AB - 8510 AC Spindle Drive System

8510 AC Spindle
Drive System
User Manual
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 Allen-Bradley 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 the Allen-Bradley Company 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, the Allen-Bradley Company
cannot assume responsibility or liability for actual use based on the
examples and diagrams.
No patent liability is assumed by Allen-Bradley Company 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 the Allen-Bradley Company is prohibited.
Throughout this manual we use notes to make you aware of safety
considerations.
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 the hazard
recognize the consequences
Important: Identifies information that is especially important for successful
application and understanding of the product.
Shock Hazard labels may be located on or inside the drive to
alert people that dangerous voltage may be present.
SCANport is a trademark of Rockwell Automation.
PLC is a registered trademark of Rockwell Automation.
COLOR-KEYED is a registered trademark of Thomas & Betts Corporation.
IBM is a registered trademark of International Business Machines Corporation.
Windows 95 is a registered trademark of Microsoft Corporation.
Table of Contents
8510 User Manual
Introduction
Chapter 1
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manual Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1327A AC Motor Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Design Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I/O Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifications
Chapter 2
Standard Single Speed 1327AB Motor & 8510 Drive . . . . . . . . . . . . .
Dual Winding Type 1327AD Motor & 8510 Drive . . . . . . . . . . . . . . .
Motor Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimensions
1-1
1-1
1-2
1-2
1-3
1-3
1-7
1-8
2-1
2-1
2-3
2-4
Chapter 3
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Receiving, Unpacking and

Inspection
Chapter 4
Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Storing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Installation
Chapter 5
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Heat Dissipation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Accessory Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Removal of Drive Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor Installation
4-1
4-1
4-1
4-1
4-1
5-1
5-1
5-1
5-6
5-7
5-7
Chapter 6
Mounting Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Coupling Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-1
6-1
6-1
6-2
Table of Contents
8510 User Manual
Interface Signal Descriptions
Chapter 7
I/O Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Conventions used in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Signal Level Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
I/O Interface Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Resolver Feedback Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
Orient Feedback Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
Dual Winding Contactor Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-15
Digital Command Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-16
Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-16
Wiring
Chapter 8
General Wiring Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
Power Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
Signal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11
Start-Up
Chapter 9
Conventions used in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
Start-Up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
Display Panel & Fault Diagnostics
Chapter 10
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Menu Format and Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Display Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Display Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Display Type Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Troubleshooting
10-1
10-1
10-2
10-3
10-5
Chapter 11
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
Circuit Board Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
Power Distribution and Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
Fuse Locations and Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6
Fault Diagnostics System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7
I/O Board Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-21
IGBT Test Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-25
Renewal Parts
ii
Appendix A
Chapter
Introduction
Chapter Objectives
Chapter 1 provides information on the general intent of this manual, gives

an overall description of the 8510 AC Spindle Drive System, and provides
a detailed description of the key features of this drive. This information
will help the reader to understand both the basic capabilities and the
advanced features of the 8510 drive system and recognize opportunities to
use these features to improve machine performance.
Manual Objectives
This publication provides planning, installation, wiring and diagnostic

information for the 8510 AC Spindle Drive System.
To assure 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 the installation of 8510
AC Spindle Drive System. It is a standard document that is intended to
help the user understand some of the operating characteristics and
limitations of this equipment, including hazards associated with equipment
handling, installation, and wiring procedures. Note the following points:
v This equipment has been designed to meet the requirements of a
component in an integrated system.

v 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.
v Manufacturers 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.
v In the actual factory environment, the user is responsible to assure
compliance with applicable machine and operator safety codes or

regulations which are beyond the scope and purpose of this document.
1-1
Chapter 1
Introduction
General Precautions
In addition to the precautions listed throughout this manual, the following

statements which are general to the system must be read and understood.
Drive Overview
ATTENTION: Only personnel familiar with the 8510 AC

Drive System and associated machinery should plan or
implement the installation, start-up and subsequent maintenance
of the system. Failure to comply may result in personal injury
and/or equipment damage.
ATTENTION: An incorrectly applied or installed drive 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 system.
ATTENTION: This drive 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 A-B publication
8000-4.5.2, Guarding Against Electrostatic Damage or any
other applicable ESD protection handbook.
The Allen-Bradley Series 8510 AC Spindle Drive System is designed to

meet the requirements of world-class machine tools. The 8510 consists of
a rugged, AC spindle motor and a state-of-the-art digital AC drive. The
system has been optimized to provide the highest level of performance
combined with outstanding reliability.
The 8510 is fully microprocessor controlled and has the features required
by modern, high capacity machine tools including:
1-2
Four quadrant, line regenerative operation for high cycle rate

applications.
Extremely high dynamic performance for smooth operation under

widely varying machining conditions.
A wireless power structure maximizes reliability.
High frequency IGBT power devices minimize audible motor noise.
Through-the-wall heat sinks remove most drive heat from the cabinet.
Universal analog and discrete I/O interface adapts easily to CNC

systems.
Chapter 1
Introduction
1327A AC Motor Overview
Drive Design Features
The 1327A AC Spindle Motors have been specifically designed to meet the
needs of modern machine tools. To cover the variety of application
requirements, both a standard series and a dual winding series are
available. Some of the key features of these motors include:
n
Small Size Advanced electromagnetic and cooling system designs

provide extremely compact motors.
High Speeds In the standard series, 8,000 rpm maximum speed is

available up to 5.5 kW (7.5 HP) and 6,000 rpm through 22 kW (30 HP)
continuous output. All motors are 1,500 rpm base speed.
Precision Balance For high precision machine tools, precision balance

to less than 3 micron (0.00012) peak to peak vibration is standard.
Wide Constant Power Range With the dual winding motors, 12:1
constant power ranges can be obtained. Constant power speed ranges of
500 to 6,000 rpm or 400 to 4,800 rpm can frequently eliminate the need
for multi-speed spindle headstocks.
High Reliability The resolver feedback eliminates all electronics from

the high temperature motor environment to significantly increase motor
ruggedness and reliability. This is combined with bearings designed for
a 15,000 hour B10 life, a high voltage insulation system tested to 1,500
volts, and the precision rotor balance to assure a superior motor life.
Mounting Versatility Metric foot mount and flange mount motors are
available for either horizontal or vertical mounting.
The following design features are standard on the Series 8510 AC Spindle
Drive System.
Multiple Control Modes
To provide the flexibility and control capability to meet the demands of
increasingly sophisticated machine tools and other types of automation
equipment, the 8510 provides multiple operating modes. Through discrete
inputs, the user can instantaneously switch the 8510 drive between Spindle
Mode, Servo Mode, and Torque Mode operation. Each mode has a unique
set of programmable drive configuration, input scaling, and control loop
tuning parameters to allow optimized performance in each operating mode.
Spindle Mode provides smooth, quiet operation over the wide constant
power range required for normal machining. In typical machine tool
spindle applications, this is the only operating mode that is required. The
drive can operate from analog or digital speed commands with
programmable acceleration ramp rate generators and provides a traditional
PI type velocity control loop. During lightly loaded operation, the motor
flux is reduced to minimize motor heating.
Spindle mode assumes that the drive is operating as an open loop speed
controlled drive without an external position control loop closed around the
drive.
1-3
Chapter 1
Introduction
Servo Mode configures the drive to be used as a velocity servo in a

closed position loop system. Whenever the CNC is operating the spindle
drive in a closed position loop, such as during spindle orient or when
performing C-axis machining on a turning center, this operating mode
should be used. In servo mode, only analog speed commands can be used,
the acceleration rate ramp generators are disabled, and a maximum
integrator gain clamp is added to guard against limit cycle conditions in
high friction applications. The analog input scaling can be set for a
different maximum speed in servo mode than is used in spindle mode. An
optional high speed, high linearity A/D converter can be added for
contouring and high bandwidth applications. The 8510 has ample dynamic
performance to allow using it as a high power axis servo.
Torque Mode configures the drive to function as a torque controlled drive
rather than a speed controlled drive. When this mode is active, the analog
input is commanding a level of motor torque rather that a specific motor
speed. The connected load or an external control loop must provide the
speed control or the motor will be accelerated to maximum speed and the
drive will shut down on an overspeed condition. A single digital input can
instantaneously switch the drive between torque control and speed control
modes. Torque mode allows the drive to operate as the torque follower in
leader/follower or anti-backlash dual drive configuration. Some motion
control systems close both the position and velocity loops from a single
feedback device and output torque commands to the drive amplifier. In
torque mode, the 8510 can be used with these motion control systems.
Optimized Performance For Multi-Speed Gear Boxes
Many multi-speed spindle gear boxes provide very different drive loading
or have different performance requirements in each gear range. Some
directly driven spindles may have large differences in load inertia or
performance requirements in certain situations. To provide optimum
performance in each of these different situations, the 8510 drive can store
totally independent sets of all drive configuration and tuning parameters for
up to four different gear ranges or sets of operating conditions. Two binary
coded digital inputs allow the CNC or other control system to select the
appropriate parameter set while the drive is running. Changeover takes
only about 30 milliseconds.
Since all configuration parameters can be changed for each data set, this
feature could be used to select multiple preset orient positions, change the
maximum speed at maximum command scaling, or change any of the
preset speed or load detectors in addition to optimizing the dynamic
response of the drive. This flexibility can help eliminate the need for
making performance compromises in different operating conditions.
1-4
Chapter 1
Introduction
High Resolution Velocity Control

Optimum velocity control and smoothness is provided by a 14 bit A/D
converter for the command, and a multi-pole resolver with 16 bit resolution
for velocity feedback. For C axis operation in Servo Mode, the input can
be rescaled to achieve full 14 bit resolution over both the rapid traverse and
the feed speed ranges. An optional 16 bit parallel digital input can be used
to provide a 4 digit BCD or 16 bit binary digital speed command input
when operating in Spindle Mode.
High Response Control Loops
To provide the dynamic response required by state of the art machine tools,
the 8510 delivers up to a 50 Hz velocity loop bandwidth. For improved
response, feedback is sampled every 0.4 ms, and Servo Mode command is
sampled every 0.8 ms.
Spindle Orient
The spindle orient function can be provided by a CNC that can close a
position loop around the spindle drive or by a spindle orient capability that
is part of the spindle drive itself. With the 8510, spindle orient using either
an optical encoder or a high resolution magnetic feedback device is a
standard feature. The user provided feedback device must be mounted with
a direct 1:1 ratio to the spindle shaft that is to be oriented. If an optical
encoder is used, the resolution is 360/(4 x encoder lines) degrees.
A special high resolution magnetic feedback device is available. This
consists of a fine pitch, very accurate ring gear that must be mounted
directly to the spindle shaft and a sensor that picks up signals as each gear
tooth passes. The ring gears are available with between 225 and 500 teeth
(pitch diameters of 90 mm to 200 mm (3.5 to 7.9 in.)). Within the 8510
drive, each tooth is resolved into 1000 parts giving resolutions of 225,000
to 500,000 parts per revolution. With the 500 tooth gear, absolute accuracy
of 0.015 degrees can be achieved with precision mounting of the gear to
the spindle.
Orient is to a single preset orient position or, with the optional 16 bit digital
command input, an external 4 digit BCD or 16 bit binary orient position
command can be given. After reaching orient position, the drive can be
programmed to hold the spindle in that position or to remove motor torque
and allow free movement of the spindle.
1-5
Chapter 1
Introduction
Control Of Dual Winding Motors

A 12:1 constant power range can be obtained by using dual winding
motors. AC motors are usually wired internally into either a or a Y
winding configuration. With the dual winding motors, a pair of externally
mounted contactors are used to reconfigure the motor windings between
or Y connections while the motor is running. This winding reconfiguration
shifts the base speed operating point of the motor and effectively extends
the overall constant power operating range. These externally mounted
contactors are directly controlled by the 8510 drive. A single digital input
to the 8510 commands either the low speed or the high speed winding to be
selected. Within about 250 milliseconds, the drive will turn off the motor
current, open one contactor, close the other contactor, turn on the motor
current, and give an output back to the control system to indicate that the
winding has been changed. To prevent excessive speed changes during the
winding change operation, the motor should be running at no load.
With dual winding motors, totally independent parameter sets are stored for
each motor winding to assure optimum performance in each speed range.
When these motors are used, the gear range data sets are limited to three
instead of four. This gives a total of six unique sets of drive parameters (2
motor windings in each of 3 gear ranges).
Power Structure Design
Internal discrete wiring has been nearly eliminated by the use of a printed
circuit board to interconnect the entire power structure. Use of a circuit
board maximizes reliability and simplifies maintenance. The 8510 uses
high frequency, low loss IGBT power devices. The high switching
frequency minimizes motor noise and reduces motor heating. To remove
much of the heat from the drive cabinet, the 8510 heat sink extends through
the rear of the cabinet. As an option, the drive can be mounted inside the
cabinet and cooling air can be ducted out any side of the enclosure.
Programming and Diagnostics
An integral 2 line by 16 character display and 4 button keypad is used for
all programming and diagnostic displays. The menu driven programming
system is powerful yet simple to use. Diagnostic features include a digital
meter, I/O status, and fault displays. Programmed parameters are stored in
EEPROM. In addition, an offline programming system and a file
upload/download utility are available.
Simple Drive Tuning Procedures
All performance adjustments are digital parameters. Analog inputs are
self-zeroing. Scaling of zero and maximum command requires only the
push of a button. All velocity loop gains can be set with the drive
operating.
Programmable Analog Outputs
The user can configure two analog outputs to provide any of eight different
output signals. These include motor or spindle rpm, % load, % maximum
power, and orient error.
1-6
Chapter 1
Introduction
I/O Options
The 8510 AC Drive I/O can be configured in several ways as explained

below.
Standard I/O - Drive Model 8510A-Axx-Ax
This is the standard drive I/O and includes the functionality required for
normal spindle operations on conventional machine tools.
Drive Model 8510A-Axx-Bx
In this version, the standard I/O is expanded to include the 16 bit parallel
digital input that can be used for either a digital spindle speed command or
an external spindle orient position command. The inputs can be configured
as either a 16 bit binary or a 4 digit BCD command.
Drive Model 8510A-Axx-Cx
To the standard I/O, this version adds the high speed, high linearity 14 bit
A/D converter for use in continuous path contouring applications. This I/O
option should be used when the 8510 will be used for C-axis, solid tapping,
and large servo axis applications or will operate in Torque Mode.
Drive Model 8510A-Axx-Dx
This version combines the features of both Option B and Option C. It
would be used for lathe applications requiring C-axis operation and
multi-position orient or indexing with external position commands.
1-7
Chapter 1
Introduction
System Accessories
Various accessories are available for the 8510 to facilitate system

installation or to support the drive system.
- Mating Connector Kits All signal interconnections to the 8510
utilize Honda multi-pin connectors. Mating connector kits are available
for all the Honda connectors. A mating connector kit is also available
for the AMP connector used for feedback from the motor.
- I/O Termination Panels and Cables As an alternative to terminating
all signal wiring to the Honda connectors, termination panels with
cables are available to fan out the connections to conventional barrel
type terminal blocks. Cables in various lengths with a Honda connector
on one end are also available for termination directly to the machine
control panels.
- High Resolution Spindle Position Feedback The high resolution
magnetic feedback, consisting of a precision ring gear and a pickup unit,
can be used for high accuracy spindle orient. This system can provide
resolutions of 225,000 to 500,000 parts per revolution with an absolute
accuracy down to 0.015 degrees.
- Mounting Adapters For installations where it is difficult to extend
the 8510 heat sinks through the rear of the enclosure, a special mounting
adapter can be provided to allow the drive to be mounted within the
enclosure. A version to allow ducting the cooling air to the side or top of
the enclosure is also available.
- AC Line Fuse and Fuse Block Kit Incoming AC line fuses or circuit
breakers are not included in the basic 8510. A kit that includes the
necessary fuse blocks and fuses is available.
- Transformers Both autotransformers and isolation transformers are
available to match the main AC line voltage to the 200/230V AC drive
input requirement.
1-8
Chapter
Specifications
Chapter Objectives
Chapter 2 provides the specifications for the 8510 AC Spindle Drive

System. Specifications have been grouped by type of motor.
Standard Single Speed 1327AC Motor & 8510 Drive

Motor
1327AC -
AFM-02
AFM-04
AFM-06
AFL-08
AFL-11
Output Power Rating
S1 - Continuous - kW (HP)
S2 - 30 Minute - kW (HP)1
S6 - 60% Duty - kW (HP)2
1 Minute Peak - kW (HP)
2.2 (3)
3.73 (5)3
2.6 (3.4)
4.5 (6)
3.7 (5)
5.5 (7.5)
4.3 (5.8)
6.7 (9)
5.5 (7.5)
7.5 (10)
6.6 (8.8)
9 (12)
7.5 (10)
11 (15)
9 (12)
13.5 (18)
11 (15)
15 (20)
13.5 (18)
18 (24)
Rated Speed
Base RPM
Maximum RPM
Constant Power/Speed Range
1500
8000
5.33:1
1500
8000
5.33:1
1500
8000
5.33:1
1500
6000
4:1
1500
6000
4:1
Rated Torque
Continuous N-m (lb-ft)
14.2 (10.5)
23.7 (17.5)
35.6 (26.3)
47.5 (35.0)
71 (52.5)
Rated Current
30 Minute Output Amperes
27
33
43
59
91
Rotor Inertia
kg-m2
(lb.-in.-s2)
0.0093 (0.0819)
0.0213 (0.1881)
0.2750 (0.2438)
0.0550 (0.4867)
0.0700 (0.6195)
Bearing Load
Max. Radial - kg (lb)
133 (292)
165 (364)
167 (368)
313 (688)
335 (737)
Motor Weight
kg (lbs.)
38 (84)
59 (130)
67 (147)
94 (207)
108 (238)
Electrical Design
Single winding configuration for single speed range
Vibration
Audible Noise
Peak-to-peak vibration less than 3 microns (0.00012 inches)
Feedback Device
Less than 75dB (A Scale)
Rated Ambient Temperature
8 pole brushless resolver 65,536 counts/revolution
Possible Mounting Methods
0 to 40 C (+32 to +104 F)
Drive Model Number 8510A -
Horizontal or vertical. Foot or flange mounting available4

A04
A04
A06
A11
AC Input Voltage
A11
Required AC Input
30 Minute Rating-kVA
200 to 220V AC (10%) at 50/60 Hz. (1 Hz) and 230V AC (10%) at 60 Hz. (1
6Hz)
9
12
17
22
Rated Output Current
30 Minute-Amperes
27
33
43
59
91
Power Control Method
PWM inverter using IGBT power devices
Motor Braking Method
Power regeneration to the AC line
Input Command
10V DC, 0-10V DC with Fwd/Rev input, 16 bit binary or BCD digital command
Speed Control Range
0 to 30,000 rpm, velocity resolution greater than 1:2,000,000
Speed Regulation
Transient change < 0.4% of max speed, steady state change < 0.025% (load: 10%-100%)
Velocity Loop Bandwidth
Up to 50 Hz (load and motor dependent)
Programming System
Integral 2 line by 16 character backlit LCD display and 4 button keypad
Drive Enclosure Type

Drive Weight
Open style (IP-00) for mounting in another enclosure, heat sinks extend outside enclosure
kg (lb)
Allowable Vibration
14 (31)
14 (31)
15 (33)
26 (57)
26 (57)
Less than 0.5 G
0 to 55 C (32 to 131 F) inside enclosure, 0 to 40 C (32 to 104 F) at heat sinks
Storage Temperature
0 to 65 C (32 to 149 F)
Notes: see page 2
2-9
Chapter 2
Specifications
Standard Single Speed 1327AB Motor & 8510 Drive

Motor
1327AB -
AFL-15
AFL-19
AFL-22
Output Power Rating
S6 - 60% Duty - kW (HP)2
15 (20)
18.5 (25)
18.5 (25)
22 (30)
18.5 (25)
22 (30)
22 (30)
26.5 (36)
22 (30)
30 (40)
27 (36)
36 (48)
Rated Speed
Base RPM
Maximum RPM
Constant Power/Speed Range
1500
6000
4:1
1500
6000
4:1
1500
6000
4:1
Rated Torque
95 (70)
119 (87.5)
142 (105)
Rated Current
112
135
153
Rotor Inertia
kg-m2 (lb.-in.-s2)
0.0925 (0.8186)
0.1150 (1.018)
0.1325 (1.173)
Bearing Load
356 (784)
373 (820)
384 (844)
Motor Weight
kg (lbs.)
130 (286)
150 (330)
166 (365)
Electrical Design
Single winding configuration for single speed range
Vibration
Audible Noise
Peak-to-peak vibration less than 3 microns (0.00012 inches)
Feedback Device
0 to 40 C (+32 to +104 F)

A22
A22
A22
AC Input Voltage
Required AC Input
30 Minute-Amperes
Hz)
26
32
40
112
135
153
Input Command
Speed Control Range
Speed Regulation
Programming System

Drive Weight
kg (lb)
52 (114)
52 (114)
52 (114)
Allowable Vibration
Less than 0.5 G
Storage Temperature
0 to 65 C (32 to 149 F)
30 minutes starting with cold motor.

Loaded for 60% of a 10 minute cycle.
3 15 minute rating for 1327AB-AFM-02 motor.
4 1327AB-AFM-02 and 1327AD-ACL-08 only available as flange mount and 1327AD-ABL-08 only available as foot mount.
2
2-10
Chapter 2
Specifications
Dual Winding Type 1327AD Motor & 8510 Drive

Motor
1327AD -
ABL-04
ABL-06
ACL-08
ABL-08
Output Power Rating
S6 - 60% Duty - kW (HP)2
3.7 (5)
5.5 (7.5)
4.5 (6)
6.7 (9)
5.5 (7.5)
7.5 (10)
6.7 (9)
9 (12)
7.5 (10)
11 (15)
9 (12)
13.5 (18)
7.5 (10)
11 (15)
9 (12)
13.5 (18)
Rated Speed
Base RPM
500
Maximum RPM
6000
Constant Power/Speed Range 12:1
500
6000
12:1
600
6000
10:1
500
6000
12:1
Rated Torque
71 (52)
105 (77)
119 (88)
142 (105)
Rated Current
34
45
68
68
Rotor Inertia
kg-m2 (lb.-in.-s2)
0.1000 (0.885)
Bearing Load
0.0725 (0.6416
)
0.1200 (1.062
)
0.1380 (1.221
)
Motor Weight
kg (lbs.)
310 (682)
300 (660)
Electrical Design
360 (792)
120 (264)
105 (231)
140 (308)
Reconfigurable winding for two speed ranges
Vibration
Less than 5 microns (0.0002 inches)
Audible Noise
Feedback Device
0 to 40 C (+32 to +104 F)
A04
AC Input Voltage
9Hz)
12
17
17
Required AC Input
30 Minute-Amperes
34
A06
45
A11
68
380 (836)
170 (374)
A11
68
Input Command
Speed Control Range
Speed Regulation
Programming System

Drive Weight
kg (lb)
14 (31)
15 (33)
26 (57)
26 (57)
Allowable Vibration
Less than 0.5 G
Storage Temperature
0 to 65 C (32 to 149 F)

2
2-11
Chapter 2
Specifications
Dual Winding Type 1327AD Motor & 8510 Drive (continued)

Motor
1327AD -
AAK-11
AAK-15
AAK-19
Output Power Rating
S6 - 60% Duty - kW (HP)2
11 (15)
15 (20)
13.5 (18)
18 (24)
15 (20)
18.5 (25)
18.5 (25)
22 (30)
18.5 (25)
22 (30)
22 (30)
27 (36)
Rated Speed
Base RPM
400
Maximum RPM
4800
Constant Power/Speed Range 12:1
400
4800
12:1
400
4800
12:1
Rated Torque
261 (193)
357 (263)
440 (325)
Rated Current
87
102
110
Rotor Inertia
kg-m2 (lb.-in.-s2)
0.338 (2.991)
0.473 (4.186)
0.548 (4.850)
Bearing Load
580 (1276)
600 (1320)
610 (1342)
Motor Weight
kg (lbs.)
260 (572)
355 (781)
405 (891)
Electrical Design
Reconfigurable winding for two speed ranges
Vibration
Less than or equal to 10 microns (0.0004 inches)
Audible Noise
Feedback Device
0 to 40 C (+32 to +104 F)
A11
AC Input Voltage
A22
A22
Required AC Input
Hz)
22
26
32
30 Minute-Amperes
87
102
110
Input Command
Speed Control Range
Speed Regulation
Programming System

Drive Weight
kg (lb)
26 (57)
52 (114)
52 (114)
Allowable Vibration
Less than 0.5 G
Storage Temperature
0 to 65 C (32 to 149 F)

2
Motor Curves
2-12
Typical speed/torque curves for the 1327 AC Motors are shown on the
following pages.
Chapter 2
Specifications
Figure 2.1
Motor Curves
1327AC-AFM-04-x
8510A-A04-x1
30
25
30 Minute Power
20
15
Continuous Power
2
10
30
Continuous Power
20
10
Motor rpm (x 1000)
18
50
15
Output Power (kW)
Peak Torque
8
30 Minute Power
40
Continuous Power
30
20
Continuous Torque
0
2
Output Power (kW)
60
Output Torque (N-m)
10
10
Continuous Power
45
Continuous Torque
15
0
1327AB-AFL-15-x
8510A-A22-x2
40
160
Peak Torque
100
30 Minute Power
80
12
Continuous Power
60
40
Continuous Torque
120
30
Output Power (kW)
16
Output Torque (N-m)
Output Power (kW)
60
Motor rpm (x 1000)
Peak Torque
30 Minute Power
20
0
3
Motor rpm (x 1000)
80
Continuous Power
40
10
Continuous Torque
20
0
2
30 Minute Power
30
120
75
24
Peak Torque
12
1327AC-AFL-11-x
8510A-A11-x2
90
Motor rpm (x 1000)
20
1327AC-AFL-08-x
8510A-A11-x2
12
Motor rpm (x 1000)
1327AC-AFM-06-x
8510A-A06-x1
Output Torque (N-m)
30 Minute Power
Continuous Torque
Continuous Torque
40
Peak Torque
Output Torque (N-m)
50
Output Power (kW)
Peak Torque
Output Torque (N-m)
Output Power (kW)
10
Output Torque (N-m)
1327AC-AFM-02-F
8510A-A04-x1
0
0
Motor rpm (x 1000)
2-13
Chapter 2
Specifications
Figure 2.1 (continued)

Motor Curves
1327AB-AFL-19-x
8510A-A22-x2
1327AB-AFL-22-x
8510A-A22-x2
30
160
50
120
30 Minute Power
80
20
Continuous Power
40
Continuous Torque
160
40
30 Minute Power
120
30
Continuous Power
80
20
Continuous Torque
10
0
0
140
120
30 Minute Power
100
Peak Torque
Continuous Power
80
60
40
Output Power (kW)
160
Output Torque (N-m)
Output Power (kW)
1327AD-ABL-04-x (high speed winding)

8510A-A04-x1
Motor rpm (x 1000)
1327AD-ABL-04-x (low speed winding)

8510A-A04-x1
40
Motor rpm (x 1000)
200
Peak Torque
40
35
Peak Torque
30 Minute Power
30
25
Continuous Power
20
15
10
Output Torque (N-m)
10
240
Output Torque (N-m)
Peak Torque
60
Output Power (kW)
Output Power (kW)
40
200
Output Torque (N-m)
50
Continuous Torque
Continuous Torque
1
0
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
1.8
2.0
20
5
0
0
2.2
Motor rpm (x 1000)
Motor rpm (x 1000)
1327AD-ABL-06-x (high Speed winding)

8510A-A06-x1
1327AD-ABL-06-x (low speed winding)

8510A-A06-x1
200
10
30 Minute Power
160
30 Minute Power
40
Continuous Power
120
Continuous Power
30
10
50
0
0.0
Continuous Torque
0.2
0.4
0.6
0.8
1.0
1.2
1.4
Motor rpm (x 1000)
2-14
1.6
1.8
2.0
2.2
20
40
Continuous Torque
10
0
0
Motor rpm (x 1000)
Output Torque (N-m)
80
Output Power (kW)
Output Power (kW)
Peak Torque
6
Output Torque (N-m)
Peak Torque
8
Chapter 2
Specifications

Motor Curves
1327AD-ABL-08-E (low speed winding)
8510A-A11-x2
1327AD-ABL-08-E (high speed winding)

8510A-A11-x2
240
12
Peak Torque
9
180
Continuous Power
120
80
64
30 Minute Power
Output Torque (N-m)
30 Minute Power
15
Output Power (kW)
Output Power (kW)
12
300
Output Torque (N-m)
15
Peak Torque
9
48
Continuous Power
32
60
16
Continuous Torque
Continuous Torque
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
1.8
2.0
2.2
0
0
Motor rpm (x 1000)
15
240
12
180
Continuous Power
120
Output Power (kW)
Peak Torque
300
Output Torque (N-m)
Output Power (kW)
30 Minute Power
1327AD-ACL-08-F (high speed winding)

8510A-A11-x2
15
Motor rpm (x 1000)
1327AD-ACL-08-F (low speed winding)

8510A-A11-x2
12
60
Continuous Torque
150
120
30 Minute Power
Peak Torque
90
Continuous Power
60
Output Torque (N-m)
0
0.0
30
Continuous Torque
0
0
0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4 1.5
0
0
Motor rpm (x 1000)
Output Power (kW)
400
16
Continuous Power
300
200
100
Continuous Torque
200
30 Minute Power
160
Continuous Power
120
Peak Torque
12
80
Output Torque (N-m)
30 Minute Power
Output Power (kW)
20
Output Torque (N-m)
500
Peak Torque
1327AD-AAK-11-x (high speed winding)

8510A-A11-x2
20
12
Motor rpm (x 1000)
1327AD-AAK-11-x (low speed winding)

8510A-A11-x2
16
40
Continuous Torque
0
0.0
0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3
Motor rpm (x 1000)
1.4
0
0
Motor rpm (x 1000)
2-15
Chapter 2
Specifications

Motor Curves
8510A-A22-x2
30
300
500
25
250
Output Power (kW)
Peak Torque
20
30 Minute Power
400
Continuous Power
15
300
200
10
Continuous Torque
5
0
0.0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3
Output Power (kW)
25
600
Output Torque (N-m)
30
20
200
30 Minute Power
Continuous Power
15
150
Peak Torque
100
10
100
1.4
Output Torque (N-m)

8510A-A22-x2
50
Continuous Torque
0
0
Motor rpm (x 1000)
Motor rpm (x 1000)

8510A-A22-x2

8510A-A22-x2
35
30
700
35
350
600
30
300
500
25
Continuous Power
20
400
15
300
10
200
250
30 Minute Power
Continuous Power
20
15
200
150
Peak Torque
10
100
Continuous Torque
5
0
0.0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3
Motor rpm (x 1000)
2-16
1.4
100
50
Continuous Torque
0
0
Motor rpm (x 1000)
Output Torque (N-m)
30 Minute Power
Output Power (kW)
25
Output Torque (N-m)
Output Power (kW)
Peak Torque
Chapter
Dimensions
Chapter Objectives
Dimensions for the 8510 system components are detailed on the following
pages. Refer to the listing below for help in locating the desired drawing.
8510 Drive A04
8510 Drive A04 Mounting
8510 Drive A06
8510 Drive A11
8510 Drive A22
1327A Flange Mount Motor
1327A Foot Mount Motor
High Resolution Magnetic Feedback
AC Line Fuse Kits
Termination Panels
Drive Panel Mounting
AC Power Transformer
Figure 3.1
Figure 3.2
Figure 3.3
Figure 3.4
Figure 3.5
Figure 3.6
Figure 3.7
Figure 3.8
Figure 3.9
Figure 3.10
Figure 3.13
Figure 3.15
Figure 3.16
Figure 3.17
Figure 3.18
page 3-18
page 3-19
page 3-20
page 3-21
page 3-22
page 3-23
page 3-24
page 3-25
page 3-26
page 3-27
page 3-30
page 3-32
page 3-33
page 3-34
page 3-35
Please note that dimensions are in millimeters, unless otherwise stated.
3-17
Chapter 3
Dimensions
Figure 3.1
8510 Drive A04
10
8 Dia.
Mode
Scroll +
Scroll
Select
433 450
8510
DIGITAL AC SPINDLE DRIVE
27.5
3-18
120
175
8 Dia.
222.3
47
Chapter 3
Dimensions
Figure 3.2
7 Typical, 4 Required
13
433
400
Cut Out
18
13
120
146
3-19
Chapter 3
Dimensions
Figure 3.3
8510 Drive A06
10
8 Dia.
Mode
Scroll +
Scroll
Select
433 450
8510
27.5
3-20
120
175
8 Dia.
222.3
74.4
Chapter 3
Dimensions
Figure 3.4
13
433
400
Cut Out
18
13
120
146
3-21
Chapter 3
Dimensions
Figure 3.5
8510 Drive A11
6 Holes at 7 Dia.
Mode
Scroll +
Scroll
8510
Select
432 455
141.5
283
310
3-22
11.5
13.5
154.5
107
Chapter 3
Dimensions
Figure 3.6
16
432 400
7.5
Cut Out
141.5
283
298
3-23
Chapter 3
Dimensions
Figure 3.7
8510 Drive A22
6 Holes at 7 Dia.
Mode
Scroll +
Scroll
8510
Select
750
727.5
141.5
283
310
3-24
11.5
13.5
167
115
Chapter 3
Dimensions
Figure 3.8
13.5
727.5
700
Cut Out
141.5
14
7.5
283
298
3-25
Chapter 3
Dimensions
Figure 3.9
1327AB and 1327AD Series A Flange Mount Motor
R
S
XA
XN
AH
XC
P
XL
BB
BE
XB
XM
AA
Shaft Detail
AB
AC
ES
BH
AK
AJ
4 - BF
AG
Flange Mount Motor (Dimensions are in millimeters)

Overall
Conduit Box
Flange
Catalog Number
Series
AG
BH
AA
AB
AC
XC
XL
XM
XN
AJ
AK
BB
BE
BF
1327AB-AFM-02-F
1327AB-AFM-04-F
1327AB-AFM-06-F
1327AB-AFL-08-F
1327AB-AFL-11-F
1327AB-AFL-15-F
1327AB-AFL-19-F
1327AB-AFL-22-F
A
A
A
A
A
A
A
A
174
214
214
270
270
250
250
250
359
407
447
418
458
508
560
600
174
204
204
250
250
250
250
250
35
51
51
51
51
51
63
63
149
178
178
202
202
207
207
207
106
126
126
150
150
152
152
152
343
376
416
383
423
496.5
546.5
586.5
194
214
214
214
214
241
241
241
215
235
275
243
283
331
381
421
385
425
465
433
473
551
601
641
185
215
215
265
265
265
265
265
150 h7 (+0.000/0.040)
180 h7 (+0.000/0.040)
180 h7 (+0.000/0.040)
230 h7 (+0.000/0.046)
230 h7 (+0.000/0.046)
230 h7 (+0.000/0.046)
230 h7 (+0.000/0.046)
230 h7 (+0.000/0.046)
5
5
5
5
5
5
5
5
15
18
18
20
20
20
20
20
11
15
15
15
15
15
15
15
1327AD-ABL-04-F
1327AD-ABL-06-F
1327AD-ACL-08-F
1327AD-AAK-11-F
1327AD-AAK-15-F
1327AD-AAK-19-F
A
A
A
A
A
A
250
250
250
330
384
384
453
491
539
687
666
716
250
250
250
310
380
380
49
49
49
61
61
61
183
183
183
212
280
280
131
131
131
158
216
216
398
436
484
667
628
678
320
320
320
330
385
385
265
303
351
491
430
480
441
479
527
722
687
737
265
265
265
350
400
400
230 h7 (+0.000/0.046)
230 h7 (+0.000/0.046)
230 h7 (+0.000/0.046)
300 h7 (+0.000/0.052)
350 h7 (+0.000/0.057)
350 h7 (+0.000/0.057)
5
5
5
5
5
5
18
18
18
20
22
22
15
15
15
19
24
24
Catalog Number
Series
AH
ES
Key - W
Key - H
XA
XB
1327AB-AFM-02-F
1327AB-AFM-04-F
1327AB-AFM-06-F
1327AB-AFL-08-F
1327AB-AFL-11-F
1327AB-AFL-15-F
1327AB-AFL-19-F
1327AB-AFL-22-F
A
A
A
A
A
A
A
A
28 j6 (+0.009/0.004)
28 h6 (+0.000/0.013)
32 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
55 h6 (+0.000/0.019)
55 h6 (+0.000/0.019)
60
60
80
110
110
110
110
110
49
75
97
97
97
98
98
24 (0.0/0.2)
27 (0.0/0.2)
42.5 (0.0/0.2)
42.5 (0.0/0.2)
42.5 (0.0/0.2)
49 (0.0/0.2)
49 (0.0/0.2)
8 P9 (0.015/0.051)
10 P9 (0.015/0.051)
14 P9 (0.018/0.061)
14 P9 (0.018/0.061)
14 P9 (0.018/0.061)
16 P9 (0.018/0.061)
16 P9 (0.018/0.061)
8 h9 (+0.0/0.036)
10 h9 (+0.0/0.036)
14 h9 (+0.0/0.043)
14 h9 (+0.0/0.043)
14 h9 (+0.0/0.043)
16 h9 (+0.0/0.043)
16 h9 (+0.0/0.043)
7 h11 (+0.0/0.09)
8 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
10 h11 (+0.0/0.09)
10 h11 (+0.0/0.09)
16
22
38
38
38
45
45
2 M6 x 10 deep
4 M5 x 10 deep
4 M5 x 10 deep
4 M5 x 10 deep
4 M5 x 10 deep
4 M5 x 10 deep
4 M5 x 10 deep
1327AD-ABL-04-F
1327AD-ABL-06-F
1327AD-ACL-08-F
1327AD-AAK-11-F
1327AD-AAK-15-F
1327AD-AAK-19-F
A
A
A
A
A
A
48 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
55 h6 (+0.000/0.019)
60 h6 (+0.000/0.019)
70 h6 (+0.000/0.019)
70 h6 (+0.000/0.019)
110
110
110
140
140
140
90
90
90
110
110
110
42.5 (0.0/0.2)
42.5 (0.0/0.2)
49 (0.0/0.2)
53 (0.0/0.2)
62.5 (0.0/0.2)
62.5 (0.0/0.2)
14 P9 (0.018/0.061)
14 P9 (0.018/0.061)
16 P9 (0.018/0.061)
18 P9 (0.018/0.061)
20 P9 (0.022/0.074)
20 P9 (0.022/0.074)
14 h9 (+0.0/0.043)
14 h9 (+0.0/0.043)
16 h9 (+0.0/0.043)
18 h9 (+0.0/0.043)
20 h9 (+0.0/0.052)
20 h9 (+0.0/0.052)
9 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
10 h11 (+0.0/0.09)
11 h11 (+0.0/0.11)
12 h11 (+0.0/0.11)
12 h11 (+0.0/0.11)
38
38
45
50
60
60
4 M5 x 10 deep
4 M5 x 10 deep
4 M5 x 10 deep
4 M6 x 10 deep
4 M6 x 10 deep
4 M6 x 10 deep
Shaft and Key
3-26
Chapter 3
Dimensions
Figure 3.10
1327AB and 1327AD Series A Foot Mount Motor
XN
N-W
P
BH
XL
XC
XM
AA
R
AB
Shaft Detail
AC
ES
D +0.0
-0.5
E
G
4-H
BA
2F
XB
B
AG
Foot Mount Motor (Dimensions are in millimeters)

Overall
Conduit Box
Mounting Feet
Catalog Number
Series
AG
BH
AA
AB
AC
XC
XL
XM
XN
2F
BA
XB
1327AB-AFM-04-E
1327AB-AFM-06-E
1327AB-AFL-08-E
1327AB-AFL-11-E
1327AB-AFL-15-E
1327AB-AFL-19-E
1327AB-AFL-22-E
A
A
A
A
A
A
A
211
211
258
258
250
250
250
406
435
408
448
498
549
589
112
112
160
160
160
160
160
204
204
250
250
250
250
250
51
51
51
51
51
63
63
178
178
202
202
207
207
207
126
126
150
150
152
152
152
365
405
372
412
487.5
537.5
577.5
214
214
214
214
241
241
241
225
265
232
272
322
372
412
415
455
422
462
542
592
632
220
220
290
290
290
290
290
95
95
127
127
127
127
127
11
10
18
18
18
18
18
12
12
15
15
14.5
14.5
14.5
44
44
65
65
65
65
65
198
238
235
261
340
365
404
100
140
140
178
254
279
318
70
70
108
108
108
108
108
27.5
27.5
43
43
43
43
43
1327AD-ABL-04-E
1327AD-ABL-06-E
1327AD-ABL-08-E
1327AD-AAK-11-E
1327AD-AAK-15-E
1327AD-AAK-19-E
A
A
A
A
A
A
250
250
250
310
380
380
454
492
569
643
661.5
711.5
160
160
160
180
225
225
250
250
250
310
380
380
49
49
49
61
61
61
183
183
183
212
280
280
131
131
131
158
216
216
399
437
513.5
623
623.5
673.5
320
320
320
330
385
385
266
304
380.5
447
425.5
475.5
442
480
556.5
678
682.5
732.5
290
290
290
320
420
420
127
127
127
139.5
178
178
16
16
16
16
21
21
15
15
15
19
24
24
47
55
55
55
75
75
244
278
375
390
425
465
178
210
305
254
311
349
108
108
108
121
149
149
59
59
59
50
73
73
Catalog Number
Series
N-W
ES
Key - W
Key - H
1327AB-AFM-04-E
1327AB-AFM-06-E
1327AB-AFL-08-E
1327AB-AFL-11-E
1327AB-AFL-15-E
1327AB-AFL-19-E
1327AB-AFL-22-E
A
A
A
A
A
A
A
28 h6 (+0.000/0.013)
32 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
55 m6 (+0.030/+0.011)
55 m6 (+0.030/+0.011)
60
80
110
110
110
110
110
49
70
97
97
97
98
98
24 (0.0/0.2)
27 (0.0/0.2)
42.5 (0.0/0.2)
42.5 (0.0/0.2)
42.5 (0.0/0.2)
49 (0.0/0.2)
49 (0.0/0.2)
8 P9 (0.015/0.051)
10 P9 (0.015/0.051)
14 P9 (0.018/0.061)
14 P9 (0.018/0.061)
14 P9 (0.018/0.061)
16 P9 (0.018/0.061)
16 P9 (0.018/0.061)
8 h9 (+0.0/0.036)
10 h9 (+0.0/0.036)
14 h9 (+0.0/0.043)
14 h9 (+0.0/0.043)
14 h9 (+0.0/0.043)
16 h9 (+0.0/0.043)
16 h9 (+0.0/0.043)
7 h11 (+0.0/0.09)
8 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
10 h11 (+0.0/0.09)
10 h11 (+0.0/0.09)
1327AD-ABL-04-E
1327AD-ABL-06-E
1327AD-ABL-08-E
1327AD-AAK-11-E
1327AD-AAK-15-E
1327AD-AAK-19-E
A
A
A
A
A
A
48 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
55 m6 (+0.030/+0.011)
60 m6 (+0.030/+0.011)
70 m6 (+0.030/+0.011)
70 m6 (+0.030/+0.011)
110
110
110
140
140
140
90
90
90
110
110
110
42.5 (0.0/0.2)
42.5 (0.0/0.2)
49 (0.0/0.2)
53 (0.0/0.2)
62.5 (0.0/0.2)
62.5 (0.0/0.2)
14 P9 (0.018/0.061)
14 P9 (0.018/0.061)
16 P9 (0.018/0.061)
18 P9 (0.018/0.061)
20 P9 (0.022/0.074)
20 P9 (0.022/0.074)
14 h9 (+0.0/0.043)
14 h9 (+0.0/0.043)
16 h9 (+0.0/0.043)
18 h9 (+0.0/0.043)
20 h9 (+0.0/0.052)
20 h9 (+0.0/0.052)
9 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
10 h11 (+0.0/0.09)
11 h11 (+0.0/0.11)
12 h11 (+0.0/0.11)
12 h11 (+0.0/0.11)
Shaft and Key
3-27
Chapter 3
Dimensions
Figure 3.11
1327AB Series B, 1327AC Series A and 1327AD Series B Flange Mount Motor
R
S
XA
XB
AH
XN
XC
P
XL
BB
BE
XM
AA
Shaft Detail
AB
AC
ES
BH
AK
Blower
AJ
4 - BF
AG
Flange Mount Motor (Dimensions are in millimeters)

Overall
Conduit Box
Flange
Catalog Number
Series
AG
BH
AA
AB
AC
XC
XL
XM
XN
AJ
AK
BB
BE
BF
1327AC-AFM-02-F
1327AC-AFM-04-F
1327AC-AFM-06-F
1327AC-AFL-08-F
1327AC-AFL-11-F
1327AB-AFL-15-F
1327AB-AFL-19-F
1327AB-AFL-22-F
A
A
A
A
A
B
B
B
174
204
204
250
250
250
250
250
337
408
448
410
450
500
550
590
174
204
204
250
250
250
250
250
35
51
51
51
51
51
63
63
148
176
176
199
199
206
206
206
104
124
124
147
147
151
151
151
318
376
416
384
424
493.5
543.5
583.5
192
212
212
212
212
242
242
242
190
236
276
244
284
328
378
418
360
426
466
434
474
548
598
638
185
215
215
265
265
265
265
265
150 h7 (+0.000/0.040)
180 h7 (+0.000/0.040)
180 h7 (+0.000/0.040)
230 h7 (+0.000/0.046)
230 h7 (+0.000/0.046)
230 h7 (+0.000/0.046)
230 h7 (+0.000/0.046)
230 h7 (+0.000/0.046)
5
5
5
5
5
5
5
5
15
18
18
20
20
20
20
20
11
14.5
14.5
14.5
14.5
14.5
14.5
14.5
1327AD-ABL-04-F
1327AD-ABL-06-F
1327AD-ACL-08-F
1327AD-AAK-11-F
1327AD-AAK-15-F
1327AD-AAK-19-F
B
B
B
B
B
B
250
250
250
330
384
384
453
491
539
687
666
716
250
250
250
310
380
380
49
49
49
61
61
61
183
183
183
212
280
280
131
131
131
158
216
216
398
436
484
667
628
678
320
320
320
330
385
385
265
303
351
491
430
480
441
479
527
722
687
737
265
265
265
350
400
400
230 h7 (+0.000/0.046)
230 h7 (+0.000/0.046)
230 h7 (+0.000/0.046)
300 h7 (+0.000/0.052)
350 h7 (+0.000/0.057)
350 h7 (+0.000/0.057)
5
5
5
5
5
5
18
18
18
20
22
22
15
15
15
19
24
24
Catalog Number
Series
AH
ES
Key - W
Key - H
XA
XB
1327AC-AFM-02-F
1327AC-AFM-04-F
1327AC-AFM-06-F
1327AC-AFL-08-F
1327AC-AFL-11-F
1327AB-AFL-15-F
1327AB-AFL-19-F
1327AB-AFL-22-F
A
A
A
A
A
B
B
B
28 j6 (+0.009/0.004)
28 h6 (+0.000/0.013)
32 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
55 h6 (+0.000/0.019)
55 h6 (+0.000/0.019)
60
60
80
110
110
110
110
110
49
75
97
97
97
98
98
24 (0.0/0.2)
27 (0.0/0.2)
42.5 (0.0/0.2)
42.5 (0.0/0.2)
42.5 (0.0/0.2)
49 (0.0/0.2)
49 (0.0/0.2)
8 P9 (0.015/0.051)
10 P9 (0.015/0.051)
14 P9 (0.018/0.061)
14 P9 (0.018/0.061)
14 P9 (0.018/0.061)
16 P9 (0.018/0.061)
16 P9 (0.018/0.061)
8 h9 (+0.0/0.036)
10 h9 (+0.0/0.036)
14 h9 (+0.0/0.043)
14 h9 (+0.0/0.043)
14 h9 (+0.0/0.043)
16 h9 (+0.0/0.043)
16 h9 (+0.0/0.043)
7 h11 (+0.0/0.09)
8 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
10 h11 (+0.0/0.09)
10 h11 (+0.0/0.09)
16
22
38
38
38
45
45
2 M6 x 10 deep
4 M5 x 10 deep
4 M5 x 10 deep
4 M5 x 10 deep
4 M5 x 10 deep
4 M5 x 10 deep
4 M5 x 10 deep
1327AD-ABL-04-F
1327AD-ABL-06-F
1327AD-ACL-08-F
1327AD-AAK-11-F
1327AD-AAK-15-F
1327AD-AAK-19-F
B
B
B
B
B
B
48 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
55 h6 (+0.000/0.019)
60 h6 (+0.000/0.019)
70 h6 (+0.000/0.019)
70 h6 (+0.000/0.019)
110
110
110
140
140
140
90
90
90
110
110
110
42.5 (0.0/0.2)
42.5 (0.0/0.2)
49 (0.0/0.2)
53 (0.0/0.2)
62.5 (0.0/0.2)
62.5 (0.0/0.2)
14 P9 (0.018/0.061)
14 P9 (0.018/0.061)
16 P9 (0.018/0.061)
18 P9 (0.018/0.061)
20 P9 (0.022/0.074)
20 P9 (0.022/0.074)
14 h9 (+0.0/0.043)
14 h9 (+0.0/0.043)
16 h9 (+0.0/0.043)
18 h9 (+0.0/0.043)
20 h9 (+0.0/0.052)
20 h9 (+0.0/0.052)
9 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
10 h11 (+0.0/0.09)
11 h11 (+0.0/0.11)
12 h11 (+0.0/0.11)
12 h11 (+0.0/0.11)
38
38
45
50
60
60
4 M5 x 10 deep
4 M5 x 10 deep
4 M5 x 10 deep
4 M6 x 10 deep
4 M6 x 10 deep
4 M6 x 10 deep
Shaft and Key
3-28
Chapter 3
Dimensions
Figure 3.12
1327AB Series B, 1327AC Series A and 1327AD Series B Foot Mount Motor
P
XN
XL
XC
N-W
XM
AA
R
AB
Shaft Detail
AC
ES
Blower
D +0.0
-0.5
E
G
4-H
BA
2F
XB
B
AG
Foot Mount Motor (Dimensions are in millimeters)

Overall
Conduit Box
Mounting Feet
Catalog Number
Series
AG
AA
AB
AC
XC
XL
XM
XN
2F
BA
XB
1327AC-AFM-04-E
1327AC-AFM-06-E
1327AC-AFL-08-E
1327AC-AFL-11-E
1327AB-AFL-15-E
1327AB-AFL-19-E
1327AB-AFL-22-E
A
A
A
A
B
B
B
204
204
250
250
250
250
250
395
435
401
441
491
541
581
112
112
160
160
160
160
160
51
51
51
51
51
63
63
176
176
199
199
206
206
206
124
124
147
147
151
151
151
363
403
375
415
484.5
534.5
574.5
212
212
212
212
242
242
242
223
263
235
275
319
369
409
413
453
425
465
539
589
629
220
220
290
290
290
290
290
95
95
127
127
127
127
127
11
10
18
18
18
18
18
12
12
14.5
14.5
14.5
14.5
14.5
44
44
65
65
65
65
65
198
237
235
261
340
365
404
100
140
140
178
254
279
318
70
70
108
108
108
108
108
30.5
30.5
43
43
43
43
43
1327AD-ABL-04-E
1327AD-ABL-06-E
1327AD-ABL-08-E
1327AD-AAK-11-E
1327AD-AAK-15-E
1327AD-AAK-19-E
B
B
B
B
B
B
250
250
250
310
380
380
454
492
569
643
661.5
711.5
160
160
160
180
225
225
49
49
49
61
61
61
183
183
183
212
280
280
131
131
131
158
216
216
399
437
513.5
623
623.5
673.5
320
320
320
330
385
385
266
304
380.5
447
425.5
475.5
442
480
556.5
678
682.5
732.5
290
290
290
320
420
420
127
127
127
139.5
178
178
16
16
16
16
21
21
15
15
15
19
24
24
47
55
55
55
75
75
244
278
375
390
425
465
178
210
305
254
311
349
108
108
108
121
149
149
59
59
59
50
73
73
Catalog Number
Series
N-W
ES
Key - W
Key - H
1327AC-AFM-04-E
1327AC-AFM-06-E
1327AC-AFL-08-E
1327AC-AFL-11-E
1327AB-AFL-15-E
1327AB-AFL-19-E
1327AB-AFL-22-E
A
A
A
A
B
B
B
28 h6 (+0.000/0.013)
32 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
55 m6 (+0.030/+0.011)
55 m6 (+0.030/+0.011)
60
80
110
110
110
110
110
49
70
97
97
97
98
98
24 (0.0/0.2)
27 (0.0/0.2)
42.5 (0.0/0.2)
42.5 (0.0/0.2)
42.5 (0.0/0.2)
49 (0.0/0.2)
49 (0.0/0.2)
8 P9 (0.015/0.051)
10 P9 (0.015/0.051)
14 P9 (0.018/0.061)
14 P9 (0.018/0.061)
14 P9 (0.018/0.061)
16 P9 (0.018/0.061)
16 P9 (0.018/0.061)
8 h9 (+0.0/0.036)
10 h9 (+0.0/0.036)
14 h9 (+0.0/0.043)
14 h9 (+0.0/0.043)
14 h9 (+0.0/0.043)
16 h9 (+0.0/0.043)
16 h9 (+0.0/0.043)
7 h11 (+0.0/0.09)
8 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
10 h11 (+0.0/0.09)
10 h11 (+0.0/0.09)
1327AD-ABL-04-E
1327AD-ABL-06-E
1327AD-ABL-08-E
1327AD-AAK-11-E
1327AD-AAK-15-E
1327AD-AAK-19-E
B
B
B
B
B
B
48 h6 (+0.000/0.016)
48 h6 (+0.000/0.016)
55 m6 (+0.030/+0.011)
60 m6 (+0.030/+0.011)
70 m6 (+0.030/+0.011)
70 m6 (+0.030/+0.011)
110
110
110
140
140
140
90
90
90
110
110
110
42.5 (0.0/0.2)
42.5 (0.0/0.2)
49 (0.0/0.2)
53 (0.0/0.2)
62.5 (0.0/0.2)
62.5 (0.0/0.2)
14 P9 (0.018/0.061)
14 P9 (0.018/0.061)
16 P9 (0.018/0.061)
18 P9 (0.018/0.061)
20 P9 (0.022/0.074)
20 P9 (0.022/0.074)
14 h9 (+0.0/0.043)
14 h9 (+0.0/0.043)
16 h9 (+0.0/0.043)
18 h9 (+0.0/0.043)
20 h9 (+0.0/0.052)
20 h9 (+0.0/0.052)
9 h11 (+0.0/0.09)
9 h11 (+0.0/0.09)
10 h11 (+0.0/0.09)
11 h11 (+0.0/0.11)
12 h11 (+0.0/0.11)
12 h11 (+0.0/0.11)
Shaft and Key
3-29
Chapter 3
Dimensions
Figure 3.13
High Resolution Magnetic Feedback Detecting Gear
6 Holes 5.5 Dia. Equally Spaced
16
C A
A & B Phase
Detecting Gear
Catalog Number
8510SA-PG225
8510SA-PG256
8510SA-PG300
8510SA-PG400
8510SA-PG500
8510SA-PG500P
3-30
Z Phase
# of Teeth
225
256
300
400
500
500
A
90.8 h6 (0.0/0.022)
103.2 h6 (0.0/0.022)
120.8 h6 (0.0/0.025)
160.8 h6 (0.0/0.025)
200.8 h6 (0.0/0.029)
200.8 h6 (0.0/0.029)
B
52 H6 (+0.019/0.0)
65 H6 (+0.019/0.0)
85 H6 (+0.022/0.0)
120 H6 (+0.022/0.0)
150 H6 (+0.025/0.0)
150 H6 (+0.025/0.0)
C
82
92
112
152
192
192
D
67 (+0.1/0.1)
80 (+0.1/0.1)
100 (+0.1/0.1)
135 (+0.1/0.1)
165 (+0.1/0.1)
165 (+0.1/0.1)
Chapter 3
Dimensions
Figure 3.14
High Resolution Magnetic Feedback Sensing Head
Minimum Length = 2,000
5.3 Dia., 2 Plcs.

4 0.1
50 0.1
70 Max.
Z Phase Sensor Center
A/B Phase Sensor Center
4.9 0.5
22.2 Dia.
0.2
33
Max.
16.5
5 Max.
7 1
0.9 0.3
11 +0/0.02
38 Max.
3-31
Chapter 3
Dimensions
Figure 3.15
AC Line Fuse Kits Dimensions are in Inches
8510SA-FA04
8510SA-FA06
1 1 /2
2
17/32
7/32
4 13/16
1 1 /2
3 /4
17/64 Dia.
7/16 C'Bore
4 1/8
2 1/16
8510SA-FA11
2 9/32
5
15/16
19/64
1 1 /2
7/32 Dia.
1/2 C'Bore
6 9/32
3 9/64
1 3 /4
8510SA-FA22
1 1 /2
3/4 C'Bore, 11/32
Dia.
1 11/16 6 1/8
2 7/32
3 /4
2 29/32
3-32
1 5/16
9 5 /8
Chapter 3
Dimensions
Figure 3.16
Termination Panels
71.0
11
12
13
14
15
16
17
18
19
DIN #3 Rail
A-B Type 199-DR1 or
Equivalent (Not Supplied)
20
10
86.5
28.0
20 Pin
Note:
Includes 1.5 m Cable
with Connectors on Both Ends
71.0
26
27
28
29
30
31
32
33
34
35
36
10
37
11
39
12
40
14
41
15
42
16
43
17
44
18
45
19
46
20
47
21
48
22
49
23
50
24
25
150.5
50 Pin
3-33
Chapter 3
Dimensions
Figure 3.17
Drive Panel Mounting
10
Mode
Scroll +
Scroll
8510
Select
14
A
B
Drive
Catalog Number
8510A-A04-x
8510A-A06-x
8510A-A11-x
8510A-A22-x
3-34
A
145
145
282
282
B
174
174
310
310
C
485
485
485
780
D
504
504
506
800
E
100
100
113
120
Chapter 3
Dimensions
Figure 3.18
AC Power Transformer Dimensions are in millimeters and (inches)
B
63.5 (2.5) Typ.
12.7 (0.5) Typ.
(if Wall Mounted)
25.4
(1.0)
L
C
F/2
F
P (Knockout)
D
25.4 (1.0) Typ.
Catalog
Number
82.6 (3.25)
50.8 (2.0)
F/2
E
A
N
F
14.2 (0.56) Dia.

6 Places.
P
(Knockout)
Weight
kg (lb.)
8510T-AA006-BA
8510T-AA009-BA
8510T-AA012-BA
8510T-AA006-EA
8510T-AA009-EA
8510T-AA012-EA
8510T-IA006-BA
438
(17.25)
286
(11.25)
356
(14.00)
375
(14.75)
419
(16.50)
178
(7.00)
241
(9.50)
51
(2.00)
25
(1.00)
19 & 25
30 (65)
(0.75 & 1.00) 39 (85)
50 (110)
45 (100)
52 (115)
60 (133)
50 (110)
8510T-AA017-BA
8510T-AA022-BA
8510T-AA026-BA
8510T-AA032-BA
8510T-AA017-EA
8510T-AA022-EA
8510T-AA026-EA
8510T-AA032-EA
8510T-IA009-BA
8510T-IA012-BA
8510T-IA017-BA
495
(19.50)
419
(16.50)
483
(19.00)
419
(16.50)
470
(18.50)
254
(10.00)
254
(10.00)
51
(2.00)
64
(2.50)
25 & 32
68 (150)
(1.00 & 1.25) 75 (165)
80 (175)
91 (200)
66 (145)
77 (170)
84 (185)
98 (215)
59 (130)
73 (160)
77 (170)
8510T-AA040-BA
8510T-AA040-EA
8510T-IA022-BA
8510T-IA026-BA
8510T-IA032-BA
8510T-IA040-BA
622
(24.50)
521
(20.50)
622
(24.50)
546
(21.50)
597
(23.50)
254
(10.00)
305
(12.00)
64
(2.50)
64
(2.50)
25 & 51
114 (250)
(1.00 & 2.00) 116 (255)
118 (260)
123 (270)
132 (290)
159 (350)
3-35
Chapter 3
Dimensions
End of Chapter
3-36
Chapter
Receiving, Unpacking and Inspection
Chapter Objectives
Chapter 4 provides the information needed to unpack, properly inspect and

if necessary, store the 8510 and related equipment. The section entitled
Inspection provides a complete explanation of the 8510 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
Retain all of the instruction manuals found on top of the packing material
for use during installation, start-up, and maintenance of the drive. Remove
the top half of the protective foam shell from the drive. Using the mounting
flanges near the bottom of the drive, lift the drive from the bottom half of
the protective shell. Remove the plastic bag that encloses the drive. The
drive is now ready for installation.
Important: Before the installation and start-up of the system, 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. The
drive nameplate is located on the back side of the cover. Refer to Chapter 5
for drive cover removal information.
Storing
The drive 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.
4-37
Chapter 4
8510 Drive
8510
First Position Second Position

Bulletin
Series
Number
Letter
Description
Series
A Design
04
Third Position
Fourth Position
Maximum AC
Input Voltage
Approx. Continuous Power Output
Letter Voltage
No.
Description
04
Up to 3.7
kW (5 hp)
200 - 220V
AC, 10%,
50/60 Hz. and
230V AC
input, 10%,
60 Hz
06
11
Up to 5.5
kW (7.5
hp)
22
Up to 11
kW (15 hp)
Fifth Position
I/O Board
Version
Sixth Position
I/O Board
Size
Letter
No
.
A
B
Up to 22
kW (30 hp)
Description
Standard I/O for

normal spindle use
Option A plus 16
bit digital input for
digital speed
command or orient
position command
1
2
Description
for A04 & A06

drives
for A11 & larger
drives
Option A plus high

linearity A/D
converter for
continuous path
contouring
(C-axis)
Options B and C
1327 Motor
1327 D
A
Motor
Type
Third Position
Rated
Voltage
Fourth & Fifth

Position
Base
Max.
Speed
Speed
Letter
Letter
First & Second Position

Bulletin
Number
Type
Standard
Type
Standard
Type
K 15
Sixth Position
Approx. Continuous Power Output
Seventh Position
Mounting
Type
Cod
e
Letter
Volts
200-230
V AC
Input
Dual
Winding
Type1
kW (hp)
2.2(3)
02
3.7 (5)
04
06
5.5
(7.5)
08
7.5 (10)
11
11 (15)
15
15 (20)
19
18.5
(25)
22
22 (30)
Letter rpm
A
B
C
D
E
F
1
4-38
425
426 -550
551-725
726-950
951-1200
1201-1500
Letter rpm
K
L
M
N
P
4001-5000
5001-6000
6001-8000
8001-10000
10001-12000
A user supplied contactor is required to switch the high and low speed windings.
Description
JIS Metric
Foot Mount
JIS Metric
Flange
Mount
Chapter 4
Transformer
8510T A
012
First Position
Third Position
Fourth Position
Continuous
kVA Rating
Primary Voltage
& Frequency
Description
No.
kVA
Letter Description
NEMA
Type 1
006
009
012
017
022
026
032
040
6
9
12
17
22
26
32
40
Bulletin
Number
Second Position
Enclosure
Type
Type
Letter
A
I
Description
Autotransformer
Isolation
Transformer
Letter
A
O
Open core
and coil
Fifth Position
460V AC, three-phase, 60

Hz
Sixth Position
Secondary
Voltage
Letter
Description
220V AC,
three-phase
380/415/460V AC,
three-phase, 50/60 Hz
I/O Termination Panels
8510SA TP50S
First Position
Bulletin
Number
Second Position
Type
Code
Description
TP50S
Termination panel for 50 pin standard I/O connector

includes 1.5 m (5 ft) cable
TP20
D
Termination panel for 20 pin digital speed/position input

connector includes 1.5 m (5 ft) cable
TP20
E
TP20
M
TP20
R
Termination panel for 20 pin optical encoder orient

feedback connector includes 1.5 m (5 ft) cable
Termination panel for 20 pin high resolution magnetic
orient feedback connector includes 1.5 m (5 ft) cable
Termination panel for 20 pin motor resolver feedback
connector includes 1.5 m (5 ft) cable
Termination panel for 20 pin dual winding contactor
control connector includes 1.5 m (5 ft) cable
4-39
TP20
W
Chapter 4
Cable Assemblies
8510SA CA
20D
First Position
Third Position
Fourth Position
Connector and Cable

Type
Cable
Length
Code
Description
Letter Description
20D
20 pin connector with cable for digital

speed/position input
10
20E
20 pin connector with cable for optical

encoder orient feedback
Bulletin
Number
Second Position
Cable Assembly
10
The 20E, 20M and 20R are

also available in 30 and 40
meter lengths
20M 20 pin connector with cable for high

resolution magnetic orient feedback
20R
Length in meters allowable

lengths are 5, 10, 15, 20 meters
20 pin connector with cable for motor

resolver feedback
20W 20 pin connector with cable for winding

change contactor control. used with
1327AD series motors
50S
50 pin connector with cable for standard

analog and discrete I/O
Mating Connector Kits
8510SA C
50
First Position
Third Position
Fourth Position
Connector
Purpose
Connector Termination
Types
Code
Description
Letter Description
50
50 pin Honda type for standard I/O on

drive
20 pin Honda type for motor feedback,

spindle orient feedback, dual winding
motor control or digital velocity/position input on drive
Bulletin
Number
Second Position
Connector
Kit
20
AB
AD
4-40
AMP Mate-N-Lok connector used on

1327AB series motors for resolver
feedback
AMP Mate-N-Lok connector used on
1327AD series motors for resolver
feedback
Solder type
(20 & 50 pin Honda type
only)
Crimp type
(AMP Mate-N-Lok type
only)
Chapter 4
AC Line Fuse Kits
8510SA F
A04
First Position
Third Position
Second Position
Fuse &
Fuse Block
Bulletin
Number
Fuse Ratings
Code
Description
A04 Fuses & fuse blocks for A04 drive

Drive Mounting Adapters
8510SA M
P11
First Position
Third Position
Bulletin
Number
Second Position
Mounting
Adapter
Adapter
Components
Code
P04
P06
P11
P22
V04
Description
Brackets to panel mount the A04 drive inside an

enclosure
enclosure
enclosure
V06 enclosure
Panel mounting brackets plus adapter to allow
V11 ducting cooling air from side of enclosure to an
A04 drive
V22 Panel mounting brackets plus adapter to allow
ducting cooling air from side of enclosure to an
A06 drive
A11 drive
A22 drive
4-41
Chapter 4
High Resolution Magnetic Feedback
8510SA P
G225
First Position
Third Position
Bulletin
Number
Second Position
High Resolution
Magnetic Feedback
Feedback
Elements
Code
Description
G225
G256
G300
G400
G500
G500
PSA
Standard class 225 tooth feedback

gear
gear
gear
gear
gear
Precision class 500 tooth feedback
gear
Sensing head with analog output
Offline Programming Software
8510SA SSD
C
First Position
Bulletin
Number
4-42
Second Position
Type
Code
Description
SSD
C
SFT
U
Spindle Drive Configuration software for use

with ODS
File Transfer Utility for IBM compatible PCs
Chapter
Drive Installation
Chapter Objectives
Drive installation information including environmental conditions and

mounting requirements are presented in this chapter. The information
presented will serve as a guideline in planning the installation of the drive.
Environment
Mounting
To a flat, rigid, vertical surface.
Enclosure Type
Sealed enclosure that will prevent drive from being subjected to

moisture, oil mist, dust, corrosive vapors, etc. Drive heat sinks
normally extend through the enclosure wall.
Ambient Temperature
Control Ambient 0 to 55 C (32 to 131 F) around drive control structure.
Heat Sink Ambient 0 to 40 C (32 to 104 F) at cooling air inlet to heat sinks.
Allowable Humidity 5% to 95% non-condensing.
Allowable Vibration Not to exceed 0.5 g during normal operation.
Installation Altitude Up to 1,000 m (3,300 ft.), derate 3% for each additional 300 m
(1,000 ft.) altitude. Consult Allen-Bradley for installations above
3,000 m (10,000 ft.).
Mounting
In order to maintain proper cooling, the drive must be mounted in a vertical

position. The recommended clearances for all drive ratings are 150 mm (6
inches) on the top and 75 mm (3 inches) on the bottom.
ATTENTION: The drive must be mounted in the vertical

position to assure proper cooling airflow. Failure to observe this
mounting practice could result in overheating of the drive.
Two methods of mounting the 8510 in an enclosure are available:

1. Enclosure Wall Method the drive chassis is located inside the
enclosure with the heat sink extended through the back wall of the
enclosure.
2. Panel Method the drive chassis and heat sink are inside the enclosure.
This method requires the optional panel mount brackets.
Selection of the mounting method is the responsibility of the user and is
dependent on the application. Mounting guidelines and instructions are
provided for both methods.
5-43
Chapter 5
Drive Installation
ATTENTION: The installation of the drive must be planned

such that all cutting, drilling, tapping and welding can be
accomplished with the drive removed from the enclosure. The
drive is of the open type construction and any metal debris must
be kept from falling into the drive. Metal debris or other foreign
matter that becomes lodged in the drive circuitry frequently
results in significant drive damage when power is applied.
Enclosure Wall (through-the-wall) Mounting

The following procedure provides the steps needed to properly mount the
8510 through the enclosure wall.
1. Locate the area that the drive is to be mounted, leaving at least 75 mm
(3 inches) of clearance on all sides and 150 mm (6 inches) on the top.
2. Prepare the enclosure using the panel cutout information provided in
Chapter 3. All holes must be deburred inside and outside the enclosure.
Remove any sharp edges that may be present around the cutout.
3. Unfold the gasket and position (paper side toward drive) around the
drive. Remove the protective paper from the adhesive on the top side of
the gasket. Carefully align the gasket holes with the drive mounting
holes and press the gasket into place. Repeat this procedure for the
remaining sides. See Figure 5.1.
4. Securely bolt the drive (and gasket) into the enclosure. Use 6 mm (or
1/4 in.) bolts with lockwashers. Alternately tighten the nuts to assure
uniform compression of the sealing gasket. Torque to 5.5 N-m (50
lb.-in.).
To assist in handling larger size drives, there are holes on the sides of
the drive that can be used to attach lifting hooks from a properly rated
lifting device. The lifting hooks should extend no more than 12.5 mm
(0.5 in.) inside the drive or they may damage internal drive
components.
!
!
5-44
ATTENTION: To guard against drive damage and/or personal

injury when using a lifting device, assure that the device is
operated per manufacturers instructions.
ATTENTION: During heavy regenerative load operations, the
flat metal resistor element attached to the back of the heat sink
may become very hot (in excess of 125 C or 257 F) and could
cause burns if touched. Use of the heat sink cover described
below and shown in Figure 5.2 would help guard against
accidental touching of this resistor.
Chapter 5
Drive Installation
Figure 5.1
Gasket Assembly
Enclosure Wall
Gasket
MO
DE
SC
RO
LL
(+)
SC
RO
LL
(-)
Nut
SE
LE
CT
DI
GI
TA
LA
85
SP
IN
DL
10
ED
RI
VE
Lockwasher
Bolt
5. To protect the heat sink from an excessive build up of dirt which will
reduce the heat transfer efficiency, a simple sheet metal cover should be
placed over the heat sink. Ample air inlet and outlet slots or openings
must be provided near the top and bottom of this cover to allow
unrestricted flow of cooling air. See Figure 5.2 for a typical cover
configuration.
5-45
Chapter 5
Drive Installation
Figure 5.2
Heat Sink Cover
150 mm (6 in.) Clearance

Minimum between Drive
and Top of Cover
Top of Cover is Solid
Air Inlet & Outlet Slots All 3 Sides

150 mm (6 in.) on Top
75 mm (3 in.) Clearance
Minimum between Drive
and Bottom of Cover
Enclosure Wall
Air Inlet & Outlet Slots All 3 Sides

75 mm (3 in.) on Bottom
or Leave Bottom of Cover Open
75 mm (3 in.) Clearance Minimum

between Drive and sides of Cover
5-46
Chapter 5
Drive Installation
Panel Mounting
Panel mounting allows the entire drive to be mounted inside an enclosure
without extending the heat sink through the enclosure wall. The drive is
mounted inside the enclosure using the panel mounting brackets (Cat. No.
8510SA-Mxxx) that can be supplied as an accessory. Care must be taken to
provide the required clearances at the top and bottom of the drive to assure
that the airflow across the heat sink is not obstructed. Mounting dimensions
can be found in Chapter 3.
ATTENTION: The drive is designed to provide its rated

continuous output when the heat sinks are in a 40 C (104 F)
ambient temperature. To obtain the rated continuous output of
the drive amplifier, the temperature of the air entering the heat
sink must be maintained at 40 C (104 F) or less. If the
temperature of the air entering the heat sink exceeds 40 C
(104 F), the drive amplifier must be derated in accordance with
the curve shown in Figure 5.3.
Figure 5.3
Percent Rated Load vs. Ambient Temperature Over Heat Sinks
110
Percent Rated Load
100
80
60
40
20
30
35
40
45
50
55
60
Ambient Temperature (Degrees C.)
5-47
Chapter 5
Drive Installation
Heat Dissipation
The drive must always be mounted in a sealed metal enclosure with the
heat sinks extending through the enclosure wall, or by using the optional
panel mounting brackets (with the heat sinks completely inside the
enclosure). In either case the enclosure must be sized to provide adequate
surface area to allow the heat generated inside the enclosure (by the drive
and other devices) to be dissipated through convection cooling. If this is
not possible, a properly rated enclosure cooling unit must be added to cool
the enclosure.
Typically a nonventilated convection cooled enclosure should be sized such
that 10 watts of power are dissipated for each 1 square foot of enclosure
surface. This area should not include the enclosure bottom or surfaces of
the enclosure mounted against a wall. If smaller enclosures are desired, an
air conditioner or an air to air heat exchanger may be required.
The heat dissipated inside the enclosure is directly related to the power that
is being delivered to the motor. The following table gives the drive thermal
dissipation for different motor power ratings.
Important: For very heavy regenerative load applications, the heat
dissipated inside the enclosure for panel mounted drives may increase by
up to 15%.
Table 5.A
Watts Dissipated Inside Enclosure
5-48
Motor Power
Rating
kW / HP
Enclosure
Wall
Mounted
2.2 / 3
100 W
3.7 / 5
115 W
5.5 / 7.5
135 W
7.5 / 10
150 W
11 / 15
180 W
15 / 20
200 W
18.5 / 25
230 W
22 / 30
260 W
Panel
Mounted
290 W
430 W
610 W
720 W
970 W
1110 W
1360 W
1380 W
Chapter 5
Drive Installation
Drive Accessory Mounting
Assure that sufficient cabinet space is available to mount the required drive
accessories. All wiring is to the bottom of the drive. Provide the necessary
clearances for wiring access and wire ways at the bottom of the drive.
Fuse Blocks
The 8510 does not include the incoming AC line fuses inside the drive for
drive component short circuit protection. An optional fuse kit is available
that includes the fuse block and fuses. Make provisions for mounting the
fuse block inside the enclosure. See Figure 3.15 for dimensions of the
optional fuse kits.
Termination Panels
Signal connections to the drive are through multi-pin Honda connectors. If
the optional termination panel assemblies are being used to allow wiring to
terminal blocks, provide sufficient mounting space and wiring access for
these termination panels. A 1.5 m (5 ft.) cable is provided to connect the
termination panel to the drive. See Figure 3.16 for dimensions of the
termination panels. The DIN #3 mounting rail is not provided with the
termination panels. Use Allen-Bradley type 199-DR1 or equivalent
mounting rail. Depending on the system configuration, the termination
panels required will vary from one 50 pin and one 20 pin to one 50 pin and
as many as four 20 pin units.
Removal of Drive Cover
The front cover of the drive is mounted via two locating pins in the upper
corners and two captive retaining screws in the bottom corners.
To remove the cover, loosen the two retaining screws and pull the bottom
of the cover outward until the cover is clear of the drive bottom. Next, lift
the cover upward until the locating pins are removed from the locating
holes on the top of the drive. It may be necessary to remove one or more of
the Honda connectors to obtain the necessary clearance at the bottom of the
cover.
To replace the cover, hold it with the bottom tilted slightly away from the
drive. Engage the cover locating pins into the holes on the top of the drive
and carefully swing the bottom toward the drive. Assure that the two
guides on the sides of the drive near the bottom of the cover are both inside
the cover.
Important: The top edge of the hole for the programming display may hit
the top of the display bezel. Do not force the cover backward to its final
position or it will bend and possibly damage the I/O Board. Push upward
on the bottom of the cover until the edge of the hole clears the top of the
bezel. It may be necessary to gently pull downward on the edge of the
bezel while pushing upward on the cover to make the cover clear the top of
the bezel. When the display bezel is properly located, tighten the two
retaining screws in the bottom of the cover.
5-49
Chapter 5
Drive Installation
End of Chapter
5-50
Chapter
Motor Installation
Chapter Objectives
Chapter 6 provides the information needed to properly install the 1327A

AC Motor. Included are environmental conditions that must be met and
physical mounting considerations.
Mounting Considerations
The following items must be considered when mounting the 1327A motor.
The motor can be mounted horizontally or vertically with the shaft down
or up.
Horizontally mounted 1327AD Series motors must always be mounted
with the terminal box on top of the motor. If other orientations are
required, contact the factory for special motor modifications.
The motor is fan cooled with air flow from the drive end to the fan end.
Both air inlets and outlets must be free of obstructions. Maintain a
clearance of at least 150 mm (6 inches) at the fan exhaust area.
When mounted, the motor must not be exposed to direct splash or spray
of cutting fluids or lubricating oils.
Flange mounted motors include a labyrinth type shaft seal with flinger,
which provides excellent protection against oil splash. However, it will
not provide protection against oil flooding.
Important: If mounted into a gearbox, assure that the lubricating oil
level is about one shaft diameter distance below the bottom of the motor
shaft.
Coupling Considerations
The points listed below must be considered when making mechanical

connections to the motor.
Assure that the motor is aligned with the shaft parallel to the driven shaft.
The motor has been precision balanced with a half height key installed in
the keyway. During high speed operation, a small unbalance will cause
significant vibration. Take care to accurately dynamically balance any
gears, pulleys, or couplings that are mounted to the motor shaft. Best
results are obtained by balancing after the device is mounted to the shaft.
If the motor is belt coupled, the belt tension must not exceed the radial
load capabilities of the motor bearings as shown in Table 6.A.
6-51
Chapter 6
Motor Installation
Table 6.A
1327A Radial Load Capabilities
Motor
Catalog Number
Maximum
Radial Load1
1327AC-AFM-02
133 kg (292 lb.)
1327AC-AFM-04
165 kg (364 lb.)
1327AC-AFM-06
167 kg (368 lb.)
1327AC-AFL-08
313 kg (688 lb.)
1327AC-AFL-11
335 kg (737 lb.)
1327AB-AFL-15
356 kg (784 lb.)
1327AB-AFL-19
373 kg (820 lb.)
1327AB-AFL-22
384 kg (844 lb.)
1327AD-ABL-04
300 kg (660 lb.)
1327AD-ABL-06
310 kg (682 lb.)
1327AD-ABL-08
360 kg (792 lb.)
1327AD-ACL-08
380 kg (836 lb.)
1327AD-AAK-11
580 kg (1276 lb.)
1327AD-AAK-15
600 kg (1320 lb.)
1327AD-AAK-19
610 kg (1342 lb.)
Wiring Considerations
Load applied at dimension AH/3 or (N-W)/3 from the shaft

tip.
Read through and understand the following points before wiring the 1327
motor.
The terminal box includes two cable entry holes. One hole has a solid
cover plate and the other hole has a cover plate to accommodate either
IS0-228 PF type conduit fittings or ANSI NPT type conduit fittings.
On request, cover plates to accommodate DIN-40430 PG type conduit
fittings are available.
Both motor power and motor feedback leads can be brought through the
same conduit. Carefully follow all grounding and shielding procedures
outlined in Chapter 8.
The motor fan must be operating whenever the spindle motor is
operating. The motor will quickly overheat if it is operated with the fan
de-energized.
6-52
Chapter
Chapter Objectives
Chapter 7 provides detailed information on the various inputs and outputs

available as part of the 8510 AC Drive System. Included are signal level
definitions and detailed function descriptions of each I/O point.
I/O Interface
The universal I/O interface of the 8510 provides a wide range of inputs and
outputs as listed below. Detailed explanations of the inputs and outputs is
provided on the following pages.
Digital Inputs
Coast to Stop
Drive Enable
Drive Reset
Forward Run Command
Reverse Run Command
Low Torque Limit Select
Accel/Decel Rate Select
Spindle/Servo Mode Select
Servo Input Scaling - Low/High
Orient Command
Gear Ratio Active
Motor Winding Select Command - Low Speed/High Speed
Orient Position or Digital Speed Command - 16 bit binary/BCD
Digital Outputs
Hard Fault
Soft Fault
Drive Ready
In-Position After Orient
Zero Speed
At Set Speed
Speed Level Indicator
Load Level
Current Motor Winding Selected
Analog Inputs Two inputs with 14 bit A/D resolution can be

programmed for the following input functions.
Spindle Mode Command - Input #l
Servo Mode Command - Selectable, Input #1 or Input #2
Torque Mode Command - Input #2
7-53
Chapter 7
Analog Outputs Two analog outputs with 12 bit D/A resolution can be
programmed to provide any of the following output signals.
Motor rpm (zero to maximum rpm or maximum to + maximum rpm)
Spindle rpm (zero to maximum rpm or maximum to + maximum rpm)
% Load
% Torque
% Power Output
Orient Error (full scale is 2 degrees error)
Serial Port Used for parameter data file upload and download. The port
can be configured (jumper selectable) for RS-232 or RS-422 at 9600 baud.
Conventions Used in this Manual
To help differentiate input/output names, programmable parameters and

programmable values, the following conventions will be used throughout
this chapter and the remainder of this manual.
Input and Output Names
Programming Display Text
Menu Names
Parameter Names
Programmable Parameter Values
Signal Level Descriptions
will appear in Initial Capital Letters

will appear in italics
will appear with ALL CAPITALS
will appear with Initial Capital Letters
will appear in quotes
The signal level requirements for the various inputs and outputs of the
8510 are as follows:
Digital Inputs
An open or grounded input will result in an Off condition. Inputs must be
pulled high by the external signal to obtain an On condition. An On
condition requires an input between 18 and 30V DC at no more than 10
mA. The reference or ground side of the user supplied source voltage
should only be connected to the drive through the Digital Ground terminals
on the CN9 and CN10 I/O connectors. All inputs are filtered and
electrically isolated to withstand voltage impulses in accordance with
UL-508. Digital inputs are read at 102.4 ms intervals.
Digital Outputs
The digital outputs use dry contact relays rated 200 mA at 24V DC. The
relays provide isolation for the control electronics against voltage impulses
in accordance with UL-508. Unless otherwise noted, when the output is
On, the relay will be energized and the contact closed.
7-54
Chapter 7
Analog Inputs
The analog inputs are single ended inputs with the following
characteristics:
Maximum Input Voltage Range:
10V DC
A/D Converters
Two converters selectable via software controlled

analog switches. Standard converter for spindle and
positioning applications and optional converter for
continuous path contouring applications and torque
mode operation.
A/D Resolution-Standard Converter

Effective 14 bits over 10V DC or 1.22 mV = 1 LSB.
Within 0.039 < x < +0.039 range, 0.076 mV = 1 LSB
Sample Rate
Small Input Change: 0.8 ms
Large Input Change: 26.4 ms
A/D Resolution-Optional Converter:
True 14 bits over 10V DC or 1.22 mV = 1 LSB
Sample Rate: 0.8 ms
Noise Filtering:
Baluns, Capacitors, and Clamp Diodes
The drive continuously samples to determine long term zero reference drift
of the analog circuitry within the drive and compensates for this drift.
Analog Outputs
The two analog outputs are single ended outputs suitable for driving
voltmeter displays or providing input signals to other electronic control
devices. The outputs have the following characteristics:
Output Voltage:
10V DC
D/A Resolution:
12 bits over 10V DC or 11 bits over 0-10V DC

4.88 mV = 1 LSB
Output Update Interval:
1.6 ms
Output Current:
1 mA typical, short circuit protected
Output Impedance:
440 Ohms
Noise Filtering:
Baluns and Capacitors
Output:
Output capable of driving normal loads such as meters

and analog input circuits through normal shielded or
unshielded cables.
The outputs can be configured through programming to provide either

unipolar or bipolar outputs. The unipolar output represents the absolute
value of the variable while the bipolar output represents both magnitude
and direction of the variable.
Serial Port
The Serial Port can be jumper configured for RS-422 or RS-232 serial
communications with a baud rate of 9,600 baud.
7-55
Chapter 7
I/O Interface Signal Descriptions
This section describes the various inputs and outputs available at the standard I/O Interface connector, CN9. See Figure 7.3 for connector location.
Digital Inputs
Coast to Stop CN9-1
The Coast to Stop input is wired in series with the coil of an auxiliary relay
that directly controls the operation of the main AC input contactor in the
drive. When this input is Off, the auxiliary relay is de-energized causing
the main contactor to open and the motor to coast to a stop. Regenerative
braking will not occur when this input is Off. When the main contactor
opens, the DC bus discharge circuit is activated and the DC bus will be
discharged to less than 10 volts within 15 seconds. Internal interlocks
require the bus to be discharged below a threshold level (requires about 4
seconds) before drive power-up sequence can be initiated again.
When this input is On, the coil circuit of the auxiliary relay is completed.
Then, when the Drive Enable input is applied, the auxiliary relay is
energized and the main AC contactor will close. If stated in digital logic
terms, this input would be called Coast to Stop.
Important: In situations requiring immediate de-energizing of the drive,
opening this input will remove power from the motor and the motor will
coast to a stop. This input must be a hardwired physical contact that is not
controlled by electronics.
ATTENTION: Hazards of severe injury or death exist from

unintended machine motion if an electronic malfunction occurs.
This input must be Off any time a person is required to physically touch any portion of the machine driven by this drive.
Drive Enable CN9-2

When this input is turned On (Coast to Stop input must also be On), the
drive power-up sequence begins. After 5 to 7 seconds for DC bus
precharge (if the DC bus was discharged), the main AC contactor closes
and the Drive Ready output is turned On, which completes the power-up
sequence. The drive is now ready to run.
If the Drive Enable command is turned Off while the motor is rotating, the
drive will regeneratively brake the motor, turn the power transistors off and
open the main AC contactor. If the Coast to Stop input remains On, the DC
bus will not be discharged even though the AC contactor has been opened.
This shortens the time for the power-up sequence to about 1 second after
the Drive Enable is applied.
The Drive Enable and Forward or Reverse Run commands can be applied
simultaneously (within 200 ms). In this case the drive will execute the
power-up sequence and then begin running at the commanded speed.
7-56
Chapter 7
The Enable Torque programmable parameter will determine whether or not

holding torque is available from the motor when the Drive Enable input is
On. If the parameter is set to Without Run, holding torque is available as
soon as the Drive Ready output turns On. If the parameter is set to With
Run, either the Forward Run or Reverse Run inputs must be On before
holding torque will be available.
The Drive Enable input can not be applied until the drive has completed
the initial power-on diagnostics and the Hard Fault output has been turned
On to indicate that no control malfunctions were detected. If this input is
turned On before the power-on diagnostics are completed, it will be ignored.
Important: The Drive Enable input must not be used by itself to provide a
regenerative emergency stopping capability since an electronic malfunction could potentially prevent the drive from stopping. To achieve regenerative braking in an emergency stop situation, the following circuit that
combines the Drive Enable and Coast to Stop input functions is suggested.
A single output from the emergency stop circuit of the CNC or control
station connects to the Drive Enable input of the drive (see Figure 7.1).
This same output is also connected to a user supplied relay with an
electro-mechanical or pneumatic controlled time delayed dropout. A
contact from the time delayed relay is connected in series with the Coast to
Stop input of the drive.
Removing Drive Enable will cause the drive to regenerate to a stop and
drop the contactor when zero speed is reached. When the time delay relay
opens at the end of the time delay, the contact breaks the coil circuit of the
contactor. The drive is then placed in a state in which no silicon circuitry is
depended upon for maintaining the power off state.
If a drive malfunction occurs, causing it to ignore the disable signal, the
drive will only run for the time delay setting of the relay. At the end of the
timeout, the motor contactor will be opened by passive circuitry, causing
the system to coast to a stop.
Important: The magnitude of the time delay is application dependent and
must be carefully chosen. The delay should be sufficient to allow the drive
to stop the motor from maximum speed with the maximum expected load
inertia. However, excessive time delays could pose a safety hazard in the
event of an electronic malfunction.
7-57
Chapter 7
7-58
ATTENTION: If an electronic malfunction occurs that prevents the drive from responding to the removal of the Drive Enable input, the motor will continue to operate under power until
the user supplied time delayed dropout relay de-energizes and
opens the Coast to Stop input. If this operation poses an unacceptable risk of personal injury or machine damage, immediately remove the Coast to Stop input and use an external braking
system to provide rapid stops in an emergency situation.
ATTENTION: The user has the ultimate responsibility to
determine which stopping method is best suited to the application and will meet applicable standards for operator safety. This
responsibility includes machine risk assessments to identify
hazards associated with emergency conditions and the
appropriate system solutions.
Chapter 7
Figure 7.1
Suggested Regenerative Emergency Stop Interface
Time Delayed Relay Contacts
Coast
Coast to Stop
CN9-1
User Emergency
Stop Control
Drive Enable
Drive Enable
CN9-2
+24V DC
User Interlocks
User Supplied
Time Delayed
Dropout Relay
0V DC
Coast
CN9-4, 8, 12 or 17
Drive Reset CN9-3

When On, any fault conditions that are present will be reset and the drive
will begin the initial power-up sequence. If the fault condition still exists,
the drive will immediately return to the fault shutdown condition.
If a fault occurred while the motor was running, it is possible to reset and
then restart the drive while the motor is still coasting. The drive will regain
control of the motor and either stop it or return it to the commanded
operating speed, depending on the input signals applied.
Important: Approximately 2-3 seconds after a fault occurs, the fault
message is written to the fault history in EEPROM. If the Drive Reset is
turned On while the fault message is being written to EEPROM or while
parameter value changes are being written to EEPROM, the reset
command will be ignored. After the writing to EEPROM is complete, the
Drive Reset input must be replied to reset the drive. To avoid this, do not
apply the Drive Reset input until at least 5 seconds after a fault has
occurred.
Digital Ground CN9-4, 8, 12, 17
These terminals serve as grounding points for the digital inputs.
Forward Run and Reverse Run CN9-5, 6
Turning either the Forward or Reverse Run inputs On will cause the motor
to run at the speed commanded by the appropriate analog or digital speed
command input.
The relationship between the direction of rotation and the Forward Run and
Reverse Run digital commands and the analog velocity input command are
shown below. Direction of rotation is determined when viewing the motor
output shaft end.
Velocity Command input voltage
+ Volts
Volts
Forward Run Command On

Reverse Run Command On
Counterclockwise
Clockwise
Clockwise
Counterclockwise
7-59
Chapter 7
When a digital speed command or a unipolar 0-10V DC analog speed

command is used, these two inputs will reverse the direction of motor
rotation.
When this input is turned Off, the motor will be regeneratively braked to
zero speed. Whether or not zero speed holding torque will be available will
depend on the setting of the programmable parameter Enable Torque.
Figure 7.2 shows the relative timing required for the Coast to Stop, Drive
Enable and Forward (or Reverse) Run inputs to assure proper drive
operation.
Figure 7.2
Timing
Coast to Stop Input
Must be greater than or equal to 0 ms
Drive Enable Input
Must be greater than or equal to 0 ms
Forward Run Input
About 6 seconds
Drive Ready Output
Motor Operation
Not Running
Running (if either Run command is On)
Low Torque Limit Select CN9-7

When this input is On, the maximum allowable motor torque output is
restricted to the value programmed with the Low Torq Lmt parameter.
When this input is Off, the motor torque is allowed to go to the maximum
rating for that specific motor/drive combination.
Accel/Decel Rate Select (Torque Mode Enable) CN9-9
During normal spindle mode operation, this input is used to select different
motor accel/decel ramp rates. When this input is Off, the motor accel/decel
rate is determined by the value programmed with the Acc Rate #1
parameter. When this input is On, the motor accel/decel rate is determined
by the value programmed with the Acc Rate #2 parameter.
In servo mode operation, there is no ramp control supplied to the analog
input signal. The drive will immediately respond to any input signal with
output torque up to the maximum capability of the motor/drive system (or
to the Low Torq Lmt level, if selected).
In torque mode operation this input will have a different function. If the
TORQUE MODE Torque Enable parameter has been set to Enable
during the drive setup programming, this input is used to switch the drive
between velocity control operation and torque control operation. When this
input is Off, the drive runs as a normal velocity controlled drive with the
speed command either digital or from Analog Input #1. When this input is
On, the drive operates as an open loop torque controlled drive with the
torque command from Analog Input #2.
7-60
Chapter 7
When the Torque Enable parameter is set to Enable, the Acc Rate #2
parameter is disabled. The Acc Rate #1 parameter is still active in spindle
mode.
Spindle/Servo Mode Select CN9-10
This input selects the velocity loop configuration and gains for the spindle
or servo operating modes. Refer to page 1-3 for a description of the various
control modes.
When this input is Off, the spindle mode is active. This mode is designed
for basic velocity control without an external control loop. The velocity
input must be an analog signal at Analog Input #1 or a 16 bit digital signal
on the optional Digital Speed/Orient Position inputs.
When this input is On, the servo mode is active. The servo mode is
designed for use in a closed position loop system. This mode should be
used during spindle orient operation from the CNC and during C-axis
operation on a turning center. The velocity command must be an analog
signal with the loop programmed to use either Analog Input #1 or #2
(Analog Input #2 can not be used if TORQUE MODE Torque Enable has
been programmed).
Servo Input Scaling (Low/High) CN9-11
This input is used to switch the scaling of the analog command input while
in the servo mode.
When this input is turned Off, the maximum motor speed at maximum
analog command is determined by the LO SPD RANGE parameter menu.
When this input is turned On, the maximum motor speed is determined by
the HI SPD RANGE parameter menu. Independent loop gain parameter sets
can also be programmed for each of these speed ranges.
Orient Command CN9-13
Turning this input On will activate the integral spindle orient function. The
drive velocity control loops will be switched to high speed range servo
mode gains and the position loop will be closed in the drive using the
spindle position feedback device. Deceleration and stopping will be
controlled by the orient function software.
When this input is turned Off, the drive will return to the standard velocity
control mode in less than 30 ms and resume operation at the commanded
speed.
The programmed value for the ORIENT TUNE Hold Position parameter
will determine whether the spindle will be in a free-turning or a servo lock
condition after the orient operation is completed. If the parameter is set to
Torque Hold, the drive system will supply holding torque to maintain the
orient position as long as the Orient Command is On.
If the Forward and Reverse Run commands are turned Off during orient,
the orient operation will be terminated and the motor will be regeneratively
braked to a stop.
7-61
Chapter 7
If the orient operation is terminated by removing either the Forward or

Reverse Run commands, the orient cycle will not automatically resume
when the Forward or Reverse Run commands are turned On. The orient
command must be applied after the Forward/Reverse Run commands.
Gear Ratio Active #1, #2 CN9-14, 15
Refer to page 1-4 for a description of this function. These two inputs
inform the drive of the gear range selected on the machine. Based on these
inputs, the drive will select the appropriate group of programmed
parameters for optimized performance in each gear range. Up to four gear
ranges can be used.
Gear Ratio Active Input
#1
#2
Gear Range 1 Selected

Gear Range 4 Selected 1
Off
On
Off
On
Off
Off
On
On
Not available when a dual winding motor is used.
Motor Winding Select (Low/High) CN9-16

Refer to page 1-6 for a description of this function. When this input is Off,
a two winding motor will be operating with the low speed winding.
When the input is On, the high speed winding of a two winding motor will
be selected.
If the drive is running and this input is turned On, the drive will initiate the
winding change action in less than 30 ms.
If the drive is running and this input is turned Off, the winding change
action will be initiated in less than 30 ms, if the motor speed is within the
speed range of the low speed winding. If the current speed is faster than the
maximum speed on the low speed winding, the winding change will be
delayed until the commanded (and actual) motor speed is reduced to a
speed that is within the operating range of the low speed winding.
Within 150-200 ms after beginning the winding change operation, the
motor will resume supplying torque. Then within 250 ms, the output that
indicates which winding is selected will change state. Finally, within about
750 ms, the system will have returned to a stable, fully controlled
operation.
Changing windings will simultaneously select the appropriate new set of
drive set-up parameters. In most systems, it will be desirable to have the
same velocity command scaling for each winding. Having the same scaling
will make it possible to command a speed greater than the maximum
achievable speed on the low speed winding. If the low speed winding is
selected and the commanded speed is greater than the maximum achievable
speed with that winding, the drive will clamp the command at the
maximum achievable speed.
7-62
Chapter 7
Digital Outputs
Current Motor Winding Selected (Low/High) CN9-18, 19
When this output is Off, the low speed motor winding is connected. When
this output is turned On, the high speed winding has been connected.
Drive Ready CN9-20, 21
The Drive Ready output is turned On after the Drive Enable signal has
been applied and the drive has successfully completed the power-up
sequence (ready for the Forward or Reverse Run commands). If for any
reason the drive is unable to respond to the Forward or Reverse Run
commands, this output is turned Off.
Hard Fault CN9-22, 23
The hard fault output will be On if power is applied to the drive, there are
no internally detected fault conditions, and the drive is waiting for or
executing input commands. If stated in digital terms, this output would be
called Hard Fault.
This output will be turned Off whenever a drive fault condition occurs that
will prevent the drive from properly controlling the motor.
If the motor is rotating when a fault condition is detected, the drive (if it is
still capable of controlling the motor) will regenerate the motor to a stop
and open the contactor. If the drive is unable to control the motor, the
contactor will be opened and the motor will coast to a stop.
After a hard fault has occurred, the fault condition must be corrected, any
inputs that command motion must be Off and the Reset input must be
applied or the AC power cycled. It is not necessary for the motor to stop
rotating before resetting and restarting the drive.
Soft Fault CN9-24, 25
The Soft Fault output will be On if power is applied to the drive, there are
no internally detected fault conditions, and the drive is waiting for or
executing input commands. If stated in digital terms, this output would be
called Soft Fault.
This output will be turned Off as a result of motor overtemperature, drive
overtemperature, or improper command sequences that can not be acted
upon by the drive. During a soft fault condition, the drive will continue to
operate normally. After about 2 minutes for a motor overtemperature and
30 seconds for a drive overtemperature, the fault will be changed to a hard
fault and the motor will be regenerated to a stop. If the condition is
corrected before it converts to a hard fault, the soft fault is automatically
cleared and the output will again be turned On.
7-63
Chapter 7
Improper command sequences that would cause a soft fault are; application
of the Forward Run, Reverse Run, or Orient commands prior to applying
the Drive Enable input. Application of the Motor Winding Select Command - Low when the present motor speed exceeds the maximum
allowable motor speed on the low speed winding would also cause a soft
fault.
Zero Speed Indicator CN9-26, 27
This output will be turned On when the motor speed drops below 20 rpm.
This output will be turned Off at 25 rpm.
At Set Speed Indicator CN9-28, 29
This output will be turned On when the actual motor speed is within a
percentage of the commanded speed. The percentage is determined by the
percent of commanded speed value programmed with the At-Set-Speed
parameter. The actual turn On band is the greater of the programmed
commanded speed band or 25 rpm. If either the Forward Run or Reverse
Run commands are On, this signal will be output at any operating speed
(down to zero) when the conditions are satisfied.
Speed Level Indicator CN9-30, 31
This output is turned On any time the actual motor speed is below the value
programmed for the Speed Detect parameter.
Load Level Indicator CN9-32, 33
This output is turned On any time the commanded torque exceeds a percent
of available torque. This is determined by the load value programmed for
the Load Detect parameter.
In-position CN9-34, 35
The In-Position output is turned On to indicate that the spindle orient cycle
has been completed and the spindle is within the programmed distance of
the target position. The distance from the target position is programmed
with the In-Position parameter.
Analog Inputs
Two analog inputs are available for providing analog speed or torque
commands to the drive. Which analog inputs are used and for which input
signals is determined by programmable parameters and the drive operating
mode selected.
Analog Input #1 CN9-36, 37, 38
In spindle mode, the drive can be configured to accept either an analog or a
digital speed command. If the SPINDLE MODE Cmnd Source parameter
is set to ANALOG, the input command must be applied to this input.
7-64
Chapter 7
In servo mode, an analog speed command is required but it can be applied

to either analog input. If the SERVO MODE Analog In # programmable
parameter is set to INPUT #1, this input must be used for the servo mode
analog speed command. If the CNC or other control system has only a
single analog output and the drive must operate in servo mode for functions
such as spindle orient or C-axis machining on a turning center, the servo
mode speed command should be applied to this input.
If this input is used for both the spindle and servo modes, a given analog
input level may result in three different motor speeds. The different speeds
are dependent on the operating mode selected and the maximum speed
programmed for each operating mode. The SPINDLE MODE Max Cmnd
Spd, SERVO MODE LO SPD RANGE Max Cmnd Spd, and SERVO
MODE HI SPD RANGE Max Cmnd Spd parameters define the scaling
to be used. The Spindle/Servo Mode Select and Servo Input Scaling Low/High inputs determine which factor will be used.
Analog Input #2 CN9-39, 40, 41
During servo mode operation, if the SERVO MODE Analog In #
programmable parameter is set to INPUT #2, this input must be used for
the servo mode analog speed command. If the CNC or other control system
has a separate analog output that is used for servo mode operation (like the
9/Series CNC when configured for C-axis machining on a turning center),
the servo mode speed command must be applied to this input.
In servo mode, the maximum motor speed at maximum command will be
changed based on the current state of the Servo Input Scaling Low/High
digital input. The programmed values of the LO SPD RANGE or HI SPD
RANGE menus will determine the maximum motor speed scaling that is to
be used for each input state.
The 8510 drive can also be configured to operate as a torque controlled
drive instead of a speed controlled drive. If the TORQUE MODE Torque
Enable programmable parameter is set to ENABLED, the analog torque
command must be applied to this input and the SERVO MODE Analog In
# programmable parameter must be set to INPUT #1. The Torque Mode
Enable (Accel/Decel Rate Select) input is used to switch between speed
controlled operation, either spindle mode or servo mode, using Analog
Input # 1 and torque controlled operation using Analog Input # 2.
In torque mode, the maximum analog input signal is always equal to the
maximum torque capability of the drive/motor combination.
Analog Outputs
Analog Output #1 CN9-42, 43, 44
Analog Output #2 CN9-45, 46, 47
The two analog outputs can be programmed to output one of several
different control variables. These variables include:
7-65
Chapter 7
Motor/Spindle Speed
These outputs can be programmed to display either motor or spindle speed.
The actual motor speed is determined from the resolver feedback and can
be output directly, or it can be adjusted for the selected gear range and then
output as spindle speed.
Full scale calibration is determined by the SPINDLE MODE Max Cmnd
Spd parameter. If spindle speed is being output, the full scale calibration is
at Max Cmnd Spd in the highest speed gear range. The output voltage at
full scale output is 8 volts. If speed overshoot occurs because of improper
tuning or setup, the output can go to 10 volts or 125% of full scale
calibration. By parameter selection, this output can be programmed to be
either a unipolar or a bipolar output. In the bipolar mode, this output can be
used as an analog tachometer output updated at a 1.6 ms rate.
% Load
This is a unipolar output that indicates the level of commanded torque
output as a percent of the torque that can be generated at that specific
speed. If the drive operates at maximum torque output from zero speed to
base speed and maximum power output from base speed to max speed, the
output will be 10V DC throughout the entire range.
Full scale output is the maximum overload rating of the motor and drive
combination, i.e. 120% of the intermittent (30 minute) duty rating.
% Torque
This output is identical to Load except that it is a bipolar output. This
output can be used as a set-up monitoring point or as a torque command to
a slave drive in a master/slave drive combination.
Power Output
This output is a unipolar representation of motor power in kW throughout
the entire speed range. Full scale is the maximum overload rating (120% of
the intermittent power rating) of the motor/drive combination.
Orient Error
In the orient mode, the position error is shown as the spindle is oriented to
the final position. The full scale range of this output is 2 degrees of the
target position.
Resolver Feedback Signals
Connector CN3 is used to connect the resolver and thermal switch that are
located in the 1327A series AC spindle motors to the drive. Refer to
Figure 7.3 for the connector location. Refer to Chapter 8 for the specific
motor connector to CN3 wiring instructions.
Resolver Stator CN3-8 & 14 and 9 & 15
Sine and cosine excitation of the resolver stator.
7-66
Chapter 7
Resolver Rotor CN3-11 & 17

Rotor feedback from the motor resolver.
7-67
Chapter 7
Thermal Switch CN3-13 & 20

Thermal switch that is embedded in the motor windings to indicate a motor
overtemperature condition.
Cable Shields CN3-1, 2, 3 & 4
The resolver cable must contain twisted shielded pairs with an additional
overall shield and all shields must be terminated to these pins.
Orient Feedback Signals
Connector CN2 provides the connection to the orient feedback sensor when
the drive is being used to perform spindle orient. If spindle orient is being
done by the CNC, the sensor must be connected to the CNC and not to the
drive. Either an optical encoder or the high resolution magnetic sensor can
be terminated to this connector. Refer to Figure 7.3 for the connector
location. Refer the Chapter 8 for specific wiring instructions for each
feedback type.
Optical Encoder Feedback
Use an Allen-Bradley 845T series encoder with a type 33 electrical
interface or an equivalent optical encoder with an A, B, and Z channel that
uses a push-pull type single ended output and a +12V DC input voltage.
Encoder line count should be selected to meet the application requirements.
Maximum input frequency is 250 kHz. The encoder must be mounted with
a 1:1 mechanical connection to the spindle shaft that is being oriented.
Encoder Channel A Input and Ground CN2-16 & 10
Channel A output from the orient optical encoder.
Encoder Channel B Input and Ground CN2-15 & 9
Channel B quadrature output from the orient optical encoder.
Encoder Channel Z Input and Ground CN2-14 & 8
Channel Z marker pulse output from the orient optical encoder.
Encoder Power Supply and Ground CN2-6 & 4
Control power, +12V DC, to the optical encoder.
High Resolution Magnetic Sensor
With the 8610SA-PSA sensing head and matching 8510SA-PGxxx
feedback gear, orient resolutions of 225,000 to 500,000 parts per revolution
can be obtained. The sensing head provides offset sine waves for the
analog A, B, and Z channel outputs. Refer to Chapter 1 for a more
complete description of this function.
Magnetic Sensor Channel A Input CN2-19 & 13
Channel A sine output from the high resolution magnetic sensor.
7-68
Chapter 7
Magnetic Sensor Channel B Input CN2-18 & 12

Channel B cosine output from the high resolution magnetic sensor.
Magnetic Sensor Channel Z Input CN2-17 & 11
Channel Z marker pulse output from the high resolution magnetic sensor.
Magnetic Sensor Power Supply and Ground CN2-5 & 3
Control power, +12V DC, to the magnetic sensing head.
Dual Winding Contactor Signals
Refer to page 1-6 for a complete description of this function. When using a
dual winding motor, a pair of contactors are connected between the drive
and the motor to perform the winding selection. The contactor coils and
auxiliary switches are wired to CNl. Refer to Figure 7.3 for the connector
location and Chapter 8 for specific wiring instructions.
Allen-Bradley Bulletin 100 contactors with 24V DC coils are used to
perform the winding selection. Refer to the following table for the specific
contactor type required for each motor type (2 required).
Table 7.A
Required Contactors
Motor Catalog
Number
Contactor Part
Number
1327AD-ABL-04
1327AD-ABL-06
1327AD-ABL-08
1327AD-ACL-08
100-A18-NZ243
100-A18-NZ243
100-A38-NZ243
100-A38-NZ243
1327AD-AAK-11
1327AD-AAK-15
1327AD-AAK-19
100-A38-NZ243
100-A38-NZ243
100-A60-NZ243
High Speed Winding Select Command CN1-2 & 3

Contact output to complete the 24V DC coil circuit and close the contactor
that connects the motor winding into a configuration for high speed
operation.
Low Speed Winding Select Command CN1-4 & 5
Contact output to complete the 24V DC coil circuit and close the contactor
that connects the motor winding into a Y configuration for low speed
operation.
High Speed Winding Selected Feedback CN1-18 & 11
High speed contactor auxiliary switch input to indicate that the high speed
contactor has closed.
Low Speed Winding Selected Feedback CN1-17 & 10
Low speed contactor auxiliary switch input to indicate that the low speed
contactor has closed.
7-69
Chapter 7
Digital Command Signals
When the drive is supplied with I/O option B or D (Catalog number

8510A-Axx-Bx or 8510A-Axx-Dx), connector CN10 will be present to
accept 16 bit digital input signals for spindle speed or orient position
commands. Refer to Figure 7.3 for connector location. Refer to Chapter 8
for specific wiring instructions for the connector.
Digital Command Inputs 1-4 CN10-1, 2, 3 & 4
Inputs used for bits 0 through 3 when binary data is supplied and 1s digit
when BCD data is supplied.
Inputs used for bits 4 through 7 when binary data is supplied and 10s digit
when BCD data is supplied.
Inputs used for bits 8 through 11 when binary data is supplied and 100s
digit when BCD data is supplied.
Inputs used for bits 12 through 15 when binary data is supplied and 1000s
digit when BCD data is supplied.
Signal Grounds CN10-5, 10, 15 & 20
Inputs to use as ground references for the digital command inputs.
Table 7.B
Digital Input Command Weighting
Serial Port
16 15 14 13 12 11 10 9
Binary Weight 2x 15 14 13 12 11 10 9
BCD Weight
1
0
0
8
0
4
0
2
0
1
0
Input Number
8
0
0
0
4
0
0
0
2
0
0
0
1
0
0
0
8
0
0
4
0
0
2
0
0
The Serial Port is a 9 pin D-shell connector located on the front of the
drive. The Serial Port is used to:
1) read the diagnostic messages and
2) read and download the programmable parameters.
This port does not provide real-time control of the drive.
7-70
Chapter 7
Figure 7.3
8510 Connector Locations
Digital Position/Speed Command
Standard I/O
Orient Feedback
CN9
CN10
CN2
Dual Winding
Contactor Control
Motor Resolver
CN1
PE U
CN3
V W FE FU FV PE R
Motor Fan Power
Motor Output
Important:
On some 8510A-A06-A1 drives, different
designators are used for connectors
CN1, CN2, and CN3. Although the connector
designator may be different, the I/O function
is located in the same physical location as shown.
AC Line Input
Bottom View of 8510A-A04, A06 Drive
Digital Position/Speed Command
Standard I/O
Dual Winding
Contactor Control
CN9
Orient Feedback
Motor Resolver
CN10
CN1
CN2
CN3
A22 Drives Only

FU FV FW FE
FU FV FE
R
AC Line Input
E
Motor Fan Power
Motor Output

7-71
Chapter 7
End of Chapter
7-72
Chapter
Wiring
Chapter Objectives
Chapter 8 provides the information needed to properly wire the 8510 AC

Drive System. Included in the chapter are general wiring recommendations
and detailed wiring procedures for power and signal wiring.
General Wiring Information
Since most start-up difficulties are the result of incorrect wiring, every
precaution must be taken to assure that the wiring is done as instructed. All
items must be read and thoroughly understood before the actual
wiring begins.
ATTENTION: The following information is a general guide

for proper installation. The National Electrical Code and any
governing regional or local codes will overrule this information.
The Allen-Bradley Company cannot assume responsibility for
the compliance or the noncompliance to any code, national,
local or otherwise for the proper installation of this system or
associated equipment. A hazard of personal injury and/or
equipment damage exists if codes are ignored during
installation.
The information supplied in this manual on wire sizes, practices, layouts,

system configurations and grounding/shielding techniques for the 8510 AC
Drive System are presented as guidelines. Due to the diversity of
applications and systems, no single method of wiring is completely
applicable.
Important: This information represents common system wiring
configurations, size and practices that have proven satisfactory in a
majority of applications. The National Electrical Code, local electrical
codes, special operating temperatures, duty cycles or system configurations
will take precedence over the values and methods listed.
Important: For proper interconnection, it is recommended that
Allen-Bradley Termination Panels, Cable Assemblies and/or connectors be
used.
8-73
Chapter 8
Wiring
Wire Sizes
Unless noted, the wire sizes in this manual are recommended minimums
and assume type MTW wire (machine tool wire, 75 C, minimum) per
NFPA 79. In all cases, the user is responsible for selecting the appropriate
wire type to comply with all applicable national and local codes and to
satisfy the needs of the particular application and environmental
conditions. Since ambient conditions vary widely, on certain applications, a
derating factor has to be taken into account. Also, wiring to systems or
motors exceeding 15 meters (50 feet) in length (total includes to and from
device) may cause excessive voltage drops. Consult the National Electrical
Code or appropriate national or local code for factors on ambient
conditions, length etc.
Shielding
Reasonable care must be taken when connecting and routing power and
signal wiring on a machine or system. Radiated noise from nearby relays
(relay coils should have surge suppressors), transformers, other electronic
drives, etc. may be induced into the signal lines causing undesired
movement of the motor.
All signal wiring must use shielded cables. All power wiring must be
installed in a metal conduit or wireway. Power leads are defined here as the
transformer primary and secondary leads, motor leads and any 115V AC or
above control wiring for relays, fans, thermal protectors etc. Signal wiring
is defined as velocity command, feedback, enable lines and low level logic
signal lines.
Feedback, command signal and other shields must be insulated from each
other and terminated as specified in this chapter. This helps to minimize
radiated and induced noise problems and ground loops. Refer to the
paragraph entitled Grounding.
Open ended shields must be insulated so that they do not accidentally cause
ground loops.
All analog signals to and from the drive use twisted, shielded pairs. The
typical installation practice is to terminate the shield at the signal source
end. While this usually gives good results, there may be systems that
require other shield grounding schemes for best results. If noise is a
problem with the typical shield grounding methods, try terminating the
shields at the load end or at both ends and evaluate the results. There is no
single solution that is best for all situations.
8-74
Chapter 8
Wiring
Grounding
All equipment and components of a machine or process system shall have
their chassis connected to a common earth ground point. This ground
system provides a low impedance path that helps minimize shock hazards
to personnel and damage to equipment caused by short circuits, transient
overvoltages and accidental connection of energized conductors to the
equipment chassis.
Grounding requirements, conventions and definitions are contained in the
National Electrical Code or appropriate national codes. Local codes will
usually dictate what particular rules and regulations are to be followed
concerning system safety grounds.
Wiring Clearance and Routing

Although the minimum clearance should be maintained for proper cooling,
this space may not always provide proper wiring clearance. The minimum
allowable wire bending radius may necessitate that extra space be provided
to accommodate power wiring. Consult the National Electrical Code or the
appropriate national or local code for the proper wiring method.
Signal Wiring
The 8510 inputs and outputs are all rated for +24V DC. The +24V DC
voltage source must be supplied by the user. Each input that is used
requires about 10mA of input current and all outputs are physical contact
closures.
All signal connections are made through MR series Honda connectors. The
mating connectors required for signal interfaces are as follows:
Function
Number
Honda Type
Standard I/O (Always Required)

Motor Resolver Feedback (Always Required)
Digital Position/Speed Input (Optional)
Spindle Orient Feedback (Optional)
Dual Winding Motor Control (Optional)
CN9
CN3
CN10
CN2
CN1
MR-50LF
MR-20LF
MR-20LF
MR-20LF
MR-20LF
Three termination options are available for each of the connectors.

l) A mating connector kit that requires the user to supply the cable and
terminate directly to the Honda connector. This is a solder type
connector. A crimp connector, the MRP series, is available from the
manufacturer.
2) A termination panel that provides a prefabricated 1.5 m (5 ft.) cable
from the drive connector to a DIN rail mounted terminal block
interface module. User wiring is to the terminal block.
3) A cable assembly in varying lengths with the Honda connector wired to
one end. The other end is loose cable leads for user termination as
required.
8-75
Chapter 8
Wiring
Figure 8.1
Connector Wiring
Short Screw & Nut
Cable Clamp
Connector Housing
Long Screw
Washer
Clip
Connector
Honda Connector Wiring and Assembly

Refer to the following information and the instruction sheet provided with
the connector kit for assembly procedure.
1. Disassemble the connector by removing the 2 short screws and nuts
(see Figure 8.1). Since the connector contains a number of small pieces,
care should be taken during disassembly.
2. Prepare cable and wire ends. Using a rosin core solder, carefully solder
wires to connector using the cable information provided in this chapter.
3. Install cable clamp around cable(s). To allow positioning, do not
tighten clamp completely.
4. Place connector into housing and slide cable clamp to position shown
in Figure 8.1. Tighten cable clamp.
5. Install the 2 long screws and washers through the holes in the
connector. Position screws and washers as shown in Figure 8.1.
6. Place clips into housing and secure remaining housing piece over
assembly using the 2 short screws and nuts previously removed.
The maximum wire size that the terminals in the Honda connector can
accept is 24 AWG (0.28 mm2). For each connector, the cable type
recommended in this chapter, or an equivalent, must be used to assure
proper system operation.
If larger wire sizes are preferred, the optional Termination Panels will
allow use of up to 16 AWG (1 mm2) wire. If larger cable sizes are used, the
cable configuration and shielding must conform to that specified for the
standard cable.
All shields must be terminated in accordance with the following wiring
diagrams. If one end of a shield is to be left open, take care to insulate and
properly isolate the open end of shield to avoid shorting it to ground.
8-76
Chapter 8
Wiring
Motor and Drive Power Wiring

In accordance with NEC, the power wiring size should be based on the 30
minute overload rating of the applicable motor. The user must determine if
national or local codes specify other requirements. All power wiring should
be terminated to the bolt or screw terminals on the drive and motor using
ring type terminal lugs.
ATTENTION: To guard against the hazard of personal injury

or damage to equipment, the interconnections to the motor and
feedback device must be made as explained in this chapter.
Failure to do so could cause loss of motor control and/or severe
oscillation of the motor shaft.
The size of the power terminal connections on the drive for incoming AC
line power and motor power terminations is shown below.
Table 8.A
Power Terminal Sizes
Drive Catalog Number
8510A-A04-x1
8510A-A06-x1
8510A-A11-x2
8510A-A22-x2
Bolt / Screw
Size
Maximum Lug
Width
M4
10.8 mm (0.425 in.)
M4
10.8 mm (0.425 in.)
M6
17.0 mm (0.668 in.)
M8
17.0 mm (0.668 in.)
The size of the power terminal connections in the motor terminal box for
motor power is shown in Table 8.B.
Table 8.B
Motor Terminal Sizes
Motor Catalog
Number
Bolt / Screw
Size
Maximum Lug
Width
1327AC-AFM-02-F
1327AC-AFM-04-x
1327AC-AFM-06-x
1327AC-AFL-08-x
1327AC-AFL-11-x
1327AB-AFL-15-x
1327AB-AFL-19-x
1327AB-AFL-22-x
M5
M5
M5
M6
M6
M8
M8
M8
13 mm
13 mm
13 mm
17 mm
17 mm
24 mm
24 mm
24 mm
1327AD-ABL-04-x
1327AD-ABL-06-x
1327AD-ABL-08-E
1327AD-ACL-08-F
1327AD-AAK-11-x
1327AD-AAK-15-x
1327AD-AAK-19-x
M8
M8
M8
M8
M8
M10
M10
23 mm
23 mm
23 mm
23 mm
23 mm
29 mm
29 mm
To minimize radiated PWM noise, the individual motor phase wires must
be part of a single multi-conductor cable or run very close together. The
motor cables should be contained in grounded metal conduit or raceways.
8-77
Chapter 8
Wiring
Power Transformers
The allowable AC input voltage range is 200 to 230V AC, 10% at 60 Hz
and 200 to 220V AC, 10% at 50 Hz. In larger plants with high capacity
power systems, it is not uncommon to encounter exceptionally high AC
line voltage that will exceed the +10% specification during part of the day.
In these cases the nominal secondary voltage of the transformer should be
set for 5-10% less than the maximum allowable nominal input voltage of
the drive. This will help avoid drive damage caused by the high AC line
voltage. Transformers supplied by Allen-Bradley are wound with 220V AC
secondaries.
Either autotransformers or isolation transformers can be used. When using
isolation transformers, a Y secondary with the neutral grounded is
recommended.
Power transformer kVA requirements depend on the power rating of the
motor being used. Table 8.C defines the transformer requirements.
Table 8.C
Transformer Requirements
Motor Rating
(Cont. / 30 Min. kW)
Transformer Rating
(kVA)
2.2 / 3.7
3.7 / 5.5
5.5 / 7.5
7.5 / 11
6
9
12
17
11 / 15
15 / 18.5
18.5 / 22
22 / 30
22
26
32
40
Power Grounding
The wire size used for power grounds must be at least as large as the wire
gauge of the power conductors or as defined by local codes.
Other Devices and Noise Suppression

Inductive devices (e.g. solenoids, motor starters and relays) must be
equipped with suppression devices that will not allow a dv/dt of greater
than 200 V/sec. Devices that produce a strong magnetic field (e.g. chokes,
transformers and reactors) must not be mounted closer than 254 mm (10
in.) to the drive. The associated wiring to any of these devices must be
physically separated from any low level signal wiring to minimize induced
voltages.
8-78
Chapter 8
Wiring
Power Wiring
AC Input Power To the 8510 Drive

AC line input terminals are located at the bottom of the drive as shown in
Figure 7.3. Input current requirements and wire size are dependent on the
motor kW rating and the AC line voltage. The following table defines the
drive AC line input current requirements at a nominal 220V AC line
voltage and at the low line voltage limit of 180V AC. Wire sizes are
selected per NFPA-79 and IEC-204 for wires in a cable or raceway and are
based on 75 C wire (70 C for IEC-204).
Table 8.D
AC line Input Current Requirements
Motor Power
(Cont. / 30 Min. kW)
30 Minute Current Rating

at 220V AC at 180V AC
2.2 / 3.7
3.7 / 5.5
5.5 / 7.5
7.5 / 11
15A
22A
30A
42A
18A
27A
37A
51A
11 / 15
15 / 18.5
18.5 / 22
22 / 30
55A
65A
78A
100A
67A
79A
95A
122A
Wire Size 1,
2
(AWG / mm 2
)
12 / 2.5
10 / 4.0
8 / 6.0
8 / 10.0
6 / 16.0
4 / 25.0
3 / 25.0
2 wire sizes are
2 / mm
35.0
AWG wire sizes are based on 220V AC, 10%, with 75 C wire. The
based on 70 C wire. For other input voltages, select wire size according to local electrical
codes.
2
If 90 C wire is used, the wire sizes can be reduced about one wire size. Refer to the NEC
for proper wire sizing for higher temperature wire.
The 8510 does not include incoming AC line overcurrent protection. Either
current limiting fuses or a high speed circuit breaker must be installed
between the drive and the AC power source. Optional fuse kits that include
properly sized high speed, current limiting fuses and the appropriate fuse
block are available. The components supplied in the fuse kits are defined in
Table 8.E.
Table 8.E
Recommended AC Line Fuses
Fuse Kit
Catalog
Number
8510SA-FA04
8510SA-FA06
8510SA-FA11
8510SA-FA22
for use
with Drive
Model
8510A-A04-x
1
8510A-A06-x
1
8510A-A11-x
2
8510A-A22-x
recommended
2 AC input
Fuse Type (Qty. 3)

Gould
Bussmann Shawmut
JKS40
JKS60
JKS100
JKS175
A4J40
A4J60
A4J100
A4J175
Fuse Holder
Bussmann
J60060-3C
R
J60060-3C
R
J60100-3C
R
J60200-1C
shown
in Figure
R (Qty.
3)
Gould
Shawmut
60608J
60608J
61008J
62003J
The
power connection is
8.2. If
an autotransformer or isolation transformer is used, follow the connection
diagram supplied with the transformer to determine proper wiring to the
drive.
8-79
Chapter 8
Wiring
Figure 8.2
Recommended AC Input Power Connection
Mode
Scroll +
Scroll
8510
Select
RST
Disconnect and Branch Circuit

Overcurrent Protection
Supplied by User
AC
Incoming
Power
Optional Isolation Transformer

or Autotransformer
8510SA Fuse Kit

Drive Component
Overcurrent Protection
CAT. NO.
FREQUENCY
POWER RATING
PRIMARY VOLTAGE
SECONDARY VOLTAGE
INSULATION CLASS
NO. OF PHASES
VENDOR PART NO.
Site Ground
Power From 8510 Drive To The 1327A Series Motor

The motor power output terminals are located at the bottom of the drive as
shown in Figure 7.3. Motor current requirements and wire size are
dependent on the specific motor type. Table 8.F defines the drive output
current requirements when used with the various motor catalog numbers.
Wire sizes are selected per NFPA-79 and IEC-204 for wires in a cable or
raceway and are based on 75 C wire (70 C for IEC-204).
The motor fan should be wired to the motor fan power terminals on the
bottom of the drive (see Figure 7.3 for terminal locations). The terminals in
both the drive and motor use M4 screws. The motor fan current ranges
from 0.3A in the smallest motor to 1.2A in the largest motor. The power
output terminals are fused in the drive with 5A fuses. A #20
AWG/0.50 mm2 wire is adequate for the motor fan wiring.
8-80
Chapter 8
Wiring
Table 8.F
Motor Current Requirements
Motor
Catalog Number
Power Rating
(Cont. / 30 Minute
kW)
1327AC-AFM-02-F
1327AC-AFM-04-x
1327AC-AFM-06-x
1327AC-AFL-08-x
1327AC-AFL-11-x
1327AB-AFL-15-x
1327AB-AFL-19-x
1327AB-AFL-22-x
2.2 / 3.7
3.7 / 5.5
5.5 / 7.5
7.5 / 11
11 / 15
15 / 18.5
18.5 / 22
22 / 30
1327AD-ABL-04-x
1327AD-ABL-06-x
1327AD-ABL-08-E
1327AD-ACL-08-F
1327AD-AAK-11-x
1327AD-AAK-15-x
1327AD-AAK-19-x
1
Current Rating
(Cont./30 Minute A)
Wire Size 1, 2
(AWG / mm 2)
20 / 27
27 / 33
36 / 43
45 / 59
73 / 91
97 / 112
120 / 135
122 / 153
10 / 4.0
8 / 6.0
8 / 10.0
6 / 16.0
3 / 25.0
2 at 4 / 2 at
16.0 3
2 at 3 / 2 at
16.0 3
2 at 3 / 2 at
25.0 3
25 / 34
37 / 45
50 / 68
52 / 68
65 / 87
83 / 102
95 / 110
3.7 / 5.5
5.5 / 7.5
7.5 / 11
7.5 / 11
11 / 15
15 / 19
19 / 22
8 / 6.0
8 / 10.0
6 / 16.0
6 / 16.0
4 / 25.0
AWG wire sizes are based on 75 C wire. The mm2 wire sizes are based on 70 C2wire.
at 6 Both
/ 2 atratings
16.0 3
are based on 30 C ambient.
2 at 4 / 2 at
If 90 C wire is used, the wire sizes can be reduced about one wire size. Refer to the
3 for proper
16.0NEC
wire sizing for higher temperature wire.
Due to terminal block size limitations on the drive, run two conductors per phase of the size
indicated.
See Figure 8.3 for the configuration of a typical terminal box on a standard
1327AB series motor. The power interconnect wiring between the drive
and a standard 1327AB series motor is shown in the following diagram.
Figure 8.3
Terminal Box Standard Motor
AMP Connector
B1 B2
Fan Power Terminal Block
Motor Power Terminal Block
8-81
Chapter 8
Wiring
Figure 8.4
Standard Motor Power Connections
Mode
Scroll +
Scroll
Select
8510
WVU
B2 B1
or
e v u
FU FE U W
V E
FV
Motor Power and Ground
Motor Fan Power and Ground
If a 1327AD series dual winding motor is being used, two additional power
contactors must be mounted and wired to the drive. Refer to Table 7.A for
the specific contactors that are required with each motor. See Figure 8.5 for
the configuration of a typical terminal box on a dual winding type 1327AD
series motor.
The externally mounted contactors used with the 1327AD series motors
must be wired according to Figure 8.6.
Figure 8.5
Terminal Box Dual Winding Motor
Motor Power Terminal Block
E
Fan Power Terminal Block
AMP Connector
8-82
Chapter 8
Wiring
Figure 8.6
Dual Contactor Wiring
Mode
Scroll +
Scroll
Select
8510
EWVU X Y Z
U VWE
Low Speed
Contacts
High Speed
Contacts
Signal Wiring
Y
Z
Auxiliary Contacts
I/O Interface Wiring

All standard discrete digital control signals and analog inputs and outputs
are connected to the drive through the 50 pin CN9 connector. This interface
is required for all 8510 systems.
Since both digital and analog signals are passed through the same
connector, it is recommended that two separate cables be run into the
connector to achieve the proper shielding and grounding. The
recommended cables are:
Discrete Digital Signals Furukawa #OAW(C)SB-18P (18 twisted pairs, #28 AWG)
Analog Signals Belden # 8164 (4 twisted, shielded pairs, #24 AWG)
As previously described, three termination options are available for this

connector: l) a mating connector kit, 2) a termination panel, and 3) an
interface cable assembly. Table 8.G shows the I/O function assignment for
each of these termination options. Figure 8.7 shows a typical interface to an
Allen-Bradley 9/Series CNC for a basic spindle application. Additional I/O
connections will be required to access more of the 8510 drive features.
8-83
Chapter 8
Wiring
Table 8.G
Standard I/O Interface Wiring Information
Signal Description
Digital Inputs
Coast to Stop
Drive Enable
Drive Reset
Digital Ground
Forward Run
Reverse Run
Digital Ground
Digital Ground
Orient Command
Gear Ratio Active #1
Motor Winding Select - High/Low
Digital Ground
Digital Outputs
Return
Drive Ready
Drive Ready Return
Hard Fault
Hard Fault Return
Soft Fault
Soft Fault Return
Zero Speed Indicator
Zero Speed Indicator Return
At Speed Indicator
At Speed Indicator Return
Speed Level Indicator Return
Load Level Indicator
Load Level Indicator Return
In-Position
In-Position Return
Honda
Connector
Pin Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
Analog Inputs
Analog Input #1
Analog Input #1 Return
Shield 1
Analog Input #2
Shield 1
36
37
38
39
40
41
Analog Outputs
Analog Output #1
Analog Output #1 Return
Shield
Analog Output #2
Shield
1
8-84
42
43
44
45
46
47
Shields should be terminated only at the signal source end.
Termination
Panel Terminal Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
Cable Assem. Wire

Color and
(Pair #)
Black (1)
Pink (1)
Brown (2)
Pink (2)
Red (3)
Pink (3)
Orange (4)
Pink (4)
Yellow (5)
Pink (5)
Green (6)
Pink (6)
Blue (7)
Pink (7)
Black (8)
White (8)
Brown (9)
Red (10)
White (10)
Orange (11)
White (11)
Yellow (12)
White (12)
Green (13)
White (13)
Blue (14)
White (14)
Violet (15)
White (15)
Gray (16)
White (16)
Pink (17)
White (17)
Black (18)
Gray (18)
Red (1)
Black (1)
Drain (1)
White (2)
Black (2)
Drain (2)
Green (3)
Black (3)
Drain (3)
Blue (4)
Black (4)
Braid (4)
Digital I/O Module (1/2)

8500-E154
VDC1 A12 A13 A14 A15
8510 Drive
User's E-Stop
Status Relay (K1)
CN9-1
CN9-2
CN9-3
9/Series CNC
Control I/O
E-Stop
Terminal Block
BT101
Drive Enable
Drive Reset
CN9-4
CN9-5
Digital Ground
CN9-6
Reverse Run
CN9-7
CN9-8
CN9-9
Forward Run
Digital Ground
CN9-10
CN9-11
User Supplied
Power Source
CN9-12
Digital Ground
CN9-13
Orient Command
CN9-14
Common
CN9-15
+24V DC
CN9-16
Motor Winding Select - Low/High
CN9-17
Digital Ground
CN9-18
1
2
3
4
5
6
7
I/O Board
CN9-19
CN9-20
Typical E-Stop String
Drive Ready
CN9-21
CN9-22
Hard Fault
CN9-23
CN9-24
K1
E-Stop Status Relay

(User Supplied)
Soft Fault
CN9-25
CN9-26
CN9-27
CN9-28
At Speed Indicator
CN9-29
Digital I/O Module (1/2)

8500-E154
Analog Servo
Module
8500-ASM3
CN9-32
CN9-34
CN9-37
CN9-38
User Supplied
Speed Meter
CN9-33
CN9-35
CN9-36
1
2
3
CN9-31
In-Position
Analog Input #1
Shield
CN9-39
Analog Input #2
CN9-40
CN9-41
CN9-42
Shield
CN9-43
CN9-44
Analog Output #1
Shield
8-85
CN9-45
Analog Output #2
CN9-46
CN9-47
Shield
Chapter 8
Wiring
CN9-30
A01 A02 A03 A04 COM
Figure 8.7
Typical 9/Series CNC Interconnect
Sub Processor Board
Coast-to-Stop
Chapter 8
Wiring
Resolver Feedback Wiring

The motor resolver feedback signals and the motor thermal switch are
connected to the drive through the 20 pin CN3 connector. This interface is
required for all 8510 systems. Refer to Figure 7.3 for the location of this
connector on the drive.
The feedback cable can be routed through the same conduit used for motor
power leads, but it is essential that a properly shielded cable is used. The
cable must have four twisted shielded pairs with an overall shield. The
recommended cable type is:
Belden # 8164 (4 twisted, shielded pairs, #24 AWG)
The cable is terminated inside the motor terminal box to a connector (see
Figure 8.3 or Figure 8.5). On 1327AB Series A and 1327AD Series A
motors, an AMP Commercial MATE-N-LOK connector is used. On
1327AB Series B, 1327AC Series A, and 1327AD Series B motors, an
AMP Dynamic Series connector is used.
Different sizes of the AMP Commercial MATE-N-LOK connector are used
on the 1327AB and 1327AD series motors. The connector component part
numbers and the Allen-Bradley connector kit catalog numbers are:
For 1327AB Series A Motors
Connector Housing AMP # 1-480438-0 (16 pin housing)
Pins (12 required) AMP # 60617-6 (24-18 AWG, phosphor bronze with gold)
Connector Kit Catalog Number 8510SA-CABC
For 1327AD Series A Motors
Connector Housing AMP # 1-480285-0 (10 pin housing)
Pins (9 required) AMP # 60617-6 (24-18 AWG, phosphor bronze with gold)
Connector Kit Catalog Number 8510SA-CADC
These connectors use crimp type pins. AMP crimp tool #90123-2 is
recommended to properly crimp these pins to the wire. As an alternative,
any similar sized hand crimp tool or pliers can be used for the basic
mechanical connection. The lead must then be soldered to complete the
electrical connection.
With the AMP Dynamic Series connector, the same connector is used on
all motors. However, the mating connectors are available for either crimp
or solder type wire termination. The component connector part numbers
and the Allen-Bradley connector kit catalog numbers are:
Crimp Type For 1327AB Series B, 1327AC Series A. and 1327AD Series B Motors
Connector Housing AMP # 178289-5 (10 pin housing)
Pins (9 required) AMP # 1-175217-2 (24-20 AWG, high force, gold plated)
Connector Kit Catalog Number 8510SA-CMRC
Solder Type For 1327AB Series B, 1327AC Series A, and 1327AD Series B Motors
Connector Housing AMP # 178289-5 (10 pin housing)
Pins (9 required) AMP # 1-175218-2 (20-16 AWG, high force, gold plated, with
preformed ferrule)
Connector Kit Catalog Number 8510SA-CMRS
For the crimp type connectors, AMP crimp tool # 90683-1 or # 91459-2 is
required to properly crimp the pins to the wire.
8-86
Chapter 8
Wiring
A pin extraction tool (AMP # 914677-1) is required to remove a pin from

the housing. Both items are available from Allen-Bradley as part of the
8510SA-CTA crimp tool kit.
As previously described, three termination options are available for the
CN3 connector: l) a mating connector kit, 2) a termination panel, and 3) an
interface cable assembly. The following table shows the I/O function
assignment for each of these termination options.
Table 8.H
Resolver Connector/Cable information
Signal
Description
Stator S1
Stator S3
Pair Shield
Stator S2
Stator S4
Pair Shield
Rotor R1
Rotor R2
Pair Shield
Thermal Switch
Thermal Switch
Overall Shield
Honda
Connector
Pin Number
Termination
Panel
Terminal
Number
14
8
1
15
9
2
14
8
1
15
9
2
17
11
3
20
13
4
17
11
3
20
13
4
Cable
Assembly
Wire Color
and (Pair #)
Red (1)
Black (1)
Shield (1)
White (2)
Black (2)
Shield (2)
Green (3)
Black (3)
Shield (3)
Blue (4)
Black (4)
Braid Shield
Connector
Pin Number for
1327AB Series
A
Connector
Pin Number for
1327AD Series
A
Connector Pin
Number for 1327AB
Series B,
1327AC Series A,
1327AD Series B
1
3
2
5
7
6
1
2
Cut
3
4
Cut
B1
A1
Cut
B2
A2
Cut
9
11
10
15
16
12
5
6
Cut
9
10
7
B3
A3
Cut
B5
A5
B4
See Figure 8.8 for typical resolver interconnect wiring.

Figure 8.8
Resolver Wiring
for: 1327AB Series A Motor
FG4
S1
S3
FG1
S2
S4
FG2
R1
R2
FG3
0L
ISO-SG
CN3-4
12
CN3-14
CN3-8
CN3-1
CN3-15
CN3-9
CN3-2
CN3-17
CN3-11
11
CN3-3
10
CN3-20
15 (T1)
CN3-13
16 (T2)
Pin 1
Indicator
2
4
10
12
11
14
13
FG4
16
15
S1
S3
Resolver
MATE-N-LOK
Pin Orientation
FG1
S2
S4
FG2
A1
R1
B2
A2
R2
B3
A3
FG3
B4
A4
0L
B5
A5
ISO-SG
B1
Note: See end of connector for A/B

labels, numbers are labeled on side.
Dynamic Connector
Pin Orientation
for: 1327AB Series B Motor

1327AC Series A Motor
1327AD Series (A) & B Motor
CN3-4
B4 (7)
CN3-14
B1 (1)
CN3-8
A1 (2)
CN3-1
CN3-15
B2 (3)
CN3-9
A2 (4)
Resolver
CN3-2
CN3-17
B3 (5)
CN3-11
A3 (6)
CN3-3
CN3-20
T1
B5 (9)
CN3-13
T2
A5 (10)
Important: Pin designations for 1326AD Series A Motors

are shown in (parenthesis).
8-87
Chapter 8
Wiring
Orient Feedback Wiring

In most systems, the spindle orient function can be performed in either the
CNC or the spindle drive. If the position control for spindle orient is provided by the drive, the spindle position feedback must be connected to the
8510 through the 20 pin CN2 connector (see Figure 7.3). The 8510 drive
can use either a conventional optical encoder or the high resolution magnetic feedback to provide spindle position feedback. The feedback device
must be mechanically coupled 1:1 to the spindle shaft being positioned.
If an optical encoder is used, it must provide an A, B, and Z channel
output, have a single ended push-pull type output, and use a +12V DC
input voltage. The recommended Allen-Bradley encoder is the 845T series
with a type 3 electrical option and a type 3 signal option. The 845T
encoder provides an MS style connector for the interface.
The high resolution magnetic feedback, from 225,000 to 500,000
counts/turn, consists of a precision gear that must be mounted to the
spindle shaft and a sensor head that mounts to the headstock adjacent to the
gear. Refer to the instructions provided with the feedback sensor for
installation details. The sensor has an integral 2 meter (6 ft.) cable. An
interconnection box with terminal strips or connectors must be mounted in
a convenient location to complete the wiring to the drive. Assure that
continuity of all cable shields is maintained through this box.
Both feedback types are connected to the drive through the CN2 connector,
with a unique set of pins for each feedback device. The required interface
cable type is the same for either device. The recommended cable type is:
Madison # 08CFJ00004 (4 twisted pairs with shield, #24 AWG)
Three termination options are available for the CN2 connector: l) a mating
connector kit, 2) a termination panel, and 3) an interface cable assembly.
There are unique versions of the 2nd and 3rd option for optical encoder
feedback and high resolution magnetic feedback. The following table
shows the function assignment for each of these termination options for the
optical encoder interface. Actual connections to the encoder depend on the
specific encoder chosen and connector type chosen for the encoder.
8-88
Chapter 8
Wiring
Table 8.I
Optical Encoder Cable Information
Honda
Connector
Pin Number
Signal
Description
Channel A Output
Ground
16
10
Channel B Output
Ground
15
9
Channel Z Output
Ground
14
8
+12V DC Power
Source
Ground
Cable Shield
5
4
1
Termination
Cable Assem.
Wire Color
and (Pair #)
16
10
Black (1)
White (1)
15
9
Red (2)
Green (2)
14
8
Brown (3)
Blue (3)
5
4
1
Orange (4)
Yellow (4)
Cable Shield
Table 8.J shows the function assignments for the high resolution magnetic
feedback and the comparable wire color on the magnetic analog sensor
cable.
Table 8.J
High Resolution Magnetic Feedback Cable Information
Signal
Description
Channel A Output
Ground
Channel B Output
Ground
Channel Z Output
Ground
+12V DC Power
Source
Ground
Cable Shield
Honda
Connector
Pin Number
19
13
18
12
17
11
5
3
1
Termination
Cable Assem.
Wire Color
and (Pair #)
Magnetic
Sensor
Wire Color
19
13
Black (1)
White (1)
Blue
Blue/Black
18
12
Red (2)
Green (2)
Green
Green/Black
17
11
Brown (3)
Blue (3)
Yellow
Yellow/Black
5
3
1
Orange (4)
Yellow (4)
Cable Shield
Red
Black
Shield
Figure 8.9 shows the basic wiring for each of these feedback devices.
8-89
Chapter 8
Wiring
Figure 8.9
Orient Feedback Wiring
845T Wiring
FG1
DA
GND
DB
GND
DZ
GND
+12V DC
GND
High Resolution Magnetic Sensor Wiring
CN2-1
FG1
CN2-16
AA
CN2-10
CN2-15
CN2-9
CN2-14
CN2-8
CN2-5
CN2-4
AA Return
845T
Encoder
AB
AB Return
AZ
AZ Return
+12V DC
GND
CN2-1
CN2-19
CN2-13
CN2-18
CN2-12
Mag
Sensor
CN2-17
CN2-11
CN2-5
CN2-3
Dual Winding Motor Contactor Control Wiring

When a dual winding 1327AD series motor is used with the 8510, the user
must supply two power contactors that will be used to switch the motor
between the and Y winding configurations. In addition, a 24V DC power
source must be supplied to operate the contactors. Refer to Table 7.A for
the specific contactors that are required for each drive size. The drive will
control the operation of these contactors through the 20 pin CN1 connector
(see Figure 7.3 for location).
The interface cable for this function requires four twisted pairs. The
recommended cable is:
Madison #08CFJ00004 (4 twisted pairs with shield, #24 AWG)
Three termination options are available for the CNl connector: l) a mating
connector kit, 2) a termination panel, and 3) an interface cable assembly.
The following table shows the I/O function assignment for each of these
termination options.
8-90
Chapter 8
Wiring
Table 8.K
Dual Winding Contactor Control Cable Information
Signal
Description
Honda Connector Pin Number
Motor Winding Select

Command High
Speed
Cable Assem.
Wire Color and
(Pair #)
Black (1)
White (1)
Red (2)
Green (2)
11
Brown (3)
18
Blue (3)
10
Orange (4)
17
Yellow (4)
Shield
Return for High Speed

Select Command
Motor Winding Select
Command Low
Speed
4
5
Return for Low Speed

Select Command
11
Motor Winding
Selected Confirm
High Speed
18
Return for High Speed

Winding Confirm
10
17
Motor Winding
Selected Confirm
Low Speed
Return for Low Speed

Winding
Confirm
Figure 8.10
shows
motor
Shield
Termination
Panel Terminal
Number
the signal interconnect wiring for the dual winding

control contactors.
Figure 8.10
Dual Winding Contactor Wiring
Motor
Y
Z
Low Speed
Contactor
High Speed
Contactor
User Supplied
24V DC Supply
Motor Winding Select Cmd. - High Spd.
Return
Motor Winding Select Cmd. - Low Spd.
Return
Motor Winding Selected - High Spd.
Return
Motor Winding Selected - Low Spd.
Return
Shield
CN1-2
CN1-3
CN1-4
CN1-5
CN1-11
CN1-18
CN1-10
CN1-17
CN1-8
8-91
Chapter 8
Wiring
Digital Position/Speed Command Wiring

When the 8510 is ordered with the -Bx or -Dx I/O option, a 16 bit
parallel digital command input can be applied through connector CN10.
This command can be used for either a digital speed command or orient
position command. Refer to Figure 7.3 for the location of this connector on
the drive.
The interface cable for this function requires 10 twisted pairs with an
overall shield. The recommended cable is:
Madison #20QFK00001 (10 twisted pairs w/shield, 24 AWG)
Three termination options are available for the CN10 connector: l) a

mating connector kit, 2) a termination panel, and 3) an interface cable
assembly. Table 8.L shows the I/O function assignment for each of these
termination options.
Table 8.L
Digital Speed/Position Wiring
Signal
Description
Input 1 - Bit 0
Input 2 - Bit 1
Input 3 - Bit 2
Input 4 - Bit 3
Signal Common
Input 5 - Bit 4
Input 6 - Bit 5
Input 7 - Bit 6
Input 8 - Bit 7
Signal Common
Input 9 - Bit 8
Input 10 - Bit 9
Input 11 - Bit 10
Input 12 - Bit 11
Signal Common
Input 13 - Bit 12
Input 14 - Bit 13
Input 15 - Bit 14
Input 16 - Bit 15
Signal Common/
Shield
Honda
Connector
Pin Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Termination
Cable Assem.
Wire Color
and (Pair #)
1
2
3
4
5
Black (1)
Red (1)
Black (2)
White (2)
Black (3)
6
7
8
9
10
Green (3)
Black (4)
Blue (4)
Black (5)
Yellow (5)
11
12
13
14
15
Black (6)
Brown (6)
Black (7)
Orange (7)
Red (8)
16
17
18
19
20
White (8)
Red (9)
Green (9)
Red (10)
Blue
(10)/Shield
These inputs can be driven by PLC or CNC digital outputs or from

thumbwheel or selector switches.
8-92
Chapter 8
Wiring
Figure 8.11
8510 System Interconnect
8510 Drive
Control I/O
8510SA-FAxx
CN9-1
Coast-to-Stop
CN9-2
Drive Enable
CN9-3
Drive Reset
CN9-4
Digital Ground
CN9-5
Forward Run
CN9-6
Reverse Run
I/O Board
CN9-7
CN9-8
Digital Ground
CN9-9
CN9-10
CN9-11
CN9-12
Digital Ground
CN9-13
Orient Command
CN9-14
CN9-15
CN9-16
Motor Winding Select - Low/High
CN9-17
Digital Ground
CN9-18
Power Board
AC Input Power
200/220V AC, 50/60 Hz, 3 ph.

230V AC, 60 Hz, 3 ph.
with ground
T
E
Terminal Block
FU
Fan
FV
E
Optional
Contactors
for Winding
Selection
W
E
Drive Ready
CN9-21
Return
Motor Winding Selected - Low Spd.
CN9-22
Hard Fault
CN9-23
Return
Motor Winding Select Cmd. - High Spd.
CN9-24
Soft Fault
CN9-25
Return
Motor Winding Select Cmd. - Low Spd.
CN9-26
CN9-27
Return
Shield
CN9-28
At Speed Indicator
CN9-29
CN9-30
CN9-31
CN9-33
FG4
S3
FG1
CN9-34
In-Position
CN9-35
CN1-11
CN1-18
CN1-10
CN1-17
CN1-3
CN1-4
CN1-5
CN1-8
S2
S4
CN3-4
CN3-8
CN3-1
CN3-15
CN3-9
CN9-37
CN9-38
Shield
CN9-39
Analog Input #2
CN9-40
CN9-41
Shield
CN9-42
Analog Output #1
CN9-43
CN9-44
Shield
FG
CN2-1
CN9-45
Analog Output #2
DA
CN2-16
CN9-46
GND
CN2-10
CN9-47
Shield
DB
CN2-15
FG2
R1
R2
FG3
0L
ISO-SG
GND
DZ
Connector
CN3-14
Analog Input #1
CN10-1
through
CN10-20
1327A Motor
CN1-2
CN9-36
Optional 16 Bit
Digital Speed or
Orient Position
Input
Main Control Board

S1
CN9-32
Motor
Motor Winding Selected - High Spd.
CN9-20
Terminal Block
CN9-19
Resolver
CN3-2
CN3-17
CN3-11
CN3-3
CN3-20
CN3-13
CN2-9
CN2-14
GND
CN2-8
+12V
CN2-5
GND
CN2-4
Encoder for Spindle Orient

when using the 8510 for Orient
8-93
Chapter 8
Wiring
End of Chapter
8-94
Chapter
Start-Up
Chapter Objectives
The steps needed to start-up the 8510 AC Drive System are provided in
this chapter.
Conventions Used in this Manual
To help differentiate input/output names, programmable parameters and

programmable values, the following conventions will be used throughout
this chapter and the remainder of this manual.
Input and Output Names
Programming Display Text
Menu Names
Parameter Names
Programmable Parameter Values
Start-Up Procedure
will appear in Initial Capital Letters

will appear in italics
will appear with ALL CAPITALS
will appear with Initial Capital Letters
will appear in quotes
Since most start-up difficulties are the result of incorrect wiring, every
precaution must be taken to assure that the wiring is done as instructed. All
items must be read and thoroughly understood before the actual
wiring begins.
ATTENTION: Power must be applied to the system to perform

many of the adjustments specified in the following paragraphs.
Some of the voltages present are at incoming line potential. To
avoid injury to personnel and/or damage to equipment, only
qualified service personnel should perform the following
start-up procedure. Thoroughly read and understand the
following procedure before beginning. If an event does not
occur while performing this start-up, Do Not Proceed. Remove
Power by opening the branch circuit disconnect device and
correct the malfunction before continuing.
ATTENTION: High voltage that presents an electrical shock
hazard is present on the Main Control Board of the
8510A-A11-x2 and 8510A-A22-x2 drives. The upper right half
of the board contains the IGBT gate drive circuits, while the
upper left quarter contains the power supply. DC bus voltage
(approximately 325V DC) is present in both of these areas.
These areas contain the voltage warning symbol (see example)
and are outlined with a heavy white line. To avoid injury, only
qualified personnel should perform start-up or maintenance
procedures on this drive.
9-95
Chapter 9
Start-Up
ATTENTION: This product contains stored energy devices. To

avoid hazard of electrical shock, verify that all voltage on the
capacitors has been discharged before attempting to service,
repair or remove this unit. A relay connects a resistor across the
DC bus to discharge the capacitors. Normally the capacitors will
discharge within 15 seconds. An LED on the upper right side of
the Main Control Board on 8510A-A11-x2 and 8510A-A22-x2
drives will be illuminated when the bus voltage is above 50V
DC.
Prior to performing the following procedure, installation and wiring should

have been performed as explained in Chapters 5, 6, 7 and 8.
o 1.
Verify that the 8510 drive has been correctly wired in accordance
with Chapter 8 of this manual.
o 2.
Assure that all AC input power is removed from the drive.
o 3.
Remove the AC line input fuses (mounted outside of 8510 drive).
o 4.
Apply AC power. Use a voltmeter to measure the voltage at the AC

line fuse block. The voltage must be as follows:
50 Hz power
Voltage must be between 180 - 242V AC (200 - 220V AC 10%)
60 Hz power
Voltage must be between 180 - 253V AC (200 - 230V AC 10%)
Important: AC line voltage greater than the voltages stated will
overheat the coil in the main AC contactor and significantly shorten
its life.
9-96
o 5.
Remove the AC power and replace the AC line fuses.
o 6.
Apply AC power to the 8510 drive.
o 7.
Use the DIAGNOSTICS I/O Output display to verify that a fault

was not detected when power was applied. When no faults are
present, the hard fault indicator (the letter E) should be showing
on the display.
o 8.
Program all of the drive configuration and tuning parameters

according to the information in the 8510 Programming Manual
(publication 8510-5.2). The initial programming of the drive must be
performed according to the following procedure.
Chapter 9
Start-Up
a) Assure that Drive Enable and Coast to Stop are Off.

b) Use GEAR RANGES Select Range to select gear range 1 for
programming. If a dual winding motor (1327AD series) is being
used, select gear range 1L.
c) Under GEAR RANGES Default Data, select YES. This
assures that all parameters are initialized to the default values.
d) Under MOTOR SELECT Catalog Num, scroll down the list of
motor catalog numbers and select the number that matches the
motor being used in this system.
e) Under PARAMETER SET ELECT CONFIG Drive Cat Num,
select the catalog number of the drive being used in this system.
f) Complete the remainder of the configuration and presetting of
drive parameters for gear range 1 or 1L.
g) If a multi-speed gearbox is being used (or multiple gear range
parameter sets will be used), use GEAR RANGES Select Range
to select gear range 2 for programming. If a dual winding
motor (1327AD series) is being used, select gear range 1H.
h) Under GEAR RANGES Copy Data, select RANGE 1 or
RANGE 1L if the dual winding motor is being used, as the
source to copy data from.
i) If the configuration or parameter presetting of this gear range is to
be different from the parameters set in step e, adjust the
parameters for this gear range.
j) Repeat steps f, g, and h for each gear range data set that will be
used in this application. For dual winding motors, both the L
and H data sets must be programmed for each gear range data
set.
k) Up to now, all parameter changes have been held in RAM. To
permanently store the changes in EEPROM, it is necessary to exit
the DRIVE SETUP mode. Simultaneously press the Mode and
Scroll keys twice. This will cause the display to change to
DISPLAY TYPE METER DISPLAY and all parameter changes
will be written to EEPROM. When the data is being written to
EEPROM, the symbol will be momentarily shown at
character 3 of line 2 on the display.
Once the motor and drive are defined for each gear range data set,
the drive is ready to run at a performance level determined by the
initial settings. The default parameter values will provide a
relatively low level of performance.
9-97
Chapter 9
Start-Up
ATTENTION: In the following steps the motor will begin to

rotate. It is possible that the motor will rotate at an uncontrolled
rate or cause incorrect machine movement. Be prepared to
remove drive power by opening the branch circuit disconnect
device if this occurs. Incorrect movement may be due to a
wiring/programming error or system component malfunction
and must be corrected before proceeding with this procedure.
Damage to machine system components can occur due to
uncontrolled machine movements.
It is recommended that the motor be mechanically disconnected
from the load if:
A) Improper direction of rotation could cause damage to
equipment.
B) Uncontrolled motor rotation due to improper phasing will
cause damage to the equipment.
o 9.
Apply 24V DC to the Coast to Stop and Drive Enable inputs

(Forward Run, Reverse Run and Orient Command must be Off).
After about 5-7 seconds, the main contactor will close and the Drive
Ready output will turn On. In addition, the letter G should appear
on the DIAGNOSTICS I/O Output display. If the main contactor
does not close and the Hard Fault output is still On, verify that the
two wire cable is attached to connector J3 in the lower left corner of
the I/O Board. This cable provides the hard wired connection of the
Coast to Stop input to the main AC contactor control circuit. If it is
not connected, the contactor can not be closed.
o 10. Apply 24V DC to either the Forward Run or Reverse Run inputs.
The drive will now run in Spindle Mode at Acc Rate # 1. Depending
on configuration programming, either an analog speed command on
Analog Input # 1 or a digital speed command from the optional
digital command inputs will be used.
o 11. If the motor does not turn, runs only at a slow speed, or slowly
oscillates forward and reverse, the motor phasing must be reversed.

Remove the Run and Drive Enable inputs.
Important: Before changing any parameters in response to
observed drive operation, always verify that the gear range indicator
number shown in the first position of each line on the display is the
same. If they are not, use the GEAR RANGES Select Range
parameter to change the number on the second line to match the
number on the first line of the display.
Change the setting of the PARAMETER SET ELECT CONFIG
Motor Phasing parameter to reverse the motor phasing without
physically changing the wiring to the motor. Reapply the Drive
Enable and Run inputs and check for correct operation.
9-98
Chapter 9
Start-Up
o 12. When a positive analog speed command is applied along with the
Forward Run command, the motor should rotate counterclockwise

when viewed from the output shaft end. If it does not rotate in this
direction, remove the Run and Drive Enable inputs. Use the
PARAMETER SET ELECT CONFIG Cmnd Phase #1 parameter
to reverse the phasing of the input command. Reapply the Drive
Enable and Run inputs and check for correct operation.
o 13. If an analog speed command is being used, the most accurate
calibration is achieved by allowing the drive to measure the zero

speed command and maximum speed command input voltages.
a) Select the ANALOG CAL MEASURE INPUT Zero Volt In
parameter and apply the actual zero speed input command from
the CNC or other control system. Press Select to store the value.
b) Select the ANALOG CAL MEASURE INPUT Max +Volt In
parameter and apply the actual maximum speed input command
from the CNC or other control system. Press the Select key to
store the value. This completes the analog channel calibration for
spindle mode.
o 14. Velocity loop compensation can be tuned while the drive is enabled.
The step response of the drive can be tested by applying and

removing the speed command or by turning the Forward (or
Reverse) Run input On and Off. Basic adjustment can be obtained
by observing the motor shaft or spindle as the motor stops in
response to a step command. The Spindl P Gain and Spindl I Gain
should be adjusted to give a smooth, quick stop without visible
motor reversal. When running, the motor should not make growling
or rumbling noises. Excess motor or gear box noise indicates excess
torque ripple and excess gain.
The general effect of the P and I gain parameters is:
- Increasing P shortens response time and increases bandwidth.
- Increasing I increases bandwidth and quickens system response to
load and command transients. Static velocity error is eliminated.
- Too much P will cause high frequency oscillation.
- Too much I will cause overshoot of commanded speed or low
frequency oscillation.
For more accurate setup, an oscilloscope must be used. Following
the procedure in the Programming Manual, program Analog Output
#1 to output Motor Speed and Analog Output #2 to output % Torque.
Simultaeously press the Mode and Scroll keys twice to store the
parameter changes to EEPROM and cause the display to change to
DISPLAY TYPE METER DISPLAY. Then remove and reapply
Drive Enable for these settings to take effect. Near the center of the
I/O Board (smaller board in lower left corner of drive) are test points
for Analog Output #1 (ANAOUT#1 TP1), Analog Output #2
(ANAOUT#2 TP2), and Analog Signal Ground (ANA-SG TP4).
On both test points, 10V DC = maximum output.
9-99
Chapter 9
Start-Up
ATTENTION: If an oscilloscope is used during start-up or

troubleshooting, it must be properly grounded. The oscilloscope
chassis may be at a potentially fatal voltage if not properly
grounded. Always connect the oscilloscope chassis to earth
ground.
When using an oscilloscope it is recommended that the test
probe ground be connected to the test point labeled GND.
a) Optimum tuning is obtained by observing the small signal step

response. The step should be small enough to assure that the drive
output does not become torque limited. In addition, the Acc Rate
parameter setting should be fast enough so that it does not limit
the acceleration rate. To simplify the tuning process, it is best to
separate the P Gain and I Gain tuning. First set Spindl I Gain
equal to zero. Observe test point TP1 during an accel/decel cycle
to a low speed. Increase Spindl P Gain until the desired response
rate is achieved but allow no more than one overshoot of the
commanded speed. Then increase the Spindl I Gain until the
desired level of low frequency and static stiffness is achieved.
Proper adjustment of the P Gain and I gain should provide a step
response with a relatively sharp corner and minimal overshoot of
commanded speed. If the system overshoots with a high
frequency ringing, the Spindl P Gain is too high. A low frequency
ringing indicates excess Spindl I Gain.
b) Observe the TP2 test point during an accel/decel cycle. As the
actual speed approaches commanded speed, the torque should
drop from maximum to a low running torque with only a small
overshoot. The overshoot should settle without ringing. Raise the
Spindl P Gain and lower the Spindl I Gain to reduce the ringing.
While running at maximum speed the peak to peak torque ripple
should be less than 2V DC. Lower both the Spindl P Gain and
Spindl I Gain to reduce the torque ripple.
o 15. If the 8510 must operate in servo mode, apply 24V DC to the
Spindle/Servo Mode Select input to activate servo mode. Servo

mode can be configured to operate over two different, input
selectable, maximum operating speed ranges. Apply 24V DC to the
Servo Input Scaling input to select the high operating speed range
and then repeat steps 12, 13, and 14.
In servo mode, it is usually desirable to set the Servo P Gain and
Servo I Gain as high as possible to achieve the most responsive
servo performance. When approaching the final speed, the torque
may overshoot with 1-2 rings but then should immediately settle
out.
9-100
Chapter 9
Start-Up
Ideally, if the drive will be operated within a position loop, the final
tuning should be performed with the position loop closed by the
CNC or other control system. This will allow for the highest overall
gains and system stiffness. Independently tuning the velocity loop
with step velocity commands leads to a conservative set of tuning
parameters.
With an integrator in the velocity loop, a very small command from
the position loop will be integrated until it is large enough to cause
spindle movement to null the error. If there is a difference between
static and dynamic friction, it is possible the spindle will suddenly
move too far when it finally moves and a stop/move limit cycle will
result. To guard against this, the droop parameter places a maximum
limit on the integrator gain to prevent very small inputs from
causing motion. The Droop In Run parameter is used during very
low speed servo operation when the drive is being controlled by an
external position loop control. The Droop In Hold parameter is used
during spindle orient operation. These parameters should be set as
low as possible while still giving satisfactory operation on the
machine. Effectively, droop assures smooth, quiet operation at rest
or very low speeds and tends to minimize small shaft disturbances.
o 16. If two servo mode speed ranges are being used, remove the 24V DC
from the Servo Input Scaling input to select the low operating speed
range. Repeat step 15.
o 17. If the 8510 drive must perform the spindle orient operation, verify
that all of the ORIENT SETUP FEEDBACK DEFN parameters are

correctly set for the type of feedback device being used. Verify that
the GEAR RANGES SET RATIO parameters accurately define the
ratio between the motor and the spindle being oriented. Incorrect
settings for either of these parameter groups will cause a drive fault
when orient is attempted.
While the drive is running, apply 24V DC to the Orient Command
input. The motor should slow to orient speed and then orient to the
target position (either preset or entered via the optional digital
inputs). If it continues to run at the low orient speed, the feedback
phasing must be reversed. Use the ORIENT SETUP FEEDBACK
DEFN Encdr Phasing parameter to reverse the feedback phasing.
The orient function gives an exponential deceleration to the target
position. The effective position loop gain is defined by the setting of
the ORIENT TUNE Orient Speed and ORIENT TUNE Orient
Start parameters.
The effective gain can be increased by either increasing the Orient
Speed parameter or reducing the Orient Start parameter value. To
assure that the drive will always orient the spindle without
overshoot, setup should be done with the largest expected reflected
load inertia. If expected maximum load inertias are not known,
always leave sufficient torque margin to assure successful operation
with high inertias. (continued)
9-101
Chapter 9
Start-Up
The orient operation always starts by slowing to the orient speed,

locating the marker on the feedback encoder, and then starting decel
on the following revolution. Shorter orient times can usually be
achieved if the Orient Speed parameter is set relatively high. With a
setting of 300 rpm, final decel to the orient position should begin
within 200 ms of reaching the orient speed. Adjust the value of
Orient Start to give a quick decel without overshoot. With Orient
Speed set at 300 rpm, a value of 120 degrees for Orient Start gives a
position loop gain of 15 per second.
For accurate setup, monitor the torque at test point TP2. If the
maximum load inertias are well defined, the Orient Speed or Orient
Start parameters can be adjusted so that the torque peaks at +10
volts as the decel starts. If setup is being done without tooling or a
workpiece, the maximum torque measured on a machining center
should be +7 volts. On a lathe the maximum torque should be only
+4 volts to assure successful orient without overshoot.
o 18. If multiple gear range data sets are being used, repeat the above
procedure for each data set. If the setups are similar for each gear
range, use the GEAR RANGES Copy Data function to copy the
initial gear range configuration data to the succeeding gear ranges.
9-102
Chapter
10
Chapter Objectives
This chapter explains the 8510 display panel and how it is used to show
different measurements and perform fault diagnostics. Included is an
explanation of the display and descriptions of the various parameters that
can be displayed.
Menu Format and Conventions
The menu system is based on the 16 character by 2 line display used in the
8510. The menu is arranged in a tree format (see Figure 10.1) to allow easy
access to any item. Menu items will be displayed two different ways:
1) UPPER CASE letters (capitals) indicate the item is a menu heading
with a group of sub-menus or parameter names below it.
2) Initial Capital letters indicate the item is the name of a parameter.
In this manual, any text that shows the exact display format of a menu or
parameter name is shown in italics.
Any text that shows the exact display format of a parameter data value or
selection is enclosed in quotes.
When power is first applied to the drive or a reset is performed after a
fault, the software version number is indicated on the display during the
initial diagnostic checks. Have this software version number available
before contacting the factory concerning a malfunctioning drive.
After power is applied, the DISPLAY TYPE menu will be shown. This
menu allows selection of the METER DISPLAY or DIAGNOSTICS mode.
Figure 10.1
Display Type Menu Tree
2L DISPLAY TYPE
METER DISPLAY
DIAGNOSTICS
2L I/O Inputs:
2L METER DISPLAY
Motor Speed
Spindle Speed
2L DIAGNOSTICS
I/O Inputs
2L Spindle Speed
2L I/O Outputs:
I/O Outputs
RPM
+2387
AB-DE--HI
% Load
Current Fault
% Torque
Hist - #1
Power Output
Orient Error
JK-MNO--RST-V
..
2L Current Fault:
AC PHASE LOSS
Hist - #8
10-103
Chapter 10
Display Description
The 8510 display which is used for status and diagnostic messages consists
of a 16 character, 2 line, LCD (Liquid Crystal) display. The display can be
broken into several different sections as shown in Figure 10.2. Refer to the
paragraphs that follow for explanations.
Figure 10.2
LCD Display
Gear Range
Selected by Digital
Inputs
Motor Winding
Selected by Digital
Inputs
Menu Level
Indicator
Menu Level
Indicator (when
applicable)
Menu Information
Menu Information
Line 1, characters 1 & 2 are used to display the current gear range and
motor winding that have been selected by the digital inputs. Character 1
will show the selected gear range (1-4) and if a 2 speed motor is used,
character 2 will show the motor winding (H = high speed winding, L = low
speed winding). This gear range and motor winding defines the data set
that is currently being used for drive operation.
Line 1, character 3 is a variable length bar (moving from the bottom up)
that represents the current depth (level) in the menu system.
Line 1, characters 4-16 are used to display the name of the current menu
level or selected parameter. The menu options or parameter value
associated with the item displayed on line 1 will be displayed on line 2.
Line 2, character 3 is a variable length bar (moving from the bottom up)
that represents the current depth (level) in the menu system that has been
selected. For each level the user moves down the menu tree, another bar is
added to the display.
Line 2, characters 4-16 are used to display the options that are available
at the current menu level or the value of the parameter that has been
selected.
10-104
Chapter 10
Display Operation
The 4 button keypad (see Figure 10.3) is used to access the status and
diagnostic systems. Key functions are explained below.
Figure 10.3
8510 Keypad and Display
Display
Keypad
Pressing this key will cause the display to change to the

previous menu level within the DISPLAY TYPE menu
section. If the top item of the menu is shown, the Mode key
will have no effect.
Pressing this key once will cause the parameter or sub-menu
names shown on line 2 of the display to increment to the
next possible choice for the menu listed on line 1. If this key
is pressed and held, the display will continuously index
through the possible selections until the key is released.
When the end of the menu list is reached, it will roll over to
the beginning and continue to increment.
The function of this key is identical to the Scroll+ key except
that it causes the display to decrement rather than increment.
Pressing this key will cause the sub-menu or parameter

shown on line 2 of the display to become the active menu or
parameter. This sub-menu or parameter name will move to
line 1 and the new menu choices or parameter value will now
be displayed.
Key Combinations
Pressing the Mode and Scroll keys will cause the display to jump to the
first menu in the section.
Figure 10.4 provides a diagram showing the keys needed to select the
various items of the DISPLAY TYPE menu.
10-105
Chapter 10
Figure 10.4
Display Type Menu Tree
2L DISPLAY TYPE
Line 1
Scroll +
Scroll
METER DISPLAY
DIAGNOSTICS
Line 2
Select
Mode
Mode
Line 1
Line 2
Line 1
2L METER DISPLAY
2L DIAGNOSTICS
Scroll +
Scroll +
Scroll
Motor Speed
I/O Inputs
Spindle Speed
I/O Outputs
% Load
Current Fault
% Torque
Hist - #1
..
Power Output
Orient Error
Select
10-106
Scroll
Hist - #8
Mode
Mode
Scroll
Mode
Select
Motor Speed
I/O Inputs
RPM 03572
J-LM---Q--T--
Line 2
Chapter 10
Display Type Menu
The DISPLAY TYPE menu is the top level of the menu tree. This will
always be the initial top line display when power is first applied to the
drive and after the Reset input has been given.
METER DISPLAY
This is a menu title for all of the parameters that can be displayed in digital
meter form on the drive display. The following paragraphs describe the
function of each item.
Motor Speed
When selected, the display will show the actual bipolar motor speed as
measured from the resolver feedback.
Data Format: RPM 00000
Spindle Speed
Displays the actual spindle speed as calculated from the programmed gear
ratio and actual motor speed. The display is bipolar.
Data Format: RPM 00000
% Load
Indicates the percent rated motor load. The displayed data is determined
from the torque command with continuous rated motor torque from zero
speed to base speed, and continuous rated power output from base speed to
maximum speed. This will give the same 100% output reading. The
maximum reading shows the peak capability of the drive/motor
combination as a percent of the continuous rating and may vary for
different drive ratings. This is a unipolar output.
Data Format: %000
% Torque
When selected, the percent rated motor torque is shown. This is identical to
the % Load parameter except that it is a bipolar output.
Data Format: %000
Power Output
The motor output power expressed in kilowatts (kW) will be displayed. At
zero speed the motor power is zero regardless of the torque output. For a
percent load output equal to 100% throughout the speed range, the Power
Output will increase linearly from zero at zero speed to rated power at base
speed. It will then remain constant from base speed to maximum speed.
This is a unipolar output.
Data Format: KW 000.0
10-107
Chapter 10
Orient Error
When selected, indicates that the display is currently showing the value of
the position error when the drive is in spindle orient mode. This is a bipolar
output.
Data Format: DEG 00.000
DIAGNOSTICS
The information displayed on the diagnostic display can help to isolate a
malfunction in the drive. The following paragraphs describe the diagnostic
displays available. Refer to Chapter 11 for further troubleshooting
information.
I/O Inputs
This parameter indicates the status of all inputs. For ease in identifying
each input, successive letters of the alphabet are used to show when they
are On. When an input is Off, a dash () will be displayed. Refer to
Table 10.A for the input associated with each letter.
Data Format (line 1): I/O Inputs
Data Format (line 2): JKLMNOPQRSTUV
Table 10.A
I/O Inputs
10-108
Display Letter
Input Signal Name
J
K
L
M
N
Coast-to-Stop
Drive Reset
Drive Enable
Forward Run
Reverse Run
O
P
Q
R
S

Servo Input Scaling - High/Low
Gear Ratio Active Bit #2
T
U
V
Gear Ratio Active Bit #1

Orient Command
High Motor Winding Select Command
Chapter 10
I/O Outputs
This parameter indicates the status of all outputs. For ease in identifying
each output, successive letters of the alphabet are used to show when they
are On. When an output is Off, a dash () will be displayed. Refer to
Table 10.B for the output associated with each letter.
Data Format (line 1): I/O Outputs
Data Format (line 2): I/O ABCDEFGHI
Table 10.B
I/O Outputs
Display Letter
Output Signal Name
A
B
C
D
E
Zero Speed
At-Speed
No Hard Fault
F
G
H
I
No Soft Fault
Drive Ready
In-Position
High Motor Winding Selected
Current Fault
Indicates the current fault diagnostic message. The message uses 13
characters on line 2 of the display.
Fault History
Indicates a fault diagnostic message from the fault history queue. The 8
most recent messages are retained with #1 being the newest message. The
message can use the last six characters on line 1 and 13 characters on line 2
of the display.
The Scroll+ and Scroll- keys are used to scroll through the message queue.
10-109
Chapter 10
End of Chapter
10-110
Chapter
11
Diagnostics/Troubleshooting
Chapter Objectives
The purpose of this chapter is to assist you in determining the cause of a

drive fault or improper drive operation and to define possible corrective
actions. Possible corrective actions include:
Correcting programming or wiring errors
n Replacing blown fuses
n Replacing subassembly modules that have malfunctioned
n Replacing the complete drive
n
Introduction
The drive performs a number of diagnostic tests at different times during

system operation. The different classes of tests include the following:
n
Power On Tests - when AC power is applied, all logic level functionality

is checked and the data tables are tested to verify data integrity.
Drive Enable Tests - when the Drive Enable input is applied, the DC bus
is energized and the power section is checked for correct operation.
Normal Operation Tests - various data integrity, control system

functionality, and power section tests are performed on a continuous or
periodic basis during normal drive operation.
ATTENTION: Power must be applied to the system to perform

many of the checks specified in this chapter. Some voltages
present are at incoming line potential. To avoid injury to personnel and/or damage to equipment, only qualified service personnel should perform the troubleshooting procedures provided.
Thoroughly read and understand any procedure before beginning.
The drive provides two discrete digital outputs to indicate fault conditions;
Soft Fault and Hard Fault.
The Soft Fault output will be turned Off as a result of motor/drive overtemperature, or improper command sequences that can not be acted upon by
the drive. During a soft fault condition, the drive will continue to operate
normally. Refer to Chapter 7 for further fault output information.
The Hard Fault output will be turned Off whenever a drive fault condition
occurs that will prevent the drive from properly controlling the motor.
Refer to Chapter 7 for further fault output information.
In either case, the 8510 display will show a short text message that
describes the fault. In addition, the drive can display the last eight faults
that have occurred.
11-111
Chapter 11
Troubleshooting
Circuit Board Descriptions
The functionality associated with each circuit board in the 8510 AC

Spindle Drive is described below. Refer to Figure 11.1 for board locations.
I/O Board
Includes all analog and discrete digital user interface functions along with
the integral drive programming system. The EEPROM for user
programmed parameter storage is located on this board.
Main Control Board
Used on 8510A-A11-x2 and 8510A-A22-x2 drives only. This board
contains all of the basic drive control circuitry including the digital control
system for position, velocity and commutation control, motor current
loops, IGBT gate drive circuits with fuses, logic power supplies with fuse,
resolver feedback interface, spindle position feedback interface, dual
winding motor contactor control interface, and fault diagnostics system.
CPU Board
contains the digital control system for position, velocity and commutation
control, motor current loops, spindle position feedback interface, and fault
diagnostics system.
Gate Drive Board
contains the IGBT gate drive circuits with fuses, logic power supplies with
fuse, resolver feedback interface and dual winding motor contactor control
interface.
Power Board
Interconnects all items in the power structure to minimize power wiring.
The board includes the snubber networks, power filtering, control relays,
and AC control fuses.
The following assemblies are mentioned in the sections that follow.

Locations are not shown in Figure 11.1, but will be described in text as
appropriate.
Interconnect Boards
These are three small circuit boards used to interconnect signals from the
Power Board to the Main Control or Gate Drive Board.
Power Unit
The Power Unit is the complete drive structure less the I/O and Main
Control Board or CPU and Gate Drive Boards.
11-112
Chapter 11
Troubleshooting
Figure 11.1
Circuit Board Locations
I/O Board
CPU Board
CN9
CN10
CN2
Gate Drive Board

CN1
CN3
Power Board
PE U
V W FE FU FV PE R
Main Control Board

I/O Board
CN9
CN10
CN2
CN1
CN3
Power Board
FU FV FE
11-113
Chapter 11
Troubleshooting
Power Distribution and Control
The initial power-up sequence is described below. Refer to Figure 11.2 for
the associated power distribution and control circuitry.
1. When AC power is applied to the drive, the cooling fans and all
internal control logic is immediately energized through AC control
power fuse sets F1, F2, and F3.
2. The external Coast to Stop input must be closed to allow any of the
following power-up sequence to be executed. Closing this contact will
close the coast to stop control relay (K10) and allow the main contactor
(KM) to close.
3. When the Drive Enable input is closed, the DC bus discharge control
relay (KM3) is energized. This disconnects the DC bus discharge
resistor and allows the main contactor (KM) to be closed.
4. After KM3 energizes, the DC bus precharge control relay (KM1) is
energized to allow the DC bus to charge through the precharge
resistors.
5. When the DC bus voltage exceeds the under voltage trip level (250V
DC), the pilot relay for the main contactor (KM2) will energize, which
closes the main AC contactor (KM). The precharge relay (KM1) will
also open at this time.
6. After the main contactor is closed, the IGBT output inverter is turned
on and the motor is ready to operate.
7. If the Drive Enable or Coast to Stop inputs are opened, the main
contactor (KM) will be opened (either after the motor has stopped or
immediately, depending on which input is opened). If the Coast to Stop
input is opened, the DC bus discharge relay (KM3) will be
de-energized which connects the bus discharge resistor across the DC
bus. A time delay guards against the relay being energized again until
the bus discharge current has decreased to a level that will not damage
the relay contacts.
ATTENTION: If an oscilloscope is used during troubleshooting, it must be properly grounded. The oscilloscope chassis may
be at a potentially fatal voltage if not properly grounded.
Always connect the oscilloscope chassis to earth ground.
When using an oscilloscope it is recommended that the test
probe ground be connected to the test point labeled GND.
11-114
Chapter 11
Troubleshooting
Figure 11.2
8510 Main Power and Control Interconnect Diagram
Drive
Cooling
Fan
FU2R
FU
FU2S
FV
FU2T (A22 Only)
To Motor Cooling Fan
FW
FE
KM1
Bus Voltage Feedback
AC Line
Rectifier
and
IGBT Regen
Converter
R
S
T
E
Main Motor Power

KM3
IGBT
Output
Inverter
U
V
W
E
KM
AC Line Input
AC Phase
Sensing
and
Regen
Control
FU3R
FU3S
FU3T
+5V TP
F7 on A11 and A22
F13 on A04 and A06
Logic
Power
Supply
FU1R
FU1S
KM3
STB 1
(Used in A11 and A22 Only)
STB 2
KM2
KM
EM1
Relay and Contactors
EM2
J3-1
J3-2
K10
KM
KM1
KM2
KM3
K10
Main AC Input Contactor

DC Bus Precharge Relay
Pilot Relay for KM
DC Bus Discharge Relay
Coast to Stop Relay (located on I/O Board)
K10
Coast to Stop
CN9-1
CN9-4
11-115
Chapter 11
Troubleshooting
Fuse Locations and Types
Fuse location and specific fuse information is provided in the paragraphs

that follow.
AC Control Power Fuses
The electrical location of the AC control power fuses is shown in
Figure 11.2. Refer to Figures 11.10, 11.13 and 11.14 for fuse locations.
Table 11.A provides information on fuse types.
Table 11.A
AC Control Power Fuses Power Board
Designator
Rating
Vendor Name & Number A-B P/N
FU1R, FU1S
5A, 250 V
Fuji-FGBO 5A 250V 1
145863
FU2R, FU2S, FU2T
5A, 250 V
Fuji-FGBO 5A 250V 1
145863
On A11 & A22 only

FU3R, FU3S, FU3T
0.5A, 250 V
Fuji-FGBO 0.5A 250V 1
151287
On A04 & A06 only

FU3R, FU3S, FU3T
0.5A, 250 V
Daito Tsushin - HM05
151465
Any substitute fuse for the Fuji-FGBO type fuses must be a metric style measuring 6.35 mm
diameter by 30 mm long.
Gate Drive and +5V DC Fuses

Fuses for each of the IGBT gate drive circuit outputs and for the +5V DC
logic power supply are located on the Gate Drive or the Main Control
Board, depending on the drive rating. The following tables show the fuse
types used. Refer to Figures 11.9 and 11.12 for fuse locations.
Table 11.B
8510A-A04-x1 and 8510A-A06-x1 Gate Drive Board
Designator
Rating
Gate Drive
Fuses F1 to F12
0.3A, 250 V
Daito Tsushin-HM03
148133
5V DC Power Supply
Fuse F13
5A, 250 V
Daito Tsushin-MP50
148134
Table 11.C
8510A-A11-x2 and 8510A-A22-x2 Main Control Board
Designator
Rating
Gate Drive Fuses

F1 to F6, F8 to F13
0.3A, 250V
Daito Tsushin - HM03
148133
5V DC Power
Supply Fuse F7
5A, 250V
Daito Tsushin - MP50
148134
If the +5V DC power supply fuse has opened, a white indicator will show
in the window on the front of the fuse. The +5V DC test point is before the
fuse, so measuring the test point voltage will not verify that the fuse is OK.
11-116
Chapter 11
Troubleshooting
The gate drive fuses can not be visually checked to determine if they have
malfunctioned. The fuse element is too small to allow a reliable visual
check. Use an ohmmeter to test these fuses (with power off & out of circuit).
!
Fault Diagnostics System
ATTENTION: Do not apply power to the drive if any of the

IGBT gate drive fuses have opened or been removed. The
IGBT power module will be damaged if power is applied
without the module gate leads connected to the control circuitry.
As explained in Chapter 10, the integral display and programming system

is used to display drive diagnostic messages. When a fault occurs, the
display will automatically change (within about 2 seconds) to the Current
Fault display. If any key is pressed, the display will return to its previous
state. Through the DIAGNOSTICS menu, the current fault and a fault
history showing the eight (8) most recent faults can be accessed. The fault
history does not contain date/time information and can not be reset.
The tables found later in this chapter group the fault conditions or the fault
display messages by general classification, describe the specific fault, and
show probable causes and possible solutions. The general groupings are:
Problems that occur when AC power is applied

Problems that occur when Drive Enable is applied
Problems that occur while the drive is operating
Problems that occur during spindle orient
Other faults that indicate a control hardware malfunction
Problems specifically related to the I/O Board
Problems caused by programming errors
Table 11.D
Table 11.E
Table 11.F
Table 11.G
Table 11.H
Table 11.I
Table 11.J
page 11-120
page 11-122
page 11-125
page 11-129
page 11-131
page 11-133
page 11-134
For each fault condition or operating problem, the causes and solutions are
listed in order of decreasing probability of occurrence or increasing
complexity of required tests.
To aid in locating a specific fault, an alphabetized list of all fault display
messages and a Problem Number is provided. This listing can be used to
quickly locate an explanation of the fault in the tables that follow.
Display Text Line 1
Display Text Line 2
Problem Number
Current Fault
Current Fault
Abs Overspeed
AC Phase Loss
16
4, 19
Current Fault
Current Fault
Current Fault
Current Fault
Current Fault
Current Fault
Bad Comb M & D

Bad PG Count
Bad PG Marker
Bad PG Output
Bus Overvoltg
Bus Undervolt
52
27
26
28
17
18
Current Fault
Convrtr Short
Current Fault
Current Fault
Data Conflict
Drive Overtemp
14
21
Current Fault
Current Fault
Hi Accel Rate
Hi Positn Cmd
40
41
11-117
Chapter 11
Troubleshooting
Current Fault
Display Text Line 1
Hi Positn Err
Display Text Line 2
42
Problem Number
Current Fault
Hi Speed Cmd
43
Current Fault
Current Fault
Inv/Mtr Short
I/O Comm Err
11
30
Current Fault
Current Fault
Current Fault
Current Fault
Current Fault
Current Fault
Current Fault
Current Fault
Current Fault
Current Fault
Current Fault
Current Fault
Current Fault
Main A/D Conv

Main Comm Err
Main CPU Loss
Main CPU Ovfl
Main CPU1 Err
Main CPU2 Err
Main RAM Err
Main RAM Init
Main Watchdog
Max Spd None
Motor Overtemp
Motor Short
Mtr Windg Chg
34
32
31
38
35
36
29
37
33
53
20
10
23
Current Fault
Current Fault
Need Parametr
No Precharge
12
8
Current Fault
Current Fault
Current Fault
Op Dig Set Er
Optical Intpt
Orient Prm Er
54
39
55
Current Fault
Current Fault
Parameter Err
Power Supply
13
5
Current Fault
Resolver Loss
Current Fault
Current Fault
Current Fault
Spd Error HI
Sp Mtr 1 P Er
Sp Mtr 2 P Er
22
56
57
!Fault I/O Board

!Fault I/O Board
!Fault I/O Board
!Fault I/O Board
!Fault I/O Board
!Fault I/O Board
!Fault I/O Board
Warning I/O Brd
Bad EEPROM
Bad Optional A/D
EEPROM Sumchk
H8 CPU RAM
I/O DURM
LCD Timeout
Misc. Messages
EEPROM No Data
45
46
47
48
49
50
51
44
The basic approach to hardware maintenance is to replace the I/O Board,

Control Board, or complete power section. Component level repair of any
board or the power section is not a recommended field repair procedure.
11-118
Chapter 11
Troubleshooting
ATTENTION: High voltage that presents an electrical shock

hazard is present on the Main Control Board of the
8510A-A11-x2 and 8510A-A22-x2 drives. The upper right half
of the board contains the IGBT gate drive circuits, while the
upper left quarter contains the power supply. DC bus voltage
(approximately 325V DC) is present in both of these areas.
These areas contain the voltage warning symbol (see example)
and are outlined with a heavy white line. To avoid injury, only
qualified personnel should perform start-up or maintenance
procedures on this drive.
ATTENTION: This product contains stored energy devices. To
avoid hazard of electrical shock, verify that all voltage on the
capacitors has been discharged before attempting to service,
repair or remove this unit. A relay connects a resistor across the
DC bus to discharge the capacitors. Normally the capacitors will
discharge within 30 seconds. An LED on the upper right side of
the Main Control Board on 8510A-A11-x2 and 8510A-A22-x2
drives will be illuminated when the bus voltage is above 50V
DC.
11-119
Chapter 11
Troubleshooting
Table 11.D
Problems that Occur when AC Power is Applied
No.
Problem
Probable Cause
Possible Solutions
Display does not

illuminate and
drive and motor
cooling fans do not
start.
Loss of incoming AC power.
Measure AC voltage between terminals R, S, and T on the bottom of

the drive to verify that the line to line voltage is 180-253V AC at 60
Hz or 180-242V AC at 50 Hz.
Loose power connection in Power

Unit.
Check and tighten screws that connect the Power Board to the
power terminal block. Check for other loose screws or connectors in
Power Unit.
Drive and motor

cooling fans
do not start.
Malfunctioning AC control
power fuse.
Check fuses FU2R, FU2S, and (on A22 only) FU2T and replace
malfunctioning fuse.
Loose or disconnected fan

wiring.
1. Verify that drive cooling fan cables are plugged into Power
Board.
Drive programming/
diagnostics display
does not illuminate.
power fuse or +5V DC power
supply fuse.
2. Verify that motor cooling fan is properly wired to drive and

motor terminal blocks.
1. Check fuses FU1R and FU1S and replace malfunctioning fuse.
2. Check 5V DC power supply fuse F7 (or F13 on A04/A06 size
unit) and replace malfunctioning fuse.
Display intensity or contrast is

misadjusted.
Intensity and contrast adjustment pots are directly below the display
on the I/O Board (below and right on A04/A06 size unit).
Turn CCW to increase intensity and contrast.
Logic power supply has

malfunctioned.
Measure voltage at +5V DC test point to verify proper power supply

operation.
If no +5V DC, remove AC power and then remove cover from
board connector CN8 (CN15 on A04/A06 drive). Reapply AC
power and using a voltmeter, verify voltage between pins 3 and 4
(pins 1 and 32 on A04/A06 drive) is 255-355V DC. If supply
voltage is OK, replace Main Control Board (or Gate Drive Board on
A04/A06 drive).
Display has malfunctioned.
11-120
If no 255-355V DC, verify Interconnect Boards are properly seated

in connectors. Inspect contacts in both connectors to assure that they
are making proper contact with the Interconnect Boards. Replace
drive Power Unit if 255-355V DC can not be obtained.
Replace I/O Board and display assembly.
Chapter 11
Troubleshooting
Table 11.D (Continued)

Problems that Occur when AC Power is Applied
No.
Problem
Probable Cause
Possible Solutions
AC Phase Loss
displayed - Loss of
one phase of
incoming AC line
detected by drive.
An incoming 3 phase line is

open.
Measure all phase to phase voltages. Check all incoming line

connections for tightness.
power fuse.
Check fuses FU3R, FU3S, and FU3T.
Malfunctioning drive
interconnections or hardware.
1. Check seating of Interconnect Board into board connector CN8

(CN16 on A04/A06 drives).
2. Remove Interconnect Board from CN8 and inspect contacts in
both connectors to assure that they are making proper contact
with the Interconnect Board. Make certain it is plugged back in
correctly, so that blank side, if any, is towards outside of drive.
3. Remove Control Boards and check tightness of incoming power
connections to Power Board. Check for other loose power
interconnects.
Power Supply
displayed - An
internal power
supply voltage that
is missing or out of
tolerance was
detected.
Malfunctioning printed circuit

board.
If problems were not found with other tests, replace Main Control
Board (Gate Drive Board on A04/A06 drive).
Faulty Power Unit.
If problems were not found with other tests, replace main Power Unit.
Low voltage power supply

malfunction.
1. Check +5V test point on Main Control Board. Should be +4.75V

to +5.25V. (Note: test point is before the 5.0A fuse in the circuit).
2. Check +15V test point on Main Control Board. Should be
+14.25V to +15.75 V.
3. Check 15V test point on Main Control Board. Should be
14.25V to 15.75V.
4. If any voltages are out of tolerance or missing, replace Main
Control Board (Gate Drive Board on A04/A06 drive).
Resolver Loss
displayed - Improper or no
signals from motor
resolver have been
detected.
Incorrect wiring to resolver.
1. Verify that the resolver feedback cable is plugged into connector

CN3.
2. Verify that the resolver connector in the motor terminal box is
properly inserted.
3. Check each connector to verify that it is wired according to the
8510 User Manual.
Resolver waveforms not correct.
1. On Main Control Board (Gate Drive Board on A04/A06 drives),

check test points S1 and S2 for excitation sine waves (these will
not be smooth, but will have a staircase look). See Figure 11.3
for typical resolver waveforms. If waveforms are not correct,
then unplug the resolver cable connector, CN3. If the
waveforms are now correct, then the resolver cable is miswired
or the resolver is malfunctioning. If the waveforms are still not
correct, replace the Main Control Board (or Gate Drive Board).
2. Check test point R1 for a smooth, clean feedback sine wave. See
Figure 11.3 for typical waveform. If R1 waveform correct,
replace Main Control Board (or Gate Drive Board)
3. If R1 waveform is missing or incorrect, check resolver wiring. If
wiring OK, replace motor/resolver.
11-121
Chapter 11
Troubleshooting
Table 11.E
Problems that Occur when Drive Enable is Applied (or during operation)
No.
Problem
Probable Cause
Possible Solutions
No fault is indicated
but the main
contactor will not
close and the Drive
Ready output is not
energized.
Improper command sequence has

been applied.
Assure that the Coast to Stop input is energized before any other
input command is applied. Assure that Drive Enable is energized
before either run command or the orient command. Refer to
Figure 7.2 for proper sequence.
Contactor coil circuit not

completed via the Coast to Stop
input.
Assure that the jumper cable is connected between connector J3 in

the lower left corner of the I/O Board and the EM1-EM2 terminal
block on the upper left of the power circuit board.
Loose connections on contactor.
Remove control boards and tighten all connections to main

contactor.
Malfunctioning pilot relay on I/O

Board.
Remove power. Remove the jumper cable from connector J3 on the

I/O Board. Use a small piece of insulated wire to short between the
terminals of the plug on the jumper cable. Important: 230V AC is
present on this plug when AC power is applied. If the contactor will
now close when power is turned On and the Drive Enable is
applied, replace I/O Board.
Malfunctioning pilot relay on

Power Board or malfunctioning
contactor.
If problems were not found with other tests, replace Power Unit.
AC line voltage out of tolerance.
Verify that AC line voltage is between 180-252V AC.
interconnections.
1. Check seating of Interconnect Board into board connectors CN6

and CN7 (CN14 on A04/A06 drives).
No Precharge
displayed - the DC
bus failed to achieve
the necessary voltage
level during the
allowed bus precharge time and the main
contactor is blocked
from closing.
2. Remove Interconnect Board from CN6 and CN7 (CN14) and

inspect contacts in both connectors to assure that they are
making proper contact with the Interconnect Board. Make
certain it is inserted correctly, so that blank side, if any, is
towards outside of drive.
3. Remove Control Boards and check for any loose hardware on
Power Board. In particular, check connections to the terminal
block, AC line inductor, and IGBT modules M4, M5, and M6
(or IGBT2 in A04/A06 drive).
11-122
Malfunctioning IGBT module in

converter bridge.
Check IGBT modules M4, M5, and M6 (or IGBT2 in A04/A06

drive) according to the IGBT Test Procedure presented later in
this chapter. Replace Power Unit if IGBT is malfunctioning.
Malfunctioning bus precharge,

KM1, or bus discharge, KM3,
relay.

board.
Board (Gate Drive Board and possibly CPU Board on A04/A06
drive).
Chapter 11
Troubleshooting
Table 11.E (Continued)

Problems that Occur when Drive Enable applied (or during operation)
No.
Problem
Probable Cause
Possible Solutions
Convrtr Short
displayed - Current
sensed by DC link
current sensor CT-R
was too high.
Usually indicates
problem with IGBTs
in converter bridge.
Momentary power outage while

motor is regenerating to a stop.
Remove power to the drive, and restart.
interconnections.
1. Check seating of Interconnect Boards into board connectors CN7

and CN8 (CN15 and CN16 on A04/A06 drives).
10
Motor Short displayed - Current

sensed by motor
phase current sensors
CT-U or CT-V was
too high. Usually
indicates a problem
with the motor or
motor wiring.
2. Remove interconnect board from CN7 and CN8 and inspect

contacts in both connectors to assure that they are making proper
contact with the Interconnect Board. Make certain it is inserted
Possible blown IGBT driver fuse
on Main Control Board (Gate
Drive Board on A04/A06 Drive).
Remove all twelve 0.3A fuses and check with ohmmeter. Replace
any bad fuses.

converter bridge.

drive) according to procedure provided later in this chapter. Replace
Power Unit if IGBT is malfunctioning.

board.
drives).
Malfunctioning Power Unit

current sensor or circuit board.
Improper connection of winding

changeover contactors when a
dual winding motor is being used.
Check for proper hookup of contactors, motor, contactor coils, and

auxiliary contacts.
Incorrect motor selected in

MOTOR SELECT - Catalog Num
parameter.
Check Catalog Num setting to verify that it matches the motor

nameplate.
Shorted or voltage breakdown of

motor or motor cabling to ground
or another phase.
Disconnect motor at the drive. Use a megger (high voltage

ohmmeter) to verify that the insulation resistance to ground for each
phase is at least 5 megohm. For dual winding type motors,
disconnect the power wires at the motor terminal box and use the
megger to measure phase-to-phase insulation resistance. Verify that
the insulation resistance between U & V, V & W, and W & U is at
least 5 megohms. For single winding motors, use an ohmmeter to
measure resistance between phases; depending on motor size, value
measured should be from 0.1-1.0 ohms and should be approximately
the same between each phase. Phase-to-phase and internal winding
shorts may not be detected with this test.
Improper motor power

connections.
Verify that the motor power cable is securely fastened to the drive
and motor terminal blocks and that no stray wire strands are shorting
out any phases.

board.
Replace the Main Control Board (Gate Drive Board and possibly
CPU Board on A04/A06).
Malfunctioning Power Unit.
If problems were not found with other tests, replace the Power Unit.
Important: Be certain to properly reseat all fuses to avoid possible

damage to IGBTs.
11-123
Chapter 11
Troubleshooting
Table 11.E (Continued)

Problems that Occur when Drive Enable applied (or during operation)
No.
Problem
Probable Cause
Possible Solutions
11
Inv/Mtr Short
displayed - Current
sensed by DC link
current sensor
CT-S was too high.
Usually indicates
problem with
motor or IGBTs in
inverter bridge.
See fault condition 10, Motor

Short.
interconnections.
See fault condition 10, Motor Short.

1. Check seating of Interconnect Boards into board connectors CN7
and CN8 (CN15 and CN16 on A04/A06 drives).
2. Remove Interconnect Board from CN7 and CN8 and inspect
contacts in both connectors to assure that they are making proper
contact with the Interconnect Board. Make certain it is inserted
Possible malfunctioning IGBT

driver fuse on Main Control Board
(Gate Drive Board on A04/A06
Drive).
Remove all twelve 0.3A fuses and check with ohmmeter. Replace
any bad fuses.

inverter bridge.

drive) according to procedure later in this chapter. Replace Power
Unit if IGBT is malfunctioning.

board.
drives).
Malfunctioning Power Unit

current sensor or circuit board.
Need Parameter
displayed - A
required parameter
has not been
programmed into
the EEPROM
before attempting
to enable the drive.
Drive programming not

completed.
1. Verify that the motor catalog number and drive catalog number
are properly programmed.
13
Parameter Err
displayed - Two
programmed
parameter values
conflict with one
another.
Parameters are incorrectly

programmed.
Re-examine programmable parameters for compatibility; start with

the ones most recently changed. Refer to the 8510 Programming
Manual (publication 8510-5.2) as needed.
14
Data Conflict
displayed - Programmed parameter values conflict
with one another.
Parameters are incorrectly

programmed.
Re-examine programmable parameters for compatibility; start with

the ones most recently changed. Refer to the 8510 Programming
Manual (publication 8510-5.2) as needed.
12
11-124
Important: Be certain to properly reseat all fuses to avoid possible

damage to IGBTs.
2. In orient mode, verify proper feedback definition.
Chapter 11
Troubleshooting
Table 11.F
Problems that Occur while the Drive is Operating
No.
Problem
Probable Cause
Possible Solutions
15
Motor runs in a
random or uncontrolled manner or
with excessive
vibration when
either the Forward
or Reverse Run
command is
energized.
Resolver phasing is incorrect.
Use the programming parameter ELECT CONFIG - Motor Phasing

to reverse the relative phasing of the motor to the resolver.
Motor phase is open.
Check all power wiring to the motor for continuity and tight
connections. Use an ohmmeter to verify phase to phase continuity
for each motor phase. When 1327AD series dual winding motors
are used, check both winding change contactors for proper
operation.
Resolver or resolver wiring is

malfunctioning.
Refer to fault condition 6 for solutions.

and/or ELECT CONFIG - Drive
Cat Num programmed as NONE
SELECTED when the Coast to
Stop input is turned On.
Correctly program the MOTOR SELECT - Catalog Num and

ELECT CONFIG - Drive Cat Num parameters before applying 24V
DC to the Coast to Stop input.
Overspd Trip parameter set too low

relative to commanded speed.
Increase setting of Overspd Trip parameter or reduce setting of Max

Cmnd Spd parameter. The overspeed trip point should be set about
10% higher than the maximum command speed to avoid nuisance
trips.
16
Abs Overspeed
displayed - Motor
shaft speed
exceeding the
programmed value
of the Overspd Trip
parameter was
detected.
Important: If the Overspd Trip parameter is inadvertently set to zero,

this fault may occur as soon as the power is applied to the drive.
With a setting of zero, even a one bit change from the resolver
decoding circuit will cause this fault.
17
Bus Overvoltg
displayed - DC bus
voltage that
exceeded maximum allowable
limits was detected.
Motor disconnected from load

while drive in torque mode.
Never allow the motor to become disconnected from the load or the
drive to be disconnected from an external control loop while the
drive is operating in torque mode.
Excess overhauling load.
Reduce the overhauling load to a value that is less than the torque
limit setting of the drive.
Malfunctioning resolver or
resolver signals.
Check the resolver signals as defined under fault condition 6.

board.
drives).

parameter.

nameplate.
Incoming 3 phase voltage is out of

tolerance.
Adjust taps on transformer or add step-down transformer to keep

AC line voltage below 253V AC, 60 Hz or 242V AC, 50 Hz.
If overvoltage is detected during

regeneration, incoming AC line
impedance may be too high.
Increase kVA rating of supply transformer to proper rating for drive

size. See Table 8.C.
Malfunctioning regeneration
control circuit.
Replace Main Control Board (Gate Drive Board on A04/A06

drives).
11-125
Chapter 11
Troubleshooting
Table 11.F (Continued)

No.
Problem
Probable Cause
Possible Solutions
18
Bus Undervolt
displayed - DC bus
voltage less than
the minimum
allowable level was
detected.
Incoming 3 phase voltage is out of

tolerance.
Adjust taps on transformer or add step-up transformer to keep AC

line voltage above 180V AC, 50/60 Hz.
Incoming AC line impedance is

too high.

size (especially if fault occurs during accel or when the motor is
running under heavy load), see Table 8.C.
An incoming 3 phase line is open,

or has high impedance.
With drive operating in motoring or accel (if possible), check phase

to phase line voltages for balanced conditions and verify that voltage
is above 180V AC. Check all incoming line connections for
tightness.
Refer to fault condition 4
19
AC Phase Loss
displayed - Loss of
one phase of
incoming AC line
detected by drive.
11-126
Refer to fault condition 4.

An incoming 3 phase line is open,
or has high impedance.
With drive operating in motoring or accel (if possible), check phase

to phase line voltages for balanced conditions. Check all incoming
line connections for tightness. If a three-phase motor is connected to
the AC line, a lost phase may not be detected by a voltage test on a
lightly loaded 8510 system.
Incoming AC line impedance is

too high.

size. (Especially if fault occurs during accel or when the motor is
running under heavy load.) See Table 8.C.

converter bridge.

drive) according to procedure later in this chapter. Replace Power
Unit if IGBT is malfunctioning.

board.
Replace the Main Control Board (Gate Drive Board and possibly
CPU Board on A04/A06).
Chapter 11
Troubleshooting

No.
20
Problem
Probable Cause
Possible Solutions
Motor Ovrtemp
displayed - The
drive detected that
the thermal switch
in the motor has
opened.
Motor is overloaded by existing

duty cycle.
When the motor cools, the thermal switch will close and the fault
will clear. Reduce duty cycle loading or increase size of motor/drive
system.
Motor fan not operating.
1. Measure voltage at fan terminal block in motor terminal box. If

voltage not 200 to 230V AC when AC power is applied to the
drive, check fuses FU2R, FU2S, and FU2T (on A22 drive only)
and wiring to fan.
2. If voltage is present and fan is not operating, check for
obstructions. Otherwise replace motor or cooling fan.
Insufficient air flow through motor

cooling passages.
Clean motor fan protective grill and fan. Use pressurized air to clean
cooling passages in each corner of the motor frame.

parameter.

nameplate. Incorrect parameter setting or oversized drive can result
in excitation currents that exceed motor rating.
Motor thermal switch or wiring

(through resolver cable) has
malfunctioned.
1. Measure motor case temperature. Thermal switch should open at

140 5C. Case temperature should be in excess of 110C at
this time.
2. If motor case is below 110C, use an ohmmeter to check the
thermal switch. Approximately zero ohms should be measured
between pins 15 & 16 on the resolver connector in 1327AB
series motor terminal box. For 1327AD motors, measure pins 9
& 10. If an open circuit or high resistance is measured, replace
the motor.

board.
21
Drive Ovrtemp
displayed - The
drive detected that
the thermal switch
on the drive heat
sink has opened.
3. If thermal switch is OK, check cable to drive and connectors for

proper connection and continuity. Repair or replace as required.
drive).
Drive is overloaded by existing

duty cycle.
When drive cools, the thermal switch will close and the fault will
clear. Reduce duty cycle loading or increase size of motor/drive
system.
Drive cooling fan not operative.
Check fuses FU2R and FU2S. Verify that fan power cable is plugged
into the Power Board. The A11 uses connector XB10 in top left
corner of Power Board. The A22 uses connector XB9 in the upper
right corner and XB10 in the lower right corner of the Power Board.
If fuses OK and fans inserted, then cooling fan malfunctioning.
Replace Power Unit.
Thoroughly clean the heat sink using pressurized air. Assure that
there is sufficient clearance above and below heat sink to allow
adequate air flow.
Insufficient air flow over heat sink

or poor heat transfer.

MOTOR SELECT ~ Catalog Num
parameter.

nameplate. Incorrect parameter setting can cause current oscillation
that exceeds drive rating.

board.
drive).
11-127
Chapter 11
Troubleshooting

No.
Problem
Probable Cause
Possible Solutions
22
Spd Error Hi
displayed - A
motor stall condition or an unexpected motor
acceleration or
deceleration was
detected.
If during startup, the motor runs at

a constant low speed or reverses
direction frequently, the motor
versus resolver phasing is incorrect.
Use the parameter PARAMETER SET - ELECT CONFIG - Motor

Phasing to reverse the relative phasing of the motor to the resolver.

MOTOR SELECT ~ Catalog Num
parameter.

nameplate. Incorrect parameter setting can cause torque loss.
Load requires a torque that

exceeds motor torque limit
setting.
1. Change duty cycle to reduce required motor torque.
Motor phase is open.
Check all power wiring to the motor for continuity and tight
connections. Use an ohmmeter to verify phase to phase continuity
for each motor phase.
(When using 1327AD series dual

winding motors) Malfunctioning
winding change contactor.
Check the contactors to assure they are making proper connections

at all times. Replace contactors if necessary.
Resolver or resolver wiring is

malfunctioning.
Refer to fault condition 6 for solutions.

boards.
Board (gate drive and CPU Boards on A04/A06 drives).
23
2. Turn Low Torque Limit Select input Off or increase setting of

Low Torq Lmt parameter to allow sufficient torque to drive the
load. Increase rating of motor/drive system if necessary to drive
the load.
Mtr Windg Chg displayed - The auxiliary contacts on the winding change contactors did not cycle as expected during the winding
change operation. Whenever the Motor Winding Select Low/High input is Off, the auxiliary contact on the Low Speed Contactor
should be closed. Whenever the Motor Winding Select Low/High input is On, the auxiliary contact on the High Speed Contactor
should be closed. This fault is monitored only when a 1327AD series dual winding motor has been selected with the MOTOR
SELECT - Catalog Num parameter.
Interconnection problem between
the drive and the winding change
contactors.
1. Verify that connector CN1 is properly connected to the drive.

2. Verify that the connector CN1 and the contactors are correctly
wired.
3. Check the cable for continuity.
11-128
One of the winding change

contactors are malfunctioning.
Check the contactors to verify that they operate properly. Verify the
operation of the auxiliary contacts.

board.
drives).
Chapter 11
Troubleshooting
Table 11.G
Problems that Occur during Spindle Orient Operation
No.
Problem
Probable Cause
Possible Solutions
24
Motor runs continuously at the

Orient Speed
parameter setting
without faulting
and without
orienting.
Feedback device is incorrectly

phased.
Use the ORIENT SETUP - FEEDBACK DEFN - Encdr Phasing

parameter to reverse the phasing of the orient feedback device.
Wrong type of feedback device

has been specified.
The ORIENT SETUP - FEEDBACK DEFN - Encoder Type

parameter must be set to OPTICAL PULSE when an optical
encoder is used and to MAGNET ANALOG when the high
resolution magnetic feedback is used. Change this parameter to the
correct setting and store it in EEPROM by energizing the Drive
Enable input. After the correct setting is stored, AC power must be
removed from the drive and then reapplied to reset this parameter
value in the drive control software.
The number of encoder lines has

been incorrectly programmed.
Use the ORIENT SETUP - FEEDBACK DEFN - Encoder Lines

parameter to set the correct encoder line count or number of teeth
on the high resolution feedback gear.

board.
Board (CPU Board on A04/A06 drives).
Either the velocity loop or the

orient position loop is not tuned
correctly.
Adjust SERVO MODE - HI SPD RANGE P and I gains to obtain

quick stopping without overshoot when the Run command is
energized/de-energized.
The accel/decel ramp rate settings

are too slow relative to the orient
position loop settings.
The accel/decel ramp rate setting limits the decel rate that can be
obtained during orient and a slow decel rate can cause overshoot.
Reduce the value of the Acc Rate #1 or Acc Rate #2 parameter
setting or select the quicker accel/decel rate setting.
The orient mode tuning requires a

faster decel rate than the drive can
provide.
Reduce the value of the ORIENT TUNE - Orient Speed parameter

setting or increase the value of the ORIENT TUNE - Orient Start
parameter setting. As explained in the 8510 Programming Manual
(publication 8510-5.2), these parameters control the orient position
loop gain and define the required deceleration rate.


Feedback device not correctly

connected to the drive.
1. Verify that connector CN2 is connected to the drive.
Malfunctioning feedback device.
1. If an optical encoder is used, verify that the marker pulse is

present and of proper amplitude and width relative to the A and
B channel outputs.
25
26
The spindle
overshoots the
target position and
oscillates several
times before
stopping.
Bad PG Marker
displayed- A
correct marker
pulse was not
detected within one
revolution of the
feedback device as
determined by the
programmed
number of lines on
the feedback
device.
2. Verify the wiring of the connector at the drive and at the

feedback device.
2. If the high resolution magnetic feedback is used, verify the

output signals per Figure 11.4. Adjust the sensor relative to the
gear to obtain proper signals or replace the sensor head.
board.
11-129
Chapter 11
Troubleshooting
Table 11.G (Continued)

Problems that Occur during Spindle Orient Operation
No.
Problem
Probable Cause
Possible Solutions
27
Bad PG Count
displayed - An
incorrect number
of spindle position
feedback counts
was detected
between two
successive markers
pulses as determined by the
programmed
number of lines on
the feedback
device.


Feedback device is incorrectly

phased.
Use the ORIENT SETUP - FEEDBACK DEFN - Encdr Phasing

parameter to reverse the phasing of the orient feedback device.
Feedback device not correctly

connected to the drive.
1. Verify that connector CN2 is connected to the drive.
The ORIENT TUNE - Orient Start

parameter value is much too low
relative to the value of ORIENT
TUNE - Orient Speed parameter.
Either increase the value of ORIENT TUNE - Orient Start or

decrease the value of ORIENT TUNE - Orient Speed.
Malfunctioning feedback device.
1. If an optical encoder is used, verify that the A, B, and Z channel

outputs are present and have proper amplitude/phase
relationships and that the signals are relatively free of electrical
noise.
2. Verify the wiring of the connector at the drive and at the

feedback device.
2. If the high resolution magnetic feedback is used, follow the

procedure shown in Figure 11.4 to verify the output signals.
Adjust the mounting of the gear and the position of the sensor
relative to the gear to obtain proper signals or replace the sensor
head.
28
Bad PG Output
displayed - The
electrical signals
from the high
resolution magnetic
feedback device
are abnormal.

board.
Wrong type of feedback device has

been specified.
If an optical encoder is being used, the ORIENT SETUP FEEDBACK DEFN - Encoder Type parameter must be set to
OPTICAL PULSE. When this parameter is changed and then
stored in EEPROM, AC power must be removed from the drive and
then reapplied to reset this parameter value in the drive control
software.
The gear and sensor must be installed in accordance with the
mechanical tolerance specifications in the High Resolution
Magnetic Feedback Instructions (8510-5.13). At test point A on the
Main Control Board (CPU Board of A04/A06 drive), the amplitude
modulation of the signal should be less then 0.1 volts when the gear
is properly installed. The magnitude of the signal can be changed
by changing the gear to sensor airgap.
The gear or sensor are not

correctly installed.
Interconnecting cable or sensor are

defective.
1. Verify that proper signals are received from the sensor. See
Figure 11.4 for correct waveforms.
2. If not correct, check cables and connectors for continuity and
proper connections.
3. If cables and connections are OK, replace sensor.

board.
11-130
Chapter 11
Troubleshooting
Table 11.H
Other Faults that Indicate Control Hardware Malfunction
No.
Problem
Probable Cause
Possible Solutions
29
Main RAM Err

displayed- A parity
or functional error
was detected in
RAM on the Main
Control Board
(CPU Board on
A04/A06 drive).
RAM is malfunctioning.
Replace Main Control Board (CPU Board on A04/A06 drive).
30
I/O Comm Err

displayed - No
communications
occurring between
microprocessor on
Main Control Board
(CPU Board on
A04/A06 drive) and
microprocessor on
I/O Board.
Hardware malfunction on either

I/O Board or Main Control Board
(CPU Board on A04/A06 drive).
1. Verify that EPROMs on both the I/O Board and Main Control
Board are inserted correctly.
Main CPU Loss

displayed - CPU on
Main Control
Board (CPU Board
on
A04/A06 drive)
unable to complete
calculations during
allotted time cycle.
Main Comm Err
displayed - No
communications
occurring between
master and slave
processors on Main
Control Board
(CPU Board on
A04/A06 drive).
Firmware problem or hardware

malfunction on Main Control
Board (CPU Board on A04/A06
drive).
31
32
33
34
2. Verify that the I/O Board connectors are fully seated into the
Main Control Board (or CPU Board) connectors.
3. If problem remains, replace I/O Board
4. If problem remains, replace Main Control Board (CPU Board on
A04/A06 drive).
1. Verify that the EPROM on the Main Control Board is inserted

correctly.
A04/A06 drive).
3. If problem remains, contact factory.
Hardware malfunction.
1. Verify that the EPROM on the Main Control Board is inserted

correctly.
A04/A06 drive).
Main Watchdog
displayed - The
watchdog timer on
the Main Control
Board (CPU Board
on A04/A06 drive)
tripped out.
The microprocessor on Main

Control Board ran out of execution
time or stopped.
Main A/D Conv

displayed - The
A/D converter on
the main control
board (CPU Board
on A04/A06 drive)
faulted or sensed
excessive offset.
1. Verify that EPROMs on both the I/O Board and the Main Control
Board (CPU Board on A04/A06 drive) are inserted correctly.
2. If problem remains, replace Main Control Board.
3. If problem recurs, contact factory.
11-131
Chapter 11
Troubleshooting
Table 11.H (Continued)

Other Faults that Indicate Control Hardware Malfunction
No.
Problem
Probable Cause
Possible Solutions
35
Main CPU1 Err

displayed - The
master cpu on the
Main Control Board
(CPU Board on
A04/A06 drive)
malfunctioned.
Main CPU2 Err
displayed - The
slave cpu on the
Main Control Board
(CPU Board on
A04/A06 drive)
malfunctioned.
Main RAM Init
displayed- Functional error detected in
RAM on Main
Control Board (CPU
Board on A04/A06
drive).
Main CPU Ovfl
displayed - CPU on
Main Control Board
(CPU Board on
A04/A06 drive).ran
out of execution
time.
Optical Intpt
displayed - A system
interrupt was sensed
through the test
system fiber optic
transducer.
1. Verify that EPROM chip on Main Control Board (CPU Board on

A04/A06 drive) is inserted correctly.
40
Hi Accel Rate
displayed
Firmware error.
Reset drive. If fault persists, contact Allen-Bradley.
41
Hi Positn Cmd
displayed
Firmware error.
42
Hi Positn Err
displayed
Firmware error.
43
Hi Speed Cmd
displayed
Firmware error.
36
37
38
39
I/O Board Faults
11-132

A04/A06 drive).
1. Verify that EPROM chip on Main Control Board (CPU Board on

A04/A06 drive) is inserted correctly.
A04/A06 drive).
Firmware error or hardware

malfunction.
1. Verify that both EPROMs on I/O Board and Main Control Board
are inserted correctly.
A04/A06 drive). If problem recurs, contact Allen-Bradley.
Bright flash of light triggered the

fiber optic input.
1. Assure that the rubber plug is installed in the fiber optic

connector on the Main Control Board (CPU Board on A04/A06
drive). The fiber optic connector is located adjacent to connector
CN2.
A04/A06 drive).
When problems occur with the I/O Board, the first line of the display will
show either !Fault I/O Board or Warning I/O Brd. The second line provides
more detailed information about the exact nature of the fault.
Chapter 11
Troubleshooting
Table 11.I
Problems Specifically Related to the I/O Board
No.
Problem
Probable Cause
Possible Solutions
44
EEPROM No Data
displayed - The I/O
Board microprocessor
could not find
programmed data in
the EEPROM.
The drive was not

programmed.
Perform the complete drive setup programming procedure as

described in the 8510 Programming Manual (publication 8510-5.2).
EEPROM not properly

installed or malfunctioning.
Verify that the EEPROM is properly installed in the socket. If

problem remains, replace I/O Board.
EEPROM not properly

installed or malfunctioning.
Verify that the EEPROM is properly installed in the socket. If

problem remains, replace I/O Board.
This version of the I/O Board

does not have the optional 14
bit linear A/D converter
installed.
If the drive catalog number does not end in either -Cx or -Dx, the
optional A/D converter is not installed. Either program drive to use
standard A/D converter or install I/O Board that includes the
optional A/D converter.
Malfunctioning A/D
converter or I/O Board.
Replace I/O Board.
Data has become corrupted

due to noise or some other
means.
EEPROM is malfunctioning.
Perform the complete drive setup programming procedure as

described in the 8510 Programming Manual (publication 8510-5.2).
The microprocessor on the

I/O Board is malfunctioning.
Replace I/O Board.
The dual-port RAM on the

I/O Board is malfunctioning.
Replace I/O Board.
The I/O Board is malfunctioning.
Replace I/O Board.
Some hardware or firmware

on the I/O Board is
malfunctioning.
Replace the I/O Board.
45
46
47
48
49
50
51
Bad EEPROM
displayed - The The
I/O Board microprocessor can not
communicate with the
EEPROM.
Bad Optional A/D
displayed- The I/O
Board microprocessor can not communicate with or is
receiving bad data
from the optional
A/D converter on the
I/O Board.
EEPROM Sumchk
displayed - The I/O
Board microprocessor has read an
incorrect check sum
value from the
EEPROM which
indicates corrupted
data in the EEPROM.
H8 CPU RAM
displayed - The RAM
that is internal to the
H8 microprocessor
will not pass a
read/write test.
I/O DURM displayed - The
dual-port RAM used
to communicate to
the Main Control
Board will not pass a
read/write test.
LCD Timeout
displayed - Communications between the
I/O Board microprocessor and the
programming display
module did not occur
in the allowed time.
Any other !Fault I/O
Board fault message
displayed - Indication of
firmware or hardware
malfunction on I/O
Board.
Replace the EEPROM or complete I/O Board.
11-133
Chapter 11
Troubleshooting
Table 11.J
Problems Caused by Programming Errors
No.
Problem
Probable Cause
Possible Solutions
52
Bad Comb M & D

displayed - The motor
and drive catalog
numbers that are selected
are not compatible with
one another.
Verify that motor and drive catalog numbers have been programmed
for the selected gear range. Verify that the selected motor and drive
catalog numbers are a compatible set. A 5.5 kW drive can be used
with any motor rated 5.5 kW or smaller. An 11 kW drive can be used
with any motor rated from 5.5 kW through 11 kW. A 22 kW drive
can be used with any motor rated from 11 kW through 22 kW.
53
Max Spd None displayed

- The microprocessor can
not find a value
programmed for the
SPINDL PRESET Overspd Trip parameter.
For the gear range selected,

the MOTOR SELECT Catalog Num and the ELECT
CONFIG - Drive Cat Num
parameter values not
compatible or are not
defined.
the value for the SPINDL
PRESET - Overspd Trip
parameter is set to zero.
54
Op Dig Set Er
displayed - The drive
has been programmed to use the
optional 16 bit
parallel inputs for
two different
functions simultaneously.
Within a given gear range, the optional 16 bit digital command input
can be used as either a spindle speed command or as an orient
position command, not both. Verify that only one of these functions
are programmed for the BCD or binary command input.
55
Orient Prm Er
displayed - One or
more of the critical
parameters for orient
are not properly
programmed.
56
Sp Mtr 1 P Er displayed
- An error was detected
in the motor parameter
table values.

the SPINDLE MODE Cmnd Source parameter has
been set to either 4 DIGIT
BCD or 16 BIT BINARY
and the ORIENT TUNE Position Data parameter has
been set to either BCD
INPUT or BINARY
INPUT.
one or more of the following
parameters has a programmed value of zero:
SET RATIOS - Spindle Revs;
SET RATIOS - Motor Revs;
ORIENT TUNE - Orient
Speed; ORIENT TUNE Orient Start.
the motor type selected by
the MOTOR SELECT Catalog Num parameter has
been set to NON-STD MTR
1 and this motor has not
been defined or is incorrectly
defined.
the motor type selected by
the MOTOR SELECT Catalog Num parameter has
been set to NON-STD MTR
2 and this motor has not
been defined or is incorrectly
defined.
57
Sp Mtr 2 P Er displayed
- An error was detected
in the motor parameter
table values.
11-134
Verify that the SPINDL PRESET - Overspd Trip parameter is set to a

value other than zero.
Verify that each of the parameters listed under Probable Cause is set
to a valid value that must be greater than zero.
Change the MOTOR SELECT - Catalog Num parameter setting to

the correct catalog number for the motor connected to the system.
If this does not correct the problem, contact the factory.
Change the MOTOR SELECT - Catalog Num parameter setting to

the correct catalog number for the motor connected to the system.
If this does not correct the problem, contact the factory.
Chapter 11
Troubleshooting
Figure 11.3
Resolver Signals
Test Point S1 & Ground

Resolver Excitation Signal
SIN Wave
Approx.
17.6V p-p
0V DC
32s
Test Point S2 & Ground

Resolver Excitation Signal
SIN Wave
0V DC
Approx.
17.6V p-p
Test Point R1 & Ground

Resolver Feedback Signal
0V DC
Approx.
8.8V p-p
T = 128s
(with motor stopped)
11-135
Chapter 11
Troubleshooting
Figure 11.4
High Resolution Magnetic Feedback Signals
T
Test Point A
and Ground
V DC
VP-P
where:
N = Number of Teeth
S = Speed (rpm)
90
Test Point B
and Ground
V DC
VP-P
0.1 - 0.4T
VP-P
Test Point Z
and Ground
V DC
Installation
Face
11-136
Amplitude of A/B:
V DC = 2.5V
VP-P = 3V
Amplitude of Z:
V DC = 2.5V
VP-P = 3V
Sensor
CW
A/B Phase Gear
T depends on the number of

gear teeth and gear speed.
1
T=
N x 1/60 x S
Z Phase Gear
Install the gear and sensor as shown. The specifications

above should be set at CW rotation when the
gear is viewed from the Z phase gear side.
Chapter 11
Troubleshooting
IGBT Test Procedure
The following procedure provides the steps needed to properly test the
IGBT modules to determine if replacement is necessary.
1. Remove all power to the drive. Remove the front cover from the drive.
2. Label and remove the three motor wires from the drive terminals U, V
and W.
3. Access to the IGBT modules must be gained by removing the
following boards:
On 8510A-A04 and A06 drives remove the CPU, Gate Drive and I/O
Boards.
On 8510A-A11 and A22 drives remove the Main Control (and I/O)
Board.
4. The 8510A-A04 and A06 drives have two modules, while the
8510A-A11 and A22 drives have six. For proper testing, each module
must be checked four different ways. The procedure for 8510A-A04
and A06 drives is shown in Figure 11.5. The procedure for 8510A-A11
and A22 drives is shown in Figure 11.6.
On 8510A-A11 and A22 drives the IGBT module will have 4 spade
lugs for the gate connection. Use these as a reference point for
orientation.
Measurements must be taken with a Digital Voltmeter (DVM) equipped
with a Diode setting. The connection polarity for the meter is shown
in each figure.
A reasonable ohm reading would be 1 meg to infinity. A reasonable
voltage drop would be 450 - 700mV. If a measurement differs
appreciably from these values, the module is bad and the Power Unit
must be replaced.
5. When testing/replacement is complete, replace board(s), cover and
check for proper operation.
11-137
Chapter 11
Troubleshooting
Figure 11.5
IGBT Module Test Procedure for 8510SA-A04 and A06 Drives
Step 2
Step 1
Place Positive Meter Lead

(+) on each Screw
Place Negative Meter Lead

() on each Screw
Positive (+) Meter Lead
Negative () Meter Lead
IGBT2
IGBT2
Reading = 590mV
Reading = Infinity
IGBT1
IGBT1

(+) on each Screw

() on each Screw
Step 4
Step 3

(+) on each Screw

() on each Screw
+
+
IGBT2
IGBT2
Reading = Infinity
Reading = 590mV
IGBT1
IGBT1
+
() on each Screw
11-138
+
(+) on each Screw
Chapter 11
Troubleshooting
Figure 11.6
IGBT Module Test Procedure for 8510SA-A11 and A22 Drives
Step 1
Step 2

(+) on this Screw

(+) on this Screw
Reading > 1 Meg Ohm
Reading = 535mV
Step 3
Reading > 1 Meg Ohm
Step 4
(+) on this Screw

(+) on this Screw
Reading = 535mV
11-139
Chapter 11
Troubleshooting
Figure 11.7
I/O Board 8510A-A04, A06
Display and Keypad Module
Microprocessor
with EPROM
Contrast
EEPROM
Brightness
ANAOUT#1
ANA - SG
ANAOUT#2
ANAIN#1
ANAIN#2
J3
CN9
11-140
CN10
Chapter 11
Troubleshooting
Figure 11.8
CPU Board 8510A-A04, A06
EPROM
GND
B
Z
CN2
11-141
Chapter 11
Troubleshooting
Figure 11.9
Gate Drive Board 8510A-A04, A06
32
F1
F2
CN16
F3
F4
16 17
F5
F6
32
F7
CN15
F8
F9
F10
16 17
F11
F12
1
32
CN14
F13
16 17
R1 S2
GND
S1
CN1
11-142
CN3
+15V
+5V
15V
Chapter 11
Troubleshooting
Figure 11.10
Power Board 8510A-A04, A06
EM1
EM2
FU3T
FU1S
FU1R
FU2S
FU2R
FU3S
FU3R
IGBT2
IGBT1
PE U
FE
FU
FV PE
11-143
Chapter 11
Troubleshooting
Figure 11.11
I/O Board 8510A-A11, A22
Display and Keypad Module
Microprocessor
with EPROM
Contrast
Brightness
EEPROM
ANA - SG
ANAOUT#1
ANAOUT#2
ANAIN#1
ANAIN#2
J3
CN9
11-144
CN10
Chapter 11
Troubleshooting
Figure 11.12
Main Control Board 8510A-A11, A22
32
F1
F2
CN8
F3
F4
F5
16 17
F6
F7
F8
+5V
32
F9
F10
CN7
F11
+15V
F12
15V
GND
F13
16 17
EPROM
32
CN6
GND
16 17
S1
S2
R1
Z
B
CN1
CN2
CN3
11-145
Chapter 11
Troubleshooting
Figure 11.13
Power Board 8510A-A11
FU1R
FU1S
XB10
FU3T
FU3S
EM2
FU3R
EM1
IGBTM4
IGBTM5
IGBTM6
IGBTM1
PE
U
FE
FU2R
FU2S
11-146
IGBTM2
FU
FV
IGBTM3
PE
Chapter 11
Troubleshooting
Figure 11.14
Power Board 8510A-A22
EM1
XB9
EM2
FU3R
FU3S
FU3T
FU1S
FU1R
IGBTM4
IGBTM5
IGBTM6
IGBTM1
IGBTM2
IGBTM3
FU2T
FU2S
FU2R
XB10
PE
PE
FE FU FV
11-147
Appendix
Renewal Parts
Introduction
The following provides a list of the renewal parts available for the 8510
AC Spindle Drive. Information provided is subject to change. Refer to the
8510 Renewal Parts publication (8510-6.0) for current information. For
critical process applications, it is recommended that a complete drive be
maintained as a spare.
8510A-A06-xx Drive
Part Number
Description
145863
145863
151465
148133
148134
152687
152688
152683
152684
152685
152686
152905
Fuse FU1R, FU1S

Fuse FU2R, FU2S
Fuse FU3R, FU3S, FU3T
Gate Drive Fuses
5V DC Power Supply Fuse
CPU Board
Gate Drive Board
I/O Board Type -A1 *
I/O Board Type -B1 *
I/O Board Type -C1 *
I/O Board Type -D1 *
Keypad/Display Board (included with I/O Board)
8510A-A11-xx Drive
Part Number
Description
145863
145863
151287
148133
148134
152678
152679
152680
152681
152682
152905
Fuse FU1R, FU1S

Fuse FU2R, FU2S
Gate Drive Fuses
Main Control Board
* To avoid being forced to completely reprogram the drive remove the EEPROM from the
malfunctioning I/O Board and install it in the replacement I/O Board.
A-1
Appendix A
Renewal Parts
8510A-A22-xx Drive
Part Number
Description
145863
145863
151287
148133
148134
152678
152679
152680
152681
152682
152905
Fuse FU1R, FU1S

Gate Drive Fuses
Main Control Board
* To avoid being forced to completely reprogram the drive remove the EEPROM from the
malfunctioning I/O Board and install it in the replacement I/O Board.
A-2
Publication 8510-5.1 August, 1993

Supersedes May, 1993
P/N 152824
Copyright 1993 Rockwell International Corporation. All rights reserved. Printed in USA

AB - 8510 AC Spindle Drive System

Uploaded by

Copyright:

Available Formats

AB - 8510 AC Spindle Drive System

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

AB - 8510 AC Spindle Drive System

Uploaded by

Copyright:

Available Formats

8510 AC Spindle

Important User Information

Solid state equipment has operational characteristics differing from those of

ATTENTION: Identifies information about practices or

Attentions help you:

Receiving, Unpacking and

Interface Signal Descriptions

Display Panel & Fault Diagnostics

Chapter 1 provides information on the general intent of this manual, gives

This publication provides planning, installation, wiring and diagnostic

component in an integrated system.

characteristics of other peripheral solid-state control equipment and the

design of electrical control equipment must refer to applicable industry

compliance with applicable machine and operator safety codes or

In addition to the precautions listed throughout this manual, the following

ATTENTION: Only personnel familiar with the 8510 AC

The Allen-Bradley Series 8510 AC Spindle Drive System is designed to

Four quadrant, line regenerative operation for high cycle rate

Extremely high dynamic performance for smooth operation under

A wireless power structure maximizes reliability.

High frequency IGBT power devices minimize audible motor noise.

Universal analog and discrete I/O interface adapts easily to CNC

1327A AC Motor Overview

Drive Design Features

Small Size Advanced electromagnetic and cooling system designs

High Speeds In the standard series, 8,000 rpm maximum speed is

Precision Balance For high precision machine tools, precision balance

High Reliability The resolver feedback eliminates all electronics from

Servo Mode configures the drive to be used as a velocity servo in a

High Resolution Velocity Control

Control Of Dual Winding Motors

The 8510 AC Drive I/O can be configured in several ways as explained

Various accessories are available for the 8510 to facilitate system

Chapter 2 provides the specifications for the 8510 AC Spindle Drive

Standard Single Speed 1327AC Motor & 8510 Drive

Output Power Rating

Continuous N-m (lb-ft)

30 Minute Output Amperes

Max. Radial - kg (lb)

Single winding configuration for single speed range

Peak-to-peak vibration less than 3 microns (0.00012 inches)

Less than 75dB (A Scale)

Rated Ambient Temperature

8 pole brushless resolver 65,536 counts/revolution

Possible Mounting Methods

Drive Model Number 8510A -

Horizontal or vertical. Foot or flange mounting available4

Rated Output Current

Power Control Method

PWM inverter using IGBT power devices

Motor Braking Method

Power regeneration to the AC line

Speed Control Range

0 to 30,000 rpm, velocity resolution greater than 1:2,000,000

Velocity Loop Bandwidth

Up to 50 Hz (load and motor dependent)

Integral 2 line by 16 character backlit LCD display and 4 button keypad

Drive Enclosure Type

Less than 0.5 G