Document Outline

• Table of Contents
• List of Figures
• List of Tables
• Preface
  • Who Should Use this Manual
  • ULTRA100 Series Product Receiving and Storage Responsibility
  • Rockwell Automation Support
  • Local Product Support
  • Technical Product Assistance
  • Purpose and Contents of this Manual
  • Additional Instructions and Manuals
    • Host Commands and ULTRAMaster
    • TouchPad
  • Symbols and Conventions
    • Typographical and Wording Conventions
    • Graphical Symbols
  • Pictorial Index
• Safety
  • Installing and Using the ULTRA100 Series Drive
    • Potential Hazards
    • Voltage Potentials
  • Your Responsibilities
  • General Safety Guidelines
• Unpacking, Inspecting and Storing
  • Unpacking the Drive
  • Inspection Procedure
  • Testing the Unit
    • Hardware Set Up
    • Drive Checkout Test
      • Initial Power-up
      • Communications Verification
      • Initial Drive Operation
    • Storing the Unit
• Selecting Other System Components
  • ULTRA100 Series Overview
  • ULTRA100 Series Features
    • Drive Power Ratings
    • High Performance Microcontroller Technology
    • IPM Technology
    • Analog and Digital Interfaces
    • Encoder Control
    • Encoder Output
    • Digital I/O
    • Analog I/O
    • AC Input Power
    • Personality Module
    • Multiple Protection Circuits
  • Command Sources
    • Serial Command Sources
    • Analog Command Sources
  • I/O Interface
    • Analog Input
    • Analog Output
    • Digital Inputs
      • Control Inputs
      • Selectable Inputs
    • Digital Outputs
      • Control Outputs
      • Selectable Outputs
    • Auxiliary Encoder Interface
      • Encoder Inputs
      • Encoder Output
  • ULTRAMaster Software
    • Autotuning
  • Agency Approvals
  • Interface Cables
  • Motors
    • Options
    • European Union Requirements
• ULTRAMaster Installation
  • Hardware and Software Requirements
  • Installing ULTRAMaster
  • Starting and Quitting ULTRAMaster
    • From the C:> Prompt
    • From Windows
    • The ULTRAMaster Start-Up Screen
  • Version Level
  • Miscellaneous Files
    • The readme File
    • Firmware Files
• Installation
  • Mechanical Installation Requirements
  • Interface Connections
    • Wiring
    • Electromagnetic Compatibility
      • General Guidelines
      • European Union EMC Directives
  • AC Line Filters
• Interfaces
  • J1 – Controller
    • Digital I/O Power
      • External I/O Power
    • Digital Inputs
      • Dedicated Control Circuits
      • Selectable Circuits
    • Input Interface Circuit Examples
      • Digital Outputs
        • Dedicated Relay Outputs
        • Selectable Transistor Outputs
        • READY and BRAKE/DRIVE ENABLED Circuits
        • Output Interface Circuit Examples
      • Analog Inputs
        • External Current Limit (I LIMIT)
        • Command Input
      • Analog Output
      • Motor Encoder Output Signal
        • IOUT Signal Generation
        • J2 Breakout Board Assembly – European Union EMC Compliance
    • Auxiliary Encoder Input Types
    • Interface Cable Examples
    • J1 Terminal Strip/Breakout Board
  • J2 – Encoder
    • J2 Terminal Strip/Breakout Board
  • J5 – Serial Port
    • Serial Communications Overview
      • RS-232 Connections
      • Single Axis RS-232 Set Up
    • Four Wire RS-485 Connections
      • Multiple Axes Four-wire RS-485 Communications
      • Multiple Axes RS-232 Communications
  • Interface Connections
• Power Connections
  • Motor Power Cabling
    • Shield Termination of Power Cables
      • F-Series, H-Series, N-Series, S-Series and W-Series Motor Power Cable
      • LD-Series and Y-Series Motor Cables
    • Motor Overload Protection
    • Power Supply Protection
    • Emergency Stop Wiring
  • AC Power Cabling
  • DC Bus
• Application and Configuration Examples
  • Analog Control
    • Hardware Set Up
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Preset Controller
    • Hardware Set Up
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Position Follower (Master Encoder)
    • Hardware Set Up
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Position Follower (Step/ Direction)
    • Hardware Set Up
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Position Follower (Step Up/ Down)
    • Hardware Set Up
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Incremental Indexing
    • Hardware Set Up
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Registration Indexing
    • Hardware Set Up
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Absolute Indexing
    • Hardware Set Up
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Modifying User Units
    • Changing the Display Units Settings
• Tuning
  • Tuning Guidelines
    • General Tuning Rules
    • High Inertia Loads
  • Mechanical Resonance
    • Backlash
  • Auto Tune Mode
    • Auto Tuning
  • Manual Tune Mode
    • Filters
    • Gains
    • Manual Tuning
      • Tuning the Velocity Loop
      • Tuning the Position Loop
    • Velocity Loop Tuning Examples
• Status Display
  • Status Indicator
  • Error Messages
    • Run Time Error Codes
    • Power-Up Error Codes
• Maintenance and Troubleshooting
  • Maintenance
    • Periodic Maintenance
      • Cleaning
      • Cable Inspection
      • Data Transfer
  • Firmware Upgrading
    • Firmware Upgrade Procedure using ULTRAMaster
  • Troubleshooting
    • Error Codes
    • RS-232 Communication Test
    • Testing Digital Outputs
    • Testing Digital Inputs
    • Testing Analog Output
    • Testing Analog Input
    • Testing Encoder Inputs
      • Testing Encoder Inputs
• Options and Accessories
  • ULTRA100 Series Drives
  • Fuses
  • Interface Cables
  • Serial Interface Cables
  • Encoder Feedback Cables
  • Motor Power Cables
  • Connector Kits
  • Mating Connectors
• Cable Diagrams, Schematics and Examples
  • Interface Cables
  • Serial Interface Cables
  • Encoder Feedback Cables
  • Motor Power Cables
  • Cabling Examples
  • Allen-Bradley 9/Series CNC Family Connections
• TouchPad Instructions
  • Installation and Operation
  • TouchPad Commands
    • Supplemental Instructions
    • Motor Selection
    • Analog Output Scaling
      • Analog in Velocity Mode
      • Analog in Torque Mode
      • Preset/Follower
    • Displays
      • Text
      • Numeric
      • List
      • Ratio
      • Fault/Error/Warning
  • Motor Table
  • TouchPad Options and Lists
  • TouchPad Lists
• Creating Custom Motor Files
  • Drive and Motor File Configuration with ULTRAMaster
    • Motor Parameter Set
      • Table ID
      • Text String
      • Motor Phasing
      • Back-EMF and Hall Signals
      • Encoder Sequencing
      • Motor Parameter Definitions
    • General Parameters
      • Motor Model
      • Table ID
      • Motor File
      • Synchronous/Induction
      • Number of Poles
      • KT (Torque Constant)
      • JM (Inertia)
      • KE (Back EMF)
    • Feedback Parameters
      • Linecount
      • Index Offset
      • Hall Offset
      • Startup Commutation
      • Invert Direction
    • Electrical Parameters
      • Resistance
      • Inductance
    • Rating Parameters
      • Continuous Torque
      • Peak Torque
      • Thermal Time Constant
      • Integral Thermostat
      • Maximum Speed
  • Example of Custom Motor File Creation
    • Manufacturer's Data
    • Parameter Conversions
    • Custom Motor File
  • Troubleshooting Custom Motor Files
• Electromagnetic Compatibility Guidelines for Machine Design
  • Filtering
    • AC Line Filter Selection
  • Grounding
  • Shielding and Segregation
• Dynamic Braking Resistor Selection
  • Dynamic Braking Equations
    • Sample Calculations
• Specifications
  • Power
  • Power Dissipation
• Index