Page 1 Allen-Bradley User 1394 Digital AC Multi-Axis Motion Control Manual System (Catalog No. 1394-50)
Page 2 Reproduction of the contents of this copyrighted publication, in whole or in part, without written permission of Allen-Bradley Company, Inc., is prohibited. Throughout this manual we use notes to make you aware of safety...
Page 3: Table Of Contents
Allen-Bradley Support........
Page 4 Mounting Your 1394 System ........2-8...
Page 5 1394-DIM with 1398-DDM- xxx System Example ....4-20 1394-DIM Configurations ........4-21 Configuration Examples .
Page 6 Understanding Analog Servo System Parameters....8-3 1394 Analog Servo Software Diagrams ......8-28...
Page 7 Replacing the 1394 Shunt Module Fuse ......9-25 Replacing the 1394-SR10A Fuse ......9-25 Replacing the 1394-SR9A, -SR9AF, -SR36A, and -SR36AF Fuse .
Page 8 1394 Cable Pin-outs ........
Page 9 1394 System Module ........
Page 10 Table of Contents Publication 1394-5.0 — May 2000...
Page 11: Who Should Use This Manual
Purpose of this Manual This manual is a user guide for the 1394. It gives you an overview of the 1394 family and describes the procedures you use to install, set up, use, and troubleshoot the 1394.
Page 12: Contents Of This Manual
Shunt Modules, and 1394 system components together. Motors (for all systems) Wiring 1394 GMC and Provides information on how to wire your 1394 GMC Turbo Systems GMC and GMC Turbo System Modules. Wiring Your 1394 Analog Provides information on how to wire your 1394 Servo System Analog Servo System Module.
Page 13: Related Documentation
Product information regarding cables used with the 1326AB and 1326 Cables for 460V AC Servo Motors 1326A-2.11 1326AS motors A user guide for GML™ programming to be used with the 1394 GML Commander Reference Manual GMLC-5.2 GMC System. An overview of the Flex I/O™ products Flex I/O Product Profile 1794-1.14...
Page 14: 1394 Product Receiving And Storage Responsibility
• support service agreements Technical Product Assistance If you need to contact Allen-Bradley for technical assistance, please review the information in the Troubleshooting chapter first. Then call your local Allen-Bradley representative. For the quickest possible response, please have the catalog numbers of your products available when you call.
Page 15: Overview
The 1394 System The 1394 is a modular, multi-axis motion control and drive system family. Its unique design allows the 1394 to be used as an integrated motion controller and drive system (GMC) with Turbo or standard IMC™ S Class Compact functionality, an integrated 9/440 CNC system, a 9/Series CNC digital interface drive system, a SERCOS servo drive system, or an analog servo drive system.
Page 16: Safety Precautions
Overview Safety Precautions The following general precautions apply to the 1394: ATTENTION: Only those familiar with the 1394 Digital, AC, Multi-Axis Motion Control System 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.
Page 17: 1394 System Overview
RS-232/-422 Reset Axis 0 Axis 1 Discrete Outputs Flex I/O Discrete Inputs 842A Analog Outputs Encoder Analog Inputs 4100-AEC Flex I/O This interface is only available with the 1394 x -SJT xx -T system module. Publication 1394-5.0 — May 2000...
Page 18 Overview Figure 1.2 Two Standard GMC Systems (1394 x -SJT xx -C and 1394C-SJT- xx -L) SLC 500 ALEC 845H AxisLink Encoder AxisLink PanelView 550 1394C-SJT xx -L DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
Page 19: Cnc Interface System
Servo control for this system is handled by the 9/ Series CNC. A fiber optic I/O ring is provided to the 1394 and the system is completely interfaced with and programmed using ODS (Off-Line Development System) and the CNC operator panel.
Page 20: Sercos System
Allen-Bradley SERCOS Interface Module (Bulletin 1756 with 1756-MxxSE), which provides access to auto tuning and start-up prompting. The 1394 also provides a SCANport™ interface as a standard feature. For specific installation and wiring information refer to the 1394 SERCOS Multi-Axis Motion Control System User Manual (publication 1394-5.20).
Page 21: Analog Servo System
Allen-Bradley universal Bulletin 1201 HIM (Human Interface Module), which provides access to auto tuning and start-up prompting. The 1394 also provides a SCANport interface as a standard feature. Figure 1.5...
Page 22: 9/440 Cnc System
9/440 CNC System The 9/440 CNC system module gives you all the power and programming capabilities of a 9/Series CNC, integrated into the compact packaging of the 1394 System Module. The 9/440 CNC System Module provides terminating points for: •...
Page 23: What Is A 1394 System
Figure 1.6 9/440 System Optical signal cable Terminal type connection What is a 1394 System? The 1394 system consists of the following components (catalog number appears in parenthesis): • One System Module (1394x-SJTxx-x) • One to four Axis Modules (1394x-AMxx-xx) •...
Page 24: System Modules
Refer to Appendix A for information on these topics. Note: An external shunt resistor kit (1394-SR10A) is available for 5 and 10 kW systems with regenerative loads that exceed the capacity of the internal 200W shunt resistor provided. Most 5 and 10 kW systems will not require a shunt resistor kit.
Page 25: Axis Modules
23.3 and 35.0A, convert the DC power supplied by the system module to a variable AC voltage. You will require one axis module for every 1326Ax-Bxxxx servo motor you plan to run using the 1394. Choose each axis module based on the current requirements of the servo motor.
Page 26: 1326Ab Motors
Motors Product Data (publication 1326A-2.10) for more information on features and options. IP65 protection rating is standard when used with the shaft oil seal. Important: 1326AS-Bxxxx motors cannot be used with the 9/Series and 9/440 controllers. Figure 1.11 1326AS Motor Publication 1394-5.0 — May 2000...
Page 27: 1326Ah Motors
They are available with continuous torque ratings of 2.97 to 16.9 N-m (26.3 to 149.8 lb-in.). Refer to the 1326AH Hazardous Duty Motors Product Data (publication 1326AH-TD001B-US-P) for more information. Figure 1.12 1326AH Motor Publication 1394-5.0 — May 2000...
Page 28: Drive Interface Module
The module can be used alone or two modules can be used to interconnect two 1394 systems using the DC Link cable. Figure 1.14 DC Link Module...
Page 29: Standard Features Of The 1394
Overview 1-15 Standard Features of the 1394 The 1394 provides the following standard features: • UL Listed and CUL Certified • CE Marked Control • Supports Standard GMC (1394x-SJTxx-C and -L) and GMC Turbo, CNC Interface, SERCOS, and Analog Servo configurations with a standard array of hardware.
Page 30: Power
Plug interconnects for auxiliary, encoder input (GMC), encoder output and motor resolver input (all). • Slide-and-lock, module-to-module connection, which eliminates bus bars and wiring harnesses. • Advanced communications and I/O capabilities help integrate the 1394 to standard plant floor networks. Publication 1394-5.0 — May 2000...
Page 31: Installing Your 1394 (Applies To All Systems)
Compatibility (EMC) using a technical construction file and the following standards, in whole or in part: • EN 5008x-2 EMC - Emission Standard, Part 2 - Industrial Environment • EN 5008x-2 EMC - Immunity Standard, Part 2 - Industrial Environment Publication 1394-5.0 — May 2000...
Page 32: Low Voltage Directive
Equipment of Machines, Part 1-Specification for General Requirements standard applies in whole or in part. Refer to Appendix B for interconnect information. Before Mounting Your System Before you mount your 1394 system make sure you understand the following: • how to store your 1394 before installation •...
Page 33: Unpacking Modules
1394: • The ambient temperature of the location in which you will install the 1394 must not exceed 50° C (122° F). • You must install the panel on a flat, rigid, vertical surface that won’t be subjected to shock, vibration, moisture, oil mist, dust, or corrosive vapors.
Page 34: Determining Your System Mounting Hole Layout
SLC interface cable (1746-C7 or -C9). Determining Your System Mounting Hole Layout To prepare your subpanel for mounting: 1. Before you mount your 1394 System, use the illustration and table on the next page to identify your axis module combination. Publication 1394-5.0 — May 2000...
Page 35 Installing Your 1394 (applies to all systems) Figure 2.2 1394 Mounting Hole Layout Dimensions are in millimeters and (inches) 62.5 137.5 212.5 287.5 (2.46) (3.94) (5.41) (6.89) (8.37) (11.32) (9.84) 19.5 (1.97) (0.00) (4.92) (1.97) (5.91) (7.87) (8.86) (10.83) (0.768)
Page 36: Mounting Your 1394 Through The Back Of The Cabinet
Installing Your 1394 (applies to all systems) Mounting Your 1394 Through the Back of the Cabinet The figure below shows an example of the typical mounting of a 1394 system with 1394x-AM50 or -AM75 axis modules. The 1394x-AM50 and -AM75 have heatsinks that mount through the back of the electrical cabinet.
Page 37 Installing Your 1394 (applies to all systems) Figure 2.4 Bonding Examples Stud-mounting the subpanel Stud-mounting a ground bus to the enclosure back wall or chassis to the subpanel Subpanel Back wall of enclosure Mounting bracket or Welded stud ground bus...
Page 38: Bonding Multiple Subpanels
Refer to Bonding Your System for more information. 2. Hang the 1394 System Module on the two fasteners on the left side of the subpanel. Important: If you are mounting a GMC Turbo system module (1394x-SJTxx-T), and using the SLC interface, you will need an additional 101.6 mm (4 in.) of clearance...
Page 39 Installing Your 1394 (applies to all systems) If you are mounting a: Do this: 1394x-AM03, -AM04 or 1. Hang the axis module on the next -AM07; 1394C-AM50- mounting fastener. IH, or -AM75-IH axis 2. Go to main step 5. module 1394x-AM50 or -AM75 1.
Page 40 RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. Important: The terminator terminates the serial ring and provides protection for the DC Link. The 1394 system will not operate without the terminator. 10. Tighten all mounting fasteners.
Page 41: Mounting Your 1394-Dclm
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. Power Plug Mounting the External Shunt If your 5 or 10 kW 1394 system module requires a means of dissipating regenerative energy that exceeds the capacity of the Resistor for 5 and 10 kW System...
Page 42: Shunt Module Mounting Orientation
2-12 Installing Your 1394 (applies to all systems) Shunt Module Mounting Orientation Because the shunt module dissipates excess regenerative power in the form of heat, you need to consider the following guidelines. Refer to Figure 2.11 and Figure 2.12 for shunt module spacing requirements.
Page 43: Shunt Module Mounted Outside The Cabinet
Installing Your 1394 (applies to all systems) 2-13 Shunt Module Mounted Outside the Cabinet The illustration below details the proper position and cable routes for mounting the shunt module outside the cabinet. Figure 2.13 Shunt Module Mounted Outside of the Cabinet...
Page 44: Shunt Module Mounted Inside The Cabinet
2-14 Installing Your 1394 (applies to all systems) Shunt Module Mounted Inside the Cabinet The illustration below details the proper position and cable routes for mounting the shunt module inside the cabinet. Figure 2.14 Shunt Module Mounted Inside of the Cabinet...
Page 45: Mounting The Shunt Module
Mounting the Shunt Module The procedures in this section assume you have prepared your panel and understand how to bond your system. To mount your 1394 Shunt Module: 1. Install the top mounting fasteners on the subpanel for the shunt module.
Page 46: Mounting Considerations For Gmc And Gmc Turbo Systems
2-16 Installing Your 1394 (applies to all systems) Mounting Considerations for GMC Consider the following when mounting 1394 GMC and GMC Turbo Systems. and GMC Turbo Systems ™ ™ ™ ™ Mounting GMC and GMC Turbo Systems Next to Flex I/O Separating low voltage communication wiring from high voltage power cables reduces the levels of EMI and RFI.
Page 47: Wiring System, Axis, And Shunt
For additional wiring Refer to the following: information on: GMC or GMC Turbo Chapter 4 (Wiring 1394 GMC and GMC Turbo Systems) in this system modules manual. 1394 Analog Servo Chapter 5 (Wiring Your 1394 Analog Servo System) in this system modules manual.
Page 48: Understanding Basic Wiring Requirements
Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Understanding Basic Wiring This section contains basic wiring information for the 1394. Requirements ATTENTION: Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure.
Page 49: Routing High And Low Voltage Cables
EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. wires in the same wire way Unshielded lead length less than or equal to 76.2 mm (3.0 in.) Publication 1394-5.0 — May 2000...
Page 50: System Module Wire Sizes
EMI/RFI Shielding The 1394 has an inverter carrier frequency of 5000 Hz. The drive’s output inverter switching sequence produces a carrier frequency of 10,000 Hz when measured at the motor. This can induce noise into sensitive equipment lines adjacent to it.
Page 51: Input Power Conditioning
Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Input Power Conditioning You can directly connect the 1394 to a three-phase, AC power line. However, if certain power line conditions exist, the input power component can malfunction. If either of the following is true, you can...
Page 52: Determining Your Type Of Input Power
Wiring System, Axis, and Shunt Modules, and Motors (for all systems) Determining Your Type of Input Before you ground or wire your 1394 system you must determine the type of 360/480V input power you will be connecting to. The 1394...
Page 53: Ungrounded Power Configuration
1394. Refer to the ground jumper procedures for the system module you need to configure.
Page 54: Setting The Ground Jumper In A 5 Or 10 Kw System Module For Ungrounded Power Configurations
6. Re-install the three control board screws and re-connect the ribbon cable. 7. Go to main step 4. Note: To determine the series of your module, refer to Figure P.1 in the Preface. Publication 1394-5.0 — May 2000...
Page 55: Setting The Ground Jumper In A 22 Kw System Module For Ungrounded Power Configurations
Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 4. Close the system module door. 5. Go to Grounding Your 1394 System. Figure 3.4 Ground Jumper Locations for the 5 and 10 kW System Modules 1394- SJT xx- x...
Page 56 6. Locate the ground jumper inside the system module. Refer to the figure below for jumper location. Figure 3.6 Location of the 22 kW System Module Ground Jumper Ground Jumper Publication 1394-5.0 — May 2000...
Page 57 10. Re-connect both ends of the input wiring board ribbon cable. Refer to Figure 3.5 for the location of the ribbon cable. 11. Close the system module door. 12. Go to Grounding Your 1394 System. Publication 1394-5.0 — May 2000...
Page 58: Grounding Your 1394 System
Refer to the illustration below for details on grounding your system and axis modules. Refer to Appendix B for interconnect information. Figure 3.8 PE Safety Ground Configuration with Multiple 1394 Systems on One Panel 22 kW or 5 and 10 kW Status...
Page 59: Grounding Multiple Subpanels
Each individual application requires different wiring. This section provides guidelines for wiring your system. Because of the diversity of applications and systems, no single method of wiring is applicable in all cases. Publication 1394-5.0 — May 2000...
Page 60: Terminal Block Locations For 5 And 10 Kw System Module (Series A And B)
Three-phase input neutral (present only on grounded power System ground bar Neutral configurations). PE Ground The 1394’s ground connection to the bonded system ground bar on the subpanel. External Shunt Optional 1400W external shunt resistor used to dissipate DC+ and COL Resistor excess regenerative energy from the system module.
Page 61: Connector Locations For 5 And 10 Kw System Module (Series C)
Refer to the section Connecting Your External Shunt Resistor for information about wiring the optional shunt resistor to the 5 and 10 kW system modules. Publication 1394-5.0 — May 2000...
Page 62: Terminal Block Locations For A 22 Kw System Module
Refer to Appendices A and B for information about three-phase input fusing and circuit breaker information as related to the power input. Refer to the section Connecting Your Shunt Module for information about wiring the shunt module to the 22 kW system module. Publication 1394-5.0 — May 2000...
Page 63: Required Tools And Equipment
1. Connect the ground wire for the system module to the bonded ground bus bar on the subpanel. For more information on bonding, refer to the chapter Installing Your 1394. 2. Open the front door of the system module. 3. Connect the system ground bar wire as follows:...
Page 64: Connecting Power Wiring For 5 And 10 Kw System Modules (Series C)
Tighten to this labeled: terminal: torque value: J10-1 0.56-0.62 N-m J10-2 (5.0-5.6 lb-in.) J10-3 4. Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires. Publication 1394-5.0 — May 2000...
Page 65: Connecting Motor Power To Axis Modules
1326Ax servo motors. Refer to the interconnect drawings in Appendix B for more information. The table below describes each of the terminals. Terminal: Description: Motor Power A Motor Power B Motor Power C Axis Ground Motor Ground Overall Shield Publication 1394-5.0 — May 2000...
Page 66: Connecting Thermal And Brake Leads To Axis Modules
• One 1326-CPx1-xxx motor power cable for each axis • One axis module connector kit (catalog number 1394-199) for thermal switch and brake inputs. You will need one kit per axis module as each kit contains two connectors. Publication 1394-5.0 — May 2000...
Page 67: Wiring Motor Power, Thermals And Brakes
We recommend that you start at either the first or last axis module, wire it completely, and then wire the module next to it completely, and so on until they are all wired. To wire your 1394 axis modules: If your system Then do this:...
Page 68 6. Thread the bracket screw into the bottom of the axis module and tighten. 7. Connect an axis module connector kit (catalog number 1394-199) to each motor cable that you will use. Refer to instructions that come with the kit for the specific connections.
Page 69 2. Insert the connector in the rear-most mating half (TB2) for its axis. 3. Go to main step 13. Does not have the Go to main step 13. brake option Publication 1394-5.0 — May 2000...
Page 70: Connecting Feedback To System Modules
Modules commutation resolver (integral to the 1326 motor) to the system at the connectors shown in the following table. You must use Allen-Bradley 1326-CCU-xxx shielded cables for proper operation. Refer to Appendix D for more information on connectors and accessories.
Page 71 Finding Additional Wiring Information for 1394 Systems. If you are: Do this: Using the AQuadB 1. Connect the connector shells to the 1394- SA15 cables. Refer to the instructions option (for Analog that came with the cables for more Servo system information.
Page 72: Connecting Your Motor Cables To Motors
480V AC input power from the system. If your system module is: Do this: Series A and B Go to Connecting Your External Shunt Resistor (Series A and B). Series C Go to Connecting Your External Shunt Resistor (Series C). Publication 1394-5.0 — May 2000...
Page 73: Connecting Your External Shunt Resistor (Series A And B)
3-27 Connecting Your External Shunt Resistor (Series A and B) 1. Open the front door of the 1394 system module. 2. Remove and discard the COL/INT jumper wire from the power terminal block in the lower right corner, as shown in the figure below.
Page 74: Connecting Your External Shunt Resistor (Series C)
Required Tools and Equipment The required tools and equipment are: • A small, flathead screwdriver • User-supplied power wiring • The two fan jumpers that came with your 1394-SR36AF shunt module. Publication 1394-5.0 — May 2000...
Page 75: Wiring The Shunt Module Power
Wiring System, Axis, and Shunt Modules, and Motors (for all systems) 3-29 Wiring the Shunt Module Power There are three types of cable that can be used to connect the 1394 shunt module to your 1394 system module. All shunt power wiring should meet the following general specifications: •...
Page 76 RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. ATTENTION: The resistors inside the 1394 shunt module can reach temperatures in excess of 350° C (662° F). Be sure to provide appropriate guarding to avoid hazard of shock or burn and ignition of flammable material.
Page 77 EMI and RFI. ATTENTION: To avoid burn hazard and ignition of flammable material, be sure to provide appropriate guarding. The resistors inside the 1394 shunt module can reach temperatures in excess of 350° C (662° F). Install per local codes.
Page 78 11. Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten each loose wire. If your shunt module: Then: Has a Fan Go to Wiring the Shunt Module Fan Power. Does not have a fan Finish installing your system. Publication 1394-5.0 — May 2000...
Page 79: Wiring Shunt Module Fan Power
3. Using a flat screw driver, remove the plate that covers the fan wire access hole located on the bottom right side of the module. 4. Insert one wire from the 230V AC power supply into terminal 1. Publication 1394-5.0 — May 2000...
Page 80 Re-insert and tighten any loose wires. Figure 3.21 Wire Locations for the Shunt Module Fan Wiring the fan for 115V To power supply To power supply Wiring the fan for 230V To power supply To power supply Publication 1394-5.0 — May 2000...
Page 81: Wiring 1394 Gmc And Gmc Turbo Systems
(publication 1394-5.20) Understanding GMC and GMC The 1394 GMC and GMC turbo contain an integrated IMC S Class motion controller that is functionally equivalent to the IMC S Class Turbo Wiring and Connections Compact. GMC and GMC Turbo system modules provide connections for the following: •...
Page 82: Understanding Input Wiring Board Layout
The figure below shows the locations Layout of the various signal terminations. Figure 4.1 Input Wiring Board for 1394 x -SJT xx -C, -C-RL and -T, -T-RL SYS ENABLE SYS ENABLE 24V INPUT COM 24V INPUT COM...
Page 83 Wiring 1394 GMC and GMC Turbo Systems Figure 4.2 Input Wiring Board for 1394C-SJT xx -L and -L-RL SYS ENABLE SYS ENABLE 24V_INPUT_COM 24V_INPUT_COM CHASSIS CHASSIS HOME0 POS_0TRAV0 NEG_0TRAV0 THERM_FLT0 24V_INPUT_COM CHASSIS REG1_5V REG0_5V REG1_24V REG0_24V REG_COM REG_COM CHASSIS CHASSIS...
Page 84: Using The Terminal Operating Tool To Insert Wires
Wiring 1394 GMC and GMC Turbo Systems Using the Terminal Operating Tool to Insert Wires Each system module you order comes with a terminal operating tool that allows you to easily insert your wires into the terminals. Refer to Appendix D for the part number.
Page 85: Input Wiring Board Signal Descriptions
Wiring 1394 GMC and GMC Turbo Systems Input Wiring Board Signal Descriptions The following tables provide descriptions of the various control signals shown in Figure 4.1. Terminate the signals you need for your application using the terminal operating tool. Terminal connections for...
Page 86 Wiring 1394 GMC and GMC Turbo Systems Terminal connections for Terminal connections for Mandatory Wire: Description: 1394 x -SJT xx -C, -C-RL 1394C-SJT xx -L and or Optional: and -T, -T-RL systems: -L-RL systems: REG 5V, 24V, High-speed, optically-isolated filtered...
Page 87: Connecting Your Communication Cables
Consult the wiring diagram for your device. Important: If you are using current sinking, you can only use one device per controller. Connecting Your Communication The 1394 GMC and GMC Turbo system modules provide the following communication options: Cables • Encoder feedback •...
Page 88 Wiring 1394 GMC and GMC Turbo Systems Figure 4.6 Inside the 1394 GMC and GMC Turbo (catalog number 1394-SJT22) Motion Board Screw Control Status Status Remote I/O Control Status Axislink and RS-422 Multi Drop Addresses AxisLink & RS422 Multi Drop...
Page 89 Wiring 1394 GMC and GMC Turbo Systems Figure 4.7 Bottom View of the 1394-SJT xx -C and -T 1394-SJT22-T-RL System Module AxisLink RS-232 and RS-422 Extended Axis Link Switch (Turbo only) RS-232, RS-422 and DH-485 Flex I/O Axis 0 (J3)
Page 90: Encoder Feedback Wiring
5 volt power supply, there is a maximum distance between the encoder and 1394 of 12.2 meters (40 feet). The 1394 interface circuitry requires 0.325A to operate. Any additional devices connected to the 1394, such as incremental encoders, may require an additional 0.2A per device to operate.
Page 91: Serial Communications
The 1394 provides two optically-isolated RS-232/RS-422 serial ports (CHAN A/J3 and CHAN B/J4). These ports are located on the bottom of the system module. Refer to Figure 4.7 for 1394-SJTxx-C and -T (Series A and B) systems and Figure 4.8 for 1394C-SJTxx-C, -L, and -T (Series C) systems.
Page 92 4-12 Wiring 1394 GMC and GMC Turbo Systems Figure 4.10 SW1 - SW6 (RS-232/RS-422) Switch Settings Port J1, J2 Port J4 Port J3 Port J1, J2/J4 Port J4 Port J3 Left No DH-485 Terminal No RS-422 Terminal No RS-422 Terminal...
Page 93: Data Highway Connection
1394 connector is 9 pin, AMP #205204-1 or equivalent. Belden #9503 or Equivalent Data Highway Connection The 1394 provides two optically-isolated ports (J1 and J2) for Data Highway 485 (DH-485) communication. Both connectors are wired identically (you can use either one). A telephone-type connector provides the interface with the following signal designations.
Page 94: Axislink
For example, these nodes can be eight GMC system modules, one ALEC and 7 GMC system modules, or some other combination. AxisLink allows one 1394 to be used as a master axis for electronic gearing, camming, etc. on other systems. Using the Extended Node option in GML version 3.9.1 (or higher) with...
Page 95: Gmc Turbo System
Wiring 1394 GMC and GMC Turbo Systems 4-15 GMC Turbo System For those applications that require longer AxisLink cable lengths, the GMC Turbo offers the AxisLink Extended Length option. The Extended Length option allows the user to support up to eight nodes for a maximum end-to-end cable length of 125 m (410 ft) (user supplied cable).
Page 96: Remote I/O
Flex I/O provides general purpose discrete inputs, discrete outputs, analog inputs and analog outputs (J2). The Flex I/O Module is connected to the 1394 with a 4100-CCF1 (maximum cable length is 305 mm (12 in.) or 4100-CCF3 cable (maximum cable length is 0.91m (3 ft).
Page 97: Slc Interface
1746-C7 and 1746-C9) while the unit(s) is powered up. ATTENTION: SLC Interface faults will not automatically shut down or stop the axes or application program operating in the 1394 GMC Turbo. These conditions must be handled in a safe manner with the user’s application program.
Page 98 1394 SLC IN connector 1394 GMC Turbo System Use cable 1746-C7 or 1746-C9 to connect the 1394 x - SJT xx - T to the SLC. Important: The figure above shows connection information only and does not imply a specific mounting configuration.
Page 99: Connecting A Gmc And Gmc Turbo To A 1394-Dim
1394-DIM. Using a 1394-DIM as part of a 1394 system lets you control external drives and motors of any size. 1394-DIM System Example The figure below shows an example of a 1394 GMC/GMC Turbo System after connecting a 1394-DIM.
Page 100: 1394-Dim With 1398-Ddm- Xxx System Example
Wiring 1394 GMC and GMC Turbo Systems 1394-DIM with 1398-DDM- xxx System Example Figure 4.19 shows the 1394-DIM connected to a 1394 GMC Turbo with two 1394 axis modules and a 1398-DDM-xxx servo controller. A 1326AB-Bxxxx motor is directly connected to each of the 1394 axis modules.
Page 101: 1394-Dim Configurations
Required on ULTRA 100 only x = axis controlled by DIM 1394-DIM Configurations The identity and number of the axes you can connect to a 1394-DIM depends upon the number of 1394 axis modules connected to your 1394 system in addition to the 1394-DIM.
Page 102: Configuration Examples
4-22 Wiring 1394 GMC and GMC Turbo Systems For example, if your 1394 system includes three 1394 axis modules, the 1394-DIM can control only one external drive and axis. See the following configuration information. Number of 1394 axes: Maximum number of DIM- controlled axes: Important: You can add only one 1394-DIM to a 1394 system.
Page 103 Wiring 1394 GMC and GMC Turbo Systems 4-23 The example below shows one 1394 axis and one DIM output axis. Figure 4.23 1394-DIM with Single Axis Module Axis 0 DIM Axis A Axis 1 on 1394 Axis 0 (J5) Motor Resolver Feedback Input...
Page 104: 1394-System Module Input Power Wiring When Not Using Axis Modules
1394-System Module Input Power Wiring When Not Using Axis Modules The figure below shows how to wire the 1394 system module for input power when no axis modules are used. The transformer is rated for 480V AC secondary and 500 VA. The fuse is a Brush (Bussmann) 600V AC, 10A (FRS-R-10A).
Page 105: Drive Enable Output
Wiring 1394 GMC and GMC Turbo Systems 4-25 Drive Enable Output The +/- Axis Enable is a signal from the 1394 system module that is used to control a DPDT relay in the 1394-DIM. This enable output is a normally open, unpowered (dry) signal.
Page 106: Connecting The Remote Drive To The Dim Connector
This provides position information for closing the position and velocity loop for the drive. • Connecting the DIM ground wire to the 1394 system module. • Installing the resolver feedback input plug for each DIM axis to prevent resolver loss faults.
Page 107 Wiring 1394 GMC and GMC Turbo Systems 4-27 To wire the cable flying leads to the DIM cable connector: 1. Turn off the power to the system (i.e., 1394 system external drives and other control hardware). ATTENTION: To avoid a shock hazard or personal injury, verify that all power has been removed before proceeding.
Page 108 2. When all seven terminals are wired, go to step 10. 10. Connect each external drive to the 1394-DIM. Important: Connect all DIM axes in succession (from the front of the unit to the back of the unit) starting with DIM Axis A regardless of the number of servo axis modules in the 1394 system.
Page 109: Connecting The Position Feedback Encoder To The Feedback Input
5V or not. To connect the encoder feedback cable to the 1394 system module: 1. Plug the 1394-GE15 cable for each DIM Axis into the correct auxiliary encoder input on the 1394 system module as shown in the table below. Refer to Figures 4.22, 4.23, and 4.24 for encoder input locations.
Page 110: Connecting The Dim Ground Wire To The 1394 System Ground
Connecting the DIM Ground Wire to the 1394 System Ground Connect one end of the ground wire to the connector on the 1394- DIM (refer to Figure 4.21 for location) and connect the other end to the 1394 system ground bar.
Page 111: Wiring Your 1394 Analog Servo System
1394 Analog Servo system module only. Information for 1394 Systems For additional wiring Refer to the following: information on: Chapter 4 (Wiring 1394 GMC and GMC Turbo Systems) in this GMC or GMC Turbo system modules manual. 9/Series CNC Hardware Integration and Maintenance Manual...
Page 112: Input Wiring Board Layout
Wiring Your 1394 Analog Servo System Input Wiring Board Layout The input wiring board provides terminating points at TB1 and TB2 for the various control signals. The figure below shows the locations of the various signal terminations. Figure 5.1 Input Wiring Board (22 kW system)
Page 113 Wiring Your 1394 Analog Servo System Figure 5.2 Terminal Operating Tool Hook Insert wire Flat tab here To use the terminal operating tool with TB1: 1. Put the hook into the hook slot with tab end of the tool to your left.
Page 114: Input Wiring Board Signal Descriptions
Wiring Your 1394 Analog Servo System Input Wiring Board Signal Descriptions The tables below and on the following pages provide descriptions of the various control signals shown in Figure 5.1. Mandatory Wire: Description: Connects to terminal(s): or Optional: A VREF +...
Page 115: Connecting Aqb And Scanport Cables
1326AS series motors, the motor mechanical cycle is 1024 PPR. In addition, one marker pulse is generated per mechanical cycle. Refer to Figure 5.3 for connector locations. We recommend one 1394-SA15 (from the 1394 AQB output to the user-supplied control) cable per axis. Publication 1394-5.0 — May 2000...
Page 116 Wiring Your 1394 Analog Servo System Make the A Quad B connections at the bottom of the system module (refer to Figure 5.3) as follows: For this axis: Connect to this terminal: AQB0 AQB1 AQB2 AQB3 To improve the bond between the motor feedback cable shield and the system module PE ground, a cable shield clamp is included with the Series C system modules.
Page 117: Scanport Adapter
(velocity/torque) on the system wiring board if these inputs are used. SCANport Adapter This port allows you to connect a SCANport device, such as a Human Interface Module, to the 1394 Analog Servo System. Publication 1394-5.0 — May 2000...
Page 118 Wiring Your 1394 Analog Servo System Publication 1394-5.0 — May 2000...
Page 119: Commissioning 1394 Gmc And Gmc Turbo Systems
Chapter Commissioning 1394 GMC and GMC Turbo Systems Chapter Objectives This chapter provides you with the information to set up and tune the 1394 System. This chapter includes: • General startup precautions • Applying power to the system • Setting up your system using GML Commander •...
Page 120 Electrostatic Damage or any other applicable ESD Protection Handbook. Applying Power to the System This procedure assumes that you have wired your 1394 GMC Turbo or GMC System, verified the wiring, and are ready to download your program. To apply power to your 1394 system: 1.
Page 121: Setting Up Your System Using Gml Commander
A computer running Windows 95 and GML Commander Note: 1394C-SJTxx-L system modules require GML Commander 4.03 or later. • A nine-pin serial cable to connect the computer to the 1394 serial port • GML Commander Reference Manual (publication GMLC-5.2) •...
Page 122: Preparing The System
Commissioning 1394 GMC and GMC Turbo Systems Preparing the System Before you start your 1394 system be aware of the following: Do this: Set the Memory keyswitch to the unlock Be able to save setup menus position. Use the Address switch to set a unique...
Page 123: Before You Begin
Before you begin the startup procedure be sure to have the following: • A computer running Windows and GML , version 3.9.0 or later • A nine-pin serial cable to connect the computer to the 1394 serial port • A GML Programming Manual (publication 999-104) •...
Page 124 Commissioning 1394 GMC and GMC Turbo Systems Publication 1394-5.0 — May 2000...
Page 125: Commissioning Your 1394 Analog Servo System
Commissioning Your 1394 Analog Servo System Chapter Objectives This chapter provides you with the information to set up and tune your 1394 Analog Servo System. This chapter includes: • General startup precautions • Setting up your 1394 Analog Servo system Before you begin the setup procedures, be sure to read and understand the information in the previous chapters of this manual.
Page 126: Setting Up Your 1394 Analog Servo System
Commissioning Your 1394 Analog Servo System 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.
Page 127: Removing And Re-Applying Power
2. Press ENTER. The display at which you left off appears. Removing and Re-Applying Power This procedure assumes that you have wired your 1394 Analog Servo System and verified the wiring. 1. Remove all 360/480V AC input power and 24V control power to the 1394.
Page 128: Setting Up At The System Level
Troubleshooting chapter. Setting Up at the System Level This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedure Removing and Re-Applying Power earlier in this chapter. When the LEDs on the system and axis modules are all flashing green and the Sys Ready message appears on the HIM, you are ready to begin these procedures.
Page 129: Setting Up Analog Test Points
8. Go to Setting Up Analog Test Points. Setting Up Analog Test Points The 1394 startup procedures provide the ability to monitor an axis using analog test points. Important: When you set up test points and auto tune, you will always set up one complete axis and tune it before you begin another.
Page 130: Defining A Reference Source For Your Axes
6. Go to Defining a Reference Source for Your Axes. Defining a Reference Source for Your Axes This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter: •...
Page 131: Defining Analog Velocity
Defining Digital Velocity. Dig Torq Defining Digital Torque. Defining Analog Velocity This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter: • Removing and Re-Applying Power •...
Page 132 Commissioning Your 1394 Analog Servo System Defining Analog Torque This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter: • Removing and Re-Applying Power • Setting Up at the System Level •...
Page 133 Ax:Current Limit +8.43 amps 6. Go to Defining Limits. Defining Digital Torque This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter: • Removing and Re-Applying Power •...
Page 134: Defining Limits
7-10 Commissioning Your 1394 Analog Servo System Defining Limits This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter: • Removing and Re-Applying Power • Setting Up at the System Level •...
Page 135: Auto Tuning
Commissioning Your 1394 Analog Servo System 7-11 Auto Tuning This procedure assumes that you have wired your 1394 Analog Servo System and have completed the procedures in the following sections of this chapter: • Removing and Re-Applying Power • Setting Up at the System Level •...
Page 136 7-12 Commissioning Your 1394 Analog Servo System 4. Apply 24V DC across the appropriate axes on the input wiring board to enable the axis that you are tuning. The LEDs on system module and specific axis module will be solid green, the motor...
Page 137: Configuring Your 1394 Analog Servo System
SCANport. Where to Look for Other System configuration information for other 1394 systems are given in the table below. Programming Information For:...
Page 138: Conventions Used In This Chapter
Configuring Your 1394 Analog Servo System Conventions Used in this Chapter The following conventions are used throughout this chapter. • All parameters required for any given drive function are contained within a group, eliminating the need to change groups to complete a function.
Page 139: Understanding Analog Servo System Parameters
Configuring Your 1394 Analog Servo System Understanding Analog Servo A description of the 1394 Analog Servo parameters is provided on the following pages. The parameters are listed in alphabetical order and System Parameters cross-referenced in the table that follows for locating parameters by number.
Page 140 Configuring Your 1394 Analog Servo System [100% Torq Vel] Parameter Numbers Mtr Data Parameter Group Motor velocity at 100% rated motor torque. Display Units Read/Write Parameter Type Note: Before making modifications to Mtr Data Change While Running parameters, [Motor Type] must be set to "custom Linkable motor".
Page 141 Configuring Your 1394 Analog Servo System [ATune Frictn] Parameter Numbers 300, 301, 302, 303 ATune Config Parameter Group The system friction as measured by the auto tune Display Units cycle is represented through this parameter. Read/Write Parameter Type Change While Running...
Page 142 Parameter Type Read Only Linkable Selection codes for 1394C-AM50-IH and Selections "NOT PRESENT" 1394C-AM75-IH are the same as 1394 x -AM50 "1394 x -AM03" and 1394 x -AM75 respectively. "1394 x -AM04" "1394 x -AM07" "1394 x -AM50" "1394 x -AM75"...
Page 143 Configuring Your 1394 Analog Servo System [Command Mask] Parameter Numbers Setup Parameter Group This parameter determines whether drive control Parameter Type Read/Write from the indicated source is enabled or disabled. Change While Running Stop commands from any source are not Linkable maskable.
Page 144 Configuring Your 1394 Analog Servo System [Cur Rate Lim] Parameter Numbers 192, 193, 194, 195 Torq Data Parameter Group The largest change in the current reference per Display Units A/ms velocity loop sample that will be allowed is Read/Write Parameter Type specified through this parameter.
Page 145 Configuring Your 1394 Analog Servo System [D/A #x Value] Parameter Numbers 12, 13 Linear List Parameter Group The unscaled value of the data that will be output Display Units None on the D/A channel. This parameter must be the Read/Write Parameter Type destination of link for any data to be output.
Page 146 8-10 Configuring Your 1394 Analog Servo System [Disp-D/A Monitor] Parameter Numbers Setup Parameter Group This parameter quickly establishes links to the Display Units None D/A test points. It will link the selected axis [Iq Read/Write Parameter Type Cur Ref] to test point 1, and the [Vel Feedback] Change While Running to test point 2.
Page 147 Configuring Your 1394 Analog Servo System 8-11 [Droop] Parameter Numbers 380, 381, 382, 383 Vel Loop Data Parameter Group This parameter is also referred to as "static gain." Display Units It effectively acts as a very slow discharge of the...
Page 148 8-12 Configuring Your 1394 Analog Servo System [Feed Fwd Gain] Parameter Numbers 376, 377, 378, 379 Vel Loop Data Parameter Group Controls the negative feedforward gain of the Display Units None velocity command contribution to the velocity Read/Write Parameter Type regulator torque loop.
Page 149 Configuring Your 1394 Analog Servo System 8-13 [Id Slope] Parameter Numbers 180, 181, 182, 183 Mtr Data Parameter Group Determines the amount of Id current (as a Display Units %/Kr percent of motor rated) that would be required Read/Write Parameter Type over a 1000 rpm span.
Page 150 8-14 Configuring Your 1394 Analog Servo System [Language Sel] Parameter Numbers Linear List Parameter Group Display language for text. Display Units None Read/Write Parameter Type Change While Running Linkable Default Value English Selections English [Ld/Lg Degrees] Parameter Numbers 144, 145, 146, 147...
Page 151 324, 325, 326, 327 Parameter Group Torq Data Current rating of the Axis Module. This is set after Display Units amps the initialization of the 1394 Analog Servo Parameter Type Read Only System DSP. Linkable Publication 1394-5.0 — May 2000...
Page 152 8-16 Configuring Your 1394 Analog Servo System [Motor Type] Parameter Numbers 100, 101, 102, 103, 404, 405, 406, 407 Configuration, Startup Parms, Mtr Data Parameter Group The catalog number of the motor is attached to Display Units None the axis. Important: This parameter configures...
Page 153 Configuring Your 1394 Analog Servo System 8-17 [Mtr Inertia] Parameter Numbers 108, 109, 110, 111 Mtr Data Parameter Group Inertia of motor attached to drive. Automatically Display Units msec changed when [Motor Type] is changed (to motor Read/Write Parameter Type...
Page 154 8-18 Configuring Your 1394 Analog Servo System [Option x Code] Parameter Numbers 30, 32, 34, 36 Linear List Parameter Group Used for software options Display Units None Option 0 = Antibacklash Read/Write Parameter Type Option 1 = Future Change While Running...
Page 155 Configuring Your 1394 Analog Servo System 8-19 [Rem. Data In/Out:Px] Parameter Numbers 58-69 Linear List Parameter Group This series of parameters represent linkable Display Units None inputs and outputs to the SCANport "analog" Read Only Parameter Type inputs and outputs for each of the six available...
Page 156 8-20 Configuring Your 1394 Analog Servo System [Shunt P] Parameter Numbers Linear List Parameter Group Shunt resistor continuous power rating. Display Units Watts Read/Write Parameter Type Active on all Smart Power 22 kW systems and 5 Change While Running and 10 kW (Series C or later) systems.
Page 157 Configuring Your 1394 Analog Servo System 8-21 [Shunt Ws] Parameter Numbers Linear List Parameter Group Shunt short time constant weighting factor. This Display Units parameter determines the relationship between Read/Write Parameter Type the short and long time constants in the thermal Change While Running model of the shunt module.
Page 158 8-22 Configuring Your 1394 Analog Servo System [Stop Mode] Parameter Numbers 240, 241, 242, 243 Vel Cmd Data Parameter Group Parameter to select whether the axis module Display Units None should velocity command to zero (regen) or Read/Write Parameter Type...
Page 159 [System Type] Parameter Numbers Parameter Group Configuration Catalog number of System Module. Set during Display Units None the initialization of the 1394 x -SJT xx -A system Parameter Type Read Only module. Linkable "NOT PRESENT" "1394 x -SJT05" "1394 x -SJT10"...
Page 160 8-24 Configuring Your 1394 Analog Servo System [Torq Source] Parameter Numbers 360, 361, 362, 363 Parameter Group Torq Data Configures the source of the torque reference for Display Units None the axis. Automatically changed when [Mode Parameter Type Read/Write Sel] (parameter 112) is changed (for Change While Running convenience during commissioning).
Page 161 Configuring Your 1394 Analog Servo System 8-25 [Typ 1 Logic Axis] Parameter Numbers Parameter Group Setup Configures which axes are affected by Parameter Type Read/Write SCANport type 1 commands (Jog, Start, etc). All Change While Running axes will always respond to a stop command.
Page 162 8-26 Configuring Your 1394 Analog Servo System [Enble Input Mode] Parameter Numbers Setup Parameter Group This parameter specifies whether the hardware Display Units None enable signals are used on the wiring board for Read/Write Parameter Type input. If configured as Not Used, the HIM or...
Page 163 Configuring Your 1394 Analog Servo System 8-27 [Vel Rate Lim] Parameter Numbers 136, 137, 138, 139 Vel Cmd Data Parameter Group The rate at which a velocity command is Display Units rpSS (revolutions/second/second) incremented or decremented per unit of accel/...
Page 164 MODE SEL MODE SELECT TABLE MOTOR TYPE VEL LIM VEL RATE LIM 0 = ANALOG VEL 1 = ANALOG TORQ ANLG VEL OFST ANLG VEL SCAL MTR RATED CUR 2 = DIGITAL VEL 3 = DIGITAL TORQ +/- 10v CW VEL LIM CCW VEL LIM VEL SOURCE (10v = 32767)
Page 165 CW OVSPD VEL CCW OVSPD VEL Id RPM START Id RPM END Id SLOPE OVERSPEED FEEDBACK FILTER Id GENERATION Id CUR REF OVERSPEED DETECT RESOLVR TURNS RESOLVR POSN VEL LOWPAS BW LD/LG FREQ VEL FEEDBACK D/A 2 GAIN LD/LG DEGREES FEEDBACK FEEDBACK POSITION...
Page 166 8-30 Configuring Your 1394 Analog Servo System Publication 1394-5.0 — May 2000...
Page 167: Troubleshooting
• Troubleshooting general system problems • Replacing system and axis modules • Checking for a blown fuse in the 1394-DCLM • Replacing 1394 the shunt module fuse • Replacing the AM50 and AM75 axis module fan ATTENTION: This product contains stored energy devices.
Page 168: Understanding How To Detect A Problem
When a drive fault occurs, the LED on the front panel changes and a fault message appears. Problem The majority of 1394 faults cause the DROK contact to operate. If a drive fault occurs, you can reset the fault detection circuitry by removing and reapplying power. However, if it is a hardware fault, you need to correct the fault before restarting.
Page 169 Check all components and connections before CNC Interface I/O Ring Steady red The fiber optic ring has failed at the 1394 on the fiber optic ring. some point before the 1394 system System Module Status module. Check all components and connections after...
Page 170 Verify that the terminator is present on the last There is no power to the axis axis. illuminated module. • Verify that the terminator is present on the There is no power to the system. last axis. • Check system module power supply. Publication 1394-5.0 — May 2000...
Page 171: Understanding System Faults
Troubleshooting Understanding System Faults Depending on which 1394 system you are using, your faults will be displayed differently. For this system This is where faults This is where to look for additional fault information: module: appear: GMC Turbo or In GML in the Online The GML Programming Manual V3.7 or greater...
Page 172: Viewing Continuous Status
The variables that you selected and their status appear in this window. Refer to the Expression Builder chapter of the GML Programming Manual V3.7 (or above) for a list of fault and status variables. Publication 1394-5.0 — May 2000...
Page 173: Finding Analog Servo System Faults
1. At the main menu, press the continue softkey. The softkey menu changes. 2. Press the {ERROR MESAGE} softkey. The error message screen appears. For more information on 9/440 system faults refer to the 9/Series Integration and Maintenance Manual (catalog 8520-6.2). Publication 1394-5.0 — May 2000...
Page 174: Finding Cnc Interface Faults
1. At the main menu, press the continue softkey. The softkey menu changes. 2. Press the {ERROR MESAGE} softkey. The error message screen appears. For more information on 9/Series system faults refer to the 9/Series Integration and Maintenance Manual (catalog 8520-6.2). Publication 1394-5.0 — May 2000...
Page 175: Understanding Gmc Turbo And Gmc Controller Faults
Return the controller to the factory for repair. Flashing - slow Transfer system failed Return the controller to the factory for repair. Flashing - slow Flashing slow is twice per second, flashing fast is ten times per second. Publication 1394-5.0 — May 2000...
Page 176: Understanding Analog Servo System Module Faults
The motoring/regenerative current produced of the axis modules continuous current reach its current limit. by the motor(s) and axis module(s) exceeds exceeds the system module current the current limit allowed by the system limit rating. module. Publication 1394-5.0 — May 2000...
Page 177 The machine duty cycle requires an RMS Change the command profile to reduce current exceeding the continuous rating of the speed or increase time. controller. The airflow access to the 1394 is limited or Check airflow and re-route cables away blocked. from the 1394. Phase Loss The three-phase input One or more input line fuses have opened.
Page 178: Understanding Analog Servo System Axis Faults
The machine’s duty cycle requires an temperature. or increase time. RMS current exceeding the continuous rating of the controller. Check airflow and re-route cables away from The airflow access to the 1394 is limited the 1394. or blocked. Publication 1394-5.0 — May 2000...
Page 179: Troubleshooting General System Problems
• Check setups. [Motor Type] parameter (100 (Analog Servo only)) is incorrectly set (servo motor is not matched to 1394). • Run auto tune. You cannot obtain the Verify that current limits are set properly.
Page 180 • Check and improve mechanical The frequency may be a multiple of the motor power performance of the gearbox, ballscrew, transmission components or ballscrew speeds resulting in etc. velocity disturbance. Publication 1394-5.0 — May 2000...
Page 181 Sine, Cosine or Rotor leads are reversed in the feedback wiring. cable connector. reduced torque Check and correct motor feedback Sine, Cosine, Rotor lead sets of resolver feedback are wiring. reversed. Publication 1394-5.0 — May 2000...
Page 182: Replacing System And Axis Modules
If you do not follow ESD control procedures, components can be damaged. If you 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.
Page 183: Removing An Axis Module
7. Loosen the top fastener on the axis module you plan to remove. 8. Lift the axis module and pull it out. 9. If you are removing the right-most axis module, remove the terminator. Publication 1394-5.0 — May 2000...
Page 184: Installing A Replacement Axis Module
1. Install the top mounting fastener on the system panel for the axis module. The head of the fastener should be at least 6.35 mm (0.25 in.) from the panel. Refer to Mounting the 1394 in the Installing Your 1394 chapter for more information.
Page 185: Removing A System Module
Publication number: 9/440 system module 9/Series Integration and Maintenance 8520-6.2 Manual SERCOS system module 1394 SERCOS Multi-Axis Motion Control 1394-5.20 System User Manual To remove a system module: 1. Remove all 360/480V AC input power from the system. ATTENTION: This product contains stored energy devices.
Page 186: Installing A Replacement System Module
(0.25 in.) from the panel. Refer to Mounting Your 1394 System in the Installing Your 1394 chapter for more information. 2. Hang the 1394 System Module on the two mounting fasteners on the left side of the panel. 3. Install the lower fasteners for the system module.
Page 187 (refer to the table above). Note: To determine the series of your module, refer to Figure P.1 in the Preface. Publication 1394-5.0 — May 2000...
Page 188: Replacing System Modules Of The Same Series
2. Go to main step 8. CNC Interface system Go to main step 8. module 8. Apply 360/480V AC input power to the system module. 9. Verify that your system is operating properly. Publication 1394-5.0 — May 2000...
Page 189: Checking For A Blown Fuse In The 1394-Dclm
NFPA 70E. 2. Remove the terminator from the right side of the 1394-DCLM. Figure 9.3 Removing the Terminator from the 1394-DCLM...
Page 190 Right front 1394-DCLM. power connector socket Short (low ohms) Good. Figure 9.5 Checking for a Blown Fuse 1394-DCLM Slide mechanism Top bus (DC+) power connector Bottom bus (DC-) power connector Right front socket Left front socket Publication 1394-5.0 — May 2000...
Page 191: Replacing The 1394 Shunt Module Fuse
Troubleshooting 9-25 Replacing the 1394 Shunt Module To replace the fuse in 1394 shunt modules (Catalog Numbers 1394- SR10A, -SR9A, -SR9AF, -SR36A, and -SR36AF) refer to the Fuse specific set of instructions. Replacing the 1394-SR10A Fuse 1. Remove power from your system including power to the shunt module.
Page 192: Replacing The 1394-Sr9A, -Sr9Af, -Sr36A, And -Sr36Af Fuse
9-26 Troubleshooting Replacing the 1394-SR9A, -SR9AF, -SR36A, and -SR36AF Fuse To replace the 1394-SR9A, -SR9AF, -SR36A, and -SR36AF shunt module fuse: 1. Remove power from your system including the shunt module. ATTENTION: To avoid shock hazard or personal injury, verify that all power has been removed before proceeding.
Page 193 FOR USE WITH 1394-SJT22-X SYSTEM MODULE Door Latch 5. Undo the door panel latch(es). 6. Open the door panel. 7. Locate the fuse holder. Figure 9.9 Locating the Fuse Holder for the 1394 Shunt Modules 1394-SR36A/36AF 1394-SR9A/9AF Fuse Holder Publication 1394-5.0 — May 2000...
Page 194: Removing The Fan
NFPA 70E. 2. Remove the axis module from the 1394 system. Publication 1394-5.0 — May 2000...
Page 195 4. Remove the screws that hold the fan housing to the axis module. Figure 9.11 Fan Housing Screws Screw Screw 5. Gently slide the fan housing out a short distance until you see the fan plug. Figure 9.12 Fan Plug Fan Plug Publication 1394-5.0 — May 2000...
Page 196 9. Remove the screws and nuts that hold the fan to the fan housing. Figure 9.14 Removing Fan Screws and Nuts 10. Remove the fan from the fan housing. Publication 1394-5.0 — May 2000...
Page 197: Installing The New Fan
Make sure you compress the slit in the gasket to minimize the air gap in the gasket. Figure 9.16 Attaching the New Fan Gasket Fan Gasket Slit 4. Press the gasket firmly to the fan housing to secure the gasket. Publication 1394-5.0 — May 2000...
Page 198 9. Secure the fan housing with two M3 x 6 mm screws using 0.70 N-m (6 lb-in.) of torque to the axis module. 10. Place the axis module back into your 1394 system and apply power. Publication 1394-5.0 — May 2000...
Page 199: Specifications
System Specifications General 1394 specifications are provided below. Specifications are for reference only and are subject to change without notice. Certification The 1394 is certified for the following when the product or package is marked: • UL listed (File E59272) •...
Page 200: System Modules
The Standard GMC and GMC Turbo system modules are identical except that the GMC Turbo (1394 x -SJT xx -T) offers a SLC backplane interface and 64K of memory with a 32-bit processor while the Standard GMC (1394 x -SJT xx -C) offers 32K of program memory with a 16- bit processor without the SLC interface.
Page 201: Axis Modules
For the 1394 x -AM50 For the 1394 x -AM75 The: For the 1394 x -AM03 is: For the 1394 x -AM04 is: For the 1394 x -AM07 is: and 1394C-AM50-IH is: and 1394C-AM75-IH is: 0 to 0.05% of base 0 to 0.05% of base...
Page 202: Dc Link Module
For the 1394-DCLM is: Firmware version 5.0 or higher with 1394 x -SJT xx -A systems 3.7 or higher with 1394 x -SJT xx -C- xx and -T- xx systems 3.9 or higher with 1394C-SJT xx -L- xx systems Software GML Commander, version 4.02 or higher...
Page 203: User-Supplied Contactor (M1
The table below shows the requirements for the contactor that you must supply. The contactor: For the 1394-SJT05 and For the 1394C-SJT05 and For the 1394 x -SJT22 is: -SJT10 (Series A and B) is: -SJT10 (Series C) is: Rating 600V AC, 43A...
Page 204: Input Transformer For 24V Control Power
If an upstream circuit protection device is rated for the overload current and short circuit rating, a supplementary circuit protection device (such as the 1492) can be used as the only 1394 branch circuit protection device. The upstream fully rated device let-through must be less than or equal to the 10 kA interrupt rating of the 1492.
Page 205 Stream Breaker Limiting to Short Circuit Rating of Down Stream Breaker Breakers Selected for Device Protection With Limited Short Breakers Selected Circuit Interupt for Device Capability Protection With Limited Short Circuit Interupt Drive Drive Drive Capability Publication 1394-5.0 — May 2000...
Page 206: External Shunt Resistor Kit For 5 And 10 Kw Systems
1394-SR10A shunt fuse. Refer to the Miscellaneous Accessories section in Appendix D for more information. 1394 Shunt Module for the 22 kW System The table below shows the ratings for the 1394 shunt module for the 22 kW system module. Catalog Number Series Letter...
Page 207: Environmental Specifications
Bussmann 600V DC 40A fuse (170N2013) or equivalent. Environmental Specifications Mount the 1394 in an enclosure that is clean and dry [IP55 protection rating minimum (IEC publication 529)]. For enclosures ventilated with ambient air, be sure to have appropriate filtering to protect against contamination.
Page 208: Power Dissipation
A-10 Specifications Power Dissipation The power dissipation characteristics of the 1394 system and axis modules are provided below (use for 480V or 360V input). Important: Use the power dissipation figures shown below to calculate cumulative system heat dissipation to ensure that the ambient temperature inside the enclosure does not exceed 50°...
Page 209: Dc Link Module
(1394x-SJTxx-C-xx, -L-xx, and -T-xx systems). The: Number of encoder inputs 4 (axis 0, 1, 2, and 3) for 1394 x -SJT xx -C- xx and -T- xx systems 2 (axis 0 and 1) for 1394C-SJT xx -L- xx systems Type of encoder input Incremental AB quadrature;...
Page 210: Dedicated Discrete I/O Specifications
Space parity transmitted; receive parity ignored (may be mark, space, even, or odd) Duplex Full or half (user-selectable) Data synchronization XON (control-q)/XOFF (control-s) Front panel connectors IBM-PC/AT compatible 9-pin D-type female RS-422 termination User-selectable 220 ohm resistor via internal switch Publication 1394-5.0 — May 2000...
Page 211: Dh-485 Specifications
• 1794-IE4XOE2; 4 current/voltage analog inputs and 2 current/voltage analog outputs • 1794-IB10XOB6; discrete combination module • 1794-OW8 relay output module • 1794-IF4I isolated analog input module • 1794-OB16P discrete output (protected) Interface Direct; no 1794-ASB or other adapter required Publication 1394-5.0 — May 2000...
Page 212: Gmc System Specifications
Servo gain units P = proportional gain (counts per millisecond/error count) I = integral gain (counts per millisecond/error count) V = velocity gain (millivolts/counts per millisecond) F = feedforward gain (counts per millisecond/ counts per millisecond) Publication 1394-5.0 — May 2000...
Page 213: Remote I/O Adapter Specifications
Block transfer data formats • 32-bit (double-word) 2s compliment integer • 16-bit (single-word) 2s compliment integer • 32-bit (8-digit) signed BCD • 32-bit IEEE floating point • Word-swapped 32-bit (double-word) 2s compliment integer • Word-swapped 32-bit (8-digit) signed BCD • Word-swapped 32-bit IEEE floating-point Publication 1394-5.0 — May 2000...
Page 214: Axislink Specifications
One megabit per second configuration Extended length configuration 500 kbits per second Cable type Standard and extended node Allen-Bradley 1770-CD RIO cable (Belden 9463 or configuration equivalent) Extended length configuration Belden 9182, Carol C8014, or equivalent Cable length Standard and extended node 25 m (82 ft) maximum.
Page 215: Dimensions
Axis modules (including 1394-DIM and 1394-DCLM) • Filters • External shunt modules • Motors 1394 System Module Dimensions Figure A.3 1394 x -SJT05, 1394 x -SJT10 and 1394 x -SJT22 System Module 150.0 (5.91) 25.0 (0.98) 91.0 (3.58) 50.0 8.0 (0.32) (1.97) 26.0 (1.02) Dimensions are in millimeters and (inches) Depth = 280 (11.02)
Page 216: Axis Module Dimensions
A-18 Specifications Axis Module Dimensions Figure A.4 1394 x -AM03, -AM04, -AM07, -DIM, and -DCLM Front View 25.0 8.0 (0.32) (0.98) Dimensions are in millimeters and (inches) Mounting Hole Detail 8.0 (0.31) 10.1 (0.40) 400.0 (15.75) 385.0 Fastener 350.0 15.9 (0.63) (15.16)
Page 217 Specifications A-19 Figure A.6 1394 x -AM50, -AM50-IH, -AM75, and -AM75-IH Axis Module Front View 37.5 8.0 (0.32) (1.48) Dimensions are in millimeters and (inches) Depth = 280 (11.02) Mounting Hole Detail 8.0 (0.31) 400.0 10.1 (0.40) (15.75) Fastener 385.0 (15.16)
Page 218: Filter Dimensions
Filter Dimensions Figure A.9 SP-74102-006-01 Filter Dimensions 11 (0.43) 192 (7.55) 20 (0.78) Load 164 (6.45) Line Dimensions are in millimeters and (inches) 204 (8.03) 214 (8.42) 19 (0.74) 47 (1.85) 192 (7.55) 7.0 (0.275) Publication 1394-5.0 — May 2000...
Page 219 330 (12.99) Figure A.11 SP-74102-006-03 Filter Dimensions 20 (0.78) 646 (25.43) 35 (1.37) Load Line 192 (7.55) Dimensions are in millimeters and (inches) 686 (27.00) 263 (10.35) 35 (1.37) 70 (2.75) 20 (0.78) 646 (25.43) Publication 1394-5.0 — May 2000...
Page 220: External Shunt Dimensions
ATTENTION: To avoid the hazard of shock or burn and ignition of flammable material, provide appropriate guarding. The external shunt resistors and module enclosures can reach temperatures up to 350° C (662° F). Install per local codes. Publication 1394-5.0 — May 2000...
Page 221 Specifications A-23 Figure A.13 1394-SR-9A and -9AF Front View Dimensions Dimensions are in millimeters and (inches) Depth = 280 (11.02) (5.91) Mounting Hole Detail (0.98) (3.94) 8.0 (0.31) 24.8 (0.32) (0.98) 10.1 (0.40) 15.9 (0.63) 1394 Digital Servo Controller (6.10) (6.89)
Page 222 A-24 Specifications Figure A.15 1394-SR-36A and -36AF Front View Dimensions (5.91) (0.98) 24.8 (3.94) (0.32) (0.98) Dimensions are in millimeters and (inches) Depth = 280 (11.02) Mounting Hole Detail 8.0 (0.31) 10.1 (0.40) 1394 Digital Servo Controller 3600W Shunt Module (13.78)
Page 223: Motor Dimensions
If ordering a 1326AB- B4xxxx- 21-x K4L with optional 24V DC, 8.1 N-m (72 lb-in.) brake (IP67 rated), add 45 mm (1.75 in.) to AD, AG and C. Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft tolerance per DIN 42955, “ N ” tolerance. Publication 1394-5.0 — May 2000...
Page 224 If ordering a 1326AB- B5xxxx- 21-x K5L with optional 24V DC, 13.6 N-m (120 lb-in.) brake (IP67 rated), add 76.2 mm (3.0 in.) to AD, AG and C (38.1 mm (1.5 in.) to AL). Dimensions are per NEMA Standards MG 7- 2.4.1.3 and IEC 72-1. Shaft tolerance per DIN 42955, ” N ” tolerance. Publication 1394-5.0 — May 2000...
Page 225 If ordering a 1326AB- B7xxxx-21- x K7L with an optional 24V DC, 45.1 N- m (400 lb-in.) brake (IP67 rated), add 76.2 mm (3.0 in.) to AD, AG and C (38.1 mm (1.5) to AL). Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft tolerance per DIN 42955, ” N ” tolerance. Publication 1394-5.0 — May 2000...
Page 226 If you are ordering a 1326AS-B3 xxxx -21-K3 with an optional 24V DC 2.26 N-m (20 lb-in.) brake, add 39 mm (1.54 in.) to AD, AG and C. Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft and pilot tolerances are per DIN 42955, N tolerance. Publication 1394-5.0 — May 2000...
Page 227 If you are ordering a 1326AS-B4 xxxx -21-K4 with an optional 24V DC 10.2 N-m (90 lb-in.) brake, add 46 mm (1.81 in.) to AD, AG and C. Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft and pilot tolerances are per DIN 42955, N tolerance. Publication 1394-5.0 — May 2000...
Page 228 Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft and pilot tolerances are per DIN 42955, N tolerance. The eye bolt diameter is 30.48 mm (1.20 in) O.D. x 19.05 mm (0.75 in) I.D. Publication 1394-5.0 — May 2000...
Page 229 Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft and pilot tolerances are per DIN 42955, N tolerance. The eye bolt diameter is 38.1 mm (1.50 in) O.D. x 22.35 mm (0.88 in) I.D. Publication 1394-5.0 — May 2000...
Page 230: Servo Motor Performance Data
All ratings are for 40° C (104° F) motor ambient,110° C (212° F) case, 50° C (122° F) amplifier ambient and 40° C (104° F) external heatsink ambient (AM50 and AM75). For extended ratings at lower ambients contact Allen-Bradley. Limited by axis module continuous current.
Page 231: 1326As Performance Data
All ratings are for 40° C (104° F) motor ambient,110° C (212° F) case, 50° C (122° F) amplifier ambient and 40° C (104° F) external heatsink ambient (AM50 and AM75). For extended ratings at lower ambients contact Allen-Bradley. Limited by axis module continuous current.
Page 232 A-34 Specifications Publication 1394-5.0 — May 2000...
Page 233: Interconnect And Ce Diagrams
GMC, CNC interface, and analog servo interconnect diagrams • GMC and analog servo thermal interconnect diagrams • Cable pin-outs • Grounding for 1394 CE requirements Refer to the 9/Series Integration and Maintenance Manual (8520-6.2) for 9/440 information. Publication 1394-5.0 — May 2000...
Page 234: Gmc, Analog Servo, And Cnc Interface Interconnect Diagrams
The brake circuit must be routed to the CNC output module. The brake control logic must be configured in PAL. There is no internal shunt resistor in the 22 kW smart system module. An external shunt resistor module (1394-SR x A x ) must be used.
Page 235: 1394 Gmc Interconnections
Interconnect and CE Diagrams 1394 GMC Interconnections Figure B.1 Bottom Front of the GMC (1394 x -SJT xx -C) and GMC Turbo (1394 x -SJT xx -T) System Modules Left Side Right Side RS-232/RS-422 AxisLink RS-232 RS-422 TXD+ C LEAR TXD–...
Page 236 Interconnect and CE Diagrams Figure B.2 GMC System Interconnection Diagram (1394 x -SJT xx -C and -T) 1394 GMC AND GMC TURBO RIO BOARD SYSTEM MODULE NOTES 8, 9 CONTROL POWER BLUE & SIGNALS NOTE 17 SHIELD CLEAR DC MINUS BUS DC BUS POS.
Page 237 5, 10, and 22 kW (Series A and B) only SEE BOTTOM VIEW IMPORTANT: GROUND BAR* MUST BE AS CLOSE TO DRIVE AS POSSIBLE MOTOR FOR RESOLVER CONNECTIONS RESOLVER * INDICATES USER SUPPLIED COMPONENT 1326A x AC SERVO MOTOR Publication 1394-5.0 — May 2000...
Page 238 TX ENAB FLASHING RED/GREEN = READY, BUS NOT UP SHIELD FLASHING RED = FAULT SOLID RED = HARDWARE FAILURE 5 AND 10 KW INPUT POWER SYSTEM MODULE GROUND BAR FACILITY GROUND * INDICATES USER-SUPPLIED COMPONENT Publication 1394-5.0 — May 2000...
Page 239 See Thermal Diagrams for Connections MOTOR POWER CABLE NOTE 4 B1 K2 BRAKE SYSTEM MODULE THERMOSTAT GROUND BAR 3.3 mm (12 AWG) MOTOR POWER SEE BOTTOM VIEW FOR RESOLVER CONNECTIONS MOTOR RESOLVER 1326A x AC SERVO MOTOR Publication 1394-5.0 — May 2000...
Page 240 The RIO/AxisLink option (-RL) must be ordered with TXD+ RXD+ System module. It is installed at the factory. You cannot order these individually. RXD+ AxisLink and RIO board connections use Allen-Bradley 1770-CD (Belden 9463 or equivalent). RS-232/RS-422 DH-485 Flex I/O FLEX I/O MODULES...
Page 241: 1394 Analog Servo Interconnections
Interconnect and CE Diagrams 1394 Analog Servo Interconnections Figure B.5 Bottom Front of the 1394 Analog Servo System Module Left Side Right Side SCANport AQB Encoder Feedback Output AQB0 Resolver Feedback Input AXIS 0 WIRE #1 - BLACK - AXIS X R1...
Page 242 B-10 Interconnect and CE Diagrams Figure B.6 Analog Servo System Interconnect Diagram 1394 ANALOG SERVO SYSTEM MODULE CONTROL POWER & SIGNALS NOTE 17 DC MINUS BUS DC BUS POS. DC BUS NEG. NOTE 13 Refer to the Wiring System, Axis, and Shunt Modules,...
Page 243 5, 10, and 22 kW (Series A and B) only SEE BOTTOM VIEW IMPORTANT: GROUND BAR* MUST BE AS CLOSE TO DRIVE AS POSSIBLE MOTOR FOR RESOLVER CONNECTIONS RESOLVER * INDICATES USER SUPPLIED COMPONENT 1326A x AC SERVO MOTOR Publication 1394-5.0 — May 2000...
Page 244: 1394 Cnc Interconnections
WIRE #3 - BLACK - AXIS X S4 WIRE #3 - GREEN - AXIS X S2 WIRE #3 - SHIELD CABLE SHIELD DRIVE O.K. RELAY DRIVE OK1 TO 9/SERIES RATED AT 115VAC, 24VDC, DRIVE OK2 E-STOP STRING 1A INDUCTIVE Publication 1394-5.0 — May 2000...
Page 245 3.3 mm 2 (12 AWG) IMPORTANT: GROUND BAR MUST BE AS FACILITY GROUND CLOSE TO DRIVE AS POSSIBLE Motor 3.3 mm 2 (12 AWG) OPTIONAL THREE- PHASE INPUT NEUTRAL Resolver INDICATES USER SUPPLIED COMPONENT 1326AB AC SERVOMOTOR Publication 1394-5.0 — May 2000...
Page 246: Thermal Interconnect Diagrams
GMC, GMC Turbo, and Analog Servo system modules. Depending on the series of your of 1394 axis module, your customer control devices may require isolation the from the motor’s conducted noise. When using 1394 (Series A and B) axis modules, an isolated 24V DC power supply and relay is recommended.
Page 247: 1394 Gmc Systems (1394 X -Sjt Xx -C And -T
Interconnect and CE Diagrams B-15 1394 GMC Systems (1394 x -SJT xx -C and -T) The example below shows 1394 (Series C) axis modules with internal brake and thermal switch filtering. Separate isolation power supply and relay are not required.
Page 248 B-16 Interconnect and CE Diagrams The example below shows 1394 (Series C) axis modules wired for thermal fault monitoring. Depending on how the 1394 GMC system is configured, the fault can be used to disable one or all of the four axis modules.
Page 249 Interconnect and CE Diagrams B-17 The example below shows 1394 (Series A and B) axis modules (no internal brake or thermal switch filter). Separate 24V DC isolation power supply and relay (CR2) are recommended. Figure B.10 Isolated Series E-Stop Axis 0...
Page 250 B-18 Interconnect and CE Diagrams The example below shows 1394 (Series A and B) axis modules wired for thermal fault monitoring. Depending on how the 1394 GMC system is configured, the fault can be used to disable one or all of the four axis modules.
Page 251: 1394 Gmc Systems (1394C-Sjt Xx -L
Drive OK 120V AC, Relay 50/60 HZ The example below shows a 1394 (Series C) axis module wired for thermal fault monitoring. The fault can be used to monitor or disable the axis. Figure B.13 Non-Isolated Series E-Stop with Thermal Fault Monitoring...
Page 252 B-20 Interconnect and CE Diagrams The example below shows a 1394 (Series A and B) axis module (no internal brake and thermal switch filter). Separate 24V DC isolation power supply and relay (CR2) are recommended. Figure B.14 Isolated Series E-Stop...
Page 253: 1394 Analog Servo Systems (1394 X -Sjt Xx -A
Interconnect and CE Diagrams B-21 1394 Analog Servo Systems (1394 x -SJT xx -A) The example below shows 1394 (Series C) axis modules with internal brake and thermal switch filtering. Separate isolation power supply and relay are not required. Figure B.16...
Page 254 B-22 Interconnect and CE Diagrams The example below shows 1394 (Series A and B) axis modules (no internal brake and thermal switch filter). Separate 24V DC isolation power supply and relay (CR2) are recommended. Figure B.17 Isolated Series E-Stop Axis 0...
Page 255 0.519 (20) Shield 0.519 (20) no connection White/Black (Axis_0_S1) 0.519 (20) White/Red (Axis_0_S3) 0.519 (20) Shield 0.519 (20) no connection White/Black (Axis_0_S4) 0.519 (20) White/Green (Axis_0_S2) 0.519 (20) Shield 0.519 (20) no connection Green/Yellow no connection Publication 1394-5.0 — May 2000...
Page 256 Black 0.34 (22) Common 0.34 (22) Black 0.34 (22) Z (NOT) Orange 0.34 (22) Black 0.34 (22) B (NOT) Blue 0.34 (22) Black 0.34 (22) Common Green 0.34 (22) no connection Braided Shield N/A Shield Publication 1394-5.0 — May 2000...
Page 257 White 5.3 (10) 4 (Brake) White 1.3 (16) TB1-3 5 (Thermostat) White 1.3 (16) TB1-2 6 (Brake) White 1.3 (16) TB1-4 Braided Shield Braided Shield (GND) Green/Yellow 3.3 (12) 9 (Thermostat) White 1.3 (16) TB1-1 Publication 1394-5.0 — May 2000...
Page 258: Cable Pin-Outs
B-26 Interconnect and CE Diagrams 1394 Cable Pin-outs Pin-outs and interconnect information for the 1394 interconnect cables are provided starting below. Figure B.18 1394-CCAE01, -03, -08, and -15 Cable Pin-outs RED 22GA BLACK 22GA +5VCOM DRAIN ORANGE 22GA +CHA-0 CHANNEL A HIGH...
Page 259 Interconnect and CE Diagrams B-27 Figure B.20 1394-CFLAE01, -03, -08, -15 Cable Pin-outs RED 22GA BLACK 22GA +5VCOM DRAIN ORANGE 22GA CHANNEL A HIGH WHT/ORG 22GA CHANNEL A LOW YELLOW 22GA CHANNEL B HIGH WHT/YEL 22GA CHANNEL B LOW GREEN 22GA...
Page 260 Customer supplied 5V DC power source is required for encoder board whether encoder supply voltage is 5V or not. Figure B.23 1394-GR04 Cable Connections 4100-REC Axis 0 or 1394 GMC or GMC Turbo Axis 1 Connector Encoder Feedback Connector Black White...
Page 261 Black Axis X VREF- Analog Input White Axis X TREF+ (V&TREF) Black Axis X TREF- Shield Cable is Belden 9729 Shield +5V Input Encoder Power Black Common In (ENC. PWR) Cable is Belden 9501 Shield Publication 1394-5.0 — May 2000...
Page 262: Grounding For 1394 Ce Requirements
MIF330-GS, or MIF375-GS respectively). Mount the filter as close to the 1394 as possible. Isolate filtered conductors from unfiltered conductors. It is recommended to mount the filter to the right of the axis modules to simplify routing of filtered (clean) and unfiltered (noisy) wiring. The load end of the filter is considered noisy and should be routed carefully away from clean signal wires.
Page 263: Using The Human Interface Module (Him)
Note: To determine the series of your module, refer to Figure P.1 in the Preface. The drive-mounted HIM, which is available only with the analog servo version of the 1394, is accessible from the front of the drive as shown in Figure C.1. The HIM has two main functions: •...
Page 264: Understanding Him Keys
1394 Digital Servo Controller System Module There are two SCANports located on the 1394 analog servo board. Port 1 is located at the top of the analog servo board and port 2 is located at the bottom of the analog servo board.
Page 265 Stop command, Start initiates drive operation (default setting). To change this function, you need to reconfigure the [Command Mask] and [Typ 1 Logic Axis] parameters. Refer to the Configuring Your 1394 Analog Servo System chapter. ATTENTION: To avoid personal injury or damage to equipment, you must supply a 24V DC enable signal to the axis that is in START mode.
Page 266: Understanding Him Operation
To change this function, you need to reconfigure the [Command Mask] and [Typ 1 Logic Axis] parameters. Refer to the Configuring Your 1394 Analog Servo System chapter for more information. To jog for the axis: 1.
Page 267: Understanding Him Modes
Refer to Linking Parameters for more information. Startup Mode Startup mode initiates the auto startup procedure for the 1394. Refer to the Configuring Your 1394 Analog Servo System chapter for more information.
Page 268: Search Mode
Choose Mode Display 2. Press either the up or down arrow key until the following appears: Choose Mode Link 3. Press ENTER. The system records your choice and the following message appears: Link Set Links Publication 1394-5.0 — May 2000...
Page 269: Using Copy Cat
It copies parameters and links and pastes all the read/write parameters and links to another drive. You can store copies of up to two different systems in the HIM at one time. Publication 1394-5.0 — May 2000...
Page 270: Copying A System's Information
A originally appeared becomes the first letter of the name that you want this copy to have. 9. Press SEL. The letter is selected, appears on the display and another A appears next to it. Publication 1394-5.0 — May 2000...
Page 271: Pasting A System's Information
Choose Mode EEPROM 4. Press ENTER. The system records your choice and the following message appears: EEPROM Save Values 5. Press either the up or down arrow key until the following appears: EEPROM HIM -> Drive Publication 1394-5.0 — May 2000...
Page 272: Auto Tuning
The procedures in this section describe how to auto tune at other times. It also includes details on parameters that are set as a result of auto tuning. 1. Access the "ATune Config" group of parameters. Publication 1394-5.0 — May 2000...
Page 273: Getting An Overview Of Him Programming
BW can help. • Adjust Kp and Ki manually to obtain the desired response. Getting an Overview of HIM Programming The diagram on the following pages provides an overview of how the HIM operates. Publication 1394-5.0 — May 2000...
Page 274 Vel Rate Lim Enble Input Mode Hardware Version CW OvSpd Vel CCW OvSpd Vel Stop Mode Stopping Cur Stop Time Lim Jog Vel Up To Spd Tol Anlg Vel Ofst PARAMETER LEVEL Anlg Vel Scal Publication 1394-5.0 — May 2000...
Page 275 100% Torq Vel Prop Gain Kp Cur Preload Mtr Pole Cnt Intg Gain Ki Module Size Fdbk Pole Cnt Cur Fbk Rated PARAMETER LEVEL Note: Parameters that appear in more than one group are shown in Bold Publication 1394-5.0 — May 2000...
Page 276: Removing The Him
Disconnecting the HIM from the System Module Important: Disconnecting a HIM (or other SCANport device) from the 1394 while power is applied can cause a Serial Fault. Before you disconnect the HIM, you need to disable it. To disable the HIM: 1.
Page 277: Setting Up The Him For Hand-Held Use
2. Connect the appropriate cable between the HIM and the communications port. Note: A second SCANport connection is available (communications port 2) at the bottom of the system module. This port can also be used for a hand-held HIM. 3. Apply power. Publication 1394-5.0 — May 2000...
Page 278: Placing The Him In The Him Cradle
2. With the keypad facing you, slide the top of the HIM up into the HIM cradle and push the bottom end of the HIM into the cradle until the tabs latch the HIM. The tabs lock the HIM into place. Publication 1394-5.0 — May 2000...
Page 279: Catalog Numbers
The options must appear in the order shown. 1394series-SJT kw rating-option-RL option For example, if you were to use the table in the following section 1394 System Modules to select the Series C, 5 kW, integrated motion controller, with RIO and Axis Link, the catalog number would be:...
Page 280: System Modules
5 = 5 kW 10 = 10 kW 22 = 22 kW Note: 8520-C (Series C) system modules include Smart Power, improved terminations, and EMI filtering. Refer to 9/Series Integration and Maintenance Manual (publication 8520-6.2) for more information. Publication 1394-5.0 — May 2000...
Page 281: Cnc Serial Drive System Module
4Q = Two more ports Encoder Feedback Blank = no option Note: 8520-CHR (Series C) system modules include Smart Power, improved terminations, and EMI filtering. Refer to 9/Series Integration and Maintenance Manual (publication 8520-6.2) for more information. Publication 1394-5.0 — May 2000...
Page 282: Axis Modules
SR = Shunt resistor 9A = 300W continuous 160,000W peak, no fan 9AF = 900W continuous, 160,000W peak, no fan 36A = 1800W continuous, 160,000W peak, no fan 36AF = 3600W continuous, 160,000W peak, fan cooled module Publication 1394-5.0 — May 2000...
Page 283: System Module Cables
AE = Analog/Encoder ControlLogix Servo Module 01 = M02AE pre-wired connector to 1394 x -SJT xx -A flying lead, 2 axes, 1 m (3.28 ft) 03 = M02AE pre-wired connector to 1394 x -SJT xx -A flying lead, 2 axes, 3 m (9.84 ft) 08 = M02AE pre-wired connector to 1394 x -SJT xx -A flying lead, 2 axes, 8 m (26.24 ft)
Page 284: 1326Ab Servo Motors
AB4 = For a B4 series motor (IEC metric) B2 = For a B5 series motor (IEC metric) C2 = For a B7 series motor (IEC metric) Note: This kit is not required for IP67 motors. The shaft seal is factory installed. Publication 1394-5.0 — May 2000...
Page 285: Motor Junction Box Kit For 1326Ab Motors
Bulletin Type Adapter Kit Number 1326AB MOD = Modification Kit M40 = Allen-Bradley 845H Encoder for the B4 series motor M50 = Allen-Bradley 845H Encoder for the B5 series motor M60 = Allen-Bradley 845H Encoder for the B7 series motor...
Page 286: 1326As Servo Motors
Nitrile shaft seal for 1326AS-B3 xxxx motors 5065 = 5066 = Nitrile shaft seal for 1326AS-B4 xxxx motors 5067 = Nitrile shaft seal for 1326AS-B6 xxxx motors 5053-005 = Nitrile shaft seal for 1326AS-B8 xxxx motors Publication 1394-5.0 — May 2000...
Page 287: Motor Junction Box Kit For 1326As Motors
Bulletin Type Adapter Kit Number 1326AS MOD = Modification Kit M32 = Allen-Bradley 842A-31 Encoder for the B3 series motor M42 = Allen-Bradley 842A-31 Encoder for the B4 series motor M62 = Allen-Bradley 842A-31 Encoder for the B6 series motor...
Page 288: 1326Ah Servo Motors
3 = Brake for motor with 100 mm (3.93 in.) bolt circle 4 = Brake for motor with 115 mm (4.52 in.) bolt circle 5 = Brake for motor with 165 mm (6.49 in.) bolt circle Publication 1394-5.0 — May 2000...
Page 289: Power And Feedback Cables
L = IP67, harsh environment 005 = 5m (16.4 ft) 015 = 15m (49.2 ft) 030 = 30m (98.4 ft) 060 = 60m (196.8 ft) 084 = 84m (275.5 ft) 090 = 90m (295.2 ft) Publication 1394-5.0 — May 2000...
Page 290: Motor Feedback Cables
E = 845H encoder U = Commutation and encoder cable for all series motors 15 = 15 ft 30 = 30 ft 50 = 50 ft 100 = 100 ft Recommended for use with 12V encoders only. Publication 1394-5.0 — May 2000...
Page 291: Miscellaneous Accessories
Brake and thermal connector operating tool Wago 231-304 Auxiliary encoder connector kit 8520-M12F Fan replacement kit for 1394-AM50/AM75 axis modules SP-74102-271-01 Kit, fuse, for 1394-SR10A (5 and 10 kW system modules) 1394-SR10A-FUSE-A Bussmann FWP-40A14F Kit, fuse, for 1394-SR9A (Series B) 1394-SR9A-FUSE-B...
Page 292: Publication 1394- 5.0 — May
D-14 Catalog Numbers Publication 1394-5.0 — May 2000...
Page 293 Index Numerics 1394 System Safety Precautions 1-2 1394-DCLM 1326 cable pin-outs checking for a blown fuse 9-23 1326-CCUT- xxx flex rated commutation DC link cable 1-14 cable B-23 dimensions A-18 1326-CCU- xxx standard commutation cable B-23 linking two DCLMs together 2-11...
Page 294 D-5 overview 1-5 system module D-5 commissioning two-axis prewired D-5 1394 GMC and GMC turbo systems 6-1 connecting 1394 Analog Servo to ControlLogix configuring (connector) B-26 1394 analog servo system 8-1 connecting 1394 Analog Servo to ControlLogix...
Page 295 9-10 exiting understanding before you finish setting up for analog servo 7-2 analog servo systems 9-10 extended length AxisLink 4-15 axis module 9-12 external shunt viewing status dimensions A-22 continuous (GMC) 9-6 instantaneous (GMC) 9-5 Publication 1394-5.0 — May 2000...
Page 296 PE ground for safety 3-12 analog servo, 1394 x -SJT xx -A B-21 system to subpanel 3-12 GMC, 1394C-SJT xx -L B-19 to meet CE requirements B-30 GMC, 1394 x -SJT xx -C and -T B-15 Publication 1394-5.0 — May 2000...
Page 297 GMC system 9-2 external shunt resistor 2-11 I/O ring status 9-3 GMC and GMC turbo systems 2-16 R-I/O 9-3 mounting your 1394 system 2-8 status 9-2, 9-3, 9-4 requirements system module 9-2 See system mounting requirements system module status 6-3, 7-3, 7-11...
Page 298 5-7 AxisLink A-16 analog servo System 1-7 dedicated discrete I/O A-12 SERCOS System 1-6 DH-485 A-13 wiring for 1394 analog servo system 5-1 encoder input A-11 SERCOS system flex I/O A-13 overview 1-6 GMC system A-14 serial communications 4-11...
Page 299 A-2 DROK 4-24 system mounting requirements 2-3 unpacking modules 2-3 layout on subpanel 2-4 user-supplied components mounting 1394 x -AM50/75 heatsink through the See specifications back of the cabinet 2-6 spacing 2-3 vibration A-9 terminal operating tool 4-4, 5-2, D-13...
Page 300 I–8 Index Publication 1394-5.0 — May 2000...
Page 301 For more information refer to our w eb site: w w w .ab.com/motion For Rockw ell Automation Technical Support information refer to: w w w .rockw ellautomation.com/ support or Tel: (1) 440.646.3434 Publication 1394-5.0 — May 2000 74102-200-07 Supersedes Publication 1394-5.0 — November 1999 Copyright 2000 Allen-Bradley Company, Inc. Printed in USA...

Allen-Bradley 1394 User Manual

Chapter 1 Series Note

Chapter 2

Chapter 3

Chapter 4

Chapter 5

Chapter 6

Chapter 7

Chapter 8

Chapter 9

Appendix A System Specifications

Appendix B

Appendix C

Appendix D Determining Catalog Numbers

Quick Links

Troubleshooting

Need help?

Questions and answers

Related Manuals for Allen-Bradley 1394

Summary of Contents for Allen-Bradley 1394