1394 Drive System Family

Transcription

1 Chapter Drive System Family The 1394 is a modular, multi-axis motion control and drive system family. All 1394 systems provide direct line (transformerless) connection for 360V to 480V three-phase input power, efficient IGBT power conversion, and slide-and-lock, module-to-module connections. Each system module can be configured with up to four axis modules, with each axis module interfacing to a motor. The 1394 provides significant panel space and interconnect savings. The 1394 SERCOS interface servo drives (1394C-SJTxx-D) are part of the Kinetix Integrated Motion solution Drive System Architectures The 1394 Drive System family offers simple integration into multiple Allen-Bradley machine control architectures. Drive Type Catalog Number Command Interface SERCOS interface drive 1394C-SJTxx-D Fiber-optic SERCOS ring Analog Servo drive 1394C-SJTxx-A Analog interface from control GMC (standard) 1394C-SJTxx-C Internal 1394C-SJTxx-L Internal GMC Turbo 1394C-SJTxx-T Internal

2 Drive System Family 1394 Drive System Features 1394 Drive 1394C-SJTxx 1394 Drive System Features -D -A -C -L -T Axis Control Multi-axis drive with up to four auxiliary encoder input channels Single-axis drive with up to one auxiliary encoder input channel Configurable Point to Point Positioning Coordinated Positioning (Contouring) Electronic Gearing (Ratioing) Position Lock Camming Time-Lock Camming Auto-Tuning Programming Language RSLogix 5000 software GML Programming software Power s 5, 10, and 22 kw models with V ac three-phase input 5 and 10 kw models with V ac three-phase input I/O Control SERCOS interface 1756-MxxSE ControlLogix Module (fiber-optic cable connections) 1784-PM16SE SoftLogix PCI Card (fiber-optic cable connections) Remote I/O Adapter AxisLink Up to 128 Local General Purpose Inputs (selectable) Up to 128 Local General Purpose Outputs (selectable) Relay Outputs Analog I/O 1756-M02AE ControlLogix Module 1784-PM02AE SoftLogix PCI Card DPI/SCANport HIM Serial Terminal (RS232) PanelView Motor Compatibility MP-Series (MPL-Bxxxx-M/S) and 1326AB-Bxxxx-M2L/S2L absolute high resolution servo motors MP-Series (MPL-Bxxxx-R) resolver based servo motors 1326AB-Bxxxx-21 resolver based servo motors

3 1394 Drive System Family Drive 1394C-SJTxx 1394 Drive System Features -D -A -C -L -T Feedback Devices Intelligent Absolute Encoders Intelligent High-Resolution Encoders Incremental Encoder with TTL outputs Sine/Cosine encoders Resolver Miscellaneous Automatic motor recognition capability with intelligent feedback devices Advanced remote drive diagnostic capabilities Field programmable flash memory firmware storage for easy upgrades CE compliance and UL Listed to U.S. and Canadian safety standards. Refer to for more information System Module Series Information System Module Features 5 and 10 kw Systems Series C 22 kw Systems Feature Availability 5 and 10 kw Systems Series A and B Connector (plug-in) input power terminations Yes No No No Cable Clamp (strain relief, shield bond) Yes Yes No No EMI filter (24V input power) Yes No No No EMI filter (registration) Yes Yes No No Smart Power (Soft Start, power monitor) Yes Yes No Yes 22 kw Systems Note: Series C system modules are physically interchangeable with Series A and B Drive System Family Architectural Overview The 1394 Drive Systems consist of the following components: One digital or analog System Module (1394x-SJTxx-x) One to four Axis Modules (1394x-AMxx-xx) One to four servo motors; MP-Series and 1326AB (M2L/S2L and resolver) One to four power and feedback cables Bulletin 1394 External Passive Shunt Module (required for 1394x-SJT22-x) 1394 SERCOS Interface Drive Systems may also include the Bulletin 2090 Resistive Brake Module.

4 SERCOS System Module DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. SERCOS System Module DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER Drive System Family 1394 SERCOS Interface System Figure SERCOS Interface System Architecture 1756-MxxSE Interface ControlLogix Programming Network Workstation with RSLogix C-SJTxx-D ControlLogix Chassis SERCOS ring 1326AB and MPL-Bxxxx Motors (Resolver-based or absolute high resolution feedback) 1394C-SJTxx-D 1326AB and MPL-Bxxxx Motors SERCOS ring SERCOS ring (Resolver-based or absolute high resolution feedback)

5 Reset Axis 0 Axis 1 A B A B A B A B SSI AEC DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER Drive System Family GMC System Figure 5.2 Two Standard GMC System Architectures (1394x-SJTxx-C and 1394C-SJT-xx-L) SLC 500 RIO AxisLink ALEC 845H Encoder AxisLink 1394C-SJTxx-L PanelView DH x-SJTxx-C 1326AB Motors Workstation with GML Commander 1326AB Motors (Resolver-based feedback only) RS-232/ H Encoder Flex I/O 4100-AEC Flex I/O Axis 1 Axis 0 Configuration Encoder Power Encoder Configuration Switches Switches Control SSI Control 842 Encoder (Resolver-based feedback only) Note: The Standard GMC system cannot support more than four total axis modules and auxiliary encoder input channels.

6 Reset Axis 0 Axis 1 A B A B A B A B SSI AEC DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER Drive System Family Figure 5.3 Two GMC Turbo System Architectures (1394x-SJTxx-T) PanelView SLC 500 RIO AxisLink AxisLink ALEC 845H Encoder SLC 5/03, 5/04, or 5/05 1 DH x-SJTxx-T 1394x-SJTxx-T 1746-C7 or -C AB Motors 1326AB Motors Workstation with GML Commander RS-232/-422 Discrete Outputs Discrete Inputs Analog Outputs Analog Inputs Flex I/O Axis 1 Axis 0 Configuration Encoder Power Encoder Configuration Switches Switches Control 4100-AEC SSI Control 842A Encoder (Resolver-based feedback only) Flex I/O (Resolver-based feedback only) 1 This interface is only available with the 1394x-SJTxx-T system module.

7 DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER Drive System Family Analog Servo System Figure 5.4 Analog Servo System Architecture SLC 500 Bulletin 1201 HIM (purchased separately) RIO PanelView x-SJTxx-A Workstation with GML Commander DH-485 RS-232/-422 IMC S Class Compact, Control- Logix (or other customer-supplied motion controller) 1326AB Motors Discrete Outputs Optional Bulletin 1201 HIM or other remote SCANport interface Discrete Inputs Analog Outputs Analog Inputs Flex I/O Optional Bulletin 1203 Communication Module Resolver-based feedback only To RIO, Serial, DeviceNet, SLC, etc.

8 Drive System Family 1394 System Modules This section contains power specifications, mounting dimensions, and catalog numbers for the 1394x-SJTxx-A, -C, -D, -L, and -T System Modules System Module Power s System Modules 1394x-SJT05 1,2 1394x-SJT10 1,2 1394x-SJT22 1 Rated AC input voltage V ac, 50/60 Hz 3-phase V ac, 50/60 Hz 3-phase V ac, 50/60 Hz 3-phase AC input current (A rms ) 6.5A 13.0A 28.6A Peak inrush current 3,4 (1394) 2 975A 1300A 697A < 1 µs Peak inrush current 3 (1394C) 8A 8A 8A Line loss ride through 20 ms 20 ms 20 ms Nominal bus output voltage 530/680V dc 530/680V dc 530/680V dc Continuous power output 4/5 kw 8/10 kw 17/22 kw Peak power output 5 28 kw 28 kw 136 kw Efficiency 99% 99% 98% Weight (Series A and B) 11 kg (24.25 lb) 11 kg (24.25 lb) 12.7 kg (28.0 lb) Weight (Series C) kg (23.5 lb) kg (23.5 lb) 12.9 kg (28.5 lb) Continuous current output (A dc ) 7.36A 14.73A 33.8A Intermittent current output (A dc ) 15.0A 29.46A 200A Capacitance (Series A and B) 220 µf 330 µf 660 µf Capacitance (Series C) 220 µf 345 µf 660 µf Inductance 1000 µh 750 µh 500 µh Internal shunt resistor 200W continuous, 40,000W peak (two second maximum on time) No internal shunt resistor 1 The Standard GMC and GMC Turbo system modules are identical except that the GMC Turbo (1394x-SJTxx-T) offers a SLC backplane interface and 64K of memory with a 32-bit processor while the Standard GMC (1394x-SJTxx-C) offers 32K of program memory with a 16-bit processor without the SLC interface. 2 The Standard GMC (1394C-SJTxx-L) is functionally the same as the (1394x-SJTxx-C) except it supports one axis and provides two auxiliary encoder inputs. 3 5 and 10 kw (Series C) system modules and all 22 kw system modules are limited to four contactor cycles per minute. 5 and 10 kw (Series A and B) system modules are limited to an average of four contactor cycles per hour. 4 Peak inrush current for 5 and 10 kw systems (Series A and B) = ( line voltage x 1.1 x 2 ) Lsystem ( ) (Csystem + Caxes) Where: L = Inductance C = Capacitance Peak inrush current for 22 kw (all Series) and 5 and 10 kw (Series C) systems is limited by an internal 80 ohm resistor. 8A peak inrush current for all Series C system modules will experience no more than a 40A peak loss (less 1 ms). 5 The Peak Power Output rating for 5 and 10 kw (Series A and B) is based on the thermal limits of the modules. The Peak Power Output rating for 22 kw (all Series) and 5 and 10 kw (Series C) is based on a current limit of 105% of two times the rated Continuous Current Output for 600 ms or the rated Peak Power Output for a duration equal to the equivalent watt-seconds.

9 1394 Drive System Family System Module Dimensions The following section contains the mounting dimensions for the 1394 System Modules. Figure System Module (1394x-SJT05, 1394x-SJT10, 1394x-SJT22) 150 (5.91) Dimensions are in millimeters and (inches) 26 (1.02) 91.0 (3.58) (1.97) (0.98) 8 (0.32) 280 (11.02) 2 54 (2.13) (1.05) (7.75) 400 (15.75) 385 (15.16) Fastener Location 1 Side View 1394x-SJT22-x 350 (13.78) Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. 8 (0.31) 15.9 (0.63) 10.1 (0.4) 50 (1.97) Mounting Hole Detail All slots accept M6 or 1/4-20 mounting screws 8 (0.31) 1 Dimension shown is for mounting hardware location and does not reflect the location of the lower slot radius. 2 Dimensions apply to 1394x-SJT-T (Turbo) system module only (refer to IMPORTANT below). 12 (0.47) Feedback Cable Clamps (Series C only) Feedback Cable Clamps (Series C only) (2.65) Side View 1394x-SJT05-x and -SJT10-x (2.25) IMPORTANT When you mount a 1394x-SJT-T system module, you will need an additional mm (4 in.) of clearance to the left of the system module to allow for connecting the SLC interface cable (1747-C7 or -C9).

10 Drive System Family System Module Catalog Numbers Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering table chart below to understand the configuration of your system module. For questions regarding product availability, contact your Allen-Bradley distributor System Modules 1394 x - S J T xx-x- xx 1 The Standard GMC and GMC Turbo system modules are identical except that the GMC Turbo (1394x-SJTxx-T) offers a SLC backplane interface and 64K of memory with a 32-bit processor while the Standard GMC (1394x-SJTxx-C) offers 32K of program memory with a 16-bit processor without the SLC interface. 2 The Standard GMC (1394C-SJTxx-L) is functionally the same as the (1394x-SJTxx-C) except it supports one axis and provides two auxiliary encoder inputs. 3 Only available on 5 and 10 kw system modules. 4 Enhanced system modules have Smart Power, improved terminations, and EMI filtering. RL = With RIO and AxisLink (can only be ordered with the -C, -L, or -T options) Factory Installed Options 1, 2 A = With ±10V dc analog input (HIM not included) C = With IMC S Class integrated motion controller (supports four axes and four auxiliary encoder inputs D = With SERCOS network interface L = With IMC S Class integrated motion controller (supports one axis and two auxiliary encoder inputs 3 T = With IMC S Class Turbo integrated motion controller. kw Rating 05 = 5 kw 10 = 10 kw 22 = 22 kw (not available with the -L option) Input Phase T = Three-phase Input Voltage J = 360/480V ac, 50/60 Hz Type S = System Module Series C = Series C enhancements 4 Blank = No Series C enhancements Bulletin Number

11 1394 Drive System Family Axis Modules This section contains power specifications, mounting dimensions, and catalog numbers for the 1394x-AMxx-xx Axis Modules, 1394-DIM Drive Interface Module, and 1394-DCLM DC Link Module Axis Module Series Information Feature Availability Axis Module Features Series C Series A and B Cable Clamp (strain relief, shield bond) Yes No EMI filter 1 (motor brake and thermal circuit) Yes No 1 Voltage rating = 24V ac. Note: Series A, B and C axis modules are physically interchangeable with each other. Note: Series A axis modules are not functionally compatible with the 1394C-SJTxx-D system module Axis Module s Speed Regulation x-AM x-AM x-AM07 0 to 0.05% of base speed with 100% torque disturbance 0 to 0.05% of base speed with 100% torque disturbance 1 When used with the controller in the 1394x-SJTxx-x system module. Axis Modules 0 to 0.05% of base speed with 100% torque disturbance 1394x-AM50 and 1394C-AM50-IH 0 to 0.05% of base speed with 100% torque disturbance 1394x-AM75 and 1394C-AM75-IH 0 to 0.05% of base speed with 100% torque disturbance Static Gain (rms A/mV) Peak Current Limit Adjust 200% 200% 200% 143% 143% Modulation Frequency 5 khz ±10% 5 khz ±10% 5 khz ±10% 5 khz ±10% 5 khz ±10% Drift 0.03 rpm/degree C 0.03 rpm/degree C 0.03 rpm/degree C 0.03 rpm/degree C 0.03 rpm/degree C Nominal Input Voltage 530/680V dc 530/680V dc 530/680V dc 530/680V dc 530/680V dc Continuous Current (rms) 3.0A 4.5A 7.5A 23.3A 35.0A Peak Current (rms - 1 second) 6.0A 9.0A 15.0A 33.2A 50.0A Continuous Power Out 360/460V 1.6/2 kw 2.4/3 kw 4/5 kw 11.34/15.6 kw 17.8/23.8 kw nominal Efficiency 98% 98% 98% 98% 98% Weight 5 kg (11.02 lb) 5 kg (11.02 lb) 5 kg (11.02 lb) 7 kg (15.44 lb) (-AM50) 6.73 kg (14.8 lb) (-AM50-IH) Capacitance 110 µf 110 µf 220 µf 465 µf 660 µf 7 kg (15.44 lb) (-AM75) 6.73 kg (14.8 lb) (-AM75-IH)

12 Drive System Family 1394 Drive Interface Module s (Catalog Number 1394-DIM) s s Firmware version 3.7 or higher with 1394x-SJTxx-C-xx and -T-xx systems 3.9 or higher with 1394C-SJTxx-L-xx systems Software GML Commander, version 4.01 or higher Input voltage 24V, 50 khz provided by the 1394x-SJT-xx system module Analog output information (Px-1,2) Voltage 0 to ±10V analog Signal isolation 1500V rms Resolution 12 bits, 4.88 mv Impedance 220 ohms Offset ±80 mv maximum, compensated to 0 through software setup Drive OK 15V 5 ma supplied by the DIM Drive enable output 30V 1 A Operating temperature 0 C to 50 C (32 F to 122 F) Relative humidity 5-95% Weight 3 kg (6.6 lb) 1394 DC Link Module s (Catalog Number 1394-DCLM) 5.0 or higher with 1394x-SJTxx-A systems Firmware version 3.7 or higher with 1394x-SJTxx-C-xx and -T-xx systems 3.9 or higher with 1394C-SJTxx-L-xx systems Software GML Commander, version 4.03 or higher with 1394x-SJTxx-C, -T and -L only Input voltage 530/680V dc, single phase Current Continuous (rms) 32A, Peak (rms - 1 second) 200A Capacitance 990 µf Energy storage 7.36 joules based on a nominal 50V bus delta Cables available 1394-CPDC-0015 and 1394-CPDC-0030 Cable lengths available 1.5 m (4.92 ft) or 3 m (9.84 ft) Operating temperature 0 C to 50 C (32 F to 122 F) Relative humidity 5-95%, non-condensing Weight 4.8 kg (10.5 lbs) Note: 1394C-SJTxx-D is not supported by the 1394 DC Link Module.

13 1394 Drive System Family Axis Module, Drive Interface Module, and DC Link Module Dimensions Figure Axis Module Dimensions (1394x-AM03, -AM04, -AM07, -DIM, and -DCLM) 25 (0.98) 8 (0.32) 280 (11.02) Dimensions are in millimeters and (inches) Mounting Hole Detail 8 (0.31) Fastener Location (0.4) 400 (15.75) 350 (13.78) 385 (15.16) 350 (13.78) 15.9 (0.63) 8 (0.31) 12 (0.47) 50 (1.97) 50 (1.97) 50 (1.97) 1 Dimension shown is for mounting hardware location and does not reflect the location of the lower slot (1.58) All slots accept M6 or 1/4-20 Mtg. screws. Important: Additional clearance below the axis module is necessary to allow for the recommended cable bend radius. Figure Axis Module Dimensions (1394x-AM50, -AM50-IH, -AM75, and -AM75-IH) 37.5 (1.48) 8 (0.32) (15.16) 280 (11.02) Dimensions are in millimeters and (inches) Mounting Hole Detail 8 (0.31) 65 (2.56) Heat sink width (0.4) ) 385 (15.16) (13.31) 15.9 (0.63) 350 (13.78) 8 (0.31) 12 (0.47) 75 (2.95) 75 (2.95) Fastener Location (4.13) 1 Dimension shown is for mounting hardware location and does not reflect the location of the lower slot. 2 This dimension does not apply to 1394C-AMxx-IH (internal heatsink) axis modules All slots accept M6 or 1/4-20 Mtg. screws. (1.72) Important: Additional clearance below the axis is necessary to allow for the recommended cable bend radius.

14 Drive System Family 1394 Axis Modules Catalog Numbers Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering table chart below to understand the configuration of your axis module. For questions regarding product availability, contact your Allen-Bradley distributor x - AM xx -xx 1 Enhanced axis modules have improved terminations and EMI filtering. Heat Sink Options IH = AM50 and AM75 with inside cabinet heatsink (Series C only) Blank = 03, 04, 07 (inside cabinet), and AM50 and AM75 (through cabinet) heatsink kw Ratings 03 = 2 kw 04 = 3 kw 07 = 5 kw 50 = 15.6 kw 75 = 23.8 kw Type AM = Servo amplifier module Series C = Series C enhancements 1 Blank = No Series C enhancements Bulletin Number 1394 General System s The following section contains 1394 environmental, contact, contactors, fuse, circuit breaker, 24V logic input power and transformer, power dissipation, and communication specifications. Environmental s The following section contains 1394 system environmental specifications. Ambient Operating Temperature: System Module Ambient Operating Temperature Axis Module Relative Humidity Altitude Vibration Shock 1394x-SJTxx-x 0 C to 50 C (32 F to 122 F) 1394x-AM03, -AM04, -AM07, 0 C to 50 C (32 F to 122 F) -AM50-IH, -AM75-IH (Inside Cabinet) 1394-AM50 or -AM75 (Inside Cabinet) 0 C to 50 C (32 F to 122 F) 1394-AM50 or -AM75 (Outside Cabinet) 0 C to 40 C (32 F to 104 F) 5-95% noncondensing 1000 m (3300 ft) - Derate 3% per 300 m (984.3 ft) up to 3000 m (10,000 ft) Operating: 1g Non-operating: 2.5g Operating: Non-operating: 15g 30g

15 1394 Drive System Family 5-15 Relay Contact s 1394x-SJTxx-A, -C, -L, and -T Systems 1394C-SJTxx-D SERCOS Interface System Drive OK (DROK) Drive System OK Contactor Enable Relay 115V ac/24v dc, 1A 115V ac/24v dc, 1A Output 0-3 inductive inductive Thermal switch Thermal switch (motor) Contactor (M1) s The following section contains 1394 system user-supplied contactor specifications. Contactor 1394-SJT05 and -SJT10 (Series A and B) 1394C-SJT05 and -SJT10 (Series C) 1394x-SJT22 Rating 600V ac, 43A 1 600V ac, 23A 600V ac, 37A Recommended types: AC Coil Operation Allen-Bradley 100-C43x10 2,3 Allen-Bradley 100-C23x10 2,3 Allen-Bradley 100-C37x10 2,3 DC Coil Operation Allen-Bradley 100-C43Zx10 2 Allen-Bradley 100-C23Zx10 2 Allen-Bradley 100-C37Zx Consider using a 60A contactor when the total capacitance of the axis modules is greater than 880 µf. 2 x indicates coil voltage. 3 A surge suppressor is required. Fuse s System Fuse Rating 1394-SJT05 systems Series A and B Bussmann FRS-R-20A or equivalent 600V ac, 20A 1394C-SJT05 systems Series C Bussmann KTK-R-20 or equivalent 600V ac, 20A Bussmann LPJ-SP 20 or equivalent 600V ac, 20A 1394-SJT10 systems Series A and B Bussmann FRS-R-30A or equivalent 600V ac, 30A 1394C-SJT10 systems Series C Bussmann KTK-R-30 or equivalent 600V ac, 30A Bussmann LPJ-SP 30 or equivalent 600V ac, 30A Bussmann FRS-R-35 or equivalent 600V ac, 35A 1394x-SJT22 systems Bussmann LPS-RK-SP 40 or equivalent 600V ac, 40A Bussmann LPJ-SP 45 or equivalent 600V ac, 45A

16 Drive System Family Circuit Breaker s While circuit breakers offer some convenience, there are limitations for their use. Circuit breakers do not handle high current inrush as well as fuses. The 1394 needs to be protected by a device having a short circuit interrupt current rating of the service capacity provided or a maximum of 100,000A. 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 The wiring interconnection in Figure 5.8 and Figure 5.9 provide examples of the needed protection and follows UL and NEC codes. Full compliance is dependent on final wiring design and installation. Figure 5.8 Circuit Protection under NEC (preferred fully rated devices) Required Protection under of NEC 1999 Preferred Fully Rated Breakers Fully Rated Fused Disconnect Fully Rated Breaker Fully Rated Fused Disconnect Fully Rated Breaker Distribution Blocks Required Protection under of NEC 1999 Preferred Fully Rated Breakers Fully Rated Fused Disconnect Fully Rated Breaker Breakers Selected for Device Protection Fully Rated Short Circuit Interrupt Capability Breakers Selected for Device Protection Fully Rated Short Circuit Interrupt Capability Drive Drive Drive Figure 5.9 Circuit Protection under NEC (allowed but no longer preferred) Required Protection under of NEC 1999 Allowed But No Longer Preferred Breakers Selected for Device Protection With Limited Short Circuit Interrupt Capability Drive Distribution Blocks Drive Distribution Blocks Drive Traditional Current Limit Fused Disconnect or Breaker Rated for Short Circuit Available Limiting to Short Circuit Rating of Down Stream Breaker Required Protection under of NEC 1999 Allowed But No Longer Preferred Breakers Selected for Device Protection With Limited Short Circuit Interrupt Capability Traditional Current Limit Fused Disconnect or Breaker Rated for Short Circuit Available Limiting to Short Circuit Rating of Down Stream Breaker

17 1394 Drive System Family 5-17 To avoid nuisance tripping, refer to the following table and select the appropriate combination of system module, supplementary circuit protection device, and axis modules. Use System Module: 1394x-SJT05-x With Supplementary Circuit Protection Device: 1492-CB3-H300 A 1492 device is not recommended for this option. 1394x-SJT10-x 1492-CB3-H500 All 1394x-SJT22-x 1492-CB3-H500 All And Axis Module Combination: Any combination of AM03 and AM04 up to 4 axis modules. Any combination of AM03, AM04, and AM07 where no more than two AM07s are being used. Use of other combinations of axis modules with this system module may result in nuisance tripping on power up due to a higher inrush current. Other combinations of AM07, AM50, and AM75s. Some local electrical codes require that the circuit breaker rating not exceed 400% of the full load device current. The inrush current draw of the 1394 in some combinations exceeds the 30A breaker and will result in nuisance tripping. 24V Logic Input Power s 24V Logic Input Voltage Frequency Axis Current Maximum User-Supplied Power Supply Recommended Fuse 19-28V ac RMS, single phase V dc 50/60 Hz 1 axis 3.5A 2 axis 4.4A 3 axis 5.2A 4 axis 6.0A Bussmann MDA-15 or equivalent Input Transformer s for 24V Control Power 480V System 360V System Input volt-amperes 200 to 259 VA 200 to 259 VA Input voltage 480V RMS 360V RMS Output voltage 24V RMS 24V RMS Load regulation 2 to 5% 2 to 5% Note: If the input volt-amperes is more than 350VA, adjust the load regulation to make the transformer leakage the same as or greater than the 250VA transformer with 2% regulation.

18 Drive System Family 1394 System Power Dissipation s The following section contains the power dissipation characteristics of the 1394 system modules, axis modules, DC Link module, and internal and external shunt resistors. 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 C (122 F). To calculate total power dissipation, add the dissipation of the system module to the dissipation of the axis module(s). System Modules Percentage of Rated Power Output Power Dissipation Watts 1394x-SJT05-x 1394x-SJT10-x 1394x-SJT22-x Axis Modules Percentage of Rated Power Output Power Dissipation Watts Total Inside Cabinet Outside Cabinet AM03 AM04 AM07 AM50 1 and AM50-IH 2 AM75 1 and AM50 1 AM75 1 AM50 1 AM75 1 AM75-IH The AM50/75 are designed to mount with the rear heat sink extended outside the customer-supplied enclosure. If the modules are mounted entirely inside the customer supplied enclosure, the full power dissipation is inside the cabinet (the sum of the inside/outside columns). 2 The AM50/75-IH are designed to mount entirely inside the customer-supplied enclosure. DC Link Module Power Dissipation Watts DC link module rating 4.225

19 1394 Drive System Family 5-19 Internal Shunt Resistor for the 5 and 10 kw System Internal shunt resistor rating Internal shunt resistor resistance 200W continuous, 40,000W peak (two second maximum on time) 16 ohms Note: When the internal shunt resistor for 1394x-SJT05-x and -SJT10-x system module is active, some additional power will be dissipated. The maximum dissipation is 200W, however most applications will use less than 10% of this capacity. Maximum Feedback Cable Lengths Although motor feedback cables are available in standard lengths up to 90 m (295.3 ft), the drive/motor/ feedback combination may limit the maximum cable length, as shown in the tables below. These tables assume the use of recommended cables as shown in the Drive Family/Motor Cable Combination Summary table on page The maximum cable lengths for 1394 system/axis modules with MP-Series (460V) and 1326AB motors are given in the table below. Drive Family Absolute High-Res 1 m (ft) MPL-B (460V) Motors Resolver 2 m (ft) 1 Refers to MPL-BxxxxS/M (single-turn or multi-turn) low inertia motors with absolute high-resolution feedback. 2 Refers to MPL-BxxxxR low inertia motors with 2-pole resolver feedback. 3 Refers to 1326AB-Bxxxx-M2L/S2L (single-turn or multi-turn) motors with absolute high-resolution feedback. 4 Refers to 1326AB-Bxxxx-21 motors with resolver feedback. 1326AB (M2L/S2L) (460V) Motors Absolute High-Resolution 3 m (ft) 1326AB (460V) Motors Resolver 4 m (ft) 1394C-SJTxx-D 90 (295.3) 90 (295.3) 90 (295.3) 90 (295.3) 1394x-SJTxx-A, -C, -L, and -T N/A N/A N/A 90 (295.3)

20 Drive System Family Communication s The following section contains the communication specifications. s include dedicated discrete I/O, encoder input, serial I/O, DH-485, Flex I/O, GMC System, remote I/O adapter, and AxisLink. Dedicated Discrete I/O s (1394C-SJTxx-D) Number of dedicated discrete inputs 24 (6 each for axis 0, 1, 2, and 3) Dedicated discrete input functions Input type Operating voltage Input impedance Input response time Home limit switch, positive overtravel limit switch, negative overtravel limit switch, position registration_1 and position registration_2, Enable. Optically isolated 24V dc (nominal) ON state: V dc, 5-15 ma OFF state: <6.9V dc, <1.5 ma leakage 3.5 kohms (resistive) per input 20 ms maximum; 1 µs maximum for position registration inputs Dedicated Discrete I/O s (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Number of dedicated discrete inputs 24 (6 each for axis 0, 1, 2, and 3) Dedicated discrete input functions Input type Operating voltage Input On current Input impedance Input response time Home limit switch, positive overtravel limit switch, negative overtravel limit switch, 2 position registrations (5V or 24V), and thermal fault. Optically isolated 24V dc, 28V dc maximum or 5V dc nominal; 10V dc maximum for position registration inputs 12 ma per input (nominal); 2.5 ma for position registration inputs 2 kohms (resistive) per input; 8.8 kohms (resistive) for 24V position registration inputs. 5 ms maximum; 1 µs maximum for position registration inputs Dedicated Discrete I/O s (1394x-SJTxx-A) Number of dedicated discrete inputs 5 Dedicated discrete input functions 1 Enable, 4 fault resets. Input type Optically isolated Operating voltage 24V dc, 28V dc maximum or 5V dc nominal; 10V dc maximum for position registration inputs Input On current 12 ma per input (nominal); 2.5 ma for position registration inputs Input impedance 2 kohms (resistive) per input; 8.8 kohms (resistive) for 24V position registration inputs Input response time 5 ms maximum

21 1394 Drive System Family 5-21 System Module Encoder Input s (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Number of encoder inputs Type of encoder input Encoder interface IC Compatible encoder types Decode modes Maximum encoder frequency Input impedance Encoder power 4 (axis 0, 1, 2, and 3) for 1394x-SJTxx-C-xx and -T-xx systems 2 (axis 0 and 1) for 1394C-SJTxx-L-xx systems Incremental AB quadrature; optically isolated, differential with marker channel AM26LS32 or equivalent Differential, TTL-level (5V dc) line driver outputs, with or without marker 4 times quadrature, step/direction, count up/count down 4,000,000 counts per second (4 MHz). This is equivalent to a channel frequency of 1 MHz in 4x quadrature decode mode. 7 kohms minimum (each input) 0.325A + the requirement of each encoder used Serial I/O s (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Number of serial channels 2 (serial port A and serial port B) Channel type Optically isolated RS-232 or RS-422; each channel individually configured via internal switch Information code ASCII Baud rate User-selectable up to 128 kbaud (rs-422); kbaud (RS-232) Number of start bits One Number of stop bits One Word length 8 bits (7 data bits plus 1 parity bit) Parity 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

22 Drive System Family DH-485 s (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Number of DH-485 channels Channel type Baud rate Front panel connectors RS-485 Node address Node type Accessible data type One; replaces serial port B when used Optically isolated half-duplex RS-485 9,600 or 19.2 kbaud (user-selectable) Two RJ-45 jacks (+24V is not provided) User-selectable 220 ohms resistor via internal switch User-selectable between 0 and 31 inclusive Token-passing master One binary file (B3) for up to 16,384 bits One integer file (N7) for up to 1, bit values One floating point file (F8) for up to bit values One ASCII string file (A) for up to 2,048 characters Nine user-configured files; each can be individually configured as any of the above types or as a BCD file for floating point simulation Flex I/O s (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Maximum number of Flex I/O modules IB16; 16 24V dc discrete inputs 1794-IA8; 8 115V ac discrete inputs 1794-IE8; 8 current/voltage analog inputs 1794-OB16; 16 24V dc discrete outputs 1794-OA8; 8 115V ac discrete outputs Compatible modules 1794-OE4; 4 current/voltage analog outputs 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 1394 System s (1394x-SJTxx-A) Velocity Loop Update 250 µs Velocity Loop Bandwidth 60 Hz maximum Input A/D Sample Rate 250 µs

23 1394 Drive System Family 5-23 Encoder Output s (1394x-SJTxx-A) Maximum Velocity Range Output Type Input Power Required RPM Optically isolated, differential TTL (SU) line driver 5V ±5%, 1 Amp maximum GMC System s (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Servo loop sample and update rate 250 Hz to 2 khz for 4 axes Maximum feedback frequency 4 MHz (4,000,000 feedback counts per second) Absolute position range ±1,000,000,000 feedback counts for linear axes; infinite number for rotary axes Absolute position resolution 15 position unit digits or 32 feedback count bits, whichever is less Speed range feedback counts per servo update to 4,000,000 feedback counts per second Speed resolution 15 position unit digits or 15 feedback count bits, whichever is less Acceleration/deceleration range feedback counts per servo update to 4,000,000 feedback counts per second Acceleration/deceleration resolution 15 position unit digits or 15 feedback count bits, whichever is less Electronic gearing gear ratio range :1 to :1 (slave counts:master counts) Electronic gearing gear ratio resolution 8 position unit digits or 32 feedback count bits Servo gain resolution 32-bit floating point Servo output limit range 0 to 100% P = proportional gain (counts per millisecond/error count) I = integral gain (counts per millisecond/error count) Servo gain units V = velocity gain (millivolts/counts per millisecond) F = feedforward gain (counts per millisecond/ counts per millisecond)

24 Drive System Family Remote I/O Adapter s (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Baud rate Rack address Rack width Number of discrete I/O bits Maximum block transfer length Block transfer data types Block transfer data formats 57.6k, 115.2k, or 230.4k (user-selectable) User-selectable between 0 and 31 decimal User-selectable in quarter-rack increments (1/4, 1/2, 3/4, or full) 12 dedicated inputs 12 dedicated outputs 1/4 rack width with 4 inputs and 4 outputs 1/2 rack width with 36 inputs and 36 outputs 3/4 rack width with 68 inputs and 68 outputs Full rack width with 100 inputs and 100 outputs 64 words (128 bytes) User variable values Axis data parameter value Axis data bit state Master cam position point values Master cam time point values Slave cam position point values Axis or system variable value 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

25 1394 Drive System Family 5-25 AxisLink s (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Configuration Baud rate Cable type Cable length Number of motion controllers Addressing Number of virtual master axis Type of virtual master axes Slave axes Standard and extended node configuration Extended length configuration Standard and extended node configuration Extended length configuration Standard and extended node configuration Extended length configuration Standard and extended length configurations Extended node configuration Standard and extended length configurations Extended node configuration Standard configuration Extended length and extended node configurations All configurations One megabit per second 500 kbits per second Allen-Bradley 1770-CD RIO cable (Belden 9463 or equivalent) Belden 9182, Carol C8014, or equivalent 25 m (82 ft) maximum. 1 m (3 ft) minimum between controllers. 125 m (410 ft) maximum. 1 m (3 ft) minimum between controllers. 8 maximum for a total of 32 possible axes 16 maximum for a total of 64 possible axes User-selectable address via rotary selector switch on front panel User-selectable address via GML 4 maximum; 1 per motion controller. Any axis on any motion controller can be a virtual master axis to any other motion controller. Each motion controller can define a total of 2 separate axes on any other motion controllers as virtual master axes, but only one can be active any time. A total of 4 different axes can be active as virtual master axes at any time. 2 maximum; 1 per motion controller. Any axis on any motion controller can be a virtual master axis to any other motion controller. Each motion controller can define a total of 2 separate axes on any other motion controllers as virtual master axes, but only one can be active any time. A total of two different axes can be active as virtual master axes at any time. Command and actual. Each virtual master axis may be defined to report its command or actual position. Standard and extended length configuration 31 maximum total per master axis (3 local + 4 x 7 other motion controllers = 31). Extended node configuration 63 maximum total per master axis (3 local + 4 x 15 other motion controllers = 63). Number of discrete I/O All configurations 112 inputs maximum and 16 user-defined outputs per motion controller. Any motion controller can read 16 discrete outputs of any other motion controller, giving a maximum of 7 x 16 = 112 discrete inputs per motion controller. For extended node configuration, discrete I/O can still only be obtained from a maximum of 7 other controllers (112 inputs maximum), not from all 15 other controllers available in a 16 node maximum extended node configuration. Discrete I/O response All configurations 1 millisecond

26 Drive System Family 1394 Accessories Accessory A-B Catalog Number Manufacturer s Number Feedback and I/O connector kit for 1394C-SJTxx-D 1394C-CCK-D N/A SERCOS fiber cable bulkhead adaptor (2 per pack) 2090-S-BLHD N/A Brake and thermal axis connector kit N/A Cable ground clamp kit for cables 1.5 to 6 mm 2 (16 to 10 AWG) in size. 1394C-GCLAMP N/A Cable ground clamp kit for cables 10mm 2 (8 AWG) in size 1394C-8AWG-GCLAMP N/A 1394-CCFK resolver feedback connector kit, (includes the connector, pins, and extraction tool to connect to 1326-CCU-xxx motor feedback cables). It does not apply to 1394-CCFK N/A 1394-SJTxx-D. Brake and thermal connector operating tool N/A Wago Kit, fuse, for 1394-SR10A (5 and 10 kw system modules) Kit, fuse, for 1394-SR9A (Series B) Kit, fuse, for 1394-SR9AF (Series B) Kit, fuse, for 1394-SR36A (Series B) Kit, fuse, for 1394-SR36AF (Series B) 1394-SR10A-FUSE-A 1394-SR9A-FUSE-B 1394-SR9AF-FUSE-B 1394-SR36A-FUSE-B 1394-SR36AF-FUSE-B Bussmann FWP-40A14F Bussmann FWP-50A14F