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Rockwell Automation 8520 9/Series CNC Integration Maintenance Manual D manuales

Manuales del propietario y guías del usuario para Equipo Rockwell Automation 8520 9/Series CNC Integration Maintenance Manual D.
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Rockwell automation 8520 9/Series CNC Integration Maintenance Manual D Manual de usuario (898 paginas)


Marca: Rockwell-automation | Categoria: Equipo | Tamaño: 8.11 MB |

 

Tabla de contenidos

Integration and

1

Maintenance

1

Summary of Changes

4

Table of Contents

10

Operator Interface

11

I/O Interface

12

8500 Digital Motor Dimensions

14

Replacement Procedures

15

Error and System Messages

16

Manual Index

16

PN 176965

19

Important User Information

21

Using This Manual

23

Terms and Conventions

24

Attention and Important

25

Information

25

Related Publications

25

Section 1A

26

System Overview

27

Section 1B

28

Figure 1B.1

28

Figure 1B.2

29

Figure 1B.3

30

Table 1B.A

31

Component Options

31

9/230 Component Enclosure

32

9/260 and 9/290 Component

33

Enclosure

33

Components

34

JOG SELECT

35

MODE SELECT SPEED/MULTIPLY

35

FUNCTION

35

HPG Cover

36

Rear cover

36

Rear Cover

36

Drives Interface

37

Figure 1B.17

40

Figure 1B.18

41

Programmable Application

42

Logic (PAL)

42

Fiber Optic I/O Ring

42

Planning Your System Layout

46

Designing the Cabinet for

48

Maintaining Cabinet

49

Temperature

49

°C (10°F). If you have a

50

°C (20°F)

50

Section 2A

51

Table 2A.B

51

°C and a

52

Installing the Components

53

Figure 2A.3

54

Installing Servo Modules

55

Installing Operator Panels

55

Installing Servo Amplifiers

55

Mounting Dimensions

58

Section 2B

60

Figure 2B.3

60

Figure 2B.4

61

Æ 8 places

61

9/440 CNC and 1394 Drive

62

Common System

67

Component Dimensions

67

Operator Panel

68

Figure 2B.14

70

MTB Panel

71

Pendant Option

72

Figure 2B.19

73

Hand Pulse Generator

74

Servo Modules

75

MTB Panel I/O Module

77

Digital I/O Module

77

The Processor Board

85

Processor Board

86

Touch Probe Connector (TB2)

87

Servo Axis Connectors on

91

Connecting Axes to Analog

92

Servo Interface

92

Figure 3A.8

93

Figure 3A.9

94

Analog Servo Operation and

95

Analog Servo Connectors

96

Analog Servo Amplifiers

99

Analog Servo Motors

99

Encoder Termination Panel

100

9/230 Compatible

101

Feedback Devices

101

Section 3A

102

Primary 9/230 Components

102

Encoder Specifications

103

Table 3A.I

103

Wiring an Incremental

104

Feedback Device

104

Figure 3A.14

105

Figure 3A.15

106

Digital Servo Operation and

109

Specifications

109

9/230 Digital Connectors

110

Figure 3A.19

111

Digital Servo Amplifiers

113

Digital Servo Motors

114

Using Test Points

115

Wiring a Touch Probe to the

116

Processor Module

116

Figure 3A.24

118

Adaptive Depth Probing

119

Power Distribution

122

Connecting the PS2 Main

123

Power Supply

123

Section 3B

124

Figure 3B.2

124

Main and Operator Panel

125

Power Supply Input Power

125

Operator Panel Power Supply

126

Figure 3B.4

127

Figure 3B.5

128

Protective Grounding

130

END OF SECTION

131

Worldwide representation

132

9/Series Hardware

133

Section Overview

135

Section 4A

136

Figure 4A.2

136

The Motherboard

137

Connections on the

138

Motherboard

138

Fast I/O Connector (P3)

139

CPU Board for 9/260 and

140

RS-232 Port (Port A)

141

Reading LEDs

142

Battery Backup for the 9/260

143

Main Power Supply

144

Output Specifications

145

How the 8520 Digital Servo

149

Card Works

149

Section 4B

150

Figure 4B.3

150

Figure 4B.4

151

8520 Digital Servo Module

152

(8520-ENC3)

152

Servo Module Connectors

153

Figure 4B.6

154

Figure 4B.7

155

CN8 DAC Output Connector

157

CN9 Touch Probe Connector

157

Figure 4B.10

158

Figure 4B.11

159

Digital Servo Module

160

Servo Module Battery

161

Replacement

161

Optional Feedback Module

162

Power Requirements

163

Connectors and Pin

164

Assignments

164

Figure 4B.16

165

Figure 4B.17

166

Jumper (JP1)

167

Variable Resistors (Pots)

168

Test Points

169

Table 4B.G

170

Figure 4B.23

172

Servo Module

173

How the Analog Servo

175

Module Works

175

Figure 4B.27

176

Figure 4B.28

177

Analog Servo Module

178

Figure 4B.32

182

Table 4B.J

184

Analog Servo Module Test

185

Table 4B.K

186

Compatible

188

Table 4B.L

190

Figure 4B.37

192

Figure 4B.38

193

Figure 4B.39

195

How the Digital Servo Card

199

Section 4C

200

Figure 4C.1

200

Figure 4C.2

201

(8520-ENC4)

202

How the Analog/1394 Servo

203

Figure 4C.4

204

Figure 4C.5

205

Analog/1394 Servo Module

206

(8520-SM4)

206

Table 4C.A

207

Figure 4C.7

208

Figure 4C.8

209

Figure 4C.9

210

Figure 4C.10

211

Touch Probe Connector - TB1

212

8520-ENC4 Servo Module

213

8520-SM4 Servo Module

214

Digital Servo Module Battery

215

Figure 4C.13

216

Servo Module LED

217

Indicators

217

Servo Module Test Points

217

Table 4C.E

221

Figure 4C.18

224

Figure 4C.19

226

Figure 4C.20

227

Connecting the Main Power

232

Section 4D

233

Figure 4D.2

233

Figure 4D.5

237

Figure 4D.6

238

The 9/440 Resolver--based

247

CNC/Drive System

247

Section 5A

248

Figure 5A.1

251

CNC Processor Board

252

E-Stop Plug

253

Video Monitor Connector

254

Connecting Feedback

256

Connecting Resolver

258

Feedback

258

5A-14 for details

259

Encoder Feedback

260

(Optional Feedback)

260

Figure 5A.5

261

CNC/Drive

261

Table 5A.C

263

Wiring Position Feedback

264

9/440 Resolver-based CNC

265

Wiring Board

265

Figure 5A.8

268

Figure 5A.9

269

Figure 5A.10

270

9/440 Resolver-based

271

Control Remote I/O

271

Connection

271

Analog Out

272

(TB2 and TB3)

272

Battery Backup

273

Power Terminal Block

274

On/Off Control and

275

24V Logic Power

275

Figure 5A.14

276

On/OffControl Assembly

276

ALLEN--BRADLEY

276

Figure 5A.15

277

Drive Power 3 Phase

278

Figure 5A.17

279

Three-phase Jumper

279

Figure 5A.18

280

Connecting Axis Modules

282

Table 5A.B

283

Motor Power Terminations

283

9/440 Resolver-based LEDs

285

General Wiring Overview

286

System Module

287

System Grounding

288

Figure 5A.21

289

The 9/440HR CNC/Drive System

291

Section 5B

292

9/440HR CNC/Drive System

292

Figure 5B.1

295

9/440HR System Overview

295

Connecting the 1326AB

302

Motor-mounted Feedback

302

Figure 5B.5

303

Figure 5B.6

304

Connecting A Quad B

305

Optional Feedback Ports

305

Figure 5B.7

306

Table 5B.A

307

9/440HR CNC Wiring Board

310

Figure 5B.10

313

Figure 5B.11

314

Figure 5B.12

315

9/440HR Remote I/O

316

9/440HR Analog Out

317

Figure 5B.17

321

9/440HR Power Strip

321

Drive Power Three-phase

322

Figure 5B.19

323

Figure 5B.20

324

Table 5B.B

326

Table 5B.C

327

9/440HR LEDs

328

9/440HR System Module

330

Emergency Stop Design

337

E-Stop Connections

338

Section 6

339

Emergency STOP Design

339

Figure 6.2

339

Figure 6.3

340

E-Stop String

341

E-Stop Status

342

Events When E-Stop Occurs

342

Resetting E-Stop

343

Cable Diagrams

349

Section 7A

350

Connecting Components

350

Figure 7A.1

350

Figure 7A.2

351

Figure 7A.3

352

Figure 7A.4

353

Figure 7A.7

356

Figure 7A.8

357

Figure 7A.9

358

Figure 7A.10

359

Figure 7A.11

360

9/440HR Servo Connections

360

Table 7A.A

362

1746-IA16

378

1746-IB16

378

1746-OA16

378

1746-OW16

378

1746 Analog I/O Modules

379

Non-Motor Mounted Encoder

398

Motor Mounted Encoder

398

Customer supplied

409

24V logic transformer

409

9/440 Power Strip

410

Fiber Optic Connections

413

Section 7B

414

°C H2SO4 (10%)at 60°C

414

°C NaCl(5%) at 60°C

414

Fiber Optic Cable

416

Construction

416

Receptacle

418

Quick-release

418

Noise Prevention

419

Mechanical Shielding

420

Separation of Cable Routes

421

Noise Suppressors

422

LC Filter

423

RC Noise Suppressor

423

Reducing Noise

428

Radiated Noise

430

PN 176960

432

Communication Interface

434

RS-232 Signal Description

435

Connection of Peripherals

436

RS-422 Interface

439

RS-422 Signal Description

440

Protocol

442

RS-491 Level 1 Protocol

442

Data Transmitting Sequence

443

RS-491 Level II Protocol

444

Section 8

445

Table 8.E

445

Control Code Functions

445

Data Receiving Sequence

446

Peripherals

448

5. DSI SP75 Connection

451

Remote I/O Modules

452

9/290 Remote I/O Module

453

9/290 Remote I/O LEDs

454

9/260 Remote I/O Module

456

ESD wristband

457

9/260 Remote I/O LEDs

458

9/230 Remote I/O

460

9/440 Remote I/O

461

MMS Ethernet

462

Communications

462

DH+ Communications

463

Section 9A

469

OperatorInterface

469

Color Operator Panels

470

Monochrome Operator Panel

470

Removable Operator Panel

470

Mounted Operator Panel

471

Installation

471

Back of Panel

472

Video Connector

473

Fiber Optic Connection

476

Node Address Setting

477

9A.2.5 Flat Panel Horizontal

478

Adjustment

478

Keyboard Interface

479

Jumper JP3

479

Adjusting Monitor Intensity

479

Color CRTs Monochrome CRTs

480

Installing the Removable

482

Operator Panel Interface

482

Assembly

482

Assigning a Module Address

483

GND 12V GND 5V GND 5V GND 5V

484

9/230 Processor Board

486

Interface Assembly

486

Vidoe Out CN4

487

Operator Pnl. CN5

487

Video In CN19M

487

Connecting/Disconnecting

488

Multiple Removable

490

Operator Panel Assemblies

490

Interface Assembly 1

491

Interface Assembly 2

491

MTB Panels

493

Figure 9A.16

494

Push-Button MTB panel

494

MTB Panel Connectors

495

(fiber-optic versions)

495

Input Interface Ribbon Cable

496

Output Interface Ribbon Cable

496

Table 9A.L

497

Table 9A.M

498

Figure 9A.18

499

9A.4.1.1

500

MTB I/O Module

500

9A.4.1.2

502

MTB Panel I/O Module Fiber

502

Optic Connection

502

Figure 9A.21

503

(Direct I/O version)

504

Input Interface Connector

505

Output Interface connector

506

Table 9A.T

507

HPG (Hand Pulse Generator)

508

HPG Connectors

509

HPG Power Requirements

510

HPG Node Address Setting

510

Connecting the Teach

512

Chapter 9B

513

IntegratingYour Teach Pendant

513

· Teach Pendant Ö PAL

514

· Teach Pendant Ö Application

514

Sending Commands to PAL

515

(CMD=60 hex)

515

Sending Commands to the

516

Application Software

516

(CMD=61 hex)

516

Receiving Unsolicited

518

Messages from the Control

518

(CMD=62 hex)

518

Receiving the Illegal

519

Request Message from the

519

(CMD=63 hex)

519

PN 176959

521

Table 10A.A

525

I/O Ring Modules Connectors

525

Table 10A.B

526

Max Number of ASRN Chips

526

Fiber Optics

527

Figure 10A.2

528

PAL Fiber Optic Input Process

528

Figure 10A.3

529

PAL Fiber Optic OutputProcess

529

Fiber Optic Ring Device

530

Fault Indicators

530

Table 10A.D

532

(Connector CN51)

532

Section 10A

534

Push-Button MTB Panel I/O

535

Module Specifications

535

Figure 10A.6

536

Figure 10A.7

536

Module Fiber Optic

538

Module Node Address

539

Setting the Push-Button

540

MTB Panel I/O Module for a

540

Custom MTB Panel

540

Digital I/O

541

Digital I/O Connection

542

Input Device Connection

543

Output Device Connection

545

Figure 10A.17

546

Figure 10A.18

547

Figure 10A.19

548

Digital I/O Specifications

549

Figure 10A.20

550

Figure 10A.21

550

Table 10A.R

552

Table 10A.S

552

ContactRatings

552

Table 10A.U

555

Figure 10A.25

555

High-density I/O Module

556

High Density I/O Module

557

Figure 10A.28

558

Table 10A.W

558

Table 10A.X

559

Figure 10A.29

559

E -Series Analog I/O

565

E-Series Analog I/O

566

Figure 10A.36

569

Table 10A.AH

569

Bipolar/Unipolar

571

Configuration

571

1746 I/O

572

Removing a Module

573

Installing a Module

573

Figure 10A.39

574

1746P1 Power Supply

575

1746 I/O Ring Adapter Fiber

577

1746 Discrete I/O Racks

577

Operation Not Guaranteed

578

Recommended Operating Range

578

Wiring 1746 Discrete I/O

579

1746 Analog I/O

580

Grounding Your Cable

581

Analog Module NIO4V

582

Reading/Writing Analog Data

582

Table 10A.AO

583

Analog I/O Specifications

584

(1746-NIO4V)

584

1746 I/O Fault Status

585

Troubleshooting the 1746I

585

Communication Module

585

Fast I/O

586

(9/260 and 9/290 only)

586

Table 10A.AP

587

Figure 10A.41

587

Wiring I/O Safely

589

9/Series Adapter Modules for

590

1771 and 1746 I/O Devices

590

1771 I/O Ring Adapter Fiber

591

1771 I/O Ring Adapter Node

592

Address Setting

592

Section 10B

593

Figure 10B.3

594

1746I I/O Ring Adapter

594

Figure 10B.4

595

9/Series 1746 I/O Catalogs

596

Other Compatible 1746 I/O

597

12 I/O points

598

Hardware Overview

606

Section 11A

607

Resolver Feedback

608

Maximum Axis Speeds

609

Connecting Resolver Feedback

609

Connecting the 9/Series

610

1394 Addressing and Fiber

613

Optic Connections

613

1394 Drive E-Stop

615

Connection (TB1)

615

Figure 11.5

616

1394 Power Strip

616

1394 Low Voltage Test

617

Points (TB3)

617

1394 LEDs

618

Wiring A-B Analog Drives

623

Section 12

624

WiringA-BAnalog Drives

624

Figure 12.1

624

Figure 12.2

625

Figure 12.3

626

Figure 12.4

627

Figure 12.5

628

Figure 12.5 (continued)

629

Figure 12.6

630

8520 Digital Servo

635

Amplifiers

635

8520 Digital Servo Amplifier

636

Options Specifications

636

Section 13A

637

Table 13A.A

637

1AX-D Servo Amplifier

638

2AX-D Servo Amplifier

640

3AX-D Servo Amplifier

643

Selecting an A-B 1389

645

Transformer for 8520 Digital

645

Servo Amplifiers

645

Jumper Settings

650

·” Denotes jumper short

651

Shunt Specifications

653

Using External Shunt Resistor

655

Using Internal Shunt Resistor

655

8520 Drive Power

656

Distribution

656

Figure 13A.1

657

Æ 230V ac

657

8500 Digital Servo Motors

658

8500 Digital Servo Motor

658

Table 13A.O

659

Connector and Pin

661

Incremental Encoders

663

Absolute Encoders

664

Incremental Encoder

665

Feedback Interface

665

Absolute Encoder Feedback

666

Interface

666

Resetting Absolute

667

Encoders on an 8500 Digital

667

Servo Motor

667

Using a Second Feedback

671

8500 Digital MotorDimensions

674

Section 13B

674

With Holding Brake

675

Without Holding Brake

680

Figure 4

681

Straight Shaft with Keyway

681

System Start-Up

689

Æ 230 V ac motor power

690

Section 14A

691

Split Axis

696

Servo Connections

696

Section 14B

697

Figure 14B.3

700

Figure 14B.4

702

°from thehome

702

Figure 14B.5

703

Replacing an Absolute

704

Encoder with Deskew

704

Split Axis Motion

705

PN 176962

708

Troubleshooting the Control

711

System Initialization

712

Software

712

Loading the Utility

712

Using the Utility

713

Search Monitor (online)

714

Selecting Search Monitor

714

Using Search Functions

717

Using the

721

Search Monitor Hotkey

721

[SHIFT] + {®}

721

Setup Diagnostics

722

I/O Ring Diagnostics

723

High Density I/O

725

Section 15A

726

Troubleshooting The Control

726

Figure 15A.3

726

1746 I/O Ring Adapter

727

1771 I/O Ring Adapter

728

Figure 15A.7

730

MTB Panel I/O

732

Diagnostics Screen

732

Push-Button MTB Panel

733

Table 15A.A

734

Table 15A.B

735

Operator Panel Keyboard

736

HPG Diagnostics

737

Analog I/O

738

1394 Drives

739

Remote I/O Diagnostics

741

Fast I/O Diagnostics

744

(9/260 and 9/290 Only)

744

Servo Diagnostic Displays

745

Axis Monitor Diagnostics

745

Figure 15A.17

750

1394 Drive Diagnostics Screen

750

Serial I/O Diagnostics

753

Data Scope Monitor

755

Updating the Executive

758

Firmware

758

Section 15B

760

Error and Status Messages

763

Replacing the Lithium Battery

764

Replacing the CPU Board on

766

Figure 15B.2

767

Replacing the Motherboard

769

Replacing the Processor

771

Board on the 9/230 Analog

771

Board on the 9/230 Digital

773

Replacing the Main Power

778

Supply on the 9/260 and

778

Supply on the 9/230

779

Replacing the Monochrome

781

Replacing the Color CRT

781

Replacing the Keyboard

782

Assembly for the

782

Monochrome Operator

782

Figure 15B.6

784

Replacing the Fuse in the

785

Monochrome CRT

785

Color CRT

786

Replacing the Rotary MTB

788

Replacing the Push-button

789

Light Bulbs

790

MTB Interface Board

791

MTB Board

791

Replacing the Hand Pulse

792

Generator and Interface

792

Replacing the Battery

793

Backup for Absolute

793

Encoders on the Servo

793

Replacing the 3-axis

794

Figure 15B.9

795

Replacing the Digital Servo

796

Amplifier

796

Replacing the Logic Board

797

Replacing the Power

798

Section on the Digital Servo

798

Replacing the Optional

799

Feedback Module

799

Replacing the 4-axis

801

Replacing an Analog Servo

802

Panel I/O Module

803

Replacing the Push-Button

805

Replacing Digital I/O

806

Replacing the Power Fuse

808

Replacing the High Density

809

Replacing the Analog I/O

810

Replacing the Removable

811

Operator Panel (ROP)

811

Interface Module

811

Replacing the ROP Module

812

Panel Interface Assembly

812

Operator Panel CRT or

813

Keyboard Assemblies

813

Replacing the 9/440 System

814

Module or CNC Assembly

814

Replacing the 9/440 E-Stop

816

String Fuse

816

PN 176963

818

Section 16

822

END OF APPENDIX

867

PN 176964

870

Complying with European

873

Union Directives

873

Wiring AC Power for a CE

874

Compliant System

874

Section 17

875

Wiring a High-Density I/O

876

Module for CE Compliance

876

Wiring E-stop for CE

877

Compliance

877

Figure 17.2

878

Modifying the Video Cable

879

1394 and 9/440 CE

881

Requirements

881

PN 176961

898




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