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SERVO DRIVES

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The 1391 Digital AC Servo Drive is generally used with computer aided, closed loop-positioning systems. These systems control the position and rotary motion of various machine members on an automated machine. To enhance system reliability, the 1391 has an encoder output (AQB) that produces four channels of 2048, 1024, 512, or 256 lines and two marker pulses per motor revolution, which feeds position information to the position controller.

All components are mounted in an open framed package with a slide-on front cover. The drive is intended to be panel mounted in an enclosure and ventilated with filtered and/or cooled air. An internal fan is included to circulate air over the power heat sink.

The 1391 converts a three-phase, 50/60 Hz input, to a variable AC voltage with controlled phase, amplitude and frequency. The output, which is proportional to a user supplied analog command, regulates the speed and/or current (torque) of a 1326 permanent magnet AC servomotor. The 1391 drive is available in ratings of 15, 22.5 and 45A RMS with all package sizes being identical. A 1391 transformer, 1326 AC servomotor and 1326 cables complete the servo system.

Menu
1.6.0.2 Power Fault
1.6.0.5 Overvoltage
1.6.0.6 Undervoltage
1.6.0.8 Enable LED
1.6.0.9 Status LED
1.13.3 Coast
3.2.5 Enter Key

Operation

The intended use of the 1391 is to control the speed and torque of an AC servomotor in a closed loop position system. A complete servo system can be configured with a 1391-DES Servo Drive, 1326 AC servomotor, and 1391 isolation transformer. Refer to the 1391 block diagram in Figure 1.

The 1391 PWM Servo Drive is made up of the following: 300V DC power supply, power transistor output modules, shunt regulator circuit, logic power supply, microprocessor based logic boards, isolated current sensing, circuit breaker, and line contactor.


Figure 1: 1391 Block Diagram

300V DC Power Bus Supply

The drive contains an integral, unregulated, 300V DC nominal, full load power supply. The 300V DC Power Bus Supply consists of the power transformer input (230V AC, three-phase, 50 or 60 Hz); a three-phase input bridge rectifier and one power supply filter capacitor (C1).

PWM Operation

The 1391 drive incorporates a fixed timing wave (VT) of 2,500 Hz. The drive generates a three-phase sine wave by varying the width of the fixed timing pulses as shown in Figure 2. This frequency corresponds to the velocity command. The 0-10V DC velocity command is scaled to provide an output frequency (dotted line) that varies from 0-200 Hz, depending on the maximum velocity of the motor. This variable frequency output drives a permanent magnet AC servomotor whose speed varies as a function of the frequency.


Figure 2: 1391 Operation

The three-phase relationship between the reference signal and the timing wave provide PWM pulses to the power transistor base drive. This base drive switches the power transistors across the 300V DC bus, providing current to the motor windings, thus causing the motor to turn. A resolver attached to the motor provides a signal corresponding to the actual rotor position of the motor. This signal is decoded to a signal representing rotor position and is fed to the commutation logic along with the torque command. In this way, the drive combines the desired position signal and current reference with the decoded resolver signal to produce a reference signal commanding the motor to speed up or slow down. This is shown in the block diagram in Figure 3.


Figure 3: PWM Waveform

Shunt Regulator Operation

The 1391 shunt regulator provides power dissipation for regenerative conditions when the energy returned to the drive by the motor exceeds that which can be stored in the bus capacitors. The shunt regulator monitors the bus voltage and at a predetermined "ON point activates the shunt regulator transistor, allowing current to flow through the shunt resistor and dissipating power in the form of heat. The shunt regulator is shown on the Power Driver Board in Figure 2. A fuse is placed in series with the resistor to protect it against short circuit conditions. When the shunt transistor is activated and power is being dissipated at the resistor, the bus voltage will quickly decrease, turning the transistor off when the voltage reaches the "OFF point. This cycle repeats, provided the bus voltage continues to increase to the "ON point. If too much regenerative energy is present, the bus voltage will continue to increase even with the shunt regulator on. At a predetermined bus voltage level, the 1391 drive will determine that an overvoltage condition exists, and trip out on an Overvoltage Fault.

An adjustable duty cycle timer further modifies the shunt regulator behavior. The timer is used to model the shunt resistor temperature. SW1, a selector switch located on the top of the drive (see Figure 1) determines the temperature level and therefore the average power level at which the drive will trip out. When this level is reached, the drive will be forced to trip out on an Overvoltage Fault. This action would be equivalent to turning the shunt regulator off.

Logic Power Supply

The 1391 control logic voltage is 12V DC and 5V DC. The logic power supply is located on the Power Driver Board shown in Figure 2. The voltages are generated on the Power Driver Board, which receives its 36V AC input from a tertiary winding on the isolation transformer.

Logic Control Boards

The Logic Control Boards are the printed circuit boards that are readily accessible behind the front cover of the drive. Figure 2 shows these boards in the Digital Control Boards block. They contain all circuits necessary to control the 1391. These circuits include the velocity and current loop, programming panel, A Quad B Board, fault detection and annunciation circuits, power-up/power-down logic, PWM generation, and forward/reverse controlling circuits.

Fault Monitoring and Detection

A number of fault monitor and detection functions exist on the 1391 that guard the drive and help to minimize motor and system faults. The occurrence of a fault will cause the drive to trip out. In this condition, the Drive OK (DROK) contact will open and remain open until the fault is cleared. Figure 2 shows the DROK contact connected to the Digital Control Boards block. If the DROK contact is wired into the users stop circuit, the line/DB contactor (M) will also de-energize. This will place the shunt resistor across the bus causing the m otor to dynamic brake to a stop.

These fault conditions are annunciated through the front panel display. The conditions displayed include the following:

Overtemperature

The drive contains a thermal switch on the heat sink, which indirectly senses transistor module temperature. If the temperature rating of the switch is exceeded, the DROK contact opens and the drive is disabled.

Power Fault

A fault related to the power bridge section of the drive will cause the drive to be disabled, and open the DROK contact.

Control Voltage Fault

If the control voltage varies more than 10% of the nominal 12V DC, this fault will occur. When a fault is detected, the DROK contact opens and the drive is disabled.

Resolver Loss Fault

If the resolver wiring is grounded or missing, this fault will occur. When a fault is detected, the DROK contact opens and the drive is disabled.

Overvoltage

The DC power bus voltage is continuously monitored. If it exceeds a preset level of 405V DC, the DROK contact opens and the drive is disabled

Undervoltage

If the DC power bus voltage drops below 50% of its nominal operating value an undervoltage fault occurs. Parameter 130 selects the reaction of the DROK contacts to an undervoltage detection. Two options are possible:

  • DROK opens, but closes when the bus voltage is restored.
  • An undervoltage does not affect DROK.

Regardless of interaction with the DROK contacts, the transistor bridge is disabled upon an undervoltage condition. This is done to protect the output transistors against voltage transients.

Current Foldback

The drive contains a fixed time versus current overload circuit, which monitors the current through each leg of the output bridge. If the overload is sustained for a period, resulting in the drive rating being exceeded, the circuitry will reduce (foldback) the peak output current of the drive. A continuous overload will fold the available peak current down to its continuous rating. This condition will reduce the current limit or torque available to the motor.

Enable LED

The application of an enable signal by the machine position drive will cause the front panel ENABLE LED to illuminate.

Status LED

The status of the power supplies and fault conditions are monitored continuously. If a fault is present, the front panel FAULT/DRIVE READY LED will flash red and the DROK contact will be open. If the drive is operational, this LED will be green.

Microprocessor Control

The 1391 drive is controlled by an 80C196KB microprocessor. The processor performs Velocity control, sequencing, fault logic, programming, and option control. Current control is analog, as is the input velocity command. The input command is fed through a 14 bit digital to analog converter (13 bits/8192 resolution and a +/ sign bit).

Isolated Current Sensing

The Logic Control Boards receive current feedback from the Isolated Current Sense Board. This circuitry provides the data used for current loop closure.

Integral Circuit Breaker

The DC bus supply input rectifier and power circuitry are protected against overcurrents by an integral three pole magnetic circuit breaker. This is not designed nor intended to meet NEC branch circuit requirements.

Line/DB Contactor

The three-phase incoming AC line is opened by the contactor whenever the voltage on the contactor coil is removed. This operation in conjunction with the shunt regulator reduces the bus voltage when the contactor is disabled. The Logic Control Board remains energized except when voltage is removed from the incoming isolation transformer.

    Important: The 1391 drive contains a definite purpose contactor that is not to be energized/de-energized more than twice an hour on a continuous basis. The life of the contactor may be reduced considerably if the cycle is exceeded.

Power Driver Board

The Power Driver Board contains the circuitry needed to switch the power transistor modules.

A Quad B Board

The A Quad B Board changes the resolver signal from a 1326AB or AD motor into an encoder signal for use by a position controller (such as an IMC S Class or 12x family controller).

Starting and Stopping

The Enable control circuitry in the 1391 drive includes solid-state components. If hazards due to accidental contact with moving machinery or unintentional flow of liquid, gas, or solids exist, an additional hardwired stop circuit may be required. Refer to the codes and standards applicable to your particular system for specific requirements and additional information. A device that removes AC input power when a stop is initiated is an integral part of this drive. Refer to the following individual stop mode explanations.

Starting and Stopping must be accomplished by hardwired user supplied elements as shown in Appendix B of the 1391 manual. Stopping modes for the 1391 drive are outlined below. Refer to the paragraphs that follow for detailed information. The effects described in Table 1 assume that the 36V AC control voltage has not been de-energized.

Dynamic Braking

When the line/DB contactor (M) is de-energized by the control circuitry, an inherent dynamic braking effect will occur during the DC bus decay, provided the 36V AC logic voltage is not de-energized. The dynamic braking effect depends on the value of the shunt regulator resistor and total load inertia.

    Important: The frequent cycling of the line/DB contactor to start/stop the motor will reduce the life of the contactor.

Regenerative Braking

Normal run commands to the drive are performed through the Enable input and any additional customer supplied control circuitry. Refer to Appendix B of the 1391 Drive manual. With input power applied, a mechanical contact closure (or solid-state contact closure rated 15 to 30V DC, 30 mA) between TB2-9 & 10 (Figure 2) will cause the drive to run, provided the line/DB contactor (M) has been energized by the control circuitry. When the Enable input is de-energized, the maximum available reverse torque is applied to the motor in a regenerative stopping mode, which will occur for approximately 450ms.

Coast

An internal drive fault opens the DROK contact. Coasting will only occur if the DROK contact is not wired to the line/DB contactor coil (M) or the Enable input circuits.

Power-Up/Down Sequence

Figure 4 shows the various steps involved in the power-up/down sequence of the 1391 drive.


Figure 4: 1391 Drive Power Up and Power Down Sequence

Inputs, Outputs, and Switch Settings

This section contains descriptions of the various inputs and outputs available on the 1391 Digital Servo Drive. Additionally, information for properly setting the drive switches is provided for reference when you perform startup. For information on shunt regulator adjustments, refer to the 1391 Drive manual. The following paragraphs provide detailed descriptions of the various inputs and outputs available for the 1391 drive. See Figure 6 for terminal block locations.


Figure 5: Terminal Block, Circuit Board, and Switch Locations

Terminal Block TB1

Terminal Block TB1 is located on the main Logic Control Board as shown in Figure 6. The Resolver Signals are connected to this terminal block.

Resolver Signals TB1, Terminals 1-10

These terminals are used for connecting the commutation resolver from the motor to the drive. Refer to Figure 6 for connection details. Important: Terminal 1 of TB1 must be connected to chassis ground at the Ground Stud (see Figure 6 for Ground Stud location).


Figure 6: 1391-DES Interconnect Drawing

Terminal Block TB2

Terminal block TB2 is located on the Main Logic Control Board as shown in Figure 6. Note that there are no connections to TB2-18, 19, and 20.

Velocity Command Input TB2, Terminals 1, 2

The drive will accept up to a 10V DC velocity command signal to achieve maximum motor speed. Voltages lower than 10V DC can be used by reprogramming parameter 211 (Analog Velocity Gain). The plus and minus reference are at terminals 2 and 1, respectively. The shield must be terminated at one end only. The differential impedance of the velocity command input is 80k ohms (40k ohms for single ended inputs).

Signal Common TB2, Terminals 3, 5, 7, 8, 12, 17

TB2 contains 6 signal common input reference points. These signal common input reference points are terminals 3, 5, 7, 8, 12, and 17. These terminals can be seen on Figure 7.

Analog Out 1 Velocity TB2, Terminal 4

A voltage corresponding to the motor velocity and direction of rotation will be present between this terminal and signal common (Terminal 5). 1.2V DC for each 1000 rpm is available. Minimum impedance that can be placed across this output is 10k ohm. Analog Out 1 TB2 Terminals 4 and 5 are shown on Figure 7.

Analog Out 2 Current TB2, Terminal 6

A voltage corresponding to positive and negative current will be present at this terminal and signal common (Terminal 7). A 3V DC equals 100% of the continuous rating of the motor with 6V DC equaling 200%. Minimum impedance that can be placed across this output is 10k ohm. Analog Out 2 TB2 Terminals 6 and 7 are shown on Figure 7.

Enable Input TB2, Terminals 9, 10

Normal Run commands to the drive are performed through the Enable input and any additional user supplied run control circuitry. With input power applied and the line contractor energized, a mechanical contact closure (or a solid-state contact closure rated 15 to 30V DC, 30 mA) between TB2-9 & 10 will cause the drive to run. When this input is de-energized, the control will cause a regenerative braking action in the motor. The Enable Input TB2 Terminals 9 and 10 are shown on Figure 7.

Reset TB2, Terminal 11

Removing the Enable signal and momentarily connecting this terminal to signal common (TB2-12) will reset the drive after a drive fault occurs. Important: A Reset must not be initiated until the cause is determined and corrected. The Reset TB2 Terminal 12 is shown on Figure 7.

Adjustable Current Limit TB2, Terminal 13, 14

The current limit of the drive is set to 300% of motor continuous rating or twice the continuous rating of the drive, whichever is lower. Applying a voltage between 0 and 10V DC, to terminals 13 & 14 will limit the peak current of the drive. The range of this input is the lower of the following:

  • Value set by parameters 156 and 157
  • Twice the continuous rating of the drive

For each volt applied, 30% reduction of current limit is achieved, based on 300% of motor rating being available. If only 200% current (drive peak) is available, a voltage of less than 3.33 volts will have no effect on current limit. On TB2, pin 14 must be positive with respect to pin 13 for this input to operate. The Adjustable Current Limit TB2 terminals 13 and 14 are shown on Figure 7. Refer to Table 2 for the effect of the voltage applied to terminals 13 and 14.

Torque Command Input TB2, Terminals 15, 16

Terminals 15 and 16 provide a small amount of input filtering for operating the drive as a torque block (with IMC S Class, MAX, IMC 121 and 123) or velocity feed forward mode. A 3V DC command equals 100% of the motor current setting (as set by parameter 155). The Torque Command Input TB2 Terminals 15 and 16 are shown on Figure 7.

Terminal Block - TB3 A Quad B Board

Figure 7 provides interconnect information between the position controller and TB3 on the A Quad B Board.


Figure 7: A Quad B Board Wiring

The A Quad B option operates in the same manner as the Allen-Bradley 845H Line Driver Encoder (26LS31 line driver output). The option requires either a regulated 5V DC at terminal 7 or an unregulated 8 to 15V DC input at terminal 9 (board draws 125mA maximum). The pulse train output is selectable to 256, 512, 1024 or 2048 lines per revolution via the Encoder Output switch, S1 (see Figure 6). Refer to A Quad B Encoder Output Switch - S1 page 19.

Terminal Block - TB4

Terminal block TB4 is located in the top view of controller block shown in Figure 6. Note, that there are no connections to TB4-20 & 22 as shown on Figure 6.

Contactor Coil TB4, Terminals 11, 12

Connections to the coil of the integral contactor are performed at these terminals. The coil voltage is 115V AC, 50/60 Hz. Important, drives with a catalog number of 1391-DESxx-DI-AQB-A will have a 24V DC coil. Drives with a catalog number of 1391-DESxx-DIAQB-B will have a 240V AC coil. The Contactor Coil TB4 Terminals 11 and 12 are shown on Figure 6.

"M" Contactor Auxiliary Contacts TB4, Terminals 13, 14, 15, 16

The auxiliary contacts of the integral contactor are accessed through these terminals. The "M" Contactor Auxiliary contacts TB4 Terminals 13, 14, 15, and 16 are shown on Figure 6. Refer to Table 3 for contact ratings.

Drive OK DROK Contacts TB4, Terminals 17, 18

Application of power to the transformer energizes the logic supply of the drive. When 50% of rated DC Bus voltage is achieved and no drive faults are detected, this relay contact is closed. The contact remains closed until a drive fault occurs or power is removed from the transformer. Contact rating: 115V AC, 1A or 24V DC, 0.3A. The Drive OK DROK contacts TB4 Terminals 17 and 18 are shown on Figure 6.

36V AC Logic Supply Voltage TB4, Terminals 19, 21

The isolation transformer contains four separate windings. Each winding supplies 36V AC. The 36V AC leads are brought out to terminals 19 and 21 of TB4. the 36V AC Logic Supply Voltage TB4 Terminals 19 and 21 are shown on Figure 6.

Terminal Block - TB5

Terminal block TB5 is located in the top view of controller block shown in Figure 6.

Motor Power Terminals TB5, Terminals 1, 2, 3

Motor power is provided at these terminals. Motor Power Terminals TB5 terminals 1, 2, and 3 are shown in Figure 6.

Input Power Terminals TB5, Terminals 4, 5, 6

The drive requires a 230V AC, three-phase, 50 or 60 Hz input supplied by the transformer secondary. Input Power Terminals TB5 Terminals 4, 5, and 6 are shown on Figure 6.

External Shunt Regulator Resistor TB5, Terminals 8, 9, 10

The 22.5A drives have provisions to accept an external shunt resistor to supplement the integral unit. This is available for applications that require the dissipation of more regenerative energy to the DC Bus. To use an external shunt resistor, first remove the jumper at terminals 8 and 10 of TB5. Additionally, the bus voltage can be monitored at terminals 9 (+) and 7 () of TB5. The shunt regulator resistor supplied with the 1391-DES45 must be externally mounted and connected to terminals 8 and 9 of TB5 prior to operation. The External Shunt Regulator Resistor TB5 Terminals 8, 9, and 10 are shown on Figure 6.

Switch Settings

This section provides information on setting the Duty Cycle Selector switch (SW1) and the A Quad B Encoder Output switch (S1). Note that the settings for 1326AP motors are the same as 1326AB motors. Refer to Figure 6 for switch S1 locations.

Duty Cycle Selector Switch - SW1

The Duty Cycle Selector Switch (SW1), which is located on top of the drive, modifies the behavior of the shunt regulator. The switch determines the temperature level and therefore the average power level at which the drive will fault.

A Quad B Encoder Output Switch - S1

S1 selects the line count that will be output from the A Quad B Board. Incorrect setting of S1 can cause erratic and/or improper machine motion, which may result in personal injury or equipment damage. Ensure that switch S1 has been properly set as shown in Figure 8.


Figure 8: A Quad B Encoder Output Switch Settings

When using the A Quad B option with Allen-Bradley IMC motion controllers, the AMP parameters will be set according to the line count selected. In general, one parameter must be justified when using this device.

    Important: For all IMC classic products (IMC 110, 12x) the normal line counts per cycle of the encoder must be divided by two since the drive will see two markers per cycle.

For example, (using an IMC 12x Controller) with switch S1 set to 1024 lines per revolution (S1-2 OFF, S1-1 ON), the lines per cycle of the position feedback device (located in the Feedback Parameters File) must be 2048 (see Figure 9).


Figure 9: Example Lines per Cycle

This section explains the programming/setup system of the 1391 Digital AC Servo Drive. Included is an explanation of the display, general programming procedure and description of the programmable parameters. You will need to read this information before performing the startup procedure.

Display Description

The 1391-DES display is used for programming, as well as status and diagnostic messages. The display consists of a 16-character, 2-line, "Super-Twist LCD (Liquid Crystal Display) that allows a wide viewing area. The display can be divided into several different sections as shown in Figure 10.


Figure 10: LCD Display

When power is applied to the 1391 drive, the Basic Display will be shown (see Figure 11). The Basic Display alternates (every 2 seconds) between the two displays shown. The alternating display indicates that the drive is functioning normally.


Figure 11: 1391 Basic Display

Keypad Description

The 1391 drive display panel uses five keys (pushbuttons), which allow the various parameters to be accessed. Once a parameter is accessed, status information of the drive can be viewed. In addition, certain parameters can also be modified. Each of the keys has several functions depending on the view/modify mode. Refer to Figure 12 and the paragraphs that follow for a description of the display panel controls.


Figure 12: 1391 Display Panel

Up Arrow Key

This key is used to increase values when modifying parameters. Other uses will be described when applicable.

Down Arrow Key

The Down Arrow key is used to activate modifiable parameters or decrease values. Other uses will be described as required.

Left Arrow Key

This key is used to scroll through parameters or move the cursor when modifying parameters. Other key functions will be described as needed.

Right Arrow Key

The Right Arrow key can be used to scroll through parameters or move the cursor when modifying. Other key functions will be described when required.

Enter Key

The Enter key is used to make a selection or store a changed parameter value in memory. Other key functions will be described as needed.

Parameter Levels

For ease of use, the various parameters of the 1391-DES are numbered and arranged in three different levels. The levels range from viewing simple drive status parameters to more complex setup information. The three levels are as follows:

View Level

The View level allows viewing only the drive operating conditions (see below). The View level is denoted on the display by a single dot ('') in the upper left corner (Figure 11).

  • 03 Drive Size
  • 51 Current Limit
  • 19 Final Velocity Command
  • 57 Analog Velocity Command
  • 20 Velocity Feedback
  • 154 Motor Type
  • 45 Iq (Torque) Current Reference
  • 253 Display Software Version
  • 50 Current Feedback Rated
  • 254 Drive Software Version

Maintenance Level

The Maintenance level allows access to all of the parameters listed in the View and Modify levels, in addition to the parameters listed below.

Two squares will be present in the upper left corner of the display to denote that this level is active (see Figure 10).

* 04 Adapter Type* 129 Units Select
* 05 Logic Command* 135 Up to Speed Tolerance
* 06 Drive Faults* 136 Drive Address
* 07 Drive Status* 155 Rated Motor Current
* 08 Auto Tune Status* 158 Current Rate Limit
* 17 Velocity Reference Whole* 172 Velocity Loop Integrator Preset Value
* 18 Velocity Reference Fraction* 181 Motor Inertia
* 21 Filtered Velocity Feedback* 199 Friction Compensation
* 22 Average Motor Velocity* 200 Friction Hysteresis
* 23 Resolver Turns* 201 Friction Bit
* 24 Resolver Position Feedback* 213 D/A #2 Gain
* 25 Pre Ramp Velocity* 222 Id RPM Start
* 33 Proportional Velocity Error* 223 Id RPM End
* 34 Velocity Loop PI Output* 224 Id Percent Limit
* 35 Integral Velocity Error* 234 Transport Compensation
* 44 External Torque Reference* 243 Indirect Sink Parameter 1
* 46 Id (Flux) Current Reference* 244 Indirect Source Parameter 1
* 47 IT Protection Limit* 245 Indirect Sink Parameter 2
* 48 Bridge Current Limit* 246 Indirect Source Parameter 2
* 49 Current Feedback Scale* 251 Access Timeout
* 58 D/A #1 Command Value* 252 Drive Init Stats
* 59 D/A #2 Command Value

In addition to the three levels described, each level has additional auxiliary menus. These menus allow quick access to important parameters such as fault status and setup data. See Figure 13 for further information.


Figure 13: 1391 Programming Levels

Accessing Parameter Levels

To help guard against access to advanced programming levels by untrained personnel, special key combinations must be pressed to gain access. When power is first applied to the 1391-DES, the Basic Display (see Figure 14) is shown. The Basic Display alternates (every 2 seconds) between the two displays shown. The alternating display indicates that the drive is functioning normally. If, for some reason, the display does not alternate or is not shown, refer to the Troubleshooting section.


Figure 14: 1391 Basic Display

The three-parameter levels can be accessed by using the key combinations described below. The parameter level can be confirmed by observing the number of dots in the upper left corner of the display.

To Access the View Level

Press the Down Arrow key once; the View Level will be active. See Figure 15.


Figure 15: View Level Access

To Access the Modify Level

Press the up, down, and left arrow keys simultaneously and release. See Figure 16.


Figure 16: Modify Level Access

To Access the Maintenance Level

Press the up, down and left arrow keys simultaneously, then within 4 seconds simultaneously press the up, left arrow and Enter keys and release. See Figure 17.


Figure 17: Maintenance Level Access

To Return to the Basic Display

Press the Up Arrow and Enter keys simultaneously to return to the Basic Display.

Programming

Programming of most 1391 drive parameters is not required. When power is initially applied to the drive, a prompted startup procedure will occur (first time only). The display will guide the user through this procedure, which will set all of the main parameters for machine operation. Parameters listed in this article are essentially for reference only. Follow the Startup procedure before attempting to change any parameters.

Pressing the Down Arrow key from the Basic Display (Figure 14) will cause the "View/Modify parameters menu to be displayed. Pressing the Down Arrow key, a second time allows the View level parameters to be viewed. From this point, any of the other levels can be selected using the preceding procedures. After a level has been selected, the Left and Right Arrow keys will be used to locate the desired parameter.

Parameter Types

Two types of parameters are used in the 1391-DES programming system:

* Numeric

* Selection

Numeric Parameter

A Numeric parameter contains a numeric value. When this type of parameter is displayed in the Modify or Maintenance levels, pressing the Down Arrow key will cause the cursor to flash. Pressing the right or left arrow keys will then move the cursor one digit to the right or left. The Up and Down Arrow keys can then be used to scroll to the desired value.

When the parameter is set to the desired value, press the Enter key. The cursor will stop flashing to indicate that the change has been loaded into memory. To cancel the modification (before pressing Enter), press the Right Arrow and Enter keys simultaneously.

Selection Parameter

When viewing a Selection parameter, multiple choices will be displayed for the parameter. Pressing the Up and Down Arrow keys will scroll through the possible choices. When the desired choice is displayed, press the Enter key to make the selection. To cancel the selection (before pressing Enter), press the Right Arrow and Enter keys simultaneously.

Parameter values or selections will not be stored in EEprom until parameter 128 (EEprom Functions) is accessed, and item 3 (Save) is selected. Parameter 128 can be accessed at any time by pressing the Left and Right Arrow keys simultaneously.

Parameter Descriptions

This section lists and describes the various parameters currently available. Not all parameters will be available in every parameter level. Refer to the "Parameter Type classification in each description for further information. In addition to the Parameter Type, each description (when applicable) will also provide Minimum, Maximum, and Default Values. Please note that parameter numbers not listed are reserved for future software enhancements.

Parameter names followed by an asterisk (*) should not be modified. These parameters are provided for information purposes only.

Parameter 00 Reset Display Faults Rst Disp Flts

Parameter 00 the Reset display Faults parameter, clears display faults. This is a parameter type View/Modify in Maintenance level only.

Parameter 03 Drive Size *

Parameter 03 the Drive Size parameter displays the current drive size in amperes (as read from the drive on power-up) is contained in this parameter. This is a parameter type View only, all levels.

Parameter 04 Adapter Type *

Parameter 04 the Adapter Type parameter is not active at this time. This is a parameter type View only in Maintenance level.

Parameter 05 Logic Command Logic Comd*

Parameter 05 the Logic command parameter contains a 16 bit, bit encoded, binary word that represents the logic commands from an adapter board. A bit set to "1 indicates that a condition exists. If bit set to "0, that condition does not exist. This is a parameter type: View only in Maintenance level.

Parameter 06 Drive Faults Drv Faults*

Parameter 06 is a 16 bit, binary word that represents the drive faults. A "1 indicates that a fault has occurred. If a "0 is displayed, a fault has not occurred. Refer to Figure 18 and Table 4 below for an explanation of the individual bits.


Figure 18: Parameter 06 Drive Faults

Parameter BitView only in Maintenance level
Bit 0Not Used
Bit 1Drive Overtemperature
Bit 2Power Up Enable
Bit 3Not Used
Bit 4Control Voltage Fault
Bit 5Resolver Loss
Bit 6Not Used
Bit 7Power Fault
Bit 8Bus Overvoltage
Bit 9Not Used
Bit 10External A/D Conversion Fault
Bit 11Internal A/D Conversion Fault
Bit 12Not Used
Bit 13Not Used
Bit 14EEPROM Fault
Bit 15Auto Tune FaultTable 4: Drive Faults Bits

Parameter 07 Drive Status Drv Status *

Parameter 07, the Drive Status parameter, is a 16-bit, binary word represents the drive status. A "1" indicates that a particular state exists. If a "0 is displayed, that state does not exist. Refer to Table 5 for an explanation of the individual bits.

Parameter BitView only in Maintenance level
Bit 0Class 1 Fault
Bit 1At Zero Speed
Bit 2AT Speed
Bit 3IT Active
Bit 4EEprom Write Enabled
Bit 5Drive State
Bit 6Drive State
Bit 7Drive State
Bit 8At Current Limit
Bit 9Not Used
Bit 10Not Used
Bit 11Not Used
Bit 12Not Used
Bit 13Not Used
Bit 14Not Used
Bit 15Not UsedTable 5: Drive Status Bits

Parameter 08 Auto Tune Status ATn Status *

Parameter 08, the Auto Tune Status parameter, is a 16-bit, binary word represents the auto tune status. A "1 indicates that a particular state exists. If a "0 is displayed, that state does not exist. Refer to Table 6 for an explanation of the individual bits.

Parameter BitView only in Maintenance level
Bit 0Ready
Bit 1Active
Bit 2Enable Drive
Bit 3Not Used
Bit 4Accel
Bit 5Decel
Bit 6Abort
Bit 7Complete
Bit 8Enable Time Limit
Bit 9Execution Time Limit
Bit 10Accel Fault
Bit 11Decel Fault
Bit 12Gain Calculation Fault
Bit 13Gains Updated
Bit 14Not Used
Bit 15Not Used

Parameter 17 Velocity Reference Whole Vel Ref Whole *

Parameter 17, the Velocity Reference Whole parameter, supplies the whole number part of an internal digital velocity reference, when internal digital velocity control has been selected in parameter 132. The data contained in this parameter represents the whole number of the velocity reference.

Parameter TypeView only in Maintenance level
Minimum Value- 8000 RPM
Maximum Value+ 8000 RPM

Parameter 18 Velocity Reference Fraction Vel Ref Fract *

Parameter 18, the Velocity Reference Fraction parameter, supplies the fractional part of an external velocity reference when internal digital velocity control has been selected in parameter 132 is contained in this parameter. The data contained represents the low order, fractional part of the internal digital velocity reference.

Parameter TypeView only in Maintenance level
Minimum Value0 RPM
Maximum Value65535 RPM

Parameter 19 Final Velocity Command Vel Command *

Parameter 19, the Final Velocity Command parameter, indicates the value of the velocity reference into the velocity PI regulator, after the Velocity Mode Select (parameter 132) and the Velocity Limiter.

Parameter TypeView only in Maintenance level
Minimum Value-8000 RPM
Maximum Value+8000 RPM

Parameter 20 Velocity Feedback Vel Feedback *

Parameter 20, the Velocity Feedback parameter, displays the unfiltered motor velocity.

Parameter TypeView only in Maintenance level
Minimum Value-8000 RPM
Maximum Value+8000 RPM

Parameter 21 Filtered Velocity Feedback Filtrd Vel Fb *

Parameter 21, the Filtered Velocity Feedback parameter, displays the filtered velocity feedback, which is output by the lead/lag filter. The bandwidth of the filter is specified by parameter 186 and the filter gain is specified by parameter 185.

Parameter TypeView only in Maintenance level
Minimum Value-8000 RPM
Maximum Value+8000 RPM

Parameter 22 Average Motor Velocity Average Mtr Vel *

Parameter 22, the Average Motor Velocity parameter, supplies the average velocity feedback, which is output by the single pole low pass filter. The bandwidth of the filter is specified by parameter 184.

Parameter TypeView only in Maintenance level
Minimum Value-8000 RPM
Maximum Value+8000 RPM

Parameter 23 Resolver Turns *

Parameter 23, the Resolver Turns parameter, displays the number of resolver electrical turns. When these values reach maximum, the value drops to zero and begins to again count up and down.

Parameter TypeView only in Maintenance level
Minimum Value-32768
Maximum Value+32768

Parameter 24 Resolver Position Feedback Resolver Posn *

Parameter 24, the Resolver Position Feedback parameter, supplies the position feedback count. 65,535 represents the counts per 1/2 motor revolution.

Parameter TypeView only in Maintenance level
Minimum Value0
Maximum Value65535

Parameter 25 Pre Ramp Velocity Pre Ramp Vel *

Parameter 25, the Pre Ramp Velocity parameter, is the velocity before the velocity rate limiter.

Parameter TypeView only in Maintenance level
Minimum Value-8000 RPM
Maximum Value+8000 RPM

Parameter 33 Proportional Velocity Error Prop Vel Error *

Parameter 33, the Proportional Velocity Error parameter, is the error between the Final Velocity Command (parameter 19) and the Filtered Velocity Command (parameter 21).

Parameter TypeView only in Maintenance level
Minimum Value-8000 RPM
Maximum Value+8000 RPM

Parameter 34 Velocity Loop PI Output Vel PI Output *

Parameter 34, the Velocity Loop PI Output parameter, indicates the latest output of the velocity, PI regulator.

Parameter TypeView only in Maintenance level
Minimum Value-8000 RPM
Maximum Value+8000 RPM

Parameter 35 Integral Velocity Error Intg Vel Error *

Parameter 35, the Integral Velocity Error parameter, displays the error between the Final Velocity Command (parameter 19) and the Velocity Feedback (parameter 20).

Parameter TypeView only in Maintenance level
Minimum Value-8000 RPM
Maximum Value+8000 RPM

Parameter 44 External Torque Reference Ext Torque Ref *

Parameter 44, the External Torque Reference parameter, is the digital motor torque reference to the drive from an adapter board (not available at this time). This reference can be selected by setting the Torque Mode (parameter 133).

Parameter TypeView only in Maintenance level
Minimum Value300% rated motor current or 2 times drive rating (whichever is less)
Maximum Value+300% rated motor current

Parameter 45 Iq Torque Current Reference Iq Current Ref *

Parameter 45, the Iq (Torque) Current Reference parameter, displays the torque producing current reference.

Parameter TypeView only in Maintenance level
Minimum Value300% rated motor current or 2 times drive rating (whichever is less)
Maximum Value+300% rated motor current

Parameter 46 Id Flux Current Reference Id Current Ref *

Parameter 46, the Id (Flux) Current Reference parameter, displays the flux producing current reference.

Parameter TypeView only in Maintenance level
Minimum Value0
Maximum Value70% rated motor current

Parameter 47 IT Protection Limit IT Protect Lim *

Parameter 47, the IT Protection Limit parameter, displays the amount that the bridge current limit is reduced, based on the output of an analog circuit, which models the thermal characteristic of the inverter power transistors.

Parameter TypeView only in Maintenance level
Minimum Value0
Maximum ValueDrive Current Rating

Parameter 48 Bridge Current Limit Bridge Cur Lim *

Parameter 48, the Bridge Current Limit parameter, displays the bridge current limit, which is calculated by the drive based on motor current and drive size (parameters 155 and 3).

Parameter TypeView only in Maintenance level
Minimum Value0 Amps
Maximum Value200% Drive Rating or 3 times Motor Rating

Parameter 49 Current Feedback Scale Cur Fdbk Scale *

Parameter 49, the Current Feedback Scale parameter, displays the current feedback scaling based on motor current rating and drive size (parameters 155 and 3). See Table 7 for scale values.

Parameter TypeView only in Maintenance level
Minimum Value0
Maximum Value15

Parameter TypeView only in Maintenance level
Minimum Value0
Maximum Value15

Parameter 50 Current Feedback Rated Cur Fdbk Rated *

Parameter 50, the Current Feedback Rated parameter, displays the actual motor current scaling based on current feedback scale and drive size (parameters 49 and 3).

Parameter TypeView Only In All Levels
Minimum ValueDrive Size/16
Maximum ValueDrive Size

Parameter 51 Current Limit *

Parameter 51, the Current Limit parameter, displays the real time current limit.

Parameter TypeView Only In All Levels
Min/Max ValueWhichever is less 200% Drive Rating, +/- Current limit, 3 times motor Current, ext limit, or IT limit

Parameter 57 Analog Velocity Command Analog Vel Cmd *

Parameter 57, the Analog Velocity Command parameter, displays the analog velocity command value.

Parameter TypeView Only In All Levels
Minimum Value-7000 RPM
Maximum Value+7000 RPM

Parameter 58 D/A #1 Command Value D/A 1 Cmd Val *

Parameter 58, the D/A #1 Command Value parameter, displays the actual value input to D/A Converter 1.

Parameter TypeView Only In Maintenance Levels
Minimum Value-2047
Maximum Value+2047

Parameter 59 D/A #2 Command Value D/A 2 Cmd Val *

Parameter 59, the D/A #2 Command Value parameter, displays the actual value input to D/A Converter 2.

Parameter TypeView Only In Maintenance Levels
Minimum Value-2047
Maximum Value+2047

Parameter 68 Bandwidth Maximum Bandwidth Max. *

Parameter 68, the Bandwidth Maximum parameter after an auto tune, displays the maximum system bandwidth that can be achieved with the machine mechanics. To convert rads/second to Hertz, divide by 6.28.

Parameter TypeView Only In Modify and Maintenance Levels
Minimum Value0 rads/second
Maximum Value250 rads/second

Parameter 69 Auto Tune Friction Auto Tune Friction*

Parameter 69, the Auto Tune Friction parameter, displays the system friction as measured by the auto tune cycle.

Parameter TypeView Only In Modify and Maintenance Levels
Minimum Value0%
Maximum Value100% Equals Rated Motor Current

Parameter 128 EEprom Functions EEprom Func

Parameter 128, EEprom Functions parameter, allows the user to initialize, recall, or save the parameters stored in the EEprom. Entering the number listed will cause the drive to perform the designated action. Initializing the EEprom will convert all parameters to default values. All previous values will be lost.

Parameter TypeView/Modify In Modify and Maintenance Levels
0 ExitExit EEprom Function
1 InitializeLoad the Default Parameters into EEprom
2 RecallLoad the drive with the current EEprom Values
3 SaveSave the current Drive Parameters to EEprom

Parameter 129 Units Select

Parameter 129, the Units Select parameter, allows selection of "User Units or "Per Unit Values. All values shown in this manual are "User Units. Changing this parameter is not recommended.

Parameter TypeView/Modify In Maintenance Levels
0 User UnitsDefault Value use this value
0User Units
1Per unit

Parameter 130 Drive OK Mode

Parameter 130, the Drive OK Mode parameter, specifies how the Drive OK (DROK) relay is controlled. If the parameter is set to "0, the relay will be opened when a fault occurs. If the parameter is set to "1, the relay will open when a fault occurs and there is not sufficient DC bus voltage.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value0 Fault Only
0Fault only
1Fault and Undervoltage

Parameter 131 Language Select Language Selct

Parameter 131, the Language Select parameter, allows selection of available languages.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value0 English
0English

Parameter 132 Velocity Mode Select Vel Mode Selct

Parameter 132, the Velocity Mode Select parameter, selects the velocity command source(s) within the drive.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value0 0 A/D Input
0 A/D InputAnalog Reference from the 14 bit A/D converter (Parameter 57) which is fed from user input command voltage (typically 0 to +/- 10 VDC
1 Digital InputInternal digital reference (Parameters 17 and 18
2 A/D + Digt1Analog and digital reference (Parameter 57, 17, 18)
3 Zero InputZero velocity reference

Parameter 133 Torque Select

Parameter 133, the Torque Select parameter, selects the torque command source within the drive. When operating the drive in velocity mode, set to Velocity Mode 1. When operating in torque mode, (using S Class, MAX, IMC 121 and 123) set to A/D Torque Block (#4).

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value0 Vel Mode 1
0 Vel Mode 1Velocity Regulator PI Output (Parameter 34)
1 Vel Mode 2PI Output + current preload + external torque reference (Parameter 34, 159, 44)
2 Torq BlockDigital Torque Reference (Parameter 44).
3 Vel Mode 3PI output + AD Value (3V = 4096) + Current preload (Parameters 34 + A/D + 159)
4 A/D Tq BlkCurrent Preload + A/D value (159 + A/D)
5 Zero RefZero Torque Command

Parameter 135 Up to Speed Tolerance Up to Spd Tol

Parameter 135, the Up to Speed Tolerance parameter, establishes a band around the velocity command that is used to determine when to update the At Speed bit in parameter 7.

Parameter TypeView/Modify In Maintenance Levels
Default Value19.5 RPM
Minimum Value0 RPM
Maximum Value7812 RPM

Parameter 136 Drive Address *

Parameter 136, the Drive Address parameter, is not active at this time.

Parameter TypeView/Modify In Maintenance Levels
Default Value1
Minimum Value1
Maximum Value14

Parameter 144 Clockwise Velocity Limit CW Vel Limit

Parameter 144, the Clockwise Velocity Limit parameter, specifies maximum velocity reference in the clockwise (positive) direction.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default ValueSet by "Setup drive with motor data routine
Minimum Value0 RPM
Maximum Value7000 RPM

Parameter 145 Counterclockwise Velocity Limit CCW Vel Limit

Parameter 145, the Counterclockwise Velocity Limit parameter, specifies the maximum counter-clockwise (negative) velocity reference is specified by this parameter.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default ValueSet by "Setup drive with motor data routine
Minimum Value0 RPM
Maximum Value7000 RPM

Parameter 146 Accel/Decel Ramp Acc/Dec Ramp

Parameter 146, the Accel/Decel Ramp parameter, specifies the largest change in the velocity command per velocity loop sample that will be allowed except when an immediate stop causes the velocity limit block to be bypassed.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value222.16 revs per sec/sec
Minimum Value5 revs per sec/sec
Maximum Value2216 revs per sec/sec

Parameter 154 Motor Type

Parameter 154, the Motor Type parameter, displays the catalog number of the 1326 servomotor currently installed. Changing this parameter does not change any motor related parameters. Motor changes must be made through the "Setup drive with motor data menu.

Parameter TypeView All Levels Modify In Maintenance Level
Default ValueSet by "Setup drive with motor data routine

Parameter 155 Rated Motor Current Mtr Rated Cur *

Parameter 155, the Rated Motor Current parameter, scales the current feedback in the drive to match the servomotors continuous current rating.

Parameter TypeView/Modify In Maintenance Level
Minimum ValueDrive/Motor Dependent
Maximum ValueDrive/Motor Dependent

Parameter 156 Positive Current Limit Pos. Cur Limit

Parameter 156, the Positive Current Limit parameter, specifies the maximum allowable positive motor current that can be commanded. If greater than parameter 48, parameter 48 will then set the limits.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default ValueSet by "Setup drive with motor data routine
Minimum Value10% rated motor current
Maximum Value300% rated motor current or 2 times drive rating (whichever is less)

Parameter 157 Negative Current Limit Neg. Cur Limit

Parameter 157, the Negative Current Limit parameter, specifies the maximum allowable negative motor current that can be commanded. If greater than parameter 48, parameter 48 will then set the limits.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default ValueSet by "Setup drive with motor data routine
Minimum Value10% rated motor current
Maximum Value300% rated motor current or 2 times drive rating (whichever is less)

Parameter 158 Current Rate Limit Cur Rate Limit *

Parameter 158, the Current Rate Limit parameter, specifies the largest change in the current reference per velocity loop sample that will be allowed. Value shown on the display is in amperes/second. Description is based on percentage of motor rating to allow interpretation of value.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value36% of motor rated current/ms, but will change according to motor selection
Minimum Value130% rated motor current per second
Maximum Value80% of motor rated current per millisecond

Parameter 159 Current Preload Cur Preload

Parameter 159, the Current Preload parameter, specifies the amount of preload added to the velocity loop Pl output.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value0
Minimum Value-200% rated motor current
Maximum Value+200% rated motor current

Parameter 168 KP Velocity Loop Prop Gain kp

Parameter 168, KP Velocity Loop parameter, controls the proportional error gain of the velocity regulator. For example, if KP = 8, then velocity (1,000 rpm) error will produce a (rated motor) current torque reference.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value100
Minimum Value0
Maximum Value560

Parameter 169 Kl Velocity Loop Intg Gain ki

Parameter 169, the KI Velocity Loop parameter, controls the integral error gain of the velocity regulator. For example, if KI = 8, then velocity (1,000 rpm) error for 1 second will produce a (rated motor) current torque reference.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value6667
Minimum Value0
Maximum Value24000

Parameter 170 Feed Forward Gain Feed Frwd Gain

Parameter 170, the Feed Forward Gain parameter, controls the feedforward gain of the velocity regulator. Setting this to a value greater than zero reduces the velocity feedback overshoot in response to a step change in the velocity reference. The velocity loop response to a load disturbance is unaffected by the Feed Forward Gain.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value0
Minimum Value0
Maximum Value0.39

Parameter 171 Static Gain/Droop

Parameter 171, the Static Gain/Droop parameter, specifies the velocity regulation tolerance in rpm.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value1 RPM
Minimum Value0 RPM
Maximum Value15.6 RPM

Parameter 172 Velocity Loop Integrator Preset Intg Prest Val

Parameter 172, the Velocity Loop Integrator Preset parameter, sets the velocity loop integrator to the value in this parameter when the drive transitions into the Run state.

Parameter TypeView/Modify In Maintenance Level
Default Value0
Minimum Value-200% rated motor current
Maximum Value+200% rated motor current

Parameter 181 Motor Inertia

Parameter 181, the Motor Inertia parameter, displays the time it will take for the selected motor to reach 1,000 rpm at 100% of rated torque. This assumes that the motor has 0.2 times the motor inertia connected to it, representing typical system inertia (couplings, etc.)

Parameter TypeView/Modify In Maintenance Level
Default ValueSet by "Setup drive with motor data routine
Minimum Value0ms
Maximum Value500ms

Parameter 182 Desired Velocity Bandwidth Desired Vel BW

Parameter 182, the Desired Velocity Bandwidth parameter, is associated with the Auto Tune Calculate function and allows the user to enter a desired velocity bandwidth less than or equal to the Maximum Bandwidth (parameter 68) as calculated by the Auto Tune cycle.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value200 rads/second to convert rads/second to Hertz divide by 6.28
Minimum Value1 ms
Maximum Value250ms

Parameter 183 Velocity Damping Selection Vel Damp Selct

Parameter 183, the Velocity Damping Selection parameter, is associated with the Auto Tune function and specifies the velocity damping desired by the user. The auto tuning procedure calculates a new set of Velocity Loop Gains (parameters 168 and 169) and a new Current Rate Limit (parameter 158) when the user initiates the Auto Tune Calculate function. Refer to Figure 19.


Figure 19: Velocity Response Profiles

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value0
Minimum Value0
Maximum Value3

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value0
Minimum Value0
Maximum Value3

Parameter 184 Velocity Low Pass Filter Bandwidth Vel Low Pas BW

Parameter 184, the Velocity Low Pass Filter Bandwidth parameter, specifies the single pole low pass velocity feedback filter bandwidth. A value of 30000 disables the filter.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value30000 rads/second
Minimum Value0 rads/second
Maximum Value30000 rads/second

Parameter 185 Lead/Lag Velocity Fdbk. Filter Gain Lead/Lag Gain

Parameter 185 the Lead/Lag Velocity Fdbk Filter Gain parameter specifies the gain of the velocity feedback filter. A value of 1.00 disables the filter.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value1.00
Minimum Value-10.00 (Lag)
Maximum Value+10.00 (Lead)

Parameter 186 Lead/Lag Velocity Fdbk. Filter BW. Lead/Lag BW

Parameter 186, the Lead/Lag Velocity Fdbk Filter BW parameter, specifies the bandwidth of the velocity feedback filter.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value250 rads/second
Minimum Value0 rads/second
Maximum Value2700 rads/second

Parameter 187 Auto Tune Velocity Auto Tune Vel

Parameter 187, the Auto Tune Velocity parameter, specifies the maximum velocity attained during an Auto Tune cycle.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value+1000 RPM
Minimum Value-2000 RPM
Maximum Value+2000 RPM

Parameter 188 Auto Tune Current Limit Auto Tune Cur

Parameter 188, the Auto Tune Current Limit parameter, specifies the motor current used while an Auto Tune cycle is executing.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value50% rated motor current in amps
Minimum Value0
Maximum Value200% rated motor current in amps

Parameter 189 Auto Tune Inertia Auto Tun Inert

Parameter 189, the Auto Tune Inertia parameter, is calculated during Auto Tune and is the time that the motor or motor and system takes to reach Auto Tune Velocity (parameter 187) at Auto Tune Current Limit (parameter 188) and back to zero rpm. To determine the inertia of the machine system, use the following formula:

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value100 ms
Minimum Value0 ms
Maximum Value10000 ms

Parameter 190 Auto Tune Select Auto Tune Sel

Parameter 190, the Auto Tune Select parameter, initiates an Auto Tune cycle, which measures the Auto Tune Inertia (parameter 189) and Auto Tune Friction (parameter 69) by accelerating the motor up to the Auto Tune Velocity (parameter 187) at the Auto Tune Current Limit (parameter 188). The parameter also calculates the gains based on auto tune information.

Parameter TypeView/Modify In Modify and Maintenance Levels
0Exit
1Clr Status
2System Tune
3Calculate

Parameter 199 Friction Compensation Friction Comp

Parameter 199, the Friction Compensation parameter value represents the machine friction torque as a percentage of the measured friction torque (or parameter 69) as measured by auto tuning. This will be compensated for in the velocity loop.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value50%
Minimum Value0 (No Friction Compensation)
Maximum Value100%

Parameter 200 Friction Hysteresis Frictn Hystrs

Parameter 200, the Friction Hysteresis parameter, defines the number of bits of velocity command before a switch is made by Friction Bit (parameter 201).

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value0.5 RPM
Minimum Value0
Maximum Value2.4 RPM

Parameter 201 Friction Bit Frictn Bit

Parameter 201, the Friction Bit parameter, displays the number of bits surrounding Friction Hysteresis (parameter 200).

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value10
Minimum Value0
Maximum Value50

Parameter 210 Analog to Digital Converter Offset Anlg Vel Offst

Parameter 210, the Analog to Digital Converter Offset, parameter adds an offset to the A/D converter value to correct for input A/D offset and user input command D/A output offset.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value0mV
Minimum Value-61mV
Maximum Value+61mV

Parameter 211 Analog Velocity Gain Anlg Vel Gain

Parameter 211, the Analog Velocity Gain parameter, determines how the A/D converter value is scaled. It is set to the number of motor rpm that is to represent 1 volt of input command. The desired input velocity command voltage to motor rpm scaling is accomplished with the Analog Velocity Gain parameter (211). The default setting is 500 rpm/volt.

Use the following formula if the maximum motor speed (rpm) and maximum velocity command (volts) are known:

For example:

Parameter TypeView/Modify In Modify and Maintenance Levels
Default Value+600 RPM per Volt
Minimum Value-790 RPM per Volt
Maximum Value+790 RPM per Vplt

Parameter 212 Digital to Analog #1 Gain D/A 1 Gain

Parameter 212, the Digital to Analog #1 Gain parameter, scales the D/A #1 Command Value (parameter 58) before it is output to D/A Converter 1. To change output voltage scaling: Desired Voltage per 1000 rpm x 0.05553.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default ValueGain of +0.067
Minimum ValueGain of 14.6
Maximum ValueGain of +14.6

Parameter 213 Digital to Analog #2 Gain D/A 2 Gain

Parameter 213, the Digital to Analog #2 Gain parameter, scales the D/A #2 Command Value (parameter 59) before it is output to D/A Converter 2. To change scaling: Desired Voltage /Rated Current x 0.05553.

Parameter TypeView/Modify In Modify and Maintenance Levels
Default ValueGain of +0.167
Minimum ValueGain of 14.6
Maximum ValueGain of +14.6

Parameter 222 Id RPM Start *

Parameter 222, the Id RPM Start parameter, is associated with the field weakening function.

Parameter TypeView/Modify In Maintenance Level
Default ValueSet by "Setup Drive with motor data routine
Minimum Value0 RPM
Maximum Value6000 RPM

Parameter 223 Id RPM End *

Parameter 223, the Id RPM End parameter, is associated with the field weakening function.

Parameter TypeView/Modify In Maintenance Level
Default ValueSet by "Setup Drive with Motor Data routine
Minimum Value0 RPM
Maximum Value8000 RPM

Parameter 224 Id Percent Limit Id Percnt Lim *

Parameter 224, the Id Percent Limit parameter, is associated with the field weakening function.

Parameter TypeView/Modify In Maintenance Level
Default Value70%
Minimum Value0 RPM
Maximum Value100%

Parameter 233 Cable Compensation Cable Comp

Parameter 233, the Cable Compensation parameter, is set based on the distance between the motor and drive. It optimizes drive for resolver cable length variations based on installation.

Parameter TypeView/Modify In Maintenance Level
Default Value50 Feet (15.2 m)
Minimum Value5 Feet
Maximum Value600 Feet (183 m)

Parameter 234 Transport Compensation Transport Comp *

Parameter 234, the Transport Compensation parameter, specifies the amount of linear transport lag compensation due to the sample time of the control loops.

Parameter TypeView/Modify In Maintenance Level
Default Value81
Minimum Value-200
Maximum Value+200

Parameter 243 Indirect Sink Parameter 1 Indirect Sink1 *

Parameter 243, the Indirect Sink Parameter 1 parameter, specifies the sink parameter for Indirect Link 1. Parameters 243 and 244 define a link between two other parameters. The value of the parameter specified by parameter 244 is written to the parameter specified by parameter 243 once every velocity loop update.

Parameter TypeView/Modify In Maintenance Level
Default Value59
Minimum Value0
Maximum Value245

Parameter 244 Indirect Source Parameter 1 Indirect Sorc1 *

Parameter 244, the Indirect Source Parameter 1 parameter, specifies the source parameter for Indirect Link 1.

Parameter TypeView/Modify In Maintenance Level
Default Value20
Minimum Value0
Maximum Value254

Parameter 245 Indirect Sink Parameter 2 Indirect Sink2 *

Parameter 245, the Indirect Sink Parameter 2 parameter, specifies the sink parameter for Indirect 2. Parameters 245 and 246 define a link between two other parameters. The value of the parameter specified by parameter 246 is written to the parameter specified by parameter 245 once every velocity loop update.

Parameter TypeView/Modify In Maintenance Level
Default Value59
Minimum Value0
Maximum Value254

Parameter 246 Indirect Source Parameter 2 Indirect Sorc2 *

Parameter 246, the Indirect Source Parameter 2 parameter, specifies the source parameter for Indirect Link 2.

Parameter TypeView/Modify In Maintenance Level
Default Value45
Minimum Value0
Maximum Value254

Parameter 251 Access Timeout

Parameter 251, the Access Timeout parameter, specifies the length of time in minutes that the display will spend unattended before going back to the View level from a higher level. A value of zero disables this function.

Parameter TypeView/Modify In Maintenance Level
Default Value0
Minimum Value0
Maximum Value32767

Parameter 252 Drive Initialization Status Drv Init Stats

Parameter 252, the Drive Initialization Status parameter, specifies if the drive has gone through an out-of-the-box startup procedure.

Parameter TypeView/Modify In Maintenance Level
Default Value1 No
Minimum Value0 Yes Has been setup
Maximum Value1 No has not been Setup

Parameter 253 Display Software Version Display SW Ver *

Parameter 253 the Display Software Version parameter displays the current display software version number. This parameter is a view only and is available in all levels.

Parameter 254 Drive Software Version Drive SW Ver. *

Parameter 254, the Drive Software Version parameter, displays the current drive software version number. This parameter is a view only and is available in all levels.

Startup

This section describes the steps needed to properly startup the 1391-DES Digital AC Servo Drive. Included in the procedure are typical adjustments and voltage checks to ensure proper operation.

The following procedure provides the required steps to startup the 1391-DES AC Servo Drive in velocity and position mode:

:# Ensure that all power to the drive branch circuit is off. Most startup difficulties are the result of wiring errors. Therefore, before applying power to the first device in the branch circuit, primary of the transformer, or system, check all of the system interconnection wiring.

:# Check terminal block connections as described in Inputs, Outputs, and Switch Settings.

:# Set switches S1 (A Quad B Board) and SW1 (top of drive) as explained in Switch Settings.

:# Assure that the drive circuit breaker (MCB), contactor (M) and Enable input are OFF (de-energized).

:# Apply power to the input transformer primary, but DO NOT Enable the drive or energize the contactor (M). The Enable LED should be Off.

:# Using a voltmeter, verify that the voltages listed below are present at the locations shown. The tolerance for all voltages is 10%. Clear faults before replacing any blown fuses. Refer to Figure 21 for test point locations.

* TB5-4 to TB5-5 230V AC
* TB5-4 to TB5-6 230V AC
* TB5-5 to TB5-6 230V AC
* TB4-21 to TB4-19 36V AC
* TP13 to TP12 +12V DC
* TP14 to TP12 12V DCLocation Voltage

7. Remove all power to the transformer.


Figure 21: 1391 Test Point Locations

8. The wires connected to terminals 9 and 10 of TB2 must be marked and removed to allow for local operation of the enable circuit. Connect a suitable temporary switch between these terminals and insulate the switch connections.

9. Once control connections are made: a. Open the enable switch the ENABLE LED will be Off. b. Apply power to the transformer primary. c. Place the circuit breaker (MCB) to the On position. d. Energize the contactor (M). The STATUS LED should illuminate to a steady green.

Important: If power is applied while the drive is enabled, the STATUS LED will flash red and disable the drive. The drive may be reset by removing the Enable signal and momentarily grounding the Reset terminal (TB2-11). An alternate method would be to remove and reapply the branch circuit or drive power (36V) with the Enable input removed.

10. The drive will now prompt you through a startup procedure. Read the following important points before continuing:

* From time to time, the drive will display the message "EEprom Function in progress." This message alerts the user that an EEprom function is in progress and that operation will return to normal momentarily. If the message "drive cant be running for EE" is displayed, verify that the drive is disabled.

* If the drive faults during startup (i.e., feedback mis-wired, etc.) the procedure will be continued from the point where you left off, after the cause of the fault has been resolved.

* To stop the startup procedure at any time and restart from this step: press the first 4 keys on the keypad (Up, Down, Left and Right Arrow keys) simultaneously and release.

* To cancel the procedure and return to the Basic Display at any time, disable the drive and simultaneously press the last 4 keys of the keypad (Down, Left, Right and Enter keys) and release.

* If you wish to repeat the startup procedure, access the Maintenance programming level by pressing the Up, Down and Left Arrow keys, simultaneously then within 4 seconds press the Up, Left and Enter keys. Access parameter 252 and enter a value of 1, press Enter. Then press the Left or Right Arrow keys to access parameter 128. Select "Save" to save the parameters to EEprom, press Enter. Cycle all power and proceed.

11. The display will now read, "START UP PROCEDURE" press the Enter key to continue.

Display: "setup drive with motor data." Press Enter to continue. If a custom motor is being used, consult Allen-Bradley for special instructions before proceeding.

The drive will now allow you to select the catalog number of the motor being used. Use the Up and Down Arrow keys to select the appropriate motor catalog number press Enter to select. Torque Plus catalog numbers will not be displayed. Use the following cross-reference shown in Table 8 to select a motor catalog number.

* TB5-4 to TB5-5 230V AC
* TB5-4 to TB5-6 230V AC
* TB5-5 to TB5-6 230V AC
* TB4-21 to TB4-19 36V AC
* TP13 to TP12 +12V DC
* TP14 to TP12 12V DCLocation Voltage

The drive will respond by displaying "writing data to servo drive.

12. The display will show "execute motor rotation test. This test ensures that the motor cables have been connected correctly press Enter to continue.

13. The drive will display the message "DANGER, MOTOR MAY RUNAWAY! Be prepared to open MCB on the drive if the motor does not run correctly (under this condition the motor current limit is set to 25% of rated current to minimize motor speed) press Enter to continue.

14. The display will now read "enable to strt rotation test. Energize the contactor (M) and enable the drive. A correctly wired drive will rotate the motor clockwise at 30 rpm for 5 seconds stop for 2 seconds then rotate the motor counterclockwise for 5 seconds then stop. If the motor runs away or does not rotate, verify all power and resolver wiring.

15. The display will now read "disable drive to continue. Disable the drive by opening the Enable input, leaving the contactor energized. Display: "press enter to exit motor test press Enter.

16. The display will now read, "zero analog velocity offset press Enter. In this mode, the drive will automatically adjust out any offset, while the motor remains at zero speed. When the display reads: "enable to strt zero vel offset, apply the Enable input to the drive. The display will now read "jumper analog velocity inputs. Jumper TB2-1 to TB2-2. This applies zero volts to the velocity inputs. Press Enter to continue. The display will now read, "now zeroing velocity offset." The drive can take up to 60 seconds to zero the offset.

If zeroing was successful, the display will show "velocity zero complete. " Remove the jumper and press Enter.

If, for some reason, the offset cannot be adjusted, the message "cannot zero velocity offset will be displayed. If this occurs, verify that the jumper connections are correct and continue with the procedure. After completion, do a manual zero speed adjustment as explained in step 32.

The display will now read "disable drive to continue Remove enable, leaving the contactor (M) energized.

17. The display will now read "enter parameter information press the Enter key to continue. The drive will allow you to enter a value for the Analog Velocity Gain. The desired input velocity command voltage to motor rpm scaling is accomplished with the Analog Velocity Gain parameter (211). The default setting is 500 rpm/volt. Use the following formula if the maximum motor speed (rpm) and maximum velocity command (volts) are known:

For example:

Enter the desired value followed by the Enter key.

18. The drive will prompt for CW and CCW velocity limits (parameters 144 and 145, Clockwise/Counter-clockwise Velocity Limits). Enter the maximum speed limit of the motor plus 10% at maximum velocity command. If the maximum command voltage exceeds the normal maximum level, these values will limit the speed of the motor. If unknown, leave setting at the default value.

The factory default values are set +10% over the maximum rated speed of the motor as shown in Table 9 and Table 10. Press the Enter key to continue.

* TB5-4 to TB5-5 230V AC
* TB5-4 to TB5-6 230V AC
* TB5-5 to TB5-6 230V AC
* TB4-21 to TB4-19 36V AC
* TP13 to TP12 +12V DC
* TP14 to TP12 12V DCLocation Voltage

* TB5-4 to TB5-5 230V AC
* TB5-4 to TB5-6 230V AC
* TB5-5 to TB5-6 230V AC
* TB4-21 to TB4-19 36V AC
* TP13 to TP12 +12V DC
* TP14 to TP12 12V DCLocation Voltage

19. All ratings are for 40C motor ambient, 110C case, and 60C amplifier ambient. For extended ratings at lower ambient, contact Allen-Bradley.

20. The motor contains two thermal switches wired in series that will open on an overtemperature condition. They are set to open at 150C (typical) and close at 90-100C (typical). Contacts are rated for 1A at 115V AC, 1A at 24V DC, -10% line voltage maximum.

21. The drive will prompt for the resolver cable length being used, (parameter 233, Cable Compensation). Use the Up or Down Arrow key to select the cable length value closest to the length of the feedback cable being used. When the desired value is displayed, press the Enter key to make the selection.

22. To continue with this startup procedure, go to step 32.

Auto Tune Procedure

23. This step only needs to be performed when repeating the auto tune cycle. Access the Modify programming level (from the View level) by pressing the Up, Down and Left Arrow keys simultaneously. Press the Down Arrow key and use the Left or Right Arrow keys to select "autotune the servo drive." Press the Down Arrow key.

24. Display: "autotune the servo drive press Enter to continue. Assure that the drive Enable input is de-energized and the contactor (M) is energized. The drive will display the message "drive not ready to tune if this has not been done. The drive will prompt you for Auto Tune Current Limit. This current is used for auto tuning only. The default value displayed is sufficient, however, a different value of up to 100% of motor rating can be entered if desired. Press the Enter key to accept the value.

25. The drive will prompt you for Auto Tune Velocity. This velocity is used for auto tune only. To accept the default value, press Enter. If clockwise motor rotation (looking at the motor shaft) is desired, this parameter value should be positive. If counter-clockwise rotation is desired, set this parameter value negative.

A portion of the following auto tune cycle will cause the motor to accelerate to a desired velocity and decelerate to zero velocity. Be prepared for this movement and take precautions to guard against personnel injury or machine damage. Depending on the inertia of the system, several revolutions of the motor may occur. Axis movement must take place for the drive to complete the Auto Tune cycle.

26. The drive will display the message "DANGER ## MTR REVS POSSIBLE. This means that the motor may make ## revolutions during auto tune, causing machine movement.

If the number of motor revolutions displayed is acceptable, press Enter and proceed to step 25. If the number of motor revolutions displayed could cause damage to your equipment, DO NOT continue! Press the Up Arrow Key to end the Auto Tune procedure. Repeat the Auto Tune procedure by returning to step 23. During the procedure, the value for Auto Tune Current Limit can be increased, or the Auto Tune Velocity can be decreased. Either value will lower the number of motor revolutions. For example, twice the current will halve the number of revolutions to do Auto Tune.

27. The display will now read "enable drive to execute autotune." When you enable the drive, the motor will ramp up to the Auto Tune velocity and back to zero again. The display will now read "disable drv to continue Disable the drive.

28. The drive will display the Bandwidth Max. parameter (68). The value displayed is the maximum bandwidth, in rads/sec. your system can achieve. Record this value for future reference and press Enter.

Bandwidth Maximum = _____________________ rads/sec. (rads/sec. can be converted to Hertz (Hz) by dividing by 6.28)

29. The drive will display the Desired Velocity BW (182). Enter any value of bandwidth up to the value of Bandwidth Max. from above. Values greater than Bandwidth Max. will be ignored. Press Enter.

30. The auto tune and startup procedure is now complete. Press Enter. Now press the Up Arrow and Enter keys simultaneously to return to the Basic Display values have now been stored in EEprom. If it is desired to repeat the auto tune procedure, return to step 23.

DO NOT initialize the EEprom unless you wish to return all parameters to their default state. Remove power. Reconnect user command wiring (if previously disconnected), apply power, and check operation. If motor rotation is incorrect, reverse the Velocity Command Input leads at TB2-1 & 2.

31. If the drive is to be run in torque control, (with S Class, IMC 123 Controllers etc.) set parameter 133, (Torque Select) to "A/D Torque Block.

32. Enter the Maintenance programming level by pressing the up, down and left arrow keys simultaneously then within 4 secondssimultaneously press the up, left arrow and Enter keys. Access parameters 155 (Rated Motor Current) and 181 (Motor Inertia) enter the appropriate values shown in Table 11.

Motor Catalog NumberParameter 155 ValueParameter 181 Value
1326AB-A410G-21 (1326AB-A1G)7.1 A21 ms
1326AB-A420E-21 (1326AB-A2E)7.0 A22 ms
1326AB-A430E-21 (1326AB-A3E)9.5 A22 ms
1326AB-A515E-21 (1326AB-B2E)15.2 A62 ms
1326AB-A520E-21 (1326AB-B2E)19.2 A62 ms
1326AB-A530E-21 (1326AB-B3E)28.4 A62 ms
1326AB-A740B-21 (1326AB-C4B)38.2A73msTable 11: Motor Current and Inertia

33. Access parameter 128 (EEprom Functions) and select "Save," followed by the Enter key. This will load the parameter values into memory. If further tuning is not required, record parameter settings in Appendix E of the 1391 Drive Manual. Proceed to step 39.

Manual Tuning Procedure

If manual tuning of certain parameters is required, the following procedure can be followed after all of the previous steps have been performed. Parameters referenced in the following steps are located in the Modify programming level. This level can be reached from the View level by pressing the Up, Down and Left Arrow keys, simultaneously.

34. Zero Speed Adjust a) Remove all power from the drive. b) Install a jumper between TB2-1 & 2 or leave the velocity command wiring in place if the system offset adjust is being performed. c) Apply power, energize the contactor (M), and enable the drive. d) Access the Offset parameter (210, Modify level) and increase or decrease the value until the motor shaft does not rotate. e) Perform step 36. f) De-energize the Enable input, remove power, and reconnect all wiring, if applicable.

35. Analog Velocity Gain a) Apply power to the drive. b) Energize the contactor (M), but Do Not Enable the drive. c) Access the Analog Velocity Gain parameter (211, Modify level). d) The drive will allow you to enter a value for the Analog Velocity Gain.

The desired input velocity voltage to motor rpm scaling is accomplished with the Analog Velocity Gain parameter (211). The default setting is 500 rpm/volt. Use the following formula if the maximum motor speed (rpm) and maximum velocity command (volts) are known.

For example:

Enter the desired value followed by the Enter key. e) Perform step 36. f) Remove power and reconnect all wiring, if applicable.

36. Clockwise/Counterclockwise Velocity Limits a) Apply power to the drive. b) Energize the contactor (M), but Do Not Enable the drive. c) Access parameters 144 and 145 (Clockwise/Counterclockwise Velocity Limits) to enter the maximum speed limit of the motor at maximum velocity command. If the maximum command voltage exceeds the normal maximum level, these values will limit the speed of the motor. d) Perform step 36. e) Remove power and reconnect all wiring, if applicable.

37. Current Limit Adjustment a) Apply power to the drive. b) Energize the contactor (M), but Do Not Enable the drive. c) Access parameters 156 and 157 (Positive and Negative Current d) Limits) to enter the desired positive and negative current limits. e) Perform step 36. f) Remove power and reconnect all wiring, if applicable.

38. Saving Current Parameters to EEprom. If this step was just performed, proceed to the System Compensation Procedure or step 39. a) Access parameter 128 (EEprom Functions) and select "Save," followed by the Enter key. This will load the parameter values into memory.

If no additional changes are required, press the Up Arrow key and Enter keys simultaneously to show the Basic Display.

System Compensation Procedure

The Auto Tune feature of the 1391-DES drive should provide sufficient system velocity loop compensation for the majority of applications. Additional tuning is usually not required. However, the following manual procedure for system velocity loop compensation can be followed, if desired.

39. Enable the drive and monitor the velocity feedback signal at terminals 5 (common) and 4 of TB2 with an oscilloscope or chart recorder. Default scaling is 1.2V/krpm.

If an oscilloscope or chart recorder is used during Startup or Troubleshooting, these devices must be properly grounded. The oscilloscope chassis may be at a potentially fatal voltage if not properly grounded. Always connect the oscilloscope chassis to earth ground. When using an oscilloscope (or chart recorder), it is recommended that the test probe ground be connected to TB2-5.

40. Adjust parameter 168 (Kp Velocity Loop) and observe the velocity response (at TB2-4) profile at various levels of step input speed commands. The "Underdamped response curve in Figure 22 with a single velocity overshoot of 20-30% on accel and decel is optimal on a point-to-point positioning or velocity-controlled system. The "Critically Damped curve is desirable on a contouring or metal removing system.


Figure 22: Velocity Response Profiles

Parameter 169 (Ki Velocity Loop) should be adjusted so that the motor achieves the commanded speed or final position as quickly as possible with little or no overshoot. In addition to the dynamic response, the motor shaft should not oscillate or exhibit any erratic motion at zero speed.

41. Remove power with the branch circuit disconnect.

42. Remove the local Enable switch and reconnect external wiring.

43. Apply power and check system operation.

AC Servomotors

This section describes the operation of a standard 1326 AC Servomotor with the enhanced capabilities of a Bulletin 1391-DES Digital AC Servo Drive. The 1391-DES provides additional energy to the 1326 motor, allowing it to operate at higher speeds without a reduction of torque. In general, the 1326 motor will follow the speedtorque curve shown in Figure 23.


Figure 23: 1326 Speed Torque Curve

Tc is the rated torque of motor with windings at rated temperature and an ambient of 40C. The drive is operating in a rated ambient of 60C.

Tp is the peak torque that can be produced by the motor/drive combination with at both rated temperature and the motor in a 40C ambient and the drive in a 60C ambient. Higher peak torques are permissible where RMS torque is less than or equal to the rated torque (Tc). 1391-DES operation is shown in the outer envelope and will show higher speed and 300% torque capability.

Rated Speed is the operating speed of the drive and motor combination at which a minimum of 70% of continuous rated torque (Tc) can be developed. This point is defined with the motor at 25C and drive operating in a 60C ambient.

Rated Operation Area is the boundary of speed-torque curve where the motor and drive combination may operate on a servo basis without exceeding the RMS rating of either. The Duty Cycle Profile is shown in Figure 24.


Figure 24: Duty Cycle Profile

The Intermittent Operation Area is the boundary of speed-torque curve where the motor and drive combination may operate in acceleration-deceleration mode without exceeding peak rating of either, provided that the duty cycle RMS continuous torque limit is not exceeded.

Troubleshooting

This section provides information to guide the user in troubleshooting the 1391-DES. Included is the board and drive substitution procedures, fault indications, general system faults, and test point descriptions.

System Troubleshooting

Most drive faults are annunciated by fault messages on the front panel display. Many system malfunctions manifest themselves through a drive fault. The troubleshooting information provided will take advantage of the fault messages and list a number of potential system problems related to each. In addition, a number of common system and motor malfunctions are described.