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Ultra1500 2092-DA1
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Publicat
ion 2092-UM001D
-EN-P — July 200
5
C-4
Catalog Numbers a
nd Accessories
Battery
Use the follo
wing table to identify
th
e batter
y for y
our Ultra1500 dri
ve
.
Descri
ption
Cat
alog Numb
er
3.6 Volt, ½-size AA, Lithium Battery
2090-DA-BA
T
163
165
Table of Contents
Main Page
Default Chapter
3
Default Chapter
3
Table of Contents
3
Contents of this Manual
9
Introduction
9
Product Receiving and Storage Responsibility
9
Purpose of this Manual
9
Who Should Use this Manual
9
Conventions Used in this Manual
11
Related Documentation
11
Allen-Bradley Support
12
Local Product Support
12
Technical Product Assistance
12
Comments Regarding this Manual
12
Chapter 1
13
Chapter Objectives
13
Installing Your Ultra1500
13
Complying with EU and TTMRA Directives
14
CE EMC Directive
14
C-Tick EMC Directive
14
Low Voltage Directive
15
Meeting Emission Requirements
15
Ultra1500 System Overview
16
Typical Installation
16
Unpacking Modules
18
System Mounting Requirements
19
Ventilation Requirements
20
Sizing an Enclosure
21
Transformer Sizing
21
Fuse Sizing
23
HF Bonding Your System
23
Bonding Modules
24
Bonding Multiple Subpanels
25
Planning Your Panel Layout
25
Establishing Noise Zones
26
Cable Categories for the Ultra1500
27
Mounting Guidelines to Reduce Electrical Noise
27
AC Line Filters
27
Mounting Your Ultra1500 Drive
28
2092-DA1 and 2092-DA2
29
2092-Da3
29
2092-DA4 and 2092-DA5
29
Chapter 2
31
Chapter Objectives
31
Ultra1500 Connector Data
31
Understanding Ultra1500 Connectors
31
Ultra1500 Front Panel Connections
32
Fault Outputs
33
Analog Outputs
33
I/O Connector - CN1
33
Motor Feedback Connector - CN2
34
Serial Port Connector - CN3
34
Understanding Ultra1500 I/O Specifications
35
Digital I/O Power Supply
35
Digital Inputs
35
Digital Outputs
38
Analog Inputs
40
Analog Outputs
41
Position Command Inputs
42
Understanding Ultra1500 Motor Encoder Feedback Specifications
44
Volt Incremental Encoders
44
Volt Serial Encoders
44
A, B, and I Inputs
44
Hall Inputs
45
Thermostat Input
46
Encoder Phasing
46
Motor Encoder Connection Diagrams
48
Buffered Motor Encoder Outputs
51
Index Pulses
52
Volt Encoder Power Supply
53
Understanding the Ultra1500 Serial Interface
53
Understanding Ultra1500 Power and Ground Connections
53
Input Power Connectors
54
Main Power - L1, L2, and L3
54
Control Power - L1C and L2C
55
DC Bus Negative - N
55
Power Connections
54
DC Bus and Shunt Power Connectors
56
Diode Bridge and DC Bus Positive - P1 and P2
56
Internal Shunt Resistor - B1 and B2
56
Ground Connection
56
Motor Power Connectors
56
Chapter 3
59
Chapter Objectives
59
Connecting Your Ultra1500
59
Understanding Basic Wiring Requirements
59
Building Your Own Cables
60
Routing Power and Signal Wiring
60
Determining Your Type of Input Power
61
Grounded Power Configuration
61
Grounding Your Ultra1500
63
Grounding Your System to the Subpanel
63
Motor Power Cable Shield Termination
64
Safety Precautions
65
Power Wiring Requirements
66
Ultra1500 Main AC Power Wiring Requirements
66
Ultra1500 Control Power Wiring Requirements
66
Connecting Input Power
68
Connecting Motor Power
70
Wiring Motor Power
70
Understanding Feedback and I/O Cable Connections
72
Applying Power to Your Ultra1500 Drive
73
Chapter 4
73
Commissioning Your Ultra1500
73
Detecting Your Ultra1500 Drive
74
Configuring Your Ultra1500 Drive
75
Testing Your Motor
79
Chapter 5
81
Chapter Objectives
81
Ultra1500 Application Examples
81
Controllogix 1756-M02AE System
82
Control Connections
82
Configuring the Ultra1500
83
Configuring the 1756-M02AE
83
Testing and Tuning Your Axis
86
Micrologix Follower
91
Control Connections
91
Configuring the Ultra1500
91
Configuring the Micrologix Controller
92
Testing Your Axis
94
Absolute Positioning
96
Encoder Battery Installation
96
Encoder Battery Life
97
Battery Voltage Loss Detection
98
Extracting Absolute Position from the Drive
100
Using the Internal Dynamic Brake
102
Basic Circuit Operation
102
Circuit Protection
104
Stopping Profiles
105
Tuning Descriptions
107
Current Regulator Settings
107
Gain
107
Low Pass Filter Bandwidth
107
Resonant Frequency Suppression
107
Velocity Regulator Settings
110
P Gain
110
Integrator Time
111
Integrator Mode
112
D Gain
113
Low Pass Filter Bandwidth
114
Position Regulator Settings
114
Kff
115
Kff Low Pass Filter Bandwidth
117
High Error Output Offset
117
High Error Output Threshold
117
Control Block Diagrams
119
Position Regulator
120
Velocity Regulator
121
Analog Velocity Mode
122
Preset Velocity Mode
123
Jog Mode
123
Analog Current Mode
124
Dual Current Command Mode
125
Chapter 6
127
Chapter Objectives
127
Maintaining and Troubleshooting Your Ultra1500
127
Safety Precautions
127
Maintaining Your Ultra1500 Drive
128
Status Indicators and the Operator Interface
129
General Troubleshooting
130
Overtravel Condition
130
Fault Codes
131
Warning Messages
131
Error Displays
131
Appendix A
135
Certifications
135
Chapter Objectives
135
Specifications and Dimensions
135
Ultra1500 Power Specifications
136
Main Input Power
136
Control Input Power
136
Input Power Connector
136
DC Bus and Shunt Circuitry
137
DC Power and Shunt Connector
137
Output Power
137
Output Power Connector
137
Fuse and Contactor Specifications
138
Power Dissipation Specifications
138
Ultra1500 General Specifications
139
Physical and Environmental Specifications
139
Control Specifications
139
CN1 Controller Connector
139
CN2 Motor Feedback Connector
139
CN3 Serial Communications Connector
139
Current Loop
140
Velocity Loop
140
Position Loop
140
Digital Inputs
140
Digital Outputs
141
Fault Outputs
141
Analog Outputs
141
Encoder Outputs
141
Command Inputs
142
Motor Control
142
Built-In User Interface
142
Serial Interface
142
AC Line Filter Specifications
143
Maximum Cable Lengths
143
Dimensions
144
Appendix B
145
Chapter Objectives
145
Interconnect and Cable Diagrams
145
Power Connections
146
CN1 I/O Control Connections
147
Controllogix 1756-M02AE System Connections
148
Softlogix 1784-PM02AE System Connections
149
Generic Controller Connections
150
Micrologix 1200/1500 Connections
151
TL-Series Motor Connections
152
Generic Rotary Motor Connections
153
Anorad Linear Motor Connections
154
Generic Linear Motor Connections
155
Host Communications Connections
156
TL-Series Motor Power Cable Assembly (2090-DANPT-16Sxx
157
CN1 Control Cable Assembly (2090-DAIO-D50Xx
158
CN2 Feedback Cable Assembly for TL-Series Motors
159
FCT-Sxx
159
CN3 PC Communications Assembly (2090-DAPC-D09Xx
160
Ultra1500 Drives
160
AC Line Filters
161
Appendix C
161
Catalog Numbers and Accessories
161
Chapter Objectives
161
Ultra1500 Drives
161
Ultraware Software
161
Ac Line Filters
162
Ultraware Software
162
Cables
163
Motor Power Cables
163
Motor Feedback Cables
163
Motor Brake Cables
163
Interface Cables
163
Connector Kits
163
Battery
164
Appendix D
165
Chapter Objectives
165
Ultra1500 Operator Interface
165
Using the Operator Interface
165
Mode Displays
166
Function Mode
166
Monitor Mode
169
Status Mode
171
Set Parameter Mode
172
Publication 2092-UM001D-EN-P — July
166
Parameter Groupings
173
Group 0 Parameters
173
Group 1 Parameters
179
Group 2 Parameters
183
Group 3 Parameters
186
Group 4 Parameters
187
Group 5 Parameters
189
Group 6 Parameters
193
Publication 2092-UM001D-EN-P — July
194
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