Ultra Start 450 SERIES Manual de Instalação

Installation ManualULTRA 100 SeriesDrives(Cat. No. 1398-5.2)Allen-Bradley

Publication 1398-5.2 – PDF 1997Intro-10 List of FiguresJ2 Breakout Board Assembly – European Union EMC Compliance ...6-18Auxili

Publication 1398-5.2 – PDF 19976-36 InterfacesD. Select PC Set Up from the pull down menu. E. Verify the port settings, and if necessary, change them,

Publication 1398-5.2 – PDF 1997Interfaces 6-375. Verify that ULTRA Master loads the drive parameters. If not, refer to the troubleshooting section. 6.

Publication 1398-5.2 – PDF 19976-38 InterfacesMultiple Axes RS-232 CommunicationsMultiple axes systems may be controlled by a computer with an RS-232

Publication 1398-5.2 – PDF 1997Interfaces 6-39Interface Connections Shown here are typical components and connections for a ULTRA 100 Series drive,

Publication 1398-5.2 – PDF 19976-40 Interfaces

Publication 1398-5.2 – PDF 1997Chapter 7Power Connections Chapter 7DC bus, single phase AC power and motor connections are provided on the Terminal

Publication 1398-5.2 – PDF 19977-2 Power Connections Motor Power Cabling TB1-6, TB1-7, TB1-8 and TB1-9 are the terminals for connecting the drive to t

Publication 1398-5.2 – PDF 1997Power Connections 7-3Figure 7.1 Motor Power EMC Shield ConnectionMasked areaShieldCable JacketTPower cable shield termi

Publication 1398-5.2 – PDF 19977-4 Power ConnectionsLD-Series and Y-Series Motor CablesLD-Series and Y-Series motors have a short “pigtail” cable whic

Publication 1398-5.2 – PDF 1997Power Connections 7-5● within 20 seconds at 600% overloadPower Supply ProtectionThe feedback encoder, auxiliary encoder

Publication 1398-5.2 – PDF 1997List of Figures Intro-11Registration Indexing Connection Diagram ...8-38Absolute Indexing Examples ...

Publication 1398-5.2 – PDF 19977-6 Power ConnectionsFigure 7.3 Emergency Stop Contactor WiringRSTDriveRSTMotorGNDGNDIsolated terminalGrounded terminal

Publication 1398-5.2 – PDF 1997Power Connections 7-7AC Power Cabling The 1398-DDM-005 and -005X, 1398-DDM-009 and -009X, 1398-DDM-019 and -019X drives

Publication 1398-5.2 – PDF 19977-8 Power Connections Table 7.4: AC Input Power Sizing RequirementsDrive Model Input Current Inrush CurrentFuse Size1Wi

Publication 1398-5.2 – PDF 1997Power Connections 7-9DC Bus TB1-1 and TB1-2 are the DC Bus connections for an external shunt. !IntroATTENTION:

Publication 1398-5.2 – PDF 19977-10 Power Connections

Publication 1398-5.2 – PDF 1997Chapter 8Application and Configuration Examples Chapter 8This section explains how to install and verify the ULTRA 100

Publication 1398-5.2 – PDF 19978-2 Application and Configuration Examples• J1-21 (FAULT RESET) and J1-26 (I/O PWR). These connections provide manual

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-3• If the settings are correct, select OK in the Port - Settings dia-log box.•

Publication 1398-5.2 – PDF 19978-4 Application and Configuration ExamplesTuning 1. Choose the Tuning command icon from the Drive window. The drive mu

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-5OperationThe drive is now configured as an Analog Controller in either the ve

Publication 1398-5.2 – PDF 1997Intro-12 List of FiguresF- or H-Series Motors to ULTRA 100 Series Drive using P2 Terminal Strip ...

Publication 1398-5.2 – PDF 19978-6 Application and Configuration Examples8Application and Configuration ExamplesPreset Controller The ULTRA 100 Series

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-73. Connect a Power cable from the motor to TB1 (terminals R, S, T and ) on t

Publication 1398-5.2 – PDF 19978-8 Application and Configuration Examples1. Switch the AC Power to ON and verify:• Status LED is green. Refer to “Stat

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-912. Select the Operation Mode parameter for the drive: 13. Choose Close fro

Publication 1398-5.2 – PDF 19978-10 Application and Configuration Examples1. Choose the Tuning command icon from the Drive window. The drive must be

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-11When motion is required: 1. Close the switch between J1-26 and J1-20 to enab

Publication 1398-5.2 – PDF 19978-12 Application and Configuration Examples8Application and Configuration ExamplesPosition Follower (Master Encoder)The

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-13Connection DiagramConfigurationCarefully check all connections before enteri

Publication 1398-5.2 – PDF 19978-14 Application and Configuration ExamplesFactory default communications Port - Settings for the drive are: – Baud Rat

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-1519. Select an appropriate digital input from the pull-down lists avail-able

Publication 1398-5.2 – PDF 1997List of TablesIntroList of TablesChapter 1 SafetyChapter 2 Unpacking, Inspecting and StoringChapter 3 Selecting Other S

Publication 1398-5.2 – PDF 19978-16 Application and Configuration ExamplesTuning 1. Choose the Tuning command icon from the Drive window. 2. Select A

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-17The firmware saves the parameters in EEPROM memory. Thus the drive can be po

Publication 1398-5.2 – PDF 19978-18 Application and Configuration Examples8Application and Configuration ExamplesPosition Follower (Step/Direction)The

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-19Connection DiagramConfigurationCarefully check all connections before enteri

Publication 1398-5.2 – PDF 19978-20 Application and Configuration Examples• If the settings are different, correct the Port - Settings to allow commun

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-2119. Select an appropriate digital input from the pull-down lists avail-able

Publication 1398-5.2 – PDF 19978-22 Application and Configuration ExamplesTuning 1. Choose the Tuning command icon from the Drive window. 2. Select A

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-23The firmware saves the parameters in EEPROM memory. Thus the drive can be po

Publication 1398-5.2 – PDF 19978Application and Configuration ExamplesPosition Follower (Step Up/Down)The ULTRA 100 Series can be set up as a Position

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-25Connection Diagram ConfigurationCarefully check all connections before ente

Publication 1398-5.2 – PDF 1997Intro-14 List of TablesChapter 7 Power ConnectionsTB1 - DC Bus and AC Power Terminal Block Connections... 7-1Motor Po

Publication 1398-5.2 – PDF 19978-26 Application and Configuration Examples• If the settings are different, correct the Port - Settings to allow commun

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-2719. Select an appropriate digital input from the pull-down lists avail-able

Publication 1398-5.2 – PDF 19978-28 Application and Configuration ExamplesTuning 1. Choose the Tuning command icon from the Drive window.2. Select A

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-29The firmware saves the parameters in EEPROM memory. Thus the drive can be po

Publication 1398-5.2 – PDF 19978-30 Application and Configuration Examples8Application and Configuration ExamplesIncremental Indexing The ULTRA 100 S

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-31Hardware Set UpMake the connections described below and shown in the Figure

Publication 1398-5.2 – PDF 19978-32 Application and Configuration Examples5. Verify the communications port settings of the PC match those of the driv

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-339. If the message box appears that a motor must be selected, select OK. The

Publication 1398-5.2 – PDF 19978-34 Application and Configuration Examples• Not Assigned as Outputs 1 and 2. 20. Choose Close to exit the I/O Configur

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-35Tuning 1. Choose the Tuning command icon from the Drive window. 2. Select

Publication 1398-5.2 – PDF 1997List of Tables Intro-15Output Flags Parameter List for TouchPad...C-21Appendix DCreating Custom Motor FilesAp

Publication 1398-5.2 – PDF 19978-36 Application and Configuration ExamplesThe firmware saves the parameters in EEPROM memory. Thus the drive can be po

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-378Application and Configuration ExamplesRegistration Indexing The ULTRA 100

Publication 1398-5.2 – PDF 19978-38 Application and Configuration Examples4. Connect the Index Sensor to the drive as shown in the diagram. 5. Connect

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-39• Status LED is green. Refer to “Status Indicator” on page 10-1 for an expla

Publication 1398-5.2 – PDF 19978-40 Application and Configuration Examples13. Choose Close to exit the Drive Set Up window. 14. Choose the Drive Param

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-41Tuning 1. Choose the Tuning command icon from the Drive window. 2. Select

Publication 1398-5.2 – PDF 19978-42 Application and Configuration ExamplesThe firmware saves the parameters in EEPROM memory. Thus the drive can be po

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-438Application and Configuration ExamplesAbsolute Indexing The ULTRA 100 Seri

Publication 1398-5.2 – PDF 19978-44 Application and Configuration Examples• J1-33 (INPUT2) and J1-26 (I/O PWR)• J1-21 (FAULT RESET) and J1-26 (I/O PW

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-45Connection DiagramConfigurationCarefully check all connections before enteri

Publication 1398-5.2 – PDF 1997Intro-16 List of Tables

Publication 1398-5.2 – PDF 19978-46 Application and Configuration Examples– Baud Rate: 9600– Data Bits: 8– Parity: None– Stop Bits: 1– Serial Port: CO

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-4719. Select an appropriate digital input from the pull-down lists avail-able

Publication 1398-5.2 – PDF 19978-48 Application and Configuration ExamplesTuning 1. Choose the Tuning command icon from the Drive window. 2. Select

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-49The firmware saves the parameters in EEPROM memory. Thus the drive can be po

Publication 1398-5.2 – PDF 19978-50 Application and Configuration Examples8Application and Configuration ExamplesModifying User Units The units displa

Publication 1398-5.2 – PDF 1997Application and Configuration Examples 8-516. Choose OK to exit the PC Display Units dialog. The modified units will be

Publication 1398-5.2 – PDF 19978-52 Application and Configuration Examples

Publication 1398-5.2 – PDF 1997Chapter 9Tuning Chapter 9ULTRA 100 Series drives are tuned quickly and easily for a wide variety of applications. Two t

Publication 1398-5.2 – PDF 19979-2 TuningMechanical Resonance Mechanical resonance between the motor and the load occurs when the motor and load are o

Publication 1398-5.2 – PDF 1997Tuning 9-3BacklashBacklash between the motor and load effectively unloads the motor over a small angle. Within this sma

Publication 1398-5.2 – PDF 1997PrefaceIntroPrefaceRead this preface to familiarize yourself with the rest of the manual. This preface covers the follo

Publication 1398-5.2 – PDF 19979-4 Tuning● Distance sets the rotation limit of the motor. This is the maximum distance the motor is allowed to move du

Publication 1398-5.2 – PDF 1997Tuning 9-5Use the default settings if you are uncertain about what values to enter. The default settings are set to val

Publication 1398-5.2 – PDF 19979-6 TuningManual Tune Mode Manual tuning may be used to adjust the gain settings and filter frequency of the velocity a

Publication 1398-5.2 – PDF 1997Tuning 9-7● Step Velocity value to be specified. Table 9.1: Velocity Loop GainsParameter DescriptionP-gain Proportion

Publication 1398-5.2 – PDF 19979-8 TuningTuning the Velocity LoopThe Auto Tune procedure provides a starting point for velocity loop tuning. Manual tu

Publication 1398-5.2 – PDF 1997Tuning 9-9Tuning the Position LoopSpecify the step period and step position values, and then input a square wave to the

Publication 1398-5.2 – PDF 19979-10 TuningFigure 9.3 Signal NomenclatureIntroFigure 9.4 Underdamped SignalIntroTransient StateVELOCITYTIMESettle TimeR

Publication 1398-5.2 – PDF 1997Tuning 9-11Figure 9.5 Overdamped SignalIntroFigure 9.6 Critically Damped Signal (Ideal Tuning)IntroOVERDAMPED Incre

Publication 1398-5.2 – PDF 19979-12 Tuning

Publication 1398-5.2 – PDF 1997Chapter 10Status Display Chapter 10A single front panel indicator displays the status of the drive on a continuous basi

Publication 1398-5.2 – PDF 1997Intro-18 Preface● in an area where it cannot be exposed to a corrosive atmosphere● in a non-construction areaThe “Drive

Publication 1398-5.2 – PDF 199710-2 Status DisplayPower-Up Error CodesA power-up error indicates in almost all cases that the drive should be returned

Publication 1398-5.2 – PDF 1997Status Display 10-379-n Data Out of Rangewhere n = suberror parameter 1 - Serial baud rate selection 2 - Serial stop b

Publication 1398-5.2 – PDF 199710-4 Status Display

Publication 1398-5.2 – PDF 1997Chapter 11Maintenance and TroubleshootingChapter 11This section provides a description of suggested maintenance activit

Publication 1398-5.2 – PDF 199711-2 Maintenance and TroubleshootingTo transfer the data from the drive to a PC:1. While on-line with a drive, click on

Publication 1398-5.2 – PDF 1997Maintenance and Troubleshooting 11-33. When the Drive Select window appears, select Cancel. The Drive Select window clo

Publication 1398-5.2 – PDF 199711-4 Maintenance and TroubleshootingError CodesError codes may be accessed by attaching either a PC with ULTRA Master s

Publication 1398-5.2 – PDF 1997Maintenance and Troubleshooting 11-5Bus Undervoltage 09 Low AC line/AC power input (100 V AC minimum for safe drive ope

Publication 1398-5.2 – PDF 199711-6 Maintenance and TroubleshootingMotor Overspeed 18 OVERSPEED parameter in the drive set to low for the applicationU

Publication 1398-5.2 – PDF 1997Maintenance and Troubleshooting 11-7Commutation Angle Error 25 Bad encoder Replace encoder or motor/encoder. Check wir

Publication 1398-5.2 – PDF 1997Preface Intro-19Local Product Support Contact your local Allen-Bradley representative for:● sales and order support● pr

Publication 1398-5.2 – PDF 199711-8 Maintenance and TroubleshootingRS-232 Communication TestThis test verifies communications between an ULTRA 100 Ser

Publication 1398-5.2 – PDF 1997Maintenance and Troubleshooting 11-9If you see the character on the screen remove the jumper between pins 2 and 3, clos

Publication 1398-5.2 – PDF 199711-10 Maintenance and Troubleshooting– If the box is checked, the resistance should read approximately 1 Ohm.– If the b

Publication 1398-5.2 – PDF 1997Maintenance and Troubleshooting 11-11Testing Digital InputsThis test verifies the functionality of the selectable input

Publication 1398-5.2 – PDF 199711-12 Maintenance and Troubleshooting4. From the Output Diagnostics window select Analog Output 1.5. Enter 1000 in the

Publication 1398-5.2 – PDF 1997Maintenance and Troubleshooting 11-13Testing Encoder InputsThe following test verifies both reception and transmission

Publication 1398-5.2 – PDF 199711-14 Maintenance and Troubleshooting

Publication 1398-5.2 – PDF 1997Appendix AOptions and Accessories Appendix AULTRA 100 Series drives conformance to the European Union Directives is con

Publication 1398-5.2 – PDF 1997A-2 Options and AccessoriesDescription Part NumberTouchPad 9101-1386AC Line Filter for 1398-DDM-005 or -005X (6 Arms co

Publication 1398-5.2 – PDF 1997Options and Accessories A-3Serial Interface Cables Diagrams and schematics for these cables are shown beginning on page

Important User InformationBecause of the variety of uses for the products described in this publication, those responsible for the application and use

Publication 1398-5.2 – PDF 1997Intro-20 PrefaceUnpacking, Inspecting and StoringLists what should be included with your ULTRA 100 Series drive and ins

Publication 1398-5.2 – PDF 1997A-4 Options and AccessoriesMotor Power Cables Diagrams and schematics for these cables are shown beginning on page B-21

Publication 1398-5.2 – PDF 1997Options and Accessories A-51398-DDM-150 to 8000 Motors (F-, H- or S-Series) 3 m (10 ft)7.6 m (25 ft)15 m (50 ft)23 m (7

Publication 1398-5.2 – PDF 1997A-6 Options and AccessoriesConnector Kits Connector kits provide the ability to construct custom length cables. Kits ar

Publication 1398-5.2 – PDF 1997Appendix BCable Diagrams, Schematics and Examples Appendix BFactory supplied cables allow ULTRA 100 Series drives to co

Publication 1398-5.2 – PDF 1997B-2 Cable Diagrams, Schematics and Examples● Cables are manufactured to inch dimensions. Millimeter dimensions are appr

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-3Interface Cables Figure B.1 J1 to J3 Interface Cable (P/N 9101-1367)

Publication 1398-5.2 – PDF 1997B-4 Cable Diagrams, Schematics and ExamplesFigure B.2 J1 to No Connector Interface Cable (P/N 9101-1370)Intro

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-5Figure B.3 J3 to J3 Interface Cable (P/N 9101-1463)Intro

Publication 1398-5.2 – PDF 1997B-6 Cable Diagrams, Schematics and ExamplesBCable Diagrams, Schematics and Examples Figure B.4 J3 to No Connector In

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-7 Figure B.5 J1 to 50-pin Terminal Block Kit Diagram (P/N 9101-1391 and 9101

Publication 1398-5.2 – PDF 1997Preface Intro-21Related DocumentationThe following documents contain additional information concerning related Allen-Br

Publication 1398-5.2 – PDF 1997B-8 Cable Diagrams, Schematics and ExamplesFigure B.6 J1 to 50-pin D-Connector Cable (P/N 9101-1369)Intro

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-9Figure B.7 J2 to 25-pin Terminal Block Kit Diagram (P/N 9101-1392)IntroMount

Publication 1398-5.2 – PDF 1997B-10 Cable Diagrams, Schematics and ExamplesFigure B.8 J2 to 25-pin D-Connector Cable (P/N 9101-1371)Intro0.38

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-11BCable Diagrams, Schematics and ExamplesSerial Interface Cables Figure

Publication 1398-5.2 – PDF 1997B-12 Cable Diagrams, Schematics and ExamplesFigure B.10 J5 to J5 Serial Interface Cable (P/N 9101-1374)Intro

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-13Figure B.11 J5 to No Connector Serial Interface Cable (P/N 9101-1379)Intro

Publication 1398-5.2 – PDF 1997B-14 Cable Diagrams, Schematics and ExamplesBCable Diagrams, Schematics and ExamplesEncoder Feedback Cables Figure B

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-15 Figure B.13 J2 to F- or H-Series Encoder Cable (P/N 9101-1366)Intro

Publication 1398-5.2 – PDF 1997B-16 Cable Diagrams, Schematics and ExamplesFigure B.14 J2 to Y-Series Encoder Cable (P/N 9101-1375)Intro0.38GRAY 16 AW

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-17Figure B.15 No Connector to Y-Series Encoder Cable (P/N 9101-1373)IntroPART

Publication 1398-5.2 – PDF 1997Intro-22 PrefaceAdditional Instructions and ManualsHost Commands and ULTRA MasterAll ULTRA 100 Series drives are setup

Publication 1398-5.2 – PDF 1997B-18 Cable Diagrams, Schematics and ExamplesFigure B.16 J2 to No Connector Encoder Cable (P/N 9101-1380)Intro0.38WHITE/

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-19Figure B.17 Reliance HR2000 Encoder Cable (P/N 9101-1445)Intro0.38WHITE/GRA

Publication 1398-5.2 – PDF 1997B-20 Cable Diagrams, Schematics and ExamplesFigure B.18 Reliance HR2000 to No Connector Encoder Cable (P/N 9101-1446)I

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-21BCable Diagrams, Schematics and ExamplesMotor Power Cables

Publication 1398-5.2 – PDF 1997B-22 Cable Diagrams, Schematics and ExamplesFigure B.20 4000 F- or H-Series Power Cable (P/N 9101-1382)IntroFigure B.21

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-23Figure B.22 Y-Series Power Cable (P/N 9101-1385)IntroFigure B.23 1398-DDM-0

Publication 1398-5.2 – PDF 1997B-24 Cable Diagrams, Schematics and ExamplesBCable Diagrams, Schematics and ExamplesCabling Examples Figure

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-25 Figure B.25 F- or H-Series Motors to ULTRA 100 Series Drive using P2

Publication 1398-5.2 – PDF 1997B-26 Cable Diagrams, Schematics and ExamplesAllen-Bradley 9/Series CNC Family ConnectionsTable B.1 lists the connection

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-27Figure B.27 Y-Series Motors to ULTRA 100 Series Drive using P2 Terminal Str

Publication 1398-5.2 – PDF 1997Preface Intro-23Symbols and Conventions Typographical and Wording ConventionsThis manual uses the following typographic

Publication 1398-5.2 – PDF 1997B-28 Cable Diagrams, Schematics and Examples 5 CHZ_HI 11 MtrEncdr Input Chnl Index+12 CHA_LO 8 MtrEncdr Input Chnl A-1

Publication 1398-5.2 – PDF 1997Cable Diagrams, Schematics and Examples B-2940 CHB_LO 10 Mtr Output Chnl B-9 CHZ_LO 12 Mtr Output Chnl Index-NOTE: A-B

Publication 1398-5.2 – PDF 1997B-30 Cable Diagrams, Schematics and Examples

Publication 1398-5.2 – PDF 1997Appendix CTouchPad Instructions Appendix CThe optional TouchPad is a compact and rugged device for interfacing with ULT

Publication 1398-5.2 – PDF 1997C-2 TouchPad Instructions4. Verify the Ver##.## displayed is correct at power-up. The version number designates the typ

Publication 1398-5.2 – PDF 1997TouchPad Instructions C-3TouchPad Commands Commands are entered by pressing a single key or combination of keys. Two mo

Publication 1398-5.2 – PDF 1997C-4 TouchPad InstructionsFigure C.3 TouchPad Command Tree (sheet 1 of 2)FolRatioGear RatioNumericSlewEnabSlew EnableSel

Publication 1398-5.2 – PDF 1997TouchPad Instructions C-5Figure C.3 TouchPad Command Tree (sheet 2 of 2)CTLPANELSTATUSDrvStatDrive Statussee TableInpFl

Publication 1398-5.2 – PDF 1997C-6 TouchPad InstructionsSupplemental InstructionsMotor SelectionEnter a Motor Identification number to load the correc

Publication 1398-5.2 – PDF 1997TouchPad Instructions C-7DisplaysTextA drive name longer than eight characters may require scrolling with the Left, ,

Publication 1398-5.2 – PDF 1997Intro-24 PrefaceGraphical SymbolsThis manuals uses the following graphic symbols. Example DescriptionProtective con

Publication 1398-5.2 – PDF 1997C-8 TouchPad Instructions● A filled arrow, , in the most significant digit indicates the active setting from a list of

Publication 1398-5.2 – PDF 1997TouchPad Instructions C-9● The TouchPad displays Fault and a description. A Fault message requires additional troublesh

Publication 1398-5.2 – PDF 1997C-10 TouchPad InstructionsTimeoutError The communications port timed out.UnxpCharError The communications port received

Publication 1398-5.2 – PDF 1997TouchPad Instructions C-11Motor TableTable C.2: TouchPad Motor Table Identification by Motor SeriesMotor ID Motor ID Mo

Publication 1398-5.2 – PDF 1997C-12 TouchPad InstructionsI-5300-R-F 385 S-2005-K-F 264 S-4075-R-K 770 Y-1002-1 69I-6600-T-F 386 S-2005-K-H 8 S-4075-R-

Publication 1398-5.2 – PDF 1997TouchPad Instructions C-13 Table C.3: TouchPad Motor Table Identification by Motor IDID Motor ID Motor ID Motor ID Mot

Publication 1398-5.2 – PDF 1997C-14 TouchPad Instructions69 Y-1002-1 287 H-8500-S-F 560 B14H1060 787 F-6300-R-K70 Y-1003-2 296 E-3626-L-F 561 B90H1025

Publication 1398-5.2 – PDF 1997TouchPad Instructions C-151051 H-6100-Q-L 1547 S-6100-Q-N1052 H-6200-Q-L 1548 S-6200-Q-N1053 H-6300-Q-L 1549 S-8350-S-N

Publication 1398-5.2 – PDF 1997C-16 TouchPad InstructionsTouchPad Options and Lists TouchPad Lists Table C.4: Option Selections for the T

Publication 1398-5.2 – PDF 1997TouchPad Instructions C-17 Table C.8: IO Mode Parameter List for TouchPadDisplayParameteraIncIncremental IndexingAbs

Publication 1398-5.2 – PDF 1997Preface Intro-25Pictorial Index Shown here is a face view of the product, with pointers to where individual parts are d

Publication 1398-5.2 – PDF 1997C-18 TouchPad Instructions a. Parameters available only if the drive supports Indexing.Table C.13: Reverse Enable f

Publication 1398-5.2 – PDF 1997TouchPad Instructions C-19 +ILimitPositive Current Limit-ILimitNegative Current LimitUpToSpdUp to SpeedDrvEnabDrive

Publication 1398-5.2 – PDF 1997C-20 TouchPad Instructions 5v Fuse+5 VDC Fuse blown not applicable to 1398-DDM-005, 1398-DDM-005X, 1398-DDM-009, 139

Publication 1398-5.2 – PDF 1997TouchPad Instructions C-21Input1Input 1 Input FlagInput2Input 2 Input FlagInput3Input 3 Input FlagTable C.19: Output Fl

Publication 1398-5.2 – PDF 1997C-22 TouchPad Instructions

Publication 1398-5.2 – PDF 1997Appendix DCreating Custom Motor Files Appendix DEach motor controlled by a ULTRA 100 Series drive requires a unique par

Publication 1398-5.2 – PDF 1997D-2 Creating Custom Motor FilesMotor Parameter SetThe motor parameter set configures the ULTRA 100 Series drive to cont

Publication 1398-5.2 – PDF 1997Creating Custom Motor Files D-3Table ID The table ID number tells ULTRA Master whether the motor file represents a stan

Publication 1398-5.2 – PDF 1997D-4 Creating Custom Motor FilesMany motor manufacturers include drawings in their data sheets that identify the phasing

Publication 1398-5.2 – PDF 1997Creating Custom Motor Files D-5Encoder SequencingSeparate from the phasing of the commutation and motor power signals,

Publication 1398-5.2 – PDF 1997Intro-26 Preface

Publication 1398-5.2 – PDF 1997D-6 Creating Custom Motor FilesTable IDThe table ID value determines whether the motor file represents a standard motor

Publication 1398-5.2 – PDF 1997Creating Custom Motor Files D-7The denominator units of the required torque constant are peak Amps, rather than rms Amp

Publication 1398-5.2 – PDF 1997D-8 Creating Custom Motor FilesAlso, a line-to-line value is required, rather than a line-to-neutral. A line-to-line va

Publication 1398-5.2 – PDF 1997Creating Custom Motor Files D-9Feedback ParametersLinecountThe encoder linecount, or size, specifies the number of enco

Publication 1398-5.2 – PDF 1997D-10 Creating Custom Motor FilesHall OffsetThe Hall offset specifies the offset of the Hall feedback signals relative t

Publication 1398-5.2 – PDF 1997Creating Custom Motor Files D-11The Hall/Hall type of startup commutation should be used unless the motor is a special

Publication 1398-5.2 – PDF 1997D-12 Creating Custom Motor FilesSome manufacturers specify the resistance in Ohms/phase. The phase-to-phase resistance

Publication 1398-5.2 – PDF 1997Creating Custom Motor Files D-13Rating ParametersContinuous TorqueContinuous torque specifies the rated current of the

Publication 1398-5.2 – PDF 1997D-14 Creating Custom Motor FilesOccasionally a manufacturer specifies only the maximum instantaneous torque, and does n

Publication 1398-5.2 – PDF 1997Creating Custom Motor Files D-15Integral ThermostatThe integral thermostat check box should be checked if the motor has

Publication 1398-5.2 – PDF 1997Chapter 1Safety Chapter 1Installing and Using the ULTRA 100 Series DriveRead the complete manual before attempting to i

Publication 1398-5.2 – PDF 1997D-16 Creating Custom Motor FilesExample of Custom Motor File CreationThe following is an example of a custom motor. A 5

Publication 1398-5.2 – PDF 1997Creating Custom Motor Files D-17The back-EMF constant of the motor, before gearing, is computed as: Note that the bac

Publication 1398-5.2 – PDF 1997D-18 Creating Custom Motor FilesJm: 2.26 kg-cm2RATINGSKe: 44.0 Volts/kRPM Continuous Torque: 1.4 AmpsPeak Torque: 3.8 A

Publication 1398-5.2 – PDF 1997Creating Custom Motor Files D-19Troubleshooting Custom Motor FilesProblem Possible CausesMotor locks at a certain locat

Publication 1398-5.2 – PDF 1997Appendix EElectromagnetic Compatibility Guidelines for Machine Design Appendix EThis appendix provides background infor

Publication 1398-5.2 – PDF 1997Electromagnetic Compatibility Guidelines for Machine Design E-2Immunity to EMI is primarily determined by equipment des

Publication 1398-5.2 – PDF 1997E-3 Electromagnetic Compatibility Guidelines for Machine DesignOne method to improve the EMC characteristics of a drive

Publication 1398-5.2 – PDF 1997Electromagnetic Compatibility Guidelines for Machine Design E-4AC Line Filter SelectionSelection of the proper filter i

Publication 1398-5.2 – PDF 1997E-5 Electromagnetic Compatibility Guidelines for Machine DesignWhen multiple power cables enter an enclosure, an unfilt

Publication 1398-5.2 – PDF 1997Electromagnetic Compatibility Guidelines for Machine Design E-6The primary objective of a high frequency ground system

Publication 1398-5.2 – PDF 19971-2 SafetyVoltage Potentials Voltage potentials for the internal drive circuitry vary from 325 Volts above to 325 Vol

Publication 1398-5.2 – PDF 1997E-7 Electromagnetic Compatibility Guidelines for Machine DesignShielding and Segregation The EMI radiating from the dri

Publication 1398-5.2 – PDF 1997Electromagnetic Compatibility Guidelines for Machine Design E-81. Motor cables must have a continuous shield and be ter

Publication 1398-5.2 – PDF 1997E-9 Electromagnetic Compatibility Guidelines for Machine Design

Publication 1398-5.2 – PDF 1997Appendix FDynamic Braking Resistor SelectionAppendix FThis appendix provides equations to assist in sizing resistors fo

Publication 1398-5.2 – PDF 1997F-2 Dynamic Braking Resistor Selection For this type of response, 98% of the energy will be dissipated in 4 time consta

Publication 1398-5.2 – PDF 1997Dynamic Braking Resistor Selection F-3Sample CalculationsThe following example uses an H4075 motor with a 10 times iner

Publication 1398-5.2 – PDF 1997F-4 Dynamic Braking Resistor SelectionAverage Power (Watts): IntroIntroit()KEωoet–τ----⋅⋅0.866 R 2 RL⋅+()-------------

Publication 1398-5.2 – PDF 1997Appendix GSpecifications Appendix G Agency ApprovalsUL and cUL UL 508C File E145959CE mark Low Voltage Directive andEl

Publication 1398-5.2 – PDF 1997G-2 SpecificationsDigital OutputsSelectable (2) 12-24 Volt, Short Circuit Protected, Optically Isolated, Sin-gle-ended,

Publication 1398-5.2 – PDF 1997Specifications G-3Software ControlsData Collection (2) 128 samples @ 5 kHz Sample RateFirmware Factory installed EEPROM

Publication 1398-5.2 – PDF 1997Safety 1-3General Safety Guidelines This section covers general safety guidelines for electronic devices. Safety inform

Publication 1398-5.2 – PDF 1997G-4 SpecificationsSoftware Controls (cont.)Power-Up Faults EPROM ChecksumEEPROM ChecksumSRAM Write/ReadWatchdog ResetA/

Publication 1398-5.2 – PDF 1997Specifications G-5PowerPower DissipationULTRA 100 Series drives dissipate power that results in cabinet heating. The fo

Publication 1398-5.2 – PDF 1997G-6 SpecificationsT = 4.08 * (Q/A) + 1.1where:T = Temperature difference between inside air and outside ambient (°F)Q =

Publication 1398-5.2 – PDF 1997IndexHelpIndexAABS Input G-1Absolute Indexing 8-43ACCurrentinput 7-8, G-5inrush 7-8Frequency, input G-5Line Filte

Publication 1398-5.2 – PDF 1997Index-2DC BusLED 10-1Terminals 7-1Default Set Up ParametersDrive/Motor G-5Digital InputsENABLE 3-5Troubleshooting

Publication 1398-5.2 – PDF 1997Index-3Wiring 5-5I/O ConnectorsController 6-1Encoder 6-29Interface Cable Examples 6-21J1 6-24J2 6-29, 6-30J4 and

Publication 1398-5.2 – PDF 1997Index-4Overview 3-7Phase Connections 7-2PowerCabling 7-2TroubleshootingEncoder Error 11-6Motor Information Missing

Publication 1398-5.2 – PDF 1997Index-5Port (J5) 6-31Serial Interface CablesSchematics and Diagrams B-13Serial Ports G-1Serial Protocol G-3Shipping

Publication 1398-5.2 – PDF 1997Index-6Motor Table C-11, C-13Selections C-7Modes of Operation C-3Motor Selection C-6Motor Table Identification C-

Publication 1398-5.2 – PDF 1997Table of ContentsIntroTable of ContentsTable of Contents Intro-3List of Figures Intro-9List of Tables Intro-13Preface I

Publication 1398-5.2 – PDF 19971-4 Safety● All non-qualified personnel should maintain a safe distance from the equipment.● The system must be install

Publication 1398-5.2 – PDF 1997 PN 0013-1042-002 Rev ACopyright 1997 Allen-Bradley Company, Inc. Printed in USA

Publication 1398-5.2 – PDF 1997Chapter 2Unpacking, Inspecting and StoringChapter 2This chapter describes the steps which ensure that the drive will fu

Publication 1398-5.2 – PDF 19972-2 Unpacking, Inspecting and StoringTesting the Unit Drives are burned-in and individually tested before they leave th

Publication 1398-5.2 – PDF 1997Unpacking, Inspecting and Storing 2-32. Connect an RS-232 cable between the serial port on the PC and the J5 connector

Publication 1398-5.2 – PDF 19972-4 Unpacking, Inspecting and Storing● Drive power wiring is correct and start-up logic is functioning.● The drive and

Publication 1398-5.2 – PDF 1997Unpacking, Inspecting and Storing 2-5Initial Power-up1. Verify the AC power is within specifications at the terminal st

Publication 1398-5.2 – PDF 19972-6 Unpacking, Inspecting and Storing13. Select Read Drive Parameters from the Communications menu in ULTRA Master.14.

Publication 1398-5.2 – PDF 1997Unpacking, Inspecting and Storing 2-7Initial Drive Operation1. When the message appears that a motor must be selected,

Publication 1398-5.2 – PDF 19972-8 Unpacking, Inspecting and StoringA drive completing these steps is functional. If the ULTRA 100 Series drive did no

Publication 1398-5.2 – PDF 1997Chapter 3Selecting Other System Components Chapter 3This chapter reviews the ULTRA 100 Series 1398-DDM-005 and -005

Publication 1398-5.2 – PDF 1997Intro-4 Table of ContentsULTRA 100 Series Features ...3-1Drive Power Ratings ...

Publication 1398-5.2 – PDF 19973-2 Selecting Other System ComponentsHigh Performance Microcontroller Technology All digital current, velocity and posi

Publication 1398-5.2 – PDF 1997Selecting Other System Components 3-3● One dedicated, control (ENABLE), optically isolated, active high input.● Two sel

Publication 1398-5.2 – PDF 19973-4 Selecting Other System Components● Host computers● Programmable Logic Controllers● Motion controllers● TouchPad. Th

Publication 1398-5.2 – PDF 1997Selecting Other System Components 3-5If this signal is not provided, the peak current of the drive may be set in softwa

Publication 1398-5.2 – PDF 19973-6 Selecting Other System ComponentsIf using a motor with the 90VAC brake option, a user-provided relay may be driven

Publication 1398-5.2 – PDF 1997Selecting Other System Components 3-7● Critical information is available with complete Windows-based on-line help.● Ser

Publication 1398-5.2 – PDF 19973-8 Selecting Other System ComponentsRefer to the Torque/Speed curves in the Allen-Bradley Standard Product Catalog and

Publication 1398-5.2 – PDF 1997Selecting Other System Components 3-9European Union RequirementsULTRA 100 Series drives conform to the following Europe

Publication 1398-5.2 – PDF 1997Chapter 4ULTRA Master Installation Chapter 4Installation of ULTRA Master on a PC is covered in this chapter, which: ● L

Publication 1398-5.2 – PDF 1997ULTRA Master Installation 4-22. If Windows is not running, type win at the DOS prompt (C:>). If Windows is already r

Publication 1398-5.2 – PDF 1997Table of Contents Intro-5Wiring ...5-5Electromagnetic Compatibility ...5-

Publication 1398-5.2 – PDF 19974-3 ULTRA Master InstallationFrom Windows1. Choose the ULTRA Master program group from the Program Manager in Windows.

Publication 1398-5.2 – PDF 1997ULTRA Master Installation 4-4The ULTRA Master Start-Up ScreenWhen ULTRA Master starts for the first time, its default i

Publication 1398-5.2 – PDF 19974-5 ULTRA Master InstallationMiscellaneous Files The readme FileA file, titled README, may be included in the ULTRA Mas

Publication 1398-5.2 – PDF 1997Chapter 5Installation Chapter 5Mechanical Installation Requirements1. Mount the unit in an enclosure providing protecti

Publication 1398-5.2 – PDF 19975-2 Installation• Altitude: 1500 meters (5000 feet), Derate power performance 3% for each 300 m above 1500 m (1000 ft a

Publication 1398-5.2 – PDF 1997Installation 5-3Figure 5.1 1398-DDM-005 and -005X Mounting DimensionsTable 5.1: 1398-DDM-005 and -005X Mounting Dimensi

Publication 1398-5.2 – PDF 19975-4 InstallationFigure 5.2 1398-DDM-009 and -009X, 1398-DDM-019 and -019X Mounting DimensionsTable 5.2: 1398-DDM-009 an

Publication 1398-5.2 – PDF 1997Installation 5-5Interface Connections Input/Output and power cables connect to the front panel of a ULTRA 100 Series dr

Publication 1398-5.2 – PDF 19975-6 InstallationMinimum wire gages for power cables are listed in:● “Motor Power Contact and Wire Size Recommendations

Publication 1398-5.2 – PDF 1997Installation 5-7Electromagnetic CompatibilityGeneral GuidelinesRefer to Appendix E, “Electromagnetic Compatibility Guid

Publication 1398-5.2 – PDF 1997Intro-6 Table of ContentsTuning ...8-16Operation...8-16Positi

Publication 1398-5.2 – PDF 19975-8 InstallationThe Roxburgh filters differ in the number of stages. The MDF (Motor Drive Filters) filters are single s

Publication 1398-5.2 – PDF 1997Installation 5-9Figure 5.3 MIF Single Phase AC Line Filter Mounting DiagramTable 5.4: MIF Single Phase AC Line Filter E

Publication 1398-5.2 – PDF 19975-10 InstallationCurrent 6A @ 50°C 10A @ 50°C 23A @ 50°COverload Current 150% 1 minute200% 1 second150% 1 minute200% 1

Installation 5-11Publication 1398-5.2 – PDF 1997Figure 5.4 Power Wiring Diagram

Publication 1398-5.2 – PDF 19975-12 Installation

Publication 1398-5.2 – PDF 1997Chapter 6Interfaces Chapter 6This chapter provides information about:● Interface signals available on the ULTRA 100 Ser

Publication 1398-5.2 – PDF 19976-2 Interfaces Table 6.1: J1 Controller Pin-OutsPin & Signal Description Pin & Signal Description Pin & Si

Publication 1398-5.2 – PDF 1997Interfaces 6-3Digital InputsULTRA 100 Series drives have active high inputs, which prevent disconnects and ground fault

Publication 1398-5.2 – PDF 19976-4 InterfacesRefer to the I/O Configuration section of the on-line ULTRA Master Help for information on choosing the i

Publication 1398-5.2 – PDF 1997Interfaces 6-5Specifications for these inputs are listed in Table 6.5. Input Interface Circuit Examples Pres

Publication 1398-5.2 – PDF 1997Table of Contents Intro-7Manual Tune Mode ...9-6Filters ...9-6Gai

Publication 1398-5.2 – PDF 19976-6 Interfaces Table 6.5: Digital Input SpecificationsParameter Description Mini-mumMaxi-mumON state Voltage Volta

Publication 1398-5.2 – PDF 1997Interfaces 6-7Digital OutputsTwo types of discrete output circuits are available on the J1 connector:Figure 6.5 Drive I

Publication 1398-5.2 – PDF 19976-8 Interfaces● Dedicated relay outputs● Selectable transistor based outputs Both types support 12-24 VDC logic interfa

Publication 1398-5.2 – PDF 1997Interfaces 6-9Selectable Transistor OutputsOUTPUT 1 and OUTPUT 2 are optically isolated and short circuit protected, ac

Publication 1398-5.2 – PDF 19976-10 Interfaces Output Interface Circuit Examples Analog InputsTwo types of analog input circuits are av

Publication 1398-5.2 – PDF 1997Interfaces 6-11● The current limiting input supports 0 to +10 Volt signalsTable 6.8: Selectable Output CircuitsDigital

Publication 1398-5.2 – PDF 19976-12 Interfaces● The command input supports 0 to ±10 Volt signals.Table 6.10: Transistor Output SpecificationsParameter

Publication 1398-5.2 – PDF 1997Interfaces 6-13External Current Limit (I LIMIT)ILIMIT limits the current, which provides torque, to the motor. The rang

Publication 1398-5.2 – PDF 19976-14 InterfacesCommand InputThe analog command signal to the drive has a range of ±10 Volts. The signal is either a tor

Publication 1398-5.2 – PDF 1997Interfaces 6-15Analog Output Figure 6.19 Analog COMMAND Input CircuitTable 6.13: Analog Command InputAnalog Input Pin N

Publication 1398-5.2 – PDF 1997Intro-8 Table of ContentsAppendix C TouchPad InstructionsInstallation and Operation ...C-1TouchPad

Publication 1398-5.2 – PDF 19976-16 InterfacesA selectable output is available for monitoring by the user: ANALOG 1 (J1-31). The following si

Publication 1398-5.2 – PDF 1997Interfaces 6-17Motor Encoder Output Signal The motor quadrature encoder signals are supplied to an external position co

Publication 1398-5.2 – PDF 19976-18 InterfacesIOUT Signal GenerationThe Index output signal (IOUT) is not synchronized to a particular state of the A

Publication 1398-5.2 – PDF 1997Interfaces 6-19Note: If a controller connected to the drive requires the Index Output (IOUT) signal to be synchronized

Publication 1398-5.2 – PDF 19976-20 InterfacesJ2 Breakout Board Assembly – European Union EMC ComplianceTwo options are available to achieve EMC compl

Publication 1398-5.2 – PDF 1997Interfaces 6-21Step and direction signals, such as those created by indexers for step motors CW (Step Up)/CCW (Step Dow

Publication 1398-5.2 – PDF 19976-22 InterfacesTo improve noise immunity, a cable shield should terminate at both ends of the cable. Shields should con

Publication 1398-5.2 – PDF 1997Interfaces 6-23Figure 6.25 External Encoder Interface via TTL Differential Line DriversFigure 6.26 Complementary Encode

Publication 1398-5.2 – PDF 19976-24 Interfaces J1 Terminal Strip/Breakout BoardA 50-pin terminal strip kit is available for extending the signa

Publication 1398-5.2 – PDF 1997Interfaces 6-25Figure 6.29 Single-Ended Encoder Interface via Standard TTL Signals (not recommended)Figure 6.30 Single-

Publication 1398-5.2 – PDF 1997List of FiguresIntroList of FiguresProduct Parts Explained ...Intro-25Chapter 1SafetyChapter 2 Unpac

Publication 1398-5.2 – PDF 19976-26 InterfacesFigure 6.31 Single-Ended Encoder Interface via Open Collector Transistor with 24 VDC Pull-up (not recomm

Publication 1398-5.2 – PDF 1997Interfaces 6-27Figure 6.32 External Step/Direction Interface via TTL Differential Line DriversFigure 6.33 External Step

Publication 1398-5.2 – PDF 19976-28 InterfacesFigure 6.35 External CW/CCW (Step Up/Step Down) Interface via Single-Ended Line Drivers (not recommended

Publication 1398-5.2 – PDF 1997Interfaces 6-29J2 – Encoder Cables are available in various lengths for connecting between J1 and a suitable controller

Publication 1398-5.2 – PDF 19976-30 Interfaces J2 Terminal Strip/Breakout BoardA 25-pin terminal strip kit is available for extending the encoder si

Publication 1398-5.2 – PDF 1997Interfaces 6-31“Cabling Examples” on page B-24 depicts the use of this kit to pass a cable through a bulkhead. J5 – Ser

Publication 1398-5.2 – PDF 19976-32 InterfacesThe serial interface of the drive uses the standard NRZ asynchronous serial format, and supports both th

Publication 1398-5.2 – PDF 1997Interfaces 6-33Serial Communications OverviewULTRA 100 Series drives communicate via a standard NRZ (non-return to zero

Publication 1398-5.2 – PDF 19976-34 InterfacesSingle Axis RS-232 Set Up A single ULTRA 100 Series drive may be selected using RS-232 communications. A

Publication 1398-5.2 – PDF 1997Interfaces 6-35D. Select Communications from the menuE. Select PC Set Up from the pull down menuF. Verify the port sett