Rockwell Automation 1391ES User Manual

Introduction Chapter 1

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

1391 Series D 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

Controller Description 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

Controller Layout 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Specifications Chapter 2

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

Controller Specifications 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

Controller Power Dissipation 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

Table of Contents

1391B-ES Instruction Manual

Receiving, Unpacking and Chapter 3
Inspection

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 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

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

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

i

Table of Contents

1391B-ES Instruction Manual

Inputs, Outputs and Adjustments Chapter 5

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

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

Potentiometer Adjustments 5-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch Settings 5-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Installation Chapter 6

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

Mounting 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Wiring Recommendations 6-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Wiring 6-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Start-Up Chapter 7

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

Start-Up Procedure 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The 1326AB AC Servomotor Chapter 8

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

Introduction 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor Options/Accessories 8-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Transformers and Shunt Regulators Chapter 9

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

1391 Transformers 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Shunt Regulator Operation 9-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Shunt Regulator Installation 9-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Troubleshooting Chapter 10

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

System Troubleshooting 10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Test Point Descriptions 10-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dimensions Appendix A Interconnect Drawings Appendix B Cable Information Appendix C Controller Options Appendix D

ii

Chapter

1

Introduction

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

troubleshooting of a 1391B-ES AC Servo Controller. The contents are
arranged in order from a general description of the controller to
troubleshooting and maintenance. To ensure 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
controller 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, setup and
maintenance procedures. Note the following points:

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

component controller in an integrated controller system.

n While the potential hazards associated with the controller 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.

n 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.

n 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.

1391 Series D Allen-Bradley’s commitment to continuing product improvement has led to

the introduction of the 1391 Series D Servo Controller. The catalog
number string for the Series D will be unchanged, however, the controller
nameplate will appear as follows:

CAT 1391B-xxx SER D

This new series incorporates a re-designed Power Driver Board that
increases manufacturing quality and provides a platform for new versions
of the 1391 that are now in development.

This enhancement is totally transparent to the user of this product. The
Control Board and all other components of the controller remain the same.

1-1

Chapter 1

Introduction

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

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

ATTENTION: Only personnel familiar with the 1391B-ES

!

!

!

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

ATTENTION: An incorrectly applied or installed controller
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 controller.

ATTENTION: This controller 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.

Important: In order to maintain UL listing on Allen-Bradley 1391B-ES
Servo Controllers, the user must
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.

Controller Description The 1391B-ES Pulse Width Modulated Servo Controller is a dedicated,

single axis, AC servo controller. 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 1391B-ES allows the user to achieve higher operating speeds with
purchased motors or from motors already in use. Depending on the motor,
the 1391B-ES can produce up to 30% more speed without loss of torque.
This can help achieve greater precision, a finer finished product and
increased production from existing machinery.

provide power from a 1391 Isolation

1-2

Chapter 1

Introduction

The 1391B-ES is generally used with a computer aided, closed loop
positioning system to control the position and linear or rotary motion of
various machine members on an automated machine.

All components are mounted in an open framed package with a slide-on
front cover. The controller 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 1391B-ES 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
controller 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 1391B-ES 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 controller

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.

• Velocity loop components to compensate for a system inertia range

between 0.03 to 1.0 lb.-in.-s

• User selectable mechanical resonance filtering.

• Patented current control implementation.

• Acceleration or torque feedforward differential input.

2

.

• DIP switch configurable.

• Logic Boards that can be quickly removed and easily interchanged for

troubleshooting and diagnostics.

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

identical mounting dimensions.

• True vector control.

• Up to 300 feet (91.4 meters) between controller and motor.

1-3

Chapter 1

Introduction

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

The following are selectable at the user’s option:

- Contactor Auxiliary Switch
Two N.O. 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 controller can be configured to operate as a current or torque
amplifier by use of the S2 switch settings.

- External Shunt Regulator Resistor
On 15 and 22.5A controllers 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 controllers. 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 controllers. The 45A
controller 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 2.0V DC/1000 RPM is available at TB2. 1.2V
DC/1000 RPM on units set for 6000 RPM operation.

- Torque or Current Monitor
A voltage equal to 3.0V DC=100% scaled current is available at TB2.

- Anti-Backlash
Provisions to use the 1388 Anti-Backlash module are provided.

Controller Layout Figure 1.1 provides an exterior view of the 1391B-ES AC Servo

Controller, showing accessibility of various components.

1-4

Ground Stud

Chapter 1

Introduction

Figure 1.1
1391B-ES AC Servo Controller

TB

TB4

Circuit Breaker

Fuse

5

SW1

TB1

TB2

Diagnostic LED’s

1-5

Chapter 1

Introduction

End of Chapter

1-6

Chapter

2

Specifications

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

1391B-ES. Dimensions are provided in Appendix A.

Controller Specifications The general specifications of the 1391B-ES are provided in the listing

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

Specific Controller Ratings 1391B-ESAA15 1391B-ESAA22 1391B-ESAA45

Nominal Bus Output 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 Controller Ratings

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

rating of drive, maximum)
Controller Efficiency

(Minimum at Rated Load) 85%
Modulation Frequency 2500 Hz ±10%
Drift (Referred to Tach) 0.07 rpm /Degrees C. Maximum
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, Three-Phase, 50/60

Hz ±3 Hz

Control: 36V AC CT, Single-Phase
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

(Symmetrical Amperes) 1300A
Transformer Input Tolerance +10%, –15%

2-7

Chapter 2

Specifications

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

Environmental Specifications The 1391B-ES 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 1391B-ES 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 6. The 1391B-ES 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).

Controller Power Dissipation The 1391B-ES dissipation characteristics are approximated in Table 2.A.

T able 2.A
Controller Power Dissipation

Rated Power
Output

(%)
20
40
60
80
100

1391B-ESAA
15

(watts)
38
76
114
152
190

1391B-ESAA
22

(watts)
55
110
165
220
275

1391B-ESAA
45

(watts)
104
208
312
416
520

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

shown in Table 2.B.

T able 2.B
1391 Isolation Transformer Power Dissipation

Rated Power
Output

(%)
20
40
60
80
100

1.5kV
A

(watts)
13
25
38
50
60

3.5kV
A

(watts)
35
70
105
140
175

5.0kV
A

(watts)
50
100
150
200
250

10.0kV
A

(watts)
100
200
300
400
500

12.5kV
A

(watts)
125
250
375
500
625

15.0kV
A

(watts)
150
300
450
600
750

2-8

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).

2-9

Chapter

3

Receiving, Unpacking and Inspection

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

if necessary, store the 1391B-ES and related equipment. The section
entitled Inspection provides a complete explanation of the 1391B-ES
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 controller. Remove all packing material from the cooling fans, heat sink
etc.

Important: Before the installation and start-up of the controller, 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 controller 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.

3-10

Isolation Transformer

Chapter 3

Receiving, Unpacking and Inspection

1391 T

First Position Second Posi­Bulletin

Number

–

tion

Type

Description

Let­ter

Trans-

T

former
Open
Core and
Coil

015

Third Posi­tion

kVA Rating

Num­ber

015
035
050
100
125
150

NEMA Type 1 Transformer Enclosure

1391

kVA

1.5

3.5

5.0

10.0

12.5

15.0

TA2–

Primary Voltage
& Frequency

Letter

D

E

N

Kit

D

Fourth Position

Description

240/480V AC,
Three- Phase, 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-

T

phase and four
36V AC, single­phase C.T.wind­ings

T

First Position Second Posi­Bulletin

Number

tion
Accessory
Module

Description

Let­ter

Fits all kVA ratings on 1388, 1389

TA

and 1391 Isolation Transformers.

2

3-11

Chapter 3

Receiving, Unpacking and Inspection

Bulletin 1391B-ES Controller

1391B ES A

First Position Second Posi­Bulletin

Number

Description

Code

Standard

B

tion
Speed
Capability

Description

Letter

Standard

Blan

1391B

k

Extended
Speed

ES

Range

Third Posi­tion
Type and
Construction

Description

Let­ter

Open

A

Frame,
Internal
Heat Sink

1388 X B

A

Fourth Position
Nominal Output

Voltage

Description

Let­ter

230V AC,

A

Three­Phase

Accessory Modules

–

Fifth Posi­tion
Current
Rating

Description

Num­ber

15A RMS

15

Cont./
30A Peak

22

22.5A RMS
Cont./
45A Peak

45

45A RMS
Cont./
90A Peak

45

–

xxx–

Sixth Position
Options

(if required)

Description

Three character field
assigned to special
modifications.
Contact your local
Allen-Bradley Sales
Representative for
further information.

Description

Code

Must be or-

A12

dered when
using rare­earth motors

3-12

First Position Second Posi­Bulletin

Number

External Shunt Regulator Resistor

1326 MOD SR22A

First Position Second Posi­Bulletin

Number

tion
Accessory

Module

–

tion
Type

Code

MO
D

Description

Modifica­tion Kit

Third Posi­tion

Accessory

Cod

Description

e

Anti-Backlash Module w/mounting

A

assembly

B

Accel/Decel Board w/mounting rack

C

Velocity Reference Board w/mounting
rack

–

Third Posi­tion

Description

Code

Description

SR22

Shunt Regulator Resistor for 22.5A

A

Controller

SR45

Shunt Regulator Resistor for 45A

A

Controller

1326AB Servomotor

Chapter 3

Receiving, Unpacking and Inspection

1326 A 3

First Position Second Posi­Bulletin

Number

tion
Type

Let­ter

A

Description

AC
Servomo­tor PM
Type

1326A

Third Posi­tion

Design

Descrip­tion

Factory
use only

MO

–

Fourth Position

Series

Description

Sequentially
lettered to
designate
frame diame­ters.

Description

Code

4.25”

A

(108 mm)

B

5.88”

C

(149 mm)

7.63”
(194 mm)

Shaft Oil Seal Kit

SS V

–

Fifth Posi­tion
Motor
Length

Description

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

E

–

Sixth Position
Max. Op.

Speed

RPM

Let­ter

200

B

0

C

300
0

E

400

G

0
600

Description

Code

0

72 lb.-in. (8.1 N-m) Holding Brake w/90V DC

A4

Coil.

A5

120 lb.-in. (13.6 N-m) Holding Brake w/90V

A7

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

DC Coil.

A

–

11

Seventh Posi­tion
Mounting &
Shaft Description

Description

Cod
e

Inch Combina-

11

tion Face/
Flange with
Keyway

21

NEMA/IEC
Metric Flange
with Keyway

–BA

1–

A4

Eighth Posi­tion
Standard
Options

B

First Position Second Posi­Bulletin

Number

tion
Type

Code

MO
D

D

Description

Modifica­tion Kit

Third Posi­tion
Shaft
Seal

1

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

Brake Power Supply Rectifier

1326 MO

–

Fourth Position

Material

Letter

V

D

First Position Second Posi­Bulletin

Number

tion
Type

Description

Code

Modifica-

MO

tion Kit

D

2

Up to 4 brakes per rectifier can be
used.

Description

Viton

–

Third Posi­tion

Description

Code

BP
S

Fifth Posi­tion
Motor
Series

for . . .

Letter

-A Series

A

-B Series

B

-C Series

C

Sixth Position
Motor

Mounting

Description

Num­ber

Std. Inch

1

Metric

2

BP

S

Description

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

2

1

3-13

Chapter 3

Receiving, Unpacking and Inspection

–

3

RJA

B

Third Posi­tion

Code

RJA
B

RJB
C

4

Description

For all AB-A and
AB-B Series Motors

For all AB-B4 and
AB-Cx Series Motors

Motor Junction Box Kit

1326A

B

First Position Second Posi­Bulletin

Number

3

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.

Feedback Mounting Adapter Kit

MO

–

D

tion
Type Description

Description

Code

Modifica-

MO

tion Kit

D

3-14

1326A

B

First Position Second Posi­Bulletin

Number

4

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.

–

tion
Type

Code

MO
D

MO

D

Description

Modifica­tion Kit

Code

M4
M5
M6
M22
M23
M24
M25

M26

–

M4 C

–

1

Third Posi­tion
Mounting Adapter
Kit for . . .

Description

A-B 845H/T Encoder for AB-A series motor
A-B 845H/T Encoder for AB-B series motor
A-B 845H/T Encoder for AB-C series motor
Type VC/VD 4.25” (108 mm) Resolver for AB-B series

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

motor

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

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

Foot mounting kit for M25

Fourth Position
Coupling Size

for . . .

Motor Series

Code

A, B, C

C1

For M22,

Blan

M23, M24,

k

M25, M26

Feedback Coupling

Chapter 3

Receiving, Unpacking and Inspection

1326 MO

First Position Second Posi­Bulletin

Number

1326A

–

B

First Position Second Posi­Bulletin

Number

–

tion
Type

Code

MO
D

Resolver Feedback Package

MO

D

tion
Type

–

D

Description

Modifica­tion Kit

–

VC

Third Posi­tion
Resolver Feedback
Package

C1

Third Posi­tion

Coupling
Size

–

Size

Code

C1
C2

Motor Shaft to Encoder Shaft

3/8” to 3/8” (9.5 mm to

9.5 mm)
3/8” to 1/4” (9.5 mm to

6.3 mm)

Fourth Position
Gear Ratio

Input:Resolver

1:1

Code

Description

VC

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 8200,
IMC 120, IMC 123, Creonics SAM and MAX.

VD

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 and Creonics.

5

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

Code

MO
D

Description

Modifica-

5

tion Kit

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

1:2.

resolver.

5

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

1:5

the resolver.

255

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

256

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

Absolute master/vernier format – 1:1 input/master, 256:255
master/vernier for 8600 series controls and Creonics only.

3-15

Chapter 3

Receiving, Unpacking and Inspection

Power and Feedback Cables

1326 C

First Position Second Posi­Bulletin

Number

–

tion
Type

Letter

C

CC

Description

Connector
& Cable
Assembly

Connector
on both
ends (for
use with
1391C­HB)

PA

Third Posi­tion

Function

Description

Letter

Power Connection

P

Commutation &

F

Feedback Connec­tion

E

845H Encoder

V

All 4.25”
(108 mm) Resolver
Packages

T

Fourth Position
Power Track

Cable

Description

Letter

All Series

T

Standard

Blan

Cable

k

B

Fifth Position
Motor Size

Used On

Type

Code

Series A & B

AB

(except
1326AB-B4)

C

Series C &
1326AB-B4

All SeriesU

15

Sixth Position
Cable

Length

Code

Description

K

Connector
Kit (No
Cable)

15

15’ (4.6m)

30

30’ (9.1m)

50

50’ (15.2m)

100

100’ (30.4m)

3-16

Blower Mod Kit

1326A

B

First Position Second Posi­Bulletin

Number

MO

–

D

tion
Type Description

Description

Code

Modifica-

MO

tion Kit

D

–

Third Posi­tion

Code

G3

G4

G3

Motor Series

Rear mounted blower for C
series motors

“Saddle” type blower for C
series motors with
encoders

End of Chapter

Chapter 3

Receiving, Unpacking and Inspection

3-17

Chapter

4

Description of Operation

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

1391B-ES in terms of function and operation.

General The 1391B-ES PWM Servo Controller is made up of the following: 300V

DC power supply, power transistor output modules, shunt regulator circuit,
logic power supply, Logic Control Boards, isolated current sensing, circuit
breaker and line contactor.

The intended use of the 1391 ES 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 1391B-ES Servo Controller, 1326 AC
Servomotor and 1391 Isolation Transformer. Refer to the 1391B-ES Block
Diagram presented in Figure 4.3.

300V DC Power Bus Supply The controller 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 1391B-ES incorporates a fixed timing wave (V

controller also generates a three-phase sine wave whose frequency
corresponds to the velocity command. An output voltage signal (V
generated by the intersection of these two curves as shown in Figure 4.1.

Figure 4.1
PWM Waveform

) of 2500 Hz. The

T

) is

O

4-18

V

T

V

O

E

d

E

T

T

Chapter 4

Description of Operation

The three-phase relationship between the reference signal and the timing
wave provide a PWM wave 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 controller combines the desired position signal
and current reference with the decoded resolver signal to produce a
reference signal commanding the controller to speed up or slow down. See
Figure 4.2.

Figure 4.2
Operation

Current

Referenc

e

Commutation

Logic &

Current Loop

Integrator

Position
Decoder

PWM

Generator &

Base Drive

Timing

Signal

Generator

Motor

Resolve

r

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

conditions when the energy returned to the controller 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 1391B-ES
will determine that an overvoltage condition exists, and trip out on an
Overvoltage Fault.

4-19

Chapter 4

Description of Operation

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 controller (see Figure 1.1)
determines the temperature level and therefore the average power level at
which the controller will trip out. When this level is reached, the controller
will be forced to trip out on an Overvoltage Fault. This action would be
equivalent to turning the shunt regulator off. Refer to Chapter 9 for further
shunt regulator information.

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

voltages are generated on the Power Driver Board, which receives its 36V
AC center-tapped 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 controller. They contain all circuits
necessary to control the 1391B-ES. These circuits include: the velocity and
current loop, fault detection and annunciation circuits, power-up/power­down logic, PWM generation and forward/reverse controlling circuits.

Figure 4.3
1391B-ES Block Diagram

4-20

Chapter 4

Description of Operation

Fault Monitoring and Detection A number of Fault Monitor and Detection functions exist on the 1391B-ES

that guard the controller and help to minimize motor and system faults. The
occurrence of a fault will cause the controller 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 LED
indicators. The conditions displayed include:

Overtemperature

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

Power Fault

A fault related to the power bridge section of the controller will cause the
controller to be disabled, illuminate the LED and open the DROK contact.

Control (Power) Fault

If the control voltage varies more than ±10% of the nominal 12V DC or the
resolver wiring is grounded or missing, this fault will occur. When a fault
is detected, the LED illuminates, the DROK contact opens and the
controller is disabled.

Overvoltage

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

Undervoltage

If the DC power bus voltage drops below 50% of its nominal operating
value, the LED illuminates and a signal will be present at TB2-13. A
switch setting on S2 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 controller contains a fixed time versus current overload circuit which
monitors the current through each leg of the output bridge. If a fixed-time
versus current-product is exceeded, the LED is illuminated and a signal
will be present at TB2-14. This condition will reduce the current limit or
torque available to the motor.

Run/ Enable

The application of an enable signal by the machine position controller will
cause the RUN ENABLE LED to illuminate.

4-21

Chapter 4

Description of Operation

Drive Ready

The status of the power supplies and fault conditions are monitored
continuously. If a fault is present, the DRIVE READY LED will not be
illuminated, a fault signal will be present at TB4 and the DROK contact
will be open.

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

Current Sense Board. This circuitry provides the data used for current
limiting and to modify bandwidth.

Integral Circuit Breaker The control logic and power circuitry are protected against overcurrents by

an integral circuit breaker. The DC bus supply and input rectifier utilizes a
three pole magnetic circuit breaker.

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

Enable signal is removed or a fault occurs. 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 1391B-ES 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.

Starting and Stopping

ATTENTION: The Enable control circuitry in the 1391B-ES

!

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 controller. Refer to the
following individual stop mode explanations.

4-22

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 1391B-ES 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. Refer to the paragraph that
follows.

Regenerative Braking
Normal run commands to the controller 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
between TB2-9 & 10 or solid-state contact closure (open collector, +15 to
+30V DC) between TB2-10 & 12 will cause the controller 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 controller 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.

4-23