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750-RM002 - Rockwell Automation

Contents

1. 72 Process PID Loop 76 Reset Parameters to Factory Defaults 88 Sleep Wake Mode 90 Start Permissives 94 Stop Modes 96 Voltage Class 104 Chapter 2 Feedback and I O Analog Inputs 105 Analog Outputs 113 Digital Inputs 119 Digital Outputs 130 PTC Motor Thermistor Input 152 6 Rockwell Automation Publication 750 RM002B EN P September 2013 Table of Contents Chapte
2. 188 Slip Compensation 192 Slip Regulator 194 Chapter 4 Motor Control Carrier PWM Frequency 196 Dynamic Braking 197 Flux Braking 216 Flux Regulator 218 Flux Up 218 High Resolution Feedback 220 Inertia Adaption 221 Inertia Compensation 223 Load Observer 225 Motor Control Modes 226
3. 346 Regenerative Braking Resistor 347 Safe Speed Monitor Option Module 20 750 S1 Configuration 350 Speed Limited Adjustable Torque SLAT 353 Supported Motors 357 System Tuning 363 Using an Incremental Encoder with an MPx Motor 372 PowerFlex 755 Integrated Motion on the EtherNet IP Network Block Diagrams 375 Appendix A Index 8 Rockwell Automation Publication 750 RM002B EN P September 2013 Table of Contents Rockwell Automation Publication 750 RM002B EN P September 2013 9 Preface Overview The purpose of this manual is to provide detailed information including operation parameter descriptions and programming Who Should Use This Manual This manual is intended for qualified personnel You must be able to program and operate Adjustable Frequency AC Drive devices In addition you must have an understanding of the parameter settings and functions What Is Not in This Manual The purpose of this manual is to provide detailed drive information including operation pa
4. 27 Automatic Device Configuration 34 Autotune 35 Auxiliary Power Supply 41 Bus Regulation 41 Configurable Human Interface Module Removal 52 Droop Feature 53 Duty Rating 53 Feedback Devices 54 Flying Start 54 Hand Off Auto 64 Masks 67 Owners 70 Power Loss
5. SLAT Max 4 Drive operates in Speed Limited Adjustable Torque Maximum select mode This is a special mode of operation used primarily in web handling applications The drive typically operates as a torque regulator provided that the P4 Commanded Trq value is algebraically larger in value than the speed regulator s output The drive can automatically enter Speed Regulation mode based on conditions within the speed regulator and the magnitude of the speed regulator s output relative to the torque reference Sum 5 Drive operates as a speed regulator P685 Selected Trq Ref comes from P660 SReg Output plus torque adders summed with P4 Commanded Trq Profilier 6 PowerFlex 755 Drive uses the Speed Profiler Position Indexer function The drive operates as either a speed or position regulator Mode of operation depends on the configuration of the Step Types in the Profiler Indexer table Psn PTP 7 Drive operates as a position regulator P685 Selected Trq Ref has the same source as in Sum mode The position control is active in Point to Point mode and uses its Point to Point position reference Rockwell Automation Publication 750 RM002B EN P September 2013 267 Motor Control Chapter 4 Psn Camming 8 PowerFlex 755 Drive operates as a position regulator P685 Selected Trq Ref has the same source as in Sum mode The position control is active in P
6. The network supports up to 50 mixed devices per line The primary disadvantage of a linear topology is that a connection loss or link failure disconnects all downstream devices as well To counter this disadvantage a ring topology could be employed Ring Topology A ring topology or device level ring DLR is implemented in a similar fashion to linear topology However an extra connection is made from the last device on the line to the first closing the loop or ring It is crucial to configure the Ring Supervisor before connecting your linear topology into a ring topology Either a Dual Port EtherNet IP Option Module or an Ethernet IP network tap 1783 ETAP is required for this network topology this diagram illustrates an application using ETAPs For more information about applying a Dual Port EtherNet IP Option Module see the PowerFlex 20 750 ENETR Dual Port EtherNet IP Option Module User Manual publication 750COM UM008 Although the ControlLogix is illustrated the CompactLogix controller could also be used PowerFlex 755 PowerFlex 755 PowerFlex 755 PowerFlex 755 1585J M8CBJM x EtherNet shielded Cable ControlLogix 1756 ENxTR 1783 ETAP 1783 ETAP 1783 ETAP 1783 ETAP 1783 ETAP Point I O HMI 344 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Advantages Disadvantages The advantages
7. P925 Ref Select Owner indicates which port is issuing a valid reference select The bits for each parameter can be broken down as follows Ownership falls into two categories Exclusive Only one adapter at a time can issue the command and only one bit in the parameter is high Non Exclusive Multiple adapters can simultaneously issue the same command and multiple bits can 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 ownership is exclusive Conversely any number of adapters can simultaneously issue stop commands Stop control ownership is not exclusive Options Reserved Port 14 Port 13 1 1 755 drives only Reserved Reserved Reserved Reserved Reserved Reserved Port 6 Port 5 Port 4 Port 3 Port 2 Port 1 Digital In Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Rockwell Automation Publication 750 RM002B EN P September 2013 71 Drive Configuration Chapter 1 Ownership Example The operator presses the HIM Stop button to stop the drive When the operator attempts to restart the drive by pressing the HIM Start button the drive does not restart The
8. 0 From Process Ctrl 28E3 1093 PID Output Meter 935 17 PI Speed Trim 2 2 Limit 520 Max Fwd Speed Max Rev Speed 521 Max Speed Limits Spd Ref After Final Limit 9A2 Final Speed Ref Limits 1 2 3 4 5 6 B A D C F E H G I 594 Ramped Spd Ref 9E4 Ramp Rate 9E5 Previous Scan V F Ramp and Rate Select Ramp Input 9E4 Speed Control Reference 4 VF V Hz SV S Curve Accel Decel Accel Time 1 Accel Time 2 539 Ramp S Curve Spd Options Ctrl Ramp Hold 635 1 Spd Options Ctrl 541 Jog Acc Dec Time 1 0 535 536 0 1 879 8 Drive Logic Rslt Accel Time 1 2 9 Decel Time 1 Decel Time 2 1 0 537 538 0 1 879 10 Drive Logic Rslt Decel Time 1 2 11 540 635 0 Ramp Disable 635 2 StpNoSCrvAcc 9A2 28C2 35H3 35H3 526 527 528 529 Skip Speed Band 1 0 Drive Status 1 Jogging 0 935 18 1 0 Drive Status 1 Stopping 1 0 0 Limited Spd Ref 593 6H4 935 17 Skip Bands Start Stop Stopping or Not Active Not Stopping and Active OR Drive Status 1 Running Drive Status 2 Autotuning 935 16 936 9 Skip Bands 2 Commanded SpdRef Traverse P Jump Sync Speed Change Fiber Application 1120 Fiber Control 1121 Fiber Status 1122 Sync Time 1126 P Jump 1125 Max Travers
9. 216 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Flux Braking Flux Braking is an independent feature from the P370 371 Stop Mode A B available in PowerFlex 750 Series drives When enabled flux braking is active during the decel ramp of a speed change Flux braking changes the Volts per Hertz curve ratio outputting a higher voltage relative to the normal V Hz curve to the motor causing over fluxing thus reducing the speed faster than just the decel ramp alone This feature is not intended for high inertia loads because over fluxing can cause excessive heating in the motor Very long decel times can build heat Flux Braking works in all motor control modes Table 11 Flux Braking Parameters Traces In all of the following plots the Accel Decel times are 0 5 s P372 373 Bus Reg Mode A B is set to option 1 Adjust Freq There is a fair amount of inertia connected to the motor shaft P370 371 Stop Mode A B is set to 1 Ramp to stop In the plot below the Flux Braking feature is disabled Note the decel time Here the bus regulator is controlling the stop time Number Parameter Name Min Max Default 388 Flux Braking En Disabled Enabled Disabled 389 Flux Braking Lmt 100 00 250 00 125 00 390 Flux Braking Ki 0 0 1000000 0 10000 0 391 Flux Braking Kp 0 0 1000000 0 0 0 Disabled Flux Braking Disabled Id Torque Ref Motor Speed DC Bus
10. Case 2 Here the P80 Anlg Out0 Hi is changed to 9 and P81 Anlg Out0 Lo is changed to 1 As the motor ramps up and down there is no change in the value or scaling of P77 Anlg Out0 Data Note that P82 Anlg Out0 Val is still zero Case 3 Now P78 Anlg Out0 DataHi is changed to 1800 and P79 Anlg Out0 DataLo is left at zero When started P82 Anlg Out0 Val starts at 1 and reaches 9 when the motor speed is at maximum Case 4 In this section the P80 Anlg Out0 Hi and P81 Anlg Out0 Lo were reversed in value Now when the motor ramps up and down P82 Anlg Out0 Val is just the opposite It starts out at 9 and is at 1 at full speed P77 Anlg Out0 Data P78 Anlg Out0 DataHi P79 Anlg Out0 DataLo P82 Anlg Out0 Val P80 Anlg Out0 Hi P81 Anlg Out0 Lo P76 Anlg Out0 Stpt 116 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Case 2 P77 Anlg Out0 Data P78 Anlg Out0 DataHi P79 Anlg Out0 DataLo P82 Anlg Out0 Val Anlg Outn Sel Mtr Vel Anlg Outn DataHi 1500 Anlg Outn DataLo 500 When the motor speed reaches 500 rpm Anlg Outn Val begins to increase from 0 When the motor speed reaches 1500 rpm Anlg Outn Val is at maximum of 10 Anlg Outn Val Rockwell Automation Publication 750 RM002B EN P September 2013 117 Feedback and I O Chapter 2 Case 3 Absolute Default Certain quantities used to drive the analog output are signed for ex
11. The Studio 5000 environment is the foundation for the future of Rockwell Automation engineering design tools and capabilities This environment is the one place for design engineers to develop all of the elements of their control system Rockwell Automation Publication 750 RM002B EN P September 2013 15 Chapter 1 Drive Configuration Topic Page Accel Decel Time 16 Adjustable Voltage 17 Auto Restart 25 Auto Manual 27 Automatic Device Configuration 34 Autotune 35 Auxiliary Power Supply 41 Bus Regulation 41 Configurable Human Interface Module Removal 52 Droop Feature 53 Duty Rating 53 Feedback Devices 54 Flying Start 54 Hand Off Auto 64 Masks 67 Owners 70 Power Loss 72 Process PID Loop 76 Reset Parameters to Factory Defaults 88 Sleep Wake Mode 90 Start Permissives 94 Stop Modes 96 Voltage Class 104 16 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Accel Decel Time You can configure the drive s acceleration time and deceleration time Acceleration Time P535 Accel Time 1 and P536 Accel Time 2 set the acceleration rate for all speed changes Defined as the time to accelerate from 0 to motor nameplate frequency P27 Motor NP Hertz or to motor nameplate rated speed P28 Motor NP RPM The setting of Hertz or RPM is programmed in P300 Speed Units Selection between Acceleration Time 1 and Accel
12. soft key Also a partial or complete date or time value will not update until you press the soft key to enter the data You have to press the soft key a second time Rockwell Automation Publication 750 RM002B EN P September 2013 175 Diagnostics and Protection Chapter 3 to advance to another field or press the ESC soft key to return to the previous screen Press the soft key to select the month in the top line and use the numeric keys to enter the correct month Press the soft key to select the day in the top line and use the numeric keys to enter the correct day 10 To set the time set the drive to the current time Press the soft key to select the hour in the top line and use the numeric keys to enter the correct hour Press the soft key to select the minutes in the top line and use the numeric keys to enter the correct minute Press the soft key to select the seconds in the top line and use the numeric keys to enter the correct seconds 11 Press the ESC soft key to return to the previous screen Setting the Real Time Clock via Drive Software To set the real time clock using a software package like DriveExecutive or DriveExplorer software the procedure is the same 1 First press the at the top center of the application This dialog box appears 2 Click the Status and Feedback tab 176 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapt
13. 1 0 0 Direction Mode 308 0 Unipol Fwd Unipol Rev 1 1 Spd Ref From Spd Profiler 16H2 Actv SpTqPs Mode 6 6 1 Trq Prove Status Micro Psn 1103 2 0 x MicroPsnScalePct 1112 1 0 1 Spd Ref Sel Sts Decel Lmt Sw 0 571 Preset Speed 1 592 0 Selected Spd Ref PI Speed Exclusive Speed Profiling Jogging From Spd Ref 1 5I2 Lift App Micro Positioning Homing Status Home Enabled Homing Bipolar Limit 522 Max Fwd Speed Max Rev Speed 523 520 521 Min Fwd Speed Min Rev Speed Limited Spd Ref 593 Internal Load Dependent Max Limit Lift Application Limit 0 Direction Mode Control Limit Switch Control Speed Ref Limits 1 2 3 4 5 6 B A D C F E H G I To Spd Ref Process Ctrl 7A2 8A2 28B2 591 13 591 14 0 1 0 1 0 556 Jog Speed 1 557 0 1 1 1 1093 PID Output Meter amp 1079 PID Output Sel 1 935 16 Drive Status 1 Running PID Control PID Enable Jog Speed 2 Drive Logic Rslt Jog1 Jog2 Spd Ref Sel Sts End Lmt Sw Speed Control Reference 2 Profiler Position Speed Speed Excl 879 2 19 1066 0 Rev Disable Unipolar 313 28B2 OR 28E2 23D5 35H3 1210 10 1 0 Profile Status Position Mode Foward Command Logic Autotune Control 0 1 70 Autotu
14. 15 Hz 45 Hz 60 Hz 0 Hz P61 Anlg In1 Hi 10V P522 Min Fwd Speed P520 Max Fwd Speed Motor Operating Range Command Frequency P62 Anlg In1 Lo 0V P548 Spd Ref A AnlgLo Slope defined by Analog Volts Command Frequency P547 Spd Ref A AnlgHi Frequency Deadband 7 5 10 Volts Frequency Deadband 0 2 5 Volts 10 9 8 7 6 5 4 3 2 1 0 0 10 20 30 40 50 60 Output Hertz Input Volts Rockwell Automation Publication 750 RM002B EN P September 2013 109 Feedback and I O Chapter 2 Example 4 P255 Anlg In Type Bit 0 1 Current P545 Spd Ref A Sel Analog In 1 P547 Spd Ref A AnlgHi 60 Hz P548 Spd Ref A AnlgLo 0 Hz P61 Anlg In1 Hi 20 mA P62 Anlg In1 Lo 4 mA This configuration is referred to as offset In this case a 4 20 mA input signal provides 0 60 Hz output providing a 4 mA offset in the speed command Example 5 P255 Anlg In Type Bit 0 0 Voltage P545 Spd Ref A Sel Analog In 1 P547 Spd Ref A AnlgHi 0 Hz P548 Spd Ref A AnlgLo 60 Hz P61 Anlg In1 Hi 10V P62 Anlg In1 Lo 0V This configuration is used to invert the operation of the input signal Here maximum input 10V represents 0 Hz and minimum input 0V represents 60 Hz 20 18 16 14 12 10 8 6 4 2 0 0 10 20 30 40 50 60 Output Hertz Input mA 10
15. 721 6 7 PsnWtch1Arm PsnWatch1Dir Psn Reg Status Psn Reg Status Position Watch 2 724 10 749 721 8 9 Position Watch 1 Position Watch 2 In Position Detect 724 Position Control PsnWatch2 DtctIn PsnW2Detect PsnWtch2Arm PsnWatch2Dir Psn Reg Status PsnWatch1 Select 745 747 Other Ref Sources PsnWatch1 Stpt Parameter Selection PsnWatch2 Select 748 750 Other Ref Sources PsnWatch2 Stpt Parameter Selection 12D3 PF755 Rev_9 a Page 13 390 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Position Control Phase Locked Loop 1 2 3 4 5 6 B A D C F E H G I Position Control Phase Locked Loop LPF Loop Filter X to V Conv 0 0 VE EGR X X 803 811 812 804 805 801 X 798 795 795 795 802 795 3 1 2 0 807 808 809 810 806 PLL BW PLL Rvls Input PLL EPR Input PLL Rvls Output PLL EPR Output PLL Virt Enc RPM PLL LPFilter BW PLL Control PLL Control PLL Control PLL Ext SpdScale PLL Speed Out PLL Speed OutAdv PLL Enc Out PLL Enc Out Adv PLL Psn Out Fltr PLL Enable 0 1 0 1 Ext Vel FF Velocity FF Accel Comp 0 1 PLL Control 795 0 PLL Control 1 PLL Enable
16. At Limit Status Spd Reg Lmt 720 647 Speed Reg Ki 650 Alt Speed Reg Ki 6 Speed Sensor Type Sensorless Speed Control Regulator Flux Vector 313 From Spd Ref 9C2 23E2 23D5 INTERNAL CONDITION ONLY Limit 10 10 PF755 Rev_9 a Page 10 805 Load Observer Configuration 457 Velocity Loop Output 502 Torque Low Pass Filter Bandwidth 464 Kdr 456 Velocity Integrator Output 462 Kvi 461 Kvp 467 Velocity Integrator Control 469 Velocity Low Pass Filter Bandwidth 464 Knff 455 Velocity Error 453 Velocity Reference 454 Velocity Feedback 1434 o Feedback n Velocity Filter Bandwidth 468 Velocity Integrator Preload 492 Torque Reference 467 Velocity Integrator Control 3 0 Rockwell Automation Publication 750 RM002B EN P September 2013 387 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Position Control Reference 784 767 Psn Direct Ref PTP Command 771 PTP Mode Psn Ref Select 765 Index Absolute Position Profiler Index Position Step 1 16 Values Profiler 1213 0 4 8 StrStepSel0 4 Hold Step Profile Command 770 1 Move 770 2 3 Reverse Move Preset Psn Actv SpTqPs Mode 0 786 785 782 PTP Accel Time PTP Decel Time PTP Fwd Vel Lmt 787 PTP S Curve PTP Ref Scale Direct Position Reference Selection Pt Pt Posit
17. DB IGBT Drive 1 on off DB IGBT Drive 2 Vdc Drive 2 Vdc Drive 1 202 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control the drive can trip off due to transient DC bus overvoltage problems Once the choice of the approximate Ohmic value of the Dynamic Brake Resistor is made the wattage rating of the Dynamic Brake Resistor can be made The wattage rating of the Dynamic Brake Resistor is estimated by applying the knowledge of the drive motoring and regenerating modes of operation The average power dissipation of the Regenerative mode must be estimated and the wattage of the Dynamic Brake Resistor chosen to be slightly greater than the average power dissipation of the drive If the Dynamic Brake Resistor has a large thermodynamic heat capacity the resistor element is able to absorb a large amount of energy without the temperature of the resistor element exceeding the operational temperature rating Thermal time constants in the order of 50 seconds and higher satisfy the criteria of large heat capacities for these applications If a resistor has a small heat capacity the temperature of the resistor element could exceed the maximum temperature limits during the application of pulse power to the element and could exceed the safe temperature limits of the resistor The peak regenerative power can be calculated in English units Horsepower in The International System of Units SI Wat
18. Table 10 Other Parameters Overspeed Limit An overspeed condition results when the motor speed falls outside of its normal operating range The forward motor rotation limit is P520 Max Fwd Speed P524 Overspeed Limit and the reverse motor rotation limit is P521 Max Rev Speed P524 Overspeed Limit In Flux Vector Control mode or Scalar Control mode with encoder the motor speed used is a 2msec averaged value of P131 Active Vel Fdbk In Scalar Control mode without an encoder the overspeed check uses P1 Output Frequency The overspeed condition must exist for at least 16 milliseconds before it causes a fault to occur Parameter No Parameter Name Description 411 Mtr OL at Pwr Up Motor Overload at Power Up parameter configures the motor overload feature regarding the state of the overload counter at power up Assume Cold 0 P418 Mtr OL Counts will be reset to zero the next time the drive is powered up UseLastValue 1 The value of P418 Mtr OL Counts will be retained at power down and restored the next time the drive is powered up RealTimeClk 2 The value of P418 Mtr OL Counts begins to decrease at drive power down reflecting the cooling of the motor and stops at drive power up or when zero is reached This option is only available when the real time clock is active on the drive 412 Mtr OL Alarm Lvl You can have the drive issue an alarm when the P418 Mtr OL Counts reaches a
19. 1317 Set Motor Polarity Y Y Y Y 1320 Set Motor Rated Peak Current N N N N N IM 1321 Set Motor Rated Output Power Y Y Y Y Y IM 1322 Set Motor Overload Limit Y Y Y Y 1323 Set Motor Integral Thermal Switch N N N N 1324 Set Motor Max Winding Temperature N N N N 1325 Set Motor Winding To Ambient Capacitance N N N N 1326 Set Motor Winding To Ambient Resistance N N N N 2310 Set PM Motor Flux Saturation N N N N PM Motor only 1339 Set PM Motor Rated Torque N N N N Rotary PM Motor only 1340 Set PM Motor Torque Constant N N N N Rotary PM Motor only 1342 Set PM Motor Rated Force N N N N Rotary PM Motor only 1343 Set PM Motor Force Constant N N N N Rotary PM Motor only 1330 Set Rotary Motor Inertia N Y Y N Rotary Motor only 1332 Set Rotary Motor Max Speed N N N N Rotary Motor only 1333 Set Rotary Motor Damping Coefficient N N N N Rotary Motor only 2311 Set Rotary Motor Fan Cooling Speed N N N N Rotary Motor only 2312 Set Rotary Motor Fan Cooling Derating N N N N Rotary Motor only 1336 Set Linear Motor Mass N N N N Linear Motor only 1337 Set Linear Motor Max Speed N N N N Linear Motor only 1338 Set Linear Motor Damping Coefficient N N N N Linear Motor only 2313 Set Linear Motor Integral Limit Switch N N N N Linear
20. 1544 VB Min Freq 1545 VB Flux Thresh 1546 VB Flux Lag Freq 1547 VB Filt Flux Cur 1548 VB Current Rate 1549 VB Current Hyst 1550 VB Cur Thresh 1551 VB Rate Lag Freq 1536 0 VB Enabled VB STATUS 1536 6 Max Boost VB STATUS 1536 7 Hold Freq VB STATUS 1536 1 VB Timer VB STATUS 1536 2 Triggered VB STATUS 1536 3 Current Trig VB STATUS 1536 4 Flux Trigger VB STATUS 1536 5 Freq Trigger VB STATUS 27 Motor NP Hertz 35 0 Motor Cntl Mode InductionVHz 1535 0 VB Enable VB Config 1535 1 Current Rate VB Config 1535 3 Flux Level VB Config 1535 4 Minimum Freq VB Config OR 1535 2 Rising Edge VB Config State Decision Block Rate Calculation Block Boost Config Enable Block Clear At Stop Block Control State Cases Bst_State_Default Bst_State_Init Bst_State_Break Bst_State_Ramp_Up Bst_State_Ramp_Dwn Bst_State_Reset Status Update PF755 Rev_9 a Page 38 Rockwell Automation Publication 750 RM002B EN P September 2013 417 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Diagnostic Tools 1 2 3 4 5 6 B A D C F E H G I 1039 0 Peak 1 Change Peak1Change Peak1 Cfg Peak1 Peak PeakDetect1 Out Peak1 Cfg Peak1 Hold Peak1 Cfg Peak1 Set NOTE The change bit Peak x Ch
21. 641 Inverter Temperature 641 Inverter Heatsink Temperature 24b G5 306 Voltage Class 305 Rockwell Automation Publication 750 RM002B EN P September 2013 415 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Friction Compensation Speed Torque FrctnComp Slip FrctnComp Slip FrctnComp Stick FrctnComp Stick FrctnComp Rated FrctnComp Rated Motor NP RPM FrctnComp Trig FrctnComp Trig FrctnComp Hyst FrctnComp Hyst FrctnComp Time FrctnComp Time Friction Compensation Adjustments Motor NP RPM Speed Torque FrctnComp Trig FrctnComp Trig FrctnComp Hyst FrctnComp Hyst Friction Compensation Hysteresis 1 2 3 4 5 6 B A D C F E H G I Friction Compensation PF755 Rev_9 a Page 37 416 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Variable Boost Voltage Overview Function Inputs Outputs Variable Boost Voltage Overview Function Inputs Outputs 1 2 3 4 5 6 B A D C F E H G I Parameter Selection VB Voltage 1537 1538 VB Time 1539 VB Minimum 1540 VB Maximum 1541 VB Accel Rate 1542 VB Decel Rate 1543 VB Frequency
22. Chapter 3 Diagnostics and Protection The Terminator Is it possible to match the surge impedance of the motor to the cable There is a device called the terminator that does this shown in the figure below It is an RC network at the motor that matches the load surge impedance to the cable Figure 20 shows the surge voltages when using the terminator The overshoot is very low with no ringing to speak of Due to losses this device is good for cable lengths up to 600 ft and for carrier frequencies less than or equal to 4 kHz However its key advantage is that this one device works well for any motor in the range from 0 5 to 500hp because it does not have to handle the motor current being a parallel device Line Reactor What if we go the other way matching the surge impedance of the cable to the motor There are several products available that do this They all consist of the addition of a line reactor at the output of the drive See the figure below A 3 line reactor by itself also reduces the dV dt but a big disadvantage is that it reduces the voltage available to the motor by 3 This is useful for cables up to about 600 ft A better device is what we call a reflected wave reduction device where the line reactor is reduced to about 0 2 and a resistor is placed in parallel with each of the reactors This reduces the dV dt and has a voltage drop of only 0 2 instead of 3 It can be used with cables up to about 1200 ft Rockwel
23. Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives High Speed Trending Wizard 1 2 3 4 5 6 B A D C F E H G I High Speed Trend Wizard Ready or Complete Running Gather pre trigger samples Finishing Gather post trigger samples Start Stop Stop Buffers Full Trigger Condition Met Trend Status Start Trend Stop Trend 8 buffers of 4096 samples minimum interval of 1 024 ms or 4 buffers of 1024 samples minimum interval of 256 us select one Trend Sample Configuration Trend Mode Pre Trigger 0 to maximum 4096 or 1024 samples Sample Interval Mimimum 1 024 ms or 256 us Compare Options gt lt or Param B Param A Trigger Condition Met Compare Two Parameters OR Compare Options gt lt or Trigger Value Param A Trigger Condition Met Compare Parameter to a Constant OR Test Options bit is True or False Trigger Value bit Param A Trigger Condition Met Test bit in a Parameter Trend Trigger Setup Trigger Condition Met Trend Buffer 1 circular 1024 or 4096 samples Trend Buffer 3 circular 1024 or 4096 samples Trend Buffer 2 circular 1024 or 4096 samples Trend Buffer 4 circular 1024 or 4096 samples Trend Buffer 5 circular 4096 samples Trend Buffer 7 circular 4096 samples Trend Buffer 6 circular 4096 sam
24. If Bus Reg Mode n is set to 3 Both DB 1st Both regulators are enabled and the operating point of the Dynamic Brake Regulator is lower than that of the Bus Voltage Regulator The Bus Voltage Regulator setpoint follows the DB Turn On curve The Dynamic Brake Regulator follows the DB Turn On and turn off curves For example with a DC Bus Memory between 650 and 685V DC the Bus Voltage Regulator setpoint is 750V DC and the Dynamic Brake Regulator turns on at 742V DC and back off at 734V DC It is possible that the drive can react differently between Flux Vector mode and Sensorless Vector mode The important thing to remember here is that in SV control the drive does not use the value entered into P426 Regen Power Lmt If left at default 50 and the decel is such that it creates a large amount of regen power the drive again attempts to protect the resistor Consider the plots below Option 4 Both Frq 1st If Bus Reg Mode n is set to 4 Both Frq 1st Both regulators are enabled and the operating point of the Bus Voltage Regulator is lower than that of the Dynamic Brake Regulator The Bus Voltage Regulator setpoint follows the Bus Reg Curve 2 below a DC Bus Memory of 650V DC and follows the DB Turn Off curve above a DC Bus Memory of 650V DC Table 4 The Dynamic Brake Regulator follows the DB Turn On and turn off curves For example with a DC Bus Memory at 684V DC the Bus Voltage Regulator s
25. PID Preload Value PID Enabled PID Output Speed Command Preload to Command Speed Start at Speed Command Rockwell Automation Publication 750 RM002B EN P September 2013 81 Drive Configuration Chapter 1 Zero Clamp This feature limits the possible drive action to one direction only Output from the drive is from zero to maximum frequency forward or zero to maximum frequency reverse This removes the chance of doing a plugging type operation as an attempt to bring the error to zero This bit is active only in trim mode The PID has the option to limit operation so that the output frequency always has the same sign as the master speed reference The zero clamp option is selected in the PID Configuration parameter Zero clamp is disabled when PID has exclusive control of speed command For example if master speed reference is 10 Hz and the output of the PID results in a speed adder of 15 Hz zero clamp limits the output frequency to not become less than zero Likewise if master speed reference is 10 Hz and the output of the PID results in a speed adder of 15 Hz zero clamp limits the output frequency to not become greater than zero Feedback Square Root This feature uses the square root of the feedback signal as the PID feedback This is useful in processes that control pressure because centrifugal fans and pumps vary pressure with the square of speed The PID has the option to take the square root of the s
26. This test is a stand alone test that is used to measure the system inertia The drive sets this value in P76 Total Inertia as seconds of inertia This reflects the time it takes to accelerate the load at 100 torque to base speed This information can be very useful in determining the total inertia in lb ft2 that is connected to a motor shaft Using the following formula and rearranging it to Tacc WK2 N 308 t WK2 Tacc 308 t N Rockwell Automation Publication 750 RM002B EN P September 2013 39 Drive Configuration Chapter 1 we have a formula that isolates the connected inertia For the variables Tacc is the 100 rating of the drive in lb ft Let s say I m using a 10 Hp drive with a 10 Hp motor We can rearrange the Horsepower formula below to solve for torque in lb ft My motor is 10hp 1785RPM and rearranging it to So let s plug in the numbers T lb ft And t comes from what the drive reports as seconds of inertia after running the inertia tune Let s say that the drive reported 2 12 seconds of inertia And now organizing the variables we have Tacc 29 42 t 2 12 N 1785 plugging these into the formula WK2 10 76 After these calculations one can conclude that the connected inertia is equal to 10 76 lb ft2 Multiplying by 0 04214011 you get 0 453 kg m2 What effect can P71
27. Velocity FF 2 Ext Vel FF 3 Accel Comp 4 PCAM Enable 5 PTP Enable 6 Prof Enable Bit4 enables PCAM function with PLL Bit5 enables PTP function with PLL Bit6 enables Profiler function with PLL Can not select multiple bits PLL references must connect to appropriate outputs of the function 0 0 1 PLL Ext Spd Sel 796 797 Other Ref Sources PLL Ext Spd Stpt Parameter Selection PLL Psn Ref Sel 799 800 Other Ref Sources PLL Psn Stpt Parameter Selection 11F5 11F5 11F5 11F5 Delay Delay PF755 Rev_9 a Page 14 Rockwell Automation Publication 750 RM002B EN P September 2013 391 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Position Control Position CAM 1 2 3 4 5 6 B A D C F E H G I Position Control Position CAM Virtual Encoder Unwind Y span X span Y slave X master PCAM Scale X 1397 X 1472 PCAM Vel Out 1473 PCAM Psn Out 1394 1395 PCAM Psn Ofst PCAM PsnOfst Eps 1396 1398 PCAM Span X PCAM Span Y 1407 Pt X 0 1408 Pt Y 0 1437 Pt X 15 1438 Pt Y 15 PCAM Main 1406 0 15 Types 1405 EndPnt 1441 Pt X 1 1442 Pt Y 1 1469 Pt X 15 1470 Pt Y 15 PCAM Aux 1440 x 1 15 Types 1439 EndPnt Profile Definition 1403 1404 PCAM Slope Begin PCAM Slope End 1471 1391 PCAM Mod
28. option port Anlg In2 PortVal option port 602 603 Trim RefA AnlgHi Trim RefA AnlgLo Default Parameter Selection Parameter Selection Parameter Selection Parameter Selection 328 Alt Man Ref Sel 329 330 Alt Man Ref AnHi Alt Man Ref AnLo Parameter Selection Parameter Selection 551 Spd Ref B Stpt 552 Spd Ref B AnlgHi 553 Spd Ref B AnlgLo Other Ref Sources TrmPct RefB Sel 612 Disabled 0 Parameter Selection 613 TrimPct RefB Stpt 614 TrmPct RefB AnHi 615 TrmPct RefB AnLo Other Ref Sources Trim Ref B Sel 604 Disabled 0 Parameter Selection 605 Trim Ref B Stpt 606 Trim RefB AnlgHi 607 Trim RefB AnlgLo Other Ref Sources 29F3 3H5 35H3 d Prefix Refers to Diagnostic Item Number ex d33 Reference Symbol Legend Note Analog Hi Lo scaling only used when Analog Input is selected To Spd Ref 2 6A1 PF755 Rev_9 a Page 5 P760 Interp Vel Out 11B5 366 Velocity Fine Command 450 Velocity Command Velocity Feedforward 440 Kvff Ref A Auto 1 451 Velocity Trim 433 Velocity Feed Forward Command 382 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Speed Control Reference Sheet 2 Drive Status 1 Jogging 935 17 0 2 Max X 1
29. 0 037 0 0275 0 296 0 364 7 71 HPK B1308E SA42AA 2970 33 5 405 64 8 100 115 230 135 28 8 0 037 0 0275 0 296 0 364 7 71 HPK B1308E SB44AA 2970 33 5 405 64 8 100 115 230 135 28 8 0 037 0 0275 0 296 0 364 7 71 HPK B1609E MA42AA 2965 48 4 405 88 2 100 156 270 154 31 4 0 0326 0 0227 0 288 0 319 7 23 HPK B1609E SA42AA 2965 48 4 405 88 2 100 156 270 154 31 4 0 0326 0 0227 0 288 0 319 7 23 HPK B1609E SB44AA 2965 48 4 405 88 2 100 156 270 154 31 4 0 0326 0 0227 0 288 0 319 7 23 HPK B1609E X169 2965 48 4 460 88 2 154 156 270 154 154 154 154 154 154 154 HPK B1611E MA42AA 2975 57 408 105 7 100 183 400 240 47 6 0 0205 0 0152 0 167 0 219 4 82 HPK B1611E MB44AA 2975 57 408 105 7 100 183 400 240 47 6 0 0205 0 0152 0 167 0 219 4 82 HPK B1611E SA42AA 2975 57 408 105 7 100 183 400 240 47 6 0 0205 0 0152 0 167 0 219 4 82 HPK B1613E MA42AA 2970 73 7 407 135 3 100 237 520 312 54 5 0 0164 0 0127 0 136 0 179 4 21 HPK B1613E MB44AA 2970 73 7 407 135 3 100 237 520 312 54 5 0 0164 0 0127 0 136 0 179 4 21 HPK B1613E SA42AA 2970 73 7 407 135 3 100 237 520 312 54 5 0 0164 0 0127 0 136 0 179 4 21 HPK B1613E SB44AA 2970 73 7 407 135 3 100 237 520 312 54 5 0 0164 0 0127 0 136 0 179 4 21 360 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Mo
30. 200 175 150 125 100 75 50 25 0 0 10 20 30 40 50 60 70 80 90 100 A B C D F Full Load Torque Speed Percent Torque Percent of Full Load Speed Torque Curves of NEMA A B C D and F Motors 238 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control particularly suited to handle hard to start loads Another useful characteristic of this motor is the sloping shape of its speed torque curve This lets the motor slow down during periods of peak loads enabling any flywheel energy that has been stored by the load to be released Typical applications include punch presses and press brakes AC Motors Design F exhibit low starting torque low starting current and low slip These AC motors are built to obtain low locked rotor current Both locked rotor and breakdown torque are low Normally these AC motors are used where starting torque is low and where high overloads are not imposed after running speed is reached In summary we see that when matching an AC motor to the requirements of a specific load it is important to check the torque requirements of the load and the torque capabilities of the motor in addition to speed and horsepower At least three torque values are important Starting torque Breakdown torque Full load torque Wound rotor AC Motors P35 Motor Ctrl Mode induction motor options 0 Induction VHz
31. 25 26 Cur Lmt FV Therm RegLmt 27 28 BusVltgFVLmt Mtr Vltg Lkg Flux BusVltgFVLmt Mtr Vltg Lkg Cur Lmt FV Therm RegLmt 493 Torque Reference Filtered 505 Torque Limit Negative 504 Torque Limit Positive 454 Velocity Feedback 625 Regen Power Limit 800 494 Torque Reference Limited 530 Id Current Feedback 1315 Motor Type 1320 Motor Rated Peak Current 533 Current Vector Limit 520 Iq Current Command 402 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Torque Control Current Interior Permanent Magnet Motor 1 2 3 4 5 6 B A D C F E H G I Power Unit Thermal Protection Pos Torque Limit Trq Neg Lmt Neg Torque Limit Trq Pos Lmt Regen Power Lmt Regen PwrLmt Bus Regulator Calc Pwr Te Active Vel Fdbk Active Pos Torque Limit Active Neg Torque Limit Limit Max Min Filtered Trq Ref Limited Trq Ref Active Cur Lmt Limit Motor Power Lmt Mtrng PwrLmt Voltage Ref Limit Generation Current Lmt 1 Current Lmt Sel Current Lmt 2 Thermal Mgr Current Limit 424 421 422 423 690 689 131 426 427 671 670 945 21 At Limit Status 22 Trq Pos Lmt Trq Neg Lmt 945 17 At Limit Status 18
32. 353 Supported Motors 357 System Tuning 363 Using an Incremental Encoder with an MPx Motor 372 PowerFlex 755 Integrated Motion on the EtherNet IP Network Block Diagrams 375 300 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Additional Resources for Integrated Motion on the EtherNet IP Network Information These documents contain additional information on the Integrated Motion on the EtherNet IP Network for PowerFlex 755 AC drive applications You can view or download publications at http www rockwellautomation com literature To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative Software Tools Integrated Architecture Builder can be downloaded at http www rockwellautomation com en e tools configuration html Motion Analyzer can be downloaded at http motion analyzer com Resource Description PowerFlex 750 Series Drive Programming Manual publication 750 PM001 Provides detailed information on I O control and feedback options Parameters and programming Faults alarms and troubleshooting PowerFlex 750 Series Drive Installation Instructions publication 750 IN001 Provides instructions for Mechanical installation Connecting incoming power the motor and basic I O PowerFlex 750 S
33. 550 250 100 TNF 20K TNF 5K TNF 15K TNF 5K 20 10 20 C 0 C TNF R R TNF Resistance in sensor circuit in ohms Temperature Rated response temperature tolerance limit in degrees C Defined cutoff values Rockwell Automation Publication 750 RM002B EN P September 2013 153 Feedback and I O Chapter 2 Figure 14 PTC Connection Configuration with PTC connected to PowerFlex 753 Main Control Board Port 0 P250 PTC Cfg 0 Ignore 1 Alarm 2 Flt Minor 3 FltCoastStop 4 Flt RampStop or 5 Flt CL Stop Status is shown in Port 0 P251 PTC Sts Configuration with Optional I O Board Port X I O Module P40 PTC Cfg 0 Ignore 1 Alarm 2 Flt Minor 3 Flt CoastStop 4 Flt RampStop or 5 Flt CL Stop Status is shown in Port X I O Module P41 PTC Sts and Port X I O Module P42 PTC Raw Value Configuration with 11 Series I O module fitted with ATEX Option Status is shown in Port X I O Module P41 ATEX Sts The fault action is not configurable when the ATEX module is used 154 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Fault or Alarm Operation The reaction to an increased PTC resistance depends on the respective PTC configuration such as alarm or fault When the ATEX module is used the result is always fault When the PTC resistance exceed
34. 573 574 575 577 576 Speed Ref A Sel Speed Ref B Sel Preset Speed 2 Preset Speed 3 Preset Speed 4 Preset Speed 5 Preset Speed 6 Preset Speed 7 571 Preset Speed 1 608 TrmPct RefA Sel 612 TrmPct RefB Sel 600 Trim Ref A Sel 604 Trim Ref B Sel 592 Selected Spd Ref PID Output Sel 1079 PID Speed Exclusive Selection Actv SpTqPs Mode Speed Profiling Selection Jogging Selection 556 Jog Speed 1 557 Jog Speed 2 Linear Ramp amp S Curve Virtual Encoder Speed FF Selection Speed Comp Inertia Comp PID Output Sel 1079 PID Speed Trim Selection 665 Speed Comp Sel 695 Inertia CompMode 699 667 594 Ramped Spd Ref Speed Control Reference pages 4 7 9 Spd Reg Out PID Output Meter Torque Ref Selection Speed Torque Position Mode Selection 675 Trq Ref A Sel 680 Trq Ref B Sel PID Output Sel 1079 PID Torque Trim Excl Selection 686 Torque Step Notch Filter Inertia Adaption Load Observer Estimator Limit 690 Limited Trq Ref Inertia Comp Out Torque Control pages 20 25 Torque Limit Generation 685 Selected Trq Ref Speed Comp Out 313 Actv SpTqPs Mode 313 Actv SpTqPs Mode 313 x Speed Ref TrimPct Ref Trim Ref Lead Lag Filter Speed Ref Scale 555 775 PTP Ref Sel
35. 876 Int ENet Man DevLogix Man Port 1 Reference Port 2 Reference Port 3 Reference Port 4 Reference Port 5 Reference Port 6 Reference Disabled 0 609 Disabled 0 Disabled 0 930 Speed Ref Source 616 SpdTrimPrcRefSrc 617 Spd Trim Source Option Ports Analog EtherNet DeviceLogix 871 872 873 874 875 876 Port 1 Reference Port 2 Reference Port 3 Reference Port 4 Reference Port 5 Reference Port 6 Reference Anlg In1 PortVal option port Anlg In2 PortVal option port 591 Spd Ref Sel Sts 300 Speed Units Hz RPM Default 558 MOP Reference 879 13 12 6 Drive Logic Rslt 14 Ref Sel 2 Ref Sel 1 Ref Sel 0 Man 935 11 10 14 Drive Status 1 12 13 Ref Bit 3 Ref Bit 2 Ref Bit 1 Ref Bit 0 9 Man Ref Bit 4 DI Man Sel Alt Man Sel 563 DI Man Ref Sel Speed Control Reference 1 547 548 Spd Ref A AnlgHi Spd Ref A AnlgLo 7 6 5 4 3 2 1 17 18 19 20 21 22 29 30 16 31 0 564 565 DI ManRef AnlgHi DI ManRef AnlgLo 610 611 TrmPct RefA AnHi TrmPct RefA AnLo Default 600 Trim Ref A Sel Trim Ref A Stpt 601 Disabled 0 871 872 873 874 875 876 Port 1 Reference Port 2 Reference Port 3 Reference Port 4 Reference Port 5 Reference Port 6 Reference Anlg In1 PortVal
36. Auto to Hand the digital input block requests manual control and issues a start command to the drive If the digital input port receives manual control the drive accelerates to the reference speed from the analog input All attempts to change the speed except from the analog input are blocked If the drive is stopped while in Hand switch the H O A switch to Off and then back to Hand to restart the drive If another port has manual control of the drive but does not have exclusive ownership of the logic commands due to P326 Manual Cmd Mask turning the switch to Hand causes the drive to begin moving but for the analog input to have no control over the speed 24V 10V H A O XOO OOX XOO DI 0 Stop DI 1 HOA Start and Manual Control Analog IN 0 DI Manual Speed Reference Speed Potentiometer Rockwell Automation Publication 750 RM002B EN P September 2013 33 Drive Configuration Chapter 1 For this circuit set the following parameters P301 Access Level must be set to 1 Advanced to see P563 DI ManRef Sel The drive requests Manual mode start and tracks the reference speed coming from the Analog Input when the H O A switches to Hand The HIM still reads Auto This display changes only when the HIM has control of Manual mode Safe Limited Speed Safe Limited Speed through the PowerFlex Safe Speed Monitor option module uses Manual mode to control the speed of the drive When Safe Limited Speed
37. Drive Motor Parameter Values Provide a Speed Torque profile like in this example Motor Nameplate Voltage V Volts Motor Nameplate Power Pwr KW Poles p Parameter Value Units P1 Motor Nameplate volts Vrms Volts P2 Motor Nameplate Amps Amps P3 Motor Nameplate Frequency HZ P4 Motor Nameplate RPM RPM P5 Motor Name Plate Power KW P7 Pole Pairs Zpu IXO Voltage drop Volts IR Voltage Droop Volts P523 Back Emf Volts Speed 1 min Rated Power S1 Overload Power Overload Torque Rated Torque Synchronous motor for converter drive Torque Speed Diagram AC Motor Frequency Controlled Torque N m Power kW Rockwell Automation Publication 750 RM002B EN P September 2013 363 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 System Tuning When using the Integrated Motion on the Ethernet IP Network connection with the PowerFlex 755 drive the tuning of the motion system is accomplished via the Logix Designer application This topic describes the axis hookup tests motor tests and autotuning of the motion system required to measure the system inertia Manual tuning of the axis is also described in this section For additional information on axis attributes and the Control Modes and Methods see the Integrated Motion on the Ethernet IP Network Reference Manual publication MOTION RM003 For start up assistance of a Integr
38. Fault Status A Bit 4 InPhaseLoss is set If an alarm action is selected as a result for the input phase loss P959 Alarm Status A Bit 4 InPhaseLoss is set 168 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection P463 InPhase Loss Lvl Sets the threshold at which the DC bus voltage ripple triggers an F17 Input Phase Loss fault Input phase loss is assumed when the DC bus voltage ripple exceeds the tolerance set by this parameter for a certain time period of time Setting a larger value permits a higher bus voltage ripple without causing the drive to fault but also results in more heating in the bus capacitors shortening their life or possibly resulting in failure The default value of 325 is equal to the expected ripple level for a full rated motor running at half load with single phase input This is just a different way of saying that if you know you are going to run single phase derate the drive by 50 Loading conditions on the motor could also have an effect on this parameter Particularly shock loads Motor Overload The motor overload protection feature uses an IT inverse time algorithm to model the temperature of the motor and follows the same curve as a physical class 10 overload device P26 Motor NP Amps is used by the overload feature to establish the 100 level y axis shown in the graph above Setting P410 Motor OL Actn to zero disables the
39. For the PowerFlex 750 Series drives utilizing an Option Module the table below shows an overview of the selectable configurations for the drive s Digital Output Level Sel parameters Parameter No Parameter Name Description 1 Output Frequency Output frequency present at terminals T1 T2 and T3 U V amp W 2 Commanded SpdRef Value of the active Speed Frequency Reference 3 Mtr Vel Fdbk Estimated or actual motor speed with feedback 4 Commanded Trq Final torque reference value after limits and filtering are applied Percent of motor rated 5 Torque Cur Fdbk Based on the motor the amount of current that is in phase with the fundamental voltage component 6 Flux Cur Fdbk Amount of current that is out of phase with the fundamental voltage component 7 Output Current The total output current present at terminals T1 T2 and T3 U V amp W 8 Output Voltage Output voltage present at terminals T1 T2 and T3 U V amp W 9 Output Power Output power present at terminals T1 T2 and T3 U V amp W 10 Output Powr Fctr Output power factor 11 DC Bus Volts DC bus voltage 13 Elapsed MWH Accumulated output energy of the drive 14 Elapsed kWH Accumulated output energy of the drive 260 1 1 PowerFlex 753 drives only Anlg In0 Value Value of the Analog input after filter square root and loss action 418 Mtr OL Counts Accumulated percentage of motor overload 419 Mtr O
40. Friction Comp 23A1 Skip Bands 526 527 Skip Speed 1 528 529 Skip Speed Band Skip Speed 2 Skip Speed 3 1 0 Drive Status 1 Jogging 0 935 18 1 0 Drive Status 1 Stopping 1 0 0 Limited Spd Ref 593 6H4 935 17 Skip Bands Start Stop 2 Commanded SpdRef Stopping or Not Active Not Stopping and Active OR Drive Status 1 Running Drive Status 2 Autotuning 935 16 936 9 Traverse P Jump Sync Speed Change Fiber Application 1120 Fiber Control 1121 Fiber Status 1122 Sync Time 1126 P Jump 1125 Max Traverse 1123 Traverse Inc 1124 Traverse Dec PF755 Rev_9 a Page 7 370 Skip Speed 1 371 Skip Speed 2 372 Skip Speed 3 373 Skip Speed Band 467 Velocity Integrator Control 376 Ramp Acceleration 377 Ramp Deceleration 378 Ramp Jerk Control 460 Kaff 496 Kj 452 Acceleration Feedforward Spd FF From Psn Ref 11I5 x 848 Psn Gear Ratio 935 17 Drive Status 1 Jogging 0 1 0 438 Position Loop Output 0 473 Velocity Limit Positive 474 Velocity Limit Negative 635 8 384 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Speed Control Reference Sheet 4 Speed Control 1 0 PID Output Sel Speed Trim 0 1079 Drive Status 1 Jogging
41. If hazards due to accidental contact with moving machinery or unintentional flow of liquid gas or solids exists an additional hardwired stop circuit may be required to remove the AC line to the drive An auxiliary braking method may be required Hazard of personal injury or equipment damage due to unexpected machine operation exists if the drive is configured to automatically issue a Start or Run command Do not use these functions without considering applicable local national and international codes standards regulations or industry guidelines Rockwell Automation Publication 750 RM002B EN P September 2013 13 Preface Product Safety Class 1 LED Product ATTENTION An incorrectly applied or installed drive can result in component damage or a reduction in product life Wiring or application errors such as under sizing the motor incorrect or inadequate AC supply or excessive surrounding air temperatures may result in malfunction of the system This drive contains ESD Electrostatic Discharge sensitive parts and assemblies Static control precautions are required when installing testing servicing or repairing this assembly Component damage may result if ESD control procedures are not followed If you are not familiar with static control procedures reference Guarding Against Electrostatic Damage publication 8000 4 5 2 or any other applicable ESD protection handbook Configuring an analog input for 0 20 mA operation and drivin
42. Motor Types 235 Notch Filter 244 Regen Power Limit 247 Speed Reference 251 Speed Regulation 260 Torque Reference 262 Speed Torque Position 266 Chapter 5 Drive Features Data Logging 277 Energy Savings 282 High Speed Trending 283 Position Homing 292 Rockwell Automation Publication 750 RM002B EN P September 2013 7 Table of Contents Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 7
43. OR 1 2 3 4 5 6 B A D C F E H G I 32 A B A B 33 1 A lt B 0 TO1 Level CmpSts TO1 Level TO1 Level Sel TO1 Level Source NC 5 2 Dig Out Sts TO1 Sel TO1 Off Time TO1 On Time Timer 34 35 Dig Out Invert 6 2 0 1 Inv Transistor Out1 Source NO 1R2T 1 Relay 2 Transistor I O Modules Only 1R2T 1 Relay 2 Transistor I O Modules Only Parameter Selection 20 Parameter Selection 30 Parameter Selection Parameter Selection 21 Parameter Selection 31 Parameter Selection Option Module Parameters Reference Symbol Legend PF755 Rev_9 a Page 32 Inputs Dig In Sts Com 1 2 1 0 In2 In1 In0 Dig In Fltr Mask Filter Filter Filter 2 0 Dig In Fltr Mask 2 1 Dig In Fltr Mask 2 2 Dig In Fltr 3 Dig In Fltr 3 Dig In Fltr 3 Rockwell Automation Publication 750 RM002B EN P September 2013 411 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 11 Series Inputs and Outputs Analog 1 2 3 4 5 6 B A D C F E H G I ADC Anlg In Type Voltage Current Loss Detection 53 Anlg In0 LssActn Anlg In Sqrt Lead Lag kn s wn s wn 55 56 Anlg In0 Filt Gn Anlg In0 Filt BW In Lo Hi Lo Scale 51 52 Anlg In0 Lo Anlg In0
44. PI Regulator Pt Pt Position Planner Pt Pt Ref Selection Lead Lag Filter 765 Direct Ref Selection Psn Ref Select Spd Pos Position Control pages 11 19 Position Mode Selection 722 Psn Selected Ref Speed Limit Notch Filter 839 Psn Reg Kp 838 Psn Reg Ki Gear Rat N D Position Offset Position Fdbk Selection 847 Psn Fdbk Proportional Channel Integration Channel 843 PsnReg Spd Out Psn Fdbk Sel 135 Actv SpTqPs Mode 313 313 784 PTP Command 767 Psn Direct Ref 783 PTP Speed FwdRef Feedback Option Cards Position Preset Homing User Home Psn 738 836 Psn Actual Init Actv SpTqPs Mode 776 PTP Reference 815 Psn Ref EGR Out 723 Psn Command Load Fdbk Selection Load Psn FdbkSel 136 Spd Profiler Pos Profiler Profiler Steps 1 16 Pt Pt Mode Selection PCAM Planner PLL Planner 1392 PCAM Psn Select 799 PLL Psn Ref Sel Spd Spd Pos Pos 796 PLL Ext Spd Sel 1472 PCAM Vel Out 807 PLL Speed Out Speed FF Ref Gear Rat N D X x 848 Psn Gear Ratio x 848 Psn Gear Ratio 848 Psn Gear Ratio 1567 FrctnComp Out Friction Comp 1560 FrctnComp Mode 640 Filtered SpdFdbk PI Regulator Speed Control Regulator page 10 Lead Lag Filter Lead Lag Filter 645 647 Speed Reg
45. September 2013 163 Diagnostics and Protection Chapter 3 The following data conditions are captured and latched into non volatile drive memory P952 Fault Status A P953 Fault Status B Indicates the occurrence of conditions that have been configured as faults P954 Status1 at Fault P955 Status2 at Fault Captures operating conditions of the drive at the time of the fault P957 Fault Amps Motor amps at the time of the fault P958 Fault Bus Volts DC Bus volts at time of the fault P956 Fault Frequency Output Hertz at the time of fault P962 AlarmA at Fault P963 AlarmB at Fault Captures and displays P959 960 Alarm Status A B at the last fault Fault Queue Faults are also logged into a fault queue such that a history of the most recent fault events is retained Each recorded event includes a fault code with associated text and a fault time of occurrence PowerFlex 750 Series drives have a 32 event queue The fault queue records the occurrence of each fault event that occurs while no other fault is latched Each fault queue entry includes a fault code and a time stamp value New fault events are not logged to the fault queue if a previous fault has already occurred but has not yet been reset Only faults that actually trip the drive are logged No fault that occurs while the drive is already faulted is logged The fault queue is a first in first out FIFO queue Fault queue entry 1 is
46. SpdTrqPsn Mode A P310 SpdTrqPsn Mode B P311 SpdTrqPsn Mode C and P312 SpdTrqPsn Mode D DI Fwd End Limit DI Rev End Limit These digital input functions are used to trigger a Forward End Limit and or a Reverse End Limit The resulting action depends on whether the drive is operating as a speed torque or position regulator The mode of operation is indicated by P935 Drive Status 1 Bit 21 Speed Mode Bit 22 PositionMode and Bit 23 Torque Mode When the drive is operating as a speed regulator the resulting action is to execute a Fast Stop command After the drive stops in this case it only restarts in the opposite direction if given a new start command This function is usually used with a limit switch near the point where the drive needs to stop When the drive is operating as a torque regulator the resulting action is to execute a Fast Stop command After the drive stops in this case it restarts and continues operation if given a new start command When the drive is operating as a position regulator the resulting action is to execute a Fast Stop command After the drive stops in this case it restarts and continues to move towards the position reference if given a new start command DI Fwd Dec Limit DI Rev Dec Limit These digital input functions are used to trigger a Forward Decel Limit and or a Reverse Decel Limit The resulting action depends on whether the drive is operating as a speed
47. Speed Sensor Type InertiaTrqAdd 708 Velocity Velocity Accel Accel 0 Else Sensorless Torque Control Inertia Adaption Inertia Adaption 670 671 From Fdbk 3E3 23H2 24a E2 24b E2 3E1 23H1 INTERNAL CONDITION ONLY PF755 Rev_9 a Page 25 493 Torque Reference Filtered 494 Torque Reference Limited 504 Torque Limit Positive 505 Torque Limit Negative 805 Load Observer Configuration 801 Load Observer Acceleration Estimate 496 Kj 809 Kof 1435 Feedback n Accel Filter Bandwidth 520 Iq Current Command 404 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Torque Control Load Observer Estimator 1 2 3 4 5 6 B A D C F E H G I 76 711 Load Observer BW LPass Filter Total Inertia Load Observer 704 2 InAdp LdObs Mode X LPass Filter 707 Load Estimate 10 R S 0 Else 0 1 Else Speed Sensor Type Sensorless Torque Control Load Observer Estimator Load Observer Estimator Limit Pos Torque Limit Torque Limits Neg Torque Limit Notch Filter Output Limited Trq Ref FIR Filter Primary Encoder Position Filtered Trq Ref 690 689 Derivative d dt Drive Status 2 Fdbk Loss Sw0
48. The entire assembly of Chopper Module with Dynamic Brake Resistor is sometime referred to as the Dynamic Brake Module Chopper Modules are designed to be applied in parallel if the current rating is insufficient for the application One Chopper Module is the designated Master Chopper Module while any other Modules are the designated Follower Modules Two lights have been provided on the front of the enclosure to indicate Chopper Module operation the DC Power light and the Brake On light The DC Power light is lit when DC power has been applied to the Chopper Module The Brake On light is lit when the Chopper Module is operating or chopping and is a flickering type of indication Update As of December of 2010 Rockwell Automation no longer has a Chopper Module product as well as a Dynamic Braking Module product The light configuration stated above was specific to the Rockwell Automation product 198 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control How it Works There are two different types of control for dynamic braking hysteretic control and PWM control Each used by themselves in a standard stand alone product has no advantage over the other The preferred control is the PWM method when the application is common DC bus This advantage is described below Hysteretic Control The hysteretic method of dynamic braking uses a voltage sensing circuit to monitor the DC bus As the DC bus volt
49. This determines how fast the bus regulator is activated The higher the value the faster the drive reacts once the DC voltage setpoint is reached This parameter is valid only in Flux Vector modes Once again the likelihood of these parameters needing adjustment is highly unlikely In fact some descriptions related to the functionality of these parameters are intentionally left out of this text to eliminate undesired motor operation when they are adjusted unwisely Configurable Human Interface Module Removal With the PowerFlex 750 Series the drives response to a HIM communication loss removal is configurable This feature is available in drives with firmware revision 3 0 or later It is used to prevent unintended stopping of the drive by disconnecting the HIM However the HIM cannot be the sole source of a Stop command to enable this feature The configuration is similar to the communication adapter communication loss selections 0 Fault 1 Stop 2 Zero Data 3 Hold Last 4 Send Fault Config The default setting is 0 Fault The HIM can be connected to one 1 of 3 ports per the parameters below Each port is configured separately P865 DPI Pt1 Flt Actn to determine the fault action at port 1 P866 DPI Pt2 Flt Actn to determine the fault action at port 2 P867 DPI Pt3 Flt Actn to determine the fault action at port 3 If Send Flt Cfg is to be selected for the fault action t
50. accelerates to the commanded speed PowerFlex 753 Flying Start Enhanced Mode Frequency Speed TP 138 Current Current pulses motor excitation Attempt to measure counter EMF Output Current Motor caught Normal Accel Rockwell Automation Publication 750 RM002B EN P September 2013 61 Drive Configuration Chapter 1 Flying Start Enhanced Mode Reverse Here is a motor spinning in the opposite direction of the commanded speed In Enhanced mode the detection takes a very short time and the motor is controlled to zero speed and accelerated to the commanded speed P357 FS Gain Sweep mode The amount of time the detection signal current must be below the setpoint A very short time entered could cause false detections Too long of a time and detection could be missed Enhanced mode It s the Kp in the current regulator used in the detection process Used along with P358 P358 FS Ki Sweep mode Integral term in voltage recovery indirectly connected to time higher value can shorten recovery time but can cause unstable operation Enhanced mode It s the Ki in the current regulator used in the detection process Used along with P357 P359 FS Speed Reg Ki Sweep mode The amount of time to sweep the frequency A short time entered produces a steep slope on the frequency A higher value longer time produces a flatter frequency sweep Shown above Enhanced mode It s the Ki in the speed regulator used i
51. holding brake torque DC voltage to the motor continues until a Start command is reissued or the drive is disabled If a Start command is reissued DC Braking ceases and the drive returns to normal AC operation If an Enable command is removed the drive enters a Not Ready state until the enable is restored Bus Voltage Output Voltage Output Current Motor Speed Command Speed Time DC Hold for indeterminate amount of time Stop Command Zero Command Speed Output Voltage Output Current DC Hold Level Bus Voltage Output Voltage Output Current Motor Speed Command Speed Start Command Rockwell Automation Publication 750 RM002B EN P September 2013 101 Drive Configuration Chapter 1 Fast Brake This method takes advantage of the characteristic of the induction motor whereby frequencies greater than zero DC braking can be applied to a spinning motor that provides more braking torque without causing the drive to regenerate On Stop the drive output decreases based on the motor speed keeping the motor out of the regen region This is accomplished by lowering the output frequency below the motor speed where regeneration does not occur This causes excess energy to be lost in the motor The method uses a PI based bus regulator to regulate the bus voltage to a reference that is 750V by automatically decreasing output frequency at the proper rate When the frequency is decreased to a po
52. is loaded with Psn Fdbk P847 Zero Position P725 3 When Position Redefine is enabled Actual Home Position P737 is loaded with Psn Fdbk P847 PF755 Rev_9 a Page 17 394 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Position Control Aux Functions Roll Position Indicator PF755 Rev_9 a Page 18 EGR1 EGR 1 2 3 4 5 6 B A D C F E H G I X X RP Pos Fdbk Sel 1503 1502 Other Ref Sources Parameter Selection ReRef Mod 0 1 Enable Rereference 1501 1511 1512 1504 1505 1500 1 Preset 1500 2 Rereference Roll Psn Offset Roll Psn Config RP Pos Fdbk Stpt Roll Psn Preset Roll Psn Config Modulo Divider RP Psn Out RP Unit Out 1506 RP EPR Input 1507 RP Rvls Input 1508 RP Rvls Output 1509 RP Unwind Roll Psn Status 1500 0 Enable Roll Psn Config 1510 RP Unit Scale 1511 RP Psn Out 1509 RP Unwind Psn Fdbk Gear Ratio 847 0 1 0 X 1500 3 EGR Select Roll Psn Config 1 0 1 1 1 Product need to be within 32 bits integer range Position Feedback Input Rockwell Automation Publication 750 RM002B EN P September 2013 395 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drive
53. 1 Induction SV 3 Induction FV Squirrel cage AC motors are relatively inflexible with regard to speed and torque characteristics but a special wound rotor AC motor has controllable speed and torque Application of wound rotor AC motors is markedly different from squirrel cage AC motors because of the accessibility of the rotor circuit AC motor performance characteristics are obtained by inserting different values of resistance in the rotor circuit Wound rotor AC motors are generally started with secondary resistance in the rotor circuit The AC motor resistance is sequentially reduced to permit the motor to come up to speed Thus AC motors can develop substantial torque while limiting locked rotor current This secondary AC motor resistance can be designed for continuous service to dissipate heat produced by continuous operation at reduced speed frequent acceleration or acceleration with a large inertia load External resistance gives AC motors a characteristic that results in a large drop in rpm for a fairly small change in load Reduced AC motor speed is provided down to about 50 rated speed but efficiency is low Retrofitting a Wound rotor motor with a VFD is possible by eliminating the switching and resistor control infrastructure and shorting the slip rings Rockwell Automation Publication 750 RM002B EN P September 2013 239 Motor Control Chapter 4 connected to the rotor windings CAUTION Because wound rotor
54. 1 0 Motor Acceleration Feedback 1 Total Inertia System Model 936 5 709 IA LdObs Delay FIR Filter Alternate Encoder Position Derivative d dt Velocity Velocity Accel Accel 670 671 From Fdbk 3E3 23H2 24a E2 24b E2 3E1 23G3 INTERNAL CONDITION ONLY PF755 Rev_9 a Page 26 496 Kj 805 Load Observer Configuration 806 Kop 504 Torque Limit Positive 505 Torque Limit Negative 493 Torque Reference Filtered 494 Torque Reference Limited 802 Load Observer Torque Estimate 520 Iq Current Command Rockwell Automation Publication 750 RM002B EN P September 2013 405 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Process Control Sheet 1 P Gain kp LPass Filter I Gain ki s PID Setpoint Default 1070 1068 1069 Scale PID Ref AnlgHi PID Ref AnlgLo Option Port Analog In MOP Reference 558 MOP Reference 558 PID Fdbk PID Ref Sel 1067 PID Fdbk Sel 1072 1073 1074 Scale PID Fdbk AnlgHi PID Fdbk AnlgLo 1077 Commanded Trq Torque Cur Fdbk Analog Types Analog Types Float Types Float Types x x 1078 1071 Output Current Output Power PID Fdbk Mult PID Ref Mult 1090 PID Ref Meter Ramp 1065 1 1 0 1065 3 PID Fdbk Meter 1091 E
55. 1 4 5 6 Heatsink OT Drive OL CurLmt Reduc PWMFrq Reduc Fault Status B Drive OL 953 2 3 4 5 6 Heatsink OT Transistor OT SinkUnderTmp Excess Load Mtr Over Load I2T 60 Hot Motor Current Motor Current right of curve 1 0 2 0 1 025 Typ time sec Motor Speed Hz 414 Mtr OL Hertz X 26 Motor NP Amps 180 Cold 102 150 413 Motor OL Factor 416 MtrOL Reset Time 50 Mtr OL Actv 410 Mtr OL at Pwr Up 411 Mtr OL Alarm Lvl 412 Mtr OL Reset Lvl 415 418 Mtr OL Counts 419 Motor OL Trip Time Alarm Status A Motor OL 959 2 Fault Status A 952 2 Motor OL Parameter Selection 24a G5 d14 Active PWM Freq d Prefix Refers to Diagnostic Item Number ex d33 Reference Symbol Legend PF755 Rev_9 a Page 36 647 Inverter Overload Action 620 DC Bus Voltage 601 Output Current 1320 Motor Rated Peak Current 533 Current Vector Limit 621 DC Bus Voltage Nominal 635 Motor Capacity 624 Bus Regulator Action 880 Bus Regulator Reference 881 Shunt Regulator Resistor Type 886 External Shunt Resistance 883 External Shunt Power 884 External Shunt Pulse Power 1322 Motor Overload Limit 1319 Motor Rated Continuous Current 3001 Motor Overload Hertz 697 Motor Thermal Overload User Limit 636 Inverter Capacity
56. 180 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection Figure 18 PWM Voltage at the Drive Output Terminals Ideally the voltage waveform at the motor looks exactly the same as the output of the drive However the voltage at the motor has individual on off pulses that make up the PWM voltage waveform along with a ringing that occurs at every switching transition This is shown in Figure 19 The peaks of the ringing waveform can easily reach two times the peak of the voltage pulses at the drive the DC bus voltage After a short time the ringing dies away and the motor sees the normal DC bus voltage level It is this peak level of the ringing voltage that causes motor failure Figure 19 PWM Voltage at the Motor Terminals Shorten the time sweep or magnify these pulses and the ringing effect at the motor terminals can be seen DC Bus Volts 0 Volts 2X to 4X Voltage Spike 0 Volts Rockwell Automation Publication 750 RM002B EN P September 2013 181 Diagnostics and Protection Chapter 3 When the voltage at the motor terminals exceeds the insulation rating of the motor corona begins to appear This corona deteriorates the insulation system eventually leading to a fault to ground Such a failure is shown below The level of the DC bus voltage has a direct effect on the peak level of the ringing surge voltage If the drive operates at 230V AC the DC bus voltage is about 31
57. 2013 Chapter 1 Drive Configuration sooner however if the step is too large the drive can go into current limit and extend the acceleration Preload command can be used when the PID has exclusive control of the commanded speed With the integrator preset to the commanded speed there is no disturbance in commanded speed when PID is enabled After PID is enabled the PID output is regulated to the required level When the PID is configured to have exclusive control of the commanded speed and the drive is in current limit or voltage limit the integrator is preset to the commanded speed so that it knows where to resume when no longer in limit Ramp Ref The PID Ramp Reference feature is used to provide a smooth transition when the PID is enabled and the PID output is used as a speed trim not exclusive control When PID Ramp Reference is selected in the PID Configuration parameter and PID is disabled the value used for the PID reference is the PID feedback This causes the PID error to be zero Then when the PID is enabled the value used for the PID reference ramps to the selected value for PID reference at the selected acceleration or deceleration rate After the PID reference reaches the selected value the ramp is bypassed until the PID is disabled and enabled again S curve is not available as part of the PID linear ramp Diagram A Diagram B PID Enabled PID Output Speed Command PID Preload Value 0 PID Preload Value gt 0
58. 222 Dig In Filt Mask 1 Digital Input Filter Mask Filters the selected digital input 324 Logic Mask Enables disables ports to control the logic command such as start and direction Does not mask Stop commands 325 Auto Mask Enables disables ports to control the logic command such as start and direction while in Auto mode Does not mask Stop commands 326 Manual Cmd Mask Enables disables ports to control the logic command such as start and direction while in Manual mode Does not mask Stop commands 327 Manual Ref Mask Enables disables ports to control the speed reference while in Manual mode When a port is commanding Manual mode the reference is forced to the commanding port if the respective bit in this parameter is set If an alternate speed reference source is desired use P328 Alt Man Ref Sel to select the source 885 Port Mask Act 2 Active status for port communication Bit 15 Security determines if network security is controlling the logic mask instead of this parameter 886 Logic Mask Act 2 Active status of the logic mask for ports Bit 15 Security determines if network security is controlling the logic mask instead of this parameter 68 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration The individual bits for each parameter are as follows Table 7 Mask Parameters with Bit Designations 887 Write Mask Act 2 Active status of write a
59. 5 Port 5 Port 5 Port 5 Port 5 Port 5 Input 5 Bit 6 Reserved Port 6 Port 6 Port 6 Port 6 Port 6 Port 6 Port 6 Port 6 Reserved Bit 7 Reserved Port 7 Reserved Reserved Reserved Port 7 Reserved Port 7 Port 7 Reserved Bit 8 Reserved Port 8 Reserved Reserved Reserved Port 8 Reserved Port 8 Port 8 Reserved Bit 9 Reserved Port 9 Reserved Reserved Reserved Port 9 Reserved Port 9 Port 9 Reserved Bit 10 Reserved Port 10 2 Reserved Reserved Reserved Port 10 2 Reserved Port 10 2 Port 10 2 Reserved Bit 11 Reserved Port 11 2 Reserved Reserved Reserved Port 11 2 Reserved Port 11 2 Port 11 2 Reserved Bit 12 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit 13 Reserved Port 13 3 Port 13 3 Port 13 3 Port 13 3 Port 13 3 Port 13 3 Port 13 3 Port 13 3 Reserved Bit 14 Reserved Port 14 Port 14 Port 14 Port 14 Port 14 Port 14 Port 14 Port 14 Reserved Bit 15 Reserved Reserved Reserved Reserved Reserved Security Security Security Security Reserved 1 Used only by the PowerFlex 753 main control board 2 PowerFlex 755 Frame 8 drives and larger only 3 PowerFlex 755 drives only 4 Used only by I O Module models 20 750 2263C 1R2T and 20 750 2262C 2R Modules with 24V DC inputs Rockwell Automation Publication 750 RM002B EN P September 2013 69 Drive Configuration Chapter 1 Example A Po
60. 5 times the drive s input VA rating Vinertia The software regulation reference for Vbus during inertia ride through Vclose The threshold to close the pre charge contactor Vopen The threshold to open the pre charge contactor Vmin The minimum value of Vopen Voff The bus voltage below which the switching power supply falls out of regulation Class 200 240V AC 400 480V AC 600 690V AC Vslew 1 2V DC 2 4V DC 3 0V DC Vrecover Vmem 30V Vmem 60V Vmem 75V Vclose Vmem 60V Vmem 120V Vmem 150V Vtrigger1 2 Vmem 60V Vmem 120V Vmem 150V Vtrigger1 3 Vmem P451 P454 Power Loss A B Level Vmem P451 P454 Power Loss A B Level Vmem P451 P454 Power Loss A B Level Vopen Vmem P451 P454 Power Loss A B Level Vmem P451 P454 Power Loss A B Level Vmem P451 P454 Power Loss A B Level Vopen4 153V DC 305V DC 382V DC Vmin 153V DC 305V DC 382V DC Voff 200V DC Rockwell Automation Publication 750 RM002B EN P September 2013 73 Drive Configuration Chapter 1 In the following diagram the x axis across the bottom indicates what the input voltage is into the drive and the y axis indicates the corresponding DC Bus Voltage Then the levels of each event are indicated in the graph For example if I measure at the input of my drive 450 volts phase to phase I find that voltage across the bottom Now the various voltage levels can be
61. 885 886 887 Write Mask Cfg Note The following parameters are typically referenced when configuring or monitoring Control Logic P933 Start Inhibits To Spd Ref 5G2 6E3 7F2 7F3 8F2 8F3 888 PF755 Rev_9 a Page 35 414 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Inverter Overload IT 1 2 3 4 5 6 B A D C F E H G I Inverter Overload IT DB resistor dc bus Bus Reg Mode A Bus Reg Mode B 372 373 Bus Reg Lvl Cnfg 374 Bus Reg Level 375 Bus Reg Ki 380 Bus Reg Kp 381 Bus Limit Kp 376 Bus Limit Kd 377 Bus Limit ACR Ki 378 Bus Limit ACR Kp 379 DB Resistor Type 382 DB Ext Ohms 383 DB Ext Watts 384 DB ExtPulseWatts 385 Note Parameters are not functional when any of the FV motor control modes are selected 12 DC Bus Memory Heatsink and Junction Degree Calculator Inverter Overload IT NTC Pwr EE Data Output Current 7 Duty Cycle Rating DC Bus Voltage PWM Frequency Power Device Characteristics 38 11 Drive OL Mode 420 Current Limit Sel 421 422 423 Other Ref Sources Current Limit 1 Current Limit 2 940 Drive OL Count 941 IGBT Temp Pct 942 IGBT Temp C 943 Drive Temp Pct 944 Drive Temp C 424 Active Cur Lmt Alarm Status B IGBT OT 960 0
62. 9 8 7 6 5 4 3 2 1 0 0 10 20 30 40 50 60 Output Hertz Input Volts 110 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Example 6 P255 Anlg In Type Bit 0 0 Voltage P545 Spd Ref A Sel Analog In 1 P547 Spd Ref A AnlgHi 60 Hz P548 Spd Ref A AnlgLo 0 Hz P61 Anlg In1 Hi 5V P62 Anlg In1 Lo 0V This configuration is used when the input signal is 0 5V Here minimum input 0V represents 0 Hz and maximum input 5V represents 60 Hz This provides full scale operation from a 0 5V source Example 7 P255 Anlg In Type Bit 0 0 Voltage P675 Trq Ref A Sel Analog In 1 P677 Trq Ref A AnlgHi 200 P678 Trq Ref A AnlgLo 0 This configuration is used when the input signal is 0 10V The minimum input of 0V represents a torque reference of 0 and maximum input of 10V represents a torque reference of 200 5 4 5 4 3 5 3 2 5 2 1 5 1 0 5 0 0 10 20 30 40 50 60 Output Hertz Input Volts 10 9 8 7 6 5 4 3 2 1 0 0 20 40 60 80 100 120 140 160 180 200 Torque Ref Input Volts Rockwell Automation Publication 750 RM002B EN P September 2013 111 Feedback and I O Chapter 2 Square Root The square root function can be applied to each analog input through the use of P256 Anlg In
63. Autotune Torque have on these calculations Regardless of the value entered here the drive interpolates as if this value was 100 So the seconds of inertia reported by the drive always reflects 100 torque CEMF Test This is a Rotate test used to measure a PM motors CEMF Autotune Parameters Information about some other Autotune Parameters not covered above HP T Speed 5252 T HP 5252 Speed T 10 5252 1785 WK2 Tacc 308 t N 40 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Autotune Parameters P71 Autotune Torque Typically the default value of 50 is sufficient for most applications You have the option of increasing this value or decreasing the value P73 IR Voltage Drop The voltage drop due to resistance P74 Ixo Voltage Drop The voltage drop due to Inductance P75 Flux Current Ref The current necessary to flux up the motor This value come from a lookup table for Static tunes and is measured during a Rotate tune Obviously a rotate tune gives more accurate results P76 Total Inertia Reported as seconds of inertia See description above P77 Inertia Test Lmt A number entered in this parameter limits the inertia tune test to a maximum number of revolutions If violated the drive faults on F14
64. Batch N A Next Next Step Next Step Next Step Next Step Next Step Next Step N A Next Step Condition Position gt Value Time gt Value Param Value Compare to Param Dwell Digin Value transition Digin transition Time gt Value Restart Profile DigIn N A N A N A Digin Digin N A N A Position Control Profiler Indexer 2 Position Control Homing 1 2 3 4 5 6 B A D C F E H G I Homing Status 0 1 2 3 Home Request Home Enabled Homing At Home 731 Homing Control 0 1 2 3 4 5 6 Find Home Home DI Home Marker Return Home Psn Redefine Homing Alarm Home DI Inv Speed Position 735 Find Home Speed 736 Find Home Ramp 737 Actual Home Psn 738 User Home Psn 784 PTP Command Spd Ref To Spd Ref 6G3 To Psn Ref 11E3 7 Hold At Home 732 DI Find Home 733 DI Redefine Psn 734 DI OL Home Limit 960 8 Alarm Status B Homing Actv 9 Not Home Set 730 847 135 Psn Fdbk Sel Psn Fdbk Source Parameter Selection 725 Zero Position To Psn Regulator 12B3 836 Psn Actual Psn Fdbk 1 When Homing function is enabled Psn Actual P836 is loaded with Psn Fdbk P847 2 When Homing function is complete Zero Position P725 is loaded with Actual Home Position P737 User Home Position P738 Then Psn Actual P836
65. Chapter 2 Related PowerFlex 753 drives Level Select parameter information noted below Depending on the PowerFlex 750 Series Option Module s installed in the drive related Level Select parameter information noted below Parameter No Parameter Name Description 230 RO0 Sel Selects the source that energizes the relay output 231 RO0 Level Sel Selects the source of the level that is compared 232 RO0 Level Sets the level compare value 233 RO0 Level CmpSts Status of the level compare and a possible source for a relay or transistor output 240 TO0 Sel Selects the source that energizes the relay or transistor output 241 TO0 Level Sel Selects the source of the level that is compared 242 TO0 Level Sets the level compare value 243 TO0 Level CmpSts Status of the level compare and a possible source for the transistor output Parameter No Parameter Name Description 10 RO0 Sel Selects the source that energizes the relay output 11 RO0 Level Sel Selects the source of the level that is compared 12 RO0 Level Sets the level compare value 13 RO0 Level CmpSts Status of the level compare and a possible source for a relay or transistor output 20 RO1 Sel or TO0 Sel Selects the source that energizes the relay or transistor output 21 RO1 Level Sel or TO0 Level Sel Selects the source of the level that is compared 22 RO1 Level or TO0 Level Sets the level compare value 23 RO1 Level CmpSt
66. Current Loss Detection 53 Anlg In0 LssActn Anlg In Sqrt Lead Lag kn s wn s wn 55 56 Anlg In0 Filt Gn Anlg In0 Filt BW In Lo Hi Lo Scale 51 52 Anlg In0 Lo Anlg In0 Hi 50 Anlg In0 Value 45 0 46 0 Square Root V mA V mA V mA 49 1 Anlg In Loss Sts Loss Scaled Value 3 2 1 0 4 5 6 7 8 Alarm Flt Continue FltCoastStop Flt RampStop Flt CL Stop Hold Input Set Input Lo Set Input Hi Pre Scaled Value ADC Anlg In Type Voltage Current Loss Detection 63 Anlg In1 LssActn Anlg In Sqrt Lead Lag kn s wn s wn 65 66 Anlg In1 Filt Gn Anlg In1 Filt BW In Lo Hi Lo Scale 61 62 Anlg In1 Lo Anlg In1 Hi 60 Anlg In1 Value 45 1 46 1 Square Root V mA V mA V mA 49 2 Anlg In Loss Sts Loss Scaled Value 3 2 1 0 4 5 6 7 8 Alarm Flt Continue FltCoastStop Flt RampStop Flt CL Stop Hold Input Set Input Lo Set Input Hi Pre Scaled Value Ignore Ignore Abs 71 0 82 DAC 70 0 Voltage Current 80 78 79 81 Anlg Out Abs Analog Out Type Anlg Out0 Hi Anlg Out0 Lo Anlg Out0 DataHi Anlg Out0 DataLo Anlg Out0 Val In Lo Hi Lo Scale V mA V mA V mA 77 Anlg Out0 Data Anlg Out0 Sel 75 76 Other Ref
67. Default Float Types MOP Reference 558 1 0 PID FBLoss SpSel Spd Ref A Stpt 593 594 1065 2 PID Cfg Zero Clamp gt 0 Torq Ref A 0 1 1 0 Neg Limit Pos Limit 1 676 Default Float Types MOP Reference 558 3 1 4 0 Trq Ref A Stpt Torq Ref B 1079 PID Output Sel PID Output Sel 0 1 2 5 6 3 4 1076 PID FBLoss TqSel X PID Voltage Trim Output 36 Maximum Voltage PID Voltage Output 936 10 Drive Status 2 PID FB Loss 936 10 Drive Status 2 PID FB Loss Process Control 2 Parameter Selection Parameter Selection 29F2 29F2 27I2 Not Used Speed Excl Speed Trim Volt Excl Speed Excl Volt Trim Torque Excl Torque Trim To Spd Ref 6B2 7G1 OR 8G2 6H4 To Spd Ref Trim 7B5 8A5 To Torq Ref 22G4 27C4 27C4 To Spd Ref 6B2 PF755 Rev_9 a Page 28 Rockwell Automation Publication 750 RM002B EN P September 2013 407 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 MOP Control 1 2 3 4 5 6 B A D C F E H G I MOP Control PF755 Rev_9 a Page 29 Reset Save 0 Limit 562 561 MOP High Limit MOP Low Limit MOP Reference MOP Rate Calc Step Save MOP Ref At Stop DI MOP Inc DI MOP Dec Option Port Digital I
68. Diagnostic Item 33 376 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Block Diagram Table of Contents Block Diagram Page Block Diagram Page Flux Vector Overview 377 Torque Control Overview Interior Permanent Magnet Motor 398 VF V Hz SV Overview 378 Torque Control Reference Scale and Trim 399 Speed Position Feedback 379 Torque Control Torque 400 Speed Control Reference Overview 380 Torque Control Current Induction Motor and Surface Permanent Magnet Motor 401 Speed Control Reference Sheet 1 381 Torque Control Current Interior Permanent Magnet Motor 402 Speed Control Reference Sheet 2 382 Torque Control Inertia Adaption 403 Speed Control Reference Sheet 3 383 Torque Control Load Observer Estimator 404 Speed Control Reference Sheet 4 384 Process Control Sheet 1 405 Speed Control Reference Sheet 5 385 Process Control Sheet 2 406 Speed Control Regulator Flux Vector 386 MOP Control 407 Position Control Reference 387 Inputs and Outputs Digital 408 Position Control Regulator 388 Inputs and Outputs Analog 409 Position Control Aux Functions 389 11 Series Inputs and Outputs Digital 410 Position Control Phase Locked Loop 390 11 Series Inputs and Outputs Analog 411 Position Control Position CAM 391 11 Seri
69. DigIn transition Position gt Value Restart Indexer DigIn N A N A N A N A Digin N A N A Type Position Incremental Posit Incr Action Posit Blend Time Blend Param Blend Digin Blend Wait Digin Step to Next End Velocity Move vel N A N A N A Move vel Move vel N A Accel Move accel N A N A N A Move accel Move accel N A Decel Move decel N A N A N A Move decel Move decel N A Value Incremental Target pos N A N A N A Incremental Target pos Incremental Target pos N A Dwell N A N A N A N A Dwell Time Dwell Time Dwell Time Batch N A N A N A N A Batch Batch N A Next Next Step N A N A N A Next Step Next Step N A Next Step Condition Position gt Value N A N A N A DigIn transition Position gt Value Restart Indexer DigIn N A N A N A N A Digin N A N A Type Speed Profile Action Posit Blend Time Blend Param Blend Digin Blend Wait Digin Step to Next End Velocity Move vel Move vel Move vel Move Vel Move vel Move vel N A Accel Move accel Move accel Move accel Move accel Move accel Move accel N A Decel Move decel Move decel Move decel Move decel Move decel Move decel N A Value Incremental Target pos Total Time Compare Param N A Total Time Total Time N A Dwell N A N A Compare Param Dwell Time Dwell Time Dwell Time Dwell Time Batch N A N A N A Batch Batch
70. Fdbk Scaling Spd Trq Modes Psn Modes 0 843 832 834 Psn Out FltrGain Psn Out Fltr BW Lead Lag kn s wn s wn 833 Psn Out Fltr Sel Output Filter Psn Selected Ref 722 Position Control Regulator 721 0 Position Control 1 Reserved Offset ReRef 2 OffsetVel En 3 Zero Psn 4 Intgrtr Hold 5 Intgrtr En 6 PsnWtch1Arm 7 PsnWatch1Dir 724 0 Psn Reg Status 1 Spd Lmt Hi Spd Lmt Lo 2 Integ Lmt Hi 3 Integ Lmt Lo 4 Intgrtr Hold 5 6 Offset ReRef 7 8 PsnW1Detect 9 InPsn Detect 10 11 Psn Intgrtr 8 PsnWtch2Arm 9 PsnWatch2Dir PsnW2Detect OffsetIntgrtr Psn Reg Actv ReRef Rate Lim 824 Psn Offset Vel Position Control OffsetReRef Position Control OffsetVel En 721 3 721 2 0 1 Integ Lmt Lo Integ Lmt Hi Actv SpTqPs Mode Spd Lmt Lo Spd Lmt Hi 313 Psn Offset 1 Sel 820 821 Other Ref Sources Psn Offset 1 Parameter Selection Psn Offset 2 Sel 822 823 Other Ref Sources Psn Offset 2 Parameter Selection Load Psn FdbkSel 136 Other Ref Sources Psn Fdbk Parameter Selection 847 3H4 3H4 13D4 23D5 To Spd Ref 7E5 10 Add Spd Ref Position Control 1 If Zero Psn P721 Bit 04 is set Psn Actual P836 is loaded with Psn Fdbk P847 Zero Position P725 2 Else if Homing function
71. Integrated Motion on the EtherNet IP Network connection Therefore it is possible to program the Safe Speed Monitor functions with configuration software for example Connected Components Workbench or a HIM before a network connection is established This lets you save the safety configuration in the software application or HIM Configuration of the safety functions can be accomplished in one of the following ways Program the Safe Speed Monitor functions and then download the program that includes the drive parameters to the Logix controller and establish the network connection Inhibit the drive in the Logix I O tree and program the Safe Speed Monitor functions Disconnect the network cable between the drive and the controller and program the Safe Speed Monitor functions 352 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Programmed ramp stop to be issued during Stop Monitoring Delay Axis Properties Category Stop Action takes place here Timing Diagram for Safe Stop 1 Stop Request Stop Monitoring Delay Stop Delay Stop Decel Tol Time Standstill Speed Safe Torque off Active SS_In Signal SS_Out Signal Motion Power 1 Stop Command 1 DC_Out Output 2 1 This signal is internal between the safety option module and the drive 2 The DC_Out output is shown configured as Power to R
72. Kp Speed Reg Ki 636 Speed Reg BW 131 Active Vel Fdbk Final Speed Ref 597 620 Droop RPM at FLA 660 SReg Output Limit 520 Max Fwd Speed 521 Max Rev Speed 640 Filtered SpdFdbk x PF755 Rev_9 a Page 1 Spd Reg Out Scaled Spd Ref Inertia CompMode Psn Reg Spd Out 378 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives VF V Hz SV Overview PowerFlex 755 VF V Hz SV Overview PI Regulator Speed Contol Trim Regulator page 9 663 664 VHzSV Spd Reg Kp VHzSV Spd Reg Ki 131 Active Vel Fdbk Final Speed Ref 597 623 VHzSV SpdTrimReg PID Regulator Process Control pages 26 27 1086 1087 PID Prop Gain PID Int Time 1088 PID Deriv Time 1091 PID Fdbk Meter PID Ref Meter 1090 1084 PID LP Filter BW 1093 PID Output Meter 1067 PID Ref Sel 1072 PID Fdbk Sel PID Reference Selection PID Feedback Selection Limit PID Output Meter Speed Ref Selection amp Limits 545 550 572 573 574 575 577 576 Speed Ref A Sel Speed Ref B Sel Preset Speed 2 Preset Speed 3 Preset Speed 4 Preset Speed 5 Preset Speed 6 Preset Speed 7 571 Preset Speed 1 608 TrmPct RefA Sel 612 TrmPct RefB Sel 600 Trim Ref A Sel 604 Trim Ref B Sel 59
73. N N TM 365 Get Position Fine Command Y 366 Get Velocity Fine Command Y Y 367 Get Acceleration Fine Command N N N Table 30 PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T Conditional Implementation Rockwell Automation Publication 750 RM002B EN P September 2013 423 Appendix A 370 Set Skip Speed 1 Y 371 Set Skip Speed 2 Y 372 Set Skip Speed 3 Y 373 Set Skip Speed Band Y 374 Set Ramp Velocity Positive Y Y Derived 375 Set Ramp Velocity Negative Y Y Derived 376 Set Ramp Acceleration Y Y Derived 377 Set Ramp Deceleration Y Y Derived 378 Set Ramp Jerk Control Y Y 380 Set Flying Start Enable Y Y 445 Set Position Error Tolerance Time Y 781 Set Position Lead Lag Filter Bandwidth Y 782 Set Position Lead Lag Filter Gain Y 783 Set Position Notch Filter Frequency Y 446 Set Position Integrator Control R O Bits 1 Auto Preset N 447 Set Position Integrator Preload N 790 Set Velocity Negative Feedforward Gain Y Y 464 321 Set Velocity Droop Y Y Y 465 Set Velocity Error Tolerance N N 466 Set Velocity Error Tolerance Time N N 467 Set V
74. P September 2013 Chapter 1 Drive Configuration The derivative term senses a rapid rise in the bus voltage and activates the bus regulator prior to actually reaching the bus voltage regulation setpoint Vreg The derivative term is important because it minimizes overshoot in the bus voltage when bus regulation begins thereby attempting to avoid an overvoltage fault The integral channel acts as the acceleration or deceleration rate and is fed to the frequency ramp integrator The proportional term is added directly to the output of the frequency ramp integrator to form the output frequency The output frequency is then limited to a maximum output frequency Bus Regulation Modes The drive can be programmed for one of five different modes to control the DC bus voltage Disabled Adjust Frequency Dynamic Braking Both with Dynamic Braking first Both with Adjust Frequency first P372 Bus Reg Mode A is the mode normally used by the drive unless the DI BusReg Mode B digital input function is used to switch between modes instantaneously in which case P373 Bus Reg Mode B becomes the active bus regulation mode ATTENTION The adjust freq portion of the bus regulator function is extremely useful for preventing nuisance overvoltage faults resulting from aggressive decelerations overhauling loads and eccentric loads It forces the output frequency to be greater than commanded frequency while the drive s bus volt
75. P736 Find Home Ramp The drive then performs a point to point position move back to the home position count in speed of 1 10 of P735 Find Home Speed When the motor is At Position and At Zero Speed the homing sequence completes NOT Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding position and transferring position reference back to its previous source If velocity control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding zero velocity and transferring velocity reference back to its previous source Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding position the drive then transfers position reference back to its previous source once it receives a start command If velocity control type mode is selected in P313 Actv SpTqPs Mode the drive continues running Position Position Pt Pt Control Marker DigIn Speed Control Find Home Speed Speed Rockwell Automation Publication 750 RM002B EN P September 2013 297 Drive Features Chapter 5 holding zero velocity drive then transfers velocity reference back to its previous source once it receives a start command If P35 Motor Ctrl Mode 0 Induction VHz or 1 Induction SV The drive then ramps to zero at the rate set in P736 Find Home Ramp If the drive tr
76. PID Control is left continuously then the PID can become enabled as soon as the drive goes into Run If analog input signal loss is detected the PID loop is disabled PID Hold The Process PID Controller has the option to hold the integrator at the current value so if some part of the process is in limit the integrator maintains the present value to avoid windup in the integrator The logic to hold the integrator at the current value is shown in the following ladder diagram There are three conditions under which Hold turns on If a digital input is configured to provide PID Hold and that digital input is turned on then the PID integrator stops changing Note that when a digital input is configured to provide PID Hold that takes precedence over the PID control parameter If a digital input is not configured to provide PID Hold and the PID Hold bit in the PID Control parameter is turned on the PID integrator stops changing If the current limit or voltage limit is active then the PID is put into Hold Running Running DigInCfg PI_Enable DigInCfg PI_Enable DigIn PI_Enable PI_Control PI_Enable PI_Status Enable Signal Loss DigInCfg PI_Enable PI_Control PI_Enable DigInCfg PI_Hold PI_Status PI_Hold DigIn PI_Hold DigInCfg PI_Hold PI_Control PI_Hold Current Lmt or Volt Lmt 84 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration PI Reset This fea
77. Param 5 5 I O Module parameters also have a Port designation Sh Shield Terminating point for wire shields when an EMC plate or conduit box is not installed Sh Ptc Motor PTC Motor protection device Positive Temperature Coefficient 40 on Port X Ptc Motor PTC Ao0 Analog Out 0 Bipolar 10V 11 bit amp sign 2 k ohm minimum load 4 20 mA 11 bit amp sign 400 ohm maximum load 75 on Port X Ao0 Analog Out 0 Ao1 Analog Out 1 85 on Port X Ao1 Analog Out 1 10V 10 Volt Reference 2k ohm minimum 10VC 10 Volt Common For and 10 Volt references 10V 10 Volt Reference 2k ohm minimum Ai0 Analog Input 0 Isolated 3 bipolar differential 11 bit amp sign Voltage mode 10V 88k ohm input impedance Current mode 0 20 mA 93 ohm input impedance 3 Differential Isolation External source must be maintained at less than 160V with respect to PE Input provides high common mode immunity 50 70 on Port X Ai0 Analog Input 0 Ai1 Analog Input 1 60 70 on Port X Ai1 Analog Input 1 24VC 24 Volt Common 1 1 Not present on 120V versions Drive supplied logic input power 200 mA max per I O module 600 mA max per drive 24V 24 Volt DC 1 Di C Digital Input Common Common for Digital Inputs 0 5 Di 0 Digital Input 0 2 2 Digital Inputs are either 24 Volts DC 2262C or 115 Volt
78. Ramp Status Status Ramped Speed Ref Presets 3 7 Auto From Pt Pt Profile Generator Friction Comp Friction Comp Torque Ref 640 Filtered SpdFdbk Fiber App Rockwell Automation Publication 750 RM002B EN P September 2013 253 Motor Control Chapter 4 Network Reference Speed Reference A is the normal speed reference used To choose a source for this reference make a selection in P545 Spd Ref A Sel Also when the network Logic Command Word is used as the speed reference refer to the following documentation for details of operation PowerFlex 750 Series AC Drives Programming Manual 750 PM001 PowerFlex 755 Drive Embedded EtherNet IP Adapter User Manual 750COM UM001 PowerFlex 20 750 ENETR Dual port EtherNet IP Option Module User Manual 750COM UM008 EtherNet IP Network Configuration User Manual ENET UM001 The Reference is a 32 bit REAL floating point piece of control data produced by the controller and consumed by the adapter The Feedback is a 32 bit REAL floating point piece of status data produced by the adapter and consumed by the controller When using a ControlLogix controller the 32 bit REAL Reference is always DINT 1 in the output image and the 32 bit REAL Feedback is always DINT 1 in the input image when using the drive Add On Profile DINT 2 when using the Generic Profile For a PLC 5 SLC 500 or MicroLogix 1100 1400 controller the 32 bit REAL Refer
79. Ref Virtual Enc Psn Virtual EncDelay One Scan Delay One Scan Delay PsnReg Spd Out Position Reg Output 594 Ramped Spd Ref 1 0 PID Output Sel Speed Trim 0 1079 Drive Status 1 Jogging 0 From Process Ctrl 28E3 1093 PID Output Meter From Posit Reg 12I5 843 X 555 0 1 Drive Status 1 Jogging 935 17 935 17 0 Spd Ref Scale Final Speed Ref Limits Speed Comp Inertia Comp PI Speed Trim Virtual Encoder 1 2 3 4 5 6 B A D C F E H G I Vector Ramp and Rate Select 141 Virtual Enc EPR Edges Per Rev 588 589 SpdRef FltrGain Spd Ref Fltr BW Lead Lag kn s wn s wn 590 Spd Ref Filter Speed Ref Filter LPF 698 Inert Comp LPFBW 1 0 535 536 0 1 879 8 Drive Logic Rslt Accel Time 1 2 d dt d dt 596 0 d dt 1 0 Spd Options Ctrl Delayed Ref 9 Decel Time 1 Decel Time 2 1 0 537 538 0 1 879 10 Drive Logic Rslt Decel Time 1 2 11 540 Speed Control 595 Filtered Spd Ref 0 1 2 Disabled 0 1 2 3 2 2 945 2 At Limit Status MaxSpeed Lmt Speed Control Reference 3 Flux Vector 635 0 Ramp Disable 635 2 StpNoSCrvAcc Not Used Ext Ramped Ref Speed Rate Ref 35H3 35H3 28C2 11C5 11C5 Torq FF To Torq Ctrl 23B3 Int Ramp Ref To Torq Ctrl
80. Restrictions When the PowerFlex 755 drive is configured for an Integrated Motion on the EtherNet IP Network application only specific option modules are supported and in some cases the port in which the option module is installed in the control pod is restricted If an unsupported option module is installed the drive stops responding and the HIM displays CONFIGURING Safety Option Modules 20 750 S 20 750 S1 This restriction and configuration setting must be used when using either of these safety option modules with the Integrated Motion on the EtherNet IP Network The option modules must be installed in port 6 of the drive control pod only The specific drive module and option catalog number must be selected when adding the drive to the I O tree in the project For example when adding a PowerFlex 755 drive with a Safe Speed Monitor option module choose 755 EENET CM S1 Feedback Option Modules 20 750 ENC 20 750 DENC and 20 750 UFB Follow the same installation and configuration instructions provided in the PowerFlex 750 Series AC Drives Installation Instructions publication 750 IN001 IMPORTANT The PowerFlex 750 Series I O option modules 20 750 2262C 2R 20 750 2263C 1R2T 20 750 2262D 2R must not be used with the Integrated Motion on the EtherNet IP Network Supported Modules Valid Port Installation Location Cat No Option Module Name 20 750 S Safe Torque Off 6 20 750 S1 Safe Speed Monito
81. Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 2 In the General dialog from the Axis Configuration pull down menu choose Velocity Loop 3 Select the Velocity Loop category The Velocity Loop dialog box appears 4 Click Parameters The Motion Axis Parameters dialog box appears Rockwell Automation Publication 750 RM002B EN P September 2013 355 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 5 Configure the SLAT parameters See Slat Configuration in the Integrated Motion on the Ethernet IP Network Reference Manual publication MOTION RM003 for a complete list and descriptions of the SLAT parameters Program Commands When using SLAT with Integrated Motion on the Ethernet IP network you must start the PowerFlex 755 drive with the MDS instruction as shown below The Speed reference is sent in the MDS instruction Also the torque command is sent to AxisTag CommandTorque To make changes to the speed reference you need to re trigger the MDS instruction To use the Motion Axis Stop MAS instruction you must set Change Decel to No Otherwise an instruction error occurs The deceleration rate is set based on the Ramp Deceleration attribute 356 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the Eth
82. S Curve Virtual Encoder V F Ramp S Curve Linear Ramp amp S Curve Vector Speed Control V F Speed Control Rate Select Speed Status Speed Feedback Vector Ramp Status F F Ramp Status Status Ramped Speed Ref Presets 3 7 Auto From Pt Pt Profile Generator Speed Control Reference Overview Friction Comp Friction Comp Torque Ref 640 Filtered SpdFdbk Fiber App PF755 Rev_9 a Page 4 Rockwell Automation Publication 750 RM002B EN P September 2013 381 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Speed Control Reference Sheet 1 545 Speed Ref A Sel 571 Preset Speed 1 572 Preset Speed 2 573 Preset Speed 3 574 Preset Speed 4 575 Preset Speed 5 576 Preset Speed 6 577 Preset Speed 7 546 Spd Ref A Stpt x 608 TrmPct RefA Sel TrimPct RefA Stpt 549 Speed Ref A Mult x Ref A Auto Spd Ref Command Ref B Auto Preset3 Auto Preset4 Auto Preset5 Auto Preset6 Auto Preset7 Auto 573 574 575 576 577 Speed Ref B Sel 550 x 554 x Speed Ref B Mult DPI Prt1 Man DPI Prt2 Man DPI Prt3 Man DPI Prt4 Man DPI Prt5 Man DPI Prt6 Man 1 2 3 4 5 6 B A D C F E H G I 871 872 873 874 875 876 134 Aux Vel Feedback d7 871 872 873 874 875
83. Shear1NoAcc or Bit 1 Shear2NoAcc to 1 to ignore during acceleration Shear Pin Level A shear pin level must be programmed for the drive to monitor This level when exceeded starts a timer that must expire before performing the Shear Pin n Actn This level is entered into P436 Shear Pin 1 Level or P439 Shear Pin 2 Level The units are amps Default is drive rated amps Maximum is rated amps multiplied by 1 5 Rockwell Automation Publication 750 RM002B EN P September 2013 189 Diagnostics and Protection Chapter 3 Shear Pin Time If an immediate action is to be taken set shear pin time to 0 If the shear pin level is to be ignored for a period of time enter that value into P437 Shear Pin 1 Time or P440 Shear Pin 2 Time Generally some value greater than 0 is entered in shear pin time to eliminate any faults on very short peak current spikes Thus eliminating nuisance tripping Fault Indication A unique fault Shear Pin 1 F61 or Shear Pin 1 F62 is generated if the function is activated and the condition occurs Application Example By programming the Shear Pin feature the drive faults stopping the excess torque before mechanical damage occurs Shear Pin Gradual Loading P7 Output Current P436 Shear Pin1 Level P3 Mtr Vel Fdbk Motor Speed Shear Point 1 Level Increasing Load Drive Faults Seconds Amps Frequency 190 Rockwell Automation Publication 750 RM002B EN P Septe
84. Software Over Current This protection mode occurs when peak currents do not reach the hardware over current value and are sustained long enough and high enough to damage certain drive components If this situation occurs the drives protection scheme causes an F36 SW OverCurrent fault The point at which this fault occurs is fixed and stored in drive memory Software Current Limit This is a feature that attempts to reduce current by folding back output voltage and frequency if the output current exceeds a programmable value P422 423 Current Limit 1 2 selected by P421 Current Lmt Sel are programmable up to 150 of drive rating The reaction to exceeding this value is programmable with Shear Pin fault Enabling this parameter creates an F61 or F62 Shear Pin n fault Disabling this parameter causes the drive to use fold back to attempt load reduction Heat Sink Temperature Protection The drive constantly monitors the heat sink temperature If the temperature exceeds the drive maximum a F8 Heatsink OvrTemp fault occurs The value is fixed by hardware at a nominal value of 100 degrees C This fault is generally not used for over current protection due to the thermal time constant of the heat sink It is an overload protection Drive Overload Protection Refer to Drive Overload on page 158 Rockwell Automation Publication 750 RM002B EN P September 2013 157 Diagnostics and Protection Chapter 3 Figure 15 Current Limi
85. Sources Anlg Out0 Stpt Abs 71 1 92 DAC 70 1 Voltage Current 90 88 89 91 Anlg Out Abs Analog Out Type Anlg Out1 Hi Anlg Out1 Lo Anlg Out1 DataHi Anlg Out1 DataLo Anlg Out1 Val In Lo Hi Lo Scale V mA V mA V mA 87 Anlg Out1 Data Anlg Out1 Sel 85 86 Anlg Out1 Stpt Outputs Inputs Inputs amp Outputs Analog Parameter Selection Other Ref Sources Parameter Selection Option Module Parameters Reference Symbol Legend PF755 Rev_9 a Page 31 410 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 11 Series Inputs and Outputs Digital NC Common NO 5 0 Dig Out Sts RO0 Sel RO0 Level RO0 Off Time RO0 On Time Timer 14 15 12 A B A B 10 Dig Out Invert 6 0 0 1 Inv 13 1 A lt B 0 RO0 Level CmpSts 22 A B A B 23 1 A lt B 0 RO1 TO0 Level CmpSts RO1 TO0 Level Relay Out0 Source 5 1 Dig Out Sts RO1 TO0 Sel RO1 TO0 Off Time RO1 TO0 On Time Timer 24 25 Dig Out Invert 6 1 0 1 Inv Relay Out1 Transistor Out0 Source 11 Series Inputs amp Outputs Digital Output Compare RO0 Level Sel 11 RO0 Level Source RO1 TO0 Level Sel RO1 TO0 Level Source Outputs Common NO
86. Spd Ref Ext Ramped Ref Speed Rate Ref Inertia Dec Gain Inertia Acc Gain Total Inertia Inertia Comp LPF Inert Comp LPFBW Inertia Comp Out Torque Feed Forward To Torque Control 224 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Int Ramp Ref 1 Inertia compensation is enabled The function is configured to use the rate of change of P595 Filtered Spd Ref This is the typical setting that should be used for inertia compensation on a stand alone drive Ext Ramp Ref 2 Inertia compensation is enabled The function is configured to use the rate of change of P700 Ext Ramped Ref This setting is available for applications that supply a ramped speed reference external to the drive Spd Rate Ref 3 Inertia compensation is enabled The function is configured to use the P596 Speed Rate Ref This parameter should contain a value that represents the rate of change of the motor speed reference This setting is available for applications that supply a ramped speed reference external to the drive Parameter 76 Total Inertia is calculated during the autotune and is used along with the calculated acceleration or deceleration rate to calculate the torque adder Parameter 696 Inertia Acc Gain determines the gain for the inertia compensation during acceleration A gain of 1 results in 100 compensation Parameter 697 Inertia Dec Gain
87. Spd Ref 7C4 10D5 From Spd Reg 10I3 From Torq Ref 22H4 6A1 6D2 10D5 11D2 11I1 12H5 16H2 To Torq Ctrl Current 24a B2 24b B2 25D2 26D2 25B4 26C5 0 1 Logic Ctrl State Forced Spd 0 Min Max Cntrl Forced Spd 1 INTERNAL CONDITION ONLY Mtr Option Cnfg Zero TrqStop Trq ModeStop Trq ModeJog 0 1 2 40 FrctnComp Trig 1561 1567 FrctnComp Out Friction Comp FrctnComp Mode Int Ramp Ref 1560 700 0 Disabled 0 1 2 Ext Ramped Ref From Spd Ref 7A3 FrctnComp Hyst 1562 FrctnComp Time 1563 FrctnComp Stick 1564 FrctnComp Slip 1565 FrctnComp Rated 1566 640 3 Filtered SpdFdbk PF755 Rev_9 a Page 23 457 Velocity Loop Output 40 Control Mode 833 SLAT Configuration 834 SLAT Setpoint 835 SLAT Delay Time 492 Torque Reference 491 Torque Trim 503 Torque Notch Filter Freq 496 Kj 496 Kj 806 Kop 802 Load Observer Torque Estimate 809 Kof 1435 Feedback n Accel Filter Bandwidth 805 Load Observer Configuration 493 Torque Reference Filtered 801 Load Observer Acceleration Estimate 452 Acceleration Feedforward Command 11 Psn SpdlOrnt Rockwell Automation Publication 750 RM002B EN P September 2013 401 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Ch
88. Sqrt Enable the function if the input signal varies with the square of the quantity for example drive speed being controlled If the mode of the input is bipolar voltage 10 10V then the square root function returns 0 for all negative voltages The function uses the square root of the analog value as compared to its full scale for example and multiplies it times the full scale of what it controls for example 60 Hz The complete function can be describes as follows Setting high and low values to 0V 10V 0 Hz and 60 Hz the expression reduces to the following 5V 0 5 or 50 and 0 5 0 707 Analog Value Analog In x Lo Analog In x Hi Analog In x Lo Speed Ref A Hi Speed Ref A Lo Speed Ref A Lo Analog Value 10V 60 Hz 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 8 9 10 112 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Analog Input Loss Detection Signal loss detection can be detected for each analog input P47 Anlg In Loss Sts bits 0 1 2 indicate if the signal is lost Bit 0 indicates that one or both signals are lost P53 Anlg In0 LssActn and P63 Anlg In1 LssActn defines what action the drive takes when loss of any analog input signal occurs Selects dri
89. The auto reset run feature supports the following status information P936 Drive Status 2 Bit 1 AuRstrCntDwn provides indication that an Auto Restart attempt is presently counting down and the drive attempts to start at the end of the timing event P936 Drive Status 2 Bit 0 AutoRstr Act indicates that the auto restart has been activated Operation The typical steps performed in an Auto Reset Run cycle are as follows 1 The drive is running and an Auto Reset Run fault occurs thus initiating the fault action of the drive 2 After the number of seconds in P349 Auto Rstrt Delay the drive automatically performs an internal Fault Reset resetting the faulted condition 3 The drive then issues an internal Start command to start the drive 4 If another Auto Reset Run fault occurs the cycle repeats itself up to the number of attempts set in P348 Auto Rstrt Tries 5 If the drive faults repeatedly for more than the number of attempts set in P348 Auto Rstrt Tries with less than five minutes between each fault the Auto Reset Run is considered unsuccessful and the drive remains in the faulted state 6 If the drive remains running for five minutes or more because the last reset run without a fault or is otherwise stopped or reset the Auto Reset Run is considered successful The Auto Restart status parameters are reset and the process repeats if another auto resettable fault occurs See Aborting an Auto Re
90. TrqCurPosLmt TrqCurNegLmt Flux Vector Parameter Selection From Fdbk 3F2 36D2 From Torq Ctrl 23H2 3C6 25E2 26E2 1 23 24 Mtrng PwrLmt Regen PwrLmt 25 26 Cur Lmt FV Therm RegLmt 27 28 BusVltgFVLmt Mtr Vltg Lkg BusVltgFVLmt Mtr Vltg Lkg Cur Lmt FV Therm RegLmt PF755 Rev_9 a Page 24b Iq Current Ref Id Current Ref Te Id Calc Voltage Limit Te Iq Calc Id Rate Lim Current Rate Lmt 425 Limit Calc Is Id Iq Torque Control Current Interior Permanent Magnet motor IPM Rockwell Automation Publication 750 RM002B EN P September 2013 403 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Torque Control Inertia Adaption 1 2 3 4 5 6 B A D C F E H G I Limit Pos Torque Limit Torque Limits Neg Torque Limit Notch Filter Output X 76 705 Inertia Adapt BW Limited Trq Ref X 706 InertiaAdaptGain LPass Filter Total Inertia FIR Filter Primary Encoder Position Inertia Adaption 704 Filtered Trq Ref 690 689 Derivative d dt Drive Status 2 Fdbk Loss Sw0 1 0 Motor Acceleration Feedback 1 InAdp LdObs Mode 1 Total Inertia System Model 936 5 709 IA LdObs Delay FIR Filter Alternate Encoder Position Derivative d dt 0 1 Else
91. Vd The value of DC bus voltage chosen in Step 3 Rdbl The value of the dynamic brake resistor calculated in Step 3 The value of Id1 sets the minimum value of current rating for the Chopper Module When the Chopper Module choice has been made the current rating of the Module Transistor must be greater than or equal to the calculated value for Id1 See the table below for rating values Rdb1 Vd 2 pb Idl Vd Rdbl Rockwell Automation Publication 750 RM002B EN P September 2013 211 Motor Control Chapter 4 Step 5 Determine the Minimum Resistance Each chopper module in the table above has a minimum resistance associated with it If a resistance lower than the value show in the table is connected to the chopper module the brake transistor is most likely be damaged Step 6 Choosing the Dynamic Brake Resistance Value To avoid damage to this transistor and get the desired braking performance select a resistor with a resistance between the maximum resistance calculated in Step 3 and the minimum resistance of the selected chopper module Step 7 Estimating the Minimum Wattage requirements for the Dynamic Brake Resistor It is assumed that the application exhibits a periodic function of acceleration and deceleration If t3 t2 the time in seconds necessary for deceleration from rated speed to 0 speed and t4 is the time in seconds before the process repeats itself then the average duty
92. and the corresponding change in state of the digital output The Off timer defines the delay time between a True to False transition condition disappears on the output condition and the corresponding change in the state of the digital output Either timer can be disabled by setting the corresponding delay time to zero PowerFlex 753 On Off parameters noted below Depending on the PowerFlex 750 Series Option Module s installed On Off parameters noted below Whether a particular type of transition False to True or True to False on an output condition results in an energized or de energized output depends on the output condition If a transition on an output condition occurs and starts a timer and the output condition goes back to its original state before the timer runs out then the timer is aborted and the corresponding digital output does not change state Parameter No Parameter Name Description 234 RO0 On Time Sets the ON Delay time for the digital outputs This is the time between the occurrence of a condition and activation of the relay 235 RO0 Off Time Sets the OFF Delay time for the digital outputs This is the time between the disappearance of a condition and de activation of the relay 244 TO0 On Time Sets the ON Delay time for the digital outputs This is the time between the occurrence of a condition and activation of the relay or transistor 245 TO0 Off Time Sets the OFF Delay time for
93. are detected Set P420 Drive OL Mode to option 1 Reduce CLmt and P38 PWM Frequency to the filter instructions Additional Parameter Changes When using adjustable voltage control it is necessary to change additional parameters beyond the feature itself Use this table to assist in setting these parameters Table 2 Adjustable Voltage Applications Parameter Settings 1141 Adj Vltg DecTime n Secs Application dependent 1142 Adj Vltg Preset1 n VAC Application dependent 1153 Dead Time Comp n Vary from 0 to 100 Dead Time Comp is best set to 0 when output of the Sine wave Filter is fed into a transformer to prevent or minimize DC Offset voltages Parameter No Parameter Name Setting Description 38 PWM Frequency 2 kHz or 4 kHz Match the setting with filter tuning 40 Mtr Options Cfg Bit 5 0 Reflected wave is turned off so that there are no missing pulses in the output voltage waveform and to minimize any offsets that can appear Bit 8 1 AsyncPWMLock is on because the filter is tuned to the carrier frequency The carrier frequency must be fixed if it changes the filter will not work Also set the PWM frequency match filter tuning either 2 kHz or 4 kHz Bit 9 1 PWM Freq Lock is on because the filter is tuned to the carrier frequency The carrier frequency must be fixed if it changes the filter will not work Also set the PWM frequency match filter tuning either 2 kHz or 4 kHz Bit 11
94. bus over a period of time The following tables and figure describe the operation Option 0 Disabled If Bus Reg Mode n is set to 0 Disabled The Voltage Regulator is off and the DB transistor is disabled Energy returning to the DC bus increases the voltage unchecked and trips the drive on over voltage once the voltage threshold is reached Figure 2 PowerFlex 750 Series Bus Regulation Disabled Voltage Class DC Bus Memory DB On Setpoint DB Off Setpoint 480 lt 685V DC 750V DC On 8V DC gt 685V DC Memory 65V DC 320 360 460 484 528 576 453 509 650 685 750 815 880 DB Turn On DB Turn Off AC Volts DC Volts Bus Reg Curve 1 Bus Reg Curve 2 Bus Memory 900 800 700 600 500 400 300 200 100 0 12 10 8 6 4 2 0 0 2 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 DC Bus Voltage Speed Feedback Over Voltage Trip Point Stop Pressed Motor Coasts Seconds DC Bus Volts 10 Volts Base Speed 46 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Option 1 Adjust Freq If Bus Reg Mode n is set to 1 Adjust Freq The Bus Voltage Regulator is enabled The Bus Voltage Regulator setpoint follows Bus Reg Curve 1 below a DC Bus Memory of 650V DC and follows the DB Turn On above a DC Bus Memory of 650V DC Table 5 For example with a DC Bus Memory at 684V DC the adj
95. configuration for Integrated Motion on the EtherNet IP Network 347 Signal Loss 112 SLAT See Speed Limited Adjustable Torque Slip Compensation 192 Slip Regulator 194 Software Integrated Architecture Builder 300 Motion Analyzer 300 Speed Limited Adjustable Torque configure for Integrated Motion on the EtherNet IP Network 353 Speed Reference 251 Speed Regulation 260 Speed Select 123 Speed Torque Position 266 Speed Torque Position Mode 124 Square Root Analog Input 111 Star Topology Integrated Motion on the EtherNet IP Network 341 Start 122 Start Inhibits No 933 95 Status 127 Stop 121 Stop Mode 124 Support Product 11 System Tuning Integrated Motion on the EtherNet IP Network 363 T Technical Support 11 Thermistor 152 Third party permanent magnet motors data modifications 361 Torque Mode 306 Position 266 Reference 262 Torque Loop RSLogix 5000 instance to parameter cross reference 323 torque overload capability 345 Torque Reference 262 Torque Setpoint 126 V Velocity Control RSLogix 5000 instance to parameter cross reference 321 Velocity Mode 306 Publication 750 RM002B EN P September 2013 Supersedes Publication 750 RM002A EN P September 2012 Copyright 2013 Rockwell Automation Inc All rights reserved Printed in the U S A 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 fin
96. determines the gain for the inertia compensation during deceleration A gain of 1 results in 100 compensation Parameter 698 Inertia Comp LPFBW Inertia Compensation Low Pass Filter Bandwidth Sets the bandwidth of a low pass filter for the inertia compensation function The output of this filter supplies P699 Parameter 699 Inertia Comp Out Inertia Compensation Output Displays the output of the inertia compensation function Parameter 700 Ext Ramped Ref External Ramped Reference This parameter is meant for an external motor speed ramp input signal This signal will be used by the inertia compensation function when P695 Inertia CompMode 2 Ext Ramp Ref This parameter will be entered in units of Hz or RPM depending on the value of P300 Speed Units Parameter 596 Speed Rate Ref Speed Rate Reference This parameter is shared by both the Inertia Compensation and Speed Compensation functions A value shared by both the Inertia Compensation and Speed Compensation functions active only in FV motor control modes typically supplied by an external controller that is also providing a rate limited speed reference The Speed Rate Reference corresponds to the derivative with respect to time of the speed reference signal Units of time are in seconds For example if the controller provides a 10 second reference ramp the controller would also supply a Speed Rate Ref value of 1 pu 10 sec 0 1 sec 1 while the reference is acceler
97. is enabled Psn Actual P836 is loaded with Psn Fdbk P847 3 Else Psn Command P723 and Psn Ref EGR Out P815 are loaded with Psn Actual P836 4 EGR is skipped when Point to Point Position control is active included Profiler PLL with PTP Parameter initializations performed with Position Regulator INACTIVE EGR is skipped when Point to Point Position control is active Virtual Encoder From Homing 17H3 848 Psn Gear Ratio Motor Speed Gear Output Spd PF755 Rev_9 a Page 12 432 Position Reference 441 Kpp 442 Kpi 434 Position Feedback 780 Position Integral Feedback 438 Position Loop Output 782 Position Lead Lag Filter Gain 781 Position Lead Lag Filter Bandwidth 446 Position Integrator Control 200 200 783 Position Notch Filter Frequency 436 Position Error 437 Position Integrator Output 446 Position Integrator Control 431 Position Trim 446 Position Integrator Control Rockwell Automation Publication 750 RM002B EN P September 2013 389 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Position Control Aux Functions 1 2 3 4 5 6 B A D C F E H G I Position Control Aux Functions In Position Detect 835 726 727 724 11 In Pos Psn Band In Pos Psn Dwell Psn Error InPsn Detect Position Watch 1 9 746 Position Control PsnWatch1 DtctIn PsnW1Detect
98. load and spring mechanical coupling between the two loads Mechanical Gear Train The resonant frequency is defined by the following equation Jm is the motor inertia seconds Jload is the load inertia seconds Kspring is the coupling spring constant rad2 sec The following graph shows a two mass system with a resonant frequency of 62 radians second 9 87 Hz One Hertz is equal to 2p radians second Gain 0 db Hz Notch Filter Frequency Notch Filter K Kspring BL Bm Jm Jload ResonanceHz Kspring Jm Jload Jm Jload Rockwell Automation Publication 750 RM002B EN P September 2013 245 Motor Control Chapter 4 Figure 26 Resonance The following represents the same mechanical gear train but with Notch Filter Freq set to 10 Figure 27 10 Hz Notch Motor Torque Motor PU Roll PU Motor Torque Motor PU Roll PU 246 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control To see the effects of the notch filter use test points T65 and T73 in torque control T65 is before the filter and T73 after And test point Txx before and Txx after in position control See the partial block diagram below Notch Fltr Freq Notch Fltr Atten Notch Notch PsnNtchFltrDepth PsnNtchFltrFreq Notch Filter Rockwell Automation Publication 750 RM002B EN P September 2013 247 Motor Contro
99. measure the system inertia system acceleration Note that systems with a mechanical restriction or travel limit may not complete the Autotune test Profile to Measure Inertia Backlash Removal 368 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Motor with Load Choose this selection to calculate tuning values based on the load inertia If selected the load inertia is measured and then applied to the Total Inertia attribute or Total Mass attribute The Load Ratio is also updated Uncoupled Motor Choose this selection to calculate tuning values based on the motor inertia If selected the motor inertia is measured during the test and is stored in the Rotary Motor Inertia attribute Travel Limit Enter a value that specifies the maximum distance to travel for the selected tune operation when the system has a limited travel distance If the tuning test cannot complete within the distance specified the tune fails and faults the axis Speed Enter a value that specifies the speed of the tune operation A speed that translates to a minimum of 25 of the motor nameplate RPM is recommended Torque Enter a value in the range of 0 300 that specifies the torque value to be applied to the tune operation The default value is 100 Direction Choose the direction of the move for the tune operation The a
100. mode parameter Drive Output Shut Off 0V Fault Vbus Max DB Bus Motor Speed Output Frequency Rockwell Automation Publication 750 RM002B EN P September 2013 43 Drive Configuration Chapter 1 Operation Bus voltage regulation begins when the bus voltage exceeds the bus voltage regulation setpoint Vreg and the switches shown in Figure 1 move to the positions shown Figure 1 Bus Voltage Regulator Current Limit and Frequency Ramp SW 1 SW 2 SW 3 SW 4 SW 5 Bus Regulation Limit Bus Reg Open Closed Don t Care Current Limit Derivative Gain Block Magnitude Calculator PI Gain Block Current Limit Level U Phase Motor Current W Phase Motor Current SW 3 I Limit No Bus Reg Proportional Channel Integral Channel 0 Acc Dec Rate Jerk Ramp Jerk Clamp No Limit SW 2 I Limit No Bus Reg Bus Reg Frequency Ramp Integrator Output Frequency Frequency Limits Frequency Reference SW 5 Speed Control Mode Frequency Setpoint Maximum Frequency Minimum Speed Maximum Speed Overspeed Limit Frequency Reference to Ramp Control Speed Ref and so forth Speed Control Slip Comp Process PI and so forth Bus Voltage Regulation Point Vreg Bus Voltage Regulator Bus Voltage Vbus Integral Channel Proportional Channel SW 4 Bus Reg On Derivative Gain Block PI Gain Block Limit No Limit SW 1 44 Rockwell Automation Publication 750 RM002B EN
101. motor sensorless vector control mode Connected to a Surface Permanent Magnet motor SPM or Permanent Magnet Synchronous Motor PMSM Used for constant torque applications Provides excellent starting acceleration and running torque PM FV 6 Permanent magnet motor flux vector control mode Connected to a Surface Permanent Magnet motor Used when high performance precise speed regulation and or position control closed loop is required Can also be configured with direct Torque Reference input Can also be used open loop with less precision SyncRel VHz 7 Synchronous Reluctance motor volts per Hertz control mode Connected to a Synchronous Reluctance motor Used for constant torque applications with improved efficiency energy savings and variable speed applications such as conveyors Used in multi motor applications SyncRel SV 8 Synchronous Reluctance motor sensorless vector control mode Connected to a Synchronous Reluctance motor Used for constant torque applications with improved efficiency energy savings and variable speed applications such as conveyors Avoid slow speed low inertia applications that cause torque ripple effects Adj VltgMode 9 Adjustable voltage control mode Independent Frequency and Voltage regulators Fixed Frequency and Variable Voltage or Fixed Voltage and Variable Frequency Typically used for non motor applications such as resistive and inductive heating elements vibration we
102. motors were not originally designed for use with inverters the dielectric strength of the motor construction cannot withstand the reflected wave voltages that can get subjected at the motor connections 1 5 to 2 5 times drive s bus voltage Appropriate mitigation must be considered General rule of thumb size the VFD so that it is capable of providing continuous current at 125 to 135 of FLA of the motor due to elimination of resistors and its design for higher starting torque Multispeed AC Motors P35 Motor Ctrl Mode induction motor options 0 Induction VHz 1 Induction SV 3 Induction FV Consequent pole AC motors are designed for one speed By physically reconnecting the leads a 2 1 speed ratio can be obtained Typical synchronous speeds for 60 Hz AC motors are 3 600 1 800 rpm 2 4 pole 1 800 900 rpm 4 8 pole and 1 200 600 rpm 6 12 pole Two winding AC motors have two separate windings that can be wound for any number of poles so that other speed ratios can be obtained However ratios greater than 4 1 are impractical because of AC motor size and weight Power output of multispeed AC motors can be proportioned to each different speed These AC motors are designed with output horsepower capacity in accordance with one of the load characteristics When retrofitted with a VFD the motor is generally wired for the speed range intended to be optimized Autotuned per representative nameplate in
103. operator needs to determine why the drive will not restart The operator first views the Start Owner to see if the HIM is issuing a valid Start When the start button on the HIM is pressed a valid start is being issued as shown below Because the start command is not maintained causing the drive to run the operator views the Stop Owner Note that the status bar on the HIM indicates that a stop has been asserted but it does not indicate from which port the stop command is originating 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 Stop Asserted 0 00 Hz AUTO Port 00 Dev Param Start Owner x00x xxxx x000 0010 Bit 01 Port 1 ESC 920 F PAR Stop Asserted 0 00 Hz AUTO Port 00 Dev Param Stop Owner x00x xxxx x000 0001 Bit 00 Digital In ESC 919 F PAR 72 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Power Loss The drive contains a sophisticated algorithm to manage initial application of power as well as recovery from a partial power loss event The drive also has programmable features that can minimize the problems associated with a loss of power in certain applications Terms and Definitions Table 8 PowerFlex 750 Series Bus Levels Term
104. or equal to the value in P352 Sleep Level Setting P350 Sleep Wake Mode to 1 Direct enables the sleep wake function to work as described An Invert mode also exists that changes the logic so that an analog value less than or equal to P354 Wake Level starts the drive and an SleepWake RefSel signal greater than or equal to P352 Sleep Level stops the drive Related Sleep Wake parameters noted below Sleep Wake Operation Parameter No Parameter Name Description 350 Sleep Wake Mode Enables disables the Sleep Wake function 351 SleepWake RefSel Selects the source of the input controlling the sleep wake function 352 Sleep Level Defines the SleepWake RefSel signal level that stops the drive 353 Sleep Time Defines the amount of time at or below 352 Sleep Level before a Stop is issued 354 Wake Level Defines the SleepWake RefSel signal level that starts the drive 355 Wake Time Defines the amount of time at or above 354 Wake Level before a Start is issued Drive Run Sleep Wake Function Start Stop Sleep Timer Satisfied Sleep Level Satisfied Wake Timer Satisfied Wake Level Satisfied Wake Level Sleep Level Analog Signal Example Conditions Wake Time 3 Seconds Sleep Time 3 Seconds Wake Time Sleep Time Wake Time Sleep Time Rockwell Automation Publication 750 RM002B EN P September 2013 91 Drive Configuration Chapter 1 Requirements In addition to enabling
105. or windings However a linear electric motor can also be constructed so the primary moves and the secondary remains stationary Linear induction motors LIMs are increasingly chosen for material handling applications and Amusement rides because they are quieter more reliable and less expensive than rotary electric motors And because linear electric motors do not drive gearboxes or rotary to linear conversion devices they can be more efficient There are several important differences between linear and rotary electric induction motors that require understanding Unlike rotary electric motors the linear motor has a beginning and an end to its travel First the moving secondary material enters the primary stator field at one end of the electric motor and exits at the opposite end Induced currents in the secondary material at the entry edge resist air gap flux buildup And at the exit edge the material retards the air gap flux decay This results in an uneven air gap flux distribution which contribute to challenges in sizing VFDs and optimizing set up of control frequency and voltage VFD control uses either fixed V Hz or independently controlled frequency and voltage Linear Synchronous Motors LSMs Linear Synchronous Motors LSMs are significantly different than Linear Induction Motors LIMs in the way that they produce electromotive forces or motion Linear Synchronous Motors LSMs are similar in concept with stator cores arran
106. so forth If a battery is installed and the time values are set time is accumulated Approximate battery life is 4 5 years with drive unpowered or lifetime if drive is powered The real time clock on the drive can be set two different ways It can either be set from the HIM or from Drive Executive Drive Explorer Setting the Real Time Clock via Drive HIM 1 Access the Status screen 2 If Port 00 Host Drive is not shown above the ESC soft key use the or key to scroll to Port 00 3 Press the key to display its last viewed folder 4 Use the or key to scroll to PROPERTIES folder 5 Use the or key to select Set Date and Time 6 Press the Enter key to display its last viewed folder 7 Press the EDIT soft key to access the Set Date and Time mode screen which highlights the present time zone line 8 To select the time zone set the drive to the current time zone Press the ZONES soft key to display the Select Time Zone screen Use the or key to select your basic time zone region for example Full List Press the Enter key to enter your selection Use the or key to select your specific time zone for example Chicago and press the Enter key to enter it 9 To set the date set the drive to the current date Press the soft key to select the year in the top line and use the numeric keys to enter the correct year To delete an erroneous date or time entry use the
107. software Figure 28 PowerFlex 753 Speed Reference Selection Overview Refer to the PowerFlex 750 Series Programming Manual publication 750 PM001 Appendix A for more details on the PowerFlex 753 Control Block Diagrams Spd Ref A Trim Ref A Trim Ref A Ref A Auto Spd Ref B Trim Ref B Trim Ref B Ref B Auto ENet Spd Ref DPI Ports 1 6 Manual Spd Ref Command Limit Selected Spd Ref Skip Bands Limited Spd Ref Direction Mode Vel Ref Filter x Speed Comp Pos Reg Output Filter Speed Ref Scale From Position Regulator Limit Velocity Reg Ref Motor Spd Ref From PI Regulator Trim Mode From PI Regulator Exclusive Mode Jogging Oil Pump Autotune Homing Overrides VF or SV Droop From Slip Comp Frequency Ref Limit From Velocity Trim Regulator Max Speed Overspeed Limit From PI Regulator Trim Mode Flux Vector Limit Max Speed Max Speeds Speed Reference Selection Speed Reference Control Ramped Vel Ref Limit Switch Control Speed Ref Stop Vector Ramp S Curve Linear Ramp amp S Curve V F Ramp S Curve Linear Ramp amp S Curve Vector Speed Control V F Speed Control Rate Select Speed Status Speed Feedback Vector Ramp Status F F Ramp Status Status Ramped Speed Ref Presets 3 7 Auto From Pt Pt Profile Generator Fiber App 252 Rockwell Automation Publicati
108. the digital outputs This is the time between the disappearance of a condition and de activation of the relay or transistor Parameter No Parameter Name Description 14 RO0 On Time Sets the ON Delay time for the digital outputs This is the time between the occurrence of a condition and activation of the relay 15 RO0 Off Time Sets the OFF Delay time for the digital outputs This is the time between the disappearance of a condition and de activation of the relay 24 RO1 On Time or TO0 On Time Sets the ON Delay time for the digital outputs This is the time between the occurrence of a condition and activation of the relay or transistor 25 RO1 Off Time or TO0 Off Time Sets the OFF Delay time for the digital outputs This is the time between the disappearance of a condition and de activation of the relay or transistor 34 TO1 On Time Sets the ON Delay time for the digital outputs This is the time between the occurrence of a condition and activation of the transistor 35 TO1 Off Time Sets the OFF Delay time for the digital outputs This is the time between the disappearance of a condition and de activation of the transistor Rockwell Automation Publication 750 RM002B EN P September 2013 149 Feedback and I O Chapter 2 Example For example in the diagram below a digital output is configured for P935 Drive Status 1 Bit 27 Cur Limit the On Time is programmed for two seconds
109. the drive then transfers position reference back to its previous source once it receives a start command If velocity control type mode is selected in P313 Actv SpTqPs Mode the drive continues running Position Position Pt Pt Control DigIn Speed Control Find Home Speed Speed Rockwell Automation Publication 750 RM002B EN P September 2013 295 Drive Features Chapter 5 holding zero velocity the drive then transfers velocity reference back to its previous source once it receives a start command Homing to Switch and Marker Pulse with Feedback Upon activation of homing the drive starts moving in Speed Control mode and ramp to the speed and direction set in P735 Find Home Speed at the rate set in P736 Find Home Ramp As the motor moves toward the limit proximity switch the marker pulse is triggering a register on the feedback module to latch the current position count When the limit proximity switch is reached the Homing Input is set The last maker pulse position count that was latched prior to the Homing Input being set is considered the home position count The drive then ramps to zero at the rate set in P736 Find Home Ramp The drive then performs a point to point position move back to the home position count in speed of 1 10 of P735 Find Home Speed When the motor is At Position and At Zero Speed the homing sequence completes NOT Hold At Home P731 Bit 7 If a position control type mod
110. the motor shaft kg m2 rated angular rotational speed N Rated motor speed RPM Pb JT 2 t3 t2 Rad s 2 N 60 210 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control t3 t2 total time of deceleration from the rated speed to 0 speed seconds Pb peak braking power watts 1 0HP 746 Watts Compare the peak braking power to that of the rated motor power if the peak braking power is greater that 1 5 times that of the motor then the deceleration time t3 t2 needs to be increased so that the drive does not go into current limit Use 1 5 times because the drive can handle 150 current maximum for 3 seconds Peak power can be reduced by the losses of the motor and inverter Step 3 Calculating the Maximum Dynamic Brake Resistance Value Vd The value of DC bus voltage that the chopper module regulates at and is equal to 375V DC 750V DC or 937 5V DC Pb The peak braking power calculated in Step 2 Rdb1 The maximum allowable value for the dynamic brake resistor The choice of the Dynamic Brake resistance value will be less than the value calculated in Step 3 If the value is greater than the calculated value the drive can trip on DC bus overvoltage Remember to account for resistor tolerances Step 4 Choosing the Chopper Module Idl The minimum current flowing through the chopper module transistor
111. the sleep function with P350 Sleep Wake Mode the following conditions must be met A proper value must be programmed for P352 Sleep Level and P354 Wake Level A sleep wake reference must be selected in P351 SleepWake RefSel At least one of the following must be programmed and input closed in P155 DI Enable P158 DI Stop P163 DI Run P164 DI Run Forward or P165 DI Run Reverse Conditions to Start Restart ATTENTION Enabling the sleep wake function can cause unexpected machine operation during the Wake mode Equipment damage and or personal injury can result if this parameter is used in an inappropriate application Do not use this function without considering the Table 9 below and applicable local national and international codes standards regulations or industry guidelines Table 9 Conditions Required to Start Drive 1 2 3 Input After Powerup After a Drive Fault After a Stop Command Reset by HIM or Software Stop Reset by HIM Network Software or Digital Input Clear Faults HIM Network Software or Digital Input Stop Stop 4 Stop Closed Wake Signal New Start or Run Command 5 Stop Closed Wake Signal New Start or Run Command 5 Stop Closed Wake Signal Stop Closed Direct mode SleepWake RefSel Signal gt Sleep Level 7 Invert mode SleepWake RefSel Signal lt Sleep Level 8 New Start or Run Command 5 Enable Enable Closed Wake Signal Enable Closed W
112. to the PowerFlex 750 Series AC Drives Installation Instructions publication 750 IN001 for a list of compatible High Resolution Stegmann encoder and Heidenhain encoder feedback on the motor IPM Flux Vector Control In IPM Flux Vector mode the flux and torque producing currents continue to be independently controlled Speed is indirectly controlled by a torque reference output command from the Speed Regulator Alternatively the drive can be configured to control torque instead of speed in flux vector mode In either case for precise control this mode must be operated with encoder feedback in order to provide the fastest response to load changes The Iq Id reference calculation block will produce optimum Iq Id current reference that will try to establish maximum torque per amp control performance IPM Flux Vector Torque Ref V mag Voltage Control Inverter Motor Speed Reg Speed Ref Current Feedback High Bandwidth Current Regulator V ang Speed Feedback Torque Ref Flux Reg Current Reg Encoder Voltage Control Inverter Motor Speed Reg Speed Freq Current Feedback High Bandwidth Current Regulator V ang Speed Feedback Torque Ref Current Reg Encoder V mag Iq Id Iq Id Reference Calculation Rockwell Automation Publication 750 RM002B EN P September 2013 235 Motor Control Chapter 4 Motor Types The following explanation and descriptions of AC motor types ar
113. value into the Offset and then set the Alignment to Controller Offset Rockwell Automation Publication 750 RM002B EN P September 2013 95 Drive Configuration Chapter 1 If all permissive conditions are met a valid start run or jog command starts the drive The status of all current inhibit conditions are reflected in P933 Start Inhibits and the last inhibit conditions are reflected in P934 Last StrtInhibit details are shown below File Group No Display Name Full Name Description Values Read Write Data Type DIAGNOSTICS Status 933 Start Inhibits Start Inhibits RO 32 bit Integer Indicates which condition is preventing the drive from starting or running Bit 0 Faulted Drive is in a faulted state See P951 Last Fault Code Bit 1 Alarm A Type 2 alarm exists See P961 Type 2 Alarms Bit 2 Enable An Enable input is open Bit 3 Precharge Drive is in precharge See P321 Prchrg Control P11 DC Bus Volts Bit 4 Stop Drive is receiving a stop signal See P919 Stop Owner Bit 5 Database Database is performing a download operation Bit 6 Startup Startup is active and preventing a start Go to Start Up Routine and abort Bit 7 Safety Safety option module is preventing a start Bit 8 Sleep Sleep function is issuing a stop See P 350 Sleep Wake Mode P351 SleepWake RefSel Bit 9 Profiler Profiler functio
114. zero enables the Auto Restart feature Setting the number of tries equal to zero disables the feature MOTOR CONTROL Mtr Ctrl Options 40 Mtr Options Cfg Motor Options Configuration RW 32 bit Integer Configuration of motor control related functions For motors above 200 Hz a carrier frequency of 8 kHz or higher is recommended Consider drive derate and motor lead distance restrictions Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Jerk Select Not Used Common Mode Xsistor Diag Elect Stab DB WhileStop PWM FreqLock AsyncPWMLock PWM Type Sel RS Adaption Reflect Wave Mtr Lead Rev EnclsTrqProv 1 1 755 drives only Trq ModeJog Trq ModeStop Zero TrqStop Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1 1 0 0 1 1 1 Bit 32 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ATTENTION Equipment damage and or personal injury may result if this parameter is used in an inappropriate application Do not use this function without considering applicable local national and international codes standards regulations or industry guidelines 26 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration P349 Auto Rstrt Delay sets the time in seconds between each reset run attempt
115. 0 Trim Ref A Sel Trim Ref A Stpt 601 Disabled 0 871 872 873 874 875 876 Port 1 Reference Port 2 Reference Port 3 Reference Port 4 Reference Port 5 Reference Port 6 Reference Anlg In1 PortVal option port Anlg In2 PortVal option port 602 603 Trim RefA AnlgHi Trim RefA AnlgLo Default Parameter Selection Parameter Selection Parameter Selection Parameter Selection 328 Alt Man Ref Sel 329 330 Alt Man Ref AnHi Alt Man Ref AnLo Parameter Selection Parameter Selection 551 Spd Ref B Stpt 552 Spd Ref B AnlgHi 553 Spd Ref B AnlgLo Other Ref Sources TrmPct RefB Sel 612 Disabled 0 Parameter Selection 613 TrimPct RefB Stpt 614 TrmPct RefB AnHi 615 TrmPct RefB AnLo Other Ref Sources Trim Ref B Sel 604 Disabled 0 Parameter Selection 605 Trim Ref B Stpt 606 Trim RefB AnlgHi 607 Trim RefB AnlgLo Other Ref Sources 21F3 3H5 26H3 d Prefix Refers to Diagnostic Item Number ex d33 Reference Symbol Legend Note Analog Hi Lo scaling only used when Analog Input is selected To Spd Ref 2 6A1 Rockwell Automation Publication 750 RM002B EN P September 2013 257 Motor Control Chapter 4 If the speed reference 20 Hz and if the trim percentage 25 the resulting trim is 20 Hz x 25 5 Hz which when added to the speed reference 25 Hz As the speed ref
116. 0 Droop RPM at FLA NP Spd Poles 120 Hz RPM 1 NP Freq 1 Iq Feedback pu X 621 NP Spd Poles 120 Hz RPM 1 NP Freq 1 Filtered 100 R S Iq Feedback pu PI Limit NP Spd Poles 120 Hz RPM 1 NP Freq 1 VF SV Speed Regulator Slip RPM at FLA 621 Ramped Spd Ref 594 1 Speed to Freq Scaling Spd Ref After Final Limit 7I5 OR 8H4 Flux Vector 3 6 Final Speed Ref 597 1 LPF 622 Freq Integral Hz Slip Comp BW Active Vel Fdbk 131 663 664 VHzSV Spd Reg Kp 945 2 At Limit Status MaxSpeed Lmt 945 3 At Limit Status 623 VHzSV SpdTrimReg Speed Control Reference 5 VHzSV Spd Reg Ki X 1 5 NP Freq NP Spd Poles 120 Hz RPM OverSpd Lmt Speed Sensor Type Open Loop Speed Fdbk 1 0 From Fdbk 3F2 To Spd Reg 10A3 To Fdbk 3B5 8G2 3D5 27E4 27H3 INTERNAL CONDITION ONLY Limit OR PF755 Rev_9 a Page 9 41 Control Method 453 Velocity Reference 453 Velocity Reference 464 Kdr 454 Velocity Feedback 1352 Induction Motor Rated Slip Speed 600 Output Frequency 1352 Induction Motor Rated Slip Speed 386 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Speed Control Regulator F
117. 0 The Elect Stab bit affects angle stability and voltage stability Angle stability gain is set for 0 so it does not compensate for the current going into the filter s caps Voltage stability gain is set for 0 for the same reason Bit 12 0 Transistor diagnostics is turned off because that sequence of turning transistors on and off charges the caps in the filter and can cause an IOC trip 43 Flux Up Enable 0 Leave at the Manual setting 44 Flux Up Time Default Leave at 0 0000 seconds Parameter No Parameter Name Setting Description 20 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Modulation mode is default at space vector only because 2 phase modulation will degrade the filter s performance Application Considerations Whatever the device the user wants to connect to the drive by using the adjustable voltage feature that device has some type of rating associated with it As a minimum it needs to have a current rating and voltage rating Drive selection is based on those ratings Sizing First consider the voltage rating of the drive Determine what the available line voltage is and select a drive voltage rating to match Next select a drive that supplies the current necessary for the device s rating Single Phase Output Consult Rockwell Automation before configuring a drive for single phase adjustable voltage output Derating of the drive is
118. 002B EN P September 2013 Chapter 3 Diagnostics and Protection Input Phase Loss Detection Occasionally three phase power sources can fail on one phase while continuing to deliver power between the remaining 2 phases single phase Operating above 50 output under this single phase condition can damage the drive If such a condition is likely we recommend that Input Phase Loss Detection be enabled The drive can be programmed to turn on an alarm bit or issue a drive fault minor or major The drive accomplishes this by interpreting voltage ripple on the DC bus Configuring Input Phase Loss Action P462 InPhase LossActn The following bits configure Input Phase Loss action Ignore 0 No action is taken This can seriously degrade the drive Alarm 1 Type 1 alarm indicated Flt Minor 2 Minor fault indicated If running drive continues to run Enable with P950 Minor Flt Cfg If not enabled acts like a major fault FltCoastStop 3 Major fault indicated Coast to Stop Flt RampStop 4 Major fault indicated Ramp to Stop Flt CL Stop 5 Major fault indicated Current Limit Stop An input phase loss is indicated in P937 Condition Sts 1 Bit 4 InPhaseLoss Rockwell Automation Publication 750 RM002B EN P September 2013 167 Diagnostics and Protection Chapter 3 If a fault action has been selected as a result of an input phase loss P952
119. 07 Integrated Motion on the EtherNet IP Network 301 Controller DriveLogix 10 Conventions Manual 11 Current Limit 156 Current Limit Stop 121 D Data Packets lost 301 DC Bus Voltage 158 Decel Time 16 Detection Input Loss 112 DHCP persistence IP address assignment 315 Dig Out Invert No 226 Main Control Board 147 No 6 Option Module 147 Dig Out Setpoint No 227 Main Control Board 142 No 7 Option Module 142 Dig Out Sts No 225 Main Control Board 149 No 5 Option Module 150 Digital Inputs 119 Digital Outputs 130 Digital Outputs Parameters 142 147 149 Drive Nonvolatile Memory 308 Drive NV option 308 Drive Overload 158 DriveLogix Controller 10 Drives Technical Support 11 dual loop control application 309 configuration 309 Dual Port EtherNet IP option module 315 install and configure 347 IP address assignment 315 port assignment 315 dynamic brake configure for Integrated Motion on the EtherNet IP Network 347 Dynamic Braking 197 dynamic IP address assignment by port 315 E Enable 121 ETAP See Dual Port EtherNet IP option module F Faults 162 Feedback Devices 54 feedback option modules install and configure 346 Flux Braking 216 428 Rockwell Automation Publication 750 RM002B EN P September 2013 Index Flux Regulator 218 Flux Up 218 Flux Up Enable No 43 220 Flux Up Time No 44 220 Flying Start 54 Forward Reverse 122 Decel Limit 126 Forward Revese End Limit 126 frequency cont
120. 0V DC and two times peak only reaches 620Vpk This peak will not damage most motors However a 460V AC drive operates at 620V DC bus voltage and 1240Vpk and a 575V AC drive operates at 775V DC and 1550Vpk Non inverter grade motors have insulation systems rated to 1000V and 1200V depending on their construction 1000V motors are assembled without phase paper 1200V motors are assembled with phase paper and slot insulation Non inverter grade motors will fail if operated from a 460V or 575V drive There are three ways to eliminate the effects of reflected waves on motors 1 Match the motor surge impedance to the cable surge impedance 2 Reduce the dv dt These methods reduce or eliminate reflected wave and surge voltage at the motor 3 Better insulate the motor so the effects of the surge voltage will not damage the motor For inverter applications NEMA updated the standard MG 1 1998 section 31 regarding motor insulation systems An inverter duty motor needs to withstand surge voltages that are 3 1 times the rated motor voltage and rise times greater than 0 1 s This is 1488V for a 460V motor to provide better protection some motor manufacturers have started producing 1600V rated insulation for inverter grade motors However even if a motor can withstand 1600V surges it can still fail if the insulation cannot hold up under rated motor temperatures 182 Rockwell Automation Publication 750 RM002B EN P September 2013
121. 13 1567 FrctnComp Out Friction Comp 1560 FrctnComp Mode 640 Filtered SpdFdbk PI Regulator Speed Control Regulator Lead Lag Filter Lead Lag Filter 645 647 Speed Reg Kp Speed Reg Ki 636 Speed Reg BW 131 Active Vel Fdbk Final Speed Ref 620 Droop RPM at FLA 660 SReg Output 520 Max Fwd Speed 521 Max Rev Speed 640 Filtered SpdFdbk 597 Limit Torque Reference 264 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Sel and P680 Trq Ref B Sel the output can be summed together and along with the output of Torque Trim to become P4 Commanded Trq Figure 31 Torque Control Reference Scale and Trim For additional and expanded illustration of the Torque Control refer to the PowerFlex 755 Control Block Diagrams starting on page 375 The following are key parameters related to the Torque Reference control illustrated in Figure 30 and Figure 31 P313 Actv SpTqPs Mode Active Speed Torque Position Mode Displays the Speed Torque Position Mode that is active based on the dynamic selection of modes A B C and D per P309 P312 SpdTrqPsn Mode n and digital input conditions programmed via P181 DI SpTqPs Sel 0 and P182 DI SpTqPs Sel 1 In some cases such as operation in the SLAT min max modes the final regulation mode may be forced into Speed Regulation Refer to the Speed Torque and Position
122. 15V AC Com Rockwell Automation Publication 750 RM002B EN P September 2013 129 Feedback and I O Chapter 2 Figure 10 PowerFlex 750 Series Option Module Filter Filter In5 Com In4 In3 In2 In1 In0 Filter Filter Filter Filter Dig In Filt Dig In Filt Dig In Filt Mask Dig In Filt Mask Dig In Filt Dig In Filt Dig In Filt Mask Dig In Filt Mask Dig In Filt Dig In Filt Dig In Filt Mask Dig In Filt Mask Dig In Sts 130 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Digital Outputs The PowerFlex 753 has one transistor output and one relay output embedded on its main control board The transistor output is on TB1 at the lower front of the main control board The relay output is on TB2 at the bottom of the main control board Refer to the PowerFlex 750 Series AC Drives Installation Instructions publication 750 IN001 for PowerFlex 753 Main Control Board I O wiring examples The PowerFlex 755 has no outputs embedded on its Main Control Board There are PowerFlex 750 Series Option Modules that expand the amount of digital outputs that can be used in both the PowerFlex 753 and 755 drives Catalog numbers 20 750 2262C 2R and 20 750 2262D 2R provide two relay outputs on TB2 at the front of option module Terminal Name Description Rating T0 Transistor Output 0 Transistor Output 48V DC 250 mA max
123. 2 1254 1259 1253 Step 3 1260 1265 1266 1267 1268 1261 1262 1264 1269 1263 Step 4 1370 1375 1376 1377 1378 1371 1372 1374 1379 1373 Step 15 1380 1385 1386 1387 1388 1381 1382 1384 1389 1383 Step 16 784 PTP Command Profiler 1210 Profile Status 0 1 2 3 4 5 6 7 8 9 10 11 12 Step Bit 0 Step Bit 1 Step Bit 2 Step Bit 3 Step Bit 4 Reserved Reserved Reserved Enabled Running Position Mode Dwell Holding 13 14 15 16 17 18 19 In Position Complete Stopped Resume Restart Step Vel Override Home Not Set Current Step 0 16 1213 Profile Command 0 1 2 3 4 5 6 7 8 9 10 11 12 StrStepSel0 StrStepSel1 StrStepSel2 StrStepSel3 StrStepSel4 Reserved Reserved Reserved Hold Step Vel Override Restart Step HomeNotSetAlarm Prof Run Alarm Starting Step 0 16 1212 Units Traveled 1215 Counts Per Unit 1216 ProfVel Override Speed Position Time Move Table Position Control Profiler Indexer 1 Actv SpTqPs Mode Other 0 313 Spd Ref To Spd Ref 6C3 11E2 22D5 1217 Prof DI Invert 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 Hold
124. 2 Selected Spd Ref PID Output Sel 1079 PID Speed Exclusive Selection Jogging Selection 556 Jog Speed 1 557 Jog Speed 2 Linear Ramp amp S Curve PID Output Sel 1079 PID Speed Trim Selection 594 Ramped Spd Ref Speed Control Reference pages 4 6 8 9 x Speed Ref TrimPct Ref Trim Ref V Hz Current Processing Motor Motor Speed Ref Slip Comp Speed Trim Reg Selection Limit Bus Current Limiter Freq Ramp Freq Adder Ramp Input Ref Ramp Rate 1 Output Frequency 621 Slip RPM at FLA Droop 620 Droop RPM at FLA Limit 520 Max Fwd Speed 521 Max Rev Speed 524 Overspeed Limit PF755 Rev_9 a Page 2 Freq Adder Motor Speed Ref Ramp Input Ref Ramp Rate 1 2 3 4 5 6 B A D C F E H G I Rockwell Automation Publication 750 RM002B EN P September 2013 379 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Speed Position Feedback 1 2 3 4 5 6 B A D C F E H G I Speed Posit Fdbk 125 128 Primary Velocity Fdbk Processing Alternate Velocity Fdbk Processing Motor Simulator Virtual Encoder Open Loop Virtual Encoder Aux Velocity Fdbk Processing Primary Velocity Fdbk Processing Alternate Velocity Fdbk Processing 709 Derivative d dt
125. 2 Lo 0V P1073 PID Fdbk AnlgHi 100 P1074 PID Fdbk AnlgLo 0 Now 5V corresponds to 50 on the PID Feedback and we try to maintain a PID setpoint of 50 5V PID Setpoint This parameter can be used as an internal value for the setpoint or reference for the process If P1067 PID Ref Sel points to this parameter the value entered here becomes the equilibrium point for the process PID Error The PID Error is then sent to the Proportional and Integral functions which are summed together PID Error Filter P1084 PID LP Filter BW sets up a filter for the PID Error This is useful in filtering out unwanted signal response such as noise in the PID loop feedback signal The filter is a Radians Second low pass filter Rockwell Automation Publication 750 RM002B EN P September 2013 87 Drive Configuration Chapter 1 PID Gains Parameters P1086 PID Prop Gain P1087 PID Int Time and P1088 PID Deriv Time determine the response of the PID Proportional control P adjusts output based on size of the error larger error proportionally larger correction If the error is doubled then the output of the proportional control is doubled Conversely if the error is cut in half then the output of the proportional output is cut in half With only proportional control there is always an error so the feedback and the reference are never equal PID Prop Gain is unit less and defaults to 1 00 for unit gain With PID P
126. 24V DC Shared common Di C between Di 0ac and Di 0dc terminals TB3 bottom of the main control board Di 1 and Di 2 Configured for 24V DC Shared common Di C for Di 1 and Di 2 TB1 lower front of the main control board PowerFlex 753 Main Control Board I O TB1 wiring examples are included in the PowerFlex 750 Series AC Drives Installation Instructions publication 750 IN001 The PowerFlex 755 drive has one digital input on its main control board Di0 configured for 115V AC or 24V DC Shared common Di C between Di 0ac and Di 0dc terminals TB1 bottom of the main control board There are also PowerFlex 750 Series option modules that expand the amount of digital inputs that can be used in both the PowerFlex 753 and 755 drives 20 750 2262C 2R 20 750 2263C 1R2T Six 24V DC input terminals Labeled as Di 0 Di 1 Di 2 Di 3 Di 4 and Di 5 Shared common Di C TB1 front of the option module 20 750 2262D 2R Six 115V AC input terminals Labeled as Di 0 Di 1 Di 2 Di 3 Di 4 and Di 5 Shared common terminal Di C TB1 front of the option module PowerFlex 750 Series Option Modules I O TB1 wiring examples are included in the PowerFlex 750 Series AC Drives Installation Instructions publication 750 IN001 120 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Configuration Digital inputs can be programmed to a des
127. 3 XL4 5 35 ohm For a three phase reactor the current is represented by the equation Isolate the voltage The current value can be what the least rating of the reactors are or if the rating are greater than the drive rating use the drive rating In this case the drive is rated for 14 amps XL 2 pi f H XL1 2 pi 60 1 2 1000 0 45ohm XL2 2 pi 60 5 1000 1 88ohm XL3 2 pi 60 5 1000 1 88ohm XL4 2 pi 60 3 1000 1 13ohm I V XL 3 V I XL 3 24 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration So plug in the numbers So 14 amps is realized when the voltage is 129 8 on the output A drive with a voltage rating of 240V AC could be selected Below is a waveform of voltage and current at a resistor The output of the drive runs through a sine wave filter Then this is connected to a one to one transformer This output is then sent to a bridge rectifier giving us pure DC With the use of a feedback board and the drives PI loop the voltage at the resistor was steady even if the resistance changed while running Other Setting the frequency acceleration time to zero results in the drive outputting a DC voltage waveform If the frequency accel time is set between 0 and 1 this could trigger and a
128. 31 Motor Poles Rotary Motor Rated Speed P28 Motor NP RPM Integrated Motion on EtherNet IP Instance Drive Parameter PM Motor Rotary Voltage Constant P86 PM CEMF Voltage PM Motor Resistance P87 PM IR Voltage PM Motor Inductance P88 PM IXq Voltage P89 PM IXd Voltage 330 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Motor Feedback Axis Properties Configuration Motor Feedback Axis Properties Motor Feedback Motion Axis Parameters Rockwell Automation Publication 750 RM002B EN P September 2013 331 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 21 Motor Feedback Instance to Parameter Cross Reference Motor Load Feedback Axis Properties Configuration Motor Load Feedback Axis Properties Integrated Motion on EtherNet IP Instance Drive Parameter Feedback n Accel Filter Bandwidth P705 Inertia Adapt BW Feedback n Cycle Resolution ENC P02 Encoder PPR DENC P02 Encoder 0 PPR DENC P12 Encoder 1 PPR UFB P15 FB0 IncAndSC PPR UFB P45 FB1 IncAndSC PPR Feedback n Turns UFB P22 FB0 SSI Turns UFB P52 FB1 SSI Turns Feedback n Type UFB P06 FB0 Device Sel UFB P36 FB1 Device Sel Feedback n Velocity Filter Bandwidth P639 SReg FB Fltr BW Feedback n Velocity Filter Taps P126 Pri Vel FdbkFltr 332 Rockwel
129. 318 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Frequency Control Axis Properties Frequency Control Motion Axis Parameters Rockwell Automation Publication 750 RM002B EN P September 2013 319 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 13 Frequency Control Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Break Frequency P63 Break Frequency Break Voltage P62 Break Voltage Current Vector Limit P422 Current Limit 1 Flux Up Control P43 Flux Up Enable Forced to Automatic Flux Up Time P44 Flux Up Time Frequency Control Method P65 VHz Curve Maximum Frequency P37 Maximum Freq Overtorque Limit P436 Shear Pin1 Level Overtorque Limit Time P437 Shear Pin 1 Time Run Boost P61 Run Boost Skip Speed 1 P526 Skip Speed 1 Skip Speed 2 P527 Skip Speed 2 Skip Speed 3 P528 Skip Speed 3 Skip Speed Band P529 Skip Speed Band Start Boost P60 Start Acc Boost Undertorque Limit P442 Load Loss Level Undertorque Limit Time P443 Load Loss Time Velocity Droop P620 Droop RPM at FLA Velocity Limit Negative P521 Max Rev Speed Velocity Limit Positive P520 Max Fwd Speed 320 Rockwell Automation Publication 750 RM002B EN P September 2013 C
130. 359 FS Speed Reg Ki until there is a change in the monitored current indicating the speed of the spinning motor has been found If the motor was not found from the forward sweep the drive sweeps in the reverse direction from P521 Max Rev Speed P524 Overspeed Limit 56 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Scope Plots Flying Start Sweep Mode This plot shows a coasting motor When a start is commanded the output frequency jumps up to P520 Max Fwd Speed P524 Overspeed Limit at some current As the sweep frequency decreases the current is monitored When the sweep frequency matches the frequency of the coasting motor the current reverses and detection is complete The motor is accelerated back to commanded speed PowerFlex 753 Flying Start Sweep Mode Decelerating Load Coasting Motor Frequency Sweep Start Pressed Detection Slope determined by P359 Frequency Speed Current Rockwell Automation Publication 750 RM002B EN P September 2013 57 Drive Configuration Chapter 1 Flying Start Sweep Slope A This plot shows when the drive starts to sweep for the spinning motor the frequency sweep has a certain slope associated with it By modifying P359 FS Speed Reg Ki you can change the slope of this sweep Flying Start Sweep Slope B This plot shows the result of increasing P359 FS Speed Reg Ki The slope is extended PowerFlex 753 Fly
131. 4 Autotune Inertia Also when a value is entered and the drive determines that the number of revolutions will be exceeded it goes into a decel and stops before the value is exceeded P78 Encdrlss AngComp and P79 Encdrlss VltComp These parameters are valid only for Flux Vector motor control mode and open loop P78 is populated only by a rotate tune P79 is populated by a Static measurement P80 PM Cfg This configuration parameter enables certain tests to be performed based on the motor connected Permanent Magnet Motors Parameters P81 through P93 and P120 are all populated by an autotune when the motor selected is permanent magnet The value for these parameters are determined only by a rotate tune Interior Permanent Magnet Motors Parameters P1630 through P1647 are all populated by an autotune when the motor selected is interior permanent magnet The value for these parameters are determined only by a rotate tune Rockwell Automation Publication 750 RM002B EN P September 2013 41 Drive Configuration Chapter 1 Auxiliary Power Supply The optional Auxiliary Power Supply module 20 750 APS is designed to provide power to a single drive s control circuitry in the event incoming supply power to the drive is removed or lost When connected to a user supplied 24V DC power source the communication network functions remain operational and on line A DeviceNet program can also continue to run and control any associated i
132. 4 For more information about setting the Operating Mode jumper see the PowerFlex 20 750 ENETR Dual Port EtherNet IP Option Module User Manual publication 750COM UM008 IP Address Assignment If the PowerFlex 755 drive is connected to a Stratix 6000 or Stratix 8000 managed Ethernet switch and the drive is set for BOOTP mode the dynamic IP address assignment by port Stratix 6000 or DHCP persistence Stratix 8000 feature sets the IP address for the drive For more details see the Stratix 6000 Ethernet Managed Switch User Manual publication 1783 UM001 or the Stratix 8000 and Stratix 8300 Ethernet Managed Switches User Manual publication 1783 UM003 Option Module Placement Install the Dual Port EtherNet IP option module in Port 4 or 5 of the PowerFlex 755 drive control pod When operating in Tap mode drive Port 6 cannot be used 316 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Hardware Over Travel Considerations When a PowerFlex 755 drive is configured for Integrated Motion on the EtherNet IP Network none of the I O option modules are supported Therefore inputs associated with over travel limits must be wired into controller input modules and then control must be programmed in the Logix Controller Operation of this control is accomplished by programming the controller to monitor the over t
133. 453 Velocity Reference 496 Kj 1352 Induction Motor Rated Slip Speed 600 Output Frequency 529 Iq Current Feedback 494 Torque Reference Limited 434 Position Feedback 380 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Speed Control Reference Overview 1 2 3 4 5 6 B A D C F E H G I Spd Ref A Trim Ref A Trim Ref A Ref A Auto Spd Ref B Trim Ref B Trim Ref B Ref B Auto ENet Spd Ref DPI Ports 1 6 Manual Spd Ref Command Limit Selected Spd Ref Skip Bands Limited Spd Ref Direction Mode Vel Ref Filter x Speed Comp Pos Reg Output Filter Speed Ref Scale From Position Regulator Limit Inertia Comp Velocity Reg Ref Inertia Comp Torque Ref Motor Spd Ref From PI Regulator Trim Mode From PI Regulator Exclusive Mode Profiling Jogging Lift App Autotune Homing Overrides VF or SV Droop From Slip Comp Frequency Ref Limit From Velocity Trim Regulator Max Speed Overspeed Limit From PI Regulator Trim Mode Flux Vector Limit Max Speed Max Speeds Speed Reference Selection Speed Reference Control Ramped Vel Ref Limit Switch Control Speed Ref Stop Torque Proving Vector Ramp S Curve Linear Ramp amp
134. 50 RM002B EN P September 2013 265 Motor Control Chapter 4 A digital torque value to be used as a possible source for P675 and P680 respectively P677 Trq Ref A AnlgHi and P682 Trq Ref B AnlgHi Torque Reference A B Analog High Used only when an analog input is selected as a torque reference according to P676 or P681 Sets the torque value that corresponds to Anlg Inn Hi on an I O module or on the main control product dependent This establishes scaling throughout the range P678 Trq Ref A AnlgLo and P683 Trq Ref B AnlgLo Torque Reference A B Analog Low Used only when an analog input is selected as a torque reference according to P676 Trq Ref A Stpt or P681 Trq Ref B Stpt Sets the torque value that corresponds to Anlg Inn Lo on an I O module or on the main control product dependent This establishes scaling throughout the range P679 Trq Ref A Mult and P684 Trq Ref B Mult Torque Reference A B Multiplier A multiplier that is applied to the values referenced by P675 Trq Ref A Sel and P680 Trq Ref B Sel respectively A value of 1 leaves the reference unaffected Negative values invert the reference Refer to Speed Torque Position on page 266 for an explanation of Speed Torque Position mode choices for operating in various specific modes utilizing Internal and or External torque reference sources 266 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Speed
135. 55 AC Drives Additional Resources for Integrated Motion on the EtherNet IP Network Information 300 Coarse Update Rate 301 Control Modes for PowerFlex 755 Drives Operating on the Integrated Motion on the EtherNet IP Network 301 Drive Nonvolatile NV Memory for Permanent Magnet Motor Configuration 308 Dual Loop Control 309 Dual Port EtherNet IP Option Module ETAP 315 Hardware Over Travel Considerations 316 Integrated Motion on EtherNet IP Instance to PowerFlex 755 Drive Parameter Cross Reference 317 Motor Brake Control 338 Network Topologies 341 PowerFlex 755 and Kinetix 7000 Drive Overload Rating Comparison for Permanent Magnet Motor Operation 345 PowerFlex 755 Drive Option Module Configuration and Restrictions
136. 558 Set Flux Up Control Y Y Y Y Ind Motor only O Enum 1 Manual Delay Y 2 Automatic Delay Y 559 Set Flux Up Time Y Y Y Y Ind Motor only Table 30 PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T Conditional Implementation Rockwell Automation Publication 750 RM002B EN P September 2013 425 Appendix A 562 Set Commutation Self Sensing Current N N N PM Motor only O Value 563 Set Commutation Polarity N N N PM Motor only 250 Set Feedback Commutation Aligned Y Y Y O Enum 2 Motor Offset N 3 Self Sense Y 570 Set Frequency Control Method R O Enum 128 Fan Pump Volts Hertz Y 129 Sensorless Vector Y 130 Sensorless Vector Economy Y 600 Get Output Frequency R Y Y Y 610 Set Stopping Action R R R R O Enum 2 Ramped Decel Disable FPV Y 3 Current Decel Hold PV N 4 Ramped Decel Hold PV Y 128 DC Injection Brake IM Y 129 AC Injection Brake IM Y 612 Set Stopping Time Limit N N N 613 354 Set Resistive Brake Contact Delay N N N N PM Motor only 614 Set Mechanical Brake Control N N N N 615 Set Mechanical Brake Release Delay N N N N 616 Set Mechanical Brake Engage Delay N N N N 870 Set DC Injection Brake Current Y Y Y Y Ind Motor only 872 Set DC Injection Brake Time Y Y Y Y Ind Motor on
137. 6 2 3 4 5 6 d14 Inverter Overload IT Heatsink and Junction Degree Calculator Drive Thermal Manager Power Device Characteristics NTC Pwr EE Data Duty Cycle Drive OL Mode PWM Frequency DC Bus Volts Output Current Current Limit 1 Current Limit 2 Other Reference Sources Current Limit Sel Parameter Selection Drive OL Count IGBT Temp Pct IGBT Temp C Drive Temp Pct Drive Temp C Active Cur Lmt Active PWM Freq Alarm Status B Fault Status B IGBT OT Heatsink OT Drive OL CurLmt Reduc PWMFrq Reduc Drive OL Heatsink OT TransistorOT SinkUnderTmp Excess Load Rockwell Automation Publication 750 RM002B EN P September 2013 161 Diagnostics and Protection Chapter 3 drive temperature and a temperature rise that is a function of operating conditions When the calculated junction temperature reaches a maximum limit the drive faults This fault cannot be disabled This maximum junction temperature is stored on the power board EEPROM along with other information to define the operation of the drive overload function These values are not user adjustable In addition to the maximum junction temperature there are temperature thresholds that select the points at which the PWM frequency begins to fold back and at which current limit begins to fold back P960 Alarm Status B alarm bits provide status as to when the fold back points are being reached regardl
138. 6 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 False 1 True 96 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Stop Modes Stop Mode A B can be configured as a method of stopping the drive when a stop command is given A normal stop command and the run input changing from true to false results in a normal stop command However when using TorqueProve P1100 Trq Prove Cfg with Bit 0 enabled Stop Mode A B must be set to 1 Ramp P392 Stop Dwell Time can also be used with a stop command This can be used to set an adjustable time between detecting zero speed and turning off the drive output The PowerFlex 750 series offers several methods for stopping a load The stop method or mode is defined by parameters 370 371 Stop Mode A B These modes include the following Coast Ramp Ramp to Hold DC Brake DC Brake Auto Off Current Limit Fast Brake Additionally P388 Flux Braking In can be selected separately not part of the Stop mode selection to provide additional braking during a Stop command or when reducing the speed command For Stop commands this provides additional braking power during Ramp or Ramp to Hold selections only If Fast Brake or DC Brake is used Flux Braking is active only during speed changes if enabled A Ramp selection always provides the fastest stopping time if a method to dissipa
139. 750 RM002B EN P September 2013 Chapter 4 Motor Control Min Max Fwd Rev Speed Maximum and minimum speed limits are applied to the forward and reverse reference The minimum speed limits create a band that the drive will not run continuously within but ramps through This is due to the forward or reverse minimum speeds P522 Min Fwd Speed and P523 Min Rev Speed respectively If the reference is positive and less than the Min Fwd Speed it is set to the Min Fwd Speed minimum If the reference is negative and greater than Min Rev Speed minimum it is set to the Min Rev Speed minimum If the minimum is not 0 hysteresis is applied at 0 to prevent bouncing between the Min Fwd Speed and Min Rev Speed minimums If the reference is greater than the forward or reverse maximum speeds P520 Max Fwd Speed and P521 Max Rev Speed respectively the speed reference is clamped to the their respective maximum limit See example below P520 Max Fwd Speed 60 Hz P521 Max Rev Speed 60 Hz P522 Min Fwd Speed 20 Hz P523 Min Rev Speed 20 Hz P545 Spd Ref A Sel P546 Spd Ref A Stpt The picture below depicts how the Min Max Fwd Rev Speed bands and its influence the drive The BLUE line depicts the desired speed reference set point 522 523 520 521 1103 5 Speed Ref Limits Min Speed Limits Max Speed Limits Limit Limit Min Fwd Speed Min Rev Speed Max Fwd Speed Max Fwd Speed Internal Loa
140. 750 RM002B EN P September 2013 429 Index J Jog 123 Jog Forward Jog Reverse 122 L Last StrtInhibit No 934 95 Linear Topology Integrated Motion on the EtherNet IP Network 342 Linear Star Topology Integrated Motion on the EtherNet IP Network 344 Load RSLogix 5000 instance to parameter cross reference 334 Load Compliance RSLogix 5000 instance to parameter cross reference 335 Load Observer RSLogix 5000 instance to parameter cross reference 337 Lost Data Packets 301 M Manaual Control 123 Manual Conventions 11 MAS instruction 304 MDS instruction configure 301 decrease speed sample code 303 increase speed sample code 303 ramp attributes 304 ramp attributes sample code 305 start sample code 302 torque mode sample code 304 Minimum Coarse Update Rate 301 MOP Increment Decrement 124 Motion Analyzer software 300 Motion Axis Stop See MAS instruction Motion Drive Start See MDS instruction Motion Servo Off See MSF instruction Motor Feedback RSLogix 5000 instance to parameter cross reference 331 Motor Load Feedback RSLogix 5000 instance to parameter cross reference 332 Motor Overload 168 Motor Thermistor 152 Motor Types 235 MSF instruction 304 Mtr Options Cfg No 40 25 N Network Topologies Integrated Motion on the EtherNet IP Network 341 Nonvolatile Memory 308 Notch Filter 244 O Option Modules supported for Integrated Motion on the EtherNet IP Network 346 Outputs Analog 113 114 Digital 130 Overload 158 16
141. 8 Overspeed Limit 172 Owners 70 P Password 173 Permanent Magnet Motor evaluation 361 specifications 361 Permanent Magnet Motor Data 308 RSLogix 5000 instance to parameter cross reference 329 Permanent Magnet Motor Model RSLogix 5000 instance to parameter cross reference 329 Permanent Magnet Motors recommended 358 PID Cfg No 1065 79 PID Enable 125 PID Hold 126 PID Invert 126 PID Loop 76 PID Reset 126 PID Status No 1089 85 Port Assignment Dual Port EtherNet IP option module 315 position loop RSLogix 5000 instance to parameter cross reference 325 Position Mode 306 Positive Negative Hardware Over travel 127 Power Loss 72 125 Power Loss Mode 125 Power Tab RSLogix 5000 instance to parameter cross reference 337 Precautions General 12 Precharge 125 Process PID Loop 76 Process PID Parameters 79 PTC Motor Thermistor Input 152 PWM Frequency 196 430 Rockwell Automation Publication 750 RM002B EN P September 2013 Index R Real Time Clock 174 Recommended AC induction motors 357 bulletin HPK series motors 359 permanent magnet motors 358 Reflected Wave 179 Regen Power Limit 247 Restart Auto 25 Ring topology Integrated Motion on the EtherNet IP Network 343 Ring star topology Integrated Motion on the EtherNet IP Network 345 Run 122 Run Forward Run Reverse 122 S safety option modules restrictions for Integrated Motion on the EtherNet IP Network 346 Scaling Analog 107 Security 185 Shear Pin 188 shunt regulator
142. 85V DC 750V DC gt 685V DC Memory 65V DC 900 800 700 600 500 400 300 200 100 0 14 12 10 8 6 4 2 0 0 15 0 05 0 25 0 45 0 65 0 85 1 05 1 25 1 45 DC Bus Voltage DC Current DC Bus PowerFlex 750 Series Bus Regulation Both DB First SV Seconds DC Bus Volts 10 Volts Base Speed Speed Fdbk Motor Speed Brake Current Rockwell Automation Publication 750 RM002B EN P September 2013 51 Drive Configuration Chapter 1 P375 Bus Reg Level Bus Regulation Level Sets the turn on bus voltage level for the bus voltage regulator and the dynamic brake Table 5 Turn On Bus Voltage While the following parameters are listed and editable in the drive they typically do not need to be adjusted in any way Take care when adjusting because undesired operation can occur in another aspect of motor control P376 Bus Limit Kp Bus Limit Proportional Gain Enables a progressively faster decel when the drive is behind the programmed decel time by making the bus limiter more responsive A higher value means the drive tries to decrease decel time This parameter is valid only in NON Flux Vector modes P377 Bus Limit Kd Bus Limit Derivative Gain Lets you force the bus limit sooner The higher the value the quicker the bus limit is hit and regulation starts This can cause regulation below the typical setpoint 750VDC for 460V drive Too high a value and normal operation o
143. 900 800 700 600 500 400 300 200 100 0 14 12 10 8 6 4 2 0 2 0 2 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 DC Bus Voltage DC Current DC Bus Seconds DC Bus Volts 10 Volts Base Speed Speed Fdbk Motor Speed Brake Current 50 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Sensorless Vector SV Control Because the drive is not limiting the regen power the DB is able to dissipate the power the entire decel time before duty cycle considerations limits the DB capability Table 4 Bus Regulation Curves Level Gains The following parameters are Level Gains related to bus regulation P374 Bus Reg Lvl Cfg Bus Regulation Level Configuration Selects the reference used to determine the bus voltage regulation level for the bus voltage regulator and the reference used for the dynamic brake Bus Memory 0 References are determined based on P12 DC Bus Memory BusReg Level 1 References are determined based on the voltage set in P375 Bus Reg Level If coordinated operation of the dynamic brakes of a common bus system is desired use this selection and set the P375 Bus Reg Level to coordinate the brake operation of the common bus drives Voltage Class DC Bus Memory Bus Reg Curve 1 Bus Reg Curve 2 480 lt 650V DC Memory 100V DC Curve 1 8V DC 650V DC DC Bus Memory 6
144. Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Application Type Specify the type of motion control application to be tuned Custom This option lets you select the type of gains to use in the system You can individually select gains to be used with the check boxes that display below Customize Gains to Tune heading Basic This selection is used for applications where following error and final position is not critical Basic tuning gains include Position Loop proportional and Velocity Loop proportional Tracking This selection provides the most aggressive tuning It is used to keep following error to a minimum and applies to both Velocity Feedforward and Acceleration Feedforward This tuning selection uses Position Loop proportional Velocity Loop proportional and Velocity Loop integral Point to Point This selection is used for applications that use a move to position and do not need to include a following error Tuning gains for this selection include Position Loop proportional Position Loop integral and Velocity Loop proportional Constant Speed This selection is used for constant speed applications It is designed to keep velocity error to a minimum It applies both Velocity Feedforward and uses Position Loop proportional Velocity Loop proportional and Velocity Loop integral Rockwell Automation Public
145. B Bit 13 AuRstExhaust Auto Manual The purpose of the Auto Manual function is to permit temporary override of speed control and or exclusive ownership of logic start run direction control A manual request can come from any port including HIM digital input or other input module However only one port can own manual control and must release the drive back to auto control before another port can be granted manual control When in Manual mode the drive receives its speed reference from the port that requested manual control unless otherwise directed by the Alternate Manual Reference Select The HIM can request Manual control by pressing the Controls key followed by the Manual key Manual control is released by pressing the Controls key followed by Auto When the HIM is granted manual control the drive uses the speed reference in the HIM If desired the auto speed reference can be automatically preloaded into the HIM when entering HIM manual control so that the transition is smooth Manual control can also be requested through a digital input To do this a digital input has to be set to request Manual control through P172 DI Manual Ctrl Digital Input Manual control requests can be configured to use their own alternative speed reference to control the drive Digital inputs can also be used in conjunction with Hand Off Auto Start to create a three way HOA switch that incorporates Manual mode The Safe Speed Monitor Option Module
146. C Sine Cosine feedback type SL Stahl SSI feedback type SS SSI feedback type TM Tamagawa feedback type TP Digital Parallel feedback type TT Digital AqB feedback type Table 29 Conditional Implementation Key Key Description Table 30 PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T Conditional Implementation 19 Set Axis Features R R R R R O Bits 0 Fine Interpolation Y 1 Registration Auto rearm Y 2 Alarm Log Y 5 Hookup Test Y 6 Commutation Test Y 7 Motor Test Y 8 Inertia Test Y 9 Sensorless Control Y 30 Set Axis Configuration R R R R R O Enum 0 Feedback Only N 1 Frequency Control Y 2 Position Loop Y 3 Velocity Loop Y 4 Torque Loop Y 31 Set Feedback Configuration R R R R R O Enum 0 No Feedback V Y T Y 3 Load Feedback PVT N 4 Dual Feedback P Y 8 Dual Integrator Feedback P Y 45 Set Motion Scaling Configuration R R R R R O Enum 1 Drive Scaling N 1310 251 Set Motor Catalog Number N N N N Dr NV Rockwell Automation Publication 750 RM002B EN P September 2013 421 Appendix A 1313 Set Motor Data Source R R R R O Enum 1 Database Y 2 Drive NV Y 3 Motor NV N 1315 Set Motor Type R R R R O Enum 1 Rotary Permanent Magnet Y 2 Rotary Induction Y 3 Linear Permanent Magnet N 4 Linear Induction N
147. DI Manual Control Digital Input 1 176 DI HOA Start Digital Input 1 324 Logic Mask xxxxxxxxxxxxxxx1 Digital In 326 Manual Cmd Mask xxxxxxxxxxxxxxx1 Digital In 327 Manual Ref Mask xxxxxxxxxxxxxxx1 Digital In 563 DI Manual Reference Select Anlg In0 Value 24V H A O XOO OOX DI 0 Stop DI 1 HOA Start Start Relay 24V H A O XOO OOX DI 0 Stop and HOA Start Start Relay Rockwell Automation Publication 750 RM002B EN P September 2013 67 Drive Configuration Chapter 1 To use the H O A switch the run relay and allow for network or HIM control the circuit can be wired as in the figure below Here the stop input is high when the H O A switch is in the Hand or Auto position This eliminates the asserted stop caused when the stop input is low allowing for the drive to be started from several sources when the H O A switch is in the Auto position Masks A mask is a parameter that contains one bit for each of the possible ports for the respective PowerFlex 750 Series drive Each bit acts like a valve for issued commands Closing the valve setting a bit value to 0 stops the command from reaching the drive Opening the valve setting a bit value to 1 lets the command pass through the mask into the drive Table 6 Mask Parameters and Functions 24V H A O XOO OOX XOO OOX DI 0 Stop Start Relay DI 1 HOA Start Parameter No Parameter Name Description
148. Definition Vbus The instantaneous DC bus voltage Vmem The average DC bus voltage A measure of the average bus voltage determined by heavily filtering bus voltage Just after the pre charge relay is closed during the initial power up bus pre charge bus memory is set equal to bus voltage Thereafter it is updated by ramping at a very slow rate toward Vbus The filtered value ramps at 2 4V DC per minute for a 480VAC drive An increase in Vmem is blocked during deceleration to prevent a false high value due to the bus being pumped up by regeneration Any change to Vmem is blocked during inertia ride through Vslew The rate of change of Vmem in volts per minute Vrecover The threshold for recovery from power loss Vtrigger The threshold to detect power loss The level is adjustable The default is the value in the PowerFlex 750 Series Bus Level table If Pwr Loss Lvl is selected as an input function AND energized Vtrigger is set to Vmem minus Pwr Loss Level Vopen is normally 60V DC below Vtrigger in a 480VAC drive Both Vopen and Vtrigger are limited to a minimum of Vmin This is a factor only if Pwr Loss Level is set to a large value Important When using a value of P451 P454 Pwr Loss A B Level that is larger than default you must provide a minimum line impedance to limit inrush current when the power line recovers Provide an input impedance that is equal to or greater than the equivalent of a 5 transformer with a VA rating
149. Derivative d dt 0 1 Motor Accerlation Fdbk To Inertia Adaption Load Observer Estimator 25G4 26G4 127 130 Pri Vel Feedback Alt Vel Feedback Pri Vel Fdbk Sel Alt Vel Fdbk Sel 0 1 IA LdObs Delay 847 Psn Fdbk Spd Options Cntl Auto Tach SW Fdbk Loss Detect 936 5 635 7 Drive Status 2 FdbkLoss SwO Display Filtering 3 Mtr Vel Fdbk 131 Active Vel Fdbk To Spd Reg 9B4 10A3 24a B3 24b B3 To Posit Ref Posit Reg 11C5 12A4 12A5 135 Psn Fdbk Sel 132 Aux Vel Fdbk Sel 126 Pri Vel FdbkFltr 129 Alt Vel FdbkFltr 597 Final Speed Ref 76 Total Inertia 141 Virtual Enc EPR 690 Limited Trq Ref 1 Output Frequency 5 Torque Cur Fdbk 137 Open Loop Fdbk 621 Slip RPM at FLA 141 Virtual Enc EPR 138 Simulator Fdbk 134 Aux Vel Feedback 133 Aux Vel FdbkFltr Pri Vel Fdbk Source Alt Vel Fdbk Source Psn Fdbk Source Aux Vel Fdbk Source Parameter Selection Parameter Selection Parameter Selection Parameter Selection From Spd Ref 9D3 From Torq Ctrl Current 24a E2 24b E2 9I4 To Spd Ref 5A3 25H2 26H2 VF or SV amp Open Loop Control Mode Feedback Mode INTERNAL CONDITION ONLY PF755 Rev_9 a Page 3 2403 Feedback n Velocity Filter Taps 467 Velocity Integrator Control 454 Velocity Feedback
150. FF OFF OFF ON OFF Reluctance Encoder Static OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Dynamic OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Encoderless Static OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Dynamic OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 38 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Individual Tests Some of the following tests are executed during an Autotune Resistance Test This test is a Static test whether Static or Rotate is selected Used to measure Stator resistance Inductance Tests This test is a Static test whether Static or Rotate is selected One test is used for Induction motors and a another is used for PM motors The result from the Induction test is placed into the Ixo parameter and the PM test is placed into the IXd and IXq parameters Flux Test This test is a Rotate test that measures the current under a no load condition The results are used for the flux current If a Static test is used the resulting value is from a lookup table Slip Test This test is a Rotate test that measures the difference between the rotor speed and the stator speed This measurement is taken during acceleration PM Offset Test This test can create a small amount of motor movement so it needs to be performed with the Rotate selection The test reads the encoder position when the drive outputs zero hertz Inertia Test
151. Filtered Torque Ref Select Drive Voltage and Current Ratings Brake Bus Config DC Bus Voltage Te Iq Calc Current Limit Rate Limit Torque Current Ref Pwr Te Calc Power Torque and Current Limit Reference Generation Current Limit Processing and Selection Load Observer Estimator Friction Comp PF755 Rev_9 a Page 21a 398 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Torque Control Overview Interior Permanent Magnet Motor Torque Control Overview Interior Permanent Magnet Motor IPM 1 2 3 4 5 6 B A D C F E H G I PF755 Rev_9 a Page 21b Torque Reference Scale and Trim Speed Torque Position Mode Select Torque Limit Inertia Adaption Torque Limit Select Bus Voltage Regulator Torque Step Spd Reg PI Out Torq Ref 1 Torq Ref 2 Torq Trim Speed Reg Output Trim Inertia Comp Regen Power Limit Pos Torque Limit Neg Torque Limit Notch Filter Filtered Torque Ref Select Drive Voltage and Current Ratings Brake Bus Config DC Bus Voltage Current Limit Rate Limit Iq Current Ref Pwr Te Calc Power Torque and Current Limit Reference Generation Current Limit Processing and Selection Load Observer Estimator
152. Friction Comp Te Id Calc Voltage Limit Current Limit Id Current Ref Te Iq Calc Id Rockwell Automation Publication 750 RM002B EN P September 2013 399 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Torque Control Reference Scale and Trim 1 2 3 4 5 6 B A D C F E H G I Torque Control Reference Scale amp Trim x 679 Trq Ref A Mult Analog In 1 675 Trq Ref A Sel Analog In 2 From DIO Option Card Disabled Trq Ref A Stpt Setpoint 676 x 684 Trq Ref B Mult 3 4 Other 0 1093 1079 PID Output Sel PID Output Meter PID Torque Trim Other 0 3 Other 0 3 3 Torque Excl 4 Torque Trim 0 0 From DIO Option Card Trq Ref B Stpt 4 Commanded Trq Default Note Analog Hi Lo scaling only used when Analog Input is selected 677 Trq RefA AnlgHi 678 Trq RefA AnlgLo Parameter Selection To Torq Ctrl Process Ctrl 23B4 27A4 27E5 1 195 DI Torque StptA Bit Source Parameter Selection Default Analog In 1 680 Trq Ref B Sel Analog In 2 From DIO Option Card Disabled 0 0 From DIO Option Card 682 Trq RefB AnlgHi 683 Trq RefB AnlgLo Setpoint 681 0 Default Parameter Selection PF755 Rev_9 a Page 22 761 Interp Trq Out 400 Rockwell Automatio
153. Full Name Description Values Read Write Data Type I O Digital Outputs 5 Dig Out Sts Digital Output Status RO 16 bit Integer Status of the digital outputs 1 Bit 1 Trans Out 0 for I O Module model 20 750 2263C 1R2T Relay Out 1 for I O Module models 20 750 2262C 2R and 20 750 2262D 2R 2 Bit 2 is used only by I O Module 20 750 2263C 1R2T Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Trans Out 1 2 Trans Out 0 1 Relay Out 0 Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 Output De energized 1 Output Energized 225 0 234 235 232 A B 230 226 0 0 1 233 1 A lt B 0 231 242 A B 243 1 0 225 1 224 245 226 1 0 1 240 241 A B A lt B A B RO0 Off Time Timer Dig Out Sts Dig Out Invert RO0 On Time Inv Parameter Selection Parameter Selection Parameter Selection Parameter Selection Inv TO0 Off Time Timer Dig Out Sts Dig Out Invert TO0 On Time Relay Out0 Source Transistor Out0 Source RO0 Level Source RO0 Sel TO0 Sel RO0 Level Sel RO0 Level CmpSts RO0 Level TO0 Level Source TO0 Level Sel TO0 Level CmpSts TO0 Level NC Common NO 24V Common NO Rockwell Automation Publication 750 R
154. Hi 50 Anlg In0 Value 45 0 46 0 Square Root V mA V mA V mA 49 1 Anlg In Loss Sts Loss Scaled Value 3 2 1 0 4 5 6 7 8 Alarm Flt Continue FltCoastStop Flt RampStop Flt CL Stop Hold Input Set Input Lo Set Input Hi Pre Scaled Value Ignore Abs 71 0 82 DAC 70 0 Voltage Current 80 78 79 81 Anlg Out Abs Analog Out Type Anlg Out0 Hi Anlg Out0 Lo Anlg Out0 DataHi Anlg Out0 DataLo Anlg Out0 Val In Lo Hi Lo Scale V mA V mA V mA 77 Anlg Out0 Data Anlg Out0 Sel 75 76 Other Ref Sources Anlg Out0 Stpt Output Input 11 Series Inputs amp Outputs Analog Parameter Selection Option Module Parameters Reference Symbol Legend PF755 Rev_9 a Page 33 412 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 11 Series Inputs and Outputs ATEX Buffer amp Comparator PTC Monitor PTC Thermostat Input 41 0 Motor PTC Motor PTC Thermostat Input 1 Thml Snsor OK Short Cirkt 2 3 13 14 Over Temp Voltage Loss Thermostat PTC Selected Fault AND Logic Reset AND Logic Transistor Latch Common NO ATEX Relay Output 1 2 3 4 5 6 B A D C F E H G I 11 Series
155. Inputs amp Outputs ATEX PF755 Rev_9 a Page 34 Rockwell Automation Publication 750 RM002B EN P September 2013 413 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Control Logic 1 2 3 4 5 6 B A D C F E H G I Control Logic DPI Port 2 0 15 DPI Port 4 0 15 DPI Port 3 0 15 DPI Port 1 Drv Mounted HIM 0 15 Digital Inputs 0 15 DPI Port 6 0 15 DeviceLogix Port 14 0 15 Embedded Ethernet Port 13 0 15 DPI Port 5 0 15 Mask Evaluation Logic Masks Logic Mask Auto Mask Manual Cmd Mask Manual Ref Mask 324 325 326 327 Owner Logic Logic Evaluation 879 Drive Logic Rslt Owners Stop Owner Start Owner Jog Owner Dir Owner Clear Flt Owner Manual Owner Ref Select Owner 919 920 921 922 923 924 925 Logic Parser 0 31 Stop Start Jog1 Clear Faults Forward Reverse Manual Reserved Accel Time 1 Accel Time 2 Decel Time 1 Decel Time 2 SpdRef Sel 0 SpdRef Sel 1 SpdRef Sel 2 Reserved 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 Bit Coast Stop CurrLim Stop Run Jog 2 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Bit Masks Act Status Port Mask Act Logic Mask Act Write Mask Act
156. L Reference value of 1020 5 equals a Reference of 1020 5 RPM Note that the commanded maximum speed can never exceed the value of drive P520 Max Fwd Speed Table 12 shows example References and their results for a PowerFlex 755 drive that has its P300 Speed Units set to Hz P37 Maximum Freq set to 130 Hz P520 Max Fwd Speed set to 60 Hz When P300 Speed Units is set to RPM the other parameters are also in RPM Table 12 PowerFlex 755 Drive Example Speed Reference Feedback Scaling When a network communication adapter is selected as the speed reference a 32 bit word is used as the speed reference If P308 Direction Mode is set to 1 Bipolar the most significant bit MSB is used for direction control Otherwise the MSB is ignored Network Reference Value Speed Command Value 2 2 For this example drive P300 Speed Units is set to Hz Output Speed Network Feedback Value 130 0 130 Hz 60 Hz 3 3 The drive runs at 60 Hz instead of 130 Hz or 65 Hz because drive P520 Max Fwd Speed sets 60 Hz as the maximum speed 60 0 65 0 65 Hz 60 Hz 3 60 0 32 5 32 5 Hz 32 5 Hz 32 5 0 0 0 Hz 0 Hz 0 0 32 5 1 1 The effects of values less than 0 0 depend on whether the PowerFlex 755 drive uses a Bipolar or Unipolar Direction mode See the drive documentation for details 32 5 Hz 32 5 Hz 32 5 IMPORTANT When a 20 COMM Carrier 20 750 20COMM is used to install a 20 COMM adapter on
157. L Trip Time Displays the inverse of the motor overload time 558 MOP Reference Value of the MOP Motor Operated Potentiometer Reference to be used as a possible source for P545 and P550 707 Load Estimate Displays an estimated load torque value for the drive 940 Drive OL Count Indicates power unit overload IT in percentage 943 Drive Temp Pct Indicates operating temperature of the drive power section heat sink in percentage of the maximum heat sink temperature 1090 PID Ref Meter Present value of the PI reference signal 1091 PID Fdbk Meter Present value of the PI feedback signal 1092 PID Error Meter Present value of the PI error 1093 PID Output Meter Present value of the PI output 1567 2 2 PowerFlex 755 drives only FrctnComp Out Displays the torque reference output of the Friction Compensation function 50 3 4 3 Option modules can be used in Ports 4 5 and 6 of PowerFlex 753 drives 4 Option modules can be used in Ports 4 5 6 7 and 8 of PowerFlex 755 drives Anlg In0 Value Value of the Analog input after filter square root and loss action 60 3 4 Anlg In1 Value Value of the Analog input after filter square root and loss action 90 97 5 5 Port 14 DeviceLogix software parameters DLX Real Out SP1 SP8 Eight 32 bit Real scratchpad registers for DLX program output use Rockwell Automation Publication 750 RM002B EN P September 2013 139 Feedback and I O
158. M002B EN P September 2013 151 Feedback and I O Chapter 2 Figure 12 PowerFlex 750 Series Option Module 5 0 14 15 12 A B 10 6 0 0 1 13 1 A lt B A B A lt B A B 0 22 A B 23 1 0 5 1 24 25 6 1 0 1 11 32 A B 33 1 0 5 2 34 35 6 2 0 1 20 30 21 31 A lt B A B RO0 Off Time Timer Dig Out Sts Dig Out Invert RO0 On Time Inv Parameter Selection Parameter Selection Parameter Selection Parameter Selection Inv RO1 TO0 Off Time Timer Dig Out Sts Dig Out Invert RO1 TO0 On Time Relay Out0 Source Relay Out1 Transistor Out0 Source RO0 Level Source RO0 Sel RO1 TO0 Sel RO0 Level Sel RO0 Level CmpSts RO0 Level RO1 TO0 Level Source RO1 TO0 Level Sel RO1 TO0 Level CmpSts RO1 TO0 Level NC Common NO Common Parameter Selection TO1 Level Source TO1 Level Sel TO1 Level CmpSts TO1 Level Timer NC Parameter Selection Inv TO1 Off Time Timer Dig Out Sts Dig Out Invert TO1 On Time Transistor Out1 Source TO1 Sel NO NO Outputs Output Compare 1R2T 1 Relay 2 Transistor I O Modules Only 1R2T 1 Relay 2 Transistor I O Modules Only 152 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O PTC Motor Thermistor Input A PTC Positive Temperature Coeffici
159. M002B EN P September 2013 59 Drive Configuration Chapter 1 the rotating motor See the previous plot when this parameter set to its lowest setting Flying Start Sweep Reverse Rotating Motor This plot shows the Sweep mode when the motor is rotating opposite from the commanded frequency It starts the same as explained above If it didn t detect the motor s speed as it reaches 3 Hz it begins to sweep in the opposite direction From here the process continues the same as before Flying Start Enhanced Mode PowerFlex 753 Flying Start Rotating Load P360 9000 Default 75 Note current dip Frequency Speed Current PowerFlex 753 Flying Start Rotating Reverse Sweep Mode Speed and Direction determined Frequency Speed Current Sweep Forward Acceleration to Commanded Speed Controlled Decel Sweep Reverse Motor Spinning Reverse Drive is off 60 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration This plot shows a very short time base of the Enhanced mode If the drive detects the counter EMF of the motor it can instantly re connect to the motor and accelerate to the commanded speed If the drive cannot measure the CEMF this is where the plot picks up it sends current pulses to the motor in an attempt to excite the motor allowing the drive to detect the speed of the motor This usually happens only at very low speeds Once the drive has detected the motor it
160. Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Increase Speed The speed is changed by updating the speed reference and then re executing the MDS instruction Decrease Speed The speed is changed by updating the speed reference and then re executing the MDS instruction 304 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Torque Mode When the axis configuration is in Torque Loop the Speed attribute within the MDS instruction is not used to command the speed of the drive The speed is determined by the amount of torque specified in the CommandTorque and or TorqueTrim attributes Ramp Attributes The MDS instruction is validated if the Integrated Motion on EtherNet IP drive device supports the following five ramp attributes RampAcceleration RampDeceleration RampVelocity Positive RampVelocity Negative RampJerk Control IMPORTANT You must command zero torque in the CommandTorque and TorqueTrim attributes before you use the Motion Axis Stop MAS instruction to stop a specific motion process on an axis or to stop the axis completely To use the MAS instruction you must set Change Decel to No Otherwise an instruction error can occur The deceleration rate is set based on the Ramp Deceleration attribute The Motion Servo Off MSF instruction is used to deac
161. Motor only 1349 Set Induction Motor Magnetization Reactance N N N N Ind Motor only 1350 Set Induction Motor Rotor Resistance N N N N Ind Motor only 1352 Set Induction Motor Rated Slip Speed Y Y Y N Ind Motor only 1370 Set Load Type N N N N N DScale 1371 Set Transmission Ratio Input N N N N N DScale 1372 Set Transmission Ratio Output N N N N N DScale 1373 Set Actuator Type N N N N N DScale 1374 Set Actuator Lead N N N N N DScale 1375 Set Actuator Lead Unit N N N N N DScale 1376 Set Actuator Diameter N N N N N DScale Table 30 PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T Conditional Implementation 422 Rockwell Automation Publication 750 RM002B EN P September 2013 Appendix A 1377 Set Actuator Diameter Unit N N N N N DScale 44 Set Feedback Unit Ratio Y N 1401 Get Feedback 1 Serial Number N N N N 1414 Set Feedback 1 Polarity Y Y Y Y 1415 Set Feedback 1 Startup Method R R R R O Enum 1 Absolute Y 1420 Set Feedback 1 Data Length Y Y Y Y TP SS 1421 Set Feedback 1 Data Code Y Y Y Y TP SS 1422 Set Feedback 1 Resolver Transformer Ratio N N N N RS 1423 Set Feedback 1 Resolver Excitation Voltage N N N N RS 1424 Set Feedback 1 Resolver Excitation Frequency N N N N RS 1425 Set Fee
162. O 16 bit Integer Inverts the selected digital output 753 Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Trans Out 0 Relay Out 0 Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 Condition False 1 Condition True File Group No Display Name Full Name Description Values Read Write Data Type I O Digital Outputs 6 Dig Out Invert Digital Output Invert RW 16 bit Integer Inverts the selected digital output 1 Bit 1 Trans Out 0 for I O Module model 20 750 2263C 1R2T Relay Out 1 for I O Module models 20 750 2262C 2R and 20 750 2262D 2R 2 Bit 2 is used only by I O Module 20 750 2263C 1R2T Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Trans Out 1 2 Trans Out 0 1 Relay Out 0 Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 Output Not Inverted 1 Output Inverted 148 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O On Off Time Each digital output has two user controlled timers associated with it The On timer defines the delay time between a False to True transition condition appears on the output condition
163. OG HELP Control Screen Key Function Map corresponds to Navigation Number Keys Stopped 0 00 Hz AUTO F Stopped 0 00 Hz MAN F 00 Stopped 0 00 Hz AUTO Host Drive 240V 4 2A 20G D014 ESC REF TEXT F PAR 30 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration If the request is not accepted a message indicates that Manual Control is not permitted at this time The most likely causes are that manual control is disabled for the port or that another port currently has manual control To check which port has manual control look at P924 Manual Owner To release Manual mode from the HIM press the Controls key to display the Control screen Press the Auto key Press the Edit key to confirm that you want to switch to Auto mode HIM Preload Before taking a manual control speed reference from a HIM the drive can preload its current speed into the HIM to provide a smooth transition Without this feature the drive immediately transitions to whatever speed was last used in the HIM before the operator has a chance to make their adjustment With this feature the drive maintains its current speed until the operator sets the speed to the desired manual reference The Auto Manual HIM Preload is configured through P331 Manual Preload Ports 1 2 and 3 can be configured to have the speed reference preloaded into the HIM by setting bits 1 2 and 3 respect
164. OM UM002 PowerFlex 7 Class Network Communication Adapter User Manuals publications 750COM UMxxx 10 Rockwell Automation Publication 750 RM002B EN P September 2013 Preface The following publications provide necessary information when applying the Logix Processors The following publications provide information that is useful when planning and installing communication networks You can view or download publications at http www rockwellautomation com literature To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative PowerFlex 750 Series Safe Torque Off User Manual publication 750 UM002 These publications provide detailed information on installation set up and operation of the 750 Series safety option modules Safe Speed Monitor Option Module for PowerFlex 750 Series AC Drives Safety Reference Manual publication 750 RM001 Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES IN001 Provides basic information needed to properly wire and ground PWM AC drives PowerFlex AC Drives in Common Bus Configurations publication DRIVES AT002 Provides basic information needed to properly wire and ground common bus PWM AC drives Safety Guidelines for the Application Installation and Maintenance of Solid State Control publication SGI 1 1 Provides general guidelines for the application installation a
165. P520 Max Fwd Speed or P521 Max Rev Speed and the programmed active Decel Time n The reduction in output can be limited by other drive factors such as bus or current regulation When the output reaches zero the output is shut off The motor if rotating coasts from its present speed for a time that is dependent on the mechanics of the system inertia friction and so forth Bus Voltage Output Voltage Output Current Motor Speed Command Speed Time DC Hold Time Stop Command Zero Command Speed Output Voltage Output Current DC Hold Level 100 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Ramp to Hold This method combines two of the methods above It uses drive output reduction to stop the Load and DC injection to hold the load at zero speed once it has stopped On Stop drive output decreases according to the programmed pattern from its present value to zero The pattern can be linear or squared The output decreases to zero at the rate determined by the programmed P37 Maximum Freq and the programmed active P537 538 Decel Time 1 2 The reduction in output can be limited by other drive factors such as bus or current regulation When the output reaches zero 3 phase drive output goes to zero off and the drive outputs DC voltage on the last used phase to provide the current level programmed in P394 DC Brake Level This voltage causes a
166. PowerFlex 750 Series AC Drives Catalog Numbers 20F 20G 21G Reference Manual Original Instructions 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 information circuits equipment or software described in th
167. Rockwell Automation Publication 750 RM002B EN P September 2013 187 Diagnostics and Protection Chapter 3 When the writing capabilities of ports 1 2 or 3 have been masked via parameter 888 Write Mask Cfg or Network Security the HIM displays the following message when trying to edit a parameter A6 HIM Security is enabled Access Denied A3 HIM with Firmware that has Security Functionality Security Enable Access Denied A3 HIM with Firmware that does not have Security Functionality Device State has Disabled Function Software used to interface with the drive also indicates if the writing capabilities have been disabled by P888 Write Mask Cfg or Network Security via the communication port being used Below are examples of parameters viewed with drive software via Drive Explorer or CCW when the connected port has been write disabled The parameter value is grayed out and a lock is displayed Attempting to edit a parameter or clicking on the lock results in one the following screens being displayed when using Drive Executive or CCW software Drive Explorer Connected Components Workbench Drive Explorer Connected Components Workbench 188 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection Shear Pin As a default the drive folds back when the output current exceeds the current limit level However the shear pin feature can be used to instantly fault the drive w
168. Rockwell Automation Publication 750 RM002B EN P September 2013 195 Chapter 4 Motor Control Topic Page Carrier PWM Frequency 196 Dynamic Braking 197 Flux Braking 216 Flux Regulator 218 Flux Up 218 High Resolution Feedback 220 Inertia Adaption 221 Inertia Compensation 223 Load Observer 225 Motor Control Modes 226 Motor Types 235 Notch Filter 244 Regen Power Limit 247 Speed Reference 251 Speed Regulation 260 Torque Reference 262 Speed Torque Position 266 196 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Carrier PWM Frequency P38 PWM Frequency sets the carrier frequency at which the inverter output IGBTs Insulated Gate Bipolar Transistors switch In general use the lowest possible switching frequency that is acceptable for the particular application An increased carrier frequency causes less motor heating and lowers the audible noise from the motor However it causes the IGBTs to heat up faster than by using the factory default PWM frequency of 4 kHz or 2 kHz depending on drive s the frame size The higher switching frequency smoothes the current waveform This reduces vibration in the motor windings and laminations reducing audible noise This is desirable in applications where motors are installed close to control rooms or in domestic environments See Figure 21 and note the output current at 2 kHz and 4 kHz The smoothin
169. Safety Reference Manual publication 750 RM001 for more information Number Parameter Name Value 158 DI Stop Digital Input 0 172 DI Manual Ctrl Digital Input 1 176 DI HOA Start Digital Input 1 324 Logic Mask xxxxxxxxxxxxxxx1 Digital In 326 Manual Cmd Mask xxxxxxxxxxxxxxx1 Digital In 327 Manual Ref Mask xxxxxxxxxxxxxxx1 Digital In 563 DI ManRef Sel Anlg In0 Value 34 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Automatic Device Configuration Automatic Device Configuration ADC supports the automatic download of configuration data to a Logix controller that has an EtherNet IP connection to a PowerFlex 755 drive firmware 4 001 or later and its associated peripherals ADC is supported in the following RSLogix 5000 software version 20 or later Studio 5000 environment version 21 or later Project files ACD files created with this software contain the configuration settings for PowerFlex drives in the project When the project is downloaded to the controller the configuration settings are transferred to controller memory Earlier programming software required a manual process to download configuration settings to the controller ADC can also work in tandem with Firmware Supervisor If Firmware Supervisor is set up and enabled for a drive Exact Match keying must be used the drive peripheral is automatically upgraded if necessary prior t
170. Set Backlash Compensation Window N 498 Set Friction Compensation Sliding N N N 499 Set Friction Compensation Static N N N 500 Set Friction Compensation Viscous N N N 826 421 Set Friction Compensation Window N 827 Set Torque Lead Lag Filter Bandwidth Y Y N 828 Set Torque Lead Lag Filter Gain Y Y N 502 Set Torque Low Pass Filter Bandwidth N N N 503 Set Torque Notch Filter Frequency Y Y Y 506 Set Torque Rate Limit N N N 507 334 Set Torque Threshold N N N 508 Set Overtorque Limit Y Y Y Y 509 Set Overtorque Limit Time Y Y Y Y 510 Set Undertorque Limit Y Y Y Y 511 Set Undertorque Limit Time Y Y Y Y 521 Get Operative Current Limit N N N 522 Get Current Limit Source N N N 524 Get Current Reference N N N 525 Get Flux Current Reference N N N 840 Set Current Disturbance N N N 527 Get Current Error N N N 528 Get Flux Current Error N N N 529 Get Current Feedback Y Y Y 530 Get Flux Current Feedback Y Y Y 553 Set Current Vector Limit Y N N N 554 Set Torque Loop Bandwidth N N N 555 Set Torque Integral Time Constant N N N 556 Set Flux Loop Bandwidth N N N 557 Set Flux Integral Time Constant N N N
171. Startup Method pull down menu choose the appropriate value for your device 312 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 13 Select the Load Feedback category 14 From the Type pull down menu choose the appropriate load feedback device 15 From the Units pull down menu choose the appropriate value 16 In the Cycle Resolution box type the appropriate value for your device 17 From the Startup Method pull down menu choose the appropriate value for your device 18 In the Turns box type the appropriate value for your device Rockwell Automation Publication 750 RM002B EN P September 2013 313 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 19 Select the Scaling category 20 From the Load Type pull down menu choose the appropriate value for your device This example uses a Rotary Transmission 21 In the Transmission Ratio boxes type the appropriate values for your device This example uses a ratio of 5 1 22 In the Scaling Units box type the appropriate value for your device 23 In the Scaling Position Units box type the appropriate value for your device This example uses 30 position units for every 1 0 load encoder revolution on a rotary axis for example a dial that unwinds to zero position after 90 units accumulate The ve
172. Status PID Enabled 1 0 Drive InLimit 1089 3 PID Status PID In Limit 1089 2 PID Status PID Reset 1066 2 PID Control PID Reset 0 0 0 0 0 Vqs Command 1085 PID Preload 0 1 0 1 1 5 0 2 3 4 6 Accel Conditional 1 0 0 x 1080 PID Output Mult 0 Process Control 1 Parameter Selection PID Enable Parameter Selection Parameter Selection Parameter Selection Option Port Digital In Option Port Analog In PID Hold 194 Option Port Digital In DI PID Invert Parameter Selection Invert Error 193 DI PID Reset Parameter Selection Option Port Digital In PID Reset 4 5 7 9 29F2 29F2 22H4 28A2 28D5 27G2 27C5 27H3 27E5 Conv Hz Per Unit 1 Output Frequency Conv Hz Per Unit 1 Output Frequency 9I4 9I4 1 1 1 1 PF755 Rev_9 a Page 27 406 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Process Control Sheet 2 1 2 3 4 5 6 B A D C F E H G I 1093 PID Output Meter 1079 X Limited Spd Ref 1065 6 PID Cfg Percent Ref 1 0 1065 2 PID Cfg Zero Clamp gt 0 Ramped Spd Ref 0 1 1 0 Neg Limit Pos Limit 1 1075 546
173. Step Abort Step AbortProfile Vel Override StrStepSel0 StrStepSel1 StrStepSel2 StrStepSel3 StrStepSel4 Step1 Step2 Step3 Step4 Step5 Step6 Step7 Step8 Step9 Step10 Step11 Step12 Step13 Step14 Step15 Step16 1218 1223 1224 1225 1226 1219 1220 1222 1221 DI Hold Step DI Abort Step DI Abort Profile DI Vel Override DI StrtStep Sel0 DI StrtStep Sel1 DI StrtStep Sel2 DI StrtStep Sel3 DI StrtStep Sel4 960 7 Alarm Status B Profile Actv PF755 Rev_9 a Page 16 Rockwell Automation Publication 750 RM002B EN P September 2013 393 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Position Control Profiler Indexer Sheet 2 Position Control Homing Type Position Absolute Posit Abs Action Posit Blend Time Blend Param Blend Digin Blend Wait Digin Step to Next End Velocity Move vel N A N A N A Move vel Move vel N A Accel Move accel N A N A N A Move accel Move accel N A Decel Move decel N A N A N A Move decel Move decel N A Value Absolute Target pos N A N A N A Absolute Target pos Absolute Target pos N A Dwell N A N A N A N A Dwell Time Dwell Time Dwell Time Batch N A N A N A N A N A N A N A Next Next Step N A N A N A Next Step Next Step N A Next Step Condition Position gt Value N A N A N A
174. Torque Position The PowerFlex 750 Series drives have the ability to have four separate Speed Torque Position modes with the following parameters P309 SpdTrqPsn Mode A P310 SpdTrqPsn Mode B P311 SpdTrqPsn Mode C P312 SpdTrqPsn Mode D Possible selections for the above Speed Torque Position parameters are as follows Zero Torque 0 Drive operates as a torque regulator with P685 Selected Trq Ref forced to a constant value of zero torque Speed Reg 1 Drive operates as a speed regulator P685 Selected Trq Ref comes from P660 SReg Output plus P699 Inertia Comp Out Torque Ref 2 Drive operates as a torque regulator P685 Selected Trq Ref comes from P4 Commanded Trq Under some conditions such as jogging or performing a ramp to stop operation the drive automatically bypasses this selection and temporarily switches to Speed Regulation mode SLAT Min 3 Drive operates in Speed Limited Adjustable Torque Minimum select mode This is a special mode of operation used primarily in web handling applications The drive typically operates as a torque regulator provided that the P4 Commanded Trq value is algebraically smaller in value than the speed regulator s output The drive can automatically enter Speed Regulation mode based on conditions within the speed regulator and the magnitude of the speed regulator s output relative to the torque reference
175. U equal to the rated N m lb ft torque development capability of the motor at Full Load ampere rating within 5 without encoder feedback possibly within 2 with encoder feedback True Torque control at the motor shaft can only occur when P35 Motor Ctrl Mode is configured for one of the Flux Vector control mode choices Likewise Torque Reference parameters are only active when Flux Vector control modes in P35 Motor Ctrl Mode options 3 Induction FV 6 PM FV and 10 IPM FV Internal Torque Reference Source The inherent Torque Reference source default setting in any of the applicable FV Control modes only is the output from the Speed Regulator parameter P660 SReg Output in percent As it passes through trimming and limiting functions it ultimately becomes a commanding torque reference P690 Limited Trq Ref and an input to and for the inverter Current control to output voltage and frequency to the motor and regulate torque producing vector of current accordingly Consequently the motor develops torque as necessary to aid the Speed Regulator to maintain minimal speed error between commanded speed and speed feedback Rockwell Automation Publication 750 RM002B EN P September 2013 263 Motor Control Chapter 4 Figure 30 Torque Reference Path There are additional internal Torque Reference sources within the drive such as from a variety of Position Regulator outputs for the motor to develop the correspon
176. Voltage Frequency Max Frequency 18 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Overview Adjustable voltage control is enabled by setting P35 Motor Ctrl Mode to option 9 Adj VltgMode This feature provides either three phase and single phase output voltage The default mode is three phase output voltage and is selected by P1131 Adj Vltg Config In single phase mode the drive is not designed to operate single phase motors but rather the output load is considered to have a lagging or unity power factor consisting of resistance and inductance for specially designed motor or non motor application Input reference sources can be configured from P1133 Adj Vltg Select The input source can be scaled and upper when lower limits are applied A trim source can be selected reference from P1136 Adj Vltg TrimSel with the trim voltage added or subtracted from the voltage reference The scalar frequency selection and scalar frequency ramp are the same components as used in all other control modes The exception being the frequency command and ramp are decoupled from the voltage generation for the adjustable voltage control mode to provide an independent frequency ramp Acceleration and deceleration rates and S Curve are the same as used in all other modes Upper and lower limits are applied to the value of the output command frequency The adjustable voltage control voltage ramp provi
177. Voltage No change in flux to the motor Rockwell Automation Publication 750 RM002B EN P September 2013 217 Motor Control Chapter 4 In the next plot all conditions are the same except the Flux Braking feature is enabled Note the flux to the motor is increased and the decel time is shorter Finally the same test with the gains set to maximum levels Slightly faster decel The use of the gains vary with the connected load Flux Braking Enabled Id Torque Ref Motor Speed DC Bus Voltage Note the decel time Compare to disabled Increased flux to the motor Flux Braking Full Gains Id Torque Ref Motor Speed DC Bus Voltage Note the decel time Compare to disabled Increased flux to the motor 218 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Flux Regulator The flux regulator is used to control and limit the overall fundamental voltage applied to an induction motor when FOC is used The flux regulator controls field weakening above base speed and maintains voltage margin for a current regulator A variation of the induction motor flux regulator is used for PM motors for operation above base speed As default the flux regulator is enabled When disabled the current regulator becomes de tuned Do not disable this regulator If you feel you need to disable this function consult the factory for verification Flux Up AC induction motors require flux to be esta
178. a PowerFlex 750 Series drive the upper word Bits 16 31 of the Logic Command Word and Logic Status Word are not accessible The upper word is only used and accessible on PowerFlex 750 Series communication modules 20 750 and the embedded EtherNet IP on PowerFlex 755 drives Rockwell Automation Publication 750 RM002B EN P September 2013 255 Motor Control Chapter 4 Jog When the drive is not running pressing the HIM s Jog soft button or a programmed Jog digital input function or by Logic Command sent over a communication network causes the drive to jog at a separately programmed jog reference This jog speed reference value is entered in P556 Jog Speed 1 or P557 Jog Speed 2 Scaling of an Analog Speed Reference Refer to Analog Inputs on page 105 Polarity The polarity configuration can be selected as unipolar bipolar or reverse disabled via P308 Direction Mode When in Unipolar mode the sign of the speed reference value and therefore direction of motor rotation is determined by P879 Drive Logic Rslt Bit 4 Forward and Bit 5 Reverse When in Bipolar mode the sign of the speed reference value determines the direction of motor rotation When in Reverse Disable mode negative speed reference values are rejected and a zero speed value is used in their place 935 17 0 1 0 556 557 0 1 1 879 2 19 Jogging Drive Status 1 Jogging Jog1 Jog2 Jog Speed 1 Jog Speed 2 Drive L
179. a gear box or flexible couplings The term inertia adaption refers to how this function adapts or changes the dynamic inertia seen by the speed regulator Inertia adaption can allow an increase in the speed regulator bandwidth normally limited by the mechanical transmission by up to four times This feature is only available on PowerFlex 755 drives P35 Motor Ctrl Mode must be set to vector control and use a motor speed feedback device Inertia adaption is not enabled by default For example a motor connected to a gearbox is shown This gearbox can be represented by a spring K and gear backlash BL When the speed of the motor increases there is a period of time represented by x backlash before the teeth of the gearbox engage After that time there is 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 instability Inertia adaption detects the lost motion and a higher speed regulator bandwidth can be achieved without instability Motor Gearbox Load M1 M2 Motor K Load M1 M2 BL f x Slope due to springy nature K of shafts after gearbox teeth engage Backlash BL before gearbox teeth engage 222 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Configuration Inertia adaption only works if there i
180. accessed by entering the IP address of the drive into a web browser for example http 192 168 1 20 Currently safety configuration settings cannot be saved in the drive or downloaded to other drives Rockwell Automation Publication 750 RM002B EN P September 2013 351 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Configuring the Stop Command While there are different selections when operating the drive and Safe Speed Monitor option module in Standard mode versus the Integrated Motion on the EtherNet IP Network mode the equivalent functions operate the same In the Integrated Motion on the EtherNet IP Network mode of operation the Stop Command is programmed in the Actions Category of the Module Properties dialog box It is important to realize that there is no option to have a ramped stop selected here only current limit and motor brake options are available These selections do not ensure that a consistent ramp is implemented each time If a repeatable ramped stop is desired then the user can program a Stop Monitor Delay as a part of the Safe Speed Monitor configuration and then monitor the Safe Speed inputs from the controller and issue a ramped stop prior to the safety core issuing the Stop Command signal as shown in this diagram TIP The Safe Speed Monitor module parameters are not currently part of the Logix platform and therefore are not overwritten when a drive establishes a
181. ad periods Induction Economizer Induction Economizer mode consists of the sensorless vector control with an additional energy savings function When steady state speed is achieved the economizer becomes active and automatically adjusts the drive output voltage based on applied load By matching output voltage to applied load the motor efficiency is optimized Reduced load commands a reduction in motor flux current To optimize the performance of the Induction Economizer mode adjust the following parameters P47 Econ At Ref Ki Integral gain that determines the response of the output voltage when the output frequency is at reference P48 Econ AccDec Ki Integral gain that determines the response of the output voltage when the output frequency is accelerating or decelerating to the reference setpoint P49 Econ AccDec Kp Proportional gain that determines the response of the output voltage when the output frequency is accelerating or decelerating to the reference setpoint Rockwell Automation Publication 750 RM002B EN P September 2013 283 Drive Features Chapter 5 High Speed Trending The high speed trending wizard configures the internal trending of the drive downloads that trend configuration to the drive and uploads the trended data from the drive when finished This information is saved as a comma delimited csv file for use with Microsoft Excel or any other spreadsheet program The high speed trending can
182. age increases to the Vdc_on level the brake IGBT is turned on and is left on until the voltage drops to the Vdc_off level which is not so desirable in common DC bus applications see below Some PowerFlex drives allow the Vdc_off level DB Threshold to be adjusted if the application required it Setting this level lower makes the dynamic braking more responsive but could lead to excessive DB activation t t Vdc Vdc_on Vdc_off on off Switched from 50 Hz to 100 Hz Vdc Rockwell Automation Publication 750 RM002B EN P September 2013 199 Motor Control Chapter 4 PWM Control This type of control to operate the brake IGBT is similar to the way output voltage to the motor is controlled As the DC bus voltage increases and hits some predetermined limit the brake IGBT is turned on off according to a control algorithm switched at 1 kHz This type of control virtually eliminates bus ripple The big advantage is when this type of control is in a common bus configuration Duty Cycle t t Vdc Vdc_on 25 Vdc_on 25 2 5 on off Brake IGBT Vdc_on 100 90 750 772 5 775 DC Bus Voltage Duty Cycle Linear PWM Hysteretic Full on 200 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Common DC Bus Applications In a common bus configuration when a dynamic braking resistor is installed on each drive sharing the DC bus it s possible that the b
183. age is increasing towards levels that would otherwise cause a fault However it can also cause either of the following two conditions to occur 1 Fast positive changes in input voltage more than a 10 increase within 6 minutes can cause uncommanded positive speed changes However an OverSpeed Limit fault occurs if the speed reaches Max Speed Overspeed Limit If this condition is unacceptable take action to 1 limit supply voltages within the specification of the drive and 2 limit fast positive input voltage changes to less than 10 If this operation is unacceptable and the necessary actions cannot be taken the adjust freq portion of the bus regulator function must be disabled see parameters 372 and 373 2 Actual deceleration times can be longer than commanded deceleration times However a Decel Inhibit fault is generated if the drive stops decelerating altogether If this condition is unacceptable the adjust freq portion of the bus regulator must be disabled see parameters 372 and 373 In addition installing a properly sized dynamic brake resistor provides equal or better performance in most cases Important These faults are not instantaneous Test results have shown that they can take between 2 12 seconds to occur Rockwell Automation Publication 750 RM002B EN P September 2013 45 Drive Configuration Chapter 1 The bus voltage regulation setpoint is determined from bus memory a means to average DC
184. age mode The signal loss condition never occurs even if signal loss detection is enabled Rockwell Automation Publication 750 RM002B EN P September 2013 113 Feedback and I O Chapter 2 Analog Outputs There are two analog outputs per I O module Up to five I O modules can be mounted in the drive ports See 750 IN001 for valid ports Accessing the analog output parameters is done by selecting the port that the module is mounted in then accessing the Analog Output group of parameters Analog Output Specifications Terminal Name Description Related Param 4 4 I O Module parameters also have a Port designation Sh Shield Terminating point for wire shields when an EMC plate or conduit box is not installed Sh Ptc Motor PTC Motor protection device Positive Temperature Coefficient 40 on Port X Ptc Motor PTC Ao0 Analog Out 0 Bipolar 10V 11 bit amp sign 2 k ohm minimum load 4 20 mA 11 bit amp sign 400 ohm maximum load 75 on Port X Ao0 Analog Out 0 Ao1 Analog Out 1 85 on Port X Ao1 Analog Out 1 10V 10 Volt Reference 2k ohm minimum 10VC 10 Volt Common For and 10 Volt references 10V 10 Volt Reference 2k ohm minimum Ai0 Analog Input 0 Isolated 2 bipolar differential 11 bit amp sign Voltage mode 10V 88k ohm input impedance Current mode 0 20 mA 93 ohm input impedance 2 Differential Isola
185. ake Signal New Start or Run Command 5 Enable Closed Wake Signal Enable Closed Direct mode SleepWake RefSel Signal gt Sleep Level 7 Invert mode SleepWake RefSel Signal lt Sleep Level 8 New Start or Run Command 5 Run Run Forward Run Reverse Run Closed Wake Signal New Run Command 6 Wake Signal Run Closed Wake Signal New Run Command Direct mode SleepWake RefSel Signal gt Sleep Level 7 Invert mode SleepWake RefSel Signal lt Sleep Level 8 1 When power is cycled if all conditions are present after power is restored restart occurs 2 If all conditions are present when Sleep Wake Mode is enabled the drive starts 3 The active speed reference The Sleep Wake function and the speed reference can be assigned to the same input 4 Cannot use P159 DI Cur Lmt Stop or P160 DI Coast Stop as the only Stop Input This causes the drive to go into a Sleep Cfg Alarm Event No 161 5 Command must be issued from HIM TB or network 6 Run Command must be cycled 7 SleepWake Ref Sel signal does not need to be greater than the wake level 8 SleepWake Ref Sel signal does not need to be less than the wake level 92 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration For Invert function refer to the Anlg Inn LssActn parameter Normal operation requires that P354 Wake Level be set greater than P352 Sleep Level However there are no limits that p
186. al device specific semantics needed from AOP Co Controller only attribute controller attribute that resides only in controller C D Yes The attribute is replicated in the drive CScale Motion Scaling Configuration set to Controller Scaling Derived Implementation rules follow another attribute Dr Drive replicated attribute controller attribute that is replicated in drive Drive Scaling Drive device supports drive scaling functionality DScale Motion Scaling Configuration set to Drive Scaling E21 EnDat 2 1 feedback type E22 EnDat 2 2 feedback type E Encoder based control a feedback device is present E Encoderless or sensorless control a feedback device in not present HI Hiperface feedback type 420 Rockwell Automation Publication 750 RM002B EN P September 2013 Appendix A IM Rotary or Linear Induction Motor motor type Linear Absolute Feedback Unit meter Feedback n Startup Method absolute Linear Motor Linear PM motor or Linear Induction motor motor type LT LDT or Linear Displacement Transducer feedback type NV Motor NV or Drive NV motor data source O Bits Optional bits associated with bit mapped attribute O Enum Optional enumerations associated with attribute PM Rotary or Linear Permanent Magnet motor motor type Rotary Absolute Feedback Unit rev Feedback n Startup Method absolute Rotary Motor Rotary PM motor or Rotary Induction motor motor type S
187. always the most recent entry newest Entry 32 is always the oldest As a new fault is logged each existing entry is shifted by one The previous entry 1 moves to entry 2 previous entry 2 moves to entry 3 and so on If the queue is full when a fault occurs the oldest entry is discarded The fault queue is saved in nonvolatile storage at power loss and its content retained when power is cycled 164 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection Fault Code and Time Stamp The fault code with descriptive text for each entry can be viewed with a HIM Once the fault code is displayed pressing the enter key again on the HIM displays the time stamp associated with that fault code The time stamp is the elapsed time since the fault occurred When using one of the available software tools DriveExecutive DriveExplorer Connected Component Workbench or Logix Designer the fault code descriptive text and time stamp are displayed simultaneously Resetting or Clearing a Fault A latched fault condition can be cleared by the following methods An off to on transition on a digital input configured as DI Clear Fault Pressing the CLR soft key or Stop button on the HIM once a fault has been displayed A DPI peripheral several ways Performing a reset to factory defaults via parameter write Cycling power to the drive such that the control board goes through a
188. ammed for Port 7 Dig In Sts Input 1 and P20 RO1 Sel is programmed for Port 7 Dig In Sts Input 3 As you can see with the picture above when the Digital Inputs 1 pink highlight and 3 yellow highlight are true on their respective Digital Outputs are true on as well 142 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Controlled by Network This configuration is used when it is desired to control the digital outputs over network communication instead of a drive related function In the case for the PowerFlex 753 embedded digital outputs P227 Dig Out Setpoint is utilized and in the case for the PowerFlex 750 Series Option Module P7 Dig Out Setpoint is utilized To complete the configuration for control over a network a datalink must be configured for the respective Digital Output Setpoint parameter Related PowerFlex 753 Setpoint parameter information noted below Depending on the PowerFlex 750 Series Option Module s installed in the drive related Setpoint parameter information noted below File Group No Display Name Full Name Description Values Read Write Data Type FEEDBACK amp I O Digital Outputs 227 Dig Out Setpoint Digital Output Setpoint RO 16 bit Integer Controls Relay or Transistor Outputs when chosen as the source Can be used to control outputs from a communication device using DataLinks 753 Options Reserved Reserved Reser
189. ample the quantity can be both positive and negative You have the option of having the absolute value value without sign of these quantities taken before the scaling occurs Absolute value is enabled separately for each analog output via the bit enumerated P71 Analog Out Abs P77 Anlg Out0 Data P78 Anlg Out0 DataHi P79 Anlg Out0 DataLo P80 Anlg Out0 Hi Anlg Outn DataHi 1500 Anlg Outn DataLo 500 When the motor speed reaches 500 rpm Anlg Outn Val begins to increase from 2 When the motor speed reaches 1500 rpm Anlg Outn Val is at maximum of 8 Anlg Outn Val Anlg Outn Hi 8 Anlg Outn Lo 2 P82 Anlg Out0 Val P81 Anlg Out0 Lo 118 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Setpoint Setpoint is a possible source for an analog output It can be used to control an analog output from a communication device using a DataLink Change P75 Anlg Out0 Sel to 76 Anlg Out0 Stpt Then map a datalink to P76 and you ll be able to drive the analog output over a network Rockwell Automation Publication 750 RM002B EN P September 2013 119 Feedback and I O Chapter 2 Digital Inputs Physical inputs are programmed to desired digital input functions These parameters cannot be changed while the drive is running Technical Information The PowerFlex 753 drive has three digital inputs on its main control board Di 0 Configured for 115V AC or
190. an be used to trim torque There are two ways the PID Controller can be configured to modify the commanded speed Speed Trim The PID Output can be added to the master speed reference Exclusive Control PID can have exclusive control of the commanded speed The mode of operation between speed trim exclusive control and torque trim is selected in P1079 PID Output Sel Speed Trim Mode In this mode the output of the PID regulator is summed with a master speed reference to control the process This mode is appropriate when the process needs to be controlled tightly and in a stable manner by adding or subtracting small amounts directly to the output frequency speed In the following example the master speed reference sets the wind unwind speed and the dancer pot signal is used as a PID Feedback to control the tension in the system An equilibrium point is programmed as PID Setpoint and as the tension increases or decreases during winding the master speed is trimmed to compensate and maintain tension near the equilibrium point 0 Volts Dancer Pot P1072 PID Fdbk Sel Master Speed Reference Equilibrium Point P1067 PID Ref Sel 10 Volts Rockwell Automation Publication 750 RM002B EN P September 2013 77 Drive Configuration Chapter 1 When the PID is disabled the commanded speed is the ramped speed reference When the PID is enabled the output of the PID Controller is added to the ramped speed reference Ex
191. and the Off Time is programmed for 0 seconds Status The Dig Out Sts parameter displays the status of the digital outputs and can be used for troubleshooting the digital outputs When the bit in associated with the digital output is on this means that the logic in the drive is telling that digital output to turn on When the bit associated with the digital input is off this means that the logic in the drive is telling that digital output to turn off PowerFlex 753 related Status parameter information noted below 0 5 10 0 5 10 Relay Activates On Delay 2 Seconds Current Limit Occurs Relay Does Not Activate On Delay 2 Seconds Cyclic Current Limit every other second File Group No Display Name Full Name Description Values Read Write Data Type FEEDBACK amp I O Digital Outputs 225 Dig Out Sts Digital Output Status RO 16 bit Integer Status of the digital outputs 753 Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Trans Out 0 Relay Out 0 Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 Condition False 1 Condition True 150 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Block Diagrams Figure 11 PowerFlex 753 Drive File Group No Display Name
192. and later Studio 5000 environment version 21 and later Star Topology A switch level star configuration is a traditional Ethernet network layout where devices are connected to a centralized network switch point to point The star configuration is most effective when the devices are near a central network switch In a star network topology all traffic that traverses the network that is device to device must pass through the central switch It is recommended that a managed switch with a transparent and or boundary clock plus QoS and IGMP protocol support be used for this Network topology Although the ControlLogix is illustrated the CompactLogix controller could also be used Advantages Disadvantages The advantage of a star network is that if a point to point connection is lost to an end device the rest of the network remains operational ControlLogix Stratix 8000 Programming Software PowerFlex 755 PowerFlex 755 PowerFlex 755 PowerFlex 755 Other EtherNet IP Network Compatible Devices 1585J M8CBJM x Ethernet Shielded Cable 1756 EN2T or 1756 ENxTR 342 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives The primary disadvantage of a star topology is that all end devices must typically be connected back to a central location which increases the amount of cable infrastructure that is required a
193. anges the Application Type selection in the Autotune window Therefore care must be taken to NOT change this value after the individual gains have been manually configured Rockwell Automation Publication 750 RM002B EN P September 2013 371 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Position Loop You can manually adjust the Loop Bandwidth Integrator Bandwidth Integrator Hold and Error Tolerance values Velocity Loop You can manually adjust the Loop Bandwidth Integrator Bandwidth Integrator Hold and Error tolerance when used as a Velocity Loop values Motion Generator Section The Motion Generator is a subset of the Motion Direct commands that lets you control the axis motion for tuning Additional Tune Section This section enables adjustment of multiple settings of the axis properties Feedforward Tab Lets you adjust the Velocity Feedforward percentage and Acceleration Feedforward percentage Compensation Tab Lets you adjust the System Inertia percentage and Torque Offset percentage Filters Tab Lets you adjust the Torque Low Pass Filter Bandwidth and Torque Notch Filter Frequency Limits Tab Lets you adjust the Peak Torque Limit Positive Negative percentages and Velocity Limit Positive Negative Units per Second values Planner Tab Lets you adjust the Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Accelerati
194. apter 6 Torque Control Current Induction Motor and Surface Permanent Magnet Motor 1 2 3 4 5 6 B A D C F E H G I Torque Control Current Induction Motor IM amp Surface Permanent Magnet Motor SPM PF755 Rev_9 a Page 24a Power Unit Thermal Protection Calc Is Id Iq Pos Torque Limit Trq Neg Lmt Neg Torque Limit Trq Pos Lmt Regen Power Lmt Regen PwrLmt Bus Regulator Calc Pwr Te Active Vel Fdbk Active Pos Torque Limit Active Neg Torque Limit Limit Max Min Filtered Trq Ref Limited Trq Ref Motor Ctrl Mode Flux Current Fdbk Calc Iq Id Is Active Cur Lmt Limit Calc Te Iq Rate Lim Motor Power Lmt Mtrng PwrLmt Torque Current Ref Current Rate Lmt Min Pk Torque Iq Current Limit Voltage Ref Limit Generation Current Lmt 1 Current Lmt Sel Current Lmt 2 Active Iq Current Limit Thermal Mgr Current Limit 424 421 422 423 425 690 689 35 131 426 427 671 670 Neg Limit Pos Limit VF or SV 0 2 4 5 7 8 Flux Vector 3 6 945 21 At Limit Status 22 Trq Pos Lmt Trq Neg Lmt 945 17 At Limit Status 18 TrqCurPosLmt TrqCurNegLmt Flux Vector Parameter Selection From Fdbk 3F2 36D2 From Torq Ctrl 23H2 3C6 25E2 26E2 1 Flux 1 Flux 1 Flux 1 Flux 23 24 Mtrng PwrLmt Regen PwrLmt
195. arameter The digital input is selected from any digital inputs residing on an attached I O module by Find Home or Return Home To select the homing function from a parameter set Bit 0 Find Home or Bit 3 Return Home of P731 Homing Control The homing sequence can be selected regardless of the mode selected in P313 Actv SpTqPs Mode If the drive has a feedback option module a vector type control must be selected in P35 Motor Cntl Mode parameter If there is no feedback option module any type of control can be selected When the Find Home function is selected by either a digital input or a parameter either Bit 1 Home DI or Bit 2 Home Maker or both must be selected in P731 Homing Control When the Return Home function is selected by either a digital input or a parameter a selection of Bit 1 Home DI or Bit 2 Home Maker of P731 Homing Control is ignored To activate a Homing function a drive start command is required if the drive is stopped If a drive is running the drive must be At Zero Speed state when the function is selected Drive Stopped During Activation If the drive is stopped a start command to drive is required to activate a homing sequence Drive Started and At Zero Speed During Activation If the drive has already started and At Zero Speed the rising edge or toggled bit activates and latches the homing sequence Drive Started and not At Zero Speed During Acti
196. arding the Regenerative mode of operation is needed to estimate what Chopper Module rating and Dynamic Brake Resistor value to use A rule of thumb to use is that a Dynamic Brake Module can be specified when regenerative energy is dissipated on an occasional or periodic basis When a drive is consistently operating in the Regenerative mode of operation consider utilizing equipment that transforms the electrical energy back to the fixed frequency utility The peak regenerative power of the drive must be calculated to determine the maximum Ohmic value of the Dynamic Brake Resistor and to estimate the minimum current rating of the Chopper Module The Rating of the Chopper Module is chosen from the Brake Chopper Module manual Once the Chopper Module current rating is known a minimum Dynamic Brake Resistance value is also known A range of allowable Dynamic Brake Ohmic values is now known These values exist from the minimum value set by the Chopper Transistor current rating to a maximum value set by the peak regenerative power developed by the drive to decelerate or satisfy other regenerative applications If a Dynamic Brake Resistance value less than the minimum imposed by the choice of the Chopper Module is made and applied damage can occur to the Chopper Transistor If a Dynamic Brake Resistance value greater than the maximum imposed by the choice of the peak regenerative drive power is made and applied t t t Vdc_on Vdc_off on off
197. ated Motion on the EtherNet IP Network Axis see the Integrated Motion on the Ethernet IP Network Configuration and Startup User Manual publication MOTION UM003 This topic assumes that you have completed all the steps necessary to configure the drive module Axis Hookup Tests The axis Hookup tests are the first tests to run when autotuning an axis If you are using a permanent magnet motor in your application the Commutation test must be run first as part of the Hookup tests Motor and Feedback This test is used to run the motor and verify the correct direction of rotation and also tests the motor feedback for the proper direction The Test Distance value can be defined to be sure that the system does not rotate too far Click Start to initiate the test The test completes and prompts you to verify that the motor rotation direction was correct 364 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives When the test has been completed click Accept Test Results to save the results Motor Feedback This test is used to test the polarity of the motor feedback Click Start and manually rotate the motor in the positive direction for the distance indicated in the Test Distance box When the test has been completed click Accept Test Results to save the results Commutation When using a permanent magnet moto
198. ated Motor Flux Motor Flux Rated Flux Current Flux Up Time T1 T2 T3 T4 Flux Up Current Stator Voltage Rotor Speed Motor Flux Stator Freq Flux Up Voltage Time Flux Up Normal Operation IR Voltage SVC Greater of IR Voltage or Voltage Boost V Hz 220 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Parameters Applications This function is usually associated with applications that require extended acceleration times Out of the box the drive is set to Automatic and attempts to get full motor stator flux based on motor nameplate information In some cases the loading and ramp curve during acceleration could have an adverse affect on the drive s thermal manager Some applications include mining conveyors or large centrifuges This function gives you the ability to manually be sure the motor stator is fully fluxed up before acceleration by manually assigning a flux up time It can produce a better acceleration at low frequencies without excessive current High Resolution Feedback The Universal Feedback option module PowerFlex 755 drives only interpolates any sine cosine signal into 1 048 576 counts per revolution The interpolation cannot be changed It is 1 048 576 counts per revolution regardless of the native cycles per revolution of the sine cosine Interpolation is modified to 24 bits when P8 FB0 Cfg or P38 FB1 Cfg Bit 1 24 bit Resol is
199. ating When the reference is constant Speed Rate Ref should be zero For additional illustration of the control refer to PF755 Control Block Diagrams in the PowerFlex 750 Series Programming Manual publication 750 PM001 Rockwell Automation Publication 750 RM002B EN P September 2013 225 Motor Control Chapter 4 Load Observer The PowerFlex 755 load observer feature compensates for and greatly reduces load disturbances and gives quicker system response It minimizes the load torque requirements of the speed regulator The load observer attempts to determine a load estimate value that matches the load torque present in the simplified load model This is a simplified motor load model From a control point of view load torque is an input that is just as real as velocity reference but lacks a parameter Load torque is unavoidable because it is effectively torque times speed that creates the power to run a load Considering this load model the applied torque is the electromagnetic torque generated by the motor control and load torque is clearly shown M is the combined motor load mass inertia The applied torque must be greater than the load torque to accelerate the system Load torque is not a parameter and thus is not directly accessible but it can be indirectly measured Referring to the plant model we can directly measure the applied torque output velocity and the inertia is generally known or calculated This leaves load torque as t
200. ation 750 RM002B EN P September 2013 367 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Loop Response The Loop Response attribute is used to determine the responsiveness of the control loops Specifically the Loop Response attribute is used to determine the value for the Damping Factor Z used in calculating individual gain values High 0 8 Medium 1 0 Low 1 5 Load Coupling The Load Coupling attribute is used to determine how the loop gains are de rated based on the Load Ratio In high performance applications with relatively low Load Ratio values or rigid mechanics typically Rigid is selected The gains are not de rated For applications with relatively high Load Ratios and compliant mechanics Compliant is selected The autotune algorithm divides the nominal loop bandwidth values by a factor of the Load Ratio 1 Measure Inertia using Tune Profile Check this box to calculate the inertia tuned values as part of the autotune The Inertia Test results are shown in the Inertia Tuned grid control bottom right of the dialog box when the test completes When Measure Inertia using Tune Profile is selected as a part of the Autotune test the PowerFlex 755 drive first jogs or rotates the motor in a single direction to remove any backlash present in the system as depicted in the chart below After the backlash has been removed the bump profile is then applied to
201. ation rating kW of the external resistor Failure to specify the correct value can cause the drive to either stop sending energy to the resistor prematurely or overheat the resistor For example if an 800 W rated resistor is installed enter 0 8 in this field External Shunt Pulse Power The Watt Second or Joules rating kW of the resistor This is the amount of energy that the resistor can withstand for one second to reach the maximum temperature Failure to specify the correct value can cause the drive to either stop sending energy to the resistor prematurely or overheat the resistor 350 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Safe Speed Monitor Option Module 20 750 S1 Configuration When a PowerFlex 755 drive is configured for Integrated Motion on the EtherNet IP Network the configuration of the Safe Speed Monitor functions are accomplished via a web page Configuring the Safe Speed Functions The Safe Speed Monitor module web page differs from the Embedded EtherNet IP adapter port 13 web page that is enabled by setting adapter parameter P52 Web Enable to 1 Enabled The Safe Speed Monitor module web page is not accessible until the drive has established a network connection to a Logix processor and the Integrated Motion on the EtherNet IP Network connection has been established The web page is then
202. attempted after the first measurement Any other level change in this parameter could help the second measurement routine Usually a higher number helps more Cooling Tower Fans Application Example In some applications such as large fans wind or drafts can rotate the fan in the reverse direction when the drive is stopped If the drive were started in the normal manner its output begins at zero Hz acting as a brake to bring the reverse rotating fan to a stop and then accelerating it in the correct direction This operation can be very hard on the mechanics of the system including fans belts and other coupling devices Rockwell Automation Publication 750 RM002B EN P September 2013 63 Drive Configuration Chapter 1 Draft wind blows idle fans in reverse direction Restarting at zero speed and accelerating damages fans and could break belts Flying start alleviates the problem There could be occasions when the sweep as well as the CEMF detection fails at low speeds This is due to the low levels of motor detection signals It has been discovered that Sweep mode is more successful in these cases than Enhanced mode When in Sweep mode the frequency is always swept in the direction of the commanded frequency first Motor detection at low speeds can be difficult Rather than get a false detection the sweep reverses at 3 Hz 64 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Hand O
203. attery out of its holder can result in permanent damage to the main control board Reflected Wave Reflected waves are a phenomenon associated with long cables and fast changes in voltage levels They were first identified on power transmission lines that are hundreds of miles long When the power is switched on at one end the step in voltage travels the length of the transmission line and is reflected back to the switch The voltage at the far end often surges to twice the initial value of the voltage Because the voltages involved are quite high for example 230 000V or more a surge of 460 000V can result in a damaging arcing fault Adjustable speed drives using IGBT switches that turn on and off within a few nanoseconds experience the same phenomenon at the AC motor terminals This can cause motor failures within months or even weeks of commissioning the motor with a drive A PWM AC drive provides variable voltage and variable frequency to a motor from a DC bus voltage It creates the sinusoidally varying voltage to the motor by continually changing the duty cycle of the IGBT switches in a pulse width modulated fashion Because the motor is largely an inductive load the current that flows is an integration of the voltage with a lagging phase angle Figure 18 shows what the drives line to line output voltage looks like The peaks of the output voltage are equal to the value of the DC bus in the drive Only the widths and polarities change
204. avels passed the proximity switch during decel The drive reverses direction at a speed of 1 10 of P735 Find Home Speed The drive must then receive a rising edge of the proximity switch followed by a falling edge pulse Upon receiving the falling edge pulse the drive will decel at the rate set in P736 Find Home Ramp When the motor is At Zero Speed the homing sequence completes If the drive remains on proximity switch during decel The drive reverses direction at a speed of 1 10 of P735 Find Home Speed When the falling edge of the limit proximity switch is reached the drive will decel at rate set in P736 Find Home Ramp When the motor is At Zero Speed the homing sequence completes NOT Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding position and transferring position reference back to its previous source If velocity control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding zero velocity and transferring velocity reference back to its previous source Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding position the drive then transfers position reference back to its previous source once it receives a start command If velocity control type mode is selected in P313 Actv SpTqPs Mode the drive continues running Position Posit
205. aximum resistance calculated in Step 3 and the minimum resistance of the drive IGBT Frame 400V 480V ND kW Catalog Code Min Resistance Max DB Current ND HP Catalog Code Min Resistance Max DB Current 2 0 75 C2P1 31 6 25 1 0 D2P1 31 6 25 1 5 C3P5 31 6 25 2 0 D3P4 31 6 25 2 2 C5P0 31 6 25 3 0 D5P0 31 6 25 4 0 C8P7 31 6 25 5 0 D8P0 31 6 25 5 5 C011 31 6 25 7 5 D011 31 6 25 7 5 C015 31 6 25 10 D014 31 6 25 11 C022 22 6 34 9 15 D022 22 6 34 9 3 15 C030 31 6 25 20 D027 31 6 25 18 5 C037 31 6 25 25 D034 31 6 25 22 C043 16 6 47 6 30 D040 16 6 47 6 4 30 C060 15 8 50 40 D052 15 8 50 37 C072 15 8 50 50 D065 15 8 50 5 37 C072 7 9 100 50 D065 7 9 100 45 C085 7 9 100 60 D077 7 9 100 55 C104 7 9 100 75 D096 7 9 100 6 55 C104 3 3 239 4 75 D096 3 3 239 4 75 C140 3 3 239 4 100 D125 3 3 239 4 90 C170 3 3 239 4 125 D156 3 3 239 4 110 C205 3 3 239 4 150 D186 3 3 239 4 132 C260 3 3 239 4 200 D248 3 3 239 4 7 132 C260 2 4 329 200 D248 2 4 329 160 C302 2 4 329 250 D302 2 4 329 200 C367 2 4 329 300 D361 2 4 329 250 C456 1 65 478 8 350 D415 1 65 478 8 Rockwell Automation Publication 750 RM002B EN P September 2013 215 Motor Control Chapter 4 Step 6 Estimating the Minimum Wattage requirements for the Dynamic Brake Resistor It is assumed that the application exhibits a periodi
206. be configured to trend up to eight parameters with 4096 samples for each parameter at a minimum sample rate of 1 024 milliseconds It can also be configured to trend up to four parameters with 1024 samples for each parameter at a minimum sample rate of 256 microseconds These are defined by the drive Future drives may offer different options The PowerFlex 755 drives have the High Speed Trending functionality PowerFlex 753 drives do not have the High Speed Trending functionality You can run only one wizard at a time Configuration Example 1 Connect to the drive that you want to trend via DriveExecutive DriveExplorer Logix Designer Drive AOPs or Connected Components Workbench software tool 2 Click the Show Wizard icon Depending if you click the wand icon or down arrow icon a particular wizard selection dialog box appears 3 Select the High Speed Trend Wizard 284 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 5 Drive Features 4 Once the Welcome screen loads Click Next The Configure Trend window lets you customize the following high speed trend details Trend Mode dictates number of trend buffers total number of samples and the minimum interval sample rate Pre Trigger samples dictates number of samples to include in the trend before the trigger Sample Interval the time interval between trend data samples Trigger Setup dictates how the data trend is
207. bit for the port in the Manual Cmd Mask is set no other port is able to issue logic commands Stop commands from any port are not masked and still stops the drive P327 Manual Ref Mask Manual Reference Mask enables and disables the ports from controlling the speed reference while in Manual mode If a port assumes manual control and the corresponding bit for the port in the Manual Ref Mask is set the drive is commanded to the speed reference from that port An alternate speed reference can be commanded using P328 Alt Man Ref Sel If the respective bit for the manual control port is not set then the drive follows its normal automatic speed reference even in Manual mode Alternate Manual Reference Select By default the speed reference used in Manual mode comes from the port that requested manual control For example if a HIM in port 1 requests manual control the speed reference in Manual mode comes from port 1 If instead it is desired to use an a different speed reference P328 Alt Man Ref Sel can be used The port selected in the parameter is used for manual reference regardless of which port requested manual control as long as the port in manual control is allowed to set the manual reference per P327 Manual Ref Mask If P328 Alt Man Ref Sel is an analog input the maximum and minimum speeds can be configured through P329 Alt Man Ref AnHi and P330 Alt Man Ref AnLo Rockwell Automation Publication 750 RM002B EN P Septe
208. blished before controlled torque can be developed To build flux voltage is applied There are two methods to flux the motor The first method is Automatic during a normal start Flux is established as the output voltage and frequency are applied to the motor While the flux is being established the unpredictable nature of the developed torque can cause the rotor to oscillate even though acceleration of the load can occur In the motor the acceleration profile may not follow the commanded acceleration profile due to the lack of developed torque Figure 23 Accel Profile during Normal Start No Flux Up The second method is Manual In this mode DC current is applied to the motor so that the flux is established before rotation The flux up time period is based on the level of flux up current and the rotor time constant of the motor The flux up current is not user adjustable 0 Stator Rotor Frequency Reference Rated Flux Oscillation due to flux being established Time Frequency Rockwell Automation Publication 750 RM002B EN P September 2013 219 Motor Control Chapter 4 Figure 24 Flux Up Current versus Flux Up Time Once rated flux is reached in the motor normal operation begins and the desired acceleration profile is achieved Rated Flux Reached Once rated flux is reached in the motor normal operation begins and the desired acceleration profile is achieved 0 Flux Up Current Maximum DC Current R
209. c Speed Reference Port 14 32 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration A speed reference for Manual mode from a digital input can be set by selecting a port in P328 Alt Man Ref Sel This however causes all manual requests to use that port as a reference whether the request was from the digital input or from a HIM A separate manual reference port for use only when the request comes from a digital input can be configured through P563 DI ManRef Sel To see P564 DI ManRef AnlgHi set P301 Access Level to 1 Advanced If P328 Alt Man Ref Sel is configured it overrides P563 DI ManRef Sel and provides the manual reference If P563 DI ManRef Sel is an analog input the maximum and minimum speeds can be configured through P564 DI ManRef AnlgHi and P565 DI ManRef AnlgLo For analog input between the minimum and maximum the drive derives the speed from these parameters through linear interpolation Hand Off Auto The Auto Manual feature can be used in conjunction with a Hand Off Auto Start to create a H O A switch that starts the drive and requests manual control at the same time allowing for a local speed reference to control the drive See Hand Off Auto on page 64 for more details on the Hand Off Auto Start feature In the circuit below a speed potentiometer was added to the analog input to provide a speed reference to the drive When the H O A switch is moved from
210. c function of acceleration and deceleration If t3 t2 the time in seconds necessary for deceleration from rated speed to 0 speed and t4 is the time in seconds before the process repeats itself then the average duty cycle is t3 t2 t4 The power as a function of time is a linearly decreasing function from a value equal to the peak regenerative power to 0 after t3 t2 seconds have elapsed The average power regenerated over the interval of t3 t2 seconds is Pb 2 The average power in watts regenerated over the period t4 is Pav Average dynamic brake resistor dissipation in watts t3 t2 Elapsed time to decelerate from rated speed to 0 speed in seconds t4 Total cycle time or period of process in seconds Pb Peak braking power in watts The Dynamic Brake Resistor power rating in watts that is chosen will be equal to or greater than the value calculated in Step 6 Step 7 Calculate the requires Watt Seconds joules for the resistor To be sure the resistor s thermal capabilities are not violated a calculation to determine the amount of energy dissipated into the resistor is made This determines the amount joules the resistor must be able to absorb Pws Required watt seconds of the resistor t3 t2 Elapsed time to decelerate from b speed to 0 speed seconds Pb Peak braking power watts Pav t3 t2 t4 Pb 2 Pws t3 t2 Pb 2
211. 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 Spd Trq mode will then work as a feed forward to the torque regulator P314 SLAT Err Stpt P315 SLAT Dwell Time Low Pass Filter Speed Error gt 0 Off On Speed Error lt SLAT Setpoint for SLAT Time FSM State Controller Application Dependant Speed Reference Bias Motor Speed Feedback External Torque Reference ETR Speed Error Speed Regulator Output SRO Forced Speed Mode FSM FSM On Off PI Regulator Max Select Internal Torque Reference ITR 276 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Notes Rockwell Automation Publication 750 RM002B EN P September 2013 277 Chapter 5 Drive Features Data Logging This wizard logs the values of up to six parameters in a single drive at a specified interval for some period of time with the minimum sample rate one second The information is saved as a comma delimited csv file for use with Microsoft Excel or any other spreadsheet program Clicking Next lets you configure the data logger When data logging is completed click Finish to close the wizard If you click Finish before the data logging is completed only the data collected up to that point is saved in the file You can cancel the wizard at any
212. cates the occurrence of conditions that have been configured as alarms 1089 PID Status Status of the Process PI regulator 1103 2 2 PowerFlex 755 drives only Trq Prove Status Displays the status bits for TorqProve 1210 2 Profile Status Indicates status of speed profile position indexer control logic 1 3 4 3 Option modules can be used in Ports 4 5 and 6 of PowerFlex 753 drives 4 Option modules can be used in Ports 4 5 6 7 and 8 of PowerFlex 755 drives Dig In Sts Status of the digital inputs 7 3 4 Dig Out Setpoint Controls Relay or Transistor Outputs when chosen as the source Can be used to control outputs from a communication device using DataLinks 13 3 4 RO0 Level CmpSts Status of the level compare and a possible source for a relay or transistor output 50 5 5 Port 14 DeviceLogix software parameters DLX DigOut Sts Provides the individual on off status of the DLX Logic Command word bits 51 5 DLX DigOut Sts2 Provides the individual on off status of the 16 DLX DOPs Rockwell Automation Publication 750 RM002B EN P September 2013 133 Feedback and I O Chapter 2 Related PowerFlex 753 selection parameter information is noted below Depending on the PowerFlex 750 Series Option Module or Modules installed in the drive related selection parameter information is noted below Example Below is an example of a PowerFlex 753 drive s utilizing an embedded digital output Se
213. ccess for ports Bit 15 Security determines if network security is controlling the write mask instead of this parameter 888 Write Mask Cfg Enables disables write access parameters links and so forth for DPI ports Changes to this parameter become effective only when power is cycled the drive is reset or Bit 15 of P887 Write Mask Actv transitions from 1 to 0 2 Dig In Filt Mask 3 Digital Input Filter Mask Filters the selected digital input 1 Used only by the PowerFlex 753 main control board 2 Read only parameter 3 Used only by I O Module models 20 750 2263C 1R2T and 20 750 2262C 2R Modules with 24V DC inputs Parameter No Parameter Name Description P222 Dig In Filt Mask 1 P324 Logic Mask P325 Auto Mask P326 Manual Cmd Mask P327 Manual Ref Mask P885 Port Mask Act P886 Logic Mask Act P887 Write Mask Act P888 Write Mask Cfg P2 Dig In Filt Mask 4 Bit 0 Reserved Digital In Digital In Digital In Digital In Digital In Digital In Reserved Reserved Input 0 Bit 1 Input 1 Port 1 Port 1 Port 1 Port 1 Port 1 Port 1 Port 1 Port 1 Input 1 Bit 2 Input 2 Port 2 Port 2 Port 2 Port 2 Port 2 Port 2 Port 2 Port 2 Input 2 Bit 3 Reserved Port 3 Port 3 Port 3 Port 3 Port 3 Port 3 Port 3 Port 3 Input 3 Bit 4 Reserved Port 4 Port 4 Port 4 Port 4 Port 4 Port 4 Port 4 Port 4 Input 4 Bit 5 Reserved Port 5 Port 5 Port
214. ce Refer to the Integrated Motion on EtherNet IP appendix in the PowerFlex 750 Series Programming Manual publication 750 PM001 for more information Motion Drive Start MDS Instruction For information regarding the MDS instruction refer to the Logix5000 Controllers Motion Instructions Reference Manual publication MOTION RM002 For the PowerFlex 755 drive the MDS instruction is valid only when the axis configuration is set to one of these control modes Frequency Control Velocity Loop Torque Loop The MDS instruction is not valid when the axis configuration is set to Position Loop 302 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Motion Drive Start Instruction Configuration The MDS instruction is configured in a similar fashion to most motion instructions as seen in this example The MDS instruction is similar to a Motion Axis Jog MAJ instruction however the MDS instruction does not set the acceleration deceleration rates The acceleration rate is dynamically set by the ramp attributes configured in a Set System Value SSV instruction See Ramp Attributes on page 304 Note that PF755_Axis was configured for revolutions Therefore the speed units are revs sec Motion Drive Start MDS Sample Code Start Rockwell Automation Publication 750 RM002B EN P September 2013 303 Integrated
215. ce Outputs Common NO OR 1 2 3 4 5 6 B A D C F E H G I 32 A B A B 33 1 A lt B 0 TO1 Level CmpSts TO1 Level TO1 Level Sel TO1 Level Source NC 5 2 Dig Out Sts TO1 Sel TO1 Off Time TO1 On Time Timer 34 35 Dig Out Invert 6 2 0 1 Inv Transistor Out1 Source NO 1R2T 1 Relay 2 Transistor I O Modules Only 1R2T 1 Relay 2 Transistor I O Modules Only Parameter Selection 20 Parameter Selection 30 Parameter Selection Parameter Selection 21 Parameter Selection 31 Parameter Selection Option Module Parameters Reference Symbol Legend PF755 Rev_9 a Page 30 Dig In Sts In5 In4 Com 1 5 4 3 2 1 0 In3 In2 In1 In0 Inputs Dig In Fltr Mask Filter Filter Filter Filter Filter Filter 2 0 Dig In Fltr Mask 2 1 Dig In Fltr Mask 2 2 Dig In Fltr Mask 2 3 Dig In Fltr Mask 2 4 Dig In Fltr Mask 2 5 Dig In Fltr 3 Dig In Fltr 3 Dig In Fltr 3 Dig In Fltr 3 Dig In Fltr 3 Dig In Fltr 3 Rockwell Automation Publication 750 RM002B EN P September 2013 409 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Inputs and Outputs Analog 1 2 3 4 5 6 B A D C F E H G I ADC Anlg In Type Voltage
216. ce and Reactance are measured then the flux current of the motor is calculated The Rated Slip frequency is also calculated The motor will not turn during this test When the test has been completed click Accept Test Results to save the results Calculate Model This method calculates the Resistance Reactance and Flux Current of the motor from basic model parameters and the motor parameters data No measurements are taken when using this calculation Click Start to start the calculation When the test has been completed click Accept Test Results to save the results Autotune inertia test The Autotune category measures the system inertia and calculates system bandwidth tuning numbers This table summarizes the application type tuning defaults An X indicates that the system value is selected by default and that the Velocity and Acceleration Feedforward values are set to 100 Application Type System Value Position Loop Bandwidth Position Integrator Bandwidth Velocity Loop Bandwidth Velocity Integrator Bandwidth Integrator Hold Velocity Feedforward Acceleration Feedforward Custom Advanced tuning X X Basic Default tuning parameters X X Tracking Winding unwinding flying shear and web control applications X X X X X Point to Point Pick and place packaging cut to length X X X X Constant Speed Conveyors line shaft crank X X X X 366 Rockwell
217. certain level Enter this value in P412 Mtr OL Alarm Lvl This alarm level is different than and independent of the alarm action selected by P410 Motor OL Actn 413 Mtr OL Factor Motor Overload Factor parameter sets the minimum level of current in percent or P26 Motor NP Amps that causes the motor overload counter to increment Current levels below this value decrement the overload counter For example a service factor of 1 15 implies continuous operation up to 115 of nameplate motor current 414 Mtr OL Hertz Motor Overload Hertz parameter selects the output frequency below which the motor operating current is derated more sensitive to account for the reduced self cooling capability of typical motors operating at slower speeds For motors with extra low speed cooling capacity for example 10 1 or blower cooled reduce this setting to take full advantage of the motor being used 415 Mtr OL Reset Lvl Motor Overload Reset Level parameter sets the level that resets a motor overload condition and lets a fault if selected as the motor overload action be manually reset 416 MtrOL Reset Time Motor Overload Reset Time parameter displays the time it takes to restart the drive after a motor overload fault has occurred and the value in P418 Mtr OL Counts is less than the P415 Mtr OL Reset Lvl 418 Mtr OL Counts Motor Overload Counts parameter displays the accumulated percentage of motor overload Continuously operating the m
218. cified speed The regulator is designed for optimal bandwidth for changing speed and load If an alternate feedback device is used with automatic tachometer switchover the alternate values of these parameters are used Desired Speed Regulator Bandwidth P636 Speed Reg BW The Speed Regulator Bandwidth sets the speed loop bandwidth and determines the dynamic behavior of the speed loop As bandwidth increases the speed loop becomes more responsive and can track a faster changing speed reference A change to this parameter causes an automatic update of P645 Speed Reg Kp P647 Speed Reg Ki and P644 Spd Err Fltr BW To disable the automatic gain and filter update set this parameter to a value of zero The configuration settings for Inertia Adaption PowerFlex 755 only is automatically selected when this feature is enabled The maximum allowable value of this parameter is limited by the ratio of P646 Spd Reg Max Kp to P76 Total Inertia and the type of speed feedback source in use encoder versus open loop For operation following an automatic tach switchover the bandwidth specified in P648 Alt Speed Reg BW is used Total Inertia of Motor and Load P76 Total Inertia The Total Inertia is the time in seconds for a motor coupled to its load to accelerate from zero to base speed at rated motor torque This value is calculated during an Inertia Tune after the motor has ramped up to speed and down and back down to zero speed Adjust
219. clusive Mode In this mode the output of PID regulator is the speed reference and does not trim a master speed reference This mode is appropriate when speed is unimportant and the only thing that matters is satisfying the control loop In the pumping application example below the reference or setpoint is the required pressure in the system The input from the transducer is the PID feedback and changes as the pressure changes The drive output frequency is then increased or decreased as needed to maintain system pressure regardless of flow changes With Slip Adder Spd Ref PID Ref PID Fbk Process PID Controller PID Disabled Speed Control Linear Ramp and S Curve Spd Cmd Slip Comp Open Loop Process PID Slip Adder Spd Ref PID Ref PID Fbk Process PID Controller PID Enabled Speed Control Linear Ramp and S Curve Spd Cmd Slip Comp Open Loop Process PID 78 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration the drive turning the pump at the required speed the pressure is maintained in the system However when additional valves in the system are opened and the pressure in the system drops the PID error alters its output frequency to bring the process back into control When the PID is disabled the commanded speed is the ramped speed reference When the PID is enabled the speed reference is disconne
220. considered Reverse and a negative speed reference value for the Speed Regulator The Speed Regulator output then creates a negative Torque Reference command value In SLAT Maximum mode a speed reference is typically configured to force the speed regulator into saturation the speed reference is slightly below the speed feedback which is equivalent to maintain planned line speed In this scenario the drive follows the torque reference until there is breakage or slippage in the application In SLAT Maximum mode the drive switches from Torque mode to Speed mode when either one of the two following conditions occur The output of the speed regulator becomes more than the torque reference This is the same condition that exists in Maximum Torque Speed mode without SLAT features Or The speed error becomes positive the speed feedback becomes less than the speed reference This forces the control into speed regulator mode a condition called Forced Speed Mode FSM By forcing the drive to enter FSM the transition occurs earlier than it would have if the reaction was triggered at the very point that the torque reference value in speed mode is mathematically more than the value in torque mode generally resulting in less velocity overshoot P314 SLAT Err Stpt and P315 SLAT Dwell Time allow for setting some hysteresis for turning off the forced speed mode They are set to 0 as default so that there is no hysteresis In SLAT maxim
221. cted and PID Output has exclusive control of the commanded speed passing through the linear ramp and S curve Pressure Transducer PID Feedback Motor Pump Desired Pressure P1067 PID Ref Sel Slip Adder Spd Ref PID Ref PID Fbk Process PID Controller PID Disabled Speed Control Linear Ramp and S Curve Spd Cmd Slip Comp Open Loop Process PID Slip Adder Spd Ref PID Ref PID Fbk Process PID Controller PID Enabled Speed Control Linear Ramp and S Curve Spd Cmd Slip Comp Open Loop Process PID Rockwell Automation Publication 750 RM002B EN P September 2013 79 Drive Configuration Chapter 1 PID Output Select Parameter 1079 PID Output Sel Not Used 0 PID output is not applied to any speed reference Speed Excl 1 PID output is the only reference applied to the speed reference Speed Trim 2 PID output is applied to speed reference as a trim value Default Torque Excl 3 PID output is only reference applied to torque reference Torque Trim 4 PID output is applied to torque reference as a trim value Volt Excl 5 PID output is only reference applied to voltage reference Volt Trim 6 PID output is applied to voltage reference as a trim value PID Configuration Parameter 1065 PI Cfg is a set of bits that select various modes of operation The value of this
222. ction FV Custom V Hz 308 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives For more detailed examples on PowerFlex 755 axis configurations refer to the Axis Configuration Examples for the PowerFlex 755 Drive chapter in the Integrated Motion on the Ethernet IP Network Configuration and Startup User Manual publication MOTION UM003 Frequency Only For information on the specific Frequency Control details see the Motion Instructions and Integrated Motion Control Modes appendix in the Logix5000 Controllers Motion Instructions Reference Manual publication MOTION RM002 Drive Nonvolatile NV Memory for Permanent Magnet Motor Configuration A Kinetix drive can automatically read configuration data in a permanent magnet motor encoder s nonvolatile memory whereas the motor encoder configuration data must be manually entered and tuned in a PowerFlex 755 drive when configuring the drive and a permanent magnet motor for operation on the Integrated Motion on the EtherNet IP Network The Drive NV option shown in the screen example below lets you start up a PowerFlex 755 drive and permanent magnet motor using the motor encoder data that is entered and stored in the drive s nonvolatile memory This is useful for a drive running in standalone mode that is being converted to operation on an Integrated Motion on the EtherNet IP Netwo
223. current limit is not enabled in P940 Drive OL Mode an F64 Drive Overload fault occurs when operation exceeds the rated levels Normal Duty Low Voltage Normal Duty High Voltage Heavy Duty Low Voltage Heavy Duty High Voltage Light Duty Low Voltage Light Duty High Voltage Drive Overload Curve Time to Trip Seconds Current Amps 160 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection Normal Duty and Heavy Duty Operation Applications require different amounts of overload current Sizing a drive for Normal Duty provides 110 for 60 seconds and 150 for 3 seconds For a heavy duty application one larger drive rating than the motor is used and therefore provides a larger amount of overload current in comparison to the motor rating Heavy duty sizing provides at least 150 for 60 seconds and 180 for 3 seconds These percentages are with respect to the connected motor rating Thermal Manager The thermal manager assures that the thermal ratings of the power module are not exceeded The operation of the thermal manager can be thought of as a function block with the inputs and outputs as shown below The following is a generalization of the calculations done by the thermal manager The IGBT junction temperature is calculated based on the measured 940 941 942 943 944 424 960 953 421 423 422 420 38 11 7 0 1 4 5
224. cy of a low pass filter in radians per second R S Typical values for Load Observer Bandwidth range from 10 to 150 with the higher values being more responsive to disturbances but with increased system noise There is no nominal best setting but 40 R S is a suggested starting point This selection may not function well in sloppy geared systems Unlike with Inertia Adaption there is no automatic parameter setting associated with the Load Observer The Load Observer can also be used in conjunction with P695 Inertia CompMode When used together both the load torque and acceleration torque required from the speed regulator are minimized Where can Load Observer be used Load Observer can be used on systems where load disturbances are preventing a further increase in drive performance The Load Observer can be applied to both periodic load disturbances such as a piston pump and random load disturbances Load observer can be applied on systems that are not suitable for Inertia Adaption Load Observer cannot be active at the same time as Inertia Adaption Motor Control Modes P35 Motor Ctrl Mode selects the output mode of the drive to match the type of motor control to use The Default selection is a value of 1 Induction SV This parameter is set during any of the assisted start up routines either via the HIM or connected software tool wizard The parameter settings follow InductionVHz 0 Induction motor volts per Hertz contro
225. cycle is t3 t2 t4 The power as a function of time is a linearly decreasing function from a value equal to the peak regenerative power to 0 after t3 t2 seconds have elapsed The average power regenerated over the interval of t3 t2 seconds is Pb 2 The average power in watts regenerated over the period t4 is Pav average dynamic brake resistor dissipation watts t3 t2 Elapsed time to decelerate from rated speed to 0 speed seconds t4 Total cycle time or period of process seconds Pb Peak braking power watts Drive Voltage Volts AC Turn On Voltage Volts DC Cat No Peak Transistor Current Rating Amps Minimum DB Resistor Value Ohms 230 375 WA018 50 9 0 WA070 200 2 3 WA115 400 1 25 460 750 WB009 25 37 WB035 100 9 0 WB110 400 2 5 575 935 WC009 25 46 WC035 75 15 5 WC085 400 3 0 Pav t3 t2 t4 Pb 2 212 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control The Dynamic Brake Resistor power rating in watts that is chosen will be equal to or greater than the value calculated in Step 7 Step 8 Calculate the requires Watt Seconds joules for the resistor To be sure the resistor s thermal capabilities are not violated a calculation to determine the amount of energy dissipated into the resistor is made This determines the amount joules the resistor must be able to absorb Pws Required
226. d Dependent Max Limit Lift Application Trq Prove Status LoadTestActv PowerFlex 755 Rockwell Automation Publication 750 RM002B EN P September 2013 259 Motor Control Chapter 4 and the RED line depicts the drive s commanded speed reference actual Notice there are different results depicted by the grey dotted line along the graph Maximum Frequency P37 Maximum Freq defines the maximum reference frequency The actual output frequency can be greater as a result of slip compensation and other types of regulation 2 Commanded SpdRef 546 Spd Ref A Stpt 522 Min Fwd Speed 521 Max Rev Speed 523 Min Rev Speed 520 Max Fwd Speed 260 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Speed Regulation A number of parameter are used to control speed regulation Overall Operation for Sensorless Vector Control and Volts per Hertz Control The drive takes the speed reference and adjusts it using a proportional and integral regulator to compensate for slip and the programmed limits Overall Operation for Flux Vector Control The drive takes the speed reference that is specified by the speed reference control loop and compares it to the speed feedback The speed regulator uses proportional and integral gains along with other advanced tuning features to adjust the torque reference that is sent to the motor The torque reference is used to operate the motor at the spe
227. d is not the only solution for performing brake control Each individual application determines the requirements for the necessary brake control Enable Brake MSO MSF Time Rockwell Automation Publication 750 RM002B EN P September 2013 339 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Figure 36 Sample Motor Brake Code 340 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Along with normal modes of machine operation it is important to engage the brake in the event of a fault Fault status can be monitored in the Logix code and the brake can be engaged in the event of a fault Knowing what the configured Stop Action is helps determine when to engage the brake in the event of a fault Application considerations can also be factored into this decision This stop action is configured on the Axis Properties Actions screen as shown in this example Rockwell Automation Publication 750 RM002B EN P September 2013 341 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Network Topologies This topic provides examples of network topologies that can be used when implementing an Integrated Motion on EtherNet IP Network application by using on of the following programming software applications RSLogix 5000 version 19
228. d is typically used for low inertia loads with infrequent Stop cycles On Stop 3 phase drive output goes to zero off Drive outputs DC voltage on the last used phase to provide the current level programmed in P394 DC Brake Level This voltage causes a stopping brake torque If the voltage is applied for a time that is longer than the actual possible stopping time the remaining time is used to attempt to hold the motor at zero speed decel profile B on the diagram above DC voltage to the motor continues for the amount of time programmed in P395 DC BrakeTime Braking ceases after this time expires After the DC Braking ceases no further power is supplied to the motor The motor load may or may not be stopped The drive has released control of the motor load decel profile A on the diagram above The motor if rotating coasts from its present speed for a time that is dependent on the remaining kinetic energy and the mechanics of the system inertia friction and so forth Excess motor current and or applied duration could cause motor damage Motor voltage can exist long after the Stop command is issued The right combination of Brake Level and Brake Time must be determined to provide the safest most efficient stop decel profile C on the diagram above Bus Voltage Output Voltage Output Current Motor Speed Command Speed Time DC Hold Time Stop Command B C A Rockwell Au
229. d 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 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 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 Documentation Feedback Your comments will help 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 United States or Canada 1 440 646 3434 Outside United States or Canada Use the Worldwide Locator at http www rockwellautomation com rockwellautomatio
230. dback 1 Resolver Cable Balance N N N N RS 2400 Set Feedback 1 Loss Action N N N N O Enum 1 Switch to Sensorless Fdbk N 2 Switch to Redundant Fdbk N 2403 Set Feedback 1 Velocity Filter Taps Y Y Y Y 2404 Set Feedback 1 Accel Filter Taps N N N N 1434 Set Feedback 1 Velocity Filter Bandwidth Y Y Y Y 1435 Set Feedback 1 Accel Filter Bandwidth Y Y Y Y 2405 Set Feedback 1 Battery Absolute N N N N TM 1451 Get Feedback 2 Serial Number N N N N 1464 Set Feedback 2 Polarity Y Y Y Y 1465 Set Feedback 2 Startup Method R R R R O Enum 1 Absolute Y 1470 Set Feedback 2 Data Length Y Y Y Y TP SS 1471 Set Feedback 2 Data Code Y Y Y Y TP SS 1472 Set Feedback 2 Resolver Transformer Ratio N N N N RS 1473 Set Feedback 2 Resolver Excitation Voltage N N N N RS 1474 Set Feedback 2 Resolver Excitation Frequency N N N N RS 1475 Set Feedback 2 Resolver Cable Balance N N N N RS 2450 Set Feedback 2 Loss Action N N N N O Enum 1 Switch to Sensorless Fdbk N 2 Switch to Redundant Fdbk N 2453 Set Feedback 2 Velocity Filter Taps N N N N 2454 Set Feedback 2 Accel Filter Taps N N N N 1484 Set Feedback 2 Velocity Filter Bandwidth N N N N 1485 Set Feedback 2 Accel Filter Bandwidth N N N N 2455 Set Feedback 2 Battery Absolute N N
231. derived according to that voltage level Restart after Power Recovery If a power loss causes the drive to coast and power recovers the drive returns to powering the motor if it is in a Run Permit state The drive is in a Run Permit state if the following is true 3 Wire mode it is not faulted and if all Enable and Not Stop inputs are energized 2 Wire mode it is not faulted and if all Enable Not Stop and Run inputs are energized Power Loss Modes The drive is designed to operate at a nominal input voltage When voltage falls below this nominal value by a significant amount action can be taken to preserve the bus energy and keep the drive logic alive as long as possible The drive has three methods of dealing with low bus voltages Coast Disable the drive and allow the motor to coast default Decel Decelerate the motor at a rate that regulates the DC bus until the load s kinetic energy can no longer power the drive Continue Allow the drive to power the motor down to 50 of the nominal DC bus voltage When power loss occurs P959 Alarm Status A Bit 0 turns on if the P449 Power Loss Actn is set to 1 Alarm If the P449 Power Loss Actn is set to 3 FltCoastStop an F3 Power Loss fault occurs when the power loss event exceeds P452 455 Pwr Loss A B Time Recover Closer Trigger Open Recover Closer Trigger Open Recover Closer Trigger Open AC Input Vol
232. des an independent voltage ramp decoupled from the scalar frequency ramp and controlled by user selectable acceleration and deceleration ramp times There is also an adjustable percent S Curve feature The current limit function reduces the output voltage when the current limit is exceeded Minimum and maximum voltage limits are applied so the output voltage is never operated outside that range Adjustable Voltage Control Setup The following examples of setups for the Adjustable Voltage Control mode are a starting point for configuration Applications can be unique and require specific parameter settings These examples are base case only Table 1 Basic Adjustable Voltage Control Parameters Parameter No Parameter Name Setting Description 35 Motor Ctrl Mode 9 Adj VltgMode Adjustable Voltage feature is used in non motor applications 1131 Adj Vltg Config 1 1 3 Phase Operation 0 1 Phase Operation 1133 Adj Vltg Select Preset 1 1134 Adj Vltg Ref Hi 100 Percent 1140 Adj Vltg AccTime n Secs Application dependent Rockwell Automation Publication 750 RM002B EN P September 2013 19 Drive Configuration Chapter 1 Refer to the PowerFlex 750 Series Programming Manual publication 750 PM001 for parameter descriptions and defaults When using sine wave or dv dt filters the PWM frequency must match the filter design The drive s thermal protection changes the PWM frequency if over temperature conditions
233. ding amount of torque necessary to follow a point to point position profile cam profile maintain a set position or follow a Motion Planner directed profile The torque reference can be trimmed by Friction Compensation Inertia Adaption or Load Observer estimator as the application may dictate Torque Step an amount of torque reference step change can be injected to simulate a load disturbance External Torque Reference Source The Torque Reference can also be established via analog or communication media as a Setpoint reference or brought into the drive externally from a variety of sources including an independent controller or another drive for load sharing configurations When the PowerFlex drive is operated in Torque mode an alternate source of reference generally an external signal is directed to the Torque Control as an active torque reference Once the scaling is complete on both P675 Trq Ref A FOC Perm Magn amp Vector Control Current Processing Motor Load E1 E2 Gear Spd Reg Out Torque Ref Selection Speed Torque Position Mode Selection 675 Trq Ref A Sel 680 Trq Ref B Sel PID Output Sel 1079 PID Torque Trim Excl Selection 686 Torque Step Notch Filter Inertia Adaption Load Observer Estimator Limit 690 Limited Trq Ref Torque Control Torque Limit Generation 685 Selected Trq Ref Actv SpTqPs Mode 3
234. direction applications The analog in loss function configured by the Anlg Inn LssActn parameter is unaffected and therefore operational with the sleep wake function but not tied to the sleep or wake levels and is triggered off the Anlg Inn Raw Value parameter Refer to the PowerFlex 750 Series Programming Manual publication 750 PM001 for more details 94 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Start Permissives Start permissives are conditions required to permit the drive to start in any mode such as run jog or auto tune When all permissive conditions are met the drive is considered ready to start The ready condition is confirmed through the ready status in P935 Drive Status 1 Permissive Conditions No faults can be active No Type 2 alarms can be active The DI Enable input if configured must be closed The DC bus precharge logic must indicate it is a start permissive All Stop inputs must be negated nor any drive functions are issuing a stop No configuration changes parameters being modified can be in progress The drive s safety option module logic must be satisfied If a CIP Motion connection is active and if alignment is set to Not Aligned then the CommutNotCfg bit is high on To clear this start inhibit from the Axis Properties within the Logix Designer application run a Commutation Test enter the proper
235. e 1123 Traverse Inc 1124 Traverse Dec PF755 Rev_9 a Page 8 370 Skip Speed 1 371 Skip Speed 2 372 Skip Speed 3 373 Skip Speed Band 376 Ramp Acceleration 377 Ramp Deceleration 378 Ramp Jerk Control 473 Velocity Limit Positive 474 Velocity Limit Negative 467 Velocity Integrator Control Skip Speed 1 Skip Speed 2 Skip Speed 3 Rockwell Automation Publication 750 RM002B EN P September 2013 385 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Speed Control Reference Sheet 5 Bus Current Limiter Freq Ramp Velocity Regulator Final Speed Ref Limit Max Fwd Rev Speed Limit Speed Fdbk with Sensor X VF or SV 0 2 4 5 7 8 35 Motor Cntl Mode 1 2 3 4 5 6 B A D C F E H G I 597 Torque Ref Limit Torque Control Output Frequency Motor Control Object Limited Speed Adder Limit Max Fwd Rev Overspeed Limit Speed Limit Previous Ramped Spd Ref 8I2 Ramp Rate 8I1 Ramp Input 8E2 X Interrupt Time Scaling Ramp Rate Motor Ctrl Interrupt Hz Sec Reverse Prevention Limited Freq Adder Hz Selected Freq Ref Hz Max Fwd Rev Overspeed Limit Freq Limit Freq Limit High Hz Freq Limit Low Hz Limit Motor Freq Hz Motor Freq To Ramp Integrator 8G1 Torque Reference Slip RPM at FLA X X Speed to Freq Scaling 62
236. e 0 Off 1 Single step 2 Continuous 3 Persistent PCAM Status 0 1 2 3 4 5 6 7 8 9 10 11 12 1390 PCAM Control 0 1 2 3 4 5 6 7 8 Single Mode Contins Mode Persist Mode In Cam Start ReverseX In ReverseY Out Aux Cam En Alt Slope Offset En Reref Psn In Unidirection Cndtnl Hold Start ReverseX In ReverseY Out Aux Cam En Alt Slope Offset En Reref Psn In Unidirection Cndtnl Hold PCAM ScaleY Sel 1399 1400 Other Ref Sources PCAM ScaleYSetPt Parameter Selection PCAM Psn Select 1392 1393 Other Ref Sources PCAM Psn Stpt Parameter Selection PCAM VelScaleSel 1401 1402 Other Ref Sources PCAM VelScaleSP Parameter Selection 11G4 11G3 1474 DI PCAM Start PF755 Rev_9 a Page 15 392 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Position Control Profiler Indexer Sheet 1 1 2 3 4 5 6 B A D C F E H G I 1230 1235 1236 Type Step 1 1237 1238 Velocity Accel Decel Value Dwell Batch Next Action Dig In 1231 1232 1234 1239 1233 1240 1245 1246 1247 1248 1241 1242 1244 1249 1243 Step 2 1250 1255 1256 1257 1258 1251 125
237. e rotor slot design These variations in AC motors produce changes in torque current and full load speed Evolution and standardization have resulted in four fundamental types of AC motors There are five basic NEMA designs for AC motors A B C D and F The speed torque curves for all five designs are shown on the following graph AC Motors Designs A and B are general purpose AC motors with normal starting torques and currents and low slip As shown the characteristics of designs A and B are quite similar The primary difference between these two designs is that the starting current for design B is limited by NEMA standards but there is no limitation on the starting current for design A AC Motors Design C have high starting torque with normal starting current and low slip NEMA design C motor has a higher starting torque than either the A or B designs This torque is in the vicinity of 225 of full load torque Design C AC motors are normally used where breakaway loads are high at starting but which normally run at rated full load and are not subject to high overload demands after running speed has been reached AC Motors Design D exhibit high slip AC motor starting torque which is approximately 280 of full load torque low starting current and low full load speed Because of the high slip speed can drop when fluctuating loads are encountered The high starting torque of the design D motor makes it 300 275 250 225
238. e Reg Speed Reg Zero Torque Spd Ref Profiler Psn PTP Psn Camming Psn PLL 313 313 PTP Ref Sel 775 Other Ref Sources PTP Setpoint Parameter Selection 780 PLL Ext Spd Sel 796 Other Ref Sources PLL Ext Spd Stpt Parameter Selection 797 PLL Psn Ref Sel 799 Other Ref Sources PLL Psn Stpt Parameter Selection 800 PCAM Psn Select 1392 Other Ref Sources PCAM Psn Stpt Parameter Selection 1393 To Posit Reg 12A1 23D5 15G2 15G2 14H3 14H4 14H3 14H4 16H3 17H2 23D5 7H2 7H2 0 Gear Rat N D X 789 PTP EGR Mult Div 790 Parameter Selection 847 Psn Fdbk Other Ref Sources 3H4 720 1234 1244 1384 1235 1245 1385 1236 1246 1386 1237 1247 1387 1238 1248 1388 Change 1 Home Enabled From Homing 17H2 730 Homing Status PTP Reference P776 PTP Feedback P777 PTP Command P784 are loaded with Psn Actual P836 Point to Point parameter initializations performed with Position Regulator INACTIVE 777 PTP Feedback Virtual Encoder PF755 Rev_9 Page 1 Coarse Pos Trgt From Motion Planner Interpolator 760 Interp Vel Out 759 Interp Psn Out Interpolator 761 Interp Trq Out 361 Controller Position Command Float 362 Controller Velocity Command 364 Controller Torque Command 365 Position F
239. e condensed summaries derived from a variety of sources that focus on the history evolution and feature benefits of the variety of motor designs These designs are utilized in all sectors of use and in vast variations of machinery equipment and processes The types of AC motors described here powered by fixed utility frequency are limited to speeds based on the number of poles and winding construction Variable Frequency Drives VFDs broaden practical speed ranges of these motor types by converting utility power and applying appropriately selected VFD electronic control modes specifically matched to these unique motor type designs Motor control modes set by P35 Motor Ctrl Mode are also discussed in Motor Control Modes on page 226 and the PowerFlex 750 Series Programming Manual publication 750 PM001 The following topics are briefly discussed in this section Basics of AC Motor Design Induction AC Motors Wound rotor AC Motors Multispeed AC Motors Synchronous AC Motors Permanent Magnet Motor Control Synchronous reluctance motors AC Linear Electric Motors LIMs Basics of AC Motor Design AC motors come in a variety of designs each with functional purpose and benefits Asynchronous and synchronous electric motors are the two main categories of AC motors The Induction AC motor is a common form of asynchronous motor and is basically an AC transformer with a rotating secondary The primary winding sta
240. e from damaging the machine in an over travel situation Status For the PowerFlex 753 main control board Digital Inputs Di 0 1 and 2 P220 Digital In Sts Bits 0 1 and 2 represents its respective inputs status For the PowerFlex 755 main control board Digital Inputs Di 0 P220 Digital In Sts Bit 0 represents its respective digital input status For the PowerFlex 750 Series Option Module Digital Inputs Di 0 1 2 3 4 and 5 P1 Dig In Sts Bits 0 1 2 3 4 and 5 represents its respective digital input status When the bit associated with the digital input is on depicted by a 1 this means that the drive recognizes that the digital input is on When the bit associated with the digital input is off represented by a 0 this means that the drive recognizes that the digital input is off Configuration Conflicts If you configure the digital inputs so that one or more selections conflict with each other one of the digital input configuration alarms is asserted As long as the Digital Input Conflict exists the drive will not start These alarms are automatically cleared by the drive as soon as the parameters are changed to remove the conflicts These are examples of configurations that cause an alarm Configuring both the Start input function and the Run Forward input function at the same time Start is used only in 3 wire Start mode and Run Forward is used only in 2 wire Run mode therefore do no
241. e is selected in P313 Actv SpTqPs Mode the drive continues running holding position and transferring position reference back to its previous source If velocity control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding zero velocity and transferring velocity reference back to its previous source Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding position the drive then transfers position reference back to its previous source once it receives a start command If velocity control type mode is selected in P313 Actv SpTqPs Mode the drive continues running Position Position Pt Pt Control Marker Speed Control Find Home Speed Speed 296 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 5 Drive Features holding zero velocity the drive then transfers velocity reference back to its previous source once it receives a start command Find Home DI without Feedback Device Upon activation of homing the drive starts moving in Speed Control mode and ramp to the speed and direction set in P735 Find Home Speed at the rate set in P736 Find Home Ramp When the limit proximity switch is reached the Homing Input is set If P35 Motor Ctrl Mode 3 Induction FV P847 Psn Fdbk count is latched and is considered the home position count The drive then ramps to zero at the rate set in
242. e need of custom profiles However the motor nameplate information sometimes needs to be modified Rockwell Automation Technical Support requires the following information to assist you in modifying the motor data for use with the drive Please complete the following tables and email the information to Rockwell Automation Technical Support at support drives ra rockwell com Table 27 Permanent Magnet Motor Specifications and Evaluation Motor Manufacturer Model Number Feedback Device Type of Feedback If resolver please complete resolver information Feedback Manufacturer Feedback Model Number Technical Specifications Item Symbol Value Units Notes Maximum Mechanical Speed n rpm Continuous Stall Torque Ms Nm RMS not 0 peak Continuous Stall Current A A RMS not 0 peak Peak Torque Mj Nm RMS not 0 peak Torque Weight Ratio Tw Nm Kg EMF Constant Ke Vs rad Vs 1000rpm Torque constant Kt Nm A Reluctance Torque with respect to Stall Torque Tr Nm Winding Resistance R Ohms line to line Winding Inductance L mH line to line Rotor Inertia J kg m2 Mechanical Time Constant m ms Electrical Time Constant e ms Mass M Kg Radial Load Fr N Axial Load Fa N Insulation Protection 362 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Table 28
243. e of deceleration from rated speed to 0 speed in seconds Pb peak braking power watts 1 0 HP 746 Watts Compare the peak braking power to that of the rated motor power if the peak braking power is greater that 1 5 times that of the motor the deceleration time t3 t2 needs to be increased so that the drive does not go into current limit Use 1 5 times because the drive can handle 150 current maximum for 3 seconds Peak power can be reduced by the losses of the motor and inverter Step 3 Calculating the Maximum Dynamic Brake Resistance Value Vd The value of DC bus voltage that the chopper module regulates at and is equal to 375V DC 750V DC or 937 5V DC Pb The peak braking power calculated in Step 2 Rdb1 The maximum allowable value for the dynamic brake resistor Choose a Dynamic Brake resistance value that is less than the value calculated in Step 3 If the value is greater than the calculated value the drive can trip on DC bus overvoltage Remember to account for resistor tolerances Step 4 Choosing the correct Dynamic Brake Module In the table above choose the correct Dynamic Brake Module based upon the resistance value being less than the maximum value of resistance calculated in Step 3 If the Dynamic Brake Resistor value of one Dynamic Brake Module is not sufficiently low consider using up to three Dynamic Brake Modules in parallel such that the parallel Dynamic Brake resistance is less than Rdb1 calc
244. e torque reference value is In this scenario the drive would follow the torque reference until there was a breakage or slippage in the application When the drive is following a torque reference torque mode in SLAT minimum mode either one of two conditions will force the drive into following the speed reference in speed mode The output of the speed regulator becomes less than the torque reference The reaction when triggered at the very point that the torque reference value in speed mode is mathematically less than the value in torque mode generally results in greater velocity overshoot This is the same condition that would exist in minimum torque speed mode without SLAT features The following plot represents the result without using SLAT features 272 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Figure 33 Minimum Torque Speed without SLAT Or The speed error becomes negative the speed feedback becomes greater than the speed reference This would force the control into speed regulator mode a condition called Forced Speed Mode FSM By forcing the drive to enter speed mode FSM the transition occurs earlier than it would have if the reaction was triggered at the very point that the torque reference value in speed mode is mathematically less than the value in torque mode generally resulting in less velocity overshoot P314 SLAT Err Stpt and P315 SLAT Dwell Time allow set
245. e uses motor nameplate data to automatically set P73 IR Voltage Drop P74 Ixo Voltage Drop P75 Flux Current Ref and P621 Slip RPM at FLA P73 IR Volt Drop P87 PM IR Voltage P79 Encdrlss VltComp P74 Ixo Voltage Drop P75 Flux Current Ref P93 PM Dir Test Cur and the Slip Frequency parameters are updated based on nameplate parameter values When a nameplate parameter value is changed the Autotune parameters are updated based on the new nameplate values When using Calculate updated values come from a lookup table Static Tune When the Autotune parameter is set to Static only tests that do not create motor movement are run A temporary command that initiates a non rotational motor stator resistance test for the best possible automatic setting of P73 IR Voltage Drop in all valid modes and a non rotational motor leakage inductance test for the best possible automatic setting of P74 Ixo Voltage Drop in a Flux Vector FV mode A start command is required following initiation of this setting Used when motor cannot be rotated Rotate Tune The actual tests performed when Static and Rotate Tune selections are made differ for the available motor control modes Feedback Type and motor type selected The tests performed are dependent on the settings of P35 Motor Ctrl Mode P125 Pri Vel Fdbk Sel and P70 Autotune The parameters that are updated are then dependent on the tests run and in some cases calculated value
246. ears from that line entry and all subsequent entries are moved up 280 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 5 Drive Features In the configuration example below the data logging wizard is configured to log six drive parameters consisting of Output Frequency Motor Velocity Feedback Torque Current Feedback Output Current Output Voltage and DC Bus Voltage parameter values 7 Click Next This prompt for a save as dialog box that saves the data log information as a comma delimited csv file for use with Microsoft Excel or any other spreadsheet program Rockwell Automation Publication 750 RM002B EN P September 2013 281 Drive Features Chapter 5 8 To start the data logging click Save As the data logging begins a Time Left timer counts down as a blue progress bar moves to the right When the data logging has finished a Logging Complete message is displayed Each column s width is adjustable 282 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 5 Drive Features Below is a spreadsheet example of data logged Use a spreadsheet program to open the csv file Energy Savings Setting the motor control mode P35 Motor Ctrl Mode to 2 Induct Econ or Induction Economizer mode enables additional energy savings within the drive To be specific additional energy savings can be realized in constant torque applications that have constant speed reduced lo
247. ective regulation modes are active Under some conditions the active Torque mode can be forced into Speed mode regardless of the setting of Speed Torque Position P313 Actv SpTqPs Mode indicates this and reflects the mode selection that is in use 268 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Figure 32 PowerFlex 755 Firmware Flowchart The following are key parameters related to the Torque Reference control illustrated in Figure 32 P313 Actv SpTqPs Mode Active Speed Torque Position Mode Displays the Speed Torque Position Mode that is active based on the dynamic selection of modes A B C and D per P309 P312 SpdTrqPsn Mode n and digital input conditions programmed via P181 DI SpTqPs Sel 0 and P182 DI SpTqPs Sel 1 In some cases such as operation in the SLAT min max modes the final regulation mode may be forced into Speed Regulation Refer to the Speed Torque and Position mode bits in P935 Drive Status 1 that indicate the active regulation mode of the drive when it is running P314 SLAT Err Stpt Speed Limited Adjustable Torque Error Setpoint Sets the magnitude of P641 Speed Error at which the SLAT function will release its Forced Speed Mode signal This condition must exist for the time specified by P315 SLAT Dwell Time Once released the drive can operate as a torque regulator depending on the relative levels of P660 SReg Output and P4 660 699 M
248. ed without the need for reconnecting The drive determines a power loss has occurred if the bus voltage drops below Vtrigger If the drive is running the inertia ride through function is activated The load is decelerated at the correct rate so that the energy absorbed from the mechanical load regulates the DC bus to the value Vinertia Bus Voltage Motor Speed Power Loss Output Enable Pre Charge Drive Fault 680V 620V 560V 500V 407V 305V Rockwell Automation Publication 750 RM002B EN P September 2013 75 Drive Configuration Chapter 1 The inverter output is disabled and the motor coasts if the output frequency drops to zero or if the bus voltage drops below Vopen or if any of the Run Permit inputs are de energized If the drive is still in inertia ride through operation when power returns the drive immediately accelerates at the programmed rate to the set speed If the drive is coasting and it is in a Run Permit state the reconnect algorithm is run to match the speed of the motor The drive then accelerates at the programmed rate to the set speed Continue This mode provides the maximum power ride through The input voltage can drop to 50 and the drive is still able to supply drive rated current not drive rated power to the motor ATTENTION To guard against drive damage a minimum line impedance must be provided to limit inrush current when the power line recovers Provide an input impedance that is equal to o
249. ed of the AC motor and is determined by the number of poles in the stator and the frequency of the power supply ns 120f p where ns synchronous speed f frequency and p the number of poles that is 120 60 Hz 4 1800 RPM To control motor speed other than the fixed utility frequency requires a VFD Synchronous speed is the absolute upper limit of AC motor speed If the AC motor s rotor turns exactly as fast as the rotating magnetic field then no lines of force are cut by the rotor conductors and torque is zero When AC induction motors are running the rotor always rotates slower than the magnetic field The AC motor s rotor speed is just slow enough to cause the proper amount of rotor current to flow so that the resulting torque is sufficient to overcome windage and friction losses and drive the load The speed difference between the AC motor s rotor and magnetic field called slip is normally referred to as a percentage of synchronous speed s 100 ns na ns where s slip ns synchronous speed and na actual speed Or it is listed on the nameplate as a base speed 1780 RPM at rated FLA frequency and based on the number of poles Rockwell Automation Publication 750 RM002B EN P September 2013 237 Motor Control Chapter 4 Polyphase AC Induction Motors Polyphase squirrel cage AC motors are basically constant speed machines but some degree of flexibility in operating characteristics results from modifying th
250. een 0 and 60 Hz Example 2 Consider the following setup P255 Anlg In Type Bit 0 0 Voltage P545 Spd Ref A Sel Analog In 1 P61 Anlg In1 Hi 10V P62 Anlg In1 Lo 0V P547 Spd Ref A AnlgHi 60 Hz P548 Spd Ref A AnlgLo 0 Hz P520 Max Fwd Speed 45 Hz P522 Min Fwd Speed 15 Hz 10 9 8 7 6 5 4 3 2 1 0 0 10 20 30 40 50 60 Output Hertz Input Volts 108 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O This configuration is used when non default settings are desired for minimum and maximum speeds but full range 0 10V scaling from 0 60 Hz is still desired In this example a deadband from 0 2 5V and from 7 5 10V is created Alternatively the analog input deadband could be eliminated while maintaining the 15 and 45 Hz limits with the following changes P548 Spd Ref A AnlgLo 15 Hz P547 Spd Ref A AnlgHi 45 Hz Example 3 P255 Anlg In Type Bit 0 0 Voltage P545 Spd Ref A Sel Analog In 1 P547 Spd Ref A AnlgHi 30 Hz P548 Spd Ref A AnlgLo 0 Hz P61 Anlg In1 Hi 10V P62 Anlg In1 Lo 0V This is an application that requires only 30 Hz as a maximum output frequency but is still configured for full 10V input The result is that the resolution of the input has been doubled providing 1024 steps between 0 and 30 Hz
251. elease Rockwell Automation Publication 750 RM002B EN P September 2013 353 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Speed Limited Adjustable Torque SLAT This topic describes how to configure a PowerFlex 755 AC drive with embedded Ethernet IP for Speed Limited Adjustable Torque SLAT operation using an Integrated Motion on the Ethernet IP network in Logix Designer application For more information on SLAT refer to the following publications See Speed Limited Adjustable Torque SLAT Min Mode and SLAT Max Mode in the PowerFlex 700S AC Drives with Phase II Control Reference Manual publication PFLEX RM003 See Slat Configuration in the Integrated Motion on the Ethernet IP Network Reference Manual publication MOTION RM003 Add a PowerFlex 755 Drive Module to Your Project See the Integrated Motion on the Ethernet IP Network Configuration and Startup User Manual publication MOTION UM003 for specific instructions on adding a PowerFlex 755 with embedded Ethernet IP drive module to your project An example Module Properties dialog box for a PowerFlex 755 with embedded Ethernet IP is shown here Create and Configure an Axis for the PowerFlex 755 Drive 1 See the Integrated Motion on the Ethernet IP Network Configuration and Startup User Manual publication MOTION UM003 for specific instructions on creating and configuring the axis for the PowerFlex 755 drive 354
252. elected feedback signal This is used to linearize the feedback when the transducer produces the process variable squared The result of the square root is normalized back to full scale to provide a consistent range of operation The option to take the square root is selected in the PID configuration parameter 100 0 75 0 50 0 25 0 0 0 25 0 50 0 75 0 100 0 100 0 75 0 50 0 25 0 0 0 25 0 50 0 75 0 100 0 Normalized Feedback Normalized SQRT Feedback 82 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Stop Mode When P370 371 Stop Mode A B is set to 1 Ramp and a Stop command is issued to the drive the PID loop continues to operate during the decel ramp until the PID output becomes more than the master reference When set to 0 Coast the drive disables PID and performs a normal stop This bit is active in Trim mode only Anti Wind Up When P1065 PID Cfg Bit 5 Anti Windup is set to 1 Enabled the PID loop automatically prevents the integrator from creating an excessive error that could cause loop instability The integrator is automatically controlled without the need for PID Reset or PID Hold inputs Percent Ref When using Process PID control the output can be selected as percent of the Speed Reference This works in Speed trim mode only not in Torque Trim or Exclusive mode Examples Percent Ref selected Speed Ref
253. ell Automation Publication 750 RM002B EN P September 2013 145 Feedback and I O Chapter 2 Example In the example below we are using two real world inputs such as limit switches being wired into a PowerFlex 750 Series Option Module and using a DeviceLogix software program to control a digital output The picture below shows the DeviceLogix software Digital Input configuration P33 DLX DIP 1 is configured for Port 7 Dig In Sts Input 1 and P35 DLX DIP 3 is configured for Port 7 Dig In Sts Input 3 This setup lets us bring in two real world inputs into DeviceLogix software We then utilize a DeviceLogix software program so that when both Digital Input 1 and Digital Input 3 are true on the resultant is the DeviceLogix software Digital Output 1 DOP 1 turns on The picture below shows that the Option Module P10 RO0 Sel is configured for DeviceLogix software Port 14 DLX DigOut Sts2 DLX DOPSts1 This links together the DeviceLogix software Digital Output 1 DOP 1 to the drive s physical output such that when the DOP 1 is high on the drive s Option Module relay output energizes 146 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O The picture below shows the status of the DeviceLogix software inputs and outputs via P49 DLX DigIn Sts and P51 DLX DigOut Sts2 The picture below shows the status of the DeviceLogix software inputs and outputs via P1 Dig In Sts and P5 Di
254. elocity Integrator Control R R O Bits 1 Auto Preset N 468 Set Velocity Integrator Preload Y Y 469 Set Velocity Low Pass Filter Bandwidth Y Y 470 327 Set Velocity Threshold N Y Y Y N 471 Set Velocity Lock Tolerance Y Y Y 473 325 Set Velocity Limit Positive Y Y Y 474 326 Set Velocity Limit Negative Y Y Y 833 Set SLAT Configuration Y 834 Set SLAT Set Point Y 835 Set SLAT Time Delay Y 481 Set Acceleration Trim N N N 482 Get Acceleration Reference N N N 801 Get Load Observer Acceleration Estimate Y Y N 802 Get Load Observer Torque Estimate Y Y N 805 Set Load Observer Configuration Y Y N O Enum 1 Load Observer Only Y 2 Load Observer with Velocity Estimate N 3 Velocity Estimate Only N 4 Acceleration Feedback Y Table 30 PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T Conditional Implementation 424 Rockwell Automation Publication 750 RM002B EN P September 2013 Appendix A 806 Set Load Observer Bandwidth Y Y N 807 Set Load Observer Integrator Bandwidth N N N 809 Set Load Observer Feedback Gain Y Y N 485 Set Acceleration Limit N N N N 486 Set Deceleration Limit N N N N 496 Set System Inertia R R N 825
255. ence word is always words 2 Least Significant Word and 3 Most Significant Word in the output image and the 32 bit REAL Feedback is always words 2 Least Significant Word and 3 Most Significant Word in the input image When using a drive Add On Profile the Reference and Feedback are automatically formatted properly and displayed as a controller tag When using the Generic Profile the I O image is integer based and the Reference and Feedback are floating point Because of this a COP Copy instruction or User Defined Data Type UDDT is required to correctly write values to the Reference and read values from the Feedback Refer to the PowerFlex 755 Embedded EtherNet IP Adapter User Manual or to the PowerFlex 20 750 ENETR Dual port EtherNet IP Option Module User Manual for ladder logic program examples When using the drive Add On Profile the controller tags for Reference and Feedback are automatically and properly formatted This eliminates the need for data conversion using COP copy instructions or a UDDT to copy the DINT data into a REAL word 254 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control The Reference and Feedback 32 bit REAL value represents drive speed The scaling for the speed Reference and Feedback is dependent on drive P300 Speed Units For example if P300 is set to Hz a 32 bit REAL Reference value of 30 0 equals a Reference of 30 0 Hz If P300 is set to RPM a 32 bit REA
256. endencies When running the flux test the selected accel rate is used unless it is less than 10 seconds In this case 10 seconds is forced In the case of the Inertia test a 0 1 second accel rate is used The selected direction used during normal operation is used for all rotation tests Also during any rotate test the normal speed limits are enforced The thermal manager is always being run in the 2 ms loop which provides protection during all of the Autotune tests Control Mode Motor Type Feedback Select Autotune Rs Xo Idlt Rslt Id Rsld Slip Encrls Cemf PmOffset VF Induction NA Static ON OFF OFF OFF OFF ON OFF OFF OFF OFF Dynamic ON OFF OFF OFF ON ON OFF OFF OFF OFF PM NA Static ON OFF OFF OFF OFF OFF OFF OFF OFF OFF Dynamic ON OFF OFF OFF OFF OFF OFF OFF OFF OFF Reluctance NA Static ON OFF OFF OFF OFF OFF OFF OFF OFF OFF Dynamic ON OFF OFF OFF ON OFF OFF OFF OFF OFF FV Induction Encoder Static ON ON ON OFF OFF OFF OFF OFF OFF OFF Dynamic ON ON OFF OFF ON OFF ON OFF OFF OFF Encoderless Static ON ON ON ON OFF OFF OFF OFF OFF OFF Dynamic ON ON ON ON ON ON OFF ON OFF OFF PM Encoder Static OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Dynamic ON ON OFF OFF OFF OFF OFF OFF ON ON Encoderless Static ON ON OFF OFF OFF OFF OFF OFF OFF OFF Dynamic ON ON OFF OFF OFF O
257. ent red trace as you scroll through the plots and note the change in the shape as the regen power limit was increase Then see how it is clamped at a particular level when Negative Torque Limit is changed RPL 20 DC Bus Voltage Iq TrqRef P685 Motor Speed DB Active 248 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control RPL 50 DC Bus Voltage Iq TrqRef P685 Motor Speed DB Active RPL 100 DC Bus Voltage Iq TrqRef P685 Motor Speed DB Active Rockwell Automation Publication 750 RM002B EN P September 2013 249 Motor Control Chapter 4 RPL 200 DC Bus Voltage Iq TrqRef P685 Motor Speed DB Active NTL 20 DC Bus Voltage Iq TrqRef P685 Motor Speed 250 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control NTL 50 DC Bus Voltage Iq TrqRef P685 Motor Speed NTL 100 DC Bus Voltage Iq TrqRef P685 Motor Speed Rockwell Automation Publication 750 RM002B EN P September 2013 251 Motor Control Chapter 4 Speed Reference The speed reference can come from a variety of sources Some can be selected through digital inputs or via bit manipulation of the Network Logic Command Word HIM local or remote Analog Input Preset Speed Parameters Jog Speed Parameters Auxiliary Velocity Feedback Network Communication Process PID Loop MOP Reference DeviceLogix
258. ent sensing device also known as a motor thermistor embedded in the motor windings can be monitored by the drive for motor thermal protection The motor windings are typically equipped with three PTC sensors one per phase wired in series as shown in schematic below The miniaturized sensors have a low resistance below the rated response temperature and increase their resistance exponentially in the rated response temperatures range The rated response temperature is defined by the PTC sensor Motors with different thermal insulation classes Class F or H are equipped with different PTC sensors each with its own response temperature such as 120 130 and 140 Degrees C Unlike the PT100 or KTY thermistors which have a linear relation between temperature and resistance the PTC thermistor is used for a temperature level indication rather than a direct measurement in degrees C Figure 13 PTC characteristic temperature resistance curve according to IEC 34 11 2 Hardware and Connection The PTC thermistor leads are connected to the PTC and PTC terminals of either the PowerFlex 753 main control board TB1 or to TB1 of one of the optional I O cards catalog numbers 20 750 2262C 2R 20 750 2263C 1R2T 20 750 2262D 2R PTC thermistors of ATEX certified motors connect to the ATEX option module 20 750 ATEX which is mounted onto one of the 11 Series I O cards catalog numbers 20 750 1132C 2R 20 750 1133C 1R2T 20 750 1132D 2R 4 000 1 330
259. ent Limit 156 DC Bus Voltage Memory 158 Drive Overload 158 Faults 162 Input Phase Loss Detection 166 Motor Overload 168 Overspeed Limit 172 Password 173 Real Time Clock 174 Reflected Wave 179 Security 185 Shear Pin 188 Slip Compensation 192 Slip Regulator 194 156 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection In a Control Logix program do not set P410 Motor OL Actn to 1 Alarm There is an anomaly in drives with firmware version 8 001 or earlier that prevents an overload from being asserted in P959 Alarm Status A and in P937 Condition Sts 1 Bit 2 Motor OL Neither of these parameters are used under this circumstance to initiate any programmed alarm routine Leaving P410 Motor OL Actn at one of the fault settings or Flash Updating the drive to a firmware version greater than 8 001 resolves this anomaly Instructions on Flash Updating drives are provided in drive firmware Release Notes publications Current Limit There are five ways that the drive can protect itself from over current or overload situations Method Description Hardware Over Current This is a feature that instantly faults the drive if the output current exceeds this value The value is fixed by hardware and is typically 250 of drive rated amps The fault code for this feature is F12 HW OverCurrent This feature cannot be defeated or mitigated
260. er 3 Diagnostics and Protection 3 Click Display Alarms Faults Dialog A new dialog box appears 4 Click the Device System Time tab Rockwell Automation Publication 750 RM002B EN P September 2013 177 Diagnostics and Protection Chapter 3 5 If necessary change the values in the Set Time Zone and Set Device Time dialog boxes Installing Battery To install the battery first locate the main control board The location of the main control board is in the far right location of the control POD The main control board for the PowerFlex 753 and 755 drives are shown below 178 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection Figure 16 PowerFlex 753 Main Control Board Figure 17 PowerFlex 755 Main Control Board The battery is installed in pointer position 3 The battery receptacle requires a user installed CR1220 lithium coin cell battery that provides power to the Real Time Clock Installing a battery preserves the Real Time Clock setting in the event power to the drive is lost or cycled Approximate battery life is 4 5 years with drive unpowered or lifetime if drive is powered Install the battery with facing out Rockwell Automation Publication 750 RM002B EN P September 2013 179 Diagnostics and Protection Chapter 3 Removing Battery To remove the battery simply use a screwdriver to press down on the metal tab going across the battery Prying the b
261. er 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Permanent Magnet Motors Most permanent magnet motors are compatible with the PowerFlex 755 drive You must obtain the motor manufacturer s specification for the motor prior to contacting Rockwell Automation Technical Support PowerFlex 755 drives cannot accept a resolver Therefore the motors must have either a pulse encoder or absolute feedback device for example SSI Heidenhain Stegmann Sick hyperface This list contains the name of manufacturers that produce motors that are recommended for use with PowerFlex 755 drives WEG Electric Corp WEG motors can have a start winding and a run winding Always wire the drive to the run winding Wittenstein Work well with PowerFlex 755 drives Wound rotor manufacturers Wound Rotors work with PowerFlex 755 drives You must short the external resistors when using these motors Manufacturer Notes Baldor Electric Company Work well with PowerFlex 755 drives Verify that you are using either the Surface Mount SM or Interior Mounted IPM motors and select the appropriate control algorithm KollMorgan Work well with PowerFlex 755 drives Oswald Electric Motors PowerTec Work well with PowerFlex 755 drives but cannot use resolver feedback Rockwell Automation MPL MPM and RDB motors work well with PowerFlex drives Use Heidenhain feedback for RDB motors Manufacturer Notes Rockwe
262. erNet IP Network Applications for PowerFlex 755 AC Drives To view help for the MDS instructions right click MDS in the function block and choose Instruction Help or select the instruction and press F1 Additionally see Speed Limited Adjustable Torque SLAT Min Mode and SLAT Max Mode in the PowerFlex 700S AC Drives with Phase II Control Reference Manual publication PFLEX RM003 Changing the Accel Decel Times for the MDS Instruction If you are using the MDS instruction the drive accelerates and decelerates at the planner Max Acceleration and Deceleration values To set the RampAcceleration and RampDeceleration you need to use SSV instructions to change the ramp rates Below is an example of the SSV instructions Set the RampAcceleration RampDeceleration attribute to x revs sec2 Class Name Axis Instance Name Axis Name Attribute Name RampAcceleration RampDeceleration Source Tag for value Example Velocity Speed command is 30 revs sec and you want to reach that speed from zero in 6 5 seconds Ramp Acceleration needs to be set to 4 615 revs sec2 Rockwell Automation Publication 750 RM002B EN P September 2013 357 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Supported Motors The PowerFlex 755 can be used with a variety of both induction and permanent magnet PM motors AC Induction Motors An AC induction motor use
263. eration Time 2 is controlled by a digital input function see Digin Functions in the PowerFlex 750 Series Programming Manual publication 750 PM001 or by Logic Command sent over a communication network or DeviceLogix software Adjustment range is 0 00 to 3600 00 seconds Deceleration Time P537 Decel Time 1 and P538 Decel Time 2 set the deceleration rate for all speed changes Defined as the time to decelerate from motor nameplate frequency P27 Motor NP Hertz or from motor nameplate rated speed P28 Motor NP RPM to 0 The setting of Hertz or RPM is programmed in P300 Speed Units Selection between Deceleration Time 1 and Deceleration Time 2 is controlled by a digital input function see Digin Functions in the PowerFlex 750 Series Programming Manual publication 750 PM001 or by Logic Command sent over a communication network or DeviceLogix software Adjustment range is 0 00 to 3600 00 seconds Rockwell Automation Publication 750 RM002B EN P September 2013 17 Drive Configuration Chapter 1 Adjustable Voltage As standard AC drive applications are expanding into new markets new control methods are required to meet these market demands for electromagnetic applications Some of these applications listed below use non motor or non standard motors that require independent control of load frequency and voltage Vibration welding Induction heating Power supplies Vibratory feeders or conveyors Electroma
264. erature P942 IGBT Temp Pct in degrees C are also provided as test points These cannot directly be related to a trip point as the maximums are defined as a percent 162 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection Low Speed Operation When operation is below 5 Hz the IGBT duty cycle is such that heat builds up more rapidly in the power device The thermal manager increases the calculated IGBT temperature at low output frequencies and causes corrective action to take place sooner Consult technical support when prolonged operation at low output frequencies is required so proper drive derating can be applied Also consider that when a drive is in current limit the output frequency is reduced to try to reduce the load This works fine for a variable torque load but for a constant torque load reducing the output frequency does not lower the current load Lowering current limit on a constant torque load pushes the drive down to a region where the thermal issue becomes worse In this situation the thermal manager increases the calculated losses in the power module to track the worst case So if the thermal manager normally provides 150 for 3 seconds at high speeds it can only provide 150 for one second before generating a fault at low speeds Some applications such as hoisting and lifting can benefit from the disabling of current limit fold back Faults Faults are events or condit
265. ere can be as much as 5 error in the current feedback signal used to determine shear point levels Therefore it could be possible that the timer trip point is being set and reset until the entire current reference is above a setpoint Shear Pin Alarm then Fault P7 Output Current P436 Shear Pin1 Level P439 Shear Pin2 Level Motor Speed Shear Pin 1 Time Load Changes Drive Faults P952 Fault Status A P959 Alarm Status A P3 Mtr Vel Fdbk Shear Pin 2 Time Alarm Indication Alarm Indication Fault Indication 192 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection Slip Compensation When slip compensation mode is selected the drive automatically adds the appropriate amount of output frequency to maintain a consistent motor speed independent of load During drive commissioning P621 Slip RPM at FLA is set based on entered motor nameplate information This parameter can be adjusted to provide more or less compensation See the motor speed compensation figure below for a comparison of operation with and without slip compensation This shows that over time slip compensation corrects for changes in load curved lines In contrast open loop operation shows that no correction is made based on load Internally the drive converts the rated slip in RPM to rated slip in frequency To more accurately determine the rated slip frequency in hertz an estimate of fl
266. erence 43 Hz PID Output 10 Maximum Frequency 130 Hz 4 3 Hz is added to the final speed reference Percent Ref not selected Speed Reference 43 Hz PID Output 10 Maximum Frequency 130 Hz 13 0 Hz is added to the final speed reference PID Control P1066 PID Control is a set of bits to dynamically enable and disable the operation of the process PID controller When this parameter is interactively written to from a network it must be done through a data link so the values are not written to EEprom PID Enable The PID loop can be enabled disabled The Enabled status of the PID loop determines when the PID regulator output is part or all of the commanded speed The logic evaluated for the PID Enabled status is shown in the following ladder diagram Rockwell Automation Publication 750 RM002B EN P September 2013 83 Drive Configuration Chapter 1 The drive must be in Run before the PID Enabled status can turn on The PID remains disabled when the drive is jogged The PID is disabled when the drive begins a ramp to stop except when it is in Trim mode and the Stop mode bit in P1065 PID Cfg is enabled When a digital input is configured as PI Enable the PID Enable bit of P1066 PID Control must be turned On for the PID loop to become enabled If a digital input is not configured as PI Enable and the PID Enable bit in PID Control is turned On then the PID loop can become enabled If the PID Enable bit of
267. erence changes the amount of trim also changes because it is a percent of the speed reference If the trim percentage 25 then the resulting trim is 20 Hz x 25 5 Hz the speed reference 15 Hz Example 2 The following example shows the configuration and resultant of the fixed amount trim function P545 Spd Ref A Sel P546 Spd Ref A Stpt P546 Spd Ref A Stpt 20 00 Hz P600 Trim Ref A Sel P601 Trim Ref A Stpt P601 Trim Ref A Stpt 10 00 Hz P2 Commanded SpdRef 30 00 Hz If the speed reference 20 Hz and if the trim set point 10 Hz the speed reference is 20 Hz 10 Hz 30 Hz If the trim set point 10 Hz then the speed reference 10 Hz Example 3 The following example shows the configuration and resultant of utilizing both the perfect and fixed amount trim function P545 Spd Ref A Sel P546 Spd Ref A Stpt P546 Spd Ref A Stpt 20 00 Hz P608 TrmPct RefA Sel P609 TrmPct RefA Stpt P609 TrmPct RefA Stpt 25 P600 Trim Ref A Sel P601 Trim Ref A Stpt P601 Trim Ref A Stpt 10 00 Hz P2 Commanded SpdRef 35 00 Hz If the speed reference 20 Hz and if the trim percentage 25 that resulting trim is 20 Hz x 25 5 Hz and if the trim set point 10 Hz the speed reference is 20 Hz 5 Hz 10 Hz 35 Hz If the trim percentage 25 and the trim set point 10 Hz then the speed reference 5 Hz 258 Rockwell Automation Publication
268. erformance nor does it harm the motor Inertia Compensation Inertia Compensation is active only in PowerFlex 755 drive and in Flux Vector FV motor control modes selected by P35 Motor Ctrl Mode During speed changes a certain level of torque to respond is required due to load inertia That level of torque is above the torque used to run at constant speed Inertia compensation attempts to predict the motor torque required to accelerate and decelerate an inertial load The Inertia compensation function calculates a feed forward torque signal based on proportional acceleration or deceleration rate of change of speed input and total inertia also known as the derivative of speed with respect to time Then that P699 Inertia Comp Out signal torque can be fed forward into the torque control becoming an available input to the P313 Actv SpTqPs Mode selector to be summed with P660 SReg Output making for smoother accelerations and decelerations especially with high inertia loads Parameter 695 Inertia CompMode enables the Inertia Compensation and selects possible velocity reference input sources of motor speed as follows Disabled 0 Inertia compensation function is disabled P699 Inertia Comp Out is zero so the motor torque reference is not affected 76 696 697 699 695 700 698 d dt 596 0 d dt 0 1 2 3 595 Inertia Comp Inertia CompMode Disabled Int Ramp Ref Filtered
269. eries Drive Technical Data publication 750 TD001 Provides detailed information on Drive specifications Option specifications Fuse and circuit breaker ratings Integrated Motion on the Ethernet IP Network User Manual publication MOTION UM003 Use this manual to configure an Integrated Motion on the Ethernet IP network application and to start up your motion solution using the ControlLogix system Logix5000 Controllers Motion Instructions Reference Manual publication MOTION RM002 Provides details about the motion instructions that are available for a Logix5000 controller Kinetix Motion Control Selection Guide publication GMC SG001 This selection guide is meant to help make initial decisions for the motion control products best suited for your system requirements In addition there are technical data publications with product specifications and design guide publications with selection information specific to each drive family to determine the accessories needed for your application The design guides also include the recommended motor cables performance specifications and torque speed rotary and force velocity linear curves for each drive and motor actuator combination Rockwell Automation Publication 750 RM002B EN P September 2013 301 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Coarse Update Rate The position loop for the PowerFlex 755 drive
270. erse Jog is a non latched command such as Run but overrides the normal speed reference and uses P556 Jog Speed 1 or P557 Jog Speed 2 respectively An open to closed transition on one input or both inputs while the drive is stopped causes the drive to jog unless the Stop input function is configured and Run Forward Run Reverse Action Open Open Drive stops terminal block relinquishes direction ownership Open Closed Drive runs in reverse direction terminal block takes direction ownership Closed Open Drive runs in forward direction terminal block takes direction ownership Closed Closed Drive continues to run in current direction but terminal block maintains direction ownership IMPORTANT Direction control is an Exclusive Ownership function see Owners This means that only one control device terminal block DPI device HIM and so forth at a time is allowed to control direction at a time The terminal block must become direction owner before it can be used to control direction If another device is currently the direction owner as indicated by P922 Dir Owner it is not possible to start the drive or change direction by using the terminal block digital inputs programmed for both Run and Direction control for example Run Fwd Rockwell Automation Publication 750 RM002B EN P September 2013 123 Feedback and I O Chapter 2 open The table below describes the actions taken by the drive in respon
271. es Electrical Apparatus Company EAC Induction motors work well with PowerFlex 755 drives Lenze Some Lenze motors have been stamped with synchronous speed versus slip speed Please contact Lenze to get the slip speed Marathon Electric Work well with PowerFlex 755 drives Marathon stamps all pertinent information on their nameplate including electrical model equivalent Reliance RPM AC motors are used in industry and work well with PowerFlex 755 drives Reuland Electric Company Inc Work well with PowerFlex 755 drives Reuland stamps the motor with synchronous speed and then supplies the slip frequency You must calculate the slip frequency in rpm and then subtract the slip rpm from the synchronous speed to get the slip speed Before contacting Rockwell Automation Technical Support please obtain the electrical specification sent with the motor Rockwell Automation 8720 and HPK motors work well with PowerFlex 755 drives See the appropriate motor manual for the proper nameplate voltage SEW EURODRIVE SEW EURODRIVE gear motors are widely used in industry and work well with PowerFlex 755 drives Some of the older motors were stamped with synchronous speed versus slip speed Please contact SEWS if the motor is stamped with synchronous speed If you are using an SEW motor with an integral brake please verify that the brake is properly suppressed for noise 358 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapt
272. es Inputs and Outputs ATEX 412 Position Control Profiler Indexer Sheet 1 392 Control Logic 413 Position Control Profiler Indexer Sheet 2 Position Control Homing 393 Inverter Overload IT 414 Position Control Aux Functions Roll Position Indicator 394 Friction Compensation 415 Position Control Spindle Orient 395 Variable Boost Voltage Overview Function Inputs Outputs 416 Position Control Aux Functions Position Oriented Torque Boost 396 Diagnostic Tools 417 Torque Control Overview Induction Motor and Surface Permanent Magnet Motor 397 High Speed Trending Wizard 418 Rockwell Automation Publication 750 RM002B EN P September 2013 377 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Flux Vector Overview PowerFlex 755 Flux Vector Overview Spd Profiler Out PID Regulator Process Control pages 26 27 1086 1087 PID Prop Gain PID Int Time 1088 PID Deriv Time 1091 PID Fdbk Meter PID Ref Meter 1090 1084 PID LP Filter BW 1093 PID Output Meter 1067 PID Ref Sel 1072 PID Fdbk Sel PID Reference Selection PID Feedback Selection Limit PID Output Meter Psn Reg Spd Out Spd Comp Out Scaled Spd Ref FOC Perm Magn amp Vector Control Current Processing Motor Load E1 E2 Gear Speed Ref Selection amp Limits 545 550 572
273. esistor to the DC bus and dissipating power or isolating the resistor from the DC bus The Chopper Transistor Voltage Control regulates the voltage of the DC bus during regeneration The average value of DC bus voltage is 375V DC for 230V AC input 750V DC for 460V AC input and 937 5V DC for 575V AC input The voltage dividers reduce the DC bus voltage to a low enough value that is usable in signal circuit isolation and control The DC bus feedback voltage from the voltage dividers is compared to a reference voltage to actuate the Chopper Transistor The Freewheel Diode FWD in parallel with the Dynamic Brake Resistor enables any magnetic energy stored in the parasitic inductance of that circuit to be safely dissipated during turn off of the Chopper Transistor Figure 22 Chopper Module Schematic Sizing the Dynamic Brake Module Gather the following information 1 The nameplate power rating of the motor in watts kilowatts or horsepower 2 The nameplate speed rating of the motor in rpm or rps DC Bus DC Bus Fuse Fuse Dynamic Brake Resistor Chopper Transistor Voltage Control To Voltage Divider To Crowbar SCR Gate Chopper Transistor Voltage Divider Signal Common Voltage Divider To Voltage Control To Voltage Control To Voltage Control Crowbar SCR Bus Caps Bus Caps FWD FWD Rockwell Automation Publication 750 RM002B EN P September 2013 205 Motor Control C
274. ess of whether or not the drive is configured to fold back Bit 6 PWMFrq Reduc is the alarm bit for PWM fault and is 10 C 50 F below the fault level Bit 5 CurLmt Reduc is the alarm bit for current limit fold back and is 5 C 41 F below the fault level The over temperature fault level is reduced when running at output frequencies lower than 5 Hz Configuration P420 Drive OL Mode lets the user select the action to perform with increased current or drive temperature When this parameter is set to option 0 Disabled the drive will not modify the PWM frequency or current limit When set to 2 Reduce PWM the drive only modifies the PWM frequency This is typically used on hoisting applications Option 1 Reduce CLmt only modifies the current limit When setting this parameter to 3 Both PWM 1st the drive modifies the PWM frequency first and then the current limit if necessary to keep the drive from faulting with a F64 Drive Overload or F8 Heatsink OvrTemp fault Temperature Display The drive temperature is measured NTC on the heat sink and displayed as percentage of drive thermal capacity in P943 Drive Temp Pct and IGBT thermal capacity in P941 IGBT Temp Pct These two parameters are normalized to the thermal capacity of the drive which is frame dependent and displays thermal usage in percent of maximum 100 drive Trip The heat sink temperature P944 Drive Temp C and IGBT temp
275. etpoint is 742V DC and the Dynamic Brake Regulator turns on at 750V DC and back off at 742V DC Figure 6 shows that upon a stop command the bus voltage rises immediately to a point where the DB transistor turns on briefly bringing the voltage down to a point where the bus regulator can regulate the bus by adjusting the output frequency speed Rockwell Automation Publication 750 RM002B EN P September 2013 49 Drive Configuration Chapter 1 Figure 6 PowerFlex 750 Series Bus Regulation Both Adj First Flux Vector FV Control With the Regen Power Limit left at default and a decel time of 0 1 seconds the drive is limiting the amount of power to a point where the resistor could be heating up due to duty cycle considerations So the drive stops the DB transistor from firing and switches to Adjust Frequency to regulate the bus and then enables another DB pulse and then back to adjust frequency and so on until the bus voltage remains below the trigger level Figure 7 PowerFlex 750 Series Bus Regulation Both DB First FV If the Regen Power Limit is opened up to 100 for instance the plot will look exactly the same as the Sensorless Vector mode plot show below 800 780 760 740 720 700 680 660 12 10 8 6 4 2 0 2 0 2 0 0 2 0 4 0 6 0 8 1 1 2 DC Bus Voltage DC Current DC Bus Seconds DC Bus Volts 10 Volts Base Speed Speed Fdbk Motor Speed Brake Current
276. f the motor can be affected 60 60 5 Hz oscillation This parameter is valid only in NON Flux Vector modes P378 Bus Limit ACR Ki Bus Limit Active Current Regulator Integral Gain If you find your system makes the regulator unstable or oscillatory a lower value in this parameter settles out the oscillations This parameter is valid only in NON Flux Vector modes P379 Bus Limit ACR Kp Bus Limit Active Current Regulator Proportional Gain Determines the responsiveness of the active current and therefore regenerated power and bus voltage Raising this value can cause the output frequency when in bus limit to become noisy or jittery Too low a value can cause the bus limit function to malfunction and result in a over voltage fault This parameter is valid only in NON Flux Vector modes P380 Bus Reg Ki Bus Regulator Integral Gain When regulating the DC bus the voltage tends to swing above and below the voltage setpoint in what looks like a ringing oscillation This parameter affects that behavior A lower the value reduces oscillation This parameter is valid only in Flux Vector modes P20 Rated Volts Default Turn On Volts Min Max Setting lt 252V 375V 375V 389V 252 503V 750V 750 779V 504 629V 937V 937 974V gt 629V 1076V 1076 1118V 52 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration P381 Bus Reg Kp Bus Regulator Proportional Gain
277. ference back to its previous source once it receives a start command If velocity control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding zero velocity the drive then transfers velocity reference back to its previous source once it receives a start command Homing to Marker Pulse with Feedback Upon activation of homing the drive starts moving in Speed Control mode and ramps to the speed and direction set in P735 Find Home Speed at the rate set in P736 Find Home Ramp When the Marker Pulse input is set the position count is latched and is considered the home position count after the marker pulse is reached the drive then ramps to zero in P736 Find Home Ramp The drive then performs a point to point position move back to the home position count in speed of 1 10 of P735 Find Home Speed When the motor is At Position and At Zero Speed the homing sequence completes NOT Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding position and transferring position reference back to its previous source If velocity control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding zero velocity and transferring velocity reference back to its previous source Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding position
278. ff Auto Many legacy drive installations included a circuit such as a Hand Off Auto switch that provided 3 wire start and stop signals simultaneously to the drive PowerFlex 750 Series drives do not start unless there is a full input cycle between the stop and start signals P176 DI HOA Start adds a delay to the start signal allowing the required time interval between the start and stop signals This enables the use of a single 3 wire control circuit to start and stop the drive Hand Off Auto Start If P161 DI Start and P176 DI HOA Start are both configured a DigIn Cfg B alarm results You cannot use both Digital Input Start and Digital Input Hand Off Auto Start at the same time Hand Off Auto Example A Motor Control Cabinet has an Hand Off Auto switch wired as shown in the figure below When the switch is turned to Off the switch is open between the source and Stop DI 0 and between Stop and Start DI 1 This causes the drive to be in an asserted stop When the switch is turned to Auto the control signal reaches the Stop input but not the Start The drive can be stopped and started by another location When the switch is turned to Hand both the Stop and Start ports are energized In order for the drive to start the Stop signal must be received prior to the Start With the wiring above the signals are nearly simultaneous too fast to be sure that the drive is ready to start This causes the switch to either be unreliable
279. formation and operated as a single winding single speed induction motor Synchronous AC Motors P35 Motor Ctrl Mode induction motor options 0 Induction VHz Synchronous AC motors are inherently constant speed electric motors and they operate in absolute synchronism with line frequency As with squirrel cage induction AC motors speed is determined by the number of pairs of poles and is always a ratio of the line frequency Synchronous AC motors are made in sizes ranging from sub fractional self excited units to large horsepower direct current excited AC motors In the fractional horsepower range synchronous AC motors are used primarily where precise constant speed is required 240 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control In large horsepower sizes applied to industrial loads synchronous AC motors serve two important functions First AC motors provide highly efficient means of converting AC energy to mechanical power Second AC motors can operate at leading or unity power factor thereby providing power factor correction There are two major types of synchronous AC motors non excited and direct current excited electric motors Application of a VFD is to vary the desired synchronous speed of the machine Permanent Magnet Motor Control Permanent magnet motor control is selected by setting P35 Motor Ctrl Mode to the appropriate choices of motor type Refer to the Po
280. g the Power Loss mode If the input is closed P371 Stop Mode B dictates the drive s action during the power loss If this input function is not configured P450 Power Loss Mode A always dictates the drive s action during the power loss See also Power Loss on page 72 for more details DI Pwr Loss The drive contains a sophisticated algorithm to manage initial application of power as well as recovery from a partial power loss event This digital input function is used to force the drive into a power loss condition If this input is open the drive s internal algorithm dictates the power loss condition If the input is closed the algorithm is overridden and the drive is externally forced into a power lost condition P449 Power Loss Actn configures the drive s response to a power loss time out condition and P452 Pwr Loss A Time or P455 Pwr Loss B Time set the time that the drive remains in Power Loss mode before a fault occurs See also Power Loss on page 72 for more details DI Precharge This digital input function is used to manage disconnection from a common DC bus If the input is closed this indicates that the drive is connected to common DC bus and normal precharge handling can occur and that the drive can run start permissive If the physical input is open this indicates that the drive is disconnected from the common DC bus and the drive enters the precharge state and initiates a coast stop immediately to prepare for recon
281. g Out Sts Invert There is a logical invert function associated with the PowerFlex 750 Series drive s digital outputs For the PowerFlex 753 it is configured by P226 Dig Out Invert and for the PowerFlex 750 Series Option Module it is configured by P6 Dig Out Invert This invert function changes the output status bit from a zero false state to a one true state and vice versa This logical invert function requires power to be applied to the drive s control module for the drive s logic to be active This can be obtained from powering up the drive s control module by either applying power to the drive s input section or from an external 24VDC being wired into the Auxiliary Power Supply Option Module Rockwell Automation Publication 750 RM002B EN P September 2013 147 Feedback and I O Chapter 2 PowerFlex 753 Invert parameter information noted below Depending on the PowerFlex 750 Series Option Module s installed Invert parameter information noted below Example In this example the drive is utilizing a 24VDC two relay Option Module in Port 7 with P10 RO0 Sel is programmed for Port 7 Dig In Sts Input 1 Notice below when the Invert bit for Relay Out 0 when the input status is true 1 the digital output status bit is false 0 File Group No Display Name Full Name Description Values Read Write Data Type FEEDBACK amp I O Digital Outputs 226 Dig Out Invert Digital Output Invert R
282. g it from a voltage source could cause component damage Verify proper configuration prior to applying input signals 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 to start and stop the motor If an input device is used operation must not exceed one cycle per minute or drive damage will occur Drive must not be installed in an area where the ambient atmosphere contains volatile or corrosive gas vapors or dust If the drive is not going to be installed for a period of time it must be stored in an area where it will not be exposed to a corrosive atmosphere ATTENTION Hazard of permanent eye damage exists when using optical transmission equipment This product emits intense light and invisible radiation Do not look into module ports or fiber optic cable connectors 14 Rockwell Automation Publication 750 RM002B EN P September 2013 Preface Studio 5000 Environment The Studio 5000 Engineering and Design Environment combines engineering and design elements into a common environment The first element in the Studio 5000 environment is the Logix Designer application The Logix Designer application is the rebranding of RSLogix 5000 software and will continue to be the product to program Logix5000 controllers for discrete process batch motion safety and drive based solutions
283. g of the current waveform continues 12 kHz The maximum carrier frequency per frame size and the derating guidelines according to PWM frequency can be found in the PowerFlex 750 Series AC Drives Technical Data publication 750 TD001 Figure 21 Current at 2 kHz and 4 kHz PWM Frequency Some undesirable effects of higher switching frequencies include higher cable charging currents higher potential for common mode noise and an increased risk of motor winding insulation breakdown due to the reflected wave phenomenon Refer to the Wiring and Grounding Guidelines for PWM Drives publication DRIVES IN001 for further information A very large majority of all drive applications will perform adequately at 2 kHz or 4 kHz Some applications require a fixed minimum PWM frequency that is using a sine wave filter in the output of the drive In this case P40 Mtr Options Cfg Bit 9 PWM FreqLock should be set to prevent the drive from lowering its carrier frequency due to a drive overload condition 2 kHz 4 kHz Rockwell Automation Publication 750 RM002B EN P September 2013 197 Motor Control Chapter 4 Dynamic Braking When an induction motor s rotor is turning slower than the synchronous speed set by the drive s output power the motor is transforming electrical energy obtained from the drive into mechanical energy available at the drive shaft of the motor This process is referred to as motoring When the rotor is turning faster tha
284. g operation of the drive The feature lets these tests to be separated into tests that don t require motor rotation Static Tune all tests within the selected control mode Rotate Tune or if the control mode requires the Inertia Inertia Tune The Autotune tests are selected through the P70 Autotune The feature provides a manual or automatic method for setting P73 IR Voltage Drop P74 Ixo Voltage Drop and P75 Flux Current Ref Valid only when P35 Motor Ctrl Mode is set to 1 Induction SV 2 Induct Econ or 3 Induction FV Other motor control modes such as Permanent Magnet and Interior Permanent magnet populate other parameters associated with those control modes See the autotune parameter set below Tests Four Autotune selections are available in the PowerFlex 755 drive control All four selections are selected from the Autotune parameter P70 Autotune 0 Ready 1 Calculate 2 Static Tune 3 Rotate Tune 4 Inertia Tune Ready Parameter returns to this setting following a Static Tune or Rotate Tune at which time another start transition is required to operate the drive in Normal mode It also permits manually setting P73 IR Voltage Drop P74 Ixo Voltage Drop and P75 Flux Current Ref 36 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Calculate When the Autotune parameter is set to Calculate default the driv
285. ged along a path for motion rather than contained in a frame for rotary motion But the field in a LSM moving secondary element is usually provided by permanent magnets There are no significant currents induced Magnets are embedded in the moving element This does allow for more definitive position control and holding position without excessive heat generation Generally some sort of position sensor and feedback are necessary to implement control of LSMs via VFD are necessary At the time of this writing there has been minimal experience applying VFDs to control Linear Synchronous Motors LSMs Only this short description of its construction is included 244 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Notch Filter A notch filter exists in the torque reference loop to reduce mechanical resonance created by a gear train P687 Notch Fltr Freq sets the center frequency for the 2 pole notch filter and P688 Notch Fltr Atten sets the attenuation of the notch filter in the vector control torque reference section Attenuation is the ratio of the notch filter input signal to its output at the P687 Notch Fltr Freq An attenuation of 30 means that the notch output is 1 30th of the input at the specified frequency The notch filter is valid only in Flux Vector Motor Control modes P35 Figure 25 Notch Filter Frequency Example A mechanical gear train consists of two masses the motor and the
286. gh for a full input cycle before the drive looks for a rising edge on DI HOA Start Use this feature by configuring P176 DI HOA Start DI MOP Inc DI MOP Dec These digital input functions are used to increment and decrement the Motor Operated Potentiometer MOP value inside the drive The MOP is a reference value that can be incremented and decremented by external devices The MOP value has a configurable preload that is retained through a power cycle For the drive to use the MOP value as the current speed reference either P545 Speed Ref A Sel P550 Speed Ref B Sel or P563 DI ManRef Sel must be set to P558 MOP Reference DI Accel 2 DI Decel 2 These digital input functions toggle between primary and secondary ramp rates For example with a digital input programmed to P179 DI Accel 2 an open digital input follows P535 Accel Time 1 A closed digital input follows P536 Accel Time 2 DI SpTqPs Sel 0 and 1 These digital input functions provide the ability to switch between different Speed Torque Position modes P309 SpdTrqPsn Mode A P310 SpdTrqPsn Mode B P311 SpdTrqPsn Mode C and P312 SpdTrqPsn Mode D from digital input combinations See Speed Torque Position on page 266 for a complete description of these modes and the digital input combinations that activate each mode DI Stop Mode B This digital input function selects between two different drive Stop modes If the input is open then P370 Stop Mode A selects w
287. ght the Integrated Motion on the Ethernet IP Network attributes and path used in PowerFlex 755 drives control When viewed in electronic format PDF or when printed in color the standard drive control attributes and path appear in blue and the Integrated Motion on the EtherNet IP Network attributes appear in black and the path appears in black and uses heavier line weights Legend and Definitions Use the following legend and definitions when viewing the diagrams Standard Drive Control Attributes and Path Integrated Motion on the Ethernet IP Network Attributes and Path 526 527 528 529 Skip Speed Band 1 0 Drive Status 1 Jogging Limited Spd Ref 593 6H4 935 17 Skip Bands Skip Bands 370 Skip Speed 1 371 Skip Speed 2 372 Skip Speed 3 373 Skip Speed Band Skip Speed 1 Skip Speed 2 Skip Speed 3 Definitions of the Per Unit system 1 0 PU Position Distance traveled 1sec at Base Spd 1 0 PU Speed Base Speed of the Motor 1 0 PU Torque Base Torque of the Motor Read Only Parameter with Bit Enumeration Read Write Parameter with Bit Enumeration Provides additional information Read Only Parameter Read Write Parameter Symbol Legend Drive Parameters Option Module Parameters Requires port number Enumerated Parameter Page and Coordinate ex 3A2 pg 3 Column A Row 2 Constant value d Prefix refers to Diagnostic Item Number ex d33
288. gnetic stirring Resistive loads Standard inverter control modes consist of volts per hertz V Hz with boost selections speed feedback selection fan pump and economize flux vector FV with encoder and encoder less modes The control of the output voltage frequency relationship of the variable frequency inverter must be maintained in the linear and nonlinear over modulation regions Voltage linearity is achieved by maintaining a constant voltage frequency ratio over the entire operating region The variable frequency inverter must deliver an adjustable frequency alternating voltage whose magnitude is related to the output frequency As the linear to nonlinear transition begins the control must compensate for the lost voltage and deliver a linear output voltage profile In adjustable voltage control mode the output voltage is controlled independently from the output frequency The voltage and frequency components have independent references and acceleration deceleration rates The adjustable voltage control mode operation enables separate control of the output voltage and the output frequency for use on applications that are typically non motor types The voltage and frequency components have independent references and independent acceleration and deceleration rates Both the voltage and frequency can be set to any point within their respective range The following graph illustrates these functional ranges 0 0 Rated Voltage
289. h P838 Psn Reg Ki Position Integrator Hold P721 Position Control Position Lead Lag Filter Bandwidth P834 Psn Out Fltr BW Position Lead Lag Filter Gain P833 Psn Out FltrGain Position Loop Bandwidth P839 Psn Reg Kp Position Notch Filter Frequency P830 PsnNtchFltrFreq Velocity Feed Forward Gain P549 Spd Ref A Mult 326 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Induction Motor Data Axis Properties Configuration Induction Motor Data Axis Properties Induction Motor Data Motion Axis Parameters Rockwell Automation Publication 750 RM002B EN P September 2013 327 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 17 Induction Motor Data Instance to Parameter Cross Reference Induction Motor Model Axis Properties Configuration Induction Motor Model Motion Axis Parameters Table 18 Induction Motor Model Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Induction Motor Rated Frequency P27 Motor NP Hertz Motor Overload Limit P413 Mtr OL Factor Motor Rated Continuous Current P26 Motor NP Amps Motor Rated Output Power P30 Motor NP Power Motor Rated Voltage P25 Motor NP Volts Motor Type P35 Motor Cntl Mode Rotary Motor Poles P31 Motor Poles Rotary Motor Ra
290. hapter 4 3 The motor inertia and load inertia in kilogram meters2 or lb ft2 4 The gear ratio if a gear is present between the motor and load GR 5 Review the Speed Torque Power profile of the application Equations used for calculating Dynamic Braking values use the following variables t The motor shaft speed in Radians second or N t The motor shaft speed in Revolutions Per Minute or RPM T t The motor shaft torque in Newton meters 1 01 lb ft 1 355818N m P t The motor shaft power in Watts 1 0HP 746 Watts Pb The motor shaft peak regenerative power in Watts Step 1 Determine the Total Inertia JT Jm GR2 x JL JT Total inertia reflected to the motor shaft kilogram meters2 kg m2 or pound feet2 lb ft2 Jm Motor inertia kilogram meters2 kg m2 or pound feet2 lb ft2 GR The gear ratio for any gear between motor and load dimentionless JL Load inertia kilogram meters2 kg m2 or pound feet2 lb ft2 1 lb ft2 0 04214011 kg m2 Step 2 Calculate the Peak Braking Power JT Total inertia reflected to the motor shaft kg m2 rated angular rotational speed N Rated motor speed RPM Rad s 2 N 60 RPM Pb JT 2 t3 t2 Rad s 2 N 60 206 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control t3 t2 total tim
291. hapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Velocity Control Axis Properties Configuration General Axis Properties for Velocity Control Velocity Control Axis Properties Rockwell Automation Publication 750 RM002B EN P September 2013 321 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Velocity Control Motion Axis Parameters Table 14 Velocity Control Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Acceleration Feed Forward Gain P696 Inertia Acc Gain P697 Inertia Dec Gain SLAT Configuration P309 SpdTrqPsn Mode A SLAT Set Point P314 SLAT Err Stpt SLAT Time Delay P315 SLAT Dwell Time Velocity Droop P620 Droop RPM at FLA Velocity Integrator Bandwidth P647 Speed Reg Ki Velocity Integrator Hold P635 Spd Options Ctrl Velocity Integrator Preload P652 SReg Trq Preset Velocity Limit Negative P521 Max Rev Speed Velocity Limit Positive P520 Max Fwd Speed Velocity Loop Bandwidth P645 Speed Reg Kp Velocity Low Pass Filter Bandwidth P644 Spd Err Fltr BW Velocity Negative Feed Forward Gain P643 SpdReg AntiBckup Velocity Offset P601 Trim Ref A Stpt 322 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Torque Loop A
292. he PID Configuration parameter Rockwell Automation Publication 750 RM002B EN P September 2013 85 Drive Configuration Chapter 1 PID Status P1089 PID Status parameter is a set of bits that indicate the status of the process PID controller PID Reference and Feedback The selection of the source for the reference signal is entered in P1067 PID Ref Sel The selection of the source for the feedback signal is selected in P1072 PID Fdbk Sel The reference and feedback have the same limit of possible options Options include DPI adapter ports MOP preset speeds analog inputs pulse input encoder input and PID setpoint parameter The value used for reference is displayed in P1090 PID Ref Meter as a read only parameter The value used for feedback is displayed in P1091 PID Fdbk Meter as a read only parameter These displays are active independent of PID Enabled Full scale is displayed as 100 00 PID Reference and Feedback Scaling The analog PID reference can be limited by using P1068 PID Ref AnlgHi and P1069 PID Ref AnlgLo PID Ref AnlgHi determines the high value in percent for the analog PID reference PID Ref AnlgLo determines the low value in percent for the PID reference The analog PID feedback can be limited by using P1068 PID Ref AnlgHi and P1069 PID Ref AnlgLo PID Ref AnlgHi determines the high value in percent for the PID feedback PID Ref AnlgLo determines the low value in percent fo
293. he PID Output to a percentage of P37 Maximum Freq In torque trim mode they scale the PID Output as a percentage of rated motor torque 88 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Example Set the PID lower and Upper limits to 10 with Maximum Frequency set to 100 Hz This lets the PID loop adjust the output of the drive 10 Hz P1081 PID Upper Limit must always be greater than P1082 PID Lower Limit Once the drive has reached the programmed Lower and Upper PID limits the integrator stops integrating and no further windup is possible PID Output Mult P1080 PID Output Mult enables additional scaling of the PID loop output Example The application is a velocity controlled winder As the roll builds up the output gain can be reduced to allow the dancer signal to be properly reacted to by the PID loop without changing tuning of the PID loop PID Deadband P1083 PID Deadband conditions the PID reference If the PID reference has undesired rapid changes the deadband can help smooth out these transitions Reset Parameters to Factory Defaults 1 Access the Status Screen on the 20 HIM A6 or 20 HIM CS6 Human Interface Module 2 Use the left right arrow keys to scroll to the port of the device whose parameters you want to set to factory defaults for example Port 00 for the Host Drive or the respective port number for the drive s connected peripheral
294. he drive is set for SLAT Minimum mode so that the drive normally runs in Torque mode and follows P675 Trq Ref A Sel Trq Ref A Sel comes from an external controller and is approximately 60 of motor torque during the snapshot shown below The speed reference also from an external controller is set just above the speed feedback to saturate the speed regulator while in Torque mode The following snapshot captures what occurs in the drive during a break in the web Figure 34 SLAT Min to Forced Speed Mode P314 SLAT Err Stpt P315 SLAT Dwell Time Low Pass Filter Speed Error lt 0 Off On Speed Error gt SLAT Setpoint for SLAT Time FSM State Controller Application Dependant Speed Reference Bias Motor Speed Feedback External Torque Reference ETR Speed Error Speed Regulator Output SRO Forced Speed Mode FSM FSM On Off PI Regulator Min Select Internal Torque Reference ITR Small amount of overshoot during web break Motor Speed Feedback RPM Speed Regulator Out Speed Regulator Saturated Motor Torque Reference Speed Error RPM Speed Regulator is preloaded with Motor Torque Reference Speed Error becomes negative Web break occurs Torque Mode Speed Mode 274 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control SLAT Maximum Mode Choose SLAT Maximum mode when material direction and speed reference is
295. he dual loop control encoder axis 1 Create a feedback axis in the Motion group for the encoders Dual_Loop_Axis in this example E E Motor Load Mechanical Transmission 5 1 ratio Gearbox and Belt Motor Master Feedback Device Port 5 Channel A PowerFlex 755 Drive Load Feedback Device Port 4 Channel A PowerFlex 755 Drive 310 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 2 Open the PowerFlex 755 drive module and click the Associated Axis tab 3 From the Axis 1 pull down menu choose the feedback axis you created Dual_Loop_Axis in this example 4 From the Motor Master Feedback Device pull down menu choose Port 5 Channel A 5 From the Load Feedback Device pull down menu choose Port 4 Channel A 6 Click OK Rockwell Automation Publication 750 RM002B EN P September 2013 311 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 7 Open the Axis Properties for the feedback axis Dual_Loop_Axis 8 From the Feedback Configuration pull down menu choose Dual Feedback to allow the axis object to accept feedback from two sources 9 Select the Motor Feedback category 10 From the Type pull down menu choose the appropriate motor feedback 11 In the Cycle Resolution box type the appropriate value for your device 12 From the
296. he only unknown value If we place all three known quantities in a box that we call an observer load torque can be estimated As the output of the load observer is added to the output of the speed regulator the function minimizes the load torque requirement for the output of the speed regulator Because load observer affects the torque reference and the acceleration feedback is required this method can only be applied on P35 Motor Ctrl Mode Flux Vector control modes with motor feedback device This feature is available only on PowerFlex 755 drives 1 M s Load Torque Disturbance Applied Torque Velocity Output IIR 689 685 704 76 704 711 707 2 0 0 From Speed Reg Output Selected Trq Ref Notch Filtered Trq Ref Load Estimate Total Inertia Motor Acceleration Feedback Load Observer BW Load Observer Disabled InAdp LdObs Mode Load Observer Estimator 226 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Configuration Enable Load Observer by setting P704 InAdp LdObs Mode to 2 LoadObserver The total inertia value P76 Total Inertia is required for this feature Ideally it is measured during the inertia test as part of the drive startup The next best approach is to manually enter a reasonably close calculated value In Load Observer mode P711 Load Observer BW is used to set the natural frequen
297. he two series connected Bus Caps are part of the DC bus filter of the AC Drive The significant power components of the Chopper Module are the protective fusing the Crowbar SCR the Chopper Transistor an IGBT the Chopper Transistor Voltage Control hysteretic voltage comparator and a freewheel diode for the Dynamic Brake Resistor The protective fuse is sized to work in conjunction with the Crowbar SCR Sensing circuitry within the Chopper Transistor Voltage Control determines if abnormal conditions exist within the Chopper Module One of these abnormal conditions is a shorted Chopper Transistor If this condition is sensed the Chopper Transistor Voltage Control fires the Crowbar SCR shorting the DC 0 t1 t2 t3 t4 t1 t4 t 0 t1 t2 t3 t4 t1 t4 t 0 t1 t2 t3 t4 t1 t4 t t T t P t Pb 204 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control bus and melting the fuse links This action isolates the Chopper Module from the DC bus until the problem can be resolved The Chopper Transistor is an Isolated Gate Bipolar Transistor IGBT There are several transistor ratings that are used in the various Chopper Module ratings The most important rating is the collector current rating of the Chopper Transistor that helps to determine the minimum Ohmic value used for the Dynamic Brake Resistor The Chopper Transistor is either ON or OFF connecting the Dynamic Brake R
298. hen configure the appropriate parameter below P868 DPI Pt1 Flt Ref to set the speed reference if the HIM at port 1 is disconnected P869 DPI Pt2 Flt Ref to set the speed reference if the HIM at port 2 is disconnected P870 DPI Pt3 Flt Ref to set the speed reference if the HIM at port 3 is disconnected A constant value must be entered as the fault speed reference in this instance Rockwell Automation Publication 750 RM002B EN P September 2013 53 Drive Configuration Chapter 1 Droop Feature 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 oppose the master The input to the droop block is the commanded motor torque The output of the droop block reduces the speed reference P620 Droop RPM at FLA sets the amount of speed in RPM that the speed reference is reduced when at full load torque For example when P620 Droop RPM at FLA is set to 50 RPM and the drive is running at 100 rated motor torque the droop block subtracts 50 RPM from the speed reference Duty Rating Applications require different amounts of overload current Normal Duty Sizing the drive for Normal Duty enables the use of the highest continuous output current rating of the drive and an overload rating of 110 for 60 seconds every 10 minutes and 150 for 3 seconds every minute Heavy Duty For heavy du
299. hen output current exceeds a programmed amount Additionally the drive can be programmed to ignore this condition during acceleration and deceleration which often requires current that otherwise causes a shear pin fault Also the condition can be ignored for a programmable amount of time Activating Shear Pin To turn on either Shear Pin 1 or Shear Pin 2 configure Shear Pin n Actn This activates the function Selection between P435 Shear Pin 1 Actn and P438 Shear Pin 2 Actn cannot be made by a digital input These parameters can be set over a communication network The options for each shear pin action are the same Default for each is 0 Ignore The following are the settings for P435 and P438 Ignore 0 No action is taken Alarm 1 Type 1 alarm indicated Flt Minor 2 Minor fault indicated If running drive continues to run Enable with P950 Minor Flt Cfg If not enabled acts like a major fault FltCoastStop 3 Major fault indicated Coast to Stop Flt RampStop 4 Major fault indicated Ramp to Stop Flt CL Stop 5 Major fault indicated Current Limit Stop Ignore During Acceleration There are situations where a fast acceleration of the motor causes the drive to output current to the motor near or at the current limit value for shear pin and fault the drive while in acceleration To avoid this condition set P434 Shear Pin Cfg Bit 0
300. hich Stop mode to use If the input is closed then P371 Stop Mode B selects which Stop mode to use If this input function is not configured then P370 Stop Mode A always selects which Stop mode to use See also Stop Modes on page 96 for more details DI Speed Sel 2 DI Speed Sel 1 DI Speed Sel 0 Auto Reference Source Parameter 0 0 0 Reference A P545 Spd Ref A Sel 0 0 1 Reference A P545 Spd Ref A Sel 0 1 0 Reference B P550 Spd Ref B Sel 0 1 1 Preset Speed 3 P573 Preset Speed 3 1 0 0 Preset Speed 4 P574 Preset Speed 4 1 0 1 Preset Speed 5 P575 Preset Speed 5 1 1 0 Preset Speed 6 P576 Preset Speed 6 1 1 1 Preset Speed 7 P577 Preset Speed 7 Rockwell Automation Publication 750 RM002B EN P September 2013 125 Feedback and I O Chapter 2 DI BusReg Mode B This digital input function selects how the drive regulates excess voltage on the DC bus If the input is open then P372 Bus Reg Mode A selects which bus regulation mode to use If the input is closed then P373 Bus Reg Mode B selects which bus regulation mode to use If this input function is not configured then P372 Bus Reg Mode A always selects which bus regulation mode to use See also Bus Regulation on page 41 for more details DI PwrLoss ModeB This digital input function selects between two different drive power loss modes If the input is open P450 Pwr Loss Mode A dictates the drive s action durin
301. hows if there is an active alarm on Inverter 1 section 136 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Within the Numeric Edit tab we can configure the digital output for the desired function See below Rockwell Automation Publication 750 RM002B EN P September 2013 137 Feedback and I O Chapter 2 Once the parameter is configured within the Numeric Edit tab you can Click OK or you can go back to the Value tab to see what populates in the pull down GUI then Click OK Level Conditions A desired level function needs to be programmed into the Level Sel parameter depending on the output being used If the value for the specified function frequency current and so forth is greater than equal to or less than the programmed limit dictated by the Level parameter the output activates or deactivates depending on how the Sel parameter is configured Notice that the Level Select parameters do not have units The drive assumes the units and the minimum maximum values from the selected parameter function For example if the Level Sel is programmed for P943 Drive Temp Pct which indicates operating temperature of the drive power section heat sink its units are in percentage of the maximum heat sink temperature with minimum maximum values of 200 200 percent 138 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O
302. ignal 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 For the PowerFlex 755 drive the Inertia Compensation Inertia Adaption and the Friction Compensation influence the output of the speed regulator Torque Regulation 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 also requires that another IMPORTANT Zero Torque can excessively heat the motor if operated in this mode for extended periods of time A 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 can be required Rockwell Automation Publication 750 RM002B EN P September 2013 271 Motor Control Chapter 4 element set the speed Configuring the drive for torque regulation requires P309 SpdTrqPsn Mode A to be set to 2 Torque Ref In addition a reference signal must be linked to the torque reference For example when Analog Input 0 is used for the torque reference P675 Trq Ref A Sel needs to be configured for Anlg In0 Value When operating in a Torque mode the motor current is adjusted to achieve the de
303. igure a dynamic brake shunt regulator for a PowerFlex 755 drive in the Logix Designer application 1 In the I O Configuration double click the PowerFlex 755 EENET CM xx module and select Properties The Module Properties dialog box appears 348 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 2 Click the Power tab and configure the appropriate boxes according to your application Regenerative Power Limit The amount of energy that the drive allows during regeneration If an external regenerative power supply or shunt dynamic brake resistor is used it is recommended that this value be set to 200 0 Important If this value is set too low the ability of the drive to stop a motor is limited Bus Regulator Action Disabled This selection disables the drive s internal DC bus voltage regulation feature Select this option if there is an external regenerative brake or regenerative line supply connected to the drive DC bus Shunt Regulator This selection is used when either an external shunt resistor is connected to the drive or the internal IGBT is controlling the power dissipation to the resistor the type of shunt resistor is selected below Adjustable Frequency This selection let the drive either change the torque limits or ramp rate of the velocity to control the DC bus voltage This option is not
304. imum load Open drain output Terminal Name Description Rating R0NC Relay 0 N C Output Relay 0 normally closed contact 240V AC 24V DC 2A max Resistive Only R0C Relay 0 Common Output Relay 0 Common R0NO Relay 0 N O Output Relay 0 normally open contact 240V AC 24V DC 2A max General Purpose Inductive Resistive Terminal Name Description Rating R0NC Relay 0 N C Output Relay 0 normally closed contact 240V AC 24V DC 2A max Resistive Only R0C Relay 0 Common Output Relay 0 common R0NO Relay 0 N O Output Relay 0 normally open contact 240V AC 24V DC 2A max General Purpose Inductive Resistive R1NC Relay 1 N C Output Relay 1 normally closed contact 240V AC 24V DC 2A max Resistive Only R0C Relay 1 Common Output Relay 1 common R0NC Relay 0 N C Output Relay 0 normally closed contact 240V AC 24V DC 2A max Resistive Only Rockwell Automation Publication 750 RM002B EN P September 2013 131 Feedback and I O Chapter 2 Catalog number 20 750 2263C 1R2T provides one transistor output and two relay outputs on TB2 at the front of option module Refer to the PowerFlex 750 Series AC Drives Installation Instructions publication 750 IN001 for PowerFlex 750 Series Option Module I O wiring examples Configuration Each digital output can be programmed to change state based on one of many different conditions These conditions can fall into different categories Drive status conditio
305. in Max SReg Output Inertia Comp Out 0 686 Torque Step 688 Notch Fltr Atten 685 Selected Trq Ref Notch II R 687 Notch Fltr Freq Inertia Adaption 76 Total Inertia 705 706 Inertia Adapt BW InertiaAdaptGain Filtered Trq Ref 4 Commanded Trq 689 Select Logic 313 Actv SpTqPs Mode 935 21 22 23 Drive Status 1 Torque Mode PositionMode Speed Mode SpdTrqPsn Mode A 708 InertiaTrqAdd Motor Acceleration Feedback 0 0 1 Load Observer Estimator 76 Total Inertia 711 Load Observer BW Motor Acceleration Feedback 0 0 2 Load Estimate 707 704 InAdp LdObs Mode Disabled Disabled Inertia Adaption Load Observer SpdTrqPsn Mode B SpdTrqPsn Mode C SpdTrqPsn Mode D 181 182 DI SpTqPs Sel 0 DI SpTqPs Sel 1 314 SLAT Err Stpt 315 SLAT Dwell Time Zero Torque 0 1 2 3 4 5 6 7 8 9 10 Speed Reg Torq Reg SLAT Min SLAT Max Sum Profiler Psn P2P Psn Camming Psn PLL Psn Direct 309 310 311 312 0 1 1 1 1 0 0 0 ABCD Select From Spd Ref 7C4 10D5 From Spd Reg 10I3 From Torq Ref 21H4 6A1 6D2 10D5 11D2 11I1 12H5 16H2 To Torq Ctrl Current 23a B2 23b B2 24D2 25D2 24B4 25C5 0 1 Logic Ctrl State Forced Spd 0 Min Ma
306. ine Command 430 Position Command 366 Velocity Fine Command 450 Velocity Command 5A1 490 Torque Command 11 Psn Spindle Orient 388 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Position Control Regulator Gear Rat N D 816 817 Psn EGR Mult Psn EGR Div 815 847 P Gain kp 839 I Gain ki s 838 Limit 841 840 842 Gear Rat N D 825 826 836 837 Droop 846 Limit 845 844 Psn Actual Psn Load Actual Psn Reg Ki Psn Reg Droop Psn Reg Kp PsnReg IntgrlOut Psn Reg Status PReg Pos Int Lmt PReg Neg Int Lmt Psn Reg Status Psn Ref EGR Out LdPsn Fdbk Mult LdPsn Fdbk Div PReg Neg Spd Lmt PReg Pos Spd Lmt PsnReg Spd Out 835 Psn Error Notch II R 724 5 724 6 Calib Const Calib Const 724 3 724 4 831 830 PsnNtchFltrDepth PsnNtchFltrFreq Psn Fdbk Position Reference Offset Electronic Gear Ratio 4 Intgrtr Enbl Intgrtr Hold 721 1 721 5 amp From Posit Ref 11I4 Notch Filter Speed Limits PI Regulator Inv 723 Psn Command 725 Xzero Preset 721 4 Position Control Zero Psn Zero Position 1 2 3 4 5 6 B A D C F E H G I Pos
307. ing continuous at 100 if the load increases to 150 for 1 second the load must then return to 100 for 20 seconds before another step to 150 Activating Motor Overload To turn on Motor Overload protection configure P410 Motor OL Actn This activates the function Default setting is 3 FltCoastStop The following bits configure P410 Motor OL Actn Ignore 0 No action is taken Alarm 1 Type 1 alarm indicated Flt Minor 2 Minor fault indicated If running drive continues to run Enable with P950 Minor Flt Cfg If not enabled acts like a major fault FltCoastStop 3 Major fault indicated Coast to Stop Flt RampStop 4 Major fault indicated Ramp to Stop Flt CL Stop 5 Major fault indicated Current Limit Stop FLA Cold Trip Time Hot Trip Time 105 6320 5995 110 1794 1500 115 934 667 120 619 375 125 456 240 130 357 167 135 291 122 140 244 94 145 209 94 150 180 60 155 160 50 160 142 42 165 128 36 170 115 31 175 105 27 180 96 23 185 88 21 190 82 19 195 76 17 200 70 15 IMPORTANT If the application requires high overload current for long durations for example 150 for 60 seconds heavy duty sizing between drive and motor is required 172 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection
308. ing Start Sweep Slope A Note the slope of the frequency sweep Adjust P359 FS Speed Reg Ki Frequency Speed Current PowerFlex 753 Flying Start Sweep Slope B Note the slope of the frequency sweep Adjust P359 FS Speed Reg Ki Frequency Speed Current 58 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration In the two samples shown above the motor was decelerating The sweep function and slope manipulation work the same if the motor was spinning at some constant speed Flying Start Sweep Dip A This plot shows the effect of modifying P360 FS Speed Reg Kp In this plot a motor is spinning at some constant speed when the drive is issued a start command and the sweep routine is started Note the current dip when the parameter is set to its lowest value and the drive has determined the frequency of the rotating motor See the next plot when this parameter set to its highest setting Flying Start Sweep Dip B This plot shows the effect of modifying P360 FS Speed Reg Kp In this plot a motor that is spinning at some constant speed when the drive is issued a start command and the sweep routine is started Note the current dip when the parameter is set to its highest value and the drive has determined the frequency of PowerFlex 753 Flying Start Rotating Load P360 1 Default 75 Note current dip Frequency Speed Current Rockwell Automation Publication 750 R
309. ing this parameter causes the drive to calculate and change the speed regulator gains Rockwell Automation Publication 750 RM002B EN P September 2013 261 Motor Control Chapter 4 Speed Loop Damping P653 Spd Loop Damping Sets the damping factor of the vector speed loop s characteristic equation Damping affects the integral gain when a non zero bandwidth has been entered A damping factor of 1 0 is considered critical damping Lowering the damping produces faster load disturbance rejection but can cause a more oscillatory response When the speed regulator bandwidth is zero gains are set manually and damping factor has no effect Integral Gain P647 Speed Reg Ki Sets the integral gain of the speed regulator in FV Motor Control modes This value is automatically calculated based on the bandwidth setting in P636 Speed Reg BW P645 Speed Reg Kp and P653 Spd Loop Damping Integral gain can be manually adjusted by setting P636 Speed Reg BW to a value of zero Integral gain has effective scaling of per unit torque sec per unit speed Proportional Gain P645 Speed Reg Kp This value is automatically calculated based on the bandwidth setting in P636 Speed Reg BW and P76 Total Inertia The proportional gain can be manually adjusted by setting P636 Speed Reg BW to a value of zero Proportional gain has effective scaling of per unit torque per unit speed The maximum allowable value of this parameter is lim
310. int where the motor no longer causes the bus voltage to increase the frequency is forced to zero DC brake is used to complete the stop if the DC Braking Time is non zero then the output is shut off Use of the current regulator verifies that over current trips don t occur and allow for an easily adjustable and controllable level of braking torque Use of the bus voltage regulator results in a smooth continuous control of the frequency and forces the maximum allowable braking torque to be utilized at all times IMPORTANT For this feature to function properly the active Bus Reg Mode A B must be set to 1 Adjust Freq and not be 0 Disabled Bus Voltage Output Voltage Output Current Motor Speed Command Speed Time Stop Command 102 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Example Block Diagram Bus Voltage Frequency Bus Voltage Reference Brake Level Gain Current Regulator Rockwell Automation Publication 750 RM002B EN P September 2013 103 Drive Configuration Chapter 1 Current Limit Stop Current Limit stop is not typically set up as the normal Stop mode Usually the normal stop is programmed at some ramp rate For the current limit stop a digital input is used for the function However you certainly could set the normal stop as CurrentLimit Stop Current limit stop ramp rate is 0 1 second and is not programmable Exam
311. ion Pt Pt Control DigIn Speed Control Find Home Speed Speed 298 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 5 Drive Features holding zero velocity drive then transfers velocity reference back to its previous source once it receives a start command Position Position Pt Pt Control DigIn Speed Control Find Home Speed Speed Rockwell Automation Publication 750 RM002B EN P September 2013 299 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Topic Page Additional Resources for Integrated Motion on the EtherNet IP Network Information 300 Coarse Update Rate 301 Control Modes for PowerFlex 755 Drives Operating on the Integrated Motion on the EtherNet IP Network 301 Drive Nonvolatile NV Memory for Permanent Magnet Motor Configuration 308 Dual Loop Control 309 Dual Port EtherNet IP Option Module ETAP 315 Hardware Over Travel Considerations 316 Integrated Motion on EtherNet IP Instance to PowerFlex 755 Drive Parameter Cross Reference 317 Motor Brake Control 338 Network Topologies 341 PowerFlex 755 and Kinetix 7000 Drive Overload Rating Comparison for Permanent Magnet Motor Operation 345 PowerFlex 755 Drive Option Module Configuration and Restrictions 346 Regenerative Braking Resistor 347 Safe Speed Monitor Option Module 20 750 S1 Configuration 350 Speed Limited Adjustable Torque SLAT
312. ion Reference amp Interpreter Pt Pt Position Planner Position Mode Selection 779 PTP Index Preset 1 2 3 4 5 6 B A D C F E H G I 140 142 Actv SpTqPs Mode 10 Restart Step Psn Selected Ref PTP Control PTP Control 781 PTP Rev Vel Lmt 788 PTP Vel Override Profiler Reference amp Interpreter Step 1 16 Dwell Step 1 16 Batch Step 1 16 Next Step 1 16 Action X 778 770 0 4 Vel Override 5 Ref Pause Intgrtr Hold PTP Control 0 1 2 776 1 0 2 3 4 5 6 7 10 0 1 2 3 4 5 774 773 772 DI Indx Step DI Indx StepRev DI Indx StepPrst 783 PTP Speed FwdRef PTP Reference 8 PCAM Planner PCAM Planner 1407 1408 PCAM Main Pt X 0 15 PCAM Main Pt Y 0 15 1406 PCAM Main Types 1391 PCAM Mode 1472 1473 PCAM Vel Out PCAM Psn Out PLL Planner PLL Control 807 PLL Speed Out 809 PLL Enc Out 808 PLL Speed OutAdv 810 PLL Enc Out Adv 9 766 6 0 1 2 3 4 5 10 7 8 9 Spd FF To Spd Ref 7G4 722 Position Control Reference Absolute Absolute Immediate Psn Direct Stpt Virtual EncDelay Virtual Enc Psn Profiler PsnPTP 0 PTP PsnRefStatus 1 ZeroFFSpdRef PTP Int Hold 2 SpdFFRef En 3 Ref Complete S Curve Psn Direct Psn PLL Psn Camming Psn PTP Sum SLAT Max SLAT Min Torqu
313. ions occurring within and or outside of the drive These events or conditions by default are considered to be of such significant magnitude that drive operation is discontinued Faults are annunciated by the STS Status indicator on the drive a HIM communications network and or contact outputs Drive Response to Faults When a fault occurs the fault condition is latched requiring the user or application to perform a fault reset to clear the latched condition The condition that caused the fault determines the user response If the condition that caused the fault still exists after a fault reset the drive faults again and the fault condition is latched In response to a fault the drive takes a predetermined action based on fault type Drive response to some fault types are user configurable With non configurable faults the drive output is turned off and a coast to stop sequence occurs The Troubleshooting section of PowerFlex 750 Series Programming Manual publication 750 PM001 provides details on both types of faults The fault code is entered into the first buffer of the fault queue see Fault Queue below for rules Additional data on the status of the drive at the time that the fault occurred is recorded This information is always related to the most recent fault queue entry captured by P951 Last Fault Code When another fault occurs this data is overwritten Rockwell Automation Publication 750 RM002B EN P
314. ired function defined by Parameters 155 to 201 below These parameters cannot be changed while the drive is running Operation for DI Run type parameters can be defined by P150 Digital In Cfg Run Edge 0 Control function requires a rising edge open to close transition for the drive to run Run Level 1 As long as a separate Stop command is not issued the level alone no rising edge required determines whether the drive runs When set to 1 Run Level the absence of a run command is indicated as a stop asserted and P935 Drive Status 1 Bit 0 is low Number Parameter Name Number Parameter Name Number Parameter Name 155 DI Enable 170 DI Jog 2 Forward 187 DI PwrLoss ModeB 156 DI Clear Fault 171 DI Jog 2 Reverse 188 DI Pwr Loss 157 DI Aux Fault 172 DI Manual Ctrl 189 DI Precharge 158 DI Stop 173 DI Speed Sel 0 190 DI Prchrg Seal 159 DI Cur Lmt Stop 174 DI Speed Sel 1 191 DI PID Enable 160 DI Coast Stop 175 DI Speed Sel 2 193 DI PID Hold 161 DI Start 176 DI HOA Start 193 DI PID Reset 162 DI Fwd Reverse 177 DI MOP Inc 194 DI PID Invert 163 DI Run 178 DI MOP Dec 195 DI Torque StptA 164 DI Run Forward 179 DI Accel 2 196 DI Fwd End Limit 165 DI Run Reverse 180 DI Decel 2 197 DI Fwd Dec Limit 166 DI Jog 1 181 DI SqTqPs Sel 0 198 DI Rev End Limit 167 DI Jog 1 Forward 182 DI SqTqPs Sel 1 199 DI Rev Dec Limit 168 DI J
315. is 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 Labels may also be on or inside the equipment to provide specific precautions Allen Bradley Rockwell Software and Rockwell Automation are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies 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 IMPORTANT Identifies information that is critical for successful application and understanding of the product 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 ARC FLASH HAZARD Labels may be on or inside the equipment for example a motor control center to alert pe
316. is updated at a rate of 1 024 ms 1024 sec During each position loop update the drive can either read or write data to the embedded Ethernet port but cannot do both operations during the same update Therefore the drive can receive only new updates every other position loop update event To read new information from the Motion Planner that is controller the minimum coarse update rate must be 2 5 ms or greater to be sure that no data packets are lost If the PowerFlex 755 drive is operated at a coarse update rate of less than 2 5 ms data packets can be lost resulting in the drive interpolating between missed updates and or the drive can fault if enough data packets are missed consecutively Rockwell Automation recommends a minimum coarse update rate of 3 ms for the PowerFlex 755 drive Control Modes for PowerFlex 755 Drives Operating on the Integrated Motion on the EtherNet IP Network Integrated Motion on the EtherNet IP network is a feature available with firmware revision 2 xxx and later for PowerFlex 755 drives This feature provides a common user experience as with Kinetix 6500 drives when used with Logix controllers revision 19 and later on the EtherNet IP network The same motion profile provides a common configuration experience The PowerFlex 755 drive uses the Motion Properties Axis Properties and the same motion attributes as the Kinetix 6500 drive The same motion instructions provide a common programming experien
317. istors This gives a data point to be drawn on the curve of Figure 3 The number calculated for PL commonly falls between 300 and 600 for the Dynamic Brake Modules A calculated number for PL of less than 100 indicates that the Dynamic Brake Resistor has a higher steady state power dissipation capacity than is necessary PL Peak load in percent of Dynamic Brake Resistor Pav Peak braking power calculated in Step 2 Watts Pdb Steady state power dissipation capacity of resistors obtained from the table in Step 4 Watts Step 8 Plot PL and AL on Curve Draw a horizontal line equal to the value of AL Average Load in percent as calculated in Step 6 This value must be less than 100 Pick a point on the vertical axis equal to the value of PL Peak Load in percent as calculated in Step 7 This value will be greater than 100 Draw a vertical line at t3 t2 seconds such that the line intersects the AL line at right angles Label the intersection Point 1 Draw a straight line from PL on the vertical axis to Point 1 on the AL line This line is the power curve described by the motor as it decelerates to minimum speed PL Pb Pdb 100 0 5 10 15 20 0 100 200 300 400 500 600 KA KB KC Transient Power Capacity Time Seconds Power Rockwell Automation Publication 750 RM002B EN P September 2013 209 Motor Control Chapter 4 If the line you drew lies to the left of the constant
318. ited by P76 Total Inertia and P646 Spd Reg Max Kp Feed Forward Gain P643 SpeedReg AntiBckup Controls over shoot under shoot in the step response of the Vector Control mode speed regulator Over shoot under shoot can be effectively eliminated with a setting of 0 3 which removes backup of the motor shaft when zero speed is reached This parameter has no affect on the drive s response to load changes A value of zero disables this feature Servo Lock Gain P642 Servo Lock Gain PowerFlex 755 only Sets the gain of an additional integrator in the Vector Control mode speed regulator 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 of a true position regulator Gain is normally set to less than 1 3 speed regulator bandwidth or for the desired response A value of zero disables this feature 262 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Torque Reference The Torque Reference is a reference value in percent that represents the rated torque development capability of the motor During the autotune process measurements are made to determine the motor equivalent circuit including connected impedance from drive terminals to the motor Based on entered motor nameplate information and autotune results the Torque Reference is established as 100 or 1 P
319. its torque limits and current limits have been applied This parameter is the most effective VFD representative Torque Reference value to be monitored for motor load assessment and to be passed on to other drives for load sharing applications involving multiple drives It represents the percent of the rated torque being developed at the motor shaft For additional and expanded illustration of the Torque Control refer to the PowerFlex 755 Control Block Diagrams starting on page 375 Speed Torque Position Modes Zero Torque Operation in Zero Torque mode enables the motor to be fully fluxed and ready to rotate when a speed command or torque command is given This mode can be used for a cyclical application where throughput is a high priority The control logic can select zero torque during the rest portion of a machine cycle instead of stopping the drive When the cycle start occurs instead of issuing a start to the drive a Speed Regulator mode can be selected The drive immediately accelerates the motor without the need for flux up time Speed Regulation 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 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 s
320. ity The Security feature provides drive access protection Ports This feature provides write access protection for individual communication ports in the drive The HIM or communication modules with software tools can be used to change any port to read only A password can also be used with the HIM to prevent writing to parameters through the keypad See Password on page 173 The following drive peripherals can be used to control access 20 HIM A6 or 20 HIM C6S keypads 20 750 n and 20 COMM n communication options 20 COMM n legacy communication options Refer to the PowerFlex 750 Series AC Drives Technical Data publication 750 TD001 for suitability and details The following software tools can be used to control access Connected Components Workbench CCW version 2 0 or later freeware Drive Explorer version 6 04 99 freeware Drive Executive version 5 03 or later By default every DPI port in the drive is configured to allow read and write access To change the write access on an individual DPI port change the bit setting of the associated port in P888 Write Mask Cfg Changing the bit value from 1 read write to 0 with a HIM provides read only capability Using software such as Drive Explorer Drive Executive or CCW can also be used to turn the bit off Below is an example of using CCW to change port 4 to read only 186 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diag
321. ive thermal overload also includes an inverse time algorithm When this scheme detects operation beyond rated limits current limit can be reduced or a fault can be generated Rockwell Automation Publication 750 RM002B EN P September 2013 159 Diagnostics and Protection Chapter 3 Inverse Time Protection The following curves show an example of the boundary operations of a 20G1AxC770 drive The curve is defined by the drive s continuous rating and the respective overload capacities These are voltage class and duty rating dependant and are configurable by P305 Voltage Class and P306 Duty Rating This particular example has six different overload ratings Low Voltage Normal Duty or High Voltage Normal Duty Low Voltage Heavy Duty or High Voltage Heavy Duty Low Voltage Light Duty or High Voltage Light Duty Light Duty is only available to frame 8 and larger drives If the load on the drive exceeds the level of current as shown on one of the curves the inverse time protection increments the overload counter Current limit can fold back to 100 of the drive rating when the drive over load count reaches 97 35 until the 10 90 or 5 95 duty cycle has been achieved For example 60 seconds at 110 is followed by 9 minutes at 100 and 3 seconds at 150 is followed by 57 seconds at 100 With the threshold for where to take action slightly above the rated level the drive only folds back when drive ratings are exceeded If fold back of
322. ively ESC REF MANUAL FBK REF REMOVE HIM EDIT REF FWD REV REF JOG HELP Control Screen Key Function Map corresponds to Navigation Number Keys Stopped 0 00 Hz AUTO F Current Speed With Manual Preload Without Manual Preload Desired Speed Set in HIM Manual Mode Requested Desired Manual Speed Last Speed Used in HIM Rockwell Automation Publication 750 RM002B EN P September 2013 31 Drive Configuration Chapter 1 Example Scenario The drive has a HIM in port 1 and a 24V DC I O module in port 5 You want to select manual control from a digital input 3 on the I O module You want the embedded EtherNet IP port to be the source for the speed reference in Automatic mode and the HIM to be the source for the speed reference in Manual mode Required Steps 1 Set P172 DI Manual Ctrl to Port 5 I O Module gt 1 Dig In Sts gt 3 Input 3 2 Set P328 Alt Man Ref Sel 871 Port 1 Reference 3 Set P331 Manual Preload 0000 0000 0000 0010 Bit 1 enables the preloading of the speed feedback value to the HIM at port 1 when the HIM is granted manual control Digital Input Control A Digital Input can be configured to request manual control through P172 DI Manual Ctrl When setting up the Auto Manual masks digital inputs are configured through Bit 0 regardless of what port the module physically resides in Manual Speed Reference HIM DPI Port 1 Manual Control Port 5 Input 3 Automati
323. l 550 x 554 x Speed Ref B Mult DPI Prt1 Man DPI Prt2 Man DPI Prt3 Man DPI Prt4 Man DPI Prt5 Man DPI Prt6 Man 871 872 873 874 875 876 134 Aux Vel Feedback d7 871 872 873 874 875 876 Int ENet Man DevLogix Man Port 1 Reference Port 2 Reference Port 3 Reference Port 4 Reference Port 5 Reference Port 6 Reference Disabled 0 609 Disabled 0 Disabled 0 930 Speed Ref Source 616 SpdTrimPrcRefSrc 617 Spd Trim Source Option Ports Analog EtherNet DeviceLogix 871 872 873 874 875 876 Port 1 Reference Port 2 Reference Port 3 Reference Port 4 Reference Port 5 Reference Port 6 Reference Anlg In1 PortVal option port Anlg In2 PortVal option port 591 Spd Ref Sel Sts 300 Speed Units Hz RPM Default 558 MOP Reference 879 13 12 6 Drive Logic Rslt 14 Ref Sel 2 Ref Sel 1 Ref Sel 0 Man 935 11 10 14 Drive Status 1 12 13 Ref Bit 3 Ref Bit 2 Ref Bit 1 Ref Bit 0 9 Man Ref Bit 4 DI Man Sel Alt Man Sel 563 DI Man Ref Sel 547 548 Spd Ref A AnlgHi Spd Ref A AnlgLo 7 6 5 4 3 2 1 17 18 19 20 21 22 29 30 16 31 0 564 565 DI ManRef AnlgHi DI ManRef AnlgLo 610 611 TrmPct RefA AnHi TrmPct RefA AnLo Default 60
324. l Chapter 4 Regen Power Limit The P426 Regen Power Lmt is programmed as a percentage of the rated power The mechanical energy that is transformed into electrical power during a deceleration or overhauling load condition is clamped at this level Without the proper limit a bus overvoltage can occur When using the bus regulator Regen Power Lmt can be left at factory default 50 When using dynamic braking or a regenerative supply Regen Power Lmt can be set to the most negative limit possible 800 When you have dynamic braking or regenerative supply but want to limit the power to the dynamic brake or regenerative supply Regen Power Lmt you can set a specific level Values in this parameter are valid only in a Flux Vector mode The following series of plots describes the difference between changing Regen Power Limit versus changing the Negative Torque Limit The beginning part of every plot is identical this is the acceleration of the motor Once the stop is commanded and deceleration begins note the red trace in each This represents torque current Because power is proportional to speed as the speed decreases the torque current increases allowing more power to be dissipated Note the speed feedback in the RPL 20 the slower the motor gets the faster it s brought to zero speed and the torque current increases The higher the value in Regen Power Limit the more power is allow to pass through Focus on the torque curr
325. l Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Motor Load Feedback Motion Axis Parameters Table 22 Motor Load Feedback Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Feedback n Cycle Resolution ENC P02 Encoder PPR DENC P02 Encoder 0 PPR DENC P12 Encoder 1 PPR UFB P15 FB0 IncAndSC PPR UFB P45 FB1 IncAndSC PPR Rockwell Automation Publication 750 RM002B EN P September 2013 333 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Load Axis Properties Configuration Load Axis Properties Load Motion Axis Parameters 334 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Table 23 Load Instance to Parameter Cross Reference Load Backlash Axis Properties Configuration Load Backlash Axis Properties Reversal Offset resides in the controller s Motion Planner Integrated Motion on EtherNet IP Instance Drive Parameter Total Inertia P76 Total Inertia Torque Offset Torque Trim P686 Torque Step Torque Offset is summed together with the Torque Trim value which is sent synchronously to the drive every Coarse Update Period The Torque Trim value is available for real time active
326. l Automation Publication 750 RM002B EN P September 2013 183 Diagnostics and Protection Chapter 3 A method to reduce just the dV dt is to use shielded cable between the drive and the motor The inherent capacitance between the lines and the shield help keep the surge voltage at 1200V up to 600 ft with PWM drives Sine Wave Filter Instead of matching impedances or reducing the dV dt of the individual pulses coming from the drive create a filter that enables the lower fundamental frequencies to pass and block or absorb the higher frequencies caused by the fast switching IGBTs and the carrier frequency of the PWM waveform There are two types that are on the market today One that consists of an LC filter and another that consists of output line reactors along with tuned LC sections 184 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection Waveforms The waveforms A B and C in the figure below describe the different mitigations solutions shown on top of each other A Unprotected motor B Line Reactor at the Drive C Terminator or RWR Figure 20 Waveform Comparison Here are waveforms using a sine wave filter at 30 and 60 Hz As you can see there are no issues with reflected wave when using a sine wave filter Time s Line Line Motor Voltage VPK Rockwell Automation Publication 750 RM002B EN P September 2013 185 Diagnostics and Protection Chapter 3 Secur
327. l mode Connected to an induction motor Used for variable torque applications with improved efficiency energy savings and variable speed constant torque applications such as conveyors Can also be used in multi motor or synchronous motor applications Induction SV 1 Induction motor sensorless vector control mode Connected to an induction motor Used for most constant torque applications Provides excellent starting acceleration and running torque Induct Econ 2 Induction motor economize control mode Used for additional energy savings in constant torque applications that have constant speed reduced load periods Rockwell Automation Publication 750 RM002B EN P September 2013 227 Motor Control Chapter 4 Induction FV 3 Induction motor flux vector control mode Connected to an induction motor Used when high performance precise speed regulation and or position control closed loop is required Can also be configured with direct Torque Reference input Can also be used open loop with less precision PM VHz 4 Permanent magnet motor volts per Hertz control mode Connected to a Surface Permanent Magnet motor SPM or Permanent Magnet Synchronous Motor PMSM Used for variable torque applications with improved efficiency energy savings and variable speed constant torque applications such as conveyors Also used in multi motor or synchronous motor open loop applications PM SV 5 Permanent magnet
328. l parameter being configured such that the output energizes when a fault is present on the drive Parameter No Parameter Name Description 230 RO0 Sel Selects the source that energizes the relay output 240 TO0 Sel Selects the source that energizes the relay or transistor output Parameter No Parameter Name Description 10 RO0 Sel Selects the source that energizes the relay output 20 RO1 Sel or TO0 Sel Selects the source that energizes the relay or transistor output 30 TO1 Sel Selects the source that energizes the transistor output 134 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Example For parameters that are not configurable through the parameter properties Value tab pull down graphic user interface GUI you can utilize the Numeric Edit tab to alternatively configure the digital output for a desired function Below is an example of a PowerFlex 755 drive utilizing a PowerFlex 750 Series option module s digital output Sel parameter being configured such that the output energizes when an alarm is present on one of the drive s inverter section You can see below that you cannot select Port 10 Inverter section in the Value tab pull down GUI Rockwell Automation Publication 750 RM002B EN P September 2013 135 Feedback and I O Chapter 2 We look through the Port 10 Inverter section parameters and find that P13 Alarm Status Bit 0 s
329. lding power supplies Electromagnetic stirring of molten metal and some Linear Induction Motor LIM applications IPM FV 10 Interior permanent magnet motor flux vector control mode Connected to an Interior Permanent Magnet motor Used when high performance precise speed regulation and or position control with closed loop feedback is required Can also be configured with direct Torque Reference input Can also be used open loop with less precision 228 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Volts Hertz Volts Hertz operation creates a fixed relationship between output voltage and output frequency Volts Hertz works the same for Permanent Magnet and SyncRel VHz as it does for induction VHz The relationship can be defined in two ways by setting P65 VHz Curve to 0 Custom V Hz or 1 Fan Pump 0 Custom V Hz Custom Volts Hertz enables a wide variety of patterns using linear segments The default configuration is a straight line from zero to rated voltage and frequency This is the same volts hertz ratio that the motor sees if started across the line As seen in the diagram below the volts hertz ratio can be changed to provide increased torque performance when required by programming five distinct points on the curve P60 Start Acc Boost Used to create additional torque for breakaway from zero speed and acceleration of heavy loads at lower speeds P61 R
330. le Incremental Encoder 20 750 ENC 1 Dual Incremental Encoder 20 750 DENC 1 Universal Feedback 20 750 UFB 1 The Dual Incremental Encoder and Universal Feedback modules each support up to two encoders while the Single Incremental Encoder supports one encoder Multiple feedback option modules can be installed in the drive however there is a limit of two feedback modules if using Integrated Motion on EtherNet IP For more information on the option modules including specifications and wiring information see the PowerFlex 750 Series AC Drives Installation Instructions publication 750 IN001 For more information on encoder feedback options including connections and compatibility see Appendix E of the PowerFlex 750 Series Programming Manual publication 750 PM001 Flying Start 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 desired frequency If the drive is started in this mode with the motor already spinning large currents are generated An over current trip can result if the current limiter cannot react quickly enough The likelihood of an over current trip is further increased if there is a residual flux back emf on the spinning motor when the drive starts Even if the current limiter is fast enough to prevent an over cur
331. ll Automation Publication 750 RM002B EN P September 2013 359 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Compatible HPK Motors The following table contains a list of specifications for Bulletin HPK Series high power asynchronous motors that are compatible with PowerFlex 750 Series drives This information is provided to help configure PowerFlex 750 Series drives with the appropriate motor data Cat No Base Speed KW Volts Amps Hz Torque N m Peak Torque N m Peak Amps IM Amps R1 R2 X1 X2 Xm HPK B1307C MA42AA 1465 17 1 400 34 2 50 112 260 80 15 8 0 181 0 119 0 65 0 704 14 7 HPK B1307C SA42AA 1465 17 1 400 34 2 50 112 260 80 15 8 0 181 0 119 0 65 0 704 14 7 HPK B1307E MA42AA 2970 29 8 405 57 5 100 96 165 104 26 1 0 0485 0 0338 0 371 0 423 8 79 HPK B1307E MB44AA 2970 29 8 405 57 5 100 96 165 104 26 1 0 0485 0 0338 0 371 0 423 8 79 HPK B1307E MC44AA 2970 29 8 405 57 5 100 96 165 104 26 1 0 0485 0 0338 0 371 0 423 8 79 HPK B1307E SA42AA 2970 29 8 405 57 5 100 96 165 104 26 1 0 0485 0 0338 0 371 0 423 8 79 HPK B1307E SB44AA 2970 29 8 405 57 5 100 96 165 104 26 1 0 0485 0 0338 0 371 0 423 8 79 HPK B1308E MA42AA 2970 33 5 405 64 8 100 115 230 135 28 8 0 037 0 0275 0 296 0 364 7 71 HPK B1308E MB44AA 2970 33 5 405 64 8 100 115 230 135 28 8
332. lly enter the Nameplate Datasheet Phase to Phase parameters information See Appendix D Permanent Magnet Motors in the PowerFlex 750 Series Programming Manual publication 750 PM001 for a list of motor nameplate specification data TIP If you do not have a Programming Manual readily available from the Data Source pull down menu choose Catalog Number Then from the Motor Type pull down menu choose the equivalent motor with the M Stegmann Multi turn Absolute device The Logix Designer application populates the Nameplate Datasheet Phase to Phase parameters information with the data that is stored in the database Record this information for reference Then change the Data Source selection to Nameplate Datasheet The configuration is transferred to the new selection The motor data is the same regardless of the selected feedback device 374 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 3 Select the Motor Feedback category 4 From the Type pull down menu choose Digital AqB 5 Click OK to save your configuration Rockwell Automation Publication 750 RM002B EN P September 2013 375 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 PowerFlex 755 Integrated Motion on the EtherNet IP Network Block Diagrams The block diagrams in this section highli
333. locity loop is controlled by the motor encoder feedback Because a mechanical transmission exists between the motor and load side the scaling units are potentially different between the two encoders 314 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 24 To verify that the Motor to Load ratio is correct select the Parameter List category 25 View the value of the FeedbackUnitRatio parameter In this example the ratio is 5 1 or 5 motor encoder revolutions to per load encoder revolution If the velocity loop is not performing well that is not following the command and not accelerating or decelerating properly verify that this ratio is correct 26 Continue by tuning this axis Rockwell Automation Publication 750 RM002B EN P September 2013 315 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Dual Port EtherNet IP Option Module ETAP The Dual Port EtherNet IP option module has two modes of operation Adapter mode default and Tap mode Operation Mode Selection The Tap mode is intended for use with PowerFlex 755 drives and uses the ENET3 DEVICE port as a connection point to transfer Integrated Motion on the EtherNet IP Network data to the PowerFlex 755 drive s embedded EtherNet IP adapter The operation mode is selected by using the Operating Mode jumper J
334. ltage The first linear electric motor was conceived by Wheatstone more than 100 years ago But large air gaps and low efficiencies prevented linear electric motors from being widely used until recent advances in design and VFD controls Linear Induction Motors LIMs In a LIM the motor stator creates an Alternating Current AC field that induces currents into the reaction plate moving element which is typically an aluminum fin or plate This creates eddy currents in the moving element which react with the moving field in the stator to produce thrust LIMs typically are kept moving avoiding holding stationary equivalent to locked rotor because of significant heating of the reactor plate Rockwell Automation Publication 750 RM002B EN P September 2013 243 Motor Control Chapter 4 A linear electric motor in concept has rotary electric motor stator cores unrolled out over a linear path The circular stator becomes a linear stator being defined as a single sided linear induction electric motor SLIM Likewise if the circular stator is cut into two sections and flattened the electric motor becomes a double sided linear induction electric motor DLIM The DLIM and SLIM both require a two or three phase stator primary winding and a flat metallic or conductive plate type armature secondary instead of a rotor The moving member in a linear induction motor is typically a solid conducting plate or sheet It does not contain coils
335. ltage to satisfy the current limit Notice the DC Bus voltage ripple in two of the plots above If this ripple is high enough in magnitude it can cause the drive to trip on an Input Phase Loss fault This is due to the drive monitoring the bus ripple and if a certain delta between max volts and min volts exists for a certain amount of time the drive assumes an input phase was lost This fault can be disabled by setting P462 InPhase LossActn to option 0 Ignore Three Phase Output If you are driving as resistive load configure it in a three phase arrangement to avoid using the single phase mode of adjustable voltage Use a sine wave filter to keep PWM off the resistors If the resistors are of the ceramic type it is possible to crack the resistor using PWM Single Phase PWM into Resistor No Reactor Voltage DC Bus Current Rockwell Automation Publication 750 RM002B EN P September 2013 23 Drive Configuration Chapter 1 The following is a plot of voltage and current at the reactor The output of the drive is sent through a sine wave filter then to the reactor The shape of the waveform is determined by the amount of capacitance in the sine wave filter If you wanted to know what voltage you can expect at the three phase reactor consider an example where the user has four reactors in series The inductance of each is 1 2mH 5mH 5mH and 3mH First item to calculate is XL for each reactor Now total it XL1 XL2 XL
336. lux Vector Speed Reg BW Spd Loop Damping Total Inertia 636 653 76 set param 636 648 0 to manually adjust param 645 649 amp 647 650 638 639 642 643 655 656 659 658 620 Droop 597 640 131 641 654 660 ServoLck ks s P Gain kp Limit 652 685 Spd Reg Pos Lmt Spd Reg Neg Lmt FeedFwd nff SReg FB FltrGain SReg FB Fltr BW Filtered SpdFdbk Active Vel Fdbk Final Speed Ref Speed Error SpdReg AntiBckup Servo Lock Gain PTP PsnRefStatus PTP Int Hold Spd Options Ctrl SpdRegIntRes SpdRegIntHld Jog No Integ Selected Trq Ref Droop RPM at FLA SReg Out FltrGain SReg Out FltrBW SReg Output To Torq Ctrl 23B2 Spd Reg Int Out 1 2 3 4 5 6 B A D C F E H G I From Fdbk 3F2 Lead Lag kn s wn s wn Lead Lag kn s wn s wn 2 635 3 4 I Gain ki s 945 At Limit Status Preset Bumpless Hold Reset Actv SpTqPs Mode 637 SReg FB Fltr Sel 657 SReg OutFltr Sel SReg Trq Preset 644 Spd Err Filt BW 2nd Order LPass Filter 635 Spd Options Cntl SpdErrFilter 1st Order LPass Filter 0 2 710 704 InAdp LdObs Mode InertAdapt FltrBW 05 Alt Speed Reg BW 648 Set 1 Stage Clear 2 Stage 651 AltSpdErr FltrBW 645 Speed Reg Kp 649 Alt Speed Reg Kp 945 4
337. ly 871 Set Flux Braking Enable Y Y Y Y Ind Motor only 627 Set Power Loss Action Y Y Y Y O Enum 2 Decel Regen Y 628 Set Power Loss Threshold Y Y Y Y 629 Set Shutdown Action N N N N O Enum 1 Drop DC Bus N 630 Set Power Loss Time Y Y Y Y 637 Get Converter Capacity N N N N 638 262 Get Bus Regulator Capacity N N N N 646 Set Motor Overload Action N N N N O Enum 1 Current Foldback N 647 Set Inverter Overload Action Y Y Y Y O Enum 1 Current Foldback Y 128 Reduce PWM Rate Y 129 PWM Foldback Y 659 Get CIP Axis Alarms Y Y Y Y Y 904 Get CIP Axis Alarms RA Y Y Y Y Y 695 Set Motor Overspeed User Limit Y Y Y Y 697 Set Motor Thermal Overload User Limit Y Y Y Y 699 Set Inverter Thermal Overload User Limit N N N N Table 30 PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T Conditional Implementation 426 Rockwell Automation Publication 750 RM002B EN P September 2013 Appendix A 706 Set Feedback Noise User Limit N N N N N 707 Set Feedback Signal Loss User Limit N N N N N 708 Set Feedback Data Loss User Limit N N N N N 730 Get Digital Inputs Y Y Y Y 731 Set Digital Outputs N N N N 732 267 Get Analog Input 1 N N N N 733 268 Get Analog Input 2 N N N N 734 Set Anal
338. mber 2013 Chapter 3 Diagnostics and Protection Acceleration Fault Anomaly It is possible for the drive to trip during acceleration on a shear pin fault even when P434 Shear Pin Cfg Bits 0 or 1 in are set This occurs when the accel time is set to something very small The firmware looks at the internal at speed bit to indicate when acceleration is complete This bit could be set internally faster than what appears the motor is indicating by sight For example if the accel time is set to something like 0 5 seconds and P434 Bit 0 is set The drive will most likely trip on shear pin fault There are a couple ways to avoid this Set the accel time longer This reduces the current requirement Enter a shear pin time longer than the acceleration time Using Both Shear Pin 1 and 2 If your application requires a notification of an impending Shear Pin fault You can set Shear Pin 1 to give an Alarm at a certain current level then set Shear Pin 2 Shear Pin Shock Load P7 Output Current P436 Shear Pin1 Level P3 Mtr Vel Fdbk Motor Speed Shear Point 1 Level Shock Load Drive Faults Seconds Amps Frequency Rockwell Automation Publication 750 RM002B EN P September 2013 191 Diagnostics and Protection Chapter 3 to issue the actual fault at a higher current level or a slightly longer Shear Pin time Other Points The Shear Pin feature is not to be taken as a precise current reactionary feature Th
339. mber 2013 29 Drive Configuration Chapter 1 For analog input between the minimum and maximum the drive derives the speed from these parameters through linear interpolation The P328 Alt Man Ref Sel manual reference overrides all other manual speed references including P563 DI ManRef Sel HIM Control Manual Control can be requested through an HIM device attached to port 1 2 or 3 The proper bits must be set in the masks P324 Logic Mask P326 Manual Cmd Mask and P327 Manual Ref Mask for the port that the HIM is attached To request control through the HIM press the Controls key to display the Control screen Press the Manual key Press the Edit key to confirm that you want to switch to Manual mode If the request is accepted the HIM displays MAN in the top right corner The display does not indicate if the drive is in Manual but rather if that particular HIM has Manual control A HIM still displays AUTO if it does not have ownership of the Manual mode even if the drive itself is in Manual mode To see if the drive is in Manual mode check P935 Drive Status 1 Bit 9 When a HIM has Manual control of the drive the drive uses the speed reference from the HIM unless overridden by P328 Alt Man Ref Sel To change the speed reference on the HIM navigate to the Status screen and press the middle soft key labeled REF ESC REF MANUAL FBK REF REMOVE HIM EDIT REF FWD REV REF J
340. mode bits in P935 Drive Status 1 that indicate the active regulation mode of the drive when it is running P675 Trq Ref A Sel and P680 Trq Ref B Sel Torque Reference A B Select Selects the source for a torque reference used when the drive is configured to command torque according to P309 312 SpdTrqPsn Mode n The values of the torque reference sources are added together to provide a single torque reference P676 Trq Ref A Stpt and P681 Trq Ref B Stpt Torque Reference A B Setpoint x 679 Trq Ref A Mult Analog In 1 675 Trq Ref A Sel Analog In 2 From DIO Option Card Disabled Trq Ref A Stpt Setpoint 676 x 684 Trq Ref B Mult 3 4 Other 0 1093 1079 PID Output Sel PID Output Meter PID Torque Trim Other 0 3 Other 0 3 3 Torque Excl 4 Torque Trim 0 0 From DIO Option Card Trq Ref B Stpt 4 Commanded Trq Default 677 Trq RefA AnlgHi 678 Trq RefA AnlgLo Parameter Selection To Torq Ctrl Process Ctrl 1 195 DI Torque StptA Bit Source Parameter Selection Default Analog In 1 680 Trq Ref B Sel Analog In 2 From DIO Option Card Disabled 0 0 From DIO Option Card 682 Trq RefB AnlgHi 683 Trq RefB AnlgLo Setpoint 681 0 Default Parameter Selection Note Analog Hi Lo scaling only used when Analog Input is selected Rockwell Automation Publication 7
341. monitoring is enabled the safety module requests manual control of the drive If the drive does not reach a safe speed as defined on the option module by P55 Safe Speed Limit and within P53 LimSpd Mon Delay the drive faults While the option module uses the Manual mode it has no way to provide a speed reference or start the drive The following parameters must thus be configured P326 Manual Cmd Mask Turn off the bit corresponding to the safety option s port to allow modules installed in other ports to continue to control the drive when it is operating in Manual mode For example if the safety option is installed in port 6 then turn off Bit 6 in this parameter P327 Manual Ref Mask Turn on the bit corresponding to the safety option s port to allow the safety option to command the drive to use its Manual Speed Reference when it is operating in Manual mode For example if the safety option is installed in port 6 then turn on Bit 6 in this parameter P328 Alt Man Ref Sel Set this parameter to select the desired speed reference when the drive is operating in Manual mode For example set this parameter to the value Port 0 Preset Speed 1 to configure the drive to use P571 Preset Speed 1 as the Manual Speed Reference In this case P571 Preset Speed 1 must be less than P55 Safe Speed Limit in the safety option to avoid causing an SLS Speed Fault See the Safe Speed Monitor Option Module for PowerFlex 750 Series AC Drives
342. motor thermal overload For multiple motor applications more than one motor connected to one drive separate external overloads for each motor are required and the drive s motor overload can be disabled Motor Overload Curve Full Load Amps Cold Hot Trip Time Seconds Rockwell Automation Publication 750 RM002B EN P September 2013 169 Diagnostics and Protection Chapter 3 Operation of the overload is based on three parameters P26 Motor NP Amps is the base value for motor protection P413 Mtr OL Factor is used to adjust for the service factor of the motor Within the drive motor nameplate FLA is multiplied by motor overload factor to select the rated current for the motor thermal overload This can be used to raise or lower the level of current that causes the motor thermal overload to trip without the need to adjust the motor FLA For example if motor nameplate FLA is 10 Amps and motor overload factor is 1 2 then motor thermal overload uses 12 Amps as 100 P414 Mtr OL Hertz is used to further protect motors with limited speed ranges Because many motors do not have sufficient cooling ability at lower speeds the overload feature can be programmed to increase protection in the lower speed areas This parameter defines the frequency where derating the motor overload capacity begins For all settings of overload Hz other than zero the overload capacity is reduced to 70 when output frequency is zero Du
343. mpensation feature The PLC controls the frequency reference for all four of the drives Drive No 1 and Drive No 3 control the speed of the belt conveyor Slip compensation is used to maintain the RPM independent of load changes caused by the cutter or dough feed By maintaining the required RPM the baking time remains constant and therefore the end product is consistent Impact Load Applied Impact Load Removed Increasing Slip Comp Gain Increasing Slip Comp Gain Time Speed Rotor Speed Reference 0 0 Dough Stress Relief Cookie Line Drive No 1 Drive No 2 Drive No 3 Drive No 4 Cutters Oven PLC 194 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection Slip Regulator The slip regulator is used to compensate for temperature changes in an induction motor when FOC is used The slip regulator uses a model of the motor to determine the desired d axis voltage for a given operating point A PI regulator is then used to change the drive s slip gain controlling the d axis motor voltage This in turn compensates for motor temperature resistance changes The operation of the slip regulator is limited to regions where there is sufficient voltage feedback or estimate for the regulator to converge As default the slip regulator is enabled Do not disable this regulator If you feel you need to disable this function consult the factory for verification
344. n 177 560 0 0 0 0 1 1 559 0 559 1 933 3 933 11 Save MOP Ref At Pwr Down Start Inhibits SW Coast Stp Start Inhibits Bus PreChg 0 0 558 Option Port Digital In 178 Parameter Indirect MOP Inc Parameter Indirect MOP Inc Default Parameter Selection 566 MOP Init Select 562 577 576 575 561 572 567 571 574 573 Disabled 0 MOP Init Stpt MOP High Limit MOP Low Limit Preset Speed 1 Preset Speed 2 Preset Speed 3 Preset Speed 4 Preset Speed 5 Preset Speed 6 Preset Speed 7 408 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Inputs and Outputs Digital NC Common NO 5 0 Dig Out Sts RO0 Sel RO0 Level RO0 Off Time RO0 On Time Timer 14 15 12 A B A B 10 Dig Out Invert 6 0 0 1 Inv 13 1 A lt B 0 RO0 Level CmpSts 22 A B A B 23 1 A lt B 0 RO1 TO0 Level CmpSts RO1 TO0 Level Relay Out0 Source 5 1 Dig Out Sts RO1 TO0 Sel RO1 TO0 Off Time RO1 TO0 On Time Timer 24 25 Dig Out Invert 6 1 0 1 Inv Relay Out1 Transistor Out0 Source Inputs amp Outputs Digital Output Compare RO0 Level Sel 11 RO0 Level Source RO1 TO0 Level Sel RO1 TO0 Level Sour
345. n Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Torque Control Torque 1 2 3 4 5 6 B A D C F E H G I Torque Control Torque 660 699 Min Max SReg Output Inertia Comp Out 0 686 Torque Step 688 Notch Fltr Atten 685 Selected Trq Ref Notch II R 687 Notch Fltr Freq Inertia Adaption 76 Total Inertia 705 706 Inertia Adapt BW InertiaAdaptGain Filtered Trq Ref 4 Commanded Trq 689 Select Logic 313 Actv SpTqPs Mode 935 21 22 23 Drive Status 1 Torque Mode PositionMode Speed Mode SpdTrqPsn Mode A 708 InertiaTrqAdd Motor Acceleration Feedback 0 0 1 Load Observer Estimator 76 Total Inertia 711 Load Observer BW Motor Acceleration Feedback 0 0 2 Load Estimate 707 704 InAdp LdObs Mode Disabled Disabled Inertia Adaption Load Observer SpdTrqPsn Mode B SpdTrqPsn Mode C SpdTrqPsn Mode D 181 182 DI SpTqPs Sel 0 DI SpTqPs Sel 1 314 SLAT Err Stpt 315 SLAT Dwell Time Zero Torque 0 1 2 3 4 5 6 7 8 9 10 Speed Reg Torq Reg SLAT Min SLAT Max Sum Profiler Psn P2P Psn Camming Psn PLL Psn Direct 309 310 311 312 0 1 1 1 1 0 0 0 ABCD Select From
346. n Sensorless Vector control the drive commands a specific amount of voltage to develop flux Sensorless Vector w Economizer Economizer mode consists of the Sensorless Vector control with an additional energy savings function When steady state speed is achieved the economizer becomes active and automatically adjusts the drive output voltage based on applied load By matching output voltage to applied load the motor efficiency is optimized Reduced load commands a reduction in motor flux current The flux current is reduced as long as the total drive output current does not exceed 75 of motor rated current as programmed in P26 Motor NP Amps The flux current is not allowed to be less than 50 of the motor flux current as programmed in P75 Flux Current Ref During acceleration and deceleration Elec Freq V Ref Gate Signals V Hz Voltage Control Inverter Motor Current Limit Freq Ref Speed Freq Current Resolver Current Feedback Current Feedback Total Torque 1 Est Vector Control V Vector Torque 1 Est V Hz Control Maximum Voltage Base Voltage Nameplate Ir Voltage Break Frequency Nameplate Maximum Frequency Approximate Full Load Curve Approximate No Load Curve Rockwell Automation Publication 750 RM002B EN P September 2013 231 Motor Control Chapter 4 the economizer is inactive and Sensorless Vector motor control performs normally Maximum Voltage Motor Nameplate Voltage I
347. n is issuing a stop See P1210 Profile Status Bit 10 CommutNotCfg The associated PM motor commutation function has not been configured for use 934 Last StrtInhibit Last Start Inhibit RO 32 bit Integer Displays the Inhibit that prevented the last Start signal from starting the drive Bits are cleared after the next successful start sequence See parameter 933 Start Inhibits for bit descriptions Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved CommutNotCfg Profiler 1 1 PowerFlex 755 drives only Sleep Safety Startup Database Stop Precharge Enable Alarm Faulted Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 False 1 True Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved CommutNotCfg Profilier Sleep Safety Startup Database Stop Precharge Enable Alarm Faulted Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 1
348. n support overview page or contact your local Rockwell Automation representative 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 Rockwell Otomasyon Ticaret A Kar Plaza Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400
349. n the detection process Used along with P358 PowerFlex 753 Flying Start Rotating Reverse Enhanced Mode Frequency Speed Current No Sweep necessary in Enhanced Mode 62 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration P360 FS Speed Reg Kp Sweep mode Sets level the current must drop below A larger value requires less change in current to indicate detection Enhanced mode It s the Kp in the speed regulator used in the detection process Used along with P357 P361 FS Excitation Ki Sweep mode Integral term used to control the initial output voltage Enhanced mode Integral term used in the current regulator which controls the motor excitation if the detection process deemed it necessary to excite the motor P362 FS Excitation Kp Sweep mode Proportional term used to control the initial output voltage Enhanced mode Proportional term used in the current regulator which controls the motor excitation if the detection process deemed it necessary to excite the motor P363 FS Reconnect Dly Delay time used between the issued start command and the start of the reconnect function This is mainly used for power loss situations so the restart doesn t occur too quickly causing possible faults P364 FS Msrmnt CurLvl There are two different measurement methods used when in Enhanced mode If this parameter is set to zero the second method is cancelled and reconnect is
350. n the synchronous speed set by the drive s output power the motor is transforming mechanical energy available at the drive shaft of the motor into electrical energy that can be transferred back into the utility grid This process is referred to as regeneration On most AC PWM drives the AC power available from the fixed frequency utility grid is first converted into DC power by means of a diode rectifier bridge or controlled SCR bridge before being inverted into variable frequency AC power These diode or SCR bridges are very cost effective but can handle power in only one direction and that direction is the motoring direction If the motor is regenerating the bridge is unable to conduct the necessary negative DC current and the DC bus voltage increases until the drive trips on a Bus Overvoltage fault There are bridge configurations using either SCRs or Transistors that have the ability to transform DC regenerative electrical energy into fixed frequency utility electrical energy but are expensive A more cost effective solution is to provide a Transistor Chopper on the DC bus of the AC PWM drive that feeds a power resistor which transforms the regenerative electrical energy into thermal heat energy which is dissipated into the local environment This process is generally called Dynamic Braking with the Chopper Transistor and related control and components called the Chopper Module and the power resistor called the Dynamic Brake Resistor
351. nce to the manual reference via a digital input it preloads the last value from the speed feedback into the HIM Then the operator can modify the manual reference on the HIM This avoids a step change in speed that otherwise occurs from the switch Use this feature by configuring P328 Alt Man Ref Sel P331 Manual Preload P172 DI Manual Ctrl and P563 DI ManRef Sel This feature requires revision 2 001 of 20 HIM A6 firmware or later DI Speed Sel 0 1 and 2 These digital input functions can be used to select the speed reference The open closed state of all the speed select digital input functions combine to select which source is the speed reference Jog Forward Jog Reverse Action Open Open Drive stops if already jogging but can be started by other means Terminal block relinquishes direction ownership Open Closed Drive jogs in reverse direction Terminal block takes direction ownership Closed Open Drive jogs in forward direction Terminal block takes direction ownership Closed Closed Drive continues to jog in current direction but terminal block maintains direction ownership 124 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Refer to Speed Reference on page 251 for more details DI HOA Start This digital input function provides Hand Off Auto control It functions like a three wire start signal with the exception that it does not require the DI Stop to be hi
352. nd also increases the number of available ports required by the central switch leading to a higher cost per node solution Linear Topology In a linear topology the devices are linked together via a two port embedded switch or through an EtherNet IP network tap 1783 ETAP instead of being connected back to a centralized network switch Either a Dual Port EtherNet IP Option Module or an EtherNet IP network tap 1783 ETAP is required for this network topology this diagram illustrates an application using the dual port option card For more information about applying a Dual Port EtherNet IP Option Module see the PowerFlex 20 750 ENETR Dual Port EtherNet IP Option Module User Manual publication 750COM UM008 Although the ControlLogix controller is illustrated the CompactLogix controller could also be used Advantages Disadvantages The advantages of a linear network include the following The topology simplifies installation by eliminating long cable runs back to a centralized switch The network can be extended over a longer distance because individual cable segments can be up to 100m Programming Software ControlLogix 1756 ENxTR HMI Point I O PowerFlex 755 PowerFlex 755 PowerFlex 755 PowerFlex 755 1585J M8CBJM x EtherNet shielded Cable Rockwell Automation Publication 750 RM002B EN P September 2013 343 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6
353. nd maintenance of solid state control A Global Reference Guide for Reading Schematic Diagrams publication 100 2 10 Provides a simple cross reference of common schematic wiring diagram symbols used throughout various parts of the world Guarding Against Electrostatic Damage publication 8000 4 5 2 Provides practices for guarding against Electrostatic damage ESD Product Certifications website http ab com Provides declarations of conformity certificates and other certification details Resource Description Logix5000 Controllers Common Procedures publication 1756 PM001 This publication links to a collection of programming manuals that describe how you can use procedures that are common to all Logix5000 controller projects Logix5000 Controllers General Instructions publication 1756 RM003 Provides a programmer with details about each available instruction for a Logix based controller Logix5000 Controllers Process Control and Drives Instructions publication 1756 RM006 Provides a programmer with details about each available instruction for a Logix based controller Resource Description ContolNet Coax Tap Installation Instructions publication 1786 5 7 Provides procedures and specifications for the installation of ControlNet coaxial taps ContolNet Fiber Media Planning and Installation Guide publication CNET IN001 Provides basic information for fiber cable planning and installation Resource De
354. ne Autotune Control Spd Ref From Homing 17H2 1103 5 Trq Prove Status LoadTestActv Actv SpTqPs Mode 313 23D5 Position gt 6 Non position lt 6 Position Control Add Spd Ref 1 0 721 10 0 Position Control Add Speed Reference Option 2 3 4 x 848 Psn Gear Ratio x 848 Psn Gear Ratio Max Speed Limits Min Speed Limits PF755 Rev_9 a Page 6 473 Velocity Limit Positive 474 Velocity Limit Negative 446 Position Integrator Control 0 0 0 Boost Freq Ena VF V Hz Only Variable Boost 0 1 1543 VB Frequency 0 730 1 Rockwell Automation Publication 750 RM002B EN P September 2013 383 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Speed Control Reference Sheet 3 Limit 520 Max Fwd Speed Max Rev Speed 521 Max Speed Limit Spd Ref After Final Limit 9A2 S Curve Accel Decel Accel Time 1 Accel Time 2 539 Ramp S Curve Spd Options Ctrl Ramp Hold 635 1 Spd Options Ctrl 541 Jog Acc Dec Time 76 Inertia Dec Gain Inertia Acc Gain 696 Total Inertia 697 699 Inertia Comp Out Inertia Comp Inertia CompMode Int Ramp Ref 695 700 Speed Comp Gain 666 667 Speed Comp Out Speed Comp Speed Comp Sel Ramped Ref Rate Ref 0 665 596 Speed Rate Ref 139 Virtual Encoder 140 142 Delayed Spd
355. necessary because of stress on the DC bus capacitor or the IGBT switching losses When PWM is applied to a resistor the current changes state following the voltage For each PWM voltage pulse the current is pulsing the same way This rapid change in current is not designed into the IGBT selection for the drive Therefore some sort of derating needs to be applied Somewhere around 67 derating When in this mode actual losses must be measured to determine a derating percentage Adding a reactor in series with the resistor can help by adding inductance and rounding off the corners of the current pulses Depending on how much inductance is added the waveform can look like a sine wave 60 Start Acc Boost 0 Set if there are DC offset voltages at load transformer input windings 61 Run Boost 0 62 Break Voltage 0 63 Break Frequency 0 420 Drive OL Mode 1 Reduce CLmt Drive OL mode is set for reduce current limit and not the PWM frequency as it must remain fixed 1154 DC Offset Ctrl 1 Enable This turns off any offset control programmed in the firmware IMPORTANT Do not autotune Parameter No Parameter Name Setting Description Rockwell Automation Publication 750 RM002B EN P September 2013 21 Drive Configuration Chapter 1 This is a plot showing output voltage output current and DC Bus voltage Here you can see the current following the voltage in a typical PWM output This plot enlarges some of the
356. nection to the bus If this input function is not configured then the drive assumes that it is always connected to the DC bus and no special precharge handling is done DI Prchrg Seal This digital input function is used to force a unique fault when an external precharge circuit opens P323 Prchrg Err Cfg dictates the action taken when an external precharge circuit has opened DI PID Enable If this digital input function is closed the operation of the Process PID loop is enabled If this input function is open the operation of the Process PID loop is disabled 126 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O DI PID Hold If this input function is closed the integrator for the Process PID loop is held at the current value If this input function is open the integrator for the Process PID loop is allowed to increase DI PID Reset If this input function is closed the integrator for the Process PI loop is reset to 0 If this input function is open the integrator for the Process PI loop integrates normally DI PID Invert If this input function is closed the PI Error is inverted If this input function is open the PI Error is not inverted DI Torque StptA This digital input function is used to force P676 Trq Ref A Stpt as the source for Torque Reference A regardless of the setting in P675 Trq Ref A Sel Used when the drive is in a mode that is commanding torque Refer to P309
357. nfigured for Port 7 Dig Out Setpoint Relay Out 0 We are utilizing the Logix Designer application which includes the Drives Add On Profiles AOPs This gives us the ability to communicate and control the PowerFlex 755 drive over its embedded ethernet port via a datalink P7 Dig Out Setpoint Relay Out 0 Below is a picture of the PowerFlex 755 drive Datalink configuration Below is a picture of the PowerFlex 755 drive Datalink configuration from DriveExecutive lt span id fck_dom_range_temp_1332343477042_759 gt 144 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Utilizing the Drive Add On Profiles and a datalink we can use the created descriptive controller tag highlighted below to communicate over a network to control the relay output The picture below shows the result of controlling the digital output over the network yellow highlight Controlled by DeviceLogix software DeviceLogix software control technology provides you with the flexibility to customize a drive to more closely match your application needs DeviceLogix software controls outputs and manages status information locally within the drive allowing you to operate the drive independently or complimentary to supervisory control helping to improve system performance and productivity You can use the PowerFlex 750 Series DeviceLogix software to read inputs write outputs and exclusively control the drive Rockw
358. ng where x 1 or 2 is set TRUE if the peak detect value changes else the change bit is set FALSE Change is also set to FALSE if the detector is in HOLD or SET 1040 0 1039 1 1039 2 1041 Peak Detect Peak 2 Change Peak2Change PeakDetect2 Out Peak2 Cfg Peak2 Hold Peak2 Cfg Peak2 Set 1045 0 1044 1 1044 2 1046 Peak Detect Numeric Constants PkDtct Stpt Real 1035 PkDtct Stpt Dint 1036 d57 Dig Sw Real Sel d60 Dig Sw Real Out 0 1 d58 Sw Off Stpt Real d59 Sw On Stpt Real Bit Source d61 Dig Sw Dint Sel d64 Dig Sw Dint Out 0 1 d62 Sw Off Stpt Dint d63 Sw On Stpt Dint Bit Source Digital Switches Bit To Numeric Conversion 1038 PkDtct1 PresetSel Peak 1 Preset Data Source numeric PkDtct1 In Sel Peak 1 Input Data Source numeric PkDtct2 PresetSel Peak 2 Preset Data Source numeric Real Real on off 1044 0 Peak2 Cfg Peak2 Peak Peak Detect 1042 PkDtct2 In Sel Peak 2 Input Data Source numeric Real on off Diagnostic Tools Parameter Selection Parameter Selection Parameter Selection 1037 Parameter Selection Parameter Selection 1043 Real Parameter Selection d Prefix Refers to Diagnostic Item Number ex d33 Reference Symbol Legend PF755 Rev_9 a Page 39 418 Rockwell Automation Publication 750 RM002B EN P September 2013
359. nomaly where the drive outputs a frequency not equal to the commanded frequency The V 14 5 35 1 73 129 8 DC Voltage Resistor Current Times DC Voltage Resistor Current Rockwell Automation Publication 750 RM002B EN P September 2013 25 Drive Configuration Chapter 1 cause of this anomaly is the introduction of the jerk function This bit needs to be off during this condition When using single phase operation connect the load to the U and V phases The W phase is energized but is not used Using a DC output can result in thermal issues The drive may need to be derated Investigate Possible Derating Derate drive for sine wave filter Motor or drive overload is not affected by adjustable voltage mode Auto Restart The Auto Restart feature provides the ability for the drive to automatically perform a fault reset followed by a start attempt without user or application intervention Provided the drive has been programmed with a 2 wire control scheme and the Run signal is maintained This enables remote or unattended operation Only certain faults are allowed to be reset Faults listed as Non Resettable in the programming manual indicate possible drive component malfunction and are not resettable Use caution when enabling this feature because the drive attempts to issue its own start command based on user selected programming Configuration Setting P348 Auto Rstrt Tries to a value greater than
360. nostics and Protection Any changes to P888 Write Mask Cfg will not take effect until one of the following three events occur Power is removed and reapplied A drive reset not reset to defaults is performed P887 Write Mask Act Bit 15 transitions from 1 to 0 The status of a port s write access can be verified at P887 Write Mask Act For example to verify that write access was disabled P887 Write Mask Act Bit 4 Port 4 equals 0 The port that is being used to make security changes for example a network adapter connected to Port 5 can only change other ports and not itself to read only This is to prevent the complete lockout of a drive with no future way to regain write access DPI Network Network Security can only be activated with external software programs that have security capabilities for example FactoryTalk software When P885 Port Mask Act Bit 15 Security P886 Logic Mask Act Bit 15 Security and P887 Write Mask Act Bit 15 Security are set to 1 Read Write Network Security has been enabled by an external program like FactoryTalk and is controlling the logic mask and write mask instead of the parameter These bits can only be enabled disabled via the network program A port that is being used to communicate to the drive and set the masks or network security can only make changes to other ports and not itself This is to prevent a complete lockout from a drive
361. not occur DI Stop An open input causes the drive to stop and become Not Ready A closed input lets the drive run when given a Start or Run command If Start is configured then Stop must also be configured otherwise a digital input configuration alarm occurs P370 Stop Mode A and P371 Stop Mode B dictate the drive s stop action Refer to Stop Modes on page 96 for more details DI Cur Lmt Stop With this digital input function an open input causes the drive to 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 allow When the drive output reaches zero the output transistors are shut off DI Coast Stop With this digital input function an open input causes the drive to Coast to 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 IMPORTANT If the ENABLE J1 jumper is removed the Di 0 becomes a hardware enable For the PowerFlex 753 Di 0 is found on TB3 and for the PowerFlex 755 Di 0 is found on TB1 122 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O DI Start An open to closed transition while the drive is stopped causes the drive to run in
362. not satisfied Once the sleep timer times out the sleep function acts as a continuous stop There are two exceptions that ignore the Sleep Wake function 1 When a device is commanding local control that is HIM in Manual mode or a digital input programmed to P172 DI Manual Ctrl 2 When a jog command is being issued When a device is commanding local control the port that is commanding it has exclusive start control in addition to ref select essentially overriding the Sleep Wake function and allowing the drive to run in the presence of a sleep situation This holds true even for the case if digital input is programmed to P172 DI Manual Ctrl a digital input start or run is able to override a sleep situation Rockwell Automation Publication 750 RM002B EN P September 2013 93 Drive Configuration Chapter 1 Sleep Wake Sources The P351 SleepWake RefSel signal source for the sleep wake function can be any analog input whether it is being used for another function or not a DeviceLogix software source P90 DLX Real OutSP1 thru P97 DLX Real OutSP8 or a valid numeric edit configuration Configuring the sleep wake source is done through P351 SleepWake RefSel Also Anlg Inn Hi and Anlg Inn Lo parameters have no effect on the function however the factory calibrated result Anlg Inn Value parameter is used In addition the absolute value of the calibrated result is used thus making the function useful for bipolar
363. nput and outputs The auxiliary power supply module is designed to power all peripherals I O and connected feedback devices Bus Regulation Some applications create an intermittent regeneration condition The following example illustrates such a condition The application is hide tanning in which a drum is partially filled with tanning liquid and hides When the hides are being lifted on the left motoring current exists However when the hides reach the top and fall onto a paddle the motor regenerates power back to the drive creating the potential for an overvoltage fault When an AC motor regenerates energy from the load the drive DC bus voltage increases unless there is another means of dissipating the energy such as a dynamic braking chopper resistor or the drive takes some corrective action prior to the overvoltage fault value Motoring Regenerating 42 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration With bus regulation disabled the bus voltage can exceed the operating limit and the drive faults to protect itself from excess voltage With bus regulation enabled the drive can respond to the increasing voltage by advancing the output frequency until the regeneration is counteracted This keeps the bus voltage at a regulated level below the trip point The bus voltage regulator takes precedence over acceleration deceleration Select bus voltage regulation in the Bus Reg
364. ns fault alarm and reverse Level conditions DC bus voltage current and frequency Controlled by a digital input Controlled by the network Controlled by DeviceLogix software Terminal Name Description Rating R0NC Relay 0 N C Output Relay 0 normally closed contact 240V AC 24V DC 2A max Resistive Only R0C Relay 0 Common Output Relay 0 common R0NO Relay 0 N O Output Relay 0 normally open contact 240V AC 24V DC 2A max General Purpose Inductive Resistive T0 Transistor Output 0 Transistor Output 24VDC 1A max 24VDC 0 4 Max for U L applications Resistive TC Transistor Output Common Transistor Output Common T1 Transistor Output 1 Transistor Output 24VDC 1A max 24VDC 0 4 Max for U L applications Resistive 132 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Drive Status Conditions For PowerFlex 750 Series drives utilizing an option module the table below shows an overview of the selectable configurations for the drive s digital output Sel parameters Refer the PowerFlex 750 Series Programming Manual publication 750 PM001 for specific parameter bit level details Parameter No Parameter Name Description 220 1 1 PowerFlex 753 drives only Digital In Sts Status of the digital inputs resident on the main control board Port 0 227 1 Dig Out Setpoint Controls Relay or Transistor Outputs when chosen as the
365. o have no control over the speed 24V H A O XOO XOO OOX DI 0 Stop DI 1 HOA Start 24V 10V H A O XOO OOX XOO DI 0 Stop DI 1 HOA Start and Manual Control Analog IN 0 DI Manual Speed Reference Speed Potentiometer 66 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration For this circuit set the following parameters P301 Access Level must be set to 1 Advanced to see P563 DI ManRef Sel The drive requests Manual mode starts and tracks the reference speed coming from the Analog Input when the H O A switches to Hand The HIM still reads Auto This display changes only when the HIM has control of Manual mode Using Hand Off Auto with a Start Relay The Hand Off Auto switch can also be wired to ability to start the drive through a separate start relay In the circuit below the run relay closes the circuit to both the stop and start inputs when the H O A switch is in Auto Using this option the drive can be started only if the H O A switch is in Hand or in Auto and the Run Relay is energized No network or HIM control of the drive is possible The above circuit can also be accomplished with a single digital input Unlike P161 DI Start P176 DI HOA Start can share the same physical input with P158 DI Stop The circuit can thus become the following Parameter No Parameter Name Value 158 DI Stop Digital Input 0 172
366. o any ADC operation for that port Information on Automatic Device Configuration ADC can be found in the PowerFlex 755 Embedded EtherNet IP Adapter User Manual publication 750COM UM001 Chapter 4 Configuring the I O includes the following topics Description of the ADC functionality How the Drive Add On Profiles AOPs affect ADC Configuring a PowerFlex 755 Drive firmware 4 001 or later for ADC ADC and Logix Memory Storing the Drive s and Peripherals Firmware in the Logix Controller Firmware Supervisor Special Considerations When Using a DeviceLogix software Program Special Considerations When Using a 20 750 S1 Safe Speed Monitor Module Monitoring the ADC Progress Examples of potential issues and solutions Rockwell Automation Publication 750 RM002B EN P September 2013 35 Drive Configuration Chapter 1 Autotune The Autotune feature is used to measure motor characteristics The Autotune feature is made up of several individual tests each of which is intended to identify one or more motor parameters These tests require motor nameplate information to be entered into the drive parameters Although some of the parameter values can be changed manually measured values of the motor parameters provide the best performance Each motor control mode requires its own set of tests to be performed The information obtained from these measurements is stored in the drives non volatile memory for use durin
367. of a ring network include the following Simple installation Resilience to a single point of failure cable break or device failure Fast recover time from a single point of failure The primary disadvantage of a ring topology is an additional setup for example active ring supervisor as compared to a linear or star network topology Linear Star Topology Network switches can be added to the end of the line creating a linear star topology Ethernet devices that do not have embedded switch technology can be connected in a star topology off of the switch It is recommended that a managed switch with a transparent and or boundary clock plus QoS and IGMP protocol support be used for this Network topology Although the ControlLogix controller is illustrated the CompactLogix controller could also be used Programming Software 1756 EN2T or 1756 ENxTR Stratix 8000 PowerFlex 755 PowerFlex 755 PowerFlex 755 PowerFlex 755 1585J M8CBJM x EtherNet shielded Cable ControlLogix Other EtherNet IP Compatible Devices Rockwell Automation Publication 750 RM002B EN P September 2013 345 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Ring Star Topology Network switches can also be connected into a DLR via an Ethernet IP tap creating a ring star topology It is recommended that a managed switch with a transparent and or boundary clock plus QoS and IGMP protocol s
368. og 1 Reverse 185 DI Stop Mode B 200 DI PHdwr OvrTrvl 169 DI Jog 2 186 DI BusReg Mode B 201 DI NHdwr OvrTrvl ATTENTION Equipment damage and or personal injury may result if this parameter is used in an inappropriate application Do not use this function without considering applicable local national and international codes standards regulations or industry guidelines Rockwell Automation Publication 750 RM002B EN P September 2013 121 Feedback and I O Chapter 2 Functional Descriptions DI Enable Closing this input lets the drive run when a Start command is issued If the drive is already running when this input is opened the drive will coast stop and indicate not enabled on the HIM if present This is not considered a fault condition and no fault is generated If this function is not configured the drive is considered enabled A combination of the hardware enable and a software enable can be utilized however the drive will not run if any of the inputs are open DI Clear Fault The Clear Fault digital input function lets an external device reset drive faults through the terminal block An open to closed transition on this input causes an active fault if any to be reset DI Aux Fault This input function is normally closed and lets external equipment fault the drive When this input opens the drive faults on a F2 Auxiliary Input fault code If this input function is not configured the fault will
369. og Output 1 N N N N 735 Set Analog Output 2 N N N N 750 Set Local Control N N N N N O Enum 1 Conditionally Allowed N 2 Allowed N 980 242 Get Guard Status Y Y Y Y 981 243 Get Guard Faults Y Y Y Y Table 30 PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T Conditional Implementation Rockwell Automation Publication 750 RM002B EN P September 2013 427 Index A AC induction motors recommended 357 Accel Decel 124 Accel Decel Time 16 Adjustable Voltage 17 Alarms 155 Analog I O 105 Analog Input Square Root 111 Analog Inputs 105 Analog Output 114 Analog Outputs 113 Analog Scaling 107 Auto Restart 25 Auto Manual 27 Autotune 35 Auxiliary Fault 121 Auxiliary Power Supply 41 auxiliary power supply option module installation and configuration 347 axis configuration control modes 307 B Braking 216 bulletin HPK series motors recommended 359 Bus Memory 158 Bus Regulation 41 Bus Regulation Mode 125 C Carrier Frequency 196 Clear Fault 121 Coarse Update Rate 301 Coast Stop 121 Compensation 192 Configuration Conflicts 127 configure hardware over travel limits 316 incremental encoder feedback with an MPx motor 372 MDS instruction 302 Configureation Analog Output 114 Control Mode axis attributes no control mode 419 position control mode 419 torque control mode 419 velocity control mode 419 control modes axis configuration 3
370. ogic Rslt 2 X 1 1 0 0 308 0 1 1 Direction Mode Control Direction Mode Max Forward Command Logic Unipol Fwd Unipol Rev Unipolar Rev Disable Bipolar 256 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Trim The speed reference source specified in P545 Spd Ref A Sel or P550 Spd Ref B Sel can be trimmed by variable amount You have the option to trim the speed reference by a percentage of the reference and or by a fixed amount and can dictate whether it is a positive or negative value Refer to the PowerFlex 750 Series Trim Block Diagram below Example 1 The following example shows the configuration and resultant of the percent trim function P545 Spd Ref A Sel P546 Spd Ref A Stpt P546 Spd Ref A Stpt 20 00 Hz P608 TrmPct RefA Sel P609 TrmPct RefA Stpt P609 TrmPct RefA Stpt 25 P2 Commanded SpdRef 25 00 Hz 545 Speed Ref A Sel 571 Preset Speed 1 572 Preset Speed 2 573 Preset Speed 3 574 Preset Speed 4 575 Preset Speed 5 576 Preset Speed 6 577 Preset Speed 7 546 Spd Ref A Stpt x 608 TrmPct RefA Sel TrimPct RefA Stpt 549 Speed Ref A Mult x Ref A Auto Spd Ref Command Ref B Auto Preset3 Auto Preset4 Auto Preset5 Auto Preset6 Auto Preset7 Auto 573 574 575 576 577 Speed Ref B Se
371. ogrammed to the following selections Scaling The scaling for the analog output is defined by entering analog output voltages into two parameters P91 Anlg Out1 Lo and P90 Anlg Out1 Hi These two output voltages correspond to the bottom and top of the possible range covered by the quantity being output Scaling of the analog outputs is accomplished with low and high analog parameter settings that are associated with fixed ranges see the PowerFlex 750 Series Programming Manual publication 750 PM001 for each target function Additionally the PowerFlex 755 contains an adjustable scale factor to override the fixed target range P77 Anlg Out0 Data and 82 Anlg Out0 Val are described in the following charts Parameter No Parameter Name 1 Output Frequency 2 Commanded SpdRef 3 Mtr Vel Fdbk 4 Commanded Trq 5 Torque Cur Fdbk 6 Flux Cur Fdbk 7 Output Current 8 Output Voltage 9 Output Power 11 DC Bus Volts Rockwell Automation Publication 750 RM002B EN P September 2013 115 Feedback and I O Chapter 2 Case 1 Case 1 This shows P77 Anlg Out0 Data the units are consistent with the selection of P75 Anlg Out0 Sel In this case the analog out select is set to P3 Mtr Vel Fdbk and the units are in rpm P80 Anlg Out0 Hi P81 Anlg Out0 Lo P78 Anlg Out0 DataHi and P79 Anlg Out0 DataLo are all at default The motor was started and ramped to 1800 rpm Note that P82 Anlg Out0 Val remained zero
372. on 750 RM002B EN P September 2013 Chapter 4 Motor Control Figure 29 PowerFlex 755 Speed Reference Selection Overview Refer to the PowerFlex 750 Series Programming Manual publication 750 PM001 Appendix A for more details on the PowerFlex 755 Control Block Diagrams Spd Ref A Trim Ref A Trim Ref A Ref A Auto Spd Ref B Trim Ref B Trim Ref B Ref B Auto ENet Spd Ref DPI Ports 1 6 Manual Spd Ref Command Limit Selected Spd Ref Skip Bands Limited Spd Ref Direction Mode Vel Ref Filter x Speed Comp Pos Reg Output Filter Speed Ref Scale From Position Regulator Limit Inertia Comp Velocity Reg Ref Inertia Comp Torque Ref Motor Spd Ref From PI Regulator Trim Mode From PI Regulator Exclusive Mode Profiling Jogging Lift App Autotune Homing Overrides VF or SV Droop From Slip Comp Frequency Ref Limit From Velocity Trim Regulator Max Speed Overspeed Limit From PI Regulator Trim Mode Flux Vector Limit Max Speed Max Speeds Speed Reference Selection Speed Reference Control Ramped Vel Ref Limit Switch Control Speed Ref Stop Torque Proving Vector Ramp S Curve Linear Ramp amp S Curve Virtual Encoder V F Ramp S Curve Linear Ramp amp S Curve Vector Speed Control V F Speed Control Rate Select Speed Status Speed Feedback Vector Ramp Status F F
373. on 750 RM002B EN P September 2013 Summary of Changes Notes Rockwell Automation Publication 750 RM002B EN P September 2013 5 Table of Contents Preface Overview Who Should Use This Manual 9 What Is Not in This Manual 9 Additional Resources 9 Allen Bradley Drives Technical Support 11 Product Certification 11 Manual Conventions 11 General Precautions 12 Studio 5000 Environment 14 Chapter 1 Drive Configuration Accel Decel Time 16 Adjustable Voltage 17 Auto Restart 25 Auto Manual
374. on Jerk and Maximum Deceleration Jerk values 372 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Using an Incremental Encoder with an MPx Motor The PowerFlex 755 drive supports incremental encoder feedback when using a Rockwell Automation MPx motor However the Motor Device Specification category in the Axis Properties configuration for the Logix Designer application does not currently support MP Series motors with incremental feedback catalog numbers as shown below Only MP Series motors with the suffix M Stegmann Multi turn Absolute or S Single Turn Absolute motors are supported Rockwell Automation Publication 750 RM002B EN P September 2013 373 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 To configure a PowerFlex 755 drive with an MPx motor equipped with incremental encoder feedback the MPx motor must be set up as a third party motor Follow these steps to configure an MPx motor with incremental encoder feedback for use with a PowerFlex 755 drive using the Integrated Motion on the EtherNet IP Network 1 In the Axis Properties dialog box for the drive select these options as shown below From the Data Source pull down menu choose Nameplate Datasheet From the Motor Type pull down menu choose Rotary Permanent Magnet 2 You must manua
375. onds Pb Peak braking power in watts The Dynamic Brake Resistor power rating of the Dynamic Brake Module singly or two in parallel that is chosen must be greater than the value calculated in Step 5 If it is not then a Brake Chopper Module with the suitable Dynamic Brake Resistor must be specified for the application Step 6 Calculate Percent Average Load The calculation of AL is the Dynamic Brake Resistor load expressed as a percent Pdb is the sum of the Dynamic Brake Module dissipation capacity and is obtained from the table in Step 4 This gives a data point for a line to be drawn on the curve in Figure 3 The number calculated for AL must be less than 100 If AL is greater than 100 an error was made in a calculation or the wrong Dynamic Brake Module was selected AL Average load in percent of Dynamic Brake Resistor Pav Average dynamic brake resistor dissipation calculated in Step 5 Watts Pav t3 t2 t4 Pb 2 AL Pav Pdb 100 208 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Pdb Steady state power dissipation capacity of resistors obtained from the table in Step 4 Watts Step 7 Calculate Percent Peak Load The calculation of PL in percent gives the percentage of the instantaneous power dissipated by the Dynamic Brake Resistors relative to the steady state power dissipation capacity of the res
376. onic inertia supplements the inertia lost when the load is suddenly disconnected as through a gearbox or lost motion In this way the velocity regulator does not see a dramatic change in inertia that is normally associated with load disconnect and potential instability 0 1 0 685 662 IIR 657 1 0 0 679 76 705 677 From Speed Reg Output Selected Trq Ref Notch Filtered Trq Ref Inertia Adaption Total Inertia Motor Acceleration Feedback Disabled Limited Torq Ref Limit Inertia Torque Add Inertia Adapt Inertia Adapt BW InertiaAdaptGain Zero Trq Ref Rockwell Automation Publication 750 RM002B EN P September 2013 223 Motor Control Chapter 4 Where is inertia adaption applied Any system with an inertia ratio greater than 3 1 that is plagued by gear noise or resonance that can t achieve desired performance by ordinary tuning Inertia ratio is the ratio of system inertia to motor inertia Most high performance tracking or electronic line shaft systems Most geared systems requiring higher bandwidths and stiffness What could be a disadvantage when using inertia adaption It can generate a shrill noise with rigid couplings that lack lost motion or sufficient compliance Do not use inertia adaption in such cases It can produce a low level sound emanating from the motor This is merely the inertia adaption in action and the sound does not affect p
377. ons Position Oriented Torque Boost Torque Position 1519 PsnTrqBst UNWCnt Modulo Divide by EPR PsnTrqBst RefSel 1517 Other Ref Sources Parameter Selection Psn Fdbk 1518 PsnTrqBstPsnOfst 1526 1525 1527 1520 1521 1522 1523 1524 1528 0 1 Enabled In Position 1516 PsnTrqBst Sts 1515 PsnTrqBst Ctrl 0 0 1511 RP Psn Out 847 Boost Enable 1 2 3 4 5 6 B A D C F E H G I PsnTrqBst Ps X5 PsnTrqBst Trq Y4 PsnTrqBst TrqOut Mod PsnTrqBst Trq Y2 PsnTrqBst Trq Y3 PsnTrqBst Ps X4 PsnTrqBst Ps X3 PsnTrqBst Ps X2 PsnTrqBst Ps X1 PF755 Rev_9 a Page 20 Rockwell Automation Publication 750 RM002B EN P September 2013 397 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Torque Control Overview Induction Motor and Surface Permanent Magnet Motor Torque Control Overview Induction Motor IM amp Surface Permanent Magnet Motor SPM 1 2 3 4 5 6 B A D C F E H G I Torque Reference Scale and Trim Speed Torque Position Mode Select Torque Limit Inertia Adaption Torque Limit Select Bus Voltage Regulator Torque Step Spd Reg PI Out Torq Ref 1 Torq Ref 2 Torq Trim Speed Reg Output Trim Inertia Comp Regen Power Limit Pos Torque Limit Neg Torque Limit Notch Filter
378. ople to potential Arc Flash Arc Flash will cause severe injury or death Wear proper Personal Protective Equipment PPE Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment PPE Rockwell Automation Publication 750 RM002B EN P September 2013 3 Summary of Changes This manual contains new and updated information New and Updated Information This table lists the topics added to this revision This table lists other changes made to this revision Topic Page Adjustable Voltage 17 Droop Feature 53 Owners 70 Process PID Loop 76 PTC Motor Thermistor Input 152 Alarms 155 Current Limit 156 Drive Overload 158 Faults 162 Motor Overload 168 Password 173 Reflected Wave 179 Security 185 Shear Pin 188 Slip Compensation 192 Carrier PWM Frequency 196 Flux Braking 216 High Resolution Feedback 220 Inertia Adaption 221 Load Observer 225 Motor Control Modes 226 Motor Types 235 Torque Reference 262 Speed Torque Position 266 Topic Page Studio 5000 Logix Designer application is the rebranding of RSLogix 5000 software 14 Block diagrams updated to firmware revision 9 xxx 375 Block diagrams added Position Control Spindle Orient 11 Series Inputs and Outputs Digital 11 Series Inputs and Outputs Analog 11 Series Inputs and Outputs ATEX 395 410 411 412 4 Rockwell Automation Publicati
379. or not work at all This can be remedied by adding a time delay to the start signal By changing Digital Input 1 from DI Start to DI Hand Off Auto Start the drive 24V H A O XOO XOO OOX DI 0 Stop DI 1 Start Rockwell Automation Publication 750 RM002B EN P September 2013 65 Drive Configuration Chapter 1 automatically adds this time delay and makes sure that the system is ready to start before it receives the command Using Hand Off Auto with Auto Manual To take control of the drive speed when switching from Auto to Hand on the H O A switch the Auto Manual feature can be used See Auto Manual on page 27 for more on Auto Manual Control In the circuit below a speed potentiometer was added to the analog input to provide a speed reference to the drive When the H O A switch is moved from Auto to Hand the digital input block requests manual control and issues a start command to the drive If the digital input port receives manual control the drive accelerates to the reference speed from the analog input All attempts to change the speed except from the analog input are blocked If the drive is stopped while in Hand switch the H O A switch to Off and then back to Hand to restart the drive If another port has manual control of the drive but does not have exclusive ownership of the logic commands due to P326 Manual Cmd Mask turning the switch to Hand causes the drive to begin moving but for the analog input t
380. orque boost block diagram 396 position control aux functions roll position indicator block diagram 394 process control sheet 1 block diagram 405 process control sheet 2 block diagram 406 safety option module restrictions 346 speed control reference sheet 1 block diagram 381 speed control reference sheet 2 block diagram 382 speed control reference sheet 3 block diagram 383 speed control reference sheet 4 block diagram 384 speed control reference sheet 5 block diagram 385 speed control reference block diagram 387 speed control reference overview block diagram 380 speed control regulator flux vector block diagram 386 speed position feedback block diagram 379 system tuning 363 torque control overview induction motor and surface permanent magnet motor block diagram 397 torque control overview interior permanent magnet motor block diagram 398 torque control current induction motor and surface permanent magnet motor block diagram 401 torque control current interior permanent magnet motor block diagram 402 torque control inertia adaption block diagram 403 torque control load observer estimator block diagram 404 torque control reference scale and trim block diagram 399 torque control torque block diagram 400 variable boost voltage overview function inputs outputs block diagram 416 VF V Hz SV overview block diagram 378 IP address assignment Dual Port EtherNet IP option module 315 Rockwell Automation Publication
381. osition CAM mode and uses its PCAM Planner position and speed reference Psn PLL 9 PowerFlex 755 Drive operates as a position regulator P685 Selected Trq Ref has the same source as in Sum mode The position control is active in Position Phase Lock Loop mode and uses its PLL Planner position and speed reference Psn Direct 10 Drive operates as a position regulator P685 Selected Trq Ref has the same source as in Sum mode The position control is active in Direct mode and uses its Direct Position Reference Psn SpdlOrnt 11 PowerFlex 755 Drive operates in the Positioning mode to position the load side of a machine to P1582 SO Setpoint These modes selections only apply to the Flux Vector control modes in P35 Motor Ctrl Mode options 3 Induction FV 6 PM FV and 10 IPM FV These parameters select between speed regulation torque regulation or position regulation operation of the drive The source of P685 Selected Trq Ref is determined by the selection in these parameters when P181 DI SpTqPs Sel 0 and P182 DI SpTqPs Sel 1 have selected Disabled or selected bits that are logic low In P935 Drive Status 1 three bits are provided that indicate the Regulation mode of the drive when it is running Bit 21 Speed Mode is set when the drive is running with the speed regulator active Similarly Bit 22 PositionMode and Bit 23 Torque Mode indicate when their resp
382. otor over 100 of the motor overload setting increases this value to 100 and cause the action selected in P410 Motor OL Actn to be taken 419 Mtr OL Trip Time Motor Overload Trip Time parameter displays the inverse of the motor overload time equal to the number of seconds before P418 Mtr OL Counts reaches 100 and the motor overload action is taken Rockwell Automation Publication 750 RM002B EN P September 2013 173 Diagnostics and Protection Chapter 3 CIP Motion When a PowerFlex 755 drive is running as a CIP Motion drive then attribute 695 Motor Overspeed User Limit specifies the overspeed trip point directly This attribute has units of percent of motor rated speed So if attribute 695 is set to 120 then the overspeed fault occurs at or above 120 rated speed Interior Permanent Magnet For Interior Permanent Magnet motor control mode an additional limit is placed on the Speed Limit Overspeed threshold This threshold is not allowed to exceed the setting in P1641 IPM Max Spd and is a check P1641 IPM Max Spd is set to the speed at which the motor produces the voltage limit of the drive If the drive faults while the motor is rotating at this speed the motor produces a voltage at the output of the drive This voltage could damage the drive if the limit is exceeded This limit is calculated while performing the rotate portion of the Autotune tests For example if P1641 calculated to be 57 82 Hz then the ove
383. ower Limit P426 Regen Power Lmt Bus Regulator Action P372 Bus Reg Mode A Shunt Regulator Resistor Type P382 DB Resistor Type External Shunt Resistance P383 DB Ext Ohms External Shunt Power P384 DB Ext Watts External Shunt Pulse Power P385 DB ExtPulseWatts 338 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Motor Brake Control When a PowerFlex 755 drive is configured for Integrated Motion on the EtherNet IP Network none of the I O option modules are supported Normal means of having the drive control the brake and utilizing drive s I O are not supported Motor brake control must be user configured in the Logix controller The basic functionality involved is to enable the drive using an MSO instruction verify that the drive is enabled and then apply power to disengage the motor brake The specific motor used and the application often dictates a time delay between when the drive is enabled and the brake is disengaged A very similar sequence is followed with disabling the drive using an MSF instruction In this case the brake is engaged and after a user configured amount of time the drive is disabled Figure 35 depicts this operation Figure 35 Timing Diagram The sample ladder logic code in Figure 36 on page 339 depicts a possible solution for performing brake control the code is an example only an
384. parameter can only be changed while the drive is stopped PID Preload This feature steps the PID Output to a preload value for better dynamic response when the PID Output is enabled Refer to the diagram below If PID is not enabled the PID Integrator can be initialized to the PID Preload Value or the current value of the commanded speed The operation of Preload is selected in the PID Configuration parameter By default Preload Command is off and the PID Load Value is zero causing a zero to be loaded into the integrator when the PID is disabled As shown in Diagram A below when the PID is enabled the PID output starts from zero and regulates to the required level When PID is enabled with PID Load Value is set to a non zero value the output begins with a step as shown in Diagram B below This can result in the PID reaching steady state File Group No Display Name Full Name Description Values Read Write Data Type APPLICATIONS Process PID 1065 PID Cfg PID Configuration RW 16 bit Integer Main configuration of the Process PID controller Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Percent Ref Anti Windup Stop Mode Fdbk Sqrt Zero Clamp Ramp Ref Preload Int Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 Disabled 1 Enabled 80 Rockwell Automation Publication 750 RM002B EN P September
385. permanent magnet synchronous motor PMSM can be thought of as a cross between an AC induction motor and a brushless DC motor BLDC They have Rockwell Automation Publication 750 RM002B EN P September 2013 241 Motor Control Chapter 4 rotor structures similar to BLDC motors which contain permanent magnets However their stator structure resembles that of its ACIM cousin where the windings are constructed in such a way as to produce a sinusoidal flux density in the air gap of the machine As a result they perform best when driven by sinusoidal waveforms However unlike their ACIM relatives PMSM motors perform poorly with open loop scalar V Hz control because there is no rotor coil to provide mechanical damping in transient conditions Field Oriented Control is the most popular control technique used with PMSMs As a result torque ripple can be extremely low on par with that of ACIMs PMSM motors provide higher power density for their size compared to ACIMs This is because with an induction machine part of the stator current is required to induce rotor current in order to produce rotor flux These additional currents generate heat within the motor In a PMSM the rotor flux is already established by the permanent magnets on the rotor Most PMSMs utilize permanent magnets which are mounted on the surface of the rotor This makes the motor appear magnetically round and the motor torque is the result of the reactive force be
386. ple In this example the current limit was set high enough to allow the full rating of the drive to be used in the stop sequence Bus Voltage Output Voltage Output Current Motor Speed Current Limit Time Stop Command Zero Speed Current Limit Stop DC Bus Voltage Motor Current P685 Motor Speed DC Bus Voltage 104 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Example In this example the current limit was set at some value such that when the stop was issued the output current was clamped at that setting Note the decel time is extended Voltage Class PowerFlex drives are sometimes referred to by voltage class which identifies the general input voltage to the drive P305 Voltage Class includes a range of voltages For example a 400V class drive has 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 change In most cases the voltage of a drive can be reprogrammed to another value within the class by resetting the defaults to something other than factory settings P305 Voltage Class is required by the drive when parameter downloads occur and is generally not programmed individually This parameter provides a Low Voltage and High Voltage setting The default value is dependent upon the voltage that matches the catalog number for e
387. ples Trend Buffer 8 circular 4096 samples Trend Buffers Parameter or Bit Trend Data Source Computer Download Trend Configuration to Drive Upload Trend Results Save buffers to csv file Computer Trend Upload Download Specify Trend Buffer Data Sources Trend Buffer Contents Buffers Full Not Configured Download Download Trend Configuration PF755 Rev_9 a Page 40 Rockwell Automation Publication 750 RM002B EN P September 2013 419 Appendix A PowerFlex 755 Standard and Safety Drive Module Optional Attributes The following table specifies what optional attribute and corresponding control mode functionality is supported by a PowerFlex 755 drive module when using the Logix Designer application Y The attribute enum bit is supported N The attribute enum bit is not supported R The attribute is required Control Modes N No Control Mode F Frequency Control Mode P Position Control Mode V Velocity Control Mode T Torque Control Mode For more information on the Control Modes see Integrated Motion on the Ethernet IP Network Reference Manual publication MOTION RM003 The Integrated Motion on the Ethernet IP Network Reference Manual provides a programmer with details about the Integrated Motion on the Ethernet IP Network Control Modes Control Methods and AXIS_CIP_DRIVE Attributes Table 29 Conditional Implementation Key Key Description AOP Speci
388. plorer or any other drive software tool Column D shows the value that the drive is using internally Column D has more accurate data but you may not have a use for the extra precision You cannot get the data in column D from any other wizard or software tool Rockwell Automation Publication 750 RM002B EN P September 2013 291 Drive Features Chapter 5 Block Diagram 292 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 5 Drive Features Position Homing The Homing function is a standalone function of the drive that moves the motor to a home position defined by a switch that is connected to a homing input on a feedback option module digital input resident on the Main Control Board or on an I O option module if there is no feedback module This function is typically run only once after the drive is powered up or if the drive has become lost If a universal feedback option module is used the homing input is part of the general Registration hardware To perform the homing sequences that require this module the drive has to configure the Registration function on the module itself If a Position Absolute move is made it is necessary to have performed either a Find Home or a Position Redefine procedure at some time after drive powerup Until this is done Bit 19 Home Not Set in Profile Status remains set preventing the profile from executing The Find Home state is entered from the Initialize Step state
389. power up sequence Resetting faults clears the faulted status indication If any fault condition still exists the fault is re latched and another entry made in the fault queue Clearing the Fault Queue Performing a fault reset does not clear the fault queue This can be done from a menu selection of the HIM or from a DPI command through the communications port Rockwell Automation Publication 750 RM002B EN P September 2013 165 Diagnostics and Protection Chapter 3 Fault Configuration The drive can be configured such that some conditions do not trip the drive The following is a brief list of drive configurable faults Some of these faults are explained in more detail in their own section of this document Accessories such as encoder or I O cards have additional configurable faults Refer to the Troubleshooting section of the PowerFlex 750 Series Programming Manual publication 750 PM001 P409 Dec Inhibit Actn P410 Motor OL Actn P435 Shear Pin 1 Actn P438 Shear Pin 2 Actn P444 OutPhaseLossActn P449 Power Loss Actn P462 InPhase LossActn P466 Ground Warn Actn P493 HSFan EventActn P500 InFan EventActn P506 MtrBrngEventActn P510 MtrLubeEventActn P515 MchBrgEventActn P519 MchLubeEventActn P865 DPI Pt1 Flt Actn P866 DPI Pt2 Flt Actn P867 DPI Pt3 Flt Actn P1173 TorqAlarm TOActn 166 Rockwell Automation Publication 750 RM
390. pulses to see the current and its shape Notice the tops have an abrupt change to them Any rounding of the wave form at the top is due to the type of resistor used The resistors used for this plot are the grid type resistors where the resistor element is coiled along its length adding a certain amount of inductance This inductance helps round over the leading edge of the current Single Phase PWM into Resistor No Reactor Voltage DC Bus Current Single Phase PWM into Resistor No Reactor Voltage Current 22 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Below is the same plot with a reactor added in series These waveform look like a sine wave and that is a function of how much inductance is added However the increased voltage drop must be accounted for Another option is to have a sine wave filter in the circuit This lets unshielded cable to be used without the worry of PWM generated noise being injected into the facility The cost of shielded cable versus a sine wave filter Among other factors has to be weighed When using single phase operation connect the load to the U and V phases The W phase is energized but is not used Enter your maximum current into the Motor NP Amps parameter Also use this value in the Current Limit parameter When started the drive attempts to ramp to the commanded voltage If current limit is hit the drive levels off or reduce the vo
391. quent stops or speed changes The other methods can result in excessive motor heating The most Ramp to Hold Same as ramp above only when zero speed is reach the drive outputs a DC brake current to be sure the motor shaft doesn t move after it has stopped This continues until the drive is started again Same as Ramp DC Brake DC braking is immediately applied does not follow programmed decel ramp May have to adjust P397 DC Brake Kp Less than Ramp or Fast Brake DCBrkAutoOff Applies DC braking until zero speed is reached or DC brake time is reached whichever is shorter Less than Ramp or Fast Brake Current Lmt Max torque current applied until zero speed Big Stuff Fast Brake High slip braking for maximum braking performance above base speed More than DC Brake DC Brake Auto Off Bus Voltage Output Voltage Output Current Motor Speed Command Speed Time Coast Time is load dependent Stop Command 98 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration DC Brake This method uses DC injection of the motor to Stop and or hold the load DC Brake is selected by setting P370 371 Stop Mode A B to 3 DC Brake You can also choose the amount of time the braking is applied and the magnitude of the current used for braking with P395 DC Brake Time and P394 DC Brake Level This mode of braking generates up to 40 of rated motor torque for braking an
392. r 6 20 750 ENC Single Incremental Encoder 4 8 20 750 DENC Dual Incremental Encoder 4 8 20 750 UFB Universal Feedback 4 6 20 750 APS Auxiliary Power Supply 8 20 750 ENETR Dual Port Ethernet IP 4 and 5 Rockwell Automation Publication 750 RM002B EN P September 2013 347 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Auxiliary Power Supply Option Module 20 750 APS Follow the same installation and configuration instructions provided in the PowerFlex 750 Series AC Drives Installation Instructions publication 750 IN001 Dual Port EtherNet IP Option Module 20 750 ENETR Follow the same installation and configuration instructions provided in the PowerFlex 750 Series AC Drives Installation Instructions publication 750 IN001 Regenerative Braking Resistor When using a PowerFlex 755 drive with a dynamic brake shunt regulator in an Integrated Motion on the Ethernet IP network the dynamic brake must be set up as part of the I O connection of the PowerFlex 755 embedded Ethernet IP module EENET CM xx properties Failure to set up the dynamic brake correctly could lead to mechanical damage of the machine Dynamic brake shunt resistor sizing is not covered in this document For more information on resistor sizing see the Drives Engineering Handbook publication DEH 1300 10 I O Configuration for a Dynamic Brake shunt regulator Follow these steps to conf
393. r this test must be run first The Commutation test is used to measure the commutation offset angle for the permanent magnet motor When the test has been completed click Accept Test Results to save the results Use the resulting Controller Offset value Marker This test is used to check for the marker pulse on an incremental encoder Click Start and manually move the motor until a marker pulse is detected When the marker pulse is detected the test stops Click Accept Test Results to save the results Motor Analyzer The Motor Analyzer category offers three choices for calculating or measuring motor electrical data Dynamic Motor Test This test is the most accurate test method to determine the motor model parameters When this test is run the Resistance and Reactance Rockwell Automation Publication 750 RM002B EN P September 2013 365 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 are measured then the motor is rotated to measure the flux current of the Induction motor The Rated Slip frequency is also calculated This test is best run with the motor disconnected from the load as the motor spins for some time and there are no travel limits When the test has been completed click Accept Test Results to save the results Static Motor Test This test is used if the motor cannot rotate freely or is already coupled to the load When this test is run the Resistan
394. r 3 Diagnostics and Protection Alarms 155 Current Limit 156 DC Bus Voltage Memory 158 Drive Overload 158 Faults 162 Input Phase Loss Detection 166 Motor Overload 168 Overspeed Limit 172 Password 173 Real Time Clock 174 Reflected Wave 179 Security 185 Shear Pin
395. r Voltage Motor Nameplate Frequency Maximum Frequency 0 0 Vtotal Frequency Rated Flux Current Increasing Load Reduced Flux Current minimum of 50 of Rated Flux Current 232 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Flux Vector Control In Flux Vector mode the flux and torque producing currents are independently controlled and speed is indirectly controlled by a torque reference Alternatively the drive can control torque instead of speed in flux vector mode In either case this mode can be operated either with or without feedback and will provide the fastest response to load changes Flux Vector control is used with AC squirrel cage induction motors for high performance Motor data and an autotune is required for correct operation in this mode refer to Autotune on page 35 for details In Flux Vector control the drive takes the speed reference that is specified by the Speed Reference Selection block and compares it to the speed feedback The speed regulator uses Proportional and Integral gains to adjust the torque reference for the motor This torque reference attempts to operate the motor at the specified speed The torque reference is then converted to the torque producing component of the motor current This type of speed regulator produces a high bandwidth response to speed command and load changes Because Flux Vector controls the flux and torque producing curren
396. r greater than the equivalent of a 5 transformer with a VA rating 6 times the drive s input VA rating Drive damage can occur if proper input impedance is not provided as explained below If the value for Power Loss Level is greater than 18 of DC Bus Memory you must provide a minimum line impedance to limit inrush current when the power line recovers Provide input impedance that is equal to or greater than the equivalent of a 5 transformer with a VA rating 5 times the drives input VA rating Bus Voltage Motor Speed Power Loss Output Enable Pre Charge Drive Fault 680V 620V 560V 500V 407V 305V Bus Voltage Motor Speed Power Loss Output Enable Pre Charge Drive Fault 680V 620V 560V 365V 305V 76 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Process PID Loop The internal PID function provides closed loop process control with proportional and integral control action The function is designed to be used in applications that require simple control of a process without the use of a separate stand alone loop controller The PID function reads a process variable input to the drive and compares it to a desired setpoint stored in the drive The algorithm then adjusts the output of the PID regulator changing drive output frequency to attempt zero error between the process variable and the setpoint The Process PID can be used to modify the commanded speed or c
397. r the PID feedback File Group No Display Name Full Name Description Values Read Write Data Type APPLICATIONS Process PID 1089 PID Status PID Status RO 16 bit Integer Status of the Process PI regulator Bit 0 PID Enable PID controller is enabled Bit 1 PID Hold Hold PID integrator Bit 2 PID Reset Reset PID integrator Bit 3 PID In Limit PID in limit Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved PID In Limit PID Reset PID Hold PID Enabled Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 Condition False 1 Condition True 86 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Example Display P1090 PID Ref Meter and P1091 PID Fdbk Meter as positive and negative values Feedback from our dancer comes into Analog Input 2 as a 0 10V DC signal P1067 PID Ref Sel 0 PI Setpoint P1070 PID Setpoint 50 P1072 PID Fdbk Sel 2 Analog In 2 P1068 PID Ref AnlgHi 100 P1069 PID Ref AnlgLo 100 P1073 PID Fdbk AnlgHi 100 P1074 PID Fdbk AnlgLo 0 P61 Anlg In1 Hi 10V P62 Anlg In2 Lo 0V PI Feedback Scaling P675 Trq Ref A Sel Analog In 1 P61 Anlg In1 Hi 10V P62 Anlg In
398. r world more and more designs are shifting away from SPM to IPM to 242 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control take advantage of inherent advantages In principle there are no size limitations to IPM designs and these can be developed from small fractional horsepower to large hundreds of Hp ratings creating potential applications that can benefit from variable speed IPM control Synchronous Reluctance Motors P35 Motor Ctrl Mode induction motor options 7 SyncRel VHz 8 SyncRel SV Synchronous reluctance motors have an equal number of stator and rotor poles The projections on the rotor are arranged to introduce internal flux barriers holes which direct the magnetic flux along the so called direct axis Typical numbers of poles are 4 and 6 Following example of a 4 pole rotor and 6 pole stator As the rotor is operating at synchronous speed and there are no current conducting parts in the rotor rotor losses are minimal compared to those of an induction motor thus potential energy savings in appropriate applications Once started and rotating at synchronous speed the motor can operate with sinusoidal voltage So to start and control speed at frequencies other than utility requires a variable frequency drive AC Linear Electric Motors LIMs and LSMs P35 Motor Ctrl Mode induction motor options 0 Induction VHz 9 Adjustable Vo
399. rake IGBT in some drives will not turn on giving the impression that the drive is not functioning correctly or seeing one drive s brake IGBT failing consistently while the other drives are fine Looking at the below diagram it shows the DC bus level for two drives on common bus The delta between these voltages are exaggerated for clarity As the voltage increases the Drive 1 IGBT turns on and decreases the voltage level before Drive 2 sees voltage high enough to be told to turn on This results in Drive 1 doing all the dynamic braking Now this situation could be alright as long as the minimum ohmic value for resistance is not violated and the regen event isn t so great that a single resistor can t handle the power Of course if there is a large regen event where the voltage continues to rise after Drive 1 has turned on Drive 2 fires its IGBT when it reaches the voltage limit t t t Vdc Vdc_on Vdc_off on off DB IGBT Drive 1 on off DB IGBT Drive 2 Rockwell Automation Publication 750 RM002B EN P September 2013 201 Motor Control Chapter 4 Here are two drives with PWM DB control on a common bus Because one drive turns on at a certain duty cycle the bus voltage is likely to continue to rise guaranteeing that the other drive s IGBT turns on at a different duty cycle How to Select A Chopper Module and Dynamic Brake Resistor In general the motor power rating speed torque and details reg
400. rameter descriptions and programming Additional Resources The following table lists publications that provide information about PowerFlex 750 Series drives Resource Description PowerFlex 750 Series Drive Installation Instruction 750 IN001 Provides the basic steps required to install a PowerFlex 750 Series AC drive PowerFlex 750 Series AC Drives Programming Manual publication 750 PM001 Provides detailed information on I O control and feedback options Parameters and programming Faults alarms and troubleshooting PowerFlex 750 Series AC Drives Technical Data publication 750 TD001 Provides detailed information on Drive specifications Option specifications Fuse and circuit breaker ratings PowerFlex 20 HIM A6 C6S HIM Human Interface Module User Manual publication 20HIM UM001 Provides detailed information on HIM components operation features PowerFlex 750 Series AC Drives Hardware Service Manual Frame 8 and Larger publication 750 TG001 Provides detailed information on Preventive maintenance Component testing Hardware replacement procedures PowerFlex 755 Drive Embedded EtherNet IP Adapter User Manual publication 750COM UM001 These publications provide detailed information on configuring using and troubleshooting PowerFlex 750 Series communication option modules and adapters PowerFlex 750 Series Drive DeviceNet Option Module User Manual publication 750C
401. ravel limits via digital inputs and setting the desired action when over travel limits are exceeded Possible actions include but not limited to setting an alarm stopping the motion planner stopping the drive or performing a shutdown function The sample ladder logic code below depicts a possible solution for performing hardware over travel control the code is an example only and is not the only solution for monitoring hardware over travel limits Each individual application determines the requirements for the necessary hardware over travel control This example monitors digital inputs and issues a motion axis stop if either input goes false and generates an output indicator that could be used to annunciate the stop Rockwell Automation Publication 750 RM002B EN P September 2013 317 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Integrated Motion on EtherNet IP Instance to PowerFlex 755 Drive Parameter Cross Reference This section cross references the Logix Designer Module Properties and Axis Properties instance to the corresponding PowerFlex 755 drive parameter See the PowerFlex 755 Standard and Safety Drive Module Optional Attributes appendix in this manual for details on optional attributes and the corresponding control mode functionality supported by a PowerFlex 755 drive module Frequency Control Axis Properties Configuration General Axis Properties for Frequency Control
402. recommended for positioning applications because it overrides the velocity and the system can overshoot or may not stop Shunt then Adjustable Frequency This selection lets the Shunt resistor absorb as much energy as it is designed for then transitions to adjustable frequency control if the limit of the resistor has been reached Adjustable Frequency then Shunt This selection enables adjustable frequency control of the DC bus If adjustable frequency control cannot maintain the DC bus within limits the shunt resistor is activated Shunt Regulator Resistor Type Select the type of resistor connected to the drive Internal resistors include 20 750 DB1 D1 or 20 750 DB1 D2 for frames 1 and 2 drives respectively External identifies that a user selected resistor is used External Shunt When using an external shunt resistor select Custom Rockwell Automation Publication 750 RM002B EN P September 2013 349 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 3 Click OK External Shunt Resistance Enter the resistance of the external resistor connected to the drive terminal block connections BR1 and BR2 Verify that the resistance is equal to or greater than the minimum resistance for the drive capabilities See Minimum Dynamic Brake Resistance in the PowerFlex 750 Series AC Drives Technical Data publication 750 TD001 External Shunt Power Enter the continuous power dissip
403. rent trip it can 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 In Flying Start mode the drive s response to a start command is to synchronize with the motors speed frequency and phase and voltage The motor then accelerates to the commanded frequency This process prevents an over current trip and significantly reduce the time for the motor to reach its commanded frequency Because the drive synchronizes with the motor at its rotating speed and ramps to the proper speed little or no mechanical stress is present The Sweep function is currently not in the PowerFlex 750 Series drives frame 8 and larger Rockwell Automation Publication 750 RM002B EN P September 2013 55 Drive Configuration Chapter 1 Configuration Flying Start can be configured by setting P356 FlyingStart Mode to the following 0 Disabled 1 Enhanced 2 Sweep Disabled Disables the feature Enhanced An advanced mode that performs the motor reconnect quickly by using the motor s CEMF as a means of detection This mode is the typical setting for this feature Sweep The Frequency Sweep mode is used with output sine wave filters It attempts a reconnect by outputting a frequency starting at P520 Max Fwd Speed P524 Overspeed Limit and decreasing according to a slope that is modified by P
404. revent the parameter settings from crossing but the drive will not start until such settings are corrected These levels are programmable while the drive is running If P352 Sleep Level is made greater than P354 Wake Level while the drive is running the drive continues to run as long as the P351 SleepWake RefSel signal remains at a level that doesn t trigger the sleep condition P353 Sleep Time is also factored into this as well Once the drive goes to sleep in this situation it is not allowed to restart until the level settings are corrected increase P354 Wake Level or decrease P352 Sleep Level If however the levels are corrected prior to the drive going to sleep normal Sleep Wake operation continues Timers P353 Sleep Time P355 Wake Time Timers determine the length of time required for Sleep Wake levels to produce true functions These timers start counting when the Sleep Wake levels are met and count in the opposite direction whenever respective level is not met If the timer counts all the way to the user specified time it creates an edge to toggle the Sleep Wake function to the respective condition sleep or wake On powerup timers are initialized to the state that does not permit a start condition When the analog signal satisfies the level requirement the timers start counting Interactive Functions Separate start commands are also honored including a digital input start but only when the sleep timer is
405. ring DC injection braking the motor current can exceed 70 of FLA but this causes the motor overload to trip sooner than when operating at base speed At low frequencies the limiting factor can be the drive overload rather than the motor overload IMPORTANT Some motors have a service factor that is only for use with sine wave non drive power Check with the motor manufacturer to see if the nameplate service factor is valid or must be reduced when operated by a drive Charging Overload Factor of Base Speed Continuous Rating OL 1 20 OL 1 00 OL 0 80 170 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection Duty Cycle for the Motor Overload When the motor is cold this function enables 3 minutes at 150 When the motor is hot it enables 1 minute at 150 A continuous load of 102 is allowed to avoid nuisance faults The duty cycle of the motor overload is defined as follows If operating continuous at 100 FLA and the load increases to 150 FLA for 59 seconds and then returns to 100 FLA the load must remain at 100 FLA for 20 minutes to reach steady state Charging Overload Hz Continuous Rating OL 10 OL 25 OL 50 150 100 20 Minutes 1 Minute 1 Minute Rockwell Automation Publication 750 RM002B EN P September 2013 171 Diagnostics and Protection Chapter 3 The ratio of 1 20 is the same for all durations of 150 When operat
406. rises and trips on over voltage Figure 4 PowerFlex 750 Series Bus Regulation Internal Dynamic Brake Resistor External Resistor If the drive is set up for an external resistor and the resistor has been sized correctly and the regenerative power limit is set to a value that enables the regenerative power to be fully dissipated the DB transistor continues to fire throughout the decel time Figure 5 PowerFlex 750 Series Bus Regulation External Dynamic Brake Resistor 900 800 700 600 500 400 300 200 100 0 12 10 8 6 4 2 0 0 1 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 DC Bus Voltage DC Current DC Bus Seconds DC Bus Volts 10 Volts Base Speed Speed Fdbk Over Voltage Trip Motor Speed Brake Current 800 780 760 740 720 700 680 660 14 12 10 8 6 4 2 0 2 0 2 0 0 2 0 4 0 6 0 8 1 1 2 DC Bus Voltage DC Current DC Bus Seconds DC Bus Volts 10 Volts Base Speed Speed Fdbk Motor Speed Brake Current 48 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration The DB current seems as if it is decreasing toward the end of the decel This is just a result of the sweep time of the oscilloscope and instrumentation After all it s not known as Ohm s Suggestion The point is evident that the DB transistor is pulsing through the decel Option 3 Both DB 1st
407. rk Use these settings to configure the drive module Verify that the correct motor encoder data is present in the drive In the Axis Properties for the drive module select the Motor category and from the Data Source pull down menu choose Drive NV Verify that the feedback selection in the appropriate drive parameter matches the selection in the Motor Feedback category for the axis Rockwell Automation Publication 750 RM002B EN P September 2013 309 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Dual Loop Control This section explains how to configure a dual loop feedback application by using Integrated Motion on the EtherNet IP Network for a PowerFlex 755 drive Dual Loop Application Description A dual loop control application uses two encoders one mounted on the motor typical and one mounted on the load as depicted in this block diagram The two encoders are connected to the PowerFlex 755 drive via separate feedback option modules one installed in port 5 and another installed in port 4 Dual Loop Control Configuration These steps assume that you have created an axis for the PowerFlex 755 drive in the Motion group and added a new PowerFlex 755 drive module in the Logix Designer application See the Integrated Motion on the EtherNet IP Network Configuration and Startup User Manual publication MOTION UM003 for complete procedures Follow these steps to configure t
408. rol RSLogix 5000 instance to parameter cross reference 319 G General Precautions 12 H Hand Off Auto Start 124 hardware over travel limits configure for Integrated Motion on the EtherNet IP Network 316 Human Interface Module Removal 52 I incremental encoder feedback with an MPx motor configure 372 induction motor data RSLogix 5000 instance to parameter cross reference 327 induction motor model RSLogix 5000 instance to parameter cross reference 327 Input Loss Detection 112 Input Phase Loss Detection 166 Inputs Analog 105 Digital 119 Integrated Architecture Builder software 300 Integrated Motion on the EtherNet IP Network control logic block diagram 413 control modes 301 diagnostic tools block diagram 417 flux vector overview block diagram 377 friction compensation block diagram 415 high speed trending wizard block diagram 418 inputs and outputs analog block diagram 409 inputs and outputs digital block diagram 408 inverter overload IT block diagram 414 MOP control block diagram 407 option modules supported 346 position control aux functions block diagram 389 position control homing block diagram 393 position control phase locked loop block diagram 390 position control position CAM block diagram 391 position control profiler indexer sheet 1 block diagram 392 position control profiler indexer sheet 2 block diagram 393 position control regulator block diagram 388 position control aux functions position oriented t
409. rop Gain set to 1 00 and PID Error at 1 00 the PID output is 1 00 of maximum frequency Integral control I adjusts the output based on the duration of the error The longer the error is present the harder it tries to correct The integral control by itself is a ramp output correction This type of control gives a smoothing effect to the output and continues to integrate until zero error is achieved By itself integral control is slower than many applications require and therefore is combined with proportional control PI PID Int Time is entered in seconds If PID Int Time is set to 2 0 seconds and PI Error is 100 00 the PI output integrates from 0 to 100 00 in 2 0 seconds Derivative Control D adjusts the output based on the rate of change of the error and by itself tends to be unstable The faster that the error is changing the larger change to the output Derivative control is usually used in torque trim mode and is usually not needed in speed mode For example winders using torque control rely on PD control not PI control Also P1084 PID LP Filter BW is useful in filtering out unwanted signal response in the PID loop The filter is a Radians Second low pass filter PID Lower and Upper Limits Output Scaling The output value produced by the PID is displayed as 100 in P1093 PID Output Meter P1082 PID Lower Limit and P1081 PID Upper Limit are set as a percentage In exclusive or speed trim mode they scale t
410. rror Deadband 1083 PID Deadband 1 1066 3 0 0 1 1 PID Control PID InvError PID Cfg Ramp Ref PID Error Meter 1092 Z 1 200 Limit 1079 1065 5 1 AntiWind Up 1089 1 Hold D Gain kd S 1 2 3 4 5 6 B A D C F E H G I E 1 1081 1082 Limit 1081 1082 Limit PID Upper Limit PID Lower Limit PID Upper Limit PID Lower Limit 1093 PID Output Meter Analog Loss 1075 1076 1079 1 2 3 4 0 0 936 10 PID FBLoss SpSel PID FBLoss TqSel PID Output Sel Drive Status 2 PID FB Loss PID Cfg Fdbk Sqrt PID Status PID Enabled 1089 0 1 0 Default 1084 PID LP Filter BW 1088 PID Deriv Time 1086 PID Prop Gain PID Status PID Hold PID Cfg Anti Windup PID Output Sel 1089 1 PID Status PID Hold 192 DI PID Hold 1066 1 PID Control PID Hold 191 Option Port Digital In DI PID Enable 191 DI PID Enable 0 935 16 935 18 1089 0 PID Status PID Enabled PID Stop Mode 1065 4 PID Cfg Stop Mode 1079 PID Output Sel 935 18 1093 PID Output Meter Drive Status 1 Stopping Drive Status 1 Stopping Drive Status 1 Running 1066 0 PID Control PID Enable 2 0 Drive InLimit 1087 PID Int Time 1079 PID Output Sel 1065 3 PID Cfg Preload Int 1089 0 PID
411. rspeed limit threshold is set by the Speed Limit Overspeed Limit parameters and the results are limited to a value of 57 82 Hz Password All parameter configuration settings for the drive and its connected peripherals can be protected from unauthorized access through the keypad by using a password When the host drive is password protected parameter settings for the drive and its connected peripherals can be viewed but not changed until after the existing password value is entered When attempting to edit a parameter value while logged out the HIM prompts you for the password before allowing access Password protection also applies to the following Drive start up procedure Factory defaults User sets Copy Cat function For detailed instructions on enabling and disabling password protection refer to the PowerFlex 20 HIM A6 and 20 HIM C6S HIM Human Interface Module User Manual publication 20HIM UM001 174 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection Real Time Clock The PowerFlex 755 is equipped with a real time clock with a battery backup This enables programming of real time in the drive and keeping that time even if the drives power is removed This enables actual timestamps instead of runtime timestamps for faults and events It is also used in the runtime accumulation of maintenance items such as total run time number of times fans are running and
412. s 3 Press the Folder key next to the green Start key to display its last viewed folder 4 Use the left right arrow keys to scroll to the Memory folder 00 Stopped 0 00 Hz AUTO Host Drive 240V 4 2A 20G D014 ESC REF TEXT F PAR Rockwell Automation Publication 750 RM002B EN P September 2013 89 Drive Configuration Chapter 1 5 Use the up down arrow keys to select Set Defaults 6 Press the Enter 5 key to display the Set Defaults screen 7 Use the up down arrow keys select the appropriate action Host and Ports Preferred Selects the Host device and all ports for a factory default action This Port Only Selects only this port for a factory default action For a description of a selected menu item press the INFO soft key 8 Press the Enter 5 key to display the warning pop up box to reset defaults A pop up Fault warning display follows the parameter changes This can be reset by pressing the clear soft key And the following confirm pop up box can be cleared by pressing the enter soft key Pressing the escape key twice returns the display to the Status screen Refer to the PowerFlex 20 HIM A6 C6S HIM Human Interface Module User Manual publication 20HIM UM001 for further information on using the HIM and the resetting of parameters 00 ESC MEMORY HIM CopyCat Set Defaults Stopped 0 00 Hz AUTO F Stopped 0 00 Hz AUTO ESC F Port 00 Set Defaults Host and Por
413. s Chapter 6 Position Control Spindle Orient EGR 1 2 3 4 5 6 B A D C F E H G I X X Pos Fdbk Sel 135 1583 ReCap Mod 0 1 At SO Speed Mode 1581 1589 1590 1583 SO Offset SO Offset Modulo Divider SO Position Out SO Unit Out 1584 SO EPR Input 1585 SO Rvls Input 1586 SO Rvls Output 1587 SO Cnts per Rvls SO Status 1588 SO Unit Scale 1589 SO Position Out 1587 SO Cnts per Rvls Psn Fdbk Gear Ratio 847 0 X 1 1 1 Product need to be within 32 bits integer range Position Feedback Input 2 Orient Cplt 0 1 Home DI Home DI Inv SO Config 2 Recap Hm Psn 1580 3 ShortestPath 4 Scale Invert Spindle Position Indicator Ramped Spd Ref 594 Spindle Position Command Spindle Position Planner 1582 SO Setpoint 1591 SO Accel Time 1592 SO Decel Time 1593 SO Fwd Vel Lmt SO Rev Vel Lmt 1594 SO Status 1581 1 Limit 1593 SO Fwd Vel Lmt SO Rev Vel Lmt 1594 Mode 1580 4 Scale Invert SO Config 0 1 ReCap Marker Pulse Home DI Rising Edge 0 Home DI SO Config 1580 1 0 PF755 Rev_9 a Page 19 396 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Position Control Aux Functi
414. s for some parameters are used to update other parameters Refer to Table 3 A temporary command initiates a Static Tune and is then followed by a rotational test for the best possible automatic setting of P75 Flux Current Ref In Flux Vector FV mode with encoder feedback a test for the best possible automatic setting of P621 Slip RPM at FLA is also run A start command is required following initiation of this setting IMPORTANT If using rotate tune for a Sensorless Vector SV mode uncoupled the motor from the load or results can be invalid With a Flux Vector FV mode either a coupled or uncoupled load produces valid results Caution must be used when connecting the load to the motor shaft and then performing an autotune Rotation during the tune process can exceed machine limits Rockwell Automation Publication 750 RM002B EN P September 2013 37 Drive Configuration Chapter 1 Table 3 Autotune Value Source Inertia Tune The Inertia Autotune selection involves only one test Several parameters are updated from the test results Refer to the tables in the Individual Tests section A temporary command initiates an inertia test of the motor load combination The motor ramps up and down while the drive measures the amount of inertia This option applies only to FV modes selected in P35 Motor Ctrl Mode Obtain final test results with the load coupled to the motor as long as the rotation won t damage the machine Test Dep
415. s or TO0 Level CmpSts Status of the level compare and a possible source for a relay or transistor output 30 TO1 Sel Selects the source that energizes the transistor output 31 TO1 Level Sel Selects the source of the level that is compared 32 TO1 Level Sets the level compare value 140 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Example Below is an example of a PowerFlex 753 drive utilizing an embedded digital output Select Level Select and Level parameters being configured such that the output energizes when the drive s operating temperature of the drive power section heat sink in percentage of the maximum heat sink temperature is greater than 50 percent Controlled By Digital Input A digital output can be programmed to be controlled by a digital input For example when the input is closed the output is energized and when the input is open the output is de energized Note that the output is controlled by the state of the input even if the input has been assigned a normal drive function Start Jog and so forth Rockwell Automation Publication 750 RM002B EN P September 2013 141 Feedback and I O Chapter 2 Example In this example the drive is utilizing a 24V DC Two Relay Option Module in Port 7 One of the drive s digital input functions P164 DI Run Forward is programmed for Port 7 Digital In Sts Input 1 with Option Module P10 RO0 Sel is progr
416. s 3 2 kOhm a fault or alarm is triggered The function is reset when the resistance drops below 2 2 kOhm A short circuit is detected when the resistance value drops below 100 Ohm If the drive was configured to fault then the fault must be cleared once the PTC function is reset value is below threshold Rockwell Automation Publication 750 RM002B EN P September 2013 155 Chapter 3 Diagnostics and Protection Alarms Alarms are indications of situations that are occurring within the drive or application that are annunciated to the user These situations can affect the drive operation or application performance Conditions such as power loss or analog input signal loss can be detected and displayed for drive or operator action There are two types of alarms Type 1 Alarms are conditions that do not cause the drive to trip or shut down but if the condition persists it can lead to a drive fault Type 2 Alarms are conditions that are caused by improper programming and prevent the drive from starting until programming is corrected An example of a Type 2 alarm is when a start function is assigned to a digital input without a stop function also assigned to a digital input The Troubleshooting section of the PowerFlex 750 Series Programming Manual publication 750 PM001 contains a list of drive specific faults and alarms their type of fault or alarm and what action can be configured if applicable Topic Page Alarms 155 Curr
417. s AC 2262D based on module catalog number Be sure applied voltage is correct for I O module 24V DC Opto isolated Low State less than 5V DC High State greater than 20V DC 11 2 mA DC 115V AC 50 60 Hz 4 Opto isolated Low State less than 30V AC High State greater than 100V AC 4 For CE compliance use shielded cable Do not exceed 30 m 98 ft cable length 1 on Port X Di 1 Digital Input 1 2 Di 2 Digital Input 2 2 Di 3 Digital Input 3 2 Di 4 Digital Input 4 2 Di 5 Digital Input 5 2 Sh Sh PTC PTC Ao0 Ao0 Ao1 Ao1 10V 10VC 10V Ai0 Ai0 Ai1 Ai1 24VC 24V DiC Di0 Di1 Di2 Di3 Di4 Di5 Rockwell Automation Publication 750 RM002B EN P September 2013 107 Feedback and I O Chapter 2 Analog Scaling Anlg Inn Lo Anlg Inn Hi A scaling operation is performed on the value read from an analog input to convert it to units usable for some particular purpose Control the scaling by setting parameters that associate a low and high analog value in volts or mA with a low and high target in Hz Example 1 P255 Anlg In Type Bit 0 0 Voltage P545 Spd Ref A Sel Analog In 1 P547 Spd Ref A AnlgHi 60 Hz P548 Spd Ref A AnlgLo 0 Hz P61 Anlg In1 Hi 10V P62 Anlg In1 Lo 0V This is the default setting where 0V represents 0 Hz and 10V represents 60 Hz providing 1024 steps 10 bit analog input resolution betw
418. s slip between the rotor and the stator to create torque Some motor manufacturers specify the synchronous speed instead of slip speed on the motor nameplate For example a 4 pole 60 hertz motor has a synchronous speed of 1800 rpm The drive algorithm cannot use the synchronous speed it needs the slip rpm The slip rpm is the rotor speed when the stator is at rated frequency and the motor is at full load The rotor slips behind the stator to create the torque For a 4 pole 60 hertz motor the slip rpm range is 1700 1790 rpm If the nameplate is showing synchronous speed in our example 1800 rpm please contact the motor manufactures to receive the slip rpm Some AC motors have two voltage ratings a high voltage and a low voltage Follow the motor manufacture s wiring diagram to correctly wire the motor for the proper voltage All motor manufactures provide an electrical specification including an electrical model equivalent If you believe that the PowerFlex drive family is not producing the correct motor torque please contact the motor manufacturer to receive the electrical specification prior to contacting Rockwell Automation Technical Support This list contains the name of manufacturers that produce motors that are recommended for use with PowerFlex 755 drives Manufacturer Notes Baldor Electric Company Work well with PowerFlex 755 drives Baumuller Work well with PowerFlex 755 drives Elin Work well with PowerFlex 755 driv
419. s the following axis configurations Frequency Control with No Feedback Position Loop with Motor Feedback Dual Feedback or Dual Integral Feedback Velocity Loop with Motor Feedback or No Feedback Torque Loop with Motor Feedback The selection options of the axis configuration within the Logix Designer application Axis Properties General tab are shown here Rockwell Automation Publication 750 RM002B EN P September 2013 307 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 When the axis configuration is set to Frequency Control you can select one of the following control methods that best suits the application Basic Volts Hertz Fan Pump Volts Hertz Sensorless Vector Induction FV The selection options of the axis configuration within the Logix Designer application Axis Properties Frequency Control tab are shown here This table contains the possible axis configurations and corresponding control modes of the PowerFlex 755 drive on the Integrated Motion on the EtherNet IP Network Axis Configuration P35 Motor Ctrl Mode P65 VHz Curve Frequency Control Basic Volts Hertz InductionVHz Custom V Hz Fan Pump Volts Hertz InductionVHz Fan Pump Sensorless Vector Induction SV Custom V Hz Sensorless Vector economy Induct Econ Custom V Hz Position Loop Induction FV Custom V Hz Velocity Loop Induction FV Custom V Hz Torque Loop Indu
420. s valid inertia value entered in P76 Total Inertia Total inertia is measured during an assisted startup procedure executed from the HIM or software wizard The inertia tune can be executed manually by setting P70 Autotune to option 4 Inertia Tune and starting the drive Activate inertia adaption by setting P704 InAdp LdObs Mode to option 1 InertiaAdapt Once activated two filters are automatically updated P705 Inertia Adapt BW and P710 InertAdptFltrBW when P636 Speed Reg BW is set to a non zero value Gradually increase P636 Speed Reg BW while operating the motor and load The final speed reg bandwidth exceeds the value before inertia adaption was activated providing the system meets the criteria mentioned below When Inertia adaption is activated disable the two lead lag filters present in the speed regulator setting OFF These filters are in the speed feedback path P637 SReg FB Fltr Sel and at the output of the speed regulator P657 SReg OutFltr Sel Both filters are disabled by default The Inertia Adaption feature can be used in conjunction with inertia compensation to minimize the acceleration torque required from the Speed Regulator Refer to the PowerFlex 750 Series Programming Manual publication 750 PM001 for detailed parameter explanation How does inertia adaption work The inertia adaption algorithm uses a component of acceleration feedback to create a sort of electronic inertia Electr
421. scription Rockwell Automation Publication 750 RM002B EN P September 2013 11 Preface Allen Bradley Drives Technical Support Use one of the following methods to contact Automation and Control Technical Support Product Certification Product Certifications and Declarations of Conformity are available on the internet at www rockwellautomation com products certification Manual Conventions In this manual we refer to PowerFlex 750 Series Adjustable Frequency AC Drives as drive PowerFlex 750 PowerFlex 750 drive or PowerFlex 750 AC drive Specific drives within the PowerFlex 750 Series can be referred to as PowerFlex 753 PowerFlex 753 drive or PowerFlex 753 AC drive PowerFlex 755 PowerFlex 755 drive or PowerFlex 755 AC drive To help differentiate parameter names and LCD display text from other text the following conventions are used Parameter Names appear in brackets after the Parameter Number For example P308 Direction Mode Display text appears in quotes For example Enabled The following words are used throughout the manual to describe an action Online Email Telephone www ab com support abdrives support drives ra rockwell com 262 512 8176 Title Online Rockwell Automation Technical Support http support rockwellautomation com knowledgebase Word Meaning Can Possible able to do something Cannot Not possible not able to do something May Permitted allowed M
422. se to various states of these input functions The drive will not jog while the drive is running or while the Stop input is open Start has precedence DI Jog 1 DI Jog 2 These digital input functions are similar to Jog Forward and Jog Reverse with the only difference being that direction is determined by another input or another device s command HIM or communication adapter In addition these settings use either P556 Jog Speed 1 or P557 Jog Speed 2 respectively In Unipolar mode the absolute value is used along with a separate direction command In Bipolar mode the polarity of P556 Jog Speed 1 or P557 Jog Speed 2 determines the direction of jog DI Manual Ctrl The digital input function works in conjunction with the overall Auto Manual function When this input is closed it overrides other speed references but only if another device HIM did not have ownership of the Manual state If the digital input is successful in gaining manual control the speed reference comes from P563 DI ManRef Sel which can be set to any of the Analog Inputs Preset Speeds MOP Reference or an applicable Port Reference Associated with this digital input function there is the ability to configure the drive to switch smoothly from an automatic communicated speed reference to manual speed reference produced by the Human Interface Module HIM When the drive is commanded to switch from the automatic communicated speed refere
423. see Motor Overload on page 168 The drive thermal overload function utilizes two methods to protect the drive Inverse time protection based on the average output current and a thermal manager that models the temperature of the IGBTs based on measured power module temperature and operating conditions Each method can reduce the PWM switching frequency or reduce current limit When rated conditions are exceeded even after applying one of the measures mentioned above and the load on the drive is not reduced a F64 Drive Overload fault is generated The fault detection mechanism cannot be disabled Only the ability to fold back PWM frequency and current limit can be disabled The drive monitors the temperature of the power module based on a measured temperature and a thermal model of the power module As the temperature rises and P940 Drive OL Count increases the drive can lower the PWM frequency to decrease the switching losses in the power module If the temperature continues to rise the drive can reduce current limit to try to decrease the load This is the factory default response configurable by P420 Drive OL Mode to increasing drive temperature If the drive temperature becomes critical P940 Drive OL Count 100 the drive faults If the drive is operated in a low ambient temperature condition the drive can exceed rated levels of current before the monitored temperature becomes critical To guard against this situation the dr
424. set An acceptable sine cosine signal is a 1 volt peak to peak voltage with a 2 5 volt offset Most feedback manufactures Sick SSI Stegmann Hiperface and Heidenhain En Dat non en dat meet this requirement File Group No Display Name Full Name Description Values Read Write Data Type MOTOR CONTROL Mtr Ctrl Options 43 Flux Up Enable Flux Up Enable Manual 0 Flux is established for P44 Flux Up Time before initial acceleration Automatic 1 Flux is established for a calculated time period based on motor nameplate data before acceleration P44 Flux Up Time is not used Default Options 1 Automatic 0 Manual 1 Automatic RW 32 bit Integer 44 Flux Up Time Flux Up Time The amount of time the drive will use to try to achieve full motor stator flux When a Start command is issued DC current at P26 Motor NP Amps level is used to build stator flux before accelerating Units Default Min Max Secs 0 0000 0 0000 5 0000 RW Real Rockwell Automation Publication 750 RM002B EN P September 2013 221 Motor Control Chapter 4 Inertia Adaption Inertia adaption is used to compensate for lost motion which occurs when a gear box and or a springy coupling is present Lost Motion describes the condition in which an input to a mechanism creates no corresponding displacement at the output This is most noticeable in systems with large inertia ratios using
425. set Run Cycle for information on how the Reset Run cycle can be aborted Beginning an Auto Reset Run Cycle The following conditions must be met when a fault occurs for the drive to begin an Auto Reset Run cycle The fault type must be Auto Reset Run P348 Auto Rstrt Tries setting must be greater than zero The drive must have been running not jogging not auto tuning and not stopping when the fault occurred A DC Brake state is part of a stop sequence and therefore is considered stopping Rockwell Automation Publication 750 RM002B EN P September 2013 27 Drive Configuration Chapter 1 Aborting an Auto Reset Run Cycle During an Auto Reset Run cycle the following actions conditions abort the reset run attempt process A stop command is issued from any source Removal of a 2 wire run fwd or run rev command is considered a stop assertion A fault reset command is issued from any source The enable input signal is removed P348 Auto Rstrt Tries is set to zero A Non Resettable fault occurs Power to the drive is removed The Auto Reset Run Cycle is exhausted After all Auto Rstrt Tries have been made and the drive has not successfully restarted and remained running for five minutes or more the Auto Reset Run cycle is considered exhausted and therefore unsuccessful In this case the Auto Reset Run cycle terminates and an F33 AuRsts Exhaust fault is indicated by P953 Fault Status
426. sired torque If the material being wound or unwound breaks the load decreases dramatically and the motor can potentially go into a runaway condition Speed Limited Adjustable Torque SLAT Modes The SLAT minimum and SLAT maximum modes are for applications that require a smooth transition from a torque mode to a speed mode operation and vice versa When operating in a Torque mode the motor current is adjusted to achieve the desired torque For example web handling center winders and center unwinders or other mechanical drive train where the drive is normally following a torque reference but a break disruption in flow or slippage could occur causing the need to prevent a runaway situation which is best controlled in speed mode Direction of the applied torque and direction of the material movement determine whether SLAT minimum or SLAT maximum mode should be used SLAT Minimum Choose SLAT minimum mode when material direction and speed reference is considered Forward and a positive speed reference value for the Speed Regulator The Speed Regulator output then creates a positive Torque Reference command value Typically configure a positive speed reference value slightly greater than what is equivalent to maintain planned material line speed This will in turn force the speed regulator into saturation the speed reference is slightly above the speed feedback commanding a more positive torque reference than what the torque mod
427. source Can be used to control outputs from a communication device using DataLinks 233 1 RO0 Level CmpSts Status of the level compare and a possible source for a relay or transistor output 720 PTP PsnRefStatus Displays the current operating status of the Point To Point Position Planner in the Position Referencing 724 Psn Reg Status Indicates status of position control logic 730 Homing Status Indicates status of position control logic 933 Start Inhibits Indicates which condition is preventing the drive from starting or running 935 Drive Status 1 Present operating condition of the drive 936 Drive Status 2 Present operating condition of the drive 937 Condition Sts 1 Status of conditions that can result in the drive taking action faulting based on configuration of protective functions 945 At Limit Status Status of dynamic conditions within the drive that are either active or a limit is being applied 952 Fault Status A Indicates the occurrence of conditions that have been configured as faults These conditions are from P937 Condition Sts 1 953 Fault Status B Indicates the occurrence of conditions that have been configured as faults 959 Alarm Status A Indicates the occurrence of conditions that have been configured as alarms These events are from P937 Condition Sts 1 960 Alarm Status B Indicates the occurrence of conditions that have been configured as alarms 961 Type 2 Alarms Indi
428. t configured at the same time Configuring the same toggle input function for instance Fwd Reverse to more than one physical digital input simultaneously These alarms called Type 2 Alarms are different from other alarms in that it is not possible to start the drive while the alarm is active It is possible for any of these alarms to occur while the drive is running because all digital input configuration parameters can be changed only while the drive is stopped Whenever one or more of these alarms is present the drive ready status becomes not ready and the HIM displays a conflict message In addition the drive status light flashes yellow Refer to the PowerFlex 750 Series Programming Manual publication 750 PM001 for a complete list of Type 2 Alarms 128 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O DigIn Cfg B Digital input conflict Input functions that cannot exist at the same time have been selected Correct Digital Input configuration DigIn Cfg C Digital input conflict Input functions that cannot be assigned to the same digital input have been selected Correct Digital Input configuration Block Diagrams Figure 8 PowerFlex 753 Figure 9 PowerFlex 755 Filter Filter Dig In Filt Mask Digital In Sts Dig In Filt Mask Dig In Filt In2 In1 Com In0 24V DC In0 115V AC Com Digital In Sts In0 24V DC In0 1
429. t Frequency Fold back Examples P7 Output Current P424 Active Cur Lmt P1 Output Frequency P3 Mtr Vel Fdbk Running at 60 Hz Frequency is folded back Load is removed Current limit set to 8 amps Load hits current limit Frequency is folded back more aggressively as the load continues to increase Gradual increase in load Start Seconds Amps Frequency 158 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 3 Diagnostics and Protection DC Bus Voltage Memory P11 DC Bus Volts is a measurement of the instantaneous value P12 DC Bus Memory is a heavily filtered value or average bus voltage Just after the pre charge relay is closed during initial powerup bus memory is set equal to bus voltage Thereafter it is updated to the six minute average of the instantaneous DC bus voltage Bus memory is used as a comparison value to sense a power loss condition If the drive enters a power loss state the bus memory is also used for recovery for example pre charge control or inertia ride through upon return of the power source Update of the bus memory is blocked during deceleration to prevent a false high value caused by a regenerative condition Drive Overload The purpose of the drive thermal overload feature is to protect the drive s power module when operation exceeds the design limitations This feature does not protect the motor this is handled by the motor overload protection feature
430. tator they need to be commutated externally with the help of an external switching circuit A three phase PWM inverter topology is used for this purpose The torque is produced because the interaction of the magnetic fields causes the rotor to rotate In permanent magnet motors one of the magnetic fields is created by permanent magnets and the other is created by the stator coils The maximum torque is produced when the magnetic vector of the rotor is at 90 degrees to the magnetic vector of the stator Motor data and an autotune are required for correct operation in this mode Refer to Autotune on page 35 for details PM Sensorless Vector Elec Freq V Ref Gate Signals V Hz Voltage Control Inverter Motor Current Limit Freq Ref Speed Freq Current Resolver Current Feedback Current Feedback Total Torque 1 Est Vector Control V Vector Torque 1 Est V Hz Control 234 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control PM Flux Vector Control In flux vector mode the flux and torque producing currents are independently controlled and speed is indirectly controlled by a torque reference Alternatively the drive can also control torque instead of speed in flux vector mode In either case this mode can be operated either with or without feedback and will provide the fastest response to load changes High Performance and precise control will require encoder feedback Refer
431. te the required energy from the DC bus is provided that is Dynamic Braking resistor regenerative brake and so forth The PowerFlex Dynamic Braking Selection Guide presented in Appendix A of the Reference Manual explains Dynamic Braking in detail The alternative braking methods to external hardware brake requirements can be enabled if the stopping time is not as restrictive Each of these methods dissipates energy in the motor use care to avoid motor overheating Rockwell Automation Publication 750 RM002B EN P September 2013 97 Drive Configuration Chapter 1 Braking Methods Coast Coast is selected by setting P370 371 Stop Mode A B to 0 Coast When in Coast to Stop the drive acknowledges the Stop command by shutting off the output and releasing control of the motor The load motor will coast or free spin until the kinetic energy is dissipated On Stop the drive output goes immediately to zero off No further power is supplied to the motor The drive has released control The motor coasts for a time that is dependent on the mechanics of the system Inertia friction and so forth Method Use when application Requires Braking Power Coast Power is removed from the motor and it coasts to zero speed None Ramp The fastest stopping time or fastest ramp time for speed changes external brake resistor or regenerative capability required for ramp times faster than the methods below High duty cycles fre
432. ted Speed P28 Motor NP RPM Integrated Motion on EtherNet IP Instance Drive Parameter Induction Motor Flux Current P75 Flux Current Ref Induction Motor Rated Slip Speed P621 Slip RPM at FLA Induction Motor Stator Leakage Resistance P74 Ixo Voltage Drop Induction Motor Rotor Leakage Resistance P74 Ixo Voltage Drop Induction Motor Stator Resistance P73 IR Voltage Drop 328 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Permanent Magnet Motor Data Axis Properties Configuration Permanent Magnet Motor Data Axis Properties Permanent Magnet Motor Data Motion Axis Parameters Rockwell Automation Publication 750 RM002B EN P September 2013 329 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 19 Permanent Magnet Motor Data Instance to Parameter Cross Reference Permanent Magnet Motor Model Motion Axis Parameters Table 20 Permanent Magnet Motor Model Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Motor Overload Limit P413 Mtr OL Factor Motor Rated Continuous Current P26 Motor NP Amps Motor Rated Output Power P30 Motor NP Power Motor Rated Peak Current P422 Current Limit 1 Motor Rated Voltage P25 Motor NP Volts Motor Type P35 Motor Cntl Mode Rotary Motor Poles P
433. temperature power curve of the Dynamic Brake Resistor then there is no application problem If any portion of the line lies to the right of the constant temperature power curve of the Dynamic Brake Resistor then there is an application problem The application problem is that the Dynamic Brake Resistor is exceeding its rated temperature during the interval that the transient power curve is to the right of the resistor power curve capacity It is prudent to parallel another Dynamic Brake Module or apply a Brake Chopper Module with a separate Dynamic Brake Resistor Sizing the Chopper and Resistors Chopper and Resistors no longer a Rockwell Automation product Sizing the chopper module is the same as the dynamic brake module with a couple of added steps Because the chopper is separate from the resistors an additional calculation for current needs to be made Additionally a calculation for watt seconds or joules needs to be made for resistor sizing Step 1 Determine the Total Inertia JT Jm GR2 x JL JT Total inertia reflected to the motor shaft kilogram meters2 kg m2 or pound feet2 lb ft2 Jm motor inertia kilogram meters2 kg m2 or pound feet2 lb ft2 GR2 the gear ratio for any gear between motor and load dimensionless JL load inertia kilogram meters2 kg m2 or pound feet2 lb ft2 1 0 lb ft2 0 04214011 kg m2 Step 2 Calculate the Peak Braking Power JT Total inertia reflected to
434. the current direction unless the Stop input function is open If Start is configured then a Stop must also be configured DI Fwd Reverse This digital input function is one of the ways to provide direction control when the Start or Run functions not combined with direction are used An open input sets direction to forward A closed input sets direction to reverse If state of input changes and drive is running or jogging the drive changes direction DI Run Forward DI Run Reverse These digital input functions cause the drive to run and with a specific direction as long as the configured input is held closed Also these 2 wire settings prevent any other connected device from starting the drive An open to closed transition on one input or both inputs while the drive is stopped causes the drive to run unless the Stop input function is configured and open The table below describes the basic action taken by the drive in response to particular states of these input functions It is not necessary to program both Run Forward and Run Reverse These two functions operate with or without each other DI Run This digital input function is similar to Run Forward and Run Reverse settings The only difference being that direction is determined by another input or another device s command HIM or communication adapter DI Jog 1 Forward DI Jog 1 Reverse DI Jog 2 Forward DI Jog 2 Rev
435. time by clicking Cancel or the Close icon All logged data is lost and the file is deleted Configuration Example 1 Connect to the drive that you want to trend via DriveExecutive DriveExplorer Logix Designer Drive AOPs or Connected Components Workbench software tool 2 Click the Show Wizard icon Topic Page Data Logging 277 Energy Savings 282 High Speed Trending 283 Position Homing 292 278 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 5 Drive Features Depending if you click the wand icon or down arrow icon a particular wizard selection dialog box appears Select the Data Logging Wizard 3 Once the Welcome screen loads click Next Rockwell Automation Publication 750 RM002B EN P September 2013 279 Drive Features Chapter 5 The data logging wizard can be configured to log up to six parameters at a minimum sample rate of one second for a specified time or number of samples 4 To find a parameter that you want to log select the Port and then scroll through the parameter lists file folders diagnostic items or use the find function 5 To add the parameter to the data log list select the parameter on the left side list and click the right arrow That parameter appears in the first available line entry on the right side 6 To remove a parameter from the data log list select the parameter on the right side and click the left arrow That parameter disapp
436. ting some hysteresis for turning off the forced speed mode They are set to 0 as default so that there is no hysteresis In SLAT minimum mode SLAT Err Stpt sets how much less the speed feedback should be than the speed reference before turning off the forced speed mode The SLAT dwell time sets how long the speed error must exceed the SLAT error set point before turning off the forced speed mode At the time that the drive switches from torque mode to forced speed mode the speed regulator output is loaded with the internal motor torque reference to create a smooth transition In order for the drive to switch from speed mode back to torque mode forced speed mode if active must first be turned off Forced speed mode will turn off when the speed error is greater than the SLAT error set point for the SLAT dwell time With default parameter settings this will occur when the speed error becomes positive When forced speed mode is off the drive will switch back to Torque mode when the speed regulator output becomes greater than the torque reference Internal Torque Command Load Step Decreased Speed Feedback At Speed Relay Torque Regulator Speed Regulator Rockwell Automation Publication 750 RM002B EN P September 2013 273 Motor Control Chapter 4 Empirically setting values P314 SLAT Err Stpt and P315 SLAT Dwell Time other than default may help create even smoother transitions Paper Winder Application Example T
437. tion External source must be maintained at less than 160V with respect to PE Input provides high common mode immunity 50 70 on Port X Ai0 Analog Input 0 Ai1 Analog Input 1 60 70 on Port X Ai1 Analog Input 1 24VC 24 Volt Common Drive supplied logic input power 200 mA max per I O module 600 mA max per drive 24V 24 Volt DC Di C Digital Input Common Common for Digital Inputs 0 5 Di 0 Digital Input 0 1 1 Digital Inputs are either 24 Volts DC 2262C or 115 Volts AC 2262D based on module catalog number Be sure applied voltage is correct for I O module 24V DC Opto isolated Low State less than 5V DC High State greater than 20V DC 11 2 mA DC 115V AC 50 60 Hz 3 Opto isolated Low State less than 30V AC High State greater than 100V AC 3 For CE compliance use shielded cable Do not exceed 30 m 98 ft cable length 1 on Port X Di 1 Digital Input 1 1 Di 2 Digital Input 2 1 Di 3 Digital Input 3 1 Di 4 Digital Input 4 1 Di 5 Digital Input 5 1 Sh Sh PTC PTC Ao0 Ao0 Ao1 Ao1 10V 10VC 10V Ai0 Ai0 Ai1 Ai1 24VC 24V DiC Di0 Di1 Di2 Di3 Di4 Di5 114 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Analog Output Configuration Parameters 75 and 85 Anlg Outn Select are use to specify the signal used on Analog Outputs 1 and 2 respectively These parameters can be pr
438. tion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives HPK B2010E MA42BA 2985 112 400 216 100 358 35 0 00519 0 00419 0 0626 0 097 2 03 HPK B2010E SA42BA 2985 112 400 216 100 358 35 0 00519 0 00419 0 0626 0 097 2 03 HPK E1308E MA42AA 2975 33 5 330 80 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1308E MB44AA 2975 33 5 330 80 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1308E MC44AA 2975 33 5 330 80 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1308E SA42AA 2975 33 5 330 80 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1308E SB44AA 2975 33 5 330 80 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1308E SC44AA 2975 33 5 330 80 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1609E MA42AA 2965 48 4 405 88 2 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1613E SA42AA 2975 73 7 400 172 385 237 520 385 385 385 385 385 385 385 Cat No Base Speed KW Volts Amps Hz Torque N m Peak Torque N m Peak Amps IM Amps R1 R2 X1 X2 Xm Rockwell Automation Publication 750 RM002B EN P September 2013 361 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Third Party Permanent Magnet Motors The PowerFlex 755 drive can support third party permanent magnet motors without th
439. tivate the drive output for the specified axis and to deactivate the axis servo loop If you execute an MSF instruction while the axis is moving the axis coasts to an uncontrolled stop Rockwell Automation Publication 750 RM002B EN P September 2013 305 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 These ramp attributes are available only when the PowerFlex 755 drive axis configuration is set to Frequency Control or Velocity Loop These ramp attributes are not available when the axis configuration is set to Torque Loop or Position Loop This table provides a cross reference between the PowerFlex 755 Integrated Motion on the EtherNet IP Network Motion Ramp Attributes and the corresponding drive parameters Ramp Attribute Sample Code The Ramp Attributes listed in the previous section are accessible via a Set System Value SSV instruction as shown in this example Ramp Attribute Drive Parameter RampAcceleration P535 Accel Time 1 RampDeceleration P537 Decel Time RampVelocity Positive P520 Max Fwd Speed RampVelocity Negative P521 Max Rev Speed RampJerk Control P540 S Curve Accel P541 S Curve Decel 306 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Position Mode Velocity Mode and Torque Mode Comparison The PowerFlex 755 support
440. to current limit Use 1 5 times because the drive can handle 150 current maximum for 3 seconds Peak power can be reduced by the losses of the motor and inverter Step 3 Calculating the Maximum Dynamic Brake Resistance Value Vd The value of DC bus voltage that the drive regulates at and is equal to 375V DC 750V DC or 937 5V DC depending on input voltage Pb The peak braking power calculated in Step 2 Rdb1 The maximum allowable value for the dynamic brake resistor The choice of the Dynamic Brake resistance value will be less than the value calculated in Step 3 If the value is greater than the calculated value the drive can trip on DC bus overvoltage Remember to account for resistor tolerances Pb JT 2 t3 t2 Rad s 2 N 60 Rdb1 Vd 2 pb 214 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control Step 4 Determine the Minimum Resistance Each drive with an internal DB IGBT has a minimum resistance associated with it If a resistance lower than the minimum value for a given drive is connected the brake transistor will likely be damaged Below is a table of minimum resistances for frame 2 through 7 PowerFlex 750 Series drives Step 5 Choosing the Dynamic Brake Resistance Value To avoid damage to this transistor and get the desired braking performance select a resistor with a resistance between the m
441. tomation Publication 750 RM002B EN P September 2013 99 Drive Configuration Chapter 1 Ramp This method uses drive output reduction to stop the load Ramp To Stop is selected by setting parameters 370 371 Stop Mode A B to 1 Ramp The drive ramps the frequency to zero based on the deceleration time programmed into parameters 537 538 Decel Time 1 2 The normal mode of machine operation can utilize Decel Time 1 If the machine Stop requires a faster deceleration than desired for normal deceleration Decel Time 2 can be activated with a faster rate selected When in Ramp mode the drive acknowledges the Stop command by decreasing or ramping the output voltage and frequency to zero in a programmed period Decel Time maintaining control of the motor until the drive output reaches zero The drive output is then shut off The load motor follows the decel ramp Other factors such as bus regulation and current limit can alter the actual decel rate Ramp mode can also include a timed hold brake Once the drive has reached zero output hertz on a Ramp to Stop and both parameters 395 DC Brake Time and P394 DC Brake Level are not zero the drive applies DC to the motor producing current at the DC Brake Level for the DC Brake Time On Stop drive output decreases according to the programmed pattern from its present value to zero The pattern can be linear or squared The output decreases to zero at the rate determined by the programmed
442. tor is connected to the power source and the shorted secondary the rotor carries the induced secondary current Torque is produced by the action of the rotor secondary currents on the air gap flux The synchronous motor differs greatly in design and operational characteristics and is considered a separate class of AC motor 236 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control AC Induction Motors P35 Motor Ctrl Mode induction motor options 0 Induction VHz 1 Induction SV 2 Induction Econ 3 Induction FV AC Induction Motors ACIMs are the simplest and most rugged electric motor and consist of two basic electrical assemblies the wound stator and the rotor assembly The induction AC motor derives its name from currents flowing in the secondary member rotor that are induced by alternating currents flowing in the primary member stator The combined electromagnetic effects of the stator and rotor currents produce the force to create rotation ACIMs typically feature rotors which consist of a laminated cylindrical iron core with slots for receiving the conductors The most common type of rotor has cast aluminum conductors and short circuiting end rings This AC motor squirrel cage rotates when the moving magnetic field induces a current in the shorted conductors The speed at which the AC motor magnetic field rotates is the synchronous spe
443. torque corrections and the Torque Offset value is available for constant system torque compensation Rockwell Automation Publication 750 RM002B EN P September 2013 335 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Load Compliance Motion Axis Parameters Table 24 Load Compliance Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Torque Low Pass Filter Bandwidth P659 SReg Outfltr BW Torque Notch Filter Frequency P687 Notch Fltr Freq 336 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Load Observer Axis Properties Configuration Load Observer Axis Properties Load Observer Motion Axis Parameters Rockwell Automation Publication 750 RM002B EN P September 2013 337 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 25 Load Observer Instance to Parameter Cross Reference Module Properties Power Tab Configuration Table 26 Power Tab to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Load Observer Bandwidth P711 Load Observer BW Load Observer Configuration P704 InAdp LdObs Mode Load Observer Feedback Gain P706 InertiaAdaptGain Integrated Motion on EtherNet IP Instance Drive Parameter Regenerative P
444. torque or position regulator The mode of operation is indicated by P935 Drive Status 1 Bit 21 Speed Mode Bit 22 PositionMode and Bit 23 Torque Mode When the drive is operating as a speed regulator the resulting action is to override the speed reference and decelerate to Preset Speed 1 This function is usually used with a limit switch and initiates the slowing down process prior to encountering the End Limit When the drive is operating as a torque regulator the drive ignores this signal and continues operating at its torque reference When the drive is operating as a position regulator the drive ignores this signal and continues moving towards its position reference Rockwell Automation Publication 750 RM002B EN P September 2013 127 Feedback and I O Chapter 2 DI PHdwr OvrTrvl DI NHdwr OvrTrvl These digital input functions are used to trigger a Positive Hardware Over travel and or a Negative Hardware Over travel The resulting action is to immediately fault and produce zero torque After the drive is stopped the condition needs to be cleared and the fault needs to be reset The drive restarts if given a new start command and continues operation It follows any speed reference position reference or torque reference The drive s direction is not modified or limited after the restart This function is usually used with a limit switch in a position beyond the End Limit as an extra safety limit to prevent torqu
445. triggered a Comparing two parameters b Comparing a parameter against a constant c A test bit in a parameter Rockwell Automation Publication 750 RM002B EN P September 2013 285 Drive Features Chapter 5 Trend Buffers dictates the drive and or peripheral parameters and diagnostic items that are trended 5 To configure the Trigger Setup and Trend Buffers click the Ellipse button 286 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 5 Drive Features 6 Select the parameter that you want to log by selecting the Port and then scroll through the parameter lists file folders diagnostic items or use the find function and click Apply The best way to remove a parameter selection is to uncheck the check box in the Use column Not used is downloaded instead of the selected parameter The next time you launch the wizard that buffer has no parameter set In the example below the trend buffers are configured with five drive parameters consisting of Output Frequency Motor Velocity Feedback DC Bus Voltage Output Current Output Voltage parameter values The trend is configured for a total of 4096 samples that include 500 samples before the trigger at a sample rate of 1 024 ms The trigger of the high speed trend is the Motor Velocity Feedback greater than zero This means the following The drive starts trending When the motor starts rotating forward the trend starts wrapping
446. ts or in the per unit system pu which is dimensionless for the most part In any event the final number must in Watts of power to estimate Dynamic Brake Ohmic value Calculations in this page are demonstrated in SI units Speed Torque Power Profile The following figure is a typical dynamic braking application The top trace represents speed and is designated by the omega symbol In the profile the motor is accelerated to some speed it holds that speed for a period of time and is then decelerated This deceleration is not necessarily to zero speed The cycle is then repeated The middle trace represents motor torque Torque starts out high as the motor is accelerated then drops down to maintain the commanded speed Then the torque turns negative as the motor is decelerated The cycle is then repeated The bottom trace represents motor power Power increases as the motor speed increases Power decreases some to maintain the commanded speed then goes Rockwell Automation Publication 750 RM002B EN P September 2013 203 Motor Control Chapter 4 negative when deceleration starts this point called Pb is the first value that needs to be calculated The cycle is then repeated Dynamic Braking Module no longer a Rockwell Automation product Figure 22 shows a simplified schematic of a Chopper Module with Dynamic Brake Resistor The Chopper Module is shown connected to the positive and negative DC bus conductors of an AC PWM Drive T
447. ts AC Input Volts AC Input Volts Line Loss Mode Coast Line Loss Mode Decel Line Loss Mode Continue DC Bus Volts DC Bus Volts DC Bus Volts 74 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration The drive faults with a F4 UnderVoltage fault if the bus voltage falls below Vmin and the P460 UnderVltg Action is set to 3 FltCoastStop The pre charge relay opens if the bus voltage drops below Vopen and closes if the bus voltage rises above Vclose If the bus voltage rises above Vrecover for 20 ms the drive determines the power loss is over The power loss alarm is cleared If the drive is in a Run Permit state the reconnect algorithm is run to match the speed of the motor The drive then accelerates at the programmed rate to the set speed Coast This is the default mode of operation The drive determines a power loss has occurred if the bus voltage drops below Vtrigger If the drive is running the inverter output is disabled and the motor coasts Decel This mode of operation is useful if the mechanical load is high inertia and low friction By recapturing the mechanical energy converting it to electrical energy and returning it to the drive the bus voltage is maintained As long as there is mechanical energy the ride through time is extended and the motor remains fully fluxed If AC input power is restored the drive can ramp the motor to the correct spe
448. ts Preferred This Port Only INFO Stopped 0 00 Hz AUTO ESC F Port xx Set Defaults This Port Only INFO For Host Drive For Connected Peripheral Host and Ports preferred Pop up Box Press the ENTER soft key to affirm and set most parameters for the Host Drive and port devices to factory defaults In this case refer to the Host Drive and port device user manuals for the settings that will NOT be restored or press the ESC soft key to cancel This Port Only Pop up Box Press the MOST soft key to set MOST settings for the selected port device to factory defaults In this case refer to the Host Drive User Manual for the settings that will NOT be restored Press the ALL soft key to set ALL settings for the selected port device to factory defaults or press the ESC soft key to cancel Stopped 0 00 Hz AUTO F WARNING Sets most parameters in the Host device and all ports to factory defaults Continue ESC ENTER Stopped 0 00 Hz AUTO F MOST ALL WARNING Use MOST to reset typical settings on this port preferred Use ALL to reset all settings ESC 90 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Sleep Wake Mode The purpose of the sleep wake function is to Start wake the drive when an SleepWake RefSel signal is greater than or equal to the value in P354 Wake Level and Stop sleep the drive when an analog signal is less than
449. ts independently a torque reference can be sent directly instead of being generated from a speed reference via the Speed Regulator The independent flux control also enables flux to be reduced in order to run above base motor speed Flux Vector Torque Ref V mag Voltage Control Inverter Motor Speed Reg Speed Freq Current Feedback High Bandwidth Current Regulator Adaptive Controller Slip V ang Speed Feedback Autotune Parameters Torque Ref Flux Reg Current Reg Encoder Rockwell Automation Publication 750 RM002B EN P September 2013 233 Motor Control Chapter 4 Permanent Magnet Motor Control Permanent magnet motor control is selected by setting P35 Motor Ctrl Mode to the appropriate choices of motor type Refer to Appendix D of the PowerFlex 750 Series Programming Manual publication 750 PM001 for compatible list of Allen Bradley Servo motors and resolution criteria Surface Permanent Magnet SPM motor or Permanent Magnet Synchronous Motor PMSM is a rotating electrical machine that has the stator phase windings and rotor permanent magnets The air gap magnetic field is provided by these permanent magnets and hence it remains constant The conventional DC motor commutates itself with the use of a mechanical commutator whereas SPM PMSM needs electronic commutation for the direction control of current through the windings Because the SPM PMSM motors in effect have their armature coils at the s
450. ture holds the output of the integral function at zero The term anti windup is often applied to similar features It can be used for integrator preloading during transfer and can be used to hold the integrator at zero during manual mode For example a process whose feedback signal is below the reference point creating error The drive increases its output frequency in an attempt to bring the process into control If however the increase in drive output does not zero the error additional increases in output is commanded When the drive reaches programmed Maximum Frequency it is possible that a significant amount of integral value has been built up windup This can cause undesirable and sudden operation if the system were switched to manual operation and back Resetting the integrator eliminates this windup Invert Error This feature changes the sign of the error creating a decrease in output for increasing error and an increase in output for decreasing error An example of this is an HVAC system with thermostat control In Summer a rising thermostat reading commands an increase in drive output because cold air is being blown In Winter a falling thermostat commands an increase in drive output because warm air is being blown The PID has the option to change the sign of PID Error This is used when an increase in feedback needs to cause an increase in output The option to invert the sign of PID Error is selected in t
451. tween the magnets on the rotor and the electromagnets of the stator This results in the optimum torque angle being 90 degrees which is obtained by regulating the d axis current to zero in a typical FOC application Interior Permanent Magnet Motor P35 Motor Ctrl Mode induction motor options 10 IPMn VHz Some PMSMs have magnets that are buried inside of the rotor structure These motors are called Interior Permanent Magnet or IPM motors As a result the radial flux is more concentrated at certain spatial angles than it is at others This gives rise to an additional torque component called reluctance torque which is caused by the change of motor inductance along the concentrated and non concentrated flux paths This causes the optimum Field Oriented Control torque angle to be greater than 90 degrees which requires regulating the d axis current to be a fixed negative ratio of the q axis current This negative d axis current also results in field weakening which reduces the flux density along the d axis which in turn partially lowers the core losses As a result IPM motors boast even higher power output for a given frame size Motor data and an autotune are required for correct operation in this mode Refer to Autotune on page 35 for details on the autotune These motors are becoming increasingly popular as traction motors in hybrid vehicles as well as variable speed applications for appliances and HVAC In the servo moto
452. ty applications a drive one size larger than is required for the motor is used in the application and therefore provides a larger amount of overload current in comparison to the motor rating Heavy Duty sizing provides at least 150 for 60 seconds every 10 minutes and 180 for 3 seconds every minute Light Duty The light duty setting for a given normal duty rated drive provides a higher continuous output current but with limited overload capability When in light duty the drive provides 110 for 60 seconds every 10 minutes The light duty setting is only available on PowerFlex 755 drives frame 8 and larger The overload percentages are with respect to the connected motor rating The duty rating is programmed in P306 Duty Rating This parameter is reset to the default setting if a Set Defaults ALL is executed For drives rated under 7 5 kW 10 Hp the normal duty and heavy duty continuous current ratings are the same and have the heavy duty overload settings When changing the Duty Rating review P422 Current Limit 1 and P423 Current Limit 2 Refer to the PowerFlex 750 Series AC Drives Technical Data publication 750 TD001 for continuous and overload current ratings for each catalog number 54 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Feedback Devices There are three different feedback option modules available for PowerFlex 750 Series AC Drives Sing
453. ual Tune The Integrated Motion on the Ethernet IP network axis includes a method for manual tuning the axis gains Clicking Manual Tune as indicated in the example here opens the Manual Tuning window 370 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Manual Tuning Window Tuning gains are measured in Hertz in the Integrated Motion on the Ethernet IP network connection compared to the radians second in the stand alone drive 6 283185 Rad Sec 1 Hz The Manual Tuning window contains three sections Manual Tuning Section This section lets you customize the configuration of system tuning The following two selections can be made System Bandwidth Changing this value adjusts the Position Loop and Velocity Loop response The value selected in this field changes the Application Type selection in the Autotune window Therefore care must be taken to NOT change this value after the individual gains have been manually configured System Dampening Changing this value adjusts both the Dampening factor and System Bandwidth values Lowering the System Dampening factor dramatically increases the System Bandwidth Care must be taken when changing this value to avoid machine damage It is recommended that small incremental adjustments be made to the System Dampening while evaluating the overall system response This value ch
454. ulated in Cat No Resistance Wattage 240 Volt KA005 28 ohms 666 watts KA010 13 2 ohms 1650 watts KA050 N A N A 460 Volt KB005 108 ohms 1500 watts KB010 52 7 ohms 2063 watts KB050 10 5 ohms 7000 watts 600 Volt KC005 108 ohms 1500 watts KC010 52 7 ohms 2063 watts KC050 15 8 ohms 8000 watts Rdb1 V2 d Pb Rockwell Automation Publication 750 RM002B EN P September 2013 207 Motor Control Chapter 4 Step 3 If the parallel combination of Dynamic Brake Modules becomes too complicated for the application consider using a Brake Chopper Module with a separately specified Dynamic Brake Resistor Step 5 Estimate average power It is assumed that the application exhibits a periodic function of acceleration and deceleration If t3 t2 the time in seconds necessary for deceleration from rated speed to 0 speed and t4 is the time in seconds before the process repeats itself then the average duty cycle is t3 t2 t4 The power as a function of time is a linearly decreasing function from a value equal to the peak regenerative power to 0 after t3 t2 seconds have elapsed The average power regenerated over the interval of t3 t2 seconds is Pb 2 The average power in watts regenerated over the period t4 is Pav Average dynamic brake resistor dissipation in watts t3 t2 Elapsed time to decelerate from rated speed to 0 speed in seconds t4 Total cycle time or period of process in sec
455. um mode SLAT Err Stpt sets how much more the speed feedback algebraically sign sensitive should be than the speed reference before turning off the forced speed mode SLAT Dwell Time sets how long the speed error must be less than the SLAT error set point before turning off the forced speed mode At the time that the drive switches from torque mode to speed mode the speed regulator output is loaded with the value from the torque reference to create a smooth transition In order for the drive to switch from speed mode back to torque mode forced speed mode if active must first be turned off FSM will turn off when the speed error is less than the SLAT error set point for the SLAT dwell time Rockwell Automation Publication 750 RM002B EN P September 2013 275 Motor Control Chapter 4 With default parameter settings this will occur when the speed error becomes negative When forced speed mode is off the drive will switch back to torque mode when the speed regulator output becomes less than the torque reference Sum Configuring the drive in this mode enables an external torque input to be summed with the torque command generated by the speed regulator This mode 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
456. un Boost Used to create additional running torque at low speeds The value is typically less than the required acceleration torque The drive will lower the boost voltage to this level when running at low speeds not accelerating This reduces excess motor heating that could be caused if the higher start accel boost level were used P62 Break Voltage and P63 Break Frequency Used to increase the slope of the lower portion of the Volts Hertz curve providing additional torque P25 Motor NP Volts and P27 Motor NP Hertz Set the upper portion of the curve to match the motor design Marks the beginning of the constant power region P36 Maximum Voltage and P37 Maximum Frequency Slope the portion of the curve used above base speed Frequency Ref V Ref Gate Signals V Hz Control V Hz Voltage Control Inverter Motor Maximum Voltage Break Voltage Start Accel Boost Run Boost Break Frequency Break Frequency Nameplate Maximum Frequency Base Voltage Nameplate Rockwell Automation Publication 750 RM002B EN P September 2013 229 Motor Control Chapter 4 1 Fan Pump When this option is chosen the relationship is 1 x2 Therefore at full frequency full voltage is supplied At 1 2 rated frequency 1 4 voltage is applied This pattern closely matches the torque requirement of a variable torque load centrifugal fan or pump load increases as speed increases and offers the best energ
457. up The drive continues trending for about 3 7 seconds to use up the remaining 3596 samples Rockwell Automation Publication 750 RM002B EN P September 2013 287 Drive Features Chapter 5 The drive stops trending and is ready for uploading 7 Click Download once the Download Succeeded message has appeared and the Trend Status is Ready 288 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 5 Drive Features 8 Click Start The Trend Status is Running and Download Upload and Start buttons are unavailable The trending is in process when you see the Trend Status is in the Finishing state You can stop the trend at any point in time by clicking Stop You can then upload all of the data gathered so far Rockwell Automation Publication 750 RM002B EN P September 2013 289 Drive Features Chapter 5 The trending has ended when the Trend Status has changed from Finishing state to the Complete state Click Upload This prompts a process that uploads the trend data from the drive and saves the information as a comma delimited csv file for use with Microsoft Excel or any other spreadsheet program Click Save to start the upload trend data process 290 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 5 Drive Features Below is an example of trended data Use a spreadsheet program to open the csv file Column C here lines up with what is displayed in DriveEx
458. upport be used for this Network topology Although the ControlLogix controller is illustrated the CompactLogix controller could also be used PowerFlex 755 and Kinetix 7000 Drive Overload Rating Comparison for Permanent Magnet Motor Operation The PowerFlex 755 drive can be configured for a normal duty or heavy duty operation The heavy duty rating has a lower continuous current rating and therefore can produce more current during an overload The Kinetix 7000 drive overload capability is specific for each power structure However the Kinetix 7000 can produce 100 current at 0 Hz With permanent magnet motors the torque is directly proportional to the current Therefore the overload ratings of the drive to which the motor is connected provides the torque overload capability of the motor PowerFlex 755 PowerFlex 755 PowerFlex 755 PowerFlex 755 PowerFlex 755 1756 EN2T or 1756 ENxTR 1585J M8CBJM x EtherNet shielded Cable Programming Software Other EtherNet IP Compatible Devices 1783 ETAP Stratix 8000 Duty Rating 0 Hz 100 110 150 180 Normal 50 100 One minute 3 seconds Not applicable Heavy 65 75 of normal duty One minute of normal duty 3 seconds of normal duty 346 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives PowerFlex 755 Drive Option Module Configuration and
459. uses Manual mode to control the speed of the drive when entering Safe Limited Speed monitoring 28 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Auto Manual Masks The port configuration of the Auto Manual feature is performed through a set of masks Together these masks set which ports can control the speed and or logic control of the drive as well as which ports can request Manual control The masks are configured by setting a 1 or 0 in the bit number that corresponds to the port Bit 1 for port 1 Bit 2 for port 2 and so forth Digital Inputs are always configured through Bit 0 regardless of what port the module physically resides in If both Manual Ref Mask and Manual Cmd Mask for a particular port are set to 0 that port is unable to request manual control P324 Logic Mask Logic Mask enables and disables the ports from issuing logic commands such as start and direction in any mode Stop commands from any port are not masked and still stop the drive P325 Auto Mask Auto Mask enables and disables the ports from issuing logic commands such as start and direction while in Auto mode Stop commands from any port are not masked and still stop the drive P326 Manual Cmd Mask Manual Command Mask enables and disables the ports from exclusively controlling logic commands such as start and direction while in Manual mode If a port assumes Manual control and the corresponding
460. ust Unavoidable you must do this Shall Required and necessary Should Recommended Should Not Not recommended 12 Rockwell Automation Publication 750 RM002B EN P September 2013 Preface General Precautions Qualified Personnel Personal Safety ATTENTION Only qualified personnel familiar with adjustable frequency AC drives and associated machinery should plan or implement the installation start up and subsequent maintenance of the system Failure to comply may result in personal injury and or equipment damage ATTENTION To avoid an electric shock hazard verify that the voltage on the bus capacitors has discharged completely before servicing Check the DC bus voltage at the Power Terminal Block by measuring between the DC and DC terminals between the DC terminal and the chassis and between the DC terminal and the chassis The voltage must be zero for all three measurements Hazard of personal injury or equipment damage exists when using bipolar input sources Noise and drift in sensitive input circuits can cause unpredictable changes in motor speed and direction Use speed command parameters to help reduce input source sensitivity Risk of injury or equipment damage exists DPI or SCANport host products must not be directly connected together via 1202 cables Unpredictable behavior can result if two or more devices are connected in this manner The drive start stop enable control circuitry includes solid state components
461. ust frequency setpoint is 750V DC Below you can see the DC bus is being regulated as the speed is sacrificed to be sure the drive does not trip on over voltage Figure 3 PowerFlex 750 Series Bus Regulation Adjust Frequency Option 2 Dynamic Brak If Bus Reg Mode n is set to 2 Dynamic Brak The Dynamic Brake Regulator is enabled In Dynamic Brake mode the Bus Voltage Regulator is turned off The DB Turn On and turn off curves apply For example with a DC Bus Memory at 684V DC the Dynamic Brake Regulator turns on at 750V DC and turns back off at 742V DC The Dynamic Brake mode can operate differently depending upon the setting of P382 DB Resistor Type either External or Internal 900 800 700 600 500 400 300 200 100 0 12 10 8 6 4 2 0 1 0 1 2 3 4 5 6 7 8 9 DC Bus Voltage Speed Feedback DC bus is regulated under the over voltage trip point Motor stops in just under 7 seconds instead of the programmed 1 second decel Seconds DC Bus Volts 10 Volts Base Speed Rockwell Automation Publication 750 RM002B EN P September 2013 47 Drive Configuration Chapter 1 Internal Resistor If the drive is set up for an internal resistor there is a protection scheme built into the firmware such that if it is determined that too much power has been dissipated into the resistor the firmware does not allow the DB transistor to fire any longer Thus the bus voltage
462. ut of the notch filter located in the Vector torque reference section P686 Torque Step Torque Step Defines the amount of torque reference step change to simulate a load disturbance used to test the response This value is added to the main torque reference P685 Selected Trq Ref and then applied to the input of the notch filter located in the Vector control torque reference section P687 Notch Fltr Freq Notch Filter Frequency The center frequency for the Notch filter located in the Vector control torque reference section To disable set to zero P688 Notch Fltr Atten Notch Filter Attenuation Sets the attenuation of the notch filter located in the Vector control torque reference section Attenuation is the ratio of the notch filter input signal to its output at the P687 Notch Fltr Freq An attenuation of 30 means that the notch output is 1 30th of the input at the specified frequency P689 Filtered Trq Ref Filtered Torque Reference Displays the output of the notch filter defined by P687 and P688 If P704 InAdp LdObs Mode indicates that either the Inertia Adaption or Load Estimate functions are active then the filtered torque reference will also be modified by these functions Attenuation Freq Hz 270 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control P690 Limited Trq Ref Limited Torque Reference Displays the torque reference value after filtering P689 power lim
463. ux current is necessary This parameter is either a default value based on motor nameplate data or the autotune value The drive scales the amount of slip compensation to the motor rated current The amount of slip frequency added to the frequency command is then scaled by the sensed torque current indirect measurement of the load and displayed Slip compensation also affects the dynamic speed accuracy ability to maintain speed during shock loading as illustrated in the rotor speed response figure below Initially the motor is operating at some speed and no load Some time later an impact load is applied and the rotor speed decreases as a function of load and inertia Finally the impact load is removed and the rotor speed increases momentarily until the slip compensation is reduced based on the applied load Open Loop Mode Slip Compensation Active Time Rotor Speed 1 5 p u Load 1 0 p u Load 0 5 p u Load 0 0 Slip Compensation Active Slip Compensation Active 0 5 p u Load 1 0 p u Load 1 5 p u Load Load Applied Load Applied Load Removed Slip F L A Rockwell Automation Publication 750 RM002B EN P September 2013 193 Diagnostics and Protection Chapter 3 The responsiveness to an impact load can be adjusted with P622 Slip Comp BW However too high setting can cause unstable operation and overshoot Baking Line Application Example The diagram below shows a typical application for the slip co
464. vailable values include Forward Unidirectional default Reverse Unidirectional Forward Bi Directional Reverse Bi Directional Run the Autotune To start the autotune procedure click Start When the Measure Inertia using Tune Profile check box is selected the request to start a tune is issued to the controller Any pending edits in this dialog box need to be applied before you start the test If you have pending edits a message box appears informing you that pending edits are applied prior to executing the test Click Yes to apply the pending edits If you choose No the test is not be executed Clicking Start issues a Motion Direct command to the controller which causes any parameters used by the motion direct command to validate before starting the test If the Motion Direct command does not execute due to an error condition an error message appears and the Test State returns to the Ready state Click Stop to terminate an autotune operation that was started from a source other than Start on this Autotune dialog box When an Autotune is started from Start on this dialog box Stop is unavailable When the autotune has completed click Accept Tuned Values to accept the tuning results and before you can change any tuning categories Rockwell Automation Publication 750 RM002B EN P September 2013 369 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Man
465. vation If the drive has already started and not At Zero Speed the rising edge is ignored and the homing sequence will not start Homing to Limit Switch with Feedback Upon activation of homing the drive starts moving in Speed Control mode and ramp to the speed and direction set in P735 Find Home Speed at the rate set in P736 Find Home Ramp When the limit proximity switch is reached the Homing Input is set The position count is latched and is considered the home position count The drive then ramps to zero at the rate set in P736 Find Home Ramp The drive then performs a point to point position move back to the home position count in speed of 1 10 of P735 Find Home Speed When the motor is At Position and At Zero Speed the homing sequence is complete 294 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 5 Drive Features NOT Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding position and transferring position reference back to its previous source If velocity control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding zero velocity and transferring velocity reference back to its previous source Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpTqPs Mode the drive continues running holding position the drive then transfers position re
466. ve action when an analog signal loss is detected Signal loss is defined as an analog signal less than 1V or 2 mA The signal loss event ends and normal operation resumes when the input signal level is greater than or equal to 1 5V or 3 mA Ignore 0 No action is taken Alarm 1 Type 1 alarm indicated Flt Minor 2 Minor fault indicated If running drive continues to run Enable with P950 Minor Flt Cfg If not enabled acts like a major fault FltCoastStop 3 Major fault indicated Coast to Stop Flt RampStop 4 Major fault indicated Ramp to Stop Flt CL Stop 5 Major fault indicated Current Limit Stop Hold Input 6 Holds input at last value Set Input Lo 7 Sets input to P52 Anlg In0 Lo or P62 Anlg In1 Lo Set Input Hi 8 Sets input to P51 Anlg In0 Hi or P61 Anlg In1 Hi If the input is in Current mode 4 mA is the normal minimum usable input value Any value below 3 2 mA is interpreted by the drive as a signal loss and a value of 3 8 mA is required on the input for the signal loss condition to end If the input is in Unipolar Voltage mode 2V is the normal minimum usable input value Any value below 1 6V is interpreted by the drive as a signal loss and a value of 1 9V is required on the input for the signal loss condition to end No signal loss detection is possible while an input is in Bipolar Volt
467. ved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Trans Out 0 Relay Out 0 Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 Condition False 1 Condition True File Group No Display Name Full Name Description Values Read Write Data Type I O Digital Outputs 7 Dig Out Setpoint Digital Output Setpoint RW 16 bit Integer Controls Relay or Transistor Outputs when chosen as the source Can be used to control outputs from a communication device using DataLinks 1 Bit 1 Trans Out 0 for I O Module model 20 750 2263C 1R2T Relay Out 1 for I O Module models 20 750 2262C 2R and 20 750 2262D 2R 2 Bit 2 is only used by I O Module 20 750 2263C 1R2T Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Trans Out 1 2 Trans Out 0 1 Relay Out 0 Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 Output De energized 1 Output Energized Rockwell Automation Publication 750 RM002B EN P September 2013 143 Feedback and I O Chapter 2 Example For this example our setup includes a PowerFlex 755 utilizing a 20 750 2262C 2R 24VDC I O Option Module and a ControlLogix L63 processor The drive s Option Module P10 RO0 Sel is co
468. watt seconds of the resistor t3 t2 Elapsed time to decelerate from b speed to 0 speed seconds Pb Peak braking power watts Internal Brake IGBT for PowerFlex 755 Drives Sizing Resistors for an internal DB IGBT Sizing resistors for the internal DB IGBT Uses the same formula s as previous and is very similar to the Chopper Module sizing Step 1 Determine the Total Inertia JT Total inertia reflected to the motor shaft kilogram meters2 kg m2 or pound feet2 lb ft2 Jm motor inertia kilogram meters2 kg m2 or pound feet2 lb ft2 GR The gear ratio for any gear between motor and load dimensionless JL load inertia kilogram meters2 kg m2 or pound feet2 lb ft2 1 0 lb ft2 0 04214011 kg m2 Pws t3 t2 Pb 2 JT Jm GR2 JL Rockwell Automation Publication 750 RM002B EN P September 2013 213 Motor Control Chapter 4 Step 2 Calculate the Peak Braking Power JT Total inertia reflected to the motor shaft kg m2 rated angular rotational speed N Rated motor speed RPM t3 t2 total time of deceleration from the rated speed to 0 speed seconds Pb peak braking power watts 1 0HP 746 Watts Compare the peak braking power to that of the rated motor power if the peak braking power is greater that 1 5 times that of the motor then the deceleration time t3 t2 needs to be increased so that the drive does not go in
469. werFlex 750 Series Programming Manual publication 750 PM001 Appendix D for compatible List of Allen Bradley Servo motors and resolution criteria Surface Permanent Magnet Motor SPM or Permanent Magnet Synchronous Motor PMSM P35 Motor Ctrl Mode induction motor options 4 PM VHz 5 PM SV 6 PM FV SPM or PMSM is a rotating electrical machine that has the stator phase windings and rotor permanent magnets The air gap magnetic field is provided by these permanent magnets therefore it remains constant The conventional DC motor commutates itself with the use of a mechanical commutator whereas SPM PMSM needs electronic commutation for the direction control of current through the windings Because the SPM PMSM motors in effect have their armature coils at the stator they need to be commutated externally with the help of an external switching circuit A three phase PWM inverter VFD topology is used for this purpose The torque is produced because the interaction of the magnetic fields causes the rotor to rotate In permanent magnet motors one of the magnetic fields is created by permanent magnets and the other is created by the stator coils The maximum torque is produced when the magnetic vector of the rotor is at 90 degrees to the magnetic vector of the stator Motor data and an autotune are required for correct operation in this mode Refer to Autotune on page 35 for details on the autotune The
470. werFlex 755 drive is controlled via the embedded ethernet Port 13 remotely by a PLC Normal operation prevents any type of control from being issued from the remote HIM Port 2 However the ability to manually control the drive via the HIM is needed in some cases To assure these two modes of control masks are set as follows This masks out disables the remote HIM Port 2 to control the logic command word such as start jog and direction when the drive is in Auto mode and lets enables the HIM to control the logic command word when the drive is in Manual mode 70 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 1 Drive Configuration Owners An owner is a parameter that contains one bit for each of the possible port adapters The bits are set high value of 1 when its adapter is currently issuing that command and set low Value of 0 when its adapter is not issuing that command Parameters and Functions P919 Stop Owner indicates which port is issuing a valid stop command P920 Start Owner indicates which port is issuing a valid start command P921 Jog Owner indicates which port is issuing a valid jog command P922 Dir Owner indicates which port has exclusive control of direction command P923 Clear Flt Owner indicates which port is currently clearing a fault P924 Manual Owner indicates which port has requested manual control of all drive logic and reference functions
471. when the profile is enabled with the Find Home bit set in the Profile Command parameter The drive performs a procedure to establish the home position The procedure consists of a move in Speed mode at the specified Find Home Speed A digital input is used to sense when the home position limit switch has been traversed If there is an encoder the registration logic is used to latch the motor position when the limit switch is reached as the home position The Find Home function handles three possible cases Switch and Marker Switch only and Marker only Homing Input Selection With Feedback Device Both the universal feedback option modules and the encoder feedback option modules provide a dedicated homing input The homing input on the feedback module that is selected by P135 Pos Fdbk Sel is used for homing If the marker pulse from an encoder is used in the homing function it is also selected by P135 Pos Fdbk Sel Without Feedback Device If the drive does not have a feedback module and a selection in P135 Psn Fdbk Sel of simulator feedback is made the homing input that the drive uses is selected from any digital inputs residing on an attached I O module by P734 DI OL Home Limit There is no marker pulse input associated with open loop homing Rockwell Automation Publication 750 RM002B EN P September 2013 293 Drive Features Chapter 5 Homing Activation A homing function can be selected by either a digital input or a p
472. x Cntrl Forced Spd 1 INTERNAL CONDITION ONLY Mtr Option Cnfg Zero TrqStop Trq ModeStop Trq ModeJog 0 1 2 40 FrctnComp Trig 1561 1567 FrctnComp Out Friction Comp FrctnComp Mode Int Ramp Ref 1560 700 0 Disabled 0 1 2 Ext Ramped Ref From Spd Ref 7A3 FrctnComp Hyst 1562 FrctnComp Time 1563 FrctnComp Stick 1564 FrctnComp Slip 1565 FrctnComp Rated 1566 640 3 Filtered SpdFdbk Rockwell Automation Publication 750 RM002B EN P September 2013 269 Motor Control Chapter 4 Commanded Trq This parameter will be entered in units of Hz or RPM depending on the value of P300 Speed Units P315 SLAT Dwell Time Speed Limited Adjustable Torque Dwell Time Sets the time period that P641 Speed Error must exceed the P314 SLAT Err Stpt magnitude in order to return to min max torque mode P675 Trq Ref A Sel and P680 Trq Ref B Sel Torque Reference A B Select Selects the source for a torque reference used when the drive is configured to command torque according to P309 312 SpdTrqPsn Mode n The values of the torque reference sources are added together to provide a single torque reference P685 Selected Trq Ref Selected Torque Reference Displays the torque value of the selected torque reference dynamic selection according to P313 Actv SpTqPs Mode This value will be summed with P686 Torque Step The result is then applied to the inp
473. xample 400V or 480V For example a drive shipped as 400V catalog code C has a default of Low Voltage for P305 Voltage Class A drive shipped as 480V catalog code D has a default of High Voltage When a change is made to P305 Voltage Class the continuous current rating of the drive changes by an amount equal to the published difference between catalog numbers With a change to the current rating review P422 Current Limit 1 and P423 Current Limit 2 Also note that a Reset to Defaults All resets the voltage to the original factory setting Current Limit Lowered Limit DC Bus Voltage Motor Current P685 Motor Speed DC Bus Voltage Rockwell Automation Publication 750 RM002B EN P September 2013 105 Chapter 2 Feedback and I O Analog Inputs There are two analog inputs per I O module Up to four I O modules can be mounted in the drive ports See the PowerFlex 750 Series Installation Instructions publication 750 IN001 for valid ports Accessing the analog input parameters is done by selecting the port that the module is mounted in then accessing the Analog Input group of parameters Topic Page Analog Inputs 105 Analog Outputs 113 Digital Inputs 119 Digital Outputs 130 PTC Motor Thermistor Input 152 106 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 2 Feedback and I O Analog Input Specifications Terminal Name Description Related
474. xis Properties Configuration General Axis Properties for Torque Loop Torque Loop Axis Properties Rockwell Automation Publication 750 RM002B EN P September 2013 323 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Torque Loop Motion Axis Parameters Table 15 Torque Loop Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Flux Up Control P43 Flux Up Enable Forced to Automatic Flux Up Time P44 Flux Up Time Overtorque Limit P436 Shear Pin1 Level Overtorque Limit Time P437 Shear Pin 1 Time Torque Limit Negative P671 Neg Torque Limit Torque Limit Positive P670 Pos Torque Limit Undertorque Limit P442 Load Loss Level Undertorque Limit Time P443 Load Loss Time 324 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Position Loop Axis Properties Configuration General Axis Properties for Position Loop Position Loop Axis Properties Rockwell Automation Publication 750 RM002B EN P September 2013 325 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Position Loop Motion Axis Parameters Table 16 Position Loop Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Position Integrator Bandwidt
475. y savings for these applications Sensorless Vector Sensorless Vector mode uses a V Hz core enhanced by excellent current resolution a slip estimator a high performance current limiter and the vector algorithms The basic functions for SV are similar for all three motor types induction motor permanent magnet motor and synchronous reluctance motor however PM and SyncRel SV do not require Slip Frequency adjustments IM Sensorless Vector Maximum Voltage Base Voltage Nameplate Run Boost Break Frequency Nameplate Maximum Frequency Elec Freq V Ref Gate Signals V Hz Voltage Control Inverter Motor Current Limit Freq Ref Speed Freq Current Resolver Current Feedback Current Feedback Total Torque 1 Est Vector Control V Vector Slip Estimator Torque 1 Est Torque 1 Est V Hz Control Slip Frequency 230 Rockwell Automation Publication 750 RM002B EN P September 2013 Chapter 4 Motor Control PM and SyncRel Sensorless Vector The algorithms operate on the knowledge that motor current is the vector sum of the torque and flux producing components of current Values can be entered to identify the motor values or an autotune routine can be run to identify the motor values see Autotune on page 35 Sensorless vector offers better torque production and a wider speed range than V Hz However it is not appropriate to use when more than one motor is connected to the same drive I

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