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Rockwell Automation 1326 Digital AC Multi-Axis Motion Control System U manuales

Manuales del propietario y guías del usuario para Equipo Rockwell Automation 1326 Digital AC Multi-Axis Motion Control System U.
Ofrecemos 1 manuales en pdf Rockwell Automation 1326 Digital AC Multi-Axis Motion Control System U para descargar gratis por tipos de documentos: Manual de usuario


Rockwell automation 1326 Digital AC Multi-Axis Motion Control System U Manual de usuario (301 paginas)


Marca: Rockwell-automation | Categoria: Equipo | Tamaño: 8.49 MB |

 

Tabla de contenidos

1394 Digital AC

1

Multi-Axis

1

Motion Control

1

Allen-Bradley

1

Important User

2

Information

2

Table of Contents

3

Chapter 3

4

Modules, and Motors

4

(for all systems)

4

Chapter 4

5

Chapter 5

5

Specifications

7

Appendix B

8

Appendix C

8

Appendix D

9

Catalog Numbers

9

Who Should Use this Manual

11

Purpose of this Manual

11

Contents of this Manual

12

Related Documentation

13

Module Series Designator

13

1394 Product Receiving and

14

Storage Responsibility

14

Allen-Bradley Support

14

Overview

15

Safety Precautions

16

1394 System Overview

17

Figure 1.2

18

-C and 1394C-SJT

18

CNC Interface System

19

SERCOS System

20

Analog Servo System

21

9/440 CNC System

22

Terminal type connection

23

Optical signal cable

23

1326AB Motors

26

1326AS Motors

26

1326AH Motors

27

Standard Features of the 1394

29

1-16 Overview

30

Installing Your 1394

31

Before Mounting Your System

32

Unpacking Modules

33

System Mounting Requirements

33

Figure 2.1

34

Figure 2.2

35

1394 Mounting Hole Layout

35

Bonding Your System

36

Figure 2.4

37

Bonding Examples

37

Mounting Your 1394 System

38

Engaged alignment tab

39

Slide-and-Lock

40

Mechanism

40

Attach the

40

Power Plug

41

Incorrect Shunt Placement

42

Figure 2.13

43

Figure 2.14

44

Mounting the Shunt Module

45

Figure 2.15

46

Understanding Basic Wiring

48

Requirements

48

Figure 3.1

49

System Module Wire Sizes

50

Shielding

50

EMI/RFI Shielding

50

EMI/RFI Bonding

50

Input Power Conditioning

51

Grounded Power Configuration

52

Figure 3.3

53

Figure 3.4

55

Figure 3.5

56

Figure 3.6

56

Figure 3.7

57

Grounding Your 1394 System

58

Ground grid or power

59

Always follow NEC and

59

Figure 3.11

61

Figure 3.12

62

Required Tools and Equipment

63

(Series C)

64

Figure 3.13

66

Locating TB1 and TB2

66

Figure 3.14

68

Resistor

72

Figure 3.15

73

Figure 3.16

73

1394 bottom view

74

Remove jumper

74

Wiring the Shunt Module Power

75

Figure 3.18

76

Figure 3.19

77

Connected to COL on the

78

22 kW System Module

78

Connected to DC + on the

78

Wiring Shunt Module Fan Power

79

Wiring the fan for 115V

80

To power supply

80

Figure 4.1

82

Input Wiring Board for 1394

82

-C, -C-RL and -T, -T-RL

82

Figure 4.2

83

-L and -L-RL

83

Figure 4.4

85

Typical Registration Inputs

87

Figure 4.6

88

Encoder Feedback Wiring

90

Serial Communications

91

Data Highway Connection

92

AxisLink

94

GMC Turbo System

95

Remote I/O

96

Flex I/O

96

SLC Interface

97

Figure 4.17

98

Axis connections

99

1394-DIM with 1398-DDM

100

System Example

100

1394-DIM Configurations

101

Configuration Examples

102

Figure 4.24

103

Figure 4.23

103

Understanding DIM Signals

104

Drive Enable Output

105

Analog Output

105

Belden 8163

106

DIM cable connector

106

Terminal open

107

Terminal closed

107

Insert cable wires into the

108

Figure 4.32

109

1394-GE15 Cable Connections

109

Chapter Objectives

111

Finding Additional Wiring

111

Information for 1394 Systems

111

Understanding Analog Servo

111

Wiring and Connections

111

Input Wiring Board Layout

112

Flat tab

113

Insert wire

113

Connecting AQB and SCANport

115

Figure 5.4

116

SCANport Adapter

117

Turbo Systems

119

Applying Power to the System

120

Commander

121

Preparing the System

122

Before You Begin

123

Servo System

125

Setting Up Analog Test Points

129

Defining Your Motor

129

Ax:Mode Sel

130

Anlg Vel

130

Ax:Current Limit

132

+8.43 amps

132

Ax:Vel Ref Whole

132

<204 > <---352

132

Defining Limits

134

Performing the Auto Tune

135

Troubleshooting

135

GML Programming Manual

137

System Parameters

139

[100% Torq Vel]

140

[300%Torq Vel]

140

[Anlg Vel Ofst]

140

[Anlg Vel Scal]

140

[ATune Current]

140

Appendix A

141

[Axis Type]

142

[Bridge Lim]

142

[Bus Voltage]

142

[CCW OvSpd Vel]

142

[CCW Vel Lim]

142

[Command Mask]

143

[Cur Fbk Rated]

143

[Cur Fbk Scale]

143

[Cur Lim Cause]

143

[Cur Preload]

143

[Cur Rate Lim]

144

[Current Limit]

144

[CW OvSpd Vel]

144

[CW Vel Lim]

144

[D/A #x Gain]

144

[D/A #x Value]

145

[DC Link Setup]

145

[Desired BW]

145

[Dig Cmd Mode]

145

[Dig Torq Ref]

145

[Disp-D/A Monitor]

146

[Drive OK Mode]

146

[Enabled Days]

147

[Enabled Minutes]

147

[Fdbk Pole Cnt]

147

[Language Sel]

150

[Ld/Lg Degrees]

150

[Ld/Lg Freq]

150

[Line Voltage]

150

[Max Bandwidth]

150

[Mod Rng Data]

151

[Mode Sel]

151

[Module Size]

151

[Mt Power Usage]

152

[Motor Type]

152

[Mtr Inertia]

153

[Mtr Peak Cur]

153

[Mtr Pole Cnt]

153

[Mtr Rated Cur]

153

[Neg Cur Lim]

153

[Shunt P]

156

[Shunt Peak Usage]

156

[Shunt R]

156

[Shunt Type]

156

[Shunt Usage]

156

[Sys Mod Data]

159

[Sys Mod Status 2]

159

[System Type]

159

[Test Mode Sel]

159

[Torq Source]

160

[Typ 1 Logic Axis]

161

[Type 1 Status]

161

[Type 2 Status]

161

[Units Sel]

161

[Up To Spd Tol]

161

Underdamped

162

Critically Damped

162

Overdamped

162

[Vel Rate Lim]

163

[Vel Ref Fract]

163

[Vel Ref Whole]

163

[Vel Source]

163

1394 Analog Servo Software

164

Diagrams

164

Figure 8.2

165

Module LEDs

168

Axis Module Status

170

Understanding System Faults

171

9-6 Troubleshooting

172

Fault Number

173

Fault Name

173

Hard Fault Indicator

173

Source of Fault

173

Finding CNC Interface Faults

174

Understanding GMC Turbo and

175

GMC Controller Faults

175

System Module Faults

176

Problems

179

Motor does not respond to

180

Presence of noise on

180

Command or resolver

180

Replacing System and Axis

182

Removing an Axis Module

183

9-18 Troubleshooting

184

Removing a System Module

185

9-20 Troubleshooting

186

Troubleshooting 9-21

187

9-22 Troubleshooting

188

Terminator

189

Cable plug

189

DCLM cable

189

Figure 9.5

190

Checking for a Blown Fuse

190

Fuse holder

191

1394-SR36A/36AF

192

1394-SR9A/9AF

192

Fuse Label

192

Figure 9.8

193

Figure 9.9

193

Module Fan

194

Fan Housing

195

Fan Plug

195

Fan Gasket

196

Appendix

199

System Modules

200

Axis Modules

201

Contact Ratings

201

DC Link Module

202

Drive Interface Module

202

Circuit Breakers

204

Figure A.1

205

Figure A.2

205

Environmental Specifications

207

Power Dissipation

208

Communication Specifications

209

Serial I/O Specifications

210

DH-485 Specifications

211

Flex I/O Specifications

211

GMC System Specifications

212

AxisLink Specifications

214

Dimensions

215

Axis Module Dimensions

216

Specifications A-19

217

Filter Dimensions

218

Figure A.10

219

Figure A.11

219

External Shunt Dimensions

220

Figure A.13

221

Figure A.14

221

Figure A.15

222

Figure A.16

222

Motor Dimensions

223

Figure A.18

224

Figure A.19

225

Name Plate Detail

226

Figure A.23

229

1326AS-B8 Series Servo Motor

229

Servo Motor Performance Data

230

1326AS Performance Data

231

A-34 Specifications

232

Interconnect and CE Diagrams

233

GMC, Analog Servo, and CNC

234

1394 GMC Interconnections

235

Figure B.2

236

-C and -T)

236

AXIS MODULE (TYPICAL)

237

Figure B.3

238

(1394C-SJT

238

Left Side

240

Right Side

240

Left Side Right Side

241

SUB PANEL

241

Figure B.6

242

CNC Input Wiring Board

244

CNC Interface Board

244

9/SERIES CNC

244

CNC SYSTEM MODULE

244

Resolver

245

Thermal Interconnect Diagrams

246

1394 GMC Systems (1394

247

Axis 0 Axis 1 Axis 2 Axis 3

248

Figure B.11

250

1394 GMC Systems (1394C-SJT

251

Figure B.14

252

Isolated Series E-Stop

252

Figure B.15

252

Axis 0 Axis 1 Axis 2

253

Cable Pin-outs

255

1394 Cable Pin-outs

258

5V ENC PWR - AXIS 0

259

M02AE - OK

259

1394-CFLAE

259

1756-M02AE

259

Figure B.22

260

Figure B.23

260

1394-GR04 Cable Connections

260

Figure B.24

261

1394-SA15 Cable Connections

261

Figure B.25

262

1394 CE Requirements

262

Understanding HIM Keys

264

Understanding HIM Operation

266

Understanding HIM Modes

267

Linking Parameters

268

Using Copy Cat

269

Auto Tuning

272

OPERATOR LEVEL

274

MODE LEVEL

274

FILE LEVEL

274

GROUP LEVEL

274

PARAMETER LEVEL

274

Removing the HIM

276

8520 C

280

9/Series Integration and

281

External Shunt Modules

282

Control Interface Cables

283

Single Axis Flying Lead Cable

283

Two-Axis Prewired Cable

283

1326AB Servo Motors

284

Catalog Numbers D-7

285

1326AH Servo Motors

288

Power and Feedback Cables

289

Motor Feedback Cables

290

Miscellaneous Accessories

291

D-14 Catalog Numbers

292

Numerics

293

I–2 Index

294

Index I–3

295

I–4 Index

296

Index I–5

297

I–6 Index

298

Index I–7

299

I–8 Index

300




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