Rockwell-automation 1391ES AC Servo Controller User Manual

1391B-ES Instruction ManualTable of ContentsiIntroduction Chapter 1Manual Objectives 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SpecificationsChapter 22-8Specifications are for reference only and are subject to change without notice.Environmental Specifications The 1391B-ES mus

2-9Important: Power Dissipation figures shown are for use in calculatingcumulative system heat dissipation to ensure ambient temperature insideenclosu

3Chapter3-10Receiving, Unpacking and InspectionChapter Objectives Chapter 3 provides the information needed to unpack, properly inspect andif necessar

Receiving, Unpacking and InspectionChapter 33-11Isolation Transformer1391 TFirst Position Second Posi-tionThird Posi-tionBulletinNumberType015Fourth P

Receiving, Unpacking and InspectionChapter 33-12Bulletin 1391B-ES Controller1391B ES AFirst Position Second Posi-tionThird Posi-tionBulletinNumberType

Receiving, Unpacking and InspectionChapter 33-131326 A 3First Position Second Posi-tionThird Posi-tionBulletinNumberFourth PositionMax. Op.SpeedEFifth

Receiving, Unpacking and InspectionChapter 33-141326ABMODFirst Position Second Posi-tionThird Posi-tionBulletinNumberFourth PositionCoupling Sizefor .

Receiving, Unpacking and InspectionChapter 33-151326ABMODFirst Position Second Posi-tionThird Posi-tionBulletinNumberGear Ratio Input:Resolver–Descrip

Receiving, Unpacking and InspectionChapter 33-161326 CFirst Position Second Posi-tionThird Posi-tionBulletinNumberSixth PositionCable Length–FunctionP

Receiving, Unpacking and InspectionChapter 33-17End of Chapter

1391B-ES Instruction ManualTable of ContentsiiInputs, Outputs and Adjustments Chapter 5Chapter Objectives 5-1. . . . . . . . . . . . . . . . . . . . .

4Chapter4-18Description of OperationChapter Objectives Chapter 4 is intended to familiarize the reader with the circuitry of the1391B-ES in terms of f

Description of OperationChapter 44-19The three-phase relationship between the reference signal and the timingwave provide a PWM wave to the power tran

Description of OperationChapter 44-20The shunt regulator behavior is further modified by an adjustable dutycycle timer. The timer is used to model the

Description of OperationChapter 44-21Fault Monitoring and Detection A number of Fault Monitor and Detection functions exist on the 1391B-ESthat guard

Description of OperationChapter 44-22Drive ReadyThe status of the power supplies and fault conditions are monitoredcontinuously. If a fault is present

Description of OperationChapter 44-23ATTENTION: The user has the ultimate responsibility todetermine which stopping method is best suited to the appli

Description of OperationChapter 44-24Power-Up/Down Sequence Figure 4.4 describes the various steps involved in the power-up/downsequence of the 1391B-

Description of OperationChapter 44-25End of Chapter

5Chapter5-26Inputs, Outputs and AdjustmentsChapter Objectives Chapter 5 contains descriptions of the various inputs and outputs availableon the 1391B-

Inputs, Outputs and AdjustmentsChapter 55-27Adjustable Current Limit (TB2, Terminal 5)The current limit of the controller is set to 300% or twice the

1Chapter1-1IntroductionManual Objectives This manual is meant to guide the interface, installation, setup andtroubleshooting of a 1391B-ES AC Servo Co

Inputs, Outputs and AdjustmentsChapter 55-28Torque Command Input (TB2, Terminals 15, 16)Terminals 15 and 16 provide a small amount of input filtering

Inputs, Outputs and AdjustmentsChapter 55-29Terminal Block - TB4Drive OK (DROK) Contacts (TB4, Terminals 17, 18)Application of power to the transforme

Inputs, Outputs and AdjustmentsChapter 55-30Figure 5.2Terminal Block, Potentiometer and Switch Locations DS1DS2DS3DS4DS5DS6DS7DS8TB1120110Current Feed

Inputs, Outputs and AdjustmentsChapter 55-31Potentiometer Adjustments Preliminary adjustment of the Logic Control Board potentiometers isrequired as

Inputs, Outputs and AdjustmentsChapter 55-32Switch Settings This section provides information on setting the Duty Cycle Selectorswitch (SW1), Current

Inputs, Outputs and AdjustmentsChapter 55-33Table 5.BTypical Current Feedback ScalingMotor RatedCurrent1391B-ESAA1515.014.113.112.211.310.39.48.47.56.

Inputs, Outputs and AdjustmentsChapter 55-34Configuration Switch - S2Prior to start-up, the switch positions of S2 must be checked against thelisting

Inputs, Outputs and AdjustmentsChapter 55-35Tachometer Scaling (S2-1)Switch S2-1 is used to configure the 1391B-ES tachometer synthesiscircuitry to a

Inputs, Outputs and AdjustmentsChapter 55-36Torque Block/Velocity Loop Operation (S2-5)Switch S2-5 is used to disable the velocity error amplifier to

Inputs, Outputs and AdjustmentsChapter 55-37Figure 5.3A Quad B Board Switch (S3) SettingsAA (NOT)BB (NOT)ZZ (NOT)2 Marker Pulses perRevolutionCCW Rota

IntroductionChapter 11-2General Precautions In addition to the precautions listed throughout this manual, the followingstatements which are general to

6Chapter6-38InstallationChapter Objectives Chapter 6 provides the information needed to mount and wire the1391B-ES Servo Controller for operation. Sin

InstallationChapter 66-39ATTENTION: The installation of the controller must beplanned such that all cutting, drilling, tapping and welding canbe accom

InstallationChapter 66-40To help alleviate the problem, machine power and signal lines must berouted separately. The 1391B-ES power and signal lines m

InstallationChapter 66-41Grounding requirements, conventions and definitions are contained in theNational Electrical Code. Local codes will usually di

InstallationChapter 66-42Motor Feedback WiringConnections to the integral commutation resolver must be made using anAllen-Bradley 1326-CFUxx shielded

InstallationChapter 66-43Fusing (Transformer Primary)Time delay fusing similar to Bussman Fusetron FRS Series or equivalentmust be used if the primary

7Chapter7-44Start-UpChapter Objectives Chapter 7 provides the steps needed to properly start-up the 1391B-ES ACServo Controller. Included in the proce

Start-UpChapter 77-45o 3. Assure that preliminary adjustment of the following items has beenperformed:- Potentiometer adjustments as described in Cha

Start-UpChapter 77-46o 9. The wires connected to terminals 1 & 2 of TB2 (Velocity CommandInput) must be marked and removed. A ±10V DC local contr

Start-UpChapter 77-47o 11. If adjustable current limit is not desired, proceed to step 12. GroundTB2-5 to TB2-6. Set Current Limit to zero. With a 10

IntroductionChapter 11-3The 1391B-ES is generally used with a computer aided, closed looppositioning system to control the position and linear or rota

Start-UpChapter 77-48Figure 7.2Velocity Response ProfilesCommanded VelocityTimeUnderdampedCritically DampedOverdampedR144 Controls Amount of Overshoot

Start-UpChapter 77-49o 20. Remove power with the branch circuit disconnect.o 21. Remove the local Enable switch and reconnect external wiring.o 22.

8Chapter8-54The 1326 AC ServomotorChapter Objectives Chapter 8 describes the operation of a standard 1326 AC Servomotor withthe enhanced capabilities

The 1326 AC ServomotorChapter 88-55Tp – the peak torque that can be produced by the motor/controllercombination with both at rated temperature and the

The 1326 AC ServomotorChapter 88-56Table 8.A provides a comparison of the resultant speed obtained fromstandard Bulletin 1326 servomotors using Bullet

The 1326 AC ServomotorChapter 88-57End of Chapter

9Chapter9-54Transformers and Shunt RegulatorsChapter Objectives Chapter 9 provides general information about the 1391 IsolationTransformer. In additio

Transformers and Shunt RegulatorsChapter 99-5550/60 Hz TransformersThe 50/60 Hz transformer that is available has an input rating of240/380/415/480V A

Transformers and Shunt RegulatorsChapter 99-56Figure 9.11391 Transformer Wiring DiagramsH6 H7 H8 H9 H10H1 H2 H3 H4 H5 H11 H12 H13 H14 H15 P1 P2 G1 G0Y

Transformers and Shunt RegulatorsChapter 99-57Shunt Regulator Operation Refer to Chapter 4 for an explanation of the shunt regulator circuitry. Thenom

IntroductionChapter 11-4Options/Modifications The 1391B-ES contains most functions needed in a servo system.The following are selectable at the user’s

Transformers and Shunt RegulatorsChapter 99-58Table 9.B shows the nominal resistor power trip levels in watts for thevarious switch settings. When shu

Transformers and Shunt RegulatorsChapter 99-59Frequent overvoltage trips on high inertia systems (load is 2 or 3 times themotor inertia) during regene

Transformers and Shunt RegulatorsChapter 99-60ATTENTION: Proper derating must be applied to themanufacturers nominal resistor power ratings when using

Transformers and Shunt RegulatorsChapter 99-61End of Chapter

10Chapter10-62TroubleshootingChapter Objectives Chapter 10 provides information to guide the user in troubleshooting the1391B-ES. Included in the chap

TroubleshootingChapter 1010-63Table 10.ALED Descriptions and Fault DiagnosisLEDOVERTEMPERATURE(RED)Potential CauseOVERTEMPERATURE LED is IlluminatedTh

TroubleshootingChapter 1010-64Table 10.ALED Descriptions and Fault Diagnosis (Continued)LEDUNDERVOLTAGE(Continued)Potential CauseThe logic supplies ha

TroubleshootingChapter 1010-65Table 10.BGeneral System Troubleshooting Possible Cause1. The velocity feedback, position feedback device or velocity co

TroubleshootingChapter 1010-66Table 10.CGeneral Servomotor TroubleshootingPossible Cause1. The motor connections are loose or open.2. Foreign matter i

TroubleshootingChapter 1010-67Figure 10.1Logic Control Board Test Point LocationsDS1DS2DS3DS4DS5DS6DS7DS8TB1120110Current FeedbackScaling SwitchConfig

IntroductionChapter 11-5Figure 1.11391B-ES AC Servo ControllerTB2Ground StudTB5TB4Circuit BreakerFuseSW1TB1Diagnostic LED’s

TroubleshootingChapter 1010-68Figure 10.21391B–ES Top PanelTB5TB4F31F1F2MCBTB1SW111022111101 F3 provided on 15 and 22.5A units only.15A = KLM-1022.5

TroubleshootingChapter 1010-69End of Chapter

AAppendixA-70DimensionsFigure A.11391B-ES Dimensions Dimensions are in inches and (millimeters)AC SERVO CONTROLLEROVERTEMPERATUREPOWER FACTORCONTROL P

DimensionsAppendix AA-71Figure A.21391 Isolation Transformer DimensionsDimensions are in inches and (millimeters)CAT. NO.FREQUENCYPOWER RATINGPRIMARY

DimensionsAppendix AA-72Figure A.3NEMA Type 1 Enclosure DimensionsDimensions are in inches and (millimeters)ABDCEFront SideCatalog Number1391-TA2kVAAl

DimensionsAppendix AA-73Figure A.4External Shunt Resistor and Fuse DimensionsDimensions are in inches and (millimeters)12.75 (323.8)14.00 (355.6)1.87(

BAppendixB-74Interconnect Drawings Objectives Appendix B provides typical interconnection diagrams that illustrate thewiring between the 1391B-ES and

CAppendixC-75Cable InformationCable Wiring Information Pin-outs and interconnect information for the various 1326 cables areprovided in this section.1

Cable InformationAppendix CC-761326-CPCxx Motor Power CableServo Control ConnectionWire Wire Gauge Connector 1389-AAxx 1391-AAxxNumber Color (AWG) Pin

Cable InformationAppendix CC-771391-CAQB A Quad B CableThe 1391-CAQB cable allows the user to connect directly from an IMC121, 123, 123CR or 9/240 con

IntroductionChapter 11-6End of Chapter

Cable InformationAppendix CC-78End of Appendix

DAppendixD-79Controller OptionsZero Current Option (-A13) The Zero Current Option allows the user to externally adjust the currentlimit of the contro

Controller OptionsAppendix DD-80End of Appendix

2Chapter2-7SpecificationsChapter Objectives Chapter two contains the electrical and environmental specifications for the1391B-ES. Dimensions are prov