Ultra3000 Digital Servo Drives - Rockwell Automation

1 Integration ManualUltra3000 Digital Servo Drives Catalog Numbers 2098-DSD-005, -010, and -020 2098-DSD-xxxX 2098-DSD-xxx-SE 2098-DSD-xxx-DN 2098-DSD-xxxX-DN 2098-DSD-030, -075, and -150 2098-DSD-xxxX 2098-DSD-xxx-SE 2098-DSD-xxx-DN 2098-DSD-xxxX-DN 2098-DSD-HV030, -HV050, -HV100, -HV150, and -HV220 2098-DSD-HVxxxX 2098-DSD-HVxxx-SE 2098-DSD-HVxxx-DN 2098-DSD-HVxxxX-DNImportant User InformationSolid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication available from your local Rockwell Automation sales office or online at ) describes some important differences between solid state equipment and hard-wired electromechanical devices.

2 Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is no event will Rockwell Automation , Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation , Inc.

3 Cannot assume responsibility or liability for actual use based on the examples and patent liability is assumed by Rockwell Automation , Inc. with respect to use of information, circuits, equipment, or software described in this of the contents of this manual, in whole or in part, without written permission of Rockwell Automation , Inc., is this manual, when necessary, we use notes to make you aware of safety , CompactLogix, ControlLogix, Explorer, Kinetix, MP-Series, Rockwell Automation , Rockwell software , rslogix 5000 , RSNetWorx, RSTrend, SoftLogix, TechConnect, TL-Series, and Ultra3000 are trademarks of Rockwell Automation , not belonging to Rockwell Automation are property of their respective information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death.

4 Property damage, or economic information that is critical for successful application and understanding of the information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the HAZARDL abels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be HAZARDL abels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous 2098-IN005C-EN-P March 2008 PrefaceAbout This Publication.

5 7 Who Should Use This Manual .. 7 Conventions Used in This Manual .. 7 Additional Resources .. 8 Chapter 1 Commissioning Your Ultra3000 DriveIntroduction .. 9 General Startup Precautions .. 10 Understanding the Serial Connection .. 10 Configuring Your Ultra3000 Drive and Ultra3000 Drive with Indexing .. 11 Front Panel Connections .. 11 Apply Power To Your Ultra3000 Drive .. 15 Detect Your Ultra3000 Drive .. 16 Understanding the Workspace and Drive Branches .. 17 Select a Motor .. 21 Tune Your Motor .. 22 Configure Displayed Units.

6 23 Test Your Motor (non-indexing move) .. 25 Test Your Motor (indexing move) .. 26 Indexing and Non-indexing Move Examples .. 29 Configuring Your Ultra3000 Drive with rslogix 5000 software .. 52 Configure Your Ultra3000 Drive .. 52 Configuring Your Logix Analog Motion Module .. 53 Download Your Program .. 58 Testing and Tuning Your Axis.. 59 Configuring Your Ultra3000 Drive with SERCOS .. 65 Front Panel Connections .. 65 Configure Your Ultra3000 -SE Drive .. 70 Configuring Your Logix SERCOS interface Module .. 72 Download Your Program.

7 80 Apply Power to Your Ultra3000 Drive with SERCOS.. 81 Testing and Tuning Your Axis.. 83 Configuring Your Ultra3000 Drive with DeviceNet .. 89 Front Panel Connections .. 89 Configure Your Ultra3000 Drive with DeviceNet .. 93 Apply Power to Your Ultra3000 Drive with DeviceNet .. 94 Chapter 2 Troubleshooting Your Ultra3000 Servo DriveIntroduction .. 97 Safety Precautions .. 97 General Troubleshooting .. 98 Error Codes .. 98 Troubleshooting for SERCOS Drives .. 104 Table of ContentsPublication 2098-IN005C-EN-P March 20084 Table of ContentsUnderstanding Drive Fault Behavior.

8 105 Troubleshooting for DeviceNet Drives .. 109 Node Problems .. 110 Device Failure - Indicator Status Check .. 110 Scanner Problems .. 111 Power Supply Problems .. 111 Cable Installation and Design Problems .. 112 Adjusting the Physical Network Configuration .. 112 Appendix AInterconnect DiagramsIntroduction.. 113 Wiring Examples .. 114 Power Interconnect Diagrams .. 115 Shunt Module Interconnect Diagrams .. 119 Ultra3000 Drives /Rotary Motors and Actuators Wiring Examples .. 122 Ultra3000 Drives /Linear Actuators Wiring Examples.

9 127 Control String Examples (120V ac).. 128 Controlling a Brake Example .. 131 Ultra3000 Drive to Logix Analog Module Diagrams .. 133 Ultra3000 Drive to IMC-S Compact Controller Diagram .. 136 Appendix BUnderstanding Motor Feedback Signals and OutputsIntroduction.. 137 Unbuffered Encoder Outputs .. 138 Incremental Encoder Outputs .. 138 High Resolution Encoder Outputs .. 139 Appendix CMinimizing the Effects of Feedback Signal LossIntroduction.. 141 Setting Position Error Limits in Ultraware and rslogix 5000 software .. 142 Minimizing the Position Error Limit Setting.

10 142 Setting Velocity Error Limits in Ultraware software .. 144 Minimizing the Velocity Error Limit Setting.. 144 Configuring Fault Actions in rslogix 5000 software .. 145 Position and Velocity Error Limit Adjustment Example with Ultraware software .. 147 Create and Run a Sample Application in Ultraware software .. 147 Understanding Error Limit Settings in Ultraware software 149 Use the Oscilloscope Feature .. 150 Interpreting the Results .. 153 Position Error Limit Adjustment Example with rslogix 5000 software .. 154 Run the rslogix 5000 software Example Program.