Rockwell-automation 8520 9/Series CNC Integration Maintenance Manual D Manual de usuario Pagina 202
- Pagina / 898
- Tabla de contenidos
- SOLUCIÓN DE PROBLEMAS
- MARCADORES
Valorado. / 5. Basado en revisión del cliente
Section 4C
Connecting the 4-axis Servo Module
4C-4
The servo module is mounted in the component enclosure. It functions as
a high-speed servo processor. The control sends positioning and velocity
data to the servo module where it is processed to generate the necessary
pulse width modulated (PWM) command signals. These signals are sent to
the digital servo amplifier, which power the servo motors of the control.
The servo module also provides an analog velocity command signal for a
servo (typically the spindle) that is not using a digital servo amplifier.
Figure 4C.3
8520-ENC4 Servo Module
TOUCH PROBE
ANALOG OUT
J2J3J4 J1
TB1
P1
(CN1)
J1
J2
J3
P3P2
J4
TB2
1
3
2
4
FLT
The servo module receives two forms of feedback:
position data from the feedback devices on the axes
current feedback from the servo amplifier
It combines this position and current feedback data with the interpolated
commands from the control to generate the PWM command signals that it
outputs to the servo amplifiers.
4C.2
Digital Servo Module
(8520-ENC4)
- 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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