Automate AM7.5 Installation Manual

1394 SERCOS Interface Multi-Axis Motion Control System(Catalog Numbers 1394C-SJT05-D, 1394C-SJT10-D, 1394C-SJT22-D)Installation Manual

Publication 1394-IN002B-EN-P — February 2004 P-4 PrefaceAllen-Bradley SupportAllen-Bradley offers support services worldwide, with over 75 Sales/Suppo

Publication 1394-IN002B-EN-P — February 20044-8 Troubleshooting Status IndicatorsAxis Module FaultsUse the table below for troubleshooting axis module

Publication 1394-IN002B-EN-P — February 2004Troubleshooting Status Indicators 4-9PositionErrorFault(Ax: Follow Error)Axis position error limit

Publication 1394-IN002B-EN-P — February 20044-10 Troubleshooting Status IndicatorsMotFeedback NoiseFault(Ax: Mtr Fdbk Noise)Excessive noise detected o

Publication 1394-IN002B-EN-P — February 2004Troubleshooting Status Indicators 4-11Troubleshooting General System ProblemsUse the tables below

Publication 1394-IN002B-EN-P — February 20044-12 Troubleshooting Status IndicatorsPresence of noise on Command or resolver signal wiresRecommended gro

1 Publication 1394-IN002B-EN-P — February 2004Appendix ASpecifications and DimensionsChapter ObjectivesThis appendix covers the following topics:• Cer

Publication 1394-IN002B-EN-P — February 2004A-2 Specifications and DimensionsPower SpecificationsThis section contains power specifications for the 13

Publication 1394-IN002B-EN-P — February 2004Specifications and Dimensions A-3Axis Module Power Specifications1When used with the controller in the 139

Publication 1394-IN002B-EN-P — February 2004A-4 Specifications and DimensionsCircuit Breaker SpecificationsWhile circuit breakers offer some convenien

Publication 1394-IN002B-EN-P — February 2004Specifications and Dimensions A-5To avoid nuisance tripping, refer to the following table and select the a

1 Publication 1394-IN002B-EN-P — February 2004Chapter 1Installing Your 1394 SERCOS Interface SystemChapter ObjectivesThis chapter covers the following

Publication 1394-IN002B-EN-P — February 2004A-6 Specifications and DimensionsRelay Contact Specifications24V Logic Input Power SpecificationsNote: The

Publication 1394-IN002B-EN-P — February 2004Specifications and Dimensions A-71394 System Power Dissipation SpecificationsThe following section contain

Publication 1394-IN002B-EN-P — February 2004A-8 Specifications and DimensionsInternal Shunt ResistorThe 1394C-SJT05-D and -SJT10-D system modules incl

Publication 1394-IN002B-EN-P — February 2004Specifications and Dimensions A-9AC Line Filter SpecificationsThe following AC line filters are compatible

Publication 1394-IN002B-EN-P — February 2004A-10 Specifications and DimensionsMaximum Feedback Cable LengthsAlthough motor feedback cables are availab

Publication 1394-IN002B-EN-P — February 2004Specifications and Dimensions A-11DimensionsWithin this section, you will find dimensions for the 1394 SER

Publication 1394-IN002B-EN-P — February 2004A-12 Specifications and DimensionsAxis Module DimensionsFigure A.41394 Axis Module Dimensions (1394x-AM03,

1 Publication 1394-IN002B-EN-P — February 2004Appendix BInterconnect DiagramsChapter ObjectivesThis appendix covers the following:• Power Interconnect

Publication 1394-IN002B-EN-P — February 2004B-2 Interconnect Diagrams1394 SERCOS Interface Interconnect Diagram NotesThis section provides interconnec

Publication 1394-IN002B-EN-P — February 2004Interconnect Diagrams B-3Power Interconnect DiagramsThe power interconnect wiring for the 1394 SERCOS inte

Publication 1394-IN002B-EN-P — February 20041-2 Installing Your 1394 SERCOS Interface SystemComplying With European Union DirectivesIf this product is

Publication 1394-IN002B-EN-P — February 2004B-4 Interconnect DiagramsShunt Module Interconnect DiagramsIn the figure below, the 1394 system module is

Publication 1394-IN002B-EN-P — February 2004Interconnect Diagrams B-5In the figure below, the 1394C-SJT22-D system module is show wired with an extern

Publication 1394-IN002B-EN-P — February 2004B-6 Interconnect DiagramsAxis Module/Motor Interconnect DiagramsThis section contains the motor power, bra

Publication 1394-IN002B-EN-P — February 2004Interconnect Diagrams B-7In the figure below, the 1394 axis module is shown connected to 1326AB (460V) ser

Publication 1394-IN002B-EN-P — February 2004B-8 Interconnect DiagramsIn the figure below, the 1394 axis module is shown connected to 1326AS (460V) ser

Publication 1394-IN002B-EN-P — February 2004Interconnect Diagrams B-9Thermal Switch and Brake Interconnect DiagramsThis section provides thermal switc

Publication 1394-IN002B-EN-P — February 2004B-10 Interconnect DiagramsFigure B.9Non-Isolated Series Start/Stop String1When bypassing the TB1/TB2 termi

Publication 1394-IN002B-EN-P — February 2004Interconnect Diagrams B-11The example below shows 1394 (Series C) axis modules wired for thermal fault mon

Publication 1394-IN002B-EN-P — February 2004B-12 Interconnect DiagramsThe example below shows 1394 (Series A and B) axis modules (no internal brake or

Publication 1394-IN002B-EN-P — February 2004Interconnect Diagrams B-13The example below shows 1394 (Series A and B) axis modules wired for thermal fau

Publication 1394-IN002B-EN-P — February 2004Installing Your 1394 SERCOS Interface System 1-3• Install the 1394 SERCOS interface system inside an enclo

Publication 1394-IN002B-EN-P — February 2004B-14 Interconnect DiagramsBrake Interconnect DiagramsThe relay outputs (Output 0-3) are linked to the Brak

Publication 1394-IN002B-EN-P — February 2004Interconnect Diagrams B-15The example below shows 1394 series C axis modules with internal brake filtering

Publication 1394-IN002B-EN-P — February 2004B-16 Interconnect DiagramsThe example below also shows 1394 series C axis modules with internal brake filt

Publication 1394-IN002B-EN-P — February 2004Interconnect Diagrams B-17The example below shows 1394 Series B axis modules without internal brake filter

Publication 1394-IN002B-EN-P — February 2004B-18 Interconnect Diagrams

1 Publication 1394-IN002B-EN-P — February 2004Appendix CCatalog Numbers and AccessoriesChapter ObjectivesThis appendix lists the 1394 system component

Publication 1394-IN002B-EN-P — February 2004C-2 Catalog Numbers and Accessories1394 Axis Modules 1394 axis modules have power ratings of 2, 3, 5, 10,

Publication 1394-IN002B-EN-P — February 2004Catalog Numbers and Accessories C-3CablesUse the following tables to identify motor power, feedback, SERCO

Publication 1394-IN002B-EN-P — February 2004C-4 Catalog Numbers and AccessoriesMotor Feedback Cables1High flex option for these cables is indicated by

Publication 1394-IN002B-EN-P — February 2004Catalog Numbers and Accessories C-5Motor End Connector Kits1394 AccessoriesMotor Series Description Catalo

Publication 1394-IN002B-EN-P — February 20041-4 Installing Your 1394 SERCOS Interface SystemThe typical 1394 SERCOS interface system installation incl

Publication 1394-IN002B-EN-P — February 2004C-6 Catalog Numbers and Accessories

1 Publication 1394-IN002B-EN-P — February 2004Numerics1326AB (M2L/S2L)interconnect diagram B-71326ASinterconnect diagram B-81394 SERCOS interface Inte

Publication 1394-IN002B-EN-P — February 2004I-2 Indexcontents of manual P-2control power input specifications 2-20ControlLogix integration P-1ControlL

Publication 1394-IN002B-EN-P — February 2004Index I-3LLEDaxis module status 4-3network status 4-4system module status 4-2logicinput power spec

Publication 1394-IN002B-EN-P — February 2004I-4 Indexshunt moduleinterconnect diagram B-4, B-5specifications A-9shunt resistorpower dissipation A-8shu

Publication 1394-IN002B-EN-P — February 2004Index I-5motor power 3-11, 3-12, 3-22motor thermal switch 3-23requirementssystem/axis module 3-13r

Publication 1394-IN002B-EN-P — February 2004I-6 Index

Publication 1394-IN002B-EN-P — February 2004 307140-P02Supersedes Publication 1394-5.20 — July 2001 Copyright © 2004 Rockwell Automation. All rights

Publication 1394-IN002B-EN-P — February 2004Installing Your 1394 SERCOS Interface System 1-5Before Mounting Your SystemBefore you mount your 1394 SERC

Publication 1394-IN002B-EN-P — February 20041-6 Installing Your 1394 SERCOS Interface SystemSystem Mounting RequirementsThere are several things that

Publication 1394-IN002B-EN-P — February 2004Installing Your 1394 SERCOS Interface System 1-7Ventilation RequirementsThis section provides information

Publication 1394-IN002B-EN-P — February 20041-8 Installing Your 1394 SERCOS Interface SystemDetermining Your System Mounting Hole LayoutBased on your

Publication 1394-IN002B-EN-P — February 2004Installing Your 1394 SERCOS Interface System 1-9Mounting Your 1394 Through the Back of the CabinetThe figu

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

Publication 1394-IN002B-EN-P — February 20041-10 Installing Your 1394 SERCOS Interface SystemThe illustrations that follow (Figure 1.5) show details o

Publication 1394-IN002B-EN-P — February 2004Installing Your 1394 SERCOS Interface System 1-11Bonding Multiple SubpanelsBonding multiple subpanels crea

Publication 1394-IN002B-EN-P — February 20041-12 Installing Your 1394 SERCOS Interface SystemPlanning Your Panel LayoutThis section outlines the pract

Publication 1394-IN002B-EN-P — February 2004Installing Your 1394 SERCOS Interface System 1-13Observe the following guidelines when installing your 175

Publication 1394-IN002B-EN-P — February 20041-14 Installing Your 1394 SERCOS Interface SystemCable Categories for the 1394The table below indicates th

Publication 1394-IN002B-EN-P — February 2004Installing Your 1394 SERCOS Interface System 1-15Mounting Guidelines to Reduce Electrical NoiseWhen mounti

Publication 1394-IN002B-EN-P — February 20041-16 Installing Your 1394 SERCOS Interface SystemExternal Shunt ModulesObserve the following guidelines wh

Publication 1394-IN002B-EN-P — February 2004Installing Your 1394 SERCOS Interface System 1-17When mounting your shunt module inside the enclosure, fol

Publication 1394-IN002B-EN-P — February 20041-18 Installing Your 1394 SERCOS Interface SystemMounting Your 1394 SERCOS interface SystemThe procedures

Publication 1394-IN002B-EN-P — February 2004Installing Your 1394 SERCOS Interface System 1-194.5. Hang the AM50/75 axis module on the next mounting fa

i Publication 1394-IN002B-EN-P — February 2004PrefaceWho Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . P-1Purpose of this Manu

Publication 1394-IN002B-EN-P — February 20041-20 Installing Your 1394 SERCOS Interface System7. Slide the slide-and-lock mechanism on the axis module

Publication 1394-IN002B-EN-P — February 2004Installing Your 1394 SERCOS Interface System 1-21Mounting Your External Shunt Resistor KitIf your 1394 req

Publication 1394-IN002B-EN-P — February 20041-22 Installing Your 1394 SERCOS Interface System

1 Publication 1394-IN002B-EN-P — February 2004Chapter 21394 SERCOS Interface Connector DataChapter ObjectivesThis chapter provides power, feedback, an

Publication 1394-IN002B-EN-P — February 20042-2 1394 SERCOS Interface Connector DataLocating System Module Connectors and IndicatorsUse the figure bel

Publication 1394-IN002B-EN-P — February 20041394 SERCOS Interface Connector Data 2-3Use the figure below to locate the 1394C-SJT22-D System Mo

Publication 1394-IN002B-EN-P — February 20042-4 1394 SERCOS Interface Connector DataSystem Module Connector Pin-outsThe System Module connectors are d

Publication 1394-IN002B-EN-P — February 20041394 SERCOS Interface Connector Data 2-5Discrete Input Connector Pin-outThe following table and fi

Publication 1394-IN002B-EN-P — February 20042-6 1394 SERCOS Interface Connector DataRelay Output Connector Pin-outThe following table and figure below

Publication 1394-IN002B-EN-P — February 20041394 SERCOS Interface Connector Data 2-7Analog Output ConnectorThe following table provides the si

Publication 1394-IN002B-EN-P — February 2004ii Table of ContentsAxis Module Connector Pin-outs. . . . . . . . . . . . . . . . . . . . 2-13Axi

Publication 1394-IN002B-EN-P — February 20042-8 1394 SERCOS Interface Connector DataMotor Feedback Connector Pin-outsThe following table provides the

Publication 1394-IN002B-EN-P — February 20041394 SERCOS Interface Connector Data 2-9Auxiliary Feedback Connector Pin-outsThe following tables

Publication 1394-IN002B-EN-P — February 20042-10 1394 SERCOS Interface Connector DataFigure 2.6Pin Orientation for 13-pin Motor/Auxiliary Feedback Con

Publication 1394-IN002B-EN-P — February 20041394 SERCOS Interface Connector Data 2-11System Module Input Power Pin-outsThe following table pro

Publication 1394-IN002B-EN-P — February 20042-12 1394 SERCOS Interface Connector DataLocating Axis Module Connectors and IndicatorsUse the figure belo

Publication 1394-IN002B-EN-P — February 20041394 SERCOS Interface Connector Data 2-13Axis Module Connector Pin-outsThe Axis Module connectors

Publication 1394-IN002B-EN-P — February 20042-14 1394 SERCOS Interface Connector DataMotor Brake/Thermal ConnectorsThe following table provides the si

Publication 1394-IN002B-EN-P — February 20041394 SERCOS Interface Connector Data 2-15Understanding I/O SpecificationsA description of the 1394

Publication 1394-IN002B-EN-P — February 20042-16 1394 SERCOS Interface Connector DataFigure 2.9Enable, Home, and Overtravel Digital Input Circuits Fig

Publication 1394-IN002B-EN-P — February 20041394 SERCOS Interface Connector Data 2-17Analog Output SpecificationsThe 1394 SERCOS interface dri

Publication 1394-IN002B-EN-P — February 2004Table of Contents iiiUnderstanding External Shunt Connections. . . . . . . . . . . . 3-34Connecti

Publication 1394-IN002B-EN-P — February 20042-18 1394 SERCOS Interface Connector DataDrive System OK Relay SpecificationsThe Drive System OK output is

Publication 1394-IN002B-EN-P — February 20041394 SERCOS Interface Connector Data 2-19Motor Brake Relay SpecificationsThe connections are rated

Publication 1394-IN002B-EN-P — February 20042-20 1394 SERCOS Interface Connector DataSERCOS Connection SpecificationsTwo fiber-optic connectors (trans

Publication 1394-IN002B-EN-P — February 20041394 SERCOS Interface Connector Data 2-21Understanding Feedback SpecificationsThe 1394 SERCOS inte

Publication 1394-IN002B-EN-P — February 20042-22 1394 SERCOS Interface Connector DataThe following table provides a description of the AM, BM, and IM

1 Publication 1394-IN002B-EN-P — February 2004Chapter 3Connecting Your 1394 SERCOS Interface SystemChapter ObjectivesThis chapter covers the following

Publication 1394-IN002B-EN-P — February 20043-2 Connecting Your 1394 SERCOS Interface SystemBuilding Your Own CablesWhen building your own cables, fol

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-3Input Power ConditioningIn most applications, you can conn

Publication 1394-IN002B-EN-P — February 20043-4 Connecting Your 1394 SERCOS Interface SystemDetermining Your Type of Input PowerBefore you ground or w

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-5Ungrounded Power ConfigurationThe ungrounded power configu

Publication 1394-IN002B-EN-P — February 2004iv Table of ContentsAppendix BInterconnect DiagramsChapter Objectives. . . . . . . . . . . . . . .

Publication 1394-IN002B-EN-P — February 20043-6 Connecting Your 1394 SERCOS Interface SystemSetting the Ground Jumper in Ungrounded Power Configuratio

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-7Figure 3.3Ground Jumper Locations for the 5 and 10 kW Syst

Publication 1394-IN002B-EN-P — February 20043-8 Connecting Your 1394 SERCOS Interface SystemFigure 3.4Location of the 22 kW System Module Ground Jumpe

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-9Grounding Your 1394 SERCOS Interface SystemWe recommend th

Publication 1394-IN002B-EN-P — February 20043-10 Connecting Your 1394 SERCOS Interface SystemFigure 3.7PE Safety Ground Configuration with Multiple 13

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-11Motor Power Cable Shield TerminationFactory supplied moto

Publication 1394-IN002B-EN-P — February 20043-12 Connecting Your 1394 SERCOS Interface SystemConnecting 1326AB/AS (resolver) Motor PowerWhen using 132

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-13Power Wiring RequirementsPower wiring requirements are gi

Publication 1394-IN002B-EN-P — February 20043-14 Connecting Your 1394 SERCOS Interface SystemFor additional information refer to Power Specifications

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-15Connecting Input PowerThe system module provides terminat

1 Publication 1394-IN002B-EN-P — February 2004PrefaceRead this preface to familiarize yourself with the rest of the manual. The preface covers the fol

Publication 1394-IN002B-EN-P — February 20043-16 Connecting Your 1394 SERCOS Interface SystemWiring Main Input PowerTo wire the main input power conne

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-17Wiring Logic PowerTo wire the logic power connector:1. Pr

Publication 1394-IN002B-EN-P — February 20043-18 Connecting Your 1394 SERCOS Interface SystemWiring Main Input PowerTo wire the main input power termi

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-19Wiring Logic PowerTo wire the logic power terminal block:

Publication 1394-IN002B-EN-P — February 20043-20 Connecting Your 1394 SERCOS Interface SystemConnecting Motor Power, Thermal Switch, and BrakeThese pr

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-215. Remove another 22 mm (0.875 in.) of insulation to expo

Publication 1394-IN002B-EN-P — February 20043-22 Connecting Your 1394 SERCOS Interface SystemWiring the Motor Power ConnectorTo wire your motor power

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-23Wiring the TB1/TB2 Connectors (1326AB/AS Motors)This proc

Publication 1394-IN002B-EN-P — February 20043-24 Connecting Your 1394 SERCOS Interface System3. Gently pull on each TB1 wire to make sure it does not

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-25Wiring the Relay Outputs ConnectorThis procedure assumes

Publication 1394-IN002B-EN-P — February 2004 P-2 PrefaceContents of this ManualRefer to the following listing for the descriptive contents of this ins

Publication 1394-IN002B-EN-P — February 20043-26 Connecting Your 1394 SERCOS Interface SystemUnderstanding Feedback and I/O Cable ConnectionsThe proce

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-27The following table provides the signal descriptions and

Publication 1394-IN002B-EN-P — February 20043-28 Connecting Your 1394 SERCOS Interface SystemThe following table provides the signal descriptions and

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-29Wiring Feedback ConnectorsTo wire your 1394 feedback conn

Publication 1394-IN002B-EN-P — February 20043-30 Connecting Your 1394 SERCOS Interface System4. Select one of the six feedback connector housings ship

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-31Figure 3.14Wiring 1326-CCU-xxx Feedback CablesReplacement

Publication 1394-IN002B-EN-P — February 20043-32 Connecting Your 1394 SERCOS Interface System3. Fold drain wires back over the braided shield and posi

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-334. Repeat steps 2 and 3 for all remaining I/O connector h

Publication 1394-IN002B-EN-P — February 20043-34 Connecting Your 1394 SERCOS Interface SystemUnderstanding External Shunt ConnectionsFollow these guid

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-35Connecting Your SERCOS Fiber-Optic CablesThis procedure a

Publication 1394-IN002B-EN-P — February 2004Preface P-3Related DocumentationThe following documents contain additional information concerning

Publication 1394-IN002B-EN-P — February 20043-36 Connecting Your 1394 SERCOS Interface SystemRefer to figures 3.19 and 3.20 for examples of fiber-opti

Publication 1394-IN002B-EN-P — February 2004Connecting Your 1394 SERCOS Interface System 3-37To connect the SERCOS fiber-optic cables:1. Insert one en

Publication 1394-IN002B-EN-P — February 20043-38 Connecting Your 1394 SERCOS Interface System

1 Publication 1394-IN002B-EN-P — February 2004Chapter 4Troubleshooting Status IndicatorsChapter ObjectivesThis chapter covers:• Understanding How to D

Publication 1394-IN002B-EN-P — February 20044-2 Troubleshooting Status IndicatorsTroubleshooting System and Axis Module LEDsThe system module Status L

Publication 1394-IN002B-EN-P — February 2004Troubleshooting Status Indicators 4-3The axis module status LED is visible from the front of the m

Publication 1394-IN002B-EN-P — February 20044-4 Troubleshooting Status IndicatorsTroubleshooting the SERCOS Network Status LEDThe SERCOS Network Statu

Publication 1394-IN002B-EN-P — February 2004Troubleshooting Status Indicators 4-5Troubleshooting System and Axis Module FaultsFault messages a

Publication 1394-IN002B-EN-P — February 20044-6 Troubleshooting Status IndicatorsDriveHardFault(Contactor Fault)Three-phase power is either detected w

Publication 1394-IN002B-EN-P — February 2004Troubleshooting Status Indicators 4-7SERCOSFault(SERCOS Same Addr)Duplicate node address detected