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8720MC HIGH PERFORMANCE DRIVE

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1. 60 1300 1200 50 1100 maximum kW 1000 40 900 i t S6 50 ED kW Maximum i Torque in N M no A Continuous S1 kW 00 6 50 Max 860 z z 600 E Rated x Performance assumes regenerative o 20 converter with 750 VDC busand 500 505 VAC at motor 5 Amps at 500 RPM based on j 400 WYE conn 10 T Cont Amps 60 5 300 S6 Amps 70 4 Max Amps 81 5 200 0 __ ___ __ too LP 0 1000 2000 3000 4000 5000 6000 7000 0 400 600 800 1000 1200 1400 1600 1800 2000 RPM RPM 30861 M Figure 2 32 30 kW Dual Wound Motor High Winding 30 kW at 500 RPM Base Speed DL2012 Frame Dual Winding Delta Design 60 520 480 50 440 maximum kW 400 40 S6 50 ED kW 360 Torque in N M s20 56 50 235 P Maximum 50 301 Continuous S1 280 Max 285 240 Performance assumes regenerative o 20 converter with 750 VDC bus and 2 200 505 VAC at motor 5 Amps at 500 RPM based on z 160 Delta conn 10 Cont Amps 60 5 a 120 S6 Amps 70 4 Max Amps 81 5 80 0 40 0 1000 2000 3000 4000 5000 6000 7000 0 1000 1500 2000 2500 3000 3500 4000 4500 5000 RPM RPM 30862 MR1 Publication 8720MC UM 001C EN P Feb 2001 Chapter Objectives Chapter 3 Dimensions This chapter contains dimensions that pertain to the 8720MC Drive the Regenerative Power Supply and the 87
2. 9 260 or 9 290 1394 or Ultra 380 VAC 15 10 50 HZ Analog SERCOS Drive 460 VAC 15 10 60 HZ M SOSek a P gt Cabinet A B 1494V TT Disconnect I A Il Line qr A B 100 CnnD10 ONO E Stop string Fuses H H Il 3 phase contactor Il ve with aux contact or equal L Analg Gommand CNC bf LINE 120VAC voril ii _ i nv z Ll T9 motor ransformer ii mml aa P1 14 1 I P1 15 R L1 S L2 T L3 cm Note 1 J16 5 am cme Anag Serco ote nable mn PE TBT 120 VAC 120 VAC Fault J16 6 P5 6 Eaei TB1 3 120 VAC Common 120 VAC Common P57 pRivE Ok R1 a RI R2 R LDO t dC 1336R 1321 3R DC DC 8720MC at S1 S1 Li S2 S p SERCOS Analog Fuses amp Ine 1336R 5 TH T1 Reactor T2 T Drive Fault Reget Drive Earth Gnd Precharge PE Gnd Land PE Regenerative P5 15 Drive error Converter 0 O Reset A PE P5 22 Control Wiring Sync Cable ee 4240 15 14 a i PE Run 915 4 J16 1 Vv a Start DriveStop Drive VSC Run TE J16 2 at Earth Gnd o ele TE External Fault 115 6 k CRI P5 23 24vdc Return PE Lo Customer Magnetics Digital comm J15 3 3 ae 24VDC comm Y15 2 24 vdc Input Earth Gnd Earth Gnd J15 5 i P5 13 Fault Reset Drive Fault TEL Reset Note1 The 48 and 78 ampere regenerative converters do not require ex
3. 30 520 Maximum 480 t 25 440 semon S6 50 ED kW 400 2 Continuous S1 kW 3 0 60T Rated Torque in Nt M 320 Rated 343 S6 50 420 Max 518 15 z 280 z 240 Performance assumes regenerative o 10 converter with 750 VDC bus and a 200 505 VAC at motor Amps at 500 RPM based on 160 WYE conn 5 Cont Amps 42 5 120 S6 Amps 50 Max Amps 60 80 0 40 0 1000 2000 3000 4000 5000 6000 7000 0 400 600 800 1000 1200 1400 1600 1800 2000 RPM RPM 30855 MR1 Figure 2 26 18 kW Dual Wound Motor High Winding 18 kW at 500 RPM Base Speed DL1813 Frame Dual Winding Delta Design 30 260 maximum kW 240 25 220 S6 50 ED k 200 20 Continuous S1 kW 180 f Maximum Torque in Nt M 160 Rated 115 S6 50 S6 50 140 Max 172 15 z 140 z Zz 120 Rated cs Performance assumes regenerative v 10 converter with 750 VDC bus and a 100 l 505 VAC at motor Amps at 500 RPM based on 80 Delta conn 5 Cont Amps 42 5 60 S6 Amps 50 Max Amps 60 40 0 20 0 1000 2000 3000 4000 5000 6000 7000 0 1000 1500 2000 2500 3000 3500 4000 4500 5000 RPM RPM 30856 MR1 Figure 2 27 20kW Dual Wound Motor Low Winding 20 kW at 500 RPM Base Speed DL1815 Frame Dual Winding WYE Design 35 650 600 Maximum 30 550 S6 50 ED kW 500 25 450 Torque in Nt M 400 Rated Rated 385 Continuous S1 kW 6 50 480 Max 575 20 350 300
4. Figure 3 3 Dimensions for Frame D a A 7 Z a lt D y C Max gt Allen Bradley A B B BB Knockouts y yy T I OUI y Mounting Holes 4 7 0 0 28 gt lt 7 0 0 28 12 7 0 50 All Dimensions in Millimeters and inches 12 7 0 50 All Weights in Kilograms and Pounds Frame 1 Knockouts Shipping Reference A B CMax D E Y Z AA BB CcC 3 Dual Size 3 Fixed Weight D 381 5 1240 0 277 37 325 9 1216 2 27 94 111 94 131 1 688 6 71 9 62 7 6 2 34 9 50 0 34 9 108 9 kg 15 02 48 82 10 92 12 83 47 88 1 10 0 47 5 16 27 11 2 83 2 47 3 00 1 38 1 97 1 38 240 Ibs Publication 8720MC UM 001C EN P Feb 2001 30699 M R2 Dimensions 3 5 Dimensions Allowing for Heat You need to mount the drive so that there is sufficient space at the top Dissipation sides and front of the cabinet to let the heat dissipate Figure 3 4 Dimensions that Assure Heat Dissipation t 152 4 mm 152 4 mm 6 0 in 6 0 in m sem A A O Allen Bradley 101 6 mm 101 6 mm _ 4 0 in 4 0 in 152 4 mm 152
5. Catalog No 007S1CB Specifications 30462 M 30464 M 30463 M 2 17 Publication 8720MC UM 001C EN P Feb 2001 2 18 Specifications Figure 2 18 18 5 Kw Motor with 460 vac Input 18 5 kW at 1500 RPM Base Speed DL1308 Frame Catalog No 018S2FB 30 180 Maximum maximum kW 162 25 9 144 6 50 ED kW Torque in N M 12 Rated 118 _ 20 Continuous 6 50 140 10 Max 176 z 15 Z 90 Performance assumes 460 VAC 3 72 10 input inverter with a minimum of o 420 VAC at motor E 54 Amps at Base Speed Cont Amps 47 1 36 5 S6 Amps 54 Max Amps 65 18 0 o 1000 2000 3000 4000 5000 6000 7000 8000 0 1000 2000 3000 4000 5000 6000 7000 8000 RPM RPM 30465 M Specifications for 380V AC Input Tables 2 15 and 2 16 contain specifications for 5 5 to 15 kW motors Drives with the 8720MC Drive Amplifier and 380V AC input drives Information is divided into two categories e Table 2 15 motor specifications e Table 2 16 drive amplifier specifications Table 2 15 Motor Specifications 8720SM AC Motor Specif
6. IDN S00116 Name MtrFdbk_Resoluti Data Type integer R W Parameter No Description For rotary feedback the resolution parameter of feedback 1 motor feedback defines the number of 116 cycles per revolution of the motor For a sinusoidal device this represents the number of periods per revolution File For a TTL devices this represents the number of lines per motor revolution For a linear feedback the grid constant Motor Drive is entered For the standard Stegmann motor feedback devices this will be self identified at 1024 counts Fdbk Group Motor Feedback Default Length Analog Minimum Maximum Analog Scaling Resolution Units From motor 2 bytes Min gt 0 1 1 cycle motor revolution fdbk cycles encoder Max lt 32 000 Default Length SERCOS Min Max SERCOS Scaling Resolution Units From motor 4 bytes Min gt 0 1 cycles motor revolution fdbk cycles encoder Max lt 232 1 IDN S00121 Name Input_Gear_Rev Data Display Integer R W Parameter No Description Input revolutions of load gear set as viewed from the motor Input revolutions must be entered as an 121 integer value This parameter applies to the SERCOS configuration only File Motor Drive Group Mechanics Analog Default Length Analog Minimum Maximum Analog Scaling Resolution Units 1 2 bytes Min gt 0 1 revolution of the input shaft revs Max lt 65535 Default Length Minimum Maximum Scaling Resolution
7. Conduit 4 Wire Cable X Common pre Shield any es Ly gt V T2 W T3 PE Gnd l Ground Rod Grid or Building Structure Steel Communications Options or Analog Common Mode Core To Computer Position Controller Publication 8720MC UM 001C EN P Feb 2001 Motor Terminator Motor Frame PE Ground per Local Codes Options that can be installed as needed 30800 M R2 Wiring a Feedback Device Motor Installation and Wiring 5 13 You are responsible for insuring that the motor grounding method is in accordance with the National Electric Code and applicable local codes The ground connection should be a solid and permanent metallic connection between the ground point the motor terminal housing and the motor frame A ground bolt is provided inside the 8720SM motor power junction box as show in Figures 5 1 and 5 2 earlier in this chapter Types of Feedback Devices The 8720SM AC motors come equipped with one of three types of integrated feedback devices e Incremental sine cosine encoder standard e Single turn absolute feedback encoder optional e Multi turn absolute feedback encoder optional These feedback devices provide precision servo performance for both spindle and power servo applications Refer to Chapter 4 for more information about the 8720SM motor feedback device options Table 4 9 in that ch
8. Motor Specifications Units Motor Data for Each Power Rating Motor catalog number 8720SM 015D5ND 018D5PD 020D5QD 025D6SD 030D6TD Motor frame number DL1811 DL18113 DL1815 DL2010 DL2012 Continuous power kW hp 15 20 18 24 20 27 25 33 5 30 40 S6 50 duty kW hp 18 24 22 29 25 33 30 40 37 50 1 minute peak kW hp 23 30 27 36 30 40 38 51 45 60 Rated torque at base speed N m lb ft 288 212 343 253 385 284 475 350 575 424 Peak torque at base speed N m lb ft 430 317 518 382 575 424 720 531 860 634 Base speed rpm rpm 500 500 500 500 500 Max speed foot mount rpm 6500 5000 5000 5000 4500 Max speed flange mount 6000 5000 5000 4500 4000 Constant power speed range 12 1 10 1 10 1 10 1 9 1 Rotor inertia kG m2 lb ft 35 409 486 885 1 01 8 305 9 706 11 533 21 001 23 967 Rated continuous motor current at amps RMS cont 41 42 5 47 51 60 5 base speed S6 current at base speed amps RMS 47 50 56 58 70 4 Peak current at base speed amps RMS 58 60 66 68 81 5 Min volts at max speed volts RMS 505 505 505 505 505 Motor weight kg Ibs 297 655 324 714 350 772 453 999 478 1054 Max radial bearing load kg Ibs 860 860 860 930 930 Drive catalog number 8720MC B042 B042 B048 D065 D078 Regen Power Supply Cat No 8720MC RPS065 RPS065 RPS065 RPS065 RPS065 Line Reactor Cat No 8720MC LR05 048B LR05 048B LR05 048B LR10 062B LR10 062B
9. 75kW PRODUCT STRUCTURE SAE re COMMUNICATIONS 8720MC D097 aa HAh op MODULES 45kW Remote I O PC 8720MC D078 aa HAh op Devicenet C 37kW RS 232 422 485 DF1 DH485 8720MC D065 aa HAh op 30kW 8720MC B048 aa HAh op REMOTE 22kW HIM 8720MC B042 aa HAh op 18 5kW 8720MC B034 aa HAh op 15kW 8720MC B027 aa HAh op SCANport 11kW 8720MC B021 aa HAh op 7 KW SCANport 8720MC B014 aa HAh op Common DC Bus for one or 5 5kw Multiple AC Spindle Drives DRIVE AN open AA Enclosed No IM MODULE Sid HIM MODULE HASP Analog HIM MODULE HAS1 Digital HIM MODULE S2 30795 M R3 Motor F B Auxiliary F B There are 6 DC input drives to 48 amps which are provided in the B chassis configuration There are 2 DC input drives which are provided in the C chassis configuration The remaining 4 DC input drives are provided in the D chassis configuration Each drive is available in an open package or a Nema enclosed package There are four options for an integrally mounted human interface module called a HIM e The drives can be provided with a blank filler panel wherein a remote HIM module can be used for programming and manual operation e A integral programmer only HIM wherein only configuration and status monitoring can be performed e An analog HIM which includes a potentiometer and jog controls e A
10. Catalog Number Document Title publication Number N A 8720MC Product Specification 8720 SR001A US P N A 8720MC Product Brochure 8720MC BROO1A US P 8720MC PSU 8720MC Regenerative Power Supply User Manual 8720MC RM001B US P 8520 ARM2 9 Series Adjustable Machine Parameters Manual 8520 4 3 1336R VB 1336 REGEN 5 0 1336R Line Regenerative 1336REGEN Package User Manual 5 0 1336 WA WB WC 1336 5 65 Series A Brake Chopper Module 1336 5 65 1394 50 1394 5 0 1394 Digital AC Multi Axis Motion 1394 5 0 Control System The ZEC Specification 1491 provides a complete description of the standard for Serial Communications System or Sercos You can obtain this specification from the International Electrotechnical Commission The following conventions are used throughout this manual Bulleted lists provide information not procedural steps Numbered lists provide sequential steps or hierarchical information Italic type is used for parameter and chapter names Allen Bradley Support Preface P 3 Identifies tips that have been added to call attention to p useful information Important Identifies information that is critical for successful application and understanding of the product ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attention statements help you to e identify a hazard e avoid a hazard
11. Publication 8720MC UM 001C EN P Feb 2001 Curves for 750V DC Input Drives with Dual Wound 8720SM AC Motors Specifications 2 23 Power and Torque Curves The following curves contain power and torque data for 15kW 20 Kw 25kW and 30 Kw dual wound motors with 500 RPM base speed and 13 1 constant power speed range The wide speed range is achieved by switching from a low winding wye connection configuration to a high winding delta connection configuration There are power and torque curves shown for both the Low and the high windings Switching between the wye and the delta connections is accomplished with high and low winding contactors Chapter 4 illustrates the I O and power wiring necessary to properly connect the 8720 high and low contactors to the motor Looking at the curves in figures 2 23 and 2 24 it can be seen that a constant 15 Kw continuous power can be achieved from 500 to 6500 Rpm which represents a 13 1 speed range Figure 2 23 15kW Dual Wound Motor Low Winding 15 kW at 500 RPM Base Speed DL1811 Frame Dual Winding WYE Design 25 1 440 T Maximum maximum kW 400 S6 50 ED kW Sag Torque in Nt M 320 Rated 288 Continuous S1 kW S6 50 345 Max 430 z 280 240 Performance assumes regenerative v converter with 750 VDC busand a 200 505 VAC at mot
12. Maximum 60 360 324 50 28 Torque in Nt M S6 50 ED kW Rated Rated 238 252 a ag Continuous S1 kW 21 Max 355 Z 90 2 48 Performance assumes regenerative 2 44 converter with 750 VDC bus and g 20 505 VAC at motor E ao Amps at Base Speed Cont Amps 76 1 72 10 S6 Amps 89 2 a i Max Amps 107 36 0 0 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 RPM RPM 30744 M R2 Publication 8720MC UM 001C EN P Feb 2001 2 10 Specifications Specifications for 45 To 93 kW 8720SM Motors with 8720MC RPS Master and Slave Regenerative Power Supplies 8720SM Motor Specifications for 750V DC Input Drives with Master Slave Regenerative Power Supplies Tables 2 8 2 9 and 2 10 contain specifications for 45 to 93 kW motors with the 8720MC Drive Amplifier 750V DC input and 8720MC RPS Regenerative Power Supplies Information is divided into three categories Table 2 9 motor specifications Table 2 10 drive amplifier specifications Table 2 11 regenerative power supply specifications Table 2 12 Line Reactor Specification Table 2 9 Motor Specifications Motor Specifications Units Motor Data for Each Power Rating Motor catalog number 8720SM 045S5NA 055S5PA 063S5QA 075S6SA 093S6TA Motor frame number DL1811 DL1813 DL1815 DL2010 DL2012 Continuous power kW hp 45 60 55 73 7 63 84 4 75 100 5 93
13. Publication 8720MC UM 001C EN P Feb 2001 6 10 Interface Signal Description Publication 8720MC UM 001C EN P Feb 2001 The analog input assignments are fixed as shown in Table 6 3 In the SERCOS configuration the analog inputs are not available since the velocity or position command is provided by the SERCOS fiber optic ring In their place a second feedback channel is provided for spindle or axis mounted feedback devices In the SCANport configuration the velocity or torque reference is provided by a PLC via a DeviceNet Remote I O or ControlNet connection to a SCANport communication bridge module Any of the analog output default links can be changed by entering a new linkable parameter number into the Analog Output 1 or 2 parameters 681 or 683 Changing the Default Digital Output Links As was discussed earlier in this chapter when you select a primary application type via parameter 501 the 8720MC establishes a default set of I O assignments appropriate for the application per tables 6 1 6 2 and 6 3 For most situations there is little reason to change the default I O assignments and in fact it is not possible to change the analog or digital input assignments If necessary changing one or several default output assignments can be accomplished by modifying the pointer or link values in the digital output parameters 662 through 671 This may be accomplished with the Him module in Program mode or Drive Explorery
14. jo Type DIN IEC DL2010 and DL2012 MS Connector men gt eer e qr XL a Co j f _ N I Fo a1 le x1 ra Ly J Blower Lmt mat Terminal LL Box 4 i L a E w1 B e gt Table 3 17 TL n h nen Common Dimensions for DL2010 DL2012 in millimeters 30729 M R3 18 43 Table 3 18 Frame Specific Dimensions for DL2010 DL2012 in millimeters Drive End Shaft and Key WT Radial Load Radial Load Type DIN k e xl a dd R u kg 1500 rpm 5000 rpm IEC L D E GA F in Ibs in Ibs DL2010 1155 705 499 654 65 140 140 69 18 453 930 575 DL2012 1219 769 563 718 65 140 140 69 18 478 930 575 Table 3 19 J unction Box DL2010 DL2012 DIN p Type IEC HD DL 2010 DL2012 534 Publication 8720MC UM 001C EN P Feb 2001 3 14 Dimensions 8720MC Line Reactor Dimensions The following dimensions are for a 3 3 phase 380 to 460V AC 8720MC Line Reactor Figure 3 12 3 Phase 380 460V AC 8720MC Line Reactor Fe BBS Se a ee 30811 M R2 Table 3 20 A through I Line Reactor Dimensions in millimeters m A B Catalog Number A B c D E F G H l 8720MC LR03 032B 345 112 5 120 112 5 140 100 4 7 127 80 32 amps 460V AC 2 1 max 1 5 5 10 8720MC LR05 048B 400 132 5 1
15. IDN 500038 Name Vel_Limit_0 Data Display signed decimal R W Parameter No Description Positive velocity limit value This parameter describes the maximum allowable velocity in the positive direction If the velocity limit value is exceeded the drive responds by setting the status Ncommand gt File Nimit in C3D see IDN 00013 as well as parameter 335 Vel_Above_Limit This parameter appears in 8 sets of Servo Loop servo loop parameters Parameter 38 appears in Group 0 See Parameter Groups Files and Elements in this Group chapter The commanded positive RPM will be limited to this value If for any reason the actual motor velocity Group 0 exceeds Vel_Limit_0 by 50 an overspeed fault will disable the drive Default Length Analog SCANport Min Max Analog SCANport Scaling Resolution Units 6000 2 bytes Min gt 0 1 1RPM RPM Max lt 30 000 Default Length Minimum Maximum Scaling Resolution Units 6000 4 bytes Min gt 0 Scaling type IDN 00044 IDN 00044 Max lt 22 1 Scaling factor IDN 00045 Scaling exponent IDN 00046 IDN S00039 Name Vel_Limit_0 Data Display signed decimal R W Parameter No Description Negative velocity limit value This parameter describes the maximum allowable velocity in the 39 negative direction If the velocity limit value is exceeded the drive responds by setting the status Neommand gt File Nimit in C3D see IDN 00013 as well as parameter 335 Vel_ Above Limit This paramet
16. Publication 8720MC UM 001C EN P Feb 2001 8 42 Programming Parameters IDN S00332 Name Vel_Below_Thresh Data Display Bit R Link Parameter No Description Status NMeedpack lt Nx Ny velocity threshold This parameter is used to define an IDN for the 332 status Nfeedback lt Mx In the SERCOS configuration this allows the status Nroedback lt Mx to be assigned to a real fae ae time status bit see IDN 00305 The status Nroadhack lt Nx is defined as a C3D bit IDN 00013 and is set when the Gane ace velocity feedback value see IDN 00040 is smaller than the velocity threshold n see IDN 00125 Bit 0 is defined Event Links for operation data only This parameter can be linked to the digital I O or the SCANport logic word Enumerated Bit Pattern Structure of status Nreedback lt Nx Bit 0 0 Mreedback 2 Mx 1 feedback lt Mx Default Length Minimum Maximum Scaling Resolution Units NA 2 bytes NA NA NA IDN 500334 Name Torq Above Limit Data Display Bit R Link Parameter No Description Status T 2Tjimit This parameter is used to define an IDN for the status T gt Tiimit In the SERCOS 334 configuration this allows this allows the status T gt Tjimir to be assigned to a real time status bit see IDN 00305 fi ter The status T gt Tiimit is defined as a C3D bit IDN 00013 and is set when the torque feedback value se
17. USA 888 932 9183 CANADA 905 629 2505 j Over 100 years cumulative experience amp 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 8720MC HIGH PERFORMANCE DRIVE User Manual Automation Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation Allen Bradley does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradle
18. A1 Fdbk 1 Loss The motor encoder feedback signal has been lost Disable stop the drive will disable and the motor will coast to a stop with an error message on the HIM The control board status LED will be flashing and the drive OK output will be open Make sure the feedback wires are firmly crimped on the 8720MC mating feedback connector Check the MS motor feedback connector Check the encoder connector inside the motor Check for wire breaks in the feedback cable Make sure encoder power is available on P1 6 Tf all connections are verified and encoder power is available and encoder output is still not present replace motor A1 Fdbk 2 Loss The auxiliary encoder feedback signal has been lost SERCOS configuration only Disable stop Make sure the feedback wires are firmly crimped on the 8720MC mating feedback connector Check the MS motor feedback connector Check the encoder connector inside the motor Check for wire breaks in the feedback cable Make sure encoder power is available on P1 19 or P1 20 Tf all connections are verified and encoder power is available and encoder output is still not present replace motor A1 Fdbk 1 AQB A feedback counting error has occurred on the motor feedback interface Electromagnetic interference is the probable cause Disable stop Check that the feedback cable braided shield is firmly bonded to the drive chassis via t
19. Axis 1 ATune Flt Auto Tuning procedure failed to complete successfully Assure that the drive and motor are functional and repeat the auto tune procedure Bus Overvoltage Bus voltage exceeded 810 vdc This is usually caused by a high inertia motor load being decelerated very fast Disable stop the drive will disable and the motor will coast to a stop with an error message on the HIM The control board status LED will be flashing and the drive OK output will be open Monitor the AC line for high voltage or transient conditions Decrease the deceleration parameter for the active parameter set param 137 for set zero Decrease the stopping torque parameter 571 Increase the dynamic braking capacity by increasing the brake chopper capacity Adjust parameter 563 to a lower value This will limit the motor deceleration rate Check for 8720MC RPS faults Reduce the 8720MC RPS bus voltage Bus Loss The DC bus voltaged has dropped Monitor the AC line for low voltage or power below the minimum acceptable level interruption Disable stop Check for 8720MC RPS faults Ground Short A current path to earth ground in Check the motor wiring to the drive output excess of drive rated current has been detected at one of the output terminals Disable stop terminals for a grounded condition Replace the drive Bus Regulator The regenerative power supply has faulted Disable stop In
20. SP_Data_Input_D2 SP_Data_Out_Al SP_Data_Out_A2 SP_Data Out_B1 SP_Data Out_B2 SP_Data Out_Cl SP_Data_Out_C2 SP_Data_Out_D1 SP_Data_Out_D2 Enc_Mem_Map_Rev Programming Parameters File 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface Communi Communi Communi Communi Communi Communi Communi Communi Communi Communi Communi Communi Communi Communi Communi Communi Communi Communi Communi Communi Communi cati cati ca cati ca ca ca ca ca ca ca ca ca ca ca ca ca cati cati cati cati on on ion on ion ion ion ion ion ion ion ion ion ion ion ion ion on on on on Mtr Drive Fdbk Digital Outputs Digital Outputs Digital Outputs Analog Outputs Analog Outputs Analog Outputs Analog Outputs Digital Inputs Analog Inputs Analog Inputs Analog Inputs Analog Inputs Analog Inputs Analog Inputs SCANp_Ref fdback SCANp_Ref fdback SCANp_Data_In SCANp_Data_In SCANp_Data_Out SCANp_Data_In SCANp_Data_In SCANp_Data_In SCANp_Data_In SCANp_Data_In SCANp_Data_In SCANp_Data_In SCANp_Data_In SCANp_Data_Out SCANp_Data_Out SCANp_Data_ Out SCANp_Data_Out SCANp_Data_Out SCANp_Data_Out SCANp_Data_Out SCANp_Data_Out Motor Data 8 47 Publication
21. Bit 3 Drive O k Drive OK Bit 4 Zero speed Zero Speed Bit 5 At reference speed At Ref Speed Bit 6 Orient complete Orient Done Bit 7 Reserved Bit 8 Brake solenoid enabled Brake Enable Bit 9 Torque gt Torque limit Torque Limit Bit 10 High Winding Selected Hi Wind Sel Bit 11 Low winding Selected Lo Wind Sel Bit 12 Shut down fault Shutdn Fault Bit 13 Reserved Bit 14 Reserved Bit 15 Manual mode selected Manual Mode Parameter 716 SCANport Logic Mask This parameter may be used to prevent any SCANport device from controlling the drive The structure of parameter 716 is as follows If a bit is set true 1 the device interface is enabled Bit 0 Digital I O I O Bit 1 Port control 1 Port Cntrl 1 Bit 2 Port control 2 Port Cntrl 2 Bit 3 Port control 3 Port Cntrl 3 Bit 4 Port control 4 Port Cntrl 4 Bit 5 Port control 5 Port Cntrl 5 Bit 6 Port control 6 Port Cntrl 6 Troubleshooting the 8720MC RPS Regenerative Power Supply Troubleshooting 10 13 The 8720MC RPS regenerative power supply is equipped with a 4 character display 6 LEDs and 5 function keys The display can be used to monitor incoming AC voltage outgoing DC bus voltage input current to the RPS output power in kw and RPS load In addition the display can be used to view the RPS error log which can contain up
22. ep Em T oa AH SMA 905 connector kit part number 3 504566 1 2 PLC Publication 8720MC UM 001C EN P Feb 2001 1000um plastic simplex part number 501232 5 30470 M Table 4 13 contains catalog numbers for SERCOS fiber optic cables used within cabinets Table 4 13 Catalog Numbers for Fiber Optic Cables Used Inside Cabinets Cable Catalog Number Amp Part Number Length 7 ne and inches 8720MC SCO1 1278140 1 1 0 0 05 39 0 2 0 8720MC SC02 1278140 2 2 0 0 05 79 0 2 0 8720MC SC03 1278140 3 3 0 0 05 118 0 2 0 8720MC SC05 1278140 5 5 0 0 08 197 0 3 0 8720MC SC10 1 1278140 0 10 0 0 15 394 0 6 0 Table 4 14 contains catalog numbers for SERCOS fiber optic cables used outside cabinets Drive Installation and Wiring 4 25 Table 4 14 Catalog Numbers for Fiber Optic Cables Used Outside Cabinets Cable Catalog Number Amp Part Number Length meters and inches 8520 SC2 96 7002 1 2 2 0 05 79 2 8520 SC4 96 7002 1 1 4 0 08 157 3 8520 SC10 96 7002 1 3 10 0 15 394 6 8520 SC25 96 7002 1 5 25 0 3 984 12 8720MC AC Input Drives Figure 4 13 provides information about the connections for the SERCOS or analog versions of the 8720MC non regenerative AC input B size chassis This configuration uses a 1336 WBnnn Brake Chopper Module to compensate for high inertia loads which require rapid deceleration For more information see
23. Units param number Length 2 bytes Minimum Maximum Scaling Resolution Min gt 0 1 Max lt 65535 IDN P00182 Name AnaOut_Ch1_Gain Data Type Integer R W Parameter No File 1 0 Interface Group Analog outputs Description Parameter 682 P00182 provides a means of scaling analog output 1 This parameter is used to assign a scale factor to Analog Output 1 which is the analog output tied to the 8720MC physical address of connector P4 row 1 terminals 1 and row 2 terminal 6 This allows the user to apply a scale factor to an external analog output which is linked to a variable within the 8720MC Drive The value of the source variable linked by parameter 681 IDN P00181 is multiplied by the scale factor stored in parameter 682 in order to produce the value delivered to the digital to analog converter For example with a scale factor of 1 a variable with a value of 100 will produce a D A output of 10 vdc Default 1 0 Minimum Maximum Min gt 3 0000 Max lt 3 0000 Length 2 bytes Scaling Resolution 104 Publication 8720MC UM 001C EN P Feb 2001 8 64 Programming Parameters IDN P00183 Name AnaOut_Ch2_Selec Data Type integer R W Parameter No File 1 0 Interface Group Analog outputs Description The 8720MC Drive supports two 11 bit analog outputs Parameter 683 P00183 provides a means of linking the 8720MC physical address of connector P4 row 2 terminal 5 and row 2 term
24. moor T O w o w z PE hi 24vdc Registration Input note 1 hi 5vde Registration Input note 1 i i Registration Input Common P5 6 5vde f evier i AN Relay 1 Ps 7 Motion Controller E stop String lotion Controller a 24vdc return Notes 1 amp 3 P5 8 kad Enable Brake a 24vdc for inputs Solenoid Relay 2 P5 9 input 4 Dive Enabie Hi Contactor output Relay 3 P5 25 Input 3 Drive Error Reset P5 26 10 Lo Contactor output Relay 4 Input 5 Parameter set bit 2 P5 27 Input 7 Parameter set bit 1 P5 10 7 ical 24vde output Output 5 Zero Speed yp ii Input 9 Parameter set bit 0 P5 11 Note a Output 7 Shut Down Fault ESU Typical eave output 4 Input 2 Orient Request ae P5 12 Typical 24vdc output Input 4 Auto Manual Select Output 2 Autoiiet Enabled T P5 28 Typical 24vdc output Input 6 Jog Output 6 Orient Complete Nep P5 29 Typical 24vdc output Input 8 Reserved Output 8 Torque gt Limit P5 30 Typical 24vdc output Input 10 Regen PS OK Output 10 At Speed 24vde Input Common Customer Supplied 24 vdc 5 31 4 31 lo Output 24vdc note 2 g for Drive 24 vdc Outputs eo eme supplied 24vdc or 120vac 24vdc when true Customer 24vdc return Do not jumper when external 5vdc is used When using the 8720MC supplied
25. Dimensions 3 11 Frame DL1611 through DL1613 Dimensions The following motor dimensions are for frames DL1611 through DL1613 300 mm flange and 350 mm bolt circle Figure 3 9 Motor Dimensions for Frames DL1611 DL1613 Te Connector i k egi sje MT hje gt x j u pA el p ipri h Ly amp 74 Blower iioi mi m2 Terminal p o 12 la Box 4 E gt e ta gt S wi a J J 30730 M R3 Table 3 11 Common Dimensions for DL1611 DL1613 in millimeters Type DIN xL 4 IEC xi 4 DL1611 and 43 DL1613 Table 3 12 Frame Specific Dimensions for DL1611 DL1613 in millimeters Drive End Shaft and Key WT Radial Load Radial Load Type DIN k e x1 a d2 1 12 t u k 1500rpm 6500 rpm IEC L D E GA F g in Ibs in Ibs DL1611 923 539 408 497 55 110 110 59 16 226 770 450 DL1613 974 589 458 548 55 110 110 59 16 272 770 450 Table 3 13 J unction box for DL1611 DL1613 DIN Type IEC DL1611 and DL1613 gi HD Publication 8720MC UM 001C EN P Feb 2001 3 12 Dimensions Frame DL1811 through DL1815 Dimensions The following motor dimensi
26. In manual mode depressing the jog key will J og the motor at the HIM selected jog reference speed and direction Releasing the key will initiate a decelerated stop The drive stops according to the stopping torque specified in parameter 571 og key Pressing the direction key will change the motor direction if it is being controlled from this HIM The appropriate direction indicator light will light to indicate direction Change Direction key Increase or decrease the HIM speed command An indication of this command is shown on the visual Speed Indicator Parameter 696 determines the maximum manual speed Press both keys simultaneously to store the current HIM speed command in HIM memory Cycling power or removing the HIM from the drive sets the speed command to the value stored in HIM memory These arrows are only available with digital speed control Up Arrow and Down Arrow keys HIM Operation Using the Human Interface Module HIM 7 5 HIM Control Panel Indicators The HIM control panel has the following indicators Table 7 3 Indicators on the HIM Control Panel This indicator Provides information about It is called The direction of motor rotation Direction LED OO An approximate visual indication of the Speed Indicator command manual jog speed This indicator is only available with digital speed control Initial Status Display When you first apply power to the 8720MC
27. Structure Of Needback lt Minimum spindle speed BitO O Nroedback lt minimum spindle speed 1 Meedback lt Minimum spindle speed Default Length Minimum Maximum Scaling Resolution Units NA 2 bytes NA NA NA Publication 8720MC UM 001C EN P Feb 2001 8 44 Programming Parameters IDN S00340 Name Spd_Above_max Data Display Bit R Link Parameter No Description Status NMoegpack 2 Maximum spindle speed In the SERCOS configuration this 340 parameter is used to define an IDN for the status Nreedpack 2 Maximum spindle speed This allows File the status Needback Z Maximum spindle speed to be assigned to a real time status bit see IDN 1 0 Interface 00305 Scheele The status Meedpack 2 Maximum spindle speed is defined as a C3D bit IDN 00013 and is set Event Links when the velocity feedback value IDN 00040 is greater than or equal to the programmed maximum spindle speed IDN 00221 Bit 0 is defined for operation data only Enumerated Bit Pattern Structure Of Nreedback 2 gt Maximum spindle speed BitO 0 Nreedback lt Maximum spindle speed 1 Meedback 2 Maximum spindle speed Default Length Minimum Maximum Scaling Resolution Units NA 2 bytes NA NA NA IDN S00347 Name Velocity Error Data Display Decimal R Link Parameter No Description Velocity error The current differenc
28. To view the fault parameters on the HIM 1 2 7 Press any key from the status display Choose Mode is shown Press the increment up key or the decrement down key to show Display Press the enter key to select it Press the increment or decrement key to find Status Faults Press the enter key to select the file Press the increment up key or the decrement down key until Errors is displayed For this example press enter to select the Errors group Press the increment up key or the decrement down key until Shut Down Errors is displayed Press enter to select Shut Down Errors The 8720MC Drive fault parameters are reported using the format shown in Figure 10 2 In this example a 1 in bit 2 indicates a motor over temperature fault Figure 10 2 Fault Parameter Format S jh Ju It DI jo w In El r r jo r js Bit1S5 0 0 0 Jo fo Jo fo fo ol lol Jol o lol 4 Jo fo Bit2 Bito JOFO Depressing the select key allows the user to determine the nature of the fault Each time the select key is depressed the arrow symbol Publication 8720MC UM 001C EN P Feb 2001 Troubleshooting 10 9 moves to the next higher bit The top line provides the message text associated with that fault as shown in Figure 10 3 Figure 10 3 Fault Display Mi
29. Units volts rms Minimum Maximum Min gt 0 Max lt 655 35 Scaling Resolution 10 IDN P00287 Name R1_Motor_ Stator Data Type unsigned integer R W Parameter No 787 File Motor Drive Group Motor data Description This parameter defines the per unit stator phase to neutral resistance Ry 25 Cin This parameter is set to zero for synchronous motors Default per motor IDN P00288 Parameter No 788 File Motor Drive Group Motor data Minimum Maximum Min gt 0 Max lt 30 000 Scaling Resolution 10 Name R2_Motor_Rotor Data Type Unsigned Integer Description This parameter defines the per unit rotor phase to neutral resistance as referred to the stator 25 Cin This parameter is set to zero for synchronous motors Default per motor Length 2 bytes Minimum Maximum Min gt 0 Max lt 30 000 Scaling Resolution 10 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN P00289 Name X1_Stat_Self Lk Data Type Unsigned Integer R W Parameter No 789 File Motor Drive Group Motor data Description This parameter defines the per unit motor stator leakage reactance at base frequency for synchronous motors Default per motor Minimum Maximum Min gt 0 Max lt 30 000 Scaling Resolution 10 IDN P00290 Name XM_Stator Mutual Data Type unsigned integer R W Parameter No 790 File Motor Drive
30. in the SERCOS drive status bit 13 The error bit is reset to 0 Group by the drive only when no errors of C1D exists and after the command reset class 1 diagnostic IDN 00099 has Errors been received by the drive via the SERCOS service channel In the analog configuration parameter 615 is set true indicating there is a shut down failure Enumerated Bit Pattern Structure of C1D Bit 0 Drive overload shut down Bit 1 Drive over temperature shut down Bit 2 motor over temperature shut down Bit 3 cooling error shut down not supported in 8720MC Bit 4 control voltage error not supported in 8720MC Bit 5 feedback error Bit 6 error in the commutation system not supported in 8720MC Bit 7 overcurrent error Bit 8 overvoltage error Bit 9 undervoltage error Bit 10 power supply phase error not supported in 8720MC Bit 11 excessive following error see IDN 00159 Bit 12 communication error Bit 13 overtravel limit is exceeded not supported in drive Bit 14 reserved Bit 15 A B drive fault see IDN 00129 0 no error 1 error Default Length Minimum Maximum Scaling Resolution Units NA 2 bytes NA NA NA Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN S00013 Name Drive Status Data Display Bit pattern R Parameter No Description Class 3 diagnostic C3D Drive operation status flags 13 When a condition changes in the drive the correspondin
31. All Amplifiers at High Altitudes Figure A 10 shows the derating curve for all 8720MC drive amplifiers at altitudes above 1000 meters 3300 feet Figure J 14 8720MC All Amplifiers 100 of Drive P Rated Amps 90 All Amplifiers 80 0 1 000 2 000 3 000 4 000 M 3 300 6 600 9 900 13 200 ft Altitude 30426 M R2 Publication 8720MC UM 001C EN P Feb 2001 A 8 Derating Guidelines Publication 8720MC UM 001C EN P Feb 2001 8720SM Motor Temperature Derating Curves Figure A 11 shows the derating curve for all 8720SM Motors operating at temperatures above the 40 degree C rating temperature Figure J 15 8720SM Motors 8720SM Motor Temperarture Derating 105 100 95 90 85 80 Percent of nominal rating 75 70 40 45 50 55 60 65 70 Ambient Temperature in Degrees C Appendix Objectives Appendix B Replacement Spare Parts This appendix contains a listing of the recommended spare parts for the 8720MC Drive the 8720MC Regenerative Power Supply and the 8720SM Motors To get information about ordering spare parts call the Rockwell Automation Spare Parts Hub toll free at 1 888 360 1515 or 216 266 0700 You will be asked if the part is an Allen Bradley part or a Reliance part For drive and regenerative power supply parts specify Allen Bradley For motors specify Reliance Electric For telephone technical assistance call 262 51
32. e recognize the consequences Allen Bradley offers support services worldwide with over 75 sales support offices 512 authorized distributors and 260 authorized systems integrators located throughout the United States alone plus Allen Bradley representatives in every major country in the world Local Product Support Contact your local Allen Bradley representative for e sales and order support e product technical training e warranty support e support service agreements Technical Product Assistance If you need to contact Allen Bradley for technical assistance please review the Troubleshooting chapter first If the problem persists then call your local Allen Bradley representative For the quickest possible response we recommend that you have the catalog numbers of your products available when you call Your Questions or Comments on this Manual If you find a problem with this manual please notify us of it on the enclosed Publication Problem Report Publication 8720MC UM 001C EN P Feb 2001 P 4 Preface Safety Precautions Publication 8720MC UM 001C EN P Feb 2001 The following general precautions apply to the 8720MC Drive ATTENTION Only those familiar with the 8720MC Drive and associated machinery should plan or implement the installation startup and subsequent maintenance of the system Failure to comply can result in personal injury and or equipment damage ATTENTION This product contains stored energy d
33. 24vdc for the probe input P4 3 terminal P4 7 must be tied to P5 23 Do not jumper when external 24vdc is used Note 2 When using the 6 solid state 24vdc outputs available with the 8720MC the customer must supply external 24vdc to P5 31 Note 3 When using the 8720MC supplied 24vdc for the 10 available inputs terminal P5 13 must be tied to P5 23 otherwise connect to external 24vdc return Note 4 The digital inputs and outputs are shown with the I O links that occur when the drive is in the analog command configuration See Chapter 6 Input Output Power Customer 24vdc for Outputs 30714 M R7 Terminals P5 22 and P523 provide isolated 24V DC user power for use with registration and digital inputs This power is limited to 120 mA continuous at 22V DC 25 Terminals P4 4 and P4 8 provide isolated 5V DC user power for use with the 5 V DC registration inputs and the A quad B output This power is limited to 250 mA at 5 VDC 10 Publication 8720MC UM 001C EN P Feb 2001 4 32 Drive Installation and Wiring Publication 8720MC UM 001C EN P Feb 2001 There are four relay contact outputs as shown in Figures 4 18 and 4 23 The contacts are rated at 5 amps and the power must be provided externally through user 120V AC or 24V DC power supplies There are six 24V DC digital outputs for customer use Each output can deliver up to 75 mA at 24V DC Considering the limitation of 120 mA total at 24V DC of the 8720 MC 24V DC power
34. Contro otor Drive Fdbk Contro otor Drive Fdbk otor Drive Fdbk otor Drive Fdbk Procedure Group 0 Group 0 otor Data Drive Data otor Data Drive Data otor Data otor Feedback echanics echanics echanics Setup Setup Setup Errors Group 0 Group 0 Drive Data Orient Orient Orient Orient Orient Setup Setup Acceleration Acceleration Acceleration Motor Feedback Position Motor Data Brake Brake Parameter Switch yes yes yes yes yes yes yes yes yes Publication 8720MC UM 001C EN P Feb 2001 8 6 Numerical Order SERCOS IDN 8720MC Param No 00217 00220 00221 00222 00254 00258 00259 00260 00272 00277 n0296 500330 500331 500332 500333 500334 500335 500336 500339 500340 500347 Sn0348 500380 500384 500386 Programming Parameters Standard 8720MC Parameters in No 217 220 221 222 254 258 259 260 272 277 296 330 331 332 333 334 335 336 339 340 347 348 380 384 386 DESCRIPTION Parameter set preselection Minimum spindle speed Maximum spindle speed Spindle positioning speed Actual parameter set Target position for positioning mode Velocity for positioning mode Positioning Acceleration Velocity window percentage Position feedback 1 type extended Velocity feed forward gain Status Nieedback Neommand Status N feedback 0 Status N feedback lt Nx Status T gt T
35. DL1307 through DL1310 230mm flange 3 9 frame dimensions DL1307 through DL1310 250mm flange 3 8 frame dimensions DL1611 through DL1613 3 10 frame dimensions DL1811 through DL1815 3 11 frame dimensions DL2010 through DL2012 3 12 grounding 5 10 handling 5 2 location 5 3 maintenance 5 13 mounting 5 2 scaling speed 9 6 selecting cables 4 13 starting 4 42 5 13 starting and stopping 4 42 stopping 4 42 storage 5 3 wiring 5 6 wiring diagram 5 7 motor and drive distance 5 6 motor cable ground conductor connecting 4 5 motors dual voltage 5 8 mounting considerations 5 3 drive 4 2 motor 5 2 nonline regeneration drive amplifiers 1 1 regenerative applications 1 4 numerical listing 8720MC parameters 8 4 Publication 8720MC UM 001C EN P Feb 2001 l 6 Index 0 operating in manual mode internal or external HIM 9 8 using digital I O interface 9 7 operation HIM 7 5 optional RFI filter grounding 4 6 output assignments digital 6 2 output fuses using 4 18 outputs analog 6 8 default digital I O descriptions 6 5 digital 6 1 overview 8720MC drive 1 1 8720SM AC spindle motor s 1 11 8720SM AC spindle motors 5 1 P parameter files understanding 8 1 parameter groups understanding 8 1 parameter s descriptions 8 7 downloading profile 7 12 elements 8 2 files 8 2 groups 8 2 modifying 7 9 uploading profile 7 12 password programming 7 15 password mode using 7 15 power input output 4 30 removing and reapplying
36. Description IDN 00072 parameter 572 specifies the maximum amount of time that the module will remain enabled while stopping the motor This is useful for applications where the deceleration rate is very slow Default 10 Minimum Maximum Scaling Resolution Min gt 0 1 Max lt 1000 IDN P00081 Name Homing_Strategy Data Type Ascii representation of enumeration R W Parameter No 581 File Procedure Group Homing Description When the 8720MC is configured for power servo and single turn absolute or incremental feedback is selected homing is required Parameter 582 IDN P00082 determines what homing strategy will be used The possible choices are 00 next marker Proceed to the next marker after the home limit switch is detected 01 previous marker Stop and return to the last marker after the home limit switch is detected This parameter is not available for the 8720MC analog version Default 00 Minimum Maximum Scaling Resolution NA NA Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN P00082 Name Auto_Home Data Display ascii representation of enumeration R W Parameter No 582 File Procedure Group Orient Description When the 8720MC is configured for spindle operation typically it is required to orient the spindle to a specific tool change location Parameter 582 IDN P00082 determines what orient strategy will be used The possible choices are 00
37. SNS 60 0110 MHG_90 0111 Resolver 1000 Analog Reference 1001 Sin Cos 1010 TTL 1011 UVW 1100 unknown Stegmann 1101 Endat Auto detected Hiperface Stegmann Device Single turn absolute 1024 S C per rev Multi turn absolute 1024 S C per rev Single turn absolute 512 S C per rev Multi turn absolute 512 S C per rev High resolution incremental 1024 S C per rev Single turn absolute magnetic encoder 512 S C per rev Transmitter type 0 25 TR 10 vdc differential Generic linear or rotary S C device w index Generic linear or rotary TTL A quad B device w index Differential hall effect commutation signals Unrecognized Stegmann device Heidenhain Endat SSI S C feedback device Default SRS_60 Minimum Maximum NA Scaling Resolution NA Publication 8720MC UM 001C EN P Feb 2001 8 54 Programming Parameters IDN P00003 Name Aux_Fbck_Type Data Type Ascii characters R W Parameter No 503 File Motor Drive Fdbk Group Aux Feedback Description This IDN is used to provide A B drive configuration choices which otherwise do not appear in the SERCOS Standard The feedback type for a machine mounted feedback device is found in IDN S00115 The resolution of the machine mounted feedback device is found in IDN S00117 for both rotary and linear devices IDN P00003 is used to provide additional motor feedback information in support of the information found in the standard SERCOS IDN s Structure of
38. aa Performance assumes regenerative v 15 converter with 750 VDC bus and a 250 505 VAC at motor 6 Amps at 500 RPM based on 200 WYE conn 10 Cont Amps 47 150 S6 Amps 56 Max Amps 66 100 0 50 0 1000 2000 3000 4000 5000 6000 7000 0 400 600 800 1000 1200 1400 1600 1800 2000 RPM RPM Publication 8720MC UM 001C EN P Feb 2001 30857 MR1 Figure 2 28 20 kW Dual Wound Motor High Winding 20 kW at 500 RPM Base Speed DL1815 Frame Dual Winding Delta Design 2 25 Specifications 35 260 240 maximum kW 30 220 S6 50 ED kW 200 Maximum 25 180 1 S6 50 Torque in N M 160 Rated 128 Continuous S1 kW S6 50 158 4 Max 191 20 407 Rated ax 19 z 120 Performance assumes regenerative oO 15 converter with 750 VDC bus and 100 505 VAC at motor 8 Amps at 500 RPM based on 80 Delta conn 104 Cont Amps 47 aT 60 S6 Amps 56 MaxAmps 66 40 0 20 0 1000 2000 3000 4000 5000 6000 7000 0 1000 1500 2000 2500 3000 3500 4000 4500 5000 RPM RPM 30858 M Figure 2 29 25 kW Dual Wound
39. avaxeracerasts wih saie ait saieessautaainsicurhaatesatheathaatheast auboaveaaatoarane 10 1 Required EQUIPMENT enoia EOE OA 10 1 Start Up Troubleshooting Procedures ss sssssssessesresissisresrsrrrerresrerirrenresinienres 10 1 Viewing the Fault QUEUE s sssssssissesresrssrsresresrssrsrenrnsrtinnrenrnnrtrenrnsrniininnrenrtrens 10 3 Falt Descriptions inma a taancbaamiatntaane 10 4 Understanding the Fault Parameters s s snsseseensrnsensrsnrnrrnnnrnrnnnennnrnsrnrereses 10 7 Troubleshooting the Digital I O s s sssssssesrsrnsrnrsrnsensrnnnrnsrnnnrnnrnnnnnnrnsrnrernnee 10 10 Troubleshooting SCANport l 0 iiss mowiaretan wean cdnervreaiin dete weir sardeees 10 11 Troubleshooting the 8720MC RPS Regenerative Power Supply uv 10 13 Appendix A Derating Guidelines Appendix Objectives is maenerntinenntincintumnmenntunntenntentreree A 1 Derating Guidelines saena AREE E antacids A 2 8720M B027 ENCIOSUTE sirr E O TO T A 2 Publication 8720MC UM 001C EN P Feb 2001 8720MC B034 Enclosure Sint onnn wont ad ab eeinard mia A 3 9 720MC B042 EACGSUNG Sisseiirsiareitssacieditazstediveasteditacssedinaastsitaasnedeeeeerd A 3 8720MC B048 Enclosure s s s ssesssnssesnrnsnsnsrnsnnnnrnrnnnrnrnnnnrnrnnnninnrnnnrnrennna A 4 8720MC DOOD ENClOSUPG sisii A 4 8720MC D078 Enclosure sssissiesiesiississreriesirsrrssienitnirrirniinnrenreniennnnn A 5 8720MC DL20ENCI SUrE n nica iesehlencaniaien A 5 8720MC D149 Enclosure s s sussssssesninsrsnsrnsrnnrin
40. between the motor and the drive Allowing for Heat Dissipation You need to mount the drive so that there is sufficient space at the top sides and front of the cabinet to let the heat dissipate For further information see Dimensions Allowing for Heat Dissipation in Chapter 3 Dimensions Read the following attention text before mounting your drive ATTENTION You must be careful to prevent debris such as metal shavings and conduit knockouts from falling into the drive while performing any installation work around the drive A hazard of personal injury and or equipment damage exists if foreign material lodges inside the drive To mount your drive you need to 1 Get the dimensions for your drive from Chapter 3 Dimensions 2 Drill the holes at the appropriate spot as determined from the drive dimensions 3 Bolt the drive to the mounting surface Drive Installation and Wiring User Supplied Enclosures If you are supplying your own enclosure for the 8720MC Drive you can mount your drive within an enclosure or you can mount the drive to let the heat sink extend outside the enclosure Use the information in Table 4 1 along with the enclosure manufacturer s guidelines for sizing This table contains numbers in parenthesis These indicate notes at the end of the table Figure references are for illustrations contained in Appendix A Table 4 1
41. connections U to T1 V to T2 W to T3 and the ground wire to the ground bolt on the motor Connect the shield to both the motor ground and the PE ground on the drive Make sure the 8720MC Drive PE ground is connected to earth ground with an AWG 10 or larger conductor Figure 5 1 Wiring Diagram for 8720SM Motors 132 MM Frame and Larger Tia Bolt Rotatable Conduit Box a 30806 M R1 Figure 5 2 Wiring Diagram for 8720SM Motors 112 MM Frame Main terminal strip Main terminal insulato Ground Label Publication 8720MC UM 001C EN P Feb 2001 M8 ground bolt amp flat washer Ground Label Conduit box connections for 112 frame size 30473 M Motor Installation and Wiring 5 9 Dual Voltage Motors For dual winding motors make sure the motor leads are connected properly for the desired Low or High voltage connections as shown in Figure 4 19 Since the high low contactor is likely to be located in the drive cabinet it will be necessary to connect two 4 wire shielded cables from the drive cabinet to the motors Direction of Rotation 8720SM motors are capable of bidirectional shaft rotation It is important that the feedback device leads and the motor leads are connected properly as shown in the wiring diagrams in chapter 4 The direction of rotation of the motor field can be reversed by changin
42. x Analog Spindle SERCOS Spindle SCANport Spindle Connection Parameter Power Servo Power Servo Power Servo Number P5 6 amp 7 Relay 1 P00162 662 Drive OK Drive OK Drive OK P5 8 amp 9 Relay 2 P00163 663 Enable Brake Sol Enable Brake Sol Enable Brake Sol P5 24 amp 25 Relay 3 P00164 664 Hi Winding Select Hi Winding Select Hi Winding Select P5 26 amp 27 Relay 4 P00165 665 Lo Winding Select Lo Winding Select Lo Winding Select P5 10 Output 5 P00166 666 Zero Speed Reserved Reserved P5 11 Output 7 P00168 668 Shut Down Fault Reserved Reserved P5 12 Output 9 P00170 670 Auto Reference Reserved Reserved Enabled P5 28 Output 6 P00167 667 Orient Complete Reserved Reserved P5 29 Output 8 P00169 669 Torque Torq Limit Reserved Reserved P5 30 Output 10 P00171 671 At Speed Reserved Reserved Publication 8720MC UM 001C EN P Feb 2001 6 4 Interface Signal Description Publication 8720MC UM 001C EN P Feb 2001 Default Digital Input Descriptions Drive Enable The drive enable input is used to inform the drive that the regenerative power supply and the motion controller are ready for the drive to follow the auto or jog reference command Assuming there are no internal drive shut down faults the drive will apply torque to the motor as directed by the reference commands when the drive is enabled The drive will come to a regen stop when the enable is removed Drive Error Reset Request
43. 0 Interface 1 0 Interface 1 0 Interface Procedure Procedure Procedure Procedure Procedure Procedure Servo Loop Servo Loop Motor Drive Fdbk Control Control Procedure Procedure 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface Group Drive Data Motor Feedback Aux Feedback Drive Status Drive Data Group 0 Event Links Event Links Event Links Event Links Event Links Auto Tune Auto Tune Auto Tune Auto Tune Auto Tune Auto Tune Group 0 Group 0 Drive Data Torque Torque Homing Orient Event Links Event Links Event Links Event Links Digital Outputs Digital Outputs Digital Outputs Digital Outputs A B P Parameters in Numerical Order SERCOS IDN No P00169 P00170 P00171 P00181 P00182 P00183 P00184 P00190 P00191 P00192 P00193 P00194 P00195 P00196 P00213 P00215 P00216 P00217 P00218 P00225 P00226 P00227 P00228 P00229 P00230 P00231 P00232 P00233 P00234 P00235 P00236 P00237 P00238 P00239 P00240 P00241 BIZOM DESCRIPTION 16 Character Name Param No 669 670 671 681 682 683 684 690 691 692 693 694 695 696 713 715 716 717 718 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 Digital Output 8 Source Digital Output 9 Sour
44. 1203 GK5 A fal Port 6 JI Red Vs PLC Processor Embedded HIM s White CANH Sf Ha O mrm Option 9 Shield A Blue CAN L L Black Common De Remote HIM l m b O LD om Anacanda 1203 SSS oOo 4 5 Notebook Desktop or Handheld PC with Drive Exporer SCAN port Expander 1203 SG2 Two Port Expander 1203 SG4 Four Port Expander 30865 M The 8720MC external SCANport connection uses the Port 2 address It can be used as a single connection to a remote HIM or a PC ora PLC It can also be connected to a 2 or 4 port expander as shown in Figure 6 5 The SCANport expander is very useful in situations where a PLC is used as the source of the command reference and the logic interface The expander allows easy plug in of a Personal Computer running Drive Explorer for the purpose of displaying and or modifying parameters as well as monitoring process parameters while the process is executing The PLC interface is accomplished via a SCANport Gateway Module connected to one of Rockwell s communication networks such as remote I O DeviceNet or ControlNet The 1203 GK5 module shown in Figure 6 5 is a stand alone DeviceNet Gateway A PLC can use the 8720MC analog digital interface or the SCANport digital interface for the purposes of controlling the 8720MC Drive Use of a SCANport Gateway Module with a PLC allows the control of po
45. 3 single phase line reactors on a common base If CE compliance is a requirement for the application an additional filter is required For details on this filter please see publication 8720MC RMO001B US P Regenerative Power Supply User Manual Publication 8720MC UM 001C EN P Feb 2001 1 10 Introduction Publication 8720MC UM 001C EN P Feb 2001 Key Features of the 8720MC Regenerative Power Supply Key features of the 8720MC Regenerative Power supplies are e 380 to 460V AC 10 15 3 phase input voltage 50 60 Hz 45 kVA e 64 amperes continuous output current 96 amperes peak 1 min e Programmable bus voltage nominal 750 V DC with under and over voltage trip points e Built in programmer allows display and adjustment of parameters status monitoring of faults as well as reset of faults e 4 segment display provides status monitoring of AC input current AC input voltage DC bus voltage motor power and load e Compact design provides small footprint e Capable of supporting multiple common bus drive amplifiers e 10 to 55 degrees C operating temperature 5 to 95 humidity e Diagnostic messages e Run fault and fault reset discrete I O e Master slave operation for parallel regenerative power supplies UL and CUL listed CE marked to meet European requirements for low voltage and electromagnetic compatibility In addition to the 8720MC RPS065 regenerative power supply a line reactor is required for each incoming pha
46. 30 digital assignments 6 2 power 4 30 inputs analog 6 8 default digital I O descriptions 6 4 digital 6 1 registration 6 6 inputs connection registration 4 41 installing RFI filter 4 44 interface universal feedback 4 31 interface wiring control 4 18 interference electrical 4 42 internal or external HIM operating in manual mode 9 8 K key features 1336R regenerative power supplies 1 11 8720MC drive amplifiers 1 3 8720MC regenerative power supply 1 10 8720SM AC spindle motors 1 13 common bus amplifiers 1 6 keys HIM control panel 7 3 L leakage current RFI filter 4 44 LED system module Status 9 5 line reactor dimensions 8720MC drive s 3 13 line reactor or isolation type transformer choosing 4 7 line regeneration drive amplifiers 1 1 line regenerative drive amplifiers product structure 1 7 link changing 7 16 creating 7 16 removing 7 17 location motor 5 3 logging out 7 15 logic connections 4 18 logic status outputs SCANport 6 17 lug kit selection system 4 12 M maintenance motor 5 13 manuals related P 1 P 2 maximum cable lengths feedback devices 5 12 menu tree HIM 7 7 metal conduit cable distribution 4 14 Index l 5 mode display 7 9 program 7 9 modifying parameters 7 9 motor ambience 5 3 balancing 5 13 blower 5 9 checking performance 5 13 connecting cable ground conductor 4 5 encoder specifications single turn absolute 2 3 frame dimensions DL1106 through DL1110 3 6 frame dimensions
47. 4 mm 152 4 mm 6 0 in 6 0 in 6 0 in 3 3 3 30725 M R2 Publication 8720MC UM 001C EN P Feb 2001 3 6 Dimensions Motor Dimensions Publication 8720MC UM 001C EN P Feb 2001 Notes to Motor Drawings The following notes apply to all motor dimensional drawings NOTE 1 h Dimension will not be exceeded Shims up to 5mm thickness are usually required for coupled or geared machines NOTE 2 Shaft extensions are according to Din 748 Tolerances are based on the ISO fitting system using K6 for diameters up to 50mm and m6 for diameters above NOTE 3 t varies 018 290mm NOTE 4 Walls or obstructions must not encroach on air inlet space XL for blower or fan cooling NOTE 5 Tolerances for flange according to DIN42948 NOTE 6 For the DL1106 DL1108 and DL1110 frames conduit entry is available on both sides of the terminal box The plugged hole has a PG 29 metric pipe tap 1 41 in I D suitable for 1 in conduit NOTE 7 For all other frames e Terminal box can be rotated in 90 degree increments e Terminal box is mounted on top as standard e Terminal box can be located on side in F1 or F2 position when specified NOTE 8 The 132 mm DL1307 DL1308 and DL1310 frames are available with two different mounting flanges The standard 132 flange has a 250 mm pilot diameter and a 300 mm bolt circle The 132A flange has dimensions to match previous A B 1327 motor designs The 132A flange has a 230 mm p
48. 455 240 DL1110 725 352 216 286 38 80 80 41 10 89 455 240 Publication 8720MC UM 001C EN P Feb 2001 3 8 DIN IEC Type DL1106 DL1110 Dimensions Frame DL1106 through DL1110 Dimensions After March 01 The following motor dimensions are for frames DL1106 through DL1110 180 mm flange and 215 mm bolt circle manufactured after March 2001 Figure 3 6 Motor Dimensions for Frames DL1106 DL1110 XL 4 wi pgi Etot y Terminal Box MS k y Connector Blower Terminal Box 3 3 16 Dia 1 5 8 Dp Table 3 3 Air Space 30733 M R3 Common Dimensions for DL1106 DL1110 DIN Symbols in millimeters x4 xi 38 Table 3 4 Specific Dimensions for DL1106 DL1110 DIN Symbols in millimeters Radial Load Radial Load Drive End Shaft and Key Type DIN k e xt a d oy rR u w n n IEC L D E GA F kg DL1106 642 269 134 203 38 80 80 41 10 65 455 240 DL1108 687 313 178 248 38 80 80 41 10 78 455 240 DL1110 725 352 216 286 38 80 80 41 10 89 455 240 DL1112 716 403 267 337 38 80 80 41 10 104 455 240 Publication 8720MC UM 001C EN P Feb 2001 Dimensions 3 9 Frame DL1307 through DL1310 Dimensions 250mm Flange The following motor dimensions are for frames DL1307 1308 and DL1310 the standard 132 with 250 mm flange and 300 mm bolt circle Catalog
49. 750 Vdc amps 8 9 12 1 16 9 23 3 28 4 33 4 44 1 53 8 Max cont output power kW hp 5 5 7 5 7 5 10 11 15 15 20 18 5 25 22 30 30 40 37 50 Max cont output current amps RMS 14 21 27 34 42 48 65 78 Drive amplifier frame B B B B B B G C DC Bus Capacitance micro farads 1350 1350 2150 2150 4300 4300 6450 6450 Rated operating temp open deg C 0 to 50 0 to 50 0 to 50 0 to 50 0 to 50 0 to 50 0 to 50 0 to 50 Weight kg lbs 22 7 50 22 7 50 22 7 50 22 7 50 22 7 50 22 7 50 38 6 85 38 6 85 Table 2 7 Line Reactor Specifications 8720MC Line Reactor Specifications for 750V DC Input Drives with 8720MC RPS Regenerative Power Supply and 8720SM AC Motor Line Reactor Units Line Reactor Data for Each Power Rating Specifications Motor catalog number 8720SM 005S1BA 007S1CA 011S1DA 015S2EA 018S2FA 022S2GA 030S4 A 037S4KA Req RPS continuous Input amps RMS 9 12 18 25 31 36 50 61 current Drive amplifier catalog no 8720MC B014 B021 B027 B034 B042 B048 D065 D078 Line Reactor Catalog No 8720MC LR03 032B LR03 032B LR03 032B LR03 032B LR05 048B LR05 048B LR10 062B LR10 062B Max cont current amps RMS 32 32 32 32 48 48 62 62 Inductance uH 850 850 850 850 800 800 1100 1100 Weight kg lbs 17 37 4 17 37 4 17 37 4 17 37 4 21 46 2 21 46 2 27 59 4 27 59 4 Publication 8720MC UM 001C EN P Feb 2001 2 6 Specifications Table 2 8 872
50. 8 Select one Group Level Parameter Groups in File See Parameters Groups and Files in Chapter 8 Select one IDN s or Parameters in Group Element Level Select One See Parameters Groups and Files in Chapter 8 30384 MR2 Publication 8720MC UM 001C EN P Feb 2001 Using the Program and Display Modes Modifying Parameters Viewing Bit Pattern Using the Human Interface Module HIM 7 9 The Display and Program modes let you view and modify parameters To use these modes follow these steps 1 Press any key from the status display Choose Mode is shown 2 Press the increment up key or the decrement down key to display Program if you want to change the value of a parameter or Display if you only want to view the value of a parameter 3 Press the enter key 4 Press the increment up key or the decrement down key to scroll through the available files You may choose among the following files Status Faults Control Procedure Motor Drive Fdbk Servo Loop I O Interface or Communications 5 After displaying the desired file press the enter key to display the groups within the file 6 Press the increment up key or the decrement down key to scroll through the available groups See Chapter 8 Programming Parameters for the groups that are available for each file 7 After displaying the desired group press the enter key to display the parameters elements within the gr
51. 8720MC UM 001C EN P Feb 2001 8 48 Programming Parameters A B P Parameters in Numerical Order SERCOS IDN No P00242 P00277 P00278 P00279 P00280 P00281 P00282 P00283 P00284 P00285 P00286 P00287 P00288 P00289 P00290 P00291 P00292 P00293 10032 10038 10039 10082 10083 10100 10101 10104 10105 10296 10384 P00322 P00323 P00324 10136 10137 20032 20038 8720MC DESCRIPTION 16 Character Name Param No 742 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 820 821 822 823 824 825 826 831 832 Motor Parameter Revision Motor Catalog Number Allen Bradley Motor Type Selection Motor Pole Count Linear Motor Pole Pitch otor Rated Acceleration Motor Base Speed Motor Rated Continuous Power Motor Maximum Voltage Motor Voltage at base Speed Motor rated Continuous Torque Motor Back Emf Constant otor Stator Resistance R1 Rs otor Rotor Resistance R2 Motor Stator Self Leakage Inductance Motor Stator Magnetizing Inductance Motor Rotor leakage Inductance Motor Magetizing Current Motor Slip Constant Primary Operating Mode n 1 Positive velocity limit value n 1 Negative velocity limit value n 1 Positive torque limit value n 1 Negative torque limit value n 1 Velocity loop proportional gain Velocity loop integral action time Position loop K factor Position loop integral actio
52. 9 3 power and torque curves 380V AC input drives 2 17 45 to 93 kW 8720SM motors with 8720MC regenerative power supply 750 vdc input 2 11 5 5 to 22 kW 8720SM motors with 460V AC input 2 13 5 5 to 37 kW 8720SM motors with 8720MC RPS regenerative power supply 2 7 750V DC input drives with dual wound 8720SM AC motors 2 20 power supplies regenerative 1 9 power supply 8720SM AC spindle motor 5 4 Publication 8720MC UM 001C EN P Feb 2001 primary mode of operation defining 9 4 product structure 1336R regenerative power supplies 1 10 8720MC regenerative power supply 1 9 8720SM AC spindle motors 1 12 line regenerative drive amplifiers 1 7 products related P 1 P 2 program mode 7 9 programming password 7 15 protector thermal 5 9 publications related P 1 P 2 R recalling values 7 11 recalling values flash memory 7 12 regenerative power supplies 1 9 registration inputs 6 6 inputs connection 4 41 related products and documentation P 1 P 2 relay outputs connecting 4 39 removing link 7 17 removing and reapplying power 9 3 required equipment troubleshooting 10 1 requirements bolt 5 4 bolt and torque 5 4 torque 5 4 restoring factory default values 7 11 RFI filter 4 43 installing 4 44 leakage current 4 44 rotation direction 5 8 S Safety ground PE grounding 4 5 Index l 7 Safety precautions general P 4 saving flash memory values 7 12 values 7 11 scaling analog reference 9 6 motor speed 9 6
53. 917 918 919 920 Velocity loop integral action time Position loop K factor Position loop integral action time Velocity feed forward gain Acceleration Feed Forward Gain System Acceleration Torque Reference Notch Filter Frequency Torque Reference Low Pass Filter Bandwidth Acceleration limit parameter group 4 Deceleration limit parameter group 4 Primary Operating Mode Positive velocity limit value n 5 Negative velocity limit value n 5 Positive torque limit value n 5 Negative torque limit value n 5 Velocity loop proportional gain Velocity loop integral action time Position loop K factor Position loop integral action time Velocity feed forward gain Acceleration Feed Forward Gain System Acceleration Torque Reference Notch Filter Frequency Torque Reference Low Pass Filter Bandwidth Acceleration limit parameter group 5 Deceleration limit parameter group 5 Primary Operating Mode Positive velocity limit value n 6 Negative velocity limit value n 6 Positive torque limit value n 6 Negative torque limit value n 6 Velocity loop proportional gain Velocity loop integral action time Position loop K factor Position loop integral action time Velocity feed forward gain Publication 8720MC UM 001C EN P Feb 2001 Vel_Integ_Time_4 Pos_Loop_Gain_4 Pos_Int_Time_4 Vel_Fdfwd_Gain_4 Acc_Fdfwd_Gain_4 System_Accel_4 Torq_Notch_Freq4 Torq_Lowpas_Frq4 Accel_Limit_4 Decel_Limit_4 Primary_Op_Mod
54. A B s Drive Explorery software If you are not familiar with Drive Explorer a copy of publication 9306 5 0 Drive Explorer User Manual will be helpful In addition to these diagnostic tools a volt meter a battery box and some small hand tools may be necessary In rare instances an oscilloscope may be necessary to analyze feedback signals Before installing fuses into the AC input lines of the drive or regenerative power supply if supplied first check that the incoming AC voltage falls within the range of 324 to 505 Vrms across each of the 3 phases Make sure the AC or DC power inputs are properly wired per chapter 4 of this manual Also make sure the motor and feedback devices are wired per Chapter 4 and 5 using the recommended shielded cables For the feedback cables make sure there is continuity between the motor and drive connectors Make sure the Weidmueller spring clamps are clamped to the wire and not the insulation 10 2 Troubleshooting If you are using an 8720MC Regenerative Power Supply Refer to Publication 8720MC RMO001B US P 8720MC RPS User Manual for configuration and startup information on this equipment After power is applied to the drive the first thing to observe is the status of the control board LEDs and the HIM display on the drive There are 4 LEDs on the control board If you have an enclosed 8720MC Drive you must first remove the cover to observe the LEDs The LED to the far left is used to indica
55. Chapter 6 These default links were chosen to suit most spindle or power servo applications If the 8720MC application needs a different set of outputs the output links my be changed To change an output parameter link you simply select the output parameter and change its address value so that it points to the parameter that you wish to link to that output For example if you wish to link parameter 380 Bus_Voltage to Analog Output_2 the following procedure should be followed 1 From the Choose Mode prompt use the increment up key or the decrement down key to display Program and press the enter key 2 Press the increment up key or the decrement down key to display the I O Interface file Pressing the enter key will select this file 3 Press the increment up key or the decrement down key to display the Analog Output group Pressing the enter key will display this group parameters 4 Use the increment up key or the decrement down key to scroll through the parameter list until you come to Anaout_Ch2_Selec parameter 683 Pressing the enter key will select this parameter For a spindle application the value dis played will be the factory default setting of 386 the parameter number for Mtr_Shaft_Power 5 Press the select key and the character 6 will blink indicating that the parameter number may be changed 6 Press the decrement down key to decrease the parameter number to 380 which is
56. D078 100 95 90 85 80 of Drive 75 Rated Amps 8720MC D078 70 65 60 55 50 45 1 2 3 4 5 6 7 8 9 10 11 12 Carrier Frequency in kHz 30422 M R2 8720MC D120 Enclosure FFigure A 7 shows the derating curves for A B catalog number B120 enclosed and open ventilated drives Figure J 11 8720MC D120 100 95 of Drive 90 Rated Amps 8720MC D120 85 80 75 70 65 60 1 2 3 4 5 6 Carrier Frequency in kHz 30423 M R2 Publication 8720MC UM 001C EN P Feb 2001 A 6 Derating Guidelines 8720MC D149 8720MC D180 Publication 8720MC UM 001C EN P Feb 2001 8720MC D149 Enclosure Figure A 8 shows the derating curves for A B catalog number D149 enclosed and open ventilated drives Figure J 12 8720MC D149 100 of Drive 9 Rated Amps 90 85 80 75 70 65 1 2 3 4 5 6 Carrier Frequency in kHz 30424 M R2 8720MC D180 Enclosure Figure A 9 shows the derating curves for A B catalog number D180 enclosed and open ventilated drives Figure J 13 8720MC D180 100 of Drive 95 Rated Amps 90 85 80 75 70 65 1 2 3 4 5 6 Carrier Frequency in kHz 30425 M R1 Derating Guidelines A 7 8720MC
57. DL1813 59 75 116 DL1815 63 85 117 5 DL2010 75 100 137 DL2012 93 125 176 NOTE 1 Currents are based on operation with the 8720MC RPS Regenerative Power Supply Base speed is 1500 rpm for all motors Handling The 8720SM motors are equipped with lifting eye bolts These eye bolts are provided to assist in handling and mounting the motors The motors can accommodate either flange or foot mount Dimensional details for mounting and lifting each of the thirteen standard frames is provided in Chapter 3 Dimensions ATTENTION Eyebolts may unscrew during lifting Check eyebolts to insure that they are tight Secure eyebolts from turning Failure to observe this precaution could result in bodily injury Motor Installation and Wiring 5 3 Storage Store motors in a clean dry area protected from extreme temperatures moisture shock and vibration Observe storage temperatures of 20 C to 80 C with a relative humidity of 5 to 95 In addition if motors are subjected to extended storage follow the requirements listed in the Reliance Electric Service Bulletin A 8018 available from your Rockwell Automation Sales Office Important All drains are fully operable while in storage Store motors so that the drain is at the lowest point Drains are located in the lower portion of the motor castings on both the drive and non drive ends of the motor ATTENTION Only qualified electrical personnel familiar with the construction and opera
58. Description Deceleration Limit 137 Parameter 137 contains the desired deceleration limit for parameter set zero in radians per sec This parameter File applies to the command reference regardless of it s source e g Analog Input SCANport or HIM Reducing the Servo loop deceleration rate may be required to prevent bus over voltage when neither a regenerative converter or a brake Group chopper are required Also reducing the deceleration rate may be required to prevent overcurrent faults caused by Group 0 fast deceleration at high speeds Default Length Analog SCANport Min Max Analog SCANport Scaling Resolution Units 32768 2 bytes Min lt 0 1 1rad sec rad sec Max gt 32768 Default Length Minimum Maximum Scaling Resolution Units 32768 4 bytes Min lt 0 Scaling type IDN 00160 IDN 00160 Max gt 231 Scaling factor IDN 00161 Scaling exponent IDN 162 IDN S00141 Name Motor_Data Data Display Ascii representation of Enumeration R Parameter No Description Motor Catalog Number 141 Parameter 141 contains the Allen Bradley catalog number of the motor This is a 64 character string which contains File multiple display elements The data which can be displayed is as follows Motor Drive 8720SM motor catalog number Fdbk 8720SM motor serial number Group Date motor manufactured Drive Data Manufacturing lot Motor Data Motor ID Number Default Length Minimum Maximum Scaling Resolution Units From motor 64 character NA N
59. Drive the HIM cycles through a series of displays These displays show the initialization and communication status When complete the following type of status display is shown The display indicates the current status of the drive such as Sys Bus Chrg or Enabled or any faults that may be present The display hardware is a two line 16 characters per line LCD display panel Selecting one of the 2 display lines is accomplished with the Sel select button Figure 7 4 Initial Status Display 30387 M Publication 8720MC UM 001C EN P Feb 2001 7 6 Using the Human Interface Module HIM Publication 8720MC UM 001C EN P Feb 2001 Choosing a HIM Mode From the Initial Status Display press any one of the five display panel keys Choose Mode is displayed Press the Increment or Decrement key to scroll through the modes The navigation diagram for the available modes in shown Figure 7 5 Him Menu Tree The HIM modes are displayed in a circular register Depressing the increment up key selects the next mode while depressing the decrement down key selects the previous mode Once the desired mode is displayed it is necessary to depress the enter key to select the mode File group and parameter names are limited to 16 characters one line of the HIM display Selections within a parameter are limited to 12 characters
60. ED kW 630 S6 50 700 100 Continuous S1 KW 540 Max 1890 80 450 60 Performance assumes regenefative S 360 converter with 750 VDC bus aig 8 505 VAC at motor 270 40 Amps at Base Speed Cont Amps 176 180 S6 Amps 200 20 Max Amps 242 90 l i tt 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 RPM RPM 30749 M R2 Publication 8720MC UM 001C EN P Feb 2001 Specifications 2 15 Specifications for 5 5 to 22 kW 8720SM Motors with 460V AC Input Tables 2 13 and 2 14 contain specifications for 5 5 to 18 5 kW motors with the 8720MC Drive Amplifier operating with 460V AC input drives Information is divided into two categories e Table 2 13 motor specifications e Table 2 14 drive amplifier specifications Table 2 13 Motor Specifications 8720SM Motor Specifications for 460V AC Input Drives Motor Specifications Units Motor Data for Each Power Rating Motor catalog number 8720SM 005S1BB 007S1CB 011S1DB 015S2EB 018S2FB Motor frame number DL1106 DL1108 DL1110 DL1307 DL1308 Continuous power kW hp 5 5 7 5 7 5 10 11 15 15 20 18 5 25 S6 50 duty kW hp 7 5 10 10 13 4 15 20 1 18 24 1 22 29 5 1 minute peak kW hp 8 3 11 1 11 5 15 4 16 5 22 1 23 30 8 28 37 5 Rated Torque at Base Speed N m lb ft 35 25 8 48 35 4 70 51 7 96 70 8 118 87 Peak Torque at Base Speed N m lb ft 53 39 1 72 53 1 105 77 4 143 105 5 17
61. EN P Feb 2001 Specifications Common to all 8720MC Drive Amplifiers and Motors Some specifications are common to all the drive amplifiers and motors Tables 2 1 2 2 2 3 and 2 4 provide a summary of these common specifications Table 2 1 Common 8720MC 750 vdc Input Drive Amplifier Specifications Specification Type Units Value Frequency range Hz 0 to 500 2 pole AC motor speed range RPM 0 to 30 000 Voltage at maximum speed volts RMS 505 Max Velocity loop bandwidth 3db Hz 100 Peak Current 1 minute rated 150 Speed regulation max speed 01 with 100 disturbance Rated operating temp Open deg C 0 to 50 Rated operating temp enclosed deg C 0 to 40 Storage temperature deg C 40 to 70 Ambient humidity 5 to 95 Altitude meters feet 1000 3300 Vibration as displacement in 1G 0006 Shock G peak 11ms 15 Agency Certification UL CUL CE Table 2 2 Common Drive Amplifier I O Specifications Specification Type Units Value 24V DC input current sourcing mA 3 3 to 12 24V DC output current sourcing mA up to 75 capability Dry contact current capacity amps 5 amps AC or DC Dry contact voltage range VDC AC up to 30 V DC 250 AC 24V DC registration input current mA 5 to15 Specifications 2 3 Specification Type Units Value 24V DC registration input voltage VDC 17 5 to 38 range 5V DC registration
62. Feb 2001 General Terminal Specifications Table 4 4 provides general terminal information for the power terminations on TB1 Table 4 4 General Terminal Specifications Terminal Description PE Power earth ground R LI S L2 T L3 AC line input terminals DC DC DC bus terminals Motor connection U TI V T2 W T3 Wire and Torque Specifications Table 4 5 provides information about the maximum minimum wire size and maximum torque used for the various frame sizes Table 4 5 Wire and Torque Specifications by Frame Size If you have this vos ToL The maximum torque in N m frame size e AW 6 ier Ib in is B 13 3 0 5 6 20 1 70 15 C 26 7 0 8 3 18 5 65 50 p 127 0 2 1 250 MCM114 6 00 52 67 4 2 1 00 142 6 00 52 NOTE 1 Wire sizes given are the maximum minimum sizes that TB1 will accept These are not recommendations NOTE 2 Applies to 45 and 56 kW 60 and 75 hp 750V DC drives only NOTE 3 These configurations of TB1 are stud type terminations and require the use of lug type connectors to terminate field installed conductors Lug kits are available for use with these configurations Wire size used is determined by selecting the proper lug kit based on the drive catalog number as explained below Selecting the Proper Lug Kit for Your System The D frame has stud type terminals which require using lug connectors for cable terminations Additional
63. Green Overall Shield Twisted Pair _ Encoder Case Ground 30818 M R3 or Cable shield Maximum Cable Lengths for Feedback Devices Table 5 5 contains information about maximum cable lengths for 8720SM motor feedback devices Feedback cable wiring should always be shielded The recommended shielded cable is discussed in Chapter 4 of this user manual Wherever possible separate long runs of feedback cable from the motor cable or any other power conductors to prevent unwanted noise from coupling to the feedback interface Table 5 5 Maximum Cable Lengths for Feedback Devices Feedback Device Maximum Cable Attainable Absolute Length Resolution Capability 90 m 4x10 Starting Your Motor Maintaining Your Motor Motor Installation and Wiring 5 15 Checking Motor Performance While operating the motor observe the performance It should run smoothly with little noise The bearings should not overheat and should reach a leveling off of temperature If there is any undue noise overheating or erratic motor performance immediately investigate the situation and take corrective action to prevent serious damage Before attempting any repairs please contact your local Allen Bradley GTS office Balancing the Motor Motors are dynamically balanced to stay within a vibration limit of 12 in sec measured in accordance with NEMA MGI1 12 06 Balance is done with a full length 1 2 height shaft key A full shaft key is shipped with the m
64. Group Motor data Description This parameter defines the per unit asynchronous motor stator magnetizing reactance base frequency phase to neutral This is also the per unit synchronous motor stator magnetizing reactance at 1000 rpm phase to neutral Default per motor IDN P00291 Parameter No 791 File Motor Drive Group Motor data Minimum Maximum Min gt 0 Max lt 300 00 Scaling Resolution 10 Name X2_Rotor_Leakage Data Type Unsigned Integer Description This IDN defines the per unit asynchronous motor rotor leakage reactance base frequency phase to neutral This is set to zero for synchronous motors Default per motor Length 2 bytes Minimum Maximum Min gt 0 Max lt 30 000 Scaling Resolution 10 Publication 8720MC UM 001C EN P Feb 2001 8 76 Programming Parameters IDN P00292 Name Mtr_Mag_Current Data Type Unsigned Integer R W Parameter No 792 File Motor Drive Group Motor data Description This parameter defines the per unit asynchronous motor magnetizing current as a ratio to the continuous current This is set to zero for synchronous motors Default per motor Minimum Maximum Min gt 0 Max lt 100 0 Scaling Resolution 107 IDN P00293 Name Mtr Slip Freq Data Type Unsigned Integer R W Parameter No 793 File Motor Drive Group Motor data Description This IDN parameter asynchronous motor slip frequency Thi
65. Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop otor Data Motor Da Motor Da Motor Da Motor Da Motor Da Motor Da Motor Da Motor Da Motor Da Motor Dal Motor Da Motor Da Motor Dal Motor Da Motor Da Motor Da Motor Da Group 1 Group 1 Group 1 Group 1 Group 1 Group 1 Group 1 Group 1 Group 1 Group 1 Group 1 Group 1 Group 1 Group 1 Group 1 Group 1 Group 2 Group 2 A B P Parameters in Numerical Order SERCOS IDN 8720MC DESCRIPTION 16 Character Name No Param No 20039 20082 20083 20100 20101 20104 20105 20296 20384 P00342 P00343 P00344 20136 20137 30032 30038 530039 30082 30083 30100 30101 30104 30105 30296 530384 P00362 P00363 P00364 30136 30137 40032 40038 40039 40082 40083 40100 833 834 835 836 837 838 839 840 841 842 843 844 845 846 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 871 872 873 874 875 876 Negative velocity limit value n 2 Positive torque limit value n 2 Negative torque limit value n 2 Velocity loop proportional gain Velocity loop integral action time Position loop K factor Position loop integral action time Velocity feed forward gain Acceleration Feed Forward Gain System Acceleration Torque Reference Notch Filter Frequency Torque Reference Low Pass Filter Bandwidth Acceleration
66. Minimum Maximum Scaling Resolution Units 60 2 bytes Min gt 0 1 01 m min mm or 01 in min 001 in m min Max lt 30 000 mm Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN S00105 Name Pos_Int_Time_0 Data Display Decimal R W Parameter No Description Position loop integral action time Increasing this parameter will increase the integration time and 105 thus reduce the dynamic response Decreasing this parameter will decrease the integration time and thus File increase the dynamic response Servo loop Group group 0 Default Length Minimum Maximum Scaling Resolution Units 6553 5 2 bytes Min gt 1 1 1 msec msec Max lt 6553 5 IDN S00109 Name Mtr_Peak_ Current Data Display Decimal R W Parameter No Description If the motor peak current is less than the capacity of the drive amplifier the amplifier is 109 automatically limited to the level of the motor peak current Parameter 109 IDN00109 motor peak RMS current File at rated base speed For a standard 8720SM motor with Stegmann feedback this value is read from the motor Motor Drive encoder memory Fdbk Group Motor Data Default Length Analog Minimum Maximum Analog Scaling Resolution Units From motor 2 bytes Min gt 0 1 1 amps amps encoder Max lt 1000 0 Default Length SERCOS Min Max SERCOS Scaling Resolution Units From motor 4
67. Parameter 666 Digital Output Status This parameter is also a bit pattern as shown in Figure 7 6 Bit 0 corresponds to Output 1 and bit 9 corresponds to Output 10 All other bits are not used Bits 0 to 9 will change from 0 to 1 when the linked event variable comes true Parameters 662 to 671 are used to link the output to an internal event variable See Chapter 6 for the default links and the assignable event links Troubleshooting SCANport I O Troubleshooting 10 11 Parameter 690 Digital Input Status Figure 10 4 illustrates the digital input image display Bit 0 corresponds to Input 1 and bit 9 corresponds to Input 10 Bits 10 and 11 are the registration inputs All other bits are not used Bits 0 to 11 will change from 0 to 1 when the input comes true The input variable assignments are discussed in Chapter 6 Figure 10 4 Input Image Display Bit 15 Parameters 691 and 692 Analog Input 1 value and Analog Input 2 value These parameters may be used to display the analog inputs as the 8720MC sees them The scaling is 00 to 100 00 where 100 10 volts The displayed values include the associated analog offsets Parameters 693 and 694 Two parameters are available to monitor the SCANport command and status information exchange parameters 717 and 718 Parameter 717 SCANport Logic Command A SCANport peripheral gateway device such as an A B plc can initiate drive activity via the SCANport Logic Command word The st
68. Parameter 76 Position Scaling Parameter 79 Rot Posn Resolut and parameter 103 Modulo Value in Chapter 8 Programming Parameters 1 As an initial check make sure that Parameter 582 Auto Home is set for Index and Parameter 76 Position Scaling has modulo checked 2 Verify that Parameter 79 Rot Posn Resolut 3600 counts revolution Increase the resolution if higher resolution than 3600 counts per revolution is desired This can be increased to 32 767 counts 3 Verify that the following parameters are set to the described values e Parameter 150 Mtr Marker Ofset 0 counts e Parameter 153 Orient Angle 0 counts e Parameter 222 Spin Orient Spd 100 rpm Note Reduce the speed if it is too high for the application e Parameter 260 Pos Accel Rate 100 rad sec Note Reduce the acceleration if it is too high for the application e Parameter 103 Modulo Value the value in parameter 79 Starting Up Your 8720MC 9 13 4 Navigate to Parameter 154 Orient Options and select an orient direction The application will dictate this choice The available options are CW CCW or Shortest Pth 5 Enable the drive 6 Toggle the orient request input P5 32 to a true state or navigate to Parameter 152 Spin Orient Req and select a state of 1 and press enter The motor will rotate in velocity mode in the selected directio
69. Parameters 733 to 740 are a group of eight 16 bit words which can be linked to internal 8720 variables or flags These variables are then made available via the SCANport gateway as output words to be used by an A B PLC interfaced to the SCANport gateway product See chapter 6 Table 6 1 for the default output links and the linking methodology These parameters can be used as bit flags as well as signed or unsigned 16 bit integers The data type is determined by the PLC and the 8720 variables they are linked to The relationship to the gateway variable descriptions are as follows 733 P00233 SCANport Data Output A1 734 P00234 SCANport Data Output A2 735 P00235 SCANport Data Output B1 736 P00236 SCANport Data Output B2 737 P00237 SCANport Data Output C1 738 P00238 SCANport Data Output C2 739 P00239 SCANport Data Output D1 740 P00240 SCANport Data Output D2 See Table 6 10 for the default assignments Data Type integer R W Default 00 Length 2 bytes Minimum Maximum Scaling Resolution 32768 or 0 to 65535 NA Parameters 741 P00241 thru 793 P00293 represent the 8720MC image of the Allen Bradley motor and encoder parameters stored in the motor encoder memory at manufacture Under normal circumstances when using a 8720SM motor the user should never have to modify these parameters Any of the encoder stored parameters may be read from the 8720MC memory image via the HIM or Drive Expl
70. Power Rating Motor catalog number 8720SM 045S5NA 055S5PA 063S5QA 075S6SA 093S6TA Rated Continuous motor current at amps RMS cont 93 116 117 5 137 176 base speed Drive amplifier catalog number 8720MC D097 D120 D120 D149 D180 DC input current 750 VDC amps 65 7 80 9 92 6 111 1 135 3 Max continuous output power kW hp 45 60 3 63 84 4 63 84 4 75 100 5 93 125 Max continuous output current amps 97 120 120 149 180 DC Bus Capacitance Micro Farads 9000 9000 9000 9000 12000 Drive amplifier frame D D D D D Weight kg lbs 108 9 240 108 9 240 108 9 240 108 9 240 108 9 240 Table 2 11 8720MC Master Slave Regenerative Power Supply Specifications Specifications for 8720MC RPS Master and Slave s Regenerative Power Supplies with 750 vdc Drives and 8720SM AC Motors 8720MC RPS065 Regen P S Units Power Supply Specifications Motor catalog number 8720SM 045S5NA 055S5PA 063S5QA 075S6SA 093S6TA Drive amplifier catalog number 8720MC D097 D120 D120 D149 D180 Regen Power supply catalog number 8720MC RPS065 BM and BS BM and BS BM and BS BM and BS BM amp quan 2 BS AC input voltage AC 10 15 RMS volts 380 to 460 380 to 460 380 to 460 380 to 460 380 to 460 Input frequency Hz 3 50 60 50 60 50 60 50 60 50 60 Input power factor 98 98 98 98 98 Required input KVA kVA 56 5 72 4 83 6 99 5 122 5 Required input current amps RMS 71 91 105 125 154 Required input 1 min current amp
71. Refer to Chapter 8 for details on how to use the scaling parameters with the analog inputs The default velocity scaling is 100 rpm volt for both analog input 1 and 2 As an example assume the motion controller is scaled such that 8 volts produces a maximum speed of 6 000 rpm The drive should also be scaled such that 8 volts equals 6 000 rpm This is accomplished by using a scaling factor value of 750 rpm volt or a value of 7500 in parameter 695 The A D resolution is 8192 bits or 1 2 mv bit based on a 10 volt input command It is always best to use the full 10 Volt range so that maximum velocity resolution is achieved When in torque mode the scaling factor for analog input 1 is fixed at 2 5 volts 100 continuous rated torque A description of the Analog output Parameters analog Outputs 1 and 2 can be found in Chapter 8 under parameters 681 and 683 Each analog output has an scaling parameter associated with it Parameters 682 and 684 are scaling parameters Refer to Chapter 8 for details on how to use the scaling parameters with the analog outputs Figure 6 4 Interface Signal Description Analog Input and Output Connection Diagram 8720MC Analog Input Configuration Sample Wiring CNC ies ie Auto Enable 24 vde ole P514 Drive Enable Input 1 P1 14 i P4 1 ere A Analog inputs 8720 MC Dri
72. Regenerative Stop Request When this bit is set true by the PLC the drive will come to a regenerative stop regardless of the auto or jog reference command Start Request When the start command bit is set true and there are no faults the drive will respond to the auto reference in auto mode and the jog reference in manual mode It will continue to follow the reference until there is a regenerative stop or a coast stop request or the active reference is set to zero Jog Request If the drive is stopped disabled via bit 00 of the command word and the jog command bit is set true rising edge and there are no faults the drive will assert the jog reference enabled state and follow SCANport jog reference command on SCANport Gateway Input Word 2 shown in table 6 10 Publication 8720MC UM 001C EN P Feb 2001 6 16 Table 6 8 SCANport Command Input Word Interface Signal Description The drive will continue to follow the jog reference until the jog is released It will then regenerate to a stop The manual reference request bit 11 of the SCANport Logic Command Word does not need to be asserted This will automatically occur when the jog bit 02 is set Fault Clear If a drive shut down fault has occurred setting the Drive_Err_Reset bit is required in order to reset the drive shut down error The fault cannot be reset unless the fault condition is removed Coast Stop Request If the drive is running and the Coast Stop Request bit is
73. Resolution Units 0 4 bytes Min gt 231 Scaling type IDN 00044 IDN 00044 31 Scaling factor IDN 00045 Max SERE Scaling exponent IDN 00046 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN S00043 Name Velocity_Polarity Data display enumeration of choices R W Parameter No Description Velocity polarity parameter This parameter is used to switch polarities of velocity data for specific 43 applications Polarities are not switched internally but externally on the input and output of a closed loop system File The motor shaft turns clockwise when there is a positive velocity command difference and no inversion is Control programmed SERCOS version only Group Velocity Enumeration Structure of velocity polarity parameter see figure C 5 Bit 0 Velocity command value 0 non inverted 1 inverted Bit 1 Additive velocity command value SERCOS Configuration only 0 non inverted 1 inverted Bit 2 Velocity feedback value 0 non inverted 1 inverted Bits 15 3 reserved This parameter is available with the 8720MC SERCOS Release Default Length Minimum Maximum Scaling Resolution Units x000 2 bytes NA NA NA Publication 8720MC UM 001C EN P Feb 2001 8 12 Programming Parameters IDN S00044 Name Vel_Scale_ Type Data Display bit pattern R W Parameter No Description SERCOS Velocity Data Scaling Type A variety of scal
74. SCANport command interface 6 12 command logic inputs 6 15 command reference 6 14 data interface 6 17 logic status outputs 6 17 SCANport command logic inputs Coast Stop Request 6 16 Fault Clear 6 15 J og Request 6 15 Manual Auto Select 6 17 Orient Request 6 17 Parameter Set Select bit 0 1 and 2 6 16 Parameter Strobe 6 16 Regenerative Stop Request 6 15 Start Request 6 15 SCANport 1 0 troubleshooting 10 11 SCANport logic status outputs Auto Reference Enabled 6 17 Drive Enabled 6 17 Manual Mode Selected 6 17 Rotation Direction 6 17 search mode using 7 13 selecting armored cable 4 14 motor cable 4 13 shielded motor cable 4 13 SERCOS command interface 6 12 wiring 4 23 setting up 8720MC drive s 9 2 precautions 9 1 shielded motor cable selecting 4 13 signal wire specifications analog 4 22 control 4 22 sizes cable 5 6 specifications 380V AC input drives 2 15 45 to 93 kW 8720SM motors with 8720MC RPS master and slave regenerative power supplies 2 8 5 5 to 22 kW 8720SM motors with 460V AC input 2 11 5 5 to 37 kW 8720SM motors with 8720MC RPS regenerative power supply 2 4 750V DC input drives with dual wound 8720SM AC motors 2 19 common 2 2 motor encoder single turn absolute 2 3 wire and torque 4 12 standard 8720MC parameters numerical listing 8 4 starting motor 4 42 5 13 starting and stopping motor 4 42 stopping motor 4 42 storage motor 5 3 system 8720MC drive s P 1 lug kit selection 4 12 system ground connectin
75. Scaling Resolution Units null 4 bytes Min gt 0 1 1 amps amps Max lt 1000 0 IDN S00112 Name Drive_Cont_Amps Data Display Decimal R W Parameter No Description The amplifier rated current is equal to the allowable continuous current of the drive unit This 112 parameter is determined by the drive and can t be changed File Motor Drive Fdbk Group Drive Data Default Length Analog Minimum Maximum Analog Scaling Resolution Units From drive 2 bytes Min gt 0 1 1 amps amps amplifier Max lt 1000 0 Default Length Minimum Maximum SERCOS Scaling Resolution Units From drive 4 bytes Min gt 0 1 001 amps amps amplifier Max lt 232 1 IDN S00113 Name Max_Mtr_ Speed Data Display Integer R W Parameter No Description The maximum motor speed is the maximum rated operating speed of the motor With the standard 113 8720SM motors this value is stored in the motor encoder If this value is exceeded by 20 an overspeed fault will File disable the drive Parameter 129 A B Faults bit 15 will be set true Motor Drive Fdbk Group Motor Data Default Length Analog Minimum Maximum Analog Scaling Resolution Units From motor 2 bytes Min gt 0 1 1rpm rpm encoder Max lt 30 000 Default Length SERCOS Min Max SERCOS Scaling Resolution Units From motor 4 bytes Min gt 0 104 min encoder Max lt 232 1 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters
76. Type Integer R W Parameter No 715 File Communication Group SCANp_Ref fdback Description Parameter 715 P000215 contains the linkable parameter number for the SCANport analog output The value transferred is a 16 bit integer variable within the 8720MC Examples of common links are parameter 40 velocity feedback parameter 84 torque feedback parameter 347 velocity error parameter 386 motor shaft power etc See chapter 6 Table 6 7 for a description of the potential links Parameter 715 contains theparameter number of a linkable variable This output is available to a SCANport connected communication gateway as the reference feedback Default 36 Units Param address Minimum Maximum Min gt 0 Max lt 1000 Scaling Resolution see IDN definition for the linked variable For velocity 1 1 rpm for torque 1 1 Publication 8720MC UM 001C EN P Feb 2001 8 68 Programming Parameters IDN P00216 Name SP_Logic_Mask Data Type 16 bit word bit pattern R W Parameter No 716 File Communication Group SCANp Data In Description The 8720MC drive can be operated by an A B PLC via a SCANport gateway Parameter 716 IDN P00216 is used to set the SCANport logic mask bits This function may be used to enable or prevent some of the SCANport nodes from controlling the 8720MC This is a 16 bit word with a bit pattern which the 8720MC defines as follows If a bit is set true 1 the function is ena
77. Units 1 4 bytes Min gt 0 1 input revolution revs Max lt 232 1 IDN 00122 Name Output_Gear_Rev Data Display Integer R W Parameter No Description Output revolutions of load gear set Output revolutions must be entered as an integer value For 122 example If the input makes 4 turns for each output revolution a value of 4 is entered into parameter 121 and a File value of 1 is entered into parameter 122 This parameter applies to the SERCOS configuration only Motor Drive Fdbk Group Mechanics Analog Default Length Analog Minimum Maximum Analog Scaling Resolution Units 1 2 bytes Min gt 0 1 revolution of the output shaft revs Max lt 65535 Default Length SERCOS Min Max SERCOS Scaling Resolution Units 1 4 bytes Min gt 0 1 output revolution revs Max lt 232 1 Publication 8720MC UM 001C EN P Feb 2001 8 26 Programming Parameters IDN S00123 Name Lin_Feed_Const Data Display Parameter No Description The feed constant describes the machine element which converts a rotational motion into a linear 123 motion The feed constant indicates the linear distance during one revolution of the feed motor This parameter is File used with the SERCOS configuration Motor Drive Fdbk Group Mechanics Default Length SERCOS Min Max Scaling Resolution Units 1 4 bytes Min gt 0 Max lt 234 1 IDN S00124 Name Zero Spd_
78. V AC Input Drives with 8720SM AC Motors Drive Amplifier Specifications Drive Amplifier Specifications Units Drive Amplifier Data for Each Power Rating Motor catalog number 8720SM 005S1BC 007S1CC 011S1DC 015S2EC Rated continuous motor current at amps RMS cont 20 2 26 4 32 3 48 base speed Drive amplifier catalog number 8720MC B021 B027 B034 B048 AC input voltage volts RMS 380 380 380 380 AC input current amps RMS 22 28 35 49 Rated input KVA KVA 14 18 23 32 Max continuous output power kW hp 5 5 7 5 7 5 10 11 15 15 20 Max continuous output current amperes 21 27 34 48 Rated output KVA KVA 12 4 16 5 20 6 29 7 DC Bus Capacitance Micro Farads Drive amplifier frame B B B B Weight kg lbs 22 7 50 22 7 50 22 7 50 22 7 50 Publication 8720MC UM 001C EN P Feb 2001 2 20 Specifications Curves for 380V AC Input Drives Power and Torque Curves The following power and torque curves contain data for 5 5 kW 7 5kW 11kW and 15kW motors 1500 RPM base speed motors wound for operation with 380 vac input drive amplifiers Figure 2 19 5 5 Kw Motor with 380 vac Input 5 5 kW at 1500 RPM Base Speed DL1106 Frame Catalog No 005S1BC 9 t t 60 8 maximum kW P Maximum S6 50 ED kW 7 S6 50 48 Torque in N M Rate
79. Window Data Display Integer R W Parameter No Description The standstill window describes the amount of the deviation of the velocity from 0 If the velocity 124 feedback value is within the standstill window the drive sets the status n feedback 0 IDN 00331 File Status faults Group Setup Analog Default Length Analog Minimum Maximum Analog Scaling Resolution Units 10 2 bytes Min gt 0 1 1rpm rpm Max lt 30 000 Default Length SERCOS Min Max SERCOS Scaling Resolution Units 4 bytes Min gt 0 Scaling type IDN 00044 IDN 00044 Max lt 222 1 Scaling factor IDN 00045 Scaling exponent IDN 00046 IDN S00125 Name Speed_Threshold Data Display Integer R W Parameter No Description Velocity threshold n If the velocity feedback value falls below the velocity threshold nx the drive ap sets the status nfeedback lt nx IDN 00332 in C3D ile Status faults Group Setup Analog Default Length Analog Minimum Maximum Analog Scaling Resolution Units 1000 2 bytes Min gt 0 1 1rpm rpm Max lt 30 000 Default Length SERCOS Min Max SERCOS Scaling Resolution Units 1 4 bytes Min gt 0 Scaling type IDN 00044 IDN 00044 Max lt 222 1 Scaling factor IDN 00045 Scaling exponent IDN 00046 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters 8 27 IDN S00126 Name Torque Threshold Data Display decimal R W Parameter No Description Torque threshold Tx If the torque
80. actual version and additional information of the manufacturer The structure of the manufacturer version appears as File Vers 01 00 where the first 2 numbers are the major revision and the second 2 numbers are the minor revision Motor Drive Fdbk Group Drive Data Default Length Minimum Maximum Scaling Resolution Units NA variable NA NA NA characters Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters 8 9 IDN 00032 Name Prime_OP_Mode_n Data display enumerated selection R W Parameter No Description 32 Primary operation mode There are 8 groups of servo parameters n 0 7 and Primary Operating Mode is File one of them The choices available for primary operating mode are Servo Loop Enumerated Bit Pattern Group bits 0 2 Group 0 001 Torque Mode 010 Velocity Mode 011 Position with feedback 1 motor feedback SERCOS only 100 Position with feedback 2 auxiliary feedback SERCOS only 101 Position Control using both motor and auxiliary feedback SERCOS only bit3 15 reserved In the analog version each of the 8 parameter sets has a Prime Op Mode_n parameter Group Zero is parameter 32 In the SERCOS version the drive modes of operation defined by this parameter becomes active when the operation mode is selected via bits 9 and 8 in the SERCOS control word of the MDT The activated operation mode is indicated by bits 9 and 8 o
81. an output source word In so doing if a shut down error occurs the digital output will become true Default 0 Length Minimum Maximum Scaling Resolution 2 bytes NA NA IDN P00117 Name Power_Supply_OK Data Type bit flag R link Parameter No 617 File 1 0 Interface Group Event Links Description The standard 8720MC RPS has a regenerative power supply fault relay contact output If this fault is connected to terminal P5 36 Digital Input 10 an interlock to Power Supply OK is created When 8720MC RPS Fault contact is closed an RPS fault condition does not exist Therefore a high input to the 8720MC digital O is interpreted as Power Supply OK when it is linked to parameter 617 If the 8720MC digital input goes low Power Supply OK will become false and an 8720MC shut down error IDN S00011 bit 9 will occur After the fault is removed a Drive Error Reset is necessary to clear this error Parameter 617 can be linked to an digital output Default 0 Length Minimum Maximum Scaling Resolution 2 bytes NA NA IDN P00161 Name Output_Image Data Type bit pattern PRO Parameter No 661 File Status Faults or 1 0 Interface Group Drive Status or event Links Description The standard 8720MC has 10 digital inputs and 10 digital outputs Parameter 661 IDN P00161 provides a means of monitoring the status of the 10 digital outputs The status of each of the 10 outputs appears in one of the
82. are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook Note The following procedures only apply to the drive component of the 8720MC product line For details on starting up the 8720MC RPS Regenerative Power Supply refer to Chapters 5 6 and 7 of publication 8720 RMO01B the 8720MC Regenerative Power Supply User Manual This section provides the following to help you set up and tune the 8720MC drive e Information you need before you begin e Setup procedures The instructions in this chapter assume that you are using a HIM Series A 3 0 or greater or a HIM Series B Refer to HIM Programming for general HIM programming information Note The start up procedure can also be performed on a desktop lap top or hand held personal computer using Allen Bradley s DriveExplorerrm WindowsNTm Windows951m and CEm compatible drive configuration utility This method greatly enhances the ability to navigate through and display or modify parameters For more information on DriveExplorerrm see publication 9306 5 0 the DriveExplorer User Manual When using DriveExplorerrm with the 8720MC you must use the cat no 1203 SSS series B or later Anaconda SCANport to RS 232 serial port adaptor to interface your PC to the SCANport connector on the drive In most cases the default values in the startup procedure will work v
83. before foldback 101 Dynamic motor limit This parameter is not available in the analog version of the 8720MC Default 0 Length Minimum Maximum 2 bytes NA Scaling Resolution NA Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN P00022 Name PWM_Frequency Data Type Integer RRS Description The 8720MC supports a programmable PWM frequency for the power IGBT s Parameter 522 is matched to the connected motor to minimize the audible noise without reducing the motor and amplifier thermal capacities This parameter should not be changed for any standard 8720SM motors Parameter No 522 File Motor Drive Fdbk Group Drive Data Default 4000 hz Minimum Maximum 1000 to 30 000 Length 2 bytes Scaling Resolution 1 1hz IDN P00023 Name System Accel_0 Data Type Integer R W Parameter No Description The 8720MC supports 8 sets of Servo Parameters 0 7 The SERCOS link the I O interface or 523 SCANport can select which set of parameters is to be enabled Group 0 is the default group IDN P00023 is used File to provide the drive with the required motor acceleration that will produce 100 torque for Servo group 0 This Servo Loop value should be derived by the drive via auto tuning with the desired load connected It will effect the stability of Group the velocity loop This parameter is used by the drive to translate acceleration commands output of the velocity Group
84. before you are finished you should always save your parameters to EEprom memory If you fail to do this before removing power any changes made after the last save to EEprom will be lost The procedure for saving parameters to EEprom is discussed in Chapter 7 Applying Power This procedure assumes that you have wired your 8720MC System and verified the wiring 1 Apply 380 460V AC input power to the 8720MC RPS or 2 Apply 380 460V AC input power to the drive The Status LED on the Control PCB flashes green In addition the HIM becomes active and a message similar to the following appears System Ready Note When you apply power to the HIM a series of messages appears before the final System Ready message appears 3 If the drive LED Then Flashes green and the The control and bus power is following appears on the HIM active but the drive is not System Ready enabled Refer to Defining Drive Application Type Flashes red You may have a wiring or Remains solid red power problem D t illuminat Big ae dagen Refer to Troubleshooting Publication 8720MC UM 001C EN P Feb 2001 9 4 Starting Up Your 8720MC Publication 8720MC UM 001C EN P Feb 2001 Key Set up Parameters The 8720MC Drive can be controlled from analog inputs or the SCANport or SERCOS in a future revision It also can be used as an spindle or a power servo Parameter 501 A B Application is used to identify the specific appl
85. cable information is explained in Selecting Your Motor Cables below Table 4 6 shows the lug selection for each possible cable choice Choose connectors for each installation based on the desired cable sizes the application requirements and all applicable national state and local codes Drive Installation and Wiring 4 13 Table 4 6 Lug Selection Drive Catalog DC Number Output U V W and PE DC TE Cable per Phase T amp B Part No Cable per Phase T amp B Part No Cable per Phase T amp B Part No mm AWG 8 required mm AWG 2 required mm AWG Number 8720MC D097 33 6 2 54147 21 2 4 54139 1 13 3 6 54135 8720MC D120 53 5 1 0 54153 1 33 6 3 2 54142 13 3 6 54135 8720MC D149 85 0 3 0 54163 1 53 5 1 0 54153 1 13 3 6 54135 8720MC D180 107 2 4 0 54168 2 67 4 2 0 54110 1 21 2 4 54139 1 NOTE 1 5 16 inch stud All other studs are 3 8 inch Selecting Motor Cables FRPVC jacket sun res The selection of motor cable is critical to assuring that the electromagnetic field naturally produced when large amounts of electrical energy are switched at high frequency don t cause unwanted electromagnetic interference to control equipment Shielded Motor Cable The use of a four wire type VFD 600 volt UL listed cable is strongly recommended for all motor currents at or below 130 amperes Figure 4 8 illustrates the type of c
86. cosine two for power and two for RS485 communication The RS485 channel is used to store key product and initialization data at manufacture The 8720MC can read the feedback device and identify the type of motor type of feedback device and the key motor and feedback device specific parameters Any of these can be overridden during system configuration as explained in Chapter 7 and 8 Programming Terminals and Programming Parameters Provisions for the motor thermal switch are made at the feedback interface through terminals P1 12 and P1 13 as shown in Figures 4 20 and 4 22 Also the encoder case ground motor connector pin T should be connected to earth ground via the 8720MC chassis ground This can be accomplished by a separate lead when using 6 paired encoder shielded cable or connecting the cable overall shield or the drain wire to pin T on the motor mating connector See Figure 5 5 in Chapter 5 for details of the motor connector The drive end of the encoder case ground must be connected to earth ground via the PE connection or cable clamp Encoder Power The motor and auxiliary feedback port connectors provide terminals for both 5 vdc and 9 vdc encoder power The encoder voltage to be used is determined by the feedback device selected Table 4 15 provides a list of feedback devices and their required input voltages The standard 8720SM motor Stegmann feedback devices use 9 vdc encoder power Make sure the proper feedback device voltage i
87. digital output will become true Accordingly in the analog spindle configuration a spindle orient can be requested and acknowledged to be complete via the digital 1 0 In the SERCOS spindle configuration the orient is handled as a drive orient procedure initiated by the master via the SERCOS link Default 0 Length Minimum Maximum Scaling Resolution 2 bytes NA NA IDN P00110 Name Drive_Ok Data Type bit flag Parameter No 610 File 1 0 Interface Group Event Link Description The 8720MC drive parameter 610 IDN P00110 Drive OK is permanently linked to digital output 1 Parameter 661 the drive OK output relay contact This is provided as a motion controller output to indicate that there are no major faults and that the drive can be enabled Default 0 Length Minimum Maximum Scaling Resolution 2 bytes NA NA Publication 8720MC UM 001C EN P Feb 2001 8 62 Programming Parameters IDN P00115 Name Shut_Down_Error Data Display bit flag R Link Parameter No 615 File 1 0 Interface Group Event Link Description The 8720MC drive parameter 11 IDN S00011 defines 14 different types of shut down errors which can occur Parameter 615 becomes true if any of these shut down errors occur Parameter 615 remains true until the fault is removed and its is cleared by the Drive Error Reset input or the SERCOS master Parameter 615 can be linked to a digital output by writing its parameter number into
88. feedback value exceeds the torque threshold T x the drive sets 126 the status T gt Tx in C3D IDN 00333 File Status faults Group Setup Analog Default Length Analog Minimum Maximum Analog Scaling Resolution Units 100 0 2 bytes Min gt 0 1 1 Rated Max lt 1000 0 motor torq Default Length SERCOS Min Max SERCOS Scaling Resolution Units 100 0 2 bytes Min gt 0 Scaling type IDN 00086 IDN 00086 Max lt 215 1 Scaling factor IDN 00093 Scaling exponent IDN 00094 IDN S00129 Name A B Fault Data Display Bit pattern R Parameter No Description Manufacturer class 1 diagnostic The 8720MC defines additional shut down errors in manufacturer 129 class 1 diagnostic C1D If an error is set in the manufacturer class 1 diagnostic the manufacturer specific error File bit in class 1 diagnostic see IDN 00011 is set as well The drive cancels the manufacturer specific error and Status Faults resets to 0 only if the error in manufacturer class 1 diagnostic has been eliminated and on receiving the Group command reset class 1 diagnostic see IDN 00099 via the SERCOS service channel or the drive error reset Errors input Enumerated faults positive software overtravel fault negative software overtravel fault hardware overtravel hardware overtravel motor feedback 1 lost signal motor feedback 1 noise fault aux feedback 2 lost signal aux feedback 2 noise fault r
89. gear changes or switching the high low winding This section provides the information you will need to select a servo loop parameter group Before beginning auto tuning it will be necessary to select the servo loop parameter group that you wish to auto tune This may be done from the HIM Drive Explorer or the digital I O Assuming you wish to select parameter group 4 the HIM procedure for changing the active parameter group is explained below Publication 8720MC UM 001C EN P Feb 2001 9 6 Starting Up Your 8720MC Setting the Servo Loop Parameters Publication 8720MC UM 001C EN P Feb 2001 At the HIM press ENTER A message similar to the following appears Choose Mode Display Press either the up or down arrow key until the following appears Choose Mode Program Press ENTER Press either the up or down arrow key until the following appears Choose File Procedure Press ENTER Press either the up or down arrow key until the following appears Choose Group Parameter Switch Press ENTER Press either the up or down arrow key until you have located Select Param Set parameter 217 Press SEL and the number on the bottom line will flash Use the up or down arrow key to change the number to 4 and press ENTER To activate parameter group 4 press the up or down arrow key until you find Param Set Switch parameter 216 Press the SEL and the number on the bottom line will flash Use the up or down arrow key
90. it is subtracted from the position Therefore if the desired offset direction is CW it should have a minus value Conversely ccw offset should have a value Note To prevent reversals in direction during orient it is good practice to make the direction of the offset the same as the direction of the selected orient rotation That is if the orient direction is CW the offset angle should be CW If the orient direction is CCW the offset angle should be CCW Accordingly it may be necessary to calculate the complimentary offset value to assure there are no direction reversals during the orient Publication 8720MC UM 001C EN P Feb 2001 9 14 Starting Up Your 8720MC Publication 8720MC UM 001C EN P Feb 2001 Note Assuming modulo scaling is selected the complimentary offset value is defined as the number of resolution units set in Parameter 79 minus the modulo position value in parameter 51 Motor Posn Fback A simple rule of thumb is to use the complimentary offset value if the orient direction is CCW For Example Assume Parameter 79 Rot Posn Resolut 10 000 counts revolution Parameter 103 Modulo Value 10 000 counts revolution Parameter 154 Orient Options CW and Servo Loop Parameter Group 0 is selected as determined by Parameter 254 Actual Param Sef Initiate an orient by setting parameter 152 Orient Request to a value of 1 Note that after an orient with zero in Parameter 150 Mtr Marker Ofse
91. kW Maximum 16 10 14 S6 50 ED kW 9 Torque in N M 84 Rated 70 12 Continuous S1 kW S6 50 95 72 Max 105 z 10 2 Z 60 8 Performance assumes 380 VAC g input inverter with a minimum of g 48 6 340 VAC at motor E 36 Amps at Base Speed 4 Cont Amps 32 3 24 S6 Amps 42 Max Amps 46 2 P 12 0 0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 RPM RPM 30468 M Figure 2 22 15 Kw Motor with 380 vac Input 15 kW at 1500 RPM Base Speed DL1307 Frame Catalog No 015S2EC 25 T 1 150 maximum kW Maximum 135 12 a S6 50 ED kW cj Torque in N M 105 Rated 96 S6 50 118 i Continuous S1 kW 5 Max 142 zZ z T 75 10 Performance assumes 380 VAC g 60 input inverter with a minimum of g 340 VAC at motor a6 Amps at Base Speed ContAmps 48 2 I S6Amps 56 30 Max Amps 66 15 0 0 0 1000 2000 3000 4000 5000 6000 7000 8000 0 1000 2000 3000 4000 5000 6000 7000 98000 RPM RPM 30469 M Publication 8720MC UM 001C EN P Feb 2001 2 22 Specifications Specifications for 750V DC Input Drives with Dual Wound 8720SM AC Motors Table 2 17 contains motor specifications for wide constant power dual wound 8720SM Motors with 750V DC input 8720MC Drive Amplifier and 8720MC Regenerative Power Supply Dual Wound Motor Specifications 8720 SM Dual Wound Motors Specifications for 750V DC Input Drives and 8720MC RPS065 Regenerative Power Supply
92. limit parameter group 2 Deceleration limit parameter group 2 Primary Operating Mode Positive velocity limit value n 3 Negative velocity limit value n 3 Positive torque limit value n 3 Negative torque limit value n 3 Velocity loop proportional gain Velocity loop integral action time Position loop K factor Position loop integral action time Velocity feed forward gain Acceleration Feed Forward Gain System Acceleration Torque Reference Notch Filter Frequency Torque Reference Low Pass Filter Bandwidth Acceleration limit parameter group 3 Deceleration limit parameter group 3 Primary Operating Mode Positive velocity limit value n 4 Negative velocity limit value n 4 Positive torque limit value n 4 Negative torque limit value n 4 Velocity loop proportional gain Vel_Limit_2 Torque_Limit_2 Torque_Limit_2 Vel_Prop_Gain_2 Vel_Integ_Time_2 Pos_Loop_Gain_2 Pos_Int_Time_2 Vel_Fdfwd_Gain_2 Acc_Fdfwd_Gain_2 System_Accel_2 Torg_Notch_Freq2 Torq_Lowpas_Frq2 Accel_Limit_2 Decel_Limit_2 Primary_Op_Mode3 Vel_Limit_3 Vel_Limit_3 Torque_Limit_3 Torque_Limit_3 Vel_Prop_Gain_3 Vel_Integ_Time_3 Pos_Loop_Gain_3 Pos_Int_Time_3 Vel_Fdfwd_Gain_3 Acc_Fdfwd_Gain_3 System_Accel_3 Torg_Notch_Freq3 Torq_Lowpas_Frq3 Accel_Limit_3 Decel_Limit_3 Primary_Op_ Mode4 Vel_Limit_4 Vel_Limit_4 Torque_Limit_4 Torque_Limit_4 Vel_Prop_Gain_4 Programming Parameters Servo Loop Servo Loop Servo Loop Servo Loo
93. manual velocity mode Parameter 696 contains the velocity scale factor in rom 100 For example if the incoming analog voltage full scale range is 9 volts and the desired max rpm range is 3000 rpm then the scale factor would be 3000 10 9 or 3333 rpm 100 This parameter should not generate a speed requirement greater than the maximum speed of the motor parameter 113 Analog Input 2 supports only velocity scaling Default 1000 Units rpm 100 Length 2 bytes Minimum Maximum Scaling Resolution Min gt 30 000 1 Max lt 30 000 IDN P00213 Name SCANp_AN1_Value Data Type integer R W Parameter No 713 File Communication Group SCANp_Ref fdback Description Parameter 713 P000213 contains the value of the reference as provided by a SCANport connected PLC Parameter 713 P00213 is linked to the velocity reference command 36 or the torque reference command parameter 80 by the 8720MC drive software as determined by the velocity torque mode parameter IDN Sn0032 The value of parameter 713 as provided by the plc should be scaled to motor rom when in velocity mode and rated torque when in torque mode See IDN Sn0032 Primary Operating Mode for an explanation of the 8720MC operating modes Default 0 Units rpm or rated torq Minimum Maximum Min gt 32768 Max lt 32767 Length 2 bytes Scaling Resolution 1 1 rpm or1 1 rated torque IDN P00215 Name Analog Out _Parm Data
94. mode prompt press the increment up key or the decrement down key until Drive gt HIM is displayed 2 Press a A profile name up to 14 characters is displayed on line 2 of the HIM 3 Change this name or enter a new name Use the increment up key to move the cursor to the left Use the increment up key or the decrement down key to change the characters 4 Press enter An informational display is shown This display indi cates the drive type and firmware version 5 Press enter to start the upload The parameter number currently being uploaded is displayed on line I of the HIM Line 2 indicates the total progress Press ESC to stop the upload 6 Press enter when COMPLETE is displayed on line 2 If line 2 reports ERROR refer to Chapter 10 Troubleshooting Downloading a Parameter Profile To download a parameter profile from the remote HIM to a drive The download function is only available when a valid profile is stored in the HIM Using the Search Mode Using the Human Interface Module HIM 7 13 1 From the EEProm mode prompt press the increment up key or the decrement down key until HIM Drive is displayed 2 Press enter A profile name up to 14 characters is displayed on line 2 of the HIM 3 Press the increment up key or the decrement down key to scroll to a second profile if available 4 Press enter when the desired profile name is displayed An infor mation display is shown t
95. motor feedback type Bits 3 0 0000 No Feedback 0001 SRS 60 0010 SRM_60 0011 SCS 60 0100 SCM_60 0101 SNS 60 0110 MHG_90 0111 Resolver 1000 Analog Reference 1001 Sin Cos 1010 TTL 1011 UVW Auto detected Hiperface Stegmann Device Single turn absolute 1024 S C per rev Multi turn absolute 1024 S C per rev Single turn absolute 512 S C per rev Multi turn absolute 512 S C per rev High resolution incremental 1024 S C per rev Single turn absolute magnetic encoder 512 S C per rev Transmitter type 0 25 TR 10 vdc differential Generic linear or rotary S C device w index Generic linear or rotary TTL A quad B device w index Differential hall effect commutation signals 1100 unknown Stegmann Unrecognized Stegmann device 1101 Endat Heidenhain Endat SSI S C feedback device Analog reference must be chosen whenever the drive is configured for an analog command reference See parameter 500 Default Analog Ref IDN P00020 Parameter No 520 File Status Faults Group Drive Status Length Minimum Maximum Scaling Resolution 2 bytes NA NA Name Cur_Limit_Source Data Type ascii representation of enumeration Description This parameter displays the present source if any of an 8720MC Drive current limit request Structure of the current limit source Bits 2 0 000 Not limited 001 Negative current limit 010 Positive current limit 011 Bridge current limit 100 I t limit current vs time
96. motor or spindle mounted encoder as determined by it s zero reference marker in the case of an incremental encoder or it s absolute zero position in the case of a single turn absolute encoder For motor mounted feedback the target position is calculated by the 8720MC as encoder zero parameter 150 parameter 153 For spindle mounted feedback in the SERCOS configuration the final position is calculated by the 8720MC as encoder zero parameter 151 parameter 153 When the drive interpolator reaches the selected orient position the drive sets the status Orient Complete parameter 583 The status In Position parameter 336 is true as long as the drive is in the orient position and the spindle position is within the in position band established by parameter 57 IN_Pos_ Value If the drive is rotating at a speed higher than the orient speed when the orient request is received the drive will decelerate at the acceleration rate defined in parameter 260 to the orient speed defined in parameter 222 If parameter 154 calls for clockwise orient and the drive is already rotating clockwise and the drive has decelerated to orient speed the drive will place itself in positioning mode and decelerate to the calculated target orient angle moving in the clockwise direction If parameter 154 calls for counter clockwise orient and the drive is already rotating clockwise and the drive has decelerated to orient speed the drive will place itself in position
97. motor shaft turns clockwise when viewed from the output shaft when there is a positive position command Control difference and no inversion is programmed Group Position Enumerations Structure of the Position polarity parameter Bit 0 Position command value 0 Non inverted 1 Inverted Bit 1 Additive position command value 0 Non inverted 1 Inverted Bit 2 Position feedback value 1 0 Non inverted 1 Inverted Bit 3 Position feedback value 2 0 Non inverted 1 Inverted Bit 4 Position limit values 0 disabled 1 enabled Bit 5 Underflow Overflow threshold IDN 00280 00281 0 disabled 1 enabled Bits 15 6 reserved This parameter is available with the 8720MC SERCOS Release Default Length SERCOS Min Max SERCOS Scaling Resolution Units 0 2 bytes NA NA NA IDN S00057 Name IN_Posn_Value Data Display Decimal nnn nn R W Parameter No Description Position window When the difference between the accumulated position command value and the 57 position feedback value is within the range of the position window then the drive sets the status in position IDN File 00336 When needed the status in position is assigned to a real time status bit within the drive status and then Status Fault transferred to the control unit see IDN 00305 Group Setup Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 1 1 count rev as determined by parameter 79 IDN00079 Default
98. of Auto Velocity Analog Reference Starting Up Your 8720MC 9 9 e bit 3 Auto Offset is on and the system calculates the analog auto reference offset parameter 693 Note The speed for the auto tune procedure as well as the torque and the maximum distance for the auto tune moves can be modified Parameter 543 ATune Vel Limit Parameter 542 ATune Torq Limit and Parameter 544 ATune Posn Limit serve this purpose The default values are 1000 RPM 100 rated continuous torque and 65 535 counts respectively Changing these values will change the calculated values of the servo loop parameters The default values represent a good compromise and should be used unless the application does not support the default values For example if you know the torque will be limited to 75 of rated motor torque Parameter 542 should be set to 75 6 With the drive disabled set parameter 541 to Auto tune 7 Making sure the motor and load are safe to operate enable the drive The motor will quickly rotate clockwise and counter clockwise indicating that the auto tune procedure has executed Parameter 547 will indicate successful if the auto tune procedure executed properly This section provides the information you need to scale an auto velocity analog reference Note Default setting is 1000 rpm 10V To change the scale factor for the auto velocity analog reference perform the following procedure 1 Atthe HIM
99. of providing absolute feedback from 0 to 4096 turns of the motor Each of these feedback devices outputs accurate sine and cosine signals The SNS 60 SRS 60 and SRM 60 output 1024 sinusoidal periods per revolution These sine waves are interpolated by the 8720 MC and provide position and velocity resolution of 4 million counts per revolution 8720MC Signal Interface Wiring Sercos Figure 4 20 Drive Installation and Wiring 4 33 Feedback Wiring for the 8720MC SERCOS Configuration P4 1 Analog output 1 P5 1 aw A Channel signal gt 10vdc analog out _ P5 19 A Channel P4 6 Analog output 1 amp 2 signal return gt B Channel P5 2 A 10vdc analog out R 2 P4 5 Analog output 2 signal return _ A quad B Output to Motion Controller P5 20 B Channel Ground Shield gt via Braid Clamp P5 3 Z Channel Sercos e __ gt 8720SM Motor connector Ground Shield i P5 21 Z Channel PIN numbers via Braid Clamp gt Sine or A A TN P1 1 P5 4 Motion Controller AqB A a 8720 MC Drive Encoder Power Common Sine Return or A P1 2 Signal Interfaces P1 14 A N Sine or A B J Sercos Configuration z Cosine or B P1 3 P1 15 Sine Return or A 7 aE Fs Cosine Return or B
100. or output circuits not approved by Allen Bradley e Output circuits which do not connect directly to the motor e Incorrect or inadequate AC supply e Excessive ambient temperature Contact Allen Bradley for assistance with application or wiring AC Supply Source The 14 amp through 180 amp 8720MC DC input drives are suitable for use in circuits that can deliver up to a maximum of 250 rms symmetrical motor amperes when used with the 8720MC RPS or 1336R Regenerative Power Supplies and the AC input line fuses specified in the tables in this section For detailed installation information on the 8720MC RPS Regenerative Power Supply refer to publication number 8720MC RMOO1B US titled 8720MC Regenerative Power Supply User s Manual For detailed installation information about the 1336R Regenerative Converter refer to publication number 1336 REGEN 5 0 titled 1336R Line Regenerative Package User Manual The following tables are provided to assist in selecting the appropriate fuses and wire for the regenerative power supplies The data in the tables are based on 25 C operating temperature and 70 C insulation Always plan to use a cabinet disconnect switch as well as an AC line contactor in conjunction with the AC line input fuses or circuit breakers To protect the AC input install a circuit breaker or fuse in each incoming phase In some locations local codes require fuses instead of circuit breakers When using 8720MC RPS in maste
101. output current amperes 21 27 34 42 48 Rated output KVA KVA 15 20 35 43 49 DC Bus Capacitance Micro Farads Drive amplifier frame B B B B B Weight kg Ibs 22 7 50 22 7 50 22 7 50 22 7 50 22 7 50 Curves for 5 5 to 22 kW 8720SM Power and Torque Curves Motors with 460V AC Input The following power and torque curves contain data for 5 5 kW 7 5kW 11kW 15kW and 18 5kW motors 1500 RPM base speed motors wound for operation with 460 vac input drive amplifiers Figure 2 14 5 5 Kw Motor with 460 vac Input 5 5 kW at 1500 RPM Base Speed DL1106 Frame Catalog No 005S1BB 9 t t 60 Maximum kW 8 54 Maximum S6 50 ED kW E 48 Torque in N M Rated 35 6 42 a Continuous S1 FEN e 5 36 4 Rated j 4 3 30 s 6 Performance assumes 460 VAC Fr 24 3 input inverter with a minimum of 420 VAC at motor 18 2 Amps at Base Speed Cont Amps 19 3 12 1 S6 Amps 25 MaxAmps 27 5 6 a 0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 RPM RPM 30461 M Publication 8720MC UM 001C EN P Feb 2001 kw kw 12 80 Maximum re 1 0 64 Torque in N M 56 Rated 48 8 S6 50 64 48 Max 72 Continuous S1 z 6 40 Performance assumes 460 VAC 3 32 4 input inverter with a minimum of o 420 VAC at motor E
102. param 79 Max lt 32767 e g with IDN 00079 at 3600 cnts rev 1 count 1 Counts rev degree Practical Range 360 0 to 360 0 degrees SERCOS Length SERCOS Min Max SERCOS Scaling Resolution Units Default 4 bytes Min gt 231 Scaling type IDN 00076 IDN 00076 0 0 31 Scaling factor IDN 00077 Monee Scaling exponent IDN 00078 Rotational position resolution IDN 00079 IDN S00151 Name Aux_Marker_Ofset Display format signed integer R W Parameter No Description Reference offset 2 is used to offset the axis or spindle mounted encoder zero point This parameter 151 describes the distance between the incremental encoder zero reference marker pulse or the single turn absolute File encoder zero reference point and the desired mechanical zero reference of the axis or spindle Position Procedure feedback 2 parameter 53 the axis or spindle mounted feedback device position feedback value can be Group modified with this offset Parameter 151 provides an offset that compensates for mis alignment between the orient homing Spindle or axis mounted encoder zero point and the desired mechanical zero of the spindle or axis This parameter is used to configure the axis or spindle zero during startup Parameter 151 is used in the SERCOS configuration only The secondary auxiliary feedback port is not available in the analog configuration A value produces a clockwise offset angle when facing the shaft end of the motor anda value produces a coun
103. parame ter 501 was previously set to a value other than analog spindle cycle drive power to reset Publication 8720MC UM 001C EN P Feb 2001 7 12 Using the Human Interface Module HIM Publication 8720MC UM 001C EN P Feb 2001 Saving Values to Flash Memory When parameter changes are made their new values are stored in volatile memory This means if power is removed any parameters which were changed and were not saved will be lost For this reason it is always good practice to save modified parameters to flash memory after making changes This can be done from the HIM or Drive Explorer With the HIM from the EEProm mode prompt press the increment up key or the decrement down key until Save is displayed Depressing the enter key will execute the save Recalling Values from Flash Memory It is possible to make changes to parameters on an experimental basis which do not produce the desired benefit In this situation it is possible to recall the flash stored values without cycling power by disabling the drive choosing the Recall selection under the EEProm mode and depressing the enter key Uploading a Parameter Profile You can transfer a parameter profile from the 8720MC Drive to a remote HIM Cat No 1201 HAx as a means of transferring a parameter set from one 8720MC to another This functionality is not available with the 8720MC built in HIM To upload a parameter profile from the drive to the HIM 1 From the EEProm
104. polarity parameter Reserved Torque force data scaling type Reserved Torque force data scaling factor Reserved Torque force data scaling exponent Reserved Reset class 1 diagnostic Velocity loop proportional gain Velocity loop integral action time Modulo value rotary roll over Publication 8720MC UM 001C EN P Feb 2001 16 Character Name Shut_Down_Errors Drive_ Status Commun_Errors Version_Data Prime_OP_Mode_0 Velocity_ Command Vel_Limit_0 Vel_Limit_0 Velocity_Fback Velocity_Polarity Vel_Scale_Type Vel_Scale_Factor Vel_ Scale_Expon Position Command Motor_Posn_Fback Aux_Posn_Fback Posn_Polarity In_Posn_Value Posn_Scaling Posn_Scal_Factor Posn_Scale_Expon Rot_Posn_Resolut Torque_Command Torque_Limit_0 Torque_Limit_0 Torque_Fback Torque_Polarity Torq_Scale_Type Torg_Scal_Factor Torg_Scale_Expon Drive_Err_Reset Vel_Prop_Gain_0 Vel_Integ_Time_0 Modulo_Value File Status Faults Status Faults Status Faults Motor Drive Fdbk Servo Loop Control Servo Loop Servo Loop Contro Contro Contro Contro Contro Contro Contro Contro Contro Status Faults Contro Contro Contro Contro Contro Servo Loop Servo Loop Contro Contro Contro Contro Contro Status Faults Servo Loop Servo Loop Control Group Errors Drive Status Errors Drive Data Group 0 Velocity Group 0 Group 0 Velocity Velocity Velocity Velocity Velocity Position Position Position Positi
105. power line conditions as discussed in table 4 3 may introduce the possibility of drive input power component malfunction To reduce the possibility of these malfunctions a line reactor or isolation type transformer may be required Use the following table to determine if a line reactor or isolation type transformer is required for your AC input system Table 4 3 Determining if a Line Reactor or Isolation Type Transformer is Needed i Then an AC line reactor or isolation If the AC line supplying the drive type transformer Has power factor correction capacitor Is recommended between the capacitor connected and switched bank and the input to the drive Frequently experiences transient power May be required interruptions or significant voltage spikes Is run off the same line as a line May be required commutated DC drive Publication 8720MC UM 001C EN P Feb 2001 4 8 Drive Installation and Wiring Connecting Power to Your Drive Publication 8720MC UM 001C EN P Feb 2001 Read the following attention text before wiring power to your 8720MC Drive ATTENTION The national codes and standards such as NEC VDE and BSI and local codes outline provisions for safely installing electrical equipment Installation must comply with specifications regarding wire type conductor sizes branch circuit protection and disconnect devices Failure to do so may result in personal injury and or equipment damage Important For mai
106. press the escape key get to the top level display then depress ENTER A message similar to the following appears Choose Mode Display 2 Press either the up or down arrow key until the following appears Choose Mode Program 3 Press ENTER Press either the up or down arrow key until the following appears Choose File I O Interface 4 Press enter Press either the up or down arrow key until the following appears Choose Group Analog Inputs 5 Press enter Use the up and down arrow keys to find Parameter 695 Auto Vel Scale 6 Press SEL to select the numerical value Publication 8720MC UM 001C EN P Feb 2001 9 10 Starting Up Your 8720MC Scaling of Manual Velocity Analog Reference Publication 8720MC UM 001C EN P Feb 2001 7 Use the up and down arrow keys to change the numerical value 8 To change the motor direction for a given analog voltage input press SEL to highlight the sign character 9 Use the up and down arrow keys to change the sign Press ENTER Note Remember to save any changed values to nonvolatile EEPROM memory Refer to Using the Human Interface Module HIM Chapter 7 In velocity mode with 0 volts at the auto analog reference input the drive may still slowly rotate cw or ccw To minimize this parameter 693 Auto_Ref_Offset is provided Values ranging from 01 to 100 can be entered A value is used to offset in the cw direction and a value is used to offset in the c
107. s s sistezzvestertveiivatiedlnuheativilatliaetwtsivilias 4 19 Analog I O Signal Wire Specifications c ccccsssessssessseesesees 4 23 SERCOS WINN a5 tetattatetin uals tices inu Wilt Uitte onions ntti 4 23 8720MC AC Input Drives i deeodccd es cel ceetety we oon ered veatneol ner eeeenetrntereesees 4 25 8720MC Drive with a 8720MC Regenerative Power Supply assesses 4 26 8720MC Drive with a 1336 Regenerative Power Supply vce 4 29 87 20M C Input Output Wiring sirdinttndivrvenrdenvinmimidin edie datid 4 31 Input Output Power as innit limniiecticeetoiomtaomtimmNauitioutitns 4 31 Universal Feedback Interface creen 4 32 Encoder POW ET aiiin A A 4 34 Connections to the Feedback Interface and Feedback Cables 0 4 37 A quad B Virtual Encoder Output cssceseeetssssessessseeeeressssesenees 4 37 Connecting the Analog INDUS ints antiadindinedeio iene hieideaes 4 39 Connecting the Analog OuUtpUtS sii ceierirnniecent enn eienhimonne 4 39 Connecting the Relay Outputs seteeciocnsaresssvsssnteonsscnpy nero aural 4 40 Connecting the Digital INpUtS s s sssesssnsresrsrsrnsrssnrnresnnrnrnnrrnrrnresrernresnna 4 40 Connecting the Digital Outputs s s sessesisrssesrsrnrrnrrrnrrnrinrrnrrrnrrsrernrenrna 4 41 Connecting the Registration INPUIS isssissiessiiisesenininannnnwniviivs 4 42 Disconnecting the Drive Output s s sssresrsrsresnsrnrrnnninrrnnnrnarnnnrnnrnnnrnnrnnnrnnee 4 43 Starting and Stopping the Motor ss ssesssrssesnsr
108. sensitive equipment you must carefully arrange the power and ground connections to the drive Route the cable that goes to the motor well away from sensitive equipment as the motor cable carries high energy switched voltages Connect the ground conductor of the motor cable to the drive ground PE terminal directly Connecting this ground conductor to a cabinet ground point or ground bus bar may cause high frequency current to circulate in the ground system of the enclosure You must solidly connect the motor end of this ground conductor to the motor case ground Shielded cable is recommended to prevent radiated emissions from the motor cable Connect the shield to the drive chassis Common mode chokes are recommended at the drive output to reduce the common mode noise An AC input RFI filter can be used and in most situations provides an effective reduction of RFI emissions that may be conducted into the main supply lines It should be noted that the higher the PWM frequency the higher the chances of radiated emissions The 8720MC RPS and 1336R Regenerative Power Supplies require external harmonic filters The 8720MC ac input drives should also be supplied with an RFI filter wired on the input to the drive to reduce the potential for noise emission The RFI filter controls radio frequency conducted emissions into the main supply lines and ground wiring If you follow the cabling and installation instructions described in this manual interf
109. set the drive power will be removed from the motor and it will not regenerate Under this condition the motor will coast until the friction of the motor and load bring it to a stop Table 6 7 SCANport Logic interface Table 6 9 SCANport Output Status Command SCANport Output Status Word Bit Description 00 Drive Enabled Ol Auto Reference Enabled 02 Rotation Direction 03 Drive OK 04 At Zero Speed 05 At Reference Speed 06 Orient complete 07 Reserved 08 Brake Solenoid enabled 09 Torque greater than Torque Limit 10 High Winding Selected 11 Low Winding Selected 12 Shut Down Fault 13 Reserved 14 Reserved SCANport Input Command Word Bit Description 00 Regenerative Stop Request 01 Start Request 02 Jog Request 03 Fault Clear 04 Coast Stop Request 05 Parameter Set Select bit 0 06 Parameter Set Select bit 1 07 Parameter Set Select bit 2 08 Parameter Strobe 09 Orient Request 10 Home Request 11 Manual Reference Select 12 Reserved 13 Reserved 14 Reserved 15 Reserved 15 Manual Reference Selected Publication 8720MC UM 001C EN P Feb 2001 Interface Signal Description 6 17 Parameter Set Select bit 0 1 and 2 Setting these 3 binary bits determines which parameter set is in use and or which motor winding is selected The choices are 000 low 0 001 low1 010
110. specific 8720SM AC blower motor will vary depending on frame size and enclosure The smallest 2 frames 112 mm and 132 mm DL1106 thru DL1310 have a 547 CFM blower while the 160 180 and 200 mm frames DL1611 thru DL2012 have a 1117 CFM blower Follow the connection diagram supplied with the blower motor which in general will be the high voltage 460 vac connection shown in Figure 5 3 The blowers should have a fuse in each motor phase as shown in the wiring diagrams in chapter 4 Figures 4 14 4 16 4 17 and 4 18 The 112 mm and 132 mm frames should be fused to 1 amp maximum The 160 mm 180 mm and 200 mm frames should be fused to 2 amps Use 16 to 18 AWG 600 volt hook up wire Alpha 3075 or 3077 or equal Motor Installation and Wiring 5 11 Figure 5 3 Blower Motor Connections EBM Blower Connections Delta 230 VAC Star 460 VAC w2 u2 v2 Ww2 U2 v2 O O _0 U1 gV1 amp W1 AE vi wi L1 L2 L3 A A A Low Volts High Volts U1 Black V2 White U2 Green W1 Brown V1 Blue W2 Yellow 30819 M R2 To connect the blower motor 1 Connect for high voltage Star as shown in Figure 5 3 Caution If you connect the blower for low voltage and apply more than 240 vac to it the motor the warranty conditions are violated 2 Check that the direction of air flow is in agreement with the direction of air flow arrows mounted on the motor 3 If directional air flow is incorrect interchange power leads L
111. supply all power to the 24V DC digital I O should be in most cases provided externally by the user as shown in figure 4 19 The Output points are linkable to the 8720MC software The default factory linkages for the I O assignments are application dependent The common default assignments are shown in figure 4 18 Chapter 6 Interface Signal Description describes how to link the I O to variables other than the defaults Universal Feedback Interface Figure 4 20 and 4 22 illustrate that the 8720MC supports a motor feedback port an auxiliary feedback port SERCOS version only and an A quad B motion controller position feedback output port The motor feedback port interfaces to the motor mounted feedback device In the case of the 8720SM motor this is one of three devices depending on the application The Stegmann SNS 60 device is an incremental sine cosine encoder used for spindle and power servo applications where an analog velocity command is the required motion controller interface It s output signals include a marker pulse This device is required if the 8720MC encoder output signals are interfaced with a motion controller for position feedback The Stegmann SRS 60 is a single turn absolute feedback device used in spindle applications as well as power servo applications which require single turn absolute feedback This is only available in the SERCOS version The Stegmann SRM 60 is a multi turn absolute feedback device capable
112. the control unit to the drive via IDN 00080 in the cyclic File master data telegram This functionality is not supported in the standard 8720MC telegram telegram type 5 Control and therefore a telegram including torque must be chosen The IEC 61491 SERCOS Standard supports this Group capability Torque Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 1 1 Default Min gt 1000 0 0 0 Max lt 1000 0 Default Length SERCOS Min Max SERCOS Scaling Resolution Units 0 2 bytes Min gt 215 Scaling type IDN 00086 IDN 00086 15 Scaling factor IDN 00093 MERE ae Scaling exponent IDN 00094 Publication 8720MC UM 001C EN P Feb 2001 8 18 Programming Parameters IDN S00082 Name Torque_Limit_0 Data Display decimal R W Parameter No Description The positive torque limit value limits the maximum torque in the positive direction If the torque 82 limit value is exceeded the drive sets the status T gt Tiimit in C3D IDN 00013 There are 8 sets of Torque Limit File and Torque limit parameters Torque_Limit_0 applies to group zero Servo Loop Group 0 Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 1 1 Default Min gt 0 400 0 Max lt 1000 0 Default Length SERCOS Min Max SERCOS Scaling Resolution Units 400 0 2 bytes Min gt 0 S
113. the parameter number for DC_Bus_ Voltage 7 Press the enter key to store the value 8 Press escape when you have finished to exit the Set Links mode 9 If you wish to retain the new output link after power is recycled you must store it to non volatile flash memory See Storing Val ues to Flash Memory in this chapter Removing a Link A B Drive Explorer Using the Human Interface Module HIM 7 17 10 The available output links are discussed in Chapter 6 If you attempt to link to a reserved parameter the drive will display a numerical value of 12 The output will be disabled You may remove an output link by setting it s parameter address value to zero The procedure for changing a parameter link discussed above may be used for this purpose if the parameter address value is changed to zero Note that the displayed value will be 12 since 0 is a reserved parameter ATTENTION Be careful when removing links If the source parameter has already written a value to the destination parameter the destination parameter retains the value until you explicitly remove it For some parameters this may produce undesirable results The functionality available on the HIM module is also available on a MS Windows 95 CE and NT ypy compatible A B program called Drive Explorery A desktop laptop or handheld PC can be connected to the SCANport connector via a catalog number 1203 SSS Anacandayyy adaptor and the PC serial port The additio
114. to 10 error messages in the form of fault codes The error messages are displayed as a 2 or 3 character flashing display The last error that occurred is the first one to appear on the screen when accessing the error log If multiple errors occur at the same time the corresponding error codes are scrolled flashing one by one To reset an error code press the reset RST key or recycle power after removing the cause of the error Chapter 8 of publication 8720MC RMO01B 8720MC Regenerative Power Supply contains a complete listing of all the fault codes along with appropriate corrective measures Chapter 9 provides troubleshooting procedures as well as a troubleshooting flowchart Refer to this publication before attempting to resolve 8720MC RPS problems Chapter 4 of this manual shows how to wire the various configurations between the drive and RPS In general it is recommended that the run output is connected in series with Input 1 Drive Enable on P5 14 It is required to tie the RPS fault output to input 10 on the drive P5 36 Regen PS OK Parameter 617 Regen PS Fault can be monitored on the HIM or Drive Exploreryyy to determine the state of the RPS This parameter can also be linked to a digital output if the application requires it Publication 8720MC UM 001C EN P Feb 2001 10 14 Troubleshooting Publication 8720MC UM 001C EN P Feb 2001 Appendix Objectives Appendix A Derating Guidelines This ap
115. to change the number to 1 and then press ENTER Parameter group 4 is now the active parameter group 9 To confirm that parameter group 4 is the active parameter group view parameter 254 Actual Param Set by pressing the up or down arrow key until the top line displays Actual Param Set The bottom line should display a value of 4 confirming that parameter group 4 is active Note The procedure for changing parameter groups described above can also be performed with Drive Explorer in much the same way In addition the parameter groups may be changed via the digital I O by selecting the proper binary bit pattern at the interface Each servo loop parameter group which your application requires will require setting and tuning of the servo parameters This section provides the information you need to set a group s servo loop parameters Acc Dec Parameters AutoTuning Starting Up Your 8720MC 9 7 Each group of servo loop parameters can have its own set of values for mode of operation velocity limits and torque limits In the analog version of the 8720MC drive the mode of operation can be set for either velocity or torque modes The parameter for making this selection for group 0 is Parameter 32 Primary Op Mode0 The parameter numbers are different for each of the 8 servo loop parameter groups as described in Programming Parameters The default mode for Parameter 32 and all 7 of the other primary operation
116. to the motor junction box and the drive end is connected to the ground panel in the cabinet you do not need any additional conduit connections e Route no more than three sets of motor leads and a ground wire through a single conduit This minimizes cross talk that could reduce the effectiveness of the noise reduction methods described If more than three drive motor connections per conduit are required use shielded cable If practical each conduit should contain only one set of motor leads e Itis recommended that you use a thick insulation lead wire such as type RHW 2 or equal Shield 4 Shield Clamp Drive Installation and Wiring 4 15 ATTENTION To avoid a possible shock hazard caused by induced voltages ground unused wires in the conduit at both ends For the same reason if a drive sharing a conduit is being serviced or installed disable all drives using this conduit This eliminates the possible shock hazard from cross coupled drive motor leads General Wire Guidelines You should observe all applicable safety and national and local regulations when selecting the appropriate wire size for your system Due to the drive overload capacity of 150 of the continuous current rating for one minute the conductors for the transformer primary and secondary must be sized at a minimum for 125 to 160 of the maximum continuous input current for the motor selected See the specification tables in Chapter 2 for input curren
117. vdc Digital Output Circuit On state up to 40 vdc up to 75 mA Off state lt 25 mA leakage Optically isolated to 500 v 6 outputs P5 10 thru P5 12 and P5 28 thru P5 30 P5 31 is external power Ch4 103 R2 Publication 8720MC UM 001C EN P Feb 2001 4 42 Drive Installation and Wiring Publication 8720MC UM 001C EN P Feb 2001 Connecting the Registration Inputs You can use the two registration pulse inputs also as digital inputs These inputs are optically isolated to 500V from control power The registration inputs can cause latching of the feedback position to within 4 micro seconds Software parameters are available to cause the arming and indicate triggering of these inputs For more information on the software parameters refer to Chapter 8 Programming Parameters One of the registration inputs is configured for 24V DC type devices with the characteristics shown in Table 4 20 This input has hardware filtering with a time constant of 3 micro seconds and a software debounce which requires stable input for 5 milli seconds prior to validation The debounce applies only when the registration input is used as a digital input Table 4 20 Characteristics for the 24vdc Registration Input Condition Voltage Amperage On 17 5 38V DC 5 15mA Off less than 6 9V DC less than 1 5mA leakage The other registration input is configured for 5V DC type devices with the characteristics shown in Table 4 21 This input has
118. 0 regulator to torque commands The data is represented by an unsigned integer Default Length Minimum Maximum Scaling Resolution Units 65535 2 bytes Minimum Input gt 0 1 1 rad sec rad sec Maximum Input lt 65535 IDN P00026 Name Hi Wind_Enable Data Display bit flag Parameter No 526 File 1 0 Interface Group Event Link Description The 8720MC drive support dual wye Delta wound motors The motor is connected wye for low speed and delta for high speed These motors require switching via external contactors Parameter 526 P00026 can be linked to a digital output relay contact by writing it s parameter number into a digital relay output word When this I O link is created the relay output contact will close whenever the high winding is selected Also the low winding output will be disabled since both cannot be on concurrently Default 0 Length Minimum Maximum Scaling Resolution 2 bytes NA NA IDN P00027 Name Lo Wind Enable Data Display bit flag Parameter No 527 File 1 0 Interface Group Event Link Description The 8720MC drive support dual wye Delta wound motors The motor is connected wye for low speed and delta for high speed These motors require switching via external contactors Parameter 527 P00027 can be linked to a digital output relay contact by writing it s parameter number into a digital relay output word When this I O link is created the relay output conta
119. 00 8000 RPM 30741 M R2 Specifications 2 9 Figure 2 6 22 5kW Motor 22 kW at 1500 RPM Base Speed DL1310 Frame Catalog No 022S2GA 220 Maximum 1987 s6 50 1 S6 50 ED kw 17 Torque in Nt M 15 Rated 140 Rated S6 50 191 Continuous S1 kW 1 Max 210 zZ T 11 oO Performance assumes regenerative feg 88 converter with 750 VDC bus and e 505 VAC at motor 66 Amps at Base Speed Cont Amps 48 44 S6 Amps 61 2 Max Amps 66 5 22 0 0 1000 2000 3000 4000 5000 6000 7000 8000 0 1000 2000 3000 4000 5000 6000 7000 8000 RPM RPM 30742 M R2 Figure 2 7 30kW Motor 30 kW at 1500 RPM Base Speed DL1611 Frame Catalog No 0O30S4JA 50 T T 300 Maximum maximum kW 270 240 5650 l o S6 50 ED kW Torque in Nt M pe es ees gt 210 Rated Rated 192 S6 50 235 Continuous S1 kW 180 Max 288 Zz Z T 150 v i z 120 Performance assumes regenerati g converter with 750 VDC bus and 505 VAC at motor 90 Amps at Base Speed Cont Amps 63 1 60 S6 Amps 74 6 Max Amps 88 5 30 0 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 RPM RPM 30743 M R2 Figure 2 8 37kW Motor 37 kW at 1500 RPM Base Speed DL1613 Frame Catalog No 037S4KA
120. 00 in IDN 00079 In this case the position feedback will accumulate from 0 to 29999 and rollover back to 0 after 1 revolution of the motor and the resolution will be one in 30 000 It is always a good practice for applications using orient to set the value of parameter 103 to the same value as parameter 79 Rotary Position Resolution This assures that an orient from stand still will take one revolution Default Length Analog Minimum Maximum Analog Scaling Resolution Units 3600 counts 2 bytes Min gt 1 1 1 count as determined by parameter 79 param 79 Max lt 65535 in counts Default Length Minimum Maximum Scaling Resolution Units 4 bytes Minimum Input gt 1 Scaling type IDN 00076 IDN 00076 Maximum Input lt 731 4 Scaling factor IDN 00077 Scaling exponent IDN 0078 Rotational position resolution IDN 00079 Preferred scaling rotational 1x10 4 degrees linear 1x10 7 m or 1x10 6 in IDN S00104 Name Pos Loop Gain 0 Data Display Decimal R W Parameter No Description Position loop KV factor The KV factor determines the gain of the position loop regulator throughout 104 the entire velocity range Increasing this parameter produces faster position loop dynamic response with higher File risk of instability It will also reduce the dynamic position error Decreasing this parameter will soften the dynamic Servo Loop response increase the dynamic position error and reduce the position loop instability Group group 0 Default Length
121. 00191 Name Analnputl_ Value Data Type decimal IRS Parameter No 691 File 1 0 Interface Group Analog inputs Description The 8720MC Drive analog configuration supports two 13 bit analog inputs Analog input 1 the auto analog reference is connected to the 8720MC physical address of connector P1 row 2 terminals 14 and 15 Parameter 691 P00191 Analnputl_ Value the digital representation of 10 vdc analog voltage Analog Input 1 is defined in the 8720MC as the analog_auto reference command After scaling parameter 691 is permanently linked to parameter 36 the velocity command variable within the 8720MC Drive This value may be modified by the scaling factor stored in parameter 695 P00195 the analog velocity scale factor For auto mode param 691 param 695 rpm 100 Param 36 analog auto velocity reference command in rpm Parameter 691 is automatically offset to zero during auto tuning Default 0 Length 2 bytes Minimum Maximum Min gt 100 00 Max lt 100 00 Scaling Resolution 1 10 IDN P00192 Name Analnput2_Value Data Type integer R Link Parameter No 692 File 1 0 Interface Group Analog inputs Description The 8720MC Drive analog configuration supports two 13 bit analog inputs Analog input 2 the manual analog reference is connected to the 8720MC physical address of connector P1 row 2 terminals 16 and 17 Parameter 692 P00192 Analnput2_ Value stores the d
122. 0MC Digital I O Wiring 8720 MC Drive I O Customer Supplied External 24 vdc notes 1 amp 2 P5 6 A D i P f sae ee Relay 1 cea Motion Controller E stop String l 24vdc return Note 2 i P5 13 o 4vac input a CN a 24vdc input common Note 2 Relay 2 p5 9 connect for inter al 24 vdc only P5 22 gt 24vdc for inputs Note 2 P5 24 O Typical 24vdc input P514 Relay 3 2 gt oe 4 Input 1 Drive_Enable P5 26 ical 24vdc input P5 15 yp P Input 3 Drive_Err_Reset P526 C i i 3 Relay 4 Typical 24vde input PSz16 Input 5 Relay 4 P52 Custome Customer supplied 24vdc or 120vac Typical 24vdc input P5 17 t Input 7 P5 10 Typical 24vdc output Typical 24vdc input p5 18 Table 6 1 Output 5 Input 9 P5 11 Typical 24vde output 24 true l Typical 24vdc input P5 32 Input 2 Output 7 i x Typical 24vdc out to L Typical 24vdc input P5 33 Output 9 P5 12 Typ p J Input 4 Auto Manual Select Table 6 2 P5 28 Typical 24vd int 24vde when true l Typical 24vdc input P5 34 6 Output 6 Typical Ic outpu 4 npu Typical 24vde input P5 35 fiche Table 6 1 Output s 25 22 Typical 24vde output es l Typical 24vdc input P5 36 Input 10 Regen_PS_OK Output 10 P5 30 Typical 24vdc output GR di Rees Customer 24vdce return Customer Supplied 24vd
123. 0MC RPS Regenerative Power Supply Specifications 8720MC RPS Regenerative Power Supply Specifications when used with 750V DC Input Drives and 8720SM AC Motors 8720MC RPS Regen P S Units Power Supply Specifications Motor catalog number 8720SM 005S1BA 007S1CA 011S1DA 015 S2EA 018S2FA 022S2GA 030S4 A 037S4KA Drive amplifier catalog 8720MC B014 B021 B027 B034 B042 B048 D065 D078 number Regen P S catalog 8720MC RPS027BM RPS027BM RPS027BM RPS027BM RPS065BM RPS065BM RPS065BM RPS065BM number AC Input voltage RMS Volts 380 to 460 380to460 380to460 380to460 380to460 380to460 380to460 380 to 460 10 15 Input frequency Hz 3 50 60 50 60 50 60 50 60 50 60 50 60 50 60 50 60 Input power factor 98 or less 98 or less 98 or less 98 or less 98 or less 98 or less 98 or less 98 or less Required input KVA kVA 7 10 14 20 24 29 39 49 Required input current amps RMS 9 12 18 25 31 36 50 61 Required input 1 min amps RMS 14 19 27 37 46 55 74 92 current Required output KVA kVA 7 9 13 18 22 27 36 45 Required output current amps DC 8 9 12 1 16 9 23 3 28 4 33 4 44 1 53 8 Required max current 1 amps DC 13 18 27 36 45 53 73 90 min Design Bus voltage volts DC 750 750 750 750 750 750 750 750 Rated input KVA kVA 20 20 20 20 50 50 50 50 Rated input current amps RMS 28 28 28 28 65 65 65 65 rated input 1 min current amps RMS 42 42 42 42
124. 1 Output_Image 713 P00213 SCANp_An1_Value 38 00038 Vel_Limit_0 872 540038 Vel_Limit_4 662 P00162 Output_01 Source 715 P00215 Analog Out_Parm 39 00039 Vel_Limit_0 873 540039 Vel_Limit_4 663 P00163 Output_02_Source 82 00082 Torque_Limit_0 874 40082 Torque_Limit_4 664 P00164 Output_03_ Source Communication SCANp Data In 83 00083 Torque_Limit_0 875 S540083 Torque Limit 4 665 P00165 Output_04 Source 716 P00216 SP_ Logic Mask 100 00100 Vel_Prop Gain_0 876 540100 Vel_Prop_Gain_4 666 P00166 Output_05 Source 717 P00217 Logic_Command 101 00101 Vel_Integ_Time_0 877 40101 Vel_Integ_Time_4 667 P00167 Output_06_Source 725 P00225 SP_Data_Input_Al 104 00104 Pos_Loop_Gain_0 878 540104 Pos_Loop_Gain_4 668 P00168 Output_07_Source 726 P00226 SP_Data_Input_A2 105 00105 Pos_Integ Time_0 879 S40105 Pos_Integ Time_4 669 P00169 Output_08 Source 727 P00227 SP_Data_Input_B1 136 500136 Accel_Limit_0 885 540136 Accel_Limit_4 670 P00170 Output_09 Source 728 P00228 SP Data Input_B2 137 00137 Decel_Limit_0 886 540137 Decel_Limit_4 671 P00171 Output_10_ Source 729 P00229 SP_Data_Input_C1 296 00296 Vel Fdfwd Gain 0 880 540296 Vel Fdfwd Gain 4 730 P00230 SP Data Input C2 348 S00348 Acc_Fdfwd_Gain_0 881 540348 Acc_Fdfwd Gain 4 1 0 Interface Digital Inputs 731 P00231 SP Data Input_D1 523 P00023 System_Accel_0 882 P00382 System_Accel_4 6
125. 1 and L2 or U1 and V1 Table 5 4 lists the necessary air flow CFM requirements for the 5 motor frame sizes The cooling inlet air must not exceed 40 degrees C Allow a 4 inch gap minimum at the back of the motor to assure free air flow If the blower motor direction of rotation is not correct the airflow will be opposite to the arrow on the motor and it will be far lower in air flow than what is required to cool the motor In the standard configuration the 112 mm motors DL1108 to DL1110 blow air from the blower end to the drive end All other motors blow air from the drive end to the blower end Publication 8720MC UM 001C EN P Feb 2001 5 12 Motor Installation and Wiring Table 5 4 8720SM Air Flow Requirements Frame Size CFM Static Pressure DL 112 200 1 5 DL 130 200 1 5 DL 160 325 1 75 DL 180 425 2 00 DL 200 525 2 25 You need to properly ground your 8720SM motor ATTENTION Connect an appropriate equipment grounding conductor to the 8720MC Drive ground terminal the motor frame the transformer enclosure if used the drive electrical enclosure and an appropriate grounding electrode Failure to observe these precautions could result in severe bodily injury or loss of life Figure 5 5 shows general grounding information for both the 8720MC Drive and the 8720SM motor Figure 5 4 General Grounding Recommendations for 8720MC Drive and 8720SM Motor
126. 125 S6 50 duty kW hp 55 73 7 63 84 4 76 101 8 92 123 3 110 147 4 1 minute peak kW hp 68 91 1 82 110 95 127 3 112 150 140 187 7 Rated torque at base speed N m lb ft 287 211 5 350 258 400 294 8 480 353 8 590 434 8 peak torque at base speed N M lb ft 430 317 2 525 387 24 600 442 720 531 1 890 656 5 Base speed rpm rpm 1500 1500 1500 1500 1500 Max speed foot mount rpm 6500 5000 5000 5000 4500 Max speed flange mount rpm 6000 5000 5000 4500 4000 Constant power speed range 3 7 1 3 3 1 3 3 1 3 3 1 3 0 1 Rotor inertia kg m lb ft 35 409 468 885 1 01 8 3 9 7 11 1 21 0 24 0 Rated continuous motor current at amps RMS cont 93 116 117 5 137 176 base speed S6 current at base speed amps RMS 110 129 135 161 200 Peak current at base speed amps RMS 131 161 163 188 242 Voltage at Base Speed volts RMS 375 370 418 430 410 Voltage at max speed volts RMS 505 505 505 505 505 Motor weight kg lbs 297 655 324 714 350 772 453 999 478 1054 Max radial bearing load kg lbs 390 860 390 860 390 860 422 930 422 930 Publication 8720MC UM 001C EN P Feb 2001 Specifications 2 11 Table 2 10 Drive Amplifier Specifications 8720MC Drive Amplifier Specifications for 750V DC Input 8720MC RPS Regenerative Power Supplies and 8720SM AC Motor Drive Amplifier Specifications Units Drive Amplifier Data for Each
127. 2 8176 For questions about all 8720MC products have the catalog numbers ready for reference For 8720SM motors always have the motor catalog number and motor ID number which can be acquired from the motor name plate 8720MC Drive Spare Parts Table B 1 8720MC Drive Spare Parts Pirate Part Description 8720MC AQBX5 Stegmann times 5 encoder box for 5120 simulated encoder output 8720MC CN1 Control Module Mating Connector Kit 8720MC CNMF Motor right angle mating connector 8720MC MCM Drive Main Control Module PC Board 1336 FAN SP1A Drive fan for the 8720MC B and C frame drives 1336 FAN SP2A Drive fan for the 8720MC D frame drives 1336 TR SP1A Kit Thermistor 8720MC B frame 1336 TR SP2A Kit Thermistor 8720MC C frame 1336 TR SP3A Kit Thermistor 8720MC D frame 1336 WB009 Brake chopper module 460 VAC 9 amp 1336 WB035 Brake chopper module 460 VAC 35 amp B 2 Replacement Spare Parts Publication 8720MC UM 001C EN P Feb 2001 8720SM Motor Spare Parts Table B 2 8720MC Motor Spare Parts Catalog Number Reliance Part Description 613450 1G Blower Motor for DL 1106 to DL 1110 613450 1C Blower Motor for DL 1307 to DL 1310 613450 2C Blower Motor for DL 1611 to DL 1613 613450 21A Blower Motor for DL 1811 to DL 1813 613450 21A Blower Motor for DL 2010 to DL 2012 607980 112A Stegmann SNS 60 Encoder 8720MC RPS Regenerative Power
128. 20MC UM 001C EN P Feb 2001 7 14 Using the Human Interface Module HIM Viewing the Fault Queue Warning Queue Publication 8720MC UM 001C EN P Feb 2001 not at it s default value Press the increment up key or the decrement down key again The HIM searches for the next parameter which is not at it s default value In this way all parameters links that are not at their factory defaults can be displayed on the HIM Press the escape key to leave search mode and return to the next higher level in the HIM logic tree Control Status mode lets you view the fault queue To view the fault queue 1 2 7 Press any key from the status display Choose Mode is shown Press the increment up key or the decrement down key to show Control Status Press enter to select Control Status Press the increment up key or the decrement down key until Fault Queue is displayed Press enter to select Fault Queue Press the increment up key or the decrement down key until View Queue is displayed Press enter to select View Queue The fault queue can contain up to 32 faults The 8720MC Drive reports the faults using the following format Figure 7 7 Fault Format Fault name A Ji O v je jr IT Je m jp T jr p F 2 O 12 18 T r fi Ip 1 Fault queue Fault c
129. 20SM spindle motor Information includes e dimensions for the 8720MC RPS Regenerative Power Supply e dimensions for the B and C frames which apply to all the 8720MC Bxxx Drive Amplifiers as well as the 8720MC D065 and the 8720MC D078 Drive Amplifiers e dimensions for frame D which is used with the 8720MC D097 8720MC D120 8720MC D149 and 8720MC D180 Drive Amplifiers e mounting dimensions which assure proper heat dissipation around the drive e dimensions and radial bearing capacities for various 8720SM motors including frames DL1106 through DL2012 e dimensions for the 3 phase 380 to 460V AC 8720MC line reactor assemblies 3 2 8720MC Regenerative Power Dimensions The following dimensions are for the 8720MC RPS Regenerative Power Supply sometimes referred to as the Regenerative Converter Supply Dimensions Figure 3 1 8720MC RPS Regenerative Power Supply Dimensions 9 0 35 dia 0 39 127 E i 5 0 a 0 71 dia N y O A O 0 35 30 Allen Bradley l 1 2 395 15 6 333 2 eis HAHAM SW REGENERATIVE POWER SUPPL Ree SSSA 13 12 Publication 8720MC UM 001C EN P Feb 2001 10 3 9 0 35 gt A 127 i 5 0 aa 179 4 7 063 ald Unit Millimeter Inch 318 3 12 53 30700 M R2 Dimensions for Frames B and C Dimensions 3 3 The following dimensions a
130. 24 Amps at Base Speed Cont Amps 26 4 16 2 S6 Amps 33 TT Max Amps 37 8 0 e eee 0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 RPM RPM Figure 2 16 11Kw Motor with 460 vac Input 11 kW at 1500 RPM Base Speed DL1110 Frame Catalog No 011S1DB 18 T 120 maximum kW Maximum 16 10 S6 50 14 S6 50 ED kW 96 Torque in NM 84 Rated 70 12 Continuous S1 k S6 50 95 72 Rated Max 105 10 2 Z 60 8 Performance assumes 460 VAT g input inverter with a minimum of feg 48 6 420 VAC at motor ec Amps at Base Speed 2 4 ContAmps 32 3 S6 Amps 42 24 2 Max Amps 46 12 0 0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 RPM RPM Figure 2 17 15 Kw Motor with 460 vac Input 15 kW at 1500 RPM Base Speed DL1307 Frame Catalog No 015S2EB 25 l i int aan maximum kW ictal 13 S6 50 20 S6 50 ED kW i Torque in N M 10 l Rated 96 Rated S6 50 118 154 90 Max 145 275 10 Performance assumes 460 VAC e 60 input inverter with a minimum of g 420 VAC at motor is Amps at Base Speed ContAmps 41 5 5 S6 Amps 49 30 MaxAmps 58 15 0 0 0 1000 2000 3000 4000 5000 6000 7000 8000 0 1000 2000 3000 4000 5000 6000 7000 8000 RPM RPM Figure 2 15 7 5 Kw Motor with 460 vac Input 7 5 kW at 1500 RPM Base Speed DL1108 Frame
131. 3 4 12345 67 8 9 10111213 1415161718 Analog Outputs Feedback and amp Registration Inputs Discrete I O Analog Commands 30805 M R4 Publication 8720MC UM 001C EN P Feb 2001 4 20 Drive Installation and Wiring Analog Outputs amp Registration Customer Logic Interface Auxiliary Feedback Inputs A quad B Output Analog Commands iro core call ose ss e es oea oos ood aal o o ooo ooo ooo 5 6 75 19202122252425 2627 28 29 30 31 3233 34 3536 SERCOS Aaaa 1 23 4 12 3 45 67 8 9 101112131415161718 RINJ regata 8 oto tia ee 7 J Motor Feedback lt PC Board TX RX 30407 M R1 Table 4 9 P1 Connector Pinout Information P1 Connector Motor and Load Feedback and Analog Inputs Weidmueller Double Row 5 00mm Terminals Row1 Description Row2 Description 1 Ch1 Sine or A Channel Data motor 14 Ch2 Sine or A Channel Data or Analog In 1 2 Ch1 Sine Return or not A Channel Data 15 Ch2 Sine Return or not Channel A Data or Analog In 1 return 3 Ch1 Cosine or B Channel Data motor 16 Ch2 Cosine or B Channel Data or Analog In 2 4 Ch1 Cosine Return or not B Channel Data 17 Ch2 Cosine Return or not Channel B Data or Analog In 2 return 5 Ch1 Encoder Power Common 18 Ch2 Encoder Power Common 6 Ch1 9vdc Encoder Power motor 19 Ch2 9vdc Encoder Power auxiliary 7 Ch1 5vdc Encoder Power 20 Ch2 5vdc Enc
132. 35 132 5 155 105 4 7 125 80 48 amps 460V AC 2 1 max 1 5 5 10 8720MC LR10 062B 440 145 150 145 160 110 4 9 5 125 80 62 amps 460V AC 2 1 max 1 5 5 10 8720MC LR14 070B 460 155 150 155 180 125 4 9 5 140 80 75 amps 460V AC 2 1 max 1 5 5 10 Publication 8720MC UM 001C EN P Feb 2001 Dimensions 3 15 Table 3 21 J through L Line Reactor Dimensions in millimeters Amps A B Catalog Number J K L Cont Inductance 8720MC LR03 032B 15 4 15 6 32 850 uH R22 6 8720MC LR05 048B 15 4 15 6 48 800 uH R22 6 8720MC LR10 062B 15 4 15 6 62 1100 uH R22 6 8720MC LR14 070B 15 4 15 6 70 1200 uH R38 6 Publication 8720MC UM 001C EN P Feb 2001 3 16 Dimensions Publication 8720MC UM 001C EN P Feb 2001 Chapter 4 Drive Installation and Wiring Chapter Objectives Chapter 4 provides the following information so that you can mount and wire your 8720MC Drive before mounting your drive mounting your drive grounding your drive AC supply source information for AC input drives connecting power to your drive selecting your motor cables connecting power to the 8720MC RPS and 1336 R Regenerative Power Supplies control interface wiring disconnecting the drive output starting and stopping the motor electrical interference EMI RFI RFI filters Important Some of the mounting and wiring information is specific to the ind
133. 5 where the out going actual velocity or torque value is stored SCANport_AN1I_Value has a scaling factor associated with it as defined in chapter 8 The default velocity scaling 1 LSB 1 rpm The torque scaling is fixed at 1000 100 rated torque All velocity feedback or torque feedback and logic status information is returned to the PLC from the 8720MC via the communication gateway on SCANport The drive can operate in position velocity or torque modes The mode is determined by the primary operating mode parameter for the active parameter set There are 8 servo parameter sets available to accommodate gear range switching high low windings and mode switching The active parameter set is stored in parameter 254 Each parameter set has a primary operating mode parameter Refer to parameter 32 in Chapter 8 for a description of the Primary Operating Mode Parameter The SCANport gateway reference command must be scaled by the PLC if something other than the default scaling is required The default velocity scaling 1 LSB 1 rpm The torque scaling is fixed at 1000 100 rated torque SCANport Command Logic Inputs When SCANport is the primary command interface the velocity or the torque command is provided from an A B PLC via a SCANport gateway The key logic commands as described in Table 6 7 are passed through the Logic Input Command Word and the Logic Output Status Word The following descriptions apply
134. 501 all position velocity torque and procedure commands are delivered to the 8720MC from the master motion controller via the SERCOS ring All position velocity torque feedback and status information is returned to the master motion controller from the 8720MC via the SERCOS ring For more details on SERCOS see IEC Specification 61491 and Chapter 8 in this manual SCANport is a Rockwell Automation Can based peripheral communication network which is used by the 8720MC to communicate with the integral HIM a remote HIM a PC running Drive Explorer in a MS Windows environment or a Rockwell PLC SCANport is a multi channel communication network which supports multiple nodes or ports The 8720MC has an internal SCANport connection point and an external SCANport connection point The integrated HIM option is connected to the internal Port 6 connector as shown in Figure 6 5 Interface Signal Description 6 13 The HIM is an optional device therefore Port 6 can also be used for other purposes such as an unpackaged peripheral communications interface module to one of Rockwell s communication networks Figure 6 5 SCANport Peripheral Interface 8720 MC SCANport Connections Unpackaged Peripheral Communication Option Enclosed Style
135. 60 Performance assumes regenerative g 48 converter with 750 VDC bus and g 505 VAC at motor 3 Amps at Base Speed Cont Amps 26 8 24 S6 Amps 34 6 Max Amps 37 6 12 0 0 0 1000 2000 3000 4000 5000 6000 7000 98000 9000 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 RPM RPM 30739 M R2 Figure 2 4 15kW Motor 15 kW at 1500 RPM Base Speed DL1307 Frame Catalog No 015S2EA 25 t 1 150 maximum kW 13 E i S6 50 ED kW Torque in Nt M S6 50 118 Continuous S1 kW 15 90 Max 140 z z lt 75 1 Performance assumes regenerative g 60 p converter with 750 VDC bus and g 505 VAC at motor ie Amps at Base Speed ContAmps 33 4 5 S6 Amps 39 1 30 MaxAmps 46 15 0 0 0 1000 2000 3000 4000 5000 6000 7000 8000 0 1000 2000 3000 4000 5000 6000 7000 8000 RPM RPM Figure 2 5 18 5kW Motor 18 5 kW at 1500 RPM Base Speed DL1308 Frame Catalog No 018S2FA 30740 M R2 Maximum Continuous Performance assumes regenerative 1000 converter with 750 VDC bus and _ 505 VAC at motor Amps at Base Speed Cont Amps A S6 Amps 47 2 Max Amps 57 2000 3000 4000 5000 RPM 6000 7000 Publication 8720MC UM 001C EN P Feb 2001 162 S6 50 144 Torque in Nt M 12 Rated 118 S6 50 140 108 Max 176 z E 90 S a 72 54 36 18 0 8000 0 1000 2000 3000 4000 5000 6000 70
136. 7 130 5 Base speed rpm rpm 1500 1500 1500 1500 1500 Max speed S series rpm 9000 9000 9000 8000 8000 Constant power speed range 5 8 1 6 1 4 5 1 43 1 3 9 1 Rotor inertia kg m Ib ft 0165 392 0222 528 0272 645 0809 1 92 0977 2 32 Rated continuous motor current at amps RMS cont 19 3 26 4 32 3 415 47 1 base speed S6 current at base speed amps RMS 25 33 42 49 54 Peak current at base speed amps RMS 27 5 37 46 58 65 Voltage at Base Speed volts RMS 245 243 278 297 320 Voltage at max speed volts RMS 420 420 420 420 420 Motor weight kg Ibs 75 165 91 201 102 225 131 289 150 331 Max radial bearing load kg Ibs 206 455 206 455 206 455 243 535 243 535 Publication 8720MC UM 001C EN P Feb 2001 2 16 Specifications Table 2 14 Drive Amplifier Specifications 8720MC Drive Amplifier Specifications for 460 V AC Input Drives Drive Amplifier Specifications Units Drive Amplifier Data for Each Power Rating Motor catalog number 8720SM 005S1BB 007S1CB 011S1DB 015S2EB 018S2FB Rated motor current at base speed amps RMS cont 19 3 26 4 32 3 415 47 1 Drive amplifier catalog number 8720MC B021 B027 B034 B042 B048 AC input voltage volts RMS 460 460 460 460 460 AC input current amps RMS 22 28 35 43 49 Rated Input KVA KVA 18 23 29 35 40 Max continuous output power kW hp 5 5 7 5 7 5 10 11 15 15 20 18 5 25 Max continuous
137. 720MC Optimizing the Motor Orient Procedure Publication 8720MC UM 001C EN P Feb 2001 This section provides the information you need to optimize your motor s orientation Usually motor orient cycle time is a critical issue It is therefore important to adjust the parameters to get the most out of the drive and motor The 8720MC is capable of high accelerations speeds and torques therefore the mechanical systems usually become the limit To achieve maximum performance it is desirable to get the maximum orient speed and acceleration the mechanical system can support The key parameters in achieving this are Parameter 222 Spin Orient Spd Parameter 260 Posn Accel Rate Parameter 157 At Spd Window or Parameter 272 Speed Window and Parameter 100 Vel Prop Gain assuming Servo Loop Parameter Group 0 Note In general the optimizing procedure is to first auto tune the motor with the orient load such as a spindle or indexing mechanism connected Refer to Performing the Auto Tune 1 Next gradually increase the orient speed and orient acceleration in unison 2 After each change in Parameters 222 and 260 execute an orient Continue to do this until the desired cycle time is achieved or the maximum capability of the mechanical system is realized Note It may be necessary to increase the At Spd Window via Parameter 157 or 272 to avoid missing a marker and taking an extra revolution to achieve
138. 8 4 Numerical Order No 00011 00013 00014 00030 n0032 00036 n0038 n0039 00040 00043 00044 00045 00046 00047 00051 00053 00055 00057 00076 00077 00078 00079 00080 n0082 n0083 00084 00085 00086 00093 00094 00099 n0100 n0101 00103 Programming Parameters Standard 8720MC Parameters in SERCOS IDN 8720MC Param No 11 13 14 30 32 36 38 39 40 43 44 45 46 47 51 53 55 57 76 77 78 79 80 82 83 84 85 86 93 94 99 100 101 103 DESCRIPTION Class 1 diagnostics Class 3 diagnostics Interface status Manufacturer version Primary operation mode 8 groups n 0 7 Velocity command Positive velocity limit value Negative velocity limit value Velocity feedback value velocity polarity parameter Reserved Velocity data scaling type Reserved Velocity data scaling factor Reserved Velocity data scaling exponent Reserved Position command value Position feedback value 1 Motor feedback a Posi a ion feedback value 2 External feedback Posi a ion polarity parameter Posi a jon window in position Posi a jon data scaling type Linear position data scaling factor Reserved Linear position data scaling exponent Reserved Rotational position resolution Torque command value Positive torque limit value n 0 7 Negative torque limit value n 0 7 Torque feedback value Torque
139. 8 M16 2 00 167 19 M16 2 00 167 Publication 8720MC UM 001C EN P Feb 2001 5 6 Motor Installation and Wiring Publication 8720MC UM 001C EN P Feb 2001 Belted Drives and Coupled Drives 8720SM motors are supplied with a shaft suitable for a belt or coupled drive Bearing loads will vary depending on the belt load The bearing load increases as the sheave centerline moves away from the motor flange mounting surface For more information check belt loads against allowable radial loads as described in the motor specification tables in Chapter 2 ATTENTION Incorrect motor rotation may cause personal injury or damage the equipment Check the direction of the motor rotation before coupling the motor to the load ATTENTION Insure that all guards are properly installed before proceeding Exercise extreme care to avoid contacting rotating parts Failure to observe these precautions could result in bodily injury Proper alignment is a key step for long life of bearings shafts and belts and minimum downtime Misalignment can cause excessive vibration and damaging forces to the shaft and bearings During high speed operation a small unbalance can cause significant vibration For direct coupled drives flexible couplings facilitate alignment For belt drives place the sheave as close as possible to the motor bracket Make sure to accurately dynamically balance any gears pulleys or couplings that are mounted to the motor shaft
140. 812 832 852 872 892 912 932 Velocity_Limit_n 39 813 833 853 873 893 913 933 Torque_Limit_n 82 814 834 854 874 894 914 934 Torque_Limit_n 83 815 835 855 875 895 915 935 Vel_Prop_Gain_n 100 816 836 856 876 896 916 936 Vel_Integ_Time_n 101 817 837 857 877 897 917 937 Pos_Loop_Gain_n 104 818 838 858 878 898 918 938 Pos_Integ_Time_n 105 819 839 859 879 899 919 939 Accel_Limit__0 136 825 845 865 885 905 925 945 Decel_Limit_0 137 826 846 866 886 906 926 946 Vel_Fdfwd_Gain_n 296 820 840 860 880 900 920 940 Acc_Fdfwd_Gain_n 348 821 841 861 881 901 921 941 System_Accel_n 523 822 842 862 882 902 922 942 Torq_Notch_Freq_n 561 823 843 863 883 903 923 943 Torq_Lowpas_Freq_n 562 824 844 864 884 904 924 944 Publication 8720MC UM 001C EN P Feb 2001 8 78 Programming Parameters Publication 8720MC UM 001C EN P Feb 2001 Chapter Objectives General Startup Precautions Chapter 9 Starting Up Your 8720MC This chapter provides you with the information to start up and tune your 8720MC System This chapter includes e General startup precautions e Setup and tuning procedures for the 8720MC drive e Procedure for running the drive in manual mode Before you begin the startup procedures be sure to read and understand the information in the previous chapters of this manual Note The procedures in this chapter do not include information regarding integration with other products The following precautions pertain to all
141. 8720MC Digital Registration Interface Using External Power 8720 MC Drive 24vdc probe P43 24vde Registration Input cei _ SEE PORE P42 5vdc Registration Input _ _ Probe 24 vde EEn Ps 5 vdc z a P4 7 Registration Input Common 30715 J1 Publication 8720MC UM 001C EN P Feb 2001 6 8 Interface Signal Description Publication 8720MC UM 001C EN P Feb 2001 Analog Inputs and Outputs The 8720MC has two 10 vdc analog outputs and two 10 vdc analog inputs The analog inputs are only available in the analog input spindle or power servo software configurations parameter 501 In the SERCOS configuration the analog inputs are used to interface to the auxiliary spindle or axis mounted feedback device that is connected to the auxiliary feedback connector In the analog input spindle or power servo software configurations as determined by parameter 501 Analog Input 1 provides the torque or velocity command reference to the drive Analog Input 2 provides a manual velocity reference for manual operator stations Figure 6 4 illustrates the recommended connections for the analog inputs and outputs Table 6 3 illustrates the default analog input links to the 8720MC software A description of the Analog Input Parameters analog Inputs 1 and 2 can be found in Chapter 8 under parameters 691 to 692 Each analog input has a scaling factor associated with it Parameters 695 and 696
142. 9 9 9 9 9 9 9 Olo PE PE DC DC R S T U V W GRD GRD z L1 L2 L3 T1 T2 T3 SS Dynamic Brake is A A A Regen momen f i i i To Motor To Motor 1 Required Branch Circuit Disconnect AC Input Line No connection when using the DC Input 1 User supplied 30726 M R3 Publication 8720MC UM 001C EN P Feb 2001 Drive Installation and Wiring 4 11 Figure 4 6 shows the TB1 drive connections for the C frame Figure 4 6 TB1 Drive Connections for C Frame 750V dc 30 37kW 40 50 HP Terminal Designations C Frame A AN JSS S SSS S S SSS OC 12 l2 2 IS fe o a o o Y Y JS PE PE pc po R S T U vV w GRD GHD L1 L2 L3 T1 T2 T3 To A To Motor 30701 M R4 Figure 4 7 shows the TB1 drive connections for the D frame Figure 4 7 TB1 Drive Connections for D Frame 750V dc 45 93 kW 60 to 125 HP Terminal Designations m m m DC DC PE PE TE GRD GRD GRD To Motor To Motor 30727 M R2 Publication 8720MC UM 001C EN P Feb 2001 4 12 Drive Installation and Wiring Publication 8720MC UM 001C EN P
143. 90 P00190 Dig _Input_Status 732 P00232 SP Data Input D2 561 P00061 Torq_Notch_Freq0 883 P00383 Torq_Notch_Freq4 562 P00062 Torq Lowpas_Frq0 884 P00384 Torq Lowpas_Frq4 1 0 Interface Event Links Communication SCANp Data Out 330 S00330 At_Prog_Speed 718 P00218 SP_Logic_Status Servo Loop Group 1 Servo Loop Group 5 331 00331 Zero_Speed 733 P00233 SP_Data_Out_Al 811 10032 Prim_Op Mode_1 891 50032 Prim_Op_ Mode_5 332 00332 Vel_Below_Thresh 734 P00234 SP_Data_Out_A2 812 10038 Vel_Limit_1 892 50038 Vel_Limit_5 334 S500334 Torq_Above_Limit 735 P00235 SP Data Out B1 813 10039 Vel_Limit_1 893 550039 Vel_Limit_5 335 00335 Vel_Above_Limit 736 P00236 SP_Data_Out_B2 814 10082 Torque_Limit_1 894 50082 Torque_Limit_5 336 00336 In Position 737 P00237 SP Data Out C1 815 10083 Torque_Limit_1 895 50083 Torque_Limit_5 339 S500339 Spd_Below_Min 738 P00238 SP_Data_Out_C2 816 10100 Vel_Prop_Gain_1 896 550100 Vel_Prop_Gain_5 340 00340 Spd_Above_Max 739 P00239 SP_Data_Out_D1 817 10101 Vel_Integ Time_1 897 50101 Vel_Integ Time_5 526 P00026 HI_Wind_enable 740 P00240 SP_Data_Out_D2 818 10104 Pos_Loop_Gain_1 898 550104 Pos_Loop_Gain_5 527 P00027 Lo_Wind_Enable 819 10105 Pos_Integ Time_1 899 550105 Pos _Integ Time_5 528 P00028 Enable Brake Sol 825 510136 Accel_Limit_1 905 50136 Accel_Limit_5 529 P00029 Auto Ref _E
144. 98 98 98 98 Rated output KVA kVA 19 19 19 19 45 45 45 45 Rated output current amps DC 27 27 27 27 64 64 64 64 Rated max output current amps DC 40 5 40 5 40 5 40 5 96 96 96 96 1 min Operating Temperature degC 10 to 55 10 to 55 10 to 55 10 to 55 10 to55 10 to 55 10 to 55 10 to 55 Storage temperature deg C 40 to 65 40 to 65 40 to 65 40 to 65 40 to 65 40 to 65 40 to 65 40 to 65 Ambient humidity 5 to 95 5 to 95 5 to 95 5 to 95 5 to 95 5 to 95 5 to 95 5 to 95 Altitude meters 1000 1000 1000 1000 1000 1000 1000 1000 feet 3300 3300 3300 3300 3300 3300 3300 3300 Vibration G lt 1G lt 1G lt 1G lt 1G lt 1G lt 1G lt 1G lt 1G 25Hz 25Hz 25Hz 25Hz 25Hz 25Hz 25Hz 25Hz shock G lt 2G lt 2G lt 2G lt 2G lt 2G lt 2G lt 2G lt 2G weight kg lbs 11 24 3 11 24 3 11 24 3 11 24 3 13 5 29 8 13 5 29 8 13 5 29 8 13 5 29 8 Publication 8720MC UM 001C EN P Feb 2001 Curves for 5 5 to 37 kW 8720SM Motors with 8720MC RPS Regenerative Power Supply Power and Torque Curves Specifications 2 7 The following power and torque curves contain data for 5 5 kW 7 5kW 11kW 15kW 18 5kW 22kW 30kW and 37kW motors at 1500 RPM base speed Figure 2 1 5 5kW Motor 5 5 kW at 1500 RPM Base Speed DL1106 Frame Catalog No 005S1BA kW 505 VAC at motor Cont Amps Ma
145. A NA encoder mem string Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN S00150 Name Mtr_Marker_Ofset Display format signed integer R W Parameter No Description Reference offset 1 is used to offset the motor encoder zero point This parameter describes the 150 distance between the incremental encoder zero reference marker pulse or the single turn absolute encoder zero File reference point and the desired mechanical zero reference of the axis motor or spindle motor Position feedback Procedure 1 parameter 51 the motor mounted feedback rotary position feedback value can be modified with this offset Group Parameter 150 provides an offset that compensates for rotary mis alignment between the encoder zero point and Orient Homing the desired mechanical zero of the spindle or axis This parameter is used to configure the axis or spindle motor zero during startup A value produces a clockwise offset angle when facing the shaft end of the motor and a value produces a counter clockwise offset It should be noted that this is the opposite sense to the position and orient angle signs To prevent reversals during orient use a signed offset for cw orient and a signed offset for ccw orient Analog Default Length Analog Minimum Maximum Analog Scaling Resolution Units 0 00 2 bytes Min gt 32768 1 1 count as determined by parameter 79
146. AC INPUT COMMON BUS DRIVE PRODUCT STRUCTURE 8720MC v xxx aa HASh op INPUT VOLTAGE B 380 to 460 VAC 750VDC COMMON BUS AMPLIFIER SIZE ENCLOSURE HUMAN OPTIONS AMPERES TYPE INTERFACE 021 20 9 Amp AN OPEN HASP Std HIM BLANK NONE 027 27 2 Amp AA Enclosed HASB No HIM 01 OPTION1 034 33 7 Amp HAS1 Analog HIM 042 41 8 Amp HAS2 Digital HIM 048 48 2 Amp 30782 M R3 Publication 8720MC UM 001C EN P Feb 2001 1 6 Introduction Common Bus Architecture and Product Structure 380 TO 460 VAC 15 10 TT I Control Board Regenerative Power Supply Master Applications involving multiple spindles or multiple power servos can benefit from the common bus architecture available with the 8720MC Drive In this configuration an 8720MC regenerative power supply converter produces a common 750 V DC bus which can be used by multiple 8720MC drive amplifiers as shown in Figure 1 4 This allows a single regenerative power supply to be used with multiple spindle or power servo drives thereby enhancing the cost effectiveness of multiple drive applications Figure 1 4 8720MC Regenerative Drive System Common Bus Configuration 380 TO 460 VAC 15 10 tt 8720MC REGENERATIVE DRIVE SYSTEM COMMON BUS CONFIGURATION Line Filter IGBT Rect Bridge Control Board Regenerative Power supply Optional Slave Programmable DC Common Bus 5 5 to 93 kw AC Motor Publicat
147. Because of these limitations the names may be abbreviated The following modes are available Table 7 4 HIM Modes This mode Lets you Display View the value of any parameter You cannot modify parameters in this mode Program Access the complete listing of parameters available for programming EEProm Reset all parameters to the factory default settings or save modified parameters In addition you can upload download parameters between the HIM and the drive remote HIM only Search Search for parameters that are not at their default values Control Status You can access the fault and warning queues from Control Status A clear function clears the queue It will not clear an active fault Refer to Chapter 10 Troubleshooting for more information about the fault and warning queues Password Protect the drive parameters against programming changes by unauthorized personnel When a password has been assigned you must have the correct password to access the Program EEProm modes and the Control Logic Clear Fault Queue menus You can choose any five digit number between 00000 and 65535 for the password HIM Menu Tree Using the Human Interface Module HIM 7 7 Figure 7 5 provides a graphical representation of the method of navigating through the modes of operation of the Him Module Parameter Files Groups and Elements in Chapter 8 provides an overall view of the 7 major files and their associated groups
148. Best results are obtained by balancing after the device is mounted to the shaft Belted Drives If you use motor slide bases or rails you must securely anchor them to the foundation with the proper bolts Make sure the motor shaft and load shaft are parallel and that the sheaves are aligned When a motor is belt coupled the belt tension must not exceed the radial load capabilities of the motor bearings as described in the motor specification tables in Chapter 2 The maximum allowable radial load is assumed to be applied at the end of the motor drive shaft Do not exceed the maximum allowable radial load on the end of the shaft Coupled Drives Use flexible couplings between the motor shaft and the load shaft Align the motor shaft and the load shaft to values recommended for the specific coupling before coupling is connected Standard 8720SM motors will operate successfully mounted on the floor wall or ceiling and with the shaft at any angle from horizontal to vertical Motor Installation and Wiring 5 7 Wiring Your Motor Read the following attention text before wiring your motor ATTENTION You are responsible for conforming with the National Electrical Code NEC and all other applicable local codes wiring practices grounding disconnects and over current protection of particular importance Failure to observe these precautions could result in severe bodily injury or loss of life ATTENTION This equipmentis at line volt
149. Bit 5 reserved Bit 6 Data reference 0 at the motor shaft 1 at the load Bit 7 Processing format 0 absolute format 1 modulo format see IDN 00103 all other bits are reserved This parameter is available with the 8720MC SERCOS Release Default Length SERCOS Min Max SERCOS Scaling Resolution Units x00x01010 2 bytes NA NA NA IDN S00077 Name Posn_Scal_Factor Data Display integer R W Parameter No 71 Description Linear position data scaling factor This parameter defines the scaling factor for all linear position data in a drive Parameter 77 applies to the SERCOS and 32 bit SCANport DPI configurations when preferred File scaling is not used Parameter 79 not 77 is used for analog configurations Control This parameter is available with the 8720MC SERCOS Release Group Position Default Length SERCOS Min Max SERCOS Scaling Resolution Units 1 2 bytes Min gt 1 Structure of the scaling factor NA Max lt 226 1 Bits 15 0 factor Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN S00078 Name Posn_Scale_Expon Data Display Signed integer R W Parameter No Description Linear position data scaling exponent This parameter defines the scaling exponent for all linear 78 position data in a SERCOS configured drive Parameter 78 applies to the SERCOS and 32 bit SCANport DPI File configurati
150. CANport 2 bytes Minimum Maximum 1 1 Default Min gt 1000 0 0 0 Max lt 1000 0 Default Length SERCOS Min Max SERCOS Scaling Resolution Units 0 2 bytes Min gt 215 Scaling type IDN 00086 IDN 00086 15 Scaling factor IDN 00093 d os Scaling exponent IDN 00094 IDN S00085 Name Torque_Polarity Data Display Bit pattern R W Parameter No Description Torque polarity parameter This parameter is used to switch polarities of reported torque data for 85 specific applications Polarities are not switched internally but externally on the input and output of a closed loop File system The motor shaft turns clockwise when there is a positive torque command difference and no inversion Control Group Enumerated Bit Pattern Torque Structure of torque polarity parameter see figure C 7 Bit 0 Torque command value 0 non inverted 1 inverted Bit 1 Additive torque command value 0 non inverted 1 inverted Bit 2 Torque feedback value 0 non inverted 1 inverted Bits 15 3 reserved This parameter is available with the 8720MC SERCOS Release Default Length Minimum Maximum Scaling Resolution Units x000 2 bytes NA NA NA Publication 8720MC UM 001C EN P Feb 2001 8 20 Programming Parameters IDN 500086 Name Torq Scale_Type Data Display Bit pattern R W Parameter No Description Torque force data scaling type In the SERCOS configuration a variety of scaling met
151. DN 00013 and is set when Goll a ace the velocity feedback value IDN 00040 lies within the calculated command value for the velocity window IDN Kent LN 00157 and or IDN 00272 which is based upon the velocity command value see IDN 00036 Bit 0 is defined for operation data only This parameter can be linked to the digital I O or the SCANport logic word Calculation of Needback Ncommand i n feedback n comm and Is In comm and IDN 00272 IDN 00157 Bit Pattern Structure of status Nreedback command Bit0 0 edback Ncomm and 1 Meedback Pcommand Default Length Minimum Maximum Scaling Resolution Units NA 2 bytes NA NA NA IDN 500331 Name Zero_Speed Data Display Bit R Link Parameter No Description Status Nfeedback 0 This parameter is used to define an IDN for the status Nreedback 0 In the 331 SERCOS configuration this allows the status Nreadback 0 to be assigned to a real time status bit see IDN es terf 00305 The status Needback 0 is defined as a C3D bit IDN 00013 and is set when the velocity feedback value Gan aS IDN 00040 is within the standstill window see IDN 00124 Bit 0 is defined for operation data only This Event Links parameter can be linked to the digital I O or the SCANport logic word Bit Pattern Structure of status Meadhack 0 Bit 0 0 Needback 0 1 Nreedback 9 Default Length Minimum Maximum Scaling Resolution Units NA 2 bytes NA NA NA
152. Disabled 01 Index Orient to the motor encoder marker or absolute zero if single turn absolute feedback is used Parameter 154 is used to determine if the motor encoder or the spindle encoder is the assigned feedback orient device 02 Reg 0 Rise Orient to a spindle mounted registration sensor using the rising edge of the 24 vdc registration input 03 Reg 0 Fall Orient to a spindle mounted registration sensor using the falling edge of the 24 vdc registration input 04 Reg 1 Rise Orient to a spindle mounted registration sensor using the rising edge of the 5 vdc registration input 05 Reg 1 Fall Orient to a spindle mounted registration sensor using the falling edge of the 5 vdc registration input In most applications it is required to orient to the 8720SM motor encoder marker In this case Index must be selected Default 00 Minimum Maximum Scaling Resolution Units NA NA NA IDN P00083 Name Orient_Complete Data Type bit flag Parameter No 583 File 1 0 Interface Group Event Links Description With the 8720MC drive analog configuration a drive orient can be initiated via Digital Input 2 24vdc on Digital Input 2 causes parameter 152 IDN S000152 Spin_Orient_Req to become true Parameter 583 IDN P00083 can be linked to a digital output by entering 583 into one of the digital output words In so doing when the spindle orient procedure is complete the
153. EC Specification 61491 The definition of the structure of procedure command acknowledgment is described table 17 7 4 4 of IEC Specification 61491 Default null Length Minimum Maximum Scaling Resolution Units 2 bytes NA NA NA Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN S00153 Name Orient_Angle Data Display integer R W Parameter No Description Spindle angle position This parameter is the absolute spindle position angle relative to the zero 153 position reference point as modified by the motor marker offset parameter 150 or the spindle mounted encoder File marker offset parameter 151 SERCOS and SCANport configurations only Parameter 153 can be provided by a Procedure SCANport peripheral port terminal or a SCANport gateway communication module via explicit message or the Group SERCOS link It is enabled only in connection with the spindle orient request command see IDN 00152 Fora Orient motor mounted feedback source a sign produces a clockwise orient angle when facing the shaft end of the motor For a spindle mounted feedback source a sign produces a clockwise orient angle when viewed from the face of the spindle A value greater than 1 revolution in resolution counts produces a multiple turn orient from a stand still position Also for orients the sign of orient_angle should agree with the orient direction established by pa
154. Gnd ee CRI a MC he P5 23 24vde Return Earth Gnd Note 1 These functions are available in SERCOS and are therefore optional c A connections for the SERCOS Configuration They can be used to provide __ 24 vdc Input SOHO NERS a redundant hardware connection P5 13 Note 2 Jumper P5 13 to P5 23 when 8720MC 24vdc input power is used Customer Magnetics When external 24vdc power is used connect the 24vdc return to P5 13 and eliminate the jumper Note 3 For the C and D frames 24vdc must be connected to TB1 T1 and TB1 T3 on the precharge board Also T1 and T2 must be jumpered on W1 Note 4 A 47 uf 1200 vdc 800 vac polypropylene high frequency capacitor is recommended between terminal E harmonic filter and earth ground Figure 4 15 C and D Frame Precharge Board Pre Charge Board TBI W1 Note Jumper W1 has to be set between pins 1 and 2 in order to use 24 vdc 3 P5 23 24vdc P5 22 24vdc Return 8720 Precharge Publication 8720MC UM 001C EN P Feb 2001 4 28 two SERCOS or Analog 8720MC Regenerative Drives Drive Installation and Wiring For the C an D frame drives 24 vdc must be connected to terminal 1 and 24 vdc return must be connected to terminal 3 of TB1 on the 8720MC C or D frame precharge board The jumper must be between pins 1 and 2 on the W1 shorting plug Figure 4 16 Multiple 8720MC Drives with One 8720MC Regenerative Power Supply Power and Logic Connect
155. I O specifications 2 2 specifications 2 2 conduit box 5 4 connecting analog inputs 4 38 analog outputs 4 38 blower motor 5 9 digital inputs 4 39 digital outputs 4 40 drive system ground 4 5 relay outputs 4 39 connecting cable ground conductor motor 4 5 connecting power 8720MC RPS and 1336R regenerative power supplies 4 16 drive 4 8 connections control 4 18 control and logic 4 18 feedback interface 4 36 logic 4 18 connector layout 8720MC drive s 4 8 considerations mounting 5 3 contactors bypass 4 16 control connections 4 18 interface wiring 4 18 signal wire specifications 4 22 control and logic connections 4 18 coupled drives 5 5 creating link 7 16 D D065 enclosure 8720MC drives A 4 D078 enclosure 8720MC drives A 5 D120 enclosure 8720MC drives A 5 D149 enclosure 8720MC drives A 6 D180 enclosure 8720MC drives A 6 data interface SCANport 6 17 default analog output links changing 6 11 default digital 1 0 descriptions At Speed 6 6 inputs 6 4 outputs 6 5 default digital I O descriptions inputs Drive Enable 6 4 Drive Error Reset Request 6 4 J og Request 6 4 Manual Auto Select 6 4 Orient Request 6 4 Parameter Set Select bit 0 1 and 2 6 4 Regen Power Supply OK 6 5 default digital I O descriptions outputs Auto Reference Enabled 6 5 Drive OK 6 5 Enable Brake solenoid 6 5 High Winding Select 6 5 Low Winding Select 6 5 Orient complete 6 6 Shut Down Fault 6 5 Torque Torque Limit 6 6 Zero Speed 6 5 defa
156. If a drive shut down fault has occurred setting the Drive_Err_Reset bit is required in order to reset the fault The fault cannot be reset unless the drive is disabled and the fault condition is removed A transition from low to high is required to reset a drive shut down error Power cycling also resets the drive error Parameter Set Select bit 0 1 and 2 Setting these 3 binary bits determines which parameter set is in use and or which motor winding high or low is selected The choices are 000 low 0 001 low 1 010 low 2 011 low 3 100 high 0 101 high 1 110 high 2 111 high 3 When any or all of the 3 bits change and remain changed for a 50 ms filter delay the new parameter set will be enabled Orient Request When the Orient Request bit parameter 152 is set an orient will be initiated as determined by the Auto Home Parameter 582 In addition the orient parameters 153 orient angle 154 orient options 222 orient speed and 260 positioning acc dec rate will be used to characterize the orient move The orient will terminate when the motor reaches the orient position and the orient complete status bit is set The drive is placed in positioning mode in order to execute the orient If holding torque is required after the orient position is achieved then the orient request must be maintained even if the orient complete output is set The drive will ignore the reference and hold position until the orient request is remo
157. Information for User supplied Enclosures Heat Catalog Base Derate Drive Frame Derate Dissipation Heat sink Total Number Amps Size Curvelt 2 Drive Watts 2 2 Watts 2 2 Watts 2 2 380 480V AC Input Drives B014 14 B Not required 91 270 361 B021 21 B Not required 103 394 497 B027 27 B Figure A 1 117 486 603 B034 34 B Figure A 2 140 628 768 B042 42 B Figure A 3 141 720 861 B048 48 B Figure A 4 141 820 961 D065 65 C Figure A 5 175 933 1108 D078 78 C Figure A 6 193 1110 1303 D097 97 D Note 3 361 1708 2069 D120 120 D Figure A 7 361 1708 2069 D149 149 D Figure A 8 426 1944 2307 D180 180 D Figure A 9 522 2664 3186 NOTE 1 The open packaged drive ambient operating temperature is 50 C The cabinet enclosure should be designed to provide an operating temperature that does not exceed 50 C in worst case ambient conditions If the enclosed version is operating between 41 and 50 C and the drive PWM switching frequency is above the threshold shown in the derating curves in Appendix A the continuous current must be derated NOTE 2 Drive rating is based on altitudes of 1000 meters 3000 feet or less If installed at a higher altitude derate the drive Refer to Figure A 10 in Appendix A NOTE 3 Not available at time of publication Publication 8720MC UM 001C EN P Feb 2001 4 4 Drive Installation and Wiring Grounding Your Drive Conduit 4 Wire Cable N Great care must be taken to assure that the 8720MC Drive is properly groun
158. It is always good practice to keep the feedback and signal wiring separated from noise generating sources such as the motor cables Wherever possible run the control wires in different conduits from the motor leads A quad B Virtual Encoder Output A virtual 1024 line encoder output interface is provided for use with any motion controller which provides an analog velocity or torque command and expects a 5V TTL A quad B signal from the motor The quadrature outputs are connected to P5 1 P5 2 P5 3 P5 19 P5 20 and P5 21 as shown earlier in Figures 4 20 and 4 22 Publication 8720MC UM 001C EN P Feb 2001 4 38 Drive Installation and Wiring 5 VDC A Channel Figure 4 23 below shows the exact nature of the A quad B signals If the quadrature output signals are required the SNS 60 Sincoder must be the 8720SM motor feedback device The marker from this feedback device has a random width from encoder to encoder The edge rise is repeatable for any given encoder This feedback device is best suited for uni directional homing and referencing The 8720MC provides the 5VDC power required to drive the signals shown in Figure 4 22 It is necessary to connect the motion controller encoder ground terminal to the 8720MC P5 4 terminal A quad B common This assures that the signals are properly referenced to the motion controller encoder ground The motion controller will count square wave edges and will achieve a 4096 count per turn resolutio
159. LINK aneen Ee A IO 7 17 A B Drive EXpIOrET tate naaa E 7 17 Chapter 8 Programming Parameters Chapter Objectives 8 1 Understanding the Parameter Files and Groups veces 8 1 Parameter Groups Files and Elements seneese 8 2 Parameter Groups Files and Elements 8 3 Standard 8720MC Parameters in Numerical Order sssrin 8 4 Standard 8720MC Parameters in Numerical Order ccccccsssesssssesesessrsssseees 8 5 Standard 8720MC Parameters in Numerical Order essene 8 6 A B S Parameter DASCmOUGIS vce scxcuedvencivssarbi asians sateen aaitats HURR 8 7 A B S Parameter Descriptions cccssseecssssessssssessssssersssssessssserseseserseresers 8 7 A B P Parameters in Numerical Order ccccccccsecsscsecsseecsseecsseesseeenss 8 46 A B P Parameters in Numerical Order cccccccscsecsscsecsseecsseessseesseeerss 8 47 A B P Parameters in Numerical Order vc aacenun consent tures nies 8 48 Publication 8720MC UM 001C EN P Feb 2001 vi A B P Parameters in Numerical Order c ccceccecscscescscsscssscsescserseees 8 49 A B P Parameters in Numerical Order iiscscccissssstasissssatsintassdivaaseriisassndivatiesl 8 50 A B P Parameters in Numerical Order c ccccccescsccscscescssscverscsersenee 8 51 A B P Parameter Descriptions isc s ciisitsesasestansaiwneioteastsiwtaneraennusnsiotaiaiands 8 52 Servo Loop Parameter numbers Groups 0 tO 7 vss 8 77 Chapter 9 Starting Up Your 8720MC Chapter OD ectiVeSn un na na nnn n a aa a aa A bade 9 1 Genera
160. MENSIONS iann n a a a aa 3 6 Notes to Motor Drawings ss s ssssesrsresrsnsrnsrnnsrnsrnnnrnnnnnnrnnnnnnrnnnnnnrnnrnnrnnne 3 6 Frame DL1106 through DL1110 Dimensions Before March 01 assess 3 7 Frame DL1106 through DL1110 Dimensions After March 01 sses 3 8 Frame DL1307 through DL1310 Dimensions 250mm Flange uu 3 9 Frame DL1307 through DL1310 Dimensions 230mm Flange sss 3 10 Frame DL1611 through DL1613 DIMENSIONS ccceseessestsesseeseeeeees 3 11 Frame DL1811 through DL1815 Dimensions cccseessseesesesseeeseeees 3 12 Frame DL2010 through DL2012 DIMENSIONS ccceeesssesesessseeeeseees 3 13 8720MC Line Reactor Dimensions si scsscscasshccnscsesestsrsescbeccbenstuvestessseacsterdvectiie 3 14 Chapter 4 Chapter Objectives in mrsa aa a 4 1 Before Mounting YOU DIVE arenero ar araea aeaa ETAR EA PTET 4 1 Required Tools and Equipment ss ssssisssesrsisrrsresrrrerresrsrrrrenresrnrenrnrrrrens 4 2 Distance Between the Motor and the Drive ssssscserersrreneee 4 2 Allowing for Heat Dissipation s ssesssnsresrersresnsrnresnrnrnnnrnrnsnrinrnsrnrnresrna 4 2 Mounting Your DIVE 3 0 Mins i a Alas 4 2 User Supplied Enclosures xitretecterctvrdidetetei inner dundee sortenenenite 4 3 Grounding Your DIVE taut dwn cadena ans oan alan waa aa ae ae 4 4 Connecting the Drive to the System Ground cccssssesesssesssesseesseseees 4 5 Defining the High Frequency Ground Current Paths n 4 5 Connecting the Ground Conduc
161. Min gt 0 with parameter 79 set at 3 600 then each count will counts rev 10 counts Max lt 30 000 equal 1 degree e g with IDN 00079 set for 3600 2 2 degree Default Length SERCOS Min Max SERCOS Scaling Resolution Units 4 bytes Min gt 0 Scaling type IDN 00076 IDN 00076 31 Scaling factor IDN 00077 Nese oe Scaling exponent IDN 00078 Rotational position resolution IDN 00079 Publication 8720MC UM 001C EN P Feb 2001 8 16 Programming Parameters IDN 500076 Name Position Scaling Data Display Bit pattern R W Parameter No Description Position data scaling type A variety of scaling methods can be selected by means of the scaling 76 type parameter see also figure 51 This parameter applies to the SERCOS and 32 bit SCANport DPI File configurations By default the analog version uses rotational and parameter scaling For any analog application Control using positioning as with spindle orient bit 7 Processing format should be set to modulo Resolution is Group determined by parameter 79 For more details see IEC 61491 page 213 Position Enumerated Bit Pattern Structure of position data scaling type Bits 2 0 Scaling method 000 no scaling 001 linear scaling 010 rotational scaling Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Units for linear scaling or Bit 4 Units for rotational scaling 0 meters m 0 degrees 1 inches in 1 reserved
162. Motor Low Winding 25 kW at 500 RPM Base Speed DL2010 Frame Dual Winding WYE Design 60 1400 1300 50 1200 1000 1 40 l 900 i maximum kW Torque in N M 800 Rated 475 S6 50 ED kw Maximum S6 50 575 30 A 700 Max 720 Continuous S1 kW z Z 600 s6 50 Performance assumes regenerative 20 converter with 750 VDC bus and j a 500 Rated 505 VAC at motor 2 Amps at 500 RPM based on 400 WYE conn 10 Cont Amps 51 300 S6 Amps 58 Max Amps 68 200 Jp 100 0 1000 2000 3000 4000 5000 6000 7000 0 400 600 800 1000 1200 1400 1600 1800 2000 RPM RPM 30850 M Figure 2 30 25 kW Dual Wound Motor High Winding 25 kW at 500 RPM Base Speed DL2010 Frame Dual Winding Delta Design 60 260 240 Maximum 50 220 200 s6 50 40 180 i 7 in NUM maximum kW orgue In 160 Rated Rated 160 S6 50 191 6 50 ED kW 30 140 Max 239 ontinuous S1 kW 2 120 x Performance assumes regenerative T 20 converter with 750 VDC bus and a 100 505 VAC at motor Oo Amps at 500 RPM based on E 80 Delta conn 10 Cont Amps 51 60 S6 Amps 58 Max Amps 68 40 0 20 0 1000 2000 3000 4000 5000 6000 7000 0 100 1500 2000 2500 3000 3500 4000 4500 5000 RPM RPM 30860 MR1 Publication 8720MC UM 001C EN P Feb 2001 2 26 Specifications Figure 2 31 30 kW Dual Wound Motor Low Winding 30 kW at 500 RPM Base Speed DL2012 Frame Dual Winding WYE Design
163. P Feb 2001 4 36 Drive Installation and Wiring Table 4 15 Feedback Devices Supported by the 8720MC Device Verder Rotary Commutation Output Power E A Absolute Linear Data Available Type Supply ML Incremental SNS 60 Stegmann Rotary Hiperface RS485 Hiperface 7 12 V 1024 High Resolution Sincoder Optical Differential 60 mA Single Marker Incremental 8720SM Motor Sine Cosine SRS 60 Stegmann Rotary Hiperface RS485 Hiperface 7 12 V 1024 Single Turn Sincos Optical Differentia 130 mA Absolute 8720SM Motor Sine Cosine SRM 60 Stegmann Rotary Hiperface RS485 Hiperface 7 12 V 1024 Multi Turn Sincos Optical Differentia 130 mA 4096 Turns Absolute 8720SM Motor Sine Cosine ERN480 Heidenhain Rotary N Differentia 5V 1024 5000 Incremental Auxiliary Optical Sine Cosine 150 mA Analog Z 10 LS186 Heidenhain Linear N Differential 5V 20um Signal Per Incremental Auxiliary Optical Sine Cosine 150 mA 240 3040 mm Analog Z 5 ML LS186C Heidenhain Linear N Differential 5V 20um Signal Per Semi Absolute Auxiliary Optical Sine Cosine 150 mA 240 3040 mm Distance Coded DC Marks 5 ML LS176 Heidenhain Linear N Differential 5V 4um Signal Per Incremental Auxiliary Optical TTLAQB Z 140 mA 240 340 mm 5 ML LS176C Heidenhain Linear N Differential 5V 4um Signal Per Semi Absolute Auxiliary Optical TTLAqB 140 mA 240 340 mm Distance Coded DC Marks 5 ML ERN420 Heidenhain Rotary N Differentia
164. P1 4 P1 16 x Cosine or B D Cosine Return or B P1 17 p RS 485 or Z A P1 8 Shields Grounded piin i to chassis oy hSnaB see e P4 5 RS 485 Return or Z P1 9 via Braid Clamp P1 21 X or Port 1 P1 22 RS 485 Return orZ 9 vde TH P1 6 Motor Port 2 Feedback Auxiliary Pig 3 Enc power common P1 5 Feedback A 9vde Motor Thermal Switch mn P1 12 P1 18 Enc power common paid MotorThermal Switch P1 13 Enc power common T Encoder Case Ground e Ground to E160 5vde V drive chassis eV feck P1 23 S cloc clock P1 10 i Used with SSI rte with cat ey P1 24 Not clock devices only levices only Not clock y Z 7 5 vde for 5 volt encoders P1 7 30715 M R5 The universal feedback interface also supports sinusoidal gear type or magnetic frameless spindle motor feedback devices as well as A quad B square wave encoders The feedback choice is a software configuration option Figure 4 20 shows the nature of the sinusoidal feedback signals A one volt peak to peak sine or cosine wave ride on a 2 5 vdc offset voltage These signals are returned to the 8720MC via differential amplifiers and A D converters Publication 8720MC UM 001C EN P Feb 2001 4 34 Drive Installation and Wiring Figure 4 21 Sinusoidal Encoder Signals SRS 60 SNS 60 and SRM 60 5 45 4 REFSIN REFCOS __ 1 cycle 360 deg 512 or 1024 A total of eight feedback signal wires are required two for sine two for
165. RCOS motion controller for probing or position registration With a SERCOS motion controller the registered position is returned to the motion controller via the SERCOS link as a result of a Registration Procedure The registration inputs are isolated and can use either the 8720MC 5vdc or 24vdc power or customer supplied external 5vdc or 24vdc Figure 6 2 shows the connections required for the probe inputs when internal dc power is used Interface Signal Description 6 7 Figure 6 2 Registration Interface Using 8720MC Internal Power 8720MC Digital Registration Interface Using 8720MC Internal Power 8720 MC Drive P4 3 24vdc Registration Input note 1 P4 2 24vde 5vdc Registration Input Note 1 probe 5vde probe sie aaa Registration Input Common P4 4 Svde P48 5yde return Note 1 P528 24vdc return Note 1 8720MC 24vdc P5 22 424vde for inputs Registration Power Note 1 When using the 8720MC supplied 5vdc for the probe input P4 2 terminal P4 7 must be tied to P4 8 Do not jumper when external 5vdc is used When using the 8720MC supplied 24vdc for the probe input P4 3 terminal P4 7 must be tied to P5 23 Do not jumper when external 24vdc is used 30714 J6 Figure 6 3 shows the connections required for the probe inputs when external customer supplied 24vdc and or 5 vdc power is used Figure 6 3 Registration interface using External Power
166. Supply Spare Parts Table B 3 8720MC Regerative Power Supply Spare Parts Catalog Number Allen Bradley Regen Power Supply Part Description 8720MC RPS027BM Complete 15KW 27 amp Master Regenerative Power Supply 8720MC RPS065BM Complete 37KW 65 amp Master Regenerative Power Supply 8720MC RPS065BS Complete 37KW 65 amp Slave Regenerative Power Supply 8720MC RPS190BM Complete 125KW 190 amp Master Regenerative Power Supply 8720MC RPS190BM Complete 125KW 190 amp Master Regenerative Power Supply 8720MC HF B 460 VAC Harmonic Filter 8720MC VA B 460 VAC Varistor 8720MC LR03 032B 3 32 amp 460 VAC Line Reactor 8720 MC LRO5 048B 5 48 amp 460 VAC Line Reactor 8720 MC LR10 062B 10 62 amp 460 VAC Line Reactor Allen Bradley Catalog Number Replacement Spare Parts B 3 Regen Power Supply Part Description 8720MC LR14 070B 14 70 amp 460 VAC Line Reactor 8720MC LR10 100B 10 100 amp 460 VAC Line Reactor 8720MC RFI80 Schafner FN3100 80 35 Filter for 15 Or 37 kw CE Applications 8720MC EF190 VB AC Line Filter for 190 amp CE Applications Table B 4 8720MC 8720MC RPS027 Regerative Power Supply Spare Parts Part see Part Description 826751 S B0001 Regulator Board BDSR 1 286040 500VFA16A Ferraz 16 amp Fuse 16x32 for Fusel Precharge 926024 UOA528500 Cooling Fan 926023 UOA528400 Precharg
167. TA 5 6 Distance Between the Motor and the Drive sssrsesersrrereree 5 7 Cable Sizes a mina en e ead AT A A 5 7 Wiring Diagram for the MOtOr ccccsscsscssssssescsssessssessssssessssssesssserseses 5 7 Dial Voltage MOtOlS s t0taestsiiicitiienieneeliiieiiineniMbnivigivitia 5 8 Direction of o s cells Supeereeeectee oe ee cere eee en yer een eee acer 5 9 Thermal Protector Thermostat Leads wwii ccscecscececscsscsessssseesseeees 5 9 BOW SIAM OO iinn aa lea Riutt tutu Mn eahoiuns 5 10 Connecting the Blower MOtor cccseecssesessssessssssesssssesssssseesessseesesesees 5 10 Wiring a Feedback Device iri nienveveernv easiest iieecmeenetceawinends 5 13 Types of Feedback Devices cccscsccsssseesssesescsssssssssssssesesesesesssseasaees 5 13 Maximum Cable Lengths for Feedback Devices cessscssesesssesseeseeees 5 14 Starting YoUr M Ot ip aSr A 5 15 Checking Motor Performance s ssssssesssrsresrsrnrennsrnrrnnnrnnrnnnrnnrnnnrnnrnnernnes 5 15 Balancing th MOto mipi wetu lets vata tatsaptveets te lucvumie teins 5 15 Maintaining Your MOtOr ics chit castes se eh sev nvaanice tm vesnst seams a ag iniaameetaeeasiee 5 15 Chapter 6 Interface Signal Description Chapter Objectives Fearacacerart ust save wisaseocyesavessviaane oussase usieats astsantcveuere etaaetiart 6 1 l O Comma d INt rfa tenesse 6 1 Digital Inputs and Qutp ts vsisi 6 1 Digital Input and Output ASSIgNMEents cccseseeesessssseetsessseseeeeseeess 6 2 Default Digital In
168. Torque above Threshold Status T gt Tiimit Status Neommand gt Nimit Status In position Status N feedback lt Minimum spindle speed Status N feedback gt Maximum spindle speed Velocity Error Acceleration Feed Forward Gain DC Bus Voltage Value Drive heat sink temperature Estimated shaft motor power in kw Publication 8720MC UM 001C EN P Feb 2001 16 Character Name Select _Param_Set Min_Spindle_Spd Max_Spindle_Spd Spin_Orient_Spd Actual_Param_Set Target_Position Posn_ Velocity Posn_Acc_Rate Speed_Window_ Mtr_Fbck_Config1 Vel_Fdfwd_Gain_0 At_Prog_Speed Zero_ Speed Vel_Below_Thresh Torq_Above_Thres Torq_Above_Limit Vel_Above_Limit In_Position Spd_Below_Min Spd_Above_Max Velocity_Error Acc_Fdfwd_Gain_0 DC_Bus_Voltage Heatsink_Temp Mtr_Shaft_Power File Procedure Status Faults Status Faults Procedure Procedure Linear List Linear List Procedure Status Faults Motor Drive Fdbk Servo Loop 1 0 Interface 1 0 Interface 1 0 Interface Linear List 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface 1 0 Interface Control Servo Loop Status Faults Linear List Status Faults Group Parameter Switch Setup Setup Orient Parameter Switch Linear List Linear List Orient Setup Motor Feedback Group 0 Event Links Event Links Event Links Linear List Event Links Event Links Event Links Event Links Event Links Velocity Group 0 Drive Status Linear Lis
169. VB AA 1321 3LR048 B PRECHARGE 10 LINE REACTOR To 8720MC DC common 30786 M R2 Key Features of the 1336R Regenerative Power Supplies Key features of the 1336R Regenerative Power supplies include e 380 to 460V AC 10 15 3 phase input voltage 48 to 62 Hz e 52 85 and 196 amperes continuous output current e Programmable bus voltage nominal 735 V DC and overload trip points e Built in programmer and display e Separate pre charge unit e Capable of supporting multiple common bus drive amplifiers e 0 to 55 degrees C operating temperature 5 to 95 humidity 8720SM AC Spindle Motor The 8720SM High Performance AC Motors have been specifically Overview designed to meet the needs of modern high performance industrial machinery To cover a wide variety of spindle motor requirements both a standard single winding series of motors and a dual winding series are available All standard motors are provided with precision steel bearings The standard motor includes an integrated high resolution single turn absolute feedback encoder A multi turn absolute feedback encoder as well as a sinusoidal incremental encoder are available as options The feedback devices assure precision servo performance for both spindle and power servo applications Highly accurate position and velocity control is readily attainable Publication 8720MC UM 001C EN P Feb 2001 1 12 Introduction 93KW 125HP Product Structure of the 8720SM High Per
170. a_Input_D1 SP_Data_Input_D2 YOY Oe YE Oe rey Word 0 Logic Status lt SP_Logic_Status Word 1 Feedback lt SCANp_Analog_Out Word 2 Datalink A1 lt SP_Data_Output_A1 Word 3 Datalink A2 lt SP_Data_Output_A2 Word 4 Datalink B1 lt SP_Data_Output_B1 Word5 Datalink B2 lt SP_Data_Output_B2 t lt lt lt Word6 Datalink C1 SP_Data_Output_C1 Word7 Datalink C2 SP_Data_Output_C2 Word 8 Datalink D1 SP_Data_Output_D1 Word 9 Datalink D2 SP_Data_Output_D2 Message Read lt Message Handler Y A Buffers gt Message Handler Publication 8720MC UM 001C EN P Feb 2001 1 Optional enabled using DIP switches on the module 30864 M Interface Signal Description 6 15 Basically the communication gateway allows the exchange of ten 16 bit command input words to the drive from the PLC and ten 16 bit status output words from the drive to the PLC SCANp_ANI _Value is the parameter location parameter 713 where the incoming velocity or torque command value as received from the gateway is stored When either SCANport Spindle or SCANport Power Servo applications are selected in parameter 501 all velocity torque and logic commands are delivered to the 8720MC from the PLC via the communication gateway on SCANport SCANp_Analog_Out is the parameter location parameter 71
171. able required Use of shielded conductors is mandatory for preventing radiated EMI from migrating to noise sensitive microprocessor hardware The combination of thick wire insulation 85 braided shield coverage and 100 foil shield coverage works to minimize the electrical EMI generated by the motor leads particularly if long distances are involved Four wire VFD cable is available in wire sizes from 16AWG to 2AWG Recommended sources are Belden Wire and Cable Co and Olflex Wire and Cable Inc In sizing the wire for the application use 150 of the rated motor continuous current assuming no greater than 25 C ambient temperature Figure 4 8 Required Cable Type Variable Frequency Drive Cable 4 condutor 600V Stranded drain wir K 466 K Foil sheild Stranded tinned copper conductors Oversized XHHW 2 insulation Tinned copper braid 85 coverage 30416 M R2 Publication 8720MC UM 001C EN P Feb 2001 4 14 Drive Installation and Wiring Publication 8720MC UM 001C EN P Feb 2001 You should always use shielded motor cable You must connect the shield to the drive chassis PE connection and the motor frame Make the connection at both ends to minimize the external magnetic field If you use cable trays or large conduits to distribute the motor leads for multiple drives use shielded cable to reduce or capture the noise from the motor leads and to minimize cross coupling of noise between the leads of different
172. additional 16 bit words which can be exchanged between an A B PLC and the drive Figure 6 10 describes the fixed assignments for the eight 16 bit input data words and the eight 16 bit output data words Chapter Objectives What Is the Human Interface Module Chapter 7 Using the Human Interface Module HIM Chapter 7 provides the following information so that you can use the Human Interface Module e what is the Human Interface Module e HIM operation e using the program and display modes e viewing and changing bit definitions e using the EEprom mode e using the control status mode e using the password mode e creating and changing a link e removing a link e Drive Explorerpyy The Human Interface Module HIM is the standard user interface for the 8720MC Drive When a drive mounted HIM is supplied it can be accessed from the front of the drive A remote Him is also available for connection via a SCANport interface cable The HIM provides a way to display and modify drive parameters and to view the operating parameters The HIM also provides a means of starting stopping jogging switching directions and adjusting manual speeds When a drive mounted HIM is not supplied on enclosed drives you must install the blank cover plate option HAB to close the opening in the front cover of the enclosure Failure to install the blank cover plate allows access to electrically live parts that may result in personal injury and or eq
173. age Figure 4 24 shows the typical digital input connections Use 16 to 18 hook up wire Alpha 3075 or 3077 or equal Customer 24vdc Customer or switch 8720MC 24vdcP5 22 P5 n Os o gt e Cow Customer 24vde Return or 8720MC 24vdcP5 23 Return En 24 vdc Output External Power Customer 24vdc power supply P5 31 Customer output device Drive Installation and Wiring 4 41 Figure 4 25 Typical Digital Input Connections 24 vdc Digital Input Circuit On state 12 38 vdc 3 3 12 mA Off state lt 6 6 vdc lt 1 5 mA leakage Optically isolated to 500 v Filter with 300 uSec time constant 10 inputs P5 14 thru P5 18 and P5 32 thru P5 36 P5 13 is common Ch4 101 R2 Connecting the Digital Outputs Six discrete solid state DC current sourcing outputs are available in the 8720MC Drive These outputs are optically isolated to 500V from control power They have hardware filtering with a time constant of 300 micro seconds and a software debounce which requires stable input for 5 milli second prior to validation Table 4 19 shows the digital output characteristics Table 4 19 Digital Output Characteristics Condition Voltage Amperage On Up to 40V DC Up to 75mA current limited Off N A less than 0 25mA leakage Figure 4 25 shows the typical digital output connections Use 16 to 18 hook up wire Alpha 3075 or 3077 or equal Figure 4 26 Typical Digital Output Connections 24
174. age when AC power is connected Disconnect and lock out all ungrounded conductors of the AC power line Failure to observe these precautions could result in severe bodily injury or loss of life Distance Between the Motor and the Drive If the distance between the motor and the drive requires long motor cables you may need to add an output reactor or cable terminators to limit voltage reflections at the motor The maximum recommended cable length is 90 meters Cable Sizes Table 5 3 gives the appropriate variable frequency drive shielded cable to use based on 150 overload capability and 25 C operating temperature Use the cable described in Figure 4 8 in Chapter 4 Table 5 3 Cable Sizes 1 5x Rated Continuous VFD Cable Size Motor Current 12 amps 16 AWG 17 amps 14 AWG 21 amps 12 AWG 30 amps 10 AWG 55 amps 8 AWG 65 amps 6 AWG 95 amps 4 AWG 130 amps 2 AWG For applications above 130 amps use thick insulation lead wire such as RHW 2 or equal Make sure you thread the four wires U V W and grnd through a single grounded metal conduit Publication 8720MC UM 001C EN P Feb 2001 5 8 Motor Installation and Wiring Wiring Diagram for the Motor Figures 5 1 and 5 2 show the conduit box wiring diagrams for the 8720SM motors Figure 5 1 is used with the DL106 1108 and DL1110 frame motors Figure 5 2 is used for all other motor frames Bring 4 wire shielded Beldon VFD cable or equal to these
175. al 4 43 enclosures user supplied 4 3 encoder specifications single turn absolute motor 2 3 F factory default values restoring 7 11 fault descriptions 10 4 fault parameters understanding 10 7 fault queue viewing 7 14 10 3 feedback device wiring 5 11 feedback devices maximum cable lengths 5 12 types 5 11 feedback interface connections 4 36 files parameter 8 2 flash memory recalling values 7 12 flash memory values saving 7 12 frames B and C dimensions 3 3 G general terminal specifications 4 12 wire guidelines 4 15 General safety precautions P 4 general startup precautions 9 1 getting started troubleshooting 10 1 grounding drive 4 4 motor 5 10 optional RFI filter 4 6 Safety ground PE 4 5 groups parameter 8 2 guidelines derating A 1 Publication 8720MC UM 001C EN P Feb 2001 H handling motor 5 2 heat dissipation dimensions 3 5 high frequency ground current paths defining 4 5 high altitude 8720 amplifiers derating curve A 7 HIM control panel indicators 7 5 control panel keys 7 3 display panel 7 2 display panel keys 7 2 menu tree 7 7 operation 7 5 HIM control panel indicators 7 5 keys 7 3 HIM operation choosing a HIM mode 7 6 initial status display 7 5 human interface module HIM 7 1 0 command interface 6 1 immunity electrical interference 4 42 indicators HIM control panel 7 5 initial status display HIM operation 7 5 input assignments digital 6 2 input output 8720MC wiring 4
176. al winding applications this interface allows for 4 sets of high winding servo parameters and 4 sets of low winding parameters In single winding configurations all 8 sets of parameters are available and the high and low winding relay outputs can be linked to other 8720MC event links This value can be set via drive explorer or the HIM as well Default Length Minimum Maximum Scaling Resolution Units 000 2 bytes Min gt 0 NA NA Max lt 7 binary Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN S00220 Name Min_ Spindle Spd Data Display integer R W Parameter No Description Minimum spindle speed When the speed falls below minimum spindle speed the state Speed 220 Below Minimum IDN 00339 parameter 339 is created This event can be linked to a digital output or SCANport File status bit It can also be assigned to a real time SERCOS status bit Status Faults Group Setup Analog Default Length Analog Minimum Maximum Analog Scaling Resolution Units 10 000 2 bytes Min gt 0 1 1rpm rpm Max lt 30 000 Default Length Minimum Maximum Scaling Resolution Units 0 4 bytes Min gt 0 1074 min Max lt 231 1 IDN S00221 Name Max_Spindle_Spd Data Display integer R W Parameter No Description Maximum spindle speed When the speed moves above the maximum spindle speed the state 221 Speed Above Maxim
177. aling exponent This parameter defines the scaling exponent for all velocity data in a 46 SERCOS configured drive File Control Group Velocity Default Length SERCOS Min Max SERCOS Scaling Resolution Units preferred 2 bytes Min gt 215 Structure of the scaling exponent scaler Max lt 215 1 Bit 15 Sign of the exponent E 0 positive 1 negative Bits 14 0 Exponent IDN S00047 Name Position Command Data Display decimal R W Parameter No Description Position command value In the SERCOS configurations during the positioning mode of operation 47 the position command values are transferred from the motion control unit to the drive in the cyclic master data File telegram via IDN00047 In the analog versions the only commanded position is the orient position Control See parameter 153 Orient angle In the SCANport configurations the position is available from 1203 Gateway Group Communication Modules via parameter 258 Target Position Position Default Length Analog SCANport Min Max Analog SCANport Scaling Resolution Units NA 2 bytes Min gt 32768 360 IDN00079 rotary position increment in deg IDN 00079 Max lt 32767 IDN 00079 rotary position increment in counts rev Default Length SERCOS Min Max SERCOS Scaling Resolution Units NA 4 bytes Min gt 231 Scaling type IDN 00076 IDN 00076 31 Scaling factor IDN 00077 H Scaling exponent IDN 00078 Rotational position resolutio
178. alue IDN 00036 If the 157 current velocity feedback value falls within the calculated velocity window the drive sets the status File N feedback N command IDN 00330 A value of zero disables the occurrence of the At_Prog_Speed event Status faults parameter 330 Group setup Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 1 RPM range 0 to 30 000 RPM RPM Default Min gt 0 10 Max lt 30 000 Default Length SERCOS Min Max SERCOS Scaling Resolution Units 5 4 bytes Min gt 0 Scaling type IDN 00044 IDN 00044 31 Scaling factor IDN 00045 NEER ni Scaling exponent IDN 00046 IDN S00159 Name Max_Foll_Error Data Display integer R W Parameter No Description Monitoring window By means of the monitoring window the maximum position deviation as 159 referenced to the active actual position value can be defined for the position feedback value When the position File error value exceeds the maximum position window value the drive sets an error for excessive position deviation Status faults in C1D IDN 00011 Group setup Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 360 IDN 00079 default with IDN 00079 at 3600 Param 79 Default Min gt 0 cnts rev increment 1 degree Range 0 to counts rev 30 000 Max lt 65535 3276 7 degrees Default Length Minimum Maximum Scaling Resolution Units 231 1 4 bytes Min
179. and elements Display or modification of any parameter element is accomplished by selecting the display or program mode selecting a file selecting a group within the file and selecting the desired element or parameter All parameters may be read If the parameter is aread write parameter it may be modified from its default value See Using Display and Programming modes in this chapter The parameters or elements may be replicated in different groups and files to simplify the navigation process and enhance functional organization The HIM increment decrement select and enter keys are used to navigate through the files groups and elements Publication 8720MC UM 001C EN P Feb 2001 7 8 Using the Human Interface Module HIM HIM Menu Tree Figure 7 5 shows the HIM menu tree Figure 7 5 HIM Menu Tree Operator Level Power up and Status Display ies OR aa OR A Jor ad Jor Choose Mode an Mode Level A gt v Y Control Display __ play Program EEProm Search Status Password 4 Choose gi 4 4 4 P Display or Program Save Value Parameters Control Logic Login Recall Values changed Reset Drive Logout Reset Defalts from Fault Queue Modify Drive to HIM defaults View clear HIM to Drive Y y File Level 7 Parameter Files See Parameters Groups and Files in Chapter
180. and interface e Analog Interface Two 10V DC analog inputs 14 bits resolution e UL and CUL listed e CE marked to meet European requirements for low voltage and electromagnetic compatibility directives Publication 8720MC UM 001C EN P Feb 2001 1 4 Introduction Non Line Regenerative The smallest five 8720MC drive amplifiers can be configured for Applications either non line regenerative or line regenerative applications Figure 1 2 illustrates the AC input non line regenerative drive amplifier configurations that are available when used in conjunction with the Allen Bradley 1336 WB dynamic braking modules Figure 1 2 8720MC Non Line Regenerative Drive Amplifier Configuration 8720MC NONREGENERATIVE DRIVE PRODUCT STRUCTURE COMMUNICATIONS MODULES Drive Explorer Remote I O PC Devicenet SSS RS 232 422 485 DF1 DH485 REMOTE HIM SCANport 380 TO 460 VAC 15 10 FUSE KIT 8720MC B048 aa HAh op 18 5kW 8720MC B042 aa HAh op 15kW 8720MC B034 aa HAh op 11kW 8720MC B027 aa HAh op SCANport 1336 WBxxx 8720MC B021 aa HAh op 9 35 110 AMP 5 5kw DYNAMIC DRIVE BRAKE CHOPPER AN open AA Enclosed No HIM MODULE HASB Std HIM MODULE HASP Analog HIM MODULE HAS1 Digital HIM MODULE HAS2 30784 M R3 Motor F B Spindle F B These five drive amplifiers range in output capacity from 21 to 48 amperes They are equipped with 380 to 460V AC 3 phas
181. annel i P5 2 at gt 10vdc analog out P4 5 Analog output 2 af A quad B Output to Motion Controller E signal return P5 20 B Channel Ground Shield 8720SM Motor connector via Braid Clamp Z Channel PIN numbers P5 3 a gt Ground Shield g ___ Sine or A Fe P1 1 via Braid Clamp P5 21 Z Channel gt Sine Return or A P1 2 P5 4 Motion Controller AqB E P J 8720 MC Drive ncoder Power Common Cosine or B A P1 3 Signal Interfaces Analog Configuration Cosine Return or B P1 4 RS 485 or Z arn P1 8 RS 485 Return or Z P1 9 Shields Grounded to chassis e via Braid Clamp P1 14 9 vdc P1 6 Analog input 1 P1 15 Analog input 1 Enc power common P1 5 Analog input 1 Return Motor Thermal Switch EFA P1 12 Pon 1 ape E110 A l P1 17 Analog input 2 MotorThermal Switch P1 13 Analog input 2 Return Encoder Case Ground i clock P1 10 Used with SSI devices only Not clock P1 11 U 5 vdc for 5 volt encoders P1 7 30716 M R5 The Universal feedback interface supports a second feedback port The auxiliary feedback port is provided for axis or spindle mounted feedback devices The auxiliary feedback port is only available when the SERCOS command interface is chosen during the drive configuration This feedback interface is shown in figure 4 20 Table 4 15 provides a list of feedback devices that are supported by the 8720MC Publication 8720MC UM 001C EN
182. apter shows the pin designations for the P1 feedback connector on the drive The cable connections at the drive end are made by stripping the insulation from the leads and inserting them into the spring clamp for each termination as described in Chapter 4 A mating right angle P Lock connector is provided with each 8720SM motor This connector is designed for solder joints at each termination Figure 5 4 below shows the connector terminations for the mating 17 pin P Lock motor connector Sine Systems catalog number P3106Z2029S23 Catalog number ST 385 16S 08D pins are also provided Publication 8720MC UM 001C EN P Feb 2001 5 14 Motor Installation and Wiring Publication 8720MC UM 001C EN P Feb 2001 Figure 5 5 Motor Feedback Connector Sine P Lockr 61 7 mm 34 9 mm lt 2 43 in 41 375in 34 9 mm 7 2 3 i ri 1 375 in 26 9 mm 1 06 119 18 es ee e viewed from connector face Wiring Diagram Internal MS inti Terminal Wire Description Color i i A Blue Sine P wisted Pain B Violet Sine Return C Yellow Cosine Twisted Paltz D Orange Cosine Return E N C F F Red Encoder Power Twisted Pair E G Black Encoder Common H N C J N C K Thermal Switch Twisted Pair L Thermal Switch M N C N Gray N C x P Brown Non Inverted Data Taste ale R Inverted Data S N C 7 T
183. ations for P4 and P5 are designed for stripped AWG 22 to AWG 14 wire The wire insulation should be stripped back 1 2 inch to assure that the connector grips the wire and not the insulation Each terminal has a spring type clamping mechanism which firmly grips the stripped wire You can release the wire clamp by depressing the release spring located at each termination with a small instrument screw driver as shown in Figure 4 11 The mating connectors are mechanically keyed and therefore it is not possible to put the connectors in backward It is possible to switch the front and back connectors therefore care must be taken to prevent reversing the upper and lower connectors You can accomplish this by using connector labels or you can tie wrap the cables to the chassis Publication 8720MC UM 001C EN P Feb 2001 4 22 Drive Installation and Wiring Table 4 11 P5 Connector Pinout Information P5 Connector Discrete 1 0 Weidmueller Double Row 5 00mm Terminals Row1 Description Row2 Description 1 A quad B A channel output 19 A quad B A channel output 2 A quad B B channel output 20 A quad B B channel output 3 A quad B Z channel output 21 A quad B Z channel output 4 A quad B common 22 8720MC 24vdc power for inputs 5 Not used 23 8720MC 24vdc input power return 6 Relay output 1 Terminal 1 24 Relay output 3 Terminal 1 7 Relay output 1 Terminal 2 25 Relay
184. ault Analog Output links The analog outputs can be changed from there default linkages in the same way as the digital outputs The default assignments were presented in table 6 3 Tables 6 6 and 6 7 give examples off possible analog output assignments Publication 8720MC UM 001C EN P Feb 2001 6 12 Interface Signal Description Table 6 6 Table 6 7 Typical Links for Analog Outputs Typical Sources for Analog Outputs Link Typical Sources Sinks IDN Parameter Number Number Farameter IDN Parameter i Number Number Parameter 00040 40 Velocity Feedback 00084 84 Torque Feedback P00181 681 Analog Output 1 S00159 189 Position Following Error P00183 683 Analog Output 2 S00347 347 Velocity Error S00380 380 Bus Voltage S00385 386 Motor Shaft Power S00036 36 Velocity Command S00080 80 Torque Command SERCOS Command Interface SCANport command interface Publication 8720MC UM 001C EN P Feb 2001 The SERCOS link to the master motion controller is made via a 4 megabit fiber optic ring There is a receiver and a transmitter connection which is located on the 8720MC main control board Two types of Fiber optic cables in varying lengths are available from Rockwell Automation One type is intended for internal cabinet connections while the other is best suited for external conduits and raceways When either SERCOS Spindle or SERCOS Power Servo applications are selected in parameter
185. aults Understanding the Fault Using the HIM module or Drive Explorer is an effective way of Parameters finding the source of a drive fault Several of the parameters are specifically designed to annunciate drive status and faults The following is a description of the fault parameters The 12 character fault messages are shown in italics Parameter 11 Shutdown Errors This parameter is a bit pattern that identifies any active major fault within the drive IDN 00011 param eter 11 is aSERCOS standard variable conforming to IEC Standard 61491 The structure of parameter 11 is as follows If any bit is true an error is indicated Bit 0 Overload shut down Drive Ovrld Bit 1 Amplifier over temperature shut down Drive Ovrtmp Bit 2 Motor over temperature shut down Motor Ovrtmp Bit 3 Reserved Bit 4 Reserved Publication 8720MC UM 001C EN P Feb 2001 10 8 Troubleshooting Bit 5 Feedback error Feedback Bit 6 Commutation error Commutation Bit 7 Overcurrent error Overcurrent Bit 8 Overvoltage error Bus Overvolt Bit 9 Undervoltage error Bus Undervit Bit 10 Phase Loss Bit 11 Excess position error Follow Error Bit 12 Communicate Bit 13 Overtravel Bit 14 Reserved Bit 15 8720MC Drive Specific error AB Specific See parameter 129 Display mode on the HIM or Drive Explorer allows the user to view the fault message
186. ay is shown Once you set the password the Program EEProm modes and the Control Logic Clear Queue menus are password protected and are not displayed in the menu To access these modes you need to 1 Press any key from the status display Choose Mode is shown 2 Press the increment up or decrement down keys to show Pass 29 word 3 Press the enter key Enter Password is displayed 4 Press the increment up or the decrement down key until the cor rect password digit is displayed The select key can be used to move the cursor from digit to digit 5 When the correct password number is displayed press enter You can now access the Program and EEProm modes Logging Out To prevent future access to program changes you need to logout Publication 8720MC UM 001C EN P Feb 2001 7 16 Using the Human Interface Module HIM Creating or Changing a Link Publication 8720MC UM 001C EN P Feb 2001 1 Press any key from the status display Choose Mode is shown 2 Press the increment up or the decrement down key to show Password 3 Press enter 4 Press the increment up or the decrement down key until Logout is displayed 5 Press enter to log out of Password mode The 8720MC analog digital and SCANport outputs can be linked to different variables within the 8720 system The analog digital and SCANport inputs have fixed links and cannot be modified The outputs have default links as discussed in
187. bits 0 to 9 in the Output Image word The output status can be displayed on the HIM or Drive Explorer y via SCANport as a bit pattern Structure of the digital output word Bit 0 Digital Output 1 P 00162 Bit 1 Digital Output 2 P 00163 Bit 2 Digital Output 3 P 00164 Bit 3 Digital Output 4 P 00165 Bit 4 Digital Output 5 P 00166 Bit 5 Digital Output 6 P 00167 Bit 6 Digital Output 7 P 00168 Bit 7 Digital Output 8 P 00169 Bit 8 Digital Output 9 P 00170 Bit 9 Digital Output 10 P 00171 Default 0 Minimum Maximum Scaling Resolution NA NA Publication 8720MC UM 001C EN P Feb 2001 IDN P00162 to IDN P00171 Parameter No 662 to 671 File 1 0 Interface Group Digital Outputs Programming Parameters Name Output n Source n 1 to 10 Data Type Unsigned Integer R W Description Parameters 662 to 671 IDN s P00162 to P00171 contain the linkable parameter number for the 8720MC digital outputs For example if it is desired to support an output that indicates that the 8720SM motor high winding output is enabled via digital relay contact output 3 then this can be accomplished by entering parameter number 526 Hi Wind_Enable into parameter 664 Entry can be made via the HIM or Drive Explorers Parameter 610 Drive_OK is permanently assigned to parameter 662 All other outputs have default assignments based on the application as determined by parameter 501 Paramete
188. bled Bit 0 Digital 1 0 Tables 6 1 and 6 2 Bit 1 Port control 1 Bit 2 Port control 2 Bit 3 Port control 3 Bit 4 Port control 4 Bit 5 Port control 5 Bit 6 Port control 6 Embedded HIM Module Default x1111111 Minimum Maximum Scaling Resolution NA NA IDN P00217 Name Logic_Command Data Type 16 bit word bit pattern Roo Parameter No 717 File Communication Group SCANp Data In Description The 8720MC drive can be operated by an A B PLC via a SCANport gateway Parameter 717 IDN P00217 contains the Logic Command word coming from the gateway product This is a 16 bit word with a bit pattern which the 8720MC defines as follows If a bit is set true 1 the function is enabled Bit 0 Regenerative stop request Bit 1 Start request Bit 2 J og request Bit 3 Drive Error Reset request Bit 4 Coast stop request Bit 5 Parameter Set Select bit 0 Bit 6 Parameter Set Select bit 1 Bit 7 Parameter Set Select bit 2 Bit 8 Parameter Set Change Bit 9 Orient Request Bit 10 Reserved Bit 11 Manual Auto request 1 manual Bits 12 to 15 are reserved The Scanport Logic command word is used by the 8720MC when it is configured for SCANport PLC operation as determined by parameter 501 Default 00 Length Minimum Maximum Scaling Resolution 2 bytes NA NA Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN P00218 Name SP _Logic_Status Data Type 16 bit word b
189. bytes Min gt 0 1 001 amps amps encoder Max lt 232 1 IDN S00110 Name Drive_Peak_Amps Data Display Decimal R Parameter No Description The amplifier peak current is limited by the drive hardware which means that the current for the 110 maximum attainable torque limit value is fixed as well This parameter is determined by the drive and can t be File changed Motor Drive Fdbk Group Drive Data Default Length Analog Minimum Maximum Analog Scaling Resolution Units From drive 2 bytes Min gt 0 1 1 amps amps amplifier Max lt 3000 0 Default Length SERCOS Min Max SERCOS Scaling Resolution Units From drive 4 bytes Min gt 0 1 001 amps amps amplifier Max lt 232 1 Publication 8720MC UM 001C EN P Feb 2001 8 24 Programming Parameters IDN S00111 Name Mtr_Cont_Current Data Display Decimal R W Parameter No Description The motor continuous stall current is the current at which the motor produces the continuous 111 standstill torque according to the motor spec sheet For all motors except for asynchronous motors this File parameter is used as a reference for all torque data and for determining motor related current values This Motor Drive parameter is ignored for induction motors therefore it does not apply to 8720SM motors Fdbk Group Motor Data Default Length Minimum Maximum SERCOS
190. bytes NA NA IDN P00030 Name Manual_Mode_On Data Type bit flag Parameter No 530 File 1 0 Interface Group Event Links Description Parameter 530 P00030 can be linked to a digital output and is used by the system to indicate that the manual mode of operation is selected The manual mode of operation can be established from the HIM by depressing the stop button It can also be requested from the digital I O and the SCANport command word When parameter 530 is true manual mode is selected In manual mode the drive can be jogged by the HIM the digital 1 0 or SCANportat at the jog reference speed established by the requesting device When switching from manual mode back to auto it is necessary to auto enable the drive by dropping the drive enable input low and returning it back to the true 24 vdc state This prevents an auto ref start when selecting auto mode Default 0 Length Minimum Maximum Scaling Resolution 2 bytes NA NA Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN P00041 Name ATune Select Data Type bit pattern R W Parameter No 541 File Procedure Group Auto Tune Description The 8720MC supports auto tuning IDN P00041 initiates the auto tune cycle procedure command This cycle measures the auto tune inertia and auto tune friction by accelerating the motor up to the auto tune velocity at the auto tune current The gains are also calculated based on the auto tune informatio
191. c Output 24vde note 1 g P5 31 for Drive 24 vdc Outputs Customer 24vdc for Outputs Note 1 When using the 6 solid state 24vdc outputs available with the 8720MC the customer must supply external 24vdc to P5 31 Note 2 When using the 8720MC supplied 24vdc for the 10 available inputs terminal P5 13 must be tied to P5 23 otherwise connect to external 24vdc return to P5 13 30714J M R1 The 24 vdc digital inputs can be operated from the isolated 8720MC 24vdc power provided on connector P5 Terminal 22 24vdc and Terminal 23 24 vdc return or an external customer supplied 24 vdc power supply The solid lines on Figure 6 1 illustrate the proper way to connect the 24 vdc using 8720MC power The dotted lines indicate the proper connections for external power Choose one of the two options not both As mentioned earlier the 8720MC 24 vdc is limited to 120 ma This can be used for the outputs also if the total current requirements for 24 vdc inputs 24 vdc registration and 24 vdc outputs do not exceed 120 ma For most industrial output device loads an external 24 vdc power supply will be required Figure 6 1 shows the proper connections for external 24 vdc output power Digital Input and Output Assignments Parameter 501 described in Chapter 8 is used to select the primary 8720MC application category Changing this parameter determines the source of the velocity or torque command reference and the default scaling
192. caling type IDN 00086 IDN 00086 Max lt 215 1 Scaling factor IDN 00093 Scaling exponent IDN 00094 IDN S00083 Name Torque_Limit_0 Data Display decimal R W Parameter No Description The negative torque limit value limits the maximum torque in the negative direction If the torque 83 limit value is exceeded the drive sets the status T gt Tiimit in C3D IDN 00013 There are 8 sets of Torque File Limit and Torque limit parameters Servo Loop Group 0 Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 1 1 Default Min gt 1000 0 400 0 Max lt 0 Default Length SERCOS Scaling Resolution Units 400 0 2 bytes Minimum Maximum Scaling type IDN 00086 Min gt 215 Scaling factor IDN 00093 Max lt 0 Scaling exponent IDN 00094 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters 8 19 IDN S00084 Name Torque_Fback Data display decimal R Link Parameter No Description The torque feedback value can be is transferred from the drive to the control unit via the SERCOS AT 84 cyclic data telegram This functionality is not supported in the standard 8720MC telegram telegram type 5 and File therefore a telegram including torque must be chosen The IEC 61491 SERCOS Standard supports this capability Control Group Torque Analog Length Analog SCANport Analog SCANport Scaling Resolution Units S
193. ce Digital Output 10 Source A S alog Output 1 Source A 5 alog Output 1 Scale Factor A alog Output 2 Source A alog Output 2 Scale Factor Digital Input Status Al S alog Input 1 Auto Reference A S alog Input 2 Manual Reference Analog Input 1 Auto Reference Offset Analog Input 2 Manual Reference Offset Analog Input 1 Auto Scale Factor Analog Input 2 Manual Scale Factor The value in SCANport Analog Input 1 A S alog output shared by all SCANports SCANport Logic Mask SCANport Logic Command SCANport Logic Status SCANport In Channel A1 SCANport In Channel A2 SCANport In Channel B1 SCANport In Channel B2 SCANport In Channel C1 SCANport In Channel C2 SCANport In Channel D1 SCANport In Channel D2 SCANport Out Channel Al SCANport Out Channel A2 SCANport Out Channel B1 SCANport Out Channel B2 SCANport Out Channel C1 SCANport Out Channel C2 SCANport Out Channel D1 SCANport Out Channel D2 Encoder Memory Map Revision Output_08_ Source Output_09_ Source Output_10_ Source AnagOutl_Source AnagOutl_Gain AnagOut2_Source AnagOut2_Gain Input_Image Ana_In1_Value Ana_In2_Value Ana_In1_Offset Ana_ n2_Offset Analog_Vel_Scale Manual_Vel_ Scale SCANp_An1_Value Analog_Out_Param Sp_Logic_Mask Logic_Command SP_Logic_Status SP_Data_Input_A1 SP_Data_Input_A2 SP_Data_Input_B1 SP_Data_Input_B2 SP_Data_Input_C1 SP_Data_Input_C2 SP_Data_Input_D1
194. cing this value will reduce the deceleration rate and therefore the regenerative current supplied by the motor to the brake chopper module or the regenerative converter It can be used to eliminate over voltage trips during rapid motor deceleration Default 1000 0 Length 2 bytes Minimum Maximum Min gt 0 Max lt 1000 0 Scaling Resolution 10 Publication 8720MC UM 001C EN P Feb 2001 8 60 Programming Parameters IDN P00071 Name Stopping_ Torque Data Type Decimal R W Parameter No Description IDN 00071 parameter 571 specifies the maximum amount of torque available to stop the motor 571File when the drive enable signal is removed from the drive interface This parameter is expressed as a percentage of Control rated motor continuous torque Reducing this value will reduce the amount of stopping torque and therefore limit Group the current produced by the motor when the drive is disabled while it is running Torque Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 1 1 Default Min gt 0 0 1000 0 Max lt 1000 0 Default Length SERCOS Min Max SERCOS Scaling Resolution Units 1000 0 2 bytes Min gt 215 Scaling type IDN 00086 IDN 00086 15 Scaling factor IDN 00093 Max Sete sr Scaling exponent IDN 00094 IDN P00072 Name Stop Time Limit Data Type Decimal R W Parameter No 572 File Control Group Torque
195. conductors Control and signal ground conductors should not run near or parallel to a power ground conductor Connecting the Ground Conductor of the Motor Cable Connect the ground conductor of the motor cable drive end directly to the drive ground PE terminal not to the enclosure bus bar Grounding directly to the drive and filter if installed provides a direct route for high frequency current returning from the motor frame and ground conductor At the motor end you should also connect the ground conductor to the motor case ground stud Shielded or armored four wire cable is required See Selecting Your Motor Cables later in this chapter Grounding the Safety Ground PE Most codes require a safety ground You can connect the ground bus to adjacent building steel such as a girder or joist or a floor ground loop provided that the grounding points comply with your national such as NEC regional or local regulations Figure 4 1 shows TE ground The TE ground is used to ground internal control circuits in the D frame drives Publication 8720MC UM 001C EN P Feb 2001 Drive Installation and Wiring gt AC Supply Source Information for AC Input Drives Grounding the Optional RFI Filter If you are using an RFI filter you must solidly ground the RFI filter Additional information about the optional RFI filter is located in Appendix B CE Conformity Publication 1336 Impact 5 0 The five 8720MC AC input drives are s
196. connected to the RPS common bus otherwise DC drive input fuses are not required Suggested wire sizes assume single conductor connections It is perfectly acceptable to use 2 or 3 conductors in parallel as long as the total amperage requirements are met For example 2 parallel 12 conductors could be used in place of a single 10 conductor uae Input Fuse Specifications for use with multiple Drives amp RPS unit s Motor Cat No Drive Cat No Pee use Bussman Fuse COVId Shawmut Wire Size AWG 8720SM 8720MC 750V DC Fuse mm 005S1BA B014 15 amps A100P15 1 AWG 14 2 1 mm 007S1CA B021 20 amps A100P20 1 AWG 14 2 1 mm 011S1DA B027 30 amps A100P 30 1 AWG 12 3 3 mm 015S2EA B034 40 amps FWJ 40 A100P 40 1 AWG 12 3 3 mm 018S2FA B042 50 amp FWJ 50 A100P 50 4 AWG 10 5 3 mm 02252GA B048 60 amps FWJ 60 A100P 60 4 AWG 8 8 4 mm 03054J A D065 77 amps FWJ 80 A100P 80 4 AWG 6 13 3 mm 037S4KA D078 94 amps FWJ 100 A100P 100 4 AWG 4 21 2 mm 045S5NA D097 115 amps FW 125 A100P 125 4 AWG 2 33 6 mm O55S5PA D120 141 5 amps FW 150 A100P 150 4 AWG 1 0 53 3 mm 063S5QA D120 162 amps FW 175 A100P 175 AWG 2 0 67 4 mm 075S6SA D149 194 amps FWJ 200A A100P 200 4 AWG 3 0 83 2 mm2 093S6TA D180 236 amps FWJ 250 A100P 250 4 AWG 4 0 107 3 mm Control Interface Wiring Publication 8720MC UM 001C EN P Feb 2001 Before you can transfer data to or from the drive you need to wir
197. cription Status In position In the SERCOS configuration this parameter is used to define an IDN for the 336 status in position This allows In position to be assigned to a real time status bit see IDN 305 The status in File position is defined as a C3D bit IDN 00013 and is set when the position feedback value falls within the position 1 0 Interface window see IDN 00057 relative to the position command value see IDN 00047 Bit 0 is defined for operation Group data only This parameter can be linked to the digital I O or the SCANport logic word Event Links Bit Pattern Structure of status in position Bit 0 0 outside of position window 1 within position window Default Length Minimum Maximum Scaling Resolution Units NA 2 bytes NA NA NA IDN 500339 Name Spd Below_Min Data Display Bit R Link Parameter No Description Status Nfeedback lt minimum spindle speed In the SERCOS configuration this parameter is used to 339 define an IDN for the status Nreedback lt minimum spindle speed This allows the status Nreedpack lt minimum File spindle speed to be assigned to a real time status bit see IDN 00305 The status Nreedback lt minimum spindle teal ae speed is defined as a C3D bit IDN 00013 and is set when the velocity feedback value IDN 00040 is lower than Event Links or equal to the programmed minimum spindle speed IDN 00220 Bit 0 is defined for operation data only Bit Pattern
198. cssesesssessssesseseers 1 3 Non Line Regenerative Applications ccccsecsssssssssssssssssssessssseesesreess 1 4 Common Bus Architecture and Product Structure occ 1 6 Key Features of the Common Bus Amplifiers cccseesssesesssessseeeseees 1 6 Product Structure of the Line Regenerative Drive Amplifiers eene 1 7 Regenerative Power Supplies vccitccsuststPessonscesghevasstusuabesasstiaussbesessbusssateletataaueas 1 9 Product Structure of the 8720MC Regenerative Power Supply seese 1 9 Key Features of the 8720MC Regenerative Power Supply essre 1 10 Product Structure of the 1336R Regenerative Power Supplies sses 1 10 Key Features of the 1336R Regenerative Power Supplies oo 1 11 87205M AC Spindle Motor Overview s s ssesssrsresrsrnresnsnnrennnnnrnnnnnnrnnnnnnrenrnnnnn 1 11 Product Structure of the 8720SM High Performance AC Motors ns 1 12 Key Features of the 8720SM AC Spindle Motors sssr 1 13 Chapter 2 Specifications Chapter Obi SCTIVES 2 escevrslbvas sual waasbunCasnsaunieovsanesgeasguarsia nia tuaieeete eR 2 1 COMMON Specifications issnin n 2 2 Specifications Common to all 8720MC Drive Amplifiers and Motors 2 2 Specifications for 5 5 to 37 kW 8720SM Motors with 8720MC RPS Regenerative Power Supply snaunnntnn aan maataaathe 2 4 Curves for 5 5 to 37 kW 8720SM Motors with 8720MC RPS Regenerative Power Supply ecru coourcumrtacranedetan mae ceatnau ces u eerste eahucgelt 2 7 Power and Torque CUNVES a icecttssete
199. ct will close whenever the low winding is selected Also the high winding output will be disabled since both cannot be on concurrently Default 0 Length Minimum Maximum Scaling Resolution 2 bytes NA NA Publication 8720MC UM 001C EN P Feb 2001 8 56 Programming Parameters IDN P00028 Name Enable Brake SOL Data Type bit flag Parameter No 528 File 1 0 Interface Group Event Links Description The 8720MC digital I O can be linked to events within the drive One of the 8720MC relay contact outputs can be linked to IDN P00028 IDN P00028 is true whenever the drive is enabled and the brake delay constants parameters 206 and 207 are satisfied Entering 528 into digital outputs 2 3 or 4 will link the Enable Brake Solenoid event to one of the relay contact outputs Default 0 Length Minimum Maximum Scaling Resolution 2 bytes NA NA IDN P00029 Name Auto_Ref_ Enabled Data Type bit flag Parameter No 529 File 1 0 Interface Group Event Links Description Parameter 529 P00029 can be linked to a digital output and is provided in the SCANport logic status word It is used to identify when the 8720MC is capable of following the auto reference from the primary source identified in parameter 501 If the drive enable input is true and the auto mode of operation is active and there are no drive faults parameter 565 will be true Default 0 Length Minimum Maximum Scaling Resolution 2
200. cw direction This section provides the information you need to scale a manual velocity analog reference Note Default scaling is 1000 rpm 10 volts To scale motor jog speed 1 Atthe HIM press ENTER A message similar to the following appears Choose Mode Display 2 Press either the up or down arrow key until the following appears Choose Mode Program 3 Press ENTER Press either the up or down arrow key until the following appears Choose File I O Interface 4 Press ENTER Press either the up or down arrow key until the following appears Choose Group Analog Inputs 5 Press enter Use the up and down arrow keys to find Parameter 696 Manual Vel Scale 6 Press ENTER The following message appears Manual Vel Scale 1000 RPM 7 Press SEL The cursor moves to the bottom line Continue pressing SEL until the cursor moves to the digits that you need to change Operating in Manual Mode Using Digital 1 0 Interface Operating in Manual Mode with an Internal or External HIM Starting Up Your 8720MC 9 11 8 Press the up and down arrows to change the scale value 9 To change the shaft direction from positive to negative press SEL until the cursor is on the plus sign and press the up or down arrow key Note Default shaft direction is positive clockwise while looking at the shaft 10 Press ENTER In velocity mode with 0 volts at the manual analog reference input the drive may still slowly
201. d 35 6 42 i S6 50 47 5 Continuous S1 kW z Rated Max 52 5 5 T 36 o 4 330 Performance assumes 380 VAC 24 3 input inverter with a minimum of 340 VAC at motor 18 2 Amps at Base Speed Cont Amps 20 2 12 1 S6 Amps 26 Max Amps 28 6 2 0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 O 1000 2000 3000 4000 5000 6000 7000 8000 9000 RPM RPM 30466 M Figure 2 20 7 5 Kw Motor with 380 vac Input 7 5 kW at 1500 RPM Base Speed DL1108 Frame Catalog No 007S1CC 12 80 I Maximum 72 64 Torque in N M 56 Rated 48 8 S6 50 64 s 48 Max 72 Continuous S1 kW z 6 40 Performance assumes 380 VAC 3 32 4 input inverter with a minimum of o 340 VAC at motor E a4 Amps at Base Speed Cont Amps 26 4 16 2 S6 Amps 33 a MaxAmps 37 8 ee 0 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 O 1000 2000 3000 4000 5000 6000 7000 8000 9000 RPM RPM 30467 M Publication 8720MC UM 001C EN P Feb 2001 Specifications 2 21 Figure 2 21 11 Kw Motor with 380 vac Input 11 kW at 1500 RPM Base Speed DL1110 Frame Catalog No 011S1DC 18 120 i maximum
202. d in the first analog release Default 0 Units rad sec Length 2 bytes Minimum Maximum Scaling Resolution Min gt 0 1 Max lt 10 000 IDN P00062 Name Torq Lowpas_Frq0 Data Type Integer R W Parameter No 562 File Servo Loop Group Group 0 Description The 8720MC supports 8 sets of Servo Parameters 0 7 The SERCOS link the I O interface or SCANport can select which set of parameters is to be enabled Group 0 is the default group IDNP00062 is used to provide the drive with the Torque reference low pass filter frequency for Servo group 0 This value should initially be derived by the drive via auto tuning with the load connected The parameter establishes the 3db point of the low pass filter applied to the torque commands The data is represented by an unsigned integer Default 2000 Units rad sec Minimum Maximum Scaling Resolution Min gt 0 1 Max lt 10000 IDN P00063 Name Regen Energy Val Data Type Decimal R W Parameter No 563 File Motor Drive Fdbk Group Drive Data Description IDN 00063 parameter 563 specifies the amount regenerative energy capacity available to the 8720MC Drive This parameter is useful in AC input applications where the supplied regenerative capacity is less than 100 of the motor current Parameter 563 Regen_Energy_Val is used to limit the regeneration current above base speed It is expressed as a percentage of continuous current at base speed Redu
203. d range 4 1 1 5 5 1 4 4 1 4 1 1 4 3 1 4 2 1 4 0 1 3 9 1 Rotor inertia kg m 0165 0222 0272 0809 0977 111 176 209 Ib ft2 391 527 645 1 92 2 32 2 63 4 2 4 9 Rated continuous motor amps RMS 13 5 20 3 26 8 33 4 41 4 48 63 1 76 1 current at base speed cont S6 current at base speed amps RMS 17 2 25 3 34 6 39 1 47 2 61 2 74 6 89 2 Peak current at base speed amps RMS 18 7 27 9 37 6 46 57 66 5 88 5 107 Voltage at Base Speed volts RMS 350 315 335 370 364 369 371 375 Voltage at max speed volts RMS 505 505 505 505 505 505 505 505 Motor weight kg Ibs 75 165 91 201 102 225 131 289 150 331 163 359 226 497 272 598 Max radial bearing load kg Ibs 206 455 206 455 206 455 243 535 243 535 243 535 350 770 350 770 Publication 8720MC UM 001C EN P Feb 2001 Specifications 2 5 Table 2 6 Drive Amplifier Specifications 8720MC Drive Amplifier Specifications for 750V DC Input 8720MC RPS Regenerative Power Supply and 8720SM AC Motor Drive Amp Specifications Units Drive Amplifier Data for Each Power Rating Motor catalog number 8720SM 005S1BA 007S1CA 011S1DA 015S2EA 018S2FA 022S2GA 030S4 A 037S4KA Rated continupous motor amps RMS 13 5 20 3 26 8 33 4 41 4 48 63 1 76 1 current at base speed cont Drive amplifier catalog no 8720MC B014 B021 B027 B034 B042 B048 D065 D078 DC input current
204. d to accept an analog command reference via the auxiliary feedback port This is a general requirement for any analog input application and not specifically for auto tuning Note Auto tuning will initiate a fast rotation in one direction of the motor shaft followed by a fast rotation in the opposite direction ATTENTION Auto tuning will cause rapid motion of the motor and the connected load Make sure all mechanical connections are securely fastened and that nothing is in the path of the load Failure to observe this precaution could result in bodily injury With the load connected you are ready to tune the servo loop parameters 4 For the analog configuration auto tuning will automatically calculate the following Group 0 Servo Loop parameters Parameter 100 Vel Prop Gain 0 Parameter 101 Vel Integ Time 0 Parameter 523 System Accel 0 Parameter 562 Torq Lowpas Frq0 and Pos Loop Gain 0 5 Before initiating the auto tune procedure ensure that the Parameter 546 Atune Config has the four lowest significant bits set to one This means that e bit 0 Auto Save is on and the calculated parameters will be automatically saved e bit 1 Calc Gains is on and the proportional and integral gains for the selected servo loop parameter group will be calculated e bit 2 Inertia is on and the system acceleration for the selected servo loop parameter group will be calculated Scaling
205. ded Spurious electrical noise must be minimized by using proper grounding wire routing and shielding practices Control circuits will not perform properly unless the appropriate preventative measures are taken Figure 4 1 shows the grounding recommendations for the drive Figure 4 1 Recommended 8720MC Grounding AN J Ground Rod Grid or Building Structure Steel Publication 8720MC UM 001C EN P Feb 2001 Common pee Shield U T1 V T2 W T3 PE Gnd pe JN ME SSRS EEEE lt Motor Frame PE Communications Motor i Ground per Options Terminator Local Codes or Analog Common Options that can be installed as needed Mode Core To Computer Position Controller 30800 M R2 To ground your 8720MC Drive 1 Identify a good source of earth ground such as a ground rod or a clean low resistance connection to a steel building structure Connect the PE terminal provided on TB 1 to earth ground Define the paths through which the high frequency ground cur rents flow Isolate the wires carrying these currents Connect the ground conductor of the motor cable drive end directly to the drive ground PE terminal not to the enclosure ground bus bar Connect the enclosure ground bus bar to adjacent building steel or a floor ground rod Solidly ground the RFI filter if you need to use one The D fra
206. digital HIM which has a digital speed control and jog controls Publication 8720MC UM 001C EN P Feb 2001 1 8 Introduction Figure 1 6 Product Structure of Line Regenerative Drives Ratings 014 to 048 Amps i 8720MC HIGH PERFORMANCE DIGITAL DRIVE AC INPUT COMMON BUS DRIVE PRODUCT STRUCTURE 8720MC v xxx aa HASh op Ny BASE CATALOG INPUT AMPLIFIER SIZE ENCLOSURE HUMAN OPTIONS NUMBER VOLTAGE AMPERES TYPE INTERFACE B 380 to 460 VAC 021 20 9 Amp AN OPEN HASP Std HIM BLANK NONE 750VDC COMMON BUS 027 27 2 Amp AA Enclosed HASB No HIM 01 OPTION 034 33 7 Amp HAS1 Analog HIM 042 41 8 Amp HAS2 Digital HIM 048 48 2 Amp 30782 M R3 Figure 1 7 Product Structure of Line Regenerative Drives Ratings 065 to 180 Amps 8720MC HIGH PERFORMANCE DIGITAL DRIVE COMMON BUS INPUT DRIVE PRODUCT STRUCTURE 8720MC v xxx aa HASh op UN BASE CATALOG INPUT AMPLIFIER SIZE ENCLOSURE HUNAN OBTIONS NUMBER VOLTAGE AMPERES TYPE INTERFACE D 750VDC Common Bus 065 64 5 Amp AN Open HASP Std HIM Blank None 078 78 2 Amp AA Enclosed HASB No HIM 01 Option1 097 96 9 Amp HAS1 Analog HIM 120 120 3 Amp HAS2 Digital HIM 30783 M R3 149 149 2 Amp 180 180 4 Amp Publication 8720MC UM 001C EN P Feb 2001 Regenerative Power Supplies BASE CATALOG NUMBER CONVERTER Introduction 1 9 Product Structure of the 8720MC Regenerative Power Supply For motors up to 37 kW 50 hp the 8720MC RPS065 is the standard choice for a regenerative p
207. drive see IDN 00011 and IDN 00129 In the analog configuration this function is Errors provided by the Drive Error Reset reset input Enumerated Bit Pattern Structure of reset class 1 diagnostic see IEC 61491 table 16 7 4 4 Structure of procedure command acknowledgment see IEC 61491 table 17 7 4 4 Default Length Minimum Maximum Scaling Resolution Units NA 2 bytes NA NA NA IDN S00100 Name Vel_Prop_Gain_0 Data Display integer R W Parameter No Description Velocity loop proportional gain This is one of the parameters included in the 8 sets of servo loop 100 parameters Increasing this parameter produces faster velocity loop dynamic response with higher risk of File instability It will also reduce the dynamic velocity error Decreasing this parameter will soften the dynamic Servo Loop response increase the dynamic velocity error and reduce the velocity loop instability This parameter may be auto Group tuned See parameter 541 group 0 Default Length Minimum Maximum Scaling Resolution Units 600 2 bytes Min gt 0 1 1 sec 1 sec Max lt 30000 Publication 8720MC UM 001C EN P Feb 2001 8 22 Programming Parameters IDN S00101 Name Vel_Integ_Time_0 Data Display decimal R W Parameter No Description Velocity loop integral action time This is one of the parameters included in the 8 sets of servo loop 101 parameters Decrea
208. drives Connect to the ground PE connections at both the motor and the drive end Armored Cable Armored cable also provides effective shielding Ideally you should ground armored cable only at the drive PE and motor frame Some armored cable has a PVC coating over the armor to prevent incidental contact with grounded structure If due to the type of connector you must ground the armor at the cabinet entrance use shielded cable within the cabinet to continue as far as possible with the coaxial arrangement of power cable and ground In some hazardous environments you cannot ground both ends of the armored cable When cable armor is grounded at both ends a ground loop is formed If the ground loop is cut by a strong magnetic field induced from proximity to powerful electric machines there is a possibility for high circulating current operating at low frequency In this case make a ground connection at one end through a capacitance that blocks the low line frequency current but presents a low impedance to RF Due to the highly pulsed nature of the circulating current the capacitor type used must be rated for AC to ground voltage Consult the factory for specific guidelines Conduit For applications above 130 amperes metal conduit is required for cable distribution Follow these guidelines e Drives are normally mounted in cabinets and ground connections are made at a common ground point in the cabinet If the conduit is connected
209. duction 1 3 Key Features of the 8720MC Drive Amplifiers The following features apply to all 8720MC Drive amplifiers e High performance digital position velocity and current loops permit high bandwidth servo operation e 4 500 Hz output frequency 30 000 RPM 2 pole motor operation e High resolution 4 million counts rev feedback capability provides superior velocity and position resolution Feedback sampling every 125 micro seconds e High resolution feedback port for motor mounted feedback device provides excellent motor smoothness of operation even at very low speeds e Additional feedback port for a high resolution spindle or axis mounted feedback device available with SERCOS version only e Option for resident or SCANport connected Human Interface Module HIM e ScanPort interface for hand held terminals e DeviceNet ControlNet Remote I O and DH 485 communications via ScanPort e Simplified entry of configuration parameters in engineering units e Two configurable 10 V DC analog outputs 12 bits resolution e Ten 24V DC discrete sourcing inputs e Four 24V DC isolated relay contact outputs e Six additional 24V DC configurable isolated current limiting discrete outputs e One 5V DC and one 24V DC registration input e One5 V DC TTL A quad B encoder output with marker provides a motion controller position interface 1024 pulses per motor revolution e Sercos Interface Sercos 2 4 mbaud fiber optic digital comm
210. e the analog inputs the analog outputs the digital inputs the digital outputs the output relays the registration sensor feedback devices and the SERCOS connections The following sections will focus on the control wiring Drive Installation and Wiring 4 19 Control and Logic Connections Figure 4 10 shows the control and logic connections for the 8720MC Drive A total of 6 Weidmueller connectors 3 double row pairs are used to connect the motor feedback the auxiliary feedback the analog I O the registration inputs the digital I O and the relay outputs The front and back connectors are identical and consequently care must be taken to label and dress the cables so that they can not be inadvertently switched Three tables follow the illustration The tables contain e Table 4 5 pinout information for the P1 connector e Table 4 6 pinout information for the P4 connector e Table 4 7 pinout information for the P5 connector Figure 4 10 Control and Logic Connections for the 8720MC Drive Power Structure Ribbon Connector Note rr 12345 678910111213 Motor amp Load g 8 SERCOS Baud Rate Switch oo I I oo SERCOS Address Th heel itch 8720MC umbwheel Switc Control Board Connectors shown SCANport rotated 90 deg Connector SERCOS Optical P4 P5 Connectors E la J TX RX 5678 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 12
211. e 8720MC Regenerative Power Supply 1394 or Ultra SERCOS Drive 380 VAC 15 10 50 HZ A B SERCOS 460 VAC 15 10 60 HZ Master epee k Cabinet A B 1494V WPG i o seed Disconnect RS Logix 5000 a 2 ess Line H H S o Fuses H H A B 1491 N333 Customer E Stop string E 1 ar supplied i Optional CE Filter i 120 VAC _8720MC RFI 80 SERCOS Fiber Optic Ring J A B 100 C43D10 Motion Cont l MC Main Contactor vod Pro i P1415 T L3 R L1 oii P5 14 Enable Sercos nalog s l2 8720MC RPS P58 Regenerative ae To motor m nnd mc2 Power Supply P5 7 a fan R Drive OK COS L1 R li e l PITS L2 S p DC DC e PU L3 T DC 8720MC N DC SERCOS Analog z H Reactors Drive Error gt Varistor Figo Reset Drive 4Tuf RDY e P5 15 Drive Error 1 Note 4 8720MC RPS e Reset i L1aux R1 Run com P5 22 oavpc L2AUX S1 Source L3AUX R1 ON FR l m penaa P5 Motor 4 w G RPS Fault FR E338 Regen PS OK PE PRI Start Drive Stop Drive PR2 Drive Error RST pe SE ee eo o ele PRS Reset Drive Error Ea CR1 424VDC 24V Reget e Earth Gnd j Customer Magnetics Source Earth
212. e IDN ei af a 00084 lies beyond the programmed torque limits see IDN 00082 and IDN 00083 Bit 0 is defined for operation Berne data only This parameter can be linked to the digital I O or the SCANport logic word Bit Pattern Structure of status T gt Tiimit Bit 0 0 T lt Timi L IT gt Timi Default Length Minimum Maximum Scaling Resolution Units NA 2 bytes NA NA NA IDN S00335 Name Vel_Above Limit Data Display Bit R Link Parameter No Description Status Noommand gt Nimit This parameter is used to define an IDN for the status Noommand gt Miimit 335 In the SERCOS configuration this allows the status Ncommand gt Nimit to be assigned to a real time status bit see cl T IDN 00305 The status Neommand gt Nimit iS defined as a C3D bit IDN 00013 and is set when the velocity a Sr ate command value see IDN 00036 is greater than the velocity limit value see IDN 00038 and IDN 00039 Bit 0 is PEAR N defined for operation data only This parameter can be linked to the digital 1 0 or the SCANport logic word Bit Pattern Structure of status Ncommand gt limit Bit 0 0 Meommand lt Nimit 1 Mcommand gt Nimit Default Length Minimum Maximum Scaling Resolution Units NA 2 bytes NA NA NA Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN 500336 Name In_ Position Data Display Bit R Link Parameter No Des
213. e IDN 00160 Units 1000 Max lt 231 1 Scaling factor IDN 00161 IDN 00160 Scaling exponent IDN 00162 IDN S500260 Name Posn_Accel_Rate Data Display decimal R W Parameter No Description Positioning acceleration The positioning acceleration is used in the drive resident interpolation 260 operation mode as the rate to accelerate to and decelerate from the positioning velocity IDN 00222 during an File orient procedure request IDN 00152 parameter 152 This acceleration rate is also used with SERCOS or DPI Control initiated positioning moves to Target Position parameter 258 Procedure Group Acceleration Orient Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 1 rad sec Rad Sec2 Default Min gt 0 100 Max lt 65535 SERCOS Length Minimum Maximum SERCOS Scaling Resolution SERCOS Default 4 bytes Min gt 0 Scaling type IDN 00160 Units Max lt 23 1 Scaling factor IDN 00161 IDN 00160 Scaling exponent IDN 00162 IDN S00272 Name Speed_Window_ Data Display Decimal R W Parameter No Description Velocity window percentage The velocity window percentage refers to a percentage of the Velocity 272 command value IDN 00036 See IDN 330 for additional information If the velocity feedback value IDN 00040 File is found to be within a window of the velocity command defined by this percentage the drive will set the status Status Fau
214. e Reactor Specifications for 750V DC Input Drives with Multiple 8720MC RPS Regen Power Supplies and 8720SM AC Motor Line Reactor Specifications Units Line Reactor Data for Each Power Rating Motor catalog number 8720SM 045S5NA 055S5PA 063S5QA 075S6SA 093S6TA Req RPS continuous Input current amps RMS 71 91 105 125 154 Drive amplifier catalog no 8720MC D097 D120 D120 D149 D180 Line Reactor Catalog No 8720MC LRO5 048B LRO5 048B LR10 062B LR14 070B LR10 062B Number of Reactor Assemblies Req quantity 2 2 2 2 3 Max cont current amps RMS 48 48 62 70 62 Inductance uH 800 800 1100 1200 1100 Weight kg lbs 21 46 2 21 46 2 27 59 4 38 83 8 27 59 4 each each each each each Publication 8720MC UM 001C EN P Feb 2001 Because of the larger current requirements for motors from 45 to 75 kw a master 37 kw regenerative power supply RPS and a slave 37 kw RPS are required A master 37 kw RPS and two slave 37 kw RPS units are required for the 93 kw motor Each master or slave RPS requires its own line reactor harmonic filter and varister The master and slave RPS units are designed to share the current loads equally so incoming AC fuses and wiring should be sized accordingly Curves for 45 to 93 kW 8720SM Motors with 8720MC Regenerative Power Supply 750 vdc Input Specifications 2 13 Power and Torque Curves The following power and torque curves contain data for 45 kW 55kW 63kW 75KW a
215. e Resistor Table B 5 8720MC 8720MC RPS065 Regerative Power Supply Spare Parts Part arias Part Description 826751 S B0001 Regulator Board BDSR 1 286040 500VFA16A Ferraz 16 amp Fuse 16x32 for Fusel Precharge 926504 MB B0012 Cooling Fan 926503 MB B0011 Precharge Resistor 352311 MB B0013 Master to Slave ribbon cable Publication 8720MC UM 001C EN P Feb 2001 B 4 Replacement Spare Parts eee Ome ABEND Regerative Power Supply Spare Parts Part Na Part Description 826751 S B0001 Regulator Board BDSR 1 286005 6J X30 600V 30 A Fuse 286007 6J X3 600V 3 A Fuse 926524 60 03136 00 for CN26 of APS 011 Cooling Fan 926525 60 03136 01 for CN27 of APS 011 Cooling Fan 926526 60 03137 00 Precharge resistor 926523 60 03170 00 Master to Slave Ribbon Cable Publication 8720MC UM 001C EN P Feb 2001 Symbols Virtual Encoder output A quad B 4 36 Numerics 1336R regenerative power supplies key features 1 11 product structure 1 10 380V AC input drives power and torque curves 2 17 specifications 2 15 45 to 93 kW 8720SM motors with 8720MC regenerative power supply 750 vdc input power and torque curves 2 11 45 to 93 kW 8720SM motors with 8720MC RPS master and slave regenerative power supplies specifications 2 8 5 5 to 22 kW 8720SM motors with 460V AC input power and torque curves 2 13 specifications 2 11 5 5 to 37 kW 8720SM motors with 8720MC RPS regenerative power supply power and t
216. e Velocity Limit Auto Tune Position Limit Auto Tune Configuration Setup Auto Tune Status Torque Reference Notch Filter Frequency Torque Reference Low Pass Filter Bandwidth Regenerative Energy Capacity Stopping Torque Stopping time limit Homing Strategy Orient Strategy Orient Complete Drive is capable of running no faults A Shut Down Error has occurred Regenerative Power Supply Fault Digital Output Status Digital Output 1 Source Digital Output 2 Source Digital Output 3 Source Digital Output 4 Source Digital Output 5 Source Digital Output 6 Source Digital Output 7 Source Publication 8720MC UM 001C EN P Feb 2001 16 Character Name A B_Application Mtr_Fbck_Type Aux_Fbck_ Type Cur_Limit_Source PWM_ Frequency System_Accel_0 HI_Wind_enable Lo_Wind_Enable Enable_Brake_Sol Auto_Ref_Enabled Manual_Mode_On une _Select une_Torq_Limit une_Vel_Limit une_Posn_Limit AT AT AT AT ATune_Config AT une_Status Torq_Notch_Freq0 Torq_Lowpas_Frq0 Regen_Energy_Val Stopping_ Torque Stop_Time_Limit Homing_Strategy Auto_Home Orient_Complete Drive_OK Shut_down_Error Power_Supply_OK Output_Image Output_01_ Source Output_02_ Source Output_03 Source Output_04 Source Output_05 Source Output_06 Source Output_07_ Source File Motor Drive Fdb Motor Drive F dbl Motor Drive Fdbl Status Faults Motor Drive Fdbl Servo Loop 1 0 Interface 1 0 Interface 1
217. e application perform the following Navigate through the HIM menu tree structure to parameter 667 Digital_Output_6 which is located in the file I O Interface and the group Digital Outputs 1 Make sure the output link for Digital Output 6 is parameter 583 Orient Complete This is the default link for the analog spindle configuration as determined by parameter 501 Navigate through the HIM menu tree structure to parameter 661 Dig_Output_Status which is located in the file T O Interface and the group Digital Outputs Press the enter key to view the bit pattern definition Bit 0 is located in the lower right The bits are numbered from 15 to 8 on the top row and 7 to 0 are on the bottom row An x in any bit position indicates that bit is not defined A 1 indicates the out put is on A 0 indicates the output is off In this example if we were to execute a spindle orient output 6 would transition from 0 to 1 after the orient was complete This means that bit 5 of the Dig_Output_Status would transition from 0 to 1 as shown in figure 7 6 For the 8720MC there are 10 digital outputs in the file I O Inter face and the group Digital Outputs Depressing the increment up key will progressively steps your through the output assign ments for digital outputs 1 thru 10 If you wish to change an out put assignment first locate the output you wish to change and then pre
218. e between the commanded velocity and actual velocity is placed 347 in this parameter File Control Group Velocity Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 1 1RPM RPM Default Min gt 30 000 0 Max lt 30 000 Default Length Minimum Maximum Scaling Resolution Units 4 bytes Minimum Input gt 231 Scaling type IDN 00044 IDN 00044 31 Scaling factor IDN 00045 Maximum Input lt 2 1 Scaling exponent IDN 00046 see 8 6 2 IDN S00348 Name Acc_Fdfwd_Gain_0 Data Display Decimal R W Parameter No Description Acceleration feed forward gain This IDN is one of the 8 sets of servo loop parameters Acceleration 348 feed forward is when minimum following error is desired and serves to reduce acceleration deceleration File dependent following error Servo Loop Group Group 0 Default Length Minimum Maximum Scaling Resolution Units 0 00 2 bytes Minimum Input gt 0 1 01 Maximum Input lt 100 00 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN S00380 Name DC Bus Voltage Data Display Decimal R Link Parameter No Description DC bus voltage The drive s DC intermediate bus voltage value is placed in this parameter File Status Faults Group Drive Status Default Length Minimum Maximum Scaling Resolution Units From RPS 2 bytes Minimum Input gt 0 1 1 volt Volt Ma
219. e input capability in addition to the DC common bus input capability provided on all drive amplifiers Publication 8720MC UM 001C EN P Feb 2001 BASE CATALOG NUMBER Introduction 1 5 In the non regenerative configuration the DC bus terminals are brought out to interface to the A B 1336 WB Dynamic Braking Module In a situation where a high inertia drive load is decelerated rapidly the motor returns energy to the 8720MC DC bus To prevent unwanted DC bus over voltage trips the 1336 WB Dynamic Braking Module senses the rising bus voltage and shunts the bus current through a shunt resistor connected to the 1336 WB Under normal operation when the motor is under load the 1336 WB essentially disconnects the shunt resistor In this way the motor can be decelerated at its maximum allowable rate without causing a DC bus over voltage shut down The 8720MC drive amplifiers are equipped with either Sercos digital or standard analog command interfaces and can include an integrated human interface module HIM Drive configuration can be accomplished with the integrated HIM a remote hand held HIM or a personal computer using Drive Explorerry a Windows 95 NT or CEyy compatible drive configuration tool Figure 1 3 shows the product structure of the 8720MC amplifiers for non line regenerative direct AC input applications Figure 1 3 Product Structure of Non Line Regenerative Drives Ratings 014 to 048 8720MC HIGH PERFORMANCE DIGITAL DRIVE
220. e load and tune the drive This section explains the importance of adjusting servo loop parameters One of the most important tasks to be performed during startup is the adjustment of the servo loop parameters Adjustment of these parameters is essential to get the maximum performance from a drive application The 8720MC is supplied with a set of default parameters which are intended to provide a good starting point In addition all the motor specific parameters are stored in the motor encoder As a consequence only a few key servo loop parameters require tuning to the specific load and application The traditional method of tuning the servo loop parameters is performed by a process of trial and error adjustment The 8720MC Drive provides an auto tuning procedure which greatly simplifies this task The Parameter Groups Files and Elements charts presented in Programming Parameters show that there are 8 sets of servo loop parameters Each group has 16 servo loop parameters or elements of which 4 are set by the auto tuning procedure The 8 groups of servo loop parameters are provided to support multiple gear ranges high low winding motors and multiple operating modes Each unique gear range winding or operating mode requires a separates set of servo loop parameters and each should be separately auto tuned Auto tuning compensates for the changes in the reflected inertia and changes in the motor operating characteristics caused by
221. e logic output signals have already been defined in the section Default Digital I O Descriptions The following is an explanation of those that have not already been described Drive Enabled The drive is in the enabled state when the drive enable digital input is true and there are no shut down faults Drive enabled means the power IGBT s are switching and the drive is capable supplying motor torque Auto Reference Enabled Parameter 529 P00029 is an event link which indicates that there are no drive faults the drive is enabled and it is in auto mode and it is capable of following the auto reference This event has a default link to both the digital interface and the SCANport Logic Status Word Rotation Direction The rotation direction bit is used to identify the direction of motor rotation Manual Reference Selected Whenever the digital or SCANport interfaces select the manual reference the drive acknowledges this state by setting the manual reference selected bit 15 SCANport Output Status Word Publication 8720MC UM 001C EN P Feb 2001 6 18 Interface Signal Description Table 6 10 SCANport Gateway Data Assignments Gateway Data Data Link Hesiod Default 8720MC Data Description Data Type Word Identifier Assignment Link 16 bit word Input Word 0 Logic Command 717 717 SCANport Logic Command Word bit pattern Input Word 1 Command 713 36 or 80 SCANpo
222. e the 8720MC drive in manual mode using an internal or external HIM 1 Enable the drive by setting the Drive Enable digital input 1 high Publication 8720MC UM 001C EN P Feb 2001 9 12 Starting Up Your 8720MC Start up of Motor Orient Publication 8720MC UM 001C EN P Feb 2001 2 Depress the red stop button on the HIM module Use the speed potentiometer or speed arrows on the HIM to set the speed reference to zero Note Refer to HIM Programming 3 Push the start or green HIM button to run the motor or the jog button to jog the motor 4 Use the speed potentiometer or speed arrows to increase your speed reference to a desired level Disabling the drive pressing the HIM red stop button or releasing the jog button will stop the motor This section provides the information you will need to orient your motor The motor orient procedure provides a means of positioning the motor to a precise location regardless of whether the motor is starting from standstill or rotating at high speed The procedure that follows assumes that the motor feedback device is an SNS 60 Sincoder Note To understand the drive controlled motor orient feature refer to Parameter 152 Spin Orient Req Parameter 150 Mtr Marker Ofset Parameter 153 Orient Angle Parameter154 Orient Options Parameter 157 At Spd Window Parameter 222 Spin Orient Spd Parameter 260 Pos Accel Rate Parameter 582 Auto Home
223. e5 Vel_Limit_5 Vel_Limit_5 Torque_Limit_5 Torque_Limit_5 Vel_Prop_Gain_5 Vel_Integ_Time_5 Pos_Loop_Gain_5 Pos_Int_Time_5 Vel_Fdfwd_Gain_5 Acc_Fdfwd_Gain_5 System_Accel_5 Torq_Notch_Freq5 Torq_Lowpas_Frq5 Accel_Limit_5 Decel_Limit_5 Primary_Op_Mode6 Vel_Limit_6 Vel_Limit_6 Torque_Limit_6 Torque_Limit_6 Vel_Prop_Gain_6 Vel_Integ_Time_6 Pos_Loop_Gain_6 Pos_Int_Time_6 Vel_Fdfwd_Gain_6 Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Group 4 Group 4 Group 4 Group 4 Group 4 Group 4 Group 4 Group 4 Group 4 Group 4 Group 5 Group 5 Group 5 Group 5 Group 5 Group 5 Group 5 Group 5 Group 5 Group 5 Group 5 Group 5 Group 5 Group 5 Group 5 Group 5 Group 6 Group 6 Group 6 Group 6 Group 6 Group 6 Group 6 Group 6 Group 6 Group 6 A B P Parameters in Numerical Order SERCOS IDN No 560384 P00422 P00423 P00424 560136 560137 570032 570038 570039 70082 70083 70100 70101 70104 70105 70296 70384 P00442 P00443 P00444 70136 70137 8720MC DESCRIPTION 16 Charac
224. ecessary information to install program start up and maintain the 8720MC Drive The Allen Bradley 8720MC Drive System is a family of products designed to satisfy a wide range of machine tool spindle and power servo applications For applications which do not require line regeneration Allen Bradley offers five 380 to 460 VAC input high performance digital drives with current outputs ranging from 21 to 48 amperes For applications requiring line regeneration the same five drives plus an additional 14 amp drive can be connected to a regenerative power supply via a 750V DC common bus interface The complete family includes a set of twelve drive amplifiers capable of controlling a family of motors ranging in power from 5 5 to 93 kW This manual contains the information shown in the following table Chapter Title Preface 1 Introduction 2 Specifications 3 Dimensions Publication 8720MC UM 001C EN P Feb 2001 P 2 Preface Related Documentation Common Techniques Used in this Manual Publication 8720MC UM 001C EN P Feb 2001 4 Drive Installation and Wiring 5 Motor Installation and Wiring 6 Interface Signal Description 7 Programming Terminals 8 Programming Parameters 9 Start up 10 Troubleshooting Appendix A The following documents contain additional information about related Allen Bradley products To obtain a copy contact your local Allen Bradley office or distributor
225. elec 846 20137 Decel_Limit_2 926 S60137 Decel_Limit_6 684 P00184 AnaOut_Ch2_Gain 840 20296 Vel_Fdfwd Gain 2 920 S60296 Vel_Fdfwd Gain 6 841 20348 Acc_Fdfwd_Gain_2 921 S60348 Acc_Fdfwd_Gain_6 842 P00342 System_Accel_2 922 P00422 System_Accel_6 843 P00343 Torq Notch Freq2 923 P00423 Torq Notch Freq6 844 P00344 Torq Lowpas_Frq2 924 P00424 Torq Lowpas_Frq6 Servo Loop Group 3 Servo Loop Group 7 851 30032 Prim_Op_ Mode 3 931 70032 Prim_Op_Mode_7 852 530038 Vel_Limit_3 932 570038 Vel_Limit_7 853 530039 Vel_Limit_3 933 70039 Vel_Limit_7 854 30082 Torque_Limit_3 934 70082 Torque Limit 7 855 30083 Torque_Limit_3 935 70083 Torque_Limit_7 856 530100 Vel_Prop_Gain_3 936 570100 Vel Prop Gain 7 857 530101 Vel_Integ Time_3 937 70101 Vel_Integ_Time_7 858 S30104 Pos Loop Gain 3 938 70104 Pos Loop Gain 7 859 530105 Pos_Integ Time 3 939 70105 Pos_Integ Time_7 865 530136 Accel_Limit_3 945 70136 Accel_Limit_7 866 530137 Decel_Limit_3 946 S570137 Decel_Limit_7 860 530296 Vel_Fdfwd_Gain_ 3 940 70296 Vel_Fdfwd_Gain_7 861 530348 Acc_Fdfwd_Gain_3 941 70348 Acc_Fdfwd_Gain_7 862 P30362 System Accel_3 942 P00442 System Accel_7 863 P30363 Torq_Notch_Freq3 943 P00443 Torq_Notch_Freq7 864 P30364 Torq_Lowpas_Frq3 944 P00444 Torq_Lowpas Frq7 Publication 8720MC UM 001C EN P Feb 2001
226. emove the Drive Enable before the contactor is opened When the Drive Enable is removed the drive stops modulating Before designing the input connections to the 8720MC Drive read the Attention information shown below ATTENTION The 8720MC Drive control circuitry includes solid state components If hazards due to accidental contact with moving machinery or unintentional flow of liquid gas or solids exist an additional hard wired stop circuit may be required to remove AC line power to the drive When AC input power is removed there is a loss of inherent regenerative braking effect and the motor coasts to a stop An auxiliary braking method may be required Immunity The immunity of 8720MC Drives to externally generated interference should be adequate for most applications Usually no special precautions are required beyond the installation practices provided in this manual All coils of DC relays and contactors should be suppressed with diodes All coils of AC relays and contactors should be suppressed with the manufacturers recommended coil suppressor In areas subject to frequent lightning strikes additional surge suppression is advisable You should use suitable metal oxide varistors MOVs connected between each line and ground Publication 8720MC UM 001C EN P Feb 2001 4 44 Drive Installation and Wiring Do Need an RFI Filter Publication 8720MC UM 001C EN P Feb 2001 Emission To avoid interference with nearby
227. en Low Winding Select When bit 2 of the parameter set binary code is set to O the Low Winding Select contact is closed When interfaced to a contactor this output can be used to select the Low motor winding This contact can be closed only when the High contact output is open Zero Speed Parameter 124 is used to determine the zero speed window When the motor velocity falls within the configured zero speed window for 50 ms the zero speed output is set true Shut Down Fault Parameter 11 contains a bit pattern which describes a set of different conditions which can initiate a shut down fault When any of these conditions exist the Shut Down Fault output will be true Selection of parameter 11 in display mode via the Him or Drive Explorers will allow access to a 16 character display describing the fault Auto Reference Enabled Parameter 529 P00029 is an event link which indicates that there are no drive faults the drive is enabled and it is in auto mode and it is capable of following the auto reference This event has a default link to both the digital interface and the SCANport Logic Status Word Publication 8720MC UM 001C EN P Feb 2001 6 6 Interface Signal Description Publication 8720MC UM 001C EN P Feb 2001 Orient complete If an orient has been initiated and the orient position is achieved the drive will enter an orient position achieved state The orient complete output is used to indicate to the motion controll
228. er appears in 8 sets of Servo Loop servo loop parameters Parameter 39 appears in Group 0 See Parameter Groups Files and Elements in this Group chapter The commanded negative RPM will be limited to this value If for any reason the actual motor velocity Group 0 exceeds Vel_Limit_0 by 50 an overspeed fault will disable the drive Default Length Analog SCANport Min Max Analog SCANport Scaling Resolution Units 6000 2 bytes Min gt 30 000 1 1RPM RPM Max lt 0 Default Length Minimum Maximum Scaling Resolution Units 6000 4 bytes Min gt 231 Scaling type IDN 00044 IDN 00044 Max lt 0 Scaling factor IDN 00045 Scaling exponent IDN 00046 IDN S500040 Name Velocity_Fback Data Display Decimal R Link Parameter No Description The velocity feedback value In the SERCOS configuration the velocity feedback value is transferred 40 from the drive to the control unit in each AT cyclic telegram in order to allow the control unit to have access to the File actual velocity In both the analog and SERCOS configurations the motor encoder supplied velocity feedback is Control used to close the velocity loop With the suggested feedback and motor wiring a positive velocity reference Group produces clockwise rotation when viewed from the shaft end of the motor Velocity Default Length Analog SCANport Min Max Analog SCANport Scaling Resolution Units 0 2 bytes Min gt 30 000 1 1RPM RPM Max lt 30 000 Default Length Minimum Maximum Scaling
229. er region For most 8720SM motors this will produce 505 vac RMS at maximum speed Default Motor Specific Length 2 byte2 Minimum Maximum Scaling Resolution Min gt 0 A Max lt 6553 5 IDN P00284 Name Mtr_Rated_Volts Data Type Unsigned Integer R W Parameter No 784 File Motor Drive Group Motor data Description This parameter defines the nominal DC bus voltage required to acheive base speed and rated torque For most standard 8720SM motors this will produce approximately 350 vac RMS at base speed Default Motor Specific Length 2 bytes Minimum Maximum Scaling Resolution Min gt 0 1 Max lt 6553 5 IDN P00285 Name Rated_Torque Data Type Unsigned Integer R W Parameter No 785 File Motor Drive Group Motor data Description This foarameter defines the continuous torque rating of the of the motor at base speed and 40 C Default Units newton meters or newtons Minimum Maximum Min gt 0 Max lt 6553 5 Scaling Resolution 107 Publication 8720MC UM 001C EN P Feb 2001 8 74 Programming Parameters IDN P00286 Name Motor Back_EMF Data Type Unsigned Integer R W Parameter No 786 File Motor Drive Group Motor data Description This parameter defines the synchronous motor back emf phase to phase constant at 25 degrees C This is set to zero for asynchronous motors and therefore should be set to zero for 8720SM motors Default 0
230. er set in the drive In the 254 SERCOS configuration if a new parameter set is to be activated it must first be preselected using parameter set File preselection IDN 00217 parameter 217 Parameter set 0 must be active in every drive before and during Procedure initialization In the analog version the actual parameter set can be linked to the SCANport output word Group parameter Structure of the actual parameter set switch Bit 2 0 000 parameter set 0 active 001 parameter set 1 active 010 parameter set 2 active 011 parameter set 3 active 100 parameter set 4 active 101 parameter set 5 active 110 parameter set 6 active 111 parameter set 7 active all other bits are reserved Default Length Minimum Maximum Scaling Resolution Units 000 2 bytes Min gt 0 NA NA Max lt 7 binary IDN S00258 Name Target_Position Data Display decimal R W Parameter No Description Target Position The target position may be provided by the DPI master via SCANport Data IN A2 258 or the SERCOS master For example with the DPI configuration selected in parameter 501 and the resolution set to File 3000 units in Parameter 79 and a modulo axis of 30 000 units as set by parameter 103 a target move of 15 000 Linear list units would take 5 motor revolutions CW at a speed determined by parameter 259 velocity and an acceleration Group and deceleration determined by parameter 260 assuming the position move started from 0 The primary Linear list ope
231. er that the orient position achieved state is established The orient complete output is turned off when the motor leaves the orient position Torque Torque Limit Parameters 82 and 83 are configuration parameters which establish the and torque limits for the application There are 8 sets of torque limits since they are part of the servo parameter sets If any of these torque limits are reached or exceeded the Torque Torque Limit Output will be enabled Parameter 520 can be used to determine the source of the torque limit At Speed Parameter 157 is a configuration parameter which establishes the At Speed Window When the velocity error represented by the difference between the commanded velocity and the feedback velocity is less than parameter 157 the At Speed output is enabled Registration Inputs The 8720MC provides 2 registration inputs One input is for 24 vdc operation and one is for 5 vdc operation The 8720MC can provide 5 vdc or 24 vdc to be used with a switch type registration or orient sensor Both registration inputs can be used in a given application Tables 4 20 and 4 21 as well as Figure 4 26 describe the electrical characteristics of the registration inputs From a software perspective the registration inputs are used by the 8720MC software to capture a position within 4 microseconds of a closure of the registration sensor This can be used by the drive for orienting to a registration sensor or used by aSE
232. erence problems are unlikely when the drive is used with conventional industrial electronic circuits and systems You should use the optional RFI filter if e You must conform to a standard such as EN 5501 1 VDE0875 BSI or FCC e You need to achieve very low emission levels e You are installing sensitive devices or circuits on the same AC supply e The motor cable exceeds 50 meters 164 feet Beyond this length capacitance to ground increases the supply emissions e You must comply with European CE Requirements Important The conformity of the drive and filter to any standard does not assure that the entire installation conforms Other factors can influence the total installation and only direct measure can verify total conformity Drive Installation and Wiring 4 45 Installing an RFI Filter CE Option To install the RFI filter follow the instructions provided by the filter manufacturer In addition you should note the following information e Connect the RFI filter between the incoming AC supply line and the drive power input terminals as shown in Figures 4 14 and 4 16 e Install the filter on the same mounting plate as the drive if possible The filter should be physically close to the drive with short connections e Keep the 3 phase AC leads tightly bundled together between the RFI filter and the drive input Important To assure that the RFI filter is effective you must shield or armor the motor cable and fo
233. ery well however you can modify the values as needed for your application Before You Begin In an initial start up it is always good practice to check the motor windings before you apply power to the drive This is done by first disconnecting the motor leads from the drive terminals T1 T2 and T3 Using a multi meter check continuity between the motor leads There should be very low resistance between T1 and T2 T2 and T3 and T3 and T1 Make sure there is no continuity between any of the motor leads and the motor case ground Starting Up Your 8720MC 9 3 Before reconnecting the motor leads make sure there is no continuity between the motor leads and the temperature switch leads Connect a multi meter between terminal P1 12 and each of the motor leads There should be almost infinite resistance Also make sure there is no continuity between terminal P1 13 and each of the motor leads Examine the drive input wiring carefully and make sure that there are no shorts to ground on the incoming leads Before you begin the startup procedure verify that the system has been wired correctly per the drawings in Chapter 4 and that you have a good quality digital multi meter available for troubleshooting In complicated systems it may be best to remove all fuses and bring up the system gradually by installing the device fuses as needed to bring on line additional equipment Exiting Before You re Finished If you need to exit the start up procedures
234. eserved reserved reserved reserved reserved Power structure ground short Drive Hardware Fault Overspeed 120 of parameter 113 Max Motor Speed or 150 of the velocity limits set for the active servo loop parameter set parameters 38 and 39 for servo loop group 0 etc WO OAD UI BR WNF PPP Ppp uBR WNF Default Length Minimum Maximum Scaling Resolution Units NA 2 bytes NA NA NA Publication 8720MC UM 001C EN P Feb 2001 8 28 Programming Parameters IDN S00136 Name Accel_Limit_0 Data Display Integer R W Parameter No Description Acceleration Limit 136 Parameter 136 contains the desired acceleration limit for parameter set zero in radians per sec This parameter File applies to the command reference regardless of it s source e g Analog input SCANport or HIM Reducing the ae loop acceleration rate will prevent shocking the mechanical system while increasing the speed roup Group 0 Default Length Analog SCANport Min Max Analog SCANport Scaling Resolution Units 65535 2 bytes Min gt 0 1 Lrad sec rad sec Max lt 65535 Default Length Minimum Maximum Scaling Resolution Units 65535 4 bytes Min gt 0 Scaling type IDN 00160 IDN 00160 Max lt 22 1 Scaling factor IDN 00161 Scaling exponent IDN 162 IDN S00137 Name Decel_Limit_0 Data Display Signed Integer R W Parameter No
235. evices 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 You should only attempt the procedures in this manual if you are qualified to do so and familiar with solid state control equipment and the safety precautions in publication NFPA 70E ATTENTION The system integrator is responsible for local safety and electrical codes ATTENTION An incorrectly applied or installed drive can result in component damage or a reduction in product life Wiring or application errors such as under sizing the motor incorrect or inadequate AC supply or excessive ambient temperatures can result in malfunction of the drive ATTENTION This drive contains ESD Electrostatic Discharge sensitive parts and assemblies Static control precautions are required when installing testing servicing or repairing this assembly Component damage can result if ESD control procedures are not followed If you are not familiar with static procedures refer to the Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook Chapter Objectives 8720MC Drive Overview Chapter I Introduction This chapter provides an overview of the 8720MC High Performance Drive It covers information on the three basic components of the drive which include e 8720MC Drive Amplifier e 8720MC Regenerative Powe
236. ew the entire parameter table in numerical order You can access the linear mode from the bottom of any group The parameter numbers range from 0 to 999 The list of parameters used is far less than 1 000 since there are reserved spaces provided for future product growth The current tools available to read modify or link the 8720MC parameters are e 1 an integral HIM module e 2 aremote HIM module e 3 Drive ExplorerrM Drive Explorer yy is an Allen Bradley Windows NT Windows 95 Windows CEr compatible drive configuration program For more information on Drive Explorer see Publication 9306 5 0 Drive Explorery y User Manual The following tables list the parameters that are available in each file and group 8 2 Programming Parameters Parameter Groups Files and Elements Param IDN ELEMENT Param IDN ELEMENT __ Param IDN ELEMENT Param IDN ELEMENT No Number NAME No Number NAME No Number NAME No Number NAME FILE GROUP FILE GROUP FILE GROUP FILE GROUP Status Faults Drive Status Control Velocity Procedure Orient Motor Drive Fdbk Drive Data 13 00013 Drive_Status 36 00036 Velocity Command 154 500154 Orient_Options 501 P00001 A B Application 380 S500380 DC_Bus Voltage 37 00037 Velocity Offset 5 582 P00082 Auto Home 110 00110 Dr
237. f the SERCOS drive status in the AT telegram from the drive to the master In the analog configuration only position with motor feedback feedback 1 velocity and torque modes are available The operating mode can be changed on line in the analog version by switching parameter sets Default 010 Length Minimum Maximum Scaling Resolution Units velocity 2 bytes NA NA NA IDN S00036 Name Velocity Command Data Display decimal R Link Parameter No Description Velocity command value This parameter contains the value of the reference velocity command Possible sources are Analog Input 1 parameter 691 SCANp An1 Value parameter 713 and the SERCOS cyclic File telegram The source of the velocity reference command is determined by parameter 501 A B Application Control With the suggested feedback and motor wiring a positive velocity reference produces clockwise rotation when Group viewed from the shaft end of the motor Velocity Default Length Analog SCANport Min Max Analog SCANport Scaling Resolution Units 0 2 bytes Min gt 30 000 1 1RPM RPM Max lt 30 000 Default Length SERCOS Min Max SERCOS Scaling Resolution Units 0 preferred 4 bytes Min gt 231 Scaling type IDN 00044 IDN 00044 scaling ay Scaling factor IDN 00045 Ma eee Scaling exponent IDN 00046 Publication 8720MC UM 001C EN P Feb 2001 8 10 Programming Parameters
238. fault Length Minimum Maximum Scaling Resolution Units 0 2 bytes Min gt 0 1 1 msec msec Max lt 6 553 5 Publication 8720MC UM 001C EN P Feb 2001 8 36 Programming Parameters IDN S00216 Name Switch Param_Set Data Display Bit pattern R W Parameter No Description Switch parameter set procedure command This procedure command allows the system to switch parameter sets The drive switches to the parameter set which is programmed in the parameter set preselection File IDN 00217 This parameter is used with the SERCOS configuration If this parameter is set true 1 the active Procedure parameter set will be changed to the selected value in paramter 217 Group Enumerated Bit Pattern parameter Structure of the switch parameter set procedure command see IEC 61491 table 16 7 4 4 switch Structure of command acknowledgment see table IEC 61491 17 7 4 4 Default Length Minimum Maximum Scaling Resolution Units 0 2 bytes NA NA NA IDN S00217 Name Select_Param_Set Data Display Binary R W Parameter No Description Parameter set preselection In the SERCOS configuration the desired parameter set of the drive is 217 selected by means of the parameter set preselection The switch parameter set procedure command see IDN File 00216 is used to switch parameter sets If the drive has no switchable parameter sets it will only accept Procedure parameter set 0 Therefore para
239. for the command reference Publication 8720MC UM 001C EN P Feb 2001 Connection P5 14 Input 1 Interface Signal Description 6 3 Changing parameter 501 also changes the default analog and digital TO links as shown in tables 6 1 6 2 and 6 3 With the exception of Drive OK Digital Output 1 any of the digital or analog default output assignments can be changed The digital input assignments are fixed as shown in Table 6 1 See the section Changing the Default Output Links in this chapter for details on how to change default output assignments Table 6 1 Analog Spindle Power Servo Drive Enable Digital Input Assignments Based on Application SERCOS Spindle Power Servo Drive Enable SCANport Spindle Power Servo Drive Enable P5 15 Input 3 Drive Error Reset Drive Error Reset Drive Error Reset P5 16 Input 5 Parameter set bit 2 Reserved Reserved high low P5 17 Input 7 Parameter set bit 1 Reserved Reserved P5 18 Input 9 Parameter set bit 0 Reserved Reserved P5 32 Input 2 Orient Request Reserved Reserved P5 33 Input 4 Auto Manual Select Auto Manual Select Auto Manual Select P5 34 Input6 Jog Reserved Jog P5 35 Input 8 Reserved Home Switch Home Switch P5 36 Input 10 Regen PS OK Regen PS OK Regen PS OK Table 6 2 Digital Output Default Links Based on Application IDN
240. formance AC Motors A family of thirteen standard AC induction motors ranging in power from 5 5 to 93 kW 7 5 to 125 hp is available for operation with the 750 V DC bus provided by the 8720MC RPS Standard motor windings are also available for 460 V AC amp 380 V AC input drive amplifiers In addition several wye delta dual wound motors are available for wide constant horsepower applications See Publication 8720 SROO1A US P 8720MC Product Specification for a complete listing of the available standard motors Figures 1 10 and 1 11 show the product range and product structure of the AC spindle motors Figure 1 10 8720SM AC Spindle Motor Family 3 Phase AC Induction Motor e Laminated Const Blower cooled TEAO BC e IEC or FANUC ALPHA P Flange Dimensions 75KW 100HP Publication 8720MC UM 001C EN P Feb 2001 e Dual Winding Option for 12 to 1 Const HP Flange or Foot Mount 1500 Base Speed 9 000 Max RPM for up to 11kw 8000 for 22kw e High Resolution Feedback Absolute Option 30812 M R2 These high performance AC motors are available with one of three feedback device options The standard offering is a single turn absolute high resolution encoder providing 4 million counts rev of resolution The other option
241. g any 2 of the 3 motor leads The feedback electrical rotation can be changed by reversing either the sine or cosine polarity by switching the leads For example switching P1 1 and P1 2 changes the polarity of the sine and therefore reverses the feedback rotation If the motor field is rotating in the opposite direction of the feedback signals unstable erratic motion will result The motor is not properly phased If this occurs you must change the direction of rotation as follows 1 Make sure the feedback direction is correct by applying power to the drive with the motor disabled On the HIM or through Drive Explorer monitor the motor feedback via parameter 51 Rotate the shaft clockwise and the feedback should increase If this is not the case either the sine or cosine leads are reversed and should be corrected This will correct the motor phasing problem 2 2 If the feedback rotation was correct and therefore was not changed turn off and lock out all power to the motor ATTENTION The 8720MC Drive may apply hazardous voltages to the motor leads after you have turned off power to the drive Before proceeding verify that the drive cannot deliver hazardous voltages and that voltage at the motor is zero Failure to observe this precaution may result in severe bodily injury or loss of life 3 Before proceeding verify that the voltage at the motor leads is Zero 4 Reverse any two of the three motor power leads The motor should now be i
242. g No 063S5QA 100 600 Maximum 90 540 S6 50 80 480 Torque in Nt M Rated 400 70 420 Rated S6 50 480 Max 600 60 360 50 300 oO 40 Performance assumes regenerati g 240 converter with 750 VDC bus and e 30 505 VAC at motor 180 Amps at Base Speed 20 Cont Amps 117 5 120 S6 Amps 135 10 Max Amps 163 60 h l _ 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 RPM RPM 30747 M R2 Figure 2 12 75kW Motor 75 kW at 1500 RPM Base Speed DL2010 Frame Catalog No 075S6SA 120 750 Maximum maximum kW 675 100 S6 50 600 j orque in N M S6 50 ED kW se Rated 480 80 Rated S 6 50 590 Max 720 Continuous S1 kW 450 A o 375 Performance assumes regenerative 3 300 converter with 750 VDC bus and 5 40 505 VAC at motor E gan Amps at Base Speed Cont Amps 137 150 20 S6 Amps 161 MaxAmps 188 75 0 0 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 RPM RPM 30748 M R2 Figure 2 13 93kW Motor 93 kW at 1500 RPM Base Speed DL2012 Frame Catalog No 093S6TA Maximum 160 900 490 maximum kW 810 720 Torque in N M 120 Rated 590 S6 50
243. g bit changes in the C3D this sets the change bit for C3D File in the SERCOS drive status bit 11 to a binary 1 When the C3D is read via the service channel the C3D change Status Faults bit is reset to 0 Bits defined by C3D are also defined by IDNs Group Drive Status Enumerated Bit Pattern Structure of C3D Bit 0 Needback Mcommand See IDN 00330 At_Prog_Speed Bit 1 Mreedback 0 See IDN 00331 Zero Speed Bit 2 Needback lt Nx see IDN 00332 Velocity Below Threshold Bit 3 T gt T see IDN 00333 Torque Above Threshold Bit 4 T gt Timit See IDN 00334 Torque Above Limit Bit 5 Neommand gt In limit see IDN 00335 Velocity Above Limit Bit 6 In Position see IDN 00336 Bit 7 P gt P see IDN 00337 not supported in the 8720MC Bit 8 reserved Bit 9 Needback lt Minimum spindle speed see IDN 00339 Speed Below Minimum Bit 10 Nreedback 2 Maximum spindle speed see IDN 00340 Speed Above Maximum Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 reserved Bit 15 A B Drive Status see IDN 00182 Bit 0 condition does not exist Bit 1 condition exists Default Length Minimum Maximum Scaling Resolution Units NA 2 bytes NA NA NA IDN S00030 Name Version_Data Data Display ascii characters R Parameter No Description Manufacturer version The operation data of the manufacturer version contains the
244. g the drive 4 5 T TB1 terminal block drive connections 4 10 terminal specifications general 4 12 thermal protector 5 9 thermal protector leads thermostat 5 9 thermostat thermal protector leads 5 9 torque requirements 5 4 troubleshooting 8720MC RPS regenerative power supply 10 13 digital I O 10 10 getting started 10 1 required equipment 10 1 SCANport I O 10 11 types feedback devices 5 11 U unbalanced distribution systems 4 7 understanding fault parameters 10 7 parameter files 8 1 parameter groups 8 1 Publication 8720MC UM 001C EN P Feb 2001 l 8 Index ungrounded distribution systems 4 7 universal feedback interface 4 31 uploading profile parameter s 7 12 user Supplied enclosures 4 3 using EEPROM mode 7 11 output fuses 4 18 password mode 7 15 seach mode 7 13 V values recalling 7 11 saving 7 11 viewing bit pattern 7 9 fault queue 7 14 10 3 warning queue 7 14 W warning queue viewing 7 14 wire and torque specifications 4 12 wire guidelines general 4 15 wiring feedback device 5 11 motor 5 6 SERCOS 4 23 wiring diagram motor 5 7 Publication 8720MC UM 001C EN P Feb 2001 Index l 9 Publication 8720MC UM 001C EN P Feb 2001 Reach us now at www rockwellautomation com Wherever you need us Rockwell Automation brings together leading brands in industrial automation including Allen Bradley controls Reliance Electric power transmission products Dodge mechanical power transmiss
245. gt 0 Scaling type IDN 00076 IDN 00076 31 Scaling factor IDN 00077 t i Scaling exponent IDN 00078 Rotational position resolution IDN 00079 see 8 6 1 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters 8 33 IDN S00160 Name Acc_Scale_ Type Data Display Bit pattern R W Parameter No Description Acceleration data scaling type A variety of scaling methods can be selected by means of the 160 acceleration data scaling type parameter This parameter is used with SERCOS configuration For the analog File configuration see parameter 260 Control Group Enumerated Bit Pattern Acceleration Structure of the acceleration data scaling type Bits 2 0 Scaling method 000 no scaling 001 linear scaling 010 rotational scaling Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Units for linear scaling 0 meters m 1 inches in see annex K Bit 4 Units for rotational scaling 0 radian rad 1 reserved Bit 5 Time units 0 seconds s 1 reserved Bit 6 Data reference 0 at the motor shaft 1 at the load see 8 8 all other bits are reserved Default Length Minimum Maximum Scaling Resolution Units Preferred 2 bytes NA NA NA IDN S00161 Name Acc_Scale_ Factor Data Display Integer R W Parameter No Description Acceleration data scaling factor In the SERCOS configuration this parameter defines the scaling 161 factor for all acceleration data in a dri
246. hapter For velocity reference the analog input and 2 scale factors are set to the maximum motor speed required at 10 Volts input For example if the maximum required speed is 8 000 RPM a value of 83000RPM 10 volts is entered into parameter 695 This produces a velocity resolution of approximately 1 rpm per A D bit The required operating speed range of the motor and the available analog input signal voltage range are used to determine the scale factor values If torque mode is activated the analog scaling will automatically be set to 2 5 volts 100 rated motor torque Refer to Chapter 8 for details For connecting the analog inputs use 2 wire 1 twisted pair 22 AWG or larger shielded cable Beldon 8302 or equal Connecting the Analog Outputs The 8720MC Drive has two analog outputs with a range of 10V DC and a digital resolution of 12 bits The following table provides additional information about the analog outputs The typical analog output connections are shown in Figure 4 22 earlier in this chapter Table 4 17 Analog Output Characteristics Range of 10V Quantity Impedance 50 Ohms 20 mA maximum Each analog output can be linked to an internal 8720MC variable as is discussed in chapter 6 Each output also has a scale factor which is used to scale the output voltage to the receiving device Refer to Chapter 8 for details Publication 8720MC UM 001C EN P Feb 2001 4 40 Drive Installation and Wiring Custome
247. hardware filtering with a time constant of 0 3 micro seconds and a software debounce which requires stable input for 5 milli seconds prior to validation The debounce applies only when the registration input is used as a digital input Table 4 21 Characteristics for the 5vdc Registration Input Condition Voltage Amperage On 4 7 5V DC 5 15mA Off less than 2V DC less than 1 5mA leakage Figure 4 26shows the typical registration input connections For connecting the registration inputs use 2 wire 1 twisted pair 24 AWG or larger shielded cable Alpha 6412 or equal Registration 8720MQ 5vdc P4 4 input 8720MC 24vdc P5 22 P4 2 5vdc reg in m YAAA 8720MC 5vdc Return P4 8 or 8720MC 24vdc Return P5 23 SH P4 7 Registration common Disconnecting the Drive Output Starting and Stopping the Motor Electrical Interference EMI RFI P4 3 24vdc reg in Drive Installation and Wiring 4 43 Figure 4 27 Typical Registration Input Connections 5 vdc Registration input On state 4 7 5 vdc 5 15 mA Off state lt 2 vdc lt 1 5 mA leakage 1 input P4 2 P4 7 common 24vdc Registration input On state 17 5 38 vdc 5 15 mA Off state lt 6 9 vdc lt 1 5 mA leakage 1 input P4 3 P4 7 common Ch4 102 R2 Any method of disconnecting the drive output terminals U V and W must disable the drive if opened during drive operation If opened during drive operation the drive may fault You should r
248. hat indicates the version numbers of the profile and the drive 5 Press enter to start the download The parameter number cur rently being downloaded is displayed on line I of the HIM Line 2 indicates the total progress Press ESC to stop the download 6 Press enter when COMPLETE is displayed on line 2 If line 2 reports ERROR refer to the following table Table 7 5 Error Message Table If you receive this Then error Error 1 An EEPROM CRC error occurred Error 2 The profile is a different length than the master Error 3 You are downloading between different types of masters Error 4 The data is out or range or illegal Error 5 You attempted the download while the drive was running Error 6 You are downloading between different types of masters Search mode lets you search through the parameter list and display all parameters that are not at the factory default values You can also search for links that are not the factory defaults To use Search mode 1 From the status display press any key Choose Mode is shown 2 Press the increment up key or the decrement down key to display Search mode 3 Press enter 4 To search through the parameter list press the increment up key or the decrement down key The HIM will search in ascending or descending order depending on which key was depressed The display will scroll and stop at the next parameter or link which is Publication 87
249. he shield clamps Make sure the feedback and motor cables recommended in Chapter 4 are being used Make sure the shield and drain wire for the motor cable is securely bonded to the drive chassis Make sure 4 wire shielded motor cable is being used and that the ground wire is connected to drive PE ground If the recommended cable is being used and all shields are tied to earth ground replace the motor A1 Fdbk 2 AQB A feedback counting error has occurred on the motor feedback interface SERCOS configuration only Disable stop Check that the feedback cable braided shield is firmly bonded to the drive chassis via the shield clamps Make sure the feedback and motor cables recommended in Chapter 4 are being used Make sure the shield and drain wire for the motor cable is securely bonded to the drive chassis Make sure 4 wire shielded motor cable is being used and that the ground wire is connected to drive PE ground If the recommended cable is being used and all shields are tied to earth ground replace the motor Publication 8720MC UM 001C EN P Feb 2001 Troubleshooting 10 7 Fault Message Probable Cause Drive Response Corrective Actions A1 Overspeed The maximum commanded motor check the velocity limit parameters for the speed has exceeded the maximum active parameter set against parameter 113 allowable motor speed max motor speed Disab
250. he drive will assume a clockwise orient direction If it is rotating at speed and Shortest Pth is selected in Parameter 154 Orient Options it will assume the orient direction is the same as the direction it is rotating in If it is rotating at speed and CW or CCW is selected in Parameter 154 Orient Options it will assume the orient direction is as programmed in 154 regardless of the direction that it is currently rotating in If the orient direction is different from the current motor speed direction it will stop and reverse direction for the orient As a final note to the operation of motor orient the drive will hold the motor locked in the orient position until the orient request from either the digital I O or SCANport is released If the drive is enabled and there is anon zero analog reference command on Analog Input 1 in Auto Mode or Analog Input 2 in Manual Mode the drive will immediately respond to the input reference and motor will accelerate to the commanded speed If this is undesirable make sure the analog references are zero after an orient is complete ATTENTION Unexpected motor rotation may occur after a spindle orient request is released from the digital input If motion is not desired after an orient request is removed from the drive digital input make sure your logic assures that zero speed is commanded or that the drive is disabled Publication 8720MC UM 001C EN P Feb 2001 9 16 Starting Up Your 8
251. hods can be selected by means of this scaling type parameter In the analog configuration percent scaling of motor torque is File the only available choice For more details see IEC 61491 page 223 Control Group Enumerated Bit Pattern Torque Structure of torque force data scaling type Bits 2 0 Scaling method 000 percentage scaling 001 linear scaling force 010 rotational scaling torque Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Units for force or Bit 4 Units for torque 0 newton N 0 newton metre Nm 1 pound force Ibf 1 inch pound force in Ibf Bit 5 reserved Bit 6 Data reference 0 at the motor shaft 1 at the load all other bits are reserved This parameter is available with the 8720MC SERCOS Release Default Length Minimum Maximum Scaling Resolution Units x000 2 bytes NA NA NA IDN S00093 Name Torq Scal_ Factor Data Display integer R W Parameter No Description Torque force data scaling factor In the SERCOS configuration this parameter defines the scaling 93 factor for all torque force data in a drive This parameter is only used when the preferred scaling is not selected in File IDN 00086 In the analog configuration the scale factor is always 1 Control This parameter is available with the 8720MC SERCOS Release Group Torque Default Length Minimum Maximum Scaling Resolution Units 1 2 bytes Min gt 1 Structure of the torque force data scaling factor scaler Max lt 216 1 B
252. ication use of the 8720MC Drive You must select one of the 7 application choices provided in parameter 501 e Analog spindle e Analog power servo e SERCOS spindle e SERCOS power servo e Scanport Digital Peripheral Interface spindle e Scanport Digital Peripheral Interface power servo e Custom When you choose Analog Spind or Analog Pwr S parameter 503 Aux_Fbck_Type must be set to analog ref For analog input applications make sure parameter 503 is set to Analog Ref For analog spindle applications make sure that Position Scaling parameter 76 bit 7 is set to modulo When modulo is selected the Motor Posn Fdbk parameter 51 will display actual motor position to whatever resolution is selected in Rot Posn Resolut parameter 79 For example if Parameter 79 and parameter 103 are set for 30 000 resolution counts rev the motor position parameter 51 will count from 0 to 29 999 and back to 0 as it is rotated clockwise when viewed from the drive end Also for analog spindle or power servo applications where the A quad B simulated digital encoder output is used parameter 582 must be set to Index to assure that the encoder marker is available at the motion controller interface on terminals P5 3 and P5 21 Initial Checks With power on the drive the drive disabled and the load disconnected display parameter 51 Motor_Pos_Fdbk found in file Control group Position Rota
253. ications for 380 V AC Input Drives Motor Specifications Units Motor Data for Each Power Rating Motor catalog number 8720SM 005S1BC 007S1CC 011S1DC 015S2EC Motor frame number DL1106 DL1108 DL1110 DL1307 Continuous power kW hp 5 5 7 5 7 5 10 11 15 15 20 S6 50 duty kW hp 7 5 10 10 13 4 15 20 1 18 24 1 1 minute peak kW hp 8 3 11 1 11 5 15 4 16 5 22 1 23 30 8 Rated torque at base speed N m ft lb 35 25 8 48 35 4 70 51 7 96 70 8 Peak Torque at Base Speed N m lb ft 53 39 17 72 53 1 105 77 4 142 104 7 Base speed rpm rpm 1500 1500 1500 1500 Max speed S series rpm 9000 9000 9000 8000 Constant power speed range 4 1 1 4 3 1 3 1 3 8 1 Rotor inertia kg m lb ft 0165 392 0222 528 0272 645 0809 1 92 Rated continuous motor current at amps RMS cont 20 2 26 4 32 3 48 base speed S6 current at base speed amps RMS 25 8 33 42 56 Publication 8720MC UM 001C EN P Feb 2001 8720SM AC Motor Specifications for 380 V AC Input Drives Specifications 2 19 Peak current at base speed amps RMS 28 37 46 66 Voltage at max speed volts RMS 345 345 345 345 Voltage at base speed volts RMS 245 243 278 260 Motor weight kg Ibs 75 165 91 201 102 225 131 289 Max radial bearing load kg Ibs 206 455 206 455 206 455 243 535 Table 2 16 8720MC Drive Amplifier Specifications for 380
254. ield 9460 0 750 mm 18AWG twisted pair braided shield The location of the terminal blocks is frame specific as shown in figures 4 2 and 4 3 SERCOS Wiring SERCOS stands for Serial Real time COmmunications System SERCOS is a high speed up to 4 Mbaud serial interface which was developed for communications between motion controllers and drives Publication 8720MC UM 001C EN P Feb 2001 4 24 Drive Installation and Wiring Since SERCOS uses a ring topology two fiber optic cables are required for each SERCOS node One cable is for transmitting and the other is for receiving Both cables are fiber optic 1000 um in diameter The transmit cable is connected to the TX optical connector on the 8720MC control board The receive cable is connected to the RX optical connector on the control board or another node Figure 4 10 shown earlier in this chapter indicates where the fiber optic cables are connected to the control board Two types of pre made fiber optic cables are available for the SERCOS ring connections Cables for internal cabinet connections are 2 2 mm in diameter and have a PVC jacket Cables for use in external raceways and open external connections are 5 3 mm in diameter and have a thick PVC jacket Figure 4 12 shows the SERCOS fiber optic cable assembly for internal cabinet use Figure 4 12 1000 um SERCOS Fiber Optic Cable 1000um SERCOS Fiber Optic Cable L gt 100 10mm gt r 1
255. igital representation of 10 vdc analog voltage Analog Input 2 is defined in the 8720MC as the analog manual reference command Parameter 692 is permanently linked to parameter 36 the velocity command variable within the 8720MC Drive This value may be modified by the scaling factor stored in parameter 696 P00196 the manual velocity reference scale factor For manual mode param 692 param 696 rpm 100 Param 36 analog velocity reference command in rpm Default 0 Length 2 bytes Minimum Maximum Min gt 100 00 Max lt 100 00 Scaling Resolution 1107 Publication 8720MC UM 001C EN P Feb 2001 8 66 Programming Parameters IDN P00193 Name Analnput 1 Offse Data Type signed Integer R W Parameter No 693 File 1 0 Interface Group Analog inputs Description Parameter 693 P00193 provides a means of offsetting analog input 1 This parameter is used to assign an A D offset to Analnputl_ Value parameter 691 which is the analog input tied to the 8720MC physical address of connector P1 row 2 terminals 16 and 17 This allows the user to apply an offset to an external analog input which is linked to a variable within the 8720MC Drive Analog Input 1 is used as the motion controller reference command Parameter 693 contains an offset variable in which may be used to adjust the drive for zero speed or zero torque when the motion controllers reference is 0 volts This offset may be auto tuned if au
256. ilot diameter and a 265 mm bolt circle All other dimensions for the 132 and 132A offerings are identical See Chapter 1 Figure 1 11 for Catalog Numbers Dimensions 3 7 Frame DL1106 through DL1110 Dimensions Before March 01 The following motor dimensions are for frames DL1106 through DL1110 180 mm flange and 215 mm bolt circle manufactured before March 2001 Figure 3 5 Motor Dimensions for Frames DL1106 DL1110 xea j e ot Kn e ngn Terminal B MS AE fi a AE Connector Tae c1 g jo O N a G Lo j s1 i tT u r LN xv p AF ng E i nhn T l i sal a J__H Ch aT hRS T lt a i kin j e Pl k p wi Blower f s Terminal Box tee Dp 30732 M R3 Table 3 1 Common Dimensions for DL1106 DL1110 in millimeters Type DIN IEC DL1106 DL1110 233 112 190 9 12 83 5 240 242 106 250 180 13 215 4 14 305 38 Table 3 2 Specific Dimensions for DL1106 DL1110 in millimeters Radial Load Radial Load Drive End Shaft and Key Type DIN k e x1 a a 7 rR u w prei tel IEC L D E GA F kg DL1106 642 269 134 203 38 80 80 41 10 65 455 240 DL1108 687 313 178 248 38 80 80 41 10 78
257. inal 6 analog output 2 to a variable within the drive This allows the user to link an external analog output to a linkable variable within the 8720MC Drive A 10 vdc analog voltage can be provided at analog output 2 which represents the value of an 8720MC parameter such as rated torque value or velocity feedback value or power Analog output 2 parameter 683 contains the parameter number of the linked variable If a 10 vdc analog output representing torque is desired at analog output 2 then parameter number 84 torque feedback must be entered into parameter 683 The analog output value can be modified by multiplying the source variable by the scaling factor stored in parameter 684 P00184 D A output Variable scaling factor D A range 2048 10 vdc Default 84 IDN 00084 Units param no Minimum Maximum 0 10 000 Length 2 byte Scaling Resolution 1 IDN P00184 Name AnaOut_Ch2_Gain Data Type Integer R W Parameter No 684 File 1 0 Interface Group Analog outputs Description Parameter 684 P00184 provides a means of scaling analog output 2 This parameter is used to assign a scale factor to Analog Output 2 which is the analog output tied to the 8720MC physical address of connector P4 row 2 terminal 5 and row 2 terminal 6 This allows the user to apply a scale factor to an external analog output which is linked to a variable within the 8720MC Drive The value of the source variable lin
258. induction motor e Blower cooled with integral fan air over design IP55 protection e Low rotor inertia for rapid acceleration and deceleration e Integrally mounted 4 million count per revolution industrial single turn absolute feedback encoder Other options include an incremental 4 million count per revolution encoder or Multi turn absolute 2 million count per revolution encoder e High speeds 9 000 RPM up to 11 kW 8 000 RPM up to 22 kW with permanently greased steel bearings e Precision balance e Wide constant power range single wound Y connected motors up to 6 1standard 16 to 1 optional dual wye delta wound motors up to 12 1 Power range from 5 5 to 93 kW 5 to 125 hp e Five IEC standard frame sizes 6 flange sizes for flange or foot mount Publication 8720MC UM 001C EN P Feb 2001 1 14 Introduction Publication 8720MC UM 001C EN P Feb 2001 High Reliability The 8720SM motors use field proven stator and rotor designs Windings for 460 vac input 380 vac and 750 VDC input drives Custom windings If the available standard windings do not provide the desired speed vs kW or speed vs torque performance curves special requirements can be accommodated Chapter Objectives Chapter 2 Specifications Chapter 2 contains specifications common to all 8720MC drive amplifiers and motors specifications for 5 5 to 37 kW motors with the 8720MC 750V DC input Drive Amplifier and 8720MC RPS Regenerative Power S
259. ing Resolution Units NA 2 bytes Min gt 32768 360 param 79 rotary position increment in deg param 79 Max lt 32767 Default Length SERCOS Min Max SERCOS Scaling Resolution Units NA 4 bytes Min gt 231 Scaling type IDN 00076 IDN 00076 31 Scaling factor IDN 00077 NPE 5 Scaling exponent IDN 00078 Rotational position resolution IDN 00079 IDN S00053 Name Aux_Posn_Fback Data Display Decimal R Parameter No Description Position feedback value 2 auxiliary feedback This value is available from the drive to the SERCOS 53 master in the SERCOS configuration via the cyclic telegram Itis used for slide or spindle mounted feedback File devices such as linear scales or toothed wheel spindle encoders This parameter is not available for analog Control configurations Group Position Default Length SERCOS Min Max SERCOS Scaling Resolution Units NA 4 bytes Min gt 231 Scaling type IDN 00076 IDN 00076 31 Scaling factor IDN 00077 MAGEE T Scaling exponent IDN 00078 Rotational position resolution IDN 00079 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN S00055 Name Posn_Polarity Data display R W Parameter No Description Position polarity parameters This parameter is used to switch polarities of reported position data for 55 specific applications Polarities are switched outside i e on the input and output of a closed loop system The File
260. ing methods can be selected by means of the 44 scaling type parameter Bit 5 is set to minutes for preferred data File Control Enumeration Group Structure of velocity data scaling type Velocity Bits 2 0 Scaling method 000 no scaling 001 linear scaling 010 rotational scaling Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Units for linear scaling 0 meters m 1 inches in Bit 4 Units for rotational scaling 0 revolutions R 1 reserved Bit 5 Time units 0 minutes min 1 seconds s Bit 6 Data reference 0 at the motor shaft 1 at the load all other bits are reserved This parameter is available with the 8720MC SERCOS Release Default Length Minimum Maximum Scaling Resolution Units x000x010 2 bytes NA NA NA IDN S00045 Name Vel Scale Factor Data Display integer R W Parameter No Description Velocity data scaling factor This parameter defines the scaling factor for all velocity data in a 45 SERCOS configured drive File This parameter is available with the 8720MC SERCOS Release Control Group Velocity Default Length SERCOS Min Max SERCOS Scaling Resolution Units preferred 2 bytes Min gt 1 Structure of the scaling factor scaler Max lt 215 1 Bits 15 0 factor Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters 8 13 IDN S500046 Name Vel_Scale_Expon Data Display signed integer R W Parameter No Description Velocity data sc
261. ing mode and decelerate to a stop It will then move to the calculated target orient angle moving in the counter clockwise direction If parameter 154 calls for shortest path orient and the drive is already rotating clockwise or counter clockwise once the drive decelerates to orient speed the drive will place itself in positioning mode and decelerate to the calculated target orient angle moving in the same direction as the spindle was rotating when the orient request occurred For motor mounted feedback the target position is calculated by the 8720MC as encoder zero parameter 150 parameter 153 For spindle mounted feedback in the SERCOS configuration the final position is calculated by the 8720MC as encoder zero parameter 151 parameter 153 Since it is being subtracted a value in parameter 151 produces a clockwise offset angle when facing the shaft end of the motor or the drive end of the spindle and a value in parameter 151 produces a counter clockwise offset The drive will remain oriented in servo position lock as long as the spindle orient request input is enabled When the orient request is removed the drive switches over to the mode of operation called for in the mode parameter of the active parameter set The drive will immediately follow the auto reference if auto mode is active Comments In the SERCOS configuration the definition of the structure of the Spindle Orient Procedure Command is described in table 16 7 4 4 of I
262. ing the Posn Accel Rate Parameter 260 until it is within the velocity speed window Parameter 157 At Spd Window or Parameter 272 Speed Window The drive will not look for the encoder marker until it determines the motor speed is within the selected velocity window e Once achieving the At Program Speed state Parameter 330 the drive will find the marker After detecting the marker it will change to positioning mode and determine the desired end point In this case it determines it must continue rotating in CCW direction for another 7500 counts Starting Up Your 8720MC 9 15 e At this time the drive will issue the Orient Complete event Parameter 583 The motor will be locked in the orient position until the orient request is removed As long as the orient request is maintained the drive will ignore the analog references As soon as the orient request is released the drive will follow the analog references based on the current active mode of operation It is possible to orient to a specific angle other than zero as well as perform multi revolution orients If the application calls for this see the description of parameter 153 Orient Angle in Chapter 8 With the SNS 60 encoder marker orient the drive does not know where the marker is when motor orient is initiated If the motor is at standstill when the orient request is received and Shortest Pth is selected in Parameter 154 Orient Options t
263. ink Parameter No Description Following distance The drive uses the operation data of this IDN to store the distance between 189 position command value and the appropriate position feedback value 1 2 Calculation of the following distance File following distance position command value position feedback value 1 2 Control Group Position Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 1 1 count as determined by parameter 79 param 79 Default Min gt 32768 with paramter 79 set at 3600 cnts rev 1 increment counts 0 00 Max lt 32767 1 degree Range 3276 8 to 3276 7 degrees Default Length SERCOS Min Max Scaling Resolution Units 0 4 bytes Min gt 231 Scaling type IDN 00076 IDN 00076 31_ Scaling factor IDN 00077 Hebert at Scaling exponent IDN 00078 Rotational position resolution IDN 00079 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters 8 35 IDN S00196 Name Mtr_Cont_Current Data Display R W Parameter No Description Motor rated current The motor rated current is the current at which the motor produces the rated 196 torque according to the motor spec sheet For all asynchronous motors this parameter is used as a reference for File all torque data and for determining motor related current values Motor Drive Fdbk Group Motor Data Ana
264. input current mA 5 to15 5V DC registration input voltage VDC 4to7 5 10V DC analog input Mv LSB bits 1 25mv LSB 14 resolution bits 10V DC analog output Mv LSB bits 5mv LSB 12 bits resolution Available 22V DC 25 VDC mA 120 mA output power continuous Available 5V DC 10 VDC mA 250 mA output power continuous Sercos data rate mbits sec 2 or4 ScanPort data rate Kbits sec 125 Table 2 3 Common 8720SM Motor Specifications Specification Type Units Value Rated ambient temperature deg C 0 to 40 Storage temperature deg C 20 to 80 Environmental protection IP 55 Agency certification UL CSA CE Available mounting methods flange foot Table 2 4 Motor Encoder Specifications SNS 60 Sinusoidal Incremental Specification Type Units Value Absolute accuracy Arc seconds 20 number of sinusoidal periods per periods 1024 revolution 8720MC Drive position resolution counts rev 4 million Input voltage range VDC 7to12 Operating current without loads mA 80 Available memory bytes 128 Absolute turns counter optional turns N A capability Max recommended cable length meters 90 Publication 8720MC UM 001C EN P Feb 2001 2 4 Specifications Specifications for 5 5 to 37 kW Tables 2 5 2 6 and 2 7 contain specifications for 5 5 to 37 kW motors 8720SM Motors with 8720MC RPS with the 8720MC Drive Amplifier 750V DC input and 8720MC Regenerative Power Supply Regenerati
265. ion 8720MC UM 001C EN P Feb 2001 14 to 180 AMP 505VAC Factory Set to 750 vdc 8720MC Drive Amplifier Interface Control Board Analog Interface Univ Fok Interface SERCOS Interface Control Board Analog Interface Univ Fbk Interface 14 to 180 AMP 505VAC IGBT Rect Bridge IGBT Rect Bridge il 5 5 to 93kw AC Motor 14 to 180 AMP 505VAC 5 5 to 93 kw AC Motor 30831 M R2 Key Features of the Common Bus Amplifiers Key features of the twelve available common bus amplifiers include e Adjustable bus voltage 750 V DC nominal e 505V AC maximum RMS output voltage at maximum speed 3 phase 500 Hz e 12 sizes 5 5 kW 7 5 hp 13 9 amperes to 93 kW 125 hp 180 amperes 380 TO 460 VAC 15 10 8720MC VARISTOR LLL 8720MC HARMONIC FILTER aan 8720MC 8720MC RPS CONVERTER S 8720MC D180 aa HAh op 8720MC D149 aa HAh op Introduction 1 7 Product Structure of the Line Regenerative Drive Amplifiers The 8720MC Spindle Drive can be provided in an energy efficient line regenerative configuration Figure 1 5 1 6 and 1 7 illustrate the various regenerative amplifier configurations that are available when used in conjunction with the 8720MC Regenerative Power Supplies Figure 1 5 8720MC Line Regenerative Drive Amplifier Configuration 8720MC REGENERATIVE DRIVE
266. ion components and Rockwell Software Rockwell Automation s unique flexible approach to helping customers achieve a competitive advantage is supported by thousands of authorized partners distributors and system integrators around the world Allen Bradley PELARE DODGE Americas Headquarters 1201 South Second Street Milwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 OCKWELL E R kw T European Headquarters SA NV avenue Herrmann Debroux 46 1160 Brussels Belgium Tel 32 2 663 06 00 Fax 32 2 663 06 40 ockxwe Asia Pacific Headquarters 27 F Citicorp Centre 18 Whitfield Road Causeway Bay Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Automation Publication 8720MC UM 001C EN P Feb 2001 PN 198124 Year Rockwell International Corporation Printed in the U S A
267. ions 4 22 applications nonline regenerative 1 4 armored cable selecting 4 14 autotuning 9 5 before performing 9 5 performing 9 5 B027 enclosure 8720MC drives A 2 B034 enclosure 8720MC drives A 3 B042 enclosure 8720MC drives A 3 B048 enclosure 8720MC drives A 4 Publication 8720MC UM 001C EN P Feb 2001 l 2 Index balancing motor 5 13 before mounting drive distance between motor and drive 4 1 heat dissipation 4 1 required tools and equipment 4 1 belted drives 5 5 bit changing 7 11 bit pattern changing 7 11 viewing 7 9 blower motor 5 9 blower motor connecting 5 9 bolt requirements 5 4 bolt and torque requirements 5 4 box conduit 5 4 bypass contactors 4 16 C cable sizes 5 6 cable distribution metal conduit 4 14 changing bit 7 11 bit pattern 7 11 default analog output links 6 11 default digital output links 6 10 link 7 16 checking motor performance 5 13 choosing a HIM mode HIM operation 7 6 choosing transformer line reactor or isolation type 4 7 command interface 0 6 1 SCANport 6 12 SERCOS 6 12 command logic inputs SCANport 6 15 command reference SCANport 6 14 Publication 8720MC UM 001C EN P Feb 2001 common 8720MC 750 vdc input drive amplifier specifications 2 2 8720MC drive amplifiers and motors specifications 2 2 8720MC drive s bus architecture 1 6 8720MC drive s product structure 1 6 8720SM AC spindle motors specifications 2 3 bus amplifiers key features 1 6 drive amplifier
268. ions for Motion controller Drive Enable A B SERCOS A j 14 Enable operating from one 8720MC Regenerative Converter Master P5 14 ive P1 14 9 PC Analog 380 VAC 15 10 50 HZ RS Logix 5000 5 ower 460 VAC 15 10 60 HZ at Drive OK Cabinet Vl A B 1494V I Disconnect dii soit eee Motor Hae 8720MC A B 1491 N333 SERCOS Analo Line Fuse Block is A g Fuses or equal Drive 1 Drive Error Reset Sethe ab Sls ole Critical Stop string so O EarthGnd 1 A F s Optional CE Filter source 8720MC RFI 80 Be aie aorta Gitomer Regen PS OK supplie 120 VAG ay SPAN commen EarthGnd 8720MC RPS P5 23 Fault A B 100 C43D10 CO MC Main Contactor ZNDC 24VDC Sercos P1 14 E E B T L3 sezfran MCI 8720MC RPS Enable ae Ie ae wc Regenerative E 6 Drive P1 15 To 87208M cz Converter ine O fans motors R P5 7 T SHE Li R Drive OK u f rive E S OK L2 S P e eee DC Motor y 8720SM LE B o T NI L3 T n 2E a rel DC pe eee a LT 8720MC LR 8720MC Varistor Harmonic Line Reactor Drive Error SERCOS Analog Drive 2 PE E r RDY L P5 15 Drive Error Lii Note 4 8720MC BESS Reset 1 EarthGnd L1 Aux R1 Run COM P5 22 24VDC TE sae Po B L3 Aux T1 aa P5 36 Regen PS OK EarthGnd a PRI AC high Drive poweron Drive power off AC low Fault RST E PR2 Reset RPS Fault L PR3 24VDC _24V Raset Source CR1 ale Cust
269. it pattern eo Parameter No 718 File Communication Group SCANp Data Out Description The 8720MC drive can be operated by an A B PLC via a SCANport gateway Parameter 718 IDN P00218 contains the Logic Status word going to the gateway communication product This is a 16 bit word which the 8720MC defines as follows If a bit is set true 1 the function is enabled Bit 0 Drive enabled Bit 1 Drive auto reference enabled Bit 2 Rotation direction Bit 3 Drive O k Bit 4 Zero Speed Bit 5 At reference speed Bit 6 Orient complete Bit 7 Reserved Bit 8 Brake solenoid enabled Bit 9 Torque gt Torque limit Bit 10 High Winding Selected Bit 11 Low winding Selected Bit 12 Shut down fault Bit 13 Reserved Bit 14 Reserved Bit 15 Manual mode selected The Scanport Logic Status word is Provided by the 8720MC to a gateway communication module when it is configured for SCANport PLC operation as determined by parameter 501 Default 00 IDN P00225 to P00232 Parameter No 725 to 732 File SCANport Group Gateway Data In Length 2 bytes Minimum Maximum Scaling Resolution NA NA Name SP_Data_Input_xx iM Data Type integer R Link Xx Al A2 B1 B2 C1 C2 D1 or D2 Description The 8720MC drive can be operated by an A B PLC via a SCANport DeviceNet Remote I O or ControlNet gateway communication adapter It is possible to connect the PLC to port 2 or ports 2 3 4 or 5 using a SCANpor
270. its 15 0 factor Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN S00094 Name Torq Scale_Expon Data display integer R W Parameter No Description Torque force data scaling exponent TIn the SERCOS configuration his parameter defines the scaling 94 exponent for all torque force data in a drive This parameter is only used when the preferred scaling is not File selected in IDN 00086 In the analog configuration the scale exponent is always 10 Control This parameter is available with the 8720MC SERCOS Release Group Torque Default Length Minimum Maximum Scaling Resolution Units 1072 2 bytes Min gt 215 Structure of the torque force data scaling exponent scaler Max lt 215 1 A 15 Sign of the exponent positive 1 negative Bits 14 0 Exponent IDN S500099 Name Drive_Err_Reset Data Display Bit pattern R Parameter No Description Reset class 1 diagnostic In the SERCOS configuration when this procedure command is received by the drive via the service channel and no error exists in IDN 00011 Class 1 Diagnostics C1D or IDN 000129 File A B Fault the manufacturer s C1D the drive shut down error bit in the SERCOS drive status word bit 13 will Status Faults be reset by the drive This essentially means that any shut down errors detected by the drive and subsequently Group removed will be reset by the
271. ive Peak_Amps 386 S00386 Mtr_Shaft_Power 40 00040 Velocity_Fdback 103 500103 Modulo_Value 112 00112 Drive_Cont_Amps 520 P00020 Cur_Limit_Source 43 00043 Velocity_Polarity S 150 500150 Mtr_Marker_Ofset 141 S500141 Motor_Data 661 P00161 Output_Image 44 00044 Vel_Scale_Type S 151 500151 Aux Marker_Ofset S 522 P00022 PWM_Frequency 690 P00190 Input_Image 45 00045 Vel_Scale_Factor 5 152 500152 Spin_Orient_Req 563 P00063 Regen_Energy Val 717 P00217 Logic_Command 46 00046 Vel_Scale_Expon S 153 500153 Orient_Angle 30 00030 Version_Data 718 P00218 SP_Logic_Status 347 00347 _ Velocity_Error 222 00222 Spin_Orient_Spd 260 S500260 Posn_Acc_Rate Motor Drive Fdbk Motor Data Status Faults Errors Control Position 777 P00277 Motor Select 11 S00011 Shut_Down_Errors 47 00047 Position Command Procedure Parameter Switch 141 00141 Motor Data 14 00014 Commun Errors 5 51 S00051 Motor Posn Fback 216 00216 Switch Param Set S 109 00109 Mtr Peak Current 99 00099 Drive_Err_Reset 53 00053 Aux_Posn_Fback S 217 500217 Select_Param_Set 111 00111 Mtr_Cont_Curent 129 S500129 A B_Fault 55 S00055 Posn_Polarity S 254 00254 Actual_Param_Set 113 S500113 Max_Mtr_Speed 76 00076 Position scaling S 114 00114 Mtr_Torq_Overld Status Faults Setup 77 00077 Posn_Scal_Factor S Procedure Auto Tune 196 00196 Mtr_Cont_Current 57 00057 In_Posn_Value 78 00078 Posn_Scale_Expo
272. ividual frame sizes If you do not know what your frame size is refer to Chapter 3 Dimensions ATTENTION The following information is merely a guide for proper installation The National Electric Code NEC and any other governing national regional or local code will overrule this information Allen Bradley cannot assume responsibility for the compliance or 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 Before Mounting Your Drive Before mounting your drive consider the following what tools and equipment you need to mount your drive 4 2 Drive Installation and Wiring Mounting Your Drive Publication 8720MC UM 001C EN P Feb 2001 e the distance between the motor and the drive e the distance between the drive and other surfaces Important Before you mount your drive you need to thoroughly read and understand the information presented in this chapter You should take every precaution to complete the wiring as instructed Required Tools and Equipment At a minimum you will need the following tools and equipment to mount your drive e asmall regular screw driver e amedium phillips screw driver e abox end wrench or socket set e wire strippers Distance Between the Motor and the Drive Make sure there are no more than 90 meters of cable distance
273. jo jt jo jr OF Ivf ir ft m jp O 0J 10 JO JO 1O JO JO oj oi 0 0 10 Pt 10l 10 Error indication Bit 2 Parameters 13 and 129 are additional parameters that have the same fault display format Parameter 13 Drive Status This parameter is a bit pattern that identifies the status of the drive the drive The structure of parameter 13 is as follows Bit 0 true Command speed motor speed At Speed Event parameter 330 Setup parameter 157 or 272 Bit 1 true Motor speed 0 Zero Speed Event parameter 331 Setup parameter 124 Bit 2 true Motor is below threshold speed Vel Below Th Event parameter 332 Setup parameter 125 Bit 3 true Torque greater than threshold torque Trq above Th Event parameter 333 Setup parameter 126 Bit 4 true Torque greater than torque limit Trq Above Lt Event parameter 334 Setup parameter 82 or 83 Bit 5 true Commanded motor velocity is greater than the velocity limit Vel above Lt Event parameter 335 Setup parameter 38 or 39 Bit 6 true Motor is in Position In Position Event parameter 336 Setup parameter 57 Bit 7 Reserved Bit 8 Reserved Bit 9 true Spindle feedback is less than the minimum spindle speed Spd Below Mn Event parameter 339 Setup parameter 220 Bit 10 true Spindle feedback is g
274. ked by parameter 683 IDN P00183 is multiplied by the scale factor stored in parameter 684 in order to produce the value delivered to the digital to analog converter For example with a scale factor of 1 a variable with a value of 100 will produce a D A output of 10 vdc Default 1 0 Minimum Maximum Min gt 3 000 Max lt 3 000 Length 2 bytes Scaling Resolution 104 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN P00190 Name Input_Image Data Type bit pattern FRO Parameter No File Fault Status or 1 0 Interface Group Drive Status or Digital Inputs Description The standard 8720MC has 10 digital inputs and 10 digital outputs Parameter 690 IDN P00190 provides a means of monitoring the digital input status The status of each of the 10 inputs plus the 2 registration inputs appears in one of the bits 0 to 11 in the Input Image status word The input status can be displayed on the HIM or Drive Explorer via SCANport as a bit pattern Structure of the digital output word Bit 0 Digital Input 1 Bit 1 Digital Input 2 Bit 2 Digital Input 3 Bit 3 Digital Input 4 Bit 4 Digital Input 5 Bit 5 Digital Input 6 Bit 6 Digital Input 7 Bit 7 Digital Input 8 Bit 8 Digital Input 9 Bit 9 Digital Input 10 Bit 10 24v registration Bit 11 5 v registration Default 0 Length Minimum Maximum Scaling Resolution Units 2bytes NA NA NA IDN P
275. l 5V 1024 5000 Incremental Auxiliary Optical TTL 150 mA AqB Z 10 ERM180 1 Heidenhain Rotary N Differential 5V ERM 180 3 1024 Incremental Frameless Motor Magnetic Sine Cosine 150 mA ERM180 1 2048 Analog Z 10 GEL 244K Lenord Magnetic N Differential 5V 256 1024 Teeth Incremental Frameless Motor Bauer Toothed Sine Cosine 200 mA Wheel Analog Z 5 Sensor 1392 Compatible Yaskawa Rotary N AqB 12 VDC 1024 lines Incremental Encoder not Optical Differential available on drive Publication 8720MC UM 001C EN P Feb 2001 Drive Installation and Wiring 4 37 This list includes the feedback devices that were tested for compatibility with the 8720MC There are a variety of other feedback devices which follow standard encoder interface practices which will interface successfully to the 8720MC Standard A quad B differential TTL encoders and scales as well as 1 volt peak to peak scales and encoders are examples Check with your local A B technical support personnel to assure compatibility with devices not listed Connections to the Feedback Interface and Feedback Cables Connections to the feedback interface are made through Weidmueller removable connectors at the 8720MC drive end These connectors are designed for stripped 22 wire connections A small instrument screw driver is required to release the spring loaded wire clamp See Figure 4 11 earlier in this chapter for an illustration of the method
276. l Inputs and Outputs The 8720MC High Performance Drive supports 10 digital inputs 4 relay contact outputs and 6 digital outputs Figures 4 23 4 24 and 4 25 illustrate the 8720MC circuits that provide the interface to discrete external I O devices Figure 4 10 and Table 4 11 illustrate the connector interface for these digital I O Figure 6 1 illustrates the recommended wiring for the digital I O The isolated 24vdc power available from the 8720MC is limited to 120 Ma and is adequate for use with the 10 digital inputs but may be inadequate when the full set of 6 digital outputs are used When using the 8720MC isolated 24 vdc power for the digital I O be sure to keep the current requirements below 120 Ma total for inputs and outputs If more than 120 Ma is required plan to provide an external 24vdc power supply Each major 8720MC application category as determined by parameter 501 defines a set of I O assignments as shown in Tables 6 1 and 6 2 The input assignments are fixed as shown in Table 6 1 The output assignments can be modified but each application category has a default set of output assignments as shown in Table 6 2 All output assignments other than Drive OK can be changed by linking different 8720MC I O event variables to the Digital Output Parameters Descriptions of the I O event and digital output parameters can be found in Chapter 8 6 2 Interface Signal Description Figure 6 1 8720MC Digital I O Connections 872
277. l Startup Precautions s ss sssssesissisresresrssrsrnsrenitirrenrnnnninnrnnitnrnrenrnrtrenna 9 1 Setting Up Your 8720MC DiV srensaginnnnnannn ii 9 2 Before You Begi ereraa a inn 9 2 Exiting Before You re Finished s s ssesesrsresrsrnrnsnnnrnsnnnnrnnnnnnrnnnnnnrnnrnnnrnnnnnnne 9 3 Removing and Re Applying POWEF ccssseessssssessssscsssessssssserssreess 9 3 Key Set up ParamiCen Sa ciracccceaernewrntaetgtatirvapeihy tvalucrdailireluraliei ements 9 4 Initial CheckSa n 00d ewes eerie A ad nana es 9 4 Servo Loop Para melens lt iicnttauahasnaananarmanaienaaananananianmanannnints 9 5 Selecting a Servo Loop Parameter Group ieiivnieniiaiiinwinininiaiens 9 5 Setting the Servo Loop Parameters a iiss dauaitunn dl Mu dlecadittaaieensen 9 6 ACC DOG Parameter Sinanin E dead eeg 9 7 PCO MINA cece ceded cd ee week EAEE OEE E E 9 7 Before You Perform an Auto TUNG v csecesecesssesesseessesesessssessssseseees 9 8 Performing the Auto Tune eae 9 8 Scaling of Auto Velocity Analog Reference ois 9 9 Scaling of Manual Velocity Analog Reference ccssscessessesrsreseseeeeeeereey 9 10 Operating in Manual Mode Using Digital I O Interface s 9 11 Operating in Manual Mode with an Internal or External HIM n se 9 11 Stareuy of Motor Onen 25 5 2rcczesacasccscetaceverssexscenegcbereieeseceaesbseseassecnensesecsescasess 9 12 Optimizing the Motor Orient Procedure ccccccsssssessssssesssssssessssssssssesees 9 15 Chapter 10 Troubleshooting Chapter Objectives
278. le stop Check parameter 695 the analog scale factor Memory Init Control board hardware Failure Fatal error replace control board EEprom Init Control board hardware Failure Fatal error replace control board CPLD Load Control board hardware Failure Fatal error replace control board IDMA Load Control board hardware Failure Fatal error replace control board CAN Init Control board hardware Failure Fatal error replace control board SERCOS Init Control board hardware Failure Fatal error replace control board Task Init Control board software error Fatal error replace control board Objects Init Control board software error Recall parameters save to non volatile memory recycle power or reset the drive If this fails to produce positive results replace the control board NV Mem Init Control board software error Recall parameters save to non volatile memory recycle power or reset the drive If this fails to produce positive results replace the control board Fdbk Watch dog The feedback processor has faulted Fatal error replace control board Motor 1 Overtemp The motor over temperature switch has Allow motor to cool down and investigate the tripped cause of the motor overload SCANport Comm The controlling HIM has lost Investigate the SCANport cable and make sure it communication with the drive is properly connected No Fault No fault message appears in the fault No action is needed que when there are no f
279. llow the guidelines given in this manual RFI Filter Leakage Current The optional RFI filter may cause ground leakage currents Therefore you must provide an appropriate ground connection Refer to the grounding instructions on page 4 6 ATTENTION To guard against possible equipment damage you can only use RFI filters with AC supplies that are nominally balanced with respect to ground In some countries three phase supplies are occasionally connected in a 3 wire configuration with one phase grounded Grounded Delta The filter must not be used in Ground Delta supplies Publication 8720MC UM 001C EN P Feb 2001 4 46 Drive Installation and Wiring Publication 8720MC UM 001C EN P Feb 2001 Chapter Objectives 8720SM AC Motor Overview Chapter 5 Motor Installation and Wiring Chapter 5 provides the following information so that you can mount and wire your 8720SM AC Motor e 8720SM AC motor overview e before mounting your motor e mounting your motor e wiring your motor e grounding your motor e wiring a feedback device e starting your motor e maintaining your motor The 8720SM motors are high performance AC induction motors specifically designed for use with the Allen Bradley 8720MC Drives The basic design includes Class H insulation 1 0 service factor 40 C ambient temperature continuous duty Standard motors are totally enclosed blower cooled and meet IP55 environmental protection requirements The 8720SM AC Mot
280. log Default Length Analog Minimum Maximum Analog Scaling Resolution Units Motor encoder 2 bytes Min gt 0 1 lamp amp Max lt 1000 0 Default Length SERCOS Min Max SERCOS Scaling Resolution Units Motor encoder 4 bytes Min gt 0 1 001 amp amp Max lt 234 1 IDN S00206 Name Drive_On_ Delay Data Display Decimal R W Parameter No Description Drive on delay time When drive on and drive enable are set bits 14 and 15 of the SERCOS 206 master control word torque is activated at once but the drive follows the command values after this waiting time File has elapsed In the analog configuration this delay occurs after the drive enable input is energized This allows Motor Drive the drive time to develop holding torque before energizing the release brake solenoid Fdbk Group Brake Default Length Minimum Maximum Scaling Resolution Units 0 2 bytes Min gt 0 1 1 msec msec Max lt 6 553 5 IDN S00207 Name Drive_Off Delay Data Display Decimal R W Parameter No Description Drive off delay time After drive off bit 15 of the SERCOS master control word is reset and 207 Meedback 9 Parameter 124 is reached the torque remains activated in the drive until this waiting time is File elapsed In the analog configuration this delay occurs after the zero speed output is energized This allows the a drive time to develop holding torque before de energizing the release brake solenoid Group Brake De
281. low 2 011 low 3 100 high 0 101 high 110 high 2 111 high 3 Parameter Strobe When the parameter strobe bit is set momentarily the preselected parameter set number bits 5 6 and 7 will be selected and the associated parameters will be enabled Orient Request The SCANport orient request is identical to the digital I O orient request When the Orient Request bit is set an orient will be initiated as determined by the Auto Home Parameter parameter 582 and the orient parameters 150 motor marker offset 153 orient angle 154 orient options 222 orient speed and 260 positioning acc dec rate The orient will terminate when the orient complete status bit is set and the orient request is removed Manual Reference Select When the manual reference select bit is set true in the SCANport command word the manual jog reference is enabled In this state the drive will follow the manual jog reference provided on SCANport gateway input word 2 see table 6 10 When initiating a jog the manual reference request bit 11 of the SCANport Logic Command Word does not need to be asserted This will automatically occur when the jog bit 02 of the Input Command Word is set To terminate a manual start or disable the jog reference state with Manual Reference Select not asserted bit 00 of the Input Command Word Stop Request must be set true The auto command reference is then followed by the drive SCANport Logic Status Outputs Several of th
282. lts N feedback N command IDN 00330 This IDN serves the same function as IDN 00157 but is expressed as a Group rather than RPM Setup Default Length Minimum Maximum Scaling Resolution Units 1 00 2 bytes Min gt 0 01 Max lt 655 35 Publication 8720MC UM 001C EN P Feb 2001 8 40 Programming Parameters IDN S00277 Name Mtr_Fdbk_Config1 Data Display Bit pattern R W Parameter No Description Position feedback 1 type The position feedback 1 type parameter refers only to a motor feedback 271 device This parameter is programmed to define the corresponding conditions which apply to reading the motor File feedback device Motor Drive Enumerated Bit Pattern Fdbk Structure of Position Feedback 1 Type Group Bit 0 Feedback type Motor Feedback 0 rotational feedback IDN 00116 1 linear feedback not defined Bit 1 Distance coded feedback 0 no distance coded reference marks 1 distance coded reference marks IDNs 00165 00166 Bit 2 Feedback resolution IDN 00118 linear or IDN 00116 rotary 0 resolution metric or 0 resolution degree 1 resolution inches or 1 resolution reserved Bit 3 Direction polarity 0 not inverted 1 inverted Bit 4 marker pulse quantity 0 only one reference marker pulse 1 multiple cyclic reference marker pulses Bit 5 Structure of distance coded feedback 0 counting positive with positive directi
283. me amplifiers 097 120 149 and 180 have a TE ter minal The TE block is used for all control signal shields internal to the drive It must be connected to an earth ground by a separate continuous lead These steps are explained in greater detail in the following sections Drive Installation and Wiring 4 5 Connecting the Drive to the System Ground Connect the drive to earth ground via the power ground PE terminal provided on the power terminal block TB1 Ground impedance must conform to the requirements of national and local industrial safety regulations such as NEC VDE 0160 and BSI You should inspect and test the ground impedance at appropriate and regular intervals Even if you have a floating secondary the building must have a safety earth ground In any cabinet you should use a single low impedance ground point or ground bus bar You should e Ground all circuits independently and directly to this ground point or bus bar e Directly connect the AC supply ground conductor to this ground point or bus bar Defining the High Frequency Ground Current Paths High frequency currents flow through the motor cable shield the motor case ground wire and the feedback cable shield Special care is required in terminating these connections Defining the high frequency current paths helps to assure that noise sensitive circuits do not share a path with high frequency ground currents You must separate current carrying ground
284. meter set 0 must be available in every drive and will be activated during Group initialization In the analog configuration the binary set code is provided to the drive via the digital input parameter Changing the digital input binary value will initiate switching of the parameter set switch Enumerated Bit Pattern Structure of parameter set preselection Bit 2 0 0 00 parameter set 0 001 parameter set 1 010 parameter set 2 011 parameter set 3 100 parameter set 4 101 parameter set 5 110 parameter set 6 111 parameter set 7 all other bits are reserved Bit 2 of parameter 217 is linked to Digital Input 5 In addition to being used to select the parameter set if Digital Input 5 is true 24 vdc the high winding will be selected for a dual wound motor and the High Winding Enable linkable variable parameter 526 will be true In the Spindle configuration this is linked to Relay Output 3 and this relay contact output can be used to close a the high winding motor contactor and open the low winding contactor If Digital Input 5 is false 0 vdc the Low winding will be selected for a dual wound motor and the Low Winding Enable linkable variable parameter 527 will be true In the Spindle configuration this is linked to Relay Output 4 and this relay contact output can be used to close a the low winding motor contactor and open the high winding contactor Bits 1 and 0 of parameter 217 are also linked to Digital Inputs 7 and 9 In du
285. mode parameters is Velocity If torque mode is required use the techniques described in Using the Human Interface Module HIM to modify this parameter The velocity limits should be modified to suit the application Parameters 38 and 39 Velocity Limit 0 and Velocity Limit 0 are the velocity limit parameters for servo loop parameter group 0 The parameter numbers are different for each of the 8 servo loop parameter groups as described in Programming Parameters Locate these parameters and change their values to the maximum motor speed in rpm as desired for the application The torque limits should also be modified to suit the application Parameters 82 and 83 Torque Limit 0 and Torque Limit 0 are the torque limit parameters for servo loop parameter group 0 The parameter numbers are different for each of the 8 servo loop parameter groups as described in Programming Parameters Locate these parameters and change their values to the maximum allowable motor torque for the application as a percentage of full rated continuous motor torque as desired for the application The drive is now ready to auto tune the remaining servo loop parameters Each parameter set has an acceleration parameter and a deceleration parameter For parameter group 0 the acceleration parameter number is 136 and the deceleration parameter is 137 These parameters are used to select the maximum acceleration and deceleration rates in radians pe
286. n Figure 4 23 A quad B Output 0 VDC 5 VDC 1024 lines revolution B Channel 0 VDC 5 VDC 0 VDC Publication 8720MC UM 001C EN P Feb 2001 1024 lines revolution Reference gt 90 DEG minimum marker 630 DEG maximum marker A quad B output 30472 M For connections to the encoder output use 4 twisted pair 22 AWG or larger shielded cable Beldon 8304 or equal A special multiplier box is available for the Stegmann encoders This multiplier box can be used to simulate a 5120 lines per revolution virtual encoder In this instance the motion controller will also count square wave edges but will achieve a 20480 count per turn resolution For details contact your Rockwell Automation Motion Application Engineer Drive Installation and Wiring 4 39 Connecting the Analog Inputs The 8720MC Drive has the analog inputs described in Table 4 16 Table 4 16 8720MC Drive Analog Inputs Range of 10V Quantity Input Impedance 20K Ohms These are differential inputs with noise rejection filtering Each input has a scale factor parameter and an offset parameter for adjustment The A D converter is a 14 bit device where an input value of 10V DC results in a digital value of 8192 with a scale factor of 1 Likewise an input value of 10V DC results in a digital input value of 8192 with a scale factor of 1 Typical analog input connections are shown in Figure 4 22 earlier in this c
287. n S 260 S00260 Posn_Acc_Rate Motor Drive Fdbk Motor Feedback 116 00116 Mtr_Fdbk_Resoluti 177 00177 Motor Abs Offset S 277 00277 Mtr_Fbck_Config1 502 P00002 Mtr_Fbck_Type Motor Drive Fdbk Mechanics 121 00121 Input_Gear_Rev S 122 S500122 Output_Gear_Rev S 123 00123 Linr_Feed_Const 5 Motor Drive Fdbk Brake 206 00206 Drive_On_Delay 207 S500207 Drive_Off_Delay Motor Drive Fdbk Aux Feedback 115 S500115 Aux Fbck_Config1 117 500117 AuxFdbk_Resoluti 118 S500118 Aux Linear_Resol 165 500165 Dcscale_Lg_Pdist 166 00166 Dcscale_Sm_Pdist 173 00173 Marker_Posn_A 174 00174 Marker_Posn_B 178 S00178 Aux_Abs_ Offset 503 P00003 AuxFbck_Type vjalanlnjanjnjnjun Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters 8 3 Parameter Groups Files and Elements Param IDN ELEMENT Param IDN ELEMENT Param IDN ELEMENT Param IDN ELEMENT No Number NAME No Number NAME No Number NAME No Number NAME FILE GROUP FILE GROUP FILE GROUP FILE GROUP Servo Loop Group 0 Servo Loop Group 4 1 0 Interface Digital Outputs Communication SCANp_Ref Fdback 32 00032 Prim_Op Mode_0 871 40032 Prim_Op_ Mode 4 661 P0016
288. n S 541 P00041 ATune Select 741 P00241 Enc_Mem_Map_Rev 124 00124 Zero Spd_Window 79 00079 Rot_Posn_Resolut 542 P00042 ATune_Torg_Limit 742 P00242 Motor_Parm_Rev 125 00125 Speed_Threshold 103 00103 Modulo_Value 543 P00043 ATune_Vel_Limit 778 P00278 Motor_Type 126 00126 Torque_Threshold 189 00189 Posn_Foll_Error 544 P00044 ATune_Posn_Limit 779 P00279 Motor Pole Count 157 00157 At_Spd_Window 546 P00046 ATune_ Config 780 P00280 Mtr_Rated_Accel 159 00159 Max_Foll_Error Control Torque 547 P00047 ATune_ Status 781 P00281 Base_ Speed 220 500220 Min Spindle_Spd 80 00080 Torque Command 782 P00282 Motor Rated_Power 221 500221 Max_Spindle Spd 84 00084 Torque Feedback 783 P00283 Motor Max_Volts 272 00272 Speed_Window_ 85 00085 Torque_Polarity S 784 P00284 Mtr_Rated_Volts 86 00086 Torq Scale_Type S 785 P00285 Rated_ Torque 93 S00093 Torq_Scal_Factor S 786 P00286 Motor_Back_EMF 94 S00094 Torq_Scale_Expon S 787 P00287 R1_Motor_Stator NOTE S SERCOS specific 571 P00071 Stopping_Torque 788 P00288 R2_Motor Rotor included in the 02 001 analog software release 572 P00072 Stop Time_Limit 789 P00289 X1_Stator Self Lk 790 P00290 XM_Stator Mutual Control Acceleration 791 P00291 X2_Rotor_Leakage 160 00160 Acc_Scale_Type S 792 P00292 Mtr_Mag_Current 161 S500161 Acc_Scale Factor S 793 P00293 Mtr Slip Freq 162 00162 Acc_Scale_Expo
289. n For the servo loop parameter set selected auto tuning will calculate Vel_Prop_Gain_n Vel_Int_Time_n System_Accel_n and Torq_Lowpas_Frqn It will also calculate parameter 693 Auto Ref_Offset to zero the analog command reference The structure of Auto tune Select is Bits 1 0 00 Idle The auto tune system can be used 01 Axis tune Initiates the auto tune process Default 0 Length Minimum Maximum 2 bytes NA Scaling Resolution NA IDN P00042 Name ATune_Torgq_Limit Data Type Decimal R W Parameter No 542 File Procedure Group Auto Tune Description IDN 00042 parameter 542 specifies the motor torque used while an auto tuning cycle is executed Default 100 Length 2 bytes Minimum Maximum Minimum Input gt 0 Maximum Input lt 100 0 Scaling Resolution 1 1 motor current IDN P00043 Name ATune_Vel Limit Data Type decimal R W Parameter No Description IDN 00043 parameter 543 specifies the maximum motor velocity the motor may attain when an 543 auto tuning cycle is executed File Procedure Group Auto Tune Default Length Analog SCANport Min Max Analog SCANport Scaling Resolution Units 1000 2 bytes Min gt 0 1 1RPM RPM Max lt 10 000 Default Length SERCOS Min Max SERCOS Scaling Resolution Units 0 4 bytes Min gt 231 Scaling type IDN 00044 IDN 00044 31 Scaling factor IDN 00045 MAE Eae Scaling exponen
290. n IDN 00079 Publication 8720MC UM 001C EN P Feb 2001 8 14 Programming Parameters IDN S00051 Name Motor Posn_Fback Data Display Resolution Units R Parameter No Description Position feedback value 1 motor feedback This value is available from the drive to the SERCOS 51 master in the SERCOS configuration via the AT cyclic telegram In the analog spindle and power servo File configurations the feedback is always scaled for rotary feedback with modulo format using parameter scaling Control This means that the resolution of the feedback as displayed in IDN 00051 is defined by IDN 00079 and the Group feedback is modulo in that it ranges from 0 to IDN 00103 counts absolute and rolls over to zero In the analog Position spindle and power servo configurations the absolute zero of the rotary axis feedback can be shifted clockwise or counter clockwise via parameter 150 Motor Marker Offset The HIM display of parameter 51 in the analog configurations will be the absolute accumulation of the modulo axis feedback after it is modified by parameter 150 This is true after the first orient regardless of whether the feedback type is incremental or single turn absolute In the analog version the display is in rotary resolution units as defined in parameter 79 It s range will be 0 to parameter 103 the modulo rotary axis value Default Length Analog SCANport Min Max Analog SCANport Scal
291. n at the selected orient speed until the encoder marker is detected The drive will then transfer to positioning mode and calculate the desired end point of zero motor offset angle and zero programmed angle Regardless of the orient direction chosen with the end location at zero counts the motor will stop and return via shortest path to the marker and stop Note Because the motor is randomly assembled to the mechanical system this is probably not the actual orient position required for the application 7 To change the motor position to the desired zero angle Parameter 150 Mtr Marker Ofset must be modified to reflect the difference between the actual zero angle and the desired zero angle 8 To determine the motor marker offset first orient the spindle with zero in Parameter 150 Navigate to Parameter 51 Mtr Posn Fdbk and the position value displayed will be zero in counts 9 With the drive disabled rotate the motor to the desired motor angle and record that position The required correction angle is the difference between the marker 0 angle reading and the desired angle 0 reading for the application Note Signs are very important in determining offsets Make sure to record if the position value increased or decreased Viewing from the drive end of the motor for standard configurations CCW or rotation decreases parameter 51 CW or rotation increases parameter 51 Parameter 150 has the opposite sense since
292. n kHz 30418 M R2 8720MC B042 Enclosure Figure A 3 shows the derating curves for A B catalog number B042enclosed and open ventilated drives Figure J 7 8720MC B042 100 95 90 of Drive 85 Rated Amps 5 8720MC B042 80 75 70 65 60 55 1 2 3 4 5 6 7 8 9 10 11 12 Carrier Frequency in kHz 30419 M R2 Publication 8720MC UM 001C EN P Feb 2001 A 4 Derating Guidelines 8720MC B048 79 8720MC D065 Publication 8720MC UM 001C EN P Feb 2001 8720MC B048 Enclosure Figure A 4 shows the derating curves for A B catalog number B048 enclosed and open ventilated drives Figure J 8 8720MC B048 100 95 90 85 of Drive 80 Rated Amps 70 65 60 55 50 1 2 3 4 5 6 7 8 9 10 11 12 Carrier Frequency in kHz 30420 M R2 8720MC D065 Enclosure Figure A 5 shows the derating curves for A B catalog number B065 enclosed and open ventilated drives Figure J 9 8720MC D065 100 95 of Drive awe Rated Amps 85 80 75 70 65 60 1 2 3 4 5 6 7 8 9 10 11 12 Carrier Frequency in kHz ET Derating Guidelines A 5 8720MC D078 Enclosure Figure A 6 shows the derating curves for A B catalog number B078 enclosed and open ventilated drives Figure J 10 8720MC
293. n phase with the feedback device Publication 8720MC UM 001C EN P Feb 2001 5 10 Motor Installation and Wiring Publication 8720MC UM 001C EN P Feb 2001 Thermal Protector Thermostat Leads As a standard feature 8720SM motors have three normally closed thermostats There is one thermostat per phase connected in series with leads terminated to pins K and L in the feedback connector To protect against overheating the motor make sure that you connect the thermostats to the appropriate 8720MC Drive connector Connector P1 pins 12 and 13 Prior to initial startup assure that there is very high resistance between each of the motor leads and the thermal switch leads as well as very high resistance from ground to the thermal switch leads ATTENTION Failure to connect the thermostats will void the motor warranty Refer to Table 4 5 in Chapter 4 for correct thermostat lead connections Blower Motor 8720SM motors are blower cooled The motors incorporate an independently powered three phase AC blower motor to assure continuous cooling air flow regardless of the AC motor speed ATTENTION The blower motor is typically wired to the AC input of the 8720MC Drive and is energized even when the drive is not running Before touching blower motor components make sure to turn off and lock out or tag the main power supply Failure to observe this precaution could result in severe bodily injury or loss of life Connecting the Blower Motor The
294. n time Velocity feed forward gain Acceleration Feed Forward Gain System Acceleration Torque Reference Notch Filter Frequency Torque Reference Low Pass Filter Bandwidth Acceleration limit parameter group 1 Deceleration limit parameter group 1 Primary Operating Mode Positive velocity limit value n 2 Publication 8720MC UM 001C EN P Feb 2001 Motor_Param_Rev Motor_Select Motor_Type Motor_Poles_ Count tr_Acceleration Base_Speed Motor_Rated_Power Motor_Max_Volts Motor_Base_Volts Rated_Torque Motor_Back_EMF R1_Motor_Stator R2_Motor_Rotor X1_Stat_Self Lk XM_Stator_Mutual X2_Rotor_Leakage Mtr_Mag_ Current Mtr_Slip_Freq Primary_Op_Mode1 Vel_Limit_1 Vel_Limit_1 Torque_Limit_1 Torque_Limit_1 Vel_Prop_Gain_1 Vel_Integ_Time_1 Pos_Loop_Gain_1 Pos_Int_Time_1 Vel_Fdfwd_Gain_1 Acc_Fdfwd_Gain_1 System_Accel_1 Torq_Notch_Freql Torq_Lowpas_Frql Accel_Limit_1 Decel_Limit_1 Primary_Op_Mode2 Vel_Limit_2 r Dri r Dri M M M M M M M M M M M M M M M M Mtr Dri M r Dri r Dri r Dri r Dri r Dri r Dri r Dri r Dri r Dri r Dri r Dri r Dri r Dri r Dri r Dri ve Fdb ve Fdb ve Fdb ve Fdbk ve Fdbl ve Fdb ve Fdb ve Fdb ve Fdb ve Fdb ve Fdb ve Fdb ve Fdb ve Fdb ve Fdb ve Fdbk ve Fdb ve Fdbl Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo
295. nabled 826 10137 Decel_Limit_1 906 550137 Decel_Limit_5 530 P00030 Manual _Mode_On 820 510296 Vel_Fdfwd Gain 1 900 550296 Vel_Fdfwd_Gain_5 583 P00083 Orient_Complete 821 10348 Acc_Fdfwd_Gain_1 901 550348 Acc_Fdfwd_Gain_5 610 P00110 Drive_OK 822 P00322 System Accel_1 902 P00402 System Accel_5 615 P00115 Shut_down_ Error 823 P00323 Torq_Notch_Freql 903 P00403 Torq_Notch_Freg5 617 P00117 Power_Supply_OK 824 P00324 Torq_Lowpas Frql 904 P00404 Torq _Lowpas_Frq5 1 0 Interface Analog Inputs Servo Loop Group 2 Servo Loop Group 6 691 P00191 Analnput_1_Value 831 20032 Prim_Op Mode 2 911 60032 Prim_Op Mode 6 692 P00192 Analnput_2 Value 832 20038 Vel_Limit_2 912 60038 Vel_Limit_6 693 P00193 Analnput_1_Offse 833 20039 Vel_Limit_2 913 60039 Vel_Limit_6 694 P00194 Anainput_2_Offse 834 20082 Torque_Limit_2 914 60082 Torque_Limit_6 695 P00195 Analog_Vel_Scale 835 20083 Torque_Limit_2 915 60083 Torque_Limit_6 696 P00196 Manual_Vel_Scale 836 520100 Vel_Prop_Gain_2 916 S60100 Vel_Prop_Gain_6 837 20101 Vel_Integ Time_2 917 60101 Vel_Integ Time_6 1 0 Interface Analog Outputs 838 20104 Pos Loop Gain 2 918 S60104 Pos_Loop Gain 6 681 P00181 AnaOut_Ch1_Selec 839 20105 Pos_Integ Time_2 919 S60105 Pos_Integ Time_6 682 P00182 AnaOut_Chi_Gain 845 20136 Accel_Limit_2 925 560136 Accel_Limit_6 683 P00183 AnaOut_Ch2_S
296. nal power of a Windows PC significantly simplifies the 8720MC configuration task For details on Drive Explorer see publication 9306 5 0 Drive Explorer User Manual Publication 8720MC UM 001C EN P Feb 2001 7 18 Using the Human Interface Module HIM Publication 8720MC UM 001C EN P Feb 2001 Chapter Objectives Understanding the Parameter Files and Groups Chapter 8 Programming Parameters Chapter 8 provides the following information so that you can program your 8720MC Drive e parameter files and groups e numerical listing of the parameters e parameter conventions e parameter descriptions The 8720MC Parameters are divided into 7 files to help organize the parameters into logical groupings that simplify programming and operator access Each of the 7 files are divided into groups and each parameter is an element in a specific group Parameters may be used as elements in more than one group When using the file group element navigation method searching is accomplished by first finding a file then a group within the file and then a specific element within the group Once finding the element or parameter it may be read modified or linked depending on the type of parameter Each parameter has a SERCOS IDN number and an 8720MC parameter number The tables in this chapter provide a cross reference between the SERCOS IDN s and the 8720MC parameter numbers You can also view the parameters in a linear mode This lets you vi
297. nd 265 mm bolt circle Catalog number 8720SM OppS3 Figure 3 8 Motor Dimensions for Frames DL1307 DI1310 230mm Flange MS Connector lt wean k A ig lt _ f1 a lt gt c1 ify cea wey i 3 j N b1 T A nel p 2 ia k x1 gt 5 abe s a ie j Blower f Hon sp m1 m2 Terminal n w ln Box 4 7 gt e ae ra p s wi a a a ee f 30730 M R3 Table 3 8 Common Dimensions for DL1307 DI1310 230mm Flange in millimeters Publication 8720MC UM 001C EN P Feb 2001 Type DIN f h b c s n g wl ml cl el fil sl xL IEC AB H A HA K AA AC C BA LA M T S xA DL1307 DL1310 261 132 216 13 12 51 267 89 61 139 300 230 17 265 5 14 43 Table 3 9 Frame Specific Dimensions for DL1307 DI1310 230mm Flange in mm Drive End Shaft and Key Radial Load Radial Load Type DIN k e x1 a d2 l 2 u WT 1500 rpm 8000 rpm IEC L D E GA F kg in Ibs in Ibs DL1307 800 431 298 389 48 110 110 51 5 14 131 535 290 DL1308 838 469 336 427 48 110 110 51 5 14 150 535 290 DL1310 870 501 368 459 48 110 110 51 5 14 163 535 290 Table 3 10 J unction Box for DL1307 DI1310 230mm Flange DIN p Type IEC HD DL 1307 DL1310 385
298. nd 93kW motors at 1500 RPM base speed Figure 2 9 45kW Motor 45 kW at 1500 RPM Base Speed DL1811 Frame Catalog No 045S5NA 80 450 Maximu Ty ee kw m aoo 360 a al a Torque in Nt M 6 50 E 31 Rated 287 _ 50 S6 50 350 Continuous S1 S 20 Max 430 __1 49 E a a 2 225 es Performance assumes regenerative S 180 30 ey converter with 750 VDC bus and 5 505 VAC at motor 135 20 Amps at Base Speed Cont Amps 93 90 10 S6 Amps 110 Max Amps 131 45 0 oe C A ee ee ee R SA 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 RPM RPM 30745 M R2 Figure 2 10 55kW Motor 55 kW at 1500 RPM Base Speed DL1813 Frame Catalog No 055S5PA 390 Pp 540 maximum kW Maximum 80 486 432 6 50 70 Torque in Nt M S6 50 ED kW 378 Rated 350 60 STN S6 50 400 ontinuous S1 324 Max 530 50 c 270 40 Performance assumes regenerative g converter with 750 VDC bus and g 216 30 505 VAC at motor 2 Amps at Base Speed 162 20 Cont Amps 116 S6 Amps 129 108 Max Amps 161 10 54 0 0 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 RPM RPM 30746 M R2 Publication 8720MC UM 001C EN P Feb 2001 2 14 Specifications Figure 2 11 63kW Motor 63 kW at 1500 RPM Base Speed DL1815 Frame Catalo
299. nd Wiring Publication 8720MC UM 001C EN P Feb 2001 e The 132mm DL1308 thru DL2012 and larger motors are blower cooled with air flow from the drive end to the blower end The 112mm motors DL1106 D11108 and DL1110 are supplied standard with air flow from the blower end to the drive end The air flow must be flowing in the direction of the arrow on the motor to provide adequate cooling Both air inlets and outlets must be free of obstructions Maintain a clearance of at least 150 mm 6 inches at the blower exhaust area Maintain a clearance of at least 100 mm 4 inches at the blower inlet area Reverse air flow motors can be provided when the application and environment are suitable Reverse air flow motors must be purchased with a reverse air flow blower e When mounted the motor must not be exposed to direct splash or spray of cutting fluids or lubricating oils e Motors include a labyrinth type shaft seal with flinger which provides excellent protection against oil splash However it will not provide protection against oil flooding e In an environment where high humidity is present or the motor blower inlet air is saturated with coolant mist make sure the motor is mounted with the feet down and the drain holes at the bottom of the motor must be open Power Supply The 8720SM motor is an adjustable speed motor designed for operation with the 8720MC Drive Verify that the motor nameplate data corresponds to the 8720MC Drive o
300. nsennsrnnrnnrnnnrnnrnnnrnnrnnnnnnrnnrnnnne 4 43 Electrical Interference EMI RFI ssssssssssssresrssrresrssrsrnnresrssrsresresrnresresrerrnrens 4 43 IMMUNI annaa Aa a a A a T A aii 4 43 EMISSION aaa aE AA AT thi eh A AA EAA 4 44 Do Need an RFI Filter s ssssssssssesissrssrrrsresnssnsrnnrnsnnrnrenrnnrnrenresrtireresrnrrsrens 4 44 Installing an RFI Filter s nsssnssnsesnsrnsrsnsrnsrnnnrnsrnninnrnnninnnnnnrnnrnnnrnnrnnnrnnne 4 45 RFIFilter Leakage Current sivas iii itinr le A 4 45 Chapter 5 Motor Installation and Wiring Chapter Objectives diraa aa Aaa A A sadn nan AT Aa 5 1 Publication 8720MC UM 001C EN P Feb 2001 8720SM AC Motor Overview toes aisers cies seis eas apstaess ratte saonastsiaras neal ane ualianes 5 1 8720SM AC Spindle Motor Family si ccocacedtsccpenesi vssnedtieeberstuvnzsestsveneditvssuased 5 1 Before Mounting Your Motor ss s ssssesssrnsrsnsrnsnnnsrnsrnnninarnnrnrnnnninrrnnnrnrrnnernrennna 5 2 Handlihg aganna aa a 5 2 SOONG EEE E A T 5 3 UCIT ON penia a a nnn 5 3 Mo nting ConsideratighS naiari ian 5 3 Power SUPPI neie ia nanai asaya eana eaa EAE EENE NNA Naa AT N 5 4 CONdUIR BOX nsara eee ter eer eer rnc rrr eer rere ert 5 4 Bolt and Torque Requirements secesecssessseessseseeesesessesessssseeseseeees 5 4 Belted Drives and Coupled DiiVeES its isisiststsisistoiedeivieieiiiieteiaieibisieininits 5 5 Belted DIV SS a aan AEA EEA a 5 6 Coupled Diyes ipitin T A 5 6 Winnog Your MOLT nier ee eet EEEE EE EEEE
301. nt key Decrement decrease the selected value If Decrement key Y no value is selected use this key to scroll through the groups or parameters that are currently selected Select the group or parameter that is Enter key currently active or enter the selected parameter value into memory The top line of the display automatically becomes active to let you choose another parameter or group HIM Control Panel Keys The HIM provides the eight keys for motor control in the control panel section as shown in Figure 7 3 Figure 7 3 Him Control Panel Keys r Sys Stopping Peas gt eT DI ag O JOG Control Panel aO 30374J MR1 Publication 8720MC UM 001C EN P Feb 2001 7 4 Using the Human Interface Module HIM Publication 8720MC UM 001C EN P Feb 2001 Table 7 2 Keys on the HIM Control Panel Press this key To It is called l If the drive is in manual mode and no other control devices are sending a Stop command the start key will cause the motor to rotate in the HIM selected direction and velocity Speed will be based on the Him reference command Start key Pressing the stop key will nitiate a stop sequence if the drive is running The drive stops according to the stopping torque specified in parameter 571 The stop key also issues a clear fault command if the drive is currently faulted Stop key
302. ntenance and set up procedures you may operate the drive without having a motor connected 8720MC Drive Connector Layout Figure 4 2 shows the connector layout for the B frame chassis of the 8720MC Drive Figure 4 2 Drive Connector Layout for the B Frame Chassis 8720MC Control Board SERCOS B Frame Chassis 3080 M R2 Drive Installation and Wiring 4 9 Figure 4 3 shows the connector layout for the C and D frame chassis of the 8720MC Drive Figure 4 3 Drive Connector Layout for the C and D Frame Chassis 8720MC Control Board C g i I P1P4 P5 sercos Pre Charge Board Precharge PCB on eH C and D Frame wi common bus drives C amp D Frame Chassis 30807 M R3 For Figures 4 2 and 4 3 Terminal Strip TB1 is always the power terminal connection point and has terminals for both AC input power and DC input power If in your application you will be using a regenerative power supply input use the DC input terminals only If you have a direct AC input application use the 3 AC input terminals for 3 phase 380 to 460 vac incoming power Use the 2 DC terminals for connection to a 1336 WB Brake Chopper Module Always connect the PE terminal to an earth ground such as a ground rod or a steel building ground Connect the U V W motor leads to the U V W connections at the drive and the motor Always use 4 wire
303. number 8720SM OppS2 Figure 3 7 Motor Dimensions for Frames DL1307 DL1310 250mm Flange Ei Connector er K gt g gt lt fi yl mT Heo H k c1 i jE a a y ug pe X n m h 1 p mn b1 e t l h a i ae pe a BNE Blower j h m1 m2 Terminal a oc j i g Box 4 Wat Le Na yl p oo s wit lt e m wen i f 30730 M R3 Table 3 5 Common Dimensions for DL1307 DL1310 250mm Flange in millimeters TYPE DIN x4 IEC xA DL1307 43 DL1310 Table 3 6 Frame Specific Dimensions for DL1307 DL1310 250mm Flange in mm Drive End Shaft and Key Radial Load Radial Load Type DIN k e x1 a d 2 E u WT 1500 rpm 8000 rpm IEC L D E GA F kg in Ibs in Ibs DL1307 800 431 298 389 48 110 110 515 14 131 535 290 DL1308 838 469 336 427 48 110 110 51 5 14 150 535 290 DL1310 870 501 368 459 48 110 110 51 5 14 163 535 290 Table 3 7 J unction Box for DL1307 DL1310 250 mm Flange DIN p Type IEC HD DL 1307 DL1310 100 272 385 Publication 8720MC UM 001C EN P Feb 2001 3 10 Dimensions Frame DL1307 through DL1310 Dimensions 230mm Flange The following motor dimensions are for frames DL1307 1308 and DL1310 the A B 1327AB compatible 132A with 230 mm flange a
304. o identify the I O faults the data scaling and the File reference source for automatic operation The choices available are Motor Drive 000 Analog Spindle Fdbk 001 Analog power servo Group 010 SERCOS spindle Drive Data 011 SERCOS power servo Ana Spindle Ana Servo SERCOS Spindle SERCOS Servo 100 SCANport Digital Peripheral Interface spindle DPI Spindle 101 SCANport Digital Peripheral Interface power servo DPI Servo When choosing Analog Spindle or Analog Servo make sure parameter 503 is set to Analog_Ref Default Length Minimum Maximum Scaling Resolution Analog Spindle 2 bytes NA Publication 8720MC UM 001C EN P Feb 2001 NA Programming Parameters 8 53 IDN P00002 Name Mtr_Fbck_Type Data Type Ascii characters R W Description This IDN is used to provide A B drive configuration choices which otherwise do not appear in the SERCOS Standard The feedback type of the motor mounted feedback device is found in IDN S00277 The resolution for rotary devices is found in IDNS00116 and IDN S00118 for linear devices IDN P00002 is used to provide additional motor feedback information in support of the information found in the standard SERCOS IDN s Parameter No 502 File Motor Drive Fdbk Group Motor Feedback Structure of motor feedback type Bits 3 0 0000 No Feedback 0001 SRS 60 0010 SRM_60 0011 SCS 60 0100 SCM_60 0101
305. o restore the defaults by selecting and storing one of the application types in parameter 501 the modified parameters will be changed back to the default values associated with that application type If you have a custom configuration Drive explorer or the HIM can be used to identify parameters which do not conform to the application defaults Table 6 5 gives examples of parameters that can be linked to the digital outputs Table 6 4 Table 6 5 Sinks for Digital Output Links Sources for Digital Output Links Sinks os Typical Sources IDN Parameter IDN Param Number Number ii Number Number Parameter P00163 663 Digital_Output_2 S00330 330 At Programmed Speed P00164 664 Digital_Output_3 S00331 331 Zero Speed P00165 665 Digital_Output_4 00332 332 Motor Speed Below Threshold P00166 666 Digital_Output_5 S00334 334 Torque Above Limit P00167 667 Digital_Output_6 S00335 335 Velocity Above Limit P00168 668 Digital_Output_7 S00136 336 In Position P00169 669 Digital_Output_8 S00339 339 Speed Below Minimum P00170 670 Digital_Output_9 S00340 340 Speed Above Maximum P00171 671 Digital_Output_10 P00026 526 High Winding Enable P00027 527 Low Winding Enable P00028 528 Enable Brake Solenoid P00029 529 Auto Reference Enabled P00030 530 Manual Mode Selected P00083 583 Orient Complete P00115 615 Shut Down Error Changing the def
306. oad a parameter profile To perform any of these functions you need to first enter EEProm mode by selecting it from the Choose Mode prompt Saving Values Recalling Values The 8720MC Drive stores parameters in flash memory When the drive is shipped from the factory a set of default values for all the parameters is provided Most of these default parameters are suitable for a wide variety of applications and therefore will not need to be changed The motor and amplifier specific parameters in the file Motor Drive Fdbk are directly read from the motor feedback device and the power structure of the 8720MC therefore these parameters should not be changed Several of the Servo Loop parameters can be auto tuned by the drive and therefore these parameters should not require manual entry by the user Under the EEProm mode you can 1 Select Restore Defaults 2 Select Save Values 3 Select Recall Values 4 Upload or download parameters from the HIM or Drive Explorer Restoring the Factory Default Values To reset the values of all parameters to the factory default values first disable the drive if it is enabled then 1 From the EEProm mode prompt press the increment up key or the decrement down key until Reset Defaults is displayed 2 Press the enter key to restore all parameters to their original fac tory setting 3 Press Escape Reprogram Fault is displayed 4 Press the Stop key to reset the fault If A B Application
307. ode Position in indicator number fault queue 30386 M The trip indicator is only present if this fault caused the drive to trip The last number 1 indicates this faults position within the fault queue Using the Password Mode Using the Human Interface Module HIM 7 15 Password mode lets you enable password protection and change the password By default the password is 0 which disables password protection To use Password mode 1 Press any key from the status display Choose Mode is shown 2 Press the increment up key or the decrement down key to show Password 3 Press the enter key 4 Press the increment up key or the decrement down key until Modify is displayed 5 Press the enter key 6 Enter Password is displayed on the top line and a blinking 0 appears on the bottom line 7 Press theincrementup key or the decrement down key to increase or decrease the least significant digit Press the select key to go to the next most significant digit and repeat until the desired pass word number is displayed The number can range from 0 to 65535 0 is the default value meaning there is no password 8 Press enter to save your new password Programming a Password When Drive Power is Applied With a Series B remote HIM you can program Password mode to be displayed when drive power is applied To do this you need to press the Increment and Decrement keys simultaneously while the Password displ
308. oder Power 8 Ch1 Index Communication Non Inverted 21 Ch2 Index Communication Non Inverted Data Data 9 Ch1 Index Communication Inverted Data 22 Ch2 Index Communication Inverted Data 10 Ch1 SSI Clock Non Inverted 23 Ch2 SSI Clock Non Inverted 11 Ch1 SSI Clock Inverted 24 Ch2 SSI Clock Inverted 12 Ch1 Motor Thermal Switch Input 25 Not Used 13 Ch1 Motor Thermal Switch Input 26 Not Used Publication 8720MC UM 001C EN P Feb 2001 Drive Installation and Wiring 4 21 Table 4 10 P4 Connector Pinout Information P4 Connector Analog Outputs and Registration Inputs Weidmueller Double Row 5 00mm Terminals Row1 Description Row2 Description 1 Analog Output 1 5 Analog Output 2 2 5vdc Registration Input 6 Analog Output Common 3 24vdc Registration Input 7 Registration Common 4 5vdc Power for Registration Input 8 5vdc Registration Power Return Figure 4 2 and 4 3 shown earlier in this chapter illustrate the location of the P1 P4 and P5 connectors on the 8720MC main control board The P4 and P5 connectors have two mating connectors each One is for the front row and one is for the back row when looking directly at the main control PC board P4 connections 1 4 back row are made through the lower mating connector and connections 5 8 are made through the front mating connector The same is true for P5 but the lower terminations are 1 18 and the upper terminations are 19 36 The wire termin
309. of releasing the spring clamp With the clamp released the stripped wire is inserted into the connection point Approximately 1 2 inch of insulation should be stripped from the wire The recommended feedback interface cable has 6 twisted pairs of 22 AWG or larger wire preferably with both a foil shield around the twisted pairs and a braided shield overall and a drain wire The wire should minimally have a PVC jacket and preferably polyethylene in areas where coolants or other corrosive chemicals will be found Samples of acceptable feedback cable are Belden 8306 Also Olflex Unitroic 190 CY paired cable 602206TP or Olflex Unitonic FD paired cable 35903 or 35910 Beldon 8778 has Beldfoil sheilds around each twisted pair with a drain wire for each pair This cable can also be used if the drain wires are wrapped together and firmly held by the cable clamps The 8720MC chassis has special shield clamps to assure that the shields are properly bonded to chassis ground Bonding the braided shields to chassis ground is a mandatory requirement to assure signal noise immunity The Weidmueller connectors are mechanically keyed therefore it is not possible to put the connectors in backward It is possible to switch the front and back connectors therefore care must be taken to prevent reversing the front and back connectors To prevent this make sure the cables and connectors are clearly labeled Also tie wrap the cables to the tie points provided
310. of controlling a family of motors ranging in power from 5 5 to 93 kW For motors ranging from 5 5 to 37 kW the 750V DC common bus drive amplifiers are powered by the 8720MC RPS065 line regenerative power supply which provides up to 65 amperes at a controlled bus voltage of 750V DC For motors ranging in power from 45 to 93 kW the 8720MC RPS065 Regenerative Power Supply can be operated in master slave mode 1 2 Introduction An 8720MC RPS065 master can to provide up to 74 kw of continuous motor power when operating with one slave and 110 kw when operating with two slaves Figure 1 1 shows 8720MC drive configurations for line regenerative and non line regenerative applications Figure 1 1 8720MC Drive System Configurations 380 TO 460 VAC 15 10 380 TO 460 VAC 15 10 rR ie ie af ane Isolation Transformer Optional IGBT Rect Bridge Regenerative Power Supply Dyanamic Brake EER SERCOS Option nterface Interface Control Analog Board Interface Interface Analog Board Interface IGBT Rect Univ Fbk Bridge Interface DE DN 5 5 kw to 18 5 KW 8720MC DRIVE SYSTEM CONFIGURATIONS aiin The CNC or GMC motion controller interfaces to the 8720MC can be either a Sercos digital command or a standard 10V DC analog command Both the Sercos and analog interfaces are available with all of the 8720MC drive amplifiers Publication 8720MC UM 001C EN P Feb 2001 Intro
311. of the procedures in this chapter Be sure to read and thoroughly understand them before proceeding ATTENTION You need to apply power to the drive to perform many of the adjustments specified in this chapter Voltages behind the drive front cover are at incoming line potential To avoid injury to personnel and or damage to equipment you should only perform these startup procedures if you are a qualified service person Thoroughly read and understand the procedure before beginning If an expected event does not occur while performing this procedure 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 voltages on the system bus network have been discharged before attempting to service repair or remove this unit Only qualified personnel familiar with solid state control equipment and safety procedures in publication NFPA 70E or applicable local codes should attempt this procedure 9 2 Starting Up Your 8720MC Setting Up Your 8720MC Drive Publication 8720MC UM 001C EN P Feb 2001 ATTENTION This drive contains ESD Electrostatic Discharge sensitive parts and assemblies You are required to follow static control precautions when you install test service or repair this assembly If you do not follow ESD control procedures components can be damaged If you
312. omer Magnetics wel CR1 EarthGnd C Note 1 These functions are available in SERCOS and are therefore optional ic MC AUX connections for the SERCOS Configuration They can be used to agaiv MRd provide a redundant hardware connection a Note 2 Note 3 Note 4 Jumper P5 13 to P5 23 when 8720MC 24vdc input power is used Customer Magnetics When external 24vde power is used connect the 24vdc return to P5 13 and eliminate the jumper For the C and D frames 24vdc must be connected to TB1 T1 and TB1 T3 on the precharge board Also T1 and T2 must be jumpered on W1 A 47 uf 1200 vdc 800 vac polypropylene high frequency capacitor is recommended between terminal E harmonic filter and earth ground Publication 8720MC UM 001C EN P Feb 2001 Drive Installation and Wiring 4 29 8720MC Drive with a 1336 Regenerative Power Supply Figures 4 16 a provides information about the AC power and logic connections for the 8720MC Drive with the 1336R Regenerative Converter For more information see publication number 1336 REGEN 5 0 titled 1336R Line Regenerative Package User Manual Figure 4 17 8720MC Regenerative Drive with 1336 Regenerative Power Supply Power and Logic Connections for the SERCOS or Analog Versions of the 8720MC Drive with the 1336R Regenerative Converter
313. on 1 counting negative with positive direction Bit 6 Type of measuring system 0 relative incremental measuring system 1 absolute measuring system Bit 7 Usage 0 absolute measurements with an absolute measuring system 1 relative incremental measurements with an absolute measuring system Bits 15 8 reserved Default Length Minimum Maximum Scaling Resolution Units Xxxx0000 2 bytes NA NA NA IDN 500296 Name Vel_Fdfwd_Gain_0 Data Display decimal R W Parameter No Description Velocity feed forward gain This IDN is one of the 8 sets of servo parameters The velocity feed 296 forward parameter is effective in the operation mode Position control without following error lag less and File serves to reduce the velocity dependent following error Servo Loop Group Group 0 Default Length Minimum Maximum Scaling Resolution Units 0 00 2 bytes Minimum Input gt 0 1 01 Maximum Input lt 100 00 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN 500330 Name At Prog Speed Data Display Bit R Link Parameter No Description Status NMoedback command This parameter is used to define an IDN for the status Nraeghack 330 Ncommand In the SERCOS configuration this allows the status Nreedback Mcommand to be assigned to a real time a bie Status bit see IDN 00305 The status Nfeedback command IS defined as a C3D bit I
314. on Setup Position Position Position Position Torque Group 0 Group 0 Torque Torque Torque Torque Torque Errors Group 0 Group 0 Position SERCOS Only yes yes yes yes yes yes yes yes yes yes yes yes yes Standard 8720MC Parameters in Numerical Order SERCOS IDN No n0104 n0105 00109 00110 00111 00112 00113 00116 00121 00122 00123 00124 00125 00126 00129 00136 00137 00141 00150 00151 00152 00153 00154 00157 00159 00160 00161 00162 00177 00189 S00196 S00206 S00207 S00216 Programming Parameters 8 5 104 105 109 110 111 112 113 116 121 122 123 124 125 126 129 136 137 141 150 151 152 153 154 157 159 160 161 162 177 189 196 206 207 216 Position loop Kv factor Position loop integral action time os otor peak current Amplifier peak current otor continuous stall current Amplifier rated current aximum motor speed Resolution of motor feedback 1 Input revolutions of load gear Output revolutions of load gear Feed constant Standstill window zero speed Velocity threshold ny N feedback lt Mx Torque threshold T T gt T 8720MC drive error Acceleration limit for servo Parameter set 0 Deceleration limit for servo Parameter set 0 Motor Identification 8720SM Catalog Number Reference offset 1 motor marker offset Reference offset 2 aux marker off
315. ons are for frames DL1811 through DL1815 300 mm flange and 350 mm bolt circle Figure 3 10 Motor Dimensions for Frames DL1811 DL1815 Bo Connector G kK ng f1 lt XL ng p k C 1 _ we ao TO at il s1 7 Sane d u p C j b1 _ I mi TT k x 1 ol nal Blower Pre mi m2 Terminal a Box 4 iy le ta ma w1 la ta Fl 30730 M R3 Table 3 14 Common Dimensions for DL1811 DL1815 in millimeters Type DIN f nh b c s n g wl ml cl el fl s XL IEC AB H A HA K AA AC C BA LA M T S xi DL1811 DL1815 350 180 279 15 15 70 355 121 65 175 400 300 21 350 5 18 43 Table 3 15 Frame Specific Dimensions for DL1811 DL1815 in millimeters Drive End Shaft and Key WT Radial Load Radial Load Type DIN k e xl a dd R u kg 1500 rpm 6500 rpm IEC L D E GA F in Ibs in Ibs DL1811 997 571 421 520 60 140 140 64 18 297 860 500 DL1813 1048 622 472 571 60 140 140 64 18 324 860 500 DL1815 1099 673 523 622 60 140 140 64 18 350 860 500 Table 3 16 J unction Box DL1811 DL1815 DIN p Type IEC HD DL 1811 DL1815 491 Publication 8720MC UM 001C EN P Feb 2001 Dimensions Frame DL2010 through DL2012 Dimensions The following motor dimensions are for frames DL2010 through DL2012 Figure 3 11 Motor Dimensions for Frames DL2010 DL2012 ie
316. ons when preferred scaling is not used Parameter 79 not 78 is used for analog configurations Control This parameter is available with the 8720MC SERCOS Release Group Position Default Length Minimum Maximum Scaling Resolution Units Preferred 2 bytes Min gt 215 Structure of the scaling exponent NA 10 4 degree 15 Bit 15 Sign of the exponent 10 6 it ea 0 positive 1 negative Bits 14 0 Exponent IDN S00079 Name Rot_Posn_Resolut Data Display integer R W Parameter No Description Rotational position resolution This parameter defines the rotational position resolution for all 79 position data in a drive when rotational scaling and parameter scaling are selected in IDN 00076 With the analog File configuration the default scaling is rotational and parameter scaling therefore parameter 79 is required to Control determine the position resolution for orient Parameter 79 is entered as an integer value representing the number Group of position counts per revolution of the motor Position Default Length Analog Minimum Maximum Analog Scaling Resolution Units 3600 counts or 2 bytes Min gt 1 1 1 drive feedback count counts rev 1 deg Max lt 65535 360 IDN00079 rotary position increment in deg IDN S00080 Name Torque_Command Data Display decimal R W Parameter No Description Torque command value In the SERCOS configuration during the torque control operation mode of the drive torque command values are transferred from
317. or Amps at 500 RPM based on 160 WYE conn ContAmps 41 120 S6 Amps 47 Max Amps 58 80 40 0 1000 2000 3000 4000 5000 6000 7000 0 400 800 1200 1600 2000 2400 2800 3200 RPM RPM 30853 M Figure 2 24 15kW Dual Wound Motor High Winding 15 kW at 1900 RPM Base Speed DL1811 Frame 25 Dual Winding Delta Design 120 T T maximum kW 20 S6 50 ED kW Continuous S1 kW converter with 750 VDC bus and 505 VAC at motor Amps at 500 RPM based on Delta conn 5 Cont Amps 41 S6 Amps 47 MaxAmps 58 0 1000 2000 3000 4000 5000 RPM Performance assumes regenerative 6000 Maximum 110 S6 50 100 Torque in Nt M 90 Rated 75 6 50 90 80 Rated Max 113 T 70 S e os 60 8 50 4 40 30 20 7000 0 1000 2000 3000 4000 5000 6000 7000 8000 RPM 30854 MR1 Publication 8720MC UM 001C EN P Feb 2001 2 24 Specifications Figure 2 25 18 KW Dual Wound Motor Low Winding 18 kW at 500 RPM Base Speed DL1813 Frame Dual Winding WYE Design
318. orers IDN P00241 Name Enc_Mem_Map_Rev Data Type Integer IR Parameter No 741 File Motor Drive Group Motor data Description The 8720MC Drive supports an intelligent feedback device which stores all motor and feedback specific parameters for standard A B Motors At power up these parameters are available to the drive to configure it s operation Parameter 741 IDN P00241 identifies the revision of the memory map to the drive Default Minimum Maximum Min gt 0 Max lt 255 Publication 8720MC UM 001C EN P Feb 2001 Scaling Resolution NA Programming Parameters IDN P00242 Name Motor Param_Rev Data Type Integer Ro Parameter No 742 File Motor Drive Group Motor data Description The 8720SM Motor parameters are subject to revision over time Parameter 742 P00242 is used to identify the revision number of the motor parameters Default Minimum Maximum Scaling Resolution Min gt 0 1 Max lt 255 IDN P00277 Name Motor Select Data Type Ascii enumeration of motor catalog R W numbers Parameter No 777 File Motor Drive Group Motor data Description The standard 8720SM Motors have assigned 8720SM catalog numbers Parameter 777 provides a list of the available standard 8720 motors If the motor catalog number does not appear on the list custom must be entered and all motor specific parameters must be entered individually For standard 8720SM motors this pa
319. orque curves 2 7 specifications 2 4 750V DC input drives with dual wound 8720SM AC motors power and torque curves 2 20 specifications 2 19 8720MC 750 vdc input drive amplifier common specifications 2 2 8720MC drive s 1336 regenerative power supply 4 28 8720MC regenerative power supply 4 25 AC input 4 24 amplifiers and motors common specifications 2 2 amplifiers key features 1 3 B027 enclosure A 2 B034 enclosure A 3 B042 enclosure A 3 B048 enclosure A 4 common bus architecture 1 6 common product structure 1 6 connector layout 4 8 D065 enclosure A 4 D078 enclosure A 5 D120 enclosure A 5 D149 enclosure A 6 D180 enclosure A 6 input output wiring 4 30 line reactor dimensions 3 13 overview 1 1 setting up 9 2 system P 1 Index 8720MC regenerative power supply 8720MC drive s 4 25 dimensions 3 2 key features 1 10 8720MC RPS and 1336R regenerative power supplies connecting power 4 16 8720MC RPS regenerative power supply troubleshooting 10 13 8720SM AC spindle motor s common specifications 2 3 family 5 1 key features 1 13 overview 1 11 5 1 power supply 5 4 product structure 1 12 A A quad B Virtual Encoder output 4 36 A B Drive Explorer 7 17 AC input 8720MC drives 4 24 AC input drives AC supply source information 4 6 AC supply source information AC input drives 4 6 ambience motor 5 3 analog inputs 6 8 inputs connecting 4 38 outputs 6 8 outputs connecting 4 38 reference scaling 9 6 signal wire specificat
320. ors have been designed and manufactured to meet the needs of modern high performance industrial machinery To cover a wide variety of spindle motor requirements both a standard single winding series of motors and a dual winding series are available All standard motors are provided with permanently greased sealed deep groove ball bearings An integrated high resolution incremental single turn absolute or multi turn absolute feedback device provides responsive servo performance for both spindle and power servo applications Highly accurate position and velocity control is readily available 8720SM AC Spindle Motor Family A family of thirteen standard AC spindle motors is available with power ratings from 5 5 to 93 kW 7 5 to 125 hp The motors are designed to operate with the A B 8720MC 380V AC to 480V AC input inverters as well as the 8720MC regenerative power supply or the 1336R regenerative power supply The following table provides general rating information for the 8720SM AC spindle motors 5 2 Motor Installation and Wiring Before Mounting Your Motor Publication 8720MC UM 001C EN P Feb 2001 Table 5 1 General Information for the 8720SM Motors kW at 1500 rpm Horsepower at aE Frame Base Speed SE arse rpm Base pee Speed DL1106 5 5 75 13 5 DL1108 75 10 20 3 DL1110 11 15 26 8 DL1307 15 20 33 4 DL1308 18 5 25 41 4 DL1310 22 30 48 DL1611 30 40 63 1 DL1613 37 50 76 1 DL1811 45 60 93
321. otor Sheave or coupling should be balanced with a 1 2 height shaft key Read the following attention text before proceeding ATTENTION Internal parts of the motor may be at line potential even when the motor is not rotating Before performing any maintenance that involves contacting an internal part make sure to disconnect all power from the motor Failure to observe this precaution could result in bodily injury or loss of life ATTENTION The surface of the motor may reach high temperatures Avoid contact with motor surfaces and wear suitable protective equipment The standard 8720SM motors are equipped with sealed deep groove ball bearings They are packed with the appropriate lubricant at manufacturing and therefore do not require any continuing maintenance Publication 8720MC UM 001C EN P Feb 2001 5 16 Motor Installation and Wiring Publication 8720MC UM 001C EN P Feb 2001 Chapter Objectives 1 0 Command Interface Chapter 6 Interface Signal Description Chapter 6 provides information on the various inputs and outputs available as part of the 8720MC Drive Included are signal level definitions and detailed function descriptions for each I O point The following topics are covered e Digital Inputs and Outputs e Registration Inputs e Analog Inputs and Outputs e Changing Default Digital Output Links e Changing Default Analog Output Links e SERCOS Interface e SCANport Interface e SCANport I O Linking Digita
322. otor 4 w PEF 7 Note 1 Jumper P5 13 to P5 23 when 8720MC 24vdc input power is used When external 24vdc power is used connect 24vdc return to P5 13 Note 2 Jumper 24vdc to P5 36 when the 8720MC RPS n 30717 M R3 Regenerative Power supply is not used 8720MC Drive with a 8720MC Regenerative Power Supply Figures 4 14 and 4 15 provide information about the AC power and logic connections for the 8720MC Drive with the 8720MC RPS027 or the 8720MC RPS065 Regenerative Power Supply The RPS065 is a master slave type regenerative converter which can supply 37 74 or 110 kW of 750V DC power You can use one or several of the common bus 8720MC drives with this power supply For more information on the 8720MC RPS065 Regenerative Power Supply see publication number 8720MC RMO001B titled 8720MC RPS065 User Manual It should be noted that both the RPS and the drive source 24vdc for interlocking connections The 24 vdc power supplied on the 8720MC Drive and 8720MC RPS should be used for the 8720MC drive RPS interlocks as shown in Figures 4 14 4 16 4 17 and 4 18 Publication 8720MC UM 001C EN P Feb 2001 Drive Installation and Wiring 4 27 External 24vdc is not required for these interlocks The drive and RPS 24vdc power should be kept isolated from each other as shown Figure 4 14 8720MC Drive with 8720MC Regenerative Power Supply Power and Logic Connections for the SERCOS or Analog Versions of the 8720MC Drive with th
323. oup 8 Press the increment up key or the decrement down key to scroll through the parameters elements for the group you chose 9 After displaying the desired parameter name press the enter key to select the parameter Once you have selected a read write parameter in Program mode you can modify it by making the parameter s value active This is done be depressing the Select key If the parameter is a value like _ Velocity_Limit_0 the least significant character will blink on the bottom data line The value can be increased or decreased with the increment and decrement buttons The select key can be used to move from character to character After all the characters have been changed to the desired value depressing the enter key will store the new value If the value is an enumerated selection the currently active selection will be displayed on the bottom line The selection may be changed by using the increment and decrement keys to scroll through the available choices Once finding the desired new selection depressing the enter key will store the change Some parameters such as Dig_Output_Status parameter 661 have a bit pattern that you can view and in some cases change You can use your HIM to see what each bit means Publication 8720MC UM 001C EN P Feb 2001 7 10 Using the Human Interface Module HIM For example if you want to check if the orient complete bit is being set for your analog spindl
324. output 3 Terminal 2 8 Relay output 2 Terminal 1 26 Relay output 4 Terminal 1 9 Relay output 2 Terminal 2 27 Relay output 4 Terminal 2 10 24vdc Digital Output 5 28 24vdc Digital Output 6 11 24vdc Digital Output 7 29 24vdc Digital Output 8 12 24vdc Digital Output 9 30 24vdc Digital Output 10 13 24vdc Digital Input common 31 External 24vdc for Digital Outputs 14 24vdc Digital Input 1 32 24vdc Digital Input 2 15 24vdc Digital Input 3 33 24vdc Digital Input 4 16 24vdc Digital Input 5 34 24vdc Digital Input 6 17 24vdc Digital Input 7 35 24vdc Digital Input 8 18 24vdc Digital Input 9 36 24vdc Digital Input 10 Publication 8720MC UM 001C EN P Feb 2001 The digital I O and analog I O have default functional assignments Refer to chapter 6 tables 6 1 thru 6 7 for these functional definitions Drive Installation and Wiring 4 23 Figure 4 11 Releasing the Wire Clamp with an Instrument 308 52 M Analog 1 0 Signal Wire Specifications Table 4 12 contains recommended control signal wire specifications The analog input connections are terminated to connector P1 per figure 4 10 and Table 4 9 The analog output connections are terminated to P4 per table 4 10 Table 4 12 Control Signal Wire Specifications Thi Beld AER Should have these specifications equivalent 8760 0 750 mm 18 AWG twisted pair braided shield 8770 0 750 mm 18 AWG 3 conductor braided sh
325. ower supply also called regenerative converter Designed for either 380 or 460V AC 3 phase input this power supply provides a regulated and configurable DC bus voltage When used with the 8720MC drive amplifiers the bus voltage is factory set at 750V DC The product structure of the 8720MC regenerative power supply is shown in Figure 1 8 Figure 1 8 8720MC Regenerative Power Supply Product Structure 8720MC REGENERATIVE CONVERTER 8720MC PRODUCT STRUCTURE RPSxxx v m opt Ze fe N REGENERATIVE INPUT VOLTAGE TYPE See Note1 POWER SUPPLY SIZE 065 65 amp B 380 TO 460 vac M master S Slave Note 1 Blank includes the 8720MC RPS only as a spare part HV1 option includes the 8720MC RPS as well as 8720MC HF B harmonic filter and 8720MC VA B varistor 8720MC LRxx ayyy b A Line Reactor Inductance as Enclosure Voltage Drop 03 3 05 5 10 10 14 14 blank open A NEMA type 1 Current Rating 032 32 Amp 048 48 Amp 062 62 Amp 070 70 Amp Harmonic Filter 8720MC HF b ps Voltage Voltage B 380 to 460 vac Varistor B 380 to 460 vac 8720MC z VA 2 b 30781 M R3 Voltage B 380 to 460 vac The HV1 Option for the 8720MC Regenerative Power Supply includes a harmonic filter and a varister These are required separately mounted items In addition a line reactor sized to the load must be placed in each incoming AC phase The 8720MC LR is an assembly consisting of
326. p Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Loop Group 6 Group 6 Group 6 Group 6 Group 6 Group 6 Group 7 Group 7 Group 7 Group 7 Group 7 Group 7 Group 7 Group 7 Group 7 Group 7 Group 7 Group 7 Group 7 Group 7 Group 7 Group 7 8 51 Publication 8720MC UM 001C EN P Feb 2001 8 52 Programming Parameters A B P Parameter Descriptions IDN P00001 Name A B_ Application The remainder of this chapter describes the A B specific programming parameters available to the 8720MC Drive These parameters are required to extend the drive functionality beyond what the IEC 61491 Standard supports IEC 61491 defines all special parameters as P parameters For example special parameter 105 is typically represented as SERCOS parameter P00105 Standard parameter 105 is represented as SERCOS parameter S00105 To simplify the 8720MC displays and data base the standard SERCOS parameters are found in 8720MC parameters 1 to 500 The special SERCOS parameters are found in 8720MC parameters 501 to 999 The range of 8720MC parameters is therefore 1 to 999 decimal Each parameter explaination gives a reference to both the SERCOS parameter number and the 8720MC parameter number Data Type Ascii characters Parameter No Description This IDN is used to provide A B drive application configuration choices which otherwise do not 501 appear in the SERCOS Standard These choices are used t
327. p Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Servo Loop Group 2 Group 2 Group 2 Group 2 Group 2 Group 2 Group 2 Group 2 Group 2 Group 2 Group 2 Group 2 Group 2 Group 2 Group 3 Group 3 Group 3 Group 3 Group 3 Group 3 Group 3 Group 3 Group 3 Group 3 Group 3 Group 3 Group 3 Group 3 Group 3 Group 3 Group 4 Group 4 Group 4 Group 4 Group 4 Group 4 8 49 Publication 8720MC UM 001C EN P Feb 2001 8 50 Programming Parameters A B P Parameters in Numerical Order SERCOS IDN No 40101 40104 40105 40296 40384 P00382 P00383 P00384 40136 40137 50032 50038 50039 50082 50083 50100 50101 50104 50105 50296 50384 P00402 P00403 P00404 50136 50137 60032 60038 60039 60082 60083 60100 60101 60104 60105 60296 8720MC DESCRIPTION 16 Character Name Param No 877 878 879 880 881 882 883 884 885 886 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 911 912 913 914 915 916
328. pacity of the drive The dark solid line on each graph indicates the current capacity as a percent of full load current of either the open drive operating at or below 50 degrees C or the enclosed drive operating at or below 40 degrees C The dashed line indicates the derating factor which should be applied to the continuous current capability when operating an enclosed drive between 41and 50 degrees C For example Figure A 1 demonstrates that if an enclosed B027 drive is operarted at 41 to 50 degrees C and an IGBT switching frequency above 10 khz its continuous current capacity must be derated by the indicated in the graph Specifically if the switching frequency is 11 khz then the drive should be derated to 94 of it s rated continuous current capacity 8720MC B027 Enclosure Figure A 1 shows the derating curves for A B catalog number B027 enclosed and open ventilated drives Figure J 5 8720MC B027 100 95 90 85 75 70 65 1 2 3 4 5 6 7 8 9 10 11 12 Carrier Frequency in kHz 30417 M R2 Derating Guidelines A 3 8720MC B034 Enclosure Figure A 2 shows the derating curves for A B catalog number B034enclosed and open ventilated drives Figure J 6 8720MC B034 100 95 90 85 of Drive Rated Amps 80 8720MC B034 S 75 70 65 1 2 3 4 5 6 7 8 9 10 11 12 Carrier Frequency i
329. pendix contains derating guidelines for the 8720MC Drives and 8720SM Motors A number of factors can affect drive ratings If your drive is affected by more than one factor contact Allen Bradley Rockwell Automation Table J 1 Derating Information for User supplied Enclosures Catalog Base Derate Derate Number Amps Curve 2 3 380 480V AC Input Drives B014 14 Not required B021 21 Not required B027 27 Figure A 1 B034 34 Figure A 2 B042 42 Figure A 3 B048 48 Figure A 4 D065 65 Figure A 5 D078 78 Figure A 6 D097 97 Note 3 D120 120 Figure A 7 D149 149 Figure A 8 D180 180 Figure A 9 High altitudes All Drives Figure A 10 above 1000 m NOTE 1 The drive ambient operating temperature is 50 C with open packaging If either the operating temperature of the open package exceeds 50 C or the enclosed version is operating between 41 and 50 C you must use the derating curves in this Appendix NOTE 2 Drive rating is based on altitudes of 1000 meters 3300 feet or less If installed at a higher altitude derate the drive using Figure A 11 in this Appendix NOTE 3 Not available at the time of publication A 2 Derating Guidelines Derating Guidelines Publication 8720MC UM 001C EN P Feb 2001 of Drive Rated Amps 80 8720MC B027 2 The following 8720MC derating curves are provided to graphically demonstrate the effect of temperature and frequency on the continuous current ca
330. presentation of enumeration Parameter No Description IDN P00047 parameter 547 indicates the status of the auto tune procedure 547 Structure of the auto tune status File Bits 2 0 Procedure 000 Successful The auto tune process was successful Group 001 In process Auto tuning is active Auto Tune 010 Tune aborted Auto tuning was cancelled by user 011 Tune Timeout Auto tuning timed out 100 Drive Fault Auto tuning did not complete due to drive fault 101 Travel limit Travel Limit was exceeded during auto tune 111 Polarity fault The feedback polarity was incorrect Default Length Analog SCANport Min Max Analog SCANport Scaling Resolution Units 000 2 bytes NA NA NA Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN P00061 Name Torq Notch Freq0 Data Type Integer R W Parameter No 561 File Servo Loop Group Group 0 Description The 8720MC supports 8 sets of Servo Parameters 0 7 The SERCOS link the I O interface or SCANport can select which set of parameters is to be enabled Group 0 is the default group IDNP00061 parameter 561 is used to provide the drive with the Torque reference notch filter frequency for Servo group 0 This parameter is used to minimize resonances in the mechanical system It s value defines a notch filter frequency at which the torque command is attenuated The data is represented by an unsigned integer This parameter is not implemente
331. propriate sections in this publication as well as the Allen Bradley publication Industrial Automation Wiring and Grounding Guidelines For Noise Immunity publication 1770 4 1 This equipment is classified as open equipment and must be mounted in an enclosure during operation to provide safety protection Table of Contents Preface Who Should Use this Manual ati cctvsatiaatvenoneandieantonnadarnhett dust haeadatiethiadtaltia P 1 Purpose Ob TIS Mandal aninnsnn a n a P 1 What is the 8720MC Drive vi ivi twins minnie mannan P 1 Contents of this Manual spsscsninnnnnnie in nn nn A P 1 Related Documentation iden ww nics wa tvintnnemienneirennen inertia P 2 Common Techniques Used in this Manual ccsecssseessesssesssseessseesaeees P 2 Allen Bradley Support wun enews weds on ba were as P 3 Lo al Prod ct SUD DORE ascadsexssissasvexiiasiranmsar natant antes tesasiantnoamardnaatiatianss P 3 Technical Product Assistance seeen P 3 Your Questions or Comments on this Manual P 3 Safety Precautions nininini Gninilanaiadtieia A P 4 Chapter 1 Introduction Chapter Objectives s sssssssssssesresrssrsresresnsrrnrennennnrenrenntrnnrenntnnnrennnntnenrennnrnnea 1 1 8720MC Drive Overview inonasaniniianaiinnnnnniaanan aaa a 1 1 Drive Amplifiers for Non Line Regeneration cccsseessssesssseessseeseseees 1 1 Drive Amplifiers for Line Regeneration cccccsesssesssessssssssesssserseses 1 1 Key Features of the 8720MC Drive Amplifiers cc
332. publication 1336 5 65 Since the 8720MC RPS065 is not used in the direct AC input configuration terminal P5 36 must be jumpered to P5 22 24 vdc to by pass the regenerative power supply fault Also if P5 22 is used as the source for 24vdc for the DC inputs as is recommended terminal P5 13 should be jumpered to P5 23 to connect the input driver commons to the 8720MC 24vdc power supply return Publication 8720MC UM 001C EN P Feb 2001 4 26 Drive Installation and Wiring Figure 4 13 8720MC AC Input Drive Connections A B 9 Series CNC Connections for the SERCOS or Analog Versions of The 8720MC non regen Drive l 1394 or Ultra ES 9 Series CNC SERCOS Analog or SERCOS 380 VAC 15 10 50 HZ 480 VAC 15 10 60 HZ l Koi i 1 l Cabinet A B 1494V 1 Disconnect i i Line i i Fuses m I l CNC mo 4 A VO TN SERCOS Configuration t cj L1 L2 Do P1 14 IY TE PE R S T Seros aa Coman 3 ai S nalo Oommand Inpu Earth ee n ashok enti od Gind Drive Enable L P5 14 8720MC 24vde P5 22 e SERCOS P5 6 Drive ee CE CNC E Stop string Cy Regen P5 36 PS OK DRIVE OK note 2 P5 13 P5 23 IPC DC Bus Resistor gt A B 1336 WBnnn Brake Package Dc LPE Bus Chopper Module y M
333. put Descriptions s ss ssssssesrsrnsrsnrnsrnnsrnsrnnninarnnrnsrnnnrnsee 6 4 Default Digital Output Descriptions nencicentincrectierciedion tomer cindin tee coe 6 5 R gistration INPUTS erties anna nnn a arara 6 6 Analog Inputs and Outputs s ssssessesissesresresisrnsrenrnnnnrenrnnrnnnnrenrnnrnrenrnnrnnenne 6 8 Changing the Default Digital Output LINKS s s ssssssesssresrsrssrernsrnrrnsrersrenee 6 10 Changing the default Analog Output lINKS c seccsseesssesesessssseeseseeees 6 11 SERCOS Command INtEfaCE arannana A 6 12 SCANDORECOMMANCANLEITACE siesta 6 14 SCANport Command Logic INPUTS cfoicensiivcrverteerravtever ettevarererveruteree totes 6 15 SCANport Logic Status OME NUTS asst ies icvsssnswinnssvasataceovsnspsavnsnunanvsisvacnele 6 17 SCANDOM Data Interface wand awit annie 6 18 Publication 8720MC UM 001C EN P Feb 2001 Chapter 7 Using the Human Interface Module HIM Pre FDS EI VCS inns nininini 7 1 What Is the Human Interface Module oc isecseescessseetersesesesssesessseeerees 7 1 HIM Display Panel and Control Panel cccsseessssssecsssessssseesssereess 7 1 Him Display Panel Keys vend dcdo win uavdviin nave luadianinas 7 2 HIM Contra Panel KEYS lt sicsuiacsoscdspoiatanstnustansduatassducawhountan Aa 7 3 HIM Control Panel Indicators usta aia G04 G6 al ele alan aGaat ay 7 5 HIM Op ration ath tact terete aa aia a area a NET 7 5 Initial Status Display nann r O ON 7 5 Choosing a HIM Mode sssssssssssssesresissrsresrenr
334. r power supply O Customer output device Publication 8720MC UM 001C EN P Feb 2001 For connecting the analog outputs use 2 wire 1 twisted pair 22 AWG or larger shielded cable Beldon 8302 or equal Connecting the Relay Outputs The 8720MC Drive has four discrete outputs in the form of normally open dry relay contacts The fault outputs from the 8720MC Drive are supplied at terminal blocks Fault outputs provide warning or fault signals based on drive programming The following values are the contact ratings for the programmable relays e SA at 250V AC e SA at 30V DC Figure 4 23 shows a typical isolated relay output circuit Use 16 to 18 hook up wire Alpha 3075 or 3077 or equal Figure 4 24Typical Isolated Relay Output Connections Isolated Relay Output Circuit On state up to 250 vac up to 5 A On state up to 30 vdc up to 5 A 4 outputs P5 6 and P5 7 P5 8 and P5 9 P5 24 and P5 25 P5 26 and P5 27 Ch4 104 R2 Connecting the Digital Inputs Ten digital inputs are available in the 8720MC Drive These inputs are optically isolated to 500V from control power They have hardware filtering with a time constant of 300 micro seconds and a software debounce which requires stable input for 5 milli second prior to validation Table 4 18 shows the digital input characteristics Table 4 18 Digital Input Characteristics Condition Voltage Amperage On 12 38V DC 3 3 12mA Off less than 6 6V DC less than 1 5mA leak
335. r Supply also called regenerative converter e 8720SM AC Induction Motor The Allen Bradley 8720MC Drive System is a family of products designed to satisfy a wide range of machine tool spindle and power servo applications Drive Amplifiers for Non Line Regeneration For lower power applications which do not require line regeneration Allen Bradley offers five 460 VAC input high performance digital drive amplifiers with current outputs ranging from 21 to 48 amperes These amplifiers can support frequent high acceleration deceleration cycles when used in conjunction with the A B 1336WB Brake Chopper Module There are five available 8720SM AC motors ranging in power from 5 5 to 18 5 kW that are compatible with the 460 VAC input drive amplifiers Four of these drive amplifier ratings can also be operated off 380 VAC directly when providing motor current for the 5 5 7 5 11 and 15 kW 380 VAC input compatible 8720SM motors Drive Amplifiers for Line Regeneration For applications requiring line regeneration the six smaller drive ratings 14 21 27 34 42 and 48 amperes can alternatively be connected to a regenerative power supply via a 750V DC common bus interface These high performance digital drive amplifiers are complemented by another six common bus only drive amplifiers with output capacities of 65 78 97 120 149 and 180 amperes The complete family of common bus offerings includes a set of twelve drive amplifiers capable
336. r second squared for a given parameter set The acceleration and deceleration parameters are used to limit the rate of change of velocity of the motor to a level that can be supported with load connected With high inertia loads it is often necessary to limit the deceleration to prevent bus over voltage or over current trips caused by over running loads The values for acceleration and deceleration are adjusted by trial and error to suit the application This section provides the information you need to auto tune your 8720MC drive This procedure assumes that you have wired your 8720MC drive and have completed the procedures already covered in this chapter Publication 8720MC UM 001C EN P Feb 2001 9 8 Starting Up Your 8720MC Publication 8720MC UM 001C EN P Feb 2001 Before You Perform an Auto Tune Before you perform an auto tune look at the status LED on the system module Note Auto tune default parameter values are normally adequate To change them refer to Programming Parameters Performing the Auto Tune 1 Before initiating the auto tuning of the motor make sure the desired application load for this group of servo loop parameters is connected to the motor 2 For the analog input command configuration set Parameter 501 the application parameter to either Analog Spind or Analog Pwr S as required by the application 3 Set Parameter 503 Aux Fdbk Type to Analog Ref to ensure the drive is prepare
337. r slave operation both the master and slave units must have incoming AC circuit protection See the 8720MC Regenerative Power supply User s Manual Chapter 4 for details Drive Installation and Wiring 4 17 Table 4 7 600V AC Input Fuse Specifications for Regenerative Power Supplies Motor Cat No Drive Cat No Cae Bussman Fuse Could Shawmut Wire Size AWG 8720SM 8720MC AGOV AC Fuse mm DODSIBA BO14 To amps J KS 20 A4J 20 AWG 14 2 1 mm 007S1CA B021 21 amps JKS 25 A4 25 AWG 12 3 3 mm 011S1DA B027 32 amps J KS 35 AAJ 35 AWG 10 5 3 mm 01552EA B034 44 amps J KS 45 A4 45 AWG 8 8 4 mm 018S2FA B042 54 amps J KS 60 A4J 60 AWG 6 13 3 mm 022S2GA B048 63 amps J KS 70 A4 70 AWG 6 13 3 mm 030S4J A D065 88 amps J KS 90 A4J 90 AWG 4 21 2 mm 037S4KA D078 107amps J KS 110 A4 110 AWG 4 21 2 mm 045S5NA D097 63 amp master J KS 70 A4J 60 AWG 6 13 3 mm 63 amp slave 055S5PA D120 73 amp master J KS 80 A4J 80 AAWG 6 13 3 mm 73 amp slaver 063S5QA D120 92 amp master J KS 100 A4J 100 AWG 4 21 2 mm 92 amp slaver 075S6SA D149 110 amp master J KS 110 A4 110 AWG 4 21 2 mm 110 amp slaver 093S6TA D180 90 amp master J KS 90 A4 90 AWG 4 21 2 mm 2 90amp slaves Table 4 7 demonstrates that any 8720SM motor application above 37kw requires a master and at least one or two slave RPS units When two or three 8720MC RPS065 Regenerative Power Supplies are operating in a master sla
338. rameter 154 if clockwise or counter clockwise is selected For example with parameter 79 and parameter 103 both set at 3600 counts and parameter 153 orient angle set to 0 counts a stand still cw orient will take 1 revolution If parameter 153 is changed to 3600 counts a stand still cw orient will take 2 revolutions If parameter 153 is changed to 7200 counts a stand still cw orient will take 3 revolutions etc If ccw orient is desired parameter 153 should have a negative value Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 1 1 count as determined by parameter 79 param 79 Default Min gt 32768 with paramter 79 set at 3600 cnts rev 1 increment counts 0 00 Max lt 32767 1 degree Range 3276 8 to 3276 7 degrees SERCOS Length SERCOS Min Max SERCOS Scaling Resolution Units Default 4 bytes Min gt 231 Scaling type IDN 00076 IDN 00076 0 0 31 Scaling factor IDN 00077 da i Scaling exponent IDN 00078 Rotational position resolution IDN 00079 see 8 6 1 IDN S00154 Name Orient_Options Data display bit pattern R W Parameter No Description Spindle Orient Configuration Parameter When the velocity feedback value is equal to zero as 154 defined by the zero speed window parameter 124 and the spindle orient request is active the direction and File source of feedback device for spindle orient is defined by this parameter Procedure If the spindle velocity value is no
339. rameter is set by the data stored in the encoder and cannot be changed unless the feedback is disconnected and power recycled Default custom Length 2 bytes Minimum Maximum Scaling Resolution 0 to 65535 NA IDN P00278 Name Motor Type Data Type binary R W Parameter No 718 File Motor Drive Group Motor data Description The 8720MC can be used with several different types of motors Parameter 778 P00278 identifies the type of motor the 8720MC is connected to The possible enumerations are 000 Rotary PM Brushless 001 Rotary Induction 010 Rotary Induction Dual Winding 011 Linear PM Brushless 100 Linear PM Brushless AC Ironless Default 001 Length lbyte Minimum Maximum Scaling Resolution 0 to 255 NA IDN P00279 Name Motor Pole Count Data Type unsigned integer R W Parameter No 779 File Motor Drive Group Motor data Description The standard 8720SM Motors have 4 poles Parameter 779 P00279 provides the drive with the number of motor poles If the motor is a linear motor this parameter provides the linear motor pole pitch in millimeters Default 4 Units poles rev poles mm Minimum Maximum Scaling Resolution 2 255 NA Publication 8720MC UM 001C EN P Feb 2001 8 72 Programming Parameters IDN P00280 Name Mtr_ Acceleration Data Type Unsigned Integer R W Parameter No 780 File Motor Drive Group Motor data Description Parame
340. rating mode parameter 32 must be set to position control using motor feedback Target position cannot be used if Analog Spindle or Analog Servo are selected in parameter 501 SCANport Length SCANport Minimum Analog SCANport Scaling Resolution Units Default 2 bytes Maximum Resolution units as determined by parameter 79 Param 79 0 Min gt 32768 counts rev Max lt 32767 SERCOS Length Minimum Maximum SERCOS Scaling Resolution SERCOS Default 4 bytes Min gt 231 Scaling type IDN 00076 Units 0 Max lt 231 1 Scaling factor IDN 00077 IDN 00076 ia Scaling exponent IDN 00078 IDN 00077 Rotational Position Resolution IDN 00079 IDN 00078 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN S00259 Name Posn_Velocity Data Display decimal R W Parameter No Description Positioning Velocity The positioning velocity is used in the drive resident position interpolation 259 operation mode as the positioning velocity during a DP or SERCOS commanded change in target position File Parameter 258 IDN00258 Linear list Group Linear list Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 1 rev min 0 to 30 000 RPM Default Min gt 0 1000 Max lt 30 000 SERCOS Length Minimum Maximum SERCOS Scaling Resolution SERCOS Default 4 bytes Min gt 0 Scaling typ
341. re for the B and C frames which are used with the 8720MC Bxxx Drive Amplifier and the 8720MC D065 and Knockouts Location Will Vary with HP D078 Drive Amplifiers Figure 3 2 Dimensions for Frames B and C a A gt Z Y lt D y lt C Max a ae eea a l LI LI O Allen Bradley _ I AA E B y A BB O O C H y i3 ai e lt CC Mounting Holes 4 7 0 0 28 lt Mboo ee AN j TA All dimensions are in Millimeters and inches oy All weights are in kilograms and pounds Frame 1 Knockouts Shipping Reference A B CMax D E Y Z AA BB cc 3 Dual Size 1 Fixed Weight B1 B2 276 4 476 3 231 0 2126 461 0 32 00 7 6 131 1 180 8 71 9 28 6 34 9 22 2 22 7kg 10 88 18 75 9 12 8 37 18 15 1 26 0 30 5 16 7 12 2 83 1 125 1 375 0 975 50 lbs C 301 8 701 0 231 0 238 0 685 8 32 00 76 131 1 374 7 71 9 28 6 34 9 22 2 38 6kg 11 88 27 60 9 12 9 37 27 00 1 26 0 30 5 16 14 75 2 83 1 125 1 375 0 875 85 lbs Publication 8720MC UM 001C EN P Feb 2001 3 4 Dimensions Dimensions for Frame D The following dimensions are for frame D which is used with the 8720MC Dxxx Drive Amplifier
342. reater than the maximum spindle speed Spd Above Mx Event parameter 340 Setup parameter 221 Publication 8720MC UM 001C EN P Feb 2001 10 10 Troubleshooting Troubleshooting the Digital 1 0 Publication 8720MC UM 001C EN P Feb 2001 Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 AB Specific Parameter 129 8720MC Drive Errors This parameter is a bit pat tern that identifies drive error conditions that are in addition to the shutdown faults in parameter 11 The structure of parameter 129 is as follows If any bit is true an error is indicated Bit 0 Software Overtravel Sft ovrtrvl Bit 1 Software Overtravel Sft ovrtrvl Bit 2 Hardware Overtravel Hrd ovrtrvl Bit 3 Hardware Overtravel Hrd ovrtrvl Bit 4 Motor feedback loss Mtr fdbk los Bit 5 Motor feedback noise Mtr fdbk nse Bit 6 Aux feedback loss Aux fdbk los Bit 7 Aux feedback noise Mtr fdbk nse Bit 8 Reserved Bit 9 Reserved Bit 10 Reserved Bit 11 Reserved Bit 12 Reserved Bit 13 Power structure ground short Ground Short Bit 14 Drive hardware Drv hardware Bit 15 Motor overspeed Overspeed In troubleshooting the digital I O interface it is often necessary to monitor the status of the digital and analog inputs and outputs to determine the source of the problem Six parameters can be used for this purpose
343. rotate cw or ccw To minimize this parameter 694 Man_Ref_Offset is provided Values ranging from 01 to 100 can be entered A value is used to offset in the cw direction and a value is used to offset in the ccw direction This section provides the information you need to operate your 8720MC drive in manual mode using a digital I O interface Note Before beginning this procedure scale the manual velocity analog reference for the desire speed range and shaft direction Refer to Scaling of Motor Speed To operate the 8720MC drive in manual mode using digital I O interface 1 Using your voltmeter verify that all analog reference signals connected to analog inputs are set to zero 2 Set the Auto Manual Select digital input 4 high 3 Enable the drive by setting the Drive Enable digital input 1 high Note Upon completion of the next step your drive will be ready to jog in manual mode 4 Set the digital input 6 to high in order to jog the motor The drive will follow the reference signal voltage and polarity provided to analog input 2 Refer to Programming Parameters Disabling the drive will stop the motor This section provides the information you need to operate your 8720MC drive with an internal or external HIM Note Before beginning this procedure scale the manual velocity analog reference for the desired motor speed range and shaft direction Refer to Scaling of Manual Velocity Reference To operat
344. rrnnnrnrnnnnrnrrnnnrnrrnnrrnrennna A 6 8720MC D180 Enclosure ssis A 6 8720MC All Amplifiers at High Altitudes ccecssseesssesessssesersssserseees A 7 8720SM Motor Temperature Derating Curves cccsseesesesesseeeeeeeres A 8 Appendix B Replacement Spare Parts Appendix Objectives s s sssssesrsssssesresresnsrrrennnnrsrennnnntrnnrnnnnnnnrnnnnntnnrennnnrnnea B 1 8720MC Drive Spare Parts cain aera aya aiid isdn ener B 1 87205M MOO Spare Parts wai Awww deaaiit iin R B 2 8720MC RPS Regenerative Power Supply Spare Parts wc B 2 vii Publication 8720MC UM 001C EN P Feb 2001 viii Publication 8720MC UM 001C EN P Feb 2001 Who Should Use this Manual Purpose of this Manual What is the 8720MC Drive Contents of this Manual Preface Preface Read the preface to become familiar with the rest of the manual This preface covers the following topics e who should use this manual e purpose of this manual e what is the 8720MC Drive e contents of this manual e related documentation common techniques used in this manual e terms and abbreviations e Allen Bradley support e safety precautions Use this manual if you are responsible for setting up and servicing the 8720MC Drive You must have previous experience with and a basic understanding of electrical terminology programming procedures required equipment and safety precautions before attempting to service the 8720MC Drive This manual provides the n
345. rs 663 to 671 can be modified by the user if the default settings are not appropriate for the intended application For the 8720MC outputs 1 to 4 are relay contacts while 5 to 10 are solid state 24vdc drivers Default See Chapter 6 Units param no Length 2 bytes Minimum Maximum Scaling Resolution 0 10 000 1 IDN P00181 Name AnaOut_Ch1_Selec Data Type integer R W Parameter No 681 File 1 0 Interface Group Analog outputs Description The 8720MC Drive supports two 11 bit analog outputs Parameter 681 P00181 provides a means of linking the 8720MC physical address of connector P4 row 1 terminal 1 and row 2 terminal 6 analog output 1 to a variable within the drive This allows the user to link an external analog output to a linkable variable within the 8720MC Drive A 10 vdc analog voltage can be provided at analog output 1 which represents the value of an 8720MC parameter such as rated torque value or velocity feedback value or power Analog output 1 parameter 681 contains the parameter number of the linked variable If a 10 vdc analog output representing actual velocity is desired at analog output 1 then parameter number 40 velocity feedback must be entered into parameter 681 The analog output value can be modified by multiplying the source variable by the scaling factor stored in parameter 682 P00182 D A output Variable scaling factor D A range 2048 10 vdc Default 40
346. rt velocity torque Input signed integer Reference after scaling Reference Value Input Word 2 Data In Al 725 692 after SCANport manual jog velocity signed integer scaling Input Word 3 Data In A2 726 258 Target Position signed integer 32 768 resolution units Input Word 4 Data In B1 727 Reserved signed integer Input Word 5 Data In B2 728 Reserved signed integer Input Word 6 Data In C1 729 Reserved signed integer Input Word 7 Data IN C2 730 Reserved signed integer Input Word 8 Data IN D1 731 Reserved signed integer Input Word 9 Data In D2 732 Reserved signed integer Output Word 0 Logic Status 718 718 SCANport Logic Status Word bit pattern Output Word 1 Velocity 715 40 SCANport Velocity Feedback signed integer Feedback Output Word 2 Data Out Al 733 11 Shut Down Errors bit pattern Output Word 3 Data Out A2 734 129 8720MC Drive Errors bit pattern Output Word 4 Data Out B1 735 13 Drive Status bit pattern Output Word 5 Data Out B2 736 386 Motor Shaft power integer Output Word 6 Data Out C1 737 254 Actual parameter set binary 0 7 Output Word 7 Data Out C2 738 Reserved signed integer Output Word 8 Data Out D1 739 347 Velocity Error signed integer Output Word 9 Data Out D2 740 84 Torque Feedback signed integer SCANport Data Interface Publication 8720MC UM 001C EN P Feb 2001 In addition to the SCANport Logic Command word the SCANport Logic Status word the SCANport Command Reference and the SCANport Feedback Output there are 16
347. ructure of parameter 717 is as follows The 12 character command messages are shown in italics If any bit is true the function is selected Bit 0 Regenerative stop request Regen Stop Bit 1 Start request Start Bit 2 Jog request Jog Bit 3 Clear fault request Fault Clear Bit 4 Coast stop request Coast Stop Bit 5 Parameter Set Select bit 0 Parmset BitO Bit 6 Parameter Set Select bit 1 Parmset Bit Bit 7 Parameter Set Select bit 2 Parmset Bit2 Bit 8 Parameter Set Strobe Parmset Chg Publication 8720MC UM 001C EN P Feb 2001 10 12 Troubleshooting Publication 8720MC UM 001C EN P Feb 2001 Bit 9 Orient Request Orient Req Bit 10 Home request Home Req Bit 11 Manual Auto request Man Mode Req Bits 12 to 15 are reserved Display mode on the HIM or Drive Explorer allows the user to view the command bits Parameter 718 SCANport Logic Status The 8720MC drive sends a status word to any SCANport connected device via a SCANport communication gateway This may used by an A B plc to monitor the status of the drive This may also be used for diagnostic purposes The structure of parameter 718 is as follows The 12 character status messages are shown in italics If a bit is set true 1 the function is enabled Bit 0 Drive enabled Enabled Bit 1 Drive auto enabled Auto Ref Ena Bit 2 Rotation direction Rotate Dir
348. s connected to the encoder before applying power to the 8720MC Drive A total of 300 ma of 5 vdc encoder current is shared between the two 5 vdc encoder power terminals P1 7 and P1 20 This means that if the 5 vdc motor feedback device uses 100 ma then 200 ma is available for the auxiliary 5 vdc feedback device In a like manner a total of 300 ma of 9 vdc encoder current is shared between the two 9 vdc encoder power terminals P1 6 and P1 19 Publication 8720MC UM 001C EN P Feb 2001 8720MC Signal Interface Wiring Analog Drive Installation and Wiring 4 35 The combined current requirements for two 5 vdc encoders or two 9 vde encoders cannot exceed 300 ma A single common power return terminal is provided for both 5 vdc and 9 vdc power supplies on each feedback channel Term P1 5 is the encoder power return for the motor feedback channel Term P1 18 is the power return for the auxiliary feedback channel A 300 ma 9 vdc encoder can be connected to the motor feedback port and a 300 ma 5 vdc to the auxiliary or visa versa Figure 4 22 Feedback Wiring for the 8720MC Analog Configuration P4 1 Analog output 1 P5 1 fe A Channel signal gt 10vde analog out P5 1 9 A Channel P4 6 gt Analog output 1 amp 2 signal return AL B Ch
349. s RMS 106 5 136 5 157 5 187 5 231 Required output KVA kVA 49 3 60 6 69 4 83 2 101 9 Required output current amps DC 65 7 80 8 92 5 110 9 135 9 Required max current 1 min amps DC 98 121 139 166 204 Design Bus voltage volts DC 750 750 750 750 750 Rated input KVA kVA 100 100 100 100 150 Rated input current amps RMS 130 130 130 130 195 rated input 1 min current amps RMS 196 196 196 196 292 Publication 8720MC UM 001C EN P Feb 2001 2 12 Specifications Specifications for 8720MC RPS Master and Slave s Regenerative Power Supplies with 750 vdc Drives and 8720SM AC Motors Rated output KVA kVA 90 90 90 90 135 Rated output current amps DC 128 128 128 128 192 Rated max output current 1 min amps DC 192 192 192 192 288 Operating Temperature open deg C 0 to 50 0 to 50 0 to 50 0 to 50 0 to 50 Operating Temperature Nema1 deg C 0 to 40 0 to 40 0 to 40 0 to 40 0 to 40 Storage temperature degC 40 to 85 40 to 85 40 to 85 40 to 85 40 to 85 Ambient humidity 5 to 95 5 to 95 5 to 95 5 to 95 5 to 95 Altitude meters feet 1000 3300 1000 3300 1000 3300 1000 3300 1000 3300 Shock G peak for 11 ms 15 15 15 15 15 Vibration mm in 152 0006 152 0006 152 0006 152 0006 152 0006 displacement at 1g Weight kg lbs 38 6 85 108 9 240 108 9 240 108 9 240 108 9 240 Table 2 12 8720MC Line Reactor Specifications 8720MC Lin
350. s are an incremental encoder also with 4 million counts rev of resolution This option is used in applications where the 8720MC drive s A quad B encoder output is required Also available is a multi turn absolute encoder providing 4096 turns and 4 million counts rev of resolution Only the incremental S3 option is available with the analog version BASE a IN kw NUMBER Introduction 1 13 Figure 1 11 8720SM AC Motor Product Structure 8720SM ppp w f nn s f mm TYPE WINDING FRAME NO nn CURVE NO SPEED CLASS FEEDBACK MOD Ni 005 5 5 kw S Single 1 112 See motor curves in S Standard 1 SRS 60 007 7 5 kw D Dual 2 132 Product Specification H High 2 SCM 60 011 11 kw 3 132A 3 SNS 60 015 15 kw 4 160 018 18 5 kw 5 180 022 22 kw 6 200 030 30 kw 037 37 kw 045 45 kw 8720MC HIGH PERFORMANCE DIGITAL DRIVE eos MOTOR PRODUCT STRUCTURE eee 075 75 kw 093 93 kw NOTE The 132 frame has standard IEC dimensions for the mounting flange 250 mm pilot diameter and 300 mm bolt circle The 132A frame has A B 1327AB compatible dimensions for the mounting flange with a 230 mm pilot diameter and a 265 mm bolt circle All other dimensions are identical for these two offerings Refer to Chapter 3 for detailed dimensions for all frames Key Features of the 8720SM AC Spindle Motors Key features of the 8720SM AC spindle motors include e Compact design laminated stack enclosed construction asynchronous 4 pole AC
351. s is set to zero for synchronous motors Default Publication 8720MC Minimum Maximum Min gt 0 Max lt 100 00 Units rad sec Scaling Resolution 10 The remaining P parameters are 7 sets of servo loop parameters found in File Servo Loop Groups 1 to 7 The 14 elements in groups 1 to 7 are the same as those found in parameter group 0 The element definitions for Servo Loop Group 0 are found the following parameter descriptions Parameter 32 Primary_Op_Mode0 Parameter 38 Velocity_Limit_O Parameter 39 Velocity_Limit_0 eParameter 82 Torque_Limit_O eParameter 83 Torque_Limit_0 eParameter 100 Vel_Prop_Gain_0O eParameter 101 Vel_Integ_Time_0O Parameter 104 Pos_Loop Gain_0 eParameter 105 Pos_Integ_Time_0O Parameter 136 Accel_Limit__O Parameter 137 Decel_Limit__0O Parameter 296 Vel_Fdfwd_Gain_0O Parameter 348 Acc_Fdfwd_Gain_0 UM 001C EN P Feb 2001 Programming Parameters 8 77 Parameter 523 System_Accel_O eParameter 561 Cur_Notch_FreqO Parameter 562 Cur_Lowpas_Frq0 The following table is presented to illustrate the relationship between the servo loop parameter groups Servo Loop Parameter numbers Groups 0 to 7 Parameter Name Param No Param No Param No Param No Param No Param No Param No Param No Group 0 Group 1 Group 2 Group 3 Group 4 Group 5 Group 6 Group 7 Primary_Op_Mode_n 32 811 831 851 871 891 911 931 Velocity_Limit_n 38
352. sciracsseentucisastvartudstecyerdisusasedtouazandinaaaniets 2 7 Specifications for 45 To 93 kW 8720SM Motors with sesser 2 10 8720MC RPS Master and Slave Regenerative Power Supplies esses 2 10 Curves for 45 to 93 kW 8720SM Motors with 8720MC Regenerative Power Supply 750 vdc INDUt os eetsestetesseseseeeseeteeererees 2 13 Publication 8720MC UM 001C EN P Feb 2001 Dimensions Drive Installation and Wiring Power and Torque CUFVeS eta tea tice mein maak ti aiieaunn 2 13 Specifications for 5 5 to 22 kW 8720SM Motors with 460V AC Input 2 15 Curves for 5 5 to 22 kW 8720SM Motors with 460V AC Input sesse 2 16 POWER ANG Torque CUIVES inniinn 2 16 Specifications for 380V AC Input Drives cccsecssssssesssssessssssesssssssesesseees 2 18 Curves for 380V AC Input DAVES iv wn vananiantuavidianionvon rates tials 2 20 Power and Torque CUrVeS sek ccecteetesetanerierenutiwmnmnennmetecrnmead 2 20 Specifications for 750V DC Input Drives with Dual Wound Ol 2OS MAC MOOS aera no aan aT tan a A A A 2 22 Curves for 750V DC Input Drives with Dual Wound 8720SM AC Motors 2 23 POWER and TOFGUE CURVES pairinar aa ise anaMieistpintatts 2 23 Chapter 3 Chapter OD SCHVCS pnan ninaa e Milan MaMa Raa a aaa 3 1 8720MC Regenerative Power Supply DIMENSIONS vo 3 2 Dimensions for Frames B and C v ccsscscssssesssesesscssessssssessseseesesesssssssaees 3 3 Dimensions Allowing for Heat Dissipation cccsecsssesssessseesssessseseeees 3 5 Motor DI
353. se as well as a varistor a harmonic filter and a contactor The 8720MC RPS is available in both master and slave configurations You can double or triple the current capacity of the DC bus by interconnecting the master and slave control boards with ribbon cable and wiring their DC bus outputs in parallel When the master unit is configured for master slave operation the master unit assures that the slave regenerative power supplies share the bus output so as to appear as a single x2 or x3 power supply In this configuration a master slave 8720MC RPS pair can control motors to 74 kw or 100 hp In addition a single master and 2 slave units can provide up to 110 kw of continuous output power Product Structure of the 1336R Regenerative Power Supplies As an alternative the 1336R V B048 VB078 and VB180 are available choices for regenerative power supplies The product structure of the 1336R VBxxx regenerative power supply regenerative converter is shown in Figure 1 9 1336 Line Filter Introduction 1 11 Figure 1 9 1336R Regenerative Power Supply Product Structure 1336R VB xxx Ay mod Regenerative Converters 1336R VB 048CNV AA HAP 180 Amp Regen Conv 1321 3LR180 B 10 LINE REACTOR 1336R 180PRE VB AA PRECHARGE 1336R VB 078CNV AA HAP 78 Amp Regen Conv 1321 3LR078 B 10 LINE REACTOR 1336R VB 048CNV AA HAP 48 Amp Regen Conv 1336R 078PRE VB AA PRECHARGE 1336R 048PRE
354. se supplies that are symmetrical with respect to ground Surge suppression devices are included to protect the drive from lightning induced over voltage between line and ground For this reason we recommend a neutral grounded system The drive works with a grounded phase but you may want to use an isolation transformer to provide a supply balanced with respect to ground Ungrounded Distribution Systems All 8720MC AC input drives are equipped with a metal oxide varistor MOV The MOV provides voltage surge protection phase to phase as well as phase to ground which is designed to meet IEEE 587 The MOV circuit is designed for surge suppression only transient line protection not continuous operation With ungrounded distribution systems the phase to ground MOV connection could become a continuous current path to ground MOV line to line and line to ground voltages should not exceed the input voltage rating shown in Chapter 2 Specifications Exceeding these values may cause physical damage to the MOV Is a Line Reactor or lsolation Type Transformer Required When using the 8720MC RPS Regenerative Power Supply you always need Line reactors Refer to publication 8720 1 4 the 8720MC RPS User Manual for details on the input wiring for this unit When using the AC input amplifiers for 5 5 to 18 5 kW non regenerative applications typically you can connect the 8720MC AC input drive directly to a three phase AC power line However certain
355. set Position spindle procedure command Spindle angle position absolute Spindle position parameter Velocity window at speed Monitoring window Max following error Acceleration data scaling type Acceleration data scaling factor Acceleration data scaling exponent Motor absolute machine zero position Offset Following distance Motor rated current Delay Time Before Brake Solenoid is Enabled Delay Time Before Brake Solenoid is Disabled Switch parameter set procedure command Pos_Loop_Gain_0 Pos_Int_Time_0 tr_Peak_Current i rive_Peak_Amps tr_Cont_Current gJ rive_Cont_Amps ax_Mtr_Speed trFdbk_Resoluti Input_Gear_Rev Output_Gear_Rev Lin_Feed_Const Zero_Spd_Window Speed_Threshold Torque_Threshold A B Fault Accel_Limit_0 Decel_Limit_0 Motor _Data Mtr_Marker_Ofset Aux_Marker_Ofset Spin_Orient_Req Orient_Angle Orient_Options At_Spd_Window Max_Foll_Error Acc_Scale_Type Acc_Scale_Factor Acc_Scale_Expon Mtr_Abs_ Offset Posn_Foll_Error Mtr_Cont_Current Drive_On_Delay Drive_Off_ Delay Switch_Param_Set Servo Loop Servo Loop otor Drive Fdbk otor Drive Fdbk otor Drive Fdbk otor Drive Fdbk otor Drive Fdbk otor Drive Fdbk otor Drive Fdbk otor Drive Fdbk otor Drive Fdbk Status Faults Status Faults Status Faults Status Faults Servo Loop Servo Loop Motor Drive Fdbk Procedure Procedure Procedure Procedure Procedure Status Faults Status Faults Contro Contro
356. shielded cable The ground wire should be firmly bonded to the motor ground terminal and the drive Chassis ground The shield should also be firmly bonded to the motor ground terminal and the drive PE terminal For the C and D chassis 24vdc must be connected to terminal TB1 T1 and 24 vdc return must be connected to TB1 T3 on the precharge PCB shown in figure 4 3 and 4 15 Either 24vde and 24 vdc return from P5 22 and P5 23 on the 8720MC control module or external 24vdc may be used Also pins 1 and 2 must be jumpered on the W1 shorting plug See figure 4 15 Publication 8720MC UM 001C EN P Feb 2001 4 10 Drive Installation and Wiring TB1 Terminal Block Drive Connections Figures 4 4 and 4 5 show the TB1 drive connections for the B frame Figure 4 4 TB1 Drive Connections for B Frame 5 5 to 11 kW 750Vdc 5 5kKW 11kW 7 5 15 HP Terminal Designations and 380 480V 5 5kKW 11kW 7 5 15 HP Terminal Designations T PE PE DC Dc R L c D O a o 2 3 Dynamic Brake A N i Regen Converter To Motor To Motor 1 Required Branch ejelaielelelelelele Circuit Disconnect 1 Required AC Input Line Input Fusing 30414 M R4 Figure 4 5 TB1 Drive Connections for B Frame 15 to 22 kW 750V dc 15 22 kW 20 to 30 HP Terminal Designations 380 480V 15 22kW 20 30 HP Terminal Designations lo to lo ST fe fe let o 190
357. sing this value will increase the dynamic response in the velocity loop and reduce the steady File state velocity error This value will be modified as a result of auto tuning Servo Loop Group group 0 Default Length Minimum Maximum Scaling Resolution Units 240 2 bytes Min gt 0 1 1 msec msec Max lt 6553 5 IDN S00103 Name Modulo_ Value Data Display integer R W Parameter No Description Modulo value In the SERCOS configuration if the modulo format is selected in the position scaling 103 parameter IDN 00076 the modulo value defines the range that the drive amp control must implement This value File determines the roll over point of a modulo axis In the analog configuration the position data scaling type is Control always rotary axis For example if a 360 degree roll over point is desired 3600 must be entered into IDN 00103 Group assuming IDN 00079 is set up for a resolution of 3600 counts per revolution In this configuration the motor will Position move from o to 359 9 and roll over to zero in one motor revolution when rotating in the positive clockwise direction and viewing from the shaft end of the motor As another example a 7200 count modulo rotary axis can be set up by entering 7200 in IDN 00103 and 7200 in IDN 00079 In this case the position feedback display will rollover after 7200 feedback counts of the motor As yet another example a 30 000 count modulo rotary axis can be set up by entering 30 000 in IDN 00103 and 30 0
358. sition as well as velocity or torque See parameters 258 Target_Position 259 Posn Velocity and 260 Posn_Accel _Rate in Chapter 8 for details Publication 8720MC UM 001C EN P Feb 2001 6 14 Interface Signal Description The analog digital interface described in this chapter can be used when a PLC analog output module and digital I O are the preferred interface In this case the positioning mode is limited to the orient function SCANport command reference For applications where a Rockwell digital communications network interface is the preferred interface one of the Rockwell 1200 series SCANport gateway modules must be used Regardless of the control network the method of passing data to and from the drive is the same Figure 6 6 illustrates the nature of the data exchanged The illustration uses DeviceNet as an example of a Rockwell open communication network Figure 6 6 SCANport Gateway Communication Interface PLC SLC PC Scanner Output Mapping Write 4 Input Mapping 1203 GK5 8720MC Drive 1 DeviceNet to SCANport Word 0 Logic Command Word 1 Reference Word 2 Datalink A1 Word 3 Datalink A2 Word 4 Datalink B1 Word 5 Datalink B2 Word 6 Datalink C1 Word 7 Datalink C2 Word 8 Datalink D1 Word 9 Datalink D2 SP_Logic_Command SCANp_An1_ Value SP_Data_Input_A1 SP_Data_Input_A2 SP_Data_Input_B1 SP_Data_Input_B2 SP_Data_Input_C1 SP_Data_Input_C2 SP_Dat
359. srnnrenrnnrnrenrennnnrnrenrnsrrenrenrnrrnres 7 6 KIM Menu Tree ninne a aon OUAR ODDER HD D 7 7 PIM Men TG risinn 7 8 Using the Program and Display Modes acvewartvednivtiaviat eevee 7 9 Modifying ParaMeterS sinanannnnnr iii ene eneunla luca setae tents 7 9 VIEWING BIt Patterns view wun ane aout ain onan 7 9 Changing a Bit in a Bit Pattern ch telat desided ta leleadted ly teladtel lc nadietadtae 7 11 Using the EEP KOM M00 xjsis isitarisivistetsivicion lenin aenisnindionienieninaeiinninn 7 11 Saving Values Recalling Values seeiis 7 11 Restoring the Factory Default Values cccccscccssssesssssesssssesssseeeesseees 7 11 Saving Values to Flash Memory ss s ssesesrsresrsrsrnsnnnrnnnnnnrnnnnnrenrnnnresrnrnne 7 12 Recalling Values from Flash Memory cecssessssssesssssesssssessssseseseeees 7 12 Uploading a Parameter Protes wisi wuiwrsanunverawevarvanetateuniarda ties 7 12 Downloading a Parameter Profile sescaciiviiscnsiveenthanteaeieacnnaidentixetieinns 7 12 Using the Search Mode ss ssssssssssesresresrsrnsresrnsnnrnnrnnnnnnnrennnnntrnnnnnnnnrnrennnnrrenne 7 13 Viewing the Fault Queue Warning Queue s s ssussesssrsresrernresnrnnnresrernrenrernrene 7 14 Using the Password Mode sssssssessssrssisrnsrenrssnsrnnrnnnnnenrenrnnnnrenrnnnnnrnenrnrnnenne 7 15 Programming a Password When Drive Power is Applied essences 7 15 Logging OUT sth latte E O dete 7 15 Creating or Changing a Link ossa wwe dacs onwawie Mowe aan aie 7 16 Removing
360. ss enter Press select to locate the curser in the parameter field Use the increment up and increment down keys to change the output parameter assignment Press enter to save your changes and press exit to step up one level in the parameter tree Figure 7 6 Bit Pattern Display Ol jul t fp ju jt I m ja jg je Bit 15 x x x x X 1X 0 J0 o jol 1 lof fo jo jo jo Bit 5 Bit 0 Publication 8720MC UM 001C EN P Feb 2001 30387 l O Changing a Bit in a Bit Pattern Using the EEProm Mode Using the Human Interface Module HIM 7 11 Some of the bit pattern parameters can be changed For example if you wish to change the configuration selections for the auto tune procedure First using the increment decrement and enter keys navigate to parameter 546 in the file Procedure and the group Auto Tune This is a bit pattern used to select the auto tune options Using the select key you can highlight the bit you wish to change Depressing the enter key changes the bit from 1 to 0 Depressing the enter key again changes the bit back to 1 When the bit is highlighted the top line contains the description of the bit For example bit 0 Auto Save You can use EEProm mode to save values recall values reset values to the factory defaults upload a parameter profile from the drive to the HIM or downl
361. t Drive Status SERCOS Only Programming Parameters 8 7 A B S Parameter Desc riptions This section of chapter 8 provides detailed definition of the A B standard SERCOS IDN s supported by the 8720MC Drive These parameters are required to provide the basic drive functionality defined in the IEC 61491 Standard To simplify the 8720MC displays and data base the standard SERCOS IDN s S00001 thru S00500 are found in 8720MC parameters 1 thru 500 Some of the parameters are R read only and are available for display only Some are R W user read write variables which can be modified via the HIM module or other SCANport device such as Drives Explorery 4 operating on a Windows yy4 CE NT or 95 platform L variables can be linked to outputs The SERCOS master can also modify parameters via the SERCOS service channel For more in depth knowledge of SERCOS parameters and operation refer to IEC Standard IEC 61491 Each parameter explaination gives a cross reference to both the SERCOS parameter number and the 8720MC parameter number A B S Parameter Descriptions IDN S00011 Name Shut_Down_Errors Data Display Bit pattern R Parameter No Description Class 1 diagnostic C1D Drive shut down error 11 A drive error status of C1D leads to the following File a A best case deceleration followed by torque release at Meedback 0 Parameter 331 Status Faults b The drive shut down error bit for C1D is set to 1
362. t and zero also in Parameter 153 Orient Angle the position display Parameter 51 Mtr Posn Fdbk 0 or 10 000 counts To determine the required offset correction manually rotate the motor to the desired angle with the drive disabled Assume after doing this Parameter 51 reads 2 500 counts meaning we rotated cw 2500 counts For parameter 150 CW offsets have a minus value We record the difference as 2500 counts CW by setting Parameter 150 to 2500 To prevent orient direction reversals it is always good practice to record the marker offset direction the same as the desired orient direction In this example since the selected orient direction is CW and we do not desire direction reversal during orient and the orient direction is also clockwise To achieve the same target orient position with a CCW orient direction we would set Parameter 150 Mtr Marker Ofset to a complimentary CCW offset This is done by subtracting the measured offset counts from the number of counts per revolution Parameter 79 In this case we subtract 2500 from 10 000 and get 7 500 counts CCW For parameter 150 CCW offsets have a plus value We now then enter 7500 in Parameter 150 Mtr Marker Ofset Assuming a CCW orient direction and the motor standing still if we request an orient via the digital I O or Parameter 152 Spin Orient Req the motor will behave as follows e Accelerate to Spin Orient Spd Parameter 222 in the CCW direction us
363. t IDN 00046 Publication 8720MC UM 001C EN P Feb 2001 8 58 Programming Parameters IDN P00044 Name ATune_Posn_Limit Data Type decimal R W Parameter No Description IDN P00044 parameter 544 specifies the maximum position the motor shaft may attain during 544 execution of an auto tuning cycle File Procedure Group Auto Tune Default Length Analog SCANport Min Max Analog SCANport Scaling Resolution Units 65535 2 bytes Min gt 0 1 1 resolution unit as defined by IDN 00079 IDN 00079 Max lt 65535 counts rev IDN P00046 Name ATune_ Config Data Type Bit Pattern R W Parameter No Description IDN P00046 parameter 546 is used to allow the user a means of configuring the auto tune 546 procedure execution File Structure of the auto tune selections Procedure Bits 3 0 Group Bit 0 Auto Save If selected the calculated auto tune parameters are saved after completion of the auto Auto Tune tune cycle Bit 1 Calculate Gains If selected the loop gains will be calculated Bit 2 Inertia If selected the auto tune procedure performs an inertial tune Bit 3 Analog Offset If selected the auto tune procedure calculates the auto zero speed A D offset Parameter 693 Analnput 1 Offse Default Length Analog SCANport Min Max Analog SCANport Scaling Resolution Units 1111 2 bytes NA NA NA IDN P00047 Name ATune_Status Data Type Ascii re
364. t equal to zero and the current turning direction does not match the Group configured orient direction ccw or cw the spindle will stop and return to target orient position in the selected Orient orient direction If shortest path is selected and the spindle is rotating when the orient request is received the spindle will orient in the direction of rotation Enumerated Bit Pattern Structure of spindle position parameter Bit 0 1 00 rotate clockwise 01 rotate counter clockwise 10 take shortest path Bit2 0 spindle angle position IDN 00153 SERCOS version Bit3 0 motor feedback SERCOS version 1 spindle feedback For orients greater than 360 degrees the clockwise or counter clockwise orient direction must be selected Also the sign of the orient angle should agree with the orient direction That is if a clockwise orient greater than 360 degrees is required the orient angle parameter 153 should be expressed as a positive angle If a counter clockwise orient greater than 360 degrees is required the orient angle should be expressed as a negative angle Default Length Minimum Maximum Scaling Resolution Units 0000 2 bytes NA NA NA Publication 8720MC UM 001C EN P Feb 2001 8 32 Programming Parameters IDN S00157 Name At Spd_Window Data display Integer R W Parameter No Description The velocity window relates the current velocity to the velocity command v
365. t expander Parameters 725 to 732 are a group of eight 16 bit PLC words which have fixed input links to internal 8720 variables or flags This provides a means of passing one to eight 16 bit PLC variables to the 8720MC Drive See chapter 6 Table 6 10 for the definition of the input links These parameters can be used as bit flags as well as signed or unsigned 16 bit integers The data type is determined by the PLC and the 8720 variables they are linked to The relationship to the gateway variable descriptions are as follows 725 P00225 SCANport Data Input Al 726 P00226 SCANport Data Input A2 727 P00227 SCANport Data Input B1 728 P00228 SCANport Data Input B2 729 P00229 SCANport Data Input C1 730 P00230 SCANport Data Input C2 731 P00231 SCANport Data Input D1 732 P00232 SCANport Data Input D2 See Table 6 10 for the default assignments Default 00 Minimum Maximum 32768 or 0 to 65535 Length 2 bytes Scaling Resolution NA Publication 8720MC UM 001C EN P Feb 2001 8 70 IDN P00233 to P00240 Parameter No 733 to 740 File SCANport Group Gateway Data Out Programming Parameters Name SP_Data_Outputxx Xx Al A2 B1 B2 C1 C2 D1 or D2 Description The 8720MC drive can be operated by an A B PLC via a SCANport DeviceNet Remote I O or ControlNet gateway communication adapter It is possible to connect the PLC to port 2 or ports 2 3 4 or 5 using a SCANport expander
366. te the motor shaft cw and the display should increase as the shaft rotates Turning the shaft ccw should decrease the position display This confirms that the feedback device and wiring are performing properly After enabling the drive by applying 24vdc to input 1 Drive Enable on the digital I O interface the module status LED should illuminate steady green and the motor drive shaft should be very stiff Usually the motor will slowly rotate since it is in velocity mode with the position loop open Servo Loop Parameters Selecting a Servo Loop Parameter Group Starting Up Your 8720MC 9 5 If the motor is erratic and uncontrollable it is probably improperly phased Refer to chapter 5 under Motor Direction to correct the phasing With the load unconnected press the stop button on the HIM module This will tell the drive that the HIM module is the controlling input Press the green start button on the HIM and increase the speed command with the speed pot HAS1 option or up down arrows HAS2 option The motor should rotate faster or slower based on the HIM speed selected The direction key should reverse the motor direction Depress the stop button to stop the motor and remove the 24vdc from the drive enable The drive should be disabled with the module status LED flashing green and the motor shaft will freely rotate by hand If these initial checks are successful and there are no error messages on the HIM you are ready to connect th
367. te the status of the drive control board The LED to the far right indicates the status of the SERCOS ring The middle 2 LEDs indicate the transmit and receive traffic on the SERCOS ring Table 10 1 indicates how these LED s should be interpreted Table 10 1 Control Board LED Fault Diagnostics LED Name LED Status Potential Cause Possible corrective action Control Not There is no power to the Check the incoming AC power for AC input Board Status Illuminated Control Board drives or the incoming DC power DC for common bus drives Control Steady Red Malfunctioning Control Software or hardware failure Replace the Board Status Board Control Board Control Flashing A fault has occurred in the Verify wiring Use the HIM fault log or Drive Board Status Red system Explorer to investigate the fault Control Alternating DC bus is not up Check 3 phase AC incoming or DC incoming Board Status red and power greens Control Flashing There are no faults and the Check if 24 vdc is on the enable input Board Status Green DC bus is up but the enable Check the run output from the RPS input is not being detected Check the enable output from the Motion As a consequence no Controller torque is being applied to Check the enable input wiring the motor Recycle the enable The drive may be in manual If in manual mode depress jog button mode and the jog button has not been depressed Control Steady Dri
368. ter clockwise offset SERCOS Default 0 0 Length SERCOS Min Max SERCOS Scaling Resolution Units 4 bytes Min gt 231 Scaling type IDN 00076 IDN 00076 Max lt 231 1 Scaling factor IDN 00077 Scaling exponent IDN 00078 Rotational position resolution IDN 00079 Publication 8720MC UM 001C EN P Feb 2001 8 30 Programming Parameters IDN S00152 Name Spin_Orient_Req Data display Bit pattern R W Parameter No 152 File Procedure Group Orient Description Spindle Orient Procedure Command This procedure command automatically switches the drive to internal position loop control below the spindle orient speed IDN 00222 and initiates an orient to the defined orient position In a SERCOS drive when bits 0 and 1 of parameter 152 are set true an orient is requested Orient is also requested when input 2 is set true at the digital interface While the orient procedure is active all changes to external velocity position or torque command values are ignored If the drive is stopped an orient procedure command initiates a clockwise counter clockwise or shortest path orient depending on the spindle Orient Options Parameter 154 IDN 00154 The drive positions the spindle to the programmed orient angle parameter 153 IDN 00153 using the spindle orient speed specified in parameter 222 and the position acceleration rate defined in parameter 260 The actual target position is derived from the
369. ter 780 P00280 is defined as the continuous force torque in newtons newton meters at rated base speed divided by the rotor mass inertia in Kg Kg m Default NA Units Rad sec m sec Length 4 bytes Minimum Maximum Scaling Resolution Min gt 0 1 Max lt 65535 IDN P00281 Name Base Speed Data Type Unsigned Integer R W Parameter No 781 File Motor Drive Group Motor data Description The standard 8720SM motors are rated at 1500 rpm base speed Parameter 781 P00281 defines the base speed the speed at which the motor continuous power and torque are rated Default 1500 Minimum Maximum Min gt 0 Max lt 30000 Scaling Resolution 1 IDN P00282 Name Mtr_Rated_Power Data Type Unsigned Integer R W Parameter No 782 File Motor Drive Group Motor data Description The standard 8720SM motors are rated from 5 5 to 93 kw at 1500 rpm base speed Parameter 533 P00033 identifies the motor power in kilowatts The possible enumerations are 5 5 7 5 11 15 18 5 22 30 37 45 55 63 75 93 kw Default NA Minimum Maximum Min gt 0 Max lt 6553 5 Scaling Resolution 107 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN P00283 Name Motor Max_Volts Data Type unsigned integer R W Parameter No 783 File Motor Drive Group Motor data Description This parameter defines the maximum DC bus voltage required in the constant pow
370. ter Name Param No 921 922 923 924 925 926 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 Acceleration Feed Forward Gain System Acceleration Torque Reference Notch Filter Frequency Torque Reference Low Pass Filter Bandwidth Acceleration limit parameter group 6 Deceleration limit parameter group 6 Primary Operating Mode Positive velocity limit value n 7 Negative velocity limit value n 7 Positive torque limit value n 7 Negative torque limit value n 7 Velocity loop proportional gain Velocity loop integral action time Position loop K factor Position loop integral action time Velocity feed forward gain Acceleration Feed Forward Gain System Acceleration Torque Reference Notch Filter Frequency Torque Reference Low Pass Filter Bandwidth Acceleration limit parameter group 7 Deceleration limit parameter group 7 Acc_Fdfwd_Gain_6 System_Accel_6 Torq_Notch_Freq6 Torg_Lowpas_Frq6 Accel_Limit_6 Decel_Limit_6 Primary_Op_Mode7 Vel_Limit_7 Vel_Limit_7 Torque_Limit_7 Torque_Limit_7 Vel_Prop_Gain_7 Vel_Integ_Time_7 Pos_Loop_Gain_7 Pos_Int_Time_7 Vel_Fdfwd_Gain_7 Acc_Fdfwd_Gain_7 System_Accel_7 Torq_Notch_Freq7 Torq_Lowpas_Frq7 Accel_Limit_7 Decel_Limit_7 Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Servo Programming Parameters Loop Loop Loop Loop Loop Loo
371. ternal 120vac control power O O The 180 and 328 ampere units require external 120vac control power Customer Magnetics Earth Gnd 30712 M R4 Publication 8720MC UM 001C EN P Feb 2001 4 30 Drive Installation and Wiring Figure 4 17 illustrates the power and logic connections for multiple 8720MC Drives operating from one 1336R Regenerative Power Supply Figure 4 18 Multiple 8720MC Drives with One 1336R Regenerative Power Supply Power and Logic Connections for two Sercos or Analog 8720MC Regenerative Drives with the 1336R Regenerative Converter 380 VAC 10 15 50 HZ 480 VAC 10 15 60 HZ Sercos 9 SERIES CNC or Motion controller Cabinet V 8720SM Motor Disconnect CNC Drive Drive Error Enable Reset To motor fans xz a R 24vDC 24VDC A B 100 Cnn10 CNC Critical Stop String Return common MC Main Contactor P5 23 igh Customer Supplied 120vac high CU 126 veer 120vac low P5 23 24VDC 24VDC Sercos R L1 fS L2 fT L3 Return common P1 14 Analog marasasnranae command DRIVE OK P1 15 1336R VB T 8720MC 1321 3R Regenerative i ER Anal L 1336R PRE T Line s Converter ee Hi oe Earth Gnd Fuses amp Reactor Precharge Ly P5 15 Drive error U v 8720SM Motor Control Wiring Sync Cable Earth Gnd Drive Power ON Drive Power OFF 120vac high L_ 120vac low EarthGnd gt hl ele TE External Fault CRI C
372. the orient position Also if the motor and load mechanism are overshooting the orient angle it may help to increase the velocity proportional gain Parameter 100 Vel Prop Gain 0 assuming Servo Loop Parameter Group 0 It may also be necessary to increase the and torque limits via Parameters 82 and 83 assuming Servo Loop Parameter Group 0 Chapter Objectives Required Equipment Start Up Troubleshooting Procedures Chapter I 0 Troubleshooting Chapter 10 provides information to help you determine the cause of a drive fault or improper 8720MC Drive operation and define possible corrective actions The subjects discussed include e required equipment e start up troubleshooting procedures e viewing the fault queues on the HIM e fault descriptions e understanding fault parameters e troubleshooting digital I O e troubleshooting SCANport I O e troubleshooting 8720MC RPS Regenerative Power Supply The 8720MC can be supplied with a resident HIM display module If the drive is not equipped with a resident HIM it will be necessary to use a remote Him module or Drive Explorer to troubleshoot the drive The A B remote HIM catalog number is 1203 HA2 Series B or later can be connected to the external SCANport connector As an alternative to the HIM a laptop computer running Windows 95r or Windows NTry or a handheld running Windows CEry can be used as a diagnostic tool The available portable computer should be equipped with
373. tion of this equipment and the hazards involved should install adjust operate and or service this equipment Read and understand this chapter in its entirety before proceeding Failure to observe precaution could result in severe bodily injury or loss of life The application of motors and other electrical equipment in hazardous locations is restricted by the National Electric Code To ensure compliance observe these regulations and consult with local code inspection and enforcement agencies Location The 8720SM motors are designed for the ambient temperature indicated on the nameplate The standard motor maximum ambient is 40 C or 104 F Locate the motor where the ambient temperature requirements are satisfied and where clean air has free access to ventilating intake and outlet openings Except for machines with a suitable protective enclosure the location should be clean and dry NOTE The cooling system on standard 8720SM blower cooled motors requires that clean air is forced through ducts which are integral to the stator frame It is important that you keep these air passages clean and that sufficient clearance is provided on the motor air inlets and stator duct outlets for unrestricted air flow Mounting Considerations Before mounting your 8720SM motor consider the following e You can mount the motor horizontally or vertically with the shaft down or up Publication 8720MC UM 001C EN P Feb 2001 5 4 Motor Installation a
374. to Offset is selected in parameter 546 Default 0 00 Minimum Maximum Min gt 100 00 Max lt 100 00 Length 2 bytes Scaling Resolution 1 01 IDN P00194 Name Analnput 2 Offse Data Type signed Integer R W Parameter No 694 File 1 0 Interface Group Analog inputs Description Parameter 694 P00194 provides a means of offsetting analog input 2 This parameter is used to assign an A D offset to Analnputl_ Value parameter 692 which is the analog input tied to the 8720MC physical address of connector P1 row 2 terminals 16 and 17 This allows the user to apply an offset to an external analog input which is linked to a variable within the 8720MC Drive Analog Input 2 is only used as the manual analog velocity reference Parameter 694 contains offset factor in which may be used to adjust the drive for zero speed when the manual analog reference is at 0 volts Default 0 00 Minimum Maximum Min gt 100 00 Max lt 100 00 Length 2 bytes Scaling Resolution 1 01 IDN P00195 Name Analog Vel_ Scale Data Type signed Integer R W Parameter No 695 File 1 0 Interface Group Analog inputs Description Parameter 695 P00195 provides a means of scaling analog input 1 This parameter is used to assign a scale factor to Analnputl_ Value which is the analog input tied to the 8720MC physical address of connector P1 row 2 terminals 14 and 15 This allows the user to appl
375. tor of the Motor Cable s s s 4 5 Grounding the Safety Ground PE wsatisarsaisutren caval iveduaaiuimaatats 4 5 Grounding the Optional RFI Filter s essesesnsresrsrsrnsrssnnnnrnnrnnrnnrnnrnnresrennne 4 6 AC Supply Source Information for AC Input Drives 4 6 Unbalanced Distribution Systems cesses 4 7 Undrounded Distribution Systems 2 wwuneansietnd ied anak 4 7 Publication 8720MC UM 001C EN P Feb 2001 Is a Line Reactor or Isolation Type Transformer Required uo 4 7 Connecting Power to Your DAVE aee sissies ssuadtuastus svesuses2usugtocrbvacnudsnsesneiesusatid 4 8 8720MC Drive Connector Layout ncn une Mende n Rana 4 8 TB1 Terminal Block Drive Connections csere 4 10 General Terminal Specifications cccccccseecsssesessssessssssssssssesssseseeseees 4 12 Wire and Torque SpeciicatOnswnwnswrrnuwwnwinuiainauetans 4 12 Selecting the Proper Lug Kit for Your System n se 4 12 Selecting Motor Cables iraniana nn aran a an a 4 13 shielded M otor C bl hussnnnonnonnunonununnnannnsnn aana 4 13 Armored Cable morar r OO OTOOTO 4 14 COMGUIE sa s s cinret intestine an an aaa aaa R a 4 14 General Wire Guidelines ss sssssesissesresrssrsresresrssrsrenrnnnnrenrenrnnrnrenrenrnrenne 4 15 By pass Contactors airnn 4 16 Connecting Power to the 8720MC RPS and 1336R Regenerative Power Supplies vcs 4 16 AG Supply SOUICE piran Onl aa ee ad Oe on ewe ee ees 4 16 Control Interface Wiring accra unainaiann dade anaC 4 18 Control and Logic Connections
376. ts The motor conductors must also be rated for a minimum of 125 to 160 of the full load motor continuous current If less than 150 overload is required the torque limit parameters must be set in the drive accordingly The distance between the drive and motor may affect the size of the conductors used To protect against interference use shielded wire in motor and control circuits A shielded cable is required for all feedback signal wires Figure 4 9 Recommended Shielded Cable Practices Signal i H 2 Conductor Shielded Cable Shield Connections are provided via braided shield clamps Signal H 2 Conductor Shielded Cable Signal Shield Clamp Muti Conductor Shielded Cable wth Individual Shielded Twisted Pairs Signal Shield i clamp Shield Signal 30415 M R3 Publication 8720MC UM 001C EN P Feb 2001 4 16 Drive Installation and Wiring Connecting Power to the 8720MC RPS and 1336R Regenerative Power Supplies Publication 8720MC UM 001C EN P Feb 2001 Specific requirements for wiring the feedback and analog I O shielded cables are found in Figures 4 19 and 4 21 in this chapter By pass Contactors Please read the following Attention regarding by pass contactors ATTENTION An incorrectly applied or installed system can result in component damage or reduction in product life The most common causes are e Wiring AC line to drive output or control terminals e Improper by pass
377. uipment damage HIM Display Panel and Control Panel The HIM contains a display panel and a control panel e The display panel lets you program the drive view the various operating parameters and monitor the drive status 7 2 Using the Human Interface Module HIM e The control panel lets you perform manual control functions such as start stop jog and setting the manual velocity Figure 7 1 shows what a HIM looks like Figure 7 1 Example of a HIM ss ae Panel S808 A I M Panel ig AG 5 O Human Interface Module 303850M R1 HIM Him Display Panel Keys The HIM programming panel provides the 5 keys and a 2 line by 16 character LCD display as shown in Figure 7 2 keys Figure 7 2 HIM Display Panel Keys r ias gt Sys Ready Program Panel 30374 MR1 Publication 8720MC UM 001C EN P Feb 2001 Table 7 1 Using the Human Interface Module HIM 7 3 Keys on the HIM Display Panel Press this key To It is called Go back one level in the menu tree that the Escape key ESC HIM uses to organize information Alternates which display line top or bottom Select key SEL is currently active Also allows navigation in numerical fields or bit patterns Increment increase the selected value If no value is selected use this key to scroll through the groups or parameters that are currently selected Increme
378. uitable for use in circuits that can deliver up to a maximum of 70 rms symmetrical amperes when used with the AC input line fuses specified in the tables in this section The 8720MC AC input drives do not contain input power short circuit fusing Specifications for the recommended size and type of fuses necessary to protect against short circuits are shown in Table 4 2 The table is based on approximately 150 peak motor demand Table 4 2 Max Recommended AC Input Line Fuse Ratings 380 to 460 vac Input Motor Cat No Max RMS AC 8720SM Drive Cat No Input Fuse Bussman Fuse Could Shawmut Input Wire Size 460VAC 8720MC Current 380 to Fuse AWG mm 380VAC 460V AC 005S1BB B021 35 amps J KS 35 Ad 35 AWG 10 5 3 mm 005S1BC 007S1CB B027 40 amps J KS 40 A4j 40 AWG 10 5 3 mm2 007S1CC 011S1DB B034 50 amps J KS 50 A4J 50 AWG8 8 4 mm 011S1DC 015S1EB B042 70 amps J KS 70 A4J 70 AWG6 13 3 mm 018S1FB B048 80 amps J KS 80 AA 80 AWG 6 13 3 mm 018S1FC Publication 8720MC UM 001C EN P Feb 2001 ATTENTION To guard against personal injury and or equipment damage caused by improper fusing use only the recommended line fuses specified in the tables in this chapter Branch circuit breakers or disconnect switches cannot provide this level of protection for drive components Drive Installation and Wiring 4 7 Unbalanced Distribution Systems The AC input drives are designed for use with conventional three pha
379. ult digital output links changing 6 10 defining drive application type 9 3 high frequency ground current paths 4 5 primary mode of operation 9 4 derating guidelines A 1 derating curve high altitude 8720 amplifiers A 7 descriptions fault 10 4 parameter 8 7 digital input assignments 6 2 inputs 6 1 output assignments 6 2 outputs 6 1 digital assignments input output 6 2 digital 1 0 troubleshooting 10 10 digital 1 0 interface operating in manual mode 9 7 Index l 3 digital inputs connecting 4 39 digital outputs connecting 4 40 dimensions 8720MC regenerative power supply 3 2 frames B and C 3 3 heat dissipation 3 5 direction rotation 5 8 disconnecting drive output 4 42 display mode 7 9 display panel keys HIM 7 2 distance motor and drive 5 6 distribution systems unbalanced 4 7 ungrounded 4 7 documentation related P 1 P 2 downloading profile parameter s 7 12 drive connecting power 4 8 grounding 4 4 mounting 4 2 drive amplifier 1 0 common specifications 2 2 drive amplifiers line regeneration 1 1 nonline regeneration 1 1 drive application type defining 9 3 drive connections TB1 terminal block 4 10 drive output disconnecting 4 42 drives belted 5 5 coupled 5 5 dual voltage motors 5 8 E EEPROM mode using 7 11 electrical emission 4 43 interference 4 42 electrical interference immunity 4 42 Publication 8720MC UM 001C EN P Feb 2001 4 Index elements parameters 8 2 EMI RFI 4 42 emission electric
380. ults Figures 4 14 and 4 15 show how to wire this input Since a high is required on this input it must be tied to 24vdc if the regenerative converter is not used Default Digital Output Descriptions Drive OK When the drive is clear of all shut down faults the Drive OK contact will be closed The drive does not have to be enabled to be in the drive ok state This normally open contact is available for use in the motion controller emergency stop string The contact is closed when there are no faults Enable Brake solenoid This output contact can be used to interface to a brake solenoid The contact closes immediately after the drive enable is applied The drive will apply zero speed holding torque for a configurable on delay time period after the drive has been enabled parameter 206 This assures that there is holding torque available while the brake is being released An additional off time delay is provided parameter 207 The brake contact will open after a configurable time delay period parameter 207 from when the drive enable input is removed The drive will remain enabled for the off delay period to provide regenerative braking until the motor is at zero speed High Winding Select When bit 2 of the parameter set binary code is set to 1 the High Winding Select contact is closed When interfaced to a contactor this output can be used to select the high motor winding This contact can be closed only when the low contact output is op
381. um IDN 00340 parameter 340 is created This event can be linked to a digital output or File SCANport status bit It can also be assigned to a real time SERCOS status bit Status Faults Group Setup Analog Default Length Analog Minimum Maximum Analog Scaling Resolution Units 10 000 2 bytes Min gt 0 1 1rpm rpm Max lt 30 000 Default Length Minimum Maximum Scaling Resolution Units 231 1 4 bytes Min gt 0 104 min Max lt 231 1 IDN S00222 Name Spind_Orient_Spd Data Display decimal R W Parameter No Description Spindle positioning speed When the orient spindle procedure command see IDN 00152 parameter 222 152 is received the drive accelerates or decelerates to the spindle orient speed depending upon the current File speed The spindle orient speed is the velocity at which the orient is executed Procedure Group Orient Analog Length Analog SCANport Analog SCANport Scaling Resolution Units SCANport 2 bytes Minimum Maximum 1 1RPM RPM Default Min gt 0 100 Max lt 30 000 SERCOS Length SERCOS Min Max SERCOS Scaling Resolution Units Default 4 bytes Min gt 0 104 RPM 30 0 Max lt 23 1 Publication 8720MC UM 001C EN P Feb 2001 8 38 Programming Parameters IDN S00254 Name Actual Param_Set Data Display bit pattern R Parameter No Description Actual parameter set This parameter stores the current active paramet
382. upply power and torque curves for 5 5 to 37 kW motors with the 8720MC 750V DC Input Drive Amplifier and 8720MC RPS Regenerative Power Supply specifications for 45 to 93 kW motors with the 8720MC 750V DC input Drive Amplifier and the Master Slave 8720MC RPS Regenerative Power Supply power and torque curves for 45 to 93 kW motors with the 8720MC 750V DC input Drive Amplifier and the Master Slave 8720MC RPS Regenerative Power Supply specifications for 5 5 kW to 18 5 kW motors with the 8720MC 460V AC input Drive Amplifier power and torque curves for 5 5 to 18 5 kW motors with the 8720MC 460 VAC input Drive Amplifier specifications for 5 5 kW to 15 kW motors with the 8720MC 380 V AC input Drive Amplifier power and torque curves for 5 5 to 15 kW motors with the 8720MC 380V AC input Drive Amplifier specifications for 15 kW to 30 kW dual winding wide speed range motors with the 8720MC Drive Amplifier 750V DC Input Drives and 8720MC RPS Regenerative Power Supply power and torque curves for 15 kW to 30 kW dual winding wide speed range motors with the 8720MC 750V DC Input Drive Amplifier and 8720MC RPS Regenerative Power Supply The following Conversion factors apply to the tables Torque 1 newton meter 7376 ft lb 8 85 in lb Inertia 1 kg meter 23 7 lb ft 8 85 in Ib sec Power 1 horsepower 746 kW Weight 1 kg 2 205 Ibs 2 2 Specifications Common Specifications Publication 8720MC UM 001C
383. used by a loss of the Regen PS OK input Input 10 P5 36 on the digital I O connector This input must be jumpered to 24vdc for AC input drives For applications using the 8720MC RPS regenerative power supply P5 36 must be connected to the 8720MC RPS fault relay contact See Chapter 4 for proper wiring For regenerative applications this message signals a regenerative power supply fault The 8720MC fault queue can also be monitored with Drive Explorer The fault queue can be accessed through the Explore pull down menu the Device Properties command and the Faults tab When a fault occurs the fault is displayed until you initiate a Drive Error Reset from the digital I O or depress the stop button from the HIM module A Drive Reset command from the HIM clears all faults and reboots the drive resident processor software A Clear Queue command from the HIM clears the fault queue Ifa fault is not removed it will not be cleared The Clear Queue and Drive Reset commands are found under the HIM Control Status mode Depressing the stop button on the HIM module also clears faults These operations can be performed with Drive Explorer under the Explore pull down menu the Device Properties command and the Faults tab Table 10 2 provides a list of the faults their probable causes and the drives response to the faults Table 10 2 Troubleshooting 10 5 8720MC Fault Messages Fault Message Probable Cause Drive Response Corrective Actions
384. ustomerMagnetics H Digital comm Earth Gnd 24VDC comm EarthGnd Fault Reset Y15 5 RPS Fault Reset Note1 The 48 and 78 ampere regenerative converters do not require external 120vac control power The 180 unit requires external 120vac control power Customer Magnetics 30816 M R4 Publication 8720MC UM 001C EN P Feb 2001 8720MC Digital I O Wiring ScanPort k Motor Encoder Feedbac A quad B Output Box Auxiliary Encoder Feedback FB gt Drive Installation and Wiring 8720MC Input Output Wiring Figures 4 19 through 4 21 provide information about the digital input output and feedback wiring for the 8720MC Drive Figure 4 19 8720MC Input Output Wiring 24vdc probe P4 3 P4 2 P4 7 e e P47 P4 4 P4 8 P5 23 P5 e _ VSC J16 2 or 8720MC RPS COM P5 22 P5 22 or external 24vdc A Typical 24vdc input P514 b Typical 24vdc input _ P5 15 Typical 24vdc input _ P5 16 ae Typical 24vdc input __ P5 17 Typical 24vdc input P5 18 24 true 4 Typical 24vdc input _ P5 32 6 Typical 24vdc input _ P5 33 Typical 24vdc input __ P5 34 4 Typical 24vdc input _ P5 35 Typical 24vdc input _ P5 36 P5 22 i Note3 P5413 SERCOS Note 1 When using the 8720MC supplied 5vdc for the probe input P4 2 terminal P4 7 must be tied to P4 8 Analog Outputs u z H U eee v g720sm lo 8720 MC Drive I O v
385. utput rating Conduit Box The standard conduit box location for totally enclosed motors is top mounted for left or right conduit entry without motor disassembly The 132 mm frames and larger allow rotation of the conduit box in 90 degree increments for lead outlet at front back or sides For the 112 mm frame left and right side metric threaded outlets are standard Use a metric conduit adaptor such as a Thomas and Betts PG29 100 for 1 inch conduit or a PG29 125 for 1 25 inch conduit Motor Installation and Wiring 5 5 Bolt and Torque Requirements Read the following attention text before mounting your motor ATTENTION You must be careful to prevent debris such as metal shavings and conduit knockouts from falling into the motor while performing any installation work around the motor A hazard of personal injury and or equipment damage exists if foreign material lodges inside the motor Mount your motor on a rigid solid base or foundation Poor base construction may cause resonances in the motor base assembly which can result in bearing failure and other motor damage Use the correct grade of all hold down bolts for the type of mounting Torque the bolts to their recommended value as listed in Table 5 2 Table 5 2 Motor Mounting Specifications Recommended Hole Diameter Bolt Size and Torque mm Thread Foot Pounds Bolt Grade 8 8 System 12 M10 1 5 39 12 M10 1 5 39 14 M12 1 75 67 15 M12 1 75 67 1
386. ve File Control Group Acceleration Default Length Minimum Maximum Scaling Resolution Units preferred 2 bytes Min gt 1 Structure of the scaling factor scaler Max lt 23 1 Bits 15 0 factor Publication 8720MC UM 001C EN P Feb 2001 8 34 Programming Parameters IDN S00162 Name Acc_Scale_Expon Data Display Integer R W Parameter No Description Acceleration data scaling exponent This parameter defines the scaling exponent for all acceleration 162 data in a drive File Control Group Acceleration Default Length Minimum Maximum Scaling Resolution Units preferred 2 bytes Min gt 215 Structure of the scaling exponent scaler Max lt 4215 1 Bit 15 Sign of the exponent 0 positive 1 negative Bits 14 0 Exponent IDN S00177 Name Motor Abs_ Offset Data Display Decimal R W Parameter No Description Absolute distance 1 This parameter describes the distance between the machine zero point and the 177 zero point of an absolute feedback system on the motor This parameter is used with the SERCOS configuration File Motor Drive Group Motor Feedback Default Length SERCOS Min Max SERCOS Scaling Resolution Units 0 4 bytes Min gt 231 Scaling type IDN 00076 IDN 00076 31 Scaling factor IDN 00077 R Scaling exponent IDN 00078 Rotational position resolution IDN 00079 IDN S00189 Name Posn_Foll_Error Data Display Integer R L
387. ve O Analog Output 1 Auto Ref from Motion Controller P1 15 Analog Output 1 Analog input 1 Return Analog Ouput 1 Return Pis 9vdc encoder power Analog Output 2 Polarity Switch Analog Output 2 ent P P1 16 F Analog Output 2 Return pot cried hd Analog input 2 Analog input 2 Manual Ref e o P1 17 Analog input 2 Return Shields Grounded f to chassis P15 Encoder Common ViA Braid Clamp P5 22 24vde Drive Error Reset P5 15 Input 3 Parameter Set Bit 2 P5 16 Input 5 Parameter Set Bit 1_ P5 17 Input 7 Parameter Set Bit 0 P5 18 Input 9 24 true Orient Request P5 32 Input 2 pad a Parameter 501 Auto Manual Select _ P5 33 Input 4 eos Jog input P5 34 Input 6 Input 8 Regen PS OK P5 36 Input 10 Paes jumper to P5 23 P5 13 24vdc Input Common 30714 Ja1 Table 6 3 Analog Default links IDN i Connection P ramete Analog Analog SERCOS Spindle SCANport Spindle Number Spindle Power Servo Power Servo Power Servo P5 14 amp 15 P00161 661 Auto Velocity Auto Velocity Not Available Reserved Analog Input 1 Reference Reference P5 16 amp 17 P00164 664 Manual Velocity Manual Velocity Not Available Manual Velocity Analog Input 2 Reference Reference Reference P4 1 amp 6 P00181 681 Velocity Feedback Velocity Feedback Velocity Feedback Velocity Feedback Analog Output 1 P4 5 amp 6 S00386 386 Motor Shaft Power Rated Torque Motor Shaft Power Motor Shaft Power Analog Output 2 IDN 00084
388. ve Power Supply Information is divided into three categories e Table 2 5 motor specifications e Table 2 6 drive amplifier specifications e Table 2 7 line reactor specifications e Table 2 8 regenerative power supply specifications Table 2 5 Motor Specifications 750vdc Input 8720MC Motor Specifications when used with 750V DC Input Drives and 8720MC RPS Regenerative Power Supply Motor Specifications Units Motor Data for Each Power Rating Motor catalog number 8720SM 005S1BA 007S1CA 011S1DA 015S2EA 018S2FA 022S2GA 030S4JA 037S4KA Motor frame number DL1106 DL1108 DL1110 DL1307 DL1308 DL1310 DL1611 DL1613 Continuous power kW hp 5 5 7 5 7 5 10 11 15 15 20 18 5 25 22 30 30 40 37 50 S6 50 duty power kW hp 7 5 10 10 13 4 15 20 1 18 24 1 22 29 5 30 40 2 37 49 6 45 60 3 1 minute peak power kW hp 8 3 11 1 11 5 15 4 16 5 22 1 23 30 8 28 37 5 33 44 2 45 60 3 55 76 1 Rated torque at base speed N M lb ft 35 25 8 48 35 4 70 51 6 96 70 8 118 90 140 192 238 103 2 141 5 175 4 peak torque at base speed N M lb ft 53 39 72 53 1 105 77 4 143 176 210 290 355 105 5 129 8 154 9 213 4 261 8 Base speed rpm rpm 1500 1500 1500 1500 1500 1500 1500 1500 Max speed foot mount rpm 9000 9000 9000 8000 8000 7400 6500 6500 Max speed flange mount rpm 9000 9000 9000 8000 8000 7400 6000 5800 Constant power spee
389. ve is enabled and ready No corrective action Board Status Green to follow the auto or manual reference SERCOS Steady Red There is a SERCOS ring Make sure the fibre optic ring is connected at all Status communication error nodes on the ring and that power is on all the nodes Make sure power is on the master SERCOS Off Normal operation No corrective action Status SERCOS Green Normal operation No corrective action RX Flashing SERCOS Green Normal operation No corrective action TX Flashing Publication 8720MC UM 001C EN P Feb 2001 Viewing the Fault Queue Troubleshooting 10 3 One of the best diagnostic tools available to investigate drive problems is the drive itself Diagnostic messages can be displayed on the HIM or on a PC running Drive Explorer When power is first applied the HIM display will illuminate and display the message HIM Connecting If there are no drive RPS or feedback faults the HIM will display Sys Ready on the top line and 0 RPM on the bottom line This assumes the HIM has successfully connected to the drive via it s SCANport connection If there are no faults and 24 vdc is applied to the enable input the HIM message will change to Sys Enabled At this point the drive is capable of following the motion controller reference If there are any faults the fault messages will be placed in a fault message queue in the order the faults are detected The last fault message detected
390. ve mode the output load is shared equally between the power supplies When a master and one slave is required input fuses and wire should be sized to 1 2 of the total required maximum continuous input current for the total required drive load multiplied by 1 75 When a master and two slaves are required input fuses and wire should be sized to 1 3 of the total required maximum continuous input current for the total required drive load multiplied by 1 75 Table 4 7 uses this relationship Bus Bar and DC Drive Input Fuses When multiple drives and or master slave RPS units are needed to meet the load requirements a common bus architecture is preferred For common bus applications Allen Bradley s Bulletin 140 bus bar and panel mounting components is recommended Size the bus bar capacity to at least 175 of total RPS continuous output current The DC input wire and fuses to each drive should be sized to 175 of each drives maximum continuous input current requirements Publication 8720MC UM 001C EN P Feb 2001 4 18 Drive Installation and Wiring All fuses on the DC bus must be rated for 1 000 VDC operation For DC bus fuses use Gould A1 100P Gould A100C 80 amps and higher or equal Publication 8720MC RMO01C US provides wiring diagrams for master slave RPS configurations When a single RPS is matched to a single drive DC drive input fuses are not required Table 4 8 is used to select DC drive input fuses and assumes more than one drive is
391. ved The orient can be initiated when the motor is rotating or stationary Manual Auto Select When the manual mode bit is set true the manual mode is selected In this mode the drive can be operated from an Internal HIM an external HIM or a SCANport connected PLC via the jog reference and jog bit or the digital interface via analog input 2 and the jog digital input In auto mode only the configured auto command reference is followed by the drive Whenever the drive is switched from auto to manual the drive will come to a regenerative stop It will follow the jog reference from the source that is providing the jog request If the drive is switched from manual to auto the drive will also come to a regenerative stop A positive transition on the drive enable input from 0 to 24 vdc will be required to restore auto operation of the drive wherein the drive follows the auto reference command Jog Request When the drive is enabled in manual mode with no drive faults and the jog command bit on digital input 6 is set true the drive will respond to the jog reference Analog Input 2 Interface Signal Description 6 5 Since jog is a momentary function the drive will continue to follow the reference until the jog is released When the jog input is released the motor will regenerate to a stop Regen Power Supply OK Input 10 is used to interface to the 8720MC RPS fault output This is a normally open contact which is closed when there are no RPS fa
392. vestigate the 8720MC RPS message display on the unit Refer to publication 8720MC RMO01 for diagnostic trouble shooting procedures Check input 10 Regen PS OK Bus Precharge The precharge time could not complete within 30 seconds A1 Desat There was to much current in the system Disable stop Check for shorted motor or motor wiring A1 Follow Error Excessive following error has been detected This means that the motor cannot keep up with the position command Regen stop Investigate motor load for any possible binding increase position loop proportional gain increase the allowable following error parameter 159 A1 Overcurrent A drive overcurrent has occurred The current has exceeded 150 of the inverter rated continuous current Disable stop Decrease the deceleration parameter for the active parameter set param 137 for set zero The drive is particularly sensitive to this fault at high speeds Adjust parameter 563 to a lower value Check for a shorted motor or shorted motor wiring Replace the drive Publication 8720MC UM 001C EN P Feb 2001 10 6 Troubleshooting Fault Message Probable Cause Drive Response Corrective Actions A1 Overtemp A drive heat sink temperature has Check the cabinet filters drive fans and heat exceeded the specified limit Regen stop sinks Check the thermal sensor and sensor wiring Reduce the load or duty cycle
393. will be displayed on the HIM A history of up to 8 faults can be displayed on the HIM or Drive Explorerpyy Control Status mode on the HIM or Explore Devices Properties Faults in Drive Explorer let you view the fault queue To view the fault queue on the HIM 1 Press any key from the status display Choose Mode is shown 2 Press the increment up key or the decrement down key to show Control Status 3 Press enter to select Control Status 4 Press the increment up key or the decrement down key until Fault Queue is displayed 5 Press enter to select Fault Queue 6 Press the increment up key or the decrement down key until View Queue is displayed 7 Press enter to select View Queue The fault queue can contain up to 8 faults The 8720MC Drive reports the faults using the following format Publication 8720MC UM 001C EN P Feb 2001 10 4 Troubleshooting Fault Descriptions Publication 8720MC UM 001C EN P Feb 2001 Figure 10 1 Fault queue Format Fault Display B u s RI je jg jul fl ja jt jo jr F 4 11 JO l4 1 Lo Fault queue Fault code Position in indicator number fault queue 30386 Bus The number 1 on the display in Fig 10 1 indicates this faults position within the fault queue The regulator fault shown in Figure 10 1 is ca
394. x Amps 0 1000 2000 3000 4000 5000 RPM converter with 750 VDC bus and 60 maximum kW 54 48 Torque in Nt M 42 Rated 35 S6 50 47 5 7 Max 52 Z 36 ax 52 5 o 30 Performance assumes regenerative Amps at Base Speed S6 Amps 17 2 0 7000 8000 9000 0 1000 2000 Figure 2 2 7 5kW Motor 7 5 kW at 1500 RPM Base Speed DL1108 Frame Catalog No 007S1CA 3000 4000 5000 6000 7000 8000 9000 RPM 30737 M R2 0 1000 2000 3000 4000 5000 RPM 0 7000 8000 9000 0 80 72 64 Torque in Nt M Rated 48 56 S6 50 64 48 Max 72 z 40 o Performance assumes regenerative z 32 converter with 750 VDC bus and o 505 VAC at motor E 4 Amps at Base Speed Cont Amps 16 S6 Amps Max Amps 8 1000 2000 3000 4000 5000 6000 7000 8000 9000 RPM 30738 M R2 Publication 8720MC UM 001C EN P Feb 2001 2 8 Specifications Figure 2 3 11Kw Motor 11 kW at 1500 RPM Base Speed DL1110 Frame Catalog No 011S1DA 120 Maximum 108 i Torque in Nt M 84 Rated 70 S6 50 95 72 Max 105 2
395. ximum Input lt 1000 IDN 500386 Name Mtr_Shaft_ Power Data Display Decimal R Link Parameter No Description Motor shaft power The drive places the estimated motor shaft power in this parameter 386 File Status Faults Group Drive Status Default Length Minimum Maximum Scaling Resolution Units 2 bytes Minimum Input gt 0 1 01kw kw Maximum Input lt 655 35 Publication 8720MC UM 001C EN P Feb 2001 8 46 Programming Parameters A B P Parameters in Numerical Order SERCOS IDN No P00001 P00002 P00003 P00020 P00022 P00023 P00026 P00027 P00028 P00029 P00030 P00041 P00042 P00043 P00044 P00046 P00047 P00061 P00062 P00063 P00071 P00072 P00081 P00082 P00083 P00110 P00115 P00117 P00161 P00162 P00163 P00164 P00165 P00166 P00167 P00168 8720MC Param No 501 502 503 520 522 523 526 527 528 529 530 541 542 543 544 546 547 561 562 563 571 572 581 582 583 610 615 617 661 662 663 664 665 666 667 668 DESCRIPTION A B Drive Type Application A B Motor feedback Configuration Extensions A B Aux Position Feedback 2 type Extensions Current Limit Source PWM Frequency System acceleration Enable the High Winding disable the low Enable the Low Winding disable the High Enable Disable Brake Drive is capable of following the auto reference Drive is in manual mode System Auto Tune Select Auto Tune Torque Limit Auto Tun
396. y Tables 6 4 and 6 5 show the linking relationship between the 8720MC I O Event variables and the Digital output parameters Referring to Tables 6 4 and 6 5 entering the parameter number of the source 8720MC I O event into the sink 8720MC digital output parameter will create a link between the 8720MC I O event variable and the digital output For example assigning Digital Output 5 to the motor at Zero_Speed variable can be accomplished by entering the value 331 into parameter 666 using either the HIM in program mode or Drive Exploreryy The state of Digital Output 5 or any other digital output can be observed via the HIM module in Display Mode or Drive Explorery by selecting parameter 661 Digital Output Status The status of all 10 digital outputs will be displayed as a bit array A display of 1 is true and 0 is false for each output An x indicates an unused bit Bit 5 will be 1 whenever the motor falls within the zero speed window The state of the Zero_Speed variable can also be observed by selecting parameter 331 using either the HIM in display mode or Drive Exploreryy It will indicate 1 for true and 0 for false If you change the digital output default assignments the 8720MC will change parameter 501 to Custom Configuration so that it is clear that this configuration has modified values which are different from the default values Interface Signal Description 6 11 If you use Drive Explorer t
397. y a scale factor to an external analog input which is linked to a variable within the 8720MC Drive When the drive is configured for velocity mode parameter 32 for parameter set 0 parameter 695 parameter contains the velocity scale factor in rpm 10 volt For example if the incoming analog voltage full scale range is 8 volts and the desired max rpm range is 6000 rpm then the scale factor would be 6000 10 8 or 7500 rpm 10 volts This parameter should not generate a speed requirement greater than the maximum speed of the motor parameter 113 For applications were torque mode is used parameter 695 Analog Input 1 is always scaled to 25 2 5 volts 100 rated torque See parameter 32 for mode setting Default 1000 Units rpm 100 Length 2 bytes Minimum Maximum Scaling Resolution Min 30000 1 Max lt 30000 Publication 8720MC UM 001C EN P Feb 2001 Programming Parameters IDN P00196 Name Manual_Vel_ Scale Data Type signed Integer R W Parameter No File 1 0 Interface Group Analog inputs Description Parameter 696 P00196 provides a means of scaling analog input 2 This parameter is used to assign a scale factor to Analnput2_Value which is the analog input tied to the 8720MC physical address of connector P1 row 2 terminals 16 and 17 This allows the user to apply a scale factor to an external analog input which is linked to a variable within the 8720MC Drive Analog Input 2 is only used in
398. y publication SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted publication in whole or part without written permission of Rockwell Automation is prohibited European Communities EC Directive Compliance If this product has the CE mark it is approved for installation within the European Union and EEA regions It has been designed and tested to meet the following directives EMC Directive This product is tested to meet the Council Directive 89 336 EC Electromagnetic Compatibility EMC by applying the following standards in whole or in part documented in a technical construction file e EN 50081 2 EMC Generic Emission Standard Part 2 Industrial Environment e EN 50082 2 EMC Generic Immunity Standard Part 2 Industrial Environment This product is intended for use in an industrial environment Low Voltage Directive This product is tested to meet Council Directive 73 23 EEC Low Voltage by applying the safety requirements of EN 61131 2 Programmable Controllers Part 2 Equipment Requirements and Tests For specific information required by EN 61131 2 see the ap

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