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Ultra3000 Digital Servo Drives - mc-mc.com .Ultra3000 Digital Servo Drives (Catalog Numbers ......

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  • Integration Manual

    Ultra3000 Digital Servo Drives

    (Catalog Numbers 2098-DSD-005, -010, and -020 2098-DSD-xxxX 2098-DSD-xxx-SE 2098-DSD-xxx-DN 2098-DSD-xxxX-DN 2098-DSD-030, -075, and -150 2098-DSD-xxxX 2098-DSD-xxx-SE 2098-DSD-xxx-DN 2098-DSD-xxxX-DN 2098-DSD-HV030, -HV050, -HV100, -HV150, and -HV220 2098-DSD-HVxxxX 2098-DSD-HVxxx-SE 2098-DSD-HVxxx-DN 2098-DSD-HVxxxX-DN)

  • 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 part, without written permission of Rockwell Automation, is prohibited.

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

    Attention statements help you to:

    identify a hazard

    avoid a hazard

    recognize the consequences

    Allen-Bradley, A-B, ControlLogix, Kinetix, and Rockwell Automation are registered trademarks of Rockwell Automation.RSLogix, RSLogix 5000, SoftLogix, and Ultra3000 are trademarks of Rockwell Automation.DeviceNet is a trademark of the Open DeviceNet Vendor Association.SERCOS interface is a trademark of the Interests Group SERCOS interface e.V. (IGS).Hiperface is a registered trademarks of Stegmann, Inc.

    ATTENTION

    !Identifies information about practices or circumstances that can lead to personal injury or death, property damage or economic loss.

    IMPORTANT Identifies information that is critical for successful application and understanding of the product.

  • i Publication 2098-IN005B-EN-P August 2004

    Preface Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . P-1Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2Product Receiving and Storage Responsibility . . . . . . . . . . . P-2Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . P-4Allen-Bradley Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-5

    Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . P-5Technical Product Assistance . . . . . . . . . . . . . . . . . . . . P-5Comments Regarding this Manual . . . . . . . . . . . . . . . . . P-5

    Chapter 1Commissioning Your Ultra3000 Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

    General Startup Precautions . . . . . . . . . . . . . . . . . . . . . . . . 1-1Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2Configuring Your Ultra3000 and Ultra3000 with Indexing . . 1-2

    Front Panel Connections . . . . . . . . . . . . . . . . . . . . . . . . 1-3Applying Power To Your Ultra3000 Drive . . . . . . . . . . . 1-7Detecting Your Ultra3000 Drive. . . . . . . . . . . . . . . . . . . 1-8Understanding the Workspace and Drive Branches . . . . 1-9Selecting a Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13Tuning Your Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15Testing Your Motor (Non-Indexing Move) . . . . . . . . . . 1-16Testing Your Motor (Indexing Move). . . . . . . . . . . . . . 1-18Indexing and Non-Indexing Move Examples . . . . . . . . 1-20

    Configuring Your Ultra3000 Drive with Logix . . . . . . . . . . 1-34Configuring Your Ultra3000 Drive . . . . . . . . . . . . . . . . 1-34Configuring Your Logix Analog Motion Module . . . . . . 1-35Downloading Your Program . . . . . . . . . . . . . . . . . . . . 1-40Testing and Tuning Your Axis. . . . . . . . . . . . . . . . . . . 1-41

    Configuring Your Ultra3000 with SERCOS interface Drive . 1-47Front Panel Connections . . . . . . . . . . . . . . . . . . . . . . . 1-47Configuring Your Ultra3000 Drive . . . . . . . . . . . . . . . . 1-52Configuring Your Logix SERCOS interface Module . . . . 1-54Downloading Your Program . . . . . . . . . . . . . . . . . . . . 1-61Applying Power To Your Ultra3000 with SERCOS . . . . 1-61Testing and Tuning Your Axis. . . . . . . . . . . . . . . . . . . 1-63

    Configuring Your Ultra3000 with DeviceNet Drive . . . . . . 1-70Front Panel Connections . . . . . . . . . . . . . . . . . . . . . . . 1-70Configuring Your Ultra3000 with DeviceNet . . . . . . . . 1-74Applying Power To Your Ultra3000 with DeviceNet . . . 1-75

    Table of Contents

  • Publication 2098-IN005B-EN-P August 2004

    ii Table of Contents

    Chapter 2Troubleshooting Your Ultra3000

    Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

    Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2Troubleshooting for SERCOS Drives . . . . . . . . . . . . . . . . . . 2-8

    SERCOS Module Status LED. . . . . . . . . . . . . . . . . . . . . . 2-8SERCOS Network Status LED . . . . . . . . . . . . . . . . . . . . . 2-8Understanding Logix/Drive Fault Behavior . . . . . . . . . . . 2-9

    Troubleshooting for DeviceNet Drives . . . . . . . . . . . . . . . 2-12DeviceNet Module Status LED . . . . . . . . . . . . . . . . . . . 2-12DeviceNet Network Status LED . . . . . . . . . . . . . . . . . . 2-12Node Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13Device Failure - LED Status Check . . . . . . . . . . . . . . . . 2-13Scanner Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14Power Supply Problems . . . . . . . . . . . . . . . . . . . . . . . 2-14Cable Installation and Design Problems . . . . . . . . . . . . 2-15Adjusting the Physical Network Configuration . . . . . . . 2-15

    Appendix AInterconnect Diagrams Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

    Ultra3000 Interconnect Diagram Notes . . . . . . . . . . . . . . . . A-2Power Interconnect Diagrams. . . . . . . . . . . . . . . . . . . . . . . A-3Shunt Module Interconnect Diagrams . . . . . . . . . . . . . . . . . A-7

    Active Shunt Module Diagrams . . . . . . . . . . . . . . . . . . . A-7Passive Shunt Module Diagrams . . . . . . . . . . . . . . . . . . A-7

    Ultra3000/Motor Interconnect Diagrams . . . . . . . . . . . . . . A-10Control String Examples (120V ac) . . . . . . . . . . . . . . . . . . A-16Controlling a Brake Example . . . . . . . . . . . . . . . . . . . . . . A-19Ultra3000 to Logix Cable and Interconnect Diagrams . . . . . A-20Ultra3000 to IMC-S Compact Cable and

    Interconnect Diagram . . . . . . . . . . . . . . . . . . . . . . A-23

    Appendix BUnderstanding Motor Feedback Signals and Outputs

    Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2

    Unbuffered Encoder Outputs. . . . . . . . . . . . . . . . . . . . . B-2Incremental Encoder Output . . . . . . . . . . . . . . . . . . . . . B-3High Resolution Encoder Output . . . . . . . . . . . . . . . . . . B-4

  • 1 Publication 2098-IN005B-EN-P August 2004

    Preface

    Introduction Read this preface to familiarize yourself with the rest of the manual. This preface contains the following topics:

    Who Should Use this Manual

    Purpose of this Manual

    Contents of this Manual

    Product Receiving and Storage Responsibility

    Related Documentation

    Conventions Used in this Manual

    Allen-Bradley Support

    Who Should Use this Manual

    This manual is intended for engineers or programmers directly involved in the operation, field maintenance, and integration of the Ultra3000 Digital Servo Drives (DSD).

    If you do not have a basic understanding of the Ultra3000, contact your local Allen-Bradley representative for information on available training courses before using this product.

    Purpose of this Manual This manual provides power up procedures, system integration, and troubleshooting tables for the Ultra3000. The purpose of this manual is to assist you in the integration of your Ultra3000 as a stand alone drive using Ultraware or with a Logix controller using RSLogix 5000 software as outlined in the table below.

    Drive Type Catalog Numbers Command Interface Software

    SERCOS interface drive 2098-DSD-xxx-SE and -HVxxx-SE Fiber-optic SERCOS ring RSLogix 5000

    Analog drive 2098-DSD-xxx and -HVxxx- Analog command interfaceUltraware or RSLogix 5000

    Digital drive with DeviceNet

    2098-DSD-xxx-DN and

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