Rockwell-automation 1394 SERCOS Interface Multi-Axis Motion Control Sy Manual de usuario

1394 SERCOS Interface Multi-Axis Motion Control System(Catalog Numbers 1394C-SJT05-D, 1394C-SJT10-D, 1394C-SJT22-D)Integration Manual

Publication 1394-IN024B-EN-P — February 20041-2 Commissioning Your 1394 SERCOS Interface SystemGeneral Startup PrecautionsThe following precautions pe

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-3Understanding 1394 ConnectorsThe following tabl

Publication 1394-IN024B-EN-P — February 20041-4 Commissioning Your 1394 SERCOS Interface SystemLocating System Module Connectors and IndicatorsUse the

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-5Use the figure below to locate the 1394C-SJT22-

Publication 1394-IN024B-EN-P — February 20041-6 Commissioning Your 1394 SERCOS Interface SystemLocating Axis Module Connectors and IndicatorsUse the f

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-7Locating SERCOS Interface Fiber-Optic Connector

Publication 1394-IN024B-EN-P — February 20041-8 Commissioning Your 1394 SERCOS Interface SystemConfiguring Your 1394 System ModuleTo configure your 13

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-9Refer to Figure 1.5 for an example of the fiber

Publication 1394-IN024B-EN-P — February 20041-10 Commissioning Your 1394 SERCOS Interface System3. Set the baud rate using DIP switches 2 and 3. Refer

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-11Configuring Your Logix SERCOS interface Module

Important User InformationBecause of the variety of uses for the products described in this publication, those responsible for the application and use

Publication 1394-IN024B-EN-P — February 20041-12 Commissioning Your 1394 SERCOS Interface System5. Select the Date and Time tab.6. Check the box Make

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-13Configuring Your Logix ModuleTo configure your

Publication 1394-IN024B-EN-P — February 20041-14 Commissioning Your 1394 SERCOS Interface System5. Select Data Rate, Cycle Time, and Optical Power set

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-15Configuring Your 1394 System ModuleTo configur

Publication 1394-IN024B-EN-P — February 20041-16 Commissioning Your 1394 SERCOS Interface System9. Assign each axis to a node address (as shown in the

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-17Configuring the Motion GroupTo configure the m

Publication 1394-IN024B-EN-P — February 20041-18 Commissioning Your 1394 SERCOS Interface SystemConfiguring Axis PropertiesTo configure axis propertie

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-196. Select the Fault Actions tab and click on t

Publication 1394-IN024B-EN-P — February 20041-20 Commissioning Your 1394 SERCOS Interface SystemApplying Power to the 1394 SERCOS interface SystemThis

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-215. Observe the status LEDs on the axis modules

i Publication 1394-IN024B-EN-P — February 2004PrefaceWho Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . P-1Purpose of this Manu

Publication 1394-IN024B-EN-P — February 20041-22 Commissioning Your 1394 SERCOS Interface System10. Observe the status LED on the system module. 11. O

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-23Testing Your AxesTo test your axes:1. Verify t

Publication 1394-IN024B-EN-P — February 20041-24 Commissioning Your 1394 SERCOS Interface System5. Apply ENABLE input signal (Axis_x pin 1) for the ax

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-259. Select OK.If: Then:Your test completes succ

Publication 1394-IN024B-EN-P — February 20041-26 Commissioning Your 1394 SERCOS Interface SystemTuning Your AxesTo tune your axes:1. Verify the load i

Publication 1394-IN024B-EN-P — February 2004Commissioning Your 1394 SERCOS Interface System 1-276. Select the Start Tuning button to auto-tune

Publication 1394-IN024B-EN-P — February 20041-28 Commissioning Your 1394 SERCOS Interface System10. Select OK.11. Repeat Testing and Tuning Your Axes

1 Publication 1394-IN024B-EN-P — February 2004Chapter 2Troubleshooting Your 1394 SERCOS Interface SystemChapter ObjectivesThis chapter covers:• Safety

Publication 1394-IN024B-EN-P — February 20042-2 Troubleshooting Your 1394 SERCOS Interface SystemSafety PrecautionsObserve the following safety precau

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-3Troubleshooting System and Axis Module LEDsTh

Publication 1394-IN024B-EN-P — February 2004ii Table of ContentsSupplemental Troubleshooting Information. . . . . . . . . . . . 2-18Tools for

Publication 1394-IN024B-EN-P — February 20042-4 Troubleshooting Your 1394 SERCOS Interface SystemThe axis module status LED is visible from the front

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-5Troubleshooting the SERCOS Network Status LED

Publication 1394-IN024B-EN-P — February 20042-6 Troubleshooting Your 1394 SERCOS Interface SystemTroubleshooting System and Axis Module FaultsFault me

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-7DriveHardFault(Contactor Fault)Three-phase po

Publication 1394-IN024B-EN-P — February 20042-8 Troubleshooting Your 1394 SERCOS Interface SystemSERCOSFault(SERCOS Same Addr)Duplicate node address d

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-9Axis Module FaultsUse the table below for tro

Publication 1394-IN024B-EN-P — February 20042-10 Troubleshooting Your 1394 SERCOS Interface SystemPositionErrorFault(Ax: Follow Error)Axis position er

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-11MotFeedback NoiseFault(Ax: Mtr Fdbk Noise)Ex

Publication 1394-IN024B-EN-P — February 20042-12 Troubleshooting Your 1394 SERCOS Interface SystemTroubleshooting General System ProblemsUse the table

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-13Presence of noise on Command or resolver sig

1 Publication 1394-IN024B-EN-P — February 2004PrefaceRead this preface to familiarize yourself with the rest of the manual. The preface covers the fol

Publication 1394-IN024B-EN-P — February 20042-14 Troubleshooting Your 1394 SERCOS Interface SystemUnderstanding Logix/Drive Fault BehaviorThis section

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-15DriveHardFault(Memory Init)Memory hardware i

Publication 1394-IN024B-EN-P — February 20042-16 Troubleshooting Your 1394 SERCOS Interface SystemAxis Module FaultsFault MessageRSLogix (HIM):Descrip

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-17HardOvertravel Fault(Ax: ±Hard Ovrtrvl)Axis

Publication 1394-IN024B-EN-P — February 20042-18 Troubleshooting Your 1394 SERCOS Interface SystemSupplemental Troubleshooting InformationThis section

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-19Changing Parameters Using the HIMTo navigate

Publication 1394-IN024B-EN-P — February 20042-20 Troubleshooting Your 1394 SERCOS Interface SystemUsing Analog Test Points to Monitor System Variables

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-21To use the four analog output test points to

Publication 1394-IN024B-EN-P — February 20042-22 Troubleshooting Your 1394 SERCOS Interface SystemChanging Default Digital Output SettingsChange the s

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-23Replacing System and Axis ModulesUse these p

Publication 1394-IN024B-EN-P — February 2004 P-2 PrefaceContents of this ManualRelated DocumentationThe following documents contain additional informa

Publication 1394-IN024B-EN-P — February 20042-24 Troubleshooting Your 1394 SERCOS Interface SystemRemoving an Axis ModuleTo remove an axis module:1. R

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-25Installing a Replacement Axis ModuleTo insta

Publication 1394-IN024B-EN-P — February 20042-26 Troubleshooting Your 1394 SERCOS Interface System10. Apply power to the system.11. Verify that the sy

Publication 1394-IN024B-EN-P — February 2004Troubleshooting Your 1394 SERCOS Interface System 2-278. Disconnect the slide-and-lock mechanism o

Publication 1394-IN024B-EN-P — February 20042-28 Troubleshooting Your 1394 SERCOS Interface System11. Apply main input power to the system module.12.

1 Publication 1394-IN024B-EN-P — February 2004Appendix AInterconnect DiagramsChapter ObjectivesThis appendix covers the following:• Power Interconnect

Publication 1394-IN024B-EN-P — February 2004A-2 Interconnect Diagrams1394 SERCOS Interface Interconnect Diagram NotesThis section provides interconnec

Publication 1394-IN024B-EN-P — February 2004Interconnect Diagrams A-3Power Interconnect DiagramsThe power interconnect wiring for the 1394 SERCOS inte

Publication 1394-IN024B-EN-P — February 2004A-4 Interconnect DiagramsShunt Module Interconnect DiagramsIn the figure below, the 1394 system module is

Publication 1394-IN024B-EN-P — February 2004Interconnect Diagrams A-5In the figure below, the 1394C-SJT22-D system module is show wired with an extern

Publication 1394-IN024B-EN-P — February 2004Preface P-3Conventions Used in this ManualThe following conventions are used throughout this manua

Publication 1394-IN024B-EN-P — February 2004A-6 Interconnect DiagramsAxis Module/Motor Interconnect DiagramsThis section contains the motor power, bra

Publication 1394-IN024B-EN-P — February 2004Interconnect Diagrams A-7In the figure below, the 1394 axis module is shown connected to 1326AB (460V) ser

Publication 1394-IN024B-EN-P — February 2004A-8 Interconnect DiagramsIn the figure below, the 1394 axis module is shown connected to 1326AS (460V) ser

Publication 1394-IN024B-EN-P — February 2004Interconnect Diagrams A-9Thermal Switch and Brake Interconnect DiagramsThis section provides thermal switc

Publication 1394-IN024B-EN-P — February 2004A-10 Interconnect DiagramsFigure A.9Non-Isolated Series Start/Stop String1When bypassing the TB1/TB2 termi

Publication 1394-IN024B-EN-P — February 2004Interconnect Diagrams A-11The example below shows 1394 (Series C) axis modules wired for thermal fault mon

Publication 1394-IN024B-EN-P — February 2004A-12 Interconnect DiagramsThe example below shows 1394 (Series A and B) axis modules (no internal brake or

Publication 1394-IN024B-EN-P — February 2004Interconnect Diagrams A-13The example below shows 1394 (Series A and B) axis modules wired for thermal fau

Publication 1394-IN024B-EN-P — February 2004A-14 Interconnect DiagramsBrake Interconnect DiagramsThe relay outputs (Output 0-3) are linked to the Brak

Publication 1394-IN024B-EN-P — February 2004Interconnect Diagrams A-15The example below shows 1394 series C axis modules with internal brake filtering

Publication 1394-IN024B-EN-P — February 2004 P-4 PrefaceAllen-Bradley SupportAllen-Bradley offers support services worldwide, with over 75 Sales/Suppo

Publication 1394-IN024B-EN-P — February 2004A-16 Interconnect DiagramsThe example below also shows 1394 series C axis modules with internal brake filt

Publication 1394-IN024B-EN-P — February 2004Interconnect Diagrams A-17The example below shows 1394 Series B axis modules without internal brake filter

Publication 1394-IN024B-EN-P — February 2004A-18 Interconnect Diagrams

1 Publication 1394-IN024B-EN-P — February 2004Numerics1326AB (M2L/S2L)interconnect diagram A-71326ASinterconnect diagram A-81394 SERCOScommissioning 1

Publication 1394-IN024B-EN-P — February 2004I-2 Indexaxis unknown 2-9Bus Loss 2-9desat 2-9drive enable 2-9Follow Error 2-10-hard ovrtrvl 2-10I(t) Faul

Publication 1394-IN024B-EN-P — February 2004Index I-3LLEDaxis module status 1-21, 1-22, 2-4network status 1-20, 2-5SERCOS module 1-20system mo

Publication 1394-IN024B-EN-P — February 2004I-4 IndexSystem Design for Control of Electrical Noise Reference Manual P-2system moduleconnector designat

Publication 1394-IN024B-EN-P — February 2004 Supersedes Publication 1394-IN024A-EN-P — July 2001 Copyright © 2004 Rockwell Automation. All rights rese

1 Publication 1394-IN024B-EN-P — February 2004Chapter 1Commissioning Your 1394 SERCOS Interface SystemChapter ObjectivesThis chapter provides you with