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1

Chapter/

Section

1

1.0

1.1

1.2

1.3

1.4

1.5

1.6

2

2.0

2.1

2.2

2.3

2.4

3

3.0

3.1

3.2

3.3

3.4

Manual

General Controller

Series

Standard

Objectives

Precautions

Description

A,

and

B

Features

Controllers

D

Options/Modifications

Controller

Chapter

Controller

Environmental

Controller

Transformer

Chapter

Receiving

Unpacking

Inspection

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Layout

Objectives

Specifications

Power

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Power

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Dissipation

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Receiving,

Title

Introduction

Specifications

Unpacking

and

Page

1-1

1-2

1-3

1-4 1-4

1-5

2-1 2-1

2-2 2-2 2-2

Inspection

3-1

3-1 3-1

3-1

4

4.0

4.1

4.2

4.3

4.4

4.5

4.6

4.7

4.8

4.9

4.10

4.11

4.12

4.13

5

5.0

5.1

5.2

5.3

Chapter

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General

300V

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PWM

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4-1 4-1 4-1 4-1 4-2 4-2 4-2

4-3

4-4 4-4 4-4 4-4

4-5

5-1

5-1 5-4

5-5

Page

Table

II

Contents

of

Chapter/

Section

6

6.0

6.1

6.2

6.3

7

7.0

7.1

8

8.0

8.1

8.2

8.3

9

9.0

9.1

9.2

9.3

Chapter

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Start-Up

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Recommendations

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Procedure

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Introduction Bulletin

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Page

6-1 6-1 6-2 6-3

7-1 7-1

8-1

8-3 8-5

9-1 9-1 9-4 9-6

10

10.0

10.1

10.2

Appendix

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resulting

exterior

number

can

a

specifications.

Bulletin

catalog

as

also

conditions,

100%

DC

options

A,

=

by

“A10”

scaled

Anti-Backlash

1388

listed

options/modifications

noting

alphanumeric

at

the

option/modification

controllers.

now

is

an

extended

the

latching,

in

of

view

various

of

controller

an

1391B-AA45N

the

current

above,

the

if

controller

code

factory

The

“A10”

with

depending

bridge

enable

extended

Bulletin

components.

available

is

module

the

Bulletin

available.

1391-AA22-A03)

(i.e.

options

as

designation

the

on

during

regeneration

1391

catalog

are

now

is

ability

the

setting

AC

at

are

1391

The

number

provided

standard

will

to

bus

time.

Servo

TB2.

also

.

not

sense

of

Page

1-6

Introduction

CIRCUIT

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TB4

BREAKER

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1.1-

Bulletin

1

391

AC

Servo

\

TB2

Controller

Chapter

2

Specifications

Controller

NOMINAL

CONTINUOUS

PEAK

CONTINUOUS

PEAK INPUT

CIRCUIT

(SYMM

STATIC

UNIT

BUS

CURRENT

POWER

CIRCUIT

BREAKER

ETRICAL

(A/RPM)

GAIN

WEIGHT

Chapter

OUTPUT

CURRENT

(RMS)

OUTPUT

POWER

OUTPUT

BREAKER

INTERRUPT

AMPERES)

IN

LBS.

8.

Objectives

Specifications

VOLTAGE

(RMS)

RATING

(KG)

2.0

2.1

Chapter

the

Bulletin

The

general

listing

various

1391-AA1

DC

300V

15A

30A

KW

5.0

KW

10

RMS

17

A

1300A

1.5

X

RATED

(9.97)

22

two

contains

1391.

specifications

below.

controller

5

MOTOR

Dimensions

specifications

The

ratings.

I

/RPM

the

electrical

of

1391-AA22

300V

DC

22.5A

45.0A

KW

7.5

KW

1

5

26ARMS

1300A

1.5

X

RATED

28(12.69)

the

and

provided

are

Bulletin

are

MOTOR

environmental

in

1391

divided

/RPM

I

when

Appendix

provided

are

necessary

1391-AA45

300V

DC

45A

90A

KW

15.0

KW

30.0

A

RMS

38

1300A

1.5

RATED

X

(1

5.40)

34

specifications

A.

in

the

for

MOTOR

I

for

/RPM

FORM

FACTOR

PEAK

CURRENT

CONTROLLER

(MINIMUM

MODULATION

DRIFT

AMBIENT

STORAGE

INPUT

RELATIVE

DEADBAND

ALTITUDE

INTEGRAL

MAX.

(SYMM

TRANSFORMER

EFFICIENCY

@

RATED

FREQUENCY

(REFERRED

TEMPERATURE

VOLTAGE

HUMIDITY

OUTPUT

FAN

RMS

SHORT

ETRICAL

ADJUST

LIMIT

LOAD)

TACH)

TO

(FROM

CIRCUIT

AMPERES)

INPUT

TOLERANCE

TRANSFORMER)

CURRENT

Specifications

ALL

1.03

TO

20

85%

2500

0.07

0°TO60°

0°TO65°

POWER:

CONTROL:

TO

5

ZERO

1000

CFM

50 1300

+10%,

are

for

OR

RPM/

reference

CONTROLLER

LESS

200%

OF

RATED

(±10%)

HZ

°C

MAXIMUM

(32°

C

95%

NON-CONDENSING

METERS

(UNLOADED)

A

-15%

(32°

TO

230V

35.5V

(3300

only

140°

149°F)

and

RATINGS

MOTOR

F)

(+

10%,

AC

C.T.

FEET)

are

CURRENT

-

(+

10%,-

subject

15%),

THREE-PHASE,

15%),

change

to

(TO

MAXIMUM)

90A

SINGLE-PHASE

without

50/60

notice.

HZ

(±3

HZ)

Page

2-2

Specifications

Environmental

Controller

Power

2.2

Specifications

2.3

Dissipation

Bulletin

The

dry

and

ventilatedbyfiltered

ambient

air

contamination

ambient and

the

The

Bulletin

flow

of

temperature

air

humidity

through

air

recommended

operate

can

however,

feet

1000

Allen-Bradley

local

(3050

feet

The

Bulletin

Table

at

the

(305

meters).

2.A.

1391

must

have

caused

between

1391

spacing

elevations

current

meters)

1391

Rated

Output

100

must

mounted

be

appropriate

by

oils,

must

5

equipped

is

the

unit

guidelines

to

rating

up

to

Representative

Sales

dissipation

Controller

Power

(%)

20

40 60

80

in

or

cooled

filtering

coolants,

kept

be

95%,

and

with

an

must

be

maintained

found

(1000

feet

3300

be

must

10,000

derated

feet

characteristics

Table

Power

1391-AA15

Dissipation

38

76

114

152

190

an

enclosure

Enclosures

air.

to

dust,

condensation

between

protect

60°C

to

0

that

non-condensing.

integral

in

(3050

cooling

by

following

Chapter

meters)

priortooperation

6.

without

3%

by

for

meters).

approximated

are

2.A

(Watts)

1391-AA22

55

110

165

220

275

1391-AA45

is

vented

against

etc.

(32°

fan.

The

Bulletin

each

Consult

104 208 312 416

520

clean,

with

The

140°F)

to

general

The

the

derating,

additional

with

10,000

over

in

1391

your

Transformer

Power

2.4

Dissipation

IMPORTANT:

ing

cumulative

inside

enclosure

dissipation

power

The

Transformer

are

Bulletin

Rated

Power

(%)

Output

20

40

60 80

100

Power

system

does

shown

1391

1.5kVA

Dissipation

dissipation

heat

exceed

not

characteristics

Table

in

Isolation

3.5kVA

13

25

38

50 60

105

140

175

figures

to

(140°F).

60°C

of

2.B.

Table

2.B

Transformer

5.0kVA

35

70

50

100 150 200

250

shown

ensure

the

Power

are

ambient

Bulletin

Dissipation

IQ.OkVA

100

200 300

400

500

for

1391

12.5kVA

in

calculat¬

use

temperature

Isolation

(Watts

15.0kVA

125

250

375

500 625

)

150

300

450 600

750

Chapter

3

Chapter

3.0

Objectives

3.1

Receiving

3.2

Unpacking

Chapter3provides

necessary,

and

if

catalog

the

is

it

agent

damage

of

must

inspection

packing

Remove

Inspection

the

against

the

be

section

Bulletin

It

before

item(s)

damaged,

the

concealed

responsibility

container

make

Remove

the

sink

entitled

1391

responsibility

the

is

accepting

received

freight

visual

a

all

controller.

etc.

Receiving,

the

information

store

the

Bulletin

provides

numbering

of

the

shipment

the

responsibility

has

noted

the

be

found

to

user

left

intact

of

material,

packing

all

user

from

purchase

of

damage

during

notify

and

the

equipment.

the

wedges,

Unpacking

needed

1391

a

system.

thoroughly

to

the

unpacking,

the

freight

material

to

and

complete

freight

order.

not

user

on

the

freight

agent

or

braces

unpack,

inspect

company.

any

If

items

accept

to

freight

again

is

it

agent.

should

from

the

Inspection

and

properly

equipment.

of

equipment

the

Check

are

delivery

Should

bill.

the

shipping

The

be

within

cooling

inspect

The

the

obviously

until

any

requested

and

around

fans,

heat

to

3.3

Inspection

3.4

Storing

IMPORTANT:

general

connections,

After

the included

The installation.

must

•

inspection

unpacking,

purchase

on

the

controller

be

stored

Store Store Store

not

Do

atmosphere.

Do

not

clean,

a

in

within within

store

packing

order.

If

Before

mechanical

of

materials,

check

An

following

equipment

the

dry

an

ambient

relative

a

remain

should

according

equipment

the

installation

item(s)

the

explanation

pages

in

is

to

the

location.

temperature

humidity

where

in

construction

a

integrity

etc.)

must

nameplate

of

the

as

aid

an

shipping

its

not

to

be

following

range

it

could

start-up

and

(i.e.

loose

be

made.

catalog

nameplate

for

container

for

used

instructions:

range

of

5%

of

to

exposed

be

area.

of

the

parts,

number

numbering

interpretation.

prior

period

a

to

0

65°

non-condensing.

95%,

to

corrosive

a

controller,

wires,

against

system

to

of

time,

(32

to

C

a

is

it

149°F).

Page

3-2

Receiving,

Unpacking

and

Inspection

1391

First

Position

Bulletin Number

Code

T

Second

Position

Type

Description

Transformer

Open

&

Coil

ISOLATION

015

Third

Position

Rating

kVA

No.

Core

015 035 050

100 125 150

TRANSFORMER

D

Fourth

Position

kVA

1.5

3.5

5.0

10.0

12.5

15.0

Primary

Code

D

E

N

Frequency

&

input

240/480

3-ph..

240/380/415/

480V

ph..

208/230/460/

575V

3-ph.,

Voltage

VAC,

60Hz

AC,

50/60

AC,

60Hz

T

Fifth

Position

Secondary

Voltage

Description

Code

AC,

35.5V

windings

CT

3-ph.

AC

&

1-

230V

T

four

ph.,

3-

Hz

NEMA

TYPE

1

1391

First

Position

Bulletin Number

TRANSFORMER

TA2

Second

Position

Accessory

Module

TA2

Description

all

Fits Bulletin

Isolation

Letter

ENCLOSURE

Ratings

1389

on

and

1391

kVA

1388.

Transformers

KIT

Receiving,

Unpacking

and

Page

3-3

Inspection

1391B

First

Position

Bulletin

Number

Description

A

=

Series Series

B

1391 1391B

A

-

Second

Position

Type

and

Construction

A

Description

Open

Frame

Internal

Heat

Letter

BULLETIN

Nominal

Letter

A

Sink

1391

A

Third

Position

Output

Voltage

Description

230V

Three-Phase

CONTROLLER

Position

Current

Code

AC,

15

22

45

1

30

22.5A

45A 45A

90A

45

Fourth

Rating

Description

RMS

5A

Peak

A

RMS

Peak

RMS

Peak

Cont./

XXX

Fifth

Position

Options

(if

required)

Description

three

character

A

alphanumeric

assigned

modifications.

Contact

Allen-Bradley

Representative

further

Code

A07

A08

your

information.

Description

24V

Contactor

240V

Contactor

to

DC

field

special

local

Sales

for

Coil

AC

Coil

ACCESSORIES

1388

First

Position

Bulletin Number

-

X

Second

Position

Accessory

Module

MODULES

A

Third

Position

Accessory

Letter

A

B

C

Description

Anti-Backlash

Accel/Decel

Velocity

Reference

Module

Board

w/Mounting

Board

Assem.

Rack

Page

3-4

Receiving,

Unpacking

and

Inspection

AC

SERVOMOTOR

1326

First

Position

Bulletin

No.

Code

B

D

Second

Position

Code

A

Type

AC

Servo¬

motor

Type

PM

Description

General Ceramic

High

Performance

Inertia

Low

Purpose

Magnet

B

Third

Position

Design

See

Below

A

Fourth

Position

Series

Sequentially

lettered

designate

frame

diameters.

Code

A

(108mm)

B

(149mm)

C

(194mm)

to

Dia.

4.25"

5.88"

7.63"

3

Fifth

Position

Motor

Length

Sequentially

numbered

to

indicate

length

stack

within

a

frame

given

size.

E

Sixth

Position

Maximum

Operating

Speed

Code

B

C

E

G

Code

A4

A5

A7

K4

K5

K7

72

120

360

72

120

360

RPM

1600

2000

3000

5000

in.-lb.

Mounting

Code

11

21

(8.1

N-m), (13.6 (40.7

(8.1

N-m). (1

3.6

(40.7

11

Seventh

Position

Description

Inch

Combination

Face/flange

way

Key

NEMA/IEC

Flange

Description

DC

90V

N-m),

90V

N-m),

90V

DC

24V

N-m),

24V

N-m),

24V

&

with

Brake

DC DC

Brake

DC DC

Shaft

with

Metric

Keyway

Brake Brake

Brake

1

326AB-A

1326AB-B

1

326AB-C

1

326AB-A

1

326AB-B

1

326AB-C

A4

Eighth

Position

Standard

Options

See

Table

Below

Series

Series Series

Series

Series Series

1326AB

First

Position

Bulletin

No.

MOD

-

Second

Position

Type

Code

MOD

Description

Modifica¬

tion

Kit

SHAFT

SS

Third

Position

Shaft

Seal

OIL

SEAL

Letter

V

KIT

V

Fourth

Position

Material

Type

Viton

Letter

A

B

C

A

Fifth

Position

Motor

Series

For

1

-A

Series

-B

Series Series

-C

326AB

Mounting

Number

1

2

1

Sixth

Position

Motor

Description

Std.

Metric

Inch

Receiving,

Unpacking

and

Page

3-5

Inspection

1

326AB

Bulletin

BRAKE

1326

Bulletin

Number

No.

BLOWER

MOD-

Code

MOD

POWER

MOD

Type

Description

Modifica¬

tion

Kit

SUPPLY

Type

KIT

G3

Description

Code

Motor

Rear

G3

for

G4

side

for

RECTIFIER

-

BPS

Description

Mount

C

Series

Mount

"C"

Series

Blower

Motors

Blower

Motors

Standard

Motor

H

Motor

Junction

with

Box

Kit

r\

1326AB

Bulletin

Alternate

(Customer

Position

Selected)

IMPORTANT:

mounted

axially

out

MOTOR

No.

The

radially

motor

to

the

motor

Code

MOD

JUNCTION

MOD

-

Type

Code

MOD

standard

comes

the

motor.

without

This

further

Description

Modifica¬

tion

Kit

BOX

Description

Modifica¬

*

tion

Kit

with

allows

kit

wiring.

Code

BPS

KIT*

RJAB

-

Description

Code

RJAB

RJBC

IP65

plug

the

connectors

Description

Single-Phase,

Rectifier.

Supplies

brakesonBulletin

Description

All

For

AB-B

Series

For

AB-B4

AB-Cx

style

Full-Wave,

5V

11

power

AB-Aand

Motors

and

Series

Motors

connectors

brought

to

be

AC

for

Input,

up

1

326AB

to

Panel

90V

four

or

Mounted

Output

DC

90V

AD

motors.

DC

*

Kit

includes

Motor

Junction

Box

and

Mounting

Hardware

Page

3-6

Receiving,

Unpacking

and

Inspection

EXTERNAL

1326

Bulletin

Number

FEEDBACK

1326AB

First

Position

MOD

-

Second

Position

SHUNT

REGULATOR

MOD

Type

Code

MOD

MOUNTING

Description

Modifica¬

Kit

tion

RESISTOR

-

SR22A

Code

SR22A SR45A

Description

Shunt

for

Shunt

for

ADAPTER

M4

Third

Position

Description

Regulator

Controller

22.5A

Regulator

Controller

45A

KIT

Resistor

C1

Fourth

Position

IMPORTANT:

motor

encoder

to

All

Bulletin

No.

kits

contain

coupling.

a

feedback

M22

and

Code

MOD

M23

Code

M4

M5

M6

M22

M23

M24

M25

M26

device

do

Type

Description

Modifica¬ tion

Kit

Description

845H

A-B

845H

A-B A-B

845H

Type

0.375"

Type

0.625"

Type

Foot

mounting

not

include

Encoder

Encoder Encoder

VC/VD

(9.5mm)

VC/VD

(1

5.9mm)

VC/VD

Mounting

adapter

coupling

a

Mounting

Adapter

for

4.25"

4.25'

Diameter

4.25"

Diameter

4.25"

Kit

and

For..

AB-A

for

AB-B

AB-C

for

(108mm)

for

M25

mounting

since

it

Kit

Series Series Series

Resolver

Heavy

Resolver

Heavy

Resolver

is

included

Code

C1

Blank

Motor Motor Motor

for

Duty

Shaft

Duty

Shaft

hardware.

with

Coupling

For..

Motor

A,

B.C

M22, M23,

For

5,

M2

Series

AB-B

Series

AB-C

Extension

M4,

M5

resolver

the

Size

Series

M26

Motor

and

for

M6

include

feedback

a

device.

Receiving,

Unpacking

and

Page

3-7

Inspection

(Included

1326

First

Position

Bulletin

1326AB

FEEDBACK

in

Feedback

all

-

No.

RESOLVER

MOD

-

COUPLING

Mounting

MOD

Second

Position

Type

Description

Code

MOD

Modifica¬

tion

Kit

FEEDBACK

Adapter

C1

Position

Coupling

Motor

Code

C1

3/8"to3/8"

C2

3/8"

PACKAGE

VC

Kits)

Third

to

Size

Shaft

(9.5mmto9.5mm) (9.5mmto6.3mm)

1/4"

1:1

*

Kit

includes

(9.5mmto9.5mm)

3/8"

to

Code

VC

VD

Resolver

First

Position

Bulletin

Description

(108mm)

4.25"

housing

format

300-F-58A

use

for

4.25"

housing

format

1BRCX-300-C10/6

1

resolver(s)

SAM

Feedback

(1

and

with with

08mm)

with

single

and

receiver

equivalent)

or

8200,

single

and

transmitter

for

MAX

Package,

Resolver

No.

i i

i

feedback

or

vernier

(Harowe

IMC

feedback

or

vernier

equivalent)

or

use

with

REC-4096

Mounting

Motor

to

package

type

120,

package

(Harowe

A-B

Board.

Code

MOD

w/cast

(dual)

11BRW-

resolver(s)

IMC

123.

w/cast

(dual)

type

8600,

series

Hardware

Mounting

Second

Position

Type

Description

Modifica¬

tion

Kit*

Coupling

and

3/8"

Third

Position

Resolver

Package

back

r~~

i

J

Code

1:1

:2

1

:2.5

:

1

5

255

256

424

5

42

800

801

Feed¬

i i

i

Description

Single

turn

Single

turns

Single

2.5

Single

turns

Absolute

255:256

Absolute

256:255

Creonics

Absolute

424:425

Absolute

425:424

Creonics

Absolute

800:801

Absolute

801

Creonics

device

of

the

device

of

the

device

turns

of

device

the

of

master/vernier

only.

master/vernier

only.

master/vernier

:800

master/vernier

only.

Fourth

Position

Gear

Ratio

lnput:Resolver

format

resolver.

format

resolver.

format

resolver.

the

format

resolver.

-

1

turn

format

for

format

for

format

for

format

for

format

for

format

for

of

IMC

8600

IMC

8600

IMC

8600

the

-1:1

120,

-1:1

series

-1:1

120.

-

series

-1:1

120.

-1:1

series

motor

1:1

shaft

input/master

only.

123

input/master,

controls

input/master.

only.

123

input/master,

controls

input/master,

only.

123

input/master,

controls

to

and

1

2

5

Page

3-8

Receiving,

Unpacking

and

Inspection

1326

First

Position

Bulletin

No.

Code

C

Second

Position

Type

Description

Connector

Cable

&

Assembly

POWER

Letter

P

F

E

V

AND

P

Third

Position

Function

Type

Power

Connection

Commutation

&

Feedback

Connection

845

H

Encoder

4.25"

All

(108mm)

Resolver

Packages

FEEDBACK

Code

AB

C

U

CABLES

AB

Fourth

Position

Motor

Type

Series

1326AB-B4)

Series

All

Size

Used

On

&

A

C&1326AB-B4

Series

B

(except

Code

15

30 50

100

15

Fifth

Position

Cable

Length

K

Connector

(No

100'

Description

Cable)

(4.6m)

15'

(9.1m)

30'

(15.2m)

50’

(30.4m)

Kit

Chapter

4

300V

Chapter

DC

Power

PWM

4.0

Objectives

4.1

General

4.2

Supply

Bus

4.3

Operation

Chapter

Bulletin

The

300V

circuit,

circuit

The

Bulletin

a

complete

Controller,

4

is

1391

Bulletin

power

DC

logic

breaker

intended

1326

servo

Transformer.

Figure

The

load

three-phase,

power

The The

corresponds

generated

4.3.

controller

power

supply.

supply

Bulletin

controller

by

intended

in

terms

1391

supply,

power

and

use

of

AC

system

Bulletin

Refer

contains

or

50

filter

1391

also

to

the

intersection

to

familiarize

of

function

Servo

PWM

power

supply,

line

the

Logic

contactor.

Bulletin

servomotor

can

be

AC

1326

to

the

Bulletin

integral,

an

consists

It

Hz),

three-phase

60

capacitor

incorporates

a

generates

velocity

command.

Description

the

and

Controller

transistor

Control

1391

is

closed

a

in

configured

Servomotor

1391

unregulated,

power

the

of

(Cl).

fixed

a

three-phase

a

An

two

these

of

reader

operation.

made

is

output

Board,

to

control

loop

with

a

and

Bulletin

Block

transformer

input

timing

wave

sine

output

curves

with

the

up

modules,

isolated

the

position

Bulletin

Diagram,

300V

bridge

(Vj)

wave

voltage

shown

as

Operation

of

circuitry

following:

the

of

shunt

current

speed

system.

1391

presented

nominal,

DC

input

rectifier

of

2500

whose

signal

in

of

regulator

sensing,

torque

and

A

Servo

Isolation

in

(230V

and

one

Hz.

frequency

(Vo)

Figure

the

of

full

AC,

is

4.1.

three-phase

The

ing

wave

base

drive

ing

current

solver

rotor

position

ing

rotor

torque

signal

tion

duce

a

down.

V0

relationship

provide

switches

to

attached

position

command.Inthis

and

reference

Figure

See

a

the

to

the

of

and

current

signal

PWM

the

motor

the

motor.

4.2.

Figure

motor

4.1

between

wave

power

transistors

windings,

provides

to

This

to

fed

way,

the

is

reference

commanding

*

PWM

-

the

signal

with

Waveform

the

power

across

causing

thus

signal

a

decoded

is

commutation

controller

the

controller

the

VT

reference

transistor

the

corresponding

to

logic

combines

decoded

f

\

signal

base

300V

motor

signal

a

along

the

resolver

speed

to

the

and

drive.

bus,

DC

to

turn.

to

the

represent¬

with

desired

signal

up

or

tim¬

This

provid¬

A

actual

the

posi¬

to

slow

re¬

pro¬

Page

4-2

DescriptionofOperation

PWM

4.3

Operation

(Continued)

CURRENT

REFERENCE

COMMUTATION

LOGIC

CURRENT

&

LOOP

INTEGRATOR

Figure

POSITION

DECODER

4.2

-

PWM

GENERATOR

&BASE

DRIVE

IAM1

TIMING

SIGNAL

GENERATOR

Operation

Shunt

Regulator

4.4

Operation

The

Bulletin

regenerative

exceeds

motor

regulator

activates

the

placed

conditions.

dissipated

the

repeats,

too

If

increase

to

voltage

the

shunt

in

series

transistor

provided

much

level,

condition The

shunt

cycle

timer.

SW1,

determines

at

a

which

selector

the controller would

for

9

equivalent

be

further

1391

shunt

conditions

which

that

monitors resistor

When

at

shunt

with

the

off

the

regulator

and

the

resistor,

when

the

regenerative

even

with

the

Bulletin

exists,

and

regulator

The

timer

switch

temperature

the

behavior

controller

willbeforced

to

regulator

shunt

regulator

when

the

can

be

voltage

bus

transistor,

dissipating

resistor

shunt

transistor

the

bus

voltage

the

voltage

bus

energy

the

shunt

1391

trip

out

on

is

usedtomodel

is

locatedonthe

level

trip

will

trip

to

turning

out

information.

provides

energy

storedinthe

and

power

protect

to

voltage

reaches

continuestoincrease

present,

is

regulator

will

determine

Overvoltage

an

further

and

When

out.

on

the

shunt

power

returned

predetermined

at

a

allowing

in

the

it

activated

is

will

the

on.

modified

the

shunt

top

the

of

therefore

this

Overvoltage

an

regulator

bus

form

against

quickly

“OFF”

bus

At

that

Fault.

controller

the

level

dissipation

to

the

controllerbythe

capacitors.

“ON”

current

and

voltage

predetermined

a

by

resistor

to

heat.

of

short

power

decrease,

point.

the

to

overvoltage

an

adjustable

an

temperature.

(see

average

reached,

is

circuit

will

Fault.

Refer

off.

for

The

flow

fuse

A

being

is

turning

This

“ON”

continue

Figure

power

the

This

Chapter

to

shunt

point

through

is

cycle

point.

bus

duty

1.1)

level

action

Logic

wer

Po

Control

upply

5

Board

4.S

4.6

control

The

Bulletin

voltages

The

Boards,

winding

Logic

The accessible

circuits

velocity

the

power-up/power-down

controlling

1391

are

which

receive

the

on

isolation

Control

behind

necessary

and

circuits.

generated

Board

the

to

current

logic

35.5V

a

transformer.

the

is

front

cover

control

loop,

logic,

on

the

AC

the

fault

PWM

voltage

is

Power

center-tapped

printed

of

the

circuit

controller.

Bulletin

detection

generation

12V

±

Driver

1391.

and

DC

and

Logic

and

input

from

that

board

This

These

and

circuits

annunciation

forward/reverse

5V

+

Control

readily

is

board

DC.

tertiary

a

contains

include:

circuits,

all

Description

Page

Operation

of

4-3

Circ

S£[—

Brea

Isolation

Transformer

MPT

Primary

A

Y

Secondary

Line

AC

Input

TBS-4

TB5-5

Contactor

35.5V

AC.

115V

1

$.CT

Coil

AC

Velocity

Command

Rectifier

TTi

Control

Protecti

Circuitry

Logic

Control

D1

Her

ion

External

Current

Limit

Board

Power

Control

Tach

Output

JS

Shunt

Regulator

Driver

Logic

I

Command

Output

External

Regulator

Transistor

Base

Board

Adjustments

Offset

0

I

0

Limit

Gain

0

Comr

0

Scale

Shunt

Resistor

mand

Enable

Drive

IBS.

Power

Logic

LED's

Overtemp

Power

Fault

Control

Power

Overvoltage Undervoltage

Current

Foldback

Enable

Ready

Reset

Supply

Contact

Transistor

StS

DROK

Power

Protect

through

TB1-10

Output

Fault

Sion

lated

Iso

Cu

rrent

Sense

Board

Modules

Bulletin

1326

Permanent

MagnetAC

Servomotor

O

Brushless

Resolver

Controller/System

Fault

and

4.7

Monitor

Detection

Figure

4.3-

A

number

1391

that

system

out.

remain

the

This

faults.

In

this

open

user’s

will

dynamic

These

fault

indicators.

Bulletin

of

Fault

guard

condition,

until

stop

circuit,

place

brake

conditions The

1391

the

The

the

to

conditions

OVERTEMPERATURE

the

heat

sink

which

temperature

the

DROK

the

POWER

FAULT

controller

open

and

the

CONTROL

the

nominal

the

controllerisdisabled.

contact

will

cause

DROK

POWER

12V

rating

Block

Monitor

controller

occurrence

the

Drive

the

faultiscleared.

the

line/DB

shunt

resistor

stop.

a

are

annunciated

indirectly

of

the

opens

and

A

fault

-

the

controllertobe

contact.

If

the

-

DC,

the

LED

Diagram

and

Detection

help

fault

(DROK)

to

will

and

of

OK

a

If

contactor

across

the

through

displayed

The

-

switch

the

include:

controller

senses

transistor

exceeded,

is

controllerisdisabled.

to

the

voltage

illuminates,

functions

minimize

cause

contact

DROK

the

(M)

bus

contains

power

disabled,

varies

DROK

the

exist

motor

the

controller

will

contact

will

also

causing

the

front

a

thermal

module

the

LED

bridge

illuminate

more

contact

the

on

Bulletin

and

to

open

and

wired

is

de-energize.

the

motor

panel

LED

switch

temperature.

illuminates,

than

the

of

±

the

LED

10%

section

opens

trip

into

to

on

If

of

and

OVERV

OLTAGE

monitored.

DROK

the

If

exceeds

it

contact

The

-

opens

DC

preset

a

and

power

level

the

controllerisdisabled.

bus

voltage

405V

of

continuously

is

DC,

the

LED

illuminates,

Page

4-4

Description

Operation

of

Controller/System

Fault

and

4.7

Monitor

Detection

(Continued)

UNDER

nominal

present

DROK

further

VOLTAGE

operating

TB2-13.

at

contacts

information.

IMPORTANT:

transistor

done

CURRENT

current

output

the

LED

condition

RUN/

position

DRIVE

monitored

are

LED

DROK

bridge

protect

to

overload

bridge.

illuminated

is

will

ENABLE

controller

READY

not

will

contact

FOLDBACK

If

-

value,

jumper

A

undervoltage

to

an

Regardless

disabled

is

output

the

circuit

fixed-time

a

If

and

reduce

continuously.

be

the

application

The

-

cause

will

The

-

illuminated,

be

open.

will

the

DC

the

setting

of

upon

transistors

The

-

which

signal

a

current

the

status

If

a

power

LED

illuminates

selects

detection.

interaction

undervoltage

an

against

controller

monitors

versus

will

be

limit

of

an

RUN

power

the

of

fault

a

signal

fault

voltage

bus

and

the

reaction

Refer

with

the

voltage

contains

current

the

current-product

present

or

enable

ENABLE

present,

is

torque

supplies

will

at

availabletothe

signal

LED

the

be

drops

below

signal

a

of

to

section

DROK

condition.

transients.

fixed

a

through

is

TB2-14.

by

the

to

illuminate.

and

fault

DRIVE

present

50%

will

be

the

5.3

contacts,

This

time

each

exceeded,

This

motor.

machine

conditions

READY

TB4

at

of

for

the

is

versus

leg

and

its

of

the

Isolated

Integral

Current

Circuit

Line/DB

4.8

Sensing

4.9

Breaker

4.10

Contactor

Logic

The

Current

inverter

The

by

an

utilizes

The

the

operation

when

energized

Control

Sense

thermal

integral

three

a

connected

in

contactor

the

except

logic

control

three-phase

input

conjunction

transformer.

IMPORTANT:

not

is

that

continuous

cycle

this

Representative

be

to

basis.

exceeded.

is

receives

Board

Board.

circuit

pole

This

protection

power

and

breaker.

magnetic

incoming

to

terminals

AC

with

disabled.

is

voltage

when

Bulletin

The

energized/de-energized

life

of

The

Contact

additional

for

current

circuitry

power

and

circuitry

TheDCbus

circuit

line

11

the

shunt

The

is

removed

1391

contactor

the

your

information.

also

fault

are

breaker.

opened

is

12

and

Logic

contains

more

local

by

the

TB4

the

definite

a

than

be

from

the

against

and

is

reduces

Board

twice

reduced

feedback

provides

sensing.

protected

supply

of

regulator

Control

from

may

Allen-Bradley

the

used

data

overcurrents

input

contactor

removed.

the

remains

incoming

purpose

an

considerably

Sales

Isolated

for

rectifier

whenever

This

bus

isolation

contactor

hour

on

voltage

a

if

Power

Driver

4.11

Board

The

power

Power

transistor

Driver

Board

modules.

contains

the

circuitry

needed

to

switch

the

Starting

and

4.12

Stopping

A

WARNING:

includes

contact

liquid,

stop

applicable

and

power

of

this

explanations

solid-state

with

gas

or

circuit

to

additional

when controller.

The

Enable

moving

solids

may

a

required.

be

particular

your

information.Adevice

contingency

Refer

below.

control

components.

machinery

exist,

to

an

stop

the

additional

system

Description

circuitry

If

hazards

or

unintentional

to

Refer

for

is

initiated

individual

in

due

hardwired

the

codes

specific

removes

that

is

stop

Operation

of

the

Bulletin

to

accidental

flow

contingency

and

standards

requirements

AC

integral

an

mode

Page

of

input

4-5

1391

part

WARNING:

termine

A

Starting

elements

are

outlined

tion

and

as

shown

below.

information.

control

CAUSE

De-energize

Speed

Open

DROK

Dynamic

the

during energized. regulator

voltage

Command

Enable

Opens

control

the

Line/DB

Input

(Fault)

Braking

circuitry,

DC

The

resistor

IMPORTANT:

motor

the

that

will

follows.

which

and

will

Stopping

in

Refer

effects

The

not

has

Contactor

brought

-

decay,

bus

dynamic

and

Frequent

reduce

The

stopping

meet

must

be

Appendix

to

described

been

(M)

to

Zero

When

the

inherent

an

provided

braking

total

load

cycling

the

lifeofthe

has

user

applicable

accomplished

the

de-energized.

Coil

the

methodisbest

Stopping

B.

paragraphs

below

EFFECT

Dynamic

Regenerative

Coast

line/DB

inertia.

contactor

dynamic

35.5V

the

depends

effect

the

of

contactor.

ultimate

standards

by

modes

that

assume

ON

MOTOR

Brake

Brake Brake

Stop

to

braking

AC

line/DB

Refer

responsibility

for

to

operator

suited

hardwired

the

for

follow

logic

on

that

(M)

effect

the

is

for

the

de-energized

voltage

valueofthe

contactor

to

the

applica¬

the

safety.

user

Bulletin

detailed

35.5V

will

occur

is

start/stop

to

paragraph

to

de¬

supplied

1391

AC

by

not

de¬

shunt

Power-Up/Down

4.13

Sequence

Regenerative

performed

supplied

applied,

contact

will

cause

been

energized,

in

regenerative

a

450ms.

Coast

only

will

(M)

coil

Figure

sequence

through

control

mechanical

a

closure

the

energized

the

An

-

occur

the

or

4.4

describes

of

Braking

circuitry.

(open

controller

by

maximum

internal

the

if

Enable

the

Bulletin

the

Enable

contact

collector,

the

control

stopping

controller

DROK

input

the

Normal

-

Refer

closure

run,

to

circuitry.

available

mode,

contact

circuits.

various

1391

controller.

run

input

Appendix

to

15

+

provided

reverse

which

opens

fault

is

steps

commands

any

and

between

+

not

30V

the

When

torque

will

the

wired

additional

With

B.

TB2-9

DC)

line/DB

the

occur

DROK

to

involvedinthe

to

controller

the

customer

input

10

&

or

between

TB2-10

contactor

Enable is

for

input

applied

approximately

contact.

line/DB

the

power-up/down

are

power

solid-state

&

(M)

has

de¬

is

to

motor

the

Coasting

contactor

12

Page

4-6

Description

Operation

of

POWER-UP

APPLICATION

a)

Logic

up.

b)

Apply

c)

Power

d)

If

no

energizes.

enable

a)

Base

command

ENABLE

a)

When

detect Random

b)

Re-application

controller will

Of

power

115V

bus

faults

signal.

Minimum

drive

SIGNAL

35.5V

that

fault

energize

240V

supplies

AC

to

contactor.

charges.

encountered,

are

Controller

ENABLE

of

100ms

enabled

inputs.

IS

APPLIED

power

AC

the

enable

conditions

of

enable

with

and

the

controller.

SEQUENCE

I

AC

TO

and

ready

is

SIGNAL

after

and

will

PRIOR

applied,

is

signal

occur.

after

35.5V

ISOLATION

base

drive

circuits

DROK

the

to

receive

APPLIED

TO

fault

already

is

resetting

power

is

to

35.5V

still

Contactor

respond

AC

TRANSFORMER

power-

relay

customer

Closed

customer

AC

POWER

circuits

applied.

the

present,

Fault

-

i

Fault

---

i

¥

Fault

!

Fault

-*ÿ-

POWER-DOWN

a)

b)

c)

a)

b)

will

Motor

Output

DROK

Logic

zero

power

relay

and

volts.

Undervoltage

ENABLE

regenerate

stage

maintains

AC

240V

DC

link

(fault)

I

SIGNAL

to

is

disabled.

a

POWER

power

condition

SEQUENCE

REMOVED

stop.

a

fault

no

status.

REMOVED

supplies

occurs.

begin

decaying

to

a)

Controller

b)

DROK

c)

If

contactor

contingency

the

supply.

Figure

relay

shunt

FAULT

CONDITION

output

stage

de-energized

is

wiredtothe

is

stop

string,

regulator

Power-Up/Down

4.4-

Ytt

will

OCCURS

disabled.

and

DROK

contactor

discharge

faultislatched.

a

relay

a

in

open

will

power

the

Sequence

and

bus

Chapter

5

Chapter

puts/

In

5.0

Objectives

5.1

Outputs

Chapter

availableonthe

comprehensive

jumper

provided

understand the

actual

adjustments,

The

inputs

terminal

contains

5

settings

for

installation

following

outputs

and

block

use

some

refer

TERMINAL

Resolver

These

Appendix

Signals

terminals

for

B

descriptions

Bulletin

listing

paragraphs

locations.

BLOCK

connection

provided.

is

during

of

the

Chapter

to

available

(TB1,

used

are

and

-

Inputs,

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descriptions

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and

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Figure

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5.1

Block,

Potentiometer

and

Switch

Locations

Inputs,

Outputs

and

Adjustments

Page

5-3

Inputs/

5.1

Outputs

(Continued)

present

equals

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Run

input

power

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the

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Page

Inputs,

5-4

Outputs

and

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Potentiometer

puts/

In

Outputs

(Continued)

Adjustments

5.1

5.2

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Motor Motor

Appendix

Input

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supplied

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the

at

application

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required

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power

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Limit

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amplifier,

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Page

5-5

Switch

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5.3

Settings

This

section

the

Duty

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Logic

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The

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CURRENT

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Tables

current

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feedback

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1326

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AC

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current

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located

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top

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typical

the

switch

of

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motor/

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located

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1391-AA15

15.0

14.1

13.1

12.2

11.3

10.3

9.4

8.4

7.5

6.6

5.6

4.7

3.8

2.8

1.9

0.9

made

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nameplates)

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current

the

current

Typical

Motor

1391-AA22

22.5

21.1

19.7

18.3

16.9

15.5

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11.3

and

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8.5

7.0

5.7

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2.8

1.4

controller

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power

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scaling

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functionofthe

Table

5.B

Feedback

Current

1391-AA45

45.0

42.2

39.4

36.6

33.8

30.9

28.1

25.3

22.5

19.7

16.9

14.1

11.3

8.4

5.6

2.8

current

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and

system.

the

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rated

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set,

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Scaling

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A06©

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correct

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30.4

27.1

23.7

20.3

16.9

13.5

10.1

6.8

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listed

adjustment

current.

current

S1

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limit

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E

D

C

A

9

8

7

6

5

4

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2

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1

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B-AA45-A06

usual

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16

a

Page

Inputs,

5-6

Outputs

Switch

and

Jumper

Adjustments

Settings

(Continued)

5.3

Typical

1326

AC

Bulletin

Servomotor®

1326AB-A1 1326AB-A2E

1326AB-A3E

1326AB-B1C

1326AB-B1E

1326AB-B2C

1326AB-B2E

1326AB-B3C

1326AB-B3E 1326AB-B4E

1326AB-C1C 1326AB-C1E

1326AB-C2C

1326AB-C2E

1326AB-C3C 1326AB-C3E

1326AB-C4B

1326AB-C4C 1326AD-K2G

1326AD-K3G

1326AD-K4F 1326AD-K5E

E

Scaling

(A)

lc

2.6

5.2

7.8

5.7

8.2

11.4

16.4

17.0

24.6

35.7

11.7

16.6

23.3

33.2

34.4

49.1

38.2

46.6

4.8

4.9

4.8

for

Table

Bulletin

1391-AA15

5.C

1326

2

5

8 6

8

C

5

AC

Servomotors

Switch

S1

1391-AA22

Setting

1

3

5

4

5

8

B

C

8

B

3 3

©

1391-AA45

5

6

8

C

5

8

B

C

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D

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Prior

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jumper

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reference

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start-up,

to

Table

in

locations

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controller

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may

CAUTION:

can

life.

motor,

ambient

controller.

for

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blower,

5.D

result

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only.

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1326APand

increase

SETTINGS

Logic

the

to

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the

and

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maintenance

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familiar

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with

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of

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1391

IMPORTANT:

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the

B

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of

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all

for

to

P8

Inputs,

Outputs

Adjustments

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Page

5-7

Switch

and

Jumper

5.3

Settings

(Continued)

IMPORTANT:

RPM

Bulletin

Jumper

P1

P2

P3

P4

P5

P6

P7

P8

P9

P10

P11

P13

TP18to

TP19

A

controllers.

information.

Description

Tach

lDCutln

Electronic

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Limit

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Allen-Bradley

Table

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IN

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speed

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Chapter

6

Installation

Chapter

6.0

Objectives

6.1

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Chapter6provides

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Page

6-2

Installation

Wiring

6.2

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velocity

they

at

AC

each

a

do

Page

6-3

Installation

Wiring

6.2

Recommendations

(Continued)

Shielding

EMI

The

Bulletin

Therefore,

adjacent

to

1391

the

it.

WARNING:

radiation

A

equipment

personnel.

The

with

substitute

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IMPORTANT:

power

motor

devices

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equipment

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overvoltages

equipment

and

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required.

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1391

cables.

grounded

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a

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inverter

induce

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controller

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at

switch

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common

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to

equipment

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noise

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sensitive

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designed

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and

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energized

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logic

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regulations

Appendix

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AppendixBprovides

in

1391

stopping),

and

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concerning

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installing

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branch

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are

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(NEC)

specifications

disconnect

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what

system

and

electrical

circuit

and/or

typical

motor

in

local

devices.

Page

6-4

Installation

6.3

Wiring

(Continued)

Motor

and

codes.

not

be their

Allen-Bradley

The

accept

Wiring

overload

general,

In

require

followed.

entire

maximum

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WARNING:

damage

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wire

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length

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motor

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requirements

motors

larger

sizes

to

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wire

in

Table

Maximum

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1391-AA15 1391-AA22 1391-AA45

equipment,

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oscillation

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guard

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electrical

recommended

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#8

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AWG

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1391

(TB5)

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interconnections

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in

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applicable.

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9

minimum

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for

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disconnect

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transformer

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customer

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insensitive

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the

transformer

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kVA

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primary

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circuit

in

to

are

#6 #8

#8

6-5

Page

Installation

6.3

Wiring

(Continued)

Fusing

Bussman

circuit

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25°

(Transformer

is

ratings

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fused.

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temperatures

fuse

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is

shunt

for

B

for

8

Page

6-6

Installation

Page

This

-

Intentionally

Left

Blank

-

Chapter

7

Start-Up

Chapter

Start-Up

7.0

Objectives

7.1

Procedure

Chapter

1391

adjustments

The Bulletin

7

AC

Servo

following

1391

A

provides

and

WARNING:

perform

paragraphs.

line

equipment,

the

understand

Start-Up

performing by

the

Controller.

voltage

procedure

AC

Servo

many

potential.

following

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opening

malfunction

WARNING:

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avoid

hazard

capacitors

the

service,

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measured

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equipment

should

repair

at

qualified

attempt

steps

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checks

provides

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Power

of

the

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only

qualified

start-up

following

the

start-up,

this

the

branch

before

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of

has

or

terminals

with

personnel

and

standard

a

safety

this

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to

assure

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in

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adjustments

behind

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procedures.

an

If

circuit

continuing.

product

electrical

discharged

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remove

(

9

procedures

procedure.

properly

to

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in

required

velocity

applied

be

the

injury

service

procedure

event

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disconnect

contains

shock,

this

unit.

)

and

+

digital

familiar

start-up

procedure

proper

operation.

steps

and

to

specified

front

personnel

to

personnel

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before

does

not

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stored

verify

before

(-)

of

7

TB5

voltmeterormultimeter.

with

publication

in

the

typical

are

start-up

to

position

the

controller

the

in

panel

are

and/or

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read

beginning

occur

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device

energy

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all

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solid-state

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mode.

following

at

and

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the

to

incoming

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perform

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the

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correct

devices.

to

“0.00”

control

70E

to

on

as

1.

Most

prior

fore,

system,

2.

Check

Appendix

Assure

3.

performed:

been

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-

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-

IMPORTANT:

proceeding.

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4.

start-up

to

check

terminal

B.

that

and

the

controller

difficulties

applying

of

the

all

block

connections

preliminary

adjustments

The

settings

above

circuit

jumper

are

power

system

adjustment

adjustments

breaker

the

result

to

the

interconnection

as

described

as

described

primary

described

as

of

the

(MCB)

of

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of

following

section

in

sections

in

must

OFF.

errors.

transformer

the

wiring.

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in

performed

be

items

5.2.

5.3

There¬

and

5

has

and

9.2.

before

or

Page

7-2

Start-Up

7.1

Procedure

(Continued)

_/

VARIABLE

COMMAND

(J)

BATTERY

BOX

FP

INPUT

BULLETIN

1391

TB2-1

TB2-2

5.

6.

7.

Apply

power

controller

Using

a

the

at

locations

faults

Clear

Location

TB5-4toTB5-5

TB5-4tO

TB5-5toTB5-6

TB4-19toTB4-20

T84-21toTB4-20

TB4-21

TP13toTP12

TP14toTP12

Remove

TEMPORARY

ENABLE

Figure

to

the

energize

or

voltmeter,

shown.

before

TB5-6

toTB4-19

power

all

LOCAL

SWITCH

7.1

Local

-

transformer,

line/DB

the

verify

that

The

replacing

Voltage

230V 230V

230V

18V 18V

35.5V

12V

+

-12V

to

the

transformer.

Control

but

the

tolerance

any

blown

AC

AC AC

AC

DC

TB2-9

TB2-10

Connections

DO

NOT

contactor

voltages

for

all

fuses.

enable

(M).

listed

voltages

below

is

the

are

±

present

10%.

8.

9.

The

wires

and

removed

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insulate The

wires

Input)

(battery

polarity

The

same

the rotation

system.

connectedtoterminals9and

local

operation

switch

suitable

a

the

switch

to

allow

for

temporary

connections.

connectedtoterminals

must

box)

as

when

be

is

of

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marked

to

the

actual

the

and

removed.

connectedtothese

be

Command

control

controller

signal

sourcetoassure

is

See

1

&

placed

10

of

between

Figure

2

TB2

of

A

±

terminals.

from

the

into

TB2

of

the

must

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these

7.1.

(Velocity

10V

DC

battery

correct

operation

be

circuit.

terminals

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local

control

Figure

See

box

motor

part

as

marked

and

7.1.

should

of

the

be

Page

7-3

Start-Up

7.1

Procedure

(Continued)

A

10.

CAUTION:

meter

cause

abled.

(MCB)

This

nent

with

can

It

disconnected

A)

B)

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control

a)

Set

b)

Open

c)

Apply

Place

DRIVE

to

set

is

incorrect

prepared

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or

the

movement

malfunction

procedure.

this

due

occur

recommended

is

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equipment.

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cause

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connections

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power

the

switch.

to

circuit

READY

though

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zero,

the

machine

to

branch

may

and

uncontrolled

to

that

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from

direction

motor

damage

to

input

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transformer

breaker

should

LED

the

servomotor

movement

remove

circuit

be

due

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motor

the

load

if:

of

rotation

the

to

made:

are

zero

at

(MCB)

illuminate.

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may

when

controller

disconnect

wiring

to

a

be

corrected

to

machine

be

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equipment.

battery

the

primary.

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to

SCALE

begin

to

the

controller

power

deviceifthis

error

by

or

system

before

system

movements.

mechanically

damage

cause

improper

to

box.

position.

potentio¬

rotate

and

opening

en¬

is

occurs.

compo¬

proceeding

components

to

phasing

green

The

IMPORTANT:

more

remove

Enable

Fault

may

the

and

input

or

controller

grounding

to

the

WARNING:

trolled

A

injury,

the

11.

With

TB2,

speed

under

10%

a

momentarily

and

control control

command

machine

motor

the

If

controller

not

does

incorrectly

properly

to

the

maximum

power

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LED’s

reset

be

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reapply

removed.

rotation

read

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terminal

applied

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illuminate

by

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at

through

(TB2-11).

high

motor.

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directionofrotation.

(following

but

signal

input

interconnection

uncontrollable,

is

check

and

correct

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the

phased.

slowly

input

close

rotating

polarity

for

problem,

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adjust

the

correct

clockwise

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and the

circuit

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speed

procedure

the

signal

local

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the

in

and

drawing.

check

phasing

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that

the

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position.

the

disable

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or

step,

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applied

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wrong

note

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current

the

controller

the

signal

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reverse

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motor

signal).

direction,

the

feedback

of

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should

the

feedback

enabled,

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controller.

momentarily

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method

guard

(MCB)

against

observe

power

rotation

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attempting

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and

rotate

motor

the

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change

feedback

on

the

wiring

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leads.

device

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potentiometer

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would

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or

to

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slowly

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the

at

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(R148)

one

be

with

start

2

this

be

set

of

Page

7-4

Start-Up

7.1

Procedure

(Continued)

Open

12.

Remove

13.

and2ofTB2.

the

rotation

Open

14.

the

On

15.

following

SCALE

from

On

Command

desired

voltage.

Q

16.

If

speed

P1

17.

IMPORTANT: GAIN

cause

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plug

the

of

give

optimization

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required,

the

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the

wires

position

potentiometer

the

velocity

motor

proper

the

cannot

may

0

pot

the

jumper

servo

response.

satisfactory

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battery

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the

of

branch

removed

controlled

error)

position

controlled

SCALE

speed

position

be

improperly

be

set

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motor

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P6

system

Setting

of

Procedure

proceed

switch

box

OFFSET

motor

circuit

in

should

controller

pot

at

set

at

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to

“3”

to

vibrate

GAIN

as

needed.

response,

response

system

the

step

to

and

connect

and

power

shaft.

disconnect.

step

9.

systems,

be

set

(R132)

systems

(R132)

the

maximum

loop

gain

maximum

set

performing

below.

or

violently.

potentiometer

GAIN

for

should

20.

branch

and

potentiometer

jumper

a

close

circuit

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Reapply

position

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by

adjusting

commanding

while

to

achieve

(no

position

should

(following

motor

(see

section

this

setting

A

GAIN

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jumper

at

response

P6

position

applications.

most

be

is

followed.

disconnect.

between

the

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jumper

power.

loop

the

desired

loop),

adjusted

be

command

error

speed,

5.3).

step,

higher

(R144)

adjust

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pot

provide

and

#4

required,

terminals

switch.

to

obtain

and

gain

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various

following

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the

give

to

(reference)

adjustment)

plug

jumpers

ensure

removing

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that

than

and

insert/remove

used

is

varying

further

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the

optimization

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zero

reconnect

(system

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moves

error.

the

or

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the

could

“3”

to

fine

degrees

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P6

is

1

and

tune

not

System

18.

A

Compensation

Monitor

7

of

TB2

the

with

WARNING:

during grounded.

voltage

fatal

oscilloscope

When

mended

Procedure

velocity

oscilloscope

an

If

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if

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the

that

feedback

an

or

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not

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test

signal

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properly

probe

at

chart

recorder.

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chassis

grounded.

ground.

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ground

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recorder)

chart

must

it

may

be

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recorder)

be

connected

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6

be

potentially

at

a

connect

it

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used

properly

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recom¬

to

TP12.

and

the

(R1

GAIN

CONTROLS

OF

OVERSHOOT

44)

AMOUNT

Page

7-5

Start-Up

COMMANDED

VELOCITY

Start-Up

7.1

Procedure

(Continued)

Figure

1.

19.

2.

7.2

-

Adjust

velocity

speed

velocity

point

curve

3.

Velocity

the

response

commands.

overshoot

point

to

#2

Response

Velocity

positioning

desirable

is

1.

2.

3.

Profiles

GAIN

TB2-7)

(at

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20-30%

of

on

a

UNDERDAMPED

CRITICALLY

OVERDAMPED

potentiometer

curve

velocity

or

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profile

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at

in

#1

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controlled

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(R144)

various

Figure

decel

metal

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levels

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with

7.2

optimal

is

system.

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TIME

step

input

single

a

on

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system.

the

a

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overshoot. should

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20.

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21.

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22.

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23.

reconnect

GAIN

not

power

the

power

pot

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speed

or

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oscillate

with

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local

and

check

with

to

motor

be

final

or

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load.

adjusted

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exhibit

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switch

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branch

so

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any

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circuit

the

that

quickly

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disconnect.

reconnect

disconnect

motor

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the

external

achieves

motor

zero

at

and

with

shaft

speed.

wiring.

necessary,

if

the

no

Page

7-6

Start-Up

Page

This

-

Intentionally

Left

Blank

-

Chapter

8

Chapter

8.

Objectives

8.

Introduction

Operation

Chapter

0

Servomotor

information

seal

Servomotors,

1

general,

In

shown

Motor

%

Rated

kit

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describes

8

also

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Figure

in

100

75

-

RPM

with

the

on

the

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refer

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8.1.

-

with

operation

the

Bulletin

blower

For

publication

to

1326

RATED

SPEED

the

1391

motor,

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motor

Bulletin

of

standard

a

Servo

AC

integral

information

1326A-2.3.

will

follow

70%

1326

holding

NOMINAL

AC

Bulletin

Controller.

brake

Allen-Bradley

on

speed-torque

the

INPUT

VOLTAGE

LINE

Servomotor

AC

326

1

General

and

shaft

oil

AC

curve

7

-j

15%

LOW

INPUT

LINE

VOLTAGE

75%

Figure

Rated

-

Tc

ambient

Tp

combination ambient

peaks

following

are

torque

of

the

Peak

-

and

are

common

curves

permissible

(Tc).

50

-

25

-l

Torque

40°C.

Torque

with

the

where

OPERATION

Typical

8.1

-

motor

of

The

controller

that

bothatrated

controller

many

in

typical

show

RMS

RATED

50

Bulletin

windings

with

is

can

be

temperature

a

in

60°C

applications

system

torque

100

Torque

1326

operating

produced

ambient.

for

performance.

less

is

INTERMITTENT

OPERATION

m

(Tc)

%

Rated

-

Speed-Torque

temperature

rated

at

rated

a

in

by

than

the

and

the

Since

optimal

equal

or

motor

T

150

Curve

ambient

and

motor

in

200%

current

controller

to

peak

the

Higher

(TP)

200

and

an

60°C.

of

controller

40°C

a

torque

usage,

torques

rated

the

Page

8-2

Operation

with

the

Bulletin

1326

AC

Servomotor

8.

Introduction

(Continued)

be

Duty

Speed

developed.

operating

Operation

and

controller

the

Cycle

RPM

Cycle

Total

Torque

the

-

RMS

Profile

Accelerate

Time

operating

minimum

a

point

This

in

a

60°C

Area

-

combination

rating

OPA)

ti

TPA2

speed

defined

is

ambient.

boundary

either.

of

Steady

Speed

(Tss)

*2

Move

Xtt+

of

the

70%

of

with

speed-torque

of

operate

may

Cycle

Tss2

controller

of

continuous

the

on

Decelerate

ts

Tpo2

X

t2+

motor

a

servo

(TRD)

and

rated

at

curve

Rest

(TR)

X

t3+

motor

25°C

where

basis

t4

TR2

torque

and

the

without

/

X

t4

(Tc)

Repeat

1

Rated

combinationatwhich

can

controller Rated

motor

exceeding

where:

T

RMS

TPA

Tss

Tpo

TR

ti,

Note:

convert

To

convert

The

(Expressed

used

Motor

(Expressed

used

Motor

speed

units

Motor

Lb.-In.orLb.-Ft.

the

Torque

,

1

Time

U

3

Newton-Meters Newton-Meters

motors

throughout

peak

throughout

torque

segment.

must

peak

formula.)

when

each

for

RMS

in

torque

in

be

torque

average

or

Lb.-In.

Lb.-In.orLb.-Ft.

present

used

motor

portion

or

formula.)

the

to

accelerate

formula.)

the

at

(Expressed

throughout

to

decelerate

same

The

is

at

of

Lb.-Ft.,

to

Lb.-In.,

to

torque

Lb.-Ft.

The

to

The

the

motor

Lb.-In.orLb.-Ft.

in

the

to

units

speed.

zero

duty

the

multiply

over

same

maximum

same

shaft

formula.)

speed.

zero

must

be

cycle

in

by

0.7376

by

8.8512

duty

the

units

speed.

units

during

used

seconds.

cycle.

must

be

must

be

constant

The

same

(Expressed

throughout

in

Intermittent

motor

the

and

deceleration

cycle

duty

the

Operation

controller

mode

without

RMS

Area

combination

exceeding

continuous

boundary

-

torque

may

peak

limit

speed-torque

of

operate

rating

is

of

not

exceeded.

curve

acceleration-

in

either,

provided

where

that

Operation

with

the

Bulletin

1326

AC

Servomotor

Page

8-3

Continuous

Torque

Stall

Lb.-ln./N-m Lb.-ln./N-m

93.3/10.53 102/11.5

140/15.8 153/17.3

210/23.7

310/35.0

420/47.4 420/47.4

All

©

Allen-Bradley.

Bulletin

48/5.4

ratings

(Tc)

are

for

1326AB

Introduction

Stall

Peak

(T

Torque

96/10.84

186.6/21.0 204/23.0

280/31.6 306/34.6 420/47.5

568/64.1

811/91.7

840/94.8

40°C

motor

Motor

8.

(Continued)

P)

ambient,

8.2

Options

1

Rated

Speed

RPM

3000

3000 3000

3000

2000

1600

1

Table selection

amplifier/motor

Bulletin

10°C

1391

Motor

1326AB-A3E

1326AB-B2E

1326AB-B3E 1326A8-B3E

1

326AB-C2E

1326AB-C3E

326AB-C4C

1

1326AB-C4B

case

and

General

Shaft

Appendix

8.

contains

A

list

B/1326AB

Catalog

Number

amplifier

60°C

information

Oil

Seal

B

the

detailing

combinations.

Table

8.A

Controller

Catalog

1391B-AA15

1391B-AA22 1391B-AA22 1391B-AA45

1

391

1391B-AA45

391

1

1391B-AA45

ambient.

kit

are

motor

for

Bulletin

the

1326AB

performance

Performance

Servo

No.

B-AA45

on

the

presented

interconnection

Continuous

extended

For

Blower

Amperes

Data

Torque

7.8

16.4

24.6

33.2

49.1

45.6

38.2

mod

on

the

performance

parameters

at

Rotor

Lb.-ln.-Sec2/Kg-m2

(lc)

0.010/0.001

0.05/0.006

0.08/0.009

0.14/0.015

0.22/0.024

0.29/0.032

at

ratings

kit,

lower

Integral

following

information.

of

Inertia

ambients,

Holding

pages.

data.

selected

(JM)

consult

Refer

Included

Rated

Output

kW

1.2

2.28

2.5

3.5

3.8

5.2

7.5

7.0

5.6

Brake

to

is

and

a

Blower The

Approved),

kit

Mod

consists

housing,

specifications

information.

SPECIFICATIONS

INPUT

VOLTAGE

AMPERES

LINE

CLEARANCE

INLET

AIR

IMPORTANT:

ENVIRONMENTS

THE

a

9.25

(235.0)

DIMENSIONS

(1326AB-MOD-G3)

Kit

impedance

of

an

grille

and

below

220/230V

0.15/0.14

(1

6"

BULLETIN

REQUIRING

1326AB-MOD-G3

t

6.75

(171.5)

i

INCHES

IN

ARE

guard

Figure

AC,

52.4)

65

IP

PROTECTION.

r

to

4.66

(118.4)

(MM)

AND

protected

necessary

and

for

8.2

HZ,

50/60

r

i-

«”)!

l(_l|

V-

fan

connection

1-PH.

OPTION

0.875”

0.5,”

CONDUIT

GA.

KIT

-i

AC

-*

_r

1.75(44.5)

(22.2MM)

12.7MM

STRANDED

(UL

recognized,

hardware.

and

dimension

MUST

NOT

VIEW

TOP

SERVOMOTOR

KNOCKOUT

DIA.

PROVISION)

BOX

2-18”(457.2MM)

WITH

FLYING

Refer

BE

USED

-4

LEADS

CSA

to

IN

SIDES.

INSIDE.

the

(WITH

18

Figure

8.2

Blower

-

Cooling

Option

Page

8-4

Operation

with

the

Bulletin

1326

AC

Servomotor

Bulletin

1326AB

Motor

8.2

Options

(Continued)

Integral

The

Bulletin

when

the

-Kx

(24V

or

removal limited

intended

BRAKE

AC

SERVOMOTOR

Watts

5

-

4

Up

to

-

DIMENSIONS

Holding

1326AB

motor

DC

power.

of

braking

continuously

to

be

COIL

Dissipation

Brakes

Motor

IN

ARE

Brake

catalog

input).

The

torque

per

115V

©

90V

®

INCHES

&

servomotor

number

The

brake

emergency

for

cycled

MOTOR

CONNECTOR

Motor

per

Module

AC

INPUT

OUTPUT

DC

(MM)

AND

DC

90V

contains

brake

designed

is

I-*-

I

.*>•

0.165

is

a

to

assist

90V

1-125

(28.6)

j|®

MTG.

(4.19)

Power

an

a

suffix

type

disc

to

hold

stopping.

in

1326-MOD-BPS

DC

24V

H

®|

7

DIA.

HOLE

Supply

integral

of

that

load

a

However,

stopping

DC

90V

(ÿAx

ON

CATALOG

SUPPLY

DC

24V

DC

(-Kx

ON

CATALOG

1.125

(28.6)

I

(1326-MOD-BPS)

holding

(90V

-Ax

spring-set

is

at

BRAKE

MOTOR

NUMBER)

BRAKE

MOTOR

NUMBER)

rest

is

it

load.

a

_

FOR

-

FOR

0.250

TERMINAL,

DC

and

(6.35)

O

0.75

L*

(19.1)

I

H

brake

input)

upon

provide

not

115V

50/60

PLCS.

4

AC,

Hz

Shaft

Oil

Seal

Shaft

Oil

The

applications

splashes

Seal

where

(motor

IMPORTANT:

motor

the

The

Small

-

Bearing

-

1.

shaft

following

Hammer

Grease

Apply

minimize

a

IMPORTANT:

guard

against

motor

shaft.

Place

2.

the

installed

Slide

Using

the

seal.

casting.

the

3.

Figure

(1326AB-MOD-SSV)

Kit

the

mounted

This

partially

is

items

8.3

consists

motor

kit

will

Brake

-

to

is

be

shaft

gearbox,

a

not

fully

or

required

(8oz/0.23kg)

light

coating

possibility

the

cuttingorscraping

Any

over

seal

with

the

along

seal

small

seal

The

of

Use

care

damage

the

shaft

solid

the

hammer,

must

Viton

a

may

Supply

seal

be

etc.).

Power

of

intendedtobe

submerged

for

installation:

grease

of

when

seal

to

the

damage

placing

the

will

reduce

(see

Figure

shield

shaft

gently

be

installed

side

into

facing

position

tap

Connections

which

is

subjected

used

inside

surface

the

around

flush

to

applications

in

oil.

in

diameter

during

the

installation.

seal

in

effectivenessofthe

8.4).

The

motor

the

over

the

with

the

intended

occasional

for

oil

where

of

the

seal

shaft,

the

over

contact

seal

with

must

be

bearing.

end

bell

bore.

circumference

outsideofthe

use

to

the seal.

of

in

to

Bulletin

1326AB

Motor

8.2

Options

(Continued)

BEARING

Operation

with

1

the

Bulletin

IJ

1326

END

AC

BELL

SHAFT

(FINAL

CASTING

Page

8-5

Servomotor

SEAL

POSITION)

Motor

8.3

Maintenance

Bulletin

maintenance.

guard

the

1326AB

against

connector

Figure

brushless

The

coolantsorother

seals.

8.4

-

AC

connectors

Oil

Shaft

servomotors

shouldbemounted

materials

Seal

Installation

require

from

little

down,

coming

or

possible,

if

into

no

contact

to

with

Page

8-6

Operation

with

the

Bulletin

1326

AC

Servomotor

This

-

Page

Intentionally

Left

Blank

-

Chapter

9

Bulletin

Chapter

Transformers

1391

9.0

Objectives

9.1

Chapter9provides

the

Bulletin

information

provided.

The

Bulletin

three-phase,

a

Transformers

four

controllers.

are

available.

in

units

a

60°C

1391

including

1391

230V

supplied

The

ambient.

IMPORTANT:

Bulletin

1391

isl5kVA.

IMPORTANT:

35.5V

AC

transformer

is

recommended

Contact

different

a

connection

your

that

local

type

must

information.

Transformers

connection,

Isolation

must

AC

Standard

kVA

The

Allen-Bradley

Transformer.

operation

operate

output

with

the

three-phase

values

maximum

Bulletin

tap

to

a

Bulletin

be

used.

provide

dimension

and

external

from

and

a

Bulletin

specified

rating

1391

controller

power

Is

1391

Sales

to

Refer

and

Shunt

and

enclosure

In

addition,

resistor

isolation

an

single-phase,

can

1391

input

voltages

are

the

continuous

can

that

be

uses

to

the

)lation

Representative

Figure

Transformer

9.1

Regulators

information

regulator

shunt

dimensions

transformer

35.5V

provide

for

connectedtothe

phase

a

Logic

Control

if

Appendix

and

having

output.

AC

power

the

60

outputs

sensitive

be

used.

transformer

a

are

up

for

units

Hz

of

Board.

B

for

to

the

It

of

CAUTION:

center

A

HZ

60

Two

60

240/480V

1.

2.

208/230/460/575V

other

If

Allen-Bradley

local

connection

50/60 The

50/60

240/380/415/480V

Connections

dimensions

NEMA

Dimensions

connected

Transformers

transformers

Hz

AC

voltages

input

information

Transformers

HZ

transformer

Hz

to

the

provided

TYPE

for

1

the

Damage

tap

,

three-phase

Sales

AC,

50/60

(Y2,

wire

to

TB4-20

available

are

AC,

three-phase

special

or

Representative.

Figure

and

that

three-phase.

transformer

Hz

Figure

in

ENCLOSURE

NEMA

Type

to

the

Y5,

Y8,

as

shown

enclosures

9.2

available

is

9.2.

1

enclosures

controller

Yll)

in

and

have

are

Refer

for

dimensions.

has

are

shown

will

shown

Appendix

are

in

input

required,

Figure

to

input

an

in

shown

resultifthe

Figure

B.

ratings

Figure

consult

9.1

rating

Figure

in

of:

for

9.1

of

is

your

with

9.3.

not

IMPORTANT:

customer

assembly.

The

NEMA

Type

1

enclosure

shipped

is

as

for

a

kit

Page

9-2

Transformers

and

Shunt

Regulators

JUMPER

FARADAY

SHIELD

G2

!Jt

Tr;

H3

H1

\

Y

G1

nnnnnnnnnn

xo

EARTH

GROUND

—

H2

\AAA<

H4

A

UJUJUUUU

X1

H6

V

AC*

230V

*

SECONDARY

H5

RATINGS

VA

H7

As

X2

4

<ÿ

—

AC*

230V

POWER

AS

BULLETIN

PRIMARY

VOLTAGE

AC

240V

480V

AC

H9

CONNECT

H1

TOH3TO

H2

TO

H4TOH6

H5TOH7TO

H2TOH3

H5TOH6 H8TOH9

H8

1391-TxxxDT

H8

H9

V

UJUU

JUUJ

pnrYYYVYÿnr

X3

4

PER

230V

WINDINGS

CHART

AC*

4

ill

LINES

HI

P

1

Srv\

UY1

35.5V

CT200VA

H4

Y2

Y3o

AC

ON

H7

P2

CONNECT

SWITCH

THERMAL

PROTECTION

DC,

A/24V

1

m

|

(I

Y4

35.5V

CT200VA

<ÿ

(RATED

0.25A

Y5

Y6

AC

TO

GO

JUMPERGOTO

FOR

TRANSFORMER

AT

MIN.,1

rHH-i

n

OY7

WITH

115V

85°

35.5V

CT

C

1

200V

AC.

±5°Q

Y8

Y9n

AC

SEPARATE

A

WIRES

/T1!

*Y10

35.5V

CT200VA

<ÿ

.v.v.v.

I

Y11

Y12n

AC

-

G1

vX'X'XÿX'Xÿ'X'XvX'XvX'XvX'X'X'X’X

GO

A

FARADAY

SHIELD

wn

BULLETIN

PRIMARY

VOLTAGE

AC

240V

380V

AC

415V

AC

480V

AC

H1

•

rY~vnnnnnnnn

X0

=ÿ

-

H3

H2

•••••••••••••a

EARTH

GROUND

H4

X1

CONNECT

TO

H6

H2

H7TOH11

H12TO

H1

H3

TO

H6

H8TO

H11

H13TOH1

TO

H6

H4

H9TOH11

H14TOH1

H5TO

H6

H10TOH11

H15TOH1

H6

H5

230V

*

1391-TxxxET

LINES

H7

H8

H9

pnnrvvÿnnnr

X2

4

AC*

230V

SECONDARY

VA

RATINGS

POWER

AS

PER

ON

HI

H6

H11

H10

AC*

230V

WINDINGS

CHART

H12

4

H13

X3

CONNECT

TO

H6

H2

H7TOH11 H12TOH1

TO

H3

H6

H8TO

H11

H13TOH1

H4

TO

H6

H9TO

H11

H14TOH1

HSTO

H6

H10TOH11 H15TOH1

P2

THERMAL

PROTECTION

1A/24V

Y2

Y3*

AC

1

391

Y4

CT200VA

<ÿ

-TxxxNT

SWITCH

DC,

0.25A

Y5

Y6#

AC

35.5V

->ÿ

LINES

FOR

(RATED

MIN.,

4Y7

ON

HI

H6

H11

JUMPER

GOTO

TRANSFORMER

115V

AT

AC.

185°C±5°

Y8

Y9

35.5V

AC

CT200VA

G1

C)

*Y10

<r

Y11

Y12||

35.5V

AC

CT200VA

G1

GO

BULLETIN

PRIMARY

VOLTAGE

AC

208V

AC

240V

AC

480V

575V

AC

H15

H14

4

P1

Y1

#

35.5V

CT200VA

<-

Figure

9.1

Bulletin

-

1391

Transformer

Wiring

Diagrams

Transformers

and

Shunt

Page

9-3

Regulators

Catalog

1391-T015DT

1391-T015ET/NT

1391-T025DT

1391-T025ET

1391-T035DT

1391-T035NT 1391-T050DT

1391-T050ET/NT

1391-T100DT

1391-T100ET/NT

1391-T125DT

1391-T125ET/NT

1391-T150DT

1391-T150ET/NT

Number

n

I

APPROXIMATE

kVA

1.5

2.5

3.5

5.0

10.0

12.5

15.0

A

(228)

9.00

(228)

9.00

11.00(279)

(279)

11.00

(279)

11.00

(305)

12.00

(305)

12.00

(305)

12.00

(305)

12.00

(330)

13.00

13.00(330)

i

DIMENSIONS

(MILLIMETERS)

INCHES

IN

B

10.00

11.00(279)

1

.00

1

11.00

11.00(279)

12.50(317)

14.00

14.00(356)

(254) (254)

(279) (279)

(279)

(356)

AND

WEIGHT-

POUNDS

AND

C

13.00(330)

14.00(356)

14.00(356) 14,00(356)

14.00(356)

14,00(356)

16.00

16,00(406)

16.00

16.00(406)

17.50(444)

0.22R

(5.6)

ISOLATION

(KILOGRAMS)

(406)

Slot

TRANSFORMER

D

5.00(127)

6.00(152) 6,00(152)

6.00(152)

6.00(152) 6,00(152)

(203)

8.00

(203)

8.00

(203)

8.00

(203)

8.00

9.50(241)

1

i

0.53

(13.5)

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3.50

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4.50(114)

5.25(133)

6,00(152)

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Page

9-4

Transformers

and

Shunt

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Shunt

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9.2

Operation

section

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Page

9-6

Transformers

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Shunt

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9.3

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Page

9-7

Regulators

Shunt

Regulator

(5.2)

0.203

(8.7)DIA.C.B.

0.343

9.3

Installation

(Continued)

DIA.

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9-8

Transformers

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Regulators

-

This

Page

Intentionally

Left

Blank

-

Chapter

10

Troubleshooting

System

Chapter

Objectives

Troubleshooting

10.0

10.1

Chapter

Bulletin

10

1391.

diagnosis,

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controller

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Page

10-2

Troubleshooting

LED

CONTROL

(RED)

POWER

OVERVOLTAGE

(RED)

UNDERVOLTAGE

(YELLOW)

CURRENT

(YELLOW)

RUN

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malfunctioned

wired.

DC

incorrectly

to

be

returned

sensing

is

energy

controller

preset

line

their

or

and

voltage

DC

has

nominal

isopen.

a

have

incorrectly

,,

rating

from

the

viscous

output

the

controller.

has

of

peak

loading

terminals.

malfunctioned.

system

amount

malfunctioned

wired.

malfunctioned

wired.

(fuse

the

bus

overdriving

the

to

be

to

returned

input

voltage

incorrectly

rate

is

value

dropped

is

placing

or

has

out.

the

malfunctioned.

value

malfunctioned

wired.

,,

.

(fuse

blown

position

controller

time.

currents.

is

excessive.

malfunction

(fuse

blown

(fuse

voltage.

the

power

shunt

(fuse

etc.)

blown

supply

to

rating.

set.

blown

or

is

that

etc.)

the

will

or

Descriptions

LED

Table

10.A

(Continued)

and

Fault

Diagnosis

Page

10-3

Troubleshooting

LED

RUN

ENABLE

(Continued)

DRIVE

READY

(GREEN)

Condition

System

or

Axis

System

or

Axis

Desired

motor

deceleration

does

Motor

Velocity

Presence

Tach

Command

of

signal

runs

is

unstable

acceleration

cannot

respond

not

on

noise

wires

Description

LED

This

ed

uncontrollably

be

LED

until

/

obtained

a

to

is

a

Command

continuously

system

fault

Possible

1.

2.

1

2.

3.

1

2.

3.

4.

5.

1.

2.

3.

4.

5.

6.

7.

8.

9.

or

1

2.

3.

4.

5.

illuminat-

occurs.

General

Cause

velocity

The

incorrect

internal

An

Velocity

.

Position

Improper

position

Current

.

The

Current

The

system

The

system

The

Available

The

controller

The

controller

power

The

Power

motor

The

motor

The

motor motor

The The

feedback

.

60

Hz

20

1

Hz

or

180

Variable

disturbance

motor

the

Recommended

Condition

ENABLE

1.

2.

3.

4.

The

1.

2.

3.

DRIVE

1.

System

feedback,

open.

or

controller

Compensation

Loop

Gain

grounding

feedback

Limit

Feedback

inertia

friction

controller

is

contactorisnot

transformer

wi

ri

or

transformer

has

coupling

circuit

frequency

line

from

360

Hz

frequency

power

single

a

from

caused

/

Potential

LED

is

A

controller

indicators.

component

A

The

circuit

power

The

controller

supply

logic

The

supply

Logic

A

controller

indicators

System

Table

(check

READY

fault

10.B

Troubleshooting

position

malfunction

or

Position

shielding

or

velocity

or

incorrectly

pot

is

Scaling

is

excessive.

torque

is

current

a

malfunction.

has

not

enabled.

energized.

supplying

is

open.

ng

is

malfunctioned.

transmission

grounding

thermal

malfunctioned.

has

(motor

may

be

phase

logic

adjustable

other

(varies

with

by

gearteeth

per

Cause

Illuminated,

malfunction

Check

the

malfunction

(MCB)

breaker

contactor

supplies

logic

fuses

voltage

AC

malfunction

the

LED

NOT

is

has

occurred.

feedback

exists.

Gain

or

Controller

techniques

command

set.

is

incorrect.

excessive.

insufficient

is

incorrect

the

overload

controller)

to

present.

supply

motor

or

components

Appendix

Controller

but

occurred

has

status

of

exists

tripped.

is

has

been

not

are

not

are

blown

is

missing

has

occurred

of

status

illuminated

device

potentiometer

accel/decel

are

lines,

causing

supply

to

voltage

has

open.

is

may

be

speed

drives

may

speed)

ballscrew

B

balls

or

has

ballscrew

the

Drive

in

energized

operational

the

Drive

velocity

or

causing

the

tripped.

present.

maybe

be

etc.

not

been

does

but

OK

the

Enable

but

OK

incorrectly

is

rate

noise

erratic

correct

none

or

present.

velocity

The

speeds.

followed.

not

Enable

is

annunciatedbythe

not

(DROK)

output

circuit.

or

has

malfunctioned.

not

is

annunciated

contacts).

command

set.

improperly

to

be

axis

movement.

accel/decel

all.

at

transmitted

feedback

frequency

signal

set.

ripple

maybe

relay.

wiring

rate.

by

or

a

multiple

a

the

into

LED

is

the

of

Page

10-4

Troubleshooting

Condition

Rotation

No

Overheating

Abnormal

Erratic

position,

with

Noise

Operation

runs

reduced

without

torque

Motor

-

locks

control

into

or

General

Possible

.

1

The

Foreign

2.

3.

The

4.

The

5.

The

.

1

The

2.

Motor

3.

The

.

1

Loose

2.

Through

3.

The

GAIN

4.

.

1

Phases

Sine,

2.

Sine,

3.

Combinations

4.

Table

Servomotor

Cause

motor

connections

matter

motor

bearings

brake

rotor

voltage

duty

cycle

parts

bolts

bearings

setting

A&B.A&CorB&C

Cosine

Cosine,

load

are

is

set

partially

is

are

is

or

Rotor

lodged

is

excessive.

worn.

(when

is

exceeding

is

excessive.

present

are

loose.

worn.

high.

too

Rotor

lead

1,2,3

of

10.C

Troubleshooting

loose

the

in

the

motor.

reversed

or

motor.

maximum

are

equipped).

demagnetized

in

leads

sets

open.

causing

excessive

value.

motor

current.

Test

Point

TP1

TP3

TP4

TP5

TP6

TP7

TP8

TP9

TP10

TP11

TP12

TP13

TP14

TP15

TP

16

TP17

TP18

19

TP

TP20

TP21 TP22

TP23-TP24

TP26-TP27

TP28

TP29

TP30 TP31

Point

Test

Description

Buffered

Tachometer

Demodulated

]D_

PWM

Triangle

PWM

B

PWM

A

PWM

C

PWM

MultiplierTriangle

Signal

Common

12VDC

+

DC

-12V

Reference

lB

Reference

lA

|l|

Absolute

Velocity

Buffered

Velocity

Current Current

Velocity

Signal

Common

Current

Signal

Common

Descriptions

Resolver

Output

Sine

Cosine

(2.5

Value

Gain

Calibration

Velocity

Error

Limit

Command

Loop Loop

Feedback

Command

Calibration

Response Response

(Phase

10.2

Signal

Rotor

(2.5V/kRPM)

Wave

kHz,

1Vp-p)

1

(22.5

(adjust

Calibration

B,

A,

2.5V

Table

1391

kHz,

with

p-p=

p-p

10.D

controller.

Test

p-p)

15V

R148,

Rated

=

describes

Table

Point

3V=

Rated

Motor

the

to

Refer

10.D

Descriptions

Current)

Motor

Current)

various

Figure

test

10.1

points

test

for

foundinthe

point

locations.

Bulletin

Page

10-5

Troubleshooting

CURRENT

SCALING

FEEDBACK

SWITCH

TP1

0

TERMINAL

RESOLVER

-

0000000000

TP1

TP2

LOGIC

BULLETIN

CONTROL

TPS

1

1391

3

TP

IS

P2

1

P3

TP30

1

TP29

n

TP16

S1

BLOCK

TB1

BOARD

S

PI

TP5

TP8

TP9

TP10

TP13

TPM

TP15

R1

TB1

SIGNALS

10

TP4

TP7

TP12

f

-

OFFSET

SCALE

GAIN

R132

E3

a

Figure

TP18,

19

1=1

PS

TP20

O

g]

P13

R144

P6

T

p7

I

P10

TP22

1

00000000000000

TERMINAL

I/O

-

Logic

10.1

-

R148

Q

I

TP21

B

P9

TB2

BLOCK

SIGNALS

Control

TP17

TB2

-

s

P4

14

TERMINAL

Board

(H

E

P11

1

0000

-NOT

Test

DS1

DS3

DS4

0S5 DS6 DS7

DS8

TB3

USED-

Point

4

BLOCK

Locations

TB3

IS

P8

OVERTEMPERATURE

FAULT

POWER

CONTROL

OVERVOLTAGE

UNDERVOLTAGE

CURRENT

RUN

DRIVE

ADJUSTABLE CURRENT

UMIT

POWER

FOLDBACK

ENABLE

READY

(R)

(Y)

(G)

Page

10-6

Troubleshooting

©

F3

15A

22.5A

PROVIDED

KLM-10

FNQ

6

GROUND

ON

15

AND

1

SERI

/4

STUD

22.5A

ESBONLY

UNITS

ONLY.

1

TB4

TB5

10

22

a*

F3

SW1

1

11

©

F1

MCB

F2

TB1

1

10

Figure

10.2

Bulletin

-

1391

Top

Panel

Appendix

A

Dimensions

are

o*

AC

Inches

in

SERVO

(mm)

and

d

ALLEN-BRADLEY

CONTROLLER

SEE

17.50

(444.5)

DETAIL

18.40

(467.4)

A

(482.6)

a

19.00

Controller

6.00

(152.4)

5.20

(132.1)

Dimensions

3.70

„

(93.9)

Vl

NOTES:

j\J

(6.3)

0.25

0.30(7.6)

1.

MOUNTING

A

MINIMUM

2.

SEE

DETAIL

4.50

(114.3)

6.20

(157.5)

1

-M

t

SLOTS

SPACING

J

4

B

LA

H

f

AND

A

DETAIL

KEYHOLE

0.312"

OF

A

0.67(17.0)

(21.6)

0.85

0.312

0.60(15.2)

WILL

(7.9MM)

(7.9)

DIA

ACCEPT

REQUIRED

IS

1/4-20

0.39

(7MM)

HARDWARE.

BETWEEN

±

J

(9.9)

ADJACENT

9.10

(228.6)

10.64

(270.2)

DETAIL

B

z

CONTROLLERS.

0.312

(25.4MM)

1"

(7.9)

DIA

IS

RECOMMENDED.

A-

Page

2

Controller

Dimensions

Page

This

-

Intentionally

Left

Blank

-

!

Appendix

B

Interconnect

Bulletin

Interconnect

Drawings

1391

Drawing

AppendixBprovides

wiring

position

possible,

The

diagrams

Bulletin

-

between

control

these

recommended Bulletin

-

Bulletin

-

Bulletin

-

Bulletin

-

Bulletin

-

the

products.

diagrams

provided

1391

1391 1391 1391 1391

1391

interconnect

control

IMC

/

IMC

/

8400

/

8600

/

Creonics

Drawing

The

Bulletin

B-3.

and

NOTES:

1)

Refer

POWER

15A

22.5A

45A

WIRING

1391

to

AWG

12

AWG

10

AWG

8

the

Interconnect

UNLESS

typical

Bulletin

are

include:

circuitry.

120

123

Series Series

“Notes”

75C

MIN.

75C

MIN.

75C

MIN.

interconnection

and

1391

Due

to

the

provided

drawing

Interconnect

CNC CNC

MAX4

and

Drawing

listed

NOTED:

MIN.

Interconnect

diagrams

various

numerous

for

showing

Interconnect

MAX/CONTROL

below

other

reference

Drawing Drawing

presented

is

when

electrical

the

that

Allen-Bradley

only.

inputs,

Drawing

Interconnect

pages

on

using

this

Drawings

illustrate

circuit

designs

outputs

B-2

drawing.

the

and

2)

SIGNAL

3)

4)

5)

6)

7)

8)

9)

WIRING:

ALLEN-BRADLEY

AWG

8

AWG

2

1

RESOLVER

TERMINATE

DO

NOT

PROVIDED

F3

ONLY.

INSERTED

P1

CURRENT

18

SUPPLIED

MOTOR

CABLE:

SHIELD

CONNECTIONS

MAKE

15

ON

1.5V/KRPM,

FOR

FEEDBACK

AWG

MIN.

CABLE:

326-CPCxx

1 1

326-CPABxx

326-CFUxx

1

326-CFUxx

SOURCE

ON

&

22.5A

SCALING:

END

TO

UNITS

P1

REMOVED

SEE

ONLY.

UNUSED

ONLY.

SECTION

PINS

15A

FOR

5.3.

ON

THE

KLM-10,

=

2.5V/KRPM.

RESOLVER

22.5A=FNQ

CONNECTOR.

6V4

SERIES

B

Page

B-2

Bulletin

1391

Interconnect

Drawings

EXTERNAL

CURRENT

(IF

SUPPLIED

CONTROLLER

MOTION

(Volts)

12-120

220-240 380480 500-600

LIMIT

USED)

CNC

BY

ACII

Ue

"M”

Ratings

OR

CONTACT

le

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6 3

1.5

1.2

VELOCITY

TORQUE

COMMAND

10K

1/2W

MINIMUM

RUN

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RATINGS

Ratings

DCII

Ue

(Volts)

28

110

220

440

660

TACH

(NOTE

CMD

1

TB4-15

PWR.COM.

LOW

le

(Amps)

5.0

1.25

0.62

0.27

0.20

NOTE

5

OUTPUT

8)

OUTPUT

n*

u

TB4-16

RESET

BUS

TB4

TB4 TB4

TB4

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9

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DS2

DS3(

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DS5

DS6

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to

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COLOR

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Wire

Mylar

Number

1

2

3

4

5

6

7

8

9

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1

326-CPABxx

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Color

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Black

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Black

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#12

#16 #16

#16

#16 #16 #16

#16

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Number

F

I

B

D

E

C

G

H

A

N/C

1391

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TB5-1 TB5-2 TB5-3

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1

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2

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4

5

6

7

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6

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Number

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Red

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Orange

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Stator Stator Stator Stator

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Wire

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#8

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#16 #16 #16 #16 #16

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1

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1

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1

2

4

1

3

Number

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G

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K

N

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M

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1391

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#22 #22

#22

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2

3

4

5

Wire

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Color

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White

Black

Red

Black

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Blue

Black

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ENCODER

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Number

H

A

F

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Notes

I

We

manuals

can

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few

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take

FAX:

PUBLICATION PUBLICATION

CHECK

THE

SUGGEST

DESIGN

SUPERVISE

LEVEL

WHAT

PROGRAMMABLE

AC

/DC

PERSONAL

NC/CNC

DATA

COMMUNICATIONS

Our

help!

out

filling

minutes

your

to

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local

NAME

NUMBER,

FUNCTION

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IMPLEMENT

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to

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you

what

us

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Allen-Bradley

AND

MOST FOR

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CLEARLY

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YOU

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SYSTEMS

DATE

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ELECTRICAL

OPERATIONS

/

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needs

the

helpusprovide

Then

think.

Office

Sales

PRESENT)

NUMBER

PURCHASE

HAVE

(IF

DESCRIBES

OF

WITH

EACH

NONE

Manuals

you,

of

EQUIPMENT

mail

or

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most

or

414/5

YOUR

OF

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the

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12-8579

This

user.

useful,

this

JOB.

FOLLOWING

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MAINTAIN

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PRODUCTS?

MODERATE

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EDUCATE

MACHINE

the

make

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PROGRAMMABLE

USERS

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COMPARED COMPAREDTOOTHER

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OTHER

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TABLE

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YOU

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CONTENTS

OF

COMPANIES’

ALLEN-BRADLEY

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COMMENTS?

CIRCLING

BY

MANUALS

MANUAL?

IN

MANUAL

THIS

CITY

YOUR

RESPONSE

1

1 1 1

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COMPANY

DEPARTMENT

PAGE,

BELOW.

2 2 2 2

2

TABLE,

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4 4 4 4 4

4

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]

DATE

FOLD

HERE

NO

POSTAGE

NECESSARY

MAILED

IF

IN

THE

STATES

UNITED

BUSINESS

FIRST

CLASS

POSTAGE

PERMIT

WILL

BE

REPLY

NO.

413

ADDRESSEE

PAID

BY

ALLEN-BRADLEY

Attn:

Marketing

P.O.

Box

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1

Wl

1

Communications

760

53092-9907

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worldwide.

FY

COMPANY

subsidiary

A

I

meets

employees

products

to

manufacturing decision-making

today’s

and

market.

Rockwell

of

automation

throughout

supporting

products

These

process

throughout

International,

challenges

design,

the

world

to

services

and

services

providing

while

enterprise.

the

of

the

one

with

over

manufacture

help

our

customers

only

not

access

world’s

years

85

control

to

vital

largest

practical

of

apply

a

and

continuously

individual

plant

floor

technology

plant

floor

range

wide

improve

machines,

can

data

that

companies,

experience.

of

control

productivity

quality,

integrate

but

also

to

used

be

Allen-Bradley

11,

Over

000

automation

and

the

support

time

HEADQUARTERS

WORLD

Allen-Bradley

South

1201

Milwaukee,

Tel:

Telex:

Fax:

Publication

Supersedes

Second

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(1)

414382-2000

4311016

(1)414382-4444

1391-5.1

Street

53204

November.

-

USA

-

EUROPE/MIDDLE

AFRICA

Allen-Bradley Amsterdamseweg

AC

1422

The

Netherlands

(31)2975/43500

Tel:

(844)

Telex:

(31)2975/60222

Fax:

October.

1991

and

1992

the

following:

Europe

EAST/

B.V.

HEADQUARTERS

15

Uithoorn

18042

1391-5.1DU3

and

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Hong

(852)

887-4788

Tel:

(780)64347

Telex:

(852)510-9436

Fax:

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HEADQUARTERS

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Kong)

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Copyright

Limited

N1R

1992

5X1

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AMERICA

LATIN

HEADQUARTERS

Allen-Bradley

South

1201

Milwaukee,

Tel: Telex:

Fax:

Company.

Second

Wl

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016

11

43

(1)414382-2400

P/N

Printed

Inc.

Street

USA

141953

in

USA

allen-bradley 1391 AC User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual