but Do Not Enable the drive. c) Access parameters 144 and 145 (Clockwise/Counterclockwise Velocity Limits) to enter the maximum speed limit of the motor at maximum velocity command.
  • Page 78 Chapter 8 Start-Up ATTENTION: If an oscilloscope (or chart recorder) is used during Start-Up or Troubleshooting, it must be properly grounded. The oscilloscope chassis may be at a potentially fatal voltage if not properly grounded. Always connect the oscilloscope chassis to earth ground. When using an oscilloscope (or chart recorder) it is recommended that the test probe ground be connected to TB2-5.
  • Page 79 Chapter 8 Start-Up Linear Accel/Decel Control Module The following information explains manual controller operation with the Linear Accel/Decel Control Module (CR-APG-001). This module provides adjustable acceleration/deceleration control for the 1391-DES. Up to four remote or local preset speeds are available. Important: The 1391-DES Accel/Decel Ramp parameter (146) locally controls the velocity command per time rate.
  • Page 80 Chapter 8 Start-Up To select Local Speed a) Energize the speed select input, SEL 1 (terminals 1 & 2 of J2) with either 24V DC or 115V AC. The front panel “SEL 1” LED will illuminate. b) Repeat the above step for any of the other three preset speeds. Important: If more than one speed is selected at the same time, the resulting speed for the velocity profile will not be predictable.
  • Page 81 Chapter 8 Start-Up The output of the module is controlled by the “Deadman” input at terminals 10 & 11 of J1. Applying 24V DC or 115V AC to this input will cause the module to operate. The front panel “Dedman” LED will be off.
  • Page 82 Chapter 8 Start-Up Figure 8.2 Linear Accel/Decel Control Module Wiring +10V DC 24V DC or Direction 115V AC Local Speed Change SPD 1 Remote Select 1 Select 1 Remote Speed 1 FWD./REV. Local Direction Speed 1 – Change Select Invert Local Speed Accel...
  • Page 83 Chapter 8 Start-Up Figure 8.3 Linear Accel/Decel Control Module Dimensions 4.25 (108.0) 3.44 (87.3) 0.41 (10.3) 0.50 (12.7) 8.12 (206.2) 7.25 (184.2) Dimensions are in inches (mm) 0.75 (19.1) 2.75 (69.9) 0.75 (19.1) (12.7) 8-15...
  • Page 84 Chapter 8 Start-Up End of Chapter 8-16...
  • Page 85 Chapter 1326 AC Servomotors Chapter Objectives Chapter 9 describes the operation of a standard 1326 AC Servomotor with the enhanced capabilities of a Bulletin 1391-DES Digital AC Servo Drive. Refer to the 1326 AC Servomotor Product Data for further information on Allen-Bradley AC Servomotors.
  • Page 86 Chapter 9 1326 AC Servomotors Tc – rated torque of motor with windings at rated temperature and an ambient of 40 C. The drive is operating in a rated ambient of 60 C. Tp – the peak torque that can be produced by the motor/drive combination with both at rated temperature and the motor in a 40 C ambient and the drive in a 60 C ambient.
  • Page 87 Chapter 9 1326 AC Servomotors Table 9.A provides a comparison of the resultant speed obtained from standard 1326 servomotors using 1391 and 1391-DES Servo Drives. Table 9.B provides performance data for the 1326AB Torque Plus Series Motors. Table 9.A 1, 2 1391/1391-DES Speed Comparison Continuous Peak Stall...
  • Page 88 Chapter 9 1326 AC Servomotors End of Chapter...
  • Page 89 Chapter Transformers and Shunt Regulators Chapter Objectives Chapter 10 provides general information about the 1391 Isolation Transformer. In addition, shunt regulator information is also provided. 1391 Transformers The 1391-DES must operate from an isolation transformer having a three-phase, 230V AC output and a single-phase, 36V AC output. Transformers supplied with the 1391-DES can provide power for up to four drives.
  • Page 90 Chapter 10 Transformers and Shunt Regulators Figure 10.1 1391 Transformer Wiring Diagrams 1391–TxxxDT (60 Hz.) Primary Voltage Connect Lines On 240V AC H1 to H3 to H8 H2 to H4 to H6 H5 to H7 to H9 480V AC H2 to H3 H5 to H6 H8 to H9 H3 H2...
  • Page 91 Chapter 10 Transformers and Shunt Regulators Shunt Regulator Operation Refer to Chapter 4 for an explanation of the shunt regulator circuitry. The nominal data for the shunt regulator is as follows:. Overvoltage Trip Point = 405V DC 2.5% DC Bus Shunt “ON” Point = 386.4V DC DC Bus Shunt “OFF”...
  • Page 92 Chapter 10 Transformers and Shunt Regulators Table 10.B shows the nominal resistor power trip levels in watts for the various switch settings. When shunt requirements exceed the selector setting, the excess power will cause the bus voltage to rise, resulting in an overvoltage fault condition and loss of braking.
  • Page 93 Chapter 10 Transformers and Shunt Regulators Frequent overvoltage trips and blown fuse on high inertia systems during regenerative states (deceleration) may be an indication that an external shunt resistor having increased power dissipation capacity is required. Based on the data supplied, Allen-Bradley will specify a shunt resistor with the proper resistance value for the drive being used.
  • Page 94 Chapter 10 Transformers and Shunt Regulators ATTENTION: Proper derating must be applied to the manufacturers nominal resistor power ratings when using these in external shunt configurations. Consult the resistor manufacturer for recommended derating. Failure to comply could result in personal injury and/or equipment damage from an overheated resistor.
  • Page 95 Chapter Troubleshooting Chapter Objectives Chapter 11 provides information to guide the user in troubleshooting the 1391-DES. Included in the chapter are board and drive substitution procedures, fault indications, general system faults and test point descriptions. System Troubleshooting Most drive faults are annunciated by fault messages on the front panel display.
  • Page 96 Chapter 11 Troubleshooting The majority of faults cause the DROK contact to operate. The use of fault messages may aid in identifying drive and motor malfunctions. If a drive fault occurs, the fault detection circuitry can be reset by removing and reapplying power to the transformer supplying the servo drive or connecting the Reset input (TB2-11) to ground (TB2-12) with the enable removed.
  • Page 97 Chapter 11 Troubleshooting Display Board Substitution 1. Remove all power to the drive branch circuit. 2. Remove the front cover from the drive. 3. Loosen the 4 thumb screws and remove the cable between the Display and Logic Control Boards. Remove the Display Board. 4.
  • Page 98 Chapter 11 Troubleshooting A Quad B Board Substitution 1. Remove all power to the drive branch circuit. 2. Remove the front cover from the drive. Label and remove the ribbon cables and signal connectors (TB1, TB2 and TB3) from the A Quad B and Logic Control Boards.
  • Page 99 Chapter 11 Troubleshooting Table 11.A LED Fault Diagnostics Enable Enable LED is NOT Illuminated The application of an Enable signal by the machine position controller 1. The position controller has not enabled the drive. will cause the ENABLE LED to 2.
  • Page 100 Chapter 11 Troubleshooting Troubleshooting Tables Table 11.B provides a listing and description of the faults shown through the front panel display. Also included are possible solutions to the faults. Table 11.C provides a listing of common system malfunctions and their possible causes.
  • Page 101 Chapter 11 Troubleshooting Table 11.B Fault Descriptions and Diagnostics (Continued) Fault/Message Fault Description Potential Cause Overvoltage The DC Power Bus is continuously The power bus voltage has exceeded 405V DC. “bus overvoltage” monitored. If it exceeds a preset level 1. Power Driver Board is malfunctioning and incorrectly sensing the bus (Bit 8) a fault is sensed and the power voltage.
  • Page 102 Chapter 11 Troubleshooting Table 11.C General System Troubleshooting Condition Possible Cause Axis or System runs uncontrollably 1. The velocity feedback, position feedback device or velocity command signal wiring is incorrect or open. 2. An internal drive malfunction exists. 3. Set in torque mode incorrectly. 1.
  • Page 103 Chapter 11 Troubleshooting Table 11.D General Servomotor Troubleshooting Condition Possible Cause No Rotation 1. The motor connections are loose or open. 2. Foreign matter is lodged in the motor. 3. The motor load is excessive. 4. The bearings are worn. 5.
  • Page 104 Chapter 11 Troubleshooting Table 11.E Test Point Descriptions Test Point Description Resolver: 8.000 kHz sine wave 3.0V RMS Triangle: Triangle oscillator 2.5kHz , 5.5 volts peak PWM B: Phase B transistor turn on signal PWM A: Phase A transistor turn on signal TP10 PWM C: Phase C transistor turn on signal...
  • Page 105 Chapter 11 Troubleshooting Figure 11.1 1391-DES Test Point Locations TP50 TP11 Display Board TP52 TP28 TP11 TP60 A Quad B Board Main Logic Control Board TP61 TP12 Memory Board TP13 TP29 TP14 TP12 TP30 TP10 TP16 TP15 TP19 TP31 TP11 TP20 TP21 TP40...
  • Page 106 Chapter 11 Troubleshooting End of Chapter 11-12...
  • Page 107 Appendix Dimensions Figure A.1 1391-DES Dimensions Dimensions are in inches and (millimeters) Detail A 0.25 (6.3) Detail B 0.312 (7.9) Dia. 6.00 (152.4) 0.39 (9.9) 0.312 (7.9) Dia. 0.60 (15.2) Dia. 5.20 (132.1) 0.30 (7.6) 3.70 (93.9) See Detail A Ground Stud ALLEN–BRADLEY...
  • Page 108 Appendix A Dimensions Figure A.2 1391 Isolation Transformer Dimensions Dimensions are in inches and (millimeters) Slot PRIMARY LINE INPUT CONNECT VOLTAGE ON TERM. 0.22 (5.6) R H1 TO H3 CAT. NO. H1 & H4 H2 TO H4 FREQUENCY H2 TO H3 H1 &...
  • Page 109 Appendix A Dimensions Figure A.3 NEMA Type 1 Enclosure Dimensions Dimensions are in inches and (millimeters) The following items are included with the NEMA Type 1 Enclosure. Qty. Description Front Side Steel Mounting Channels 3/8-16 x 1.0 HHCS Screw 3/8-16 x 1.5 HHCS Screw 3/8 Flat Washer 3/8 Split Lock Washer 3/8-16 Hex Nuts...
  • Page 110 Appendix A Dimensions Figure A.4 External Shunt Resistor and Fuse Dimensions Dimensions are in inches and (millimeters) 5.38 (136.6) 12.75 (323.8) 14.00 (355.6) 2.25 1.13 (57.1) (28.7) 1.87 (47.5) 0.281 x 0.562 (7.1 x 14.2) 0.203 (5.2) Dia. w/ 0.343 (8.7) Dia. C.B. 2.81 (71.4) 0.91...
  • Page 111 Appendix Interconnect Drawings Objectives Appendix B provides typical interconnection diagrams that illustrate the wiring between the 1391-DES and various other Allen-Bradley position control products. Due to the numerous electrical circuit designs possible, these diagrams are provided for reference only. The diagrams provided include: - 1391-DES interconnect drawing showing the inputs, outputs and recommended control circuitry.
  • Page 112 Appendix B Interconnect Drawings Figure B.1 1391-DES Interconnect Drawing Star Washer Chassis Wall GND STUD FROM TB1–1 Ring Type FROM MOTOR CABLE EMI SHIELD Lugs Only FROM MOTOR GROUND 115V 5A 125V LOGIC SUPPLY BUSS MDX5 (36V AC ) REFER TO CHAPTER 5 FOR “M”...
  • Page 113 Appendix B Interconnect Drawings TYPICAL CONTROL CIRCUIT BRANCH CIRCUIT 115V AC, 50/60 HZ. DISCONNECT START TB4–12 STOP TB4–11 C.T. NOT REQUIRED – DO NOT DROK* TB4–13 TB4–14 CONNECT TO GROUND NOTE 8 TB4–17 TB4–18 Y SECONDARY X SECONDARY TRANSFORMER MOTOR CABINET GROUND BUS THERMAL THERMAL...
  • Page 114 Appendix B Interconnect Drawings Figure B.2 Typical IMC 110 Interconnect Diagram 1326 AC Servomotor 115V AC Brake (when supplied) 1746–HT Motor CONTACTOR DRIVE DRIVE DR. RET. DROK, 115V AC, 1A SHLD (CLOSED = OK) ENCODER Encoder Feedback CH A. HI 1391 Digital CH A.
  • Page 115 Appendix B Interconnect Drawings Figure B.3 Typical IMC 120 Interconnect Diagram Termination Panel 115V AC (1771–HT) 1326 AC Servomotor ESTOP Brake (when supplied) +24V Motor LINK Stop RES. PB Reset P.B. RES. PB RESET 1391 Digital Servo Drive STRING OUT STRING IN Remote FAST...
  • Page 116 Appendix B Interconnect Drawings Figure B.4 Typical IMC 121, 123 and 123CR Interconnect Diagram Termination Panel 115V AC 1326 AC Servomotor (1771–HT3) DRIVE ENABLE Brake (when supplied) ESTOP Motor +24V Stop RES. PB Reset P.B. RES. PB 1391 Digital Servo Drive RESET STRING OUT STRING IN...
  • Page 117 Appendix B Interconnect Drawings Figure B.5 Typical MAX/CONTROL Interconnect Diagram 115V AC 1326 AC Servomotor Brake (when supplied) Motor 1391 Digital Servo Drive Remote Hardwired Stop Axis Overtravel CONTACTOR 1, 5 MAX/CONTROL Resolver TB2/3 Command Cables –VELOCITY COM + VELOCITY COM. COMMON ENABLE SOURCE, +23V DC ENABLE...
  • Page 118 Appendix B Interconnect Drawings Figure B.6 Typical IMC-S/20x Interconnect Diagram 115V AC 1326 AC Servomotor Brake (when supplied) Motor 1391 Digital Servo Drive Remote Hardwired Stop Axis Overtravel CONTACTOR 1, 5 4100–20x Resolver Command Cables – VELOCITY COM. + VELOCITY COM. COMMON ENABLE SOURCE, +23V DC ENABLE...
  • Page 119 Appendix B Interconnect Drawings Figure B.7 Typical IMC-S/21x Interconnect Diagram 115V AC 1326 AC Servomotor Brake (when supplied) Motor 1391 Digital Servo Drive Remote Hardwired Stop Axis Overtravel CONTACTOR 4100–21x Resolver 1391–SAQB Cable COMMON – VELOCITY COM. + VELOCITY COM. ENABLE SOURCE, +23V DC ENABLE CR–IOPS–241...
  • Page 120 Appendix B Interconnect Drawings Figure B.8 Typical IMC-201 Interconnect Diagram 115V AC 1326 AC Servomotor Brake (when supplied) Motor 1391 Digital Servo Drive Remote Hardwired Stop Axis Overtravel CONTACTOR 1, 5 4110–201x Resolver Command Cables –VELOCITY COM. + VELOCITY COM. COMMON ENABLE SOURCE, +23V DC ENABLE...
  • Page 121 Appendix B Interconnect Drawings Figure B.9 9/ Series Interconnect Diagram For detailed 9/Series interconnect information, please refer to the following publications: Controller Publication 9/240 9/240 Integration Manual, publication 8520-4.1 9/230, 9/260, 290 9/230, 9/260 or 9/290 Integration Manual, publication 8520-6.2 B-11...
  • Page 122 Appendix B Interconnect Drawings End of Appendix B-12...
  • Page 123 Appendix Cable Information Cable Wiring Information Pin-outs and interconnect information for the various 1326 cables are provided in this section. 1326-CFUxx Commutation Cable Servo Control Connection Gauge Connector 1389-AAxx 1391-AAxx Wire Color (AWG) Terminal # Terminal # Black TB2-1 TB1-10 White TB2-2 TB1-9...
  • Page 124 Appendix C Cable Information 1326-CPCxx Motor Power Cable Servo Control Connection Wire Wire Gauge Connector 1389-AAxx 1391-AAxx Number Color (AWG) Terminal # Terminal # Black TB3-1 TB5-1 Black TB3-2 TB5-2 Black TB3-3 TB5-3 Drain Wire Power Ground Power Ground Black Power Ground Power Ground Black...
  • Page 125 Appendix C Cable Information 1391-CAQB A Quad B Cable The 1391-CAQB cable allows the user to connect directly from an IMC 121, 123, 123CR or 9/Series controller to the 1391-DES drive. The 1391-CAQB cable is 15 ft. (4.5 m) long and has a D-shell connector on one end and loose leads on the other.
  • Page 126 Appendix C Cable Information End of Appendix...
  • Page 127 Appendix Block Diagrams Objectives Appendix D provides detailed software and hardware block diagrams for the 1391 Digital AC Servo Drive. You may use these to gain a better understanding of the 1391-DES software system.
  • Page 128 Appendix D Block Diagrams Figure E.1 1391-DES Software Block Diagram – Part 1...
  • Page 129 Appendix D Block Diagrams Figure E.1 1391-DES Software Block Diagram – Part 2...
  • Page 130 Appendix D Block Diagrams Figure E.2 1391-DES Logic Control Board Block Diagram...
  • Page 131 Appendix Parameter Record Introduction The following list can be used to record final parameter values for reference at a later date. It is recommended that any changes made to the parameter values be recorded after loading them into EEprom. Important: Initializing the EEprom will convert all values to the defaults listed and delete any previous values.
  • Page 132 Appendix E Parameter Record Modify Level Parameter Description Default Actual Bandwidth Maximum – Auto Tune Friction – EEprom Functions – Drive OK Mode 0 Fault Only Language Select 0 English Velocity Mode Select 0 A/D Input Torque Mode Select 0 Velocity Mode 1 Clockwise Velocity Limit –...
  • Page 133 Appendix E Parameter Record Maintenance Level Parameter Description Default Actual Adapter Type – Logic Command – Drive Faults – Drive Status – Auto Tune Status – Velocity Reference Whole – Velocity Reference Fraction – Filtered Velocity Feedback – Average Motor Velocity –...
  • Page 134 Appendix E Parameter Record End of Appendix...
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  • Page 145 We Want Our Manuals to be the Best! You can help! Our manuals must meet the needs of you, the user. This is your opportunity to make sure they do just that. By filling out this form you can help us provide the most useful, thorough, and accurate manuals available. Please take a few minutes to tell us what you think.
  • Page 146 FOLD HERE FOLD HERE NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES BUSINESS REPLY MAIL FIRST CLASS PERMIT NO. 413 MEQUON, WI POSTAGE WILL BE PAID BY ADDRESSEE ALLEN-BRADLEY Attn: Marketing Communications P.O. Box 760 Mequon, WI 53092-9907...
  • Page 147 IMC is a trademark of Allen-Bradley Company, Inc.
  • Page 148 1391-DES Digital AC Servo Drive User Manual Publication 1391-5.3 – June, 1994 1391-DES Digital AC Servo Drive User Manual Publication 1391-5.3 – June, 1994...
  • Page 149 With offices in major cities worldwide. WORLD HEADQUARTERS EUROPE/MIDDLE EAST/ ASIA/PACIFIC HEADQUARTERS CANADA HEADQUARTERS LATIN AMERICA AFRICA HEADQUARTERS HEADQUARTERS 1201 South Second Street Allen-Bradley (Hong Kong) Ltd. Allen-Bradley Canada Limited Milwaukee, WI 53204 USA Allen-Bradley Europe B.V. Room 1006, Block B, Sea View Estate 135 Dundas Street 1201 South Second Street Tel: (414) 382-2000...

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