Home >Documents >1398-UM000A-EN-P ULTRA 200 Series Digital Servo Drives ... User Manual ULTRA 200 Series Digital...

1398-UM000A-EN-P ULTRA 200 Series Digital Servo Drives ... User Manual ULTRA 200 Series Digital...

Date post:31-Jan-2018
Category:
View:225 times
Download:2 times
Share this document with a friend
Transcript:
  • User Manual

    ULTRA 200 SeriesDigital Servo Drives

    Allen-Bradley

  • Important User Information

    Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards.

    The illustrations, charts, sample programs and layout examples shown in this guide are intended solely for purposes of example. Since there are many variables and requirements associated with any particular installation, Allen-Bradley does not assume responsibility or liability (to include intellectual property liability) for actual use based upon the examples shown in this publication.

    Allen-Bradley publication SGI-1.1, Safety Guidelines for the Application, Installation, and Maintenance of Solid-State Control (available from your local Allen-Bradley office), describes some important differences between solid-state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication.

    Reproduction of the contents of this copyrighted publication, in whole or in part, without written permission of Allen-Bradley Company, Inc., is prohibited.

    Throughout this manual we use notes to make you aware of safety considerations. For example:

    Attention statements help you to:

    identify a hazard

    avoid the hazard

    recognize the consequences

    Mathcad is a registered trademark of MathSoft, Inc.Microsoft, MS-DOS and Windows are trademarks of Microsoft Corporation. UL and cUL are registered trademarks of Underwriters Laboratories.

    !

    Intro

    ATTENTION: This symbol identifies information about practices or circumstances that can lead to personal injury or death, property damage or economic loss.

    Note: This symbol identifies information that is critical for successful application and understanding of the product.

  • Table of Contents

    IntroTable of Contents

    Table of Contents Intro-1

    List of Figures Intro-7

    List of Tables Intro-11

    Preface Intro-15

    About This Manual . . . . . . . . . . . . . . . . . . . . . . . . .Intro-16Additional Instructions and Manuals . . . . . . . . . . . . . . .Intro-17

    Host Commands and ULTRA Master . . . . . . . . . . . . .Intro-17TouchPad . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Intro-18

    Symbols and Conventions . . . . . . . . . . . . . . . . . . . . .Intro-19Typographical and Wording Conventions . . . . . . . . . . .Intro-19Graphical Symbols and Warning Classifications . . . . . . .Intro-20

    Pictorial Index . . . . . . . . . . . . . . . . . . . . . . . . . . . .Intro-21

    Chapter 1 SafetyInstalling and Using the ULTRA 200 Series . . . . . . . . . . . . . 1-1

    Potential Hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1Safety Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

    Chapter 2 Selecting Other System ComponentsULTRA 200 Series Overview . . . . . . . . . . . . . . . . . . . . . 2-1

    Drive Power Ratings . . . . . . . . . . . . . . . . . . . . . . . . . 2-1Interface Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

    ULTRA 200 Series Features . . . . . . . . . . . . . . . . . . . . . . 2-2Stand-alone Design . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2High Performance Microcontroller Technology . . . . . . . . . 2-2IPM Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2Analog and Digital Interfaces . . . . . . . . . . . . . . . . . . . . 2-2Encoder Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2Encoder Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3Analog I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3AC Input Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3Personality Module . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3Multiple Protection Circuits . . . . . . . . . . . . . . . . . . . . . 2-4ULTRA Master Software . . . . . . . . . . . . . . . . . . . . . . 2-4

    Publication 1398-5.0 October 1998

  • Intro-2 Table of Contents

    Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5Agency Approvals. . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

    Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6European Union Requirements . . . . . . . . . . . . . . . . . . . . . 2-7

    Chapter 3 ULTRA Master InstallationHardware and Software Requirements . . . . . . . . . . . . . . . . . 3-1Installing ULTRA Master . . . . . . . . . . . . . . . . . . . . . . . . 3-2Starting and Quitting ULTRA Master . . . . . . . . . . . . . . . . . 3-3

    Version Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3The ULTRA Master Start-Up Screen . . . . . . . . . . . . . . . . 3-3The readme File . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4Firmware Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

    Chapter 4 Unpacking, Inspecting and StoringUnpacking the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1Inspection Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1Testing the Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

    Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3Drive Checkout Test . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

    Storing the Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

    Chapter 5 InstallationMechanical Installation Requirements . . . . . . . . . . . . . . . . . 5-1Interface Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

    Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6Electromagnetic Compatibility . . . . . . . . . . . . . . . . . . . 5-6Qualified AC Line Filters. . . . . . . . . . . . . . . . . . . . . . . 5-6Allen-Bradley AC Line Filters . . . . . . . . . . . . . . . . . . . . 5-7

    Chapter 6 InterfacesJ1 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

    Digital I/O Power . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4Digital Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16Motor Encoder Output Signals . . . . . . . . . . . . . . . . . . 6-17Auxiliary Encoder Inputs . . . . . . . . . . . . . . . . . . . . . 6-19Interface Cable Examples. . . . . . . . . . . . . . . . . . . . . 6-21J1 Terminal Strip/Breakout Board. . . . . . . . . . . . . . . . . 6-26

    J2 Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27

    Publication 1398-5.0 October 1998

  • Table of Contents Intro-3

    J2 Terminal Strip/Breakout Board . . . . . . . . . . . . . . . . 6-30J3 Auxiliary Port . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31J4 and J5 Serial Port . . . . . . . . . . . . . . . . . . . . . . . . 6-34

    Serial Communications Overview. . . . . . . . . . . . . . . . 6-36RS-232 Connections. . . . . . . . . . . . . . . . . . . . . . . . 6-38Four Wire RS-485 Connections. . . . . . . . . . . . . . . . . . 6-40

    A1, A2, and COM Analog Outputs. . . . . . . . . . . . . . . . 6-44Interface Connections. . . . . . . . . . . . . . . . . . . . . . . . . 6-45

    Chapter 7 Power ConnectionsTB1 DC Bus and AC Power. . . . . . . . . . . . . . . . . . . . . 7-1

    Motor Power Cabling. . . . . . . . . . . . . . . . . . . . . . . . 7-3Motor Overload Protection. . . . . . . . . . . . . . . . . . . . . 7-5Emergency Stop Wiring. . . . . . . . . . . . . . . . . . . . . . . 7-6DC Bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6AC Power Cabling. . . . . . . . . . . . . . . . . . . . . . . . . . 7-7Auxiliary Power . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10

    TB2 Shunt Regulator. . . . . . . . . . . . . . . . . . . . . . . . 7-11External Shunt Connection. . . . . . . . . . . . . . . . . . . . 7-14

    Chapter 8 Application and Configuration ExamplesAnalog Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

    Hardware Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . 8-2Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5

    Preset Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6Hardware Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . 8-8Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11

    Position Follower (Master Encoder). . . . . . . . . . . . . . . . . 8-12Hardware Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . 8-13Configuration. . . . . . . . . . . . . . . . . . . . . . .

of 307

Click here to load reader

Embed Size (px)
Recommended