Allen-Bradley 1391B Series User manual

1391B-ES Instruction Manual
Table of Contents
i
Introduction Chapter 1
Manual Objectives 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1391 Series D 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Precautions 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Controller Description 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Standard Features 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Options/Modifications 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Controller Layout 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifications Chapter 2
Chapter Objectives 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Controller Specifications 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Environmental Specifications 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Controller Power Dissipation 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transformer Power Dissipation 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Receiving, Unpacking and Chapter 3
Inspection Chapter Objectives 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Receiving 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unpacking 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inspection 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Storing 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of Operation Chapter 4
Chapter Objectives 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
300V DC Power Bus Supply 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PWM Operation 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Shunt Regulator Operation 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Logic Power Supply 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Logic Control Boards 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault Monitoring and Detection 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Isolated Current Sensing 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Integral Circuit Breaker 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Line/DB Contactor 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Driver Board 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A Quad B Board 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Starting and Stopping 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power-Up/Down Sequence 4-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1391B-ES Instruction Manual
Table of Contents
ii
Inputs, Outputs and Adjustments Chapter 5
Chapter Objectives 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inputs/Outputs 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Potentiometer Adjustments 5-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Switch Settings 5-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation Chapter 6
Chapter Objectives 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring Recommendations 6-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring 6-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Start-Up Chapter 7
Chapter Objectives 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Start-Up Procedure 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The 1326AB AC Servomotor Chapter 8
Chapter Objectives 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor Options/Accessories 8-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transformers and Shunt Regulators Chapter 9
Chapter Objectives 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1391 Transformers 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Shunt Regulator Operation 9-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Shunt Regulator Installation 9-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Troubleshooting Chapter 10
Chapter Objectives 10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System Troubleshooting 10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Test Point Descriptions 10-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimensions Appendix A
Interconnect Drawings Appendix B
Cable Information Appendix C
Controller Options Appendix D

1
Chapter
1-1
Introduction
Manual Objectives This manual is meant to guide the interface, installation, setup and
troubleshooting of a 1391B-ES AC Servo Controller. The contents are
arranged in order from a general description of the controller to
troubleshooting and maintenance. To ensure successful installation and
operation, the material presented must be thoroughly read and understood
before proceeding. Particular attention must be directed to the Attention
and Important statements contained within.
Important Information about this Manual
This manual has been prepared primarily to support this product in a single
controller application. It is a standard document that is intended to help the
user understand the individual operating characteristics and limitations of
this equipment including hazards associated with installation, setup and
maintenance procedures. Note the following points:
nThis equipment has been designed to meet the requirements of a
component controller in an integrated controller system.
nWhile the potential hazards associated with the controller remain the
same when used in a system environment, it must be noted that special
considerations are to be given to characteristics of other peripheral
solid-state control equipment and the cumulative impact on safety.
nManufacturers and engineering groups responsible for specification or
design of electrical control equipment must refer to applicable industry
standards and codes for specific safety guidelines and interface
requirements.
nIn the actual factory environment, the user is responsible to ensure
compliance with applicable machine and operator safety codes or
regulations which are beyond the scope and purpose of this document.
1391 Series D Allen-Bradley’s commitment to continuing product improvement has led to
the introduction of the 1391 Series D Servo Controller. The catalog
number string for the Series D will be unchanged, however, the controller
nameplate will appear as follows:
CAT 1391B-xxx SER D
This new series incorporates a re-designed Power Driver Board that
increases manufacturing quality and provides a platform for new versions
of the 1391 that are now in development.
This enhancement is totally transparent to the user of this product. The
Control Board and all other components of the controller remain the same.

Introduction
Chapter 1
1-2
General Precautions In addition to the precautions listed throughout this manual, the following
statements which are general to the controller must be read and understood.
ATTENTION: Only personnel familiar with the 1391B-ES
Servo Controller and associated machinery should plan or
implement the installation, start-up and subsequent maintenance
of the controller. Failure to comply may result in personal injury
and/or equipment damage.
ATTENTION: An incorrectly applied or installed controller
can result in component damage or a reduction in product life.
Wiring or application errors, such as, undersizing the motor,
incorrect or inadequate AC supply, or excessive ambient
temperatures may result in malfunction of the controller.
ATTENTION: This controller contains ESD (Electrostatic
Discharge) sensitive parts and assemblies. Static control
precautions are required when installing, testing, servicing or
repairing this assembly. Component damage may result if ESD
control procedures are not followed. If you are not familiar with
static control procedures, reference Allen-Bradley publication
8000-4.5.2, Guarding Against Electrostatic Damage or any
other applicable ESD Protection Handbook.
!
!
!
Important: In order to maintain UL listing on Allen-Bradley 1391B-ES
Servo Controllers, the user must provide power from a 1391 Isolation
Transformer. Use of any other transformer voids the UL listing.
The user is responsible for providing motor overload protection in
accordance with the National Electrical Code (NEC), and any other local
codes that may apply.
Controller Description The 1391B-ES Pulse Width Modulated Servo Controller is a dedicated,
single axis, AC servo controller. It has been packaged to require a
minimum amount of panel space while containing, as standard, a number
of features required by the machine tool and automated equipment
industries.
The 1391B-ES allows the user to achieve higher operating speeds with
purchased motors or from motors already in use. Depending on the motor,
the 1391B-ES can produce up to 30% more speed without loss of torque.
This can help achieve greater precision, a finer finished product and
increased production from existing machinery.

Introduction
Chapter 1
1-3
The 1391B-ES is generally used with a computer aided, closed loop
positioning system to control the position and linear or rotary motion of
various machine members on an automated machine.
All components are mounted in an open framed package with a slide-on
front cover. The controller is intended to be panel mounted in an enclosure
and ventilated with filtered and/or cooled air. An internal fan is included to
circulate air over the power heat sink.
The 1391B-ES converts a three-phase, 50/60 Hz input, to a variable AC
voltage with controlled phase, amplitude and frequency. The output which
is proportional to a user supplied analog command, regulates the speed
and/or current (torque) of a 1326 permanent magnet AC servomotor. The
controller is available in ratings of 15, 22.5 and 45A RMS with all package
sizes being identical. A 1391 Transformer, 1326 AC Servomotor and 1326
Cables complete the servo system.
Standard Features The 1391B-ES contains a number of standard features required in a typical
automated machine servo system.
•Input protected against transient voltage.
•A power line/DB contactor which opens the AC line to the controller
and inserts a shunt regulator resistor across the DC bus whenever the
contactor is de-energized.
•An integral circuit breaker which will open all three AC line leads in the
event of a short circuit condition in the power circuitry.
•A standard 300V DC power bus supply that includes an integral shunt
regulator.
•A shunt regulator resistor to dissipate the energy generated by the motor
during regenerative braking.
•Velocity loop components to compensate for a system inertia range
between 0.03 to 1.0 lb.-in.-s2.
•User selectable mechanical resonance filtering.
•Patented current control implementation.
•Acceleration or torque feedforward differential input.
•DIP switch configurable.
•Logic Boards that can be quickly removed and easily interchanged for
troubleshooting and diagnostics.
•Three controller ratings that are in the same physical package and have
identical mounting dimensions.
•True vector control.
•Up to 300 feet (91.4 meters) between controller and motor.

Introduction
Chapter 1
1-4
Options/Modifications The 1391B-ES contains most functions needed in a servo system.
The following are selectable at the user’s option:
- Contactor Auxiliary Switch
Two N.O. contacts are mounted on the main power contactor and wired
to the power terminal block. These contacts can be used in a motor
brake control circuit or as an indicator that the contactor has closed.
- Current or Torque Amplifier Operation
When the velocity loop is being closed as part of the position control
system, the controller can be configured to operate as a current or torque
amplifier by use of the S2 switch settings.
- External Shunt Regulator Resistor
On 15 and 22.5A controllers an internal power resistor that is part of the
DC bus voltage shunt regulator can dissipate 162 watts continuous
power. Some applications such as an overhauling load have excessive
regenerative energy to dissipate. For these applications, an external
shunt regulator resistor rated at 386 watts continuous can be supplied for
user mounting on 22.5A controllers. This is selectable by removing the
jumper on TB5 and using an external resistor. The shunt has integral
fusing accessible from the outside of 15 and 22.5A controllers. The 45A
controller has an externally mounted resistor and fuse.
Important: An external shunt regulator resistor is included as standard
equipment on 45A units. An additional unit is not required.
- Tach Output
A voltage equal to 2.0V DC/1000 RPM is available at TB2. 1.2V
DC/1000 RPM on units set for 6000 RPM operation.
- Torque or Current Monitor
A voltage equal to 3.0V DC=100% scaled current is available at TB2.
- Anti-Backlash
Provisions to use the 1388 Anti-Backlash module are provided.
Controller Layout Figure 1.1 provides an exterior view of the 1391B-ES AC Servo
Controller, showing accessibility of various components.

Introduction
Chapter 1
1-5
Figure 1.1
1391B-ES AC Servo Controller
TB2
Ground Stud
TB
5
TB4
Circuit Breaker
Fuse
SW1
TB1
Diagnostic LED’s

Introduction
Chapter 1
1-6
End of Chapter

2
Chapter
2-7
Specifications
Chapter Objectives Chapter two contains the electrical and environmental specifications for the
1391B-ES. Dimensions are provided in Appendix A.
Controller Specifications The general specifications of the 1391B-ES are provided in the listing
below. The specifications are divided when necessary for the various
controller ratings.
Specific Controller Ratings 1391B-ESAA15 1391B-ESAA22 1391B-ESAA45
Nominal Bus Output Voltage 300V DC 300V DC 300V DC
Continuous Current (RMS) 15A 22.5A 45A
Peak Current (RMS) 30A 45A 90A
Continuous Power Output 5.0 kW 7.5 kW 15.0 kW
Peak Power Output 10.0 kW 15.0 kW 30.0 kW
Input Circuit Breaker Rating 17A RMS 26A RMS 38A RMS
Circuit Breaker Interrupt Rating
(Symmetrical Amperes) 1300A 1300A 1300A
Unit Weight in lbs. (kg) 22 (9.97) 28 (12.69) 34 (15.40)
All Controller Ratings
Static Gain (A/RMS) 1.5 x Rated Motor Current / rpm
Form Factor 1.03 or less
Peak Current Limit Adjust 20 to 300% of Rated Motor Current (to 2 times continuous
rating of drive, maximum)
Controller Efficiency
(Minimum at Rated Load) 85%
Modulation Frequency 2500 Hz ±10%
Drift (Referred to Tach) 0.07 rpm /Degrees C. Maximum
Ambient Temperature 0 to 60°C (32 to 140°F)
Storage Temperature 0 to 65°C (32 to 149°F)
Input Voltage (from Transformer) Power: 230V AC, Three-Phase, 50/60
Hz ±3 Hz Control: 36V AC CT, Single-Phase
Relative Humidity 5 to 95% Non-Condensing
Deadband Zero
Altitude 1000 meters (3300 feet)
Integral Fan Output 50 CFM (Unloaded)
Max. RMS Short Circuit Current
(Symmetrical Amperes) 1300A
Transformer Input Tolerance +10%, –15%

Specifications
Chapter 2
2-8
Specifications are for reference only and are subject to change without notice.
Environmental Specifications The 1391B-ES must be mounted in an enclosure that is clean, dry and
ventilated by filtered or cooled air. Enclosures vented with ambient air
must have appropriate filtering to protect against contamination caused by
oils, coolants, dust, condensation etc. The ambient air temperature must be
kept between 0 to 60°C (32 to 140°F) and the humidity between 5 and
95%, non-condensing.
The 1391B-ES is equipped with an integral cooling fan. The general flow
of air through the unit must be maintained by following the recommended
spacing guidelines found in Chapter 6. The 1391B-ES can operate at
elevations to 3300 feet (1000 meters) without derating, however, the
current rating must be derated by 3% for each additional 1000 feet (305
meters) up to 10,000 feet (3050 meters). Consult with your local
Allen-Bradley Sales Representative prior to operation over 10,000 feet
(3050 meters).
Controller Power Dissipation The 1391B-ES dissipation characteristics are approximated in Table 2.A.
Table 2.A
Controller Power Dissipation
Rated Power
Output
(%)
20
40
60
80
100
1391B-ESAA
15
(watts)
38
76
114
152
190
1391B-ESAA
22
(watts)
55
110
165
220
275
1391B-ESAA
45
(watts)
104
208
312
416
520
Transformer Power Dissipation The power dissipation characteristics of the 1391 Isolation Transformer are
shown in Table 2.B.
Table 2.B
1391 Isolation Transformer Power Dissipation
Rated Power
Output
(%)
20
40
60
80
100
1.5kV
A
(watts)
13
25
38
50
60
3.5kV
A
(watts)
35
70
105
140
175
5.0kV
A
(watts)
50
100
150
200
250
10.0kV
A
(watts)
100
200
300
400
500
12.5kV
A
(watts)
125
250
375
500
625
15.0kV
A
(watts)
150
300
450
600
750

2-9
Important: Power Dissipation figures shown are for use in calculating
cumulative system heat dissipation to ensure ambient temperature inside
enclosure does not exceed 60°C (140°F).

3
Chapter
3-10
Receiving, Unpacking and Inspection
Chapter Objectives Chapter 3 provides the information needed to unpack, properly inspect and
if necessary, store the 1391B-ES and related equipment. The section
entitled Inspection provides a complete explanation of the 1391B-ES
catalog numbering system.
Receiving It is the responsibility of the user to thoroughly inspect the equipment
before accepting the shipment from the freight company. Check the item(s)
received against the purchase order. If any items are obviously damaged, it
is the responsibility of the user not to accept delivery until the freight agent
has noted the damage on the freight bill. Should any concealed damage be
found during unpacking, it is again the responsibility of the user to notify
the freight agent. The shipping container must be left intact and the freight
agent should be requested to make a visual inspection of the equipment.
Unpacking Remove all packing material, wedges, or braces from within and around
the controller. Remove all packing material from the cooling fans, heat sink
etc.
Important: Before the installation and start-up of the controller, a general
inspection of mechanical integrity (i.e. loose parts, wires, connections,
packing materials, etc.) must be made.
Inspection After unpacking, check the item(s) nameplate catalog number against the
purchase order. An explanation of the catalog numbering system is
included on the following pages as an aid for nameplate interpretation.
Storing The controller should remain in its shipping container prior to installation.
If the equipment is not to be used for a period of time, it must be stored
according to the following instructions:
•Store in a clean, dry location.
•Store within an ambient temperature range of 0 to 65°C (32 to 149°F).
•Store within a relative humidity range of 5% to 95%, non-condensing.
•Do not store equipment where it could be exposed to a corrosive
atmosphere.
•Do not store equipment in a construction area.

Receiving, Unpacking and Inspection
Chapter 3
3-11
Isolation Transformer
1391 T
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number Type
015
Fourth Position
kVA Rating
D
Fifth Posi-
tion
Primary Voltage
& Frequency
T
Secondary
Voltage
–
Description
240/480V AC,
Three- Phase, 60 Hz
240/380/415/480V
AC, Three-Phase,
50/60 Hz
208/230/460/575V
AC, Three-Phase,
60 Hz
Letter
D
E
N
kVA
1.5
3.5
5.0
10.0
12.5
15.0
Num-
ber
015
035
050
100
125
150
Description
Trans-
former
Open
Core and
Coil
Let-
ter
T
Description
230V AC, three-
phase and four
36V AC, single-
phase C.T.wind-
ings
Letter
T
1391
First Position Second Posi-
tion
Bulletin
Number Accessory
Module
TA2–
Description
Fits all kVA ratings on 1388, 1389
and 1391 Isolation Transformers.
Let-
ter
TA
2
NEMA Type 1 Transformer Enclosure
Kit

Receiving, Unpacking and Inspection
Chapter 3
3-12
Bulletin 1391B-ES Controller
1391B ES A
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number Type and Construction Nominal Output Voltage
Description
230V AC,
Three-
Phase
Fourth Position
Current
Rating
Let-
ter
A
A
Fifth Posi-
tion
45
Sixth Position
Options
(if required)
xxx–
Description
15A RMS
Cont./
30A Peak
22.5A RMS
Cont./
45A Peak
45A RMS
Cont./
90A Peak
Num-
ber
15
22
45
Description
Three character field
assigned to special
modifications.
Contact your local
Allen-Bradley Sales
Representative for
further information.
Accessory Modules
1388 X B
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number Accessory
Module Accessory
–
Cod
e
A
B
C
Description
Anti-Backlash Module w/mounting
assembly
Accel/Decel Board w/mounting rack
Velocity Reference Board w/mounting
rack
Description
Standard
Code
B
Description
Open
Frame,
Internal
Heat Sink
Let-
ter
A
–
Speed
Capability
Description
Standard
1391B
Extended
Speed
Range
Letter
Blan
k
ES
Description
Must be or-
dered when
using rare-
earth motors
Code
A12
External Shunt Regulator Resistor
1326 MOD SR22A
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number Type Description
–
Code
SR22
A
SR45
A
Description
Shunt Regulator Resistor for 22.5A
Controller
Shunt Regulator Resistor for 45A
Controller
Description
Modifica-
tion Kit
Code
MO
D
–

Receiving, Unpacking and Inspection
Chapter 3
3-13
1326 A 3
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number
Fourth Position
Max. Op.
Speed
E
Fifth Posi-
tion
Series
11
Standard
Options
–
Description
AC
Servomo-
tor PM
Type
Let-
ter
A
Design Motor Length
Description
72 lb.-in. (8.1 N-m) Holding Brake w/90V DC
Coil.
120 lb.-in. (13.6 N-m) Holding Brake w/90V
DC Coil.
360 lb.-in. (40.7 N-m) Holding Brake w/90V
DC Coil.
Code
A4
A5
A7
Sixth Position
–BA
Type
Descrip-
tion
Factory
use only
Eighth Posi-
tion
–
1326AB Servomotor
Description
Sequentially
lettered to
designate
frame diame-
ters.
Description
Sequential-
ly num-
bered to
indicate
stack
length with-
in a given
frame size.
1326A
BMO D
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number
Fourth Position
Motor
Mounting1
A
Fifth Posi-
tion
Material
1–
Description
Modifica-
tion Kit
Code
MO
D
Shaft
Seal Motor Series
Sixth Position
SS V
Type
–
Shaft Oil Seal Kit
Description
Viton
Letter
V
for . . .
-A Series
-B Series
-C Series
Letter
A
B
C
Description
Std. Inch
Metric
Num-
ber
1
2
–
Brake Power Supply Rectifier
1326 MO
DBP S
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number Type Description
–
Code
BP
S
Description
Single-phase, full-wave, screw mount
rectifier. 115V AC input, for use with
90V DC brakes.2
Description
Modifica-
tion Kit
Code
MO
D
A4
Mounting &
Shaft Description
Description
4.25”
(108 mm)
5.88”
(149 mm)
7.63”
(194 mm)
Code
A
B
C
RPM
200
0
300
0
400
0
600
0
Let-
ter
B
C
E
G
Seventh Posi-
tion
Description
Inch Combina-
tion Face/
Flange with
Keyway
NEMA/IEC
Metric Flange
with Keyway
Cod
e
11
21
–
1“A” Series motors with brake must use
1326AB-MOD-SSV-A2.
2Up to 4 brakes per rectifier can be
used.

Receiving, Unpacking and Inspection
Chapter 3
3-14
1326A
BMO D
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number
Fourth Position
Coupling Size
for . . .
–
Description
Modifica-
tion Kit
Code
MO
D
Mounting Adapter
Kit for . . .
M4 C
1
Type
–
Feedback Mounting Adapter Kit4
Motor Series
A, B, C
For M22,
M23, M24,
M25, M26
Code
C1
Blan
k
–
Motor Junction Box Kit3
1326A
BMO DRJA B
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number Type Description
–
Code
RJA
B
RJB
C
Description
For all AB-A and
AB-B Series Motors
For all AB-B4 and
AB-Cx Series Motors
Description
A-B 845H/T Encoder for AB-A series motor
A-B 845H/T Encoder for AB-B series motor
A-B 845H/T Encoder for AB-C series motor
Type VC/VD 4.25” (108 mm) Resolver for AB-B series
motor
Type VC/VD 4.25” (108 mm) Resolver for AB-C series
motor
0.375” (9.5 mm) diameter heavy duty shaft extension
adapter
0.625” (15.9 mm) diameter heavy duty shaft extension
for type VC/VD 4.25” (108 mm) resolver
Foot mounting kit for M25
Code
M4
M5
M6
M22
M23
M24
M25
M26
4All kits contain a feedback device mounting adapter and mounting hardware. M4, M5 and M6
include a motor to encoder coupling. M22 and M23 do not include a coupling since it is included
with the resolver feedback device.
Description
Modifica-
tion Kit
Code
MO
D
3The motor comes standard with IP65 plug style connectors mounted radially to the motor. This
kit allows the connectors to be brought out axially to the motor without further wiring. Kit
includes Motor Junction Box and Mounting Hardware.
–

Receiving, Unpacking and Inspection
Chapter 3
3-15
1326A
BMO D
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number Gear Ratio Input:Resolver
–
Description
Modifica-
tion Kit5
Code
MO
D
VC
Type
Resolver Feedback Package
Code
1:1
1:2
1:2.
5
1:5
255
256
–
Feedback Coupling
1326 MO
DC1
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number Type Coupling
Size
–
Description
Single device format – 1 turn of the motor shaft to 1 turn of the
resolver.
Single device format – 1 turn of the motor shaft to 2 turns of the
resolver.
Single device format – 1 turn of the motor shaft to 2.5 turns of
the resolver.
Single device format – 1 turn of the motor shaft to 5 turns of the
resolver.
Absolute master/vernier format – 1:1 input/master, 255:256
master/vernier for IMC 120, 123 only.
Absolute master/vernier format – 1:1 input/master, 256:255
master/vernier for 8600 series controls and Creonics only.
Description
Modifica-
tion Kit
Code
MO
D
Code
C1
C2
Size –Motor Shaft to Encoder Shaft
3/8” to 3/8” (9.5 mm to
9.5 mm)
3/8” to 1/4” (9.5 mm to
6.3 mm)
1:1
Fourth Position
Resolver Feedback
Package
Code
VC
VD
Description
4.25” (108 mm) feedback package with cast
housing and single or vernier (dual) format
with receiver (Harowe 11BRW-300-F-58A or
equivalent) type resolver(s) for use with 8200,
IMC 120, IMC 123, Creonics SAM and MAX.
4.25” (108 mm) feedback package with cast
housing and single or vernier (dual) format
with transmitter (Harowe 11BRCX-300-C10/6
or equivalent) type resolver(s) for use with A-B
series 8600 and Creonics.
5Kit includes Resolver Feedback Package, mounting hardware and 3/8” to 3/8” (9.5 mm to 9.5 mm) resolver to motor mounting
coupling.
–

Receiving, Unpacking and Inspection
Chapter 3
3-16
1326 C
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number
Sixth Position
Cable
Length
–
Function
PA
B
Type
Power and Feedback Cables
Description
Power Connection
Letter
P
15
Fifth Position
Motor Size
Used On
Code
K
15
30
50
100
Description
Connector
Kit (No
Cable)
15’ (4.6m)
30’ (9.1m)
50’ (15.2m)
100’ (30.4m)
Commutation &
Feedback Connec-
tion
845H Encoder
All 4.25”
(108 mm) Resolver
Packages
F
E
V
Description
Connector
& Cable
Assembly
Connector
on both
ends (for
use with
1391C-
HB)
Letter
C
CC
Type
Series A & B
(except
1326AB-B4)
Series C &
1326AB-B4
Code
AB
C
All SeriesU
Blower Mod Kit
1326A
BMO DG3
First Position Second Posi-
tion Third Posi- tion
Bulletin
Number Type Description
–
Description
Modifica-
tion Kit
Code
MO
D
Code
G3
G4
Motor Series
Rear mounted blower for C
series motors
“Saddle” type blower for C
series motors with
encoders
–
T
Fourth Position
Power Track
Cable
Description
All Series
Standard
Cable
Letter
T
Blan
k

Receiving, Unpacking and Inspection
Chapter 3
3-17
End of Chapter

4
Chapter
4-18
Description of Operation
Chapter Objectives Chapter 4 is intended to familiarize the reader with the circuitry of the
1391B-ES in terms of function and operation.
General The 1391B-ES PWM Servo Controller is made up of the following: 300V
DC power supply, power transistor output modules, shunt regulator circuit,
logic power supply, Logic Control Boards, isolated current sensing, circuit
breaker and line contactor.
The intended use of the 1391 ES is to control the speed and torque of an
AC servomotor in a closed loop position system. A complete servo system
can be configured with a 1391B-ES Servo Controller, 1326 AC
Servomotor and 1391 Isolation Transformer. Refer to the 1391B-ES Block
Diagram presented in Figure 4.3.
300V DC Power Bus Supply The controller contains an integral, unregulated, 300V DC nominal, full
load power supply. It consists of the power transformer input (230V AC,
three-phase, 50 or 60 Hz), a three-phase input bridge rectifier and one
power supply filter capacitor (C1).
PWM Operation The 1391B-ES incorporates a fixed timing wave (VT) of 2500 Hz. The
controller also generates a three-phase sine wave whose frequency
corresponds to the velocity command. An output voltage signal (VO) is
generated by the intersection of these two curves as shown in Figure 4.1.
Figure 4.1
PWM Waveform
V
TE
T
V
O
Ed
T