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pflex-rm002 - Rockwell Automation

1. ojl o RC Al Spd Reg PI Out a sy 1 Filter p ak eur 1 l Z s LT P Gain mii SEN Date to Torque Control legOut FiltGain MA1 Spd Err Filt BW E Servolo Spd Reg Pos Lim 402 Spd Reg P Gain Spd Reg Neg Lim C103 5 SReg Out Filt BW Servo Lock Gain 85 2 ki C9 5 3 F Qo SpdReg Integ Out Control Options 153 12 1 Gain Jog Nolnteg Speed Reg CH Cf L integ Hold Spd R amp g Gain Speed Reg Ctrl 555 Droop Integ Reset Speed Reg Ctrl Ca 01 Sum Preset Sel pd Reg Droop ojl SReg Torq Preset I1 ajl 1 Motor Torque Ref lt 303 The main purpose of the speed PI regulator is to produce a torque reference for the current regulator block The following section will describe each portion of the speed PI regulator Speed Trim The speed trim blocks are used to sum the speed reference from the speed reference control loop with speed trim values from other sources Spd Trim1 SpdRef contains the value of the speed reference from the speed reference control loop plus the value from Speed Trim 1 Speed Trim 1 is setup by default to come from the process PI loop Parameter 22 Speed Trim 2 provides a trim value with a lead lag filter that is added to Spd Trim1 SpdRef J By default it is linked to the output of the position loop For more information on lead lag filters see to Lead Lag Filter on page 56 Parameter 23 Speed Trim 3 provides a
2. 119 Speed PI Reguldtot sese cases oa Res vce wanes da o E peace 120 Speed KEE 120 Autotune Speed Reference iucecs citro eit ee ver e etudes 121 Speed Reference Litteras age ex anus erc 122 Current Limit Stopass o veeeksse ee HERR EY E XS RI ERR panes 122 Speed BROP tutes Me eebe ee eech 122 Setyo LOCK soy edeueb ees wee COE RN CERES Mews UN IR REPE 123 Speed Regulation Nnti Batkupe AA EN Sr 123 Proportional Gain td et eet LIP didi eed 124 tee cues ge scetur sd qaot hende 124 eege tae eben EE 25 ed iet petes 126 Speed Regulator Output Limits 5x24 ccncers e ee reet 126 Speed Regulator Output Filter isa ote e E a aet 126 Speed Regulator Tunings acer scd te ehe ERAN 127 Speed Referente eege uie dinate ao resedit NEM 130 Speed Reference Scaling iiec Or yr EP RE 131 Speed Reference Select aos EE 132 Jog Referente arare acy caked Een 133 SE 133 Direction Control and Bipolar Roteronee 133 Speed Limits happenin i ese E Aer 133 Accel Decel Ramp and S Curve oes Lee e Pr ete 134 Speed Reference Bypass and Delayed Speed Reference 135 Inertia Compensation usecete were qe sey AX AR acannon 135 Friction Compensation scs esso EF ER AR ARRA ES ERE EN 135 Virtual Encoder giereg E ee eee oe ER ad 135 Speed Reference Filters oo ovest e tere ER pev eS tris 136 Speed Reference Scale 25225 EL dc ES 136 Speed EE 137 Speed Positi n EE 137 Feedback Device iesus ox cerdo RE 137 Encoder erer e
3. Tx Port Comm Format 1020 Cefa 0 int Real SL Buf type Tx02 11611162 SL Buf type Ta 4219 1220 Buffered Transmit Data es E E Buffered S Transmit ea Data SL Comm TP Sel C228 94 aei SL Comm TP Data Rockwell Automation Publication PFLEX RM002D EN E August 2013 165 Chapter1 Detail Drive Configuration and Operation Figure 37 Sync hLink Receive Block Diagram Rx Port Comm Format 1010 0 17 See Table 1 on page 12 of SynchLink System Spec Defines number of Axis Buffered amp Direct words nhLink iiie Direct Rx Data Select E d Rx Format 0 1 2 3 SL Mult Base Z Selector 1011 1012 X 1013 X 1014 0 10 Synchlink SL Mult A In Receive Port SL Mult A In Data Rx to Rx Direct Upstream Data Node Selector Rx Axis Size lt gt SENG h Tx Multiply Data Rx Dir Size o Rx Buff Size O 1034 0 Local Overflow 1 RxOverflow Rx Pkg Size SE Rx Seq Cnt SR Rx PO Register Rx Index 0 o Rx P1 Register Rx Index 1 p Rx DO Latch Rx Index 2 SE sel 2 10 Event Rx D1 Latch Latches Rx D2 Latch Upstream Rx D3 Latch Rx Opt 0 Regis Rx Opt 1 Regis Receive Events int Real 1054 X lt 1055 gt SL Dir type Rx 0 SL Dir type Rx 1 Available for Tx sel 2 10 lt 10
4. Source Item Receive word to multiply None Y D Drive Parameter DI 43 5 Curve Spd Ref x Muttiplier Base Value 0000 000000 iF No Data Uc Data Multipher Value f1 000000 2 NoDate os sl DUE Source Parameter None z 3 No Data No Data z SynchLink Node Configuration r Transmitted Buffered Data parameter values word Nore KE RS Rer wordt one z KEES Du vd weg Wee a fi kes ETT ree wada Wed a ce Dro m1 woda Wore Kmec Dun v word mod z fame sl Nove S wos m a KREE Kmec Word TR xz cc em 52 gl 3 Click SynchLink Node Configuration 168 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 The Parameter 1000 SL Node Cnfg Properties dialog box opens 4 Clear the Sync Now check box 5 Check the Time Keeper check box Parameter 1000 SL Node Cnfg Properties Value Link Data Documentation Attributes D v Time Keeper 1 Reserved 27 Syne No 3E ved 4r Sifa 6r Zb IJ IU zu mm Ez Iz Es zt s bs n R R Internal Value Parameter Help Dec C Hex C Bin r Range Value Internal Value Minimum 0000000000000000 0 Maximum 0000000000000111 id Default 0000000000000100 4 Cancel The master drive is now the time keeper for SynchLink 6 Click OK The SynchLink communication dialog box re open
5. Parameter Function Logic Mask Determines which adapters can control the drive When the bit for an adapter is set to 0 the adapter will have no control functions except for stop Start Mask Controls which adapters can issue start commands Jog Mask Controls which adapters can issue jog commands Direction Mask Controls which adapters can issue forward reverse direction commands Fault Clr Mask Controls which adapters can clear a fault The individual bits for each parameter are as follows e Bit 0 Digital Input e Bit 1 Adapter 1 e Bit 2 Adapter 2 e Bit 3 Adapter 3 e Bit 4 Not Used e Bit 5 Adapter 5 e Bit 6 Not Used e Bit 7 DriveLogix Example A customer s process is normally controlled by a remote PLC but the drive is mounted on the machine The customer does not want anyone to walk up to the drive and reverse the motor because it would damage the process The local HIM drive mounted Adapter 1 is configured with an operator s panel that includes a REV Button To assure that only the PLC connected to Adapter 5 has direction control the Direction Mask can be set as follows Direction Mask 00100000 Adapter 76543210 This masks out the reverse function from all adapters except Adapter 5 making the local HIM Adapter 1 REV button inoperable See Owners on page 77 or the PowerFlex 700S User Manual for more information See Autotune on page 17 Rockw
6. PI Preload presets the process time When the PI Output is enabled the integral term of the process regulator will be preset to start PI Output at the value set in PI Preload PI Integ Time is the integral term for the regulator It is in units of 1 seconds For example when the PI Integ Time is 2 the integrator output equals 1 per unit in 1 second for 1 per unit error 1 per unit means 100 The output of the integrator is limited by PI Integ Hlim and PI Integ Llim PI Integ Hlim is in per unit and has a range from 0 to 8 A value of 1 for PI Integ Hlim can represent base motor speed rated motor torque or 100 of some external function The output of the integrator after the integrator limits can be viewed in PI Integ Output The PI Prop Gain sets the proportional gain of the regulator For example when PI Prop Gain is 2 the output of the proportional block will equal 2 per unit in 1 second for a 1 per unit error The output of the integrator PI integ Output and the output of the proportional block are summed together Process PI Limits To prevent the regulator output from exceeding a range an upper and lower limit can be programmed PI High Limit sets the high limit for the PI Output signal PI High Limit is in per unit and has a range from 0 to 8 A value of 1 for PI High Limit can represent base motor speed rated motor torque or 10096 of some external function Rockwell Automati
7. Parameter 222 Mtr Fdbk Sel Pri selects the primary speed feedback device It is not intended to use the sensorless selection as the primary or active speed feedback device as there is no feedback loss detection used with sensorless operation Parameter 223 Mtr Fdbk Sel Alt selects the alternate speed feedback device Any selection of feedback devices including sensorless operation is available providing a corresponding motor type and associated feedback device is present Rockwell Automation Publication PFLEX RM002D EN E August 2013 149 Chapter 1 150 Detail Drive Configuration and Operation Settings for parameter 222 Mtr Fdbk Sel Pri and parameter 223 Mtr Fdbk Sel Alt 0 Encoder 0 3 Reserved 1 Encoder 1 4 Motor Sim 2 Sensorless 5 FB Opt Porto Parameter 224 TachSwitch Level sets the detection level for the automatic speed loss switch over routine A drop in feedback speed at the percent of rated speed over a 0 5 ms interval will cause a tach switch from primary to alternate device Setting this level lower will make the speed detection more sensitive and lower the minimum speed at which a speed switch could occur Setting this level higher will make the speed switch less sensitive and raise the minimum speed for speed switch detection Parameter 320 Exception Event1 bits 2 through 5 show the error status of the corresponding speed feedback device 2 EncdrOloss
8. e 6 FB Opt Portl Parameter 223 Mtr Fdbk Alt Sel selects an alternate feedback device when a feedback loss is detected on the primary device The possible settings for Mtr Fdbk Alt Sel are the same as the possible settings for Motor Fdbk Sel Speed regulation with a Feedback Sensor 0 001 of Top Speed over a 100 1 Speed Range Speed regulation sensorless 0 5 of Top Speed Over a 120 1 typical Speed Range Encoder There are two encoder inputs on the standard I O board of the PowerFlex 7008S They are located at TB2 Row T Top and TB2 Row B Bottom The encoder inputs are rated for Incremental Dual Channel Quadrature type Rockwell Automation Publication PFLEX RM002D EN E August 2013 137 Chapter1 Detail Drive Configuration and Operation Isolated with differential transmitter Output Line Drive The encoder inputs can accept 5V DC or 12V DC There is a 12V DC supply on the drive that can be used to supply power for the encoders An external SVDC power supply is required when the encoder requires a 5V DC supply An encoder offers the best performance for both speed and torque regulation applications Encoder feedback is required for applications with high bandwidth response tight speed regulation torque regulation of 2 or when the motor is required to operate at less than 1 100th its base speed Encoderx PPR sets the pulse per revolution rating of the encoder This parameter has a range from 10 to 2
9. Example Fsetup 524 means 5 time steps between stick and slip each of 0 002 second duration 2 counts of hysteresis or 0 001 pu speed each count is 0 0005 pu speed and 4 counts or 0 002 pu speed is the trigger threshold each count is 0 0005 pu speed Parameter 142 FricComp Stick sets the torque reference needed to break away from zero speed Breakaway torque due to friction is always greater than running torque due to friction This parameter is in per unit so a value of 1 equals 10096 motor torque Parameter 143 FricComp Slip sets the torque level to sustain very low speed once breakaway has been achieved Again the torque required to run very close to 0 speed due to friction will be greater than the torque required to run at higher speeds due to friction This parameter is in per unit so a value of 1 equals 10096 motor torque Parameter 144 FricComp Rated sets the torque needed to keep the motor running at base motor speed and with no process loading This parameter is in per unit so a value of 1 equals 10096 motor torque The friction compensation algorithm assumes a linear or viscous component of friction between FricComp Slip and FricComp Rated The friction compensation block calculates the torque needed due to friction which shows up in parameter 145 FricComp TorqAdd FricComp TorqAdd is summed with the output of the inertia compensation block and the torque generated by the speed reference loop That s
10. share the load Parameter 115 Torque Trim can be used to trim the torque For example Torque Trim can be limited to an analog input or to the Process PI output Once the scaling is complete on both Torque Ref 1 and Torque Ref 2 the output is summed with the output of the Torque Trim Rockwell Automation Publication PFLEX RM002D EN E August 2013 175 Chapter1 Detail Drive Configuration and Operation Unbalanced or Ungrounded Unbalanced Distribution Systems Distribution Systems This drive is designed to operate on three phase supply systems whose line voltages are symmetrical Surge suppression devices are included to protect the drive from lightning induced overvoltages between line and ground Where the potential exists for abnormally high phase to ground voltages in excess of 12596 of nominal or where the supply ground is tied to another system or equipment that could cause the ground potential to vary with operation suitable isolation is required for the drive Where this potential exists an isolation transformer is strongly recommended Ungrounded Distribution Systems All drives are equipped with an MOV Metal Oxide Varistor that provides voltage surge protection and phase to phase plus phase to ground protection which is designed to meet IEEE 587 The MOV circuit is designed for surge suppression only transient line protection not continuous operation With ungrounded distribution systems the phase to g
11. 2W CoastStop to off 0 To control from digital inputs 1 Set parameter 839 DigIn2 Sel 9 Current Limit Stop 2 Set parameter 840 DigIn3 Sel 2 Start To control from a communication network 1 To perform a current limit stop toggle bit 8 CurrLim Stop in the logic command word on and then off 2 To perform a start toggle bit 1 Start in the logic command word on and then off Note In 3 wire mode all stops commanded from pressing the HIM stop button are ramp stops Configuring the Start and Stop for 2 Wire Control Maintained Start and Stop To configure the drive for 2 wire control with a ramp stop For parameter 153 Control Options set bits 3 2WCurrLimStp 8 3WireControl and 9 2W CoastStop to off 0 To control from digital inputs e Set parameter 839 DigIn2 Sel 3 Run To control from a communication network e To perform a ramp stop toggle bit 1 Start in the logic command word on and then off To control from the HIM e Hold down the start button to run and release the start button to perform a ramp stop Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 To configure the drive for 2 wire control with a coast stop For parameter 153 Control Options set bit 9 2W CoastStop to on 1 and set bits 3 2WCurrLimStp and 8 3WireControl off 0 To control from digital
12. MSW Datalirk Al Out N13 5 LSW Datalink Al Out F12 5 Datalink Al Out MOV More Rung 7 0004 Source Not 0 lt Dest N34 0 lt COM L More Li Soc NOS 0 lt Dest N35 o lt coP L Copy Fin Source M134 Dest F125 Length 1 Figure 7 Writing Floating Point Block Datalinks in a SLC PLC 5 A flowing point datalink is cent across DeviceNet ac 2 16 bit integure To write a floating point datalink correctly in the SLC you must Geet copy the floating point into 2 integers then swap the high and low 16 bit integers F12 6 Datalink Al In N14 4 MSW Datalink Al In N14 5 LSV Datalink Al In N10 4 LSW Datalink Al Into send over DeviceNet Hi zx MSW Datalink Al Into send over DeviceNet Explicit Messaging Explicit messaging is used to configure the drive and monitor data from the drive Chapter 6 of the 20 COMM D User Manual shows the format of the explicit message request and response data in an SLC and PLC 5 Because the SLC PLC 5 does not support 32 bit integers 32 bit integer data from the explicit message request and response data remains split into 2 16 bit integers In order to send or receive floating point data the Least Significant Word LSW and Most Significant Word MSW must be swapped and the COP copy instruction must be utilized The following examples are for transmitting and receiving floating point data for explicit messages Rockwell Automa
13. PreChrg Control is set to one the user precharge is enabled Using a Digital Input for the precharge enable is recommended for common bus systems where a drive may be disconnected and reconnected to the common bus system The Digital Input should be connected through an auxiliary contact on the cabinet disconnect switch Failure to provide a hardware disconnect precharge control may lead to very large inrush currents and associated drive damage if a reconnection is made before the drive can sense the power loss This precharge enable provides a user controlled permissive to the precharge function 2 The drive must not be in an undervoltage condition Parameter 409 Line Undervolts sets the under voltage level as a percent of drive rated volts parameter 401 Rated Volts An undervoltage is detected by comparing the parameter 306 DC Bus Voltage to the percent of line voltage set in parameter 409 Line Undervolts times parameter 401 Rated Volts times the square root of 2 The undervoltage condition is displayed in parameter 555 MC Status bit 15 DC Bus Low 3 The drive bus voltage must be stable not rising The bus voltage stable condition is determined by comparing the bus voltage to a filtered value of the bus voltage Initially when power is applied to the drive the bus voltage will rise as determined by the limited current controlled by the precharge device The filtered value of bus voltage will lag behind the actual bus vol
14. block transfer I O messages Rockwell Automation Publication PFLEX RM002D EN E August 2013 115 Chapter 1 116 Detail Drive Configuration and Operation Convert the speed feedback that comes over RIO as 2 16 bit intergers into a 32 bit floating feedback N11 10 2 LSW of speed feedback from RIO counts N11 111 2 MSW of speed feedback from RIO counts F12 2 32 bit floating point speed feedback counts 0002 Convert the speed feedback into an RPM value F12 3 speed feedback RPM EQU SUB Subtract SourceA N11 110 Greater Than A gt B Source A N11 110 Equal Source A N11 111 WE 0 lt 0 lt Source B 1 SourceB 65536 0 65536 0 Dest Move Source 32768 0 32767 0 32767 0 lt N11 110 Source N11 110 Source N11 110 N11 110 0 lt High Lim 32767 0 32767 0 lt LES Greater Than A B SourceA N11 110 Test Source A N11 111 Source A N11 110 0 lt SourceB 655360 65536 0 F12 2 0 0 lt Source B Source B Dest F12 2 32 bit floating point speed feedback counts F12 4 base motor speed RPM 0003 Compute Dest F12 3 0 0 lt Expression F12 2 32768 0 F12 4 Datalink Programming Datalinks are transmitted and received through block transfers The SLC PLC 5 is limited to 16 bit integers and floating point Because the SLC PLC 5 does not support 32 bit integers 32
15. 150Vdc In cases where the precharge control is independent or external to the drive firmware the ride through function can still be used to stop PWM operation saving controller power and restart operation after the return of power is sensed In this case ride through sequence will not be directly coordinated with the precharge operation For external precharge hardware functionality is provided so that the user may provide coordinated operation Ride Through Configuration The drive s response to a power disturbance can be selected in parameter 406 Power Loss Mode Settings for Parameter 406 Power Loss Mode 0 Coast 1 Reserved 2 Continue 3 Reserved 4 Reserved 5 Flux Only Coast default The coast mode stops power to the motor PWM disabled and the motor coasts until power returns or a fault occurs At the time when the motor PWM is disabled the precharge device bypass where controlled by the drive is also opened Then the precharge logic is reset so that the drive starts another precharge cycle After the incoming power returns and the precharge cycle has completed the drive restarts normal operation Continue Disables the ride through function and will attempt to continue running if the incoming power is disrupted If the power returns before the drive has shut down the precharge device will be bypassed and a large inrush current may occur In this case drive damage is likely if the inrush current i
16. 3 Encdr1 Loss 4 FBOpt0 Loss 5 FB Opt Loss Parameter 365 Fdbk LsCnfg Pri and parameter 366 Fdbk LsCnfg Alt set the feedback loss configuration for each feedback device The primary feedback device should be configured to 1 Alarm The alternate feedback device should typically be configured to 2 FltCoastStop Settings for Fdbk LsCnfg Pri and Fdbk LsCnfg Alt 12 Alarm 2 FitCoastStop Parameter 510 FVC Mode Config bit 22 SrLss RdThru must be set to 1 if sensorless operation is selected in Mtr Fdbk Sel Alt In all other cases Parameter 510 bit 22 should be set to 0 Speed Feedback Loss Ride Through Operation Setting up the feedback loss ride through function requires the following steps 1 Enter a valid feedback device selection in parameter 222 Mtr Fdbk Sel Pri 2 Enter a valid feedback device selection in parameter 223 Mtr Fdbk Sel Alt 3 Setting parameter 365 Fdbk LsCnfg Pri to 1 Alarm Setting parameter 366 Fdbk LsCnfg Alt to 2 FltCoastStop recommended but not necessary Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 5 Setting the speed change detection level in parameter 224 TachSwitch Level 6 Setting parameter 153 Control Options bit 16 Auto Tach Sw to 1 for automatic switch over 7 Setting parameter 510 FVC Mode Config bit 22 SrLssRd T
17. Adjustments to parameters 474 Freq Reg We BW and 475 Freq Reg Wr BW may be necessary when using sensorless feedback Spd Reg P Gain Integral Gain The speed droop is subtracted from the filtered speed error after the servo lock is added and the anti backup is subtracted This signal is then sent to the integral Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 gain block The integral gain block outputs a torque command relative to the error integrated over a period of time Parameter 82 Spd Reg I Gain sets the integral gain of the speed regulator It s value is automatically calculated based on the bandwidth setting in Spd Reg BW and Total Inertia Integral gain may be manually adjusted by setting Spd Reg BW to a value of zero Units are per unit torque sec per unit speed For example when Spd Reg I Gain is 50 and the speed error is 196 the integral output will integrate from 0 5096 motor rated torque in 1 second Adjustments to parameters 474 Freq Reg We BW and 475 Freq Reg Wr BW may be necessary when using sensorless feedback When parameter 153 Control Options bit 12 Jog NoInteg is turned on this tells the speed regulator not to use the integral gain during jog commands When Parameter 80 Speed Reg Ctrl bit 2 Integ Hold is turned on the Integrator holds its output at the present level until the bit is tu
18. H Peak Set OR i 204 Peak 2 Set H H H PeakDtet2 In Int 2165 i H i 1 H H H H H i 1 i H H H 1 i i A H 1 1 i H i i H H H 1 i A d Peak Detect Out oN d Peak Desert H b H T i l i i WZ WK m i i PeakDtct1 Preset 214 PeakDict2 Preset 218 gt gt i NOTE The change bit Peak x Chng where x 1 or 2 is set TRUE if the peak detect value changes otherwise the change bit is set FALSE Change is also set to FALSE if the detector is in HOLD or SET Example e Link parameter 213 PkDtct1 In Real to parameter 300 Motor Spd Fdbk e Verify that parameter 210 PeakDtct Ctrl In bit 0 Peak 1 Set and bit 1 Peak 1 Hold are off e For parameter 210 PeakDtct Ctrl In turn on bit 2 Peak1 Sel Rockwell Automation Publication PFLEX RM002D EN E August 2013 177 Chapter1 Detail Drive Configuration and Operation e Parameter 215 Peak Detectl Out will contain the positive peak value of Motor Spd Fdbk e To reset the output of the peak detector parameter 210 PeakDtct Ctrl In toggle on and then off bit 0 Peak 1 Set Selector Switches There are two different selector switches available e Aswitch that selects between two Dint values The result is Dint e A switch that selects between two floating point values The result is floating point Two Position Dint Switch Switch Control SW Int 1 On 4370 1 SW Int 1 NO C4371 1 SW Int 1 NC 4372 9 X1373 gt SW
19. Inert Adapt Sel bit 0 Inertia Adapt 1 6 Enable the drive and adjust the BW for the application but do not exceed curve 2 as shown in the chart above When you adjust the BW you must set Spd Reg BW and Inert Adapt BW to the same BW You may hear an unusual high frequency sound which indicates adaptation is active Speed Reference The speed reference control loop consists of speed reference scaling speed reference selection jogging speed reference limiting ramping s curve and filtering Each of these features is described in greater detail below Figure 33 Overall Speed Reference Loop 130 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Speed Ref 1 10 gt Spd Ref1 Divide Cii Speed Ref 2 C Spd Ref2 Multi Ca Speed Ref4 74 Speed Ref 5 Ce D Speed Ref DPI 20 set the desired port in param 691 w Ramped Spd Ref Ramp Accel Time C32 33 Logic Command Pece Time C SpdRamp Dsbl to Cast Joo 4 DI ii Logic 157 301 Logic Command Logic Ctrl State Spd S Crv En 10 SRef Ramp En z oft Logic Applied LogicCmd Logic Ctrl State lt 152 518 si Jog Speed 1 Jog Speed 2 Control Options Selected Spd R
20. It is recommended however that the drive have a programmed Enable input and that this input be opened at the same time as the output contactor Cable Termination See the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOOI for detailed information Output Reactor Bulletin 1321 Reactors can be used for drive input and output These reactors are specifically constructed to accommodate IGBT inverter applications with switching frequencies up to 20 kHz They have a UL approved dielectric strength of 4000 volts opposed to a normal rating of 2500V The first two and last two turns of each coil are triple insulated to guard against insulation breakdown resulting from high dv dt When using motor line reactors it is recommended that the drive PWM frequency be set to its lowest value to minimize losses in the reactors By using an output reactor the effective motor voltage will be lower because of the voltage drop across the reactor this may also mean a reduction of motor torque Output Current Parameter 308 Displays measured RMS drive output current Parameter 297 Output Curr Disp which is the integer equivalent of parameter 308 with internal storage in 1 10 A 10 1 0 A Output Frequency Parameter 310 This parameter displays the actual output frequency of the drive The output frequency is created by a summation of commanded frequency and any active speed regulator such a
21. Motor Name Plate and Rating Specifications Par No 1 Par No 2 Par No 3 Par No 4 Par No 5 Par No 7 Current System Motor Motor NP Volts Motor NP FLA Motor NP Frequency Motor NP RPM Motor NP Power Motor Poles peak Cont Stall Max RPM A rms Torque line to line A rms H2 oper rpm KW N m Model No V rms MPL A310P 230 34 294 0 4410 0 73 8 9 9 1 58 5000 MPL A310F 230 2 1 185 3 2780 0 46 8 6 6 1 58 3000 MPL A320P 230 6 4 271 3 4070 1 30 8 20 9 3 05 5000 MPL A320H 230 4 6 208 7 3130 1 00 8 13 6 3 05 3500 MPL A330P 230 8 5 280 7 4210 1 80 8 26 9 4 08 5000 MPL A420P 230 9 0 268 7 4030 2 00 8 32 5 4 74 5000 MPL A430P 230 11 9 234 0 3510 2 20 8 474 5 99 5000 MPL A430H 230 8 6 184 7 2770 1 80 8 31 8 621 3500 MPL A4520P 230 12 4 234 0 3510 2 20 8 35 4 5 99 5000 MPL A4520K 230 10 6 223 3 3350 2 10 8 30 4 5 99 4000 MPL A4530F 230 95 1447 2170 1 90 8 29 7 8 36 2800 MPL A4530K 230 14 4 196 0 2940 2 50 8 43 8 8 13 4000 MPL A4540C 230 6 6 93 3 1400 1 50 8 20 5 10 20 1500 MPL A4540F 230 13 0 162 0 2430 2 60 8 38 2 10 20 3000 MPL A520K 230 16 3 208 0 3120 3 50 8 46 0 10 70 4000 MPL A540K 230 29 3 180 7 2710 5 50 8 84 9 19 40 4000 MPL A560F 230 29 3 125 3 1880 5 50 8 84 9 27 90 3000 MPL B310P 460 17 290 0 4350 0 72 8 3 0 1 58 5000 MPL B320P 460 3 2 281 3 4220 1 30 8 5 0 2 94 5000 MPL B330P 460 43 258 7 3880 1 70 8 7 0 4 18 5000 Rockwell
22. Parameter 418 Brake TP Sel Description Setting 0 Zero Do not monitor any test point for the brake protection 1 Duty Cycle Actual duty cycle of the dynamic brake IGBT where a value of 0 in parameter 419 Brake TP Data full open and 1 full on 2 Power Actual Actual power applied to the resistor Watts 3 Max BodyTemp Maximum temperature that the resistor body can handle C 4 Max ElemTemp Act Maximum temperature that the resistor element can handle C 5 BodyTemp Act Predicted temperature of the resistor body C 6 ElemTemp Act Predicted temperature of the resistor element C 7 BImplrip Stat Maximum resistor body temperature has been exceeded when parameter 419 Brake TP Data 1 8 ETmplripStat Maximum resistor element temperature has been exceeded when parameter 419 Brake TP Data 1 9 Int DB Ohms Rating of internal resistor when internal resistor is installed Ohms 10 Data State A value of 0 in parameter 419 Brake TP Data initial state 1 internal resistor data loaded 2 external resistor data loaded 11 MC BrakeEnbl A value of 0 in parameter 419 Brake TP Data dynamic braking disabled 1 dynamic braking enabled 12 1 rdb Inverse of the resistance 1 Ohms 13 1 th eb Inverse of the thermal impedance from the resistor element to bod
23. Positin Err Cnfg program the response of the drive to various conditions Responses include Ignore Alarm Fault Coast Stop Fault Ramp Stop and Fault Current Limit Stop Parameters 323 Fault Status 1 through 325 Fault Status 3 indicated any faults that are active Application Example Parameter 371 Mtr OL Trip Cnfg is set to a value of 2 FltCoastStop This configures the drive to set the fault bit parameter 323 Fault Status 1 bit 10 Mtr OL Trip when the motor overload trip event occurs The PowerFlex 2005 has various filters used to assist tuning of the drive The following section will assist the user in using the filter using frequency and time domain analysis Key Words Frequency response radians filter notch Nomenclature Symbol Description of Symbol Units S Laplace Operator o Frequency rad sec Q Cut off Frequency rad sec Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Low Pass Filter A low pass filter is designed to pass low frequencies and attenuate high frequencies The break point between high and low is called the cut off frequency Figure 13 Bode Plot Low Pass Filter wco 10 rad sec Bode Diagram Magnitude dB Phase deg at Frequency rad sec The Process Control Loop has a low pass filter immediately after the error signal The break frequency is set by parameter 184 PI Lpass
24. Speed Regulation 119 Speed Trim 3 69 Speed Position Feedback Encoder 137 Feedback Device 137 Feedback Option Cards 143 Motor Position Feedback 147 Motor Simulator 142 Motor Speed Feedback and Scaled Speed Feedback 148 Sensorless 142 SpeedTrim3 Scale 69 Start Inhibits 155 Start Stop Modes Configuring the Start and Stop for 2 Wire Control 158 Configuring the Start and Stop for 3 Wire Control 157 Start Up 160 Stop Modes 160 sync generator 174 SynchLink Buffered Data 163 Configuration 160 Direct Data 161 Master PowerFlex 700S Setup 168 Multiply Block 162 Slave PowerFlex 700S Setup 171 Speed Synchronization Example 167 Technical Information 160 T TachSwitch Level 150 151 Test Points 174 Thermal Regulator 175 Torque Reference 175 Torque Select 152 Total Inertia 20 U Unbalanced Distribution Systems 176 177 Ungrounded Distribution Systems 176 177 Ungrounded Distribution Systems 176 User Display HIM 66 User Functions 177 V Voltage Class 180 Ww Watts Loss 181 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical and application notes sample code and links to software service packs You can also visit our Support Center at https rockwellautomation custhelp com for software updates support
25. Voltages in excess of twice the DC bus voltage 650V DC nominal at 480V input will occur at the motor and can cause motor winding failure The patented reflected wave correction software in the PowerFlex 700S will reduce these over voltage transients from a VFD to the motor The correction software modifies the PWM modulator to prevent PWM pulses less than a minimum time from being applied to the motor The minimum time between PWM pulses is 10 microseconds The modifications to the PWM modulator limit the over voltage transient to 2 25 per unit volts line to line peak at 600 feet of cable Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 400 V Line 540V DC bus x 2 25 1215V 480 V Line 650V DC bus x 2 25 1463V 600 V Line 810V DC bus x 2 25 1823 V The software is standard and requires no special parameters or settings E F 500 e Inverter V div Ta l Da 500 Motor V div 02 0 5 10 15 20 25 30 35 40 45 50 lime usec The above figure shows the inverter line to line output voltage top trace and the motor line to line voltage bottom trace for a 10 HP 460V AC inverter and an unloaded 10 HP AC induction motor at 60 Hz operation 500 ft of 12 AWG cable connects the drive to the motor Initially the cable is in a fully charged condition A transient disturbance occurs by d
26. different number that will become the new position value After setting Pt Pt Posit Ref to the desired value set Position Control bit 10 Pt Pt ReRef 0 The position watch is used to determine when the position feedback reaches a user defined value There are two position watches in the PowerFlex 700S Position Actual Posit Detct1 In SS ae ee Position Status lt 763 gt Link Cr Posit Watch Position Control 16L T X Watch 1 En Position Watch 1 X Watch 1 Dir 740 17 PositDetct1 Stpt Parameter 784 Posit Detctl In sets the position feedback that you would like to watch By default Posit Detct1 In is linked to parameter 763 Position Actual Note In order for the value in parameter 763 Position Actual to change the firmware function for the position loop must be turned on by setting parameter 147 FW Functions En bit 16 Position Ctrl 1 and the position loop must be enabled by setting parameter 151 Logic Command bit 13 Position En 1 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Parameter 780 PositDetct1 Stpt is used to set the position set point for which to watch Setting parameter 740 Position Control bit 17 X Watch 1 Dir 1 causes the drive to detect when the position feedback becomes greater than the set point Setting Position Control bit 17 X Watch
27. e Fault Alarm queue access e Event notification fault alarm etc e Access to all drive classes objects for example Device Peripheral Parameter etc Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Producer Consumer Operation Overview P C messages operate at a higher priority than C S messages and are used to control report the operation of the drive for example start stop etc A P C status message is transmitted every 5 ms by the drive and a command message is received from every change of state in any attached DPI peripheral Change of state is a button being pressed or error detected by a DPI peripheral P C messages are of a fixed size so support of message fragmentation is not required The following types of messaging are covered e Drive status running faulted etc e Drive commands start stop etc e Control logic parsing operations for example mask and owner parameters e Entering Flash programming mode e Soft login and logout of peripheral devices enabling disabling of peripheral control Peer to Peer Operation Peer to Peer messaging allows two devices to communicate directly rather than through the master or host i e drive They are the same priority as C S messages and will occur in the background Ifan LCD HIM is attached to the PowerFlex 7008S drive it will be able to directly request off board parameters using
28. 1 Dir 0 causes the drive to detect when the position feedback becomes less than the set point Setting parameter 740 Position Control bit 16 X Watch 1 En 1 enables the position detection function to detect the next position Setting Position Control bit 16 X Watch 1 En 0 resets position detection Setting parameter 741 Position Status bit 8 Posit Watch1 1 indicates that the position set point has been passed Example e Set parameter 147 FW Functions En bit 22 PosWtch Dtct 1 e Link parameter 784 Posit Detct1 In to parameter 240 Encdr1 Position e Set parameter 780 PositDetct1 Stpt 100000 counts bit 17 X Watch 1 Dir 1 bit 16 X Watch 1 En 1 e Set parameter 740 Position Control e Set parameter 740 Position Control When parameter 240 Encdr1 Position becomes greater than 100000 counts parameter 741 Position Status bit 8 Posit Watch1 is set to 1 Note that the position must pass 100000 counts If the motor position is already past 100000 counts when the position watch is enabled the position watch status bit will not detect the position until 100000 counts is passed again Set parameter 740 Position Control bit 16 X Watch 1 En 0 to reset parameter 741 Position Status bit 8 Posit Watch1 to 0 Rockwell Automation Publication PFLEX RM002D EN E August 2013 93 Chapter1 Detail Drive Configuration and Operation Position Loop Registrat
29. 13 Motin Shtdwn 14 Permanent Magnet motor Feedback Error Rockwell Automation Publication PFLEX RM002D EN E August 2013 155 Chapter1 Detail Drive Configuration and Operation Start Stop Modes Description This section serves as a supplement to the PowerFlex 700S Drive User Manual publication 20D UM001 addressing items specific to the PowerFlex 700S start and stop modes Technical Information The start and stop mode refers to how you want the drive s start and stop to be controlled There are two basic modes of start and stop control 3 wire and 2 wire 3 wire control indicates that the start and stop are momentary inputs 3 wire control also indicates that there is one input for the start command and one input for the stop command The term 3 wire comes from the fact that when using this type of control with digital inputs one wire is used for the start input one wire is used for the stop input and one wire is used for the common 2 wire control indicates that the start and stop are combined as one maintained input The input must be on to start and to remain running Then the same input is turned off to stop The term 2 wire comes from the fact then when using this type of control with digital inputs one wire is used for the combined start stop input and one wire is used for the common For the stop command there are three different types of stopping that can be performed coast stop ramp stop and c
30. 20 Both the Forward and Feedback filters can be set to the same value to increase their effectiveness Lead Lag Filter Lead When Kn is greater than one Kn 1 the lead lag filter operates as lead filter The original equation is re written into a term that can be used to utilize the lead function Wn is divided throughout the equation Two new terms are developed Rockwell Automation Publication PFLEX RM002D EN E August 2013 57 Chapter 1 58 Detail Drive Configuration and Operation The lead term Wld is used to display the lead of the filter The lag term Wlg is used to show the lag of the filter Knx s wn ScTWA Knx s wn41 s wn 1 s Vid 1 s Wig 1 wn Wig Wig Kn Wld Figure 17 shows the bode plot of the lead function The lead term is used to counteract lags in the system The speed loop bandwidth appears to the position loop as a low pass filter or a lag The lead filter can be used to cancel the speed loop lag and replace it with a faster lag Figure 17 Kn gt 1 Lead Filter In the following example e The system appears as a lag with a 5 rad sec response e The lead filter was set to compensate for the 5 rad sec response Wl1d 5 e The lag filter was set to 50 rad sec response W1g 50 e Knis set to Wlg Wld 50 5 10 e Wnissetto Wlg 50 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Figure 18
31. 68 Inertia Compensation e ecu EE peux 68 EE 69 Circuit Breakers EUSES a ee um i ax oe ue hou epe EA RU e ee 69 E LE 69 reet E EE het el old ott kae ee 69 Input Power Conditioning eee e EEN 69 VOR n 69 Linkse rastel Roe eve RD Ue Hee ecc eee CER UY 70 Lise the HIM S oes e ee eet atv tS de de ee 70 Using Drive Exetutivei is iacu pia qw Ore Sessa pvo wer 71 EE 72 Motor Control Modes be ae EEN doen bet 72 Motor Nameplate eng Se d ee EE uet ii 73 Motor Overload ugeet cotter Rat et oed tes dE P 73 Low Overload ats cmo ELENA SR E RO ROS Ies 73 High Overload ene E 7 Motor Start Stop Precautions lt 06 255 ZE eee rh dads AERE RECS 75 Input Contactor 4 eree arieni meh baits OE NEN Re Enn PEDERS 75 O tp t COBEICEU A Ces lieu tes i edad et atate puse ub data 75 EEN 75 Output EE 76 Drive Output Disconnection ves tee e e exe UA as tees 76 GE AS OC SNR RR NE PIAT EU CAPAS 76 Output Reactor scaiecs cheeses aonb ye pee eed SERA RIPRE LR EAT 76 Output Display 2 eser eege iat ates 76 Output Current Parameter 308 eee bases Vei yaork 76 Output Frequency Parameter 310 esses esses 76 Output Power Parameter ere Seite exe ret Seti 77 Output Voltage Parameter 307 i cdene oe ee E 77 Overspeed NEE TI Duo eS 5S ok acon carat A Sf ae Ae SES Re Pe 77 Permanent Magnet Motors cGosaesix PETI ie EP Ca E 79 Position Loop Follower Electronic Gearing suus 82 Technical Informations eaa ace i Ae 82 OQ RC 82 Speed Referen
32. Automation Publication PFLEX RM002D EN E August 2013 47 Chapter1 Detail Drive Configuration and Operation button on the HIM is one possible source for the Applied Logic Command direction bits The following chart explains the effect that the direction button on the HIM has based on the condition of the Bipolar SRef bit Bipolar Reference Controlled By HIM HIM Direction Button Enabled Yes Changes the motor direction due to a HIM supplied or command signal Enabled No Has no effect on motor direction Direction determined by sign of Par 40 Selected SpdRef Disabled Yes Changes the motor direction due to a HIM supplied forward or reverse Applied LogicCmd bit Disabled No Changes the motor direction due to a HIM supplied forward or reverse Applied LogicCmd bit In either Bipolar or Unipolar mode the selected direction can be determined from the sign of Par 41 Limited Spd Ref Positive values indicate forward rotation and negative values indicate reverse rotation Selected Spd Ref Control Options 153 d EE e ou Max 04 X Applied Logic Cmd lt 152 20 1525121 T Unipol Fwd 1 I I Unipol Rev 1 1 il Drive Overload Theory of Operation The following discussion assumes that the IT curve does not change with Pulse Width Modulated PWM carrier frequency or drive output frequency A drive ha
33. Communication Tag Path Remote LD Browse Remote D Module Address BIO Channel fe Rack fi ES Octal C ControlNet Group o zi Slot o E IV Connected v Cache Connections Q Enable Enable Waiting O Start Done Done Length 0 Error Code 16 0001 Extended Error Code 16 0076_0100 Timed Out Error Path Error Text Connection failure Help tees Rockwell Automation Publication PFLEX RM002D EN E August 2013 109 Chapter1 Detail Drive Configuration and Operation For the block transfer I O read the destination tag RIO 7008 BT I must bean array of 18 INTs The tag cannot be DINT The destination tag will contain the speed feedback data and data from the Data Out parameters of the drive Message Configuration RIO_7005_BT_IO Read ER EI Configuration Communication Tag Message Type Block Transfer Read Number Of Elements f 8 16 bit Integers Destination Element Jg me TI New Tag O Enable Enable Waiting O Start 2 Done Done Length 18 Error Code Extended Error Code Timed Du Error Path Error Text Cancel Apply Help The communication tab of the block transfer I O read is setup the same as the block transfer I O write Reference Feedback Programming Because the PowerFlex 7008S is based on 32 bit and floating point parameters some special data handling is required when using Remote I O To setup the PowerFlex 7008S
34. Eeer p tud Ge 137 Sensorless EAR Ee 142 Motor Simulator cu cece rks recu et TOLL ee ERO EN 142 Feedback Option Cards eias Exec dedu RE NEN 143 Motor Position Feedback os edu vee gor wae ex Exe bonus 147 Motor Speed Feedback and Scaled Speed Feedback 148 Speed Feedback Loss Ride Through 00sec cess eee 148 Speed Dotque Select ee pereant RE Seege 152 Speed Regulation Mode erre tirer eret LER 152 Torque Regulation EE 153 Min Mode Max Modes iui eoi vro Eres x dvd Sex EE 154 Sti Mod C 154 Rockwell Automation Publication PFLEX RM002D EN E August 2013 9 Table of Contents History of Changes Index Zero Torque Mode duce e e gel 155 Absolute Min Mode egen geet 155 Stat bn bisa M eh eet SES nteger al ol Na s aL d een 155 Start Stop Modes sss desse ee pina tasted Ee ee DENS 156 DESCHpUOR s Sene hes able Sas vain esu RO a d ed RP RoR eee 156 Technical Information x xoci edt ee E tare 156 Configuring the Start and Stop for 3 Wire Control Momentary Start and Stop eessen netata cas ada abe ba itu qua Eure 157 Configuring the Start and Stop for 2 Wire Control Maintained Start SHU StOp OT E P UE IEEE 158 KEE 160 Spi pt R 160 SynchLink 44 20 4324 50 0 oec ete HERE E ee Piedad etel 160 Technical Information ooo oe ici Erde ele ro reti deduce 160 SynchIank Configuration iiss 754505595 m eese veo coves 160 Synch Link Direct Dat diuo ecce nick Tenet eege eden 161 Multiply Block Ae r
35. Filt BW The filter is used to eliminate unwanted noise in the feedback Typical range is between 10 rad sec to 50 rad sec Second Order Low Pass Filter A second order low pass filter is similar to a low pass filter however the magnitude rolls off twice as fast as a first order low pass filter Also the phase shift of a second order filter is from 0 180 compared to 0 90 of a first order filter Figure 14 Second Order Low Pass Filter Bode Diagram Le 10 System sys Frequency rad sec 9 85 Magnitude dB 5 91 Magnitude dB Phase deg 180 E 4 10 10 10 Frequency rad sec Rockwell Automation Publication PFLEX RM002D EN E August 2013 55 Chapter 1 56 Detail Drive Configuration and Operation There is a second order low pass filter in the Speed Control Regulator This filter is located after the speed error signal The break frequency is set by parameter 89 Spd Err Filt BW The break frequency is set to five times 5x the Speed Loop Bandwidth This filter is used to attenuate any high frequency noise that the speed loop would not be able to control Lead Lag Filter The PowerFlex 700S incorporates a generic lead lag filter The filter has the following Laplace transfer function Knx s wn s wn Kn is the gain term for the filter and Wn is the frequency term for the filter Lead Lag Filter lag When Kn is less than one Kn lt 1 the filter behaves like a low pass fil
36. Meer DNE no einen edie mul LC 50 Drive Peripheral Intettace HERE pine 50 EE Eege Eegen qe t ERR ovans etd 50 Producer Consumer Operation Overview ssseesssss 51 Peer to Peer Op ration EE 51 E OB a het eee less eaa b dag Eh el c E E lie da do ellc 52 DOOD m 53 Dynamic Braking gege dee quida que Fides did E EE 53 lU MH Ghat 53 ERebonic Gearing raat was eas ure n ordeo ee eg 53 E drei uude one trat dU eU n LE dnd 54 ConBguratloll Segen Seege geg Arte s e peas 54 Application Example i02 s sisi ue des ee d mu fou 54 j ES TREE ok etek RTT TI DET TM 54 Key Words cosh eres assa qo Rd unen enews ees RUP RENS 54 Nomenclature uo ssa ascen sea EE te ead e PERLE 54 Low Pass reet EE 55 Second Order Low Pass Filter i5 i ee eU Se 55 Lead Lag Elte d ctogyorsevexxane ede E te mate em pente 56 Notch HIER co cnet dot etian ok el c cout dea rines Echo t ciu 59 CCOHGLUS TOT cr shocks eost e Aou ae E AUI AE 61 Flying Starto oo tecnico utes ege d tes instala vd durada 62 Sensorless Flying Start Operation 62 Sensorless Flying Start Configuration 00 0 eens 64 Friction Gomipensanonics ca do Ee Ee E 64 Grounding General uris eeceke e temen eleme exci edat 66 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Table of Contents HIM INC OI ys ene ee ecu p CO e MO E RR 66 EIERE ttal titio ette pe E t cosas 66 RE 66 In fris EE 67 Config ration ee es da qoc qux DOM a adus vds pamm E
37. Peer to Peer messages i e no proxy support needed in the drive PowerFlex 700S drives can use all six communication ports because Peer to Peer proxy operations are not needed All Peer to Peer operations occur without any intervention from the user regardless whether proxy or normal P P operation no setup is required No Peer to Peer proxy operations are required while the drive is in Flash mode All the timing requirements specified in the DPI system Control and Messaging specifications are supported Peripheral devices will be scanned pinged at a 10ms rate Drive status messages will be produced at a 5 ms rate while peripheral command messages will be accepted by the drive as they occur i e change of state Based on these timings the following worst case conditions can occur independent of the baud rate and protocol e Change of peripheral state for example Start Stop etc to change in the drive 10 ms e Change in reference value to change in drive operation 10 ms e Change in Datalink data value to change in the drive 10 ms e Change of parameter value into drive 20ms times the number of attached peripherals The maximum time to detect the loss of communication from a peripheral device is 500ms Rockwell Automation Publication PFLEX RM002D EN E August 2013 51 Chapter1 Detail Drive Configuration and Operation The following timing specifications apply to DPI devices Host status messages only g
38. Scale from Speed Control Reference 2H4 Gi Spd Trim SpdRef The drive takes the speed reference specified by the speed reference control loop and compares it to the speed feedback The speed regulator uses proportional and integral gains to adjust the torque reference sent to the motor This torque reference attempts to operate the motor at the specified speed This regulator also produces a high bandwidth response to speed command and load changes Figure 32 Overview of the Speed PI Regulator Loop Logic Ctrl State Inrta Tst En Logic Ctrl State 157 CurrLim Stop 157 Te Posit Spd Output Speed Trim 2 22 Ger Smpl T Autotune al Bypass i kn sjt wn EH ei from Position Control enz or 7H4 STrim2 Filt Gain 25 SpdTrim2 Filt BW 26 gt Motor Speed Ref Motor Spd Fdbk Lead Lag Atune Spd Ref Logic Ctrl State lt 157 Y 5 J Tst FulSpd Spd Reg En o SpdReg AntiBckup 7 from Feedback 9H2 EIE SReg FB Filt Gain C93 gt SReg FB Filt BW C 94 gt 120 Filtered SpdFdbk Logic Ctrl State 757 Spd Reg En 08
39. Setup SynchLink Setup From Controller To Controle SynchLink Receive Foma 4 Direct Words BuleredWods sl SynchLink Transmit Format NoTiemsmitDats tt st e r Multiplier Block Setup Transmitted Direct Words Receive word to multiply None zl a Gees Muliplie Base Value 10000 000000 oF Muliplier Value 1 000000 ze x60 edel Nore ilte iJ EE r Transmitted Buffered Data parameter values lone Y None M None lone z mw Z Nor T 3 Click SynchLink Node Configuration Rockwell Automation Publication PFLEX RM002D EN E August 2013 171 Chapter1 Detail Drive Configuration and Operation The Parameter 1000 SL Node Cnfg Properties dialog box opens 4 Verify that only the Sync Now check box is checked this is the factory default Parameter 1000 SL Node Cnfg Properties t S x Value Link Data Documentation Attributes BEEN II I b ls s e en en d e oU E GA A3 E EHCEECREE Internal Value 4 Parameter Help Dec C Hex C Bin Range Value Intemal Value Minimum 0000000000000000 0 Maximum 0000000000000111 7 Default 0000000000000100 4 5 Click OK The SynchLink communication dialog box re opens 6 Click OK You must link the speed reference bypass of the follower to Word 0 of Direct Data coming over SynchLink 7 Open the Properties dialog box for Parameter 37 Spd Ref Bypass 8
40. T9 Z g E Schol 482401 TBI T8 Local I O Status 7 829 Debounce Digln 1 Digin1 User Data TB1 T7 829 Bi Digln 1 Debounce Selector it 828 Combine p Ess Digin1 Data P DA 4 824 log Eq Local VO Status Digin1 Bit 827 825 Debounce Enable In Ss En In Debounce Return Common Digin 2 Sel 840 Selections per Par 839 TBI TS 7 iy SyncLink 82402 lt 82402 wT Local I O Status Porto Regis Bit Filter Debounce Digln 2 Digln2 User Data Cng Bit 0 eil N x tC Ext Filt 9 236 08 833 RUM Combine PET TAGEN Digln 2 Debounce Digln2 Data ext Fit 236 09 igin Sai gt lt d ni gt Ext Filt 2 10 Digin2 Bit 831 Ext Filt 3 n Return Common Digin 3 Sel 840 _ Selections per Par 840 TWIT A r LE SyncLink SS DEI 03 H mmm 2 x H Bit Filter Debounce p Digln3 User Data Port0 Regis a Bit 7 Cnfg T elector I ue N Y P rit 246 08 oe Po Combine gt igin 3 Debounce Digin3 Data Ecrit 246 09 Klee t L n d E ExtFilt 10 Diging Bit 835 xtFilt 3 246 1 DigIn 1 Sel can be set to the following values Value Description Value Description 0 Not Used 8 Fwd Reverse 1 Normal Stop 9 Cur Lim Stop 2 Start 10 Coast Stop 3 Run 11 Aux Fault 4 Clear Faults 12 Aux Fault Inv 5 Stop CF 13 User Select 6 Jog 1 14 Precharge Disc 7 Jog2 Rockwell Automa
41. a window with the mode selection Use the up down arrow keys on the top row of buttons to select Defined Link and press Enter When in this mode pressing the Select button will allow you to enter the source parameter number Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Using DriveExecutive Double click on the destination parameter The parameter XX dialog box displays Click on the Link Source tab Select the Parameter radio button and select the source parameter in the Selected Parameter field Parameter 21 Speed Trim 1 Properties Value Link Source Link Sinks Documentation Link Source C No Link Parameter Eind Parameter Selected Parameter P 175 Setpt 2 Data P 176 Setpt2 TripPoint P 177 Setpt 2 Limit PI Output Available Drive Links 172 p SCH Total Drive Links 200 _Parameter Help Rockwell Automation Publication PFLEX RM002D EN E August 2013 71 Chapter1 Detail Drive Configuration and Operation Masks Motor Control Mode 72 A mask is a parameter that contains one bit for each of the possible adapters Each bit acts like a valve for issued commands Closing the valve setting a bit value to 0 stops the command from reaching the DriveLogix Opening the valve setting a bit value to 1 allows the command to pass through the mask into the DriveLogix Table 3 Mask Parameters and Functions
42. an integer parameter Example Configuration 4 Reading a Real Parameter using a Datalink e Data Out Al Real is linked to Output Current e Dlink OutDataIype bit 1 is set to 1 The value from Data Out A1 Real to the controller contains the value of Output Current Data Out Al Real is used and Dlink OutDataType bit 0 is set to 1 because Output Current is a real parameter Rockwell Automation Publication PFLEX RM002D EN E August 2013 35 Chapter1 Detail Drive Configuration and Operation Decel Time DeviceNet 20 COMM D 36 Parameter 33 Decel Time sets the rate at which the drive ramps down its output during a ramp Stop command or during a decrease in commanded speed The rate established is the result of the programmed Decel Time and the programmed motor rated speed parameter 4 Motor NP RPM as follows Motor RPM Parameter 4 _ Decel Rate RPM sec Decel Time Parameter 33 Times are adjustable in 0 0001 second increments from 0 01 to 6553 5 seconds This serves as a supplement to the PowerFlex DeviceNet Adapter Users Manual publication 20COMM UM002 addressing items specific to the PowerFlex 700S Please refer to the user manual for details on 20 COMM D set up configuration I O messaging and Explicit messaging Technical Information The 20 COMM D device must be v1 005 firmware or later in order to be used with the PowerFlex 7008S The Logic Command and Logic Status are 16 bits plus a 16 b
43. are floating point values can be linked to this buffered data Note that at this time the maximum number of buffered words that can be received over SynchLink is 18 so only even parameters 1074 SL Buf Real Rx00 through 1108 SL Buf Real Rx17 would be used Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Figure 36 SynchLink Transmit Block Diagram Direct Tx Data Select 0 1 2 3 Tx Port Comm Format 1021 X 1022 X 1023 X 1024 0 26 1020 0 17 SycnhLink Fiber Di E t Tx Format E en Synchlink Event Data Transmit Port Registration Latches Local Data Tx to PO Regis Latch pelea Downstream P1 Regis Latch Seated ES i Select 8 Tx Axis Si Opt 0 Regis Ltch lt gt KAKs Size Opt 1 Regis Ltch Select eg Not Used 4e x Dir Size x Dir Data Type 1 Real 4 Tx Buff Size 3 2 1 0 7 J i x Pkg Size int Dei a SL Dir type Tat naa 1 21 e o Tx Seq Cnt lect SL Dir type Txt Direct S lt gt Tx Index 0 SL Dir type Tx2 Transmit S lt a gt Tx Index 1 Cras Xe Data SL Dir type Tx3 lt gt Tx Index 2 Select 22 Direct passthrough Data from Rx Encoder 0 Accum vg DECH Encoder 1 Accum Opt 0 Accum lt 250 gt Saleot 29 Opt 1 Accum Select 26 Not Used Coordinated System Time Tx Buf Data Type 1 real
44. control loop Rockwell Automation Publication PFLEX RM002D EN E August 2013 147 Chapter 1 Detail Drive Configuration and Operation Motor Speed Feedback and Scaled Speed Feedback The motor speed feedback is selected according to the feedback device selection The value for motor speed feedback appears in parameter 300 Motor Spd Fdbk Motor Spd Fdbk is in RPM From there the speed feedback enters the speed regulation loop The filter for the speed feedback is shown in the speed regulation loop section Branching off of the motor speed feedback there is a low pass filter This low pass filter filters out high frequency before displaying the speed feedback on the HIM Parameter 72 Scaled Spd Fdbk provides a user scalable speed feedback It is multiplied by the value in parameter 73 Spd Fdbk Scale Motor Spd Fdbk to Speed Control 3A4 To HIM Display Scaled Spd Fdbk Filter x lt a gt LPass Spd Fdbk Scale Speed Feedback Loss Ride Through The speed feedback loss ride through function provides an automatic switch over from the primary motor speed feedback device to the alternate motor speed feedback device when a primary motor speed feedback device fault is sensed If the alternate speed feedback device has failed the switching will not be allowed and the drive will fault The active device can be monitored and manual switching between the primary and alternate devices is available Th
45. default is set to 10 of the base motor speed Set this to the negative speed at which you want the drive to run for point to point moves Parameter 773 Xreg Spd HiLim sets the positive speed limit at which the position regulator will output The default is set to 10 of the base motor speed Set this to the positive speed at which you want the drive to run for point to point moves Tuning Tips The speed regulator of the drive must be tuned prior to tuning the Position Loop See Speed PI Regulator on page 120 for tips on tuning the speed regulator Do not attempt to set the accel decel rates of the point to point position loop faster than can be accomplished by the system Attempting to set the accel decel rates faster than the system can handle will cause instability in the position loop Do not attempt to operate beyond the torque limits of the drive motor combination Typically parameter 768 PositReg P Gain should be set between 1 5th to 1 3rd of parameter 90 Spd Reg BW Parameter 768 PositReg P Gain may be set higher using lead compensation on the Position Regulator Output Lead Lag filtering of the position regulator output is accomplished via the speed trim 2 filter Set parameters 25 Strim2 Filt Gain and 26 SpdTrim2 Filt BW so that SpdTrim2 Filt BW Strim2 Filt Gain Speed Reg BW Rockwell Automation Publication PFLEX RM002D EN E August 2013 91 Chapter1 Detail Drive Configuration and Operation
46. display units of RPM and do not have their own scaling blocks Speed Reference Select Parameter 16 Speed Ref Sel selects which one of the seven input signals is acknowledged as the reference Speed Ref Sel could be changed through a controller or through a digital input see Digital Inputs for an example Speed Ref Sel Speed Ref 1 0 Spd Ref1 Divide Speed Ref 2 Co X Spd Ref2 Multi Qu Speed Ref 4 Cu 4 Speed Ref 5 Speed Ref DPI Wi o On Speed Ref Sel can be set to the following values Setting Description 0 Zero Speed Zero Speed is selected as the speed reference 1 Spd Ref 1 Speed Ref 1 is selected as the speed reference 2 Spd Ref2 Speed Ref 2 is selected as the speed reference 3 Spd Ref 3 The sum of Speed Ref 1 and Speed Ref 2 is selected as the speed reference Note that there is no Speed Ref 3 parameter 4 Spd Ref 4 Speed Ref 4 is selected as the speed reference 5 Spd Ref 5 Speed Ref 5 is selected as the speed reference 6 Spd Ref DPI Speed Ref DPI is selected as the speed reference The source of parameter 20 Speed Ref DPI is selected by parameter 691 DPI Ref Select DPI Ref Select can be set to one of the following 1 Local HIM 2 Ext DPI Conn 3 Aux DPI Conn or 5 Int DPI Conn 4 Reserved is not used 132 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configurati
47. drive is started in this mode with the motor already spinning large currents will be generated An overcurrent trip may result if the current limiter cannot react quickly enough The likelihood of an overcurrent trip is further increased if there is residual voltage on the spinning motor when the drive starts Even if the current limiter is fast enough to prevent an overcurrent trip it may take an unacceptable amount of time for synchronization to occur and for the motor to reach its desired frequency In addition larger mechanical stress is placed on the application increasing downtime and repair costs while decreasing productivity The sensorless flying start function implements a frequency search algorithm that searches for the rotor speed and when found provides flux up time for the motor before transitioning to normal operation The frequency search algorithm searches for a motor voltage that corresponds with the excitation current applied to the motor This function is useful where very large inertia systems that would take an extended period to come to a stop ifa drive trip would occur or in cases where an external source may be moving the motor before the drive would be started The PowerFlex 700S Phase I must be version 1 017 or later to support flying start ATTENTION The user must determine the safe frequency search configuration at the system level Incorrect selection s may result in personal injury due to A machine motion A
48. e Anlg Outl Scale is set to 214748664 8 per Volt Position Error is an integer parameter with a range from 2147483648 to 2147483648 Anlg Out Integer is used because Position Error is an integer parameter Anlg Our Scale is set to 214748364 8 per Volt so the analog output will give 10V when the position error is 2147483648 and will give 10V when the position error is 2147483648 The Auto Manual function on the LCD HIM is not functional for the PowerFlex 2005 drive Auto tuning is a procedure that involves running a group of tests on the motor drive combination Some tests are checking the drive hardware while others configure the drive parameters to maximize the performance of the attached motor The auto tuning procedure can be completed using the Start Up menu of the HIM Please refer to Chapter 2 Start Up of the PowerFlex 700S High Performance AC Drive Phase I Control User Manual publication 20D UMO001 for information on starting up the PowerFlex 700S AC drive and running the auto tune procedure Autotune Start Up Menu The Start Up menu prompts you for information and yes no responses as required The Motor Control Motor Data Feedback Configuration Power Circuit Test Direction Test Motor Tests and Inertia Measure submenus of the Start Up Menu are all related to the autotuning of the drive motor combination and will be covered in this section Rockwell Automation
49. either bit 18 in parameter 152 Applied LogicCmd to select jog speed 1 or bit 23 in Applied LogicCmd to select jog Rockwell Automation Publication PFLEX RM002D EN E August 2013 69 Chapter 1 Links 70 Detail Drive Configuration and Operation speed 2 Note that the jog command is a maintained type of logic so that the jog speed will be active while the jog command bit is maintained Applied LogicCmd 0 0 Jog Speed 1 UD C855 i Jog Speed 2 Links are software connections between two parameters This allows one parameter to receive information from another parameter Parameter Type Description Parameter Symbol Source Provides information F GS Destination Receives information Eie NC est NCC Each destination parameter can only have one source parameter However source parameters may be linked to multiple destination parameters The information from the link always flows from the source to the destination parameter Information Information Dest e Source EP MC Source lt Dest gt Information Several default links are set in the drive as default Modifying these links can be done two ways Using the HIM Access the destination parameter you wish to use for the link This cannot be done from the ALT Parameter view window only the parameter list When you access the parameter you want to edit press the ALT then the View button This will display
50. inertia compensation block uses to calculate the acceleration or deceleration rate also known as the derivative of speed with respect to time Inertia compensation is enabled by turning on parameter 151 Logic Command bit 10 Inertia Comp Parameter 9 Total Inertia is calculated during the autotune and is used along with the calculated acceleration or deceleration rate to calculate the torque adder Parameter 57 InertiaAccelGain determines the gain for the inertia compensation during acceleration A gain of 1 results in 100 compensation Parameter 58 InertiaDecelGain determines the gain for the inertia compensation during deceleration Parameter 60 DeltaSpeedScale is a multiplier for the torque output of the inertia compensation block It is used in center wind and center unwind applications to compensate for diameter build up The inertia compensation outputs the calculated torque to the parameter 59 Inertia Torq Add Inertia Torq Add is summed with the output of the friction compensation block and the torque generated by the speed reference loop That Rockwell Automation Publication PFLEX RM002D EN E August 2013 Input Devices Circuit Breakers Fuses Filters EMC Input Modes Input Power Conditioning Jog Detail Drive Configuration and Operation Chapter 1 summed torque enters the torque selection block refer to Torque Reference on page 175 for more information Parameter 55 Speed Comp co
51. information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence P IMPORTANT Identifies information that is critical for successful application and understanding of the product Labels may also be on or inside the equipment to provide specific precautions SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures ARCFLASH HAZARD Labels may be on or inside the equipment for example a motor control center to alert people to potential Arc Flash Arc Flash will cause severe injury or death Wear proper Personal Protective
52. instability Inertia adaptation detects the lost motion and a higher speed regulator bandwidth can be achieved without instability slope due to springy nature k of shafts A after gearbox teeth engage AX backlash BL before gearbox teeth engage Rockwell Automation Publication PFLEX RM002D EN E August 2013 67 Chapter1 Detail Drive Configuration and Operation Inertia Compensation 68 Configuration See Speed Regulator Tuning Advanced Tuning for the Speed Regulator with Gearbox or Belt on page 129 for details on using inertia adaptation Inertia Total Inerti 9 inris Adaptation Motor Spd Fdbk lt 300 Inert Adapt Sel 7432 00 Inrtia Adapt Load Est 01 Inert Adapt BW 7133 D Inert Adapt Gain 1245 Motor Torque Ref From Spd Torque x To Current Mode Selection Control Limit Torque Limits During speed changes a certain level of torque is required due to load inertia That level of torque is above the torque used to run at constant speed Inertia compensation calculates that torque based on the acceleration or deceleration rate Then that acceleration or deceleration torque can be fed forward into the torque control making for smoother accels and decels especially with high inertia loads Parameter 56 Inertia SpeedRef is linked to parameter 43 S Curve Spd Ref This becomes the speed reference that the
53. interval improves speed measurement near zero speed Decreasing allows the speed control regulator to perform with high gains at high speeds Table 7 Encoder Input Filter Settings Bit 3 2 1 0 Encoder Bit Filter Settings 0 0 0 0 Filter disabled 0 0 0 1 100ns filter 0 0 1 0 200ns filter 0 0 1 1 300ns filter 0 110 0 400ns filter 0 110 1 500ns filter 0 1 110 600ns filter 0 1 1 1 700ns filter 1 0 00 800ns filter default setting 11010 900 ns filter 11011 0 1000 ns filter UNN 1100 ns filter 11110 0 1200nsfilter 1 140 1300 ns filter 1 1 1 0 1400ns filter 1 1141 1500 ns filter Table 8 Multiplier and Direction Settings Bit 4 Mult Directions Comments 2x fwd rev Counts rise fall of phase A phase B only used to find direction ojl ojl wv 1 4x fwd rev Counts rise fall of both A and B phases default setting 1 0 1x fwd only Counts rise of phase A Phase B ignored 1 1 2X fwd only Counts rise of phase A Phase B ignored 140 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Table 9 Encoder Sample Interval Settings Bit 15 14 13 12 Encoder Sample Interval Settings 0 10 O O 05ms 0 0 0 1 0 5ms min sett
54. links on the 700S COP Copy File Source PowerFlex700S 02 Data 3 Dest PF700 Float Data 0 Length 8 Explicit Messaging When using explicit messaging in the ControlLogix system the message type CIP Generic is used The data is transferred over ControlNet in the same data type as the parameter in the PowerFlex 700S Make sure the data type for the Source and Destination tags in your ControlLogix message instruction matches the data type in the PowerFlex 700S Also the Number of Elements in the ControlLogix message instruction must match the size of the Source data For example to send an explicit message to write to parameter 12 Speed Ref2 which is a floating point 1 The Source and Destination tags should be of type REAL 2 The Number of Elements should be 4 bytes since a REAL data type takes up 4 bytes of data Rockwell Automation Publication PFLEX RM002D EN E August 2013 Copy Cat Current Limit Detail Drive Configuration and Operation Chapter 1 Message Configuration CNet_Message_Explicit Configuration Communication Tag Message Type D ct SENE Service Code fio Hex Source CNet_Message_DatalO EI Clase name fi Hex Num Of Elements fa Bytes Instance name 12 Destination EN et Message Data 10 Attribute name fi Hex New Tag Enable 2 Enable Waiting O Start Done Done Length 0 A Error Code Timed Gut Extended Error Code Cancel He F
55. of 4096 units per one revolution of the motor Parameter 62 Virt Encdr Posit is a 32 bit integer that contains the pulse count output of the virtual encoder block This parameter is used for position follower applications see the Follower section of the Position Loop Rockwell Automation Publication PFLEX RM002D EN E August 2013 135 Chapter 1 136 Detail Drive Configuration and Operation Parameter 63 Virt Encdr Dlyed is a 32 bit integer that contains the pulse count output of the virtual encoder block delayed by one scan of the speed reference loop This parameter can be used to send a virtual position reference over SynchLink for position follower applications S Curve Spd Ref 43 gt Virt Encdr Posit 4x internal One lt 63 gt Virt Encdr Dlyed Scan Delay Virtual Encoder Virt Encoder PPR Speed Reference Filter A lead lag filter can be turned on by setting parameter 153 Control Options bit 1 Sref Filt En on Parameter 35 SpdRef Filt Gain sets the gain for the filter and parameter 36 SpdRef Filt BW sets the bandwidth for the filter Filtered Spd Ref kn s wn S wn Control Options SRef Filt En SpdRef Filt Gain SpdRef Filt BW C36 Speed Reference Scale The speed reference value up to this point is multiplied by the scaling parameter 38 Speed Ref Scale Speed Ref Scale is applied to all of the selected speed references as
56. opposed to the specific scaling parameters for speed reference 1 and 2 Speed Ref Scale is a linkable parameter This allows the speed reference value to be scaled dynamically with an input signal if desired An example would be to have an analog input linked to the scale parameter The speed reference and the scale would then affect the value sent to the speed regulator Scaled Spd Ref S lt gt Speed Ref Scale Rockwell Automation Publication PFLEX RM002D EN E August 2013 Speed Position Feedback Detail Drive Configuration and Operation Chapter 1 Speed Trim 1 At this point in the speed reference control loop parameter 21 Speed Trim 1 is added to the speed reference By default Speed Trim 1 is linked to the output of the Process PI loop The resulting parameter 47 Spd Trim1 SpdRef is sent into the speed regulator loop Spd Trim1 SpdRef to Speed Control Regulator PI Output Link from Process Speed Trim 1 Control The speed feedback block selects the feedback device and scales the feedback signal This section will describe in detail how each of these functions operates Feedback Device Parameter 222 Motor Fdbk Sel selects the feedback device for motor speed and position feedback The possible settings for Motor Fdbk Sel are e 0 Encoder 0 e 1 Encoder 1 e 2 Sensorless e 3 Reserved this setting is not used e 4 Motor Sim e 5 FB Opt Port0
57. perform a start from zero speed The preset frequency search routine may take the longest to execute The value entered into parameter 451 SrLss Preset Spd should always be greater than the expected speed of the motor If the motor speed is greater than the initial search frequency overvoltage trips could occur or the algorithm may not find the correct motor speed If the flying start function is active and the drive is started with the motor at zero speed the flying start search will add considerable extra delay to actually starting the motor Figure 22 Sensorless Flying Start From Last Known Speed Flying Start Frequency Search 1 4 tracking rotor speed 42 mle A E ca 4 1 Frequency sgarch 0 i S e from last known i M 3 motor ai speed 5 0 8 ot Speed g 0 6 tracking lost Rotor Speed Found frequency 0 d 0 4 Pwm stopped i T Accel to set spged and i resume normal peration 0 2 drive re started 0 0 2 4 6 8 Time seconds Motor Frequency Figure 23 Sensorless Flying Start From Preset Speed Flying Start Frequency Search 3 i eem Frequency Search started at 100 speed 2 War elappdd Accel to set speed and 2 1 p X Sat Ce resume normal operation o K Flux up time c rotor speed found WL 1 7 7 SCH RE Ween DEE Keng drive re started g 2 3 running at 50 speed Speed not found Frequen
58. resolver input voltage for the resolver option card at port 0 Parameter 273 Rslvr0 XfrmRatio specifies the resolver transform ratio for the resolver option card at port 0 Parameter 274 Reslvr0 CableBal specifies the resolver cable balance for the resolver option card at port 0 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Parameter 267 Reslvr0 Status indicates status of the resolver option card port 0 e Bit 0 Cable Status indicates that the cable tuning test is in progress e Bit 1 Tune Result indicates the tuning parameter type When set it indicates the tuning is using the parameter database When cleared it indicates the tuning is using derived data e Bit 2 Mtr Turning indicates that the motor is turning e Bit 3 Cable Comp e Bit 4 Energized indicates the resolver is energized e Bit 8 Open Wire indicates a problem with the cable open circuit e Bit 9 Power Supply indicates problem with the option card s power supply e Bit 10 Diag Fail indicates the option card has failed its power up diagnostics e Bit 11 Select OK Motor Position Feedback The motor position feedback is selected according to the feedback device selection The value for motor position feedback appears in parameter 762 Mtr Posit Fdbk Mtr Posit Fdbk is in counts From there the position feedback enters the position
59. section contains information on configuring the Datalink parameters for the PowerFlex 700S There are also parameters in the communication adapters that must be configured to use Datalinks Refer to the ControlNet 20 COMM C on page 26 and DeviceNet 20 COMM D on page 36 sections for more information Data In Parameters Data In x Int and Data In x Real parameters are inputs to the drive from the controller and are used to write to parameters A total of 8 parameters can be written with the Data In parameters In the 700S each parameter is either a 16 bit integer a 32 bit integer or a 32 bit floating point real This means the datalinks parameters are 32 bits To write to a 16 bit or 32 bit integer parameter that parameter must be linked to one of the Data In x Int parameters To write to a real parameter that parameter must be linked to one ofthe Data In x Real parameters Example Configuration 1 Writing an Integer parameter using a Datalink e 740 Position Control is linked to 707 Data In A1 Int The value that is sent to Data In A1 Int from the controller will show up in Postion Control Data In A1 Int is used because Position Control is an integer parameter Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Example Configuration 2 Writing a Real Parameter using a Datalink e 111 Torque Ref 1 is linked to 708 Data In A1 Re
60. that should be used There are several benefits to increasing the switching frequency Refer to Figure 1 and Figure 2 on page 25 Note the output current at 2 kHz and 4kHz The smoothing of the current waveform continues all the way to 10 kHz Figure 1 Current at 2kHz PWM Frequency Tek Stop 25 0kS s 322 Acgs C4 RMS 11 68mv M2 00ms Cha Tem Ch4 10 0mvo Figure 2 Current at 4kHz PWM Frequency Tek Stop 25 0KkS s 94 Acas C4 RMS 11 46mv Hi mme Chd 7 11 8mv Ch4 10 0mva The benefits of increased carrier frequency include less motor heating and lower audible noise An increase in motor heating is considered negligible and motor failure at lower switching frequencies is very remote The higher switching frequency creates less vibration in the motor windings and laminations making lower audible noise This may be desirable in some applications Some undesirable effects of higher switching frequencies include derating ambient temperature vs load characteristics of the drive higher cable charging currents and higher potential for common mode noise A very large majority of all drive applications will perform adequately at 2 4 kHz Rockwell Automation Publication PFLEX RM002D EN E August 2013 25 Chapter1 Detail Drive Configuration and Operation CE Conformity Common Bus Systems Communication Co
61. the User Display Operator Intrfc Change Password User Display Parameters e The following HIM parameters can be set as desired e User Display Enables or disables the user display e User Display 1 Selects which user display parameter appears on the top line of the user display e User Display 2 Selects which user display parameter appears on the bottom line of the user display e User Display Time Sets how many seconds will elapse after the last programming key is touched before the HIM displays the user display 66 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Inertia Adaptation Detail Drive Configuration and Operation Chapter 1 Inertia adaptation is used to compensate for lost motion which occurs when a gear box and or springy coupling is present Inertia adaptation can allow the user to increase the speed regulator bandwidth by up to four times For example a motor connected to a gearbox is shown Motor gear box Load This gearbox can be represented by a spring k and gear back lash BL Motor Load k BL When the speed of the motor increases there is a period of time represented by Dx before the teeth of the gearbox engage After that time there will be some twisting like a spring in the shaft after the teeth of the gearbox engage This lost motion causes mechanical instability and limits how high the speed regulator bandwidth can be set without causing
62. the data type e To detect positive peak values turn on parameter 210 PeakDtct Ctrl In bit 2 Peak1 Sel To detect negative peak values turn off parameter 210 PeakDtct Ctrl In bit 2 Peak1 Sel e The peak value is contained in parameter 215 Peak Detect Out e To reset the output of the peak detector toggle on and then off parameter 210 PeakDtct Ctrl In bit 0 Peak 1 Set The output will match the value in parameter 214 PeakDtct1 Preset which is a default of 0 e To hold the output of the peak detector at the present value turn on parameter 210 PeakDtct Ctrl In bit 1 Peak 1 Hold The change bit parameter 211 PeakDtct Status bit 0 Peak 1 Chng is set to true for one scan if the peak detect value changes otherwise the change bit is set to False The change bit is also set to False if the detector is in Set or Hold mode PeakDtcti Ctrl In PeakDtct Ctrl In 210 J 2 Peak 1 Sel 210 6 Peak 2 Sel H T Peak Ctrl Status Peak Ctrl Status H 211 ALO Peak 1 Chng 211 1 Peak 2 Chng PeakDtct Gti in PeakDtct2 Ctrl In 1 ED 1 Peak 1 Hold H 1 210 Y Peak 2 Hold 1 H i H H PeakDtett Ctrl In H H PeakDtct2 Ctr PkDtctt In Real 213 an i S In Real CED i PeakDtot2 Ctr In PeakDtctt In int 212
63. the dialog box used to setup SynchLink communication PowerFlex 700SDL Peer Communication Setup SynchLink Receive Format No Receive Data 7 SynchLink Transmit Format No Transmit Data Multiplier Block Setup Receive word to mulliply bh one Muktiplier Base Value 0000 006000 Multipher Value Source Parameter None SI 1 090000 Transmitted Direct Words Source Item D nc Data z No Data z AOT SynchLink Node Configuration m Transmitted Buffered Data parameter values None None 7 None zj None None z None zj Ka Rockwell Automation Publication PFLEX RM002D EN E August 2013 167 Chapter1 Detail Drive Configuration and Operation Master PowerFlex 700S Drive Setup Transmitting Drive 1 In the master or transmitting drive select the desired transmittal format in the SynchLink Transmit Format field For this example select 4 Direct Words 8 Buffered Words 2 In the Transmitted Direct Words section select Drive Parameter in the Source 0 field and parameter 43 S Curve Spd Ref in the Item 0 field PowerFlex 700SDL Peer Communication Setup xj SynchLink Setup From Controller To Controle SynchLink Receive Format No Receive Data D SynchLink Transmit Format 4 Direct Words 8 Buffered Words D r Multiplier Block Setup r Transmitted Direct Words
64. the precharge hardware and control is provided by the user Drives with the resistor and SCR bypass internal have the same precharge control as frame 1 4 above ATTENTION In cases where the user is providing the precharge hardware and control incorrect configuration and or control may result in drive damage Rockwell Automation Publication PFLEX RM002D EN E August 2013 408 Detail Drive Configuration and Operation Chapter 1 Ride Through Operation An incoming power loss to the drive is detected by a 22 drop in bus voltage or a bus voltage that drops below the under voltage level The return of incoming power is detected by an 1196 rise in bus voltage and a bus voltage level greater than the undervoltage level set in parameter 409 Line Undervolts If the undervoltage condition is selected as a fault parameter 393 BusUndervoltCnfg then the drive will not restart if the incoming power returns Upon sensing a power loss the drive can be configured to coast continue operation or change to flux only operation See Ride Through Configuration below Power Loss Level Units 96 16 bit Sets the bus voltage level at which ride through begins and modulation ends When bus voltage falls Default 22 1 Integer below this level the drive prepares for an automatic reset Enter a percentage of the bus voltage Min Max 15 95 derived from the high voltage setting for the voltage class For example on a 400 480V drive 0 221 x 480 Vac x D
65. to follow a speed reference from the 20 COMM R parameter 691 DPI Ref Select must be set to Port 5 Parameter 16 Speed Ref Sel must be set to Speed Ref DPI 110 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Reference and Feedback values are floating point values in the PowerFlex 7008 Use the following logic to transmit and receive reference and feedback data as integer data Transmitted Reference counts Floating point Reference RPM x Ta eee REM Speed Reference Via Remote I O to a PowerFlex 700S using a 20 COMM R module The first move instruction is only for visual indication of the speed reference Calculate the reference as a DINT based on 32768 base motor speed Then copy the DINT into 2 16 bit tags sent over Remote 1 0 MOV RIO 700S Ref RPM 1765 0 e RIO_700S_Ref_RPM 1765 0 lt RIO_700S_Ref_DINT 32768 lt RIO_700S_Ref_RPM RIO_700S_Base_Motor_Speed 32768 Copy File Source RIO_700S_Ref_DINT Dest RIO_700S_BT_0 0 Length 2 Base Motor RPM Floating point Feedback RPM Feedback received counts x 32768 Speed Feedback Via RIO from a PowerFlex 7005 using a 20 COMM R module First copy the MSW and LSW of the speed reference from RID into 1 DINT tag Then calculate RPM based on 32768 base motor speed COP 14 Copy File Source RIO 7005 BT I 0 Dest RIO 7005 Fdbk DINT Length 1 CPT Compute Dest
66. until given a new reference or a stop command The position loop can be scaled to different units other than feedback counts degrees or inches Typical applications for the Point to Point function would be turn tables and storage retrieval machines 318 PositReg P Gain Point to Reference Point Pt Pt Posit Ref Solection N 788 P Mode D Bi Gear Rat Regulator Posit Ref Sel as Position Fdbk Position Offset Position Feedback Selection Proportional Channel Speed Reference Selection The speed reference should be set to zero speed when using point to point positioning For example set parameter 16 Speed Ref Sel 0 Zero Speed Enabling the Position Loop To enable the position loop set parameter 151 Logic Command bit 13 PositionEnbl 1 Then to allow the output of the position loop to trim the speed set parameter 740 Position Control bit 1 Speed Out En 1 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Selected position reference Detail Drive Configuration and Operation Chapter 1 Position Reference Selection For point to point positioning set parameter 742 Posit Ref Sel 2 Pt to Pt Parameter 758 Pt Pt Posit Ref becomes the reference for the position Posit Ref Sel C742 0 Selected Interp Position Position Reference Aux PositRef Pt Pt Posit Ref mi Position Reference Scaling Pos
67. us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Rockwell Otomasyon Ticaret A S Kar Plaza Is Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication PFLEX RM002D EN E August 2013 Supersedes Publication PFLEX RMOO2C EN E September 2005 Copyright 2013 Rockwell Automation Inc All rights reserved Printed in the U S A
68. x C a23 2 E MEE d See Ce Anlg Out Zero 12bit TB1 B6 Anlg Outx Offset is added to Anlg Outx Real or Anlg Outx Integer before the scaling and limiting blocks Anlg Outx Offset has a range of 20V The result of Anlg Outx Offset plus Anlg Outx Real or Anlg Outx Integer is limited by 10 times the value of Anlg Outx Scale Then that limited value is divided by the value of Anlg Outx Scale Anlg Outx Zero is added after the scaling and limiting of the analog output value Anlg Outx Zero can be used to null out any offset from the D A converter Example Configuration 1 This configuration sends the motor torque current reference value to a 0 10V analog output signal e Anlg Outl Real is linked to Mtr TrqCurr Ref e Anlg Outl Scale 0 1 per Volt Rockwell Automation Publication PFLEX RM002D EN E August 2013 Auto Manual Autotune Detail Drive Configuration and Operation Chapter 1 Mtr TrqCurr Ref is a real parameter expressed in per unit Therefore a value of 1 corresponds to 100 motor torque Anlg Out Real is used because Mtr TrqCurr Ref is a real parameter Anlg Our Scale is set to 0 1 per 1V so that when Mtr TrqCurr Ref 1p u the analog output 1 0 1 10V Example Configuration 2 This configuration sends Position Error out to a 0 10V analog output signal e Anlg Outl Integer is linked to Position Error
69. you to select the feedback device type Possible selections are Encoder 0 Encoder 1 Aux Speed Motor Sim or Option Card Encoder 0 and Encoder 1 are for the encoders on the I O board When Encoder 0 or Encoder 1 are selected you must also enter the encoder ppr Motor Sim is to simulate a motor when there is no motor connected to the drive Option Card can be chosen when either the Resolver or Hi Resolution Encoder option cards are installed Power Circuit Test This submenu allows you to perform a diagnostic check to check the output section of the drive power circuit for shorts or open circuits Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Direction Test The direction test checks the actual direction relative to the commanded direction and checks for proper encoder feedback The test prompts you to answer if the motor direction is correct When it is not you can either power down and swap two of the motor leads or change the drive logic to change the motor direction Then the test is performed again The test then checks if the feedback is positive When it is not you can either power down and swap two of the encoder signals or you can change the drive s logic to change the sign of the feedback Then the test is performed again Motor Tests This submenu performs the tests to measure the motor characteristics Th
70. 0 fe De ma LES EQU ADD Less Dan A B Egal Adi re Source A Ge Samce A N93 Source A N92 o lt E De Source B 0 Some B H SouceB 653360 De D 65536 0 Det 712 2 one Congre the speed dedbuck into an RPM vidue F12 3 speed feedback RPM F12 2 32b flowing pome mied feedback comte P124 base motor speed RPM CPT Compute Dest 0003 F123 Expression F1221327690 F124 Datalink Programming Datalinks are transmitted and received through block transfer I O The SLC PLC 5 is limited to 16 bit integers and floating point Because the SLC PLC 5 does not support 32 bit integers 32 bit integer datalinks remain split into two 16 bit integers In order to send or receive floating point datalinks the LSW and MSW must be swapped and the COP copy instruction must be utilized The following examples are for transmitting and receiving the floating point Datalinks 40 Rockwell Automation Publication PFLEX RM002D EN E August 2013 0005 0004 Detail Drive Configuration and Operation Chapter 1 Figure 6 Reading Floating Point Datalink in a SLC PLC 5 A floating poirt datalink is cent saoss DeviceNet as 2 16 b intequrs To read a floating point datalink cocrectly in the SLC you must frst swap the high ind low 16b integers amd then copy the 2 integers into floating point address N9 4 LSW Datalink Al Out fom DeviceNet N9 5 MSW Datalink Al Out trom DeviceNet N134
71. 0 10V signal Anlg Inl Scale was set to 0 1 per 1V Anlg In1 Filt BW was set to 0 so that no filtering took place on analog input 1 Analog Output Specifications There are 2 analog outputs located on TB1 Row B Bottom Terminals Each output outputs a 10V bipolar differential signal The D A converter is 12 bits including the sign 11 bits plus the sign bit Rockwell Automation Publication PFLEX RM002D EN E August 2013 15 Chapter 1 Detail Drive Configuration and Operation Analog Output Configuration The analog outputs can be linked to either an integer parameter or a real parameter Use Anlg Outx Real when you are linking to a real parameter and use Anlg Outx Integer when you are linking to an integer parameter fe Anlg Out Offset as E J ei re Anlg Out Integer g g S 814 E Anlg Out Real 815 me Anlg Out Volts D A 12bit el V N Shield TI 181 84 i S TB1 B5 S TB1 B6 C 816 gt Anlg Out Volts D A TB1 B5 p DW X Limit AnlgOut Scale em we n cale H g Ou Lg 10 x EU Anlg Out Zero 1 Ix Anlg Out2 Offset s3 Ns d Anlg Out2 Integer g g ae 2 fo Anlg Out2 Real Wa A X Limit Anlg Out2 Scale SCH 10
72. 0000 PPR 138 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Encdrx Config sets the configuration option for the encoder The bits for Encder x Config are broken down as follows e Bit 0 Enc Filt be e Bit 1 Enc Filt bt1 e Bit 2 Enc Filt bt2 e Bit 3 Enc Filt bt3 e Bit4 Endr 4x e Bit 5 Encdr A Phs e Bit 6 Encdr Dir e Bit 7 Reserved not used e Bit 8 Reserved not used e Bit 9 Edge Time e Bit 10 Reserved not used e Bit 11 Reserved not used e Bit 12 SmplRate bo e Bit 13 SmplRate bt1 e Bit 14 SmplRate bt2 e Bit 15 SmplRate bt3 e Bits 16 31 Reserved not used The function of the bits in Encdrx Config is explained here e Bits 0 Enc Filt bt0 1 Enc Filt bt1 2 Enc Filt bt2 and 3 Enc Filt bt3 configure encoder input filter see Table 7 on page 140 The filter requires the input signal to be stable for the specified time period Input transitions within the filter time setting will be ignored e Bits 4 Encdr 4x and 5 Encdr A Phs determine how the encoder channel A and B signals will be interpreted Typically both encoder phases A and B are used so that direction information is available The parameter 230 Encdr0 Position counts up for forward rotation and down for reverse rotation If bit 5 is set then the B
73. 0096 If the requirement is 1 minute out of 60 minutes the remaining 59 minutes must be at approximately 9896 rated current or less 74 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Motor Start Stop Precautions Input Contactor A A ATTENTION A contactor or other device that routinely disconnects and reapplies the AC line to the drive to start and stop the motor can cause drive hardware damage The drive is designed to use control input signals that will start and stop the motor If an input device is used operation must not exceed one cycle per minute or drive damage will occur ATTENTION The drive start stop enable control circuitry includes solid state components If hazards due to accidental contact with moving machinery or unintentional flow of liquid gas or solids exist an additional hardwired stop circuit may be required to remove the AC line to the drive An auxiliary braking method may be required Output Contactor A ATTENTION To guard against drive damage when using output contactors the following information must be read and understood One or more output contactors may be installed between the drive and motor s for the purpose of disconnecting or isolating certain motors loads If a contactor is opened while the drive is operating power will be removed from the respective motor but the drive will continue to produce voltage at the output termi
74. 10 The following data structures will be added to the ControlLogix processor for the communications with the 20 COMM C module and drive 8 Module Defined JR AB 1756_DHRIO I 0 M AB 1756_DNB_496Bytes 0 0 D I AB 1756_DNB_500Bytes 10 D I AB 1756_DNB_CommandRegister0 0 M AB 1756_ONE_StatusRegister iO Pi tege er E D I AB CONTROLNET MODULE DINT A se fi i 8 AB RIO_4IOGROUP 0 0 6 8 WO Configuration B 1 1756 DNB dneti 3 B 2 1756 DHRIO B Remate LO L B B lt 007 0 1 22 RIO ADAPTER COMMR 3 H 5 1756 CNB A ControlNet i H 2 CONTROLNET MODULE PowerFlex7008 02 Rockwell Automation Publication PFLEX RM002D EN E August 2013 27 Chapter 1 28 Detail Drive Configuration and Operation Example Tag names Outputs to the Drive PowerFlex700S_02 O 0 9 Inputs from the Drive PowerFlex700S 02 I 0 10 word 0 reserved Figure 3 is an example using Bits in the ControlLogix processor to write to the output bits associated to parameter 158 Drive Logic Rslt PowerFlex700S_02 O 0 0 9 map to parameter 158 Drive Logic Rslt Figure 3 Using Bits in ControlLogix PF700S Start PowerFlex700S 02 0 Data 0 1 PF700S Normal Stop PowerFlex700S_02 0 Data 0 0 PF700S Jog1 PowerFlex700S 02 0 Data 0 2 PF700S Clear Fault PowerFlex700S 02 0 Data 0 3 PFZ00S UniPol Fwd PowerFlex700S_02 0 Data 0 4 PF700S_UniPol_Rev PowerFlex700S 02 0 Data 0 5 PF700S Jog2
75. 2 00 6 162 6 40 5250 326AS B460F 460 6 2 148 5 2970 2 80 6 18 6 9 00 4300 1326AS B630F 460 78 142 7 2140 2 40 8 18 5 10 70 4500 326AS B660E 460 11 8 100 7 1510 3 40 8 29 8 21 50 3000 326AS B690E 460 19 0 87 3 1310 5 00 8 413 36 40 3000 326AS B840E 460 21 2 79 3 1190 4 70 8 39 5 37 60 3000 326AS B860C 460 17 6 713 1160 6 00 8 44 4 49 30 2000 326AH B330F 460 2 1 0 0 3000 0 75 9 0 3000 326AH B440F 460 3 3 0 0 2500 1 22 13 8 2500 326AH B540F 460 11 1 0 0 2500 2 60 47 2 2500 3050R 7 390 66 0 50 0 500 30 00 12 132 0 500 11050R 7 390 218 0 50 0 500 110 00 12 436 0 500 Rockwell Automation Publication PFLEX RM002D EN E August 2013 81 Chapter1 Detail Drive Configuration and Operation Position Loop Follower Technical Information Electronic Gearing General facts about using the Position Loop for follower applications e Parameter 768 PositReg P Gain is used for tuning e Parameter 770 Posit Reg Integ is normally not needed for position following applications and is disabled by factory default e The number of position counts per revolution depends on the type of feedback device used e When using an encoder for positioning the drive uses quadrature counts 1024 encoder 4096 counts per motor revolution e When using a Stegmann absolute hi resolution encoder the drive counts 1048576 counts per revolution e When using a Resolver the drive counts 65536 counts per revolution e Speed regulator tuning directly affects the position
76. 2 ak ee weeks ear EEN 14 Analog Outputs rnem pas te opu ha te strip edo Vu Vua cuarenta 15 Analog Output Specifications Leser eere Rhen 15 Analog Output ConhenrationAsien vero dee ip eee ER etn 16 road ease Sainte o peu ah oS EE 17 AUt tUfle iiu ihrer RP ne wanna KE P RETURN Spend n ve ees 17 Autotune Start Up Menus ie sea pee Ce E ERR Ee certa 17 Motor Control Tos d ae qtu ecu der ben ie ordre 18 Motor Data ood esee uev bdateesepziU velis 18 Feedback Configuration iiis tese eret t reu ES De s 18 PowerGircult Test A voeeegesde tc a vL Re CR VD PEE 18 Direction Test 19 Motor KEE 19 Inertia Tests oid esi tam tete ES er oet eet 20 Troubleshooting a MC Commissn Fail Fault during Autotune 20 Auxiliary Power Supply erede t rta re e epe etos 20 Frames doc De eyed tunel kaha ru ha a ad LARA vA a 20 Dus Repulation Braking x oseetevkasmowvEN ened sees EP RE LAT sets 20 IDescripEIOE e pesce ad QUATN Mate EE 20 Technical Informalotic vs cre oc tEo ror Era ae Or peri Lii dau 21 Bus Regulator Braking Configuration Lees eusus 21 Cable Control roses etra tU o EN 24 Cable Motor Length Si ososcer ease nete etm tf o nori isa raton de 24 Cable Power ccv ei Ec as aede al cul e COL our fd Mlle 24 Cable Traysand Conduits esed toledo ete deed Ete 24 Garriet PWM E Brequetey risus e vovv quta te EU t EL MS 25 CE Contormity ves cete Ee 26 Low Voltage Directive 2006 95 A et etu ce eer d 26 EMC Directive 20047 108 EC EE 26 C
77. 2A e Bit 4 IT Trip indicates the drive has exceed the 3 second rating of either the 150 normal duty rating or 200 of the heavy duty rating e Bit 5 IT Pending indicates the drive OL integrator is at 50 of the time out time e Bit 6 IT Foldback indicates the drive closed loop current limit is in a fold back condition The value of the fold back is proportional to the calculated junction temperature e Bit 7 Jnc Over Temp indicates the junction temperature has exceeded the maximum temperature for the power semiconductor device Rockwell Automation Publication PFLEX RM002D EN E August 2013 49 Chapter1 Detail Drive Configuration and Operation Drive Overtemperature Frame 9 Only Drive Peripheral Interface DPI 50 The drive overtemperature is 90 C The fault is detected if the heat sink temperature parameter 313 Heatsink Temp or parameter 345 Drive OL JnctImp exceeds 90 C The open loop current limit is originally designed for 2596 of the duty cycle at 11096 output current On the other side the High Horsepower drive allows 1096 of duty cycle at 11096 output current The open loop current limit function can not protect the drive overtemperature fault DPI is an enhancement to SCANport that provides more functions and better performance SCANport was a CAN based Master Slave protocol created to provide a standard way of connecting motor control products and optional peripheral devices together It allows
78. 2D EN E August 2013 0000 0001 Detail Drive Configuration and Operation Chapter 1 Calculate a speed reference based on 32768 base motor speed F12 0 32 bit floating point speed reference counts 1 speed reference RPM F12 4 base motor speed RPM Convert the 32 bit floating point speed reference into 2 16 bit intergers to send over RIO F12 0 32 bit floating point speed reference counts N10 10 LSW of speed reference to send over RIO counts N10 11 2 MSW of speed reference to send over RIO counts CPT Compute Dest F12 0 0 0 Expression F12 1 F12 4 32768 0 LES ADD Less Than A lt B Less Than A lt B Source A Red Source A F12 0 0 0 lt Source B 32768 0 32768 0 lt 65536 0 65536 0 lt Source B Source B 32768 0 32768 0 lt GRT Greater Than A gt B Source A F12 0 0 0 lt 65536 0 65536 0 lt N10 10 0 Dest Move MOV Source A 1 HE Dest N10 11 0 lt The feedback is also scaled so that base motor speed 32768 The SLC PLC 5 does not use DINT and only handle 16 bit integers so the feedback has to be handled differently to account for references above 32767 or below 32768 The following example shows how to read feedback values less than twice base motor speed but does not show the logic for the block transfer I O messages See Chapter 4 of the 20 COMM R User Manual for an example program for the
79. 33 6 727 090 2 60 8 69 0 110 00 500 MPL B880D 460 40 3 86 7 300 5 00 8 113 2 110 00 2000 MPL B960B 460 29 7 78 7 180 6 00 8 63 6 130 00 200 MPL B960C 460 38 9 76 0 140 4 80 8 88 4 124 30 500 MPL B960D 460 502 98 0 470 20 00 8 102 5 130 00 2000 MPL B980B 460 31 8 720 080 7 00 8 70 7 150 00 000 MPL B980C 460 48 2 67 3 010 6 80 8 99 0 158 20 500 MPL B980D 460 63 6 93 3 400 22 00 8 141 4 150 00 2000 MPG A004 031 230 1 8 222 7 3340 0 21 8 4 0 0 60 6000 MPG A010 031 230 2 1 189 3 2840 0 36 8 6 0 121 4875 MPG A010 09 230 0 9 295 3 4430 0 19 8 23 0 41 5900 MPG A025 03 230 9 9 81 0 1810 0 88 12 19 8 4 65 5200 MPG A025 09 230 3 0 68 0 1680 0 52 12 8 5 2 95 5625 MPG A050 03 230 24 7 20 0 1200 1 50 12 53 0 11 90 2510 MPG A050 09 230 5 0 275 0 2750 0 75 12 15 6 2 60 3775 MPG A110 03 230 20 2 22 0 1220 2 20 12 53 0 17 20 2875 MPG A110 09 230 17 0 84 0 1840 1 60 12 33 2 8 30 3500 MPG B010 031 460 1 6 62 7 2440 0 34 8 44 1 33 6450 MPG B010 091 460 0 7 357 3 5360 0 23 8 1 5 0 41 6450 MPG B025 031 460 4 0 219 0 2190 0 92 12 11 3 4 02 4838 MPG B025 091 460 19 175 0 1750 0 54 1 52 2 95 5900 MPG B050 031 460 16 3 92 0 920 1 20 1 325 1240 2510 80 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Par No 1 Par No 2 P
80. 410 PreChrg TimeOut PreCharge Delay PreChrg TimeOut 1 0 second Also see Precharge Staging on page 101 for common and shared bus drives below Figure 25 Precharge Control Functional Diagram PreChrg Selection P838 PreChrg Disc 14 select 14 Digital Input 1 1 T E select not 14 Precharge Request PreChrg Control P411 MET LS SEQ 1 Enable 0 Hold PreChrg Precharge Delay Timer Ride Through Active gt Ran Q P472 Precharge Done Enabled PWM Active gt P555 bit 11 SO Bus Voltage Stable LY ES Low Bus Voltage Za Reset gt J Precharge Timeout Fault The precharge control logic has an associated precharge timeout fault to alert the user if the precharge is not completed within the timeout period Parameter 381 PreChrg Err Cnfg provides the configuration control for the precharge timeout fault Parameter 410 PreChrgTimeout sets the period or delay for this timeout fault default 30 seconds The timeout timer is not started until the user requests a precharge either through the hardware input Digital Input 1 or through parameter 411 PreChrg Control The precharge timeout fault is intended only to alert the user that there may be a problem in the precharge control The precharge fault for the most part does not affect the precharge operation As conditions wo
81. 51 Logic Command bit 13 PositionEnbl 1 Then to allow the output of the position loop to trim the speed set parameter 740 Position Control bit 1 Speed Out En 1 Position Reference Selection For a position follower application set parameter 742 Posit Ref Sel 1 Aux PositRef This uses counts from a linked source for the position reference to the position loop Posit Ref Sel 0 Selected Interp Position Position Reference l l I Aux PositRef l l i Pt Pt Posit Ref Link parameter 742 Aux Posit Ref to the position for the feedback device For example link parameter 742 Aux Posit Ref to parameter 240 Encdr1 Position Encoder 1 position becomes the position reference for the position loop Set the EGR Electronic Gear Ratio and Speed Reference Scaling Position reference can be entered in user units by using the EGR scaling Parameters 745 PositRef EGR Mul and 746 PositRef EGR Div are used to scale the position reference x 744 PositRef EGR Out Accum Selected position A N Geared position reference D reference Deriv Gear Rat PositRef EGR Mul 745 PositRef EGR Div 746 Example In this example the encoders are mounted on the motors The motors are directly coupled to the load and we want the follower to run at 4 times the speed of the master PPRm 1024PPR PPRf 1024PPR Ratiof Ratiom 41 Rockwell Auto
82. 543 40 708 50 2 60 2 75 2 100 2 125 2 150 2 Includes HIM 2 Information not available at time of publication Rockwell Automation Publication PFLEX RM002D EN E August 2013 181 Chapter1 Detail Drive Configuration and Operation Notes 182 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Appendix A History of Changes This appendix summarizes the revisions to this manual Reference this appendix if you need information to determine what changes have been made across multiple revisions This may be especially useful if you are deciding to upgrade your hardware or firmware based on information added with previous revisions of this manual PFLEX RMOO2C EN E Topic Updated specifications and dimensions Marms section updated Added Copy Cat section Digital Inputs section updated Direction Control and Bipolar Reference section updated Added Drive Overload Temperature Frame 9 Only section Updated the Efficiency section Updated the Faults section New Flying Start section Updated drive ratings tables in the Fuses and Circuit Brakers section Updated the HIM Operations section Added compatible PMM tables to the Permanent Magnet Motors section Updated the Position Loop Follower Electronic Gearing section Added the Position Loop In Position Detect section Updated the Position Loop Point to Point s
83. 58 C 10595 SL Dir type Rx2 passthrough ue 1061 SL Dir type Rx 3 ial Int Real Coordinated ILL System SL Buf type Rx 00 Time SL Buf type Rx 01 Int Real lt 1074 gt 1073 gt SL Buf type Rx 02 Buffered Receive 64 Parameters L TP Sel Data i i Om icd 1182 1181 SL Buf type Rx 81 166 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Speed Synchronization Example Detail Drive Configuration and Operation Chapter 1 This example describes how to setup SynchLink to synchronize the ramped s curved speed reference for two PowerFlex 7008 drives using DriveExecutive Note that the Peer Communication setup in DriveExecutive configures the appropriate SynchLink parameters for you as you go through the setup Once connected to the drive select Peer Communication from the Drive menu on the menu bar DriveExecutive Lite SynchLink Demo dno lt PowerFle Sl File Edi View Drive Peripheral Tools Window Help iD uar Connect to Drive Undefined Nod Create Database 5 8 0 Powerr Cennecttolast Node1 ES Linear Upload from 0 PowerFlex 70050L amp Ga Monto Download to 0 PowerFlex o 7g Motor ra 23 pales m rz Dynam Re ELSE ED Q Speed B E Sp Faults and Alarms 2S Torque Ga Proces Non Volatile Memory CQ Positiol Groups Ba Speed Properties A dialog box similar to the one shown below displays This is
84. Automation Publication PFLEX RM002D EN E August 2013 79 Chapter 1 Detail Drive Configuration and Operation Par No 1 Par No 2 Par No 3 Par No 4 Par No 5 Par No 7 Current System Motor Motor NP Volts Motor NP FLA Motor NP Frequency Motor NP RPM Motor NP Power MotorPoles peak Cont Stall Max RPM A rms Torque line to line A rms Hz oper rpm KW N m Model No Vrms MPL B420P 460 45 255 3 3830 1 90 8 9 2 4 74 5000 MPL B430P 460 6 5 2333 3500 240 8 12 0 6 55 5000 MPL B4520P 460 6 0 260 7 3910 2 50 8 17 0 6 10 5000 MPL B4530F 460 5 0 167 3 2510 2 20 8 13 4 8 36 3000 MPL B4530K 460 78 198 0 2970 2 60 8 19 1 8 36 4000 MPL B4540F 460 64 187 3 2810 3 00 8 163 10 20 3000 MPL B4560F 460 83 1447 2170 3 20 8 25 5 14 10 3000 MPL B520K 460 8 1 208 0 3120 3 50 8 233 10 70 4000 MPL B540K 460 14 5 1773 2660 5 40 8 42 4 19 40 4000 MPL B560F 460 14 5 123 3 1850 5 40 8 42 4 27 90 3000 MPL B580F 460 18 4 132 7 1990 7 10 8 66 5 34 00 3000 MPL B580J 460 22 6 101 3 1520 5 40 8 66 5 34 00 3800 MPL B640F 460 22 7 106 0 1590 6 10 8 46 0 36 70 3000 MPL B660F 460 27 2 81 3 1220 6 15 8 67 9 48 00 3000 MPL B680D 460 24 0 123 3 1850 9 30 8 66 5 48 00 2000 MPL B680F 460 33 9 79 3 1190 7 50 8 67 9 60 00 3000 MPL B860D 460 33 6 96 0 1440 12 50 8 67 5 83 00 2000 MPL B880C 460
85. Click on the Link Data tab 172 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 9 Select P 1055 SL Dir Real Rx0 in the Selected Parameters list Parameter 37 Spd Ref Bypass Properties Value Link Data Documentation m Link Source C No Link Parameter Find Parameter I Selected Parameter P 1048 SL Rx Opti Regis 4 P 1054 SL Dir Int Ref P 1055 SL Dir Real Rx0 P 1056 SL Dir Int Rxl Function Block Block Node Available Drive Links 1 P ier Hal Total Drive Links 200 _Parameter Hep ELEN Cancel 10 Click OK Note that by linking to Spd Ref Bypass of the follower the ramp and S Curve of the follower were bypassed This is because the reference is already ramped and S Curved by the master This way both drives follow exactly the same ramp Cycle Power You must power down all drives before SynchLink changes take effect 1 Remove power from all drives 2 Apply power to the Master The SynchLink LED should be solid green The SynchLink LED is on the top right of the MCB and is visible through the window on the control assembly 3 Apply power to the follower s The SynchLink LED on the follower should be a solid light after about 1 minute Rockwell Automation Publication PFLEX RM002D EN E August 2013 173 Chapter1 Detail Drive Configuration and Operation Sync Ge
86. ControlNet 26 ControlLogix Programming 31 Datalinks Programming 32 Explicit Messaging 32 Setup Information 26 Technical Information 28 Copy Cat 33 Current Limit 33 D Datalinks Configuration 34 Decel Time 36 DeltaSpeedScale 68 DeviceNet 36 DigIn 1 Sel 43 DigIn 2 Sel 44 DigIn 3 Sel 44 DigIn x Data 44 Digln x Debounce 44 DigIn x User Data 44 Digital Inputs 42 Digital Outputs 46 Direction Control Bipolar Reference 47 Distribution Systems 176 177 Unbalanced 176 Ungrounded 176 DPI 50 Drive OL JnctTmp 50 Drive OL Status 49 Drive Overload 48 DriveLogix 52 Dynamic Braking 53 Efficiency 53 Electronic Gearing 53 Encdr x Config 139 Encdr1 Position 93 Encoder x PPR 138 Exception Event1 150 151 Faults 54 Fdbk LsCnfg Alt 150 Fdbk LsCnfg Pri 150 Field Oriented Control 19 Filters 54 Friction Compensation 64 Functions 177 FVC Mode Config 150 Rockwell Automation Publication PFLEX RM002D EN E August 2013 185 Index 186 FW Functions En 93 G Grounding General 66 Heatsink Temp 50 HIM Memory 66 Operations 66 HS OverTemp 49 HS Pending 49 Human Interface Module User Display 66 Inertia Adaptation 67 Inertia Compensation 68 Inertia Torq Add 68 InertiaAccelGain 68 Input Devices 69 Input Modes 69 Input Power Conditioning 69 IT Foldback 49 IT Pending 49 IT Trip 49 J Jnc Over Temp 49 Jog 69 L Lead Lag Filter 56 Links 70 Logic Command 68 92 149 151 Low P
87. E August 2013 105 Chapter1 Detail Drive Configuration and Operation Remote UO Adapter 20 COMM R 106 No Correction vs Correction Method at 4 kHz and 8 kHz Carrier Frequencies Vbus 650 fe 60 Hz 2 6 No Correction 4 kHz Carrier 2 5 Corrected 4 kHz Carrier 1 24 No Correction 8 kHz Gamer Corrected 8 kHz Carrier 9 23 i P S 22 o gt 21 PUE a ej ee ee ee eee ge gt 2 Ss wa ule amp 19 wee Laer 1 8 Lf 1 6 0 100 200 300 400 500 600 Cable Length Feet Refer to http www ab com support abdrives documentation index html for detailed technical papers This serves as a supplement to the PowerFlex Remote I O Adapter User Manual publication 20COMM UM004 addressing items specific to the PowerFlex 7008 Please see the User Manual for details on 20 COM M R set up configuration rack configurations and block transfers General facts about the 20 COMM R refer to Chapter 4 of the PowerFlex Remote I O Adapter Users Manual for details e Remote I O RIO is based on 16 bit integer values e Can only be configured as a or rack When configured as a rack the reference and feedback are transmitted through block transfer I O When configured as a rack the reference and feedback are transmitted through discrete I O See Chapter 4 of the 20 COMM R User Manual for examples of programming the di
88. Equipment PPE Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment PPE gt gt gt Allen Bradley ControlLogix DPI DriveExecutive DriveExplorer DriveLogix PLC 5 PowerFlex Rockwell Software Rockwell Automation SCANport SLC and SynchLink are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Summary of Changes This manual contains new and updated information New and Updated This table contains the changes made to this revision Information Removed the Specification and Dimension information Chapter 1 20D UM001 Removed fuse and circuit breaker information and tables 20D UM001 Changes to this manual for previous revisions are included in Appendix A History of Changes on page 183 Rockwell Automation Publication PFLEX RM002D EN E August 2013 3 Summary of Changes Notes 4 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Preface Detail Drive Configuration and Operation Table of Contents Additional Resoutcesci codi dos Stet I ERROR IPOD RHET ERES 11 Chapter 1 ANecel Dess ss edad qii suu Rs breite are umen eek Cot SEN 13 JN AERIS EES 13 Configurati n ME Mn 13 Application Examples i 2 ro eR YS 14 Analog Inputs sae inde E Ux A Rr EEEE NE YEN eee THERE 14 Analog Input Specifications 427224 cL a EE ek tate RA S E wees 14 Analog Input Configuration 2
89. Flux Current For Permanent Magnet Control the following motor tests are performed Stator Resistance Test This test identifies the motor stator resistance and stores the value into parameter 522 PM Stator Resist The motor should not rotate during this test Stator Inductance Test This test identifies the motor stator inductance and stores the value into parameter 520 PM Q Inductance and 521 PM D Inductance The motor should not rotate during this test Encoder Offset The absolute position sensor counter offset from the rotor flux center position for a Permanent Magnet PM motor This value is determined by an automated measurement procedure which uses parameter 505 PM TestWait Time 506 PM Test Idc Ramp 507 PM Test FreqRamp 508 PM Test Freq Ref and 509 PM Test Ref First the Flux Producing d axis current is applied to the stator starting with 0A and with 0 Hz Current increases with the ramp rate defined by parameter 506 PM Test Idc Ramp to the peak current value defined by parameter 509 PM Test Ref The current is continuously applied at this level for the time interval defined by parameter 505 PM TestWait Time Then the DC excitation position will be changed by 90 electrical degrees with the frequency defined by parameter 508 PM Test Freq Ref and the rate change of the frequency defined by parameter 507 PM Test FreqRamp The 90 degree phase shifted d axis current with the current value defined b
90. In B1 O Data 5 DINT 5 Datalink B2 Fr P713 Data In B2 Int P714 Data In B2 O Data 6 DINT 6 Datalink C1 L P715 Data In C1 Int PP16 Data In C1 O Data 7 DINT 7 Datalink C2 gt P717 Data In C2 Int D718 Data In C2 O Data 8 DINT 8 Datalink D1 3 FP719 Data In D1 Int gt P720 Data In D1 O Data 9 DINT 9 Datalink D2 gt P721 Data In D2 Int P722 Data In D2 ControlNet DPI ControlLogix Adapter PowerFlex 700S Output Image I Data 1 DINT 0 Logic Status 16 lt P158 Drive Logic I Data 2 DINT 1 Feedback 16 lt P72 SpeedRef DPI I Data 3 DINT Le 2 Datalink A1 L P707 Data In A1 Int lt P708 Data In A1 I Data 4 DINT lt 3 Datalink A2 keet P709 Data In A2 Int Ie P710 Data In A2 I Data 5 DINT Le 4 Datalink B1 lt P711 Data In B1 Int Ie P712 Data In B1 l Data 6 DINT Le 5 Datalink B2 lt _ P713 Data In B2 Int eu P714 Data In B2 Data 7 DINT Le 6 Datalink C1 lt P715 Data In C1 Int lt P716 Data In C1 Data 8 DINT Le y Datalink C2 kl P717 Data In C2 Int L P718 Data In C2 l Data 9 DINT 8 Datalink D1 n P719 Data In D1 Int lt P720 Data In Di I Data 10 DINT Le 9 Datalink D2 M P721 Data In D2 Int Pan P722 Data In D2 CIP Generic Message Message Message Source and Destination lt gt Buffer lt gt Handler Tags 1 Bits0 15 2 Notaffected by parameter 73 Spd Fdbk Scale Rockwell Automation Publication PFLEX RM002D EN E August 2013 29 Chap
91. Int 1 Output Configuration e Parameter 1370 Switch Control bit 1 SW Int 1 On activates the switch e The value of parameter 1371 SW Int 1 NO is moved into parameter 1373 SW Int 1 Output when bit 1 SW Int 1 On of parameter 1370 Switch Control is on e The value of parameter 1372 SW Int 1 NC is moved into parameter 1373 SW Int 1 Output when bit 1 SW Int 1 On of parameter 1370 Switch Control is off e SW Int 1 Output contains the value of either SW Int 1 NO or SW Int 1 NC 178 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Two Position Floating Point Switch Switch Control SW Int 1 On 4370 1 SW Int1 NO C4371 SW Int 1 NC 4372 0 13735 SW Int 1 Output Configuration e Parameter 1370 Switch Control bit 2 SW Real 1 On activates the switch e The value of parameter 1374 SW Real 1 NO is moved into parameter 1376 SW Real 1 Output when bit 2 SW Real 1 On of parameter 1370 Switch Control is on e The value of parameter 1375 SW Real 1 NC is moved into parameter 1376 SW Real 1 Output when bit 2 SW Real 1 On of parameter 1370 Switch Control is off e SW Real 1 Output contains the value of either SW Real 1 NO or SW Real 1 NC Time Axis Generator Ramps the output of the function generator at the rate in parameter 200 Time Axis Rate e When parameter 183 PI Command bit 1 Time
92. Jload is the load inertia seconds e Kspring is the coupling spring constant rad2 sec Figure 20 shows a two mass system with a resonant frequency of 62 rad sec One Hertz is equal to 2p rad sec Figure 20 Resonance 62 rad oscillation no comp 1 6 T T T T T T T T Motor Torque Motor PU Roll PU The small inset shows a better representation of resonant frequency better The PowerFlex 700S has a notch filter in the torque reference loop to eliminate such noise from the system The notch filter frequency is parameter 118 Notch Filt Freq Due to the fact that most mechanical frequencies are described in Hertz Notch Filt Freq is in Hertz as well Figure 21 on page 61 shows the same mechanical gear train as in Figure 20 Notch Filt Freq is set to 10 60 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Figure 21 10 Hz Notch Notch 10Hz 62rad oscillation T T T T T I I Motor Torque Motor PU Roll PU 0 8 0 6 0 4 0 2 Condusion There are several filters used in the PowerFlex 700S for various applications The process trim uses a simple low pass filter to eliminate undesirable noise in the feedback circuit The cut off frequency of the low pass filter is set by parameter 184 PI Lpass Filt BW Typical values would range from 15 20 rad sec The speed loop uses a se
93. Lim En or parameter 151 Logic Command bit 3 Time Axis En 1 the output ramps from 0 0000 1 0000 at the Time Axis Rate set in Time Axis Rate e When parameter 183 PI Command bit 1 Time Lim En or parameter 151 Logic Command bit 3 Time Axis En 0 the output ramps from 1 0000 0 0000 at the Time Axis Rate set in Time Axis Rate Time Axis Output Time Axis Rate 2005 PI Command e f 1 Time Lim En OR Time Func Generator Logic Command Cist EI EM Time Axis En Rockwell Automation Publication PFLEX RM002D EN E August 2013 179 Chapter1 Detail Drive Configuration and Operation Voltage Class 180 Limit Generator The limit generator generates a high and low limit based on an input e The input parameter 206 LimGen X axis In is a linkable destination for floating point parameters The input range is 0 0000 1 0000 e The output is equal to parameter 205 LimGen Y axis Mn when the input is equal to 0 0000 e The output is equal to parameter 204 LimGen Y axis Mx when the input is equal to 1 0000 e The output is available as a positive output parameter 207 Limit Gen Hi Out and a negative output parameter 208 Limit Gen Lo Out Limit Gen Hi Out LimGen X axis In Limit Gen Lo Out Limit Generator LimGen Y axis Mn LimGen Y axis Mx 204 5 PowerFlex drives are sometimes referred to by voltage class This class identifies the general input v
94. O 6 0ms 1 1 1 1 6 0ms Parameter 260 Hi Res0 Status indicates faults on the Hi Resolution Encoder Feedback Option e Bit 8 Open Wire indicates an open wire fault e Bit 9 Power Fail indicates the failure of the power supply e Bit 10 Diag Fail indicates the option board failed its power up diagnostic test e Bit 11 Msg Checksum indicates a message checksum fault e Bit 12 Time Out Err indicates a RS 485 time out fault e The remaining bits are reserved not used 144 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Resolver Feedback Option Parameter 266 Reslvr0 Config is used to configure the resolver feedback option Setting bit 0 Cable Tune enables the cable tuning test resetting the bit to zero disables the test This test automatically runs on power up to measure the IR drop in the resolver cable Bit 1 Reserved not used Bits 2 Resolution 0 and bit 3 Resolution 1 select the resolver resolution see Table 11 Setting bit 4 Energize energizes the resolver resetting the bit to zero de energizes it Bit 5 Resolver Dir determines counting direction If clear direction is forward or up If set the direction is reverse or down Bit 9 Reserved not used Bits 10 Reserved not used Bits 12 15 SmplRate bt 0 SmplRate bt3 configure the s
95. Position Loop Position Watch 92 For example with parameter 90 Spd Reg BW 40 rad sec set parameter 26 Spd Irim2 Filt BW 200 rad sec and set parameter 25 Strim2 Filt Gain 5 The lead lag filter will effectively cancel the 1 40 second lag This will allow a higher PositReg P Gain for increased stability Parameter 761 Pt Pt Filt BW sets the bandwidth of a low pass filter which affects smoothness at the start of deceleration in point to point mode A high filter bandwidth will produce a more square deceleration torque one with a higher level of jerk Typical values are 5 100 rad sec A zero value will bypass the filter Too high of a value in Pt Pt Filt BW will cause unstable operation at the end of the move The Default 25 rad sec Jogging When you want to jog the PowerFlex 7008 turn off parameter 740 Position Control bit 1 Speed Out En to disable the position loop output Point to Point Re Reference Parameter 740 Position Control bit 10 Pt Pt ReRef allows the user to perform a position redefine when active When this bit is set the position reference in parameter 758 Pt Pt Posit Ref can be changed to the position value desired for the current location This can be used as a home zero setup by moving the load to the home position Example Set parameter 740 Position Control bit 10 Pt Pt ReRef 1 Then set parameter 758 Pt Pt Posit Ref 0 Also if Pt Pt Posit Ref is set toa
96. PowerFlex700S 02 0 Data 0 7 8 PF700S_CurrLim_Stop PowerFlex700S 02 0 Data 0 PF700S Coast Stop PowerFlex700S 02 0 Data 0 9 Technical Information To use the 20 COMM C with the PowerFlex 700S the 20 COMM C must be v1 003 firmware or later The Logic Command and Logic Status are 32 bit data but only the first 16 are used The bit definitions ofthe Logic Command word follow the same pattern as parameter 158 Drive Logic Rslt The bit definitions of the Logic Status word follow the same pattern as bits 0 15 of parameter 155 Logic Status Reference and Feedback are 16 bit unsigned integer data Datalinks are 32 bit data Figure 4 on page 29 shows I O Image table for a ControlLogix system I Data 0 is reserved Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Figure 4 ControlLogix 1 0 ControlNet DPI ControlLogix Adapter PowerFlex 700S Output Image O Data 0 DINT 0 Logic Cmd 16 P158 Drive Logic O Data 1 DINT 1 Reference 16 P20 SpeedRef DPI O Data 2 DINT 2 Datalink A1 F P707 Data In A1 Int P708 Data In A1 O Data 3 DINT amp Datalink A2 I 9 P709 Data In A2 Int D710 Data In A2 O Data 4 DINT 4 Datalink B1 F P711 Data In B1 Int 1P712 Data
97. Publication PFLEX RM002D EN E August 2013 13 Chapter1 Detail Drive Configuration and Operation Application Example Parameter 376 Inv Ol Pend Cnfg is set to a value of 1 Alarm This configures the drive to set the alarm bit parameter 326 Alarm Status 1 bit 15 Inv OL Pend when the inverter overload pending event occurs This alarm will allow the drive to continue running The user can make the decision as to what action to take in relation to the alarm Analog Inputs Analog Input Specifications There are 2 analog inputs located on TB1 Row B Bottom Terminals Each input accepts a 10V or 1V bipolar differential signal Dip switches SW 1 1 and SW 1 2 are used to select whether the analog inputs are 10V or 1V The A D converter is 14 bits including the sign bit 13 bits plus the sign bit Analog Input Configuration Once the Analog Input is converted Anlg Inx Offset can be applied This parameter has a range of 20V Anlg Inx Volts is the sum of the A D output and Anlg Inx Offset Anlg Inx Volts are displayed as 10V Anlg Inx Scale scales Anlg Inx Volts to the range of Anlg Inx Data A destination parameter such as a speed reference can then be linked to Anlg Inx Anlg In2 FitBW 8 be Da
98. Publication PFLEX RM002D EN E August 2013 17 Chapter 1 18 Detail Drive Configuration and Operation Motor Control The Motor Control submenu asks you to select the motor control operating mode which sets the parameter 485 Motor Ctrl Mode Choices are FOC FOC2 Pmag Motor and Test e FOC selects field oriented control This should be the selection for AC squirrel cage induction motors e FOC2 selects field oriented control and is only used for a specific type of AC induction motor with motor thermal feedback e Pmag Motor selects control for permanent magnet motors e Test puts the drive in a test mode to perform the direction test Test is automatically selected during the direction test portion of the Start Up routine and does not need to be set manually by the user Next the motor control submenu prompts you to select whether you have no dynamic braking an internal resistor for dynamic braking or an external resistor for dynamic braking When no dynamic braking is selected the bus regulator is turned on see Bus Regulation Braking on page 20 of this manual for more details Motor Data This submenu asks you to enter whether the motor power is in units of KW or HP Then you are prompted to enter the motor nameplate data Accurate motor nameplate data is important for tuning the drive to the connected motor Feedback Configuration The Feedback Configuration submenu asks
99. RIO_700S_Fdbk_RPM 0 06 Expression RIO_700S_Fdbk_DINT 32768 RIO_700S_Base_M do Speed Datalink Programming To read datalinks the bits in parameter 723 Dlink OutDataIyp must be set appropriately for each Datalink to select whether the data is floating point or DINT Because the datalinks are transmitted and received through block transfers the data type in the controller is limited to 16 bit integers To write or read floating point or 32 bit integers the COP copy instruction must be utilized The copy instruction in ControlLogix performs a bitwise copy Set the length of the copy instruction to a value appropriate for the destination data type Rockwell Automation Publication PFLEX RM002D EN E August 2013 111 Chapter1 Detail Drive Configuration and Operation Example e When copying a floating point value into an integer register the length will be 2 A single precision IEEE floating point value uses 32 bits This means two 16 bit integers are required to properly transmit the data e When copying two integer values the low and high word of 32 bit data into a floating point register the length will be 1 Explicit Block Transfer Messaging Explicit block transfer messaging is used to configure the drive and monitor data from the drive This type of block transfer is different than the block transfer used to transmit and receive datalinks Chapter 5 of the 20 COMM R User Manual shows the format of the block tran
100. Ref Hi Lo 02 amp Bus Reg En 03 Torque Neg Limit Bus Regulator Braking Configuration Parameter 414 Bus Brake Cnfg determines the configuration of bus regulation and dynamic braking Parameter 414 is broken down into the following bits Bit 0 Brake Enable When this bit is set to 1 it enables the internal brake transistor seventh IGBT When this bit is set to 0 then the internal brake transistor is disabled Bit 1 Brake Extern When this bit is set to a 1 it configures the brake operation for an external resistor Then the external brake resistor protection is based on the peak watts entered into parameter 416 Brake PulseWatts and the continuous watts entered in parameter 417 Brake Watts When this bit is set to 0 it configures the brake operation for an internal resistor Then 416 Brake PulseWatts and 417 Brake Watts are not active Bit 2 BusRef Hi Lo This bit configures whether bus regulation or dynamic braking turns on first This bit is only active when parameter 414 Bus Brake Cnfg bits 0 and 3 are both set to 1 When this bit is set to 1 the dynamic braking turns on first at the DC bus voltage set by parameter 415 Bus Reg Brake Ref and then the bus regulator turns on if the DC bus voltage continues to rise at the DC bus voltage set by 415 Bus Reg Brake Ref plus 4 596 When this bit is set to 0 the bus regulator turns on first at the DC bus voltage set by 415 Bus Reg Brake Re
101. Reference Manual Allen Bradley PowerFlex 700S Adjustable Frequency AC Drive Phase Control Catalog Numbers 20D Allen Bradley Rockwell Software Automation Important User Information Read this document and the documents listed in the additional resources section about installation configuration and operation of this equipment before you install configure operate or maintain this product Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes laws and standards Activities including installation adjustments putting into service use assembly disassembly and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice If this equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of
102. Spd Ref Bypass is linked to S Curve Spd Ref However if you wish to bypass the rest of the speed reference control loop Spd Ref Bypass gives the capability to link to other parameters S Curve Spd Ref Spd Ref Bypass 43 ink CT Delayed Spd Ref One Scan Delay Parameter 45 Delayed Spd Ref is delayed by one scan of the speed control loop Spd Ref Bypass can be linked to Delayed Spd Ref instead of S Curve Spd Ref for use in SynchLink applications See SynchLink on page 160 for more details Inertia Compensation Inertia compensation is used to calculate the level of torque required due to load inertia during speed changes For more information on inertia compensation see Inertia Compensation on page 68 Friction Compensation The friction compensation block is used to calculate breakaway torque and the torque needed just to keep the motor running at a constant speed due to friction For more information on friction compensation see Friction Compensation on page 64 Virtual Encoder The virtual encoder block generates a position counter based on the speed reference in S Curve Spd Ref Parameter 61 Virt Encoder PPR is used to specify the desired pulses per revolution for the virtual encoder The virtual encoder block will count at a rate of 4 times Virt Encoder PPR per one revolution of the motor For example if Virt Encoder PPR is 1024 the virtual encoder block will count at a rate
103. TTENTION The Flying Start function is only used for sensorless operation In all other cases the motor speed is known from the feedback device and a normal start may be used even if the motor is rotating providing the user has determined that the system is safe for re starting while rotating Sensorless Flying Start Operation There two modes available for the frequency search last known frequency and preset frequency search Last Know Frequency The last know frequency is the fastest method of flying start with an initial search frequency starting at the last known operating frequency This mode will search from the last known frequency toward zero frequency and if the motor speed is not found perform a start from zero speed If the motor speed could reverse or increases to a larger speed a pull out or over voltage fault could occur If a reversal or increase in motor speed could occur the preset frequency search should be used Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Preset Frequency Search The preset frequency search starts the frequency search at the value set in parameter 451 SrLss Preset Spd From this initial search frequency the search will move towards zero Once zero frequency is reached the algorithm will reset to the opposite direction at the same initial frequency and again search toward zero If zero is reached a second time the drive will
104. The bypass function is needed for normal drive operation to avoid overloading the current limiting device In general when precharge is active the current limiting device is in circuit and when precharge is done the bypass device is active see exceptions below The ride through function can provide a motor coast precharge and auto restart sequence of operation in the event of an input power dropout power loss and return First the drive stops PWM operation coasting the motor and saving any remaining power stored in the drive s bus capacitor s for extended control logic operating time Next the precharge function limits the drive s inrush current in the event that the incoming power to the drive is restored Last after the power is Rockwell Automation Publication PFLEX RM002D EN E August 2013 95 Chapter 1 96 Detail Drive Configuration and Operation restored and the precharge has completed ride through allows the drive to continue normal operation applying power to the motor again This operation is intended to protect the drive from excessive inrush currents in the presence of input AC line disturbances and allows the drive to continue normal operation without user intervention However there is also a concern for safe auto restart operation By default the drive is configured to fault and not auto restart if the power line dropout lasts more than two seconds configuration at the system and user level Incorrect selecti
105. a sets the value of DigIn x User Data except for the bit chose in DigIn x Bit e DigIn x Data determines the bit you wish to toggle based on whether the digital input is on or off 44 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 e DigIn x User Data will have the same bits that are set in DigIn x Data Then the bit that was chosen in Digin x Bit will toggle based on whether the digital input is on or off A designation sink parameter is then linked to DigIn x User Data so that it determines the value of that sink parameter Configuration Example DigIn 1 will be setup to determine the value of Speed Ref Sel DigIn 1 will toggle Speed Ref Sel between a value of 1 Speed Ref 1 and 5 Speed Ref 5 e DigIn 1 Sel User Select e DigIn 1 Data 0000 0000 0000 0000 0000 0000 0000 0001 e DigIn 1 Bit 2 This means when we toggle Digital Input 1 bit 2 of DigIn 1 User Data will toggle When Digital Input 1 is off DigIn 1 User Data will be equal to DigIn 1 Data In other words DigIn 1 User Data will equal 0000 0000 0000 0000 0000 0000 0000 0001 a value of 1 When Digital Input 1 is on DigIn 1 User Data will be equal to DigIn 1 Data plus whatever bit was set in DigIn 1 Bit In other words DigIn 1 User Data will equal 0000 0000 0000 0000 0000 0000 0000 0101 a value of 5 Speed Ref Sel is linked to DigIn 1 Us
106. ail Drive Configuration and Operation Chapter 1 Watts with typical values in the range of 30 to 100 times higher than the resistor s continuous power rating Parameter 416 Brake Pulse Watts Resistors peak energy in Joules 1 second where the resistor package s peak energy rating is obtained from the resistor manufacturer When the resistor package s peak energy rating cannot be obtained there are a few other ways to approximate parameter 416 Brake Pulse Watts Brake Pulse Watts 75 000 watts lb x Resistor element weight Ib where 75 000 represents a specific heat of 0 11 cal Kg C steel or nichrome and a temperature rise of 350 C and the resistor element weight is the total weight of the resistor wire element in pounds not the entire weight of the resistor cage For example a resistor with a nichrome element that weights 10 Ib would have Parameter 416 Brake Pulse Watts 75 000 x 10 750 000 Watts Brake Pulse Watts Time Constant x parameter 417 Brake Watts where the Time constant equals the amount of time for the resistor to reach 6396 of its rated temperature with applied rated watts parameter 417 Brake Watts Parameter 417 Brake Watts sets the continuous watts for determining the protection for an external brake Enter the continuous watt rating of the resistor cage found on the resistor cage nameplate or from the resistor manufacturer for this parameter This parameter is active only if
107. al The value that is sent to Data In Al Real from the controller will show up in Torque Ref 1 Data In A1 Real is used because Torque Ref 1 is a real integer parameter Data Out Parameters Data Out x Int and Data Out x Real parameters are outputs from the drive to the controller and are used to read parameters A total of 8 parameters can be read with the Data Out parameters In the 700S each parameter is either a 32 bit integer or a 32 bit floating point real This means that the datalink parameters are 32 bits Parameter 723 Dlink OutDatalIyp is used to select whether each of the 8 Data Out data is an integer or real To read a 16 bit or 32 bit integer parameter one of the Data Out x Int parameters must be linked to the desired integer parameter Then the bit corresponding to the Data In x Int parameter in Dlink OutDataType is set to 0 To read to a real parameter one of the Data Out x Real parameters must be linked to the desired real parameter Then bit corresponding to the Data Out x Real parameter in Dlink OutData Type is set to 1 Example Configuration 3 Reading an Integer Parameter Using a Datalink e 724 Data Out AI Int is linked to 741 Position Status e 723 Dlink OutData Type bit 0 is set to 0 The value from Data Out AI Int to the controller contains the value of Position Status Data Out A1 Int is used and Dlink OutDataIype bit 0 is set to 0 because Position Status is
108. al publication 20D UM001 Description Provides the basic information needed to install start up and troubleshoot the PowerFlex 700S Phase Control AC drive PowerFlex 700S AC Drive Conversion Guide Phase to Phase I Control publication 20D AT001 Provides an aid in converting a PowerFlex 700S Phase control drive to a Phase II control drive Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Provides general guidelines for installing a Rockwell Automation industrial system Product Certifications website http www ab com You can view or download publications at Provides declarations of conformity certificates and other certification details http www rockwellautomation com literature To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative Rockwell Automation Publication PFLEX RM002D EN E August 2013 11 Preface Notes 12 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Accel Time Alarms Chapter 1 Detail Drive Configuration and Operation This chapter explains PowerFlex 700S drive functions in detail Explanations are organized in alphabetically by topic Refer to the Table of Contents for a listing of topics in this chapter ATTENTION Only qualified personnel familiar with the PowerFlex 7005 Drive N and associated machinery should plan or implem
109. al Output Status Bits Local I O Status bits 16 18 indicate the status of the digital outputs and can be used for troubleshooting the digital outputs The bits are broken down as follows e Bit 16 Digital Output 3 Output Relay e Bit 17 Digital Output 1 Aux Out 1 e Bit 18 Digital Output 2 Aux Out 2 When the bit in Local I O Status associated with the digital output is set 1 the digital output is turned on When the bit associated with the digital output is not set 0 the digital output is turned off The direction of rotation of the motor can be controlled by a forward reverse command or by the use of a bipolar signal Parameter 153 Control Options bit 0 Bipolar Sref selects this option When this bit is enabled 1 a bipolar speed reference is used In bipolar reference mode Par 40 Selected Spd Ref indicates both the speed magnitude and the direction Positive speed reference values forward direction and negative speed reference values reverse direction When this bit is disabled a unipolar speed reference is used In unipolar mode the speed reference is limited to a minimum value of zero 0 shown by the Max selection block as shown in the diagram below In this case Par 40 Selected Spd Ref supplies only the speed magnitude The direction is determined by Par 153 Applied LogicCmd bits 20 UniPol Fwd and 21 UniPol Rev The forward reverse direction Rockwell
110. ameter 74 Motor Spd Est Parameter 75 MtrSpd Est Posit is an estimated position for sensorless mode It is calculated based on Est Speed Fdbk and the value in parameter 226 Virtual Edge Rev Virtual Edge Rev is a user defined value for the number of pulses per motor revolution Est Speed Fdbk Motor Spd Est gt lt n Qu 4096 MtrSpd Est Posit Virtual Edge Rev Motor Simulator The simulator mode allows the drive to be operated without a motor connected and is meant for demo purposes only If a motor is connected with this mode selected very erratic and unpredictable operation will occur Parameter 76 MtrSpd Simulated contains the simulated speed feedback and is scaled in units of RPM Parameter 70 MtrSpd Sim Posit contains the simulated position feedback It is calculated based on the simulated speed feedback and the value in Virtual Edge Rev Virtual Edge Rev is a user defined value for the number of pulses per motor revolution MtrSpd Simulated S Spd Calc Accum MtrSpd Sim Posit Virtual Edge Rev 226 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Feedback Option Cards There are three different feedback option cards that can be installed on the PowerFlex 700S e The Hi Resolution Encoder Feedback Option Card e The Resolver Feedback Option Card e The Multi Device Interface MDI Option Card Only one
111. ample interval for measuring speed refer to Table 12 Increasing the resolver sample interval improves speed measurement near zero speed Decreasing the resolver sample interval allows the speed control regulator to perform with high gains at high speeds Table 11 Resolution Settings Bit 2 Resolution Setting 0 10bit el el wo 1 12 bit default setting 0 14 bit 1 16 bit Rockwell Automation Publication PFLEX RM002D EN E August 2013 145 Chapter 1 146 Detail Drive Configuration and Operation Table 12 Resolver Sample Interval Bit 15 14 13 12 Resolver Sample Interval Settings 0 00 JO 0 5ms 0 0 0 1 0 5ms min setting 0 0 1 JO 1 0ms 0 0 1 1 1 5ms 0 1 0 0 2 0ms default setting 0 1 0 1 2 5ms 0 1 1 JO 3 0ms 0 1 1 1 35ms 1 0 JO O 40ms 1 0 0 1 45ms 1 0 1 0 50ms 1 0 1 1 55ms 1 1 0 0 6 0ms max setting 1 1 JO 1 60ms 1 1 1 0 60ms 1 1 1 1 6 0ms Parameter 270 Reslvr0 SpdRatio specifies the speed ratio for the resolver option card at port 0 The speed ratio comes from the following formula Speed ratio electrical revolutions mechanical revolutions pole count 2 Parameter 271 Reslvr0 Carrier specifies the resolver carrier frequency for the resolver option card at port 0 Parameter 272 Reslvr0 In Volts specifies the
112. ar No 3 Par No 4 Par No 5 Par No 7 Current System Motor Motor NP Volts Motor NP FLA Motor NP Frequency Motor NP RPM Motor NP Power Motor Poles peak Cont Stall Max RPM Arms Torque line to line A rms Hz oper rpm KW N m Model No Vrms MPG B050 091 460 3 4 290 0 2900 0 79 12 9 9 2 60 4560 MPG B110 031 460 12 9 112 0 1120 2 00 12 31 1 17 00 2420 MPG B110 091 460 10 6 184 0 1840 60 12 20 5 8 30 3500 1326AB B410G 460 25 118 0 3540 00 4 74 2 70 5000 1326AB B410J 460 35 165 0 4950 40 4 10 4 2 70 7250 1326AB B420E 460 28 70 0 2100 10 4 85 5 00 3000 1326AB B420H 460 5 5 1373 4120 2 20 4 15 6 5 10 6000 1326AB B430E 460 3 9 67 7 2030 A0 4 11 7 6 60 3000 1326AB B430G 460 5 6 1143 3430 2 30 4 16 8 6 40 5000 1326AB B515E 460 6 1 70 3 2110 2 30 4 18 3 10 40 3000 1326AB B515G 460 9 5 88 7 2660 2 90 4 28 5 10 40 5000 326AB B520E 460 67 71 0 2130 2 90 4 20 1 13 00 3000 326AB B520F 460 8 8 703 2110 2 90 4 264 13 10 3500 326AB B530E 460 9 5 743 2230 4 20 4 28 5 18 00 3000 326AB B720E 460 175 70 0 2100 6 80 4 52 5 30 90 3500 326AB B720F 460 27 5 117 0 3510 11 70 4 66 5 31 80 5000 326AB B730E 460 22 8 78 3 2350 9 60 4 66 5 39 00 3350 326AB B740C 460 20 9 523 1570 8 70 4 62 7 53 00 2200 326AB B740E 460 320 79 7 2390 12 70 4 66 5 50 80 3400 0 0 326AS B310H 460 0 8 204 5 4090 0 30 6 24 0 70 6200 326AS B330H 460 2 1 204 5 4090 0 90 6 6 0 2 10 6500 326A5 B420G 460 2 6 179 0 3580 1 20 6 78 3 20 5250 326A5 B440G 460 54 149 0 2980
113. arameters are e No Dat No data is selected for that transmit word e Dir Tx Data Use this selection to transmit a parameter SynchLink Direct Data Direct Data Transmit Parameters Parameter 1140 Tx Dir Data Type bits 0 through 3 select whether the direct data words transmitted over SynchLink will be integer or floating point When the bit is turned off it means the data transmitted will be integer When the bit is turned on it means the data transmitted will be floating point Odd parameters 1141 SL Dir Int Tx0 through 1147 SL Dir Int Tx3 contain the integer values for data transmitted to SynchLink These parameters can be linked to integer source parameters Even parameters 1142 SL Dir Real Tx0 through 1148 SL Dir Real Tx3 contain the floating point values for data transmitted to SynchLink These parameters can be linked to floating point source parameters Direct Data Receive Parameters Even parameters 1054 SL Dir Int Rx0 through 1060 SL Dir Int Rx3 contain the integer values for data received from SynchLink An integer destination parameter can be linked to these parameters Odd parameters 1055 SL Dir Real Rx0 through 1061 SL Dir Real Rx3 contain the floating point values for data received from SynchLink A floating point destination parameter can be linked to these parameters Rockwell Automation Publication PFLEX RM002D EN E August 2013 161 Chapter 1 162 Detail Drive Configurat
114. are allowed this may or may not appear on the nameplate The overload capability applies to the rated speed range Low Overload After continuous operation at the rated output current overload may be 11096 rated output current IL for 1 minute as long as it is followed by a period of load less than the rated current so that the output current over the duty cycle does not exceed the rated output current IL Example If the duty cycle requires 11096 rated output current for 1 minute of every 10 minutes the remaining 9 minutes must be at approximately 9896 rated current or less to maintain output current less than 10096 If the requirement is 1 minute out of 60 minutes the remaining 59 minutes must be at approximately 9996 rated current or less Rockwell Automation Publication PFLEX RM002D EN E August 2013 73 Chapter1 Detail Drive Configuration and Operation Figure 24 Illustration of IL Current l a a u High Overload Time After continuous operation at the rated output current overload may be 15096 rated output current IH for 1 minute as long as it is followed by a period of load less than the rated current so that the output current over the duty cycle does not exceed the rated output current IH Example If the duty cycle requires 15096 rated output current for 1 minute of every 10 minutes the remaining 9 minutes must be at approximately 9296 rated current or less to maintain output current less than 1
115. ass Filter 55 M Masks 72 Motor Control Mode 72 Motor Fdbk Sel 137 Motor Nameplate 73 Motor Overload 73 Motor Start Stop 75 Mounting 75 Mounting Dimensions 75 Mtr Fdbk Alt Sel 137 Mtr Fdbk Sel Alt 149 150 151 Mtr Fdbk Sel Pri 149 150 151 Notch Filter 59 NTC Open 49 NTC Shorted 49 0 Output Devices Drive Output Disconnection 76 Output Reactor 76 Output Display Current 76 Frequency 76 Power 77 Voltage 77 Overcurrent 33 Overspeed Limit 77 Owners 77 P Parameter Access Level 79 Parameters Accel Time 13 Anlg In1 Data 15 Anlg In1 Offset 15 Anlg In1 Scale 15 Anlg In1 Volts 15 Anlg In1 Data 15 Anlg In1 Filt Gain 15 Anlg In1 Offset 15 Anlg In1 Scale 15 Anlg In1Filt BW 15 Anlg Out1 Integer 17 Applied LogicCmd 149 Brake PulseWatts 22 Brake TP Data 24 Brake TP Sel 24 Bus Reg Brake Ref 21 Bus Brake Cnfg 21 Control Options 149 151 Data In A1 Int 34 Data In A1 Real 35 Data Out A1 Int 35 Decel Time 36 Delayed Spd Ref 170 Dig Out 1 Bit 47 Dig Out 1 Data 47 Digln 1 Bit 45 Digln 1 Data 45 Digln 1 Sel 45 Digln 1 User Data 45 Direction Mask 72 Direction Owner 77 Dlink OutDataTyp 111 Dlink OutDataType 30 35 DPI Ref Select 31 38 Drive Logic Rslt 28 36 Encdr1 Position 93 Exception Event1 150 151 Fault Clr Owner 77 Fdbk LsCnfg Alt 150 Fdbk LsCnfg Pri 150 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Parameters Continued FVC Mode Config 150 FW Functions En 93 Jo
116. atalink C1 P715 Dataln C1 Int Datalink C1 P716 Dataln C1 Datalink C2 P717 Dataln C2 Int Datalink C2 j P718 Dataln C2 Datalink D1 P719 Dataln D1 Int Datalink D1 j P720 DatalnD1 Datalink C2 P721 Data ln D2 Int Datalink C2 j P722 Dataln D2 The speed reference comes into the 20 COMM D as a double integer The PowerFlex 7005 firmware automatically converts that speed reference into floating point so that parameter 20 Speed Ref DPI is a floating point value DeviceNet E EE EK ControlLogix Input Image I Data O DINT Data 1 DINT Data 2 DINT Data 3 DINT Data 4 DINT I Data 5 DINT I Data 6 DINT Data 7 DINT Data 8 DINT Data 9 DINT CIP Generic Message Source and Destination Tags DPI Adapter Logic Status Pad Word PowerFlex 700S Logic Status Feedback LSW Feedback ieee Datalink A1 Datalink A1 ar Datalink A2 Speed Ref DPI Data Out A1 Data Out A1 Datalink A2 s Datalink B1 Datalink B1 ee Datalink B2 Datalink B2 Kee Datalink C1 Data Out A2 Data Out A2 Data Out B1 Data Out B1 Data Out B2 Data Out B2 Data Out C1 Datalink C1 a Datalink C2 Datalink C2 He Datalink D1 Datalink D1 SE Datalink D21 Mes sage Buffer _ Message Data Out C1 Data Out C2 Data Out C2 Data Out D1 Data Out D1 Data Out D2 Data Out D2 Handler 1 Bits 0 15 only of parameter 155 Logic Status appear in th
117. atalirik correctly in the SL C you must first the floating point address into 2 16 bit integers and then swap the high and low 16 bit integers N16 16 LSW of Parameter to Write N16 17 MSW of Parameter to Write N14 16 MSW of Parameter for RIO BT MSG Write N14 17 LSW of Parameter for RIO BT MSG Write F12 5 Floating Point Parameter Value Source N15 112 25612 Dest N16 113 16128 CMD Move een Source N15 113 128 lt Dest N16 112 O lt COP Copy File L Source HN15 112 Dest HF12 10 Length 1 Figure 31 Writing Floating Point Block Transfer Data in an SLC PLC 5 RFI Filter Grounding S Curve Speed Control Speed Mode Speed Regulation F12 20 HN16 16 See the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOOI for detailed information See Speed Reference on page 130 See Speed Position Feedback on page 137 for information about feedback devices and speed regulation with and without a speed feedback device See the Speed PI Regulator on page 120 for information about the speed regulator See the Torque Reference on page 175 for information about choosing the output of the speed regulator as the reference to the torque loop Rockwell Automation Publication PFLEX RM002D EN E August 2013 119 Chapter 1 Detail Drive Configuration and Operation Speed PI Regulator Speed Trim 3 SpdTrim 3
118. bit integer Datalinks remain split into two 16 bit integers In order to send or receive floating point Datalinks we have to swap the LSW and MSW and utilize the COP copy instruction The following examples are for transmitting and receiving the floating point Datalinks but do not show the logic for the block transfer I O messages See Chapter 4 of the 20 COMM R User Manual for an example program for the block transfer I O messages Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Figure 26 Reading DINT datalinks in an SLC PLC 5 A DINT datalink is sent across RIO as 2 16 bit intergers There is no DINT datatype in the SLC so to read the data we will copy the DINT into 2 16 bit intergers N11 114 LSW Datalink A2 Out from RIO BT Read N11 115 MSW Datalink A2 Out from RIO BT Read N13 114 LSW Datalink A2 Out N13 115 MSW Datalink A2 Out Copy File 9004 Source N11 114 Dest N13 114 Length 2 Figure 27 Writing DINT Datalinks in an SLC PLC 5 A DINT datalink is sent across RIO as 2 16 bit intergers There is no DINT datatype in the SLC so to write the data we use 2 16 bit intergers in the SLC N13 14 LSW Datalink A2 In N13 15 MSW Datalink A2 In N10 14 LSW Datalink A2 in for RIO BT Write N10 15 MSW Datalink A2 in for RIO BT Write Copy File 0005 Source Dest Length Figure 28 Reading Floating Point Datalinks in an SLC PLC 5 A
119. but still supports status command messages at a 1 5 second rate drive will use 1 second rate Data transfer occurs via explicit message as fast as possible i e peripheral request host response peripheral request etc but only between two devices The MUT is based on the message type only A standard command and Datalink command could be transmitted from the same peripheral faster than the MUT and still be O K However two successive Datalink commands will have to be separated by the MUT DriveLogix See the DriveLogix 5720 Controller User Manual publication 20D UM002 52 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Droop Dynamic Braking Efficiency Electronic Gearing Detail Drive Configuration and Operation Chapter 1 Droop is used to shed load and is usually used when a soft coupling of two motors is present in an application The master drive speed regulates and the follower uses droop so it does not fight the master The input to the droop block comes from the torque output of the speed regulator before limiting The output of the droop block reduces the speed reference Parameter 86 Spd Reg Droop sets the amount of base motor speed that the speed reference is reduced when at full load torque Spd Reg Droop is in units of per unit torque per unit speed For example when Spd Reg Droop is set to 0 1 and the drive is running at 10096 rated motor torque the droop block would subtract 1096 fr
120. ce Selection Ae eebe pea od ab eed 83 Speed Reference Ramp oes e ma EATUR aid ene eraser ARE 83 Enabling the Position Loop uut acta ono bee a cd casi SE 84 Position Reference Selection un codi eit err cote reip Edu 84 Set the EGR Electronic Gear Ratio and Speed Reference Scaling 84 Position e EE 85 Position Loop Output Limits cerno erre mtem eee 86 Rockwell Automation Publication PFLEX RM002D EN E August 2013 7 Table of Contents Tuning YS uses dee tet AS Dee LU d 86 Jogging a Position Follower Independent from the Master 87 Position Loop In Position Detects Se eier dE a eror a 87 Position Loop Point to Point licere e e E Rep dees 87 Technical Information EE 87 Overview onte Ev evieRe POE ERN Baa E d 88 Speed Reference Selection iergert ORE Un etu dee 88 Enabling the Position Lope e hte ete oars 88 Position Reference Selectionz ee erro eere 89 Position Reference Scaling sess eee eee deta tee See heels 89 Position EH 90 Point to Point Acceleration and Deceleration 55 91 Position Loop Output Limits ss be eee veda REIS 91 SETTE KIM 91 EE 92 Point to Point Re Reference c ceo exec LER d ete hehe 92 Position Loop Position Watch cite ple WK Tuae Rae eleg 92 Position Loop Registration uc ortas a oes aber es 94 Porc Examples cs iecit tiov utah cae recto E 94 Power Loss Ride Through vs iscsus su A RE EE KE EH EE betes 95 Precharee Erates EE 96 Precharge Frames 5 and Higher AC Input Stan
121. chats and forums technical information FAQs and to sign up for product notification updates In addition we offer multiple support programs for installation configuration and troubleshooting For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com services online phone Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Canada Use the Worldwide Locator at http www rockwellautomation com rockwellautomation support overview page or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help
122. cond order low pass filter after the speed error term is developed The cut off frequency of the second order low pass filter is by parameter 89 Spd Err Filt BW Typical value for this parameter is five times the speed loop bandwidth parameter 90 Spd Reg BW There are several lead lag filters used in the PowerFlex 700S The lead lag filter has two terms The first term is the filter gain Kn and the second term is the filter frequency Wn The filter can be used as lag to eliminate noise from entering the control loop The filter can be used as a lead to increase overall system performance To eliminate noise lag use with the light or heavy filter Wn Light 0 7 35 Heavy 0 5 20 To use the lead function e Sec Wld equal to the desired lead in radians second e Set Wlg equal to 5x Wld e Wn Wlg e Kn Wlg Wld The torque reference has a notch filter used to eliminate resonance signals The notch frequency is set by parameter 118 Notch Filt Freq This frequency is set to the mechanical resonance in hertz Rockwell Automation Publication PFLEX RM002D EN E August 2013 61 Chapter1 Detail Drive Configuration and Operation Flying Start 62 The Flying Start feature is used to start into a rotating motor as quick as possible and resume normal operation with a minimal impact on load or speed When a drive is started in its normal mode it initially applies a frequency of 0 Hz and ramps to the commanded speed If the
123. creased stability Rockwell Automation Publication PFLEX RM002D EN E August 2013 Position Loop In Position Detect Position Loop Point to Point Detail Drive Configuration and Operation Chapter 1 Parameter 770 PositReg Integ is the integral gain for the position loop PositReg Integ can be used but is disabled by default and is normally not needed for position follower applications To enable PositReg Integ set parameter 740 Position Control bit 2 Integ En 1 When PositReg Integ is used parameters 772 XReg Integ LoLim and 773 XReg Integ HiLim should be set with narrow limits Jogging a Position Follower Independent from the Master Version 1 xxx When you want to jog the PowerFlex 7008S follower drive independently turn off parameter 740 Position Control bit 1 Posit Spd Output to disable the position loop output Version 2 xxx The jog can be performed while the position loop output is enabled The In Position Detection determines if parameter 769 Position Error is within a user defined value Parameter 769 Position Error is the result of parameter 747 Position Cmmd parameter 762 Mtr Posit Fdbk Position Status Position Error In Position UP E In Posit Dwell C783 Parameter 782 In Posit BW sets the absolute number of position counts that parameter 769 Position Error must be within for parameter 741 Position Status bit 10 In Position to turn
124. cy Search re stared at 100 speed 0 5 10 15 20 25 30 35 Time seconds motor frequency actual motor speed Rockwell Automation Publication PFLEX RM002D EN E August 2013 63 Chapter1 Detail Drive Configuration and Operation Friction Compensation 64 Sensorless Flying Start Configuration Parameters 30 Rev Speed Limit and 31 Fwd Speed Limit must be set to magnitudes greater than the value set in parameter 451 SrLss Preset Spd to avoid over speed faults during the preset frequency search Parameter 222 Motor Fdbk Sel selects the primary speed feedback device This parameter must be set to 2 for sensorless flying start if this is the active feedback device Parameter 223 Mtr Fdbk Alt Sel selects the alternate speed feedback device This parameter must be set to 2 for sensorless flying start if this is the active feedback device Settings for parameter 222 Motor Fdbk Sel and 223 Mtr Fdbk Alt Sel Value Description 0 Encoder 0 1 Encoder 1 2 Sensorless 3 Reserved 4 Motor Sim 5 FB Opt Port0 6 FB Opt Port1 Parameter 451 SrLss Preset Spd sets the initial frequency for the flying start frequency search This value should always be set greater than the expected motor speed to avoid regeneration and the chance of an over voltage fault Parameter 510 FOC Mode Config bit 23 SrLssFStrtEn determines whether flying start is enabled or disabled Setting this para
125. d Alone Drives 96 Precharge Frames 5 and Higher DC Input Common Bus Drives 96 Ride Through ODeratiolis ci ecusew ee Cota ERAS anata acd 97 Ride Through Configuration sx ccr eerte rtr 97 Ride Through Timeout Paul tig ee ket tert Se 98 Precharge Operations i ea uda cert e etd tad al eee 98 Precharge Timeout Fault ose secs osuere o Ex ED RERENES 100 External Peecbatgesnus A Ee san d cue dE ERR RS 101 Precharge StaBIBigud eee eege 101 Motor Sim Modele au eua eor e NC deed aad de Sales was M ea 102 External Power Spe Abel 102 Preset Speeds MM c cm 102 Process PT LOOP retein che Oke eebe dL eiit 102 Process PI Reference and Feedback 103 Process DE Regulator s sete Eege E 103 Process PI Limits es rd ye rre PERSTO EDEN 103 Process DI Output ooeec oiiaaie ea i a iex ptas 104 Pulse Elimination Technique PET 5 ecesve sete ee SER EM 104 Reflected Wales Coco darweete meta ioi het E 104 Remote I O Adapter EE EE 106 ControlLogix System genee bes 106 Reference Feedback Programming ssssrsrsrrerererrere 110 Datalink Prosxamimllig soccevez da ete ege greweove ant ues 111 Explicit Block Transfer Messaging eene Ir eR rens 112 SEQIPI G5 Syste Mh ecce de Sete a iae a oe o ead 114 8 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Table of Contents Explicit Block Transfer Messaging sees eese 118 RFI Filtr Grounding Cc 119 SU ea ute echec Meu R Kee eech 119 Speed Control Speed Mode Speed Regulation
126. d pale peek Ae ele aad 162 Buffered KEE 163 Speed Synchronization Example eoe Ea ees 167 Master PowerFlex 700S Drive Setup Transmitting Drive 168 Follower PowerFlex 700S Setup Receiving Drive 171 Syne Generators ces ckak vee ens AR aes SH E RR HUE 174 Configuration secos ee x eek emen eint VERE e et nines 174 RR EE 174 Thermal Regulator jak Yau shaw Ex ra e eher E aia 175 Torque Reference obe ect dentur eta tie ost Edu Wate ese dei Gee 175 Torque Reference Input fide ua docking debt te da ER eed 175 Unbalanced or Ungrounded Distribution Systems 176 Unbalanced Distribution Systems esee seen ee ee 176 Ungrounded Distribution Systems 176 User Functionsz iu ee es ee ads soe ev ee Hee NN 177 Peale Detects tito Eeer 177 Selector Switches cork cares eor re River Tm a erem e P Een 178 TimeAxis Generator oo i tel ck abo IR EC E bela vitet 179 Limit Generator yc ee sv eeu eoo FE OC TP Rer edes eg 180 EE 180 Watts Oe tie e ee N P AS PO EE LPS 181 Appendix A PFEEX RMO002C EN B esis cure eem metre eatem detecte 183 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Additional Resources Preface The purpose of this manual is to provide detailed drive programming and operation information These documents contain additional information concerning related products from Rockwell Automation Resource PowerFlex 700S High Performance AC Drive Phase Control User Manu
127. drive starts out operating as a torque regulator The torque reference causes the motor to operate at 308rpm The speed reference is 468 rpm so the minimum is to operate as a torque regulator While operating in torque regulation the load decreases and the motor speeds up Notice the torque command has not changed When the speed regulator comes out of saturation it clamps the speed and now the drive operates as a speed regulator The At Speed Relay then closes Figure 35 Min Mode Operation Sum Mode Configuring the drive in this mode allows an external torque input to be summed with the torque command generated by the speed regulator The drive requires both a speed reference and a torque reference to be linked This mode can be used for applications that have precise speed changes with critical time constraints If the torque requirement and timing is known for a given speed change then the external torque input can be used to preload the integrator The timing of the speed change and the application of an external torque command change must be coordinated for this mode to be useful The sum mode will then work as a feed forward to the torque regulator 134 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Start Inhibits Detail Drive Configuration and Operation Chapter 1 Zero Torque Mode Operation in zero torque mode allows the motor to be fully fluxed and ready to rotate when a speed command or torque command
128. e DC bus voltage feedback to a DC bus voltage reference It then limits the regenerative power allowed back onto the DC bus to keep the DC bus voltage at or below the reference value and prevent a DC Bus Overvolt fault Dynamic braking uses a seventh insulated gate bipolar transistor IGBT and braking resistor to dissipate regenerative energy The drive switches the seventh IGBT on and off to keep the DC bus voltage at or below the DC bus voltage reference Parameters in the PowerFlex 700S specify whether the resistor is an internal or external resistor For an external resistor the user can program the resistor specifications for protection of the resistor Only resistors specifically designed for pulse and high energy dissipation dynamic braking should be used The PowerFlex 700S allows the user to select bus regulation dynamic braking or a combination of bus regulation and dynamic braking Bus Reg Brake Ref Mator Spd Fdbk Gw gt Power TED Mtring Power Lim C127 gt init Calc too JI DC Bus Voltage Regen Power Lim Torque PosLim Ac Rated Volts D Min 123 401 X i EGER Torque Pos Limit 125 gt X REM 42 p 4 Regulator Iq Actual Lim Torque NegLim Actl 0 045 Limit M Brake Bus Confg ju 353 p 2 en Brake Enable 00 L Brake Bus Cnfg Bus
129. e Input Image table of the ControlLogix controller 2 The speed feedback sent from the PowerFlex 700S to the 20 COMM D is not affected by parameter 73 Spd Fdbk Scale Furthermore the PowerFlex 700S automatically coverts parameter 72 Scaled Spd Fdbk which is a floating point parameter to a double integer before the value is transferred to the 20 COMM D Rockwell Automation Publication PFLEX RM002D EN E August 2013 37 Chapter 1 38 Detail Drive Configuration and Operation To setup the PowerFlex 7008 to follow a speed reference from the 20 COMM D Parameter 691 DPI Ref Select must be set to Port 5 Parameter 16 Speed Ref Sel must be set to Speed Ref DPI Reference and Feedback values are floating point values in the PowerFlex 7008 Use the following logic to transmit and receive reference and feedback data as integer data Floating Point Reference RPM x 32768 Base Motor RPM Transmitted Reference Feedback received x Base Motor RPM Floating point Feedback RPM 32768 In the ControlLogix system Datalinks are transmitted over DeviceNet as 32 bit integers DINT In order to send or receive floating point a COP copy instruction must be used The copy instruction in ControlLogix performs a bitwise copy Set the length of the copy instruction to a value appropriate for the destination data type For example when copying a DINT data type toa REAL data type the length would be one 1 since both data type
130. e limited to 16 bit integers Therefore 32 bit parameters are split into 16 bit integers in the block transfer request and response data In order to write or read floating point or 32 bit integers the COP copy instruction must be utilized The copy instruction in ControlLogix performs a bitwise copy Set the length of the copy instruction to a value appropriate for the destination data type Rockwell Automation Publication PFLEX RM002D EN E August 2013 113 Chapter 1 14 Detail Drive Configuration and Operation For example When copying a floating point value into an integer register the length will be 2 A single precision IEEE floating point value uses 32 bits These means two 16 bit integers are required to properly transmit the data When copying two integer values the low and high word of 32 bit data into a floating point register the length will be 1 SLC PLC 5 System Reference Feedback Programming The reference is scaled so that base motor speed 32768 The SLC PLC 5 does not use DINT and only handle 16 bit integers so the reference has to be handled differently to account for references above 32767 or below 32768 The following example shows how to transmit references less than twice base motor speed but does not show the logic for the block transfer I O messages See Chapter 4 of the 20 COMM R User Manual for an example program for the block transfer I O messages Rockwell Automation Publication PFLEX RM00
131. e precharge function in the drive runs independent of drive precharge hardware for the most part and the hardware control The drive will not restart precharge any time that the drive is running see ride through above The drive control is in precharge or bus capacitor charging mode any time that the precharge is not done see parameter 555 MC Status bit 11 PreChrg Done This is independent of whether or not the drive control actually controls the precharge hardware Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 For the control to complete precharge and allow drive enable See Parameter 156 Run Inhibit Stat the following conditions must be met 1 A user controlled precharge enable must be present The precharge enable can be provided by hardware input or parameter configuration This selection is determined by the setting of parameter 838 Digin1 Sel When parameter 838 is set to 14 PreChrg Disc then the hardware precharge control is selected and digital input 1 controls the user precharge enable If parameter 838 is set to any other value i e not set to 14 then the control uses parameter 411 PreChrg Control as the source for the precharge enable In this case when PreChrg Control is set to zero the precharge control is disabled held in precharge and the drive is inhibited from running see parameter 156 Run Inhibit Stat Otherwise when
132. e ramp is bypassed Otherwise the reference is ramped according to the rates determined by parameters 32 Accel Time and 33 Decel Time For example the ramp rate for acceleration would be Motor NP RPM Accel Time The ramped reference can be viewed in parameter 42 Ramped Spd Ref Ramped S pd Ref S Curve Spd Ref Ramp S Curve Accel Time 32 Decel Time ED S Curve Time Logic Ctrl State SRef Ramp En 110 Logic Ctrl Stat 01 157 302 Logie Vir Stale Cist To 0 1 e D SRef SCrv En Logic The drive can produce a linear ramp output or an s curve signal The s curve is used when Logic Command bit 1 Spd S Curve En is on and the ramp is not bypassed Parameter 34 S Curve Time sets the time that the s curve will be applied at the beginning and at the end of the ramp Half of the time specified in parameter 34 is added to the beginning of the ramp and half to the end of the ramp as shown in the example below The result of the s curve block can be seen in parameter 43 S Curve Spd Ref Time in Seconds 0 5 sec 0 5 sec Accel Time 5 0 seconds S Curve Time 1 0 second Total Ramp Time 6 0 seconds Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Speed Reference Bypass and Delayed Speed Reference By default parameter 37
133. echarge Er 2 FltCoastStop This is the factory default setting If the precharge does not complete within the timeout period the drive faults and disables the PWM output External Precharge In cases where the user must provide external drive precharge hardware and control the user should consider the current limit necessary to protect the drive and fuses the breaking capability of the precharge device the regenerative capability of the drive system whether or not ride through control will be accommodated impedance isolation that may be needed between drives braking requirements and sharing between drives and the power disconnect operation in a system The drive s precharge and ride through functions will still run even though the actual precharge hardware is not controlled by the drive The drive s enable parameter 155 Logic Status bit 0 Enabled precharge enable controlled with a digital input or parameter 411 PreChrg Control and precharge done parameter 555 MC Status bit 11 PreChrg Done parameters are available for the external precharge ride through control in cases where the users would like to provide coordinated operation between the external precharge and the drive s ride through operation Precharge Staging Parameter 472 PreCharge Delay can be used in conjunction with precharge enable see 1 above to coordinate the precharge operation of a group of drives Typical uses may include common b
134. ected Spd Ref S Curve Spd Ref Speed Trim 2 Motor Speed Ref pd Reg PI Out Speed Ref 1 ie 40 8015 3025 y Motor Spd Fdbk 1 EA Spd Ref1 Divide Cn Linear Ramp from So e Regulator fi Speed Ref amp S Curve ee Encdr gt lt a ea Speed Ref 2 _ Selection i E Spd Reg P Gain i Spd Ref2 Mutti 13 X Speed Reference Selection For the position following mode to work properly there needs to be a speed reference to the speed loop of the drive to follow Selected Spd Ref 40 Speed Ref 1 10 Spd Ref1 Divide 11 LL Speed Ref Speed Ref 2 Selection from 12 Master Encdr Spd Ref2 Multi C 13 Speed Ref Sel For example link parameter 12 Speed Ref 2 to parameter 241 Encdr1 Spd Fdbk Set parameter 16 Speed Ref Sel 1 Speed Ref 1 This generates the speed command from the master encoder input If a gear ratio is used in the position loop parameter 13 Spd Ref2 Multi must be setup to match the gear ratio set in the position loop Speed Reference Ramp The speed reference ramp should be disabled when using the drive as a position follower To disable the speed reference ramp set parameter 151 Logic Command bit 0 SpdRamp DsbP 1 Rockwell Automation Publication PFLEX RM002D EN E August 2013 83 Chapter 1 84 Detail Drive Configuration and Operation Enabling the Position Loop To enable the position loop set parameter 1
135. ection Added the Position Loop Registration section Updated the Power Loss Ride Through section Added the Reflected Wave section Updated the Speed Position Feedback section Updated the Speed PI Regulator section Updated the Speed Torque Selection section Updated the User Functions section Rockwell Automation Publication PFLEX RM002D EN E August 2013 183 AppendixA History of Changes Notes 184 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Numerics 20 COMM C 26 20 COMM D 36 20 COMM R 106 A Accel Time 13 Al x Filt Gain 14 Alarms 13 Analog Input Configuration 14 Analog Inputs 14 Anlg Inx Data 14 Anlg Inx Filt BW 14 Anlg Inx Offset 14 Anlg Inx Scale 14 Anlg Inx Volts 14 Anlg Out Real 16 Anlg Outx Integer 16 Anlg Outx Scale 16 Anlg Outx Zero 16 Applied LogicCmd 149 Atune Spd Ref 20 Atune Torq Ref 20 Auto Restart 17 Auto Manual 17 Autotune Direction Test 19 Feedback Configuration 18 Inertia Test 20 Motor Control 18 Motor Data 18 Motor Tests 19 Power Circuit Test 18 Start Up Menu 17 Troubleshooting 20 Auxiliary Power Supply 20 Basictuning with a gearbox or belt 127 Bus Regulation 20 C Cable Trays and Conduit 24 Cable Control 24 Cable Motor Lengths 24 Cable Power 24 Carrier PWM Frequency 25 CE Conformity 26 Common Bus Systems 26 Communication 26 Conduit Cable Trays 24 Index Control Options 47 149 151
136. eed If parameter 335 Abs OverSpd Lim is set equal to the forward speed limit and an overshoot is speed occurs the drive will fault on an absolute overspeed Example 2 Drive is configured as a torque follower If the mechanical connection to the load is severed the torque command to the drive will probably be greater than the motor unloaded will require to maintain the system speed This will cause the motor speed to increase until the torque command is met Setting parameter 335 Abs OverSpd Lim to the safe motor speed will cause the fault to occur when the motor speed increase beyond this limit An owner is a parameter that contains one bit for each of the possible adapters The bits are set high value of 1 when its adapter is currently issuing that command and set low when its adapter is not issuing that command Table 4 Owner Parameters and Functions Parameter Function Stop Owner Indicates the adapters that are presently issuing a valid stop command Start Owner Indicates the adapters that are presently issuing a valid start command Jog Owner Indicates the adapters that are presently issuing a valid jog command Direction Owner Indicates the adapter that currently has exclusive control of direction changes Fault Clr Owner Indicates the adapters that are presently issuing a valid start command Rockwell Automation Publication PFLEX RM002D EN E August 2013 77 Chapter1 Detail Drive Configuration and Op
137. ef Limited Spd Ref A r CIIM d LI Mex d un 04 i Applied LogicCmd 15220 15221 Unipol Fwd 4 Hm i Unipol Rev 1 1 hi X Rev Speed Limit FricComp Spd Ref Fwd Speed Limit Can o S Logic Ctrl State SRef SCrv En Rockwell Automation Publication PFLEX RM002D EN E August 2013 FricComp TorgAdd Dern link Gi0 145 D Inertia SpeedRef Logic Command to Torque 181 11 L Friction Com Le EE 55 An Frict Comp P Control 482 i At FricComp Setup 141 Logic Command l inertia Camph amp 191 7 10 1 Inertia Comp FricComp Stick 42 l Total Inertia C 9 D FricComp Slip 143 Inertia Torq Add InertiaAccelGain C 57 X FricComp Rated 144 InertiaDecelGain C58 X H Speed Comp to Torque DeltaSpeedScale 60 X 55 Control 481 S Curve Spd Ref Spd Ret Bypass Filtered Spd Ref sed eed eet in dn syt wn x Ges Spd Trim SpdRef Control Options 155 N 91 Leading Cx lt gt Lin cb SRef Filt En to Speed Control SpdRef Filt Gain 35 X Speed Ref Scala Regulator 3A2 S Curve Time SpdRef Fil BW 36 X PI Output Link CD from Process Speed Trim 1 One Control 5G2 ean 45 gt Delayed S
138. egulator output when desired Speed Regulation Mode Operating as a speed regulator is the most common and simplest mode to set up Examples of speed regulated applications are blowers conveyors feeders pumps saws and tools Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 In a speed regulated application the speed regulator output generates the torque reference Note that under steady state conditions the speed feedback is steady while the torque reference is a constantly adjusting signal This is required to maintain the desired speed In a transient state the torque reference changes dramatically to compensate for a speed change A short duration change in speed is the result of increasing or decreasing the load very rapidly Inertia Torque Add and Friction Compensation Torque Add are summed with the output of the speed regulator See Friction Compensation on page 64 and Inertia Compensation on page 68 Torque Regulation Mode A torque regulated application can be described as any process requiring some tension control An example is a winder or unwinder with material being drawn or pulled with a specific tension required The process requires another element setting the speed Configuring the drive for torque regulation requires Spd Trq Mode Sel to be set to 2 In addition a reference signal must be linked to the Torque Reference If an analog signal i
139. ell Automation Publication PFLEX RM002D EN E August 2013 Motor Nameplate Motor Overload Detail Drive Configuration and Operation Chapter 1 Motor NP Volts The motor nameplate base voltage defines the output voltage when operating at rated current rated speed and rated temperature Motor NP FLA The motor nameplate defines the output amps when operating at rated voltage rated speed and rated temperature It is used in the motor thermal overload and in the calculation of slip Motor NP Hz The motor nameplate base frequency defines the output frequency when operating at rated voltage rated current rated speed and rated temperature Motor NP RPM The motor nameplate RPM defines the rated speed when operating at motor nameplate base frequency rated current base voltage and rated temperature This is used to calculate slip Motor NP Power The motor nameplate power is used together with the other nameplate values to calculate default values for motor parameters to and facilitate the commissioning process This may be entered in horsepower or in kilowatts as selected in the previous parameter or kW for certain catalog numbers and HP for others Motor NP Pwr Units The rated power ofthe motor may be entered in horsepower or in kilowatts This parameter determines the units on the following parameter Motor Poles The number of motor poles only even numbers
140. ent does not apply to the DriveLogix communications to the 7008S Setup Information Parameters 25 M S Input and 26 M S Output of the 20 COMM C must be configured for the Datalinks that are to be used If changes are made to these parameters or others parameter 9 Reset Module must be set to reset module for the change to take effect Set rotary switches to the correct node address Node 02 is used for all Datalinks in this example Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 To use the 20 COMM C on the PowerFlex 700S with ControlLogix use following setup when adding to the ControlNet device list Use the values from Table 2 for the input and output sizes The Configuration Assembly Instance 6 and Configuration Size 0 Module Properties ControlNet CONTROLNET MODULE 1 1 Type CONTROLNET MODULE Generic ControlNet Module Parent ContiolNet Ka Parameters Assembly Instance Size Name PowerFlexzoos 02 Input fi 11 Gb Description j gr P fio 32 bit Configuration fe o 4 tal Comm Format Date DINT ll E pe d WE B E Staus Output Finish gt gt Help Table 2 Node Configuration Input and Output Sizes Node Configured for Input Size Output Size Logic Command Reference and Logic Status Feedback only 3 2 Plus Datalink A 5 4 Plus Datalink B 7 6 Plus Datalink C 9 8 Plus Datalink D 11
141. ent the installation start up and subsequent maintenance of the system Failure to comply may result in personal injury and or equipment damage Refer to Chapter 2 Start Up of the PowerFlex 700S High Performance AC Drive Phase Control User Manual publication 20D UMO001 for detailed information on applying power to a drive Parameter 32 Accel Time sets the rate at which the drive ramps up its output after a Start command or during an increase in desired speed speed change The rate established is the result of the programmed Accel Time and the programmed motor rated speed parameter 4 Motor NP RPM Parameter 4 Motor NP RPM Accel Rate Parameter 32 Accel Time Times are adjustable in 0 0001 second increments from 0 01 to 6553 5 seconds Alarms indicate conditions within the drive that could affect drive operation or application operation Alarms are selected during commissioning of the drive Examples of alarms include Encoder loss communication loss or other exceptions within the drive Configuration Parameters 365 Fdbk LsCnfg Pri through 394 VoltFdbkLossCnfg and parameters 940 Sft OvrItvlCnfg through 944 Positin Err Cnfg program the response of the drive to various conditions Responses include Ignore Alarm Fault Coast Stop Fault Ramp Stop and Fault Current Limit Stop Parameters 326 Alarm Status 1 through 328 Alarm Status 3 indicated any alarms that are active Rockwell Automation
142. er Data Now Speed Ref Sel will toggle between a value of 1 and 5 Digital Input Status Bits Local I O Status bits 0 4 indicate the status of the digital inputs and can be used for troubleshooting the digital inputs The bits are broken down as follows e Bit 0 Enable Input e Bit 1 Digital Input 1 e Bit 2 Digital Input 2 e Bit 3 Digital Input 3 When the bit in Local I O Status associated with the digital input is set 1 the digital input is on When the bit associated with the digital input is not set 0 the digital input is off Rockwell Automation Publication PFLEX RM002D EN E August 2013 45 Chapter1 Detail Drive Configuration and Operation Digital Outputs Technical Information There are three digital outputs on the I O board Digital Outputs 1 and 2 are 24VDC open collector sinking logic They are rated 25 mA maximum Figure 11 is an example of how Digital Outputs 1 and 2 would be used with a light Note The transistor in the diagram is the internal circuitry of the Digital Output When the logic for Digital Output 1 becomes true the transistor turns on tying the transistor s collector to ground and completing the circuit Then the light will turn on Figure 11 Digital Outputs Ki 4 T6 ze Je e 24V DC Sinking P Ouput l Digital Output Logic Digital Output Common Return T4 Digital Output 3 is a relay output rated for 24VDC The
143. eration The bits for each parameter are broken down as follows e Bit 0 Digital Input e Bit 1 Adapter 1 e Bit2 Adapter 2 Bit 3 Adapter 3 e Bit 4 Not Used e Bit 5 Adapter 5 e Bit 6 Not Used e Bit 7 DriveLogix Ownership falls into two categories e Exclusive Only one adapter at a time can issue the command and only one bit in the parameter will be high e Non Exclusive Multiple adapters can simultaneously issue the same command and multiple bits may be high Some ownership must be exclusive that is only one Adapter at a time can issue certain commands and claim ownership of that function For example it is not allowable to have one Adapter command the drive to run in the forward direction while another Adapter is issuing a command to make the drive run in reverse Direction Control therefore is exclusive ownership Conversely any number of adapters can simultaneously issue Stop Commands Therefore Stop Ownership is not exclusive Example The operator presses the Stop button on the Local HIM to stop the drive When the operator attempts to restart the drive by pressing the HIM Start button the drive does not restart The operator needs to determine why the drive will not restart The operator first views the Start owner to be certain that the Start button on the HIM is issuing a command Digital Input gt Adapter 1 gt gt Terminal Block StartOw
144. ese tests can be performed with the motor coupled or uncoupled to the load but be aware that the motor will rotate during some of the tests For Field Oriented Control the following motor tests are performed Stator Resistance Test This test identifies the motor stator resistance and stores the value into parameter 491 StatorResistance The motor should not rotate during this test Stator Inductance Test This test identifies the motor stator inductance and stores the value into parameter 490 Statorinductance The motor should not rotate during this test Leakage Inductance Test This test measures the inductance characteristics of the motor A measurement ofthe motor inductance is required to determine references for the regulators that control torque The motor should not rotate during this test The test runs for approximately 1 minute and then stores the calculated value into parameter 492 LeakInductance A typical value is between 15 and 25 Flux Current Test This test is used to identify the value of motor flux current required to produce rated motor torque at rated current When the flux test is performed the motor will rotate The drive accelerates the motor to the speed set in parameter 19 Atune Spd Ref default is 8596 of base speed and then coasts for several seconds This cycle may repeat several times then decelerate to a low speed and shut off This test stores the value for flux current in parameter 488
145. evel If the function is in the continuous level limit this can be lower than the Motor Current limit After a period of time typically one to three minutes the function returns the limit to the short term rating Closed Loop IT Function The drive will also adjust the Torque Current limit level based on the values in Parameter 358 Iq Ref Limited parameter 313 Heatsink Temp and the thermal characteristics of the drive contained in the power EE memory Under normal operating conditions the function typically sets the limit at 25096 of the continuous drive rating If the function determines that the power device junction temperature is approaching maximum it will reduce this limit to the level required to prevent additional heating of the inverter This level could be as low as the continuous rating of the drive output amps If the inverter temperature decreases the function will raise the limit to a higher level Drive Overload Status Drive Overload Status can be monitored in parameter 346 Drive OL Status e BitO NTC Shorted indicates the Negative Temperature Coefficient NTC device has a short circuit e Bit 1 NTC Open indicates the NTC has an open circuit e Bit 2 HS OverTemp indicates heatsink temperature is above 105 C for ratings 1 1 11 0A 115 C for 14 34A 100 C for 40 52A e Bit 3 HS Pending indicates heatsink temperature is above 95 C for ratings 1 1 11A 105 C for 14 34A 90 C for 40 5
146. f and then the dynamic braking turns on when there are any transients above 415 Bus Reg Brake Ref Bit 3 Bus Reg En When this bit is set to 1 bus regulation is enabled When this bit is set to 0 bus regulation is disabled Rockwell Automation Publication PFLEX RM002D EN E August 2013 21 Chapter 1 22 Detail Drive Configuration and Operation Set the appropriate 414 Bus Brake Config for your configuration The following is a summary of possible settings for Bus Brake Config Desired Operation Bus Brake Config Setting External regeneration 0000 Dynamic braking with internal resistor 0001 Dynamic braking with external resistor 0011 Bus regulation only 1000 Bus regulation first then dynamic braking with internal resistor 1001 Dynamic braking with internal resistor first then bus regulation 1101 Bus regulation first then dynamic braking with external resistor 1011 Dynamic braking with external resistor first then bus regulation 1111 Parameter 415 Bus Reg Brake Ref sets the turn on bus voltage threshold for the bus regulator and the dynamic brake Actual values are modified by the configuration selected in Bus Brake Config When using common DC bus drives adjustment of Bus Reg Brake Ref allows a limited coordination of brake operation with other drives For example when you have two common bus drives and one drive is larger than the other set the larger drive to turn on at a lower vo
147. floating point datalink is sent across RIO as 2 16 bit intergers To read a floating point datalink correctly in the SLC you must first swap the high and low 16 bit intergers and then copy the 2 intergers into a floating point address N11 112 LSW Datalink A1 Out from RIO BT Read N11 111 MSW Datalink A1 Out from RIO BT Read N13 112 MSW Datalink A1 Out N13 113 LSW Datalink A1 Out MO N12 5 Datalink A1 Out Move Source N11 112 21158 Dest F13 113 23873 MOV Move Source N11 113 174474 Dest F13 112 17447 lt COP Copy File Source Dest Length Rockwell Automation Publication PFLEX RM002D EN E August 2013 17 Chapter1 Detail Drive Configuration and Operation Figure 29 Writing Floating Point Datalinks in an SLC PLC 5 A floating point datalink is sent across RIO as 2 16 bit intergers To write a floating point datalink correctly in the SLC you must first copy the floating point into 2 intergers then swap the high and low 16 bit intergers F12 6 Datalink A1 In N13 12 MSW Datalink A1 In N13 13 LSW Datalink A1 In N10 12 LSW Datalink A1 In from RIO BT Write COP N10 13 MSW Datalink A1 In from RIO BT Write Copy File Source Dest Length Explicit Block Transfer Messaging Explicit block transfer messaging is used to configure the drive and monitor data from the drive This type of block transfer is different than the block transfer used to transmit and receive datalinks Chapter 5 of t
148. g Owner 77 Local 1 0 Status 45 Logic Command 92 149 151 Logic Status 28 47 MC Diag Error 1 20 MC Diag Error 2 20 MC Diag Error 3 20 Motor Ctrl Mode 18 Motor NP FLA 73 Motor NP Hz 73 Motor NP Power 73 Motor NP Pwr Units 73 Motor NP RPM 13 36 73 Motor NP Volts 73 Motor Poles 73 Mtr Fdbk Sel Alt 149 150 151 Mtr Fdbk Sel Pri 149 150 151 Mtr TrqCurr Ref 17 Output Curr Disp 76 Output Current 35 Posit Detct1 In 92 93 PositDetct1 Stpt 93 Position Actual 92 Position Control 34 93 Position Error 17 Position Status 35 93 Rated Volts 22 Real to Int In 162 Real to Int Out 162 S Curve Spd Ref 162 168 SL Dir Int Rx0 161 SL Dir Int Rx3 161 SL Dir Int Tat 161 162 SL Dir Int Tx3 161 SL Dir Real Rat 161 173 SL Dir Real Rx3 161 SL Dir Real Tx0 161 SL Dir Real Tx3 161 SL Mult A In 163 SL Mult B In 163 SL Mult Base 162 SL Mult Out 163 SL Mult State 162 163 SL Node Cnfg 160 SL Rx Comm Frmt 160 SL Rx DirectSel0 161 SL Rx DirectSel3 161 SL Tx DirectSel0 161 SL Tx DirectSel3 161 Spd Fdbk Scale 29 Spd Ref 1 15 Spd Ref Bypass 169 172 Speed Ref 2 32 38 Speed Ref Sel 31 38 Start Owner 77 Stop Owner 77 TachSwitch Level 150 151 Torque Ref 1 35 Tx Buf Data Type 163 Tx Dir Data Type 161 Index Posit Detct1 In 92 93 PositDetct1 Stpt 93 Position Actual 92 Position Control 93 Position Loop Follower Electronic Gearing 82 In Position Detect 87 Point to Point 87 Registration 94 Position Lo
149. he 20 COMM R User Manual shows the format of the block transfer request and response data in an SLC and PLC 5 Because the SLC PLC 5 does not support 32 bit integers 32 bit integer data from the block transfer request and response data remains split into 2 16 bit integers In order to send or receive floating point data we have to swap the LSW and MSW and utilize the COP copy instruction The following examples are for transmitting and receiving floating point data for block transfer messages but do not show the logic for the block transfer explicit messages themselves See Chapter 5 of the 20 COMM R User Manual for an example program for the block transfer explicit messages 118 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Figure 30 Reading Floating Point Block Transfer Data in an SLC PLC 5 Afloating point is sent across a RIO BT MSG as 2 16 bit integers To read afloating point datalink corectly in the SL C you must first swap the high and low 16 bit integers and then copy the 2 integers into afloating point address H15 112 LSW of Parameter fom BT MSG Read N15 113 MSW of Parameter from BT MSG Read N16 112 MSW of Parameter Read N16 113 LSW of Parameter Read F12 10 Floating Point Parameter Value Read p Mov Move ez 0008 0009 Aflostingpoint is sent across a RIO BT MSG as 2 16 bit integers To write afloating point d
150. he following example shows the message instructions for the block transfer I O In this example the 20 COMM R was setup as a rack RIO 7005 BT IO write EN Se 11 m Type Block Transfer Write Message Control RIO_700S_BT_IO_Write L Na H RIO 7005 BT IO Read EN MSG 12 Type Block Transfer Read Message Control RIG_700S_BT_IO_Read Na 108 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 For the block transfer I O write the source tag RIO 7005 BT O must bean array of 18 INTs This tag cannot be DINT The source tag will contain the speed reference data and the data sent to the Data In parameters of the drive Message Configuration RIO 7005 BT IO Write Ag x Configuration Communication Tag Message Type Block Transfer Write Source Element RIO_700S_BT_O New Tag Number Of Elements 18 tj 16 bit Integers Q Enable Enable Waiting Start O Done Done Length 0 Error Code 1 680001 Extended Error Code 1680076 0100 TimedQut Error Path Error Test Connection failure Cancel Apply Help The Path in the communication tab of the block transfer I O write is the name ofthe DH RIO scanner module The Module Address sets the channel of the DH RIO scanner used and the rack group and slot of the 20 COMM R Message Configuration RIO_7005_BT_I0_Write sd Configuration
151. hru to 1 when sensorless operation is selected in parameter 223 Logic Command TachLoss Rst C81 2 Control Options AutoTach Sw FdbkLoss Qs 16 Detect Motor Spd Fdbk Speed Feedback 0 to Speed from Primary Device 300 gt Regulator Speed Feedback 1 from Alternate Device I Logic Status Tach Loss Sw Automatic and manual switching of feedback devices is inhibited if a loss in parameter 320 Exception Event1 bits 2 4 as appropriate is sensed on the device to which switching was to take place The drive will fault when it is configured for speed feedback loss ride through and the primary device fails when the alternate device has failed and is also configured to fault If the alternate device is not configured to fault then switching to the alternate device will be inhibited and operation on the primary feedback device will continue Note that operation on the primary device will continue even with that device s failure since that fault must be configured for an alarm to allow for automatic device switch over Manual Speed Feedback Device Switching Parameter 151 Logic Command bit 2 TackLoss Rst provides a manual switch between active and non active primary or alternate speed feedback devices with a 0 to 1 bit transition Resetting bit 2 from a 1 to a 0 causes no change in operation The switch is between the active feedback device ei
152. im summation e Bit 5 J Ist FulSpd indicates that the inertia test reached the speed set in Atune Spd Ref Rockwell Automation Publication PFLEX RM002D EN E August 2013 121 Chapter 1 122 Detail Drive Configuration and Operation e Bit 8 Spd Reg En Indicates that the output of the speed regulator is enabled and the output is allowed to enter the torque loop Logic Ctrl State 04 Inrta Tst En C157 X04 3i Autotune Bypass Atune Spd Ref Logic Ctrl State lt 157 X 5 J TstFulSpd 8 Spd Reg En Speed Reference Limits At this point the summed speed reference is limited by parameters 30 Rev Speed Limit and 31 Fwd Speed Limit Those limits are set at 2187 5 RPM and 2187 5 RPM default D Limit Rev Speed Limit Ca Fwd Speed Limit Ca 5 Current Limit Stop When a current limit stop is commanded Logic Ctrl State bit 6 CurrLim Stop is set Then a 0 speed reference command is sent into the speed regulator bypassing the ramp and speed trimming Logic Ctrl State 157 CurrLim Stop Speed Error The summed speed reference becomes parameter 301 Motor Speed Ref Then the filtered motor speed feedback is subtracted from the motor speed reference to create a speed error Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 There is a lead lag filter that can be used to filter the m
153. ing 0 0 1 JO 1 0ms 0 10 1 1 15ms 0 1 0 0 2 0ms default setting 0 1 O 1 25ms 0 1 1 J0 3 0ms 0 1 1 1 35ms 1 O O O 40ms 1 0 0 1 45ms 1 O 1 0 50ms 11 0 1 1 55ms 1 1 10 0 6 0ms max setting 1 1 JO 1 60ms 1 1 1 0 60ms 1 1 1 1 6 0ms Encdrx Error indicates the error status of the encoder when there is an error The bits for Encdrx Error are broken down as follows e Bit0 EncdrMissing e Bit 1 Quad Loss e Bit 2 Phase Loss e Bit 3 Phase Level The encoder block generates speed feedback seen in Encdrx Spd Fdbk Encdrx Spd Fdbk is in units of RPM The encoder block also generates a position feedback seen in Encdrx Position Encdrx Position is in counts Encdr0 Spd Fdbk Encoder 0 Processing EncdrO Error EncdrO Position Rockwell Automation Publication PFLEX RM002D EN E August 2013 141 Chapter 1 12 Detail Drive Configuration and Operation Sensorless Sensorless mode is used when zero speed or more than a 120 1 speed range is not required Parameter 548 Est Speed Fdbk contains the estimated motor speed used when sensorless mode is selected The estimated speed feedback is based on voltage feedback from the motor Est Speed Fdbk is scaled so that a value of 4096 equals parameter 4 Motor NP RPM The estimated speed feedback is converted to RPM which can be seen in par
154. ink One of the SynchLink direct integer transmit words parameter 1141 1143 1145 or 1147 must be linked to parameter 1036 to send the value over SynchLink For example to use the multiply block to scale the s curved speed reference and send it over SynchLink link parameter 1035 Real to Int In to parameter 43 S Curve Spd Ref J Set parameter 1032 SL Mult Base to 10 000 Then link parameter 1141 SL Dir Int Tx0 to parameter 1036 Real to Int Out Set parameter 1021 SL Tx DirectSLO 21 Dir Tx Data Configuring the Multiply Block in the Receiving Drive Select on which received direct word to use the multiply block by setting one of the following parameters 1011 SL Rx DirectSel0 1012 SL Rx DirectSell 1013 SL Rx DirectSel2 or 1014 SL Rx DirectSel3 to 1 SL Multiply The receive parameter selected to multiply in the receiving drive must correspond to the transmit parameter selected to be multiplied from the transmitting drive The Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 result of the multiply function can be used in the receiving drive or transmitted directly to another drive Parameter 1030 SL Mult A In contains the value received from SynchLink after it was divided by SL Mult Base Parameter 1031 SL Mult B In contains the multiply scale factor to multiply by the value received from SynchLink Note that SL Mult B In cou
155. inputs e Set parameter 839 DigIn2 Sel 3 Run To control from a communication network e To perform a coast stop toggle bit 1 Start in the logic command word on and then off To control from the HIM e Hold down the start button to run and release the start button to perform a coast stop Note When P153 Control Options bit 9 is on and bits 3 and 8 are off all other stop commands become coast stops because of the priority of the stop types For example if you try to command a ramp stop or current limit stop from a communication network the drive will still perform a coast stop To configure the drive for 2 wire control with a current limit stop For parameter 153 Control Options set bits 3 2WCurrLimStp to on 1 and bits 8 3WireControl and 9 2W CoastStop to off 0 To control from digital inputs e Set parameter 839 DigIn2 Sel 3 Run To control from a communication network e To perform a current limit stop Toggle bit 1 Start in the logic command word on and then off To control from the HIM e Hold down the start button to run and release the start button to perform a current limit stop Note When parameter 153 Control Options bit 3 is on and bits 8 and 9 are off the ramp normal stop becomes a current limit stop For example if you try to command a ramp stop from a communication network the drive will still perform a current limit stop A coast stop can still be perfor
156. ion F12 1 F124 327680 Loge the 32 b floating poit speed reference into 2 16 bit integary to send ova DeviceNet F120 32 bi cating point speed fevunce counts N102 LSW of speed reference to send over DeviceNet comas N10 3 MSW of speed reference to send over DeviceNet couna Less Than A lt B Some A F n 00 SomeB 327680 327680 0001 327670 Rockwell Automation Publication PFLEX RM002D EN E August 2013 39 Chapter1 Detail Drive Configuration and Operation The feedback is also scaled so that base motor speed 32768 The SLC PLC 5 does not use DINT and only handles 16 bit integers so the feedback has to be handled differently to account for references above 32767 or below 32768 The following example shows how to read feedback values less than twice base motor speed Corwen the speed feedback that comes over DeviceNet as 2 16 bit integers into a 32 bit flowing poirt feedback N9 2 LSW of speed feedback tem DeviceNet counts NO 3 MSW of spred feedback thom DeviceNet counts F12 2 32 ba flowing point spaed feedback counts GRT EQU 0002 Orte haB 1 Source A GE Source A De Source B 0 Source B De EQU pU l um p Ema More 12 Source A w3 Source 327680 De De 32168 0 327680 Source B 1 Det raa Ru Dis 32768 0 lt LM EQU Mov Egan m More rt 32767 0 Source A w3 Source N92 32767
157. ion 94 The PowerFlex 700S drive has the ability to capture the feedback position upon an event occurrence There are two registration registers that can be configured You may also see DriveLogix Motion instruction Motion Arm Registration MAR Port 0 Example Sequence of events Registration for Port 0 is configured using the parameters below After configuration the Registration latch is armed After the registration event occurs the Found bit will be turned on This indicates that the position ofthe event has been trapped in the Registration Latch parameter P235 PortO Regis Ltch Displays the captured position after the event occurs P236 Port0 Regis Cnfg Configures the Registration event Encoder Selection Bit 0 Description 0 Select Encoder0 to trap position 1 Select Encoder to trap position Trigger Source Bit2 Bit 1 Description 0 0 Digital Input 1 and Encoder 0 Z phase 0 1 Digital Input 3 Default setting 1 0 Digital Input 2 1 1 Encoder 0 Z phase Edge Selection Settings Bit 4 Bit 3 Description 0 0 Capture on Rising Edge 0 1 Capture on Falling Edge 1 0 Capture on Both Edges 1 1 Disable Capture Trigger Source Bit 6 Bit 5 Description 0 0 Disable Capture 0 1 Capture during Reverse Rotation 1 0 Capture during Forward Rotation 1 1 Capture during either Rotation Rockwell Automation Publication PFLEX RM002D EN E August 2013 Power L
158. ion and Operation Multiply Block SynchLink has the ability to take one of the direct data words received from SynchLink and multiply it by a constant or parameter value for features such as draw control The multiply function is handled at the hardware level to ensure the highest possible execution speeds Because of this the multiply function is integer based Preparing Floating Point Data in the Transmitting Drive If the received data to be multiplied is floating point it must first be converted from floating point to integer in the transmitting drive A floating point to integer conversion has been provided for this purpose Parameter 1032 SL Mult Base sets the value to multiply parameter 1035 Real to Int In before sending it out over SynchLink Make sure this parameter is set appropriately so that the integer value sent over SynchLink has enough resolution Parameter 1034 SL Mult State contains overflow bits if the data for the multiply block is too large It is broken down into the following bits e Bit 0 Local Ovflow The result of the multiply function is too large e Bit 1 Rx Ovflow The data received from SynchLink is too large e Bit 2 Not used e Bit3 Frot Ovflow In the master the data converted from floating point to integer is too large Parameter 1035 Real to Int In is linked to the parameter that you want to multiply Parameter 1036 Real to Int Out contains the integer value sent over SynchL
159. is function has also been referred to as tach loss switch over and encoder loss ride through The drive determines that the encoder has faulted based on a combination of hardware detection and monitoring the rate of change of the motor speed The hardware fault detection is based on illegal encoder states and improper encoder switching patterns The rate of change of motor speed detection is determined by a rate of change greater than a user defined speed change Hardware detection of feedback loss for the feedback option cards is based on the type of device used and specific fault detection implemented on the feedback option card The rate of change of motor speed detection is the same implementation as for encoder feedback Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Speed feedback loss ride through is not allowed in position mode If the encoder loss ride through function was allowed in a positioning system it is likely that the alternate feedback device will supply an arbitrary position feedback value when an encoder loss is detected This in turn could result in unintended motion in the drive system IMPORTANT Eventhough the encoder loss ride through function attempts to automatically Switch feedback devices with minimum disturbance a system disturbance will occur In some cases feedback device degradation may occur before complete failure takes place The user
160. is given This mode can be used for a cyclical application where through put is a high priority The control logic can select zero torque during the rest portion ofa machine cycle instead of stopping the drive When the cycle start occurs instead of issuing a start to the drive a speed regulate mode can be selected The drive will then immediately accelerate the motor without the need for flux up time Note Zero Torque may excessively heat the motor if operated in this mode for extended periods of time No load or flux current is still present when the drive is operating in zero torque mode A motor with an extended speed range or separate cooling methods blower may be required Absolute Min Mode Absolute Min Mode selects the smallest absolute algebraic value to regulate to when the torque reference and torque generated from the speed regulator are compared This section covers Start Inhibits parameter 156 Run Inhibit Stat This parameter indicates the cause of no response to a start request Bit 0 Description 0 Drive is Faulted 1 No Enable signal present 2 Software Ramp Stop request present 3 Software Coast Stop request present 4 Software Current Limit Stop request present 5 Power Loss 6 Power EE prom error 7 Flash upgrade in progress 8 Start request present 9 Jog request present 10 Encoder PPR error 11 Bus Precharge not complete 12 Digital input configuration error
161. ischarging the cable for approximately 4ms The propagation delay between the inverter terminals and motor terminals is approximately 1 ms The small time between pulses of 4ms does not provide sufficient time to allow the decay of the cable transient Thus the second pulse arrives at a point in the motor terminal voltage s natural response and excites a motor over voltage transient greater than 2 pu The amplitude of the double pulsed motor over voltage is determined by a number of variables These include the damping characteristics of the cable bus voltage and the time between pulses the carrier frequency modulation technique and duty cycle The plot below shows the per unit motor overvoltage as a function of cable length This is for no correction versus the modulation correction code for varied lengths of 12 AWG cable to 600 feet for 4 and 8 kHz carrier frequencies The output line to line voltage was measured at the motor terminals in 100 feet increments Without the correction the overvoltage increases to unsafe levels with increasing cable length for both carrier frequencies The patented modulation correction code reduces the overvoltage for both carrier frequencies and maintains a relatively flat overvoltage level for increasing cable lengths beyond 300 feet To determine the maximum recommended motor cable lengths for a particular drive see to Cable Motor Lengths on page 24 Rockwell Automation Publication PFLEX RM002D EN
162. it pad word for a total of 32 bit data The bit definitions of the Logic Command word follow the same pattern as parameter 158 Drive Logic Rslt The bit definitions of the Logic Status word follow the same pattern as bits 0 15 of parameter 155 Logic Status Reference Feedback and Datalinks are 32 bit data This means with just the Logic Command Status and Speed Ref Fdbk I O enabled the 20 COMM D would map 8 bytes of I O in the DeviceNet Scanner With the Logic Command Status Speed Ref Fdbk and all of the Datalinks enabled the 20 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 COMM D would have a total of 40 bytes of I O mapped in the DeviceNet scanner The I O Image table for a ControlLogix system is shown DeviceNet DPI ControlLogix Output Image O Data 0 DINT O Data 1 DINT O Data 2 DINT O Data 3 DINT O Data 4 DINT O Data 5 DINT O Data 6 DINT O Data 7 DINT O Data 8 DINT O Data 9 DINT a w OO d Ohn P DM sa O Adapter PowerFlex 700S Logic Command P158 Drive Logic Pad Word Reference P20 SpeedRef DPI Reference Datalink A1 P707 Dataln A1 Int Datalink A1 708 Dataln A1 Datalink A2 P709 Data In A2 Int Datalink A2 P710 Dataln A2 Datalink B1 P711 Dataln B1 Int Datalink B1 P712 Dataln B1 Datalink B2 713 Dataln B2 Int Datalink B2 P714 Data In B2 D
163. ition reference can be entered in user units by using the EGR scaling Parameters 745 PositRef EGR Mul and 746 PositRef EGR Div are used to scale the position reference gt PositRef EGR Out Accum A N Geared position D reference Deriv Gear Rat PositRef EGR Mul 745 PositRef EGR Div 746 Example To use degrees of motor revolution for the positioning units scale as follows With a 1024 encoder on the motor this translates to 4096 counts per revolution quadrature position counts 4096 360 Parameter 745 PositRef EGR Mul Parameter 746 PositRef EGR Div This scaling translates the position reference of 0 360 degrees to 0 4096 position counts This will allow you to enter degrees of motor rotation for the position reference Rockwell Automation Publication PFLEX RM002D EN E August 2013 89 Chapter 1 90 Detail Drive Configuration and Operation Position Offset Offsets can be added to the position reference Offset are used to make a correction move to sync the follower to the master position Added to position A preference after EGR Deriv Posit Offset 1 753 Posit Offset 2 C754 I Pa Filter Posit Offset Spd 755 Rate Lim LPass Position Control X Offset Pol 741 M 05 Position Status m X OffRefActl Position Control X Offset Ref There are two offsets parameters 753 Po
164. ld be a constant or linked to a source parameter Parameter 1032 SL Mult Base contains the base to convert integer data received from SynchLink back to floating point data Usually SL Mult Base will be set the same in the transmitting and receiving drive Parameter 1033 SL Mult Out contains the result of the multiply block A destination parameter can be linked to SL Mult Out Parameter 1034 SL Mult State contains overflow bits if the data for the multiply block is too large It is broken down into the following bits e Bit 0 Local Ovflow The result of the multiply function is too large e Bit 1 Rx Ovflow The data received from SynchLink is too large e Bit 2 Not used e Bit 3 Frot Ovflow In the transmitting drive the data converted from floating point to integer is too large For example to receive the S curved speed reference from the master and scale it by 0 5 set parameter 1011 SL Rx DirectSel 0 to SL Multiply Set parameter 1031 SL Mult B In to 0 5 Set parameter 1032 SL Mult Base to 10 000 Link parameter 37 Spd Ref Bypass equal to parameter 1033 SL Mult Out Buffered Data Buffered Data Transmit Parameters Parameter 1160 Tx Buf Data Type bits 0 through 29 select whether each word of buffered data that is transmitted is integer or floating point Data is transmitted as integer when a bit is turned off Data is transmitted as floating point when a bit is turned on Odd para
165. loop performance The speed regulator should be tuned before the position loop e For best performance positioning should be used with a dynamic brake or regenerative system Overview The position follower feature gives the user the ability to follow the position of a master motor without an external position controller The position loop adds to or subtracts from the speed reference using parameter 22 Speed Trim 2 to correct for the following error and keep the positions of both encoders locked The resulting motor speed reference enters the speed regulator loop Gear ratios can be set up to follow at different rates of speed and position Typical applications for a geared follower would be for a roller following another part of a machine and a filler and capper machine for bottling 82 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 The following is a block diagram overview of the position follower mode r N Position Control 2ms from Posit Spd Output Aux Posit Ref Master Encdr N iu D IR Gear Rat gt PI Regulator Position Offset rei from Mtr Posit FB Follower Encdr lt 762 gt Speed Control Regulator 0 5ms Speed Control Reference 2ms Speed Ref Sel H i Spd Reg PI Out Sel
166. ltage than the smaller drive In this manner the smaller drive does not try to dissipate all of the dynamic braking energy Actual bus voltage reference values are determined as a percentage of parameter 401 Rated Volts and the selected voltage class Be x Par 401 Rated Volts x Par 415 Bus Reg Brake Ref VDC bus voltage reference 100 For example with a 480V rated drive and BusReg Brake Ref 111 bus voltage reference A2 x 480x 111 753 5 VDC 100 When the low voltage class is selected an additional multiplier of 1 2 is used For example parameter 401 Rated Volts 400V AC then parameter 401 1 2 480 VAC is used to determine the bus voltage reference bus voltage reference 2 x 400 x 1 2 x 111 753 5 VDC 100 In this case if a drive has a selected low voltage class but is run on a high voltage class AC line the dynamic brake will not automatically turn on Parameter 416 Brake PulseWatts sets the peak power reference for determining the protection for an external brake resistor Parameter 416 is active only if the configuration is selected for an external brake parameter 414 Bus Brake Cnfg bit 1 is set to 1 When the internal brake resistor is used then the protection is determined from the drive internal values Normally this value is specified by the resistor vendor as the energy rating in Joules or a 1 second power rating in Rockwell Automation Publication PFLEX RM002D EN E August 2013 Det
167. ly energized when input power is de energized This allows the main control board DriveLogix controller and any feedback option cards to continue operation See the PowerFlex 700S High Performance AC Drive Phase I Control User Manual publication 20D UM001 for connection information See the PowerFlex 700S Auxiliary Control Power Supply option 20 24V AUX1 publication PFLEX IN021 for detailed installation instructions Frames 9 amp Up You must set Par 153 Control Options bit 17 Aux Pwr Sply to enable this feature Table 1 Auxiliary Power Supply Specifications Voltage Current Min Power Min 24V DC 596 3A 75W Description This information serves as a supplement to the PowerFlex 700S AC Drive Phase I Control User Manual publication 20D UM001 addressing items specific to the PowerFlex 700 bus regulation and dynamic braking Please see the user manual for details on the PowerFlex 700S dynamic braking wiring and setup and the PowerFlex Dynamic Braking Resistor Calculator Selection Guide publication PFLEX AT001 for application techniques on dynamic braking Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Technical Information The bus regulator limits the maximum bus voltage for systems that do not have or have limited braking or regenerative capabilities The bus regulator limits the bus voltage by comparing th
168. mation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 where PPRm the PPR of the master encoder PPRf the PPR of the follower encoder Ratiof Ratiom the desired ratio between the follower speed and the master speed PositRef EGR Mul CPRf Ratiof 4096 4 PositRef EGR Div CPRm Ratiom 4096 1 where CPR the counts per revolution of the follower feedback device For an incremental encoder this is 4 times the encoder PPR For a Stegmann Hi Res encoder this is 1048576 For a Resolver this is 65536 CPRm the counts per revolution of the master encoder For an incremental encoder this is 4 times the encoder PPR For a Stegmann Hi Res encoder this is 1048576 For a Resolver this is 65536 Solving for the lowest common denominator the 1024s on the top and bottom cancel out so that PositRef EGR Mul 4 PositRef EGR Div 1 Therefore parameter 745 PositRef EGR Mul 4 and parameter 746 PositRef EGR Div 1 This will set up the position loop of the follower to move 4 counts for every 1 count of the master Spd Ref 2 Multi is calculated Ratiof 24 4 Spd Ref2 Multi Sp Ratiom 1 Notice that the encoder PPRs should not be included in the calculation for parameter 13 Spd Ref2 Multi Spd Ref2 Multi is rounded to the 4th decimal place The position loop gear ratios will be exact so that the follower tracks at 4 times the master s speed Position Off
169. med by commanding a coast stop Rockwell Automation Publication PFLEX RM002D EN E August 2013 159 Chapter1 Detail Drive Configuration and Operation Start Up Stop Modes SynchLink 160 See Autotune on page 17 See Start Stop Modes on page 156 This section contains information specific to PowerFlex 700S SynchLink parameters and gives an example of setting up the PowerFlex 700S SynchLink using DriveExecutive See the SynchLink System Design Guide publication 1756 TD008 for PowerFlex 700S SynchLink topologies hardware and wiring details Technical Information SynchLink data is transmitted as a combination of direct and buffered data The following table shows the different formats supported by the PowerFlex 7008 for transmit receive data and the respective SynchLink fiber update rates for the direct and buffered data of Direct Words Direct Word Update of Buffered Words Buffered Word Update 2 50 uSec 18 0 5 ms 4 50 uSec 18 1ms 4 50 uSec 8 0 5 ms SynchLink Configuration Parameter 1000 SL Node Cnfg is broken down into 3 bits e Bit 1 Time Keeper This bit is turned on in the SynchLink master Only one node in a SynchLink network can be the time keeper e Bit2 Reserved Not used e Bit 3 Synch Now Selecting this bit enables the Synch Now synchronization mode This mode will cause the drive s system clock to synchronize to the time keeper as quickly as pos
170. meter to 1 enables the flying start function When set to 0 the flying start function is disabled Parameter 510 FOC Mode Config bit 26 FS PresetSpd set to 1 uses parameter 451 SrLss Preset Spd as initial frequency for the flying start When set to 0 the flying start frequency search uses the last known frequency The friction compensation block is used to calculate breakaway torque and the torque needed just to keep the motor running at a constant speed due to friction Parameter 140 FricComp Spd Ref is linked to parameter 43 S Curve Spd Ref The speed reference is needed because the torque needed due to friction is much more near 0 speed than at higher speeds Friction compensation is enabled by setting parameter 151 Logic Command bit 11 Frict Comp to 1 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Parameter 141 FricComp Setup is used to configure the friction compensation algorithm This is a packed word of 3 digits Each digit has a possible selection of 10 levels e The least significant digit sets the speed threshold in intervals of 0 0005 pu speed e The next middle digit sets the hysteresis band for the units digit in intervals of 0 0005 pu velocity e The most significant digit sets the number of time steps from stick to slip each step is 0 002 second NNN Number of Time Stops Units Hysteresis
171. meters 1161 SL Buf Int Tx00 through 1219 SL Buf Int Tx29 are linked to integer parameters that you want to send out over SynchLink as buffered data Note that at this time the maximum number of buffered words that can be sent over SynchLink is 18 so only odd parameters 1161 SL Buf Int Tx00 through 1195 SL Buf Int Tx17 would be used Even parameters 1162 SL Buf Real Tx00 through 1220 SL Buf Real Tx29 are linked to floating point parameters that you want to send out over SynchLink as buffered data Note that at this time the maximum number of buffered words that can be sent over SynchLink is 18 so only odd parameters 1162 SL Buf Real Tx00 through 1196 SL Buf Real Tx17 would be used Rockwell Automation Publication PFLEX RM002D EN E August 2013 163 Chapter 1 164 Detail Drive Configuration and Operation Buffered Data Receive Parameters Odd parameters 1073 SL Buf Int Rx00 through 1131 SL Buf Int Rx29 contain integer values that you receive from SynchLink as buffered data Destination parameters that are integers can be linked to this buffered data Note that at this time the maximum number of buffered words that can be received over SynchLink is 18 so only odd parameters 1073 SL Buf Int Rx00 through 1107 SL Buf Int Rx17 would be used Even parameters 1074 SL Buf Real Rx00 through 1132 SL Buf Real Rx29 contain floating point values that you receive from SynchLink as buffered data Destination parameters that
172. multiple up to 6 devices to communicate with a motor control product without requiring configuration of the peripheral SCANport and DPI both provide two basic message types called Client Server C S and Producer Consumer P C C S messages are used to transfer parameter and configuration information in the background relative to other message types P C messages are used for control and status information DPI adds a higher baud rate brand specific enabling Peer to Peer P P communication and Flash Memory programming support This communication interface is the primary way to interact with and control the drive IMPORTANT ThePowerFlex 700S only supports the DPI communication protocol The PowerFlex 700S will not communicate with SCANport devices The PowerFlex 700S does not support LED HIMs Client Server C S messages operate in the background relative to other message types and are used for non control purposes The C S messages are based on a 10 ms ping event that allows peripherals to perform a single transaction i e one C S transaction per peripheral per time period Message fragmentation because the message transaction is larger than the standard CAN message of eight data bytes is automatically handled by C S operation The following types of messaging are covered e Logging in peripheral devices e Read Write of parameter values e Access to all parameter information limits scaling default etc e User set access
173. must determine if the encoder loss ride through function is appropriate for each application Speed Feedback Loss Ride Through Configuration Parameter 151 Logic Command bit 2 TackLoss Rst provides a manual switch between primary and alternate speed feedback devices with a 0 to 1 bit transition A transition from 1 to 0 does not cause a change in operation Parameter 152 Applied LogicCmd bit 2 TachLoss Rat shows the status of parameter 151 Logic Command bit 2 TachLoss Rst switch Setting parameter 153 Control Options bit 16 Auto Tach Sw to a value of 1 enables the automatic switching of speed feedback devices when a failure is detected A value of 0 disables the automatic switching of speed feedback devices Only automatic switching from the primary device specified in parameter 222 Mtr Fdbk Sel Pri to the alternate device specific in parameter 223 Mtr Fdbk Sel Alt is available Switching from the alternate to the primary device must be done manually by setting parameter 151 Logic Command bit 2 TackLoss Rst from 0 to 1 Parameter 155 Logic Status bit 12 Tach Loss Sw shows which speed feedback device is currently active A value of 0 in bit 12 indicates that the primary speed feedback device selected in Mtr Fdbk Sel Pri is active A value of 1 in bit 12 indicates that the alternate speed feedback device selected in Mtr Fdbk Sel Alt is active
174. n card Bits 15 11 will be a value of 2000 hex for an old hi resolution option card and a value of 2020 hex for a new hi resolution option card Rockwell Automation Publication PFLEX RM002D EN E August 2013 143 Chapter1 Detail Drive Configuration and Operation Hi Resolution Encoder Feedback Option The position feedback seen in FB Opt0 Posit from a Hi Resolution Encoder counts at a rate of 1 048 576 counts per motor revolution Parameter 259 Hi Res0 Config is used to configure the Hi Resolution Encoder e Bit 5 Hi Res Dir determines counting direction If clear direction is forward or up If set the direction is reverse or down e Bits12 SmplRate baits SmplRate bt3 configure the sample interval for measuring speed see Table 10 Increasing the encoder sample interval improves speed measurement near zero speed Decreasing allows the speed control regulator to perform with high gains at high speeds e The remaining bits are reserved not used Table 10 Encoder Sample Interval Bit 15 14 13 12 Encoder Sample Interval Settings 0 00 0 05ms 0 O 0 1 0 5 ms min setting 0 JO 1 JO 1 0ms 0 0 1 1 1 5ms 0 1 0 0 2 0ms default setting 0 1 O 1 25ms 0 1 1 JO 3 0ms 0 1 1 1 3 5ms 1 0 0 O 4 0ms 1 0 O 1 EE 1 0 1 0 5 0ms 1 J0 1 1 55ms 1 1 0 0 6 ms max setting 1 1 JO 1 60ms 1 1 1
175. nals In addition reconnecting a motor to an active drive by closing the contactor could produce excessive current that may cause the drive to fault If any of these conditions are determined to be undesirable or unsafe an auxiliary contact on the output contactor should be wired to a drive digital input that is programmed as Enable This will cause the drive to execute a coast to stop cease output whenever an output contactor is opened Mounting As a general rule drives should be mounted on a metallic flat surface in the vertical orientation If considering other orientation contact the Factory for additional data Refer to the Chapter 1 Installation Wiring in the PowerFlex 700S Drive User Manual publication 20D UM001 for mounting instructions and limitations Rockwell Automation Publication PFLEX RM002D EN E August 2013 75 Chapter1 Detail Drive Configuration and Operation Output Devices Output Display 76 Drive Output Disconnection and W must be capable of disabling the drive if opened during drive operation If opened during drive operation the drive will continue to produce output voltage between U V W An auxiliary contact must be used to simultaneously disable the drive ATTENTION Any disconnecting means wired to the drive output terminals U V Rockwell Automation drives can be used with an output contactor between the drive and motor This contactor can be opened under load without damage to the drive
176. ner Bit Adapter gt DriveLogix gt Not Used gt Adapter 5 gt Not Used gt Adapter 3 gt Adapter 2 When the local Start button is pressed the display indicates that the command is coming from the HIM ET zvozcvcz 5i S S 25Z2EZ Zzs5 2 55515 3 3 52 O Z a Z a lt aL L AA Start Owner Bit 7 16 15 4 3 2 1 10 Adapter 0 J0 0 JO 10 JO 1 0 78 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Permanent Magnet Motors The Start Owner indicates that there is not any maintained Start commands causing the drive to run i Se elele pol ZE S g al gla al al s S RS BB REE El e ls 9o85 5 O Z Le co Lc StopOwner Dir 7 16 15 14 13 2 1 J0 Adapter 0 J0 0 JO 10 JO 1 0 The operator then checks the Stop Owner Notice that bit 0 is a value of 1 indicating that the Stop device wired to the Digital Input terminal block is open issuing a Stop command to the drive Until this device is closed a permanent Start Inhibit condition exists and the drive will not restart The following table contains a list of specifications for the permanent magnet motors compatible with PowerFlex 700S drives Note that you must have a high resolution Stegmann or compatible resolver Table 5
177. nerator The sync generator can be used to synchronize a parameter and delay it one scan This can be used in conjunction with SynchLink Refer to SynchLink on page 160 for more information Sync Generator Xsync In 1 788 Latch 789X Xsync Out 1 lt 791 gt Xsync Out 2 L Xsync In 2 790 Latch 7925 Xsync Out 2 Dly L I Xsync Out 3 GE kee Xsync In 3 793 Latch 7955 Xsync Out 3 Dly l I l mm m m mmm e mm mm oe PERAN TOM S E Xsync Status E Sync Pulse ms 0 5ms 20787 Sync Pulse Generator Xsync Gen Period 787 Configuration e Parameters 788 Xsync In 1 and 789 Xsync Out 1 can be used to synchronize a Dint parameter e Parameters 790 Xsync In2 through 792 Xsynch Out 2 Dly can be used to synchronize a Dint parameter and delay it one scan e Parameters 793 Xsync In3 through 795 Xsynch Out 3 Dly can be used to synchronize a floating point parameter and delay it one scan e Parameter 787 Xsync Gen Period sets the scan time of the synch generator The following options are available 0 2 msec 3 16 msec 1s 4 msec 4 32 msec 2 8 msec The default setting is 1 4 msec Test Points Test points are used to monitor values in the drive for diagnostic information e xxxx TP Sel selects a value to monitor for diagnostics e xxxx TP Data shows the value selected by xxxx TP Sel 174 Rock
178. nformation The drive has a process PI loop that can be used to trim speed torque or some other function Logic Ctrl State ProcsTrim En 155 J 1 OR Logic Command PI Command ProcsTrim En is Ense GD un PI Reference Ce PI Feedback Cie o qe Lpass Filt BW 184 Sit PI Output F kp 1 gt Filter 180 gt LPass P Gain Limit PI High Limit Co PI Prop Gain PI Lower Limit 192 ki 190 S PI Preload I Gain Limi PI Integ Output PI Integ Time PI Integ HLim 188 PI Integ LLim D Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Process PI Reference and Feedback The reference and feedback signals are the values present in PI Reference and PI Feedback PI Reference could be a set value or linked to a variable parameter such as an analog input Typically PI Feedback is linked to an analog input value received from a process line transducer The reference and feedback values are compared and an error signal is created This error signal is sent to a low pass filter The filter bandwidth is set by PI Lpass Filt BW in radian second The output of the filter is sent to the process PI regulator Process PI Regulator
179. ntains the rate of acceleration or deceleration calculated in the inertia compensation block This parameter is used in following applications Link parameter 23 Speed Trim 3 to Speed Comp and set parameter 24 SpeedTrim3 Scale to 0 002 to reduce position error in following applications S Curve Spd Ref Inertia SpeedRef Inertia Torq Add 43 gt Link C56 D gi 59 gt Logic Command to Torque inertia Comp amp 151 7 10 Inertia Comp Control 4B1 Total Inertia InertiaAccelGain Speed Comp GER Ca InertiaDecelGain C58 __ s5 gt Ce DeltaSpeedScale For information on contactors see Motor Start Stop Precautions on page 75 See the PowerFlex 700S high Performance AC Drive Phase I Control User Manual publication 20D UM001 Refer to CE Conformity on page 26 Refer to Start Stop Modes on page 156 See the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOOI for detailed information A jog reference is usually used to run the motor at some preset low speed Two separate jog speeds can be used as a speed reference parameter 17 Jog Speed 1 or parameter 18 Jog Speed 2 A jog could be initiated by a Digital Input by the Logic Command word from a DPI Adapter such as a HIM or by the Logic Command word from DriveLogix In turn a valid jog command initiated from one of those adapters will turn on
180. ntrolNet 20 COMM C 26 Compliance with the Low Voltage LV Directive and Electromagnetic Compatibility EMC Directive has been demonstrated using harmonized European Norm EN standards published in the Official Journal of the European Communities PowerFlex drives comply with the EN standards listed below when installed according to the PowerFlex 700S AC Drives Phase I Control User and Reference Manuals CE Declarations of Conformity are available online at http www rockwellautomation com products certification Low Voltage Directive 2006 95 EC e EN 61800 5 1 Adjustable speed electrical power drive systems Part 5 1 Safety requirements Electrical thermal and energy EMC Directive 2004 108 EC e EN 61800 3 Adjustable Speed Electrical Power Drive Systems Part 3 EMC Product Standard Including Specific Test Methods See the Common Bus section in publication DRIVES INO01 for detailed information For information on the 1336R Regen unit see Bus Regulation Braking on page 20 See individual adapters sections ControlNet 20 COMM C on page 26 DeviceNet 20 COMM D on page 36 and Remote I O Adapter 20 COMM R on page 106 This information serves as a supplement to the PowerFlex ControlNet Adapter Users Manual publication 20COMM UM003 addressing items specific to the PowerFlex 7008S Please refer to the User Manual for details on 20 COMM C set up configuration I O messaging and explicit messaging This docum
181. o further adjustments are necessary If gear noise or chatter is present reduce parameter 90 Spd Reg BW or progressively turn on the lead lag filters a through d with d being the most aggressive Stop when performance is sufficiently smooth a Parameter 95 SregOut FiltGain 0 7 parameter 96 SregOut Filt BW 35 b Parameter 95 SregOut FiltGain 0 5 parameter 96 SregOut Filt BW 20 c Parameter 95 SregOut FiltGain and parameter 93 SRegFB Filt Gain 0 7 Parameter 94 SReg FB Filt BW and parameter 96 SregOut Filt BW 35 128 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 d Parameter 95 SregOut FiltGain and parameter 93 SRegFB Filt Gain 0 5 Parameter 94 SReg FB Filt BW and parameter 96 SregOut Filt BW 20 7 Ifgear noise or chatter is still present after turning on the filters repeat steps 2 through 6 with a lower speed regulator BW parameter 90 Spd Reg BW 8 Ifthe desired bandwidth cannot be achieved due to gear noise or chatter follow the procedure for Advanced Tuning for the Speed Regulator with Gearbox or Belt below Advanced Tuning for the Speed Regulator with Gearbox or Belt When using a system with a gearbox or belts che backlash or lost motion can cause instability The inertia adaptation feature can be used to alleviate this instability Follow the steps below to use inertia adaptation 1 Identify moto
182. o out to peripherals once they log in and at least every 125 ms to all attached peripherals Peripherals will time out if more than 250 ms passes without a response Actual time is dependent on the number of peripherals attached The minimum time goal is 5 ms may have to be dependent on the Port Baud Rate DPI allows a minimum 5 ms status at 125k and 1 ms status at 500k The host determines the Minimum Update Time MUT based on the number of attached peripherals Range of values from 2 125 ms Minimum goal time of 5 ms DPI allows 2 ms at 500k and 5 ms minimum at 125k Peripheral command messages including Datalinks generated on change of state but not faster than Host MUT and at least every 250 ms Host will time out if it is more then 500 ms Peer messages requests cannot be sent any faster than 2x of MUT Host must ping every port at least every 2 seconds Peripherals time if more then 3 seconds pass Host will wait a maximum of 10 ms 125k or 5 ms 500k for peripheral response to ping Peripherals typical response time is 1 ms Peripherals allow only one pending explicit message ping response or peer request at a time Response to an explicit request or fragment must occur within 1 second or device will time out applies to Host or Peripheral Time out implies retry from beginning Maximum number of fragments per transaction is 16 Flash memory is exception with 22 fragments allowed During Flash mode host stops ping
183. of the option cards above can be physically installed on the drive at a time When the Hi Resolution encoder option or Resolver option are installed their data is processed by feedback option card port 0 When the MDI option is installed it has a Hi Resolution encoder processed by feedback option card port 0 and a Temposonics linear sensor processed by feedback option card port 1 Parameter 251 FB Opt0 Spd Fdbk contains the speed feedback from either the Hi Resolution Encoder or the Resolver connected at port 0 Parameter 250 FB Opt0 Posit contains the position feedback from either the Hi Resolution Encoder or the Resolver connected at port 0 Parameter 277 FB Opt1 Spd Fdbk contains the speed feedback from the Temposonics linear sensor when the MDI option is installed Parameter 276 FB Opt1 Posit contains the position feedback from the Temposonics linear sensor when the MDI option is installed FB Opt0 Spd Fdbk Hi ResO Config 259 am 251 gt eedbac Reslvr0 Config 266 Option Card 0 gt FB Opto Posit Fdbk Option ID lt 249 Processing Rslvr0 Spd Ratio C270 ReslvrO Carrier Cm 1 FB Opt1 Spd Fdbk Reslvr0 In Volts CS o 27 7 Rslvr0 XfrmRatio Gi Ge Reslvr0 CableBa 2745 FB Optt Posit Hi ResO Status Reslvr0 Status Parameter 249 Fdbk Option ID displays information about the feedback option installed in feedback option card port 0 This information is read from the feedback optio
184. oltage to the drive This general voltage includes a range of actual voltages For example a 400 Volt Class drive will have an input voltage range of 380 480V AC While the hardware remains the same for each class other variables such as factory defaults catalog number and power unit ratings will change In most cases all drives within a voltage class can be reprogrammed to another drive in the class by resetting the defaults to something other than factory settings Parameter 403 Voltage Class can be used to reset a drive to a different setup within the voltage class range As an example consider a 480V drive This drive comes with factory default values for 480V 60 Hz with motor data defaulted for U S motors HP rated 1750 rpm etc By setting the Voltage Class parameter to Low Voltage this represents 400V in this case the defaults are changed to 400V 50 Hz settings with motor data for European motors kW rated 1500 rpm etc Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Watts Loss The following table lists watts loss data for PowerFlex 700S drives running at full load full speed and factory default PWM frequency of 4 kHz Table 13 480V Watts Loss at Full Load Speed 4 kHz 1 Drive ND HP 480V AC Total Watt Loss 0 5 92 1 103 2 117 3 135 5 210 75 243 10 271 15 389 20 467 25 519 30
185. om the speed reference 4 Droop Spd Reg Droop See Bus Regulation Braking on page 20 This module contains a second order thermal model of the internal For resistor sizing refer to the PowerFlex Dynamic Braking Resistor Calculator Selection Guide publication PFLEX AT001 The following chart shows typical efficiency for PWM variable frequency drives regardless of size Drives are most efficient at full load and full speed 100 95 vs Speed vs Load co e CO C1 Efficiency co e N c1 10 20 30 40 50 60 70 80 90 100 Speed Load See Position Loop Follower Electronic Gearing on page 82 Rockwell Automation Publication PFLEX RM002D EN E August 2013 53 Chapter 1 Faults Filters 54 Detail Drive Configuration and Operation Faults occur due to conditions within and or outside the drive that could affect drive operation or application operation These events or conditions are considered to be of significant magnitude that drive operation should or must be discontinued Faults are brought to the user s attention via the HIM communication and or contact outputs Faults are selected during commissioning of the drive Example of faults include Encoder loss communication loss or other exceptions within the drive Configuration Parameters 365 Fdbk LsCnfg Pri through 394 VoltFdbkLossCnfg and parameters 940 Sft OvrIrvlCnfg through 944
186. ommon Bus Systems c oeveeete et estas ope reeks PAS CREE e EN 26 Communications ceste aude rs de vl mes wen hae ss we hoes bh ets 26 ControlNet 20 OMNI E ecaXux dresses e katioueren ss 998 26 Setup InlOrmidtlom est uen ded dE ee taberna 26 Technical Ipforinatiotics dg eat LIS de eed es 28 GontrolLogix Programming ener e er x ERE PR 31 Datalink Programming iua s 2545 ot RT IE ENEE 32 Rockwell Automation Publication PFLEX RM002D EN E August 2013 5 Table of Contents Explicit Messaging ii wd ececr cete uL ce nce ee ER 32 Ido dec E 33 Current ET EE 33 keete Pu suture ost Paseo Eat ac oA Rd SUL 34 Configuring Datalink e uso eoo eurn xo de uar e ES ade ea 34 Wiese Lie core zer ausu e Wee EPI E S ab c i T LAE 36 DeviceNet 20 COMM D 5s ces verre nt erem end 36 Technical Information es cec perez Ext tarda ve ea PISIS RT 36 SPG PLC 5 Systeme eeteretesesen sary agree GE hem peni 39 Disita Inputs Arie maei a dete cba M e das cl ee 42 Technical Information 2i eroe tt ome RR Ee 42 Configuration Example EE 45 Digital Input Status Bits sde EE n e E Rees 45 Digital Outputs cu eye auae ture e teu she le iet dd 46 Technical Intolmatiobs EE 46 Configuration Example 2 euo scettr ee he eg d tegen ls 47 Digital Output Status Is ies sr eot e Severe Man 25 220s cs 47 Direction Control and Bipolar Reference 0 cee eee eee ee 47 Dive EEN 48 Theory of Operation cu icio bie ee ee eee Ea 48 Drive Overtemperature Famed ON
187. on Parameter 783 In Posit Dwell sets a delay time in seconds that parameter 769 Position Error must be within parameter 782 In Posit BW before parameter 741 Position Status bit 10 In Position turns on Technical Information First a few general facts about the Point to Point Position Loop e Uses only parameter 768 PositReg P Gain for tuning Parameter 770 Posit Reg Integ is not used in point to point mode e The number of position counts per revolution depends on the type of feedback device used Rockwell Automation Publication PFLEX RM002D EN E August 2013 87 Chapter 1 88 Detail Drive Configuration and Operation e When using an encoder for positioning the drive uses quadrature counts i e 1024 encoder 4096 counts per motor revolution e When using a Stegmann absolute hi resolution encoder the drive counts 1048576 counts per revolution e When using a Resolver the drive counts 65536 counts per revolution e Speed regulator tuning directly affects the position loop performance The speed regulator should be tuned before the position loop e For best performance positioning should be used with a dynamic brake or regenerative system Overview The Point to Point positioning feature gives the user the ability to position the load without an external position controller The Point to Point function of the position loop moves from current location to commanded location then holds that position
188. on Publication PFLEX RM002D EN E August 2013 103 Chapter1 Detail Drive Configuration and Operation Pulse Elimination Technique PET Reflected Wave 104 Process PI Output At this point of the process PI loop some conditions must be met to turn on the PI output otherwise the PI output is 0 The PI output can be turned on in one of two ways e Logic Command bit 12 ProcsTrim En is turned on and the drive is running The running state is indicated by Logic Status bit 1 When both of these conditions are true Logic Ctrl State bit 31 ProcessTrim En will be on e PI Command bit 0 Enable is turned on Now the PI output is used to trim speed torque or some external loop To trim the speed loop link Speed Trim 2 or Speed Trim 3 to PI Output To trim the torque loop link Torque Trim to the PI Output To trim some other loop link the desired parameter to PI Output For example to use analog output 1 asa trim signal to other equipment link Anlg Out 1 Real to PI Output See Reflected Wave on page 104 Parameter 510 FOC Mode Config bit 9 ReflWaveComp enables reflected wave compensation The pulses from a Pulse Width Modulation PWM inverter using IGBTs are very short in duration 50 nanoseconds to 1 millisecond These short pulse times combined with the fast rise times 50 to 400 nanoseconds of the IGBT will result in excessive over voltage transients at the motor
189. on and Operation Chapter 1 Jog Reference Two separate jog speeds can be used as a speed reference parameter 17 Jog Speed 1 or 18 Jog Speed 2 For more information on jog speeds see Jog Stop Command When a stop command is issued parameter 157 Logic Ctrl State bit 0 Spd Ref En is set to 0 causing a zero speed to be selected When Logic Ctrl State bit 0 is set to 1 the selected speed or jog reference is used Logic Ctrl State 0 l Direction Control and Bipolar Reference The direction of rotation of the motor can be controlled by a forward reverse command or by the use of a bipolar signal For more information on direction control see Direction Control and Bipolar Reference on page 47 Speed Limits The next section sets the forward and reverse speed limits for the speed reference Parameter 31 Fwd Speed Limit sets the positive speed limit in RPM Parameter 30 Rev Speed Limit sets the negative speed limit in RPM Parameter 41 Limited Spd Ref contains value in RPM of the limited speed reference Limited Spd Ref Rev Speed Limit Fwd Speed Limit Rockwell Automation Publication PFLEX RM002D EN E August 2013 133 Chapter 1 134 Detail Drive Configuration and Operation SE Logic Command Spd S Crv En Accel Decel Ramp and S Curve The accel decel ramp generator can be bypassed for certain functions When parameter 151 Logic Command bit 0 SpdRamp Dsb is on th
190. on has detected an overload condition See the Drive Overload on page 48 section for a description of the Open Loop and Closed Loop IT functions Software Current Limit This feature selectively limits the current the drive will provide based on the several factors The Mtr Current Lim parameter setting will limit the current to the user changeable level range is 105 of Motor Flux Rockwell Automation Publication PFLEX RM002D EN E August 2013 33 Chapter1 Detail Drive Configuration and Operation Datalinks 34 Current to 80096 of the motor nameplate entered in 2 Motor NP FLA The Open Loop IT function can also limit the output current if the calculation determines it is in the overload area of operation The Open Loop IT function and the Motor Current Limit parameters are routed to a minimum selection the algebraic minimum of the inputs is used as the current limit Also the Closed Loop IT function can limit the current output by the drive The Closed Loop IT function and the Torque Current Reference are compared and the algebraic minimum is used for the Torque Current Reference See the Drive Overload on page 48 section for a description of the Open Loop and Closed Loop IT Functions Datalinks are used to transfer I O data from a communication adapter such as ControlNet 20 COMM C or DeviceNet 20 COMM D to a controller Datalinks allow parameter values to be changed without using messaging Configuring Datalinks This
191. on s may ATTENTION The user must determine safe auto restart and fault AN result in personal injury due to machine motion Precharge Frames 1 4 The precharge implementation and control varies with drive size and type For frames 1 4 the precharge hardware is located on the power circuit board This is basically a resistor and bypass relay in series with the positive DC bus between the front end rectifier and the bus capacitor The bypass relay control is described below Also note that these drives can be wired for either AC line power or DC common bus The precharge function will work the same for either AC or DC power input Precharge Frames 5 and Higher AC Input Stand Alone Drives For frames 5 and higher AC Input the precharge function is implemented with an SCR rectifier such that the SCRs are phase advanced to limit the inrush current into the bus capacitor s This phase advanced precharge is not controlled by the drive and should normally be completed by the minimum precharge time required by the drive The drive will not complete precharge until the bus voltage is stable and above the under voltage level Precharge Frames 5 and Higher DC Input Common Bus Drives There are two versions of these DC Input or common bus drives The first has a resistor with an SCR bypass in series with the positive DC bus in front of the bus capacitor The second does not have any precharge hardware and is intended for user applications where
192. op Position Watch 92 Position Status 93 Power Loss 95 Preset Speeds 102 Process PI Loop 102 Process PI Limits 103 Process PI Output 104 Process PI Reference and Feedback 103 Process PI Regulator 103 pulse elimination technique PET 104 PWM Frequency 25 Reflected Wave 104 Remote 1 0 Adapter ControlLogix System 106 Datalink Programming 111 Reference Feedback Programming 110 RFI Filter Grounding 119 Ride Through 95 S S Curve Spd Ref 68 S Curve 119 Second Order Low Pass Filter 55 Speed Comp 69 Speed Control 119 Speed Feedback 137 Speed Mode 119 Speed PI Regulator 120 Autotune Speed Reference 121 Current Limit Stop 122 Droop 126 Integral Gain 124 Proportional Gain 124 Servo Lock 123 Speed Error 122 Speed Reference Limits 122 Speed Regulation Anti Backup 123 Speed Regulator Output Filter 126 Speed Regulator Output Limits 126 Speed Trim 120 Speed Ref Sel 45 Permanent Magnet Control 19 Permanent Magnet Motors 79 PI Loop 102 Rockwell Automation Publication PFLEX RM002D EN E August 2013 187 Speed Reference 130 Accel Decel Ramp and S Curve 134 Direction Control and Bipolar Reference 133 Friction Compensation 135 Inertia Compensation 135 Jog Reference 133 Speed Limits 133 Speed Reference Bypass and Delayed Speed Reference 135 Speed Reference Filter 136 Speed Reference Scale 136 Speed Reference Scaling 131 Speed Reference Select 132 Speed Trim1 137 Stop Command 133 Virtual Encoder 135 Speed Reference Select 137
193. or DeviceNet Explicit Message Single Parameter Write HN20 17 MSW of Parameter Value for DeviceNet Explicit Message Single Parameter Write Technical Information Source Source HF12 20 HN14 100 H14 100 H14 101 There are four digital inputs on the I O board One ofthe inputs is dedicated for the Enable and cannot be configured The other three inputs can be configured Digital Input 1 is 24VDC and Digital Inputs 2 and 3 can accept a 12 24VDC signal There is a24VDC power supply on the I O board to supply power for those inputs Digital Inputs 2 and 3 are high speed digital inputs with a maximum input frequency of 350 kHz Rockwell Automation Publication PFLEX RM002D EN E August 2013 Figure 10 Digital Input Configuration TB1 T10 Li 24VDC 24VDC Common TBi TI 7 7 V Logic Common Detail Drive Configuration and Operation Digln 1 Sel C 838 Chapter 1 TBI
194. or other types of messages refer to the 20 COMM C user manual This feature allows you to upload a complete set of parameters to the LCD HIM This information can then be used as backup or can be transferred to another drive by downloading the memory Generally the transfer process manages all conflicts Ifa parameter from HIM memory does not exist in the target drive the value stored is out of range for the drive or the parameter cannot be downloaded because the drive is running the download will stop and a text message will be issued The user than has the option of completely stopping the download or continuing after noting the discrepancy for the parameter that could not be downloaded These parameters can then be adjusted manually The LCD HIM will store a number of parameter sets memory dependant and each individual set can be named for clarity The following methods are available for a drive to use to protect itself from an overcurrent or overload condition Instantaneous Over Current Trip This is a feature that instantaneously trips or faults the drive if the output current exceeds this value The value is fixed by hardware and is typically 250 of drive rated amps This feature cannot be disabled Software Over Current Trip This is a configurable trip function If parameter 377 Inv OL Trip Cnfg is set to Fault Coast to Stop the drive will trip on inverter overload This will occur when the Open Loop or Closed Loop IT functi
195. os Lim and 103 Spd Reg Neg Lim Output from Proportional Block Output from Integrator Block Spd Reg Pos Lim Spd Reg Neg Lim Speed Regulator Output Filter Now the torque reference goes through a lead lag filter tuned by parameter 95 SregOut FiltGain and 96 Sreg Out Filt BW For more information on lead lag filters refer to Lead Lag Filter on page 56 Parameter 157 Logic Ctrl State bit 8 Spd Reg En indicates when the speed regulator is enabled When Spd Reg En is on this allows the speed regulator output to pass to the torque control loop Parameter 302 Spd Reg PI Out contains the filtered limited torque reference that was generated by the speed regulator Logic Ctrl State Spd Reg En l 0 9 i Spd Reg PI Out 1 L to Torque Control 4A 1 kn s wn S wn SRegOut FiltGain SReg Out Filt BW Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Speed Regulator Tuning Basic Tuning Procedure with a Gearbox or Belt 1 Identify motor and system inertia in seconds The motor inertia can be determined by performing an inertia test with the motor uncoupled from the load or the motor inertia in seconds can be calculated using the following formula fod WK x RPM 308xT where WK2 is the inertia in Ibft2 RPM is the base motor speed of the motor and Tacc is the rated torque of the motor in lb f
196. oss Ride Through Detail Drive Configuration and Operation Chapter 1 Table 6 Filter Settings Bit Input Filter Setting 11 10 9 8 0 O O O Filter disabled 0 O O 1 100nsfiler 0 O 1 0 200ns filter 0 O 1 1 300ns filter 0 O 1 1 300ns filter 0 1 0 0 400ns filter 0 1 0 1 500ns filter 0 1 1 0 600ns filter 0 1 1 1 700ns filter 110 0 0 800ns filter default setting 110 0 1 900nsfilter 1 10 1 0 1000nsfilter 110 1 1 1100nsfilter 1 1 510 0 1200ns filter 1 1 510 1 1300ns filter 1 1 11 0 1400nsfilter 1 1 1 1 1500nsfilter P237 Port0 Regis Ctrl Configures control for Port 0 Registration Setting Bit 0 1 is the arm request to capture the position on the next trigger event Setting Bit 1 1 is the disarm request to capture on the next trigger event P238 Port0 Regis Stat Port 0 Registration Status Bit 0 Armed indicates the registration latch is armed and waiting for a trigger Bit 1 Found indicates the registration event has occurred and the value is stored in P235 Port0 Regis Ltch The precharge function provides a current limited charging of the drive s bus capacitor s and when charging is complete bypasses the current limiting device This current limited charging primarily protects the drive s input fuses and front end rectifiers or SCRs from excessive inrush current
197. otor speed feedback The filter is setup by parameters 95 Sreg FB Filt Gain and 94 Sreg FB Filt BW The filtered speed feedback is seen in parameter 71 Filtered SpdFdbk The speed error is filtered by a low pass filter by adjusting Spd Err Filt BW Filter 2 4 Order LPass Motor Speed Ref Speed Error Motor Spd Fdbk kn s wn S wn Filtered SpdFdbk SReg FB Filt Gain SReg FB Filt BW 94 gt Servo Lock Servo lock is used for servo or positioning applications The effect of Servo Lock is to increase stiffness of the speed response to a load disturbance It behaves like a position regulator with velocity feed forward but without the pulse accuracy ofa true position regulator The output of the servo lock block is summed with the filtered speed error Parameter 85 Servo Lock Gain sets the gain of an additional integrator in the speed regulator The units of Servo Lock Gain are rad sec Gain should normally be set to less than 1 3 speed regulator bandwidth or for the desired response Set Servo Lock Gain to zero to disable Servo Lock ks S ServoLc Servo Lock Gain C85 Speed Regulation Anti Backup Parameter 84 SpdReg Anti Bckup modifies the drive s response to the speed reference With the value minimized the drive will follow the reference very closely minimizing error which is desirable for typical process applications However it will exhibit some over shoo
198. pd Ref SES Delay 62 Virt Encdr Posit 4x internal Virtual Encoder One 63 Virt Encdr Dlyed Scan Virt Encoder PPR Des Speed Reference Scaling The first section of the reference selection block is speed reference scaling Both speed reference 1 and 2 have parameters associated with them to scale the values See Figure 33 Speed Ref 1 C 10 Spd Ref1 Divide Cn Speed Ref 2 C12 Spd Ref2 Multi SE Parameter 10 Speed Ref 1 and parameter 12 Speed Ref 2 are real parameters with units of per unit where a value of 1 per unit equals base motor speed Both Speed Ref 1 and Speed Ref 2 have their own scaling blocks The speed reference value in Speed Ref 1 is divided by the scaling parameter 11 Speed Ref1 Divide Speed Ref1 Divide cannot be changed while running and cannot be linked to by another parameter The speed reference value for Speed Ref2 is multiplied by the scaling parameter 13 Speed Ref2 Multi Speed Re 2 Multi is a linkable parameter This allows speed reference 2 to be scaled dynamically with an input signal if desired An example would be to have an analog input linked to the scale parameter The 131 Chapter1 Detail Drive Configuration and Operation speed reference and the scale would then affect the value sent to the reference select block Parameters 14 Speed Ref 4 15 Speed Ref 5 and 20 Speed Ref DPI are in
199. phase signal is ignored As a result the encoder position will only increase regardless of rotation direction Bits 4 and 5 together also determine the number of edges counted per encoder pulse see Table 8 on page 140 4x sampling counts both rise and fall of both A and B encoder phases hence 4 edges per pulse In 4x mode the encoder position will change by four times the encoder pulses per revolution rating PPR per encoder revolution for example it increments the value in parameter 230 Encdr0 Position by 4096 for one revolution of a 1024 PPR encoder e Bit 6 Encdr Dir inverts the channel A input thus reversing the direction of the feedback Rockwell Automation Publication PFLEX RM002D EN E August 2013 139 Chapter1 Detail Drive Configuration and Operation e Bit9 Edge Time configures the method of sampling used by the Velocity Position Loop VPL Setting the bit chooses Edge to Edge sampling while resetting the bit to zero chooses Simple Difference sampling Simple Difference sampling calculates speed by examining the difference between pulse counts over a fixed sample time Edge to Edge sampling adjusts the sample time to synchronize with the position count updates from the daughter card improving the accuracy of the speed calculation Bits 12 SmplRate bt0 through 15 SmplRate bt3 configure the sample interval for measuring speed see Table 7 on page 140 Increasing the encoder sample
200. r and system inertia in seconds The motor inertia can be determined by performing an inertia test with the motor uncoupled from the load or the motor inertia in seconds can be calculated using the following formula y BE x RPM c DENT where WK2 is the inertia in Ibft2 RPM is the base motor speed of the motor and Tacc is the rated torque of the motor in lbeft Tacc can be calculated by the following po HPx5252 acc 75 RPM where HP is the nameplate horsepower of the motor and RPM is the base motor speed of the motor System Inertia parameter 9 Total Inertia is determined by performing the inertia test with the load coupled or the value in seconds can be calculated using the formulas above if WK2 is known for the system Rockwell Automation Publication PFLEX RM002D EN E August 2013 129 Chapter1 Detail Drive Configuration and Operation 2 Set parameter 90 Spd Reg BW Do not exceed the bandwidth limit of curve 2 in the following chart based on the ratio of motor inertia to system inertia Maximum regulator Bandwidth vs inertia Ratio with Gear Box Bandwidth K E 5g 3p eS I jeg EC 10 20 30 40 50 Ratio system inertia motor inertia 3 Set parameter 133 Inert Adapt BW parameter 90 Spd Reg BW 4 Verify that Lead Lag filters are off Parameter 93 SRegFB Filt Gain 1 Parameter 95 SReg Out Filt Gain 1 to disable the filters 5 Enable inertia adaptation parameter 132
201. relay output is rated 5 A at 24VDC for a resistive load and 2 A at 24VDC for an inductive load Figure 12 Digital Output Configuration Local I O Status lt 824 ap Output Relay ge 7 TB2 B5 Relay Out Data pane O Z TB2 B4 Relay Out Bit 842 faa Local I O Status lt 824 gt 17 aux Out 1 TB1 T6 d an 2 Dig Out 1 Data e A Z TBI T5 Data Out 1 Bit 844 CM TB1 T4 Local I O Status Return Common 824 gt 18 Aux Out 2 ECT Pa Dig Out 2 Data 845 9 vc a46 d Data Out 2 Bit 84 3 46 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Direction Control and Bipolar Reference Detail Drive Configuration and Operation Chapter 1 The Relay x Data parameter and Dig Out x Data parameters are linked to a parameter used to turn on the digital output The Relay x Bit parameter and Dig Out x Bit parameters select which bit of the data you wish to use to turn on the digital output Configuration Example This example configures Digital Output 1 for Enabled Enabled indicates the inverter section of the drive is active IGBTs switching e Dig Out 1 Data is linked to Logic Status e Dig Out 1 Bit is set to 0 When the Enabled bit of Logic Status turns on Digital Output 1 turns on Digit
202. rned off again When Speed Reg Ctrl bit 3 Integ Reset is turned on the output of the integrator is set to 0 When the Integ Reset bit is turned back off the integrator output starts integrating up again from 0 When Speed Reg Ctrl bit 1 Preset Sel is turned on the value in parameter 303 Motor Torque Ref is added to the integrator output When Preset Sel is turned off parameter 87 Sreg Torq Preset default of 0 per unit is added to the integrator output Parameter 101 SpdReg Integ Out contains the value of the torque output from the integrator This parameter is in per unit so that a value of 1 equals rated motor torque 1015 SpdReg Integ Out Control Options 12 I Gai Jog Nolnteg 2 Speed Reg Ctrl 02 Integ Hold Spd Reg Gain Speed Reg Ctrl Ca 03 Integ Reset Ca Speed Reg Ctrl Preset Sel ojl SReg Torq Preset CD 11 Motor Torque Ref vam Rockwell Automation Publication PFLEX RM002D EN E August 2013 125 Chapter 1 126 Detail Drive Configuration and Operation Droop Droop is used to shed load and is usually used when a soft coupling of two motors is present in an application For more information on droop see the section titled Droop Speed Regulator Output Limits The outputs from the proportional block and integrator block are summed together creating a torque reference This torque reference is limited by parameter 102 Spd Reg P
203. round MOV connection could become a continuous current path to ground Energy ratings are listed below Exceeding the published phase to phase or phase to ground energy ratings may cause physical damage to the MOV R Joules J 4 Phase to Phase MOV Rating Three Phase S Joules J Includes 2 Phase Phase MOVs AC Input T Joules J 4 Phase to Ground MOV Rating Includes Phase Phase amp Phase Ground MOVs Device Rating V AC 240 480 600 240 480 600 240 480 600 Phase Phase Total 160J 320J 280 320J 280J 300J Phase Ground Total 220J 380J 360 410J 360 370J PowerFlex drives contain protective MOVs and common mode capacitors that are referenced to ground To guard against drive damage these devices should be disconnected if the drive is installed on an ungrounded distribution system where the line to ground voltages on any phase could exceed 12596 of the nominal line to line voltage Refer to your PowerFlex User Manual 20D UMO01 for details 176 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 User Functions There are several user functions available in the drive for custom control Peak Detect There are two peak detectors that can be used to detect the peak for a parameter value Configuration e Link parameter 213 PkDtctl In Real or parameter 212 PkDtct1 In Int to the parameter that you wish to detect a peak depending on
204. s 7 Click OK To synchronize the speed references you must add a time delay to the S Curve speed reference of the master 8 Open the Properties dialog box for Parameter 37 Spd Ref Bypass Rockwell Automation Publication PFLEX RM002D EN E August 2013 169 Chapter1 Detail Drive Configuration and Operation 9 Click the Link Data tab Parameter 37 Spd Ref Bypass Properties i ES Value Link Data Documentation r Link Source C No Link Parameter Find Parameter Next Selected Parameter P 42 Ramped Spd Ref P 43 S Curve Spd Ref P 44 Filtered Spd Ref P 45 Delayed S F Function Block Block Node Available Drive Links 1 P ita Total Drive Links 200 _Parameter Heb rm Cancel 10 Select P 45 Delayed Spd Ref in the Selected Parameter list 11 Click OK 170 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Follower PowerFlex 700S Setup Receiving Drive 1 In the slave drive select 4 Direct Words 8 Buffered Words in the SynchLink Receive Format field to match the size of the data transmitted from the master drive If desired the multiply block can be used to change the scaling of one of the Direct Words coming from the master to the follower For example the multiply block might be used to enter a gear ratio for the speed reference PowerFlex 700SDL Peer Communication
205. s contain 32 bits of data When using explicit messaging in the ControlLogix system the message type CIP Generic is used The data is transferred over DeviceNet in the same data type as the parameter in the PowerFlex 700S Make sure that the data type for the Source and Destination tags in your ControlLogix message instruction matches the data type in the PowerFlex 700S Also the Number of Elements in the ControlLogix message instruction must match the size of the Source data For example to send an explicit message to write to parameter12 Speed Ref 2 which is floating point e The Source and Destination tags should be type REAL e The Number of Elements should be 4 bytes since a REAL data type takes up 4 bytes of data Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 SLC PLC 5 System Reference Feedback Programming The reference is scaled so that base motor speed 32768 The SLC PLC 5 does not use DINT and only handles 16 bit integers so the reference has to be handled differently to account for references above 32767 or below 32768 The example on the following page shows how to transmit references less than twice base motor speed Calculate a speed reference based on 32768 bace motor speed F12 0 32 bit floating point speed reference counts F12 1 speed rererce RPM F124 base motor speed RPM CPT 0000 Compute Dest Fi20 00 Express
206. s large Rockwell Automation Publication PFLEX RM002D EN E August 2013 97 Chapter 1 98 Detail Drive Configuration and Operation Flux Only The drive s torque is set to zero when a power disturbance is detected The motor flux is continued until the disturbance goes away or until a power down occurs extended power loss If the power loss is of a very short duration or there is sufficient input impedance to limit the inrush current when power returns the drive will continue normal operation after the disturbance passes However if the power returns causing a large inrush current precharge device is still bypassed drive damage is likely Ride Through Timeout Fault Parameter 407 Power Loss Time sets the duration or time delay allowed for the incoming power to return before a ride through fault occurs This limits the time where an auto start for the drive could occur The default value for this time is 2 seconds with a minimum value of 0 seconds and a maximum value of 60 seconds The ride through timeout fault is shown in Parameter 321 Exception Event2 bit 8 RidethruTime The ride through timeout fault will inhibit the drive auto start function requiring a fault clear and commanded start to run the drive again IMPORTANT The user must determine the safe time that will be allowed for the drive to auto start Precharge Operation The drive will not run until the controller s precharge function has completed Also th
207. s slip compensation PI Loop bus regulator The actual output may be different than the commanded frequency Rockwell Automation Publication PFLEX RM002D EN E August 2013 Overspeed Limit Owners Detail Drive Configuration and Operation Chapter 1 Output Power Parameter 311 This parameter displays the output kW of the drive Motor Power is the calculated product of the torque reference and motor speed feedback A 125 ms filter is applied to this result Positive values indicate motoring power negative values indicate regenerative power The output power is a calculated value and tends to be inaccurate at lower speeds It is not recommended for use as a process variable to control a process Output Voltage Parameter 307 Displays RMS line to line fundamental output voltage at the drive output terminals This data is averaged and updated every 50 ms The actual output voltage may be different than that determined by the sensorless vector or V Hz algorithms because it may be modified by features such as the Auto Economizer The absolute overspeed limit parameter parameter 335 Abs OverSpd Lim is an adjustable setting This sets a limit tolerance below parameter 30 Rev Speed Lim and above parameter 31 Fwd Speed Lim that is allowable This can be used as a safe working speed limit Example 1 Speed reference is set to equal parameter 31 Fwd Speed Lim Based on tuning of the drive the speed could overshoot the commanded sp
208. s three rated current values a continuous current rating a 1 minute current rating and a 3 second current rating Typically the 1 minute rating will be close to 11096 ofthe continuous rating and the 3 second rating will be close to 15096 of the continuous rating This may vary from drive to drive to optimize the performance of each frame size In the following examples the 1 minute rating is 11096 and the 3 second rating is 15096 Open Loop Current Limit The drive can thermally allow 102 596 The 1 minute current rating assumes a duty cycle of 1 minute on followed by 3 minutes at 10096 This results in an average current of 102 596 110 60 s 100 180 s average current 102 596 240 s 48 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 The 3 second current rating assumes a duty cycle of 3 seconds on followed by 57 seconds at 100 This results in an average current of 102 5 15096 3 s 10096 57 s average current 102 5 60 s Typically the drive will have a 60 second rating of 11096 of continuous current and a 3 second rating at 15096 of the continuous current Under normal operating conditions the open loop function sets this current limit to the short term three second rating If the function detects an overload it lowers the limit to the continuous l
209. s used for the reference link parameter 800 Anlg In1 Data to parameter 111 Torque Ref 1 When operating in a torque mode the motor current will be adjusted to achieve the desired torque If the material being wound unwound breaks the load will decrease dramatically and the motor can potentially go into a runaway condition Torque Ref 1 Torq Ref1 Div Torque Reference e Parameter 111 Torque Ref 1 is divided by parameter 112 Torq Bet Div e Parameter 113 Torque Ref 2 is multiplied by parameter 114 Torq Ref2 Mult e Parameter 115 Torque Trim can be used to trim the torque For example Torque Trim can be linked to an analog input or to the Process PI output The final torque reference in the Torque Mode is the sum of scaled Torque Ref 1 scaled Torque Ref 2 and Torque Trim Rockwell Automation Publication PFLEX RM002D EN E August 2013 153 Chapter1 Detail Drive Configuration and Operation Min Mode Max Mode This operating mode compares the speed and torque commands The algebraically minimum value is used This mode can be thought of as a Speed Limited Adjustable Torque operation Instead of operating the drive as a pure torque regulator the runaway condition can be avoided by limiting the speed A winder is a good example for the application of the Min Spd Trq operating mode Max mode would be used if both speed and torque are negative Figure 35 illustrates how min mode operates The
210. scalable speed trim value that is added to Spd Trim1 SpdRef The speed reference value for Speed Trim 3 is multiplied by the scaling parameter 24 Spd Trim 3 Scale Spd Trim 3 Scale is a linkable Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 parameter This allows speed trim 3 to be scaled dynamically with an input signal if desired An example would be to have an analog input linked to the scale parameter The speed trim and the scale would then affect the value sent to the summation block The speed trim values are summed with the speed reference from the speed reference control loop Speed Trim 3 23 5 X SpdTrim 3 Scale 24 5 from Speed Control Spd Trim1 SpdRef Reference 2H4 Ovr Smpl Posit Spd Output Speed Trim 2 318 22 kn s wn S wn from Position Ld Control 6H3 or 7H4 Lead Lag STrim2 Filt Gain Ca SpdTrim2 Filt BWC 26 gt Autotune Speed Reference During the inertia test the autotune speed reference is used instead of the output of the speed trim summation Parameter 19 Atune Spd Ref sets the speed for the inertia test Bits 4 5 and 8 in parameter 157 Logic Ctrl State control when the Atune Spd Ref is used e Bit 4 Inrta Tst En turns on during the inertia test and allows the autotune speed reference to bypass the output of the speed tr
211. screte and block transfer I O e Datalinks are transferred to and from the drive by block transfer I O ControlLogix System Here is the I O image table for the ControlLogix system and a 20 COMM R configured as a 4 rack Notice that the first 2 words of the image table are Discrete I O the rest of the data comes across as Block Transfer I O Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 RIO DPI BT Control Logic Command Reference SpeedRef DPI Reference Datalink A1 r Data In A1 Int Datalink A1 ked Data In A1 Datalink A2 T Data In A2 Int Datalink A2 ied Data In A2 Datalink B1 7 Data In B1 Int Datalink B1 ee Data In B1 Datalink B2 T Data In B2 Int Datalink B2 nud Data In B2 Datalink C1 r Data In C1 Int Datalink C1 ed Data In C1 Datalink C2 Data In C2 Int Datalink C2 d Data In C2 Datalink D1 T Data In D1 Int Datalink D1 feet Data In D1 Datalink C2 r Data In D2 Int Datalink C2 E Data In D2 0 1 2 3 4 5 6 7 8 9 1 1 1 1 1 1 1 1 1 1 1 The speed reference comes into the 20 COMM R as two 16 bit integers The PowerFlex 7005 firmware automatically converts that speed reference into floating point so that parameter 20 Speed Ref DPI is a floating point value Rockwell Automation Publication PFLEX RM002D EN E August 2013 107 Chapter1 Detail Drive Configuration and Operation ControlLogix Adapter PowerFlex 700S O Data 0 O Da
212. set Offsets can be added to the position reference Offsets are used to make a correction move to synchronize the follower to the master position Added to position A reference after EGR Deriv Posit Offset 1 753 Posit Offset 2 C754 X Filter Posit Offset Spd C755 Rate Lim LPass Position Control X Offset Pol 74004 741 05 Position Status Position Control 75705 X OffRefActl X Offset Ref i Rockwell Automation Publication PFLEX RM002D EN E August 2013 85 Chapter 1 86 Detail Drive Configuration and Operation There are two offsets parameters 753 Posit Offset 1 and 754 Posit Offset 2 The offset speed must be entered in parameter 755 Posit Offset Speed if this is left at zero the move will not occur The position offset must be entered in counts of feedback because it is added to the position reference after the EGR scaling Offsets must be maintained to keep the position De if you enter a 300 in the offset the position loop will move 300 counts extra If you zero the offset command the motor will return to the previous position When it is necessary to zero the offset after a move without returning to the previous position set parameter 740 Position Control bit 5 Xoff ReRef 1 Then set the offset value 0 Then set Position Control bit 5 Xoff ReRef 0 The system will not make an offset move when Position Control bit 5 Xoff ReRef is on Po
213. sfer request and response data in ControlLogix The following example shows the message instructions for the explicit block transfer message write and read PerformMessagingRequest MsgBlockTransferRead EN RIO 7005 BT IO ReadEN RIO 7005 BT IO WriteEN BlockTransferStatus 9 E E Fe J lt lt lt lt lt BockTiansterstatus 10 MSG JE Type Block Transfer Write lt EN gt Message Control MsqBlockTransferwrite E pD lt ER gt PerformMessagingRequest MsgBlockTransferwrite EN RIO 7005 BT ID ReadEN RIO_700S_BT_IO_Write EN BlockTransferStatus 10 p Ee ml E pc E pl Om lt lt l MSG Type Block Transfer Read END Message Control MsgBlockTransferRead E DN ER For the block transfer message write the source tag RIO_BT_Request_Data must be an array of 20 30 or 60 INTs depending on how much data the user wants to send in the message This tag cannot be DINT Message Configuration MsgBlockTransferWrite X Configuration Communication Tag Message Type Block Transfer Source Element FIG BT Request Data e New Tag Number Of Elements 20 tj 16 bit Integers Q Enable Enable Waiting Start Done Done Length 20 Error Code Extended Error Code Timed Out Error Path Error Text Cancel Apply Help 112 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Dri
214. shows the results of adding the lead lag The system had a response of 5 rad sec By adding the lead lag filter the system response was increased to 50 rad sec Figure 18 Lead Filter Added to System Step Response Amplitude 0 02 04 0 6 0 8 1 12 Time sec There is lead lag filter for the position loops speed reference The parameters are Kn Parameter 25 STrim2 Filt Gain Wn Parameter 26 SpdTrim2 Filt BW A typical use would be to set the lead function Wld to the velocity bandwidth parameter 90 Spd Reg BW and the lag Wlg function to approximately five times the lead term Notch Filter A Notch Filter is used to remove a specific frequency On analog inputs and outputs a notch filter could be used to eliminate any 60 Hz noise received from adjacent 120V digital input and output wires The PowerFlex 700S has a notch filter that is used to eliminate any resonant signal created by mechanical gear train The mechanical gear train consists of two masses the motor and the load and spring mechanical coupling between the two loads This is shown in Figure 19 Figure 19 Mechanical Gear Train NNNNNNN Bm BL A AN Kspring ge Rockwell Automation Publication PFLEX RM002D EN E August 2013 59 Chapter1 Detail Drive Configuration and Operation The resonant frequency is defined by the following equation Jm Jload resonance spring Jm x Jload e Jm is the motor inertia seconds e
215. sible Deselecting this bit enables the Synch Fast synchronization mode This method will take longer to synchronize the drive s system clock to the time keeper but has less impact on other tasks running in the drive Synchronization only occurs on a drive power up or initialization Parameter 1010 SL Rx Comm Frmt selects the format of data to be received It can be set to e OA 0D OB No data e OA 2D 18B 2 direct words and 18 buffered words e 0A 4D 8B 4 direct words and 8 buffered words e 0A 4D 18B 4 direct words and 18 buffered words Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Parameters 1011 SL Rx DirectSel0 through 1014 SL Rx DirectSel3 select what you want to do with received data The most common settings for these parameters are e No Data SynchLink received data is passed straight through e SL Multiply See Multiply Block on page 162 for details Parameter 1020 SL Tx Comm Frmt selects the format of data to be transmitted It can be set to e OA OD 0B No data e OA 2D 18P 2 direct words and 18 buffered words e 0A D 8B direct words and 8 buffered words e 0A D 18B 4 direct words and 18 buffered words Parameters 1021 SL Tx DirectSel0 through 1024 SL Tx DirectSel3 select what transmit data you wish to send The most common settings for these p
216. sion_Constant Move Source CNet_Ref_Float 22114 959 Dest PowerFlex700S 02 0 Data 1 22115 e Feedback RPM 700S Feedback 32767 x Base Motor Speed Convert Speed Feedback from 700S via 20 COMM C Feedback is returned as a 0 to 32767 number for 0 to Base Speed Compute Dest Expression Rockwell Automation Publication PFLEX RM002D EN E August 2013 Move MOV Source PowerFlex700S 02 1 Data 2 22114 959 CNet 700S Fdbk Float 349690 Dest CNet 700S Fdbk 1897 CNet_700S_Fdbk_Float Speed_Conversion_Constant Motor_Base_Speed 31 Chapter 1 32 Detail Drive Configuration and Operation Datalink Programming In the ControlLogix system Datalinks are transmitted over ControlNet as 32 bit integers DINT In order to send or receive floating point a COP copy instruction must be utilized The copy instruction in ControlLogix performs a bitwise copy Set the length of the copy instruction to a value appropriate for the destination data type For example when copying a DINT data type to a REAL data type the length would be one since both data types contain 32 bits of data Figure 5 is for all Datalinks selected Figure 5 All Datalinks Selected Copy data from ControlLogix Processor to 20 COMM C for 700S Data Links COP Copy File Source PF700 Float Data 10 Dest PowerFlex700S 02 O Data 2 Length 8 Copy data from 20 COMM C to Floating Point data file Parameter 723 must be set to real data
217. sit Offset 1 and 754 Posit Offset 2 The offset speed must be entered in parameter 755 Posit Offset Speed if this is left at zero the move will not occur The position offset must be entered in counts of feedback because it is added to the position reference after the EGR scaling Offsets must be maintained to keep the position In other words if you enter a 300 in the offset the position loop will move 300 counts extra If you zero the offset command the motor will return to the previous position When it is necessary to zero the offset after a move without returning to the previous position set parameter 740 Position Control bit 5 Xoff ReRef 1 Then set the offset value 0 Then set Position Control bit 5 Xoff ReRef 0 The system will not make an offset move when Position Control bit 5 Xoff ReRef ison Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Point to Point Acceleration and Deceleration Parameter 759 Pt Pt Accel Time sets the acceleration time in seconds from zero to base motor speed Parameter 760 Pt Pt Decel Time sets the deceleration time in seconds from base motor speed to zero The Pt Pt Accel Time and Pt Pt Decel Time are only active in Point to Point mode The Default 10 seconds Position Loop Output Limits Parameter 772 Xreg Spd LoLim sets the negative speed limit at which the position regulator will output The
218. sition Loop Output Limits Parameter 775 Xreg Spd LoLim sets the negative speed limit at which the position regulator will output The default is set to 1096 of the base motor speed Parameter 776 Xreg Spd HiLim sets the positive speed limit at which the position regulator will output The default is set to 10 of the base motor speed In position follower the position loop only needs to trim the speed a small amount because the drive is setup to follow the master speed reference Therefore Xreg Spd LoLim and Xreg Spd HiLim can be left at the defaults Tuning Tips The speed regulator of the drive must be tuned prior to tuning the Position Loop See Speed PI Regulator on page 120 for tips on tuning the speed regulator Typically parameter 768 PositReg P Gain should be set between 1 5th to 1 3rd of parameter 90 Spd Reg BW Parameter 768 PositReg P Gain may be set higher using lead compensation on the Position Regulator Output Lead Lag filtering of the position regulator output is accomplished via the speed trim 2 filter Set parameters 25 Strim2 Filt Gain and 26 SpdTrim2 Filt BW so that SpdTrim2 Filt BW Strim2 Filt Gain Speed Reg BW For example with parameter 90 Spd Reg BW 40 rad sec set parameter 26 Spd Irim2 Filt BW 200 rad sec and set parameter 25 Strim2 Filt Gain 5 The lead lag filter will effectively cancel the 1 40 second lag This will allow a higher PositReg P Gain for in
219. t Tacc can be calculated by the following po HPx5252 SS RPM where HP is the nameplate horsepower of the motor and RPM is the base motor speed of the motor System Inertia parameter 9 Total Inertia is determined by performing the inertia test with the load coupled or the value in seconds can be calculated using the formulas above if WK2 is known for the system Rockwell Automation Publication PFLEX RM002D EN E August 2013 127 Chapter1 Detail Drive Configuration and Operation 2 Set the desired bandwidth in parameter 90 Spd Reg BW Do not exceed the bandwidth limit of curve 1 in the following chart based on the ratio of motor inertia to system inertia Maximum regulator Bandwidth vs inertia Ratio with Gear Box Bandwidth pep pep y et de ce eT ER SET 10 20 30 40 50 Ratio system inertia motor inertia 3 Make parameter 89 Spd Err Filt BW 5 parameter 90 Spd Reg BW Note For speed regulator bandwidths up to approximately 200 rad sec parameter 89 Spd Err Filt BW can be left at the factory default of 700 rad sec starting with v2 003 firmware because of the addition of finite infinite response FIR filter Turn off Lead Lag filters parameter 93 SregFB Filt Gain 1 parameter 95 SregOut FiltGain 1 5 Run the drive and observe its performance particularly gear noise chatter 6 If performance is smooth throughout the speed range the test is complete and n
220. t and under shoot Increasing the value of this term decreases the over shoot and under shoot which is desirable where back up cannot be tolerated However this tends to increase the following error Rockwell Automation Publication PFLEX RM002D EN E August 2013 123 Chapter 1 124 Detail Drive Configuration and Operation This parameter has no affect on the drive s response to load changes The recommended setting is 0 1 to 0 5 from Motor Speed Ref The following is an example of how the anti backup affects the speed regulator s response Over Shoot A Over Shoot Error a geen Relerence Feedback SpdReg AntiBckup 0 0 x Feedback SpdReg AnliBckup 0 3 Vunder stoot D e Proportional Gain The filtered speed error after the servo lock is added and the anti backup is subtracted is sent to the proportional gain block The proportional gain determines how much ofa speed error occurs during a load transient Parameter 81 Spd Reg P Gain sets the proportional gain of the speed regulator It s value is automatically calculated based on the bandwidth setting in parameter 90 Spd Reg BW and parameter 9 Total Inertia Proportional gain may be manually adjusted by setting Spd Reg BW to a value of zero Units are per unit torque per unit speed For example when Spd Reg P Gain is 20 the proportional gain block will output 2096 motor rated torque for every 196 error of motor rated speed
221. ta 801 Anlg In1 Volts 7B1 B11 7 lt a gt 2 AD ES 14bit Anlg In1 Data TB1 810 77 4 T n s wn X s wn Pon Anlg In1 Offset 803 SH Lead Lag Wee a as Anlg In1 Scale 802 Aart mee we y Ze _ Anlg Int Filt BW Cos 805 KS Shield e TB1 B9 7 VI 807 Anlg In2 Volts TB1 B8 77 lt a gt R si AID 14bit Anlg In2 Data TB1 B7 7 n 3 n s wn T X s wn 806 Anlg In2 Offset E 809 e Lead Lag p EM 4 M Anlg In2 Scale C 808 be n XS A C N A2 Filt Gain S 810 jJ a Za E 1 P AIx Filt Gain and Anlg Inx Filt BW are used to filter the analog input data 14 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Analog Outputs Detail Drive Configuration and Operation Chapter 1 Configuration Example This example illustrates how to setup a speed reference to follow a 0 10V analog input signal and null out a small amount of offset from the A D converter on the analog input e 803 AnlgInl Offset 0 0144V e 802 AnlgInl Scale 0 1 per IV e 804 AnlgInl Filt Gain 1 805 Anlg In1Filt BW 0 e 10 Spd Ref 1 is linked to 800 Anlg In1 Data With a desired Anlg In1 Volts of OV the drive was reading 0 0144V To null out analog input 1 Anlg In1 Offset was set to 0 0144V Spd Ref 1 is a per unit parameter meaning that a value of 1 equates to base motor RPM Therefore to scale Anlg In1 Data to give us a value from 0 to 1 for a
222. ta 1 BT Out 0 BT Out 1 BT Out 2 BT Out 3 BT Out 4 BT Out 5 BT Out 6 BT Out 7 BT Out 8 BT Out 9 BT Out 1 BT Out 1 BT Out 1 BT Out 1 BT Out 1 BT Out 1 BT Out 1 BT Out 1 BT Control Logic Status Logic Command Reference Scaled Spd Fdbk Reference Datalink A1 Data Out A1 Datalink A1 Data Out A1 Datalink A2 Data Out A2 Datalink A2 Data Out A2 Datalink B1 Data Out B1 Datalink B1 Data Out B1 Datalink B2 Data Out B2 Datalink B2 Data Out B2 Datalink C1 Data Out C1 Datalink C1 Data Out C1 Datalink C2 Data Out C2 Datalink C2 Data Out C2 Datalink D1 Data Out D1 Datalink D1 Data Out D1 Datalink C2 Data Out D2 Datalink C2 Data Out D2 mu SENE TN en UTE IS we IS SEC BT Message Message Message Source and Destination Buffer Handler Tags 1 Bits 0 15 only of parameter 155 Logic Status appear in the Input Image table of the ControlLogix controller 2 The speed feedback sent from the PowerFlex 700S to the 20 COMM R is not affected by parameter 73 Spd Fdbk Scale Furthermore the PowerFlex 700S automatically converts parameter 72 Scaled Spd Fdbk which is a floating point parameter to an integer format before the value is transferred to the 20 COMM R When the 20 COMM R is configured as a rack the Reference and Feedback values become words 2 and 3 in the Discrete I O The mapping for the Datalinks sent over block transfer I O stays the same Words 0 and 1 in the block transfer I O become buffers T
223. tage until the bus capacitor charging is complete then the values will converge A difference between the filtered and actual bus voltage determines if the bus voltage is stable The drive must not be running PWM active except in coordination with ride through After the initial drive precharge has completed a power loss may present conditions for precharge to be restarted ex low bus voltage However if the drive output is active parameter 155 Logic Status bit 0 Enabled the restart of precharge will be inhibited until the drive is stopped PWM not active Also see Power Loss Ride Through on page 95 for controller coordinated PWM disable and precharge operation If the drive is running and the user removes the precharge enable this condition will be ignored until the drive is disabled PWM stops Then the precharge function will be started again Rockwell Automation Publication PFLEX RM002D EN E August 2013 99 Chapter1 Detail Drive Configuration and Operation 5 The drive precharge delay must be completed After conditions 1 4 above are met parameter 472 PreCharge Delay must be completed before the precharge device bypass is commanded If any of the above conditions become false during the precharge delay period the delay timer is reset If parameter 472 PreCharge Delay is set less than 200 ms then an internal 200 ms delay is used Parameter 472 PreCharge Delay has a calculated maximum value based on parameter
224. ter Detail Drive Configuration and Operation Parameter 723 Dlink OutDataIype needs to be set for the type of data used The most common will be Real Data in other words Current Voltage Torque are all Real values in the drive The PowerFlex 700S drive default for this parameter is all Datalinks set for Integer values If the check mark is not set then the datalink is not set for an Integer value From DriveExecutive er 723 DLink OutDataT yp Pro BICE Undefined v Vv v v Jd Iv v k uakEbbti 30 Rockwell Automation Publication PFLEX RM002D EN E August 2013 ControlLogix Programming Detail Drive Configuration and Operation Chapter 1 To setup the PowerFlex 7008 drive to follow a speed reference from the 20 COMM C parameter 691 DPI Ref Select must be set to Port 5 Parameter 16 Speed Ref Sel must be set to Speed Ref DPI Reference and Feedback values are floating point values in the PowerFlex 7008 Use the following logic to transmit and receive reference and feedback data as unsigned integer data Reference to 700S Commanded RPM Base Motor Speed 32767 Speed Reference Via ControlNet to a PowerFlex 700S using a 20 COMM C module The first move instruction is only for visual indication of the speed reference Compute Dest Expression CNet Ref RPM 1200 0 CNet Ref RPM 1200 04 CNet_700S_Ref_Float 22114 959 lt CNet_Ref_RPM Motor_Base_Speed Speed_Conver
225. ter Figure 15 shows the lead lag in a lag configuration The unique aspect of this filter is that the gain stops once the input frequency is equal to Wn Kn Another aspect to this filter is that there is a mild phase shift during the attenuation Figure 15 Kn lt 1 Lag Filter Lag kn 1 w rad sec Figure 16 on page 57 shows the bode plot ofthe lag configuration Kn is set to 0 7 and Wn is set to 35 rad sec The time domain shows a 100 rad sec sinusoidal input Notice that the phase shift between input and output are marginal Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Figure 16 Bode Plot and Time Domain of Lag Knz0 7 wz35 Bode Diagram Magnitude dB o E o z Q a b M A eel 10 10 10 10 Frequency rad sec output 0 7 input 100 rad sec 1 7 T eo A 0 5 0 0 5 0 0 02 0 04 0 06 0 08 01 0312 0 14 016 0 18 0 2 The lag configuration is good for eliminating unwanted noise and disturbance such as backlash There are two lead lag blocks used in the speed regulator loop One is in the forward path and the other is in the feedback path Forward Path Parameter 95 SRegOut FiltGain Parameter 96 SReg Out Filt BW Feedback Path Parameter 93 SRegFB Filt Gain Parameter 94 SReg FB Filt BW For moderate filtering Set Kn 0 7 Wnz0 35 For Heavy filtering Set Kn 0 5 Wn
226. the configuration is selected for an external brake Bus Brake Cnfg bit 1 set to 1 When the internal brake resistor is used then the protection is determined from the drive internal values Parameter 369 Brake OL Cnfg determines how the drive reacts when the brake protection is exceeded Regardless of the parameter 369 Brake OL Cnfg setting the drive does not command the 7th IGBT to switch when the brake resistor protection is exceeded Some possible settings for this parameter are Parameter 369 Brake OL Cnfg Drive Operation Setting 0 Ignore The drive does not generate the fault 38 Brake OL Trip or alarm Brake OL Trip 1 Alarm The drive generates an alarm Brake OL Trip but does not generate the fault 38 Brake OL Trip 2 HtCoastStop The drive generates the fault 38 Brake OL Trip and issues a coast stop 3 FitRampStop The drive generates the fault 38 Brake OL Trip and issues a ramp stop 4 FitCurLimStop The drive generates the fault 38 Brake OL Trip and issues a current limit stop Rockwell Automation Publication PFLEX RM002D EN E August 2013 23 Chapter1 Detail Drive Configuration and Operation Cable Control Cable Motor Lengths Cable Power Cable Trays and Conduit 24 Parameter 418 Brake TP Sel selects a value to monitor for diagnostics of the dynamic brake protection Possible selections for parameter 418 Brake TP Sel are
227. ther primary or alternate to the non active device For example if prior to the reset the alternate device selected in Parameter 223 Mtr Fdbk Sel Alt is active then after the reset the primary feedback device selected in Parameter 222 Mtr Fdbk Sel Pri will be used as the active speed feedback device The reset activation is prohibited if a failure is sensed in the speed feedback device to which the drive is switching The active device selection command is shown in parameter 152 Manual switching between primary and alternate devices can be made while the drive is running Rockwell Automation Publication PFLEX RM002D EN E August 2013 151 Chapter1 Detail Drive Configuration and Operation Speed Torque Select Spd Reg PI Out from Speed Control The Speed Torque Mode Select parameter is used to choose the operating mode for the drive The drive can be programmed to operate as a velocity regulator a torque regulator or a combination of the two See the firmware flowchart shown in Figure 34 on page 152Figure 34 Figure 34 Firmware Flowchart Spd Torq ModeSel C 110 Logic Ctrl State Forced Spd 0 157 510 3H4 Inertia Torq Add 302 0 t 1 2H4 FricComp TorgAdd 59 e Gm 2H3 Max l l a 145 ZIL 1 Min l e 3 PI Torque Step C 116 Torque Ref 1 eu 5 Torq Reft Di
228. tion Publication PFLEX RM002D EN E August 2013 43 Chapter1 Detail Drive Configuration and Operation DigIn 2 Sel can be set to the following values Value Description Value Description 0 Not Used 14 Normal Stop 1 Enable 15 Spd Ref Sel1 2 Clear Faults 16 Spd Ref Sel2 3 Ext Fault 17 Spd Ref Sel3 4 Norm Stop CF 18 CurLim Stop 5 Start 19 Coast Stop 6 Reverse 21 Bsclndx Step 7 Run 22 BscindxStpRv 8 Fwd Reverse 26 Pl Trim En 9 CurLim Stop 29 Trend Trig 10 Jog 1 30 PreCharge En 11 Aux Fault 31 Regis 1 Ltch 1 AuxFault Inv 32 Hrd Ovrirvl 13 Jog 2 33 Hrd OvrTrVI DigIn 3 Sel can be set to the following values Value Description Value Description 0 Not Used 9 CurLim Stop 1 Normal Stop 10 Coast Stop 2 Start 11 Aux Fault 3 Run 12 AuxFault Inv 4 Clear Faults 13 User Select 5 Stop CF 23 Logix Motion 6 Jog 1 24 Hrd OvrTrvl 7 Jog 2 25 Hrd OvrTrVI 8 Fwd Reverse DigIn x Debounce sets a delay time to allow any bounce in the digital input to settle out This parameter has a range of 0 to 15 5 milliseconds When DigIn x Sel is set to User Select the function of the digital input is determined by the following e DigIn x Data determines any bits that should be permanently set DigIn x Dat
229. tion Publication PFLEX RM002D EN E August 2013 41 Chapter 1 Detail Drive Configuration and Operation 0002 0003 Digital Inputs 42 Figure 8 Reading Floating Point Explicit Message Data in an SLC PLC 5 low 16 bit integers amd then copy the 2 integers into a floating point address N13 100 MSW of Parameter Read N13 101 LSW of Parameter Read F12 10 Floating Point Parameter Value Read A floating point parameter is sent across DeviceNet explicit messaging as 2 16 bit integers To read a floating point parameter comrectly in the SLC you must first swap the high and N20 53 LSW of Parameter from DeviceNet Explicit Message Single Parameter Read N20 54 MSW of Parameter from DeviceNet Explicit Message Single Parameter Read r hOVv Move mmm Source N20 53 19 Dest N13 101 0 lt rm Mov H Move L 4 Source N20 54 96 Dest H13 100 O lt emm H i Copy File p Source N13 100 Dest F12 10 Length 1 Figure 9 Writing Floating Point Explicit Message Data in an SLC PLC 5 A floating point parameter is sent across DeviceNet explicit messaging as 2 16 bit integers To write a floating point parameter correcthy in the SL C you must first copy the floating poit into 2 integers then swap the high amd low 16 bit integers F12 20 Floating Point Parameter Value to Write N14 100 MSW of Parameter Value to Write N14 101 LSW of Parameter Value to Write N20 16 LSW of Parameter Value f
230. to on 1 and set bits 3 2WCurrLimStp and 9 2W CoastStop to off 0 To control from digital inputs 1 Set parameter 839 DigIn2 Sel 1 Normal Stop or 5 Stop CF Stop CF indicates that the same digital input is used as a stop and a clear fault 2 Set parameter 840 DigIn3 Sel 2 Start To control from a communication network 1 To perform a ramp stop toggle bit 0 Normal Stop in the logic command word on and then off 2 To perform a start toggle bit 1 Start in the logic command word on and then off To configure the drive for 3 wire control with a coast stop For parameter 153 Control Options set bit 8 3 WireControl to on 1 and set bits 3 2WCurrLimStp and 9 2W CoastStop to off 0 To control from digital inputs 1 Set parameter 839 DigIn2 Sel 10 Coast Stop 2 Set parameter 840 DigIn3 Sel 2 Start To control from a communication network 1 To perform a coast stop toggle bit 9 Coast Stop in the logic command word on and then off 2 To perform a start toggle bit 1 Start in the logic command word on and then off Rockwell Automation Publication PFLEX RM002D EN E August 2013 157 Chapter 1 158 Detail Drive Configuration and Operation To configure the drive for 3 wire control with a current limit stop For parameter 153 Control Options set bit 8 3 WireControl to on 1 and set bits 3 2WCurrLimStp and 9
231. uld change to complete or restart precharge the precharge control will function as described above independent of whether or not a precharge timeout fault has occurred If the drive does not complete precharge due to an unstable bus voltage then after the precharge timeout period the precharge control will complete precharge providing all of other conditions for precharge are met This control is based on the precharge timeout status and independent of whether or not the precharge timeout is configured as a fault warning or none This feature could be useful in cases where bus disturbances are created by another drive in a common or shared bus installation 100 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Settings for parameter 381 PreChrg Err Cnfg 0 Ignore This disables the precharge timeout fault With this setting the drive ignores condition 3 above so that the drive does not check for an unstable bus voltage Then after the precharge timeout period the precharge control will complete precharge providing all of the other conditions for precharge are met This feature could be useful in cases where bus disturbances are created by another drive in a common or shared bus installation 1 Alarm If the precharge does not complete within the timeout period the drive does not fault but it sets an alarm bit in parameter 326 Alarm Status 1 bit 30 Pr
232. ummed torque enters the torque selection block refer to Torque Reference on page 175 for more information S Curve Spd Ref FricComp Spd Ref gt FricComp TorqAdd gt ik C8 A us Cen Friction Comp to Torque Control 4B2 FricComp Setup Qn FricComp Stick 142 FricComp Slip 143 X FricComp Rated C144 Rockwell Automation Publication PFLEX RM002D EN E August 2013 65 Chapter1 Detail Drive Configuration and Operation Grounding General See the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOOI for detailed information HIM Memory HIM Operations See Copy Cat on page 33 The User Display The User Display is shown when module keys have been inactive for a predetermined amount of time The display can be programmed to show pertinent information Set the User Display Step Key s Example Displays il Press the Up Arrow or Down Arrow to scroll to Operator Intrfc Press Enter Press the Up Arrow or Down Arrow to scroll to User Display Press Enter Selectthe desired user display Press Enter Scroll to the parameter that the user display will be based on Press Enter Set a scale factor Press Enter to save the scale factor and move to the last line Press the Up Arrow or Down Arrow to change the text Press Enter to save the new user display Set the Properties of
233. urrent limit stop e Coast Stop when in coast stop the drive acknowledges the stop command by shutting off the output transistors and releasing control of the motor The load motor will coast or free spin until the mechanical energy is dissipated e Ramp Stop when in ramp stop the drive acknowledges the stop command by ramping down the motor speed reference using the programmed parameter 33 Decel Time maintaining control of the motor until the drive output reaches zero The output transistors are then shut off e Current Limit Stop when in current limit stop the drive acknowledges the stop command by setting the motor speed reference to zero causing the drive to bring the motor down to zero speed as fast as the power limits torque limits and current limits will allow When the drive output reaches zero the output transistors are shut off When different stop types are commanded at the same time the priority from highest priority to lowest is coast stop current limit stop and then ramp stop The remainder of this section describes how to configure the drive for the different start and stop modes 156 Rockwell Automation Publication PFLEX RM002D EN E August 2013 Detail Drive Configuration and Operation Chapter 1 Configuring the Start and Stop for 3 Wire Control Momentary Start and Stop To configure the drive for 3 wire control with a ramp stop For parameter 153 Control Options set bit 8 3 WireControl
234. us or shared bus applications The precharge coordination can be open loop using different precharge delay times or could be closed loop by monitoring the precharge done status parameter 555 bit 11 of each drive before the next drive in the sequence is enabled for precharge The maximum value for PreCharge Delay is limited by parameter 410 PreChrg Timeout The maximum value for Precharge Delay is determined by the following calculation Precharge Delay Max PreChrg Timeout 1 Rockwell Automation Publication PFLEX RM002D EN E August 2013 101 Chapter 1 Detail Drive Configuration and Operation Process PI Loop 102 Logic Status Running amp 157 331 Motor Sim Mode When the motor simulation mode is selected the precharge requirements are ignored and the precharge done condition is not needed for running the drive External Power Supply If the drive is used with an external power supply the user should not request a precharge until the drive incoming power is available If the user does request a precharge without incoming drive power a precharge timeout fault will occur if configured for a fault Note The default for parameter 838 DigIn 1 Sel has changed from the value of 14 PreChrg Disc to 0 none in firmware release version 1 17 and later Preset Speeds There are no Preset Speed parameters However the Speed Reference parameters can be used as set speeds See the Speed Reference for more i
235. v C 112 aret v C02 2 CG Torque Ref 2 Cum Torq Ref2 Multi C 114 Torque Trim Cum 152 X Abs Min As shown in Figure 34 parameter 110 Spd Trq Mode Sel is used to select the mode of operation Zero torque current is allowed when set to zero 0 Set to a value of 1 the drive and motor are operated in speed mode The torque command changes as needed to maintain the desired speed Set Spd Trq Mode Sel to a value of two 2 for torque mode In torque regulation mode the drive controls the desired motor torque The motor speed is the result of torque command and load present at the motor shaft Min and Max mode are selected by values three 3 and four 4 respectively These modes offer a combination of speed and torque operation The algebraic minimum or maximum of speed torque will be the operating point for the Min and Max modes The drive automatically switches from speed to torque mode or from torque to speed based on the dynamics of the motor load The Min mode is typically used with positive torque and forward speed operation the minimum of the two being closest to zero The Max mode is opposite typically used with reverse speed and negative torque the maximum being the least negative closest to zero Sum mode is selected when Spd Trq Mode Sel is set to a value of 5 This mode allows an external torque command to be added to the speed r
236. ve Configuration and Operation Chapter 1 The Path in the communication tab of the block transfer message write is the name of the DH RIO scanner module The Module Address sets the channel of the DH RIO scanner used and the rack group and slot of the 20 COMM R Message Configuration MsgBlockTransferWrite x Bv ES Configuration Communication Tag Pah Beete Beee Remote D Module Address RIO Channel e x Rack 1 ES Octal ControlNet Group o Slot D M Connected JW Cache Connections e Enable Enable Waiting Start Done Done Length 20 Error Code Extended Error Code Timed Du Error Path Error Text Cancel For the block transfer message read the destination tag RIO_BT_Response_Data must be an array of 20 30 or 60 INTs depending on how much data the user is receiving This tag cannot be DINT Message Configuration MsgBlockTransferRead a x Configuration Communication Tag Message Type Block Transfer Read Number Of Elements 20 16 bit Integers Destination Element IG BT Response Data 7 New Tag Q Enable Enable Waiting Start Done Done Length 20 Error Code Extended Error Code Timed Out Error Path Error Text teen Help The communication tab of the block transfer message read is setup the same as the block transfer message write The block transfer messages on RIO ar
237. well Automation Publication PFLEX RM002D EN E August 2013 Thermal Regulator Torque Reference Detail Drive Configuration and Operation Chapter 1 See Drive Overload on page 48 When the PowerFlex 7008 is operated in Torque mode an external signal is used for a Torque reference Refer to Figure 38 for the firmware diagram Figure 38 Torque Reference Firmware Diagram Torque Ref 1 Torque Ref1 Div Torque Ref 2 Torque Ref2 Mult Torque Reference Input Parameter 111 Torque Ref 1 is used to supply an external reference for desired torque The scaling of this parameter is a per unit type where a value of 1 0 is equal to the rated motor torque The range is from 2200000000 to 2200000000 Torque Ref 1 is then divided by parameter 112 Torq Ref1 Div This defines the scaled Torque Ref 1 Parameter 113 Torque Ref 2 is used to supply an external reference for desired torque The scaling of this parameter is a per unit type where a value of 1 0 is equal to the rated motor torque The range is from 2200000000 to 2200000000 Torque Ref 2 is then multiplied by parameter 114 Torq Ref Mult This defines the scaled Torque Ref 2 The torque reference can be utilized when a master slave multi drive system is configured The torque reference into the slave can be scaled to create the proper torque output Keep in mind that the motors may be different ratings and this function is used to help the system
238. y Watts C 14 1 ce Inverse of the resistor element thermal mass C W s 15 tamax Maximum ambient temperature of resistor C 16 1 th ba Inverse of the thermal impedance from the resistor body to element Watts C 17 1 cb Inverse of the resistor body thermal mass C W s 18 DB IGBT Amp IGBT current rating Amps Parameter 419 Brake TP Data displays the data selected in parameter 418 Brake TP Sel See the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOOI for detailed information See the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOOI for detailed information See the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOOI for detailed information See the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOOI for detailed information Rockwell Automation Publication PFLEX RM002D EN E August 2013 Carrier PWM Frequency Detail Drive Configuration and Operation Chapter 1 See the PowerFlex 700S Drives with Phase II Control Technical Data publication 20D TD002 for derating guidelines as they travel to carrier frequency Parameter 402 PWM Frequency sets the switching frequency In general the lowest possible switching frequency that is acceptable for any particular application is the one
239. y parameter 509 PM Test Ref is continuously applied for the time interval defined by parameter 505 PM TestWait Time The value of parameter 504 PM AbsEnc Offst is determined by value in the absolute position sensor counter Back EMF Measures the permanent magnet motor CEMF motor voltage feedback coefficient and stores the value in parameter 523 PM Mtr CEMF Coef Rockwell Automation Publication PFLEX RM002D EN E August 2013 19 Chapter1 Detail Drive Configuration and Operation Auxiliary Power Supply Bus Regulation Braking 20 Inertia Test The final test is the inertia calculation The motor and load machine inertia is used to set the bandwidth of the speed regulator During the test the motor will accelerate to the speed set in parameter 19 Atune Spd Ref at a specified torque set by parameter 129 Atune Torq Ref The test then calculates the time in seconds to accelerate the motor at rated torque from zero to base speed and stores that value in parameter 9 Total Inertia Troubleshooting a MC Commissn Fail Fault during Autotune The MC Commissn Fail fault occurs when either the Power Circuits diagnostics test fails or one of the Motor Tests fails To find out specifically why the fault occurred before clearing the fault check the bits in the following parameters 552 MC Diag Error 1 553 MC Diag Error 2 or 554 MC Diag Error 3 You may use an auxiliary power supply to keep the 700S control assemb

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