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AB Quality Allen-Bradley 1394 User Manual

Digital ac multi-axis motion control system
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Allen-Bradley
1394 Digital AC
Multi-Axis
Motion Control
System
(Catalog No. 1394-50)
User
Manual

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Summary of Contents for AB Quality Allen-Bradley 1394

  • Page 1 Allen-Bradley User 1394 Digital AC Multi-Axis Motion Control Manual System (Catalog No. 1394-50)
  • Page 2 Important User Because of the variety of uses for the products described in this Information 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.

  • Page 3: Table Of Contents

    Table of Contents Preface Who Should Use this Manual ........P-1 Purpose of this Manual .
  • Page 4 Table of Contents Mounting Your 1394 System ........2-8 Mounting Your 1394-DCLM .
  • Page 5 Table of Contents Connecting Your Shunt Module (required for 22 kW system) ..3-28 Required Tools and Equipment ......3-28 Wiring the Shunt Module Power .
  • Page 6 Table of Contents Chapter 6 Commissioning 1394 GMC and GMC Chapter Objectives......... . . 6-1 Turbo Systems General Startup Precautions .
  • Page 7 Table of Contents Finding 9/440 Faults ........9-7 Finding CNC Interface Faults .
  • Page 8 Table of Contents Dedicated Discrete I/O Specifications ......A-12 Serial I/O Specifications ........A-12 DH-485 Specifications .
  • Page 9 Table of Contents Pasting a System’s Information ......C-9 Auto Tuning ..........C-10 Getting an Overview of HIM Programming .
  • Page 10 viii Table of Contents Publication 1394-5.0 — May 2000...

  • Page 11: Who Should Use This Manual

    Allen-Bradley support Who Should Use this Manual Use this manual if you are responsible for designing, installing, programming, or troubleshooting the Allen-Bradley 1394 family of products. 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.

  • Page 12: Contents Of This Manual

    Preface Contents of this Manual Chapter Title Contents Preface Describes the purpose, background, and scope of this manual. Also specifies the audience for whom this manual is intended. Overview Explains and illustrates the theory behind the 1394’s operation. Covers hardware and software features.

  • Page 13: Related Documentation

    Preface Related Documentation The following documents contain additional information concerning related Allen-Bradley products. To obtain a copy, contact your local Allen-Bradley office or distributor. For: Read This Document: Document Number: A description and specifications for the 1394 family 1394 Digital, AC, Multi-Axis Motion Control 1394-2.0 System Product Data A description and specifications for the 1326A Torque Plus...

  • Page 14: 1394 Product Receiving And Storage Responsibility

    Preface 1394 Product Receiving and You, the customer, are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company. Storage Responsibility 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.

  • Page 15: Overview

    Chapter Overview The 1394 System The 1394 is a modular, multi-axis motion control and drive system family. Its unique design allows the 1394 to be used as an integrated motion controller and drive system (GMC) with Turbo or standard IMC S Class Compact functionality, an integrated 9/440 CNC system, a 9/Series CNC digital interface drive system, a SERCOS servo drive system, or an analog servo drive system.

  • Page 16: Safety Precautions

    Overview Safety Precautions The following general precautions apply to the 1394: ATTENTION: Only those familiar with the 1394 Digital, AC, Multi-Axis Motion Control System and associated machinery should plan or implement the installation, startup, and subsequent maintenance of the system. Failure to comply can result in personal injury and/or equipment damage.

  • Page 17: 1394 System Overview

    Overview 1394 System Overview GMC System The 1394 GMC System provides all the functionality of the IMC S Class Compact Motion Controller and power conversion within the 1394 system module. Allen-Bradley offers two versions of the 1394 GMC system module (Standard GMC and GMC Turbo). Both systems are completely programmed and commissioned using GML...
  • Page 18 Overview Figure 1.2 Two Standard GMC Systems (1394 x -SJT xx -C and 1394C-SJT- xx -L) SLC 500 ALEC 845H AxisLink Encoder AxisLink PanelView 550 1394C-SJT xx -L DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. 1326AB or 1326AS Motor DH-485 1394 x -SJT xx -C...

  • Page 19: Cnc Interface System

    Overview CNC Interface System The 1394 9/Series CNC Interface system (1394-SJTxx-E) provides a digital servo system to be used with the 9/260 and 9/290 CNC. This system provides all power electronics and uses a cost-saving digital interface approach. Servo control for this system is handled by the 9/ Series CNC.

  • Page 20: Sercos System

    Overview SERCOS System The 1394 SERCOS system module (1394C-SJTxx-D) provides a digital servo drive system with a fiber-optic digital network interface. It can be used as a velocity or torque control system and is quickly commissioned with the Allen-Bradley SERCOS Interface Module (Bulletin 1756 with 1756-MxxSE), which provides access to auto tuning and start-up prompting.

  • Page 21: Analog Servo System

    Overview Analog Servo System The 1394 Analog Servo system (1394x-SJTxx-A) provides a digital servo drive system with a traditional ±10V DC analog interface. It can be used as a velocity or torque control system and is quickly commissioned with the Allen-Bradley universal Bulletin 1201 HIM (Human Interface Module), which provides access to auto tuning and start-up prompting.

  • Page 22: 9/440 Cnc System

    Overview 9/440 CNC System The 9/440 CNC system module gives you all the power and programming capabilities of a 9/Series CNC, integrated into the compact packaging of the 1394 System Module. The 9/440 CNC System Module provides terminating points for: •...

  • Page 23: What Is A 1394 System

    Overview Figure 1.6 9/440 System Optical signal cable Terminal type connection What is a 1394 System? The 1394 system consists of the following components (catalog number appears in parenthesis): • One System Module (1394x-SJTxx-x) • One to four Axis Modules (1394x-AMxx-xx) •...

  • Page 24: System Modules

    1-10 Overview Axis modules are connected to system modules using slide-and-lock, module-to-module connections. For information on motors and cables, refer to the 1326AB 460V, Torque Plus Series, AC Servo Motors Product Data (publication 1326A-2.9), 1326AS Series 460V, Low Inertia, Brushless Servo Motors Product Data (publication 1326A-2.10), and 1326 Cables for 460V AC Servo Motors Product Data (publication 1326A-2.11).

  • Page 25: Axis Modules

    Overview 1-11 Axis Modules Axis modules, with continuous output currents (RMS) of 3.0, 4.5, 7.5 23.3 and 35.0A, convert the DC power supplied by the system module to a variable AC voltage. You will require one axis module for every 1326Ax-Bxxxx servo motor you plan to run using the 1394.

  • Page 26: 1326Ab Motors

    1-12 Overview 1326AB Motors This family of high-performance, medium inertia, ferrite, three-phase servo motors feature a specially designed housing that reduces motor length. They are available with continuous torque ratings of 2.3 to 53.0 N-m (20.7 to 469.0 lb-in.). Refer to the 1326AB 460V, Torque Plus Series, AC Servo Motors Product Data (publication 1326A-2.9) for more information on features and options.

  • Page 27: 1326Ah Motors

    Overview 1-13 1326AH Motors This family of hazardous duty motors are UL recognized AC brushless servo motors. Construction of the motor is a totally enclosed non-ventilated (TENV) square frame design utilizing a permanent magnet rotor and a fixed stator winding. Rare earth magnets, long life ball bearings, and brushless construction also assures maximum performance.

  • Page 28: Drive Interface Module

    1-14 Overview Drive Interface Module The 1394-DIM (Drive Interface Module) provides four channels of analog output, four drive enable outputs, and four drive fault inputs. The 1394-DIM allows the 1394x-SJTxx-C, -T, or -L system module to be used to control any external drive with a ±10V velocity torque reference command and quadrature encoder output.

  • Page 29: Standard Features Of The 1394

    Overview 1-15 Standard Features of the 1394 The 1394 provides the following standard features: • UL Listed and CUL Certified • CE Marked Control • Supports Standard GMC (1394x-SJTxx-C and -L) and GMC Turbo, CNC Interface, SERCOS, and Analog Servo configurations with a standard array of hardware.

  • Page 30: Power

    1-16 Overview Power • IGBT technology for efficient, quiet operation. • Transient (MOV) voltage, phase loss, and ground fault protected input. • An integral 200W shunt resistor is available (5 and 10 kW only). An external 1400W shunt kit is available (5 and 10 kW only). Other external shunt kits and modules from 300 to 3600W continuous.

  • Page 31: Installing Your 1394 (Applies To All Systems)

    Chapter Installing Your 1394 (applies to all systems) Chapter Objectives This chapter covers the following topics: • Complying with European Union directives • Before mounting your system • Unpacking your modules • System mounting requirements • Bonding your system • Mounting your 1394 system •...

  • Page 32: Low Voltage Directive

    Installing Your 1394 (applies to all systems) The product described in this manual is intended for use in an industrial environment. To meet CE requirements, the following additions are required: • You must run three-phase input wiring in a conduit that is grounded to the enclosure.

  • Page 33: Unpacking Modules

    Installing Your 1394 (applies to all systems) Unpacking Modules Each 1394 System module ships with the following: • One system module • One system terminator • One terminal operating tool (part number 1394-194) • One user manual (publication 1394-5.0) • One application program lock key (GMC and GMC Turbo only) •...

  • Page 34: Determining Your System Mounting Hole Layout

    Installing Your 1394 (applies to all systems) 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.
  • Page 35 Installing Your 1394 (applies to all systems) Figure 2.2 1394 Mounting Hole Layout 62.5 Dimensions are in millimeters and (inches) 137.5 212.5 287.5 (2.46) (6.89) (3.94) (5.41) (8.37) (9.84) (11.32) 19.5 (1.97) (0.00) (1.97) (4.92) (10.83) (5.91) (7.87) (8.86) (0.768) System module mounting holes System...

  • Page 36: Mounting Your 1394 Through The Back Of The Cabinet

    Installing Your 1394 (applies to all systems) 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 37 Installing Your 1394 (applies to all systems) Figure 2.4 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 enclosure Mounting bracket or Welded stud ground bus Subpanel Star washer Scrape paint...

  • Page 38: Bonding Multiple Subpanels

    Installing Your 1394 (applies to all systems) 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 39 Installing Your 1394 (applies to all systems) If you are mounting a: Do this: 1394x-AM03, -AM04 or 1. Hang the axis module on the next -AM07; 1394C-AM50- mounting fastener. IH, or -AM75-IH axis 2. Go to main step 5. module 1394x-AM50 or -AM75 1.
  • Page 40 2-10 Installing Your 1394 (applies to all systems) 6. Slide the slide-and-lock mechanism on the axis module to the left until it locks into place. Figure 2.8 Slide-and Lock Mechanism Slide-and-Lock Mechanism Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.

  • Page 41: Mounting Your 1394-Dclm

    Installing Your 1394 (applies to all systems) 2-11 Mounting Your 1394-DCLM Two 1394 system power buses can be linked by connecting two DCLMs together. This procedure is application specific and requires proper implementation. Please contact your Allen-Bradley sales representative for more information. When using the 1394-DCLM for energy storage, the power plug must be installed (refer to Figure 2.10 for location).

  • Page 42: Shunt Module Mounting Orientation

    2-12 Installing Your 1394 (applies to all systems) 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 2.11 and Figure 2.12 for shunt module spacing requirements. Figure 2.11 Shunt Module Spacing Requirements Within an Enclosure Temperature sensitive component...

  • Page 43: Shunt Module Mounted Outside The Cabinet

    Installing Your 1394 (applies to all systems) 2-13 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 2.13 Shunt Module Mounted Outside of the Cabinet Customer-supplied metal enclosure (optional) 155 mm (6.1 in.) of...

  • Page 44: Shunt Module Mounted Inside The Cabinet

    2-14 Installing Your 1394 (applies to all systems) 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 2.14 Shunt Module Mounted Inside of the Cabinet Motor power 360/480V Low voltage...

  • Page 45: Mounting The Shunt Module

    Installing Your 1394 (applies to all systems) 2-15 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 46: Mounting Considerations For Gmc And Gmc Turbo Systems

    2-16 Installing Your 1394 (applies to all systems) Mounting Considerations for GMC Consider the following when mounting 1394 GMC and GMC Turbo Systems. and GMC Turbo Systems     Mounting GMC and GMC Turbo Systems Next to Flex I/O Separating low voltage communication wiring from high voltage power cables reduces the levels of EMI and RFI.

  • Page 47: Wiring System, Axis, And Shunt

    Chapter Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Chapter Objectives This chapter covers the following topics: • Understanding basic wiring requirements • Determining your type of input power • Grounding your 1394 system • Connecting system module power •...

  • Page 48: Understanding Basic Wiring Requirements

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Understanding Basic Wiring This section contains basic wiring information for the 1394. Requirements 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.

  • Page 49: Routing High And Low Voltage Cables

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 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 50: System Module Wire Sizes

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) System Module Wire Sizes All wire sizes in this manual are recommended minimums. Assume that wires are type MTW copper wire (machine tool wire, 75° C, minimum) per NFPA 79 unless otherwise noted. Consult the National (or local) Electrical Code for factors related to ambient conditions, length, etc.

  • Page 51: Input Power Conditioning

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 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 use a line reactor or isolation-type transformer to reduce the possibility of this type of malfunction: •...

  • Page 52: Determining Your Type Of Input Power

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Determining Your Type of Input 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 Power system is designed to operate in both grounded and ungrounded environments.

  • Page 53: Ungrounded Power Configuration

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 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 54: Setting The Ground Jumper In A 5 Or 10 Kw System Module For Ungrounded Power Configurations

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Setting the Ground Jumper in a 5 or 10 kW System Module for Ungrounded Power Configurations This procedure assumes that you have bonded and mounted your 1394x-SJT05-x or 1394x-SJT10-x system module to the subpanel and that there is no power applied to the system.

  • Page 55: Setting The Ground Jumper In A 22 Kw System Module For Ungrounded Power Configurations

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 4. Close the system module door. 5. Go to Grounding Your 1394 System. Figure 3.4 Ground Jumper Locations for the 5 and 10 kW System Modules 1394C-SJT xx-x 1394-SJT xx-x (5 and 10 kW Series C) (5 and 10 kW Series A and B) Upper...
  • Page 56 3-10 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Figure 3.5 Removing the Input Wiring Board in a 22 kW System Module Disconnect both sides of the ribbon cable Remove both input wiring board screws and remove the input wiring board 6.
  • Page 57 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-11 7. Without removing the circuit board, unplug the jumper and move it to the ungrounded power distribution position. Refer to the figure below for the jumper positions. Figure 3.7 22 kW System Module Jumper Positions Front edge of board...

  • Page 58: Grounding Your 1394 System

    3-12 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Grounding Your 1394 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.

  • Page 59: Grounding Multiple Subpanels

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-13 Grounding Multiple Subpanels To ground multiple subpanels, refer to the figure below. Figure 3.9 Subpanels Connected to a Single Ground Point Always follow NEC and applicable local codes Ground grid or power distribution ground Wiring System Module Power...

  • Page 60: Terminal Block Locations For 5 And 10 Kw System Module (Series A And B)

    3-14 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Terminal Block Locations for 5 and 10 kW System Module (Series A and B) The 5 and 10 kW system module (Series A and B) components use IEC terminals for 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 61: Connector Locations For 5 And 10 Kw System Module (Series C)

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-15 Connector Locations for 5 and 10 kW System Module (Series C) The 5 and 10 kW system module (Series C) uses connectors instead of IEC terminals for connecting power. You will wire the system using power connectors (J1, J10, and J11) that mate with plugs (P1, P10, and P11) conveniently located on the bottom of the system module.

  • Page 62: Terminal Block Locations For A 22 Kw System Module

    3-16 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Terminal Block Locations for a 22 kW System Module All 22 kW system module components use IEC terminals for 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 63: Required Tools And Equipment

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-17 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 (Series A and B) and 22 kW System Modules To connect power wiring:...

  • Page 64: Connecting Power Wiring For 5 And 10 Kw System Modules (Series C)

    3-18 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 6. Insert one of the 24V control power wires into the terminal block labeled W1. 7. Insert the other 24V control power wire into the terminal block labeled W2. 8.

  • Page 65: Connecting Motor Power To Axis Modules

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-19 5. Plug J10 into P10. 6. Insert one of the 24V control power wires into connector terminal J1-1 and tighten the J1-1 connector screw (torque value = 0.56-0.62 N-m, 5.0-5.6 lb-in.). 7.

  • Page 66: Connecting Thermal And Brake Leads To Axis Modules

    3-20 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Connecting Thermal and Brake Leads to Axis Modules Axis modules provide terminating points for the motor power, thermal sensor, and brake. Axis module wiring is identical for all available axis module ratings.

  • Page 67: Wiring Motor Power, Thermals And Brakes

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-21 Wiring Motor Power, Thermals and Brakes The procedures in this section assume that your system and axis modules are already mounted. We recommend that you start at either the first or last axis module, wire it completely, and then wire the module next to it completely, and so on until they are all wired.
  • Page 68 3-22 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 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. Figure 3.14 Series C Axis Module Cable Clamp Cable wires...
  • Page 69 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-23 8. On one axis, connect the wires as follows: Insert the wire labeled: Into this terminal block: bare wire (no label) PE3 (Series A and B modules) N/A (Series C) The bare wire is replaced by the cable shield clamp on the motor cable.

  • Page 70: Connecting Feedback To System Modules

    3-24 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 13. Wire your thermal switch into the appropriate control circuitry for monitoring purposes. Refer to Appendix B for thermal switch interconnect information. ATTENTION: To avoid damage to your motor, monitor the thermal switch for overheat conditions.
  • Page 71 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-25 To improve the bond between the motor feedback cable shield and the system module PE ground, a cable shield clamp is included with the Series C system modules. Ensure an appropriate amount of the cable insulation and braided shield is removed from the feedback cable.

  • Page 72: Connecting Your Motor Cables To Motors

    3-26 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) If you have: Do this: More motors to wire 1. Move to the next motor. 2. Go to the main step 1. Wired all of your motors Go to Connecting Your Motor Cables to Motors.

  • Page 73: Connecting Your External Shunt Resistor (Series A And B)

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-27 Connecting Your External Shunt Resistor (Series A and B) 1. Open the front door of the 1394 system module. 2. Remove and discard the COL/INT jumper wire from the power terminal block in the lower right corner, as shown in the figure below.

  • Page 74: Connecting Your External Shunt Resistor (Series C)

    3-28 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Connecting Your External Shunt Resistor (Series C) 1. Locate and unplug the J11 connector on the bottom of the system module. 2. Remove and discard the jumper wire between J11-1 and J11-2, as shown in the figure below.

  • Page 75: Wiring The Shunt Module Power

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-29 Wiring the Shunt Module Power There are three types of cable that can be used to connect the 1394 shunt module to your 1394 system module. All shunt power wiring should meet the following general specifications: •...
  • Page 76 3-30 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Figure 3.18 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 1394 Digital Servo Controller 1394 Digital Servo Controller Motor power 360/480V...
  • Page 77 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-31 Figure 3.19 Routing Shunt Module Wiring When Module is Inside the Cabinet Motor power 360/480V Low voltage cables AC power Communications Control I/O wiring Motor feedback cables 155 mm (6.1 in.) of Always separate all low voltage signal clearance on all sides wiring from high voltage power wiring to...
  • Page 78 3-32 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Figure 3.20 Terminating Wires at the Shunt Module Connected to COL on the 22 kW System Module Connected to DC + on the 22 kW System Module 10. Tighten both screw terminals (torque = 2.5 N-m, 22.1 lb-in.). 11.

  • Page 79: Wiring Shunt Module Fan Power

    Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-33 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 or 230V input.
  • Page 80 3-34 Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 5. Insert the other wire from the 230V AC power supply into terminal 4. 6. Insert the jumper wire that came with your shunt module into terminals 2 and 3. Refer to Figure 3.21 for the jumper’s location. 7.

  • Page 81: Wiring 1394 Gmc And Gmc Turbo Systems

    Chapter Wiring 1394 GMC and GMC Turbo Systems Chapter Objectives This chapter covers the following topics: • Understanding GMC and GMC Turbo wiring and connections • Understanding input wiring board layout • Connecting your communication cables • Connecting a GMC and GMC Turbo to a 1394-DIM •...

  • Page 82: Understanding Input Wiring Board Layout

    Wiring 1394 GMC and GMC Turbo Systems Understanding Input Wiring Board The input wiring board provides terminating points at TB1 and TB2 for the various control signals. The figure below shows the locations Layout of the various signal terminations. Figure 4.1 Input Wiring Board for 1394 x -SJT xx -C, -C-RL and -T, -T-RL SYS ENABLE SYS ENABLE...
  • Page 83 Wiring 1394 GMC and GMC Turbo Systems Figure 4.2 Input Wiring Board for 1394C-SJT xx -L and -L-RL SYS ENABLE SYS ENABLE 24V_INPUT_COM 24V_INPUT_COM CHASSIS CHASSIS HOME0 POS_0TRAV0 NEG_0TRAV0 THERM_FLT0 24V_INPUT_COM CHASSIS REG1_5V REG0_5V REG1_24V REG0_24V REG_COM REG_COM CHASSIS CHASSIS DRIVE_OK1 A_TEST_0 A_TEST_1...

  • Page 84: Using The Terminal Operating Tool To Insert Wires

    Wiring 1394 GMC and GMC Turbo Systems Using the Terminal Operating Tool to Insert Wires Each system module you order comes with a terminal operating tool that allows you to easily insert your wires into the terminals. Refer to Appendix D for the part number. Figure 4.3 Terminal Operating Tool Hook...

  • Page 85: Input Wiring Board Signal Descriptions

    Wiring 1394 GMC and GMC Turbo Systems Input Wiring Board Signal Descriptions The following tables provide descriptions of the various control signals shown in Figure 4.1. Terminate the signals you need for your application using the terminal operating tool. Terminal connections for Terminal connections for Mandatory Wire:...
  • Page 86 Wiring 1394 GMC and GMC Turbo Systems Terminal connections for Terminal connections for Mandatory 1394 x -SJT xx -C, -C-RL 1394C-SJT xx -L and Wire: Description: or Optional: and -T, -T-RL systems: -L-RL systems: REG 5V, 24V, High-speed, optically-isolated filtered For 5V For 5V Optional...

  • Page 87: Connecting Your Communication Cables

    Wiring 1394 GMC and GMC Turbo Systems Figure 4.5 Typical Registration Inputs Important: Connections shown are typical only. Some input devices vary in their specific connections. Consult the wiring diagram for your device. Important: If you are using current sinking, you can only use one device per controller.
  • Page 88 Wiring 1394 GMC and GMC Turbo Systems Figure 4.6 Inside the 1394 GMC and GMC Turbo (catalog number 1394-SJT22) Motion Board Screw Control Status Status Remote I/O Control Status Axislink and RS-422 Multi Drop Addresses AxisLink & RS422 Multi Drop Remote I/O (2) Control Address SLC IN...
  • Page 89 Wiring 1394 GMC and GMC Turbo Systems Figure 4.7 Bottom View of the 1394-SJT xx -C and -T 1394-SJT22-T-RL System Module AxisLink RS-232 and RS-422 Extended Axis Link Switch (Turbo only) RS-232, RS-422 and DH-485 Flex I/O Axis 0 (J3) Axis 0 (J5) Auxillary Encoder Input Resolver Feedback Input...

  • Page 90: Encoder Feedback Wiring

    4-10 Wiring 1394 GMC and GMC Turbo Systems Encoder Feedback Wiring These connectors accept encoder feedback signals from an optional encoder. Terminal 10 requires a user-supplied, regulated +5V DC (±5%). We recommend Belden #9728 wire or equivalent. When you use a 5 volt power supply, there is a maximum distance between the encoder and 1394 of 12.2 meters (40 feet).

  • Page 91: Serial Communications

    Wiring 1394 GMC and GMC Turbo Systems 4-11 The following cables are available to connect auxiliary encoder feedback to the 1394 GMC and GMC Turbo: • 1394-GE15 (from the auxiliary incremental encoder to the 1394) • 1394-GR04 (from the 4100-REC and -AEC to the 1394) Refer to Appendix D for connectors and accessory part numbers.
  • Page 92 4-12 Wiring 1394 GMC and GMC Turbo Systems Figure 4.10 SW1 - SW6 (RS-232/RS-422) Switch Settings Port J1, J2 Port J4 Port J3 Port J1, J2/J4 Port J4 Port J3 Left No DH-485 Terminal No RS-422 Terminal No RS-422 Terminal RS-232/422 RS-232 RS-232...

  • Page 93: Data Highway Connection

    Wiring 1394 GMC and GMC Turbo Systems 4-13 Figure 4.11 RS-232/422 Cable Signals RS-232C RS-422 J3/CHAN A J3/CHAN A Serial Device J4/CHAN B Serial Device J4/CHAN B RxD+ RxD- TxD+ Shield TxD- Recommended Cable - Belden #9533 or Equivalent Recommended Cable - 1394 connector is 9 pin, AMP #205204-1 or equivalent.

  • Page 94: Axislink

    4-14 Wiring 1394 GMC and GMC Turbo Systems AxisLink AxisLink provides a network to transfer data between multiple nodes (up to eight standard) that allows you to synchronize complex motion applications. For example, these nodes can be eight GMC system modules, one ALEC and 7 GMC system modules, or some other combination.

  • Page 95: Gmc Turbo System

    Wiring 1394 GMC and GMC Turbo Systems 4-15 GMC Turbo System For those applications that require longer AxisLink cable lengths, the GMC Turbo offers the AxisLink Extended Length option. The Extended Length option allows the user to support up to eight nodes for a maximum end-to-end cable length of 125 m (410 ft) (user supplied cable).

  • Page 96: Remote I/O

    4-16 Wiring 1394 GMC and GMC Turbo Systems Remote I/O The Remote I/O (RIO) interface allows the 1394 to communicate with Allen-Bradley position controllers or other RIO devices. Two identical connectors (CHAN A/P3 and CHAN B/P4) are provided at the top of the Motion Drive Module. A three-pin connector is used for the interface.

  • Page 97: Slc Interface

    Wiring 1394 GMC and GMC Turbo Systems 4-17 SLC Interface The GMC Turbo (catalog number 1394x-SJTxx-T) can connect directly to an SLC 5/03, 5/04, or 5/05 back plane using a 1746-C7 or -C9 cable. The SLC processor recognizes the GMC Turbo as an intelligent SLC module.
  • Page 98 4-18 Wiring 1394 GMC and GMC Turbo Systems Figure 4.17 Configurations for Connecting a GMC Turbo to an SLC 1394 SLC IN connectors SLC right side connector 1746 Rack with SLC 5/03, 5/04, or 5/05 DANGER DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY RISK OF ELECTRICAL SHOCK.

  • Page 99: Connecting A Gmc And Gmc Turbo To A 1394-Dim

    Wiring 1394 GMC and GMC Turbo Systems 4-19 Connecting a GMC and GMC Turbo The 1394-DIM acts as an interface between one 1394 GMC/GMC Turbo system module and the external axis drive(s). to a 1394-DIM On the 1394x-SJTxx-C, -C-RL, -T, and -T-RL, the 1394-DIM acts in place of one to four axis modules.

  • Page 100: 1394-Dim With 1398-Ddm- Xxx System Example

    4-20 Wiring 1394 GMC and GMC Turbo Systems 1394-DIM with 1398-DDM- xxx System Example Figure 4.19 shows the 1394-DIM connected to a 1394 GMC Turbo with two 1394 axis modules and a 1398-DDM-xxx servo controller. A 1326AB-Bxxxx motor is directly connected to each of the 1394 axis modules.

  • Page 101: 1394-Dim Configurations

    Wiring 1394 GMC and GMC Turbo Systems 4-21 Figure 4.20 1394-DIM to J1 Breakout Board Pinouts 1394-DIM Cable Connector J1 Breakout Board J1-5 24V I/O Belden 8163 J1-6 Power Supply cable or equivalent + Analog Out P x -1 J1-22 CMND + J1-23 CMND - –...

  • Page 102: Configuration Examples

    4-22 Wiring 1394 GMC and GMC Turbo Systems For example, if your 1394 system includes three 1394 axis modules, the 1394-DIM can control only one external drive and axis. See the following configuration information. Number of 1394 axes: Maximum number of DIM-controlled axes: Important: You can add only one 1394-DIM to a 1394 system.
  • Page 103 Wiring 1394 GMC and GMC Turbo Systems 4-23 The example below shows one 1394 axis and one DIM output axis. Figure 4.23 1394-DIM with Single Axis Module Axis 0 DIM Axis A Axis 1 on 1394 Axis 0 (J5) Motor Resolver Feedback Input Axis 1 (J4) Axis 1 (J6) Auxillary Encoder Input...

  • Page 104: 1394-System Module Input Power Wiring When Not Using Axis Modules

    4-24 Wiring 1394 GMC and GMC Turbo Systems 1394-System Module Input Power Wiring When Not Using Axis Modules The figure below shows how to wire the 1394 system module for input power when no axis modules are used. The transformer is rated for 480V AC secondary and 500 VA.

  • Page 105: Drive Enable Output

    Wiring 1394 GMC and GMC Turbo Systems 4-25 Drive Enable Output The +/- Axis Enable is a signal from the 1394 system module that is used to control a DPDT relay in the 1394-DIM. This enable output is a normally open, unpowered (dry) signal. Figure 4.27 Drive Enable Output 1394-DIM...

  • Page 106: Wiring And Configuring An External Drive To The 1394-Dim

    4-26 Wiring 1394 GMC and GMC Turbo Systems Wiring and Configuring an External This section includes the following steps for wiring and configuring an external drive to the 1394-DIM: Drive to the 1394-DIM • Connecting the remote drive to the DIM connector that provides the ±10V output, the drive enable output, and the drive status input.
  • Page 107 Wiring 1394 GMC and GMC Turbo Systems 4-27 To wire the cable flying leads to the DIM cable connector: 1. Turn off the power to the system (i.e., 1394 system external drives and other control hardware). ATTENTION: To avoid a shock hazard or personal injury, verify that all power has been removed before proceeding.
  • Page 108 4-28 Wiring 1394 GMC and GMC Turbo Systems 5. Strip the wire insulation back on the cable lead. Important: Use 14-20 gauge wire to ensure proper system operation. 6. Trim the cable lead to expose 7.0 mm (0.275 in.) of metal wire. 7.

  • Page 109: Connecting The Position Feedback Encoder To The Feedback Input

    Wiring 1394 GMC and GMC Turbo Systems 4-29 Connecting the Position Feedback Encoder to the Feedback Input The figure below shows the pinouts and interconnect information for the auxiliary encoder input to the 1394-GMC. Figure 4.32 1394-GE15 Cable Connections Flying Leads to Incremental Encoder or 1394 Encoder Customer-Supplied Termination...

  • Page 110: Connecting The Dim Ground Wire To The 1394 System Ground

    4-30 Wiring 1394 GMC and GMC Turbo Systems Note: The feedback inputs for axis 0, 1, 2 and 3 (on 1394x-SJTxx-C and -T systems) and for axis 0 and 1 (on 1394x-SJTxx-L systems) run from front to back (see Figure 1 in Appendix B). 2.

  • Page 111: Wiring Your 1394 Analog Servo System

    Chapter Wiring Your 1394 Analog Servo System Chapter Objectives This chapter covers the following topics: • Understanding Analog Servo wiring and connections • Understanding input wiring board layout • Connecting AQB and SCANport cables Finding Additional Wiring This chapter provides signal wiring and connection information required for the 1394 Analog Servo system module only.

  • Page 112: Input Wiring Board Layout

    Wiring Your 1394 Analog Servo System Input Wiring Board Layout The input wiring board provides terminating points at TB1 and TB2 for the various control signals. The figure below shows the locations of the various signal terminations. Figure 5.1 Input Wiring Board (22 kW system) A0 VREF + A1 VREF + A0 VREF –...
  • Page 113 Wiring Your 1394 Analog Servo System Figure 5.2 Terminal Operating Tool Hook Flat tab Insert wire here To use the terminal operating tool with TB1: 1. Put the hook into the hook slot with tab end of the tool to your left.

  • Page 114: Input Wiring Board Signal Descriptions

    Wiring Your 1394 Analog Servo System Input Wiring Board Signal Descriptions The tables below and on the following pages provide descriptions of the various control signals shown in Figure 5.1. Mandatory Wire: Description: Connects to terminal(s): or Optional: A VREF + The drive will accept up to a +/-10V DC velocity command TB1 and TB2 terminals 1, Optional...

  • Page 115: Connecting Aqb And Scanport Cables

    Wiring Your 1394 Analog Servo System Connecting AQB and SCANport The 1394 Analog Servo system module provides connections for AQB encoder feedback outputs to external positioning controllers and Cables SCANport. The figure below shows the locations of the AQB and SCANport connections.
  • Page 116 Wiring Your 1394 Analog Servo System Make the A Quad B connections at the bottom of the system module (refer to Figure 5.3) as follows: For this axis: Connect to this terminal: AQB0 AQB1 AQB2 AQB3 To improve the bond between the motor feedback cable shield and the system module PE ground, a cable shield clamp is included with the Series C system modules.

  • Page 117: Scanport Adapter

    Wiring Your 1394 Analog Servo System Refer to the Appendix D for more information about connectors and accessories and Appendix B for interconnect information. The table below describes each of the 12 connector pins. Pin: Description: Axis x, Vref + Axis x, Tref + +5V DC Power Supply Channel A High...
  • Page 118 Wiring Your 1394 Analog Servo System Publication 1394-5.0 — May 2000...

  • Page 119: Commissioning 1394 Gmc And Gmc Turbo Systems

    Chapter Commissioning 1394 GMC and GMC Turbo Systems Chapter Objectives This chapter provides you with the information to set up and tune the 1394 System. This chapter includes: • General startup precautions • Applying power to the system • Setting up your system using GML Commander •...
  • Page 120 Commissioning 1394 GMC and GMC Turbo Systems 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.

  • Page 121: Setting Up Your System Using Gml Commander

    Commissioning 1394 GMC and GMC Turbo Systems If the system module LED: Then: Flashes green The control and bus power are active, but the modules are not enabled. Go to step 8. Flashes red and green, flashes You may have a wiring red, or remains solid red problem.

  • Page 122: Preparing The System

    Commissioning 1394 GMC and GMC Turbo Systems Preparing the System Before you start your 1394 system be aware of the following: Do this: Be able to save setup menus Set the Memory keyswitch to the unlock position. Set the remote node if you are using Use the Address switch to set a unique AxisLink or multi-drop functions address for each 1394 connected.

  • Page 123: Before You Begin

    Commissioning 1394 GMC and GMC Turbo Systems Setting Up Your System Using GML This section provides the information you need to setup and tune your 1394 GMC and GMC Turbo using GML version 3.x.x. 3. x.x Before You Begin Before you begin the startup procedure be sure to have the following: •...
  • Page 124 Commissioning 1394 GMC and GMC Turbo Systems Publication 1394-5.0 — May 2000...

  • Page 125: Commissioning Your 1394 Analog Servo System

    Chapter Commissioning Your 1394 Analog Servo System Chapter Objectives This chapter provides you with the information to set up and tune your 1394 Analog Servo System. This chapter includes: • General startup precautions • Setting up your 1394 Analog Servo system Before you begin the setup procedures, be sure to read and understand the information in the previous chapters of this manual.

  • Page 126: Setting Up Your 1394 Analog Servo System

    Commissioning Your 1394 Analog Servo System 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.

  • Page 127: Removing And Re-Applying Power

    Commissioning Your 1394 Analog Servo System 2. Press ENTER. The following appears: Start Up Continue Do this: Continue from where Press ENTER. The display at which you left off you left off appears. Start over from the 1. Press either the up or down arrow beginning key until Reset Sequence appears.

  • Page 128: Setting Up At The System Level

    Commissioning Your 1394 Analog Servo System If the system module LED: Then: Flashes green and the following The control and bus power are appears on the HIM: active, but the modules are not Sys Ready enabled. Go to Setting Up at the System Level.

  • Page 129: Setting Up Analog Test Points

    Commissioning Your 1394 Analog Servo System 7. Press ENTER. A message similar to the following appears: Disp-D/A Monitor Not Linked 8. Go to Setting Up Analog Test Points. Setting Up Analog Test Points The 1394 startup procedures provide the ability to monitor an axis using analog test points.

  • Page 130: Defining A Reference Source For Your Axes

    Commissioning Your 1394 Analog Servo System To define: Do this: A standard motor Go to step 3. A custom motor 1. Select Custom. 2. Enter the appropriate information for your motor. 3. Go to step 6. Note: Use only custom motor parameters supplied by Allen-Bradley.

  • Page 131: Defining Analog Velocity

    Commissioning Your 1394 Analog Servo System If you selected: Go to: Anlg Vel Defining Analog Velocity. Ana Torq Defining Analog Torque. Dig Vel Defining Digital Velocity. Dig Torq Defining Digital Torque. Defining Analog Velocity This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter: •...

  • Page 132: Defining Analog Torque

    Commissioning Your 1394 Analog Servo System Defining Analog Torque This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter: • Removing and Re-Applying Power • Setting Up at the System Level •...

  • Page 133: Defining Digital Torque

    Commissioning Your 1394 Analog Servo System 4. Press ENTER. The system records your choice and the cursor moves to the top line. 5. Press ENTER. A message similar to the following appears: Ax:Current Limit +8.43 amps 6. Go to Defining Limits. Defining Digital Torque This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections...

  • Page 134: Defining Limits

    7-10 Commissioning Your 1394 Analog Servo System Defining Limits This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter: • Removing and Re-Applying Power • Setting Up at the System Level •...

  • Page 135: Auto Tuning

    Commissioning Your 1394 Analog Servo System 7-11 Auto Tuning This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter: • Removing and Re-Applying Power • Setting Up at the System Level •...
  • Page 136 7-12 Commissioning Your 1394 Analog Servo System 4. Apply 24V DC across the appropriate axes on the input wiring board to enable the axis that you are tuning. The LEDs on system module and specific axis module will be solid green, the motor will move slightly and the following messages appear sequentially on the HIM: Ax:ATune Select...

  • Page 137: Configuring Your 1394 Analog Servo System

    Chapter Configuring Your 1394 Analog Servo System Chapter Objectives This chapter covers the following topics: • Where to look for other programming information. • Conventions used in this chapter. • Understanding Analog Servo System parameters. • 1394 Analog Servo software diagram Because GML and the HIM provide auto tune and setup features, the information in this chapter is intended only a supplement to help you to understand the technical approach and to assist you with using...

  • Page 138: Conventions Used In This Chapter

    Configuring Your 1394 Analog Servo System Conventions Used in this Chapter The following conventions are used throughout this chapter. • All parameters required for any given drive function are contained within a group, eliminating the need to change groups to complete a function. •...

  • Page 139: Understanding Analog Servo System Parameters

    Configuring Your 1394 Analog Servo System Understanding Analog Servo A description of the 1394 Analog Servo parameters is provided on the following pages. The parameters are listed in alphabetical order and System Parameters cross-referenced in the table that follows for locating parameters by number.
  • Page 140 Configuring Your 1394 Analog Servo System [100% Torq Vel] Parameter Numbers Parameter Group Mtr Data Motor velocity at 100% rated motor torque. Display Units Parameter Type Read/Write Note: Before making modifications to Mtr Data Change While Running parameters, [Motor Type] must be set to "custom Linkable motor".
  • Page 141 Configuring Your 1394 Analog Servo System [ATune Frictn] Parameter Numbers 300, 301, 302, 303 Parameter Group ATune Config The system friction as measured by the auto tune Display Units cycle is represented through this parameter. Parameter Type Read/Write Change While Running Linkable Minimum Value Maximum Value...
  • Page 142 Configuring Your 1394 Analog Servo System [Axis Type] Parameter Numbers 328, 329, 330, 331 Parameter Group Configuration Catalog number of Axis Module. Parameter Type Read Only Linkable Selection codes for 1394C-AM50-IH and Selections "NOT PRESENT" 1394C-AM75-IH are the same as 1394 x -AM50 "1394 x -AM03"...
  • Page 143 Configuring Your 1394 Analog Servo System [Command Mask] Parameter Numbers Parameter Group Setup This parameter determines whether drive control Parameter Type Read/Write from the indicated source is enabled or disabled. Change While Running Stop commands from any source are not Linkable maskable.
  • Page 144 Configuring Your 1394 Analog Servo System [Cur Rate Lim] Parameter Numbers 192, 193, 194, 195 Parameter Group Torq Data The largest change in the current reference per Display Units A/ms velocity loop sample that will be allowed is Parameter Type Read/Write specified through this parameter.
  • Page 145 Configuring Your 1394 Analog Servo System [D/A #x Value] Parameter Numbers 12, 13 Parameter Group Linear List The unscaled value of the data that will be output Display Units None on the D/A channel. This parameter must be the Parameter Type Read/Write destination of link for any data to be output.
  • Page 146 8-10 Configuring Your 1394 Analog Servo System [Disp-D/A Monitor] Parameter Numbers Parameter Group Setup This parameter quickly establishes links to the Display Units None D/A test points. It will link the selected axis [Iq Parameter Type Read/Write Cur Ref] to test point 1, and the [Vel Feedback] Change While Running to test point 2.
  • Page 147 Configuring Your 1394 Analog Servo System 8-11 [Droop] Parameter Numbers 380, 381, 382, 383 Parameter Group Vel Loop Data This parameter is also referred to as "static gain." Display Units It effectively acts as a very slow discharge of the Parameter Type Read/Write velocity loop integrator and has two uses:...
  • Page 148 8-12 Configuring Your 1394 Analog Servo System [Feed Fwd Gain] Parameter Numbers 376, 377, 378, 379 Parameter Group Vel Loop Data Controls the negative feedforward gain of the Display Units None velocity command contribution to the velocity Parameter Type Read/Write regulator torque loop.
  • Page 149 Configuring Your 1394 Analog Servo System 8-13 [Id Slope] Parameter Numbers 180, 181, 182, 183 Parameter Group Mtr Data Determines the amount of Id current (as a Display Units %/Kr percent of motor rated) that would be required Parameter Type Read/Write over a 1000 rpm span.
  • Page 150 8-14 Configuring Your 1394 Analog Servo System [Language Sel] Parameter Numbers Parameter Group Linear List Display language for text. Display Units None Parameter Type Read/Write Change While Running Linkable Default Value English Selections English [Ld/Lg Degrees] Parameter Numbers 144, 145, 146, 147 Parameter Group Vel Loop Tune If [Ld/Lg Freq] and [Ld/Lg Degrees] are set to...
  • Page 151 Configuring Your 1394 Analog Servo System 8-15 [Mod Rng Data] Parameter Numbers 196, 197, 198, 199 Parameter Group Linear List Diagnostic information of data communicated Parameter Type Read Only between the controller and Axis Module. Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 3...
  • Page 152 8-16 Configuring Your 1394 Analog Servo System [Motor Type] Parameter Numbers 100, 101, 102, 103, 404, 405, 406, 407 Parameter Group Configuration, Startup Parms, Mtr Data The catalog number of the motor is attached to Display Units None the axis. Important: This parameter configures Parameter Type Read/Write many other parameters, set it carefully.
  • Page 153 Configuring Your 1394 Analog Servo System 8-17 [Mtr Inertia] Parameter Numbers 108, 109, 110, 111 Parameter Group Mtr Data Inertia of motor attached to drive. Automatically Display Units msec changed when [Motor Type] is changed (to motor Parameter Type Read/Write is inertia + 20% for coupling) (Inertia is defined Change While Running as time in milliseconds required to reach 1000...
  • Page 154 8-18 Configuring Your 1394 Analog Servo System [Option x Code] Parameter Numbers 30, 32, 34, 36 Parameter Group Linear List Used for software options Display Units None Option 0 = Antibacklash Parameter Type Read/Write Option 1 = Future Change While Running Option 2 = Future Linkable Option 3 = Future...
  • Page 155 Configuring Your 1394 Analog Servo System 8-19 [Rem. Data In/Out:Px] Parameter Numbers 58-69 Parameter Group Linear List This series of parameters represent linkable Display Units None inputs and outputs to the SCANport "analog" Parameter Type Read Only inputs and outputs for each of the six available Linkable In=No, Out=Yes ports.
  • Page 156 8-20 Configuring Your 1394 Analog Servo System [Shunt P] Parameter Numbers Parameter Group Linear List Shunt resistor continuous power rating. Display Units Watts Parameter Type Read/Write Active on all Smart Power 22 kW systems and 5 Change While Running and 10 kW (Series C or later) systems. Minimum Value Maximum Value 22000...
  • Page 157 Configuring Your 1394 Analog Servo System 8-21 [Shunt Ws] Parameter Numbers Parameter Group Linear List Shunt short time constant weighting factor. This Display Units parameter determines the relationship between Parameter Type Read/Write the short and long time constants in the thermal Change While Running model of the shunt module.
  • Page 158 8-22 Configuring Your 1394 Analog Servo System [Stop Mode] Parameter Numbers 240, 241, 242, 243 Parameter Group Vel Cmd Data Parameter to select whether the axis module Display Units None should velocity command to zero (regen) or Parameter Type Read/Write coast to a stop Change While Running Linkable...
  • Page 159 Configuring Your 1394 Analog Servo System 8-23 [Sys Mod Data] Parameter Numbers Parameter Group Linear List Diagnostic information of data communicated Parameter Type Read Only between the controller and system module. Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7...
  • Page 160 8-24 Configuring Your 1394 Analog Servo System [Torq Source] Parameter Numbers 360, 361, 362, 363 Parameter Group Torq Data Configures the source of the torque reference for Display Units None the axis. Automatically changed when [Mode Parameter Type Read/Write Sel] (parameter 112) is changed (for Change While Running convenience during commissioning).
  • Page 161 Configuring Your 1394 Analog Servo System 8-25 [Typ 1 Logic Axis] Parameter Numbers Parameter Group Setup Configures which axes are affected by Parameter Type Read/Write SCANport type 1 commands (Jog, Start, etc). All Change While Running axes will always respond to a stop command. Linkable Default Value 00001111...
  • Page 162 8-26 Configuring Your 1394 Analog Servo System [Enble Input Mode] Parameter Numbers Parameter Group Setup This parameter specifies whether the hardware Display Units None enable signals are used on the wiring board for Parameter Type Read/Write input. If configured as Not Used, the HIM or Change While Running SCANport device will provide the enable signal Linkable...
  • Page 163 Configuring Your 1394 Analog Servo System 8-27 [Vel Rate Lim] Parameter Numbers 136, 137, 138, 139 Parameter Group Vel Cmd Data The rate at which a velocity command is Display Units rpSS (revolutions/second/second) incremented or decremented per unit of accel/ Parameter Type Read/Write decel time (in seconds).

  • Page 164: 1394 Analog Servo Software Diagrams

    8-28 Configuring Your 1394 Analog Servo System 1394 Analog Servo Software The following diagrams describe the control loops of the 1394 analog servo system. Diagrams Figure 8.1 1394 Analog Servo Software Diagram (part 1) Velocity Feedback Velocity Feedback (filtered) Publication 1394-5.0 — May 2000...
  • Page 165 Configuring Your 1394 Analog Servo System 8-29 Figure 8.2 1394 Analog Servo Software Diagram (part 2) Velocity Feedback Velocity Feedback (filtered) Publication 1394-5.0 — May 2000...
  • Page 166 8-30 Configuring Your 1394 Analog Servo System Publication 1394-5.0 — May 2000...

  • Page 167: Troubleshooting

    Chapter Troubleshooting Chapter Objectives This chapter covers: • Understanding how to detect a problem • Understanding system and axis module LEDs • Understanding system faults • Understanding GMC Turbo and GMC controller faults • Understanding Analog Servo system module faults •...

  • Page 168: Understanding How To Detect A Problem

    Troubleshooting Understanding How to Detect a When a drive fault occurs, the LED on the front panel changes and a fault message appears. Problem The majority of 1394 faults cause the DROK contact to operate. If a drive fault occurs, you can reset the fault detection circuitry by removing and reapplying power.
  • Page 169 Troubleshooting Status of the For this module: For this LED: Potential Cause: Possible resolution: LED: Check all components and connections before CNC Interface I/O Ring Steady red The fiber optic ring has failed at the 1394 on the fiber optic ring. some point before the 1394 system System Module Status...
  • Page 170 Troubleshooting Status of the For this module: For this LED: Potential Cause: Possible resolution: LED: • Verify wiring. Axis Module Status Steady red Malfunctioning axis module. • Verify that the slider and terminator are securely engaged. • Secure wiring connections. •...

  • Page 171: Understanding System Faults

    Troubleshooting Understanding System Faults Depending on which 1394 system you are using, your faults will be displayed differently. For this system This is where faults This is where to look for additional fault information: module: appear: GMC Turbo or In GML in the Online The GML Programming Manual V3.7 or greater Manager or Watch (publication 999-104) or the GML Commander...

  • Page 172: Viewing Continuous Status

    Troubleshooting Viewing Continuous Status When you use the Watch feature, a window appears within the Online Manager window showing the variables you selected. GML constantly updates the status of those variables as they change. To view continuous status: 1. Open GML. The GML window appears. 2.

  • Page 173: Finding Analog Servo System Faults

    Troubleshooting Finding Analog Servo System Faults When a fault occurs for the Analog Servo version, a fault message appears on the HIM. Figure 9.1 HIM Fault Display Source of Fault Fault Name Hard Fault Indicator Fault Number Each area on the diagram in Figure 9.1 has a significance: In this area: This information appears: Source of fault...

  • Page 174: Finding Cnc Interface Faults

    Troubleshooting Finding CNC Interface Faults Faults for the CNC Interface appear on the second line of the operator panel. There is also an error log that contains the most recent system faults. To get to this error log screen: 1. At the main menu, press the continue softkey. The softkey menu changes.
  • Page 175 Troubleshooting Understanding GMC Turbo and Use the table below to identify the GMC and GMC Turbo Controller faults. The status LEDs are located inside the system module in the GMC Controller Faults upper left corner. The figure below shows a picture of the LEDs. Figure 9.2 GMC Turbo and GMC Status LEDs LED Status:...

  • Page 176: Understanding Analog Servo System Module Faults

    9-10 Troubleshooting Understanding Analog Servo The faults that apply to the Analog Servo System’s system module appear in the following tables. System Module Faults Note: Although these faults are for the Analog Servo version, in many instances, the descriptions, causes, and resolutions can also apply to the GMC version.
  • Page 177 Troubleshooting 9-11 Possible resolutions: Fault Message: Description: Potential cause: Ground Flt The system generates a Incorrect wiring. • Verify motor and ground wiring. ground fault when there • Replace cables. is an imbalance in the Motor malfunction. Check the resistance of each motor DC bus of greater than winding phase to case ground with an 50A.

  • Page 178: Understanding Analog Servo System Axis Faults

    9-12 Troubleshooting Understanding Analog Servo System Axis Faults The faults that apply to the Analog Servo System’s axis module appear in the following table. Fault Message: Description: Potential Cause: Possible resolution: Connect the motor. ATune Fault The auto tune cycle has Motor is disconnected or not able to turn.

  • Page 179: Troubleshooting General System Problems

    Troubleshooting 9-13 Fault Message: Description: Potential Cause: Possible resolution: • Check the motor cable. Power Fault The current through any The motor lead has shorted one of the power IGBTs • Check the resistance of each power phase has exceeded 300% if the wire to ground.
  • Page 180 9-14 Troubleshooting Condition: Potential cause: Possible resolution: Verify that the parameters are set Motor does not respond to Check for possible faults. correctly and correct them, as necessary. a Velocity Command Disable the axis, wait for 1.5 seconds, The axis cannot be enabled for 1.5 seconds after and enable the axis.
  • Page 181 Troubleshooting 9-15 Condition: Possible cause: Possible resolution: Check motor wiring and No Rotation The motor connections are loose or open. connections. Remove foreign matter. Foreign matter is lodged in the motor. Size the servo system. The motor load is excessive. Return the motor for repair.

  • Page 182: Replacing System And Axis Modules

    9-16 Troubleshooting Replacing System and Axis Use these procedures to: Modules • Determine what you need to replace modules • Remove an axis module • Install a replacement axis module • Remove a system module • Install a replacement system module ATTENTION: This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies.

  • Page 183: Removing An Axis Module

    Troubleshooting 9-17 Removing an Axis Module To remove an axis module: 1. Remove 24V control power and 360/480V AC input power from the system. ATTENTION: To avoid shock hazard or personal injury, assure that all power has been removed before proceeding.

  • Page 184: Installing A Replacement Axis Module

    9-18 Troubleshooting Installing a Replacement Axis Module To install a replacement axis module: 1. Install the top mounting fastener on the system panel for the axis module. The head of the fastener should be at least 6.35 mm (0.25 in.) from the panel. Refer to Mounting the 1394 in the Installing Your 1394 chapter for more information.

  • Page 185: Removing A System Module

    Troubleshooting 9-19 Removing a System Module If you are removing a: Refer to: Publication number: 9/440 system module 9/Series Integration and Maintenance 8520-6.2 Manual SERCOS system module 1394 SERCOS Multi-Axis Motion Control 1394-5.20 System User Manual To remove a system module: 1.

  • Page 186: Installing A Replacement System Module

    9-20 Troubleshooting Note: 1394 input power and shunt connections are located on the lower front of a Series A and B system module. The same connections are located on the bottom of a Series C system module. For complete system interconnect information refer to Appendix B.
  • Page 187 Troubleshooting 9-21 If you removed a: Do this: 1. Remove the HIM or cover plate Analog Servo system from the new system module. module with a HIM module mounted in the 2. Install the HIM module you door removed from your existing drive into the door of your replacement system module.

  • Page 188: Replacing System Modules Of The Same Series

    9-22 Troubleshooting Replacing System Modules of the Same Series 1. Remove the input wiring board from the new system module. 2. Re-install the old input wiring board into the new system. Tighten it to the main board chassis using a phillips screw driver and the screws provided.
  • Page 189 Troubleshooting 9-23 Checking for a Blown Fuse in the To check the 1394-DCLM for a blown fuse: 1394-DCLM 1. Remove power from your system including the 1394-DCLM. ATTENTION: To avoid shock hazard or personal injury, assure that all power has been removed before proceeding.
  • Page 190 9-24 Troubleshooting 4. Check the circuit resistance of the two DCLM fuses by connecting the probes of an ohm meter as described in the table below. Refer to Figure 9.5 for the connector locations. Connect the Connect the If the meter The 1394-DCLM fuse is: red lead to: black lead to:...

  • Page 191: Replacing The 1394 Shunt Module Fuse

    Troubleshooting 9-25 Replacing the 1394 Shunt Module To replace the fuse in 1394 shunt modules (Catalog Numbers 1394- SR10A, -SR9A, -SR9AF, -SR36A, and -SR36AF) refer to the Fuse specific set of instructions. Replacing the 1394-SR10A Fuse 1. Remove power from your system including power to the shunt module.

  • Page 192: Replacing The 1394-Sr9A, -Sr9Af, -Sr36A, And -Sr36Af Fuse

    9-26 Troubleshooting Replacing the 1394-SR9A, -SR9AF, -SR36A, and -SR36AF Fuse To replace the 1394-SR9A, -SR9AF, -SR36A, and -SR36AF shunt module fuse: 1. Remove power from your system including the shunt module. ATTENTION: To avoid shock hazard or personal injury, verify that all power has been removed before proceeding.
  • Page 193 Troubleshooting 9-27 If your 1394-SR9A, You need a: -SR9AF, -SR36A, or -SR36AF shunt module: Has the UL mark Bussmann 600V DC 50A fuse (FWP50A14F) or equivalent. Does not have the UL Bussmann 600V DC 40/50A fuse mark (170N2013), FWP50A22F or equivalent.

  • Page 194: Removing The Fan

    9-28 Troubleshooting 8. Remove the fuse from the fuse holder with the fuse puller tool. If your 1394-SR9A, Replace the fuse with a: -SR9AF, -SR36A, or -SR36AF shunt module: Has the UL mark Bussmann 600V DC 50A fuse (FWP50A14F) or equivalent. Does not have the UL Bussmann 600V DC 40/50A fuse mark...
  • Page 195 Troubleshooting 9-29 3. Place the axis module on its side so you can locate the fan housing. Figure 9.10 Fan Housing on Axis Module Fan Housing 4. Remove the screws that hold the fan housing to the axis module. Figure 9.11 Fan Housing Screws Screw Screw...
  • Page 196 9-30 Troubleshooting 6. Unplug the fan housing from the axis module. 7. Locate the fan gasket that is attached to the fan housing. Figure 9.13 Locating the Fan Gasket Fan Gasket Slit 8. Remove the fan gasket from the fan housing. Make sure you slide the fan wires through the slit in the gasket.

  • Page 197: Installing The New Fan

    Troubleshooting 9-31 Installing the New Fan 1. Insert the new fan into the fan housing. Figure 9.15 Fan Inserted into the Fan Housing 2. Peel the adhesive backing off of the new fan gasket. 3. Attach the new fan gasket to the fan housing in the direction shown in the figure below.
  • Page 198 9-32 Troubleshooting 5. Secure the fan to the fan housing with two M4 screws and nuts using 1.6 N-m (14 lb-in.) of torque. Figure 9.17 Securing the Fan to the Fan Housing Screws 6. Align the fan housing to the axis module. 7.

  • Page 199: Specifications

    Appendix Specifications Chapter Objectives Appendix A contains specifications and dimensions for the 1394 system and dimensions and operating characteristics for the 1326AB/AS series servo motors. This appendix covers: • System specifications • Environmental specifications • Power dissipation • Communication specifications •...

  • Page 200: System Modules

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

  • Page 201: Axis Modules

    Specifications Axis Modules The table below lists the specifications for the axis modules. For the 1394 x -AM50 For the 1394 x -AM75 The: For the 1394 x -AM03 is: For the 1394 x -AM04 is: For the 1394 x -AM07 is: and 1394C-AM50-IH is: and 1394C-AM75-IH is: 0 to 0.05% of base...

  • Page 202: Dc Link Module

    Specifications DC Link Module The table below lists the specifications for the DC Link Module. The: For the 1394-DCLM is: 5.0 or higher with 1394 x -SJT xx -A systems Firmware version 3.7 or higher with 1394 x -SJT xx -C- xx and -T- xx systems 3.9 or higher with 1394C-SJT xx -L- xx systems Software GML Commander, version 4.02 or higher...

  • Page 203: User-Supplied Contactor (M1

    Specifications User-Supplied Contactor (M1) The table below shows the requirements for the contactor that you must supply. For the 1394 x -SJT22 is: The contactor: For the 1394-SJT05 and For the 1394C-SJT05 and -SJT10 (Series A and B) is: -SJT10 (Series C) is: Rating 600V AC, 43A 600V AC, 23A...

  • Page 204: Input Transformer For 24V Control Power

    Specifications Input Transformer for 24V Control Power You can use any general purpose transformer with the following ratings. The requirements for: For a 480V system is: For a 360V system is: Input volt-amperes 200 to 259 VA 200 to 259 VA Input voltage 480V RMS 360V RMS...
  • Page 205 Specifications Figure A.1 Circuit Protection under NEC 1999 110-10 (preferred fully rated devices) Required Protection Required Protection under 110-10 of under 110-10 of NEC 1999 NEC 1999 Fully Rated Preferred Fully Preferred Fully Fused Rated Breakers Rated Breakers Disconnect Fully Rated Fully Rated Fused Breaker...

  • Page 206: External Shunt Resistor Kit For 5 And 10 Kw Systems

    Specifications To avoid nuisance tripping, refer to the following table and select the appropriate combination of system module, secondary circuit protection device, and axis modules. With Secondary Circuit Use System Module: And Axis Module Combination: Protection Device: 1394 x -SJT05- x 1492-CB3-H300 Any combination of AM03 and AM04 up to 4 axis modules.

  • Page 207: Environmental Specifications

    Specifications Refer to the following table for fuse replacement information. If your 1394-SR9A, -SR9AF, You need a: -SR36A, and -SR36AF shunt module: Has the UL mark Bussmann 600V DC 50A fuse (FWP50A14F) or equivalent. Does not have the UL mark Bussmann 600V DC 40A fuse (170N2013) or equivalent.

  • Page 208: Power Dissipation

    A-10 Specifications Power Dissipation The power dissipation characteristics of the 1394 system and axis modules are provided below (use for 480V or 360V input). 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°...

  • Page 209: Dc Link Module

    Specifications A-11 DC Link Module The power dissipation for the 1394-DCLM is shown below. The: For the 1394-DCLM is: Power dissipation 4.225 W maximum Drive Interface Module The power dissipation for the 1394-DIM is shown below. The: For the 1394-DIM is: Power dissipation 30 W maximum Internal Shunt Resistor for the 5 and 10 kW System (standard)

  • Page 210: Dedicated Discrete I/O Specifications

    A-12 Specifications Dedicated Discrete I/O Specifications The table below lists the dedicated discrete I/O specifications for the system module (1394x-SJTxx-C-xx, -L-xx, and -T-xx systems). The: Number of dedicated discrete 16 (4 each for axis 0, 1, 2, and 3) inputs Dedicated discrete input Home limit switch, positive overtravel limit switch, negative functions...

  • Page 211: Dh-485 Specifications

    Specifications A-13 DH-485 Specifications The table below lists the DH-485 specifications for the system module (1394x-SJTxx-C-xx, -L-xx, and -T-xx systems). The: Number of DH-485 channels One; replaces serial port B when used Channel type Optically isolated half-duplex RS-485 Baud rate 9,600 or 19.2 kbaud (user-selectable) Front panel connectors Two RJ-45 jacks (+24 V is not provided)

  • Page 212: Gmc System Specifications

    A-14 Specifications GMC System Specifications The table below lists the specifications for the GMC system module (1394x-SJTxx-C-xx, -L-xx, and -T-xx systems). The: Servo loop sample and update 250 Hz to 2 kHz for 4 axes rate Maximum feedback frequency 4 MHz (4,000,000 feedback counts per second) Absolute position range ±...

  • Page 213: Remote I/O Adapter Specifications

    Specifications A-15 Remote I/O Adapter Specifications The table below lists the remote I/O adapter specifications for the system module (1394x-SJTxx-C-xx, -L-xx, and -T-xx systems). The: Baud rate 57.6 k, 115.2 k, or 230.4 k (user-selectable) Rack address User-selectable between 0 and 31 decimal Rack width User-selectable in quarter-rack increments (1/4, 1/2, 3/4, or full) Transfer type...

  • Page 214: Axislink Specifications

    A-16 Specifications AxisLink Specifications The table below lists the AxisLink specifications for the system module (1394x-SJTxx-C-xx, -L-xx, and -T-xx systems). The: Baud rate Standard and extended node One megabit per second configuration Extended length configuration 500 kbits per second Cable type Standard and extended node Allen-Bradley 1770-CD RIO cable (Belden 9463 or configuration...

  • Page 215: Dimensions

    Specifications A-17 Dimensions Within this section, you will find dimensions for: • The 1394 system module • Axis modules (including 1394-DIM and 1394-DCLM) • Filters • External shunt modules • Motors 1394 System Module Dimensions Figure A.3 1394 x -SJT05, 1394 x -SJT10 and 1394 x -SJT22 System Module 150.0 (5.91) 25.0 (0.98) 91.0 (3.58)

  • Page 216: Axis Module Dimensions

    A-18 Specifications Axis Module Dimensions Figure A.4 1394 x -AM03, -AM04, -AM07, -DIM, and -DCLM Front View 25.0 8.0 (0.32) (0.98) Dimensions are in millimeters and (inches) Mounting Hole Detail 8.0 (0.31) 10.1 (0.40) 400.0 (15.75) 385.0 Fastener 350.0 15.9 (0.63) (15.16) location (13.78)
  • Page 217 Specifications A-19 Figure A.6 1394 x -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)

  • Page 218: Filter Dimensions

    A-20 Specifications Figure A.8 1394C-AM50-IH and -AM75-IH Axis Module Side View (11.01) Dimensions are in millimeters and (inches) Important: Additional clearance below the axis 43.69 is necessary to provide the recommended cable (1.72) bend radius. Refer to 1326 Cables for 460V AC Servo Motors (publication 1326A-2.11) for more information.
  • Page 219 Specifications A-21 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 220: External Shunt Dimensions

    A-22 Specifications External Shunt Dimensions Figure A.12 1394-SR10A Shunt Resistor Kit External Shunt Resistor Fuse Holder Dimensions are in millimeters and (inches) Dimensions are in millimeters and (inches) Depth = 100 (3.94) 19.1 165.1 38.1 Wire length = 203 (8.0) (6.5) (0.75) (0.38)
  • Page 221 Specifications A-23 Figure A.13 1394-SR-9A and -9AF Front View Dimensions Dimensions are in millimeters and (inches) Depth = 280 (11.02) (5.91) Mounting Hole Detail (0.98) (3.94) 8.0 (0.31) 24.8 (0.32) (0.98) 10.1 (0.40) 15.9 (0.63) 1394 Digital Servo Controller (6.10) (6.89) (4.92) 300W Shunt Module...
  • Page 222 A-24 Specifications Figure A.15 1394-SR-36A and -36AF Front View Dimensions (5.91) (0.98) 24.8 (3.94) (0.32) (0.98) Dimensions are in millimeters and (inches) Depth = 280 (11.02) Mounting Hole Detail 8.0 (0.31) 10.1 (0.40) 1394 Digital Servo Controller 3600W Shunt Module (13.78) 15.9 (0.63) 385.0...

  • Page 223: Motor Dimensions

    Specifications A-25 Motor Dimensions Figure A.17 1326AB-B4 Torque Plus Series (Resolver and High Resolution Feedback) Full Depth Commutation Resolver Endmilled Keyway or High Resolution Output 25.4 25.4 (1.57) Power Input (1.00) (1.00) Recessed (0.118) Flinger and Shaft 11.2 24.4 Seal Provision (0.44) 30.7 (0.96)
  • Page 224 A-26 Specifications Figure A.18 1326AB-B5 Torque Plus Series (Resolver and High Resolution Feedback) Full Depth Commutation Resolver Endmilled Keyway or High Resolution Output 25.4 25.4 (1.97) (1.00) (1.00) Power Input Recessed M8 x 1.25 (0.138) Flinger and Shaft Eyebolt Thread 15.0 25.4 Seal Provision...
  • Page 225 Specifications A-27 Figure A.19 1326AB-B7 Torque Plus Series (Resolver and High Resolution Feedback) Full Depth Commutation Resolver Endmilled Keyway 28.7 28.7 or High Resolution Output (1.13) (1.13) (2.36) Power Input Recessed M8 x 1.25 (0.157) Flinger and Shaft 20.6 Eyebolt Thread 26.9 Seal Provision (0.81)
  • Page 226 A-28 Specifications Figure A.20 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 227 Specifications A-29 Figure A.21 1326AS-B4 Series Servo Motor 40 0.5 Commutation (1.575) Resolver Output Power Input (1.61) 3 0.2 33.3 (0.118) (1.311) (1.181) 121 sq. (4.76) 37 0.3 (1.460) 1.53 11.2 22.2 89 Dia. (0.060) (0.441) (3.504) (.875) 9.525/9.500Dia. 19.009/18.996 (0.375/0.374) + _ .397 (.015) (0.7480/0.7475)
  • Page 228 A-30 Specifications Figure A.22 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 229 Specifications A-31 Figure A.23 1326AS-B8 Series Servo Motor 85.0±0.5 (3.35) 4.0 ±0.2 (0.157) 73.15 (0.98) (1.3) (2.88) (0.91) (2.36) 241 sq. (9.49) 81.0 ± 0.3 (3.19) 7.7/6.2 0.305/0.245 0.4997/0.4990 22.4 42.000/41.984 12.692/12.675 (0.882) (1.654/1.653) 25.4 (1.00) 12.00/11.96 M8 x 1.25 Tapped hole + _ .397 (.015) (0.472/0.471) 20 (0.79) Deep min.

  • Page 230: Servo Motor Performance Data

    A-32 Specifications Servo Motor Performance Data This section contains performance data for 1326AB and 1326AS motors and 1394 axis module combinations. 1326AB Performance Data Motor Catalog Rated Speed Motor Rated Motor Rotor System System Peak System System 1394 Axis Number Torque Rated Inertia...

  • Page 231: 1326As Performance Data

    Specifications A-33 1326AS Performance Data Motor Catalog Rated Speed Motor Motor Rotor System System System System 1394 Axis Number Rated Rated Inertia Continuous Peak Stall Continuous Peak Stall Module Torque Output kg-m Torque Torque Stall Current Current 480V 360V N-m (lb-in.) (lb-in.-s N-m (lb-in.) N-m (lb-in.)
  • Page 232 A-34 Specifications Publication 1394-5.0 — May 2000...

  • Page 233: Interconnect And Ce Diagrams

    Appendix Interconnect and CE Diagrams Chapter Objectives This appendix covers the following: • GMC, CNC interface, and analog servo interconnect diagrams • GMC and analog servo thermal interconnect diagrams • Cable pin-outs • Grounding for 1394 CE requirements Refer to the 9/Series Integration and Maintenance Manual (8520-6.2) for 9/440 information.
  • Page 234 Interconnect and CE Diagrams GMC, Analog Servo, and CNC The following notes apply to the interconnect diagrams on the following pages. Interface Interconnect Diagrams Note: Information: Power wiring is 3.3 mm (12 AWG), 75° C (167° F) minimum, copper wire. Input fuse to be Bussmann.

  • Page 235: 1394 Gmc Interconnections

    Interconnect and CE Diagrams 1394 GMC Interconnections Figure B.1 Bottom Front of the GMC (1394 x -SJT xx -C) and GMC Turbo (1394 x -SJT xx -T) System Modules Right Side Left Side RS-232/RS-422 AxisLink RS-232 RS-422 TXD+ C LEAR TXD–...
  • Page 236 Interconnect and CE Diagrams Figure B.2 GMC System Interconnection Diagram (1394 x -SJT xx -C and -T) 1394 GMC AND GMC TURBO RIO BOARD SYSTEM MODULE NOTES 8, 9 CONTROL POWER BLUE & SIGNALS NOTE 17 SHIELD CLEAR DC MINUS BUS DC BUS POS.
  • Page 237 Interconnect and CE Diagrams AXIS MODULE (TYPICAL) CONTROL POWER SOLID GREEN = BUS UP, AXIS ENABLED & SIGNALS FLASHING GREEN = BUS UP, AXIS NOT ENABLED FLASHING RED/GREEN = READY, BUS NOT UP FLASHING RED = FAULT DC BUS POS. SOLID RED = HARDWARE FAILURE SLIDER INTERCONNECT DC BUS NEG.
  • Page 238 Interconnect and CE Diagrams Figure B.3 GMC System Interconnection Diagram (1394C-SJT xx -L) 1394 GMC SYSTEM MODULE RIO BOARD NOTES 8, 9 CONTROL POWER BLUE & SIGNALS NOTE 17 SHIELD CLEAR DC MINUS BUS DC BUS POS. NOTE 13 DC BUS NEG. Refer to the Wiring System, Axis, and Shunt Modules, SLIDER INTERCONNECT and Motors (for all systems) chapter...
  • Page 239 Interconnect and CE Diagrams AXIS MODULE (TYPICAL) CONTROL POWER SOLID GREEN = BUS UP, AXIS ENABLED FLASHING GREEN = BUS UP, AXIS NOT ENABLED & SIGNALS FLASHING RED/GREEN = READY, BUS NOT UP FLASHING RED = FAULT SOLID RED = HARDWARE FAILURE DC BUS POS.
  • Page 240 Interconnect and CE Diagrams Figure B.4 Bottom Front of the GMC (1394C-SJT xx -L) System Module Left Side Right Side RS-232/RS-422 AxisLink RS-232 RS-422 TXD+ C LEAR TXD– SHIELD RXD– BLUE TXD+ The RIO/AxisLink option (-RL) must be ordered with TXD+ System module.

  • Page 241: 1394 Analog Servo Interconnections

    Interconnect and CE Diagrams 1394 Analog Servo Interconnections Figure B.5 Bottom Front of the 1394 Analog Servo System Module Left Side Right Side SCANport AQB Encoder Feedback Output AQB0 Resolver Feedback Input AXIS 0 WIRE #1 - BLACK - AXIS X R1 WIRE #1 - WHITE - AXIS X R2 WIRE #1 - SHIELD WIRE #2 - BLACK - AXIS X S1...
  • Page 242 B-10 Interconnect and CE Diagrams Figure B.6 Analog Servo System Interconnect Diagram 1394 ANALOG SERVO SYSTEM MODULE CONTROL POWER & SIGNALS NOTE 17 DC MINUS BUS DC BUS POS. DC BUS NEG. NOTE 13 Refer to the Wiring System, Axis, and Shunt Modules, SLIDER INTERCONNECT and Motors (for all systems) chapter for ground jumper instructions.
  • Page 243 Interconnect and CE Diagrams B-11 AXIS MODULE (TYPICAL) CONTROL POWER SOLID GREEN = BUS UP, AXIS ENABLED & SIGNALS FLASHING GREEN = BUS UP, AXIS NOT ENABLED FLASHING RED/GREEN = READY, BUS NOT UP FLASHING RED = FAULT DC BUS POS. SOLID RED = HARDWARE FAILURE SLIDER INTERCONNECT DC BUS NEG.

  • Page 244: 1394 Cnc Interconnections

    B-12 Interconnect and CE Diagrams 1394 CNC Interconnections Figure B.7 CNC Interface System Interconnect Diagram CNC SYSTEM MODULE OPTIONAL EXTERNAL SHUNT SOLID RED = FIBER OPTIC RING FAILED BEFORE 1394 SYSTEM MODULE CONTROL POWER USER SUPPLIED 24V AC RMS OR FLASHING RED = FIBER OPTIC RING FAILED AFTER &...
  • Page 245 Interconnect and CE Diagrams B-13 AXIS MODULE (TYPICAL) ADDITIONAL AXES SOLID GREEN = BUS UP, AXIS ENABLED FLASHING GREEN = BUS UP, AXIS NOT ENABLED FLASHING RED/GREEN = READY, BUS NOT UP FLASHING RED = FAULT SOLID RED = HARDWARE FAILURE THERMOSTAT AND BRAKE FEEDTHRU NOTE 29 NOTE 29...

  • Page 246: Thermal Interconnect Diagrams

    B-14 Interconnect and CE Diagrams Thermal Interconnect Diagrams Thermal switches, internal to each 1326 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.

  • Page 247: 1394 Gmc Systems (1394 X -Sjt Xx -C And -T

    Interconnect and CE Diagrams B-15 1394 GMC Systems (1394 x -SJT xx -C and -T) The example below shows 1394 (Series C) axis modules with internal brake and thermal switch filtering. Separate isolation power supply and relay are not required. Figure B.8 Non-Isolated Series E-Stop Axis 1...
  • Page 248 B-16 Interconnect and CE Diagrams The example below shows 1394 (Series C) axis modules wired for thermal fault monitoring. Depending on how the 1394 GMC system is configured, the fault can be used to disable one or all of the four axis modules.
  • Page 249 Interconnect and CE Diagrams B-17 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. Figure B.10 Isolated Series E-Stop Axis 0 Axis 1 Axis 2 Axis 3...
  • Page 250 B-18 Interconnect and CE Diagrams The example below shows 1394 (Series A and B) axis modules wired for thermal fault monitoring. Depending on how the 1394 GMC system is configured, the fault can be used to disable one or all of the four axis modules.

  • Page 251: 1394 Gmc Systems (1394C-Sjt Xx -L

    Interconnect and CE Diagrams B-19 1394 GMC Systems (1394C-SJT xx -L) The example below shows a 1394 (Series C) axis module with internal brake and thermal switch filtering. Separate isolation power supply and relay are not required. Figure B.12 Non-Isolated Series E-Stop Axis 0 1394 GMC Input Wiring Board 1394C-AM xx...
  • Page 252 B-20 Interconnect and CE Diagrams The example below shows a 1394 (Series A and B) axis module (no internal brake and thermal switch filter). Separate 24V DC isolation power supply and relay (CR2) are recommended. Figure B.14 Isolated Series E-Stop Axis 0 1394 GMC Input Wiring Board 1394-AM xx...

  • Page 253: 1394 Analog Servo Systems (1394 X -Sjt Xx -A

    Interconnect and CE Diagrams B-21 1394 Analog Servo Systems (1394 x -SJT xx -A) The example below shows 1394 (Series C) axis modules with internal brake and thermal switch filtering. Separate isolation power supply and relay are not required. Figure B.16 Non-Isolated Series E-Stop Axis 3 Axis 0...
  • Page 254 B-22 Interconnect and CE Diagrams The example below shows 1394 (Series A and B) axis modules (no internal brake and thermal switch filter). Separate 24V DC isolation power supply and relay (CR2) are recommended. Figure B.17 Isolated Series E-Stop Axis 0 Axis 1 Axis 2 Axis 3...
  • Page 255 Interconnect and CE Diagrams B-23 Cable Pin-outs 1326 Cable Pin-outs Pin-outs and interconnect information for the 1326 interconnect cables are provided starting below. 1326-CCU-xxx Standard Commutation Cable for Motor Resolver Wire Color Gauge Connector Pin System Module (AWG) Terminal # Black (Axis_0_R1) 0.519 (20) White (Axis_0_R2)
  • Page 256 B-24 Interconnect and CE Diagrams 1326-CECUx-xxx L-xxx High-Resolution Feedback Cable Wiring Information for High-Resolution Servo Motors Only Wire Number Wire Color Gauge System Module (AWG) Terminal # Black (power) 0.519 (20) White (ground) 0.519 (20) no connection Shield 0.519 (20) no connection Black (ChA_LO) 0.519 (20)
  • Page 257 Interconnect and CE Diagrams B-25 1326-CPC1-xxx Standard Power Cable for the 1326AS-B6xxxx, 1326AS-B8xxxx and 1326AB-B7xxxx Servo Motors Wire Number Wire Color Gauge Connector 1394 (AWG) Terminal 1 (Power) Black 5.3 (10) 2 (Power) Black 5.3 (10) 3 (Power) Black 5.3 (10) 4 (Brake) Black 1.3 (16)

  • Page 258: Cable Pin-Outs

    B-26 Interconnect and CE Diagrams 1394 Cable Pin-outs Pin-outs and interconnect information for the 1394 interconnect cables are provided starting below. Figure B.18 1394-CCAE01, -03, -08, and -15 Cable Pin-outs RED 22GA BLACK 22GA +5VCOM DRAIN ORANGE 22GA +CHA-0 CHANNEL A HIGH WHT/ORG 22GA CHANNEL A LOW -CHA-0...
  • Page 259 Interconnect and CE Diagrams B-27 Figure B.20 1394-CFLAE01, -03, -08, -15 Cable Pin-outs RED 22GA BLACK 22GA +5VCOM DRAIN ORANGE 22GA CHANNEL A HIGH WHT/ORG 22GA CHANNEL A LOW YELLOW 22GA CHANNEL B HIGH WHT/YEL 22GA CHANNEL B LOW GREEN 22GA CHANNEL Z HIGH WHT/GRN 22GA CHANNEL Z LOW...
  • Page 260 B-28 Interconnect and CE Diagrams Figure B.22 1394-GE15 Cable Connections Flying Leads to Incremental Encoder or 1394 Encoder Customer-Supplied Termination Feedback Connector Black Yellow Strobe White A High Black A Low Green B High Black B Low Blue Z High Black Z Low +5V Out...
  • Page 261 Interconnect and CE Diagrams B-29 Figure B.24 1394-SA15 Cable Connections Flying Leads of 1394-SA15 Encoder Customer Supplied Cable Feedback Connector Black Z Low Green Z High Black B Low Incremental Encoder B High (ENCODER) Black A Low White A High Shield Cable is Belden 9503 Shield...

  • Page 262: Grounding For 1394 Ce Requirements

    B-30 Interconnect and CE Diagrams Grounding for 1394 CE Requirements Refer to the figure below for CE grounding requirements for 1394 installation. Figure B.25 1394 CE Requirements Enclosure Ground Conduit to Enclosure Three-Phase User-Supplied Filter Mains with Discrete I/O Ground Conduit Clamp User-Supplied Unfiltered Conductors...

  • Page 263: Using The Human Interface Module (Him)

    Appendix Using the Human Interface Module (HIM) Chapter Objectives This appendix covers: • The Human Interface Module (HIM) • Understanding HIM operation • Auto tuning • Removing the HIM The Human Interface Module The 1394 Analog Servo System (1394x-SJTxx-A) provides a SCANport interface and uses the standard Allen-Bradley Bulletin 1201 HIM to make (HIM) setup and configuration easy.

  • Page 264: Understanding Him Keys

    Using the Human Interface Module (HIM) Figure C.1 HIM Mounted on 1394 Analog Servo System Allen-Bradley 1394 Digital Servo Controller System Module There are two SCANports located on the 1394 analog servo board. Port 1 is located at the top of the analog servo board and port 2 is located at the bottom of the analog servo board.
  • Page 265 Using the Human Interface Module (HIM) The keys that are available for use on the HIM are described below: Note: The keys that are not described (shaded in Figure C.2) are not currently used. Escape When you press the ESC key, the programming system goes back one level in the menu tree.

  • Page 266: Understanding Him Operation

    Using the Human Interface Module (HIM) At its default setting, when you press this key, the motor jogs at a speed determined by the [Jog Vel] parameter for any axis that is enabled (default is 20% of motor rated speed). Releasing the key stops the function. You can use this function during startup as a battery box to move an axis.

  • Page 267: Understanding Him Modes

    Using the Human Interface Module (HIM) Figure C.3 Status Display Press ENTER to display Choose Mode. Press the Increment or Decrement keys to see different modes that you can select. Refer to Figure C.4 and the descriptions on the following pages for more information.

  • Page 268: Search Mode

    Using the Human Interface Module (HIM) Search Mode Search mode allows you to search for established links or modifiable parameters that are not at their default values. Control Status Mode Control Status enables or disables HIM control and provides access to a fault and warning queue, which lists the last eight faults that have occurred.

  • Page 269: Using Copy Cat

    Using the Human Interface Module (HIM) 4. Press ENTER. The system records your choice, scans for linkable parameters, and a message similar to the following appears: D/A # 1 Value <12> <--- 232> 5. The number on the left is the destination and the number on the right is the source.

  • Page 270: Copying A System's Information

    Using the Human Interface Module (HIM) Copying a System’s Information Note: These steps assume that you are starting from the top level of the HIM (Sys Wait Bus). To copy a drive’s information using Copy Cat: 1. At the HIM, press ENTER. A message similar to the following appears: Choose Mode Display...

  • Page 271: Pasting A System's Information

    Using the Human Interface Module (HIM) 10. Repeat steps 8. through 10. until the complete name you want appears. 11. Press ENTER. The cursor moves to the location number. 12. Press ENTER. A message similar to the following appears: B1394 Servo Drv Version 3.00 Note: The version number on the bottom of the display represent the firmware revision of the information that you will copy.

  • Page 272: Auto Tuning

    C-10 Using the Human Interface Module (HIM) 6. Press ENTER. The system records your choice and a message similar to the following appears: HIM -> Drive 1 FIRST 7. If you have more than one copy of the contents of a drive stored in the HIM, press either the up or down arrow key until the number assigned to the information you want appears.

  • Page 273: Getting An Overview Of Him Programming

    Using the Human Interface Module (HIM) C-11 2. Set [Vel Damp Sel], [Desired BW], [ATune Vel], and [ATune Current] parameters as desired. Note: Normally the default values will be OK. 3. Select [ATune Sel]. Verify that the axis is disabled and the drive has not faulted.
  • Page 274 C-12 Using the Human Interface Module (HIM) Figure C.4 HIM Programming Flow Chart OPERATOR LEVEL Power-Up Mode & Status Display "Choose Mode" MODE LEVEL Display Program Link Startup (Read Only) (Read and Write) FILE LEVEL Set Links Continue Clear All Links Reset Sequence Choose File Choose File...
  • Page 275 Using the Human Interface Module (HIM) C-13 OPERATOR LEVEL MODE LEVEL EEPROM Search Control Password Status FILE LEVEL Control Logic Reset Defaults, Parameters Login, Logout, Warning Queue Recall Values, Links Modify Fault Queue Save Values GROUP LEVEL ATune Torq AnBklsh Conf Mtr Data Linear List Config...

  • Page 276: Removing The Him

    C-14 Using the Human Interface Module (HIM) Removing the HIM You can remove the HIM and use it as a hand-held unit, up to 10 meters (33 feet) from the system. ATTENTION: To avoid an electric shock hazard, use extreme caution when removing/replacing the HIM cable.

  • Page 277: Setting Up The Him For Hand-Held Use

    Using the Human Interface Module (HIM) C-15 8. Press ENTER. The following message appears: Control Logic Enabled 9. Press SEL. The cursor moves to the bottom line. 10. Press either the up or down arrow key until the following appears: Control Logic Disabled 11.

  • Page 278: Placing The Him In The Him Cradle

    C-16 Using the Human Interface Module (HIM) Placing the HIM in the HIM Cradle To put the HIM in the HIM cradle: 1. If it’s not already connected, connect the SCANport cable to the HIM. 2. With the keypad facing you, slide the top of the HIM up into the HIM cradle and push the bottom end of the HIM into the cradle until the tabs latch the HIM.

  • Page 279: Catalog Numbers

    Appendix Catalog Numbers Understanding Catalog Catalog numbers consist of various components that make up a 1394 system. Each character of the catalog number identifies a specific version Numbers or option for that component. The first four numbers represent the family of products (for example, 1394).

  • Page 280: System Modules

    Catalog Numbers System Modules 1394 System Module Bulletin Input Input Factory Installed Type Number Voltage Phase Rating Options 1394 C = Series C enhancements Blank = No Series C enhancements S = System module J = 360/480V AC, 50/60 Hz T = three-phase 05 = 5 kW 10 = 10 kW...

  • Page 281: Cnc Serial Drive System Module

    Catalog Numbers CNC Serial Drive System Module Bulletin Auxiliary Auxiliary Rating Number Feedback Feedback 8520-SER 5 = 5 kW 10 = 10 kW 22 = 22 kW 2Q = Two ports Encoder Feedback Blank = no option 4Q = Two more ports Encoder Feedback Blank = no option Note: Refer to 9/Series Integration and Maintenance Manual (publication 8520-6.2) for more information.

  • Page 282: Axis Modules

    Catalog Numbers Axis Modules Output Bulletin Type Number Designator 1394 C = Series C enhancements Blank = No Series C enhancements AM = Servo amplifer module 03 = 2 kW 04 = 3 kW 07 = 5 kW 50 = 15.6 kW 75 = 23.8 kW IH = AM50 and AM75 with inside cabinet heatsink (Series C only) Blank = 03, 04, 07, and AM50 and AM75 with through...

  • Page 283: System Module Cables

    Catalog Numbers System Module Cables Control Interface Cables Bulletin Number Type 1394 SA15 = 5.9 m (15 ft) cable for the 1394 Servo AQB interconnect to the motion controller. GE15 = 5.9 m (15 ft) cable (drive-end connector on one end and flying leads on the other) from an external encoder to the 1394 GMC system module.

  • Page 284: 1326Ab Servo Motors

    Catalog Numbers 1326AB Servo Motors Flange Motor Bulletin Motor Frame Standard and Shaft Winding Type Voltage Feedbacks Number Length Series Options Series Designator 1326 AB = Ferrite AC Servo Motor B = 480/360V AC 4 = 108 mm frame diameter (115 mm bolt center) 5 = 149 mm frame diameter (165 mm bolt center) 7 = 194 mm frame diameter (215 mm bolt center) Sequentially numbered to indicate the magnet stack length within a given...

  • Page 285: Motor Junction Box Kit For 1326Ab Motors

    Catalog Numbers Motor Junction Box Kit for 1326AB Motors Bulletin Description Type Number 1326AB MOD = Modification Kit RJAB1 = Kit for all B4 and B5 series motors RJC1 = Kit for all B7 series motors Note: The motor comes standard with IP65 plug style connectors mounted radially to the motor. This kit allows the connectors to be brought out axially to the motor without further wiring.

  • Page 286: 1326As Servo Motors

    Catalog Numbers 1326AS Servo Motors Motor Flange Bulletin Frame Motor Winding and Shaft Standard Number Type Voltage Series Length Designator Series Options 1326 AS = Rare Earth AC Servomotor B = 460V AC 3 = 75 mm (Approximate stator size) 4 = 100 mm (Approximate stator size) 6 = 150 mm (Approximate stator size) 8 = 200 mm (Approximate stator size)

  • Page 287: Motor Junction Box Kit For 1326As Motors

    Catalog Numbers Motor Junction Box Kit for 1326AS Motors Bulletin Number Type 1326AS RJ34 = Right angle junction box for B3 and B4 series motors. Note: The motor comes standard with IP65 plug style connectors mounted radially to the motor. This kit allows the connectors to be brought out axially to the motor without further wiring.

  • Page 288: 1326Ah Servo Motors

    D-10 Catalog Numbers 1326AH Servo Motors For specifications and a detailed description of the 1326AH Hazardous Duty motors, refer to 1326AH Hazardous Duty Motors Product Data (publication 1326AH-TD001B-US-P). Number of Motor Bulletin Number Bolt Circle and Frame Size Magnet Stacks Speed Frontbell Brake Size...

  • Page 289: Power And Feedback Cables

    Catalog Numbers D-11 Power and Feedback Cables Motor Power Cables Bulletin Connector Motor Size Flex Cable Cable Type Function Accessory Rating Used On Option Length Number 1326 C = Connector and cable assembly P = Power connection B1 = 1326AB-B4 xxxx , -B5 xxxx or 1326AS-B3 xxxx , -B4 xxxx C1 - 1326AB-B7 xxxx , or 1326AS-B6 xxxx , -B8 xxxx T = Flex-rated cable for high-flex applications...

  • Page 290: Motor Feedback Cables

    D-12 Catalog Numbers Motor Feedback Cables Bulletin Connector Motor Size Flex Cable Cable Type Function Accessory Rating Number Used On Option Length 1326 C = Connector and cable assembly C = Resolver feedback EC = High-resolution U = Commutation and encoder cable for all series motors T = Flex-rated cable for high-flex applications Blank = No option, standard cable Blank = Single-standard connector...

  • Page 291: Miscellaneous Accessories

    Catalog Numbers D-13 Miscellaneous Accessories The following additional accessories are also available: Manufacturer’s Accessory: A-B Catalog Number: Number: Terminal operating tool 1394-194 Terminal operating tool, steel 1394-194S Brake and thermal axis connector kit 1394-199 Cable ground clamp kit 1394C-GCLAMP 1394-CCFK resolver feedback connector kit, (includes the 1394-CCFK connector, pins, and extraction tool to connect to 1326- CCU- xxx motor feedback cables)
  • Page 292 D-14 Catalog Numbers Publication 1394-5.0 — May 2000...
  • Page 293 Index Numerics 1394 System Safety Precautions 1-2 1394-DCLM 1326 cable pin-outs checking for a blown fuse 9-23 1326-CCUT- xxx flex rated commutation DC link cable 1-14 cable B-23 dimensions A-18 1326-CCU- xxx standard commutation cable B-23 linking two DCLMs together 2-11 1326-CECU x - xxx L- xxx high-resolution feedback mounting 2-11 cable B-24...
  • Page 294 I–2 Index replacing AM50 and AM75 fan 9-28 1326AH D-10 installing the new fan 9-31 1326AS D-8 removing the fan 9-28 shaft oil seal kit specifications A-3 1326AB motors D-6 1326AS motors D-8 AxisLink 4-14 shunt modules for 22 kW D-4 extended length 4-15 system module extended node (GMC Turbo) 4-15...
  • Page 295 Index I–3 DC Link Module (DCLM) external shunt modules See 1394-DCLM catalog numbers D-4 mounting 2-15 DCLM mounting inside the cabinet 2-14 See 1394-DCLM mounting outside the cabinet 2-13 digital torque orientation 2-12 defining for analog servo 7-9 external shunt resistor digital velocity connecting 3-26 defining for analog servo 7-8...
  • Page 296 I–4 Index feedback mounting adapter kit catalog numbers HIM 7-2 1326AB motors D-7 continuing from where you left off 1326AS motors D-9 (analog servo) 7-2 filters control status mode C-6 dimensions A-20 copy cat feature C-7 specifications A-4 disconnecting from the system module C-14 flex I/O 4-16 display mode C-5 fuses...
  • Page 297 Index I–5 custom for analog servo 7-6 for analog servo 7-5 mounting 9/440 system 9-3 1394-DCLM 2-9, 2-11 analog servo system 9-2 1394-DIM 2-9 axis module 7-3, 9-2, 9-4 axis modules 2-9 CNC Interface system 9-3 external shunt modules 2-11 GMC system 9-2 external shunt resistor 2-11 I/O ring status 9-3...
  • Page 298 I–6 Index resetting software diagram critical drive parameters 6-4, 6-5 1394 analog servo, part 1 8-28 the system 6-4, 6-5 1394 analog servo, part 2 8-29 specifications A-1 1394-DCLM A-4 1394-DIM A-4 saving axis module A-3 enabling 6-5 certifications A-1 circuit breakers A-6 SCANport communications A-11...
  • Page 299 Index I–7 system module input power conditioning 3-5 catalog numbers D-2 routing cables 3-3 dimensions A-17 shielding 3-4 installing a replacement 9-20 wire sizes 3-4 LED 9-2 understanding DIM signals 4-24 power dissipation A-10 analog output 4-25 removing 9-19 drive enable output 4-25 specifications A-2 DROK 4-24 system mounting requirements 2-3...
  • Page 300 I–8 Index Publication 1394-5.0 — May 2000...
  • Page 301 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 1394-5.0 — May 2000 74102-200-07 Supersedes Publication 1394-5.0 — November 1999 Copyright 2000 Allen-Bradley Company, Inc. Printed in USA...

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