Rockwell-automation 8520 9/Series CNC Integration Maintenance Manual D User Manual

P--1Publication XXXX-XX.X -- September 1995Integration andMaintenanceManual9/Series CNCHardwareAllen-Bradley

9/Series Integration and Maintenance ManualTable of Contentsv5B.7 9/440HR LEDs 5B-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 3APrimary 9/230 Components3A-17The encoder termination panels are options with the analog system thatprovide an easy and convenient means for

Section 3APrimary 9/230 Components3A-18This section discusses encoder feedback devices that are compatible forboth analog and digital servo systems. F

Section 3APrimary 9/230 Components3A-19The 9/230 supports:Feedback Device Additional hardwareAllen-Bradley 845H seriesdifferentialencoders ----Sony Ma

Maximum Encoder Channel Frequency =Clock360x 1.1590-EqSection 3APrimary 9/230 Components3A-20Table 3A.IEncoder SpecificationsItem SpecificationMaximum

Section 3APrimary 9/230 Components3A-21Figure 3A.13 shows an incremental feedback device equivalent circuit forfeedback channel A.Figure 3A.13Incremen

Section 3APrimary 9/230 Components3A-22If the previous procedure is not performed correctly, inconsistent homingof the axis may occur. If your encoder

Section 3APrimary 9/230 Components3A-23Wiring Power for your Feedback Device (Analog Systems Only)The control supports feedback devices with 5v compat

Section 3APrimary 9/230 Components3A-24There are two different digital 9/230 systems. One is used to support the8520-xx series of digital amplifiers (

Section 3APrimary 9/230 Components3A-25Figure 3A.16Typical 8520 Digital Servo Drive ConfigurationConfigured for three axes andonespindle without posit

Section 3APrimary 9/230 Components3A-26The Digital Servo control is a function at the 9/230 Digital processorboard. The control calculates positioning

9/Series Integration and Maintenance ManualTable of Contentsvi8.9.2 9/260 Remote I/O Module 8-23. . . . . . . . . . . . . . . . . . . . . . . . . . .

15 144 31.Section 3APrimary 9/230 Components3A-27The 9/230 CNC sends drive signals to the servo amplifier and receivesfeedback through these connector

15 144 31.Section 3APrimary 9/230 Components3A-28Figure 3A.19Pinout for the Servo Connectors on the 9/230 1394 DigitalPin Signal Description Signal De

Section 3APrimary 9/230 Components3A-29ANALOG OUT Auxiliary Output ConnectorAn auxiliary analog output is provided through the connector labeledANALOG

Section 3APrimary 9/230 Components3A-30Two versions of the 9/230 digital are available which interface to the 8520digital amplifier or the 1394 digita

Section 3APrimary 9/230 Components3A-31The digital servo motors are used to drive the axes of the digital servodrive system. The digital servo motors

Section 3APrimary 9/230 Components3A-32Test points are small metallic pins on the processor module circuit board.Hardware troubleshooting and testing

TP 5TP 12TP 33TP 7TP 10TP 11TP 13TP 14TP 15TP 21TP 22TP 23TP 24TP 34Section 3APrimary 9/230 Components3A-33Figure 3A.23Test Points on the 9/230 Digita

Section 3APrimary 9/230 Components3A-34The touch probe circuitry resident on the processor module only respondsto the trigger probe edge changes. Pola

Section 3APrimary 9/230 Components3A-35Figure 3A.24Internal Circuitry Supporting the Touch Probe5Vcommon+5V dc464ohm1000ohm4 3 2 11953475ALS197dcTB2Th

Section 3APrimary 9/230 Components3A-36Wiring a Probe for Rising Edge ConfigurationsTypical wiring of a simple contactor type touch probe configured t

9/Series Integration and Maintenance ManualTable of Contentsvii9B.7 Receiving the Illegal Request Messagefrom theCNC(CMD=63 hex) 9B-8. . . . . . . . .

Section 3APrimary 9/230 Components3A-37Important: Since the adaptive depth probing feature requires onefeedback port to pass probe position data to th

Section 3APrimary 9/230 Components3A-38

Section3B3B-1Power DistributionOnce you have planned your system layout, you can begin connectingpower and components to your system. In this section

Section 3BPower Distribution3B-2This section discusses the connections of the main power supply and theoperator panel power supply.Connecting the Main

Section 3BPower Distribution3B-3Figure 3B.2Main Power Supply Connection for the 9/230supply connectorP1219417INPUT115/230V8A/5.5A47 - 63 HzTo processo

Section 3BPower Distribution3B-4The input power specifications of the main power supply, the operator panelpower supply, and the portable operator pan

Section 3BPower Distribution3B-5Connecting the Main Power Supply to the MonochromeOperator Panel Power SupplyYou connect the operator panel power supp

Section 3BPower Distribution3B-6Connecting the Main Power Supply to the PortableOperator Panel Interface Assembly Power SupplyYou connect the Portable

Section 3BPower Distribution3B-7Connecting Main Power Supply to the Color Operator PanelYou connect the operator panel power supply directly to the ma

Section 3BPower Distribution3B-8Connecting the Power Supply to the MTB Panel ON/OFF SwitchTerminal block BT04 terminals ON-SW, COM, and the OFF-SW are

9/Series Integration and Maintenance ManualTable of Contentsviii9/Series Adapter Modules for 1771 and 1746 I/O Devices10B.0 Section Overview 10B-1. .

Section 3BPower Distribution3B-9All components and modules must be correctly grounded to protect againstelectrical shock hazards. Proper grounding als

Section 3BPower Distribution3B-10ServoMotorServoMotorAnalogI/ODigitalI/O (dc)DigitalI/O (dc)RS--422 orRS--232TerminalHigh DensityI/OLine Filter/Transf

Publication 8520-6.2.3 -- February 19979/Series, PAL, PLC, SLC 5/03, SLC 5/04, DH+, and INTERCHANGE are trademarks ofAllen-Bradley Company, Inc.Allen-

8520-6.2.4 -- August 1998 PN--1764389/Series HardwareTAB 49/260 and 9/290 CNC Systems

2

Section4A4A-1Primary 9/260 and 9/290 ComponentsThis section discusses the primary components of the 9/260 and 9/290enclosure:Motherboard (9/260 and 9/

Section 4APrimary 9/260 and 9/290 Components4A-2The motherboard is attached to the back wall of the enclosure. The CPUboard slides into the enclosure

Section 4APrimary 9/260 and 9/290 Components4A-3On the 9/260 and the 9/290 the motherboard works with the CPU board toprocess all software functions o

Section 4APrimary 9/260 and 9/290 Components4A-4Table 4A.A lists the connections on the 9/260 and 9/290 motherboard andwhere to locate the cable diagr

8115911257-IPort B81169Section 4APrimary 9/260 and 9/290 Components4A-5Figure 4A.4Port B-J7 (has pin sockets) and Pin AssignmentsPin Assignment Pin As

9/Series Integration and Maintenance ManualTable of Contentsix13A.8 8500 Digital ServoMotors 13A-24. . . . . . . . . . . . . . . . . . . . . . . . . .

8115911257-ISection 4APrimary 9/260 and 9/290 Components4A-6Video Monitor ConnectorThe video monitor connector is used to interface the video monitor

981Port A15Section 4APrimary 9/260 and 9/290 Components4A-7Figure 4A.7CPU BoardUsed only for extended program storageSuper CapacitorEPPS JumperConnect

Section 4APrimary 9/260 and 9/290 Components4A-8The green and red LEDs on the motherboard and the CPU board for 9/260and 9/290 indicate the overall st

Section 4APrimary 9/260 and 9/290 Components4A-9The memory for data such as part programs, tool offset/compensation data,interference zones, and work

Section 4APrimary 9/260 and 9/290 Components4A-10You receive the main power supply with your control. The main powersupply powers the motherboard, the

Section 4APrimary 9/260 and 9/290 Components4A-11Output SpecificationsThe main power supply output specifications are shown in Table 4A.C.For input sp

Section 4APrimary 9/260 and 9/290 Components4A-12

Section4B4B-1Connecting the 3-axis Servo ModuleThis section covers the integration of the 8520 digital and analog servomodule and its components. A se

Section 4BConnecting the 3-axis Servo Module4B-2Figure 4B.19/260 and 9/290 Connections from the 3-Axis Servo Module to 8520 Digital Drives8520 Digital

Section 4BConnecting the 3-axis Servo Module4B-3Figure 4B.29/260 and 9/290 Connections from the 3-axis Servo Module to Analog DrivesAnalogServo Module

9/Series Integration and Maintenance ManualTable of Contentsx15A.4.1 Digital I/O 15A-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 4BConnecting the 3-axis Servo Module4B-4The 8520 digital Servo Amplifier translates low-level PWM signals fromthe 8520 digital servo module to

Section 4BConnecting the 3-axis Servo Module4B-5Figure 4B.4Typical 8520 digital Servo Drive Configuration for a Lathe9/260 or 9/290Cabinet or enclosur

Section 4BConnecting the 3-axis Servo Module4B-6The 8520 Digital Servo Module is mounted in the component enclosure. Itfunctions as a high-speed servo

Section 4BConnecting the 3-axis Servo Module4B-7The functions of the digital servo module are designed to make the axesrun with optimum performance. G

1 2 3 4 5 6 78 9 10 11 12 1314 15 16 17 18 19 2011277-ISection 4BConnecting the 3-axis Servo Module4B-8CN2, CN3, and CN4 Servo Drive Signal Connectors

1 2 3 4 5 6 78 9 10 11 12 1314 15 16 17 18 19 2011278-ISection 4BConnecting the 3-axis Servo Module4B-9CN5, CN6, and CN7 for Absolute and Incremental

Section 4BConnecting the 3-axis Servo Module4B-10Table 4B.B lists the pin assignments of this connector when it used withincremental encoders.Table 4B

1 2 34 56 7 811279-I1 2 34 56 7 811280-ISection 4BConnecting the 3-axis Servo Module4B-11CN8 DAC Output ConnectorThe digital servo module sends analog

Section 4BConnecting the 3-axis Servo Module4B-12CN10 Absolute Encoder Battery ConnectorThe digital servo module receives battery power from the batte

1 211281-ISection 4BConnecting the 3-axis Servo Module4B-13Figure 4B.11Connector CN10 Pin AssignmentsPin No. Signal Description Signal Destination1 BA

9/Series Integration and Maintenance ManualTable of Contentsxi15B.23 Replacing the3-axis DigitalServoModule 15B-38. . . . . . . . . . . . . . . . .15B

1 211282-ISection 4BConnecting the 3-axis Servo Module4B-14Figure 4B.12Connector CN13 Pin AssignmentsPin No. Signal Description Signal Destination1 +5

Section 4BConnecting the 3-axis Servo Module4B-15Important: Battery backup is required for absolute encoders only.Incremental encoders do not require

Section 4BConnecting the 3-axis Servo Module4B-16The optional feedback module provides extra feedback ports for the digitalservo module. Use these por

Section 4BConnecting the 3-axis Servo Module4B-17Figure 4B.15Optional Feedback Module Interfaced with Digital Servo ModuleCN16FCN21MCN22MCN15FCN14FCN2

Section 4BConnecting the 3-axis Servo Module4B-18Table 4B.F lists the connectors used to connect the optional feedbackmodule to the servo module, non-

1 2 3 4 5 67 8 9 1011 12 13 14 15 1611863-ISection 4BConnecting the 3-axis Servo Module4B-19Figure 4B.16Connectors and Pin Assignments for the CN14F,

1 23 411864-ISection 4BConnecting the 3-axis Servo Module4B-20CN23M External +15V dc Power Supply ConnectorUse connector CN23M on the optional feedbac

1 211282-I1 211282-ISection 4BConnecting the 3-axis Servo Module4B-21Figure 4B.18Connector and Pin Assignments of the CN24M, 2 pin male, Molex5566-2AP

CN16FCN21MCN22MCN15FCN14FCN23MCN24MCN25MJP1VR2VR1VR311866-ISection 4BConnecting the 3-axis Servo Module4B-22Figure 4B.20Optional Feedback Module Jumpe

CN21MCN22MCN23MCN24MCN25MJP1TP1, TP4, TP7TP2, TP5, TP8TP11TP10TP15TP3, TP6, TP12TP14TP9, TP13RotarySwitch11867-ISection 4BConnecting the 3-axis Servo

9/Series Integration and Maintenance ManualTable of Contentsxii

Section 4BConnecting the 3-axis Servo Module4B-24Table 4B.GOptional Feedback Module Rotary Switch PositionsRotary SwitchPositionCorresponding Ports0 N

Section 4BConnecting the 3-axis Servo Module4B-25A touch probe can be interfaced with the digital servo module throughconnector CN9. Refer to Figure 4

Section 4BConnecting the 3-axis Servo Module4B-26Figure 4B.23 shows the internal servo module circuitry that interfaces tothe touch probe connector. I

Section 4BConnecting the 3-axis Servo Module4B-27Figure 4B.24Typical Wiring of a Touch Probe Configured for Rising Edge TriggerCN9M2345Servo Module26L

Section 4BConnecting the 3-axis Servo Module4B-28Wiring a Probe to Multiple Servo ModulesSystems with more than one servo module should have their tou

Section 4BConnecting the 3-axis Servo Module4B-29There are two typical analog servo drive configurations for the control.The typical mill configuratio

Section 4BConnecting the 3-axis Servo Module4B-30Most analog servo drive amplifiers require some form of velocity feedbackfrom the servo motor. This f

Section 4BConnecting the 3-axis Servo Module4B-31Figure 4B.28Typical Analog Servo Drive Configuration for a LatheAnalog Servo Module(configured fortwo

Section 4BConnecting the 3-axis Servo Module4B-32The Analog Servo Module is mounted in the component enclosure. Itfunctions as a high-speed servo proc

Section 4BConnecting the 3-axis Servo Module4B-33Table 4B.H lists the connectors that are used to integrate the analog servomodule with other modules

9 12619.11300-ISection 4BConnecting the 3-axis Servo Module4B-34Figure 4B.30Connectors J1, J2, and J3 -26 Pin Female, D-Shell Connector and PinAssignm

ANALOG321OUTAXISANALOGBAT/TPRUN\FLTFBFLT1FBFLT2FBFLT3RUN\FLTLFBFLT1FBFLT2FBFLT3OUT11301-ISection 4BConnecting the 3-axis Servo Module4B-35ANALOG OUT (

654321BAT/TPAXISANALOGBAT/TPRUN\FLTFBFLT1FBFLT2FBFLT3RUN\FLTLFBFLT1FBFLT2FBFLT3OUT11302-ISection 4BConnecting the 3-axis Servo Module4B-36BAT/TP (TB1)

1 211282-ISection 4BConnecting the 3-axis Servo Module4B-37Figure 4B.33Connector P3, 2 pin male, Molex 5566-02APin No. Signal Description Signal Desti

Section 4BConnecting the 3-axis Servo Module4B-38Axes are connected to the D-shell connectors marked J1, J2, and J3. Axesmust be connected consecutive

Section 4BConnecting the 3-axis Servo Module4B-39Test points are small metallic pins on the analog servo module circuitboard. Hardware troubleshooting

Section 4BConnecting the 3-axis Servo Module4B-40Table 4B.KAnalog Servo Module Test Point ValuesTest Point Analog DAC reference VoltagesTP5 +10V dc Re

Section 4BConnecting the 3-axis Servo Module4B-41The encoder termination panels are options with the analog system thatprovide an easy and convenient

Section 4BConnecting the 3-axis Servo Module4B-42This section discusses encoder feedback devices that are compatible forboth analog and digital servo

Section 4BConnecting the 3-axis Servo Module4B-43The 3 axis 9/260 and 9/290 servo cards support:Feedback Device Additional hardwareAllen-Bradley 845H

Publication 852062--RM025A--EN--P November 2000Supercedes Publication 8520--6.2.25 -- August 1998PN 176965Copyright 2000 Allen-Bradley Company, Inc. P

Maximum Encoder Channel Frequency =Clock360x 1.1590-EqSection 4BConnecting the 3-axis Servo Module4B-44Table 4B.LEncoder SpecificationsItem Specificat

Section 4BConnecting the 3-axis Servo Module4B-45Figure 4B.36 shows an incremental feedback device equivalent circuit forfeedback channel A.Figure 4B.

Section 4BConnecting the 3-axis Servo Module4B-46Figure 4B.37Example of a Typical Vendor Encoder Timing Diagram1 cycleHiLoChannel ABA’B’Z’ZOptionalSTE

Section 4BConnecting the 3-axis Servo Module4B-47If the previous procedure is not performed correctly, inconsistent homingof the axis may occur. If yo

Section 4BConnecting the 3-axis Servo Module4B-48Connect a touch probe to the connector labeled BAT/TP on the servomodule (TB1). Connector terminal id

Section 4BConnecting the 3-axis Servo Module4B-49Figure 4B.39 shows the internal servo module circuitry that interfaces tothe touch probe connector. I

Section 4BConnecting the 3-axis Servo Module4B-50Figure 4B.40Typical Wiring of a Touch Probe Configured for Rising Edge Trigger11309-I54321Servo Modul

Section 4BConnecting the 3-axis Servo Module4B-51Figure 4C.22 shows a typical wiring diagram for multiple servo cards.Figure 4B.42Multiple Servo Card

Section 4BConnecting the 3-axis Servo Module4B-52In AMP the adaptive depth probe is assigned an axis name. Using the axismonitor page for that axis (s

Section4C4C-1Connecting the 4-axis Servo ModuleThis section covers the integration of the 4-axis analog/1394 and digitalservo module components. A sec

852062--RM025A--EN--P -- November 2000 PN--1769659/Series HardwareTable of ContentsTAB 1 Using this Manual and System OverviewTAB 2 System Layout and

8520-6.2.1 -- February 1996 PN--1604749/Series HardwareTAB 1Using This Manual and System OverviewMainPowerSupplyMono/ColorOperatorPanel9/230MTBPanelMT

Section 4CConnecting the 4-axis Servo Module4C-2Important: In order to use the solid tapping feature that is available on the9/260 and 9/290 CNC, you

Section 4CConnecting the 4-axis Servo Module4C-3Figure 4C.2Typical Digital Servo Drive Configuration for a Lathe9/260 or 9/290Cabinet or enclosureServ

Section 4CConnecting the 4-axis Servo Module4C-4The servo module is mounted in the component enclosure. It functions asa high-speed servo processor. T

Section 4CConnecting the 4-axis Servo Module4C-5The functions of the servo module are designed to make the axes run withoptimum performance. Generally

Section 4CConnecting the 4-axis Servo Module4C-6Most analog servo drive amplifiers require some form of velocity feedbackfrom the servo motor. This fe

Section 4CConnecting the 4-axis Servo Module4C-7Figure 4C.5Typical Analog Servo Drive Configuration for a LatheAnalog Servo Module(configured fortwo a

Section 4CConnecting the 4-axis Servo Module4C-8The Analog/1394 Servo Module is mounted in the component enclosure.It functions as a high-speed servo

Section 4CConnecting the 4-axis Servo Module4C-9Axes are connected to the D-shell connectors marked J1, J2, J3 and J4.Axes can be connected in any ord

15 144 31.Section 4CConnecting the 4-axis Servo Module4C-10Servo Module Interface Connector - P1The servo module is interfaced with the motherboard th

15 144 31.Section 4CConnecting the 4-axis Servo Module4C-11Figure 4C.8Pinout for the Servo Connectors on 8520-SM4 for 1394 SystemsPin Signal Descripti

4Because of the variety of uses for this product and because of thedifferences between solid state products and electromechanical products,those respo

15 144 31.Section 4CConnecting the 4-axis Servo Module4C-12Figure 4C.9Pinout for the Servo Connectors on 8520-SM4 for Analog SystemsPin Signal Descrip

321TOUCH PROBEANALOG OUTJ2J3J4 J11324FLT4Section 4CConnecting the 4-axis Servo Module4C-13ANALOG OUT (TB2) Auxiliary Output Connector.An auxiliary ana

321TOUCH PROBEANALOG OUTJ2J3J4 J11324FLT41211282-ISection 4CConnecting the 4-axis Servo Module4C-14Touch Probe Connector - TB1The servo module receive

Section 4CConnecting the 4-axis Servo Module4C-15Table 4C.B lists the servo module input specifications.Table 4C.BServo Module Input SpecificationsIte

Section 4CConnecting the 4-axis Servo Module4C-16Table 4C.D lists the servo module output specifications. This table isprovided as an aid to determini

Section 4CConnecting the 4-axis Servo Module4C-17The Digital Servo Module, 8520-ENC4, provides battery backup for theabsolute encoder position registe

Section 4CConnecting the 4-axis Servo Module4C-18To replace the servo module battery, turn all system power OFF anddisconnect the old batteries from c

Section 4CConnecting the 4-axis Servo Module4C-19The servo module is equipped with a set of four LEDs located on the frontof the servo module. All fou

Section 4CConnecting the 4-axis Servo Module4C-20The encoder termination panels are options with the analog system thatprovide an easy and convenient

Section 4CConnecting the 4-axis Servo Module4C-21This section discusses encoder feedback devices that are compatible forboth analog and digital servo

5

Section 4CConnecting the 4-axis Servo Module4C-22The 4 axis 9/260 and 9/290 servo cards support:Feedback Device Additional hardwareAllen-Bradley 845H

Maximum Encoder Channel Frequency =Clock360x 1.1590-EqSection 4CConnecting the 4-axis Servo Module4C-23Table 4C.EEncoder SpecificationsItem Specificat

Section 4CConnecting the 4-axis Servo Module4C-24Figure 4C.16 shows an incremental feedback device equivalent circuit forfeedback channel A.Figure 4C.

Section 4CConnecting the 4-axis Servo Module4C-25Figure 4C.17Examples of a Correct and Incorrect Encoder WiringA +A--B+B--Z+Z--A +A--B+B--Z+Z--A +A--B

Section 4CConnecting the 4-axis Servo Module4C-26Wiring Power for your Feedback Device (Analog Systems Only)The control supports feedback devices with

Section 4CConnecting the 4-axis Servo Module4C-27Connect a touch probe to the connector labeled BAT/TP on the servomodule (TB1). Connector terminal id

Section 4CConnecting the 4-axis Servo Module4C-28Figure 4C.19 shows the internal servo module circuitry that interfaces tothe touch probe connector. I

Section 4CConnecting the 4-axis Servo Module4C-29To avoid misfires use the threshold values from the above table todetermine the necessary signal volt

Section 4CConnecting the 4-axis Servo Module4C-30Wiring a Probe for Falling Edge ConfigurationFigure 4C.21 shows a typical wiring diagram compatible w

Section 4CConnecting the 4-axis Servo Module4C-31Use the Adaptive Depth probe feature to enable an adaptive depth probethat monitors tool depth relati

Section1A1A-1Using This ManualThis manual provides the information necessary to integrate theAllen-Bradley 9/Series control to a suitable machine tool

Section 4CConnecting the 4-axis Servo Module4C-32

Section4D4D-1Power DistributionOnce you have planned your system layout, you can begin connectingpower and components to your system. In this section

Section 4DPower Distribution and Wiring Guidelines4D-2This section discusses the connections of the main power supply and theoperator panel power supp

Section 4DPower Distribution and Wiring Guidlines4D-3Figure 4D.2Main Power Supply Connection (for the 9/260 and the 9/290)Power-on switchBT04From ac p

Section 4DPower Distribution and Wiring Guidelines4D-4Connecting the Main Power Supply to the Servo Module for+5V dc Encoderson 9/260 and 9/290 System

Section 4DPower Distribution and Wiring Guidlines4D-5The input power specifications of the main power supply, the operator panelpower supply, and the

Section 4DPower Distribution and Wiring Guidelines4D-6Connecting the Main Power Supply to the MonochromeOperator Panel Power SupplyYou connect the ope

Section 4DPower Distribution and Wiring Guidlines4D-7Connecting the Main Power Supply to the PortableOperator Panel Interface Assembly Power SupplyYou

Section 4DPower Distribution and Wiring Guidelines4D-8Connecting Main Power Supply to the Color Operator PanelYou connect the operator panel power sup

Section 4DPower Distribution and Wiring Guidlines4D-9Connecting the Power Supply to the MTB Panel ON/Off SwitchTerminal block BT04 terminals ON-SW, CO

Section 1AUsing This Manual1A-2To make this manual easier to read and understand, full product names andfeatures are shortened where possible. Here ar

Section 4DPower Distribution and Wiring Guidelines4D-10All components and modules must be correctly grounded to protect againstelectrical shock hazard

Section 4DPower Distribution and Wiring Guidlines4D-11Figure 4D.8System Grounding Diagram for 9/260 and 9/290 controlEarth GND (typically AWG 8)*Chass

Section 4DPower Distribution and Wiring Guidelines4D-12

Publication 8520-6.2.4 -- August 1998

IndexI--2Publication 8520-6.2.4 -- August 19989/Series, PAL, PLC, SLC 5/03, SLC 5/04, DH+, and INTERCHANGE are trademarks ofAllen-Bradley Company, Inc

8520-6.2.5 -- August 1998 PN--1764399/Series HardwareTAB 59/440 CNC Systems

4

Section5A5A-1The 9/440 Resolver--basedCNC/Drive SystemThe 9/440 Resolver--based CNC/Drive system is a unique machiningsolution that incorporates a CNC

Section 5A9/440 Resolver--based CNC/Drive System5A-2System Module -- This is the largest module in the 9/440Resolver--based CNC/Drive system (leftmost

Section 5A9/440 Resolver--based CNC/Drive System5A-31 Axis 9/440(8520-1Sx)3 Axis 9/440(8520-3Sx)4 Axis 9/440(8520-4Sx)1 Axis Module (max) 3Axis Module

Section 1AUsing This Manual1A-3We indicate vital information in these ways:ATTENTION: indicates circumstances or practices that canlead to damage to t

Section 5A9/440 Resolver--based CNC/Drive System5A-4Axis Module - Connect up to four axis modules to the 9/440Resolver--based CNC/Drive system (depend

Section 5A9/440 Resolver--based CNC/Drive System5A-5Figure 5A.19/440 Resolver-based System Overview9/440 Resolver--based CNCSystem ModuleMotor 1Resolv

Section 5A9/440 Resolver--based CNC/Drive System5A-6The CNC processor board contains the main CPU. It provides connectionfor the 9/Series:fiber optic

Section 5A9/440 Resolver--based CNC/Drive System5A-7E-Stop PlugConnection of the E--Stop string is shown in the following figure. Moredetails on E--St

8115911257-ISection 5A9/440 Resolver--based CNC/Drive System5A-8The E--Stop string is a 12V dc string protected by a .25 AMP 115 V fuselocated on the

981Port A15Section 5A9/440 Resolver--based CNC/Drive System5A-9RS-232 Port (Port A)Serial port A is used to transmit data to and from peripheral devic

Section 5A9/440 Resolver--based CNC/Drive System5A-10Figure 5A.3Port B-J7 (has pin sockets) and Pin AssignmentsPin Assignment Pin Assignment1 Chassis

Section 5A9/440 Resolver--based CNC/Drive System5A-11Important: Each feedback port must be configured in AMP to identifywhich motor the feedback is fr

Section 5A9/440 Resolver--based CNC/Drive System5A-12Maximum Axis SpeedsAxis feedback resolution (for 1326 motor resolvers) is selected in AMP tobe ei

12345678910Section 5A9/440 Resolver--based CNC/Drive System5A-13Resolver 1J1Resolver 2J2*Resolver 3J3*Resolver 4J4**Front of System ModuleSystem Modul

Section 1AUsing This Manual1A-4

Section 5A9/440 Resolver--based CNC/Drive System5A-14The encoder ports are intended for systems that use either spindles withposition feedback, to pro

123456789101112Section 5A9/440 Resolver--based CNC/Drive System5A-15Figure 5A.5Pin Configuration for the Encoder Connectors on the 9/440 Resolver-base

Section 5A9/440 Resolver--based CNC/Drive System5A-16The 9/440 resolver--based control supports:Feedback Device Additional hardwareAllen-Bradley 845H

Maximum Encoder Channel Frequency =Clock360x 1.1590-EqSection 5A9/440 Resolver--based CNC/Drive System5A-17Table 5A.CEncoder SpecificationsItem Specif

Section 5A9/440 Resolver--based CNC/Drive System5A-18Wiring an Incremental Feedback DeviceFigure 5A.6 shows an incremental feedback device equivalent

Section 5A9/440 Resolver--based CNC/Drive System5A-19Figure 5A.7Examples of Correct and Incorrect Encoder WiringA +A--B+B--Z+Z--A +A--B+B--Z+Z--A +A--

Wiring BoardP1+--WATCHDOGXILINXTB4J5J14TB2 TB3TB5SHLDGNDTPIN+5VSection 5A9/440 Resolver--based CNC/Drive System5A-20Wiring BoardDrive InterfaceP1+WATC

Section 5A9/440 Resolver--based CNC/Drive System5A-21The time delay between the 9/440 resolver--based control receiving thetouch probe trigger and lat

Section 5A9/440 Resolver--based CNC/Drive System5A-22Figure 5A.8 shows the internal servo module circuitry that interfaces to thetouch probe connector

Section 5A9/440 Resolver--based CNC/Drive System5A-23To avoid misfires use the threshold values from the above table todetermine the necessary signal

Section1B1B-1System OverviewThis section provides an overview of the 9/230, 9/260, and 9/290 controls.Typical system configurations and the external a

Section 5A9/440 Resolver--based CNC/Drive System5A-24Wiring a Probe for Falling Edge ConfigurationFigure 5A.10 shows a typical wiring diagram compatib

Section 5A9/440 Resolver--based CNC/Drive System5A-25The remote I/O circuitry and connector are integral parts of the wiringboard in the 9/440 resolve

CNC Processor BoardSerialPort AVideoFront ofSystem ModuleR--I/OLEDSection 5A9/440 Resolver--based CNC/Drive System5A-26You are ready to start receivin

Section 5A9/440 Resolver--based CNC/Drive System5A-27Connector Description SignalDestinationAnalog Out±10V Analogwith nofeedback(typically spindledriv

Section 5A9/440 Resolver--based CNC/Drive System5A-28All external power connections to the 9/440 Resolver--based CNC/Driveare wired through the system

Section 5A9/440 Resolver--based CNC/Drive System5A-299/440 Resolver--basedSystem ModuleWiring BoardE--StopConnections (TB1)3rd Encoder Port(J11)Power

Section 5A9/440 Resolver--based CNC/Drive System5A-30Figure 5A.14On/OffControl AssemblyON SWCOMMONOFF SWAC INAUXACAC POWERFUSE8A/250VALLEN--BRADLEYInc

Section 5A9/440 Resolver--based CNC/Drive System5A-31Figure 5A.15Connecting On/Off Power Control Assembly and 24V TransformerON SWCOMMONOFF SWAC INAUX

Section 5A9/440 Resolver--based CNC/Drive System5A-32If 24 V power is required for other devices in your machine system, youcan use a 24 V power suppl

Section 5A9/440 Resolver--based CNC/Drive System5A-33Grounded vs Ungrounded Three PhaseThe 9/440 Resolver--based CNC/Drive comes from the factory set

Section 1BSystem Overview1B-2Figure 1B.1Typical System Configuration for 9/230MainPowerSupplyMono/ColorOperatorPanel9/230MTBPanelMTB PanelI/O ModuleHa

Section 5A9/440 Resolver--based CNC/Drive System5A-34Figure 5A.18Recommended Connection of 3-phase Drive PowerCustomer SuppliedE--Stop Control RelayDC

Section 5A9/440 Resolver--based CNC/Drive System5A-35ATTENTION: The E--Stop status relay (or yourcustomer--supplied E--Stop control relay) should not

Section 5A9/440 Resolver--based CNC/Drive System5A-36The Axis Module provides terminating points for the motor power, thermalsensor and brake. Axis mo

Section 5A9/440 Resolver--based CNC/Drive System5A-37See page 5A-12 for details on resolver cables (1326-CCUxxx).1326 servo motors have integral therm

Section 5A9/440 Resolver--based CNC/Drive System5A-38Table 5A.CThermal Sensor and Brake TerminationsTerminal Description Wire/Pin NumberTB1-1, 2 Therm

Section 5A9/440 Resolver--based CNC/Drive System5A-399/440 Resolver--based CNC/Drive has 4 LEDs on the system module andone LED on each axis module in

Section 5A9/440 Resolver--based CNC/Drive System5A-40Check your 9/Series CRT for any drive faults that may have occurred andare displayed as an error.

Section 5A9/440 Resolver--based CNC/Drive System5A-41Figure 5A.20Wiring Overview For 9/440 Resolver-based CNC16238794510U1ABDEHG124T1ResolverServoMoto

Section 5A9/440 Resolver--based CNC/Drive System5A-42System GroundingFigure 5A.21 illustrates the recommended 9/440 Resolver--basedgrounding scheme. A

Section 5A9/440 Resolver--based CNC/Drive System5A-43Figure 5A.21System Grounding Diagram for 9/440 Resolver-based controlEarth GND (typically AWG 8)*

Section 1BSystem Overview1B-3Figure 1B.2Typical System Configuration for the 9/260ServoModule9/260HandPulseGeneratorHighDensityI/O ModuleFast I/Oto se

Section 5A9/440 Resolver--based CNC/Drive System5A-44

Section5B5B-1The 9/440HR CNC/Drive SystemThe 9/440HR CNC/Drive system offers you a unique, high--resolutionmachining solution that incorporates a CNC

Section 5B9/440HR CNC/Drive System5B-2System Module -- This is the largest module in the 9/440HR CNC/Drivesystem (left most module). It contains the f

Section 5B9/440HR CNC/Drive System5B-39/440HR System ModuleOpen coverPress coverrelease to openWiring BoardE-Stop connections(TB1)9/440HR CNCAssemblyP

Section 5B9/440HR CNC/Drive System5B-4Axis Module - Connect up to four axis modules to the 9/440HRCNC/Drive system (depending on your system module se

Section 5B9/440HR CNC/Drive System5B-5Figure 5B.19/440HR System Overview9/440HR CNCSystem ModuleMotor 4Touch ProbeSpindle DrivePanelMTB I/OHPGHighDens

Section 5B9/440HR CNC/Drive System5B-6The CNC processor board contains the main CPU. It provides connectionfor the 9/Series:fiber optic I/O ringE-Stop

Section 5B9/440HR CNC/Drive System5B-7E-Stop PlugConnection of the E-Stop string is shown in the following figure. Moredetails on E-Stop connections t

8115911257-ISection 5B9/440HR CNC/Drive System5B-8The E-Stop string is a 12V dc string protected by a .25 AMP 115 V fuselocated on the 9/440HR CNC pro

981Port A15Section 5B9/440HR CNC/Drive System5B-9RS-232 Port (Port A)Serial port A is used to transmit data to and from peripheral devices. It isconfi

Because of the variety of uses for this product and because of the differencesbetween solid state products and electromechanical products, those respo

Section 1BSystem Overview1B-4Figure 1B.3Typical System Configurationfor the 9/290indicatesfiber opticcableTo on/off switch onMTB PanelPowersourceHandP

Section 5B9/440HR CNC/Drive System5B-10Figure 5B.4Port B-J7 (has pin sockets) and Pin AssignmentsPin Assignment Pin Assignment1 Chassis GND 9 SendData

Section 5B9/440HR CNC/Drive System5B-11Important: Each feedback port must be configured in AMP to identifywhich axis the feedback is from as well as t

Section 5B9/440HR CNC/Drive System5B-12Maximum Axis SpeedsAxis feedback resolution (for 1326AB motors with high--resolutionfeedback devices) for singl

121086421197531View of connectoron the end of thefeedback cableSection 5B9/440HR CNC/Drive System5B-13Important: Not all system modules have each of t

Section 5B9/440HR CNC/Drive System5B-14Figure 5B.6Signal Specification of HIPERFACE Devices630_ max.90_ min.0_0.5Vtyp0.5VtypCHA_HICHB_HICHA_LOCHB_LO2.

Section 5B9/440HR CNC/Drive System5B-15High--resolution feedback device ports J9 through J12 are intended forsystems that use either spindles with pos

13579111315246810121416View of connectorson 9/440 board.CenterTabSection 5B9/440HR CNC/Drive System5B-16Figure 5B.7Pin Configuration for the Encoder C

Maximum Encoder Channel Frequency =Clock360x 1.1590-EqSection 5B9/440HR CNC/Drive System5B-17analog servo feedback -- If you are using one of the two

Section 5B9/440HR CNC/Drive System5B-18Maximum Axis Speed Use the followingequation todetermine themaximum axis speed. Note that this equation does no

Section 5B9/440HR CNC/Drive System5B-19Wiring an Incremental Feedback DeviceFigure 5B.8 shows an incremental feedback device equivalent circuit forfee

Section 1BSystem Overview1B-5Table 1B.A lists the component options used to configure the control.Table 1B.AComponent OptionsClassification Module Nam

Section 5B9/440HR CNC/Drive System5B-20Figure 5B.9Examples of Correct and Incorrect Encoder WiringA +A--B+B--Z+Z--A +A--B+B--Z+Z--A +A--B+B--Z+Z--A +A

Wiring BoardP1+--WATCHDOGXILINXTB4J5J14TB2 TB3TB5SHLDGNDTPIN+5VSection 5B9/440HR CNC/Drive System5B-21Wiring BoardDrive InterfaceP1+WATCHDOGXILINXTB4J

Section 5B9/440HR CNC/Drive System5B-22The time delay between the 9/440HR receiving the touch probe trigger andlatching the current axis position is n

Section 5B9/440HR CNC/Drive System5B-23Figure 5B.10 shows the internal servo module circuitry that interfaces tothe touch probe connector. It is shown

Section 5B9/440HR CNC/Drive System5B-24To avoid misfires use the threshold values from the above table todetermine the necessary signal voltage for st

Section 5B9/440HR CNC/Drive System5B-25Wiring a Probe for Falling Edge ConfigurationFigure 5B.12 shows a typical wiring diagram compatible with most p

Section 5B9/440HR CNC/Drive System5B-26The remote I/O circuitry and connector are integral parts of the wiringboard in the 9/440HR system module. Figu

CNC Processor BoardSerialPort AVideoFront ofSystem ModuleR--I/OLEDSection 5B9/440HR CNC/Drive System5B-27You are ready to start receiving and transmit

Section 5B9/440HR CNC/Drive System5B-28Connector Description SignalDestinationAnalog Out±10V Analogwith nofeedback(typically spindledrive)RET Signal R

Section 5B9/440HR CNC/Drive System5B-29All external power connections to the 9/440HR CNC/Drive are wiredthrough the system modules power strip, locate

Section 1BSystem Overview1B-6The enclosures of the 9/230, shown in Figure 1B.4, supports the systemand the power supply. For dimensions refer to page

Section 5B9/440HR CNC/Drive System5B-3024 Volt logic power is supplied to the 9/440HR to run the processor boardand axis module logic boards. The 24 v

Section 5B9/440HR CNC/Drive System5B-31Logic power should be wired so that if the 24 V is not available to thesystem module, it will open the drive co

Section 5B9/440HR CNC/Drive System5B-32If 24 V power is required for other devices in your machine system, youcan use a 24 V power supply in place of

Section 5B9/440HR CNC/Drive System5B-33Grounded vs Ungrounded Three-phaseThe 9/440HR CNC/Drive comes from the factory set for three--phasegrounded sys

Section 5B9/440HR CNC/Drive System5B-34Figure 5B.20Recommended Connection of Three-phase Drive PowerCustomer SuppliedE-STOP Control RelayDC+INTCOLW1W2

Section 5B9/440HR CNC/Drive System5B-35The Axis Module provides terminating points for the motor power, thermalsensor and brake. Axis module wiring is

Section 5B9/440HR CNC/Drive System5B-36See page 5B-12 for details on high--resolution feedback device cables(1326-CECU--x).1326AB servo motors have in

Section 5B9/440HR CNC/Drive System5B-37Table 5B.CThermal Sensor and Brake TerminationsTerminal Description Wire/Pin NumberTB1-1, 2 Thermal SensorInput

Section 5B9/440HR CNC/Drive System5B-389/440HR CNC/Drive has 4 LEDs on the system module and one LED oneach axis module in the system. The LEDs operat

Section 5B9/440HR CNC/Drive System5B-39Axis Module LEDsThe Axis module has a Status LED visible thru the front cover. It is:LED IndicatesSTATUS Steady

Section 1BSystem Overview1B-7The 9/260 and 9/290 use the same component enclosure. The enclosure,shown in Figure 1B.5, supports the system and CPU boa

Section 5B9/440HR CNC/Drive System5B-40Figure 5B.22Wiring Overview For 9/440HR CNCU1 124T1ServoMotorT2 T3 GND B2 B1 K2 K1V1 W1 PE1 PE2 PE3 3 124 3Brak

Section 5B9/440HR CNC/Drive System5B-41System GroundingFigure 5B.23 illustrates the recommended 9/440HR grounding scheme.All grounds terminate on a si

Section 5B9/440HR CNC/Drive System5B-42Figure 5B.23System Grounding Diagram for 9/440HR ControlEarth GND (typically AWG 8)*Chassis GND (typically AWG

Publication 8520-6.2.5 -- August 1998

IndexI--2Publication 8520-6.2.5 -- August 19989/Series, PAL, PLC, SLC 5/03, SLC 5/04, DH+, and INTERCHANGE are trademarks ofAllen-Bradley Company, Inc

8520-6.2.6 -- August 1997 PN--1762749/Series HardwareTAB 6Emergency STOP Design

4

Section66-1Emergency Stop DesignEmergency stop (E-Stop) is a function of the control that disables all axisand spindle drives if a major anomaly is de

Section 6Emergency STOP Design6-2Connect the emergency stop circuit to the pluggable E-Stop connector onas illustrated in Figure 6.1.Figure 6.1E-Stop

Section 6Emergency STOP Design6-3Figure 6.2Typical Emergency Stop CircuitMTB PANELMotherboard/Processor BoardMACHINEDRIVES ENCLOSURESYSTEM INSTALLER O

Section 1BSystem Overview1B-8The Operator Interface consists of the Operator Panel, the MTB Panel, andthe HPG. These components provide the operator w

Section 6Emergency STOP Design6-4Important: You may need to add a pilot relay if your E-Stop has one ofthese characteristics:the E-Stop string is very

Section 6Emergency STOP Design6-5The E-Stop string begins at the E-Stop connector, then may contain:remote E-Stop pushbutton(s) whose contacts open wh

Section 6Emergency STOP Design6-6Use the contact on TB1-6,7 in the E-Stop string for status control ofperipheral machine tool devices, such as:alarmse

Section 6Emergency STOP Design6-7On systems that support the controlled-stop feature, the velocity loopremains enabled and the velocity command is red

Section 6Emergency STOP Design6-8

Publication 8520-6.2.6 -- August 1997

IndexI--2Publication 8520-6.2.6 -- August 19979/Series, PAL, PLC, SLC 5/03, SLC 5/04, DH+, and INTERCHANGE are trademarks ofAllen-Bradley Company, Inc

852062--RM007A--EN--P -- November 2000PN--1769609/Series HardwareTAB 7Making Cables and Noise Prevention Techniques131029512411613814N.C.1315214517416

Section7A7A-1Cable DiagramsThe following sections contain information to be used when connecting themodules and components. Included is information on

Section 1BSystem Overview1B-9Figure 1B.7Portable Operator Panel Interface AssemblyFigure 1B.8Push-Button MTB Panel19930JOG SELECTSPINDLE SPEEDOVERRIDE

Section 7AConnecting Components7A-2Figure 7A.19/260 & 9/290 CNC’s System Connection Diagram9/260 or 9/290AB supplied cablesMainPowerSupplyExternal

Section 7AConnecting Components7A-3Figure 7A.29/230 Analog CNC System Connection Diagram2526PanelMTB I/OPort B(RS--232/RS--422)ExternalE--Stop21367284

Section 7AConnecting Components7A-4Figure 7A.39/230 8520 Digital CNC System Connection Diagram230V ac3 ÆServo AmpBatteryMotorMotorMotorEncoderEncoderE

Section 7AConnecting Components7A-5Figure 7A.49/230 1394 Digital CNC System Connection Diagram1394 DigitalCNC System ModuleBatteryMotorResolver249/230

Section 7AConnecting Components7A-6Figure 7A.59/260 and 9/290 Connections from the 3-Axis Servo Module to 8520 Digital Drives8520 DigitalServo Module8

Section 7AConnecting Components7A-7Figure 7A.69/260 and 9/290 Connections from the 4-axis Servo Module to 8520 Digital DrivesAB supplied cablesCustome

Section 7AConnecting Components7A-8Figure 7A.79/260 and 9/290 Connections from the 3-axis Servo Module to Analog DrivesAnalogServo ModuleAnalogServo M

Section 7AConnecting Components7A-9Figure 7A.89/260 and 9/290 Connections from the 4-axis Servo Module toAnalog Drives and the 1394 DriveAnalog/13944-

Section 7AConnecting Components7A-10Figure 7A.99/440 CNC System Connection Diagram9/440 CNCSystem ModuleBatteryTouch ProbeSpindle DrivePanelMTB I/OPor

Section 7AConnecting Components7A-11Figure 7A.109/440 Resolver-based Servo Connections9/440 CNCSystem ModuleMotor 1ResolverMotor 2ResolverMotor 3Resol

Section 1BSystem Overview1B-10Figure 1B.10Monochrome Pendant OptionHPG CoverRear cover19931Figure 1B.11Color Pendant OptionHPG CoverRear Cover19932

Section 7AConnecting Components7A-12Figure 7A.119/440HR Servo Connections9/440HR CNCSystem ModuleMotor 4HIPERFACESincoderMotor 3Motor 2AxisModuleAxisM

Section 7AConnecting Components7A-13The cables and connectors shown in the previous figures are covered in thefollowing table. For detailed informatio

Section 7AConnecting Components7A-14Table 7A.ACable and Connector List (continued)Cable No. Control FromModule andConnectorCable Name To Module and Co

Section 7AConnecting Components7A-15Table 7A.ACable and Connector List (continued)Control Cable No. FromModule and Connector Cable Name ToModule and C

Section 7AConnecting Components7A-16Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-17Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-18Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-19Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-20Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-21Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 1BSystem Overview1B-11Figure 1B.12 shows the 3-axis Servo Module and Figure 1B.13 shows the4-axis Servo Module. The 9/230 has a servo module b

Section 7AConnecting Components7A-22Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-23Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-24Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-25Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-26Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-27Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-28Table 7A.ACable and Connector List (continued)Cable No. Control From Moduleand Connector Cable Name To Moduleand C

Section 7AConnecting Components7A-29Table 7A.ACable and Connector List (continued)Cable No. Control From Moduleand Connector Cable Name To Moduleand C

Section 7AConnecting Components7A-30Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-31Table 7A.ACable and Connector List (C15 continued)1746 Analog I/O Modules(5)ANL COM(6) NOT USED(7) OUT 0(8)ANL COM

Section 1BSystem Overview1B-12Figure 1B.134-axis Servo ModuleP1(CN1)J1J2J3DigitalServoModule(8520-ENC4)Analog/1394ServoModule(8520-SM4)TOUCH PROBEANAL

Section 7AConnecting Components7A-32Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-33Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-34Table 7A.ACable and Connector List (continued)Cable No. Control From Module and Connector Cable Name To Module and

Section 7AConnecting Components7A-35Table 7A.ACable and Connector List (continued)Cable No. Control From Moduleand Connector Cable Name To Moduleand C

Section 7AConnecting Components7A-36Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-37Table 7A.ACable and Connector List (continued)Cable No. Control From Module and Connector Cable Name To Moduleand

Section 7AConnecting Components7A-38Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-39Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-40Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-41Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 1BSystem Overview1B-13Figure 1B.15Digital and Analog I/O11180-IFigure 1B.16High Density I/O - 8500-HDM1Optical connector OP24 (IN)Optical conn

Section 7AConnecting Components7A-42Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-43Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-44Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-45Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-46Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-47Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-48Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-49Table 7A.ACable and Connector List (continued)Cable No. From Module and Connector Cable Name To Moduleand Connecto

Section 7AConnecting Components7A-50Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-51Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

9/Series hardwareIntegration and Maintenance ManualOctober 2000Summary of ChangesThe following is a list of the larger changes made to this manual sin

Section 1BSystem Overview1B-14Figure 1B.171771 I/O Ring Adapter - 8500-XIOCI/O RINGADAPTERALLEN-BRADLEYRECEIVERTRANSMITTERREMOTERESETACTIVEADAPTERFAUL

Section 7AConnecting Components7A-52Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-53Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-54Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-55Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-56Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-57Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-58Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-59Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-60Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-61Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 1BSystem Overview1B-15Figure 1B.181746 I/O Ring Adapter - 8500-1746IPage 8-1 covers the peripherals that can be interfaced to the control. The

Section 7AConnecting Components7A-62Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-63Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section 7AConnecting Components7A-64Table 7A.ACable and Connector List (continued)Cable No. Control FromModule and Connector Cable Name To Module and

Section7B7B-1Fiber Optic ConnectionsPage 1B-1 begins illustrations of typical small and large systemconfigurations and the modules that can be used. M

Section 7BFiber Optic Connections7B-2Cable suspended in the air should be supported to withstand the loadproduced by its own weight.DOP, a plasticizer

Section 7BFiber Optic Connections7B-3Table 7B.A shows the specifications for the fiber optic cable used toconnect optical transmitters to optical rece

Section 7BFiber Optic Connections7B-41. Fiber Optic Cable StrippingBefore a fiber optic plug can be connected to the end of a fiber optic cable,the en

Section 7BFiber Optic Connections7B-5Squeeze the fiber clamp and the plug together with pliers until the fiberclamp reaches the bottom of the plug.Imp

Section 7BFiber Optic Connections7B-63. Inserting a Fiber Optic Plug into a ReceptacleInsert the polarized positive-snap retention fiber optic plug in

Section7C7C-1Noise PreventionThis section discusses wiring guide lines and techniques that should befollowed to help lower system noise susceptibly. O

Section 1BSystem Overview1B-16The system installer uses AMP and PAL to integrate the control to themachine. The system installer uses PAL to form a la

Section 7CPower Distribution and Wiring Guidelines7C-2Important: When grounding more than one electronic device, do notserially connect their groundin

Section 7CPower Distribution and Wiring Guidlines7C-3Figure 7C.1Shielded Twisted-pair CablesSignal source Signal destinationConnect the cable shieldin

Section 7CPower Distribution and Wiring Guidelines7C-4electromagnetic noise. If there is no electric conductivity between themetallic conduit and the

Section 7CPower Distribution and Wiring Guidlines7C-5Figure 7C.3Non-Isolated Conductive Type Noise SuppressingLC FilterRC Noise SuppressorLLLLCCCCRRPE

Section 7CPower Distribution and Wiring Guidelines7C-6Figure 7C.5Location of Noise SuppressorsYESSuppressor closeto source,transient current doesnot c

Section 7CPower Distribution and Wiring Guidlines7C-7Inductive Load Noise SuppressionSelect the noise suppressor according to load size and applied vo

Section 7CPower Distribution and Wiring Guidelines7C-8For a three-phase ac inductive load, connect noise suppressors across theindividual phases as sh

Section 7CPower Distribution and Wiring Guidlines7C-9Table 7C.AAllen-Bradley Surge SuppressorsDevice Coil Voltage Surge Suppressor Catalog No.Bulletin

Section 7CPower Distribution and Wiring Guidelines7C-10The following sections explain different types of noise and measures toreduce them.Electrical N

Section 7CPower Distribution and Wiring Guidlines7C-11Figure 7C.13Types of Line NoisePowersourceNoisesourceNoise sourcePowersourceA. Normal mode noise

Publication 8520-6.2.1 -- February 19969/Series, PAL, PLC, SLC 5/03, SLC 5/04, DH+, and INTERCHANGE are trademarks ofAllen-Bradley Company, Inc.Allen-

Section 7CPower Distribution and Wiring Guidelines7C-12Figure 7C.15Spike Voltage 100V ac (rms) Arc Inductive Load(528V)100V acSWL100mH0 Volts0 Ampsdt

Publication 852062--RM007A--EN--P -- November 2000Supercedes Publication 8520--6.2.7 -- August 1998PN 176960Copyright 2000 Allen-Bradley Company, Inc.

8520-6.2.8 -- August 1998 PN--1764419/Series HardwareTAB 8CommunicationsAB9/290 Remote I/O Plug

Section88-1Communication InterfaceThis section covers the connection of peripherals to the control. Thefollowing types of interfaces to connect the pe

Section 8Communication Interface8-2RS-232 sends and receives the signal codes in Table 8.A to and from thecontrol. The control is a data communication

Section 8Communication Interface8-3The figures below show the wiring connections for the RS-232 interfacewith hardware handshake. The arrows in the fo

Section 8Communication Interface8-4The figures below show the wiring connections for the RS-232 interfacewithout hardware handshake. The arrows in the

Section 8Communication Interface8-5Figure 8.5 through Figure 8.7 show cable wiring examples for the RS-232interface between the control and Allen-Brad

Section 8Communication Interface8-6Figure 8.7RS-232 Cable Wiring to an Allen-Bradley T50Allen-BradleyT509 Pin D-ShellSHSDRDRSCSGND1234579/Series15- Pi

8520-6.2.2 -- August 1998 PN--1764379/Series HardwareTAB 2System Layout and Dimensions80 Æ60 ÆFrontBottomSide119 (4.69)Common terminal+5 Vdc terminalF

Section 8Communication Interface8-7RS-422 sends and receives the signals in Table 8.C to and from the control.The control is a data communication equi

Section 8Communication Interface8-8Figure 8.8 shows the cable connection for the RS-422 interface that uses ahardware handshake.Figure 8.8RS-422 Cable

Section 8Communication Interface8-9RS-491 Level I and Level II protocol are used for data communicationbetween the control and peripherals. They provi

Section 8Communication Interface8-101. The peripheral (DTE) turns on the RS signal to notify the control(DCE) that there is data to be transmitted.2.

Section 8Communication Interface8-11The control transmits data to the peripheral in the following sequence. Thenumbers correspond to those in Figure 8

Section 8Communication Interface8-12Binary data such as AMP and PAL images do not have eighth bit paritybits attached to them. Because binary files su

Section 8Communication Interface8-13Data Receiving SequenceFigure 8.12 shows the data receiving sequence of the control.Figure 8.12Data Receiving Sequ

Section 8Communication Interface8-14Data Transmitting SequenceFigure 8.13 shows the data transmission sequence of the control.Figure 8.13Data Transmis

Section 8Communication Interface8-15The following table lists the peripherals that can be connected to the9/Series control. Communication protocol can

Section 8Communication Interface8-161. Allen-Bradley 1770-SB Data Cartridge Recorder ConnectionThe recommended configuration of the Allen-Bradley 1770

3

Section 8Communication Interface8-173. Facit N4000 Tape Reader/Punch ConnectionThe recommended configuration of the Facit N4000 Tape Reader/Punch issh

Section 8Communication Interface8-18The switch assemblies on the side and rear of the tape reader must be set asshown below:SIDE VIEW REAR VIEW_______

Section 8Communication Interface8-196. Epson LX-810 Printer ConnectionThe recommended configuration of the Epson LX-810 printer is shownbelow:Configur

Section 8Communication Interface8-20into the 9/Series remote I/O connection. These values are then stored onthe control where they are assigned to the

Section 8Communication Interface8-212. Lay the metal support on a flat surface so that the brackets stand out.Align the plastic track with the full se

Section 8Communication Interface8-22Figure 8.15Location of Status Indicators in the Remote I/O PortABTable 8.GRemote I/O Module Status IndicatorsIndic

Section 8Communication Interface8-23Figure 8.16 shows the remote I/O module as it comes mounted in thecomponent enclosure for 9/260 controls.Figure 8.

Section 8Communication Interface8-24To install the remote I/O module, follow this procedure:1. Turn off power to the control by pressing the <OFF&g

Section 8Communication Interface8-259/260 Remote I/O LEDsAssuming you have:made all necessary remote I/O communication connections on your1771 I/O net

Section 8Communication Interface8-26Use this table if you see a different LED pattern than shown above.Indicator Color/State Description Probable Caus

Section2A2A-1Planning Your System LayoutWhen planning the system layout of your control, take into considerationthe restrictions and specifications co

Section 8Communication Interface8-27On 9/230 controls the remote I/O circuitry and plug are integral parts of themain board. No external module exists

Section 8Communication Interface8-28You are ready to start receiving and transmitting remote I/O information.As the remote I/O module responds to comm

CNC Processor BoardSerialPort AVideoFront ofSystem ModuleR--I/OLEDSection 8Communication Interface8-299/440 Remote I/O LEDAssuming you have:made all n

Section 8Communication Interface8-30The 9/260 and 9/290 CNCs have a DH+ (Data Highway Plus)communications module available that provide DH+ communicat

Publication 8520-6.2.8 -- August 1998

I--2Publication 8520-6.2.8 -- August 19989/Series, PAL, PLC, SLC 5/03, SLC 5/04, DH+, and INTERCHANGE are trademarks ofAllen-Bradley Company, Inc.Alle

852061--RM009A--EN--P -- November 2000 PN--1769599/Series HardwareTAB 9Operator Interface

Section9A9A-1Operator InterfaceThis section covers the integration of the components that make up theOperator Interface for the 9/Series CNCs. A secti

Section 9AOperatorInterface9A-2The monochrome and the color operator panels are powered by theoperator panel power supply. It supplies:+12V dc power t

Section 2APlanning Your System Layout2A-2Table 2A.AEnvironmental ConditionsCondition Range or LimitOperating temperature CPU Boardand ServoAmplifiers:

Section 9AOperatorInterface9A-3Figure 9A.1Operator Panels9/SERIESColor Operator Panels(CRT and Flat Panel)Monochrome Operator PanelRemovable Operator

Section 9AOperatorInterface9A-4The mounted operator panels are typically mounted directly in a cabinetand are fixed in their location. It is directly

Section 9AOperatorInterface9A-5Figure 9A.3 shows the connectors and terminal blocks of the CRT coloroperator panel.Figure 9A.3Color CRT Operator Panel

Section 9AOperatorInterface9A-6Figure 9A.4 shows the connectors and terminal blocks of the color flatpanel operator panel.Figure 9A.4Color Flat Panel

1 89 15Section 9AOperatorInterface9A-7Figure 9A.5 shows the pin assignments of video connector CN19M.Figure 9A.5Video Connector CN19M 15 Pin Male D-Sh

Section 9AOperatorInterface9A-8Table 9A.B shows the input and output power connections for the operatorpanel power supply.Table 9A.BOperator Panel Pow

Section 9AOperatorInterface9A-9Important: The color CRT operator panel has an additional internal powersupply that is used to power the color CRT. The

Section 9AOperatorInterface9A-10Each operator panel must have a unique node address on the I/O ring. Thenode address corresponds to a unique address a

Section 9AOperatorInterface9A-11Set the node address by cutting the wire jumper(s) according to Table 9A.Eshown below.Table 9A.EOperator and Removable

Section 9AOperatorInterface9A-12Jumper JP3 on the operator panel keyboard interface is used to determineif the keyboard interface module is attached t

Section 2APlanning Your System Layout2A-3When designing the cabinet, consider the environment in which the controloperate. The degree of cabinet seali

Section 9AOperatorInterface9A-131. Remove power from the operator panel.2. Remove the plastic cover from the back of the operator panel. Thecover is a

Section 9AOperatorInterface9A-14Use the removable operator panel on controls installed in locations whereoperator/machine interface is not needed ofte

Section 9AOperatorInterface9A-15The operator panel interface assembly is used to makes all connectionsbetween the 9/Series control and the removable o

Section 9AOperatorInterface9A-16Assigning a Module AddressEach interface assembly must have a unique node address on the I/O ring.The node address cor

Section 9AOperatorInterface9A-17Reinstall the cover on the interface assembly when you have finishedsetting your address jumpers.Connecting the Interf

1 89 15Section 9AOperatorInterface9A-18Interface Assembly Video Connection CN19MTable 9A.G shows the interface assembly video signal connector.Table 9

Section 9AOperatorInterface9A-19Figure 9A.13Removable Operator Panel Interface Module Video Connections9/230 Processor BoardConnect Video Cable C09(co

Section 9AOperatorInterface9A-20Figure 9A.6 shows the removable operator panel interface assembly powersupply.Figure 9A.14Operator Panel Power SupplyA

Section 9AOperatorInterface9A-21Table 9A.I shows the output specifications of the removable operator panelinterface power supply. For input specificat

Section 9AOperatorInterface9A-22Removable Operator PanelGND12VGND5VGND 5V GND 5VACInterface AssemblyConnect Operator Panel(37---pin D---Shell hassocke

Section 2APlanning Your System Layout2A-4The components of the control, like all electronic devices, dissipate powerin the form of heat. The component

1192037Section 9AOperatorInterface9A-23Pinnumber:Description: Pinnumber:Description:1 Shld. Chassis Ground 20 Ground2 KeyboardData 21 VideoHi3 Keyboar

Section 9AOperatorInterface9A-24Connect the video signal cable to only one interface assembly.Construct the cable shown in Figure 9A.15 to jumper the

Section 9AOperatorInterface9A-252. Connect AC power from the main power supply to the interfaceassemblies. Daisy chain the power between the two assem

Section 9AOperatorInterface9A-26There are three versions of the Pushbutton MTB panel available for usewith the 9/Series controls.Standard MTB panel --

Section 9AOperatorInterface9A-27The push-button MTB panels are used to provide the user with manualcontrol over various system functions. These system

Section 9AOperatorInterface9A-28Figure 9A.17 shows the terminal blocks and connectors used to connectboth versions Fiber--Optic push-button MTB panels

Section 9AOperatorInterface9A-29Table 9A.K shows additional connectors of the push-button MTB panel.Table 9A.KPush-Button MTB Panel ConnectorsConnecto

Section 9AOperatorInterface9A-30Table 9A.LPush-Button MTB Panel Input Interface Ribbon Cable Pin AssignmentsPin No. Function Gray Code PALDeviceNamePi

Section 9AOperatorInterface9A-31Table 9A.MPush-Button MTB Panel OutputInterface Ribbon Cable Pin AssignmentsPin No. Function PALDeviceNamePin No. Func

Section 9AOperatorInterface9A-32Serial Interface Connector CN56FThe push-button MTB panel has an optional serial interface connector(CN56F). This conn

Chapter1-2

Section 2APlanning Your System Layout2A-5Figure 2A.2Filtered Air Flow In A Fan Cooled CabinetCabinettemperature between 0° Cand 55° CFilterCooling air

Section 9AOperatorInterface9A-33Power Supply SpecificationsTable 9A.N lists the power requirements for the MTB I/O module.Table 9A.NMTB I/O Module Pow

Section 9AOperatorInterface9A-34Figure 9A.19 shows the input circuit diagram for the MTB I/O module.Figure 9A.19MTB I/O Module Input Circuit DiagramOp

Section 9AOperatorInterface9A-35Figure 9A.20 shows the output circuit diagram for the MTB I/O module.Figure 9A.20MTB I/O Module Output Circuit Diagram

Section 9AOperatorInterface9A-36If you are using a custom MTB panel you need to set a jumper so that theI/O module can interface with the MTB panel. I

Section 9AOperatorInterface9A-37Set the node address by cutting the wire jumper(s) on the push-buttonMTB panel I/O module, according to Table 9A.R sho

Section 9AOperatorInterface9A-38Figure 9A.22Direct I/O MTB Panel ConnectorsCN 1CN 2P11 2 3Control ON lampoperation selectionInput conector CN1Pin 1Out

Section 9AOperatorInterface9A-39Table 9A.SDirect I/O MTB Panel Input connector ( CN 1 ) Pin AssignmentsPin No. Function Pin No. Function1 +24 V 2 Cycl

Section 9AOperatorInterface9A-40Table 9A.TDirect I/O MTB Panel Outputconnector ( CN 2 ) Pin AssignmentsPin No. Function Pin No. Function1 Ground 2 Cyc

Section 9AOperatorInterface9A-41The Hand Pulse Generator (HPG) is a hand wheel used for manualoperation of the the control’s axes. The HPGs are genera

Section 9AOperatorInterface9A-42Figure 9A.24 shows the connectors and terminal block used to makeconnections to the HPG interface board.Figure 9A.24HP

Section 2APlanning Your System Layout2A-6Table 2A.BComponent and Module Heat Generation WattagesComponent or Module Heat GenerationWattage(W)9/230 and

Section 9AOperatorInterface9A-43Table 9A.VHPG Fiber Optic ConnectorsConnector OnMotherboardConnected To RemarkOP13 (RED) Receiver on next module in I/

Section 9AOperatorInterface9A-44Table 9A.XHPG Node Address SettingsNode Address Switch Assembly PositionHexadecimal Binary 1 2 300 000 OFF OFF OFF01 0

Section9B9B-1Integrating Your Teach PendantThis section describes how to connect and program your teach pendant.For information on how to program PAL

Chapter 9BIntegratingYour Teach Pendant9B-2The teach pendant needs to communicate in DF1 protocol. DF1 is acommunication protocol developed by Allen-B

Chapter 9BIntegratingYour Teach Pendant9B-3These are the 4 command types used by the teach pendant interface:PALG01Teach PendantInterface on CNCApplic

PALChapter 9BIntegratingYour Teach Pendant9B-4To send a command that the PAL program can receive, you send a packetwith 60 hex in the command (CMD) fi

G01Chapter 9BIntegratingYour Teach Pendant9B-5You use this type of command to take advantage of functions supplied inthe teach interface software. For

Chapter 9BIntegratingYour Teach Pendant9B-6Requesting the Active Program Name: SD1=02To request the active program name, send a message with CMD=61 (h

G01Chapter 9BIntegratingYour Teach Pendant9B-7Suspend Transmission of Error Messages to the Teach Pendant:SD1=05To stop sending error messages to the

Chapter 9BIntegratingYour Teach Pendant9B-8If the teach pendant does not respond, a watchdog timeout occurs and:$TPTO is setan error message is displa

Section 2APlanning Your System Layout2A-7Example of Calculating Cabinet TemperatureA design example of a cabinet is given below assuming a component-t

--1

--2Publication 852062--RM009A--EN--P -- November 2000Supercedes Publication 8520--6.2.9 -- August 1997PN 176959Copyright 2000 Allen-Bradley Company, I

8520--6.2.10 -- February 1997PN--1760419/Series HardwareTAB 10I/O Interface1746 I/O Adapter

4

Section10A10A-1I/O InterfaceThis section covers the devices that provide an I/O interface with thecontrol. I/O devices transmit inputs from external s

I/O InterfaceSection 10A10A-2ATTENTION: When the control faults or loses power, all I/Odevices remain in their last state. I/O devices do notautomatic

I/O InterfaceSection 10A10A-3Table 10A.BMax Number of ASRN Chips9/Series Control ASRN9/230 659/260 659/290 859/440 65ASRN Chip Used by 1746 or 1771 I/

I/O InterfaceSection 10A10A-4I/O devices are connected either directly to the control or through a fiberoptic I/O ring that provides serial communicat

I/O InterfaceSection 10A10A-5The devices on the fiber optic I/O ring convert electrical signals to opticalsignals for transmission through the I/O rin

I/O InterfaceSection 10A10A-6This entire process is reversed for outputs originating from the PALprogram. An example of the output process is shown in

Section 2APlanning Your System Layout2A-8For information on noise prevention measures refer to page 7C-1. Wemention them here because these factors sh

I/O InterfaceSection 10A10A-7Each I/O interface device connected to the I/O ring has a fault indicator(LED) located on it. Some examples of these indi

I/O InterfaceSection 10A10A-8The push-button MTB panel I/O module is included with the push-buttonMTB panel. It can also be purchased separately to in

I/O InterfaceSection 10A10A-9Pin Assignments for Use with Custom MTB PanelsThe connector pins that are reserved for supplying power to thepush-button

I/O InterfaceSection 10A10A-10Output Interface Ribbon CableThe data from the push-button MTB panel I/O module is sent to the MTBpanel via the output i

I/O InterfaceSection 10A10A-11Table 10A.EOutputInterface Ribbon Cable Pin Assignments (Connects to CN52)Pin No. MTB Input Functions Pin No. MTB InputF

I/O InterfaceSection 10A10A-12Power Source SpecificationsTable 10A.F lists the power requirements for the push-button MTB panelI/O module.Table 10A.FM

I/O InterfaceSection 10A10A-13Figure 10A.6 shows a typical input circuit diagram for the push-buttonMTB panel I/O module.Figure 10A.6Push-Button MTB P

I/O InterfaceSection 10A10A-14Output SpecificationsTable 10A.H lists the output specifications of the MTB I/O module.Table 10A.HPush-Button MTB Panel

I/O InterfaceSection 10A10A-15Important: When an inductive load (a relay, for example) is directlyconnected to the output circuit, connect a noise sup

I/O InterfaceSection 10A10A-16Each push-button MTB panel I/O module must have a unique node addresson the I/O ring. The node address corresponds to a

Section 2APlanning Your System Layout2A-9Figure 2A.3Minimum Component Spacing to Allow Air Flow in the CabinetEnclosure100 (3.94)100(3.94)100 (3.94)50

I/O InterfaceSection 10A10A-17If you are using the push-button MTB panel I/O module with custom MTBpanel, you need to set some jumpers. Figure 10A.11

I/O InterfaceSection 10A10A-18The Digital I/O provides for an additional 20 inputs and 12 outputs to thesystem I/O ring. The digital I/O interface cir

I/O InterfaceSection 10A10A-19Table 10A.K list the four types of digital I/O that can be selected accordingto individual machine applications.Table 10

I/O InterfaceSection 10A10A-20Figure 10A.14Power Connection (E154)TerminalBlockLabelTo frame24 V dcCHASSISGNDNOTUSEDNOTUSED24V dcNEUT+24V dc11319-IATT

I/O InterfaceSection 10A10A-21Table 10A.LDigital I/O InputTerminalsTerminal No. Digital Input Functions Terminal No. Digital Input FunctionsA01 B01A02

I/O InterfaceSection 10A10A-22Figure 10A.16dc Input Device Connection (E153, E154)All six COM terminals are connectedinternallyProximityswitchLS1PB2Cu

I/O InterfaceSection 10A10A-23Figure 10A.17 shows a triac output connection diagram.Figure 10A.17Triac Output Connection (E151, E152)Relay typeoutput

I/O InterfaceSection 10A10A-24Figure 10A.18 shows a relay type output connection diagram.Figure 10A.18Relay Type Output Connection (E153)Relay typeout

I/O InterfaceSection 10A10A-25The relay life of output contacts used in the E153 depends on the loadbeing controlled. The following shows contact perf

I/O InterfaceSection 10A10A-26Table 10A.N lists the power requirements for the 4 types of digital I/O.Table 10A.NDigital I/O Power RequirementsItem Di

Section 2APlanning Your System Layout2A-10Installing Servo ModulesDigital and analog servo modules include processors that make them verysensitive to

I/O InterfaceSection 10A10A-27Figure 10A.20 and Figure 10A.21 show the digital I/O input circuitdiagrams for ac and dc applications.Figure 10A.20Digit

I/O InterfaceSection 10A10A-28Table 10A.PDigital I/O Output SpecificationsItem Digital I/O TypesE151 E152 E153 E154Number of Output Points 12Output Ty

I/O InterfaceSection 10A10A-29Specifications for hard contact relay outputs are shown below. It isrecommended that some type of noise suppressor be us

I/O InterfaceSection 10A10A-30Table 10A.TTransistor Output SpecificationsItem Rating RemarkOutput Voltage Range 10- 50V dcContinuous Output Current pe

I/O InterfaceSection 10A10A-31Figure 10A.23Digital I/O Relay Output CircuitDiagram (E151, E152, E153, E154)Digital I.O Module Signal destinationNoises

I/O InterfaceSection 10A10A-32Table 10A.U lists the connectors used to make the fiber optic connectionsto the I/O ring. Each module connected to the s

I/O InterfaceSection 10A10A-33Table 10A.VDigital I/O Node Address SettingNode Address Switch Assembly PositionHexadecimal Binary 1 2 3 4 5 600 00 0000

I/O InterfaceSection 10A10A-34Figure 10A.26 shows the high--density I/O module.Figure 10A.26High-density I/O ModuleOptical connectorOP24 (IN)Optical c

I/O InterfaceSection 10A10A-35Figure 10A.28 shows typical input device connections to connectorsCN61M or CN62M of the high--density I/O module.Figure

I/O InterfaceSection 10A10A-36Table 10A.XRelationship of Input Data to Connector CN62M PinsConnector CN26MInput Data Connector Pin No. Input Data Conn

Section 2APlanning Your System Layout2A-11Figure 2A.41394 and 9/440 CNC Servo Amplifier Spacing Restrictions50.8 (2.00) Clearancefor Airflow and Insta

I/O InterfaceSection 10A10A-37Table 10A.Y lists the relationship between the output data and the socketsof connector CN63F.Table 10A.YRelationship of

I/O InterfaceSection 10A10A-38Power Supply SpecificationsTable 10A.Z lists the power requirements for the high--density I/O module.Table 10A.ZHigh-den

I/O InterfaceSection 10A10A-39The input circuit diagram for the high--density I/O module is shown inFigure 10A.30.Figure 10A.30High-density I/O Module

I/O InterfaceSection 10A10A-40Figure 10A.31 shows the output circuit diagram for the high--density I/Omodule.Figure 10A.31High-density I/O Module Outp

I/O InterfaceSection 10A10A-41Different types of I/O devices can have the same node address, but devicesof the same type must each have a unique node

I/O InterfaceSection 10A10A-42This section only discusses the use of the E--Series analog I/O module. Ifyou are using a 1746 analog I/O device, refer

I/O InterfaceSection 10A10A-43Table 10A.AE lists the power requirements for the analog I/O.Table 10A.AEE-Series Analog I/O Power RequirementsItem Spec

I/O InterfaceSection 10A10A-44Table 10A.AF lists the input specifications for the analog I/O.Table 10A.AFE-Series Analog I/O Input SpecificationsItem

I/O InterfaceSection 10A10A-45Table 10A.AG lists the output specifications for the analog I/O.Table 10A.AGE-Series Analog I/O Output SpecificationsIte

I/O InterfaceSection 10A10A-46Figure 10A.36E-Series Analog I/O Output Device ConnectionCHASSISGNDCOMOUTPUTCHASSISGNDNOTUSEDNOTUSEDNOTUSEDNOTUSEDCHASSI

Section 2APlanning Your System Layout2A-12

I/O InterfaceSection 10A10A-47Figure 10A.37E-Series Analog I/O Node Address Switch Assembly LocationThis coverunsnaps and foldsdown to expose switches

I/O InterfaceSection 10A10A-48The E--Series analog I/O module allows you to select between bipolaroperation (--10V to +10V dc) and unipolar operation

I/O InterfaceSection 10A10A-49You can place several 1746I modules with 1746 I/O chassis in the 9/Seriesfiber-optic ring. Each 1746 I/O chassis must co

I/O InterfaceSection 10A10A-50The following procedure covers how to remove modules from your 1746I/O chassis. In some cases it is necessary to remove

I/O InterfaceSection 10A10A-51Figure 10A.391746 I/O Ring Adapter Switch Assembly LocationsS11 2 3 4 5 6ONOther 9/Series I/O devices (such as an HPG or

I/O InterfaceSection 10A10A-52Table 10A.AK1746I I/O Ring Adapter Node Address SettingNode Address Switch Assembly PositionHexadecimal Binary 1 2 3 400

I/O InterfaceSection 10A10A-532. Wire the power supply terminals as shown below. These terminalsaccept two #14AWG wires.20151L1 — 120/240 VL2 — V ac N

I/O InterfaceSection 10A10A-54The connectors used to make the fiber optic connections to the I/O ring arelisted in Table 10A.AM. Each module connected

I/O InterfaceSection 10A10A-55Discrete Input Module SpecificationsCatalogNumberVoltageCategoryOperatingVoltageNumber ofInputsPoints PerCommonBackplane

I/O InterfaceSection 10A10A-56All modules are UL 508 listed and CSA 22.2 142 approved. Thesemodules meet requirements for Class I division 2 hazardous

Section2B2B-1Mounting Dimensions9/230 Component EnclosureThis section covers the dimensions and weight of the component for the9/230. The dimensions o

I/O InterfaceSection 10A10A-57Selecting Voltage or Current ModeThe NIO4V analog module has a user selectable DIP switch setting whichallows you to con

I/O InterfaceSection 10A10A-58voltages on IN+ and IN-- terminals terminals must remain within ± 20Volts with respect to ANL COM for proper input chann

I/O InterfaceSection 10A10A-59Analog Module NIO4V(5)ANL COM(6) NOT USED(7) OUT 0(8)ANL COM(9) NOT USED(10) OUT 1(11)ANLCOMANALOGPOWER(4) IN 1--(3) IN

I/O InterfaceSection 10A10A-60To determine an approximate voltage that an input value represents, useone of the following equations:10 V32,768(input v

I/O InterfaceSection 10A10A-61FeaturesHigh resolution -- 16 bit input and 14 bit output converters provideaccurate control capabilities.Backplane powe

I/O InterfaceSection 10A10A-62If the 9/Series fiber optic I/O ring should fault or any other fault shouldoccur within the 1746 I/O rack, the 1746I mod

I/O InterfaceSection 10A10A-63The Fast I/O feature provides 4 inputs to and 4 outputs from the control.This feature is used to make changes in PAL tha

I/O InterfaceSection 10A10A-64Table 10A.APPin Assignments for the Fast I/O Connector (P3)(Not available on the 9/230 and 9/440 control)Pin No. Signal

I/O InterfaceSection 10A10A-65Figure 10A.42 shows the fast I/O circuit.Figure 10A.42Fast I/O Circuit(Not available on the 9/230 control)F38+5 V1KFast

I/O InterfaceSection 10A10A-66Many safety issues present themselves to the machine tool builder whenwiring I/O devices. Typically, 9/Series I/O device

Section 2BMounting Dimensions2B-2Figure 2B.29/230 Digital Component Enclosure Dimensionsmm(in.)Front ViewTop View226.16(9.05)400.0(16)125(5)87(3.48)12

Section10B10B-19/Series Adapter Modules for1771 and 1746 I/O DevicesThis section discusses using I/O adapter modules for the 9/Series I/O ring.These a

Section 10B9/Series AdapterModules for1771 and 1746 I/O Devices10B-2Figure 10B.1 shows the 1771 I/O ring adapter module.Figure 10B.11771 I/O Ring Adap

Section 10B9/Series AdapterModules for1771 and 1746 I/O Devices10B-3Different types of I/O devices can have the same node address, but devicesof the s

Section 10B9/Series AdapterModules for1771 and 1746 I/O Devices10B-4Table 10B.B1771 I/O Ring Adapter Node Address SettingNode Address Switch Assembly

Section 10B9/Series AdapterModules for1771 and 1746 I/O Devices10B-5Use the 1746 I/O Ring Adapter Module to interface Allen-Bradley 1746I/O devices wi

Section 10B9/Series AdapterModules for1771 and 1746 I/O Devices10B-6Assign an address to the module using the dip switch S1 found on the sideof the 17

Section 10B9/Series AdapterModules for1771 and 1746 I/O Devices10B-7Table 10B.C1746I I/O Ring Adapter Node Address SettingNode Address Switch Assembly

Section 10B9/Series AdapterModules for1771 and 1746 I/O Devices10B-8The following 1746 chassis and I/O modules are compatible when usedwith a 1746I mo

Section 10B9/Series AdapterModules for1771 and 1746 I/O Devices10B-9Catalog Number: Description:1746--OV16 24V dc 16 Output Module (sink)1746--OV32 24

Section 10B9/Series AdapterModules for1771 and 1746 I/O Devices10B-10This section provides diagnostic information for troubleshooting your 1746I/O cha

9/Series Integration and Maintenance ManualTable of ContentsiUsing This Manual1A.0 Section Overview 1A-1. . . . . . . . . . . . . . . . . . . . . . .

Section 2BMounting Dimensions2B-39/260 and 9/290 Component EnclosuresThis section covers the dimensions and weight of the component for the9/260 and t

Section 10B9/Series AdapterModules for1771 and 1746 I/O Devices10B-11The following section describes how to calculate how many ASRN chipsare used by e

Section 10B9/Series AdapterModules for1771 and 1746 I/O Devices10B-12Important: Each analog channel on an analog module must be counted.Even if the ch

--1Publication 8520--6.2.10 -- February 1997

--2Publication 8520--6.2.10 -- February 1997Publication 8520--6.2.10 -- February 1997 PN 176041Copyright 1996 Allen-Bradley Company, Inc. Printed in U

8520-6.2.11 -- February 1997 PN--1760309/Series HardwareTAB 111394 Digital Drive Systems

4

Section11A11A-1Connecting 1394 Digital Drive SystemsThis section gives general information on connections to the CNC versionof the Allen-Bradley 1394

Section 11AConnecting 1394 Digital Drive Systems11A-2System Module -- This is the largest module in the 1394 Digital Drivesystem (left most module). I

Section 11AConnecting 1394 Digital Drive Systems11A-3The 1326 servo motors that interface to the 1394 drive rely on resolversmounted directly to the m

Section 11AConnecting 1394 Digital Drive Systems11A-4Maximum Axis SpeedsMaximum axis speeds are limited by the CNC interface boards ability todecode r

Section 2BMounting Dimensions2B-4Figure 2B.4Blank Cut-Out Dimensions for the 9/260 or 9/290 Component Enclosure465.1(18.31)6 Æ 8 places(0.24)101.6(4.0

Section 11AConnecting 1394 Digital Drive Systems11A-5We recommend wiring feedback as follows:Resolver (attached tomotor from axismodule):Connect tofee

Section 11AConnecting 1394 Digital Drive Systems11A-6Each of these CNCx connectors on the CNC interface board corresponds tothe motor and feedback dev

Section 11AConnecting 1394 Digital Drive Systems11A-7The CNC interface cable, 8520-DSC, terminates with a 44 pin miniatureD-shell at the CNC and a 26

Section 11AConnecting 1394 Digital Drive Systems11A-8The 1394 digital drive must be placed in the 9/Series fiber optic ring.Configure this drive into

Section 11AConnecting 1394 Digital Drive Systems11A-9The 1394 digital drive receives configuration information through the9/Series fiber optic ring. T

Section 11AConnecting 1394 Digital Drive Systems11A-10E--Stop connection is made to the 1394 CNC wiring board drive okaycontactor (TB1 DROK). This rel

Section 11AConnecting 1394 Digital Drive Systems11A-11Figure 11.5Recommended Connection of 3-phase Drive PowerCustomer SuppliedE-Stop Control RelayDC+

Section 11AConnecting 1394 Digital Drive Systems11A-12Important: To help you insert and remove wires on the Input WiringBoard, the supplied “Terminal

Section 11AConnecting 1394 Digital Drive Systems11A-13If the correct voltages are not present at these test points, and incomingpower to the drive is

Section 11AConnecting 1394 Digital Drive Systems11A-14The following figure shows a typical interconnect diagram for a 9/SeriesCNC to a 1394 drive. Not

Section 2BMounting Dimensions2B-59/440 CNC and 1394 DriveThis section covers the dimensions and weight of the component for the9/440. The dimensions o

Publication 8520-6.2.11 -- February 1997

IndexI--2Publication 8520-6.2.11 -- February 19979/Series, PAL, PLC, SLC 5/03, SLC 5/04, DH+, and INTERCHANGE are trademarks ofAllen-Bradley Company,

8520-6.2.12 -- February 1996 PN--1604859/Series HardwareTAB 12Analog Servo Drive Connection

Section1212-1Wiring A-B Analog DrivesThis section discusses the wiring of Allen-Bradley Analog servo driveamplifiers. This manual is not intended to b

Section 12WiringA-BAnalog Drives12-2Figure 12.1Wiring Diagram for Series 1386 DrivesMotorMotherboard (9/260 and9/290)or Processorboard (9/230)terminal

Section 12WiringA-BAnalog Drives12-3Figure 12.2Wiring Diagram For Series 1387B Drives2123252734373913548508DRIVEDRIVEDR RETSHLD1771 HTEEncoderTerminat

Section 12WiringA-BAnalog Drives12-4Figure 12.3Wiring Diagram For Series 1388 Drives4 5 7 8 9A2TB1A3TB1123456789101112131415CR1DriveFaultH1H4H7Y2Y3Y1X

Section 12WiringA-BAnalog Drives12-5Figure 12.4Wiring Diagram For Series 1392 Drives+12V PowerSupply(user -supplied)MotorThermalSwitchTransformerTherm

Section 12WiringA-BAnalog Drives12-6Figure 12.5Wiring Diagram For Series 1389 DrivesH1H4H7G2 G1 G0 X0P1 P2X1X2X3Y1Y2M1TB2 -- 1TB2 -- 2TB2 -- 3TB2 -- 4

Section 12WiringA-BAnalog Drives12-7Figure 12.5 (continued)Wiring Diagram For Series 1389 DrivesT1T2ChassisGround StudJ1 -- 5J1 -- 1,4,7J1 -- 3,6,9J1

Section 2BMounting Dimensions2B-6Figure 2B.69/440 CNC and 1394 Drive Mounting Template50(1.97)0(0.00)62.5(2.46)50(1.97)125(4.92)100(3.94)137.5(5.41)17

Section 12WiringA-BAnalog Drives12-8Figure 12.6Wiring Diagram For Series 1391 DrivesP1 P211121314151617182212910111218 17 K1K2M115VacMM120V ac 1 ampDR

Section 12WiringA-BAnalog Drives12-9Figure 12.6 (continued)Wiring Diagram For Series 1391 DrivesControllerMain PowerUserPower192021456111212TB5TB5TB5+

Publication 8520-6.2.12 -- February 1996

IndexI--2Publication 8520-6.2.12 -- February 19969/Series, PAL, PLC, SLC 5/03, SLC 5/04, DH+, and INTERCHANGE are trademarks ofAllen-Bradley Company,

8520-6.2.13 -- August 1998 PN--1764439/Series HardwareTAB 138520 Digital Drive SystemsSeries 8520 Digital Drives and Series 8500 Digital Servo Motors

Section13A13A-1Connecting 8520 Digital Drive SystemsThis section details the connections for the 8520-AX-D digital drive.For Information: SeePage:8520

Section 13AConnecting 8520 Digital Drive Systems13A-2Figure 13A.18520 Digital Servo Amplifier InterfaceServo ConnectorServoAmplifierCNA1(Axis 1)CNA2(A

Section 13AConnecting 8520 Digital Drive Systems13A-3Table 13A.A8520 Digital Servo Amplifier OptionsSpecifications Amplifier Options1AX-D 2AX-D 3AX-DN

CircuitbreakerTB3TB1TB4CNA1TB211284-ISection 13AConnecting 8520 Digital Drive Systems13A-4Figure 13A.2 shows the 1AX-D (1 axis) 8520 digital servo amp

Section 13AConnecting 8520 Digital Drive Systems13A-5Table 13A.B1AX-D Servo Amplifier Terminal Block TB1 Terminal AssignmentsTerm. Connection Term. Co

Section 2BMounting Dimensions2B-7Figure 2B.79/440 CNC and 1394 Drive System Module DimensionsAll Slots Accept M6, 1/4--20 Mtg. ScrewsDepth = 279.4 (11

TB3TB1TB4CNA2CNA1CircuitbreakerTB211286-ISection 13AConnecting 8520 Digital Drive Systems13A-6Important: Terminal block TB4 is an optional connector t

251691011711285-ISection 13AConnecting 8520 Digital Drive Systems13A-7Figure 13A.58520 Digital Servo Amplifier Connectors CNA1 and CNA2, HondaMR-25RMA

Section 13AConnecting 8520 Digital Drive Systems13A-8Table 13A.I2AX-D Servo Amplifier Terminal Block TB3 Terminal AssignmentsTerm. No. Connection1 SYS

TB2CNA2CNA1CircuitbreakerCNA3TB3TB1TB411287-I251691011711285-ISection 13AConnecting 8520 Digital Drive Systems13A-9Figure 13A.6 shows and lists the 3A

Section 13AConnecting 8520 Digital Drive Systems13A-10Table 13A.L3AX-D Servo Amplifier Terminal Block TB1 Terminal AssignmentsTerm. No. Connection Ter

Section 13AConnecting 8520 Digital Drive Systems13A-11Table 13A.P3AX-D Servo Amplifier Terminal Block TB4 Terminal AssignmentsTerm. No. Connection1 TS

Section 13AConnecting 8520 Digital Drive Systems13A-12Table 13A.AFormulas for Determining Transformer SizeIf you are using amachine tool application w

Section 13AConnecting 8520 Digital Drive Systems13A-13Figure 13A.8Allen-Bradley 1389 Transformer DimensionsSlot0.22R13.5(0.53)11.2 ref.(0.44)DC max. A

Section 13AConnecting 8520 Digital Drive Systems13A-14This section discusses faults and how they are detected on the 8520 digitalservo amplifier.Syste

Section 13AConnecting 8520 Digital Drive Systems13A-15Table 13A.E2AX-D (2 axis) Servo Amplifier IndicatorsSymbol(block 1)Fault or ReadyIndication Colo

Section 2BMounting Dimensions2B-8Figure 2B.89/440 CNC and 1394 Drive Dimensionsfor AM03, AM04, and AM07 Axis Modules350.0(13.78)400.0(15.75)50.0(1.97)

Section 13AConnecting 8520 Digital Drive Systems13A-16Table 13A.G through Table 13A.L list the 8520 digital servo amplifierjumper settings. These jump

Section 13AConnecting 8520 Digital Drive Systems13A-17Table 13A.H1AX-D Servo Amplifier Jumper Settings (continued)J13 Short -- Enable AxisMotorOpen --

Section 13AConnecting 8520 Digital Drive Systems13A-18Table 13A.J2AX-D Servo Amplifier Jumper Settings (continued)J25 Short -- Enable Axis1 MotorOpen

Section 13AConnecting 8520 Digital Drive Systems13A-19For 300% of motor rated current, the following jumpers are open:- AXIS 1: J5, J6, J11, J12 AXIS

Section 13AConnecting 8520 Digital Drive Systems13A-20Where:- J = total motor and axis inertia measured at motor shaft, summed forall motors connected

Section 13AConnecting 8520 Digital Drive Systems13A-21After determining system shunt requirements, terminal block (BT2) oneach of the 8520 digital amp

Section 13AConnecting 8520 Digital Drive Systems13A-22Normally-closed contacts must be installed as shown in Figure 13A.10 andFigure 13A.11. These fou

Section 13AConnecting 8520 Digital Drive Systems13A-23Figure 13A.1Power Distribution from the Supply to the Transformer and AmplifierDynamic Brakecirc

Section 13AConnecting 8520 Digital Drive Systems13A-24The 8500 digital servo motors are used to drive the axes of the 8520 digitalservo drive system.

Section 13AConnecting 8520 Digital Drive Systems13A-25Table 13A.O lists the 1500/2500 RPM 8500 digital servo motor optionsand their specifications.Tab

Section 2BMounting Dimensions2B-9Figure 2B.99/440 CNC and 1394 Drive Dimensionsfor AM50 and AM75 Axis Modules350.0(13.78)400.0(15.75)37.5(1.48)75.0(2.

Section 13AConnecting 8520 Digital Drive Systems13A-26Table 13A.P lists the general motor specifications that apply to all of thepreviously listed 850

FABGEDCSection 13AConnecting 8520 Digital Drive Systems13A-27The 8500 digital servo motor leads must be connected as shown below.The servo motor rotat

BA CDEFGHISection 13AConnecting 8520 Digital Drive Systems13A-28Figure 13A.3 lists the pin assignments for the A series 8500 digital servomotor connec

Section 13AConnecting 8520 Digital Drive Systems13A-29Table 13A.Q lists the servo encoder specifications.Table 13A.QServo Encoder SpecificationsAbsolu

Section 13AConnecting 8520 Digital Drive Systems13A-30Absolute EncodersAbsolute encoders are an “intelligent” feedback device that provideabsolute axi

ABCDEFGHJLMNPRSTKSection 13AConnecting 8520 Digital Drive Systems13A-31This value is then compared to the actual A channel frequency of theencoder whi

ABCDEFGHJLMNPRSTKSection 13AConnecting 8520 Digital Drive Systems13A-32Figure 13A.7 shows the interface between the 8520 digital servo moduleand the 8

Section 13AConnecting 8520 Digital Drive Systems13A-33The turns counter register of an absolute encoder can be reset to zero atsystem start up or if t

Section 13AConnecting 8520 Digital Drive Systems13A-34If accessing connectors at the control:a. Disconnect the absolute encoder signal cable from the

Section 13AConnecting 8520 Digital Drive Systems13A-35Resetting an Absolute Encoder on the 9/260 and 9/920Important: The following procedure is no nec

Section 2BMounting Dimensions2B-10Figure 2B.109/440 CNC Power Control Module DimensionsON SWCOMMONOFF SWAC INAUXACAC POWERFUSE8A/250VALLEN--BRADLEY16.

Section 13AConnecting 8520 Digital Drive Systems13A-36If accessing connectors at the 8520 digital servo module:a. Disconnect the absolute encoder sign

Section 13AConnecting 8520 Digital Drive Systems13A-37A second feedback device can be attached to your machine (normallymounted directly to the moving

Section 13AConnecting 8520 Digital Drive Systems13A-38

Section13B13B-18500 Digital Motor DimensionsThe control may use either 8500 or 1326 digital servos or analog servos. This section is dedicated only to

8500 Digital MotorDimensionsSection 13B13B-2Use the key below to decode the catalogue numbers, which provide information on motor frame series, framel

8500 Digital MotorDimensionsSection 13B13B-3This section is broken into two parts. Section 13B.1 discusses motors that come equipped with a holding br

8500 Digital MotorDimensionsSection 13B13B-4Figure 2 shows the shaft for standard 8500 digital servo motors with brake.Figure 2Straight Shaft with Key

8500 Digital MotorDimensionsSection 13B13B-5* CatalogNumberMotorandShaftSee Figureson pgs13B-3 and13B-4A B C D E F G H I J K L M N O P Q R SMotor Fig.

8500 Digital MotorDimensionsSection 13B13B-6* CatalogNumberSRQPONMLKJIHGFEDCBASee Figureson pgs13B-3 and13B-4MotorandShaftMotor Fig.1 429 350 276 79 7

8500 Digital MotorDimensionsSection 13B13B-7* CatalogNumberSRQPONMLKJIHGFEDCBASee Figureson pgs13B-3 and13B-4MotorandShaftMotor Fig.1 493 414 340 79 7

Section 2BMounting Dimensions2B-11Operator PanelFor detailed information on operator panels refer to page 9A-1.Figure 2B.11Monochrome Operator Panel D

8500 Digital MotorDimensionsSection 13B13B-8Figure 3 shows a 8500 digital servo motor without the holding brake. Refer to section 13B.1 for details on

8500 Digital MotorDimensionsSection 13B13B-9Figure 4 shows the shaft for standard 8500 digital servo motors without brakes.Figure 4Straight Shaft with

8500 Digital MotorDimensionsSection 13B13B-10* CatalogNumberMotorandShaftSee Figureon pgs13B-8 and13B-9A B C D E F G H I J K L M N O P Q R SMotor Fig.

8500 Digital MotorDimensionsSection 13B13B-11* CatalogNumberSRQPONMLKJIHGFEDCBASee Figureon pgs13B-8 and13B-9MotorandShaftMotor Fig.3 416 358 312 58 4

8500 Digital MotorDimensionsSection 13B13B-12* CatalogNumberSRQPONMLKJIHGFEDCBASee Figureon pgs13B-8 and13B-9MotorandShaftMotor Fig.3 407 328 254 79 7

Publication 8520-6.2.13 -- August 1998

I--2Publication 8520-6.2.13 -- August 19989/Series, PAL, PLC, SLC 5/03, SLC 5/04, DH+, and INTERCHANGE are trademarks ofAllen-Bradley Company, Inc.All

852062--RM014A--EN--P -- November 2000 PN--1769629/Series HardwareTAB 14System StartupON

Section14A14A-1System Start-UpThis section discusses the recommended 9/Series start up procedure. Werecommend following this procedure where it is app

Section 2BMounting Dimensions2B-12Figure 2B.12Blank Cut-Out Dimensions for the Monochrome Operator Panel382(15.04)190(7.48)4(0.16)4.5 (0.18)130(5.12)1

Section 14ASystem Start-Up14A-2Prior to pressing the “ON” button on the MTB panel:1. Check all wiring connections, both electrical and fiber optic. Ma

Section 14ASystem Start-Up14A-31394 DrivePower terminal blockW1 and W2 24 V ac or dcand check test points on the wiring board:TB3 Test Point VoltageTB

Section 14ASystem Start-Up14A-4Important: The control will not come out of E-Stop if there is no PALprogram available for execution.11. If the error m

Section 14ASystem Start-Up14A-516. Check the 3 Æ V ac incoming power to the servo amplifiers. For ananalog system refer to documentation provided by t

Section 14ASystem Start-Up14A-618. Mechanically connect the motors to the axes.If configuring a split axis the encoder marker alignment proceduremust

Section14B14B-1Integrating a Split Axis with DeskewA split axis is a single axis that, due to size or precision requirements, ispositioned by two sepa

Integrating a SplitAxis with DeskewSection 14B14B-2Skew is the difference between the position of the split axis master servoand the split axis slave

Integrating a SplitAxis with DeskewSection 14B14B-3The start up procedure for a split axis requires that both servos be testedseparately. This means m

Integrating a SplitAxis with DeskewSection 14B14B-4The difference for a split axis is that the distance to the nearest marker iscalculated independent

Integrating a SplitAxis with DeskewSection 14B14B-5Figure 14B.2Axis Monitor ScreenXAXISYAXISZAXISAXIS MONITOR X AXIS [ MM ] SETUP MODEFOLLOWINGERRORDI

9/Series Integration and Maintenance ManualTable of Contentsii3A.1.3 Battery Backup 3A-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 2BMounting Dimensions2B-13Figure 2B.14Color Operator Panel Dimensions,1302603904001202503703855.07.52.612377(14.58)(0.10)(0.47)(15.75)(0.30) (

Integrating a SplitAxis with DeskewSection 14B14B-68. Loosen the encoders for both servos. In most cases, you can loosenthe encoder casing from its mo

Integrating a SplitAxis with DeskewSection 14B14B-7Important: If you are doing this procedure on an absolute encoder andthat encoder is attached to an

Integrating a SplitAxis with DeskewSection 14B14B-8Figure 14B.4Encoder Marker Positioning Relative to the Home Limit SwitchOff OnCORRECTOff OnINCORREC

Integrating a SplitAxis with DeskewSection 14B14B-9If the markers are close to zero degrees or 180 degrees away when thehome switch is tripped, it is

Integrating a SplitAxis with DeskewSection 14B14B-10For example, assume you have determined that the master servo ismoving .012 farther than the slave

Integrating a SplitAxis with DeskewSection 14B14B-11Once on the axis monitor page, the skew amount is shown on the slaveservo of a deskew axis. Zero t

Integrating a SplitAxis with DeskewSection 14B14B-12When motion requests are made to the master servo, both the slave andmaster always move to the sam

Publication 852062--RM--14A--EN--P -- November 2000Supercedes Publication 8520--6.2.14 -- February 1996PN 176962Copyright 2000 Allen-Bradley Company,

852062--RM015A--EN--P -- November 2000 PN--1769639/Series HardwareTAB 15Troubleshooting and Replacement ProceduresBottom of HPGBack of HPGON123

Section 2BMounting Dimensions2B-14MTB PanelFor detailed information on this component refer to page 9A-1.Figure 2B.15MTB Panel Dimensions372(14.65)88.

2

Section15A15A-1Troubleshooting the ControlThis Section presents some features available to you to help troubleshootyour control. These features includ