Ultra1500™ Digital Servo Amplifiers (Catalog Numbers 2092-DA1, 2092-DA2, 2092-DA3, 2092-DA4, and 2092-DA5) User Manual
Important User Information Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards.
Table of Contents Important User Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-ii P Preface Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 I/O Connector – CN1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 Motor Feedback Connector – CN2 . . . . . . . . . . . . . . . . . . . . 2-4 Serial Port Connector – CN3 . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 Understanding Ultra1500 I/O Specifications . . . . . . . . . . . . . . . . . . . 2-5 Digital I/O Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Connecting Input Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting Motor Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wiring Motor Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Understanding Feedback and I/O Cable Connections . . . . . . . . . . 3-10 3-12 3-12 3-14 Chapter 4 Commissioning Your Ultra1500 Applying Power to Your Ultra1500 Drive . . . . . . . . . . . . . . . . . . . . .
4 High Error Output Offset. . . . . . . . . . . . . . . . . . . . . . . . . . . High Error Output Threshold . . . . . . . . . . . . . . . . . . . . . . . Control Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Velocity Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Analog Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Fault Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7 Analog Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7 Encoder Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7 Command Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8 Motor Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8 Built-in User Interface . . . . . . . . . . . . . . . . . . .
6 Mode Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2 Function Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2 Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-5 Status Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-7 Set Parameter Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-8 Parameter Groupings . . . .
Preface Introduction Who Should Use this Manual Read this preface to familiarize yourself with the rest of the manual. This preface contains the following topics: • Who Should Use this Manual • Purpose of this Manual • Contents of this Manual • Product Receiving and Storage Responsibility • Related Documentation • Conventions Used in this Manual • Allen-Bradley Support Use this manual for integrating, installing, and wiring your Ultra1500™ digital servo amplifier.
P-2 Preface Contents of this Manual Refer to the following listing for the descriptive contents of this manual. Chapter Product Receiving and Storage Responsibility Title Contents Preface Describes the purpose, background, and scope of this manual. Also specifies the audience for whom this manual is intended. 1 Installing Your Ultra1500 Provides mounting information for the Ultra1500.
Preface Related Documentation P-3 The following documents contain additional information concerning related Allen-Bradley products. To obtain a copy, contact your local Allen-Bradley office, distributor, or download them from www.rockwellautomation.
P-4 Preface Allen-Bradley Support Allen-Bradley offers support services worldwide, with over 75 Sales/Support Offices, 512 authorized Distributors and 260 authorized Systems Integrators located throughout the United States alone, plus Allen-Bradley representatives in every major country in the world.
Chapter 1 Installing Your Ultra1500 Chapter Objectives This chapter provides system installation guidelines and procedures for mounting your Ultra1500.
1-2 Installing Your Ultra1500 Complying with EU and TTMRA Directives If this product is installed within the European Union (EU) or EEC regions and has the CE mark, or within the Australian and New Zealand markets and has the C-Tick mark, the following regulations apply. Note: Declarations of Conformity (DOCs) to European Union Directives and Trans-Tasman Mutual Recognition Arrangement (TTMRA) Directives are available on-line at www.ab.com/certification/ce/docs.
Installing Your Ultra1500 1-3 Low Voltage Directive These units are tested to meet Council Directive 73/23/EEC Low Voltage Directive. The standard EN 50178 Electronic Equipment for use in Power Installations applies in whole or in part. Refer to Appendix B for interconnect information.
1-4 Installing Your Ultra1500 Ultra1500 System Overview This section provides an overview of the Ultra1500 system components and a typical installation. Ultra1500 System Component Catalog Numbers Description Ultra1500 Drives 2092-DAx Ultra1500 with 1.4, 2.4, 4.7, 10.7, and 16.4 Amperes continuous output current and 230 Volts input power. Ultraware Software 2098-UWCPRG Ultra1500 drives are configured using Ultraware software. 3.6V Battery 2090-DA-BAT 3.
Installing Your Ultra1500 1-5 Figure 1.
1-6 Installing Your Ultra1500 Unpacking Modules Each Ultra1500 ships with the following: • One Ultra1500 drive, • Three removable plugs mounted on the power connectors of the drive, • One connector tool for opening wire clamps on power connectors, and • One Ultra1500 Quick Start manual (publication 2092-QS001x-EN-P) Remove all packing material, wedges, and braces from within and around the components. After unpacking, check the item(s) name plate catalog number against the purchase order.
Installing Your Ultra1500 1-7 System Mounting Requirements There are several things that you need to take into account when preparing to mount the Ultra1500: • The Ultra1500 must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 (IEC 529) to IP22 such that they are not accessible to an operator or unskilled person, in order to comply with UL® and CE requirements. A NEMA 4X enclosure exceeds these requirements providing protection to IP66.
1-8 Installing Your Ultra1500 Ventilation Requirements This section provides information to assist you in sizing your cabinet and locating your Ultra1500 drive(s) inside the cabinet. Figure 1.2 Minimum Clearance Requirements 50.0 mm (1.97 in.) clearance for airflow and installation Ultra1500s mounted vertically on the panel Allow 30.0 mm (1.18 in.) from adjacent wall Allow 10.0 mm (0.39 in.) between drives Do not mount drive on its side. Minimum cabinet depth: 2092-DA1, -DA2, and -DA3 = 216 mm (8.
Installing Your Ultra1500 1-9 Sizing an Enclosure As an additional aid in sizing an enclosure, with no active method of heat dissipation, either of the following approximate equations can be used: Metric Standard English 0.38Q A = -----------------------1.8T – 1.1 4.08Q A = ---------------T – 1.1 Where T is temperature difference between inside air and outside ambient (°C), Q is heat generated in enclosure (Watts), and A is enclosure surface area (m2).
1-10 Installing Your Ultra1500 IMPORTANT IMPORTANT Publication 2092-UM001D-EN-P — July 2005 If you are using the Allen-Bradley system sizing program, the average speed and average torque data has already been calculated and can be used in the above equation. If you are not sure of the exact speed and torque in your application, another approach is to look at the speed/torque curve for your Ultra1500/motor combination and use the values for the worst case continuous speed and torque.
Installing Your Ultra1500 1-11 Fuse Sizing In the United States, the National Electric Code (NEC) specifies that fuses must be selected based on the motor full load amperage (FLA). The typical fuse size should be 300% of the motor FLA for non-time delay fuses (and time-delay class CC fuses) or 175% of motor FLA for time delay fuses.
1-12 Installing Your Ultra1500 Bonding Modules Unless specified, most paints are not conductive and they act as insulators. To achieve a good bond between modules and the subpanel, surfaces need to be paint-free or plated. Bonding metal surfaces creates a low-impedance exit path for high-frequency energy. IMPORTANT To improve the bond between the drive and subpanel, construct your subpanel out of zinc plated (paint-free) steel.
Installing Your Ultra1500 1-13 Bonding Multiple Subpanels Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet. Subpanels that are not bonded together may not share a common low impedance path. This difference in impedance may affect networks and other devices that span multiple panels. Refer to the figure below for recommended bonding practices. Figure 1.
1-14 Installing Your Ultra1500 Establishing Noise Zones Observe the following guidelines when laying out your panel (refer to Figure 1.5 for zone locations). • The clean zone (C) is above and beneath the Ultra1500 and includes CN1, CN2, and CN3 signals, and the DC filter (grey wireways). • The dirty zone (D) is left of the Ultra1500 (black wireways) and includes the circuit breakers, transformer, AC line filter, contactors, 24V dc power supply, and motor (output) power cables.
Installing Your Ultra1500 1-15 Cable Categories for the Ultra1500 The table below indicates the zoning requirements of cables connecting to the Ultra1500.
1-16 Installing Your Ultra1500 Mounting Your Ultra1500 Drive The procedures in this section assume you have prepared your panel and understand how to bond your system. For installation instructions regarding other equipment and accessories, refer to the instructions that came with each of the accessories for their specific requirements. ATTENTION ! This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies.
Installing Your Ultra1500 1-17 Figure 1.6 Ultra1500 Mounting Diagrams and Measurements 2092-DA1 and 2092-DA2 153.0 (6.02) 140.0 (5.51) 5.0 (0.20) 12.0 (0.47) 55.0 (2.17) 155.0 (6.10) 145.0 (5.70) 5.0 (0.20) 50.0 (1.97) 5.0 (0.20) Mounting hole (top) and slot (bottom) require M4 x 10 bolts 2092-DA3 153.0 (6.02) 5.0 (0.20) 140.0 (5.52) Chassis ground terminal 12.0 (0.47) 70.0 (2.76) 55.0 (2.17) 155.0 (6.10) 145.0 (5.70) 20.0 (0.79) 50.0 (1.97) 5.0 (0.
1-18 Installing Your Ultra1500 Publication 2092-UM001D-EN-P — July 2005
Chapter 2 Ultra1500 Connector Data Chapter Objectives Understanding Ultra1500 Connectors This chapter provides I/O, encoder, and serial interface connector locations and signal descriptions for your Ultra1500.
2-2 Ultra1500 Connector Data Ultra1500 Front Panel Connections Use the figure below to locate the front panel connections on the Ultra1500 drives. Figure 2.
Ultra1500 Connector Data 2-3 I/O Connector – CN1 The following table provides the signal descriptions and pin-outs for the CN1 input/output (50-pin) connector.
2-4 Ultra1500 Connector Data Motor Feedback Connector – CN2 The following table provides the signal descriptions and pin-outs for the CN2 motor feedback (15-pin) connector.
Ultra1500 Connector Data Understanding Ultra1500 I/O Specifications 2-5 A description of the Ultra1500 input/output is provided starting below. Digital I/O Power Supply All Ultra1500 drives require an external 24V power supply for proper operation of the digital inputs. The following table provides a description of the digital I/O power supply. Note: A single 24V power supply can be used to power the digital I/O on multiple drives, provided the cumulative minimum current requirements are met.
2-6 Ultra1500 Connector Data The following table provides a description of the digital input specifications. Parameter Description Minimum Typical Maximum ON State Voltage Voltage applied to the input, with respect to I/O common, to guarantee an ON state. — — 2V ON State Current Current flow to guarantee an ON State — 6.9 mA — OFF State Voltage Voltage applied to the input, with respect to the positive terminal of the 24V power supply, to guarantee an OFF state.
Ultra1500 Connector Data 2-7 Figure 2.3 Digital Input Interface Examples +24V IN Ultra1500 Drive 3.3k Ω 24V Power Supply +5V 4.7k Ω + 0.01 µF 330 Ω INPUT1 PS2801 Logic Ground I/O Common Drive Input Connected to Switch/Relay Contact +24V IN 24V Power Supply Ultra1500 Drive 3.3k Ω + - +5V 4.7k Ω I/O Common 0.01 µF 330 Ω INPUT1 PS2801 Logic Ground I/O Common Drive Input Connected to Opto-Isolator Active High Device +24V IN 24V Power Supply Ultra1500 Drive 3.3k Ω + - +5V 4.
2-8 Ultra1500 Connector Data Digital Outputs There are three opto-isolated transistor outputs (OUTPUT 1, OUTPUT 2, OUTPUT 3) that can be configured for the following functions using Ultraware software: Up To Speed, Brake, Within Speed Window, Within Near Window, Within Position Window, Velocity Limited, Current Limited, Warning, Absolute Position Valid, and Ready. Alarm outputs include an alarm signal (FAULT), and 3-bits of fault information (FAULT 1, FAULT 2, FAULT 3) that can be decoded.
Ultra1500 Connector Data 2-9 Figure 2.4 Transistor Output Hardware Configuration for OUTPUT 1, OUTPUT 2, OUTPUT 3, and FAULT Signals Ultra1500 Drive Logic Power 330 Ω OUTPUT1+ 0.5A Fuse OUTPUT1TLP127 Figure 2.5 Transistor Output Hardware Configuration for FAULT1, FAULT2, and FAULT3 Signals Ultra1500 Drive FAULT 1 KRC105S Logic Ground The following table provides a description of the digital output specifications.
2-10 Ultra1500 Connector Data Analog Inputs The Ultra1500 has two single-ended analog inputs. One is dedicated as the command input for Analog Velocity mode, and the second is dedicated as the command input for Analog Current mode. The two inputs are identical, and Figure 2.6 shows the configuration of the analog input. Figure 2.6 Analog Input Configuration Ultra1500 Drive +12V 4.7 kΩ -12V 4.7 kΩ 4.7 kΩ + VCMD+ TL072 4.7 kΩ 0.
Ultra1500 Connector Data 2-11 Analog Outputs The Ultra1500 contains two analog outputs that can be configured through Ultraware software to represent internal drive variables. Figure 2.7 shows the configuration of the analog outputs. The following table provides a description of the analog outputs. Figure 2.7 Analog Output Configuration Ultra1500 Drive 10 kΩ 5 kΩ +5V 0.033 µF 5 kΩ + IMPORTANT 220 Ω AOUT 1 Output values can vary during power-up until the specified power supply voltage is reached.
2-12 Ultra1500 Connector Data Position Command Inputs The Ultra1500, when operating in follower mode, accepts position command signals from a controller. Position command inputs can be A quad B, Step/Direction, or Step Up/ Step Down format as shown in Figure 2.8. Figure 2.8 Position Command Input Signal Types A (CN1-11 and -12) B (CN1-13 and -14) STEP (CN1-11 and -12) DIRECTION (CN1-13 and -14) STEP UP (CN1-11 and -12) STEP DOWN (CN1-13 and -14) Figure 2.
Ultra1500 Connector Data 2-13 Parameter Description (Continued) Minimum Maximum OFF State Input Voltage Input voltage difference between the + input and the - input that is detected as an OFF state. 1V -3V Signal Frequency (open collector input drive) Input frequency of the AX or BX inputs. Count frequency is four times this frequency for A/B type inputs, and equal to this frequency for Step/Direction and Step Up/Step Down inputs.
2-14 Ultra1500 Connector Data Understanding Ultra1500 Motor Encoder Feedback Specifications The Ultra1500 can accept motor encoder signals from the following types of encoders: • 5 Volt Incremental Encoders with TTL outputs and Hall signals • 5 Volt Serial Encoders with battery-backed multi-turn capability 5 Volt Incremental Encoders Incremental encoders must have differential drivers for A±, and B± inputs.
Ultra1500 Connector Data 2-15 line loss detection using exclusive-OR gates that can be disabled in Ultraware if electrical noise results in nuisance faults. Figure 2.11 Schematic of the Motor Encoder Inputs Ultra1500 Drive A+ 0.001 µF 13V 4.7 kΩ + - 220 Ω A DS34C86 A- 0.001 µF 13V A Line Loss 74HCT86 The following table provides a description of the A, B, and I inputs.
2-16 Ultra1500 Connector Data Thermostat Input The Ultra1500 can monitor a thermostat or thermistor signal from a motor and generates a fault if the motor overheats. Figure 2.13 shows the configuration of this drive input. Figure 2.14 on page 2-16 shows a typical connection to a motor with a normally closed thermostat. The logic is designed so that an open or high-impedance condition will generate a fault.
Ultra1500 Connector Data 2-17 Figure 2.15 Sequencing and Phasing of the Hall Signals Figure 2.16 Sequencing and Phasing of the Hall Signals (60° Hall Offset Example) Figure 2.17 shows the proper phasing of TTL A/B encoder signals when positive current is applied. Figure 2.
2-18 Ultra1500 Connector Data Motor Encoder Connection Diagrams Figures 2.18 through 2.22 show typical wiring diagrams for motor feedback cables from various motors. If the thermostat, limit, or Hall signals are not available, no connections are required, but the drive must be configured through software to ignore these signals. Figure 2.18 Serial Encoder to Drive Wiring Diagram ULTRA1500 MOTOR FEEDBACK CONNECTOR CN2 1 EPWR ECOM SD+ SDBAT+ BATSHIELD NOTES: 1.
Ultra1500 Connector Data 2-19 Figure 2.19 Incremental Encoder to Drive Wiring Diagram ULTRA1500 MOTOR FEEDBACK CONNECTOR CN2 1 EPWR ECOM A+ AB+ BI+ IS1 S2 S3 TS SHIELD NOTES: 1. 20 1 3 4 5 6 7 8 10 14 16 2 +5V COM A+ AB+ BI+ IHALL A+ HALL B+ HALL C+ TS+ TSSHIELD IF THE MOTOR DOES NOT HAVE A THERMISTOR OR THERMOSTAT, THE THERMOSTAT INPUT OF THE ULTRA1500 FOUND ON PIN 2 OF CN2 SHOULD BE LEFT DISCONNECTED.
2-20 Ultra1500 Connector Data Figure 2.
Ultra1500 Connector Data 2-21 Figure 2.21 Third Party Linear Motor to Drive Wiring Diagram ULTRA1500 MOTOR FEEDBACK CONNECTOR CN2 1 EPWR ECOM A+ AB+ BI+ IS1+ S2+ S3+ TS 20 1 3 4 5 6 7 8 10 14 16 2 SHIELD NOTES: 1. +5V COM A+ AB+ BI+ IHALL A+ HALL B+ HALL C+ TS+ TSSHIELD IF THE MOTOR DOES NOT HAVE A THERMISTOR OR THERMOSTAT, THE THERMOSTAT INPUT OF THE ULTRA1500 FOUND ON PIN 2 OF CN2 SHOULD BE LEFT DISCONNECTED.
2-22 Ultra1500 Connector Data Figure 2.22 Motor Encoder Outputs Ultra1500 Drive Ultra1500 Drive AM+ AM- Logic Power 330 Ω 75174 Z-Pulse+ 16V 16V 0.5A Fuse Z-Pulse- Logic Ground Logic Ground TLP127 AM, BM, and IM Outputs Z-Pulse Output Index Pulses The Ultra1500 has two separate differential outputs that provide an index pulse for use with controllers. In the case of a rotary motor with a serial encoder, the marker pulse is generated in the drive hardware.
Ultra1500 Connector Data 2-23 5 Volt Encoder Power Supply All Ultra1500 drives supply 5V dc for the operation of the encoder. The following table provides a description of the auxiliary encoder power supply. Parameter Description Minimum Maximum Output Voltage Voltage range of the external power supply for proper operation of an encoder. 4.75V 5.25V Output Current Current draw from the external power supply for the encoder.
2-24 Ultra1500 Connector Data Figure 2.24 Simplified Ultra1500 Internal Power Circuitry Dynamic Brake Diodes P2 P1 Dynamic Brake Relay NTC + L1 L2 L3 Diode Bridge DC BUS Integrated Power Module CBUS Soft-Start Relay U V W - Shunt Circuitry N B1 B2 L1C L2C Switch Mode Power Supply Diode Bridge +5V +12V -12V Power for Control Circuitry IPM Note: DC Bus Negative is labelled N on the drive cover, but DC- on the removable connector.
Ultra1500 Connector Data IMPORTANT 2-25 The drive requires 500 ms after the main AC input has been applied before it can be enabled, as shown in Figure 2.25. Figure 2.25 Timing Requirement s of the Drive Enable Input Main AC Input DC Bus Voltage Drive Enable (software or hardware) tDELAY = 500mS, minimum Control Power – L1C and L2C L1C and L2C are the single-phase control power inputs for all Ultra1500 drives. These AC inputs power drive logic and I/O circuitry.
2-26 Ultra1500 Connector Data DC Bus and Shunt Power Connectors The following power connections are made to an Ultra1500 drive through a four position terminal connector. Diode Bridge and DC Bus Positive – P1 and P2 P1 is an output from the diode bridge of the Ultra1500 drive. Note: P1 is jumpered at the factory to P2. Replacing the jumper with an inductor may improve harmonic distortion. P2 is the positive side of the DC power bus on all Ultra1500 drives.
Ultra1500 Connector Data 2-27 Figure 2.
2-28 Ultra1500 Connector Data Publication 2092-UM001D-EN-P — July 2005
Chapter 3 Connecting Your Ultra1500 Chapter Objectives Understanding Basic Wiring Requirements This chapter provides procedures for wiring your Ultra1500 and making cable connections.
3-2 Connecting Your Ultra1500 Building Your Own Cables IMPORTANT Factory made cables are designed to minimize EMI and are recommended over hand-built cables to ensure system performance. When building your own cables, follow the guidelines listed below. • Connect the cable shield to the connector shells on both ends of the cable for a complete 360° connection.
Connecting Your Ultra1500 Determining Your Type of Input Power 3-3 Before you wire your Ultra1500 system you must determine the type of input power you are connecting to. The Ultra1500 is designed to operate only in grounded environments. Grounded Power Configuration The grounded power configuration allows you to ground your single-phase or three-phase power at a neutral point. Match your secondary to one of the examples below and be certain to include the grounded neutral connection. Figure 3.
3-4 Connecting Your Ultra1500 Figure 3.3 Single-Phase Grounded Power Configuration Step-Down Transformer Secondary Transformer Secondary L1 L1 Ultra1500 Single-Phase AC Input 2092-DA1, -DA2, and -DA3 L1 and L2 Terminals L2 Ultra1500 Single-Phase AC Input 2092-DA1, -DA2, and -DA3 L1 and L2 Terminals L2 Bonded Cabinet Ground Bus Ground Grid or Power Distribution Ground Figure 3.
Connecting Your Ultra1500 Grounding Your Ultra1500 3-5 All equipment and components of a machine or process system should have a common earth ground point connected to their chassis. A grounded system provides a safety ground path for short circuit protection. Grounding your modules and panels minimize shock hazard to personnel and damage to equipment caused by short circuits, transient overvoltages, and accidental connection of energized conductors to the equipment chassis.
3-6 Connecting Your Ultra1500 Figure 3.5 Chassis Ground Configuration (Multiple Ultra1500 Systems on One Panel) BATT L2 L1 CN1 L3 2092-DA1 or -DA2 2092-DA4 or -DA5 B1 Chassis ground Chassis ground CN3 W V CN2 U B2 Chassis ground P2 P1 N L2C L1C 2092-DA3 BATT L3 L2 L1 CN1 N L2C L1C 2092-DA1 or -DA2 P2 P1 Bonded ground bar (optional) CN3 W V CN2 U B2 B1 Chassis ground Note: Refer to Figure 3.6 on page 3-7 for ground terminal location on the 2092-DA1 heatsink.
Connecting Your Ultra1500 3-7 Figure 3.6 Motor Power Cable Shield Connection 2092-DA1 or -DA2 Side View W V U P2 2092-DA3 Front View Ground Terminal Screw Ground Terminal Screws Shielded Power Cable Safety Precautions Note: Ground terminal arrangement of the 2092-DA4 and 2092-DA5 drives. is shown in Figure 3.5 on page 3-6. Shielded Power Cable Observe the following safety precautions when wiring your Ultra1500 drive.
3-8 Connecting Your Ultra1500 Power wiring requirements are given in the tables below. Wire should be copper with 75° C (167° F) minimum rating, unless otherwise noted. Phasing of main AC power is arbitrary, but earth ground connection is required for safe and proper operation. Power Wiring Requirements IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided.
Connecting Your Ultra1500 3-9 P2 W V Motor Power Terminals U B2 B1 DC Bus and Shunt Power Terminals P1 DC- L2C L1C L3 L2 Main Input Power Terminals L1 Figure 3.
3-10 Connecting Your Ultra1500 This procedure assumes you have mounted your Ultra1500 drive and are ready to wire your AC input power. Connecting Input Power IMPORTANT To ensure system performance, run wires and cables in the wireways as established in Chapter 1. A power wiring diagram for the Ultra1500 is shown in Figure 3.8. Figure 3.
Connecting Your Ultra1500 IMPORTANT 3-11 The AC input power lines (L1, L2, L3, L1C, and L2C) require dual element time delay (slow acting) fuses to accommodate inrush current. Refer to the section Ultra1500 Power Specifications in Appendix A for the inrush current on the AC power inputs, as well as fuse recommendations. To wire your input power: 1. Prepare your wires by stripping approximately 8 mm (0.33 in.) of insulation from the end.
3-12 Connecting Your Ultra1500 IMPORTANT The DC bus connections should not be used for connecting multiple drives together. Contact your Allen-Bradley representative for further assistance if the application may require DC power connections. Figure 3.9 Using the Power Connector Tool 2 1. Open terminal locking clamp with connector tool as shown. 2. Insert wire, and then release tool. 3. Gently pull on the wire to make sure it is secure. 1 5. Tighten the ground terminal screw. to 1.25 Nm (11 lbs-in.).
Connecting Your Ultra1500 3-13 Figure 3.10 Motor Power Cable for TL-Series Motors (2090-DANPT-16Sxx) Shield - Green U-Phase - Brown V-Phase - Black W-Phase - Blue Ground - Green Motor End Terminal End To wire power from the drive to your motor: 1. Route the motor power cable to your Ultra1500 drive. IMPORTANT To ensure system performance, run wires and cables in the wireways as established in Chapter 1. 2.
3-14 Connecting Your Ultra1500 Understanding Feedback and I/O Cable Connections Drive Connector CN1 I/O Connector Factory made cables with premolded connectors are designed to minimize EMI and are recommended over hand-built cables to improve system performance. However, other options may be available for building your own feedback and I/O cables. Refer to the table below for the available options.
Chapter 4 Commissioning Your Ultra1500 This chapter describes how to configure you Ultra1500 drive using Ultraware software. The chapter includes these sections: • Applying Power to Your Ultra1500 Drive • Detecting Your Ultra1500 Drive • Configuring your Ultra1500 Drive • Testing Your Motor Applying Power to Your Ultra1500 Drive This procedure assumes that you have: • wired your Ultra1500 system, • verified the wiring, and • are ready to begin using the Ultraware software.
4-2 Commissioning Your Ultra1500 Figure 4.1 Ultra1500 Operator Interface at Startup Startup Error (004) Detected Startup Normal MAIN CONTROL MAIN CONTROL POWER POWER POWER POWER 3. Verify the status of the drive startup, as outlined below and shown in Figure 4.1. Detecting Your Ultra1500 Drive If the six characters on the 7-segment display indicate: Then: rdY in the three least significant characters The drive is ready. Go to Detecting Your Ultra1500 Drive E.
Commissioning Your Ultra1500 4-3 4. Look for the Ultra1500 icon (1.5k) under the On-Line Drives tree. The Ultra1500 icon indicates that your drive is detected. 5. 5.Click on the [+] next to the Ultra1500 icon to expand the branch menu (as indicated in the window above). Configuring your Ultra1500 Drive If your Ultra3000 drive: Then: Is detected and listed under the On-Line Drives tree The software and hardware are communicating and the system is ready.
4-4 Commissioning Your Ultra1500 2. Invoke the Setup Wizard by highlighting the Drive branch, and then select the Setup Wizard from the Commands menu: 3. The initial step for the Ultraware Setup Wizard is to recommend resetting the drive parameters to factory settings. Publication 2092-UM001D-EN-P — July 2005 • If this is a drive being configured for the first time, this step is not necessary. • If this is a drive that has previously been configured, this step is strongly recommended.
Commissioning Your Ultra1500 4-5 4. Ultraware prompts for the type of Controller and the Operation Mode of the drive. The Controller selection helps Ultraware determine many of the drive settings. The Operation Mode setting dictates additional parameters that must be selected on subsequent screens. 5. Depending on the Controller and Operation Mode selections, the next one or two screens prompt for configuration settings that are applicable.
4-6 Commissioning Your Ultra1500 7. After the motor is selected, the Setup Wizard allows an autotune procedure to execute. Autotune sets the tuning gains to values appropriate for the motor and load. Note: In the case of Analog Current operation mode, this tuning step is not necessary, since the external controller is responsible for the velocity and position loops. 8. The Ultraware Setup Wizard is now complete, and the drive is ready for operation.
Commissioning Your Ultra1500 Testing Your Motor 4-7 This procedure assumes: • Power is applied to the Ultra1500 drive, • Ultraware software is running, • Ultraware has detected the drive, and • the Ultra1500 drive is configured. In this procedure you enable the drive and set the motor velocity to test the motor. Note: Refer to the Help file provided with Ultraware for more information on using the velocity control panel. To test your motor: 1. Double-click the Ultra1500 icon.
4-8 Commissioning Your Ultra1500 4. Activate the hardware ENABLE input to the drive. Note: The hardware ENABLE (Drive Enable in Ultraware) must be assigned to one of the general-purpose digital inputs. 5. Press the Jog Forward or Jog Reverse button. 6. Observe the motor. The motor should be moving at the speed (velocity) you entered in step 3. 7. Press the Stop button. 8. Inactivate the hardware ENABLE input, and verify the motor stops. 9. Close the Velocity Control Panel window.
Chapter 5 Ultra1500 Application Examples Chapter Objectives 1 This chapter provides instructions on using the Ultra1500 with various types of equipment as part of a digital servo system.
5-2 Ultra1500 Application Examples ControlLogix 1756-M02AE System The Ultra1500 can be integrated into an Allen-Bradley ControlLogix PLC system using the 1756-M02AE Analog Encoder Servo Module. In this configuration, the drive can be operated in either Analog Velocity or Analog Current mode.
Ultra1500 Application Examples 5-3 In this example, one general purpose input and one general purpose output of the Ultra1500 are used. INPUT1 must be configured to have Drive Enable functionality using Ultraware, and OUTPUT2 must be configured to have Ready functionality. Configuring the Ultra1500 The Setup Wizard in Ultraware provides a quick method to configure the Ultra1500 for use with a ControlLogix system using a 1756-M02AE module. Refer to Configuring the Ultra1500 on page 5-11 for setup details.
5-4 Ultra1500 Application Examples ControlLogix and SoftLogix modules, refer to the table below for the appropriate publication.
Ultra1500 Application Examples 5-5 6. Check the box Make this controller the Coordinated System Time master. 7. Select OK. 8. Right-click on I/O Configuration in the explorer window and select New Module. The Select Module Type window opens. 9. Select 1756-M02AE or 1784-PM02AE as appropriate for your actual hardware configuration. 10. Select OK. The Module Properties wizard opens. • Name the module • Select the slot where your module resides • Select an Electronic Keying option. 11.
5-6 Ultra1500 Application Examples 14. Assign your axis to a node address (as shown in the Associated Axes window below). 15. Select Finish. 16. Right-click Motion Groups in the explorer window and select New Motion Group. The New Tag window opens. 17. Name new motion group. 18. Select OK. New group appears under Motion Group folder. 19. Drag-and-drop axis from Ungrouped Axis folder to your new Motion Group folder. 20. Download your program to the Logix processor.
Ultra1500 Application Examples 5-7 Note: For detailed testing and tuning information, refer to the appropriate Logix motion module setup and configuration manual for specific instructions and troubleshooting. To test and tune your axis: 1. Remove the load from your axis. 2. Right-click on the axis in your Motion Group folder in the explorer window and select Axis Properties. The Axis Properties window opens. 3. Select the Servo tab. 4. Select Torque as the External Drive Configuration. 5.
5-8 Ultra1500 Application Examples 6. Select the Hookup tab. 7. Select 2.0 as the number of revolutions for the test (or another number more appropriate for your application). 8. Select the Test Feedback button to verify feedback connections. The Online Command – Encoder Test window opens. When the test completes, the Command Status changes from Executing to Command Complete. 9. Select OK.
Ultra1500 Application Examples 5-9 10. The Online Command – Apply Test window opens. When the test completes, the Command Status changes from Executing to Command Complete. 11. Select OK. 12. Select the Tune tab. 13. Enter values for Travel Limit and Speed. In this example the Travel Limit is 5 revs and the Speed is set to 5 revs/s. Note: Actual values (Revs) depend on your application.
5-10 Ultra1500 Application Examples 14. Select the Start Tuning button to auto-tune your axis. The Online Command – Tune Servo window opens. When the test completes, the Command Status changes from Executing to Command Complete. 15. Select OK. The Tune Bandwidth window opens. Note: Actual bandwidth values depend on your application. 16. Select OK. 17. The Online Command – Apply Tune window opens. When the test completes, the Command Status changes from Executing to Command Complete. 18. Select OK.
Ultra1500 Application Examples MicroLogix Follower 5-11 The Ultra1500 can be integrated into a MicroLogix PLC system as a positioning drive. The following MicroLogix devices offer pulse train output (PTO) capability: Programmable Logic Controller MicroLogix 1200 MicroLogix 1500 Catalog Number 1762-L24BXB 1762-L40BXB 1764-28BXB In this configuration, the Ultra1500 drive is operated in Follower mode, and the controller provides step and direction commands to the drive. Control Connections Figure 5.
5-12 Ultra1500 Application Examples pulse train output from the MicroLogix controller is limited to 20 kHz, the gear ratio will need to be set so that the maximum motor speed of the application requires less than a 20 kHz input frequency. For example, a TL-Series motor with 131,072 counts/revolution and a maximum application speed of 5000 rpm will result in a motor encoder frequency of 10,922,667 counts/second.
Ultra1500 Application Examples 5-13 PTO configuration parameters can be accessed directly using the Function Files window found in the Controller folder of the project tree: Select the PTO tab of the function files window to access all PTO-related configuration parameters: The PTO settings are typically embedded in the program instructions, with some of the settings initialized at the start of the program, and others set according to the application needs.
5-14 Ultra1500 Application Examples The PTO functionality provides the pulse generation capability necessary for Step/Direction or Step Up/Step Down follower mode operation. The PTO feature allows a simple motion profile to be generated directly from the controller.
Ultra1500 Application Examples 5-15 Refer to Testing Your Motor on page 4-7 to verify that the drive and motor are operating normally. ATTENTION Before proceeding with testing your axis, verify that the drive is not faulted.
5-16 Ultra1500 Application Examples Absolute Positioning The Ultra1500 can be used with the TL-Series motors, which have serial encoders with battery-backed, multi-turn absolute position capability. The absolute position of the motor is read from the encoder by the drive, and the drive in turn provides the absolute position to the external controller. Encoder Battery Installation In order to make use of the multi-turn absolute capability of the TL-Series motors, a 3.
Ultra1500 Application Examples 5-17 3. Identify the polarity of the new battery and its connector as shown in the figure, and then slide the battery into the drive. 4. Affix the connector as shown in the figure, and close the BATT compartment door. 5. If this is a new installation, make sure that the Encoder Backup Battery parameter is set to Installed in the Encoders window of Ultraware. 6.
5-18 Ultra1500 Application Examples Figure 5.5 Ultra1500 Expected Battery Life Drive operated for three shifts a week. Drive operated for two shifts a week. Drive operated for one shift a week. In Figure 5.5, three data points are highlighted. For example, if the control power of the drive is applied for 40 hours per week, (and the encoder uses battery power the remaining 128 hours in the week), the expected battery life is about 3.5 years.
Ultra1500 Application Examples 5-19 If the battery voltage is between 2.8 Volts and 3.1Volts, the encoder will transmit a battery warning to the drive, which is indicated to the user via the status display as the warning message: If the battery voltage is less than 2.
5-20 Ultra1500 Application Examples Extracting Absolute Position from the Drive The absolute position of the Ultra1500 can be extracted via the encoder outputs on pins 29 through 32 of connector CN1 using a digital input of the drive to request the transfer. Refer to See Figure 5.1 on page 5-2 for an example of this using the 1756-M02AE Analog Encoder Servo Module. A digital output of the controller must be connected to one of the general purpose inputs of the drive.
Ultra1500 Application Examples 5-21 In Figure 5.6 it can be seen that the drive hardware and firmware executes the following sequence when the active-going transition of the Position Strobe input is detected: 1. Hold the encoder outputs for 100 ms. The delay provides time for the controller to prepare its counter to receive multi-turn data. 2. Output the multi-turn revolution data at a fixed output frequency of 1,000,000 counts/second.
5-22 Ultra1500 Application Examples 4. Delay 10 ms from the active-going edge of the position strobe, then zero the position counter of the controller. 5. Delay an additional 175 ms. During this time the drive will increment the counter in the position controller to correspond to the number of revolutions of the motor shaft from the zero position. 6. Read the value of the position counter in the controller. Multiply this value by the number of motor encoder counts per revolution.
Ultra1500 Application Examples 5-23 through diodes. The diodes in the integrated power module (IPM) in conjunction with the three diodes shown in the figure, effectively short the motor windings to each other and also to the positive terminal of the DC bus. Figure 5.
5-24 Ultra1500 Application Examples Circuit Protection The Ultra1500 will not allow the drive to be enabled if the motor characteristics are such that the dynamic braking circuitry could be damaged in the event of a stop. (Even if the Fault and Disable Braking parameter of the drive is set to Free Stop, a loss of control power will also activate the dynamic braking circuitry.
Ultra1500 Application Examples 5-25 The maximum electrical frequency can be expressed as follows: 2π V Max ⋅ -----60 ω E = ------------------------P⁄2 ( rotary motors ) 2π ω E = V Max ⋅ -----D ( linear motors ) where: P = pole count of the motor D = electrical cycle length of the motor in meters. If the drive detects that the stopping current is excessive, the drive-motor match fault will be displayed when a Drive Enable is attempted: Stopping Profiles Figure 5.
5-26 Ultra1500 Application Examples Figure 5.
Ultra1500 Application Examples Tuning Descriptions 5-27 This section provides explanations of the Ultra1500 tuning parameters available for adjustment.
5-28 Ultra1500 Application Examples Figure 5.9 Resonance Effects at 200rpm Figure 5.10 shows the effect of the Resonant Frequency Suppression filter. The Resonant Frequency Suppression parameter is set to 458 Hz, the Low Pass Filter is set to 10000 Hz. The current and velocity waveforms appear very smooth as compared to the original waveforms. Figure 5.10 458 Hz Notch Filter Setting. Figure 5.11 shows the effect of the Low Pass Filter.
Ultra1500 Application Examples 5-29 10000 Hz. The current and velocity waveforms appear very smooth as compared to the original waveforms. Figure 5.
5-30 Ultra1500 Application Examples Velocity Regulator Settings The velocity regulator includes the following parameters available for adjustment by the user: • P Gain • Integrator Time • Integrator Mode • Integrator Threshold • D Gain • Low Pass Filter Bandwidth P Gain The P Gain parameter sets the proportional response of the velocity regulator. It can be in the range of 0–500. The regulator uses this gain to generate an acceleration command proportional to the velocity error.
Ultra1500 Application Examples 5-31 Figure 5.12 Velocity Regulator Step Response with Varying P Gain. 450 P Gain = 500 400 Velocity (RPM) 350 Velocity Command 300 P = 20 250 P = 40 200 P = 200 150 P = 500 P Gain = 20 100 50 0 0 5 10 15 20 25 Time (msec) Integrator Time The Integrator Time parameter sets the integral response of the velocity regulator. It can be in the range 0–60,000. This parameter setting has an inverse relationship to amount of Integral Gain in the regulator.
5-32 Ultra1500 Application Examples Figure 5.13 Velocity Regulator Step Response with Varying Integrator Time 450 400 Velocity Integrator Time = 1 350 Velocity Command 300 I=0 250 I = 100 200 I = 10 Integrator Time = 0 150 Integrator Time = 100 I=1 100 50 0 0 20 40 60 80 Time (msec) Integrator Mode The Integrator Mode parameter controls how the integral term is applied to the velocity regulator.
Ultra1500 Application Examples 5-33 . Integrator Mode Setting Description Always On The velocity regulator integral term is always used. High Current Disable This parameter value is specified as a percentage of the motor continuous current rating. The velocity regulator integral term is updated normally when the current command is less than the Integrator Threshold setting.
5-34 Ultra1500 Application Examples Figure 5.14 Velocity Regulator Step Response with Varying D Gain 450 400 D Gain = 0 Velocity (RPM) 350 D Gain = 200 Velocity Command 300 D=0 250 200 D = 75 150 D = 200 100 50 0 0 5 10 15 20 25 Time (msec) Low Pass Filter Bandwidth The Low Pass Filter Bandwidth parameter sets the bandwidth frequency of the low pass filter that is applied to the velocity command input for the velocity regulator. It can be set in the range 0–10,000 Hz.
Ultra1500 Application Examples 5-35 Kp The Kp parameter sets the proportional response of the position regulator. It can be in the range 0–700. The regulator uses this gain to generate a velocity command proportional to the position error. Larger gains result in larger velocity commands, faster response, and increased stiffness in the system for a given position error. Kp settings that are too large will cause instability, and Kp settings that are too small results in loose or sloppy system dynamics.
5-36 Ultra1500 Application Examples the Kff term is increased, it affects the response more. When Kff = 50, the system response is good, with the quickest rise time and no overshoot. When Kff = 100 the response is faster, but has some overshoot (that could be reduced by increasing the Integrator Time setting of the velocity loop). Figure 5.
Ultra1500 Application Examples 5-37 Figure 5.17 Position Regulator Response During Move with Varied Kff 20000 Kff = 0 Follower Positioin (counts) 15000 10000 Kff = 0 Kff = 50 Kff = 100 5000 Kff = 100 0 -5000 0 50 100 Time (msec) Kff Low Pass Filter Bandwidth The Kff Low Pass Filter Bandwidth parameter sets the bandwidth frequency of the low pass filter that is applied to the velocity feedforward command of the position regulator. It can be set in the range of 0–800 Hz.
5-38 Ultra1500 Application Examples Figure 5.18 shows the effect of varying the offset value on the position error during a typical motion profile. In the first figure, the drive was operated with the position regulator default gain settings, (Kp = 20, Kff = 0), and the threshold was set to 2000 counts. The plot clearly illustrates that the offset reduces the steady state error by a fixed amount, and increasing the offset further reduces the error.
Ultra1500 Application Examples 5-39 Figure 5.19 Position Regulator Response During Move with Varied Error Offset 4000 High Error Output Offset = 0 Follower Positioin (counts) 3000 2000 1000 Offset = 0 Offset = 200 0 Offset = 400 -1000 High Error Output Offset = 400 -2000 -3000 -4000 0 50 100 Time (msec) Control Block Diagrams This section includes graphical representation and descriptions of the regulators, control modes, and settings of the Ultra1500.
5-40 Ultra1500 Application Examples Position Regulator Figure 5.20 shows the block diagram of the position regulator in the Ultra1500 Figure 5.20 Position Regulator Block Diagram z-1 1 + Sampled Master Position Command 3 2 2 Kgear Kff 1 4 1 3 Kgear 4 + + 7 + 5 + K' + p - + Velocity Command To Velocity Regulator z-1 +Offset 0.
Ultra1500 Application Examples 5-41 Velocity Regulator Figure 5.21 shows the block diagram of the velocity regulator in the Ultra1500: Figure 5.21 Velocity Regulator Block Diagram Sample d Ve locity Comman d 9 2 + Cu rrent Command 10 11 Curren t Cmd Low Pa ss Filter Curren t Cmd Notch Filter + + Kp 1 + - Velo city Cmd L imit Ki 3 + 4 + 6 Integral Term Curre nt Cmd Limit + z-1 0.
5-42 Ultra1500 Application Examples The velocity command limit is set to the minimum of the following: • Zero if the velocity command is in the direction of an active overtravel limit, • Manual Velocity Limit (if activated), • Analog Velocity Limit (if activated), and • Motor rated speed.
Ultra1500 Application Examples 5-43 Preset Velocity Mode Figure 5.23 shows the block diagram of the preset velocity mode for the Ultra1500: Figure 5.
5-44 Ultra1500 Application Examples Analog Current Mode Figure 5.25 shows the block diagram for the analog current mode of the Ultra1500: Figure 5.
Ultra1500 Application Examples 5-45 Dual Current Command Mode Figure 5.26 shows the block diagram for the dual current mode of the Ultra1500: Figure 5.
5-46 Ultra1500 Application Examples Publication 2092-UM001D-EN-P — July 2005
Chapter 6 Maintaining and Troubleshooting Your Ultra1500 Chapter Objectives This chapter provides a description of maintenance and troubleshooting activities for the Ultra1500. This chapter includes these sections: • Safety Precautions • Maintaining Your Ultra1500 Drive • Status Indicators and the Operator Interface • General Troubleshooting Safety Precautions Observe the following safety precautions when troubleshooting your Ultra1500 drive.
6-2 Maintaining and Troubleshooting Your Ultra1500 Maintaining Your Ultra1500 Drive Publication 2092-UM001D-EN-P — July 2005 The Ultra1500 is designed to function with a minimum of maintenance. To maintain your Ultra1500 drive: • Clean the drive periodically, using an OSHA approved nozzle that provides compressed air under low pressure, less than 20 kPa (30 psi), to blow the exterior surface and the vents clean. • Visually inspect all cables for abrasion.
Maintaining and Troubleshooting Your Ultra1500 Status Indicators and the Operator Interface 6-3 The Operator Interface provides immediate access to Ultra1500 drive status and settings. The major features of the Ultra1500 Operator Interface are identified in Figure 6.1 and briefly described below. Refer to Ultra1500 Operator Interface on page D-1 for detailed information about using the operator interface. Figure 6.
6-4 Maintaining and Troubleshooting Your Ultra1500 Figure 6.2 Operational Drive Displays Character: 0 1 2 3 4 5 Control Mode: Characters 0 and 1 C = Analog Current d = Dual Current Command F = Follower S = Analog Speed P = Preset Velocity General Troubleshooting Status: Characters 3 through 5 rdY = Drive is disabled, but ready to be enabled run = Drive is enabled and motor is under control Row Display: Character 2 Top Row = Inactive for any Current mode Active if Velocity Mode.
Maintaining and Troubleshooting Your Ultra1500 6-5 Fault Codes The following list of assigned error codes is designed to help you resolve problems. Warning Messages Warnings are drive abnormalities that allow motor control to continue. Warnings are displayed on the drive's Status display using the last three segments of the display to display an abbreviated title. Warning Display Description Possible Cause(s) Action/Solution Absolute Encoder Battery 3.
6-6 Maintaining and Troubleshooting Your Ultra1500 Error Display Code Text Description Possible Cause(s) Action/Solution Motor cables shorted Verify continuity of motor power cable and connector. Motor winding shorted internally Disconnect motor power cables from the motor. If the motor is difficult to turn by hand, it may need to be replaced. Drive temperature too high • Check for clogged vents or defective fan. • Ensure cooling is not restricted by insufficient space around the drive.
Maintaining and Troubleshooting Your Ultra1500 Error Display Code Text Description 6-7 Possible Cause(s) Action/Solution Excessive heat exists in the drive • Verify cooling fan operation (2092-DA4 and 2092-DA5 only). • Check tuning. • Reduce acceleration rate. • Reduce duty cycle (ON/OFF) of commanded motion. • Increase time permitted for motion. • Use larger drive and motor. Poor quality power Increase Ride Through time.
6-8 Maintaining and Troubleshooting Your Ultra1500 Error Display Code Text Description Possible Cause(s) Action/Solution E100 Drive Set Up The drive operating mode and motor selection are incompatible. Change the operating mode and/or the motor selection, and reset the drive. E101 Motor Power Cable Open Motor cable open Verify power connection between motor and drive.
Appendix A Specifications and Dimensions Chapter Objectives Certifications This appendix covers the following topics: • Certifications • Ultra1500 Power Specifications • Ultra1500 General Specifications • Dimensions The Ultra1500 is certified for the following when the product or package is marked. • UL listed to U.S. and Canadian safety standards (UL 508 C File E145959) • CE and C-Tick marked for all applicable directives Note: Refer to www.ab.
A-2 Specifications and Dimensions The following sections provide power specifications for the Ultra1500. Ultra1500 Power Specifications Ultra1500 Power Specifications The tables below lists general power specifications and requirements for the Ultra1500 drives (2092-DAx). Main Input Power Drives 2092-DA1 2092-DA2 2092-DA3 Input Voltage 1 200–240 Vrms, 1φ Input Current 2 3.3 Arms Input Frequency 47–63 Hz Inrush Current 2 200 Apeak, maximum Power Cycling 0.
Specifications and Dimensions A-3 DC Bus and Shunt Circuitry Drives 2092-DA1 2092-DA2 2092-DA3 Voltage 254–400 VDC Capacitance 660 µF Discharge Time (to < 50V) 3 minutes, maximum Overvoltage Detect 410V Undervoltage Detect 230V Shunt Circuitry No Yes Shunt Turn-on Voltage – 390V Shunt Turn-off Voltage – 380V Internal Shunt Resistance – 50Ω Continuous Shunt Power – 30W Intermittent Shunt Power – 3kW 2092-DA4 2092-DA5 990 µF 30Ω 50W 70W 5kW DC Power and Shunt Connector D
A-4 Specifications and Dimensions Fuse and Contactor Specifications Use class CC, J, or R class fuses, with current ratings as indicated in the table below. The table below lists fuse examples recommended for use with the Ultra1500 drives. Refer to Power Wiring Requirements in Chapter 3 for input wire size.
Specifications and Dimensions A-5 The following sections provide physical, environmental, control, I/O, communication, feedback, connector, and AC line filter specifications for the Ultra1500 drives. Ultra1500 General Specifications Physical and Environmental Specifications Drives 2092-DA1 2092-DA2 Operating Temperature 0° C to 50° C (32° F to 122° F) Operating Shock 15 G, Half Sine, 11 ms Operating Vibration 5–500 Hz @ 2.5 G, 0.381 mm (0.015 in.) maximum displacement Weight 0.9 kg (2.
A-6 Specifications and Dimensions Current Loop Update Period 50 µS -3dB Bandwidth 2 kHz, typical -45o Bandwidth 350 Hz, typical Type PI, Flux Vector Control, Space Vector Modulation Features Notch Filter, Low Pass Filter, Automatically tuned using motor parameters Velocity Loop Update Period 200 µS -3dB Bandwidth 550 Hz achievable through tuning Type PID Features Low Pass Filter, Online Inertia Identification, Velocity Observer Position Loop Update Period 200 µS Type P with Kff Featu
Specifications and Dimensions A-7 Digital Outputs Quantity 3 general purpose, opto-isolated Type Differential (both collector and emitter available for connection) Output Current 20 mA, maximum Output Voltage 21.6–26.
A-8 Specifications and Dimensions Command Inputs Operating Modes Analog Velocity, Analog Current, Preset Velocity, Follower, Dual Current Command Analog Velocity Input -10 to +10 Volt, single-ended, 16-bit A/D conversion Analog Current Input -10 to +10 Volt, single-ended, 12-bit A/D conversion Follower Input 5 Volts, opto-isolated Follower Types Step/Direction, Step Up, Step Down, Master Encoder Motor Control Encoder Supported Incremental AqB with Hall Commutation Feedback, Tamagawa Serial Sup
Specifications and Dimensions A-9 AC Line Filter Specifications The following AC line filters are compatible with the Ultra1500 drives. AC Line Filter Catalog Number 2090-UXLF-106 2090-UXLF-110 2090-UXLF-HV323 Specifications Voltage Phase 250V ac 50/60 Hz Single 520V ac 50/60 Hz Three 1 Current Power Loss Weight kg (lb.) 6A @ 50° C (122° F) 3.5W 0.3 (0.66) 10A @ 50° C 2.7W (122° F) 0.95 (2.0) 23A @ 50° C 20W (122° F) 1.6 (3.
A-10 Specifications and Dimensions Dimensions The figures below provide basic outline dimensions for the Ultra1500 drives. Refer to Chapter 1 beginning on page 1-1 for additional drive dimensions, mounting hole locations, drive clearance requirements, and other information. Figure A.1 Ultra1500 Basic Outline Dimensions (2092-DA1 and 2092-DA2) 140.0 (5.51) 55.0 (2.17) 13.0 (0.51) 155.0 (6.10) Figure A.2 Ultra1500 Basic Outline Dimensions (2092-DA3) 140.0 (5.52) 70.0 ((2.76) 13.0 (0.51) 155.0 (6.
Appendix B Interconnect and Cable Diagrams Chapter Objectives 1 This appendix contains the following interconnect diagrams and cable assembly drawings that show you how to connect your Ultra1500 to the other parts of a motion control system: • Power Connections • CN1 I/O Control Connections • ControlLogix 1756-M02AE System Connections • SoftLogix 1784-PM02AE System Connections • Generic Controller Connections • MicroLogix 1200/1500 Connections • TL-Series Motor Connections • Generic Rota
B-2 Interconnect and Cable Diagrams Figure B.1 shows the recommended power wiring for a typical Ultra1500 drive and motor system. Power Connections Figure B.1 Ultra1500 Simplifier Power Wiring Diagram TO ADDITIONAL DRIVES FUSED DISCONNECT OR CIRCUIT BREAKER ULTRA1500 FUSE BLOCK 1:1 ISOLATION TRANSFORMER M1 AC LINE FILTER 230V 3-PHASE AC LINE 50/60 HZ 3 6 SHUNT RESISTOR L1 L2 L3 L1C L2C N P1 P2 B1 B2 5 U V W MOTOR CASE 2 1 4 GROUND BAR NOTES: 1. 2. 3. 4. 5. 6.
Interconnect and Cable Diagrams CN1 I/O Control Connections B-3 Figure B.2 shows typical input/output connections to the CN1 control connector of the Ultra1500. Figure B.
B-4 Interconnect and Cable Diagrams Figure B.3 shows the recommended connections for a typical 1756-M02AE system using an Allen-Bradley ControlLogix PLC control system. ControlLogix 1756-M02AE System Connections Figure B.3 Ultra1500 to 1756-M02AE System Interface Diagram 1756-M02AE ULTRA1500 CN1 +OUT -OUT 21 ICMD+ 22 ICMD- +CHA -CHA +CHB -CHB +CHZ -CHZ 29 30 31 32 33 34 NOTES: 1. 2. 3.
Interconnect and Cable Diagrams B-5 Figure B.4 shows the recommended connections for a typical 1784-PM02AE system using an Allen-Bradley SoftLogix5800 control system. SoftLogix 1784-PM02AE System Connections Figure B.4 Ultra1500 to 1784-PM02AE System Interface Diagram 1784-PM02AE ULTRA1500 CN1 +OUT -OUT 21 ICMD+ 22 ICMD- +CHA -CHA +CHB -CHB +CHZ -CHZ 29 30 31 32 33 34 +ENABLE -ENABLE NOTES: 1. 2. 3.
B-6 Interconnect and Cable Diagrams Figure B.5 shows the recommended connections for a typical system using a generic motion controller. Generic Controller Connections Figure B.5 Ultra1500 to Generic Controller System Interface Diagram 3RD PARTY CONTROLLER ULTRA1500 CN1 CMD+ CMD- 29 30 31 32 33 34 A+ AB+ BZ+ Z3 4 ENABLE+ ENABLE- 2. 3. 4. 5. 1 AM+ AMBM+ BMIM+ IM- 3 INPUT1 1 24V IN DRVFLT COM 44 OUTPUT243 OUTPUT2+ CHASSIS SHIELD 24V POWER SUPPLY NOTES: 1.
Interconnect and Cable Diagrams MicroLogix 1200/1500 Connections B-7 Figure B.6 shows the recommended connections for a typical system using a MicroLogix 1200 or 1500 programmable logic controller with the Ultra1500. In this example, the Ultra1500 is operating in Follower mode and the PLC provides Step and Direction commands to the drive. Figure B.6 Ultra1500 to MicroLogix 1200/1500 System Interface Diagram MICROLOGIX PLC ULTRA1500 CN1 2.2kΩ OUT2 2.
B-8 Interconnect and Cable Diagrams Figure B.7 shows the recommended feedback wiring for the TL-Series motors to the Ultra1500. TL-Series Motor Connections Figure B.7 Ultra1500 and TL-Series Motor Feedback Wiring Diagram ULTRA1500 MOTOR FEEDBACK CONNECTOR CN2 1 EPWR ECOM SD+ SDBAT+ BATSHIELD NOTES: 1. 20 1 10 13 18 19 EPWR ECOM SD+ SDBAT+ BATSHIELD IF MULTI-TURN ABSOLUTE FEEDBACK IS NOT NEEDED IN THE APPLICATION, THE BATTERY CONNECTIONS TO PINS 18 AND 19 OF CN2 ARE NOT NECESSARY.
Interconnect and Cable Diagrams Generic Rotary Motor Connections B-9 Figure B.8 shows the recommended feedback wiring for a generic rotary motor with an incremental AQB encoder and Hall signals. Figure B.8 Ultra1500 and Generic Rotary Motor Feedback Wiring Diagram ULTRA1500 MOTOR FEEDBACK CONNECTOR CN2 1 EPWR ECOM A+ AB+ BI+ IS1 S2 S3 TS SHIELD NOTES: 1.
B-10 Interconnect and Cable Diagrams Anorad Linear Motor Connections Figure B.9 shows the recommended feedback wiring for an Anorad linear motor. Figure B.
Interconnect and Cable Diagrams Generic Linear Motor Connections B-11 Figure B.10 shows the recommended feedback wiring for a 3rd party linear motor with an incremental AQB encoder and Hall signals. Figure B.10 Ultra1500 and Generic Linear Motor Feedback Wiring Diagram ULTRA1500 MOTOR FEEDBACK CONNECTOR CN2 1 EPWR ECOM A+ AB+ BI+ IS1+ S2+ S3+ TS SHIELD NOTES: 1.
B-12 Interconnect and Cable Diagrams Host Communications Connections Figure B.11 shows the connections between a personal computer and the Ultra1500 drive. These connections are necessary when Ultraware is used for configuration or monitoring the drive, or if a PC-based software program is used to communicate with the drive directly using serial commands Figure B.11 Ultra1500 and Personal Computer Communications Port Wiring Diagram.
Interconnect and Cable Diagrams TL-Series Motor Power Cable Assembly (2090-DANPT-16Sxx) B-13 Figure B.12 shows the wiring diagram for the motor power cable assembly sold by Allen-Bradley (catalog number 2090-DANPT-16Sxx) to interface the Ultra1500 drive to the TL-Series motor family. Figure B.
B-14 Interconnect and Cable Diagrams Figure B.13 shows the wiring diagram for the CN1 control cable assembly sold by Allen-Bradley (catalog number 2090-DAIO-D50xx) to interface the Ultra1500 drive to a motion controller. CN1 Control Cable Assembly (2090-DAIO-D50xx) Figure B.
Interconnect and Cable Diagrams CN2 Feedback Cable Assembly for TL-Series Motors (2090-DANFCT-Sxx) B-15 Figure B.14 shows the wiring diagram for the motor feedback cable assembly sold by Allen-Bradley (catalog number 2090-DANFCT-Sxx) to interface the Ultra1500 drive to the TL-Series motor family. This cable assembly includes connections for serial encoders as well as incremental encoders. Figure B.14 TL-Series Motor Feedback Cable Diagram.
B-16 Interconnect and Cable Diagrams CN3 PC Communications Assembly (2090-DAPC-D09xx) Figure B.15 shows the wiring diagram for the CN3 PC communications cable assembly sold by Allen-Bradley (catalog number 2090-DAPC-D09xx) to interface the Ultra1500 drive to a host computer. Figure B.
Appendix C Catalog Numbers and Accessories Chapter Objectives This appendix lists the Ultra1500 drives and accessory items in tables by catalog number providing detailed descriptions of each component. This appendix describes catalog numbers for: • Ultra1500 Drives • Ultraware Software • AC Line Filters • Motor Power Cables • Motor Feedback Cables • Motor Brake Cables • Interface Cables • Connector Kits • Battery Contact your local Allen-Bradley sales office for additional information.
C-2 Catalog Numbers and Accessories Ultra1500 Drives Ultraware Software AC Line Filters Publication 2092-UM001D-EN-P — July 2005 Use the following table to identify Ultra1500 drives based on Continuous Output Current, or Intermittent Output Current. Continuous Output Current Intermittent Output Current Catalog Number 1.4A (0–peak) 3.4A (0–peak) 2092-DA1 2.4A (0–peak) 7.2A (0–peak) 2092-DA2 4.7A (0–peak) 11.3A (0–peak) 2092-DA3 10.7A (0–peak) 24.8A (0–peak) 2092-DA4 16.4A (0–peak) 43.
Catalog Numbers and Accessories Cables C-3 Use the following tables to identify motor power, feedback, interface, and brake cables for your Ultra1500 drive. Length of cable xx is in meters. Power, feedback and brake cables for connection to TL-Series motors are available in standard lengths up to 30 m (98.4 ft).
C-4 Catalog Numbers and Accessories Battery Publication 2092-UM001D-EN-P — July 2005 Use the following table to identify the battery for your Ultra1500 drive. Description Catalog Number 3.
Appendix D Ultra1500 Operator Interface Chapter Objectives This appendix describes the Ultra1500 drive status and setting displays that can be accessed and modified through the Operator Interface. This appendix includes these sections: • Using the Operator Interface • Mode Displays • Parameter Groupings The on-line help supplied with Ultraware also contains information about Ultra1500 Operator Interface functions.
D-2 Ultra1500 Operator Interface The following briefly explains the MODE/SET, ENTER, and directional keys and their use. Key Name Function Example SET Saves the current value of the setting in memory. To save any change: • Press and hold SET until the display blinks. Toggles the display between the four modes. MODE NOTE: The Status mode is the default display at power-up. Enter or exit a display containing the settings for the selected mode.
Ultra1500 Operator Interface D-3 2. Select the function to perform from the list below using either the UP or DOWN key: Select from: 00 the Jog function, 01 the Run Auto Tuning function, through 12 the Reset to Factory Settings function. Functions 02, 07, 09, and 13 display, but are Reserved functions. Function Number and Command Abbreviation Description Notes 00 -JoG- Jog Parameter 2.01 and the Velocity Control Panel window of Ultraware store the jog velocity.
D-4 Ultra1500 Operator Interface If you are Complete the following step(s) to: performing this function: 00 -JoG- Perform a Jog (00) function: 1. Press MODE to select the JoG-On display Note: MODE toggles between JoG-On and JoG-OFF. 2. Press the UP key to jog in the forward direction, or the DOWN key to jog in the reverse direction. 3. Press MODE to select JoG-OFF. 4. Press the ENTER key to return to the Function Mode display.
Ultra1500 Operator Interface D-5 Monitor Mode The Monitor mode displays numerical data about drive and motor functions. To access the monitor data: 1. Enter the Monitor mode by pressing the MODE key. The display indicates the selected Function by displaying (where nn is a variable number from the tables below). 2. Using either the UP, DOWN, RIGHT, or LEFT keys, select a Variable Number listed the appropriate table below.
D-6 Ultra1500 Operator Interface Variable Numbers Name Unit 16 Error History Up to eight alarms stored in numerical order (most recent =1, to oldest =8) with error code number: Most significant digit is alarm number (1–8), Least significant six digits are the error code number referenced in the Error Displays beginning on page 6-5. e.g., 1-E004 = most recent error is a Motor Overtemp 17 Firmware Version e.g., vErx.
Ultra1500 Operator Interface Variable Numbers Name Unit 7 15 D-7 6 5 4 3 2 1 3 2 1 Servo Alarm: No errors Digital Outputs 3 - 1: 3 and 1 active Input and Output Status E-Stop: Not active Digital Inputs 7 - 1: 6, 5, 3, and 1 active Up to eight alarms stored in numerical order (most recent =1, to oldest =8) with error code number: Most significant digit is alarm number (1–8), Least significant six digits are the error code number referenced in the Error Displays beginning on page 6-5. e.g.
D-8 Ultra1500 Operator Interface Figure D.2 shows these categories and briefly defines the information provided by each category. Refer to Maintaining and Troubleshooting Your Ultra1500 beginning on page 6-1 for a complete listing and description of Warning Messages, Error Displays, and Overtravel Conditions. Figure D.
Ultra1500 Operator Interface D-9 3. Press the ENTER key to display the current value of the parameter. 4. Modify the current value of the parameter with the directional keys, and save the modified value in memory by pressing the SET key. 5. Press the ENTER key a second time to return to the Set Parameter display, where you can modify parameter settings. For example: Enter the Set Parameter mode by pressing the MODE key (The text message Pr-x.xx indicates the Set Parameter mode is active).
D-10 Ultra1500 Operator Interface Pr-0.
Ultra1500 Operator Interface D-11 Digit 1: Overtravel Stop Method Range: Value Description 0x0 Stop by change of mode to Normal Current. Set stopping current with Overtravel Current limit parameter (Pr-4.05). 0x1 Dynamic Brake Default: 0 Digit 2: Command Polarity (Direction of Motor Rotation) Range: Value Description 0x0 The command signal is not inverted so that a positive command value results in CW Rotation, (as viewed from shaft end).
D-12 Ultra1500 Operator Interface 0x1 Slowest 0x2 Slower 0x3 Slow 0x4 Medium-Slow 0x5 Medium 0x6 Medium-Fast 0x7 Fast 0x8 Faster 0x9 Fastest Default: 0 Units: – Pr-0.04 Inertia Ratio Range: 0 to 6000 Default: 0 Units: (Load Inertia / Motor Inertia) * 100 Ultraware Link: Inertia Ratio Pr-0.
Ultra1500 Operator Interface 8 D-13 Input Signal ON Data Size: 4 digits Digits: Digit Description Default 0 Fault Reset 0x0 1 Current Limit – Negative 0x0 2 Current Limit – Positive 0x0 3 Operation Mode Override 0x0 Applicable Operating Mode All Pr-0.
D-14 Ultra1500 Operator Interface Pr-0.09 Input Signal Assignment - Group 5 Data Size: 4 digits Digits: Digit Description Default 0 Position Strobe 0x0 1 Reserved 0x0 2 Reserved 0x0 3 Reserved 0x0 Applicable Operating Mode All Pr-0.
Ultra1500 Operator Interface D-15 Pr-0.12 Output Signal Assignment – Group 3 Range for all digits: 0 to 3 Value Description 0 Output Signal OFF 1 to 3 Output signal assigned to hardware outputs 1 through 3 Data Size: 4 digits Digits: Digit Description Default 0 Absolute Position Valid 0x0 1 Drive Ready 0x0 2 Reserved 0x0 3 Reserved 0x0 Applicable Operating Mode All Pr-0.13 Drive Address Range: 1 to 255 Default: 1 Ultraware Link: Drive Address Pr-0.
D-16 Ultra1500 Operator Interface Pr-1.02 Main Velocity Regulator Gains: Integrator Time Range: 0 to 60000 Default: 26 Applicable Operating Mode: Follower, Analog Velocity, Preset Velocity Ultraware Link: Main Velocity Regulator Gains: Integrator Time Pr-1.03 Main Position Regulator Gains: Kp Range: 0 to 700 Default: 20 Units: Hz Applicable Operating Mode: Follower Ultraware Link: Main Position Regulator Gains: Kp Pr-1.
Ultra1500 Operator Interface Units: Hz Applicable Operating Mode: All Ultraware Link: Main Current Regulator Gains: Resonant Frequency Suppression D-17 Pr-1.08 Position Regulator Kff Gain: Kff Range: 0 to 100 Default: 0 Units: % Applicable Operating Mode: Follower Ultraware Link: Position Regulator Kff Gain: Kff Pr-1.
D-18 Ultra1500 Operator Interface Pr-1.11 Main Velocity Regulator Gains: Integrator Hold Threshold Range: 0 to 3000 Default: 100 Units: If Pr-1.10 equals: Then the Units are measured in: 1 % of rated continuous current 2 rpm for rotary motors mm/sec for linear motors 3 Counts Applicable Operating Mode: Follower, Analog Velocity, Preset Velocity Ultraware Link: Main Velocity Regulator Gains: Integrator Hold Threshold Pr-1.
Ultra1500 Operator Interface D-19 Group 2 Parameters Group 2 Parameters provide speed control settings. Pr-2.00 Analog Velocity Command Scale Range: 100 to 20000 Default: 5000 Units: rpm/V*10 for rotary motors mm/sec/V*10 for linear motors Applicable Operating Mode: Analog Velocity Pr-2.01 Jog Velocity Command Range: 0 to 5000 Default: 500 Units: rpm for rotary motors mm/sec for linear motors Applicable Operating Mode: All Pr-2.
D-20 Ultra1500 Operator Interface Pr-2.05 Preset Velocity 1 Range: -5000 to 5000 Default: 0 Units: rpm for rotary motors mm/sec for linear motors Applicable Operating Mode: Preset Velocity Ultraware Link: Preset Velocity 1 Pr-2.06 Preset Velocity 2 Range: -5000 to 5000 Default: 0 Units: rpm for rotary motors mm/sec for linear motors Applicable Operating Mode: Preset Velocity Ultraware Link: Preset Velocity 2 Pr-2.
Ultra1500 Operator Interface D-21 mm/sec for linear motors Applicable Operating Mode Preset Velocity Ultraware Link: Preset Velocity 5 Pr-2.10 Preset Velocity 6 Range: -5000 to5000 Default: 0 Units: rpm for rotary motors mm/sec for linear motors Applicable Operating Mode Preset Velocity Ultraware Link: Preset Velocity 6 Pr-2.
D-22 Ultra1500 Operator Interface Group 3 Parameters Group 3 Parameters provide position control settings. Pr-3.
Ultra1500 Operator Interface D-23 Pr-3.01 Gear Ratio Follower Lines Gear Ratio Follower Lines Range: 1 to 65535 Default: 1 Units: Counts/4 = Lines Applicable Operating Mode: Follower Ultraware Link: Gear Ratio Follower Lines Pr-3.02 Gear Ratio, Master Counts Range: 1 to 65535 Default: 4 Units: Counts Applicable Operating Mode: Follower Ultraware Link: Gear Ratio, Master Counts Pr-3.
D-24 Ultra1500 Operator Interface Units: % of rated continuous current/V*10 Applicable Operating Mode: Analog Current, Dual Current Ultraware Link: Current Scale Pr-4.01 Current Limits: Positive Internal Range: 0 to 500 Default: 500 Units: % of motor rated continuous current Applicable Operating Mode: All Ultraware Link: Current Limits: Positive Internal Pr-4.
Ultra1500 Operator Interface D-25 Pr-4.06 Initial Current Bias Ultraware Link: Initial Current Bias Description: Prevents the downturn of vertical load during initial operation Range: -100 to100 Default: 0 Units: % of motor rated continuous current Applicable Operating Mode: All Group 5 Parameters Group 5 Parameters provide supplementary drive system and I/O settings Pr-5.
D-26 Ultra1500 Operator Interface mm/sec for linear motors Applicable Operating Mode: Follower, Analog Velocity, Preset Velocity Ultraware Link: Speed Functions: Speed Window Pr-5.03 Speed Functions: Up to Speed Description: If the motor’s speed is higher than this speed and a digital output is defined as Up to Speed, then the digital output is turned ON.
Ultra1500 Operator Interface D-27 Description: Disable Delay is the time from when Drive Disable command is received to when the command is actually executed. Range: 0 to 1000 Units: 10 msec Applicable Operating Mode: All Ultraware Link: Stopping Functions: Disable Delay Pr-5.07 Brake Active Delay Description: Brake Active Delay is the time from when Drive Disable command is received to when the brake starts operating.
D-28 Ultra1500 Operator Interface Units: msec Applicable Operating Mode: All Ultraware Link: AC Line Loss Fault Delay Pr-5.11 Reserved This parameter is Reserved. Pr-5.12 Analog Output 1: Signal Description: The drive signal assigned to channel 1 from the Channel Setup dialog box in the Oscilloscope window. Range: 1 to 99999 Default: 0x00 Applicable Operating Mode: See Monitor Variable Numbers (except 0x0F) beginning on page D-6. Ultraware Link: Analog Output 1: Signal Pr-5.
Ultra1500 Operator Interface D-29 Units: See Monitor Variable Numbers (except 0x0F) beginning on page D-6. Applicable Operating Mode: All Ultraware Link: Analog Output 2: Scale Group 6 Parameters Group 6 parameters provide supplementary gain settings and fault reports. Pr-6.00 Analog Velocity Command Offset Description: The offset to the Analog Velocity Command input. Range: -10000 to 10000 Default: 0 Units: 0.
D-30 Ultra1500 Operator Interface Default: 0 Applicable Operating Mode: Follower, Analog Velocity, Preset Velocity Ultraware Link: Main Velocity Regulator Gains: D Pr-6.05 Reserved This parameter is Reserved. Pr-6.06 Fault Detail Setup: Sample Period Description: The time, in 0.2 msec increments, between signal samples. 50 samples constitute a fault trace. Range: 1 to 99 Default: 5 Units: 0.2 msec Ultraware Link: Fault Detail Setup: Sample Period Pr-6.
Ultra1500 Operator Interface D-31 Pr-6.10 Fault Detail Setup: Channel D Description: Selects the drive signal to assign to Channel D. Range: See Monitor Variable Numbers (except 0x0F) beginning on page D-6. Default: 0x10 Ultraware Link: Fault Detail Setup: Channel D Pr-6.11 Alternate Gain: VReg P Gain Description: This command allows you to set an Alternate Velocity Regulator P Gain for use in system tuning.
D-32 Ultra1500 Operator Interface Pr-6.15 Alternate Gain: VReg Low Pass Bandwidth Publication 2092-UM001D-EN-P — July 2005 Description: This command allows you to set an Alternate Velocity Regulator Low Pass Bandwidth for use in tuning.
Index A absolute positioning extracting from drive 5-20 installing battery 5-16 AC line filters C-2 noise reduction 1-15 specifications A-9 AC power inputs 3-8 analog input 2-10 analog output 2-11 analog outputs specifications A-7 application examples 5-1 applications absolute positioning 5-16 ControlLogix 1756-M02AE 5-2 dynamic brake 5-22 MicroLogix follower 5-11 position regulation 5-34 Ultra1500 block diagrams 5-39 auxiliary encoder specifications buffered encoder outputs 2-21 B battery catalog number C
I-2 power wiring diagram 3-10 Ultra1500 3-1 connection diagram Anorad liner motor B-10 ControlLogix 1756-M02AE 5-2, B-4 generic controller B-6 generic linear motor B-11 host communications B-12 MicroLogix 1200/1500 5-11, B-7 rotary motor B-9 SoftLogix 1784-PM02AE B-5 TL motor B-8 Ultra1500 I/O B-3 Ultra1500 power wiring B-2 connector battery 5-16 control power – L1C, L2C 2-25 dc bus negative – DCsee dc bus negative – N dc bus negative – N 2-25 dc bus positive – P2 2-26 diode bridge – P1 2-26 front panel
I-3 H heat losses for sizing enclosures A-4 high error output offset 5-37 high error output threshold 5-37 high frequency energy 1-13 high-frequency (HF) bonding general practices 1-12 I I/O connections 3-14 I/O cable (2090-DAIO) B-14 input power 3-10 connector specifications A-2 control ac 3-8 main ac 3-8 power wiring diagram 3-10 wiring connections 3-10 input power wiring 3-phase delta 3-3 3-phase WYE 3-3 determining input power 3-3 grounded power configurations 3-3 single-phase 3-4 single-phase ampli
I-4 noise zones Ultra1500 1-14 notch filter 5-27 O on-line help D-1 operator interface D-1 control keys D-1 display and indicators D-1 LED displays 6-3 mode displays D-2 operational displays D-8 parameter settings D-9 output power connector specifications A-3 P panel cable categories 1-15 layout 1-13 PC communications cable (2090-DAPC) B-16 Pgain 5-30 pin-outs battery 5-16 I/O connector (CN1) 2-3 motor feedback connector (CN2) 2-4 serial connector (CN3) 2-4 position command hardware configuration 2-12
I-5 current loop A-6 dc bus A-3 dc bus connector A-3 digital I/O power supply 2-5 digital inputs A-6 digital outputs A-7 encoder outputs A-7 fault outputs A-7 feedback connector (CN2) A-5 fuses A-4 I/O 2-5 I/O digital inputs 2-5 I/O digital outputs 2-9 input power connector A-2 main input power A-2 maximum feedback cable lengths transformer sizing 1-9 troubleshooting 5-23 accessory equipment 1756-MO2AE 5-5 1784-PM02AE 5-5 ControlLogix modules 5-4 SoftLogix cards 5-4 error displays 6-5 fault codes 6-5 LED
I-6 maintenance 6-1 mode displays D-2 monitor mode D-5 operator interface D-1 parameter settings D-9 power dissipation A-4 regulation modes 5-39 set parameter mode D-8 settings 5-39 status mode D-7 troubleshooting status indicators 6-1 Ultra1500 applications absolute positioning 5-16 analog current mode block diagram 5-44 analog velocity block diagram 5-42 control block diagrams 5-39 ControlLogix 1756-M02AE 5-2 dual current mode block diagram 5-45 dynamic braking 5-22 jog mode block diagram 5-43 MicroLog
For more information refer to our web site: www.ab.com/motion For Allen-Bradley Technical Support information refer to: www.ab.com/support or Tel: (1) 440.646.5800 Publication 2092-UM001D-EN-P — July 2005 0013-2065-004-01 Supersedes publication 2092-UM001C-EN-P — October 2004 Copyright © 2005 Rockwell Automation. All rights reserved. Printed in USA.
