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 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 provide power from a 1391
	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.
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 ªSº 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

Chapter 1

Introduction

Figure 1.1

1391-DES Digital AC Servo Drive

Duty Cycle Selector Switch

Ground Stud

TB5 ± Power Connections

TB4 ± Control Signals

Circuit Breaker

Fuses

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.

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	1391-DES15	1391-DES22	1391-DES45
		(%)	(watts)	(watts)	(watts)
		20	38	55	104
		40	76	110	208
		60	114	165	312
		80	152	220	416
		100	190	275	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	1.5kVA	3.5kVA	5.0kVA	10.0kVA	12.5kVA	15.0kVA
(%)	(watts)	(watts)	(watts)	(watts)	(watts)	(watts)
20	13	35	50	100	125	150
40	25	70	100	200	250	300
60	38	105	150	300	375	450
80	50	140	200	400	500	600
100	60	175	250	500	625	750

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).

2-2

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

015

D

T

First Position

Second Position

Third Position

Fourth Position

Fifth Position

Bulletin

Primary Voltage

Secondary

Number

Type

kVA Rating

& Frequency

Voltage

Letter

Description

Number

kVA

Letter

Description

Letter

Description

T

Transformer

015

1.5

D

240/480V AC, Three-

T

230V AC, three-phase

Open Core

035

3.5

Phase, 60 Hz

and four 36V AC,

and Coil

050

5.0

E

240/380/415/480V AC,

single-phase

100

10.0

C.T.windings

Three-Phase, 50/60 Hz

125

12.5

N

208/230/460/575V AC,

150

15.0

Three-Phase, 60 Hz

NEMA Type 1 Transformer Enclosure Kit

1391	±			TA2
Bulletin			Accessory
Number			Module
			Letter	Description
			TA2	Fits all kVA ratings on 1386, 1388,
				1389 and 1391 Isolation Transformers.

	External Shunt Regulator Resistor
1391	±			MOD		±		SR22A
First Position				Second Position				Third Position
Bulletin				Type
Number								Description
				Code	Description			Code	Description
								SR22A	Shunt Regulator Resistor for 22.5A Drive
				MOD	Modifica-
					tion Kit			SR45A	Shunt Regulator Resistor for 45A Drive 1

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

3-2

Chapter 3

Receiving, Unpacking and Inspection

Bulletin 1391-DES Drive

1391

±

DES15

±

DI

±

AQB

±

A

First Position

Second Position

Third Position

Fourth Position

Fifth Position

Bulletin

Configuration/

User

Output

Number

Current Rating

Interface

Configuration

Options

Code

Description

Code

Description

Code

Description

Letter

Description

DES15

15A Continuous Current

DI

Includes Integral

AQB

Encoder Output ±

A

24V DC M contactor

DES22

22.5A Continuous Current

Display

2048, 1024, 512,

coil voltage instead of

256 selectable

115V AC (available

DES45

45A Continuous Current

pulses/motor

on 22A drives only)

revolution

Blank

115V AC M contactor

coil voltage

			1326AB Servomotor
1326	A	B ± A	3	E	±	11 ±	A4

First Position

Second Position

Third Position

Fourth Position

Fifth Position

Bulletin

Type

Motor

Number

Design

Series

Length

Letter

Description

Description

Description

Description

A

AC

Factory

Sequentially

Sequentially

Servomotor

use only

lettered to

numbered to

PM Type

designate frame

indicate stack

diameters.

length within a

given frame size.

Sixth Position

Max. Op.

Speed 2

Letter RPM

B1600/2000

C2000/3000

E 3000/4000

G 5000/6000

Seventh Posi-	Eighth Posi-
tion	tion
Mounting & Shaft	Standard
Description	Options

Code Description

11NEMA Inch Combination Face/Flange with Keyway

21IEC Metric Flange with Keyway

Code Description

Code Description

A4.25º (108 mm)

B5.88º (149 mm)

C7.63º (194 mm)

A4 72 lb.-in. (8.1 N-m) Holding Brake w/90V DC Coil. A5 120 lb.-in. (13.6 N-m) Holding Brake w/90V DC Coil. A7 360 lb.-in. (40.7 N-m) Holding Brake w/90V DC Coil. K4 72 lb.-in. (8.1 N-m) Holding Brake w/24V DC Coil. K5 120 lb.-in. (13.6 N-m) Holding Brake w/24V DC Coil. K7 360 lb.-in. (40.7 N-m) Holding Brake w/24V DC Coil.

2 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

±

A

4

30

E

±

21

±

A4

First Position

Second Position

Third Position

Fourth Position

Fifth Position

Sixth Position

Seventh Position

Eighth Position

Bulletin

Motor

Max. Operating

Mounting & Shaft

Standard

Number

Type

Voltage

Series

Length

Speed

Description

Options

Letter

Description

Code Rating

Description

Description

Letter

Rated/1391-DES

Code

Description

AB

Ferrite AC

A

230V AC

Sequentially

Sequentially

B

1600/2000 rpm

21

IEC Metric

Servomo-

lettered to

numbered to

C

2000/3000 rpm

Flange with

tor

designate frame

indicate stack

E

3000/4000 rpm

Keyway

diameters.

length within a

G

5000/6000 rpm

given frame size.

Code Description

4115 mm

5166 mm

7215 mm

Code Description

A4 72 lb.-in. (8.1 N-m) Holding Brake w/90V DC Coil for 1326AB-A4 A5 120 lb.-in. (13.6 N-m) Holding Brake w/90V DC Coil for 1326AB-A5 A7 360 lb.-in. (40.7 N-m) Holding Brake w/90V DC Coil for 1326AB-A7 K4 72 lb.-in. (8.1 N-m) Holding Brake w/24V DC Coil for 1326AB-A4 K5 120 lb.-in. (13.6 N-m) Holding Brake w/24V DC Coil for 1326AB-A5 K7 360 lb.-in. (40.7 N-m) Holding Brake w/24V DC Coil for 1326AB-A7

	Shaft Oil Seal Kit
1326AB ± MOD ± SS	V ± A	1

First Position

Second Position

Third Position

Fourth Position

Fifth Position

Bulletin

Shaft

Motor

Number

Type

Seal

Material

Series

Code

Description

Letter

Description

Letter

Standard

Torque Plus

MOD

Modifica-

V

Viton

A

Series A

-A4

Use

tion Kit

B

Series B

-A5

Metric

3

C

Series C

-A7

Only

ªAº Series motors with brake must use 1326AB-MOD-SSV-A2.

Sixth Position

Motor

Mounting 3

Number Description

1Std. Inch

2Metric

			Brake Power Supply Rectifier
1326	± MOD				±		BPS
Bulletin			Type
Number							Description
			Code	Description			Code	Description
			MOD	Modifica-			BPS	Single-phase, full-wave, screw mount
				tion Kit				rectifier. 115V AC input, for use with 90V DC
4								brakes. 4
		Up to 4 brakes per rectifier can be used.

3-4

Chapter 3

Receiving, Unpacking and Inspection

Motor Junction Box Kit 5

1326AB	± MOD				±		RJAB
First Position			Second Position				Third Position
Bulletin			Type				Description
Number
			Code	Description			Code	Description
			MOD	Modifica-			RJAB	For all AB-A & B Series Motors
				tion Kit				(A4 & A5 Torque Plus Motors)
							RJB	For all AB-B4 & Cx Series Motors
							C	(A7 Torque Plus Motors)

5The 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.

			Feedback Mounting Adapter Kit 6
1326AB ± MOD				±		M4	±		C1
First Position		Second Position				Third Position			Fourth Position
Bulletin						Mounting Adapter			Coupling Size
Number		Type				Kit for . . .			for . . .
		Code	Description						Code	Motor Series
		MOD	Modifica-						C1	A, B, C (A4, A5, A7 Torque Plus)
			tion Kit						Blank	For M22, M23, M24, M25, M26

Code Description

M4 A-B 845H/T Encoder for AB-A series motor (A4 Torque Plus)

M5 A-B 845H/T Encoder for AB-B series motor (A5 Torque Plus)

M6 A-B 845H/T Encoder for AB-C series motor (A7 Torque Plus)

M22 Type VC/VD 4.25º (108 mm) Resolver for AB-B series motor (A5 Torque Plus) M23 Type VC/VD 4.25º (108 mm) Resolver for AB-C series motor (A7 Torque Plus) M24 0.375º (9.5 mm) diameter heavy duty shaft extension adapter

M25 0.625º (15.9 mm) diameter heavy duty shaft extension for type VC/VD 4.25º (108 mm) resolver

M26 Foot mounting kit for M25

6All 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

Feedback Coupling 7

1326

±

MOD

±

C1

First Position

Second Position

Third Position

Bulletin

Coupling

Number

Type

Size

Code

Description

Code Size ± Motor Shaft to Encoder Shaft

MOD

Modifica-

C1 3/8º to 3/8º (9.5 mm to 9.5 mm) ±

tion Kit

Standard on all 1326AB Motors

C2 1/4º to 3/8º (6.4 mm to 9.5 mm)

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

Resolver Feedback Package

1326AB

± MOD

±

VC

1:1

First Position

Second Position

Third Position

Fourth Position

Bulletin

Type

Resolver Feedback

Gear Ratio

Number

Package

Input:Resolver

Code

Description

MOD

Modifica-

tion Kit

8

Code Description

Code

Description

VC	4.25º (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
	and IMC] 120, 121, 123.
VD	4.25º (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.

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.

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

256Absolute 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.

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

425Absolute 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.

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

801Absolute 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)

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

3-6

Chapter 3

Receiving, Unpacking and Inspection

Power and Feedback Cables

1326

±

C

P

AB

T

15

First Position

Second Position

Third Position

Fourth Position

Fifth Position

Sixth Position

Bulletin

Type

Function

Motor Size

Power Track

Cable

Number

Used On

Cable

Length

Code

Description

Code

Description

Letter

Description

Code

Type

Letter

Description

Code

Description

1326

Standard

C

Connector

P

Power Connection

AB

Series A & B (except

T

All Series,

K

Connector Kit

Cable

& Cable

1326AB-B4)

used for

(No Cable)

1326ES 9 Extended

Assembly

C Series C & 1326AB-B4

high flex

15

15' (4.6 m)

length cable

CC

Connector

applications

30

30' (9.1 m)

F

Commutation &

U

All Series

Blank

used with

on both

Standard

50

50' (15.2 m)

1391B-ES

ends (for

Feedback Connection

Cable

100

100' (30.4 m)

&

use with

E

845H/T Encoder

150 9

150' (45.7 m)

1391-DES

1391C-HB)

V

All 4.25º (108 mm)

200 9

200' (61 m)

Only

250 9

250' (76.2 m)

Resolver Packages

300 9

300' (91.4 m)

9 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.

		Blower Mod Kit
1326AB	±	MOD		±				G3
First Position		Second Position					Third Position
Bulletin		Type					Description
Number
		Code	Description				Code	Motor Series
		MOD	Modifica-				G3	Rear mounted blower for C
			tion Kit					series motors
							G4	ªSaddleº type blower for C
								series motors with rear
								mounted encoders

3-7

Chapter 3

Receiving, Unpacking and Inspection

Planetary Gearbox

1326AB ±

PG

A

05

±

LB

±

21

First Position

Second Position

Third Position

Fourth Position

Fifth Position

Sixth Position

Bulletin

Type

Used on 1326AB

Gear Ratio

Number

Motor Series

(Motor Shaft:Output Shaft)

Options

Adapter

Code

Description

Code

Standard

Torque Plus

Code

Description

Code

Description

Code

Description

PG

Straight

A

Series A

-A4 10

03

3:1

Blank

No Options

21

Metric

Planetary Gearbox

B

Series B

-A5 10

05

5:1

LB

Low Back-

11

English

RP

Right Angle

C

Series C

-A7 10

10

10:1

lash Option

15

15:1

Planetary Gearbox

20

20:1

30

30:1

50

50:1

100

100:1

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

3-8

Table of Contents

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

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 Settings Chapter 5

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

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

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

i

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 Regulators Chapter 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

ii

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 (VT) of 2500 Hz. The
	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.

4-1

Chapter 4

Description of Operation

Figure 4.1

PWM Waveform

300V DC

Bus

400 s

400 s

Typical

Typical

0

Time

400 s

400 s

Typical

Typical

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

	Current	Commutation	PWM Generator	Motor
		Logic & Current
	Reference		& Base Drive
		Loop Integrator
			Timing Signal	Resolver
			Generator

Position Decoder

4-2

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 ªONº 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 ªOFFº point. This cycle repeats, provided the bus voltage
	continues to increase to the ªONº 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

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.

4-6

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

Fault

Fault

Fault

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

Figure 4.4

1391-DES Block Diagram

	TB5±1
External Shunt	TB5±2
	TB5±3

Regulator	1326A AC
Resistor
	Servomotor

Rectifier D1

Contactor
M		R1
M		C1
M
M			Shunt		Power Transistor
TB4±11	TB4±12		Regulator		Output Modules
		Transistor
Contactor Coil
		Shunt	Transistor	Logic	Power Fault
		Regulator	Base Drive	Suppy	Protection
Circuit Breaker
(MCB)		Power Driver Board

TB5±4

Isolated

TB5±5

TB5±6

Current

Sense

Isolation

TB4±19

Protection

Control

LEDs

Board

TB4±21

Transformer

Circuitry

Logic

Status

(MPT)

36V AC

Enable

1±Phase

TB1±1

through

Brushless

Digital Control Boards

TB1±10

Resolver

User Supplied

Branch Circuit

Protection &

Disconnect

AC Line Input

TB2±1	TB2±4	TB2±6	TB2±9		TB2±11		TB2±13	TB2±15	TB3±1	TB4±17
TB2±2	TB2±5	TB2±7	TB2±10		TB2±12		TB2±14	TB2±16	through	TB4±18
TB2±3									TB3±10
Velocity	Current
			Reset				Torque		DROK
Command	Output						Command		Contact
							Input
Velocity		Enable				Adjustable		Encoder
Output						Current		Output
						Limit

4-8

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