Specifications

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Motion Control

Selection Guide

Summary of content (341 pages)

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Motion Control Selection Guide
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Introduction Important User Information This guide has been developed as a quick reference tool for Allen-Bradley® motion controls and systems. It is not intended to replace user manuals or technical documentation supplied with our Allen-Bradley equipment, which should be referred to for actual installation, connection, operation, and maintenance of A-B equipment.
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Table of Contents Preface What is Motion Control? . . . . . . . . . . . . . . . . . . . . What is a Motion Control System? . . . . . . . . . . . . . Selecting Your Motion Control System Components Motion Controllers Selection Chart . . . . . . . . . . Motors Selection Chart . . . . . . . . . . . . . . . . . . . Programming Software Selection Chart . . . . . . . Contents of this Guide. . . . . . . . . . . . . . . . . . . . . . How to Get More Information . . . . . . . . . . . . . . . .
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ii Table of Contents Power Input Specifications . . . . . . . . . . . . . . . . Power Dissipation Specifications . . . . . . . . . . . . Controller Specifications . . . . . . . . . . . . . . . . . . Inputs/Outputs Specifications . . . . . . . . . . . . . . Serial Communications Specifications . . . . . . . . . Ultra3000-SE SERCOS Communication Specifications. . . . . . . . . . . . . . . . . . . . . . . . Ultra3000-DN DeviceNet Communication Specifications. . . . . . . . . . . . . . . . . . . . . . . .
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iii Table of Contents Ultra5000 Intelligent Positioning Drive Dimensions . . Ultra5000 Connector Data. . . . . . . . . . . . . . . . . . . . . Digital I/O Connector Pins and Signals (CN1A) . . Auxiliary Encoder and Analog I/O Connector Pins and Signals (CN1B) . . . . . . . . . . . . . . . . Motor Encoder Connector Pins and Signals (CN2) Serial Port Connector Pins and Signals (CN3A and CN3B) . . . . . . . . . . . . . . . . . . . . . Terminal Block . . . . . . . . . . . . . . . . . . . . . . . . . .
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iv Table of Contents General System Specifications . . . . . . . . . . . . . . . Environmental Specifications . . . . . . . . . . . . . Relay Contact Specifications. . . . . . . . . . . . . . User-Supplied Contactor (M1) Specifications. . User-Supplied Input Fusing Specifications . . . User-Supplied 24V Logic Input Power Specifications. . . . . . . . . . . . . . . . . . . . . . Input Transformer Specifications for 24V Control Power . . . . . . . . . . . . . . . . . . . . .
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v Table of Contents Motors Chapter 6 Brushless Servo Motors . . . . . . . . . . . . . . . . . . . . . Determining Which Motor to Use . . . . . . . . . . . . . . F-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . General Specifications. . . . . . . . . . . . . . . . . . . . Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . F-4000 NEMA 56C Dimensions . . . . . . . . . . . . . Load Force Ratings . . . . . . . . . . . . . . . . . . . . . .
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vi Table of Contents Y-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . General Specifications . . . . . . . . . . . . . . . . . . . . Motors Dimensions . . . . . . . . . . . . . . . . . . . . . . Load Force Ratings . . . . . . . . . . . . . . . . . . . . . . Brake Specifications and Application Guidelines. Encoder Data . . . . . . . . . . . . . . . . . . . . . . . . . . Connector Data. . . . . . . . . . . . . . . . . . . . . . . . . Wire Sizing Recommendations . . . . . . . . . . . . .
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Table of Contents Ultra Family Cable Specifications . . . . . . . . . . . . . Ultra Family Cable Catalog Numbers . . . . . . . . . . Ultra Family Cable Connection and Functionality Charts . . . . . . . . . . . . . . . . . . . . Break Out Board Components. . . . . . . . . . . . . . . Ultra Family Connector Kits. . . . . . . . . . . . . . . . . Ultra Family AC Line Filters . . . . . . . . . . . . . . . . . Ultra Family Shunt Resistor Kits . . . . . . . . . . . . . . Ultra Family Motor Shaft Seal Kits . . . .
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viii Table of Contents Publication GMC-SG001E-EN-P — June 2001
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Preface Read this preface to familiarize yourself with the rest of the guide. This preface covers the following topics: • What is Motion Control? • What is a Motion Control System? • Selecting Your Motion Control System Components • Contents of this Guide • How to Get More Information What is Motion Control? Motion control is the management of movement. Motion control replaces and improves mechanical systems through precise electronic control, solving the most difficult of application challenges.
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P-2 Preface Motion Controllers Selection Chart Product Feature Axis Control Number of Axes Point to Point Positioning Blended Moves Coordinated Positioning (Contouring) Axis Link Servo Loop Update Time Electronic Gearing (Ratioing) Position Lock Camming Time-Lock Camming Programming Language Ladder Logix Programming GML Programming MML Programming Function Block Programming Sequential Function Charts Structured Text Programming ANSI C Programming Language User Programming Memory Number of Programs Number
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Preface SoftLogix5800 (1784-PM02AE)2 Ultra30003 Ultra50004 Up to 32/Controller Yes Yes NA NA 0.2 ms Yes Yes Yes 1.5 Yes (Indexing Only) Yes (Indexing Only) No No 1 ms Yes No No 1.5 Yes Yes Yes No 0.
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P-4 Preface Motors Selection Chart Motors 1394 SERCOS Interface 1394 GMC 1394 GMC Turbo 1394 GMC Analog Ultra3000 Ultra5000 F-Series (Medium Inertia) No No No No Yes Yes H-Series (Low Inertia) No No No No Yes Yes MP-Series (Low Inertia) (230V) No No No No Yes Yes MP-Series (Low Inertia) (460V) Yes No No No No No N-Series (Medium Inertia) No No No No Yes Yes Y-Series (Low Inertia) No No No No Yes Yes 1326AB Series (Medium Inertia) Yes Yes Yes Yes No No
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Preface P-5 How to Get More Information • For electronic copies of installation instructions, visit the Manuals Online website (www.ab.com/manuals/gmc/). • To order motion control publications, visit The Automation Bookstore (www.theautomationbookstore.com). • For technical support, call (440) 646-5800 or fax (440) 646-5801. You can also E-Mail technical support at RACleAsktheExpert@ra.rockwell.com.
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P-6 Preface Publication GMC-SG001E-EN-P — June 2001
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Chapter 1 Logix™ The Logix platforms that can support your motion control application include ControlLogix™ and SoftLogix™. Refer to the following sections for information regarding these Logix platforms. ControlLogix A ControlLogix system looks like a programmable controller, but it is much more. The ControlLogix platform is state-of-the-art modular control which provides sequential, motion, drive, and process control support. A ControlLogix system features: • Modular, chassis-based platform.
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1-2 Logix™ System Overview A ControlLogix system is modular, as shown in the figure below. Figure 1.1 ControlLogix Chassis 1756-M08SE SERCOS Interface Module 1756-M02AE Servo Module Logix5555 Controller DeviceNet Network Card This is an example of only one of the many possible chassis configurations. EtherNet Network Card ControlNet Network Card As shown in the figure below, you can select the network and the type and number of controllers based on the needs of your application.
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Logix™ 1-3 1756-M02AE Servo Module The 1756-M02AE servo module is a 2-axis, closed-loop servo module that receives profile information from the ControlLogix controller. The servo module ensures that the actuator (motor) follows the profile by monitoring the position feedback via the quadrature encoder input and generating an analog command reference for the drive. A position and velocity loop is closed every 200 µs using position feedback as the input and provides ±10V analog output.
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1-4 Logix™ Input Specifications Specification Description Encoder input Type Mode Rate Electrical interface Voltage range On state Off state Input impedance Incremental AB quadrature with marker 4X quadrature 4 MHz counts per second maximum Optically isolated 5V differential Registration inputs Type 24V input voltage Maximum Minimum on Maximum off 5V input voltage Maximum Minimum on Maximum off Input impedance 24V input 5V input Response time (position latched) 3.4V to 5.0V 0V to 1.
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Logix™ 1-5 Output Specifications Specification Description Servo output Type Isolation Voltage range Voltage resolution Load Maximum offset Gain error Analog voltage 200 kOhms ±10V 16 bits 5.6 kOhms resistive minimum 25 mV ±4% All other outputs Type Operating voltage Maximum Operating current Solid-state isolated relay contacts +24V dc nominal (Class 2 source) 26.
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1-6 Logix™ Terminal Board Connection Data The following section contains connection data for the 1756-TBxxH servo module terminal board. One terminal board is required for each1756-M02AE servo module. The terminal board provides motor terminations so that motor performance can be controlled. It is removable and can be installed by opening the servo module door and sliding it into place. Figure 1.
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Logix™ 1-7 1756-M08SE 8-Axis SERCOS Interface Servo Module The 1756-M08SE ICP 8-Axis SERCOS interface module provides a fiber-optic link between the ControlLogix platform and servo drives. The communication link between the module and the drive(s) is via IEC 61491 and EN-61491 Serial Real-time Communication System (SERCOS) using a fiber-optic medium.
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1-8 Logix™ 1756-M08SE 8-Axis SERCOS Interface Module Specifications The following section contains general, fiber-optic, communication, and environmental specifications for the 1756-M08SE ICP 8-Axis SERCOS interface module. General Specifications Specification Description Number of Axes 8 axes maximum Module location 1756 ControlLogix chassis Module keying Electronic Power dissipation 3.2W maximum Backplane current • 5.1V DC @ 600 mA • 24V DC @ 2.
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Logix™ 1-9 Environmental Specifications Specification Description Ambient Temperature Operating temperature: 0° C to 60° C (32° F to 140° F) Storage temperature: -40° C to 85° C (-40° F to 185° F) Relative Humidity 5 to 95% noncondensing Vibration 2g @ 10-50 Hz Shock Operating: 30g peak acceleration, 11±1 ms pulse width Non-operating: 50g peak acceleration, 11±1 ms pulse width 1756-M08SE 8-Axis SERCOS Interface Module Catalog Number Note: Catalog numbers consist of various characters, each of wh
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1-10 Logix™ SoftLogix The SoftLogix control platform is a means by which you can use your personal computer for industrial control applications. Many people do not consider the personal computer as reliable or fast as programmable logic controllers or rugged enough for the factory floor. However, today’s advances in PC technology have made personal computers faster, more powerful, and more robust than ever.
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Logix™ 1-11 System Overview A SoftLogix system uses I/O in multiple platforms that is connected over multiple I/O links, as shown in the figure below. Figure 1.4 SoftLogix System PCI SERCOS Interface (1784-PM08SE) SoftLogix System in a PC Workstation WindowsNT/Windows 2000 Ultra3000-SE SERCOS Interface Drive 1394 Digital Servo Drive PCI (1784-PM02AE) Various Motion Devices The SoftLogix system uses a chassis monitor to display the devices in its system, as shown in the figure below.
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1-12 Logix™ 1784-PM02AE 2-Axis SoftLogix Servo Card The 1784-PM02AE SoftLogix analog servo card is a two-axis servo module used with the SoftLogix5800™ controller. Each SoftLogix analog servo card features: • Connectivity and control of two drives. • Fast position and velocity updates that allow the most advanced application solutions to be solved. • UL listed. • CSA listed. • CE marked for all applicable directives.
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Logix™ 1-13 1784-PM02AE 2-Axis SoftLogix Servo Card Specifications The following section contains general, input, output, and environmental specifications for the 1784-PM02AE 2-Axis SoftLogix servo card. General Specifications Specification Description Number of axes per ControlLogix controller 32 axes maximum (i.e., 16 cards controlled by 1 ControlLogix controller) Number of axes per module 2 axes maximum Module Location 1756 ControlLogix chassis Module Keying Electronic Power dissipation 5.
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1-14 Logix™ Output Specifications Specification Description Servo output Type Isolation Voltage range Voltage resolution Load Maximum offset Gain error Analog voltage 200 kOhms ±10V 16 bits 5.6 kOhms resistive minimum 25 mV ±4% OK and Enable Outputs Type Operating voltage Maximum Operating current Solid-state isolated relay contacts +24V DC nominal (Class 2 source) 26.
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Logix™ 1-15 Termination Panel The 1784-PM02AE SoftLogix termination panel is used in conjunction with the 1784-PM02AE 2-axis SoftLogix servo card to facilitate the wiring of drives and encoders for use with the card. Because the card is installed inside the PC computer cabinet, it would be difficult to access for wiring drives, encoders and other products. A termination panel, mounted separately from the card, allows for easier access to the two axis terminals.
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1-16 Logix™ Encoder Connections Figure 1.8 1784-PM02AE-TP0x Encoder Power Connections P2 B0 B1 A0 A1 Connection Function Connection Function A0 Encoder 0V B0 Encoder Power A1 Encoder 0V B1 Encoder Power Servo Card 2-Axis Wiring Connections Figure 1.
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Logix™ 1-17 1784-PM02AE Termination Panel Catalog Number Note: Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering chart below to understand the configuration of your SoftLogix termination panel. For questions regarding product availability, contact your Allen-Bradley distributor.
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1-18 Logix™ Publication GMC-SG001E-EN-P — June 2001
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Chapter 2 Digital Servo Drives Ultra3000™ Digital Servo Drives The Ultra3000, Ultra3000i™, Ultra3000-SE™, Ultra3000-DN™, and Ultra3000X-DN™ make up a family of flexible, high-performance digital servo drives for a variety of motion control applications and architectures.
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2-2 Digital Servo Drives • Four selectable general purpose outputs and one relay output. • Space vector modulation providing higher peak torques at higher speeds. • CE compliance and UL listed to U.S. and Canadian safety standards. Ultra3000 Architectures The Ultra3000 digital servo drive family offers simple integration into multiple Allen-Bradley machine control architectures.
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Digital Servo Drives 2-3 Ultra3000i Set-up and Homing with Ultraware The Ultra3000i indexing drive provides maximum flexibility by allowing you to define the following parameters for each individual index profile: • Indexing Mode • Velocity • Distance (Position) • Acceleration • Batch Count • Deceleration • Action When Complete • Dwell Time • Registration Distance • Next Index Figure 2.
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2-4 Digital Servo Drives The Ultra3000i also offers a user-defined home routine, which allows you to home the axis without the aid of any other device. Using Ultraware, you can select one of the following different home routines to match your motion application: • Home-to-sensor-to-marker • Home-to-marker • Home-to-sensor • Home-to-current limit value • Home-to-current limit value-to-marker Figure 2.
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Digital Servo Drives 2-5 Ultra3000-SE Digital Servo Drives with SERCOS Interface In addition to the standard features, the Ultra3000-SE SERCOS interface drives features: • Simplified integration in Logix architecture. • Single fiber-optic connection between drive and Logix controller. • Single-point drive commissioning through RSLogix. Figure 2.
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2-6 Digital Servo Drives Ultra3000-DN Digital Servo Drives with DeviceNet Interface In addition to the standard Ultra3000 features, the Ultra3000-DN DeviceNet drive features: • Communication over one industry-standard network, providing common end-user solutions to application challenges. • Diagnostics that reduce downtime by providing accurate troubleshooting and failure warnings.
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Digital Servo Drives 2-7 Figure 2.
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2-8 Digital Servo Drives Ultra3000 Digital Servo Drive System Overview Figure 2.5 Ultra3000 Digital Servo Drive System Overview PC-Powered Ultraware Commissioning and Communications Ultra3000 Input Output 1756-M02AE Servo Module Logix5550 Controller Encoder Feedback ControlLogix Controller I/O and Commands Motor Power MP-Series Servo Motor Figure 2.
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Digital Servo Drives 2-9 Figure 2.7 Ultra3000 (DeviceNet) Digital Servo Drive System Overview PC-Powered Ultraware Commissioning and Communications Ultra3000-DN Input Logix5550 Controller Output DeviceNet Network Card Encoder Feedback ControlLogix Controller I/O and Commands DeviceNet Network Motor Power MP-Series Servo Motor Ultra3000 Power Ratings The following table contains the power ratings for all of the Ultra3000 digital servo drives.
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2-10 Digital Servo Drives Ultra3000 Digital Servo Drive Specifications The following section contains general, physical/environmental, power input, power dissipation, controller, inputs/outputs, operating modes command sources, communication, feedback, serial communication port and connector specifications for the Ultra3000 digital servo drives. These specifications also apply to Ultra3000 indexing drives, SERCOS interface drives, DeviceNet drives, and indexing DeviceNet drives.
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Digital Servo Drives 2-11 Physical and Environmental Specifications Specification Description Weight 2098-DSD-005, -005X1 - 1.77 kg (3.9 lb) 2098-DSD-010, -010X1 - 2.06 kg (4.55 lb) 2098-DSD-020, -020X1 - 2.05 kg (4.51 lb) 2098-DSD-005-SE2, -005-DN3, -005X-DN4 - 1.84 kg (4.1 lb) 2098-DSD-010-SE2, -010-DN3, -010X-DN4 - 2.19 kg (4.8 lb) 2098-DSD-020-SE2, -020-DN3, -020X-DN4 - 2.14 kg (4.7 lb) 2098-DSD-030, -030X1, -030-SE2, -030-DN3, -030X-DN4 - 6.17 kg (13.
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2-12 Digital Servo Drives Power Dissipation Specifications Drives 2098-DSD- Power Dissipation watts 005, 005X1, 005-SE2, 005-DN3, 005X-DN4 48 + dissipative shunt 010, 010X1, 010-SE2, 010-DN3, 010X-DN4 48 + dissipative shunt 020, 020X1, 020-SE2, 020-DN3, 020X-DN4 50 + dissipative shunt 030, 030X1, 030-SE2, 030-DN3, 030X-DN4 150 + dissipative shunt 075, 075X1, 075-SE2, 075-DN3, 075X-DN4 300 + dissipative shunt 150, 150X1, 150-SE2, 150-DN3, 150X-DN4 500 + dissipative shunt 1 The X indicates the
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Digital Servo Drives 2-13 Operating Modes Command Sources Specification Description Analog velocity/current position mode ±10V Presets, position, velocity, current, electronic gearing 8 presets, binary selection by digital inputs or serial commands, velocity, current, position, or electronic gearing Step and direction, step up/step down 2.5 MHz maximum frequency, differential or single-ended input Master encoder following 2.
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2-14 Digital Servo Drives Feedback Specifications Auxiliary Feedback Motor Feedback Specification Description Specification Description Encoder Types Incremental, Sine/Cosine, Intelligent, and Absolute Input Modes A quad B, Step/Direction, CW/CCW Maximum Input Frequency 2.5 MHz (TTL Input) per channel Maximum Input Frequency 2.
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Digital Servo Drives 2-15 Ultra3000 Digital Servo Drive Dimensions The following section contains dimensions for the 500W, 1 kW, 2 kW, 3 kW, 7.5 kW, and 15 kW Ultra3000 digital servo drives. Figure 2.8 Ultra3000 and Ultra3000i 500W Dimensions (2098-DSD-005x-xx) 65.02 (2.56) 38.1 (1.5) 129.29 (5.09) 13.26 (0.52) Dimensions are in millimeters (inches). 186.18 (7.33) 198.12 (7.8) 165.35 (6.51) 72.64 (2.86) Bottom View 144.27 (5.68) 32.77 (1.29) Figure 2.
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2-16 Digital Servo Drives Figure 2.10 Ultra3000-SE, -DN, and -X-DN (500W) Dimensions (2098-DSD-005x-xx) 87.88 (3.46) 38.1 (1.5) 24.64 (0.97) 129.03 (5.08) Dimensions are in millimeters (inches). 186.18 (7.33) 198.12 (7.8) 164.85 (6.49) 95.5 (3.76) 144.02 (5.67) 43.94 (1.73) Figure 2.11 Ultra3000-SE, -DN, and -X-DN (1 and 2 kW) Dimensions(2098-DSD-0xxx-xx) 87.88 (3.46) 38.1 (1.5) 24.64 (0.97) 129.03 (5.08) Dimensions are in millimeters (inches). 186.18 (7.33) 198.12 (7.8) 164.85 (6.
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Digital Servo Drives 2-17 Figure 2.12 Ultra3000, -i, -SE, -DN, -X-DN (3 kW) Dimensions (2098-DSD-0xxxxxx-xx) 6.86 (0.27) 91.44 (3.6) 50.8 (2) 227.08 (8.94) 20.32 (0.8) Dimensions are in millimeters (inches). 335.28 (13.2) 331.47 (13.05) 349.25 (13.75) 360.68 (14.2) 92.71 95 (3.65) (3.74) Bottom View 50.8 (2) 20.32 (0.8) 243.84 (9.6) Figure 2.13 Ultra3000, -i, -SE, -DN, -X-DN, (7.5 and 15 kW) Dimensions (2098-DSD-0xxxxxx-xx) 6.86 (0.27) 138.68 (5.41) 88.9 (3.5) 24.89 (.96) 227.08 (8.
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2-18 Digital Servo Drives Figure 2.14 Ultra3000, -i, -SE, -DN, -X-DN (15 kW) Dimensions (2098-DSD-0xxxxxx-xx) 6.86 (0.27) 188.97 (7.44) 139.7 (5.5) 69.85 (2.75) 227.08 (8.94) 24.64 (0.97) Dimensions are in millimeters (inches). 335.03 (13.19) 349.25 (13.75) 360.68 (14.2) 331.47 (13.05) 190.25 192.53 (7.49) (7.58) Bottom View 139.7 (5.5) 69.85 (2.75) 24.64 (0.97) Publication GMC-SG001E-EN-P — June 2001 241.05 (9.
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Digital Servo Drives 2-19 Ultra3000 and Ultra3000i Connector Data The following section provides the external connections, and the I/O, motor encoder, serial port, and terminal block connector pins and signals for the Ultra3000 and Ultra3000 indexing digital servo drives. Figure 2.
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2-20 Digital Servo Drives Figure 2.17 Ultra3000 and Ultra3000i External Connections (7.
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Digital Servo Drives 2-21 Motor Encoder Connector Pins and Signals (CN2) Quadrature Feedback (F-, H-, N- and Y-Series Motors) High Resolution Feedback (MP-Series) Pin Description Signal Pin Description Signal 1 Channel A+ AM+ 1 Sine+ AM+ 2 Channel A- AM- 2 Sine- AM- 3 Channel B+ BM+ 3 Cosine+ BM+ 4 Channel B- BM- 4 Cosine- BM- 5 Channel I+ IM+ 5 Serial+ IM+ 6 Common ECOM 6 Common ECOM 7 Encoder Power (+9V)1 EPWR_+9V1 7 Encoder Power (+9V)1 EPWR_+9V1 8 Com
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2-22 Digital Servo Drives Terminal Block Ultra3000 500W, 1 kW and 2 kW Drives Ultra3000 3 kW Drives Ultra3000 7.
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Digital Servo Drives 2-23 Ultra3000-SE Connector Data The following section contains the external connections, and the I/O, motor encoder, serial port, and terminal block connector pins and signals for Ultra3000 digital servo drives with the SERCOS interface. Figure 2.
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2-24 Digital Servo Drives Figure 2.20 Ultra3000-SE External Connections (7.
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Digital Servo Drives 2-25 I/O Connector Pins and Signals (CN1) Pin Signal Pin Signal Pin Description Signal 1 Auxiliary Encoder Power Out (+5V) Description EPWR 18 Buffered Motor Encoder Ch B+ Description BMOUT+ 35 Digital Input 5 INPUT5 2 Common ECOM 19 Buffered Motor Encoder Ch B- BMOUT- 36 Digital Input 6 INPUT6 3 Auxiliary Logic Power In (+5V) AUXPWR 20 Buffered Motor Encoder Ch I+ IMOUT+ 37 Positive Overtravel Input OT_POS 4 Auxiliary Encoder Ch A+ AX+ 21 Buffered M
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2-26 Digital Servo Drives Serial Port Connector Pins and Signals (CN3) Pin Description Signal Pin Description Signal 1 RS-422/RS-485 Input+ RCV+ 6 Reserved – 2 RS-232 Input RCV 7 RS-422/RS-485 Input- RCV- 3 RS-232 Output XMT 8 RS-422/RS-485 Output- XMT- 4 RS-422/RS-485 Output+ XMT+ 9 Reserved – 5 Common COM Terminal Block Ultra3000 500W, 1 kW and 2 kW Drives Ultra3000 3 kW Drives Ultra3000 7.
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Digital Servo Drives 2-27 Ultra3000-DN and -X-DN Connector Data The following section contains the external connections, and the I/O, motor encoder, serial port, and terminal block connector pins and signals for Ultra3000 digital servo drives with the DeviceNet interface and the indexing DeviceNet interface. Figure 2.
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2-28 Digital Servo Drives Figure 2.
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Digital Servo Drives 2-29 Figure 2.23 Ultra3000-DN and Ultra3000X-DN External Connections (7.
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2-30 Digital Servo Drives I/O Connector Pins and Signals (CN1) Pin Description Signal Pin Description Signal Pin Description Signal 1 Auxiliary Encoder Power Out +5V DC EPWR 18 Buffered Motor Encoder Ch B+ BMOUT+ 35 Digital Input 5 INPUT5 2 Common ECOM 19 Buffered Motor Encoder Ch B- BMOUT- 36 Digital Input 6 INPUT6 3 Auxiliary Logic Power In +5V AUXPWR 20 Buffered Motor Encoder Ch I+ IMOUT+ 37 Digital Input 7 INPUT7 4 Auxiliary Encoder Ch A+ AX+ 21 Buffered Motor E
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Digital Servo Drives 2-31 Serial Port Connector Pins and Signals (CN3) Pin Description Signal Pin Description Signal 1 RS-422/RS-485 Input+ RCV+ 6 Reserved – 2 RS-232 Input RCV 7 RS-422/RS-485 Input- RCV- 3 RS-232 Output XMT 8 RS-422/RS-485 Output- XMT- 4 RS-422/RS-485 Output+ XMT+ 9 Reserved – 5 Common COM Terminal Block Ultra3000 500W, 1 kW and 2 kW Drives Ultra3000 3 kW Drives Ultra3000 7.
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2-32 Digital Servo Drives Publication GMC-SG001E-EN-P — June 2001
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Chapter 3 Intelligent Positioning Drives Ultra5000™ Intelligent Positioning Drives The Ultra5000 and Ultra5000-DN™ intelligent positioning drives make up a high-performance, fully programmable positioning servo drive family. The Ultra5000 servo drive family incorporates a state-of-the-art DSP-based control architecture and a rugged Integrated Power Module (IPM)-based power section. Ultra5000 drives are programmed using motion commands in an ANSI C format.
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3-2 Intelligent Positioning Drives Ultra5000 Intelligent Positioning Drive System Overview Figure 3.1 Ultra5000 Intelligent Positioning Drive System Overview PC-Powered Ultraware Commissioning and Communications Inputs Outputs I/O and Commands Ultra5000 Commands PanelView DF1 Interface Encoder Feedback Motor Power MP-Series Servo Motor Figure 3.
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Intelligent Positioning Drives 3-3 Ultra5000 Intelligent Positioning Drive Specifications The following section contains general, environmental, power input, power dissipation, controller, inputs/ outputs, feedback, and serial communication port specifications for the Ultra5000 and Ultra5000-DN intelligent positioning drives. General Specifications Peak Output Current amps Continuous Output Current amps Continuous Output Power kW 120V AC 240V AC 7.5 2.5 0.25 0.5 010, 010-DN2 15 5 0.
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3-4 Intelligent Positioning Drives Power Dissipation Specifications Drives 2098-IPD- Power Dissipation watts 005, 005-DN1 48 + dissipative shunt 010, 010-DN1 48 + dissipative shunt 020, 020-DN1 50 + dissipative shunt 1 The DN indicates the DeviceNet interface version of the drive.
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Intelligent Positioning Drives 3-5 Feedback Specifications Auxiliary Feedback Motor Feedback Specification Description Specification Description Encoder Types Incremental, Sine/Cosine, Intelligent, and Absolute Input Modes A quad B Maximum Input Frequency 2.5 MHz (TTL Input) per channel Maximum Input Frequency 2.
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3-6 Intelligent Positioning Drives Ultra5000 Intelligent Positioning Drive Dimensions The following section contains dimensions for the 500W, 1 kW, and 2 kW Ultra5000 and Ultra5000-DN intelligent positioning drives. Figure 3.3 Ultra5000 (500W) Dimensions (2098-IPD-005) 83.82 (3.3) 43.18 (1.7) 131.83 (5.19) 20.32 (0.8) Clearance Hole for #10 (MS) screw Dimensions are in millimeters (inches). 193.55 (7.62) 205.23 (8.08) 184.91 (7.28) 5.5118 (0.217) 91.19 (3.59) 144.53 (5.69) Figure 3.
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Intelligent Positioning Drives 3-7 Figure 3.5 Ultra5000-DN (500W) Dimensions (2098-IPD-005-DN) 116.59 (4.59) 43.18 (1.7) 20.32 (0.8) 193.55 (7.62) Clearance Hole for #10 (MS) screw 131.83 (5.19) Dimensions are in millimeters (inches) 205.23 (8.08) 184.91 (7.28) 91.19 (3.59) Bottom View 5.5118 (0.217) 144.53 (5.69) Figure 3.6 Ultra5000-DN (1 kW, 2 kW) Dimensions (2098-IPD-010-DN, 2098-IPD-020-DN) 116.59 (4.59) 43.18 (1.7) 20.32 (0.8) 193.55 (7.62) Clearance Hole for #10 (MS) screw 131.83 (5.
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3-8 Intelligent Positioning Drives Ultra5000 Connector Data The following section provides the Ultra5000 and Ultra5000 DeviceNet external connections, and the auxiliary encoder, analog I/O, motor encoder, serial port, and terminal block connector pins and signals. Figure 3.
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Intelligent Positioning Drives 3-9 Auxiliary Encoder and Analog I/O Connector Pins and Signals (CN1B) Pin Description Signal Pin Description Signal 1 5V Power Supply +5V 8 5V Ground +5VCOM 2 Auxiliary Encoder Input/Output A+ AX+ 9 Analog Input 1 AIN1 3 Auxiliary Encoder Input/Output A- AX- 10 Analog Input 2 AIN2 4 Auxiliary Encoder Input/Output B+ BX+ 11 5V Ground +5VCOM 5 Auxiliary Encoder Input/Output B- BX- 12 Analog Output 1 AOUT1 6 Auxiliary Encoder Input/Output I
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3-10 Intelligent Positioning Drives Serial Port Connector Pins and Signals (CN3A and CN3B) Pin Description Signal Pin Description Signal 1 RS-422/RS-485 Input+ RCV+ 6 Not Connected – 2 RS-232 Input RCV 7 RS-422/RS-485 Input- RCV- 3 RS-232 Output XMT 8 RS-422/RS-485 Output- XMT- 4 RS-422/RS-485 Output+ XMT+ 9 Not Connected – 5 Logic Ground DGND Terminal Block Pin Description Signal Pin Description Signal 1 DC Bus + +1 6 Motor U 2 DC Bus -1 -1 7 Motor V 3
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Intelligent Positioning Drives 3-11 Figure 3.
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3-12 Intelligent Positioning Drives Auxiliary Encoder and Analog I/O Connector Pins and Signals (CN1B) Pin Description Signal Pin Description Signal 1 5V Power Supply +5V 8 5V Ground +5VCOM 2 Auxiliary Encoder Input/Output A+ AX+ 9 Analog Input 1 AIN1 3 Auxiliary Encoder Input/Output A- AX- 10 Analog Input 2 AIN2 4 Auxiliary Encoder Input/Output B+ BX+ 11 5V Ground +5VCOM 5 Auxiliary Encoder Input/Output B- BX- 12 Analog Output 1 AOUT1 6 Auxiliary Encoder Input/Output
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Intelligent Positioning Drives 3-13 Serial Port Connector Pins and Signals (CN3A and CN3B) Pin Description Signal Pin Description Signal 1 RS-422/RS-485 Input+ RCV+ 6 Not Connected – 2 RS-232 Input RCV 7 RS-422/RS-485 Input- RCV- 3 RS-232 Output XMT 8 RS-422/RS-485 Output- XMT- 4 RS-422/RS-485 Output+ XMT+ 9 Not Connected – 5 Logic Ground DGND DeviceNet Connector Pins and Signals (P2) Pin Description Signal 1 Network Power Common 24V DC V- 2 Network Communication Si
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3-14 Intelligent Positioning Drives Publication GMC-SG001E-EN-P — June 2001
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Chapter 4 1394 Drive System Family The 1394 Family The 1394 is a modular, multi-axis motion control and drive system family. All 1394 systems provide direct line connection (transformerless) for 360 and 480V three-phase input power, efficient IGBT power conversion, and slide-and-lock, module-to-module connection systems. Each system module can be configured with up to four axis modules, with each axis module interfacing to a motor. The 1394 provides significant panel space and interconnect savings.
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4-2 1394 Drive System Family 1394 System Modules System modules, available with ratings of 5, 10 and 22 kW (at 460V), house the system control PCB and convert 360 or 480VAC, three-phase, 50/60 Hz input power to a 530 or 680V DC link voltage. The 5 and 10 kW system modules have an internal shunt resistor with a 200W continuous rating and a peak rating of 40,000W.
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1394 Drive System Family 4-3 System Modules Specifications The following section contains the specifications for 1394, 1394 SERCOS interface and 9/440 CNC system modules. 1394 System Modules Specifications System Modules Specification 1394x-SJT051,2 1394x-SJT101,2 1394x-SJT221 Rated AC input voltage 324-528V AC, 50/60 Hz 3-phase 324-528V AC, 50/60 Hz 3-phase 324-528V AC, 50/60 Hz 3-phase AC input current 6.5A 13.0A 28.
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4-4 1394 Drive System Family 9/440 CNC System Modules Specifications System Model 8520- Version Specifications 1Sx 1 Axis Axis Modules Resolver Feedback Ports Analog Outputs Encoder Feedback Ports 1 1 2 0 2 11 2 32 3Sx 3 Axis 3 31 4Sx 4 Axis 4 42 1 You can connect a total of three feedback devices. If you use three resolvers, the encoder port (J11) is not available. If you use the encoder feedback port (J11), the third resolver feedback (J3) is disabled.
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1394 Drive System Family 4-5 1394 System Module Dimensions The following section contains the system module dimensions for the 1394, 1394 SERCOS interface, 9/440, and CNC interface systems. GMC, Analog, SERCOS, 9/440, and CNC Interface Figure 4.2 1394 System Module Dimensions (1394x-SJT05, 1394x-SJT10, 1394x-SJT22 - for all systems except GMC Turbo) Dimensions are in millimeters and (inches). 150 (5.91) 91.0 (3.58) 50 25 (1.97) (0.98) 280 (11.02) 8 (0.32) 26 (1.02) 385 Fastener1 (15.
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4-6 1394 Drive System Family GMC Turbo Figure 4.3 1394 System Module Dimensions (1394x-SJTxx-T and 1394x-SJTxx-T-RL) 150 (5.91) Dimensions are in millimeters and (inches). 91.0 (3.58) 50 25 (1.97) (0.98) 8 (0.32) 26 (1.02) 2 54 (2.13) 196.9 (7.75) 280 (11.02) 2 26.7 (1.05) 2 385 Fastener (15.16) Location1 400 (15.75) Side View (22 kW) Status 350 (13.78) DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. 50 (1.
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1394 Drive System Family 4-7 System Module Catalog Numbers Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering table chart below to understand the configuration of your system module. For questions regarding product availability, contact your Allen-Bradley distributor.
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4-8 1394 Drive System Family 9/440 CNC System Module The 9/440 CNC system module gives you all the power and programming capabilities of a 9/Series CNC, embedded into the compact packaging of the 1394 System Module.
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1394 Drive System Family 4-9 9/440 High Resolution/Absolute CNC System Module Catalog Number 8520-CHR xx - xx - xx - xx - xx - xx - xx Auxiliary Feedback 4Q = Two more ports Encoder Feedback Blank = no option 2Q = Two ports Encoder Feedback Blank = no option High Performance 1326 Motor Internal Feedback A4 = Axis 4 Blank = no option A3 = Axis 3 Blank = no option A2 = Axis 2 Blank = no option A1 = Axis 1 Blank = no option kW Rating 5 = 5 kW 10 = 10 kW 22 = 22 kW Bulletin Number Note: 8520-CHR (Series C) sy
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4-10 1394 Drive System Family 1394 Axis Modules Axis modules, with continuous output currents of 3.0, 4.5, 7.5, 23.3 and 35.0A (RMS), convert the DC power supplied by the system module to a variable AC voltage. You need one axis module for every 1326AB/AS or MP-Series servo motor you plan to run using the 1394. Choose each axis module based on the current requirements of the servo motor. Figure 4.
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1394 Drive System Family 4-11 1394 Axis Modules Specifications Axis Modules Specification 1394x-AM03 1394x-AM04 1394x-AM07 1394x-AM50 and 1394C-AM50-IH 1394x-AM75 and 1394C-AM75-IH Speed Regulation1 0 to 0.05% of base speed with 100% torque disturbance 0 to 0.05% of base speed with 100% torque disturbance 0 to 0.05% of base speed with 100% torque disturbance 0 to 0.05% of base speed with 100% torque disturbance 0 to 0.05% of base speed with 100% torque disturbance Static Gain (rms A/mV)1 1.
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4-12 1394 Drive System Family 1394 Drive Interface Module The 1394-DIM (Drive Interface Module) provides four channels of analog output, four drive enable outputs, and four drive fault inputs. The 1394-DIM allows the 1394x-SJTxx-C, -T, or -L system module to be used to control any external drive with a ±10V velocity torque reference command and quadrature encoder output. Each 1394-DIM can support up to four drives.
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1394 Drive System Family 4-13 1394 DC Link Module The 1394-DCLM (DC Link Module) provides additional load leveling and energy storage (capacitance) for 1394 systems. This allows additional regenerative energy to be stored during the machine cycle, increasing system capacity, lowering cycle time, and avoiding resistive heat loss. The module can be used alone or two modules can be used to interconnect two 1394 systems using the DC Link cable. Figure 4.
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4-14 1394 Drive System Family 1394 Axis Module, Drive Interface Module, and DC Link Module Dimensions Figure 4.7 1394 Axis Module and DC Link Module Front View Dimensions (1394x-AM03, -AM04, -AM07, -DIM, and -DCLM) 25 (0.98) 8 (0.32) Dimensions are in millimeters and (inches). Mounting Hole Detail 8 (0.31) 10.1 (0.4) 400 (15.75) 385 Fastener1 (15.16) Location 350 (13.78) 15.9 (0.63) 8 (0.31) 12 (0.47) All slots accept M6 or 1/4-20 Mtg. screws.
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1394 Drive System Family 4-15 Figure 4.9 1394 Axis Module Front View Dimensions (1394x-AM50, -AM50-IH, -AM75, and -AM75-IH) 37.5 (1.48) Dimensions are in millimeters and (inches). Depth = 280 (11.02) 8 (0.32) Mounting Hole Detail 8 (0.31) 10.1 (0.4) 400 (15.75) 385 (15.16) 350 (13.78) Fastener Location1 15.9 (0.63) 8 (0.31) 12 (0.47) All slots accept M6 or 1/4-20 Mtg. screws. 1 Dimension shown is for mounting hardware location and does not reflect the location of the lower slot radius. 75 (2.
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4-16 1394 Drive System Family Figure 4.11 1394 Axis Module Side View Dimensions (1394C-AM50-IH and -AM75-IH) 280 (11.01) Dimensions are in millimeters and (inches). 43.69 (1.72) Important: Additional clearance below the axis is necessary to allow for the recommended cable bend radius. 1394 Axis Modules Catalog Number Note: Catalog numbers consist of various characters, each of which identifies a specific version or option for that component.
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1394 Drive System Family 4-17 1394 External Shunt Modules Shunt modules dissipate excess regenerative power. An external shunt resistor kit (1394-SR10A) is available for all 5 and 10 kW systems with regenerative loads that exceed the capacity of the internal 200W shunt resistor. Most 5 and 10 kW systems will not require an external shunt resistor kit. All 22 kW 1394 system modules require an external shunt module (1394-SR9Ax or 1394-SR36Ax).
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4-18 1394 Drive System Family 1394 Shunt Modules for 22 kW System Modules Catalog Number Note: Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering table chart below to understand the configuration of your shunt module. For questions regarding product availability, contact your Allen-Bradley distributor.
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1394 Drive System Family 4-19 Figure 4.13 Two Standard GMC Systems’ Architectures (1394x-SJTxx-C and 1394C-SJT-xx-L) SLC 500 ALEC AxisLink RIO 845H Encoder AxisLink PanelView 1394C-SJTxx-L DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. 1326AB and 1326AS Motors DH-485 1394x-SJTxx-C DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
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4-20 1394 Drive System Family 1394 SERCOS Interface System The 1394 SERCOS interface system module (1394C-SJTxx-D) provides a digital servo drive system with a fiber-optic digital network interface. It can be used as a position, velocity or torque control system and is quickly commissioned with RSLogix 5000 via a ControlLogix processor and SERCOS interface Module (1756-M08SE), which provides access to auto tuning and start-up prompting.
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1394 Drive System Family 4-21 1394 9/Series CNC Interface System The 1394 9/Series CNC interface system (1394-SJTxx-E) provides a digital servo system to be used with the 9/260 and 9/290 CNC. This system provides all power electronics and uses a cost-saving digital interface approach. Servo control for this system is handled by the 9/Series CNC.
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4-22 1394 Drive System Family 1394 Analog Servo System The 1394 Analog Servo system (1394x-SJTxx-A) provides a digital servo drive system with a traditional ±10V DC analog interface. It can be used as a velocity or torque control system and is quickly commissioned with the Allen-Bradley universal Bulletin 1201 HIM (Human Interface Module), which provides access to auto tuning and start-up prompting. The 1394 also provides a SCANport interface as a standard feature. Figure 4.
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1394 Drive System Family 4-23 General System Specifications The following section contains 1394 environmental, contact, contactors, input fusing, input power, input transformer, power dissipation, and communication specifications. Environmental Specifications The following section contains 1394 system environmental specifications.
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4-24 1394 Drive System Family User-Supplied Input Fusing Specifications The following section contains user-supplied input fusing specifications for the 1394 system and 1394 SERCOS interface system.
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1394 Drive System Family 4-25 1394 System Power Dissipation Specifications The following section contains the power dissipation characteristics of the 1394 and 1394 SERCOS interface system modules, axis modules, DC Link modules, and internal and external shunt resistors. IMPORTANT Use the power dissipation figures shown below to calculate cumulative system heat dissipation to ensure that the ambient temperature inside the enclosure does not exceed 50° C (122° F).
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4-26 1394 Drive System Family Internal Shunt Resistor for the 5 and 10 kW System Note: When the shunt resistor inside a system module (1394x-SJT05-D, 1394C-SJT05-D, 1394x-SJT10-D, 1394C-SJT10-D) is active, some additional power will be dissipated at the system module. Its maximum dissipation is 200W. Most applications will use less than 10% of this capacity.
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1394 Drive System Family 4-27 Miscellaneous Specifications The following section contains the dedicated discrete I/O specifications for the 1394 SERCOS interface system, as well as the encoder input, dedicated discrete I/O, serial I/O, DH-485, Flex I/O, GMC System, remote I/O adapter, and AxisLink specifications for the 1394 systems modules (1394x-SJTxx-C, -L, -T, -A).
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4-28 1394 Drive System Family System Module Encoder Input Specifications (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Specification Number of encoder inputs Description • 4 (axis 0, 1, 2, and 3) for 1394x-SJTxx-C-xx and -T-xx systems • 2 (axis 0 and 1) for 1394C-SJTxx-L-xx systems Type of encoder input Incremental AB quadrature; optically isolated, differential with marker channel Encoder interface IC AM26LS32 or equivalent Compatible encoder types Differential, TTL-level (5V DC) line driver outputs, with
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1394 Drive System Family 4-29 DH-485 Specifications (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Specification Description Number of DH-485 channels One; replaces serial port B when used Channel type Optically isolated half-duplex RS-485 Baud rate 9,600 or 19.
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4-30 1394 Drive System Family 1394 System Specifications (1394x-SJTxx-A-xx) Specification Description Velocity Loop Update 250 µs Velocity Loop Bandwidth 60 Hz maximum Input A/D Sample Rate 250 µs Encoder Output Specifications (1394x-SJTxx-A-xx) Specification Description Maximum Velocity Range 0-6000 RPM Output Type Optically isolated, differential TTL (SU) line driver Input Power Required 5V ±5%, 1 Amp maximum GMC System Specifications (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Specification D
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1394 Drive System Family 4-31 Remote I/O Adapter Specifications (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Specification Description Baud rate 57.6k, 115.2k, or 230.
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4-32 1394 Drive System Family AxisLink Specifications (1394x-SJTxx-C-xx, -L-xx, and -T-xx) Specification Configuration Description Baud rate Standard and extended node configuration One megabit per second Extended length configuration 500 kbits per second Standard and extended node configuration Allen-Bradley 1770-CD RIO cable (Belden 9463 or equivalent) Extended length configuration Belden 9182, Carol C8014, or equivalent Standard and extended node configuration 25 m (82 ft) maximum.
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Chapter 5 Software The software that you can use to program your motion control application includes RSLogix 5000, Ultraware™, and GML™ Commander. Refer to the following sections for information regarding these three types of programming software. RSLogix 5000 RSLogix 5000 provides support for programming, commissioning, and maintaining the Logix family of controllers. In addition to providing full sequential support, full motion programming support is provided for ControlLogix and SoftLogix.
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5-2 Software RSLogix 5000 Workspace RSLogix 5000 allows you to add and configure motion axes and drives and develop ladder-based application programs which include motion commands. Figure 5.1 RSLogix 5000 Workspace (Version 9.
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Software 5-3 The RSLogix 5000 workspace contains a control organizer window that supports the creation of tasks, programs, routines, tags, and motion axes. The control organizer also supports I/O configurations that include motion cards and motion drives. The control organizer window allows you to create up to 32 tasks, 32 programs/task and an unlimited number of routines in a program.
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5-4 Software Developing a Motion Control Application Program With the power of RSLogix 5000 programming software, you can develop a motion control application program by configuring your axis and drive. Configuring an Axis and Drive You can configure the your axis and drive as shown below. Figure 5.3 Configuring an Axis and Drive Configuring Axis Gains You can set the axis velocity, acceleration and position gains, as shown below. Figure 5.
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Software 5-5 Viewing Graphical Trends Once you have created your motion control application program, you can view a real-time presentation of performance data by means of a graphical interface, as shown in Figure 5.5. Figure 5.
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5-6 Software RSLogix 5000 Instructions RSLogix 5000 provides X instructions. Included in this are 32 motion instructions that support a wide variety of motion functions., including point-to-point motion, gearing, position camming, time camming, registration, position-based output, and other functions. The instructions can be inserted in directly into the ladder logic application program. Figure 5.
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Software 5-7 Motion Move Instructions Command Required Instruction Initiate a controlled stop of any motion process on an axis Motion Axis Stop (MAS) Home an axis Motion Axis Home (MAH) Initiate a jog motion profile for an axis Motion Axis Jog (MAJ) Initiate a move profile for an axis Motion Axis Move (MAM) Provide electronic gearing between any two axes Motion Axis Gearing (MAG) Change the speed, acceleration rate, or deceleration rate of a move or jog profile in progress Motion Change Dynam
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5-8 Software RSLogix 5000 Ladder Logic Programming RSLogix 5000 ladder logic programming allows you to control your axes of motion. For example, you can enable, jog and stop your axes with ladder logic programming. Figure 5.7 RSLogix 5000 Ladder Logic Programming Rung 0: Enables the Feed and Cut axes when you press the servo_on button. Rung 1: Jogs the Feed axis in the positive direction when you press the jog_plus button, and when the axis “feed” feedback is on.
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Software 5-9 Creating and Editing Motion Application Performance Profiles The Cam Profile Editor is a graphical user interface within RSLogix 5000 for creating and editing performance profiles (Cam Profiles). You can add cam elements or change existing cam point coordinates in two different views, each of which is a different representation of the same profile. The graph view displays a cam profile as a line graph.
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5-10 Software Graph View The graph view provides a graphical interpretation of a cam profile and allows you to edit the profile. The profile is displayed as cam points (small circles) and cam segments. The cam segments can be either linear or cubic. The graph view also displays a master axis and slave axis with labels that automatically update to a readable size. Scroll bars are provided for navigation.
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Software 5-11 Figure 5.11 Slope View Editing and Viewing Motion Application Performance Profiles The Output Cam Editor is an easy-to-use graphical user interface within RSLogix 5000 that you can use to edit and view performance profiles (OUTPUT_CAM arrays). It can be launched from the Data Monitor or Data Editor and from the Motion Arm Output Cam instruction. The design of the Output Cam Editor is similar to the design of the Cam Editor [3] and consists of two different views and a toolbar.
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5-12 Software Ultraware Ultraware is used to commission Ultra5000 Intelligent Positioning Drives (IPD) and Ultra3000 Digital Servo Drives (DSD). Ultraware provides a comprehensive array of drive configuration, monitoring, and diagnostic functions, along with an intuitive method to locate the various drive functions and parameters. Ultraware software features: • A complete set of troubleshooting and diagnostic tools as well as compatibility with Windows® 95, Windows® 98, Windows® 2000 and WindowsNT.
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Software 5-13 Ultraware Drive Set-Up Ultraware Windows-based software allows you to configure, tune, and monitor Ultra3000 DSD and Ultra5000 IPD. Additionally, Ultraware offers tools that can be used to develop C motion programs for the Ultra5000 IPD. Ultraware allows you to communicate with any combination of 2098 Ultra Family drives over the same RS-232/422/485 serial communications network. All drive parameters are available by double-clicking items in the workspace tree. Figure 5.
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5-14 Software Ultraware Workspace Ultraware allows you to access on-line and off-line drives, save on-line drive settings, and load off-line drive settings to on-line drives. In the workspace window, each icon provides access to drive information. The workspace is divided into two sections: on-line drives and an Ultraware file. All drives on the serial network are displayed under the on-line drives icon. All off-line drive settings are stored in the Ultraware file.
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Software 5-15 Ultraware Windows Ultraware windows allow you to modify and monitor all of the drive parameters and execute commands for a given set of drive attributes. Once you have clicked on one of the icons shown in Figure 5.14, the following dialog box opens. Figure 5.
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5-16 Software Commissioning Ultra3000 and Ultra5000 Drives with Ultraware Ultraware provides you with a simple way to configure your Ultra3000 DSD and Ultra5000 IPD. By simply accessing each of the icons under each drive, you can establish all the settings necessary for proper operation. Figure 5.
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Software 5-17 You can commission Ultra3000 DSD with the DeviceNet or indexing DeviceNet interfaces as shown below. Figure 5.17 Commissioning an Ultra3000-DN Digital Servo Drive with Ultraware Note: There is no Ultraware interface for the commissioning of Ultra5000 IPD with the DeviceNet interface.
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5-18 Software Developing Ultraware Cam Profiles for the Ultra5000 The Ultraware Cam Editor allows you to design, graph and save complex motion profiles to the Ultra5000 IPD. This graphical interface combines point-and-click profile building with drag-and-drop editing and adjustment. You can select either a linear interpolation or polynomial interpolation position profile.
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Software 5-19 Programming the Ultra5000 with Ultraware Ultraware includes a full-featured color-syntax editor and compiler for developing Ultra5000 C motion programs. To program a specific drive, drag and drop the completed motion program onto the drive. The executable program is stored in the Ultra5000 flash memory. The source code for the program may also be stored in the flash memory, but it is typically stored off-line.
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5-20 Software Programming an Ultra5000 Intelligent Positioning Drive You can create Ultra5000 motion programs by using motion commands within an ANSI C format. The Ultra5000 is the first intelligent positioning drive to leverage the power and flexibility of the standard ANSI C language. Furthermore, ANSI C programming language features: • An excellent capability to handle arrays, strings, numeric conversions, and math operations.
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Software 5-21 Motion Functions Command Function Gear Attributes • GearGetVel • GearSetRatio Get and set gear attributes. Gear Services • GearDisable • GearEnable Electronically gear the slave (servo) axis to the master (auxiliary) axis at a pre-set ratio. Gear Status • GearIsEnabled Activate gear. Jog Attributes • JogSetAcc • JogSetDec • JogSetVel Get and set jog attributes.
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5-22 Software Latch Functions Command Non-Volatile Array Functions Function Latch Attributes • LatchGetOutput Get latch attributes. • LatchGetAutoMode • LatchGetCount Latch Services • LatchOnIndex • LatchOnInput • LatchReset • LatchSetAutoMode Arm a registration event that stores the motor encoder position or auxiliary encoder position on the specified edge of a digital input or encoder index. Latch Status • LatchTriggered Query latch status.
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Software 5-23 GML Commander GML, the Graphical Motion Control Language, is used to program Allen-Bradley 1394 and IMC-S Class motion controllers. GML Commander Version 4.03, a member of the GML family, provides easy-to-use, graphical, object-oriented programming capability that reduces the time required to learn motion control programming and makes troubleshooting easier. GML Commander integrates software programming and debugging to solve your motion control problems.
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5-24 Software GML Commander Workspace GML Commander software allows you to create an application diagram by placing function blocks, representing actions, in a certain order. By placing your function blocks in a sequence, you control the order of operations within your motion control application. The GML Commander workspace provides all functions and features that you need to create, edit and test your application diagrams as shown below. Figure 5.
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Software 5-25 GML Commander Diagram Explorer The GML Commander Diagram Explorer provides a hierarchical tree that shows the contents and organization of the application diagram as shown below. Figure 5.22 GML Commander Diagram Explorer The Diagram Explorer allows you to move, open and view the blocks and modules within an application diagram.
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5-26 Software GML Commander Diagram Window The GML Commander Diagram Window allows you to develop and maintain your application diagram as shown below. Figure 5.23 GML Commander Diagram Window Note: The appearance of certain blocks and connections in the Diagram Window is determined by the module you select in the Diagram Explorer as shown in Figure 5.26. Note: Each diagram has a start and end block at the root level in between which is one or more functional blocks.
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Software 5-27 GML Commander Tag Window The GML Commander Tag Window allows you to view, edit and create axis tags as shown below. Figure 5.25 GML Commander Tag Window Note: You can view, edit and create axis tags while either online or offline. GML Commander Terminal Window When you are online, the GML Commander Terminal Window allows you to view the command/response links for your motion controller as shown below. Figure 5.
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5-28 Software GML Commander Catalog Number Note: Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering chart below to understand the configuration of your software. For questions regarding product availability, contact your Allen-Bradley distributor. GML - x - x Operating System C: Windows 95, WindowsNT 4.0 S: Windows 95, WindowsNT 4.
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6 Chapter Motors Brushless Servo Motors You may choose from among seven families of brushless servo motors. F-, H-, MP-230 volt, N-, and Y-Series motors are used with the 2098 motion control system, and MP-460 volt, 1326AB, and 1326AS motors with the 1394 motion control system. A wide range of characteristics and attributes allows you to select a motor that meets all the requirements of your motion control application.
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6-2 Motors Determining Which Motor to Use, Continued Motor Y-Series Description Typical Applications Characteristics • Small, low-inertia brushless servo motors • Robotics • Fast accelerations • Continuous torque - 0.17 to 2.5 N-m (1.5 to 22 lb-in.
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Motors 6-3 F-Series Motors F-Series motors are commonly used when applications require higher inertia-matching capability. Typical applications include web and film processing, machine tool/metal cutting, textile machinery, or cam replacements. Each servo motor features: • Compact design that is mechanically interchangeable with the H-Series family. • Continuous torque from 3.5 to 28 N-m (31 to 245 lb-in.). • Speeds up to 4000 RPM.
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6-4 Motors General Specifications The following section contains the F-Series performance, mechanical, winding, storage/operating, and thermostat specifications. Ultra5000 and Ultra3000 Performance Specifications for F-Series Motors 1, 2 Drives 2098-IPD-6 2098-DSD-7 Maximum speed rpm Continuous stall torque3, 4 N-m (lb-in.) Peak torque5 N-m (lb-in.) 020 0206 3600 3.5 (31) 11.3 (100) 020 0206 3500 5.2 (46) 13.6 (120) – 0756 3000 9.3 (82) 19.2 (170) – 0756 3000 13 (115) 31.
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Motors 6-5 Storage and Operating Specifications Specification Description Ambient Temperature Operating: 0° to 40° C (32° to 104° F) Storage: -30° to 70° C (-25° to 158° F) Relative Humidity 5% to 95% non-condensing Shock 10g peak, 6 ms duration Vibration 2.5g peak, 3-2000Hz Thermostat Specifications Specification Description Rated voltage 0 - 250V DC or 50/60 Hz AC1 Rated current 2.5A at power factor of 1.0; 1.6A at power factor of 0.
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6-6 Motors Motor Dimensions The following section contains the dimensions for F-Series motors. Figure 6.1 F-Series Servo Motor Dimensions (F-xxxx-Q-xxxAx) 2 Eye Bolts installed on F-6100, F-6200, and F-6300 motors only. L LB EC L-LB T S is the diameter of the hole. SS is the diameter of the bolt circle. R EA F-6000: Thread - M8 x 1.25 mm (0.0492 in.) x 20 mm (0.788 in.) HC HD Thread Depth - 0.031 mm (0.79 in.) D EB Shaft End Threaded Hole F-4000: Thread - M6 x 1 mm (0.0394 in.) x 15 mm (0.591 in.
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Motors 6-7 Supplemental Motor Dimensions Motor LC - Brake Connector mm (in.) LD - Encoder Connector mm (in.) LL - Power Connector mm (in.) F-4030 Brake – 56 (2.2) 126 (4.96) 189 (7.44) 172 (6.77) 235 (9.25) F-4050 Brake – 56 (2.2) 204 (8.03) 267 (10.51) 250 (9.84) 313 (12.32) F-4075 Brake – 56 (2.2) 282 (11.1) 345 (13.58) 228 (8.98) 301 (11.85) F-6100 Brake – 59 (2.32) 183 (7.2) 254 (10) 233 (9.17) 304 (11.97) F-6200 Brake – 59 (2.32) 248 (9.76) 318 (12.52) 298 (11.73) 368 (14.
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6-8 Motors F-4000 NEMA 56C Dimensions The following section contains the F-4000 NEMA 56C dimensions. Figure 6.2 F-4000 Servo Motor Dimensions (F-40xx-Q-x0xAx) L R = Outside Dia. x Inside Dia. S U L-LB LB EC T EA 3/8 - 16 threaded through (4) 90° apart on a 149 mm (5.875 in.) diameter BC. D 45° EB Brake Option 90° LC LD D mm (in.) Motor F-4030 NEMA 56C F-4050 NEMA 56C F-4075 NEMA 56C EA mm (in.) 36 15.9 (1.41) (0.625)6 full depth Note: LC, LD and LL are shown on pg. 6-8.
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Motors 6-9 Load Force Ratings The following section contains the F-Series motor radial and axial load force ratings. Motor 500 RPM kg (lbs) 1000 RPM kg (lbs) 2000 RPM kg (lbs) 3000 RPM kg (lbs) 4000 RPM kg (lbs) F-4030 34.5 (76) 27.2 (60) 21.3 (47) 18.6 (41) 17.2 (38) F-4050 39.9 (88) 31.3 (69) 24.9 (55) 21.8 (48) 20.0 (44) F-4075 41.7 (92) 33.1 (73) 26.3 (58) 23.1 (51) 20.9 (46) F-6100 72.1 (159) 57.1 (126) 45.4 (100) 39.5 (87) – F-6200 78 (172) 61.7 (136) 49 (108) 42.
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6-10 Motors Application Guidelines The brakes offered as options on these servo motors are holding brakes designed to hold the motor shaft at 0 rpm up to the rated brake holding torque. These spring-set type brakes release when voltage is applied to the brake coil. The brakes are not designed for stopping rotation of the motor shaft. Servo drive inputs should be used to stop motor shaft rotation.
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Motors 6-11 Connector Data The following section contains the power, brake, and encoder connector pins and signals.
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6-12 Motors Wire Sizing Recommendations The following section contains the wire sizing recommendations for the power, encoder and brake connectors. Connectors Power Connector Encoder Connector Brake Connector Motor Wire1 mm2 (AWG) Motor F-4030 1.52 (16) F-4030 F-4030 F-4050 F-4050 F-4050 F-4075 F-6100 F-6200 F-6300 2.52 (14) 42 (12) 102 (8) F-4075 F-6100 Wire mm2 (AWG) 0.252 (24) 0.3242 (22) Motor F-4075 F-6100 F-6200 F-6200 F-6300 F-6300 Wire mm2 (AWG) 0.
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Motors 6-13 H-Series Motors H-Series motors are used when an application requires low inertia, high acceleration and peak torque. Typical applications include smart conveyors, packaging machinery, punch press/material feeding, robotic pick and place, and high duty cycle. Each servo motor features: • Compact design that is mechanically interchangeable with the F-4000 and F-6000 Series motors. • Five frame sizes in twelve models. • Continuous torque from 0.5 to 50 N-m (5 to 450 lb-in.).
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6-14 Motors General Specifications The following section contains the performance, mechanical, winding, storage/operating, and thermostat specifications. Ultra5000 and Ultra3000 Performance Specifications for H-Series Motors1, 2 Motor H-2005 Drives 2098-IPD-3 2098-DSD-4 Maximum speed rpm Continuous stall torque5 N-m (lb-in.) Peak torque6 N-m (lb-in.) 010 010 6000 0.57 (5) 1.6 (14) H-3007 010 010 5000 0.79 (7) 2.48 (22) H-3016 020 020 5000 2.26 (20) 4.
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Motors 6-15 Winding Specifications Motor Sine wave KT torque constant at 25° C (77° F)1 N-m/A (lb-in./A) KE voltage constant2 V/kRPM Winding resistance phase to phase at 25° C (77° F) Ohm Winding inductance phase to phase mH Thermal resistance3 °C/Watt Poles H-2005-K 0.13 (1.2) 16 2.6 4.1 1.5 4 H-3007-N 0.28 (2.5) 34 6.6 12 1.2 H-3016-N 0.28 (2.5) 34 1.3 3.4 0.89 H-4030-P 0.5 (4.4) 60 2.0 9.0 0.79 H-4050-P 0.5 (4.4) 60 0.69 3.3 0.57 H-4075-R 0.74 (6.6) 90 0.9 5.
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6-16 Motors Motors Dimensions The following section contains the dimensions for H-Series motors. H-2000 Motors Dimensions Figure 6.4 H-2000 Servo Motors Dimensions (H-2005-P-x0xAx) L LB AB R = Outside Dia. x Inside Dia. S is the diameter of the hole. SS is the diameter of the bolt circle. L-LB EC EA 63.5 mm SQ (2.5 in.) D H T EB M Shaft End Threaded Hole H-2000 motors: Thread - M3 x 0.5 mm (0.0197 in.) Thread Depth - 10 mm (0.39 in.) H-3000, -4000, -6000, and -8000 Motors Dimensions Figure 6.
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Motors 6-17 H-3000, -4000, -6000, and -8000 Motors Dimensions, Continued Motor AB mm (in.) D mm (in.) EA mm (in.) EB mm (in.) EC mm (in.) H mm (in.) L mm (in.) L with brake mm (in.) LB mm (in.) L-LB mm (in.) M mm (in.) R (height x width) mm x mm (in. x in.) S mm (in.) SS mm (in.) T mm (in.) H-4075 121 (4.76) 19 40 (0.75)6 (1.57) 20 (0.79) 15.5 (0.61) 76 (3.00) 365 (14.38) 368 (14.49) 315 (12.40) 110 50 6x6 (1.97)3 (4.33)5 (0.24 x 0.24) 10 (0.39) 145 (5.71) 3 (0.
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6-18 Motors H-4000 NEMA 56C Dimensions The following section contains H-4000 NEMA 56 dimensions. Figure 6.6 H-4000 Servo Motor Dimensions (H-2005-P-x0xAx) L M LB L-LB EC T U EA D Note: LB and LL are shown in the table at the bottom of the page. Brake Option LD EB LL Motor D mm (in.) EA mm (in.) EB mm (in.) EC mm (in.) H-4030 NEMA 56C H-4050 15.9 NEMA (0.625)6 56C 36 (1.41) 50.8 full (2) depth S R 15.5 (0.61) H-4075 NEMA 56C Note: R = Outside Dia. x Inside Dia. 3/8 - 16 through (4) eq.
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Motors 6-19 Load Force Ratings The following section contains the H-Series motor radial and axial load force ratings. Motor 500 RPM kg (lb) 1000 RPM kg (lb) 2000 RPM kg (lb) 3000 RPM kg (lb) 4000 RPM kg (lb) 5000 RPM kg (lb) 6000 RPM kg (lb) H-2005 63.5 (140) 50.8 (112) 39.9 (88) 34.9 (77) 31.8 (70) 29.5 (65) 20.4 (45) H-3007 68.0 (150) 54.4 (120) 43.1 (95) 37.6 (83) 34.0 (75) 31.8 (70) – H-3016 76.2 (168) 60.8 (134) 47.6 (105) 41.7 (92) 38.1 (84) 35.4 (78) – H-4030-M 102.
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6-20 Motors Brake Specifications and Application Guidelines The following section contains the H-Series brake motor specifications and application guidelines. Specifications Motor Series Maximum backlash (brake engaged) minutes Holding torque Coil current at 24V DC Coil current at 90V DC N-m (lb-in.) Amps Amps H-3000 30 2.26 (20) 0.6 0.21 H-4000 44 10.2 (90.27) 0.88 0.26 H-6000 29 22.6 (200) 1.13 0.33 H-8000 21 50.8 (449.58) 2.2 0.
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Motors 6-21 Encoder Data The following section contains the H-Series encoder specifications and outputs. Encoder Specifications Specification Description Line Count 2000 lines/revolution1 Supply Voltage 5V DC Supply Current 250 mA maximum Line Driver 26LS31 Line Driver Output TTL H-2000 and H-3000 Series when key faces 180°±10 away from the connectors Index Pulse H-4000, H-6000 and H-8000 Series when key faces the connectors (0°±10) 1 Standard line count before quadrature.
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6-22 Motors Encoder Connector Pin Signal Pin Signal A A+ K +5V DC B A- L COM C B+ M COM D B- N Hall B E I+ P Hall C F I- R TS+ G Encoder Case S TS- H ABS T Hall A J +5V DC M L T K J A B C N P H G D E SR F Wire Sizing Recommendations The following section contains the wire sizing recommendations for the H-Series power, encoder and brake connectors. Connectors Power Connector Motor Wire1 mm2 (AWG) H-2005 H-3007 H-3016 1.
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Motors 6-23 H-Series Motor Catalog Number Note: Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering table chart below to understand the configuration of your motor. For questions regarding product availability, contact your Allen-Bradley distributor.
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6-24 Motors MP-Series Motors MP-Series low-inertia, brushless servo motors feature a newly engineered construction that reduces motor size while delivering significantly higher torque. Each servo motor features: • 230V or 460V motor windings. • A segmented core stator design that allows for the maximum amount of copper winding material in a smaller area for more output with a given current input.
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Motors 6-25 MP-Series Standard Encoder Features MP-Series motors are available with a 2000-line high-performance encoder. This standard encoder features: • 2000-line quadrature output encoder that delivers 8,000 counts per revolution for precise position feedback. • Bearingless construction. MP-Series Options MP-Series motors are available with the following options: • Shaft oil seal kit available for field installation. • Multi-turn high-resolution encoder. • Two-pole resolver-based feedback.
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6-26 Motors 230V General Specifications The following section contains the 230V MP-Series performance, winding, mechanical, storage/operating, and thermostat specifications. Ultra5000 and Ultra3000 Performance Specifications for MP-Series Motors Drives Motor MPL- A310P A310F A320P A320H A330P A420P A430P A430H A4520P A4520K A4530K A4530F A4540F Maximum Speed Continuous Peak rpm (with 230V AC Torque Torque 2098-IPD1- 2098-DSD-2 Line Voltage Input) N-m (lb-in.) N-m (lb-in.
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Motors 6-27 Mechanical Specifications Motor MPLA310P A310F A320P A320H Specifications Motor Weight kg (lb) Motor Shipping Weight kg (lb) 2.6 (5.7) 3 (6.6) 3.6 (7.9) 4 (8.8) A330P 4.6 (10) A420P 4.2 (9.3) A430P A430H A4520P A4520K A4530K A4530F A4540F Shaft Material 5 (11) 5.5 (12) 6.4 (14) 5.9 (13) 6.8 (15) 7.3 (16) 8.2 (18) 8.6 (19) 9.5 (2.1) Grade 1144 Steel Winding Specifications Specifications Motor MPL- Torque Constant1 N-m (lb-in.
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6-28 Motors Storage and Operating Specifications Specification Description Ambient Temperature 0° to 40° C (32° to 104° F) Storage Temperature -30° to 70° C (-22° to 158° F) Relative Humidity 5% to 95% non-condensing Shock 20g peak, 6 ms duration Vibration 2.5g, 30-2000 Hz Thermostat Specifications Specification Description Rated voltage 230V AC maximum Rated current 2.5A at power factor of 1.0; 1.6A at power factor of 0.
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Motors 6-29 460V General Specifications The following section contains the 460V MP-Series performance, winding, mechanical, storage/operating, and thermostat specifications. Performance Specifications Rated Speed rpm Motor Rated Output kW Rotor Inertia kg-m2 (lb-in.-s2) System Continuous Torque N-m (lb-in.) System Peak Stall Torque N-m (lb-in.) System Continuous Stall Current4 Amperes System Peak Stall 1394 Axis Current4 Module Amperes 1.58 (14) 2.48 (21.95) 2.40 4.
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6-30 Motors Performance Specifications, Continued Motor Catalog Number1 MPL-B4540F Rated Speed rpm 460V 3000 380V 3000 Motor Rated Torque N-m (lb-in.) 10.2 (90) Motor Rated Output kW 3.0 Rotor Inertia kg-m2 (lb-in.-s2) 0.00054 (0.0048) System Continuous Torque N-m (lb-in.) System Peak Stall Torque N-m (lb-in.) System Continuous Stall Current4 Amperes System Peak Stall 1394 Axis Current4 Module Amperes 4.75 (42.06)2 8.76 (77.51)3 4.24 8.50 AM03 7.17 (63.49)2 13.09 (115.82)3 6.40 12.
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Motors 6-31 Winding Specifications Specifications Motor MPL- Torque Constant1 N-m (lb-in.) Voltage Constant2 volts/1000 rpm B310P B320P 0.794 (7.03) 86.4 to 105.6 B330P B420P Terminal Resistance3 ohms Inductance4 mH 18 to 22 93 6.75 to 8.25 42 4.14 to 5.06 28 3.42 to 4.18 21 2.07 to 2.53 13 0.827 (7.32) 90 to 110 B4520P 0.794 (7.03) 86.4 to 105.6 2.34 to 2.86 21 B4530F 1.49 (13.2) 162 to 198 3.78 to 4.62 41 B4530K 0.951 (8.42) 103.5 to 126.5 1.8 to 2.2 18 B4540F 1.
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6-32 Motors Motors Dimensions The following section contains the dimensions for 230V and 460V MP-Series motors. 230V Servo Motors Dimensions Figure 6.8 230V MP-Series Servo Motors Dimensions (MPL-A3xx-HK2xAA) L LB Pilot diameter Ø 79,993 - 80,012 (3.1493 - 3.1501) L-LB LA T 3.3 (0.13) S diameter holes on M diameter bolt circle D HD AD P Shaft diameter Ø 15,997 - 16,008 (0.6298 - 0.6301) N Detail “A” High Resolution2 motor end 67.8 (2.
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Motors 6-33 Figure 6.9 230V MP-Series Servo Motors Dimensions (MPL-A4xx-HK2xAA) L LB Pilot diameter Ø 94,991 - 95,013 (3.7398 - 3.7407) L-LB LA T 3.3 (0.13) P S diameter holes on M diameter bolt circle D HD Shaft diameter Ø 18,996 - 19,009 (0.7479- 0.7483) N AD Detail “A” High Resolution2 motor end 67.8 (2.67) Without brake option LD Connectors without brake Connector housing may be rotated for rearward connector orientation Flush to pilot ± 0,83 (0.032) Detail “A” 88.9 (3.
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6-34 Motors Figure 6.10 230V MP-Series Servo Motors Dimensions (MPL-A45xx-HK2xAA) Pilot diameter Ø 109,991 - 110,013 (4.3303 - 3.3312) L LB L-LB LA T 3.3 (0.13) S diameter holes in M diameter bolt circle D HD AD P Shaft diameter Ø 23,996 - 24,009 (0.9448 - 0.9451) N See Detail “A” High Resolution2 motor end Optional shaft seal Ø 25 x Ø 62 x 7 LD 67.8 (2.
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Motors 6-35 460V Motors Dimensions Figure 6.11 460V MP-Series Servo Motors Dimensions (MPL-B3xx-HK2x-AA) L LB Pilot diameter Ø 79,993 - 80,012 (3.1493 - 3.1501) L-LB LA T 3.3 (0.13) D HD AD P S diameter holes in M diameter bolt circle Shaft diameter Ø 15,997 - 16,008 (0.6298 - 0.6301) N See Detail “A” High Resolution2 motor end Optional shaft seal Ø 17 x Ø 47 x 7 LD 67.8 (2.
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6-36 Motors Figure 6.12 460V MP-Series Servo Motors Dimensions (MPL-B4xx-HK2x-AA) Pilot diameter Ø 94,991 - 95,013 (3.7398 - 3.7407) L LB L-LB LA T 3.3 (0.13) D HD AD P S diameter holes in M diameter bolt circle Shaft diameter Ø 18,996 - 19,009 (0.7479- 0.7483) N See Detail “A” High Resolution2 motor end Optional shaft seal Ø 20 x Ø 52 x 7 LD 67.8 (2.67) Without brake option Connectors without brake Connector housing may be rotated for rearward connector orientation Flush to pilot ± 0,83 (0.
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Motors 6-37 Figure 6.13 460V MP-Series Servo Motors Dimensions (MPL-B45xx-HK2x-AA) Pilot diameter Ø 109,991 - 110,013 (4.3303 - 3.3312) L LB L-LB LA T 3.3 (0.13) D HD AD P S diameter holes in M diameter bolt circle Shaft diameter Ø 23,996 - 24,009 (0.9448 - 0.9451) N See Detail “A” High Resolution2 motor end Optional shaft seal Ø 25 x Ø 62 x 7 LD 67.8 (2.
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6-38 Motors Load Force Ratings The following section contains the 230V and 460V MP-Series radial and axial motor load force ratings. MP-Series motors are capable of operating with the maximum radial or maximum axial shaft loads listed in the following tables. Radial loads listed are applied in the middle of the shaft extension. The tables below represent an L10 bearing fatigue life of 20,000 hours.
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Motors 6-39 Axial Load Force Ratings (Zero Radial Load) Motor Series MPL-A- and MPL-B- 500 rpm kg (lb) 1000 rpm kg (lb) 2000 rpm kg (lb) 3000 rpm kg (lb) 3500 rpm kg (lb) 4000 rpm kg (lb) 5000 rpm kg (lb) 310 49 (108) 36 (79) 27 (60) – 21 (46) – 18 (40) 320 49 (108) 36 (79) 27 (60) – 21 (46) – 18 (40) 330 – 36 (79) 27 (60) – 21 (46) – 18 (40) 420 – 51 (112) 38 (84) – 30 (66) – 25 (55) 430 69 (152) 51 (112) 38 (84) – 30 (66) – 25 (55) 4520 – 51 (112) 38 (84)
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6-40 Motors Brake Specifications and Application Guidelines The following section contains the MP-Series brake motor specifications and application guidelines. Specifications Motor MPL-A and MPL-B Maximum backlash (brake engaged) minutes Holding Torque N-m (lb-in.) Coil Current at 24V DC Amps 45 4.18 (37) 0.5 37 10.2 (90) 0.6 to 0.
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Motors 6-41 Connector Data The following section contains the 230V and 460V MP-Series encoder and power connector pins and signals.
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6-42 Motors Wire Sizing Recommendations The following section contains the wire sizing recommendations for the 230V and 460V MP-Series power, encoder and brake connectors. Connectors Power Connector Motor Series 1 MPL-A and Wire 2 MPL-B mm (AWG) Encoder Connector Motor Series MPL-A and Wire MPL-B mm2 (AWG) Brake Connector Motor Series MPL-A and Wire MPL-B mm2 (AWG) 310 310 310 320 320 320 1.52 (16) 330 420 330 2.52 (14) 430 4520 4530 42 (12) 420 330 0.3242 (22) 1.
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Motors 6-43 MP-Series Motor Catalog Number Note: Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering table chart below to understand the configuration of your motor. For questions regarding product availability, contact your Allen-Bradley distributor.
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6-44 Motors N-Series Motors N-Series motors are used in medium inertia applications such as semiconductor manufacturing, material handling, web processing, robotics and packaging machinery. Each of these servo motors features: • NEMA 23, 34, 42, and 56 style mounting frames. • Continuous torque from 0.18 to 5.9 N-m (1.6 to 52 lb-in.). • Speeds up to 6000 RPM. • High torque-to-size ratio. • High energy ring magnet rotor. • Internal thermal switch to prevent overheating.
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Motors 6-45 General Specifications The following section contains the N-Series performance, mechanical, winding, storage/operating, and thermostat specifications. Ultra5000 and Ultra3000 Performance Specifications for N-Series Motors1 Drives 2098-IPD-2 2098-DSD-3 Maximum speed4 rpm Continuous stall torque5 N-m (lb-in.) Peak torque N-m (lb-in.) 005 005 6000 0.2 (1.6) 0.5 (4.6) 005 005 0.4 (3.5) 1.1 (10) 010 010 0.5 (4.4) 1.4 (13) N-3406 010 010 6000 0.8 (6.8) 2.1 (18.
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6-46 Motors Mechanical Specifications Motor Rotor moment of inertia kg-m2 (lb-in.-s2) Rotor moment of inertia (brake motors) kg-m2 (lb-in.-s2) Motor Shipping Weight kg (lb) Motor net weight kg (lb) Brake motor net weight kg (lb) Damping N-m/kRPM (lb-in./kRPM) N-2302 0.000009 (0.00008) 0.00001 (0.00009) 1.3 (2.8) 1 (2.3) 1.3 (2.9) 0.0007 (0.006) 0.012 (0.11) N-2304 0.000023 (0.0002) 0.000023 (0.00021) 1.8 (4) 1.5 (3.4) 2.0 (4.3) 0.0014 (0.013) 0.025 (0.22) N-3406 0.000071 (0.
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Motors 6-47 Thermostat Specifications Specification Description Rated voltage 0 - 250V DC or 50/60 Hz AC1 Rated current 2.5A at power factor of 1.0; 1.6A at power factor of 0.6 Maximum switching current 5A Contact resistance Less than 0.
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6-48 Motors Motor Dimensions The following section contains the dimensions for the N-Series motors. N-2300 Motors Dimensions Figure 6.15 N-2300 Servo Motors Dimensions (N-230x-x-x0xAA) S is the diameter of the hole. SS is the diameter of the bolt circle. L LB D H T EC LC1 Note: LC1 , LD and LL1 are shown on pg. 6-49. LD M AB LL1 N-3400, -4200 and -5600 Motors Dimensions Figure 6.
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Motors 6-49 N-3400, -4200 and -5600 Motors Dimensions, Continued Motor R L with LB L-LB M mm x S SS T AB D EA EC H L brake mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in. x in.) N-4214 101.6 (4) 15.87 23.9 (0.625)3 (0.94)6 10 (0.4) 62.23 (2.45) 208.92 (8.23) 220.73 (8.69) 173.87 (6.84) 35.05 (1.38)1 55.55 (2.19)7 4.76 x 3 (0.187 x 7.11 (0.28) 0.123)5 125.73 (4.95) 3.05 (0.12) N-4220 101.6 (4) 23.9 15.87 3 (0.
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6-50 Motors Load Force Ratings The following section contains the N-Series motor radial load force ratings and shaft load force ratings.
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Motors 6-51 Brake Specifications and Application Guidelines The following section contains the N-Series brake motor specifications and motor application guidelines. Specifications Motor Series Maximum Backlash (brake engaged) minutes Holding Torque N-m (lb-in.) Coil Current at 24V DC Amps N-2300 31 0.56 (5) 0.28 N-3400 72 1.69 (15) 0.37 N-4200 36 3.39 (30) 0.37 N-5600 102 5.64 (50) 0.
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6-52 Motors Connector Data The following section contains the N-Series encoder, power, and brake connector pins and signals.
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Motors 6-53 Wire Sizing Recommendations The following section contains the wire sizing recommendations for the N-Series power, encoder and brake connectors. Connectors Power Connector Encoder Connector Motor Wire1 mm2 (AWG) Motor N-Series 1.52 (16) N-Series Wire mm2 (AWG) 0.08042 (28) 1.52 (16) Brake Connector Motor Wire mm2 (AWG) N-Series 0.822 (18) 1 Sizes are recommended minimum values for 4 conductors (U, V, W and GND).
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6-54 Motors Y-Series Motors Y-Series motors, available in either 115V or 230V windings, provide low inertias for fast accelerations. Typical applications include robotics, material handling, specialty machinery, medical and laboratory equipment, X-Y table, light packaging machines, office machines and postal sorting. Each servo motor features: • 115V and 230V windings. • Popular metric mounting dimensions. • Continuous torque from 0.17 to 2.5 N-m (1.5 to 22 lb-in.).
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Motors 6-55 General Specifications The following section contains the Y-Series performance, mechanical, winding, and storage/operating specifications. Ultra5000 and Ultra3000 Performance Specifications for Y-Series Motors1, 2 Drives 2098-IPD- 2098-DSD-3 Maximum speed rpm Continuous stall torque4 N-m (lb-in.) Peak torque5 N-m (lb-in.) Y-1002-1 (115V) Y-1002-2 (230V) 005 005 4500 0.17 (1.5) 0.48 (4.3) Y-1003-1 (115V) Y-1003-2 (230V) 010 005 010 005 4500 5000 0.35 (3.1) 0.97 (8.
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6-56 Motors Winding Specifications Motor Sine wave KT torque constant at 25° C (77° F)1 N-m/A (lb-in./A) KE voltage constant2 V/kRPM Winding resistance phase to phase at 25° C (77° F) Ohm Winding inductance phase to phase mH Thermal resistance3 °C/Watt Y-1002-1 (115V) Y-1002-2 (230V) 0.08 (0.73) 0.16 (1.4) 10 20 4.6 18.8 5.5 22.3 2.3 Y-1003-1 (115V) Y-1003-2 (230V) 0.11 (1.0) 0.20 (1.8) 14 25 3.2 8.9 3.8 11.5 2.2 Y-2006-1 (115V) Y-2006-2 (230V) 0.10 (0.95) 0.22 (1.9) 13 27 0.79 3.
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Motors 6-57 Motors Dimensions The following section contains the dimensions for Y-Series motors. Figure 6.18 Y-Series Servo Motor Dimensions (Y-xxxx-x-H0xAA) L LB Shaft End Threaded Hole Y-2006, Y-2012, Y-3023: Thread - M5 x 0.8 mm (0.0315 in.) Thread Depth - 12 mm (0.47 in.) L-LB EC EA AB M D EB T LD LE LC LA LF W2 W2 CAB Motor Encoder Connector Motor Power Connector Motor AB Series mm (in.) CAB mm (in.) D mm (in.) EA mm (in.) Note: LA, LC, LD, LE, LF, W1 and W2 are shown on pg. 6-58.
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6-58 Motors Supplemental Motors Dimensions Motor LA Series mm (in.) Y-1002 Y-1003 Y-2006 23.5 (0.90)2 LC mm (in.) LC (Brake) mm (in.) LD mm (in.) LD (Brake) mm (in.) LE mm (in.) LE (Brake) mm (in.) LF mm (in.) W1 mm (in.) 17.5 (0.7)1, 2 56 (2.2)1, 2 – – – – 21.5 (0.84)5 6 (0.24)5 66 (2.6)1, 4 24 (0.95)5 68.5 (2.7)1, 4 30 (1.2)5 41.5 (1.60)2 Y-2012 69.5 (2.7)2 Y-3023 80.5 (3.2)2 – 7 (0.28)2 – 45 (1.77)2 28 (1.1)4 W2 mm (in.) 8 (0.32)5 6.7 (0.27 in.
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Motors 6-59 Brake Specifications and Application Guidelines The following section contains the Y-Series brake motor specifications and application guidelines. Specifications Motor Series Holding torque N-m (lb-in.) Y-1002 (0.157) 1.39 Y-1003 (0.32) 2.83 Y-2006 (0.637) 5.64 Y-2012 (1.274) 11.24 Y-3023 (2.38) 21.06 Coil current at 24V DC Amps 0.26 0.31 0.
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6-60 Motors Connector Data The following section contains pins and signals for the Y-Series power and encoder connectors. Power Connector Pin Signal Pin Signal 1 Phase U 6 – 2 Phase V 7 Brake+1(Option) 3 Phase W 8 – 4 – 9 Brake-1(Option) 5 Ground Pin 1 Pin 9 1 No connection for nonbrake motors.
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Motors 6-61 Wire Sizing Recommendations The following section contains the wire sizing recommendations for the Y-Series power, brake and encoder connectors. Connectors Power and Brake Connectors Motor Series Encoder Connector Motor Series Wire1 mm2 (AWG) Y-1002 Y-1002 Y-1003 Y-1003 Y-2006 1.52 (16) Y-2006 Y-2012 Y-2012 Y-3023 Y-3023 Wire mm2 (AWG) 0.08042 (28) 1.52 (16) 1 Sizes are recommended minimum values for 4 conductors (U, V, W and GND). Note: Sizes are recommended minimum values.
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6-62 Motors 1326AB Series Motors 1326AB Torque Plus motors feature a specially engineered housing that reduces motor length and increases continuous torque ratings. These high performance, three-phase, brushless, AC, synchronous servo motors are designed by Allen-Bradley to meet the stringent requirements of high performance motion systems. This series of 460V, AC servo motors is intended to be used with the Allen-Bradley 1394 Motion Control System.
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Motors • Multi-turn (-ML and -M2) configurations and the single-turn (-S2) configuration provide accurate absolute machine positions over multiple revolutions (no batteries needed) to eliminate machine re-homing on power-up. It provides one million counts of feedback per revolution and absolute positioning within 4,096 revolutions. • Multi-turn and single-turn configurations feature on-board EEProm memory for storing motor configuration information.
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6-64 • Motors A Junction Box Kit (1326AB-MOD-RJxxx) with axially-mounted connectors is available with either front or rear exit connections. Right-angle connector cables are also available. For more information, refer to Chapter 8, Motion Control Accessories. The junction box allows the motor connectors to be brought out axially (rather than radially) to the motor without further wiring. IMPORTANT 1326AB servo motors lose the IP67 rating when the junction box kit option is used. Figure 6.
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Motors 6-65 Performance Specifications, Continued Motor1 1326AB- Rated Speed rpm 460V 380V Motor Rated Torque N-m (lb-in.) Motor Rated Output kW System Continuous Torque N-m (lb-in.) System Peak Stall Torque N-m (lb-in.) System Continuous Stall Current Amperes 10.6 (94)3 B420E 3000 2500 5.0 (44) 1.1 5.0 (44) B430E 6000 3000 5000 2500 5.1 (45) 6.6 (58) 2.2 B515E 3000 4000 2500 6.4 (57) 10.4 (92) 6.0 AM03 4.2 (37)2 8.4 (74)3 4.5 9.0 AM04 5.1 (45) 14.0 (124)3 5.46 15.
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6-66 Motors Performance Specifications, Continued Motor1 1326AB- B720F B730E Rated Speed rpm 460V 380V Motor Rated Torque N-m (lb-in.) 5000 4100 31.8 (281.7) 3350 B740C 2200 B740E 3400 2800 1800 2800 39.0 (345) 53.0 (469) 50.0 (450) Motor Rated Output kW System Continuous Torque N-m (lb-in.) 11.7 31.8 (281.7) 9.6 8.7 12.7 39.0 (345) 53.0 (469) 50.0 (450) System Peak Stall Torque N-m (lb-in.) 38 (336)3 56 (495)3 56.8 (502)3 85.4 (756)3 84.2 (745)3 126.8 (1122)3 52.7 (466)3 79.
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Motors 6-67 Winding Specifications Motor 1326AB- Sine wave KT torque constant at 25º C (77º F)1 N-m/A (lb-in./A) KE voltage constant2 V/kRPM Winding resistance phase to phase at 25º C (77º F) Ohm Winding inductance phase to phase mH B410G 1.33 (11.7) 80.2 15.1 68.3 B410J 0.873 (7.73) 52.8 6.1 28.2 B420E 2.02 (17.9) 122.2 12.9 67.3 B420H 1.01 (8.94) 61.1 3.23 16.9 B430E 2.02 (17.9) 122 7 40.6 B430G 1.35 (11.9) 81.6 3.32 18.1 B515E 2.02 (17.9) 122 3.28 28.1 B515G 1.
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6-68 Motors Constant Specifications, Continued Motor 1326AB- Mechanical Time Constant at 25º C (77º F) ms Electrical Time Constant at 25º C (77º F) ms B720F 8.14 15.6 B730E 6.8 16.1 B740C 6.43 19 B740E 5.99 18.
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Motors 6-69 Motors Dimensions The following section contains the dimensions for 1326AB servo motors. Figure 6.21 1326AB-B4 Torque Plus Servo Motor Dimensions (Resolver and High Resolution Feedback) (1326-AB-B4xx21x-Kx) Dimensions are in millimeters (inches).
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6-70 Motors Figure 6.22 1326AB-B5 Torque Plus Servo Motor Dimensions (Resolver and High Resolution Feedback) L Dimensions are in millimeters (inches). LB Commutation Resolver or High-Resolution Output Full Depth Endmilled Keyway L-LB LC AD1 Power Input AL AD2 T Recessed Finger and Shaft Seal Provision EC O EA Key AC DA D R Inspection Holes (4), Top and Bottom 1/16-27 NPT Plugs M8 x 1.25 Tapped Hole 19 (0.75) Deep Min. 14.5 (0.57) Motor 1326AB- 12 mm Dia.
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Motors 6-71 Figure 6.23 1326AB-B7 Torque Plus Servo Motor Dimensions (Resolver and High Resolution Feedback) (1326-AB-B7xx21x-Kx) Dimensions are in millimeters (inches). L Full Depth Endmilled Keyway LB LC L-LB AD1 Power Input AL T AD2 Commutation Resolver or High-Resolution Output Recessed Finger and Shaft Seal Provision EC O EA Key DA D AC Inspection Holes (4), Top and Bottom 1/16-27 NPT Plugs R Hook Detail High-Resolution Motor End FB Shaft and Pilot Tolerances Shaft Runout 0.
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6-72 Motors Load Force Ratings The following section contains the 1326AB servo motor output shaft radial load and thrust load ratings. Figure 6.24 1326AB Servo Motor Output Shaft Radial Load vs. Thrust Load (1326-AB-Bxxx21x-Kx) Radial Load (lb) 1326AB-B4xxx Radial Load (lb) 1326AB-B5xxx X=0.25 (6.4) 600 300 X=1.9 (48.3) 250 500 200 400 X=0.25 (6.4) X=2.28 (57.
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Motors 6-73 Integral Holding Brake The following section contains a description of and specifications for a 1326AB servo motor integral holding brake. The disc-type brake is spring-set when power is removed. It is designed to hold a load at rest and provide limited braking torque for emergency stopping. The brake is not intended to be used as a positioning brake (brake backlash is 0.8 arc-minutes maximum) or meant to be continuously cycled to assist in stopping a load.
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6-74 Motors 1326AB Series Motor Catalog Number Note: Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering chart below to understand the configuration of your motor. For questions regarding product availability, contact your Allen-Bradley distributor. 1326 - AB - B x x x - 21 - x - xx Standard Options L = IP67 environmental rating only for all frame series. K4 = 8.1 N-m (72 lb.-in.
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Motors 6-75 1326AS Series Motors The 1326AS Series rare earth servo motors feature neodymium-iron-boron permanent magnet rotors that provide low inertias, high accelerations and high peak torques. These compact, environmentally-rugged, brushless, 460V servo motors are intended to be used with the Allen-Bradley 1394 Motion Control System. Each 1326AS Series servo motor features: • An economical, compact design that can function in harsh environments.
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6-76 Motors Motor Options Options available for the 1326AS Series include: • Integral spring-set holding brakes with 24V DC coils (-K3, -K4, -K6, and -K8). • Shaft Oil Seal Kits for installing a Nitrile shaft seal in the field. Motor disassembly is not required. When the shaft seal is installed, the motor is dust tight, able to withstand pulsating water jets and meets the IP65 requirements of the IEC 529 standard.
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Motors 6-77 General Specifications The following section contains 1326AS servo motor performance, mechanical, winding, constants, storage and operating, and mounting bolt specifications. Performance Specifications Rated Speed rpm Motor Rated Output kW System Continuous Torque N-m (lb-in.) System Peak Stall Torque N-m (lb-in.) System Continuous Stall Current Amps System Peak Stall Current Amps 1394 Axis Module AM03 460V 380V Motor Rated Torque N-m (lb-in.) B310H 6200 5120 0.7 (6.1) 0.3 0.
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6-78 Motors Mechanical Specifications Motor 1326AS- Rotor moment of inertia kg-m2 (lb-in.-s2) Motor net weight kg (lb) B310H 0.000045 (0.0004) 2.8 (6.2) B330H 0.00009 (0.0008) 4.3 (9.4) B420G 0.0003 (0.0027) 8.1 (17.86) B440G 0.0005 (0.0046) 11.7 (25.79) B460F 0.00075 (0.0066) 13.8 (30.4) B630F 0.0014 (0.012) 18.3 (40.4) B660E 0.0025 (0.022) 26.9 (59.4) B690E 0.0036 (0.032) 34.8 (76.8) B840E 0.0063 (0.056) 46.7 (103) B860C 0.0094 (0.083) 56.1 (123.6) Balance1 mm (in.) 0.
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Motors 6-79 Mechanical, Electrical and Thermal Constants Motor Mechanical Time Constant at 40° C (104° F) ms 1326AS- Electrical Time Constant at 40° C (104° F) ms Thermal Time Constant minutes B310H 3.3 1.4 11 B330H 1.3 2.4 21 B420G 2 3.9 18 B440G 1.3 4 35 B460F 0.98 5.5 41 B630F 0.89 8.7 50 B660E 0.65 11.3 60 B690E 0.65 10.4 90 B840E 0.85 20.9 74 B860C 0.76 23.
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6-80 Motors Motors Dimensions The following section provides dimensions for the 1326AS Series servo motors. Figure 6.26 1326AS-B3 Servo Motor Dimensions L L-LB LB Dimensions are in millimeters (inches). Commutation Resolver Input Power Input T AD LC EC M EA Key P1 N P2 DA HD AC D EB R Shaft Detail FA Shaft and Pilot Tolerances Shaft Runout 0.025 (0.001) T.I.R. Shaft Endplay 0.025 (0.001) T.I.R. Pilot Eccentricity 0.08 (0.0032) T.I.R. Maximum Face Runout 0.08 (0.0032) T.I.R. M4 x 0.
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Motors 6-81 Figure 6.27 1326AS-B4 Servo Motor Dimensions (1326AS-B4xx-21-Kx) Dimensions are in millimeters (inches). L LB L-LB LC AD M EA Key P1 N EB R Shaft and Pilot Tolerances Shaft Runout 0.04 (0.0016) T.I.R. Shaft Endplay 0.025 (0.001) T.I.R. Pilot Eccentricity 0.08 (0.0032) T.I.R. Maximum Face Runout 0.08 (0.0032) T.I.R. HD AC Q D P2 DA RR 45° 45° 10 mm Dia. Thru-Hole 4 required on a 115 mm Dia. B.C. Shaft Detail FA M6 x 1 Tapped Hole 10 (0.39) Deep min. Key - 6 x 6 x 30 (0.
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6-82 Motors Figure 6.28 1326AS-B6 Servo Motor Dimensions (1326AS-B6xx-21-Kx) Dimensions are in millimeters (inches). L LB L-LB LC LD T AD1 AD2 EC AL M EA P1 AC P2 HD D DA R RR 45° Shaft and Pilot Tolerances Shaft Runout 0.05 (0.002) T.I.R. Shaft Endplay 0.025 (0.001) T.I.R. Pilot Eccentricity 0.1(0.004) T.I.R. Maximum Face Runout 0.1 (0.004) T.I.R. 35 Dia. (1.38) 15 mm Dia. Thru-Hole Motor Front 4 required on a 215 mm Dia. B.C. End Cap Corner Radius 31.8 (1.25) Shaft Detail ±0.397 (0.
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Motors 6-83 Figure 6.29 1326AS-B8 Servo Motor Dimensions (1326AS-B8xx-21-Kx) Dimensions are in millimeters (inches). L LB L-LB LC AD1 T EC AL AD2 M EA P1 AC P2 HD D DA EB R RR Shaft and Pilot Tolerances Shaft Runout 0.05 (0.002) T.I.R. Shaft Endplay 0.025 (0.001) T.I.R. Pilot Eccentricity 0.1 (0.004) T.I.R. Maximum Face Runout 0.1 (0.004) T.I.R. 45° Shaft Detail 15 mm Dia. Thru-Hole 4 required on a 265 mm Dia. B.C. FA Key - 12 x 8 x 60 (0.472 x 0.315 x 2.36) M8 x 1.25 Tapped Hole 19 (0.
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6-84 Motors Load Force Ratings The following section contains the 1326AS servo motor output shaft radial and thrust loads. Figure 6.30 1326AS Servo Motor Output Shaft Radial Load vs.
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Motors 6-85 Integral Holding Brake The following section contains a description of and specifications for a 1326AS servo motor integral holding brake. The disc-type brake is spring-set upon removal of power. It is designed to hold a load at rest and provide limited braking torque for emergency stopping. The brake is not intended to be used as a positioning brake or continuously cycled to assist in stopping a load.
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6-86 Motors 1326AS Series Servo Motor Catalog Number Note: Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering chart below to understand the configuration of your motor. For questions regarding product availability, contact your Allen-Bradley distributor 1326-AS-B 3 x x-21-xx Standard Options K3 = 2.26 N-m (20 lb.-in.) Holding brake with 24V DC coil for 1326AS-B3 frame series. K4 = 10.2 N-m (90 lb.-in.
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Motors 6-87 General Motor Performance Definitions The following section contains a list of general motor performance definitions. Rated Speed - The operating speed of the drive and motor combination at which approximately 70% of continuous rated torque (To) can be developed. This point is defined with the motor at 25° C (77° F). Rated Operation Area - The boundary of the torque-speed curve where the motor and controller combination may operate on a servo basis without exceeding the RMS rating of either.
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6-88 Motors Publication GMC-SG001E-EN-P — June 2001
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Chapter 7 System Combinations This chapter provides the Ultra3000, Ultra5000, and 1394 drive-motor combinations. Each combination includes the torque/speed reference table, motor power cable, and feedback cable. Refer to the chapter Motors for a list of general motor performance definitions. Ultra3000 and Ultra5000 Drives with F-Series Motors 2098-DSD-020, -020X, -020-DN, -020X-DN, -020-SE, 2098-IPD-020, -020-DN, and F-4030 Torque Torque 13.56 120 (lb-in.) (N-m) 9.04 80 4.
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7-2 System Combinations Ultra3000 and Ultra5000 Drives with F-Series Motors, Continued 2098-DSD-075, -075X, -075-DN, -075X-DN, -075-SE, and F-4075 Torque (N-m) 20.34 13.56 120 6.78 60 0 Drive Motor Power Cable 2090-UXNPAHF-14Sxx Encoder Feedback 2090-UXNFBHF-Sxx F-4075 1000 2000 3000 Speed (RPM) 2098-DSD-075, -075X, -075-DN, -075X-DN, -075-SE, and F-6100 Torque 35.03 320 (N-m) 240 27.1 18.1 160 9.0 80 0 22.6 200 11.
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System Combinations 7-3 Ultra3000 and Ultra5000 Drives with F-Series Motors, Continued 2098-DSD-150, -150X, -150-DN, -150X-DN, -150-SE, and F-6200 Torque 45.2 (N-m) 2098-DSD-150, -150X, -150-DN, -150X-DN, -150-SE 33.9 400 Torque (lb-in.) 300 22.6 200 11.3 100 0 0 1000 2000 3000 Speed (RPM) Drive = Motor Power Cable 2090-UXNPAHF-14Sxx Encoder Feedback 2090-UXNFBHF-Sxx F-6200 0 2098-DSD-150, -150X, -150-DN, -150X-DN, -150-SE, and F-6300 Torque 67.8 600 Torque (N-m) (lb-in.) 45.2 400 22.
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7-4 System Combinations Ultra3000 and Ultra5000 Drives with H-Series Motors, Continued 2098-DSD-020, -020X, -020-DN, -020X-DN, -020-SE, 2098-IPD-020, -020-DN, and H-3016 50 Torque Torque 5.65 (N-m (lb-in.) 4.52 40 3.39 30 2.26 20 1.
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System Combinations 7-5 Ultra3000 and Ultra5000 Drives with H-Series Motors, Continued 2098-DSD-030, -030X, -030-DN, -030X-DN, -030-SE, and H-4075 Torque (N-m) 20.34 2098-DSD-030, -030X, -030-DN, -030X-DN, -030-SE Torque 180 (lb-in.) 13.56 120 6.78 60 0 0 1000 2000 Speed (RPM) 13.56 120 6.78 60 0 2000 Speed (RPM) 2098-DSD-075, -075X, -075-DN, -075X-DN, -075-SE = Motor Power Cable 2090-UXNPAHF-14Sxx H-4050 0 4000 2098-DSD-075, -075X, -075-DN, -075X-DN, -075-SE Torque 240 (lb-in.) 18.
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7-6 System Combinations Ultra3000 and Ultra5000 Drives with H-Series Motors, Continued 2098-DSD-075, -075X, -075-DN, -075X-DN, -075-SE, and H-6200 Torque 45.2 400 Torque (N-m) (lb-in.) 300 33.9 22.6 200 11.3 100 0 0 2098-DSD-075, -075X, -075-DN, -075X-DN, -075-SE Drive = Encoder Feedback 2090-UXNFBHF-Sxx H-6200 0 1000 2000 3000 Speed (RPM) 2098-DSD-150, -150X, -150-DN, -150X-DN, -150-SE, and H-6200 Torque 56.5 500 Torque (N-m) (lb-in.) 45.2 400 33.9 300 22.6 200 11.
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System Combinations 7-7 Ultra3000 and Ultra5000 Drives with H-Series Motors, Continued 2098-DSD-150, -150X, -150-DN, -150X-DN, -150-SE, and H-8500 Torque (N-m) 101.7 67.8 600 33.9 300 0 2098-DSD-150, -150X, -150-DN, -150X-DN, -150-SE Torque 900 (lb-in.
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7-8 System Combinations Ultra3000 and Ultra5000 Drives with 230V MP-Series Motors, Continued 2098-DSD-010, -010X, -010-DN, -010X-DN, -010-SE 2098-IPD-010, -010-DN, and MPL-A320H Torque 7 61.9 Torque (lb-in.) (N-m) 6 53.1 5 44.2 4 35.4 3 26.5 2 17.7 1 8.
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System Combinations 7-9 Ultra3000 and Ultra5000 Drives with 230V MP-Series Motors, Continued 2098-DSD-030, -030X, -030-DN, -030X-DN, -030-SE, and MPL-A430P Torque 12 (N-m) 10 106.2 Torque (lb-in.) 88.5 8 70.8 6 53.1 4 35.4 2 17.7 0 0 1000 2000 3000 Speed (RPM) 4000 2098-DSD-030, -030X, -030-DN, -030X-DN, -030-SE Motor Power Cable 2090-UXNPAMP-16Sxx = 0 5000 8 70.8 6 53.1 4 35.4 2 17.7 0 1000 2000 3000 Speed (RPM) = 8 70.8 6 53.1 4 35.4 2 17.7 0 4000 10 88.5 8 70.
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7-10 System Combinations Ultra3000 and Ultra5000 Drives with 230V MP-Series Motors, Continued 2098-DSD-030, -030X, -030-DN, -030X-DN, -030-SE, and MPL-A4530K Torque 20 177 Torque (N-m) (lb-in.) 16 141.6 12 106.2 8 70.8 4 35.4 0 0 700 1400 2100 Speed (RPM) 2098-DSD-030, -030X, -030-DN, -030X-DN, -030-SE Motor Power Cable 2090-UXNPAMP-16Sxx = 12 106.2 8 70.8 4 35.
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System Combinations 7-11 Ultra3000 and Ultra5000 Drives with N-Series Motors 2098-DSD-005, -005X, -005-DN, -005X-DN, -005-SE, 2098-IPD-005, -005-DN, and N-2302 Torque 0.56 (N-m) 0.45 5 Torque (lb-in.) 4 0.34 3 0.23 2 0.11 1 0 0 2000 4000 Speed (RPM) = N-2302 2098-DSD-010, -010X, -010-DN, -010X-DN, -010-SE, 2098-IPD-010, -010-DN, and N-2304 Torque 1.58 14 Torque (N-m) (lb-in.) 12 1.36 10 1.13 8 0.90 6 0.68 4 0.45 2 0.
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7-12 System Combinations Ultra3000 and Ultra5000 Drives with N-Series Motors, Continued 2098-DSD-010, -010X, -010-DN, -010X-DN, -010-SE, 2098-IPD-010, -010-DN, and N-3412 Torque 4.52 (N-m) 40 Torque (lb-in.) 3.39 30 2.26 20 1.12 10 0 0 2000 4000 Speed (RPM) = Drive Motor Power Cable 2090-UXNPAN-16Sxx Encoder Feedback 2090-UXNFBN-Sxx N-3412 0 6000 2098-DSD-010, -010X, -010-DN, -010X-DN, -010-SE, 2098-IPD-010, -010-DN, and N-4214 45 Torque Torque 5.09 (N-m) (lb-in.) 3.96 35 2.83 25 1.
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System Combinations 7-13 Ultra3000 and Ultra5000 Drives with N-Series Motors, Continued 2098-DSD-020, -020X, -020-DN, -020X-DN, -020-SE, 2098-IPD-020, -020-DN, and N-5630 Torque 11.3 100 Torque (N-m) (lb-in.) 9.04 80 6.78 60 4.52 40 2.26 20 0 0 N-5630 0 4000 2000 Speed (RPM) 6.78 60 4.52 40 2.26 20 2000 4000 Speed (RPM) 80 6.78 60 4.52 40 2.
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7-14 System Combinations Ultra3000 and Ultra5000 Drives with N-Series Motors, Continued 2098-DSD-020, -020X, -020-DN, -020X-DN, -020-SE, 2098-IPD-020, -020-DN, and N-5647 Torque 18.08 160 Torque (N-m) (lb-in.) 13.56 120 9.04 80 4.52 40 0 0 1000 2000 Speed (RPM) = Motor Power Cable 2090-UXNPAN-16Sxx N-5647 0 3000 9.04 80 4.52 40 0 0 3000 1000 2000 Speed (RPM) Drive Encoder Feedback 2090-UXNFBN-Sxx 2098-DSD-030, -030X, -030-DN, -030X-DN, -030-SE, and N-5647 Torque 18.
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System Combinations 7-15 Ultra3000 and Ultra5000 Drives with 115V Y-Series Motors, Continued 2098-DSD-020, -020X, -020-DN, -020X-DN, -020-SE, 2098-IPD-020, -020-DN, and Y-2006 Torque 2.26 20 Torque (N-m) (lb-in.) 16 1.80 1.36 12 0.90 8 0.45 4 0 0 0 Drive Motor Power Cable 2090-UXNPAY-16Sxx = Encoder Feedback 2090-UXNFBY-Sxx Y-2006 2000 4000 Speed (RPM) 2098-DSD-020, -020X, -020-DN, -020X-DN, -020-SE, 2098-IPD-020, -020-DN, and Y-2012 40 Torque Torque 4.52 (lb-in.) (N-m) 3.39 30 2.26 20 1.
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7-16 System Combinations Ultra3000 and Ultra5000 Drives with 230V Y-Series Motors, Continued 2098-DSD-010, -010X, -010-DN, -010X-DN, -010-SE, 2098-IPD-010, -010-DN, and Y-2006 Torque 2.26 20 Torque (lb-in.) (N-m) 1.70 15 1.13 10 0.56 5 0 0 2098-DSD-010, -010X, -010-DN, -010X-DN, -010-SE 2098-IPD-010, -010-DN Drive 0 Motor Power Cable 2090-UXNPAY-16Sxx = Encoder Feedback 2090-UXNFBY-Sxx 2098-DSD-010, -010X, -010-DN, -010X-DN, -010-SE, 2098-IPD-010, -010-DN, and Y-2012 Torque 4.
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System Combinations 7-17 1394 Drive/Axis Modules with 460V MP-Series Motors 1394 and MPL-B310P Torque (N-m) 4 35.4 3.5 30.975 3 460V 2.5 peak AM03 17.7 1.5 1394 Drive and 1394x-AM03 Axis Module 26.55 22.125 2 Torque (lb-in.) = 13.275 continuous AM03 1 380V 0 1000 Motor Power Cable 2090-CDNPB-MP-Sxx 8.85 0.5 0 Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. 4.
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7-18 System Combinations 1394 Drive/Axis Modules with 460V MP-Series Motors, Continued 1394 and MPL-B420P Torque (N-m) 10 88.5 peak AM07 Torque (lb-in.) 460V 8 1394 Drive and 1394x-AM07 Axis Module 70.8 peak AM04 peak AM03 6 53.1 continuous AM04/07 4 = 35.4 2 Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. Motor Power Cable 2090-CDNPB-MP-Sxx 17.
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System Combinations 7-19 1394 Drive/Axis Modules with 460V MP-Series Motors, Continued 1394 and MPL-4530F 25 221.25 Torque (N-m) peak AM07 20 Torque (lb-in.) 177 1394 Drive and 1394x-AM07 Axis Module 460V 15 132.8 peak AM04 10 88.5 continuous AM07 380V 0 0 500 Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. continuous AM04 5 = Motor Power Cable 2090-CDNPB-MP-Sxx 44.
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7-20 System Combinations 1394 Drive/Axis Modules with 1326AB Motors Each motor was tested at a line voltage of 460V AC, in a 40° C (104° F) ambient environment. The case temperature was approximately 100° C (212° F) with the motor windings at an 80° C (176° F) rise over ambient. Torque ratings were determined when the motor was mounted to a 304.8 mm x 304.8 mm x 25.4 mm (12 in. x 12 in. x 1 in.) steel mounting bracket.
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System Combinations 7-21 1394 Drive/Axis Modules with 1326AB Motors, Continued 1394 and 1326AB-B420E Torque 14 (N-m) 123.9 Torque (lb-in.) peak AM04/07 460V 10 88.5 peak AM03 1326AB-B420E Motor = 380V 6 1394 Drive and 1394x-AM03/04/07 Axis Modules 53.1 Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. continuous AM03/04/07 2 Motor Power Cable 1326-CPB1x-xx-xxx 17.
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7-22 System Combinations 1394 Drive/Axis Modules with 1326AB Motors, Continued 1394 and 1326AB-B430G Torque 16 (N-m) peak AM07 460V 380V 12 141.6 Torque (lb-in.) 1394 Drive and 1394x-AM04/07 Axis Modules 106.2 peak AM04 70.8 8 1326AB-B430G Motor = Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. 4 continuous AM07 Motor Power Cable 1326-CPB1x-xx-xxx 35.4 cont.
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System Combinations 7-23 1394 Drive/Axis Modules with 1326AB Motors, Continued 1394 and 1326AB-B520E Torque 40 (N-m) 354 peak AM50/75 32 peak AM07 peak AM04 1394 Drive and 1394x-AM04/07/50/75 Axis Modules 283.2 460V 24 Torque (lb-in.) 380V 212.4 1326AB-B520E Motor = Status 141.6 16 DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. 8 cont. AM04 cont. AM07/50/75 Motor Power Cable 1326-CPB1x-xx-xxx 70.
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7-24 System Combinations 1394 Drive/Axis Modules with 1326AB Motors, Continued 1394 and 1326AB-B720E Torque 90 (N-m) 80 460V AM75 peak 796.5 Torque 708 (lb-in.) 1394 Drive and 1394x-AM50/75 Axis Modules 619.5 70 380V 60 50 531 442.5 AM50 peak 354 40 1326AB-B720E Motor = Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. 265.5 30 AM50/75 cont. 20 10 88.
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System Combinations 7-25 1394 Drive/Axis Modules with 1326AB Motors, Continued 1394 and 1326AB-B740C Torque 120 (N-m) 100 460V AM75 peak 1062 Torque (lb-in.) 885 1394 Drive and 1394x-AM50/75 Axis Modules 380V 708 80 AM50 peak 60 531 1326AB-B740C Motor = Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. 40 354 AM50/75 cont.
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7-26 System Combinations 1394 Drive/Axis Modules with 1326AS Motors The motor was tested at a line voltage of 460V AC, in an environment where the ambient temperature was 40° C (104° F). The case temperature was approximately 100° C (212° F) with the motor windings at an 85° C (185° F) rise over ambient. Torque ratings were determined when the motor was mounted to a 304.8 mm x 304.8 mm x 25.4 mm (12 in. x 12 in. x 1 in.) steel mounting bracket.
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System Combinations 7-27 1394 Drive/Axis Modules with 1326AS Motors, Continued 1394 and 1326AS-B420G Torque 10 (N-m) peak AM04/07 88.5 Torque (lb-in.) 460V 70.8 8 6 53.1 380V peak AM03 1394 Drive and 1394x-AM03/04/07 Axis Modules 35.4 4 = 1326AS-B420G Motor Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. cont. AM03/04/07 2 Motor Power Cable 1326-CPB1x-xx-xxx 17.
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7-28 System Combinations 1394 Drive/Axis Modules with 1326AS Motors, Continued 1394 and 1326AS-B630F 28 247.8 Torque (N-m) 24 Torque 212.4 (lb-in.) 460V peak AM50 1394 Drive and 1394x-AM07/50 Axis Modules 177 20 peak AM07 16 380V 141.6 12 106.2 8 70.8 cont. AM50 = 1326AS-B630F Motor Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. cont. AM07 4 Motor Power Cable 1326-CPC1x-xx-xxx 35.
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System Combinations 7-29 1394 Drive/Axis Modules with 1326AS Motors, Continued Torque (N-m) 1394 and 1326AS-B840E 70 460V peak AM75 619.5 Torque (lb-in.) peak AM50 50 1394 Drive and 1394x-AM50/75 Axis Modules 442.5 380V 30 265.5 cont. AM50/75 = 1326AS-B840E Motor Status DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. Motor Power Cable 1326-CPC1x-xx-xxx 88.
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7-30 System Combinations Publication GMC-SG001E-EN-P — June 2001
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Chapter 8 Motion Control Accessories This chapter includes dimensions, specifications, and catalog numbers for the Bulletin 2098 Ultra Family and the Bulletin 1394 System Family accessories, as outlined in the tables below.
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8-2 Motion Control Accessories Figure 8.
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Motion Control Accessories 8-3 Ultra Family Cable Dimensions The following sections contain the dimensions for Ultra Family motor power, motor feedback, and interface cables. Motor Power Cable Dimensions Figure 8.2 H-Series Motor Power Cable Dimensions (2090-UXNPAH-16Sxx) Dimensions are in millimeters (inches). 101.6 (4) 66.29 (2.61) 50.8 1 (2) 12.7 1 (0.51) Brown Black Blue 25.4 1 (1) U V W Green/Yellow 91.7 (3.61) Bend Radius 20.32 1 (0.8) 30.48 1 (1.2) 1 6.35 (0.25) 184.15 2 (7.25) 9.
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8-4 Motion Control Accessories Figure 8.5 MP-Series Motor Power Cable Dimensions (2090-UXNPAMP-16Sxx, -14Sxx and -10Sxx) Dimensions are in millimeters (inches). 304.8 (12)3 88.9 (3.5) 12.7 (0.5)1 50.8 (2)1 Brown Black Blue 25.4 (1)1 U V W 20.32 (0.8)1 50.8 (2)1 Green/Yellow 6.35 (0.25)1 96.52 (3.8) Bend Radius 133.35 (5.25)1 184.15 (7.25)2 1 Tolerance is +3.05 mm (+0.12 in.). 2 Tolerance is ±6.35 mm (±0.25 in.). 3 Tolerance is ±12.7 mm (±0.5 in.) 9.89 mm (0.39 in.) diameter 10.13 mm (0.4 in.
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Motion Control Accessories 8-5 Motor Feedback Cable Dimensions Figure 8.8 H/F-Series Motor Feedback Cable Dimensions (2090-UXNFBHF-Sxx and 2090-UXNFDHF-Sxx) Dimensions are in millimeters (inches). 49.78 (1.96) 304.8 (12)1 113.54 (4.47) 45° 16.51 (0.65) 96.52 (3.8) Bend Radius 34.04 (1.34) 33.53 (1.32) 9.65 mm (0.38 in.) diameter 1 Tolerance is ±12.7 mm (±0.5 in.). 35.544 mm (1.36 in.) diameter Figure 8.
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8-6 Motion Control Accessories Figure 8.10 N-Series Motor Feedback Cable Dimensions (2090-UXNFBN-Sxx and 2090-UXNFDN-Sxx) Dimensions are in millimeters (inches). 49.78 (1.96) 304.8 (12)1 83.31 (3.28) 45° 29.36 mm (1.16 in.) diameter 16.51 (0.65) 96.52 (3.8) Bend Radius 34.04 (1.34) 33.53 (1.32) 1 Tolerance is ±12.7 mm (±0.5 in.). 9.65 mm (0.38 in.) diameter Figure 8.11 Y-Series Motor Feedback Cable Dimensions (2090-UXNFBY-Sxx and 2090-UXNFDY-Sxx) Dimensions are in millimeters (inches). 304.
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Motion Control Accessories 8-7 Interface Cable Dimensions Figure 8.12 Serial Interface Cable Dimensions (2090-UXPC-D09xx) Dimensions are in millimeters (inches). 49.78 (1.96) 53.85 (2.12) 304.8 (12)1 45° 16.51 (0.65) 33.32 (1.31) 6.43 (0.25)2 Diameter 34.04 (1.34) 33.53 (1.32) 1 Tolerance is ±12.7 mm (±0.5 in.). 2 Tolerance is ±0.254 mm (±0.01 in.) Figure 8.13 Control Interface Cable Dimensions (2090-U3CC-D44xx) 304.8 (12.0) Dimensions are in millimeters (inches). 127 (5) 45 12.7 (0.5) 15.
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8-8 Motion Control Accessories Figure 8.14 ControlLogix 1756-M02AE Card Encoder Cable Dimensions (2090-U3AE-D44xx) 55.47 (2.184) Dimensions are in millimeters (inches). 1500 (59)1 Axis 0 - CN1 12.7 (0.5) Axis 1 - CN1 11.94 (0.47)2 Diameter 55.47 (2.184) 1 Tolerance is +40 mm (1.576 in.). 2 Tolerance is ±0.51 mm (±0.02 in.). Figure 8.15 Fiber-Optic SERCOS Interface Cable Dimensions (2090-SCxxx-x-x) Dimensions are in millimeters (inches). Diameter: Plastic Fiber = 1 (0.0394) Glass Fiber = 0.5 (0.
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Motion Control Accessories 8-9 Ultra Family Cable Specifications The following sections contain the specifications for Ultra Family motor power, motor feedback and control interface cables.
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8-10 Motion Control Accessories Ultra Family Cable Catalog Numbers Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering charts below to understand the configuration of your cables. For questions regarding product availability, contact your Allen-Bradley distributor. Motor Power and Feedback Cables 2090 - U X N xx -xx xx S xx Length 01 = 1 m (3.3 ft.)1, 03 = 3 m (9,9 ft)2, 09 = 9 m (29.5 ft)3, 15 = 15 m (49.
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Motion Control Accessories 8-11 Control Interface Cables 2090- U3 xx - D44 xx Length 01 = 1 m (3.3 ft.)1, 03 = 3 m (9.9 ft) 2, 09 = 9 m (29.5 ft) 3, 15 = 15 m (49.2 ft)4, and 30 = 30 m (98.4 ft)5 Connector Type D44 = 44-pin, D-Shell for control interface Host CC = Controller cable AE = ControlLogix 1756-M02AE Card Encoder Cable Drive U3 = Ultra3000 1 Tolerance is +10/-0 cm (+25.4/-0 in.). 2 Tolerance is +15/-0 cm (+38.1/-0 in.). 3 Tolerance is +30/-0 cm (+76.2/-0 in.). 4 Tolerance is +45/-0 cm (+114.
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8-12 Motion Control Accessories Ultra Family Cable Connection and Functionality Charts The following section contains the Ultra3000/5000 functionality charts for motor power, motor feedback and interface cables. Figure 8.
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Motion Control Accessories 8-13 Figure 8.17 Ultra5000 Cable Connection and Functionality Chart Cable Description Cable Catalog Number Ultra5000 Motor Power Cables 500W, 1 kW, 2 kW Ultra5000 to H-Series Motors 500W, 1 kW, 2 kW Ultra5000 to H-Series Motors 2 or 3 kW Ultra5000 to H and F-Series Motors 7.5 kW Ultra5000 to H and F-Series Motors 500W, 1 kW, 2 kW Ultra5000 to MP-Series Motors 2 or 3 kW Ultra5000 to MP-Series Motors 7.
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8-14 Motion Control Accessories Break Out Board Components The following sections contain descriptions, dimensions, specifications and catalog numbers for the Ultra3000/5000 break out board kits, cables, and boards. Board Kits Breakout board kits include the 2090-UxBB-Dxx DIN rail terminal block, 2090-UxBC-Dxxxx cable, and mounting hardware.
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Motion Control Accessories 8-15 Figure 8.19 44-Pin Break Out Board Dimensions (2090-U3BB-D44) 49.63 (1.954) Dimensions are in millimeters (inches). 87.12 (3.43) Side View Front View 69.85 (2.75) 125.98 (4.96) 62.3 (2.48) Bottom View Figure 8.20 9-Pin Drive-Mounted Breakout Board Dimensions (2090-UXBB-DM09) 54.1 (2.13) Connector End 30.73 (1.21) 7.112 (0.25) 8.636 (0.34) Top View Front View Dimensions are in millimeters (inches). 5.08 (0.2) 2.286 (0.09) 1.524 (0.06) 4.572 (0.
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8-16 Motion Control Accessories Figure 8.21 15-pin Drive-Mounted Breakout Board Dimensions (2090-UXBB-DM15) 50.8 (2) Connector End Top View 7.112 (0.25) Front View 8.636 (0.34) 3.81 (0.15) Dimensions are in millimeters (inches). 2.286 (0.09) 1.524 (0.06) 4.572 (0.18) Figure 8.22 44-Pin Drive-Mounted Breakout Board Dimensions (2090-U3BB-DM44) 12.4 (0.49) Dimensions are in millimeters (inches). 69.85 (2.75) 12.4 (0.49) 9.39 (0.
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Motion Control Accessories 8-17 Cable Dimensions Figure 8.23 15-Pin Break Out Board Cable Dimensions (2090-UXBC-D15xx) 15.85 (0.624) 64.897 (2.55) Dimensions are in millimeters (inches) 41.707 (1.642) 33.53 (1.32) Figure 8.24 44-Pin Break Out Board Cable Dimensions (2090-U3BC-D44xx) 19.05 (0.75) Dimensions are in millimeters (inches). 19.05 (0.75) 59.13 (2.328) 44.45 (1.75) 0.625 (15.9) 45º 70.2 (2.764) 33.32 (1.312) 83.36 (3.282) 55.47 (2.
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8-18 Motion Control Accessories Break Out Component Catalog Numbers Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering charts below to understand the configuration of your product. For questions regarding product availability, contact your Allen-Bradley distributor. 2090 - U x xx - Dxxx xx Length in meters 01 = 1 m (3.3 ft) 03 = 3 m (9.8 ft) 09 = 9 m (29.5 ft) 15 = 15 m (49.
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Motion Control Accessories 8-19 Ultra Family Connector Kits The following sections contain the motor connector kit descriptions, mating connector kit descriptions, and the connector kit catalog numbers for the Ultra3000/5000 drives.
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8-20 Motion Control Accessories Motor Connector Kit Catalog Numbers Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering chart below to understand the configuration of your kit. For questions regarding product availability, contact your Allen-Bradley distributor. 2090 -xx x C -x xxxx Motor Series Compatibility 2000 and 3000 = 500W, 1 kW, and 2 kW drives 4000 = 2 kW and 3 kW drives 6000 = 7.5 kWdrives 8000 = >7.
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Motion Control Accessories 8-21 Ultra Family AC Line Filters The following sections contain Ultra Family AC line filter descriptions, dimensions and catalog number information.
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8-22 Motion Control Accessories Figure 8.26 AC Line Filter (9101-1517) for 1 kW Ultra3000/5000 Drives 11 (0.43) 192 (7.56) 104 (4.01) Line 145 (5.71) Load 20 (0.79) 214 (0.43) 11 (0.43) 40 (1.58) 192 (7.56) Dimensions are in millimeters (inches). 16 (0.63) Bottom View Figure 8.27 AC Line Filter (9101-1518) for 2 kW Ultra3000/5000 Drives 11 (0.43) 192 (7.56) 164 (6.46) Line Load 204 (8.04) 20 (0.79) 214 (0.43) 47 (1.85) Dimensions are in millimeters (inches). 11 (0.43) 192 (7.
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Motion Control Accessories 8-23 Figure 8.28 AC Line Filter (9101-1387) for 3 kW Ultra3000/5000 Drives R = 3 (0.12) = 12 (0.47) Load Line 101 (3.98) 12 (0.47) Dimensions are in millimeters (inches). 80 (3.15) 20 (0.78) 86 (3.39) 104 (4.10) 60 (2.36) M6 M6 x 12 55 (2.17) 22 (0.87) 174 (6.86) Side View 20 (0.79) 120 (4.73) Bottom View Figure 8.29 AC Line Filter (9101-1388) for use with multiple Ultra3000/5000 drives) Radius = 3 (0.12) 101 (3.98) Line = 12 (0.47) Load 12 (0.47) 20 (0.
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8-24 Motion Control Accessories Figure 8.30 AC Line Filter (9101-1389) for 7.5 kW Ultra3000/5000 Drives R = 3 (0.12) Line 128 (5.04) (L1) (L1') (L2) (L2') (L3) (L3') = 12 (0.47) Load 12 (0.47) M6 (E) Dimensions are in millimeters (inches). 120 (4.73) 14 (0.55) 110 (4.33) 25 (0.98) 113 (4.45) 25 (0.98) 25 (0.98) 22 (0.87) 55 (2.17) Side View 230 (9.06) Bottom View 147 (5.79) Figure 8.31 AC Line Filter (9101-1390) for Multiple Ultra3000/5000 Drives R = 3 (0.12) Line 167 (6.
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Motion Control Accessories 8-25 Figure 8.32 AC Line Filter (9101-1575) for 15 kW Ultra3000/5000 Drives R = 3 (0.12) Line 128 (5.04) (L1) (L1') (L2) (L2') (L3) (L3') (E) = 12 (0.47) Load M6 12 (0.47) Dimensions are in millimeters (inches). 113 (4.45) 120 (4.73) 110 (4.33) 14 (0.55) 25 (0.98) 25 (0.98) 25 (0.98) 22 (0.87) 55 (2.17) 230 (9.06) Side View 147 (5.
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8-26 Motion Control Accessories Ultra Family Shunt Resistor Kits The following sections contain Ultra Family external shunt resistor descriptions, dimensions, and catalog number information. Shunt Resistor Kits Description 1398-SR3AF Active shunt, 300W for use with 500W, 1 kW, and 2 kW drives 9101-1183 Passive shunt, 200W for use with 2 kW to 7.5 kW drives 1398-SR9P Passive shunt, 900W for use with 7.5 and 15 kW drives Shunt Resistor Kit Dimensions Figure 8.
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Motion Control Accessories 8-27 Figure 8.34 Passive Shunt Resistor Kit (9101-1183) 77.47 (3.05) 50.8 (2) 218.44 (8.6) 25.4 (1) Dimensions are in millimeters (inches). 132 (5.2) 120.65 (4.75) 101.6 (4) Figure 8.35 Passive Shunt Resistor Kit (1398-SR9P) 25 (0.98) 8 (0.32) 155 (6.1) Dimensions are in millimeters (inches). 150 (5.91) 100 (3.94) 280 (11.01) 25 (0.97) 175 (6.89) 125 (4.
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8-28 Motion Control Accessories Ultra Family Motor Shaft Seal Kits The following section contains 2098 Ultra Family motor shaft seal kit combinations, dimensions and catalog number. Motor Shaft Seal Kit Combinations and Dimensions Motor Series Catalog Number Inside Diameter mm (in.) Outside Diameter mm (in.) Width mm (in.) F-4000 0041-5060 22.225 (0.875) 36.4998 (1.437) 6.35 (0.25) F-6000 0041-5061 36.525 (1.438) 53.975 (2.125) 7.874 (0.31) H-2000 0041-5056 12 (0.47) 22 (0.87) 7 (0.
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Motion Control Accessories 8-29 1394 System Family The following sections contain the dimensions, specifications, and catalog numbers for the 1394 cables, AC line filters, shunt modules, and other accessory items. 1394 System Module Cable Dimensions The following section contains dimensions for the 1394 system module to ControlLogix 1756-M02AE module interface cables. Figure 8.36 Single-Axis Flying Lead Cable (1394-CFLAE01, -03, -08, and -15 Cable) Dimensions are in millimeters (inches).
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8-30 Motion Control Accessories Figure 8.39 External Encoder-to-GMC System Module Cable (1394-GE15 Cable) Dimensions are in millimeters (inches). 95.25 (3.75) 228.6 (9) 31.75 (1.25) 152.4 (6) 50.8 (2) 19.05 (0.75) Figure 8.40 Analog Servo-to-Motion Controller Cable (1394-SA15 Cable) Dimensions are in millimeters (inches). 95.25 (3.75) 228.6 (9) 31.75 (1.25) 152.4 (6) 19.05 (0.75) 50.
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Motion Control Accessories 8-31 1394 System Module Cable Catalog Numbers The following sections contain system module cable catalog numbers for the 1394 system family. Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering charts below to understand the configuration of your cables. For questions regarding product availability, contact your Allen-Bradley distributor.
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8-32 Motion Control Accessories SERCOS Interface Fiber-Optic Cables 2090 - S C x x x Cable Length 1-0 = 1 m (3.2 ft) 3-0 = 3 m (9.8 ft) 5-0 = 5 m (16.4 ft) 8-0 = 8 m (26.2 ft) 10-0 = 10 m (32.8 ft) 15-0 = 15 m (4 in.) 20-0 = 20 m (65.5 ft) 25-0 = 25 m (82 ft) 32-0 = 32 m (105 ft) 50-0 = 50 m (164.2 ft) 100-0 = 100 m (328.3 ft) 150-0 = 150 m (492.5 ft) 200-0 = 200 m (656.
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Motion Control Accessories 8-33 Dimensions Figure 8.41 1394 Filter Dimensions (SP-74102-006-01) 11 (0.43) 192 (7.55) 20 (0.78) Dimensions are in millimeters (inches). L3 L2 L1 E Line L3 L2 164 (6.45) L1 E Load 204 (8.03) 214 (8.42) 19 (0.74) 47 (1.85) 192 (7.55) 11 (0.43) 7 (0.275) Figure 8.42 1394 Filter Dimensions (SP-74102-006-02) 15 (0.59) 330 (12.99) 20 (0.78) L3 L3 L2 L2 Line L1 L1 Dimensions are in millimeters (inches). 155 (6.10) Load E E 360 (14.17) 195 (7.67) 25 (0.
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8-34 Motion Control Accessories Figure 8.43 1394 Filter Dimensions (SP-74102-006-03) 20 (0.78) 646 (25.43) 35 (1.37) L3 L3 L2 L2 L1 L1 E E Dimensions are in millimeters (inches). Line 192 (7.55) 686 (27) 263 (10.35) 70 (2.75) 35 (1.37) 20 (0.78) Load 646 (25.43) 1394 External Shunt Kit and Modules Shunt modules dissipate excess regenerative power from the Bulletin 1394 system.
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Motion Control Accessories 8-35 1394 Shunt Module Specifications The following sections contain shunt module specifications and fuse replacement information for the 1394 system family. Shunt Resistor Specifications (5 and 10 kW System Shunts) Specifications Shunt Resistor 1394-SR10A Ratings • 1400W continuous • 40,000W peak (two second maximum on time) Power Volts/Amps Shipping Weight kg (lb) Resistance Ohms 700V, 40A 4.
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8-36 Motion Control Accessories 1394 Shunt Module Dimensions Figure 8.45 Shunt Resistor Kit (1394-SR10A) Fuse Holder Dimensions are in millimeters (inches) External Shunt Resistor (front view) Dimensions are in millimeters (inches) Depth = 100 (3.94) 165.1 (6.5) 19.1 (0.75) Wire Length = 203 (8) 380 (14.96) Wire Length = 1,524 (60) 17 (0.67) + 82.6 (3.25) 342 (13.46) + 100 (3.94) 82.5 38.1 (1.50) Fuse Holder (3.25) Top View Dimensions are in millimeters (inches) Depth = 280 (11.
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Motion Control Accessories 8-37 Figure 8.47 Shunt Module (1394-SR-9A and -9AF) 280 (11.01) Dimensions are in millimeters (inches) 125 (4.92) 175 (6.89) Side View Figure 8.48 Shunt Module (1394-SR-36A and -36AF) 150 (5.91) 8 (0.32) 25 (0.98) 100 (3.94) 24.8 (0.98) Dimensions are in millimeters (inches) Depth = 280 (11.02) Mounting Hole Detail 8.0 (0.31) 10.1 (0.40) 1394 Digital Servo Controller 3600W Shunt Module 350 (13.78) 385.0 1 (15.16) Fastener location 15.9 (0.63) 400 (15.75) 8.0 (0.
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8-38 Motion Control Accessories Figure 8.49 Shunt Module (1394-SR-36A and -36AF) 280 (11.01) Dimensions are in millimeters (inches). 350 (13.78) 400 (15.75) Side View 1394 Shunt Module Catalog Numbers The following sections contain the catalog numbers for the 1394 shunt resistor kit for 5 and 10 kW system modules and the 1394 shunt modules for 22 kW system modules. Catalog numbers consist of various characters, each of which identifies a specific version or option for that component.
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Motion Control Accessories 8-39 MP-Series 460V Servo Motor Cables The following sections contains dimensions, specifications, pinouts and catalog numbers for the 460V MP-Series power and feedback cables (MP-Series to 1394 system/axis module). Dimensions Figure 8.50 MP-Series 460V Power Cable Dimensions (2090-CDNPBMP-16Sxx, -14Sxx and -10Sxx) Dimensions are in millimeters (inches). 88.9 (3.5) BROWN 304.8 (12)2 25.4 (1)3 BLACK 25.4 (1)3 BLUE U V W 155.9 (6.
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8-40 Motion Control Accessories Specifications The following section contains the specifications for the 460V MP-Series motor power and feedback cables.
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Motion Control Accessories 8-41 Pinouts The following section contains the motor feedback and motor power cable pinouts (460V MP-Series motor to 1394 system module/axis module). Feedback Cables 2090-CDNFDMP-Sxx Feedback Cable for Motor Resolver Pair 1 2 4 6 Wire Color Description Gauge mm2 (AWG) System Module Terminal # Connector Pin 1394C-SJTxx-D Black S2 0.34 (22) A 1 White/ Black S4 0.34 (22) B 2 Red S1 0.34 (22) C 3 White/Red S3 0.34 (22) D 4 Yellow R1 0.
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8-42 Motion Control Accessories Power Cables 2090-CDNPBMP-16Sxx Motor Power Cable Wire Number/ Color Description U / Brown Power (U) V / Black Power (V) W / Blue Power (W) PE / Green/ Yellow Ground Braided shield Shield Gauge mm2 (AWG) Connector Pin Axis Module Terminal # 1394C-AMxx A U1 B V1 C W1 1.5 (16) D PE2 N/A N/A Cable Clamp 1.
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Motion Control Accessories 8-43 460V MP-Series Motor Cable Catalog Numbers Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering charts below to understand the configuration of your cables. For questions regarding product availability, contact your Allen-Bradley distributor. 460V MP-Series Power Cable Catalog Number 2090 - C D N PB MP - 16 S xx Length 05 = 5 m (16.4 ft)1, 15 = 15 m (49.2 ft)2, 30 = 30 m (98.
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8-44 Motion Control Accessories 1326AB and 1326AS Motor Cables for 1394 System Family The following sections contain the 1326AB and 1326AS motor power and motor feedback cable connections, dimensions, specifications, and catalog numbers. Power and Feedback Motor Cables Series B Power cables (catalog number 1326-CPB1 and 1326-CPC1) and commutation cables (catalog number 1326-CCU and 1326-CECU) are available in lengths up to 90 m (295 ft) for standard, one-time flex applications.
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Motion Control Accessories 8-45 1326 Cable Dimensions The following sections contain dimensions for the 1326 standard, right-angle, and bulkhead cables. Standard Connector Dimensions Figure 8.52 Motor Power and Feedback Standard Cable Dimensions BR Cable Max. Dia. Commutation Power CH Connector Max. Dia. 1326AB/AS Servo Motor (460V) Cable Description CH1 mm (in.) BR2 mm (in.) Connector Max. Dia. without -L option mm (in.) Connector Max. Dia. with -L option mm (in.) Cable Max. Dia. mm (in.
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8-46 Motion Control Accessories Right-Angle Connector Dimensions Figure 8.53 Motor Power & Feedback Right-Angle Cable Dimensions Cable Max. Dia. Power Connector Max. Dia. Commutation CH BR 1326AB/AS Servo Motor (460V) Cable Description CH1 mm (in.) BR2 mm (in.) Connector Max. Dia. without -L option mm (in.) Connector Max. Dia. with -L option mm (in.) Cable Max. Dia. mm (in.
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Motion Control Accessories 8-47 Bulkhead Connector Dimensions The following tables show dimensions for 1326-CCUx-Ex, 1326-CPB1x-Ex, and 1326-CPC1x-Ex cables. For installation instructions refer to Bulkhead Connection for Series B 1326 Cable Installation Instructions (publication 1326A-5.25). 1326 Cable Screw Threads mm (in) A mm (in) B mm (in) C mm (in) D mm (in) E mm (in) 1326-CCU-E-xxx 1326-CCUT-E-xxx 1326-CCUT-EE-xxx 1326-CCU-EL-xxx 1326-CCUT-EL-xxx 4/40 (3/8) 28.58 (1.13) 3.35 (0.13) 26.
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8-48 Motion Control Accessories 1326 Cable Bend Radius Information Rated Bend Radius in mm (inches) 1326-CCUT 101.6 (4.0) 1326-CPB1T 104.1 (4.1) 1326-CPC1T 160.2 (6.3) Figure 8.56 Flex Cycle Life vs. Cable Bend Radius Flex Cycle Life vs. Cable Bend Radius 1000.00 1000.00 1000.00 1000.00 233.75 240.00 216.00 100.00 72.00 31.88 30.00 10.00 9.90 4.25 4.00 1.35 1.00 0.64 CPC1T 0.18 0.10 CPB1T CCUT 0.03 0.01 3 4 5 6 7 8 B e n d R a d iu s (in c h e s) Figure 8.57 Flex Cycle Life vs.
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Motion Control Accessories 8-49 1326AB and 1326AS Servo Motor Cable Specifications The following section contains the specifications for the 1326AB and 1326AS motor power, auxiliary feedback, and motor feedback cables. Motor Power, Feedback and Auxiliary Feedback Cable Specifications Specifications Cable Description 1326-CPB1-xxx Rating ° C (° F) Shield Coverage Jacket Material Weight kg/m (oz/ft) Motor Power Cable 90° C (194° F) 85%, Braided Thermoplastic Elastomer 0.25 (2.
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8-50 Motion Control Accessories 1326 Connection Solutions with 1394 System Modules Several accessories are available with 460 volt 1326 cables. This section highlights the most common application used with each accessory, including: • Right-angle connection • CE-compliant in-line connection • Remote in-line connection • Harsh environment connection • Double-ended bulkhead in-line connection Right-Angle Connection This solution provides a low-profile right-angle connection at the motor. Figure 8.
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Motion Control Accessories 8-51 CE-Compliant In-Line Connection This solution allows for a quick connect or disconnect at the cabinet wall while meeting CE requirements. Link bulkhead and double-ended cables to create an interconnect in a single cable run. Figure 8.
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8-52 Motion Control Accessories Harsh Environment Connection Use the IP67 cable (with the -L option) with an L motor for harsh environments. Figure 8.61 Harsh Environment Connection 1326-CCUx- x L-xxx (resolver feedback) or 1326-CECUx- x L-xxx (high resolution feedback) AB ALLEN BRADLEY AB ALLEN BRADLEY 1394 1326-CPB1x- L-xxx /-CPC1x- L-xxx (power) DANGER RISK OF ELECTRICAL SHOCK. HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER.
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Motion Control Accessories 8-53 Linear-flex is defined as flex in one direction. The flex-rated cable is not rated for twist-flex, which is flex in two directions. Power track (linear-flex) cabling must not be used in twist applications. Standard Allen-Bradley cables (1326-CCU-xxx for commutation and 1326-CPB1-xxx or 1326-CPC1-xxx for power) are tray-rated (stationary) and should only be used for one-time flex applications.
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8-54 Motion Control Accessories 1326AB and 1326AS Servo Motor Catalog Numbers The following sections contain the 1326AB and 1326AS motor power and feedback cable catalog numbers. Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering charts below to understand the configuration of your cables. For questions regarding product availability, contact your Allen-Bradley distributor.
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Motion Control Accessories 8-55 Motor Feedback Cables 1326 - C xx Ux - xx x xxx Cable Length 001 = 1m (3.3 ft.) 002 = 2 m (6.6 ft.) 004 = 4 m (13.1 ft.) 005 = 5 m (16.4 ft.) 006 = 6 m (19.7 ft.) 008 = 8 m (26.3 ft.) 010 = 10 m (32.8 ft.) 015 = 15 m (49.2 ft.) 030 = 30 m (98.4 ft.) 060 = 60 m (196.8 ft.) 084 = 84 m (275.5 ft.) 090 = 90 m (295.2 ft.
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8-56 Motion Control Accessories 1326 Motor Cable Pin-outs The following sections contain cable pin-outs for the 1326AB and 1326AS motor power and feedback cables (1326AB/AS motor to 1394 system/axis module). 1326 Motor Feedback Cables to 1394 System Modules 1326-CCU-xxx Standard Commutation Cable for Motor Resolver Pair 1 Wire Color Description Gauge mm2 (AWG) Connector Pin System Module Terminal # 1394C-SJTxx-D System Module Terminal # 1394x-SJTxx-x (except -D) Black R1 0.
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Motion Control Accessories 8-57 1326-CEU-xxx Quadrature Encoder Cable Pair 1 2 3 4 5 Wire Color Description Encoder 1394 Drive Gauge mm2 (AWG) Connector Pin System Module Terminal # 1394C-SJTxx-D Black A (NOT) AM- 0.34 (22) H 2 White A AM+ 0.34 (22) A 1 Shield Shield N/A no connection Cable Clamp Black COMMON COMMON 0.34 (22) F 5 Red +5V DC +5V DC 0.34 (22) D 7 Shield Shield N/A no connection Cable Clamp Black Z (NOT) IM- 0.34 (22) J 9 Orange Z IM+ 0.
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8-58 Motion Control Accessories 1326 Motor Power Cables to 1394 System Modules 1326-CPB1-xxx Standard Motor Power Cable Gauge mm2 (AWG) Connector Pin Axis Module Terminal # 1394C-AMxx 1 U1 2 V1 3 W1 1.5 (16) 4 TB1-3 Thermostat (K1) 1.5 (16) 5 TB1-2 6 / Black Brake (B1) 1.5 (16) 6 TB1-4 Braided shield Overall shield N/A 7 Cable Clamp Green/Yellow Ground 1.5 (16) 8 PE2 9 / Black Thermostat (K2) 1.
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Motion Control Accessories 8-59 1326-CPC1-xxx Standard Motor Power Cable Gauge mm2 (AWG) Connector Pin Axis Module Terminal # 1394C-AMxx 1 U1 2 V1 3 W1 1.5 (16) 4 TB1-3 Thermostat (K1) 1.5 (16) 5 TB1-2 6 / Black Brake (B1) 1.5 (16) 6 TB1-4 Braided shield Overall shield N/A 7 Cable Clamp Green/Yellow Ground 4.0 (12) 8 PE2 9 / Black Thermostat (K2) 1.
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8-60 Motion Control Accessories 1326AB Motor Feedback Mounting Adapters for 1394 Family The following section contains configuration diagrams and catalog numbers for the feedback mounting adapters available for 1326AB servo motors. IMPORTANT These adapters are not available for high-resolution feedback (-M2, -Ml, and -S2) motors. IMPORTANT Motors with IP65 or IP67 protection lose their rating when this option is used. Figure 8.
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Motion Control Accessories 8-61 1326AB Series Motor Feedback Mounting Adapter Kits Catalog Number Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering chart below to understand the configuration of your feedback mounting adapter kit(s). For questions regarding product availability, contact your Allen-Bradley distributor.
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8-62 Motion Control Accessories 1326AB and 1326AS Motor Junction Box Kits for 1394 Family The following sections contain descriptions, configuration diagrams, dimensions and catalog numbers for the 1326AB and 1326AS motor junction box kits. 1326AB Motor Junction Box Kits The Motor Junction Box Kit provides axially-mounted connectors with either front or rear exit connections. The junction box allows the motor connectors to be brought out axially to the motor without further wiring.
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Motion Control Accessories 8-63 1326AB Motion Junction Box Dimensions Figure 8.65 1326AB Servo Motor Junction Box Dimensions (1326AB-MOD-RJxx1) Junction box mounted away the motor shaft Top Cover Plate and Gasket C P Side Cover Plate and Gasket N Gasket Quick Disconnect (Bayonet Release) Kit 1326AB-MOD- C mm (in.) P mm (in.) N mm (in.) RJAB1 63.5 (2.5) 105 (4.13) 62 (2.44) RJC1 66.675 (2.625) 120.65 (4.75) 66.675 (2.
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8-64 Motion Control Accessories 1326AS Series Motor Junction Box Kit The 1326AS motor junction box kit allows the existing motor connectors to be mounted axially (rather than radially) without further wiring. Motors with IP65 protection maintain their rating when using this option. Note: The connector may be mounted to the face or rear of the motor. Figure 8.
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Motion Control Accessories 8-65 1326AS Series Motor Junction Box Kit 1 Catalog Number Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering chart below to understand the configuration of your motor junction box kit. For questions regarding product availability, contact your Allen-Bradley distributor. 1326AS - RJ34 Type RJ34 = Right angle junction box for B3 and B4 series motors.
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8-66 Motion Control Accessories 1326AS Series Motor Shaft Seal Kit Allen-Bradley offers a Nitrile shaft oil seal kit that you can install on the motor shaft in the field. Use the seal in applications where the motor shaft may be subjected to occasional oil splashes or low pressure water jetting (For example: If the motor is exposed to splashing from coolant nozzles). IMPORTANT The Servo Motor Performance Data section provides system ratings for specific motor/ amplifier combinations.
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Motion Control Accessories 8-67 1394 Miscellaneous Accessories This section contains miscellaneous accessories for the 1394 system family. Accessory A-B Catalog Number Manufacturer’s Number Feedback and I/O connector kit for 1394C-SJTxx-D 1394C-CCK-D N/A SERCOS fiber cable bulkhead adaptor (2 per pack) 2090-S-BLHD N/A SERCOS fiber cable plastic connector kit 2090-S-TOOLKIT N/A SERCOS fiber cable connectors, for plastic cable (20 ea.
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8-68 Motion Control Accessories Publication GMC-SG001E-EN-P — June 2001
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Index Numerics 1326 connection solutions 1394 system modules 8-50 1326AB Series motors 6-62 catalog number 6-74 constant specifications 6-67 dimensions 6-69 feedback adapter kit catalog number 8-61 feedback mounting adapters 8-60 feedback options 6-62 general specifications 6-64 integral holding brake 6-73 junction box catalog number 8-63 junction box dimensions 8-63 junction box kits 8-62 load force ratings 6-72 mechanical specifications 6-66 motor options 6-63 mounting bolt specifications 6-68 performance
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I-2 Index shunt module specifications 8-35 shunt modules catalog number (22 kW) 4-18 shunt modules catalog numbers 8-38 shunt modules dimensions 8-36 shunt resistor kit catalog number(5/10 kW) 4-17 system module cable catalog numbers 8-31 system module cables dimensions 8-29 system module cables specifications 8-30 system module catalog numbers 4-7 system module dimensions 4-5 system module encoder input 4-28 system module series information 4-2 system modules 4-2 system modules specifications 4-3 system
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Index axis gains configuring 5-4 axis modules 1394 4-10 power dissipation 4-25 axislink specifications 1394 4-32 B brake connectors F-Series motors 6-11 H-Series motors 6-21 MP-Series motors 6-41 N-Series motors 6-52 brake specifications and application guidelines F-Series motors 6-9 H-Series motors 6-20 MP-Series motors 6-40 N-Series motors 6-51 Y-Series motors 6-59 break out board cables dimensions for Ultra family 8-17 specifications for Ultra family 8-17 break out board components Ultra family 8-14 br
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I-4 Index cam profile editor RSLogix 5000 5-9 workspace 5-9 catalog number 1326AB motors 6-74 1326AB feedback mounting adapter kit 8-61 1326AB motors junction box 8-63 1326AB motors shaft seal kit 8-65 1326 auxiliary feedback cables 8-54 1326 motor feedback cables 8-55 1326 motor power cables 8-54 1326 motor cables 8-54 1326AS motors 6-86 1326AS motors shaft seal kit 8-66 1394 axis modules 4-16 1394 general control interface cables 8-31 1394 shunt modules 8-38 1394 shunt modules (22 kW) 4-18 1394 shunt re
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Index control setting functions Ultraware motion library commands 5-20 controller specifications Ultra3000 digital servo drives 2-12 Ultra5000 intelligent positioning drives 3-4 ControlLogix 2-axis prewired cable catalog number 8-31 single-axis cable 8-31 system overview 1-2 creating and editing motion application performance profiles 5-9 D DC link module 1394 4-13 dedicated discrete I/O specifications 1394 SERCOS interface system 4-27 Determining which motor to use 6-1 developing cam profiles for the Ult
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I-6 Index E encoder connectors F-Series motors 6-11 H-Series motors 6-22 MP-Series motors 6-41 N-Series motors 6-52 Y-Series motors 6-60 encoder data F-Series motors 6-10 H-Series motors 6-21 MP-Series motors 6-39 N-Series motors 6-51 Y-Series motors 6-59 encoder input specifications 1394 system module 4-28 encoder output specifications 1394 4-30 encoder specifications F-Series motors 6-10 H-Series motors 6-21 MP-Series motors 6-39 N-Series motors 6-51 Y-Series motors 6-59 environmental specifications 139
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Index GMC 1394 system specifications 4-30 system module dimensions 4-5 turbo system module dimensions 4-6 GML commander catalog number 5-28 diagram explorer 5-25 diagram window 5-26 pc requirements 5-23 tag explorer 5-26 tag window 5-27 terminal window 5-27 workspace 5-24 graphical trends viewing 5-5 H H/F-Series motors feedback cable dimensions 8-5 power cable dimensions (2 & 3 kW drives) 8-3 power cable dimensions (7.
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I-8 Index M mating connector kits Ultra family 8-20 mechanical specifications 1326AB Series motors 6-66 1326AS Series motors 6-78 230V MP-Series motors 6-27 460V MP-Series motors 6-30 F-Series motors 6-4 H-Series motors 6-14 N-Series motors 6-46 Y-Series motors 6-55 miscellaneous specifications 1394 4-27 motion configuration instructions 5-7 event instructions 5-7 group instructions 5-7 instructions 5-6 move instructions 5-7 state instructions 5-6 motion application performance profiles creating and editi
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Index shaft seal kit catalog number 8-28 shaft seal kit dimensions 8-28 shaft seal kits 8-28 standard encoder features 6-25 wire sizing recommendations 6-42 N NEMA 56C dimensions F-4000 motors 6-8 H-4000 motors 6-18 non-volatile array functions Ultraware motion library commands 5-22 N-Series motors brake connector 6-52 brake specifications/application guidelines 6-51 catalog number 6-53 connector data 6-52 dimensions 6-48 encoder connector 6-52 encoder data 6-51 encoder specifications 6-51 feedback cable
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I-10 Index programming software RSLogix 5000 5-1 programming the Ultra5000 Ultraware 5-19 R radial load force ratings MP-Series motors 6-38 relay contact specifications 1394 4-23 remote I/O adapter specifications 1394 4-31 RSLogix 5000 cam editor graph view 5-10 cam editor grid view 5-10 cam editor slope view 5-10 cam profile editor 5-9 cam profile editor workspace 5-9 configuring an axis and drive 5-4 configuring axis gains 5-4 control organizer window 5-3 editing application performance profiles 5-11 i
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Index Ultra feedback cables 8-9 Ultra interface cables 8-9 Ultra power cables 8-9 Ultra3000 digital servo drives 2-10 Ultra5000 intelligent positioning drives 3-3 storage and operating specifications 1326AB Series motors 6-68 1326AS Series motors 6-79 230V MP-Series motors 6-28 460V MP-Series motors 6-31 F-Series motors 6-5 H-Series motors 6-15 N-Series motors 6-46 Y-Series motors 6-56 supplemental dimensions F-4000 NEMA 56C motors 6-8 F-Series motors 6-7 H-4000 NEMA 56C motors 6-18 H-Series motors 6-17 N-
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I-12 Index shunt resistor kit dimensions 8-26 shunt resistor kits 8-26 Ultra3000 and Ultra5000 115V Y-Series system combinations 7-14 230V MP-Series performance specifications 6-26 230V MP-Series system combinations 7-7 230V Y-Series system combinations 7-15 F-Series performance specifications 6-4 F-Series system combinations 7-1 H-Series performance specifications 6-14 H-Series system combinations 7-3 N-Series performance specifications 6-45 N-Series system combinations 7-11 Y-Series performance specific
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Index user-supplied 24V logic input power specifications 4-24 contactor (M1) specifications 4-23 input fusing specifications 4-24 V viewing graphical trends 5-5 viewing graphical trends RSLogix 5000 5-5 W winding specifications 1326AB Series motors 6-67 1326AS Series motors 6-78 230V MP-Series motors 6-27 460V MP-Series motors 6-31 F-Series motors 6-4 H-Series motors 6-15 N-Series motors 6-46 Y-Series motors 6-56 windows Ultraware 5-15 wire sizing recommendations F-Series motors 6-12 H-Series motors 6-22
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I-14 Index Publication GMC-SG001E-EN-P — June 2001
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For more information refer to our web site: www.ab.com/motion Reach us now at www.rockwellautomation.com Wherever you need us, Rockwell Automation brings together leading brands in industrial automation including Allen-Bradley controls, Reliance Electric power transmission products, Dodge mechanical power transmission components, and Rockwell Software.