Rockwell-automation 1391ES AC Servo Controller User Manual Page 53
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- Table of contents
- TROUBLESHOOTING
- BOOKMARKS
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The 1326 AC Servomotor
Chapter 8
8-55
Tp – the peak torque that can be produced by the motor/controller
combination with both at rated temperature and the motor in a 40°C
ambient and the controller in a 60°C ambient. Since 200% current torque
peaks are common in many applications for optimal controller usage, the
following curves show typical system performance. Higher peak torques
are permissible where RMS torque is less than or equal to the rated torque
(Tc). 1391B-ES operation is shown in the outer envelope and will show
higher speed and 300% torque capability.
Rated Speed – the operating speed of the controller and motor
combination at which a minimum of 70% of continuous rated torque (Tc)
can be developed. This point is defined with the motor at 25°C and
controller operating in a 60°C ambient.
Rated Operation Area – boundary of speed-torque curve where the motor
and controller combination may operate on a servo basis without exceeding
the RMS rating of either.
Duty Cycle Profile
Decelerat
e (Tpd)
Accelerat
e (Tpa)
Repeat
Move
Cycle
RPM
Stead
y
Speed
(Tss)
Rest
(Tr)
Total Cycle
Time
t
1
t
2
t
3
t
4
where:
Trms The motors RMS or average torque over the duty cycle. (Expressed in
lb.-in. or lb.-ft. The same units must be used throughout the formula.)
Tpa Motor peak torque to accelerate to maximum speed. (Expressed in lb.-in.
or lb.-ft. The same units must be used throughout the formula.)
Tss Motor torque present at the motor shaft during constant speed segment.
(Expressed in lb.-in. or lb.-ft. The same units must be used throughout the
formula.)
Tpd Motor peak torque to decelerate to zero speed. (Expressed in lb.-in. or
lb.-ft. The same units must be used throughout the formula.)
Tr Torque when motor is at zero speed (typically is Tss).
t
1
, t
2
, t
3
, t
4
Time for each portion of the duty cycle in seconds.
Tpa
2
x t
1
+ Tss
2
x t
2
+ Tpd
2
x t
3
+ Tr
2
x t
4
t
1
+ t
2
+ t
3
+ t
4
Trms =
Intermittent Operation Area – Boundary of speed-torque curve where
the motor and controller combination may operate in acceleration-decelera-
tion mode without exceeding peak rating of either, provided that the duty
cycle RMS continuous torque limit is not exceeded.
- 1391B-ES Instruction Manual 1
- Table of Contents 1
- Introduction 3
- Chapter 1 4
- Figure 1.1 7
- 1391B-ES AC Servo Controller 7
- Specifications 9
- Table 2.A 10
- Controller Power Dissipation 10
- Table 2.B 10
- Chapter 3 13
- End of Chapter 19
- Description of Operation 20
- Operation 21
- Figure 4.2 21
- Figure 4.3 22
- 1391B-ES Block Diagram 22
- Chapter 4 23
- Figure 4.4 26
- Chapter 5 29
- Figure 5.1 30
- A Quad B Board Wiring 30
- Figure 5.2 32
- Table 5.A 33
- Table 5.B 35
- Table 5.C 35
- Table 5.D 36
- Table 5.E 37
- S2-2 Switch Positions 37
- Figure 5.3 39
- / 2 = 2048 39
- Installation 40
- Chapter 6 41
- Table 6.A 43
- Table 6.B 44
- Table 6.C 45
- Fuse Current Rating (A) 45
- Start-Up 46
- Chapter 7 47
- Figure 7.2 50
- Velocity Response Profiles 50
- The 1326 AC Servomotor 52
- Chapter 8 53
- 1391B–ES Servo Controllers 54
- Chapter 9 57
- Figure 9.1 58
- Table 9.A 59
- Table 9.B 60
- Table 9.C 62
- Shunt Fuse Information 62
- Troubleshooting 64
- Table 10.A 65
- Table 10.B 67
- Table 10.C 68
- Table 10.D 68
- Test Point Descriptions 68
- Figure 10.1 69
- Figure 10.2 70
- 1391B–ES Top Panel 70
- Dimensions 72
- Figure A.2 73
- Figure A.3 74
- Figure A.4 75
- Interconnect Drawings 76
- Cable Information 77
- 1326-CPCxx Motor Power Cable 78
- Appendix C 79
- End of Appendix 80
- Controller Options 81
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