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1391-DES Digital AC Servo Drive

1. 115V AC 7 1746 HT 4 M CONTACTOR DRIVE DR RET 17L DROK 115V AC 1A SHLD 18 27 CLOSED 0 SE Encoder Feedback ws 1 A fX 21 1391 Digital CHB i 2 L Servo Drive B CH B LO XX 4 B SHLD CHZ HI 5 7 CHZ LO XX 617 82 Im co 7 5V 8 COMMON 1 VELOCITY COM 2 VELOCITY COM 3 e 9 23V DC ENABLE SOURCE 10 ENABLE INPUT exl Exi AX Im M 24V Stop RES PB RES PB Reset P B RESET STRING IN STRING OUT Remote Axis Hardwired Stop Overtravel i Refer to the 1391 DES Interconnect Drawing for further details B and B NOT are interchanged Use Belden brand 8760 or equivalent shielded cable B 4 Brake when supplied Use Belden brand 9504 or equivalent twisted pair shielded cable 40 feet 12 2 meters maximum Shields grounded at controller only Resolver Appendix B Interconnect Drawings Figure B 3 Typical IMC 120 Interconnect Diagram 1 Termination Panel 115V AC
2. 1771 HT 1326 AC Servomotor 9 24 Brake 9 when supplied 424V LINK Qs ole Stop RES PB RES PB Reset P B RESET STRING OUT 1391 Digital Servo Drive STRING IN Remote Axis Hardwired Stop 1 Overtravel CR CR CONTACTOR alo Il 17 4 DROK 115V AC 1A Bi Resolver 4 TB2 X 2 VELOCITY COM VELOCITY COM 13 n M TB2 9 423V DC ENABLE SOURCE 10 ENABLE INPUT Encoder Feedback TB3 1 A AX 2 A 2 um XX X 5 2 AX 6 2 CR2 II 1 45V XX 8 COMMON Refer to the 1391 DES Interconnect Drawing for further details B and B NOT are interchanged Use Belden brand 9504 or equivalent twisted pair shielded cable 40 feet 12 2 meters maximum Shields grounded at controller only Use Belden brand 8760 or equivalent shielded cable ae 5 Appendix B Interconnect Drawings Figure B 4 Typical IMC 121 123 and 123CR Interconnect Diagram 1 Termination Panel 15VAC 1771 HT3 1326 AC Servomotor Brake when supplied DRIVE ENABL 24V 2 2 RESET 1391 Digital Servo Drive STRING OUT STRING IN
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4. Figure B 8 Typical IMC 201 Interconnect Diagram 115V AC 1326 AC Servomotor K2 1 Brake when supplied 15 82 gj 1391 Digital Servo Drive Remote Axis Hardwired Stop TB4 u Overtravel CONTACTOR ae Resolver TB3 Command Cables2 6 12 1 VELOCITY 11 2 VELOCITY COM E COMMON 6 16 9 ENABLE SOURCE 423V DC 17 10 ENABLE Feedback Cable X 23 ab EET TE 7 7 V 8 y XX 8 COMMON E CR LPS 455 9 45V DC sary oc B 0 a Power Supply 15 COMMON amp Denotes Screw Terminals COMMON TAN DC forShield on IMC 201 Chassis TB4 17 DROK 115V AC 1A CLOSED Refer to the IMC 201 Installation and Setup Manual 999 108 and the 1391 DES Interconnect Drawing for further details Use Belden brand 8760 or equivalent shielded cable Use Belden brand 9504 or equivalent twisted pair shielded cable 40 feet 12 2 meters maximum Shields grounded at controller only Use Belden brand 9533 or equivalent shielded cable X Axis TB3 connections are shown secondary feedback TB5 connections are identical to the TB3 connections If the drive is to be operated as a torque block command wires should be connected to 1391 DES TB2 15 16 amp 17 amp R Ut n Appendix B Interconnect Drawi
5. YOLOW OI H ONVIALOO AVIA ASZ JB WISE I VOS THINA AS CINVIAIAOO ALIOO THA D 4 Appendix Parameter Record Introduction The following list can be used to record final parameter values for reference at a later date It is recommended that any changes made to the parameter values be recorded after loading them into EEprom Important Initializing the EEprom will convert all values to the defaults listed and delete any previous values Parameters with a in the Actual column should not be changed unless you have consulted Allen Bradley Machine Designation Axis Designation Date Name General Information View Level Parameter Description Default Actual 03 Drive Size 19 Final Velocity Command 20 Velocity Feedback 45 Iq Torque Current Reference 50 Current Feedback Rated 51 Current Limit 5 Analog Velocity Command 1 154 Motor Type 253 Display Software Version 254 Drive Software Version 5 1 Appendix E Parameter Record E 2 Modify Level Parameter Description 68 Bandwidth Maximum 69 Auto Tune Friction 128 EEprom Functions 130 Drive OK Mode 131 Language Select 132 Velocity Mode Select 133 Torque Mode Select 144 Clockwise Velocity Limit 145 Counterclockwise Velocity Limit 146 Accel Decel Ramp 156 Positive Current Limit 157 Negative Current Limit
6. Remote Axis Hardwired Stop Overtravel n d 1 M CONTACTOR 1 DROK 115V AC 1A 8 7 CLOSED 0 Resolver 2 2 2 9 23V DC ENABLE SOURCE 0 ENABLE INPUT IMC Module 338 TB2 823 2 VELOCITY 2 32 1 VELOCITY cou 8 Im 1 8 A Y gis X s Male D Shell 2 x 1 2 Connector to B 55 Axis Connector y XX X B A on IMC Module XX z ME CR2 88 aoe 2 1391 CAQB Cable 1 Refer to the 1391 DES Interconnect Drawing for further details 2 BandB NOT are interchanged 3 If the drive is to be operated as a torque block from an IMC 121 or 123 command wires should be connected to TB2 15 16 amp 17 B 6 Appendix B Interconnect Drawings Figure B 5 Typical MAX CONTROL Interconnect Diagram 115V AC 1326 AC Servomotor E 81 Brake when supplied 1 1 82 gj 1391 Digital Servo Drive Remote Axis Hardwired Stop TB4 m M CONTACTOR v B m he esolver TB2 3
7. USA 888 932 9183 CANADA 905 829 2505 Over 100 years cumulative experience 24 hour rush turnaround technical support service Established in 1993 The leading independent repairer of servo motors and drives in North America Visit us on the web Www servo repair com www servorepair ca www ferrocontrol com www sandvikrepair com www accuelectric com Scroll down to view your document For 24 7 repair services USA 1 888 932 9183 Canada 1 905 829 2505 Emergency After hours 1 416 624 0386 Servicing USA and Canada ALLEN BRADLEY B 1391 DES Digital AC Servo Drive User Manual Important User Information Because of the variety of uses for this equipment and because of the differences between this solid state equipment and electromechanical equipment the user of and those responsible for applying this equipment must satisfy themselves as to the acceptability of each application and use of the equipment In no event will Allen Bradley Company be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The illustrations shown in this manual are intended solely to illustrate the text of this manual Because of the many variables and requirements associated with any particular installation the Allen Bradley Company cannot assume responsibility or liability for actual use based upon the illustrative uses and applications
8. 9 3 Transformers and Shunt Regulators Chapter 10 Troubleshooting Dimensions Interconnect Drawings Cable Information Block Diagrams Parameter Record Chapter 10 1 1391 Transformers nae den Ed E 10 1 Shunt Regulator Operation 10 3 Shunt Regulator Installation 10 5 Chapter 11 Chapter ObJeGtves ecce be e ee wa eee 11 1 System Troubleshooting 11 1 Appendix A Appendix B Appendix C Appendix D Appendix E Manual Objectives Chapter Introduction This manual is meant to guide the interface installation programming and troubleshooting of a 1391 DES Digital AC Servo Drive The contents are arranged in order from a general description of the drive to troubleshooting and maintenance To assure successful installation and operation the material presented must be thoroughly read and understood before proceeding Particular attention must be directed to the Attention and Important statements contained within Important Information about this Manual This manual has been prepared primarily to support this product in a single drive application It is a standard document that is intended to help the user understand the individual operating characteristics and limitations of this equipment includi
9. 230V AC three phase Open Core 035 3 5 Phase 60 Hz and four 36V AC and Coil 050 5 0 single phase E 240 380 415 480V AC ih Three Phase 50 60 Hz C T windings 150 150 208 230 460 575V AC Three Phase 60 Hz NEMA Type 1 Transformer Enclosure Kit 1391 TA2 Bulletin Accessory Number Module Letter Description TA2 Fits all kVA ratings on 1386 1388 1389 and 1391 Isolation Transformers External Shunt Regulator Resistor 1391 MOD SR22A First Position Second Position Third Position Bulletin Number Type Description Code Description Code Description MOD SR22A Shunt Regulator Resistor for 22 5A Drive tion Kit SR45A Shunt Regulator Resistor for 45A Drive 1 1 Drive comes equipped with this resistor as standard Catalog number is provided if spare or replacement is required 3 2 1391 First Position Bulletin Number 1326 First Position Second Position Bulletin Number Bulletin 1391 DES Drive DES15 Second Position Configuration Current Rating Code DES15 DES22 DES45 Description 15A Continuous Current 22 5A Continuous Current 45A Continuous Current A B A Third Position Fourth Position Fifth Position Motor Type Design Series Length Letter Description Description Description Description A AC Factory Sequentially Sequentially Servomotor use only lettered to numbered to PM Type designate frame indicate stack diameters length within a given frame size
10. 5 nva as ott 850 S9D 69D MERIIN waive 109195 3OvnoNv1 tet 31907 5115 sva OO ANNLOLNY INNLOINY INI zz 2 SUNNA Sd AL ualavav lt AnO3LL wn avis X ssov Wedd Cl NWS NWS vez eee Snivis SNNLOING oLan Snivis anaa eu 1391 DES Software Block Diagram Part 2 A inozva stad stad NWO VA Lu weds ANOTVA 8s E eu lt gt 706 ZOZ aD PYPP Au QAI anejecoe Moav aug wu aun egeuo 83g uuene gt Lag aas awp 4 EIS MUP 135440 Pp sad asi enis enup Sag S P Sag Poe vada paque
11. Code Description DI Third Position User Interface Code DI Description Includes Integral Display 1326AB Servomotor 3 4 25 108 mm 5 88 149 mm 7 63 194 mm Chapter 3 Receiving Unpacking and Inspection AQB Fourth Position Output Configuration Code Description AQB Encoder Output 2048 1024 512 256 selectable pulses motor revolution E 11 A Fifth Position Options Letter Description A 24V DC M contactor coil voltage instead of 115V AC available on 22A drives only Blank 115V AC M contactor coil voltage A4 Sixth Position Seventh Posi Eighth P osi tion tion Max Op Mounting amp Shaft Standard Speed 2 Description Options Letter RPM Code Description B 1600 2000 11 NEMA Inch Combina 2000 3000 tion Face Flange with Keyway E 3000 4000 21 IEC Metric Flange Code Description 4 72 Ib in 8 1 N m Holding Brake w 90V DC Coil A5 120 lb in 13 6 N m Holding Brake w 90V DC Coil 7 3601b in 40 7 N m Holding Brake w 90V DC Coil K4 721b in 8 1 N m Holding Brake w 24V DC Coil K5 1201b in 13 6 N m Holding Brake w 24V DC Coil K7 3601b in 40 7 N m Holding Brake w 24V DC Coil 2 Ratings shown indicate the rated speed and speed capability of the motor with the 1391 DES rated w 1391 DES 3 3 Chapter 3 Receiving Unpacking and Inspection 1326AB Torque Plus Series Servomotor 1326 AB 4 30 E 21 M
12. Minimum Value 10 00 lag Maximum Value 10 00 lead Default Value 1 00 Parameter 186 Lead Lag Velocity Fdbk Filter BW Lead Lag BW Specifies the bandwidth of the velocity feedback filter Parameter Type View modify in Modify level and Maintenance level Minimum Value 0 rads second Maximum Value 2700 rads second Default Value 250 rads second Parameter 187 Auto Tune Velocity Auto Tune Vel This parameter specifies the maximum velocity attained during an auto tune cycle Parameter Type View modify in Modify level and Maintenance level Minimum Value 2000 rpm Maximum Value 42000 rpm Default Value 41000 rpm Chapter 6 Programming 6 20 Parameter 188 Auto Tune Current Limit Auto Tune Cur The motor current used while an auto tune cycle is executing is specified with this parameter Parameter Type View modify in Modify level and Maintenance level Minimum Value 0 Maximum Value 200 rated motor current in amperes Default Value 5096 rated motor current in amps Parameter 189 Auto Tune Inertia Auto Tun Inert This parameter is calculated during auto tune and is the time that the motor or motor and system takes to reach Auto Tune Velocity parameter 187 at Auto Tune Current Limit parameter 188 and back to zero rpm To determine the inertia of the machine system use the following formula Parameter 189 L X Motor cual from Motor Data Sheet in Ib in sec2 Parameter 1
13. Output 35 ntegral Velocity Error 44 External Torque Reference 46 d Flux Current R eference 47 T Protection Limit 48 Bridge Current Limit 49 Current Feedback Scale 58 D A 1 Command Value 59 D A 2 Command Value 129 Units Select 135 Up to Speed Tolerance 136 Drive Address 155 Rated Motor Current 158 Current Rate Limit 172 Velocity Loop Integrator Preset Value 181 Motor Inertia 199 Friction Compensation 200 Friction Hysteresis 201 Friction Bit 213 D A 2 Gain 222 d RPM Start 223 d RPM End 224 d Percent Limit 234 Transport Compensation 243 ndirect Sink Parameter 1 244 ndirect Source Parameter 1 245 ndirect Sink Parameter 2 246 ndirect Source Parameter 2 251 Access Timeout 252 Drive Init Stats In addition to the three levels described each level has additional auxiliary menus These menus allow quick access to important parameters such as fault status and setup data Refer to Figure 6 3 for further information 6 4 Chapter 6 Programming Figure 6 3 1391 DES Programming Levels Basic Display alternating View current fault status View Level i Use Left amp Right 2 Arrow Keys to Move rive status through Selections Parameters Down Arrow Key A Up Arrow Key View modify parameters LeftArrow Key Right Arrow Key View Level Parameters Status Messages Fault Messages Use Up amp Down
14. 0 30 7 6 gt 3 70 93 9 ALLEN BRADLEY 19 00 482 6 18 40 1391 467 4 17 13 435 1 Y See Detail B y 4 50 114 3 e 0 10 228 6 _ gt 6 20 157 5 gt 0 85 21 6 lt 11 56 293 6 gt Notes 1 Mounting slots and keyholes will accept 1 4 20 7 mm hardware 2 minimum spacing of 0 312 7 9 mm is required between adjacent controllers 1 25 4 mm is recommended Appendix A Dimensions Figure A 2 1391 Isolation Transformer Dimensions Dimensions are in inches and millimeters 0 22 5 6 R 053 135 lt 0 44 11 2 Ref Catalog Number kVA A B Weight 1391 T015DT 1 5 9 00 228 10 00 254 13 00 330 5 00 127 3 10 79 21 12 2 1391 1015 9 00 228 10 00 254 13 00 330 5 00 127 3 50 89 40 18 2 1391 T035DT 3 5 11 00 279 11 00 279 14 00 356 6 00 152 4 50 114 60 27 2 1391 035 11 00 279 11 00 279 14 00 356 6 00 152 4 50 114 85 38 6 1391 T050DT 5 0 11 00 279 11 00 279 14 00 356 6 00 152 5 25 133 15 34 0 1391 050 11 00 279 11 00 279 14 00 356 6 00 152 6 00 152 100 45 4 1391 T100DT 10 0 12 00 305 12 50 317 16 00 406 8 00 203 5 85 149 112 50 8 1391 100 12 00 305 12 50 317 16
15. 3 Label and remove the motor leads and three phase input at TB4 Also remove the drive ground wire 4 Remove the Memory Board Refer to Figure 11 1 and the following page for further information Remove the drive and insert replacement unit 6 Reconnect the ground wire motor leads three phase input and signal connectors previously removed 7 Replace the Memory Board previously removed 8 Apply power to the system and check for proper operation tuning should not be required Chapter 11 Troubleshooting Display Board Substitution 1 Remove all power to the drive branch circuit 2 Remove the front cover from the drive 3 Loosen the 4 thumb screws and remove the cable between the Display and Logic Control Boards Remove the Display Board 4 Install the new Display Board Reconnect cable Apply power to the system and check for proper operation tuning is not be required Memory Board Substitution 1 2 3 4 5 Remove all power to the drive branch circuit Remove the front cover from the drive Remove the Memory Board by squeezing the nylon latches Install the new Memory Board Apply power to the system tuning will be required Logic Control Board Substitution 1 2 Remove all power to the drive branch circuit Remove the front cover from the drive Label and remove the ribbon cables and signal connectors TB1 and TB2 from the Logic Control Board Remove the Memory and Display
16. 554 4 awn mvs 4 7 fit ANNO I 8L wos TInH AS T Tal auHsTWua o NIHAN OTN DA 2 s rar 5 ANH TRE vs gt rna NOLIWLIOXA ter es uawlosqud 9 Tat es vaL 2 ts t 1 Tal q HHSWHuOlOH maam cod DNCD 55655555600 6 E NOLLISOd var SNA OO E Tu Snuvis INM NISZA 008 D Iauna Ynos TAL Inam oona 4 Ast zl CINMWIAOO anO Yor Li nvasa zr 9 GINOSOWNV LNIYYND 4 4 HOLOW Andino HOWL rinv4sa Eod neo lt 4 YOLVTIDSO X80449 zasz 1 STIONVRLL _ TONAL 128r anowoL T zal 4 zai 1 anouoL 1 1 lt Er eui HOIVuH3NJo HOJNVHOINI awd 71 7 Wid ay 1 Gear GNOS TIDJ AS 2 CINMWIAOO j eur 4 4 cau 4 5 ALDAN vama wawi 1 Sna ssauaav awv viva ONIS 1 4
17. Chapter Installation Chapter 7 provides the information needed to help properly mount and wire the 1391 DES Servo Drive for operation Since most start up difficulties are the result of incorrect wiring every precaution must be taken to assure that the wiring is done as instructed All items must be read and thoroughly understood before the actual installation begins proper installation The National Electrical Code and any other governing regional or local code will overrule this information The Allen Bradley Company cannot assume responsibility for the compliance or the noncompliance to any code national local or otherwise for the proper installation of this drive or associated equipment A hazard of personal injury and or equipment damage exists if codes are ignored during installation ATTENTION The following information is merely a guide for Mounting dimensions for the 1391 DES Servo Drive can be found in Appendix A Chapter 2 provides information on power dissipation and environmental specifications The drive must be located on a flat rigid vertical surface and must not be subjected to shock vibration moisture oil mist dust corrosive vapors etc or temperatures that exceed 60 C 140 F ambient Drives can be mounted adjacent to each other with a minimum clearance of 0 312 7 9 mm between units and or surrounding cabinetry and non current carrying surfaces However it is recommended that a space of appr
18. 1326 AC Servomotors Table 9 A provides a comparison of the resultant speed obtained from standard 1326 servomotors using 1391 and 1391 DES Servo Drives Table 9 B provides performance data for the 1326AB Torque Plus Series Motors Table 9 A 1391 1391 DES Speed Comparison 1 2 1391 DES Speed rpm 6000 4000 4000 4000 4000 4000 4000 4000 4000 3000 2000 Motor Catalog Number 1326AB A1G 1326AB A2E 1326AB A3E 1326AB B2E 1326AB B2E 1326AB B3E 1326AB B3E 1326AB C2E 1326AB C3E 1326AB C4C 1326AB C4B Servo Amplifier Catalog Number 1391 DES15 1391 DES15 1391 DES15 1391 DES15 1391 DES22 1391 DES22 1391 DES45 1391 DES45 1391 DES45 1391 DES45 1391 DES45 Amperes at Continuous Stall Torque 45 5 2 78 15 0 16 8 22 5 24 6 33 2 49 1 46 6 38 2 Rotor Inertia Ib in s kg m 0 004 0 0005 0 007 0 0008 0 010 0 001 0 05 0 006 0 05 0 006 0 08 0 009 0 08 0 009 0 14 0 015 0 22 0 024 0 29 0 032 0 29 0 032 1 All ratings are for 40 C motor ambient 110 C case and 60 C amplifier ambient For extended ratings at lower ambients contact Allen Bradley 2 The motor contains two thermal switches wired in series that will open on an overtemperature condition They are set to open at 150 C typical and close at 90 100 typical Contacts are rated for 1A at 115V AC 1 at 24V DC 3 10 line voltage maximum Continuous Stall Torque Ib in N m 24727 40 4 5 58 6 6 92 10 4
19. 845H T Encoder for AB B series motor A5 Torque P lus 6 845H T Encoder for AB C series motor A7 Torque Plus 22 Type VCND 4 25 108 mm Resolver for AB B series motor A5 Torque Plus 23 Type VCND 4 25 108 mm Resolver for AB C series motor A7 Torque Plus 24 0 375 9 5 mm diameter heavy duty shaft extension adapter 25 0 625 15 9 mm diameter heavy duty shaft extension for type VC VD 4 25 108 mm resolver 26 Footmounting kit for M25 6 All kits contain a feedback device mounting adapter and mounting hardware M4 5 and M6 include a motor to encoder coupling M22 and M23 do not include a coupling since it is included with the resolver feedback device 3 5 Chapter 3 Receiving Unpacking and Inspection Feedback Coupling 1326 MOD First Position Second Position Third P osition Bulletin Coupling Number Type Size Code X Description Code Size Motor Shaft to Encoder Shaft MOD Modifica C1 3 8 to 3 8 9 5 mm to 9 5 mm tion Kit Standard on all 1326AB Motors C2 14 3 8 6 4 mm to 9 5 mm 7 The feedback coupling is included as standard with all Feedback Mounting Adapter Kits Resolver Feedback Package 1326 MOD VC 1 1 First Position Second Position Third Position Fourth Position Bulletin Resolver Feedback Gear Ratio Number Type Package Input Resolver Code Description Eod MOD Modifica tion Kit 8 REED ee ee 4 Code Descri
20. Be prepared to open MCB on the drive if the motor does not run correctly under this condition the motor current limit is set to 2596 of rated current to minimize motor speed press Enter to continue The display will now read enable to strt rotation test Energize the contactor M and enable the drive A correctly wired drive will rotate the motor clockwise at 30 rpm for 5 seconds stop for 2 seconds then rotate the motor counterclockwise for 5 seconds then stop If the motor runs away or does not rotate verify all power and resolver wiring The display will now read disable drive to continue Disable the drive by opening the Enable input leaving the contactor energized Display press enter to exit motor test press Enter The display will now read zero analog velocity offset press Enter In this mode the drive will automatically adjust out any offset while the motor remains at zero speed When the display reads enable to strt zero vel offset apply the Enable input to the drive The display will now read jumper analog velocity inputs Jumper TB2 1 to TB2 2 This applies zero volts to the velocity inputs Press Enter to continue The display will now read now zeroing velocity offset The drive can take up to 60 seconds to zero the offset If zeroing was successful the display will show velocity zero complete Remove the jumper and press Enter Important If for some
21. Command Cables IE 6 15 XX 1 VELOCITY COM 14 2 VELOCITY COM 1 E COMMON 19 9 ENABLE SOURCE 23V DC 20 10 ENABLE 1 Feedback Cable ab TH 7 8 XX 8 COMMON CR LPS 455 TB2 3 LN sire 16 42V DC 17 1 12V DC Power Supply 18 COMMON COMMON 424v DC TB2 3 TB4 7 18L PROK 115VAC 1A 31 0 T CLOSED 0K Bo Refer to the MAX CONTROL Installation and Setup Manual 999 051 and the 1391 DES Interconnect Drawing for further details Use Belden brand 8760 or equivalent shielded cable Use Belden brand 9504 or equivalent twisted pair shielded cable 40 feet 12 2 meters maximum Shields grounded at controller only Use Belden brand 9533 or equivalent shielded cable X axis connections are shown Y axis connections TB3 are identical If the drive is to be operated as a torque block command wires should be connected to 1391 DES TB2 15 16 amp 17 fF MN Appendix B Interconnect Drawings CR LPS 455 15 45V DC COMMON snsypc 15V DC 15V DC Power Supply COMMON Figure B 6 Typical IMC S 20x Interconnect Diagram 115V AC 1326 AC Servomotor K1 K2 Ef Bl Brake lt when supplied 1 1 82 gj 1391 Digital Servo Drive Remote Axis Hardwired Stop TB4
22. Control Board C 3 Appendix C Cable Information End of Appendix 4 Objectives Appendix Block Diagrams Appendix D provides detailed software and hardware block diagrams for the 1391 Digital AC Servo Drive You may use these to gain a better understanding of the 1391 DES software system ALIDOTAN NA NIV 2721 MOIS YOLVINNINDOY SNINOS YALA avd NOLLISOd 4 e MOAS Dvacdaaa YIA Avaa adi 1591 NOLLISOd 5 SNYNL YANTIOSSY Wd 3svg 9607 5 1594 Avaa lt ve OEC Y ALIDO TJA TaN asda rs yeaa CNO Hud NIV SINI ALDOTAA 434 ALIDOTAA Ouzz S 129195 Del 3nouoL 960r O LNI YAN D i UI re 1 gt INIS 15 4 1007 4107
23. Default Value Set by Setup drive with motor data routine Parameter 145 Counterclockwise Velocity Limit CCW Vel Limit The maximum counterclockwise negative velocity reference is specified by this parameter Parameter Type View modify in Modify level and Maintenance level Minimum Value 0 Maximum Value 1000 rpm Default Value Set by Setup drive with motor data routine Parameter 146 Accel Decel Ramp Acc Dec Ramp This parameter specifies the largest change in the velocity command per velocity loop sample that will be allowed except when an immediate stop causes the velocity limit block to be bypassed Parameter Type View modify in Modify level and Maintenance level Minimum Value 5 revs per sec sec Maximum Value 22216 revs per sec sec Default Value 22216 revs per sec sec Parameter 154 Motor Type The catalog number of the 1326 servomotor currently installed is contained in this parameter Important Changing this parameter doesn t change any motor related parameters Motor changes must be made through the Setup drive with motor data menu Parameter Type Can be viewed in all levels modified in Maintenance level Default Value Set by Setup drive with motor data routine Parameter 155 Rated Motor Current Mtr Rated Cur This parameter scales the current feedback in the drive to match the servomotors continuous current rating Parameter Type View modify in Maintenance level Minimum V
24. No patent liability is assumed by Allen Bradley Company with respect to use of information circuits or equipment described in this text Reproduction of the content of this manual in whole or in part without written permission of the Allen Bradley Company is prohibited This information in this manual is organized in numbered chapters Read each chapter in sequence and perform procedures when you are instructed to do so Do not proceed to the next chapter until you have completed all procedures circumstances that can lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or Attentions help you e identify a hazard avoid the hazard recognize the consequences IMPORTANT Identifies information that is especially important for successful application and understanding of the product Introduction Specifications Receiving Unpacking amp Inspection Description of Operation Table of Contents Chapter 1 Manual Objectives General Precautions Drive Description Standard Features Options Modifications Drive Layout Chapter 2 Chapter Objectives Drive Specifications Environmental Specifications Drive Power Dissipation Transformer Power Dissipation Chapter 3 Chapter Objectives Receiving Unpacking Inspection Storing Chapter 4 Chapter Objectives General 300V DC Power Bus Supply PWM Operation Shunt Regulator Operation Logic Power Sup
25. parameter 68 as calculated by the auto tune cycle Parameter Type View modify in Modify level and Maintenance level Minimum Value 1 rads second Maximum Value 250 rads second Default Value 200 rads second To convert rads second to Hertz divide by 6 28 Chapter 6 Programming Parameter 183 Velocity Damping Selection Vel Damp Selct This parameter is associated with the auto tune function and specifies the velocity damping desired by the user The auto tuning procedure calculates a new set of Velocity Loop Gains parameters 168 amp 169 and a new Current Rate Limit parameter 158 when the user initiates the Auto Tune Calculate function Refer to Figure 8 1 for further information Parameter Type View modify in Modify level and Maintenance level Minimum Value 0 Maximum Value 3 Default Value 0 0 zeta 0 87 1 zeta 1 0 2 18 07 3 zeta 14 Parameter 184 Velocity Low Pass Filter Band width Vel Low Pas BW Specifies the single pole low pass velocity feedback filter bandwidth A value of 30000 disables the filter Parameter Type View modify in Modify level and Maintenance level Minimum Value 0 rads second Maximum Value 30000 rads second Default Value 30000 rads second Parameter 185 Lead Lag Velocity Fdbk Filter Gain Lead Lag Gain Specifies the gain of the velocity feedback filter A value of 1 00 disables the filter Parameter Type View modify in Modify level and Maintenance level
26. to A D Torque Block Enter the Maintenance programming level by pressing the up down and left arrow keys simultaneously then within 4 seconds simultaneously press the up left arrow and Enter keys Access parameters 155 Rated Motor Current and 181 Motor Inertia enter the appropriate values shown below Motor Parameter 155 Parameter 181 Catalog Number Value Value 1326AB A410G 21 1326AB A1G 71A 21 ms 1326AB A420E 21 1326AB A2E 7 0 22 ms 1326AB A430E 21 1326 95 22 ms 1326AB A515E 21 1326AB B2E 152A 62 ms 1326AB A520E 21 1326AB B2E 192A 62 ms 1326AB A530E 21 1326AB B3E 28 4 A 62 ms 1326AB A740B 21 1326AB C4B 38 2A 73ms Access parameter 128 EEprom Functions and select Save followed by the Enter key This will load the parameter values into memory If further tuning is not required record parameter settings in Appendix E Proceed to step 39 8 7 Chapter 8 Start Up Manual Tuning Procedure If manual tuning of certain parameters is required the following procedure can be followed after all of the previous steps have been performed Parameters referenced in the following steps are located in the Modify programming level This level can be reached from the View level by pressing the Up Down and Left Arrow keys simultaneously 32 Zero Speed Adjust a Remove all power from the drive b Install a jumper between TB2 1 amp 2 or leave the velocity command wiring i
27. 00 406 8 00 203 5 85 149 140 63 6 1391 T125DT 12 5 12 00 305 12 50 317 16 00 406 8 00 203 5 63 143 126 57 1 1391 T125ET NT 12 00 305 12 50 317 16 00 406 8 00 203 5 63 143 160 72 7 1391 T150DT 15 0 13 00 330 14 00 356 17 50 444 9 50 241 6 00 152 150 68 0 1391 150 13 00 330 14 00 356 17 50 444 9 50 241 6 00 152 200 90 9 The following items are included with the NEMA Type 1 Enclosure Qty Description 2 co CO CO A gt Steel Mounting Channels 3 8 16 x 1 0 HHCS Screw 3 8 16 x 1 5 HHCS Screw 3 8 Flat Washer 3 8 Split Lock Washer 3 8 16 Hex Nuts Catalog Number kVA 1391 TA2 All Appendix A Dimensions Figure A 3 NEMA Type 1 Enclosure Dimensions Dimensions are in inches and millimeters A B Weight 17 00 432 19 00 483 14 50 368 16 50 419 12 00 305 35 5 16 1 A 3 Appendix A Dimensions Figure A 4 External Shunt Resistor and Fuse Dimensions Dimensions are in inches and millimeters 5 38 136 6 P 12 75 323 8 E 14 00 355 6 AY 225 1 57 1 N ges 0 281 x 0 562 71 142 0 203 5 2 Dia w 0 343 8 7 Dia 0 91 0 16 4 1 23 1 K be 1 34 34 0 A 4 Objectives 1391 DES Interconnect Drawing Appendix Interconnect
28. 22 5A units only 15A Bussmann KLM 10 or equivalent 22 5 Bussmann FNQ6 1 4 or equivalent m LL lt AQuad B Board Main Logic Control Board ILL Display Memory and Adapter Boards 5 5 Chapter 5 Inputs Outputs and Switch Settings Switch Settings 5 6 This section provides information on setting the Duty Cycle Selector switch SW1 and the A Quad B Encoder Output switch S1 Note that the settings for 1326AP motors are the same as 1326AB motors Refer to Figure 5 2 for switch locations Duty Cycle Selector Switch SW1 The Duty Cycle Selector Switch SW1 which is located on top of the drive modifies the behavior of the shunt regulator The switch determines the temperature level and therefore the average power level at which the drive will fault Refer to Chapter 10 for detailed switch setting information A Quad B Encoder Output Switch 51 S1 selects the line count that will be output from the A Quad B Board ATTENTION Incorrect setting of 51 can cause erratic and or A improper machine motion which may result in personal injury or equipment damage Assure that switch 51 has been properly set as shown in Figure 5 3 Figure 5 3 A Quad B Board Switch S1 Settings Line Count 51 1 51 2 Revolution Switch Setting Switch Setting S1 2048 OFF OFF 1024 ON OFF 512 OFF ON 256 ON ON 2 Marker Pulses per Revolution B CCW Rotati
29. 519 623 1810 Telex 069 59317 FAX 519 623 8930 LATIN AMERICA HEADQUARTERS 1201 South Second Street Milwaukee WI 53204 USA Tel 414 382 2000 Telex 43 11 016 FAX 414 382 2400 P N 152363 Printed in USA
30. 92 10 4 106 11 98 165 18 6 500 56 5 1 All ratings are for 40 C motor ambient 1109 C case and 60 C amplifier ambient F or extended ratings at lower ambien Peak Siall Torque Ib in N m 72 8 1 120 13 6 174 19 7 181 5 20 5 272 4 30 8 248 28 0 489 55 2 1178 133 Rated Speed rpm 6000 4000 4000 4000 4000 4000 4000 2000 Table 9 B Torque Plus Performance Data and Selection List 1 2 Rotor Inertia Ib in s kg m2 0 004 0 0005 0 007 0 0008 0 010 0 001 0 038 0 0043 0 038 0 0043 0 050 0 006 0 080 0 009 0 29 0 32 Motor Catalog Number 1326AB A410G 1326AB A420E 1326AB A430G 1326AB A515E 1326AB A515E 1326AB A520E 1326AB A530E 1326AB A740B Servo Drive Catalog Number 1391 DESAA15 1391 DESAA15 1391 DESAA15 1391 DESAA15 1391 DESAA22 1391 DESAA22 1391 DESAA45 1391 DESAA45 Amperes at Continuous Torque 71 7 0 9 5 15 2 15 2 21 0 29 5 38 2 ts contact Allen Bradley Rated DES Output kW 0 7 0 9 0 8 1 1 1 2 1 6 2 28 3 0 2 5 3 3 3 5 4 7 3 8 5 1 5 2 6 9 7 5 10 0 7 0 9 3 3 5 6 7 5 Rated Output kW 1 2 13 19 3 0 3 0 35 5 5 8 3 2 The motor contains two thermal switches wired in series that will open on an overtemperature condition They are set to open at 150 C typical and close at 90 100 C typical Contacts are rated for 1A at 115V AC 1 at 24V DC Motor Options Accessories For detailed motor option accessory information refer to the indiv
31. Boards Insert the replacement Logic Control Board Replace the Memory and Display Boards and reconnect the signal connectors cables previously removed Apply power to the system and check for proper operation tuning should not be required Chapter 11 Troubleshooting A Quad B Board Substitution 1 Remove all power to the drive branch circuit 2 Remove the front cover from the drive Label and remove the ribbon cables and signal connectors TB1 TB2 and TB3 from the A Quad B and Logic Control Boards Remove the Display and Logic Control Boards 4 Remove the A Quad B Board Install the new A Quad B Board to the Logic Control Board with the 8 thumb screws 6 Install the Logic Control Board w AQB Board verifying that the connectors between the boards mate Tighten the 8 screws 7 Install the Display Board and cable Reconnect the signal connectors cables previously removed 9 Apply power to the system and check for proper operation tuning should not be required LED Indications The 1391 DES has two LEDs visible from the front of the drive The top LED labeled STATUS flashes green when no faults are detected by the drive and a bus undervoltage condition exists The LED will be a steady green when no faults exist and bus voltage is present If a fault is detected the LED will turn red and flash The lower green LED labeled ENABLE will be lit when the drive is enabled on and in control of
32. H6 H11 480V AC H4 to H6 H11 H9 to H1 H9 to H1 H14to H1 H14 to H1 480V AC H5 to H6 575V AC H5 to H6 H10 to H11 H10 to H11 H15 to H1 H15 to H1 H1 H3 H4 H5 H6 H7 H8 H9 H10 H11 H12 H13 H14 H15 Pl G1 G0 111115 Thermal switch for transformer protection rated 115V AC 1A 24V DC 0 25A min C 5 C Faraday Shield 10 2 a ip 230VAC 230VAC ____ gt PL pea 7 10 X X lt A lt gt 36V AC 36V AC 36V AC 36V AC CT 200VA CT 200VA CT 200VA CT 200VA 1The Y2 Y5 Y8 and Y 11 center taps are available but not used with 1391 DES Shunt Regulator Operation Chapter 10 Transformers and Shunt Regulators Refer to Chapter 4 for an explanation of the shunt regulator circuitry The nominal data for the shunt regulator is as follows Overvoltage Trip Point 405V DC 2 5 DC Bus Shunt ON Point 386 4V DC DC Bus Shunt OFF Point 366 9V DC Nominal DC Bus Voltage 300V DC DC Bus Undervoltage Detect 145V DC 20 The shunt regulator behavior is modified by an adjustable duty cycle timer The timer is used to model the shunt resistor temperature A selector switch SW1 determines the temperature level and therefore the average power level at which the drive will fault When this level is reached the drive will be forced to fault on an overvoltage This action would be equivalent to t
33. Module This module provides a manually generated trapezoidal velocity profile for up to four preset speeds Important The 1391 DES contains one accel decel rate which can be used if accel decel times will be the same Drive Layout Figure 1 1 provides an exterior view of the 1391 DES AC Servo Drive showing accessibility of various components Chapter 1 Introduction Figure 1 1 1391 DES Digital AC Servo Drive Duty Cycle Selector S witch Ground Stud TB5 Power Connections TB4 Control Signals Circuit Breaker Fuses 2 Line 16 Character LCD Display 5 Button Keypad used for Programming Status LED Flashes green when no faults are present and the bus is low Steady green when no faults are present and bus voltage is OK Flashes red when a fault has occurred Enable LED Steady green when Enable input is closed at TB2 9 amp 10 Notilluminated when Enable input is open Interface Signals TB3 A Quad B Encoder Output Signals Chapter 1 Introduction End of Chapter Chapter Objectives Drive Specifications Specifications Chapter Chapter two contains the electrical and environmental specifications for the 1391 DES Dimensions are provided in Appendix A The general specifications of the 1391 DES are provided in the listing below The specifications are divided when necessary for the various drive ratings Specific Drive Ratings Nominal Bu
34. a voltmeter between terminals 11 and 10 of J1 While monitoring the meter turn the speed pot SPD 1 or remote counterclockwise until the output voltage is approximately 10 DC Toggle the FWD REV switch The voltage measured should change in polarity If the polarity does not change recheck the wiring and connections of the FWD REV relay and switch Important Changing direction with the speed input follows the accel decel times set on the module Move the meter leads to drive terminals 1 amp 2 of TB2 The meter should indicate a voltage of approximately 10 DC Rotate the Accel and Decel pots located on the module front panel approximately 7 turns De energize the SEL 1 input terminals 1 amp 2 of J2 and note the time needed for the meter voltage to reach zero minimum volts Energize the SEL 1 input and note the time needed for the voltage to reach 10V DC maximum Adjust the Accel Decel pots for desired ramp times approximate range is 0 25 to 6 5 seconds by repeating step 10 The final ramp time will be set during final system calibration Rotate the speed pot fully clockwise for minimum speed Remove the SEL input ATTENTION To protect against rapid accel decel commands from the module and possible machine damage or personal injury the Bypass input terminals 19 amp 20 of J2 must not be energized Applying 24V DC or 115V AC to this input will remove the Accel Decel pot settings f
35. damage to the A controller is correct Refer to Figure 5 1 Figure 5 1 A Quad B Board Wiring A Quad B Board Top Logic Control Board TB3 u 74 Number Description 1 TB2 20 1 A 2 NOT 1 10 1112 si 3 p T 4 B NOT 5 2 RRR 01 im 225 7 45 DC 5 8 Signal Common 9 8 to 15V DC In Position Power E Controller input 10 No Connection Important Note terminal orientation prior to wiring 1 Recommended Wire Belden 9728 or equivalent Maximum distance between the A Quad B Board and the position controller is 40 feet 12 2 meters using a 5 volt signal For distances up to 300 feet 91 meters 18 AWG 0 8 mm wire Belden 9388 or equivalent and an 8 to 15V DC power supply must be used 2 For proper operation when interconnecting to IMC classic products IMC 110 12x the B and B NOT signals must be reversed 3 When interfacing to IMC 121 or 123 controllers use the 1391 CAQB cable When interfacing to the integrated packages of the MAX or S Class controls use the 1391 SAQB or 1391 SAQBK cable The A Quad B option operates in the same manner as the Allen Bradley 845H Line Driver Encoder 26LS31 line driver output The option requires either a regulated 5V DC at terminal 7 or an unregulated 8 to 15 DC input at terminal 9 board draws 125mA maximum The pulse train output is selectable to 256 512 1024 or 2048 lines per revolution via the Encoder Output switch S1 see page 5 6 Terminal Block TB4 Pl
36. drive to execute autotune Important When you enable the drive the motor will ramp up to the auto tune velocity and back to zero again The display will now read disable drv to continue Disable the drive 26 21 28 29 30 31 Chapter 8 Start Up The drive will display the Bandwidth Max parameter 68 The value displayed is the maximum bandwidth in rads sec your system can achieve Record this value for future reference and press Enter Bandwidth Maximum rads sec rads sec can be converted to Hertz Hz by dividing by 6 28 The drive will display the Desired Velocity BW 182 Enter any value of bandwidth up to the value of Bandwidth Max from above Values greater than Bandwidth Max will be ignored Press Enter The auto tune and startup procedure is now complete Press Enter Now press the Up Arrow and Enter keys simultaneously to return to the Basic Display values have now been stored in EEprom If it is desired to repeat the auto tune procedure return to step 21 Important Do Not initialize the EEprom unless you wish to return all parameters to their default state Remove power Reconnect user command wiring if previously disconnected apply power and check operation If motor rotation is incorrect reverse the Velocity Command Input leads at TB2 1 amp 2 If the drive is to be run in torque control with S Class IMC 123 Controllers etc set parameter 133 Torque Select
37. following procedure before beginning the Start Up Procedure If an event does not occur while performing this start up Do Not Proceed Remove Power by opening the branch circuit disconnect device and correct the malfunction before continuing ATTENTION This product contains stored energy devices To avoid hazard of electrical shock verify that all voltage on the capacitors has been discharged before attempting to service repair or remove this unit Voltage at terminals 9 and 7 of TB5 must be 0 00 as measured with a standard digital voltmeter or multimeter Only qualified personnel familiar with solid state control equipment and safety procedures in publication NFPA 70E should attempt this procedure 1 Assure that all power to the drive branch circuit is off Most start up difficulties are the result of wiring errors Therefore prior to applying power to the first device in the branch circuit primary of the transformer or system check all of the system interconnection wiring 8 1 Chapter 8 Start Up 8 2 Check terminal block connections as described in Chapter 5 and Appendix B Set switches S1 A Quad B Board and SW1 top of drive as explained in Switch Settings in Chapter 5 Assure that the drive circuit breaker MCB contactor M and Enable input are OFF de energized Apply power to the input transformer primary but Do Not Enable the drive or energize the contactor M The Enable LED should
38. may be present 2 100 120 Hz from a single phase logic supply may be present 3 4 Variable frequency varies with motor speed may be velocity feedback ripple or a disturbance 180 or 360 Hz from other adjustable speed drives may be present caused by gear teeth or ballscrew balls etc The frequency may be a multiple of the motor power transmission components or ballscrew speeds 5 Recommended grounding per Appendix B has not been followed AQB Board outputs a series of encoder pulses during power up An intermittent connection or removal of TB3 while powered up will cause this series of pulses to repeat Condition No Rotation Overheating Abnormal Noise Erratic Operation Motor locks into position runs without control or with reduced torque Chapter 11 Troubleshooting Table 11 D General Servomotor Troubleshooting Possible Cause gt Wr Tw n Fo gt Ww n The motor connections are loose or open Foreign matter is lodged in the motor The motor load is excessive The bearings are worn The motor brake is engaged if supplied The rotor is partially demagnetized causing excessive motor current Motor voltage is exceeding the maximum value The duty cycle is excessive Loose parts are present in the motor Through bolts are loose The bearings are worn Parameters 168 169 and 170 are set too high Phases A amp B A amp C orB amp C reversed Sine Cosine or Rotor leads reversed S
39. over their rated speed This can help achieve greater precision a finer finished product and increased production from existing machinery Standard Features Chapter 1 Introduction The 1391 DES is generally used with computer aided closed loop positioning systems such as Allen Bradley 5 Class or IMC products These systems control the position and linear or rotary motion of various machine members on an automated machine To enhance system reliability the 1391 DES has an encoder output AQB that produces four channels of 2048 1024 512 or 256 lines and two marker pulses per motor revolution which feeds position information to the position controller All components are mounted in an open framed package with a slide on front cover The drive is intended to be panel mounted in an enclosure and ventilated with filtered and or cooled air An internal fan is included to circulate air over the power heat sink The 1391 DES converts a three phase 50 60 Hz input to a variable AC voltage with controlled phase amplitude and frequency The output which is proportional to a user supplied analog command regulates the speed and or current torque of a 1326 permanent magnet AC servomotor The drive is available in ratings of 15 22 5 and 45A RMS with all package sizes being identical A 1391 Transformer 1326 AC Servomotor and 1326 Cables complete the servo system The 1391 DES contains a number of standard features required in a typica
40. reason the offset cannot be adjusted the message cannot zero velocity offset will be displayed If this occurs verify that the jumper connections are correct and continue on with the procedure After completion do a manual zero speed adjustment as explained in step 32 The display will now read disable drive to continue Remove enable leaving the contactor M energized 17 18 19 20 Chapter 8 Start Up The display will now read enter parameter information press the Enter key to continue The drive will allow you to enter a value for the Analog Velocity Gain The desired input velocity command voltage to motor rpm scaling is accomplished with the Analog Velocity Gain parameter 211 The default setting is 500 rpm volt Use the following formula if the maximum motor speed rpm and maximum velocity command volts are known Maximum Desired Motor RPM RPM Maximum Velocity Command Volts for example 3000 RPM Maximum 375 RPM 8V DC Maximum Command Volts Enter the desired value followed by the Enter key The drive will prompt for CW and CCW velocity limits parameters 144 and 145 Clockwise Counterclockwise Velocity Limits Enter the maximum speed limit of the motor plus 10 at maximum velocity command If the maximum command voltage exceeds the normal maximum level these values will limit the speed of the motor If unknown leave setting at the default value Important Factory defa
41. signal wiring is incorrect or open An internal drive malfunction exists Setin torque mode incorrectly Parameters 168 169 and 170 are set too high Position Loop Gain or Position Controller accel decel rate is improperly set Improper grounding or shielding techniques are causing noise to be transmitted into the position feedback or velocity command lines causing erratic axis movement Parameter 154 is incorrectly set servomotor is not matched to drive Parameters 156 157 are set too low Parameter 154 is incorrectly set servomotor is not matched to drive The system inertia is excessive The system friction torque is excessive Available drive current is insufficient to supply the correct accel decel rate Accel Decel Ramp parameter 146 incorrect Velocity limit parameters 144 145 incorrect Analog Velocity Gain parameter 211 incorrect The drive has a malfunction The drive is not enabled The contactor M is not energized Power transformer is supplying the incorrect voltage or none at all The motor wiring is open The motor or transformer thermal overload has tripped The motor has malfunctioned The coupling between motor and machine has malfunctioned The feedback circuit motor to drive is open 10 Velocity Mode Select parameter 132 set incorrectly 11 Torque Select parameter 133 set incorrectly 12 Velocity limits parameters 144 145 set incorrectly 1 50 60 Hz line frequency
42. terminals 1 amp 2 of J3 Using a voltmeter verify that this voltage is present Also verify that 10V DC is present between terminals 9 and 2 of J1 The ON OFF LED located on the front of the module will be illuminated 6 Select Remote or Local speed control To select Remote Speed a Connect an external 1k ohm 1 2 watt speed potentiometer as shown in Figure 8 2 b Energize the R L 1 input terminals 3 amp 4 of J2 with either 24V DC or 115V AC c Energize the speed select input SEL 1 terminals 1 amp 2 of J2 with the same voltage used in the previous step The front panel R L 1 LED will illuminate d Repeat steps a through c for any of the other three preset speeds Important If more than one speed is selected at the same time the resulting speed for the velocity profile will not be predictable 8 11 Chapter 8 Start Up 10 11 To select Local Speed a Energize the speed select input SEL 1 terminals 1 amp 2 of J2 with either 24V DC 115V AC The front panel SEL 1 LED will illuminate b Repeat the above step for any of the other three preset speeds Important If more than one speed is selected at the same time the resulting speed for the velocity profile will not be predictable Important In the following steps the local speed control SPD 1 will be used If your application utilizes remote speed pots the remote pot should be substituted for SPD 1 Connect
43. the servomotor An enable signal must be applied to terminals TB2 9 amp 10 for the LED to be lit Refer to Table 11 A for further information Chapter 11 Troubleshooting Table 11 LED Fault Diagnostics Enable The application of an Enable signal Enable LED is NOT Illuminated by the machine position controller 1 The position controller has not enabled the drive will cause the ENABLE LED to n illuminate 2 The Enable wiring to the drive is open 3 The position controller Enable relay switch has malfunctioned 4 The position controller has detected a machine system malfunction that will not allow the drives to be Enabled 5 Power has not been applied to input transformer 6 The logic supply 12V DC circuits have malfunctioned fuse blown etc or the AC input at TB4 19 21 is incorrectly wired or missing Enable LED is Illuminated but drive does not Enable 1 A drive malfunction has occurred but is not annunciated by the LED indicators Check the status of the Drive OK output DROK relay 2 component malfunction exists in the Enable circuit 3 The circuit breaker MCB is tripped 4 The power contactor has not been energized or has malfunctioned 5 Motor cables removed The drive logic supplies are not operational 1 The logic supply fuses are blown 2 Logic supply AC voltage is missing 3 A drive malfunction has occurred but is not annunciated by the LED indicators check the status of the Drive OK contact
44. to connect directly from an IMC 121 123 123CR or 9 Series controller to the 1391 DES drive The 1391 CAQB cable is 15 ft 4 5 m long and has a D shell connector on one end and loose leads on the other Appendix C Cable Information The 1391 CAQB Cable also carries the drive command voltage which is connected to TB2 1 and TB2 2 1 1 TB3 IMPORTANT Note terminal orientation prior to wiring Cable Wire Number 3 12 21 4 13 22 5 14 23 7 16 24 9 18 26 Wire Color Black Red Shield Black White Shield Black Green Shield Black Blue Shield Black Yellow Shield 10 1112 si 7 NOT 45V DC Comm Shield Drive Drive Ret Shield lt Logic Control Board lt A Quad B Board Connection Terminal TB3 1 2 No Connection TB3 4 TB3 3 No Connection TB3 5 TB3 6 0 Connection TB3 7 TB3 8 No Connection TB2 2 TB2 1 0 connection 1391 SAQB and 1391 SAQBK Cables 1391 SAQB and 1391 SAQBK cables allow the user to connect the 1391 DES directly to an integrated standalone or 5 Class Motion Controller The 1391 SAQB cable is 3 ft 1 m long and has connectors on both ends The 1391 SAQBK is 15 ft 4 5 m long and has a controller connector on one end and loose leads on the other Location AQB Board AQB Board AQB Board AQB Board Logic
45. to indicate that the change has been loaded into memory To cancel the modification before pressing Enter press the Right Arrow and Enter keys simultaneously Selection Parameter When viewing a Selection parameter multiple choices will be displayed for the parameter Pressing the Up and Down Arrow keys will scroll through the possible choices When the desired choice is displayed press the Enter key to make the selection To cancel the selection before pressing Enter press the Right Arrow and Enter keys simultaneously Important Parameter values or selections will not be stored in EEprom until parameter 128 EEprom Functions is accessed and item 3 Save is selected Parameter 128 can be accessed at any time by pressing the Left and Right Arrow keys simultaneously 6 7 Chapter 6 Programming Parameter Descriptions 6 8 This section lists and describes the various parameters currently available software version 2 01 Not all parameters will be available in every parameter level Refer to the Parameter Type classification in each description for further information In addition to the Parameter Type each description when applicable will also provide Minimum Maximum and Default Values Please note that parameter numbers not listed are reserved for future software enhancements Important Parameter names followed by an asterisk should not be modified These parameters are provided for information purposes onl
46. to meet branch circuit protection requirements The circuit breaker protects the DC bus supply input rectifier and power circuitry against overcurrents Motor Wiring The motor wiring size is determined by the continuous and overload current requirements RMS Duty Cycle NEC and local codes In general motors operated from the following drives would not require wire sizes larger than those accepted by TB5 but codes must be followed In addition the motor leads must be twisted throughout their entire length to minimize radiated electrical noise Allen Bradley 1326 cables or equivalent type must be used The maximum motor wire sizes that the 1391 DES drive will accept are shown in Table 7 A Table 7 A Maximum Motor Wire Sizes TB5 Drive Catalog Number Max Wire Size Accepted 1391 DES15 8 AWG 6 mm MTW 1391 DES22 8 AWG 6 mm MTW 1391 DES45 8 AWG 6 mm MTW 7 5 Chapter 7 Installation 7 6 Motor Feedback Wiring Connections to the integral commutation resolver must be made using an Allen Bradley 1326 CFUxx shielded cable damage to equipment the interconnections to the motor and resolver must be made exactly as shown in Appendix B Failure to do so could cause loss of motor control and or severe oscillation of the motor shaft ATTENTION To guard against hazard of personal injury or Encoder A Quad B Board Wiring Recommended Wire Belden 9728 or equivalent Maximum distance between the A Quad B
47. to the line DB contactor coil M or the Enable input circuits Chapter 4 Description of Operation Power Up Down Sequence Figure 4 3 describes the various steps involved in the power up down sequence of the 1391 DES Drive Figure 4 3 Drive Power Up Down Sequence POWER UP SEQUENCE Apply AC Input Power to Isolation Transformer a Logic power supplies and base drive circuits power up b Apply 115V AC to contactor c Power bus charges d If no faults are encountered the DROK relay energizes Drive is ready to receive customer enable signal Enable Signal Applied Minimum of 100 ms after Contactor is Closed a Base drive enabled and will respond to velocity command inputs POWER DOWN SEQUENCE Enable Signal Removed a Motor will regenerate to a stop b Output power stage is disabled c DROK relay maintains a no fault status AC Input Power Removed a Logic and DC link power supplies begin decaying to zero volts b Undervoltage fault condition occurs c DROK relay de energizes based on setting of parameter 130 Enable Signal is Applied Prior to 36V AC Power a When 36V AC power is applied fault circuits detect that the enable signal is already applied Random fault conditions occur b Re application of enable after resetting the drive and with 36V AC power still present will energize the drive Fault Condition Occurs a Drive output stage disabled b DROK relay is d
48. to the parameter specified by parameter 245 once every velocity loop update Parameter Type View modify in Maintenance level Minimum Value 0 Maximum Value 254 Default Value 59 Parameter 246 Indirect Source Parameter 2 Indirect Sorc2 This parameter specifies the source parameter for Indirect Link 2 Parameter Type View modify in Maintenance level Minimum Value 0 Maximum Value 254 Default Value 45 Parameter 251 Access Timeout This parameter specifies the length of time in minutes that the display will spend unattended before going back to the View level from a higher level A value of zero disables this function Parameter Type View modify in Maintenance level Minimum Value 0 Maximum Value 32767 Default Value 0 Chapter 6 Programming Parameter 252 Drive Initialization Status Drv Init Stats This parameter specifies if the drive has gone through an out of the box start up procedure defined in Chapter 8 Parameter Type View modify in Maintenance level Default Value 1No 1 No has not been setup 0 Yes has been setup Parameter 253 Display Software Version Display SW Ver This parameter displays the current display software version number Parameter Type View only in all levels Parameter 254 Drive Software Version Drive SW Ver This parameter displays the current drive software version number Parameter Type View only in all levels Chapter Objectives Mounting
49. used for auto tune only To accept the default value press Enter If clockwise motor rotation looking at the motor shaft is desired this parameter value should be positive If counterclockwise rotation is desired set this parameter value negative ATTENTION A portion of the following auto tune cycle will 24 25 cause the motor to accelerate to a desired velocity and decelerate to zero velocity Be prepared for this movement and take precautions to guard against personnel injury or machine damage Depending on the inertia of the system several revolutions of the motor may occur Axis movement must take place for the drive to complete the auto tune cycle The drive will display the message DANGER MTR REVS POSSIBLE This means that the motor may make revolutions during auto tune causing machine movement Important If the number of motor revolutions displayed is acceptable press Enter and proceed to step 25 If the number of motor revolutions displayed could cause damage to your equipment Do Not Continue Press The Up Arrow Key to end the auto tune procedure Repeat the auto tune procedure by returning to step 21 During the procedure the value for Auto Tune Current Limit can be increased or the Auto Tune Velocity can be decreased Either value will lower the number of motor revolutions For example twice the current will halve the number of revolutions to do auto tune The display will now read enable
50. will quickly decrease turning the transistor off when the voltage reaches the OFF point This cycle repeats provided the bus voltage continues to increase to the ON point If too much regenerative energy is present the bus voltage will continue to increase even with the shunt regulator on At a predetermined bus voltage level the 1391 DES will determine that an overvoltage condition exists and trip out on an Overvoltage Fault The shunt regulator behavior is further modified by an adjustable duty cycle timer The timer is used to model the shunt resistor temperature SW1 a selector switch located on the top of the drive see Figure 1 1 determines the temperature level and therefore the average power level at which the drive will trip out When this level is reached the drive will be forced to trip out on an Overvoltage Fault This action would be equivalent to turning the shunt regulator off Refer to Chapter 10 for further shunt regulator information The 1391 DES control logic voltage is 12 DC and 5V DC The voltages are generated on the Power Driver Board which receives its 36V AC input from a tertiary winding on the isolation transformer The Logic Control Boards are the printed circuit boards that are readily accessible behind the front cover of the drive They contain all circuits necessary to control the 1391 DES These circuits include the velocity and current loop programming panel A Quad B Board fault detectio
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52. 00 rpm Maximum Value 48000 rpm Parameter 21 Filtered Velocity Feedback Filtrd Vel Fb The filtered velocity feedback which is output by the lead lag filter is supplied by this parameter The bandwidth of the filter is specified by parameter 186 and the filter gain is specified by parameter 185 Parameter Type View only in Maintenance level Minimum Value 8000 rpm Maximum Value 48000 rpm Parameter 22 Average Motor Velocity Average Mtr Vel This parameter supplies the average velocity feedback which is output by the single pole low pass filter The bandwidth of the filter is specified by parameter 184 Parameter Type View only in Maintenance level Minimum Value 8000 rpm Maximum Value 8000 rpm Parameter 23 Resolver Turns The number of resolver electrical turns is supplied by this parameter When these values reach maximum the value drops to zero and begins to again count up and down Parameter Type View only in Maintenance level Minimum Value 32168 Maximum Value 32767 Parameter 24 Resolver Position Feedback Resolver This parameter supplies the position feedback count 65 535 represents the counts per 1 2 motor revolution Parameter Type View only in Maintenance level Minimum Value 0 Maximum Value 65535 Parameter 25 Pre Ramp Velocity Pre Ramp Vel This is the velocity before the velocity rate limiter Parameter Type View only in Maintenance level Minimum V
53. 1 to TB2 2 KOC 115V AC Power Supply TYPICAL CONTROL CIRCUIT 115V AC 50 60 HZ CR LS 2 TB4 11 olo oro 5 i 055 TB4 13 TB4 14 DROK lhe 38 2 Indicates component located in controller TB4 17 4 18 Sane 1 ransformer otor Required only with IMC 110 120 121 AND 123 controllers Forward Reverse 2 8 14 Chapter 8 Start Up Figure 8 3 Linear Accel Decel Control Module Dimensions 4 25 108 0 0 41 10 3 3 44 87 3 0 50 12 7 A A 8 12 206 2 7 25 184 2 Dimensions are in inches mm 0 75 19 1 gt Ik 2 75 69 9 Chapter 8 Start Up End of Chapter Chapter Objectives Introduction Chapter 1326 AC Servomotors Chapter 9 describes the operation of a standard 1326 AC Servomotor with the enhanced capabilities of a Bulletin 1391 DES Digital AC Servo Drive Refer to the 1326 AC Servomotor Product Data for further information on Allen Bradley AC Servomotors The 1391 DES provides additional energy to the 1326 motor allowing it to operate at higher speeds without a reduction of torque In general the 1326 motor will follow the speed torque curve shown in Figure 9 1 Figure 9 1 Typical Bulletin 1326 Speed Torque Curve Standard Peak Torque with Nominal 1596 Low i Input Line Voltage eak Torque wi 1391 DES Rated Speed Nominal Input 1391 DES
54. 1 1 input master 801 800 master vernier for 8600 series controllers is not applicable for use with MAX and IMC S Class controls 8 Kit includes Resolver Feedback Package mounting hardware and 3 8 to 3 8 9 5 mm to 9 5 mm resolver to motor mounting coupling 3 6 Power and Feedback Cables 1326 P First Position Second Position Third Position Fourth Position Fifth Position Sixth Position Bulletin Motor Size Power Track Cable Number Type Function Used On Cable Length Code Description Code Description Letter Description Code Type Letter Description Code Description 1326 Standard C Connector P X Power Connection AB Series A amp except T All Series K Connector Kit Cable amp Cable 1326AB B4 used for No Cable 1326ES Extended Assembly C Series C amp 1326AB B4 high flex 15 4 6 m length cable CC Connector applications 30 30 9 1 m used with on both F Commutation amp All Series Blank Standard 50 50 15 2 1391B ES ends for Feedback Connection Cable 100 100 30 4 m amp use with E 845 Encoder 150 150 45 7 m 1391 DES 1391C HB V All 4 25 108 mm 200 200 61 Resolver Packages 7404250 76 2 m 300 300 91 4 m AB Chapter 3 Receiving Unpacking and Inspection T 15 9 The extended length option is only available for 1326 CF Uxx CPABxx and CP Cxx cables and can only be used with 1391B ES and 1391 DES drives Blower Mod Kit 1326 MOD First Positio
55. 1 enclosures are shown in Appendix A Important The NEMA Type 1 enclosure is shipped as a kit for customer assembly If other input voltages or special enclosures are required consult your local Allen Bradley Sales Representative Refer to Figure 10 1 for connection information and Appendix A for dimensions Chapter 10 Transformers and Shunt Regulators Figure 10 1 1391 Transformer Wiring Diagrams 1391 TxxxDT 60 Hz Primary Voltage Connect Lines On 240V AC H1 to H3 to H8 H1 H2 to H4 to H6 H4 H5 to H7 to H9 H7 480V AC H2 to H3 H1 H5 to H6 H4 H8 to H9 H7 1 H3 H2 H4 H6 H5 H7 H9 H8 P1 P2 60 y a JE 1 Thermal switch for transformer protection m m m m m 1 22 E B 185 C 5 C Faraday Shield G2 I oe Ts The yy ju Bc x3 Y1 lya vel Y10 LJ 1 e e e e E gt lt gt lt lt gt 230 230V AC 36V AC 36V AC 36V AC 36V AC CT 200VA CT 200VA CT 200VA CT 200VA 230VAC gt 1391 50 60 Hz 1391 TxxxNT 60 Hz Primary Primary Voltage Connect Lines On Voltage Connect Lines On 240V AC H2 to H6 208V AC H2 to H6 H7 to H11 H7 to H11 H12 to H1 H12 to H1 380V AC H3 to H6 240V AC H3 to H6 H8 to H11 H1 H8 to H1 H1 to H1 H6 H13 to H1 H6 415V AC H4 to
56. 1 setting at time of shipment User must reconfigure drive when using optional 1391 MOD SR22A ATTENTION The designated settings for the factory supplied configurations must be used or damage to the drive may result Chapter 10 Transformers and Shunt Regulators Table 10 B shows the nominal resistor power trip levels in watts for the various switch settings When shunt requirements exceed the selector setting the excess power will cause the bus voltage to rise resulting in an overvoltage fault condition and loss of braking Table 10 B Nominal Power Trip Level Reference Data continuous watts 10 15A 22 5A 22 5A 45A SW1 Switch W Int 16 Ohm W Int 12 Ohm W Ext 9 Ohm W Ext 5 Ohm Setting Resistor Resistor Resistor Resistor 0 67 13 98 215 1 11 11 103 221 2 15 82 109 241 3 80 86 115 256 4 85 92 122 274 5 91 98 130 294 6 99 105 139 317 1 107 113 150 344 8 118 122 163 378 9 130 133 177 417 A 145 146 195 466 B 164 162 216 527 C 189 183 243 607 D 223 208 217 715 272 242 323 872 347 290 386 1115 Denotes the maximum allowable settings for factory supplied configurations ATTENTION To guard against personal injury and or equipment damage from an overheated resistor the designated duty cycle settings for factory supplied shunt resistor configurations must not be exceeded Check the Duty Cycle Selector Switch SW1 to ensure that it is set properly before operation resistor assembly the Duty Cycle Selecto
57. 159 Current P reload 168 Kp Velocity Loop 169 Ki Velocity Loop 170 Feed Forward Gain 171 Static Gain 182 Desired Velocity Bandwidth 183 Velocity Damping Selection 184 Velocity Low Pass Filter Bandwidth 185 Lead Lag Vel Fdbk Filter Gain 186 Lead Lag Vel Fdbk Filter Bandwidth 187 Auto Tune Velocity 188 Auto Tune Current Limit 189 Auto Tune Inertia 190 Auto Tune Select 210 A D Converter Offset 211 Analog Velocity Gain 212 D A 1 Gain 233 Cable Compensation Default Actual 0 Fault Only 0 English 0 A D Input 0 Velocity Mode 1 22216 rads sec 0 100 6667 0 1 200 rads sec 0 zeta 0 87 30000 rads sec 1 00 250 rads sec 1000 rpm 50 100 ms 0 mV 500 rpm volt 0 07 50 ft Appendix E Parameter Record Maintenance Level Parameter Description 04 Adapter Type 05 Logic Command 06 Drive Faults 07 Drive Status 08 Auto Tune Status 17 Velocity Reference Whole 18 Velocity Reference Fraction 21 Filtered Velocity Feedback 22 Average Motor Velocity 23 Resolver Turns 24 Resolver Position Feedback 25 Pre Ramp Velocity 33 Proportional Velocity Error 34 Velocity Loop PI Output 35 ntegral Velocity Error 44 External Torque Reference 46 d Flux Current R eference 4 T Protection Limit 48 Bridge Current Limit 49 Current Feedback Scale 58 D A 1 Command Value 59 D A 2 Command Value 129 Units Select 135 Up to Speed Tolerance 136 Drive Address 155 Rated Motor Cur
58. 42 4 ENABLE SOURCE DS2 GREEN ENABLE 52 CONNECT TO GROUND STUD 1326 CFUXX CABLE R1 Pipl 181 BLK 82 BL WHT 1 5 COMMON T B1 BLK 51 7 5 Bl RED ILIMIT REF A QUAD B COUNT SELECT 6 WHEN INSTALLED AS OPTION B 8248 SHIELD 5 T ILIMIT REF COUNT 511 512 I 1 84 2048 OFF s2 41 21 Q 1024 ON SEE NOTE 5 B2 ANALOG OUT 1 VELOCITY 512 OFF ON ad B can 1 2VDC 1000 RPM 256 1 TB B2 ON SHIELD SHIELD Se ANALOG OUT 2 CURRENT CONNECT TO GROUND STUD 43VDC 100 46VDC 200 12 1185 185 82 NOTE 9 T COMMON 45V SUPPLY 8 15V 91185 91185 D B2 A B z 7 SPARE KLM20 KTK15 TB2 TB2 TB2 TB3 TB3 TB3 TB3 TB3 TB3 TB3 TB3 T83 TB3 10 TB5 NC 85 NC Top 1 pam 20 1 2 md 5 6 7 8 9 RO se 45A DRIVE 22 5A DRIVE EXTERNAL 15 amp 22 5A DRIVE SPARES X SHUNT REGULATOR CONNECTIONS WIRE SIZE 212 AWG 2 5 mm 150 C T ENCODER OUTPUT TO POSITION CONTROLLER REQUIRED DO NOT CONNECT TO GROUND BRANCH CIRCUIT DISCONNECT Y SECONDARY 1326 CPCXX CABLE K1 SECONDARY TO CUSTOMER FAULT CIRCUIT lt lt K2 lt 5 lt Bl BRAKE WHEN SUPPLIED lt lt 2 1 lt lt lt lt 2 lt lt T3 CONNECT TO DRIVE DRAIN SHIELD GRO
59. 81 x 0 83 system Parameter Type View modify in Modify level and Maintenance level Minimum Value 0 ms Maximum Value 10000 ms Default Value 100 ms Parameter 190 Auto Tune Select Auto Tune Sel This parameter initiates an auto tune cycle which measures the Auto Tune Inertia parameter 189 and Auto Tune Friction parameter 69 by accelerating the motor up to the Auto Tune Velocity parameter 187 at the Auto Tune Current Limit parameter 188 The parameter also calculates the gains based on auto tune information Parameter Type View modify in Modify level and Maintenance level Exit Clr Status 0 1 2 SystmTune 3 Calculate Parameter 199 Friction Compensation Friction Comp This value represents the machine friction torque as a percentage of the measured friction torque or parameter 69 as measured by auto tuning This will be compensated for in the velocity loop Parameter Type View modify in Maintenance level Minimum Value 0 No Friction Compensation Maximum Value 100 Default Value 50 Parameter 200 Friction Hysteresis Frictn Hystrs This parameter defines the number of bits of velocity command before a switch is made by Friction Bit parameter 201 Parameter Type View modify in Maintenance level Minimum Value 0 Maximum Value 2 4 rpm Default Value 0 5 rpm Chapter 6 Programming Parameter 201 Friction Bit Frictn Bit The number of bits surrounding Friction Hysteres
60. Board and the position controller is 40 feet 12 2 meters using a 5 voltsignal For distances up to 300 feet 91 meters 18 AWG wire 0 75 mm such as Belden 9388 or equivalent and an 8 to 15V DC power supply must be used For proper operation when interconnecting to IMC products the B and B NOT signals must be reversed Applications that interface the 1391 DES with an IMC Classic Controller IMC 110 120 121 123 require a relay to sequence the encoder power supply during a drive shutdown Without this power supply relay erroneous counts could be received by the IMC Classic Controller when AC power is cycled to the drive but not the controller When power is removed to the drive the AQB Board will not have control voltage However the board will still receive the encoder voltage 5 DC or 8 15V DC from the IMC Classic Controller As the drive power is cycled it will briefly output a stream of encoder pulses which will be interpreted as movement of the servomotor by the IMC Classic Controller It is recommended that a normally open N O contact from an external relay be wired in series with the encoder voltage going to the drive from the IMC Classic Controller The relay coil must be wired into the control circuit When power is not applied to the drive a Quadrature Fault will occur in the controller forcing a re homing and calibration of the controller Transformer Wiring The transformer secondary 230V AC three p
61. Chapter 10 for transformer details Terminal Block TB5 Motor Power Terminals TB5 Terminals 1 2 3 Motor power is provided at these terminals Refer to Chapter 7 and Appendix B for connection details Input Power Terminals 5 Terminals 4 5 6 The drive requires a 230V AC three phase 50 or 60 Hz input supplied by the transformer secondary Refer to Chapters 7 10 and Appendix B for wiring and transformer information External Shunt Regulator Resistor TB5 Terminals 8 9 10 The 22 5A drives have provisions to accept an external shunt resistor to supplement the integral unit This is available for applications that require the dissipation of more regenerative energy to the DC Bus To use an external shunt resistor first remove the jumper at terminals 8 and 10 of TBS Consult your Allen Bradley sales office for application assistance Additionally the bus voltage can be monitored at terminals 9 and 7 of TBS The shunt regulator resistor supplied with the 1391 DES45 must be externally mounted and connected to terminals 8 and 9 of TBS prior to operation Refer to Chapter 10 and Appendix B for details Chapter 5 Inputs Outputs and Switch Settings Figure 5 2 Terminal Block Circuit Board and Switch Locations Main Logic Control Board Display Board A Quad B Board Memory Board H Ground Stud Top View of Controller 1 F3 provided on 15 amp
62. DES45 Parameter 49 Value 15 0 22 5 45 0 15 141 211 422 14 13 1 19 7 39 4 13 12 2 18 3 36 6 12 11 3 16 9 33 8 11 10 3 15 5 30 9 10 9 4 14 0 28 1 9 8 4 12 6 25 3 8 1 5 113 22 5 7 6 6 9 8 19 7 6 5 6 8 5 16 9 5 47 7 0 14 1 4 3 8 5 7 11 3 3 2 8 42 8 4 2 1 9 2 8 5 6 1 0 9 14 2 8 0 Parameter 50 Current Feedback Rated Cur Fdbk Rated This parameter displays the actual motor current scaling based on current feedback scale and drive size parameters 49 amp 3 Parameter Type only in all levels Minimum Value Drive size 16 Maximum Value Drive size Parameter 51 Current Limit The real time current limit is displayed by this parameter Parameter Type only in all levels Min Max Value Whichever is less 200 drive rating current limit 3 times motor current ext limit or IT limit Parameter 57 Analog Velocity Command Analog Vel Cmd This parameter displays the analog velocity command value Parameter Type only in all levels Minimum Value 7000 rpm Maximum Value 7000 rpm Chapter 6 Programming 6 14 Parameter 58 D A 1 Command Value D A 1 Val 5 This parameter displays the actual value input to D A Converter 1 Parameter Type View only in Maintenance level Minimum Value 2047 Maximum Value 2047 Parameter 59 D A 2 Command Value D A 2 Cmd Val This parameter displays the actual value input to D A Converter 2 Parameter Type View only in Mainten
63. Drawings Appendix B provides typical interconnection diagrams that illustrate the wiring between the 1391 DES and various other Allen Bradley position control products Due to the numerous electrical circuit designs possible these diagrams are provided for reference only The diagrams provided include 1391 DES interconnect drawing showing the inputs outputs and recommended control circuitry 1391 DES IMC 110 Interconnect Drawing 1391 DES IMC 120 Interconnect Drawing 1391 DES IMC 121 123 and 123CR Interconnect Drawing 1391 DES MAX CONTROL Interconnect Drawing 1391 DES S 20x Class Interconnect Drawing 1391 DES S 21x Class Interconnect Drawing 1391 DES IMC 201 Interconnect Drawing 1391 DES 9 Series Interconnect Drawing The 1391 DES Interconnect Drawing is presented on pages B 2 and B 3 Refer to the Notes listed below when using this drawing Notes 1 Power Wiring unless Noted 15A 12 AWG 2 5 mm min 75 degrees C min 225A 10 AWG 4 mm min 75 degrees C min 45A 8 AWG 6 mm min 75 degrees C min 2 Signal Wiring 18 AWG 0 75 mm min 3 Allen Bradley Supplied Cable 8 AWG 6 mm Motor 126473 12 AWG 2 5 Motor 126474 Resolver 116190 4 Customer Supplied Resolver Cable Belden 9873 or equivalent 20 AWG 0 5 mm2 30 pf ft 97 5 pf m max capacitance between conductors 5 Terminate shield on source end only 6 Do not make connections to unused pins on the resolver con
64. First Position Second Position Third Position Fourth Position Fifth Position Sixth Position Seventh Position Eighth Position Bulletin Motor Max Operating Mounting amp Shaft Standard Number Type Voltage Series Length Speed Description Options Letter Description CodeRating Description Description Letter Rated 1391 DES Code Description AB FerriteAC 230V AC Sequentially Sequentially B 1600 2000rpm 21 Metric Servomo lettered to numbered to C 2000 3000 rpm Flange with tor designate frame indicate stack E 3000 4000 rpm Keyway diameters length within a G 5000 6000 rpm given frame size 4 Code Description Code Description 4 115 mm A4 72 Ib in 8 1 N m Holding Brake w 90V DC Coil for 1326AB A4 5 166 mm 5 120 Ib in 13 6 N m Holding Brake w 90V DC Coil for 1326AB A5 A7 3601 40 7 N m Holding Brake w 90V DC Coil for 1326AB A7 7 215mm K4 721b in 8 1 N m Holding Brake w 24V DC Coil for 1326AB A4 K5 120 Ib in 13 6 N m Holding Brake w 24V DC Coil for 1326AB A5 K7 3601 40 7 N m Holding Brake w 24V DC Coil for 1326AB A7 Shaft Oil Seal Kit 1326AB MOD SS V A 1 FirstPosition Second Position Third Position Fourth Position Fifth Position Sixth Position Bulletin Shaft Motor Motor Number Type Seal Material Series Mounting Code Description Letter Description Letter Standard Torque Plus Number Description MOD Modifica V Viton A SeriesA A4 Use 214 Std Inch tio
65. Move Cycle Total Cycle Time Tpa x t Tss2 x tz Tp x 5 Tr x ty Trms t t t t where Trms The motors RMS or average torque over the duty cycle Expressed in Ib in or lb ft The same units must be used throughout the formula Tpa Motor peak torque to accelerate to maximum speed Expressed in Ib in or lb ft The same units must be used throughout the formula Tss Motor torque present at the motor shaft during constant speed segment Expressed in Ib in or lb ft The same units must be used throughout the formula Tpd Motor peak torque to decelerate to zero speed Expressed in Ib in or lb ft The same units must be used throughout the formula Torque when motor is at zero speed ty b t3 Time for each portion of the duty cycle in seconds Intermittent Operation Area Boundary of speed torque curve where the motor and drive combination may operate in acceleration deceleration mode without exceeding peak rating of either provided that the duty cycle RMS continuous torque limit is not exceeded Continuous Stall Torque Ib in N m 16 1 8 32 3 6 48 5 4 93 3 10 53 102 11 5 140 15 8 153 17 3 210 23 7 310 35 0 420 47 4 420 47 4 Peak Stall Torque Ib in N m 48 5 4 96 10 84 144 16 3 170 7 19 3 219 31 5 280 31 6 459 51 9 569 64 3 568 64 1 811 917 989 111 8 Mtr Rated Speed rpm 5000 3000 3000 3000 3000 3000 3000 3000 3000 2000 1600 Chapter 9
66. Overtravel 1 M CONTACTOR Ox Q Q 12 1 4100 20x Resolver TB3 Command Cables 12 1 vetocity 1 1 XX 2 vELOCITY com 1 BI COMMON 16 9 ENABLE SOURCE 23V DC 17 10 ENABLE TB3 Feedback Cable ls 1 1 A ii H X 7 8 5 5 7 6 517 7 7 45V 8 I XX 8 COMMON sl 9 ES Treo 35 Bel alo 5 241 Denotes Screw Terminals for Shield on IMC 5 Class Chassis 24V DC Power Supply COMMON 24V DC OUT 5 4 0111 5 TB4 DROK 115V AC 1A gt CLOSED OK Refer to the IMC S 20x Installation and Setup Manual 999 105 and the 1391 DES Interconnect Drawing for further details Use Belden brand 8760 or equivalent shielded cable Use Belden brand 9504 or equivalent twisted pair shielded cable 40 feet 12 2 meters maximum Shields grounded at controller only Use Belden brand 9533 or equivalent shielded cable Axis 0 TB3 connections are shown Axis 1 2 3 connections are identical use TB5 for Axis 1 TB4 for Axis 2 and TB6 for Axis 3 If the drive is to be operated as a torque block command wires should be connected to 1391 DES TB2 15 16 amp 17 fF MN B 8 Figure B 7 Appendix B Interconnect Drawings Typical IMC S 21x Interconnect Diagram 1326 AC Servomotor K1 Re
67. Peak Torque Line Voltage with Nominal 15 Low 1391B Rated Speed Input Line Voltage XX MOQ 100 NS Speed 80 rated rpm 60 40 20 0 100 200 300 Tc Tp Torque rated 1 Rated Operation 1 Intermittent Operation 1391 DES Rated Operation 1391 DES Intermittent Operation 9 1 Chapter 9 1326 AC Servomotors 9 2 Te rated torque of motor with windings at rated temperature and an ambient of 40 C The drive is operating in a rated ambient of 60 C Tp the peak torque that can be produced by the motor drive combination with both at rated temperature and the motor in a 40 C ambient and the drive in a 60 C ambient Higher peak torques are permissible where RMS torque is less than or equal to the rated torque Tc 1391 DES operation is shown in the outer envelope and will show higher speed and 300 torque capability Rated Speed the operating speed of the drive and motor combination at which a minimum of 7046 of continuous rated torque Tc can be developed This point is defined with the motor at 25 C and drive operating in a 60 C ambient Rated Operation Area boundary of speed torque curve where the motor and drive combination may operate on a servo basis without exceeding the RMS rating of either Duty Cycle Profile RPM Decelerate Tpd Accelerate Tpa Steady Speed 165 Rest Repeat Tr th b t3 lt
68. Settings Chapter 5 contains descriptions of the various inputs and outputs available on the 1391 DES Digital Servo Drive Additionally information for properly setting the drive switches is provided for reference when you perform start up For information on shunt regulator adjustments refer to Chapter 10 The following paragraphs provide detailed descriptions of the various inputs and outputs available for the 1391 DES See Figure 5 2 for terminal block locations Terminal Block TB1 Resolver Signals TB1 Terminals 1 10 These terminals are used for connecting the commutation resolver from the motor to the drive Refer to Appendix B for connection details Important Terminal 1 of TB1 must be connected to chassis ground at the Ground Stud see Figure 5 2 for Ground Stud location Terminal Block TB2 Please note that there are no connections to TB2 18 19 amp 20 Velocity Command Input TB2 Terminals 1 2 The drive will accept up to a 10V DC velocity command signal to achieve maximum motor speed Voltages lower than 10V DC can be used by reprogramming parameter 211 Analog Velocity Gain The plus and minus reference are at terminals 2 and 1 respectively Shield must be terminated at one end only The differential impedance of the velocity command input is 80k ohms 40k ohms for single ended inputs Signal Common TB2 Terminals 3 5 7 8 12 17 Signal input reference point Analog Out 1 Velocity TB2 T
69. UND STUD 12 AWG 2 5 mm lt lt GND Z EMI SHIELD BLK lt lt RED W HT R1 WHT YEL WHT C 6800pf BLK lt 8 lt lt lt RED S hy CS RED 0 E lt BLK 5 3 GRN lt lt lt 5 lt YEL S 2 BLK BLU S 4 0 lt D QD 4 NOTE 6 CHE lt I lt lt lt Appendix B Interconnect Drawings STOP alo CR TYPICAL CONTROL CIRCUIT 115V AC 50 60 HZ 15 START TB4 12 4 11 NOTE 8 E DROK TB4 14 B4 13 TB4 17 CABINET GROUND BUS TB4 18 ri RANSFORME THERMAL PROTECTION INDICATES COMPONENT LO IREQUIRED ON USE 1326 CPABXX CABLE BN LY WITH IMC eg 9 R MOTOR THERMAL PROTECTION CATED IN CONTROLLER 10 120 121 AND 123 CONTROLLERS TO CUSTOMER FAULT CIRCUIT lt lt K2 lt lt lt 0 lt 2 WHEN SUPPLIED lt lt 1 2 3 T3 DRAIN SHIELD 16 AWG 1 0 mm 8 GND USE 1326 CFUXX CABLE RED WHT R YEL WHT R2 1 C 6800pf 1326AB CXX AND 1326 4 1326AB BXX AND 1326AB AXX B 3 Appendix B Interconnect Drawings Figure B 2 Typical IMC 110 Interconnect Diagram 1326 AC Servomotor
70. Use Up amp Down Arrow Keys to Arrow Keys to View Status View Faults Modify Level View modify View current View current Save retrieve Auto tune the Setup drive parameters drive status fault status drive parameters servo drive with motor data Modify Level Status Fault EEprom func Auto Tune Motor type Parameters Messages Messages parameter 128 Procedure parameter 154 Use Up amp Down Use Up amp Down Follow Auto Tune Use Up amp Down ET HI Arrow Keys to Arrow Keys to Procedure Arrow Keys to View Faults Modify Enter to Modify Enter to within 4 seconds simultaneously press Select and Right Select and Right Enter Arrow Enter to Arrow Enter to ET 1 View modify parameters Maintenance Lev el Parameters Maintenance Level View current drive status Status Messages View current fault status Fault Messages Save retrieve drive parameters EEprom func parameter 128 Auto tune the servo drive Auto tune the servo drive Setup drive with motor data Motor type parameter 154 Use Left amp Right Use Up amp Down Use Up amp Down Use Up amp Down Follow Auto Tune Use Up amp Down Arrow keys to View Arrow Keys to Arrow Keys to Arrow Keys to Procedure Arrow Keys to Parameters Use View Status View Faults Modify Enter to Modify Enter to the Down Arrow Select and Right Select and Right key to Modify Arrow Enter to Arrow Enter to Parameters Cancel Canc
71. a visual inspection of the equipment Remove all packing material wedges or braces from within and around the drive Remove all packing material from the cooling fans heat sink etc Important Before the installation and start up of the drive a general inspection of mechanical integrity i e loose parts wires connections packing materials etc must be made After unpacking check the item s nameplate catalog number against the purchase order An explanation of the catalog numbering system is included on the following pages as an aid for nameplate interpretation The drive should remain in its shipping container prior to installation If the equipment is not to be used for a period of time it must be stored according to the following instructions Store in a clean dry location Store within an ambient temperature range of 0 to 65 C 32 to 149 e Store within a relative humidity range of 5 to 95 non condensing Do not store equipment where it could be exposed to a corrosive atmosphere Do not store equipment in a construction area 3 1 Chapter 3 Receiving Unpacking and Inspection Isolation Transformer 1391 015 First Position Second Position Third Position Fourth Position Fifth Position Bulletin Primary Voltage Secondary Number Type kVA Rating amp Frequency Voltage Letter Description Number Letter Description Letter Description T Transformer 015 15 0 240 480V AC Three
72. able for an explanation of the individual codes Table 11 B Fault Descriptions and Diagnostics Fault Message Fault Description Potential Cause No Active Faults None All circuits are functional Drive The drive contains a thermal switch on The logic supply 12V DC 5V DC circuits have malfunctioned fuse blown Overtemperature the heat sink which senses the power etc or the AC input at TB 4 19 20 21 is incorrectly wired amp overtemp transistor temperature If the The heat sink thermal overload has tripped One or more of the following ma Bit 1 temperature is exceeded the LED will have occurred MSS g may illuminate 1 The cabinet ambient temperature is above rating 2 The machine duty cycle requires an RMS current exceeding the continuous rating of the drive 3 The integral fan is not functioning 4 The airflow access to the drive is limited or blocked Control Voltage Fault A fault will occur if the logic supply l The inputline voltage is out of tolerance n or drops 1096 from its nominal 2 The transformer auxiliary logic supply winding is open 3 The logic supply 12V DC 45V DC circuits have malfunctioned fuse blown etc or the AC input at TB4 19 20 21 is incorrectly wired Resolver Loss The resolver wiring is open or 1 Open or short circuit on resolver wiring resolver loss shorted or missing 2 Incorrect resolver wiring Bit5 Power Fault The current through the power 1 The cur
73. age Fault bit 5 Resolver Loss bit 6 Not Used bit 7 Power Fault bit 8 Bus Overvoltage bit 9 Not Used bit 10 External A D Conversion Fault bit 11 nternal A D Conversion Fault bit 12 Not Used bit 13 Not Used bit 14 EEprom Fault bit 15 Auto Tune Fault Parameter 07 Drive Status Drv Status A 16 bit binary word represents the drive status A 1 indicates that a particular state exists If a 0 is displayed that state does not exist Refer to the list below for an explanation of the individual bits Parameter Type View only in Maintenance level bit 0 Class 1 Fault bit 1 At Zero Speed bit 2 At Speed bit 3 T Active bit 4 EEprom Write Enabled bit 5 Drive State bit 6 Drive State bit 7 Drive State bit 8 At Current Limit bit 9 Not Used bit 10 Not Used bit 11 Not Used bit 12 Not Used bit 13 Not Used bit 14 Not Used bit 15 Not Used 6 9 Chapter 6 Programming Parameter 08 Auto Tune Status ATn Status A 16 bit binary word represents the auto tune status A 1 indicates that a particular state exists If a 0 is displayed that state does not exist Refer to the list below for an explanation of the individual bits Parameter Type View only in Maintenance level bit 0 Ready bit 1 Active bit 2 Enable Drive bit 3 Not Used bit 4 Accel bit 5 Decel bit 6 Abort bit 7 Complete bit 8 Enable Time Limit bit 9 Execution Time Limit bit 10 Accel Fault bit 11 Dec
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75. alue 8000 rpm Maximum Value 48000 rpm Parameter 33 Proportional Velocity Error Prop Vel Error This is the error between the Final Velocity Command parameter 19 and the Filtered Velocity Command parameter 21 Parameter Type View only in Maintenance level Minimum Value 8000 rpm Maximum Value 48000 rpm Chapter 6 Programming Parameter 34 Velocity Loop PI Output Vel PI Output Indicates the latest output of the velocity PI regulator Parameter Type View only in Maintenance level Minimum Value 8000 rpm Maximum Value 8000 rpm Parameter 35 Integral Velocity Error Intg Vel Error The error between the Final Velocity Command parameter 19 and the Velocity Feedback parameter 20 is supplied by this parameter Parameter Type View only in Maintenance level Minimum Value 8000 rpm Maximum Value 48000 rpm Parameter 44 External Torque Reference Ext Torque Ref A digital motor torque reference to the drive is supplied by this parameter from an adapter board not available at this time This reference can be selected by setting the Torque Mode parameter 133 Parameter Type View modify in Maintenance level Minimum Value 300 rated motor current or 2 times drive rating whichever is less Maximum Value 300 rated motor current Parameter 45 Iq Torque Current Reference Iq Current Ref This parameter displays the torque producing current reference Parameter Type View only in a
76. alue Drive motor dependent Maximum Value Drive motor dependent Chapter 6 Programming Parameter 156 Positive Current Limit Pos Cur Limit Parameter 156 specifies the maximum allowable positive motor current that can be commanded If greater than parameter 48 parameter 48 will then set the limits Parameter Type View modify in Modify level and Maintenance level Minimum Value 1096 rated motor current Maximum Value 30096 rated motor current or 2 times drive rating whichever is less Default Value Set by Setup drive with motor data routine Parameter 157 Negative Current Limit Neg Cur Limit The maximum allowable negative motor current that can be commanded is specified through this parameter If greater than parameter 48 parameter 48 will then set the limits Parameter Type View modify in Modify level and Maintenance level Minimum Value 1096 rated motor current Maximum Value 30096 rated motor current or 2 times drive rating whichever is less Default Value Set by Setup drive with motor data routine Parameter 158 Current Rate Limit Cur Rate Limit The largest change in the current reference per velocity loop sample that will be allowed is specified through this parameter Value shown on the display is in amperes second Description is based on percentage of motor rating to allow interpretation of value Parameter Type View modify in Maintenance level Minimum Value 130 rated motor curren
77. amming Important Programming of most 1391 DES parameters is not required When power is initially applied to the drive a prompted start up procedure will occur first time only The display will guide the user through this procedure which will set all of the main parameters for machine operation Parameters listed in this chapter are essentially for reference only Follow the Start Up Procedure in Chapter 8 before attempting to change any parameters Pressing the Down Arrow key from the Basic Display see Figure 6 4 will cause the View Modify parameters menu to be displayed Pressing the Down Arrow key a second time allows the View level parameters to be viewed From this point any of the other levels can be selected using the preceding procedures After a level has been selected the Left and Right Arrow keys will be used to locate the desired parameter Parameter Types Two types of parameters are used in the 1391 DES programming system Numeric and Selection Numeric Parameter A Numeric parameter contains a numeric value When this type of parameter is displayed in the Modify or Maintenance levels pressing the Down Arrow key will cause the cursor to flash Pressing the right or left arrow keys will then move the cursor one digit to the right or left The Up and Down Arrow keys can then be used to scroll to the desired value When the parameter is set to the desired value press the Enter key The cursor will stop flashing
78. ance level Minimum Value 2047 Maximum Value 2047 Parameter 68 Bandwidth Maximum Bandwidth Max After an auto tune this parameter displays the maximum system bandwidth that can be achieved with the machine mechanics Parameter Type View only in Modify level and Maintenance level Minimum Value 0 rads second Maximum Value 250 rads second To convert rads second to Hertz divide by 6 28 Parameter 69 Auto Tune Friction Auto Tune Friction The system friction as measured by the auto tune cycle is represented through this parameter Parameter Type View only in Modify level and Maintenance level Minimum Value 096 Maximum Value 100 rated motor current Parameter 128 EEprom Functions EEprom Func This parameter allows the user to initialize recall or save the parameters stored in the EEprom Entering the number listed will cause the drive to perform the designated action Parameter Type View modify in Modify level and Maintenance level Q0 Exit exit EEprom functions 1 Initialize load the default parameters into EEprom 2 Recall load the drive with the current EE prom values 3 Save save the current drive parameters to EE prom Important initializing the EE prom will convert all parameters to default values all previous values will be lost Parameter 129 Units Select Allows selection of User Units or Unit Values Important All values shown in this manual are User Unit
79. ansformer are shown in Table 2 B Table 2 B 1391 Isolation Transformer Power Dissipation Rated Power Output 1 5kVA 3 5kVA 5 0kVA 10 0kVA 12 5kVA 15 0 96 watts watts watts watts watts watts 20 13 35 50 100 125 150 40 25 70 100 200 250 300 60 38 105 150 300 375 450 80 50 140 200 400 500 600 100 60 175 250 500 625 750 Important Power Dissipation figures shown are for use in calculating cumulative system heat dissipation to ensure ambient temperature inside enclosure does not exceed 60 C 140 F Chapter Objectives Receiving Unpacking Inspection Storing Chapter Receiving Unpacking and Inspection Chapter 3 provides the information needed to unpack properly inspect and if necessary store the 1391 DES and related equipment The section entitled Inspection provides a complete explanation of the 1391 DES catalog numbering system It is the responsibility of the user to thoroughly inspect the equipment before accepting the shipment from the freight company Check the item s received against the purchase order If any items are obviously damaged it is the responsibility of the user not to accept delivery until the freight agent has noted the damage on the freight bill Should any concealed damage be found during unpacking it is again the responsibility of the user to notify the freight agent The shipping container must be left intact and the freight agent should be requested to make
80. be Off Using a voltmeter verify that the voltages listed below are present at the locations shown The tolerance for all voltages is 10 Clear faults before replacing any blown fuses Refer to Chapter 11 for test point locations Location Voltage TB5 4 to TB5 5 230V AC TB5 4 to TB5 6 230V AC TB5 5 to TB5 6 230V AC TB4 21 to TB4 19 36V AC TP13 to TP12 12V DC TP14 to TP12 12V DC Remove all power to the transformer The wires connected to terminals 9 and 10 of TB2 must be marked and removed to allow for local operation of the enable circuit Connect a suitable temporary switch between these terminals and insulate the switch connections Once control connections are made a Open the enable switch the ENABLE LED will be Off b Apply power to the transformer primary c Place the circuit breaker MCB to the On position d Energize the contactor M The STATUS LED should illuminate to a steady green Important If power is applied while the drive is enabled the STATUS LED will flash red and disable the drive The drive may be reset by removing the Enable signal and momentarily grounding the Reset terminal TB2 11 An alternate method would be to remove and reapply the branch circuit or drive power 36V with the Enable input removed 10 11 12 Chapter 8 Start Up The drive will now prompt you through a start up procedure Read the following important points before continuing From time to ti
81. be energized de energized more than twice an hour on a continuous basis The life of the contactor may be reduced considerably if the cycle is exceeded Contact your local Allen Bradley Sales Representative for additional information The Power Driver Board contains the circuitry needed to switch the power transistor modules The A Quad B Board changes the resolver signal from a 1326AB or AD motor into an encoder signal for use by a position controller such as an IMC S Class or 12x family controller includes solid state components If hazards due to accidental contact with moving machinery or unintentional flow of liquid gas or solids exist an additional hardwired stop circuit may be required Refer to the codes and standards applicable to your particular system for specific requirements and additional information A device that removes AC input power when a stop is initiated is an integral part of this drive Refer to the following individual stop mode explanations ATTENTION The Enable control circuitry in the 1391 DES 4 5 Chapter 4 Description of Operation 4 6 ATTENTION The user has the ultimate responsibility to determine which stopping method is best suited to the applica tion and will meet applicable standards for operator safety Starting and Stopping must be accomplished by hardwired user supplied elements as shown in Appendix B Stopping modes for the 1391 DES are outlined below Refer to the paragraphs that f
82. cable length variations based on installation Parameter Type View modify in Modify level and Maintenance level Minimum Value 5 feet Maximum Value 600 feet 183 m Default Value 50 feet 15 2 m Parameter 234 Transport Compensation Transport Comp This parameter specifies the amount of linear transport lag compensation due to the sample time of the control loops Parameter Type View modify in Maintenance level Minimum Value 200 Maximum Value 4200 Default Value 81 Chapter 6 Programming Parameter 243 Indirect Sink Parameter 1 Indirect Sink1 This parameter specifies the sink parameter for Indirect Link 1 Parameters 243 and 244 define a link between two other parameters The value of the parameter specified by parameter 244 is written to the parameter specified by parameter 243 once every velocity loop update Parameter Type View modify in Maintenance level Minimum Value 0 Maximum Value 245 Default Value 59 Parameter 244 Indirect Source Parameter 1 Indirect Sorc1 This parameter specifies the source parameter for Indirect Link 1 Parameter Type View modify in Maintenance level Minimum Value 0 Maximum Value 254 Default Value 20 Parameter 245 Indirect Sink Parameter 2 Indirect Sink2 This parameter specifies the sink parameter for Indirect 2 Parameters 245 and 246 define a link between two other parameters The value of the parameter specified by parameter 246 is written
83. contactor has closed Current or Torque Amplifier Operation When the velocity loop is being closed as part of the position control system the drive can be configured to operate as a current or torque amplifier by selection on the programming panel e External Shunt Regulator Resistor On 15 and 22 5A drives an internal power resistor that is part of the DC bus voltage shunt regulator can dissipate 162 watts continuous power Some applications such as an overhauling load have excessive regenerative energy to dissipate For these applications an external shunt regulator resistor rated at 386 watts continuous can be supplied for user mounting on 22 5A drives This is selectable by removing the jumper on TBS and using an external resistor The shunt has integral fusing accessible from the outside of 15 and 22 5A drives The 45A drive has an externally mounted resistor and fuse Important An external shunt regulator resistor is included as standard equipment on 45A units An additional unit is not required e Tach Output A voltage equal to 1 2V DC 1000 RPM is available at TB2 e Torque or Current Monitor A voltage equal to 3 0V DC 100 scaled current is available at TB2 Anti Backlash Anti backlash control can be implemented with several software parameters and an additional instruction manual Contact your local Allen Bradley Sales Office for details e Linear Accel Decel Linear accel decel can be set using the CR APG 001 Control
84. d 1391 Isolation Transformer Refer to the 1391 DES Block Diagram presented in Figure 4 4 for general layout The 1391 DES PWM Servo Drive is made up of the following 300V DC power supply power transistor output modules shunt regulator circuit logic power supply microprocessor based logic boards isolated current sensing circuit breaker and line contactor The drive contains an integral unregulated 300V DC nominal full load power supply It consists of the power transformer input 230V AC three phase 50 or 60 Hz a three phase input bridge rectifier and one power supply filter capacitor C1 The 1391 DES incorporates a fixed timing wave V7 of 2500 Hz The drive generates a three phase sine wave by varying the width of the fixed timing pulses see Figure 4 1 This frequency corresponds to the velocity command The 0 to 10V DC velocity command is scaled to provide an output frequency dotted line that varies from 0 to 200 Hz depending on the maximum velocity of the motor This variable frequency output drives a permanent magnet AC servomotor whose speed varies as a function of the frequency 4 1 Chapter 4 Description of Operation 4 2 Figure 4 1 PWM Waveform 300V DC Bus 400 5 Typical 0 a 400 65 Typical 400 46 Typical The three phase relationship between the reference signal and the timing wave provide PWM pulses to the power transistor base drive This base drive sw
85. e energized and a fault is displayed If contactor M is wired to the DROK relay in a stop string contactor will open and the shunt regulator will discharge the power bus supply 4 7 Chapter 4 Description of Operation Figure 4 4 1391 DES Block Diagram TB5 1 External Shunt Regulator Resistor 1326A AC Rectifier D1 Contactor M al oK dL M 9 AO 9 9 i EN O Shunt Power Transistor siis er Regulator Output Modules Transistor Contactor Shunt Transistor Power Fault Regulator Base Drive Protection Circuit Breaker Power Driver Board Isolated Current Sense Isolation Protection Control LEDs Board Transformer Circuitry Logic Status MPT Enable 1 1 Brushless Digital Control Boards Resolver TB2 1 2 4 2 6 2 9 TB2 11 TB2 13 TB2 15 TB3 1 TB4 17 QTB2 2 0 2 5 QTB2 7 QOTB2 10 2 2 12 2 2 14 TB2 16 through TB4 18 TB2 3 TB3 10 User Supplied Velocity Current Reset Torque DROK Branch Circuit Command Output Command Contact Protection amp Input Disconnect Velocity Enable Adjustable Encoder Output Current Output Limit AC Line Input 4 8 Chapter Objectives Inputs Outputs Chapter Inputs Outputs and Switch
86. ease note that there are no connections to TB4 20 amp 22 Contactor Coil TB4 Terminals 11 12 Connections to the coil of the integral contactor are performed at these terminals The coil voltage is 115V AC 50 60 Hz Important Drives with a catalog number of 1391 DESxx DI AQB A will have a 24V DC coil Drives with a catalog number of 1391 DESxx DI AQB B will have a 240V AC coil 5 3 Chapter 5 Inputs Outputs and Switch Settings 5 4 M Contactor Auxiliary Contacts TB4 Terminals 13 14 15 16 The auxiliary contacts of the integral contactor are accessed through these terminals Refer to Table 5 A for contact ratings Table 5 A M Contact Ratings minimum 50 mA at all voltages AC Ratings DC Ratings Volts Amperes Volts Amperes Ue le Ue le 12 120 6 28 5 0 220 240 3 110 1 25 380 480 15 220 0 62 500 600 12 440 0 27 660 0 20 Drive DROK Contacts TB4 Terminals 17 18 Application of power to the transformer energizes the logic supply of the drive When 50 of rated DC Bus voltage is achieved and no drive faults are detected this relay contact is closed The contact remains closed until a drive fault occurs or power is removed from the transformer Contact rating 115V AC 1A or 24V DC 0 3A 36V AC Logic Supply Voltage TB4 Terminals 19 21 The isolation transformer contains four separate windings Each winding supplies 36V AC The 36V AC leads are brought out to terminals 19 and 21 of TB4 See
87. ed at least 12 304 8 mm apart Power leads are defined here as the transformer primary and secondary leads motor leads and any 115V AC or above control wiring for relays fans thermal protectors etc Signal wiring is defined as velocity command resolver feedback enable lines and low level logic signal lines Feedback command signal and other shields must be insulated from each other and connected at a common machine or system earth ground in a star fashion i e all shields connected to a single earth ground point This helps to minimize radiated and induced noise problems and ground loops Refer to the paragraph entitled Grounding and Appendix B 7 3 Chapter 7 Installation Wiring 7 4 Open ended shields resolver feedback cable at the resolver and velocity command cable at the servo drive must be insulated so that they do not accidentally cause ground loops EMI Shielding The 1391 DES has an inverter carrier frequency of 2500 Hz Therefore the system may induce noise into sensitive equipment lines adjacent to it radiation that may cause industrial or radio controlled equipment to operate erratically and cause possible injury to personnel ATTENTION This drive can produce electromagnetic The 1391 DES system is designed to be interconnected with Allen Bradley EMI shielded motor cables only Do Not substitute cables The EMI shield of the motor cable only must be grounded at both ends to function prope
88. el 6 5 Chapter 6 Programming Accessing Parameter Levels 6 6 To help guard against access to advanced programming levels by untrained personnel special key combinations must be pressed to gain access When power is first applied to the 1391 DES the Basic Display see Figure 6 4 will be shown The Basic Display alternates every 2 seconds between the two displays shown The alternating display indicates that the drive is functioning normally If for some reason the display does not alternate or is not shown refer to Chapter 11 Troubleshooting Figure 6 4 1391 DES Basic Display 2 Digital Servo Allen Bradley 1391 DES45 DI Coryright 1992 The three parameter levels can be accessed by using the key combinations described below The parameter level can be confirmed by observing the number of dots in the upper left corner of the display To Access the View Level Press the Down Arrow key once the View Level will be active To Access the Modify Level Press the up down and left arrow keys simultaneously and release To Access the Maintenance Level a Press the up down and left arrow keys simultaneously then within 4 seconds b simultaneously press the up left arrow and Enter keys and release within 4 seconds simultaneously press a M i To Return to the Basic Display Press the Up Arrow and Enter keys simultaneously to return to the Basic Display Programming Chapter 6 Progr
89. el Fault bit 12 Gain Calculation Fault bit 13 Gains Updated bit 14 Not Used bit 15 Not Used Parameter 17 Velocity Reference Whole Vel Ref Whole This parameter supplies the whole number part of an internal digital velocity reference when internal digital velocity control has been selected in parameter 132 The data contained in this parameter represents the whole number of the velocity reference Parameter Type View modify in Maintenance level Minimum Value 8000 rpm Maximum Value 48000 rpm Parameter 18 Velocity Reference Fraction Vel Ref Fract 5 The fractional part of an external velocity reference when internal digital velocity control has been selected in parameter 132 is contained in this parameter The data contained represents the low order fractional part of the internal digital velocity reference Parameter Type View modify in Maintenance level Minimum Value 0 rpm Maximum Value 65535 rpm Parameter 19 Final Velocity Command Vel Command Parameter 19 indicates the value of the velocity reference into the velocity PI regulator after the Velocity Mode Select parameter 132 and the Velocity Limiter Parameter Type View only all levels Minimum Value 8000 rpm Maximum Value 8000 rpm Chapter 6 Programming Parameter 20 Velocity Feedback Vel Feedback 5 The unfiltered motor velocity is displayed through this parameter Parameter Type View only all levels Minimum Value 80
90. ems related to each In addition a number of common system and motor malfunctions are described avoid hazard of electrical shock verify that all voltage on the capacitors has been discharged before attempting to service repair or remove this unit Voltage at terminals 9 and 7 of TB5 must be 0 00 as measured with a standard digital voltmeter or multimeter ATTENTION This product contains stored energy devices To Only qualified personnel familiar with solid state control equipment and safety procedures in publication NFPA 70E should attempt this procedure fault circuits The cause of a fault indication must be determined and corrected before attempting operation Failure to correct a drive or system malfunction may result in personal injury and or equipment damage due to uncontrolled machine system operation ATTENTION Do not attempt to defeat or override the drive troubleshooting it must be properly grounded The oscilloscope chassis may be at a potentially fatal voltage if not properly grounded Always connect the oscilloscope chassis to earth ground ATTENTION If an oscilloscope or chart recorder is used for Chapter 11 Troubleshooting The majority of faults cause the DROK contact to operate The use of fault messages may aid in identifying drive and motor malfunctions If a drive fault occurs the fault detection circuitry can be reset by removing and reapplying power to the transformer supp
91. erdamped Time Chapter 8 Start Up Linear Accel Decel Control Module The following information explains manual controller operation with the Linear Accel Decel Control Module CR APG 001 This module provides adjustable acceleration deceleration control for the 1391 DES Up to four remote or local preset speeds are available Important The 1391 DES Accel Decel Ramp parameter 146 locally controls the velocity command per time rate The default value is set to a maximum of 22216 revs per sec sec This parameter must be kept at maximum to allow the Linear Accel Decel Control Module to set the accel decel rate within the minimum maximum values 1 Perform the Start Up Procedure presented earlier in this chapter 2 Remove all system power 3 Install and interconnect the Linear Accel Decel Control Module as shown in Figure 8 2 Refer to Figure 8 3 for dimension information 4 Set all of the Speed pots SPD 1 SPD 4 remote pots to the maximum clockwise position speed minimum Set the front panel Accel and Decel pots to the maximum counterclockwise position minimum accel decel time Important All potentiometers on the module are 15 turn bi directional The Local Speed pots are setup such that counterclockwise rotation will increase output and clockwise rotation will decrease output Counterclockwise rotation of the Accel Decel pots will decrease time while clockwise rotation will increase time 3i Apply 115V AC to
92. erminal 4 A voltage corresponding to the motor velocity and direction of rotation will be present between this terminal and signal common Terminal 5 1 2V DC for each 1000 rpm is available Minimum impedance that can be placed across this output is 10k ohm Chapter 5 Inputs Outputs and Switch Settings 5 2 Analog Out 2 Current TB2 Terminal 6 A voltage corresponding to positive and negative current will be present at this terminal and signal common Terminal 7 3V DC equals 100 of the continuous rating of the motor with 6V DC equaling 200 Minimum impedance that can be placed across this output is 10k ohm Enable Input TB2 Terminals 9 10 Normal Run commands to the drive are performed through the Enable input and any additional user supplied run control circuitry With input power applied and the line contactor energized a mechanical contact closure or a solid state contact closure rated 15 to 30V DC 30 mA between TB2 9 amp 10 will cause the drive to run When this input is de energized the control will cause a regenerative braking action in the motor Reset TB2 Terminal 11 Removing the Enable signal and momentarily connecting this terminal to signal common TB2 12 will reset the drive after a drive fault occurs Important A Reset must not be initiated until the cause is determined and corrected Adjustable Current Limit TB2 Terminal 13 14 The current limit of the drive is set to 300 of motor c
93. g Amperes kVA Primary Voltage 715 35 50 100 125 150 208V AC 8 175 20 40 50 60 74 7105 2 3 4 5 380V AC 4 5 9 12 25 30 35 415V AC 4 8 12 20 25 30 480V AC 3 5 7 10 175 25 30 575V 3 6 8 15 20 25 External Shunt Regulator Resistor The external Shunt Regulator Resistor and fuse for the 45A 1391 DES must be connected to TB5 8 and TB5 9 as described in Chapter 10 22 5A drives must be converted for use with an external shunt resistor and fuse Refer to Chapter 10 and Appendix B for detailed instructions Interface Connections Refer to Chapter 5 and Appendix B for connection information 7 1 Chapter Objectives Start Up Procedure Chapter Start Up Chapter 8 provides the steps needed to help properly start up the 1391 DES Digital AC Servo Drive Included in the procedure are typical adjustments and voltage checks to assure proper operation The information contained in Chapters 5 6 and 7 must be read and understood before proceeding The following procedure provides the required steps to start up the 1391 DES AC Servo Drive in velocity and position mode A ATTENTION Power must be applied to the drive to perform many of the adjustments specified in the following paragraphs Voltages behind the front panel are at incoming line potential To avoid injury to personnel and or damage to equipment only qualified service personnel should perform the following start up procedures Thoroughly read and understand the
94. hase connection to the drive is phase insensitive and is shown in Appendix B The maximum wire size TBS will accept is 8 AWG 6 mm Refer to Chapter 10 for the transformer wiring diagrams The minimum recommended wire sizes for the transformer secondary are shown in Table 7 B Chapter 7 Installation Table 7 B Minimum Transformer Wire Sizes AWG mm kVA Input Voltage 15 35 50 100 125 150 2 208V AC 12 2 5 02 25 2 2 5 48 6 8 6 6 10 240V AC 12 2 5 12 25 2 2 5 6 8 6 8 6 380V 12 2 5 02 25 02 25 0 4 10 4 8 6 415V 12 2 5 02 25 02 25 02 25 410 4 10 4 480V 12 2 5 12 2 5 12 2 5 12 25 410 4 10 4 575V 12 2 5 12 25 412 25 412 25 412 25 10 4 Important The transformer primary requires protection by means of a customer supplied branch circuit disconnect device Refer to Appendix B Fusing Transformer Primary Time delay fusing similar to Bussman Fusetron FRS Series or equivalent must be used if the primary circuit is fused Circuit breakers must provide protection equivalent to fuses Fuse ratings shown in Table 7 C are the highest ratings allowed in a 25 C 77 F ambient temperature Higher electrical enclosure ambient temperatures will require fuses with higher current ratings Consult fuse manufacturer s derating data Fuses larger than those listed below may result in transformer damage Table 7 C Fuse Current Ratin
95. hin the drive When operating the drive in velocity mode set to Velocity Mode 1 When operating in torque mode using S Class MAX IMC 121 amp 123 set to A D Torque Block 4 Parameter Type View modify in Modify level and Maintenance level Default Value 0 Vel Mode 1 Q0 Vel Mode 1 velocity regulator PI output parameter 34 1 Vel Mode 2 PI output current preload external torque reference parameters 34 159 44 2 Torq Block Digital torque reference parameter 44 3 Vel Mode 3 Pl output A D value 3V 4096 current preload parameters 34 A D 159 A D Tq Blk current preload A D value 159 A D 5 Zero Ref zero torque command Parameter 135 Up To Speed Tolerance To Spd Tol This parameter establishes a band around the velocity command that is used to determine when to update the At Speed bit in parameter 7 Parameter Type View modify in Maintenance level Minimum Value 0 rpm Maximum Value 7812 rpm Default Value 19 5 rpm Chapter 6 Programming 6 16 Parameter 136 Drive Address This parameter is not active at this time Parameter Type View modify in Maintenance level Minimum Value 1 Maximum Value 14 Default Value 1 Parameter 144 Clockwise Velocity Limit CW Vel Limit Specifies maximum velocity reference in the clockwise positive direction Parameter Type View modify in Modify level and Maintenance level Minimum Value 0 rpm Maximum Value 7000 rpm
96. idual instruction sheets shipped with the option accessory 9 3 Chapter 9 1326 AC Servomotors End of Chapter 9 4 Chapter Objectives 1391 Transformers Transformers and Shunt Regulators Chapter 10 provides general information about the 1391 Isolation Transformer In addition shunt regulator information is also provided The 1391 DES must operate from an isolation transformer having a three phase 230V AC output and a single phase 36V AC output Transformers supplied with the 1391 DES can provide power for up to four drives Standard three phase input voltages for the 60 Hz units are available The values specified are the continuous outputs of the units in a 60 C ambient Important The maximum rating that can be connected to the 1391 DES is 15 kVA Important The 1391 DES drive uses a 36V AC transformer tap to provide power to the Logic Control Board It is recommended that a 1391 Isolation Transformer be used Contact your local Allen Bradley Sales Representative if a transformer of a different type must be used Refer to Figure 10 1 and Appendix B for connection information 60 Hz Transformers Two 60 Hz transformers are available and have input ratings of 1 240 480V three phase 2 208 230 460 575 AC three phase 50 60 Hz Transformers The 50 60 Hz transformer that is available has an input rating of 240 380 415 480V AC three phase NEMA Type 1 Enclosure Dimensions for the NEMA Type
97. ified File No LR 32334 548 Specifications are for reference only and are subject to change without notice 2 1 Chapter 2 Specifications Environmental Specifications Drive Power Dissipation Transformer Power Dissipation 2 2 The 1391 DES must be mounted in an enclosure that is clean dry and ventilated by filtered or cooled air Enclosures vented with ambient air must have appropriate filtering to protect against contamination caused by oils coolants dust condensation etc The ambient air temperature must be kept between 0 to 60 C 32 to 140 F and the humidity between 5 and 95 non condensing The 1391 DES is equipped with an integral cooling fan The general flow of air through the unit must be maintained by following the recommended spacing guidelines found in Chapter 7 The 1391 DES can operate at elevations to 3300 feet 1000 meters without derating however the current rating must be derated by 3 for each additional 1000 feet 305 meters up to 10 000 feet 3050 meters Consult with your local Allen Bradley Sales Representative prior to operation over 10 000 feet 3050 meters The 1391 DES dissipation characteristics are approximated in Table 2 A Table 2 A Drive Power Dissipation Rated Power Output 1391 DES15 1391 DES22 1391 DES45 watts watts watts 20 38 55 104 40 16 110 208 60 114 165 312 80 152 220 416 100 190 215 520 The power dissipation characteristics of the 1391 Isolation Tr
98. igh causing excessive energy to be returned to the power supply bus Input line voltage exceeds the maximum drive input voltage rating The position controller acceleration deceleration rate is incorrectly set The shunt regulator or transistor has malfunctioned Shunt regulator fuse has blown Shunt regulator resistor not connected to drive Component on Logic Control Board has malfunctioned replace Logic Control Board Component on Logic Control Board has malfunctioned replace Logic Control Board M2 e RU MN Re initialize EE prom parameter 128 Malfunctioning EE prom replace Memory Board Auto tune current limit should be increased to speed up the auto tune cycle Auto tune velocity should be decreased to speed up auto tune cycle Motor is disconnected or not able to turn Motor power resolver continuity disconnected or miswired Enable not applied Chapter 11 Troubleshooting Condition Axis or System runs uncontrollably Axis or System is unstable Desired motor acceleration deceleration cannot be obtained Motor does not respond to a Velocity Command Presence of noise on Command or resolver signal wires Position controller faults on excess encoder counts during power up Table 11 General System Troubleshooting Possible Cause 1 U N eJ N LOO JOY UY dps ae eS ee aps The velocity feedback position feedback device or velocity command
99. ine Cosine Rotor lead sets reversed Combinations of 1 2 3 11 9 Chapter 11 Troubleshooting 11 10 Table 11 E Test Point Descriptions Test Point Description TP2 Resolver 8 000 kHz sine wave 3 0V RMS 7 Triangle Triangle oscillator 2 5kHz 5 5 volts peak TP8 PWM B Phase B transistor turn on signal TP9 PWM A Phase A transistor turn on signal TP10 PWM C Phase C transistor turn on signal 11 DC 12 Signal Common 13 12V DC TP14 12V DC TP15 16 IALPHA and IBETA Sinusoidally varying DC level representing the current command to the current loop scaled for 2 5V peak rated motor current TP17 IT Ref Voltage representing current reduction amount TP19 Buffered Output Velocity input TP20 Buffered Output Torque input TP21 Ext Current Limit Indicates the external current limit command rated TP28 Signal Common TP29 30 IA IB Feedback Buffered motor current feedback signals scaled for 2 5 volts peak rated motor current TP31 Signal Common TP50 ABS Rotor Signal used to detect resolver loss Nominal value 2 596V Trip point is approximately 0 8V TP51 9V Ref Signal feeding output d a s reference TP52 Microprocessor Reset Momentarily ground to reset microprocessor TP 40 Sine wt 4 0 kHz 2 0 Vrms sine wave used for A Quad B TP41 Sine wt Sine theta 2 0 Vrms modulated waveform used for A Quad B 42 Sine wt Cosine theta 2 0 Vrms modulated waveform
100. is parameter 200 Parameter Type View modify in Maintenance level Minimum Value 0 Maximum Value 50 Default Value 10 Parameter 210 Analog to Digital Converter Offset Anlg Vel Offst This parameter adds an offset to the A D converter value to correct for input A D offset and user input command D A output offset Parameter Type View modify in Modify level and Maintenance level Minimum Value 61 mV Maximum Value 61 mV Default Value 0 mV Parameter 211 Analog Velocity Gain Anlg Vel Gain This parameter determines how the A D converter value is scaled It is set to the number of motor rpm that is to represent 1 volt of input command The desired input velocity command voltage to motor rpm scaling is accomplished with the Analog Velocity Gain parameter 211 The default setting is 500 rpm volt Use the following formula if the maximum motor speed rpm and maximum velocity command volts are known Maximum Desired Motor RPM RPM Maximum Velocity Command Volts for example 3000 RPM Maximum 375 RPM 8V DC Maximum Command Volts Parameter Type View modify in Modify level and Maintenance level Minimum Value 790 rpm per volt Maximum Value 790 rpm per volt Default Value 500 rpm per volt Parameter 212 Digital to Analog 1 Gain D A 1 Gain This parameter scales the D A 1 Command Value parameter 58 before it is output to D A Converter 1 To change output voltage scaling Desired Voltage per 1000 r
101. itches the power transistors across the 300V DC bus providing current to the motor windings thus causing the motor to turn A resolver attached to the motor provides a signal corresponding to the actual rotor position of the motor This signal is decoded to a signal representing rotor position and is fed to the commutation logic along with the torque command In this way the drive combines the desired position signal and current reference with the decoded resolver signal to produce a reference signal commanding the motor to speed up or slow down See Figure 4 2 Figure 4 2 Operation Current 2 PWM Generator Reference Loop Integrator amp Base Drive Timing Signal Generator Resolver Position Decoder Shunt Regulator Operation Logic Power Supply Logic Control Boards Fault Monitoring and Detection Chapter 4 Description of Operation The 1391 DES shunt regulator provides power dissipation for regenerative conditions when the energy returned to the drive by the motor exceeds that which can be stored in the bus capacitors The shunt regulator monitors the bus voltage and at a predetermined ON point activates the shunt regulator transistor allowing current to flow through the shunt resistor and dissipating power in the form of heat A fuse is placed in series with the resistor to protect it against short circuit conditions When the shunt transistor is activated and power is being dissipated at the resistor the bus voltage
102. l automated machine servo system e Input protected against transient voltage A power line DB contactor which opens the AC line to the drive and inserts a shunt regulator resistor across the DC bus whenever the contactor is de energized An integral circuit breaker which will open all three AC line leads in the event of a short circuit condition in the power circuitry A standard 300V DC power bus supply that includes an integral shunt regulator A shunt regulator resistor to dissipate the energy generated by the motor during regenerative braking Prompted startup procedure to shorten setup time Two line LCD display and programming panel e Patented current control implementation e Torque feedforward differential input e Microprocessor based logic boards that can be quickly removed and easily interchanged for troubleshooting and diagnostics e Three drive ratings that are in the same physical package and have identical mounting dimensions e True vector control Up to 600 feet 183 meters between drive and motor Chapter 1 Introduction Options Modifications The 1391 DES contains most functions needed in a servo system The following are selectable at the user s option e Contactor Auxiliary Switch Two N O normally open contacts are mounted on the main power contactor and wired to the power terminal block These contacts can be used in a motor brake control circuit or as an indicator that the
103. l Switch Mylar Shield Mylar Shield 16 N C Ground Stud Ground Stud Appendix C Cable Information C 2 1326 CPCxx Motor Power Cable Wire Number n2 c ylar Shield Wire Gauge Color AWG Black 8 Black 8 Black 8 Drain Wire 12 Black 12 Black 16 Black 16 Black 16 Black 16 Mylar S hield 16 Servo Control Connection 1326 CVUxx Master Vernier Resolver Cable Master Vernier Master Vernier Pair 1 2 3 Wire Color White Black Red Black Orange Black Blue Black Green Black Violet Black Connector 1389 AAxx 1391 AAxx Pin Terminal Terminal D TB3 1 TB5 1 E TB3 2 TB5 2 F TB3 3 5 3 Power Ground Power Ground B Power Ground Power Ground G Thermal Switch Thermal Switch H Brake Power Brake Power Brake Power Brake Power Thermal Switch Thermal Switch No Conn Ground Stud Ground Stud Gauge Connector AWG Pin Description 22 A Rotor 1 22 B Rotor 2 22 D Stator 1 22 F Stator 3 22 Stator 2 22 G Stator 4 22 Rotor 1 22 Rotor 2 22 N Stator 2 22 R Stator 4 22 M Stator 1 22 P Stator 3 Pairs 1 2 and 3 are used with single device format resolvers i e 1 1 1 2 1 2 5 and 1 5 1326 CEUxx Encoder Feedback Cable Pair 1 2 3 Wire Color Black White Black Red Black Orange Black Blue Black Green Connector Pin 1391 CAQB A Quad Cable The 1391 CAQB cable allows the user
104. ll levels Minimum Value 300 rated motor current or 2 times drive rating whichever is less Maximum Value 300 rated motor current Parameter 46 Id Flux Current Reference Id Current Ref The flux producing current reference is displayed by this parameter Parameter Type View only in Maintenance level Minimum Value 0 Maximum Value 7096 rated motor current Parameter 47 IT Protection Limit IT Protect Lim This parameter displays the amount that the bridge current limit is reduced based on the output of an analog circuit which models the thermal characteristic of the inverter power transistors Parameter Type View only in Maintenance level Minimum Value 0 Maximum Value Drive current rating Parameter 48 Bridge Current Limit Bridge Cur Lim The bridge current limit which is calculated by the drive based on motor current and drive size parameters 155 amp 3 is displayed by this parameter Parameter Type View only in Maintenance level Minimum Value 0 Amperes Maximum Value 200 drive rating or 3 times motor rating Chapter 6 Programming Parameter 49 Current Feedback Scale Cur Fdbk Scale The current feedback scaling is displayed based on motor current rating and drive size parameters 155 amp 3 See Table 6 A Parameter Type View only in Maintenance level Minimum Value 0 Maximum Value 15 Table 6 A Typical Current Feedback Scaling Motor Rated Current 1391 DES15 1391 DES22 1391
105. lying the servo drive or connecting the Reset input TB2 11 to ground TB2 12 with the enable removed This material along with the diagnostic troubleshooting information in cluded with the position controller will help identify most common system malfunctions to an assembly level The position controller is considered to be a computer numerical control such as an Allen Bradley 9 240 pro grammable controller IMC 120 121 123 or stand alone control S Class MAX controlling a closed loop position or velocity system Substituting or interchanging complete servo drives or major board assemblies is a common technique used in troubleshooting closed loop position systems The 1391 DES has been designed to facilitate this technique The procedures provided must be followed when substituting or interchanging drives or board assemblies Refer to Figure 11 1 for board and connector locations Discharge sensitive parts and assemblies Static control precautions are required when installing testing servicing or repairing this drive Component damage may result if ESD control procedures are not followed If you are not familiar with static control procedures reference A B publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD protection handbook ATTENTION This drive contains ESD Electrostatic Drive Substitution 1 Remove all power to the drive branch circuit 2 Remove connectors TB1 TB2 and TB3
106. me the drive will display the message EEprom Fnction in progress This message alerts the user that an EEprom function is in progress and that operation will return to normal momentarily If the message drive can t be running for EE is displayed verify that the drive is disabled e If the drive faults during start up i e feedback miswired etc the procedure will be continued from the point where you left off after the cause of the fault has been resolved To stop the start up procedure at any time and restart from this step press the first 4 keys on the keypad Up Down Left and Right Arrow keys simultaneously and release e To cancel the procedure and return to the Basic Display at any time disable the drive and simultaneously press the last 4 keys of the keypad Down Left Right and Enter keys and release e If you wish to repeat the start up procedure access the Maintenance programming level by pressing the Up Down and Left Arrow keys simultaneously then within 4 seconds press the Up Left and Enter keys Access parameter 252 and enter a value of 1 press Enter Then press the Left or Right Arrow keys to access parameter 128 Select Save to save the parameters to EEprom press Enter Cycle all power and proceed The display will now read START UP PROCEDURE press the Enter key to continue Display setup drive with motor data Press Enter to continue If a custom motor is being used consul
107. minal 9 and 7 of TB5 measures 0 00 volts ATTENTION To guard against an electrical shock hazard Remove and discard the jumper present between terminals 8 and 10 of TBS This disconnects the internal shunt resistor and fuse from the shunt regulator circuit ATTENTION When using an external shunt resistor assembly A with the 22 5A 1391 DES ensure that the internal resistor assembly has been disconnected per the above instructions Personal injury and or equipment damage could result from an overheated resistor if the internal resistor is not disconnected 2 Connect one end of the new external shunt fuse to terminal 9 of TBS Connect the other end of the fuse to one end of the shunt resistor Important The external shunt resistor must have a fuse in series with the shunt resistor Refer to the paragraph entitled Shunt Fusing for more information 3 Connect the remaining end of the shunt resistor to terminal 8 of TB5 4 Using Table 10 B set the Duty Cycle Selector Switch to the appropriate setting for the resistor being used 5 Install the appropriate shunt fuse in its holder Chapter 10 Transformers and Shunt Regulators 10 6 manufacturers nominal resistor power ratings when using these in external shunt configurations Consult the resistor manufacturer for recommended derating Failure to comply could result in personal injury and or equipment damage from an overheated resistor ATTENTION Pro
108. mote Axis Hardwired Stop lt Bl B2 OA O Brake when supplied 1 1 1391 Digital Servo Drive TB4 er sls M CONTACTOR o 1 4100 21x ur M 1391 5408 Cable esolver TB1 4 X 2 A 5 3 6 48 7 5 7 8 517 9 7 10 8 COMMON H 12 1 VELOCITY COM 1l 2 VELOCITY COM 13 9 ENABLE SOURCE 23V DC 14 10 ENABLE 2 CR IOPS 241 24V DC Power Supply COMMON 24V DC 3 011 5 f OUT 5 T TB4 call 15 DROK 115VAC 1A 15 CLOSED Denotes Screw Terminals for Shield on IMC S Class Chassis Refer to the IMC S 21x Installation and Setup Manual 999 103 and the 1391 DES Interconnect Drawing for further details Use Belden brand 8760 or equivalent shielded cable Axis 0 connections TB1 are shown Axis 1 2 3 connections are identical use TB3 for Axis 1 TB4 for Axis 2 and TB5 for Axis 3 If the drive is to be operated as a torque block command wires should be connected to 1391 DES TB2 15 16 amp 17 Appendix B Interconnect Drawings
109. motor at maximum velocity command If the maximum command voltage exceeds the normal maximum level these values will limit the speed of the motor d Perform step 36 e Remove power and reconnect all wiring if applicable Current Limit Adjustment a Apply power to the drive b Energize the contactor M but Do Not Enable the drive c Access parameters 156 and 157 Positive and Negative Current Limits to enter the desired positive and negative current limits d Perform step 36 e Remove power and reconnect all wiring if applicable Saving Current Parameters to EEprom If this step was just performed proceed to the System Compensation Procedure or step 39 a Access parameter 128 EEprom Functions and select Save followed by the Enter key This will load the parameter values into memory If no additional changes are required press the Up Arrow key and Enter keys simultaneously to show the Basic Display System Compensation Procedure The auto tune feature of the 1391 DES drive should provide sufficient system velocity loop compensation for the majority of applications Additional tuning is usually not required However the following manual procedure for system velocity loop compensation can be followed if desired 37 Enable the drive and monitor the velocity feedback signal at terminals 5 common and 4 of TB2 with an oscilloscope or chart recorder Default scaling is 1 2V krpm 8 9 Cha
110. n Kit B A5 Metric Metric C SeresC A7 Only 3 A Series motors with brake must use 1326AB MOD SSV A2 Brake Power Supply Rectifier 1326 MOD BPS Bulletin Number Type Description Code Description Code Description MOD Modifica BPS Single phase full wave screw mount tion Kit rectifier 115V AC input for use with 90V DC brakes 4 Up to 4 brakes per rectifier can be used 3 4 Chapter 3 Receiving Unpacking and Inspection Motor Junction Box Kit 5 1326 MOD First Position Second Position Third Position Bulletin Number Type Description Code Description Code Description MOD Modifica RJAB Forall AB A amp B Series Motors tion Kit A4 amp A5 Torque Plus Motors RJB Forall AB B4 amp Cx Series Motors C A7 Torque Plus Motors 5 The motor comes standard with IP 65 plug style connectors mounted radially to the motor This kit allows the connectors to be brought out axially to the motor without further wiring Kit includes Motor J unction Box and Mounting Hardware Feedback Mounting Adapter Kit 1326AB MOD M4 C1 First Position Second Position Third Position Fourth Position Bulletin Mounting Adapter Coupling Size Number Type Kit for for Code Description MOD Modifica tion Kit Code Motor Series A B C A4 A5 A7 Torque Plus Blank For M22 M23 M24 M25 M26 Code Description 4 845H T Encoder for AB A series motor A4 Torque P lus 5
111. n Second Position Bulletin Number Type Code Description MOD Modifica tion Kit G3 Third Position Description Code G3 G4 Motor Series Rear mounted blower for C series motors Saddle type blower for C series motors with rear mounted encoders 3 7 Chapter 3 Receiving Unpacking and Inspection Planetary Gearbox 1326 PG 05 LB 21 First Position Second Position Third P osition Fourth Position Fifth Position Sixth P osition Bulletin Used on 1326AB Gear Ratio Number Type Motor Series Motor Shaft Output Shaft Options Adapter Code Description Code Standard Torque Plus Code Description Code Description Code Description PG Straight A SeresA A410 03 34 Blank NoOptions 21 Metric Planetary Gearbox p SeriesB A5 10 in LB LowBack 11 English RP Right Angle lash Option gt See I5 I i 20 20 1 30 30 1 50 50 1 100 1001 10 Use only 21 Metric style adapter gearboxes for A4 A5 Torque Plus Motors 3 8 Chapter Objectives General 300V DC Power Bus Supply PWM Operation Chapter Description of Operation Chapter 4 is intended to familiarize the reader with the circuitry of the 1391 DES in terms of function and operation The intended use of the 1391 DES is to control the speed and torque of an AC servomotor in a closed loop position system A complete servo system can be configured with a 1391 DES Servo Drive 1326 AC Servomotor an
112. n and annunciation circuits power up power down logic PWM generation and forward reverse controlling circuits A number of fault monitor and detection functions exist on the 1391 DES that guard the drive and help to minimize motor and system faults The occurrence of a fault will cause the drive to trip out In this condition the Drive OK DROK contact will open and remain open until the fault is cleared If the DROK contact is wired into the user s stop circuit the line DB contactor M will also de energize This will place the shunt resistor across the bus causing the motor to dynamic brake to a stop These fault conditions are annunciated through the front panel display The conditions displayed include 4 3 Chapter 4 Description of Operation 4 4 Overtemperature The drive contains a thermal switch on the heat sink which indirectly senses transistor module temperature If the temperature rating of the switch is exceeded the DROK contact opens and the drive is disabled Power Fault A fault related to the power bridge section of the drive will cause the drive to be disabled and open the DROK contact Control Voltage Fault If the control voltage varies more than 10 of the nominal 12V DC this fault will occur When a fault is detected the DROK contact opens and the drive is disabled Resolver Loss Fault If the resolver wiring is grounded or missing this fault will occur When a fault is detected the DROK contact o
113. n place if the system offset adjust is being performed c Apply power energize the contactor M and enable the drive d Access the Offset parameter 210 Modify level and increase or decrease the value until the motor shaft does not rotate e Perform step 36 f De energize the Enable input remove power and reconnect all wiring if applicable 33 Analog Velocity Gain a Apply power to the drive b Energize the contactor M but Do Not Enable the drive Access the Analog Velocity Gain parameter 211 Modify level d The drive will allow you to enter a value for the Analog Velocity Gain The desired input velocity voltage to motor rpm scaling is accomplished with the Analog Velocity Gain parameter 211 The default setting is 500 rpm volt Use the following formula if the maximum motor speed rpm and maximum velocity command volts are known Maximum Desired Motor RPM RPM Maximum Velocity Command 7 Volts for example 3000 RPM Maximum 375 RPM 8V DC Maximum Command Volts Enter the desired value followed by the Enter key e Perform step 36 f Remove power and reconnect all wiring if applicable 8 8 34 35 36 Chapter 8 Start Up Clockwise Counterclockwise Velocity Limits a Apply power to the drive b Energize the contactor M but Do Not Enable the drive c Access parameters 144 and 145 Clockwise Counterclockwise Velocity Limits to enter the maximum speed limit of the
114. nector 7 provided on 15 amp 22 5A units only 15A KLM 10 22 5A FNQ 6 1 4 8 Parameter 130 must be set to zero in this configuration 9 Apply either 5V DC to TB3 7 or 8 15V DC to TB3 9 do not apply both 10 NC No connection Appendix B Interconnect Drawings Figure B 1 1391 DES Interconnect Drawing Star Washer Chassis Wall Ring Type GND STUD FROM 1 1 FROM MOTOR CABLE EMI SHIELD n Lugs Only FROM MOTOR GROUND TM OGIC S 5V LOGIC SUPPLY 20 NC REFERTO TB4 13 36V AC BUSS MDX5 20 CHAPTER 5 FOR L M CONTACT TM RS RATINGS bhii BUSS MDX5 TB4 NC NOTE 2 Phase Insensitive B4 15 M 84 16 BUS SUPPLY M T 30 VAC 7 c 3 M 84 17 DROK CLOSED OK TT PHASE INSENSITIVE 84 18 1 VELCOM E BO d VELCOM T FAN BUS NC TB5 I B2 3 SEE NOTE 5 COMMON ROUTE SEPARATELY FROM CONTROL 1 185 AND FEEDBACK WIRING TN B2 15 3 TORQUE COM TB5 8 TBS COM 051 RED FAUL B2 17 COMMON DS1 GREEN DRIVE READY PHASE SEE NOTE 5 82 423V 9 49
115. ng hazards associated with installation programming and maintenance procedures Note the following points e This equipment has been designed to meet the requirements of a component drive in an integrated drive system While the potential hazards associated with the drive remain the same when used in a system environment it must be noted that special considerations are to be given to characteristics of other peripheral solid state control equipment and the cumulative impact on safety e Manufacturers and engineering groups responsible for specification or design of electrical control equipment must refer to applicable industry standards and codes for specific safety guidelines and interface requirements n the actual factory environment the user is responsible to ensure compliance with applicable machine and operator safety codes or regulations which are beyond the scope and purpose of this document 1 1 Chapter 1 Introduction General Precautions Drive Description In addition to the precautions listed throughout this manual the following statements which are general to the drive must be read and understood Digital Servo Drive and associated machinery should plan or implement the installation start up and subsequent maintenance of the drive Failure to comply may result in personal injury and or equipment damage ATTENTION Only personnel familiar with the 1391 DES result in component damage or a reduction in p
116. ngs Figure B 9 9 Series Interconnect Diagram For detailed 9 Series interconnect information please refer to the following publications Controller Publication 9 240 9 240 Integration Manual publication 8520 4 1 9 230 9 260 290 9 230 9 260 or 9 290 Integration Manual publication 8520 6 2 Appendix B Interconnect Drawings End of Appendix Cable Wiring Information Appendix Cable Information Pin outs and interconnect information for the various 1326 cables are provided in this section 1326 CFUxx Commutation Cable Servo Control Connection Gauge Connector 1389 AAxx 1391 AAxx Wire Color AWG Pin Terminal Terminal Black 320 2 1 TB1 10 White 320 B TB2 2 TB1 9 Shield Drain 320 NIC TB2 3 1 8 Black 20 D 2 4 TB1 7 Red 320 E TB2 5 TB1 6 Shield Drain 320 N C TB2 6 TB1 5 Black 320 H TB2 7 1 4 Green 20 G TB2 8 TB1 3 Shield Drain 320 IC TB2 9 1 2 Braided Shield 336 N C TB2 10 TB1 1 to Ground Stud 1326 CPABxx Motor Power Cable Servo Control Connection Wire Wire Gauge Connector 1389 AAxx 1391 Number Color AWG Pin Terminal Terminal 1 Black 12 F TB3 1 TB5 1 2 Black 12 TB3 2 TB5 2 3 Black 12 B TB3 3 TB5 3 4 Black 16 D Brake Power Brake Power 5 Black 16 E Thermal Switch Thermal Switch 6 Black 16 C Brake Power Brake Power 7 Drain Wire 16 G Power Ground Power Ground 8 Black 16 H Power Ground Power Ground 9 Black 16 Thermal Switch Therma
117. o Tune Friction Compensation 128 Functions 130 Drive OK Mode 131 Language Select 132 Velocity Mode Select 133 Torque Mode Select 144 Clockwise Velocity Limit 145 Counterclockwise Velocity Limit 146 Accel Decel Ramp 156 Positive Current Limit 157 Negative Current Limit 159 CurrentPreload 168 Kp Velocity Loop 169 Ki Velocity Loop 170 Feed Forward Gain 171 Static Gain 182 Desired Velocity Bandwidth 183 Velocity Damping Selection 184 Velocity Low Pass Filter Bandwidth 185 Lead Lag Velocity Feedback Filter Gain 186 Lead Lag Velocity Feedback Filter Bandwidth 187 Auto Tune Velocity 188 Auto Tune Current Limit 189 Auto Tune Inertia 190 Auto Tune Select 210 Converter Offset 211 Analog Velocity Gain 6 3 Chapter 6 Programming 212 233 Compensation Maintenance Level The Maintenance level allows access to all of the parameters listed in the View and Modify levels in addition to the parameters listed below Two squares 44 will be present in the upper left corner of the display to denote that this level is active see Figure 6 1 04 Adapter Type 05 Logic Command 06 Drive Faults 07 Drive Status 08 Auto Tune Status 17 Velocity R eference Whole 18 Velocity Reference Fraction 21 Filtered Velocity Feedback 22 Average Motor Velocity 23 Resolver Turns 24 Resolver Position Feedback 25 Pre Ramp Velocity 33 Proportional Velocity Error 34 Velocity Loop
118. o a step change in the velocity reference The velocity loop response to a load disturbance is unaffected by the Feed Forward Gain Parameter Type View modify in Modify level and Maintenance level Minimum Value 0 Maximum Value 0 39 Default Value 0 Parameter 171 Static Gain Droop Specifies the velocity regulation tolerance in rpm Parameter Type View modify in Modify level and Maintenance level Minimum Value 0 rpm Maximum Value 15 6 rpm Default Value 1 rpm Parameter 172 Velocity Loop Integrator Preset Intg Prest Val The velocity loop integrator will be set to the value in this parameter when the drive transitions into the run state Parameter Type View modify in Maintenance level Minimum Value 200 rated motor current Maximum Value 200 rated motor current Default Value 0 Parameter 181 Motor Inertia Displays the time it will take for the selected motor to reach 1000 rpm at 100 of rated torque This assumes that the motor has 0 2 times the motor inertia connected to it representing typical system inertia couplings etc Parameter Type View modify in Maintenance level Minimum Value 0 ms Maximum Value 500 ms Default Value Set by Setup drive with motor data routine Parameter 182 Desired Velocity Bandwidth Desired Vel BW This is associated with the Auto Tune Calculate function and allows the user to enter a desired velocity bandwidth less than or equal to the Maximum Bandwidth
119. ollow for detailed information The effects described below assume that the 36V AC control voltage has not been de energized Cause Effect on Motor De energize Line DB Contactor M Coil Dynamic Brake Speed Command brought to Zero Regenerative Brake Open Enable Input Regenerative Brake DROK Opens Fault Coast to Stop Dynamic Braking When the line DB contactor M is de energized by the control circuitry an inherent dynamic braking effect will occur during the DC bus decay provided the 36V AC logic voltage is not de energized The dynamic braking effect depends on the value of the shunt regulator resistor and total load inertia Important Frequent cycling of the line DB contactor to start stop the motor will reduce the life of the contactor Regenerative Braking Normal run commands to the drive are performed through the Enable input and any additional customer supplied control circuitry Refer to Appendix B With input power applied a mechanical contact closure or solid state contact closure rated 15 to 30V DC 30 mA between TB2 9 amp 10 will cause the drive to run provided the line DB contactor M has been energized by the control circuitry When the Enable input is de energized the maximum available reverse torque is applied to the motor in a regenerative stopping mode which will occur for approximately 450ms Coast An internal drive fault opens the DROK contact Coasting will only occur if the DROK contact is not wired
120. on of Motor Shaft similar to Allen Bradley 845H Chapter 5 Inputs Outputs and Switch Settings When using the A Quad B option with Allen Bradley IMC motion controllers the AMP parameters will be set according to the line count selected In general one parameter must be justified when using this device Important For all IMC classic products IMC 110 12x the normal line counts per cycle of the encoder must be divided by two since the drive will see two markers per cycle Example using an IMC 12x Controller With switch 51 set to 1024 lines per revolution S1 2 OFF S1 1 ON the lines per cycle of the position feedback device located in the Feedback Parameters File must be 2048 1024 x 4 4096 2 2048 Quadrature Lines R evolution 2 Markers R evolution 5 7 Chapter 5 Inputs Outputs and Switch Settings End of Chapter 5 8 Chapter Objectives Display Description Keypad Description Chapter Programming This chapter explains the programming setup system of the 1391 DES Digital AC Servo Drive Included is an explanation of the display general programming procedure and description of the programmable parameters You will need to read this chapter before performing the start up procedure provided in Chapter 8 The 1391 DES display is used for programming as well as status and diagnostic messages The display consists of a 16 character 2 line Super Twist LCD Liquid C
121. ontinuous rating or twice the continuous rating of the drive whichever is lower Applying a voltage between 0 and 10V DC to terminals 13 amp 14 will limit the peak current of the drive The range of this input is the lower of the following Value set by parameters 156 and 157 Twice the continuous rating of the drive For each volt applied 30 reduction of current limit is achieved based on 300 of motor rating being available If only 200 current drive peak is available a voltage of less than 3 33 volts will have no effect on current limit On TB2 pin 14 must be positive with respect to pin 13 for this input to operate Refer to the following information Percent of Percent of Voltage Peak Rating Voltage Peak Rating 10V 10 180 9V 30 3V 210 8V 60 2V 240 90 1V 270 6V 120 OV open 300 5V 150 Torque Command Input TB2 Terminals 15 16 Terminals 15 and 16 provide a small amount of input filtering for operating the drive as a torque block with IMC S Class MAX IMC 121 and 123 or velocity feedforward mode 3 DC command equals 100 of the motor current setting as set by parameter 155 Chapter 5 Inputs Outputs and Switch Settings Terminal Block TB3 A Quad B Board Figure 5 1 provides interconnect information between the position controller and TB3 on the A Quad B Board Quad B Board assure that wiring between TB3 and the position ATTENTION To guard against possible
122. oximately 1 0 25 4 mm be left between adjacent units to allow easy access and removal of the front cover To allow for proper airflow a minimum clearance of 3 0 76 2 mm is required along the top and bottom of the unit and any adjacent components The transformer that supplies 230V AC three phase and 36V AC to each servo drive must have 3 76 2 mm of clearance around it and any adjacent components This will allow for proper airflow and wiring access The transformer can be mounted in either a horizontal or vertical position 7 1 Chapter 7 Installation 7 2 ATTENTION The installation of the drive must be planned such that all cutting drilling tapping and welding can be accomplished with the drive removed from the enclosure The drive is of the open type construction and any metal debris must be kept from falling into it Metal debris or other foreign matter may become lodged in the circuitry resulting in component damage Wiring Recommendations Chapter 7 Installation General Information The information supplied in this manual on wire sizes practices layouts system configurations and grounding shielding techniques for the 1391 DES Servo Drive are presented as guidelines Due to the diversity of applications and systems no single method of wiring is completely applicable Important This information represents common PWM servo system wiring configurations size and practices that have proven satisfactor
123. panel FAULT DRIVE READY LED will flash red and the DROK contact will be open If the drive is operational this LED will be green Microprocessor Control Isolated Current Sensing Integral Circuit Breaker Line DB Contactor Power Driver Board A Quad B Board Starting and Stopping Chapter 4 Description of Operation The 1391 DES is controlled by an 80C196KB microprocessor Velocity control sequencing fault logic programming and option control is performed by the processor Current control is analog as is the input velocity command The input command is fed through a 14 bit digital to analog converter 13 bits 8192 resolution and a sign bit The Logic Control Boards receive current feedback from the Isolated Current Sense Board This circuitry provides the data used for current loop closure The DC bus supply input rectifier and power circuitry are protected against overcurrents by an integral three pole magnetic circuit breaker This is not designed nor intended to meet NEC branch circuit requirements The three phase incoming AC line is opened by the contactor whenever the voltage on the contactor coil is removed This operation in conjunction with the shunt regulator reduces the bus voltage when the contactor is disabled The Logic Control Board remains energized except when voltage is removed from the incoming isolation transformer Important The 1391 DES contains a definite purpose contactor that is not to
124. pens and the drive is disabled Overvoltage The DC power bus voltage is continuously monitored If it exceeds a preset level of 405V DC the DROK contact opens and the drive is disabled Undervoltage If the DC power bus voltage drops below 5090 of its nominal operating value an undervoltage fault occurs Parameter 130 selects the reaction of the DROK contacts to an undervoltage detection Two options are possible 1 DROK opens but closes when the bus voltage is restored 2 DROK is not affected by an undervoltage Important Regardless of interaction with the DROK contacts the transistor bridge is disabled upon an undervoltage condition This is done to protect the output transistors against voltage transients Current Foldback The drive contains a fixed time versus current overload circuit which monitors the current through each leg of the output bridge If the overload is sustained for a period resulting in the drive rating being exceeded the circuitry will reduce foldback the peak output current of the drive A continuous overload will fold the available peak current down to its continuous rating This condition will reduce the current limit or torque available to the motor Enable LED The application of an enable signal by the machine position drive will cause the front panel ENABLE LED to illuminate Status LED The status of the power supplies and fault conditions are monitored continuously If a fault is present the front
125. per derating must be applied to the Shunt Fusing Shunt regulator fusing is provided with all of the 1391 DES drives The fuse is in series with the resistor and used to protect the resistor against short circuits The shunt fuse is located on top of the drive near the circuit breaker for 15 and 22 5A drives External resistors for 22 5A and 45A drives are supplied with a fuse which must be mounted external to the drive see Appendix A for mounting dimensions Refer to Table 10 C for further shunt fuse information Table 10 C Shunt Fuse Information Drive Rating Fuse Location Fuse Type 15A Top Panel Bussmann KLM 10 or equivalent 22 5 Bussmann FNM 6 25 or equivalent 22 5 External Bussmann KTK 15 or equivalent 45A External Bussmann KLM 20 or equivalent Important Repeated overvoltage tripping can be an indication that the shunt fuse has malfunctioned Chapter Objectives System Troubleshooting Chapter Troubleshooting Chapter 11 provides information to guide the user in troubleshooting the 1391 DES Included in the chapter are board and drive substitution procedures fault indications general system faults and test point descriptions Most drive faults are annunciated by fault messages on the front panel display Many system malfunctions manifest themselves through a drive fault The troubleshooting information provided will take advantage of the fault messages and list a number of potential system probl
126. ply Logic Control Boards Fault Monitoring and Detection Microprocessor Control Isolated Current Sensing Integral Circuit Breaker Line DB Contactor Power Driver Board A Quad B Board Starting and Stopping Power Up Down Sequence Inputs Outputs and Switch Settings Chapter 5 Chapter Objectives Inputs Outputs Switch Settings Table of Contents Programming Installation Start Up 1326AB AC Servomotor Chapter 6 Chapter Objectives ere REG MEG ERE RARE RARE 6 1 Display Description ice sedere re a ee 6 1 Keypad Description EEG ERE Sea baw 8 6 1 Parameter Levels 2 reed eed 6 3 Accessing Parameter Levels 6 6 Programming hone tse Saw Se ade rese e UA E E d 6 7 Parameter Descriptions 6 8 Chapter 7 Chapter Objectives iss See XR UR RR RE Re 7 1 Mounting 7 1 Wiring Recommendations 7 2 Wi filg KAP eee es 7 4 Chapter 8 Chapter Objectives LUEGO ERA Rs 8 1 Start Up Procedute sisisi stresie e Eau ru eR a 8 1 Linear Accel Decel Control Module 8 11 Chapter 9 Chapter Objectives ope daw a See ee ees 9 1 Introduction cis ein eed eee a e RR OR gie 9 1 Motor Options Accessories
127. pm x 0 05553 Parameter Type View modify in Modify level and Maintenance level Minimum Value gain of 14 6 Maximum Value gain of 14 6 Default Value gain of 0 067 Chapter 6 Programming Parameter 213 Digital to Analog 2 Gain D A 2 Gain This parameter scales the D A 2 Command Value parameter 59 before it is output to D A Converter 2 To change scaling Desired Voltage Rated Current x 0 05553 Parameter Type View modify in Maintenance level Minimum Value gain of 14 6 Maximum Value gain of 14 6 Default Value gain of 40 167 Parameter 222 Id RPM Start This parameter is associated with the field weakening function Parameter Type View modify in Maintenance level Minimum Value 0 rpm Maximum Value 6000 rpm Default Value Set by Setup drive with motor data routine Parameter 223 Id RPM End This parameter is associated with the field weakening function Parameter Type View modify in Maintenance level Minimum Value 0 rpm Maximum Value 8000 rpm Default Value Set by Setup drive with motor data routine Parameter 224 Id Percent Limit Id Percnt Lim This parameter is associated with the field weakening function Parameter Type View modify in Maintenance level Minimum Value 0 rpm Maximum Value 100 Default Value 10 Parameter 233 Cable Compensation Cable Comp This parameter is set based on the distance between the motor and drive It optimizes drive for resolver
128. pter 8 Start Up ATTENTION If an oscilloscope or chart recorder is used A during Start Up or Troubleshooting it must be properly grounded The oscilloscope chassis may be at a potentially fatal voltage if not properly grounded Always connect the oscilloscope chassis to earth ground When using an oscilloscope or chart recorder it is recommended that the test probe ground be connected to TB2 5 38 Adjust parameter 168 Kp Velocity Loop and observe the velocity response at TB2 4 profile at various levels of step input speed commands The Underdamped response curve in Figure 8 1 with a single velocity overshoot of 20 30 on accel and decel is optimal on a point to point positioning or velocity controlled system The Critically Damped curve is desirable on a contouring or metal removing system Parameter 169 Ki Velocity Loop should be adjusted so that the motor achieves the commanded speed or final position as quickly as possible with little or no overshoot In addition to the dynamic response the motor shaft should not oscillate or exhibit any erratic motion at zero speed 39 Remove power with the branch circuit disconnect 40 Remove the local Enable switch and reconnect external wiring 41 Apply power and check system operation Figure 8 1 Velocity Response Profiles Parameter 169 Controls Amount of Overshoot Commanded Velocity Underdamped Critically Damped Ov
129. ption Code Description VC 4 25 108 mm feedback package with cast 11 Single device format 1 turn of the motor shaft to 1 turn of the resolver housing and single or vernier dual format with 12 inal ice f t 1 fth tor shaftto 2 t fth receiver Harowe 11BRW 300 F 58A or equivalent i SEDENS ormat 1 turn of the motor shaft to 2 turns o D resolver type resolver s for use with A B series 8200 CNC 1 2 5 Single device format 1 turn of the motor shaftto 2 5 turns of the resolver and IMC 120 121 123 1 5 Single device format 1 turn of the motor shaft to 5 turns of the resolver VD 4 25 108 mm feedback package with cast 255 Absolute master vernier format 1 1 input master 255 256 master vernier housing and single or vernier dual format with for IMC 120 121 123 only Stud Harowe er be 1 256 Absolute master vernier format 1 1 input master 256 255 master vernier equivalent type resolver s for use with A B series for 8600 series and MAX IMC S class controls with a REC 4096 Board 8600 MAX and IMC S Class controllers with a 4096 Board 424 Absolute master vernier format 1 1 input master 424 425 master vernier for IMC 120 121 123 only 425 Absolute master vernier format 1 1 input master 425 424 master vernier for 8600 series and MAX IMC S class controls with a REC 4096 Board 800 Absolute master vernier format 1 1 input master 800 801 master vernier for IMC 120 121 123 only 801 Absolute master vernier format
130. r Switch SW1 must be set to an appropriate level for that resistor assembly Consult the resistor manufacturer for the appropriate derating guidelines Failure to comply could result in personal injury and or equipment damage from an overheated resistor ATTENTION When using a customer supplied external shunt Shunt Regulator Installation Chapter 10 Transformers and Shunt Regulators Frequent overvoltage trips and blown fuse on high inertia systems during regenerative states deceleration may be an indication that an external shunt resistor having increased power dissipation capacity is required Based on the data supplied Allen Bradley will specify a shunt resistor with the proper resistance value for the drive being used External Shunt Resistors The 1391 DES is designed to allow the use of an external shunt resistor on the 22 5 and 45A units To use an external shunt resistor with the 22 5A units the user must reconfigure the drive at terminal block TBS The following steps provide the information needed to properly convert 22 5A drives for use with an external shunt resistor and fuse Refer to the resistor and fuse mounting dimensions provided in Appendix A and the Interconnect Diagram in Appendix B as required A minimum wire size of 12 AWG 2 5 mm must be used when connecting an external resistor ensure that all power to the drive has been removed prior to performing the following procedure and the bus voltage at ter
131. rent 158 Current Rate Limit 172 Velocity Loop Integrator P reset Value 181 Motor Inertia 199 Friction Compensation 200 Friction Hysteresis 201 Friction Bit 213 D A 2 Gain 222 d RPM Start 223 d RPM End 224 d Percent Limit 234 Transport Compensation 243 ndirect Sink Parameter 1 244 ndirect Source Parameter 1 245 ndirect Sink Parameter 2 246 ndirect Source Parameter 2 251 Access Timeout 252 Drive Init Stats Default 0 User Units 19 5 rpm 1 0 50 0 5 rpm 10 00 167 10 81 59 20 59 45 1No Actual E 3 Appendix E Parameter Record End of Appendix E 4 ALLEN BRADLEY NEXU With offices in major cities worldwide WORLD HEADQUARTERS 1201 South Second Street Milwaukee WI 53204 USA Tel 414 382 2000 Telex 43 11 016 FAX 414 382 4444 EUROPE MIDDLE EAST AFRICA HEADQUARTERS Allen Bradley Europe B V Amsterdamseweg 15 1422 AC Uithoorn The Netherlands Tel 31 2975 43500 Telex 844 18042 FAX 31 2975 60222 Motion Control Division Mequon WI 53092 USA Publication 1391 5 3 June 1994 Supersedes May 1993 A ROCKWELL INTERNATIONAL COMPANY ASIA PACIFIC HEADQUARTERS Allen Bradley Hong Kong Ltd Room 1006 Block B Sea View Estate 2 8 Watson Road Hong Kong Tel 852 887 4788 Telex 64347 ABHKG HX FAX 852 510 9436 852 510 9420 CANADA HEADQUARTERS Allen Bradley Canada Limited 135 Dundas Street Cambridge Ontario N1R 5X1 Canada Tel
132. rent through any one of the power transistors has exceeded 300 power fault output transistors is monitored If the of the drive s current rating Bit 7 current exceeds a fixed level 2 Malfunctioning power transistor greater than 30096 of drive rating 3 Shorted L the LED will illuminate en 4 Motor malfunction 11 6 Fault Message Overvoltage bus overvoltage Bit 8 External A D Conversion Fault ext A D fault Bit 10 Internal A D Conversion Fault int A D fault Bit 11 EEPROM Fault EEprom fault Bit 14 Auto Tune Fault auto tune Bit 15 Table 11 B Chapter 11 Troubleshooting Fault Descriptions and Diagnostics Continued Fault Description The DC Power Bus is continuously monitored If it exceeds a preset level a fault is sensed and the power supply is disabled Component malfunction of input A D converter Component malfunction of input A D converter Problem reading or writing to EEprom Auto tune cycle time has exceeded 2 seconds Enable has not been applied within 60 seconds during auto tune Potential Cause The power bus voltage has exceeded 405V DC 1 2 Qo OP C om Power Driver Board is malfunctioning and incorrectly sensing the bus voltage A vertical axis with insufficient counterbalancing is overdriving the servomotor and causing excessive energy to be returned to the power supply bus The system inertia is too h
133. rly Important The thermal switch and brake wires are routed near motor power and can pickup PWM radiation Isolation from control devices may be required Grounding All equipment and components of a machine or process system shall have their chassis connected to a common earth ground point This ground system provides a low impedance path that helps minimize shock hazards to personnel and damage to equipment caused by short circuits transient overvoltages and accidental connection of energized conductors to the equipment chassis Grounding requirements conventions and definitions are contained in the National Electrical Code Local codes will usually dictate what particular rules and regulations are to be followed concerning system safety grounds See Appendix B ATTENTION The National Electrical Code NEC and local A codes outline provisions for safely installing electrical equipment Installation must comply with specifications regarding wire types conductor sizes branch circuit protection and disconnect devices Failure to do so may result in personal injury and or equipment damage Chapter 7 Installation The Interconnect Drawing presented in Appendix B provides typical interconnection wiring for the 1391 DES AC Servo Drive Typical control logic circuitry starting and stopping motor interconnections and grounding techniques are shown Please note that the drive circuit breaker MCB is not designed or intended
134. roduct life Wiring or application errors such as undersizing the motor incorrect or inadequate AC supply or excessive ambient temperatures may result in malfunction of the drive ATTENTION An incorrectly applied or installed drive can Discharge sensitive parts and assemblies Static control precautions are required when installing testing servicing or repairing this assembly Component damage may result if ESD control procedures are not followed If you are not familiar with static control procedures reference Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook ATTENTION This drive contains ESD Electrostatic Certification Notice In order to maintain UL listing on Allen Bradley 1391 DES Digital Servo Drives the user must provide power from a 1391 Isolation Transformer Use of any other transformer voids the UL listing The user is responsible for providing motor overload protection in accordance with the National Electrical Code NEC and any other local codes that may apply The 1391 DES Pulse Width Modulated Digital Servo Drive is a digital and programmable single axis AC servo drive It has been packaged to require a minimum amount of panel space while containing as standard a number of features required by the machine tool and automated equipment industries The 1391 DES allows Allen Bradley 1326 AC servomotors to be operated from 33 to 50
135. rom the circuit causing the output to immediately ramp to 10V DC or zero volts 12 Chapter 8 Start Up The output of the module is controlled by the Deadman input at terminals 10 amp 11 of J1 Applying 24V DC or 115V AC to this input will cause the module to operate The front panel Dedman LED will be off When this input is de energized the module output will be connected to logic ground thus disabling output At this point the Dedman LED will illuminate Energize the Deadman input with 24V DC or 115V AC begin to rotate and cause incorrect machine movement when the ATTENTION During subsequent steps the servomotor may 13 14 15 16 17 drive is enabled Be prepared to remove drive power by opening MCB or the branch circuit disconnect device if this occurs This movement may be due to a wiring error or system component malfunction and must be corrected before proceeding with this procedure Damage to machine system components can occur due to uncontrolled machine movements Apply power to the drive and module Initiate a Start command by selecting speed input SEL1 Command a speed through the speed pot SPD 1 that represents approximately 1090 of maximum speed i e IV DC The motor should rotate slowly under control following the speed pot If the motor is uncontrollable or rotates incorrectly de energize SEL 1 Remove all power and check wiring If the application req
136. rystal Display that allows a wide viewing area The display can be divided into several different sections as shown in Figure 6 1 Figure 6 1 LCD Display Level Indicator Parameter Name Drive Size L 085 45 Parameter Number Parameter Value When power is applied to the 1391 DES the Basic Display see Figure 6 4 will be shown The Basic Display alternates every 2 seconds between the two displays shown The alternating display indicates that the drive is functioning normally The 1391 DES display panel utilizes five keys pushbuttons which allow the various parameters to be accessed Once a parameter is accessed status information of the drive can be viewed In addition certain parameters can also be modified Each of the keys has several functions depending on the view modify mode Refer Figure 6 2 and the paragraphs that follow for a description of the display panel controls Chapter 6 Programming Figure 6 2 1391 DES Display Panel Drive Size d 45 0 ames Keypad Up Arrow Key This key is used to increase values when modifying parameters Other uses will be described when applicable Down Arrow Key The Down Arrow key is used to activate modifiable parameters or decrease values Other uses will be described as required Left Arrow Key This key is used to scroll through parameters or move the cursor when modifying parameters Other key functions will be described as needed Righ
137. s Changing this parameter is not recommended Parameter Type View modify in Maintenance level Default Value 0 User Units 0 User Units 1 Per Unit Chapter 6 Programming Parameter 130 Drive OK Mode This parameter specifies how the Drive OK DROK relay is controlled If the parameter is set to 0 the relay will be opened when a fault occurs If the parameter is set to 1 the relay will open when a fault occurs and there is not sufficient DC bus voltage Parameter Type View modify in Modify level and Maintenance level Default Value 0 Faultonly 0 Faultonly 1 Fault and undervoltage Parameter 131 Language Select Language Selct This parameter allows selection of available languages Parameter Type View modify in Modify level and Maintenance level Default Value 0 English 0 English Parameter 132 Velocity Mode Select Vel Mode Selct Parameter 132 selects the velocity command source s within the drive Parameter Type View modify in Modify level and Maintenance level Default Value 0 A D Input 0 Input analog reference from the 14 bit A D converter parameter 57 which is fed from user input command voltage typically 0 to 10V DC 1 DigitalInp internal digital reference parameters 17 18 2 A D Digtl analog and digital reference parameters 57 17 18 3 Zero Input zero velocity reference Parameter 133 Torque Select This parameter selects the torque command source wit
138. s Status Status LED is flashing red 1 System fault has occurred 2 Power was applied while the drive was enabled Remove enable and reapply power This LED is green until a system 1 The power contactor M has not energized or has dropped out fault occurs The LED will flash 2 The input line voltage is low 2 3 The shunt regulator circuit has malfunctioned and is placing the shunt resistor across the power bus The power bus capacitor has malfunctioned The circuit breaker MCB has tripped The three phase input line is open Transformer is supplying the wrong line voltage or has malfunctioned If the DC Power Bus drops below a preset level the DROK contact will open if parameter 130 is set to 1 Sore pe Chapter 11 Troubleshooting Troubleshooting Tables Table 11 B provides a listing and description of the faults shown through the front panel display Also included are possible solutions to the faults Table 11 C provides a listing of common system malfunctions and their possible causes Table 11 D lists servomotor malfunctions and their possible causes Table 11 E provides a listing and description of the available test points Refer to Figure 11 1 for board connector and test point locations Fault Codes Parameter 06 is a 16 bit binary word that represents the drive faults A 1 indicates that a fault has occurred If a 0 is displayed a fault has not occurred Refer to the following t
139. s Voltage Continuous Current RMS Peak Current RMS Continuous Power Output Peak Power Output Input Circuit Breaker Rating Circuit Breaker Interrupt Rating Symmetrical Amperes Unit Weight in Ibs kg All Drive Ratings Static Gain A RMS Form Factor Peak Current Limit Adjust Drive Efficiency Power Factor Modulation Frequency Drift R eferred to Tach Speed Regulation Ambient Temperature Storage Temperature Input Voltage from Transformer Transformer Input Tolerance Relative Humidity Deadband Altitude Integral Fan Output Max RMS Short Circuit Current Certifications 1391 DES15 1391 DES22 1391 DES45 300V DC 300V DC 300V DC 15A 22 5A 45A 30A 45A 90A 5 0 kW 1 5 15 0 kW 10 0 kW 15 0 kW 30 0 kW 17A RMS 26A RMS 38A RMS 1300A 1300A 1300A 22 9 97 28 12 69 34 15 40 1 5 x Rated Motor Current rpm typical 1 03 or less 20 to 30096 of Rated Motor Current or 2 x Continuous Rating of Drive max whichever achieves Drive Peak Current Rating first 85 Minimum at Rated Load 95 Minimum 2500 Hz 10 0 07 rpm Degrees C Maximum 0 to 0 05 of Maximum Motor Speed with 95 Load Change 0 to 60 C 32 to 140 F 0 to 65 C 32 to 149 F Power 230V AC 41096 1596 Three Phase 50 60 Hz 3 Hz Control 36V AC Single Phase 410 15 5 to 95 Non Condensing Zero 1000 meters 3300 feet 50 CFM Unloaded 1300A Symmetrical Amperes UL Listed File No E59272 CSA Cert
140. t Allen Bradley for special instructions before proceeding The drive will now allow you to select the catalog number of the motor being used Use the Up and Down Arrow to select the appropriate motor catalog number press Enter to select Torque Plus catalog numbers will not be displayed Use the following cross reference to select a motor catalog number Torque Plus Use this Torque Plus Use this Catalog Number Catalog Number Catalog Number Catalog Number 1326AB A410G 21 1326 16 1326AB A520E 21 1326 2 1326AB A420E 21 1326 2 1326AB A530E 21 1326 1326AB A430E 21 1326 1326AB A740B 21 1326 4 1326AB A515E 21 1326 2 The drive will respond by displaying writing data to servo drive The display will show execute motor rotation test This test assures that the motor cables have been connected correctly press Enter to continue Chapter 8 Start Up 8 4 uncontrolled rotation at high speed can occur Be prepared to ATTENTION In the following steps reverse rotation or 13 14 15 16 remove drive power by opening MCB or the branch circuit disconnect device if this occurs This movement may be due to a wiring error or system component malfunction and must be corrected before proceeding Damage to machine system components can occur due to uncontrolled machine movements The drive will display the message DANGER MOTOR MAY RUNAWAY
141. t Arrow Key The Right Arrow key can be used to scroll through parameters or move the cursor when modifying Other key functions will be described when required Enter Key The Enter key is used to make a selection or store a changed parameter value in memory Other key functions will be described as needed Enter 6 2 Parameter Levels Chapter 6 Programming For ease of use the various parameters of the 1391 DES are numbered and arranged in three different levels The levels range from viewing simple drive status parameters to more complex setup information The three levels are as follows View Level The View level allows viewing only of the drive operating conditions see below The View level is denoted on the display by a single dot 9 in the upper left corner see Figure 6 1 03 Drive Size 19 Final Velocity Command 20 Velocity Feedback 45 Iq Torque Current Reference 50 Current Feedback Rated 51 Current Limit 57 Analog Velocity Command 154 Motor Type 253 Display Software Version 254 Drive Software Version Modify Level The Modify level allows access to the View level parameters in addition to the system configuration parameters listed below This level of programming allows parameter modification to some of the View level parameters and the other parameters listed The Modify level is denoted by two dots e in the upper left corner of the display see Figure 6 1 68 Bandwidth Maximum 69 Aut
142. t per second Maximum Value 8096 rated motor current per millisecond Default Value 3696 of motor rated current ms but will change according to motor selection Parameter 159 Current Preload Cur Preload This parameter specifies the amount of preload added to the velocity loop output Parameter Type View modify in Modify level and Maintenance level Minimum Value 200 rated motor current Maximum Value 420096 rated motor current Default Value 0 Parameter 168 KP Velocity Loop Prop Gain kp This parameter controls the proportional error gain of the velocity regulator For example if KP 8 then velocity 1000 rpm error will produce a rated motor current torque reference Parameter Type View modify in Modify level and Maintenance level Minimum Value 0 Maximum Value 560 Default Value 100 6 17 Chapter 6 Programming Parameter 169 Velocity Loop Intg Gain ki This parameter controls the integral error gain of the velocity regulator For example if KI 8 then velocity 1000 rpm error for 1 second will produce a rated motor current torque reference Parameter Type View modify Modify level and Maintenance level Minimum Value 0 Maximum Value 24000 Default Value 6667 Parameter 170 Feed Forward Gain Feed Frwd Gain Controls the feedforward gain of the velocity regulator Setting this to a value greater than zero reduces the velocity feedback overshoot in response t
143. uires reverse direction use the FWD REV toggle switch to check operation in the reverse direction With a zero velocity command from the module use the drive parameter 210 Analog to Digital Converter Offset to set zero motor speed Refer to Chapter 6 for more information on this parameter Important The motor may begin to move slowly after a period of time several minutes even though parameter 210 is set to zero Rotate the speed pot SPD 1 fully counterclockwise Adjust the Analog Velocity Gain parameter 211 if necessary to give the desired motor speed Check the accel decel rate settings at speeds selected for the application Refer to steps 10 amp 11 If applicable repeat steps 6 16 for any of the other three preset speeds Chapter 8 Start Up Figure 8 2 Linear Accel Decel Control Module Wiring Local Speed 5901 Remote gt Select 1 Remote Select 1 pur 7 oC 5 02 Remote gt Select 2 en Select2 1 A 1 Remote Select 3 Select 3 24V DC or R L 1 15VAC 110 EHEHEH HE AB 24V DC or Direction 115V AC Change uw FWD R EV Direction Change Select m Accel Ramp Generator Bypass Bypass Deadman to TB2
144. ult values are set 10 over the maximum rated speed of the motor as shown in Table 9 A Press the Enter key to continue The drive will prompt for the resolver cable length being used parameter 233 Cable Compensation Use the Up or Down Arrow key to select the cable length value closest to the length of the feedback cable being used When the desired value is displayed press the Enter key to make the selection To continue with this start up procedure go to step 22 Auto Tune Procedure 21 This step only needs to be performed when repeating the auto tune cycle Access the Modify programming level from the View level by pressing the Up Down and Left Arrow keys simultaneously Press the Down Arrow key and use the Left or Right Arrow keys to select autotune the servo drive Press the Down Arrow key 8 5 Chapter 8 Start Up 8 6 22 23 Display autotune the servo drive press Enter to continue Assure that the drive Enable input is de energized and the contactor M is energized The drive will display the message drive not ready to tune if this has not been done The drive will prompt you for Auto Tune Current Limit This current is used for auto tuning only The default value displayed is sufficient however a different value of up to 100 of motor rating can be entered if desired Press the Enter key to accept the value The drive will prompt you for Auto Tune Velocity This velocity is
145. urning the shunt regulator off The Duty Cycle Selector Switch is located on top of the drive near terminal Block TB5 see Figure 1 1 The switch has 16 positions designated 0 to F with 0 being the lowest value and F the highest The higher the setting the higher the average power seen by the shunt resistor The Duty Cycle Selector Switch settings for various drive shunt combinations are shown in Tables 10 A and B Important Accurate operation of the Duty Cycle Timer is dependent on the shunt resistor value Do Not substitute alternate values Important Setting SW1 higher than the rating of the shunt resistor may cause a blown fuse resulting in repeated overvoltage faults This will occur until the fuse is replaced and or the switch is set correctly see Table 10 B Table 10 A provides the required Duty Cycle Selector Switch settings and resistor power trip points for factory supplied configurations An optional external resistor assembly catalog number 1391 MOD SR224A is available for the 22 5A 1391 DES Table 10 A Maximum Switch Settings and Trip Points for Factory Supplied Configurations SW1 Switch Nominal Trip Configuration Setting Point 1391 DES 15 w standard 16 ohm internal resistor B 164w 10 1391 DES22 w standard 12 ohm internal resistor B 162w 10 1391 DES22 w 9 ohm external resistor 1391 00 5822 F 386w 10 1391 DES45 w standard 5 ohm external resistor D 715w 10 Denotes SW
146. used for A Quad B TP60 Display Reset Ground to reset display microprocessor TP61 Test Result Indicates a pass or fail result from a self test initialization A Quad B Board El Ground Stud Top View of Controller Chapter 11 Troubleshooting Figure 11 1 1391 DES Test Point Locations 1 181 m TP50 TP2 TP52 TP28 Display Board TP11 TP60 o TP61 Main Logic Control Board Memory Board TP13 TP29 eo e e e TP14 TP30 2 TP 16 15 Tp20 TP3l e TP21 TP51 e He6969996699968668999998 1 2 1F3 provided on 15 amp 22 5A units only 15A Bussmann KLM10 or equivalent 22 5A Bussmann FNQ6 1 4 or equivalent A Quad B Board 11 Main Logic Control Board l Display Memory and Adapter Boards 11 11 Chapter 11 Troubleshooting End of Chapter 11 12 Appendix A Dimensions Figure A 1 1391 DES Dimensions Dimensions are in inches and millimeters Detail A 0 25 6 3 n Detail B 0 312 7 9 Dia L 0 312 7 9 Dia 039 99 0 60 15 2 Dia F RE lt 5 20 132 1 gt 7
147. y machine damage caused by improper programming parameter names followed by an asterisk should only be modified by qualified personnel ATTENTION To guard against personnel injury and or Parameter 00 Reset Display Faults Rst Disp Flts This parameter clears display faults Parameter Type View Modify in Maintenance level only Parameter 03 Drive Size The current drive size in amperes as read from the drive on power up is contained in this parameter Parameter Type View only all levels Parameter 04 Adapter Type This parameter is not active at this time Parameter Type View only in Maintenance level Parameter 05 Logic Command Logic Comd This parameter contains a 16 bit bit encoded binary word that represents the logic commands from an adapter board A bit set to 1 indicates that a condition exists If a 0 is displayed that condition does not exist Parameter Type View only in Maintenance level Chapter 6 Programming Parameter 06 Drive Faults Drv Faults Parameter 06 is a 16 bit binary word that represents the drive faults A 1 indicates that a fault has occurred If a 0 is displayed a fault has not occurred Refer to the list below for an explanation of the individual bits Bit 15 Bit 0 Parameter Type View only in Maintenance level bit 0 Not Used bit 1 Drive Overtemperature bit 2 Power Up Enable bit 3 Not Used bit 4 Control Volt
148. y in a majority of applications The National Electrical Code local electrical codes special operating temperatures duty cycles or system configurations will take precedence over the values and methods listed Refer to Chapter 5 for detailed descriptions of input and output terminations before beginning the task of wiring Wire Sizes Unless noted the wire sizes in this manual are recommended minimums and assume type MTW wire machine tool wire 75 C minimum per NFPA 79 Since ambient conditions vary widely on certain applications a derating factor has to be taken into account Also wiring to drives or motors exceeding 50 feet 15 2 meters in length total includes to and from device may cause excessive voltage drops Consult the National Electrical or local Code for factors on ambient conditions length etc or the Allen Bradley Sales Representative in your area for further information Shielding Reasonable care must be taken when connecting and routing power and signal wiring on a machine or system Radiated noise from nearby relays relay coils should have surge suppressors transformers other electronic drives etc may be induced into the velocity command signal lines causing undesired movement of the servomotor To help alleviate the problem machine power and signal lines must be routed separately The 1391 DES power and signal lines must be shielded twisted and routed in separate ferrous metal conduit or harnesses spac

1391-DES Digital AC Servo Drive

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