Rockwell-automation 1391 USER MNL/DIGITAL AC SERVO DR Instrukcja Użytkownika

User Manual1391-DES DigitalAC Servo Drive

Chapter2-1SpecificationsChapter Objectives Chapter two contains the electrical and environmental specifications for the1391-DES. Dimensions are provi

Chapter 11Troubleshooting11-6Troubleshooting TablesTable 11.B provides a listing and description of the faults shown throughthe front panel display. A

Chapter 11Troubleshooting11-7Table 11.BFault Descriptions and Diagnostics (Continued)Potential CauseFault DescriptionFault/MessageOvervoltage“bus over

Chapter 11Troubleshooting11-8Table 11.CGeneral System Troubleshooting Possible Cause1. The velocity feedback, position feedback device or velocity com

Chapter 11Troubleshooting11-9Table 11.DGeneral Servomotor TroubleshootingPossible Cause1. The motor connections are loose or open.2. Foreign matter is

Chapter 11Troubleshooting11-10Table 11.ETest Point DescriptionsTest Point DescriptionTP2 Resolver: 8.000 kHz sine wave 3.0V RMSTP7 Triangle: Triangle

Chapter 11Troubleshooting11-11Figure 11.11391-DES Test Point LocationsA Quad B BoardTP42TP13TP14TP12TP41TP40TP11TB311S1Main Logic Control Board1TB2TP7

Chapter 11Troubleshooting11-12End of Chapter

AAppendixA-1DimensionsFigure A.11391-DES Dimensions Dimensions are in inches and (millimeters)17.13(435.1)18.40(467.4)19.00(482.6)4.50 (114.3)6.20 (15

Appendix ADimensionsA-2Figure A.21391 Isolation Transformer DimensionsDimensions are in inches and (millimeters)Catalog Number1391-T015DT1391-T015ET/N

Appendix ADimensionsA-3Figure A.3NEMA Type 1 Enclosure DimensionsDimensions are in inches and (millimeters)Catalog Number1391-TA2kVAAllA17.00 (432)B19

Chapter 2Specifications2-2Environmental Specifications The 1391-DES must be mounted in an enclosure that is clean, dry andventilated by filtered or co

Appendix ADimensionsA-4Figure A.4External Shunt Resistor and Fuse DimensionsDimensions are in inches and (millimeters)12.75 (323.8)14.00 (355.6)1.87(4

BAppendixB-1Interconnect Drawings Objectives Appendix B provides typical interconnection diagrams that illustrate thewiring between the 1391-DES and v

Appendix BInterconnect DrawingsB-2Figure B.11391-DES Interconnect DrawingMMMMTB4TB4115VACTB4TB4TB4TB4TB4TB4TB2TB2TB2TB2TB2TB2TB2TB2TB2TB2TB2TB2TB2TB2T

Appendix BInterconnect DrawingsB-3DRAINMOTORRESOLVERS1S3S2S4BLUYELBLKREDB2B1K2K1T1T2T3SHIELDGND1326AB–BXX AND 1326AB–AXXCRTYPICAL CONTROL CIRCUIT115V

Appendix BInterconnect DrawingsB-4Figure B.2Typical IMC 110 Interconnect Diagram11Refer to the 1391-DES Interconnect Drawing for further details.2B an

Appendix BInterconnect DrawingsB-5Figure B.3Typical IMC 120 Interconnect Diagram11Refer to the 1391-DES Interconnect Drawing for further details.2B an

Appendix BInterconnect DrawingsB-6Figure B.4Typical IMC 121, 123 and 123CR Interconnect Diagram11Refer to the 1391-DES Interconnect Drawing for furthe

Appendix BInterconnect DrawingsB-7Figure B.5Typical MAX/CONTROL Interconnect Diagram1Refer to the MAX/CONTROL Installation and Setup Manual (999-051)

Appendix BInterconnect DrawingsB-8Figure B.6Typical IMC-S/20x Interconnect Diagram1Refer to the IMC-S/20x Installation and Setup Manual (999-105) and

Appendix BInterconnect DrawingsB-9Figure B.7Typical IMC-S/21x Interconnect Diagram1Refer to the IMC-S/21x Installation and Setup Manual (999-103) and

Chapter3-1Receiving, Unpacking and InspectionChapter Objectives Chapter 3 provides the information needed to unpack, properly inspect andif necessary,

Appendix BInterconnect DrawingsB-10Figure B.8Typical IMC-201 Interconnect Diagram1Refer to the IMC-201 Installation and Setup Manual (999-108) and th

Appendix BInterconnect DrawingsB-11Figure B.99/ Series Interconnect DiagramFor detailed 9/Series interconnect information, please refer to thefollowi

Appendix BInterconnect DrawingsB-12End of Appendix

CAppendixC-1Cable InformationCable Wiring Information Pin-outs and interconnect information for the various 1326 cables areprovided in this section.13

Appendix CCable InformationC-21326-CPCxx Motor Power CableServo Control ConnectionWire Wire Gauge Connector 1389-AAxx 1391-AAxxNumber Color (AWG) Pin

Appendix CCable InformationC-31391-CAQB A Quad B CableThe 1391-CAQB cable allows the user to connect directly from an IMC121, 123, 123CR or 9/Series c

Appendix CCable InformationC-4End of Appendix

DAppendixD-1Block Diagrams Objectives Appendix D provides detailed software and hardware block diagrams forthe 1391 Digital AC Servo Drive. You may us

Appendix DBlock DiagramsD-2Figure E.11391-DES Software Block Diagram – Part 1VEL PI OUTPUT35186FEEDBACK FILTERINTG VEL ERROR185LEAD/LAG LEAD/LAGVELOCI

Appendix DBlock DiagramsD-3Figure E.11391-DES Software Block Diagram – Part 2ID PERCENT224AUTOTUNE SELECT190AUTOTUNE VEL LIMCLR STATUSSYSTEM TUNECALCU

Chapter 3Receiving, Unpacking and Inspection3-2Isolation Transformer1391 TFirst Position Second Position Third PositionBulletinNumberType015Fourth Pos

Appendix DBlock DiagramsD-4Figure E.21391-DES Logic Control Board Block Diagram12315161714 BIT A/D12 BIT D/A12 BIT D/A5467TB2TB2TB2TB2TB2TB2TB2TB2TB2T

EAppendixE-5Parameter RecordIntroduction The following list can be used to record final parameter values forreference at a later date. It is recommend

Appendix EParameter RecordE-6Modify LevelParameter Description Default Actual68 Bandwidth Maximum – *69 Auto Tune Friction – *128 EEprom Functions –13

Appendix EParameter RecordE-7Maintenance LevelParameter Description Default Actual04 Adapter Type – *05 Logic Command – *06 Drive Faults – *07 Drive S

Appendix EParameter RecordE-8End of Appendix

Notes

Notes

Notes

Notes

Notes

Chapter 3Receiving, Unpacking and Inspection3-3Bulletin 1391-DES Drive1391 DES15First Position Second PositionBulletinNumberUser InterfaceDescriptionI

Notes

Notes

Notes

Notes

Notes

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1391-DES Digital AC Servo Drive1391-DES Digital AC Servo DriveUser ManualPublication 1391-5.3 – June, 1994Publication 1391-5.3 – June, 1994User Manual

Publication 1391-5.3 – June, 1994Supersedes May, 1993P/N 152363Printed in USAWORLD HEADQUARTERS1201 South Second StreetMilwaukee, WI 53204 USATel: (

Chapter 3Receiving, Unpacking and Inspection3-4CodeA4A5A7K4K5K71326AB MODFirst Position Second Position Third PositionBulletinNumberFourth PositionMot

Chapter 3Receiving, Unpacking and Inspection3-51326AB MODFirst Position Second Position Third PositionBulletinNumberFourth PositionCoupling Sizefor .

Chapter 3Receiving, Unpacking and Inspection3-6Code1:11:21:2.51:5255256424425800801Feedback Coupling71326 MOD C1First Position Second Position Third P

Chapter 3Receiving, Unpacking and Inspection3-7Blower Mod Kit1326AB MOD G3First Position Second Position Third PositionBulletinNumberType Description–

Chapter 3Receiving, Unpacking and Inspection3-8TypeCode03051015203050100–Description3:15:110:115:120:130:150:1100:11326AB PGFirst Position Second Posi

Important User Information Because of the variety of uses for this equipment and because of thedifferences between this solid-state equipment and elec

Table of ContentsiIntroduction Chapter 1Manual Objectives 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General

Table of ContentsiiProgramming Chapter 6Chapter Objectives 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Displa

Chapter4-1Description of OperationChapter Objectives Chapter 4 is intended to familiarize the reader with the circuitry of the1391-DES in terms of fun

Chapter 4Description of Operation4-2Figure 4.1PWM Waveform300V DCBusTime0Typical400µsTypical400µsTypical400µsTypical400µsThe three-phase relationship

Chapter 4Description of Operation4-3Shunt Regulator Operation The 1391-DES shunt regulator provides power dissipation for regenerativeconditions when

Chapter 4Description of Operation4-4OvertemperatureThe drive contains a thermal switch on the heat sink which indirectlysenses transistor module tempe

Chapter 4Description of Operation4-5Microprocessor Control The 1391-DES is controlled by an 80C196KB microprocessor. Velocitycontrol, sequencing, faul

Chapter 4Description of Operation4-6ATTENTION: The user has the ultimate responsibility todetermine which stopping method is best suited to the applic

Chapter 4Description of Operation4-7Power-Up/Down Sequence Figure 4.3 describes the various steps involved in the power-up/downsequence of the 1391-DE

Chapter 4Description of Operation4-8Figure 4.41391-DES Block DiagramMMM1326A ACServomotorIsolationTransformer(MPT)R1C1ShuntRegulatorTransistorShuntReg

Summary of Changes1-4Summary of Changes Summary of Manual Changes This release of the 1391-DES User Manual contains some new and updatedinformation.

Chapter5-1Inputs, Outputs and Switch SettingsChapter Objectives Chapter 5 contains descriptions of the various inputs and outputs availableon the 1391

Chapter 5Inputs, Outputs and Switch Settings5-2Analog Out 2 (Current) (TB2, Terminal 6)A voltage corresponding to positive and negative current will b

Chapter 5Inputs, Outputs and Switch Settings5-3Terminal Block - TB3 (A Quad B Board)Figure 5.1 provides interconnect information between the positionc

Chapter 5Inputs, Outputs and Switch Settings5-4“M” Contactor Auxiliary Contacts (TB4, Terminals 13, 14, 15, 16)The auxiliary contacts of the integral

Chapter 5Inputs, Outputs and Switch Settings5-5Figure 5.2Terminal Block, Circuit Board and Switch Locations Display, Memory and Adapter BoardsMain Log

Chapter 5Inputs, Outputs and Switch Settings5-6Switch Settings This section provides information on setting the Duty Cycle Selectorswitch (SW1) and th

Chapter 5Inputs, Outputs and Switch Settings5-7When using the A Quad B option with Allen-Bradley IMC motioncontrollers, the AMP parameters will be set

Chapter 5Inputs, Outputs and Switch Settings5-8End of Chapter

Chapter6-1ProgrammingChapter Objectives This chapter explains the programming/setup system of the 1391-DESDigital AC Servo Drive. Included is an expla

Chapter 6Programming6-2Figure 6.21391-DES Display PanelDisplayKeypadUp Arrow KeyThis key is used to increase values when modifyingparameters. Other us

Chapter1-5IntroductionManual Objectives This manual is meant to guide the interface, installation, programming andtroubleshooting of a 1391-DES Digita

Chapter 6Programming6-3Parameter Levels For ease of use, the various parameters of the 1391-DES are numbered andarranged in three different levels. Th

Chapter 6Programming6-4212 D/A #1 Gain233 Cable CompensationMaintenance LevelThe Maintenance level allows access to all of the parameters listed in th

Chapter 6Programming6-5Figure 6.31391-DES Programming LevelsEnterDigital Servo1391-DESxxAllen-Bradley CoCopyright 1992View/modifyparametersUse Up &

Chapter 6Programming6-6Accessing Parameter Levels To help guard against access to advanced programming levels by untrainedpersonnel, special key combi

Chapter 6Programming6-7Programming Important: Programming of most 1391-DES parameters is not required.When power is initially applied to the drive, a

Chapter 6Programming6-8Parameter Descriptions This section lists and describes the various parameters currently available(software version 2.01). Not

Chapter 6Programming6-9Parameter 06 – Drive Faults (Drv Faults) *Parameter 06 is a 16 bit, binary word that represents the drive faults. A “1”indicate

Chapter 6Programming6-10Parameter 08 – Auto Tune Status (ATn Status) *A 16 bit, binary word represents the auto tune status. A “1” indicates that apar

Chapter 6Programming6-11Parameter 20 – Velocity Feedback (Vel Feedback) *The unfiltered motor velocity is displayed through this parameter.Parameter T

Chapter 6Programming6-12Parameter 34 – Velocity Loop PI Output (Vel PI Output) *Indicates the latest output of the velocity PI regulator.Parameter Typ

Chapter 1Introduction1-6General Precautions In addition to the precautions listed throughout this manual, the followingstatements which are general to

Chapter 6Programming6-13Parameter 49 – Current Feedback Scale (Cur Fdbk Scale) *The current feedback scaling is displayed based on motor current ratin

Chapter 6Programming6-14Parameter 58 – D/A #1 Command Value (D/A 1 Cmd Val) *This parameter displays the actual value input to D/A Converter 1.Paramet

Chapter 6Programming6-15Parameter 130 – Drive OK ModeThis parameter specifies how the Drive OK (DROK) relay is controlled. Ifthe parameter is set to “

Chapter 6Programming6-16Parameter 136 – Drive Address *This parameter is not active at this time.Parameter Type: View/modify in Maintenance levelMinim

Chapter 6Programming6-17Parameter 156 – Positive Current Limit (Pos. Cur Limit)Parameter 156 specifies the maximum allowable positive motor currenttha

Chapter 6Programming6-18Parameter 169 – Kl Velocity Loop (Intg Gain ki)This parameter controls the integral error gain of the velocity regulator. Fore

Chapter 6Programming6-19Parameter 183 – Velocity Damping Selection (Vel Damp Selct)This parameter is associated with the auto tune function and specif

Chapter 6Programming6-20Parameter 188 – Auto Tune Current Limit (Auto Tune Cur)The motor current used while an auto tune cycle is executing is specifi

Chapter 6Programming6-21Parameter 201 – Friction Bit (Frictn Bit)The number of bits surrounding Friction Hysteresis (parameter 200).Parameter Type: Vi

Chapter 6Programming6-22Parameter 213 – Digital to Analog #2 Gain (D/A 2 Gain)This parameter scales the D/A #2 Command Value (parameter 59) before iti

Chapter 1Introduction1-7The 1391-DES is generally used with computer aided, closed looppositioning systems such as Allen-Bradley “S” Class or IMC prod

Chapter 6Programming6-23Parameter 243 – Indirect Sink Parameter 1 (Indirect Sink1) *This parameter specifies the sink parameter for Indirect Link 1. P

Chapter 6Programming6-24Parameter 252 – Drive Initialization Status (Drv Init Stats)This parameter specifies if the drive has gone through an out-of-t

Chapter7Chapter7-1InstallationChapter Objectives Chapter 7 provides the information needed to help properly mount andwire the 1391-DES Servo Drive for

Chapter 7Installation7-2ATTENTION: The installation of the drive must be plannedsuch that all cutting, drilling, tapping and welding can beaccomplishe

Chapter 7Installation7-3Wiring Recommendations General InformationThe information supplied in this manual on wire sizes, practices, layouts,system con

Chapter 7Installation7-4Open ended shields (resolver feedback cable at the resolver and velocitycommand cable at the servo drive) must be insulated so

Chapter 7Installation7-5The Interconnect Drawing presented in Appendix B provides typicalinterconnection wiring for the 1391-DES AC Servo Drive. Typic

Chapter 7Installation7-6Motor Feedback WiringConnections to the integral commutation resolver must be made using anAllen-Bradley 1326-CFUxx shielded c

Chapter 7Installation7-7Table 7.BMinimum Transformer Wire Sizes – AWG (mm2)Input Voltage208V AC240V AC380V AC415V AC480V AC575V AC1.5#12 (2.5)#12 (2.5

8Chapter8-1Start-UpChapter Objectives Chapter 8 provides the steps needed to help properly start-up the1391-DES Digital AC Servo Drive. Included in th

Chapter 1Introduction1-8Options/Modifications The 1391-DES contains most functions needed in a servo system.The following are selectable at the user’s

Chapter 8Start-Up8-22. Check terminal block connections as described in Chapter 5 andAppendix B.3. Set switches S1 (A Quad B Board) and SW1 (top of dr

Chapter 8Start-Up8-310. The drive will now prompt you through a start-up procedure. Readthe following important points before continuing.• From time t

Chapter 8Start-Up8-4ATTENTION: In the following steps, reverse rotation oruncontrolled rotation at high speed can occur. Be prepared toremove drive po

Chapter 8Start-Up8-517. The display will now read “enter parameter information” – press theEnter key to continue.The drive will allow you to enter a v

Chapter 8Start-Up8-622. Display: “autotune the servo drive” – press Enter to continue.Assure that the drive Enable input is de-energized and the conta

Chapter 8Start-Up8-726. The drive will display the Bandwidth Max. parameter (68). Thevalue displayed is the maximum bandwidth, in rads/sec. your syste

Chapter 8Start-Up8-8Manual Tuning ProcedureIf manual tuning of certain parameters is required, the following procedurecan be followed after all of the

Chapter 8Start-Up8-934. Clockwise/Counterclockwise Velocity Limitsa) Apply power to the drive.b) Energize the contactor (M), but Do Not Enable the dri

Chapter 8Start-Up8-10ATTENTION: If an oscilloscope (or chart recorder) is usedduring Start-Up or Troubleshooting, it must be properlygrounded. The osc

Chapter 8Start-Up8-11Linear Accel/Decel Control Module The following information explains manual controller operation with theLinear Accel/Decel Contr

Chapter 1Introduction1-9Figure 1.11391-DES Digital AC Servo DriveTB2 – Interface SignalsTB3 – A Quad B Encoder Output SignalsGround StudTB5 – Power Co

Chapter 8Start-Up8-12To select Local Speeda) Energize the speed select input, SEL 1 (terminals 1 & 2 of J2)with either 24V DC or 115V AC. The fron

Chapter 8Start-Up8-1312. The output of the module is controlled by the “Deadman” input atterminals 10 & 11 of J1. Applying 24V DC or 115V AC to th

Chapter 8Start-Up8-14Figure 8.2 Linear Accel/Decel Control Module WiringCR21192LocalRemoteSelect 1DirectionChangeRampGeneratorDirectionChange SelectRa

Chapter 8Start-Up8-15Figure 8.3Linear Accel/Decel Control Module Dimensions7.25(184.2)0.5(12.7)4.25 (108.0)0.41 (10.3)2.75 (69.9)0.75 (19.1)0.50 (12.7

Chapter 8Start-Up8-16End of Chapter

9Chapter9-11326 AC ServomotorsChapter Objectives Chapter 9 describes the operation of a standard 1326 AC Servomotor withthe enhanced capabilities of a

Chapter 91326 AC Servomotors9-2Tc – rated torque of motor with windings at rated temperature and anambient of 40°C. The drive is operating in a rated

Chapter 91326 AC Servomotors9-3Table 9.A provides a comparison of the resultant speed obtained fromstandard 1326 servomotors using 1391 and 1391-DES S

Chapter 91326 AC Servomotors9-4End of Chapter

10Chapter10-1Transformers and Shunt RegulatorsChapter Objectives Chapter 10 provides general information about the 1391 IsolationTransformer. In addit

Chapter 1Introduction1-10End of Chapter

Chapter 10Transformers and Shunt Regulators10-2Figure 10.11391 Transformer Wiring Diagrams1H6 H7 H8 H9 H10H1 H2 H3 H4 H5 H11 H12 H13 H14 H15 P1 P2 G1

Chapter 10Transformers and Shunt Regulators10-3Shunt Regulator Operation Refer to Chapter 4 for an explanation of the shunt regulator circuitry. Theno

Chapter 10Transformers and Shunt Regulators10-4Table 10.B shows the nominal resistor power trip levels in watts for thevarious switch settings. When s

Chapter 10Transformers and Shunt Regulators10-5Frequent overvoltage trips and blown fuse on high inertia systems duringregenerative states (decelerati

Chapter 10Transformers and Shunt Regulators10-6ATTENTION: Proper derating must be applied to themanufacturers nominal resistor power ratings when usin

11Chapter11-1TroubleshootingChapter Objectives Chapter 11 provides information to guide the user in troubleshooting the1391-DES. Included in the chapt

Chapter 11Troubleshooting11-2The majority of faults cause the DROK contact to operate. The use of faultmessages may aid in identifying drive and motor

Chapter 11Troubleshooting11-3Display Board Substitution1. Remove all power to the drive branch circuit.2. Remove the front cover from the drive.3. Loo

Chapter 11Troubleshooting11-4A Quad B Board Substitution1. Remove all power to the drive branch circuit.2. Remove the front cover from the drive. Labe

Chapter 11Troubleshooting11-5Table 11.ALED Fault DiagnosticsEnable Enable LED is NOT Illuminated1. The position controller has not enabled the drive.2