Rockwell Automation 1391 User Manual

1391-DES Digital AC Servo Drive

User Manual

Important User Information Because of the variety of uses for this equipment and because of the

differences between this solid-state equipment and electromechanical equipment, the user of and those responsible for applying this equipment must satisfy themselves as to the acceptability of each application and use of the equipment. In no event will Allen-Bradley Company be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The illustrations shown in this manual are intended solely to illustrate the text of this manual. Because of the many variables and requirements associated with any particular installation, the Allen-Bradley Company cannot assume responsibility or liability for actual use based upon the illustrative uses and applications.

No patent liability is assumed by Allen-Bradley Company with respect to use of information, circuits or equipment described in this text.

Reproduction of the content of this manual, in whole or in part, without written permission of the Allen-Bradley Company is prohibited.

This information in this manual is organized in numbered chapters. Read each chapter in sequence and perform procedures when you are instructed to do so. Do not proceed to the next chapter until you have completed all procedures.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property

damage or economic loss.

Attentions help you:

• identify a hazard

• avoid the hazard

• recognize the consequences

IMPORTANT: Identifies information that is especially important for successful application and understanding of the product.

Summary of Changes

Summary of Manual Changes This release of the 1391-DES User Manual contains some new and updated

information. The new and updated information is summarized in the table below. For further information, refer to the page numbers provided.

Description of New or Updated Information Page Type

Linear Accel/Decel information added 1-4 New Speed Regulation specification added 2-1 New Torque Plus Motor, Gearbox & Cable info 3-4, 7, 8 New Important statement added to TB1 5-1 New Bus voltage info added to shunt resistor 5-4 New Important statement added 5-7 Clarification Parameter 69 name change 6-14 Update Parameter 170 maximum value updated 6-18 Update Parameter 199 updated 6-20 Update Encoder Wiring 7-5 Clarification Torque Plus info added to step 11 8-3 New Torque Plus info added (steps 30, 31) 8-7 New Figure 8.1 updated 8-10 Update Linear Accel/Decel information added 8-11 New Torque Plus data added 9-3 New #4 added to Auto Tune Fault 11-7 Update TP50 description updated 11-10 Update Enclosure items list A-3 New Interconnect drawings updated & added App. B Update

1-4

Chapter

Introduction

Manual Objectives This manual is meant to guide the interface, installation, programming and

troubleshooting of a 1391-DES Digital AC Servo Drive. The contents are arranged in order from a general description of the drive to troubleshooting and maintenance. To assure successful installation and operation, the material presented must be thoroughly read and understood before proceeding. Particular attention must be directed to the Attention and Important statements contained within.

Important Information about this Manual

This manual has been prepared primarily to support this product in a single drive application. It is a standard document that is intended to help the user understand the individual operating characteristics and limitations of this equipment including hazards associated with installation, programming and maintenance procedures. Note the following points:

• This equipment has been designed to meet the requirements of a

component drive in an integrated drive system.

• While the potential hazards associated with the drive remain the same

when used in a system environment, it must be noted that special considerations are to be given to characteristics of other peripheral solid-state control equipment and the cumulative impact on safety.

• Manufacturers and engineering groups responsible for specification or

design of electrical control equipment must refer to applicable industry standards and codes for specific safety guidelines and interface requirements.

• In the actual factory environment, the user is responsible to ensure

compliance with applicable machine and operator safety codes or regulations which are beyond the scope and purpose of this document.

1-5

Chapter 1

Introduction

General Precautions In addition to the precautions listed throughout this manual, the following

statements which are general to the drive must be read and understood.

ATTENTION: Only personnel familiar with the 1391-DES

Digital Servo Drive and associated machinery should plan or implement the installation, start-up and subsequent maintenance of the drive. Failure to comply may result in personal injury and/or equipment damage.

ATTENTION: An incorrectly applied or installed drive can result in component damage or a reduction in product life. Wiring or application errors, such as, undersizing the motor, incorrect or inadequate AC supply, or excessive ambient temperatures may result in malfunction of the drive.

ATTENTION: This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies. Static control precautions are required when installing, testing, servicing or repairing this assembly. Component damage may result if ESD control procedures are not followed. If you are not familiar with static control procedures, reference Allen-Bradley publication 8000-4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook.

Certification Notice: In order to maintain UL listing on Allen-Bradley 1391-DES Digital Servo Drives, the user must Isolation Transformer. Use of any other transformer voids the UL listing.

The user is responsible for providing motor overload protection in accordance with the National Electrical Code (NEC), and any other local codes that may apply.

provide power from a 1391

Drive Description The 1391-DES Pulse Width Modulated Digital Servo Drive is a digital and

programmable single axis, AC servo drive. It has been packaged to require a minimum amount of panel space while containing, as standard, a number of features required by the machine tool and automated equipment industries.

The 1391-DES allows Allen-Bradley 1326 AC servomotors to be operated from 33% to 50% over their rated speed. This can help achieve greater precision, a finer finished product and increased production from existing machinery.

1-6

Chapter 1

Introduction

The 1391-DES is generally used with computer aided, closed loop positioning systems such as Allen-Bradley “S” Class or IMC products. These systems control the position and linear or rotary motion of various machine members on an automated machine. To enhance system reliability, the 1391-DES has an encoder output (AQB) that produces four channels of 2048, 1024, 512 or 256 lines and two marker pulses per motor revolution which feeds position information to the position controller.

All components are mounted in an open framed package with a slide-on front cover. The drive is intended to be panel mounted in an enclosure and ventilated with filtered and/or cooled air. An internal fan is included to circulate air over the power heat sink.

The 1391-DES converts a three-phase, 50/60 Hz input, to a variable AC voltage with controlled phase, amplitude and frequency. The output which is proportional to a user supplied analog command, regulates the speed and/or current (torque) of a 1326 permanent magnet AC servomotor. The drive is available in ratings of 15, 22.5 and 45A RMS with all package sizes being identical. A 1391 Transformer, 1326 AC Servomotor and 1326 Cables complete the servo system.

Standard Features The 1391-DES contains a number of standard features required in a typical

automated machine servo system.

• Input protected against transient voltage.

• A power line/DB contactor which opens the AC line to the drive and

inserts a shunt regulator resistor across the DC bus whenever the contactor is de-energized.

• An integral circuit breaker which will open all three AC line leads in the

event of a short circuit condition in the power circuitry.

• A standard 300V DC power bus supply that includes an integral shunt

regulator.

• A shunt regulator resistor to dissipate the energy generated by the motor

during regenerative braking.

• Prompted startup procedure to shorten setup time.

• Two line LCD display and programming panel.

• Patented current control implementation.

• Torque feedforward differential input.

• Microprocessor based logic boards that can be quickly removed and

easily interchanged for troubleshooting and diagnostics.

• Three drive ratings that are in the same physical package and have

identical mounting dimensions.

• True vector control.

• Up to 600 feet (183 meters) between drive and motor.

1-7

Chapter 1

Introduction

Options/Modifications The 1391-DES contains most functions needed in a servo system.

The following are selectable at the user’s option:

• Contactor Auxiliary Switch

Two N.O. (normally open) contacts are mounted on the main power contactor and wired to the power terminal block. These contacts can be used in a motor brake control circuit or as an indicator that the contactor has closed.

• Current or Torque Amplifier Operation

When the velocity loop is being closed as part of the position control system, the drive can be configured to operate as a current or torque amplifier by selection on the programming panel.

• External Shunt Regulator Resistor

On 15 and 22.5A drives an internal power resistor that is part of the DC bus voltage shunt regulator can dissipate 162 watts continuous power. Some applications such as an overhauling load have excessive regenerative energy to dissipate. For these applications, an external shunt regulator resistor rated at 386 watts continuous can be supplied for user mounting on 22.5A drives. This is selectable by removing the jumper on TB5 and using an external resistor. The shunt has integral fusing accessible from the outside of 15 and 22.5A drives. The 45A drive has an externally mounted resistor and fuse.

Important: An external shunt regulator resistor is included as standard equipment on 45A units. An additional unit is not required.

• Tach Output

A voltage equal to 1.2V DC/1000 RPM is available at TB2.

• Torque or Current Monitor

A voltage equal to 3.0V DC=100% scaled current is available at TB2.

• Anti-Backlash

Anti-backlash control can be implemented with several software parameters and an additional instruction manual. Contact your local Allen-Bradley Sales Office for details.

• Linear Accel/Decel

Linear accel/decel can be set using the CR-APG-001 Control Module. This module provides a manually generated trapezoidal velocity profile for up to four preset speeds.

Important: The 1391-DES contains one accel/decel rate which can be used if accel/decel times will be the same.

Drive Layout Figure 1.1 provides an exterior view of the 1391-DES AC Servo Drive,

showing accessibility of various components.

1-8

Figure 1.1 1391-DES Digital AC Servo Drive

Duty Cycle Selector Switch

TB5 – Power Connections

TB4 – Control Signals

Chapter 1

Introduction

Ground Stud

2 Line, 16 Character

LCD Display

5 Button Keypad used

for Programming

Status LED

- Flashes green when no faults are present and the bus is low.

- Steady green when no faults are present and bus voltage is OK.

- Flashes red when a fault has occurred.

Enable LED

- Steady green when Enable input is closed at TB2-9 & 10.

- Not illuminated when Enable input is open.

Circuit Breaker

Fuses

TB2 – Interface Signals TB3 – A Quad B Encoder Output Signals

1-9

Chapter 1

Introduction

End of Chapter

1-10

Chapter

Specifications

Chapter Objectives Chapter two contains the electrical and environmental specifications for the

1391-DES. Dimensions are provided in Appendix A.

Drive Specifications The general specifications of the 1391-DES are provided in the listing

below. The specifications are divided when necessary for the various drive ratings.

Specific Drive Ratings 1391-DES15 1391-DES22 1391-DES45

Nominal Bus Voltage 300V DC 300V DC 300V DC Continuous Current (RMS) 15A 22.5A 45A Peak Current (RMS) 30A 45A 90A Continuous Power Output 5.0 kW 7.5 kW 15.0 kW Peak Power Output 10.0 kW 15.0 kW 30.0 kW Input Circuit Breaker Rating 17A RMS 26A RMS 38A RMS Circuit Breaker Interrupt Rating

(Symmetrical Amperes) 1300A 1300A 1300A Unit Weight in lbs. (kg) 22 (9.97) 28 (12.69) 34 (15.40)

All Drive Ratings

Static Gain (A/RMS) 1.5 x Rated Motor Current / rpm (typical) Form Factor 1.03 or less Peak Current Limit Adjust 20 to 300% of Rated Motor Current or 2 x Continuous Rating of

Drive (max.), whichever achieves Drive Peak Current Rating first Drive Efficiency 85% (Minimum at Rated Load) Power Factor 95% Minimum Modulation Frequency 2500 Hz ±10% Drift (Referred to Tach) 0.07 rpm /Degrees C. Maximum Speed Regulation 0 to 0.05% of Maximum Motor Speed with 95% Load Change Ambient Temperature 0 to 60° C (32 to 140° F) Storage Temperature 0 to 65° C (32 to 149° F) Input Voltage (from Transformer) Power: 230V AC +10%/–15%, Three-Phase, 50/60 Hz ±3 Hz

Control: 36V AC, Single-Phase Transformer Input Tolerance +10%, –15% Relative Humidity 5 to 95% Non-Condensing Deadband Zero Altitude 1000 meters (3300 feet) Integral Fan Output 50 CFM (Unloaded) Max. RMS Short Circuit Current 1300A (Symmetrical Amperes) Certifications UL Listed - File No. E59272, CSA Certified - File No. LR32334-548,

Specifications are for reference only and are subject to change without notice.

2-1

Chapter 2

Specifications

Environmental Specifications The 1391-DES must be mounted in an enclosure that is clean, dry and

ventilated by filtered or cooled air. Enclosures vented with ambient air must have appropriate filtering to protect against contamination caused by oils, coolants, dust, condensation etc. The ambient air temperature must be kept between 0 to 60° C (32 to 140° F) and the humidity between 5 and 95%, non-condensing.

The 1391-DES is equipped with an integral cooling fan. The general flow of air through the unit must be maintained by following the recommended spacing guidelines found in Chapter 7. The 1391-DES can operate at elevations to 3300 feet (1000 meters) without derating, however, the current rating must be derated by 3% for each additional 1000 feet (305 meters) up to 10,000 feet (3050 meters). Consult with your local Allen-Bradley Sales Representative prior to operation over 10,000 feet (3050 meters).

Drive Power Dissipation The 1391-DES dissipation characteristics are approximated in Table 2.A.

Table 2.A Drive Power Dissipation

Rated Power Output

(%) 20 40 60 80 100

1391-DES15

(watts) 38 76 114 152 190

1391-DES22

(watts) 55 110 165 220 275

1391-DES45

(watts) 104 208 312 416 520

Transformer Power Dissipation The power dissipation characteristics of the 1391 Isolation Transformer are

shown in Table 2.B.

Table 2.B 1391 Isolation Transformer Power Dissipation

Rated Power Output

(%) 20 40 60 80 100

1.5kVA

(watts) 13 25 38 50 60

3.5kVA

(watts) 35 70 105 140 175

5.0kVA

(watts) 50 100 150 200 250

10.0kVA

(watts) 100 200 300 400 500

12.5kVA

(watts) 125 250 375 500 625

15.0kVA

(watts) 150 300 450 600 750

2-2

Important: Power Dissipation figures shown are for use in calculating cumulative system heat dissipation to ensure ambient temperature inside enclosure does not exceed 60° C (140° F).

Chapter

Receiving, Unpacking and Inspection

Chapter Objectives Chapter 3 provides the information needed to unpack, properly inspect and

if necessary, store the 1391-DES and related equipment. The section entitled Inspection provides a complete explanation of the 1391-DES catalog numbering system.

Receiving It is the responsibility of the user to thoroughly inspect the equipment

before accepting the shipment from the freight company. Check the item(s) received against the purchase order. If any items are obviously damaged, it is the responsibility of the user not to accept delivery until the freight agent has noted the damage on the freight bill. Should any concealed damage be found during unpacking, it is again the responsibility of the user to notify the freight agent. The shipping container must be left intact and the freight agent should be requested to make a visual inspection of the equipment.

Unpacking Remove all packing material, wedges, or braces from within and around

the drive. Remove all packing material from the cooling fans, heat sink etc. Important: Before the installation and start-up of the drive, a general

inspection of mechanical integrity (i.e. loose parts, wires, connections, packing materials, etc.) must be made.

Inspection After unpacking, check the item(s) nameplate catalog number against the

purchase order. An explanation of the catalog numbering system is included on the following pages as an aid for nameplate interpretation.

Storing The drive should remain in its shipping container prior to installation. If the

equipment is not to be used for a period of time, it must be stored according to the following instructions:

• Store in a clean, dry location.

• Store within an ambient temperature range of 0 to 65° C (32 to 149° F).

• Store within a relative humidity range of 5% to 95%, non-condensing.

• Do not store equipment where it could be exposed to a corrosive

atmosphere.

• Do not store equipment in a construction area.

3-1

Chapter 3

Receiving, Unpacking and Inspection

Isolation Transformer

1391 T

First Position Second Position Third Position

Bulletin Number

–

Type

Description

Letter

Transformer

Open Core and Coil

015

kVA Rating

Number

015 035 050 100 125 150

kVA

1.5

3.5

5.0

10.0

12.5

15.0

NEMA Type 1 Transformer Enclosure Kit

1391

Bulletin Number

Fourth Position

Primary Voltage & Frequency

Letter

TA2–

Accessory Module

Description

240/480V AC, ThreePhase, 60 Hz

240/380/415/480V AC, Three-Phase, 50/60 Hz

208/230/460/575V AC, Three-Phase, 60 Hz

Fifth Position

Secondary Voltage

Description

Letter

230V AC, three-phase

and four 36V AC, single-phase C.T.windings

3-2

Description

Letter

Fits all kVA ratings on 1386, 1388,

TA2

1389 and 1391 Isolation Transformers.

External Shunt Regulator Resistor

1391 MOD SR22A

First Position Second Position Third Position

Bulletin Number

Drive comes equipped with this resistor as standard. Catalog number is provided if spare or replacement is required,

–

Type

Code

MOD

Description

Modification Kit

–

Description

Code

SR22A

SR45A

Description

Shunt Regulator Resistor for 22.5A Drive Shunt Regulator Resistor for 45A Drive

Bulletin 1391-DES Drive

Chapter 3

Receiving, Unpacking and Inspection

1391 DES15

First Position Second Position

Bulletin Number

Configuration/ Current Rating

Code

DES15 DES22 DES45

Description

15A Continuous Current

22.5A Continuous Current 45A Continuous Current

–

Third Position

User Interface

Code

Description

Includes Integral Display

AQB–

Fourth Position

Output Configuration

Description

Code

Encoder Output –

AQB

2048, 1024, 512, 256 selectable pulses/motor revolution

A––

Fifth Position

Options

Description

Letter

24V DC M contactor

coil voltage instead of 115V AC (available on 22A drives only)

Blank

115V AC M contactor coil voltage

1326AB Servomotor

1326 A 3

First Position Second Position Third Position

Bulletin Number

Type

Letter

Description

AC Servomotor PM Type

Design

Description

Factory use only

–

Fourth Position

Series

Description

Sequentially lettered to designate frame diameters.

Description

Code

4.25” (108 mm)

5.88” (149 mm)

7.63” (194 mm)

Fifth Position

Motor Length

Description

Sequentially numbered to indicate stack length within a given frame size.

Sixth Position

Max. Op.

Speed

RPM

Letter

1600/2000

2000/3000

3000/4000

5000/6000

Code

A4 A5 A7 K4 K5 K7

–

Description

72 lb.-in. (8.1 N-m) Holding Brake w/90V DC Coil. 120 lb.-in. (13.6 N-m) Holding Brake w/90V DC Coil. 360 lb.-in. (40.7 N-m) Holding Brake w/90V DC Coil. 72 lb.-in. (8.1 N-m) Holding Brake w/24V DC Coil. 120 lb.-in. (13.6 N-m) Holding Brake w/24V DC Coil. 360 lb.-in. (40.7 N-m) Holding Brake w/24V DC Coil.

Seventh Position

Mounting & Shaft Description

Description

Code

NEMA Inch Combina-

tion Face/Flange with Keyway

IEC Metric Flange with Keyway

–BA

Eighth Position

Standard Options

Ratings shown indicate the rated speed and speed capability of the motor with the 1391-DES (rated/w 1391-DES).

3-3

Chapter 3

Receiving, Unpacking and Inspection

1326AB Torque Plus Series Servomotor

1326 AB 30

First Position Second Position Third Position

Bulletin Number

Type

Letter

Description

Ferrite AC Servomotor

–

Voltage

Code

Rating

230V AC

Fourth Position

Series

Description

Sequentially lettered to designate frame diameters.

Description

Code

115 mm

166 mm

215 mm

Fifth Position

Motor Length

Description

Sequentially numbered to indicate stack length within a given frame size.

Shaft Oil Seal Kit

Sixth Position

Max. Operating Speed

Rated/1391-DES

Letter

1600/2000 rpm

2000/3000 rpm

3000/4000 rpm

5000/6000 rpm

Code

Description

72 lb.-in. (8.1 N-m) Holding Brake w/90V DC Coil for 1326AB-A4

120 lb.-in. (13.6 N-m) Holding Brake w/90V DC Coil for 1326AB-A5

360 lb.-in. (40.7 N-m) Holding Brake w/90V DC Coil for 1326AB-A7

72 lb.-in. (8.1 N-m) Holding Brake w/24V DC Coil for 1326AB-A4

120 lb.-in. (13.6 N-m) Holding Brake w/24V DC Coil for 1326AB-A5

360 lb.-in. (40.7 N-m) Holding Brake w/24V DC Coil for 1326AB-A7

–

Seventh Position

Mounting & Shaft Description

Description

Code

IEC Metric

Flange with Keyway

–A4

Eighth Position

Standard Options

3-4

1326AB MOD

First Position Second Position Third Position

Bulletin Number

Type

Code

MOD

Description

Modification Kit

“A” Series motors with brake must use 1326AB-MOD-SSV-A2.

Bulletin Number

SS V

–

Shaft Seal

Brake Power Supply Rectifier

1326 MOD BPS

–

Up to 4 brakes per rectifier can be used.

Type

Code

MOD

Fourth Position

Material

Description

Letter

Viton

–

Description

Modification Kit

–

Description

Code

BPS

Fifth Position

Motor Series

Letter

Standard

Series A

Series B

Series C

Description

Single-phase, full-wave, screw mount rectifier. 115V AC input, for use with 90V DC

brakes.

Torque Plus

-A4

-A5

-A7

Use Metric Only

1–

Sixth Position

Motor Mounting

Number

1 2

Description

Std. Inch Metric

Chapter 3

Receiving, Unpacking and Inspection

Motor Junction Box Kit

1326AB MOD RJAB

First Position Second Position Third Position

Bulletin Number

The motor comes standard with IP65 plug style connectors mounted radially to the motor. This kit allows the connectors to be brought out axially to the motor without further wiring. Kit includes Motor Junction Box and Mounting Hardware.

–

Type Description

Description

Code

Modifica-

MOD

tion Kit

Feedback Mounting Adapter Kit

–

Code

Description

RJAB

For all AB-A & B Series Motors (A4 & A5 Torque Plus Motors)

RJB

For all AB-B4 & Cx Series Motors

(A7 Torque Plus Motors)

1326AB MOD

First Position Second Position Third Position

Bulletin Number

–

Type

Description

Code

Modifica-

MOD

tion Kit

Description

Code

A-B 845H/T Encoder for AB-A series motor (A4 Torque Plus)

A-B 845H/T Encoder for AB-B series motor (A5 Torque Plus)

A-B 845H/T Encoder for AB-C series motor (A7 Torque Plus)

Type VC/VD 4.25” (108mm) Resolver for AB-B series motor (A5 Torque Plus)

M22

Type VC/VD 4.25” (108mm) Resolver for AB-C series motor (A7 Torque Plus)

M23

0.375” (9.5 mm) diameter heavy duty shaft extension adapter

M24

0.625” (15.9 mm) diameter heavy duty shaft extension for type VC/VD 4.25”

M25

(108 mm) resolver Foot mounting kit for M25

M26

–

M4 C1

Mounting Adapter Kit for . . .

–

Fourth Position

Coupling Size for . . .

Code

C1 Blank

Motor Series

A, B, C (A4, A5, A7 Torque Plus) For M22, M23, M24, M25, M26

All kits contain a feedback device mounting adapter and mounting hardware. M4, M5 and M6 include a motor to encoder coupling. M22 and M23 do not include a coupling since it is included with the resolver feedback device.

3-5

Chapter 3

Receiving, Unpacking and Inspection

–

Coupling Size

–

Size

Code

Motor Shaft to Encoder Shaft

3/8” to 3/8” (9.5 mm to 9.5 mm) – Standard on all 1326AB Motors

1/4” to 3/8” (6.4 mm to 9.5 mm)

Feedback Coupling

1326 MOD C1

First Position Second Position Third Position

Bulletin Number

The feedback coupling is included as standard with all Feedback Mounting Adapter Kits.

1326AB MOD

First Position Second Position Third Position

–

Type

Description

Code

Modifica-

MOD

tion Kit

Resolver Feedback Package

–

1:1

Fourth Position

Bulletin Number

Code

Description

4.25” (108 mm) feedback package with cast housing and single or vernier (dual) format with receiver (Harowe 11BRW-300-F-58A or equivalent) type resolver(s) for use with A-B series 8200 CNC

]

120, 121, 123.

and IMC

4.25” (108 mm) feedback package with cast

housing and single or vernier (dual) format with transmitter (Harowe 11BRCX-300-C10/6 or equivalent) type resolver(s) for use with A-B series 8600, MAX and IMC S Class controllers with a REC 4096 Board.

Type

Code

MOD

Description

Modification Kit

Resolver Feedback Package

Code

Description

1:1

Single device format – 1 turn of the motor shaft to 1 turn of the resolver.

1:2

Single device format – 1 turn of the motor shaft to 2 turns of the resolver.

1:2.5

Single device format – 1 turn of the motor shaft to 2.5 turns of the resolver.

1:5

Single device format – 1 turn of the motor shaft to 5 turns of the resolver.

255

Absolute master/vernier format – 1:1 input/master, 255:256 master/vernier for IMC 120, 121, 123 only.

256

Absolute master/vernier format – 1:1 input/master, 256:255 master/vernier for 8600 series and MAX, IMC S class controls with a REC 4096 Board.

424

Absolute master/vernier format – 1:1 input/master, 424:425 master/vernier for IMC 120, 121, 123 only.

425

Absolute master/vernier format – 1:1 input/master, 425:424 master/vernier for 8600 series and MAX, IMC S class controls with a REC 4096 Board.

800

Absolute master/vernier format – 1:1 input/master, 800:801 master/vernier for IMC 120, 121, 123 only.

801

Absolute master/vernier format – 1:1 input/master, 801:800 master/vernier for 8600 series controllers (is not applicable for use with MAX and IMC S Class controls)

Gear Ratio Input:Resolver

3-6

Kit includes Resolver Feedback Package, mounting hardware and 3/8” to 3/8” (9.5 mm to 9.5mm) resolver to motor mounting coupling.

Power and Feedback Cables

Chapter 3

Receiving, Unpacking and Inspection

1326 C

First Position Second Position Third Position

Bulletin Number

Code

1326

1326ES

Description

Standard Cable

Extended length cable used with 1391B-ES & 1391-DES Only

The extended length option is only available for 1326-CFUxx, CPABxx and CPCxx cables and can only be used with 1391B-ES and 1391-DES drives.

–

Type

Code

Description

Connector & Cable Assembly

Connector on both ends (for use with 1391C-HB)

PAB

Function

Description

Letter

Power Connection

Commutation &

Feedback Connection 845H/T Encoder

All 4.25” (108 mm)

Resolver Packages

Fourth Position

Motor Size Used On

Type

Code

Series A & B (except

1326AB-B4) Series C & 1326AB-B4

All SeriesU

Fifth Position

Power Track Cable

Description

Letter

All Series,

used for high flex applications

Blank

Standard Cable

Sixth Position

Cable Length

Code

Description

Connector Kit (No Cable)

15’ (4.6 m)

30’ (9.1 m)

50’ (15.2 m)

100

100’ (30.4 m)

150

150’ (45.7 m)

200

200’ (61 m)

250

250’ (76.2 m)

300

300’ (91.4 m)

Blower Mod Kit

1326AB MOD G3

First Position Second Position Third Position

Bulletin Number

–

Type Description

Description

Code

Modifica-

MOD

tion Kit

–

Code

Motor Series

Rear mounted blower for C series motors

“Saddle” type blower for C series motors with rear mounted encoders

3-7

Chapter 3

Receiving, Unpacking and Inspection

Planetary Gearbox

1326AB PG

–A05

First Position Second Position Third Position

Bulletin Number

Type

Code

Description

Straight Planetary Gearbox

Right Angle Planetary Gearbox

Used on 1326AB Motor Series

Code

Standard

Series A

Series B

Series C

Use only -21 (Metric) style adapter gearboxes for -A4, -A5 Torque Plus Motors.

Torque Plus

-A4

-A5

-A7

–

Fourth Position

Gear Ratio (Motor Shaft:Output Shaft)

Code

Description

3:1

5:1

10:1

15:1

20:1

30:1

50:1

100

100:1

LB 21–

Fifth Position

Options

Code

Description

Blank

No Options

Low Backlash Option

Sixth Position

Adapter

Code

Description

Metric

English

3-8

Introduction Chapter 1

Manual Objectives 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General Precautions 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Drive Description 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Standard Features 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Options/Modifications 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Drive Layout 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Specifications Chapter 2

Chapter Objectives 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Drive Specifications 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Environmental Specifications 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Drive Power Dissipation 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Transformer Power Dissipation 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents

Receiving, Unpacking & Inspection Chapter 3

Chapter Objectives 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Receiving 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Unpacking 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Inspection 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Storing 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description of Operation Chapter 4

Chapter Objectives 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

300V DC Power Bus Supply 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PWM Operation 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Shunt Regulator Operation 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Logic Power Supply 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Logic Control Boards 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fault Monitoring and Detection 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Microprocessor Control 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Isolated Current Sensing 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Integral Circuit Breaker 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Line/DB Contactor 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power Driver Board 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A Quad B Board 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Starting and Stopping 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power-Up/Down Sequence 4-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Inputs, Outputs and Switch SettingsChapter 5

Chapter Objectives 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Inputs/Outputs 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch Settings 5-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents

Programming Chapter 6

Chapter Objectives 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Display Description 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Keypad Description 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Parameter Levels 6-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Accessing Parameter Levels 6-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Programming 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Parameter Descriptions 6-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Installation Chapter 7

Chapter Objectives 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Mounting 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Wiring Recommendations 7-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Wiring 7-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Start-Up Chapter 8

Chapter Objectives 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Start-Up Procedure 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Linear Accel/Decel Control Module 8-11. . . . . . . . . . . . . . . . . . . . . . . . . .

1326AB AC Servomotor Chapter 9

Chapter Objectives 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Introduction 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor Options/Accessories 9-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Transformers and Shunt RegulatorsChapter 10

Chapter Objectives 10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1391 Transformers 10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Shunt Regulator Operation 10-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Shunt Regulator Installation 10-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Troubleshooting Chapter 11

Chapter Objectives 11-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System Troubleshooting 11-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dimensions Appendix A Interconnect Drawings Appendix B Cable Information Appendix C Block Diagrams Appendix D Parameter Record Appendix E

Chapter

Description of Operation

Chapter Objectives Chapter 4 is intended to familiarize the reader with the circuitry of the

1391-DES in terms of function and operation.

General The intended use of the 1391-DES is to control the speed and torque of an

AC servomotor in a closed loop position system. A complete servo system can be configured with a 1391-DES Servo Drive, 1326 AC Servomotor and 1391 Isolation Transformer. Refer to the 1391-DES Block Diagram presented in Figure 4.4 for general layout.

The 1391-DES PWM Servo Drive is made up of the following: 300V DC power supply, power transistor output modules, shunt regulator circuit, logic power supply, microprocessor based logic boards, isolated current sensing, circuit breaker and line contactor.

300V DC Power Bus Supply The drive contains an integral, unregulated, 300V DC nominal, full load

power supply. It consists of the power transformer input (230V AC, three-phase, 50 or 60 Hz), a three-phase input bridge rectifier and one power supply filter capacitor (C1).

PWM Operation The 1391-DES incorporates a fixed timing wave (V

drive generates a three-phase sine wave by varying the width of the fixed timing pulses (see Figure 4.1). This frequency corresponds to the velocity command. The 0 to 10V DC velocity command is scaled to provide an output frequency (dotted line) that varies from 0 to 200 Hz, depending on the maximum velocity of the motor. This variable frequency output drives a permanent magnet AC servomotor whose speed varies as a function of the frequency.

) of 2500 Hz. The

4-1

Chapter 4

Description of Operation

Figure 4.1 PWM Waveform

300V DC

Bus

400µs

Typical

400µs

Typical

400µs

Typical

400µs

Typical

Time

The three-phase relationship between the reference signal and the timing wave provide PWM pulses to the power transistor base drive. This base drive switches the power transistors across the 300V DC bus, providing current to the motor windings, thus causing the motor to turn. A resolver attached to the motor provides a signal corresponding to the actual rotor position of the motor. This signal is decoded to a signal representing rotor position and is fed to the commutation logic along with the torque command. In this way, the drive combines the desired position signal and current reference with the decoded resolver signal to produce a reference signal commanding the motor to speed up or slow down. See Figure 4.2.

Figure 4.2 Operation

4-2

Current

Reference

Commutation

Logic & Current

Loop Integrator

Position Decoder

PWM Generator

& Base Drive

Timing Signal

Generator

Motor

Resolver

Chapter 4

Description of Operation

Shunt Regulator Operation The 1391-DES shunt regulator provides power dissipation for regenerative

conditions when the energy returned to the drive by the motor exceeds that which can be stored in the bus capacitors. The shunt regulator monitors the bus voltage and at a predetermined “ON” point activates the shunt regulator transistor, allowing current to flow through the shunt resistor and dissipating power in the form of heat. A fuse is placed in series with the resistor to protect it against short circuit conditions. When the shunt transistor is activated and power is being dissipated at the resistor, the bus voltage will quickly decrease, turning the transistor off when the voltage reaches the “OFF” point. This cycle repeats, provided the bus voltage continues to increase to the “ON” point. If too much regenerative energy is present, the bus voltage will continue to increase even with the shunt regulator on. At a predetermined bus voltage level, the 1391-DES will determine that an overvoltage condition exists, and trip out on an Overvoltage Fault.

The shunt regulator behavior is further modified by an adjustable duty cycle timer. The timer is used to model the shunt resistor temperature. SW1, a selector switch located on the top of the drive (see Figure 1.1) determines the temperature level and therefore the average power level at which the drive will trip out. When this level is reached, the drive will be forced to trip out on an Overvoltage Fault. This action would be equivalent to turning the shunt regulator off. Refer to Chapter 10 for further shunt regulator information.

Logic Power Supply The 1391-DES control logic voltage is ±12V DC and +5V DC. The

voltages are generated on the Power Driver Board, which receives its 36V AC input from a tertiary winding on the isolation transformer.

Logic Control Boards The Logic Control Boards are the printed circuit boards that are readily

accessible behind the front cover of the drive. They contain all circuits necessary to control the 1391-DES. These circuits include: the velocity and current loop, programming panel, A Quad B Board, fault detection and annunciation circuits, power-up/power-down logic, PWM generation and forward/reverse controlling circuits.

Fault Monitoring and Detection A number of fault monitor and detection functions exist on the 1391-DES

that guard the drive and help to minimize motor and system faults. The occurrence of a fault will cause the drive to trip out. In this condition, the Drive OK (DROK) contact will open and remain open until the fault is cleared. If the DROK contact is wired into the user’s stop circuit, the line/DB contactor (M) will also de-energize. This will place the shunt resistor across the bus causing the motor to dynamic brake to a stop.

These fault conditions are annunciated through the front panel display. The conditions displayed include:

4-3

Chapter 4

Description of Operation

Overtemperature

The drive contains a thermal switch on the heat sink which indirectly senses transistor module temperature. If the temperature rating of the switch is exceeded, the DROK contact opens and the drive is disabled.

Power Fault

A fault related to the power bridge section of the drive will cause the drive to be disabled and open the DROK contact.

Control Voltage Fault

If the control voltage varies more than ±10% of the nominal 12V DC, this fault will occur. When a fault is detected, the DROK contact opens and the drive is disabled.

Resolver Loss Fault

If the resolver wiring is grounded or missing, this fault will occur. When a fault is detected, the DROK contact opens and the drive is disabled.

Overvoltage

The DC power bus voltage is continuously monitored. If it exceeds a preset level of 405V DC, the DROK contact opens and the drive is disabled

Undervoltage

If the DC power bus voltage drops below 50% of its nominal operating value an undervoltage fault occurs. Parameter 130 selects the reaction of the DROK contacts to an undervoltage detection. Two options are possible:

1) DROK opens, but closes when the bus voltage is restored; 2) DROK is not affected by an undervoltage.

Important: Regardless of interaction with the DROK contacts, the transistor bridge is disabled upon an undervoltage condition. This is done to protect the output transistors against voltage transients.

Current Foldback

The drive contains a fixed time versus current overload circuit which monitors the current through each leg of the output bridge. If the overload is sustained for a period, resulting in the drive rating being exceeded, the circuitry will reduce (foldback) the peak output current of the drive. A continuous overload will fold the available peak current down to its continuous rating. This condition will reduce the current limit or torque available to the motor.

Enable LED

The application of an enable signal by the machine position drive will cause the front panel ENABLE LED to illuminate.

Status LED

The status of the power supplies and fault conditions are monitored continuously. If a fault is present, the front panel FAULT/DRIVE READY LED will flash red and the DROK contact will be open. If the drive is operational, this LED will be green.

4-4

Chapter 4

Description of Operation

Microprocessor Control The 1391-DES is controlled by an 80C196KB microprocessor. Velocity

control, sequencing, fault logic, programming and option control is performed by the processor. Current control is analog, as is the input velocity command. The input command is fed through a 14 bit digital to analog converter (13 bits/8192 resolution and a +/– sign bit).

Isolated Current Sensing The Logic Control Boards receive current feedback from the Isolated

Current Sense Board. This circuitry provides the data used for current loop closure.

Integral Circuit Breaker The DC bus supply, input rectifier and power circuitry are protected against

overcurrents by an integral three pole magnetic circuit breaker. This is not designed nor intended to meet NEC branch circuit requirements.

Line/DB Contactor The three-phase incoming AC line is opened by the contactor whenever the

voltage on the contactor coil is removed. This operation in conjunction with the shunt regulator reduces the bus voltage when the contactor is disabled. The Logic Control Board remains energized except when voltage is removed from the incoming isolation transformer.

Important: The 1391-DES contains a definite purpose contactor that is not to be energized/de-energized more than twice an hour on a continuous basis. The life of the contactor may be reduced considerably if the cycle is exceeded. Contact your local Allen-Bradley Sales Representative for additional information.

Power Driver Board The Power Driver Board contains the circuitry needed to switch the power

transistor modules.

A Quad B Board The A Quad B Board changes the resolver signal from a 1326AB or AD

motor into an encoder signal for use by a position controller (such as an IMC S Class or 12x family controller).

Starting and Stopping

ATTENTION: The Enable control circuitry in the 1391-DES

includes solid-state components. If hazards due to accidental contact with moving machinery or unintentional flow of liquid, gas or solids exist, an additional hardwired stop circuit may be required. Refer to the codes and standards applicable to your particular system for specific requirements and additional information. A device that removes AC input power when a stop is initiated is an integral part of this drive. Refer to the following individual stop mode explanations.

4-5

Chapter 4

Description of Operation

ATTENTION: The user has the ultimate responsibility to

determine which stopping method is best suited to the application and will meet applicable standards for operator safety.

Starting and Stopping must be accomplished by hardwired user supplied elements as shown in Appendix B. Stopping modes for the 1391-DES are outlined below. Refer to the paragraphs that follow for detailed information. The effects described below assume that the 36V AC control voltage has not been de-energized.

Cause Effect on Motor

De-energize Line/DB Contactor (M) Coil Dynamic Brake Speed Command brought to Zero Regenerative Brake Open Enable Input Regenerative Brake DROK Opens (Fault) Coast to Stop

Dynamic Braking

When the line/DB contactor (M) is de-energized by the control circuitry, an inherent dynamic braking effect will occur during the DC bus decay, provided the 36V AC logic voltage is not de-energized. The dynamic braking effect depends on the value of the shunt regulator resistor and total load inertia.

Important: Frequent cycling of the line/DB contactor to start/stop the motor will reduce the life of the contactor.

Regenerative Braking

Normal run commands to the drive are performed through the Enable input and any additional customer supplied control circuitry. Refer to Appendix B. With input power applied, a mechanical contact closure (or solid-state contact closure rated +15 to +30V DC, 30 mA) between TB2-9 & 10 will cause the drive to run, provided the line/DB contactor (M) has been energized by the control circuitry. When the Enable input is de-energized, the maximum available reverse torque is applied to the motor in a regenerative stopping mode, which will occur for approximately 450ms.

Coast

4-6

An internal drive fault opens the DROK contact. Coasting will only occur if the DROK contact is not wired to the line/DB contactor coil (M) or the Enable input circuits.

Chapter 4

Description of Operation

Power-Up/Down Sequence Figure 4.3 describes the various steps involved in the power-up/down

sequence of the 1391-DES Drive.

Figure 4.3 Drive Power-Up / Down Sequence

POWER-UP SEQUENCE

Apply AC Input Power to Isolation Transformer

a) Logic power supplies and base drive circuits

power-up. b) Apply 115V AC to contactor. c) Power bus charges. d) If no faults are encountered, the DROK relay

energizes. Drive is ready to receive customer

enable signal.

Enable Signal Applied

Minimum of 100 ms after Contactor is Closed

a) Base drive enabled and will respond to velocity

command inputs.

Enable Signal is Applied Prior to 36V AC Power

a) When 36V AC power is applied, fault circuits detect

that the enable signal is already applied. Random fault conditions occur.

b) Re-application of enable after resetting the drive

and with 36V AC power still present, will energize the drive.

Fault

POWER-DOWN SEQUENCE

Enable Signal Removed

a) Motor will regenerate to a stop. b) Output power stage is disabled. c) DROK relay maintains a no fault status.

AC Input Power Removed

a) Logic and DC link power supplies begin decaying to

zero volts. b) Undervoltage (fault) condition occurs. c) DROK relay de-energizes based on setting of

parameter 130.

Fault Condition Occurs

a) Drive output stage disabled. b) DROK relay is de-energized and a fault is

displayed.

c) If contactor (M) is wired to the DROK relay in a

stop string, contactor will open and the shunt regulator will discharge the power bus supply.

4-7

Chapter 4

Description of Operation

Contactor

Rectifier D1

Figure 4.4 1391-DES Block Diagram

External Shunt

Regulator

Resistor

TB5–1 TB5–2 TB5–3

1326A AC

Servomotor

Isolation

Transformer

(MPT)

TB4–11

Contactor Coil

Circuit Breaker (MCB)

TB5–4 TB5–5 TB5–6

TB4–19 TB4–21

36V AC

1–Phase

TB4–12

Protection

Circuitry

Digital Control Boards

Shunt

Regulator

Power Driver Board

Control

Logic

Shunt

Regulator

Transistor

Base Drive

LEDs

Status

Enable

Logic

Suppy

Power Transistor

Output Modules

Power Fault

Protection

TB1–1 through TB1–10

Isolated Current

Sense

Board

Brushless

Resolver

User Supplied Branch Circuit

Protection &

Disconnect

AC Line Input

4-8

TB2–1 TB2–2 TB2–3

Velocity

Command

TB2–4 TB2–5

Velocity

Output

TB2–6 TB2–7

Current

Output

TB2–9 TB2–10

Reset Torque

Enable

TB2–11 TB2–12

Adjustable

Current

Limit

TB2–13 TB2–14

Command

Input

TB2–15 TB2–16

Encoder

Output

TB3–1 through TB3–10

TB4–17 TB4–18

DROK

Contact

Chapter

Inputs, Outputs and Switch Settings

Chapter Objectives Chapter 5 contains descriptions of the various inputs and outputs available

on the 1391-DES Digital Servo Drive. Additionally, information for properly setting the drive switches is provided for reference when you perform start-up. For information on shunt regulator adjustments, refer to Chapter 10.

Inputs/Outputs The following paragraphs provide detailed descriptions of the various

inputs and outputs available for the 1391-DES. See Figure 5.2 for terminal block locations.

Terminal Block - TB1

Resolver Signals (TB1, Terminals 1-10) These terminals are used for connecting the commutation resolver from the motor to the drive. Refer to Appendix B for connection details.

Important: Terminal 1 of TB1 must be connected to chassis ground at the Ground Stud (see Figure 5.2 for Ground Stud location).

Terminal Block - TB2

Please note that there are no connections to TB2-18, 19 & 20.

Velocity Command Input (TB2, Terminals 1, 2) The drive will accept up to a ±10V DC velocity command signal to achieve maximum motor speed. Voltages lower than ±10V DC can be used by reprogramming parameter 211 (Analog Velocity Gain). The plus (+) and minus (–) reference are at terminals 2 and 1, respectively. Shield must be terminated at one end only. The differential impedance of the velocity command input is 80k ohms (40k ohms for single ended inputs).

Signal Common (TB2, Terminals 3, 5, 7, 8, 12, 17) Signal input reference point.

Analog Out 1 (Velocity) (TB2, Terminal 4) A voltage corresponding to the motor velocity and direction of rotation will be present between this terminal and signal common (Terminal 5). +1.2V DC for each 1000 rpm is available. Minimum impedance that can be placed across this output is 10k ohm.

5-1

+ 119 hidden pages