Allen-Bradley 1756-M02AS User manual

Publication 1756-IN595A-EN-P - March 2004
Installation Instructions
SSI Servo Module
(Catalog Number 1756-M02AS)
The Synchronous Serial Interface (SSI) Servo Module mounts in a
ControlLogix™ chassis and uses a removable terminal block (RTB) to
connect all field-side wiring.
Before you install your module you should have:
•installed and grounded a 1756 chassis and power supply.
•ordered and received an RTB and its components for your
application.
To: See page:
Note the Power Requirements 4
Identifying Module Components 5
Installing the Module 6
Keying the Module & Removable Terminal Block/Interface Module 7
Wiring a Removable Terminal Block (RTB) 8
Wiring to a Servo Module 10
Wiring Registration Sensors 11
Wiring the Home Limit Switch 12
Wiring the OK Contacts 12
Assembling the Removable Terminal Block and the Housing 13
Installing the Removable Terminal Block onto the Module 13
Checking the LED Indicators 14
Removing the Removable Terminal Block from the Module 19
Removing the Module 20
1756-M02AS Specifications 21
Rockwell Automation Support Back Cover
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2SSI Servo Module
Publication 1756-IN595A-EN-P - March 2004
Important User Information
Solid state equipment has operational characteristics differing from those of
electromechanical equipment. Safety Guidelines for the Application, Installation and
Maintenance of Solid State Controls (Publication SGI-1.1 available from your local Rockwell
Automation sales office or online at http://www.ab.com/manuals/gi) describes some
important differences between solid state equipment and hard-wired electromechanical
devices. 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 acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or
consequential damages resulting from the use or application of this equipment.
The 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. cannot assume responsibility or liability for actual use based on
the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of
information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission
of Rockwell Automation, Inc. is prohibited.
Throughout this manual we use notes to make you aware of safety considerations.
WARNING Identifies information about practices or circumstances that can cause an explosion in a
hazardous environment, which may lead to personal injury or death, property damage,
or economic loss.
IMPORTANT Identifies information that is critical for successful application and understanding of the
product.
ATTENTION Identifies 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
•recognize the consequence
SHOCK HAZARD Labels may be located on or inside the drive to alert people that dangerous voltage may
be present.
BURN HAZARD Labels may be located on or inside the drive to alert people that surfaces may be
dangerous temperatures.

SSI Servo Module 3
Publication 1756-IN595A-EN-P - March 2004
Environment and Enclosure
Preventing Electrostatic Discharge
ATTENTION This equipment is intended for use in a Pollution Degree 2 industrial
environment, in overvoltage Category II applications (as defined in IEC
publication 60664-1), at altitudes up to 2000 meters without derating.
This equipment is considered Group 1, Class A industrial equipment
according to IEC/CISPR Publication 11. Without appropriate precautions,
there may be potential difficulties ensuring electromagnetic compatibility in
other environments due to conducted as well as radiated disturbance.
This equipment is supplied as “open type” equipment. It must be mounted
within an enclosure that is suitably designed for those specific environmental
conditions that will be present and appropriately designed to prevent
personal injury resulting from accessibility to live parts. The interior of the
enclosure must be accessible only by the use of a tool. Subsequent sections of
this publication may contain additional information regarding specific
enclosure type ratings that are required to comply with certain product safety
certifications.
See NEMA Standards publication 250 and IEC publication 60529, as
applicable, for explanations of the degrees of protection provided by
different types of enclosure. Also, see the appropriate sections in this
publication, as well as the Allen-Bradley publication 1770-4.1 (“Industrial
Automation Wiring and Grounding Guidelines”), for additional installation
requirements pertaining to this equipment.
ATTENTION This equipment is sensitive to electrostatic discharge, which can cause
internal damage and affect normal operation. Follow these guidelines
when you handle this equipment:
•Touch a grounded object to discharge potential static.
•Wear an approved grounding wriststrap.
•Do not touch connectors or pins on component boards.
•Do not touch circuit components inside the equipment.
•If available, use a static-safe workstation.
When not in use, store the equipment in appropriate static-safe
packaging.
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4SSI Servo Module
Publication 1756-IN595A-EN-P - March 2004
Removal and Insertion Under Power
Repeated electrical arcing causes excessive wear to contacts on both the
module and its mating connector. Worn contacts may create electrical
resistance that can affect module operation.
Note the Power Requirements
This module receives power from the 1756 chassis power supply and requires
two sources of power from the backplane:
•700mA at 5.1 V dc
•2.5 mA at 24V dc
Add this current to the requirements of all other modules in this chassis to
prevent overloading the backplane power supply.
WARNING When you insert or remove the module while backplane power
is on, an electrical arc can occur. This could cause an explosion
in hazardous location installations. Be sure that power is
removed or the area is nonhazardous before proceeding.

SSI Servo Module 5
Publication 1756-IN595A-EN-P - March 2004
Identifying Module Components
You received two components with your order:
•1756-M02AS module
•RTB door label
If you did not receive these components, contact your Rockwell Automation
representative.
This module mounts in a 1756 chassis and uses a separately-ordered RTB or a
Bulletin 1492 Interface Module (IFM)(1) to connect all field-side wiring. This
module uses one of the following RTBs:
•1756-TBCH 36 position Cage clamp RTB
•1756-TBS6H 36 position Spring clamp RTB
Use an extended-depth cover (1756-TBE) for applications with heavy gauge
wiring or requiring additional routing space. When using an IFM, consult the
documentation that came with it to connect wiring.
(1) The ControlLogix system has been agency certified using only the ControlLogix RTBs (i.e. 1756-TBCH,
1756-TBNH, 1756-TBSH and 1756-TBS6H). Any application that requires agency certification of the
ControlLogix system using other wiring termination methods may require application specific approval
by the certifying agency.
IMPORTANT Before you install your module, you should:
•install and ground a 1756 chassis and power supply.
•order and receive an RTB or IFM, and its components, for
your application.
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6SSI Servo Module
Publication 1756-IN595A-EN-P - March 2004
Installing the Module
You can install or remove the module while chassis power is applied.
Repeated electrical arcing causes excessive wear to contacts on both the
module and its mating connector. Worn contacts may create electrical
resistance that can affect module operation.
1. Align the circuit board with the top and bottom chassis guides.
Figure 1 Circuit Board Alignment
WARNING When you insert or remove the module while backplane power is
on, an electrical arc can occur. This could cause an explosion in
hazardous location installations. Be sure that power is removed
or the area is nonhazardous before proceeding.
20861-M
Printed Circuit Board

SSI Servo Module 7
Publication 1756-IN595A-EN-P - March 2004
2. Slide the module into the chassis until module tabs ‘click’.
Figure 2 Module Locking Tabs
Keying the Module and Removable Terminal Block/Interface
Module
Use the wedge-shaped keying tabs and U-shaped keying bands to prevent
connecting the wrong wires to your module.
Key positions on the module that correspond to unkeyed positions on the
RTB. For example, if you key the first position on the module, leave the first
position on the RTB unkeyed.
1. To key the module, insert the U-shaped band, as shown.
Figure 3 Keying Band
20862-M
Locking Tab
20850–M
U-shaped
bands
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8SSI Servo Module
Publication 1756-IN595A-EN-P - March 2004
2. Push the band until it snaps in place.
3. To key the RTB or IFM, insert the wedge-shaped tab with rounded
edge first, as shown.
Figure 4 Keying Band
4. Push the tab until it stops.
Reposition the tabs to rekey future module applications.
Wiring a Removable Terminal Block (RTB)
Your 1756-M02AS module uses two types of RTBs (each RTB comes with
housing) to connect wiring.
•Cage clamp - Catalog number 1756-TBCH
•Spring clamp - Catalog number 1756-TBS6H
20851–M
Wedge-shaped tab

SSI Servo Module 9
Publication 1756-IN595A-EN-P - March 2004
Connect the wires as shown below.
Figure 5 Connecting to Spring Clamp and Cage Clamp RTBs
Spring Clamp RTB Cage Clamp RTB
20860-M
20859-M
1. Strip 7/16 inch (11mm) maximum
length of wire.
2. Insert the screwdriver into the
inner hole of the RTB.
3. Insert the wire into the
open terminal and
remove the screwdriver.
1. Strip 3/8 inch (9.5mm) maximum
length of wire.
2. Insert the wire into the open terminal.
3. Turn the screw clockwise to close the
terminal on the wire.
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10 SSI Servo Module
Publication 1756-IN595A-EN-P - March 2004
Wiring to a Servo Module
Use the wiring example in the following figure to wire to your module.
Figure 6 Wiring Example
+OUT-0
-OUT-0
+ENABLE-0
-ENABLE-0
DRVFLT-0
CHASSIS
IN_COM
HOME-0.
REG24V-0
REG5V-0
+OK
CHASSIS
+CLOCK-0
-CLOCK-0
+DATA-0
-DATA-0
SSI COM
CHASSIS.
+OUT-1
-OUT-1
+ENABLE-1
-ENABLE-1
DRVFLT-1
CHASSIS
IN_COM
HOME-1.
REG24V-1
REG5V-1
-OK
CHASSIS
+CLOCK-1
-CLOCK-1
+DATA-1
-DATA-1
SSI COM
CHASSIS.
General cable
C0720 To Servo Drive
or valve
To home
limit
switch
To E-stop relay coil
To Servo Drive,
valve or pump
To
Synchronous
Serial
Interface (SSI)
To
registration
sensor
43394
General cable
C0721
General cable
C0720
General cable
C0720
General cable
C0722
General cable
C0720
1. This is a general wiring example illustrating Axis 1 wiring only. Other
configurations are possible with Axis wiring identical to Axis 1.
NOTES:

SSI Servo Module 11
Publication 1756-IN595A-EN-P - March 2004
Wiring Registration Sensors
The registration inputs to the servo module can support 24V dc or 5V dc
registration sensors. These inputs should be wired to receive source current
from the sensor. Current sinking sensor configurations are not allowed
because the registration input common (IN_ COM) is shared with the other
24V dc servo module inputs.
Figure 7 - 24V Registration Sensor
Figure 8 - 5V Registration Sensor
From
1756-M02AS REG24V
IN_COM
24 V dc
Power
Supply
+24 Volt
Registration
Sensor
Supply
Output
Common
–
43395
General cable
C0720
From
1756-M02AS REG5V
IN_COM
5 V dc
Power
Supply
+5 Volt
Registration
Sensor
Supply
Output
Common
–
43395
General cable
C0720
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12 SSI Servo Module
Publication 1756-IN595A-EN-P - March 2004
Wiring the Home Limit Switch Input
The home limit switch inputs to the servo module are designed for 24V dc
nominal operation. These inputs should be wired for current sourcing
operation.
Figure 9 Home Limit Switch Input
Wiring the OK Contacts
A set of isolated solid- state OK relay contacts is provided for optional
interface to an E- stop string, which controls power to the associated pumps.
The OK contacts are rated to drive an external 24V dc pilot relay (for
example, Allen-Bradley 700- HA32Z24) whose contacts can be incorporated
into the E- Stop string as in the following figure.
Figure 10 Wiring OK Contacts
From
1756-M02AS HOME
IN_COM
24 V dc
Power
Supply
+–
43396
General cable
C0720
From
1756-M02AS +OK
-OK
24 V dc
Power
Supply
+–
43397
OK Pilot
Relay
43398
OK Pilot
Relay
Contacts Start Stop CR1
CR1
CR1
M1
24V ac/dc or
120V ac
typical
General cable
C0720

SSI Servo Module 13
Publication 1756-IN595A-EN-P - March 2004
Assembling the Removable Terminal Block and the Housing
Figure 11 RTB and Housing
Installing the Removable Terminal Block onto the Module
Before installing the RTB, make certain:
•field-side wiring of the RTB has been completed.
•the RTB housing is snapped in place on the RTB.
•the RTB housing is closed.
•the locking tab at the top of the module is unlocked.
WARNING When you connect or disconnect the Removable Terminal Block
(RTB) with field side power applied, an electrical arc can occur.
This could cause an explosion in hazardous location
installations.
Be sure that power is removed or the area is nonhazardous
before proceeding.
20858–M
Groove
Groove
Side edge of the RTB
Side edge of the RTB
Strain relief area
1. Align the grooves at the bottom of the housing with the side edges of the RTB.
2. Slide the RTB into the housing until it snaps into place.
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14 SSI Servo Module
Publication 1756-IN595A-EN-P - March 2004
Figure 12 Seating the RTB
Checking the LED Indicators
The module uses a single bi-colored LED to indicate module OK status and
bi-colored LED indicators to show individual feedback (FDBK) and drive
(DRIVE) status for both axes.
During power up, the module completes an indicator test. The OK indicator
turns red for 1 second and then turns to flashing green if the module passes
all its self tests.
Module Status Using the OK Indicator
Figure 13 OK Indicator LED
20853–M 20854–M
Module
guide
RTB guides
Locking tab
1. Align the module and RTB guides to
make sure the module will seat properly.
2. Press quickly and evenly to seat the RTB
until the latches snap into place.
3. To lock the RTB on the module,
slide the locking tab down.
OK indicator
CH0 CH1
FDBK
DRIVE
OK
2 AXIS SERVO / SSI
FDBK
DRIVE

SSI Servo Module 15
Publication 1756-IN595A-EN-P - March 2004
The table below provides an explanation of the OK indicator.
If the OK LED
displays:
The module status is: Take this action:
Off The module is not operating. •Apply chassis power.
•Verify the module is completely
inserted in chassis and
backplane.
Flashing green
light
The module has passed
internal diagnostics, but it is
not communicating axis
data over the backplane.
•None, if you have not
configured the module.
•If you have configured the
module, check the slot number
in the 1756-M02AS Properties
dialog box.
Steady green
light
One of the following:
•Module is
exchanging axis
data.
•The module is in
the normal
operating state.
None
Flashing red
light
One of the following:
•A major
recoverable failure
has occurred.
•A communication
fault, timer fault,
or non-volatile
memory storage
(NVS) update is in
progress.
•The OK contact
has opened.
If an NVS update is in progress,
complete the NVS update.
If an NVS update is not in progress:
•Check the Servo Fault word for
the source of the error.
•Clear the servo fault condition
via Motion Axis Fault Reset
instruction.
•Resume normal operation.
•If the flashing persists,
reconfigure the module.
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16 SSI Servo Module
Publication 1756-IN595A-EN-P - March 2004
Module Status Using the FDBK Indicator
Figure 14 FDBK Indicator LED
The table below provides an explanation of the FDBK indicator.
Steady red light One of the following:
•A potential non-
recoverable fault
has occurred.
•The OK contact
has opened.
•Reboot the module.
•If the solid red persists, replace
the module.
If the FDBK
LED displays:
The module status is: Take this action:
Off The axis is not used. •None, if you are not using this
axis.
•If you are using this axis, make
sure the module is configured
and an axis tag has been
associated with the module.
Flashing green
light
The axis is in the normal
servo loop inactive state.
None. The servo axis state can be
changed by executing motion
instructions.
Steady green
light
The axis is in the normal
servo loop active state.
None. The servo axis state can be
changed by executing motion
instructions.
If the OK LED
displays:
The module status is: Take this action:
CH0 CH1
FDBK
DRIVE
OK
2 AXIS SERVO / SSI
FDBK
DRIVE
Feedback
indicators

SSI Servo Module 17
Publication 1756-IN595A-EN-P - March 2004
Module Status Using the DRIVE Indicator
Figure 15 Drive Indicator LED
Flashing red
light
The axis servo loop error
tolerance has been
exceeded.
•Correct the source of the
problem.
•Clear the servo fault condition
using the Motion Axis Fault
Reset instruction.
•Resume normal operation.
Steady red light An axis SSI feedback fault
has occurred.
•Correct the source of the
problem by checking the SSI
device and power connections.
•Clear the servo fault condition
using the Motion Axis Fault
Reset instruction.
•Resume normal operation.
If the FDBK
LED displays:
The module status is: Take this action:
CH0 CH1
FDBK
DRIVE
OK
2 AXIS SERVO / SSI
FDBK
DRIVE
Drive
indicators
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18 SSI Servo Module
Publication 1756-IN595A-EN-P - March 2004
The table below provides an explanation of the DRIVE indicator.
If the DRIVE
LED displays:
The module status is: Take this action:
Off One of the following:
•The axis is not
used.
•The axis is a
position- only axis
type.
•None, if the axis is not used or
is a position- only type.
•Otherwise, make sure the
module is configured, an axis
tag has been associated with
the module, and the axis type is
servo.
Flashing green
light
The axis drive is in the
normal disabled state.
None. The servo axis state can be
changed by executing motion
instructions.
Steady green
light
The axis drive is in the
normal enabled state.
None. The servo axis state can be
changed by executing motion
instructions.

SSI Servo Module 19
Publication 1756-IN595A-EN-P - March 2004
Removing the Removable Terminal Block from the Module
If you must remove the module, you have to remove the RTB first.
Flashing red
light
The axis drive output is in
the shutdown state.
•Check for faults that may have
generated this state.
•Execute the Motion Axis
Shutdown Reset instruction.
•Resume normal operation.
Steady red light The axis drive is faulted. •Check the drive status.
•Clear the Drive Fault condition
at the drive.
•Clear the servo fault condition
using the Motion Axis Fault
Reset instruction.
•Resume normal operation.
•Check the configuration for the
Drive Fault.
•If configured to be normally
open and there is no voltage,
this is the normal condition.
•If configured to be normally
closed and 24V dc is applied,
this is the normal condition.
WARNING When you connect or disconnect the Removable Terminal Block
(RTB) with field side power applied; an electrical arc can occur.
This could cause an explosion in hazardous location
installations.
Be sure that power is removed or the area is nonhazardous
before proceeding.
If the DRIVE
LED displays:
The module status is: Take this action:
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20 SSI Servo Module
Publication 1756-IN595A-EN-P - March 2004
You must remove the RTB before removing the module.
Figure 16 Removing the RTB
Removing the Module
Figure 17 Removing the Module
20855–M
2. Open the RTB door and pull
the RTB off the module.
1. Unlock the locking tab at
the top of the module.
42517
1. Push in top and bottom locking tabs. 2. Pull module out of the chassis.
20856–M 20857–M