Rockwell-automation 1326 Digital AC Multi-Axis Motion Control System U Manual de usuario Pagina 231
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Valorado. / 5. Basado en revisión del cliente
Publication 1394-5.0 — May 2000
Specifications A-33
1326AS Performance Data
Motor Catalog
Number
1
Rated Speed
rpm
Motor
Rated
Torque
N-m (lb-in.)
Motor
Rated
Output
kW
Rotor
Inertia
kg-m
2
(lb-in.-s
2
)
System
Continuous
Torque
N-m (lb-in.)
System
Peak Stall
Torque
N-m (lb-in.)
System
Continuous
Stall Current
Amperes
System
Peak Stall
Current
Amperes
1394 Axis
Module
480V 360V
1326AS-B310H 6200 5120 0.7 (6.1) 0.3 0.000045
(0.0004)
0.7 (6.1) 2.1 (18) 0.8 2.4 AM03
1326AS-B330H 6500 5370 2.0 (18.0) 0.9 0.00009
(0.0008)
2.1 (18) 5.6 (50) 2.1 6.0 AM03
AM04
1326AS-B420G 5250 4340 3.2 (28.0) 1.2 0.0003
(0.0027)
3.2 (28) 7.3 (65)
3
2.6 6.0
3
AM03
9.6 (84) 7.8 AM04
AM07
1326AS-B440G 5250 4340 6.4 (56.0) 2.0 0.0005
(0.0046)
5.3 (47)
2
10.5 (93)
3
4.5
2
9.0
3
AM04
6.4 (56) 17.6 (156) 5.4 15.0 AM07
19.0 (168) 16.2 AM50/AM50-IH
1326AS-B460F 4300 3550 9.0 (80.0) 2.8 0.00075
(0.0066)
6.6 (58)
2
13.1 (116)
3
4.5
2
9.0
3
AM04
9.0 (80) 21.9 (194) 6.2 15.0 AM07
27.1 (240) 18.6 AM50/AM50-IH
1326AS-B630F 4500 3720 10.7 (95.0) 2.4 0.0014
(0.012)
10.3 (91)
2
20.6 (182)
3
7.5
2
15.0
3
AM07
10.7 (95) 25.4 (225) 7.8 18.5 AM50/AM50-IH
1326AS-B660E 3000 2480 21.5 (190) 3.4 0.0025
(0.022)
13.7 (121)
2
27.3 (242)
3
7.5
2
15.0
3
AM07
21.5 (190) 54.2 (480) 11.8 29.8 AM50/AM50-IH
54.2 (480) 29.8 AM75/AM75-IH
1326AS-B690E 3000 2480 36.4 (322) 5.0 0.0036
(0.032)
36.4 (322) 63.6 (563)
3
19.0 33.2
3
AM50/AM50-IH
79.1 (700) 41.3 AM75/AM75-IH
1326AS-B840E 3000 2480 37.6 (333) 4.7 0.0063
(0.056)
37.6 (333) 59.0 (522)
3
21.2 33.2
3
AM50/AM50-IH
70.0 (620) 39.5 AM75/AM75-IH
1326AS-B860C 2000 1650 49.3 (436) 6.0 0.0094
(0.083)
49.3 (436) 93.0 (823)
3
17.6 33.2
3
AM50/AM50-IH
124.0
(1100)
44.4 AM75/AM75-IH
1
All ratings are for 40° C (104° F) motor ambient,110° C (212° F) case, 50° C (122° F) amplifier ambient and 40° C (104° F) external heatsink ambient (AM50 and AM75).
For extended ratings at lower ambients contact Allen-Bradley.
2
Limited by axis module continuous current.
3
Limited by axis module peak current.
- 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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