Rockwell Automation 1756-M02AE Installation Instructions

Installation Instructions

Analog Encoder (AE) Servo Module

(Catalog Number 1756-M02AE)

The Analog Encoder (AE) Servo Module mounts in a ControlLogix™ chassis
and uses a removable terminal block (RTB) to connect all field-side wiring.

Before you install your module you should have:

• installed and grounded a 1756 chassis and power supply.

• ordered and received an RTB and its components for your

application.

page:

Preventing Electrostatic Discharge 2
Removing and Inserting Under Power (RIUP) 3
Understanding Compliance to the European Union Directive 3
Determining the Power Requirements 4
Identifying Module Components 4
Installing the Module 6
Keying the Removable Terminal Block 8
Wiring a Removable Terminal Block 10
Wiring Examples 13
Assembling the Removable Terminal Block and Housing 22
Installing the Removable Terminal Block onto the Module 23
Checking the LED Indicators 24
Removing the Removable Terminal Block from the Module 29
Removing the Module from the Chassis 31
Module Specifications 32
Installation Environment 34

Publication 1756-IN047D-EN-P - March 2001

2 Analog Encoder (AE) Servo Module

WARNING

!

Preventing Electrostatic Discharge

Electrostatic discharge can damage the servo board if
you touch the circuitry or connector pins without taking
precautions. Follow these guidelines when you handle
the servo board:

• Touch a grounded object to discharge potential
static.

• Wear an approved grounding wrist strap.

• Do not touch the connector or connector pins on

the servo board.

• Do not touch circuit components inside the servo
board.

• If available, use a static-safe work station.

Publication 1756-IN047D-EN-P - March 2001

Analog Encoder (AE) Servo Module 3

WARNING

!

Removing and Inserting Under Power (RIUP)

This module is designed so you can remove and insert it
under backplane power and field-side power. When you
remove or insert a module while field-side power is
applied, you can cause an electrical arc. An electrical arc
can cause personal injury or property damage because it
can:

• Send an erroneous signal to your system field
devices causing unintended machine motion or loss
of process control.

• Cause an explosion in a hazardous environment.

Repeated electrical arcing causes excessive wear to
contacts on both the module and its mating connector.
Worn contacts can create electrical resistance. For
additional information on RIUP, please contact your
local Allen-Bradley sales representative.

Understanding Compliance to the European Union Directive

If this product bears the CE marking, it is approved for installation within the
European Union and EEA regions. It has been designed and tested to meet
the following directives.

EMC Directive

This product is tested to meet Council Directive 89/336/EEC
Electromagnetic Compatibility (EMC) and the following standards, in whole
or in part, documented in a technical construction file:

• EN 50081-2EMC - Generic Emission Standard, Part 2 - Industrial
Environment

• EN 50082-2EMC - Generic Immunity Standard, Part 2 - Industrial
Environment

This product is intended for use in an industrial environment.

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4 Analog Encoder (AE) Servo Module

Low Voltage Directive

This product is tested to meet Council Directive 73/23/EEC Low Voltage, by
applying the safety requirements of EN 61131-2 Programmable Controllers,
Part 2 - Equipment Requirements and Test.

For specific information required by EN 61131-2, see the appropriate
sections in this publication, as well as the following Allen-Bradley
publications:

• Industrial Automation Wiring and Grounding Guidelines publication
1770-4.1

• Automation Systems Catalog, publication B111

This equipment is classified as open equipment and must be installed
(mounted) in an enclosure during operation as a means of providing safety
protection.

Determining the Power Requirements

This module receives power from the 1756 chassis power supply and requires
two sources of power: 700mA at 5V and 2.5 mA at 24V from the backplane.
Add this current to the requirements of all other modules in this chassis to
prevent overloading the backplane power supply.

Identifying Module Components

You received two components with your order:

• 1756-M02AE module

• RTB door label

Publication 1756-IN047D-EN-P - March 2001

Figure 1 1756-M02AE Module

Side view

2 Axis Servo

Front view

1756-M02AE module

2

4

6

8

10

12

14

16

18

20

22

24

26

28

30

32

34

36

1

3

5

7

9

11

13

15

17

19

21

23

25

27

29

31

33

35

+OUT-0

-OUT-0

+ENABLE-0

-ENABLE-0

DRVFLT-0

CHASSIS

IN_COM

HOME-0

REG24V-0

REG5V-0

+OK

CHASSIS

+CHA-0

-CHA-0

+CHB-0

-CHB-0

+CHZ-0

-CHZ-0

+OUT-1

-OUT-1

+ENABLE-1

-ENABLE-1

DRVFLT-1

CHASSIS

IN_COM

HOME-1

REG24V-1

REG5V-1

-OK

CHASSIS

+CHA-1

-CHA-1

+CHB-1

-CHB-1

+CHZ-1

-CHZ-1

1756-MO2AE

2 AXIS

ENCODER/ANALOG

SERVO

RTB door label

Analog Encoder (AE) Servo Module 5

If you did not receive these components, contact your local Allen-Bradley
representative.

Removable Terminal Block and Housing

A separately-ordered RTB connects field-side wiring to the module. You
cannot use your module without an RTB and its components.

Use one of the following RTBs with your module:

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6 Analog Encoder (AE) Servo Module

WARNING

!

• 1756-TBCH 36-position cage clamp RTB

• 1756-TBS6H 36-position spring clamp RTB

You received the following components with your RTB:

• 1756-TBH standard-depth RTB housing

• wedge-shaped keying tabs and U-shaped keying bands

• RTB door label

Installing the Module

When you remove or insert an RTB with field-side
power applied, unintended machine motion or loss of
process control can occur. Exercise extreme caution
when power is applied. Failure to observe this caution
can cause personal injury.

To install the AE module:

1. Align the module circuit board with the top and bottom chassis
guides.

Publication 1756-IN047D-EN-P - March 2001

Analog Encoder (AE) Servo Module 7

P

O

W

E

R

Printed circuit board

Figure 2 Circuit Board Alignment

2. Push evenly and firmly to seat the module in the chassis. It is seated
when the top and bottom locking tabs have snapped into place.

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8 Analog Encoder (AE) Servo Module

P

O

W

E

R

Locking

tab

Figure 3 Module Locking Tabs

Note: The 1756 chassis provides grounding for your module.

Keying the Removable Terminal Block

To identify the RTB that belongs with each module, you can use a module
keying pattern. First, you can create a unique keying pattern for your module
using the U-shaped keying bands that you received with your RTB. Then you
can use the keying tabs to key the RTB with the same pattern as the module.

To prevent confusion, use a unique keying pattern to each module.

To key the module:

1. Insert the U-shaped keying band with the longer side near the
terminals.

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Analog Encoder (AE) Servo Module 9

P

OWER

U-shaped

keying band

Figure 4 Keying Band

2. Push the keying band onto the module until it snaps into place.

To key your removable terminal block:

1. With the rounded edge first, insert the wedge-shaped keying tab on
the RTB.

Note: Insert the wedge-shaped keying tabs in positions that
correspond to unkeyed positions on the module

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10 Analog Encoder (AE) Servo Module

Wedge-shaped

keying tab

Bottom of RTB

Figure 5 Keying Tab.

2. Push the keying tab onto the RTB until it stops.

Note: To use the RTB in future module applications, you can reposition

the keying tabs on the RTB.

Wiring a Removable Terminal Block

There are two types of RTBs:

This section describes how to wire each type of RTB and shows wiring
examples for the AE module.

Wire the RTB before installing it onto the module. Use a 1/8 inch (3.2mm)
maximum flat-bladed screwdriver.

Publication 1756-IN047D-EN-P - March 2001

• spring clamp

• cage clamp

Analog Encoder (AE) Servo Module 11

Strain Relief Area

Wiring a Spring Clamp RTB

To wire a spring clamp RTB:

1. Strip a maximum of 7/16 inch (11mm) of insulation from the end of
your wire.

2. Insert the screwdriver into the outer hole of the RTB.

3. Insert the wire into the open terminal and remove the screwdriver.

Figure 6 Strain Relief Area

4. After you complete field-side wiring, secure the wires in the strain
relief area with a cable-tie.

Wiring a Cage Clamp RTB

To wire a cage clamp RTB:

1. Strip 5/16 - 3/8 inch (8 - 9.5mm) of insulation from the end of your
wire.

2. Insert the screwdriver into the open terminal.

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12 Analog Encoder (AE) Servo Module

Strain Relief Area

3. Turn the screw clockwise to close the terminal on the wire. Use
5 lb-in. (0.5 Nm) maximum torque

Figure 7 Closing Wire Terminal.

4. After you complete field-side wiring, secure the wires in the strain
relief area with a cable-tie.

Publication 1756-IN047D-EN-P - March 2001

General Cable
C0720

To servo drive

To servo drive

To home
limit switch

To registration
sensor

To encoder

To E-stop relay coil

General Cable
C0720

General Cable
C0720

General Cable
C0720

General Cable
C0722

General Cable
C0721

2

4

6

8

10

12

14

16

18

20

22

24

26

28

30

32

34

36

1

3

5

7

9

11

13

15

17

19

21

23

25

27

29

31

33

35

+OUT-0

-OUT-0

+ENABLE-0

-ENABLE-0

DRVFLT-0

CHASSIS

IN_COM

HOME-0

REG24V-0

REG5V-0

+OK

CHASSIS

+CHA-0

-CHA-0

+CHB-0

-CHB-0

+CHZ-0

-CHZ-0

-OK

+OUT-1

-OUT-1

+ENABLE-1

-ENABLE-1

DRVFLT-1

CHASSIS

IN_COM

HOME-1

REG24V-1

REG5V-1

CHASSIS

+CHA-1

-CHA-1

+CHB-1

-CHB-1

+CHZ-1

-CHZ-1

Analog Encoder (AE) Servo Module 13

Wiring Examples

Figure 8 Wiring to a servo module RTB

Note: This is a general wiring example illustrating Axis 1 wiring only.
Other configurations are possible with Axis 0 wiring identical to Axis 1.

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14 Analog Encoder (AE) Servo Module

5V DC

Field Power

Supply

+5V DC
+5 COM

RED
BLK

To fault
string

OK

RED
BLK
WHT
BLK
RED
BLK

WHT
BLK
RED
BLK
GRN
BLK

+OUT 0

-OUT 0

+ENABLE 0

-ENABLE 0
DRVFLT 0

CHASSIS

IN_COM
HOME 0

REG24V 0

REG5V 0

+OK

CHASSIS

+CHA 0

-CHA 0

+CHB 0

-CHB 0

+CHZ 0

-CHZ 0

+OUT 1

-OUT 1
+ENABLE 1

-ENABLE 1
DRVFLT 1
CHASSIS
IN_COM
HOME 1
REG24V 1
REG5V 1

-OK
CHASSIS
+CHA 1

-CHA 1
+CHB 1

-CHB 1
+CHZ 1

-CHZ 1

Servo Module RTB

1394CCAExx

24V DC

Field Power

Supply

1394 Servo Drive

1394CCAExx

WHT
BLK
RED
BLK

+ENABLE 1

-ENABLE 1
DRVFLT 1
IN_COM

TB2 7
TB2 19
TB2 18

W2

W1

TB2 15

24V DC

24V COM

24V DC

24V COM
24V ENABLE COM

A1 ENABLE
DROK
DROK

AQB1

A

RED OK+
BLK OK-

1756-M02AE

Axis 1

ENA/DR OK 1

ENC. PWR -1

A

Figure 9 Wiring to a 1394 Servo Drive (in Torque Mode only)

Note: The wiring diagram illustrates Axis 1 wiring only. Other
configurations are possible.

Note: The 1394CCAExx cable is wired to connect to torque command
reference input pins.

Note: An external +5V power supply is required to power the encoder
driver circuit of the 1394 servo drive. Because this connection is shared by all
four axis encoder driver circuits, only one connection is needed to the +5V
field supply.

Note: The xx in the cable number is the length of the cable. Options are
5, 10, 25, and 50 feet.

Publication 1756-IN047D-EN-P - March 2001

Analog Encoder (AE) Servo Module 15

Individually Jacketed Pairs

7

1216

ENABLE/DRIVE FAULT - AXIS 0

5.0 in.

1.0 in.

5V ENC PWR - AXIS 0

M02AE - OK

AXIS 0

1394-CFLAE

1756-M02AE

3.0 in.

Figure 10 The 1394-CFLAExx Cable Wiring Diagram

Note: The 1394-CFLAE cable is available in 1, 3, 8, and 15 meter lengths.

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16 Analog Encoder (AE) Servo Module

3
9

+5V

+5VCOM

4

10

5

11

6

12

CHANNEL A HIGH

CHANNEL A LOW

CHANNEL B HIGH

CHANNEL B LOW

CHANNEL Z HIGH

CHANNEL Z LOW

VREF+
TREF+

VREF­TREF-

1
2
7
8

(DROK-0)

(24V EN COM)

(24V)

(AX_-ENABLE)

TO SYSTEM

FAULT STRING

RED 22GA

BLACK 22GA

DRAIN

ORANGE 22GA

WHT/ORG 22GA

YELLOW 22GA
WHT/YEL 22GA

GREEN 22GA

WHT/GRN 22GA

DRAIN

BLUE 22GA

WHT/BLU 22GA

DRAIN

VIOLET 22GA

WHT/VIO 22GA

GRAY 22GA

WHT/GRY 22GA

DRAIN

RED 22GA

BLACK 22GA

DRAIN

Figure 11 Pinouts for the 1394-CFLAE

Publication 1756-IN047D-EN-P - March 2001

Analog Encoder (AE) Servo Module 17

24 VDC

Field Power Supply

24VDC
READY+

24VCOM

COMMAND+
COMMAND-

ENABLE
READY-

AOUT+
AOUT­BOUT+
BOUT­IOUT+
IOUT-

24VDC

24VCOM

24 VDC

24 VCOM

+OUT

-OUT

+ENABLE

-ENABLE
DRVFLT
IN_COM

+CHA

-CHA
+CHB

-CHB
+CHZ

-CHZ

J1-5
J1-26
J1-24

J1-6
J1-13

J1-22
J1-23

J1-20
J1-25

J1-7

J1-8

J1-9
J1-10
J1-11
J1-12

General Cable

C0720

General Cable

C0721

General Cable

C0722

From

1756-M02AE

From

1756-M02AE

From

1756-M02AE

J1 to 50-pin

Terminal Block

(Kit P/N 9109-1391)

Ultra 100 Series

Digital Servo Drive

Interface

Cable

P/N 9109-1369-003

J1

Figure 12 Wiring to an Ultra 100 Series Drive

Note: This is a general wiring example only. Other configurations are
possible. For more information, refer to the Ultra 100 Series Installation Manual,
publication number 1398-5.2.

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18 Analog Encoder (AE) Servo Module

J1 to 50-pin

Terminal Block

(Kit P/N 9109-1391)

24VDC
READY+

24VCOM

COMMAND+
COMMAND-

ENABLE
READY-

AOUT+
AOUT­BOUT+
BOUT­IOUT+
IOUT-

+OUT

-OUT

+ENABLE

-ENABLE
DRVFLT
IN_COM

+CHA

-CHA

+CHB

-CHB

+CHZ

-CHZ

J1-5

J1-24

J1-6 or 13

J1-22
J1-23

J1-20
J1-25

J1-7
J1-8

J1-9
J1-10
J1-11
J1-12

General Cable

C0720

General Cable

C0721

General Cable

C0722

From

1756-M02AE

From

1756-M02AE

From

1756-M02AE

Ultra 200 Series

Digital Servo Drive

Interface

Cable

P/N 9109-1369-003

J1

24V

BRAKE

RESET

Individually Jacketed pairs

1398-CFLAE

J1

1.0 in.

5.0 in.

Figure 13 Wiring to an Ultra 200 Series Drive

Note: This is a general wiring example only. Other configurations are
possible. For more information, refer to the Ultra 200 Series Installation Manual,
publication number 1398-5.0.

Figure 14 1398-CFLAExx Cable Diagram

Note: The 1398-CFLAE Cable is available in 10, 25, and 50 foot lengths.

Publication 1756-IN047D-EN-P - March 2001

Analog Encoder (AE) Servo Module 19

WHT/ORG 22GA

WHT/YEL 22GA

DRAIN

TAN 28GA

DRAIN

WHT/RED 22GA

WHT/BLK 22GA

DRAIN

WHT/GRN 22GA
WHT/BLU 22GA

DRAIN

BROWN 28GA

RED 28GA
ORANGE 28GA
YELLOW 28GA

DRAIN

GREEN 28GA

BLUE 28GA

VIOLET 28GA

GRAY 28GA

WHITE 28GA

BLACK 28G

DRAIN

49
50

21

5
6

22
23

26
24
20
25
13

7
8

9
10
11
12

BRAKE +
BRAKE -

RESET

24VDC
24VCOM

COMMAND +
COMMAND -

24VDC
READY +
ENABLE
READY ­24VCOM

AOUT +
AOUT ­BOUT +
BOUT ­IOUT +
IOUT -

Wires

Terminated

with

Ferrules

Wires

Stripped

Back

.25 in.

Figure 15 Pinouts for1398-CFLAExx Cable

Publication 1756-IN047D-EN-P - March 2001

20 Analog Encoder (AE) Servo Module

24 VDC

Field Power

Supply

REG24V

IN_COM

General Cable

C0720

From

1756-M02AE

+-

24 Volt

Sourcing Type

Registration

Sensor

Supply
Output
Common

5 VDC

Field Power

Supply

REG5V

IN_COM

General Cable

C0720

From

1756-M02AE

+-

5 Volt

Sourcing Type

Registration

Sensor

Supply
Output
Common

Wiring Registration Sensors

The registration inputs to the servo module can support 24V or 5V
registration sensors. These inputs must be wired to receive source current
from the sensor. Only use sourcing type registration sensors. Current sinking
sensor configurations are not allowed because the registration input common
(IN_COM) is shared with the other 24V servo module inputs.

Figure 16 24V Registration Sensor

Figure 17 5V Registration Sensor

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Analog Encoder (AE) Servo Module 21

24 VDC

Field Power

Supply

HOME

IN_COM

General Cable

C0720

From 1756-M02AE

+-

Wiring the Home Limit Switch Input

The home limit switch inputs to the servo module are designed for 24V
nominal operation. These inputs should be wired for current sourcing
operation.

Figure 18 Home Limit Switch

Wiring the OK Contacts

A set of isolated solid-state OK relay contacts is provided for optional
interface to an E-stop string, which controls power to the associated drives.
The OK contacts are rated for pilot duty and can drive an external 24V relay
(for example, Allen-Bradley 700-HA32Z24) whose contacts can be
incorporated into the E-Stop string as shown below.

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22 Analog Encoder (AE) Servo Module

IMPORTANT

24 VDC

Field Power

Supply

+OK

-OK

General Cable

C0720

From 1756-M02AE

+-

OK Relay

OK Relay
Contacts

Start

CR1

Stop

CR1

CR1

M1

+

-

24 VDC

Field Power

Supply

To User's circuitry

+OK -OK

Figure 19 OK Relay Pilot Duty Application Wiring

When the OK Relay is loaded with an inductive load,
use a counter-EMF suppression diode across the load.
The maximum rating of the OK relay contacts must not
exceed 60V DC.

Assembling the Removable Terminal Block and Housing

To assemble the removable terminal block and housing:

Publication 1756-IN047D-EN-P - March 2001

1. Align the grooves at the bottom of each side of the housing with the
side edges of the RTB.

2. Slide the RTB into the housing until it snaps into place

Analog Encoder (AE) Servo Module 23

WARNING

!

WARNING

!

Groove

Side edge of RTB

Strain relief area

Groove

Side edge of RTB

1756-TBCH RTB shown for reference

Figure 20 RTB and Housing.

Installing the Removable Terminal Block onto the Module

A shock hazard exists. If the RTB is installed onto the
module while the field-side power is applied, the RTB is
electrically live. Do not touch the RTB terminals. Failure
to observe this caution can cause personal injury.

When you connect or disconnect the RTB with field
side power applied, an electrical arc can occur. This
could cause an explosion in hazardous location
installations. Be sure that all sources of power are
removed or the area is nonhazardous before proceeding.

Before installing the RTB, make certain:

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24 Analog Encoder (AE) Servo Module

P

O

W

E

R

Top

guide

Bottom

guide

Left side

guides

• field-side wiring of the RTB has been completed.

• the RTB housing is snapped into place on the RTB.

• the RTB housing door is closed.

• the locking tab at the top of the module is unlocked.

To install the removable terminal block onto the module:

1. Align the top, bottom, and left side guides of the RTB with the guides
on the module.

Figure 21 Aligning RTB

2. Press quickly and evenly to seat the RTB on the module until the
latches snap into place.

3. Slide the locking tab down to lock the RTB onto the module.

Publication 1756-IN047D-EN-P - March 2001

Analog Encoder (AE) Servo Module 25

P

OW

E

R

Locking

tab

Figure 22 Locking Tabs

Checking the LED Indicators

The module provides bi-colored LED indicators to show individual drive and
feedback status for both axes and a single bi-colored LED for module OK.

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26 Analog Encoder (AE) Servo Module

CH 0 CH 1

FDBK

DRIVE

OK

2 AXIS SERVO

FDBK

DRIVE

Figure 23 1756-M02AE Module LEDs

During power up, the module completes an indicator test. The OK indicator
turns red for 1 second and then turns to flashing green if the module passes
all its self tests.

This completes the installation of the module.

Understanding Module Status Using the OK Indicator

If the OK LED
displays:

Off The module is not operating. • Apply chassis power.

Then the module status
is:

Take this action:

• Verify the module is completely
inserted into the chassis and
backplane.

Flashing green
light

The module has passed
internal diagnostics, but it is
not communicating axis
data over the backplane.

• None, if you have not
configured the module.

• If you have configured the
module, check the slot number
in the 1756-M02AE Properties
dialog box.

Publication 1756-IN047D-EN-P - March 2001

Analog Encoder (AE) Servo Module 27

If the OK LED
displays:

Steady green
light

Flashing red
light

Solid red light • A potential

Then the module status
is:

• Axis data is being
exchanged with
the module.

• The module us in
the normal
operating state.

• A major
recoverable failure
has occurred.

• A communication
fault, timer fault,
or NVS update is
in progress.

• The OK contact
has opened.

nonrecoverable
fault has occurred.

• The OK contact
has opened.

Take this action:

None. The module is ready for action.

If an NVS update is in progress,
complete the NVS update.
If an NVS update is not in progress:

• Check the Servo Fault word for
the source of the error.

• Clear the servo fault condition
using the Motion Axis Fault
Reset instruction.

• Resume normal operation.

• If the flashing persists,

reconfigure the module.

• Reboot the module.

• If the solid red persists, replace

the module.

Understanding Module Status Using the FDBK Indicator

If the FDBK
LED displays:

Off The axis is not used. • None, if you are not using this

Flashing green
light

Then the module status
is:

The axis is in the normal
servo loop inactive state.

Take this action:

axis.

• If you are using this axis, make
sure the module is configured
and an axis tag has been
associated with the module.

None. The servo axis state can be
changed by executing motion
instructions.

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28 Analog Encoder (AE) Servo Module

If the FDBK
LED displays:

Steady green
light

Flashing red
light

Solid red light An axis encoder feedback

Then the module status
is:

The axis is in the normal
servo loop active state.

The axis servo loop error
tolerance has been
exceeded.

fault has occurred.

Take this action:

None. The servo can may be changed by
executing motion instructions.

• Correct the source of the
problem.

• Clear the servo fault condition
using the Motion Axis Fault
Reset instruction.

• Resume normal operation.

• Correct the source of the

problem by checking the
encoder and power
connections.

• Clear the servo fault condition
using the Motion Axis Fault
Reset instruction.

• Resume normal operation.

Understanding Module Status Using the DRIVE Indicator

If the DRIVE
LED displays:

Off • The axis is not

Flashing green
light

Then the module status
is:

used.

• The axis is a
position-only axis
type.

The axis drive is in the
normal disabled state.

Take this action:

• None, if the axis is not used or
is a position-only type.

• Otherwise, make sure the
module is configured, an axis
tag has been associated with
the module, and the axis type is
servo.

None. The servo axis state can be
changed by executing motion
instructions.

Publication 1756-IN047D-EN-P - March 2001

Analog Encoder (AE) Servo Module 29

WARNING

!

If the DRIVE
LED displays:

Steady green
light

Flashing red
light

Solid red light The axis drive is faulted. • Check the drive status.

Then the module status
is:

The axis drive is in the
normal enabled state.

The axis drive output is in
the shutdown state.

Take this action:

None. The servo axis state can be
changed by executing motion
instructions.

• Check for faults that may have
generated this state.

• Execute the Shutdown Reset
motion instruction.

• Resume normal operation.

• Clear the Drive Fault condition

at the drive.

• Clear the servo fault condition
using the Motion Axis Fault
Reset instruction.

• Resume normal operation.

• Check the configuration for the

Drive Fault.

- If configured to be normally
open and there is no voltage,
this is the normal condition.

- If configured to be normally
closed and 24V is applied,
this is the normal condition.

Removing the Removable Terminal Block from the Module

A shock hazard exists. If the RTB is removed from the
module while the field-side power is applied, the module
is electrically live. Do not touch the RTBs terminals.
Failure to observe this caution can cause personal injury.

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30 Analog Encoder (AE) Servo Module

WARNING

!

P

OW

E

R

P
U

L
L

H
E

R
E

D
A
N
G
E
R

P
U
L
L

H
E

R
E

D
A
N
G
E
R

When you connect or disconnect the RTB with field
side power applied, an electrical arc can occur. This
could cause an explosion in hazardous location
installations. Be sure that all sources of power are
removed or the area is nonhazardous before proceeding.

You must remove the RTB before you can remove the module.

To remove the RTB from the module:

1. Unlock the locking tab at the top of the module.

2. Open the RTB door using the bottom tab.

3. Hold the spot marked PULL HERE and pull the RTB toward you and

off the module.

Figure 24 Removing RTB

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Analog Encoder (AE) Servo Module 31

PO

W

ER

Removing the Module from the Chassis

To remove the module from the chassis:

1. If the RTB is on the module, unlock the RTB and remove it. For
more information, refer to Removing the Removable Terminal Block from the
Module.

2. Push in and hold the top and bottom locking tabs on the module.

Figure 25 Hold Locking Tabs

3. Pull the module out of the chassis.

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32 Analog Encoder (AE) Servo Module

PO

WE

R

Figure 26 Pulling Module Out

Module Specifications

Number of axes 2 axes maximum
Servo loop

Typ e
Gain resolution
Absolute position range

Rate
Module location 1756 ControlLogix chassis
Module keying Electronic
Power dissipation 5.5W maximum
Backplane current 5.1V dc @ 700 mA and 24V dc @ 2.5 mA
Encoder input

Typ e

Mode

Rate

Electrical interface

Voltage range
On state
Off state
Input impedance

Nested PI digital position and velocity servo
32-bit floating point
±1,000,000,000 encoder counts
5 kHz

Incremental AB quadrature with marker
4X quadrature
4 MHz counts per second maximum
Optically isolated 5V differential

3.4V to 5.0V
0V to 1.8V
531 Ohms differential

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Analog Encoder (AE) Servo Module 33

Registration inputs

Typ e

24V input voltage

Maximum
Minimum on
Maximum off

5V input voltage

Maximum
Minimum on
Maximum off

Input impedance

24V input
5V input

Response time

(position latched)

All other inputs

Typ e

Input voltage

Maximum
Minimum on
Maximum off

Input impedance
Servo output

Typ e

Isolation

Voltage range

Voltage resolution

Load

Maximum offset

Gain error

Optically isolated, current sinking input
+24V dc nominal

26.4V

18.5V

3.5V
+5V dc nominal

5.5V

3.7V

1.5V

9.5 kOhms

1.2 kOhms
1µs

Optically isolated, current sinking input
+24V dc nominal

26.4V

17.0V

8.5V

7.5 kOhms

Analog voltage
200 kOhms
±10V
16 bits

5.6 kOhms resistive minimum
25 mV
±4%

All other outputs

Typ e

Operating voltage

Maximum

Operating current

Solid-state isolated relay contacts
+24V dc nominal (Class 2 source)

26.4V

75 mA
RTB keying User-defined
Field wiring arm

36-position RTB (1756-TBCH or -TBS6H)
RTB screw torque (cage clamp) 5 lb-in. (0.5 Nm) maximum
Conductors

Wire size

Category

22 AWG to 14 AWG copper

3/64 inch (1.2 mm) insulation maximum

2,3

1
Screwdriver blade width for RTB 1/8 inch (3.2 mm) maximum

1

1

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34 Analog Encoder (AE) Servo Module

N223

Environmental conditions

Operating temperature
Storage temperature
Relative humidity

Agency Certifications
When product is marked

1) Maximum wire size will require the extended depth RTB housing (1756-TBE).

2) Use this conductor category information for planning conductor routing as described in the system
level installation manual.

3) Refer to Industrial Automation Wiring and Grounding Guidelines, publication number 1770-4.1.

0 to 60ºC (32 to 140ºF)

-40 to 85ºC (-40 to 185ºF)
5 to 95% noncondensing

Listed Industrial Control Equipment

Certified Process Control Equipment
Certified Class I, Division 2, Group A, B, C, D

Marked for applicable directives

Marked for all applicable acts

Installation Environment

This product must be mounted within a suitable system enclosure to prevent
personal injury resulting from accessibility to live parts. The interior of this
enclosure must be accessible only by the use of a tool.

This industrial control equipment is intended to operate in a Pollution Degree
2 environment, in overvoltage category II applications, (as defined in IEC
publication 664A) at altitudes up to 2000 meters without derating.

The following information applies when operat­ing this equipment in hazardous locations:

Products marked “CL I, DIV 2, GP A, B, C, D” are suitable for use in Class I
Division 2 Groups A, B, C, D, Hazardous Locations and nonhazardous
locations only. Each product is supplied with markings on the rating
nameplate indicating the hazardous location temperature code. When
combining products within a system, the most adverse temperature code
(lowest “T” number) may be used to help determine the overall temperature

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Analog Encoder (AE) Servo Module 35

WARNING

!

code of the system. Combinations of equipment in your system are subject to
investigation by the local Authority Having Jurisdiction at the time of
installation.

EXPLOSION HAZARD –

• Do not disconnect equipment unless power has
been removed or the area is known to be
nonhazardous.

• Do not disconnect connections to this equipment
unless power has been removed or the area is
known to be nonhazardous. Secure any external
connections that mate to this equipment by using
screws, sliding latches, threaded connectors, or
other means provided with this product.

• Substitution of components may impair suitability
for Class I, Division 2.

• If this product contains batteries, they must only be
changed in an area known to be nonhazardous.

Informations sur l’utilisation de cet équipement
en environnements dangereux:

Les produits marqués «CL I, DIV 2, GP A, B, C, D» ne conviennent qu’à une
utilisation en environnements de Classe I Division 2 Groupes A, B, C, D
dangereux et non dangereux. Chaque produit est livré avec des marquages sur
sa plaque d’identification qui indiquent le code de température pour les
environnements dangereux. Lorsque plusieurs produits sont combinés dans
un système, le code de température le plus défavorable (code de température
le plus faible) peut être utilisé pour déterminer le code de température global
du système. Les combinaisons d’équipements dans le système sont sujettes à
inspection par les autorités locales qualifiées au moment de l’installation.

Publication 1756-IN047D-EN-P - March 2001

36 Analog Encoder (AE) Servo Module

Informations sur l’utilisation de cet équipement
en environnements dangereux:

RISQUE D’EXPLOSION –

• Couper le courant ou s’assurer que l’environnement
est classé non dangereux avant de débrancher
l'équipement.

• Couper le courant ou s'assurer que l’environnement
est classé non dangereux avant de débrancher les
connecteurs. Fixer tous les connecteurs externes
reliés à cet équipement à l'aide de vis, loquets
coulissants, connecteurs filetés ou autres moyens
fournis avec ce produit.

• La substitution de composants peut rendre cet
équipement inadapté à une utilisation en
environnement de Classe 1, Division 2.

• S’assurer que l’environnement est classé non
dangereux avant de changer les piles.

Publication 1756-IN047D-EN-P - March 2001

NOTES:

Analog Encoder (AE) Servo Module 37

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38 Analog Encoder (AE) Servo Module

NOTES:

Publication 1756-IN047D-EN-P - March 2001

NOTES:

Analog Encoder (AE) Servo Module 39

Publication 1756-IN047D-EN-P - March 2001

ControlLogix is a trademark of Allen-Bradley Company, Inc., a Rockwell
International company.

Publication 1756-IN047D-EN-P - March 2001 PN957536-48

Supersedes Publication 1 756-IN047C-EN-P - November 2000 © 2001 Rockwell International Corporation. Printed in USA