Ultra Start 1500 SERIES User Manual

Ultra1500™ Digital Servo Amplifiers (Catalog Numbers 2092-DA1, 2092-DA2, 2092-DA3, 2092-DA4, and2092-DA5)User Manual

Publication 2092-UM001D-EN-P — July 2005 P-2 PrefaceContents of this ManualRefer to the following listing for the descriptive contents of this manual.

Publication 2092-UM001D-EN-P — July 20055-20 Ultra1500 Application ExamplesExtracting Absolute Position from the DriveThe absolute position of the Ult

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-21In Figure 5.6 it can be seen that the drive hardware and firmware e

Publication 2092-UM001D-EN-P — July 20055-22 Ultra1500 Application Examples4. Delay 10 ms from the active-going edge of the position strobe, then zero

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-23through diodes. The diodes in the integrated power module (IPM) in

Publication 2092-UM001D-EN-P — July 20055-24 Ultra1500 Application ExamplesCircuit ProtectionThe Ultra1500 will not allow the drive to be enabled if t

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-25The maximum electrical frequency can be expressed as follows:where:

Publication 2092-UM001D-EN-P — July 20055-26 Ultra1500 Application ExamplesFigure 5.8Dynamic Braking Times from Maximum Velocity10:10:110:10:110:10:11

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-27Tuning Descriptions This section provides explanations of the Ultra

Publication 2092-UM001D-EN-P — July 20055-28 Ultra1500 Application ExamplesFigure 5.9Resonance Effects at 200rpm Figure 5.10 shows the effect of the R

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-2910000 Hz. The current and velocity waveforms appear very smooth as

Publication 2092-UM001D-EN-P — July 2005Preface P-3Related DocumentationThe following documents contain additional information concerning rela

Publication 2092-UM001D-EN-P — July 20055-30 Ultra1500 Application ExamplesVelocity Regulator SettingsThe velocity regulator includes the following pa

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-31Figure 5.12Velocity Regulator Step Response with Varying P Gain.Int

Publication 2092-UM001D-EN-P — July 20055-32 Ultra1500 Application ExamplesFigure 5.13Velocity Regulator Step Response with Varying Integrator TimeInt

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-33.D Gain The D Gain parameter generates a control signal proportiona

Publication 2092-UM001D-EN-P — July 20055-34 Ultra1500 Application ExamplesFigure 5.14Velocity Regulator Step Response with Varying D GainLow Pass Fil

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-35Kp The Kp parameter sets the proportional response of the position

Publication 2092-UM001D-EN-P — July 20055-36 Ultra1500 Application Examplesthe Kff term is increased, it affects the response more. When Kff = 50, the

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-37Figure 5.17Position Regulator Response During Move with Varied KffK

Publication 2092-UM001D-EN-P — July 20055-38 Ultra1500 Application ExamplesFigure 5.18 shows the effect of varying the offset value on the position er

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-39Figure 5.19Position Regulator Response During Move with Varied Erro

Publication 2092-UM001D-EN-P — July 2005 P-4 PrefaceAllen-Bradley SupportAllen-Bradley offers support services worldwide, with over 75 Sales/Support O

Publication 2092-UM001D-EN-P — July 20055-40 Ultra1500 Application ExamplesPosition RegulatorFigure 5.20 shows the block diagram of the position regul

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-41Velocity Regulator Figure 5.21 shows the block diagram of the veloc

Publication 2092-UM001D-EN-P — July 20055-42 Ultra1500 Application ExamplesThe velocity command limit is set to the minimum of the following:• Zero if

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-43Preset Velocity ModeFigure 5.23 shows the block diagram of the pres

Publication 2092-UM001D-EN-P — July 20055-44 Ultra1500 Application ExamplesAnalog Current ModeFigure 5.25 shows the block diagram for the analog curre

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-45Dual Current Command Mode Figure 5.26 shows the block diagram for t

Publication 2092-UM001D-EN-P — July 20055-46 Ultra1500 Application Examples

1 Publication 2092-UM001D-EN-P — July 2005Chapter 6Maintaining and Troubleshooting Your Ultra1500 Chapter ObjectivesThis chapter provides a descriptio

Publication 2092-UM001D-EN-P — July 20056-2 Maintaining and Troubleshooting Your Ultra1500Maintaining Your Ultra1500 DriveThe Ultra1500 is designed to

Publication 2092-UM001D-EN-P — July 2005Maintaining and Troubleshooting Your Ultra1500 6-3Status Indicators and the Operator InterfaceThe Oper

1 Publication 2092-UM001D-EN-P — July 2005Chapter 1Installing Your Ultra1500Chapter ObjectivesThis chapter provides system installation guidelines and

Publication 2092-UM001D-EN-P — July 20056-4 Maintaining and Troubleshooting Your Ultra1500Figure 6.2 Operational Drive Displays General Troubleshootin

Publication 2092-UM001D-EN-P — July 2005Maintaining and Troubleshooting Your Ultra1500 6-5Fault CodesThe following list of assigned error code

Publication 2092-UM001D-EN-P — July 20056-6 Maintaining and Troubleshooting Your Ultra1500E005 IPM Error Motor cables shorted Verify continuity of mot

Publication 2092-UM001D-EN-P — July 2005Maintaining and Troubleshooting Your Ultra1500 6-7E036 Drive Overtemperature Excessive heat exists in

Publication 2092-UM001D-EN-P — July 20056-8 Maintaining and Troubleshooting Your Ultra1500E100 Drive Set Up The drive operating mode and motor selecti

1 Publication 2092-UM001D-EN-P — July 2005Appendix ASpecifications and DimensionsChapter ObjectivesThis appendix covers the following topics:• Certifi

Publication 2092-UM001D-EN-P — July 2005A-2 Specifications and DimensionsUltra1500 Power SpecificationsThe following sections provide power specificat

Publication 2092-UM001D-EN-P — July 2005Specifications and Dimensions A-3DC Bus and Shunt CircuitryDC Power and Shunt Connector Output PowerOu

Publication 2092-UM001D-EN-P — July 2005A-4 Specifications and DimensionsFuse and Contactor SpecificationsUse class CC, J, or R class fuses, with curr

Publication 2092-UM001D-EN-P — July 2005Specifications and Dimensions A-5Ultra1500 General SpecificationsThe following sections provide physic

Publication 2092-UM001D-EN-P — July 20051-2 Installing Your Ultra1500Complying with EU and TTMRA Directives If this product is installed within the Eu

Publication 2092-UM001D-EN-P — July 2005A-6 Specifications and DimensionsCurrent LoopVelocity LoopPosition LoopDigital InputsUpdate Period 50 µS-3dB

Publication 2092-UM001D-EN-P — July 2005Specifications and Dimensions A-7Digital OutputsFault OutputsAnalog OutputsEncoder OutputsQuantity 3

Publication 2092-UM001D-EN-P — July 2005A-8 Specifications and DimensionsCommand InputsMotor ControlBuilt-in User InterfaceSerial InterfaceOperating M

Publication 2092-UM001D-EN-P — July 2005Specifications and Dimensions A-9AC Line Filter SpecificationsThe following AC line filters are compat

Publication 2092-UM001D-EN-P — July 2005A-10 Specifications and DimensionsDimensionsThe figures below provide basic outline dimensions for the Ultra15

1 Publication 2092-UM001D-EN-P — July 2005Appendix BInterconnect and Cable DiagramsChapter ObjectivesThis appendix contains the following interconnect

Publication 2092-UM001D-EN-P — July 2005B-2 Interconnect and Cable DiagramsPower ConnectionsFigure B.1 shows the recommended power wiring for a typica

Publication 2092-UM001D-EN-P — July 2005Interconnect and Cable Diagrams B-3CN1 I/O Control ConnectionsFigure B.2 shows typical input/output co

Publication 2092-UM001D-EN-P — July 2005B-4 Interconnect and Cable DiagramsControlLogix 1756-M02AE System ConnectionsFigure B.3 shows the recommended

Publication 2092-UM001D-EN-P — July 2005Interconnect and Cable Diagrams B-5SoftLogix 1784-PM02AE System ConnectionsFigure B.4 shows the recomm

Publication 2092-UM001D-EN-P — July 2005Installing Your Ultra1500 1-3Low Voltage DirectiveThese units are tested to meet Council Directive 73/

Publication 2092-UM001D-EN-P — July 2005B-6 Interconnect and Cable DiagramsGeneric Controller ConnectionsFigure B.5 shows the recommended connections

Publication 2092-UM001D-EN-P — July 2005Interconnect and Cable Diagrams B-7MicroLogix 1200/1500 ConnectionsFigure B.6 shows the recommended co

Publication 2092-UM001D-EN-P — July 2005B-8 Interconnect and Cable DiagramsTL-Series Motor ConnectionsFigure B.7 shows the recommended feedback wiring

Publication 2092-UM001D-EN-P — July 2005Interconnect and Cable Diagrams B-9Generic Rotary Motor ConnectionsFigure B.8 shows the recommended fe

Publication 2092-UM001D-EN-P — July 2005B-10 Interconnect and Cable DiagramsAnorad Linear Motor ConnectionsFigure B.9 shows the recommended feedback w

Publication 2092-UM001D-EN-P — July 2005Interconnect and Cable Diagrams B-11Generic Linear Motor ConnectionsFigure B.10 shows the recommended

Publication 2092-UM001D-EN-P — July 2005B-12 Interconnect and Cable DiagramsHost Communications Connections Figure B.11 shows the connections between

Publication 2092-UM001D-EN-P — July 2005Interconnect and Cable Diagrams B-13TL-Series Motor Power Cable Assembly (2090-DANPT-16Sxx) Figure B.1

Publication 2092-UM001D-EN-P — July 2005B-14 Interconnect and Cable DiagramsCN1 Control Cable Assembly (2090-DAIO-D50xx) Figure B.13 shows the wiring

Publication 2092-UM001D-EN-P — July 2005Interconnect and Cable Diagrams B-15CN2 Feedback Cable Assembly for TL-Series Motors (2090-DANFCT-Sxx)

Publication 2092-UM001D-EN-P — July 20051-4 Installing Your Ultra1500Ultra1500 System Overview This section provides an overview of the Ultra1500 syst

Publication 2092-UM001D-EN-P — July 2005B-16 Interconnect and Cable DiagramsCN3 PC Communications Assembly (2090-DAPC-D09xx) Figure B.15 shows the wir

1 Publication 2092-UM001D-EN-P — July 2005Appendix CCatalog Numbers and AccessoriesChapter ObjectivesThis appendix lists the Ultra1500 drives and acce

Publication 2092-UM001D-EN-P — July 2005C-2 Catalog Numbers and AccessoriesUltra1500 DrivesUse the following table to identify Ultra1500 drives based

Publication 2092-UM001D-EN-P — July 2005Catalog Numbers and Accessories C-3CablesUse the following tables to identify motor power, feedback, interface

Publication 2092-UM001D-EN-P — July 2005C-4 Catalog Numbers and AccessoriesBattery Use the following table to identify the battery for your Ultra1500

1 Publication 2092-UM001D-EN-P — July 2005Appendix DUltra1500 Operator Interface Chapter ObjectivesThis appendix describes the Ultra1500 drive status

Publication 2092-UM001D-EN-P — July 2005D-2 Ultra1500 Operator InterfaceThe following briefly explains the MODE/SET, ENTER, and directional keys and t

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-32. Select the function to perform from the list below using either the UP or D

Publication 2092-UM001D-EN-P — July 2005D-4 Ultra1500 Operator InterfaceIf you are performing this function: Complete the following step(s) to: 00 -J

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-5Monitor Mode The Monitor mode displays numerical data about drive and motor fu

Publication 2092-UM001D-EN-P — July 2005Installing Your Ultra1500 1-5Figure 1.1Ultra1500 Servo System Overviews Before Mounting Your SystemMic

Publication 2092-UM001D-EN-P — July 2005D-6 Ultra1500 Operator InterfaceThis table defines only those variables that can be selected for the following

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-7Status ModeThe Status mode provides normal operational information, fault indi

Publication 2092-UM001D-EN-P — July 2005D-8 Ultra1500 Operator InterfaceFigure D.2 shows these categories and briefly defines the information provided

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-93. Press the ENTER key to display the current value of the parameter. 4. Modif

Publication 2092-UM001D-EN-P — July 2005D-10 Ultra1500 Operator InterfacePr-0.01 Motor and Encoder Selection Pr-0.02 Basic Motor Operations Applicable

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-11Pr-0.03 Autotuning Functions Digit 1: Overtravel Stop MethodRange: Value Desc

Publication 2092-UM001D-EN-P — July 2005D-12 Ultra1500 Operator InterfacePr-0.04 Inertia RatioPr-0.05 Input Signal Assignment - Group 1Pr-0.06 Input S

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-13Pr-0.07 Input Signal Assignment - Group 3Pr-0.08 Input Signal Assignment - Gr

Publication 2092-UM001D-EN-P — July 2005D-14 Ultra1500 Operator InterfacePr-0.09 Input Signal Assignment - Group 5Pr-0.10 Output Signal Assignment – G

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-15Pr-0.12 Output Signal Assignment – Group 3Pr-0.13 Drive AddressPr-0.14 Passwo

Publication 2092-UM001D-EN-P — July 20051-6 Installing Your Ultra1500Unpacking ModulesEach Ultra1500 ships with the following:• One Ultra1500 drive, •

Publication 2092-UM001D-EN-P — July 2005D-16 Ultra1500 Operator InterfacePr-1.02 Main Velocity Regulator Gains: Integrator Time Pr-1.03 Main Position

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-17Pr-1.08 Position Regulator Kff Gain: Kff Pr-1.09 Main Position Regulator Gain

Publication 2092-UM001D-EN-P — July 2005D-18 Ultra1500 Operator InterfacePr-1.11 Main Velocity Regulator Gains: Integrator Hold ThresholdPr-1.12 Main

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-19Group 2 Parameters Group 2 Parameters provide speed control settings. Pr-2.00

Publication 2092-UM001D-EN-P — July 2005D-20 Ultra1500 Operator InterfacePr-2.05 Preset Velocity 1 Pr-2.06 Preset Velocity 2Pr-2.07 Preset Velocity 3P

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-21Pr-2.10 Preset Velocity 6Pr-2.11 Preset Velocity 7Pr-2.12 Manual Velocity Lim

Publication 2092-UM001D-EN-P — July 2005D-22 Ultra1500 Operator InterfaceGroup 3 Parameters Group 3 Parameters provide position control settings. Pr-3

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-23Pr-3.01 Gear Ratio Follower Lines Pr-3.02 Gear Ratio, Master CountsPr-3.03 En

Publication 2092-UM001D-EN-P — July 2005D-24 Ultra1500 Operator InterfacePr-4.01 Current Limits: Positive InternalPr-4.02 Current Limits: Negative Int

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-25Pr-4.06 Initial Current BiasGroup 5 Parameters Group 5 Parameters provide sup

Publication 2092-UM001D-EN-P — July 2005Installing Your Ultra1500 1-7System Mounting RequirementsThere are several things that you need to tak

Publication 2092-UM001D-EN-P — July 2005D-26 Ultra1500 Operator InterfacePr-5.03 Speed Functions: Up to SpeedPr-5.04 Speed Functions: Zero ClampPr-5.0

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-27Pr-5.07 Brake Active DelayPr-5.08 Stopping Functions: Braking Application Spe

Publication 2092-UM001D-EN-P — July 2005D-28 Ultra1500 Operator InterfacePr-5.11 Reserved Pr-5.12 Analog Output 1: SignalPr-5.13 Analog Output 2: Sign

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-29Group 6 Parameters Group 6 parameters provide supplementary gain settings and

Publication 2092-UM001D-EN-P — July 2005D-30 Ultra1500 Operator InterfacePr-6.05 Reserved Pr-6.06 Fault Detail Setup: Sample PeriodPr-6.07 Fault Detai

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Operator Interface D-31Pr-6.10 Fault Detail Setup: Channel DPr-6.11 Alternate Gain: VReg P GainPr-6.

Publication 2092-UM001D-EN-P — July 2005D-32 Ultra1500 Operator InterfacePr-6.15 Alternate Gain: VReg Low Pass Bandwidth Description: This command all

1 Publication 2092-UM001D-EN-P — July 2005IndexAabsolute positioningextracting from drive 5-20installing battery 5-16AC line filters C-2noise reductio

Publication 2092-UM001D-EN-P — July 2005I-2power wiring diagram 3-10Ultra1500 3-1connection diagramAnorad liner motor B-10ControlLogix 1756-M02AE 5-2,

Publication 2092-UM001D-EN-P — July 2005 I-3Hheat losses for sizing enclosures A-4high error output offset 5-37high error output threshold 5-37

Publication 2092-UM001D-EN-P — July 2005 Important User Information Because of the variety of uses for the products described in this publication, tho

Publication 2092-UM001D-EN-P — July 20051-8 Installing Your Ultra1500Ventilation RequirementsThis section provides information to assist you in sizing

Publication 2092-UM001D-EN-P — July 2005I-4noise zonesUltra1500 1-14notch filter 5-27Oon-line help D-1operator interface D-1control keys D-1display an

Publication 2092-UM001D-EN-P — July 2005 I-5current loop A-6dc bus A-3dc bus connector A-3digital I/O power supply 2-5digital inputs A-6digital

Publication 2092-UM001D-EN-P — July 2005I-6maintenance 6-1mode displays D-2monitor mode D-5operator interface D-1parameter settings D-9power dissipati

Publication 2092-UM001D-EN-P — July 2005 0013-2065-004-01Supersedes publication 2092-UM001C-EN-P — October 2004 Copyright © 2005 Rockwell Automation.

Publication 2092-UM001D-EN-P — July 2005Installing Your Ultra1500 1-9Sizing an EnclosureAs an additional aid in sizing an enclosure, with no a

Publication 2092-UM001D-EN-P — July 20051-10 Installing Your Ultra1500IMPORTANTIf you are using the Allen-Bradley system sizing program, the average s

Publication 2092-UM001D-EN-P — July 2005Installing Your Ultra1500 1-11Fuse SizingIn the United States, the National Electric Code (NEC) specif

Publication 2092-UM001D-EN-P — July 20051-12 Installing Your Ultra1500Bonding ModulesUnless specified, most paints are not conductive and they act as

Publication 2092-UM001D-EN-P — July 2005Installing Your Ultra1500 1-13Bonding Multiple SubpanelsBonding multiple subpanels creates a common lo

Publication 2092-UM001D-EN-P — July 20051-14 Installing Your Ultra1500Establishing Noise ZonesObserve the following guidelines when laying out your pa

Publication 2092-UM001D-EN-P — July 2005Installing Your Ultra1500 1-15Cable Categories for the Ultra1500The table below indicates the zoning r

Publication 2092-UM001D-EN-P — July 20051-16 Installing Your Ultra1500Mounting Your Ultra1500 DriveThe procedures in this section assume you have prep

Publication 2092-UM001D-EN-P — July 2005Installing Your Ultra1500 1-17Figure 1.6Ultra1500 Mounting Diagrams and Measurements Dimensions are in

1 Publication 2092-UM001D-EN-P — July 2005Table of ContentsImportant User Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Publication 2092-UM001D-EN-P — July 20051-18 Installing Your Ultra1500

1 Publication 2092-UM001D-EN-P — July 2005Chapter 2Ultra1500 Connector Data Chapter ObjectivesThis chapter provides I/O, encoder, and serial interface

Publication 2092-UM001D-EN-P — July 20052-2 Ultra1500 Connector DataUltra1500 Front Panel ConnectionsUse the figure below to locate the front panel co

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-3I/O Connector – CN1 The following table provides the signal descriptions a

Publication 2092-UM001D-EN-P — July 20052-4 Ultra1500 Connector DataMotor Feedback Connector – CN2The following table provides the signal descriptions

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-5Understanding Ultra1500 I/O Specifications A description of the Ultra1500

Publication 2092-UM001D-EN-P — July 20052-6 Ultra1500 Connector DataThe following table provides a description of the digital input specifications. Fi

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-7Figure 2.3Digital Input Interface Examples +5VINPUT14.7k ΩLogic GroundPS28

Publication 2092-UM001D-EN-P — July 20052-8 Ultra1500 Connector DataDigital OutputsThere are three opto-isolated transistor outputs (OUTPUT 1, OUTPUT

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-9Figure 2.4 Transistor Output Hardware Configuration for OUTPUT 1, OUTPUT 2

Publication 2092-UM001D-EN-P — July 20052 I/O Connector – CN1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3Motor Feedback C

Publication 2092-UM001D-EN-P — July 20052-10 Ultra1500 Connector DataAnalog Inputs The Ultra1500 has two single-ended analog inputs. One is dedicated

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-11Analog Outputs The Ultra1500 contains two analog outputs that can be conf

Publication 2092-UM001D-EN-P — July 20052-12 Ultra1500 Connector DataPosition Command Inputs The Ultra1500, when operating in follower mode, accepts p

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-13Figure 2.3 depicts common interface types for Ultra1500 Position Commands

Publication 2092-UM001D-EN-P — July 20052-14 Ultra1500 Connector DataUnderstanding Ultra1500 Motor Encoder Feedback SpecificationsThe Ultra1500 can ac

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-15line loss detection using exclusive-OR gates that can be disabled in Ultr

Publication 2092-UM001D-EN-P — July 20052-16 Ultra1500 Connector DataThermostat InputThe Ultra1500 can monitor a thermostat or thermistor signal from

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-17Figure 2.15Sequencing and Phasing of the Hall SignalsFigure 2.16Sequencin

Publication 2092-UM001D-EN-P — July 20052-18 Ultra1500 Connector DataMotor Encoder Connection DiagramsFigures 2.18 through 2.22 show typical wiring di

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-19Figure 2.19Incremental Encoder to Drive Wiring Diagram ULTRA1500 EPWR ECO

Publication 2092-UM001D-EN-P — July 2005 3Connecting Input Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10Conne

Publication 2092-UM001D-EN-P — July 20052-20 Ultra1500 Connector DataFigure 2.20Anorad Linear Motor to Drive Wiring Diagram ULTRA1500 EPWR ECOM A+ ANO

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-21Figure 2.21Third Party Linear Motor to Drive Wiring DiagramBuffered Motor

Publication 2092-UM001D-EN-P — July 20052-22 Ultra1500 Connector DataFigure 2.22Motor Encoder OutputsIndex Pulses The Ultra1500 has two separate diffe

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-235 Volt Encoder Power SupplyAll Ultra1500 drives supply 5V dc for the oper

Publication 2092-UM001D-EN-P — July 20052-24 Ultra1500 Connector DataFigure 2.24Simplified Ultra1500 Internal Power CircuitryInput Power Connectors Th

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-25Figure 2.25Timing Requirement s of the Drive Enable Input Control Power –

Publication 2092-UM001D-EN-P — July 20052-26 Ultra1500 Connector DataDC Bus and Shunt Power Connectors The following power connections are made to an

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Connector Data 2-27Figure 2.26Ultra1500 Ground ConnectionsChassis ground terminal 2092-DA1 a

Publication 2092-UM001D-EN-P — July 20052-28 Ultra1500 Connector Data

1 Publication 2092-UM001D-EN-P — July 2005Chapter 3Connecting Your Ultra1500Chapter ObjectivesThis chapter provides procedures for wiring your Ultra15

Publication 2092-UM001D-EN-P — July 20054 High Error Output Offset. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-37High Error Output

Publication 2092-UM001D-EN-P — July 20053-2 Connecting Your Ultra1500Building Your Own CablesWhen building your own cables, follow the guidelines list

Publication 2092-UM001D-EN-P — July 2005Connecting Your Ultra1500 3-3Determining Your Type of Input PowerBefore you wire your Ultra1500 system

Publication 2092-UM001D-EN-P — July 20053-4 Connecting Your Ultra1500Figure 3.3Single-Phase Grounded Power ConfigurationFigure 3.4Single-Phase Amplifi

Publication 2092-UM001D-EN-P — July 2005Connecting Your Ultra1500 3-5Grounding Your Ultra1500All equipment and components of a machine or proc

Publication 2092-UM001D-EN-P — July 20053-6 Connecting Your Ultra1500Figure 3.5Chassis Ground Configuration (Multiple Ultra1500 Systems on One Panel)M

Publication 2092-UM001D-EN-P — July 2005Connecting Your Ultra1500 3-7Figure 3.6Motor Power Cable Shield ConnectionSafety PrecautionsObserve th

Publication 2092-UM001D-EN-P — July 20053-8 Connecting Your Ultra1500Power Wiring RequirementsPower wiring requirements are given in the tables below.

Publication 2092-UM001D-EN-P — July 2005Connecting Your Ultra1500 3-9Figure 3.7Ultra1500 Power Terminal Positions ATTENTION!The N terminal (la

Publication 2092-UM001D-EN-P — July 20053-10 Connecting Your Ultra1500Connecting Input PowerThis procedure assumes you have mounted your Ultra1500 dri

Publication 2092-UM001D-EN-P — July 2005Connecting Your Ultra1500 3-11To wire your input power:1. Prepare your wires by stripping approximatel

Publication 2092-UM001D-EN-P — July 2005 5Fault Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7Analog Ou

Publication 2092-UM001D-EN-P — July 20053-12 Connecting Your Ultra1500Figure 3.9Using the Power Connector Tool 5. Tighten the ground terminal screw. t

Publication 2092-UM001D-EN-P — July 2005Connecting Your Ultra1500 3-13Figure 3.10Motor Power Cable for TL-Series Motors (2090-DANPT-16Sxx)To w

Publication 2092-UM001D-EN-P — July 20053-14 Connecting Your Ultra1500Understanding Feedback and I/O Cable ConnectionsFactory made cables with premold

1 Publication 2092-UM001D-EN-P — July 2005Chapter 4Commissioning Your Ultra1500 This chapter describes how to configure you Ultra1500 drive using Ultr

Publication 2092-UM001D-EN-P — July 20054-2 Commissioning Your Ultra1500Figure 4.1Ultra1500 Operator Interface at Startup 3. Verify the status of the

Publication 2092-UM001D-EN-P — July 2005Commissioning Your Ultra1500 4-34. Look for the Ultra1500 icon (1.5k) under the On-Line Drives tree.

Publication 2092-UM001D-EN-P — July 20054-4 Commissioning Your Ultra15002. Invoke the Setup Wizard by highlighting the Drive branch, and then select t

Publication 2092-UM001D-EN-P — July 2005Commissioning Your Ultra1500 4-54. Ultraware prompts for the type of Controller and the Operation Mode

Publication 2092-UM001D-EN-P — July 20054-6 Commissioning Your Ultra15007. After the motor is selected, the Setup Wizard allows an autotune procedure

Publication 2092-UM001D-EN-P — July 2005Commissioning Your Ultra1500 4-7Testing Your MotorThis procedure assumes: • Power is applied to the Ul

Publication 2092-UM001D-EN-P — July 20056 Mode Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D

Publication 2092-UM001D-EN-P — July 20054-8 Commissioning Your Ultra15004. Activate the hardware ENABLE input to the drive. Note: The hardware ENABLE

1 Publication 2092-UM001D-EN-P — July 2005Chapter 5Ultra1500 Application ExamplesChapter ObjectivesThis chapter provides instructions on using the Ult

Publication 2092-UM001D-EN-P — July 20055-2 Ultra1500 Application ExamplesControlLogix 1756-M02AE System The Ultra1500 can be integrated into an Allen

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-3In this example, one general purpose input and one general purpose o

Publication 2092-UM001D-EN-P — July 20055-4 Ultra1500 Application ExamplesControlLogix and SoftLogix modules, refer to the table below for the appropr

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-56. Check the box Make this controller the Coordinated System Time ma

Publication 2092-UM001D-EN-P — July 20055-6 Ultra1500 Application Examples14. Assign your axis to a node address (as shown in the Associated Axes wind

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-7Note: For detailed testing and tuning information, refer to the appr

Publication 2092-UM001D-EN-P — July 20055-8 Ultra1500 Application Examples6. Select the Hookup tab.7. Select 2.0 as the number of revolutions for the

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-910. The Online Command – Apply Test window opens. When the test comp

1 Publication 2092-UM001D-EN-P — July 2005PrefaceIntroductionRead this preface to familiarize yourself with the rest of the manual. This preface conta

Publication 2092-UM001D-EN-P — July 20055-10 Ultra1500 Application Examples14. Select the Start Tuning button to auto-tune your axis. The Online Comma

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-11MicroLogix Follower The Ultra1500 can be integrated into a MicroLog

Publication 2092-UM001D-EN-P — July 20055-12 Ultra1500 Application Examplespulse train output from the MicroLogix controller is limited to 20 kHz, the

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-13PTO configuration parameters can be accessed directly using the Fun

Publication 2092-UM001D-EN-P — July 20055-14 Ultra1500 Application ExamplesThe PTO functionality provides the pulse generation capability necessary fo

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-15Refer to Testing Your Motor on page 4-7 to verify that the drive an

Publication 2092-UM001D-EN-P — July 20055-16 Ultra1500 Application ExamplesAbsolute Positioning The Ultra1500 can be used with the TL-Series motors, w

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-173. Identify the polarity of the new battery and its connector as sh

Publication 2092-UM001D-EN-P — July 20055-18 Ultra1500 Application ExamplesFigure 5.5Ultra1500 Expected Battery Life In Figure 5.5, three data points

Publication 2092-UM001D-EN-P — July 2005Ultra1500 Application Examples 5-19If the battery voltage is between 2.8 Volts and 3.1Volts, the encod