Product data

ManualsBrandsUltra Start ManualsAutomotive1500M SERIES

Product Data

ULTRA Series

(Catalog Numbers 1398-xxx)

The 1398 ULTRA™ Series is a family of single-axis digital and positioning servo

drives designed to offer flexibility and performance for a wide range of applications.

The ULTRA 100™ and 200™ digital servo drives offer you versatility and ease of

use. Using the Windows™-based Ultra Master software, you can quickly set up,

commission, and troubleshoot ULTRA 100 and 200 drives. TheULTRA Plus

positioning servo drives combine control and drive functionality to create powerful

single-axis motion controllers. Using the graphical Windows-based GML™ Ultra

software, you can quickly program, commission, and troubleshoot ULTRA Plus

drives.

Summary of content (75 pages)

PAGE 1
ULTRA Series (Catalog Numbers 1398-xxx) Product Data The 1398 ULTRA™ Series is a family of single-axis digital and positioning servo drives designed to offer flexibility and performance for a wide range of applications. The ULTRA 100™ and 200™ digital servo drives offer you versatility and ease of use. Using the Windows™-based Ultra Master software, you can quickly set up, commission, and troubleshoot ULTRA 100 and 200 drives.
PAGE 2
ULTRA Series Table of Contents ULTRA 100/200 Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5 ULTRA 100 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 ULTRA 100 and DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 ULTRA 100 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 General . . . . .
PAGE 3
ULTRA Series 3 Host Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Ultra Master Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 AC Line Filter (9101-1516)for 1398-DDM-005 . . . . . . . . . . . . . . . . . . . . . . . . . . .
PAGE 4
ULTRA Series ULTRA Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Mating Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PAGE 5
ULTRA Series ULTRA 100/200 Drives 5 ULTRA 100 and 200 drives are feature-rich, high-performance drives that offer the flexibility to handle a wide range of applications. You can set up the ULTRA 100/200 drives as indexing drives, velocity servo drives, stepper drives, or master encoder followers. With the DeviceNet option, you can remotely commission and reprogram ULTRA 100 drives. In addition, you can use the ULTRA 100/200 drives host command protocol to set up multiple drives.
PAGE 6
ULTRA Series ULTRA 100 Features ULTRA 100 servo drives deliver flexibility and performance in a very compact size.
PAGE 7
ULTRA Series 7 ULTRA 100 and DeviceNet The DeviceNet interface card is an optional card that provides a direct, digital connection between a DeviceNet network and an ULTRA 100 drive.
PAGE 8
ULTRA Series Command Sources Specification Description Analog velocity/torque input ±10 Volts Presets 8 presets, binary selection by digital inputs (unlimited I/O capability over DeviceNet) Step and direction, step up/step down 1 MHz maximum frequency Differential or single-ended line drivers Master encoder following 1 MHz maximum line frequency Differential or single-ended line drivers Digital serial commands Via serial port and ULTRA Series host language DeviceNet commands Via DeviceNet p
PAGE 9
ULTRA Series 9 Connectors Specification Description DeviceNet 5-pin open-style connector Serial 9-pin D-shell (for J5) Control and feedback 20-pin (for J2) and 50-pin (for J1) high density Mini D Power Screw terminal block (for TB1) Environmental Specification 1398-DDM005, 005X1, 005-DN2, 005X-DN Storage temperature 0019, 0019X1, 0019-DN2, 0019X-DN -40ºC to 70ºC (-40ºF to 158ºF) Operating temperature -5ºC to 55ºC (23ºF to 131ºF) Humidity 5% to 90%, non-condensing Altitude 1500m (5000 f
PAGE 10
ULTRA Series Inputs and Outputs Specification Description 4 optically isolated, 12 to 24 volt, active high. User-selectable as: Selectable digital inputs • Analog override • Define home • Drive mode select • Integrator inhibit • Fault reset • Follower enable • Forward enable • Mode override • Preset select • Registration sensor1 • Reverse enable • Remove command offset • Starting homing • Start index 2 optically isolated, 12 to 24 volt, active high, short circuit protected.
PAGE 11
ULTRA Series 11 ULTRA 200 Features ULTRA 200 positioning drives deliver full-featured flexibility and impressive power and performance.
PAGE 12
ULTRA Series • Two serial connectors to simplify RS-485 multi-dropping and host communications • Several analog or digital command interfaces: • Indexing (absolute with the Homing feature, incremental, or registration) • ±10 Volt analog interface—position, velocity, or torque control • Presets (from one to eight binary inputs)—torque or velocity control • Quadrature encoder digital interface—electronic gearing position follower • Step/Direction digital interface—position control • CW/CCW
PAGE 13
ULTRA Series 13 Command Sources Specification Description Analog velocity input ±10 Volts, 16-bit resolution Presets 8 presets, binary selection by digital inputs Step and direction, Step up/Step down 1 MHz maximum frequency Differential or single-ended line drivers Master encoder following 1 MHz maximum line frequency Differential or single-ended line drivers Digital serial commands Via serial port and ULTRA Series host language Indexing Absolute (with Homing feature) Incremental Registratio
PAGE 14
ULTRA Series Inputs and Outputs Specification Selectable digital inputs Description • Analog override • Define home • Drive mode select • Fault reset • Follower enable • Forward enable • Integrator inhibit • Preset select • Mode override • Registration sensor • Remove command offset • Reverse enable • Start index • Start homing 4 optically isolated, 12 to 24 volt, active high User-selectable as: Selectable digital outputs • At speed • Axis homed • Bus changed • Current limit • Dis
PAGE 15
ULTRA Series 15 Environmental 1398-DDMSpecification Storage temperature -40ºC to 70ºC (-40ºF to 158ºF) Operating temperature -5ºC to 50ºC (23ºF to 122ºF) -5ºC to 55ºC (23ºF to 131ºF) Humidity 5% to 95%, non-condensing Altitude 1500m (5000 ft) Vibration 10 to 2000 Hz at 2g Shock 15g, 11 ms, half sine 6.36 kg (14.02 lb) 5.80 kg (13.78 lb) Weight 1 030, 030X1 075, 075X1 150, 150X1 (1φ input) 3φ (1φ) (3φ input) 010, 010X1 020, 020X1 6.48 kg (14.28 lb) 9.67 kg (21.32 lb) 14.06 kg (30.
PAGE 16
ULTRA Series ULTRA Series 100/200 Cables Use the following table to determine which cables you need for your application. Refer to the ULTRA 100 and 200 Interconnect Diagrams section on page 17 for cable location.
PAGE 17
ULTRA Series 17 ULTRA 100 and 200 Interconnect Diagrams Windows compatible personal computer TouchPad OR ULTRA 100 G T S R 2 J5 TB1 1 3 4 J2 Encoder 5 Brushless Motor J1 1 4 Note: J1, J2, and J5 are the same as ULTRA 200. ULTRA 200 Windows compatible personal computer TouchPad OR 1 J5 2 Use these numbers to determine which cables you need for your application. Refer to the table on page 16 for cable descriptions and part numbers.
PAGE 18
ULTRA Series Connector J1 — Controller Connection Pin Description Pin Description Pin Description Pin Description 1 Encoder +5V DC 14 Auxiliary channel A+ 27 Current limit 39 RSVD 2 Encoder com 15 Auxiliary channel A- 28 Analog com 40 RSVD 3 Encoder +5V DC 16 Auxiliary channel B+ 29 Negative current limit 1 41 RSVD 4 Encoder com 17 Auxiliary channel B- 30 Analog output 1 42 Selectable output 1 5 Isolated +12 to 24V DC 18 Auxiliary index A+ 31 Analog output 2
PAGE 19
ULTRA Series 19 Connectors J4 and J5 — Serial Ports Connections Pin Description Pin Description 1 RCV+ RS-485 4 XMT+ 2 RCV RS-232 5 COM 3 XMT RS-232 RS-485 Pin Description 6 RSVD 7 RCV- RS-485 Pin Description 8 XMT- 9 RSVD RS-485 Cable Specifications Specification Description Wire insulation type Polyvinyl chloride Conductor size 28 AWG (0.08 mm2) tinned copper 24 AWG (0.25 mm2) for 9101-1372-xxx, -1374-xxx, and -1379-xxx 16 AWG (1.
PAGE 20
ULTRA Series • When placing the cable into the cable carrier, the carrier should be laid out flat with the bending direction facing upward. It should then be fitted with the cables in working position. The cables should be laid into the cable carrier and not woven between or around other cables. • Allow at least 10% clearance between cables so that they are free to move. Use separators between cables. • The cables must be free to move within the carrier.
PAGE 21
ULTRA Series F-Series Motors H-Series Motors Y-Series Motors N-Series Motors ! ! H-4050-P-H00AA1 ! Y-2006-2-H00AA ! N-4214-2-H00AA ! H-4075-R-H00AA1 ! Y-2012-1-H00AA ! N-4220-2-H00AA ! H-6100-Q-H00AA1 ! Y-2012-2-H00AA ! N-5630-2-H00AA ! H-6200-Q-H00AA1 ! Y-3023-2-H00AA ! N-5637-2-H00AA ! H-6300-Q-H00AA1 ! N-5647-2-H00AA ! H-8350-S-H00AA1 ! H-8500-S-H00AA1 F-6300-R-H00AA1 1 2 21 ULTRA 200 drives only.
PAGE 22
ULTRA Series J2 to Motor Encoder Connections (choose one of the following): Part Number Description ! 9101-1365-xxx F- and H-Series motors connector cable with flying leads opposite ! 9101-1366-xxx J2 to motor (F- and H-Series motors) ! 9101-1371-003 J2 to a 20-position female D-sub cable (1m/3 ft length) This cable is included in the 9101-1392 kit.
PAGE 23
ULTRA Series Part Number Description ! 9101-1517 AC line filter (10A, 1φ) for 1398-DDM-009, -009X, -010, -010X ! 9101-1518 AC line filter (23A, 1φ) for 1398-DDM-019, -019X, -020, -020X ! 9101-1575 AC line filter (50A, 3φ) for 1398-DDM-150, -150X ! 9101-1183 External shunt resistor for 1398-DDM-010, -10X, -020, -020X, -030 and -030X ! Master-D-U Ultra Master software for ULTRA 100/100X and ULTRA 200/200X ! 1398-SR3AF Ultra 100 active external shunt module ! 1398-SR9P Ultra 200 passive
PAGE 24
ULTRA Series Dimensions for 1398-DDM-005, -005X 65.10 (2.56) 38.10 (1.50) 6.30 (0.25) 18.60 (0.73) 13.30 (0.52) Clearance hole for #10 (M5) screws 129.00 (5.08) 27.60 (1.09) Ultra Series Status LED 2.40 (0.09) J5 186.70 (7.35) Dimensions mm (in.) J2 198.00 (7.80) TB1 J1 ! ? 5.50 REF (0.22) Optional TouchPad Assembly 2 Notes: 1. Allow 76.2 mm (3.00 in.) clearance in front of unit for cables. 2. Allow 12.7 mm (0.50 in.) on both sides of the unit. 72.60 (2.86) 2 Publication 1398-2.
PAGE 25
ULTRA Series 25 Dimensions for 1398-DDM-005-DN, -005X-DN (Ultra 100 with DeviceNet) 87.88 (3.46) 38.10 (1.50) 18.80 (0.74) 18.60 (0.73) 6.60 (0.26) 27.69 (1.090 24.64 (0.97) 129.03 (5.08) 2.29 (0.090) Module Status Network Status Dimensions mm (in.) Node Address (00-63,PGM) 7 8 MSD 7 8 2 3 4 5 6 LSD 9 0 1 186.44 (7.34) 198.12 (7.80) 2 3 4 5 6 9 0 1 Data Rate 125KB 250KB 500KB Autobaud V+ Can_H Shield Can_L V- ! 5.59 (0.1875) 144.27 (5.68) TouchPad Assemby 2 NOTES: 1. Allow 76.
PAGE 26
ULTRA Series Dimensions for 1398-DDM-009, -009X, -019, and -019X 87.88 (3.46) 38.10 (1.50) 18.80 (0.74) 18.60 (0.73) 6.60 (0.26) 27.69 (1.090 24.64 (0.97) 129.03 (5.08) 2.29 (0.090) Module Status Network Status Node Address (00-63,PGM) Dimensions mm (in.) 7 8 MSD 7 8 2 3 4 5 6 LSD 9 0 1 186.44 (7.34) 2 3 4 5 6 198.12 (7.80) 9 0 1 Data Rate 125KB 250KB 500KB Autobaud V+ Can_H Shield Can_L V- ! 5.59 (0.1875) 144.27 (5.68) TouchPad Assemby 2 NOTES: 1. Allow 76.2 mm (3.00 in.
PAGE 27
ULTRA Series 27 Dimensions for 1398-DDM-009-DN, -009X-DN, -019-DN, and -019X-DN (Ultra 100 with DeviceNet) 87.88 (3.46) 18.80 (0.74) 6.60 (0.26) 38.10 (1.50) 27.69 (1.090 24.64 (0.97) 129.03 (5.08) 2.29 (0.090) Module Status Network Status Node Address (00-63,PGM) Dimensions mm (in.) 7 8 MSD 7 8 2 3 4 5 6 LSD 9 0 1 186.44 (7.34) 2 3 4 5 6 198.12 (7.80) 9 0 1 Data Rate 125KB 250KB 500KB Autobaud V+ Can_H Shield Can_L V- ! 5.59 (0.1875) 144.27 (5.
PAGE 28
ULTRA Series Dimensions for 1398-DDM-010, -010X, -020, -020X, -030, and -030X 104.1 (4.10) 25.4 (1.00) 26.6 (1.05) 6.4 (0.25) Clearance holes for #10 (M5) mounting screws 226.8 (8.93) 25.4 (1.00) Air Exhaust STATUS 1 INTERNAL EXTERNAL SHUNT Ultra Series A1 2 A2 3 COM TB2 TouchPad Insertion Slot SERIAL 1 J5 349.3 (13.75) J4 SERIAL 2 WARNING: HIGH VOLTAGE MAY EXIST UP TO FIVE MINUTES AFTER REMOVING POWER. DC BUS 360.6 (14.20) Dimensions mm (in.
PAGE 29
ULTRA Series 29 Dimensions for 1398-DDM-075 and -075X 151.7 (5.97) 7.0 (0.27) 50.5 (1.99) 224.5 (8.84) 25.4 (1.00) Air Exhaust INTERNAL EXTERNAL SHUNT Ultra Series STATUS 1 2 A1 3 A2 COM TB2 J5 SERIAL 1 Dimensions mm (in.) WARNING: HIGH VOLTAGE MAY EXIST UP TO EIGHT MINUTES AFTER REMOVING POWER. DC BUS 349.3 (13.75) MOTOR J4 SERIAL 2 R 360.7 (14.20) S T AUXILIARY J3 DC BUS + DC BUS – L1 J2 MOTOR ENCODER 100-240VAC 50/60Hz L2/N L3 L1 AUX TB1 CONTROLLER J1 L2/N AUX 25.
PAGE 30
ULTRA Series Dimensions for 1398-DDM-150 and -150X 6.86 (0.27) 203.20 (8.00) 139.7 69.80 (5.50) (2.75) 31.70 (1.25) 331.5 (13.05) 224.5 (8.84) Air Exhaust 33.02 (1.30) INTERNAL EXTERNAL SHUNT Ultra Series STATUS 1 2 A1 3 A2 COM 36.32 (1.43) TB2 J5 SERIAL 1 26.92 (1.06) Dimensions mm (in.) WARNING: HIGH VOLTAGE MAY EXIST UP TO EIGHT MINUTES AFTER REMOVING POWER. DC BUS 349.0 (13.74) J4 MOTOR SERIAL 2 R 360.7 (14.20) S T J3 12.95 (0.
PAGE 31
ULTRA Series ULTRA 100/200 Drives Options and Accessories 31 Ultra Master Ultra Master is a point-and-click interface for customizing the ULTRA 100/200 drives to meet the requirements of your application. Suitable for any PC with Windows, Ultra Master allows you to configure, monitor, and troubleshoot a servo system. The online help and quick start-up windows will simplify your setup while tools, such as the on-screen digital oscilloscope, provide simplified tuning and diagnosis.
PAGE 32
ULTRA Series Host Mode The ULTRA 100/200 drives host command protocol provides optional drive configuration using the drive serial communications interface. This powerful feature allows your controller to access all of the drive digital controls using sequences of ASCII characters. The protocol includes error checking to ensure the integrity of the transmitted commands. In installations that have multiple axes, up to 32 ULTRA 100/200 drives can be addressed by a host computer.
PAGE 33
ULTRA Series 33 Ultra Master Windows Ultra Master has a complete set of easy-to-understand windows available from its pull-down menus. The following is a description of some of these windows: Window Description Drive The Drive window is the main window for performing functions in the Ultra Master. It is a feature-rich and functionally-easy method to visually setup, run, evaluate, and diagnose one or more servo systems. Icon buttons are arranged by function: setup and control, displays, and diagnostics.
PAGE 34
ULTRA Series AC Line Filters AC line filters are required for EMC compliance.
PAGE 35
ULTRA Series 35 AC Line Filter (9101-1517) for 1398-DDM-009, 1398-DDM-010, and 1398-PDM-10 10A 1φ φ 20 (0.79) LINE Dimensions mm (in.) LOAD 104 (4.10) 145 (5.71) 5 11 (0.43) 11 (0.43) 192 (7.56) 214 (8.43) 192 (7.56) 40 (1.58) F7 16 (0.63) Publication 1398-2.
PAGE 36
ULTRA Series AC Line Filter (9101-1518) for 1398-DDM-019, 1398-DDM-020, and 1398-PDM-20 23A 1φ φ 11 (0.43) 192 (7.56) 5 (.20) Dimensions mm (in.) 164 (6.46) LINE 204 (8.04) LOAD 20 (0.79) 214 (8.43) 11 (0.43) 19 (0.75) Publication 1398-2.0 - August 1999 192 (7.56) 47 (1.
PAGE 37
ULTRA Series 37 AC Line Filter (9101-1575) for 1398-DDM-150 50A 3φ φ R = 3.00 (0.12) LINE 128.00 (5.04) (L1) (L1') (L2) (L2') (L3) (L3') = 12.00 (0.47) LOAD 12.00 (0.47) M6 Scale 2:1 (E) 120.00 (4.73) 110.00 (4.33) 113.00 (4.45) 25.00 25.00 (0.98) 25.00 14.00 (0.98) (0.98) (0.55) 22.00 (0.87) Dimensions mm (in.) 230.00 (9.06) 55.00 (2.17) 147.00 (5.79) Publication 1398-2.
PAGE 38
ULTRA Series AC Line Filter (9101-1387) for 1398-DDM-030 and 1398-PDM-30 36A 1φ φ R = 3.00 (0.12) LINE 101.00 (3.98) = 12.00 (0.47) LOAD Dimensions mm (in.) 12.00 (0.47) SCALE 2:1 20.00 (0.78) 80.00 (3.15) 104.00 (4.10) 86.00 (3.39) 60.00 (2.36) M6 M6 x 12 55.00 (2.17) 22.00 (0.87) 174.00 (6.86) 120.00 (4.73) 20.00 (0.79) AC Line Filter (9101-1388) for Multiple Drives 50A 1φ φ R = 3.00 (0.12) 101.00 (3.98) = 12.00 (0.47) LOAD LINE Dimensions mm (in.) 12.00 (0.47) SCALE 2:1 20.00 (0.
PAGE 39
ULTRA Series 39 AC Line Filter (9101-1389) for 1398-DDM-075 and 1398-PDM-75 36A 3φ φ R = 3.00 (0.12) = 12.00 (0.47) LOAD LINE 101.00 (3.98) Dimensions mm (in.) 12.00 (0.47) SCALE 2:1 80.00 (3.15) 104.00 (4.10) 20.00 (0.78) 86.00 (3.39) M6 60.00 (2.36) M6 x 12 55.00 (2.17) 22.00 (0.87) 174.00 (6.86) 120.00 (4.73) 20.00 (0.79) AC Line Filter (9101-1390) for Multiple Drives 80A 3φ φ R = 3.00 (0.12) LINE 167.00 (6.58) (L1) (L1') (L2) (L2') (L3) (L3') = 12.00 (0.47) LOAD M8 12.00 (0.
PAGE 40
ULTRA Series AC Line Filter (9101-1575) for 1398-DDM-150 50A 3φ φ R = 3.00 (0.12) LINE 128.00 (5.04) (L1) (L1') (L2) (L2') (L3) (L3') = 12.00 (0.47) LOAD 12.00 (0.47) M6 Scale 2:1 (E) 113.00 (4.45) 120.00 (4.73) 25.00 25.00 (0.98) 25.00 14.00 (0.98) (0.98) (0.55) 110.00 (4.33) 22.00 (0.87) Dimensions mm (in.) 55.00 (2.17) 230.00 (9.06) 147.00 (5.79) External Shunt Resistor Kit (9101-1183) for 1398-DDM-010, -020, -030 and 1398-PDM-10, -20, -30 77.5 (3.
PAGE 41
ULTRA Series 41 Passive External Shunt Module (1398-SR9P) for 1398-DDM-075, 1398-DDM-150, and 1398-PDM-075 Publication 1398-2.
PAGE 42
ULTRA Series Active External Shunt Module (1398-SR3AF) for 1398-DDM-005, -005-DN, -005X, -005X-DN 1398-DDM-009, -009-DN, -009X, -009X-DN, and 1398-DDM-019, -019-DN, -019X, -019X-DN 65.10 (2.56) 38.10 (1.50) 6.30 (0.25) 13.30 (0.52) Ultra Series Allen Bradley 18.60 (0.73) Clearance holes for #10 (M5) screws 186.70 (7.35) Notes: 1. Allow 76.2 mm (3.00 in.) clearance in front of unit for cables. 2. Allow 12.7 mm (0.50 in.) on both sides of the unit. 3. Allow 5.0 cm (2.0 in.
PAGE 43
ULTRA Series 43 Breakout Board (J2) for ULTRA 100/200 Drives (9101-1392) 96.98 (1.954) Dimensions mm (in.) 87.12 (3.430) 69.85 (2.750) 81.03 (3.190) TouchPad The TouchPad (part number 1398-HMI-001) is a convenient alternative to using Ultra Master for drive setup and monitoring. The small TouchPad module plugs directly into the front of the drive, and its eight-character dot matrix display and five keys provide access to many of the same functions available in Ultra Master software.
PAGE 44
ULTRA Series TouchPad (1398-HMI-001) 27.7 (1.09) Dimensions mm (in.) 57.2 (2.25) 50.8 (2.00) Publication 1398-2.
PAGE 45
ULTRA Series ULTRA Plus Positioning Drives 45 The ULTRA Plus drive is an integrated, high-performance positioner and brushless drive all in one module. GML Ultra, the Microsoft Windows user interface for ULTRA Plus drives, provides a familiar graphical programming environment and user interface for any size drive.
PAGE 46
ULTRA Series ULTRA Plus Features Features and benefits of the ULTRA Plus Series motors include: Features Benefits High performance • • • • • • Brushless sinusoidal commutation Innovative on-the-fly motion profile generator High performance master/follower operation Analog and digital I/O with scan functions Four-function math and logic functions Hardware-latched high-speed input Simple to install • • • • • • Modular packaging 115-240V offline operation No external transformer required (USA)1 Bui
PAGE 47
ULTRA Series 47 ULTRA Plus General Specifications The following tables contain ULTRA Plus general specifications: Control Hardware Specification Description Microprocessor 80C196KC Clock 20 MHz Hardware watchdog 0.
PAGE 48
ULTRA Series Resolutions, Ranges, Accuracy, and Speeds Specification Description Position: Range Repeatability 32 bits (±2,147,483,648 encoder counts) ±1 encoder count Velocity command: Range Resolution 4,294,967,296:1 0.000229 RPM (2000-line encoder) Acceleration: Range Resolution Type 4,294,967,296:1 0.00381 rev/s/s (2000-line encoder) Linear or S-curve Electronic gearing 32767:1 to 1:32767 (+/-) Registration input 2 (35 µs ± 15 µs) Latched input 1.
PAGE 49
ULTRA Series 49 ULTRA Plus Specifications The following tables contain ULTRA Plus specifications for the 1398-PDM-10, -20, -30, and -75 motors. General 1398-PDMSpecification 10 20 30 75 (3φ φ) Peak output current/phase 10A 20A 30A 75A Continuous output current/phase 5A 10A 15A 35A 1 kW 2 kW 3 kW 7.
PAGE 50
ULTRA Series ULTRA Plus Specifications Specific to 1398-PDM-25, -50, -100, and -150 The following tables contain ULTRA Plus specifications for the 1398-PDM-25, -50, -100, and -150 motors.
PAGE 51
SLEW RATE LIMIT GPOS EXTERNAL POSITION SELECT CJOGEN FEED RATE CGENEN FEED RATE ELECTRONIC GEARING RATIO JOG MOTION COMMANDS PROFILE GENERATOR MOTION COMMANDS PEXT PJOG PGEN TRACKING PROFILE GENERATOR MOTION COMMANDS FEED RATE GEAR INPUT POSN PCMD S POS3 AUX.
PAGE 52
ULTRA Series Ultra Plus Interconnect Diagram Operator Terminal F2 F1 DISPLAY X1 GML Ultra F3 F4 SYS FAULT X2 COMM X3 KEY X4 7 8 9 4 5 6 1 2 3 0 MODE ENTER YES NO STATUS CLEAR Microsoft Windows Personal Computer S T G R Brushless Servo Motor Master Encoder Output Loads: Resistance is 330 Ohm minimum. Input Switches: Resistance is 3000 Ohm maximum. Publication 1398-2.
PAGE 53
ULTRA Series 53 System Configuration Checklist Use the following checklist to configure an ULTRA Plus system for your application: ULTRA Plus Drives1 (choose one of the following): 1 ! 1398-PDM-10 ! 1398-PDM-25 ! 1398-PDM-20 ! 1398-PDM-50 ! 1398-PDM-30 ! 1398-PDM-100 ! 1398-PDM-75 ! 1398-PDM-150 Includes the ULTRA Plus Installation Manual (Publication 1398-5.1).
PAGE 54
ULTRA Series Cables Note: The last three digits select standard cable lengths of: 10 ft (3.0m)— 010; 25 ft (7.7m)—025; 50 ft (15.0m)—050; 75 ft (23.0m).
PAGE 55
ULTRA Series 55 P5 Connections (choose one of the following): Part Number Description ! 9101-1474-xxx P5 to the motor feedback ! 9101-2027-xxx P5 to motor encoder ! 9101-2135-025 or 9101-2135-050 P5 to motor encoder (right angle motor connector) P6 to Personal Computer Connections: ! 1 Part Number Description 9101-2024-xxx P6 to personal computer (RS-232) P6 communication cables should be no longer than 15.
PAGE 56
ULTRA Series Accessories (choose all that apply): 1 2 Part Number Description ! 9101-15171 AC line filter (10A, 1φ) for 1398-PDM-10 ! 9101-15181 AC line filter (23A, 1φ) for 1398-PDM-20 ! 9101-13871 AC line filter (36A, 1φ) for 1398-PDM-30 ! 9101-13881 AC line filter (50A, 1φ) for multiple drives on one filter ! 9101-13891 AC line filter (36A, 3φ) for 1398-PDM-75 ! 9101-13901 AC line filter (80A, 3φ) for multiple drives on one filter ! 9101-1183 External shunt resistor for 1398-
PAGE 57
ULTRA Series 57 Dimensions for 1398-PDM-10, -20, and -30 111.8 (4.40) 6.4 (0.25) 226.8 (8.93) 25.4 26.6 (1.0) 25.4 (1.05) (1.0) Ultra Plus Series Status 1 Air Exhaust 14.20 (360.6) P7 Serial 1 Auxillary 2 3 TB2 U10 EEPROM for personality module P6 Serial 2 Computer P5 Encoder 1 Motor WARNING: High Voltage May Exist Up To Five Minutes After Removing Power. 349.3 (13.75) Clearance holes for M5 (#10) mounting screws Dimensions mm (in.
PAGE 58
ULTRA Series Dimensions for 1398-PDM-75 Clearance holes for M5 (#10) mounting screws 151.7 (5.97) 7.0 (0.27) 224.5 (8.84) 25.4 (1.00) 50.5 (1.99) Air Exhaust INTERNAL 360.7 (14.20) STATUS 1 P7 Serial 1 Auxiliary 2 3 FINAL INSPECTION EXTERNAL SHUNT Ultra Plus Series TB2 Dimensions mm (in.) P4 Encoder 2 Auxiliary DC BUS R MOTOR 349.3 (13.
PAGE 59
ULTRA Series 59 Dimensions for 1398-PDM-25, -50, -100, and -150 114.3 (4.50) 34.9 (1.38) 34.9 (1.38) Clearance holes for M5 (#10) mounting screws 6.3 (0.25) 252.2 (9.93) 246.4 (9.70) 11.5 (0.45) Air Exhaust Ultra Plus Series P7 Serial 1 Auxiliary P6 Serial 2 Computer P5 Encoder 1 Motor P4 Encoder 2 Auxiliary Dimensions mm (in.) 444.5 (17.50) P3 Status/Analog I/O P2 Digital Inputs and Outputs P1 Digital Inputs 410.2 (16.15) 428.7 (16.88) WARNING: Do not apply power with cover removed.
PAGE 60
ULTRA Series ULTRA Plus Drives Options and Accessories GML Ultra for Windows GML Ultra software offers a departure from traditional programming. It provides a natural, object-oriented environment. Icons—or picture blocks— represent motion functions. You can create a motion program by piecing together icons that represent your application. You place these icons on the screen in the order required by your application and connect them using a “soldering iron.
PAGE 61
ULTRA Series 61 GML Ultra Windows GML Ultra has many features that allow you to quickly program your ULTRA Plus application. The following is a description of some of these features: Feature Description Dialog editor The GML Ultra Dialog Editor window allows you to quickly assemble standard motion icons into a natural, graphical representation of the application.
PAGE 62
ULTRA Series 24V Sourcing I/O Conversion Card (9103-0152) and Cables The 24V I/O conversion card converts the 16 internal inputs and 6 internal outputs from an active low state to an active high state. It must be mounted in the same enclosure as the ULTRA Plus. By adding this component, you comply with the European Union Low Voltage Directive (LVD).
PAGE 63
ULTRA Series 63 Shielded Power Cables Shielded power cables are required for EMC compliance. 1 Motor Part Number1 F-4000, H-4000 9101-1382-xxx F-6000, H-6000 9101-1383-xxx H-2000, H-3000 9101-1381-xxx N-Series 9101-1467-xxx The last three digits select standard cable lengths of: 10 ft (3.0m)—010; 25 ft (7.7m)—025; 50 ft (15.0m)—050; 75 ft (23.0m)—075.
PAGE 64
ULTRA Series ULTRA Plus Transformer (0020-5093) and Power Supply (9101-0120) for 1398-PDM-25, -50, -100, and -150 ULTRA PLUS TRANSFORMER / POWER SUPPLY Auxiliary power supply to maintain logic voltages when 3-phase power is turned off. 9101-0120 Auxiliary Logic Supply P9 (4) Includes four 2m (6 ft) cables Transformer 0020-5093 Isolation Transformer for Auxiliary Logic Supply Note: Isolation Transformers are not required for operation but may be helpful in reducing electrical noise.
PAGE 65
ULTRA Series 65 ULTRA Plus Operator Terminal F1 DISPLAY X1 F2 F3 SYS FAULT X2 F4 COMM X3 KEY X4 7 8 9 4 5 6 1 2 3 0 MODE ENTER YES NO STATUS CLEAR The 4x20 character vacuum fluorescent display provides you with an output of program-defined application messages. The terminal also allows you to input numeric and yes/no responses to application message prompts. This optional terminal is a powerful tool that allows you to customize operator interface terminology to your specific need.
PAGE 66
ULTRA Series ULTRA Series Common Accessories Operator Terminal (1398-HMI-002) 6.4 (0.25) 266.7 (10.50) 254.00 (10.00) COM 1 F1 DISPLAY X1 F2 F3 SYS FAULT X2 F4 COMM X3 KEY X4 7 8 9 4 5 6 1 2 3 0 MODE ENTER YES NO Dimensions mm (in.) STATUS L1L2/NPE 139.7 (5.50) 127.0 (5.00) 152.4 (6.00) CLEAR #10 std x 0.50 long (nuts supplied with unit) 254.0 (10.00) 243.8 (9.60) Publication 1398-2.0 - August 1999 81.3 (3.20) 6.4 (0.25) 15.7 (0.62) Gasket supplied with unit 5.1 (0.
PAGE 67
ULTRA Series 67 AC Line Filter (9101-1387) for 1398-DDM-030 and 1398-PDM-30 36A 1φ φ R = 3.00 (0.12) LINE 101.00 (3.98) = 12.00 (0.47) LOAD Dimensions mm (in.) 12.00 (0.47) SCALE 2:1 20.00 (0.78) 80.00 (3.15) 104.00 (4.10) 86.00 (3.39) 60.00 (2.36) M6 M6 x 12 55.00 (2.17) 22.00 (0.87) 174.00 (6.86) 120.00 (4.73) 20.00 (0.79) AC Line Filter (9101-1388) for Multiple Drives 50A 1φ φ R = 3.00 (0.12) 101.00 (3.98) = 12.00 (0.47) LOAD LINE Dimensions mm (in.) 12.00 (0.47) SCALE 2:1 20.00 (0.
PAGE 68
ULTRA Series AC Line Filter (9101-1389) for 1398-DDM-075 and 1398-PDM-75 36A 3φ φ R = 3.00 (0.12) = 12.00 (0.47) LOAD LINE 101.00 (3.98) Dimensions mm (in.) 12.00 (0.47) SCALE 2:1 80.00 (3.15) 104.00 (4.10) 20.00 (0.78) 86.00 (3.39) M6 60.00 (2.36) M6 x 12 55.00 (2.17) 22.00 (0.87) 174.00 (6.86) 120.00 (4.73) 20.00 (0.79) AC Line Filter (9101-1390) for Multiple Drives 80A 3φ φ R = 3.00 (0.12) LINE 167.00 (6.58) (L1) (L1') (L2) (L2') (L3) (L3') = 12.00 (0.47) LOAD M8 12.00 (0.
PAGE 69
ULTRA Series 69 AC Line Filter (9101-1517) for 1398-DDM-009, 1398-DDM-010, and 1398-PDM-10 10A 1φ φ 20 (0.79) LINE Dimensions mm (in.) LOAD 104 (4.10) 145 (5.71) 5 11 (0.43) 11 (0.43) 192 (7.56) 214 (8.43) 192 (7.56) 40 (1.58) F7 16 (0.63) Publication 1398-2.
PAGE 70
ULTRA Series AC Line Filter (9101-1518) for 1398-DDM-019, 1398-DDM-020, and 1398-PDM-20 23A 1φ φ 11 (0.43) 192 (7.56) 5 (.20) Dimensions mm (in.) 204 (8.04) 164 (6.46) LINE LOAD 20 (0.79) 214 (8.43) 11 (0.43) 47 (1.85) 192 (7.56) 19 (0.75) External Shunt Resistor Kit (9101-1183) for 1398-DDM-010, -020, -030 and 1398-PDM-10, -20, -30 77.5 (3.05) #10 (M5) Mounting holes 132 (5.20) Publication 1398-2.0 - August 1999 50.8 (2.00) 25.4 (1.00) 12.7 (0.50) 218.4 (8.60) 6.3 (0.25) 120.6 (4.
PAGE 71
ULTRA Series 71 Passive External Shunt Module (1398-SR9P) for 1398-DDM-075, 1398-DDM-150, and 1398-PDM-075 Publication 1398-2.
PAGE 72
ULTRA Series Publication 1398-2.
PAGE 73
ULTRA Series 73 Publication 1398-2.
PAGE 74
ULTRA Series Publication 1398-2.
PAGE 75
F ULTRA Series, ULTRA 100, and ULTRA 200 are registered trademarks of Rockwell Automation. Microsoft is a registered trademark of Microsoft Corporation. Windows is a trademark of Microsoft Corporation. UL and cUL are registered trademarks of Underwriters Laboratories. Reach us now at www.rockwellautomation.com For more information refer to our web site: www.ab.com/motion Wherever you need us, Rockwell Automation brings together leading For Rockwell Automation Technical Support information refer to: www.