Rockwell Automation 1398-DDM-xxx User Manual

Allen-Bradley

ULTRA
200 Series

User

Digital Servo
Drives

Manual

Important User

!

Information

Because of the variety of uses for the products described in this
publication, those responsible for the application and use of this
control equipment must satisfy themselves that all necessary steps
have been taken to assure that each application and use meets all
performance and safety requirements, including any applicable laws,
regulations, codes and standards.

The illustrations, chart s, sample programs and la yout examples shown
in this guide are intended solely for purposes of example. Since there
are many variables and requirements associated with any particular
installation, Allen-Bradley does not assume responsibility or liability
(to include intell ectual proper ty liabili ty) for actual use based upon the
examples shown in this publication.

Allen-Bradley publication SGI-1.1, Safety Guidelines for the
Application, Installation, and Maintenance of Solid-State Control
(available from your local Allen-Bradley office), describes some
important differences between solid-state equipment and
electromechanical devices that should be taken into consideration
when applying products such as those described in this publication.

Reproduction of the cont ents of t his copyrigh ted public ation, in whole
or in part, without written permission of Allen-Bradley Company,
Inc., is prohibited.

Throughout this manual we use notes to make you aware of safety
considerations. For example:

Intro

ATTENTION: This symbol identifies inf ormation about
practices or circumst ances tha t can lead t o personal injury
or death, property damage or economic loss.

Attention statements help you to:

● identify a hazard

● avoid the hazard

● recognize the consequences

Note: This symbol iden tifies in formation that is critical for succes sful
application and understanding of the product.

Mathcad is a registered tradem ark of MathSoft, Inc.
Microsoft, MS-DOS and Window s ar e trademarks of Microsoft Corporation.
UL and cUL are registered trademarks of Underwriters Laboratories.

Table of Contents

IntroTable of Contents

Table of Contents Intro-1

List of Figures Intro-7

List of Tables Intro-11

Preface Intro-15

About This Manual .........................Intro-16

Additional Instructions and Manuals ...............Intro-17

Host Commands and ULTRA Master .............Intro-17

TouchPad .............................Intro-18

Symbols and Conventions .....................Intro-19

Typographical and Wording Conventions ...........Intro-19

Graphical Symbols and Warning Classifications .......Intro-20

Pictorial Index ............................Intro-21

Chapter 1

Chapter 2

Safety

Installing and Using the ULTRA 200 Series .............1-1

Potential Hazards...........................1-1

Safety Guidelines ............................1-3

Selecting Other System Components

ULTRA 200 Series Overview .....................2-1

Drive Power Ratings .........................2-1

Interface Cables............................2-2

ULTRA 200 Series Features ......................2-2

Stand-alone Design..........................2-2

High Performance Microcontroller Technology .........2-2

IPM Technology ...........................2-2

Analog and Digital Interfaces ....................2-2

Encoder Control ...........................2-2

Encoder Output ............................2-3

Digital I/O ...............................2-3

Analog I/O...............................2-3

AC Input Power............................2-3

Personality Module..........................2-3

Multiple Protection Circuits.....................2-4

ULTRA Master Softw are ......................2-4

Publication 1398-5.0 – October 1998

Intro-2 Table of Contents

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

Autotuning ...............................2-5

Agency Approvals...........................2-5

Options .................................2-5

Motors ...................................2-6

European Union Requirements .....................2-7

Chapter 3

Chapter 4

Chapter 5

ULTRA Master Installation

Hardware and Software Requirements .................3-1

Installing ULTRA Master ........................3-2

Starting a nd Quitting ULTRA Master .................3-3

Version Level .............................3-3

The ULTRA Master Start-Up Screen ................3-3

The readme File ............................3-4

Firmware Files .............................3-4

Unpacking, Inspecting and Storing

Unpacking the Drive ...........................4-1

Inspection Procedure...........................4-1

Testing the Unit..............................4-2

Hardware Setup ............................4-3

Drive Checkout Test .........................4-4

Storing the Unit..............................4-7

Installation

Mechanical Installation Requirements .................5-1

Interface Connections ..........................5-5

Wiring .................................5-6

Electromagnetic Compatibility ...................5-6

Qualified AC Line Filters.......................5-6

Allen-Bradley AC Line Filters....................5-7

Chapter 6

Publication 1398-5.0 – October 1998

Interfaces

J1 – Controller ..............................6-1

Digital I/O Power ...........................6-3

Digital Inputs..............................6-4

Digital Outputs.............................6-9

Analog Inputs ............................6-14

Analog Outputs ...........................6-16

Motor Encoder Output Signals ..................6-17

Auxiliary Encoder Inputs .....................6-19

Interface C able Examples .....................6-21

J1 Terminal Strip/Breakout Board.................6-26

J2 – Encoder ..............................6-27

Table of Contents Intro-3

J2 Terminal Strip/Breakout Board ................ 6-30

J3 – Auxiliary Port ..........................6-31

J4 and J5 – Serial Port ........................ 6-34

Serial Communications Overview ................ 6-36

RS-232 Connections ........................ 6-38

Four Wire RS-485 Connections.................. 6-40

A1, A2, and COM – Analog Outputs ................ 6-44

Interface Connections ......................... 6-45

Chapter 7

Chapter 8

Power Connections

TB1 – DC Bus and AC Power .....................7-1

Motor Power Cabling ........................7-3

Motor Over load Protection .....................7-5

Emergency Stop Wiring .......................7-6

DC Bus.................................7-6

AC Power Cabling ..........................7-7

Auxiliary Power .......................... 7-10

TB2 – Shunt Regulator ........................ 7-11

External Shunt Connection .................... 7-14

Application and Configuration Examples

Analog Control..............................8-1

Hardware Setup............................8-1

Connection Diagram .........................8-2

Configuration .............................8-3

Tuning ................................8-4

Operation ...............................8-5

Preset Controller .............................8-6

Hardware Setup............................8-6

Connection Diagram .........................8-8

Configuration .............................8-8

Tuning ............................... 8-10

Operation .............................. 8-11

Position Follower (Master Encode r) ................. 8-12

Hardware Setup........................... 8-12

Connection Diagram ....................... 8-13

Configuration ............................ 8-13

Tuning ................................ 8-15

Operation .............................. 8-16

Position Follower (Step/Direction) ................. 8-17

Hardware Setup........................... 8-17

Connection Diagram ........................ 8-18

Configuration ............................ 8-18

Tuning ................................ 8-20

Publication 1398-5.0 – October 1998

Intro-4 Table of Contents

Operation...............................8-21

Position Follower (Step Up/Step Down) ...............8-22

Hardware Setup ...........................8-22

Connection Diagram ........................8-23

Configuration ............................8-23

Tuning ................................8-25

Operation...............................8-26

Incremental Indexing .........................8-27

Hardware Setup ...........................8-28

Connection Diagram ........................8-29

Configuration ............................8-29

Tuning ................................8-31

Operation...............................8-32

Registration Indexing .........................8-33

Hardware Setup ...........................8-34

Connection Diagram ........................8-35

Configuration ............................8-35

Tuning ................................8-37

Operation...............................8-38

Absolute Indexing ...........................8-39

Hardware Setup ...........................8-39

Connection Diagram ........................8-40

Configuration ............................8-41

Tuning ................................8-43

Operation...............................8-44

Modifying User Units .........................8-45

Changing the Display Units Settings ...............8-45

Chapter 9

Chapter 10

Publication 1398-5.0 – October 1998

Tuning

Tuning Guidelines ............................9-1

General Tuning Rules .........................9-1

High Inertia Loads...........................9-1

Mechanical Resonance ........................9-2

Backlash ................................9-3

Auto Tune Mode .............................9-4

Auto Tuning ..............................9-4

Manual Tune Mode............................9-6

Gains ..................................9-6

Filters ..................................9-7

Manual Tuning.............................9-8

Velocity Loop Tuning Examples .................9-10

Status Display

Operating Messages ..........................10-1

Table of Contents Intro-5

Error Messages............................. 10-2

Run-Time Error Codes....................... 10-2

Power-Up Error Codes....................... 10-3

Chapter 11

Appendix A

Maintenance and Troubleshooting

Maintenance .............................. 11-1

Periodic Maintenance ....................... 11-1

Fuse Replacement ......................... 11-1

EEPROM Personality Module .................. 11-2

Firmware Upgrading ......................... 11-5

Firmware Upgrade Procedure using ULTRA Master...... 11-5

Troubleshooting ............................ 11-6

Error Codes ............................. 11-6

RS-232 Communication Test ...................11-11

Testing Digital Outputs ......................11-12

Testing Digital Inputs .......................11-14

Testing Analog Outputs ......................11-14

Testing Positive and Negative Current Limits..........11-15

Testing Encoder Inputs.......................11-17

Options and Accessories

ULTRA 200 Series Drives .......................A-1

Fuses ...................................A-2

Options and Accessories ........................A-2

Publications................................A-3

Interface Cables .............................A-3

Serial Inte rface Cables .........................A-3

Encoder Feedback Cables........................A-4

Motor Power Cables...........................A-5

Connector Kits ..............................A-6

Mating Connectors............................A-6

Appendix B

Appendix C

Cable Diagrams, Schematics and Examples

Interface Cables .............................B-3

Serial Inte rface Cables ........................B-11

Encoder Feedback Cables.......................B-14

Motor Power Cables .........................B-21

Cabling Examples ...........................B-26

Allen-Bradley 9/Series CNC Family Connections.........B-30

TouchPad Instructions

Installation and Operation........................C-1

TouchPad Commands ..........................C-3

Supplemental Instructions .......................C-6

Publication 1398-5.0 – October 1998

Intro-6 Table of Contents

Motor Selection ............................C-6

Displays ................................C-6

Motor Table...............................C-10

TouchPad Options ...........................C-12

TouchPad Lists .............................C-13

Appendix D

Appendix E

Creating Custom Motor Files

Drive and Motor File Config uration with U LTRA Ma ster .... D-2

Motor Parameter Set ........................ D-2

General Parameters ......................... D-5

Feedback Parameters ........................ D-8

Electrical Parameters ........................D-10

Rating Parameters ..........................D-11

Example of Custom Motor File Creation ..............D-14

Manufacturer’s Data.........................D-14

Parameter Conversions .......................D-15

Custom Motor File .........................D-16

Troubleshooting Custom Motor Files ................D-16

Electromagnetic Compatibility Guidelines
for Machine Design

Filtering ..................................E-2

AC Line Filter Selection .......................E-3

Grounding .................................E-5

Shielding and Segregation........................E-6

Appendix F

Appendix G

Publication 1398-5.0 – October 1998

Dynamic Braking Resistor Selection

Dynamic Braking Equations.......................F-1

Sample Calculations..........................F-3

Specifications

Power .................................. G-5

Power Dissipation ........................... G-7

Index Index-1

List of Figures

IntroList of Figures

Product Parts Explained .....................Intro-21

Chapter 1
Chapter 2 Selecting Other System Components
Chapter 3 ULTRA Master Installation
Chapter 4 Unpacking, Inspecting and Storing

Chapter 5

Chapter 6

Safety

Connection Diagram

...........................4-4

Installation

1398-DDM Mounting Dimensions (sheet 1 of 2)
MDF AC Line Filter Mounting Diagrams
MIF Single Phase AC Line Filter Mounting Diagram
Power Wiring Diagrams

(sheet 1 of 3)

..............5-8

................5-11

Interfaces

Digital Input Circuit
Drive Input Connected to a Switch/Relay Contact
Drive Input Connected to an Opto-Isolator
Drive Input Connected to an Active High Sourcing Transistor
Drive Input Connected to Active Low Output using

a Switch/Relay

Drive Input Connected to Active Low Output using

an Opto-Isolator
Drive Input Connected to Sourcing Output
READY and BRAKE Circuits
Digital Output Circuit
Drive Output Connected to an Opto-Isolator
Drive Output Connected to an LED Indicator
Drive Output Connected to a Resistive Load
Drive Output Connected to a Switch/Relay
Drive Output Connected to Active Low Input using

a Switch/Relay ...........................6-13

Drive Output Connected to Active Low Input using

an Opto-Isolator ..........................6-13

Drive Output Connected to Active High (Sinking) Input .....6-13

Positive and Negative Current Limit Circuits ...........6-14

Analog COMMAND Input Circuit .................6-15

ANALOG 1 and ANALOG 2 Output Circuits ...........6-16

Output Encoder Interface Circuit ..................6-17

Auxiliary Encoder Input Types ...................6-19

Auxiliary Encoder Input Circuit ...................6-19

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

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

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

...........................6-8

.............6-8

......................6-9

.........................6-10

............6-11

............6-12

............6-12

...........5-3

.......5-10

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

..6-7

...........6-12

Publication 1398-5.0 – October 1998

Intro-8 List of Figures

External Encoder Interface via TTL Differential Line Drivers
Complementary Encoder Interface via 7406 Line Drivers

with Pull-up Resistors
Complementary Encoder Interface via Standard TTL Logic
Single-Ended Encoder Interface via Open Collector

Transistor without Pull-up (not recommended)
Single-Ended Encoder Interface via Standard TTL Signals

(not recommended)
Single-Ended Encoder Interface via Open Collector Transistor

with 5 VDC to 12 VDC Pull-up (not recommended)
Single-Ended Encoder Interface via Open Collector

Transistor with 24 VDC Pull-up (not recommended)
External Step/Direction Interface via TTL Differential

Line Drivers
External Step/Direction Interface via Single-Ended

TTL Line Drivers (not recommended)
External CW/CCW (Step Up/Step Down) Interface via TTL

Differential Line Drivers
External CW/CCW (Step Up/Step Down) Interface via

Single-Ended Line Drivers (not recommended)
Motor Encoder Interface Circuit
Hall Effect Sensor Circuit
ULTRA 200 Series Motor Encoder Connections
RS-232/485 Interface Circuit
Sixteen Position Rotary Addressing Switch
RS-232 Connection Diagrams
RS-485/RS-422 Communication Comparison
Four Wire RS-485 Daisy Chain Connection Diagram
RS-232 to RS-485 Multi-Drop Connection Diagram
ANALOG 1 and ANALOG 2 Output Circuits
1398-DDM Interface Connection Diagram

.............................6-25

........................6-21

....6-22

.........6-22

.........................6-23

......6-23

......6-24

..............6-25

......................6-25

.........6-26

...................6-28

.......................6-28

...........6-30

.....................6-34

.............6-36

.....................6-38

...........6-40

........6-42

.........6-43

...........6-44

..............6-45

...6-21

Chapter 7

Chapter 8

Publication 1398-5.0 – October 1998

Power Connections

Motor Power EMC Shield Connection
Pigtail Ground
Emergency Stop Contactor Wiring
External Shunt Wiring Examples

External Shunt Mounting Diagram ..................7-14

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

................ 7-3

.................. 7-7

...................7-13

Application and Configuration Examples

Analog Controller Connection Diagram ............... 8-2

Preset Controller Connection Diagram ................ 8-8

Master Encoder Connection Diagram ................8-13

Step/Direction Controller Connection Diagram ..........8-18

Step Up/Step Down Controller Connection Diagram .......8-23

Incremental Indexing Examples ...................8-27

Incremental Indexing Connection Diagram .............8-29

Registration Indexing Examples ...................8-33

List of Figures Intro-9

Registration Indexing Connection Diagram
Absolute Indexing Examples
Absolute Indexing Connection Diagram

PC Display Units – Default Dialog

Chapter 9

Chapter 10
Chapter 11 Maintenance and Troubleshooting

Appendix A
Appendix B Cable Diagrams, Schematics and Examples

Tuning

Velocity Loop Structure
Torque Current Conditioning Structure
Signal Nomenclature
Underdamped Signal
Overdamped Signal
Critically Damped Signal (Ideal Tuning)

..........................9-11

Status Display

Fuse and Jumper Locations

Options and Accessories

J1 to J3 Interface Cable (P/N 9101-1367) ................B-3

J1 to No Connector Interface Cable (P/N 9101-1370) . . . . . . . . B-4

J3 to J3 Interface Cable (P/N 9101-1463) ................B-5

J3 to No Connector Interface Cable (P/N 9101-1368) . . . . . . . . B-6

J1 to 50-pin Terminal Block Kit Diagram

(P/N 9101-1391 and 9101-1560) ....... ...........B-7

J1 to 50-pin D-Connector Cable (P/N 9101-1369) . . . . . . . . . . B-8

J2 to 25-pin Terminal Block Kit Diagram (P/N 9101-1392) . . . . .B-9

J2 to 25-pin D-Connector Cable (P/N 9101-1371) . . . . . . . . . B-10

J5 to 9-pin D-Shell Interface Diagram (P/N 9101-1372) . . . . . . B-11

J5 to J5 Serial Interface Cable (P/N 9101-1374) . . . . . . . . . . . B-12

J5 to No Connector Serial Interface Cable (P/N 9101-1379) . . . . B-13

F- or H-Series Motors to No Connector Encoder Cable

(P/N 9101-1365) ..........................B-14

J2 to F- or H-Series Encoder Cable (P/N 9101-1366) . . . . . . . . B-15

J2 to Y-Series Encoder Cable (P/N 9101-1375) . . . . . . . . . . . B-16

No Connector to Y-Series Encoder Cable (P/N 9101-1373) . . . . B-17

J2 to No Connector Encoder Cable (P/N 9101-1380) . . . . . . . . B-18

J2 to N-Series Encoder Cable (P/N 9101-1468) . . . . . . . . . . . B-19

No Connector to N-Series Encoder Cable (P/N 9101-1469) . . . . B-20

2000 or 3000 F- or H-Series Power Cable (P/N 9101-1381) . . . . B-21

4000 F- or H-Series Power Cable (P/N 9101-1382) . . . . . . . . . B-22

6100 or 6200 F- or H-Series Power Cable (P/N 9101-1383) . . . . B-22

6300 H-Series Power Cable (P/N 9101-1399) ............B-23

8000 H-Series Power Cable (P/N 9101-1384) ............B-23

Y-Series Power Cable (P/N 9101-1385) ...............B-24

.....................8-39

..................8-45

.........................9-3

.........................9-10

.........................9-11

.....................11-4

............8-35

..............8-40

................9-3

..............9-12

Publication 1398-5.0 – October 1998

Intro-10 List of Figures

N-Series Power Cable (P/N 9101-1467) ...............B-25

F or H-Series Motors to ULTRA 200 Series Drive . . . . . . . .B-26

F- or H-Series Motors to ULTRA 200 Series Drive

using P2 Terminal Strip .......................B-27

Y-Series Motors to ULTRA 200 Series Drive . . . . . . . . . . . . .B-28

Y-Series Motors to ULTRA 200 Series Drive

usingP2TerminalStrip ........... ............B-29

Appendix C

Appendix D

Appendix E

Appendix F

TouchPad Instructions

TouchPad Connection and Pinouts ... ...............C-2

TouchPad Version Number Display .................C-2

TouchPad Command Tree

(sheet 1 of 2) ...............C-4

Creating Custom Motor Files

Allen-Bradley Motor Naming Convention .............D-3

Required Back-EMF and Hall Signal Phasing

for Clockwise Rotation .......................D-4

Phasing of the Encoder Signals for Clockwise Rotation . . . . . . D-4

Index Offsets ..............................D-8

Hall Offsets ...............................D-9

Motor Thermal Protection Software Method . . . . . . . . . . . D-13

Back-EMF and Hall Signals, Clockwise Rotation . . . . . . . . . D-14

Electromagnetic Compatibility Guidelines
for Machine Design

EMI Source-Victim Model ......................E-2

Single Point Ground Types ......................E-5

Dynamic Braking Resistor Selection

Appendix G Specifications

Publication 1398-5.0 – October 1998

IntroList of Tables

Chapter 1 Safety
Chapter 2 Selecting Other System Components
Chapter 3 ULTRA Master Installation
Chapter 4 Unpacking, Inspecting and Storing
Chapter 5 Installation

Qualified AC Line Filters
MDF AC Line Filter Dimensions
MIF AC Line Filter Dimensions

........................5-7

....................5-9

....................5-10

List of Tables

Chapter 6

Interfaces

24 Volt Power Supply Specifications
5 Volt Power Supply Spe c ifications
General and Dedicated Inputs
INPUT1, INPUT2, INPUT3, INPUT4

and FAULT RESET Functions

Digital Input Specifications

.......................6-6

READY Output Specifications
BRAKE Output Specifications

.....................6-10

General and Dedicated Outputs
OUTPUT1, OUTPUT2, OUTPUT3 and OUTPUT4 Functions
Transistor Output Specifications
Analog Inputs +I LIMIT and -I LIMIT
Positive and Negative Current Limit Imput Specification
Analog Command Input

........................6-15

Analog Command Input Specifications
Analog Outputs: ANALOG 1 and ANALOG 2
Analog Output Specifications
Motor Encoder Output Signal

.....................6-17

.....................6-18

Motor Encoder Output Specifications ................6-18

Auxiliary Encoder/Step and Diection/CW & CCW

(Step Up & Down) Signals .....................6-20

Quadrature Interface Specifications .................6-20

Step/Direction and CW/CCW (Step Up/Step Down)

Interface Specifications .......................6-24

J2- Motor Encoder Connector Pin-Outs ...............6-28

J3 – Auxiliary Connector Pin-Outs ..................6-32

J4 and J5 – Serial Port Connector Pin-Outs .............6-35

Drive Addressing ...........................6-36

Analog outputs ANALOG 1 and ANALOG 2 ...........6-44

..................6-3

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

.....................6-5

....................6-5

.....................6-9

...................6-10

...6-10

...................6-11

................6-14

.....6-14

...............6-15

...........6-16

Publication 1398-5.0 – October 1998

Intro-12 List of Tables

Chapter 7 Power Connections

TB1 – Motor Power Terminals
Motor Power Contact and Wire Sizing Recommendations
TB1 – DC Bus Terminals
TB1 – AC Power Terminals
AC Input Power Sizing Requirements
Auxiliary Power Terminals
Auxiliary Power Sizing Requirements
TB2 – Shunt Regulator Terminals
Internal Shunt Power Ratings for Drive Models
Maximum External Shunt Power Ratings for Drive Models
Minimum Ratings for Customer Supplied External

Shunt Resistor

............................7-13

..................... 7-3

.....7-5

........................ 7-7

....................... 7-8

................ 7-9

.......................7-10

................7-10

...................7-12

..........7-12

....7-12

Chapter 8

Chapter 9

Chapter 10

Chapter 11

Appendix A
Appendix B Cable Diagrams, Schematics and Examples

Application and Configuration Examples

Preset Binary Inputs

.......................... 8-6

Tuning

Velocity Loop Gains
Position Loop Gains

.......................... 9-6

.......................... 9-7

Status Display

Run-Time Error Codes
Power-Up Error Codes

.........................10-2

.........................10-4

Maintenance and Troubleshooting

Troubleshooting Guide

........................11-6

Options and Accessories

9/260 or 9/290 to Breakout Board
9/260 or 9/290 to J1 Connector
9/230 to Breakout Board
9/230 to J1 Connector

........................B-30

..........................B-31

...................B-30

....................B-30

Appendix C

Publication 1398-5.0 – October 1998

TouchPad Instructions

TouchPad Fault/Error/Warning Displays .............C-9

TouchPad Motor Table Identification by Motor Series .......C-10

TouchPad Motor Table Identification by Motor ID .........C-11

Option Selections for the TouchPad .................C-12

Drive Communications Parameter List for the TouchPad .....C-13

Baud Rate Parameter List for TouchPad ...............C-13

Encoder Output Parameter List for TouchPad ...........C-13

IO Mode Parameter List for TouchPad ................C-13

Index Pointer Parameter List for TouchPad .............C-14

Index Termination Parameter List for TouchPad ..........C-14

List of Tables Intro-13

Home Type Parameter List for TouchPad
Homing Auto-Start Parameter List for TouchPad
Reverse Enable for Homing
Digital Input Parameter List for TouchPad
Digital Output Parameter List for TouchPad
Analog Output Parameter List for TouchPad
Drive Status List for TouchPad
Input Flags Parameter List for TouchPad
Output Flags Parameter List for TouchPad

Appendix D
Appendix E Electromagnetic Compatibility Guidelines

Creating Custom Motor Files

......................C-15

....................C-16

..............C-14

.........C-14

.............C-15

............C-15

...........C-16

..............C-17

.............C-17

for Machine Design

Appendix F

Appendix G

AC Line Filter Installation

Dynamic Braking Resistor Selection

Dynamic Braking Resistor Parameters

Specifications

ULTRA 200 Series Power Ratings

........................E-4

................F-1

...................G-5

Publication 1398-5.0 – October 1998

Intro-14 List of Tables

Publication 1398-5.0 – October 1998

Preface

IntroPreface

This manual provides a step-by-step approach to building a servo
system using a ULTRA 200 Series drive. The manual is divided into
chapters that cover specif ic pha ses of t he sy stem des ign proc ess ; from
ordering comp onents that will complement the performance of t he
ULTRA 200 Series drive, to recei ving, installing and ver ifying the

drive’s functionality.

Chapters and appendices in the manual include:

● Safety

● Selecting O ther System Components

● ULTRA Master Installation

● Unpacking, Inspecting and Storing

● Installation

● Interfaces

● Power Connections

● Application and Configuratio n Examp les

● Tuning

● Status Display

● Maintenance and Troubleshooting

● Options and Accessories

● Cable Diagrams, Schematics and Examples

● TouchPad Instructions

● Creating Custom Motor Files

● Electromag netic Compatibility Guidelines for Machine Design

● Dynamic Braking Resistor Selection

● Specifications

The intent of the manual is to assemble a high-performance servo
system in a methodical manner. By making correct decisions and
taking appropriat e actions a servo syst em that performs “as de signed”
can be assured.

Publication 1398-5.0 – October 1998

Intro-16 Preface

About This Manual This manual provides instructions on how to setup and connect the

ULTRA 200 Series drive to a controlling device and a motor. A
ULTRA 200 Series drive may operate in one of several different
functional modes. The hardware connections necessary to run the
drive are explained and basic software instructions are provided for
common set up procedures. For detailed explanation of software
instructions, refer to the comprehensive on-line instructions available
in the ULTRA Master software.

This manual explains how to install your ULTRA 200 Series drive
using ULTRA Master software with a personal computer. If you are
using a T o uchPad device, abbreviated command titles are displ aye d
but the setup steps remain the same.

This manual is organized into chapters and appendixes. The topics
covered in each chapter and section are briefly described.
Typographical conventions, warning and cautions specific to the
drive, and complementary manuals are also described.

Title Description

Safety Lists general safety requirements that must be followed when installing

or servicing the drive.

Selecting Other System
Components

ULTRA Master Installation Explains how to install, access and exit ULTRA Master.
Unpacking, Inspecting and

Storing

Installation Instructs you on how to physically install your ULTRA 200 Series drive.
Interfaces Provides comprehensive information about the signals available on

Reviews the major features of the ULTRA 200 Series drives and identi­fies motors and signal types that are compatible.

Lists what should be included with your ULTRA 200 Series drive and
instructs you on how to perform a basic functional test before installi ng
or storing the drive.

each connector. Each signal or set of signals is identified by:

• Power requirements for driving the signal.

• Functions performed by the signal.

• Specifications, including ON and OFF states.

• Schematic depictions of the circuit design for each signal type.

The signals are grouped under the following connectors.

• J1 – Controller

Diagrams show cable connections needed for common interfaces.

• J2 – Encoder

Details information ab out the enco der sign als, Hal l Eff ect switche s and
thermostat connections available through this connector.

• J3– Auxiliary Port

Provides a secon d con troller conne ction that du plica tes th e first 26 pins
on J1, the Controller connector

• J4 and J5 – Serial Port

Diagrams and instructions detail how to connect one or more drives
using RS-232 communications in a single or daisy-chain connection, or
to connect several drives using Multi-Drop RS-485.

• A1, A2, and COM – Analog Outputs

Describes the connections that allow monitoring of the analog com­mand signals with external equipment.

Publication 1398-5.0 – October 1998

Preface Intro-17

Title Description

Power Connections Provides information on making motor power, DC bus and AC Power

connections.

Application and Conf iguration
Examples

Tuning Provides instructions on how to tune a drive and motor combination

Status Display Discusses the operator indicators available on the front panel. Operat-

Maintenance and Trouble­shooting

Options and Accessories Lists the optional equipment available for the ULTRA 200 Series drives.
Cable Diagrams, Schemat-

ics and Examples
T ou chPad Instructions Describes how to progra m a ULTRA 200 Series dri ve using the o ptional

Creating Custom Motor Files Describes how to create a custom motor file for use with an ULTRA 200

Electromagnetic Compatibil­ity Guidelines for Machine
Design

Dynamic Braking Resistor
Selection

Specifications Details the design and operational specifications for the ULTRA 200

Describes the hardware and software set up necessary to install the
drive as one of the following types:

• Analog Control in velocity or torque mode

• Preset Controller in velocity or torque mode

• Position Follower (Master Encoder) in velocity mode

• Position Follower (Step/Direction) in velocity mode

• Position Follower (Step Up/Step Down) in velocity mode

• Incremental Indexing

• Registration Indexing

• Absolute Indexing

• Modifying User Units

using the autotuning or manual tuning features in ULTRA Master.

ing or Error Messages are explained.
Describes the minimal maintenance necessary with the ULTRA 200

Series drives and provides a comprehensive troubleshooting chart of
potential problems and their solutions.

Provides schematics and cabling examples.

TouchPad device. Tables reference the various motor types that are
programmed to work with the ULTRA 200 Series d rive. A TouchPad
Command Tree card for the current firmware version is bound into the
manual.

Series drive.
Describes commo n ele ct r ic al no is e pro blems and suggests me thods to

ensure ElectroMagnetic Compatibility.

Provides equations to assist in sizing resistors for dynamic braking.

Series drives in a tabular format.

Additional Instructions and Manuals

Host Commands and ULTRA Master

All ULTRA 200 Series drives are setup through serial Host
Commands. The drives may be configured directly through the Host
Command language or indirectly through the ULTRA Master
software. ULTRA Master is a graphical user interface that provides a
visual method of accessing the Host Command language through the
Microsoft Windows Operating System.

Publication 1398-5.0 – October 1998

Intro-18 Preface

All documentation for both the Host Commands and ULTRA Master
is on-line. Host Command information is available through a
comprehensive on-line r eference manua l. ULTRA Master inf ormation
is available through Help menus. The on-line documents provide in­depth explanations of the Host Command language as well as the
menus, windows and dialog boxes that make ULTRA Master a
convenient method for programming ULTRA 200 Series drives.

● To access the Host Command Reference

Click on the Host Command Reference icon in the
ULTRA Master program group.

● To access ULTRA Master Help

Open ULTRA Master by clicking on the ULTRA Master icon in
the ULTRA Master group, and
Press the F1 key.

TouchPad

The optional TouchPad may be used to monitor and configure the
UL TRA 200 Series drive. The TouchPad command structure is similar
to the structure of ULTRA Master, but operates through an
abbreviated keypad interface. The card TouchPad Instructions is
provided with the TouchPad. It describes the installation and
operational instructions in a pocket-sized directory. The TouchPad
Command Tree Car d and additional instructions for the TouchPad are

included in the section titled, “TouchPad Instructions” which begins
on page C-1. The TouchPad Command Tree Card is a graphical
presentation of both the operational instructions and the command
structure for the ULTRA 200 Series drives. You may find it
convenient to refer to th e card when using the TouchPad with a drive.

Publication 1398-5.0 – October 1998

Symbols and Conventions Ty pographical and Wording Conventions

This manual uses the following typographical and wording
conventions:

Example Description

»

Drive Set Up Text shown in this font and underlined indicates a Hot Key (keystroke combina-

ULTRA Master Text shown in this font is information to enter in a window or dialog box. For

win Text in lower case bold is information to enter at a keyboard. For example,

ALT+F4

ALT, F, N Keys that should be pressed in sequence are shown with a comma (,) between

Choose The wording indicates tha t an icon or a comm and is to be sele cted from a win dow

Select The wording indicates that options are to be defined or selected from a list. For

Typ e The wording indicate s that comm ands are to be entered int o a comman d box. For

a

Text preceded by right guillemet explains how to access the particular function in
the preceding paragraph. For example,

To Start ULTRA Master in Windows

» Choose the icon ULTRA Master.

tion) to quickly access a command. For example,

Choose Drive Set Up.

indicates typing ALT+D followed by ENTER accesses this command.

example,

Choose the icon ULTRA Master.

To start Windows from the DOS prompt, type win and then
press ENTER.

Keys that should be pressed simultaneously are shown with a plus sign (+)
between the key names. This example closes the active window.

the key names. This example opens the File menu and then opens a new file.

or a command box . F or example, the ins truc tio n f or accessing the com ma nd ic on
Drive Set Up states:

Choose Drive Set Up.

example, the instruction for accessing or entering information states:

Select Drive Type and Motor Model from the respective list
box.

example, the instruction for loading ULTRA Master states:

Type a:setup and then press ENTER.

Tips provide hints or shortcuts that are useful to know. For example,

Preface Intro-19

Note: UL TRA Master always displays the Help menu – Quick Start – when
it is first accesse d. T o disable thi s automatic di splay, choose the menu item

Show Quick Start from the Help menu.

a. Microsoft® Windows™ reserves certain multiple keystroke combinations to a ct ivate Windows comman ds.

Publication 1398-5.0 – October 1998

Intro-20 Preface

!

Graphical Symbols and Warning Classifications

This manual uses the following graphical symbols and warning
classifications. The use of a symbol and signal word is based on an
estimation of the likeli hood of exp osure to the ha zardou s situat ion and
what could happen as a result of exposure to the hazard.

Example Description

Protective conductor terminal (Earth ground)

Chassis terminal (not a protective ground)

Symbol plus ATTENTION: These notices provide information
intended to prevent potential personal injury and equipment
damage.

Publication 1398-5.0 – October 1998

Preface Intro-21

Pictorial Index Shown here are face views of the product, with pointers to where

individual parts are discussed.

Product Parts Explained (sheet 1 of 3)

Intro

page 10-1, 11-6

page 7-11

page 7-6

page 7-3

page 7-6

page 7-7

WARNING:

HIGH VOLTAGE
MAY EXIST FOR UP TO FIVE MI NUTES
AFTER REMOVING POWER.

page 6-44
page 6-36

page 6-34

page 6-34

page 6-31

page 6-27

page 7-10

page 6-1

Models:
1398-DDM-010 and 1398-DDM-010X,
1398-DDM-020 and 1398- DDM -02 0X,
1398-DDM-030 and 1398-DDM-030X

Publication 1398-5.0 – October 1998

Intro-22 Preface

Intro

page 7-11

page 7-6

page 7-3

Product Parts Explained (sheet 2 of 3)

WARNING:

HIGH VOLTAGE
MAY EXIST FOR UP TO EIGHT MINUTES
AFTER REMOVING POWER.

page 10-1, 11-6
page 6-44
page 6-36

page 6-34

page 6-34

page 7-6

page 7-7

page 7-10

page 6-31

page 6-27

page 6-1

Models:
1398-DDM-075 and 1398-DDM-075X

Publication 1398-5.0 – October 1998

Intro

page 7-11

page 7-6

page 7-3

Product Parts Explained (sheet 3 of 3)

WARNING:

HIGH VOLTAGE
MAY EXIST FOR UP TO EIGHT MINUTES
AFTER REMOVING POWER.

Preface Intro-23

page 10-1, 11-6
page 6-44
page 6-36

page 6-34

page 6-34

page 7-6

page 7-7

page 7-10

page 6-31

page 6-27

page 6-1

Models:
1398-DDM-150 and 1398-DDM-150X

Publication 1398-5.0 – October 1998

Intro-24 Preface

Publication 1398-5.0 – October 1998

Chapter 1

Safety Chapter 1

Installing and Using the
ULTRA 200 Series

Read the complete manual before attempting to instal l or operate the
ULTRA 200 Series drive. By reading the manual you will become
familiar with practices and procedures that allow you to operate the
ULTRA 200 Series drive safely and effectively.

Potential Hazards

The equipment described in this manual is intended for use in
industrial drive systems. This equipment can endanger life through
rotating machinery and high voltages, therefore it is essential that
guards for both electrical and mechanical parts are not removed. The
main hazards which can be encountered in the use of this equipment
are:

● Electric shock hazards

● Electric fire hazards

● Mechanical hazards

● Stored energy hazards

These hazards must be controlled by suitable machine design, using
the safety guidelines which follow. There are no chemical or ionizing
radiation hazards.

Voltage Potentials

Intro

ATTENTION: DC bus capacitors may retain hazar dous

!

Voltage potentials for the internal drive cir cuitry vary fr om 325 Volts
above to 325 Volts below earth ground for a 240 Volt input. Voltages
can exceed 450 VDC or 240 VAC within the ULTRA 200 Series. All
circuits, including the connections on the front panel, should be

considered “hot” when main or auxiliary power is connected and for
the time specified in the warning on the front of the drive after power
is removed.

voltages for several minutes after input power has been
removed, but will normally discharge in several seconds.
Measure the DC bus voltage to verify it has rea ched a safe
level each time power is removed before working on the
drive; or wait for the t ime i ndi cat ed in the warning on the
front of the drive. Failure t o observe this precau tion could
result in severe bodily injury or loss of life.

Publication 1398-5.0 – October 1998

1-2 Safety

Your Responsibilities

As the user or person installing this drive, you are responsible for
determining the suita bilit y of the pro duct for the intende d applic ation.
Rockwell Automation is neither responsible nor liable for indirect or
consequential damage resulting from the inappropriate use of this
product.

A qualified person is someone who is familiar with all safety notes
and established safety practices, with the installation, operation and
maintenance of this equipment and the hazards involved. For more
detailed d efinitions , refer to IEC 364.

It is recommended t hat anyone who oper ates or main tains e lectr ical or
mechanical equipment shoul d have a basic kn owledge of Firs t Aid. As
a minimum, they should know where the First Aid equipment is kept
and the identity of the official First Aiders.

Publication 1398-5.0 – October 1998

Safety 1-3

Safety Guidelines Electrical shock and fire hazards are avoided by using normal

installation pr oce dur es for electrical p ower equipment in an industr ial
environment. Installation must be undertaken by suitably qualified
personnel. Note that this amplifier must be installed in an industrial
cabinet such that access is restricted to suitable qualified personnel.

Mechanical hazards are associated with potentially uncontrolled
movement of the motor shaft. If this imposes a risk in the machine,
then appropriate precautions must be made to electrically disconnect
the motor from the drive when perso nnel have access to moving parts
of the machine. Note also that the motor must be securely mounted at
all times.

Stored energy hazards are both electrical and mechanical.

● Electrical hazard s can be avoided by dis connecti ng the driv e from

its power source and measur ing the DC bus vol tage to verif y it has
reached a safe level or by waiting for the time indicated in the
warning on the front of the drive prior to removing the protective
covers or touching any connections.

● Mechanical hazard s requi re a ri sk a nalysi s on the ef f ects of stor ed

mechanical energy when the machine is running at speed, as well
as the potential for the conversion of electrical energy stored in
the drive being convert ed to mechanical energy. Electrical energy
may be stored in drive for the time indicated in the warning on the
front of the drive.

The following points should be observed for the safety of personnel.
These safety notes do not represent a complete list of the steps
necessary to ensure safe operation of the equipment. Contact your
nearest Allen-Bradley representative for additi onal informat ion.

● Only qualified personnel familiar with the equipment are

permitted to install, operate and maintain the device.

● System documentation must be available and observed at all

times.

● All non-qualified personnel are kept at a safe distance from the

equipment.

● The system must be i nstalled in accorda nce with local re gul at ion s.

● The equipment is intended for permanent connection to a main

power input. It is not intended for use with a portabl e power input.

● Do not power up the unit without the covers in place and the

protective conductor connected.

● Do not operate the unit wit hout connecting the motor conduct or to

the appropriate terminal on the drive.

● Always remove power before making or removing any

connection on the unit.

Publication 1398-5.0 – October 1998

1-4 Safety

● Before removing the cover of the unit, shut off the main and

auxiliary power and measure the DC bus voltage to verify it has
reached a safe level or wait for the time indicated in the warning
on the front of the drive.

● Do not make any connections to the internal circuitry.

Connections on the front panel are the only points where users
should make connections.

● Be careful of the DC bus and shunt terminals. High voltage is

present when power is applied to the ULTRA 200 Series.

● Never connect the DC- terminal to earth ground, the drive

requires a floating DC bus.

● Do not use the ENABLE input as a safety shutdown. Always

remove power to the ULTRA 200 Series before maintaining or
repairing the unit.

● When operating a 1398-DDM-075 or 1398-DDM-075X with a

single phase power input, the current limits must be set correctly.

● Motors without thermal prot ection dev ices re quire a valid thermal

time constant. Otherwise the motor overload protection will not
function properly.

Publication 1398-5.0 – October 1998

Selecting Other System Components Chapter 2

The Allen-Bradley ULTRA 200 Series drives are part of a family of
digital drives that use microcontrollers to manage the current,
velocity , an d position. All s ystem and appli cation parame ters are set i n
software, which ensures repeatability of all functions and prevents
element drift.

This chapter reviews the ULTRA 200 Series and associated motors,
command sources and interfaces. Selection of complementary servo
components allows you to efficiently connect other devices to your
ULTRA 200 Series drive. Pertinent information about each is
provided to assist you in planning your servo system.

ULTRA 200 Series Overview Drive Power Ratings

Several power levels of ULTRA 200 Series drives are available. All
models have integral power supplies and shunt regulators and are
functionally equivale nt. They diff er only in output power and physic al
size:

Chapter 2

● 1398-DDM-010 and 1398-DDM-010X with continuous output

power of 1000 Watts using a single phase power source

● 1398-DDM-020 and 1398-DDM-020X with continuous output

power of 2000 Watts using a single phase power source

● 1398-DDM-030 and 1398-DDM-030X with continuous output

power of 3000 Watts using a single phase power source

● 1398-DDM-075 and 1398-DDM-075X with continuous output

power of 3000 Watts using a single phase power source

● 1398-DDM-075 and 1398-DDM-075X with continuous output

power of 7500 Watts using a three phase power source

● 1398-DDM-150 and 1398-DDM-150X with continuous output

power of 15000 watts using a three phase power source.

The ULTRA 200 Series drives, when combined with Allen-Bradley
brushless servomotors, provide continuous torque ranging from

0.34 Nm to 50.8 Nm (3 to 450 lb-in) and peak torque ranging from

1.02 Nm to 125 Nm (9 lb-in to 1100 lb-in).

Publication 1398-5.0 – October 1998

2-2 Selecting Other System Components

Interface Cables

Standard Allen-Bradley mot or power and enco der fe edback c ables, a s
well as communications cables, are a vailabl e to complet e your motion
control system and provide reliable, trouble free start-up. Refer to

“Options and Accessories” on page A-1 for optional equipment. Use
of these cables is required for compliance to the European
Electromagnetic Compatibility (EMC) Directive and to protect your
warranty rights.

ULTRA 200 Series Features Stand-alone Design

A single unit fully encloses all electronics, including both the power
supply and a built-in shunt regulator. An external transformer is not
required on the main power line. All connectors and indicators are
accessible and clearly marked on the front panel.

High Performance Microcontroller Technology

Dual microco ntrollers pe rform all digital current, velocity and
position loop calculations as well as the motor commutation
calculation.

IPM Technology

IPM (Intelligent Power Module) technology in the output stage
provides a high frequency, digital PWM (Pulse Width Modulation)
sine wave that controls the current loop, including overcurrent, short
circuit and overtemperature protection.

Analog and Digital Interfaces

All ULTRA 200 Series drives allow the user to select one of the
following analog or digital command interfaces:

● ±10 Volt analog interface – position, velocity or torque control

● Presets (from one to eight binary inputs) – torque or velocity

control

● Quadrature encoder digital interface – electronic gearing position

follower

● Step/Direc tion digital in terface – position con trol

● CW/CCW (step up/step down) interface – position control

● Indexing (available o nly on 1398-DDM-010X, 1398-DDM-0 20X,

1398-DDM-030X, 1398-DDM-075X and 1398-DDM-150X.

Encoder Control

Publication 1398-5.0 – October 1998

A single, motor mounted encoder provides complete commutation
information and velocity feedback.

Selecting Other System Components 2-3

Encoder Output

A selectable output allows the encoder resolution to be specified for
maximum performance without adding circuitry. Outputs are
differential line drivers capable of dividing the motor encoder signal,
PPR (pulses per revolution), by a factor of 1, 2, 4 or 8.

Digital I/O

Digital I/O channels allow the user to program the drive to fit the
specific application. Selections include:

● Five selectable, 24 Volt, current sinking, optically isolated, active

high inputs.

● One dedicated, control (ENABLE), current sinking, optically

isolated, active high input.

● Four selectable, 24 Volt, current sourcing, optically isolated,

active high outputs.

● Two dedicated (BRAKE and DRIVE READY), normally open

relay outputs.

Analog I/O

Two analog inputs are dedicated to current limits and two analog
outputs can be customized to fit the application:

● T w o d edi cat ed 10 bit, 0 – 10 Volt, analog inputs (+I LIMIT a nd - I

LIMIT)

● Two selectable, ±10 Volt analog outputs, one 12-bit and one 8-bit

(ANALOG1 and ANALOG2).

AC Input Power

ULTRA 200 Series drives are powered directly from a main 100-240
VAC line:

● 1398-DDM-010, 1398-DDM-010X, 1398-DDM-020,

1398-DDM-020X, 1398-DDM-030 and 1398-DDM-030X r equire
single-phase main power

● 1398-DDM-075 and 1398-DDM-075X requ ire either s ingle phase

or three-phase main power.

● 1398-DDM-150 and 1398-DDM-150X require three-phase main

power.

Personality Module

EEPROM (electrically erasable programmable read-only memory)
stores both motor and application specific settings and parameters for
the drive in a removable personality module. This module simplifies
installation, set up, maintenance and reduces spares requirements.

Publication 1398-5.0 – October 1998

2-4 Selecting Other System Components

Multiple Protection Circuits

Device and circuit protection, and diagnostic information is provided
by:

● Seven segment drive status display

● Overtemperature, short circuit and overcurrent protection for the

power output

2

● I

T (power-time) protection

● Bus Overvoltage

● Bus Undervoltage

● Overspeed

● Fault diagnostics

● Fused power supply outputs

● Three watchdog timers provide fail-safe operation

ULTRA Master Software

A Windows based software interface provides start-up selections.
Tasks are organized for efficient set up, control and maintenance.
Context sensitive, on-line help provides immediate assistance.

● Set up is simp lified by a series of logically arranged set up

screens.

● Files can be stored and printed for on-line or off-line

modification, and on-site or off-site back-up.

● Diagnostic and set up tools make system integration easy.

● Critical information is available with complete on -line help.

● User defined velocity, acceleration, position and torque

parameters.

● Tuning and diagnosis is aided with an on-screen dual channel

digital oscilloscope.

● On-screen meters and software tools provid e rapid debugging and

measurement.

Communications

One serial port, with two connectors, allows from 1 to 32 drives to be
connected in parallel using four-wire RS-485 communications. The
serial interface allows the user to program a drive using any PC or
host computer that permits RS-232 or four-wire RS-485
communications.

Publication 1398-5.0 – October 1998

Selecting Other System Components 2-5

Autotuning

Digital auto tuning allows easy setup. All adjustments are made in
software, which immediately sets the servo system compensation
parameters. This eliminates the time-consuming adjustments required
by potentiometers.

Agency Approvals

● UL listed

● cUL listed

● CE marked.

Options

● Power and feedback cables are potted and molded with 360

degree shielding.

● AC line filters.

● Breakout boards for I/ O control and encoder i nterface.

● TouchPad – a compact and highly portable input and display

device.

Publication 1398-5.0 – October 1998

2-6 Selecting Other System Components

Motors The ULTRA 200 Series is com patible with many motors, both

Allen-Bradley motors and motors from other manufacturers. Drive
and motor parameters for all compatible Allen-Bradley motors are
programmed into each ULTRA 200 Series drive at the factory.
Allen-Bradley motors t hat are compa tible wi th the ULTRA 200 Series
of drives include all:

● F-Series

● H-Series

● N-Series

● Y-Series

ULTRA Master software speed s dr ive and motor set up by p red ef ine d
parameters for each drive and motor combination.

Refer to the Torque/Speed curves in the Allen-Bradley standard
product catalog and handbook (Publication 1398-2.0) or contact your
local Allen-Bradley distributor for motor sizing a nd compatibility
assistance.

Custom motors or motors no t ma nufactured by Allen-Bradl ey ma y be

used with the ULTRA 200 Series. Appendix D, “Creating Custom
Motor Files” explains how to configure the drive to control a custom
motor.

Publication 1398-5.0 – October 1998

Selecting Other System Components 2-7

European Union Requirements

ULTRA 200 Series drives conform to the following European Union
Directives:

● Machinery Directive (89/392/EEC, Article 4.2 and Annex II,

sub B)

● Low Voltage Directive (72/23/EEC, 93/68/EEC)

● Electromagnetic Compatibility Directive (89/336/EEC, 92/31/

EEC, 93/68/EEC). Compliance with the EEC Directives is
contingent on:

– Installation of AC line filters between the power source and the
drive, and
– Use of Allen-Bradley cabl es to co nnec t mot or s. See “European
Union EMC Directives” on page 5-6; Appendix A, “Options and
Accessories” lists the mentioned equipment and Allen-Bradley
part number.

Allen-Bradley motors available for use with ULTRA 200 Series
drives include all:

● F-Series motors

● H-Series motors

● Y-Series motors

● N-Series motors

Publication 1398-5.0 – October 1998

2-8 Selecting Other System Components

Publication 1398-5.0 – October 1998

Chapter 3

ULTRA Master Installation Chapter 3

Installati on of ULTRA Master on a PC is covered in this chapter,
which:

● Lists the minimum PC hardware and software necessary to run

ULTRA Master.

● Provides step-by-step instructions on how to load ULTRA Master.

● Shows you how to start and quit ULTRA Master and introduces

the Drive Window,
the main command window for ULTRA Master.

● Instructs you on how to access on-line help.

Instructions for using the features available in ULTRA Master are
detailed in on-line he lp. To access the Help menu, depress the

F1 key.

Hardware and Software Requirements

The minimum personal computer (PC) requirements to run the
software are:

● A DOS computer with a 286 microprocessor

● A hard disk, with 2.0 MB of free disk space

● 3½ inch, 1.44MB floppy disk drive

● 2 MB of RAM

● A Video Graphics Array (VGA) monitor

● Microsoft Windows version 3.1

● A mouse is recommended.

Windows must be installed on your PC. If Windows is not already
installed, refe r to the appropriate Microsoft m anual to in stall W indo ws
on your computer.

Publication 1398-5.0 – October 1998

3-2 ULTRA Master Installation

Installing ULTRA Master To install ULTRA Master software on a hard drive:

1. Make a backup copy of the ULTRA Master disk in one of the fol-

lowing ways:

• Copy the ULTRA Master disk using the disk menu in the
Windows File Manager.

• If your computer has only one floppy disk drive, type from
the DOS command line prompt

ENTER. The software will prompt you when to i nsert th e

press
SOURCE (ULTRA Master) disk and when to insert the TAR­GET (blank) disk.

diskcopy a: b: and then

2. If Windows is not running, type

win at the DOS prompt (C:>).

If Windows is already running, close any open applications.

3. Insert the ULTRA Master disk into a 1.44MB floppy disk drive,

typically drive A:, and close the drive door.

4. Choose

5. Type

Run, from the File menu in Windows Program Manager.

a:setup and then press ENTER. A message box will appe ar

saying that the setup is initializing. The message box may be
present for up to 40 seconds, depending on the speed of the PC.

6. A dialog box requires you to confirm whether or not

ULTRA Master should be installe d on the hard dr ive (C: dr ive) of
the PC.

• To install ULTRA Master, choose

ontinue, or press ENTER,

C

and continue with the next step.

• To stop th e in st allation, choose

xit. You are returned to Win-

E

dows.

7. Setup then asks where you would like to install ULTRA Master.

• To accept the path that Setup proposes in the
(c:\ultramst\...), choose C

ontinue,

Path: box

Publication 1398-5.0 – October 1998

• To choose another directo ry, type a new path in the Path: box ,
and then choose C

ontinue. You will not have the opportunity

to confirm your entry so type carefully.

• To return to the initial Setup window, choose B

• To stop the installation, choose E

xit. You will return to Win-

ack.

dows.

• To obtain on-line help with the installation, Choose H

elp.

8. A status bar will keep you informed of the installation progress.

When Setup is complete, choose

OK or press ENTER to return to

Windows.

ULTRA Master Installation 3-3

Starting and Quitting
ULTRA Master

Version Level

The release level and date for ULTRA Master may be displayed by
selecting

bout ULTRA Master from the Help menu. This

A

information also appears in the initial ULTRA Master screen. The
About ULTRA Master window includes additional data about system
resources typically displayed in Windows Help.

The ULTRA Master Start-Up Screen

When ULTRA Master star ts for the first time, its defau lt instruction s
are:

● Display the Help menu - Quick Start.

● Present the Drive Selec t window. The Drive Select window offers

Drive 0, which is the default drive ad dress as si gned at th e facto ry.

The default ULTRA Master Start-up screen is shown below. The
comments point out many of the Windows controls that are available
in ULTRA Master.

4XLFN6WDUW

Pop-up menus accesses
PC-based commands

Tool bar buttons provide
quick access to common
commands and windo ws

Buttons perform typical Windows func tions such as
sizing or scrolling, opening or closing windows.

Note: ULTRA Master displays the Help menu – Quick Start –when
it is first acce ssed. To disable this automatic display, deselect the menu
item

Show Quick Start from the Help menu.

Setup automatically creates the ULTRA Master program group and
then returns you to Windows. The ULTRA Master program group
provides access to the ULTRA Master application icon,

Online Help e xplains tasks
and commands

Hypertext links to specific
items in online Help

Status bar reveals current
menu selection and statu s
information

Publication 1398-5.0 – October 1998

3-4 ULTRA Master Installation

From the C:> Prompt

1. Type

win c:\ultramst\ultramst.exe.

The ULTRA Master start-up screen will open.

Note: This step assumes that ULTRA Master was loaded into the
c:\ultramst directory during setup.

From Windows

1. Choose the ULTRA Master program group from the Program

Manager in Windows.

Note: If the UL TRA Master window is not active, hold down ALT and
press TAB (ALT+TAB) un ti l the ULTRA Master title bar and icon are
highlighted, or select UL TRA Master from the list in t he W

indow menu.

2. Choose the ULTRA Master icon from the ULTRA Master pro-

gram group.

The ULTRA Master start-up screen will open.

The readme File

A file, titled README, may be included in the ULTRA Master
directory. This file contains installation instructions, change notes
from previous revisions, and information that became available after
this manual was printed. After you install ULTRA Master you can
access this file by choosing the Read Me icon in the ULTRA Master
window or by using Microsoft Write or an equivalent application
program to view the file

readme.wri in the directory path where

ULTRA Master is installed.

Firmware Files

Firmware files are supplied in the Miscellaneous directory on the
ULTRA Master diskette.

The current revision level of drive firmware, excluding the TouchPad
firmware, is displayed in the Drive Information window of
ULTRA Master. The current revision level of TouchPad firmware is
displayed as part of the TouchPad initialization when a TouchPad is
connected to the drive.

Publication 1398-5.0 – October 1998

The types of files and their functions are:

● Firmware – Ma in Operating firmware for th e drive

● Boot Block – Drive Initialization firmware for the drive

Chapter 4

Unpacking, Inspecting and Sto ringChapter 4

This chapter describes four steps which should ensure that the drive
functions correctly. The steps include:

● Unpacking the ULTRA 200 Series drive

● Inspecting the drive for shipping damage

● Testing the basic functionality of the drive

● Guidelines for storing the drive.

Unpacking the Drive 1. Remove the ULTRA 200 Series drive from the shipping carton

and remove all pack ing mat erial s fr om the u nit. Th e mater ials and
carton may be retained for storage or shipment of the drive.

2. Check all items against the packing list. A label located on the

side of the unit identifies:

• model number

• s erial number

• manufacturing date code.

Inspection Proced ure T o protect your investment and ensure your rights unde r warranty, we

recommend the following steps be performed upon receipt of the unit:

● Inspect the unit for any physical damage that may have been

sustained during shipment.

● Perform the drive checkout test to verify the functionality of the

unit.

If you find damage, eit her concea led or obv ious, cont act your b uyer to
make a claim with the shipper. If degraded performance is detected
when testing the unit, contact your distributor or Allen-Bradley to
obtain a Return Material Authorization (RMA). Do this as soon as
possible after receipt of the unit.

Publication 1398-5.0 – October 1998

4-2 Unpacking, Inspecting and Storing

!

Testing the Unit Drives are burned-in and individually tested before they leave the

factory. However, damage may occur during shipping. Perform the
procedures below to ensure the ULTRA 200 Series drive is
operational and undamaged.

Abbreviated directi ons for connecting the dr ive to a moto r and a PC
are provided.

The test requires:

● Approximately 20 minutes to complete

● A motor with appropriate power and encoder cables

● A PC with the ULTRA Master software package installed

● An RS-232 communications cable

● A single phase or three phase 100-240 VAC, 50/60 Hz power

source. Standard wall outlet pow er is suitable for verification
testing of ULTRA 200 Series drives, except the 1398-DDM-150
or 1398-DDM-150X, which require three phase power.

● A test cable constr ucted from two normally open swi tches, sever al

2

pieces of 1.5 mm

Connectors are listed in “Mating Connectors” on page A-6.
Appendix A, “Options and Accessories” lists the cables.

(16 AWG) wire and a mating connector.

During the test, power is removed several times. Measure the DC bus
voltage at TB1 to verify the bus capacitors are fully discharged, or
wait for the time indicated in the warning on the front of the drive.
The bus capacitors must be fully discharged for the subsequent steps
to be valid.

If problems are encountered during this procedure, refer to “Fuse and
Jumper Locations” on page 11- 4, re view other appropriate se cti ons in
this manual, or call your local Allen-Bradley distributor.

Intro

ATTENTION: Perform the initial power-up with the
motor shaft disconnected from a load and the shaft key
removed. Improper wiring or undisc overed shi pping da m­age could result in undes ired motor motion. Be prepared to
remove power if excessive motion occurs.

Publication 1398-5.0 – October 1998

Unpacking, Inspecting and Storing 4-3

Hardware Setup

Make the connections described below and shown in Figure 4.1.

1. Connect an RS-232 cable between the serial port on the PC and

the J4 connector on the ULTRA 200 Series.

• An Allen-Bradley cable connects the 9-pin serial port of the
ULTRA 200 Series to a 9-pin D-shell connector on a serial
port of the PC. Allen-Bradley cables are available in various
lengths for connecting between J4 or J5 and a computer.
Appendix A, “Options and Accessories” lists the cables.

• A three wire cable is shown in the figure below, solely for
illustrative purposes.

2. Connect a Motor/Feedback cable fr om the moto r t o the J 2 conn ec-

tor on the drive.

3. Connect a jumper wire with a toggle switch between J1-20

(ENABLE) and J1-26 (+24VDC). This provides manual control
for enabling or disabling the drive. Figure 4.1 shows the jumper,
including its normally open toggle switch.

4. Connect a power cable between the external 100/ 240 VAC, 50/60

Hz power source:

Intro

ATTENTION: When operating the model 1398-DDM-

!

075 or 1398-DDM-075X with single- phase power the cur­rent limits must be set correctly.

• A 1398-DDM-010, 1398-DDM-010X, 1398-DDM-020,
1398-DDM-020X, 1398-DDM-030, 1398-DDM-030X,
1398-DDM-075 or 1398-DDM-075X connects to the L1, L2/

N and (Gnd) connections on TB-1 when using a single
phase power source.

• A 1398-DDM-075, 1398-DDM-075X, 1398-DDM-150 or
1398-DDM-150X connects to the L1, L2, L3 and (Gnd)
connections on TB-1 when using a three pha se power sourc e.

Publication 1398-5.0 – October 1998

4-4 Unpacking, Inspecting and Storing

!

Figure 4.1 Connection Diagram

Intro

DRIVE

Close to ENABLE drive

Close to RESET faults

XMT

RCV

COM

J4

2 RCV

3 XMT

5 COM

J1

26 +24V

20 ENABLE

21 FAULT RESET

J2

Motor
Encoder

TB1

Phase R 1

Phase S 2

Phase T 3

Motor Gnd 4

TB1

L1 7

L2/N 8

Gnd 9/10

TB1

L1 7

L2/N 8

L3 9

Gnd 10

100-240 VAC

50/60 Hz

Single Phase

Power Source

Gnd = Pin 9 for DDM-010, DDM-020, DDM-030
Gnd = Pin 10 for DDM-075 using single phase

or

100-240 VAC

50/60 Hz

Three Phase

Power Source

Publication 1398-5.0 – October 1998

Drive Checkout Test

This test seq uentially ve rifies that:

● Drive power wiring is correct and start-up logic is functio ning

● The drive and motor are correctly wired

● Drive serial communications are operational

Intro

A TTENTION: Be prepared to disable the drive or r emove
input power if excessive motor motion occurs while per­forming the following steps.

Before beginning “Initial Power-up”, please check the following:

● All wiring and mounting to verify correct installation

● Input voltages to ensure they do not exceed specifications for the

drive or motor.

Unpacking, Inspecting and Storing 4-5

Initial Power-up

1. Verify the AC power is withi n specificati ons.

2. Switch the AC Power to ON and verify:

• green DC BUS LED is ON

• d isplay is not flashing.

3. Switch the power OFF and wait until the DC Bus Voltage is below

30 Volts, to prevent electrical shock.

4. Connect the motor windings to:

• R (TB1-1)for the Phase R winding

• S (TB1-2) for the Phase S winding

• T (TB1-3) for the Phase T winding

• (TB1-4) for the Ground connection.

5. Switch AC Power ON again and verify:

• green DC BUS LED is ON

• d isplay is not flashing.

6. Switch the power OFF and wait until the DC Bus Voltage is below

30 Volts, to prevent electrical shock.

Communications Verification

7. Start ULTRA Master on the PC.

8. Close any windows that are open in ULTRA Master.

9. Select

C Set Up from the Communications menu in

P

ULTRA Master.

10. Verify the communication port settings match those of the drive,

then select

• Baud Rate:

OK. Factory default drive settings are:

9600

• Data Bits: 8

•Parity: None

• Stop Bits: 1

• Serial Port: COM1

Assignment of communications ports on PCs varies between
manufacturers. The COM port setting for the drive and PC must
match. Refer to “Troubleshooting” on page 11-6 if
communication problems are encountered.

Publication 1398-5.0 – October 1998

4-6 Unpacking, Inspecting and Storing

11. Switch AC power ON.

12. Select

ead Drive Parameters from the Communications menu

R

in ULTRA Master.

13. Select

OK in the Drive Select dialog box. A dialog box indicati ng

that the PC is reading drive parameters should appear.
If this dialog box does not appear, a message appears that advises

you to check the COM settings and the communication cable. If

necessary, refer to “Troubleshooting” on page 11-6 for
instructions on how to perform these checks.

Initial Drive Operation

14. When the message appears that a motor must be selected, choose

OK. The Drive Select dial og box is selected with Mot or Selection

active.

15. Select the appropriate motor from the drop-down Motor Select ion

box.

16. Choose

OK when the message appears advising that the drive

must reset. A change in motor parameters requires a software
reset.

17. Choose

Close from the Drive Setup window.

18. Select the

Control Panel icon from the Drive Window. The drive

displays “H” (Control Panel mode). Refer to “Operating Mes­sages” on page 10-1 for an explanation of drive displays.

19. Close the connection between J1-26 and J1-20 to enable the drive.

20. Holding torque should be sufficient so that the shaft is either

immovable or very resistant to rotation.

21. Move the Slide Bar in the Control Panel win dow to the righ t and

then to the left. Verify that the motor rotates:

• CW as the Slide Bar is moved right of center, and

• CCW as the Sl ide Bar is mov ed left of center.

If the motor rotates in the wrong direction (CCW when the slide
bar is set to the right of center) or jumps and locks-up, motor
phasing and encoder feedback phasing may be incorrect. If
necessary, refer to Chapter 11, “Maintenance and
Troubleshooting” for instructions on how to correct the motor
power connections at TB1-1, -2 , -3 and -4 or the enc oder feedback
connections at J2.

22. Choose

Set to Zero. The motor will stop rotating.

Publication 1398-5.0 – October 1998

23. Choose

by hand.

Drive Disable and verify the motor shaft can be rotated

Unpacking, Inspecting and Storing 4-7

24. Choose Drive Enable and verify the motor shaft has holding

torque. (i.e., The shaft cannot be moved or moves with resis­tance.)

25. Open the connection between J1-26 and J 1-20 to di sable the dr ive.

26. Choose

Close from the Control Panel window.

A drive completing these steps is functional. If the UL TRA 200 Series
drive did not pass the steps above, refer to “Troubleshooting” on

page 11-6.

Note: For information on testing digital and analog signals, refer to

“Testing Digital Outputs” on page 11-12, “Testing Digital Inputs” on
page 11- 14, “T esting Analog Outputs” on page 11- 14 and “ T esting Pos­itive and Negative Current Limits” on page 11-15

Storing the Unit Return the ULTRA 200 Series drive to its shipping carton using the

original packing materials to enclose the unit.

Store the drive in a clean, dry place that will not exceed the following
ranges:

● Humidity: 5% to 95%, non-condensing

● Storage temperature: -40° to 70° C (-40° to 158° F)

Publication 1398-5.0 – October 1998

4-8 Unpacking, Inspecting and Storing

Publication 1398-5.0 – October 1998

Chapter 5

Installation Chapter 5

Mechanical Installation Requirements

1. Mount the unit in an enclosure providing protection to IP54 (pro-

tected against dust and splashing water), or IP65 (dust free and
protected against water jets) if the work environment is poor.
Many NEMA (National Electrical Manufacturers Association)
T ype 4 cab inets pr ovide thi s level o f protecti on. Minimum cabi net
requirements are:

• Depth: 30.5 cm (12 in.)

• Adequate sizing and/or ventilation to dissipate the heat gener­ated by the ULTRA 200 Series drives. Refer to “Power Dissi­pation” on page G-7 for the amount of heat generated by
ULTRA 200 Series drives and enclosure sizing equations.

2. Minimum unobstructed surrounding space for cooling air intake

and fan exhaust:

• Above: 5 cm (2 in.)

• Below: 5 cm (2 in.)

• Sides: 1.25 cm (0.5 in.)

• Front: 7.5 cm (3.0 in.) for cable clearance.

Intro

ATTENTION: If the cabinet is ve ntilated, us e filtered or

!

conditioned air to prevent the accumulation of dust and dirt
on electronic components. The air should be free of oil,
corrosives, or electrically conductive contaminates.

3. Position the drive in a vertical position on a flat, solid surface that

meets the mounting hardware should meet the following weight,
vibration and shock, altitude and humidity, airflow clearance, and
temperat ure require ments. Unit weights are:

• 1398-DDM-010 and 1398-DDM-010X: 5.80 Kg (13.78 lbs)

• 1398-DDM-020 and 1398-DDM-020X: 6.36 Kg (14.02 lbs)

• 1398-DDM-030 and 1398-DDM-030X: 6.48 Kg (14.28 lbs)

• 1398-DDM-075 and 1398-DDM-075X: 9.67 Kg (21.32 lbs)

• 1398-DDM-150 and 1398-DDM-150X: 14.06 Kg (31.00 lbs)

Publication 1398-5.0 – October 1998

5-2 Installation

Vibration and shock, altitude and humidity limits are:

• Vibration: 2g at 10 to 2000 Hz

• Shock: 15g 11 msec half sine

• Altitude: 1500 meters (5000 feet),
Derate power performance 3% for each 300 m above 1500 m
(1000 ft above 5000 ft).

• Humidity: 5% to 95% non-condensing

Ambient operating temperature range and airflow clearances are:

•0 ° to 55° Celsius (32° to 131° Fahrenheit).

• 50.8 mm (2 inches) above and below unit for airflow.

4. Bolt the unit to the cabinet using the mounting slots in the drive.

Mounting dimensions a re shown in Figure 5.1. The recommended
size of mounting hardware is:

• M5 Metric (1/4-20 equivalent), or

• #10 MS bolts.

Publication 1398-5.0 – October 1998

Intro

A3

B1

Installation 5-3

Figure 5.1 1398-DDM Mounting Dimensions (sheet 1 of 2)

B

C

B3

B2

A2

A1

A4

A5

1398-DDM-010 / 010X
1398-DDM-020 / 020X 1398-DDM-075,
1398-DDM-030 / 030X 1398-DDM-075X

KEY

mm (in)

A 360.6 (14.2) 360.6 (14.2)
A1 332.7 (13.1) 332.7 (13.1)

A6

C1

A

A8

A7

A2 349.3 (13.75) 349.3 (13.75)
A3 6.4 (0.25) 6.9 (0.27)
A4 27.9 (1.1) 27.9 (1.1)
A5 35.6 (1.4) 35.6 (1.4)
A6 101.6 (4.0) 101.6 (4.0)
A7 124.5 (4.9) 124.5 (5.3)
A8 8.9 (0.35) 8.9 (0.35)

B 104.1 (4.10) 151.7 (5.97)
B1 26.7 (1.05) 50.5 (1.99)
B2 25.4 (1.00) 25.4 (1.00)
B3 25.4 (1.00) 25.4 (1.00)

C 226.8 (8.93) 224.5 (8.84)
C1 17.0 (0.67) 17.0 (0.67)

Publication 1398-5.0 – October 1998

5-4 Installation

Intro

B1

A3

B4

Figure 5.1 1398-DDM Mounting Dimensions (sheet 2 of 2)

B

B5

C1

C

A2

B6

B7

A1

A4

1398-DDM-150 and

1398-DDM-150X

A5

A 360.7 (14.20)
A1 331.5 (13.05)

A6

A

A7

A8

A2 349.0 (13.74)
A3 6.86 (0.27)
A4 33.02 (1.30
A5 36.32 (1.43)
A6 26.92 (1.06)
A7 196.09 (7.72)
A8 12.95 (0.51)

B 203.20 (8.00)
B1 31.70 (1.25)
B4 69.80 (2.75)
B5 139.7 (5.50)
B6 31.70 (1.25)
B7 139.70 (5.50)

C 224.50 (8.84)

mm (in)

Publication 1398-5.0 – October 1998

Installation 5-5

Interface Connections Input/output and power cables connect to the front panel of a

ULTRA 200 Series drive, no internal connections are necessary.

Intro

ATTENTION: The user is responsible for conforming

!

I/O Connections are fully described in the following sections:

● “J1 – Controller” on page 6-1 defines the controller connections

● “J2 – Encoder” on page 6-27 defines the motor encoder

connections

● “J3 – Auxiliary Port” on page 6-31 defines the auxil iary controlle r

connections

● “J4 and J5 – Serial Port” on page 6-34 defines the RS-232/RS-485

serial port connections

with all applicable loc al, nationa l and int ernationa l codes.
Wiring pr ac ti ces, grounding, disconnects and overcurrent
protection are of particu lar impor tance. Fa ilure t o observe
this precaution could result in sev ere bodi ly injur y or l oss
of life.

Power Connections are fully described in the following sections:

● “TB1 – DC Bus and AC Power” on page 7-1 defines the power

connections.

● “TB2 – Shunt Regulator” on page 7-11 defines the internal and

external shunt connections.

Figure 6.44 on page 6-45 shows these inputs an d outp uts on a general
level. Specific operational set ups are depicted in Figure 8.1 through
Figure 8.12 (pages 8-2 through 8-45, respectively). These figures
cover position, velocity and torque mode controls for:

● Analog Controllers,

● Preset Controllers,

● Position Followers, or

● Indexing controllers (available only on 1398-DDM-010X,

1398-DDM-020X, 1398-DDM-030X, 1398-DDM-075X and
1398-DDM-150X).

Publication 1398-5.0 – October 1998

5-6 Installation

Wiring

Wiring sizes and practices, as well as grounding and shielding
techniques are described in the sections listed below. Refer to the

“Power Wiring Diagrams” on page 5-11 for graphic depictions and
recommended wire gaging.

The descriptions represen t common wiring practices and should prove
satisfactory in the majority of applications.

Note: Cables, listed in Appendix A, “Options and Accessories”, are
not rated for continuous flexing.

Minimum wire gages for power cables are listed in:

● “Motor Power Contact and Wire Sizing Recommendations” on

page 7-5

● “AC Input Power Sizing Requirements” on page 7-9

● “Auxiliary Power Sizing Requirements” on page 7-10

Electromagnetic Compatibility

General Guidelines

Appendix E, “Electromagnetic Compatib ility Guidelines for M ac hine
Design” contains guidelines for reducing electrical noise and
increasing electromagnetic compatibility (EMC) plus a discussion of
electromagnetic interference (EMI).

European Union EMC Directives

The ULTRA 200 Series drives are designed and tested to meet the
European EMC Directive. Declarations of conformity, which
enumerate the standards used, are available upon request. Two
installation requirements are necessary to meet the directives:

1. Use of an external AC line filter on the main AC input, and

2. Use of Allen-Bradley cables.

Qualified AC Line Filters

Listed below are AC line filters that have been qualified for use with
UL TRA 200 Series drives. Filters equivalent to those listed are widely
available, and Allen-Bradley does not recommend one manufacturer
over another. The machine builder is responsible for the suitability of
the filter selection when using different filters. These filters can be
used for distributing power to multiple drives, rather than using an
individual filter for each drive. Further information is available from
the manufacturer.

Publication 1398-5.0 – October 1998

Installation 5-7

Table 5.1: Qualified AC Line Filters

Drive Manufacturer and Part Number

1398-DDM-010 and
1398-DDM-010X

1398-DDM-020 and
1398-DDM-020X

1398-DDM-030 and
1398-DDM-030X

1398-DDM-075 and
1398-DDM-075X

1398-DDM-150 and
1398-DDM-150X

Schaffner

(1-800-367-5566)

(011 44 1724 281770 from the USA)

FN 350-12 MIF 10 or MDF 16

FN 350-20 MIF 23 or MDF 18

FN 350-30 MIF 32 or MDF 36

FN 351-36 MIF 330 or MDF 336

MDF 350

Roxburgh

(01724-281770)

Allen-Bradley AC Line Filters

An AC line filter is not required on the auxilia ry li ne input, when it is

used. Refer to “Options and Accessories” on page A-2 for part
numbers.

Note: The ordering of an Allen-Bradley part number will result in a
Roxburgh line filter being received.

Intro

ATTENTION: Large leakage currents exist in AC line
filters. They must be grounded properly before applying

!

power. Filter capacitors retain high voltages after power
removal. Before handli ng t he equipment, voltages s houl d
be measured to determine safe levels prior to handling the
equipment. Failure to o bserve th is pr ecauti on coul d res ult
in severe bodily injury.

Mounting dimensions for single and three phase AC line filters
available from Allen-Bradley are illustrated in Figure 5.2 and
Figure 5.3, with corresponding numbers in Table 5.2 and Table 5.3.

Wiring diagrams for A llen-Bradle y AC line filters follow in
Figure 5.4.

Publication 1398-5.0 – October 1998

5-8 Installation

Intro

B1

Figure 5.2 MDF AC Line Filter Mounting Diagrams

D2

D3

D1

Intro

B1

A3

C3

A2

A1

C1

A

C2

B2

B3

B

MDF Single-phase

D2

D1

D3

Publication 1398-5.0 – October 1998

A2

A1

A

MDF Three-phase

C2

C1

B2

B3 B4

B5

C3

B

Table 5.2: MDF AC Line Filter Dimensions

Installation 5-9

DIMENSION SINGLE PHASE

36 A and 50 A

mm in mm in mm in mm in

THREE PHASE

36 A

THREE PHASE

50 A

THREE PHASE

70 A

A 174 6.85 230 9.06 230 9.06 238 9.37
A1 104 (2) 4.09 (2) 110 (3) 4.33 (3) 110 (3) 4.33 (3) 150 (3) 5.91 (3)
A2 80 (2) 3.15 (2) 120 (3) 4.72 (3) 120 (3) 4.72 (3) 120 (2) 4.72 (2)
A3 20 0.79 ––––––

B 120 4.74 147 5.79 147 5.79 186 7.32
B1 101 (2) 3.98 (2) 128 (2) 5.04 (2) 128 (2) 5.04 (2) 167 (2) 6.57 (2)
B2 86 3.39 113 4.45 113 4.45 152 5.98
B3 60 (2) 2.36 (2) 25 0.98 25 0.98 40 1.57
B4 – – 25 (2) 0.98 (2) 25 (2) 0.98 (2) 40 (2) 1.57 (2)
B5 – – 25 (2) 0.98 (2) 25 (2) 0.98 (2) 40 (2) 1.57 (2)

C 773.03773.03773.031144.49
C1 55 2.17 55 2.17 55 2.17 85 3.35
C2 20 0.79 14 0.55 14 0.55 14 0.55
C3 22 (4) 0.87 (4) 22 (6) 0.87 (6) 22 (6) 0.87 (6) 29 (6) 1.14 (6)

D1 12 0.47 12 0.47 12 0.47 12 0.47
D2 6 0.24 6 0.24 6 0.24 6 0.24
D3 12 0.47 12 0.47 12 0.47 12 0.47

Connectors M6 (5) M6 (7) M6 (7) M8 (6) and

M6 (earth)

NOTE:

Line filters are manufactured to millimeter dimensions
(inches are approximate conversions).

Publication 1398-5.0 – October 1998

5-10 Installation

Intro

Figure 5.3 MIF Single Phase AC Line Filter Mounting Diagram

B1

D1

A2 A1

A2

C1

Table 5.3: MIF AC Line Filter Dimensions

DIMENSION SINGLE PHASE

A 214 8.43 214 8.43
A1 192 (2) 7.56 (2) 192 (2) 7.56 (2)
A2 11 (2) 0.43 (2) 11 (2) 0.43 (2)

A1

B2

B

C

A

D2

SINGLE PHASE

10 A

mm in mm in

23 A

Publication 1398-5.0 – October 1998

B 145 5.71 204 8.03
B1 20 (2) 0.79 (2) 20 (2) 0.79 (2)
B2 104 (2) 4.09 (2) 164 (2) 6.46 (2)

C 40 1.57 47 1.85

C1 16 (2) 0.63 (2) 19 (4) 0.75 (4)

D1 5 (4) 0.20 (4) 5 (4) 0.20 (4)
D2 7 (4) 0.28 (4) 7 (4) 0.28 (4)

Connectors M4 M4

NOTE:

Line filters are manufactured to millimeter dimensions
(inches are approximate conversions).

Intro

BY

ECO

REV

9

3

A

21732

DIGITAL DRIVE MODULE INPUT CURRENT RE QUIREMENTS

NOTE: POWER INITIALIZATION REQUIRES A SHORT PERIOD OF INRUSH CURRENT

FUSE

BLOCK

AC LINE

UNLESS OTHERWISE SPECIFIED

4

173

9

1398-DDM-010
or
1398-DDM­010X,

1398-DDM-020
or
1398-DDM­020X,

1398-DDM-030
or
1398-DDM­030X

5Installation

MOTOR POWER WIRES R,S,T,GND

MOTOR POWER

MATI NG CONNECTOR

MOTOR

CONTACT SIZE

(GAUGE/mm )

LD-2003
H/S-2005
H/S-3007
LD-3009

16 AWG/1.5mm
H/S-3016
LD-4012
LD-4030
H/S-4030

F-4030

H/S-4050

12 AWG/3.0mm

F-4050

H/S-4075

F-4075

MINIMUM

RECOMMENDED

POWER WIRE
(GAUGE/mm²)

(75°C COPPER MIN)

16 AWG/1.5mm

14 AWG/2.5mm

NOTE:

Allen-Bradley supports
motors of series F, H, N, Y

FUSED DI S CONNECT

2

OR CIRCUIT BREAKER

SINGLE

PHASE
AC LINE
50/60 Hz

ISOLATION OR AUTO TRANSFORMER
(OPTIONAL, NOT REQUIRED WHEN
DESIRED INPUT VOLTAGE IS
AVAILABLE DIRECTLY FROM THE
LINE)

Figure 5.4 Power Wiring Diagrams (sheet 1 of 3)

MOTOR POWER

PIN SIGNAL

A
B
C
D

10

TRANSFORMER
CHASSIS

CONNECTOR

MOTOR CASE

5

R
S
T

TERM

BLOCK

L1

L2/N

INPUT POWER WIRES

DRIVE

TERMINAL(S)

L1 AUX,

ALL

L1,L2/N,

L1,L2/N,

L1,L2/N,

TERMINAL STR IP

(GAUGE/mm )

22-10 AWG/ 0.5- 6m m

TO 11 LB-IN.

FUSE

BLOCK

L2/N AUX

2

2

DDM-010

DDM-020

DDM-030

ACCEPTABLE WIRE RANGE

TORQUE ALL TERMINALS

RECOMMENDED

POWER WIRE
(GAUGE/mm )

(75°C COPPER MIN.)

16 AWG/1.5mm

14 AWG/2.5mm

12 AWG/3.0mm

10 AWG/6mm

9

7

XCON

AC LINE
FILTER

COMMON GROUNDING
POINT FOR AMPLIFIER

SYSTEM (ONE PER AXIS)

AC AUXILIARY POWER

2

INPUT (OPTIONAL)

2

2

2

DIGITAL DRIVE

MODULE

TB2

DC BUS

R
S
T

DC+
DC­L1
L2/N

L1 AUX
L2/N AUX

TB1

DRIVE TERMINALS

L1 AUX, L2/N AUX

DDM-010

L1,L2/N,

DDM-020
DDM-030

10

LD-SERIES
H/S-SERIES

F-SERIES
W-SERIES

MOTORS

11

OF 50A FOR THE MAIN INPUT AND 95A FOR THE AUXILIARY INPUT.

DUAL ELEMENT TIME DELAY (SLOW BLOW) FUSES ARE RECOMMENDED.
FUSE SIZES MUST BE SELECTED ACCORDING TO LOCAL REGULATIONS.

CURRENT REQUIREMENT, MAXIMUM (AMPS AC RMS)

1.0 Amps AC at 115 Volts AC

0.5 Amps AC at 230 Volts AC

10.0 Amps AC at 100-240 Volts AC

19.0 Amps AC at 100-240 Volts AC

28.0 Amps AC at 100-240 Volts AC

DIGITAL DRIVE

MODULE

TB2

DC BUS

R
S
T

XCON

FILTER

DC+
DC­L1
L2/N

L1 AUX
L2/N AUX

TB1

COMMON GROUNDING
POINT FOR AMPLIFIER

SYSTEM (ONE PER AXIS)

9

9

MOTOR POWER

CONNECTOR MATING

MOTOR POWER
CONNECTOR

LD-SERIES
H/S-SERI ES

F-SERIES
W-SERIE S
MOTORS

NOTES

MAY BE USED TO KEEP LOGIC SECTION OF DRIVE MODULE SUPPLIES POWERED AFTER MAIN MOTOR SUPPLY IS TURNED OFF AT L1, L2/N TERMINALS (EXAMPLE:

1

TO RETAIN DIAGNOSTIC STATUS OF DRIVE MODULE AFTER L1, L2/N POWER DOWN) . SEPERATE SUPP LY PHASES MAY BE USED WHEN VOLT AG E BETWEEN ANY
TWO TERMINALS DOES NOT EXCEED 265 VAC RMS.

2

Publication 1398-5.0 – October 1998

A SUPPLY DISCONNECTING DEVICE IS REQUIRED FOR MAINTAINANCE & SAFETY. LOCAL REGULATIONS SHOULD BE OBSERVED. IF A GROUNDED NEUTRAL IS USED
INSTEAD OF L2 OR L2/AUX, ONLY L1 MAY BE SWITCHED OR FUSED.

3

JUMPER INSTALLED AT FACTORY FOR INTERNAL SHUNT. SEE DRAWING 9101-1328 FOR TERMINAL WIRING OF EXTERNAL SHUNT OPTION TERMINALS.

4

CURRENT RATINGS ARE INDEPENDENT OF THE INPUT VOLTAGE. REDUCED VOLTAGE WILL RESULT IN A REDUCTION IN SPEED, BUT NOT TORQUE.

5

DRIVE RATED 100-240 VAC R MS, SINGLE PHASE INPUT VO LTA G E (230 VAC STANDARD).

DO NOT DAISY CHAIN DRIVE MODULE POWER CONNECTIONS. MAKE SEPARATE CONNECTIONS DIRECTLY TO THE AC SUPPLY.

6.

7

DRIVE ENABLE INPUT MUST BE OPENED WHEN MAIN POWER IS REMOVED AND AUXILIARY POWER IS PRESENT, OR A DRIVE FAULT WILL OCCUR.

8. MULTIPLE DRIVE MODULES MAY BE POWERED FROM ONE TRANSFORMER OR OTHER AC SUPPLY SOURCE.

9

AC LINE FILTER AND SHIELDED MOTOR CABLE ARE TO BE USED FOR IMPROVING THE DRIVE MODULES ELECTROMAGNETIC COMPATABILITY, AND ARE REQUIRED
TO MEET THE EUROPEAN ELECTROMAGNETIC COMPATABILITY DIRECTIVE. CAUTION: AC LINE FILTERS HAVE LARGE LEAKAGE CURRENTS AND REQUIRE DISCHARGE
TIME UPON POWER R EMOVAL. THE AUX INPUT HAS AN INTERNAL FI LTER. WIRING BETWEEN THE DRIVE M O DU LE AND FILTER SHOULD BE KEPT AS SHORT AS
POSSIBLE. THE COMMON GROUND BUS BAR SHOULD BE AS CLOSE TO THE DRIVE AS POSSIBLE.

10

WIRE SIZES ARE MINIMUM RECOMMENDED VALUES. THE REQUIREMENTS OF LOCAL REGULATIONS SHOULD BE OBSERVED.

11

TERMINATE THE MOTOR POWER CABLE SHIELD BY CLAMPING IT TO THE DRI VE WITH THE BRACKET PROVIDED. THIS BRACKET CAN BE USED FOR ST RAIN RELIEF IF
NON-SHIELDED CABLES ARE USED. SNUG BRACKET SCREWS, DO NOT OVERTIGHTEN. NEVER TORQUE OVERR 10 LB-IN.

TO PROTECTI VE

EARTH TERMINAL

MACHINE COMMON
GROUNDING BUS BAR

22455 BK

C
B

21782 GW

CHANGE NOTE 11

JM

REVISION DESCRIPTION

DO NOT SCALE DRAWING
DIMENSIONS ARE IN INCHES
BREAK ALL EDGES .02 MAX
FILLETS AND ROUNDS .02 R MAX
TOLERA NCE ON:

ANGLES ±1ANGLES °
FRACTIONS: ±1/64"
DECIMALS .XX ±.01

.XXX ±.005

DESIGN POST

CHANGE NOTE 1

RELEASED

DRAWN BY DATE DESIGN ENGR DATE

1-9-96

JM

DIAG., POWER WIRING CONNECTIONS,

DDM-010, -020, -030

2-21-96
1-22-96

PART N O.

9101-1431

1:1

_

DATE

MC

DWG SIZESCALE SHEET

C

11

Installation 5-11

_

RB
BB

CHKR

1-22-96

of

Publication 1398-5.0 – October 1998

Intro

1398-DDM-075
or
1398-DDM­075X

NOTE:

Figure 5.4 Power Wiring Diagrams (sheet 2 of 3)

5-12 Installation

Intro

BY

ECO

REV

POINT FOR AMPLIFIER

SYSTEM (ONE PER AXIS)

931

477A22597

DIGITAL DRIVE

1398-DDM-150
or
1398-DDM­150X

MOTOR POWER WIRES R,S,T,GND

MOTOR POWER

MATING CONNECTOR

MOTOR

CONTACT SIZE

(GAUGE/mm )

H/S-6100

F-6100

8 AWG/10.0mm 10 AWG/6.0mm

H/S-6200

F-6200

H/S-6300

8 AWG/10.0mm

F-6300

H/S-8350

4 AWG/25.0mm28 AWG/10.0mm

H/S-8500

4 AWG/25.0mm26 AWG/16.0mm

2

2

MINIMUM

RECOMMENDED

POWER WIRE
(GAUGE/mm )

(75°C COPPER MIN)

8 AWG/10.0mm

2

NOTE:

Allen-Bradley supports
motors of series F, H, N, Y

2

FUSED DIS CONNECT
OR CIRCUIT BREAKER

THREE PHASE

AC LINE

50/60Hz

ISOLATION OR AUTO TRANSFORMER
(OPTIONAL, NOT REQUIRED WHEN
DESIRED INPUT VOLTAGE IS
AVA ILABLE DIRECTLY FROM THE
LINE)

Figure 5.4 Power Wiring Diagrams (sheet 3 of 3)

INPUT POWER WIRES

DRIVE

ALL

DDM-150

TERMINAL STRIP

(GAUGE/mm )

2

22-10 AWG/0.5-6mm

TO 11 LB-IN.

12-6 AWG/8.0-14mm

TO 12 LB-IN.

FUSE

BLOCK

5

2

2

XCON

AC LINE

FILTER

1

TERMINAL(S)

L1,L2,L3

9

COMMON GROUNDING
POINT FOR AMPLIFIER

SYSTEM (ONE PER AXIS)

L1 AUX,

L2/N AUX

(75°C COPPER MIN)

DIGITAL DRIVE

MODULE

TB2

DC BUS

R
S
T

DC+
DC­L1
L2
L3

L1 AUX
L2/N AUX

TB1

RECOMMENDED

POWER WIRE

(GAUGE/mm )

16 AWG/1.5mm

8 AWG/10.0mm

11

22

2

2

2

10

TRANSFORMER
CHASSIS

MOTOR POWER CO NNECTOR

SIGNAL

PIN

A

R

B

S

C

T

MOTOR CASE

D

ACCEPTABLE WIRE RANGE

TORQUE ALL TERMINALS

TORQUE ALL TERMINALS

TERM

BLOCK

5

L1

L2

L3

2

AC AUXILIARY POWER

2

INPUT (OPTIONAL)

2

3

H/S-SERIES

F-SERIES
W-SERIES

MOTORS

DIGITAL DRIVE MODULE INPUT CURRENT REQUIREMENTS

DRIVE TERMINALS

L1, L2, L3 46.0 Amps (RMS) at 100-240 Volts AC Three Phase

DDM-150

NOTE: POWER INITIALIZATION REQUIRES A SHORT PERIOD OF INRUSH CURREN T

OF 70A (PEAK) FOR THE MAIN INPUT AND 105A (PEAK) FOR THE
AUXILIARY INP U T. DUAL ELEMENT TIME DELAY (SLOW BLOW) FUSES
ARE RECOMMENDED. FUSE SIZES MUST BE SELECTED ACCORDING TO
LOCAL REGULATIONS.

CURRENT REQUIREMENT, MAXIMUM (AMPS AC RMS)

10

MODULE

9

FUSE

BLOCK

XCON

AC LINE

FILTER

TB2

DC BUS

R
S
T

DC+
DC­L1
L2
L3

L1 AUX
L2/N AUX

TB1

9

MOTOR POWER
CONNECTOR MATING

MOTOR POWER
CONNECTOR

H/S-SERIES

F-SERIES
W-SERIES

MOTORS

11

COMMON GROUNDING

Publication 1398-5.0 – October 1998

MACHINE COMMON

TO PROTECTIVE

NOTES:

1

MAY BE USED TO KEEP LOGIC SECTION OF DRIVE MODULE SUPPLIES POWERED AFTER MAIN MOTOR SUPPLY IS TURNED OFF AT L1, L2, L3 TERMINALS (EXAMPL E: T O RETAIN
DIAGNOSTIC STATUS OF DRIVE MODULE AFTER L1, L2, L3 POWER DOWN).

A SUPPLY DISCONNECTING DEVICE IS REQUIRED FOR MAINTENANCE & SAFETY. LOCAL REGULATIONS SHOULD BE OBSERVED. IF A GROUNDED NEUTRAL IS USED INSTEAD OF

2

L2/N AUX, ONLY L1 AUX MAY BE SWITCHE D OR FUSED.
JUMPER INSTALLED AT FACTORY FOR INTERNAL SHUNT. SEE DRAWING 9101-1328 FOR TERMINAL WIRING OF EXTERNAL SHUNT OPTION TERMINALS.

3

CURRENT RATINGS ARE INDEPENDENT OF THE INPUT VOLTAGE. REDUCED VOLTAGE WILL RESULT IN A REDUCTION IN SPEED, BUT NOT TORQUE. DRIVE RATED 65/150 AMPS (PEAK)

4

FOR THREE PHAS E INPU T.

5

DRIVE RATED 100-240 VAC RMS (230 VAC STANDARD).

DO NOT DAISY CHAIN DRIVE MODULE POWER CONNECTIONS. MAKE SEPARATE CONNECTIONS DIRECTLY TO THE AC SUPPLY.

6.

7 DRIVE ENABLE INPUT MUST BE OPENED WHEN MAIN POWER IS REMOVED AND AUXILIARY POWER IS PRESENT, OR A DRIVE FAULT WILL OCCUR.

MULTIPLE DRIVE MODULES MAY BE POWERED FROM ONE TRANSFORMER OR OTHER AC SUPPLY SOURCE. 8.

AC LINE FILTER AND SHIELDED MOTOR CABLE ARE TO BE USED FOR IMPROVING THE DRIVE MODULES ELECTROMAGNETIC COMPATABILITY, AND ARE REQUIRED TO MEET THE

9

EUROPEAN ELECTROMAGNETIC COMPATABILITY DIRECTIVE. CAUTION: AC LINE FILTERS HAVE LARGE LEAKAGE CURRENTS AND MAY REQUIRE DISCHARGE TIME UPON POWER REMOVAL.
THE AUX INPUT HAS AN INTERNAL FILTER. WIRIN G BETWEEN THE DRIVE MODULE AND FILTER SH O ULD BE KEPT AS SHORT AS POS SIBLE. THE COMMON GROUND BUS BAR SHOULD

BE AS CLOSE TO T H E DRI VE AS POSSIBLE.

10

WIRE SIZES ARE MIN IMUM RECOMMENDED VALUES. THE REQUIREMENTS OF LO CAL REGULATIONS SHOULD BE OBSERVED .

TERMINATE THE MOTOR POWER CABLE SHIELD BY CLAMPING IT TO THE DRIVE WITH THE BRACKET PROVIDED. THIS BRACKET CAN BE USED FOR STRAIN RELIEF IF

11

NON-SHIELDED CABLES ARE USED. SNUG BRACKET SCREWS, DO NOT OVERTIGHTEN.
NEVER TORQUE OVER 10 LB-IN.

EARTH TERMINAL

GROUNDING BUS BAR

JM

REVISION DESCRIPTION

UNLESS OTHERWISE SPECIFIED

DO NOT SCALE DRAWING
DIMENSIONS ARE IN INCHES
BREAK ALL EDGES .02 MAX
FILLETS AND ROUNDS .02 R MAX
TOLERANCE ON:

ANGLES ±1ANGLES °
FRACTIONS: ±1/64"
DECIMALS .XX ±.01

.XXX ±.005

DESIGN POST

RELEASED

DRAWN BY DATE DESIGN ENGR DATE

11-11-97

JM

DIAG, POWER WIRING,

DDM-150

PART NO.

9101-1634

N/A

_

DATE

DWG SIZESCALE SHEET

C

11

CHKR

__

of

Installation 5-13

_

5-14 Installation

Publication 1398-5.0 – October 1998

Chapter 6

Interfaces Chapter 6

This chapter provides information about:

● Interface signals available on the ULTRA 200 Series drive

● Commonly encountered interface cabling methods

● Optional signal extension kits and standard Allen-Bradley cables.

J1 – Controller J1 is a 50 pin female mini-D connector (AMP 2-178238-7) for

connecting a host computer or controller to the ULTRA 200 Series

drive. Contact bet ween the connect or’s shell and t he grounded chass is
provides s hield termination. This section lists the connector pin-outs
and provides signal specifications.

Allen-Bradley cables are available in various lengths for connecting
between J1 and a suitable controller. Appendix A, “Options and
Accessories” lists the cables. “J1 Terminal Strip/Breakout Board” on
page 6-26 details the optional signal extension kit that is available.

Publication 1398-5.0 – October 1998

6-2 Interfaces

Pin Signal Description Pin Signal Description Pin Signal Description

1 +5VDC Encoder +5V DC21 RESET Fault Reset 41 Reserved

2 ECOM Encoder

Common

3 +5VDC Encoder

+5V DC

4 ECOM Encoder

22 COMMAND+ Analog

Command+

23 COMMAND- Analog

Command-

24 READY+ Drive Ready+ 44 OUTPUT3 Selectable

Common

5 +24VDC Isolated

25 READY- Drive Ready- 45 OUTPUT4 Selectable

+24 VDC

6 24VCOM Isolated 24V

Common

7 AOUT+ Motor Encoder

Output

26 +24VDC Isolated

+24 VDC

27 +I LIMIT Positiv e

Current Limit

Channel A+

8 AOUT- Motor Encoder

Output

28 ACOM Analog

Common

Channel A-

9 BOUT+ Motor Encoder

Output

29 -I LIMIT Negative

Current Limit

Channel B+

10 BOUT- Motor Encoder

Output

30 ANALOG1 Analog

Output 1

Channel B-

11 IOUT+ Motor Encoder

Output

31 ANALOG2 Analog

Output 2

Channel I+

12 IOUT- Motor Encoder

Output

32 INPUT1 Selectable

Input 1

Channel I-

13 24VCOM Isolated 24V

Common

14 AX+ Auxiliary

Encoder

33 INPUT2 Selectable

Input 2

34 INPUT3 Selectable

Input 3

Channel A+

15 AX- Auxiliary

Encoder

35 INPUT4 Selectable

Input 4

Channel A-

16 BX+ Auxiliary

36 Reserved
Encoder
Channel B+

17 BX- Auxiliary

37 Reserved
Encoder
Channel B-

18 IX+ Auxiliary

38 Reserved
Encoder
Channel I+

19 IX- Auxiliary

39 Reserved
Encoder
Channel I-

20 ENABLE Drive Enable 40 Reserved

42 OUTPUT1 Selectable

Output 1

43 OUTPUT2 Selectable

Output 2

Output 3

Output 4

46 Reserved

47 Reserved

48 Reserved

49 BRAKE+ Brake

Enable+

50 BRAKE- Brake

Enable-

pin 50

pin 26

pin 25

pin 1

Publication 1398-5.0 – October 1998

Interfaces 6-3

Digital I/O Power

ULTRA 200 Series drives provide +24VDC and +5VDC to power
external devices within the following specifications.

24 Volt I/O Power

One isolated 24 Volt power supply is accessible from the connector:

● The allowable load is <500 mA.

● The pin-outs are:

+24VDC J1-5 J1-26 J3-5 J3-26
24VCOM J1-6 J1-13 J3-6 J3-13

This supply is intended for powering the digital I/O circuitry.

The 24 VCOM is a floating ground. It must be grounded during
installation to meet the European Low Voltage Directive (LVD).

The +24 Volt power supply is internally fused by F1, a 1 Amp, fast

acting fuse. Refer to “Fuse and Jumper Locations” on page 11-4, for
the location of F1.

Note: If an external +24VDC power so urce will power the I/O, remove

jumpers P5 and P6. Refer to “Fuse and Jumper Locations” on page 11-4,
for the location of the jumpers.

Table 6.1: 24 Volt Power Supply Specifications

Parameter Description Minimum Maximum

Output Voltage

(VDC)

Output Current

(mA)

Voltage difference between +24 VD C and
24VCOM 21.6 26.4

Current flow

0500

5 Volt I/O Power

One +5 Volt power supply is accessible from the connector:

● The allowable load is <250 mA.

● The pin-outs are:

+5 VDC J1-1 J1-3 J3-1 J3-3
ECOM J1-2 J1-4 J3-2 J3-4

This supply is intended for powering an auxiliary encoder.

The +5 Volt power supply is internally fused by F2, a 1 Amp, fast
acting fuse. Refer to “Fuse and Jumper Locations” on page 11-4, for
the location of F2.

Publication 1398-5.0 – October 1998

6-4 Interfaces

Parameter Description Minimum Maximum

Output Voltage

(VDC)

Output Current

(mA)

Intro

Table 6.2: 5 Volt Power Supply Specifications

Voltage between +5VD C and +5VCOM

4.75

5.25

Current flow

0250

Digital Inputs

ULTRA 200 Series drives have active high, current sinking inputs,
which prevent disconnects and ground faults from act ivating a drive.

Figure 6.1 Digital Input Circuit

DriveJ1

5K

1K

24VCOM

Two discrete input circuits types are available on the J1 connector.
Both circuits support logic type interfaces with 24 Volt, optically
isolated, single ended and active high, current sinking characteristics.

Dedicated Control Circuits

The ENABLE input interfaces with switch closures or sourcing type
outputs. The input channel sinks 4.5 mA nominal.

Selectable Circuits

INPUT 1, INPUT 2, INPUT 3, INPUT 4 and FAULT RESET operate
with switch closures or sourcing type circuitry. Each input channel
sinks 4.5 mA nominal. Selectable inputs are:

● Drive Mode S elect

● Integrator Inhibit

● Follower Enable

● Forward Enable

● Reverse Enable

● Preset Select A

● Preset Select B

● Preset Select C

● Operation Mode Override

● Start Index

● Define Home

● Start Homing

● Remove COMMAND Offset

Publication 1398-5.0 – October 1998

Interfaces 6-5

Refer to the I/O Configuration section of the ULTRA Master manual
for information on choosing the input type for each channel.

Table 6.3: General and Dedicated Inputs

Digital Input Pin

Number

ENABLE J1-20 Enables and disables the drive. Motor torque cannot be

Function/Description Internal

Connections

J3-20

applied unless the ENABLE input is active.

FAULT
RESET

J1-21 General purpose input selectable to one of several drive

functions. Refer to Table 6.4 for I/O configuration.

J3-21

INPUT 1 J1-32
INPUT 2 J1-33
INPUT 3 J1-34
INPUT 4 J1-35

Table 6.4: INPUT1, INPUT2, INPUT3, INPUT4

and FAULT RESET Functions

Function Description

Drive Mode Select Active

Integrator Inhibit Active
Follower E nable Active1 state allows the position loop to track the AUXILIARY POSITION

Forward Enable Ac tive

Reverse Enable Active

Operation Mode
Override

1

state configures the drive for Torque Mode.

Inactive2 state selects the personality EEPROM setting as the command
source.

1

state zeros the Ve locity Loop Error Integrator.

LOOP signal when in the Follower mode.

1

state allows forward commands in velocity mode only. If this input is

inactive or not connected, no velocity command will be allowed in the forward
direction. If motion is in progress when the input is pulled low or disconnected,
the drive halts immediat ely without deceleration control. The COMMAND sig­nal is clamped internally to 0 Volts.

1

state allows reverse commands in velocity mode only. If this input is

inactive or not connected, no velocity command will be allowed in the reverse
direction. If motion is in progress when the input is pulled low or disconnected,
the drive halts immediat ely without deceleration control. The COMMAND sig­nal is clamped internally to 0 Volts.

1

state selects the Operation Mode Override setting as the command

Active
source.

2

Inactive
Table 6.4 on page 6-5 lists the valid Operation Mode and Operation Mode

Override combinations.

state selects the Operation Mode setting as the command source.

Publication 1398-5.0 – October 1998

6-6 Interfaces

Table 6.4: INPUT1, INPUT2, INPUT3, INPUT4

and FAULT RESET Functions (continued)

Function Description

Preset Select A
Preset Select B
Preset Select C

a

or Inactiveb states select one of the eight presets shown in the follow-

Active
ing binary table:

BINARY CODE

C B A Description

Preset 0 0 0 0 Preset 0 or Index 0 is selected.
Preset 1 0 0 1 Preset 1 or Index 1 is selected.
Preset 2 0 1 0 Preset 2 or Index 2 is selected.
Preset 3 0 1 1 Preset 3 or Index 3 is selected.
Preset 4 1 0 0 Preset 4 or Index 4 is selected.
Preset 5 1 0 1 Preset 5 or Index 5 is selected.
Preset 6 1 1 0 Preset 6 or Index 6 is selected.

Preset 7 1 1 1 Preset 7 or Index 7 is selected.
Start Index A change from inactive to active starts an indexing move.
Define Home A change from inactive to active defines the home position for absolute index-

ing.
Sensor This selection is available only on selectable INPUT 2, and a change from

inactive to active is sensed as a registration or home sensor.

NOTE: During the homing routine with an indexing drive, an inactive to active

state transition wi ll be regis tered as the h ome sensor, even if selectable Input 2

is not configured as registration sensor. This allows Input 2 to have a dual fea-

ture role.
Remove COMMAND

Offset

A change from inactive to active sets the offset of the analog COMMAND input

to achieve a zero command.
Fault Reset A change from inactive to active will clear any faults and re-enable the drive, if

any faults were pending.
Start Homing A change from inactive to active will start the homing procedure.

a. Active stat e indicates current flow through the input optocoupler.
b. Inact ive sta te indicates no current flow .

Parameter Description Minimum Maximum

ON state Voltage Voltage applied to the input to guarantee an

ON state Current Current flow into the input to guarantee an

OFF state Voltage Voltage applied to the input to guarantee an

OFF state Current External leakage current into the input to

Publication 1398-5.0 – October 1998

The specifications for these inputs are as follows:

Table 6.5: Digital Input Specifications

20 VDC 28 VDC

ON state

3.5 mA 5.5 mA

ON state.

-1 VDC 3 VDC

OFF state.

-0.5 mA 0.5 mA

guarantee an OFF state.

Intro

Intro

Interfaces 6-7

Input Interface Circuit Examples

Figure 6.2 Drive Input Connected to a Switch/Relay Contact

DriveJ1

5

+24VDC26

5K

1K

24COM

Figure 6.3 Drive Input Connected to an Opto-Isolator

DriveJ1

5

+24VDC26

5K

1K

Intro

Intro

24VCOM

Figure 6.4 Drive Input Connected to an Active High Sourcing Transistor

DriveJ1

5

26

+24VDC

5K

1K

24VCOM

Figure 6.5 Drive Input Connected to Active Low Output using

a Switch/Relay

OUTPUT

INPUT

(Drive)

5K

1K

+24VDC

24VCOM

Publication 1398-5.0 – October 1998

6-8 Interfaces

Intro

Intro

Figure 6.6 Drive Input Connected to Active Low Output using

an Opto-Isolator

OUTPUT

24VCOM 24VCOM

INPUT

(Drive)

5K

1K

+24VDC

Figure 6.7 Drive Input C onnected to Sourcing Output

OUTPUT

+24VDC

INPUT

(Drive)

J1-6 or J1-13

5K

1K

24VCOM

24VCOM

Publication 1398-5.0 – October 1998

Interfaces 6-9

Digital Outputs

T wo t ypes of di scret e outpu t ci rcuit s are av ailab le on the J1 conn ector :

● Dedicated relay outputs

● Selectable transistor based outputs

Both types support 24 VDC logic interfaces:

Dedicated Relay Outputs

BRAKE and DRIVE READY. Each output is a normally open relay.
The brake contacts are rated for 1 Amp at 50 Volts. The Drive Ready
contacts are rated for 100 mA at 50 Volts.

If an option, such as 90V b rak e, r equires more power, a user provided
relay may be driven by these outputs up to the specified levels.

Selectable Transistor Outputs

OUTPUT 1, OUTPUT 2, OUTPUT 3, and OUTPUT 4 are 24 VDC,
optically isolated, active high, current sourcing, single ended
transistor output channels. Each channel sources a maximum of 50
mA.

Intro

Ready and Brake Circuits

Figure 6.8 READY and BRAKE Circuits

J1 Drive

+

-

Normally

Open

Relay

The specifications for these outputs are as follows:

Table 6.6: READY Output Specifications

Parameter Description Maximum

ON state resistance Internal resistance between J1-24 (+) and J1-25 (-) when

the contacts are closed.
ON state current Current flow through the relay when contacts are closed. 100 mA
OFF state current Leakage current from either output when the relay contacts

are open.
OFF state Voltage Voltage difference between the outputs with open relay

contacts.

1 Ohm

0.01 mA

50 Volts

Publication 1398-5.0 – October 1998

6-10 Interfaces

Parameter Description Maximum

ON state resistance Internal resistance between J1-49 (+) and J1-50 (-) when

ON state current Current flow through the relay when contacts are closed. 1 A
OFF state current Leakage current from either output when the relay contacts

OFF state Voltage Voltage difference between the outputs with open relay

Intro

Table 6.7: BRAKE Output Specifications

1 Ohm

the contacts are closed.

0.01 mA

are open.

50 Volts

contacts.

Figure 6.9 Digital Output Circuit

J1 Drive

+24VDC

Selectable Output Circuits

Ta ble 6.8: General and Ded icated Outputs

Digital

Output

READY J1-24 (+) J1-

Pin

Number

25 (-)

Function/Description Internal Con-

Relay closure indicates the drive does

not

have a

fault. (Refer to “READY Output Specifications” on

nections

J3-24 (+)
J3-25 (-)

page 6-9)

BRAKE J1-49 (+) J1-

50 (-)

Relay closure releases the brake. Del ay time is
selectable. (Refer to “BRAKE Output Specifications”

on page 6-10)
OUTPUT 1 J1-42 General purpose output. Selectable from one of sev­OUTPUT 2 J1-43

eral drive functions. (Refer to Table 6.9)
OUTPUT 3 J1-44

OUTPUT 4 J1-45

Table 6.9: OUTPUT1, OUTPUT2, OUTPUT3 and OUTPUT4 Functions

Function Description

In Position An active state indicates the position window condition is satisfied, and the

zero speed condition is satisfied. The position window and zero speed range
are selectable settings.

Within Window An active state indicates the position window condition is satisfied. The posi-

tion window range is a selectable setting.

Zero Speed An active state indicates the velocity loop zero speed signal is active. The

zero speed limit is a selectable setting.

Speed Window An active state indicates the ve loc ity lo op s pe ed w i ndo w is a cti ve . The sp eed

window ran ge is a selectable setting.

Publication 1398-5.0 – October 1998

Interfaces 6-11

Table 6.9: OUTPUT1, OUTPUT2, OUTPUT3 and OUTPUT4 Functions (continued)

Function Description

Current Limit An active state indicates the torque current is limited.
Up To Speed An active state indicates the velocity loop AT SPEED signal is active. The at

speed level is a selectable setting.
Drive Enabled An active state indicates the ENABLE signal is active and no fault is detected.
Bus Charged An active state indicates the DC bus is energized.
Disabling Fault An active state indicates a fault disabled the drive.
In Motion An active state indicates the indexing sequence is in the motion portion.
In Dwell An active state indicates the indexing sequence is in the dwell portion.
Sequence Complete An active state indicates all batches of the indexing sequence are finished.
Registered An active state indicates the indexing move has been adjusted after sensing

the registration sensor.
At Home An active state indicates the drive is at the home position.
Axis Homed An active state indicates the drive has been homed.

Table 6.10: Transistor Output Specifications

Parameter Description Minimum Maximum

ON state Voltage Voltage difference between the +24 VDC

0 VDC 1.5 VDC
supply and the output when the transistor is
ON.

ON state current Current flow when the transistor is ON. 0 mA 50 mA
OFF state Voltage Voltage difference between the +24 VDC

0 Volts 50 Volts
supply and the output when the transistor is
OFF.

OFF state current Leakage current from the output when the

-0.1 mA 0.1 mA

transistor is OFF.

Intro

Output Interface Circuit Examples

Figure 6.10 Drive Output Connected to an Opto-Isolator

DriveJ1

+24VDC

1K

Pin 6
Pin 13

24VCOM

Publication 1398-5.0 – October 1998

6-12 Interfaces

Intro

Intro

Figure 6.11 Drive Output Connected to an LED Indicator

DriveJ1

+24VDC

1K

Pin 6
Pin 13

24VCOM

Figure 6.12 Drive Output Connected to a Resistive Load

DriveJ1

+24VDC

1K

Pin 6
Pin 13

24VCOM

Intro

Figure 6.13 Drive Output Connected to a Switch/Relay

DriveJ1

I/O Pwr

Pin 6
Pin 13

I/O COM

Publication 1398-5.0 – October 1998

Intro

Interfaces 6-13

Figure 6.14 Drive Output Connected to Active Low Input using

a Switch/Relay

Intro

(Drive)

INPUTOUTPUT

+24VDC

+24VDC

Solid State

Relay

3.3K

24VCOM 24VCOM

Figure 6.15 Drive Output Connected to Active Low Input using

an Opto-Isolator

(Drive)

+24VDC

INPUTOUTPUT

+24VDC

3.3 K

Intro

1K

24VCOM

24VCOM

Figure 6.16 Drive Output Connected to Active High (Sinking) Input

(Drive)

+24VDC

J1-6 or J1-13

24VCOM

INPUTOUTPUT

1K

24VCOM

Publication 1398-5.0 – October 1998

6-14 Interfaces

Intro

Analog Inputs

Two types of analog input circuits are available on the J1 connector:

● The current limiting inputs support 0 to +10 Volt signals

● The command input supports 0 to ±10 Volt signals.

Positive Current Limit (+I LIMIT) and Negative Current Limit (-I LIMIT)

Figure 6.17 Positive and Negative Current Limit Circuits

DriveJ1

+15 Volts

Analog Input Pin

Positive Current Limit
(+I LIMIT)

Negative Current Limit
(-I LIMIT)

+I LIMIT or

-I LIMIT

10K

20K

20K .01µF

­+

The +I LIMIT and -I LIMIT are current limit inputs to the drive. They
have a range of 0 to +10 Volts (where 10 Volts corresponds to
maximum drive current). +I LIMIT limits current for producing
positive torque, and -I LIMIT limits current for producing negative
torque. The +I LIMIT and -I LIMIT are tied together for balanced
current limiting. The analog +I LIMIT or -I LIMIT signals are
converted into a digital word by a 10-bit ADC (analog to digital
converter). If the +I LIMIT and -I LIMIT inputs are not connected,
current is not limited.

Table 6.11: Analog Inputs +I LIMIT and -I LIMIT

Description

Number

J1-27 Limits the peak positive current command, which produces

positive torque.

J1-29 Limits the peak negative current command, which produces

negative torque.

Specification Description Minimum Maximum

Resolution Number of units that the input voltage is

Maximum Current Short circuit between the input and

Input Signal Range Allowable voltage applied to the input. 0 Volts +10 Volts

Publication 1398-5.0 – October 1998

Table 6.12: Positive and Negative Current Limit Imput Specification

10 Bits

converted to.

-1.5 mA

ground.

Intro

Interfaces 6-15

Command Input

Figure 6.18 Analog COMMAND Input Circuit

20K

COMMAND+

COMMAND-

DriveJ1

20K

10K

10K

.01uF

.01uF

10K

10K

­+

20K

ANALOG
COMMAND

The analog command signal t o the d rive h as a ra nge of ±10 Volts. The
signal is either a torque, velocity or position command, depending on
the software configuration of the drive. The differential input is
processed by a 16 bit analog to digital converter (ADC) to produce a
digital value.

Table 6.13: Analog Command I nput

Analog Input Pin

Number

COMMAND J1-22 (+)

J1-23 (+)

Analog command signal is a differential type sig­nal to drive the servo controller.

Description Internal

Connections

J3-22 (+)
J3-23 (-)

Separate scale and offset parameters are used
for the input, depending on whether the signal is
a position, velocity or torque command.

Table 6.14: Analog Command Input Specifications

Specification Description Minimum Maximum

Resolution

(Bits)

Input Impedance

(kOhms)

Input Signal Range

(Volts)

Number of units that the input voltage is
converted to. 16

Open circuit impedanc e meas ured betw een
(+) and (-). 13.3

Allowable voltage applied between (+) and
(-) inputs. 0 ±10

Publication 1398-5.0 – October 1998

6-16 Interfaces

!

Intro

Analog Outputs

Figure 6.19 ANALOG 1 and ANALOG 2 Output Circuits

DriveJ1

ANALOG
OUTPUT

100

Two selectable outputs are available for monitoring by the user:
ANALOG 1 (J1-30) and ANALOG 2 (J1-31). A 12 bit digital to
analog converter (DAC) generates ANALOG 1. ANALOG 2 is a
filtered PWM signal with 8 bit resolution and a carrier frequency of

32.8 kHz. Both outputs are scaled to a range of -10 to +10 Volts.

Intro

ATTENTION: The user may need t o provide an e xternal
circuit to delay output of the analog signal whe n the signal
is used to perform an operation. After reset both analog
outputs may be in an indeter minate state for a short pe riod
before they stabiliz e at the setting stored in memory . Failure
to observe this precaution could result in severe bodily
injury.

-5 Volts

10K

20K

-

+

Table 6.15: Analog Outputs: ANALOG 1 and ANALOG 2

Analog Output Pin

Number

ANALOG 1 J1-30 Selectable analog output with 12 bit resolution. Dis-

plays the selected firmware variable along with
selectable scale and offset (refer to the

ULTRA Master – I/O Configuration section).

ANALOG 2 J1-31 Selectable analog output with 8 bit resolution. Dis-

plays the selected firmware variable along with
selectable scale and offset (refer to the
ULTRA Master – I/O Configuration section).

ACOM J1-28 Analog Common (return). COM

Description Internal

Connections

A1

A2

Publication 1398-5.0 – October 1998

Interfaces 6-17

Table 6.16: Analog Output Specifications

Specification Description Minimum Maximum

ANALOG 1
Output Resolution

(Bits)

ANALOG 2
Output Resolution

(Bits)

Output Current

(mA)

Output Signal Range
(Volts)

Number of units that the ANALOG1 output
voltage is converted into.

12

Number of units that the ANALOG2 output
voltage is converted into.

8

Allowable current draw of the load

-2

Voltage range of the signal

-10 +10

Motor Encoder Output Signals

+2

Intro

Figure 6.20 Output Encoder Interface Circuit

AMOUT-

AMOUT+

DriveJ1

AMOUT

AM26C31 or AM26LS31

The motor quadrature encoder signals are supplied to an external
position controller. The signals are differential, quadrature, and TTL
level. The output re sol u t io n is selectable and ca n be divided by 1, 2, 4
or 8.

The signal frequenc y (fout) of the motor encoder output in Hertz (Hz)
can be calculated with the equation:

f

out

Vm linecount⋅

-------------------------------------- -=

60 N⋅

where:

Vm

is the motor encoder velocity

linecount

in rpm
encoder lines/revolution of the
motor mounted encoder, and N is
the output divider from the soft­ware selected parameter (1, 2, 4
or 8).

is the number of

If the device connected to the motor encoder output counts all edges,
the count frequency is four times f

out

.

Publication 1398-5.0 – October 1998

6-18 Interfaces

For example, a motor with a 2000 li ne encoder is r otating at 300 0 rpm,
and the Motor Encoder Output signal is set to

Divide by 1, the

encoder signal frequency is:

f

out

3000 2000⋅

--------------------------- - 100kHz==

60 1⋅

A counter counting all edges registers 400 kHz for this example.

Table 6.17: Motor Encoder Output Signal

Encoder

Output

AOUT (+)

AOUT (-)

BOUT (+)

BOUT (-)

IOUT (+)

IOUT (-)

Specification Description Minimum Maximum

Differential Output

(Volts)

Output Current

(mA)

Pin

Number

J1-7 (+)

J1-8 (-)

J1-9 (+)

J1-10 (-)

J1-11 (+)

J1-12 (-)

Table 6.18: Motor Encoder Output Specifications

Voltage measured between the (+) and (-)
pins with R

Current flowing out of the (+) or (-) pin.

Motor Output Channels A(+) and A(-). Differential
TTL levels from line driver. Signal resolution is
selectable.

Motor Output Channels B(+) and B(-). Differential
TTL levels from line driver. Signal resolution is
selectable.

Motor Output Channels I(+) and I(-). Differential
TTL levels from line driver. Output pulse occurs
once per motor shaft revolution.

= 100 Ohm. 2.0

L

Description Internal

Connections

J3-1 1 (+)

-20 +20

J3-7 (+)

J3-8 (-)

J3-9 (+)

J3-10 (-)

J3-12 (-)

Publication 1398-5.0 – October 1998

Intro

Interfaces 6-19

Auxiliary Encoder Inputs

Figure 6.21 Auxiliary Encoder Input Types

A
B

STEP
DIR

CW
CCW

The ULTRA 200 Series drive may be electronically geared by a
remote signal. Electronic gearing may be driven by any of the
following three signals:

● A master incremental encoder that generates quadrature encoder

signals

● Step and direction signals, such as those created by indexers for

step motors

● CW (Step Up)/CCW (Step Down) signals, typically used with

stepper indexers.

Intro

Note: The use of different ial signals is strongly reco mmended. Single­ended signals are sus ceptible to nois e, which may cause in termittent or
continuous errors.

T o improve n oise immunity, terminate cable shields at both e nds of the
cable. Connect shi elds to the backshell o f the connector with a complete

circumferential (360°) termination. The cable connector should then
connect to chassis ground (not

Figure 6.22 Auxiliary Encoder Input Circuit

DriveJ1

+5VDC

5K

AX(+)

+5VDC

10K

AX(-)

10K

5VCOM

signal ground.)

1K

220pF

1K

220pF

+

-

26LS33

AX

Publication 1398-5.0 – October 1998

6-20 Interfaces

Table 6.19: Auxiliary Encoder/Step and Diection/CW & CCW

(Step Up & Down) Signals

Auxiliary Encoder Input Pin

Number

AX + and AX-, or
Step + and Step-, or
CW+ (Step Up+) and
CW- (Step Up-)

BX (+) and BX(-), or
DIR (+) and DIR(-), or
CCW+ (Step Down+) and
CCW- (Step Down-)

IX (+) and IX (-) J1-18 (+)

J1-14 (+)

J1-15 (-)

J1-16 (+)

J1-17 (-)

J1-19 (-)

Auxiliary Channels A(+) and A(-). Differ­ential, qu adrature, or TTL level encoder
input. The signal input and resolution are

selectable. (Refer to ULTRA Master –

Drive Setup.)

Auxiliary Channels B(+) and B(-). Differ­ential, qu adrature, or TTL level encoder
inputs. The signa l input and re solution are
selectable. (Refer to ULTRA Master –

Drive Setup.)

Auxiliary Input Channels I(+) and I(-). Dif­ferential, quadrature, or TTL level
encoder inputs.

Description Internal

Connections

J3-14 (+)

J3-16 (+)

J3-18 (+)

The input circuits shown in the following diagrams support
connections to differential TTL line drivers, single-ended TTL line
drivers and open collector devices. These inputs are selectable under
software control.

Table 6.20: Quadrature Interface Specifications

Specification Description Minimum Maximum

ON State Voltage

(Volts)

OFF State Voltage

(Volts)

Common Mode
Voltage (Volts)

Current Draw

(mA)

A or B Signal
Frequency (MHz)

Index Pulse Width

(nsec)

Voltage difference between the + and –
inputs that indicate an ON state. 1.0 +15

Voltage difference between the + and –
inputs that indicates an OFF state. -1.0 -15

Voltage difference between an encoder sig­nal input and the reference ground of the
drive.

Current draw into the + input or – input

Frequency of the A or B line inputs. Count
frequency is 4 time s thi s frequency, since the
circuitry counts ea ch o f the four tra nsiti ons in
a single line.

Pulse width of the index signal. The index
signal is active for a percentage of the revo­lution, therefore the speed of the encoder
dictates the pulse width.

-15 +15

-5 +5

500

J3-15 (-)

J3-17 (-)

J3-19 (-)

1

Publication 1398-5.0 – October 1998

Interfaces 6-21

Interface Cable Examples

The use of differential signals is highly recommended. This is due to
the immunity of differential signals to common mode interference.
Single-ended encoder interface circuits are not recommended, and
may result in system malfunction.

To improve noise immunity, a cable shield should terminate at both
ends of the cable. Shields should connect to the backshell of the

connectors with t erminatio n around the full circ umference (360°). The
connectors should att ach to chassis ground (not signa l common).

Figure 6.23 External Encoder Interface via TTL Differential Line Drivers

Ch A

Ch B

Ch I

+5V
Supply
Return

+5V
Supply

Encoder Case

Ch A

Ch B

ENCODER

twisted pair

twisted pair

twisted pair

+5 Volts

For horizontal dashed lines,
connect only if J1 sources Encoder power

twisted pair

Figure 6.24 Complementary Encoder Interface via 7406 Line Drivers

with Pull-up Resistors

ENCODER

+5 Volts

7406

+5 Volts

7406

+5 Volts

twisted pair

twisted pair

J1 Drive

14
15

16
17

18
19

2

4

3
1

5V @ 250 mA

J1 Drive

14
15

16
17

AX+
AX-

BX+
BX-

IX+
IX-

Drive Chassis

AX+
AX-

BX+
BX-

ECOM

+5VDC

Ch I

+5V

Supply
Return

+5V

Supply

Encoder Case

7406

+5 Volts

twisted pair

twisted pair

For horizontal dashed lines,
connect only if J1 sources Encoder power

Publication 1398-5.0 – October 1998

18
19

2
4

3
1

5V @ 250 mA

IX+
IX-

Drive Chassis

ECOM

+5VDC

6-22 Interfaces

Figure 6.25 Complementary Encoder Interface via Standard TTL Logic

ENCODER J1 Drive

74xx

Ch A

74xx

Ch B

74xx

Ch I

twisted pair

twisted pair

twisted pair

14

AX+

15

AX-

16

BX+

17

BX-

18

IX+

19

IX-

+5V
Supply
Return

+5V
Supply

Encoder Case

Ch A

+5V
Supply
Return

Ch B

+5V
Supply

Encoder Case

twisted pair

+5 Volts

For horizontal dashed lines,
connect only if J1 sources Encoder power

Figure 6.26 Single-Ended Encoder Interface via Open Collector

Transistor without Pull-up (not recommended)

ENCODER

twisted pair

twisted pair

+5 Volts

Connect only if J1 sources Encoder power.

2

4

3
1

5V @ 250 mA

J1 Drive

14

4
2

16

3
1

5V @ 250 mA

Drive Chassis

AX+
AX-

BX+
BX-

Drive Chassis

ECOM

+5VDC

ECOM

+5VDC

Publication 1398-5.0 – October 1998

Interfaces 6-23

M

Figure 6.27 Single-Ended Encoder Interface via Standard TTL Signals

(not recommended)

ENCODER

Ch A

+5V

Supply

Return

Ch B

Ch I

+5V

Supply

Encoder Case

5-12 Volts

Ch A

+5V
Supply
Return

74xx

TTL Output

twisted pair

74xx

TTL Output

74xx

TTL Output

+5 Volts

Connect only if J1 sources Encoder power.

twisted pair

5V @ 250 mA

Figure 6.28 Single-Ended Encoder Interface via Open Collector Transistor

with 5 VDC to 12 VDC Pull-up (not recommended)

ENCODER

twisted pair

twisted pair

J1 Drive

AX+

14

AX-

4
2

16

BX+
BX-

18

IX+
IX-

3
1

Drive Chassis

J1 Drive

AX+

14

AX-

4
2

ECOM

+5VDC

ECO

5-12 Volts

Ch B

5-12 Volts

Ch I

Encoder Case

16

BX+
BX-

18

IX+
IX-

Drive Chassis

Publication 1398-5.0 – October 1998

6-24 Interfaces

Figure 6.29 Single-Ended Encoder Interface via Open Collector

Transistor with 24 VDC Pull-up (not recommended)

ENCODER

24VDC

Ch A

Supply
Return

24VDC

Ch B

24VDC

Ch I

Encoder Case

5.1 V
IN751

5.1 V
IN751

5.1 V
IN751

twisted pair

twisted pair

J1 Drive

14

AX+
AX-

4
2

16

BX+
BX-

18

IX+
IX-

Drive Chassis

ECOM

Table 6.21: Step/Direction and CW/CCW (Step Up/Step Down)

Interface Specifications

Specification Description Minimum Maximum

Signal frequency

(MHz)

Pulse Widt h

(nsec)

Setup Time

(nsec)

The following diagram shows the relationship between STEP and DIRECTION inputs.

STEP

INPUT

DIRECTION

INPUT

Frequency of the input signal.

Time interval the step (CW/CCW) signal
must remain in a single state for detecti on. 500

Time interva l the direction (CW/C CW) signal
must be stable before the corresponding
step (CCW/CW) signal change s sta te.

500 nsec in either
high or low state

500 nsec

minimum

500 nsec

minimum

Direction data must be
steady for this time period.

500 nsec

minimum

500 nsec

minimum

500

1

Publication 1398-5.0 – October 1998

Interfaces 6-25

Figure 6.30 External Step/Direction Interface via TTL Differential

Line Drivers

USER
ELECTRONICS

TTL
Differential
Line Drivers

+5V

Supply

Return

+5V

Supply

Encoder Case

USER
ELECTRONICS

+5V
Supply
Return

+5V
Supply

Step
Step

Dir
Dir

+5 Volts

For horizontal dashed lines, connect only if
J1 sources +5VD C pow er to user elec tro nic s

twisted pair

twisted pair

twisted pair

Figure 6.31 External Step/Direction Interface via Single-Ended

TTL Line Drivers (not recommended)

Dir

twisted pair

twisted pair

Step

+5 Volts

Connect only if J1 sources +5VDC power to user electronics.

J1

14
15

16
17

2
4

3
1

5V @ 250 mA

J1 Drive

16

2
4

14

3
1

5V @ 250 mA

Step+
Step-

Dir+
Dir-

Dir+
Dir-

Step+
Step-

+

-

+

-

ECOM

+5VDC

Drive Chassis

+

-

ECOM

+

-

+5VDC

TTL
Differential
Line Drivers

+5V
Supply
Return

+5V
Supply

Figure 6.32 External CW/CCW (Step Up/Step Down) Interface via TTL

Differential Line Drivers

USER
ELECTRONICS

CW+
CW-

CCW+
CCW-

+5 Volts

For horizontal dashed lines, connect only if
J1 sources +5VDC power to user electronics

twisted pair

twisted pair

twisted pair

Publication 1398-5.0 – October 1998

J1 Drive

14

CW+

15

CW­CCW+

16
17

CCW-

2
4

3
1

5V @ 250 mA

Drive Chassis

+

-

+

-

ECOM

+5VDC

Drive Chassis

6-26 Interfaces

Figure 6.33 External CW/CCW (Step Up/Step Down) Interface via

Single-Ended Line Drivers (not recommended)

USER
ELECTRONICS

+5V
Supply
Return

+5V
Supply

J1 Drive

CW+

CW

twisted pair

twisted pair

CCW

+5 Volts

Connect only if J1 sources +5VDC power to user electronics.

14

4
2

16

3
1

5V @ 250 mA

CW-

CCW+
CCW-

Drive Chassis

+

-

ECOM

+

-

+5VDC

J1 Terminal Strip/Breakout Board

A 50-pin terminal strip kit is available for extending the signals from
the J1 connector. The kit includes a 1 meter (3-foot) interface cable, a

50-pin terminal strip and mounting hardware. Refer to “Options and
Accessories” on page A-1.

“Cabling Examples” on page B-26 depicts the use of this kit to pass a
cable through a bulkhead.

Publication 1398-5.0 – October 1998

J2 – Encoder

6Interfaces

Pin Signal Descript ion Pin Signal Description

1 EPWR Encoder

Power

2 ECOM Encoder

Common

3 EPWR Encoder

Power

4 ECOM Encoder

Common

5 SENSE

(+)

6 SENSE

(-)

7 A (+) Motor Encoder

8 A (-) Motor Encoder

9 B (+) Motor Encoder

10 B (-) Motor Encoder

Encoder
Power
Sense (+)

Encoder
Power
Sense (-)

Input
Channel A(+)

Input
Channel A(-)

Input
Channel B(+)

Input
Channel B(-)

11 I (+) Motor Encoder

Input
Channel I(+)

12 I (-) Motor Encoder

Input
Channel I(-)

13 HALL A Hall Effect A

14 HALL B Hall Effect B

15 HALL C Hall Effe ct C

16 ABS Absolute

Position

17 Reserved

18 Reserved

19 TS(+) Thermal

Switch (+)

20 TS(-) Thermal

Switch (-)

Interfaces 6-27

pin 20

pin 11

pin 10

pin 1

J2 is a 20 pin female mini-D ribbon connector (AMP 2-178238-2). It
connects the motor encod er , hal l ef fect sw itches, and the thermost at to
the UL TRA 200 Series drive. Contact between the connector shell and
a grounded chassis provides shield termination.

Intro

ATTENTION: Ensure that the encoder signals are con­nected as shown in Figure 6.36. Incorr ect connection of the

!

encoder signals will re sult in improper rotor position, incor ­rect commutation and/or a runaway motor condition.

Allen-Bradley cables are available in various lengths for connecting

between J2 and an encoder. “Options and Accessories” on page A-1
lists the cables that ar e ava il abl e. “ J2 Terminal Strip/Breakout Board”
on page 6-30 details the optional signal extension kit.

Publication 1398-5.0 – October 1998

6-28 Interfaces

Intro

Intro

Figure 6.34 Motor Encoder Interface Circuit

DriveJ2

AM(+)

200

.01uF

AM(-)

1K

1K

220pF

1K

220pF

1K

Figure 6.35 Hall Effect Sensor Circuit

DriveJ2

+5V

LINE
BREAK
DETECT

+

-

26LS33

AM

+2.5V

1K

+

-

AM26C31

U,
V or
W

200

Table 6.22: J2- Motor Encoder Connector Pin-Outs

Motor Encoder Pin Number Description

EPWR J2-1

J2-3

ECOM J2-2

J2-4

SENSE (+)
SENSE (-)

A(+)
A (-)

B(+)
B (-)

I (+)
I (-)

J2-5 (+)
J2-6 (-)

J2-7 (+)
J2-8 (-)

J2-9 (+)
J2-10 (-)

J2-11 (+)
J2-12 (-)

Encoder power
Internally fused (F3) is 1A, fast acting.

Encoder common

Encoder power sense
NOTE: The SENSE+ signal must be connected to the EPWR sig-

nal, and the SENSE- signal must be connected to the ECOM sig­nal at the encoder for the motor encoder signals to be received
properly by the drive.

Motor Encoder Input Channel A(+) and Cha nnel A(-). Accepts TTL
level signals from a line driver.

Motor Encoder Input Channel B(+) and Cha nnel B(-). Accepts TTL
level signals from a line driver.

Motor Encoder Input Channel I(+) and Channel I(-). Accepts TTL
level signals from a line d river. Output puls e occurs once per mot or
shaft revolution.

Publication 1398-5.0 – October 1998

Interfaces 6-29

Table 6.22: J2- Motor Encoder Connector Pin-Outs (continued)

Motor Encoder Pin Number Description

HALL A J2-13 Hall Effect A sensor logic lev el input. Internally pulled u p to +5VDC

through a 1 kOhm resistor.
The input signal interfaces to both a differential and single-ended

Hall effect s ens or, using either a TTL level signal or open collector
signal. A differential output connects only the (+) output to the
drive.

Software determines when the hall effect sensors are in an illegal
state.

HALL B J2-14 Hall Effect B sensor logic lev el input. Internally pulled u p to +5VDC

through a 1 kOhm resistor.
The input signal interfaces to both a differential and single-ended

Hall effect s ens or, using either a TTL level signal or open collector
signal. A differential output connects only the (+) output to the
drive.

Software determines when the hall effect sensors are in an illegal
state.

HALL C J2-15 Hall Effect C sensor logic level input. Internal ly pulled up to +5VDC

through a 1 kOhm resistor.
The input signal interfaces to both a differential and single-ended

Hall effect s ens or, using either a TTL level signal or open collector
signal. A differential output connects only the (+) output to the
drive.

Software determines when the hall effect sensors are in an illegal
state.

ABS J2-16 Absolute Position used on Allen-Bradley motors for commutation.

J2-17

Reserved.

J2-18

TS (+)
TS(-)

J2-19
J2-20

Thermal Switch (+) and Thermal Switch (-) are thermostat inputs,
with an open condition indicating a motor overtemperature fault.

Publication 1398-5.0 – October 1998

6-30 Interfaces

Intro

Drive

Figure 6.36 ULTRA 200 Series Motor Encoder Connections

MOTOR

ENCODER

AM+

AM-

BM+

BM-

IM+

IM-

ABS

TS+

TS-

J2-1
J2-2
J2-3
J2-4

J2-5
J2-6-

J2-7
J2-8­J2-9
J2-10
J2-11
J2-12

J2-13
J2-14
J2-15
J2-16

J2-19
J2-20

+5V
COM

A+
A­B+
B­Z+
Z-

1

HALL A

1

HALL B

1

HALL C

2

ABS

THERMOSTAT+
THERMOSTAT-

EPWR
ECOM
EPWR
ECOM

SENSE+

SENSE-

HALL A
HALL B

HALL C

NOTES:

1. For encoders with differential Hall outputs (A+, A-, B+, B-, C+ and C-) connect only the + outputs to the drive.

2. The ABS signal is only available on selected encoders.

J2 Terminal Strip/Breakout Board

A 25-pin terminal strip kit is available for extending the encoder
signals from the J2 connector. The kit includes a 3-foot (1 meter)
interface cable a 25-pin terminal strip, and mountin g hardware. Refer

to “Options and Accessories” on page A-1.

“Cabling Examples” on page B-26 depicts the use of this kit to pass a
cable through a bulkhead.

Publication 1398-5.0 – October 1998

J3 –Auxiliary Port

Pin Signal Description Pin Signal Description

1 +5VDC Encoder +5V DC14 AX+ Auxiliary

2 ECOM Encoder

3 +5VDC Encoder +5V DC16 BX+ Auxiliary

4 ECOM Encoder

5 +24VDC Isolated +24

6 24VCOM Isolated 24V

7 AOUT+ Motor Output

8 A OUT- Motor Output

9 BOUT+ Motor Output

10 BOUT- Motor Output

11 IOUT+ Motor Output

12 IOUT- Motor Output

13 24VCOM Isolated 24V

6Interfaces

Common

Common

VDC

Common

Channel A+

Channel A-

Channel B+

Channel B-

Channel I+

Channel I-

Common

Channel A+

15 AX- Auxiliary

Channel A-

Channel B+

17 BX- Auxiliary

Channel B-

18 IX+ Auxiliary

Channel I+

19 IX- Auxiliary

Channel I-

20 ENABLE ENABLE

21 RESET FAULT

RESET

22 COMMAND+ Analog

Command+

23 COMMAND- Analog

Command-

24 READY+ READY+

25 READY- READY-

26 +24VDC +Isolated +24

VDC

Interfaces 6-31

pin 26

pin 14

pin 13

pin 1

J3 is a 26 pin female mini-D ribbon connector (AMP 2-178238-4). It
duplicates the first 26 pins of J1, the Controller connector, which are
discussed in detail beginning on page 6-1. Contact between the
connector shell and the grounded chassis provides shield termination.

Allen-Bradley cables are available in various lengths for connecting

between J3 and an auxiliary unit. “Options and Accessories” on
page A-1 lists the cables that are available.

Publication 1398-5.0 – October 1998

6-32 Interfaces

Motor Encoder Pin Number Description Internal

+ 5V J3-1

ECOM J3-2

+ 24V J3-5

24VCOM J3-6

AOUT (+)
AOUT (-)

BOUT (+)
BOUT (-)

IOUT (+)
IOUT (-)

AX+ and AX-,
or
Step+ and Step-,
or
CW (Step Up+) and
CW (Step Up-)

Table 6.23: J3 – Auxiliary Connector Pin-Outs

Encoder +5 VDC @ 250 mA power source

J3-3

for auxiliary encoder electronics.
The output is fused in ternally b y a 1 Amp fas t

acting fuse (F2).

Refer to “5 V olt Power Suppl y Specification s”
on page 6-4.

Encoder common. Signal reference for the

J3-4

auxiliary encoder.
Refer to “5 V olt Power Supply Sp ecification s”

on page 6-4.
Isolated + 24 VDC @ 500 mA power source

J3-26

for external I/O connection.
This output is fused internally by a 1 Amp

fast acting fuse (F1).
Refer to “24 Volt Power Supply Specifica-

tions” on page 6-3.
Isolated 24 Volt common.

J3-13

Refer to “24 Volt Power Supply Specifica­tions” on page 6-3.

J3-7 (+)
J3-8 (-)

Motor Output Channels A(+) and A(-). Differ­ential TTL levels from line driver.

Refer to “Motor Encoder Output Signal” on
page 6-18 and Figure 6.20.

J3-9 (+)
J3-10 (-)

Motor Output Channels B(+) and B(-). Differ­ential TTL levels from line driver.

Refer to “Motor Encoder Output Signal” on
page 6-18 and Figure 6.20.

J3-1 1 (+)
J3-12 (-)

Motor Output Channels I (+) a nd I(-). Differen­tial TTL le vels from line driver.)

Refer to “Motor Encoder Output Signal” on
page 6-18 and Figure 6.20.

J3-14 (+)
J3-15 (-)

Auxiliary Channel A(+) and A(-). Differential,
quadrature, or TTL level encoder input. The
signals are selectable as AX+ and AX-, or
Step+ and Step-, or CW (Step Up+) and
CW (Step Up-).

For encoder information refer to “Quadrature
Interface Specifications” on page 6-20 and
Figure 6.23, 6.24, 6.25, 6.26, 6.27, 6.28 and

6.29.
For stepper information refer to“Step/Direc-

tion and CW/CCW (Step Up/Step Down)
Interface Specifications” on page 6-24 and
Figure 6.30, 6.31, 6.32 and 6.33.

Connections

J1-1, J1-3
J3-1, J3-3

J1-2, J1-4
J3-2, J3-4

J1-5
J1-26

J1-6
J1-13

J1-7 (+)
J1-8 (-)

J1-9 (+)
J1-10 (-)

J1-11 (+)
J1-12 (-)

J1-14 (+)
J1-15 (-)

Publication 1398-5.0 – October 1998

Interfaces 6-33

Table 6.23: J3 – Auxiliary Connector Pin-Outs (continued)

Motor Encoder Pin Number Description Internal

Connections

BX+ and BX-,
or
DIR+ and DIR-,
or
CCW (Step Down+)
and
CCW (Step Down-)

J3-16 (+)
J3-17 (-)

Auxiliary Channel B(+) and B(-). Differential,
quadrature, or TTL level encoder input. The
signals are selectable as BX+ and BX-, or
DIR+ and DIR-, or CCW (Step Down+). and
CCW (Step Down-).

For encoder information refer to “Quadrature
Interface Specifications” on page 6-20 and

J1-16 (+)
J1-17 (-)

Figure 6.23, 6.24, 6.25, 6.26, 6.27, 6.28 and

6.29.
For stepper information refer to“Step/Direc-

tion and CW/CCW (Step Up/Step Down)
Interface Specifications” on page 6-24 and
Figure 6.30, 6.31, 6.32 and 6.33.

IX (+)
IX (-)

J3-18 (+)
J3-19 (-)

Differential, qua drature, or T TL level encoder
input. The signals are selectable.

J1-18 (+)
J1-19 (-)

For encoder information refer to “Quadrature
Interface Specifications” on page 6-20 and
Figure 6.23, 6.24, 6.25, 6.26, 6.27, 6.28 and

6.29.

ENABLE J3-20 Enables and disables the drive.

J1-20

Refer to “Digital Input Specifications” on
page 6-6 and Figure 6.1.

FAULT RESET J3-21 General purpose input, selectable to one of

J1-21

several drive functions.
Refer to “Digital Input Specifications” on

page 6-6 and Figure 6.1.

COMMAND (+)
COMMAND (-)

J3-22 (+)
J3-23 (-)

Analog command signal is a differential type
signal that drives the servo controller.

J1-22 (+)
J1-23 (-)

Separate scale and offset parameters are
used for the input, depe nding on wh ether the
signal is a position, velocity or torque com­mand.

Refer to “Analog Command Input” on
page 6-15 and Figure 6.18.

READY (+)
READY (-)

J3-24 (+)
J3-25 (-)

Contact closure indicates the drive is ready
to follow commands.

J1-24 (+)
J1-25 (-)

Refer to “READY Output Specifications” on
page 6-9 and Figure 6.8.

Publication 1398-5.0 – October 1998

6-34 Interfaces

J4 and J5 – Serial Port

6Interfaces

Pin Signal Description Use

1 RCV(+) Receive (+) RS-485

(four wire)
2 RCV Receive RS-232
3 XMT Transmit RS-232

pin 9

pin 5

4 XMT(+) Transmit (+) RS-485

(four wire)
5 COM +5 VDC Com-

mon

6 Reserved

a

pin 6

pin 1

7 RCV(-) Receive (-) RS-485

(four wire)
8 XMT(-) Transmit (-) RS-485

(four wire)
9 Reserved

a. Do not connect any device to J4-6, J5-6, J4-9 or J5-9 except an Allen-Bradley TouchPad.

1

Intro

J4 and J5 are 9 pin female D-she ll (AMP 205204-4, pins AMP 66506-

3) connectors. Each connector is a serial interface that allows
communication with another ULTRA 200 Series drive, a PC, a
terminal, a host computer, a controller or an optional TouchPad. The
signals on J4 and J5 are internally connected, which allow s daisy­chain connection of several drives. The shell of the connector is
grounded to the chassis for shield termination.

Figure 6.37 RS-232/485 Interface Circuit

EXTINT

XMT

RECEIVE

RS-232

TRANSMIT

TRANSMIT
ENABLE

RS-485

RCV

XMT­XMT+

RCV+
RCV-

Publication 1398-5.0 – October 1998

The serial interface of the ULTRA 200 Series uses the standard NRZ
asynchronous serial format, and supports both the RS-232 and the
four wire RS-485 communications standards.

● Standard baud rates include 1200, 2400, 4800, 9600 and 19200

baud. 9600 is the factory default setting.

Interfaces 6-35

● Even, odd, and no parity generation/checking are supported. No

parity is th e factory de fault settin g.

● The maximum number of ULTRA 200 Series drives allowable on

an RS-485 bus is 32.

● The maximum length of an RS-232 cable is 15 meters (50 feet).

● The maximum length of an RS-485 cable is 1220 meters (4000

2

feet) with 0.20 mm

(24 AWG) wire.

Allen-Bradley cabl es are avai lable in va rious lengt hs for conne cting t o
the serial port of an ULTRA 200 Series drive and a control unit, such

as a PC. “Options and Accessories” on page A-1 lists the cables, and
the male and female connectors for the cables.

Note: The shell of the connector is grounded to the chassis for s hield
termination.

The following table lists the pin-outs for J4 and J5.

Table 6.24: J4 and J5 – Serial Port Connector Pin-Outs

Signal Pin Number Description Internal

Connections

RCV (+)
RCV (-)

XMT (+)
XMT (-)

COM J4 - 5 Common serial port interface J5 - 5

RCV J4 - 2 RS-232 receiver input (to drive) J5 - 2
XMT J4 - 3 RS-232 transmitter output (from drive) J5 - 3

a. Do not conne ct any device to J4-6, J5-6, J4-9 or J5-9, except an Allen-Bradley TouchPad.

J4 - 1 (+)
J4 - 7 (-)

J4 - 4 (+)
J4 - 8 (-)

J4 - 6 Reserved

J4 - 9 Reserved

RS-485 differential receiver input (to drive) J5 - 1 (+)

RS-485 differential transmitter output (from drive) J5 - 4 (+)

J5 - 7 (-)

J5 - 8 (-)

a

1

J5 - 6

J5 - 9

Publication 1398-5.0 – October 1998

6-36 Interfaces

Intro

Serial Communications Overview

ULTRA 200 Series drives communicate via a standard NRZ (non­return to zero) asynchronous serial format, which supports either RS­232 or four wire RS-485. The pin-out arrangement on the drive serial
ports provides self -sens ing of the communica tion standard. To change
from RS-232 to four wire RS-485 requires a simple change of the
cable.

In multiple drive installations, a unique address must be assigned to
each drive, either through hardware (a physical address) or software.
All physical addresses are set using the 16 position rotary switch on
the front panel of the drive. Software based addresses are selected by
setting the rotary switch to position F, as shown, which forces the
drive to used the address stored in the personality module EEPROM
of the drive.

Figure 6.38 Sixteen Position Rotary Addressing Switch

4

5

3

D

C

B

6

7

8

9

A

2

1

0

F

E

The following table shows the relationship between drive addresses,
whether set by hardware or software. It also lists the communications
settings, whether mandatory (default) settings or software selectable.

Table 6.25: Drive Addressing

Address Range Communications

Hardware

1. Hardware (rotary address switch) and software (address and communications
settings) changes are not imme dia te; the y ar e logg ed but do not bec om e acti ve
until

1

Software

0 N/A Factory Default

1–A N/A Software Selected Settings include:

B–E N/A Reserved

F 1–32 Software Selected

after the drive is RESET.

1

• 9600 baud rate

• 8 Data

• 1 Stop Bit

• No Parity

• 1200, 2400, 4800, 9600 and 19200 baud rates

• 8 Data Bits

• 1 Stop Bit

• Even, Odd or No Parity

Publication 1398-5.0 – October 1998