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WARNING:
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Table
Contents
of
Table
Contents
of
Page
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
Storing
Layout
Objectives
Specifications
Specifications
Power
Dissipation
Power
Objectives
Dissipation
.
.
Receiving,
Title
Introduction
Specifications
Unpacking
and
Page
1-1
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
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
Objectives
General
300V
DC
Power
PWM
Operation
Shunt
Controller/System
Starting
Regulator
Logic
Power
Logic
Control
Isolated
Integral
Line/DB
Power
Power-Up/Down
Chapter
Inputs/Outputs
Supply
Current
Circuit
Contactor
Driver
Stopping
and
Objectives
Board
Board
Potentiometer
Switch
and
Jumper
Supply
Bus
Operation
Monitor
Fault
Sensing
Breaker
Sequence
Adjustments
Settings
Description
and
Inputs,
Detection
Outputs
Operation
of
Adjustments
and
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
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
Mounting
Wiring
Wiring
Chapter
Start-Up
Chapter
Objectives
Recommendations
Objectives
Procedure
Objectives
Introduction
Bulletin
Motor
Chapter
Bulletin
Shunt
Shunt
1326AB
Maintenance
Objectives
1391
Regulator
Regulator
Operation
Motor
Options
Transformers
Operation
Installation
with
the
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Title
Installation
Start-Up
Bulletin
Shunt
and
1326
Regulators
Servomotor
AC
Page
6-1
6-1
6-2
6-3
7-1
7-1
8-1
8-1
8-3
8-5
9-1
9-1
9-4
9-6
10
10.0
10.1
10.2
Appendix
A
B
c
Chapter
System
Test
Objectives
Troubleshooting
Point
Controller
Interconnect
Cable
Information
Descriptions
Dimensions
Drawings
...
—
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Troubleshooting
10-1
10-1
10-4
A-1
B-1
C-1
Chapter
1
Introduction
Manual
1.0
Objectives
This
manual
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Introduction
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Page
1-5
Introduction
Controller
1.6
Layout
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customer
by
sequentially
is
IMPORTANT:
on
Series
all
appear
Example:
The
“A10”
undervoltage
jumper
undervoltage
Figure
Controller,
B
in
the
1391-AA45N-A10
modification
P8.
It
provides
1.2
showing
Monitor
3.0V
to
to
the
use
Bulletin
selectable
custom
identified
be
three
The
fault,
a
provides
an
accessibility
of
character
assigned
Series
1391
number.
provides
without
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
TB5
TB4
BREAKER
m
fit
mi
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m
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50
I
III
DIAGNOSTIC
LED'S
Figure
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
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
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
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
C
95%
NON-CONDENSING
METERS
(UNLOADED)
A
-15%
(32°
TO
TO
230V
35.5V
(3300
only
140°
149°F)
and
RATINGS
MOTOR
F)
(+
10%,
AC
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
the
unpacking,
the
freight
material
to
and
complete
freight
order.
not
user
on
the
freight
agent
or
braces
unpack,
related
explanation
inspect
company.
any
If
items
accept
to
freight
again
is
it
agent.
should
from
from
the
Inspection
and
properly
equipment.
of
equipment
the
Check
are
delivery
Should
bill.
the
shipping
The
be
within
cooling
inspect
The
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
store
packing
order.
If
Before
mechanical
of
materials,
check
An
following
equipment
the
dry
an
ambient
relative
a
remain
should
according
equipment
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
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
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./
Cont./
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
w/Mounting
w/Mounting
Board
Assem.
Rack
Rack
Page
3-4
Receiving,
Unpacking
and
Inspection
AC
SERVOMOTOR
1326
First
Position
Bulletin
No.
Code
B
D
Second
Position
Code
A
A
Type
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.
in.-lb.
in.-lb.
in.-lb.
in.-lb.
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
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
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
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
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
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
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
Type
0.375"
Type
0.625"
Type
Foot
mounting
not
include
Encoder
Encoder
Encoder
VC/VD
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)
(108mm)
(108mm)
(108mm)
for
M25
mounting
since
it
Kit
Series
Series
Series
Resolver
Resolver
Heavy
Resolver
Heavy
Resolver
is
included
Code
C1
Blank
Motor
Motor
Motor
for
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
Extension
M4,
M5
resolver
the
Size
Series
M26
Motor
Motor
and
for
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
i
i
i
J
Code
1:1
:2
1
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
master/vernier
master/vernier
master/vernier
only.
master/vernier
master/vernier
master/vernier
master/vernier
only.
master/vernier
master/vernier
master/vernier
:800
master/vernier
only.
Fourth
Position
Gear
Ratio
lnput:Resolver
format
resolver.
format
resolver.
format
resolver.
the
format
resolver.
-
-
-
-
1
1
1
1
turn
turn
turn
turn
format
for
format
for
format
for
format
for
format
for
format
for
of
of
of
of
IMC
8600
IMC
8600
IMC
8600
the
the
the
the
-1:1
120,
-1:1
series
-1:1
120.
-
series
-1:1
120.
-1:1
series
motor
motor
motor
motor
1:1
shaft
shaft
shaft
shaft
input/master
only.
123
input/master,
controls
input/master.
only.
123
input/master,
controls
input/master,
only.
123
input/master,
controls
to
to
to
to
and
and
and
1
2
5
Page
3-8
Receiving,
Unpacking
and
Inspection
1326
First
Position
Bulletin
No.
Code
C
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
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
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
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
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
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
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
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
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
related
control
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
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
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
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
!
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
and
-
Inputs,
Servo
1391
description
In
start-up.
important
start-up.
9.
provide
for
TB1
Terminals
for
connection
details.
of
the
some
This
aspects
detailed
the
Outputs
various
Controller.
potentiometer,
the
of
adjustment
cases
information
about
For
information
descriptions
Bulletin
1-10)
to
the
and
inputs
Additionally,
is
the
controller
See
1391.
resolver.
Adjustments
outputs
and
a
switch
methods
providedtohelp
on
shunt
of
the
Figure
Refer
and
are
prior
regulator
various
5.1
for
to
you
to
TERMINAL
Velocity
The
achieve
are
source
40k
External
The
current
Leaving
current
(R148).
rated
Tachometer
voltage
A
will
P1
set
2000
RPM
Output
information.
Command
controller
maximum
at
terminals2and
only.
end
(20k
ohms
Current
application
availabletothe
the
or
the
Jumpering
motor
corresponding
present
be
"OUT,"
to
and
3000
will
be
current
BLOCK
accept
will
motor
The
ohms
of
0
terminals
rated
current
Output
between
voltage
a
RPM
present
is
1mA
TB2
-
Input
respectively.
1,
input
single
for
Limit
5V
to
+
motor
open
motor
the
terminals
or
less.
(TB2,
to
this
motors).
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5000
maximum.
(TB2,
up
to
a
speed.
impedance
ended
Inputs
DC
at
from
sets
current
Terminal
motor
the
terminal
±2.5V
of
With
RPM
1,
Terminals
10V
±
The
the
DC
(
plus
Shield
of
the
inputs).
(TB2,
Terminals
terminals5and6will
to
20
200%
current
set
value
will
reduce
7)
velocity
and
DC/1000
"IN,"
P1
Bulletin
to
Refer
2,
velocity
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and
+
must
velocity
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at
limit
with
the
peak
the
and
Signal
Common.
RPM
voltage
a
1326AB-AxG
section
3)
command
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(
be
terminated
command
6)
5,
4,
vary
scaled
200%
Current
current
direction
will
be
of
±
for
5.3
signal
)
reference
—
input
the
rating.
of
scaled
Limit
to
of
rotation
With
present
1.5V
DC/1000
motors).
further
to
at
is
peak
motor
pot
20%
of
jumper
(for
Page
Inputs,
5-2
Outputs
Adjustments
and
TERMINAL
POWER
-
¥
1
11
MCB
TOP
VIEW
BLOCK
TB5
WIRING
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-
/
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TB1
OF
CONTROLLER
TERMINAL
•CONTROL
SW1
BLOCK
TB4
SIGNALS
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BULLETIN
LOGIC
CONTROL
TERMINAL
-RESOLVER
0000000000
1
1391
BLOCK
TB1
BOARD
B
P1
TB1
SIGNALS
10
-
1
P2
CURRENT
SCALING
FEEDBACK
SWITCH
SCALE
GAIN
0
P3
SI
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19
R132
B
B
0
P6
P7
0
P10
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TERMINAL
I/O
-
R148
I
B
P9
TB2
BLOCK
SIGNALS
TB2
-
R1
1
14
TERMINAL
DS2
P4
DS3
(§&
DS4
DS5
DS6
(§E
DS7
DS8
@
0
P11
183
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NOT
-
if
0
P8
4
BLOCK
TB3
USED
-
OFFSET
OVERTEMPERATURE
FAULT
POWER
CONTROL
OVERVOLTAGE
UNDERVOLTAGE
CURRENT
RUN
DRIVE
ADJUSTABLE
CURRENT
LIMIT
POWER
FOLDBACK
ENABLE
READY
(R)
(R)
(R)
(R)
(Y)
(Y)
(G)
(G)
Figure
-Terminal
5.1
Block,
Potentiometer
and
Switch
Locations
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