allen-bradley 1391 AC Instruction Manual

1391

AC

Servo

Document

Controller

Update

un

Introduction

Page

1-5

Page

2-1

Instruction

publication

This

Manual

your

The

-

The

Speed

(1391-5.1,

manual

following

Anti-Backlash

Provisions

available. Linear

Linear This

for

be

Accel/Decel

accel/decel

module

to

up

set

for

following

Regulation

provides

for

future

is

updated

to

use

provides

four

preset

all

speeds.

specification

Manual

updated

October,

dated

reference.

Option/Modification

the

can

0.05%

Anti-Backlash

1388

be

set

a

manually

speeds.

has

(max.)

A

information

1992).

using

the

generated

single

been

added.

of

maximum

for

the

1391

Instruction

Please

information.

module

CR-APG-001

trapezoidal

acceleration/deceleration

speed

motor

place

(1388-XA)

with

this

publication

Control

velocity

95%

load

change

with

are

Module.

profile

can

rate

Page

3-3

5-4

5-8

7-4

Planetary

The

addition,

External The

Bus

Scaling

Table

Typical

Motor

Number2

1326AB-A1G

The

several

Shunt

following voltage

information

5.C

Scaling

Catalog

following

Following

Gearbox

descriptions

Regulator

sentence

can

be

for

1326

(A)

lc

4.5

error

Error

=

catalog

supplements

monitoredonterminals

for

the

AC

example

Velocity

Gain

number

have

Resistor

1326AB-A1G

Servomotors

1391B-AA15

4

should be

1

00

1

been

(TB5,

the

S1

ipm

ipm/ml

description

clarified.

current

Switch

added

=

is

Refer

Terminals

material.

(+)

9

and

has

motor

Setting1

1391B-AA22

3

to

step

ml

100

being

to

pages

8,

9,

(-)

7

of

been

added.

1391B-AA45

15.

added.

10)

TB5.

In

and

2

3.

Document

1391

Instruction

Update

Manual

1326AB-

First

Position

Bulletin Number

PG

Second

Type

Code

PG

RP

Position

Description

Straight

Planetary

Right

Angle

Planetary

Gearbox

A

Third

Used

Motor

Code

A

B

C

Position

on

1326AB

Series

Description

A

Series

B

C

Series

Bulletin

Planetary

1391B

Gearbox

05

Fourth

Position

Gear

Ratio

(Motor

Shaft:

Description

Code

3:1

03 05

5:1

10:1

10

15:1

15

20:1

20

30:1

30

50:1

50

100

100:1

Controller

Output

Shaft)

LB

Position

Fifth

Options

Code

Blank

LB

Description

Options

No Low

Back¬

Option

lash

21

Sixth

Position

Adapter

Description

Code

Metric

21

English

11

1391

First

Position

Bulletin Number

Description

Code

B

Standard

B

Second

Position

Speed

Capability

Description

Letter

Standard

Blank

1391B

A

Third

Position

Type

and

Construction

Description

Letter

Frame,

Open

A

Internal

Sink

Heat

A

Fourth

Position

Nominal

Voltage

Description

Letter

230V

A

Three-Phase

Output

AC,

Position

Fifth

Current

Rating

Number

15

22

45

Description

RMS

15A

30A

22.5ARMS

45A

90A

Peak

RMS

Peak

Cont./

Sixth

Position

Options

(if

required)

Description

Three

character

special

to

your

Contact

ley

Sales

further

information.

Description

Code

265%

A06

standard seded

24V

A07

(22A

240V

A08

(15/22A

Zero

A11

1

391

1391B-ES

Rare

A12

xxx

assigned

field

modifications.

local

Allen-Brad-

Representative

torque

peak

(super¬

1391B

B-ES)

by

1391

DC

Contactor

Only)

AC

Contactor

Only)

option

current

(superseded

B

with

A13

Motor

Earth

for

using

Coil

for

by

option)

Option

2

Document

1391

Instruction

Update

Manual

1388

Bulletin

Description

1388

CR-APG

1

combinationofthe

A

No.

Accessory

Module

Description

Code

Accessory

X

Module

1391

Blank

X

1

388-XB

for

Modules

Accessory

andXCis

B

Description

Code

Anti-Backlash

A

B

Accel/Decel

'

1

Velocity

C

Linear

001

preset

superseded

Module

w/mounting

Board

Reference

Accel/Decel

speeds

by

Board

CR-APG-001

the

w/mounting

rack

w/mounting

w/power

.

assembly

rack

supply

&

4

1326

First

Position

Bulletin Number

Second

Type

Letter

C

Assembly

CC

Connector

on

ends

use

1391

c

Position

Description

Connector

Cable

&

both

(for

with

C-HB)

Third

Position

Function

Description

Letter

P

Power

F

Commutation

Feedback

E

845H

V

All

Resolver

P

Connection

Encoder

(108

4.25"

Packages

Power

&

mm)

and

Feedback

AB

Fourth

Position

Size

Motor

Used

On

Type

Code

AB

Series

(except

C

Series

1326AB-B4

U

All

Cables

A

B

&

1326AB-B4)

C

&

Series

Fifth

Position

Power

Cable

Letter

T

Blank

T

Track

Description

Series,

All

used

for

high

flex

applications

Standard Cable

15

Sixth

Cable

Length

Code

K

15 30

50

100

Position

Description

Connector

(No

Cable)

(4.6m)

15’

(9.1m)

30'

(15.2m)

50’

(30.4m)

100’

Kit

3

Document

1391

Instruction

Update

Manual

External

Shunt

Regulator

Resistor

Page

7-6

1391

Bulletin Number

-

Type

Code

MOD

Description

Modifica¬ tion

Kit

Linear

The

with

provides

controller. The

profiles

Accel/Decel

following

the

1391

when

Description

Code

SR22A SR45A

information

Linear

Accel/Decel

adjustable

to

Up

can

be

the

SR22A

Description

Regulator

Shunt

Regulator

Shunt

Control

Module

new

is

Control

acceleration/deceleration

four

remote

manually

moduleisinstalled

or

operated

Resistor Resistor

and

Module

local

preset

with

as

for for

explains

Controller

22.5A

Controller

45A

manual

(CR-APG-001).

control

speeds

controlled

follows:

controller

the

for

are

1391

available.

trapezoidal

operation

This

motion

module

1

.

Perform

2.

Remove

3.

Install

shown

4.

Set

maximum Accel

(minimum

Important:

bi-directional. counterclockwise rotation

Accel/Decel

increase

4

all

the

Start-Up

all

system

interconnect

and

in

Figure

of

the

clockwise

and

Decel

accel/decel

All

will

decrease

pots

time.

Procedure

power.

7.3.

Refer

Speed

pots

position

to

pots

time).

potentiometers

The

Local

rotation

output.

will

decrease

presented

the

Linear

to

(SPD

the

Speed

will

Accel/Decel

Figure

1-SPD

(speed

maximum

the

on

pots

increase

Counterclockwise

time,

earlierinthis

Control

7.4

minimum).

are

while

dimension

for

4

or

remote

pots)

Set

counterclockwise

setup

are

15

such

clockwise

and

rotationofthe

module

output

clockwise

chapter.

Module

information.

the

to

front

the

position

turn,

that

rotation

as

panel

will

Document

1391

Instruction

Update

Manual

Apply

5.

this

that

between locatedonthe

Select

6.

To

select

a)

Connect

shown

b)

Energize

24V

c)

Energize

with

“R/L

d)

Repeat

Important:

the

To

select

AC

1

15V

voltage

terminals

Remote

an

Figure

in

the

DC

or

the

same

the

LED

1”

steps

resulting

Local

terminals

to

is

present.

9

front

of

or

Local

Speed

external,

7.3.

1

R/L

AC.

115V

speed

voltage

will

a

through

more

If

speed

Speed

1&2

Also

(+)

and

the

2

module

speed

ohm,

lk

(terminals

input

input,

select

usedinthe

illuminate.

for

c

one

than

the

velocity

for

of

verify

(-)

of

will

control.

1/2

SEL

any

of

speed

Using

J3.

+10V

that

Jl.

The

illuminated.

be

speed

watt

&

3

4

(terminals

1

other

is

selected

profile

voltmeter,

a

DC

is

“ON/OFF”

potentiometer

J2)

with

of

1

The

step.

three

preset

the

at

will

not

be

verify

present

LED

as

either

2

front

of

J2)

panel

&

speeds.

time,

same

predictable.

a)

Energize

with

either

will

illuminate.

b)

Repeat Important:

resulting

the

Important:

will

be

used.

pot

a

monitoring

7.

remote

Connect

While

counterclockwise

Toggle

DC.

changeinpolarity.

the

polarity

If

FWD/REV

of

the

Important:

accel/decel

the

speed

24V

the

above

more

If

speed

In

the

your

If

should be

voltmeter

FWD/REV

the

does

Changing

times

select

DC

or

step

than

for

following

application

substituted

between

meter,

the

until

the

change,

not

relay

and

direction

on

the

set

input,

15V

1

for

one

the

output

switch.

module.

SEL

AC.

of

any

the

speed

velocity

steps,

utilizes

for

terminals

the

turn

voltage

The

recheck

with

(terminals

1

front

The

other

is

selectedatthe

profile

local

the

remote

1

SPD

(+)

1

speed

is

voltage

the

speed

&

1

“SEL

panel

preset

three

will

not

be

control

speed

pots,

.

and

pot

approximately

wiring

(-)

10

(SPD

1

measured

and

follows

input

or

connections

J2)

of

2

LED

1”

speeds.

time,

same

predictable.

(SPD

1

the

Jl.

of

remote)

+10V

should

the

)

8.

Move

The

the

meter

should

leads

indicate

controller

to

a

voltage

terminals

of

approximately

(+)

(-)

&

1

2

+10V

of

TB2.

DC.

5

Document

1391

Instruction

Update

Manual

9.

10.

11.

A

Rotate

approximately

De-energize

time

Energize

reach

Adjust

range

time

fully

the

Accel

the

Accel/Decel

the

0.25

is

be

for

DC

set

needed

+10V

will

clockwise

ATTENTION:

from

the

injury,

energized.

remove

the

output

and

7

turns.

SEL

meter

the

1

SEL

module

input

(maximum).

seconds)

to

6.5

during

minimum

for

To

and

“Bypass”

Applying

Accel/Decel

to

immediately

Decel

1

input

pots

final

protect

possible

input

24V

pots

(terminals

voltage

note

and

for

by

system

speed.

(terminals

DC

pot

ramp

(located

reach

to

the

desired

repeating

calibration.

Remove

against

machine

or

1

settings

to

1&2

time

ramp

rapid

15V

from

+10V

on

the

of

zero

needed

times

step

10.

the

accel/decel

damage

&

19

20

AC

to

the

DC

module

J2)

(minimum)

Rotate

SEL1

this

or

front

and

for

the

(approximate

The

final

the

input.

commands

or

personal

J2)

must

of

input

circuit,

zero

volts.

panel)

the

note

volts.

voltage

ramp

speed

not

will

causing

to

pot

be

12.

A

The

output

terminals

cause

will

be

connected

“Dedman”

Energize

off.

of

10

the

When

LED

the

&

1

module

to

“Deadman”

ATTENTION:

to

begin

controllerisenabled.

(MCB)

This

component

proceeding

components

rotate

or

the

movement

malfunction

with

module

1

of

this

logic

will

and

branch

can

During

may

is

controlled

Jl.

Applying

to

operate.

input

is

ground,

illuminate.

input

subsequent

cause

Be

prepared

circuit

be

due

and

this

procedure.

occur

due

by

24V

The

front

de-energized,

disabling

thus

24V

with

incorrect

machine

to

disconnect

to

a

wiring

be

must

Damage

to

uncontrolled

the

“Deadman”

DC

or

panel

the

output.

DC

or

steps,

the

remove

deviceifthis

error

corrected

to

15V

AC

1

“Dedman”

module

At

115V

servomotor

movement

power

or

system

before

machine

input

this

to

LED

output

point

this

AC.

may

when

by

opening

occurs.

system

movements.

at

input

will

the

6

Document

Instruction

1391

Update

Manual

13.

Apply by

selecting

speed

The

motor

pot).

SEL

the

If

Current

motor

potentiometer.

the

If

toggle

With

14.

Offset information

Important:

time

power

pot,

(i.e.

If

1.

controller

to

speed

SPD

IV

should

the

motor

Remove

Limit

is

stable.

application

switch

a

pot

zero

to

velocity

(Rl)

on

The

(several

minutes)

the

controller

input,

SELl.

represents

that

1

DC).

slowly

rotate

is

uncontrollable

and

power

all

current

limit

potentiometer

Refer

to

Chapter

requires

check

to

set

this

motor

reverse

operation

command

zero

adjustment.

may

even

and

module.

Command

approximately

control

under

or

rotates

wiring.

check

functionisused

(R148)

motor

begin

though

for

5

direction,

the

in

from

speed.

to

the

move

the

Initiate

a

desired

the

more

reverse

module,

Refer

slowly

Offset

a

Start

through

speed

10%

of

(following

incorrectly,

-

slowly

setting

information

use

the

FWD/REV

direction.

use

the

to

Chapter

after

is

set

pot

command

the

maximum

speed

the

de-energize

the

adjust

after

on

the

controller

for

5

a

period

zero.

to

the

this

more

of

Rotate

15.

Velocity

speed.

Check

16.

application.

17.

applicable,

If

speed

the

Command

the

accel/decel

Refer

repeat

pot

to

(SPD

Scale

rate

steps

1)

fully

(R132)

pot

settings

&

10

for

6-16

counterclockwise.

give

of

selected

the

other

to

at

speeds

1

1.

any

Adjust

desired

for

3

preset

the

motor

the

speeds

7

Document

1391

Instruction

Update

Manual

--

*

24V

DC

115V

r

1

»

2

1

r-\

—

LH

hrZL

Remote

Speed

Remote

Speed

---

Remote

Speed

3

1

---

-j

Remote

Speed

4

(+)

1

R/L

or

AC

R/L

R/L R/L

R/L

SEL

SEL2(+)

SEL

SEL SEL

3

(-)

1

\J

(+)

2

[7,

(-)

2

(+)

3

pT.

3

H

tir

(+)

4

[l*

(-)

4

[fir

(+)

1

rr

(-)

1

[2

[5,

(-)

2

[Pÿ"

3

(+)

[Q

3

(-)

[fir”

(+)

4

Pj3

(-)

4

14

Figure

Linear

+10V

Local

Speed

1

J1

Local

Speed

J1

ri

Local

Speed

JI

I

—

Local

Speed

J2

>

2

3

4

7.3

Accel/Decel

DC

1

SPD

Select

SPD

2

Select

_

«3

»-l

I

SPD

3

---

SPD

Select

|

r-U-

4

Select

i

Control

Local

Remote

1

___

i

Local

Remote

,

>-!

2

j

I

i

I

Local

Remote

,

3

T

i i

A

I

i

Local

L

Remote

>*•;

I

4

l

J

TTA

i

:

I

l

J

Module

Speed

1

Select

n

__

Speed

,

Select

2

i

l

I

•A

i

—

i

__

Speed

Select

3

-

TT

A

l

I

_

r-U

i

:

Speed

:

Select

4

I

TT

i

t

:

l l l

i

I

J

Wiring

_

Direction

Change

X

JZ

•

i

I

i

Ramp

Generator

t

1

*

i

I I

i

l

Decel

Change

Accel

Direction

Select

4

Ramp

Select

Enable

Select

<

J2

<|

J2

<

J1

<

J3

DC

24V

115V

AC

V V

I

FWD./REV.

W-

—

18

+

J9

”

20

22

10

RDOC

-

1

2

—

ii

—

Invert

Bypass

M

Deadman

115VAC

Power

<»

to

TB2-1

TB2-2

to

Supply

A

or

>

CONTROL

50/60

AC.

O

o~Cp-

CIRCUIT

HZ.

—

Start

o

M*

TB4-13

o

TB4-14

o-gG

Motor

TB4-12

TB4-11

I

0K

I I

l

-ÿCR2ÿ

—

0-

TYPICAL

115V

STOP

QJLD-

—

*

component

Indicates

1

only

Required

8

with

located

IMC

110,

in

controller

120,

121

AND

123

controllers

TB4-17

Forward

o

CR

DROK*

Y

o-

TB4-18

Reverse

—

LS

O

Transformer

Figure

Linear

0.41

7.4

Accel/Decel

(10.3)

Control

Module

4.25

3.44

Document

1391

Instruction

Dimensions

(108.0)

(87.3)

Update

Manual

E

0.50

8.12

(206.2)

(12.7)

0.75

(19.1)

n

Dimensions

o

are

2.75

inches

in

(69.9)

(mm)

o

u

7.25

(184.2)

0.75

(19.1)

0.5

(12.7)

9

Document

1391

Instruction

Page

9-3

Update

Manual

©_

Drawing

numbers

1391

shown.

Isolation

Dimensions

has

been

Transformer

in

are

inches

updated

(millimeters)

and

0.22

i

0.53

(13.5)

and

“NT”

Dimensions

(5.6)

R

h«-

0.44

(11.2)

Ref.

has

been

added

to

Jyp.

the

30°

catalog

B

Max.

Catalog

1391-T015DT 1391

1391-T025DT

1

Number

-T01

5ET/NT

391

-T025ET/NT

1391-T035DT

1

391

-T035ET/NT

1

391

-T050DT

1391-T050ET/NT

1391-T100DT 1391-T1

00ET/NT

1391-T150DT 1391-T1

50ET/NT

kVA

1.5

2.5

3.5

5.0

10.0

15.0

C

D

Max.

A

(228)

9.00

(228)

9.00

11.00(279)

12.00(305)

13.00(330)

Slot

B

10.00(254)

10.00(254) 13.00(330)

11.00(279)

11,00(279)

11.00(279)

12.50(317)

14.00(356) 17.50(444)

14.00(356)

C

13.00(330)

14.00(356)

16.00(406)

17.50(444)

D

5.00(127)

6.00(152)

8.00(203)

9.50(241)

[7

E

A

Max.

E

3.10(79)

3.50(89)

3.30(84)

4.00(102)

4.50(114)

5.25(133)

6.00(152)

5.85(149)

6.00(152)

3

Weight

(12.2)

27

(18.2)

40

(19.0)

42

(27.2)

60

60(27.2)

85(38.6)

75(34.0)

100(45.4) 112(50.8)

140(63.6) 150(68.0)

200(90.9)

Page

10

9-3

The

Qty.

2

4

8 8 8

following

Description

Mounting

Steel

x

3/8-16

3/8-16x1.5

Flat

3/8

Split

3/8

Hex

3/8-1

6

items

HHCS

1.0

HHCS

Washer

Lock

Nuts

are

included

Channels

Screw Screw

with

the

NEMA

Type

Enclosure.

1

Document

Instruction

1391

Update

Manual

Appendix

B

The

following

Appendix

Diagram

changes

B.

Interconnect

addedatresolver.

IMC

8400

8600

MAX/CONTROL

contact

IMC-S/20x

IMC-S/21X

I

MC-S/23x

IMC-201 IMC

110

9/Series

Note

10

has

been

Note

added

diagrams.

New

Removed. Removed.

diagram.

New

added.

diagram.

New

diagram.

New

diag

New

New New New

ram

diagram. diagram.

information.

added.

have

C.T.

to

.

been

of

CR2

Notes

madetothe

transformer.

M

contact

and

terminal

interconnect

CR2

added

added.

designations

block

to

Control

diagrams

Circuit.

have

been

in

Capacitors

clarified.

M

Notes:

)

Power

1

5A

22.5A

45A

Signal

2)

Allen-Bradley

3)

8

12

Resolver

4)

Customer

Belden between

5)

Terminate

6)

Do

7)

F3

8)

P1

9)

Current

0)

On

1

must

Wiring

Wiring:

(8.4

AWG

9873

not

make

provided

inserted

Feedback

Series

all

not

unless

AW6

AWG

(8.4

AWG

18

Supplied

mm2)

equivalent,

or

on

(3.3

(5.3

Motor

Resolver

12

10 8

(3.3

Supplied

conductors.

shield

connections

&

15

on

,5V/krpm,

1

for

Scaling:

D

controllers

grounded.

be

Noted:

mm2) mm2)

mm2)

(0.8

Cable:

source

to

22.5a

See

(verify

Grounding

min. min.

min.

mm2)

126473

126474

116190

Cable:

AWG

20

end

unused

units

removed

P1

Chapter

75C

min.

75C

min.

75C

min.

(0.5

only.

pins

15A=KLM-10,

only.

for

5

controller

with

will

this

mm2),

30

on

the

2.5V/krpm

cause

pf/ft

(97.5

resolver

connector.

22.5A=FNQ

nameplate)

damage

to

pf/m)

6

secondary

the

controller.

max.

1/4

capacitance

series

B

center

only.

tap

11

Document

1391

Instruction

Update

Manual

Figure

1391

B.1

Interconnect

Diagram

EXTERNAL

CURRENT

(IF

SUPPLIED

CONTROLLER

MOTION

(Volts)

12-120

220-240

380480 500-600

Minimum

LIMIT

USED)

CNC

BY

Maximum

Ratings

ACII

Ue

greater

be

VELOCITY

OR

COMMAND

OR

"M"

Contact

le

(Amps)

6 3

1.5

1.2

contact

than

TORQUE

10K

1/2W

MINIMUM

RUN

CURRENT

DCII

Ue

(Volts)

28

110

220

440 660

current

50

TACH

(NOTE

CMD

I

TB4-15

Ratings

le

(Amps)

5.0

1.25

0.62

0.27

0.20

must

mA

»

\

L-

-

*

NOTE

5

OUTPUT

8)

OUTPUT

n*

TB4-16

RESET

PWR.COM.

BUS

LOW

FOLDBACK

TB4

TB4 TB4

TB4

TB4 TB4

,

TB2

4-

-

f

I

TB2

TB2U

TB2[jf]

TB2[i

TB2[7i

TB2[8

TB2

TB2H7

TB2

TB2R5

TB2[K

TB3(|

TB3(7

da

M

[jj

S

_LM

nf

J-M

1

115VAC

AMP

I

DR

-±

(CLOSED

ra

-

SPARE

[22]

-REF

CD-LJN

2

9

CR

SHIELD

4.99K

a

(5.0V

INPUT

(

/-2.5VDC/KRPM

+

(

/-1.5VDC/KRPM

+

(

/-3.0VDC

+

©

ENABLE

(MOMENTARILY

TACH

IN

PRELOAD

o

OK

I

DC

=

t

INPUT

(WHEN

OK)

=

I2VDC

200%

=

-

RATED

ENABLE

GND

D5I

DS2

DS3

DS4

DS5

DS6

DS7

DS8

l-LIMIT)

OUT)

P1

IN)

P1

MOTOR

TO

USED

DRIVE

(

3

CONTROL

BUS

m

YjCURRE

’t®

GRUN

G

DRIVE

CURRENT)

SOURCE

RESET)

ANTIBACKLASH

IN

OVERTEMP

FAULT

POWER

OVERVOLTAGE

UNDERVOLTAGE

NT

FOLDBACK

ENABLE

READY

I2VDC

5mA

CONFIGURATION)

TYPICAL

GROUND

LUG

CURRENT

SCALING

CHASSIS

WALL

BUS

SUPPLY-

(230VAC)

SI

FOI

2

7

A

m

g

FEEDBACK

(NOTE

RI32

SCALE

*0

R

OFFSET

RI44

VEL

GAIN

*0

RI48

CURRENT

L

*

S

STAR

WASHER

d

*

LOGIC

SUPPLY

(35.5VCT)

0C

IM

IT

3.0VDC

I

00%

NUT

RING

TYPE

LUGS

ONLY

M

i\—G

M

9)

ITY

AT

TP2I

L

I

IM

IT

-

CONTROLLER

GROUND

STUD

FI

—(m—

I25V

5A.

M

BUSS

0X5

F2

5A,

I25V

—o—

BUSS

MDX5

MCB

O

i

I

FAN

-BUS

(NC)

R

R2

SHIELD

S‘

s3i

SHIELD

S4

SHIELD

r

TB4

I9i

TB4

20I

TB4

TB5

4

TB5

6

TBS

I

7

4-

TB5

I

TB5

2

TB5

TBl

I

I0

TBl TBl

8

TBl

5

TBl

[5

TBl

g

TBl

[7

TBl

12

CUSTOMER

SPARES

TB3|3

TB3U

NC

@

TBL

rTB4

I

|TB4

I

TB4

l

L

TB5

TBI

TBI TBI

TBI

TBI TBI TBI TBI

FROM

FROM FROM

CENTER

MUST

1

326-CPCXX

CABLE

(ROUTE

CONTROL

v

CONNECT

BLK

WHT

BLK

RED

BLK

GRN

X

CONNECT

GNO

TB1-1

MOTOR

GND

MOTOR

CABLE

TAP

CONNECTED

BE

/

A

NOTE

SEPARATELY

AND

FEEDBACK

PHASE

SENSITIVE

STUD

GND

(

AWG)

I2

\

I

TO

STUD

OF

7

I

(WHEN

TO

A

CAUTION:

SENSITIVE.

LINES

CORRECTLYATBOTH

FORMER

IN

DAMAGE

SHIELD

EMI

SECONQARY

Y

TO

TB4-20

PHASE

CUSTOMER

TO

FAULT

CIRCUIT

BRAKE

SUPPLIED)

FROM

WIRING)

{:

THESE

LINES

FAILURE

CONTROLLER

AND

THE

TO

NOTE

INSENSITIVE

A

1326-CFUXX

CABLE

PHASE

ARE

TO

CONNECT

TRANS¬

THE

WILL

CONTROLLER.

\

I

SECONDARY

|Y

10

I

SHIELD)

X(EMI

NOTES

NOTE

NOTES

THESE

RESULT

9

6

7

8

i

2

3

4

5

<Bf

I

3

AND

BLK

WHT

-<

KCf

6

BLK

-<

REO

X

GRN

-X

BLK

-<Hf

X

4

3

AND

DISCONNECT

C

<

Gf

<

Hf

<

If

<

Df

<

<Ef

Ff

X

Af

X

Af

<

B(-

of-

E

<

F

Gf-

!f-

Jf

TTT

BRANCH

v

f

4”

CIRCUIT

DEVICE

MPT

X

SECONDARY

MOTOR

1

326AB-CXX

K

I

K2

Bl

B2

Tl

T2

12

WIRE

DRAIN

GNO

i

REO/WHT

VEL/MX,

RED

BLK

YEL

BLU

6800'*

X.

*.

R2

Sl

S3

S2

S4

EARTH

GROUND

CONNECTIONS

MOTOR

R

I

RESOLVER

CABINET

1326AB-B4X

AND

GROUND

FOR

TO

FAULT

,

(WHEN

Document

1391

Instruction

Stop

Q_i_D-

—

DROK*

TB4-17

BUS

CUSTOMER

CIRCUIT

BRAKE

SUPPL

IE

1

326-CPABXX

CABLE

CONNECT

GRD

TO

STUD

AWG)

(16

1326-CFUXX

CABLE

Update

CR

\\

TB4-18

*

Indicates

[i

D)

d

{

I

NOTES

BLK

WHT

NOTE

BLK

RED

GRN

BLK

NOTES3ANO

Manual

Typical

-115V

LS

-o-=rc>

Transformer

component

THE

THERMAL

BRAKE

NEAR

CAN

PICK

ISOLATION

DEVICES

<

<Ef

<

<cf

X

2

X

3

XBf

3

AND

<

6

-<cf

<

<Ef

X

< <

X X

4

Control

AC,

50/60

0ÿ0-

locatedincontroller

IMPORTANT:

SWITCH

WIRES

ARE

POWER

MOTOR

PWM

UP

FROM

MAY

BE

MOTOR

1326AB-BXX

K

I

Af

K2

Bl

Df

B2

T

I

Ff

T?

if

T3

DRAIN

Gf

Hf

REO/WHT

Af

YEL/MV

Bf

RED

Df

BLK

rf

YEL

Gf

BLU

Hf

If-

J

f-

Circuit

HZ.-

Start

o

M*

TB4-14

TB4-13

-

O-tjC

Motor

AND

ROUTED

AND

RADIATION.

CONTROL

REQUIRED.

CONNECTIONS

1326AB-AXX

AND

MOTOR

WIRE

i

680°

Pf

Rl

nr

si

S3

sz

S4

RESOLVER

TB4-11

FOR

l

0

TB4-12

—

TB5

SHUNT

BUSS

45A

W/EXTERNAL

SHUNT

REG

KLM20

UNIT

REGULATOR

SHUNT

RESISTOR

FUSE

RESISTOR

REG/OB

CONNECTIONS

TT'BS

ffl—

TB5

Do]—

TB5

|9j

*BUS

NC

L

UNITS

:22.5A

15

W/INTERNAL

I

RESISTOR

r

NC

rjn

m

TB5

SHUNT

BUSS

22.

W/EXTERNAL

REG

KTK-I5

A

5

SHUNT

(RESISTOR

FUSE

UNIT

REG/OB

RESISTOR

13

Document

1391

Instruction

1746-HT

Update

Manual

Figure

Typical

B.2

IMC

115V

110

AC

Interconnect

0-r

Diagram

1

AC

(when

supplied)

1326

-<4

V

<4

«

<4

B1

_B2_

Servomotor

**

DRIVE

DR.

CH

CHZ.LO

RES. RES.

RESET

STRING

DRIVE

RET.

SHLD

ENCODER

A.

HI

0

A.

LO

SHLD

B.

HI

B.

LO

SHLD

0

Z.

+24

3

HI

3

_

%

h

ENCODER

POWER

_C

—

SEJ

DRIVE

ENABLE

0

a

3

ESTOP

V

PB PB

IN

0

L

OUT

FAST

I/O

1

f

•a

0

a

Encoder

_A_

(NOT)

A

B_

(NOT)

B

(MOV

Z

+5V

COMMON

30C

J

V4h

Overtravel

Feedback2

H

B

I

C

Stop

Reset

Remote

Hardwired

Axis

A-B

H/N

845

Encoder4

P.B.

Stop

CR

TB4

I

r=i=®

TB2

-VELOCITY

II

2l

VELOCITY

+

3

TB2

DC

+23V

[9]

M

ENABLE

TB4

m

M

a

TB4

DROK,

(CLOSED

1391

CONTACTOR

COM.

ENABLE

SOURCE

INPUT

AC,

115V

1A

OK)

=

B

Servo

Controller

Motor

Resolver

1

Referto

2

Use

3

Use

4

Maximum

8-15V

Example:

Maximum

Assuming

maximum

meters),

14

the

Belden

allowable

power

DC

Encoder

the

allowable

or

Interconnect

1391

#9504

brand

#8760

brand

supplyorlarger

requires

Allowable

cable

is

1/2

the

calculated

equivalent

or

equivalent

or

cable

distance

regulated

a

Cable

Resistance

AWG

22

resistance

Drawing

using

cable.

(0.283

.25

of

1

length.

further

for

twisted shielded

22

AWG

supply

V/l

=R=

mm2)

with

ohms.

details.

pair,

shielded

cable.

(0.283

between

(5-4.75)/

=

resistance

a

Both

the

mm2)

4.75

supply

cable,

40

cable

5.25V

and

0.20=1.25

rating

of

return

and

(1

feet

and

a

DC

and

ohms

ohms/1000

16

leads

2.2

5

V

DC

will

must

meters)

supply

draw

feet

be

maximum.

feet

39

is

(max.).

200mA

meters),

(300

considered,

Shields

1

(1

.9

A

78

so

the

grounded

meters).

5V

DC

feet

actual

greater

If

supply

(23.8

length

controller

at

being

is

meters)

the

of

cable

of

cable

only.

distance

used.

cable

39

is

will

is

have

feet

needed,

the

1

(1

.9

use

a

Figure Typical

B.3

IMC

120

Interconnect

Document

1391

Diagram

Instruction

1

Update

Manual

Termination

(1771-HT)

ESTOP

13

+24V

LINK

PB

RES. RES.

PB

RESET

OUT

STRING

IN

a

FAST

r

DRIVE

DR.

RET.

SHLD

IE?

RESOLVER

"3

ROTLO

L

r

ENCODER

HI

CH

A.

3

CHA.LO

SHLD

CH

B.

HI

CHB.LO

CH

Z.

HI

CHZ.LO

SHLD

h

ENCODER

+5V

3

+5V

RET

+15V

RET

SHLD

PWR

EXT

RET

L

f

Panel

2

z

o

c

2

0

1

c

Z

2

:

0

C

c c

0

:

0

3

2

2 2

-

z

0

2

:

2

3

:

POWER

c

2

2 2

0

2

0

J

V4h

Axis

Overtravel

—

3

DOC

Encoder

A

(NO~n

A

_B_

(NOT)

B

_z_

z(NO~n

+5V

COMMON

Stop

P.B.

Reset

Remote

Stop

Hardwired

|

—

CR

It

Feedback2

DOC

"H

DCC=:

DOC

B

,c

<A

A-B

845H/N

Encoder4

J

D

F

115V

y

AC

Y

0-r

TB4

OROK,

dg-a.

(CLOSED=OK)

M-3"

TB2

I]

VELOCITY

+

T|

-VELOCITY

{sH

+23V

DC

flO]

ENABLE

TB4

0

M

B

Servo

1391

CONTACTOR

AC,

115V

COM. COM.

SOURCE

ENABLE

INPUT

A

1

Controller

(when

Brake

supplied)

1326

JHK,

«

<4

«ÿ

f-

V

AC

Servomotor

-

-II

T

-

~

0ÿ0—

—

Motor

Resolver

1

Refer

2

Use

3

Use

4

Maximum

8-15V

Example:

Maximum

Assuming

maximum

meters),

to

the Belden Belden

DC

Encoder

or

Interconnect

1391

brand

#9504

#8760

brand

allowable

power

supply

requires

Allowable the

cable

allowable

the

1/2

equivalent

or

equivalent

or

cable

distance

larger

or

a

Cable

Resistance

AWG

is

22

resistance

calculated

Drawing

using

cable.

regulated

(0.283

of

.25

1

length.

further

for

pair,

twisted

shielded

cable.

22

AWG

supply

between

V/l

=R=

mm2)

witharesistance

ohms.

Both

details.

shielded

(0.283

(5-4.75)

=

the

mm2)

4.75

supply

cable,

and

/0.20

rating

and

40

cable

5.25V

1.25

=

return

of

feet

and

DC

ohms

16

leads

(1

meters)

2.2

supply

V

DC

5

a

and

will

draw

ohms/1000

must

maximum.

is

200mA

(300

feet

considered,

be

39

Shields

(1

feet

(max.).

meters),

so

1

.9

the

grounded

meters).

V

A

5

78

feet

actual

DC

If

supply

(23.8

length

controller

at

greater

is

meters)

of

cable

being

the

used.

of

cable

only.

distance

will

39

is

have

feet

needed,

the

1

(1

.9

use

a

15

Document

1391

Instruction

Update

Manual

Figure

Typical

B.4

IMC

121,

123

and

123CR

Interconnect

Diagram

1

Termination

(1771-HT3)

DRIVE

JZ

—

ESTOP

+24V

RES.

PB PB

RES.

RESET

OUT

STRING

IN

f

FAST

IMC

Module

A

;

Panel

ENABLE

0 0

0

IN

0

!ii

Is!

M

itl

Axis

Overtravel

—

D-Shell

Male

Connector

Axis

on

IMC

Module

Hardwired

—

j

to

\

Remote

Stop

I

Q-L-O

—

Hpoc

A

fNOTI

H

_

(NOT)

B

fl

z

:

(NOT)

Z

3

COMMON

Encoder

Stop

Reset

P.B.

CR

IF

3

)C(

«A

H

B

845H/N

,

,c

Encoder4

J

D

Feedback

115V

VV

A-B

F

I

2

AC

Sr

ff]

B

04}

{2]

-[Tj

TB4

TB2

TB4

TB2

1391B

CONTACTOR

DROK,

(CLOSED

+23V

ENABLE

DC

INPUT

ENABLE

M

VELOCITY

+

-VELOCITY

Servo

AC,

115V

OK)

=

SOURCE

5

COM.

COM.5

0

1A

Controller

(when

Brake

supplied)

1326

JHK,

<4

AC

Servomotor

-7-

-

tVyO—

Motor

/

Resolver

1

Refer

2

Use

3

Use

4

Maximum

8-15V

Example:

Maximum

Assuming

maximum

meters),

5

If

16

Belden Belden

the

to

the

DC

or

drive

power

Encoder

T.

Interconnect

1391

#9504

brand

#8760

brand

allowable

supplyorlarger

requires

Allowable the

cable

allowable

1/2

the

calculated

operated

istobe

equivalent

or

equivalent

or

cable

distance

a

Cable

Resistance

22

AWG

is

resistance

as

Drawing

using

cable.

regulated

(0.283

.25

1

of

length.

torque

a

for

further

pair,

twisted

shielded

cable.

AWG

22

supply

between

1

V/

=R=

mm2)

witharesistance

Both

ohms.

block

from

details.

shielded

mm2)

(0.283

4.75

(5-4.75)/0.20

=

supply

the

an

1

IMC

cable,

cable

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have

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1

(1

.9

use

a

21

Document

1391

Instruction

Update

Manual

Figure

Series

9/

B.10

Interconnect

Diagram

For

detailed

following

Controller

9/240

9/230,

9/260,

9/Series

publications

9/240

9/230,

290

interconnect

:

Integration

9/260

or

Manual,

9/290

information,

publication

Integration

Manual,

please

8520-4.1

publication

refer

.

the

to

8520-6.2

22

Notes

Document

Instruction

1391

Update

Manual

23

E3

With

Algeria•Argentina

Denmark•Ecuador

•

Italy

Puerto

Netherlands

ALLEN-BRADLEY

ROCKWELL

A

major

Jamaica

•

Rico

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offices

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Allen-Bradley design, They

include

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the

world’s

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has

been

manufacture

and

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of

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power

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of

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a

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devices,

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man-machine

of

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products

International,

•

for

90

Czech

•

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years.

We

worldwide.

interfaces,

one

of

Republic

•

Portugal

•

The

Headquarters,

World

Publication

1

391

-5.

1DU4

Allen-Bradley,

-September,

1201

South

1994

Second

Street,

Milwaukee,

Wl

53204

USA,

Tel:

(1)

414

382-2000

Fax:

Copyright

(1)

1994,

Allen-Bradley

414

382-4444

Company,

Inc.

P/N

Printed

163065

in

U.S.A.

allen-bradley 1391 AC Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual