Rockwell-automation 1326 Digital AC Multi-Axis Motion Control System U Instrukcja Użytkownika Pobierz pdf (Strona 10)

Publication 1394-5.0 — May 2000

viii Table of Contents

1 2 ... 5 6 7 8 9 10 11 12 13 14 15 ... 300 301

1394 Digital AC 1
Multi-Axis 1
Motion Control 1
Allen-Bradley 1
Important User 2
Information 2
Table of Contents 3
Chapter 3 4
Modules, and Motors 4
(for all systems) 4
Chapter 4 5
Chapter 5 5
Specifications 7
Appendix B 8
Appendix C 8
Appendix D 9
Catalog Numbers 9
Who Should Use this Manual 11
Purpose of this Manual 11
Contents of this Manual 12
Related Documentation 13
Module Series Designator 13
1394 Product Receiving and 14
Storage Responsibility 14
Allen-Bradley Support 14
Overview 15
Safety Precautions 16
1394 System Overview 17
Figure 1.2 18
-C and 1394C-SJT 18
CNC Interface System 19
SERCOS System 20
Analog Servo System 21
9/440 CNC System 22
Terminal type connection 23
Optical signal cable 23
1326AB Motors 26
1326AS Motors 26
1326AH Motors 27
Standard Features of the 1394 29
1-16 Overview 30
Installing Your 1394 31
Before Mounting Your System 32
Unpacking Modules 33
System Mounting Requirements 33
Figure 2.1 34
Figure 2.2 35
1394 Mounting Hole Layout 35
Bonding Your System 36
Figure 2.4 37
Bonding Examples 37
Mounting Your 1394 System 38
Engaged alignment tab 39
Slide-and-Lock 40
Mechanism 40
Attach the 40
Power Plug 41
Incorrect Shunt Placement 42
Figure 2.13 43
Figure 2.14 44
Mounting the Shunt Module 45
Figure 2.15 46
Understanding Basic Wiring 48
Requirements 48
Figure 3.1 49
System Module Wire Sizes 50
Shielding 50
EMI/RFI Shielding 50
EMI/RFI Bonding 50
Input Power Conditioning 51
Grounded Power Configuration 52
Figure 3.3 53
Figure 3.4 55
Figure 3.5 56
Figure 3.6 56
Figure 3.7 57
Grounding Your 1394 System 58
Ground grid or power 59
Always follow NEC and 59
Figure 3.11 61
Figure 3.12 62
Required Tools and Equipment 63
(Series C) 64
Figure 3.13 66
Locating TB1 and TB2 66
Figure 3.14 68
Resistor 72
Figure 3.15 73
Figure 3.16 73
1394 bottom view 74
Remove jumper 74
Wiring the Shunt Module Power 75
Figure 3.18 76
Figure 3.19 77
Connected to COL on the 78
22 kW System Module 78
Connected to DC + on the 78
Wiring Shunt Module Fan Power 79
Wiring the fan for 115V 80
To power supply 80
Figure 4.1 82
Input Wiring Board for 1394 82
-C, -C-RL and -T, -T-RL 82
Figure 4.2 83
-L and -L-RL 83
Figure 4.4 85
Typical Registration Inputs 87
Figure 4.6 88
Encoder Feedback Wiring 90
Serial Communications 91
Data Highway Connection 92
AxisLink 94
GMC Turbo System 95
Remote I/O 96
Flex I/O 96
SLC Interface 97
Figure 4.17 98
Axis connections 99
1394-DIM with 1398-DDM 100
System Example 100
1394-DIM Configurations 101
Configuration Examples 102
Figure 4.24 103
Figure 4.23 103
Understanding DIM Signals 104
Drive Enable Output 105
Analog Output 105
Belden 8163 106
DIM cable connector 106
Terminal open 107
Terminal closed 107
Insert cable wires into the 108
Figure 4.32 109
1394-GE15 Cable Connections 109
Chapter Objectives 111
Finding Additional Wiring 111
Information for 1394 Systems 111
Understanding Analog Servo 111
Wiring and Connections 111
Input Wiring Board Layout 112
Flat tab 113
Insert wire 113
Connecting AQB and SCANport 115
Figure 5.4 116
SCANport Adapter 117
Turbo Systems 119
Applying Power to the System 120
Commander 121
Preparing the System 122
Before You Begin 123
Servo System 125
Setting Up Analog Test Points 129
Defining Your Motor 129
Ax:Mode Sel 130
Anlg Vel 130
Ax:Current Limit 132
+8.43 amps 132
Ax:Vel Ref Whole 132
<204 > <---352 132
Defining Limits 134
Performing the Auto Tune 135
Troubleshooting 135
GML Programming Manual 137
System Parameters 139
[100% Torq Vel] 140
[300%Torq Vel] 140
[Anlg Vel Ofst] 140
[Anlg Vel Scal] 140
[ATune Current] 140
Appendix A 141
[Axis Type] 142
[Bridge Lim] 142
[Bus Voltage] 142
[CCW OvSpd Vel] 142
[CCW Vel Lim] 142
[Command Mask] 143
[Cur Fbk Rated] 143
[Cur Fbk Scale] 143
[Cur Lim Cause] 143
[Cur Preload] 143
[Cur Rate Lim] 144
[Current Limit] 144
[CW OvSpd Vel] 144
[CW Vel Lim] 144
[D/A #x Gain] 144
[D/A #x Value] 145
[DC Link Setup] 145
[Desired BW] 145
[Dig Cmd Mode] 145
[Dig Torq Ref] 145
[Disp-D/A Monitor] 146
[Drive OK Mode] 146
[Enabled Days] 147
[Enabled Minutes] 147
[Fdbk Pole Cnt] 147
[Language Sel] 150
[Ld/Lg Degrees] 150
[Ld/Lg Freq] 150
[Line Voltage] 150
[Max Bandwidth] 150
[Mod Rng Data] 151
[Mode Sel] 151
[Module Size] 151
[Mt Power Usage] 152
[Motor Type] 152
[Mtr Inertia] 153
[Mtr Peak Cur] 153
[Mtr Pole Cnt] 153
[Mtr Rated Cur] 153
[Neg Cur Lim] 153
[Shunt P] 156
[Shunt Peak Usage] 156
[Shunt R] 156
[Shunt Type] 156
[Shunt Usage] 156
[Sys Mod Data] 159
[Sys Mod Status 2] 159
[System Type] 159
[Test Mode Sel] 159
[Torq Source] 160
[Typ 1 Logic Axis] 161
[Type 1 Status] 161
[Type 2 Status] 161
[Units Sel] 161
[Up To Spd Tol] 161
Underdamped 162
Critically Damped 162
Overdamped 162
[Vel Rate Lim] 163
[Vel Ref Fract] 163
[Vel Ref Whole] 163
[Vel Source] 163
1394 Analog Servo Software 164
Diagrams 164
Figure 8.2 165
Module LEDs 168
Axis Module Status 170
Understanding System Faults 171
9-6 Troubleshooting 172
Fault Number 173
Fault Name 173
Hard Fault Indicator 173
Source of Fault 173
Finding CNC Interface Faults 174
Understanding GMC Turbo and 175
GMC Controller Faults 175
System Module Faults 176
Problems 179
Motor does not respond to 180
Presence of noise on 180
Command or resolver 180
Replacing System and Axis 182
Removing an Axis Module 183
9-18 Troubleshooting 184
Removing a System Module 185
9-20 Troubleshooting 186
Troubleshooting 9-21 187
9-22 Troubleshooting 188
Terminator 189
Cable plug 189
DCLM cable 189
Figure 9.5 190
Checking for a Blown Fuse 190
Fuse holder 191
1394-SR36A/36AF 192
1394-SR9A/9AF 192
Fuse Label 192
Figure 9.8 193
Figure 9.9 193
Module Fan 194
Fan Housing 195
Fan Plug 195
Fan Gasket 196
Appendix 199
System Modules 200
Axis Modules 201
Contact Ratings 201
DC Link Module 202
Drive Interface Module 202
Circuit Breakers 204
Figure A.1 205
Figure A.2 205
Environmental Specifications 207
Power Dissipation 208
Communication Specifications 209
Serial I/O Specifications 210
DH-485 Specifications 211
Flex I/O Specifications 211
GMC System Specifications 212
AxisLink Specifications 214
Dimensions 215
Axis Module Dimensions 216
Specifications A-19 217
Filter Dimensions 218
Figure A.10 219
Figure A.11 219
External Shunt Dimensions 220
Figure A.13 221
Figure A.14 221
Figure A.15 222
Figure A.16 222
Motor Dimensions 223
Figure A.18 224
Figure A.19 225
Name Plate Detail 226
Figure A.23 229
1326AS-B8 Series Servo Motor 229
Servo Motor Performance Data 230
1326AS Performance Data 231
A-34 Specifications 232
Interconnect and CE Diagrams 233
GMC, Analog Servo, and CNC 234
1394 GMC Interconnections 235
Figure B.2 236
-C and -T) 236
AXIS MODULE (TYPICAL) 237
Figure B.3 238
(1394C-SJT 238
Left Side 240
Right Side 240
Left Side Right Side 241
SUB PANEL 241
Figure B.6 242
CNC Input Wiring Board 244
CNC Interface Board 244
9/SERIES CNC 244
CNC SYSTEM MODULE 244
Resolver 245
Thermal Interconnect Diagrams 246
1394 GMC Systems (1394 247
Axis 0 Axis 1 Axis 2 Axis 3 248
Figure B.11 250
1394 GMC Systems (1394C-SJT 251
Figure B.14 252
Isolated Series E-Stop 252
Figure B.15 252
Axis 0 Axis 1 Axis 2 253
Cable Pin-outs 255
1394 Cable Pin-outs 258
5V ENC PWR - AXIS 0 259
M02AE - OK 259
1394-CFLAE 259
1756-M02AE 259
Figure B.22 260
Figure B.23 260
1394-GR04 Cable Connections 260
Figure B.24 261
1394-SA15 Cable Connections 261
Figure B.25 262
1394 CE Requirements 262
Understanding HIM Keys 264
Understanding HIM Operation 266
Understanding HIM Modes 267
Linking Parameters 268
Using Copy Cat 269
Auto Tuning 272
OPERATOR LEVEL 274
MODE LEVEL 274
FILE LEVEL 274
GROUP LEVEL 274
PARAMETER LEVEL 274
Removing the HIM 276
8520 C 280
9/Series Integration and 281
External Shunt Modules 282
Control Interface Cables 283
Single Axis Flying Lead Cable 283
Two-Axis Prewired Cable 283
1326AB Servo Motors 284
Catalog Numbers D-7 285
1326AH Servo Motors 288
Power and Feedback Cables 289
Motor Feedback Cables 290
Miscellaneous Accessories 291
D-14 Catalog Numbers 292
Numerics 293
I–2 Index 294
Index I–3 295
I–4 Index 296
Index I–5 297
I–6 Index 298
Index I–7 299
I–8 Index 300

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