Document Outline

• Table of Contents
• List of Figures
• List of Tables
• Preface
  • About This Manual
  • Additional Instructions and Manuals
    • Host Commands and ULTRAMaster
    • TouchPad
  • Symbols and Conventions
    • Typographical and Wording Conventions
    • Graphical Symbols and Warning Classifications
  • Pictorial Index
• Safety
  • Installing and Using the ULTRA200 Series
    • Potential Hazards
      • Voltage Potentials
      • Your Responsibilities
  • Safety Guidelines
• Selecting Other System Components
  • ULTRA200 Series Overview
    • Drive Power Ratings
    • Interface Cables
  • ULTRA200 Series Features
    • Stand-alone Design
    • 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
    • ULTRAMaster Software
    • Communications
    • Autotuning
    • Agency Approvals
    • Options
  • Motors
  • European Union Requirements
• ULTRAMaster Installation
  • Hardware and Software Requirements
  • Installing ULTRAMaster
  • Starting and Quitting ULTRAMaster
    • Version Level
    • The ULTRAMaster Start-Up Screen
      • From the C:> Prompt
      • From Windows
    • The readme File
    • Firmware Files
• Unpacking, Inspecting and Storing
  • Unpacking the Drive
  • Inspection Procedure
  • Testing the Unit
    • Hardware Setup
    • Drive Checkout Test
      • Initial Power-up
      • Communications Verification
      • Initial Drive Operation
  • Storing the Unit
• Installation
  • Mechanical Installation Requirements
  • Interface Connections
    • Wiring
    • Electromagnetic Compatibility
      • General Guidelines
      • European Union EMC Directives
    • Qualified AC Line Filters
    • AllenBradley AC Line Filters
• Interfaces
  • J1–Controller
    • Digital I/O Power
      • 24 Volt I/O Power
      • 5 Volt 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 Circuits
      • Selectable Output Circuits
      • Output Interface Circuit Examples
    • Analog Inputs
      • Positive Current Limit (+I LIMIT) and Negative Current Limit (-I LIMIT)
      • Command Input
    • Analog Outputs
    • Motor Encoder Output Signals
    • Auxiliary Encoder Inputs
    • Interface Cable Examples
    • J1 Terminal Strip/Breakout Board
  • J2–Encoder
    • J2 Terminal Strip/Breakout Board
  • J3–Auxiliary Port
  • J4 and J5–Serial Port
    • Serial Communications Overview
      • Addressing Examples:
    • RS-232 Connections
      • Single Axis RS-232 Set Up
    • Four Wire RS-485 Connections
      • Multiple Axes Four-Wire RS-485 Communications
  • A1, A2, and COM–Analog Outputs
  • Interface Connections
• Power Connections
  • TB1–DC Bus and AC Power
    • Motor Power Cabling
      • Shield Termination of Power Cables
      • Y-Series Power Cables
    • Motor Overload Protection
    • Emergency Stop Wiring
    • DC Bus
    • AC Power Cabling
    • Auxiliary Power
  • TB2–Shunt Regulator
    • External Shunt Connection
• Application and Configuration Examples
  • Analog Control
    • Hardware Setup
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Preset Controller
    • Hardware Setup
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Position Follower (Master Encoder)
    • Hardware Setup
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Position Follower (Step/ Direction)
    • Hardware Setup
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Position Follower (Step Up/ Step Down)
    • Hardware Setup
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Incremental Indexing
    • Hardware Setup
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Registration Indexing
    • Hardware Setup
    • Connection Diagram
    • Configuration
    • Tuning
    • Operation
  • Absolute Indexing
    • Hardware Setup
    • 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
    • Gains
    • Filters
    • Manual Tuning
      • Tuning the Velocity Loop
      • Tuning the Position Loop
    • Velocity Loop Tuning Examples
• Status Display
  • Operating Messages
  • Error Messages
    • Run-Time Error Codes
    • Power-Up Error Codes
• Maintenance and Troubleshooting
  • Maintenance
    • Periodic Maintenance
      • Cleaning
      • Cable Inspection
    • Fuse Replacement
    • EEPROM Personality Module
      • EEPROM Removal/Replacement
      • Data Transfer
  • Firmware Upgrading
    • Firmware Upgrade Procedure using ULTRAMaster
  • Troubleshooting
    • Error Codes
    • RS-232 Communication Test
    • Testing Digital Outputs
    • Testing Digital Inputs
    • Testing Analog Outputs
    • Testing Positive and Negative Current Limits
      • Testing Positive Current Limit
      • Testing Negative Current Limit
    • Testing Encoder Inputs
• Options and Accessories
  • ULTRA200 Series Drives
  • Fuses
  • Options and Accessories
  • Publications
  • 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
    • Displays
      • Text
      • Numeric
      • List
      • Ratio
      • Fault/Error/Warning
  • Motor Table
  • TouchPad Options
  • 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