Allen-Bradley Spares. Ultra3000 Digital Servo Drive Installation Manual. Document Update. About This Publication

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1 Document pdate ltra000 Digital Servo Drive Installation Manual Catalog Numbers 098-DSD-00, -00, and DSD-xxxX 098-DSD-xxxSE 098-DSD-xxx-DN 098-DSD-xxxX-DN 098-DSD-00, -07, and DSD-xxxX 098-DSD-xxxSE 098-DSD-xxx-DN 098-DSD-xxxX-DN 098-DSD-H00, -H00, -H00, -H0, and -H0 098-DSD-xxxX 098-DSD-xxxSE 098-DSD-xxx-DN 098-DSD-xxxX-DN About This Publication This document updates information about the ltra000 digital servo drive products. se this document in conjunction with the ltra000 Digital Servo Drive Installation Manual, publication 098-IN00E-EN-P. To obtain a copy, contact your local Rockwell Automation sales office, distributor, or online at Allen-Bradley Spares

2 ltra000 Digital Servo Drive Installation Manual Page - Replace Figure.7 on page - with the one shown below. The new figure correctly identifies the drive connector as CN. Figure.7 RS- to RS-48 Connection Diagram + dc Common RS- Interface 7 to 48 Adapter 7 PC RC RC- RC+ 7 XMT XMT- XMT+ Note: Pin-outs vary by manufacturer. This example uses a B&B 48 adapter RC+ RC- XMT+ XMT RC+ RC- XMT+ XMT RC+ RC- XMT+ XMT- CN CN CN Drive Drive Drive n Page 4- pdate the Error Codes table beginning on page 4- with the following entries: Replace the error code entry for E0. In the new entry, the reference to firmware revisions prior to.0 is removed. Replace the error code entry for E0. In the new entry, the reference to firmware revisions prior to.0 is added. Add the lost motion fault (E). Error Codes Error Code Problem or Symptom Possible Cause Action/Solution E0 elocity exceeds position rollover / The velocity command or feedback exceeds half the machine cycle length per millisecond (applies only when the machine cycle position rollover is enabled). Increase machine cycle size or reduce velocity profile. E0 Absolute feedback range exceeded The motor position exceeds +/- 047 revolutions from the home position (applies only to systems with absolute feedback). Decrease application range of motion. pgrade firmware. This error only applies to firmware revisions prior to.0. E Lost motion fault (only applies to applications with Stegmann feedback devices) Detection occurs during a fault reset. Absolute position in the drive is incorrect and the motion has been lost due to line loss condition. Cycle power. Cycle power and re-home drive if drive was homed in the same power cycle that the lost motion fault occurred.

3 ltra000 Digital Servo Drive Installation Manual Page A- Replace the ltra000 (0) Power Specifications table on page A- with the one shown below. The new table includes inrush current specifications configured as Series A, B, or C. Specification AC input voltage AC input frequency AC input current () () Nom (rms) 0 ac (0-pk) max inrush (4) ltra000 drive firmware revision.4 is required to support the Series C hardware. ltraware software, version., is required to download firmware to Series C drives containing the new power board. ltra000 Drive (0) Power Specifications 098-DSD-00x-xx, 098-DSD-00x-xx, and 098-DSD-00x-xx Description 098-DSD DSD DSD rms single-phase Hz A 00 A - Series A or B 0 A - Series C 9 A 00 A - Series A or B 0 A - Series C Continuous output current (0-pk). A A 0 A Intermittent output current (0-pk) 7. A A 0 A Bus capacitance 0 µf 880 µf 880 µf Internal shunt resistance N/A N/A N/A Shunt on N/A N/A N/A Shunt off N/A N/A N/A Bus overvoltage 400 dc 400 dc 400 dc Energy absorption capability ac input 0 ac input Continuous power output ac input 0 ac input 9 J 8 J 0. k 0. k J J 0. k.0 k 8 A 00 A - Series A or B 0 A - Series C.0 k.0 k () Specification is for nominal voltage. The absolute limits are ±0%, or rms. The 098-DSD-00x-xx, -00x-xx, and -00x-xx (0) drives are limited to: Series A or B - one contactor cycle every two minutes. Series C - one contactor cycle every 0 s for up to two minutes, not to exceed cycles in five minutes. () Power initialization requires a short period of inrush current. Dual-element time delay (slow blow) fuses are recommended. (4) Inrush current-limiting circuitry is enabled within s after removal of ac line power. ATTENTION The inrush current-limiting circuitry is limited in the number of power cycles it can withstand within a set period of time. If you exceed these limitations, the circuitry will be damaged. Allen-Bradley Spares

4 4 ltra000 Digital Servo Drive Installation Manual Page A- Replace the ltra000 (0) Power Specifications table on page A- with the one shown below. The new table includes an updated value in the bus capacitance field for 098-DSD-00 drives. Specification AC input voltage ltra000 Drive (0) Power Specifications 098-DSD-00x-xx, 098-DSD-07x-xx, and 098-DSD-0x-xx Description 098-DSD DSD DSD rms Single-phase Hz rms Three-phase AC input frequency Main ac input current () () Nom (rms) 8 A 0 A 4 A 0 ac (0-pk) Max inrush 0 A 0 A 8 A Auxiliary ac Input current ac (rms) Nom.0 A.0 A.0 A 0 ac (rms) Nom 0. A 0. A 0. A ac (0-pk) Max inrush (4) 47 A 47 A 47 A 0 ac (0-pk) Max inrush (4) 9 A 9 A 9 A Continuous output current (0-pk) A A A Intermittent output current (0-pk) 0 A 7 A 0 A Bus capacitance 80 µf 490 µf 70 µf Internal shunt resistance Ω. Ω 9. Ω Shunt on 40 dc 40 dc 40 dc Shunt off 40 dc 40 dc 40 dc Bus overvoltage 4 dc 4 dc 4 dc Internal shunt Continuous power Peak power External shunt Resistance Continuous power Peak power Energy absorption capability ac input 0 ac input Continuous power output ac input 0 ac input 0 4. k 0 Ω (-0/+%).4 k k J 7 J. k k 0 0 k. Ω (-0/+%) 4 k 0 k 8 J J.7 k 7. k 80 8 k 9 Ω (-0/+%) 8 k 9 k 9 J 70 J 7. k k Specification is for nominal voltage. The absolute limits are ±0%, or rms. () The 098-DSD-00x-xx, -07x-xx, and -0x-xx (0) drives are limited to one contactor cycles per two minutes. () Power initialization requires a short period of inrush current. Dual-element time delay (slow blow) fuses are recommended. (4) 400 μs half wave sine. ATTENTION The inrush current-limiting circuitry is limited in the number of power cycles it can withstand within a set period of time. If you exceed these limitations, the circuitry will be damaged.

5 ltra000 Digital Servo Drive Installation Manual Page A-4 Add the attention statement (below) to the ltra000 (40) Power Specifications table on page A-4. The table didn t change, however, the warning applies to all ltra000 drives. ltra000 Drive (40) Power Specifications 098-DSD-H00x-xx, -H00x-xx, -H00x-xx, -H0x-xx, and -H0x-xx Specification () AC Input oltage AC Input Frequency Description 098-DSD-H DSD-H DSD-H DSD-H0 098-DSD-H0 rms Three-phase Hz () (4) Main AC Input Current 40 ac (rms) Nom 40 ac (rms) Max inrush 4 A A 7 A A A A 0 A A 8 A A Auxiliary AC Input Current 0 ac (rms) Nom 0 ac (rms) Nom 480 ac (rms) Nom 0 ac (0-pk) Max inrush () 480 ac (0-pk) Max inrush () 0. A 0. A 0. A 47 A 8 A Continuous Output Current (0-pk) 7 A A A 4 A 47 A Intermittent Output Current (0-pk) A A 4 A 8 A 94 A Bus Capacitance 470 µf 70 µf 940 µf 880 µf Internal Shunt Resistance 0 Ω 40 Ω Ω 0 Ω Shunt On 800 dc Shunt Off 70 dc Bus Overvoltage 80 dc Internal Shunt Continuous power Peak power External Shunt Resistance (-0/+%) Continuous power Peak power Energy Absorption Capability 0 ac input with 0 motor 0 ac input with 40 motor 40 ac input Continuous Power Output 0 ac input 40 ac input 00. k 0 Ω k. k J 9 J J. k.0 k. k.0 k 00 k 40 Ω 0 k k J 94 J 8 J.0 k 0 k 00. k Ω k. k 9 J 9 J 09 J 7. k k 400 k 0 Ω k k 9 J 7 J 9 J k k () Specification is for nominal voltage. The absolute limits are ±0%, or rms. The 098-DSD-Hxxx-xx drives can be powered with 0-40 rms in order to be used in conjunction with motors designed for 0 operation. In such cases, the voltage levels used for shunting and DC bus overvoltage limits are adjusted to be compatible with the voltage limit of the motor. () The 098-DSD-Hxxx -xx (40) drives are limited to three contactor cycles per minute. (4) () Power initialization requires a short period of inrush current (processor controlled via soft start circuitry). Dual element time delay (slow blow) fuses are recommended (refer to Fuse Specifications on page -8). 400 μs half wave sine. ATTENTION The inrush current-limiting circuitry is limited in the number of power cycles it can withstand within a set period of time. If you exceed these limitations, the circuitry will be damaged. Allen-Bradley Spares

6 ltra000 Digital Servo Drive Installation Manual Page B- Replace notes and 7 in the ltra000 Interconnect Diagram Notes with the ones shown below. The new versions include information regarding the placement of ac line filters and routing of wires. Note: 7 Information: May be used to maintain power to logic section of drive and status LED indicators when main ac input power is removed. A separate ac line source may be used if voltage is between 88- ac (rms) on 098-DSD-xxx (0 drives) or 07-8 ac (rms) on 098-DSD-Hxxx (40 drives). In this configuration, a separate line filter for logic power may be required. Place the ac (EMC) line filter as close to the drive as possible and do not route very dirty wires in wireway (refer to Establishing Noise Zones, on page -). If routing in wireway is unavoidable, use shielded cable with shields grounded to the drive chassis and filter case. For ac line filter specifications, refer to AC Line Filter Specifications in Appendix A. Page B-4 Replace the interconnect diagram on page B-4 with the one shown below. The new diagram changes the recommended wiring of input fusing, ac line filter, and contactor. Figure B. Typical Power iring of ltra000 System (098-DSD-00x-xx) ltra000 Digital Servo Drive 098-DSD-00x-xx Note TB TB Three-phase Note External Passive Shunt Input Fusing * Note 4, M * Note 8 DC+ DC- Fused Disconnect or Circuit Breaker * Note Isolation Transformer * Note Single-phase AC Line 0/0 Hz Chassis Bonded Cabinet Ground Bus * Single-phase AC Line Filter Note 7 Note Input Fusing * Note 4, L L/N L AX L/N AX AC Input Power Cable Shield Clamp Note 9 CN 4 N.O. Relay Output+ N.O. Relay Output- Note 0 L CN Single-phase Input ac (rms) L/N 4 START * STOP * CR * Terminal Blocks * Note To additional ltra000 drive. CR * CR * M * 4 dc * Indicates ser Supplied Component Refer to Attention statement (Notes 0, )

7 ltra000 Digital Servo Drive Installation Manual 7 Page B- Replace the interconnect diagram on page B- with the one shown below. The new diagram changes the recommended wiring of input fusing, ac line filter, and contactor. Figure B. Typical Power iring of ltra000 System (098-DSD-07x-xx and -0x-xx) Three-Phase Note ltra000 Digital Servo Drives 098-DSD-07x-xx and -0x-xx Note TB TB External Passive Shunt Fused Disconnect or Circuit Breaker * Note Isolation Transformer * Note Three-phase AC Line 0/0 Hz Neutral Chassis Input Fusing * Note 4, Three-phase AC Line Filter Note 7 Note M * Note 8 Input Fusing * Note 4, Bonded Cabinet Ground Bus * DC+ DC- L L L L AX L/N AX AC Input Power Cable Shield Clamp Note 9 CN 4 N.O. Relay Output+ N.O. Relay Output- Note 0 L CN Three-phase Input ac (rms) L 4 START * STOP * CR * L CR * CR * M * 4 dc Terminal Blocks * Note * Indicates ser Supplied Component To additional ltra000 drive. Refer to Attention statement (Notes 0, ) Allen-Bradley Spares

8 8 ltra000 Digital Servo Drive Installation Manual Page B- Replace the interconnect diagram on page B- with the one shown below. The new diagram changes the recommended wiring of input fusing, ac line filter, and contactor. Figure B.4 Typical Power iring of ltra000 System (098-DSD-Hxxx-xx and -HxxxX-xx) Three-phase Note ltra000 Digital Servo Drives 098-DSD-Hxxx-xx and -HxxxX-xx Note TB DC+ DC- TB External Passive Shunt Fused Disconnect or Circuit Breaker * Note Three-phase AC Line 0/0 Hz Input Fusing * Notes 4 and Three-phase AC Line Filter Note 7 Note M * Note 8 L L L L AX L/N AX AC Input Power CN 4 N.O. Relay Output+ N.O. Relay Output- Note 0 Isolation Transformer * Note Neutral Chassis Bonded Cabinet Ground Bus * Input Fusing* Notes 4 and Cable Shield Clamp Note 9 L CN Three-phase Input ac (rms) L 4 START * STOP * CR * L CR * CR * M * 4 dc Terminal Blocks * Note Refer to Attention statement (Notes 0, ) * Indicates ser Supplied Component To additional ltra000 drive.

9 ltra000 Digital Servo Drive Installation Manual 9 Page B- Replace Figure B. on page B- with the one shown below. The new figure includes MP-Series food grade (MPF), stainless steel (MPS) and low inertia (MPL-A/Bxx and MPL-A/Bxx) motors. Also included is an illustration of grounding the feedback cable shield. Figure B. ltra000 Drive to MP-Series (MPL-A/B, MPF-A/B, and MPS-A/B) s MPL-A/Bxx and -A/Bxx, MPF-A/Bxxx and MPS-A/Bxxx Servo s with High Resolution Feedback BRN BLK BL GN/YL ltra000 Drive Notes, (-pin) Connector CN Control Interface (-pin) Connector CN 4 Note 9 Green/Yellow Blue Black Brown 090-XXNPMF-xxSxx Cable Note Black hite D/ C/ B/ A/ G/- F/+ BR- BR+ GND Three-Phase Thermostat Brake BLACK HT/BLACK RED HT/RED GREEN HT/GREEN GRAY HT/GRAY ORANGE HT/ORANGE BLE SIN+ SIN- COS+ COS- DATA+ DATA- +DC E +9DC TS+ TS- (CN) Connector Power TB Cable Shield Clamp Note 9 +4 ser Supplied +4 dc Power Supply (.0 A max) Refer to illustration (lower left) for proper grounding technique. MPL-A/Bxx and -A/Bxx Servo s with Incremental Feedback 090-XXNFMF-Sxx (flying-lead) Feedback Cable Notes,, 8 (CN) Connector Grounding Technique for Feedback Cable Shield Exposed shield secured under clamp. Cable Tie Breakout Board (090-XBB-DM) D/ C/ B/ A/ G/- F/+ GND Three-Phase BR- BR+ Thermostat Brake BLACK HT/BLACK RED HT/RED GREEN HT/GREEN GRAY HT/GRAY BLE HT/BLE AM+ AM- BM+ BM- IM+ IM- +DC E TS+ TS- S S S 4 0 ORANGE HT/ORANGE YELLO HT/YELLO 8 Refer to illustration (lower left) for proper grounding technique. Allen-Bradley Spares 090-XXNFMF-Sxx Feedback Cable Note,

10 0 ltra000 Digital Servo Drive Installation Manual Page B- Replace Figure B. on page B- with the one shown below. The new figure correctly identifies the motor brake-connector pins as A and B. Also included is an illustration of grounding the feedback cable shield. Figure B. ltra000 Drive to H- and F-Series (0) s 090-XXNPH/HF-xxSxx or -XNPBH/HF-xxSxx Cable Note H- or F-Series (0) Servo s with Incremental Feedback BRN BLK BL GN/YL Power TB ltra000 0 Drive Note (-pin) Connector CN Control Interface (-pin) Connector CN Cable Shield Clamp Note 9 4 Green/Yellow Blue Black Brown Brake Cable Connector Kit Note +4 Black Note 9 hite ser Supplied +4 dc Power Supply (.0 A max) D C B A B A BR- BR+ GND Three-Phase Brake Thermostat A B C D E F R P K J L M N T H S BLACK HT/BLACK RED HT/RED GREEN HT/GREEN HT/BRON BRON GRAY HT/GRAY BLE HT/BLE IOLET HT/IOLET AM+ AM- BM+ BM- IM+ IM- TS+ S +DC E S S TS- (CN) Connector Grounding Technique for Feedback Cable Shield Refer to illustration (lower left) for proper grounding technique. 090-XXNFHF-Sxx (flying lead) or 090-XNFBHF-Sxx (with drive-end connector) Feedback Cable Notes,, Exposed shield secured under clamp. Cable Tie Breakout Board (090-XBB-DM)

11 ltra000 Digital Servo Drive Installation Manual Page B- Replace Figure B. on page B- with the one shown below. The new figure correctly identifies the motor power-cable pins as,,, and. Also included is an illustration of grounding the feedback cable shield. Figure B. ltra000 Drive to Y-Series (0) s Y-Series (0) Servo s with Incremental Feedback -BLK -BLK -BLK GN/YL Power TB ltra000 0 Drive Note (-pin) Connector CN Control Interface (-pin) Connector CN Cable Shield Clamp Note 9 4 Green/Yellow /Black /Black /Black 090-XXNPY-Sxx Cable Note Note 9 +4 BLK BLK ser Supplied +4 dc Power Supply (.0 A max) 9 7 Pigtail BR- BR+ GND Three-Phase Feedback Brake Pigtail BLACK HT/BLACK RED HT/RED GREEN HT/GREEN HT/BLE BLE BRON HT/BRON GRAY HT/GRAY AM+ AM- BM+ BM- IM+ IM- S S S +DC E DRAIN Refer to illustration (lower left) for proper grounding technique. (CN) Connector Grounding Technique for Feedback Cable Shield 090-XXNFY-Sxx (flying lead) or 090-XNFBY-Sxx (with drive-end connector) Feedback Cable Notes,, Exposed shield secured under clamp. Cable Tie Breakout Board (090-XBB-DM) Allen-Bradley Spares

12 Page B-9 Replace the table on page B-9 with the one shown below. The new table includes the MPL-xxx, MPL-xxx, and TL-Series motors. Compatible Brake s Coil Current Compatible Brake s Coil Current MPL-xxx 0.48 A AB-B4xxx 0.88 A MPL-xxx 0. A F-400, -400, and A MPL/MPF/MPS-x0, -x0, -x0 0.0 A Y-00 and A MPL-x40, -x40, -x40, -x40, -x0 Y-00 and A 0.4 A MPF-x40, -x40, -x0 Y A MPG-x A TL-A0P-H, -A0P-H, and -A0P-H 0.08 A MPG-x00 TL-A0P-H and -A0P-H 0.7 A 0.4 A MPG-x0 TL-A0P-H and -A40P-H 0.9 A MPG-x A TL-A40P-H 0.74 A MPG-x0.0 A Applies to 0 and 40 motors. Replace Figure B.9 with the one shown below. The new figure correctly identifies the relay output pins as CN-4 and CN-. Figure B.9 Example Configuration Controlling a Brake ltra000 Drive Power Supply 4 dc + _ CR CN 4 N.O. Relay Output + () N.O. Relay Output + CR Brake Feedback Power Servo () Flyback diode (N4004 rated dc) or MO suppresses the collapsing field of the brake coil. For non-sercos drive, the relay output (CN-4 and -) must be configured as a brake. IMPORTANT Electrical arcing may occur at the relay contacts until the brake power dissipates. A customer-supplied diode or metal oxide varistor (MO) is recommended to prevent arcing. se of an MO can also reduce the time to mechanically engage the brake. Allen-Bradley, Rockwell Automation, and ltra000 are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies. PN Supersedes Publication 098-D00A-EN-P June 00 Copyright 00 Rockwell Automation, Inc. All rights reserved. Printed in the.s.a.