Rockwell Automation Allen-Bradley Ultra3000

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Publication 2098-IN005C-EN-P — March 2008

96 Commissioning Your Ultra3000 Drive

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Table of Contents3
Preface7
About this Publication7
Who Should Use this Manual7
Conventions Used in this Manual7
Additional Resources8
Commissioning Your Ultra3000 Drive9
Introduction9
General Startup Precautions10
Understanding the Serial Connection10
Configuring Your Ultra3000 Drive and Ultra3000 Drive with Indexing11
Front Panel Connections11
Apply Power to Your Ultra3000 Drive15
Detect Your Ultra3000 Drive16
Understanding the Workspace and Drive Branches17
Select a Motor21
Tune Your Motor22
Configure Displayed Units23
Test Your Motor (Non-Indexing Move)25
Test Your Motor (Indexing Move)26
Indexing and Non-Indexing Move Examples29
Analog Position Mode (Non-Indexing)32
Preset Velocity Control (Non-Indexing)34
Preset Position Control (Indexing Move)37
Master Follower and Preset Gear Ratios (Non-Indexing Move)40
Incremental Indexing (Indexing Move)44
Absolute Indexing (Indexing Move)48
Configuring Your Ultra3000 Drive with52
Rslogix 5000 Software52
Configure Your Ultra3000 Drive52
Configuring Your Logix Analog Motion Module53
Download Your Program58
Testing and Tuning Your Axis59
Configuring Your Ultra3000 Drive with SERCOS65
Front Panel Connections65
Configure Your Ultra3000-SE Drive70
Configuring Your Logix SERCOS Interface Module72
Download Your Program80
Apply Power to Your Ultra3000 Drive with SERCOS81
Testing and Tuning Your Axis83
Configuring Your Ultra3000 Drive with Devicenet89
Front Panel Connections89
Configure Your Ultra3000 Drive with Devicenet93
Apply Power to Your Ultra3000 Drive with Devicenet94
Troubleshooting Your Ultra3000 Servo Drive97
Introduction97
Safety Precautions97
General Troubleshooting98
Error Codes98
Troubleshooting for SERCOS Drives104
Understanding Drive Fault Behavior105
Troubleshooting for Devicenet Drives109
Node Problems110
Device Failure - Indicator Status Check110
Scanner Problems111
Power Supply Problems111
Cable Installation and Design Problems112
Adjusting the Physical Network Configuration112
Interconnect Diagrams113
Introduction113
Wiring Examples114
Power Interconnect Diagrams115
Shunt Module Interconnect Diagrams119
Ultra3000 Drives/Rotary Motors and Actuators Wiring Examples122
Ultra3000 Drives/Linear Actuators Wiring Examples127
Control String Examples (120V Ac)128
Controlling a Brake Example131
Ultra3000 Drive to Logix Analog Module Diagrams133
Ultra3000 Drive to IMC-S Compact Controller Diagram136
Understanding Motor Feedback Signals and Outputs137
Introduction137
Unbuffered Encoder Outputs138
Incremental Encoder Outputs138
High Resolution Encoder Outputs139
Minimizing the Effects of Feedback Signal Loss141
Introduction141
Rslogix 5000 Software142
Minimizing the Position Error Limit Setting142
Setting Position Error Limits in Ultraware and Rslogix 5000 Software142
Setting Velocity Error Limits in Ultraware Software144
Minimizing the Velocity Error Limit Setting144
Configuring Fault Actions in Rslogix 5000 Software145
Position and Velocity Error Limit Adjustment Example with Ultraware Software147
Create and Run a Sample Application in Ultraware Software147
Understanding Error Limit Settings in Ultraware Software149
Use the Oscilloscope Feature150
Interpreting the Results153
Position Error Limit Adjustment Example with154
Rslogix 5000 Software154
Run the Rslogix 5000 Software Example Program155
Observe the Default Position Error Tolerance Limit Setting156
Trending Excursion Limits of the Position Error159
Parameter159
Set the New Position Error Limit163
Verify the New Position Error Limit164
Visualize the New Position Error Limit166
Additional Methods166
Exporting and Importing Drive Setup Files167
Introduction167
Export a Drive Setup File167
Import a Drive Setup File169

Rockwell Automation Allen-Bradley Ultra3000

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