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PowerFlex Digital DC Drive
Bulletin Numbers 20P, 23P
User Manual
Original Instructions
PowerFlex Digital DC Drive User Manual
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 this manual. Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited. Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product. Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
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Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Installation and Wiring
Table of Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Drive Storage Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Drive Nameplate Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Drive Series Letter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Drive Frame Sizes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Drive Firmware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Standard Drive Catalog Number Explanation . . . . . . . . . . . . . . . . . . . 13 Standard Drive Catalog Number Explanation, Cont. . . . . . . . . . . . . . 14 Standalone Regulator Catalog Numbers. . . . . . . . . . . . . . . . . . . . . . . . . 14 Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 1
Product Advisories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Mount the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Operating Conditions and Temperatures. . . . . . . . . . . . . . . . . . . . 19 Minimum Mounting Clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Maximum Surrounding Air Temperature Specifications . . . . . . 19 Approximate Drive Dimensions and Weights . . . . . . . . . . . . . . . . . . . 20 Lifting PowerFlex DC Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Mount Frame C and D Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Remove the Drive Covers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Frame A Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Frame B and C Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Frame D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Isolation Transformers / Line Reactors. . . . . . . . . . . . . . . . . . . . . . . . . . 30 Contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 AC Input Contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 DC Output Contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Dynamic Brake Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 General Grounding Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Safety Ground (PE). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Power Feeder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Encoder/Resolver Ground Connections. . . . . . . . . . . . . . . . . . . . . 34 Tachometer Ground Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Grounding for Installations in an Ungrounded or High-Impedance, Neutral Ground, or System . . . . . . . . . . . . . . . . . . . 35 Power Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 CE Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 General Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
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Table of Contents
Drive Start Up
4
Installation Requirements Related to the Low Voltage Directive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Installation Requirements Related to EN 61800-3 and the EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Pollution Degree Ratings According to EN 61800-5-1 . . . . . . . 43 Power Circuit Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Control Power Circuit Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Cable and Wiring Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 AC Input Voltages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 DC Output Voltages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Typical Power Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Armature Converter Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Armature Voltage Feedback Connections . . . . . . . . . . . . . . . . . . . 54 Field Converter Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Field Current Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Set DIP Switch S14 to the Correct Value . . . . . . . . . . . . . . . . . . . . 62 Relay Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Thermistors and Thermal Switches . . . . . . . . . . . . . . . . . . . . . . . . . 64 Control Circuit Input Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Frame C Heatsink Cooling Fan Specifications . . . . . . . . . . . . . . . 71 Frame D, Series B and C Heatsink Cooling Fan Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 Frame C and D Armature Fuse Signal Terminals . . . . . . . . . . . . . 75 DIP Switch and Jumper Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 I/O Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 I/O Signal and Control Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 Digital Encoder Terminal Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 DC Analog Tachometer Terminal Block . . . . . . . . . . . . . . . . . . . . 90 Resolver Feedback Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 I/O and Control Wire Routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Chapter 2
Drive Start Up Checklist. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Before Applying Power to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Verify all Drive Configuration Settings . . . . . . . . . . . . . . . . . . . . . . 94 Verify the Power Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Verify the Control and I/O Wiring . . . . . . . . . . . . . . . . . . . . . . . . . 94 Apply Power to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Apply Voltage to the Control Circuits. . . . . . . . . . . . . . . . . . . . . . . 95 Verify the Control Voltages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 Load the Default Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 Configure the Most Commonly Used Parameters . . . . . . . . . . . . 97 Tune the Current Regulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Verify Motor Rotation and Run Feedback Polarity Checks. . . 104 Configure the Speed Feedback Parameters . . . . . . . . . . . . . . . . . . 107 Tune the Speed Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
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Table of Contents
Verify Speed Reference Settings and Drive Operation. . . . . . . . 111
Programming and Parameters
Chapter 3
About Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Parameters Table Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
How Parameters are Organized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 FileGroupParameter Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Numbered List View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Cross Reference Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Basic Parameter View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Advanced Parameter View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Monitor File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 Motor Control File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Speed Command File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 Dynamic Control File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 Applications File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 Utility File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 Communications File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 Input / Output File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 Parameter Cross Reference by Name . . . . . . . . . . . . . . . . . . . . . . . . . 207 Parameter Cross Reference by Number. . . . . . . . . . . . . . . . . . . . . . . 213
Troubleshooting
Chapter 4
Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 Drive Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
HIM Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 Manually Clearing Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 Fault Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 How to Clear an Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 Alarm Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 Common Drive Symptoms and Corrective Actions . . . . . . . . . . . . . 231
Drive does not start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231 Drive starts but motor does not turn and no armature current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232 The motor does not reach commanded speed . . . . . . . . . . . . . . . 232 The motor is turning in the wrong direction . . . . . . . . . . . . . . . . 232 The motor reaches maximum speed immediately . . . . . . . . . . . 233 The motor speed cannot be controlled and the drive does not stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233 Testpoint Codes and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Supplemental Drive Information
Appendix A
Certifications and Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236 IP20 NEMA / UL Type Open Watts Loss . . . . . . . . . . . . . . . . . . . . . 236 Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Typical Programmable-Controller Configurations . . . . . . . . . . 240
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Table of Contents
HIM Overview Application Notes
6
Logic Command/Status Words. . . . . . . . . . . . . . . . . . . . . . . . . . . . 241 Drive Power Circuit Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Frame A and B Fuse Information . . . . . . . . . . . . . . . . . . . . . . . . . . 243 Frame C and D Fuse Information . . . . . . . . . . . . . . . . . . . . . . . . . . 251 Control Power Circuit Protection Fuses . . . . . . . . . . . . . . . . . . . . . . . 259 Switching Power Supply Circuit Board Fuses . . . . . . . . . . . . . . . 259 Frame B Pulse Transformer Circuit Board Fuses . . . . . . . . . . . . 261 Frame C Transient Noise Filter Circuit Board Fuses. . . . . . . . . 262 Frame D Overvoltage Clipping Circuit Board Fuses . . . . . . . . . 263 AC Input Line Reactors and AC Input Contactors . . . . . . . . . . . . . 264 Isolation Transformers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267 Dynamic Brake Resistor Kits and DC Output Contactors . . . . . . . 269 DC Contactor Crimp Lug Kit Specifications . . . . . . . . . . . . . . . . . . . 271 Alternate Dynamic Brake Resistor Kits and DC Output Contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272 Alternate EMC Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273 Terminal Adapter Kits for Frame D Drives . . . . . . . . . . . . . . . . . . . . . 279
Appendix B
External and Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281 LCD Display Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282 ALT Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Using the S.M.A.R.T. List Screen . . . . . . . . . . . . . . . . . . . . . . . . . . 283 Menu Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284 Viewing and Editing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
LCD HIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286 Removing/Installing the HIM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Appendix C
Alpha Test Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289 Alpha Test Setup and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Analog Input Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292 Example 1: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292 Example 2: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292 Analog-input Signal Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . 293
Current / Speed Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294 Drive Reference and Feedback Scaling . . . . . . . . . . . . . . . . . . . . . . . . . 296
Armature Voltage Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296 DC Analog Tachometer Feedback . . . . . . . . . . . . . . . . . . . . . . . . . 296 Encoder Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297 Drive Reference and Feedback Scaling Examples . . . . . . . . . . . . 297 Valid Speed Feedback Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300 Droop Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302 Field-weakening Mode Configuration (Firmware Revision 1.006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Table of Contents
Using a DC Contactor Only (Firmware Revision 1.006 Only). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303 Using a DC Contactor and a Dynamic Brake (Firmware Revision 1.006 Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303 Using an Inverting Fault Device Only (Firmware Revision 1.006 Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304 Using a DC Contactor and an Inverting Fault Device (Firmware Revision 1.006 Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . 304 Using a DC Contactor, a Dynamic Brake and an Inverting Fault Device (Firmware Revision 1.006 Only) . . . . . . . . . . . . . . 305 Lifting/Torque Proving. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306 Tuning The Motor For Torque Prove Applications . . . . . . . . . 308 Crane Setup with Encoder/Resolver Feedback . . . . . . . . . . . . . . 308 Crane Setup - Encoderless . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313 Manually Tuning the Speed Regulator for Firmware Revision 6.001 and Later . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317 Multiple Motor Applications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319 Considerations for Multiple Motors Connected in Parallel. . . 319 Considerations for Multiple Motors Connected in Series . . . . 319 Parameter 21 [Min Firing Angle] Configuration . . . . . . . . . . . . . . . . 320 PID Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321 Configure a Line Speed Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321 Configure the Feedback Signal in the Follower Drive/Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323 Configure the Tension Set Point Signal in the Follower Drive/Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324 Reference Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325 "Auto" Speed Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325 "Manual" Speed Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325 Speed Source Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326 Torque Reference Source. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326 Auto/Manual Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326 Resolver Cable Balance Tuning Test . . . . . . . . . . . . . . . . . . . . . . . . . . . 328 Performing the Cable Balance Tuning Test . . . . . . . . . . . . . . . . . 328 Resolver Type Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329 Scale Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330 Link Parameters Via the Scale Block Parameters. . . . . . . . . . . . . 331 SCR Diagnostic Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331 Open SCR Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332 Shorted SCR Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333 S-curve Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333 S-curve Acceleration Ramp Example:. . . . . . . . . . . . . . . . . . . . . . . 335 Speed Regulation Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335 Adaptive Speed Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335 Speed Up Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338 Speed Threshold Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339 Speed Zero Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
7
Table of Contents
Speed Draw Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341 Speed / Torque Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Zero Torque Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342 Speed Regulation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 Torque Regulation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 Speed Limited Adjustable Torque (SLAT) Min Mode and SLAT Max Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 Sum Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347 Start At Powerup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348 Fine-Tuning the Regulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349 Manually Adjusting the Current Regulator Tune Settings. . . . 350 Fine-Tuning the Field Current Regulator. . . . . . . . . . . . . . . . . . . 352 Fine-Tuning the Speed Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . 354 Fine-Tuning the Voltage Regulator in the Field Converter . . . 356 Tuning the Field Current Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
Control Block Diagrams
Appendix D
Diagram Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
Installing a Communication Adapter
Appendix E
Communication Adapter Kits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387 What The Communication Adapter Kit Includes. . . . . . . . . . . . . . . 387 Tools That You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388 Installing the Communication Adapter Module in the Drive. . . . . 388
Frame A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389 Frames B and C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390 Frame D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Optional Analog and Digital I/O Expansion Circuit Board
Appendix F
What This Option Board Provides . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393 I/O Expansion Board Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
Optional 115V AC to 24V DC I/O Converter Circuit Board
Appendix G
What This Option Board Provides . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395 I/O Converter Board Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
8
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Preface
Topic
Page
Summary of Changes
10
Conventions
11
Drive Storage Conditions
11
Drive Nameplate Data
12
Drive Specifications
12
Additional Resources
15
Standard Drive Catalog Number Explanation
13
Standalone Regulator Catalog Numbers
14
Additional Resources
15
The purpose of this manual is to provide you with the basic information required to install, start-up, and troubleshoot the PowerFlex® DC drive. This manual is intended for qualified personnel. You must be able to program and operate DC drives. In addition, you must have an understanding of the parameter settings and functions that are detailed in this manual.
The contents of this manual pertain to PowerFlex DC drive and PowerFlex Standalone Regulator firmware revisions 1.006...7.001.
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
9
Preface
Summary of Changes
This manual contains new and updated information.
Topic
Page
Added statements about conformal coated circuit boards.
13, 14
Changed Power Wiring with AC Input Contactor schematic.
47
Changed Power Wiring with DC Output Contactor schematic.
48
Changed the Power Wiring with DC Output/Dynamic Braking Contactor and a Dynamic Brake
49
schematic.
Changed the Digital Encoder Terminal Designations table.
88
Changed the parameter 1391 configuration step.
101
Changed description of parameter 1052.
130
Changed description of parameter 1022.
143
Changed description of parameter 166.
146
Changed description of parameter 213.
146
Changed description of parameter 302.
177
Changed the description of the AC Under voltage fault.
222
Changed the description of the Ref Cflct alarm.
229
Changed catalog numbers in the 230V AC Input Drives table.
264
Changed catalog numbers in the 460V AC Input Drives table.
265
Changed the 575V AC Input Drives table.
266
Changed the 690V AC Input Drives table.
266
Changed the Recommended Isolation Transformers table.
267
Corrected footnotes in the Dynamic Brake Resistor Kits and DC Output Contactors section 460V
270
AC Input Drives table.
Added Important table to the Alpha Test Mode section.
289
Added Important table to the SCR Diagnostic Tests section.
331
Changed the PID Control schematic.
379
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Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Conventions
Preface
· To help differentiate parameter names and LCD display text from other text, the following conventions are used:
Parameter names appear in [brackets]. For example: [Armature Voltage].
Display text appears in "quotes." For example: "Enabled."
Drive Storage Conditions
If it is necessary to store the drive for any length of time before installation, follow these storage guidelines to provide satisfactory start-up operation and retain warranty coverage:
· After receipt and inspection, repack the drive in its original shipping container.
· Store in a location that meets the following requirements:
clean, dry ambient temperature in the range -25...+55C (-13...+131F) relative air humidity in the range 5...95% altitude of less than 3000 m (10,000 ft.) above sea level
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
11
Preface
Drive Nameplate Data
The PowerFlex DC drive contains a data nameplate label on the side of each drive. This nameplate identifies the specific model number, applicable AC input power, and DC output power data. Include this information when communicating with Rockwell Automation personnel about this product.
Cat No. 20P41AD4P1RA0NNN
UL Type OPEN/IP20
Series: A
EXAMPLE ONLY Input: 460VAC 50/60 Hz 3.3A 3 Phase
Output: 500VDC 4.1A REGEN 2.0HP
1 Min Overload Amps
6.2
3 Sec Overload Amps
8.2
DC Field: Input: 460VAC 50/60 Hz 10A max. 1 Phase Output: 360VDC 10A max.
I/O: 24VDC (Standard) Original Firmware V. 1.001
N223
C R US
Listed Ind. Cont. Eq. 31KF
Regulator Power: 115/230VAC 50/60 Hz 1.0/0.5A 1 Phase
MFD. in 2XXX on MMM DD
Frame: A
Serial Number: A23E0042
Made in Italy
Drive series letter
Firmware revision Certification Marks Location.
See the data nameplate label on your drive for actual agency certifications.
Drive frame size Drive serial number
Drive Specifications
Drive Series Letter
Series B drives are identified as such on the data nameplate label. The drive series letter is on the top, right side of the label.
Drive Frame Sizes
Similar PowerFlex DC drive ratings are grouped into frame sizes to make ordering spare parts and drive dimensions simpler. The drive frame size is listed just above the serial number on the data nameplate label. See the Standard Drive Catalog Number Explanation on page 13 for a list of drive catalog numbers and their respective frame sizes.
Drive Firmware Revision
The original firmware revision of the drive as shipped from the factory appears on the data nameplate label just above the certifications. If the firmware revision has been upgraded since the drive was shipped, you can view the current revision on the HIM (if installed). See Diagnostics Menu on page 284 for details.
For drive specification information, see the PowerFlex Digital DC Drive, Technical Data, 20P-TD001.
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Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Preface
Standard Drive Catalog Number Explanation
1-3
4
5
20P 4
1
a
b
c
Conformally coated circuit boards are provided with the following catalog numbers.
Position
6
7
8-10
11
12
13
14
15
16
A D 4P1 R
A
0
N NN
d
e
f
g
h
i
j
k
l
a
Drive
Code
Type
20P
PowerFlex DC
b
Motor Operation
Code
Type
2
Two Quadrant Operation
4
Four Quadrant Operation
Not available for 230V AC input drives.
c
Input Type
Code
Type
1
6 Pulse
d
Enclosur e
Code
Enclosur e Rating
A IP20, NEMA/UL Type Open
Conform. Coat
Yes
e
Input Voltage
Code
Voltage
B
230V AC
D
460V AC
E
600V AC
F
690V AC
Use this code for 400V AC input applications.
f1
230V, 60 Hz Input
Code Hp
kW
Armatur e Amps
Frame
Field Amps
7P0 1.5 1.2
7
A
10
9P0 2
1.5
9
A
10
012 3
2.2
12
A
10
020 5
3.7
20
A
10
029 7.5 5.5
29
A
10
038 10 7.5
38
A
10
055 15 11
55
A
10
073 20 15
73
A
14
093 25 18.5 93
A
14
110 30 22
110
A
14
146 40 30
146
B
20
180 50 37
180
B
20
218 60 45
218
B
20
265 75 56
265
B
20
360 100 75
360
B
20
434 125 93
434
B
20
521 150 112 521
C
20
700 200 149 700
C
20
875 250 186 875
D
40
1K0 300 224 1050
D
40
f2
Code Hp
460V, 60 Hz Input
kW
Armatur e Amps
Frame
Field Amps
4P1 2
1.5
4.1
A
10
6P0 3
2.2
6
A
10
010 5
3.7
10
A
10
014 7.5 5.5
14
A
10
019 10 7.5
19
A
10
027 15 11
27
A
10
035 20 15
35
A
10
045 25 18.5 45
A
10
052 30 22
52
A
10
073 40 30
73
A
14
086 50 37
86
A
14
100 60 45
100
A
14
129 75 56
129
A
14
167 100 75
167
B
20
207 125 93
207
B
20
250 150 112 250
B
20
330 200 149 330
B
20
412 250 187 412
B
20
495 300 224 495
C
20
667 400 298 667
C
20
830 500 373 830
D
40
996 600 447 996
D
40
1K1 700 552 1162
D
70
1K3 800 597 1328
D
70
1K4 900 671 1494
D
70
f3
575V, 60 Hz Input
Code Hp
kW
Armatur e Amps
Frame
Field Amps
067 50
37
67.5
B
20
101 75
56
101.3
B
20
135 100 75
135
B
20
270 200 149 270
B
20
405 300 224 405
B
20
540 400 298 540
C
20
675 500 373 675
C
20
810 600 447 810
D
40
1K0 800 597 1080
D
40
1K2 900 671 1215
D
40
1K3 1000 746 1350
D
40
1K6 1250 932 1668
D
40
f4
Code Hp
690V, 60 Hz Input
kW
Armatur e Amps
Frame
Field Amps
452 400 298 452
C
20
565 500 373 565
C
20
678 600 447 678
D
40
791 700 552 791
D
40
904 800 597 904
D
40
1K0 900 671 1017
D
40
1K1 1000 746 1130
D
70
1K2 1100 820 1243
D
70
1K4 1250 932 1413
D
70
1K5 1400 1044 1582
D
70
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
13
Preface
Standard Drive Catalog Number Explanation, Cont.
1-3
4
20P 4
a
b
5
6
1A
c
d
Conformally coated circuit boards are provided with the following catalog numbers.
Position
7
8-10
11
12
13
14
15
16
D 4P1 R
A
0
N NN
e
f
g
h
i
j
k
l
Code R
g
Field Supply Type
Single-Phase Regulated
Code A
h
Packaging/Documentation
Shipping Carton User Manual
Yes
Yes
i
HIM
Code
Operator Interface
0
Blank Cover
Standard - for user installed options, see Human Interface and Wireless Interface Modules on page 9.
j
Code N
I/O Options
Control
None (8 - 24V DC Digital Inputs, 4 Digital Outputs, 3 Analog Inputs, and 2 Analog Outputs are Standard)
All I/O Options are purchased separately and are user installed. See I/O Options on page 9.
k
Communication Options
Code
Description
N
None
Standard - for user installed options, see Communication Option Kits on page 10.
Code N
l
Cabinet Options Type None
Standalone Regulator Catalog Numbers
Conformally coated circuit boards are provided with the following catalog numbers.
230V / 460V AC Input Regulators 575V / 690V AC Input Regulators Field Amps
Cat. No.
Cat. No.
23PMD4
23PMF4
40
23PMD7
23PMF7
70
23PAMP (1)
23PAMP (1)
(1)
(1) Gate Amplifier - used with all voltage classes of the Standalone Regulator. The Standalone Regulator and Gate Amplifier are currently sold through Rockwell Automation Drive Systems only. Consult the factory for availability.
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Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Additional Resources
Preface
These documents contain additional information concerning related products from Rockwell Automation.
Resource
Description
Documentation for PowerFlex DC drives: https:// ab.rockwellautomation.com/Drives/PowerFlex-DC20P#documentation
Lists Rockwell Automation publications for PowerFlex DC drives.
PowerFlex Digital DC Drive and PowerFlex DC Field Controller Technical Data, publication 20P-TD001
Provides detailed information on drive, field controller and option specifications.
Preventive Maintenance of Industrial Control and Drive Provides a checklist for performing preventive
System Equipment, publication DRIVES-TD001
maintenance.
PowerFlex Digital DC Drive - Frame A Hardware Service Manual, publication 20P-TG001
Provides hardware test procedures and spare parts replacement instructions for Frame A PowerFlex DC drives and field controllers.
PowerFlex Digital DC Drive - Frame B Hardware Service Manual, publication 20P-TG002
Provides hardware test procedures and spare parts replacement instructions for Frame B PowerFlex DC drives and field controllers.
PowerFlex Digital DC Drive - Frame C Hardware Service Manual, publication 20P-TG003
Provides hardware test procedures and spare parts replacement instructions for Frame C PowerFlex DC drives and field controllers.
PowerFlex Digital DC Drive - Frame D Hardware Service Manual, publication 20P-TG004
Provides hardware test procedures and spare parts replacement instructions for Frame D PowerFlex DC drives and field controllers.
EtherNet/IP Network Devices User Manual, ENET-UM006 Describes how to configure and use EtherNet/IP devices to communicate on the EtherNet/IP network.
Ethernet Reference Manual, ENET-RM002
Describes basic Ethernet concepts, infrastructure components, and infrastructure features.
System Security Design Guidelines Reference Manual, SECURE-RM001
Provides guidance on how to conduct security assessments, implement Rockwell Automation products in a secure system, harden the control system, manage user access, and dispose of equipment.
Industrial Components Preventive Maintenance,
Provides a quick reference tool for Allen-Bradley
Enclosures, and Contact Ratings Specifications, publication industrial automation controls and assemblies.
IC-TD002
Safety Guidelines for the Application, Installation, and Maintenance of Solid-State Control, publication SGI-1.1
Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and provides general guidelines for the application, installation, and maintenance of solid-state control in the form of individual devices or packaged assemblies incorporating solid-state components.
Industrial Automation Wiring and Grounding Guidelines, Provides general guidelines for installing a Rockwell
publication 1770-4.1
Automation industrial system.
Product Certifications website, rok.auto/certifications. Provides declarations of conformity, certificates, and other certification details.
You can view or download publications at rok.auto/literature.
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
15
Preface
Notes:
16
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Installation and Wiring
1 Chapter
Topic
Page
Product Advisories
18
Mount the Drive
19
Approximate Drive Dimensions and 20 Weights
Lifting PowerFlex DC Drives
26
Remove the Drive Covers
28
Isolation Transformers / Line Reactors 30
Contactors
31
General Grounding Requirements
33
Topic
Page
CE Conformity
40
Power Circuit Protection
43
Control Power Circuit Protection
43
Cable and Wiring Recommendations 44
Power Wiring
45
DIP Switch and Jumper Settings
77
I/O Wiring
82
This chapter provides information on how to install the PowerFlex® DC drive.
Most start-up difficulties are the result of incorrect wire connections. Take all precautions to assure that wire connections are done as instructed. All items must be read and understood before the actual installation begins.
A 23PMDx catalog number on the data nameplate on the drive identifies a Standalone Regulator (SAR). (see Drive Nameplate Data on page 12 for location).
The PowerFlex DC drive can be used in multiple motor applications. The motors can be configured for parallel or series connections. See Multiple Motor Applications on page 319 for installation and configuration guidance.
IMPORTANT The PowerFlex DC drive is not designed for use with resistive or magnetic loads.
IMPORTANT The recommended drive to motor horsepower ratio is 2:1.
ATTENTION: The following information is merely a guide for proper installation. Rockwell Automation cannot assume responsibility for the compliance or the noncompliance to any code, national, local or otherwise for the proper installation of this drive or associated equipment. If codes are ignored during installation, a hazard of personal injury and equipment damage exists.
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
17
Chapter 1 Installation and Wiring
Product Advisories
ATTENTION: This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies. Static control precautions are required when you install, test, service, or repair this assembly. If ESD control procedures are not followed, component damage can result. If you are not familiar with static control procedures, see publication 8000-4.5.2, "Guarding Against Electrostatic Damage"or any other applicable ESD protection handbook.
ATTENTION: An incorrectly applied or installed drive can result in component damage or a reduction in product life. Installation or application errors, such as, an undersized motor, incorrect or inadequate AC supply, or excessive air temperatures around the drive can result in malfunction of the system.
ATTENTION: Allow only qualified personnel, familiar with DC drives and associated machinery, to plan or implement the installation, start-up and subsequent maintenance of the system. Failure to comply can result in personal injury and equipment damage.
ATTENTION: An incorrectly applied or installed bypass system can result in component damage or reduction in product life. The most common causes are: · An AC line connection to the drive output or control terminals. · Improper bypass or output circuits that are not Allen-Bradley approved. · Output circuits that do not connect directly to the motor. Contact Allen-Bradley for assistance with your application or installation.
18
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Mount the Drive
150 mm (6.0 in.)
PORT MOD NET A NET B
STS
Installation and Wiring Chapter 1
Operating Conditions and Temperatures
PowerFlex DC drives are designed to operate at 0...50 °C (32...122 °F) surrounding air temperature without derating. The drive must be mounted in a clean, dry location. Contaminants such as oils, corrosive vapors, and abrasive debris must be kept out of the enclosure. NEMA / UL Type Open, IP20 enclosures are intended for indoor use primarily to provide a degree of protection against contact with enclosed equipment. These enclosures offer no protection against airborne contaminants.
Minimum Mounting Clearances
Minimum clearance requirements are intended to be from drive to drive. Other objects can occupy this space; however, reduced airflow can cause protection circuits to fault the drive. The drive must be mounted in a vertical orientation as shown in Figure 1 and must not be mounted at an angle greater than 30° from vertical. Intake air temperature must not exceed the product specification.
Figure 1 - Drive Enclosure Minimum Mounting Clearances
150 mm (6.0 in.)
PORT MOD NET A NET B
STS
10 mm (0.4 in.)
10 mm (0.4 in.)
150 mm (6.0 in.)
10 mm (0.4 in.)
50 mm (2.0 in.) Airflow through the drive
must not be impeded.
Maximum Surrounding Air Temperature Specifications
· 0...50 °C (32...122 °F), typical · De-rate 1.25% for every 1 °C (°F) over 50 °C (122 °F), to 55 °C (131 °F) · Additional air cooling is required for temperatures above 55 °C (131 °F)
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Chapter 1 Installation and Wiring
Approximate Drive Dimensions and Weights
The PowerFlex DC drive is available in a NEMA / UL Type Open, IP20 enclosure only. Follow all mounting clearances to provide proper drive operation.
ATTENTION: Remove all loose packing materials, including the containers of desiccants (if any), from the drive enclosure before you mount and energize the drive.
Figure 2 - Frame A Drive Dimensions
A mm (in.) 267 (10.5)
B mm (in.) 359 (14.0)
C mm (in.) 287 (11.3)
A1 mm (in.) 7 (0.3)
A2 mm (in.) 250 (9.8)
B1 mm (in.) 275 (10.8)
A
C
A1
PORT MOD NET A NET B
STS
B
B1
A2
Table 1 - Frame A Weights
Drive Current Rating Code
230V
460V
7P0
4P1
9P0
6P0
012
010
020
014
019
029
027
038
035
055
045
052
073
073
093
086
110
100
129
Drive Weight kg (lb) 11.0 (24.25)
Drive and Packaging Weight kg (lb) 13.0 (28.7)
11.5 (25.4)
13.5 (29.8)
12.0 (26.5)
14.0 (30.9)
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Installation and Wiring Chapter 1
Figure 3 - Frame B Drive Dimensions
A
A1
A2
A3
B
B1
C1
C2(1)
mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
311 (12.2) 275 (10.8) 16.5 (0.65) 7 (0.3) 388 (15.3) 375 (14.8) 350 (13.8) 380 (15.0)
(1) Only frame B drive catalog numbers 20P21AD330, 20P21AD412, 20P21AE405, 20P41AB360, 20P41AB434, 20P41AD330, 20P41AD412, 20P41AE405.
A
C1
A1
C2
B1
PORT MOD NET A NET B
STS
B
A3 A2
Terminal Details - Dimensions in mm (in.)
45.2 (1.8)
53.1 (2.1)
98.5 (3.9)
48.5 (1.9)
147.0 (5.8)
53.1 (2.1)
200.1 (7.9)
48.5 (1.9)
248.6 (9.8)
Table 2 - Frame B Weights
Drive w/ND Rating Code
230V
460V
575V
146
167
067
180
207
101
218
135
265
250
270
360
330
405
434
412
Drive Weight kg (lb) 25.5 (56.2)
Drive and Packaging Weight kg (lb) 27.5 (60.6)
29.5 (65.0) 32 (70.5)
31.5 (69.5) 34 (75)
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Chapter 1 Installation and Wiring
Figure 4 - Frame C Drive Dimensions
A
mm (in.)
521 (20.5)
A1
mm (in.)
499 (19.7)
B
mm (in.)
511 (20.1)
B1
mm (in.)
400 (15.7)
B2 mm (in.) 200 (7.9)
B3 mm (in.) 55 (2.2)
B4 mm (in.) 56 (2.2)
B5
C
mm (in.) mm (in.)
10.5 (0.4) 416 (16.4)
A1
C
B4
B1 B
B2
PORT MOD NET A NET B
STS
B5
B3
A
Terminal Details - Dimensions in mm (in.)
28.0
28.0
28.0
35.5 (1.4)
(1.1)
(1.1)
(1.1)
113.0 (4.5)
155.0 (6.1)
310.0 (12.2)
Table 3 - Frame C Weights
Drive w/ND Rating Code
Weight - Regenerative Drives Weight - Non-regenerative Drives
Drive Drive and Packaging Drive Drive and Packaging
230V 460V 575V 690V kg (lb) kg (lb)
kg (lb) kg (lb)
495
61 (134.5) 83 (183.0)
57 (125.7) 79 (174.2)
521 667
65 (143.3) 87 (191.8)
62 (136.7) 84 (185.2)
700
540 452 72 (158.7) 94 (207.2)
68 (150.0) 90 (198.4)
675 565
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Figure 5 - Frame D Dimensions - Right Side and Front Views
Dimensions are shown in mm and (in.) Dimensions of terminals U, V, and W are the same.
Lifting flange
80.5
436.5
(3.2)
(17.2)
704
544
(27.7)
60
(21.4)
(2.4)
359
174
(14.1)
(6.9)
30 15 (1.2) (0.6)
25
(1.0)
44.5
42
(1.8)
(1.7)
792 (31.2)
208 (8.2) 144 (5.7) 157.5 (6.2)
PE
C
D
1250 (49.2)
32
44.5 (1.8)
25 (1.0)
15 (0.6)
146 (5.7)
60 (2.4)
30 (1.2)
PE
C
(1.3)
D
10 10.5 (0.4) (0.4)
252.5 (10.0)
437.5 (17.2)
134 (5.3)
22.6 (0.9)
44.5 (1.8) 44.5 (1.8)
134 (5.3)
Terminals C and D are 134 mm (5.3 in.) on drives with these ratings only: · 460V AC input: 800 Hp and 900 Hp · 575V AC input: 1000 Hp · 690V AC input: 1100 Hp, 1200 Hp, 1250 Hp, and 1400 Hp All other frame D drive ratings have 100 mm (4.0 in.) C and D terminals.
44.5
269.5
100
(1.8)
(10.6)
(4.0) 27.8
(1.1)
454.5
100
(18.0)
(4.0)
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Chapter 1 Installation and Wiring
Dimensions are shown in mm and (in.)
103.25 (4.1)
Lifting Flange
129
(5.1)
Figure 6 - Frame D Dimensions - Left Side and Back Views
94
127
127
127
(3.7)
(5.0)
(5.0)
(5.0)
Ø 23 (0.9)
10.5 (0.4)
16 (0.6) 227.5 (9.0)
Mounting Holes
127
94
(5.0)
(3.7)
1435 MAX 1230 (56.5) (48.4)
215.225 (8.5)
531 (21.0)
541 (21.3)
157.5
Mounting Holes
(6.2)
129 (5.1)
10 (0.4)
10.5 (0.4)
94
127
127
127
127
94
(3.7)
(5.0)
(5.0)
(5.0)
(5.0)
(3.7)
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Installation and Wiring Chapter 1
Table 4 - Frame D - 230V AC Input Drive Weights
Drive w/ND Rating Code
875 1K0
Weight - Regenerative Drives
Drive
Drive and Packaging
kg (lb)
kg (lb)
203 (447.5) 281 (619.5)
Weight - Non-regenerative Drives
Drive
Drive and Packaging
kg (lb)
kg (lb)
152 (335.1) 230 (507.1)
Table 5 - Frame D - 460V AC Input Drive Weights
Drive w/ND Rating Code
830 996 1K1 1K3 1K4
Weight - Regenerative Drives
Drive
Drive and Packaging
kg (lb)
kg (lb)
202 (445.3) 280 (617.3)
215 (474.0) 293 (646.0)
Weight - Non-regenerative Drives
Drive
Drive and Packaging
kg (lb)
kg (lb)
152 (335.1) 230 (507.1)
165 (363.8) 243 (535.7)
Table 6 - Frame D - 575V AC Input Drive Weights
Drive w/ND Rating Code
810 1K0 1K2 1K3 1K6
Weight - Regenerative Drives
Drive
Drive and Packaging
kg (lb)
kg (lb)
198 (436.5) 276 (608.5)
215 (474.0) 222 (489.4) 241 (531.3)
293 (646.0) 300 (661.4) 319 (703.3)
Weight - Non-regenerative Drives
Drive
Drive and Packaging
kg (lb)
kg (lb)
148 (326.3) 226 (498.2)
165 (363.8) 172 (379.2) 191 (421.1)
243 (535.7) 250 (551.2) 269 (593.0)
Table 7 - Frame D - 690V AC Input Drive Weights
Drive w/ND Rating Code
678 791 904 1K0 1K1 1K2 1K4 1K5
Weight - Regenerative Drives
Drive
Drive and Packaging
kg (lb)
kg (lb)
198 (436.5) 276 (608.5)
200 (440.9) 202 (445.3) 215 (474.0)
278 (612.9) 280 (617.3) 293 (646.0)
241 (531.3) 319 (703.3)
Weight - Non-regenerative Drives
Drive
Drive and Packaging
kg (lb)
kg (lb)
148 (326.3) 226 (498.2)
150 (330.7) 152 (335.1)
228 (502.7) 230 (507.1)
165 (363.8) 172 (379.2) 191 (421.1)
243 (535.7) 250 (551.2) 269 (593.0)
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Chapter 1 Installation and Wiring
Lifting PowerFlex DC Drives
The dimensions and weights that are specified in Table 3 on page 22 and Table 4...Table 7 on page 25 must be considered when the device is lifted and mounted. Use the proper equipment to lift and hold the weight of the drive while it is mounted
ATTENTION: Follow this guidance to guard against possible personal injury or equipment damage:
· Inspect all lifting hardware for proper attachment before the drive is lifted.
· Do not let any part of the drive or lift mechanism to contact electrically charged conductors or components.
· Do not subject the drive to high rates of acceleration or deceleration while the drive is transported to the installation location or is lifted.
· Do not let personnel or their limbs be directly underneath the drive when it is lifted and mounted.
Mount Frame C and D Drives
All lifting equipment and components (hooks, bolts, lifts, slings, and chains) must have a minimum lifting capacity of 453.6 kg (1,000 lb).
IMPORTANT Verify that all mounting screws are properly tightened before and after drive operation.
1. Verify the hole pattern on the panel on which you intend to mount the drive. See Figure 4 on page 22 or Figure 5 on page 23.
2. Install the mounting hardware: · For frame C drives, insert, but do not tighten, a bolt in one of the top holes in the panel. The bolt must be fully threaded into the panel before hanging the drive. · For Frame D drives, insert, but do not tighten, the six bolts for the top mounting flange on the drive into the panel. The bolts must be fully threaded into the panel before hanging the drive.
3. To limit the pull in forces on the drive, the lifting devices that are connected to the hooks must be long enough to make the angle between the chain or cable and a vertical line that extends up from the flange center less than 45° angle as illustrated in Figure 7 or Figure 8 on page 27. · For frame C drives, insert the properly sized and rated lifting hooks into the holes on the lifting flanges at the top of the drive. See Figure 7 on page 27. · For frame D drives, insert the properly sized lifting rod into the holes on the lifting flanges at the top of the drive. See Figure 8 on page 27.
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Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Figure 7 - Lift Frame C Drives Lifting Flanges
Installation and Wiring Chapter 1
Must be less than 45° angle
Figure 8 - Lift Frame D Drives
Must be less than 45° angle
4. Lift the drive into place onto the bolts that are installed in the panel.
5. Install the remaining bolts into the panel. Tighten M8 bolts to a minimum torque of 15 N·m (132.7 lb·in) and M10 bolts to a minimum torque of 25 N·m (221.2 lb·in).
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Chapter 1 Installation and Wiring
Remove the Drive Covers
Some protective covers must be removed to provide access to the power and I/O terminals on the drive. Remove the upper cover only to install an optional communication adapter or service the drive. See Installing a Communication Adapter on page 387 for information.
Frame A Drives
You must remove both the lower protective cover and the power terminal cover on frame A drives to access the power terminals.
Remove the Power Terminal Cover
Remove the two screws as shown here and slide the cover down and off the chassis.
Tightening torque: 1.0 N·m (8.9 lb·in)
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Installation and Wiring Chapter 1
Remove the Lower Protective Cover
Remove the two screws as shown here and, while gently lifting along the top edge, slide the cover down and off the chassis.
Tightening torque: 1.5 N·m (13 lb·in)
PORT MOD NET A NET B
STS
Frame B and C Drives
1. Loosen, but do not remove, the two screws that secure the bottom cover.
2. Slide the cover down until the screw heads align with the key holes and lift the cover off the chassis.
Tightening torque: 1.5 N·m (13 lb·in)
Frame B Shown
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Chapter 1 Installation and Wiring
Frame D
1. For any protective cover, loosen, but do not remove, the hexalobular head screws that secure the cover to the drive frame.
2. Slide the cover up until the screw heads align with the key holes and lift the cover off the chassis. The top and bottom most covers are also secured with screws at the top and bottom of the drive, respectively.
Tightening torque: 1.5 N·m (13 lb·in)
Isolation Transformers / Line Reactors
When connecting the drive directly to the main distribution system, an isolation transformer or 3...5% impedance AC line reactor must be used to guard against system disturbance. If the isolation transformer provides the required 3...5% impedance, a line reactor is not required.
See Isolation Transformers on page 267 for a list of recommended isolation transformers.
See AC Input Line Reactors and AC Input Contactors on page 264 for a list of recommended AC line reactors. The type of line reactor that is used depends upon the following:
· Current absorbed by the AC input · AC input voltage · Relative short-circuit voltage · AC input frequency
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Contactors
Installation and Wiring Chapter 1
When an AC input contactor is used, the IEC AC1 rating of the contactor must be equal to the rated thermal (RMS) current value at the main input of the drive.
Drive configurations for AC or DC contactors, with or without a dynamic brake (DB), are as follows (see Typical Power Wiring Diagrams on page 46 for examples):
· When only an AC contactor is used:
o Set parameter 1391 [ContactorControl] to 1 "AC Cntcr" (default value) (1)
o Set one [Relay Out x Sel] parameter and one [Digital Inx Sel] parameter to "Contactor" (default value for parameters 1392 [Relay Out 1 Sel] and 140 [Digital In8 Sel])
· When only a DC contactor is used:
o Set parameter 1391 [ContactorControl] to 3 "DC Cntcr"
o Set one [Relay Out x Sel] parameter and one [Digital Inx Sel] to "Contactor" (default value for parameters 1392 [Relay Out 1 Sel] and 140 [Digital In8 Sel])
· When an AC contactor and dynamic brake contactor are used:
o Set parameter 1391 [ContactorControl] to 2 "AC Cntcr+DB"
o Set one [Relay Out x Sel] parameter (1392 [Relay Out 1 Sel] or 629 [Relay Out 2 Sel]) to "Contactor" and the other relay output to "ContactorDB"
o Set one [Digital Inx Sel] parameter to "Contactor" (default value for parameter 140 [Digital In8 Sel])
· When a DC contactor and dynamic brake contactor are used:
o Set parameter 1391 [ContactorControl] to 4 "DC Cntcr+DB"
o Set one [Relay Out x Sel] parameter (1392 [Relay Out 1 Sel] or 629 [Relay Out 2 Sel]) to "Contactor" and the other relay output to "ContactorDB"
o Set one [Digital Inx Sel] parameter to "Contactor" (default value for parameter 140 [Digital In8 Sel])
(1) Par 1391 [ContactorControl] is contained in the "Advanced"parameter configuration group. See How Parameters are Organized on page 118 for more information.
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Chapter 1 Installation and Wiring
· When a contactor is NOT used: o Set parameter 1391 [ContactorControl] to 0 "None" o Do NOT set either [Relay Out x Sel] parameter to "Contactor" or "ContactorDB" o Do NOT set any [Digital Inx Sel] parameter to "Contactor"
When operating a drive with firmware revision 1.006 in field weakening mode with a DC contactor or inverting fault device that is installed in the armature circuit, see Field-weakening Mode Configuration (Firmware Revision 1.006) on page 302.
AC Input Contactors
See AC Input Line Reactors and AC Input Contactors on page 264 for a list of recommended AC input contactors.
DC Output Contactors
A DC output contactor can be used to connect the output of the armature circuit to the DC motor. If a DC output contactor is used, an AC input contactor is not needed.
See Dynamic Brake Resistor Kits and DC Output Contactors on page 269 for a list of recommended DC output contactors.
Dynamic Brake Resistors
See Dynamic Brake Resistor Kits and DC Output Contactors on page 269 for a list of recommended dynamic brake resistor kits.
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Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
General Grounding Requirements
Installation and Wiring Chapter 1
The drive Safety Ground (PE) must be connected to system ground. Ground impedance must conform to the requirements of national and local industrial safety regulations and electrical codes. Periodically check the integrity of all ground connections.
For installations within a cabinet, use a safety ground point or ground bus bar connected directly to building steel. Ground all circuits, including the AC input ground conductor, independently and directly to this point/bar.
For installations in distribution systems that have ungrounded or high impedance, neutral connections or systems, see Grounding for Installations in an Ungrounded or High-Impedance, Neutral Ground, or System on page 35.
ATTENTION: To comply with the essential requirements of the CE Low Voltage Directive 2006/95/EC, PowerFlex DC drives cannot be powered from a corner-earthed (TN with one phase earthed) supply system. When operating PowerFlex DC drives from an IT or impedance-earthed supply system, only temporary operation is permitted after an earth fault is detected in the power system.
Figure 9 - Typical Grounding
PORT MOD NET A NET B
STS
AC Mains Supply PE1/ U C V D W
All wires (including motor ground) must be connected inside the motor terminal box.
Safety Ground
Earth L1 L2 L3
Transformer
AC Line Reactor
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Chapter 1 Installation and Wiring
Safety Ground (PE)
The drive Safety Ground-PE must be connected to adjacent building steel (girder, joist), a floor ground rod, or bus bar (see Figure 9 on page 33). Ground points must comply with national and local industrial safety regulations and electrical codes.
Power Feeder
Each power feeder from the substation transformer to the drive must be provided with properly sized ground cables. Bond the conduit or cable armor to the substation ground at both ends. Each transformer enclosure or frame must be bonded to ground at a minimum of two locations.
Encoder/Resolver Ground Connections
If used, the encoder or resolver ground connections must be routed in grounded steel conduit. The conduit must be grounded at both ends. The encoder/resolver cable shield must be connected to the shield ground on the drive side. Do not connect the encoder/resolver cable shield to ground on the motor side.
Tachometer Ground Connections
If used, ground connections must be routed in grounded steel conduit. The conduit must be grounded at both ends. Ground the cable shield at the drive end by using only the shield clamps on the grounded metal plate that supports the control board. See Figure 58 on page 83 for shield clamp location.
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Installation and Wiring Chapter 1
Grounding for Installations in an Ungrounded or HighImpedance, Neutral Ground, or System
The PowerFlex DC drive was designed to work in distribution systems where the isolation transformer Wye neutral is connected to earth ground. PowerFlex DC drives are not designed to work in distribution systems that have ungrounded or high-impedance, neutral connections, or systems that have a phase that is referenced to earth. Symmetrical incoming power is required for correct drive operation.
The use of a grounded Wye neutral is highly recommended to prevent common-mode rejection problems with the feedback measurement circuits in the drive. Possible drive damage can occur because of inaccurate feedback measurements of the incoming AC voltage, armature voltage, or field current.
If the PowerFlex DC drive is installed in a system with an ungrounded Wye neutral or with an impedance ground connection, see Table 8 on page 36. Table 8 contains the drive modifications that are required for proper installation.
Power Distribution
Figure 10 - Delta/Wye with Grounded Wye Neutral
Rockwell Automation strongly recommends the use of grounded neutral systems for the following reasons:
· Controlled path for common mode noise current · Consistent line to ground voltage reference, which minimizes insulation
stress · Accommodation for system-surge protection schemes
Figure 11 - Ungrounded Secondary
Grounding the transformer secondary is essential to the safety of personnel and safe operation of the drive. A floating secondary can allow dangerously high voltages occur between the chassis of the drive and the internal power-structure components.
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Chapter 1 Installation and Wiring
Figure 12 - High-impedance Ground
Grounding the Wye secondary neutral through a resistor is an acceptable method of grounding. In this case, in a short-circuited secondary condition, none of the output phases to ground will exceed the normal line to line voltage. The resistor is often used to detect ground current by monitoring the associated voltage drop.
Table 8 - Drive Modifications to Support Ungrounded Wye Neutral or Impedance Grounded Connections
Frame Circuit Board
A
Pulse transformer (FIR1-xx-xx)
B
Pulse transformer (FIR2-xx-xx)
C
Pulse transformer (FIR3-xx-xx)
Transient noise filter (FIL-31), 200V...500V AC drives
Transient noise filter (FIL-57, FIL-69), 575V...690V AC drives
D
Pulse transformer (FIR-D-xx-xx)
Overvoltage clipping (CFSF-xxx)
Jumper/Connection
Figure to see for Details
Remove jumper S9
Figure 13 on page 36
Remove jumper S9
Figure 14 on page 37
Remove jumper S9
Figure 15 on page 37
Disconnect the filter board yellow/ Figure 16 on page 38 green (ground) wire from the PE connection on the drive chassis
Remove jumper S1
Figure 17 on page 38
Remove capacitors C121 and C122 Figure 18 on page 39
Remove jumper S1
Figure 19 on page 39
Figure 13 - Frame A Pulse Transformer Circuit Board S9 Jumper Location
Remove the front covers from the drive to access the pulse transformer circuit board. See page 28 for instructions.
X3
XSW1
XSW XP
TR2 TR1 X4
XR
XY
T01 T04 T02 T05 T03 T06
T1
T4
T2
T5 T3
T6
S9
S9
S4 S3
78 79 35 36 75 76 U2 V2
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Installation and Wiring Chapter 1
Figure 14 - Frame B Pulse Transformer Circuit Board S9 Jumper Location
Remove the front covers from the drive to access the pulse transformer circuit board. See page 29 for instructions.
TR1
TR2
PE S9
T04
T01 T4 T1 PE S9
T05
T2
T02
T5
T03 T06 T6
T3
XCD_IO
XTA
78 79 35 36 75 76 U2 V2
Figure 15 - Frame C Pulse Transformer Circuit Board S9 Jumper Location
The pulse transformer circuit board is behind the control EMI shield, near the top of the drive. See page 29 for instructions on removing the front covers from the drive and page 70 for instructions on moving the control EMI shield.
XR XCT
S3
S4
1
1
XUVW X3
S9 XCD_IO
XCD
PE
PE1
TR3
TO2 KGO2
T2 XTA
KG2
T5 KG5
TO5
TO3
T3
KGO5
KGO3
KG3
T6
TO6
KG6
KGO6
S9 XCD_IO
XCD
PE
PE1
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Chapter 1 Installation and Wiring
Figure 16 - Frame C Transient Noise Filter Circuit Board (FIL-31), 200V...500V AC Input Drives, Ground Wire Location
Remove the front covers from the drive to access the transient noise filter circuit board. See page 29 for instructions. The transient noise filter board is between terminals C and D below the control EMI shield.
Transient noise filter board
PORT MOD NET A NET B
STS
C
U
V
Yellow/Green (ground) wire
Figure 17 - Frame C Transient Noise Filter Circuit Board (FIL-57, FIL-69), 575V...690V AC Input Drives, S1 Jumper Location
Remove the front covers from the drive to access the transient noise filter circuit board. See page 29 for instructions. The transient noise filter board is on the left side of the control EMI shield.
P4
P3
S1
S1
F1
F2
F3
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Installation and Wiring Chapter 1
Figure 18 - Frame D Pulse Transformer Circuit Board S1 Jumper Location
The pulse transformer circuit board is behind the top and bottom control-panel covers. See page 30 for instructions on removing the covers from the drive.
PE XP1
TR2 XP2
TR1
XSW1
XSW
X3 XUV
C122
C121
XCD_IO
XUVW
KG1 T1
KG4 T4
KG2 T2
KG5 T5
KG3 T3
KG6 T6
KG01 T01
KG04 T04
KG02 T02
KG05 T05
KG03 T03
KG06 T06
S3
S4
XCD XR
XY XTA
X4 X5 X6 XCT
C122
C121
XCD_IO
XUVW
XSPF
78 79 35 36 75 76 81 82 U2 V2
Overvoltage clipping board location inside drive
Figure 19 - Frame D Overvoltage Clipping Circuit Board S1 Jumper Location
The overvoltage clipping circuit board is behind the control panel on the upper left side of the drive chassis. Instructions on opening the control panel are shown in the illustration on the left.
1. Disconnect the DPITM cable from the HIM (if present).
2. Insert a flathead screwdriver into the holes in the right side of the protective covers on the drive and turn the latch 90° counter-clockwise.
3. Open the control panel to the left.
90°
S1 XCD
S1
XCD
F31 F21 F11 X1UVW1 XUVW
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Chapter 1 Installation and Wiring
CE Conformity
40
Compliance with the Low Voltage Directive and Electromagnetic Compatibility Directive has been demonstrated by using harmonized European Norm (EN) standards. References to European Norm standards are published in the Official Journal of the European Communities. PowerFlex DC drives comply with the EN standards listed here when installed according to this User Manual.
EU Declarations of Conformity are available online at: www.rockwellautomation.com/products/certification/ce/
Low Voltage Directive
· EN 50178 Electronic equipment for use in power installations.
EMC Directive
· EN 61800-3 Adjustable speed electrical power drive systems Part 3: EMC product standard including specific test methods.
General Considerations
· For CE compliance, the drive installation must satisfy requirements that are related to both EN 50178 and EN 61800-3 provided in this document.
· PowerFlex DC drives comply with the EMC requirements of EN 61800-3 when installed according to good EMC practices and the instructions that are provided in this document. However, many factors can influence the EMC compliance of an entire machine or installation, and compliance of the drive itself does not ensure compliance of all applications.
· PowerFlex DC drives are not intended to be used on public low-voltage networks that supply domestic premises. Without additional mitigation, radio frequency interference is expected if used on such a network. The installer is responsible to take measures such as supplementary line filters and enclosures to prevent interference and follow all installation requirements of this document.
· PowerFlex DC drives generate notching and harmonic current emissions on the AC supply system. When operated on a public low-voltage network, it is the responsibility of the installer or user to be sure that applicable requirements of the distribution network operator have been met.
ATTENTION: PowerFlex DC drives can produce DC current in the protective earthing conductor. This DC current can reduce the ability of residual currentoperated protective devices (RCD) or residual current-operated monitoring devices (RCM), of type A or AC, to provide protection for other equipment in the installation.
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Installation and Wiring Chapter 1
Installation Requirements Related to the Low Voltage Directive
· PowerFlex DC drives are designed to be CE-compliant only if they are NOT connected to "corner-earthed" supply systems where one of the three phases of the supply system has been earthed.
· PowerFlex DC drives are compliant with the CE LV Directive when used at altitudes no greater than 2,000 m (6,562 ft).
· PowerFlex DC drives provided in enclosure type IP20 must be installed in a pollution degree 1 or 2 environment to be compliant with the CE LV Directive. Characteristics of the different pollution degree ratings are provided on page 43.
· PowerFlex DC drives can produce leakage current in the protective earthing conductor that exceeds 3.5 mA AC or 10 mA DC. The minimum size of the protective earthing (ground) conductor that is used in the application must comply with local safety regulations for high-protective earthing conductor current equipment.
· Frame D PowerFlex DC drives must be installed in a supplementary enclosure that provides protection from electric shock to be compliant with the CE LV Directive.
Installation Requirements Related to EN 61800-3 and the EMC Directive
· The drive must be earthed (grounded) as described in this User Manual.
· PowerFlex DC drives require the use of an external EMC filter to comply with the EMC Directive and emission limits of EN 61800-3: 2004. PowerFlex DC drives have been tested and verified for compliance to the emission limits of EN 61800-3: 2004 by using only the specific input filters and motor cable lengths that are identified in Table 9. See Typical Power Wiring Diagrams on page 46 for more installation information.
Table 9 - Standards and Limits for EMC Input Filters
Drive Frame Standard / Limits (Compliance with any of the limits in the Pollution Degree Ratings According to EN 61800-5-1 table on page 43 satisfies RF
Cat. No.
emission requirements for the EMC Directive)
EN61800-3 Category C1 EN61800-3 Category C2 CISPR11 Group 1
EN61800-3 Category EN61800-3 Category
EN61000-6-3 CISPR 11 Group EN61000-6-4 CISPR11 Group Class A...P > 20kVA
C3...I < 100A
C3...I > 100A
1 Class B
1 Class A...P < 20kVA
Frame A
Compliance may be possible Compliance may be possible RF line filter required(2)
RF line filter required(2) RF line filter required(2)
20Px1Ax4P1... with supplementary mitigation with supplementary mitigation 50 m motor cable limit
20Px1Ax129 (Consult factory)
(Consult factory)
50 m motor cable limit 50 m motor cable limit
Frame B
Compliance may be possible RF line filter required(1)
RF line filter required(1)
RF line filter required(1) RF line filter required(1)
20Px1Ax167... with supplementary mitigation 50 m motor cable limit 20Px1Ax412 (Consult factory)
50 m motor cable limit
50 m motor cable limit 50 m motor cable limit
Frame C
Compliance may be possible Compliance may be possible RF line filter required(1)
RF line filter required(1) RF line filter required(1)
20Px1Ax495... with supplementary mitigation with supplementary mitigation 50 m motor cable limit
20Px1Ax667 (Consult factory)
(Consult factory)
50 m motor cable limit 50 m motor cable limit
Frame D
Compliance may be possible Compliance may be possible Compliance may be possible RF line filter required(3) RF line filter required(4)
20Px1Ax... with supplementary mitigation with supplementary mitigation with supplementarymitigation 50 m motor cable limit
20Px1Ax
(Consult factory)
(Consult factory)
(Consult factory)
50 m motor cable limit
More Stringent Limits
Less Stringent Limits
(1) RF 3xxx-MHU EMC filter manufactured by Rasmi Electronics Ltd. xxx designates filter current rating. See the manufacturer published literature for details. (2) RF 3xxx-SIEI EMC filter manufactured by Rasmi Electronics Ltd. xxx designates filter current rating. See the manufacturer published literature for details. (3) EPCOS B84143B Type S081 EMC filter manufactured by EPCOS AG. See the manufacturer published literature for details.
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IMPORTANT Use of EMC filters not listed in Table 9 on page 41 must be verified in the application. Additional filters are listed in Alternate EMC Filters on page 273.
· Output power wiring to the motor must employ one of the following solutions.
· Cable with a braided shield providing 75% or greater coverage · Cables that are housed in metal conduit · Cables with equivalent shielding
Continuous shielding must be provided from the drive enclosure to the motor enclosure. Both ends of the motor cable shield (or conduit) must terminate with a low-impedance connection to earth.
· The motor-end cable shield or conduit must terminate in a shielded connector and be properly installed in an earthed motor wiring box that is attached to the motor. The motor wiring-box cover must be installed and earthed.
· All control (I/O) and signal wiring to the drive must use one of the following solutions.
· Cable with a braided shield providing 75% or greater coverage · Cables that are housed in metal conduit · Cables with equivalent shielding
When shielded cable is used, terminate only the drive end of the cable shield to earth with a low-impedance connection.
· Motor cables must be separated from control and signal wiring wherever possible.
· The maximum length of the motor cable must not exceed the length that is specified in the table on page 41. The maximum length that is specified is required for compliance with radio-frequency emission limits for the specific standard and installation environment.
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Pollution Degree Ratings According to EN 61800-5-1
Pollution Degree 1 2
3
4
Description
No pollution or only dry, non-conductive pollution occurs. The pollution has no influence.
Normally, only non-conductive pollution occurs. Occasionally, however, a temporary conductivity due to condensation can be expected, when the drive is out of operation.
Conductive pollution or dry non-conductive pollution occurs, which becomes conductive due to condensation, which can be expected.
The pollution generates persistent conductivity that is caused, for example, by conductive dust, rain, or snow.
Power Circuit Protection
It is recommended that you install fast-acting fuses on four-quadrant, frame A, and B drives to protect the armature converter on the input and output sides. Internally mounted fuses for armature converter protection are provided with frame C and D PowerFlex DC drives. See Drive Power Circuit Protection on page 243 for a list of replacement fuses and general fuse locations.
Control Power Circuit Protection
The 115V / 230V AC control circuit power input terminals U2 and V2 are required to be short-circuit protected. This protection can be provided by using standard time-delay fuses or a circuit breaker (device). Either protective device must survive the short-circuit available current of the feeder source for this circuit and the inrush current of the drive power supply.
Size the device(s) to protect the wiring between the fuses or circuit breaker connections to terminals U2 and V2, and not nuisance trip or blow from the inrush current.
Table 10 lists the input current characteristics of the control power.
Table 10 - Control Power Protection
Frame
Control Power Supply Circuit Board ID / Revision
A & D SW1-31 / H and below
SW1-31 / I and above
B
SW2-32 / H and below
SW2-32 / I and above
C
SW3-32 / H and below
SW3-32 / I and above
Power
60 W 80 W 110 W 90 W 110 W 90 W
Rated input current
115V AC 230V AC
1 A
0.5 A
1 A
0.5 A
1.2 A
0.7 A
1.2 A
0.6 A
1.2 A
0.7 A
1.2 A
0.6 A
Inrush input current
115V AC 230V AC
20 A
10 A
6 A
10 A
15 A
7.5 A
6 A
10 A
15 A
7.5 A
6 A
10 A
Provide a power source for the control power input that is stabilized and buffered from the power system transients. The control power of many drives can be fed from one source, as long as proper distribution protection is provided.
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Chapter 1 Installation and Wiring
Cable and Wiring Recommendations
Use the following cable and space recommendations for all drives sizes:
Minimum Spacing Between Classes - Steel Conduit/Tray
Category Wiring Signal Definition Signal Example Cable Type Class
1
2/3/4
5/6
7/8
9/10/11 See Cable
Spacing
Notes, on
page 45
Power 1
AC Power (600V Or 2.3kV 3/ph AC Lines Per NEC and
Greater)
Local Codes
0
3/9 in.
3/9 in.
3/18 in. See Note 6 1/2/5
(76/229 mm) (76/229 mm) (76/457 mm)
2
AC Power (Less Than 460V 3/ph AC Lines
600V)
3
DC Power
DC Motor Armature
3/9 in.
0
3/6 in. 3/12 in. See Note 6 1/2/5
(76/229 mm)
(76/152 mm) (76/305 mm)
4
DC Power
DC Motor Field
Control 5
115V AC/DC Logic 115V AC Power
Relay Logic/PLC I/O Motor Thermostat
Power Supplies,
3/9 in.
3/6 in.
0
3/9 in. See Note 6 1/2/5
(76/229 mm) (76/152 mm)
(76/229 mm)
Instruments
6
24V AC/DC Logic PLC I/O
Signal 7 (Process)
Analog Signals, DC Reference/Feedback Shielded Cable 3/18 in. 3/12 in. 3/9 in.
0
Supplies
Signal, 5 To 24V DC Belden 8735, (76/457 mm) (76/305 mm) (76/229 mm)
Digital (Low Speed) TTL
8737, 8404
1/3 in.
2/3/4/5
(25/76 mm)
8
Digital (High Speed) I/O, Encoder, Resolver, Shielded Cable
Count Pulse Tach Belden 9728,
9730
Signal 9 (Comm.)
Serial Communication
RS-232 (20-COMM-R), Shielded Cable
422 To Terminals/ Belden RS-
printers
232 8735,
8737 RS-422
9729, 9730
See Note 6
1/3 in.
0
(25/76 mm)
11 Serial
PLC Remote I/O, PLC Twinaxial Cable
Communication Data Highway
Belden 9463,
(Greater Than 20k
A-B 1770-CD
Baud)
Example:
Space relationship between 480V AC incoming power leads and 24V DC logic leads:
· 480V AC leads are Class 2; 24V DC leads are Class 6 · For separate steel conduits, the conduits must be 3 inches (76 mm) apart · In a cable tray, the two groups of leads are to be 6 inches (152 mm) apart
Category Power Control
Wiring Class 2
6
Signal Definition
AC Power (less than 600V) 24V AC/DC Logic
Signal Example 460V 3/Ph AC Lines PLC I/O
Minimum Spacing Between Classes Steel Conduit/Tray
1
2/3/4
5/6
3/6 in. (76/152 mm)
3/6 in. (76/152 mm)
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Cable Spacing Notes:
1. Both outgoing and return current-carrying conductors must be routed in the same conduit or laid next to each other in a cable tray.
2. Cables of the following classes can be grouped. a. Class 1; Equal to or above 601V. b. Classes 2, 3 and 4 can have their respective circuits that are routed in the same conduit or layered in the same tray. c. Classes 5 and 6 can have their respective circuits that are routed in the same conduit or layered in the same tray. The bundle cannot exceed the conditions of NEC 310. d. Classes 7 and 8 can have their respective circuits that are routed in the same conduit or layered in the same tray. Encoder cables that are run in a bundle can experience some amount of EMI coupling. The circuit application can dictate separate space requirements. e. Classes 9, 10 and 11 can have their respective circuits that are routed in the same conduit or layered in the same tray. Communication cables that are run in a bundle can experience some amount of EMI coupling and associated communication faults. The application can dictate separate space requirements.
3. All wires of class 7...11 MUST be shielded per the recommendations.
4. In cable trays, steel separators are advisable between the class groupings.
5. If conduit is used, it must be continuous and composed of magnetic steel.
6. Space requirements for communication cables, classes 2...6 are listed in this table:
Conduit Spacing: 115V 25 mm (1 in.) 230V 38 mm (1.5 in.) 380/575V 76 mm (3 in.) 575V proportional to 152 mm (6 in.) per 1000V.
Through Air: 115V 51 mm (2 in.) 230V 01.5 mm (4 in.) 380/575V 203 mm (8 in.) 575V proportional to 305 mm (12 in.) per 1000V.
Power Wiring
AC Input Voltages
PowerFlex DC drives are rated for the following AC input voltages @ 50/60 Hz ±5%:
Mains Circuit (Terminals U, V, W)
· 230V ±10%, 3Ph · 400V ±10%, 3Ph · 440V ±10%, 3Ph · 460V ±10%, 3Ph · 480V ±10%, 3Ph · 575V ±10%, 3Ph · 690V ±10%, 3Ph
Field Circuit (Terminals U1, V1)
· 230V ±10%, 1Ph · 400V ±10%, 1Ph · 460V ±10%, 1Ph
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Chapter 1 Installation and Wiring
Control Circuit (Terminals U2, V2)
· 115V ±15% or 230V ±15%, 1Ph
IMPORTANT
For frame B and C drives only, a jumper must be placed between terminals SA-SB on the switching power supply circuit board for the control circuits to work with 115V AC input. See Figure 47 on page 70 for terminal block location on frame B drives and Figure 48 on page 70 for terminal block location on frame C drives.
DC Output Voltages
The output voltages shown here include an AC input undervoltage within the stated tolerance limits and a voltage drop of 4% due to an AC input line reactor. It is the same as the rated armature voltage suggested for the connected motor.
Armature Circuit
AC Input Voltage (Terminals U, V, W) 230V ±10%, 3Ph 400V ±10%, 3Ph 440V ±10%, 3Ph 460V ±10%, 3Ph 480V ±10%, 3Ph 575V ±10%, 3Ph 690V ±10%, 3Ph
DC Output Armature Voltage (Terminals C & D)
Two Quadrant Drive
Four Quadrant Drive
260V
240V
470V
420V
530V
460V
560V
480V
580V
500V
680V
600V
810V
720V
Field Circuit
AC Input Voltage (Terminals U1 & V1) 230V ±10%, 1Ph 400V ±10%, 1Ph 460V ±10%, 1Ph
DC Output Field Voltage(1) (Terminals C1 & D1)
Fixed Field
Adjustable Field
200V
200V
310V
310V
360V
360V
(1) The max field voltage is equal to 0.85 x AC input line voltage
Typical Power Wiring Diagrams
Figure 20 on page 47...Figure 22 on page 49 represent recommended power wiring configurations for standard PowerFlex DC drive installations.
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L1
3 Phase AC line
L2
L3
Lockable Installation Disconnect
Isolation Transformer(2)
EMC Filter (if used)
Line Reactor(2)
Safety Ground
(N.O. Relay) M1 AC Contactor
Aux 13 14
L1 T1
FS1(3)
L2 T2
FS1(3)
L3 T3
FS1(3)
A1 A2
460 VAC Max. or 230 VAC Min.(11)
115V or 230V AC Input Source(1, 12)
AC Input Voltage
K1(14)
K1(14)
K1(14)
See footnote(13)
230V AC
Input Source (12)
FU
FU
See footnote(13)
400...460V AC
FU
Input Source (12)
FU
FU
PE 34(4) (on I/O TB4)
FS2(6) C
19(5) (+24V on I/O TB2)
1A1 U
Armature Volt.
A1
V
Fdbk. Term. Blk.(7) 1A2
W
A2
PowerFlex DC
Drive
FS2(6) D
Field Power Terminal Block
U1
C1
F1
FU1
FV1
V1
D1
F2
SA(1) SB(1)
Control
U2
Board P/S
V2
35(9)
Control Power / Relay Outputs Terminal Block
36(9)
Fan Power Terminal Block - Frame C and Series A, Frame D Drives Only(10)
U3 V3
Fan Power Terminal Block - Series B and C, Frame D Drives Only(10) U3 V3 W3
A1
M
A2
Installation and Wiring Chapter 1
Figure 20 - Power Wiring with AC Input Contactor See Power Wiring Diagrams Notes on page 50 for footnotes.
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L1
3 Phase AC line
L2
L3
Lockable Installation Disconnect
Isolation Transformer(2)
EMC Filter (if used)
Safety Ground
115V or 230V AC Input Source(1, 12)
Line Reactor(2)
AC Input Voltage K1(14)
FS1(3) FS1(3) FS1(3)
460 VAC Max. or 230 VAC Min.(11)
PE
34(4) (on I/O TB4)
19(5) (+24V on I/O TB2)
PowerFlex DC C
U
Drive
D
V
W
1A1
Armature Volt. A1
Fdbk. Term. Blk. 1A2
A2
Field Power Terminal Block
U1
C1
FU1
FV1
V1
D1
SA(1) SB(1)
Control
U2
Board P/S
V2
Control Power / Relay Outputs
35(9)
Terminal Block
36(9)
(N.O. Relay) M1 DC Contactor
Aux 13 14
L1 T1
L2 T2
A1 A2
F1 F2
K1(14)
FS2(6) A1
M
A2 FS2(6)
K1(14)
See footnote(13)
230V AC Input Source (12)
FU
FU
See footnote(13)
400...460V AC
FU
Input Source (12)
FU
FU
Fan Power Terminal Block - Frame C and Series A, Frame D Drives Only(10)
U3 V3
Fan Power Terminal Block - Series B and C, Frame D Drives Only(10) U3 V3 W3
Figure 21 - Power Wiring with DC Output Contactor See Power Wiring Diagrams Notes on page 50 for footnotes.
Chapter 1 Installation and Wiring
Installation and Wiring Chapter 1
Figure 22 - Power Wiring with DC Output/Dynamic Braking Contactor and a Dynamic Brake See Power Wiring Diagrams Notes on page 50 for footnotes.
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
L1
3 Phase AC line
L2
L3
Lockable Installation Disconnect
Isolation Transformer(2)
EMC Filter (if used)
Safety Ground
115V or 230V AC Input Source(1, 12)
Line Reactor(2)
FS1(3) FS1(3) FS1(3)
460 VAC Max. or 230 VAC Min.(11)
AC Input Voltage
K1(14)
PE
34(4) (on I/O TB4)
19(5) (+24V - on I/O TB2)
C
PowerFlex DC
U
Drive
D
V
W
1A1
Armature Volt. A1
Fdbk. Term. Blk. 1A2
A2
Field Power Terminal Block
U1
C1
FU1
FV1
V1
D1
SA(1) SB(1)
Control
V2
Board P/S
U2
Control Power / Relay Ouputs
35(9)
Terminal Block
36(9)
Aux 13 14
L1 T1
L2 T2
(N.O. Relay) M1 DC Contactor
L3 T3 A1 A2
F1 F2
K1(14)
FS2(6)
DB Res.(8)
A1
M
A2
FS2(6)
K1(14)
See footnote(13)
230V AC
Input Source (12)
FU
FU
See footnote(13)
400...460V AC
FU
Input Source (12)
FU
FU
Fan Power Terminal Block - Frame C and Series A, Frame D Drives Only(10)
U3 V3
Fan Power Terminal Block - Series B and C, Frame D Drives Only(10) U3 V3 W3
49
Chapter 1 Installation and Wiring 50
Power Wiring Diagrams Notes
1. For frame B and C drives only, a jumper is required between terminals SA and SB for 115V AC control input power. See Control Circuit Input Power on page Control Circuit Input Power for more information.
2. An Isolation Transformer and/or 3...5% impedance Line Reactor is required. If the Isolation Transformer provides the required 3...5% impedance, a Line Reactor is not required. See AC Input Line Reactors and AC Input Contactors on page 264 and Isolation Transformers on page 267 for recommendations. It is recommended that the isolation transformer has a grounded Wye secondary neutral. If the PowerFlex DC drive is installed in a system with an ungrounded Wye neutral or with an impedance ground connection, see Grounding for Installations in an Ungrounded or High-Impedance, Neutral Ground, or System on page 35 for more information.
3. AC input fuses for the armature converter are not provided with frame A and B drives, but are provided and internally mounted in frame C and D drives. See Drive Power Circuit Protection on page 243 for fuse recommendations.
4. Par 140 [Digital In8 Sel] set to 31 "Contactor."
5. If the +24V internal power supply is used, a jumper wire must be installed between terminals 18 (24V common) and 35 (digital input common).
6. Customer supplied armature output fuses are required on four quadrant and are recommended on two quadrant Frame A and B drives. See Drive Power Circuit Protection on page 243 for fuse recommendations.
7. Optional armature voltage feedback sensing not required with AC contactor.
8. The "Enable" input must be removed to perform a dynamic braking stop.
9. Par 1391 [ContactorControl] = 1 "AC Cntcr" and Par 1392 [Relay Out 1 Sel] = 25 "Contactor". Important: Terminal 35 and 36 are on the Control Power / Relay Outputs Terminal block, NOT the I/O terminal blocks. See Figure 37 on page 65...Figure 41 on page 67.
10. Only frame C and D drives require an external power supply for the heatsink cooling fan(s). See Frame C Heatsink Cooling Fan Specifications on page 71 and Frame D, Series B and C Heatsink Cooling Fan Specifications on page 73 for more information.
11. See Field Converter Connections on page 57.
12. If sourced from the main 3-phase AC input, the connections must be taken from the primary side of the isolation transformer or line reactor (clean power).
13. Fuses or a circuit breaker. See Frame C Heatsink Cooling Fan Specifications on page 71 and Frame D, Series B and C Heatsink Cooling Fan Specifications on page 73 for detailed information.
14. For frames B, C, and D drives, a pilot relay is required for the contactor coil.
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Armature Converter Connections
Terminals U, V, W C, D PE
Description Three-phase AC input to the armature converter DC output to the motor armature Safety ground
Table 11 - Armature and Safety Ground (PE) Terminal Specifications
Frame Drive Current Rating Code(1)
Terminals
230V
460V
575 690
Wire Size and Type
Terminal Bolt Size (mm)
A
7P0...055 4P1...052
U, V, W, C, D, PE See Cable and Wiring
5
Recommendations on page 44
073...110 073...129
Terminal Block
B
All
All
All
U, V, W, C, D
10
PE
8
C
All
All
All
All
U, V, W, C, D
10
PE
8
D
All
All
All
All
U, V, W, C, D, PE
12
(1) See Standard Drive Catalog Number Explanation on page 13, positions 8, 9 and 10 for the applicable drive HP rating, armature amp rating, and field amp rating.
Recommended Torque N·m (lb·in)
6 (53) 12 (106) 25 (221) 15 (132.75) 25 (221) 15 (132.75) 45 (398.2)
IMPORTANT To meet UL installation requirements, certain frame D drives require the use of a terminal adapter kit for terminals U, V, W, and C and D. See Terminal Adapter Kits for Frame D Drives on page 279 for details.
Figure 23 - Frame A Armature Converter Terminal Locations Front View
Front view of drive that is shown with bottom protective and power terminal covers removed. See Remove the Drive Covers on page 28 for information on removing the drive covers.
PE
U
C
V
D
W
ATTENTION: Do not operate the drive with the power terminal cover removed. Drive operation with the power terminal covers removed may result in a hazardous condition that could cause personal injury and/or equipment damage.
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Figure 24 - Frame B Armature Converter Terminal Locations
PE
U
C
V
D
W
Figure 25 - Frame C Armature Converter Terminal Locations Front View
PE
U
C
V
D
W
Bottom View
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Figure 26 - Frame D Armature Converter Terminal Locations
IMPORTANT To meet UL installation requirements, certain frame D drives require the use of a terminal adapter kit(s) for terminals U, V, W, C, and D. See Terminal Adapter Kits for Frame D Drives on page 279 for details.
Top of Drive U
V
W
Bottom of Drive PE
C
D
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Armature Voltage Feedback Connections
The armature voltage feedback terminals can be used to monitor the armature voltage at the motor, regardless of the state of a DC output contactor or inverting fault device that is used with the drive. When this terminal block is not connected to the motor armature terminals, jumper wires must be installed at the terminals described in Table 12. When jumpers are installed in the armature voltage feedback terminals, the armature voltage feedback is only monitored internally in the drive. In this case, when a DC contactor is used without a speed feedback device, the drive cannot calculate motor speed from the armature voltage feedback signal.
IMPORTANT By default, jumpers are installed between these terminals - 1A1 to A1 and 1A2 to A2. If these terminals are not wired to the motor terminals, the jumpers must be installed.
This terminal block is not present on drives that are shipped from the factory with firmware revision 2.006 or earlier installed. However, new pulse transformer circuit boards that are shipped as replacement parts from the factory contain this terminal block and can be used with any firmware revision.
Table 12 - Armature Voltage Feedback Terminal Jumper Positions
Terminals 1A1
A1 1A2
A2
Description
Connected to A1 with a jumper wire when internal armature voltage feedback is used. Not used when A1 is connected to motor terminal A1.
Voltage feedback from motor terminal A1.
Connected to A2 with a jumper wire when internal armature voltage feedback is used. Not used when A2 is connected to motor terminal A2.
Voltage feedback from motor terminal A2.
Table 13 - Armature Voltage Feedback Circuit Wire Sizes and Terminal Specifications
Frame
Terminals
Wire Size and Type(1)
Recommended Torque N·m (lb·in)
A, B & C 1A1, A1, 1A2, A2
24...10 AWG/kcmils
0.5...0.6 (4.4...5.3)
D
22...8 AWG/kcmils
0.8...1.6 (7.1...14.2)
(1) Wire with an insulation rating of 600V or greater is recommended. See Cable and Wiring Recommendations on page 44 for cable space requirements.
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Figure 27 - Frame A Armature Voltage Feedback Circuit Terminal Block Location
Drive with no fan
Bottom of View of Drives
Drive with fan
Shown with terminals jumpered for internal armature voltage feedback.
Figure 28 - Frame B Armature Voltage Feedback Circuit Terminal Block Location Top of Drive
Shown with terminals jumpered for internal armature voltage feedback.
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Figure 29 - Frame C Armature Voltage Feedback Circuit Terminal Block Location
1A1(C) A1 1A2 (D) A2 1A1(C) A1 1A2 (D) A2
1A1(C) A1 1A2 (D) A2 1A1(C) A1 1A2 (D) A2
Bottom of Drive Figure 30 - Frame D Armature Voltage Feedback Circuit Terminal Block Location
Shown with terminals jumpered for internal armature voltage feedback.
Bottom of Drive, Left Side
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Field Converter Connections
IMPORTANT
This section applies only when the drive internal, single-phase field controller will be used. Continue to the Field Current Configuration section on page 61 if an external field controller or permanent magnet motor is used.
For 575V and 690V AC input drives only, a step-down transformer must be installed ahead of the input to the field control circuit (terminals U1, V1). The step-down transformer must meet one of the secondary to motor field voltage characteristics listed here.
· 230VAC secondary for a 150V motor field
· 460VAC secondary for a 300V motor field
Also, If the rated voltage of the DC motor field is not compatible with the field DC output voltage of the drive, an external field-control transformer must be used. See the following example for transformer selection information.
Example: 10 Hp, 240V Armature, 17.2 A, 240V Field, 2.0 A motor
1. The field control transformer must have a 230V primary, a 460V secondary, and be single-phase, 60 Hz
2. kVA = 2 A x 460VAC x 1.5 = 1.38 kVA (1.5 kVA is closest)
3. The following configuration must be completed in the PowerFlex DC drive: · Control board DIP switch S14 must be set to select a value of 2 A. · Parameter 374 [Drv Fld Brdg Cur] must be programmed to match DIP switch S14 = "2." · Parameter 280 [Nom Mtr Fld Amps] must be programmed to the rated motor nameplate field current = "2."
Field Converter Terminal Designations
Terminals U1, V1 C1, D1
Description Single phase AC input to the field circuit DC output to the motor field
Table 14 - Frames A...C Field Circuit Wire Sizes and Terminal Specifications
Terminals
Wire Size and Type(1)
Recommended Torque N·m (lb·in)
U1, V1, C1, D1
24...10 AWG/kcmils
0.5...0.8 (4.4...7.1)
(1) See Cable and Wiring Recommendations on page 44 for more information.
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Table 15 - Frame D Field Circuit Wire Sizes and Terminal Specifications
Drive Current Rating Code(1)
Terminals
230V 460V 575V 690V
Wire Size(2)
Recommended Torque N·m (lb·in)
875 830 810 678 U1, V1, C1, D1
6 AWG
4.0 (35.4)
1K0 996 1K0 791
1K2 904
1K3 1K0
1K6
1K1
1K1
2 AWG
1K3
1K2
1K4
1K4
1K5
(1) See Standard Drive Catalog Number Explanation on page 13, positions 8, 9 and 10 for the applicable drive HP rating, armature amp rating, and field amp rating.
(2) See Cable and Wiring Recommendations on page 44 for more information on wire types.
Figure 31 - Frame A Field Circuit Terminal Block Location
U1 V1 C1 D1
Bottom of Drive
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Installation and Wiring Chapter 1 Figure 32 - Frame B Field Circuit Terminal Block Location
U1 V1 C1 D1 Top of Drive
Figure 33 - 230V/460V AC Input Frame C Field Circuit Terminal Block Location
D1 C1 U1 V1
Front of Drive
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Figure 34 - 575V/690V AC Input Frame C Field Circuit Terminal Block Location Top, Left Side of Drive
Figure 35 - Frame D Field Circuit Terminal Block Location
Top of Drive
Shown with control cover removed. Remove control cover to access terminals.
Wire routing hole AC input for field is at top of fuse Cable clamp holder (marked FU1, FV1)
Bottom of Drive, Left Side
C1
D1
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Field Current Configuration
DIP switch S14 on the drive control circuit board is factory set to the minimum field current rating based on the drive size. See DIP Switch and Jumper Settings on page 77 for S14 location. The field current configuration depends on the application. Follow the instructions for your application.
· If you are using the PowerFlex DC Drive with a PowerFlex DC Field Controller, see External Three-Phase Field Controller Current Configuration.
· If you are using the PowerFlex DC Drive with a permanent magnet motor, see Permanent Magnet Motor Field Controller Current Configuration.
· If you are using the PowerFlex DC Drive to control the motor field, see PowerFlex DC Drive Field Controller Current Configuration.
External Three-Phase Field Controller Current Configuration
If the PowerFlex DC field controller (cat no. 23PFC) is used with a PowerFlex DC drive, leave DIP switch S14 set to the factory default settings. Make theses parameter configuration changes:
· Set Par 374 [Drv Fld Brdg Cur] to the rated field current specified on the motor nameplate.
· Set Par 280 [Nom Mtr Fld Amps] equal to the value of Par 374 [Drv Fld Brdg Cur].
Permanent Magnet Motor Field Controller Current Configuration
If the PowerFlex DC drive internal, single-phase field controller and a permanent magnet motor is used, leave DIP switch S14, Par 374 [Drv Fld Brdg Cur], and Par 280 [Nom Mtr Fld Amps] set to the factory default values.
PowerFlex DC Drive Field Controller Current Configuration
If the PowerFlex DC drive internal, single-phase field controller is used to control the motor field, follow the configuration instructions in this section.
The configuration of this switch must be changed to be greater than or equal to the rated field current specified on the motor nameplate or possible motor damage may result. In addition, the value that is selected with switch S14 must be entered in parameter 374 [Drv Fld Brdg Cur] in the control software when the drive is commissioned (see Drive Start Up on page 93.)
ATTENTION: DIP switch S14 must be set to a value that is greater than or equal to the rated field current specified on the motor nameplate or possible motor damage may result.
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Set DIP Switch S14 to the Correct Value
Complete the following steps to set switch S14 to the correct field current value.
1. Locate and record the frame size and field supply amp rating that is listed on the drive data nameplate (see Drive Nameplate Data on page 12 for location).
2. Locate and record the rated field current value that is listed on the motor data nameplate.
3. For frame A, B, and C drives: · Use Table 16 on page 62 to set switch S14 to be the equivalent or next higher value as compared to the rated field current of the motor.
For frame D drives:
· Use Table 17 or Table 18 on page 63 to set switch S14 to be the equivalent or next higher value as compared to rated field current of the motor.
Figure 36 - Example DIP Switch S14 Configuration
ON
DIP This illustration is an example configuration for a
drive with a field supply amp rating of 20 A and a
motor with a rated field current less than or equal
to 17 A.
1 2 345 6 78
The configuration of switch S14 is not required if the single-phase motor field control is provided via an external source. In this case, however, it is recommended that the switch settings be completed as described in Set DIP Switch S14 to the Correct Value.
Table 16 - DIP Switch S14 Field Current Configuration Settings Frames A, B, and C Drives
Switch ohms >
168.5 333.3 182 36.4 845 1668 3333
Equivalent Resistance
Field Current Scale S14-1 S14-2 S14-3 S14-4 S14-5 S14-6 S14-7 S14-8 Ohms
1 A
OFF OFF OFF OFF OFF ON Not used
1668
(OFF)
2 A
OFF OFF OFF OFF ON OFF
845
3 A
OFF OFF OFF OFF ON ON
560.9
5 A
OFF ON OFF OFF OFF OFF
333.3
10 A
ON OFF OFF OFF OFF OFF
168.5
13 A
ON OFF OFF OFF ON ON
129.6
17 A
OFF ON ON OFF ON ON
97.3
20 A
ON OFF ON OFF OFF ON
83.1
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Table 17 - DIP Switch S14 Field Current Configuration Settings for Frame D Drives and Standalone Regulators with a Rated Field Supply of 40 A
Switch ohms >
168.5 333.3 182 36.4 845 1668 3333
Equivalent Resistance
Field Current Scale S14-1 S14-2 S14-3 S14-4 S14-5 S14-6 S14-7 S14-8 Ohm
1 A
OFF OFF OFF OFF OFF OFF ON Not 3333
used
2 A
OFF OFF OFF OFF OFF ON OFF (OFF) 1668
4 A
OFF OFF OFF OFF ON OFF OFF
845
6 A
OFF OFF OFF OFF ON ON OFF
560.9
10 A
OFF ON OFF OFF OFF OFF OFF
333.3
20 A
ON OFF OFF OFF OFF OFF OFF
168.5
30 A
ON ON OFF OFF OFF OFF OFF
111.9
40 A
ON OFF ON OFF OFF ON OFF
83.1
Table 18 - DIP Switch S14 Field Current Configuration Settings for Frame D Drives and Standalone Regulators with a Rated Field Supply of 70 A
Switch ohms >
168.5 333.3 182 36.4 845 1668 3333
Equivalent Resistance
Field Current Scale S14-1 S14-2 S14-3 S14-4 S14-5 S14-6 S14-7 S14-8 Ohm
1 A
OFF OFF OFF OFF OFF ON OFF Not 1668
used
5 A
OFF ON OFF OFF OFF OFF OFF (OFF) 333.3
10 A
ON OFF OFF OFF OFF OFF OFF
168.5
20 A
ON OFF ON OFF OFF ON OFF
83.1
50 A
OFF ON OFF ON OFF OFF OFF
32.8
70 A
ON ON ON ON OFF OFF OFF
23.9
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Relay Outputs
Terminals 35 and 36 and 75 and 76 are N.O. relay outputs. The relay output between terminals 35 and 36 is configured with parameter 1392 [Relay Out 1 Sel]. The relay output between terminals 75 and 76 is configured with parameter 629 [Relay Out 2 Sel]. See Contactors on page 31 for more information.
Terminals 35, 36 75, 76 78, 79
Description
Maximum Voltage
Normally open contact. Configured with parameter 1392 [Relay Out 250V AC 1 Sel], set to 25 "Contactor"by default.
Normally open contact. Configured with parameter 629 [Relay Out 2 Sel], set to 5 "Ready" by default.
Motor thermistor (PTC) or thermal switch connections
Maximum Current
1 A
If external contactor coil current ratings are greater than one amp, use an interposing relay between the drive relay 1 or relay 2 output and the contactor coil.
Thermistors and Thermal Switches
To detect motor overheating and protect the motor from overloading, an external, user-supplied thermistor (PTC) or thermal switch must be connected to terminals 78 and 79. The drive response to a motor over temperature fault is configured in parameter 365 [OverTemp Flt Cfg]. If a thermistor or thermal switch is not used, a 1 k resistor must be connected between terminals 78 and 79 (installed at the factory). Follow the appropriate thermal sensor (thermistor or thermal switch) installation instructions.
Thermistors (PTC)
PTC thermistors that are installed in the motor can be connected directly to the drive via terminals 78 and 79. In this case, the 1 k resistor is not required between terminals 78 and 79.
Thermal Switches (Klixon®) in the Motor Windings
"Klixon" type temperature-dependent contacts can disconnect the drive from the motor via an external control or be configured as an external fault by using a drive digital input. Though not recommended, a Klixon can also be connected to terminals 78 and 79 to indicate a drive "Motor Over Temp" fault (F16). This connection can cause noise sensitivity of the current threshold circuitry. If a thermal switch is used, a 1 k resistor must be placed in series between the switch and one of the terminals.
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Table 19 - Relay Outputs and Thermistor/Thermal Switch Wire Sizes and Specifications
Signal Type
Terminals
Wire Size and Type(1)
Flexible (mm2)
Multi-core AWG (mm2)
Recommended Torque
N·m (lb·in)
Relay Outputs
35 / 36 and 75 / 76
0.140...1.500 0.140...1.500 26...14
0.5 (4.4)
Thermistor and
78 / 79
Thermal Switches
(1) See Cable and Wiring Recommendations on page 44 for more information.
Figure 37 - Frame A Relay and Thermistor/Thermal Switch Terminal Block Locations
Terminals 78 and 79 shown with 1 k resistor in place of temperature sensor.
78 79 35 36 75 76
Figure 38 - Frame B Relay and Thermistor/Thermal Switch Terminal Block Locations
78 79 35 36 75 76
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Figure 39 - 230V/460C AC Input Frame C Relay and Thermistor/Thermal Switch Terminal Block Locations
78 79 35 36 75 76
Figure 40 - 575V/690C AC Input Frame C Relay and Thermistor/Thermal Switch Terminal Block Locations
Lower, right side of the control pan.
78 79 35 36 75 76
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Installation and Wiring Chapter 1 Figure 41 - Frame D Relay and Thermistor/Thermal Switch Terminal Block Locations
78 79 35 36 75 76 Control pan, to the left of the HIM cradle.
Control Circuit Input Power
Only power the control circuit by using a clean, external 230V AC, or 115V AC single phase power supply. For frame B and C drives only, a jumper is required between terminals SA and SB for 115V AC control input power. For frame B drive SA-SB terminal block location, see Figure 47 on page 70. For frame C drive SA-SB terminal block location, see Figure 47 on page 70.
Terminals U2, V2 PE SA-SB
Description Single phase AC power for the control circuits Safety ground (on frame C drive terminal blocks only) Frame B and C control circuit input power source configuration
Table 20 - Control Circuit Wire Sizes and Terminal Specifications
Terminals Wire Size and Type(1)
Flexible (mm2)
Multi-core AWG (mm2)
Recommended Torque N·m (lb·in)
U2, V2
0.14...1.5 0.14...2.5 26...14
0.5 (4.4)
SA-SB
0.8...1.5
0.8...2.5
18...14
0.5 (4.4)
PE
2.5...10
2.5...10
12...8
2.0 (18.0)
(1) See Cable and Wiring Recommendations on page 44 for more information.
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Figure 42 - Frame A Control Circuit Terminal Block Location
U2 V2 Figure 43 - Frame B Control Circuit Terminal Block Location
U2 V2 Figure 44 - 230V/460V AC Input Frame C Control Circuit Terminal Block Location
U2 V2 PE
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Figure 45 - 575V/690V AC Input Frame C Control Circuit Terminal Block Location Lower, right side of the control pan.
Figure 46 - Frame D Control Circuit Terminal Block Location
U2 V2
U2 V2
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Figure 47 - SA-SB Terminal Block Location on Frame B Drives
Top, right side of drive. Front of Drive
Figure 48 - SA-SB Terminal Block Location on Frame C Drives
The SA-SB terminal block is on the switching power supply circuit board on the back of the control board EMI shield.
Switching power supply board
SA-SB terminals
Back of control board EMI shield
To access the SA-SB terminal block:
1. Remove the top protective cover from the drive.
3. Loosen captive screws.
XSW connector
2. Disconnect cables XFCD and XR.
3. Loosen captive screws.
4. Lower control board EMI shield and disconnect cable XSW from switching power supply board (see above).
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Frame C Heatsink Cooling Fan Specifications
Frame C drives require an external 230V AC power supply for the heatsink cooling fans. If sourced from the main 3-phase AC input, the power supply connections must be taken from the primary side of the installed Isolation Transformer or Line Reactor (clean power).
In addition, the fan power input terminals U3 and V3 are required to be shortcircuit protected. This protection can be provided by using a circuit breaker or fuses.
· If a circuit breaker is used, it must be rated for the short-circuit available current of the feeder source for this circuit and the inrush current of the fan. Size the circuit breaker to protect the wiring from the circuit breaker connections to terminals U3 and V3, and not nuisance trip or blow from the inrush current.
· If fuses are used, they must be rated for either 230V AC, 2.0 Amps (slow blow).
Table 21 - Frame C Heatsink Cooling Fans Terminal Designations
Terminal Description
U3
Single-phase AC input power for cooling fans.
V3
Maximum Voltage Maximum Current
230V AC
1 A
Table 22 - Frame C Heatsink Cooling Fans Wire Sizes and Terminal Specifications
Terminals
Wire Size and Type(1)
Flexible (mm2)
Multi-core AWG (mm2)
Recommended Torque N·m (lb·in)
U3, V3
0.14...1.5 0.14...2.5 26...16
0.4 (3.5)
(1) See Cable and Wiring Recommendations on page 44 for more information.
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Figure 49 - 230V/460V AC Input Frame C Heatsink Cooling Fan Terminal Block Location
U3 V3 Figure 50 - 575V/690V AC Input Frame C Heatsink Cooling Fan Terminal Block Location
Lower, right side of the control pan.
U3 V3
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Frame D, Series B and C Heatsink Cooling Fan Specifications
The Frame D, series B and C drive cooling fan requires 3-phase, 400V...460V AC input power. If sourced from the main 3-phase AC input, the power supply connections must be taken from the primary side of the installed isolation transformer or line reactor (clean power).
IMPORTANT When connecting the fan power wiring, verify that the airflow enters through the bottom and exits through the top of the drive. If the airflow is incorrect, switch the leads on terminals U3 and V3.
The cooling fan power input terminals U3, V3, and W3 are required to be short-circuit protected. This protection can be provided by using a circuit breaker or fuses.
· If a circuit breaker is used, it must be rated for the short-circuit available current of the feeder source for this circuit and the inrush current of the fan. Size the circuit breaker to protect the wiring from the circuit breaker connections to terminals U3, V3, and W3, and not nuisance trip or blow from the inrush current.
· If fuses are used, they must be rated for either 400V AC, 2.5 Amps (slow blow), or 460V AC, 3.15 Amps (slow blow).
To indicate a fan power supply failure, a normally closed contact can be wired between terminals 31 and 32 on the fan circuit board and one of the following selections.
· A drive digital input, configured for 14 "Aux Fault" in the applicable parameter (133...144)
· An external fault indication device
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Table 23 - Frame D, Series B and C Heatsink Cooling Fan Terminal Designations
Terminal Block
Terminal U3 V3 W3 PE 31 32
Description
Three-phase AC input power connections
AC Voltage
400V AC / 50 Hz 460V AC / 60 Hz
Safety ground
Normally closed contact 250V AC
Max Current 1.5 A
1 A
Table 24 - Frame D, Series B and C Heatsink Cooling Fan Signal Wire Sizes and Terminal Specifications
Terminals
Wire Size and Type(1) Flexible (mm2) Multi-core (mm2) AWG
Recommended Torque
N·m (lb·in)
U3, V3, W3, 31, 32, PE 0.14...1.5
0.14...2.5
28...12
0.5...0.6 (4.4...5.3)
(1) See Cable and Wiring Recommendations on page 44 for more information.
Figure 51 - Frame D Heatsink Cooling Fan Terminal Block Location
Top View of Drive
U3 V3 W3 PE 31 32
Series B and C terminal block shown
U3 V3 W3 PE 31 32
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Frame C and D Armature Fuse Signal Terminals
Terminals 81 and 82 on frame C and D drives are connected to the indicating switch mounted on each of the internal armature circuit protection fuses. These terminals can be connected to an external device to provide indication that the fuses have opened. Alternatively, terminals 81 and 82 can be wired to drive digital input terminals that are configured for 64 "Invert Flt" (via Pars 133...144).
Table 25 - Armature Fuse Signal Terminal Designations
Terminal Description
81
Internal armature fuse intervention signal.
82
Maximum Voltage Maximum Current
250V AC
1 A
Table 26 - Armature Fuse Signal Wire Size and Terminal Specifications
Terminals
Wire Size and Type(1)
Flexible (mm2)
Multi-core AWG (mm2)
Recommended Torque
N·m (lb·in)
81, 82
0.14...1.5 0.14...2.5 26...16
0.4 (3.5)
(1) See Cable and Wiring Recommendations on page 44 for more information.
Figure 52 - 230V/460V AC Input Frame C Internal Armature Fuse Signal Terminal Block Location
81 82
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Figure 53 - 575V/690V AC Input Frame C Internal Armature Fuse Signal Terminal Block Location Lower, right side of the control pan.
81 82 Figure 54 - Frame D Internal Armature Fuse Signal Terminal Block Location
81 82
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DIP Switch and Jumper Settings
See Table 27 on page 78 for descriptions corresponding to the ID numbers shown here.
DIP switches and jumpers on the control circuit board are used to configure the drive for the following features:
· Firmware flash updates to the control board EEPROM · Speed feedback device settings · Analog input signal sources · Minimum field current
Figure 55 - Control Circuit Board DIP Switch and Jumper Locations
6 S15
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8
2 S4
- A B C+
- A B C+
9 S21
8
ON
S20
S14 5
3
ON S11
S10 S9
21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
ENC_5 ENC_12 A+ A- B+ B- Z+ Z- COM +V
A+ A- B+ B- Z+ Z- COM +V
21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
1
S3 S2 S1 S0
DEBUG
S12 S18
RST ACT RUN PWR
7 4
Do not use - for engineering use only.
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Table 27 - Control Circuit Board Jumper and DIP Switch Settings
ID Jumper/ Function Switch
Factory Default
1 S0
For factory boot flashing only. Leave set to the factory setting.
Jumper On
Firmware boot
Jumper Off
Jumper Off
Normal function
S1
For factory boot flashing only. Leave set to the factory setting.
Jumper Off
Jumper On
Write firmware boot code
Jumper Off
Boot code on flash is protected
S2
Not used. Leave set to the factory setting.
Jumper Off
S3
For factory boot flashing only. Leave set to the factory setting.
Jumper Off
Jumper On
Reset
Jumper Off
Normal function
2 S4
Configures the input voltage of the DC analog tachometer. See Table 28 on page 79 for configuration.
90V
3 S9
Configures the input signal of Analog Input 1 (terminals 1 and 2):
On
Off Position
0...20 mA / 4...20 mA
On Position
0...10V / ±10V
Par 71 [Anlg In1 Config] must be programmed to match the input signal type selected with this switch.
S10
Configures the input signal of Analog Input 2 (terminal 3 and 4):
On
Off Position
0...20 mA / 4...20 mA
On Position
0...10V / ±10V
Par 76 [Anlg In2 Config] must be programmed to match the input signal type selected with this switch.
S11
Configures the input signal of Analog Input 3 (terminals 5 and 6):
On
Off Position
0...20 mA / 4...20 mA
On Position
0...10V / ±10V
Par 81 [Anlg In3 Config] must be programmed to match the input signal type selected with this switch.
4 S12
Not used. Leave set to the factory setting.
Off
Example = ON = OFF =OFF
= ON = OFF
5 S14 6 S15 7 S18
Field current resistors setting, see Field Current Configuration on page 61.
Minimum field
The value that is selected with switch S14 must be entered in Par 374 [Drv Fld Brdg Cur] when the drive is current rating based
commissioned. For permanent magnet motor or external field controller applications, leave set to the factory on the drive size.
default settings.
Configuration of the control circuit board to the appropriate drive size. Leave set to the factory setting, unless Armature current
the control board has been supplied as a spare part. See DIP Switch S15 Settings on page 79 for switch
based on drive size.
configuration that is based on drive current rating code.
Not used. Leave set to the factory setting.
Off
8 S20 9 S21
Monitoring (reported by Par 652 [Encoder Err Chk]) of the Z channel of the Digital Encoder on connector XE2. On This switch adds/removes the Z channel in the encoder hardware check circuit. Par 652 enables/disables reading the result of that hardware check.
Off Position
Z channel monitored
On Position
Z channel not monitored
Encoder power supply voltage and input selection:
12...5 V
This switch setting determines both the power supply (input) and feedback level (output) voltage of the
connected encoder.
When control power is supplied to the drive, the appropriate LED lights to indicate the selection of the switch.
ENC_5
+5V encoder (2.5...5.4V input range)
ENC_12
+12...15 V encoder (+5.4V...15.2V input range)
= ON = OFF
= 12-15V
ENC_5 ENC_12
= 5V
ENC_5 ENC_12
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DIP Switch S4 Settings
ATTENTION: The drive can overspeed if DIP switch S4 is set incorrectly or the tachometer is wired incorrectly. Failure to observe this precaution could result in damage to, or destruction of, the equipment.
DIP switch S4 must be configured to be greater than or equal to the maximum DC input voltage. Maximum DC Input Voltage = (Tach Volts/1000 rpm) x Par 45 [Max Ref Speed] x 1.1. See Drive Reference and Feedback Scaling on page 296 for details on speed feedback value configuration.
Figure 56 - DC Analog Tachometer DIP Switch S4 Example
ON
DIP The illustration depicts the DIP switch settings
for 90V (factory default).
1 2 345 6 78
Table 28 - DC Analog Tachometer DIP Switch S4 Configuration
Maximum DC Input Voltage
22V 45V 90V 180V 300V
S4-1 S4-8
ON ON ON ON OFF
S4-2 S4-7
ON ON ON OFF OFF
S4-3 S4-6
ON ON OFF OFF OFF
S4-4 S4-5
ON OFF OFF OFF OFF
DIP Switch S15 Settings
DIP Switch S15 is configured for the appropriate drive size at the factory. Do not change the settings unless you are installing a replacement control board.
Figure 57 - Drive Size DIP Switch S15 Example
ON
DIP Illustration for example only.
1 2 345 6 78
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Table 29 - Drives with 230V Input - DIP Switch S15 Configuration
Frame Drive Current Rating Code
A
7P0
9P0
012
020
029
038
055
073
093
110
B
146
180
218
265
360
434
C
521
700
D
875
1K0
S15-1 S15-2 S15-3 S15-4 S15-5 S15-6 S15-7 S15-8
ON OFF OFF OFF OFF OFF OFF OFF OFF ON OFF OFF OFF OFF OFF OFF ON ON OFF OFF OFF OFF OFF OFF OFF OFF ON OFF OFF OFF OFF OFF ON OFF ON OFF OFF OFF OFF OFF OFF ON ON OFF OFF OFF OFF OFF ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF ON OFF OFF OFF OFF ON OFF OFF ON OFF OFF OFF OFF OFF ON OFF ON OFF OFF OFF OFF ON ON OFF ON OFF OFF OFF OFF OFF OFF ON ON OFF OFF OFF OFF ON OFF ON ON OFF OFF OFF OFF OFF ON ON ON OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF ON OFF OFF OFF ON OFF OFF OFF ON OFF OFF OFF OFF ON OFF OFF ON OFF OFF OFF ON ON OFF OFF ON OFF OFF OFF OFF OFF ON OFF ON OFF OFF OFF
Table 30 - Drives with 460V Input - DIP Switch S15 Configuration
Frame Drive Current Rating Code
A
4P1
6P0
010
014
019
027
035
045
052
073
086
100
129
S15-1 S15-2 S15-3 S15-4 S15-5 S15-6 S15-7 S15-8
OFF OFF OFF OFF OFF OFF ON OFF ON OFF OFF OFF OFF OFF ON OFF OFF ON OFF OFF OFF OFF ON OFF ON ON OFF OFF OFF OFF ON OFF OFF OFF ON OFF OFF OFF ON OFF ON OFF ON OFF OFF OFF ON OFF OFF ON ON OFF OFF OFF ON OFF ON ON ON OFF OFF OFF ON OFF OFF OFF OFF ON OFF OFF ON OFF ON OFF OFF ON OFF OFF ON OFF OFF ON OFF ON OFF OFF ON OFF ON ON OFF ON OFF OFF ON OFF OFF OFF ON ON OFF OFF ON OFF
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Table 30 - Drives with 460V Input - DIP Switch S15 Configuration (continued)
Frame Drive Current Rating Code
B
167
207
250
330
412
C
495
667
D
830
996
1K1
1K3
1K4
S15-1 S15-2 S15-3 S15-4 S15-5 S15-6 S15-7 S15-8
ON OFF ON ON OFF OFF ON OFF OFF ON ON ON OFF OFF ON OFF ON ON ON ON OFF OFF ON OFF OFF OFF OFF OFF ON OFF ON OFF ON OFF OFF OFF ON OFF ON OFF OFF ON OFF OFF ON OFF ON OFF ON ON OFF OFF ON OFF ON OFF OFF OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF OFF ON ON OFF ON OFF ON OFF ON ON ON OFF ON OFF ON OFF OFF OFF OFF ON ON OFF ON OFF
Table 31 - Drives with 575V Input - DIP Switch S15 Configuration
Fram Drive Current
e
Rating Code
B
067
101
135
270
405
C
540
675
D
810
1K0
1K2
1K3
1K6
S15-1 S15-2 S15-3 S15-4 S15-5 S15-6 S15-7 S15-8
OFF OFF OFF OFF OFF OFF OFF ON ON OFF OFF OFF OFF OFF OFF ON OFF ON OFF OFF OFF OFF OFF ON ON ON OFF OFF OFF OFF OFF ON OFF OFF ON OFF OFF OFF OFF ON ON OFF ON OFF OFF OFF OFF ON OFF ON ON OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON OFF OFF OFF ON OFF OFF OFF ON ON OFF OFF ON OFF OFF OFF ON OFF ON OFF ON OFF OFF OFF ON ON ON OFF ON OFF OFF OFF ON
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Chapter 1 Installation and Wiring
I/O Wiring
Table 32 - Drives with 690V Input - DIP Switch S15 Configuration
Frame Drive Current Rating Code
C
452
565
D
678
791
904
1K0
1K1
1K2
1K4
1K5
S15-1 S15-2 S15-3 S15-4 S15-5 S15-6 S15-7 S15-8
OFF OFF OFF OFF OFF OFF ON ON ON OFF OFF OFF OFF OFF ON ON OFF ON OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON OFF ON OFF OFF OFF ON ON OFF ON ON OFF OFF OFF ON ON ON ON ON OFF OFF OFF ON ON OFF OFF OFF ON OFF OFF ON ON OFF ON OFF ON OFF OFF ON ON ON ON OFF ON OFF OFF ON ON
Observe the following points when installing I/O wiring:
· Use copper wire only.
· Wire with an insulation rating of 600V or greater is recommended.
IMPORTANT I/O terminals that are labeled "()"or "Common"are not referenced to earth ground and are designed to reduce common mode interference. Grounding these terminals can cause signal noise.
ATTENTION: An analog input configured for current operation and driven from a voltage source could cause component damage. Verify the proper switch configuration before input signals are applied. See DIP Switch and Jumper Settings on page 77.
ATTENTION: Hazard of personal injury or equipment damage exists when bipolar input sources are used. 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.
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Installation and Wiring Chapter 1
I/O Signal and Control Wiring
Eight digital inputs, four digital outputs, three analog inputs, and two analog outputs are available on the standard I/O terminal blocks that are provided with the drive. One digital input (1...8) must be configured for "Enable" (digital input 4 by default = "Enable"). See I/O and Control Wire Routing on page 91 for information on routing I/O signal and control wires.
Additional digital and analog I/O is available when the optional I/O expansion circuit board is installed. See Appendix F on page 393 for more information. The optional 115V AC converter circuit board can be used to convert 115V AC digital input signals to 24V DC digital inputs signals. This board can be used to interface with the digital inputs on the standard I/O terminal blocks. See Appendix G on page 395 for more information.
Table 33 - Analog I/O, Digital I/O, and DC Analog Tachometer Wire Sizes and Terminal Specifications
Signal Type
Terminal Block Wire Size and Type(1)
(Terminals)
Flexible (mm2) Multi-core AWG (mm2)
Recommended Torque
N·m (lb·in)
Analog and Digital I/O TB1...4 (1...40) 0.140...1.500 0.140...1.500 26...16 0.4 (3.5)
DC Analog Tach
M3 (+ and )
(1) See Cable and Wiring Recommendations on page 44 for more information.
Figure 58 - I/O Terminal Block Locations
Terminal Block 3
Terminal Block 4
Terminal Block 1
Terminal Block 2
1 2 3 4 5 6 7 8 9 10
Table 34 - I/O Terminal Block 1 Designations
No. Signal 1 Analog Input 1 (+) 2 Analog Input 1 () 3 Analog Input 2 (+) 4 Analog Input 2 () 5 Analog Input 3 (+) 6 Analog Input 3 ()
7 +10V Pot Reference 8 10V Pot Reference 9 Pot Common 10 PE ground
Description Isolated (1), bipolar, differential
Factory Default 1 "Speed Ref A"
10V / 0...20 mA or 4...20 mA.
Important: 0...20 mA or 4...20 mA operation 0 "Off" requires that switch S9, S10, and S11 on the control board be in the "Off" position. Drive damage may occur if the switch is not in the correct position based 0 "Off" on the type of input signal. See Table 27 on page 55.
Max 10V, Max 0.25 mA.
2...5 k load. Max 10V, 10 mA.
For (+) and () 10V pot references.
PE ground to drive chassis.
(1) Differential Isolation - External source must be maintained at less than 160V with respect to PE. Input provides high common-mode immunity.
Config. Parameter 70 [Anlg In1 Sel] 75 [Anlg In2 Sel] 80 [Anlg In3 Sel]
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11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
Table 35 - I/O Terminal Block 2 Designations
No. Signal 11 Internal 0V (Gnd) 12 Digital Input 1 13 Digital Input 2 14 Digital Input 3 15 Digital Input 4 16 Digital Input Common
17 Not Used 18 24V Supply Common 19 Internal +24V DC Supply
20 PE ground
Description
Factory Default
Max +30V, 15V/3.2 mA, 24V/5 mA, and 30V/6.4 mA. 2"Stop/CF"
A digital input (1...8) must be configured for "Enable".
3 "Start" 11 "Jog"
1 "Enable"
Important: When the internal +24V DC supply (terminal 19) is used for digital inputs 1...4, you must connect the digital input common (terminal 16) to the +24V supply common (terminal 18).
Common for the internal power supply.
Drive supplied +24V DC I/O power.
Max. +20...30V, 200 mA
The total current draw is the sum of encoder power, digital outputs, and any other loads that are connected to terminal 19.
PE ground to drive chassis.
Config. Parameter 133 [Digital In1 Sel] 134 [Digital In2 Sel] 135 [Digital In3 Sel] 136 [Digital In4 Sel]
Table 36 - I/O Terminal Block 3 Designations
No. Signal
21 Analog Output 1 (+) 22 Analog Output 1 () 23 Analog Output 2 (+) 24 Analog Output 2 () 25 Digital Output Common 26 Digital Output 1 27 Digital Output 2 28 Digital Output 3 29 Digital Output 4 30 Digital Output +24VDC
Source
Description Max. 10V, 5 mA.
Factory Default 12 "Motor Speed"
13 "Motor Curr"
Max. +30V, 50 mA
5 "Ready"
9 "Fault"
2 "Spd Thresh"
4 "CurrentLimit"
Tie point for the internal supply or customer supplied voltage for the digital outputs. See the for sourcing digital outputs on page87 for more information.
Max. +30V DC, 80 mA.
Important: When the internal +24V DC supply (terminal 19) is used for digital outputs 1...4, you must connect terminal 19 to terminal 30 and the digital output common (terminal 25) to the +24V supply common (terminal 18).
Config. Parameter
66 [Anlg Out1 Sel]
67 [Anlg Out2 Sel]
145 [Digital Out1 Sel] 146 [Digital Out2 Sel] 147 [Digital Out3 Sel] 148 [Digital Out4 Sel]
Table 37 - I/O Terminal Block 4 Designations
No. Signal 31 Digital Input 5 32 Digital Input 6 33 Digital Input 7 34 Digital Input 8 35 Digital Input Common
36 Not Used ... 40
Description
Factory Default
Max +30V, 15V/3.2 mA, 24V/5 mA, and 30V/6.4 mA. 17"Speed Sel 1"
A digital input (1...8) must be configured for "Enable".
18 "Speed Sel 2" 19 "Speed Sel 3"
31 "Contactor"
Important: When the internal +24V DC supply (terminal 19) is used for digital inputs 5...8, you must connect the digital input common (terminal 35) to the +24V supply common (terminal 18).
Config. Parameter 137 [Digital In5 Sel] 138 [Digital In6 Sel] 139 [Digital In7 Sel] 140 [Digital In8 Sel]
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Table 38 - I/O Wiring Examples
Input/Output Potentiometer Unipolar Speed Reference 10 k Pot. Recommended (2 k Minimum)
Connection Example
Joystick Bipolar Speed Reference 10V Input
Important: See the Attention statement on page 82 for important bipolar wiring information.
Analog Input Bipolar Speed Reference 10V Input
Important: See the Attention statement on page 82 for important bipolar wiring information.
+
Common
Analog Input Unipolar Speed Reference
0...10V Input, or 0...20 mA or 4...20 mA
+
Common
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10
Analog Output Bipolar Signal
10V Bipolar (based on the signal of the assigned
input source - for example Analog Input 1), or 0...10V Unipolar (shown)
+
21
22
23
24
25
26
27
28
29
30
Required Parameter Changes
· Adjust Scaling: 72 [Anlg In1 Scale] and 73 [Anlg1 Tune Scale]
· View Signal Value: 1404 [Analog In1 Value]
· View Signal Output: 385 [Speed Ref Out]
Verify that DIP switch S9 is set to "On"(0...10V). See Table 27 on page 55.
· Set Direction Mode: 1322 [Direction Mode] = 1 "Bipolar"
· Adjust Scaling: 72 [Anlg In1 Scale] and 73 [Anlg1 Tune Scale]
· View Signal Value: 1404 [Analog In1 Value]
· View Signal Output: 385 [Speed Ref Out]
Verify that DIP switch S9 is set to "On"(0...10V). See Table 27 on page 55.
· Set Direction Mode: 1322 [Direction Mode] = 1 "Bipolar"
· Adjust Scaling: 72 [Anlg In1 Scale] and 73 [Anlg1 Tune Scale]
· View Signal Value: 1404 [Analog In1 Value]
· View Signal Output: 385 [Speed Ref Out]
Verify that DIP switch S9 is set to "On"(0...10V). See Table 27 on page 55.
· Configure for Voltage or Current: 71 [Anlg In1 Config]
· Adjust Scaling: 72 [Anlg In1 Scale] and 73 [Anlg1 Tune Scale]
· View Signal Value: 1404 [Analog In1 Value]
· View Signal Output: 385 [Speed Ref Out]
Verify that DIP switch S9 is set to "On" for 0...10V operation, or "Off" for 0...20 mA or 4...20 mA operation. See Table 27 on page 55.
· Select Source Value: 66 [Anlg Out1 Sel]
· Adjust Scaling: 62 [Anlg Out1 Scale]
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Table 38 - I/O Wiring Examples (continued)
Input/Output
Enable Input 24V DC internal supply
Connection Example
11 12 13 14 15 16 17 18 19 20
2-Wire Control Non-Reversing 24V DC internal supply
Important: Programming inputs for 2-wire control deactivates the HIM Start and Jog buttons.
11
Stop-Run
12
13
14
15
16
17
18
19
20
2-Wire Control Reversing 24V DC external supply Important: Programming inputs for 2-wire control deactivates the HIM Start and Jog buttons.
3-Wire Control 24V DC internal supply
Run Fwd.
11
12
13
Run Rev.
14
15
16
17
+24V Neutral/ Common
18
19
20
Stop
11
12
13
Start
14
15
16
17
18
19
20
Required Parameter Changes · No Changes Required.
If the digital input used for "Enable" is changed from the default setting of digital input 4, the wiring must be changed accordingly.
· Disable Digital Input 1: 133 [Digital In1 Sel] = 0 "Not Used"
· Set Digital Input 2: 134 [Digital In2 Sel] = 5 "Run"
· Set Digital Input 1: 133 [Digital In1 Sel] = 6 "Run Forward"
· Set Digital Input 2: 134 [Digital In2 Sel] = 7 "Run Reverse"
· No Changes Required.
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Table 38 - I/O Wiring Examples (continued)
Input/Output
3-Wire Control 24V DC external supply Requires 3-wire functions only ([Digital In1 Sel]). Configuring 2-wire selections causes a type 2 alarm (see page 228).
Connection Example
Stop
11
12
13
Start
14
15
16
17
18
+24V Neutral/
19
Common
20
Sourcing Digital Outputs Internal 24V DC supply
11 12 13 14 15 16 17 18 19 20
21
22
23
24
25
Ready
26
Fault
27
Spd Thresh
28
29
30
Sourcing Digital Outputs External 24V DC supply
External
External Neutral/
21
+24V DC Common
22
23
24
25
Ready
26
Fault
27
Spd Thresh
28
29
30
Installation and Wiring Chapter 1 Required Parameter Changes · No Changes Required · No Changes Required
· No Changes Required
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Chapter 1 Installation and Wiring
Digital Encoder Terminal Block
Always connect the encoder connection cables directly to the terminals on the encoder terminal block. The encoder cable must be composed of twisted pairs with the shield connected to the shield ground on the drive side. Do not connect the shield to ground on the motor side. In some cases (for example, cable lengths that exceed 100 meters), it may be necessary to ground the shield of each twisted pair on the power supply. See the PowerFlex Digital DC Drive Technical Data, publication 20P-TD001, for digital encoder specifications.
Figure 59 - Digital Encoder Terminal Block Location
Control board EMI shield
Wire shield ground
Digital Encoder terminal block
Wire shield ground
Table 39 - Digital Encoder Terminal Designations
Terminal Block
A+ A- B+ B- Z+ Z- COM +V
Label Signal
A+ Encoder A
A-
Encoder A (NOT)
B+ Encoder B
B-
Encoder B (NOT)
Z+ Encoder Z
Z-
Encoder Z (NOT)
COM +5/12...15V(1) DC Return
+V
+5/12...15V(1) DC Power
(1) Selectable via switch S21 on the control board. See Table 27 on page 78. (2) Selectable via switch S20 on the control board. See Table 27 on page 78.
Description Single Ended or dual channel quadrature A input
Single Ended or dual channel quadrature B input
Pulse, marker, or registration input (2)
Internal power common Internal power source 200 mA
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Figure 60 - Sample Encoder Power Wiring
Power Source Internal Drive Power (1)
+5/12...15V DC, 200 mA
Connection Example
+V COM
ZZ+ BB+ AA+
+5/12-15V DC (200 mA)
Common
to Shield (1)
External Power Source +V
COM ZZ+ BB+ AA+
+ Common
to Shield (1)
External Power Supply
(1) Shield connection is on drive control board EMI shield. See Figure 59 on page 88.
Figure 61 - Sample Encoder Signal Wiring
Encoder Signal Single-Ended, Dual Channel
Connection Example
+V
Supply Common
COM Z-
Z NOT
Z+
Z
B NOT
B-
B+
B
A-
A NOT
A+
A
Differential, Dual Channel
+V
COM
Z-
Z+
B-
B+
A-
A+
to Shield (1)
Z NOT Z B NOT B A NOT A
to Shield (1)
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Chapter 1 Installation and Wiring
DC Analog Tachometer Terminal Block
Figure 62 - Analog Tachometer Terminal Block Location
Analog Tachometer terminal block
See the PowerFlex Digital DC Drive Technical Data, publication 20P-TD001, for DC analog tachometer specifications.
ATTENTION: The drive can overspeed if DIP switch S4 is set incorrectly, or the tachometer is wired incorrectly. Failure to observe this precaution could result in damage to, or destruction of, the equipment.
Table 40 - DC Analog Tachometer Terminal Designations
- A B C +
Label Signal
Description
Negative input
A (Not Used)
B
C
+ Positive input
22.7 / 45.4 / 90.7 / 181.6 / 302.9V(1)
See Verify Motor Rotation and Run
max voltage
Feedback Polarity Checks on page 104 for 8 mA max. current
information on how to determine feedback
polarity.
(1) Maximum voltage depends on the configuration of DIP switch S4. See DC Analog Tachometer DIP Switch S4 Example on page 79.
Resolver Feedback Module
The resolver feedback module (catalog number 20P-RES-A0), which provides a drive interface to a selection of compatible resolvers, must be ordered and purchased separately from the drive. The resolver option module includes the PowerFlex DC Drive Resolver Feedback Module Installation Instructions, publication 20P-IN071, which provides installation and wiring information. See Resolver Type Selection on page 329 for more information on compatible resolvers.
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I/O and Control Wire Routing
Follow the guidance in this section to route all I/O and control wires when the protective covers are installed.
Frames A...C
Route all I/O and control wires from the bottom of the drive, between the lower front cover and the metal (frame A) or plastic (frames B and C) terminal cover.
Frame A Shown
Frame D
Route the field control power input cables through the opening at the top left side of the control panel.
Route I/O and control cables through the opening at the bottom left side of the control panel.
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Notes:
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Drive Start Up
2 Chapter
Drive Start Up Checklist
This chapter describes how to start up the PowerFlex® DC drive. If you use the LCD HIM (Human Interface Module) to commission the drive, it is recommended that you read the HIM Overview on page 281 before performing these procedures.
ATTENTION: Power must be applied to the drive to perform the following start-up procedure. Some of the voltages present are at incoming line potential. To avoid electric shock hazard or damage to equipment, allow only qualified service personnel to perform the following procedure. Thoroughly read and understand the procedure before beginning. If an event does not occur while performing this procedure, Do Not Proceed. Remove Power including user supplied control voltages. Correct the malfunction before continuing.
IMPORTANT It is recommended that you uncouple the motor from all loads, until otherwise directed.
This checklist contains the major steps that are required to commission the drive. Verify all Drive Configuration Settings - page 94. Verify the Power Wiring - page 94. Verify the Control and I/O Wiring - page 94. Apply Voltage to the Control Circuits - page 95. Verify the Control Voltages - page 96. Load the Default Settings - page 97. Configure the Most Commonly Used Parameters - page 97. Tune the Current Regulator - page 102. Verify Motor Rotation and Run Feedback Polarity Checks - page 104. Configure the Speed Feedback Parameters - page 107. Tune the Speed Regulator - page 109. Verify Speed Reference Settings and Drive Operation - page 111.
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Chapter 2 Drive Start Up
Before Applying Power to the Complete these procedures before you apply power to the drive. Drive
Verify all Drive Configuration Settings
1. With the bottom cover removed from the drive (see Remove the Drive Covers on page 28), verify that DIP switch S14 is set correctly. When the internal single-phase field controller is used, the switch setting must be greater than, or equal to, the rated field current that is specified on the motor nameplate. See Table 16 on page 62.
2. Verify all switch settings (S9, S10, and S11) for the analog inputs. See Table 27 on page 78.
3. Verify all DIP switch and jumper settings for the digital encoder or analog tachometer. See Table 27 on page 78 and Figure 56 on page 79.
ATTENTION: The Drive can overspeed if DIP switch S4 is set incorrectly, or the tachometer is wired incorrectly. Failure to observe this precaution could result in damage to, or destruction of, the equipment.
Verify the Power Wiring
· Verify that the AC line power at the disconnect device is within the rated value of the drive and that all power wiring is correct. See Power Wiring on page 45 for further information.
ATTENTION: Do not connect any external power to the armature output terminals, personal injury and/or equipment damage can occur.
Verify the Control and I/O Wiring
1. Verify that control power and I/O wiring is correct. A digital input (1...8 only) must be wired and configured as a drive enable. See Control Circuit Input Power on page 67 and I/O Wiring on page 82 for further information.
2. If you are using a PTC thermistor or thermal switch to protect the motor from overloading, remove the 1 k resistor between terminals 78 and 79. See Thermistors and Thermal Switches on page 64
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Apply Power to the Drive
Drive Start Up Chapter 2
The remainder of the "Drive Start Up" procedure in this manual uses a HIM to configure and autotune the drive.
You can use the DriveToolsTM SP (v4.01 or later) or Connected Components WorkbenchTM (v10 or later) software to program drive parameters. A drive "Start Up" wizard (basic application configuration only) is available with Connected Components Workbench software. You must use DriveTools SP with a PowerFlex DC drive specific software patch. The software patch can be downloaded from the Product Compatibility and Download Center at: https://compatibility.rockwellautomation.com/Pages/home.aspx
If an operator interface is not available, use a remote device to start up the drive. For information on how to use the HIM, see the HIM Overview on page 281.
IMPORTANT When power is first applied, the HIM can require approximately 5 seconds until commands are recognized (including the Stop key).
Apply Voltage to the Control Circuits
1. Apply power to the control circuits (terminals U2 and V2) of the drive. 2. If any of the digital inputs are configured to "Stop/CF" (CF = Clear
Fault), "Enable" or "Aux Fault," verify that signals are present or reconfigure [Digital Inx Sel]. If a fault code displays, see Chapter 4 Troubleshooting on page 219. 3. If the STS LED is not currently flashing green, see Figure 63 on page 96.
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Chapter 2 Drive Start Up
Figure 63 - Drive Status Indicators
PORT MOD NET A NET B
2
1
STS
# Name Color State
Description
1 STS Green Flashing
(Status)
Steady
Drive ready, but not running and no faults are present. Drive running, no faults are present.
Yellow Flashing, Drive A condition exists that is preventing the drive from starting. Check
Stopped
parameters 1403 [Start Inhibits] and/or 1380 [Drive Alarm 1].
Flashing, Drive An intermittent type 1 alarm condition is occurring. Check parameter
Running
1380 [Drive Alarm 1]. See Fault Descriptions on page 222 and/or
Alarm Descriptions on page 228.
Steady,
A continuous type 1 alarm condition exists. Check parameter 1380
Drive Running [Drive Alarm 1]. See Fault Descriptions on page 222 and/or Alarm
Descriptions on page 228.
Red Flashing
A fault has occurred. Check [Fault x Code] or view the Fault Queue on the HIM. See Fault Descriptions on page 222.
Steady
A non-resettable, non-configurable fault has occurred. Check [Fault x Code] or view the Fault Queue on the HIM. See Fault Descriptions on page 222.
2 PORT See the Communication Status of DPITM port internal communications (if present).
MOD Adapter User Manual.
Status of communications module (when installed).
NET A
Status of network (if connected).
NET B
Status of secondary network (if connected).
Verify the Control Voltages
Verify that the following voltages are present at I/O terminal block 1 and 2. See I/O Signal and Control Wiring on page 83:
Terminal Number... 7 8 19
Voltage To Terminal Number...
+10V
9
-10V
9
24...30V
18
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Drive Start Up Chapter 2
Load the Default Settings
It is recommended that you reset the drive to the default settings. By resetting the drive to the default settings, any previous parameter modifications you have made are overwritten.
1. On the HIM, from the "Main" menu scroll to the "Memory Storage" menu.
2. Press Enter. 3. Scroll to "Reset To Defaults" and press Enter.\ 4. A message displays to verify that you want to reset the drive to the
factory settings. 5. Press Enter.
A "Params Defaulted" (F48) entry is made in the drive Fault Queue to indicate the change.
Configure the Most Commonly Used Parameters
If your application only requires basic drive parameter setup, you can use the S.M.A.R.T. list screen available on the HIM to program the drive. See Using the S.M.A.R.T. List Screen on page 283 for more information.
IMPORTANT To access all parameters in this procedure, you must set the Parameter View option to "Advanced".
1. At the Main menu, scroll to the Parameter option. 2. Press ALT and then Sel. 3. Scroll to the Numbered List option. 4. Press Enter. 5. Type 211. 6. Press Enter. 7. Press Sel. 8. Type 1. 9. Press Enter. 10. Press Esc. 11. Press ALT and then Sel. 12. Scroll to the File-Group-Par option. 13. Press Enter. 14. Scroll to the "Motor Control" file. 15. Press Enter.
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Chapter 2 Drive Start Up 98
16. With the "Motor Data" group selected, press Enter.
17. Configure the following parameters:
Parameters 45 [Max Ref Speed] and 162 [Max Feedback Spd] are typically set to the motor nameplate base speed. However, if a speed feedback device is used (encoder or tachometer), see Drive Reference and Feedback Scaling on page 296 for details on setting these parameters.
45 [Max Ref Speed] - Enter the motor nameplate base speed.
162 [Max Feedback Spd] - Enter the motor nameplate base speed.
175 [Rated Motor Volt] - Enter the rated motor nameplate armature voltage. This value is the measured armature voltage when the motor is running at base speed with rated field current. This value also represents 100% of the rated armature voltage when field weakening is not used. If field weakening is used, set this value to 90% of the rated armature voltage. This prevents a possible overvoltage condition when the drive transitions to the field weakening mode.
179 [Nom Mtr Arm Amps] - Enter the rated motor nameplate armature current. To prevent current scaling/resolution issues, the drive size cannot exceed the motor size (as set by Par 179) by more than three times. The drive size is set at the factory with DIP switch S15 and is displayed in Par 465 [Drive Size].
374 [Drv Fld Brdg Cur] - Configure this parameter to the appropriate setting based on your application:
· When the drive internal, single-phase field controller is used, enter the rated current of the field bridge regulator to match the value set by using the DIP switch S14.
· When a drive and a permanent magnet motor is used, leave Par 374 and DIP switch S14 set to the factory default values.
· When the external, three-phase field controller of the PowerFlex DC field controller is used, set Par 374 to rated field current specified on the motor nameplate.
See Field Current Configuration on page 61 for more information.
280 [Nom Mtr Fld Amps] - Configure this parameter to the appropriate setting based on your application:
· When the drive internal, single-phase field controller is used, enter rated motor nameplate field current.
· When a permanent magnet motor is used, leave this parameter set to the default value.
· When the external, three-phase field controller of the PowerFlex DC field controller is used, set Par 280 equal to Par 374.
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18. Access the "Field Config" group.
19. Configure the following parameters:
If the motor field power is supplied by an external source, set Par 497 [Field Reg Enable] = 0 "Disabled". Otherwise, verify that this parameter is set to 1 "Enabled" (default). Leave set to the default value when a permanent magnet motor is used.
If you are utilizing field economy, set Par 1407 [Field Econ Delay] to the desired amount of time to elapse after the drive stops or reaches zero speed before field economy becomes active. The default value is 300 seconds. The minimum field current (value of field economy) is set in Par 468 [Min Fld Curr Pct]. Leave Par 1407 set to the default value when a permanent magnet motor is used.
Par 469 [Field Mode Sel] - select the desired field mode (default = 0 "Base Speed", constant field current):
· 1 "Field Weaken", field weakening mode
· 2 "External", power to the field is supplied externally
· 3 "PM External", a permanent magnet motor creates an external field
· 4 "Wired FC FW", field weakening mode and an analog I/O connection to a PowerFlex DC field controller
· 5 "Fiber FC FW", field weakening mode and a digital I/O connection to a PowerFlex DC field controller
· 6 "Wired FC BS", base speed and an analog I/O connection to a PowerFlex DC field controller
· 7 "Fiber FC BS", base speed and a digital I/O connection to a PowerFlex DC field controller
If you are utilizing field economy at zero speed, set 468 [Min Fld Curr Pct] to the desired minimum field current for field economy (default = 30%). Leave set to the default value when a permanent magnet motor is used.
If you are operating the drive in field weakening mode, set Par 456 [Fld Weaken Ratio] = Motor nameplate base speed / Par 45 [Max Ref Speed] x 100. Leave set to the default value when a permanent magnet motor is used.
IMPORTANT
When operating the drive in field weakening mode, it is necessary to refer to the CEMF value or to the crossover data. If the maximum field current is not within 10% of the maximum value of the internal field converter, configure the current feedback by using DIP switch S14. See Field Current Configuration on page 61.
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20. Access the "Utility" file.
21. Press Enter.
22. Access the "Alarms" group.
23. Configure the following parameters:
Par 481 [UnderVolt Thresh] - Enter the value at which the drive detects an AC under voltage condition. The default value is 200V on a 240V AC line and 400V on a 480V AC line. Typically, this value is approximately 85% of the nominal AC line voltage.
Par 584 [OverCurrent Thr] - Enter the value at which a drive over current condition is detected (default = 175%). Set the threshold level at least 10% above the selected operating current limit (Par 7 [Current Limit]).
24. Par 585 [OverSpeed Val] - Enter a value that is 10% above the maximum speed that the motor achieves. Typically 10% higher than Par 162 [Max Feedback Spd].
25. Access the "Input & Output" file.
26. Press Enter.
27. Access the "Analog Inputs" group.
28. Configure the following:
If you have connected a potentiometer to analog input 1 for a speed reference:
· Verify that Par 70 [Anlg In1 Sel] is set to 1 "Speed Ref A" (default).
· Verify that switch S9 and Par 71 [Anlg In1 Config] are configured to match (voltage versus a current signal). See DIP Switch and Jumper Settings on page 77.
· Set Par 72 [Anlg In1 Scale] and Par 74 [Anlg In1 Offset] appropriately.
If you are using the HIM on the drive cover (Port 1) for the speed reference, set Par 70 [Anlg In1 Sel] to 0 "Off".
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29. Access the "Digital Inputs" group. 30. Configure the following parameters:
Par 1391 [ContactorControl] - Select the type of contactor that is used with the drive, as described in Contactors on page 31.
If you select 0 "None" for Par 1391 [ContactorControl], a "CntactrCflct" alarm displays. The alarm is resolved and automatically cleared when you complete the Digital Output configuration in the next substep.
If Par 1391 [ContactorControl] is set to 1 or 2, an Auxiliary Status contactor must be wired to a digital input (default for digital input 8).
Par 140 [Digital In8 Sel] - If a contactor is NOT used, set to other than 31 "Contactor" (for example, 0 "Not Used").
If an auxiliary status contactor is wired to a digital input, set the appropriate [Digital Inx Sel] parameter to 31 "Contactor".
31. Access the "Digital Outputs" group. 32. Configure the following parameters:
If a contactor and a dynamic brake resistor are used:
· Par 629 [Relay Out 2 Sel] = 24 "ContactorDB".
If a contactor or a dynamic brake resistor is not used:
· Par 629 [Relay Out 2 Sel] = Set to other than 24 "ContactorDB" or 25 "Contactor" (for example, 0 "Not Used").
· Par 1392 [Relay Out 1 Sel] = Set to other than 24 "ContactorDB" or 25 "Contactor" (for example, 0 "Not Used").
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33. If you are using the HIM on the drive cover (Port 1) for the speed reference, complete the following steps: Access the "DPI Inputs" group. Set Par 1323 [DPI P1 Select] to 1"Speed Ref A". Access the "Analog Inputs" group. Set Par 70 [Anlg In1 Sel] to 0 "Not Used".
34. If you are using a source other than the HIM for the speed reference, complete the following steps: Select one of the parameter sources that are listed here and set it to 1 "Speed Ref A". · [DPI Px Select] · [Anlg Inx Sel] Set Par 70 [Anlg In1 Sel] to 0 "Not Used", if appropriate.
Tune the Current Regulator
IMPORTANT
Because the field cannot be disconnected in a permanent magnet motor, tuning the current regulator, as directed, does not work. The appropriate procedure for tuning the current regulator for a permanent magnet motor is performed later in the Drive Start Up procedures. When a permanent magnet motor is used, continue with Verify Motor Rotation and Run Feedback Polarity Checks on page 104.
IMPORTANT If the PowerFlex DC drive is wired for two-wire control, with a digital input programmed for "Run,"the HIM Start/Stop cannot be used for autotune. Maintain the "Run" input for autotune.
ATTENTION: Do not attempt to perform the "Tune the Current Regulator" procedure with a PowerFlex DC drive and permanent magnet motor combination. Drive and/or motor damage may occur.
ATTENTION: Before tuning the current regulator, you must provide a hardwired, maintained, external operator accessible coast/stop push button to disable the machine in case of improper operation. If a means to coast/stop the drive is not provided, uncontrolled machine operation can result. Failure to observe this precaution could result in severe bodily injury or loss of life.
ATTENTION: Current regulator tuning may cause unintentional motor rotation or incorrect speed references that can damage connected equipment. Before tuning the current regulator, uncouple the motor from equipment.
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Complete this test before running the drive for the first time. Upon completing this tuning procedure, the armature resistance value is stored in Par 453 [Arm Resistance] and the armature inductance value is stored in Par 454 [Arm Inductance].
1. If an external supply is used to power the motor field, disconnect the wires from the motor field terminals. If the drive supplies power to the motor field, the internal field circuit is automatically disabled during this test.
IMPORTANT
Verify that the motor does not start rotating (less than one-half a full turn) during the Current Regulator tuning test (due to remnant magnetization, series field, and so forth). If necessary, mechanically block the motor shaft so it does not turn.
2. Access the "Motor Control" file and the "Torq Attributes" group.
3. Set Par 7 [Current Limit] to the appropriate level for your application. This parameter defaults to 150%. The drive armature output current corresponds to Par 179 [Nom Mtr Arm Amps] x Par 7 [Current Limit].
Par 8 [Current Lim Pos] is the drive current limit for the positive direction. Par 9 [Current Lim Neg] is the drive current limit for the negative direction. These parameters are set to 150% by default. If necessary, you can change the value of these parameters to suit your application.
4. Access the "Speed Feedback" group.
5. Verify that Par 414 [Fdbk Device Type] is set to 3 "Armature" (default).
6. Press the Esc key until you return to the "File" menu.
7. Access Par 452 [CurrReg Autotune] in the "Autotune" group, in the "Motor Control" file, and select 1 "On."
8. Press Enter.
9. The HIM displays "Ready for RL."
10. Press the Start button on the HIM.
The current regulator auto tuning test starts, which could take several minutes.
IMPORTANT Programming inputs for 2-wire control deactivates the HIM start and jog buttons.
At the end of the test, Par 453 [Arm Resistance] and Par 454 [Arm Inductance] are updated. The drive is automatically stopped and Par 452 [CurrReg Autotune] is set to 0 "Off".
It is also possible to tune the current regulator manually (other than permanent magnet motors). See Manually Adjusting the Current Regulator Tune Settings on page 350 for more information.
If a drive fault occurs during the tuning procedure, see the list of Fault Descriptions that starts on page 222 for possible causes and actions.
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Verify Motor Rotation and Run Feedback Polarity Checks
The jog function (on the HIM or terminal block) is used to check motor direction and encoder/resolver operation. If the STS LED is not currently flashing green, see Figure 63 on page 96 for more information.
ATTENTION: Before running the motor direction and polarity checks, you must provide a hard-wired, maintained, external operator accessible coast/ stop push button to disable the machine in case of improper operation. If a means to coast/stop the drive is not provided, uncontrolled machine operation can result. Failure to observe this precaution could result in severe bodily injury or loss of life.
ATTENTION: The motor direction and polarity checks may cause unintentional motor rotation or incorrect speed references that can damage connected equipment. Before tuning the motor direction and polarity checks, uncouple the motor from equipment.
1. When the motor polarity check is run, power is applied to the drive and the motor rotates. Verify that the motor is uncoupled from the load. If the motor cannot be uncoupled from the load, the following motor checks are recommended. · All electrical connections are tight. · The brushes are properly seated. · The motor shaft is free to rotate.
2. Access the "Motor Control" file, "Speed Feedback" group. 3. Verify that Par 414 [Fdbk Device Type] is set to 3 "Armature" (default). 4. Access the "Speed Command" file, "Discrete Speeds" group. 5. Verify that Par 266 [ Jog Speed] is set to the default value (100 rpm) or
to an acceptable speed level for this test. 6. If analog input 1 is wired, access the "Analog Inputs" group, and verify
that the voltage level is 0V in Par 1404 [Analog In1 Value]. 7. View Par 233 [Output Voltage], assert a Jog command (via the HIM
keypad or digital input on the I/O terminal block), and observe the motor rotation direction. 8. Verify whether Par 233 [Output Voltage] is positive. 9. If the observed rotation direction is correct, continue with step 15 on page 105. If the observed rotation direction is incorrect, continue with step 10, while referring to the motor connection diagrams in Figure 64 on page 105. 10. Remove power from the drive. 11. Verify that power is turned off and locked out.
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C1 (+) C (+)
12. Switch the armature leads connected to C (+) and D ().
Figure 64 - Motor Connections
F1 (+) (2)
A1
C1 (+) C (+)
F1 (+) (2)
A1
(2)
(2)
D (-) D1 (-) PowerFlex DC
A2 F2 (-)
Motor
Straight Shunt Machine, CCW Rotation Facing Commutator End
D (-) D1 (-) PowerFlex DC
A2 F2 (-)
Motor
Straight Shunt Machine, CW Rotation Facing Commutator End
13. Apply power to the drive.
14. Repeat step 6... step 9 on page 104. When the motor rotation direction is correct, continue with step 15.
15. Complete the appropriate procedure for the type of feedback device that is used for the application:
For armature voltage feedback - Continue with step 16.
For analog tachometer feedback, assert a Jog command and verify that the sign and value of Par 1408 [Tachometer Speed] corresponds with the actual direction of the motor. If the sign and value of Par 1408 [Tachometer Speed] and the motor direction do not correspond, remove power from the drive and reverse the tachometer connections at the drive. Verify proper motor rotation and continue with step 16.
For encoder feedback, assert a Jog command and verify that the sign and value of Par 420 [Encoder Speed] correspond with the actual direction of the motor. If the sign and value of [Par 420 [Encoder Speed] and the motor direction do not correspond, remove power from the drive and reverse the encoder connections at the drive. Reverse the polarity of only one channel, for example, B and B NOT. See Table 39 on page 88 for digital encoder terminal block designations. Verify proper motor rotation and continue with step 16.
For resolver feedback, assert a Jog command and verify that the sign and value of Par 428 [Resolver Speed] correspond with the actual direction of the motor. If the sign and value of Par 428 [Resolver Speed] and the motor direction do not correspond, do one of the following :
· Change the setting of bit 5 "Resolver Dir" in Par 425 [Resolver Config]. Verify proper motor rotation and continue with step 16.
· Remove power from the drive and verify the correct resolver connections to the drive (refer to resolver installation instructions for details).
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16. For permanent magnet motors only, continue with Tune the Current Regulator for a Permanent Magnet Motor on page 106. For all other motors, continue with Configure the Speed Feedback Parameters on page 107.
Tune the Current Regulator for a Permanent Magnet Motor
Only complete this procedure when you are using a permanent magnet motor.
ATTENTION: Before tuning the current regulator, you must provide a hardwired, maintained, external operator accessible coast/stop push button to disable the machine in case of improper operation. If a means to coast/stop the drive is not provided, uncontrolled machine operation can result. Failure to observe this precaution could result in severe bodily injury or loss of life.
ATTENTION: Current regulator tuning requires motor rotation and applied speed references that can damage material or process loads. Before tuning the current regulator, remove any material or process load.
1. Verify that Par 414 [Fdbk Device Type] is set to 3 "Armature" (default). 2. Set the value of Par 453 [Arm Resistance], calculated as:
(Par 175 [Rated Motor Volt] / Par 179 [Nom Mtr Arm Amps]) x 0.04 3. Leave Par 454 [Arm Inductance] set to the default value (based on drive
size). 4. Verify that there is no material or process load present and the motor
shaft is free to rotate. 5. Start the drive and run the motor at approximately 50% of base speed.
Observe the value of Par 587 [I Reg Err] after it has settled to a value and do one of the following. · If Par 587 [I Reg Err] is positive, increase the value of Par 454 [Arm
Inductance]. The value of Par 587 determines the magnitude of change. Generally, make large increases (for example, double) when Par 587 is large (greater than 40) and smaller increases as Par 587 gets closer to zero. · If Par 587 [I Reg Err] is negative, decrease the value of Par 454 [Arm Inductance]. The value of Par 587 determines the magnitude of change. Generally, make large increases (for example, double) when Par 587 is large (greater than -40) and smaller increases as Par 587 gets closer to zero. 6. Repeat step 4 until Par 587 [I Reg Err] is as close to zero as possible. Values less than 20/-20 are acceptable as close to zero. However, with some motors, the minimum value of Par 587 may only be 60/-60. Stop the drive and continue with Configure the Speed Feedback Parameters on page 107.
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Configure the Speed Feedback Parameters
1. Access the "Speed Feedback" group.
2. Configure the following parameters:
If an encoder or tachometer is used, see Drive Reference and Feedback Scaling on page 296 for instructions on associated parameter settings.
Par 414 [Fdbk Device Type] - Select the source for motor velocity feedback:
·1 "Encoder" ·2 "DC Tach" ·3 "Armature" (default) ·4 "Resolver" If operating the drive in field weakening mode, Par 414 [Fdbk Device Type] must be set to 1 "Encoder", 2 "DC Tach", or 4 "Resolver."
Par 457 [Spd Fdbk Control] - If you are using an encoder, tachometer, or resolver set this parameter to 1 "Enabled" to activate speed feedback control.
If the speed feedback source is an analog tachometer, set the fine scaling value in Par 562 [Anlg Tach Gain]. After the drive hardware conditions the value of Par 562, it is used to scale the analog tachometer feedback signal.
ATTENTION: The drive can overspeed if DIP switch S4 is set incorrectly, or the tachometer is wired incorrectly. Failure to observe this precaution could result in damage to the drive or process equipment. See Table 56 on page 79.
If the speed feedback source is a digital encoder, complete the following steps:
a. Enter the pulses per revolution from the encoder nameplate in Par 169 [Encoder PPR]. See Valid Speed Feedback Values on page 300 for more information on setting the value of this parameter.
b. Set Par 652 [Encoder Err Chk] to 1 "Enabled" to activate monitoring of the digital encoder signals (verifies the presence of the A, B, A-, B-, or Z channel signals).
Par 457 [Spd Fdbk Control] must be set to 1 "Enabled" for encoder monitoring to occur.
Switch S20 must be set correctly to prevent encoder faults. See Table 27 on page 78.
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If the speed feedback source is a resolver, complete the following steps:
a. Select the type of resolver that is used in Par 423 [Reslvr Type Sel]. See Resolver Type Selection on page 329 for details on compatible resolver types.
b. Select the appropriate ratio of resolver electrical to mechanical turns in Par 424 [Reslvr Spd Ratio].
c. Configure the resolver to digital conversion resolution and moving average speed filter period in par 425 [Resolver Config ].
d. Cycle power to the drive to apply these changes in the resolver board.
3. Access the "Speed Command" file.
4. Press Enter.
5. With the "Limits" group selected, press Enter.
6. Configure the following parameters: · Par 1 [Minimum Speed] - Enter the minimum speed reference limit. · Par 2 [Maximum Speed] - Enter the required maximum speed for the application. The maximum speed can be above the motor base speed if field weakening is used.
7. Access the "Dynamic Control" file.
8. Press Enter.
9. Access the "Ramp Rates" group and configure the following parameters: · Par 660 [Accel Time 1] - Set the desired acceleration ramp time. · Par 662 [Decel Time 1] - Set the desired deceleration ramp time.
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Tune the Speed Regulator
The speed regulator auto tuning test detects the total inertia value of the motor shaft (in Kg·m2), the friction value (in N·m), and the calculation of the proportional (P) and integral (I) gains of the speed regulator.
IMPORTANT
If upgrading a drive to firmware revision 6.001 or later (from firmware revision 5.007 or earlier) and it is not possible to perform speed regulator autotuning, see Appendix C, Manually Tuning the Speed Regulator for Firmware Revision 6.001 and Later on page 317 for instructions on setting the proper gains in the Speed Loop.
IMPORTANT This test requires the free rotation of the motor shaft and load. The auto tuning test of the speed loop cannot be conducted on machines with a limited stroke.
IMPORTANT If the PowerFlex DC drive is wired for two-wire control, with a digital input programmed for "Run,"the HIM Start/Stop cannot be used for autotune. Maintain the "Run" input for autotune.
ATTENTION: The motor rotates during this tuning procedure. Hazard of personal injury exists due to motor shaft rotation and/or machinery motion.
IMPORTANT
The test is conducted by using the torque limit value set in the Par 1048 [Autotune Cur Lim] (recommended value = 20%). The torque reference is applied via a step reference (without a ramp). Therefore, there must not be any "backlash" in the mechanical transmission and it must be compatible with those operations using the torque limit value set in the Par 1048 [Autotune Cur Lim]. You can modify the torque limit value via this parameter.
IMPORTANT
In applications where the system total inertia value is high, it is necessary to increase the value of Par 1048 [Autotune Cur Lim] to avoid "Time out" errors. The speed regulator auto tuning test of the speed loop is not suitable for drives that are used in "elevator" and/or lifting system applications.
1. While still in the "Autotune" group, configure the motor shaft rotation direction via Par 1029 [Speed Tune Dir], with reference to the motor commutator end.
· 1 "Forward" = clockwise
· 2 "Reverse" = counter-clockwise
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2. Speed Regulator Autotune assumes that full field is applied. Verify that parameters 280 [Nom Mtr Fld Amps] and 467 [Max Fld Flux Pct] are set correctly. Tuning with less than full field current results in different gains because of the lower motor torque values.
3. Select Par 1027 [Spd Reg Autotune] and enter "1."
4. Press Enter.
5. Press the Start button on the HIM. The speed regulator auto tuning test starts, which could take several minutes. When the test has been completed, the drive automatically stops.
During the test the following are completed:
· An acceleration test, with the torque limit value set in the Par 1048 [Autotune Cur Lim].
· A deceleration test, with a lower torque limit value applied, until zero speed has been reached.
· Par 1013 [Torque Const] is calculated and updated based on the entered motor data.
The test threshold speed is 33% of the lowest value set in the following parameters:
·45 [Max Ref Speed] ·3 [Max Speed Fwd] or 4 [Max Speed Rev] based on the rotation
direction that is chosen in Par 1029 [Speed Tune Dir]
The drive determines the speed loop gains (Pars 87 [Spd Reg Kp] and 88 [Spd Reg Ki]) based on the motor and load inertia and friction characteristics.
If any faults occur during the test, see Auto Tuning Faults on page 112 for a description and more information.
Note:
If any manual adjustments are required (due to vibrations, and so on), make them based on the value of the integral gain in Par 88 [Spd Reg Ki]. If the speed regulator auto tuning test does not provide satisfactory results, see Fine-Tuning the Regulators on page 349.
The values that result from the Speed Regulator tuning test are updated and displayed, respectively, in the parameter pairs that are listed here.
· 87 [Spd Reg Kp], 1032 [Speed Tune Kp] · 88 [Spd Reg Ki], 1033 [Speed Tune Ki] · 1014 [Inertia], 1030 [Spd Tune Inertia] · 1015 [Friction], 1031 [SpdTune Friction]
The values of Pars 1030...1033 can be used as a record of the Speed Regulator auto tuning results. This is helpful, if the values of Pars 87, 88, 1014 and 1015 are later changed.
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Verify Speed Reference Settings and Drive Operation
Verify the following speed and direction (for four quadrant drives) references of the drive under a load.
ATTENTION: This test requires the free rotation of the motor shaft and load. The steps in the "Drive Start Up"procedure must have been completed before completing this step.
1. Set the speed reference to "0" (zero) by using the assigned source (HIM or analog potentiometer). See Reference Control on page 325 for more information on speed reference sources.
2. View Par 385 [Speed Ref Out] and verify that the value is "0". 3. Press the Start button on the HIM and slowly increase the speed
reference until full speed is reached (viewed in Par 385 [Speed Ref Out]). 4. For only four quadrant (regenerative) drive applications, press the Direction button on the HIM and verify that the motor ramps down to "0" speed and then to full speed in the opposite direction. 5. Press the Stop button on the HIM. 6. Verify that the drive ramps to "0" speed and stops.
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Fault STune Overspeed STune Stalled STune LoadHi
STune CurLimit
STune FrictionLo STune Timeout
STune Aborted
Auto Tuning Faults
Table 41 lists faults that can display during the speed regulator auto tuning test. In some cases, the drive control circuits can detect a value that is out of range for the configuration settings during the speed regulator auto tuning test. In these cases, make the suggested adjustments and repeat the test. If the fault occurs again, complete the Fine-Tuning the Regulators procedures on page 349.
Table 41 - Speed Regulator Auto Tuning Faults
No. Description
Action
56 The measured motor speed is too high during the speed regulator auto tuning procedure.
Decrease the value of Par 1048 [Autotune Cur Lim] and repeat the auto tune procedure.
57 The drive has stalled during the speed regulator auto tuning Increase the value of Par 1048 [Autotune Cur Lim] and repeat the
procedure.
auto tune procedure.
58 One of the following has occurred:
· The loading torque value is too high at zero speed to complete the speed regulator auto tuning procedure.
Decrease the load torque, where applicable, and repeat the auto tune procedure.
· Par 107 [Speed Zero Level] and/or 108 [Speed Zero Delay] is Set Pars 107 and 108 to their default values when performing the
set too high.
Speed Loop Autotuning function.
59 One of the following has occurred:
· The value of Par 1048 [Autotune Cur Lim] for auto tuning the Decrease the value of Par 1048 [Autotune Cur Lim] and repeat the
speed regulator is set too high.
auto tune procedure.
· Par 107 [Speed Zero Level] and/or 108 [Speed Zero Delay] is Set Pars 107 and 108 to their default values when performing the
set too high.
Speed Loop Autotuning function.
60 The friction value that is attained during the auto tuning procedure is zero or lower than the control precision limit.
Decrease the value of Par 1048 [Autotune Cur Lim] and repeat the auto tune procedure.
61 The speed regulator auto tuning procedure did not complete Verify the value in Par 1048 [Autotune Cur Lim]. If this value is set
within the available time.
too low, the motor does not reach a maximum speed of 33% of the
lowest value of one of these parameters:
· Par 45 [Max Ref Speed]
· Par 3 [Max Speed Fwd]
· Par 4 [Max Speed Rev]
In this case, the test does not run. Set these values appropriately and repeat the auto tuning procedure.
62 The speed regulator auto tuning procedure was manually stopped.
Informational only.
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For additional regulator fine-tuning procedures, see Fine-Tuning the Regulators on page 349.
Speed-Up Function
Oscillation can occur during a speed change with loads presenting a high moment of inertia. These oscillations can be reduced by enabling the "Speed Up" function. See Speed Up Function on page 338 for more information.
Configuring the Speed Zero Logic
The speed zero logic is factory set to 0 "Disabled". See Speed Zero Function on page 340 for more information.
Adaptive Speed Regulation
The adaptive function of the speed regulator is factory set to 0 "Disabled". Only use this function when the gain of the speed regulator must go higher than the speed range. For instructions on how to configure these parameters, see Adaptive Speed Regulator on page 335.
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Notes:
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Programming and Parameters
3 Chapter
Topic
Page
About Parameters
116
How Parameters are Organized
118
Monitor File
126
Motor Control File
131
Speed Command File
148
Dynamic Control File
155
Applications File
161
Utility File
177
Communications File
191
Input / Output File
195
Parameter Cross Reference by Name
207
Parameter Cross Reference by Number
213
This chapter provides a complete listing of the PowerFlex® DC drive parameters. The list contains a description, default value, minimum and maximum values, units, and data type for each drive parameter. The parameters can be viewed and edited (programmed) using a Human Interface Module (HIM). As an alternative, programming can also be performed using DriveToolsTM SP(1) or Connected Components WorkbenchTM software(2) and a personal computer. See Appendix B for a brief description of the LCD HIM. See Appendix D for drive control block diagrams.
(1) You must use DriveTools SP software v4.01 or later with a PowerFlex DC drive specific software patch. The software patch can be downloaded from the Product Compatibility and Download Center at: https://compatibility.rockwellautomation.com/Pages/home.aspx
(2) You must use Connected Components Workbench software version 2.00 or later. The software can be downloaded from https://www.rockwellautomation.com/global/support/connected-components/workbench.page?
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About Parameters
To configure a drive to operate in a specific way, certain parameters may need to be changed from the default value. Three types of parameters exist:
· ENUM Parameters ENUM parameters provide a selection of two or more items. The LCD HIM will display a text message for each item.
· Bit Parameters Bit parameters have individual bits associated with features or conditions. If the bit is "0", the feature is off or the condition is false. If the bit is "1", the feature is on or the condition is true.
· Numeric Parameters These parameters have a single numerical value and unit (for example, 0.1 Volts).
The Parameters Table Example on page 117 describes how each parameter type is presented in this manual.
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File Group No.
SPEED COMMAND Speed Regulator
COMMUNICATIONS Masks and Owners
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved DPI Port 5 DPI Port 4 DPI Port 3 DPI Port 2 DPI Port 1 Digital In
Programming and Parameters Chapter 3
12 3
Parameters Table Example
4
5
67
Data Type Related
Parameter Name and Description
Values
388 [Flying Start En]
Default:
0 = "Disabled"
16-bit
A
Enables/Disables the ability of the drive to connect to a spinning motor at actual rpm when a start command is issued.
· "Enabled"= When the drive is turned on, the speed of the motor is
Options:
0 = "Disabled" 1 = "Enabled"
Int
measured and the ramp output is set accordingly. The drive then runs at the
set reference value.
· "Disabled"= When the drive is turned on, the ramp starts from zero.
Main uses:
· To connect to a motor that is already spinning due to its load (for example, in
the case of a pump, the flowing medium).
· Reconnection to a spinning motor after a fault or alarm.
Note: If the Flying Start function is disabled, be sure that the motor is not spinning when the drive is turned on, or harsh motor deceleration in current limit may occur.
445 [Spd Up Gain Pct]
Default:
0.00
Real
A The Speed Up function gain as a percentage of Par 446 [Speed Up Base].
Min/Max: 0.00 / 100.00
Units:
%
591 [Logic Mask]
1377
Determines which ports can control the drive when Par 1377 [Write Mask Act], bit 15 is set to "1."If the bit for a port is set to "0,"the port has no
control functions except for stop. 0 = Control Masked, 1 = Control Permitted, x = Reserved.
Options
Default Bit
xxxxxxxxxx000011 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
No. Description 1 File Lists the major parameter file category. 2 Group Lists the parameter group within a file.
3 No. Parameter number. A = The parameter is only accessible when Par 211 [Param Access Lvl] = 1 "Advanced".
= The parameter value cannot be changed until the drive is stopped.
4 Parameter Name and Description Parameter name as it appears on an LCD HIM, with a brief description of the parameters function.
5 Values Defines the various operating characteristics of the parameter. Three types exist.
ENUM
Default:
Lists the value assigned at the factory. "Read Only"indicates that the parameter is not configurable.
Options:
Displays the programming selections available.
Bit
Options:
Bit name.
Numeric
Default: Bit:
Default:
Default setting. Lists the bit place holder and definition for each bit.
Lists the value assigned at the factory. "Read Only"indicates that the parameter is not configurable.
Min/Max: Units:
The range (lowest and highest setting) possible for the parameter. Unit of measure and resolution as shown on the LCD HIM.
Important: Some parameters will have two unit values:
· For example: Analog inputs can be set for current or voltage as with Par 71 [Anlg Inx Config].
6 Data Type - Identifies the parameter data type (that is integer, real).
7 Related Lists parameters (if any) that interact with the selected parameter.
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117
Chapter 3 Programming and Parameters
How Parameters are Organized
The LCD HIM displays parameters in a FileGroupParameter or Numbered List view order. To switch display mode, access the Main Menu, press ALT, then Sel (View) while the cursor is on the Parameter menu selection. In addition, using Par 211 [Param Access Lvl], you have the option to display the most commonly used parameters (Basic Parameter view) or all parameters (Advanced Parameter View).
FileGroupParameter Order
This simplifies programming by grouping parameters that are used for similar functions. The parameters are organized into files. Each file is divided into groups, and each parameter is an element in a group. By default, the LCD HIM displays parameters by FileGroupParameter view.
Numbered List View
All parameters are in numerical order.
Cross Reference Tables
See Parameter Cross Reference by Name on page 207 and Parameter Cross Reference by Number on page 213 for a list of parameters and page numbers.
118
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Programming and Parameters Chapter 3
Basic Parameter View
File Monitor
Monitor
Motor Control
Motor Control
Speed Command
Speed Command
Dynamic Control
Dynamic Control
Group Speed Meters
Current Meters
Drive Data
Motor Data Field Config Torq Attributes Speed Feedback Autotune
Limits Discrete Speeds
Speed References Speed Regulator Control Config Ramp Rates
Restart Modes
Parameter 211 [Param Access Lvl] set to option 0 "Basic".
Parameters
[Speed Ref A]
44
[Speed Ref A Pct]
47
[Speed Ref B]
48
[Speed Ref B Pct]
49
[Speed Ref Out]
385
[Spd Ref Out Pct]
384
[Ramp In]
110
[Ramp In Pct]
111
[Ramp Out]
113
[Ramp Out Pct]
114
[Speed Draw Out] 1018
[Spd Draw Out Pct] 1019
[Droop Out]
1006
[Droop Out Pct]
1007
[Speed Reg In]
118
[Speed Reg In Pct] 117
[Spd Reg Err]
1010
[Spd Reg Err Pct]
1011
[Inertia Comp Out] 232
[Spd Reg Out Pct]
236
[Current Reg In]
41
[Arm Current]
200
[Arm Current Pct]
199
[Field Current]
351
[Fld Current Pct]
234
[Cur Lim Pos Out]
10
[Cur Lim Neg Out] 11
[Filt TorqCur Pct]
928
[FaultCode]
57
[AC Line Voltage]
466
[AC Line Freq]
588
[Output Voltage]
233
[Output Power]
1052
[Drive Type]
300
[Drive Size]
465
[Elapsed Lifetime] 235
[Max Ref Speed]
45
[Max Feedback Spd] 162
[Rated Motor Volt] 175 [Nom Mtr Arm Amps] 179
[Field Reg Enable] 497
[Field Economy En] 499
[Field Econ Delay]
1407
[Field Mode Sel]
469
[Max Fld Flux Pct]
467
[Min Fld Curr Pct]
468
[Current Limit]
7
[Current Lim Pos]
8
[Current Lim Neg]
9
[Torque Ref]
39
[Trim Torque]
40
[Torque Reduction] 342
[Fdbk Device Type] 414
[Anlg Tach Gain]
562
[Feedback Offset]
563
[Spd Fdbk Control] 457
[Autotune Cur Lim] 1048
[CurrReg Autotune] 452
[Arm Resistance]
453
[Arm Inductance]
454
[Spd Reg Autotune] 1027
[Speed Tune Dir]
1029
[Speed Tune Kp]
1032
[Speed Tune Ki]
1033
[Minimum Speed] 1
[Min Speed Fwd]
5
[Min Speed Rev]
6
[Maximum Speed] 2
[Jog Speed]
266
[Preset Speed 3]
156
[Jog Off Delay]
1409
[Preset Speed 4]
157
[Preset Speed 1]
154
[Preset Speed 5]
158
[Preset Speed 2]
155
[Preset Speed 6]
159
[Trim Ramp]
42
[Trim Speed]
43
[Trim Ramp Pct]
378
[Trim Speed Pct]
379
[Speed Reg En]
242 (1) [Spd Reg Kp]
87
(1) This parameter available for use with firmware revision 2.005 and lower only.
[Spd Trq Mode Sel] 241
[Speed Ramp En]
245
[Ramp Type Select] 18
[Accel Time 1]
660
[Decel Time 1]
662
[Accel Time 2]
24
[Decel Time 2]
32
[MOP Accel Time]
22
[MOP Decel Time]
30
[Start At Powerup] 1344
[Powerup Delay]
1345
[Spd Reg Fdbk]
1008
[Spd Reg Fdbk Pct] 1009
[Spd Feedback]
122
[Spd Feedback Pct] 121
[Actual Speed]
924
[Encoder Speed]
420
[Tachometer Speed] 1408
[Resolver Speed]
428
[Flux Ref Pct]
500
[Field Curve Out]
476
[Selected TorqRef] 14
[Motor Trq Ref]
17
[Software Version] 331
[Drive Checksum]
332
[Nom Mtr Fld Amps] 280
[Drv Fld Brdg Cur]
374
[Fld Weaken Ratio] 456
[Arm Volt Kp]
493
[Arm Volt Ki]
494
[Zero Torque]
353
[SpdReg FB Bypass] 458
[Spd Tune Inertia] 1030
[SpdTune Friction] 1031
[SpdReg Kp Pct]
1034
[SpdReg Ki Pct]
1035
[Max Speed Fwd]
3
[Max Speed Rev]
4
[Preset Speed 7]
160
[TB Manual Ref]
267
[Speed Ratio]
1017
[Spd Reg Ki]
88
[Jog Ramp Time]
1410
[S Curve Time]
19
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
119
Chapter 3 Programming and Parameters
File
Group
Parameters
Utility
Utility
Reference Config [Direction Mode]
1322
[Save HIM Ref]
209
Drive Memory
[Param Access Lvl] 211
Diagnostics
[Drive Status 1]
381
[Drive Status 2]
382
[Speed Ref Source] 1329
[Spd Ref Sel Sts]
1330
Faults
[Clear Fault Que]
263
[Fault Clear]
1347
[Fault Clr Mode]
1348
[Status1 at Fault]
1349
Alarms
[Drive Alarm 1]
1380
Communications Comm Control
[DPI Baud Rate]
589
Communication
[DPI Port Sel]
590
Masks and Owners [Logic Mask]
591
[Start Mask]
592
[Jog Mask]
593
[Direction Mask]
594
[Reference Mask]
595
[Accel Mask]
596
[Fault Clr Mask]
597
Datalinks
[Data In A1]
610
[Data In A2]
611
[Data In B1]
612
[Data In B2]
613
[Data In C1]
614
[Data In C2]
615
Security
[Logic Mask]
591
Input / Output
Inputs / Outputs
Analog Inputs
[Anlg In1 Sel]
70
[Anlg In1 Config]
71
[Anlg In2 Sel]
75
[Anlg In2 Config]
76
[Anlg In3 Sel]
80
[Anlg In3 Config]
81
Analog Outputs
[Anlg Out1 Sel]
66
[Anlg Out2 Sel]
67
[Anlg Out3 Sel]
68
Digital Inputs
[Dig In Status]
564
[Digital In1 Sel]
133
[Digital In2 Sel]
134
[Digital In3 Sel]
135
[Digital In4 Sel]
136
[Digital In5 Sel]
137
[Digital In6 Sel]
138
[Digital In7 Sel]
139
[Digital In8 Sel]
140
Digital Outputs
[Dig Out Status]
581
[Digital Out1 Sel]
145
[Digital Out2 Sel]
146
[Digital Out3 Sel]
147
DPITM Inputs
[DPI P1 Select]
1323
[DPI P2 Select]
1324
[Man Ref Preload] 210
[MOP Ref Config]
249
[Reset Defaults]
258
[Last Stop Source] 1402
[Start Inhibits]
1403
[Drive Logic Rslt]
1328
[At Speed]
394
[Status2 at Fault]
1350
[Fault Arm Amps]
1371
[Fault Speed]
1372
[Fault Field Amps] 1373
[DPI Fdbk Select]
1321
[MOP Mask]
598
[Local Mask]
599
[Decel Mask]
631
[Stop Owner]
600
[Start Owner]
601
[Jog Owner]
602
[Direction Owner] 603
[Data In D1]
616
[Data In D2]
617
[Data Out A1]
618
[Data Out A2]
619
[Data Out B1]
620
[Data Out B2]
621
[Anlg In1 Target]
295
[Anlg In2 Target]
296
[Anlg In3 Target]
297
[Anlg In1 Cmp]
1042
[Anlg In1 Cmp Err] 1043
[Anlg In1 Cmp Dly] 1044
[Anlg Out4 Sel]
69
[Analog Out1 Scale] 62
[Analog Out2 Scale] 63
[Digital In9 Sel]
141
[Digital In10 Sel]
142
[Digital In11 Sel]
143
[Digital In12 Sel]
144
[Dig In Term 1]
565
[Dig In Term 2]
566
[Dig In Term 3]
567
[Dig In Term 4]
568
[Dig In Term 5]
569
[Digital Out4 Sel]
148
[Digital Out5 Sel]
149
[Digital Out6 Sel]
150
[Digital Out7 Sel]
151
[DPI P3 Select]
1325
[DPI P4 Select]
1326
[MOP Select]
1375
[Language]
302
[At Zero Speed]
395
[CurrLimit Active]
349
[Spd Limit Active] 372
[Fault Voltage]
1374
[Fault 1 Code]
1351
[DPI Port Value]
1343
[Reference Owner] 604
[Accel Owner]
605
[Fault Clr Owner]
606
[MOP Owner]
607
[Local Owner]
608
[Decel Owner]
609
[Data Out C1]
622
[Data Out C1]
623
[Data Out D1]
624
[Data Out D2]
625
[Data In Val Sel]
1319
[Data In SelData]
1320
[Anlg In1 Cmp Eq] 1045 [Analog In1 Value] 1404 [Analog In2 Value] 1405 [Analog In3 Value] 1406
[Analog Out3 Scale] 64 [Analog Out4 Scale] 65
[Dig In Term 6]
570
[Dig In Term 7]
571
[Dig In Term 8]
572
[Dig In Term 9]
573
[Dig In Term 10]
574
[Dig In Term 11]
575
[Dig In Term 12]
576
[Digital Out8 Sel]
152
[Relay Out 1 Sel]
1392
[Relay Out 2 Sel]
629
[DPI P5 Select]
1327
120
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
File Monitor
Monitor
Motor Control
Motor Control
Programming and Parameters Chapter 3
Group Speed Meters
Current Meters Drive Data Motor Data Field Config
Torq Attributes Speed Feedback
Autotune Test Generator
Advanced Parameter View
Parameter 211 [Param Access Lvl] set to option 1 "Advanced".
Parameters
[Speed Ref A]
44
[Speed Ref A Pct]
47
[Speed Ref B]
48
[Speed Ref B Pct]
49
[Speed Ref Out]
385
[Spd Ref Out Pct]
384
[Ramp In]
110
[Ramp In Pct]
111
[Ramp Out]
113
[Inertia Comp Out] 232
[Spd Reg Out Pct]
236
[Current Reg In]
41
[Arm Current]
200
[Arm Current Pct]
199
[Field Current]
351
[FaultCode]
57
[AC Line Voltage]
466
[AC Line Freq]
588
[Output Voltage]
233
[Max Ref Speed]
45
[Max Feedback Spd] 162
[Rated Motor Volt] 175
[Nom Mtr Arm Amps] 179
[Field Reg Enable] 497
[Field Economy En] 499
[Field Econ Delay]
1407
[Field Mode Sel]
469
[Max Fld Flux Pct]
467
[Min Fld Curr Pct]
468
[Fld Weaken Ratio] 456
[Arm Volt Kp]
493
[Arm Volt Ki]
494
[Current Limit]
7
[Current Lim Pos]
8
[Current Lim Neg]
9
[Current Rate Lim] 12
[Torque Ref]
39
[Trim Torque]
40
[Fdbk Device Type] 414
[Anlg Tach Gain]
562
[Feedback Offset]
563
[Spd Fdbk Control] 457
[SpdReg FB Bypass] 458
[Spd Fdbk Invert]
461
[Spd FB Loss Lvl]
455
[Spd FB Filt Gain]
914
[Autotune Cur Lim] 1048
[CurrReg Autotune] 452
[Arm Resistance]
453
[Arm Inductance]
454
[Spd Reg Autotune] 1027
[Speed Tune Dir]
1029
[TstGen Output]
58
[TstGen Frequency] 59
[TstGen Amplitude] 60
[TstGen Offset]
61
[Alpha Test]
166
[Ramp Out Pct]
114
[Speed Draw Out] 1018
[Spd Draw Out Pct] 1019
[Droop Out]
1006
[Droop Out Pct]
1007
[Speed Reg In]
118
[Speed Reg In Pct] 117
[Spd Reg Err]
1010
[Spd Reg Err Pct]
1011
[Fld Current Pct]
234
[SpdReg PosLmOut] 89
[SpdReg NegLmOut] 90
[Cur Lim Pos Out]
10
[Cur Lim Neg Out] 11
[Filt TorqCur Pct]
928
[Output Power]
1052
[Firing Angle]
165
[Drive Type]
300
[Drive Size]
465
[Nom Mtr Fld Amps] 280
[Drv Fld Brdg Cur] 374
[MtrOvrld Type]
376
[MtrOvrld Factor]
333
[Arm Volt Kp Base] 495
[Arm Volt Ki Base] 496
[Fld Reg Kp]
91
[Fld Reg Ki]
92
[Force Min Field]
498
[Out Volt Level]
921
[Fld Reg Kp Base]
97
[Fld Reg Ki Base]
98
[Set Fld Curve]
919
[Torque Reduction] 342
[Zero Torque]
353
[TrqTpr Enable]
750
[TrqTpr Lim0]
751
[TrqTpr Lim1]
752
[TrqTpr Lim2]
753
[Spd FB Filt BW]
915
[Act Spd Filter]
923
[Encoder PPR]
169
[Encoder Config]
170
[Encoder Out Sel]
1021
[Encoder Err Chk]
652
[Encoder Counts]
1022
[Fdbk Option ID]
422
[Speed Tune Kp]
1032
[Speed Tune Ki]
1033
[Spd Tune Inertia] 1030
[SpdTune Friction] 1031
[I Reg Error]
587
[Inertia C Filter]
1012
[Arm Test Angle]
167
[Fld Test Angle]
168
[SCR Diag Test En] 213
[SCR Diag Status]
214
[OpenSCR WarnLvl] 215
[Spd Reg Fdbk]
1008
[Spd Reg Fdbk Pct] 1009
[Spd Feedback]
122
[Spd Feedback Pct] 121
[Actual Speed]
924
[Encoder Speed]
420
[Tachometer Speed] 1408
[Resolver Speed]
428
[Flux Ref Pct]
500
[Field Curve Out]
476
[Selected TorqRef] 14
[Motor Trq Ref]
17
[Elapsed Lifetime] 235
[Software Version] 331
[Drive Checksum]
332
[MtrOvrld Speed]
334
[SAR Volts Scale]
464
[Drive Type Sel]
201
[Min Firing Angle] 21
[Reset Fld Curve]
920
[Fld Const 40 Pct]
916
[Fld Const 70 Pct]
917
[Fld Const 90 Pct]
918
[Flux Divide]
462
[Flux Filter BW]
463
[Ext FC Curr Hyst]
410
[TrqTpr Lim3]
754
[TrqTpr Lim4]
755
[TrqTpr Spd]
756
[Torq Cur Filter]
926
[FC Lim Ramp]
411
[FC Lim Ramp Time] 412
[Reslvr Type Sel]
423
[Reslvr Spd Ratio]
424
[Resolver Config]
425
[Resolver Status]
426
[Reslvr Position]
427
[Resolver Pos Sel]
429
[Resolver Spd Sel] 430
[Reslvr Cable Bal]
431
[Torque Const]
1013
[Inertia]
1014
[Friction]
1015
[Spd Reg Kp Base] 93
[Spd Reg Ki Base]
94
[SpdReg Kp Pct]
1034
[SpdReg Ki Pct]
1035
[OpenSCR Flt Cfg]
216
[OpenSCR Threshld] 217
[OpenSCR Trip Lvl] 218
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
121
Chapter 3 Programming and Parameters
File Speed Command
Speed Command
Dynamic Control
Dynamic Control
Group Limits Discrete Speeds Speed References Speed Regulator
Control Config Ramp Rates
Load Limits Stop Modes Restart Modes Adaptv Regulator
Parameters
[Minimum Speed] 1
[Min Speed Fwd]
5
[Min Speed Rev]
6
[Maximum Speed] 2
[Jog Speed]
266
[Preset Speed 3]
156
[Jog Off Delay]
1409
[Preset Speed 4]
157
[Preset Speed 1]
154
[Preset Speed 5]
158
[Preset Speed 2]
155
[Preset Speed 6]
159
[Trim Ramp]
42
[Trim Speed]
43
[Trim Ramp Pct]
378
[Trim Speed Pct]
379
[Speed Reg En]
242 (1) [SpdOut FiltBW]
239
[Spd Reg Kp]
87
[Speed Thresh Pos] 101
[Spd Reg Ki]
88
[Speed Thresh Neg] 102
[Total Inertia]
433
[Threshold Delay]
103
[Spd Reg BW]
434
[At Speed Error]
104
[Act Spd Reg BW]
435
[At Speed Delay]
105
[Spd Reg Damping] 436
[Ref Zero Level]
106
[Spd Reg Kp Outpt] 99
[Speed Zero Level] 107
[Spd Reg Ki Outpt] 100
[Speed Zero Delay] 108
[Spd Reg Pos Lim] 95
[Spd Zero I En]
123
[Spd Reg Neg Lim] 96
[Spd Ref Zero En]
124
[SpdOut FiltGain]
238
[Spd Zero P En]
125
(1) This parameter available for use with firmware revision 2.005 and lower only.
[Spd Trq Mode Sel] 241
[SLAT Err Stpt]
15
[Speed Ramp En]
245
[Ramp Type Select] 18
[Accel Time 1]
660
[Decel Time 1]
662
[Accel Time 2]
24
[Decel Time 2]
32
[MOP Accel Time]
22
[MOP Decel Time]
30
[Jog Ramp Time]
1410
[S Curve Time]
19
[S Curve Accel 1]
665
[S Curve Decel 1]
666
[Enable Droop]
699
[Droop Limit]
700
[Droop Percent]
696
[Load Comp]
698
[Droop Filter]
697
[Torq Red CurLim] 13
[Fast Stop Time]
38
[Closing Speed]
1262
[Spd 0 Trip Delay]
627
[Opening Delay]
1263
[Start At Powerup] 1344
[Powerup Delay]
1345
[Adaptive Spd En] 181
[Adaptive Reg Typ] 182
[Adaptive Ref]
183
[Adaptive Spd 1]
184
[Adaptive Spd 2]
185
[Adaptive Joint 1]
186
[Adaptive Joint 2]
187
[Adaptive P Gain1] 188
[Adaptive I Gain1] 189
[Adaptive P Gain2] 190
[Max Speed Fwd]
3
[Max Speed Rev]
4
[Preset Speed 7]
160
[TB Manual Ref]
267
[Speed Ratio]
1017
[Spd Zero P Gain]
126
[Lock Speed Integ] 348
[Flying Start En]
388
[SpdReg AntiBckup] 643
[Spd Reg P Filter]
444
[Spd Up Gain Pct]
445
[Speed Up Base]
446
[Speed Up Filter]
447
[SpdReg Kp Bypass] 459
[SpdReg Ki Bypass] 460
[SpdReg BW Bypass] 448
[SpdFuncSelect]
1016
[SLAT Dwell Time] 16
[S Curve Accel 2]
667
[S Curve Decel 2]
668
[Ramp Delay]
20
[Zero Ramp Output] 344
[Zero Ramp Input] 345
[Freeze Ramp]
373
[Torq Limit Type]
715
[Ramp In Zero En] 1265
[Actuator Delay]
1266
[Adaptive I Gain2] 191 [Adaptive P Gain3] 192 [Adaptive I Gain3] 193
122
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
File Applications
Applications
Programming and Parameters Chapter 3
Group PI Control PD Control PID Control Init Diam Calc Diameter Calc
Winder Functions
Torque Prove Scale Blocks
Parameters
[Enable PI]
769
[PI Output]
771
[PI Steady Thrsh]
695
[PID Steady Delay] 731
[PI Init Prop Gn]
793
[PI Init Intgl Gn]
734
[Enable PD]
770
[PD Output PID]
421
[PD Prop Gain 1]
768
[Enable PI PD]
1258
[PID Output]
774
[Feed Fwd PID]
758
[Real FF PID]
418
[PID Source]
786
[PID Source Gain]
787
[Diameter Calc]
794
[DncrPosSpd]
795
[Max Deviation]
796
[Minimum Diameter] 799
[Max Diameter]
1153
[Roll Diameter]
1154
[Diam Threshold]
1158
[Diameter Reached] 1159
[Winder Type]
1187
[Line Spd Source]
1204
[Line Spd Gain]
1156
[Torque Winder En] 1209
[Tension Ref]
1180
[Act Ten Ref Pct]
1194
[Torq Current Pct]
1193
[Int Acc Calc En]
1183
[Time AccDec Min] 1182
[Acc Dec Filter]
1212
[Line Accel Pct]
1184
[Line Decel Pct]
1185
[Line FastStp Pct]
1186
[Accel Status]
1188
[Decel Status]
1189
[Fast Stop Status]
1190
[Variable J Comp]
1171
[Constant J Comp] 1172
[Materl Width Pct] 1173
[Torq Prove Cfg]
1100
[Torq Prove Setup] 1101
[Torq Prove Sts]
1103
[Torq Limit Slew]
1104
[Speed Dev Band] 1105
[Scale1 Input]
484
[Scale1 Output]
485
[Scale1 Mul]
486
[Scale1 Div]
487
[Scale1 In Max]
488
[Scale1 In Min]
489
[Scale1 In Off]
490
[Scale1 Out Off]
491
[Scale1 In Abs]
492
[Scale2 Input]
553
[Scale2 Output]
554
[Scale2 Mul]
555
[Scale2 Div]
556
[Scale2 In Max]
557
[Scale2 In Min]
558
[Scale2 In Off]
559
[Scale2 Out Off]
560
[Scale2 In Abs]
561
[PI Prop Gain PID]
765
[PI Integral Gain]
764
[PI Upper Limit]
784
[PI Lower Limit]
785
[PI Central v1]
776
[PI Central v2]
777
[PD Prop Gain 2]
788
[PD Prop Gain 3]
790
[PD Deriv Filter]
767
[PID Target]
782
[PID Output Scale] 773
[PID Output Sign]
772
[PID Feedback]
763
[PID Error]
759
[PID Error Gain]
1254
[Gear Box Ratio]
797
[Dancer Constant] 798
[Minimum Diameter] 799
[Line Speed Pct]
1160
[Line Spd Thresh]
1155
[Base Omega]
1163
[Diameter Filter]
1162
[Diam Init Filter]
1206
[Diam Stdy Delay] 1207
[Diam Inc Dec En]
1205
[Diam Preset 0]
1164
[InertiaCompCnst] 1191
[InertiaCompVar]
1192
[Static Friction]
1174
[Static F Zero]
1287
[Dynamic Friction] 1175
[Actual Comp]
1213
[Closed Loop En]
1214
[Close Loop Comp] 1208
[Tension Scale]
1181
[Taper Enable]
1176
[Initial Diameter]
1177
[Final Diameter]
1178
[Tension Reduct]
1179
[Speed Demand En] 1215
[Ref Spd Source]
1284
[Ref Speed Gain]
1285
[Spd Band Intgrtr] 1106
[Brk Release Time] 1107
[Brk Set Time]
1108
[Brk Alarm Travel] 1109
[Brk Slip Count]
1110
[Scale3 Input]
1218
[Scale3 Output]
1219
[Scale3 Mul]
1220
[Scale3 Div]
1221
[Scale3 In Max]
1222
[Scale3 In Min]
1223
[Scale3 In Off]
1224
[Scale3 Out Off]
1225
[Scale3 In Abs]
1226
[Scale4 Input]
1227
[Scale4 Output]
1228
[Scale4 Mul]
1229
[Scale4 Div]
1230
[Scale4 In Max]
1231
[Scale4 In Min]
1232
[Scale4 In Off]
1233
[Scale4 Out Off]
1234
[Scale4 In Abs]
1235
[PI Central v3]
778
[PI Central v sel]
779
[PI Central vs0]
780
[PI Central vs1]
781
[PI integr freeze]
783
[PD Deriv Gain 1]
766
[PD Deriv Gain 2]
789
[PD Deriv Gain 3]
791
[PID Clamp]
757
[PID Setpoint 0]
760
[PID Setpoint 1]
761
[PID Setpoint Sel]
762
[PID Accel Time]
1046
[PID Decel Time]
1047
[Diameter Calc St] 800
[Diam Preset 1]
1165
[Diam Preset 2]
1166
[Diam Preset 3]
1167
[Diam Preset Sel]
1168
[Diameter Reset]
1157
[Diam Calc Dis]
1161
[Ref Line Speed]
1286
[W Target]
1210
[W Reference]
1217
[Winder Side]
1201
[W Gain]
1202
[W Offset]
1199
[Offs Accel Time]
1198
[Speed Match]
1195
[Spd Match Gain]
1200
[Spd Match Acc]
1196
[Spd Match Dec]
1197
[Spd Match Torque] 1216
[Spd Match Compl] 1203
[Jog TW Enable]
1256
[Jog TW Speed]
1255
[Float Tolerance]
1111
[MicroPsnScalePct] 1112
[ZeroSpdFloatTime] 1113
[Brake Test Torq]
1114
[Scale5 Input]
1236
[Scale5 Output]
1237
[Scale5 Mul]
1238
[Scale5 Div]
1239
[Scale5 In Max]
1240
[Scale5 In Min]
1241
[Scale5 In Off]
1242
[Scale5 Out Off]
1243
[Scale5 In Abs]
1244
[Scale6 Input]
1245
[Scale6 Output]
1246
[Scale6 Mul]
1247
[Scale6 Div]
1248
[Scale6 In Max]
1249
[Scale6 In Min]
1250
[Scale6 In Off]
1251
[Scale6 Out Off]
1252
[Scale6 In Abs]
1253
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
123
Chapter 3 Programming and Parameters
File
Group
Parameters
Utility
Utility
Reference Config [Direction Mode]
1322
[Save HIM Ref]
209
Drive Memory
[Param Access Lvl] 211
Diagnostics
[Drive Status 1]
381
[Drive Status 2]
382
[Speed Ref Source] 1329
[Spd Ref Sel Sts]
1330
[Last Stop Source] 1402
[Start Inhibits]
1403
[Drive Logic Rslt]
1328
[At Speed]
394
[At Zero Speed]
395
[CurrLimit Active]
349
Faults
[Clear Fault Que]
263
[Fault Clear]
1347
[Fault Clr Mode]
1348
[Status1 at Fault]
1349
[Status2 at Fault]
1350
[Fault Arm Amps]
1371
[Fault Speed]
1372
[Fault Field Amps] 1373
[Fault Voltage]
1374
[Fault 1 Code]
1351
Alarms
[Drive Alarm 1]
1380
[Drive Alarm 2]
1394
[OverVolt Flt Cfg]
203
[Aux Inp Flt Cfg]
354
[OverTemp Flt Cfg] 365
User Defined
[UsrDsplyMult0]
50
[UsrDsplyDiv0]
51
[UsrValMult1]
53
[UsrValDiv1]
54
[UserDefined0]
503
[UserDefined1]
504
[UserDefined2]
505
[UserDefined3]
506
[UserDefined4]
507
[UserDefined5]
508
[UserDefined6]
509
[UserDefined7]
510
[UserDefined8]
511
[UserDefined9]
512
[UserDefined10]
513
[UserDefined11]
514
[UserDefined12]
515
[UserDefined13]
516
Communications Comm Control
[DPI Baud Rate]
589
Communication
[DPI Port Sel]
590
Masks and Owners [Logic Mask]
591
[Start Mask]
592
[Jog Mask]
593
[Direction Mask]
594
[Reference Mask]
595
[Accel Mask]
596
[Fault Clr Mask]
597
Datalinks
[Data In A1]
610
[Data In A2]
611
[Data In B1]
612
[Data In B2]
613
[Data In C1]
614
[Data In C2]
615
Security
[Logic Mask]
591
[Logic Mask Act]
1376
[Man Ref Preload] 210
[MOP Ref Config]
249
[Reset Defaults]
258
[Spd Limit Active] 372
[Speed Threshold] 393
[Torque Positive]
346
[Torque Negative] 347
[MOP Inc Active]
396
[MOP Dec Active]
397
[Spd Select 0]
400
[Spd Select 1]
401
[Spd Select 2]
402
[Ramp Select 0]
403
[Fault 2 Code]
1352
[Fault 3 Code]
1353
[Fault 4 Code]
1354
[Fault 5 Code]
1355
[Fault 6 Code]
1356
[Fault 7 Code]
1357
[Fault 8 Code]
1358
[Fault 9 Code]
1359
[Fault 10 Code]
1360
[Fault 1 Time]
1361
[FldLoss Flt Cfg]
473
[FldLoss Flt Dly]
475
[Spd Loss Flt Cfg]
478
[MtrOvrld Flt Cfg]
479
[UnderVolt Thresh] 481
[UserDefined14]
517
[UserDefined15]
518
[UsrDefBitWrdA]
519
[UsrDefBitWrdA0] 520
[UsrDefBitWrdA1] 521
[UsrDefBitWrdA2] 522
[UsrDefBitWrdA3] 523
[UsrDefBitWrdA4] 524
[UsrDefBitWrdA5] 525
[UsrDefBitWrdA6] 526
[UsrDefBitWrdA7] 527
[UsrDefBitWrdA8] 528
[UsrDefBitWrdA9] 529
[UsrDefBitWrdA10] 530
[UsrDefBitWrdA11] 531
[UsrDefBitWrdA12] 532
[UsrDefBitWrdA13] 533
[UsrDefBitWrdA14] 534
[DPI Fdbk Select]
1321
[MOP Mask]
598
[Local Mask]
599
[Decel Mask]
631
[Stop Owner]
600
[Start Owner]
601
[Jog Owner]
602
[Direction Owner] 603
[Data In D1]
616
[Data In D2]
617
[Data Out A1]
618
[Data Out A2]
619
[Data Out B1]
620
[Data Out B2]
621
[Write Mask Act]
1377
[Write Mask Cfg]
1378
[MOP Select]
1375
[Language]
302
[Ramp Select 1]
404
[Spd Fdbk State]
651
[Reslvr Error Cnt]
432
[MtrOvrld Status]
1290
[TestPoint Sel]
1381
[TestPoint Data]
1382
[TaskLoad 1 ms]
1384
[TaskLoad 2 ms]
1385
[TaskLoad 8 ms]
1386
[Fault 2 Time]
1362
[Fault 3 Time]
1363
[Fault 4 Time]
1364
[Fault 5 Time]
1365
[Fault 6 Time]
1366
[Fault 7 Time]
1367
[Fault 8 Time]
1368
[Fault 9 Time]
1369
[Fault 10 Time]
1370
[UnderVlt Flt Dly]
470
[OverCurrent Thr]
584
[Overspeed Val]
585
[SSC Threshold]
409
[UsrDefBitWrdA15] 535
[UsrDefBitWrdB]
536
[UsrDefBitWrdB0] 537
[UsrDefBitWrdB1] 538
[UsrDefBitWrdB2] 539
[UsrDefBitWrdB3] 540
[UsrDefBitWrdB4] 541
[UsrDefBitWrdB5] 542
[UsrDefBitWrdB6] 543
[UsrDefBitWrdB7] 544
[UsrDefBitWrdB8] 545
[UsrDefBitWrdB9] 546
[UsrDefBitWrdB10] 547
[UsrDefBitWrdB11] 548
[UsrDefBitWrdB12] 549
[UsrDefBitWrdB13] 550
[UsrDefBitWrdB14] 551
[UsrDefBitWrdB15] 552
[DPI Port Value]
1343
[Reference Owner] 604
[Accel Owner]
605
[Fault Clr Owner]
606
[MOP Owner]
607
[Local Owner]
608
[Decel Owner]
609
[Data Out C1]
622
[Data Out C1]
623
[Data Out D1]
624
[Data Out D2]
625
[Data In Val Sel]
1319
[Data In SelData]
1320
[Port Mask Act]
1379
124
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Programming and Parameters Chapter 3
File Input / Output
Inputs / Outputs
Group Analog Inputs
Analog Outputs Digital Inputs
Digital Outputs DPI Inputs
Parameters
[Anlg In1 Sel]
70
[Anlg In1 Config]
71
[Anlg In1 Scale]
72
[Anlg1 Tune Scale] 73
[Anlg In1 Offset]
74
[Anlg In1 Tune]
259
[Anlg In1 Filter]
792
[Anlg In2 Sel]
75
[Anlg In2 Config]
76
[Anlg In2 Scale]
77
[Anlg2 Tune Scale] 78
[Anlg Out1 Sel]
66
[Anlg Out2 Sel]
67
[Anlg Out3 Sel]
68
[ContactorControl] 1391
[Dig In Status]
564
[Digital In1 Sel]
133
[Digital In2 Sel]
134
[Digital In3 Sel]
135
[Digital In4 Sel]
136
[Digital In5 Sel]
137
[Digital In6 Sel]
138
[Digital In7 Sel]
139
[Digital In8 Sel]
140
[Digital In9 Sel]
141
[Digital In10 Sel]
142
[Digital In11 Sel]
143
[Dig Out Status]
581
[Digital Out1 Sel]
145
[Digital Out2 Sel]
146
[Digital Out3 Sel]
147
[Digital Out4 Sel]
148
[Digital Out5 Sel]
149
[Digital Out6 Sel]
150
[DPI P1 Select]
1323
[DPI P2 Select]
1324
[Anlg In2 Offset]
79
[Anlg In2 Tune]
260
[Anlg In2 Filter]
801
[Anlg In3 Sel]
80
[Anlg In3 Config]
81
[Anlg In3 Scale]
82
[Anlg3 Tune Scale] 83
[Anlg In3 Offset]
84
[Anlg In3 Tune]
261
[Anlg In3 Filter]
802
[Anlg In1 Target]
295
[Anlg Out4 Sel]
69
[Analog Out1 Scale] 62
[Analog Out2 Scale] 63
[Digital In12 Sel]
144
[Inversion In 1]
1276
[Inversion In 2]
1277
[Inversion In 3]
1278
[Inversion In 4]
1279
[Inversion In 5]
1280
[Inversion In 6]
1281
[Inversion In 7]
1282
[Inversion In 8]
1283
[Inversion In 9]
1387
[Inversion In 10]
1388
[Inversion In 11]
1389
[Inversion In 12]
1390
[Digital Out7 Sel]
151
[Digital Out8 Sel]
152
[Relay Out 1 Sel]
1392
[Relay Out 2 Sel]
629
[Inversion Out 1]
1267
[Inversion Out 2]
1268
[Inversion Out 3]
1269
[DPI P3 Select]
1325
[DPI P4 Select]
1326
[Anlg In2 Target]
296
[Anlg In3 Target]
297
[Anlg In1 Cmp]
1042
[Anlg In1 Cmp Err] 1043
[Anlg In1 Cmp Dly] 1044
[Anlg In1 Cmp Eq] 1045
[Analog In1 Value] 1404
[Analog In2 Value] 1405
[Analog In3 Value] 1406
[Analog Out3 Scale] 64 [Analog Out4 Scale] 65
[Dig In Term 1]
565
[Dig In Term 2]
566
[Dig In Term 3]
567
[Dig In Term 4]
568
[Dig In Term 5]
569
[Dig In Term 6]
570
[Dig In Term 7]
571
[Dig In Term 8]
572
[Dig In Term 9]
573
[Dig In Term 10]
574
[Dig In Term 11]
575
[Dig In Term 12]
576
[Inversion Out 4]
1270
[Inversion Out 5]
1271
[Inversion Out 6]
1272
[Inversion Out 7]
1273
[Inversion Out 8]
1274
[Inversion Relay1] 1393
[Inversion Relay2] 1275
[DPI P5 Select]
1327
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
125
Data Type Related
Chapter 3 Programming and Parameters
Monitor File
File Group No.
MONITOR Speed Meters
Parameter Name and Description
See page 117 for symbol descriptions
Values
44 [Speed Ref A]
Default:
Read Only
16-bit 45
Displays the first speed reference of the drive in rpm. This parameter can be sourced from many signals and is the factory default selection for Par 70 [Anlg In1 Sel]. See block diagram Speed Reference Selection on page 366 for
Min/Max: Units:
/+ 1.3 x Par 45 [Max Ref Speed] (1) Int rpm
possible source signals.
(1) The value of [Max Ref Speed] cannot exceed 6000 rpm.
Note: The maximum value of this parameter was changed from /+ Par 45
for firmware revision 3.001.
47 [Speed Ref A Pct]
Default:
Displays the first speed reference of the drive as a percentage of Par 45 [Max Ref Speed]. This parameter can be sourced from many signals. See block diagram Speed Reference Selection on page 366 for possible source signals.
Min/Max: Units:
Notes: This parameter can be assigned to an analog input. The min. and max.
values of this parameter were changed from /+100.0 for firmware revision
3.001.
Read Only
/+130.0 %
Real 45
48 [Speed Ref B]
Default:
Read Only
16-bit 45
Displays the second speed reference of the drive in rpm. This parameter can be sourced from many signals. See block diagram Speed Reference Selection
Min/Max: Units:
on page 366 for possible source signals.
/+ 1.3 x Par 45 [Max Ref Speed] (1) Int rpm
Note: The maximum value of this parameter was changed from /+ Par 45 (1) The value of [Max Ref Speed] cannot exceed 6000 rpm.
for firmware revision 3.001.
49 [Speed Ref B Pct]
Default:
Displays the second speed reference of the drive as a percentage of Par 45 [Max Ref Speed]. This parameter can be sourced from many signals. See block diagram Speed Reference Selection on page 366 for possible source signals.
Min/Max: Units:
Note: The min. and max. values of this parameter were changed from /
+100.0 for firmware revision 3.001.
Read Only
/+130.0 %
Real 45
110 [Ramp In]
Default:
Read Only
16-bit
Total reference value input to the ramp in rpm. Notes: This parameter can be assigned to an analog output. The min. and max. values of this parameter were changed from /+32766 for firmware
Min/Max: Units:
/+8192 rpm
Int
revision 3.001
111 [Ramp In Pct]
Default:
Total reference value input to the ramp as a percentage of Par 45 [Max Ref Speed]. Notes: This parameter can be assigned to an analog output. The min. and
Min/Max: Units:
max. values of this parameter were changed from /+100.0 for firmware
revision 3.001.
Read Only
/+200.0 %
Real 45
113 [Ramp Out]
Default:
Read Only
16-bit
Output of the ramp in rpm. Notes: This parameter can be assigned to an analog output. The min. and
Min/Max: Units:
/+8192 rpm
Int
max. values of this parameter were changed from /+32766 for firmware
revision 3.001
114 [Ramp Out Pct] Output of the ramp as a percentage of Par 45 [Max Ref Speed].
Note: The min. and max. values of this parameter were changed from / +100.0 for firmware revision 3.001.
Default:
Min/Max: Units:
Read Only
/+200.0 %
Real 45
117 [Speed Reg In Pct]
Default:
Read Only
Real
Total reference value input to the Speed Regulator as a percentage of Par 45 [Max Ref Speed]. Notes: This parameter can be assigned to an analog output. The min. and
Min/Max: Units:
/+200.0 %
max. values of this parameter were changed from /+100.0 for firmware
revision 3.001.
126
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
File Group No.
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
118 [Speed Reg In]
Default:
Total reference value input to the Speed Regulator in rpm. Notes: This parameter can be assigned to an analog output. The min. and max. values of this parameter were changed from /+32766 for firmware
Min/Max: Units:
revision 3.001
121 [Spd Feedback Pct]
Default:
Actual speed as a percentage of the Par 162 [Max Feedback Spd]. Notes: This parameter can be assigned to an analog output and is the factory
Min/Max: Units:
default selection for Par 66 [Anlg Out1 Sel]. The min. and max. values of this
parameter were changed from /+100.0 for firmware revision 3.001.
122 [Spd Feedback]
Default:
Actual speed in rpm.
Min/Max:
Notes: This parameter can be assigned to an analog output. The min. and Units:
max. values of this parameter were changed from /+32766 for firmware
revision 3.001
428 [Resolver Speed] Displays the speed feedback from the resolver module.
Note: This parameter was added for firmware revision 5.002.
Default:
Min/Max: Units:
384 [Spd Ref Out Pct]
Default:
Output of the Speed Reference selection as a percentage of Par 45 [Max Ref Speed]. Notes: This parameter can be assigned to an analog output. The min. and
Min/Max: Units:
max. values of this parameter were changed from /+100.0 for firmware revision 3.001.
385 [Speed Ref Out]
Default:
Output of the Speed Reference selection. Notes: This parameter can be assigned to an analog output. The min. and
Min/Max: Units:
max. values of this parameter were changed from /+32766 for firmware
revision 3.001
420 [Encoder Speed] Actual speed measured by the digital encoder.
Default:
Min/Max: Units:
924 [Actual Speed]
Default:
Filtered value of Par 122 [Spd Feedback]. Par 923 [Act Spd Filter] can be used to provide limited (first order low pass) filtering of this value.
Min/Max: Units:
Notes: This parameter can be assigned to an analog output. The min. and
max. values of this parameter were changed from /+32766 for firmware
revision 3.001
1006 [Droop Out] Displays the output of the Droop Compensation function. The [Droop Out] signal (if enabled by Par 699 [Enable Droop]) is summed with Par 1018 [Speed Draw Out] and 43 [Trim Speed]. Droop compensation specifies the amount of adjustment in speed reference when operating at full-load current. Note: This parameter was added for firmware revision 4.001.
Default:
Min/Max: Units:
1007 [Droop Out Pct]
Default:
The value of Par 1006 [Droop Out] shown as a percentage of Par 45 [Max Ref Speed]. Note: This parameter was added for firmware revision 4.001.
Min/Max: Units:
1008 [Spd Reg Fdbk] Speed Regulator Feedback signal after all filtering has been applied.
Note: This parameter was added for firmware revision 4.001.
Default:
Min/Max: Units:
1009 [Spd Reg Fdbk Pct]
Default:
Par 1008 [Spd Reg Fdbk] shown as a percentage of Par 162 [Max Feedback Spd]. Note: This parameter was added for firmware revision 4.001.
Min/Max: Units:
Read Only /+8192 rpm
Read Only /+200.0 %
Read Only /+8192 rpm
Read Only /+8192 rpm Read Only /+200.0 %
Read Only /+8192 rpm
Read Only /+8192 rpm Read Only /+8192 rpm
Read Only /+ Par 45 [Max Ref Speed] rpm
Read Only /+100.0 % Read Only /+8192 rpm Read Only /+200.0 %
16-bit Int
Real 66, 162
16-bit Int
16-bit Int Real 45
16-bit Int
16-bit Int 16-bit 121, Int 222,
923
16-bit 45 Int
Real 45
16-bit Int Real 162
MONITOR Speed Meters
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
127
Data Type Related
Chapter 3 Programming and Parameters
File Group No.
Speed Meters
MONITOR
Parameter Name and Description
See page 117 for symbol descriptions
Values
1010 [Spd Reg Err]
Default:
Speed Regulator Error signal, the difference between Par 118 [Speed Reg In] and 1008 [Spd Reg Fdbk]. Note: This parameter was added for firmware revision 4.001.
Min/Max: Units:
Read Only
/+8192 rpm
1011 [Spd Reg Err Pct] Par 1010 [Spd Reg Err] shown as a percentage of Par 45 [Max Ref Speed].
Note: This parameter was added for firmware revision 4.001.
Default:
Min/Max: Units:
Read Only
/+200.0 %
1018 [Speed Draw Out]
Default:
Read Only
Speed draw output value. Notes: This parameter can be assigned to an analog output. See Speed Draw
Min/Max: Units:
/+ Par 45 [Max Ref Speed] 1 rpm
Function on page 341 for more information.
(1) The value of [Max Ref Speed] cannot exceed 8192 rpm.
1019 [Spd Draw Out Pct]
Default:
Speed draw output as a percentage of Par 45 [Max Ref Speed]. Notes: This parameter can be assigned to an analog output. The min. and
Min/Max: Units:
max. values of this parameter were changed from /+100.00 for firmware
revision 3.001.
Read Only
/+100.0 %
1408 [Tachometer Speed] Actual speed measured by the DC analog tachometer. Note: The min. and max. values of this parameter were changed from / +32770 for firmware revision 3.001
Default:
Min/Max: Units:
Read Only
/+8192 rpm
10 [Cur Lim Pos Out]
Default:
Displays the value of the current limit for the positive torque direction as a percentage of the value in Par 179 [Nom Mtr Arm Amps].
Min/Max: Units:
Read Only
0 / 250 %
11 [Cur Lim Neg Out]
Default:
Displays the value of the current limit for the negative torque direction as a percentage of the value in Par 179 [Nom Mtr Arm Amps].
Min/Max: Units:
Read Only
0 / 200 %
14 [Selected TorqRef]
Default:
Displays the selected torque reference based on Par 241 [Spd Trq Mode Sel] value. Scaled as a percentage of Par 179 [Nom Mtr Arm Amps].
Min/Max: Units:
Note: This parameter was added for firmware revision 3.001.
Read Only
/+250 %
17 [Motor Trq Ref]
Default:
Displays the total motor torque reference. Scaled as a percentage of Par 179 [Nom Mtr Arm Amps].
Min/Max: Units:
Note: This parameter was added for firmware revision 3.001.
Read Only
/+250 %
41 [Current Reg In]
Default:
Total current reference value expressed as a percentage of the value in Par 179 [Nom Mtr Arm Amps].
Min/Max: Units:
Note: This parameter can be assigned to an analog output.
Read Only
/+250 %
89 [SpdReg PosLmOut]
Default:
Indication of the positive limit value in effect on the output of the speed regulator. Note: This parameter was added for firmware revision 5.002.
Min/Max: Units:
Read Only
/+250 %
90 [SpdReg NegLmOut]
Default:
Indication of the negative limit value in effect on the output of the speed regulator. Note: This parameter was added for firmware revision 5.002.
Min/Max: Units:
Read Only
/+250 %
199 [Arm Current Pct]
Default:
Armature current expressed as a percentage of the value in Par 179 [Nom Mtr Arm Amps]. Note: This parameter can be assigned to an analog output and is the default
Min/Max: Units:
selection for Par 67 [Anlg Out2 Sel].
Read Only
/+250 %
200 [Arm Current] Armature current in Amperes.
Note: This parameter can be assigned to an analog output.
Default:
Min/Max: Units:
Read Only
/+2.5 x [Nom Mtr Arm Amps] A
16-bit 118, Int 1008 Real 45 16-bit 45 Int Real 45
Real
Real 179 Real 179 Real 179,
241 Real 179
Real 179
Real
Real
16-bit 179 Int
Real
Current Meters
128
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
File Group No.
Current Meters
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
232 [Inertia Comp Out]
Default:
Displays the output of the Inertia Compensation function. The [Inertia Comp Out] signal (if selected by Par 1016 [SpdFuncSelect]) is summed with Pars 14 [Selected TorqRef] and 40 [Trim Torque]. Inertia compensation provides a
Min/Max: Units:
torque feed forward signal during changes in motor speed reference.
Notes: This parameter was added for firmware revision 4.001. In revision
6.004, when Inertia Loss/Compensation is not selected, this parameter value
can reach invalid values if parameter 1014 [Inertia] or 433 [Total Inertia]
becomes large.
234 [Fld Current Pct]
Default:
Field current (present value) as a percentage of Par 280 [Nom Mtr Fld Amps]. When running a permanent magnet motor, this parameter displays zero. Note: This parameter can be assigned to an analog output and is the default
Min/Max: Units:
value for Par 68 [Anlg Out3 Sel].
236 [Spd Reg Out Pct]
Default:
Output value of the speed regulator, as a percentage of Par 179 [Nom Mtr Arm Amps], used as the reference for the current regulator.
Min/Max: Units:
351 [Field Current]
Default:
Present value of the field current. When running a permanent magnet motor, this parameter displays zero.
Min/Max: Units:
Note: This parameter can be assigned to an analog output.
476 [Field Curve Out]
Default:
Displays the output value of the field current that is used as a reference to the field current regulator.
Min/Max: Units:
Note: This parameter was added for firmware revision 4.001.
500 [Flux Ref Pct]
Default:
Field flux (reference) as a percentage of Par 280 [Nom Mtr Fld Amps]. When the Field Curve is linear (default setting), the field flux reference is a linear
Min/Max: Units:
percentage of the field current. If the Field Curve is set to values other than
the defaults (in Pars 916...918), the field flux reference percentage is not equal to the field current percentage (unless the flux is at 0% or 100%). When running a permanent magnet motor, this parameter displays zero. Notes: This parameter can be assigned to an analog output. This name of this
parameter was changed from [Field Ref Pct] for firmware revision 3.001.
928 [Filt TorqCur Pct]
Default:
Filtered value of Par 1193 [Torq Current Pct]. The amount of filtering is set by Par 926 [Torq Cur Filter].
Min/Max: Units:
57 [FaultCode]
Default:
A code that shows the last active fault on the drive. If there are no active faults, this value is zero (No Fault). The last 10 faults in the drive can be
Min/Max:
viewed in Pars 1351...1370. See Fault Descriptions on page 222 for a list of
fault codes and descriptions.
165 [Firing Angle] Actual SCR firing angle.
A Notes: This parameter was added for firmware revision 7.001.
Default:
Min/Max: Units:
233 [Output Voltage]
Default:
Measured output armature voltage. Note: This parameter can be assigned to an analog output and is the default selection for Par 69 [Anlg Out4 Sel].
Min/Max: Units:
235 [Elapsed Lifetime]
Default:
Shows the operating time of the drive. This parameter counts the time for which the drive is energized (even if the drive is disabled).
Min/Max: Units:
300 [Drive Type] Displays of the drive type.
"10" = Non-Regenerative "11" = Regenerative
Default: Min/Max:
Read Only /+200 %
Read Only 0.00 / 100.00 %
Read Only /+250 % Read Only 0.00 / 99.90 A Read Only 0.00 / 100.00 % Read Only 0.00 / 100.00 %
Read Only /+250 % Read Only 0 / 65535
120.00 0.00 / 180.00 Deg Read Only -/+999.00 Vdc Read Only 0.00 / 65535.0 H.m Read Only 10 / 11
Real
Real 280
Real 179 Real Real Real 280
16-bit 926, Int 1193 16-bit 1351 Int Real Real Real 16-bit Int
MONITOR
Drive Data
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Data Type Related
Chapter 3 Programming and Parameters
File Group No.
MONITOR Drive Data
Parameter Name and Description
See page 117 for symbol descriptions
Values
331 [Software Version] Displays the Major and Minor (Major.Minor) firmware revision numbers
active in the drive.
Default: Min/Max:
332 [Drive Checksum] Provides a checksum value that indicates whether a change in drive
programming has occurred.
Default: Min/Max:
465 [Drive Size]
Default:
Armature current rating (as indicated by the configuration of DIP switch S15 on the control board). This value is used to determine the Drive Overload fault (F64).
Min/Max: Units:
Note: S15 is set to the appropriate value at the factory. However, if the control board was supplied separate from the drive and installed as a replacement part, S15 must be manually set to the appropriate drive size. See DIP Switch and Jumper Settings on page 77.
466 [AC Line Voltage] AC input voltage.
Default:
Min/Max: Units:
588 [AC Line Freq] AC input frequency.
Default:
Min/Max: Units:
1052 [Output Power] Output power. Parameter 1052 [Output Power] = Parameter 200 [Arm Current] x Parameter 233 [Output Voltage]. Note: This parameter can be assigned to an analog output.
Default:
Min/Max: Units:
Read Only
Real
1.00 / 999.00
Read Only
16-bit
0 / 65535
Int
Read Only
16-bit
0 / Based on drive current rating
Int
A
Read Only
16-bit
0 / 960
Int
Vac
Read Only
Real
0.00 / 70.00 Hz
Read Only
Real
0.00 / 9999.99 kW
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Programming and Parameters Chapter 3
Data Type Related
Motor Control File
File Group No.
MOTOR CONTROL Motor Data
Parameter Name and Description
See page 117 for symbol descriptions
Values
21 [Min Firing Angle]
Default:
25
A
Specifies the minimum SCR firing angle (Alpha) that the drive can command. This parameter should only be changed in applications where full speed is needed with a low AC line or operating in overload.
Min/Max: Units:
Note: See Parameter 21 [Min Firing Angle] Configuration on page 320 for
5/ 25 Deg
detailed configuration instructions. This parameter was added for firmware
revision 7.001.
16-bit 165 Int
ATTENTION: When the drive is capable of regenerating power back to the AC line, external inverting fault protection must be provided in the form of circuit breakers or fuses. Failure to provide this protection could result in machine or equipment damage.
45 [Max Ref Speed]
Default:
Highest speed reference that can be commanded. The value of this parameter also scales external speed reference values (rpm) to internal units (counts),
Min/Max: Units:
including analog inputs (10V = Par 45 rpm). Rated motor speed is
determined via Par 456 [Fld Weaken Ratio] when field weakening is used. If
field weakening is not used, set this parameter to the motor base speed.
Notes: If a speed feedback device is used (encoder, resolver, or tachometer),
see Drive Reference and Feedback Scaling on page 296 for instructions. The
maximum value was changed from "16383" for firmware revision 3.001.
162 [Max Feedback Spd]
Default:
Specifies the scaling between internal (counts) and external speed feedback values. Typically, this parameter is set to the same value as Parameter 45
Min/Max: Units:
[Max Ref Speed]. If an analog (DC) tachometer is used, this parameter's value
must be set to be compatible with the S4 switches on the control board (see
DIP Switch and Jumper Settings on page 77). If armature voltage feedback is
used, this parameter must be set to the motor nameplate base speed. Set Par
585 [Overspeed Val] 10% higher than the value entered into Par 162. Rated motor speed is determined via Par 456 [Fld Weaken Ratio] when field weakening is used. If field weakening is not used, set this parameter to the motor base speed.
Notes: If a speed feedback device is used (encoder, resolver, or tachometer), see Drive Reference and Feedback Scaling on page 296 for instructions. The maximum value was changed from "16383" for firmware revision 3.001.
175 [Rated Motor Volt]
Default:
Maximum armature voltage of the drive. Typically, this value is set to the Motor Nameplate Armature voltage. When Par 469 [Field Mode Sel] is set to 1 "Field Weaken", 4 "Wired FC FW", or 5 "Fiber FC FW" the value in this
Min/Max: Units:
parameter equals the voltage at which the field weakening phase begins.
Note: This parameter affects the threshold of an overvoltage condition, as indicated by an "Arm Overvoltage"fault (F5).
179 [Nom Mtr Arm Amps]
Default:
Rated motor nameplate armature current. The settings for the current limit and the overload function are based on this current value. Also, set this value to be greater than 1/3 the value of Par 465 [Drive Size].
Min/Max: Units:
201 [Drive Type Sel]
Default:
Important: This parameter is only applicable to non-regenerative
Options:
(2-quadrant) drives.
A
Allows non-regenerative drives to use an external 4-quadrant controller.
· "On"= Ramp, Speed, Torque current references, and Speed measurement have the same behavior as a four quadrant drive.
1750 1 / 6000 rpm
1750.00 1.00 / 6000 rpm
32-bit 2, Int 456
Real 169, 414, 456, 458, 585
240.0
20.0 / 999.0 V
Real 162, 169, 469, 481
Based on drive current rating
0.10 / Based on drive current rating A
0 = "Off"
0 = "Off" 1 = "On"
Real 465
16-bit Int
ATTENTION: Failure to set this parameter to a value appropriate for the intended application could result in equipment damage and/or personal injury.
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131
Data Type Related
Chapter 3 Programming and Parameters
File Group No.
MOTOR CONTROL Motor Data
Parameter Name and Description
See page 117 for symbol descriptions
Values
280 [Nom Mtr Fld Amps]
Default:
Rated motor nameplate field current (IdFN). Leave set to the default value for permanent magnet motor applications. For PowerFlex DC Field Controller applications, set the value in this parameter equal to the value of Par 374
Min/Max: Units:
[Drv Fld Brdg Curr].
333 [MtrOvrld Factor]
Default:
A
Sets the derating factor for motor overload. The derating begins when the motor speed is below the value set in Par 334 [MtrOvrld Speed]. The motor
Min/Max: Units:
overload level is determined by Par 376 [MtrOvrld Type] ("StandardDuty" is
150% of Par 179 [Nom Mtr Arm Amps] for 60 sec. or 200% for 3 sec.,
"HeavyDuty"is 200% for 60 sec.) and is linearly decreased from its maximum
to the value of the motor overload factor at zero speed (zero speed is defined by Par 107 [Zero Speed Level]). This parameter can be used to lower the level of current that causes the motor overload function to trip based on motor
speed (The trip action is determined by Par 479 [MtrOvrld Flt Cfg]). For example, a value of 70% implies continuous operation up to 100% of motor nameplate current when operating above the value of Par 334 [MtrOvrld Speed] and only 70% (1.00 * 70%) of motor nameplate current when
operating at zero speed. Setting this parameter to 100% disables the motor overload derating function so the standard motor overload function is always active. Note: This parameter was added for firmware revision 6.001.
334 [MtrOvrld Speed]
Default:
A
Sets the motor speed (as a percentage of Par 45 [Max Ref Speed]) where the derating factor (Par 333 [MtrOvrld Factor]) for motor overload capacity begins. The motor overload capacity is linearly reduced when operating
Min/Max: Units:
below [MtrOvrld Speed]. This is to account for the reduced self-cooling capability of typical motors operating at slower speeds. For motors with low speed cooling capacity (for example, blower cooling), reduce this setting to take full advantage of the motor being used. Setting this parameter to 0% disables the motor overload derating function so the standard overload function is independent of motor speed. Note: This parameter was added for firmware revision 6.001.
374 [Drv Fld Brdg Cur]
Default:
Drive rated field bridge current (IdFN). The value in this parameter must be set equal to the value chosen with DIP switch S14 on the control board (see
Min/Max: Units:
Table 16 on page 62 for DIP switch configuration). Leave set to the default
value for permanent magnet motor applications. For PowerFlex DC Field Controller applications, set the value of this parameter to the motor field rating. Note: Changed the max. value from 80.00 for firmware revision 7.001
376 [MtrOvrld Type]
Default:
Allows selection of the type of motor overload calculation based on Par 179 [Motor Arm Amps].
Options:
A
· StandardDuty = 150% load for 1 minute or 200% load for 3 seconds before a motor overload condition is indicated.
· HeavyDuty = 200% load for 1 minute before a motor overload condition
is indicated (250% for 30 sec). This selection requires that the drive be
oversized relative to the motor to be able to provide the necessary current
without faulting from a "Drive Overload" (F64).
Note: This parameter was added for firmware revision 3.001.
Par 374 [Drv Fld Brdg Cur] x 0.33 0.00 / [Drv Fld Brdg Cur] A
70 20 / 100 %
Real 374
16-bit Int
0
16-bit
0 / 100
Int
%
1.00
Real
0.50 / 570.00 A
0 = "StandardDuty"
0 = "StandardDuty" 1 = "HeavyDuty"
16-bit 179, Int 479,
1290
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File Group No.
Motor Data
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
464 [SAR Volts Scale] Scales the following parameters so that they show actual voltage values rather than drive calculated values when in Standalone Regulator (SAR) mode:
Values Default: Min/Max:
175 [Motor Rated Volt] 233 [Output Voltage] 466 [AC Line Voltage] 481 [Undervolt Thresh]
495 [Arm Volt Kp Base] 496 [Arm Volt Ki Base] 1052 [Output Power] 1374 [Fault Voltage]
Notes: This parameter was added for firmware revision 4.001. Important: When the drive is not in SAR mode, this parameter is clamped to the default value (1.0).
91 [Fld Reg Kp]
Default:
A
Proportional gain (KP) of the flux regulator expressed as a percentage of Par 97 [Fld Reg Kp Base]. Leave set to the default value for permanent magnet
Min/Max: Units:
motor or PowerFlex DC Field Controller applications.
92 [Fld Reg Ki]
Default:
A
Integral gain (KI) of the flux regulator expressed as a percentage of Par 98 [Fld Reg Ki Base]. Leave set to the default value for permanent magnet motor or PowerFlex DC Field Controller applications.
Min/Max: Units:
97 [Fld Reg Kp Base]
Default:
The proportional gain (KP0) of the field current regulator (base value). Leave set to the default value for permanent magnet motor or PowerFlex DC Field
Min/Max:
A Controller applications.
98 [Fld Reg Ki Base]
Default:
Integral gain (KI0) of the field current regulator in (base value). Leave set to the default value for permanent magnet motor or PowerFlex DC Field
Min/Max:
A Controller applications.
410 [Ext FC Curr Hyst] Defines the armature percentage threshold in the reverse direction that
A causes field inversion.
Note: This parameter was added for firmware revision 7.001.
Default:
Min/Max: Units:
456 [Fld Weaken Ratio]
Default:
The ratio of Motor Nameplate Base Speed to Par 45 [Max Ref Speed] when Par 469 [Field Mode Sel] 1 "Field Weaken", 4 "Wired FC FW", or 5 "Fiber FC FW". This value is the percentage of the maximum application speed when
Min/Max: Units:
field weakening begins: "Motor Base Speed" / Par 45 [Max Ref Speed] x 100.
If Par 469 [Field Mode Sel] = 0 "Base Speed", this parameter must be =
100%. Leave set to the default value for permanent magnet motor applications.
462 [Flux Divide]
Default:
A
Selects division by flux for Inertia Compensation or Torque Reference. Leave set to the default value for permanent magnet motor applications.
Options:
Note: Added for firmware revision 3.001.
463 [Flux Filter BW]
Default:
A
Adjustable low pass filter on the value of Par 500 [Flux Ref Pct]. The filtered result is used by the Torque Reference divide by flux function. Leave set to the default value for permanent magnet motor applications.
Min/Max: Units:
Note: Added for firmware revision 3.001.
1.0 0.5 / 10.0
2.00 0.00 / 100.00 % 1.00 0.00 / 100.00 % 3276.70 0.10 / 32767.00
3276.70 0.10 / 32767.00
5 1 / 100 % 100 0 / 100 %
0 = "Torque Ref" 0 = "Torque Ref" 1 = "Inertia Comp" 50 0 / 2000 ms
Real
Real 97 Real 98 Real 91
Real 92
16-bit 411, Int 412 16-bit 921, Int 469
16-bit Int 16-bit Int
MOTOR CONTROL
Field Config
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133
Chapter 3 Programming and Parameters
Data Type Related
File Group No.
MOTOR CONTROL Field Config
Parameter Name and Description
See page 117 for symbol descriptions
Values
467 [Max Fld Flux Pct]
Default:
Maximum allowable field flux. The maximum value (100%) corresponds to the value set in Par 280 [Nom Mtr Fld Amps]. The value of this field linearly affects the field current, unless a flux curve is set in Pars 916, 917, and 918
Min/Max: Units:
[Fld Const xx Pct]. Leave set to the default value for permanent magnet
motor applications.
Note: This parameter can be assigned to an analog input or output.
100
Par 468 [Min Fld Curr Pct] / 100 %
ATTENTION: Failure to set this parameter to a value appropriate for the intended application could result in excessive motor speed, equipment damage, and/or bodily injury.
468 [Min Fld Curr Pct]
Default:
Minimum allowable field current. The value set in this parameter also influences the threshold at which the "Fld Current Loss" (F6) fault occurs. The
Min/Max: Units:
threshold is half of the value of Par 468 [Min Fld Curr Pct]. The value of Par
351 [Field Current] equals the value of this parameter when Par 499 [Field
Economy En] = 1 "Enabled"and Field Economy becomes active. Leave set to
the default value for permanent magnet motor applications.
30
0 / Par 467 [Max Fld Flux Pct] %
ATTENTION: Failure to set this parameter to a value appropriate for the intended application could result in excessive motor speed, equipment damage, and/or personal injury.
469 [Field Mode Sel]
Default:
Operating mode of the field controller. · "Base Speed"= The motor field is regulated with constant current and
Options:
controls the motor from zero to base speed. If a curve is defined through
Pars 916, 917, and 918 [Fld Const xx Pct], this value changes linearly
through Par 467 [Max Fld Flux Pct] (which is a percentage of the nominal
flux value set in Par 280 [Nom Mtr Fld Amps]).
· "Field Weaken"= The motor field is regulated with a combination of
torque and constant power (armature and field regulation -- field
weakening). The maximum armature voltage is configured in Par 175
[Rated Motor Volt]. When using a DC contactor, this parameter is set to
this option, and Par 458 [SpdReg FB Bypass] is set to 1 "Enabled," the
armature voltage feedback terminals A1 and A2 must be connected to the
motor terminals A1 and A2, respectively.
· "External"= The motor field power is supplied by an external rectifier/
converter (the drive's field output is disabled).
· "PM External"= External field created by a permanent magnet (PM)
motor.
· "Wired FC FW"= Motor field with weakening regulated by PowerFlex DC
Field Controller via a wired connection.
· "Fiber FC FW"= Motor field with weakening regulated by PowerFlex DC
Field Controller via a fiber-optic cable connection.
· "Wired FC BS"= Motor field (no weakening) regulated by PowerFlex DC
Field Controller via a wired connection.
· "Fiber FC BS"= Motor field (no weakening) regulated by PowerFlex DC
Field Controller via a fiber-optic cable connection.
Notes: Option 3 "PM External"was added for firmware revision 5.002.
Options 4...7 were added for firmware revision 7.001.
493 [Arm Volt Kp]
Default:
Proportional gain (KP) of the field voltage regulator expressed as a percentage of the value defined in Par 495 [Arm Volt Kp Base]. This
Min/Max: Units:
parameter is not used when Par 469 [Field Mode Sel] is set to 4...7 (external
field is controller by a PowerFlex DC Field Controller).
494 [Arm Volt Ki]
Default:
Integral gain (KI) of the field voltage regulator expressed as a percentage of the value defined in Par 496 [Arm Volt Ki Base]. This parameter is not used
Min/Max: Units:
when Par 469 [Field Mode Sel] is set to 4...7 (external field is controller by a
PowerFlex DC Field Controller).
0 = "Base Speed" 0 = "Base Speed" 1 = "Field Weaken" 2 = "External" 3 = "PM External" 4 = "Wired FC FW" 5 = "Fiber FC FW" 6 = "Wired FC BS" 7 = "Fiber FC BS"
30.00 0.00 / 100.00 %
40.00 0.00 / 100.00 %
16-bit 468 Int
16-bit 467, Int 499
16-bit 456, Int 916,
917, 918, 921
Real 495 Real 496
134
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Programming and Parameters Chapter 3
Data Type Related
File Group No.
MOTOR CONTROL Field Config
Parameter Name and Description
See page 117 for symbol descriptions
Values
495 [Arm Volt Kp Base]
Default:
A
The proportional gain (KP0) of the field voltage regulator (base value). This parameter is not used when Par 469 [Field Mode Sel] is set to 4...7 (external field is controller by a PowerFlex DC Field Controller).
Min/Max: Units:
496 [Arm Volt Ki Base]
Default:
The integral coefficient (KI0) of the field voltage regulator (base value). This parameter is not used when Par 469 [Field Mode Sel] is set to 4...7 (external
Min/Max: Units:
A field is controller by a PowerFlex DC Field Controller).
497 [Field Reg Enable] Enables/Disables the field regulator. Leave set to the default value for
permanent magnet motor applications.
· "Enabled"= The field regulator is enabled and controlling the field output.
· "Disabled"= The field regulator is disabled (the field current is zero).
Default: Options:
498 [Force Min Field]
Default:
Enables/Disables the minimum field current value. Leave set to the default value for permanent magnet motor applications.
Options:
A
· "Enabled"= The field current corresponds to the value set via Par 468 [Min Fld Curr Pct].
· "Disabled"= The field current is regulated based on the quadrant mode
and situation in which the drive is operating.
Note: This parameter can be assigned to a digital input (35 "Force MinFld").
Based on drive current rating
0.10 / Based on drive current rating A / V
Real 493
0.90 x P496max
0.01 / Based on drive current rating A / V / ms
Real 494
1 = "Enabled"
16-bit
0 = "Disabled"
Int
1 = "Enabled"
0 = "Disabled"
16-bit
0 = "Disabled"
Int
1 = "Enabled"
ATTENTION: Enabling (forcing) the minimum field current while the drive is running could result in excessive motor speed, equipment damage, and/or bodily injury.
499 [Field Economy En]
Default:
When this parameter is set to 1 = "Enabled" and the value in Par 107 [Speed Zero Level] is reached (after the amount of time specified in Par 1407 [Field
Options:
Econ Delay] has elapsed), the minimum field current (set via Par 468 [Min Fld
Curr Pct]) is produced. Leave set to the default value for permanent magnet
motor applications.
· "Disabled"= Disables field economy
· "Enabled"= Enables field economy
916 [Fld Const 40 Pct]
Default:
A
This value corresponds to the field current required to produce 40% armature voltage when the motor is running at base speed. Leave set to the default value for permanent magnet motor applications.
Min/Max: Units:
917 [Fld Const 70 Pct]
Default:
A
This value corresponds to the field current required to produce 70% armature voltage when the motor is running at base speed. Leave set to the default value for permanent magnet motor applications.
Min/Max: Units:
918 [Fld Const 90 Pct]
Default:
This value corresponds to the field current required to produce 90% armature voltage when the motor is running at base speed. Leave set to the default
Min/Max: Units:
A value for permanent magnet motor applications.
919 [Set Fld Curve]
Default:
When set to "0", this parameter controls the motor field current to field reference curve according to the values specified in the [Fld Const xx Pct]
Min/Max:
A
parameters. When this curve is defined, the result of [Max Fld Flux Pct] / [Flux Ref Pct] equals the percentage of field current according to the characteristic
of the curve. This field is Write Only. After the value of this field is set to "0", it
will automatically return to "1". Leave set to the default value for permanent
magnet motor applications.
Note: See Tuning the Field Current Curve on page 358 for more information.
1 = "Enabled" 0 = "Disabled" 1 = "Enabled"
40.00 0.00 / 100.00 %
70.00 0.00 / 100.00 %
90.00 0.00 / 100.00 %
1 0 / 1
16-bit 395, Int 468,
1407
Real 469
Real 469
Real 469
16-bit 916, Int 917,
918
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135
Chapter 3 Programming and Parameters
File Group No.
Field Config
MOTOR CONTROL
Parameter Name and Description
See page 117 for symbol descriptions
Values
920 [Reset Fld Curve]
Default:
A
When set to "1", resets the drive to use a linear field curve. When this parameter is set, Par 280 [Nom Mtr Fld Amps] is linearly changed through [Max Fld Flux Pct] / [Flux Ref Pct]. This field is Write Only. After the value of this field is set to "1", it will automatically return to "0". Leave set to the
Min/Max: Units:
default value for permanent magnet motor applications.
921 [Out Volt Level]
Default:
A
The percentage of maximum output voltage based on the value in Par 175 [Rated Motor Volt]. In regenerative, field-weakened applications (hoist,
Min/Max: Units:
elevator, unwinder, and so on) set the value of this parameter less than
100%, to allow operation when overcoming gravity. The value of this
parameter also determines the voltage where the drive begins field defluxing while Field Weaken mode is active (Par 469 [Field Mode Sel] = 1 "Field Weaken", 4 "Wired FC FW", or 5 "Fiber FC FW"). Leave set to the default
value for permanent magnet motor applications. Notes: This parameter can be assigned to an analog output or analog input (by selecting "Out Volt Lvl"). The maximum value of this parameter was changed from "100" for firmware revision 3.001.
1407 [Field Econ Delay]
Default:
Amount of time to elapse once the drive reaches zero speed (as determined by Par 107 [Speed Zero Level]) before field economy becomes active. Leave
Min/Max: Units:
set to the default value for permanent magnet motor applications.
7 [Current Limit]
Default:
Symmetrical current limit expressed as a percentage of the value in Par 179 [Nom Mtr Arm Amps]. This value applies to both current directions for four
Min/Max: Units:
quadrant drives.
· If Par 7 [Current Limit] is changed, Pars 8 [Current Lim Pos] and 9 [Current
Lim Neg] are set to the same value. If either the value of Pars 8 [Current
Lim Pos] or 9 [Current Lim Neg] is changed later, the last change is valid.
Note: The maximum value for this parameter has been changed from 200% to 250% for firmware revision 5.006.
8 [Current Lim Pos]
Default:
The drive current limit for the positive current direction expressed as a percentage of the value in Par 179 [Nom Mtr Arm Amps]. Notes: This parameter can be assigned to an analog input. The maximum
Min/Max: Units:
value for this parameter has been changed from 200% to 250% for firmware
revision 5.006.
9 [Current Lim Neg]
Default:
The drive current limit for the negative current direction expressed as a percentage of the value in Par 179 [Nom Mtr Arm Amps]. This parameter is not active for two quadrant drives.
Min/Max: Units:
Notes: This parameter can be assigned to an analog input. The maximum
value for this parameter has been changed from 200% to 250% for firmware
revision 5.006.
12 [Current Rate Lim]
Default:
Specifies the largest change in armature current reference that is allowed per current loop scan (2.7 ms @ 60 Hz, 3.3 ms @ 50 Hz AC line frequency). A value of 100% indicates that the armature current reference will not be permitted
Min/Max: Units:
to change by more than rated motor current in a given speed loop scan
period.
Note: This parameter was added for firmware revision 5.002.
39 [Torque Ref]
Default:
First current reference value, before any trim signals are incorporated, as a percentage of the value set in Par 179 [Nom Mtr Arm Amps]. For firmware
Min/Max: Units:
revision 2.005 or lower, this parameter is only used when Par 242 [Speed Reg
En] = 0 "Disabled".
Note: The current reference value is proportional to the armature current of
the motor and determines the torque. The polarity determines the torque
direction.
0 0 / 1
100.0 0.0 / 110.0 %
300 0 / 1800 s 150 0 / 250 %
150 0 / 250 %
150 0 / 250 %
25 0.1 / 250 %
0 / +200 %
Torq Attributes
136
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Data Type Related
16-bit Int Real 469
16-bit 107, Int 499 16-bit 8, Int 9,
179
Real 7
Real 7
Real
Real
Programming and Parameters Chapter 3
Data Type Related
File Group No.
MOTOR CONTROL Torq Attributes
Parameter Name and Description
See page 117 for symbol descriptions
Values
40 [Trim Torque]
Default:
Second current reference value as a percentage of the value set in Par 179 [Nom Mtr Arm Amps]. [Trim Torque] is added to Torque Reference and can be used as a correction value for the torque reference (regardless of the value of
Min/Max: Units:
Par 242 [Speed Reg En]).
342 [Torque Reduction]
Default:
Selection for torque reduction. When the torque reduction function is active (1 "Active"), the current limit changes accordingly by the percentage that is
Options:
defined in Par 13 [Torq Red CurLim]. When this parameter is set to 0 "Not
Active", torque reduction is not active.
For example:
Par 7 [Current Limit] (or Pars 8 [Current Lim Pos] and 9 [Current Lim Neg]) = 80% Par 13 [Torq Red CurLim] = 70%
If Par 342 [Torque Reduction] = 0 "Not Active", the current limit = 80% If Par 342 [Torque Reduction] = 1 "Active", the current limit = 70% Note: This parameter can be assigned to a digital input.
353 [Zero Torque]
Default:
Sets the reference value for the armature current (Par 41 [Current Reg In]) to zero so that the drive has no torque.
Options:
· "Not Active"= Par 41 [Current Reg In] is not set to zero.
· "Active"= Par 41 [Current Reg In] is set zero. The drive has no torque.
411 [FC Lim Ramp] Enables an armature current limit ramp after a field inversion.
A Note: Added for firmware revision 7.001
Default: Options:
412 [FC Lim Ramp Time] Armature current limit ramp time after field inversion (if enabled through
A P411 [FC Lim Ramp]). Note: Added for firmware revision 7.001
Default:
Min/Max: Units:
750 [TrqTpr Enable]
Enables/Disables the current/speed curve function.
· "Disabled"= The limits current /speed curve is disabled
A
· "Enabled"= The limits current /speed curve is enabled Note: See Current / Speed Curve on page 294 for more information.
Default: Options:
751 [TrqTpr Lim0]
Default:
A
The current limit of the current/speed curve that operates constantly up to the speed set in Par 756 [TrqTpr Spd]. When the current/speed curve function is enabled (set in Par 750 [TrqTpr Enable]), this parameter overrides the
Min/Max: Units:
current limits set in Pars 10 [Cur Lim Pos Out] and 11 [Cur Lim Neg Out].
752 [TrqTpr Lim1]
Default:
First reduced current limit of the current/speed curve. The value that is defined in this parameter must be less than the value in Par 751 [TrqTpr Lim0]
Min/Max: Units:
A
and greater than the values in Pars 753 [TrqTpr Lim2], 754 [TrqTpr Lim3] and 755 [TrqTpr Lim4].
753 [TrqTpr Lim2]
Default:
A
Second reduced current limit of the current/speed curve. The value that is defined in this parameter must be less than the value in Par 752 [TrqTpr Lim1] and greater than the values in Pars 754 [TrqTpr Lim3] and 755 [TrqTpr Lim4].
Min/Max: Units:
754 [TrqTpr Lim3]
Default:
Third reduced current limit of the current/speed curve. The value that is defined in this parameter must be less than the value in Par 753 [TrqTpr Lim2]
Min/Max: Units:
A and greater than the value in Par 755 [TrqTpr Lim4].
755 [TrqTpr Lim4]
Default:
A
Last reduced current limit of the current/speed curve. The value that is defined in this parameter must be less than the value in Par 754 [TrqTpr Lim3]. The drive operates at this current limit up to the value set in parameter
Min/Max: Units:
162 [Max Feedback Spd].
0 / +200 %
0 = "Not Active" 0 = "Not Active" 1 = "Active"
1 = "Not Active" 0 = "Active" 1 = "Not Active"
0 = "Disabled" 0 = "Disabled" 1 = "Enabled" 800 200 / 10000 ms 0 = "Disabled" 0 = "Disabled" 1 = "Enabled"
0 0 / 200 %
0 0 / 200 %
0 0 / 200 %
0 0 / 200 %
0 0 / 200 %
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Real
16-bit 13 Int
16-bit 41 Int
16-bit 410, Int 411 16-bit 410, Int 411 16-bit 751, Int 752,
753, 754, 755, 756 16-bit 750, Int 756
16-bit 750, Int 756
16-bit 750, Int 756
16-bit 750, Int 756
16-bit 750, Int 756
137
Data Type Related
Chapter 3 Programming and Parameters
File Group No.
Torq Attributes
MOTOR CONTROL Speed Feedback
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Move Avg b2 Move Avg b1 Move Avg b0
Parameter Name and Description
See page 117 for symbol descriptions
756 [TrqTpr Spd] Threshold speed at which torque reduction begins, as determined by the current/speed curve.
A
Values Default:
Min/Max: Units:
0
0 / Par 162 rpm
16-bit 750, Int 756
926 [Torq Cur Filter] First rate low-pass filter for Par 1193 [Torq Current Pct].
A Note: The name of this parameter was changed from [Filt Torq Cur] for
firmware revision 3.001.
Default:
Min/Max: Units:
169 [Encoder PPR]
Default:
Number of pulses per revolution of the digital encoder. The value of Pars 169 [Encoder PPR] and 162 [Max Feedback Spd] must be set as indicated in Valid
Min/Max:
A Speed Feedback Values on page 300.
0.100 0.001 / 0.250 s
1024.00 100.00 / 32770.00
Real 1193 Real 162
170 [Encoder Config]
Configures the encoder moving average filter.
· Bits 0"Move Avg b0", 1"Move Avg b1", and 2"Move Avg b2"- Select the moving average speed filter period (see Table 170A: Moving Average
A
below). Note: This parameter was added for firmware revision 6.001.
Options
Default x x x x x x x x x x x x x 0 0 1
Bit
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Table 170A - Moving Average
Bit 2 1 0 Filter Period 0 0 0 2 ms 0 0 1 4 ms 0 1 0 8 ms 0 1 1 2 ms
Bit 2 1 0 Filter Period 1 0 0 16 ms 1 0 1 2 ms 1 1 0 2 ms 1 1 1 2 ms
414 [Fdbk Device Type]
Default:
3 = "Armature"
16-bit
The source of speed feedback. It is strongly recommended to use a feedback device when running a permanent magnet motor.
Options:
· 1"Encoder"= Digital encoder (jumpers S20, S21, see page 78)
· 2"DC Tach"= DC analog tachometer (jumper S4, see page 78)
· 3"Armature"= Internal measurement of the armature voltage
1 = "Encoder" 2 = "DC Tach" 3 = "Armature" 4 = "Resolver"
Int
· 4"Resolver"= The resolver feedback module must be installed and
configured
Note: Option 4 "Resolver" was added for firmware revision 5.002.
422 [Fdbk Option ID]
Default:
Read Only
16-bit
Displays information about the resolver feedback option module (if
A installed).
Min/Max:
0 / 8191
Int
Module ID (bits 15...11), Version (bits 10...6), Revision High
(bits 5...3), Revision Low (bits 2...0) (For example, a value of 6217 indicates Module ID 3, Version 1, Revision 1.1). If no resolver module is detected, this value is set to 0. Note: This parameter was added for firmware revision 5.002.
138
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File Group No.
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
423 [Reslvr Type Sel]
Default:
The type of resolver used. See Resolver Type Selection on page 329 for descriptions of the attributes associated with each resolver type. To use the
Options:
A
resolver as a speed feedback device, Par 414 [Fdbk Device Type] must = 4 "Resolver".
Important: After changing this parameter power to the drive must be
cycled to have the new value incorporated into the resolver feedback
module's operation.
Note: This parameter was added for firmware revision 5.002.
1 = "T2014x1/AMCI"
1 = "T2014x1/AMCI" 2 = "T2014x2/2087" 3 = "T2014x5/2087" 4 = "Resolver 04" 5 = "Resolver 05" 6 = "Resolver 06" 7 = "Resolver 07" 8 = "Resolver 08" 9 = "Resolver 09" 10 = "Resolver 10" 11 = "Resolver 11" 12 = "Resolver 12" 13 = "Resolver 13" 14 = "Resolver 14" 15 = "Resolver 15"
ATTENTION: If the incorrect resolver type is selected in Par 423 [Reslvr Type Sel], the resolver could be subject to excessive voltage and/or the motor could run at excessive speed or become damaged, which could result in personal injury or destruction of equipment.
424 [Reslvr Spd Ratio]
Default:
Ratio of resolver electrical to mechanical turns (a value of "x5" means 5 electrical turns for each mechanical revolution). The selected value must
Options:
A
match the resolver that is selected in Par 423 [Reslvr Type Sel] for correct speed determination. This parameter affects the maximum speed that can be
measured by the resolver, see Table 425A, in Par 425 [Resolver Config], for
limitations. See Resolver Type Selection on page 329 for descriptions of the
attributes associated with each resolver type.
Note: This parameter was added for firmware revision 5.002.
1 = "x1"
1 = "x1" 2 = "x2" 3 = "x3" 4 = "x4" 5 = "x5"
16-bit 414 Int
16-bit 423, Int 425
ATTENTION: If the incorrect resolver speed ratio is selected in Par 424 [Reslvr Spd Ratio], the motor could run at excessive speed or become damaged, which could result in personal injury or destruction of equipment.
MOTOR CONTROL Speed Feedback
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139
File Group No. Data Type Related
Chapter 3 Programming and Parameters
MOTOR CONTROL Speed Feedback Reserved Reserved Reserved Move Avg b2 Move Avg b1 Move Avg b0 Reserved Reserved Reserved Reserved Resolver Dir Energize Resolution 1 Resolution 0 Reserved Reserved
Parameter Name and Description
See page 117 for symbol descriptions
Values
425 [Resolver Config] Configures the attributes of the resolver feedback module.
· Bits 2"Resolution 0"and 3"Resolution 1"- Select the resolver to digital conversion resolution. See Table 425A: Resolution Settings below for
A
selections. The selection of resolver resolution affects the maximum speed that can be measured by the resolver. These numbers are theoretical and actual limits could be higher based the application of the drive. Note that the maximum speed of the drive is 6000 rpm.
· Bit 4"Energize"- Energizes the resolver. Setting the bit to zero de-energizes the resolver (typically, leave set = 1). · Bit 5"Resolver Dir"- Determines the counting direction. This bit can be used to change the resolver direction when it doesn't match the motor
direction (that is, when wired backwards). 0 = forward (counting up), 1 = reverse (counting down).
ATTENTION: Changing bit 5"Resolver Dir"when the resolver direction matches the motor direction and Par 414 [Fdbk Device Type] is set to 4 "Resolver" may cause the motor to run at excessive speed or become damaged, which could result in personal injury or destruction of equipment.
· Bits 10"Move Avg b0", 11"Move Avg b1", and 12"Move Avg b2"- Select the moving average speed filter period (see Table 425B: Moving Average below).
Note: This parameter was added for firmware revision 5.002.
Options
Default x x x 0 1 0 x x x x 0 1 0 0 x x
Bit
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Table 425A - Resolution Settings
Bit
Maximum Speed (rpm)
3 2 Resolution
x1
x2
x5
0 0 10 bit
39,000 19,500 7800
0 1 12 bit
13,800 6900
2760
1 0 14 bit
3480
1740
696
1 1 16 bit
900
450
180
Table 425B - Moving Average
Bit 12 11 10 Filter Period 0 0 0 2 ms 0 0 1 4 ms 0 1 0 8 ms 0 1 1 2 ms
Bit 12 11 10 Filter Period 1 0 0 16 ms 1 0 1 2 ms 1 1 0 2 ms 1 1 1 2 ms
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Programming and Parameters Chapter 3
File Group No. Data Type Related
MOTOR CONTROL Speed Feedback
Reserved Reserved SSI Comm Err SSI Comm OK ParametersOK HardwareSts PwrSupplySts Open Wire Reserved Reserved Reserved Energize CableCompSts ReslvrMinSpd CableBalTest CableBalSts
Parameter Name and Description
See page 117 for symbol descriptions
Values
426 [Resolver Status]
431
Indicates the status of the resolver module.
· Bit 0"CableBalSts"- Cable balance tuning process status. 0 = cable balanced (tuned), 1 = cable not balanced or the test is currently active. See Resolver Cable Balance Tuning Test on page 328 for details.
· Bit 1"CableBalTest"- Cable balance tuning test results. 0 = cable balance (tuning) test completed, 1 = cable can't be balanced or the motor was
not at minimum speed during test. See Resolver Cable Balance Tuning Test on page 328 for details. · Bit 2"ReslvrMinSpd"- Module has detected motion greater than the minimum speed. Also permits cable balance tuning test. 0 = motor turning,
1 = motor not turning. · Bit 3"CableCompSts"- Cable length compensation status. 0 = cable length compensation is OK, 1 = cable length compensation failed. · Bit 4"Energized"- Indicates the value that is written to Par 425 [Resolver Config], bit 4"Energize". 0 = resolver is not energized, 1 = resolver is
energized.
· Bit 8"Open Wire"- Indicates if a problem with cable wiring or resolver configuration was detected. This bit is also set if the maximum tracking
speed of the resolver is exceeded (see Table 425A in Par 425 [Resolver Config]). 0 = resolver feedback signals are OK, 1 = resolver has an open wire. · Bit 9"PwrSupplySts"- Indicates the resolver module power supply status. 0 = power supply is OK, 1 = power supply has an error. · Bit 10"HardwareSts"- Power-up hardware diagnostics status. 0 = diagnostics passed, 1 = diagnostics failed. · Bit 11"ParametersOK"- Indicates the resolver configuration parameters status. 0 = a parameter configuration error exists, 1 = parameter
configuration is OK. · Bit 12"SSI Comm OK"- Resolver module communication status as determined by the drive. 0 = a communication error exists, 1 = communication
is OK.
· Bit 13"SSI Comm Err"- Latched indication of three consecutive SSI communication errors (bit 12 = 1) as determined by the drive. 0 = no error. 1 =
three consecutive SSI communication errors have occurred. In this case, a "Resolver Error" fault (F93) is displayed and then must be cleared using the "Clear Faults"function. See Fault Descriptions on page 222 for more information. Note: This parameter was added for firmware revision 5.002.
Options
Default x x 0 0 0 0 0 0 x x x 0 0 0 0 0
Bit
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
427 [Reslvr Position]
Default:
A
32-bit indication of resolver position. 16-bit revolution count (upper word) + 16-bit position count (lower word).
Min/Max:
Note: This parameter was added for firmware revision 5.002.
429 [Resolver Pos Sel]
Default:
When set to 1 "PID Feedback", resolver position data (16-bits) is routed to Par 763 [PID Feedback]. If this parameter is set to 1, Par 430 [Resolver Spd Sel]
Options:
A
must be set to 0 "Off". Note: This parameter was added for firmware revision 5.002.
430 [Resolver Spd Sel]
Default:
Routes the resolver speed to the selected parameter. If this parameter is set to a value other than 0, Par 429 [Resolver Pos Sel] must be set to 0 "Off".
Options:
A Note: This parameter was added for firmware revision 5.002.
431 [Reslvr Cable Bal] Starts the resolver cable balance (tuning) process. This test requires the
A resolver to be rotating at a minimum speed. See Resolver Cable Balance
Default: Options:
Tuning Test on page 328 for cable balance tuning details.
· 1"On"= starts the test · 0"Off"= disables the test The drive also automatically clears this value after it is initiated (similar to the
drive "Autotune" tests).
Note: This parameter was added for firmware revision 5.002.
455 [Spd FB Loss Lvl]
Default:
A
Maximum allowed value of armature voltage (as a percentage of Par 175 [Rated Motor Volt]) with less than 5% measured speed feedback (relative to Par 162 [Max Feedback Spd]) before a Speed Feedback Loss condition (fault
Min/Max: Units:
or alarm) is reported.
Note: The name of this parameter was changed from [Spd Fdbk Error],
changed the default value from 22, and min./max. values from 10/100 for
firmware revision 5.002.
0 -/+232
0 = "Off" 0 = "Off" 1 = "PID Feedback"
0 = "Off" 0 = "Off" 1 = "Trim Speed"(Par 43) 2 = "Trim Ramp"(Par 42) 3 = "Speed Ref A"(Par 44) 4 = "Speed Ref B"(Par 48) 0 = "Off" 0 = "Off" 1 = "On"
40 10 / 40 %
Read Only
16-bit 763 Int
16-bit 42, Int 43,
44, 48
16-bit Int
16-bit 457, Int 478
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141
Data Type Related
Chapter 3 Programming and Parameters
File Group No.
MOTOR CONTROL Speed Feedback
Parameter Name and Description
See page 117 for symbol descriptions
457 [Spd Fdbk Control] Enables/Disables speed feedback control. The speed feedback control function is automatically disabled when armature voltage feedback is selected (Par 414 [Fdbk Device Type] = 3 "Armature").
Values Default: Options:
1 = "Enabled"
0 = "Disabled" 1 = "Enabled"
ATTENTION: If speed feedback control is disabled (Par 457 [Spd Fdbk Control] set to 0 "Disabled") and Par 414 [Device Type] is set to 1 "Encoder", 2 "DC Tach", or 4 "Resolver", the motor could run at excessive speed or become damaged, which could result in personal injury or destruction of equipment.
458 [SpdReg FB Bypass]
Default:
Enables/Disables an automatic switch to armature voltage feedback when a "Speed Fdbk Loss" (F91) fault occurs due to a speed feedback signal loss.
Options:
When this parameter is set to "Enable", Par 478 [Spd Loss Flt Cfg] must be set
to 1 "Alarm" to allow the motor to continue to run with no speed feedback
signal. After an automatic switch to armature feedback, the speed regulator
works with Pars 459 [SpdReg Kp Bypass] and 460 [SpdReg Ki Bypass] and the
D derivative part of the speed regulator is automatically excluded. Pars
[SpdReg Kp Bypass] and [SpdReg Ki Bypass] must be properly tuned.
0 = "Disabled"
0 = "Disabled" 1 = "Enabled"
IMPORTANT
If Field Weakening and Speed Reg FB Bypass are both enabled when using a DC contactor, the armature voltage feedback terminals A1 And A2 on the drive must be connected to the motor terminals A1 and A2, respectively.
461 [Spd Fdbk Invert]
Default:
Enables / Disables speed feedback negation. Note: This parameter was added for firmware revision 3.001.
Options:
A
0 = "Disabled"
0 = "Disabled" 1 = "Enabled"
ATTENTION: The Drive can overspeed if Par 461 [Spd Fdbk Invert] is set incorrectly for your application. Failure to observe this precaution could result in damage to, or destruction of, the equipment.
562 [Anlg Tach Gain]
Default:
Fine scaling of the speed feedback received from the DC analog tachometer (Par 414 [Fdbk Device Type] = 2 "DC Tach"). The voltage feedback value that
Min/Max:
is received from the tachometer is multiplied by this value. To maximize the
feedback speed resolution, this parameter can be used to scale the voltage
setting that is selected with DIP switch S4 to Par 162 [Max Feedback Spd].
563 [Feedback Offset]
Default:
Offset scaling of the feedback circuit. The value of this parameter applies regardless of the type of feedback device that is selected in Par 414 [Fdbk Device Type].
Min/Max: Units:
Note: The name of this parameter was changed from [Anlg Tach Zero] for
firmware revision 3.001.
652 [Encoder Err Chk]
Default:
A
Enables/Disables monitoring of the digital encoder connection status. · Set this parameter to 1"Enabled"when using a differential encoder and
Options:
connection status monitoring is required.
· Set this parameter to "Disabled"when using a single-ended encoder.
Note: The encoder error fault (F92) is only be reported while the drive is
active.
When an alarm is detected, the HIM displays the "Spd Fdbk Loss"(F91) fault.
This parameter can be programmed on a digital output. This function is
activated by setting Par 457 [Spd Fdbk Control] = "Enabled".
1.0000 0.9000 / 3.0000
0.00 /+20.00 rpm
0 "Disabled" 0 = "Disabled" 1 = "Enabled"
16-bit 414, Int 455,
478
16-bit 162, Int 459,
460, 469, 478
16-bit Int
Real
Real
16-bit 457 Int
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Programming and Parameters Chapter 3
Data Type Related
File Group No.
Speed Feedback
MOTOR CONTROL
Parameter Name and Description
See page 117 for symbol descriptions
914 [Spd FB Filt Gain] First order lead/lag filter gain on the speed feedback signal.
A Note: This parameter was added for firmware revision 3.001.
Values Default: Min/Max:
915 [Spd FB Filt BW] First order lead/lag filter bandwidth on the speed feedback signal.
A Note: This parameter was added for firmware revision 3.001.
Default:
Min/Max: Units:
923 [Act Spd Filter] First order low pass filter time constant for Par 924 [Actual Speed].
A
Default:
Min/Max: Units:
1021 [Encoder Out Sel]
Defines the speed reference to which the encoder signal can be input. This
parameter is typically set to 0 "Off"and the encoder is used for speed
A
feedback only. When set to other than 0 "Off", the choice of the speed reference destination must be made according to the configuration of the
speed regulator (for example "Speed Ref A"cannot be used with an active
ramp).
Default: Options:
1022 [Encoder Counts]
Default:
A
Displays an accumulated pulse count (32-bit integer) from the encoder. Each edge is counted, so a 1024 PPR device produces 4096 counts per revolution.
Min/Max:
The count counts up in forward and down in reverse.
Note: This parameter was added for firmware revision 3.001.
93 [Spd Reg Kp Base]
Default:
A
The proportional gain (KP0) of the speed regulator (base value). Note: This parameter was moved from the Speed Command file and Speed Regulator group for firmware revision 6.001.
Min/Max: Units:
94 [Spd Reg Ki Base]
Default:
The integral gain (KI0) of the speed regulator (base value). Note: This parameter was moved from the Speed Command file and Speed Regulator
Min/Max: Units:
A group for firmware revision 6.001.
452 [CurrReg Autotune]
Default:
Setting this parameter to 1 "On"and pressing "Start"on the HIM keypad initiates the current regulator autotuning procedure. When the autotuning
Options:
procedure is complete, this parameter automatically resets to 0 "Off". The
resulting armature resistance and inductance values are set in parameters
453 [Arm Resistance] and 454 [Arm Inductance], respectively.
1.000
0.000 / 2.000
0
0 / 2000 ms 0.100
0.001 / 1.000 s 0 = "Off"
0 = "Off" 1 = "Trim Speed" 2 = "Trim Ramp" 3 = "Speed Ref A" 4 = "Speed Ref B"
Read Only /+ 232
Real 915
16-bit 914 Int Real 924
16-bit Int
32-bit Int
0.30
RO 87,
0.001 / Based on drive current rating
99
A / rpm
0.30
RO 88,
0.001 / Based on drive current rating
100
A/ rpm x ms
0 = "Off"
16-bit
0 = "Off"
Int
1 = "On"
ATTENTION: Do not attempt to perform current regulator tuning with a PowerFlex DC drive and permanent magnet motor, drive and/or motor damage may occur.
453 [Arm Resistance]
Default:
Motor armature resistance. This parameter can be manually changed to a value other than the value obtained when the current regulator autotuning is
Min/Max: Units:
completed.
454 [Arm Inductance]
Default:
Motor armature inductance. This parameter can be manually changed to a value other than the value obtained when the current regulator autotuning is
Min/Max: Units:
completed.
587 [I Reg Error]
Default:
A
Current Regulator tuning status parameter that is used as part of the manual tuning process. See Fine-Tuning the Regulators on page 349 for details.
Min/Max: Units:
1012 [Inertia C Filter] First order lowpass filter used to reduce noise caused by the speed
A differentiation process in the Inertia/Loss compensation block.
Default:
Min/Max: Units:
0.50
Based on drive current rating Ohm
4.00
Based on drive current rating mH
Read Only
/+80 V 0
0 / 1000 ms
Real 452
Real 452
16-bit 452 Int 16-bit Int
Autotune
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143
Data Type Related
Chapter 3 Programming and Parameters
File Group No.
MOTOR CONTROL Autotune
Parameter Name and Description
See page 117 for symbol descriptions
Values
1013 [Torque Const]
Default:
A
The Motor torque constant used to calculate inertia and friction compensation. This value is determined during speed autotuning. Torque Const = EMF/Sb. It should be the same as Motor Rated Torque / Motor Full
Min/Max: Units:
Load Amps.
1014 [Inertia] Motor inertia value. 1 Kg·m2 = 23.76 lb·ft2
A
Default:
Min/Max: Units:
1015 [Friction] Motor friction value.
A 1 N·m = 0.738 lb·ft
Default:
Min/Max: Units:
1027 [Spd Reg Autotune]
Default:
Starts the autotuning procedure for the speed regulator. Setting this parameter to 1 "On"and pressing "Start"on the HIM keypad initiates the
Options:
speed regulator autotuning procedure. When the autotuning procedure is
complete, this parameter automatically resets to 0 "Off". Run this test with
inertia connected to the motor (if present), but without process load (that is,
material).
Speed Regulator Autotune assumes that full field is applied. Verify Pars 280
[Nom Mtr Fld Amps] and 467 [Max Fld Flux Pct] are set correctly. Tuning with
less than full field current results in different gains because of the lower
motor torque values.
Note: Non-default values for Par 107 [Speed Zero Level] or Par 108 [Speed
Zero Delay] can interfere with successful Speed Loop autotuning.
Based on motor current rating
Real
0.01 / 99.99 N·m/A
Based on drive current rating (Par 179) Real
0.001 / 999.999 Kg·m2 Based on drive current rating (Par 179) Real
0.000 / 99.990 N·m
0 = "Off"
0 = "Off" 1 = "On"
16-bit 280, Int 467
ATTENTION: The motor will rotate during the Speed Regulator tuning procedure. A hazard of personal injury exists due to motor shaft rotation and/or machinery motion.
1029 [Speed Tune Dir]
Default:
Choice of the rotation direction of the motor shaft (rotation, as seen from the motor shaft side) for the speed regulator autotuning procedure.
Options:
· "Forward"= Clockwise rotation
· "Reverse"= Counter-clockwise rotation
1030 [Spd Tune Inertia]
Default:
Motor inertia value that is identified during the speed regulator autotuning procedure.
Min/Max: Units:
1031 [SpdTune Friction]
Default:
Motor friction value that is identified during the speed regulator autotuning procedure.
Min/Max: Units:
1032 [Speed Tune Kp]
Default:
Proportional gain value of the speed regulator that is identified during the speed regulator autotuning procedure.
Min/Max:
1033 [Speed Tune Ki]
Default:
Integral gain value of the speed regulator that is identified during the speed regulator autotuning procedure.
Min/Max:
1034 [SpdReg Kp Pct]
Default:
Internal proportional gain value, original Par 87 [Spd Reg Kp], percentage of Par 93 [Spd Reg Kp Base]. This parameter was added for firmware revision 6.001.
Min/Max: Units:
1035 [SpdReg Ki Pct]
Default:
Internal proportional gain value, original Par 88 [Spd Reg Ki], percentage of Par 94 [Spd Reg Ki Base]. This parameter was added for firmware revision 6.001.
Min/Max: Units:
1 = "Forward" 1 = "Forward" 2 = "Reverse"
Read Only 0.001 / 999.990 Kg x m2 Read Only 0.00 / 99.99 N·m Read Only 0.00 / 100.00
Read Only 0.00 / 100.00
Read Only 0.00 / 100.00 %
Read Only 0.00 / 100.00 %
16-bit Int
Real
Real
Real
Real
Real 87, 93
Real 88, 94
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File Autotune Group
No.
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
1048 [Autotune Cur Lim]
Default:
Value of the torque current limit that is applied during the speed regulator autotuning procedure.
Min/Max: Units:
58 [TstGen Output]
Default:
Allows you to select a simulated parameter as the output for the test generator. The test generator is used to manually tune the regulators. It
Options:
A
consists of a square wave generator whose frequency, offset and amplitude can be manipulated.
· "NotConnected"- No internal parameters defined by the generator.
· "Reserved"- Not used.
· "Torq Cur Ref"- The output of the generator defines the reference value of
the torque current. 100% corresponds to "full load torque current"(FLT).
· "Field Ref"- The output of the generator defines the field reference value.
100% corresponds to the rated field current based on the motor
nameplate data parameters.
· "Ramp Ref"- The output of the generator defines the ramp reference
value. 100% corresponds to the value specified in Par 45 [Max Ref Speed].
This is the value immediately before the Ramp function.
· "Speed Ref"- The output of the generator defines the speed reference
value. This is the value immediately before the Speed Regulator function.
20
0 / Based on drive current rating %
0 = "NotConnected"
0 = "NotConnected" 1 = "Reserved" 2 = "Torq Cur Ref" 3 = "Field Ref" 4 = "Ramp Ref" 5 = "Speed Ref"
16-bit Int
16-bit 59, Int 60,
61
ATTENTION: Uncontrolled machine operation could result with a motor connected during these tests and may cause personal injury and/or equipment damage. Verify that the drive is not connected to a motor armature circuit before enabling these test modes.
P58 TstGen Output
Generator Output
P60 TstGen Amplitude
Time
P59 TstGen Frequency
59 [TstGen Frequency] Output frequency of the test generator.
A
60 [TstGen Amplitude] Amplitude of the delta signal produced by the test generator.
A
61 [TstGen Offset] Offset of the test generator.
A
P61 TstGen Offset
Default:
Min/Max: Units: Default:
Min/Max: Units: Default:
Min/Max: Units:
0.10
0.10 / 62.50 Hz 0.00
0.00 / 200.00 % 0.00
/+200.00 %
Real 58 Real 58 Real 58
MOTOR CONTROL Test Generator
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File Group No. Data Type Related
Chapter 3 Programming and Parameters
MOTOR CONTROL Test Generator
Parameter Name and Description
See page 117 for symbol descriptions
Values
166 [Alpha Test]
Default:
Diagnostic test mode that selects the SCR bridge to activate. The SCR firing angles are specified by Pars 167 [Arm Test Angle] and 168 [Fld Test Angle].
Options:
A
Important: Alpha Test is an open loop diagnostic tool that requires a hardware Enable input be wired and functional at the terminal block.
Reading Alpha Test Mode on page 289 is required before completing this test.
0 = Off
1 = Armature Fwd
2 = Armature Rev
3 = Field Fwd
Note: This parameter was added for firmware revision 3.001.
Important: An Alpha test should not be enabled at the same time as a
Shorted SCR diagnostic test.
0 = "Off"
0 = "Off" 1 = "Armature Fwd" 2 = "Armature Rev" 3 = "Field Fwd"
ATTENTION: Allow only qualified electrical personnel familiar with the construction and operation of this equipment and the hazards involved to perform this test. Failure to observe this precaution could result in equipment damage and/or bodily injury.
16-bit 167, Int 168
ATTENTION: This is an open loop test, disconnect the motor armature and field leads and replace them with dummy loads. Failure to observe this precaution could result in machine damage and/or bodily injury.
ATTENTION: Uncontrolled machine operation could result with a motor connected during these tests and may cause personal injury and/or equipment damage. Verify that the drive is not connected to a motor armature circuit before enabling these test modes.
167 [Arm Test Angle]
Default:
A
Sets the armature SCR firing angle for the Armature Forward and Armature Reverse tests. 180 deg = minimum voltage, 5 deg = maximum voltage. This parameter is only changeable while the Armature Alpha Test is selected.
Min/Max: Units:
180
0 / 180 deg
Real 166
Note: This parameter was added for firmware revision 3.001.
168 [Fld Test Angle]
Default:
A
Sets the field SCR firing angle for the Field Forward test. 180 deg = minimum voltage, 5 deg = maximum voltage. This parameter is only changeable while
Min/Max: Units:
the Field Alpha Test is selected.
Notes: This parameter was added for firmware revision 3.001.
180
0 / 180 deg
Real 166
213 [SCR Diag Test En]
214,
Enables/Disables the SCR diagnostic tests. Both tests can be enabled simultaneously, but the "Shorted SCR"test takes precedence over the "Open 215,
SCR" test.
216,
A
Important: A Shorted SCR diagnostic test should not be enabled at the same time as an Alpha test. Note: This parameter was added for firmware revision 6.001.
217, 218
Options
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved ShortSCR Tst OpenSCR Tst
Default x x x x x x x x x x x x x x 0 0
Bit
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
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File Group No.
MOTOR CONTROL Test Generator Shorted SCR OpenSCR Trip OpenSCR Warn Reserved SCR 16 SCR 15 SCR 14 SCR 13 SCR 12 SCR 11 SCR 6 SCR 5 SCR 4 SCR 3 SCR 2 SCR 1
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
214 [SCR Diag Status]
213,
A
Bits 0...11 indicate which SCR or SCR pair is in error. The type of error is indicated in bits 13...15. Only one type of error is shown at a time. The 215, precedence of errors is "Shorted SCR,""OpenSCR Trip,"and "OpenSCR Warn."Note that "OpenSCR Warn"is independent from a SCR trip configured as 216,
an alarm. This parameter is only active when bit 0 "OpenSCR Tst"or bit 1 "ShortSCR Tst"of Par 213 is set to 1 "Enabled."The SCR numbering shown is 217,
SCR1...SCR6 for the forward power bridge and SCR11...SCR16 for the reverse bridge (regenerative drives only). In the standard drive, SCRx
218
corresponds to the SCR package labeled KGx and SCR1x to the package labeled KG0x. See the appropriate PowerFlex DC Drive Hardware Service
Manual for your drive frame size for instructions on replacing SCR modules. For frame A drives, see 20P-TG001. For frame B drives, see 20P-TG002. For
frame C drives, see 20P-TG003. For frame D drives, see 20P-TG004.
Note: This parameter was added for firmware revision 6.001.
Options
Default 0 0 0 x 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
215 [OpenSCR WarnLvl]
Default:
A
Sets the open SCR warning level. This value determines when Par 214 [SCR Diag Status], bit 13 "OpenSCR Warn" is set. This parameter is only active
Min/Max:
when Par 213 [SCR Diag Test En], bit 0 "OpenSCR Tst" is enabled.
Note: This parameter was added for firmware revision 6.001.
216 [OpenSCR Flt Cfg]
Default:
Configures the open SCR error condition. This parameter is only active when Par 213 [SCR Diag Test En], bit 0 "OpenSCR Tst" is enabled.
Options:
A Note: This parameter was added for firmware revision 6.001.
217 [OpenSCR Threshld]
Default:
A
Sets the open SCR error level and when exceeded begins to accumulate. This parameter is only active when Par 213 [SCR Diag Test En], bit 0 "OpenSCR Tst"
Min/Max: Units:
is enabled.
Note: This parameter was added for firmware revision 6.001.
218 [OpenSCR Trip Lvl]
Default:
A
Sets the open SCR trip level. The action taken by the drive when as open SCR trip occurs is determined by Par 216 [OpenSCR Flt Cfg]. This parameter is only
Min/Max:
active when Par 213 [SCR Diag Test En], bit 0 "OpenSCR Tst"is enabled.
Note: This parameter was added for firmware revision 6.001.
1024 0 / 4096
0 = "Ignore" 0 = "Ignore" 1 = "Alarm" 2 = "Fault"
50 0 / 100 %
1024 0 / 4096
16-bit 213 Int
16-bit 213 Int
16-bit 213 Int
16-bit 213, Int 216
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Data Type Related
Chapter 3 Programming and Parameters
Speed Command File
File Group No.
Limits
SPEED COMMAND
Parameter Name and Description
See page 117 for symbol descriptions
Values
1 [Minimum Speed]
Default:
Defines the minimum speed of the drive. This value applies to both directions of motor rotation for four quadrant drives. A speed below the value set in [Minimum Speed] is not possible, regardless of the set speed reference value.
Min/Max: Units:
If the value of [Minimum Speed] is changed, Pars 5 [Min Speed Fwd] and 6
[Min Speed Rev] are set to the same value. If either Par 5 [Min Speed Fwd] or
Par 6 [Min Speed Rev] is changed later, the last change is valid.
2 [Maximum Speed]
Default:
Defines the maximum speed of the drive. This value applies to both directions of motor rotation for four quadrant drives. The value of this parameter is input to the speed regulator and therefore takes into account
Min/Max: Units:
the reference value that comes from the ramp, and the direction of rotation.
If the value of [Maximum Speed] is changed, Pars 3 [Max Speed Fwd] and 4
[Max Speed Rev] are set to the same value. If either Par 3 [Max Speed Fwd] or Par 4 [Max Speed Rev] is changed later, the last change is valid.
3 [Max Speed Fwd]
Default:
Defines the maximum speed for forward (clockwise) rotation of the motor. The value of [Max Speed Fwd] affects the input of the speed regulator and therefore takes into account both the reference values that come from the
Min/Max: Units:
ramp, and the direction of motor rotation.
4 [Max Speed Rev]
Default:
Defines the maximum speed for reverse (counterclockwise) rotation of the motor for four quadrant drives only. The value of [Max Speed Rev] affects the input of the speed regulator and therefore takes into account both the
Min/Max: Units:
reference values that come from the ramp, and the direction of rotation.
5 [Min Speed Fwd]
Default:
Defines the minimum speed for forward (clockwise) rotation of the motor. Speed reference values below the value in this parameter are clamped until
Min/Max: Units:
the reference exceeds this limit.
6 [Min Speed Rev]
Default:
Defines the minimum speed for reverse (counterclockwise) rotation of the motor for four quadrant drives only. Speed reference values below the value
Min/Max: Units:
in this parameter are clamped until the reference exceeds this limit.
154 [Preset Speed 1]
Default:
155 [Preset Speed 2]
Default:
156 [Preset Speed 3]
Default:
157 [Preset Speed 4] 158 [Preset Speed 5] 159 [Preset Speed 6] 160 [Preset Speed 7]
Default: Default: Default:
Provides an internal fixed speed command value. In bipolar mode, direction Default:
is commanded by the sign of the reference.
Min/Max:
Notes: [Preset Speed 1] cannot be directly selected by the Speed Sel digital Units:
inputs. However, Par 154 [Preset Speed 1] can be directed to Par 42 [Trim
Ramp] via the Scale Block parameters. See Reference Control on page 325 for more information.
266 [Jog Speed] Reference value for jog mode. Notes: This parameter can be assigned to an analog input. See Reference
Control on page 325 for more information.
Default:
Min/Max: Units:
Discrete Speeds
0 0 / Par 45 [Max Ref Speed] rpm
1750 0 / Par 45 [Max Ref Speed] rpm
1750 0 / Par 45 [Max Ref Speed] rpm
1750 0 / Par 45 [Max Ref Speed] rpm
0 0 / Par 45 [Max Ref Speed] rpm 0 0 / Par 45 [Max Ref Speed] rpm 150 300 600 900 1200 1500 1750 -/+6000 rpm
100 -/+6000 rpm
32-bit 5, Int 6
32-bit 3, Int 4
32-bit 2 Int
32-bit 2 Int
32-bit 1 Int 32-bit 1 Int 16-bit Int
16-bit Int
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Programming and Parameters Chapter 3
Data Type Related
File Group No.
Discrete Speeds
SPEED COMMAND Speed References
Parameter Name and Description
See page 117 for symbol descriptions
Values
267 [TB Manual Ref] Reference value for the drive when the Terminal Block asserts Manual reference control. Notes: This parameter can be assigned to an analog input. See Reference Control on page 325 for more information.
Default:
0
Min/Max: Units:
/+ Par 45 [Max Ref Speed] (1) rpm
(1) The value of [Max Ref Speed] cannot exceed 6000 rpm.
1409 [Jog Off Delay]
Default:
1
Specifies the amount of time that elapses between removing the Jog input and commanding the main contactor to open. The amount of time specified
Min/Max: Units:
0 / 10 s
in [Jog Off Delay] does not begin to elapse until the measured speed
feedback is less than or equal to the value of parameter 107 [Speed Zero
Level]. This delay reduces the wear on the contactor when repeatedly
opening and closing the Jog input over a short period. If a stop command is
asserted before the jog off delay time has completed, the drive will stop and
the delay timer is canceled.
Note: This parameter was added for firmware revision 2.001.
42 [Trim Ramp]
Default:
0
This value is added to the speed reference just before the Speed Ramp function. Notes: This parameter can be assigned to an analog input. See Reference
Min/Max: Units:
/+Par 45 [Max Ref Speed] (1) rpm
Control on page 325 for more information.
(1) The value of Par 45 [Max Ref Speed] cannot exceed 6000 rpm.
43 [Trim Speed]
Default:
0
This value is added to the speed reference just before the speed regulator (and after the Speed Ramp function). Notes: This parameter can be assigned to an analog input. See Reference Control on page 325 for more information.
Min/Max: Units:
/+ Par 45 [Max Ref Speed] (1) rpm
(1) The value of Par 45 [Max Ref Speed] cannot exceed 6000 rpm.
378 [Trim Ramp Pct]
Default:
Trim ramp value defined as a percentage of the value defined in Par 45 [Max Ref Speed].
Min/Max: Units:
0.00
/+100.00 %
379 [Trim Speed Pct]
Default:
Trim speed reference value defined as a percentage of the value defined in Par 45 [Max Ref Speed].
Min/Max: Units:
0.00
/+100.00 %
1017 [Speed Ratio] Determines the speed ratio value for the Speed-Draw function. Notes: This value can be input to the drive digitally, or via an analog input. See Speed Draw Function on page 341 for more information.
Default: Min/Max:
10000 0 / 32767
87 [Spd Reg Kp]
Default:
Proportional gain of the speed regulator that can be adjusted while the drive is running. This parameter can only be changed when Par 434 [Spd Reg BW]
Min/Max:
is set to zero. See Manually Tuning the Speed Regulator for Firmware Revision
6.001 and Later on page 317 for more information. Note: Units changed from
"%" to "none" for firmware revision 6.001.
3.00 0.00 / 100.00
88 [Spd Reg Ki]
Default:
Integral gain of the speed regulator that can be adjusted while the drive is running. This parameter can only be changed when Par 434 [Spd Reg BW] is set to zero. See Manually Tuning the Speed Regulator for Firmware Revision
Min/Max: Units:
6.001 and Later on page 317 for more information. Note: Units changed from
"%" to "sec-1" for firmware revision 6.001.
0.30 0.00 / 100.00 sec-1
95 [Spd Reg Pos Lim]
Default:
A
Positive Speed Regulator output limit. When this limit is active, the positive integrator portion of the PI regulator is held to prevent windup. Note: This parameter was added for firmware revision 3.001.
Min/Max: Units:
200.00
/+250.00 %
96 [Spd Reg Neg Lim]
Default:
A
Negative Speed Regulator output limit. When this limit is active the negative integrator portion of the PI regulator is held to prevent windup. Note: This parameter was added for firmware revision 3.001.
Min/Max: Units:
200.00
/+250.00 %
99 [Spd Reg Kp Outpt] Displays the active proportional coefficient of the speed regulator as a
A percentage of the value defined in Par 93 [Spd Reg Kp Base]. Note: Units
changed from "%" to "none" for firmware revision 6.001.
Default: Min/Max:
Read Only 0.00 / 100.00
16-bit 45 Int
16-bit Int
16-bit 45, Int 378
16-bit 45, Int 379
Real 42 Real 43 16-bit Int Real 93,
99
Real 94, 100
Real 96
Real 95
Real 87, 93
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Speed Regulator
Data Type Related
Chapter 3 Programming and Parameters
File Group No.
SPEED COMMAND Speed Regulator
Parameter Name and Description
See page 117 for symbol descriptions
Values
100 [Spd Reg Ki Outpt]
Default:
A
Displays the active integral coefficient of the speed regulator as a percentage
of the value defined in Par 94 [Spd Reg Ki Base]. Note: Units changed from "%" to "sec-1" for firmware revision 6.001.
Min/Max: Units:
101 [Speed Thresh Pos]
Default:
A
Threshold speed for the drive above or below which the value of Par 393 [Speed Threshold] changes. When the speed of the drive exceeds the value of this parameter, Par 393 [Speed Threshold] displays "Above Thresh" (0). When
Min/Max: Units:
the speed of the drive is below the value of this parameter, Par 393 [Speed
Threshold] displays "Below Thresh" (1).
Note: See Speed Threshold Indicators on page 339 for more information.
102 [Speed Thresh Neg]
Default:
A
Threshold speed for the drive above or below which the value of Par 393 [Speed Threshold] changes. When the speed of the drive exceeds the value that is specified in this parameter, Par 393 [Speed Threshold] displays "Above
Min/Max: Units:
Thresh" (0). When the speed of the drive is below this threshold, Par 393
[Speed Threshold] displays "Below Thresh" (1).
Note: See Speed Threshold Indicators on page 339 for more information.
103 [Threshold Delay]
Default:
A
Amount of time that must elapse before indication that the drive speed is above the value set in Par 101 [Speed Thresh Pos] or below the value set in Par 102 [Speed Thresh Neg].
Min/Max: Units:
Note: See Speed Threshold Indicators on page 339 for more information.
104 [At Speed Error]
Default:
A
Defines the speed above and below the speed reference (in Par 118 [Speed Reg In]) at which the value of Par 394 [At Speed] changes. When the difference between the speed reference and the actual speed is greater than
Min/Max: Units:
the value of this parameter, Par 394 [At Speed] displays "Not Equal" (0).
When the difference between the speed reference and the actual speed is
less than the value of this parameter, Par 394 [At Speed] displays "Equal" (1).
Note: See Speed Threshold Indicators on page 339 for more information.
105 [At Speed Delay] Amount of time that must elapse before indication that the drive speed
A reference is within the range that is specified in Par 104 [At Speed Error]
occurs. Note: See Speed Threshold Indicators on page 339 for more information.
Default:
Min/Max: Units:
106 [Ref Zero Level]
Default:
A
Speed below which speed references are equal to zero speed. Switch used in the Speed Zero function.
Min/Max: Units:
Note: See Speed Threshold Indicators on page 339 for more information.
Read Only 0.00 / 100.00 sec-1 1000 1 / 6000 rpm
1000 1 / 6000 rpm
100 0 / 65535 ms
100 1 / 6000 rpm
100 0 / 65535 ms
20 1 / 6000 rpm
Real 88, 94
16-bit 393 Int
16-bit 393 Int
16-bit 393 Int
16-bit 394 Int
16-bit 394 Int
16-bit 123, Int 124,
125, 126
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File Group No.
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
107 [Speed Zero Level]
Default:
A
Speed below which the actual speed is considered equal to zero. When a Stop command is issued and actual speed goes below this value, drive output is disabled. The value applies to both rotation directions for four quadrant
Min/Max: Units:
drives.
Notes: Setting the value of this parameter too low could prevent the proper
functioning of field economy. If Par 107 and/or Par 108 are changed from
their default values, it can affect the Speed Loop autotune function (Par
1027). Ideally, set these parameters to the default values when autotuning
the Speed Loop. Values substantially different from defaults result in an
autotuning fault.
Note: See Speed Zero Function on page 340 for more information.
Actual Speed Actual Speed = 0
Par 107 [Speed Zero Level]
Fwd
Rev
Par 395 [At Zero Speed]
Par 108 [Speed Zero Delay]
108 [Speed Zero Delay]
Default:
A
Amount of time that must elapse after the actual speed goes below the value set in Par 107 [Speed Zero Level] before Par 395 [At Zero Speed] changes
Min/Max: Units:
state.
Note: See Speed Zero Function on page 340 for more information.
123 [Spd Zero I En]
Default:
Enables/Disables the output of the integral section of the speed regulator. Used in the Zero Speed function.
Options:
A
· "Enabled"= The output of the integral section of the speed regulator is set to zero when the speed reference and the speed feedback are equal to
zero. The I component is enabled when a reference value is entered to
restart acceleration.
· "Disabled"= The speed regulator keeps its integral gain component
when the drive is at zero speed.
Note: See Speed Zero Function on page 340 for more information.
124 [Spd Ref Zero En]
Default:
This parameter is only active when Par 125 [Spd Zero P En] = 1 "Enabled". Used in the Zero Speed function.
Options:
A
· "Enabled"= The proportional gain, equal to Par 126 [Spd Zero P Gain] at zero speed, is equal to Par 87 [Spd Reg Kp] when the speed reference is
higher than the value defined in Par 106 [Ref Zero Level].
· "Disabled"= The proportional gain, equal to Par 126 [Spd Zero P Gain] at
zero speed, is equal to the value in Par 87 [Spd Reg Kp] when the speed
reference or the actual speed is higher than the value defined in Par 106
[Ref Zero Level].
Note: See Speed Zero Function on page 340 for more information.
125 [Spd Zero P En]
Default:
"Enabled" = When both the speed reference value and the actual speed value = 0, the proportional gain value in Par 126 [Spd Zero P Gain] is active
Options:
A
after the delay time defined in Par 108 [Speed Zero Delay]. Used in the Zero Speed function.
"Disabled"= The speed regulator keeps its proportional gain component
when the drive is at zero speed.
Note: See Speed Zero Function on page 340 for more information.
20 1 / 6000 rpm
100 0 / 65535 ms 0 = "Disable" 0 = "Disable" 1 = "Enable"
0 = "Disable" 0 = "Disable" 1 = "Enable"
0 = "Disable" 0 = "Disable" 1 = "Enable"
16-bit 395, Int 1027
16-bit 395, Int 1027 16-bit Int
16-bit Int
16-bit Int
SPEED COMMAND Speed Regulator
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Data Type Related
Chapter 3 Programming and Parameters
File Group No.
SPEED COMMAND Speed Regulator
Parameter Name and Description
See page 117 for symbol descriptions
Values
126 [Spd Zero P Gain]
Default:
A
The proportional gain of the speed regulator that is only active when the value of the speed reference and actual speed = 0. This parameter is only active when Par 125 [Spd Zero P En] = 1 "Enabled". Used in the Zero Speed
Min/Max: Units:
function.
Note: See Speed Zero Function on page 340 for more information.
238 [SpdOut FiltGain] First order lead/lag filter gain on the speed regulator output signal.
Note: This parameter was added for firmware revision 3.001.
Default: Min/Max:
239 [SpdOut FiltBW]
Default:
First order lead/lag filter bandwidth on the speed regulator output signal. Note: This parameter was added for firmware revision 3.001.
Min/Max: Units:
242 [Speed Reg En]
Default:
Enables/Disables the speed regulator output to the torque/current regulator. · "Enabled"= The speed regulator output is connected to the input of the
Options:
torque/current regulator.
· "Disabled"= The speed regulator output is not connected to the input of
the torque/current regulator. Par 39 [Torque Ref] is connected to the input
of the current regulator.
Note: This parameter is only available for use with firmware revision 2.005
and lower.
3.00 0.00 / 100.00 %
1.000 0.000 / 2.000
0 0 / 2000 ms 1 = "Enabled" 0 = "Disabled" 1 = "Enabled"
Real
Real 239
16-bit 238 Int 16-bit 39, Int 41,
236
ATTENTION: Failure to correctly set speed and voltage parameters or provide overspeed protection when operating as a torque/current regulator could result in high motor speeds, equipment damage, and/or personal injury.
348 [Lock Speed Integ]
Default:
A
Enables or disables the integral (I) function of the speed regulator. · "Not active"= The integral component of the speed regulator is enabled.
Options:
· "Active"= The integral component of the speed regulator is disabled.
388 [Flying Start En]
Default:
Enables/Disables the ability of the drive to connect to a spinning motor at
A actual rpm when a start command is issued.
Options:
· "On"= When the drive is turned on, the speed of the motor is measured,
and the ramp output is set accordingly. The drive then runs at the set
reference value.
· "Off"= When the drive is turned on, the ramp starts from zero.
Main uses:
· To connect to a motor that is already spinning due to its load (for example,
in the case of a pump, the flowing medium).
· Reconnection to a spinning motor after a fault or alarm.
Note: If the Flying Start function is disabled (off), be sure that the motor is
not spinning when the drive is turned on, or harsh motor deceleration in
current limit may occur.
433 [Total Inertia]
Default:
A
Time, in seconds, for a motor that is coupled to a load to accelerate from zero to base speed with rated motor torque applied. This value can be calculated
Min/Max: Units:
by Autotune or entered directly.
Note: This parameter was added for firmware revision 6.001.
434 [Spd Reg BW]
Default:
A
Sets the bandwidth of the speed regulator in rad/sec. Bandwidth is also referred to as the crossover frequency. Small signal time response is approximately 1/BW and is the time to reach 63% of setpoint. A change to
Min/Max: Units:
this parameter causes an automatic update of Pars 87 [Spd Reg Kp] and 88
[Spd Reg Ki]. To disable the automatic gain calculation, set this parameter to a value of zero. Note: This parameter was added for firmware revision 6.001.
1 = "Not active" 0 = "Active" 1 = "Not active" 0 = "Off" 0 = "Off" 1 = "On"
1.0 0.001 / 300.0 s
10.0 0.0 / 100.0 rad / sec
16-bit Int 16-bit Int
Real
Real 87, 88
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File Group No.
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
435 [Act Spd Reg BW] Displays the actual speed regulator bandwidth or crossover frequency. It
A represents the bandwidth in Par 434 [Spd Reg BW] after the maximum
bandwidth limits have been applied.
Note: This parameter was added for firmware revision 6.001.
Default:
Min/Max: Units:
436 [Spd Reg Damping]
Default:
A
Sets the drive damping factor of the characteristic equation and factors in the calculation of the integral gain set in Par 88 [Spd Reg Ki]. A factor of 1.0 is
Min/Max:
considered critical damping. When Par 434 [Spd Reg BW] is set to zero, the
damping factor has no effect on drive operation.
Note: This parameter was added for firmware revision 6.001.
444 [Spd Reg P Filter]
Default:
A
Time constant used by the filter for the Speed Feedback circuit. Filtering of the high frequency components of the speed feedback signal is useful if there is elastic coupling between the motor and load (that is, joints or belts).
Min/Max: Units:
Note: This parameter was renamed for firmware revision 4.001.
445 [Spd Up Gain Pct] The Speed Up function gain as a percentage of Par 446 [Speed Up Base].
A Note: See Speed Up Function on page 338 for more information.
Default:
Min/Max: Units:
446 [Speed Up Base]
Default:
A
The Speed Up function maximum gain. This value corresponds to 100% of Par 445 [Spd Up Gain Pct]. Note: See Speed Up Function on page 338 for more information.
Min/Max: Units:
447 [Speed Up Filter]
Default:
A
The time constant of the filter for the D (derivative) component of the Speed Up function. Note: See Speed Up Function on page 338 for more information.
Min/Max: Units:
448 [SpdReg BW Bypass]
Default:
A
Sets the bandwidth of the speed regulator, when bypassed, in rad/sec. Bandwidth is also referred to as the crossover frequency. Small signal time response is approximately 1/BW and is the time to reach 63% of setpoint. A
Min/Max: Units:
change to this parameter causes an automatic update of Pars 459 [SpdReg Kp
Bypass] and 460 [SpdReg Ki Bypass]. To disable the automatic gain
calculation, set this parameter to a value of zero.
Note: This parameter was added for firmware revision 6.001.
459 [SpdReg Kp Bypass]
A
The proportional gain (KP) of the speed regulator when an encoder or tachometer feedback signal is changed to armature feedback (Par 458
[SpdReg FB Bypass] = 1 "Enabled"). This parameter can only be modified
when Par 448 [SpdReg BW Bypass] is set to zero. See Manually Tuning the
Default: Min/Max:
Speed Regulator for Firmware Revision 6.001 and Later on page 317 for more information. Note: Units were changed from "%" to "none" for firmware revision 6.001.
Read Only 0.0 / 100.0 rad / sec
1.0 0.5 / 30.0
0 0 / 1000 ms
0.00 0.00 / 100.00 % 1000.00 0.00 / 16000.00 ms
0 0 / 1000 ms
10.0 0.0 / 100.0 rad / sec
Real 434
Real
16-bit 121, Int 122 Real 446 Real 445 16-bit Int Real
0.90 x P459max 0.01 / Based on drive current rating
Real 458
SPEED COMMAND Speed Regulator
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Chapter 3 Programming and Parameters
File Group No.
SPEED COMMAND Speed Regulator
Parameter Name and Description
See page 117 for symbol descriptions
Values
460 [SpdReg Ki Bypass]
Default:
A
The integral gain (KI) of the speed regulator when an encoder or tachometer feedback signal is changed to armature feedback (Par 458 [SpdReg FB Bypass] = 1 "Enabled"). This parameter can only be modified
Min/Max: Units:
when Par 448 [SpdReg BW Bypass] is set to zero. See Manually Tuning the
Speed Regulator for Firmware Revision 6.001 and Later on page 317 for more
information.
Note: Units were changed from "%" to "sec-1" for firmware revision 6.001.
643 [SpdReg AntiBckup]
Default:
Allows control of over-shoot/under-shoot in the step response of the speed regulator. Over-shoot/under-shoot can be effectively
Min/Max:
eliminated with a setting of 0.3, which removes backup of the motor shaft
when zero speed is reached. This parameter has no effect on the drive's
response to load changes. A value of zero disables this feature.
Note: This parameter was added for firmware revision 4.001.
1016 [SpdFuncSelect] Selection of the "Speed Up"or "Inertia/Loss compensation"function. Notes: See Speed Up Function on page 338 for more information. Option 2
A "Off"added for firmware revision 4.001.
Default: Options:
0.30 0.00 / 100.00 sec-1
0.0 0.0 / 0.50
2 = "Off" 0 = "Speed Up" 1 = "Inertia/loss" 2 = "Off"
Data Type Related
Real 458
Real
16-bit 444, Int 445,
447, 1012, 1013, 1014, 1015
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Programming and Parameters Chapter 3
Data Type Related
Dynamic Control File
File Group No.
DYNAMIC CONTROL Control Config
Parameter Name and Description
See page 117 for symbol descriptions
Values
15 [SLAT Err Stpt]
Default:
A
Configures the condition for transfer between Speed and Torque operation during "SLAT Min" or "SLAT Max" mode. If the Speed Error is greater than the value of [SLAT Err Stpt] for the amount of time specified in Par 16 [SLAT Dwell Time], then
Min/Max: Units:
the "forced speed" mode is turned off.
Max. value setting example where Par 45 = 1750: 1750/5 = 350 rpm.
Note: This parameter was added for firmware revision 3.001.
16 [SLAT Dwell Time]
Default:
A
Amount of time that the speed error must be greater than the value of Par 15 [SLAT Err Stpt] to return to "SLAT Min" or "SLAT Max" mode. Note: This parameter was added for firmware revision 3.001.
Min/Max: Units:
241 [Spd Trq Mode Sel]
Default:
Configures the drive for a Speed or Torque mode of operation. · "Zero Trq Ref"= The drive operates as a torque regulator with the torque
Options:
reference (Par 14 [Selected TorqRef]) forced to zero.
· "Speed Reg"= The drive operates as a speed regulator with the reference = Par
236 [Spd Reg Out Pct] + inertia compensation.
· "Torque Reg"= The drive operates as a torque regulator with the reference
equal to the value of Par 39 [Torque Ref].
· "SLAT Min"= The drive operates in Speed Limited Adjustable Torque (SLAT) -
Minimum mode. The drive operates as a torque regulator when the value of Par
39 [Torque Ref] is algebraically smaller in value than the speed regulator's
output. The drive may 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.
· "SLAT Max"= The drive operates in SLAT Maximum mode. The drive operates
as a torque regulator when the value of Par 39 [Torque Ref] is algebraically
larger in value than the speed regulator's output. The drive may 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"= The drive operates as a speed regulator. The reference is derived from
the sum of the speed regulator output (Par 236 [Spd Reg Out Pct]) and the
torque reference (Par 39 [Torque Ref]).
Notes: See Speed / Torque Mode Selection on page 342 in Appendix C for more
detailed information. This parameter was added and is only available with
firmware revision 3.001 and higher.
18 [Ramp Type Select] Determines the type of ramp used.
· 0"Linear"= Linear ramp · 1"S shaped"= Sshaped ramp
Default: Options:
19 [S Curve Time]
Default:
S-shaped ramp time constant. The value of this parameter is added to the time of the linear accel and decel ramps, regardless of speed changes. Approximately half of the specified time is added at the beginning and half at the end of the accel and
Min/Max: Units:
decel ramps. When the value of [S Curve Time] is changed, Pars 665 and 667 [S Curve Accel x] and 666 and 668 [S Curve Decel x] are set to the same value. If any of the parameters 665...668 are changed later, the last change is valid. Note: See S-curve Configuration on page 333 for more information.
0.000
0.000 / Par 45/5 (see description) rpm
Real 16, 241
0
0 / 5 s
1 = "Speed Reg"
0 = "Zero Trq Ref" 1 = "Speed Reg" 2 = "Torque Reg" 3 = "SLAT Min" 4 = "SLAT Max" 5 = "Sum"
16-bit 15, Int 241
16-bit 39, Int 236,
382
0 = "Linear"
0 = "Linear" 1 = "S shaped"
1.00
0.10 / 15.00 s
16-bit Int
Real 18, 665, 666, 667, 668
Ramp Rates
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Data Type Related
Chapter 3 Programming and Parameters
File Group No.
DYNAMIC CONTROL Ramp Rates
Parameter Name and Description
See page 117 for symbol descriptions
Values
20 [Ramp Delay]
Default:
A
Defines a ramp delay time when the ramp is active. Works with par [Digital Outx Sel] set to 6 "Ramp Pos" or 7 "Ramp Neg".
Min/Max: Units:
Par 113 [Ramp Out]
100
0 / 65535 ms
Par 346 [Torque Positive]
Par 347 [Torque Negative]
Par 20 [Ramp Delay]
22 [MOP Accel Time]
Default:
The acceleration rate for the MOP reference in response to a digital input. The MOP acceleration rate = Par 2 [Maximum Speed] / Par 22 [MOP Accel Time]. If "0"is entered in this parameter, the ramp output directly follows the reference
Min/Max: Units:
value.
24 [Accel Time 2]
Default:
Sets the rate of acceleration for linear ramp 2. Acceleration rate for ramp 2 = Par 2 [Maximum Speed] / Par 24 [Accel Time 2].
Min/Max: Units:
30 [MOP Decel Time]
Default:
The deceleration rate for the MOP reference in response to a digital input. The MOP deceleration rate = Par 2 [Maximum Speed] / Par 30 [MOP Decel Time].
Min/Max: Units:
32 [Decel Time 2]
Default:
Sets the rate of deceleration for linear ramp 2. Deceleration rate for ramp 2 = Par 2 [Maximum Speed] / Par 32 [Decel Time 2].
Min/Max: Units:
245 [Speed Ramp En] Enables or disables the ramp function. The Ramp Reference block is bypassed
when this parameter is set to 0 "Disabled".
Default: Options:
344 [Zero Ramp Output]
Default:
Activates either the ramp output (1) or the brake function (0). When this
A parameter is set to 0 "Active", the drive brakes through the maximum available
Options:
torque and the motor performs a Current Limit Stop. Two quadrant drives do not
support a brake option.
· "Active"= The ramp output is disabled and Pars 113 [Ramp Out] and 114
[Ramp Out Pct] are immediately set to zero.
· "Not Active"= The ramp output is enabled. and Pars 113 [Ramp Out] and 114
[Ramp Out Pct] follow the Ramp Reference block commands.
345 [Zero Ramp Input]
Default:
A
Activates or deactivates the ramp input. · "Active"= The ramp input is not active and Pars 110 [Ramp In] and 111 [Ramp
Options:
In Pct] = 0.
· "Not Active"= The ramp input is activated and Pars 110 [Ramp In] and 111
[Ramp In Pct] correspond to the set reference.
373 [Freeze Ramp]
Default:
A
Determines whether the last ramp output reference value is retained or whether the ramp output reference value is active.
Options:
· "Active"= The value of the ramp output at the time of activation is retained
irrespective of any possible reference value changes at the ramp input.
· "Not Active"= The ramp output value follows the ramp input value according
to the Ramp Reference Block commands.
10 0 / 65535 s
10 0 / 65535 s 10 0 / 65535 s 10 0 / 65535 s 1 = "Enabled" 0 = "Disabled" 1 = "Enabled" 1 = "Not Active" 0 = "Active" 1 = "Not Active"
1 = "Not Active" 0 = "Active" 1 = "Not Active"
1 = "Not Active" 0 = "Active" 1 = "Not Active"
16-bit 113, Int 346,
347
16-bit 2 Int
16-bit 2 Int 16-bit 2 Int 16-bit 2 Int 16-bit Int 16-bit Int
16-bit 110, Int 111
16-bit Int
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File Group No.
Ramp Rates
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
660 [Accel Time 1]
Default:
Sets the rate of acceleration for linear ramp 1. Acceleration rate for ramp 1 = Par 2 [Maximum Speed] / Par 660 [Accel Time 1].
Min/Max: Units:
662 [Decel Time 1]
Default:
Sets the rate of deceleration for linear ramp 1. Deceleration rate for ramp 1 = Par 2 [Maximum Speed] / Par 662 [Decel Time 1].
Min/Max: Units:
665 [S Curve Accel 1]
Default:
A
Amount of time (approximately half at the start and half at the end) applied to the S-curve during Accel 1 changes. When Par 19 [S Curve Time] is changed, this
Min/Max: Units:
parameter is automatically set to the same value. For asymmetrical S-curve ramps,
set this parameter after [S Curve Time] is changed. Note: See S-curve Configuration on page 333 for more information.
666 [S Curve Decel 1]
Default:
A
Amount of time (approximately half at the start and half at the end) applied to the S-curve during Decel 1 changes. When Par 19 [S Curve Time] is changed, this parameter is automatically set to the same value. For asymmetrical S-curve ramps,
Min/Max: Units:
set this parameter after [S Curve Time] is changed.
Note: See S-curve Configuration on page 333 for more information.
667 [S Curve Accel 2]
Default:
A
Amount of time (approximately half at the start and half at the end) applied to the S-curve during Accel 2 changes. When Par 19 [S Curve Time] is changed, this parameter is automatically set to the same value. For asymmetrical S-curve ramps,
Min/Max: Units:
set this parameter after [S Curve Time] is changed.
Note: See S-curve Configuration on page 333 for more information.
668 [S Curve Decel 2]
Default:
A
Amount of time (approximately half at the start and half at the end) applied to the S-curve during Decel 2 changes. When Par 19 [S Curve Time] is changed, this parameter is automatically set to the same value. For asymmetrical S-curve ramps,
Min/Max: Units:
set this parameter after [S Curve Time] is changed.
Note: See S-curve Configuration on page 333 for more information.
1410 [Jog Ramp Time]
Default:
Sets the rate of acceleration and deceleration while the Jog function is active. The Jog rate = Par 2 [Maximum Speed] / Par 1410 [Jog Ramp Time]. Note: This parameter was added for firmware revision 2.001.
Min/Max: Units:
13 [Torq Red CurLim]
Default:
A
The armature current limit, which is defined as a percentage of the value defined in Par 179 [Nom Mtr Arm Amps] when Par 342 [Torque Reduction] is set to 1 "Active".
Min/Max: Units:
696 [Droop Percent]
Default:
A
Droop function gain is a percentage of the ratio between Par 45 [Max Ref Speed] and the difference of Par 698 [Load Comp] Par 41 [Current Reg In]. Therefore, when the difference between Par 698 [Load Comp] and Par 41 [Current Reg In] =
Min/Max: Units:
100% and Par 696 [Droop Percent] = 100%, the speed reference correction signal
is equal to Par 45 [Max Ref Speed].
Note: See Droop Compensation on page 302 for more information.
697 [Droop Filter]
Default:
A
Droop filter time constant for the Droop function. Notes: See Droop Compensation on page 302 for more information. Changed the
Min/Max: Units:
default value from 0 to 100 for firmware revision 6.001.
698 [Load Comp]
Default:
A
The load compensation signal. This value is typically equal to the "Leader" drive's current. The load compensation signal is a percentage of Idn.
Min/Max: Units:
10 0 / 65535 s 10 0 / 65535 s 1.00 0.10 / 15.00 s
1.00 0.10 / 15.00 s
1.00 0.10 / 15.00 s
1.00 0.10 / 15.00 s
10 0 / 65535 s 100 0 / 200 % 0.00 0.00 / 100.00 %
100 0 / 1000 ms 0 + / 200 %
16-bit 2 Int 16-bit 2 Int Real 19
Real 19
Real 19
Real 19
16-bit 2 Int 16-bit 342 Int Real 41,
45, 698
16-bit Int 16-bit Int
DYNAMIC CONTROL
Load Limits
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Data Type Related
Chapter 3 Programming and Parameters
File Group No.
Load Limits
DYNAMIC CONTROL
Parameter Name and Description
See page 117 for symbol descriptions
Values
699 [Enable Droop] Enables/Disables the Droop function.
A · "Enabled"= The Droop function is enabled.
· "Disabled"= The Droop function is disabled. Note: This parameter can be assigned to a digital input.
Default: Options:
700 [Droop Limit] The speed reference correction range within which the droop function becomes
A active.
Note: See Droop Compensation on page 302 for more information.
Default:
Min/Max: Units:
715 [Torq Limit Type]
Default:
This parameter determines the response of the drive during a current limiting condition.
Options:
A
· "T Lim PosNeg"= The active positive torque limit is set by the value that is defined in Par 7 [Current Limit] and the active negative torque limit is set by the
value that is defined in Par 9 [Current Lim Neg].
· "T Lim MtrGen"= With this option the following three conditions apply:
1.If the motor speed is greater than +1% of Par 162 [Max Feedback Spd], the
active positive torque limit is set by the value that is defined in Par 8 [Current
Lim Pos] and the active negative torque limit is set by the value that is
defined in Par 9 [Current Lim Neg].
2.If the motor speed is less than 1% of Par 162 [Max Feedback Spd] the active
positive torque limit is set by the value that is defined in Par 9 [Current Lim
Neg] and the active negative torque limit is set by the value that is defined in
Par 8 [Current Lim Pos].
3.If the motor speed is greater than 1% of Par 162 [Max Feedback Spd] and
less than +1% of Par 162 [Max Feedback Spd] the active positive and
negative torque limits are set by the value that is defined in Par 8 [Current
Lim Pos].
Note: The option names were corrected to those shown above for firmware revision 4.001.
38 [Fast Stop Time]
Default:
A
The amount of time to decelerate the drive to a complete stop and disable the drive. The deceleration rate for Fast stop = [Maximum Speed] / [Fast Stop Time].
Min/Max: Units:
This feature can be used when [Digital Inx Sel] is set to 30 "Fast Stop" or when
certain alarms are configured for "Fast Stop". See Pars 354 [Aux Inp Flt Cfg] and 365
[OverTemp Flt Cfg].
627 [Spd 0 Trip Delay]
Default:
A
The amount of time that will elapse after the drive reaches zero speed before it is disabled.
Min/Max: Units:
1262 [Closing Speed] Motor speed at which the brake is closed. Used with External Brake Control.
A
Default:
Min/Max: Units:
1263 [Opening Delay]
Default:
A
Amount of time before the brake will open after the drive has been enabled. Used with External Brake Control.
Min/Max: Units:
1265 [Ramp In Zero En]
Default:
A
Enables/Disables the setting of the ramp input to zero. Used with External Brake Control.
Options:
1266 [Actuator Delay] Amount of time before the actuator releases the load. Used with External Brake
A Control.
Default:
Min/Max: Units:
0 = "Disabled" 0 = "Disabled" 1 = "Enabled"
1750 0 / Par 45 [Max Ref Speed] rpm 0 = "T Lim PosNeg" 0 = "T Lim PosNeg" 1 = "T Lim MtrGen"
10 0 / 65535 s
0 0 / 40000 ms 30 0 / 200 rpm 0 0 / 30000 ms 0 = "Disabled" 0 = "Disabled" 1 = "Enabled" 0 0 / 30000 ms
16-bit Int
16-bit Int
16-bit 7, Int 8,
9, 162
16-bit 354, Int 365
16-bit Int 16-bit Int 16-bit Int 16-bit Int 16-bit Int
Stop Modes
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File Group No.
Restart Modes
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
1344 [Start At Powerup]
Default:
Enables/Disables the ability to issue a "Run" command and automatically resume running at commanded speed after drive input power is restored and the time in
Options:
Par 1345 [Powerup Delay] has elapsed. Requires a digital input that is configured
for "Run"and a valid start condition.
Note: See Start At Powerup on page 348 for more information.
0 = "Disabled"
0 = "Disabled" 1 = "Enabled"
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.
1345 [Powerup Delay]
Default:
Defines the programmed delay time, in seconds, before a start command is accepted after a powerup. If a "Start","Run"or "Stop"command is asserted before the time in this parameter expires, the "Start At Powerup"function is aborted.
Min/Max: Units:
Note: See Start At Powerup on page 348 for more information.
181 [Adaptive Spd En]
Enables/Disables adaptive speed regulation.
The adaptive speed regulator function enables different gains of the speed
A
regulator depending on the speed or another variable (Par 183 [Adaptive Ref]). This allows adaptation of the speed regulator to your specific application. When
Default: Options:
adaptive speed regulation is disabled, the regulator operates based on the settings in the individual regulation parameters. Note: See Adaptive Speed Regulator on page 335 for more information.
182 [Adaptive Reg Typ]
Selects the type of regulation used.
· "Speed"= The regulator parameters follow a speed reference.
A
· "Adaptive Ref"= The regulator parameters follow the reference that is produced by Par 183 [Adaptive Ref].
Note: See Adaptive Speed Regulator on page 335 for more information.
Default: Options:
183 [Adaptive Ref]
Default:
A
The variable reference that the speed regulator parameter follows when Par 182 [Adaptive Reg Typ] = 1 "Adaptive Ref". Note: See Adaptive Speed Regulator on page 335 for more information.
Min/Max: Units:
184 [Adaptive Spd 1]
Default:
A
A percentage of Par 45 [Max Ref Speed] or the maximum value of Par 183 [Adaptive Ref]. Parameter set 1 is valid below the value set in this parameter and parameter set 2
Min/Max: Units:
is valid above the value set in this parameter. The transition between the values is defined by Par 186 [Adaptive Joint 1]. Note: See Adaptive Speed Regulator on page 335 for more information.
185 [Adaptive Spd 2]
Default:
A
A percentage of Par 45 [Max Ref Speed] or the maximum value of Par 183 [Adaptive Ref]. Parameter set 2 is valid below the value set in this parameter and parameter set 3
Min/Max: Units:
is valid above the value set in this parameter. The transition between the values is
defined by Par 187 [Adaptive Joint 2]. Note: See Adaptive Speed Regulator on page 335 for more information.
186 [Adaptive Joint 1]
Default:
A
Defines a range above and below the value set in Par 184 [Adaptive Spd 1] within which there is a linear change in gain from parameter set 1 to parameter set 2 to prevent jumps in the adaptive speed regulator. The value in this parameter is
Min/Max: Units:
defined as a percentage of the value defined Par 45 [Max Ref Speed].
Note: See Adaptive Speed Regulator on page 335 for more information.
1 1 / 10800 s
0 = "Disabled" 0 = "Disabled" 1 = "Enabled"
0 = "Speed" 0 = "Speed" 1 = "Adaptive Ref"
1000 /+6000 rpm 20.34 0.00 / 200.00 %
40.69 0.00 / 200.00 %
6.11 0.00 / 200.00 %
16-bit 1345 Int
16-bit 1344 Int 16-bit 182, Int 183
16-bit 183 Int
16-bit 182 Int Real 183,
186
Real 183, 187
Real 184
DYNAMIC CONTROL
Adaptv Regulator
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Data Type Related
Chapter 3 Programming and Parameters
File Group No.
DYNAMIC CONTROL Adaptv Regulator
Parameter Name and Description
See page 117 for symbol descriptions
Values
187 [Adaptive Joint 2]
Default:
A
Defines a range above and below the value set in Par 185 [Adaptive Spd 2] with in which there is a linear change in gain from parameter set 2 to parameter set 3 to prevent jumps in the adaptive speed regulator. The value in this parameter is
Min/Max: Units:
defined as a percentage of the value defined Par 45 [Max Ref Speed].
Note: See Adaptive Speed Regulator on page 335 for more information.
188 [Adaptive P Gain1]
Default:
A
Proportional gain for the range from zero to the value set in Par 184 [Adaptive Spd 1]. The value in this parameter is defined as a percentage of the value defined in
Min/Max:
Par 93 [Spd Reg Kp Base].
Note: See Adaptive Speed Regulator on page 335 for more information.
189 [Adaptive I Gain1]
Default:
A
Integral gain for the range from zero to Par 184 [Adaptive Spd 1]. The value in this parameter is defined as a percentage of the value defined Par 94 [Spd Reg Ki Base]. Note: See Adaptive Speed Regulator on page 335 for more information.
Min/Max: Units:
190 [Adaptive P Gain2]
Default:
A
Proportional gain for the range of values that are defined beginning with the value of Par 184 [Adaptive Spd 1] to the value defined in Par 185 [Adaptive Spd 2]. The
Min/Max:
value in this parameter is defined as a percentage of the value that is defined in Par
93 [Spd Reg Kp Base].
Note: See Adaptive Speed Regulator on page 335 for more information.
191 [Adaptive I Gain2]
Default:
A
Integral gain for the range of values that are defined beginning with the value of Par 184 [Adaptive Spd 1] to the value defined in Par 185 [Adaptive Spd 2]. The
Min/Max: Units:
value in this parameter is defined as a percentage of the value that is defined in Par
94 [Spd Reg Ki Base].
Note: See Adaptive Speed Regulator on page 335 for more information.
192 [Adaptive P Gain3]
Default:
A
Proportional gain for the range of values beginning above the value defined in Par 185 [Adaptive Spd 2]. The value in this parameter is defined as a percentage of the
Min/Max:
value that is defined in Par 93 [Spd Reg Kp Base].
Note: See Adaptive Speed Regulator on page 335 for more information.
193 [Adaptive I Gain3]
Default:
A
Integral gain for the range of values beginning above the value defined in Par 185 [Adaptive Spd 2]. The value in this parameter is defined as a percentage of the
Min/Max: Units:
value that is defined in Par 94 [Spd Reg Ki Base].
Note: See Adaptive Speed Regulator on page 335 for more information.
6.11 0.00 / 200.00 %
10.00 0.00 / 100.00
1.00 0.00 / 100.00 s-1 10.00 0.00 / 100.00
1.00 0.00 / 100.00 s-1
10.00 0.00 / 100.00
1.00 0.00 / 100.00 s-1
Real 185
Real 93, 184
Real 94, 184
Real 93, 184, 185
Real 94, 184, 185
Real 93, 185
Real 94, 185
160
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Programming and Parameters Chapter 3
Data Type Related
Applications File
File Group No.
APPLICATIONS PI Control
Parameter Name and Description
See page 117 for symbol descriptions
Values
695 [PI Steady Thrsh]
Default:
A
Feedforward threshold for PI. · If the value of Par 758 [Feed Fwd PID] is less than the value of Par 695 [PI Steady
Min/Max:
Thrsh], the integral regulation is locked and the proportional gain assumes the
value set in Par 793 [PI Init Prop Gn].
· When the value of Par 758 [Feed Fwd PID] exceeds the value of Par 695 [PI
Steady Thrsh], the integral regulation with the gain set in Par 734 [PI Init Intgl
Gn] will be enabled.
· The Proportional / Integral (PI) block will maintain the gain values specified in
Pars 793 [PI Init Prop Gn] and 734 [PI Init Intgl Gn] for the time specified in Par
731 [PID Steady Delay]; once this time delay has elapsed, the values of [PI Init
Prop Gn] and [PI Init Intgl Gn] will be brought automatically to the values
specified in Pars 765 [PI Prop Gain PID] and 764 [PI Integral Gain], respectively.
731 [PID Steady Delay]
Default:
A
The amount of time for which the gains in Pars 793 [PI Init Prop Gn] and 734 [PI Init Intgl Gn] will remain enabled after feedforward has exceeded the threshold value defined in Par 695 [PI Steady Thrsh].
Min/Max: Units:
734 [PI Init Intgl Gn]
Default:
A
The initial value of the integral gain. This parameter is active when feedforward is greater than the value defined in Par 695 [PI Steady Thrsh], or Par 769 [Enable PI]
Min/Max:
transitions from "0" (low) to "1" (high) and the amount of time defined in Par 731
[PID Steady Delay] has elapsed.
764 [PI Integral Gain] Integral gain of the PI block.
A
Default: Min/Max:
765 [PI Prop Gain PID] Proportional gain of the PI block.
A
Default: Min/Max:
769 [Enable PI]
Default:
A
Enables/Disables the PI portion of the PID regulator. If assigned to a digital input, this parameter must be brought at a high logical level (+24V).
Options:
771 [PI Output]
Default:
A
Output value of the PI block, adapted to the value between the values defined in Pars 784 [PI Upper Limit] and 785 [PI Lower Limit]. When the drive is turned on,
Min/Max:
the value of this parameter is acquired automatically based on the value of Par 779
[PI Central v sel] x 1000.
776 [PI Central v1]
Default:
A
The first value that can be selected, via Par 779 [PI Central v sel], as the initial output of the PID regulator's integral component (corresponding to initial diameter
Min/Max:
1). The value entered in this parameter must be less than the value set in Par 784
[PI Upper Limit] and greater than the value set in Par 785 [PI Lower Limit].
777 [PI Central v2]
Default:
A
The second value that can be selected, via Par 779 [PI Central v sel], as the initial output of the PID regulator's integral component (corresponding to initial diameter
Min/Max:
2). The value entered in this parameter must be less than the value set in Par 784 [PI Upper Limit] and greater than the value set in Par 785 [PI Lower Limit].
778 [PI Central v3]
Default:
A
The third value that can be selected, via Par 779 [PI Central v sel], as the initial output of the PID regulator's integral component (corresponding to initial diameter
Min/Max:
3). The value entered in this parameter must be less than the value set in Par 784
[PI Upper Limit] and greater than the value set in Par 785 [PI Lower Limit].
Note: This parameter can be assigned to an analog input.
0 0 / 10000
16-bit 758 Int
0 0 / 60000 ms
10.00 0.00 / 100.00
16-bit 695, Int 734,
793
Real 695, 731, 769
10.00 0.00 / 100.00
10.00 0.00 / 100.00
0 = "Disabled" 0 = "Disabled" 1 = "Enabled" Read Only 0 / 10000
Real
Real
16-bit Int
16-bit 784, Int 785,
779
0.00
Real 784,
Par 785 [PI Lower Limit] / Par 784 [PI Upper Limit]
785, 779
0.00
Real 784,
Par 785 [PI Lower Limit] / Par 784 [PI
785,
Upper Limit]
779
0.00
Real 784,
Par 785 [PI Lower Limit] / Par 784 [PI Upper Limit]
785, 779
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161
Chapter 3 Programming and Parameters
Data Type Related
File Group No.
APPLICATIONS PI Control
Parameter Name and Description
See page 117 for symbol descriptions
Values
779 [PI Central v sel]
Default:
A
Selects one of the four possible initial output values of the PID regulator integral component (corresponding to the initial diameter) of the PI block.
Min/Max:
· "0"= When the PI block is disabled (Par 769 [Enable PI] = "Disabled"), the last
value of the integral component calculated (corresponding to roll diameter) is
stored in Par 771 [PI Output]. This value is used by the PID regulator when the PI
block is enabled again and the drive is restarted. This function is useful when,
for any reason, the drive must be turned off or if incoming power is removed
from the drive.
· "1","2", or "3"= When the PI block is disabled (Par 769 [Enable PI] =
"Disabled"), the value of [PI Output] will be set to the value of the selected
parameter ("1" = 776 [PI Central v1], "2" = 777, [PI Central v2], or "3" = 778
[PI Central v3] x1000). This value is only used by the PID regulator when the
drive is powered up and Par 769 [Enable PI] is already enabled.
Note: Par 779 [PI Central v sel] can be set directly from the HIM or through two
digital inputs set respectively as "PI central vs0"and "PI central vs1". See Pars 780
[PI Central vs0] and 781 [PI Central vs1] for more information on this configuration.
780 [PI Central vs0]
Default:
A
When assigned to a digital input and used in combination with Par 781 [PI Central vs1], through binary selection, determines which of the four possible output
Min/Max:
values is used as the initial level of the integral component (corresponding to the
initial diameter) of the PI block.
Par 780 0 0 1 1
Par 781 0 1 0 1
Selects the value in... Par 771 [PI Output] Par 776 [PI Central v1] Par 777 [PI Central v2] Par 778 [PI Central v3]
781 [PI Central vs1]
Default:
A
The output selector of the initial PI block. With the value of Par 780 [PI Central vs0] determined, through binary selection, what between the four possible settings of
Min/Max:
the integral initial level (correspondent to initial diameter) can be used. See Par
780 [PI Central vs0] for binary selections.
783 [PI integr freeze] Locks the selections made for the integral component of the PID regulator.
A
Default: Options:
784 [PI Upper Limit] Defines the upper limit of the adapting block for correction of the PI block.
A
Default: Min/Max:
785 [PI Lower Limit] Defines the lower limit of the adapting block for correction of the PI block.
A
Default: Min/Max:
793 [PI Init Prop Gn]
Default:
The initial value of the proportional gain. This parameter is active when,
A · its value has exceeded the value of Par 695 [PI Steady Thrsh],
Min/Max:
· the amount of time defined in Par 731 [PID Steady Delay] has elapsed, and
feedforward is less than the value defined in Par 695 [PI Steady Thrsh], or
· Par 769 [Enable PI] transitions from "0"(low) to "1"(high) and the amount of
time defined in Par 731 [PID Steady Delay] has elapsed.
421 [PD Output PID] Proportional / Derivative (PD) block output.
A
Default: Min/Max:
766 [PD Deriv Gain 1]
Default:
A
First derivative gain of the PD block. The value specified in this field depends on the enabling and configuration of Par 181 [Adaptive Spd En].
Min/Max:
767 [PD Deriv Filter] Time constant of the filter from the derivative portion of the PD block.
A
Default:
Min/Max: Units:
1
16-bit 769,
0 / 3
Int 776, 777,
778,
780,
781
0
16-bit
0 / 1
Int
0
16-bit
0 / 1
Int
0 = "Off" 0 = "Off" 1 = "On" 10.00 Par 785 [PI Lower Limit] / 10.00
0.00 10.00 / Par 784 [PI Upper Limit]
10.00 0.00 / 100.00
16-bit Int
Real
Real
Real 695, 731, 769
Read Only /+10000
1.00 0.00 / 100.00
0 1 / 1000 ms
16-bit Int
Real 181
16-bit Int
PD Control
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File Group No.
PD Control
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
768 [PD Prop Gain 1]
Default:
A
First proportional gain of the block PD. The value specified in this field depends on the enabling and configuration of Par 181 [Adaptive Spd En].
Min/Max:
770 [Enable PD] Enables/disables the PD portion of the PID regulator.
A Note: This parameter can be assigned to a digital input.
Default: Options:
788 [PD Prop Gain 2]
Default:
A
Second proportional gain of the block PD. The value specified in this field depends on the enabling and configuration of Par 181 [Adaptive Spd En].
Min/Max:
789 [PD Deriv Gain 2]
Default:
A
Second derivative gain of the PD block. The value specified in this field depends on the enabling and configuration of Par 181 [Adaptive Spd En].
Min/Max:
790 [PD Prop Gain 3]
Default:
A
Third proportional gain of the block PD. The value specified in this field depends on the enabling and configuration of Par 181 [Adaptive Spd En].
Min/Max:
791 [PD Deriv Gain 3]
Default:
A
Third derivative gain of the PD block. The value specified in this field depends on the enabling and configuration of Par 181 [Adaptive Spd En].
Min/Max:
418 [Real FF PID]
Default:
Represents the feedforward value which has been recalculated according to the PI correction. It will be calculated with the following formula:
Min/Max:
Par 418 [Real FF PID] = (Par 758 [Feed Fwd PID] / 1000) x Par 771 [PI Output]
When either the negative or positive limit of this parameter has been reached,
further increases in the value of Par 771 [PI Output] will be blocked to avoid
undesirable saturation of the PID regulator. For example: When Par 758 [Feed Fwd PID] = +8000, the positive limit of Par 771 [PI Output] will be automatically set at 10000 / (8000 / 1000) = 1250.
757 [PID Clamp]
Default:
The PID "clamp" allows a smooth tension setting of a controlled system winder/
A unwinder when the calculation of the initial diameter function cannot be used.
Min/Max:
· When enabling the drive, the dancer is at the lowest point of its full scale. In this
case, with Par 759 [PID Error] at its maximum value, the motor could accelerate
too fast to properly configure the dancer for its central operating position. By
setting the value of Par 757 [PID Clamp] sufficiently low. e.g, = 1000, when the
drive starts and Par 770 [Enable PD] = 1 "Enable", the value of Par 759 [PID
Error] is limited to 1000 until the signal coming from the dancer (via Par 763
[PID Feedback]) goes above the value in this field. Then, the value of [PID
Clamp] is automatically returned to its maximum value of 10000. The PID clamp
is kept at 10000 until the drive stops or Par 770 [Enable PD] = 0 "Disabled".
758 [Feed Fwd PID] Feedback from the transducer position (dancer) or tension.
A
Default: Min/Max:
759 [PID Error] Error value input to the PID function (output of the PID Clamp block).
A
Default: Min/Max:
760 [PID Setpoint 0]
Default:
A
First offset value added to Par 763 [PID Feedback]. This parameter can be assigned to an analog input, for example, for the tension setting when a load cell must be
Min/Max:
used as feedback.
761 [PID Setpoint 1] Second offset value added to Par 763 [PID Feedback].
A
Default: Min/Max:
762 [PID Setpoint Sel]
Default:
Selects the offset value added to Par 763 [PID Feedback]. This parameter can be
A assigned to a digital input.
Options:
10.00 0.00 / 100.00 0 = "Disabled" 0 = "Disabled" 1 = "Enabled" 10.0 0.0 / 100.0 10.0 0.0 / 100.0 10.0 0.0 / 100.0 1.00 0.00 / 100.00 Read Only /+10000
10000 0 / 10000
Read Only /+10000 Read Only /+10000 0 /+10000
0 /+10000 0 = "Setpoint 0" 0 = "Setpoint 0" 1 = "Setpoint 1"
Real 181
16-bit Int Real 181
Real 181
Real 181
Real 181
16-bit 758, Int 771
16-bit 759, Int 763,
770
16-bit Int 16-bit Int 16-bit 763 Int 16-bit 763 Int 16-bit 763 Int
APPLICATIONS
PID Control
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163
Data Type Related
Chapter 3 Programming and Parameters
File Group No.
APPLICATIONS PID Control
Parameter Name and Description
See page 117 for symbol descriptions
763 [PID Feedback] Analog input feedback value received from the transducer position (dancer) or
A tension (load cell).
Values Default: Min/Max:
772 [PID Output Sign]
Default:
A
Determines whether the output of the PID regulator is bipolar or positive (clamp of the negative side).
Options:
773 [PID Output Scale]
Default:
Scale factor for Par 774 [PID Output]. The value of this parameter depends on to
A which parameter you want to send the PID regulator output.
Min/Max:
774 [PID Output]
Default:
A
Displays the PID regulator output. Note: This parameter can be assigned to an analog output to provide a cascaded
Min/Max:
reference in multi-drive systems.
782 [PID Target] Parameter number to which the PID Output value will be written.
A Note: Added option 48 "Reserved"for firmware revision 5.002.
Default:
Options:
0 /+10000
1 = "Bipolar" 0 = "Positive" 1 = "Bipolar" 1.00 /+100.00
Read Only /+10000
0 = "Not Used"
0 = "Not Used" 1 = "Cur Lim Pos"(Par 8) 2 = "Cur Lim Neg"(Par 9) 3 = "Reserved" 4 = "Reserved" 5 = "TrqRedCurLim"(Par 13) 6 = "Torque Ref"(Par 39) 7 = "Trim Torque"(Par 40) 8 = "Reserved" 9 = "Trim Ramp"(Par 42) 10 = "Trim Speed"(Par 43) 11 = "Reserved" 12 = "Reserved" 13 = "Reserved" 14 = "Adaptive Ref"(Par 183) 15 = "Reserved" 16 = "Reserved"
17 = "Max Fld Pct"(Par 467) 18 = "Reserved" 19 = "UsrDefined0"(Par 503) 20 = "UsrDefined1"(Par 504) 21 = "UsrDefined2"(Par 505) 22 = "UsrDefined3"(Par 506) 23 = "UsrDefined4"(Par 507) 24 = "UsrDefined5"(Par 508) 25 = "UsrDefined6"(Par 509) 26 = "UsrDefined7"(Par 510) 27 = "UsrDefined8"(Par 511) 28 = "UsrDefined9"(Par 512) 29 = "UsrDefined10"(Par 513) 30 = "UsrDefined11"(Par 514) 31 = "UsrDefined12"(Par 515) 32 = "UsrDefined13"(Par 516) 33 = "UsrDefined14"(Par 517)
34 = "UsrDefined15"(Par 518) 35 = "Load Comp"(Par 698) 36 = "Out Volt Lvl"(Par 921) 37 = "Reserved" 38 = "Speed Ratio"(Par 1017) 39 = "Reserved" 40 = "Reserved" 41 = "Tension Red"(Par 1179) 42 = "Reserved" 43 = "Reserved" 44 = "CloseLp Comp"(Par 1208) 45 = "Reserved" 46 = "Reserved" 47 = "Reserved" 48 = "Reserved"
16-bit Int
16-bit Int
Real 774
16-bit Int
16-bit Int
164
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Programming and Parameters Chapter 3
Data Type Related
File Group No.
PID Control
APPLICATIONS
Parameter Name and Description
See page 117 for symbol descriptions
Values
786 [PID Source]
Default:
Parameter number from which the PID source value will be read.
A Notes: Added option 47 "Encoder Spd"for firmware revision 4.001. Added option
48 "Resolver Spd" for firmware revision 5.002.
Options:
0 "Not Used"
0 = "Not Used" 1 = "Cur Lim Pos"(Par 8) 2 = "Cur Lim Neg"(Par 9) 3 = "CurLimPosOut"(Par 10) 4 = "CurLimNegOut"(Par 11) 5 = "TrqRedCurLim"(Par 13) 6 = "Torque Ref"(Par 39) 7 = "Trim Torque"(Par 40) 8 = "TorqueReg In"(Par 41) 9 = "Trim Ramp"(Par 42) 10 = "Trim Speed"(Par 43) 11 = "Ramp In"(Par 110) 12 = "Ramp Out"(Par 113) 13 = "Speed Reg In"(Par 118) 14 = "Adaptive Ref"(Par 183) 15 = "Arm Cur Pct"(Par 199) 16 = "SpdRegOutPct"(Par 236)
17 = "Max Fld Pct"(Par 467) 18 = "Fld Ref Pct"(Par 500) 19 = "UsrDefined0"(Par 503) 20 = "UsrDefined1"(Par 504) 21 = "UsrDefined2"(Par 505) 22 = "UsrDefined3"(Par 506) 23 = "UsrDefined4"(Par 507) 24 = "UsrDefined5"(Par 508) 25 = "UsrDefined6"(Par 509) 26 = "UsrDefined7"(Par 510) 27 = "UsrDefined8"(Par 511) 28 = "UsrDefined9"(Par 512) 29 = "UsrDefined10"(Par 513) 30 = "UsrDefined11"(Par 514) 31 = "UsrDefined12"(Par 515) 32 = "UsrDefined13"(Par 516) 33 = "UsrDefined14"(Par 517)
34 = "UsrDefined15"(Par 518) 35 = "Load Comp"(Par 698) 36 = "Out Volt Lvl"(Par 921) 37 = "Filt Trq Cur"(Par 928) 38 = "Speed Ratio"(Par 1017) 39 = "Spd Draw Out"(Par 1018) 40 = "Roll Diam"(Par 1154) 41 = "Tension Red"(Par 1179) 42 = "Torq Cur Pct"(Par 1193) 43 = "Ten Ref Pct"(Par 1194) 44 = "CloseLp Comp"(Par 1208) 45 = "Actual Comp"(Par 1213) 46 = "W Reference"(Par 1217) 47 = "Encoder Spd"(Par 420) 48 = "Resolver Spd"(Par 428)
787 [PID Source Gain] Gain of the input value to Par 786 [PID Source].
A
Default: Min/Max:
1046 [PID Accel Time] Ramp acceleration time after the block PID offset.
A
Default:
Min/Max: Units:
1047 [PID Decel Time] Ramp deceleration time after the block PID offset.
A
Default:
Min/Max: Units:
1254 [PID Error Gain] Gain percentage of Par 759 [PID Error].
A
Default:
Min/Max: Units:
1258 [Enable PI PD]
Default:
A
Indicates the combined status of Par 769 [Enable PI] and 770 [Enable PD]. If both Par 769 and Par 770 are enabled, then Par 1258 [Enable PI PD] displays "Enabled".
Min/Max:
If either of Par 769 or Par 770 is disabled, Par 1258 [Enable PI PD] displays
"Disabled".
794 [Diameter Calc]
Enables/Disables the diameter calculation function. If this parameter has been
programmed via a digital input, it must be brought to a logical high level.
A
· "0"= The diameter calculation is disabled. · "1"= The diameter calculation is enabled.
Default: Min/Max:
795 [DncrPosSpd]
Default:
A Desired motor speed when the dancer is positioned in its central working position. Min/Max:
796 [Max Deviation]
Default:
A
A value, expressed in counts of D/A, that corresponds to the position of maximum shift admitted by the dancer. This value is considered the starting measurement of
Min/Max:
the dancer movement during the initial diameter calculation phase.
797 [Gear Box Ratio] Ratio reduction between the motor and the roll (< = 1).
A
Default: Min/Max:
1.00 /+100.00
0.00 0.00 / 900.00 s 0.00 0.00 / 900.00 s 1.005 0.000 / 32.005 % Read Only Disabled / Enabled
0 0 / 1
0 /+100
8000 0 / 10000
1.000 0.001 / 1.000
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16-bit Int
Real 786 Real Real Real 759 16-bit 769, Int 770 16-bit Int 16-bit Int 16-bit Int Real
165
Init Diam Calc
Chapter 3 Programming and Parameters
File Group No.
Init Diam Calc
APPLICATIONS
Parameter Name and Description
See page 117 for symbol descriptions
798 [Dancer Constant] The measurement corresponding to the total bunching of the material in the
A dancer.
799 [Minimum Diameter] Minimum value of the roll diameter. Note: Also included in the Diameter Calc group in the Applications file.
A
Values Default:
Min/Max: Units: Default:
Min/Max: Units:
800 [Diameter Calc St] Status of the initial diameter calculation.
A · "0"= The initial diameter calculation has not completed.
· "1"= The initial diameter calculation has completed. Note: This parameter can be assigned to a digital output. 1153 [Max Diameter] Maximum roll diameter.
A
Default: Min/Max:
Default: Min/Max: Units:
1154 [Roll Diameter]
Default:
A
Displays the calculated roll diameter. Note: This parameter can be assigned to an analog output as a percentage of Par 1153 [Max Diameter].
Min/Max: Units:
1155 [Line Spd Thresh]
Default:
A
Line speed detecting threshold. When the value of Par 1286 [Ref Line Speed] is lower than the value of [Line Spd Thresh], the diameter calculation stops and the diameter is kept at a constant value. When the value of [Ref Line Speed] overcomes
Min/Max: Units:
the threshold, the diameter calculation is enabled with an initial filter corresponding to the value in Par 1206 [Diam Init Filter] for the time set in Par 1207 [Diam Stdy Delay]. At the end of this time the filter will be set to the value of Par 1162 [Diameter Filter].
1156 [Line Spd Gain]
Default:
A
Calibration value used to obtain Par 1160 [Line Speed Pct] = 100% at its maximum value. The value of this parameter depends on the value of Par 1284 [Ref Spd
Min/Max:
Source]:
[Line Spd Gain] = [32768 x 16384 / (maximum value of [Ref Spd Source] x 8)] -1
1157 [Diameter Reset]
Default:
A
Diameter reset. When this parameter is set to "1", the diameter starting value is set to the value in Par 1168 [Diam Preset Sel].
Min/Max:
1158 [Diam Threshold] Diameter threshold as a percentage of Par 1153 [Max Diameter]. Par 1159
A [Diameter Reached] is set to "1"when the value in this parameter is exceeded.
Default:
Min/Max: Units:
1159 [Diameter Reached]
Default:
A
Indication that the diameter threshold set in Par 1158 [Diam Threshold] has been exceeded.
Min/Max:
· "0"= The diameter threshold has not been exceeded.
· "1"= The diameter threshold has been exceeded.
1160 [Line Speed Pct] Line speed.
A
Default:
Min/Max: Units:
1161 [Diam Calc Dis] Enables/Disables the diameter calculation (see also Par 1155 [Line Spd Thresh]).
A The last calculated diameter value is saved if this parameter is changed to 0 "Off"
while the diameter is being calculated.
Default: Options:
1 1 / 10000 mm 100 1 / 2000 mm
Read Only 0 / 1
1.00 0.00 / 32.00 m
Read Only 0.00 / 32.00 m 5.00 0.00 / 150.00 %
0 0 / 32767
0 0 / 1
10.00 0.00 / 150.00 % Read Only 0 / 1
Read Only 0.00 / 150.00 % 1 = "On" 0 = "Off" 1 = "On"
Diameter Calc
Data Type Related
16-bit Int 16-bit Int
16-bit Int
Real
Real
Real 1162, 1206, 1207, 1286
16-bit 1160, Int 1284
16-bit 1168 Int Real 1153,
1159 16-bit 1158 Int
Real
16-bit 1155 Int
166
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File Group No.
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
1162 [Diameter Filter] Diameter calculation filter.
A
Default:
Min/Max: Units:
1163 [Base Omega]
Default:
A
Winder speed at the maximum line speed and minimum diameter of the winder/ unwinder (motor shaft side).
Min/Max: Units:
1164 [Diam Preset 0]
Default:
A
First preset starting diameter. The value of this parameter must be set between the value of Pars 799 [Minimum Diameter] and 1153 [Max Diameter].
Min/Max: Units:
1165 [Diam Preset 1]
Default:
A
Second preset starting diameter. The value of this parameter must be set between the value of Pars 799 [Minimum Diameter] and 1153 [Max Diameter].
Min/Max: Units:
1166 [Diam Preset 2]
Default:
A
Third preset starting diameter. The value of this parameter must be set between the value of Pars 799 [Minimum Diameter] and 1153 [Max Diameter].
Min/Max: Units:
1167 [Diam Preset 3]
Default:
A
Fourth preset starting diameter. The value of this parameter must be set between the value of Pars 799 [Minimum Diameter] and 1153 [Max Diameter]. This parameter can be assigned to an analog input. If an analog input is used, +10V
Min/Max: Units:
corresponds to the value of [Max Diameter] and the voltage corresponding to the
minimum diameter = 10 x ([Minimum Diameter] / [Max Diameter]).
1168 [Diam Preset Sel]
Default:
Selects the starting diameter for the Diameter Calculation function.
A · 0 = Par 1164 [Diam Preset 0]
Min/Max:
· 1 = Par 1165 [Diam Preset 1]
· 2 = Par 1166 [Diam Preset 2]
· 3 = Par 1167 [Diam Preset 3]
This parameter can also be set via two digital inputs programmed as 57 "Diam
Preset0"and 58 "Diam Preset1"; the selection in this case is carried out with binary
logic.
"Diam Preset1" 0 0 1 1
"Diam Preset0" 0 1 0 1
Selection Par 1164 [Diam Preset 0] Par 1165 [Diam Preset 1] Par 1166 [Diam Preset 2] Par 1167 [Diam Preset 3]
1187 [Winder Type]
Default:
A
Winder/unwinder selection. If the selection is carried out via a digital input: 0V = "Winder", +24V = "Unwinder".
Options:
100 0 / 5000 ms 1500 0 / 8191 rpm 1.00 0.00 / 32.00 m 1.00 0.00 / 32.00 m 1.00 0.00 / 32.00 m 1.00 0.00 / 32.00 m
0 0 / 3
0 = "Winder" 0 = "Winder" 1 = "Unwinder"
16-bit Int 16-bit Int Real 799,
1153 Real 799,
1153 Real 799,
1153 Real 799,
1153
16-bit 1164, Int 1165,
1166, 1167
16-bit Int
APPLICATIONS Diameter Calc
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167
Chapter 3 Programming and Parameters
File Group No.
Diameter Calc
APPLICATIONS
Parameter Name and Description
See page 117 for symbol descriptions
Values
1204 [Line Spd Source]
Default:
Parameter number from which the line speed source for the winder function value
will be read.
A
Notes: Added options 0...47 for firmware revision 4.001. Added option 48 "Resolver Spd" for firmware revision 5.002.
Options:
0 = "Not Used"
0 = "Not Used" 1 = "Cur Lim Pos"(Par 8) 2 = "Cur Lim Neg"(Par 9) 3 = "CurLimPosOut"(Par 10) 4 = "CurLimNegOut"(Par 11) 5 = "TrqRedCurLim"(Par 13) 6 = "Torque Ref"(Par 39) 7 = "Trim Torque"(Par 40) 8 = "TorqueReg In"(Par 41) 9 = "Trim Ramp"(Par 42) 10 = "Trim Speed"(Par 43) 11 = "Ramp In"(Par 110) 12 = "Ramp Out"(Par 113) 13 = "Speed Reg In"(Par 118) 14 = "Adaptive Ref"(Par 183) 15 = "Arm Cur Pct"(Par 199) 16 = "SpdRegOutPct"(Par 236)
17 = "Max Fld Pct"(Par 467) 18 = "Fld Ref Pct"(Par 500) 19 = "UsrDefined0"(Par 503) 20 = "UsrDefined1"(Par 504) 21 = "UsrDefined2"(Par 505) 22 = "UsrDefined3"(Par 506) 23 = "UsrDefined4"(Par 507) 24 = "UsrDefined5"(Par 508) 25 = "UsrDefined6"(Par 509) 26 = "UsrDefined7"(Par 510) 27 = "UsrDefined8"(Par 511) 28 = "UsrDefined9"(Par 512) 29 = "UsrDefined10"(Par 513) 30 = "UsrDefined11"(Par 514) 31 = "UsrDefined12"(Par 515) 32 = "UsrDefined13"(Par 516) 33 = "UsrDefined14"(Par 517)
34 = "UsrDefined15"(Par 518) 35 = "Load Comp"(Par 698) 36 = "Out Volt Lvl"(Par 921) 37 = "Filt Trq Cur"(Par 928) 38 = "Speed Ratio"(Par 1017) 39 = "Spd Draw Out"(Par 1018) 40 = "Roll Diam"(Par 1154) 41 = "Tension Red"(Par 1179) 42 = "Torq Cur Pct"(Par 1193) 43 = "Ten Ref Pct"(Par 1194) 44 = "CloseLp Comp"(Par 1208) 45 = "Actual Comp"(Par 1213) 46 = "W Reference"(Par 1217) 47 = "Encoder Spd"(Par 420) 48 = "Resolver Spd"(Par 428)
1205 [Diam Inc Dec En]
Default:
A
This parameter It is used to improve system stability for winder/unwinder applications. If this parameter is enabled and if applied to a winder, the calculated
Options:
diameter can never decrease; if applied to an unwinder, the calculated diameter
can never increase.
1206 [Diam Init Filter] Initial filter on the diameter calculation.
A
Default:
Min/Max: Units:
1207 [Diam Stdy Delay] The amount of time during which the value of Par 1206 [Diam Init Filter] is kept
A active after the value defined in Par 1155 [Line Spd Thresh] has been overcome.
Default:
Min/Max: Units:
1171 [Variable J Comp]
Default:
A
Torque compensation due to the wound material as a percentage of the drive rated current.
Min/Max: Units:
1172 [Constant J Comp]
Default:
A
Compensation of the fixed section (motor, reducer, pin) as a percentage of the drive rated current.
Min/Max: Units:
1173 [Materl Width Pct] Width of the wound material as a percentage of the maximum width.
A
Default:
Min/Max: Units:
1174 [Static Friction] Compensation for static friction as a percentage of the drive rated current.
A
Default:
Min/Max: Units:
1175 [Dynamic Friction] Compensation for dynamic friction as a percentage of the drive rated current.
A
Default:
Min/Max: Units:
1 = "Enabled"
0 = "Disabled" 1 = "Enabled"
100
0 / 5000 ms 0
0 / 60000 ms 0.00
0.00 / 199.99 % 1.00
/ +100.00 % 100.00
0.00 / 100.00 % 0.00
0.00 / 199.99 % 0.00
0.00 / 199.99 %
Winder Functions
Data Type Related
16-bit Int
16-bit Int 16-bit Int 16-bit 1155, Int 1206 Real Real Real Real Real
168
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File Group No.
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
1176 [Taper Enable] Enables/Disables the Taper function.
A
Values Default: Options:
1177 [Initial Diameter] Diameter that starts the taper tension reduction.
A
Default:
Min/Max: Units:
1178 [Final Diameter] Diameter that ends the taper tension reduction.
A
Default:
Min/Max: Units:
1179 [Tension Reduct] Taper tension reduction as a percentage of Par 1180 [Tension Ref].
A
Default:
Min/Max: Units:
1180 [Tension Ref] Tension reference.
A Note: This parameter can be assigned to an analog input or output.
Default:
Min/Max: Units:
1181 [Tension Scale]
Default:
A
Scale factor of the torque current. This parameter is used when the value of the maximum winding torque must be limited or when a closed loop control is used to adjust the torque current value to the real tension on the material measured by the
Min/Max: Units:
load cell.
1182 [Time AccDec Min]
Default:
A
The amount of time corresponding to the lower acceleration, deceleration, and fast deceleration time.
Min/Max: Units:
1183 [Int Acc Calc En]
Default:
Enables/Disables the calculation for coil acceleration. · "Enabled"= This function implements the calculation of the angular
Options:
acceleration inside the drive. In this case, it is necessary to set just the value of
A Par 1182 [Time AccDec Min].
· "Disabled"= It is necessary to set Pars 1184 [Line Accel Pct], 1185 [Line Decel
Pct], 1186 [Line FastStp Pct] and 1182 [Time AccDec Min] and to supply the
corresponding status indication to the digital inputs.
1184 [Line Accel Pct] Acceleration time as a percentage Par 1182 of [Time AccDec Min].
A
Default:
Min/Max: Units:
1185 [Line Decel Pct] Deceleration time as a percentage of Par 1182 [Time AccDec Min].
A
Default:
Min/Max: Units:
1186 [Line FastStp Pct] Fast deceleration time as a percentage of Par 1182 [Time AccDec Min].
A
Default:
Min/Max: Units:
1188 [Accel Status] Indicates the drive acceleration status.
A · "0"= Off - Drive not accelerating
· "1"= "On"- Drive accelerating Note: This parameter can be assigned to a digital output.
Default: Min/Max:
1189 [Decel Status] Indicates the drive deceleration status.
A · "0"="Off"- Drive not decelerating
· "1"="On"- Drive decelerating Note: This parameter can be assigned to a digital output.
Default: Min/Max:
1190 [Fast Stop Status] Indicates the drive fast stop status.
A · "0"="Off"- Drive is not fast stopping
· "1"= "On"- Drive is fast stopping
Default: Min/Max:
0 = "Disabled" 0 = "Disabled" 1 = "Enabled" 0.10 0.00 / 32.00 m 1.00 0.00 / 32.00 m 0.00 0.00 / 199.99 % 0.00 0.00 / 199.99 % 100 0 / 200 %
9.00 0.15 / 300 s 1 = "Enabled" 0 = "Disabled" 1 = "Enabled"
100.00 0.00 / 100.00 % 100.00 0.00 / 100.00 % 100.00 0.00 / 100.00 % Read Only 0 / 1
Read Only 0 / 1
Read Only 0 / 1
16-bit Int Real
Real
Real 1180
Real
16-bit Int
Real
16-bit 1182, Int 1184,
1185, 1186
Real 1182
Real 1182
Real 1182
16-bit Int
16-bit Int
16-bit Int
APPLICATIONS Winder Functions
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File Group No.
APPLICATIONS Winder Functions
Parameter Name and Description
See page 117 for symbol descriptions
Values
1191 [InertiaCompCnst]
Default:
A
Displays the active compensation of the fixed section as a percentage of the drive rated current.
Min/Max: Units:
1192 [InertiaCompVar] Displays the active compensation of the variable section as a percentage of the
A drive rated current.
Default:
Min/Max: Units:
1193 [Torq Current Pct] Displays the amount of torque current required.
A Note: This parameter can be assigned to an analog output.
Default:
Min/Max: Units:
1194 [Act Ten Ref Pct]
Default:
A
Displays the percentage of tension reference less the Taper percentage set via Par 1179 [Tension Reduct]. If the Taper function is not enabled, it corresponds to the
Min/Max: Units:
value displayed in Par 1180 [Tension Ref].
1195 [Speed Match] Coil "launching" phase command for automatic switching.
A Note: This parameter can be assigned to a digital input or output.
Default: Options:
1196 [Spd Match Acc] Motor acceleration time during the launching phase.
A
Default:
Min/Max: Units:
1197 [Spd Match Dec] Motor deceleration time. If the motor decelerates during the launching phase, a
A stop command is issued.
Default:
Min/Max: Units:
1198 [Offs Accel Time] Ramp time for the initial phase when the machine is stopped. It refers to Par 45
A [Max Ref Speed].
Default:
Min/Max: Units:
1199 [W Offset]
Default:
A
Speed reference offset for the initial phase of the winder/unwinder when the line is stopped.
Min/Max: Units:
1200 [Spd Match Gain] Speed reference gain during the launching phase. 100% corresponds to a
A peripheral speed equal to the line speed.
Default:
Min/Max: Units:
1201 [Winder Side] Selection of the winding/unwinding side.
A · "0"= Up
· "1"= Down Note: This parameter can be assigned to a digital input.
Default: Min/Max:
1202 [W Gain]
Default:
A
Sets the speed reference gain used to saturate the speed loop. This parameter is a percentage of the increasing/decreasing value of the angular speed reference.
Min/Max: Units:
1203 [Spd Match Compl]
Default:
A
Indicates a completed launching ramp. If this parameter is assigned to a programmed digital output, it can be used to indicate that the coil can be changed.
Min/Max:
· "1"= Launching ramp completed
· "0"= Launching ramp not completed
1208 [Close Loop Comp] Active compensation status (output of the PID regulator).
A
Default: Min/Max:
1209 [Torque Winder En] Enables/disables the center winder function.
A
Default: Options:
Read Only 0.00 / 200.00 % Read Only 0.00 / 200.00 % Read Only 0.00 / 200.00 % Read Only 0.00 / 199.99 %
0 = "Off" 0 = "Off" 1 = "On" 83.88 0.30 / 300.00 s 83.88 0.30 / 300.00 s 83.88 0.30 / 300.00 s 0 0 / 1000 rpm 100 0 / 150 % 0 0 / 1
0 0 / 100 % Read Only 0 / 32767
Read Only / +32767
0 = "Disabled" 0 = "Disabled" 1 = "Enabled"
Data Type Related
Real
Real
Real
Real 1179, 1180
16-bit Int Real
Real
Real
16-bit Int 16-bit Int 16-bit Int
16-bit Int 16-bit Int
16-bit Int 16-bit Int
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Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
1210 [W Target] Number of the parameter to which the winder speed reference is written.
Notes: Added options 0...47 for firmware revision 4.001. Added option 48
A
"Reserved"for firmware revision 5.002. Options:
Values Default: Min/Max:
0 0 / 65535
0 = "Not Used" 1 = "Cur Lim Pos"(Par 8) 2 = "Cur Lim Neg"(Par 9) 3 = "Reserved" 4 = "Reserved" 5 = "TrqRedCurLim"(Par 13) 6 = "Torque Ref"(Par 39) 7 = "Trim Torque"(Par 40) 8 = "Reserved" 9 = "Trim Ramp"(Par 42) 10 = "Trim Speed"(Par 43) 11 = "Reserved" 12 = "Reserved" 13 = "Reserved" 14 = "Adaptive Ref"(Par 183) 15 = "Reserved" 16 = "Reserved"
17 = "Max Fld Pct"(Par 467) 18 = "Reserved" 19 = "UsrDefined0"(Par 503) 20 = "UsrDefined1"(Par 504) 21 = "UsrDefined2"(Par 505) 22 = "UsrDefined3"(Par 506) 23 = "UsrDefined4"(Par 507) 24 = "UsrDefined5"(Par 508) 25 = "UsrDefined6"(Par 509) 26 = "UsrDefined7"(Par 510) 27 = "UsrDefined8"(Par 511) 28 = "UsrDefined9"(Par 512) 29 = "UsrDefined10"(Par 513) 30 = "UsrDefined11"(Par 514) 31 = "UsrDefined12"(Par 515) 32 = "UsrDefined13"(Par 516) 33 = "UsrDefined14"(Par 517)
34 = "UsrDefined15"(Par 518) 35 = "Load Comp"(Par 698) 36 = "Out Volt Lvl"(Par 921) 37 = "Reserved" 38 = "Speed Ratio"(Par 1017) 39 = "Reserved" 40 = "Reserved" 41 = "Tension Red"(Par 1179) 42 = "Reserved" 43 = "Reserved" 44 = "CloseLp Comp"(Par 1208) 45 = "Reserved" 46 = "Reserved" 47 = "Reserved" 48 = "Reserved"
1212 [Acc Dec Filter] Internal acceleration/deceleration calculation filter for the Torque Winder line
speed reference.
Default:
Min/Max: Units:
1213 [Actual Comp]
Default:
A
Active compensation status (sums up the static, dynamic, and inertial frictions) as a percentage of the drive rated current. Note: This parameter can be assigned to an analog output.
Min/Max: Units:
1214 [Closed Loop En] Enables/Disables closed loop tension control (used with a load cell).
Default: Options:
A
30
0 / 5000 ms Read Only
/+200 %
0 = "Disabled"
0 = "Disabled" 1 = "Enabled"
1215 [Speed Demand En] Enables/Disables the speed reference calculation for the Torque Winder
A application.
Default: Options:
1216 [Spd Match Torque] Sets the torque current during the launching and change phase.
A
Default:
Min/Max: Units:
1217 [W Reference]
Default:
A
Angular speed reference. Note: This parameter can be assigned to an analog output; 10V = 100% of Par 45 [Max Ref Speed].
Min/Max: Units:
1255 [Jog TW Speed]
Default:
A
Torque Winder jog reference. The parameter is entered as a percentage of Par 1160 [Line Speed Pct].
Min/Max: Units:
1256 [Jog TW Enable] Enables/Disables the Torque Winder jog function.
A Note: This parameter can be assigned to a digital input.
Default: Options:
0 = "Disabled"
0 = "Disabled" 1 = "Enabled" 100
0 / 200 % Read Only
/+8192 rpm
0
0 / 100 % 0 = "Disabled"
0 = "Disabled" 1 = "Enabled"
16-bit Int
16-bit Int 16-bit Int 16-bit Int
16-bit Int 16-bit Int 16-bit 1160 Int 16-bit 1160 Int 16-bit Int
APPLICATIONS Winder Functions
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Data Type Related
Chapter 3 Programming and Parameters
File Group No.
APPLICATIONS Winder Functions
Parameter Name and Description
See page 117 for symbol descriptions
1284 [Ref Spd Source]
Parameter number from which the line speed reference (used for inertia
compensation and line speed reference) will be read.
A
Notes: Added options 0...47 for firmware revision 4.001. Added option 48 "Resolver Spd" for firmware revision 5.002.
Options:
Values Default:
0 = "Not Used"
0 = "Not Used" 1 = "Cur Lim Pos"(Par 8) 2 = "Cur Lim Neg"(Par 9) 3 = "CurLimPosOut"(Par 10) 4 = "CurLimNegOut"(Par 11) 5 = "TrqRedCurLim"(Par 13) 6 = "Torque Ref"(Par 39) 7 = "Trim Torque"(Par 40) 8 = "TorqueReg In"(Par 41) 9 = "Trim Ramp"(Par 42) 10 = "Trim Speed"(Par 43) 11 = "Ramp In"(Par 110) 12 = "Ramp Out"(Par 113) 13 = "Speed Reg In"(Par 118) 14 = "Adaptive Ref"(Par 183) 15 = "Arm Cur Pct"(Par 199) 16 = "SpdRegOutPct"(Par 236)
17 = "Max Fld Pct"(Par 467) 18 = "Fld Ref Pct"(Par 500) 19 = "UsrDefined0"(Par 503) 20 = "UsrDefined1"(Par 504) 21 = "UsrDefined2"(Par 505) 22 = "UsrDefined3"(Par 506) 23 = "UsrDefined4"(Par 507) 24 = "UsrDefined5"(Par 508) 25 = "UsrDefined6"(Par 509) 26 = "UsrDefined7"(Par 510) 27 = "UsrDefined8"(Par 511) 28 = "UsrDefined9"(Par 512) 29 = "UsrDefined10"(Par 513) 30 = "UsrDefined11"(Par 514) 31 = "UsrDefined12"(Par 515) 32 = "UsrDefined13"(Par 516) 33 = "UsrDefined14"(Par 517)
34 = "UsrDefined15"(Par 518) 35 = "Load Comp"(Par 698) 36 = "Out Volt Lvl"(Par 921) 37 = "Filt Trq Cur"(Par 928) 38 = "Speed Ratio"(Par 1017) 39 = "Spd Draw Out"(Par 1018) 40 = "Roll Diam"(Par 1154) 41 = "Tension Red"(Par 1179) 42 = "Torq Cur Pct"(Par 1193) 43 = "Ten Ref Pct"(Par 1194) 44 = "CloseLp Comp"(Par 1208) 45 = "Actual Comp"(Par 1213) 46 = "W Reference"(Par 1217) 47 = "Encoder Spd"(Par 420) 48 = "Resolver Spd"(Par 428)
1285 [Ref Speed Gain]
Default:
A
Gain value for the line speed reference. The value of this parameter depends on the value of Par 1284 [Ref Spd Source]. The value of [Ref Speed Gain] is used to obtain
Min/Max:
a line speed reference = 100% at its maximum value.
1286 [Ref Line Speed] Line speed percentage.
A
Default:
Min/Max: Units:
1287 [Static F Zero] Enables/Disables friction compensation.
A · "Enabled"= The fiction compensation value is added to all speed values.
· "Disabled"= The static friction compensation value is added to Par 1286 [Ref Line Speed] = 1.5%.
Default: Options:
0 0 / 32767
Read Only 0.00 / 150.00 % 0 = "Disabled" 0 = "Disabled" 1 = "Enabled"
16-bit Int
16-bit 1284 Int Real 16-bit 1286 Int
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Programming and Parameters Chapter 3
Parameter Name and Description
See page 117 for symbol descriptions
Values
1100 [Torq Prove Cfg] Enables/Disables the torque/brake proving feature. When this feature is enabled, brake control comes from a digital output relay set to "Brake Set."
· Bit 0"TP Enable"- When set to "1,"the torque/brake proving features are enabled (regenerative drives only, non-regen. drives results in a type 2 alarm).
A · Bit 1"Encoderless"- When set to "1,"enables encoderless operation. Bit 0"TP Enable"must also be enabled and Par 414 [Fdbk Device Type] must
be set to 2 "DC Tach" or a type 2 alarm is generated.
ATTENTION: Encoderless TorqProve must be limited to lifting applications where personal safety is not a concern. Encoders offer additional protection and must be used where personal safety is a concern. Encoderless TorqProve cannot hold a load at zero speed without a mechanical brake and does not offer additional protection if the brake slips/fails. Loss of control in suspended load applications can cause personal injury and/or equipment damage. See Lifting/Torque Proving on page 306 for more information.
· Bit 2"Micro Psn"- When set to "0,"micro positioning only activates in float zone. When set to "1"micro positioning activates whenever a digital input configured for "Micro Positioning"or Par 1101 [Torq Prove Setup], bit 1 "Float Micro"is asserted.
· Bit 3"Preload"- When set to "0,"the drive uses the last holding torque reference for preload. When set to "1,"the drive uses "TorqRefA"if the commanded direction is forward and "TorqRef B"if the commanded direction is reverse.
· Bit 4"FW LoadLimit"- When set to "1,"enables a load calculation at base speed. The drive will then limit the maximum speed above base speed. Torque samples are taken every 2.5 seconds to hold the load at base speed and calculates (based on motor characteristics and measured torque) the maximum speed that holds the load. This feature limits the commanded speed if it is greater than what the motor/drive can hold. The limit remains in effect until the speed drops below base speed and a new test is activated.
· Bit 5"BrkSlipEncls"- When set to "1,"disables the partial brake slip routine when bit 1"Encoderless"is set to 1. · Bit 6"BrkSlipStart"- When set to "1,"automatically starts the drive if brake slippage is detected. · Bit 7"Test Brake"- When set to "1,"the brake is tested at a start command. The torque value set in Par 1114 [Brake Test Torq] is applied against the
brake while movement is monitored. · Bit 8"Lift Stop Bk"- When set to "1,"the brake is set immediately upon receiving a "Lift Stop"input, rather than setting the brake after the ramp
completes. · Bit 9"BkSlp SpdLmt"- When set to "1,"the load is lowered at a fixed speed (Preset Speed 1) when a brake slip condition is detected. Note: This parameter was added for firmware revision 6.001.
Options
Default Bit
xxxxxx0000000000 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1101 [Torq Prove Setup] Lets you control specific torque proving functions through a communications device (rather than digital inputs).
A · Bit 0"Lift Stop"- When set to "1,"initiates a current limit stop.
· Bit 1"Float Micro"- When set to "1,"activates the micro position function when the drive is running and Float when the drive is stopping. · Bit 2"Decel Fwd"- When set to "1,"initiates a deceleration forward travel limit condition. · Bit 3"End Stop Fwd"- When set to "1,"initiates an end forward travel limit condition. · Bit 4"Decel Rev"- When set to "1,"initiates a deceleration reverse travel limit condition. · Bit 5"End Stop Rev"- When set to "1,"initiates an end reverse travel limit condition. · Bit 6"PHdwrOvrTrvl"- When set to "1,"initiates a positive hardware over travel limit: coast to stop fault. · Bit 7"NHdwrOvrTrvl"- When set to "1,"initiates a negative hardware over travel limit: coast to stop fault. Note: This parameter was added for firmware revision 6.001.
Options
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved NHdwrOvrTrvl PHdwrOvrTrvl End Stop Rev Decel Rev End Stop Fwd Decel Fwd Float Micro Lift Stop
Default Bit
xxxxxxxx00000000 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
APPLICATIONS Torque Prove Reserved Reserved Reserved Reserved Reserved Reserved BkSlp SpdLmt Lift Stop Bk Test Brake BrkSlipStart BrkSlipEncls FW LoadLimit Preload Micro Psn Encoderless TP Enable
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Chapter 3 Programming and Parameters
File Group No. Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
1103 [Torq Prove Sts]
1101
Status of the Torque Proving functions.
A Bit 0 "EndLimitActv"- When set to "1,"indicates that an end (forward or reverse) travel limit condition active.
Bit 1 "DecelLmtActv"- When set to "1,"indicates that a deceleration (forward or reverse) travel limit condition active.
Bit 2 "Micro Psn"- When set to "1,"indicates that a micro position condition is active.
Bit 3 "BrkSlip1 Alm"- When set to "1,"indicates that a brake slippage signal has been detected.
Bit 4 "Brake Set"- When set to "1,"indicates that a brake set signal has been detected.
Bit 5 "LoadTestActv"- When set to "1,"indicates that a test for load above base speed operation is active.
Bit 6 "RefLoadLmted" - When set to "1," indicates that the speed reference is limited due to load test results.
Bit 7 "Encoderless"- When set to "1,"indicates that encoderless torque proving mode is active.
Note: This parameter was added for firmware revision 6.001.
Options
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Encoderless RefLoadLmted LoadTestActv Brake Set BrkSlip1 Alm Micro Psn DecelLmtActv EndLimitActv
APPLICATIONS Torque Prove
Default Bit
xxxxxxxx00000000 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1104 [Torq Limit Slew] Rate at which to ramp the torque limits to zero during brake proving.
A Note: This parameter was added for firmware revision 6.001.
Default:
Min/Max: Units:
1105 [Speed Dev Band]
Default:
A
Acceptable amount of deviation between the commanded speed and the actual speed (from a feedback device) when torque proving is enabled. When this value is exceeded for the time specified in Par 1106 [SpdBand Intgrtr], a "TorqPrv Spd
Min/Max: Units:
Band" (F94) fault occurs.
Note: This parameter was added for firmware revision 6.001.
1106 [Spd Band Intgrtr] Amount of time that the actual speed can deviate from the value set in Par 1105
A [Speed Dev Band] before a "TorqPrv Spd Band"(F94) fault occurs.
Note: This parameter was added for firmware revision 6.001.
Default:
Min/Max: Units:
1107 [Brk Release Time]
Default:
A
Amount of time between the brake release command and when the drive begins to accelerate. In encoderless mode, this parameter sets the time to release the brake after the drive starts. Note: This parameter was added for firmware revision
Min/Max: Units:
6.001.
1108 [Brk Set Time] Amount of time between the brake set command and when the start of brake
A proving. Note: This parameter was added for firmware revision 6.001.
Default:
Min/Max: Units:
1109 [Brk Alarm Travel]
Default:
A
Number of motor shaft revolutions allowed during the brake slippage test. Drive torque is reduced to check for brake slippage. When slippage occurs, the drive
Min/Max:
allows this number of motor shaft revolutions before regaining control. This
parameter value is not used when Par 1100 [Torq Prove Cfg], Bit 1 "Encoderless" is
set to "1" (enabled). Note: This parameter was added for firmware revision 6.001.
1110 [Brk Slip Count] Number of encoder/resolver revolutions that define a brake slippage condition.
A This parameter value is not used when Par 1100 [Torq Prove Cfg], Bit 1
Default: Min/Max:
"Encoderless" is set to "1" (enabled). Note: This parameter was added for firmware revision 6.001.
1111 [Float Tolerance]
Default:
A
Speed at which the float time (set in Par 1113 [ZeroSpdFloatTime]) starts. Also, the speed at or below which the brake is closed when Par 1100 [Torq Prove Cfg], Bit 1 "Encoderless" is set to "1" (enabled). Note: This parameter was added for firmware
Min/Max: Units:
revision 6.001.
1112 [MicroPsnScalePct]
Percent of the commanded speed reference used when bit 2 "Micro Psn" is set to
"1" in Par 1100 [Torq Prove Cfg]. Bit 2 "Micro Psn," also determines if the motor
A
needs to come to a stop before the setting in this parameter will take effect. Note: This parameter was added for firmware revision 6.001.
Default:
Min/Max: Units:
10.0
Real
0.5 / 300.0 s
Par 162 [Max Feedback Spd] x 0.03 Real 162,
Par 162 x 0.002 / Par 162 x 0.25
1106
rpm
60 1 / 500 ms
100 0 / 1000 ms
100 0 / 1000 ms 1.00 0.00 / 1000.00
16-bit 1105 Int
16-bit Int
16-bit Int
Real 1100
0.25 0.00 / 100.00
Real 1100
Par 162 [Max Feedback Spd] x 0.03 Real 162,
Par 162 x 0.002 / Par 162 x 0.25
1100
rpm
10.0
0.1 / 100.0 %
Real 1100
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File Group No.
Torque Prove
Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
1113 [ZeroSpdFloatTime]
Default:
A
Amount of time the drive is at or below the speed set in Par 1111 [Float Tolerance] before the brake is set. This parameter is not used when Par 1100 [Torq Prove Cfg] Bit 1 "Encoderless" is set to "1" (enabled).
Min/Max: Units:
Note: This parameter was added for firmware revision 6.001.
1114 [Brake Test Torq]
Default:
A
Percent of torque applied to the motor before the brake is released when Par 1100 [Torq Prove Cfg], bit 7 "Test Brake" is set to "1" (enabled).
Min/Max: Units:
Note: This parameter was added for firmware revision 6.001.
484 [Scale1 Input]
Default:
553 [Scale2 Input] 1218 [Scale3 Input]
Min/Max:
1227 [Scale4 Input]
1236 [Scale5 Input]
1245 [Scale6 Input]
Parameter number from which the value is read and used as the input quantity to
A the Scale block. See the Scale Blocks block diagram on page 380 for more
information.
485 [Scale1 Output]
Default:
554 [Scale2 Output] 1219 [Scale3 Output]
Min/Max:
1228 [Scale4 Output]
1237 [Scale5 Output]
1246 [Scale6 Output]
Parameter number to which the value of the Scale block output is written. See the
A Scale Blocks block diagram on page 380 for more information.
486 [Scale1 Mul] 555 [Scale2 Mul] 1220 [Scale3 Mul] 1229 [Scale4 Mul] 1238 [Scale5 Mul] 1247 [Scale6 Mul]
Multiplier of the input quantity (after a possible limitation). Resolution:
A 5 digits. See the Scale Blocks block diagram on page 380 for more information.
Default: Min/Max:
487 [Scale1 Div]
Default:
556 [Scale2 Div] 1221 [Scale3 Div]
Min/Max:
1230 [Scale4 Div]
1239 [Scale5 Div]
1248 [Scale6 Div]
Divisor, through which it is possible to divide the input quantity that is already
A multiplied and limited. Resolution: 5 digits. See the Scale Blocks block diagram on
page 380 for more information.
488 [Scale1 In Max] 557 [Scale2 In Max] 1222 [Scale3 In Max] 1231 [Scale4 In Max] 1240 [Scale5 In Max] 1249 [Scale6 In Max]
Maximum limit of the input quantity. Resolution: 5 digits. See the Scale Blocks
A block diagram on page 380 for more information.
Default: Min/Max:
489 [Scale1 In Min] 558 [Scale2 In Min] 1223 [Scale3 In Min] 1232 [Scale4 In Min] 1241 [Scale5 In Min] 1250 [Scale6 In Min]
Minimum limit of the input quantity. Resolution: 5 digits. See the Scale Blocks
A block diagram on page 380 for more information.
Default: Min/Max:
5.0 0.1 / 500.0 s 50 0 / 150 % 0 0 / 1410
0 0 / 1410
1.00 /+10000.00
1.00 /+10000.00
0.00 231/ +231 1
0.00 231/ +231 1
Real 1100 Real 1100 16-bit Int
16-bit Int
Real
Real
Real
Real
APPLICATIONS Scale Blocks
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Data Type Related
Chapter 3 Programming and Parameters
File Group No.
APPLICATIONS Scale Blocks
Parameter Name and Description
See page 117 for symbol descriptions
Values
490 [Scale1 In Off] 559 [Scale2 In Off] 1224 [Scale3 In Off] 1233 [Scale4 In Off]
Default:
0.00
Real
Min/Max:
231/ +231 1
1242 [Scale5 In Off]
1251 [Scale6 In Off]
Offset to be added to the input quantity. Resolution: 5 digits. See the Scale Blocks
A block diagram on page 380 for more information.
491 [Scale1 Out Off]
Default:
0.00
Real
560 [Scale2 Out Off] 1225 [Scale3 Out Off]
Min/Max:
231/ +231 1
1234 [Scale4 Out Off]
1243 [Scale5 Out Off]
1252 [Scale6 Out Off]
Offset to be added to the output quantity. Resolution: 5 digits. See the Scale Blocks
A block diagram on page 380 for more information.
492 [Scale1 In Abs]
Default:
0 = "Off"
16-bit
561 [Scale2 In Abs] 1226 [Scale3 In Abs] 1235 [Scale4 In Abs]
Options:
0 = "Off"
Int
1 = "On"
1244 [Scale5 In Abs]
1253 [Scale6 In Abs]
Controls how the input value is processed.
A · "Off"= The input quantity is processed with its sign.
· "On"= The input quantity is processed with a positive sign (absolute value).
It is possible to have the polarity change with the signs of the [ScalexMul] or
[ScalexDiv] parameters. See the Scale Blocks block diagram on page 380 for more
information.
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File Group No. Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved At Pwr Down
Programming and Parameters Chapter 3
Data Type Related
Utility File
Parameter Name and Description
See page 117 for symbol descriptions
Values
209 [Save HIM Ref] Enables a feature to save the present reference value issued by the HIM to drive memory when a power loss occurs. The value is restored to the HIM at
power up.
Bit 0 - "At Pwr Down" 0 = Do not save, 1 = Save at power down
Options
Default Bit
xxxxxxxxxxxxxxx1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
210 [Man Ref Preload]
Default:
1 = "Enabled"
16-bit
Enables/disables a feature to automatically load the present "Auto" reference value into the HIM when "Manual"is selected. Allows smooth speed transition from "Auto" to "Manual."
Options:
0 = "Disabled" 1 = "Enabled"
Int
249 [MOP Ref Config] Enables/Disables the feature that saves the present MOP reference at power down or at stop.
Notes: This parameter can be assigned to a digital input. Bits 2 and 3 were added for firmware revision 6.001.
· Bit 0"Save PwrDown"- When set to "0"= Do not save, "1"= Save · Bit 1"Save At Stop"- When set to "0"= Do not save, "1"= Save · Bit 2"Reset AtStop"- When set to "0"= No MOP reset, "1"= Reset MOP at Stop · Bit 3"Reset At Flt"- When set to "0"= No MOP reset, "1"= Reset MOP at Fault
Options
Reference Config
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reset At Flt Reset AtStop Save At Stop Save PwrDown
UTILITY
Default Bit
xxxxxxxxxxxx0000 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1322 [Direction Mode] Selects the method that will be used for changing direction.
· "Unipolar"- Drive Logic determines the direction. · "Bipolar"- The sign of the reference determines the direction. · "Rev Disable"- Forward direction only (not changeable).
Default:
0 = "Unipolar"
16-bit
Options:
0 = "Unipolar"
Int
1 = "Bipolar"
2 = "Rev Disable"
1375 [MOP Select] Selects the destination of the MOP signal.
Default:
0 = "OFF"
16-bit
Options:
0 = "OFF"
Int
1 = "Speed Ref A"
2 = "Speed Ref B"
3 = "Trim Speed"
4 = "TB Man Ref"
211 [Param Access Lvl] Selects the parameter display level.
· "Basic"= Reduced parameter set. · "Advanced"= Full parameter set.
Default:
0 = "Basic"
16-bit
Options:
0 = "Basic"
Int
1 = "Advanced"
258 [Reset Defaults]
Default:
0 = "Ready"
16-bit
Setting this parameter to 1 "Factory"will load the default settings in the drive firmware.
Options:
0 = "Ready" 1 = "Factory"
Int
302 [Language]
Default:
0 = "Not Selected"
16-bit
Selects the operating language of the drive. Only two languages are available in the drive at any given time, English and one other language. Currently, the only
Options:
other language supported is Spanish. The drive ships with the default language
0 = "Not Selected" 1 = "English" 3 = "Spanish"
Int
options of English and Spanish. Available languages can also be downloaded from
the Product Compatibility and Download Center at:
https://compatibility.rockwellautomation.com/Pages/home.aspx
Note: This parameter was added for firmware revision 3.001.
Drive Memory
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UTILITY Diagnostics
Parameter Name and Description
See page 117 for symbol descriptions
Values
346 [Torque Positive]
Default:
A
Indicates whether the drive is operating with a positive torque reference. · 1"Active"= The drive is operating with a positive torque reference. The motor
Min/Max:
is accelerating in the forward direction or decelerating in the negative direction
and Par 20 [Ramp Delay] has timed out.
· 0"Not Active"= The drive is not operating with a positive torque reference.
Note: This parameter can be assigned to a digital output.
347 [Torque Negative]
Default:
A
Indicates whether the drive is operating with a negative torque reference. · 1"Active"= The drive is operating with negative torque reference. The motor is
Min/Max:
accelerating in the reverse direction or decelerating in the forward direction
and Par 20 [Ramp Delay] has timed out.
· 0"Not Active"= The drive is not operating with negative torque reference.
Note: This parameter can be assigned to a digital output and is used for four
quadrant drives only.
349 [CurrLimit Active]
Default:
Indicates whether the drive is working within the set current limits. · 1"Active"= The drive is in a current limited state.
Min/Max:
· 0"Not Active"=The drive is not in a current limited state.
Note: This parameter is assigned to digital output 4 (Par 148 [Digital Out4 Sel]) by
default.
372 [Spd Limit Active]
Default:
Indicates whether the current speed reference value is limited by the defined minimum and maximum limit values.
Min/Max:
· 1"Active"= The reference value is currently limited because the value entered
is out of range of the limit values defined.
· 0"Not Active"= The reference value is within the defined limit values.
Note: This parameter can be assigned to a digital output.
Read Only 0 / 1
Read Only 0 / 1
Read Only 0 / 1
Read Only 0 / 1
16-bit 20 Int
16-bit 20 Int
16-bit Int
16-bit Int
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UTILITY Diagnostics
Spd Ref ID 3 (2) Spd Ref ID 2 (2) Spd Ref ID 1 (2) Spd Ref ID 0 (2) Local ID 2 (1) Local ID 1 (1) Local ID 0 (1) At Speed Faulted Alarm Decelerating Accelerating Actual Dir Command Dir Active Ready
Programming and Parameters Chapter 3
Parameter Name and Description
See page 117 for symbol descriptions
Values
381 [Drive Status 1] Present operating condition of the drive.
Bit 0 "Ready" - When set (= "1"), the drive is ready
Bit 1 "Active"- When set, the drive is active
Bit 2 "Command Dir"- The direction of commanded rotation, 0 = Reverse, 1 = Forward
Bit 3 "Actual Dir"- The actual direction of the motor, 0 = Reverse, 1 = Forward
Bit 4 "Accelerating" - When set, the drive is accelerating
Bit 5 "Decelerating" - When set, the drive is decelerating
Bit 6 "Alarm" - When set, the drive is in an alarm state
Bit 7 "Fault" - When set, the drive is faulted
Bit 8 "At Speed" -When set, the drive is at the commanded speed Bit 9...11 "Local ID 0...2" (1) Bit 12...15 "Spd Ref ID 0...3" (2)
Options
Read Only
Default Bit
0000001000001101 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
(2) Bits
Description
15 14 13 12
0 0 0 0 Spd Ref A Auto
0 0 0 1 Spd Ref B Auto
0 0 1 0 Preset Spd 2 Auto
0 0 1 1 Preset Spd 3 Auto
0 1 0 0 Preset Spd 4 Auto
0 1 0 1 Preset Spd 5 Auto
0 1 1 0 Preset Spd 6 Auto
0 1 1 1 Preset Spd 7 Auto
1 0 0 0 TB Manual
1 0 0 1 DPI Port 1 Manual
1 0 1 0 DPI Port 2 Manual
1 0 1 1 DPI Port 3 Manual
1 1 0 0 DPI Port 4 Manual
1 1 0 1 DPI Port 5 Manual
1 1 1 0 DPI Port 6 Manual
1 1 1 1 Jog Ref
(1) Bits 11 10 9 000 001 010 011 100 101 110 111
Description
Port 0 (TB) DPI Port 1 DPI Port 2 DPI Port 3 DPI Port 4 DPI Port 5 DPI Port 6 No Local Control
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UTILITY Diagnostics
Reserved Reserved FldAlphaTest ArmAlphaTest SpdRegNegLim SpdRegPosLim Torque Mode Speed Mode Forced Spd Auto Tuning Curr Limit Stopping Jogging Running Active Ready
Parameter Name and Description
See page 117 for symbol descriptions
Values
382 [Drive Status 2] Present operating condition of the drive.
Read Only
Bit 0 "Ready" - When set (= "1"), the drive is ready
Bit 1 "Active"- When set, the drive is active
Bit 2 "Running" - When set, the drive is running
Bit 3 "Jogging" - When set, the drive is being jogged
Bit 4 "Stopping" - When set, the drive is stopping
Bit 6 "Auto Tuning" - When set, the drive is autotuning
Bit 7 "Forced Spd" - When set, the drive is in forced speed mode
Bit 8 "Speed Mode" - When set, the drive is in speed mode
Bit 9 "Torque Mode" - When set, the drive is in torque mode
Bit 10 "SpdRegPosLim" - When set, the Speed Regulator PI positive limit is active
Bit 11 "SpdRegNegLim"- When set, the Speed Regulator PI negative limit is active
Bit 12 "ArmAlphaTest"- When set, the Armature Alpha test is active
Bit 13 "FldAlphaTest"- When set, the Field Alpha test is active
Notes: Added bits 7...13 for firmware revision 3.001. See Torque Mode Selection Status Bits on page 347 for
more information.
Options
Default Bit
xx00000000000001 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
393 [Speed Threshold]
Default:
A
Indicates if the drive is above or below the threshold speed specified in parameters 101 [Speed Thresh Pos] (clockwise rotation) and 102 [Speed Thresh Neg] (counter-
Min/Max:
clockwise rotation).
· "0 Above Thresh"= The speed has exceeded the set speed threshold.
· "1 Below Thresh"= The speed has not exceeded the set speed threshold.
Notes: This parameter can be assigned to a digital output. See Speed Threshold
Indicators on page 339 for more information.
394 [At Speed]
Default:
Indicates whether or not the current speed of the drive corresponds to the speed reference (specified in Par 118 [Speed Reg In]) before the speed regulator and the
Min/Max:
ramp reference (if enabled) are applied. The speed above and below the speed
reference at which [At Speed] will indicate "1 Equal" is set in Par 104 [At Speed
Error].
· "0 Not Equal"- The drive is not working at the set speed reference. · "1 Equal"- The drive is working at the set speed reference. Notes: This parameter can be assigned to a digital output. It also corresponds to
the "At Speed" indication on the Status Line of the HIM. See Speed Threshold
Indicators on page 339for more information.
395 [At Zero Speed]
Default:
Indicates whether or not the actual speed of the motor is below the zero speed threshold as specified in Par 107 [Speed Zero Level].
Min/Max:
· "0 Equal"- The actual speed is below the value of Par 107 [Speed Zero Level] and Par 108 [Speed Zero Delay] has timed out.
· "1 Not Equal"- The actual speed is above the value of Par 107 [Speed Zero Level].
Notes: This parameter can be assigned to a digital output. See Speed Threshold
Indicators on page 339for more information.
396 [MOP Inc Active] Indicates whether or not the drive is accelerating using the preselected ramp.
A · 0"No Accel"= the drive is not accelerating using a preselected ramp
· 1"Accel"= the drive is accelerating using a preselected ramp
Default: Min/Max:
Read Only 0 / 1
Read Only 0 / 1
Read Only 0 / 1
Read Only 0 / 1
16-bit 101, Int 102,
103
16-bit 104, Int 105
16-bit 107, Int 108
16-bit Int
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Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
397 [MOP Dec Active] Indicates whether the drive is decelerating using the preselected ramp.
A · 0"No Decel"= The drive is not decelerating using a preselected ramp
· 1"Decel"= The drive is decelerating using a preselected ramp
Default: Min/Max:
400 [Spd Select 0]
Default:
A
Indicates the state of the assigned digital input, [Digital Inx Sel], set to 17 "Speed Sel 1". See Option Definitions for [Digital Inx Sel] on page 200 for instructions on
Min/Max:
how to set digital input speed selects to different speed references.
· "0"= Digital input [Digital Inx Sel] set to 17"Speed Sel 1"not asserted
· "1"= Digital input [Digital Inx Sel] set to 17"Speed Sel 1"asserted
Note: By default, the state of this parameter is determined by digital input 5.
401 [Spd Select 1]
Default:
A
Indicates the state of the assigned digital input, [Digital Inx Sel], set to 18 "Speed Sel 2". See Option Definitions for [Digital Inx Sel] on page 200 for instructions on
Min/Max:
how to set digital input speed selects to different speed references.
· "0"= Digital input [Digital Inx Sel] set to 18"Speed Sel 2"not asserted · "1"= Digital input [Digital Inx Sel] set to 18"Speed Sel 2"asserted Note: By default, the state of this parameter is determined by digital input 6.
402 [Spd Select 2]
Default:
A
Indicates the state of the assigned digital input, [Digital Inx Sel], set to 19 "Speed Sel 3". See Option Definitions for [Digital Inx Sel] on page 200 for instructions on
Min/Max:
how to set digital input speed selects to different speed references.
· "0"= Digital input [Digital Inx Sel] set to 19"Speed Sel 3"not asserted
· "1"= Digital input [Digital Inx Sel] set to 19"Speed Sel 3"asserted
Note: By default, the state of this parameter is determined by digital input 7.
403 [Ramp Select 0]
Default:
A
Indicates the state of the assigned digital input, [Digital Inx Sel], set to 25 "Acc2 & Dec2" or 26 "Accel 2".
Min/Max:
· "0"= Accel 1 ramp rate is selected
· "1"= Accel 2 ramp rate is selected
Note: This parameter can be assigned to indicate the state of a digital input.
404 [Ramp Select 1]
Default:
A
Indicates the state of the assigned digital input, [Digital Inx Sel], set to 25 "Acc2 & Dec2" or 27 "Decel 2".
Min/Max:
· "0"= Decel 1 ramp rate is selected
· "1"= Decel 2 ramp rate is selected
Note: This parameter can be assigned to indicate the state of a digital input.
432 [Reslvr Error Cnt]
Default:
A
Increments (16 bit unsigned) for every SSI communication message that contains an error (for example, CRC). The value of this parameter is reset to zero at drive
Min/Max:
power-up or when the "Clear Faults"function is used. Note: This parameter was added for firmware revision 5.002.
651 [Spd Fdbk State]
Default:
A
Indicates the status of the selected speed feedback device (DC tach, encoder, or resolver). A speed feedback loss can be configured as a fault or alarm in Par 478
Min/Max:
[Spd Loss Flt Cfg].
· "0"= Error
· "1"= OK
Notes: This parameter can be assigned to a digital output. The name of this
parameter was changed from [Encoder State] for firmware revision 5.002.
1290 [MtrOvrld Status] Current percentage of motor overload (100% = motor overload). The current
A percentage displays regardless of the configuration of the motor overload
condition (Par 479 [MtrOvrld Flt Cfg] = Fault, Alarm, or Ignore). Note: This parameter was added for firmware revision 3.001.
Default:
Min/Max: Units:
Read Only 0 / 1 Read Only 0 / 1
Read Only 0 / 1
Read Only 0 / 1
Read Only 0 / 1
Read Only 0 / 1
0 0 / 65536
Read Only 0 / 1
Read Only 0 / 100 %
16-bit Int 16-bit 401, Int 402
16-bit 400, Int 402
16-bit 400, Int 401
16-bit 404 Int
16-bit 403 Int
Read Only
16-bit 414, Int 478
Real 376, 479
UTILITY Diagnostics
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Chapter 3 Programming and Parameters
UTILITY Diagnostics
MOP Dec Spd Ref ID 2 Spd Ref ID 1 Spd Ref ID 0 Decel 2 Decel 1 Accel 2 Accel 1 MOP Inc Local Reverse Forward Clear Faults Jog Start Stop
Parameter Name and Description
See page 117 for symbol descriptions
Values
1328 [Drive Logic Rslt]
The final logic command resulting from the combination of all DPI and discrete inputs. This parameter has the same structure as the product specific
logic command received via DPI and is used in peer-to-peer communications. For each bit, 1=Condition true and 0=Condition false.
Bit 0 "Stop" - Stop command
Bit 1 "Start"- Start command
Bit 2 "Jog" - Jog command
Bit 3 "Clear Faults" - Clear faults command
Bit 4 "Forward"- Forward direction command
Bit 5 "Reverse"- Reverse direction command
Bit 6 "Local" - Local control command"
Bit 7 "MOP Inc" - MOP Increment command
Bit 8 "Accel 1" - Acceleration Rate 1 command
Bit 9 "Accel 2" - Acceleration Rate 2 command
Bit 10 "Decel 1" - Deceleration Rate 1 command
Bit 11 "Decel 2" - Deceleration Rate 2 command
Bit 12...14 "Spd Ref ID 0"... "Spd Ref ID 2" - Speed reference source(1)
Bit 15 "MOP Dec" - MOP Decrement command
Options
Default Bit
0000000000000001 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
(1) Bits
Description
14 13 12
0 0 0 No Command - Manual Mode
0 0 1 Spd Ref A Auto
0 1 0 Spd Ref B Auto
0 1 1 Preset Spd 3 Auto
1 0 0 Preset Spd 4 Auto
1 0 1 Preset Spd 5 Auto
1 1 0 Preset Spd 6 Auto
1 1 1 Preset Spd 7 Auto
1329 [Speed Ref Source]
Default:
Displays the number of the parameter that is the source of the drive's speed reference (Par 118 [Speed Reg In]). For example, if the value of this parameter is
Min/Max:
"70," then Par 70 [Analog In 1] is the source of the speed reference value shown in
Par 118 [Speed Reg In].
Note: This parameter was added for firmware revision 6.001.
Read Only
0 / (highest possible parameter number)
16-bit 118 Int
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File Group No. Data Type Related
UTILITY Diagnostics
Reserved End Lim Sw Decel Lmt Sw Unipolar Ref Rev Disable Bipolar Ref Scale Ref Manual Ref Preset Auto Trim Speed Trim Ramp MicroPsnMult Max Spd Lim Min Spd Lim Ref B Auto Ref A Auto
Parameter Name and Description
See page 117 for symbol descriptions
Values
1330 [Spd Ref Sel Sts]
16-bit
Status of the speed reference selections.
Int
· Bit 0"Ref A Auto"- When set (= 1), the value of the speed reference is Par 44 [Speed Ref A] and the source in Par 1329 [Speed Ref Source]
(Par 1328 [Drive Logic Rslt], bits 12...14 = 001).
· Bit 1"Ref B Auto"- When set, the value of the speed reference is Par 49 [Speed Ref B] and the source in Par 1329 [Speed Ref Source] (Par
1328 [Drive Logic Rslt], bits 12...14 = 010). · Bit 2"Min Spd Lim"- When set, the speed reference value is clamped to the value of Par 5 [Min Speed Fwd] or 6 [Min Speed Rev], based on
direction. · Bit 3"Max Spd Lim"- When set, the speed reference value is clamped to the value of Par 3 [Max Speed Fwd] or 4 [Max Speed Rev], based
on direction. · Bit 4"MicroPsnMult"- When set, the selected speed reference is multiplied by the value of Par 1112 [MicroPsnScalePct].
· Bit 5"Trim Ramp"- When set, the speed reference is offset (non-zero) by the value in Par 42 [Trim Ramp].
· Bit 6"Trim Speed"- When set, the speed reference is offset (non-zero) by the value in Par 43 [Trim Speed]. · Bit 7"Preset Auto"- When set, the speed reference is the "Preset Spd x Auto"source selected in Par 1328 [Drive Logic Rslt],
bits 12...14 = 011...111. · Bit 8"Manual Ref"- When set, the speed reference is the manual reference selected in Par 1328 [Drive Logic Rslt], bits 12...14 = 000. · Bit 9"Scaled Ref"- When set, the speed reference is the result of the scale block configured to write to the parameter specified in
Par 1329 [Speed Ref Source]. If no speed reference is selected (Par 1329 [Speed Ref Source] = 0), this bit will be set (=1) if any of the Scale
Block input parameters are at their default value of 0.
· Bit 10"Bipolar Ref"- When set, Par 1322 [Direction Mode] = 1"Bipolar"and the sign of the reference determines motor rotation direction.
· Bit 11"Rev Disable"- When set, Par 1322 [Direction Mode] = 2"Rev Disable"and negative speed reference values are clamped to zero. · Bit 12"Unipolar Ref"- When set, Par 1322 [Direction Mode] = 0"Unipolar"and the sign of the speed reference (and motor rotation
direction) is selected by Par 1328 [Drive Logic Rslt], bit 4 "Forward"or bit 5 "Reverse." · Bit 13"Decel Lmt Sw"- When set, torque proving logic detected an active deceleration limit switch and selected Par 154 [Preset Speed 1]
for the reference.
· Bit 14"End Lim Sw"- When set, torque proving logic detected an active end limit switch and selected zero speed for the reference.
Note: This parameter was added for firmware revision 6.001.
Options
Default Bit
x000000000000000 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1381 [TestPoint Sel]
Default:
Selects the function whose value is displayed in [TestPoint Data]. These are
A internal values that are not accessible through any other parameters. Typically,
Min/Max:
these are internal drive variables and registers. See Testpoint Codes and Functions
on page 233 for more information.
Note: Max value changed from 574 for firmware revision 7.001.
1382 [TestPoint Data] The present value of the function selected in Par 1381 [Testpoint Sel].
A
Default: Min/Max:
1384 [TaskLoad 1 ms] The load percentage of the 1 ms task in the firmware.
A
Default: Min/Max:
1385 [TaskLoad 2 ms] The load percentage of the 2 ms task in the firmware.
A
Default: Min/Max:
1386 [TaskLoad 8 ms] The load percentage of the 8 ms task in the firmware.
A
Default: Min/Max:
1402 [Last Stop Source] Displays the source that initiated the most recent stop sequence.
Default: Options:
566 566 / 585
Read Only -231 / 231 - 1
Read Only 0.00 / 100.00
Read Only 0.00 / 100.00
Read Only 0.00 / 100.00
Read Only 0 = "Pwr Removed" 1...5 = "DPI Port 1...5" 6 = "Reserved" 7 = "Digital In" 8 = "Fault" 9 = "Not Enabled" 10 = "Reserved" 11 = "Jog" 12 = "Selftune" 13 = "Reserved"
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
16-bit Int
16-bit Int Real Real Real 16-bit Int
183
Data Type Related
Chapter 3 Programming and Parameters
File Group No.
Diagnostics
UTILITY
Parameter Name and Description
See page 117 for symbol descriptions
Values
1403 [Start Inhibits] Displays the inputs currently preventing the drive from starting. For each bit, 1=Inhibit condition true and 0=Inhibit condition false.
Options
Reserved Reserved DPI Port 5 DPI Port 4 DPI Port 3 DPI Port 2 DPI Port 1 Digital In Reserved Startup Actv Reserved Stop Assertd Reserved Enable Type 2 Alarm Fault
Default Bit
xxx00000x001x000 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
263 [Clear Fault Que]
Default:
Allows you to clear the fault queue. See Chapter 4 Troubleshooting on page 219 for information on clearing the fault queue.
Options:
0 = "Ready"
0 = "Ready" 1 = "Clr Flt Que"
1347 [Fault Clear] Allows you to reset drive faults and/or clear the fault queue.
Default: Options:
0 = "Ready"
0 = "Ready" 1 = "Clear Faults" 2 = "Clr Flt Que"
1348 [Fault Clr Mode]
Default:
Enables/Disables a fault reset (clear faults) attempt from any source. This does not apply to fault codes which are cleared indirectly via other actions.
Options:
1 = "Enabled"
0 = "Disabled" 1 = "Enabled"
1349 [Status1 at Fault] Captures and displays Par 381 [Drive Status 1] bit pattern at the time of the last fault. 0=Condition False, 1=Condition True.
Options
16-bit Int
16-bit Int
16-bit Int
381
Spd Ref ID 3 Spd Ref ID 2 Spd Ref ID 1 Spd Ref ID 0 Local ID 2 Local ID 1 Local ID 0 At Speed Faulted Alarm Decelerating Accelerating Actual Dir Command Dir Active Ready
Default Bit
0000111010001100 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1350 [Status2 at Fault] Captures and displays Par 382 [Drive Status 2] bit pattern at the time of the last fault. 0=Condition False, 1=Condition True.
Options
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Auto Tuning Curr Limit Stopping Jogging Running Active Ready
Default Bit
xxxxxxxxx0001100 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1351 [Fault 1 Code]
Default:
1352 [Fault 2 Code] 1353 [Fault 3 Code]
Min/Max:
1354 [Fault 4 Code]
1355 [Fault 5 Code]
1356 [Fault 6 Code]
1357 [Fault 7 Code]
1358 [Fault 8 Code]
1359 [Fault 9 Code]
1360 [Fault 10 Code]
A code that represents the fault that tripped the drive. The codes will appear in
A these parameters in the order they occur (that is, [Fault 1 Code] = the most recent
fault). See Fault Descriptions on page 222 for a list of possible codes.
Note: Par 1351 [Fault 1 Code] is accessible via the Basic Parameter view.
Read Only 0 / 32768
382
16-bit Int
Faults
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Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
1361 [Fault 1 Time] 1362 [Fault 2 Time] 1363 [Fault 3 Time] 1364 [Fault 4 Time]
Default:
Read Only
Real
Min/Max: Units:
0.000 / 134000000.000 hr.
1365 [Fault 5 Time]
1366 [Fault 6 Time]
1367 [Fault 7 Time] 1368 [Fault 8 Time] 1369 [Fault 9 Time] 1370 [Fault 10 Time]
The time between initial drive power up and the occurrence of the associated trip
A fault.
1371 [Fault Arm Amps]
Default:
Read Only
16-bit
Captures and displays the armature current (as a percentage of rated current) at the time of the last fault.
Min/Max: Units:
/+200 %
Int
1372 [Fault Speed]
Default:
Read Only
16-bit
Captures and displays the output speed (rpm) of the drive at the time of the last fault.
Min/Max: Units:
/ +8192 rpm
Int
1373 [Fault Field Amps]
Default:
Read Only
Real
Captures and displays the field current (as a percentage of rated current) at the time of the last fault.
Min/Max: Units:
0.00 / 100.00 %
1374 [Fault Voltage]
Default:
Read Only
Real
Captures and displays the armature voltage at the time of the last fault.
Min/Max:
- / + 999.00
Units:
Vdc
203 [OverVolt Flt Cfg]
Default:
2 = "Fault"
16-bit
Determines the response of the drive to an overvoltage condition (F5 "Arm Overvoltage").
A Note: See Chapter 4 for a list of alarm and fault descriptions.
Options:
0 = "Ignore" 1 = "Alarm" 2 = "Fault"
Int
ATTENTION: Setting this parameter to 0 "Ignore" or 1 "Alarm", could result in motor and/or equipment damage. If set to "Ignore"or "Alarm", it is strongly recommended that an external means of protecting against this condition be provided.
354 [Aux Inp Flt Cfg]
Default:
2 = "Fault"
16-bit
Determines the response of the drive to an external fault condition (F2 "Auxiliary Input"), that is, no voltage at the digital input terminal assigned to [Digital Inx
Options:
1 = "Alarm" 2 = "Fault"
Int
A
Sel] with a value of 14 "Aux Fault". Notes: See Chapter 4 for a list of alarm and fault descriptions. Option 3 was
3 = "Fast Stop" 4 = "Normal Stop"
changed from "Quick Stop" to "Fast Stop" for firmware revision 2.001.
5 = "CurrLim Stop"
ATTENTION: Setting this parameter to 1"Alarm", could result in motor and/or equipment damage. If set to "Alarm", it is strongly recommended that an external means of protecting against this condition be provided.
365 [OverTemp Flt Cfg]
Default:
2 = "Fault"
16-bit
Determines the response of the drive to a motor over temperature condition (F16 "Motor Over Temp").
Options:
0 = "Ignore" 1 = "Alarm"
Int
A
Notes: See Chapter 4 for a list of alarm and fault descriptions. Option 3 was changed from "Quick Stop" for firmware revision 2.001.
2 = "Fault" 3 = "Fast Stop"
4 = "Normal Stop"
5 = "CurrLim Stop"
ATTENTION: Setting this parameter to 0 "Ignore" or 1 "Alarm", could result in motor and/or equipment damage. If set to "Ignore"or "Alarm", it is strongly recommended that an external means of protecting against this condition be provided.
UTILITY
Alarms
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Chapter 3 Programming and Parameters
Data Type Related
File Group No.
UTILITY Alarms
Parameter Name and Description
See page 117 for symbol descriptions
Values
409 [SSC Threshold]
Default:
50
16-bit
Specifies the amount of time that invalid fiber communication packets can be
A received before a fault is generated (2 ms per packet).
Note: This parameter was added for firmware revision 7.001.
Min/Max: Units:
0 / 250 ms
Int
470 [UnderVlt Flt Dly]
Default:
10
16-bit
A
Configures the length of time that an AC Line undervoltage condition can persist before an AC undervoltage fault (F4) is activated. The condition must persist for the entire delay time or the delay timer is reset.
Min/Max: Units:
0 / 100 ms
Int
Note: This parameter was added for firmware revision 6.001.
ATTENTION: Setting this value incorrectly for the application could result in damage to the drive SCR(s) and or fuses.
473 [FldLoss Flt Cfg]
Determines the response of the drive to a field loss condition (F6 "Fld Current
Loss"). If Par 497 [Field Reg Enable] is set to 0 "Disabled", set this parameter to
A
0 "Ignore". Note: See Chapter 4 for a list of alarm and fault descriptions.
Default: Options:
2 = "Fault"
0 = "Ignore" 1 = "Alarm" 2 = "Fault"
16-bit 497 Int
ATTENTION: Setting this parameter to 0"Ignore"or 1"Alarm", could result in motor and/or equipment damage. If set to "Ignore" or "Alarm", it is strongly recommended that an external means of protecting against this condition be provided.
475 [FldLoss Flt Dly]
Default:
A
Configures the length of time that the measured field current feedback can be less than one half of Par 468 [Min Fld Curr Pct] before a field loss condition (fault or
Min/Max: Units:
alarm) is activated. The condition must persist for the entire delay time or the
delay timer is reset. This parameter is not used when armature voltage speed
feedback is configured. Note: This parameter was added for firmware revision
6.001.
478 [Spd Loss Flt Cfg] Determines the response of the drive to a speed feedback loss condition.
Note: See Chapter 4 for a list of fault and alarm descriptions.
Default: Options:
A
500 0 / 5000 ms
2 = "Fault" 1 = "Alarm" 2 = "Fault"
ATTENTION: Par 478 [Spd Loss Flt Cfg] must be set to 1 "Fault" if Par 458 [SpdReg FB Bypass] is set to 0 "Disabled". Failure to observe this precaution could result in high motor speeds, equipment damage, and/or bodily injury if a "Spd Fdbk Loss" alarm condition were encountered.
16-bit 468 Int
16-bit 458 Int
479 [MtrOvrld Flt Cfg]
Default:
Determines the response of the drive to a motor overload condition (F7 "Motor Overload").
Options:
A
Notes: See Chapter 4 for a list of fault and alarm descriptions. This parameter was added for firmware revision 3.001.
2 = "Fault"
0 = "Ignore" 1 = "Alarm" 2 = "Fault"
16-bit 376, Int 1290
ATTENTION: Setting Par 479 [MtrOvrld Flt Cfg] to 0"Ignore"or 1"Alarm", could result in motor and/or equipment damage. Verify that the motor is properly sized for the application and that a separate device is installed that monitors for and signals a motor overload condition.
481 [UnderVolt Thresh]
Default:
230
16-bit
The AC input voltage level below which an undervoltage fault (F4 "AC
A Undervoltage") will be detected. A typical value is 85% of the nominal AC line
Min/Max: Units:
0 / 1000 Vac
Int
voltage (Par 466 [AC Line Voltage]). This fault can only occur while the drive is
running.
Note: See Chapter 4 for a list of fault descriptions.
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Parameter Name and Description
See page 117 for symbol descriptions
Values
584 [OverCurrent Thr] Value at which an overcurrent condition (F13 "Overcurrent") will be detected.
A Note: See Chapter 4 for a list of fault descriptions.
Default:
Min/Max: Units:
585 [Overspeed Val]
Default:
A
Speed value (rpm) at which an "Overspeed" fault (F25) will occur. Notes: Typically set at 110% of Par 162 [Max Feedback Spd]. See Chapter 4 for a list of fault and alarm descriptions. This parameter was added for firmware revision
Min/Max: Units:
3.001.
175
0 / 250 % 1925
0 / 7800 rpm
16-bit Int
16-bit 162 Int
ATTENTION: Verify that you have correctly set this parameter appropriately for your application. Incorrectly setting this parameter may cause a hazard of personal injury and/or equipment damage.
1380 [Drive Alarm 1]
16-bit 1322
Alarm conditions that currently exist in the drive. For each bit, 1 = condition true, and 0 = condition false.
Int
Bit 0"DigInCflctA"- Digital input functions are in conflict.
Bit 1"DigInCflctB"- A digital Start input has been configured without a Stop input or other functions are in conflict.
Bit 2"DigInCflctC"- More than one physical input has been configured for the same input function.
Bit 3"BipolarCflct"- Parameter 1322 [Direction Mode] is set to "Bipolar"or "Reverse Dis"and one or more of the following digital input
functions is configured: "Fwd/Reverse,""Run Forward,""Run Reverse,""Jog Forward"or "Jog Reverse."
Bit 4"Ref Cflct" - Multiple speed or position references are configured.
Bit 5"CntactrCflct"- Contactor input functions are in conflict.
Bit 6"FB Cfg Cflct"- A speed feedback configuration error has occurred or is being provided by multiple sources.
Bit 7"Overvoltage"- There is an overvoltage on the armature circuit.
Bit 8"Over Temp"- The motor has exceeded its temperature rating [as signaled by the thermistor (PTC) or thermal switch connected to the
drive terminals 78 and 79].
Bit 9"Aux Input"- An auxiliary input interlock is open or a voltage (15...30 V) or reference signal is missing for the digital input set to 14 "Aux
Fault" (only updates if Par 354 [Aux Inp Flt Cfg] is set to 1 "Alarm").
Bit 10"Field Loss" - The field current is too low.
Bit 11"SpdFdbk Loss" - The drive is not receiving a speed feedback signal.
Bit 12"PwrUp Start"- Indicates that the drive is starting or has automatically resumed running at commanded speed after drive input power
was restored.
Bit 13"Mtr Overload" - Indicates when the Motor Overload alarm level has been reached.
Bit 14"FldCfg Cflct"- Indicates a field configuration conflict.
Bit 15"Spd Fdbk Err" - Indicates an encoder or resolver error.
Notes: See Chapter 4 -Troubleshooting on page 219 for more information on faults/alarms. The name of bit 11 was changed from "Encoder
Loss"and bits 13 and 14 were added for firmware revision 3.001. The name of bit 4 "AnalogCflct", bit 6 "Encoder Cflct", and bit 11 "Feedback
Loss" were changed and bit 15 was added for firmware revision 5.002.
Options
Spd Fdbk Err FldCfg Cflct Mtr Overload PwrUp Start SpdFdbk Loss Field Loss Aux Input Over Temp Overvoltage FB Cfg Cflct CntactrCflct Ref Cflct BipolarCflct DigInCflctC DigInCflctB DigInCflctA
Default Bit
0000000000000000 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
UTILITY Alarms
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Data Type Related
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File Group No.
Alarms
UTILITY
Parameter Name and Description
See page 117 for symbol descriptions
Values
1394 [Drive Alarm 2]
16-bit
Alarm conditions that currently exist in the drive. For each bit, 1 = condition true, and 0 = condition false.
Int
Bit 0"BrakeSlipped" - The torque prove function encountered a brake slip condition.
Bit 1"TrqProvCflct"- The torque prove function is not properly configured.
Bit 2"TP Encls Cfg"- The torque prove function encountered an encoderless configuration conflict.
Bit 3"OpenSCR Trip" - An open SCR trip level has been reached.
Notes: See Chapter 4 -Troubleshooting on page 219 for more information on faults/alarms. This parameter was added for firmware revision
6.001.
Options
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved OpenSCR Trip TP Encls Cfg TrqProvCflct BrakeSlipped
Default Bit
xxxxxxxxxxxx0000 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
50 [UsrDsplyMult0]
Default:
1
32-bit
Numerator in the calculation for user-defined, drive speed display units. Note: This parameter is not used.
Min/Max:
1 / 1073741823
Int
A
51 [UsrDsplyDiv0]
Default:
1
32-bit
Denominator in the calculation for user-defined, drive speed display units. Note: This parameter is not used.
Min/Max:
1 / 1073741823
Int
A
53 [UsrValMult1]
Default:
1
16-bit
Numerator in the calculation for scaling the user-defined, drive speed display
A units.
Min/Max:
1 / 32767
Int
Note: This parameter is not used.
54 [UsrValDiv1]
Default:
1
16-bit
A
Denominator in the calculation for scaling the user-defined, drive speed display units.
Min/Max:
1 / 32767
Int
Note: This parameter is not used.
User Defined
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Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
503 [UserDefined0] 504 [UserDefined1] 505 [UserDefined2] 506 [UserDefined3] 507 [UserDefined4] 508 [UserDefined5] 509 [UserDefined6] 510 [UserDefined7] 511 [UserDefined8] 512 [UserDefined9] 513 [UserDefined10] 514 [UserDefined11] 515 [UserDefined12] 516 [UserDefined13] 517 [UserDefined14] 518 [UserDefined15]
General use signed 16 bit variables used for data exchange.
A Note: Pars 503...506 can be assigned to analog inputs. The values of Pars 503,
Default: Min/Max:
504, and 507...509 can be assigned to an analog output.
519 [UsrDefBitWrdA]
Default:
A
A bitmap of Pars 520 [UsrDefBitWrdA0] through 535 [UsrDefBitWrdA15]. With a parameter it is possible to read or write all of the bits inside a word.
Min/Max:
Example:
[UsrDefBitWrdA0] [UsrDefBitWrdA1]
0 1 = 21 =2
[UsrDefBitWrdA2] [UsrDefBitWrdA3] [UsrDefBitWrdA4] [UsrDefBitWrdA5] [UsrDefBitWrdA6] [UsrDefBitWrdA7] [UsrDefBitWrdA8] [UsrDefBitWrdA9] [UsrDefBitWrdA10] [UsrDefBitWrdA11] [UsrDefBitWrdA12] [UsrDefBitWrdA13]
0 0 0 1 = 25 = 32 1 = 26 = 64 0 0 0 1 = 210 = 1024 0 1 = 212 = 4096 0
[UsrDefBitWrdA14]
0
[UsrDefBitWrdA15]
0
[UsrDefBitWrdA] = 2 + 32 + 64 + 1024 + 4096 = 5218
Notes: The value of digital inputs 1...12 can be written to any of bits 0...7 ([UsrDefBitWrdA0]...[UsrDefBitWrdA7]) of this parameter. For example, to assign digital input 1 to bit 0 of this parameter, select option 37 "UsrDefined0" in parameter 133 [Digital In1 Sel].
The value of bits 0...7 of this parameter can be written to digital outputs 1...8, sequentially. In other words, when parameters 145 [Digital Out1 Sel]...152 [Digital Out8 Sel] are assigned option 11 "UserDefinedA", bit 0 of this parameter is written to digital output 1, bit 1 is written to digital output 2, bit 2 is written to digital output 3, etc.
Bits 14 and 15 of this parameter are written to relay outputs 1 and 2, respectively, when parameters 1392 [Relay Out 1 Sel] and 629 [Relay Out 2 Sel] are assigned option 11 "UserDefinedA".
0 32768/+32767
0 0 / 65535
16-bit Int
16-bit 520... Int 535
UTILITY User Defined
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File Group No.
UTILITY User Defined
Parameter Name and Description
See page 117 for symbol descriptions
Values
520 [UsrDefBitWrdA0] 521 [UsrDefBitWrdA1] 522 [UsrDefBitWrdA2] 523 [UsrDefBitWrdA3] 524 [UsrDefBitWrdA4] 525 [UsrDefBitWrdA5] 526 [UsrDefBitWrdA6] 527 [UsrDefBitWrdA7] 528 [UsrDefBitWrdA8] 529 [UsrDefBitWrdA9] 530 [UsrDefBitWrdA10] 531 [UsrDefBitWrdA11] 532 [UsrDefBitWrdA12] 533 [UsrDefBitWrdA13] 534 [UsrDefBitWrdA14] 535 [UsrDefBitWrdA15]
Bit variables. The individual "User Defined" bits can be read or written to. It is
A possible to process a word with Par 519 [UsrDefBitWrdA] (see example).
Default: Min/Max:
Note: You can read bits 0...7 of a digital input with Par 519 [UsrDefBitWrdA] and write all of the bits associated with [UsrDefBitWrdA] to a digital output.
536 [UsrDefBitWrdB]
Default:
A
A bitmap of Pars 537 [UsrDefBitWrdB0] through 552 [UsrDefBitWrdB15]. With a parameter it is possible to read or write all of the bits inside a word.
Min/Max:
Example:
[UsrDefBitWrdB0] [UsrDefBitWrdB1]
0 1 = 21 =2
[UsrDefBitWrdB2]
0
[UsrDefBitWrdB3]
0
[UsrDefBitWrdB4] [UsrDefBitWrdB5] [UsrDefBitWrdB6]
0 1 = 25 = 32 1 = 26 = 64
[UsrDefBitWrdB7]
0
[UsrDefBitWrdB8]
0
[UsrDefBitWrdB9] [UsrDefBitWrdB10] [UsrDefBitWrdB11] [UsrDefBitWrdB12]
0 1 = 210 = 1024 0 1 = 212 = 4096
[UsrDefBitWrdB13]
0
[UsrDefBitWrdB14]
0
[UsrDefBitWrdB15]
0
[UsrDefBitWrdB] = 2 + 32 + 64 + 1024 + 4096 = 5218
Notes: The value of bits 0...7 of this parameter can be written to digital outputs 1...8, sequentially. In other words, when parameters 145 [Digital Out1 Sel]...152 [Digital Out8 Sel] are assigned option 12 "UserDefinedB", bit 0 of this parameter is written to digital output 1, bit 1 is written to digital output 2, bit 2 is written to digital output 3, etc.
Bits 14 and 15 of this parameter are written to relay outputs 1 and 2, respectively, when parameters 1392 [Relay Out 1 Sel] and 629 [Relay Out 2 Sel] are assigned option 12 "UserDefinedB"
0 0 / 1
0 0 / 65535
Data Type Related
16-bit 519 Int
16-bit 537... Int 552
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Data Type Related
File Group No.
Data Type Related
UTILITY User Defined
Parameter Name and Description
See page 117 for symbol descriptions
Values
537 [UsrDefBitWrdB0] 538 [UsrDefBitWrdB1] 539 [UsrDefBitWrdB2] 540 [UsrDefBitWrdB3]
Default:
0
Min/Max:
0 / 1
541 [UsrDefBitWrdB4]
542 [UsrDefBitWrdB5]
543 [UsrDefBitWrdB6] 544 [UsrDefBitWrdB7] 545 [UsrDefBitWrdB8] 546 [UsrDefBitWrdB9] 547 [UsrDefBitWrdB10]
548 [UsrDefBitWrdB11]
549 [UsrDefBitWrdB12]
550 [UsrDefBitWrdB13] 551 [UsrDefBitWrdB14] 552 [UsrDefBitWrdB15]
Bit variables. The individual "User Defined" bits can be read or written to. It is
A possible to process a word with Par 536 [UsrDefBitWrdB]. See the example in Par
536 [UsrDefBitWrdB].
Note: You can read bits 0...7 of a digital input with Par 536 [UsrDefBitWrdB] and
write all of the bits associated with [UsrDefBitWrdB] to a digital output.
16-bit 536 Int
Communications File
File Group No.
COMMUNICATIONS Comm Control
Parameter Name and Description
See page 117 for symbol descriptions
Values
589 [DPI Baud Rate]
Default:
Read Only
16-bit
Shows the data transfer rate for attached drive peripherals. "1" - 500 kbps
Min/Max:
1 / 1
Int
590 [DPI Port Sel]
Default:
Selects which DPI port reference value (unscaled) will appear in Par 1343 [DPI Port Value].
Options:
1
"DPI Port 1"
1 = "DPI Port 1" 2 = "DPI Port 2" 3 = "DPI Port 3" 4 = "DPI Port 4" 5 = "DPI Port 5"
16-bit 1343 Int
1321 [DPI Fdbk Select]
Default:
0 = "Speed"
16-bit
Selects the feedback variable and DPI units displayed on the feedback line of the HIM.
Options:
· 0"Speed"= Speed feedback units are in rpm
0 = "Speed" 1 = "Current"
Int
· 1"Current"= Current feedback units are in percent (%)
1343 [DPI Port Value] Unscaled value of the DPI reference selected in Par 590 [DPI Port Sel].
Default: Min/Max:
Read Only /+32767
16-bit 590 Int
591 [Logic Mask] Determines which ports can control the drive. If the bit for a port is set to "0,"the port will have no control functions except for stop. 0 = Control
Masked, 1 = Control Permitted, x = Reserved.
Options
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved DPI Port 5 DPI Port 4 DPI Port 3 DPI Port 2 DPI Port 1 Digital In
Default Bit
xxxxxxxxxx111111 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
592 [Start Mask] Controls which adapters can issue start commands.
See [Logic Mask]
Masks and Owners
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Chapter 3 Programming and Parameters
COMMUNICATIONS Masks and Owners
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved DPI Port 5 DPI Port 4 DPI Port 3 DPI Port 2 DPI Port 1 Digital In
Parameter Name and Description
See page 117 for symbol descriptions
593 [Jog Mask] Controls which adapters can issue jog commands.
Values
See [Logic Mask]
594 [Direction Mask] Controls which adapters can issue forward/reverse direction commands.
See [Logic Mask]
595 [Reference Mask] Controls which adapters can select a manual reference.
See [Logic Mask]
596 [Accel Mask]
See [Logic Mask]
24,
Controls which adapters can select the acceleration ramp rates (Pars 660
660
[Accel Time 1] and 24 [Accel Time 2]) of the drive.
597 [Fault Clr Mask] Controls which adapters can clear a fault.
See [Logic Mask]
598 [MOP Mask] Controls which adapters can issue MOP commands to the drive.
See [Logic Mask]
599 [Local Mask] Controls which adapters are allowed to take exclusive control of drive logic
commands (except stop). Exclusive "local" control can only be taken while the drive is stopped.
See [Logic Mask]
600 [Stop Owner] The adapters that are presently issuing a valid stop command. 0 = No Command, 1 = Issuing Command, x = Reserved.
Options
Default Bit
xxxxxxxxxx000000 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
601 [Start Owner] The adapters that are presently issuing a valid start command.
See [Stop Owner]
602 [Jog Owner] The adapters that are presently issuing a valid jog command.
See [Stop Owner]
603 [Direction Owner] The adapter that currently has exclusive control of direction changes.
See [Stop Owner]
604 [Reference Owner] The adapter that has the exclusive control of the reference source selection.
See [Stop Owner]
605 [Accel Owner]
See [Stop Owner]
24,
The adapter that has exclusive control of the acceleration ramp rate (Pars
660
660 [Accel Time 1] and 24 [Accel Time 2]) for the drive.
606 [Fault Clr Owner] Adapter that is presently clearing a fault.
See [Stop Owner]
607 [MOP Owner] Adapters that are currently issuing increases or decreases in MOP
referenced.
See [Stop Owner]
608 [Local Owner] Adapter that has requested exclusive control of all drive logic functions. If an adapter is in local lockout, all other functions (except stop) on all other adapters are locked out and nonfunctional. Local control can only be obtained when the drive is not running.
See [Stop Owner]
609 [Decel Owner]
See [Stop Owner]
32,
The adapter that has exclusive control of the deceleration ramp rate (Pars
662
662 [Decel Time 1] and 32 [Decel Time 2]) for the drive.
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File Masks and Owners Group
No. Data Type Related
DataLinks
COMMUNICATIONS
Parameter Name and Description
See page 117 for symbol descriptions
Values
631 [Decel Mask]
See [Logic Mask]
32,
Controls which adapters can select the deceleration ramp rate (Pars 662
662
[Decel Time 1] and 32 [Decel Time 2]) of the drive.
610 [Data In A1] Link A Word 1
Default:
0 (0 = "Disabled")
16-bit
611 [Data In A2] Link A Word 2 Parameter number whose value will be written from a communications
Min/Max:
0 / 1410
Int
device data table. The number will not be updated until the drive is
stopped.
See your communications option manual for datalink information.
612 [Data In B1] Link B Word 1 613 [Data In B2] Link B Word 2
See [Data In A1] Link A Word 1.
16-bit
Int
614 [Data In C1] Link C Word 1 615 [Data In C2] Link C Word 2
See [Data In A1] Link A Word 1.
16-bit
Int
616 [Data In D1] Link D Word 1 617 [Data In D2] Link D Word 2
See [Data In A1] Link A Word 1.
16-bit
Int
618 [Data Out A1] Link A Word 1
Default:
0 (0 = "Disabled")
16-bit
619
[Data Out A2] Link A Word 2 Parameter number whose value will be written to a communications device
Min/Max:
0 / 1410
Int
data table.
620 [Data Out B1] Link B Word 1 621 [Data Out B2] Link B Word 2
See [Data Out A1] Link A Word 1.
16-bit
Int
622 [Data Out C1] Link C Word 1 623 [Data Out C2] Link C Word 2
See [Data Out A1] Link A Word 1.
16-bit
Int
624 [Data Out D1] Link D Word 1 625 [Data Out D2] Link D Word 2
See [Data Out A1] Link A Word 1.
16-bit
Int
1319 [Data In Val Sel]
Default:
Selects the Datalink parameter register to display in Par 1320 [Data In Sel Data].
Min/Max:
610 610 / 617
16-bit 1320 Int
1320 [Data In SelData] Displays the value selected in Par 1319 [Data In Val Sel].
Default: Min/Max:
Read Only 0 / 231
32-bit 1319 Int
591 [Logic Mask] Determines which ports can control the drive. If the bit for a port is set to "0,"the port will have no control functions except for stop. 0 = Control
Masked, 1 = Control Permitted, x = Reserved.
Options
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved DPI Port 5 DPI Port 4 DPI Port 3 DPI Port 2 DPI Port 1 Digital In
Default Bit
xxxxxxxxxx111111 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1376 [Logic Mask Act]
Read Only
591
Indicates the status of the logic mask for the DPI ports. When bit 15 is set, network security is
A controlling the logic mask instead of Par 591 [Logic Mask]. 0 = Control Masked, 1 = Control
Permitted, x = Reserved.
Options
Security Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved DPI Port 5 DPI Port 4 DPI Port 3 DPI Port 2 DPI Port 1 Digital In
Default Bit
0xxxxxxxxx111111 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Security
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Data Type Related
Chapter 3 Programming and Parameters
File Group No.
COMMUNICATIONS Security
Parameter Name and Description
See page 117 for symbol descriptions
Values
1377 [Write Mask Act]
Read Only
1378
The status of write access for the DPI ports. When bit 15 is set, network security is controlling
A the write mask instead of Par 1378 [Write Mask Cfg]. 0 = Read Only, 1 = Write Permitted, x =
Reserved.
Options
Security Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved DPI Port 5 DPI Port 4 DPI Port 3 DPI Port 2 DPI Port 1 Reserved
Default Bit
0xxxxxxxxx11111x 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1378 [Write Mask Cfg]
1377
Enables/Disables parameter write access for the DPI ports. Masking of the Port that is writing to this parameter is prohibited. Changes to this
parameter only become effective after power is cycled, the drive is reset, or bit 15 of [Write Mask Actv] transitions from "1" to "0".
A 0 = Read Only, 1 = Write Permitted, x = Reserved.
Options
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved DPI Port 5 DPI Port 4 DPI Port 3 DPI Port 2 DPI Port 1 Reserved
Default Bit
xxxxxxxxxx11111x 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1379 [Port Mask Act]
Read Only
Bits 0...5 indicate status for DPI port communication. Bit 15 indicates when security software is
A controlling the parameter. 0 = Not Active, 1 - Active, x - Reserved.
Options
Security Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved DPI Port 5 DPI Port 4 DPI Port 3 DPI Port 2 DPI Port 1 Digital In
Default Bit
0xxxxxxxxx111111 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
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Data Type Related
Input / Output File
File Group No.
INPUT / OUTPUT Analog Inputs
Parameter Name and Description
See page 117 for symbol descriptions
Values
70 [Anlg In1 Sel]
Default:
75 [Anlg In2 Sel]
Default:
80 [Anlg In3 Sel]
Default:
Selects the parameter to which a value will be written from the analog
input.
Note: See Analog Input Configuration on page 292 for more information.
Options:
1 = "Speed Ref A" 0 = "Off" 0 = "Off"
0 = "Off"(No signal)
9 = "Neg Cur Lim"(Par 9)
1 = "Speed Ref A"(Par 44)
10 = "Jog Ref"(Par 266)
2 = "Speed Ref B"(Par 48) 3 = "Trim Ramp"(Par 42) 4 = "Trim Speed"(Par 43) 5 = "Torque Ref"(Par 39) 6 = "Trim Torque"(Par 40) 7 = "TB Man Ref"(Par 267) 8 = "Pos Cur Lim"(Par 8)
11 = "Adaptive Ref"(Par 183) 12 = "UserDefined0"(Par 503) 13 = "UserDefined1"(Par 504) 14 = "UserDefined2"(Par 505) 15 = "UserDefined3"(Par 506) 16 = "Load Comp"(Par 698) 17 = `PID Setpt 0"(Par 760)
(1) Not used for permanent magnet motor applications. (2) For use with PowerFlex DC Field Controller only.
18 = "PI CentralV3"(Par 778) 19 = "PID Feedback"(Par 763) 20 = "Fld Cur Max"(Par 467) (1) 21 = "OutVoltLevel"(Par 921) 22 = "Speed Ratio"(Par 1017) 23 = "Tension Red"(Par 1179) 24 = "Tension Ref"(Par 1180) 25 = "Diam Preset3"(Par 1167) 26 = "FC Fdbk"(2)
71 [Anlg In1 Config]
Default:
76 [Anlg In2 Config] 81 [Anlg In3 Config]
Options:
Selects the signal input (voltage or current) mode for the analog input.
Configure switches S9, S10, and S11 on the control board according to the
input signal used. The inputs of the drive are factory set for voltage signals.
See DIP Switch and Jumper Settings on page 77 for information on switch
configuration.
· "+/10V"= A maximum voltage of ±10V is connected to the analog input. If the signal is used as a reference value, a polarity reversal can be used to reverse the rotation direction of the drive (four quadrant only) when Par 1322 [Direction Mode] = 1 "Bipolar". Two quadrant drives accept only positive references as the speed reference. Negative references are not accepted and the drive will run at zero speed.
· "0...10V"= A maximum voltage of 10V is connected to the analog input. For reference values, only positive references are allowed.
· "0...20 mA"= A maximum current signal of 0...20 mA is connected to the analog input. The signal must be positive.
· "4...20 mA"= A current signal of 4...20 mA is connected to the analog input. The signal must be positive.
Note: See Analog Input Configuration on page 292 for more information.
72 [Anlg In1 Scale]
Default:
77 [Anlg In2 Scale] 82 [Anlg In3 Scale]
Min/Max:
Scales the value in the corresponding [Anlg Inx Sel] parameter.
A Note: See Analog Input Configuration on page 292 for more information.
73 [Anlg1 Tune Scale]
Default:
78 [Anlg2 Tune Scale] 83 [Anlg3 Tune Scale]
Min/Max:
Fine tuning of the analog input when the maximum signal does not
A correspond exactly to the rated value. Scales according to the following
equation:
[Anlg Inx Sel] [Anlg Inx Offset] x [Anlg Inx Scale] x [Ainx Tune Scale]
Note: See Analog Input Configuration on page 292 for more information.
0 = "+/10V" 0 = "+/10V" 1 = "0...10V" 2 = "0...20 mA" 3 = "4...20 mA"
1.00 /+10.00 1.00 0.10 / 10.00
16-bit Int
16-bit 1322 Int
Real Real
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File Group No.
INPUT / OUTPUT Analog Inputs
Parameter Name and Description
See page 117 for symbol descriptions
Values
74 [Anlg In1 Offset]
Default:
79 [Anlg In2 Offset] 84 [Anlg In3 Offset]
Min/Max:
Offset value for the analog inputs. If the input has an offset or if the variable
A assigned to the input already has a value although there is no input signal
present, this can be compensated for via the value in this parameter.
259 [Anlg In1 Tune]
Default:
260 [Anlg In2 Tune] 261 [Anlg In3 Tune]
Options:
Automatic fine tuning of the analog inputs. If this command is given,
A parameter [Ainx Tune Scale] is automatically selected so that the input
signal present, normally full scale, corresponds to the maximum variable
value, such as the value of Par 45 [Max Ref Speed]. Two conditions are
necessary for automatic fine tuning:
· An input voltage greater than 1V or an input current greater than 2 mA.
· Positive polarity. The value found is automatically set for the opposite
direction for four quadrant drives.
Note: The automatically calculated value can, if necessary, be modified
manually via parameter [Ainx Tune Scale]. When using analog input tuning, Pars [Analog Inx Scale] are normally set to 1.0.
295 [Anlg In1 Target] 296 [Anlg In2 Target] 297 [Anlg In3 Target]
Enables sampling for the analog inputs.
Default: Options:
792 [Anlg In1 Filter] Analog input 1 filter.
A
Default:
Min/Max: Units:
801 [Anlg In2 Filter] Analog input 2 filter.
A Note: This parameter was added for firmware revision 4.001.
Default:
Min/Max: Units:
802 [Anlg In3 Filter] Analog input 3 filter.
A Note: This parameter was added for firmware revision 4.001.
Default:
Min/Max: Units:
1042 [Anlg In1 Cmp]
Default:
Defines a reference point for the signal of analog input 1 around which a comparison range can be set (via Par 1043 [Anlg In1 Cmp Err]) and
Min/Max:
monitored.
[Anlg In1 Cmp] = (comparison value) x 10000 / (max. reference value),
where the values of "comparison" and "max. reference" are determined by
the min/max of the related parameter selected via Par 70 [Anlg In1 Sel].
Note: See Analog-input Signal Comparison on page 293 for more
information.
1043 [Anlg In1 Cmp Err]
Default:
Defines a value above and below the value set in parameter 1042 [Anlg In1 Cmp] at which Par 1045 [Anlg In1 Cmp Eq] will transition.
Min/Max:
[Anlg In1 Cmp Err] = (tolerance value) x 10000 / (max. reference value),
where the values of "tolerance" and "max. reference" are determined by the
min/max of the parameter selected via Par 70 [Anlg In1 Sel].
Note: See Analog-input Signal Comparison on page 293 for more
information.
1044 [Anlg In1 Cmp Dly]
Default:
Amount of time that must elapse, after the value in Par 1043 [Anlg In1 Cmp Err] has been reached, before Par 1045 [Anlg In1 Cmp Eq] transitions.
Min/Max: Units:
0 32768/+32767
0 = "Ready" 0 = "Ready" 1 = "Tune"
0 = "Assigned" 0 = "Assigned" 1 = "Not Assigned" 0 0 / 1000 ms 0 0 / 1000 ms 0 0 / 1000 ms 0 / +10000
0 0 / 10000
0 0 / 65000 ms
16-bit Int
16-bit Int
16-bit Int 16-bit Int 16-bit Int 16-bit Int 16-bit 1043, Int 1044,
1045
16-bit 1042, Int 1044,
1045
16-bit 1042, Int 1043,
1045
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Programming and Parameters Chapter 3
Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
1045 [Anlg In1 Cmp Eq]
Default:
Provides an indication, after the amount of time specified in Par 1044 [Anlg In1 Cmp Dly] has elapsed, when the value set in parameter 1043 [Anlg In1
Min/Max:
Cmp Err] has been reached.
· "0"= The value of analog input 1 is above or below the value set in Par
1043 [Anlg In1 Cmp Err].
· "1"= The value of analog input 1 is within the range set in Par 1043
[Anlg In1 Cmp Err].
Notes: This parameter can be assigned to a digital output. See Analog-input
Signal Comparison on page 293 for more information.
1404 [Analog In1 Value]
Default:
Value of the signal at analog input 1. Units based on the value set in Par 71 [Anlg In1 Config].
Min/Max: Units:
1405 [Analog In2 Value]
Default:
Value of the signal at analog input 2. Units based on the value set in Par 76 [Anlg In2 Config].
Min/Max: Units:
1406 [Analog In3 Value]
Default:
Value of the signal at analog input 3. Units based on the value set in Par 81 [Anlg In3 Config].
Min/Max: Units:
62 [Anlg Out1 Scale] 63 [Anlg Out2 Scale] 64 [Anlg Out3 Scale] 65 [Anlg Out4 Scale]
Scaling of the analog outputs.
Default: Min/Max:
Read Only 0 / 1
Read Only -/+20.00 V or mA Read Only -/+20.00 V or mA Read Only -/+20.00 V or mA 1.00 / +10.00
16-bit 1042, Int 1043,
1044
Real 71 Real 76 Real 81 Real
Analog Outputs
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Data Type Related
Chapter 3 Programming and Parameters
File Group No.
INPUT / OUTPUT Analog Outputs
Parameter Name and Description
See page 117 for symbol descriptions
Values
66 [Anlg Out1 Sel] 67 [Anlg Out2 Sel] 68 [Anlg Out3 Sel]* 69 [Anlg Out4 Sel]*
Default:
12 = "Motor Speed"
16-bit
Default:
13 = "Motor Curr"
Int
Default:
18 = "Fld Current"
Default:
14 = "Motor Volts"
Selects the source of the value that drives the analog output.
*This parameter is used to configure an analog output on the
I/O Expansion circuit board. See Appendix F - Optional Analog and Digital I/O
Expansion Circuit Board.
Notes: Option 9 "Torque Ref" was changed to "Sel Torq Ref" for firmware
revision 6.001. Option 24 "Field Ref" was changed and 36 "Fld Cur Ref" was
added for firmware revision 7.001.
Options:
No. Option (Par) 0 = "Off" (Not used) 1 = "Spd Ref Out"(Par 385) 2 = "Trim Ramp"(Par 42) 3 = "Ramp In"(Par 110) 4 = "Ramp Out"(Par 113) 5 = "Spd Draw Out"(Par 1018)
6 = "Trim Speed"(Par 43) 7 = "Spd Reg In"(Par 118) 8 = "Spd Reg Out"(Par 236)
9 = "Sel Torq Ref"(Par 14)
10 = "Trim Torque"(Par 40)
11 = "Torq Reg In"(Par 41)
12 = "Motor Speed"(Par 121)
13 = "Motor Curr"(Par 199)
14 = "Motor Volts"(Par 233)
15 = "Analog In 1"(Par 70) 16 = "Analog In 2"(Par 75)
17 = "Analog In 3"(Par 80)
18 = "Fld Current"(Par 234)
Scaling of Analog Output Value
No. Option (Par)
Scaling of Analog Output Value
n/a
19 = "UserDefined0"(Par 503) ±10V = ±2047 in Par 503 [UserDefined0]
±10V = ±100% of Par 45 [Max Ref Speed] 20 = "UserDefined1"(Par 504) ±10V = ±2047 in Par 504 [UserDefined1]
±10V = ±100% of Par 45 [Max Ref Speed] 21 = "UserDefined4"(Par 507) ±10V = ±2047 in Par 507 [UserDefined4]
±10V = ±100% of Par 45 [Max Ref Speed] 22 = "UserDefined5"(Par 508) ±10V = ±2047 in Par 508 [UserDefined5]
±10V = ±100% of Par 45 [Max Ref Speed] 23 = "UserDefined6"(Par 509) ±10V = ±100% of Par 45 [Max Ref Speed] 24 = "Flux Ref Pct"(Par 500) (1)
±10V = ±2047 in Par 509 [UserDefined6]
0-10V = 0...100% of Par 280 [Nom Mtr Fld Amps]
±10V = ±100% of Par 45 [Max Ref Speed] 25 = "PID Output"(Par 774)
±10V = ±10000 in Par 774 [PID Output]
±10V = ±100% of Par 45 [Max Ref Speed] 26 = "Out Volt Lvl"(Par 921)
±10V = ±100% Par 175 [Rated Motor Volt]
±10V = ± 100% of Par 179 [Nom Mtr Arm 27 = "Fld Cur Max"(Par 467) Amps]
0-10V = 0...100% of Par 280 [Nom Mtr Fld Amps]
±10V = ± 100% of Par 179 [Nom Mtr Arm 28 = "Filtered Spd"(Par 924) Amps]
±10V = ±100% of Par 45 [Max Ref Speed]
±10V = ± 100% of Par 179 [Nom Mtr Arm 29 = "Filtered Cur"(Par 928) Amps]
±10V = ± 200% of Par 179 [Nom Mtr Arm Amps]
±10V = ± 100% of Par 179 [Nom Mtr Arm 30 = "Output Power"(Par 1052) ±10V = ± 200% of Par 179 [Nom Mtr Arm
Amps]
Amps] x Par 175 [Rated Motor Volt]
±10V = ±100% of Par 45 [Max Ref Speed] 31 = "Roll Diam"(Par 1154)
0-10V = 0...100% of Par 1153 [Max Diameter]
±10V = ± 200% of Par 179 [Nom Mtr Arm 32 = "Tension Ref"(Par 1180) Amps]
0-10V = 0...100% of Par 1153 [Max Diameter]
±10V = ±100% of Par 175 [Rated Motor Volt] 33 = "Torque Curr"(Par 1193)
±10V = ± 200% of Par 179 [Nom Mtr Arm Amps]
±10V = ±10V on Analog Input 1
34 = "Winder Ref"(Par 1217)
±10V = ±100% of Par 45 [Max Ref Speed]
±10V = ±10V on Analog Input 2
35 = "Active Comp"(Par 1213)
±10V = ± 200% of Par 179 [Nom Mtr Arm Amps]
±10V = ±10V on Analog Input 3
36 = "Fld Cur Ref"(Par 469 when set ±10V = ±100% to 4 "Wired FC FW" or 6 "Wired FC BS")
0-10V = 0...100% of Par 280 [Nom Mtr Fld Amps]
(1) Not used for permanent magnet motor applications.
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File Group No.
INPUT / OUTPUT Digital Inputs
Parameter Name and Description
See page 117 for symbol descriptions
Values
133 [Digital In1 Sel] 134 [Digital In2 Sel] 135 [Digital In3 Sel] 136 [Digital In4 Sel] 137 [Digital In5 Sel] 138 [Digital In6 Sel] 139 [Digital In7 Sel] 140 [Digital In8 Sel] 141 [Digital In9 Sel]* 142 [Digital In10 Sel]* 143 [Digital In11 Sel]* 144 [Digital In12 Sel]*
Selects the function driven by the digital input.
Default:
2 = "Stop/CF"
16-bit
Default:
3 = "Start"
Int
Default:
11 = "Jog"
Default:
1 = "Enable"(1)
Default:
17 = "Speed Sel 1"
Default:
18 = "Speed Sel 2"
Default:
19 = "Speed Sel 3"
Default:
31 = "Contactor"
Default:
0 = "Not Used"
Default:
0 = "Not Used"
Default:
0 = "Not Used"
Default:
0 = "Not Used"
See Option Definitions for [Digital Inx Sel] on page 200 and 201.
*These parameters are used to configure the digital inputs on the I/O
Expansion circuit board. Do not use these parameters if the I/O Expansion
circuit board is not installed.
Notes: Option 35 was changed from "Fld Weaken En"and option 64 "Invert
Flt" was added for firmware revision 2.001. Option 34 "Field Reg En" was
changed for firmware revision 3.001. Options 65...72 were added for
firmware revision 6.001. Added options 73...75 for firmware revision 7.001.
Options:
0 = "Not Used"(Off) 1 = "Enable"(1)(2) 2 = "Stop/CF"(2) 3 = "Start (2) 4 = "Fwd/Reverse"(2) 5 = "Run"(2) 6 = "Run Forward"(2) 7 = "Run Reverse"(2) 8 = "Run Level"(2) 9 = "RunFwd Level"(2) 10 = "RunRev Level"(2) 11 = "Jog"(2) 12 = "Jog Forward"(2) 13 = "Jog Reverse"(2)
14 = "Aux Fault"
15 = "Clear Faults"
16 = "Auto/Manual"
17 = "Speed Sel 1"
18 = "Speed Sel 2"
19 = "Speed Sel 3" 20 = "PI Enable" 21 = "PI Hold" 22 = "PI Reset" 23 = "PI Invert" 24 = "Local" 25 = "Acc2 & Dec2" 26 = "Accel 2" 27 = "Decel 2" 28 = "MOP Inc" 29 = "MOP Dec" 30 = "Fast Stop" 31 = "Contactor"(5) 32 = "MOP Reset" 33 = "TorqueReduce" 34 = "Reserved" 35 = "Force MinFld"(3)(4) 36 = "Freeze Ramp" 37 = "UsrDefinedA0"
38 = "UsrDefinedA1" 39 = "UsrDefinedA2" 40 = "UsrDefinedA3" 41 = "UsrDefinedA4" 42 = "UsrDefinedA5" 43 = "UsrDefinedA6" 44 = "UsrDefinedA7" 45 = "Droop Enable" 46 = "PD Enable" 47 = "PID SetptSel" 48 = "PI Cent vs0" 49 = "PI Cent vs1" 50 = "Diam Calc" 51 = "Diam Reset" 52 = "DiamCalc Dis" 53 = "Torq Wind En" 54 = "Speed Match" 55 = "Diam I/D En" 56 = "Wind/Unwind"
57 = "Diam Preset0" 58 = "Diam Preset1" 59 = "Taper Enable" 60 = "Spd DemandEn" 61 = "Winder Side" 62 = "PI-PD Enable" 63 = "Jog TW En" 64 = "Invert Flt" 65 = "Flt MicroPsn" 66 = "Fwd EndLimit" 67 = "Fwd DecLimit" 68 = "Rev EndLimit" 69 = "Rev DecLimit" 70 = "Fwd Ovr Trvl" 71 = "Rev Ovr Trvl" 72 = "Lift Stop" 73 = "Wired FC En"(6) 74 = "Wired FC inv"(6) 75 = "Wired FC Act"(6)
(1) A digital input (1...8 only) must be configured for "Enable". (2) For digital inputs 9...12, this option displays as "Reserved", indicating that it is not available for use - do not select "Reserved"options. (3) Not used for permanent magnet motor applications. (4)
ATTENTION: Enabling (forcing) the minimum field current while the drive is running could result in excessive motor speed, equipment damage and/or bodily injury.
(5)
ATTENTION: Contactor status can only be used by the drive. Contactor status can not be used to initiate any external action (for example, mechanical braking) or equipment damage and/or bodily injury can occur.
(6) For use with PowerFlex DC Field Controller only.
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Data Type Related
File Group No.
INPUT / OUTPUT Digital Inputs
Parameter Name and Description
See page 117 for symbol descriptions
Values
Option Definitions for [Digital Inx Sel]
Note: When assigning digital inputs to certain options that are associated with parameters, those parameter values may be overwritten by the state of the digital input.
Option Enable(1)(2) Stop/CF (2) Start (2)
Description Removing the enable input causes the motor to coast-to-stop without generating a fault. Stops the drive if running or jogging or clears a fault if the drive is already stopped. Issues a Start command, removal does not Stop the drive (3-wire control).
Fwd/ Reverse(2) Run (2))
Selects the operating direction of the drive. 0 = Forward, 1 = Reverse Issues a Start command, removal causes the drive to Stop (2-wire control).
Run
Issues a Run command in the Forward direction.
Forward(2)
Run Reverse(2) Issues a Run command in the Reverse direction.
Run Level (2) Level sensitive Run command (no off-to-on transition required).
RunFwd Level(2)
Run Level command in the Forward direction.
RunRev
Run Level command in the Reverse direction.
Level(2)
Jog(2)
Starts the drive and runs at the speed in Par 266 [Jog Speed], removal causes the drive to Stop.
Jog Forward(2) Issues a Jog command in the Forward direction.
Jog Reverse(2) Issues a Jog command in the Reverse direction.
Aux Fault Asserting causes an Auxiliary Input fault (F2).
Clear Faults Issues a Clear Faults command.
Auto/Manual Selects between Automatic and Manual speed reference values.
Speed Sel 1 - 3 Selects one of eight speed references. Bit enumerations: 000 = Par 44 [Speed Ref A], 001 = Par 48 [Speed Ref B], 010 = Par 155 [Preset Speed 2],
011 = Par 156 [Preset Speed 3], 100 = Par 157 [Preset Speed 4], 101 = Par 158 [Preset Speed 5], 110 = Par 159 [Preset Speed 6], 111 = Par 160
[Preset Speed 7]
PI Enable Enables/disables the PI block of the PID regulator (Par 769 [Enable PI]).
PI Hold
Enables/disables a hold on the PI output.
PI Reset Asserting causes a reset of the PI output.
PI Invert Asserting causes an inversion of the PI output.
Local
Enables exclusive drive control via the I/O Terminal Block only.
Acc2 & Dec2 Switches between the Accel/Decel 1 and Accel/Decel 2 ramp rates.
Accel 2
Switches between the Accel 1 and Accel 2 ramp rates.
Decel 2
Switches between the Decel 1 and Decel 2 ramp rates.
MOP Inc Asserting causes the MOP reference to increment at the rate set in Par 22 [MOP Accel Time].
MOP Dec Asserting causes the MOP reference to decrement at the rate set in Par 30 [MOP Decel Time].
Fast Stop Causes the drive to Stop at the rate set in Par 38 [Fast Stop Time].
Contactor Indicates the status of the main contactor/DB contactor. Must be assigned and asserted to run drive when Par 1391 [ContactorControl] =
"Contactor"or "Contactor+DB".
MOP Reset Asserting resets the MOP reference to zero.
TorqueReduce Turns on /off Torque Reduction using the reduced current limit set in Par 13 [Torq Red CurLim].
Force MinFld When asserted, the field current is set to the value specified in Par 498 [Force Min Field]. Important: See Attention statement on page 199 for this
option. Not used for permanent magnet motor applications.
Freeze Ramp Holds the speed ramp at the present value (Par 373 [Freeze Ramp]).
UsrDefinedA0- Writes the value of the digital input to Pars 520 [UsrDefBitWrdA0] - 527 [UsrDefBitWrdA7].
7
Droop Enable Enables/disables the Droop function (699 [Enable Droop]).
PD Enable Enables/disables the PD block of the PID regulator (Par 770 [Enable PD]).
PI Cent vs0 - 1 In combination, the digital inputs set to "PI Central vs0"and "PI Central vs1", through binary selection, determine which of the four possible output
values is used as the initial level of the integral component (corresponding to the initial diameter) of the PI block. See Par 780 [PI Central vs0] for
binary selection values.
Diam Calc When asserted initiates the diameter calculation (Par 794 [Diameter Calc]).
Digital input option definitions continued on the following page.
1 A digital input (1...8 only) must be configured for "Enable". 2 For digital inputs 9...12, this option is not available (displays as "Reserved").
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Parameter Name and Description
See page 117 for symbol descriptions
Values
Option Definitions for [Digital Inx Sel], Continued
Note: When assigning digital inputs to certain options that are associated with parameters, those parameter values may be overwritten by the state of the digital input.
Option
Description
Diam Reset Sets the diameter starting value to the value in Par 1168 [Diam Preset Sel].
DiamCalc Dis Enables/disables the diameter calculation (Par 1161 [Diameter Calc Dis]).
Torq Wind En Enables/disables the Center wind function (Par 1209 [Torque Winder En]).
Speed Match When asserted, issues the coil 'launch phase' command for automatic switching (Par 1195 [Speed Match]).
Diam I/D En Enables/disables the ability of the diameter calculation to increase for an unwider or decrease for a winder (Par 1205 [Diam Inc Dec En]).
Wind/Unwind Sets the value of Par 1187 [Winder Type] to "0"Winder or "1"Unwinder.
Diam Preset0 - Selects the value of Par 1164 [Diam Preset 0], 1165 [Diam Preset 1], Par 1166 [Diam Preset 2], or Par 1167 [Diam Preset 3] See Par 1168 [Diam
1
Preset Sel].
Taper Enable Enables/disables the Taper function (Par 1176 [Taper Enable]).
Spd
Enables/disables the speed reference calculation (winder operation), (Par 1215 [Speed Demand En]).
DemandEn
Winder Side Selection of the winding/unwinding side (0 = up, 1 = down).
PI-PD Enable Selection between PI and PD (winder operation), (Par 1201 [Winder Side]).
Jog TW En Enables/disables the Torque Winder jog function (Par 1256 [Jog TW Enable]).
Invert Flt Must be used when the digital input is wired to the status of an inverting fault device (fuse, circuit breaker, and so on). Removing the input causes
an "Inverting Fault"(F37).
Flt MicroPsn Dual function when Torque Prove mode is enabled. When the drive is operating within the float tolerance zone, the input holds the drive in the
"float"function. The float function is defined as holding off the setting of the brake while the drive holds zero speed. When the input is active and
the drive is operating outside the float tolerance zone, the drive operates at a percentage (set in Par 1112 [MicroPsnScalePct]) of the commanded
reference. Operation is also affected by the value of Par 1100 [Torq Prove Cfg], bit 2 "Micro Psn."
Fwd EndLimit Assigns a digital input that, when asserted, triggers a "forward end limit"function that results in the drive executing a "Fast Stop"command. This
condition is latched so that, while active, starting in the same direction only provides a zero speed reference. Latching also lets the load travel past
the end limit (digital input opens) when stopping. Starting in the opposite direction will use the normal speed reference and the condition will
unlatch only after this digital input opens and the load moves past the forward end limit. This function is usually used with a limit switch near the
point at which the drive stops.
Fwd DecLimit Assigns a digital input that, when asserted, triggers a "forward decel limit"function that results in forcing the speed reference to Preset Speed 1
(Par 154). The forced reference remains in effect until the direction is changed. This function is usually used with a limit switch and initiates the
slowing down process before encountering the end limit.
Rev EndLimit Assigns a digital input that, when asserted, triggers a "reverse end limit"function that results in the drive executing a "Fast Stop"command. This
condition is latched so that, while active, starting in the same direction only provides a zero speed reference. Latching also lets the load travel past
the end limit (digital input opens) when stopping. Starting in the opposite direction will use the normal speed reference and the condition will
unlatch only after this digital input opens and the load moves past the reverse end limit. This function is usually used with a limit switch near the
point at which the drive stops.
Rev DecLimit Assigns a digital input, that when asserted, triggers a "reverse decel limit"function that results in forcing the speed reference to Preset Speed 1
(Par 154). The forced reference remains in effect until the direction is changed. This function is usually used with a limit switch and initiates the
slowing down process before encountering the end limit.
Fwd Ovr Trvl Assigns a digital input, that when asserted, triggers a "forward over-travel"function which results in an immediate fault (and zero torque). After
resetting the fault, the drive will only restart in the opposite direction. The fault is prevented from reoccurring until the digital input becomes
unasserted. This function is usually used with a limit switch in a position beyond the end limit, as an extra safety limit to prevent torque from
damaging the machine in an over-travel situation.
Rev Ovr Trvl Assigns a digital input, that when asserted, triggers a "reverse over-travel"function which results in an immediate fault (and zero torque). After
resetting the fault, the drive will only restart in the opposite direction. The fault is prevented from reoccurring until the digital input becomes
unasserted. This function is usually used with a limit switch in a position beyond the end limit, as an extra safety limit to prevent torque from
damaging the machine in an over-travel situation.
Lift Stop Assigns a digital input, that when asserted triggers a "lift stop"function which results in a current limit stop (0 sec). This function is enabled by
setting Par 1100 [Torq Prove Cfg], bit 8 "Lift Stop Bk" (=1).
Wired FC En All three of these selections must be defined as a separate digital input when Par 469 [Field Mode Sel] is set to "Wired FC FW"or"Wired FC BS". The
Wired FC Inv corresponding digital outputs on the PowerFlex DC Field Controller must be set to the same value and be physically connected to the PowerFlex DC Wired FC Act drive.
INPUT / OUTPUT Digital Inputs
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File Group No. Reserved Reserved Reserved Reserved Digital In12 Digital In11 Digital In10 Digital In9 Digital In8 Digital In7 Digital In6 Digital In5 Digital In4 Digital In3 Digital In2 Digital In1 Data Type Related
Chapter 3 Programming and Parameters
INPUT / OUTPUT Digital Inputs
Parameter Name and Description
See page 117 for symbol descriptions
564 [Dig In Status] Status of the digital inputs.
Options
Values
Read Only
Default Bit
xxxx000000000000 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
565 [Dig In Term 1] 566 [Dig In Term 2] 567 [Dig In Term 3] 568 [Dig In Term 4] 569 [Dig In Term 5] 570 [Dig In Term 6] 571 [Dig In Term 7] 572 [Dig In Term 8] 573 [Dig In Term 9] 574 [Dig In Term 10] 575 [Dig In Term 11] 576 [Dig In Term 12]
Status of the digital inputs.
0 = Low
1 = High
1276 [Inversion In 1] 1277 [Inversion In 2] 1278 [Inversion In 3] 1279 [Inversion In 4] 1280 [Inversion In 5] 1281 [Inversion In 6] 1282 [Inversion In 7] 1283 [Inversion In 8] 1387 [Inversion In 9] 1388 [Inversion In 10] 1389 [Inversion In 11] 1390 [Inversion In 12]
inverts the digital input signal.
Default:
Read Only
16-bit
Min/Max:
0 / 1
Int
Default:
0 "Disabled"
16-bit
Options:
0 = "Disabled"
Int
1 = "Enabled"
A
1391 [ContactorControl]
Default:
1 = "AC Cntcr"
16-bit
Selects the type of contactor to be controlled by the drive. Either style of contactor (AC or DC) can be used, with or without dynamic braking (DB)
Options:
A
contactor. · "AC Cntcr"indicates an AC contactor is used. See note 1 below.
0 = "None" 1 = "AC Cntcr" 2 = "AC Cntcr+DB" 3 = "DC Cntcr"
Int
· "AC Cntcr+DB"indicates that an AC contactor and dynamic brake resistor
4 = "DC Cntcr+DB"
is used. See note 1 below.
· "DC Cntcr"indicates a DC contactor is used.
· "DC Cntcr+DB"indicates that a DC contactor and dynamic brake resistor
is used.
The type of control selected determines how many I/O points will be
required for contactor control and status.
· "AC Cntcr"or "DC Cntcr"= 1 (relay) digital output, 1 digital input is used.
· "AC Cntcr+DB"or "DC Cntcr+DB"= 2 (relay) digital outputs, 1 digital
input is used.
Notes:
· 1. When 1"AC Cntcr"or 2"AC Cntcr+DB"is selected, there is a 400 ms
delay to power up before SCR firing can begin. The delay is needed to
determine correct input voltage phasing.
· 2. Option 1 was changed from "Contactor", option 2 was changed from
"Contactor+DB", and options 3 and 4 were added for firmware revision
2.001.
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Data Type Related
Parameter Name and Description
See page 117 for symbol descriptions
Values
145 [Digital Out1 Sel] 146 [Digital Out2 Sel] 147 [Digital Out3 Sel] 148 [Digital Out4 Sel]
Default:
5 = "Ready"
16-bit
Default:
9 = "Fault"
Int
Default:
2 = "Spd Thresh"
Default:
4 = "CurrentLimit"
149 [Digital Out5 Sel]*
Default:
26 = "Alarm"
150 [Digital Out6 Sel]*
Default:
0 = "Not Used"
151 [Digital Out7 Sel]*
Default:
152 [Digital Out8 Sel]*
Default:
Selects the source of the value that drives the digital output. See Option
0 = "Not Used" 0 = "Not Used"
Definitions for [Digital Outx Sel], [Relay Out 1 Sel] and [Relay Out 2 Sel] on
page 204.
*These parameters are used to configure the digital outputs on the I/O
Expansion circuit board.
Notes: Option 16 "Encoder Err" was changed for firmware revision 5.002.
Option 30 "Brake Slip" was added for firmware revision 6.001.
Options:
0 = "Not Used"(Off) 1 = "Spd Zero Thr" 2 = "Spd Thresh" 3 = "At Speed" 4 = "CurrentLimit" 5 = "Ready" 6 = "Ramp Pos" 7 = "Ramp Neg"
8 = "Spd Limited" 9 = "Fault" 10 = "Power Loss" 11 = "UserDefinedA" 12 = "UserDefinedB" 13 = "Stop Control" 14 = "Field Loss" 15 = "Spd Fbk Loss"
16 = "Spd Fdbk Err" 17 = "Diam Calc" 18 = "Input1 Cmp" 19 = "Diam Reached" 20 = "Speed Match" 21 = "Accelerating" 22 = "Decelerating" 23 = "Brake Cmd"
24 = "Reserved" 25 = "Reserved" 26 = "Alarm" 27 = "Running" 28 = "Jogging" 29 = "Active" 30 = Brake Slip
INPUT / OUTPUT Digital Outputs
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203
Data Type Related
Chapter 3 Programming and Parameters
File Group No.
INPUT / OUTPUT Digital Outputs
Parameter Name and Description
See page 117 for symbol descriptions
Values
Option Definitions for [Digital Outx Sel], [Relay Out 1 Sel] and [Relay Out 2 Sel]
Option Spd Zero Thr
Spd Thresh
At Speed
CurrentLimit Ready
Ramp Pos
Ramp Neg
Spd Limited Fault Power Loss UserDefinedA
UserDefinedB
Stop Control Field Loss Spd Fbk Loss Spd Fdbk Err
Diam Calc Input1 Cmp
Diam Reached Speed Match Accelerating
Decelerating
Brake Cmd
ContactorDB Contactor Alarm Running
Jogging
Active
Brake Slip TP Brake Cmd
Description "0" indicates that the drive is operating below the value set in Par 107 [Speed Zero Level], "1" indicates that the drive is operating above Par 107 [Speed Zero Level]. "0" indicates that the drive is operating above the value set in Par 101 [Speed Thresh Pos], "1" indicates that the drive is operating below Par 101 [Speed Thresh Pos]. "0"indicates that the actual speed is within the range specified in Par 104 [At Speed Error], "1"indicates that the actual speed is outside the range that is specified in Par 104 [At Speed Error]. "0" indicates that the drive is not limiting output current, "1" indicates that the drive is limiting the output current. "1"indicates that the drive is powered, Enabled and no Start Inhibits exist. The state of the assigned digital output matches the state of bit 2 "Ready" of Par 381 [Drive Status 1]. "1"indicates that the actual speed of the drive is going positive. Follows the state of Par 346 [Torque Positive]. Not asserted until after the amount of time in Par 20 [Ramp Delay] has elapsed. "1"indicates that the actual speed of the drive is going negative. Follows the state of Par 347 [Torque Negative]. Not asserted until after the amount of time in Par 20 [Ramp Delay] has elapsed. "1" indicates that the speed is being limited to the value of Par 3 [Max Speed Fwd], "0" indicates that the speed is not being limited. "0" indicates that a drive fault has occurred. See Par 57 [FaultCode]. "0" indicates that the drive has detected a loss of the internal power supply. Indicates the status of Par 519 [UsrDefBitWrdA] (digital output 1 uses bit 0, digital output 2 uses bit 1, and so on). Par 1392 [Relay Out 1 Sel] uses bit 14 (only). Par 629 [Relay Out 2 Sel] uses bit 15 (only). Indicates the status of Par 536 [UsrDefBitWrdB] (digital output 1 uses bit 0, digital output 2 uses bit 1, and so on). Par 1392 [Relay Out 1 Sel] uses bit 14 (only). Par 629 [Relay Out 2 Sel] uses bit 15 (only). Energized ("1") at run and de-energized ("0") based on the value of Par 627 [Spd 0 Trip Delay]. "0" indicates the loss of the field voltage/current while the drive is running. "0" indicates the loss of speed feedback/encoder due to an excessive calculated error, as determined by the drive firmware. "0" indicates an error in the selected speed feedback device (DC tachometer, encoder, or resolver). Matches the state of Par 651 [Spd Fdbk State]. Energized ("1") when Par 800 [Diameter Calc St] = 1 and de-energized ("0") when [Diameter Calc St] = 0. "1" indicates that the value of analog input 1 is inside the comparison window,"0" indicates that the value of analog input 1 is outside the comparison window (Par 1045 [Anlg In1 Cmp Eq]). Energized ("1") when the value of Par 1158 [Diam Threshold] has been exceeded. Energized ("1") when the value of Par 1203 [Spd Match Compl] = "1" (launching ramp completed). "1"indicates that the drive is actively accelerating. The state of the assigned digital output matches the state of bit 4 "Accelerating"of Par 381 [Drive Status 1] and the state of Par 1188 [Accel Status]. When set to "1"the drive is actively decelerating. The state of the assigned digital output matches the state of bit 5 "Decelerating"of Par 381 [Drive Status 1] and the state of Par 1189 [Decel Status]. Energized ("1") at run (opens the brake) after the value in Par 1263 [Opening Delay] has been exceeded. De-energized ("0") at stop (closes the brake) after the drive speed goes below the value of Par 1262 [Closing Speed]. "1"issues the close command to the main contactor and dynamic brake contactor. "1" issues the close command to the main contactor. "0" indicates that a drive alarm has occurred. See Par 1380 [Drive Alarm 1]. "1"indicates that the drive is active in Run mode. The state of the assigned digital output matches the state of bit 2 "Running"of Par 382 [Drive Status 2]. "1"indicates that the drive is active in Jog mode. The state of the assigned digital output matches the state of bit 3 "Jogging"of Par 382 [Drive Status 2]. "1"indicates that the drive is active in Run or Jog mode. The state of the assigned digital output matches the state of bit 1 "Active"of Par 382 [Drive Status 2]. "1"indicates that torque proving brake slip is active. Torque proving brake command is output to the brake.
204
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
File Group No. Relay Out2 Relay Out1 Reserved Reserved Reserved Reserved Reserved Reserved Digital Out8 Digital Out7 Digital Out6 Digital Out5 Digital Out4 Digital Out3 Digital Out2 Digital Out1 Data Type Related
Programming and Parameters Chapter 3
Parameter Name and Description
See page 117 for symbol descriptions
Values
581 [Dig Out Status] Status of the standard digital outputs and relay outputs on the drive and on the optional I/O
Expansion circuit board (if present).
Options
Read Only
Default Bit
00xxxxxx00000000 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
629 [Relay Out 2 Sel]
Default:
5 = "Ready"
16-bit
Selects the source of the value that drives the N.O. relay between the
Int
terminals 75 and 76.
See "Option Definitions" on page 204.
Notes: Option 16 "Encoder Err" was changed for firmware revision 5.002.
Options 30 and 31 were added for firmware revision 6.001.
Options:
0 = "Not Used"(Off) 1 = "Spd Zero Thr" 2 = "Spd Thresh" 3 = "At Speed" 4 = "CurrentLimit" 5 = "Ready" 6 = "Ramp Pos" 7 = "Ramp Neg"
8 = "Spd Limited" 9 = "Fault" 10 = "Power Loss" 11 = "UserDefinedA" 12 = "UserDefinedB" 13 = "Stop Control" 14 = "Field Loss" 15 = "Spd Fbk Loss"
16 = "Spd Fdbk Err" 17 = "Diam Calc" 18 = "Input1 Cmp" 19 = "Diam Reached" 20 = "Speed Match" 21 = "Accelerating" 22 = "Decelerating" 23 = "Brake Cmd"
24 = "ContactDB" 25 = "Contactor" 26 = "Alarm" 27 = "Running" 28 = "Jogging" 29 = "Active" 30 = "Brake Slip" 31 = "TP Brake Cmd"
1267 [Inversion Out 1] 1268 [Inversion Out 2] 1269 [Inversion Out 3] 1270 [Inversion Out 4] 1271 [Inversion Out 5] 1272 [Inversion Out 6] 1273 [Inversion Out 7] 1274 [Inversion Out 8]
Reverses the digital output signal.
Default:
0 = "Disabled"
16-bit
Options:
0 = "Disabled"
Int
1 = "Enabled"
A
1275 [Inversion Relay2] Inverts the signal for Relay Output 2.
A
Default:
0 = "Disabled"
16-bit
Options:
0 = "Disabled"
Int
1 = "Enabled"
INPUT / OUTPUT Digital Outputs
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205
Data Type Related
Chapter 3 Programming and Parameters
File Group No.
Digital Outputs
INPUT / OUTPUT
Parameter Name and Description
See page 117 for symbol descriptions
Values
1392 [Relay Out 1 Sel]
Default:
25 = "Contactor"
16-bit
Selects the source of the value that drives the N.O. relay between the
Int
terminals 35 and 36.
See "Option Definitions" on page 204.
Notes: Option 16 "Encoder Err" was changed for firmware revision 5.002.
Options 30 and 31 were added for firmware revision 6.001.
Options:
0 = "Not Used"(Off) 1 = "Spd Zero Thr" 2 = "Spd Thresh" 3 = "At Speed" 4 = "CurrentLimit" 5 = "Ready" 6 = "Ramp Pos" 7 = "Ramp Neg"
8 = "Spd Limited" 9 = "Fault" 10 = "Power Loss" 11 = "UserDefinedA" 12 = "UserDefinedB" 13 = "Stop Control" 14 = "Field Loss" 15 = "Spd Fbk Loss"
16 = "Spd Fdbk Err" 17 = "Diam Calc" 18 = "Input1 Cmp" 19 = "Diam Reached" 20 = "Speed Match" 21 = "Accelerating" 22 = "Decelerating" 23 = "Brake Cmd"
24 = "ContactDB" 25 = "Contactor" 26 = "Alarm" 27 = "Running" 28 = "Jogging" 29 = "Active" 30 = "Brake Slip" 31 = "TP Brake Cmd"
1393 [Inversion Relay1] Inverts the signal for Relay Output 1.
A
Default:
0 = "Disabled"
16-bit
Options:
0 = "Disabled"
Int
1 = "Enabled"
1323 [DPI P1 Select]
Default:
Selects the destination of the reference value from DPI Port 1 (HIM on drive cover, when installed).
Options:
0 = "OFF"
16-bit
0 = "OFF"
Int
1 = "Speed Ref A"(Par 44)
2 = "Speed Ref B"(Par 48)
3 = "Trim Ramp"(Par 42)
4 = "Trim Speed"(Par 43)
5 = "Torque Ref"(Par 39)
6 = "Trim Torque"(Par 40)
7 = "Pos Cur Lim"(Par 8)
8 = "Neg Cur Lim"(Par 9)
1324 [DPI P2 Select]
See Par 1323 [DPI P1 Select].
16-bit
Selects the destination of the reference value from DPI Port 2 (handheld,
Int
remote, and external communication [20-XCOMM-DC-BASE] option, when
installed).
1325 [DPI P3 Select]
See Par 1323 [DPI P1 Select].
16-bit
Selects the destination of the reference value from DPI Port 3 (handheld,
Int
remote, and external communication [20-XCOMM-DC-BASE] option, when
installed).
1326 [DPI P4 Select]
See Par 1323 [DPI P1 Select].
16-bit
Selects the destination of the reference value from DPI Port 4.
Int
1327 [DPI P5 Select]
See Par 1323 [DPI P1 Select].
16-bit
Selects the destination of the reference value from DPI Port 5
Int
(communications adapter, when installed).
DPI Inputs
206
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Parameter Cross Reference by Name
Name
AC Line Freq AC Line Voltage Acc Dec Filter
Accel Mask
Accel Owner
Accel Status
Accel Time 1 Accel Time 2 Act Spd Filter Act Spd Reg BW Act Ten Ref Pct
Actual Comp
Actual Speed Actuator Delay Adaptive I Gain1
Adaptive I Gain2
Adaptive I Gain3
Adaptive Joint 1
Adaptive Joint 2
Adaptive P Gain1
Adaptive P Gain2
Adaptive P Gain3
Adaptive Ref
Adaptive Reg Typ
Adaptive Spd 1
Adaptive Spd 2
Adaptive Spd En
Alpha Test Analog In1 Value Analog In2 Value Analog In3 Value
No. Group
Page
588 Drive Data 130
466 Drive Data 130
1212 Winder
171
Functions
596 Masks and 192 Owners
605 Masks and 192 Owners
1188 Winder
169
Functions
660 Ramp Rates 157
24 Ramp Rates 156
923 Speed Feedback 143
435 Speed Regulator 153
1194 Winder
170
Functions
1213 Winder
171
Functions
924 Speed Meters 127
1266 Stop Modes 158
189 Adaptv
160
Regulator
191 Adaptv
160
Regulator
193 Adaptv
160
Regulator
186 Adaptv
159
Regulator
187 Adaptv
160
Regulator
188 Adaptv
160
Regulator
190 Adaptv
160
Regulator
192 Adaptv
160
Regulator
183 Adaptv
159
Regulator
182 Adaptv
159
Regulator
184 Adaptv
159
Regulator
185 Adaptv
159
Regulator
181 Adaptv
159
Regulator
166 Test Generator 146
1404 Analog Inputs 197
1405 Analog Inputs 197
1406 Analog Inputs 197
Name
Anlg In 1 Filter Anlg In1 Cmp Anlg In1 Cmp Dly Anlg In1 Cmp Eq Anlg In1 Cmp Err Anlg In1 Config Anlg In1 Offset Anlg In1 Scale Anlg In1 Sel Anlg In1 Target Anlg In1 Tune Anlg In2 Config Anlg In2 Filter Anlg In2 Offset Anlg In2 Scale Anlg In2 Sel Anlg In2 Target Anlg In2 Tune Anlg In3 Config Anlg In3 Filter Anlg In3 Offset Anlg In3 Scale Anlg In3 Sel Anlg In3 Target Anlg In3 Tune Anlg Out1 Scale Anlg Out1 Sel Anlg Out2 Scale Anlg Out2 Sel Anlg Out3 Scale Anlg Out3 Sel Anlg Out4 Scale Anlg Out4 Sel Anlg Tach Gain Anlg1 Tune Scale Anlg2 Tune Scale Anlg3 Tune Scale Arm Current Arm Current Pct Arm Inductance Arm Resistance Arm Test Angle Arm Volt Ki Arm Volt Ki Base Arm Volt Kp Arm Volt Kp Base At Speed At Speed Delay At Speed Error At Zero Speed
No. Group
Page
792 Analog Inputs 196
1042 Analog Inputs 196
1044 Analog Inputs 196
1045 Analog Inputs 197
1043 Analog Inputs 196
71 Analog Inputs 195
74 Analog Inputs 196
72 Analog Inputs 195
70 Analog Inputs 195
295 Analog Inputs 196
259 Analog Inputs 196
76 Analog Inputs 195
801 Analog Inputs 196
79 Analog Inputs 196
77 Analog Inputs 195
75 Analog Inputs 195
296 Analog Inputs 196
260 Analog Inputs 196
81 Analog Inputs 195
802 Analog Inputs 196
84 Analog Inputs 196
82 Analog Inputs 195
80 Analog Inputs 195
297 Analog Inputs 196
261 Analog Inputs 196
62 Analog Outputs 197
66 Analog Outputs 198
63 Analog Outputs 197
67 Analog Outputs 198
64 Analog Outputs 197
68 Analog Outputs 198
65 Analog Outputs 197
69 Analog Outputs 198
562 Speed Feedback 142
73 Analog Inputs 195
78 Analog Inputs 195
83 Analog Inputs 195
200 Current Meters 128
199 Current Meters 128
454 Autotune
143
453 Autotune
143
167 Test Generator 146
494 Field Config 134
496 Field Config 135
493 Field Config 134
495 Field Config 135
394 Diagnostics 180
105 Speed Regulator 150
104 Speed Regulator 150
395 Diagnostics 180
Programming and Parameters Chapter 3
Name
No. Group
Page
Autotune Cur Lim 1048 Auto Tune
145
Aux Inp Flt Cfg 354 Alarms
185
Base Omega
1163 Diameter Calc 167
Brake Test Torq 1114 Torque Prove 175
Brk Alarm Travel 1109 Torque Prove 174
Brk Release Time 1107 Torque Prove 174
Brk Set Time
1108 Torque Prove 174
Brk Slip Count 1110 Torque Prove 174
Clear Fault Que 263 Faults
184
Close Loop Comp 1208 Winder
170
Functions
Closed Loop En 1214 Winder
171
Functions
Closing Speed 1262 Stop Modes 158
Constant J Comp 1172 Winder
168
Functions
ContactorControl 1391 Digital Inputs 202
Cur Lim Neg Out 11 Current Meters 128
Cur Lim Pos Out 10 Current Meters 128
Current Lim Neg 9 Torq Attributes 136
Current Lim Pos 8 Torq Attributes 136
Current Limit
7 Torq Attributes 136
Current Rate Lim 12 Torq Attributes 136
Current Reg In 41 Current Meters 128
CurrLimit Active 349 Diagnostics 178
CurrReg Autotune 452 Autotune
143
Dancer Constant 798 Init Diam Calc 166
Data In A1
610 Datalinks
193
Data In A2
611 Datalinks
193
Data In B1
612 Datalinks
193
Data In B2
613 Datalinks
193
Data In C1
614 Datalinks
193
Data In C2
615 Datalinks
193
Data In D1
616 Datalinks
193
Data In D2
617 Datalinks
193
Data In SelData 1320 Datalinks
193
Data In Val Sel 1319 Datalinks
193
Data Out A1
618 Datalinks
193
Data Out A2
619 Datalinks
193
Data Out B1
620 Datalinks
193
Data Out B2
621 Datalinks
193
Data Out C1
622 Datalinks
193
Data Out C2
623 Datalinks
193
Data Out D1
624 Datalinks
193
Data Out D2
625 Datalinks
193
Decel Mask
631 Masks and 193 Owners
Decel Owner
609 Masks and 192 Owners
Decel Status
1189 Winder
169
Functions
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
207
Chapter 3 Programming and Parameters
Name
No. Group
Page
Decel Time 1
662 Ramp Rates 157
Decel Time 2
32 Ramp Rates 156
Diam Calc Dis
1161 Diameter Calc 166
Diam Inc Dec En 1205 Diameter Calc 168
Diam Init Filter 1206 Diameter Calc 168
Diam Preset 0 1164 Diameter Calc 167
Diam Preset 1 1165 Diameter Calc 167
Diam Preset 2 1166 Diameter Calc 167
Diam Preset 3 1167 Diameter Calc 167
Diam Preset Sel 1168 Diameter Calc 167
Diam Stdy Delay 1207 Diameter Calc 168
Diam Threshold 1158 Diameter Calc 166
Diameter Calc 794 Init Diam Calc 165
Diameter Calc St 800 Init Diam Calc 166
Diameter Filter 1162 Diameter Calc 167
Diameter Reached 1159 Diameter Calc 166
Diameter Reset 1157 Diameter Calc 166
Dig In Status
564 Digital Inputs 202
Dig In Term 1
565 Digital Inputs 202
Dig In Term 10 574 Digital Inputs 202
Dig In Term 11 575 Digital Inputs 202
Dig In Term 12 576 Digital Inputs 202
Dig In Term 2
566 Digital Inputs 202
Dig In Term 3
567 Digital Inputs 202
Dig In Term 4
568 Digital Inputs 202
Dig In Term 5
569 Digital Inputs 202
Dig In Term 6
570 Digital Inputs 202
Dig In Term 7
571 Digital Inputs 202
Dig In Term 8
572 Digital Inputs 202
Dig In Term 9
573 Digital Inputs 202
Dig Out Status 581 Digital Outputs 205
Digital In1 Sel 133 Digital Inputs 199
Digital In10 Sel 142 Digital Inputs 199
Digital In11 Sel 143 Digital Inputs 199
Digital In12 Sel 144 Digital Inputs 199
Digital In2 Sel 134 Digital Inputs 199
Digital In3 Sel 135 Digital Inputs 199
Digital In4 Sel 136 Digital Inputs 199
Digital In5 Sel 137 Digital Inputs 199
Digital In6 Sel 138 Digital Inputs 199
Digital In7 Sel 139 Digital Inputs 199
Digital In8 Sel 140 Digital Inputs 199
Digital In9 Sel 141 Digital Inputs 199
Digital Out1 Sel 145 Digital Outputs 203
Digital Out2 Sel 146 Digital Outputs 203
Digital Out3 Sel 147 Digital Outputs 203
Digital Out4 Sel 148 Digital Outputs 203
Digital Out5 Sel 149 Digital Outputs 203
Digital Out6 Sel 150 Digital Outputs 203
Digital Out7 Sel 151 Digital Outputs 203
Name
Digital Out8 Sel Direction Mask
Direction Mode Direction Owner
DncrPosSpd DPI Baud Rate DPI Fdbk Select DPI P1 Select DPI P2 Select DPI P3 Select DPI P4 Select DPI P5 Select DPI Port Sel DPI Port Value Drive Alarm 1 Drive Alarm 2 Drive Checksum Drive Logic Rslt Drive Size Drive Status 1 Drive Status 2 Drive Type Drive Type Sel Droop Filter Droop Limit Droop Out Droop Out Pct Droop Percent Drv Fld Brdg Cur Dynamic Friction
Elapsed Lifetime Enable Droop Enable PD Enable PI Enable PI PD Encoder Config Encoder Counts Encoder Err Chk Encoder Out Sel Encoder PPR Encoder Speed Ext FC Curr Hyst Fast Stop Status
Fast Stop Time Fault 1 Code Fault 1 Time Fault 10 Code
No. Group
Page
152 Digital Outputs 203
594 Masks and 192 Owners
1322 Reference Config 177
603 Masks and 192 Owners
795 Init Diam Calc 165
589 Comm Control 191
1321 Comm Control 191
1323 DPI Inputs 206
1324 DPI Inputs 206
1325 DPI Inputs 206
1326 DPI Inputs 206
1327 DPI Inputs 206
590 Comm Control 191
1343 Comm Control 191
1380 Alarms
187
1394 Alarms
188
332 Drive Data 130
1328 Diagnostics 182
465 Drive Data 130
381 Diagnostics 179
382 Diagnostics 180
300 Drive Data 129
201 Motor Data 131
697 Load Limits 157
700 Load Limits 158
1006 Speed Meters 127
1007 Speed Meters 127
696 Load Limits 157
374 Motor Data 132
1175 Winder
168
Functions
235 Drive Data 129
699 Load Limits 158
770 PD Control 163
769 PI Control
161
1258 PID Control 165
170 Speed Feedback 138
1022 Speed Feedback 143
652 Speed Feedback 142
1021 Speed Feedback 143
169 Speed Feedback 138
420 Speed Meters 127
410 Field Config 133
1190 Winder
169
Functions
38 Stop Modes 158
1351 Faults
184
1361 Faults
185
1360 Faults
184
Name
Fault 10 Time Fault 2 Code Fault 2 Time Fault 3 Code Fault 3 Time Fault 4 Code Fault 4 Time Fault 5 Code Fault 5 Time Fault 6 Code Fault 6 Time Fault 7 Code Fault 7 Time Fault 8 Code Fault 8 Time Fault 9 Code Fault 9 Time Fault Arm Amps Fault Clear Fault Clr Mask
Fault Clr Mode Fault Clr Owner
Fault Field Amps Fault Speed Fault Voltage FaultCode FC Lim Ramp FC Lim Ramp Time Fdbk Device Type Fdbk Option ID Feed Fwd PID Feedback Offset Field Current Field Curve Out Field Econ Delay Field Economy En Field Mode Sel Field Reg Enable Filt TorqCur Pct Final Diameter
Float Tolerance Firing Angle Fld Const 40 Pct Fld Const 70 Pct Fld Const 90 Pct Fld Current Pct Fld Reg Ki Fld Reg Ki Base
No. Group
Page
1370 Faults
185
1352 Faults
184
1362 Faults
185
1353 Faults
184
1363 Faults
185
1354 Faults
184
1364 Faults
185
1355 Faults
184
1365 Faults
185
1356 Faults
184
1366 Faults
185
1357 Faults
184
1367 Faults
185
1358 Faults
184
1368 Faults
185
1359 Faults
184
1369 Faults
185
1371 Faults
185
1347 Faults
184
597 Masks and 192 Owners
1348 Faults
184
606 Masks and 192 Owners
1373 Diagnostics 185
1372 Diagnostics 185
1374 Diagnostics 185
57 Drive Data 129
411 Tor Attributes 137
412 Tor Attributes 137
414 Speed Feedback 138
422 Speed Feedback 138
758 PID Control 163
563 Speed Feedback 142
351 Current Meters 129
476 Current Meters 129
1407 Field Config 136
499 Field Config 135
469 Field Config 134
497 Field Config 135
928 Current Meters 129
1178 Winder
169
Functions
1111 Torque Prove 174
165 Drive Data 129
916 Field Config 135
917 Field Config 135
918 Field Config 135
234 Current Meters 129
92 Field Config 133
98 Field Config 133
208
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Name
Fld Reg Kp Fld Reg Kp Base Fld Test Angle Fld Weaken Ratio FldLoss Flt Cfg FldLoss Flt Dly Flux Divide Flux Filter BW Flux Ref Pct Flying Start En Force Min Field Freeze Ramp Friction Gear Box Ratio I Reg Error Inertia Inertia C Filter Inertia Comp Out InertiaCompCnst
InertiaCompVar
Initial Diameter
Int Acc Calc En
Inversion In 1 Inversion In 10 Inversion In 11 Inversion In 12 Inversion In 2 Inversion In 3 Inversion In 4 Inversion In 5 Inversion In 6 Inversion In 7 Inversion In 8 Inversion In 9 Inversion Out 1 Inversion Out 2 Inversion Out 3 Inversion Out 4 Inversion Out 5 Inversion Out 6 Inversion Out 7 Inversion Out 8 Inversion Relay1 Inversion Relay2 Jog Mask
No. Group
Page
91 Field Config 133
97 Field Config 133
168 Test Generator 146
456 Field Config 133
473 Alarms
186
475 Alarms
186
462 Field Config 133
463 Field Config 133
500 Current Meters 129
388 Speed Regulator 152
498 Field Config 135
373 Ramp Rates 156
1015 Autotune
144
797 Init Diam Calc 165
587 Autotune
143
1014 Autotune
144
1012 Autotune
143
232 Current Meters 129
1191 Winder
170
Functions
1192 Winder
170
Functions
1177 Winder
169
Functions
1183 Winder
169
Functions
1276 Digital Inputs 202
1388 Digital Inputs 202
1389 Digital Inputs 202
1390 Digital Inputs 202
1277 Digital Inputs 202
1278 Digital Inputs 202
1279 Digital Inputs 202
1280 Digital Inputs 202
1281 Digital Inputs 202
1282 Digital Inputs 202
1283 Digital Inputs 202
1387 Digital Inputs 202
1267 Digital Outputs 205
1268 Digital Outputs 205
1269 Digital Outputs 205
1270 Digital Outputs 205
1271 Digital Outputs 205
1272 Digital Outputs 205
1273 Digital Outputs 205
1274 Digital Outputs 205
1393 Digital Outputs 206
1275 Digital Outputs 205
593 Masks and 192 Owners
Name
No. Group
Page
Jog Owner
602 Masks and 192 Owners
Jog Off Delay
1409 Discrete Speeds 149
Jog Ramp Time 1410 Ramp Rates 157
Jog Speed
266 Discrete Speeds 148
Jog TW Enable 1256 Winder
171
Functions
Jog TW Speed 1255 Winder
171
Functions
Language
302 Drive Memory 177
Last Stop Source 1402 Diagnostics 183
Line Accel Pct 1184 Winder
169
Functions
Line Decel Pct 1185 Winder
169
Functions
Line FastStp Pct 1186 Winder
169
Functions
Line Spd Gain 1156 Diameter Calc 166
Line Spd Source 1204 Diameter Calc 168
Line Spd Thresh 1155 Diameter Calc 166
Line Speed Pct 1160 Diameter Calc 166
Load Comp
698 Load Limits 157
Local Mask
599 Masks and 192 Owners
Local Owner
608 Masks and 192 Owners
Lock Speed Integ 348 Speed Regulator 152
Logic Mask
591 Masks and 191
Owners
193
Security
Logic Mask Act 1376 Security
193
Man Ref Preload 210 HIM Ref Config 177
Materl Width Pct 1173 Winder
168
Functions
Max Deviation 796 Init Diam Calc 165
Max Diameter 1153 Diameter Calc 166
Max Feedback Spd 162 Motor Data 131
Max Fld Flux Pct 467 Field Config 134
Max Ref Speed 45 Motor Data 131
Max Speed Fwd 3 Limits
148
Max Speed Rev 4 Limits
148
Maximum Speed 2 Limits
148
MicroPsnScalePct 1112 Torque Prove 174
Min Fld Curr Pct 468 Field Config 134
Min Firing Angle 21 Motor Data 131
Min Speed Fwd 5 Limits
148
Min Speed Rev 6 Limits
148
Minimum Diameter 799 Init Diam Calc / 166 Diameter Calc
Minimum Speed 1 Limits
148
MOP Accel Time 22 Ramp Rates 156
MOP Dec Active 397 Diagnostics 181
MOP Decel Time 30 Ramp Rates 156
Programming and Parameters Chapter 3
Name
No. Group
Page
MOP Inc Active 396 Diagnostics 180
MOP Mask
598 Masks and 192 Owners
MOP Owner
607 Masks and 192 Owners
MOP Ref Config 249 Reference Config 177
MOP Select
1375 Reference Config 177
Motor Trq Ref
17 Current Meters 128
MtrOvrld Factor 333 Motor Data 132
MtrOvrld Flt Cfg 479 Alarms
186
MtrOvrld Speed 334 Motor Data 132
MtrOvrld Status 1290 Diagnostics 181
MtrOvrld Type 376 Motor Data 156
Nom Mtr Arm Amps 179 Motor Data 131
Nom Mtr Fld Amps 280 Motor Data 132
Offs Accel Time 1198 Winder
170
Functions
Opening Delay 1263 Stop Modes 158
OpenSCR Flt Cfg 216 Test Generator 147
OpenSCR Threshld 217 Test Generator 147
OpenSCR Trip Lvl 218 Test Generator 147
OpenSCR WarnLvl 215 Test Generator 147
Out Volt Level 921 Field Config 136
Output Power 1052 Drive Data 130
Output Voltage 233 Drive Data 129
OverCurrent Thr 584 Alarms
187
Overspeed Val 585 Alarms
187
OverTemp Flt Cfg 365 Alarms
185
OverVolt Flt Cfg 203 Alarms
185
Param Access Lvl 211 Drive Memory 177
PD Deriv Filter 767 PD Control 162
PD Deriv Gain 1 766 PD Control 162
PD Deriv Gain 2 789 PD Control 163
PD Deriv Gain 3 791 PD Control 163
PD Output PID 421 PD Control 162
PD Prop Gain 1 768 PD Control 163
PD Prop Gain 2 788 PD Control 163
PD Prop Gain 3 790 PD Control 163
PI Central v sel 779 PI Control
162
PI Central v1
776 PI Control
161
PI Central v2
777 PI Control
161
PI Central v3
778 PI Control
161
PI Central vs0 780 PI Control
162
PI Central vs1 781 PI Control
162
PI Init Intgl Gn 734 PI Control
161
PI Init Prop Gn 793 PI Control
162
PI integr freeze 783 PI Control
162
PI Integral Gain 764 PI Control
161
PI Lower Limit 785 PI Control
162
PI Output
771 PI Control
161
PI Prop Gain PID 765 PI Control
161
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
209
Chapter 3 Programming and Parameters
Name
PI Steady Thr PI Upper Limit PID Accel Time PID Clamp PID Decel Time PID Error PID Error Gain PID Feedback PID Output PID Output Scale PID Output Sign PID Setpoint 0 PID Setpoint 1 PID Setpoint Sel PID Source PID Source Gain PID Steady Delay PID Target Port Mask Act Powerup Delay Preset Speed 1 Preset Speed 2 Preset Speed 3 Preset Speed 4 Preset Speed 5 Preset Speed 6 Preset Speed 7 Ramp Delay Ramp In Ramp In Pct Ramp In Zero En Ramp Out Ramp Out Pct Ramp Select 0 Ramp Select 1 Ramp Type Select Rated Motor Volt Real FF PID Ref Line Speed
Ref Spd Source
Ref Speed Gain
Ref Zero Level Reference Mask
Reference Owner
Relay Out 1 Sel Relay Out 2 Sel
No. Group
Page
695 PI Control
161
784 PI Control
162
1046 PID Control 165
757 PID Control 163
1047 PID Control 165
759 PID Control 163
1254 PID Control 165
763 PID Control 164
774 PID Control 164
773 PID Control 164
772 PID Control 164
760 PID Control 163
761 PID Control 163
762 PID Control 163
786 PID Control 165
787 PID Control 165
731 PI Control
161
782 PID Control 164
1379 Security
194
1345 Restart Modes 159
154 Discrete Speeds 148
155 Discrete Speeds 148
156 Discrete Speeds 148
157 Discrete Speeds 148
158 Discrete Speeds 148
159 Discrete Speeds 148
160 Discrete Speeds 148
20 Ramp Rates 156
110 Speed Meters 126
111 Speed Meters 126
1265 Stop Modes 158
113 Speed Meters 126
114 Speed Meters 126
403 Diagnostics 181
404 Diagnostics 181
18 Ramp Rates 155
175 Motor Data 131
418 PID Control 163
1286 Winder
172
Functions
1284 Winder
172
Functions
1285 Winder
172
Functions
106 Speed Regulator 150
595 Masks and 192 Owners
604 Masks and 192 Owners
1392 Digital Outputs 206
629 Digital Outputs 205
Name
Reset Defaults Reset Fld Curve Reslvr Cable Bal Reslvr Error Cnt Reslvr Position Reslvr Spd Ratio Reslvr Type Sel Resolver Config Resolver Pos Sel Resolver Spd Sel Resolver Speed Resolver Status Roll Diameter S Curve Accel 1 S Curve Accel 2 S Curve Decel 1 S Curve Decel 2 S Curve Time SAR Volts Scale Save HIM Ref Scale1 Div Scale1 In Abs Scale1 In Max Scale1 In Min Scale1 In Off Scale1 Input Scale1 Mul Scale1 Out Off Scale1 Output Scale2 Div Scale2 In Abs Scale2 In Max Scale2 In Min Scale2 In Off Scale2 Input Scale2 Mul Scale2 Out Off Scale2 Output Scale3 Div Scale3 In Abs Scale3 In Max Scale3 In Min Scale3 In Off Scale3 Input Scale3 Mul Scale3 Out Off Scale3 Output Scale4 Div Scale4 In Abs Scale4 In Max
No. Group
Page
258 Drive Memory 177
920 Field Config 136
431 Speed Feedback 141
432 Diagnostics 181
427 Speed Feedback 141
424 Speed Feedback 139
423 Speed Feedback 139
425 Speed Feedback 140
429 Speed Feedback 141
430 Speed Feedback 141
428 Speed Meters 127
426 Speed Feedback 141
1154 Diameter Calc 166
665 Ramp Rates 157
667 Ramp Rates 157
666 Ramp Rates 157
668 Ramp Rates 157
19 Ramp Rates 155
464 Motor Data 133
209 HIM Ref Config 177
487 Scale Blocks 175
492 Scale Blocks 176
488 Scale Blocks 175
489 Scale Blocks 175
490 Scale Blocks 176
484 Scale Blocks 175
486 Scale Blocks 175
491 Scale Blocks 176
485 Scale Blocks 175
556 Scale Blocks 175
561 Scale Blocks 176
557 Scale Blocks 175
558 Scale Blocks 175
559 Scale Blocks 176
553 Scale Blocks 175
555 Scale Blocks 175
560 Scale Blocks 176
554 Scale Blocks 175
1221 Scale Blocks 175
1226 Scale Blocks 176
1222 Scale Blocks 175
1223 Scale Blocks 175
1224 Scale Blocks 176
1218 Scale Blocks 175
1220 Scale Blocks 175
1225 Scale Blocks 176
1219 Scale Blocks 175
1230 Scale Blocks 175
1235 Scale Blocks 176
1231 Scale Blocks 175
Name
Scale4 In Min Scale4 In Off Scale4 Input Scale4 Mul Scale4 Out Off Scale4 Output Scale5 Div Scale5 In Abs Scale5 In Max Scale5 In Min Scale5 In Off Scale5 Input Scale5 Mul Scale5 Out Off Scale5 Output Scale6 Div Scale6 In Abs Scale6 In Max Scale6 In Min Scale6 In Off Scale6 Input Scale6 Mul Scale6 Out Off Scale6 Output SCR Diag Status SCR Diag Test En Selected TorqRef Set Fld Curve SLAT Dwell Time SLAT Err Stpt Software Version Spd Band Intgrtr Spd 0 Trip Delay Spd Draw Out Pct Spd FB Filt BW Spd FB Filt Gain Spd FB Loss Lvl Spd Fdbk Control Spd Fdbk State Spd Reg Err Spd Reg Err Pct Spd Reg Fdbk Spd Reg Fdbk Pct Spd Reg P Filter Spd Fdbk Invert Spd Feedback Spd Feedback Pct Spd Limit Active Spd Loss Flt Cfg
No. Group
Page
1232 Scale Blocks 175
1233 Scale Blocks 176
1227 Scale Blocks 175
1229 Scale Blocks 175
1234 Scale Blocks 176
1228 Scale Blocks 175
1239 Scale Blocks 175
1244 Scale Blocks 176
1240 Scale Blocks 175
1241 Scale Blocks 175
1242 Scale Blocks 176
1237 Scale Blocks 175
1238 Scale Blocks 175
1243 Scale Blocks 176
1236 Scale Blocks 175
1248 Scale Blocks 175
1253 Scale Blocks 176
1249 Scale Blocks 175
1250 Scale Blocks 175
1251 Scale Blocks 176
1246 Scale Blocks 175
1247 Scale Blocks 175
1252 Scale Blocks 176
1245 Scale Blocks 175
213 Test Generator 146
214 Test Generator 147
14 Current Meters 157
919 Field Config 135
16 Control Config 155
15 Control Config 155
331 Configuration 130
1106 Torque Prove 174
627 Stop Modes 158
1019 Speed Meters 128
915 Speed Feedback 143
914 Speed Feedback 143
455 Speed Feedback 141
457 Speed Feedback 142
651 Diagnostics 181
1010 Speed Meters 128
1011 Speed Meters 128
1008 Speed Meters 127
1009 Speed Meters 127
444 Speed Regulator 153
461 Speed Feedback 142
122 Speed Meters 127
121 Speed Meters 127
372 Diagnostics 178
478 Alarms
186
210
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Name
No. Group
Page
Spd Match Acc 1196 Winder
170
Functions
Spd Match Compl 1203 Winder
170
Functions
Spd Match Dec 1197 Winder
170
Functions
Spd Match Gain 1200 Winder
170
Functions
Spd Match Torque 1216 Winder
171
Functions
Spd Ref Out Pct 384 Speed Meters 127
Spd Ref Sel Sts 1330 Diagnostics 183
Spd Ref Zero En 124 Speed Regulator 151
Spd Reg Autotune 1027 Autotune
144
Spd Reg BW
434 Speed Regulator 152
Spd Reg Damping 436 Speed Regulator 153
Spd Reg Ki
88 Speed Regulator 149
Spd Reg Ki Base 94 Autotune
143
Spd Reg Ki Outpt 100 Speed Regulator 150
Spd Reg Kp
87 Speed Regulator 149
Spd Reg Kp Base 93 Autotune
143
Spd Reg Kp Outpt 99 Speed Regulator 149
Spd Reg Neg Lim 96 Speed Regulator 149
Spd Reg Out Pct 236 Speed Regulator 127
Spd Reg Pos Lim 95 Speed Regulator 149
Spd Select 0
400 Diagnostics 181
Spd Select 1
401 Diagnostics 181
Spd Select 2
402 Diagnostics 181
Spd Trq Mode Sel 241 Control Config 152
Spd Tune Inertia 1030 Autotune
144
Spd Up Gain Pct 445 Speed Regulator 153
Spd Zero I En
123 Speed Regulator 151
Spd Zero P En 125 Speed Regulator 151
SpdFuncSelect 1016 Speed Regulator 154
SpdReg AntiBckup 643 Speed Regulator 154
SpdReg BW Bypass 448 Speed Regulator 153
SpdOut FiltBW 239 Speed Regulator 152
SpdOut FiltGain 238 Speed Regulator 152
SpdReg FB Bypass 458 Speed Feedback 142
SpdReg Ki Bypass 460 Speed Regulator 154
SpdReg Ki Pct 1035 Autotune
144
SpdReg Kp Bypass 459 Speed Regulator 154
SpdReg Kp Pct 1034 Autotune
144
SpdReg NegLmOut 90 Current Meters 128
SpdReg PosLmOut 89 Current Meters 128
SpdTune Friction 1031 Autotune
144
Speed Demand En 1215 Winder
171
Functions
Speed Dev Band 1105 Torque Prove 174
Speed Draw Out 1018 Speed Meters 128
Speed Match
1195 Winder
170
Functions
Name
Speed Ramp En Speed Ratio
Speed Ref A Speed Ref A Pct Speed Ref B Speed Ref B Pct Speed Ref Out Speed Ref Source Speed Reg En Speed Reg In Speed Reg In Pct Speed Thresh Neg Speed Thresh Pos Speed Threshold Speed Tune Dir Speed Tune Ki Speed Tune Kp Speed Up Base Speed Up Filter Speed Zero Delay Speed Zero Level Spd Zero P Gain SSC Threshold Start At Powerup Start Inhibits Start Mask
Start Owner
Static F Zero
Static Friction
Status1 at Fault Status2 at Fault Stop Owner
Tachometer Speed Taper Enable
TaskLoad 1 ms TaskLoad 2 ms TaskLoad 8 ms TB Manual Ref Tension Reduct
Tension Ref
Tension Scale
TestPoint Data
No. Group
Page
245 Ramp Rates 156
1017 Speed
149
References
44 Speed Meters 126
47 Speed Meters 126
48 Speed Meters 126
49 Speed Meters 126
385 Speed Meters 127
1329 Diagnostics 182
242 Speed Regulator 152
118 Speed Meters 127
117 Speed Meters 126
102 Speed Regulator 150
101 Speed Regulator 150
393 Diagnostics 180
1029 Autotune
144
1033 Autotune
144
1032 Autotune
144
446 Speed Regulator 153
447 Speed Regulator 153
108 Speed Regulator 151
107 Speed Regulator 151
126 Speed Regulator 152
409 Alarms
186
1344 Restart Modes 159
1403 Diagnostics 184
592 Masks and 191 Owners
601 Masks and 192 Owners
1287 Winder
172
Functions
1174 Winder
168
Functions
1349 Faults
184
1350 Faults
184
600 Masks and 192 Owners
1408 Speed Meters 128
1176 Winder
169
Functions
1384 Diagnostics 183
1385 Diagnostics 183
1386 Diagnostics 183
267 Discrete Speeds 149
1179 Winder
169
Functions
1180 Winder
169
Functions
1181 Winder
169
Functions
1382 Diagnostics 183
Programming and Parameters Chapter 3
Name
TestPoint Sel Threshold Delay Time AccDec Min
Torq Cur Filter Torq Current Pct
Torq Limit Slew Torq Limit Type Torq Prove Cfg Torq Prove Setup Torq Prove Sts Torq Red CurLim Torque Const Torque Negative Torque Positive Torque Reduction Torque Ref Torque Winder En
Total Inertia Trim Ramp Trim Ramp Pct Trim Speed Trim Speed Pct Trim Torque TrqTpr Enable TrqTpr Lim0 TrqTpr Lim1 TrqTpr Lim2 TrqTpr Lim3 TrqTpr Lim4 TrqTpr Spd TstGen Amplitude TstGen Frequency TstGen Offset TstGen Output UnderVlt Flt Dly UnderVolt Thresh UserDefined0 UserDefined1 UserDefined10 UserDefined11 UserDefined12 UserDefined13 UserDefined14 UserDefined15 UserDefined2 UserDefined3 UserDefined4 UserDefined5
No. Group
Page
1381 Diagnostics 183
103 Speed Regulator 150
1182 Winder
169
Functions
926 Torq Attributes 138
1193 Winder
170
Functions
1104 Torque Prove 174
715 Load Limits 158
1100 Torque Prove 173
1101 Torque Prove 173
1103 Torque Prove 174
13 Load Limits 157
1013 Autotune
144
347 Diagnostics 178
346 Diagnostics 178
342 Torq Attributes 137
39 Torq Attributes 136
1209 Winder
170
Functions
433 Speed Regulator 152
42 Speed Reference 149
378 Speed Reference 149
43 Speed Reference 149
379 Speed Reference 149
40 Torq Attributes 137
750 Torq Attributes 137
751 Torq Attributes 137
752 Torq Attributes 137
753 Torq Attributes 137
754 Torq Attributes 137
755 Torq Attributes 137
756 Torq Attributes 138
60 Test Generator 145
59 Test Generator 145
61 Test Generator 145
58 Test Generator 145
470 Alarms
186
481 Alarms
186
503 User Defined 189
504 User Defined 189
513 User Defined 189
514 User Defined 189
515 User Defined 189
516 User Defined 189
517 User Defined 189
518 User Defined 189
505 User Defined 189
506 User Defined 189
507 User Defined 189
508 User Defined 189
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
211
Chapter 3 Programming and Parameters
Name
No. Group
Page
UserDefined6 509 User Defined 189
UserDefined7 510 User Defined 189
UserDefined8 511 User Defined 189
UserDefined9 512 User Defined 189
UsrDefBitWrdA 519 User Defined 189
UsrDefBitWrdA0 520 User Defined 190
UsrDefBitWrdA1 521 User Defined 190
UsrDefBitWrdA10 530 User Defined 190
UsrDefBitWrdA11 531 User Defined 190
UsrDefBitWrdA12 532 User Defined 190
UsrDefBitWrdA13 533 User Defined 190
UsrDefBitWrdA14 534 User Defined 190
UsrDefBitWrdA15 535 User Defined 190
UsrDefBitWrdA2 522 User Defined 190
UsrDefBitWrdA3 523 User Defined 190
UsrDefBitWrdA4 524 User Defined 190
UsrDefBitWrdA5 525 User Defined 190
UsrDefBitWrdA6 526 User Defined 190
UsrDefBitWrdA7 527 User Defined 190
UsrDefBitWrdA8 528 User Defined 190
UsrDefBitWrdA9 529 User Defined 190
UsrDefBitWrdB 536 User Defined 190
UsrDefBitWrdB0 537 User Defined 191
UsrDefBitWrdB1 538 User Defined 191
UsrDefBitWrdB10 547 User Defined 191
UsrDefBitWrdB11 548 User Defined 191
UsrDefBitWrdB12 549 User Defined 191
UsrDefBitWrdB13 550 User Defined 191
UsrDefBitWrdB14 551 User Defined 191
UsrDefBitWrdB15 552 User Defined 191
UsrDefBitWrdB2 539 User Defined 191
UsrDefBitWrdB3 540 User Defined 191
UsrDefBitWrdB4 541 User Defined 191
UsrDefBitWrdB5 542 User Defined 191
UsrDefBitWrdB6 543 User Defined 191
UsrDefBitWrdB7 544 User Defined 191
UsrDefBitWrdB8 545 User Defined 191
UsrDefBitWrdB9 546 User Defined 191
UsrDsplyDiv0
51 User Defined 188
UsrDsplyMult0 50 User Defined 188
UsrValDiv1
54 User Defined 188
UsrValMult1
53 User Defined 188
Variable J Comp 1171 Winder
168
Functions
W Gain
1202 Winder
170
Functions
W Offset
1199 Winder
170
Functions
W Reference
1217 Winder
171
Functions
Name
No. Group
Page
W Target
1210 Winder
171
Functions
Winder Side
1201 Winder
170
Functions
Winder Type
1187 Diameter Calc 167
Write Mask Act 1377 Security
194
Write Mask Cfg 1378 Security
194
Zero Ramp Input 345 Ramp Rates 156
Zero Ramp Output 344 Ramp Rates 156
Zero Torque
353 Torq Attributes 137
ZeroSpdFloatTime 1113 Torque Prove 175
212
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Programming and Parameters Chapter 3
Parameter Cross Reference by Number
No. Parameter Name
1 Minimum Speed 2 Maximum Speed 3 Max Speed Fwd 4 Max Speed Rev 5 Min Speed Fwd 6 Min Speed Rev 7 Current Limit 8 Current Lim Pos 9 Current Lim Neg 10 Cur Lim Pos Out 11 Cur Lim Neg Out 12 Current Rate Lim 13 Torq Red CurLim 14 Selected TorqRef 15 SLAT Err Stpt 16 SLAT Dwell Time 17 Motor Trq Ref 18 Ramp Type Select 19 S Curve Time 20 Ramp Delay 22 MOP Accel Time 21 Min Firing Angle 24 Accel Time 2 30 MOP Decel Time 32 Decel Time 2 38 Fast Stop Time 39 Torque Ref 40 Trim Torque 41 Current Reg In 42 Trim Ramp 43 Trim Speed 44 Speed Ref A 45 Max Ref Speed 47 Speed Ref A Pct 48 Speed Ref B 49 Speed Ref B Pct 50 UsrDsplyMult0 51 UsrDsplyDiv0 53 UsrValMult1 54 UsrValDiv1 57 FaultCode 58 TstGen Output 59 TstGen Frequency 60 TstGen Amplitude 61 TstGen Offset 62 Anlg Out1 Scale
Group
Page
Limits
148
Limits
148
Limits
148
Limits
148
Limits
148
Limits
148
Torq Attributes 136
Torq Attributes 136
Torq Attributes 136
Current Meters 128
Current Meters 128
Torq Attributes 136
Load Limits 157
Current Meters 128
Control Config 155
Control Config 155
Current Meters 128
Ramp Rates 155
Ramp Rates 155
Ramp Rates 156
Ramp Rates 156
Motor Data 131
Ramp Rates 156
Ramp Rates 156
Ramp Rates 156
Stop Modes 158
Torq Attributes 136
Torq Attributes 137
Current Meters 128
Speed Reference 149
Speed Reference 149
Speed Meters 126
Motor Data 131
Speed Meters 126
Speed Meters 126
Speed Meters 126
User Defined 188
User Defined 188
User Defined 188
User Defined 188
Drive Data 129
Test Generator 145
Test Generator 145
Test Generator 145
Test Generator 145
Analog Outputs 197
No. Parameter Name
63 Anlg Out2 Scale 64 Anlg Out3 Scale 65 Anlg Out4 Scale 66 Anlg Out1 Sel 67 Anlg Out2 Sel 68 Anlg Out3 Sel 69 Anlg Out4 Sel 70 Anlg In1 Sel 71 Anlg In1 Config 72 Anlg In1 Scale 73 Anlg1 Tune Scale 74 Anlg In1 Offset 75 Anlg In2 Sel 76 Anlg In2 Config 77 Anlg In2 Scale 78 Anlg2 Tune Scale 79 Anlg In2 Offset 80 Anlg In3 Sel 81 Anlg In3 Config 82 Anlg In3 Scale 83 Anlg3 Tune Scale 84 Anlg In3 Offset 87 Spd Reg Kp 88 Spd Reg Ki 89 SpdReg PosLmOut 90 SpdReg NegLmOut 91 Fld Reg Kp 92 Fld Reg Ki 93 Spd Reg Kp Base 94 Spd Reg Ki Base 95 Spd Reg Pos Lim 96 Spd Reg Neg Lim 97 Fld Reg Kp Base 98 Fld Reg Ki Base 99 Spd Reg Kp Outpt 100 Spd Reg Ki Outpt 101 Speed Thresh Pos 102 Speed Thresh Neg 103 Threshold Delay 104 At Speed Error 105 At Speed Delay 106 Ref Zero Level 107 Speed Zero Level 108 Speed Zero Delay 110 Ramp In 111 Ramp In Pct 113 Ramp Out 114 Ramp Out Pct 117 Speed Reg In Pct 118 Speed Reg In
Group
Page
Analog Outputs 197
Analog Outputs 197
Analog Outputs 197
Analog Outputs 198
Analog Outputs 198
Analog Outputs 198
Analog Outputs 198
Analog Inputs 195
Analog Inputs 195
Analog Inputs 195
Analog Inputs 195
Analog Inputs 196
Analog Inputs 195
Analog Inputs 195
Analog Inputs 195
Analog Inputs 195
Analog Inputs 196
Analog Inputs 195
Analog Inputs 195
Analog Inputs 195
Analog Inputs 195
Analog Inputs 196
Speed Regulator 149
Speed Regulator 149
Current Meters 128
Current Meters 128
Field Config 133
Field Config 133
Autotune
143
Autotune
143
Speed Regulator 149
Speed Regulator 149
Field Config 133
Field Config 133
Speed Regulator 149
Speed Regulator 150
Speed Regulator 150
Speed Regulator 150
Speed Regulator 150
Speed Regulator 150
Speed Regulator 150
Speed Regulator 150
Speed Regulator 151
Speed Regulator 151
Speed Meters 126
Speed Meters 126
Speed Meters 126
Speed Meters 126
Speed Meters 126
Speed Meters 127
No. Parameter Name
Group
Page
121 Spd Feedback Pct Speed Meters 127
122 Spd Feedback
Speed Meters 127
123 Spd Zero I En
Speed Regulator 151
124 Spd Ref Zero En Speed Regulator 151
125 Spd Zero P En
Speed Regulator 151
126 Spd Zero P Gain Speed Regulator 152
133 Digital In1 Sel
Digital Inputs 199
134 Digital In2 Sel
Digital Inputs 199
135 Digital In3 Sel
Digital Inputs 199
136 Digital In4 Sel
Digital Inputs 199
137 Digital In5 Sel
Digital Inputs 199
138 Digital In6 Sel
Digital Inputs 199
139 Digital In7 Sel
Digital Inputs 199
140 Digital In8 Sel
Digital Inputs 199
141 Digital In9 Sel
Digital Inputs 199
142 Digital In10 Sel Digital Inputs 199
143 Digital In11 Sel Digital Inputs 199
144 Digital In12 Sel Digital Inputs 199
145 Digital Out1 Sel Digital Outputs 203
146 Digital Out2 Sel Digital Outputs 203
147 Digital Out3 Sel Digital Outputs 203
148 Digital Out4 Sel Digital Outputs 203
149 Digital Out5 Sel Digital Outputs 203
150 Digital Out6 Sel Digital Outputs 203
151 Digital Out7 Sel Digital Outputs 203
152 Digital Out8 Sel Digital Outputs 203
154 Preset Speed 1
Discrete Speeds 148
155 Preset Speed 2
Discrete Speeds 148
156 Preset Speed 3
Discrete Speeds 148
157 Preset Speed 4
Discrete Speeds 148
158 Preset Speed 5
Discrete Speeds 148
159 Preset Speed 6
Discrete Speeds 148
160 Preset Speed 7
Discrete Speeds 148
162 Max Feedback Spd Motor Data 131
166 Alpha Test
Test Generator 146
165 Firing Angle
Drive Data 129
167 Arm Text Angle Test Generator 146
168 Fld Test Angle
Test Generator 146
169 Encoder PPR
Speed Feedback 138
170 Encoder Config Speed Feedback 138
175 Rated Motor Volt Motor Data 131
179 Nom Mtr Arm Amps Motor Data 131
181 Adaptive Spd En Adaptv
159
Regulator
182 Adaptive Reg Typ Adaptv
159
Regulator
183 Adaptive Ref
Adaptv
159
Regulator
184 Adaptive Spd 1 Adaptv
159
Regulator
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
213
Chapter 3 Programming and Parameters
No. Parameter Name
185 Adaptive Spd 2
186 Adaptive Joint 1
187 Adaptive Joint 2
188 Adaptive P Gain1
189 Adaptive I Gain1
190 Adaptive P Gain2
191 Adaptive I Gain2
192 Adaptive P Gain3
193 Adaptive I Gain3
199 Arm Current Pct 200 Arm Current 201 Drive Type Sel 203 OverVolt Flt Cfg 209 Save HIM Ref 210 Man Ref Preload 211 Param Access Lvl 213 SCR Diag Test En 214 SCR Diag Status 215 OpenSCR WarnLvl 216 OpenSCR Flt Cfg 217 OpenSCR Threshld 218 OpenSCR Trip Lvl 232 Inertia Comp Out 233 Output Voltage 234 Fld Current Pct 235 Elapsed Lifetime 236 Spd Reg Out Pct 238 SpdOut FiltGain 239 SpdOut FiltBW 241 Spd Trq Mode Sel 242 Speed Reg En 245 Speed Ramp En 249 MOP Ref Config 258 Reset Defaults 259 Anlg In1 Tune 260 Anlg In2 Tune 261 Anlg In3 Tune 263 Clear Fault Que 266 Jog Speed 267 TB Manual Ref 280 Nom Mtr Fld Amps 295 Anlg In1 Target 296 Anlg In2 Target
Group
Page
Adaptv
159
Regulator
Adaptv
159
Regulator
Adaptv
160
Regulator
Adaptv
160
Regulator
Adaptv
160
Regulator
Adaptv
160
Regulator
Adaptv
160
Regulator
Adaptv
160
Regulator
Adaptv
160
Regulator
Current Meters 128
Current Meters 128
Motor Data 131
Alarms
185
HIM Ref Config 177
HIM Ref Config 177
Drive Memory 177
Test Generator 146
Test Generator 147
Test Generator 147
Test Generator 147
Test Generator 147
Test Generator 147
Current Meters 129
Drive Data 129
Current Meters 129
Drive Data 129
Speed Regulator 127
Speed Regulator 152
Speed Regulator 152
Control Config 155
Speed Regulator 152
Ramp Rates 156
Reference Config 177
Drive Memory 177
Analog Inputs 196
Analog Inputs 196
Analog Inputs 196
Faults
184
Discrete Speeds 148
Discrete Speeds 149
Motor Data 132
Analog Inputs 196
Analog Inputs 196
No. Parameter Name
297 Anlg In3 Target 300 Drive Type 302 Language 331 Software Version 332 Drive Checksum 333 MtrOvrld Factor 334 MtrOvrld Speed 342 Torque Reduction 344 Zero Ramp Output 345 Zero Ramp Input 346 Torque Positive 347 Torque Negative 348 Lock Speed Integ 349 CurrLimit Active 351 Field Current 353 Zero Torque 354 Aux Inp Flt Cfg 365 OverTemp Flt Cfg 372 Spd Limit Active 373 Freeze Ramp 374 Drv Fld Brdg Cur 376 MtrOvrld Type 378 Trim Ramp Pct 379 Trim Speed Pct 381 Drive Status 1 382 Drive Status 2 384 Spd Ref Out Pct 385 Speed Ref Out 388 Flying Start En 393 Speed Threshold 394 At Speed 395 At Zero Speed 396 MOP Inc Active 397 MOP Dec Active 400 Spd Select 0 401 Spd Select 1 402 Spd Select 2 403 Ramp Select 0 404 Ramp Select 1 414 Fdbk Device Type 409 SSC Threshold 410 Ext FC Curr Hyst 411 FC Lim Ramp 412 FC Lim Ramp Time 418 Real FF PID 420 Encoder Speed 421 PD Output PID 422 Fdbk Option ID 423 Reslvr Type Sel 424 Reslvr Spd Ratio
Group
Page
Analog Inputs 196
Drive Data 129
Drive Memory 177
Configuration 130
Drive Data 130
Motor Data 132
Motor Data 132
Torq Attributes 137
Ramp Rates 156
Ramp Rates 156
Diagnostics 178
Diagnostics 178
Speed Regulator 152
Diagnostics 178
Current Meters 129
Torq Attributes 137
Alarms
185
Alarms
185
Diagnostics 178
Ramp Rates 156
Motor Data 132
Motor Data 132
Speed Reference 149
Speed Reference 149
Diagnostics 179
Diagnostics 180
Speed Meters 127
Speed Meters 127
Speed Regulator 152
Diagnostics 180
Diagnostics 180
Diagnostics 180
Diagnostics 180
Diagnostics 181
Diagnostics 181
Diagnostics 181
Diagnostics 181
Diagnostics 181
Diagnostics 181
Speed Feedback 138
Alarms
186
Field Config 133
Torq Attributes 137
Torq Attributes 137
PID Control 163
Speed Meters 127
PD Control 162
Speed Feedback 138
Speed Feedback 139
Speed Feedback 139
No. Parameter Name
425 Resolver Config 426 Resolver Status 427 Reslvr Position 428 Resolver Speed 429 Resolver Pos Sel 430 Resolver Spd Sel 431 Reslvr Cable Bal 432 Reslvr Error Cnt 433 Total Inertia 434 Spd Reg BW 435 Act Spd Reg BW 436 Spd Reg Damping 444 Spd Reg P Filter 445 Spd Up Gain Pct 446 Speed Up Base 447 Speed Up Filter 448 SpdReg BW Bypass 452 CurrReg Autotune 453 Arm Resistance 454 Arm Inductance 455 Spd FB Loss Lvl 456 Fld Weaken Ratio 457 Spd Fdbk Control 458 SpdReg FB Bypass 459 SpdReg Kp Bypass 460 SpdReg Ki Bypass 461 Spd Fdbk Invert 462 Flux Divide 463 Flux Filter BW 464 SAR Volts Scale 465 Drive Size 466 AC Line Voltage 467 Max Fld Flux Pct 468 Min Fld Curr Pct 469 Field Mode Sel 470 UnderVlt Flt Dly 473 FldLoss Flt Cfg 475 FldLoss Flt Dly 476 Field Curve Out 478 Spd Loss Flt Cfg 479 MtrOvrld Flt Cfg 481 UnderVolt Thresh 484 Scale1 Input 485 Scale1 Output 486 Scale1 Mul 487 Scale1 Div 488 Scale1 In Max 489 Scale1 In Min 490 Scale1 In Off 491 Scale1 Out Off
Group
Page
Speed Feedback 140
Speed Feedback 141
Speed Feedback 141
Speed Meters 127
Speed Feedback 141
Speed Feedback 141
Speed Feedback 141
Diagnostics 181
Speed Regulator 152
Speed Regulator 152
Speed Regulator 153
Speed Regulator 153
Speed Regulator 153
Speed Regulator 153
Speed Regulator 153
Speed Regulator 153
Speed Regulator 153
Autotune
143
Autotune
143
Autotune
143
Speed Feedback 141
Field Config 133
Speed Feedback 142
Speed Feedback 142
Speed Regulator 153
Speed Regulator 154
Speed Feedback 142
Field Config 133
Field Config 133
Motor Data 133
Drive Data 130
Drive Data 130
Field Config 134
Field Config 134
Field Config 134
Alarms
186
Alarms
186
Alarms
186
Current Meters 129
Alarms
186
Alarms
186
Alarms
186
Scale Blocks 175
Scale Blocks 175
Scale Blocks 175
Scale Blocks 175
Scale Blocks 175
Scale Blocks 175
Scale Blocks 176
Scale Blocks 176
214
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Programming and Parameters Chapter 3
No. Parameter Name
492 Scale1 In Abs 493 Arm Volt Kp 494 Arm Volt Ki 495 Arm Volt Kp Base 496 Arm Volt Ki Base 497 Field Reg Enable 498 Force Min Field 499 Field Economy En 500 Flux Ref Pct 503 UserDefined0 504 UserDefined1 505 UserDefined2 506 UserDefined3 507 UserDefined4 508 UserDefined5 509 UserDefined6 510 UserDefined7 511 UserDefined8 512 UserDefined9 513 UserDefined10 514 UserDefined11 515 UserDefined12 516 UserDefined13 517 UserDefined14 518 UserDefined15 519 UsrDefBitWrdA 520 UsrDefBitWrdA0 521 UsrDefBitWrdA1 522 UsrDefBitWrdA2 523 UsrDefBitWrdA3 524 UsrDefBitWrdA4 525 UsrDefBitWrdA5 526 UsrDefBitWrdA6 527 UsrDefBitWrdA7 528 UsrDefBitWrdA8 529 UsrDefBitWrdA9 530 UsrDefBitWrdA10 531 UsrDefBitWrdA11 532 UsrDefBitWrdA12 533 UsrDefBitWrdA13 534 UsrDefBitWrdA14 535 UsrDefBitWrdA15 536 UsrDefBitWrdB 537 UsrDefBitWrdB0 538 UsrDefBitWrdB1 539 UsrDefBitWrdB2 540 UsrDefBitWrdB3 541 UsrDefBitWrdB4 542 UsrDefBitWrdB5 543 UsrDefBitWrdB6
Group
Page
Scale Blocks 176
Field Config 134
Field Config 134
Field Config 135
Field Config 135
Field Config 135
Field Config 135
Field Config 135
Current Meters 129
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 189
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 190
User Defined 191
User Defined 191
User Defined 191
User Defined 191
User Defined 191
User Defined 191
User Defined 191
No. Parameter Name
544 UsrDefBitWrdB7 545 UsrDefBitWrdB8 546 UsrDefBitWrdB9 547 UsrDefBitWrdB10 548 UsrDefBitWrdB11 549 UsrDefBitWrdB12 550 UsrDefBitWrdB13 551 UsrDefBitWrdB14 552 UsrDefBitWrdB15 553 Scale2 Input 554 Scale2 Output 555 Scale2 Mul 556 Scale2 Div 557 Scale2 In Max 558 Scale2 In Min 559 Scale2 In Off 560 Scale2 Out Off 561 Scale2 In Abs 562 Anlg Tach Gain 563 Feedback Offset 564 Dig In Status 565 Dig In Term 1 566 Dig In Term 2 567 Dig In Term 3 568 Dig In Term 4 569 Dig In Term 5 570 Dig In Term 6 571 Dig In Term 7 572 Dig In Term 8 573 Dig In Term 9 574 Dig In Term 10 575 Dig In Term 11 576 Dig In Term 12 581 Dig Out Status 584 OverCurrent Thr 585 Overspeed Val 587 I Reg Error 588 AC Line Freq 589 DPI Baud Rate 590 DPI Port Sel 591 Logic Mask
592 Start Mask
593 Jog Mask
594 Direction Mask
595 Reference Mask
Group
Page
User Defined 191
User Defined 191
User Defined 191
User Defined 191
User Defined 191
User Defined 191
User Defined 191
User Defined 191
User Defined 191
Scale Blocks 175
Scale Blocks 175
Scale Blocks 175
Scale Blocks 175
Scale Blocks 175
Scale Blocks 175
Scale Blocks 176
Scale Blocks 176
Scale Blocks 176
Speed Feedback 142
Speed Feedback 142
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Outputs 205
Alarms
187
Alarms
187
Autotune
143
Drive Data 130
Comm Control 191
Comm Control 191
Masks and 191
Owners
193
Security
Masks and 191 Owners
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
No. Parameter Name
596 Accel Mask
597 Fault Clr Mask
598 MOP Mask
599 Local Mask
600 Stop Owner
601 Start Owner
602 Jog Owner
603 Direction Owner
604 Reference Owner
605 Accel Owner
606 Fault Clr Owner
607 MOP Owner
608 Local Owner
609 Decel Owner
610 Data In A1 611 Data In A2 612 Data In B1 613 Data In B2 614 Data In C1 615 Data In C2 616 Data In D1 617 Data In D2 618 Data Out A1 619 Data Out A2 620 Data Out B1 621 Data Out B2 622 Data Out C1 623 Data Out C2 624 Data Out D1 625 Data Out D2 627 Spd 0 Trip Delay 629 Relay Out 2 Sel 631 Decel Mask
643 SpdReg AntiBckup 651 Spd Fdbk State 652 Encoder Err Chk 660 Accel Time 1 662 Decel Time 1
Group
Page
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
Masks and 192 Owners
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Datalinks
193
Stop Modes 158
Digital Outputs 205
Masks and 193 Owners
Speed Regulator 154
Diagnostics 181
Speed Feedback 142
Ramp Rates 157
Ramp Rates 157
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
215
Chapter 3 Programming and Parameters
No. Parameter Name
665 S Curve Accel 1 666 S Curve Decel 1 667 S Curve Accel 2 668 S Curve Decel 2 695 PI Steady Thr 696 Droop Percent 697 Droop Filter 698 Load Comp 699 Enable Droop 700 Droop Limit 715 Torq Limit Type 731 PID Steady Delay 734 PI Init Intgl Gn 750 TrqTpr Enable 751 TrqTpr Lim0 752 TrqTpr Lim1 753 TrqTpr Lim2 754 TrqTpr Lim3 755 TrqTpr Lim4 756 TrqTpr Spd 757 PID Clamp 758 Feed Fwd PID 759 PID Error 760 PID Setpoint 0 761 PID Setpoint 1 762 PID Setpoint Sel 763 PID Feedback 764 PI Integral Gain 765 PI Prop Gain PID 766 PD Deriv Gain 1 767 PD Deriv Filter 768 PD Prop Gain 1 769 Enable PI 770 Enable PD 771 PI Output 772 PID Output Sign 773 PID Output Scale 774 PID Output 776 PI Central v1 777 PI Central v2 778 PI Central v3 779 PI Central v sel 780 PI Central vs0 781 PI Central vs1 782 PID Target 783 PI integr freeze 784 PI Upper Limit 785 PI Lower Limit 786 PID Source 787 PID Source Gain
Group
Page
Ramp Rates 157
Ramp Rates 157
Ramp Rates 157
Ramp Rates 157
PI Control
161
Load Limits 157
Load Limits 157
Load Limits 157
Load Limits 158
Load Limits 158
Load Limits 158
PI Control
161
PI Control
161
Torq Attributes 137
Torq Attributes 137
Torq Attributes 137
Torq Attributes 137
Torq Attributes 137
Torq Attributes 137
Torq Attributes 138
PID Control 163
PID Control 163
PID Control 163
PID Control 163
PID Control 163
PID Control 163
PID Control 164
PI Control
161
PI Control
161
PD Control 162
PD Control 162
PD Control 163
PI Control
161
PD Control 163
PI Control
161
PID Control 164
PID Control 164
PID Control 164
PI Control
161
PI Control
161
PI Control
161
PI Control
162
PI Control
162
PI Control
162
PID Control 164
PI Control
162
PI Control
162
PI Control
162
PID Control 165
PID Control 165
No. Parameter Name
788 PD Prop Gain 2 789 PD Deriv Gain 2 790 PD Prop Gain 3 791 PD Deriv Gain 3 792 Anlg In 1 Filter 793 PI Init Prop Gn 794 Diameter Calc 795 DncrPosSpd 796 Max Deviation 797 Gear Box Ratio 798 Dancer Constant 799 Minimum Diameter
800 Diameter Calc St 801 Anlg In2 Filter 802 Anlg In3 Filter 914 Spd FB Filt Gain 915 Spd FB Filt BW 916 Fld Const 40 Pct 917 Fld Const 70 Pct 918 Fld Const 90 Pct 919 Set Fld Curve 920 Reset Fld Curve 921 Out Volt Level 923 Act Spd Filter 924 Actual Speed 926 Torq Cur Filter 928 Filt TorqCur Pct 1006 Droop Out 1007 Droop Out Pct 1008 Spd Reg Fdbk 1009 Spd Reg Fdbk Pct 1010 Spd Reg Err 1011 Spd Reg Err Pct 1012 Inertia C Filter 1013 Torque Const 1014 Inertia 1015 Friction 1016 SpdFuncSelect 1017 Speed Ratio
1018 Speed Draw Out 1019 Spd Draw Out Pct 1021 Encoder Out Sel 1022 Encoder Counts 1027 Spd Reg Autotune 1029 Speed Tune Dir 1030 Spd Tune Inertia 1031 SpdTune Friction 1032 Speed Tune Kp
Group
Page
PD Control 163
PD Control 163
PD Control 163
PD Control 163
Analog Inputs 196
PI Control
162
Init Diam Calc 165
Init Diam Calc 165
Init Diam Calc 165
Init Diam Calc 165
Init Diam Calc 166
Init Diam Calc 166 Diameter Calc
Init Diam Calc 166
Analog Inputs 196
Analog Inputs 196
Speed Feedback 143
Speed Feedback 143
Field Config 135
Field Config 135
Field Config 135
Field Config 135
Field Config 136
Field Config 136
Speed Feedback 143
Speed Meters 127
Torq Attributes 138
Current Meters 129
Speed Meters 127
Speed Meters 127
Speed Meters 127
Speed Meters 127
Speed Meters 128
Speed Meters 128
Autotune
143
Autotune
144
Autotune
144
Autotune
144
Speed Regulator 154
Speed
149
References
Speed Meters 128
Speed Meters 128
Speed Feedback 143
Speed Feedback 143
Autotune
144
Autotune
144
Autotune
144
Autotune
144
Autotune
144
No. Parameter Name
Group
Page
1033 Speed Tune Ki
Autotune
144
1034 SpdReg Kp Pct
Autotune
144
1035 SpdReg Ki Pct
Autotune
144
1042 Anlg In1 Cmp
Analog Inputs 196
1043 Anlg In1 Cmp Err Analog Inputs 196
1044 Anlg In1 Cmp Dly Analog Inputs 196
1045 Anlg In1 Cmp Eq Analog Inputs 197
1046 PID Accel Time
PID Control 165
1047 PID Decel Time
PID Control 165
1048 Autotune Cur Lim Auto Tune
145
1052 Output Power
Drive Data 130
1100 Torq Prove Cfg
Torque Prove 173
1101 Torq Prove Setup Torque Prove 173
1103 Torq Prove Sts
Torque Prove 174
1104 Torq Limit Slew Torque Prove 174
1105 Speed Dev Band Torque Prove 174
1106 Spd Band Intgrtr Torque Prove 174
1107 Brk Release Time Torque Prove 174
1108 Brk Set Time
Torque Prove 174
1109 Brk Alarm Travel Torque Prove 174
1110 Brk Slip Count
Torque Prove 174
1111 Float Tolerance Torque Prove 174
1112 MicroPsnScalePct Torque Prove 174
1113 ZeroSpdFloatTime Torque Prove 175
1114 Brake Test Torq
Torque Prove 175
1153 Max Diameter
Diameter Calc 166
1154 Roll Diameter
Diameter Calc 166
1155 Line Spd Thresh Diameter Calc 166
1156 Line Spd Gain
Diameter Calc 166
1157 Diameter Reset Diameter Calc 166
1158 Diam Threshold Diameter Calc 166
1159 Diameter Reached Diameter Calc 166
1160 Line Speed Pct
Diameter Calc 166
1161 Diam Calc Dis
Diameter Calc 166
1162 Diameter Filter Diameter Calc 167
1163 Base Omega
Diameter Calc 167
1164 Diam Preset 0
Diameter Calc 167
1165 Diam Preset 1
Diameter Calc 167
1166 Diam Preset 2
Diameter Calc 167
1167 Diam Preset 3
Diameter Calc 167
1168 Diam Preset Sel Diameter Calc 167
1171 Variable J Comp Winder
168
Functions
1172 Constant J Comp Winder
168
Functions
1173 Materl Width Pct Winder
168
Functions
1174 Static Friction
Winder
168
Functions
1175 Dynamic Friction Winder
168
Functions
216
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Programming and Parameters Chapter 3
No. Parameter Name
1176 Taper Enable 1177 Initial Diameter 1178 Final Diameter 1179 Tension Reduct 1180 Tension Ref 1181 Tension Scale 1182 Time AccDec Min 1183 Int Acc Calc En 1184 Line Accel Pct 1185 Line Decel Pct 1186 Line FastStp Pct 1187 Winder Type 1188 Accel Status 1189 Decel Status 1190 Fast Stop Status 1191 InertiaCompCnst 1192 InertiaCompVar 1193 Torq Current Pct 1194 Act Ten Ref Pct 1195 Speed Match 1196 Spd Match Acc 1197 Spd Match Dec 1198 Offs Accel Time 1199 W Offset 1200 Spd Match Gain 1201 Winder Side 1202 W Gain 1203 Spd Match Compl 1204 Line Spd Source 1205 Diam Inc Dec En
Group
Page
Winder
169
Functions
Winder
169
Functions
Winder
169
Functions
Winder
169
Functions
Winder
169
Functions
Winder
169
Functions
Winder
169
Functions
Winder
169
Functions
Winder
169
Functions
Winder
169
Functions
Winder
169
Functions
Diameter Calc 167
Winder
169
Functions
Winder
169
Functions
Diagnostics 169
Winder
170
Functions
Winder
170
Functions
Winder
170
Functions
Winder
170
Functions
Winder
170
Functions
Winder
170
Functions
Winder
170
Functions
Winder
170
Functions
Winder
170
Functions
Winder
170
Functions
Winder
170
Functions
Winder
170
Functions
Winder
170
Functions
Diameter Calc 168
Diameter Calc 168
No. Parameter Name
Group
Page
1206 Diam Init Filter Diameter Calc 168
1207 Diam Stdy Delay Diameter Calc 168
1208 Close Loop Comp Winder
170
Functions
1209 Torque Winder En Winder
170
Functions
1210 W Target
Winder
171
Functions
1212 Acc Dec Filter
Winder
171
Functions
1213 Actual Comp
Winder
171
Functions
1214 Closed Loop En Winder
171
Functions
1215 Speed Demand En Winder
171
Functions
1216 Spd Match Torque Winder
171
Functions
1217 W Reference
Winder
171
Functions
1218 Scale3 Input
Scale Blocks 175
1219 Scale3 Output
Scale Blocks 175
1220 Scale3 Mul
Scale Blocks 175
1221 Scale3 Div
Scale Blocks 175
1222 Scale3 In Max
Scale Blocks 175
1223 Scale3 In Min
Scale Blocks 175
1224 Scale3 In Off
Scale Blocks 176
1225 Scale3 Out Off
Scale Blocks 176
1226 Scale3 In Abs
Scale Blocks 176
1227 Scale4 Input
Scale Blocks 175
1228 Scale4 Output
Scale Blocks 175
1229 Scale4 Mul
Scale Blocks 175
1230 Scale4 Div
Scale Blocks 175
1231 Scale4 In Max
Scale Blocks 175
1232 Scale4 In Min
Scale Blocks 175
1233 Scale4 In Off
Scale Blocks 176
1234 Scale4 Out Off
Scale Blocks 176
1235 Scale4 In Abs
Scale Blocks 176
1236 Scale5 Output
Scale Blocks 175
1237 Scale5 Input
Scale Blocks 175
1238 Scale5 Mul
Scale Blocks 175
1239 Scale5 Div
Scale Blocks 175
1240 Scale5 In Max
Scale Blocks 175
1241 Scale5 In Min
Scale Blocks 175
1242 Scale5 In Off
Scale Blocks 176
1243 Scale5 Out Off
Scale Blocks 176
1244 Scale5 In Abs
Scale Blocks 176
1245 Scale6 Output
Scale Blocks 175
1246 Scale6 Input
Scale Blocks 175
1247 Scale6 Mul
Scale Blocks 175
1248 Scale6 Div
Scale Blocks 175
1249 Scale6 In Max
Scale Blocks 175
No. Parameter Name
1250 Scale6 In Min 1251 Scale6 In Off 1252 Scale6 Out Off 1253 Scale6 In Abs 1254 PID Error Gain 1255 Jog TW Speed
1256 Jog TW Enable
1258 Enable PI PD 1262 Closing Speed 1263 Opening Delay 1265 Ramp In Zero En 1266 Actuator Delay 1267 Inversion Out 1 1268 Inversion Out 2 1269 Inversion Out 3 1270 Inversion Out 4 1271 Inversion Out 5 1272 Inversion Out 6 1273 Inversion Out 7 1274 Inversion Out 8 1275 Inversion Relay2 1276 Inversion In 1 1277 Inversion In 2 1278 Inversion In 3 1279 Inversion In 4 1280 Inversion In 5 1281 Inversion In 6 1282 Inversion In 7 1283 Inversion In 8 1284 Ref Spd Source
1285 Ref Speed Gain
1286 Ref Line Speed
1287 Static F Zero
1290 MtrOvrld Status 1319 Data In Val Sel 1320 Data In SelData 1321 DPI Fdbk Select 1322 Direction Mode 1323 DPI P1 Select 1324 DPI P2 Select 1325 DPI P3 Select 1326 DPI P4 Select 1327 DPI P5 Select 1328 Drive Logic Rslt 1329 Speed Ref Source
Group
Page
Scale Blocks 175
Scale Blocks 176
Scale Blocks 176
Scale Blocks 176
PID Control 165
Winder
171
Functions
Winder
171
Functions
PID Control 165
Stop Modes 158
Stop Modes 158
Stop Modes 158
Stop Modes 158
Digital Outputs 205
Digital Outputs 205
Digital Outputs 205
Digital Outputs 205
Digital Outputs 205
Digital Outputs 205
Digital Outputs 205
Digital Outputs 205
Digital Outputs 205
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Winder
172
Functions
Winder
172
Functions
Winder
172
Functions
Winder
172
Functions
Diagnostics 181
Datalinks
193
Datalinks
193
Comm Control 191
Reference Config 177
DPI Inputs 206
DPI Inputs 206
DPI Inputs 206
DPI Inputs 206
DPI Inputs 206
Diagnostics 182
Diagnostics 182
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217
Chapter 3 Programming and Parameters
No. Parameter Name
1330 Spd Ref Sel Sts 1343 DPI Port Value 1344 Start At Powerup 1345 Powerup Delay 1347 Fault Clear 1348 Fault Clr Mode 1349 Status1 at Fault 1350 Status2 at Fault 1351 Fault 1 Code 1352 Fault 2 Code 1353 Fault 3 Code 1354 Fault 4 Code 1355 Fault 5 Code 1356 Fault 6 Code 1357 Fault 7 Code 1358 Fault 8 Code 1359 Fault 9 Code 1360 Fault 10 Code 1361 Fault 1 Time 1362 Fault 2 Time 1363 Fault 3 Time 1364 Fault 4 Time 1365 Fault 5 Time 1366 Fault 6 Time 1367 Fault 7 Time 1368 Fault 8 Time 1369 Fault 9 Time 1370 Fault 10 Time 1371 Fault Arm Amps 1372 Fault Speed 1373 Fault Field Amps 1374 Fault Voltage 1375 MOP Select 1376 Logic Mask Act 1377 Write Mask Act 1378 Write Mask Cfg 1379 Port Mask Act 1380 Drive Alarm 1 1381 TestPoint Sel 1382 TestPoint Data 1384 TaskLoad 1 ms 1385 TaskLoad 2 ms 1386 TaskLoad 8 ms 1387 Inversion In 9 1388 Inversion In 10 1389 Inversion In 11 1390 Inversion In 12 1391 ContactorControl 1392 Relay Out 1 Sel 1393 Inversion Relay1
Group
Page
Diagnostics 183
Comm Control 191
Restart Modes 159
Restart Modes 159
Faults
184
Faults
184
Faults
184
Faults
184
Faults
184
Faults
184
Faults
184
Faults
184
Faults
184
Faults
184
Faults
184
Faults
184
Faults
184
Faults
184
Faults
185
Faults
185
Faults
185
Faults
185
Faults
185
Faults
185
Faults
185
Faults
185
Faults
185
Faults
185
Faults
185
Diagnostics 185
Diagnostics 185
Diagnostics 185
Reference Config 177
Security
193
Security
194
Security
194
Security
194
Alarms
187
Diagnostics 183
Diagnostics 183
Diagnostics 183
Diagnostics 183
Diagnostics 183
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Inputs 202
Digital Outputs 206
Digital Outputs 206
No. Parameter Name
1394 Drive Alarm 2 1402 Last Stop Source 1403 Start Inhibits 1404 Analog In1 Value 1405 Analog In2 Value 1406 Analog In3 Value 1407 Field Econ Delay 1408 Tachometer Speed 1409 Jog Off Delay 1410 Jog Ramp Time
Group
Page
Alarms
188
Diagnostics 183
Diagnostics 184
Analog Inputs 197
Analog Inputs 197
Analog Inputs 197
Field Config 136
Speed Meters 128
Discrete Speeds 149
Ramp Rates 157
218
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Troubleshooting
4 Chapter
Faults and Alarms
Topic
Page
Faults and Alarms
219
Drive Status
220
Manually Clearing Faults
221
Fault Descriptions
222
How to Clear an Alarm
228
Alarm Descriptions
228
Common Drive Symptoms and Corrective Actions
231
Testpoint Codes and Functions
233
This chapter provides information to guide you in troubleshooting the PowerFlex® DC drive. Included is a listing and description of drive faults (with possible solutions, when applicable) and alarms.
A fault is a condition that always stops the drive and prevents it from starting until the fault condition is corrected. There are two fault types.
Type Description
1 User Configurable This type of fault allows you to configure a parameter to determine how the drive responds to the error condition.
· When the parameter is configured for a fault, the following events occur. a. The drive stops b. The error condition is displayed on the HIM or signaled via a programmed digital output c. The drive is not allowed to start until the fault condition is corrected
· When the parameter is configured for an alarm, the following events occur. a. The error condition is displayed on the HIM or signaled via a programmed digital output b. The drive continues to run and/or be allowed to start.
· When the parameter is configured for ignore or disable, the drive does not recognize the error condition. In this case, the error condition does not display on the HIM or is not signaled via a programmed digital output.
2 Non-Configurable This type of fault is always enabled and causes the drive to stop running to protect the drive and/or motor from damage. In some cases, drive or motor repair can be required. The cause of the fault must be corrected before the fault can be cleared (via a fault reset by using the HIM or programmed digital input). The fault will be reset on power-up after repair.
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
219
Chapter 4 Troubleshooting
Drive Status
An alarm indicates a drive error condition that does not stop the drive, but can prevent it from starting. There are two types of alarms.
Type Description 1 User Configurable This type of alarm indicates a drive error condition but does not stop the drive
from starting or running. However, if this type of alarm is left uncorrected, a fault condition can eventually occur. 2 Non-Configurable This type of alarm is always enabled and prevents the drive from starting until the alarm condition is corrected.
The condition or state of your drive is constantly monitored. Any changes are indicated through the status indicators and/or the HIM (if present).
Figure 65 - Drive Status Indicators
PORT MOD NET A NET B
2
1
STS
# Name Color 1 STS Green
(Status) Yellow
Red
State
Description
Flashing
Drive ready, but not running and no faults are present.
Steady
Drive running, no faults are present.
Flashing, Drive A condition exists that is preventing the drive from starting. Check
Stopped
parameter 1403 [Start Inhibits] and 1380 [Drive Alarm 1].
Flashing, Drive An intermittent type 1 alarm condition is occurring. Check
Running
parameter 1380 [Drive Alarm 1]. See Fault Descriptions on page
222 and/or Alarm Descriptions on page 228.
Steady,
A continuous type 1 alarm condition exists. Check parameter 1380
Drive Running [Drive Alarm 1]. See Fault Descriptions on page 222 and/or Alarm
Descriptions on page 228.
Flashing
A fault has occurred. Check [Fault x Code] or view the Fault Queue on the HIM. See Fault Descriptions on page 222.
Steady
A non-resettable, non-configurable fault has occurred. Check [Fault x Code] or view the Fault Queue on the HIM. See Fault Descriptions on page 222.
220
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Troubleshooting Chapter 4
# Name 2 PORT
MOD NET A NET B
Color State
See the Communication Adapter User Manual.
Description Status of DPITM port internal communication (if present). Status of communication module (when installed). Status of network (if connected). Status of secondary network (if connected).
HIM Indicators
The LCD HIM also provides visual notification of a fault or alarm condition.
Condition
The drive is indicating a fault.
The LCD HIM immediately reports the fault condition by displaying the following:
· "Faulted"appears in the status line · Fault number · Fault name · Time that has passed since the fault occurred
Press "Esc" to regain HIM control.
The drive is indicating an alarm.
The LCD HIM immediately reports the alarm condition by displaying the following:
· Alarm name · Alarm bell graphic
Display
F-> Faulted
Auto
0.0 Hz
-- Fault -- F 5 MaAirnm MOevneur:Voltage DiTaigmneosStiinccse Fault
Param0e0t0e0r:23:52
F-> DigInCflctA Auto
0.0 rpm
Main Menu: Diagnostics Parameter Device Select
Manually Clearing Faults
Step
Key
1. Press "Esc"to acknowledge the fault. The fault information is removed so that you can use the HIM.
Esc
2. Address the condition that caused the fault. The cause must be corrected before the fault can be cleared.
3. After corrective action has been taken, clear the fault by one of these methods. · Press "Stop" · Cycle drive power · Set parameter 1347 [Fault Clear] to 1"Clear Faults" · "Clear Faults"on the HIM Diagnostic menu
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Fault Descriptions
Fault Name AC Undervoltage
Number Type(1)
4
2
Arm Overvoltage
5
1
Auxiliary Input
2
1
Drive Overload Dsp Error EEPROM Error
64
2
132 2
100 2
Encoder Error
92
2
Fld Current Loss
6
1
Fwd End Limit
Fwd Over Travel Hardware Fault
95
2
97
2
130 2
Table 42 - Fault Types, Descriptions, and Actions
Description/Possible Cause
Action
There is an undervoltage on the power circuit (can only occur while the drive is active, i.e., running or jogging). Possible causes include:
· Par 481 [UnderVolt Thresh] is set incorrectly (possibly set Set Par 481 [UnderVolt Thresh] correctly and then reset the drive via to 400V when the drive is rated for 230V input power). Par 1347 [Fault Clear].
· The incoming voltage to the power terminals (U/V/W) of the drive is too low due to: · The AC input voltage is too low or one phase is missing. · Verify AC input power level. · There are poor cable connections (for example
terminals on contactor, choke, filter, is not properly · Check all connections.
connected).
· The line fuses have tripped.
1. Remove power from the drive.
· The AC input voltage dips or there is a high disturbance 2. Eliminate AC input voltage dips and/or disturbances.
in the supply voltage.
3. Replace any blown fuses.
· A fuse or fuses on the overvoltage clipping board has Check the fuses on the overvoltage clipping board and replace as
blown (frame D drives only).
necessary.
Note: This fault also occurs if the control board is separately powered and started without AC input voltage.
Important: An Alpha test should not be enabled at the same time as a Shortened SCR diagnostic test.
There is an overvoltage on the armature circuit (125% of Par 175). Possible causes include:
· Par 175 [Rated Motor Volt] is set too low.
Set Par 175 [Rated Motor Volt] correctly.
· The drive is not configured to use field weakening, but the Check the value of Par 469 [Field Mode Sel] and set accordingly. motor can only reach the set speed when the drive is in field weakening mode.
Note: Configure with Par 203 [OverVolt Flt Cfg].
An auxiliary input interlock is open or a voltage (15...30V) or Check remote wiring. reference signal is missing for the digital input set to 14 "Aux Fault".
Note: Configure with Par 354 [Aux Inp Flt Cfg].
The rated drive current (Par 465 [Drive Size]) was exceeded by Reduce the drive current limits. 150% for 1 minute.
A non-resettable software error exists on the control board. Cycle power to the drive. If the problem persists, replace the control board.
One of the following has occurred:
· Parameter values could not be saved.
1. If the control board is new, verify that DIP switch S15 is set
· The control board was replaced and DIP switch S15 is set correctly. See DIP Switch S15 Settings on page 79.
incorrectly for the drive size.
2. Reset the fault.
· You have upgraded from one major firmware revision to 3. If this fault occurs again, cycle power to the drive.
another (for example, v2.xxx to v3.xxx).
4. If the problem persists, replace the control board.
Note: When this fault occurs, all parameters are reset to the default value.
An error was detected with the Encoder signal while it was configured for use by the drive.
1. Verify the encoder wiring. 2. Verify the encoder configuration in Par 652 [Encoder Err Chk] and
the setting of DIP switches S20 and S21 (See DIP Switch and Jumper Settings on page 77). 3. Verify the encoder power supply.
The field current is too low (less than 50% of Par 468). Possible causes include:
· The field current regulator is not enabled.
Enable the field current regulator via Par 497 [Field Reg Enable].
· The conductors in the field circuit have been interrupted. Check the motor field wiring. Measure the resistance of the motor and verify that it matches motor nameplate data.
· The field fuses are currently open.
Check the field fuses and replace as necessary.
Note: Configure with Par 473 [FldLoss Flt Cfg].
An end limit for the forward direction has been reached. This fault is always enabled when assigned to a digital input (see
When the end limit is reached, the assigned contacts open Pars 133...144). If digital limits (hardware signals) are in use, verify
and a drive current-limit stop occurs.
that the digital inputs are connected to normally closed contacts.
A forward direction over travel signal has occurred, causing This fault is always enabled when assigned to a digital input (see
the drive to coast to a stop.
Pars 133...144).
A non-resettable hardware error has occurred.
Cycle power to the drive. If the problem persists, replace the control board.
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Fault Name Heatsink OvrTemp
Interrupt Error Inverting Fault Main Contactor Motor Overload Motor Over Temp
No Fault Open SCR
Number Type(1)
8
2
131 2
37
2
10
2
7
1
16
1
0
2
89
1
Description/Possible Cause
Action
The heatsink temperature is too high
Possible causes include:
· The surrounding air temperature is too high.
Lower the surrounding air temperature.
· The drive cooling fans have failed (drives > 110 A).
Check the fan fuses and fans. · If the fan fuses have failed, replace the fuses. (The fans are
protected by the fuses in the power supply circuit and are contained on the switching power supply circuit board in frame A and B drives only. See Control Power Circuit Protection Fuses on page 259.) · If the fans have failed, replace the fans.
· The heatsink is dirty.
Clean the heatsink.
A non-resettable software error has occurred in the main Report this error to Rockwell Automation Technical Support. application.
A digital input (Pars 133...144) configured as 64 "Invert Flt" Check the status of the inverting fault device that is connected to
has been removed.
the digital input.
One of the following has occurred: · The Main and/or Dynamic Brake (DB) contactor failed to
open or close in the proper amount of time (960 ms). · A digital input and/or relay output 1 is incorrectly wired
and/or configured. · Wiring to a digital input configured for contactor has
opened.
· Check all contactor wiring and drive jumpers. Repair or replace the contactor or contactors if the problem persist.
· Check the digital input and/or relay output 1 (terminals 35 and 36) wiring and configuration using Pars 1391 [ContactorControl], 1392 [Relay Out 1 Sel] and [Digital Inx Sel]. See Contactors on page 31 for more information.
The selected motor overload current level (set in Par 179 [Nom Mtr Arm Amps]) has been exceeded. The limits are based on the value of Par 376 [MtrOvrld Type]. 0 "StandardDuty" is 150% for 60 sec. or 200% for 3 sec. 1 "HeavyDuty"is 200% for 1 minute (250% for 30 sec).
Reduce the motor load, current limits, and/or ramp times.
Note: Configurable with Par 479 [MtrOvrld Flt Cfg].
The motor has exceeded its temperature rating (as signaled by the thermistor that is connected to the drive terminals 78 and 79). Possible causes include:
· The motor does not have a thermistor and there is no See Thermistors and Thermal Switches on page 64 for configuration
resistor between terminals 78 and 79 on the drive.
information.
· The cable between the thermistor connection on the motor and terminals 78 and 79 on the drive has been broken.
Check and repair any damage to or loss of connection of the thermistor cables between the motor and drive.
· Possible causes for motor overheating can also include one
of the conditions that are listed here:
· The load cycle is too extreme.
Reduce the load.
· The surrounding air temperature at the site of the Reduce the surrounding air temperature.
motor is too high.
· The external fan motor has failed.
Replace the motor fan.
· The motor does not have an external fan and the load is Reduce the load cycle or fit the motor with an external fan.
too large at low speeds.
· The cooling effect of the internal fan on the motor shaft Reduce the load cycle or fit the motor with an external fan.
is too low for the load cycle.
Note: Configure with Par 365 [OverTemp Flt Cfg].
When present in the fault queue in the drive only, this fault Informational only. indicates that there are currently no faults in the drive.
When displayed on the HIM, this fault can indicate one of the For frame B or C drives only, verify that terminal SA-SB is properly
following issues:
configured for the control circuit input power input voltage used.
· The SA-SB terminal on a frame B or C drive is incorrectly See Control Circuit Input Power on page 67.
configured.
· There is a possible problem with the control power.
An open SCR fault condition has been detected. This fault can · Verify that the correct values are set in Pars 217 [Open SCR only occur when Par 213 [SCR Diag Test En], bit 0 "OpenSCR Threshld] and 218 [OpenSCR Trip Lvl]. Tst"is set (=1) and Par 216 [OpenSCR Flt Cfg] is set to "Fault" · Replace the failed SCR devices. (2). The SCR (or SCR pair) that caused the fault are shown in Par 214 [SCR Diag Status].
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Fault Name Overcurrent
Overspeed Params Defaulted Port 1...5 Adapter Port 1...5 DPI Loss
Power Failure
Number Type(1)
13
1
25
2
48
2
71...75 2
81...85 2
3
2
Description/Possible Cause
Action
An overcurrent has occurred in the motor circuit. Possible causes include:
· There is a short-circuit or ground fault at the output of the Verify that the armature circuit wiring is correct. drive.
· The current regulator was not properly fine-tuned.
See Tune the Current Regulator on page 102.
· The value of Par 584 [OverCurrent Thr] is too low.
Increase the value of Par 584 [OverCurrent Thr] accordingly.
The encoder or tachometer feedback indicated a speed that is Remove the excessive load or overhauling conditions or increase the
more than the value of Par 585 [Overspeed Val].
value of Par 585 [Overspeed Val].
Note: Configurable with Par 585 [Overspeed Val].
User parameters have been reset to their default values. Informational only.
The communication card has a fault.
Check the DPI device event queue and fault information for the device.
The DPI port stopped communicating.
1. Check the HIM connection. 2. If adapter was not intentionally disconnected, check the wiring
to the port. Replace the wiring, port expander, adapters, control board, or complete drive as required. 3. If an adapter was intentionally disconnected and the bit for that adapter in Par 591 [Logic Mask] is set to "1", this fault occurs. To disable this fault, set the appropriate bit in [Logic Mask] for the adapter to "0."
Possible causes include:
Resolver Error
Rev End Limit Rev Over Travel Shorted SCR
93
2
96
2
98
2
90
2
IMPORTANT Remove power from the drive before removing the I/O terminal blocks and/or fuses.
There is a fault in the 24V control board supply - the voltage is · Pull the plug-in I/O terminal blocks out of the control circuit
below the permitted value. In most cases, the cause of this board and reset the drive via 1347 [Fault Clear]. If there are no
fault is a problem with the external I/O wiring.
other faults, check the I/O wiring for a short-circuit including the
cable shielding.
· Check fuses F1 and F2 on the switching power supply circuit
board (frame A size drives only have one fuse - F1). Replace as
necessary.*
· Check varistor fuses F1, F2, and F3 on the pulse transformer or
Transient Noise Filter circuit boards for Frame C size drives.
Replace as necessary.*
*Note: See Control Power Circuit Protection Fuses on page 259 for fuse size information.
The incoming voltage to the control power terminals (U2, V2)
is too low due to:
· The AC input voltage is too low
· Verify AC input power level.
· There are poor cable connections.
· Check all connections.
· The fuse or fuses on the switching power supply circuit · Check and replace the fuse or fuses if necessary.
board have blown.
An error was detected with the resolver signal while it was configured for use by the drive.
1. Verify the resolver wiring. 2. Verify the resolver configuration in Pars 423 [Reslvr Type Sel],
424 [Reslvr Spd Ratio], and 425 [Resolver Config]. 3. Verify the resolver power supply.
An end limit for the reverse direction has been reached. When This fault is always enabled when assigned to a digital input (see
the end limit is reached, the contacts open and a drive Pars 133...144). If digital limits (hardware signals) are in use, verify
current-limit stop occurs.
that the digital inputs are connected to normally closed contacts.
A reverse direction over travel signal has occurred, causing the This fault is always enabled when assigned to a digital input (see
drive to coast to a stop.
Pars 133...144).
A shorted SCR fault condition has been detected. This fault Replace failed SCR device or devices. can only occur when Par 213 [SCR Diag Test En], bit 1 "OpenSCR Tst" is set (= 1). The SCR (or SCR pair) that caused the fault are shown in Par 214 [SCR Diag Status].
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Fault Name Spd Fdbk Loss
SSC Error STune Aborted STune CurLimit STune FrictionLo STune LoadHi STune Overspeed STune Stalled STune Timeout
Sustained Curr
Number Type(1)
91
1
20
1
62
2
59
2
60
2
58
2
56
2
57
2
61
2
70
2
Description/Possible Cause
Action
The speed feedback device is indicating a value that is less than 5% of Par 162 [Max Feedback Spd]. However, the measured armature voltage is greater than the value of Par 455 [Spd FB Loss Lvl].
Possible causes include:
· The conductors of the feedback signal have been interrupted.
Current from one or more of the feedback device wires is not reaching the drive. Check the feedback device wiring.
· One or several encoder/resolver channels are missing Check the encoder/resolver connections and power supply. (conductor interruption, no power supply).
· The motor voltage is incorrect.
1. Verify that Par 175 [Rated Motor Volt] is set correctly 2. Tune the motor.
· The ramp rate is too fast for the connected load.
1. Reduce the load. 2. Reduce the ramp rate.
· Field Weakening is set incorrectly.
Verify that the value of Par 456 [Fld Weaken Ratio] is set properly.
The encoder or resolver configuration is incorrect.
1. For encoder feedback, verify the setting of DIP switch S20 (see page 78) and Par 652 [Encoder Err Chk].
2. Verify that the connected encoder provides the input and output voltage as determined by DIP switch S21 (see page 78).
3. For resolver feedback, verify that Par 426 [Resolver Status] is not indicating any errors.
Note: This fault condition can be configured to produce an alarm with Par 478 [Spd Loss Flt Cfg].
Indicated that a valid fiber packet has not been received within the time period defined in Par 409 [SSC Threshold].
· Verify that all fiber-optic connections are correct and properly secured.
· Check all fiber-optic cables for damage. If any of the cables are cracked or damaged, replace the cables.
· If this fault persists, replace the Fiber-optic Interface circuit board.
The speed regulator auto tuning procedure was stopped Informational only. manually.
One of the following has occurred:
· The value of Par 1048 [Autotune Cur Lim] for auto tuning Decrease the value of Par 1048 [Autotune Cur Lim] and repeat the
the speed regulator is set too high.
auto tune procedure.
· Par 107 [Speed Zero Level] and/or 108 [Speed Zero Delay] Set Pars 107 and 108 to their default values when performing the
is set too high.
Speed Loop Autotuning function.
The friction value that is attained during the auto tuning Decrease the value of Par 1048 [Autotune Cur Lim] and repeat the procedure is zero or lower than the control precision limit. auto tune procedure.
One of the following has occurred:
· The loading torque value is too high at zero speed to Decrease the load torque, where applicable, and repeat the auto complete the speed regulator auto tuning procedure. tune procedure.
· Par 107 [Speed Zero Level] and/or 108 [Speed Zero Delay] Set Pars 107 and 108 to their default values when performing the
is set too high.
Speed Loop Autotuning function.
The measured motor speed is too high during the speed Decrease the value of Par 1048 [Autotune Cur Lim] and repeat the
regulator auto tuning procedure.
auto tune procedure.
The drive stalled during the speed regulator auto tuning Increase the value of Par 1048 [Autotune Cur Lim] and repeat the
procedure.
auto tune procedure.
The speed regulator auto tuning procedure did not complete Verify the value of Par 1048 [Autotune Cur Lim]. If the value of Par
within the available time or the current regulator auto tuning 1048 is set too low, the test cannot finish. The autotune procedure
procedure did not complete within 15 minutes.
can only finish when the motor has enough time to reach a
maximum speed of 33% of the lowest of one of these parameters:
· Par 45 [Max Ref Speed]
· Par 3 [Max Speed Fwd]
· Par 4 [Max Speed Rev]
Set the value of these parameters appropriately and repeat the auto tuning procedure.
One of the following has occurred:
· Check the line voltage and frequency.
· The motor CEMF is too high or the line voltage is too low · Check the motor brushes and connections.
· A current bridge change command has not completed · Check the main and DB contactor connections if present.
within 1 second
· Verify that there are no overhauling loads present.
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Fault Name TorqPrv Spd Band
Number Type(1)
94
2
Travel Lim Cflct
99
2
(1) See page 219 for a description of fault types.
Description/Possible Cause
Action
The difference between the commanded speed and the encoder/resolver speed has exceeded the level set in Par 1105 [Speed Dev Band] for a time period greater than that value specified in Par 1106 [Spd Band Intgrtr]. This fault is only enabled when Par 1100 [Torq Prove Cfg], bit 0 "TP Enable" is set and causes the drive to coast to a stop. Possible causes include:
· Speed loop tuning is not correct.
Increase Par 434 [Spd Reg BW] or Par 433 [Total Inertia]. If these values are set too high, the speed regulator becomes unstable.
· The drive is operating under a current limit.
Raise the current limit set in Par 7 [Current Limit]. If this value is set too high, a motor overload can occur.
· Drive acceleration/deceleration rates are too fast.
Reduce the acceleration/deceleration rates.
· The brake is not releasing.
Check brake wiring and operation.
· The motor field is not reaching the rated value.
Check that the motor field is wired and configured correctly.
· The drive is undersized.
Reduce the load.
Travel limits are in conflict. Both the forward and reverse travel limits indicate that they are simultaneously active, causing a drive current-limit stop.
· If digital limits (hardware signals) are in use, verify that the following forward and reverse digital input pairs are not both off simultaneously: fwd/rev decel travel limit digital inputs and fwd/rev end stop travel limit digital inputs (see Pars 133...144). The travel limit digital inputs are meant to be connected to normally closed switch contacts, so the digital input status reads an off (0 = False) bit status when the machine is on limit and the switch contact opens. A possible cause for this condition is loss of common power to both the forward and reverse travel limit switches.
· If software travel limits are in use, check the state of the fwd/rev travel limit bits in Par 1101 [Torq Prov Setup]. These bits are on (1) when the machine is on limit. Bit 2 "Decel Fwd" and bit 4 "Decel Rev" must not be on simultaneously. Similarly, Bit 3 "End Stop Fwd" and bit 5 "End Stop Rev" must not be on simultaneously.
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Table 43 - Fault Cross Reference by Number
No.(1) Fault
No.(1) Fault
2
Auxiliary Input
81...85 Port 1 DPI Loss
3
Power Failure
Port 2 DPI Loss
4
AC Undervoltage
Port 3 DPI Loss
5
Arm Overvoltage
Port 4 DPI Loss
6
Fld Current Loss
Port 5 DPI Loss
7
Motor Overload
89
Open SCR
8
Heatsink OvrTemp
90
Shorted SCR
10
Main Contactor
91
Speed Fdbk Loss
13
Overcurrent
92
Encoder Error
16
Motor Over Temp
93
Resolver Error
20
SSC Error
94
TorqPrv Spd Band
25
Overspeed
95
Fwd End Limit
37
Inverting Fault
96
Rev End Limit
48
Params Defaulted
97
Fwd Over Travel
56
STune Overspeed
98
Rev Over Travel
57
STune Stalled
99
Travel Lim Cflct
58
STune LoadHi
100 EEPROM Error
59
STune CurLimit
130 Hardware Fault
60
STune FrictionLo
131 Interrupt Error
61
STune Timeout
132 Dsp Error
62
STune Aborted
64
Drive Overload
70
Sustained Curr
71...75 Port 1 Adaptor
Port 2 Adaptor
Port 3 Adaptor
Port 4 Adaptor
Port 5 Adaptor
(1)Faults that are not listed are reserved for future use.
Troubleshooting Chapter 4
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How to Clear an Alarm Alarm Descriptions
Alarms are automatically cleared when the condition that caused the alarm is no longer present.
The status of the alarms can be viewed in 1380 [Drive Alarm 1].
Table 44 - Alarm Descriptions and Actions
Alarm
Type
Arm Overvoltage 1
Auxiliary Input 1
BipolarCflct 2
BrakeSlipped 1
2
CntactrCflct 2
DigInCflctA 2
Description
There is a possible overvoltage on the armature circuit or Par 175 [Rated Motor Volt] is set too low for the application. See the "Arm Overvoltage"fault description on page 222 for more information.
An auxiliary input interlock is open or a voltage (15...30V) or reference signal is missing for the digital input set to 14 "Aux Fault". See the "Auxiliary Input"fault description on page 222 for more information.
Par 1322 [Direction Mode] is set to "Bipolar"or "Reverse Dis"and one or more of these digital input functions is configured: "Fwd/Reverse,""Run Forward,""Run Reverse,""Jog Forward,""Jog Reverse,""Rev Dec Limit,"or "Rev End Limit."
The encoder movement has exceeded the level in Par 1110 [Brk Slip Count] after the brake was set and the brake slip maneuver is controlling the drive (drive is active). Cycle power to the drive to reset.
The encoder movement has exceeded the level in Par 1110 [Brk Slip Count] after the brake was set and the brake slip maneuver is finished (drive is stopped). Cycle power to the drive to reset.
Contactor input functions are in conflict: · When Par 1391 [ContactorControl] is set to "None", both relay outputs (Pars 1392
[Relay Out 1 Sel] and 629 [Relay Out 2 Sel] and all digital inputs ([Digital Inx Sel]) cannot be set to "Contactor"or "ContactorDB". · With [ContactorControl] set to "AC Cntcr"or "DC Cntcr", one relay output and one digital input must be set to "Contactor". No relay or digital output can be defined as "ContactorDB". · With [ContactorControl] set to "AC Cntcr+DB"or "DC Cntcr+DB", both relay outputs and one digital input must be set to "Contactor","ContactorDB"and "Contactor", respectively.
Any relay output can be configured as contactor or DB control and any digital input as contactor status. Therefore, to avoid possible conflicts, take care to program the parameter selections so that they match the relay output and/or digital input terminal block wiring correctly.
Digital input functions are in conflict. Combinations that are marked with a " "causes an alarm.
Acc2/ Dec2 Accel 2 Decel 2 Jog 1/2 Jog Fwd Jog Rev Fwd/Rev
Acc2/ Dec2
Accel Decel Jog 1/2 Jog Fwd Jog Rev Fwd/
2
2
Rev
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Alarm DigInCflctB
Type Description
2 One of these digital input conflicts exists: · A digital Start input has been configured without a Stop input · None of the digital inputs are configured for "Enable" · Other digital input functions are in conflict. Combinations that conflict are marked with a " "and causes an alarm.
DigInCflctC 2 FB Cfg Cflct 2 FldCfg Cflct 2
Fld Current Loss 1 Motor Overload 1 Motor Over Temp 1
Ref Cflct
2
Star Stop- Ru Run t CF n Fwd
Run Jog Jog Rev 1/2 Fwd
Jog Fwd Rev /Rev
Start
Stop-CF
Run
Run Fwd
Run Rev
Jog 1/2
Jog Fwd
Jog Rev
Fwd/ Rev
Multiple physical input has been configured to the same input function. Multiple configurations are not allowed for the following input functions.
Forward/Reverse Run Reverse
Run Forward
Jog Forward
Jog Reverse
Speed Select 1
Speed Select 2
Speed Select 3
Acc2 / Dec2
Accel 2
Decel 2
Run
One of the following has occurred: · Par 414 [Fdbk Device Type] does not equal 3"Armature"and Par 478 [Spd Loss Flt Cfg]
is set to "Alarm" while Par 458 [SpdReg FB Bypass] is set to "Disabled". · Par 414 [Fdbk Device Type] is set to 4"Resolver"and Pars 429 [Resolver Pos Sel], 430
[Resolver Spd Sel], 786 [PID Source], 1204 [Line Spd Source], or 1284 [Ref Spd Source] are selecting a resolver signal. · Par 414 [Fdbk Device Type] is set to 1"Encoder"and Pars 786, 1021, 1204, or 1284 are selecting an encoder signal.
The selected operating mode of the field controller is in conflict with another setting in the drive or a permanent magnet motor is incorrectly configured. This alarm displays under the following conditions: · Par 469 [Field Mode Sel] = "Field Weaken"or "External"and Par 414 [Fdbk Device
Type] = "Armature" · Par 469 [Field Mode Sel] = "Field Weaken"or "External"and Par 478 [Spd Loss Flt Cfg]
= "Alarm" · Par 469 [Field Mode Sel] = "Field Weaken"or "Base Speed"and Par 497 [Field Reg En]
= "Disabled" · Par 469 [Field Mode Sel] = "Base Speed"and Par 498 [Force Min Field] = "Enabled" · Par 469 [Field Mode Sel] = "Base Speed"and Par 133...144 [Digital Inx Sel] = "Force
Min Fld"
The field current is too low. See the "Fld Current Loss"fault description on page 222 for more information.
The selected motor overload current level has been exceeded. See the "Motor Overload" fault description on page 223 for more information.
The motor has exceeded its temperature rating (as signaled by the thermistor that is connected to the drive terminals 78 and 79). See the "Motor Over Temp" fault description on page 223 for more information.
1. Multiple drive reference inputs, listed here, are set to the same value: Pars 70, 75 and 80 [Anlg Inx Sel]. Pars 1323...1327 [DPI Px Select]. Par 1021 [Encoder Out Sel]. Par 430 [Resolver Spd Sel]. See Figure 87 on page 326 or Speed Reference Selection on page 366 for a graphical representation of the possible reference selections for the drive. Par 13751375 [MOP Select].
2. Both Pars 429 [Resolver Pos Sel] and 430 [Resolver Spd Sel] are non-zero. 3. Multiple of the following parameters contains the same value: 786 [PID Source], 1204
[Line Spd Source], and 1284 [Ref Spd Source].
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Alarm
Type
Open SCR
1
Spd Fdbk Err 1
Spd Fdbk Loss 1
Start At PowerUp 1 Torq Prov Cflct 2
TP Encls Config 2
Description
An open SCR condition has been detected (Par 213 [SCR Diag Test En], bit 0 "Open SCR" set (=1) and Par 216 [OpenSCR Flt Cfg] set to "Alarm"). See the Open SCR fault description on page 89 for more information.
With Par 478 [Spd Loss Flt Cfg] set to 1 "Alarm" an error condition that is associated with the selected speed feedback device (analog tachometer, encoder, or resolver) was detected.
Par 478 [Spd Loss Flt Cfg] set to 1 "Alarm."The speed feedback device is indicating a value that is less than 5% of Par 162 [Max Feedback Spd]. However, the measured armature voltage is greater than the value of Par 455 [Spd FB Loss Lvl]. See the "Spd Fdbk Loss" fault description on page 225 for more information.
Par 1344 [Start At Powerup] is enabled. The drive can start at any time after drive powerup and the time that is specified in Par 1345 [Powerup Delay] has elapsed.
Par 1100 [Torq Prove Cfg] is enabled (bit 0 = 1) and any of the following conditions/ conflicts have been occurred: · You are operating a non-regenerative drive - negative current is required for the
TorqProve feature · Par 1322 [Direction Mode] set to 1"Rev Disable" · Par 414 [Fdbk Device Type] is set to 3"Armature Voltage" · Par 414 [Fdbk Device Type] is set to 2"DC Tach"and Par 1100 [Torq Prove Cfg] bit 1
"Encoderless" = 0 · Par 458 [SpdReg FB Bypass] = 1"Enabled" · Par 457 [Spd Fdbk Control] = 0"Disabled" · A digital input is configured as "Lift Stop"and Par 1100 [Torq Prove Cfg] bit 0"TP
Enable" = 0 · Par 166 [Alpha Test] is set to 1"On" · Par 58 [TstGen Output] is not set to 0"NotConnected" · Par 467 [Max Fld Curr Pct] is not set to 100% · Par 498 [Force Min Field] is set to 0"Enabled" · Par 245 [Speed Ramp En] is set to 0"Disabled" · Par 241 [Spd Trq Mode Sel] is not set to 1"Speed Regulator" · There is no relay output that is defined as 31"TP Brake Cmd"
The following conditions are annunciated on the HIM status line as "TP Encls Cfg" and set Par 1394 [Drive Alarm 2], bit 2 "TP Encls Cfg" = 1:
Par 414 [Fdbk Device Type] is set to 1"Encoder"or 4"Resolver"and Par 1100 [Torq Prove Cfg] bit 1 "Encoderless"= 0
Par 1100 [Torq Prove Cfg], bit 5"BrkSlipEncls"= 0 or bit 6"BrkSlipStart"= 1 and bit 1 "Encoderless" = 0
The drive has been configured to enable Encoderless TorqProve, but an application conflict exists. You must read and understand the "Attention"on page 307 relating to the use of TorqProve with no encoder before you can continue.
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Troubleshooting Chapter 4
Common Drive Symptoms and Corrective Actions
The following tables contain descriptions of common drive symptoms and the possible solutions to correct the problem.
If the drive is experiencing this problem Drive does not start Drive starts but motor does not turn and no armature current The motor does not reach commanded speed The motor is turning in the wrong direction The motor reaches maximum speed immediately
See page 231 232 232 232 233
Drive does not start
Drive Symptom
Action
An external "Start"command was issued, but the drive does not · Verify that no faults or alarms are displayed. If a fault or alarm is displayed, follow the corrective action
start.
provided (see Fault Descriptions on page 222 or Alarm Descriptions on page 228).
· The external wiring to the programmed Start terminal block connection is missing.
· Verify that +24V DC is present at terminal block connection.
· Verify that 24V Supply Common is connected between terminals 18 and 16.
· Verify that the configuration for Pars 133...144 [Digital Inx Sel] matches the switch wiring.
The drive is not in a "Ready" state, is not "Enabled"or a "Stop"is Check the Enable and Stop inputs. Verify that the wiring is correct (see on page 85). asserted.
External AC input or DC output contactor, if used, has not closed. If using an AC Input contactor: · Verify that the drive is "Ready", then verify that the required coil voltage is present at terminals 35 and 36 (Relay Output 1). If the coil voltage is present at terminals 35 or 36, then verify that proper voltage is at the AC Input contactor coil. · Inspect the contactor for mechanical problems. · Verify that Par 1391 [ContactorControl] is set properly. · Verify that the contactor and/or auxiliary contact is properly wired to a digital input on the drive and that the appropriate digital input selection parameter (133...144 [Digital Inx Sel]) is set to 31 "Contactor". · Verify that parameter 1392 [Relay Out 1 Sel] is set to 25"Contactor".
The external DB resistor contactor, if used, has not closed.
The drive starts from the HIM but does not start from the terminal block.
If using an external DC Output contactor: · Verify that the drive is "Ready", then verify that the required coil voltage is present at terminals 35 and 36
(Relay Output 1). If the coil voltage is present at terminals 35 or 36, then verify that the proper voltage is at the DC Output contactor coil. · Inspect the contactor for mechanical problems. · Verify that parameter 1391 [ContactorControl] is set properly. · Verify that the contactor and/or auxiliary contact is properly wired to a digital input on the drive and that the appropriate digital input selection parameter (133...144 [Digital Inx Sel]) is set to 31 "Contactor". · Verify that parameter 1392 [Relay Out 1 Sel] is set to 25"Contactor".
· Verify that the drive is "Ready", then verify that the required coil voltage is present at terminals 75 and 76 (Relay Output 2). If the coil voltage is present at terminals 75 or 76, then verify that proper voltage is at the DB contactor coil.
· Inspect contactor for mechanical problems. · Verify that parameter 1391 [ContactorControl] is set properly. · Verify that the auxiliary contacts for the AC Input or DC Output contactor and DB contactor are properly wired in
series to a digital input on the drive. · Verify that the appropriate digital input selection parameter (133...144 [Digital Inx Sel]) is set to 31
"Contactor". · Verify that parameter 629 [Relay Out 2 Sel] is set to 24"ContactorDB".
Check masks for Terminal Block control (see parameters 591 [Logic Mask] and 592 [Start Mask]).
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Chapter 4 Troubleshooting
Drive starts but motor does not turn and no armature current
Drive Symptom The drive starts but there is no armature current and the motor does not respond to a speed signal.
The drive starts and armature current is present but the motor does not turn.
Action
· Verify the wiring to the analog input or inputs that are selected for speed reference (see on page 85). · Verify the settings of switch S9 and Par 71 [Anlg In1 Config]; or S10 and Par 76 [Anlg In2 Config]; or S11 and Par
81 [Anlg In3 Config] (see DIP Switch and Jumper Settings on page 77). · Verify the speed selection digital input or inputs and the respective input terminal voltage, if used. · Verify the analog input voltage that is displayed in parameters 1404 [Analog In1 Value], 1405 [Analog In2
Value] or 1406 [Analog In3 Value].
· The Load may be too great for the motor and drive. · Remove the load from the motor and test for motor rotation. If the motor rotates, use an in-line current meter or DC clamp on meter to measure the armature current. The measured armature current must match the armature current feedback value that is displayed in parameters 200 [Arm Current] and 199 [Arm Current Pct]. Increase the value of parameter 7 [Current Limit], 8 [Current Lim Pos], or 9 [Current Lim Neg]. · Verify that the measured motor field current, using an in-line current meter or DC clamp on meter, equals the feedback value that is displayed in parameter 351 [Field Current]. · Verify that the motor nameplate value equals the value that is displayed in parameter 280 [Nom Mtr Fld Amps]. · Measure the DC voltage that is supplied to the motor field. Verify that the value of parameter 374 [Drv Fld Brdg Cur] equals the setting of DIP Switch S14.
· If the motor does not rotate with the load removed, check the motor. · Verify that parameter 353 [Zero Torque] is not enabled.
Drive Symptom
The drive starts and the motor turns but does reach the commanded speed.
The motor does not reach commanded speed
Action
The load may be too great for the motor and drive. · Remove the load from the motor and test for the correct commanded speed. If the motor reaches the
commanded speed, use an in-line current meter or DC clamp on meter to measure the armature current. The measured armature current must match the armature current feedback value that is displayed in parameters 200 [Arm Current] and 199 [Arm Current Pct]. Increase the value of parameter 7 [Current Limit], 8 [Current Lim Pos] or 9 [Current Lim Neg]. · Verify that the measured motor field current, using an in-line current meter or DC clamp on meter, equals the feedback value that is displayed in parameter 351 [Field Current].
If the motor does not achieve commanded speed, continue with following tests: · Check the speed parameter limits: parameters 2 [Maximum Speed], 3 [Max Speed Fwd], 4 [Max Speed Rev]
and 122 [Spd Feedback]. · Check the analog voltage input and speed reference values: parameters 1404 [Analog In1 Value], 1405 [Analog
In2 Value], 44 [Speed Ref A], 48 [Speed Ref B] · Check the setting of switch S9 and parameter 71 [Anlg In1 Config], S10 and 76 [Anlg In2 Config] or S11 and 81
[Anlg In3 Config]. · Tune the analog inputs using parameters 259...261 [Anlg Inx Tune] with the potentiometer set at max. · The encoder pulse per revolution (PPR) parameter (169 [Encoder PPR]) value is too high. · The DC Tach Scaling is incorrect or the jumpers are not properly set. Check parameter 562 [Anlg Tach Gain] and
check the setting of the DC Analog Tachometer DIP Switch S4 (see Figure 56 on page 79).
Drive Symptom The motor is rotating in the wrong direction.
The motor is turning in the wrong direction
Action
When a speed feedback device is not installed, the motor is incorrectly wired. · Change the armature or field connections to the drive.
When a speed feedback device is not installed, the polarity of the analog speed reference signal is incorrect for the required direction.
The two encoder connections must be reversed (A with A-Not or B with B-Not) when these two conditions are true. · The motor is turning in the wrong direction · The speed feedback is correct
When an analog tachometer is installed and the following two conditions are true, the tachometer leads must be reversed. · The motor is turning in the wrong direction · The speed feedback is correct
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Troubleshooting Chapter 4
Drive Symptom
The motor accelerates to maximum speed and cannot be controlled.
The motor reaches maximum speed immediately
Action
Check the analog input voltage and speed reference values: · Parameters 1404 [Analog In1 Value], 1405 [Analog In2 Value], 44 [Speed Ref A] and 48 [Speed Ref B] · Check the setting of switch S9 and parameter 71 [Anlg In1 Config], S10 and 76 [Anlg In2 Config] or S11 and 81
[Anlg In3 Config].
The feedback device, encoder, resolver, or DC analog tachometer is not connected/configured, incorrectly connected or has failed. · Change parameter 414 [Fdbk Device Type] to 3"Armature"to test the encoder or DC analog tachometer
feedback.
The motor speed cannot be controlled and the drive does not stop
Drive Symptom
Action
The drive armature voltage feedback terminals are connected to The polarity of the armature voltage feedback connections may be incorrect:
the motor, but exhibits these conditions simultaneously:
1. By using a voltmeter, measure the drive armature output voltage at terminals C and D, with the positive lead
· Starts but the motor speed cannot be controlled
connected to terminal C.
· Does not stop when a stop command is issued
2. Check the polarity of the armature voltage feedback parameter 233. The value of parameter 233 must be the
same as the polarity of the armature output voltage at terminals C and D.
3. If the polarity of parameter 233 does not match the value that the voltmeter measured, swap the leads at
terminals A1 and A2 on the armature voltage feedback terminal block.
Testpoint Codes and Functions
Select a testpoint with Par 1381 [TestPoint Sel]. Values can be viewed with Par
1382 [TestPoint Data].
No.(1) Description
Values
Minimum Maximum Default
566 Rx count
567 Tx count
568 BusLoss count
569 Port 1 Timeout
570 Port 2 Timeout
571 Port 3 Timeout
572 Port 4 Timeout
573 Port 5 Timeout
0
65535
0
574 Port 6 Timeout
575 Internal gain of P188 (x100)
576 Internal gain of P189 (x100)
577 Internal gain of P190 (x100)
578 Internal gain of P191 (x100)
579 Internal gain of P192 (x100)
580 Internal gain of P193 (x100)
581 Max DSP execution time (20 MHz counts)
0
833 (41.65 s) 464 (23.2 s)
582 Number of incorrect packets received from the Fiber-
0
65535
0
optic Interface circuit board fiber-optic connections
583 Value returned by the Fiber-optic Interface circuit board when power is applied. A value other than 23041 indicates that the board is configured but is not present or has not been properly installed
584 Minimum firing angle reached during drive lifetime
585 Min firing angle reached since last power cycle
(1) Enter in Par 1381 [TestPoint Sel].
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Chapter 4 Troubleshooting
Notes:
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A Appendix
Supplemental Drive Information
Topic
Page
Certifications and Specifications
236
IP20 NEMA / UL Type Open Watts Loss
236
Communication Configurations
240
Drive Power Circuit Protection
243
Control Power Circuit Protection Fuses
259
AC Input Line Reactors and AC Input Contactors
264
Isolation Transformers
267
Dynamic Brake Resistor Kits and DC Output Contactors
269
DC Contactor Crimp Lug Kit Specifications
271
Alternate EMC Filters
273
Terminal Adapter Kits for Frame D Drives
279
This appendix provides drive specification, communication configuration, circuit protection and supplemental system components information.
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Appendix A Supplemental Drive Information
Certifications and Specifications
See the PowerFlex® Digital DC Drive Technical Data, publication 20P-TD001, for certification and specification information.
IP20 NEMA / UL Type Open Watts Loss
The watts loss data that is shown in Table 45 is based on the rated current of the drive.
Table 45 - Frame A Drives Watts Loss and Fan Capacity
Drive Current Rating Code(1) At 230VAC At 460VAC
Total Watts Loss
Total Value for Fan (none or 1)
AC Input Rated Current
Voltage
(A)
7P0
4P1
9P0
6P0
012
010
131
020
014
(no fan)
019
029
027
186
038
035
055
045
254
052
073
073
408
(Internal power supply)
093
086
476
110
100
553
129
Max. Air Flow Noise Level
80 m3/h 37 dB(A)
160 m3/h 45 dB(A)
(1) See the Standard Drive Catalog Number Explanation on page 13, positions 8...10, for the Hp, armature amp, and field amp ratings that correspond to each drive current rating code listed in this table.
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Supplemental Drive Information Appendix A
Table 46 - Frame B Drives Watts Loss and Fan Capacity
Drive
Total Value for All Fans (2)
Current Rating AC Input Total Watts AC Input
Code(1)
Voltage
Loss
Voltage
Rated Current
146 781
180
218
939
230
265
1038
360 1693
434
167
781
207
939
250
460
1038
(Internal power supply)
330
1248
412
1693
067
400
101
553
135
575
700
270
1038
405
1693
Max Air Flow Noise Level
340 m3/h 48 dB(A)
720 m3/h 53 dB(A)
340 m3/h 48 dB(A)
720 m3/h 53 dB(A)
340 m3/h 48 dB(A)
720 m3/h 53 dB(A)
(1) See the Standard Drive Catalog Number Explanation on page 13, positions 8...10, for the Hp, armature amp, and field amp ratings that correspond to each drive current rating code listed in this table.
Table 47 - Frame C Drives Watts Loss and Fan Capacity
Drive Current Rating
Code(1)
521 700 495 667 540 675 452 565
AC Input Voltage
230 460 575 690
Total Watts Loss
2143 2700 2143 2590 2300 2620 1700 2300
Total Value for All Fans (3) (2)
AC Input Voltage
Rated Current
(A)
230
0.75
Max Air Flow Noise Level
1050 m3/h 62.5 dB(A)
(1) See the Standard Drive Catalog Number Explanation on page 13, positions 8...10, for the Hp, armature amp, and field amp ratings that correspond to each drive current rating code listed in this table.
(2) Fans on frames C drives require an external 230 V AC, 50/60 Hz power supply, which is connected to terminals U3 and V3.
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Appendix A Supplemental Drive Information
Table 48 - Frame D Drives Watts Loss and Series A Fan Capacity
Drive
Total Values for Fan (2)
Current AC Input Total Watts AC Input
Rating Code(1) Voltage
Loss
Voltage
Rated Current (A)
875
2694
230
1K0
3284
830
3200
996R
3568
1K1
480
4189
1K3
5229
1K4
5117
810
3122
1K0
3819
1K2
575
4679
2.4A@50Hz
230
and
1K3
4879
3.3A@60Hz
1K6
5720
678
3174
791
3582
904
4028
1K0
4064
690
1K1
4509
1K2
5368
1K4
5543
1K5
5886
Max Air Flow Noise Level
2400 m3/h 80 dB(A)
(1) See the Standard Drive Catalog Number Explanation on page 13, positions 8...10, for the Hp, armature amp, and field amp ratings that correspond to each drive current rating code listed in this table.
(2) Fans on frames D drives require an external 230 V AC, 50/60 Hz power supply, which is connected to terminals U3 and V3.
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Supplemental Drive Information Appendix A
Table 49 - Frame D Drives Watts Loss and Series B Fan Capacity
Drive
Total Values for Fan (2)
Current Rating AC Input Total
AC Input Rated Current
Code(1)
Voltage Watts Loss Voltage
(A)
875
2694
230
1K0
3284
830
3200
996
3568
1K1
480
4189
1K3
5229
1K4
5117
810
3122
1K0
3819
Three-phase
1K2 1K3
575
4679 4879
400V AC 50 Hz Or
1.15 A @ 50 Hz and 1.4 A @ 60
Hz
1K6
5720 460V AC 60 Hz
678
3174
791
3582
904
4028
1K0
4064
690
1K1
4509
1K2
5368
1K4
5543
1K5
5886
Max. Air Flow Noise Level
2,400 m3/h @ 400VAC 50 Hz
2,800 m3/h @460VAC 60 Hz
83 dB(A) @ 400VAC 50 Hz 2,000 m3/h
86 dB(A) @ 460VAC 60 Hz 2,000 m3/h
(1) See the Standard Drive Catalog Number Explanation on page 13, positions 8...10, for the Hp, armature amp, and field amp ratings that correspond to each drive current rating code listed in this table.
(2) Fans on frames D drives require an external three-phase 400/460V AC, 50/60 Hz power supply, which is connected to terminals U3, V3, and W3.
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Appendix A Supplemental Drive Information
Table 50 - Frame D Drives Watts Loss and Series C Fan Capacity
Drive
Total Values for Fan (2)
Current Rating AC Input Total
AC Input Rated Current
Code(1)
Voltage Watts Loss Voltage
(A)
875
2694
230
1K0
3284
830
3200
996
3568
1K1
480
4189
1K3
5229
1K4
5117
810
3122
1K0
3819
Three-phase
1K2 1K3
575
4679 4879
400V AC 50 Hz Or
1.25 A @ 50 Hz and 1.55 A @ 60
Hz
1K6
5720 460V AC 60 Hz
678
3174
791
3582
904
4028
1K0
4064
690
1K1
4509
1K2
5368
1K4
5543
1K5
5886
Max. Air Flow Noise Level
2,900 m3/h @ 400VAC 50 Hz
3,400 m3/h @460VAC 60 Hz
84 dB(A) @ 400VAC 50 Hz 90 dB(A) @ 460VAC 60 Hz
(1) See the Standard Drive Catalog Number Explanation on page 13, positions 8...10, for the Hp, armature amp, and field amp ratings that correspond to each drive current rating code listed in this table.
(2) Fans on frames D drives require an external three-phase 400/460V AC, 50/60 Hz power supply, which is connected to terminals U3, V3, and W3.
Communication Configurations
Typical Programmable-Controller Configurations
IMPORTANT
If block transfers are programmed to write information continuously to the drive, care must be taken to format the block transfer properly. If attribute 10 is selected for the block transfer, values are written only to RAM and are not saved in the drive. This method is the preferred attribute for continuous transfers. If attribute 9 is selected, each program scan completes a write to the drives non-volatile memory (EEprom). Because the EEprom has a fixed number of allowed writes, continuous block transfers can quickly damage the EEprom. Do Not assign attribute 9 to continuous block transfers. See the appropriate User Manual for your communication adapter for additional details.
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Supplemental Drive Information Appendix A
Logic Command/Status Words
See parameter 1328 [Drive Logic Rslt] for more information.
Figure 66 - Logic Command Word
Logic Bits
Command
1 1 1 1 1 1 9876543210 543210
x Stop(1)
x Start(1)(2)
x
Jog
x
Clear Faults
xx
Direction
x x xx
Local Control
MOP Increment
Accel Rate
xx
Decel Rate
xxx
Reference Select (3)
Description
0 = Not Stop 1 = Stop
0 = Not Start 1 = Start
0 = Not Jog 1 = Jog
0 = Not Clear Faults 1 = Clear Faults
00 = No Command 01 = Forward Command 10 = Reverse Command 11 = Hold Present Direction
0 = No Local Control 1 = Local Control
0 = Not Increment 1 = Increment
00 = No Command 01 = Use Accel Time 1 10 = Use Accel Time 2 11 = Use Present Time
00 = No Command 01 = Use Decel Time 1 10 = Use Decel Time 2 11 = Use Present Time
000 = No Command 001 = Ref. 1 (Spd Ref A) 010 = Ref. 2 (Spd Ref B) 011 = Ref. 3 (Preset Spd 3) 100 = Ref. 4 (Preset Spd 4) 101 = Ref. 5 (Preset Spd 5) 110 = Ref. 6 (Preset Spd 6) 111 = Ref. 7 (Preset Spd 7)
x
MOP
0 = Not Decrement
Decrement 1 = Decrement
(1) A "0 = Not Stop"condition (logic 0) must first be present before a "1 = Start"condition starts the drive. The Start command acts as a momentary Start command. A "1"starts the drive, but returning to "0"does not stop the drive.
(2) This Start does not function when a digital input (parameters 133...144) is programmed for 2-Wire Control (option 5"Run", 6 "Run Forward"or 7 "Run Reverse").
(3) This Reference Select does not function when a digital input (parameters 133...144) is programmed for "Speed Sel 1, 2 or 3" (option 17, 18 or 19). Note that Reference Selection is "Exclusive Ownership". See [Reference Owner] on page 192.
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Appendix A Supplemental Drive Information
Figure 67 - Logic Status Word
Logic Bits
Status
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
x Ready
x Active
x x x
Command Direction
Actual Direction
Accel
x
Decel
x
Alarm
x
Fault
x
At Speed
xxx
Local Control (1)
xxxx
Reference Source
(1) See Masks and Owners on page 191 for further information.
Description
0 = Not Ready 1 = Ready
0 = Not Active 1 = Active
0 = Reverse 1 = Forward
0 = Reverse 1 = Forward
0 = Not Accelerating 1 = Accelerating
0 = Not Decelerating 1 = Decelerating
0 = No Alarm 1 = Alarm
0 = No Fault 1 = Fault
0 = Not At Reference 1 = At Reference
000 = Port 0 (TB) 001 = Port 1 010 = Port 2 011 = Port 3 100 = Port 4 101 = Port 5 110 = Reserved 111 = No Local
0000 = Spd Ref A Auto 0001 = Spd Ref B Auto 0010 = Preset Spd 2 Auto 0011 = Preset Spd 3 Auto 0100 = Preset Spd 4 Auto 0101 = Preset Spd 5 Auto 0110 = Preset Spd 6 Auto 0111 = Preset Spd 7 Auto 1000 = Term Blk Manual 1001 = DPI 1 Manual 1010 = DPI 2 Manual 1011 = DPI 3 Manual 1100 = DPI 4 Manual 1101 = DPI 5 Manual 1110 = Reserved 1111 = Jog Ref
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Drive Power Circuit Protection
Supplemental Drive Information Appendix A
The tables on the following pages provide the fuses that are required for protecting the armature and field circuits of the drive. Externally mounted fuses (as indicated in Figure 68) must be sourced separately when installing the drive. Internally mounted fuses (as indicated in Figure 68 and Figure 71 on page 251) are provided with the drive.
See page 251 for frames C and D fuse information.
Frame A and B Fuse Information
Figure 68 - Frame A and B Fuse Table Designations
FS1 = Externally mounted fuses for the armature converter on the AC input side.
FS1
U VW
U1 V1
FS3
C
FS2 = Externally mounted fuses for the armature circuit on the DC side.
FS2
D
C1 D1
M
FS3 = Internally mounted fuses for the field circuit on the AC input side.
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Appendix A Supplemental Drive Information
Frame A and B AC Input Line Fuses
AC input line fuses are externally mounted for frame A and B drives and must be sourced separately. See Fuse Code FS1 in Figure 68 on page 243.
Table 51 - 230V AC Input Drives
Drive Current Rating Code
DC AC Bussmann Amps Line
Amps Ferrule FWP Type
Frame
A 7P0 9P0 012 020 029 038 055 073 093 110
B 146 180 218 265 360 434
7 5.7 FWP-10A14F 9 7.4 FWP-15A14F 12 9.8 FWP-20A14F 20 16 FWP-25A14F 29 24 FWP-40A22F 38 31 FWP-63A22F 55 45 FWP-80A22F 73 60 93 76 110 90 146 119 180 147 218 178 265 217 360 294 434 355
Mersen
North American Ferrule A70QS
FWP Type
Type
FWP-10B FWP-15B FWP-20B FWP-25B FWP-40B FWP-60B FWP-80B FWP-100A FWP-150A FWP-175A FWP-250A FWP-300A FWP-350A FWP-400A FWP-600A FWP-600A
A70QS10-14F A70QS16-14F A70QS20-14F A70QS25-14F A70QS40-22F A70QS63-22F A70QS80-22F
North American A70P / A70QS Type A70P10-4 A70P15-4 A70P20-4 A70P25-4 A70QS40-4 A70QS60-4 A70QS80-4 A70QS100-4K A70QS150-4K A70QS175-4K A70QS250-4 A70QS300-4 A70QS350-4 A70QS400-4 A70QS600-4K A70QS600-4
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Supplemental Drive Information Appendix A
Table 52 - 460V AC Input Drives
Frame
Drive DC AC Bussmann
Current Amps Line
Rating
Amps Ferrule FWP
Code
Type
A 4P1 6P0 010 014 019 027 035 045 052 073 086 100 129
B 167 207 250 330 412
4.1 3.3 FWP-10A14F 6 4.9 FWP-10A14F 10 8.2 FWP-20A14F 14 11.4 FWP-25A14F 19 15.5 FWP-25A14F 27 22.1 FWP-40A22F 35 28.6 FWP-63A22F 45 36.8 FWP-80A22F 52 42.5 FWP-80A22F 73 59.6 86 70.3 100 81.7 129 105.4 167 136.4 207 169.1 250 204.3 330 269.6 412 336.6
Mersen
North American Ferrule A70QS
FWP Type
Type
FWP-10B FWP-10B FWP-20B FWP-25B FWP-25B FWP-40B FWP-60B FWP-80B FWP-80B FWP-100A FWP-150A FWP-175A FWP-175A FWP-300A FWP-350A FWP-400A FWP-600A FWP-600A
A70QS10-14F A70QS10-14F A70QS20-14F A70QS25-14F A70QS25-14F A70QS40-22F A70QS63-22F A70QS80-22F A70QS80-22F
North American A70P / A70QS Type A70P10-4 A70P10-4 A70P25-4 A70P25-4 A70P25-4 A70QS40-4 A70QS60-4 A70QS80-4 A70QS80-4 A70QS100-4K A70QS150-4K A70QS175-4K A70QS175-4K A70QS300-4 A70QS350-4 A70QS400-4 A70QS600-4K A70QS600-4
Table 53 - 575V AC Input Drives
Frame
Drive Current Rating Code
B
067
101
135
270
405
DC Amps
67.5 101.3 135 270 405
AC Line Bussmann Amps
North American FWP Type
55.1 FWP-100A
82.7 FWP-175A
110.3 FWP-225A
220.6 FWP-450A
330.9 FWP-600A
Mersen North American A70QS Type
A70QS100-4 A70QS175-4K A70QS225-4 A70QS450-4 A70QS600-4K
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Appendix A Supplemental Drive Information
Frame A and B Armature DC Output Fuses
Armature DC output fuses are externally mounted for frame A and B drives and must be sourced separately. These fuses are required on four quadrant drives only, but highly recommended on two quadrant drives. See Fuse Code FS2 in Figure 68 on page 243.
Table 54 - 230V AC Input Drives
Frame
Drive Curren t Rating Code
DC AC Bussmann Amps Line
Amps Ferrule FWP Type North American FWP Type
Mersen
Ferrule A70QS Type
North American A70P / A70QS Type
A 7P0 7 5.7 FWP-15A14F
FWP-15B
A70QS16-14F A70P15-4
9P0 9 7.4 FWP-20A14F
FWP-20B
A70QS20-14F A70P20-4
012 12 9.8 FWP-25A14F
FWP-25B
A70QS25-14F A70P25-4
020 20 16 FWP-40A14F
FWP-40B
A70QS40-14F A70QS40-4
029 29 24 FWP-63A22F
FWP-60B
A70QS63-22F A70QS60-4
038 38 31 FWP-80A22F
FWP-80B
A70QS80-22F A70QS80-4
055 55 45
FWP-125A
A70QS125-4K
073 73 60
FWP-150A
A70QS150-4K
093 93 76
FWP-200A
A70QS200-4K
110 110 90
FWP-225A
A70QS250-4
B 146 146 119
FWP-300A
A70QS300-4
180 180 147
FWP-350A
A70QS350-4
218 218 178
FWP-450A
A70QS450-4
265 265 217
FWP-600A
A70QS600-4K
360 360 294
FWP-700A
A70QS700-4
434 434 355
FWP-900A
A70P900-4
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Supplemental Drive Information Appendix A
Table 55 - 460V AC Input Drives
Frame
Drive Curren t Rating Code
DC AC Bussmann Amps Line
Amps Ferrule FWP Type
A 4P1 4.1 3.3 FWP-10A14F
6P0 6 4.9 FWP-15A14F
010 10 8.2 FWP-20A14F
014 14 11.4 FWP-30A14F
019 19 15.5 FWP-40A14F
027 27 22.1 FWP-63A22F
035 35 28.6 FWP-80A22F
045 45 36.8 FWP-100A22F
052 52 42.5 FWP-100A22F
073 73 59.6
086 86 70.3
100 100 81.7
129 129 105.4
B 167 167 136.4
207 207 169.1
250 250 204.3
330 330 269.6
412 412 336.6
Mersen
North American Ferrule A70QS North American
FWP Type
Type
A70P / A70QS
Type
FWP-10B FWP-15B FWP-20B FWP-30B FWP-40B FWP-60B FWP-70B FWP-90B FWP-100B FWP-150A FWP-175A FWP-200A FWP-250A FWP-350A FWP-400A FWP-500A FWP-700A FWP-800A
A70QS10-14F A70QS16-14F A70QS20-14F A70QS32-14F A70QS40-14F A70QS63-22F A70QS80-22F
A70P10-4 A70P15-4 A70P20-4 A70P30-4 A70QS40-4 A70QS60-4 A70QS70-4 A70QS90-4 A70QS100-4 A70QS150-4K A70QS175-4K A70QS200-4K A70QS250-4 A70QS350-4 A70QS400-4 A70QS500-4K A70QS700-4 A70QS800-4
Table 56 - 575V AC Input Drives
Frame Drive Current Rating Code
B
067
101
135
270
405
DC Amps AC Line Amps
Bussmann
Mersen
North American FWP North American A70P / A70QS
Type
Type
67.5 55.1 FWP-125A
101.3 82.7 FWP-200A
135
110.3 FWP-250A
270
220.6 FWP-600A
405
330.9 FWP-800A
A70QS125-4K A70QS200-4K A70QS250-4 A70QS600-4K A70QS800-4
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Appendix A Supplemental Drive Information
Frame A and B Field Circuit Fuses
Field circuit fuses are internally mounted and provided with the drive. See Fuse Code FS3 in Figure 68 on page 243. Also, see Figure 69 on page 250 and Figure 69 on page 250 for fuse locations.
Table 57 - 230V AC Input Drives
Frame
Drive Field Type Curren Amps t Rating Code
Quantity
A 7P0
9P0
012
020 10
029 6 x 32 mm 2
038
055
073
093 14
110
B 146
180
218 20 10 x 38 mm 2
265
360
434
Bussmann FWH-016A6F FWC-25A10F
Mersen E085449 A60Q25-2
SIBA 70 125 40.16 60 033 05.25
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Supplemental Drive Information Appendix A
Table 58 - 460V AC Input Drives
Frame
Drive Field Type Curren Amps t Rating Code
Quantity Bussmann
A 4P1
6P0
010
014
019 10
027
035
6 x 32 mm 2
FWH-016A6F
045
052
073
086 14
100
129
B 167
207
250 20 10 x 38 mm 2
FWC-25A10F
330
412
Mersen E085449 A60Q25-2
Table 59 - 575V AC Input Drives
Frame
Drive Current Rating Code
B 067
101
135
270
405
Field Quantity Amps
20 2
Type
Bussmann Mersen
10 x 38 mm FWC-25A10F A60Q25-2
SIBA
70 125 40.16
60 033 05.25 SIBA 60 033 05.25
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Appendix A Supplemental Drive Information
Bottom View of Drive with Fan
Figure 69 - Frame A Field Circuit Fuses Location Bottom View of Drive without Fan
Field circuit fuses
Figure 70 - Frame B Field Circuit Fuses Location Top View of Drive
Field circuit fuses
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Supplemental Drive Information Appendix A
Frame C and D Fuse Information
All fuses for armature and field circuit protection are internally mounted and provided with frame C and D drives.
Figure 71 - Frame C and D Fuse Table Designations
FS4 = Internally
U VW
U1 V1
mounted fuses for the armature
FS4
FS3
converter on the AC
input side.
C
D
C1 D1
FS3 = Internally mounted fuses for the field circuit on the AC input side.
M
Frame C and D Field Circuit Fuses
Field circuit fuses for frames C and D drives are internally mounted (labeled FU1 and FV1) and provided with the drive. See Fuse Code FS3 in Figure 71. Also, see Figure 72 on page 253 and Figure 73 on page 253 for locations.
Table 60 - 230V AC Input Drives
Frame
Drive Current Rating Code
C 521
D 875
1K0
Field Type Amps
Qty Bussmann
20 10 x 38 mm
FWC-25A10F
2
40 22 x 58 mm
FWP-50A22F
Mersen
A60Q25-2 A70QS50-22F
SIBA
6003305.25 5014006.50
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Appendix A Supplemental Drive Information
Table 61 - 460V AC Input Drives
Frame
Drive Current Rating Code
Field Type Amps
Qty Bussmann
C 495 667
20 10 x 38 mm
FWC-25A10F
D 830 40
996
FWP-50A22F 2
1K1
22 x 58 mm
1K3
70
1K4
FWP-100A22F
Table 62 - 575V AC Input Drives
Frame
Drive Current Rating Code
Field Type Amps
Qty Bussmann
C 540 675
20 10 x 38 mm
FWC-25A10F
D 810
1K0
2
1K2
40 22 x 58 mm
FWP-50A22F
1K3
1K6
Table 63 - 690V AC Input Drives
Frame
Drive Current Rating Code
Field Type Amps
Qty Bussmann
C 452 565
20 10 x 38 mm
FWC-25A10F
D 678
791
40
FWP-50A22F
904
2
1K0
22 x 58 mm
1K1
1K2 70
1K4
FWP-100A22F
1K5
Mersen A60Q25-2 A60Q25-8 A70QS50-22F A70QS100-22F
Mersen A60Q25-2 A60Q25-8 A70QS50-22F
Mersen A60Q25-2 A60Q25-8 A70QS50-22F
A70QS100-22F
SIBA 6003305.25 5014006.50 5014006.100 SIBA 6003305.25 5014006.50
SIBA 6003305.25 5014006.50 5014006.100
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Supplemental Drive Information Appendix A Figure 72 - Frame C Field Circuit Fuse Location
Field circuit fuses are on the control board EMI shield next to the control board.
Drive shown with front covers removed. Figure 73 - Frame D Field Circuit Fuse Location
Top, left side of drive control panel.
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253
Appendix A Supplemental Drive Information
Frame
Frame
Fuses for Regenerative Frame C and D Drives
Leg fuses are internally mounted and provided with frames C and D drives. See Fuse Code FS4 in Figure 71 on page 251. Also, see Figure 74 on page 256 and Figure 75 on page 256 for fuse locations.
Table 64 - Leg Fuses - 230V AC Input Frame C Drives
Drive DC AC Qty Bussmann
Mersen
Current Amps Line
Rating
Amps
Square Body - Flush End Contact
Code
C 521 521 426 6 170M5464 + switch 170H0069 6,9 URD 32 TTF 800 + switch MS 3-V1-5 BS
700 700 571 6 170M5464 + switch 170H0069 6,9 URD 32 TTF 800 + switch MS 3V 1-5 BS
SIBA
20 671 32.800 + switch 28 001 04 20 671 32.800 + switch 28 001 04
Table 65 - Leg Fuses - 230V AC Input Frame D Drives
Drive DC AC Qty Bussmann
Mersen
Current Amps Line
Rating
Amps
Square Body - DIN 43653 Stud-Mount
Code
D 875 875 715 6 170M6263 + switch 170H0069 Y300263 + switch MS 3V 1-5 UR
1K0 1050 858 6 170M6264 + switch 170H0069 Z300264 + switch MS 3V 1-5 UR
SIBA
20 635 32.900 + switch 28 001 04 20 635 32.1000 + switch 28 001 04
Table 66 - Leg Fuses - 460V AC Input Frame C Drives
Drive DC AC Qty Bussmann
Mersen
Current Amps Line
Rating
Amps
Square Body - Flush End Contact
Code
C 495 495 404.4 6 170M5462 + switch 170H0069 6,9 URD 32 TTF 630 + switch MS 3-V1-5 BS
667 667 544.9 6 170M5464 + switch 170H0069 6,9 URD 32 TTF 800 + switch MS 3-V1-5 BS
SIBA
20 671 32.630 + switch 28 001 04 20 671 32.800 + switch 28 001 04
Table 67 - Leg Fuses - 460V AC Input Frame D Drives
Drive DC ACLine Qty Bussmann
Mersen
Current Amps Amps
Rating
Square Body - DIN 43653 Stud-Mount
Code
D 830 830 678.1 6 170M6262 + switch 170H0069 X300262 + switch MS 3V 1-5 UR
996 996 813.7 6 170M6264 + switch 170H0069 Z300264 + switch MS 3V 1-5 UR
1K1 1162 949.4 6 170M6265 + switch 170H0069 A300262 + switch MS 3V 1-5 UR
1K3 1328 1085.0 6 170M6266 + switch 170H0069 B300266 + switch MS 3V 1-5 UR
1K4 1494 1220.6 6 170M6267 + switch 170H0069 C300267 + switch MS 3V 1-5 UR
SIBA
20 635 32.800 + switch 28 001 04 20 635 32.1000 + switch 28 001 04 20 635 32.1100 + switch 28 001 04 20 635 32.1250 + switch 28 001 04 20 635 32.1400 + switch 28 001 04
Table 68 - Leg Fuses - 575V AC Input Frame C Drives
Drive Current Rating Code
DC AC Qty Bussmann
Mersen
Amps Line Amps
Square Body - Flush End Contact
C 540
540 441 6
11 URD 72 TTF 0800 + switch MS 3V 1-5 BS
675
675 551 6
11 URD 72 TTF 0800 + switch MS 3V 1-5 BS
SIBA
20 771 32.800 + switch 28 001 04 20 771 32.800 + switch 28 001 04
Frame
Frame
Frame
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Frame
Frame
Supplemental Drive Information Appendix A
Table 69 - Leg Fuses - 575V AC Input Frame D Drives
Drive DC ACLine Qty Bussmann
Mersen
Current Amps Amps Rating
Square Body - DIN 43653 Stud-Mount
Code
D 810 810 661 6 170M6246 + switch 170H0069 J300572 + switch MS 3V 1-5 UR
1K0 1080 881 6 170M6248 + switch 170H0069 L300574 + switch MS 3V 1-5 UR
1K2 1215 991 12 170M6244 + switch 170H0069 G300570 + switch MS 3V 1-5 UR
1K3 1350 1102 12 170M6245 + switch 170H0069 H300571 + switch MS 3V 1-5 UR
1K6 1688 1377 12 170M6246 + switch 170H0069 J300572 + switch MS 3V 1-5 UR
SIBA
20 735 32.800 + switch 28 001 04 20 735 32.1000 + switch 28 001 04 20 735 32.630 + switch 28 001 04 20 735 32.700 + switch 28 001 04 20 735 32.800 + switch 28 001 04
Table 70 - Leg Fuses - 690V AC Input Frame C Drives
Drive DC AC Line Qty Bussmann
Mersen
Current Amps Amps Rating
Square Body - Flush End Contact
Code
C 452 452 369 6 170M5394 + switch 170H0069 12,5 URD 72 TTF 0500 + switch MS 3V 1-5 BS
565 565 461 6
12,5 URD 72 TTF 0630 + switch MS 3V 1-5 BS
SIBA
20 771 32.500 + switch 28 001 04 20 771 32.630 + switch 28 001 04
Table 71 - Leg Fuses - 690V AC Input Frame D Drives
Drive Current Rating Code
DC AC Line Qt Amps Amps y
Bussmann
Mersen
Square Body - DIN 43653 Stud-Mount
D 678 678 553 6 170M6244 + switch 170H0069
G300570 + switch MS 3V 1-5 UR
791 791 645 6 170M6246 + switch 170H0069
J300572 + switch MS 3V 1-5 UR
904 904 738 6 170M6247 + switch 170H0069
K300573 + switch MS 3V 1-5 UR
1K0 1017 830 6 170M6248 + switch 170H0069
L300574 + switch MS 3V 1-5 UR
1K1 1130 922 12 170M6244 + switch 170H0069
G300570 + switch MS 3V 1-5 UR
1K2 1243 1014 12 170M6244 + switch 170H0069
G300570 + switch MS 3V 1-5 UR
1K4 1413 1153 12 170M6245 + switch 170H0069
H300571 + switch MS 3V 1-5 UR
1K5 1582 1291 12 170M6246 + switch 170H0069
J300572 + switch MS 3V 1-5 UR
SIBA
20 735 32.630 + switch 28 001 04 20 735 32.800 + switch 28 001 04 20 735 32.900 + switch 28 001 04 20 735 32.1000 + switch 28 001 04 20 735 32.630 + switch 28 001 04 20 735 32.630 + switch 28 001 04 20 735 32.700 + switch 28 001 04 20 735 32.800 + switch 28 001 04
Frame
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255
Appendix A Supplemental Drive Information Figure 74 - Frame C Regenerative Drive - Leg Fuse Location
Leg fuses and switches are installed on the bus bars behind the control board EMI shield.
Drive shown with front covers removed and control board EMI shield lowered. Figure 75 - Frame D Regenerative Drive - Leg Fuse Location
Leg fuses and switches are installed on the bus bars behind the control panel, which holds the circuit boards.
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Frame
Frame
Supplemental Drive Information Appendix A
Fuses for Non-Regenerative Frame C and D Drives
AC input line and/or leg fuses are internally mounted and provided with frames C and D drives. See Fuse Code FS4 in Figure 71 on page 251. Also, see Figure 76 on page 258 for fuse locations.
Table 72 - AC Input Line Fuses - 230V AC Input Frame C Drives
Drive DC AC Qty Bussmann
Mersen
Current Amps Line
Rating
Amps
Square Body - Flush End Contact
Code
C 521
521 426 3 170M5466 + switch 170H0069 6,9 URD 32 TTF 1000 + switch MS 3-V1-5 BS
700
700 571 3 170M5466 + switch 170H0069 6,9 URD 32 TTF 1000 + switch MS 3V 1-5 BS
SIBA
20 671 32.1000 + switch 28 001 04 20 671 32.1000 + switch 28 001 04
Table 73 - Leg Fuses - 230V AC Input Frame D Drives
Drive DC AC Qty Bussmann
Mersen
Current Amps Line
Rating
Amps
Square Body - DIN 43653 Stud-Mount
Code
D 875 875 715 6 170M6263 + switch 170H0069 Y300263 + switch MS 3V 1-5 UR
1K0 1050 858 6 170M6264 + switch 170H0069 Z300264 + switch MS 3V 1-5 UR
SIBA
20 635 32.900 + switch 28 001 04 20 635 32.1000 + switch 28 001 04
Table 74 - AC Input Line Fuses - 460V AC Input Frame C Drives
Drive DC AC Qty Bussmann
Mersen
Current Amps Line
Rating
Amps
Square Body - Flush End Contact
Code
C 495 495 404.4 3 170M5464 + switch 170H0069 6,9 URD 32 TTF 800 + switch MS 3-V1-5 BS
667 667 544.9 3 170M5466 + switch 170H0069 6,9 URD 32 TTF 1000 + switch MS 3-V1-5 BS
SIBA
20 671 32.800 + switch 28 001 04 20 671 32.1000 + switch 28 001 04
Table 75 - Leg Fuses - 460V AC Input Frame D Drives
Drive DC AC Qty Bussmann
Mersen
Current Amps Line
Rating
Amps
Square Body - DIN 43653 Stud-Mount
Code
D 830 830 678.1 6 170M6262 + switch 170H0069 X300262 + switch MS 3V 1-5 UR
996 996 813.7 6 170M6264 + switch 170H0069 Z300264 + switch MS 3V 1-5 UR
1K1 1162 949.4 6 170M6265 + switch 170H0069 A300262 + switch MS 3V 1-5 UR
1K3 1328 1085. 6 170M6266 + switch 170H0069 B300266 + switch MS 3V 1-5 UR 0
1K4 1494 1220. 6 170M6267 + switch 170H0069 C300267 + switch MS 3V 1-5 UR 6
SIBA
20 635 32.800 + switch 28 001 04 20 635 32.1000 + switch 28 001 04 20 635 32.1100 + switch 28 001 04 20 635 32.1250 + switch 28 001 04 20 635 32.1400 + switch 28 001 04
Table 76 - AC Input Line Fuses - 575V AC Input Frame C Drives
Drive DC AC Qty Bussmann
Mersen
Current Amps Line
Rating
Amps
Square Body - Flush End Contact
Code
C 540
540 441 3 170M5466 + switch 170H0069 6,9 URD 32 TTF 1000 + switch MS 3V 1-5 BS
675
675 551 3 170M5466 + switch 170H0069 6,9 URD 32 TTF 1000 + switch MS 3V 1-5 BS
SIBA
20 671 32.1000 + switch 28 001 04 20 671 32.1000 + switch 28 001 04
Frame
Frame
Frame
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Appendix A Supplemental Drive Information
Frame
Table 77 - Leg Fuses - 575V AC Input Frame D Drives
Drive DC AC
Current Amps Line
Rating
Amps
Code
D 810 810 661
1K0 1080 881
1K2 1215 991
1K3 1350 1102
1K6 1688 1377
Qty Bussmann
Mersen
Square Body - DIN 43653 Stud-Mount
6 170M6262 + switch 170H0069 6 170M6264 + switch 170H0069 6 170M6265 + switch 170H0069 6 170M6266 + switch 170H0069 12 170M6262 + switch 170H0069
X300262 + switch MS 3V 1-5 UR Z300264 + switch MS 3V 1-5 UR A300262 + switch MS 3V 1-5 UR B300266 + switch MS 3V 1-5 UR X300262 + switch MS 3V 1-5 UR
SIBA
20 635 32.800 + switch 28 001 04 20 635 32.1000 + switch 28 001 04 20 635 32.1100 + switch 28 001 04 20 635 32.1250 + switch 28 001 04 20 635 32.800 + switch 28 001 04
Frame
Table 78 - AC Input Line Fuses - 690V AC Input Frame C Drives
Drive DC AC
Current Amps Line
Rating
Amps
Code
C 452
452 369
565
565 461
Qty Bussmann
Mersen
Square Body - Flush End Contact
6 170M5463 + switch 170H0069 6,9 URD 32 TTF 0700 + switch MS 3V 1-5 BS 6 170M5465 + switch 170H0069 6,9 URD 32 TTF 0900 + switch MS 3V 1-5 BS
SIBA
20 671 32.700 + switch 28 001 04 20 671 32.900 + switch 28 001 04
Table 79 - Leg Fuses - 690V AC Input Frame D Drives
Frame
Drive DC AC
Current Amps Line
Rating
Amps
Code
D 678
678 553
791
791 645
904
904 738
1K0 1017 830
1K1 1130 922
1K2 1243 1014
1K4 1413 1153
1K5 1582 1291
Qty Bussmann
Mersen
Square Body - DIN 43653 Stud-Mount
6 170M6260 + switch 170H0069 6 170M6262 + switch 170H0069 6 170M6263 + switch 170H0069 6 170M6264 + switch 170H0069 6 170M6265 + switch 170H0069 6 170M6266 + switch 170H0069 6 170M6267 + switch 170H0069 12 170M6262 + switch 170H0069
V300260 + switch MS 3V 1-5 UR X300262 + switch MS 3V 1-5 UR Y300263 + switch MS 3V 1-5 UR Z300264 + switch MS 3V 1-5 UR A300262 + switch MS 3V 1-5 UR B300266 + switch MS 3V 1-5 UR C300267 + switch MS 3V 1-5 UR X300262 + switch MS 3V 1-5 UR
SIBA
20 635 32.630 + switch 28 001 04 20 635 32.800 + switch 28 001 04 20 635 32.900 + switch 28 001 04 20 635 32.1000 + switch 28 001 04 20 635 32.1100 + switch 28 001 04 20 635 32.1250 + switch 28 001 04 20 635 32.1400 + switch 28 001 04 20 635 32.800 + switch 28 001 04
Figure 76 - Frame C Non-Regenerative Drive - AC Input Line Fuse Location AC Input fuses and switches are installed on the bus bars behind the control board EMI shield.
Drive shown with front covers removed and control board EMI shield lowered.
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Control Power Circuit Protection Fuses
Supplemental Drive Information Appendix A
Switching Power Supply Circuit Board Fuses
The following fuses are used to protect the switching power supply circuit. IMPORTANT Verify the circuit board revision before you order and install fuses.
Frame A
B
Circuit Board ID / Revision SW1-31 / H and below SW1-31 / I and above
SW2-32 / H and below
SW2-32 / I and above C
SW3-32 / H and below
SW3-32 / I and above
D
SW1-31 / I and above
Designation Fuse (5 x 20 mm)
F1
1 A, 250V, slow
F1
2.5 A, 250V, slow
F1
3.15 A, 250V fast
F2
2.5 A, 250V slow
F1 2.5 A, 250V slow
F2
F1
3.15 A, 250V fast
F2
2.5 A, 250V slow
F1 2.5 A, 250V slow
F2
F1
2.5 A, 250V, slow
Figure 77 - Frame A Switching Power Supply Circuit Board Fuse Location
Top View of Drive
switching power supply circuit board fuse holder.
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Appendix A Supplemental Drive Information
Figure 78 - Frame B Switching Power Supply Circuit Board Fuse Location
Top View of Drive
switching power supply circuit board fuse holders.
F1 = 3.15 A fuse Rev. "H" and below only.
F2 = 2.5 A fuse Rev. "H" and below only.
Figure 79 - Frame C Switching Power Supply Circuit Board Fuse Location
F1 = 3.15 A fuse Rev. "H" and below only.
F2 = 2.5 A fuse Rev. "H" and below only.
The switching power supply circuit board is on the back of the control board EMI shield.
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Supplemental Drive Information Appendix A Figure 80 - Frame D Switching Power Supply Circuit Board Fuse Location
switching power supply fuse holder The switching power supply circuit board is on the control panel.
Frame B Pulse Transformer Circuit Board Fuses
The following fuses are used to protect the MOVs on the pulse transformer circuit board on frame B drives only.
Circuit Board ID / Revision FIR2-xx / M and earlier
Designation F1/F2/F3
Fuse (6 x 32 mm) 16 A, 500V fast
Figure 81 - Frame B Pulse Transformer Circuit Board Fuse Location
Pulse transformer board fuse locations (shown with control board EMI shield lowered).
Control board EMI shield
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261
Appendix A Supplemental Drive Information
Frame C Transient Noise Filter Circuit Board Fuses
The following fuses are used to protect the MOVs on the Transient Noise Filter circuit board for frame C drives only.
Board ID / Revision FL-31 / All
Designation F11/F21/F31
Fuse (6 x 32 mm) 25 A, 500V fast
Figure 82 - Frame C Transient Noise Filter Circuit Board Fuse Locations Transient Noise Filter board fuse locations
C and D terminals - DC output to the motor armature
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Supplemental Drive Information Appendix A
Frame D Overvoltage Clipping Circuit Board Fuses
The following fuses are used to protect the resistors and capacitors on the
overvoltage clipping circuit board for frame D drives only. The overvoltage clipping circuit board is on the left side wall inside the drive enclosure, behind the control panel.
Circuit Board ID / Revision CFSFxxx / All
Designation Fuse (14 x 51 mm) F11/F21/F31 10 A, 690V fast
Figure 83 - Frame D Overvoltage Clipping Circuit Board Fuse Locations Overvoltage clipping board fuse locations (shown with control panel open).
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263
Appendix A Supplemental Drive Information
AC Input Line Reactors and AC If a DC contactor is used, an AC input contactor is not needed. Input Contactors
Table 80 - 230V AC Input Drives
Frame A
B
C D
Drive Current Rating Code 7P0 9P0 012 020 029 038 055 073 093 110 146 180 218 265 360 434 521 700 875 1K0
DC Amps
7 9 12 20 29 38 55 73 93 110 146 180 218 265 360 434 521 700 875 1050
AC Line Amps 5.7 7.4 9.8 16 24 31 45 60 76 90 119 147 178 217 294 355 426 572 715 858
Hp IP00 (Open Style) Line Reactor Cat No.
1.5 1321-3R8-A
2
1321-3R12-A
3
1321-3R18-A
5
1321-3R18-A
7.5 1321-3R55-A
10
1321-3R55-A
15
1321-3R55-A
20
1321-3R80-A
25 1321-3R100-A
30 1321-3R100-A
40
1321-3R160-A
50
1321-3R160-A
60
1321-3RB250-A
75
1321-3RB250-A
100 1321-3RB320-A
125 1321-3RB400-A
150 1321-3R500-A
200 1321-3R600-A
250 1321-3R750-A
300 1321-3R850-A
Line Reactor kW (HP) AC Input Contactor Cat. No.
0.75 (1) 1.49 (2) 0.75...3.7 (1...5) 0.75...3.7 (1...5) 5.5...11 (7.5...15) 5.5...11 (7.5...15) 5.5...11 (7.5...15) 15 (20) 18.5...22 (25...30) 18.5...22 (25...30) 30...37 (40...50) 30...37 (40...50) 45...56 (60...75) 45...56 (60...75) 75 (100) 93 (125) 112 (150) 149 (200) 186 (250) 224 (300)
100-C12D10 100-C12D10 100-C12D10 100-C23D10 100-C30D10 100-C37D10 100-C60D10 100-C60D10 100-C85D10 100-E116___11(1) (2) 100-E146___11(1) (2) 100-E190___11(2) 100-E190___11(2) 100-E265___11(2) 100-E305___11(2) 100-E370___11(2) 100-E460___11(2) 100-E580___11(2) 100-E750___11(2) 100-E860___11(2)
(1) To order with built in terminal lugs, add the letter "L"to the end of the catalog number (example: 100-E116___11L).
(2) The catalog number as listed is incomplete. To complete the catalog number, you must replace the blank ___ with additional option codes. See IEC Contactor Specifications Technical Data,
publication 100-TD013, to select coil voltage and optional PLC interface terminals.
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Supplemental Drive Information Appendix A
Table 81 - 460V AC Input Drives
Frame A
B C D
Drive Current Rating Code 4P1 6P0 010 014 019 027 035 045 052 073 086 100 129 167 207 250 330 412 495 667 830 996 1K1 1K3 1K4
DC Amps
4.1 6 10 14 19 27 35 45 52 73 86 100 129 167 207 250 330 412 495 667 830 996 1162 1328 1494
AC Line Amps 3.3 4.9 8.2 11.4 15.5 22.1 28.6 36.8 42.5 59.6 70.3 81.7 105.4 136.4 169.1 204.3 269.6 336.6 404.4 544.9 678.1 813.7 949.4 1085.0 1220.6
Hp IP00 (Open Style) Line Reactor Cat No.
2
1321-3R4-A
3
1321-3R8-A
5
1321-3R18-B
7.5 1321-3R18-B
10
1321-3R18-B
15
1321-3R55-B
20
1321-3R55-B
25
1321-3R55-B
30
1321-3R55-B
40
1321-3R80-B
50
1321-3R100-B
60
1321-3R100-B
75
1321-3R160-B
100 1321-3R160-B
125 1321-3RB250-B
150 1321-3RB250-B
200 1321-3RB320-B
250 1321-3RB400-B
300 1321-3R500-B
400 1321-3R600-B
500 1321-3R750-B
600 1321-3R850-B
700 1321-3R1000-B
800 2 x1321-3R600-B
900 2 x1321-3R600-B
Line Reactor kW (HP) AC Input Contactor Cat. No.
0.55 (0.75) 0.75 (1) 1.5...7.5 (2...10) 1.5...7.5 (2...10) 1.5...7.5 (2...10) 11...22 (15...30) 11...22 (15...30) 11...22 (15...30) 11...22 (15...30) 30 (40) 37...45 (50...60) 37...45 (50...60) 56...75 (75...100) 56...75 (75...100) 93...112 (125...150) 93...112 (125...150) 149 (200) 186.4 (250) 223.7 (300) 298.3 (400) 372.8 (500) 447.4 (600) 552 (700) 596.6 (800) 671.1 (900)
100-C12D10 100-C12D10 100-C12D10 100-C12D10 100-C23D10 100-C23D10 100-C30D10 100-C37D10 100-C43D10 100-C60D10 100-C85D10 100-C85D10 100-E116___11(1) (2) 100-E146___11(1) (2) 100-E190___11(2) 100-E205___11(2) 100-E305___11(2) 100-E370___11(2) 100-E460___11(2) 100-E580___11(2) 100-E750___11(2) 100-E860___11(2) 100-E1060___11(2)
(3)
(3)
(1) To order with built in terminal lugs, add the letter "L"to the end of the catalog number (example: 100-E116___11L). (2) The catalog number as listed is incomplete. To complete the catalog number, you must replace the blank ___ with additional option codes. See IEC Contactor Specifications Technical Data,
publication 100-TD013, to select coil voltage and optional PLC interface terminals. (3) No AC Input contactor available for this drive rating - must be sourced locally.
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Appendix A Supplemental Drive Information
Table 82 - 575V AC Input Drives
Frame B
C D
Drive Current Rating Code 067 101 135 270 405 540 675 810 1K0 1K2 1K3 1K6
DC Amps AC Line Amps
67.5 101.25 135 270 405 540 675 810 1080 1215 1350 1687.5
55.1 82.7 110.3 220.6 330.9 441.2 551.5 661.8 882.4 992.7 1103.0 1378.7
Hp IP00 (Open Style) Line Reactor Cat No.
50 1321-3R55-B 75 1321-3R100-B 100 1321-3R130-B 200 1321-3RB250-B 300 1321-3RB320-B 400 1321-3R500-B 500 1321-3R600-B 600 1321-3R750-B 800 1321-3R1000-B 900 1321-3R1000-B 1000 2 x 1321-3R600-B 1250 2 X 1321-3R750-B
Line Reactor kW (HP)
37 (50) 56 (75) 75 (100) 149 (200) 224 (300) 298 (400) 373 (500) 447 (600) 597 (800) 671 (900) 746 (1000)
AC Input Contactor Cat. No.
100-C60D10 100-C85D10 100-E116x11(1) (2) 100-E305___11(2) 100-E370___11(2) 100-E460___11(2) 100-E580___11(2) 100-E750___11(2) 100-E1060___11(2) 100-E1060___11(2)
(3)
(3)
(1) To order with built in terminal lugs, add the letter "L"to the end of the catalog number (example: 100-E116___11L). (2) The catalog number as listed is incomplete. To complete the catalog number, you must replace the blank ___ with additional option codes. See IEC Contactor Specifications Technical Data,
publication 100-TD013, to select coil voltage and optional PLC interface terminals. (3) No AC Input contactor available for this drive rating - must be sourced locally.
Table 83 - 690V AC Input Drives
Frame C D
Drive Current Rating Code 452 565 678 791 904 1K0 1K1 1K2 1K4 1K5
DC Amps
452 565 678 791 904 1017 1130 1243 1412.5 1582
AC Line Amps
369 462 554 646 739 831 923 1016 1154 1292
Hp IP00 (Open Style) Line Reactor Cat No.
400 1321-3R500-C 500 1321-3R600-C 600 1321-3R750-C 700 1321-3R750-C 800 1321-3R1000-C 900 1321-3R1000-C 1000 2 X 1321-3R600-C 1100 2 X 1321-3R600-C 1250 2 X 1321-3R750-C 1400 2 X 1321-3R750-C
Line Reactor kW (HP)
AC Input Contactor Cat. No.
100-D420ED11 100-D630ED11 100-D630ED11 100-D860ED11 100-D860ED11 100-D860ED11 100-G700KD22 100-G860KD22 100-G1200KD12 100-G1200KD12
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Isolation Transformers
Supplemental Drive Information Appendix A
This table contains the recommended isolation transformers
Table 84 - Recommended Isolation Transformers
Three Phase Primary Voltage
Three Phase Secondary Voltage
kVA kW (Hp) Voltage 230V AC Catalog Number
460V AC Catalog Number
5 1.2 - 2.2 230 (1.5 - 3) 460
N/A 1321-3TW005-BA
1321-3TW005-AB 1321-3TW005-BB
575 1321-3TW005-CA
1321-3TW005-CB
7.5 3.7 (5) 230 1321-3TW007-AA
1321-3TW007-AB
460 1321-3TW007-BA
1321-3TW007-BB
575 1321-3TW007-CA
1321-3TW007-CB
11 5.5 (7.5) 230 1321-3TW011-AA
1321-3TW011-AB
460 1321-3TW011-BA
1321-3TW011-BB
575 1321-3TW011-CA
1321-3TW011-CB
14 7.5 (10) 230 1321-3TW014-AA
1321-3TW014-AB
460 1321-3TW014-BA
1321-3TW014-BB
575 1321-3TW014-CA
1321-3TW014-CB
20 11 (15) 230 1321-3TW020-AA
1321-3TW020-AB
460 1321-3TW020-BA
1321-3TW020-BB
575 1321-3TW020-CA
1321-3TW020-CB
27 15 (20) 230 1321-3TW027-AA
1321-3TW027-AB
460 1321-3TW027-BA
1321-3TW027-BB
575 1321-3TW027-CA
1321-3TW027-CB
34 18.5 (25) 230 1321-3TW034-AA
1321-3TW034-AB
460 1321-3TW034-BA
1321-3TW034-BB
575 1321-3TW034-CA
1321-3TW034-CB
40 22 (30) 230 1321-3TW040-AA
1321-3TW040-AB
460 1321-3TW040-BA
1321-3TW040-BB
575 1321-3TW040-CA
1321-3TW040-CB
51 30 (40) 230 1321-3TW051-AA
1321-3TW051-AB
460 1321-3TW051-BA
1321-3TW051-BB
575 1321-3TW051-CA
1321-3TW051-CB
63 37 (50) 230 1321-3TH063-AA
1321-3TH063-AB
460 1321-3TH063-BA
1321-3TH063-BB
575 1321-3TH063-CA
1321-3TH063-CB
75 45 (60) 230 1321-3TH075-AA
1321-3TH075-AB
460 1321-3TH075-BA
1321-3TH075-BB
575 1321-3TH075-CA
1321-3TH075-CB
93 56 (75) 230 1321-3TH093-AA
1321-3TH093-AB
460 1321-3TH093-BA
1321-3TH093-BB
575 1321-3TH093-CA
1321-3TH093-CB
575V AC Catalog Number N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A 1321-3TH063-AC 1321-3TH063-BC 1321-3TH063-CC 1321-3TH075-AC 1321-3TH075-BC 1321-3TH075-CC 1321-3TH093-AC 1321-3TH093-BC 1321-3TH093-CC
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267
Appendix A Supplemental Drive Information
Table 84 - Recommended Isolation Transformers (continued)
Three Phase Primary Voltage
Three Phase Secondary Voltage
kVA kW (Hp) Voltage 230V AC Catalog Number
460V AC Catalog Number
118 75 (100) 230 1321-3TH118-AA
1321-3TH118-AB
460 1321-3TH118-BA
1321-3TH118-BB
575 1321-3TH118-CA
1321-3TH118-CB
145 93 (125) 230 1321-3TH145-AA
1321-3TH145-AB
460 1321-3TH145-BA
1321-3TH145-BB
575 1321-3TH145-CA
1321-3TH145-CB
175 112 (150) 230 1321-3TH175-AA
1321-3TH175-AB
460 1321-3TH175-BA
1321-3TH175-BB
575 1321-3TH175-CA
1321-3TH175-CB
220 145 (200) 230 1321-3TH220-AA
1321-3TH220-AB
460 1321-3TH220-BA
1321-3TH220-BB
575 1321-3TH220-CA
1321-3TH220-CB
275 187 (250) 230 1321-3TH275-AA
1321-3TH275-AB
460 1321-3TH275-BA
1321-3TH275-BB
575 1321-3TH275-CA
1321-3TH275-CB
330 224 (300) 230 1321-3TH330-AA
1321-3TH330-AB
460 1321-3TH330-BA
1321-3TH330-BB
575 1321-3TH330-CA
1321-3TH330-CB
440 298 (400) 230 N/A
1321-3TH440-AB
460 N/A
1321-3TH440-BB
575 N/A
1321-3TH440-CB
550 373 (500) 230 N/A
1321-3TH550-AB
460 N/A
1321-3TH550-BB
575 N/A
1321-3TH550-CB
660 448 (600) 230 N/A
1321-3TH660-AB
460 N/A
1321-3TH660-BB
575 N/A
1321-3TH660-CB
770 522 (700) 230 N/A
1321-3TH770-AB
460 N/A
1321-3TH770-BB
575 N/A
1321-3TH770-CB
880 597 (800) 230 N/A
1321-3TH880-AB
460 N/A
1321-3TH880-BB
575 N/A
1321-3TH880-CB
575V AC Catalog Number 1321-3TH118-AC 1321-3TH118-BC 1321-3TH118-CC 1321-3TH145-AC 1321-3TH145-BC 1321-3TH145-CC 1321-3TH175-AC 1321-3TH175-BC 1321-3TH175-CC 1321-3TH220-AC 1321-3TH220-BC 1321-3TH220-CC 1321-3TH275-AC 1321-3TH275-BC 1321-3TH275-CC 1321-3TH330-AC 1321-3TH330-BC 1321-3TH330-CC 1321-3TH440-AC 1321-3TH440-BC 1321-3TH440-CC 1321-3TH550-AC 1321-3TH550-BC 1321-3TH550-CC 1321-3TH660-AC 1321-3TH660-BC 1321-3TH660-CC 1321-3TH770-AC 1321-3TH770-BC 1321-3TH770-CC 1321-3TH880-AC 1321-3TH880-BC 1321-3TH880-CC
268
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Supplemental Drive Information Appendix A
Dynamic Brake Resistor Kits and DC Output Contactors
See Table 87 and Table 88 on page 272 for recommended alternate DC Output Contactors for 575V and 690V AC input drives, respectively.
Table 85 - 230V AC Input Drives
Frame
Drive
DC AC Hp Dynamic Brake
Current
Amps Line
Resistor Kit Cat.
Rating Code
Amps
No.
A 7P0
7 5.7 1.5 1370-DBL62
Armature Voltage (Volts)
240
Total DB Resistance (ohms)
DC Loop Contactor Cat. No.(2)
Drive without Dynamic Brake
Drive with Dynamic Brake
20
1370-NC56
1370-DC56
DC Contactor Crimp Lugs Cat. No.(3)
1370-LG40
9P0
9 7.4 2 1370-DBL63
240
20
1370-NC56
012
12 9.8 3 1370-DBL64
240
15
1370-NC56
1370-DC56 1370-DC56
1370-LG40 1370-LG40
020
20 16 5 1370-DBL65
240
8.6
1370-NC56
029
29 24 7.5 1370-DBL66
240
6
1370-NC56
038
38 31 10 1370-DBL67
240
5
1370-NC56
1370-DC56 1370-DC56 1370-DC56
1370-LG40 1370-LG40 1370-LG40
055
55 45 15 1370-DBL68
240
3.5
1370-NC56
073
73 60 20 1370-DBL69
240
2.6
1370-NC110
1370-DC56 1370-DC110
1370-LG56 1370-LG92
093
93 76 25 1370-DBL70
240
2
110
110 90 30 1370-DBL71
240
2
1370-NC110 1370-NC110
1370-DC110 1370-DC110
1370-LG92 1370-LG110
B 146 180
146 119 40 1370-DBL72
240
1.4
1370-NC180
180 147 50 1370-DBL73
240
1.0
1370-NC180
1370-DC180 1370-DC180
1370-LG160 1370-LG180
218 265 360 434
C 521 700
D 875 1K0
218 178 265 217 360 294 434 355
521 426 700 572 875 715 1050 858
60 1370-DBL74
240
75 1370-DBL75
240
100 1370-DBL76
240
125 CUTLER-
240
HAMMER_G3AP50
(Qty 4 - two in series, two in parallel)
150 HUBBELL_Y139W32 240 2GB
200 (1)
240
250 (1)
240
300 (1)
240
1.0
1370-NC280
1370-DC280
1370-LG228
0.67
1370-NC280
1370-DC280
1370-LG268
0.47
ABB_EHDB360C2P-1L2S ABB_EHDB360C-1L22SS (4)
0.4
ABB_EHDB520C2P-1L2S ABB_EHDB520C-1L22SS (4)
0.322
(4)
0.25
ABB_EHDB800C2P-1L2S ABB_EHDB800C-1L22SS (4)
0.2
ABB_EHDB960C2P-1L2S ABB_EHDB960C-1L22SS (4)
0.2
SIEMENS-MFG_14-193- SIEMENS-MFG_14-193- (4)
101-58-2 (Qty 2)
101-58-2 (Qty 1)
(1) No Dynamic Brake Resistor kit available for this drive rating - must be sourced locally. (2) Coil voltage = 115V AC, 50/60Hz. (3) See DC Contactor Crimp Lug Kit Specifications on page 271 for more information. (4) Wire and Lug size dependent on enclosure dimensions and local codes.
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
269
Appendix A Supplemental Drive Information
Table 86 - 460V AC Input Drives
Frame
Drive DC AC Hp Dynamic Brake
Current Amps Line
Resistor Kit Cat. No.
Rating
Amps
Code
A 4P1
4.1 3.3 2 1370-DBH63
6P0
6
4.9 3 1370-DBH64
010
10 8.2 5 1370-DBH65
014
14 11.4 7.5 1370-DBH66
019
19 15.5 10 1370-DBH67
027
27 22.1 15 1370-DBH68
035
35 28.6 20 1370-DBH69
045
45 36.8 25 1370-DBH70
052
52 42.5 30 1370-DBH71
073
73 59.6 40 1370-DBH72
086
86 70.3 50 1370-DBH73
100
100 81.7 60 1370-DBH74
129
129 105.4 75 1370-DBH75
B 167
167 136.4 100 1370-DBH76
207
207 169.1 125 1370-DBH77
250
250 204.3 150 1370-DBH78
330
330 269.6 200 1370-DBH79
412
412 336.6 250 HUBBELL_Y95W808GB
C 495
495 404.4 300 HUBBELL_Y101W595GB
667 D 800
960
667 544.9 400 HUBBELL_Y109W542GB 830 678.1 500 (1) 996 813.7 600 (2)
1K1
1162 949.4 700 (2)
1K3
1328 1085.0 800 (2)
1K4
1494 1220.6 900 (2)
Armature Voltage (Volts)
Total DB Resistance (ohms)
DC Loop Contactor Cat. No.(2)
Drive without Dynamic Brake
Drive with Dynamic Brake
500
81
1370-NC56
1370-DC56
500
62
1370-NC56
1370-DC56
500
45
1370-NC56
1370-DC56
500
27
1370-NC56
1370-DC56
500
20
1370-NC56
1370-DC56
500
12
1370-NC56
1370-DC56
500
10
1370-NC56
1370-DC56
500
9
1370-NC56
1370-DC56
500
7
1370-NC56
1370-DC56
500
5.2
1370-NC110
1370-DC110
500
4
1370-NC110
1370-DC110
500
4
1370-NC110
1370-DC110
500
3
1370-NC180
1370-DC180
500
2.1
1370-NC180
1370-DC180
500
2.1
1370-NC280
1370-DC280
500
1.5
1370-NC280
1370-DC280
500
1.05
ABB_EHDB360C2P-1L2S ABB_EHDB360C-1L22SS
500
1
ABB_EHDB520C2P-1L2S ABB_EHDB520C-1L22SS
500
0.8
ABB_EHDB520C2P-1L2S ABB_EHDB520C-1L22SS
500
0.625
ABB_EHDB800C2P-1L2S ABB_EHDB800C-1L22SS
500
0.463
ABB_EHDB960C2P-1L2S ABB_EHDB960C-1L22SS
500
0.322
SIEMENS-MFG_14-193- SIEMENS-MFG_14-193-
101-58-2 (Qty 2)
101-58-2 (Qty 1)
500
0.322
SIEMENS-MFG_14-193- SIEMENS-MFG_14-193-
101-58-2 (Qty 2)
101-58-2 (Qty 1)
500
0.255
CUTLER-
CUTLER-
HAMMER_6702ED636-2 HAMMER_6702ED636-2
(Qty 2)
(Qty 1)
500
0.255
CUTLER-
CUTLER-
HAMMER_6702ED636-2 HAMMER_6702ED636-2
(Qty 2)
(Qty 1)
(1) No Dynamic Brake Resistor kit available for this drive rating - must be sourced locally. (2) Coil voltage = 115V AC, 50/60Hz. (3) See DC Contactor Crimp Lug Kit Specifications on page 271 for more information. (4) Wire and Lug size dependent on enclosure dimensions and local codes.
DC Contactor Crimp Lugs Cat. No.(3) 1370-LG40 1370-LG40 1370-LG40 1370-LG40 1370-LG40 1370-LG40 1370-LG40 1370-LG52 1370-LG52 1370-LG92 1370-LG92 1370-LG110 1370-LG140 1370-LG180 1370-LG228 1370-LG268
(4) (4) (4) (4) (4) (4)
(4)
(4)
(4)
270
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Supplemental Drive Information Appendix A
DC Contactor Crimp Lug Kit Specifications
Use the information that is provided in this table to assist you in ordering the correct Lug kit for your application.
Rated Motor Armature Current (1)
A DC
4.1...35 45...52
55 60...86
DC Contactor Rating A DC
56 56 56 110
Armature Conductor Size (2) AWG
8 6 4 2
DB Conductor Size (3) Armature Conductor DB Conductor Crimp Lug Kit Catalog
AWG
Crimp Lug Hole Size
Lug Hole Size
Number
8
#10
#10
1370-LG40
8
#10
#10
1370-LG52
8
#10
#10
1370-LG56
6
0.25 in.
0.25 in.
1370-LG92
100...110
110
1/0
129
180
2/0
146
180
3/0
4
0.25 in.
0.25 in.
1370-LG110
2
0.3125 in.
0.3125 in.
1370-LG140
2
0.3125 in.
0.3125 in.
1370-LG160
147...167
180
207...218
280
250...265
280
4/0 300MCM 400MCM
2
0.3125 in.
0.3125 in.
1370-LG180
1/0
0.5 in.
0.375 in.
1370-LG228
2/0
0.5 in.
0.375 in.
1370-LG268
266...280
280
500MCM
3/0
0.5 in.
0.375 in.
1370-LG280
(1) The Rated Motor Armature Current is taken directly from the motor nameplate or motor data. The current listed in this column is the maximum current that is allowed for the Armature Conductor Size (column 3) and the DC Contactor Rating (column 2).
(2) The armature conductors are sized by multiplying the Rated Motor Armature Current by 1.25 as provided for in NEC 420-22 (1987). The DC lug ratings are determined from NEC Table 310-16 (1987) for copper conductors, insulation temperature that is rated at 75° C (167° F) at an ambient temperature of 30° C (86° F). If conditions are other than shown in NEC Table 310-16, then refer to application codes.
(3) The dynamic braking (DB) conductors are sized as in footnote 2, but at half ampacity due to the short time duration of current flow in these conductors, and has been sized to satisfy NEMA Standard ICS 3-302.62 - Dynamic Braking. If the load inertia is larger than the motor inertia, calculations must be made to determine correct conductor sizing and DB resistor wattage per NEMA Standard ICS 3302.62.
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Appendix A Supplemental Drive Information
Alternate Dynamic Brake Resistor Kits and DC Output Contactors
The following alternate dynamic brake resistor kits and/or DC output contactors can be used with the corresponding PowerFlex DC drives but must be sourced separately from the drive.
Table 87 - 575V AC Input Drives
Frame
Drive DC AC Hp
Current Amps Line
Rating
Amps
Code
Armature DB Resistor DC Loop Contactor Cat. No.(1)
Voltage Size (ohms)
(Volts)
Drive w/No Dynamic Brake
Drive w Dynamic Brake
B 067 67.5 55.1 50 600
5.93
ABB_EHDB220C2P-1L2S
ABB_EHDB220C-1L22SS
101 101 83 75 600
3.95
ABB_EHDB220C2P-1L2S
ABB_EHDB220C-1L22SS
135 135 110 100 600
2.96
ABB_EHDB220C2P-1L2S
ABB_EHDB220C-1L22SS
270 270 221 200 600
1.48
ABB_EHDB360C2P-1L2S
ABB_EHDB360C-1L22SS
405 405 331 300 600
0.988
ABB_EHDB520C2P-1L2S
ABB_EHDB520C-1L22SS
C 540 540 441 400 600
0.741
ABB_EHDB650C2P-1L2S
ABB_EHDB650C-1L22SS
675 675 551 500 600
0.593
ABB_EHDB800C2P-1L2S
ABB_EHDB800C-1L22SS
D 810 810 662 600 600
0.494
ABB_EHDB960C2P-1L2S
ABB_EHDB960C-1L22SS
1K0 1080 882 800 600
0.370
SIEMENS-MFG_14-193-101-58-2 (Qty 2) SIEMENS-MFG_14-193-101-58-2 (Qty 1)
1K2 1215 993 900 600
0.329
SIEMENS-MFG_14-193-101-58-2 (Qty 2) SIEMENS-MFG_14-193-101-58-2 (Qty 1)
1K3 1350 1103 1000 600
0.296
CUTLER-HAMMER_6702ED636-2 (Qty 2) CUTLER-HAMMER_6702ED636-2 (Qty 1)
1K6 1688 1379 1250 600
0.237
CUTLER-HAMMER_6702ED636-2 (Qty 2) CUTLER-HAMMER_6702ED636-2 (Qty 1)
DC Contactor Crimp Lugs Cat. No.(2)
(3)
(1) Coil voltage = 115V AC, 50/60Hz. (2) See DC Contactor Crimp Lug Kit Specifications on page 279 for more information. (3) Wire and Lug size dependent on enclosure dimensions and local codes.
Table 88 - 690V AC Input Drives
Frame
Drive DC AC Hp
Current Amps Line
Rating
Amps
Code
Armature DB Resistor DC Loop Contactor Cat. No.(1)
Voltage Size (ohms)
(Volts)
Drive w/No Dynamic Brake
Drive w Dynamic Brake
C 452 452 369 400 700
1.03
SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1) 2)
565 565 462 500 700
0.826
SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
D 678 678 554 600 700
0.688
SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
791 791 646 700 700
0.590
SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
904 904 739 800 700
0.516
SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
1K0 1017 831 900 700
0.459
SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
1K1 1130 923 1000 700
0.413
SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
1K2 1243 1016 1100 700
0.375
SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
1K4 1413 1154 1250 700
0.330
CUTLER-HAMMER_6702ED636-2 (Qty 2) CUTLER-HAMMER_6702ED636-2 (Qty 1)
1K5 1582 1292 1400 700
0.295
CUTLER-HAMMER_6702ED636-2 (Qty 2) CUTLER-HAMMER_6702ED636-2 (Qty 1)
DC Contactor Crimp Lugs Cat. No.(2)
(3)
(1) Coil voltage = 115V AC, 50/60Hz. (2) See DC Contactor Crimp Lug Kit Specifications on page 271 for more information. (3) Wire and Lug size dependent on enclosure dimensions and local codes.
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Supplemental Drive Information Appendix A
Alternate EMC Filters
The following recommended filters can be used in place of the Rasmi filters that are listed in the table in the Installation Requirements Related to EN 61800-3 and the EMC Directive section on page 41.
IMPORTANT Only the Rasmi RF 3xxx-MHU, Rasmi RF-3xxx-SIEI, and EPCOS B84143B Type S081 filters have been certified for use with the PowerFlex DC drive. All other filters must be verified in the application.
Table 89 - Rasmi and Rasmi Alternative Filters
Frame Drive Current Rating Code
A
7P0
9P0
012
020
029
038
055
073
093
110
B
146
180
218
265
360
434
C
521
700
D
875
1K0
Voltage Class
230V AC
Rasmi Filters Part Number EMI-FFP-480-9, Code 8270 (was RF 3009-SIEI) EMI-FFP-480-9, Code 8270 (was RF 3009-SIEI) EMI-FFP-480-24, Code 8271 (was RF 3024-SIEI) EMI-FFP-480-24, Code 8271 (was RF 3024-SIEI) EMI-FFP-480-30, Code 8272 (was RF 3030-SIEI) EMI-FFP-480-40, Code 8273 (was RF 3040-SIEI) RF 3055-FLP, Code 8078 (Rasmi / EuroTek) RF 3100-FLP, Code 8075 (Rasmi / EuroTek) RF 3100-FLP, Code 8075 (Rasmi / EuroTek) RF 3150-FLP, Code 8076 (Rasmi / EuroTek) RF 3150-FLP, Code 8076 (Rasmi / EuroTek) RF 3180-FLP, Code 8077 (Rasmi / EuroTek) RF 3250-MHU RF 3320-MHU RF 3400-MHU RF 3600-MHU RF 3600-MHU RF 3800-MHU RF 31k0-MHU RF 31k6-MHU
Rasmi Alternative Type Filters Part Number RF 3007-FTF, Code 7670 (Rasmi / EuroTek) RF 3016-FTF, Code 7671 (Rasmi / EuroTek) RF 3016-FTF, Code 7671 (Rasmi / EuroTek) RF 3030-FTF, Code 8082 (Rasmi / EuroTek) RF 3030-FTF, Code 8082 (Rasmi / EuroTek) RF 3042-FTF, Code 7672 (Rasmi / EuroTek) RF 3055-FTF, Code 7673 (Rasmi / EuroTek) RF 3075-FTF, Code 7674 (Rasmi / EuroTek) RF 3100-FTF, Code 7675 (Rasmi / EuroTek) RF 3130-FTF, Code 7676 (Rasmi / EuroTek) RF 3180-FTF, Code 7677 (Rasmi / EuroTek) RF 3180-FTF, Code 7677 (Rasmi / EuroTek)
Part Number RF 3010-MHU RF 3010-MHU RF 3016-MHU RF 3025-MHU RF 3040-MHU RF 3040-MHU RF 3070-MHU RF 3100-MHU RF 3100-MHU RF 3130-MHU RF 3180-MHU RF 3180-MHU
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Appendix A Supplemental Drive Information
Table 89 - Rasmi and Rasmi Alternative Filters (continued)
Frame Drive Current Rating Code
A
4P1
6P0
010
014
019
027
035
045
052
073
086
100
129
B
167
207
250
330
412
C
495
667
D
830
996
1K1
1K3
1K4
Voltage Class
460V AC
Rasmi Filters Part Number EMI-FFP-480-9, Code 8270 (was RF 3009-SIEI) EMI-FFP-480-9, Code 8270 (was RF 3009-SIEI) EMI-FFP-480-24, Code 8271 (was RF 3024-SIEI) EMI-FFP-480-24, Code 8271 (was RF 3024-SIEI) EMI-FFP-480-24, Code 8271 (was RF 3024-SIEI) EMI-FFP-480-30, Code 8272 (was RF 3030-SIEI) EMI-FFP-480-40, Code 8273 (was RF 3040-SIEI) RF 3045-FLP, Code 8073 (Rasmi / EuroTek) RF 3055-FLP, Code 8078 (Rasmi / EuroTek) RF 3100-FLP, Code 8075 (Rasmi / EuroTek) RF 3100-FLP, Code 8075 (Rasmi / EuroTek) RF 3100-FLP, Code 8075 (Rasmi / EuroTek) RF 3150-FLP, Code 8076 (Rasmi / EuroTek) RF 3180-FLP, Code 8077 (Rasmi / EuroTek) RF 3250-MHU RF 3250-MHU RF 3400-MHU RF 3600-MHU RF 3600-MHU RF 3800-MHU RF 31k0-MHU RF 31k6-MHU RF 31k6-MHU RF 31k6-MHU RF 31k6-MHU
Rasmi Alternative Type Filters Part Number RF 3007-FTF, Code 7670 (Rasmi / EuroTek) RF 3007-FTF, Code 7670 (Rasmi / EuroTek) RF 3016-FTF, Code 7671 (Rasmi / EuroTek) RF 3016-FTF, Code 7671 (Rasmi / EuroTek) RF 3030-FTF, Code 8082 (Rasmi / EuroTek) RF 3030-FTF, Code 8082 (Rasmi / EuroTek) RF 3042-FTF, Code 7672 (Rasmi / EuroTek) RF 3055-FTF, Code 7673 (Rasmi / EuroTek) RF 3055-FTF, Code 7673 (Rasmi / EuroTek) RF 3075-FTF, Code 7674 (Rasmi / EuroTek) RF 3100-FTF, Code 7675 (Rasmi / EuroTek) RF 3100-FTF, Code 7675 (Rasmi / EuroTek) RF 3130-FTF, Code 7676 (Rasmi / EuroTek) RF 3180-FTF, Code 7677 (Rasmi / EuroTek)
Part Number RF 3010-MHU RF 3010-MHU RF 3010-MHU RF 3016-MHU RF 3025-MHU RF 3040-MHU RF 3040-MHU RF 3050-MHU RF 3070-MHU RF 3100-MHU RF 3100-MHU RF 3100-MHU RF 3130-MHU RF 3180-MHU
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Supplemental Drive Information Appendix A
Table 90 - Schaffner and Schaffner Alternative Filters
Frame
Drive Current Voltage Schaffner Filters Rating Code Class
Part Number
Schaffner Alternative Type Filters
Part Number
Part Number
A 7P0
230V FN 258-7-29
FN 3258-7-44
FN 3270H-10-44
9P0
FN 258-16-29
FN 3258-16-44
FN 3270H-10-44
012
FN 258-16-29
FN 3258-16-44
FN 3270H-20-44
020
FN 258-30-33
FN 3258-30-33
FN 3270H-20-44
029
FN 258-30-33
FN 3258-30-33
FN 3270H-35-33
038
FN 258-42-33
FN 3258-42-33
FN 3270H-50-34
055
FN 258-55-34
FN 3258-55-34
FN 3270H-65-34
073
FN 258-75-34
FN 3258-75-34
FN 3270H-80-35
093
FN 258-100-35
FN 3258-100-35
FN 3270H-100-35
110
FN 258-130-35
FN 3258-130-35
FN 3270H-150-99
B 146
FN 258-180-40
FN 3258-180-40
FN 3270H-150-99
180
FN 258-180-40
FN 3258-180-40
FN 3270H-200-99
218
FN 258-250-40
FN 3359-250-28
FN 3270H-250-99
265
FN 258-250-40
FN 3359-320-99
FN 3270H-320-99
360
FN 3359-400-99
FN 3270H-400-99
434
FN 3359-400-99
FN 3270H-600-99
C 521
FN 3359-600-99
FN 3270H-600-99
700
FN 3359-800-99
FN 3270H-800-99
D 875
FN 3359-1000-99
FN 3270H-1000-99
1K0
FN 3359-1000-99
FN 3270H-1000-99
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Appendix A Supplemental Drive Information
Table 90 - Schaffner and Schaffner Alternative Filters (continued)
Frame
Drive Current Voltage Schaffner Filters Rating Code Class
Part Number
Schaffner Alternative Type Filters
Part Number
Part Number
A 4P1
460
FN 258HV-7-29
FN 3270H-10-44
6P0
FN 258HV-7-29
FN 3270H-10-44
010
FN 258HV-16-29
FN 3270H-10-44
014
FN 258HV-16-29
FN 3270H-20-44
019
FN 258HV-30-33
FN 3270H-20-44
027
FN 258HV-30-33
FN 3270H-35-33
035
FN 258HV-42-33
FN 3270H-35-33
045
FN 258HV-55-34
FN 3270H-50-34
052
FN 258HV-55-34
FN 3270H-65-34
073
FN 258HV-75-34
FN 3270H-80-35
086
FN 258HV-100-35
FN 3270H-100-35
100
FN 258HV-100-35
FN 3270H-100-35
129
FN 258HV-130-35
FN 3270H-150-99
B 167
FN 3359HV-180-28
FN 3270H-200-99
207
FN 3359HV-250-28
FN 3270H-250-99
250
FN 3359HV-320-99
FN 3270H-250-99
330
FN 3359HV-320-99
FN 3270H-320-99
412
FN 3359HV-400-99
FN 3270H-400-99
C 495
FN 3359HV-600-99
FN 3270H-600-99
667
FN 3359HV-800-99
FN 3270H-800-99
D 830
FN 3359HV-800-99
FN 3270H-1000-99
996
FN 3359HV-1000-99
FN 3270H-1000-99
1K1
FN 3359HV-1600-99
1K3
FN 3359HV-1600-99
1K4
FN 3359HV-1600-99
B 067
575
FN 258HV-75-34
101
FN 258HV-100-35
135
FN 258HV-130-35 FN 3359HV-150-28
270
FN 3359HV-320-99
405
FN 3359HV-400-99
C 540
FN 3359HV-600-99
675
FN 3359HV-800-99
D 810
FN 3359HV-800-99
1K0
FN 3359HV-1000-99
1K2
FN 3359HV-1600-99
1K3
FN 3359HV-1600-99
1K6
FN 3359HV-1600-99
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Supplemental Drive Information Appendix A
Table 90 - Schaffner and Schaffner Alternative Filters (continued)
Frame
Drive Current Voltage Schaffner Filters Rating Code Class
Part Number
Schaffner Alternative Type Filters
Part Number
Part Number
C 452
690
FN3359HV-600-99
565
FN3359HV-600-99
D 678
FN3359HV-800-99
791
FN3359HV-800-99
904
FN3359HV-1000-99
1K0
FN3359HV-1600-99
1K1
FN3359HV-1600-99
1K2
FN3359HV-1600-99
1K4
FN3359HV-1600-99
1K5
FN3359HV-1600-99
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Appendix A Supplemental Drive Information
Table 91 - EPCOS and EPCOS Alternative Filters
Frame
Drive Current Voltage EPCOS Filters Rating Code Class
Part Number
D 875
230
B84143B1000S080
1K0
B84143B1600S080
D 830
460
B84143B1000S081
996
B84143B1600S081
1K1
B84143B1600S081
1K3
B84143B1600S081
1K4
B84143B1600S081
B 135
575
B84143B0180S081
270
B84143B0320S081
405
B84143B0600S081
C 540
B84143B0600S081
675
B84143B1000S081
D 810
B84143B1000S081
1K0
B84143B1600S081
1K2
B84143B1600S081
1K3
B84143B1600S081
1K6
B84143B2500S021
C 452
690
B84143B0600S081
565
B84143B0600S081
D 678
B84143B1000S081
791
B84143B1000S081
904
B84143B1000S081
1K0
B84143B1600S081
1K1
B84143B1600S081
1K2
B84143B1600S081
1K4
B84143B1600S081
1K5
B84143B1600S081
EPCOS Alternative Type Filters
Part Number
Part Number
B84143B1000S020
B84143B1600S020
B84143B1000S020 B84143B1000S021
B84143B1600S020 B84143B1600S021
B84143B1600S020 B84143B1600S021
B84143B1600S020 B84143B1600S021
B84143B1600S020 B84143B1600S021
B84143B0150S021
B84143B0320S021
B84143B0600S021
B84143B0600S021
B84143B1000S021
B84143B1000S021
B84143B1600S021
B84143B1600S021
B84143B1600S021
B84143B0600S021
B84143B0600S021
B84143B1000S021
B84143B1000S021
B84143B1000S021
B84143B1600S021
B84143B1600S021
B84143B1600S021
B84143B1600S021
B84143B1600S021
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Terminal Adapter Kits for Frame D Drives
Supplemental Drive Information Appendix A
The following frame D drives require the listed terminal adapter kits to meet UL installation requirements.
Voltage Class 230 460
575
690
Drive Current Rating Code 1K0 1K1 1K3 1K4 1K0 1K2 1K3 1K6 1K0 1K1 1K2 1K4 1K5
U, V, W Terminal Adapter Kit Number SK-20P-S726172 SK-20P-S726171 SK-20P-S726172 SK-20P-S726171 SK-20P-S726172
SK-20P-S726171
C, D Terminal Adapter Kit Number SK-20P-S726173
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Appendix A Supplemental Drive Information
Notes:
280
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HIM Overview
B Appendix
External and Internal Connections
Topic
Page
External and Internal Connections
281
LCD Display Elements
282
ALT Functions
282
Menu Structure
284
Viewing and Editing Parameters
286
Removing/Installing the HIM
287
The PowerFlex® DC drive provides a number of cable connection points for the HIM (frame A shown).
PORT MOD NET A NET B
14
STS
1or3 2
2 3
No. Connector Description
1 DPI Port 1
HIM connection when installed in cover.
2 DPI Port 2
DPITM cable connection for handheld and remote options.
3 DPI Port 3 or 2 Splitter cable that is connected to DPI Port 2 provides additional port.
4 DPI Port 5
Cable connection for communication adapter (shown with front cover removed).
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281
Appendix B HIM Overview
LCD Display Elements
ALT Functions
Display
F-> Power Loss Auto
0.0 rpm
Main Menu: Diagnostics Parameter Device Select
Description Direction Drive Status Alarm Auto/Man Information Commanded or Output Speed or Current
Programming / Monitoring / Troubleshooting
The top line of the HIM display can be configured with parameter 1321 [DPI Fdbk Select].
To use an ALT function, press the ALT key, release it, then press the programming key that is associated with the function printed on the HIM above the key:
Table 92 - ALT Key Functions
Press the ALT Key and then ...
S.M.A.R.T.
ALT
Esc
Performs this function ...
Displays the S.M.A.R.T. list screen. See Using the S.M.A.R.T. List Screen on page 283 for more information.
View Sel
Lets you select how parameters are viewed or provides detailed information about a parameter or component.
Lang
Displays the language selection screen.
Auto / Man Switches between Auto and Manual Modes.
Remove
Exp .
Param # +/
Allows HIM removal without causing a fault if the HIM is not the last controlling device and does not have Manual control of the drive. Allows value to be entered as an exponent (Not available on the PowerFlex DC drive).
Allows entry of a parameter number for viewing/editing.
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HIM Overview Appendix B
Using the S.M.A.R.T. List Screen
The LCD HIM provides the S.M.A.R.T. list screen, which contains some of the most commonly changed parameters, including the following:
Parameter Name / Number [Max Ref Speed] (45) [Rated Motor Volt] (175) [Nom Mtr Arm Amps] (179) [Nom Mtr Fld Amps] (280) [Anlg In1 Sel] (70)
[Maximum Speed] (2) [Current Limit] (7)
[Accel Time 1] (660) [Fdbk Device Type] (414)
Description
The base motor speed from the motor nameplate.
The maximum armature voltage of the drive output.
Corresponds to 100% of the current limit.
Rated motor nameplate field current.
Selects the parameter to which a value is written from analog input 1 (default = "Speed Ref A")
Defines the maximum speed of the drive.
Symmetrical current limit for both current directions for four quadrant drives, expressed as a percentage of the value in parameter 179 [Nom Mtr Arm Amps].
Sets the rate of acceleration for Ramp 0.
The source of speed feedback.
Some important Start Up parameters are not included in this screen. See Drive Start Up on page 93 for detailed instructions.
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Appendix B HIM Overview
Menu Structure
284
Figure 84 - HIM Menu Structure
User Display
Diagnostics
Esc Sel
(See Key below for button descriptions.)
Faults Status Info Device Items Device Version
PowerFlex DC Product Data Control Board Main Control Bd Boot Code Main Control Bd Application Code
Drive Status 1 Drive Status 2 Drive Alarm 1 Spd Feedback Arm. Current Output Voltage Field Current AC Line Voltage Output Power
Fault Info View Fault Queue Clear Faults Clr Fault Queue Reset Device
Parameter Device Select
Select via ALT Sel
Param Access Lvl File-Group-Par* Numbered List Changed Params
* default selection
FGP: File File 1 Name File 2 Name File 3 Name
PowerFlex DC (Connected DPI Devices)
FGP: Group Group 1 Name Group 2 Name Group 3 Name
Basic Advanced
FGP: Parameter Parameter Name Parameter Name Parameter Name
Value Screen
Memory Storage
HIM CopyCat Reset To Defaults
Device -> HIM Device <- HIM Delete HIM Set
Preferences
Device Identity Change Password User Dspy Lines
Key:
Press
to move between menu items
Press
to select a menu item
Press Esc to move 1 level back in the menu structure
Press ALT Sel to select how to view parameters
Diagnostics Menu
When a fault trips the drive, use this menu to access detailed data about the drive.
Option Faults Status Info Device Items Device Version
Description View fault queue or fault information, clear faults, or reset drive. View parameters that display status information about the drive. View statistics that are associated with DPI communication. View the firmware version and hardware series of components.
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
HIM Overview Appendix B
Parameter Menu
Use this menu to view and edit parameters for the drive. When you enter the the Parameter menu, by default the FileGroupParameter view is displayed. To access other views for the Parameter menu, with "Parameter" highlighted in the Main menu, press Alt then Sel (View), select the desired view in the list and press Enter. The following selections are available:
Option Param Access Lvl
File-Group-Par Numbered List Changed Params
Description
Displays parameter 211 [Param Access Level]. The PowerFlex DC drive is initially set to the Basic Parameter view. To view all parameters, set parameter 211 [Param Access Lvl] to option 1 "Advanced".
Displays all parameters in a File - Group - Parameter (FGP) structure. The FGP structure simplifies programming by grouping parameters that are used for similar functions.
Displays all parameters in numerical order.
Displays the most recently changed parameter. You can scroll through the list of all changed parameters to the least recently changed. The new and default values are listed for each parameter.
See Viewing and Editing Parameters on page 286 for more information.
Device Select Menu
Use this menu to access parameters in connected peripheral devices.
Memory Storage Menu
Drive data can be saved to, or recalled from, `HIM sets.' HIM sets are files that are stored in permanent nonvolatile HIM memory.
ATTENTION: It is recommended that you stop the drive before performing a download to the drive by using the HIM CopyCat function or DriveExecutiveTM.
Option HIM CopyCat Device -> HIM Device <- HIM Delete HIM Set Reset To Defaults
Description
Save data to a HIM set. Load data from a HIM set to active drive memory. Delete a HIM set. Restore the drive to its factory default settings.
Preferences Menu
The HIM and drive have features that you can customize.
Option Drive Identity User Dspy Lines
Description
Add text to identify the drive.
Select the display, parameter, scale, and text for the User Display. The User Display is two lines of user-defined data that appears when the HIM is not being used for programming.
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Viewing and Editing Parameters
LCD HIM
Step
1. In the Main Menu, press
or
to scroll to `Parameter.'
Example Displays
2. Press
. `FGP File' appears on the top line and the first three files
appear below it.
3. To scroll through the files, press
or
.
4. To select a file, press
. The groups in the file are displayed under it.
5. Repeat steps 3 and 4 to select a group and then a parameter. The parameter value screen appears.
FGP: File Monitor Motor Control Speed Command FGP: Group Motor Data Field Config Torq Attributes FGP: Parameter Field Reg Enable Fld Economy En Field Mode Sel
6. To edit the parameter, press
.
7. Press the
or
change the value.
If desired, press Sel to move from digit to digit, letter to letter, or bit to bit. The digit or bit that you can change is highlighted.
8. To save the value, press
.
If you want to cancel a change, press Esc .
9. To scroll through the parameters in the group, press
or
,
FGP: Fld Economy En
1 Enabled
Par 499
FGP: Fld Economy En
0 Disabled
Par 499
Or press Esc to return to the group list.
Numeric Keypad Shortcut
On a HIM with a numeric keypad, press the ALT key and the +/ key to access the parameter by typing its number.
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HIM Overview Appendix B
Removing/Installing the HIM The HIM can be removed or installed while the drive is powered.
IMPORTANT HIM removal is only permissible in Auto mode. If the HIM is removed while in Manual mode or the HIM is the only remaining control device, a fault occurs.
Step To remove the HIM, follow these steps.
Example Displays
1. Press ALT and then
(Remove). The `Remove HIM'
confirmation screen appears.
2. To confirm that you want to remove the HIM, press
.
Remove Op Intrfc: Press Enter to Disconnect Op Intrfc? (Port 1 Control)
3. Remove the HIM from the cradle on the drive.
To install the HIM, insert it into the cradle on the drive or connect the DPI cable.
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Notes:
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Alpha Test Mode
Application Notes
C Appendix
Topic
Page
Topic
Page
Alpha Test Mode
289
Reference Control
325
Analog Input Configuration
292
Resolver Cable Balance Tuning Test
328
Current / Speed Curve
294
Resolver Type Selection
329
Drive Reference and Feedback Scaling
296
Scale Blocks
330
Droop Compensation
302
SCR Diagnostic Tests
331
Field-weakening Mode Configuration
302
S-curve Configuration
333
(Firmware Revision 1.006)
Lifting/Torque Proving
306
Speed Regulation Functions
335
Manually Tuning the Speed Regulator for 317
Speed / Torque Mode Selection
342
Firmware Revision 6.001 and Later
Multiple Motor Applications
319
Start At Powerup
348
Parameter 21 [Min Firing Angle]
320
Fine-Tuning the Regulators
349
Configuration
PID Function
321
The Alpha Test is a diagnostic function that allows you to activate the Armature or Field power module in an open loop mode. By commanding an SCR firing angle, a voltage is produced at the output of the selected power module. The SCR firing angle is specified in parameter 167 [Arm Test Angle] or Par 168 [Fld Test Angle]. A load greater than 500 mA is required for proper SCR operation - typically, an incandescent bulb or inductive load (never a motor) is used.
IMPORTANT An Alpha Test should not be enabled at the same time as a Shorted SCR diagnostic test.
The Alpha Test is started as soon as parameter 166 [Alpha Test] is set to one of the following values:
· 1 "Arm Fwd" (armature forward) · 2 "Arm Rev" (armature reverse) · 3 "Fld Fwd" (field forward).
The HIM displays "ArmAlphaTest" or "FldAlphaTest" while active. Start and Jog commands have no affect and a motor contactor is not closed when the test mode is initiated.
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The Alpha Test ends when Par 166 [Alpha Test] is set to 0 "Off". Otherwise, only a digital input Enable or a Fault stops the test - a HIM Stop has no affect. A change to the Alpha Test Mode (set in Par 166 [Alpha Test]) resets both test angles to their minimum firing value (180 deg).
Overcurrent and Overvoltage fault protections are active during these tests. Also, the Autotune function is disabled while Alpha test is enabled.
Alpha Test Setup and Operation
ATTENTION: Only qualified electrical personnel familiar with the construction and operation of this equipment and the hazards that are involved should perform this test. Failure to observe this precaution could result in equipment damage and/or bodily injury.
ATTENTION: The Alpha test is open loop. Therefore, disconnect the motor armature and field leads and replace them with dummy loads. Failure to observe this precaution could result in machine damage and/or bodily injury.
ATTENTION: Uncontrolled machine operation could result with a motor connected during these tests and may cause personal injury and/or equipment damage. Verify that the drive is not connected to a motor armature circuit before enabling these test modes.
WARNING: Remove power before you make or break cable connections. When you remove or insert a cable connector with power applied, an electrical arc may occur. An electrical arc may cause these system events, which can cause personal injury or property damage. · An erroneous signal to system field devices, which can cause unintended
machine motion · An explosion in a hazardous environment Electrical arcing causes excessive wear to contacts on both the module and its mating connector. Worn contacts can create electrical resistance.
IMPORTANT The Alpha Test requires that you attach the leads of an isolated oscilloscope to the armature or field terminals of the drive.
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1. Remove and lock-out all incoming power to the drive.
L1 L2 L3
I
O
2. Disconnect the motor armature leads and mechanically lock the rotor.
3. Attach the isolated oscilloscope leads to the appropriate drive terminals (based on test to be performed).
4. Reapply power to the drive.
5. Verify the no faults or alarms present. If an alarm or fault code displays, see Chapter 4 - Troubleshooting on page 219.
6. Open the Enable input on the drive.
7. Set Par 166 [Alpha Test] to the desired value (1 = "Arm Fwd", 2 = "Arm Rev" or 3 = "Fld Fwd").
8. Close the Enable input.
9. Slowly decrease the appropriate angle parameter (Par 167 [Arm Test Angle] or Par 168 [Fld Test Angle]) until a steady pattern of voltage pulses display on the oscilloscope. The resulting patterns indicate the status of the thyristors. · Six pulses per AC line cycle indicate that all thyristors in the selected bridge are operating properly. · Fewer than six pulses per AC line cycle indicates that one or more thyristors for the selected bridge are not operating.
Conduction (or output voltage) does not typically begin until the angle is below approximately 120°.
10. Open the Enable input and set Par 166 [Alpha Test] to 0 "Off ".
11. Remove power from the drive.
12. Remove the oscilloscope from the leads of the drive and unlock the rotor.
13. If necessary, replace the defective firing board in the drive.
14. Reconnect the motor armature and field leads to the drive.
15. Reapply power to the motor and drive.
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Analog Input Configuration
The analog inputs default to ±10V. To configure the analog inputs for 0-10V, set parameters [Anlg Inx Config] to 1, "0-10V". To configure the analog inputs for a current signal, set parameters [Anlg Inx Config] to 2, "0 - 20mA" or 3, "4 to 20mA". In addition, switches S9, S10, and S11 must be properly configured (see Control Circuit Board Jumper and DIP Switch Settings on page 78 for more information).
Analog Input 1 Ref_1+
1
2
Ref_1-
From Digital Reference Setting
Anlg In1 Config
+/-10V
Ain1 Tune Scale
Anlg In1 Tune
1
0
HW
+
input
type
-
Volts Anlg In1 Scale
F
Anlg In1 Sel
Speed Ref A
Anlg In1 Target
0
Anlg In1 Cmp Er 0
Anlg In 1 Filter
Window comparator
1
0 ms
Anlg In1 Offset 0
Anlg In1 Cmp 0
Anlg In1 Cmp Eq
Anlg In1 Cmp Dly 0 ms
See the Analog Inputs/Outputs Mapping block diagram on page 365 for more information.
Example 1:
The speed reference value of a drive is defined with an external voltage of 5V. With this value, the drive reaches the maximum allowable speed set in Par 45 [Max Ref Speed]. Enter a scaling factor of 2 in [Anlg Inx Scale] to scale the input voltage from 5V to 10V.
Example 2:
An external analog reference reaches a maximum value of 9.8V. Enter a scaling factor of 1.020 in [Anlg Inx Scale] to scale the maximum voltage from 9.8V to 10V.
The same result could be obtained via parameter [Anlgx Tune Scale], by entering the values of the appropriate parameters via the HIM. The maximum possible analog-input value (in this case 9.8V) must be present at the terminal with a positive polarity at the time of configuration.
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Analog-input Signal Comparison
This feature provides an indication via the HIM or a digital output when the signal of analog input 1 has reached a limit above or below a set reference point.
Anlg In1 Cmp Err 0
Anlg In1 Cmp 0
Anlg In1 Cmp Eq
Anlg In1 Cmp Dly 0 ms
Calculations that are used to determine Pars1042 [Anlg In1 Cmp] and 1043 [Anlg In1 Cmp Err]:
· [Anlg In1 Cmp] = (comparison value) x 10000 / (max. reference value) · [Anlg In1 Cmp Err] = (tolerance value) x 10000 / (max. reference value)
Example 1:
An application requires an indication via a digital output that the motor speed is within 100 rpms of 700 rpm.
· Par 45 [Max Ref Speed] = 1500 rpm (maximum reference value) · For Analog Input 1, 10V or 20 mA sets the maximum value of Par 44
[Speed Ref A] = Par 45 [Max Ref Speed] Configure the following:
· Set Par 70 [Anlg In1 Sel] = "Speed Ref A" · Set [Digital Outx Sel] = "Input1 Cmp" (Par 1045 [Anlg In1 Cmp Eq]) · Set Par 1042 [Anlg In1 Cmp] = 4667 (700 x 10000 / 1500) · Set Par 1043 [Anlg In1 Cmp Err] = 666 (100 x 10000 / 1500)
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Appendix C Application Notes
· Par 1045 [Anlg In1 Cmp Eq] = "1" (high) when the signal on Analog Input 1 is within the range that is specified in Par 1043 [Anlg In1 Cmp Err]. Par 1045 [Anlg In1 Cmp Eq] = "0" (low) when the signal on Analog Input 1 is outside the range that is specified in Par 1043 [Anlg In1 Cmp Err].
Example 2:
An application requires an indication via a digital output that the output current is within ±2% of 50% of the maximum current limit.
· Par 7 [Current Limit] = 100% (maximum reference value)
· For Analog Input 1, 10V or 20 mA sets the maximum value = Par 7 [Current Limit]
Configure the following:
· Set Par 70 [Anlg In1 Sel] = "Pos Cur Lim"
· Set [Digital Outx Sel] = "Input1 Cmp" (Par 1045 [Anlg In1 Cmp Eq])
· Set Par 1042 [Anlg In1 Cmp] = 5000 (50 x 10000 / 100)
· Set Par 1043 [Anlg In1 Cmp Err] = 200 (2 x 10000 / 100)
Current / Speed Curve
The current/speed curve function lets you control these attributes:
· Establish a current limit lower than the standard current limits of the drive (specified in parameters 8 [Current Lim Pos] and 9 [Current Lim Neg ]).
· Reduce the output current (torque) of the drive through a defined curve as the speed increases based on a threshold speed, effectively reducing torque. The curve is composed of five equally divided set points.
Par 10 [Cur Lim Pos Out] or
Par 11 [Cur Lim Neg Out]
Current/Speed
Par 751 [TrqTpr Lim0]
Current
Par 752 [TrqTpr Lim1]
Par 753 [TrqTpr Lim2] Par 754 [TrqTpr Lim3] Par 755 [TrqTpr Lim4]
Par 756 [TrqTpr Spd]
Speed
Par 162 [Max Feedback Spd]
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Application Notes Appendix C
Configure these parameters to enable and control the current / speed curve.
· Enable the current/speed curve function by setting parameter 750 [TrqTpr Enable] to 1 "Enabled".
· Set the current limit (for both directions of rotation in four quadrant drives) in parameter 751 [TrqTpr Lim0]. The value that is specified in this parameter overrides the value of parameters 8 [Current Lim Pos] and 9 [Current Lim Neg].
· Set the threshold speed at which current (torque) reduction begins in parameter 756 [TrqTpr Spd].
· Set the first reduced current limit in parameter 752 [TrqTpr Lim1]. The value that is defined in this parameter must be set according to these constraints: · Less than the value of parameter 751 [TrqTpr Lim0] · Greater than the values in parameters 753 [TrqTpr Lim2], 754 [TrqTpr Lim3], and 755 [TrqTpr Lim4].
· Set the second, third, and final reduced current limits in parameters 753 [TrqTpr Lim2], 754 [TrqTpr Lim3] and 755 [TrqTpr Lim4], respectively. The value of each subsequent parameter must be less than the previous parameter value. The drive maintains the value that is specified in parameter 755 [TrqTpr Lim4] up to the value set in parameter 162 [Max Feedback Spd].
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Drive Reference and Feedback Scaling
With firmware revision 3.001, external reference and feedback speed values are each normalized to 25,000 counts. For firmware revision 2.005 and lower, external reference and feedback speed values are scaled to "rpm x 4" counts.
The value of parameter 45 [Max Ref Speed] (rpm) determines the correlation (scaling) between the following attributes:
· DPI speed reference counts and rpm · Analog-input reference values (10V = Par 45 rpm).
All speed reference values are based on the value of [Max Ref Speed]. The value of [Max Ref Speed] represents the maximum speed that the motor can attain (also known as "gear-in speed"). If field weakening is used, [Max Ref Speed] is set to the field weakened speed. Otherwise, the motor base speed is typically used.
The value of parameter 162 [Max Feedback Spd] (rpm) determines the correlation (scaling) between DPI speed feedback counts and rpm and the DC tachometer values (if configured). All speed feedback values are based on [Max Feedback Spd]. Typically, [Max Feedback Spd] is set to the same value as parameter 45 [Max Ref Speed], but is not required (because each is separately scaled to 25000 counts). See Valid Speed Feedback Values on page 300 for limitations for parameter 162 [Max Feedback Spd] and 169 [Encoder PPR].
Armature Voltage Feedback
When armature voltage feedback is configured, Par 162 [Max Feedback Spd] must be set to the motor base speed (rpm) value that is associated with Par 175 [Rated Motor Volt].
DC Analog Tachometer Feedback
DC analog tachometer feedback is configured with these settings: · Set parameter 414 [Fdbk Device Type] to 2 "DC Tach" · Position DIP switch S4 on the control board to the maximum input voltage for the tachometer (see Table 28 on page 79 for details) · Set parameter 162 [Max Feedback Spd] to the same rpm value as indicated by the maximum input voltage that is set with DIP switch S4
To maximize the feedback speed resolution, use Par 562 [Anlg Tach Gain] to scale the voltage indicated by DIP switch S4 to Par 162 [Max Feedback Spd]. Use this equation to determine the correct analog-tachometer gain setting:
Par 562 [Anlg Tach Gain] = (Tachometer Maximum DC Input Voltage) x (1000 rpm/ volts Tach Voltage) / Par 45 [Max Ref Speed]
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Application Notes Appendix C
Encoder Feedback
Encoder feedback is configured with parameter 169 [Encoder PPR]. No scaling or switch settings are needed, but the same limitations as the DC analog tachometer apply. See Valid Speed Feedback Values on page 300 for more information on setting parameters 162 [Max Speed Feedback] and 169 [Encoder PPR].
Speed Regulator Feedback Bypass
Speed Regulator feedback bypass provides an automatic switch to armature voltage feedback when a speed feedback-signal loss occurs ("Speed Fdbk Loss" (F91). Speed Regulator feedback bypass is configured with these settings:
· Set parameter 458 [SpdReg FB Bypass] to 1 "Enabled" · Connect the drive armature-voltage feedback terminals A1 and A2 to
the motor terminals A1 and A2, respectively
The drive armature-voltage feedback terminals must be connected to the motor terminals to use Speed Regulator feedback bypass when these conditions are present:
· A DC contactor is installed with the drive · Field weakening is enabled (Par 469 [Field Mode Sel] = 1 "Field
Weaken")
Drive Reference and Feedback Scaling Examples
The examples that are listed here are based on the following data: · 500V motor, with base speed = 1750 rpm · Weakened spd = 2500 rpm · Weakened ratio = 70% (1750/2500 = 0.7) · 50V / 1000 rpm tachometer · 240 ppr encoder · 7500 fpm application (field weakened or gear-in speed)
Examples 2, 3, and 4 indicate how the value of Par 162 [Max Speed Feedback] is derived from the required analog tachometer scaling that DIP switch S4 determines.
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Example 1: Armature Voltage Feedback (Overvoltage Fixed at 20%)
Because armature voltage feedback is being used the maximum reference and feedback speeds must be equal and set to the rated speed of the motor. In this case, field weakening is not permitted.
· Par 175 [Rated Motor Volt] = 500V (default)
· Par 45 [Max Ref Speed] = 1750 rpm (default)
· Par 162 [Max Feedback Spd] = 1750 rpm (default)
· The reference and feedback resolution = 0.21 fpm/count (5250 fpm/25000 counts)
Example 2: DC Tachometer with No Feedback Bypass
When a DC tachometer is used, the maximum feedback speed must be scaled to the maximum voltage of the tachometer. A loss of feedback resolution results when Par 562 [Anlg Tach Gain] is left at the default value (1.0000). The loss in resolution occurs because the drive is only using 1750 rpm out f the maximum 3600 rpm.
· Par 175 [Rated Motor Volt] = 500V (default)
· Par 45 [Max Ref Speed] = 1750 rpm (default)
· Par 562 [Anlg Tach Gain] = 1.0000 (default)
· Par 585 [Overspeed Val] = 1925 rpm (default)
· Set DIP switch S4 = 180V This value is set to the next highest DIP switch setting available based on the result of the following calculation:
Tachometer x Max Motor Speed x Overspeed Percentage = Scaled Tach Input Volts
(50V/1000 rpm) x (1750 rpm) x
(1.1)
=
96.25V
· Set Par 162 [Max Feedback Spd] = 3600 rpm This value is based on (180V/50V) =3.6 (1000)
· The reference resolution = (5250 fpm/25000 counts) = 0.21 fpm/count
· The feedback resolution = 0.62 fpm/count
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Example 3: DC Tachometer with Feedback Bypass
This example is similar to example 2 except that it compensates for the loss in feedback resolution by setting parameter 562 [Anlg Tach Gain].
· Par 175 [Rated Motor Volt] = 500V (default)
· Par 45 [Max Ref Speed] = 1750 rpm (default)
· Set Par 562 [Anlg Tach Gain] = 2.057 (3600/1750)
· Par 585 [Overspeed Val] = 1925 rpm (default)
· Set DIP switch S4 = 180V This value is set to the next highest DIP switch setting available based on the result of the following calculation:
Tachometer x Max Motor Speed x Overspeed Percentage = Scaled Tach Input Volts
(50V/1000 rpm) x (1750 rpm) x
(1.1)
=
96.25V
· Par 162 [Max Feedback Spd] = 1750 rpm (default) This value is based on: (180V/50V/2.057) =1.750 (1000)
· The reference and feedback resolution = (5250 fpm/25000 counts) = 0.21 fpm/count
Example 4: DC Tachometer with Field Weakening
This example is similar to example 3 except that a field weakening speed of 2500 rpm is configured rather than a base speed of 1750 rpm.
· Par 175 [Rated Motor Volt] = 500V (default)
· Set Par 45 [Max Ref Speed] = 2500 rpm
· Set Par 562 [Anlg Tach Gain] = 1.44
· Set Par 585 [Overspeed Val] = 2750 rpm
· Set DIP switch S4 = 180V This value is set to the next highest DIP switch setting available based on the result of the following calculation:
Tachometer x Max Motor Speed x Overspeed Percentage = Scaled Tach Input Volts
(50V/1000 rpm) x (2500 rpm) x
(1.1)
=
137.5V
· Set Par 162 [Max Feedback Spd] = 2500 rpm This value is based on: (180V/50V/1.44) = 2.5 (1000)
· The reference and feedback resolution = (7500 fpm/25000 counts) = 0.3 fpm/count
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Example 5: Encoder with Field Weakening
This example is similar to example 4 except that an encoder is configured so there is no feedback scaling required.
· Par 175 [Rated Motor Volt] = 500V (default) · Set Par 45 [Max Ref Speed] = 2500 rpm · Set Par 162 [Max Feedback Spd] = 2500 rpm · Set Par 169 [Encoder PPR] = 240 ppr · Set Par 585 [Overspeed Val] = 2750 rpm · The reference and feedback resolution = (7500 fpm/25000 counts) =
0.3 fpm/count
Valid Speed Feedback Values
Regardless of the type of speed feedback device that is used, the value of parameters 162 [Max Feedback Spd] and 169 [Encoder PPR] must be in the `Allowed Area' that is shown in Figure 85 on page 301 based on the value of Par 175 [Rated Motor Volt].
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6000 Par 162 = 6000 rpm (max.) Par 169 = 100 ppr (min.)
5000
Par 162 [Max Feedback Spd]
Figure 85 - Speed Feedback Settings
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4000
Allowed Area
3000
Application Notes Appendix C
2000 Par 162 = 1465 rpm
Par 169 = 100 ppr (min.) 1500
1000
Par 162 = 300 rpm
Par 169 = 500 ppr
500
Par 162 = 300 rpm Par 169 = 976 ppr
When Par 175 = 700V or greater, Par 162 min. = 500 rpm
0 0
100 200
400 500 600
Par 169 [Encoder PPR]
800
1000
1200
1400
1600
1800
2000
Par 162 = 8 rpm Par 169 = 977 ppr
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Appendix C Application Notes
Droop Compensation
The Droop function is used when the current must be balanced between two drives. A typical situation that requires the use of the Droop function is when two motors are mechanically coupled and must run at the same speed. If Droop is not used, a difference in the drives speed regulators can result in these issues:
· One of the motors runs at a higher speed and is overloaded.
· One of the motors runs at a lower speed and acts, essentially, as a brake.
The Droop function lets you overcome this difference by adding a load compensation component to the speed reference, which is proportional to the actual load differences of the drives.
For example:
Leader Drive [Anlg In1 Sel] [Anlg Out1 Sel]
= "Speed Ref A" = "Torque Ref" (Par 14)
Follower Drive [Anlg In1 Sel] [Anlg In2 Sel] [Enable Droop] [Droop Percent] [Droop Filter] [Droop Limit]
= "Speed Ref A" = "Load Comp" (Par 698) = "Enabled" = 5% = 100 ms = 1000
See the block diagram for Droop Compensation - Inertia / Loss Compensation on page 371 for more information.
Field-weakening Mode Configuration (Firmware Revision 1.006)
IMPORTANT
This configuration applies only to firmware revision 1.006. For instructions on how to configure a drive with firmware revision 2.001 for use with an AC or DC contactor, with or without a dynamic brake, see Contactors on page 31.
The following configuration is required when operating the drive in field weakening mode with a DC contactor and/or inverting fault device that is installed in the armature circuit.
ATTENTION: The following information is merely a guide for proper installation. Rockwell Automation, Inc. cannot assume responsibility for the compliance or the noncompliance to any code, national, local or otherwise for the proper installation of this drive or associated equipment. A hazard of personal injury and/or equipment damage exists if codes are ignored during installation.
Complete the appropriate installation and programming requirements that are contained on pages 303...305 when your PowerFlex® DC drive uses this configuration:
· Field weakening mode is enabled (Par 469 [Field Mode Sel] set to 1 "Field Weaken")
· A DC contactor and/or an inverting fault device is installed in the armature circuit
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ATTENTION: If a dynamic brake resistor is used with one of these configurations, dynamic braking stop time is extended when the digital input configured as 35 - "Fld Weak En"is asserted. If one of these configurations is used in an inappropriate application, equipment damage and/or personal injury may result. Do not use one of these configurations without considering applicable local, national, and international codes, standards, regulations, or industry guidelines.
Using a DC Contactor Only (Firmware Revision 1.006 Only)
1. Set parameter 1391 [ContactorControl] to "Contactor" (default value). 2. Set one [Relay Out x Sel] parameter and one [Digital Inx Sel] parameter
to "Contactor" (default value for parameters 1392 [Relay Out 1 Sel] and 140 [Digital In8 Sel]). 3. Connect the DC contactor auxiliary (status) contact to a second digital input. 4. Set the corresponding second [Digital Inx Sel] parameter (133...144) to "Fld Weak En". 5. Set the corresponding [Inversion In x] parameter (1276...1283 or 1387...1390) for the second digital input to "Enabled".
Using a DC Contactor and a Dynamic Brake (Firmware Revision 1.006 Only)
1. Set parameter 1391[ContactorControl] to "Contactor+DB". 2. Set one relay output parameter (1392 [Relay Out 1 Sel] or 629 [Relay
Out 2 Sel]) to "Contactor" and the other relay output parameter to "ContactorDB". 3. Set one [Digital Inx Sel] parameter to "Contactor" (default value for parameter 140 [Digital In8 Sel]). 4. Connect the DC contactor auxiliary (status) contact to a second digital input. 5. Set the corresponding second [Digital Inx Sel] parameter (133...144) to "Fld Weak En". 6. Set the corresponding [Inversion In x] parameter (1276...1283 or 1387...1390) for the second digital input to "Enabled".
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Using an Inverting Fault Device Only (Firmware Revision 1.006 Only)
1. Connect the inverting-fault device contact to two separate digital inputs. When two inverting fault devices are used, the device contacts must be wired in series.
2. Set one corresponding [Digital Inx Sel] parameter (133...144) to 35 "Fld Weak En".
3. Set the other corresponding [Digital Inx Sel] parameter (133...144) to 14 - "Aux Fault".
4. Set both of the corresponding [Inversion In x] parameters (1276...1283 or 1387...1390) to 1 - "Enabled".
Using a DC Contactor and an Inverting Fault Device (Firmware Revision 1.006 Only)
DC Contactor Configuration
1. Set parameter 1391[ContactorControl] to "Contactor" (default value). 2. Set one [Relay Out x Sel] parameter and one [Digital Inx Sel] parameter
to "Contactor" (default value for parameters 1392 [Relay Out 1 Sel] and 140 [Digital In8 Sel]). 3. Connect the DC contactor auxiliary (status) contact to a digital input. 4. Set the corresponding [Digital Inx Sel] parameter (133...144) to 35 "Fld Weak En". 5. Set the corresponding [Inversion In x] parameter (1276...1283 or 1387...1390) to 1 - "Enabled".
Inverting-fault Device Configuration
1. Connect the inverting-fault device contact to a digital input. 2. Set the corresponding [Digital Inx Sel] parameter (133...144) to 14 -
"Aux Fault". 3. Set the corresponding [Inversion In x] parameter (1276...1283 or
1387...1390) to 1 - "Enabled".
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Using a DC Contactor, a Dynamic Brake and an Inverting Fault Device (Firmware Revision 1.006 Only)
DC Contactor and Dynamic Brake Configuration
1. Set parameter 1391[ContactorControl] to "Contactor+DB". 2. Set one [Relay Out x Sel] parameter (1392 [Relay Out 1 Sel] or 629
[Relay Out 2 Sel]) to "Contactor" and the other relay output to "ContactorDB". 3. Set one [Digital Inx Sel] parameter to "Contactor" (default value for parameter 140 [Digital In8 Sel]). 4. Connect the DC contactor auxiliary (status) contact to a second digital input. 5. Set the corresponding second [Digital Inx Sel] parameter (133...144) to "Fld Weak En". 6. Set the corresponding [Inversion In x] parameter (1276...1283 or 1387...1390) for the second digital input to "Enabled".
Inverting-fault Device Configuration
1. Connect the inverting-fault device contact to a digital input. 2. Set the corresponding [Digital Inx Sel] parameter (133...144) to 14 -
"Aux Fault". 3. Set the corresponding [Inversion In x] parameter (1276...1283 or
1387...1390) to 1 - "Enabled".
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Appendix C Application Notes
Lifting/Torque Proving
TorqProveTM technology for PowerFlex DC drives is intended for applications where proper coordination between motor control and a mechanical brake is required. Before the mechanical brake is released, the drive checks motor armature continuity and verify proper motor control (torque proving). The drive also verifies that the mechanical brake has control of the load before drive control (brake proving) is released. After the drive sets the brake, motor movement is monitored to verify that the brake can hold the load.
ATTENTION: Loss of control in suspended load applications can cause personal injury and/or equipment damage. The drive or mechanical brake must always control the load. Parameters 1100...1114 are designed for lifting/torque proving applications. It is the responsibility of the engineer and/or end user to configure drive parameters, test any lifting functionality and meet safety requirements in accordance with all applicable codes and standards.
TorqProve can be operated with an encoder or encoderless. See "Attention" on page 307 before the use of TorqProve with no encoder.
TorqProve functionality with an encoder includes: · Torque Proving (includes last torque measurement) · Brake Proving · Brake Slip (feature slowly lowers load if brake slips/fails) · Float Capability (ability to hold full torque at zero speed) · Micro-Positioning · Fast Stop · Speed Deviation Fault and Encoder Loss Fault.
Encoderless TorqProve functionality includes: · Torque Proving · Micro-Positioning · Fast Stop · Speed Deviation Fault.
IMPORTANT Brake Slip detection and Float capability (ability to hold load at zero speed) are not available in encoderless TorqProve.
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Application Notes Appendix C
Operator Commands
Figure 86 - Torque Proving Flow Diagram
Run Command
Run Command Released
Time
Run can be initiated anytime
[Brk Release Time] Parameter 1107
Drive Running
Drive Torque Actions Prove Initiated
Brake Released
[ZeroSpdFloatTime] Parameter 1113
[Brk Set Time] Parameter 1108
Float Initiated
Brake (1) Set
Brake Slip Test
All times between Drive Actions are programmable and can be made very small (i.e. Brake Release Time can be 0.1 seconds)
(1) For torque proving to function properly, a mechanical brake must
be wired to a relay output.
Brake
78
Relay
79
35
36
75
Control
76
Voltage
U2
V2
ATTENTION: You must read this information before you use the TorqProve feature without an encoder.
Encoderless TorqProve must be limited to lifting applications where personal safety is not a concern. Encoders offer additional control and protection and must be used where personal safety is a concern. Encoderless TorqProve cannot hold a load at zero speed without a mechanical brake and does not offer additional protection if the brake slips/fails. Loss of control in suspended load applications can cause personal injury and/or equipment damage.
It is your responsibility to configure drive parameters, test any lifting functionality, and meet safety requirements in accordance with all applicable codes and standards. If encoderless TorqProve is desired, you must certify the safety of the application. To acknowledge that you have read this information and properly certified the encoderless application, parameter 414 [Fdbk Device Type] must be changed to "DC Tach"(2). If parameter 414 is set to "DC Tach,"you can set bit 1 of parameter 1100 [Torq Prove Cfg] to "1" without causing a Type 2 alarm when lifting/torque proving is enabled (Par 1100, bit 0 = 1).
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Tuning The Motor For Torque Prove Applications
It is possible to use Autotune to tune the motor (see Tune the Current Regulator on page 102 and Tune the Speed Regulator on page 109). However, it is recommended that the motor is disconnected from the hoist/crane equipment during the routine.
ATTENTION: Unexpected brake release can cause personal injury and/or equipment damage. To guard against an unexpected brake release, verify the digital output that is used for brake connections and/or programming. The PowerFlex DC drive does not control the mechanical brake until TorqProve is enabled. If the brake is connected to a digital output, it could be released. If necessary, disconnect the digital output until wiring/ programming can be completed and verified.
Crane Setup with Encoder/Resolver Feedback
These setup instructions assume the following. · The drive and motor size have been carefully selected · The drive parameters are at the factory defaults · Programming is done with DriveToolsTM SP or Connected Components WorkbenchTM software · Crane control is done via Run Forward / Run Reverse inputs · The mechanical brake control is wired to Relay Output 2 · If a resolver is used, the drive must have a Resolver Feedback module installed · The encoder/resolver is mounted on the back of the motor (not behind the gearbox) · The encoder, if used, meets this specification: Quadrature differential (A, A-, B, B-), Line driver output, Minimum 1000 PPR 5V or 12V signals (12V preferred)
ATTENTION: Loss of control in suspended load applications can cause personal injury and/or equipment damage. The drive or mechanical brake must always control the load. Parameters 1100...1114 are designed for lifting/torque proving applications. It is the responsibility of the engineer and/or end user to configure drive parameters, test any lifting functionality and meet safety requirements in accordance with all applicable codes and standards.
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Application Notes Appendix C
Set Up the Drive
Adjust parameter settings and enter nameplate data.
Parameter Braking Details 245 [Speed Ramp En] 629 [Relay Out 2] Motor Nameplate Data 175 [Rated Motor Volt] 179 [Nom Mtr Arm Amps] 162 [Max Feedback Spd] 280 [Nom Mtr Fld Amps] 374 [Drv Fld Brdg Cur] Motor Control 241 [Spd Trq Mode Sel] Maximum Speed 45 [Max Ref Speed] Drive Duty Rating 376 [MtrOvrld Type] Overload Speed 334 [MtrOvrld Speed] Protection 479 [MtrOvrld Flt Cfg] 7 [Current limit]
Setting
1 "Enabled" 31 "TP Brake Cmd"
Motor nameplate voltage Motor nameplate current Motor nameplate speed Motor nameplate field current Drive Field Supply Rating (matches S14)
1 "Speed Reg"
Motor nameplate speed
1 "Heavy Duty"
0% (so no current derating is applied)
2 "Fault" 200% (of P179 Nom Mtr Arm Amps)
Motor Tuning Routines
Run the following three tests in the order listed. See Chapter 2 "Drive Start Up" staring on page 93 for details. If these tests have already been performed, proceed to Torque Prove Setup on page 311.
Current Tune This routine measures motor characteristics with the brake set (brake closed).
Verify Motor Rotation and Speed Feedback Polarity This test checks for correct motor armature and speed feedback device connections.
Speed Tune This routine gives better results if the connected equipment allows free motor rotation. This routine requires the mechanical brake to open and the motor to run.
If a "TorqPrv Spd Band" fault (F94) occurs during any of the motor tuning routines, see page 226 for a list of possible errors and actions.
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Speed Reference Setup
1. Set the minimum speed.
Parameter 1 [Minimum Speed]
Setting 0.00
2. Set the maximum speed limits.
Parameter 2 [Maximum Speed]
Setting Speed limit that is used during normal operation
3. Set the digital input functions.
Parameter 133 [Digital In1 Sel] 134 [Digital In2 Sel] 135 [Digital In3 Sel] 136 [Digital In4 Sel] 137 [Digital In5 Sel] 138 [Digital In6 Sel]
Setting "Stop/CF" (2) "Run Forward"(6) "Run Reverse" (7) "Enable" (1) "Flt MicroPsn" (65) "Not Used" (0)
4. Set the speed reference.
Set the DPI Speed Reference to the nominal operating speed.
Parameter 70 [Anlg In1 Sel] 323 [DPI P1 Select]
Setting "Off" (0) "Speed Ref A" (1)
5. Verify the speed reference in parameter 1329 [Speed Ref Source] = 1323.
6. Set the speed loop tuning.
Parameter 434 [Speed Reg BW]
433 [Total Inertia]
Setting
20 R/S Defines the reactivity of the speed regulator. This value is used to calculate Kp and Ki gains.
1.5 Secs This value can be increased or decreased depending on Speed regulator response.
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Torque Prove Setup
Carefully perform the following steps in the order presented.
1. Enter the Torque Prove parameter settings.
Parameter 629 [Relay Out 2 Sel] 1100 [Torq Prove Cfg]
Setting "TP Brake Cmd" (31) Bit 0 "TP Enable" = 1
Once Torque Prove is activated, the drive is in alarm state.
2. Select the source of speed feedback.
Parameter 414 [Fdbk Device Type]
Setting "Encoder"(1) - Verify that P169 [Encoder PPR] is set correctly.
3. Set the time to decrease motor torque during the Brake Slip test.
Drive Parameter 1104 [Torq Limit Slew]
4. Set the speed deviation.
Setting 10.000 Secs (Default)
Parameter 1105 [Speed Dev Band]
Setting 52.50 RPM (Default)
Increase this setting if the drive faults on F94 "TorqPrv Spd Band."
5. Set the speed deviation level.
Parameter 1106 [SpdBand Intgrtr]
Setting 60 ms (Default)
Increase this setting if the drive faults on F94 "TorqPrv Spd Band."
6. Set the brake release time.
Parameter 1107 [Brk Release Time]
Setting 100 ms (Default)
Increase or decrease this setting depending on the time that is required to open the brake.
7. Set the brake set time.
Parameter 1108 [Brk Set Time]
Setting 100 ms (Default)
Increase or decrease this setting depending on the time that is required to close the brake.
8. Set the allowable brake slip.
Parameter 1109 [Brk Alarm Travel]
Setting 1.00 (Default)
Sets the number of motor revolutions the motor is allowed to lower the load when a brake slip has been detected.
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9. Set the brake slip definition.
Parameter 1110 [Brk Slip Count]
Setting 0.25 (Default)
Sets the number of encoder or resolver revolutions to define a brake slippage condition.
10. Set the brake float tolerance.
Parameter 1111 [Float Tolerance]
Setting 52.50 RPM
Sets the level at which the float timer starts counting.
11. Set the brake float time.
Parameter 1113 [ZeroSpdFloatTime]
Setting 5.000 Secs (Default)
Sets the time to maintain zero speed with brake open when the run command has been released.
The drive is now configured and Torque Prove for the mechanical brake control is activated. The load can now be applied.
Optimize the Speed Loop Tuning
You can now use DriveObserver to optimize the speed loop tuning. Use a 30 second time scaling on the X-axis. Use DriveObserver to configure the following traces.
Parameter 1008 [Spd Reg Fdbk] 113 [Ramp Out] 200 [Arm Current] 41 [Current Reg In]
Setting Scaled to minimum and maximum speed limits Scaled to minimum and maximum speed limits Scaled to current limit value Default scaling
Run the crane up and down under full load. Adjust acceleration and deceleration rates if necessary.
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Application Notes Appendix C
Troubleshooting Crane Setup with Encoder/Resolver Feedback
The following faults commonly occur during drive commissioning.
F4 "AC Undervoltage" · If the mains supply is still present, reduce the undervoltage level at P481 [UnderVolt Thresh].
F5 "Arm Overvoltage" · Verify the parameter settings as stated in Set Up the Drive on page 309.
F94 "TrqProve Spd Band" (Speed deviation fault) · This fault is only active when TorqProve is enabled. · The speed loop tuning is incorrect. Increase P434 [Spd Reg BW] or P433 [Total Inertia]. If these values are too high, the regulator becomes unstable. · P1008 [Spd Reg Fdbk] should follow P113 [Ramp Out] as closely as possible. · The drive is going into current limit. The drive is undersized or acceleration / deceleration is set too fast. · The brake is not opening. Check for faulty brake operation.
For more fault information, see Chapter 4 Troubleshooting on page 219.
Crane Setup - Encoderless
These setup instructions assume the following. · The drive and motor size have been carefully selected · The drive parameters are at the factory defaults · Programming is done with DriveTools SP or Connected Components WorkbenchTM software · Crane control is done via Run Forward / Run Reverse inputs · The mechanical brake control is wired to Relay Output 2
ATTENTION: Loss of control in suspended load applications can cause personal injury and/or equipment damage. The drive or mechanical brake must always control the load. Parameters 1100...1114 are designed for lifting/torque proving applications. It is the responsibility of the engineer and/or end user to configure drive parameters, test any lifting functionality and meet safety requirements in accordance with all applicable codes and standards.
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Appendix C Application Notes
Set Up the Drive
Adjust the parameter settings and enter nameplate data.
Parameter Braking Details 245 [Speed Ramp En] 629 [Relay Out 2] Motor Nameplate Data 175 [Rated Motor Volt] 179 [Nom Mtr Arm Amps] 162 [Max Feedback Spd] 280 [Nom Mtr Fld Amps] 374 [Drv Fld Brdg Cur] Motor Control 241 [Spd Trq Mode Sel] Maximum Speed 45 [Max Ref Speed] Drive Duty Rating 376 [MtrOvrld Type] Overload Speed 334 [MtrOvrld Speed] Protection 479 [MtrOvrld Flt Cfg] 7 [Current limit]
Setting
1 "Enabled" 31 "TP Brake Cmd"
Motor nameplate voltage Motor nameplate current Motor nameplate speed Motor nameplate field current Drive Field Supply Rating (matches S14)
1 "Speed Reg"
Motor nameplate speed
1 "Heavy Duty"
0%
2 "Fault" 200% (of P179 Nom Mtr Arm Amps)
Motor Tuning Routines
Run the following three tests in the order listed. See Chapter 2 "Drive Start Up" staring on page 93 for details. If these tests have already been performed, proceed to Torque Prove Setup.
Current Tune This routine measures motor characteristics with the brake set (brake closed).
Verify Motor Rotation and Speed Feedback Polarity This test checks for correct motor armature and speed feedback device connections.
Speed Tune This routine gives better results if the connected equipment allows free motor rotation. This routine requires the mechanical brake to open and the motor to run.
If a "TorqPrv Spd Band" fault (F94) occurs during any of the motor tuning routines, see page 226 for a list of possible errors and actions.
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Speed Reference Setup
1. Set the minimum speed.
Parameter 1 [Minimum Speed]
Setting 0.00
2. Set the maximum speed limits.
Parameter 2 [Maximum Speed]
Setting Speed limit that is used during normal operation
3. Set the digital input functions.
Parameter 133 [Digital In1 Sel] 134 [Digital In2 Sel] 135 [Digital In3 Sel] 136 [Digital In4 Sel] 137 [Digital In5 Sel] 138 [Digital In6 Sel]
Setting "Stop/CF" (2) "Run Forward"(6) "Run Reverse" (7) "Enable" (1) "Flt MicroPsn" (65) "Not Used" (0)
4. Set the speed reference.
Set the DPI Speed Reference to the nominal operating speed.
Parameter 70 [Anlg In1 Sel] 323 [DPI P1 Select]
Setting "Off" (0) "Speed Ref A" (1)
5. Verify the speed reference in parameter 1329 [Speed Ref Source] = 1323.
6. Set the speed loop tuning.
Parameter 434 [Speed Reg BW]
433 [Total Inertia]
Setting
20 R/S Defines the reactivity of the speed regulator. This value is used to calculate Kp and Ki gains.
1.5 Secs This value can be increased or decreased depending on Speed regulator response.
Torque Prove Setup
Carefully perform the following steps in the order presented.
1. Enter the Torque Prove parameter settings.
Parameter 629 [Relay Out 2 Sel] 1100 [Torq Prove Cfg]
Setting "TP Brake Cmd" (31) Bit 0 "TP Enable" = 1 Bit 1 "Encoderless" = 1 Bit 5 "BrkSlipEncls" = 1
2. Select the source of speed feedback.
Parameter 414 [Fdbk Device Type]
Setting "DC Tach" (2)
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3. Set the speed deviation.
Parameter 1105 [Speed Dev Band]
Setting 200 RPM
This setting can be lowered once the system has been tuned. The lower this value, the faster the protection.
4. Set speed deviation level.
Parameter 1106 [SpdBand Intgrtr]
Setting 200 ms
This setting can be lowered once the system has been tuned. The lower this value, the faster the protection.
5. Set brake float tolerance.
Parameter 1111 [Float Tolerance]
Setting 25 RPM
Determines the level where the mechanical brake sets in encoderless mode.
The drive is now configured and Torque Prove for the mechanical brake control is activated. The load can now be applied.
Optimize the Speed Loop Tuning
You can now use DriveObserver to optimize the speed loop tuning. Use a 30 second time scaling on the X-axis. Use DriveObserver to configure these traces:
Parameter 1008 [Spd Reg Fdbk] 113 [Ramp Out] 200 [Arm Current] 41 [Current Reg In]
Setting Scaled to minimum and maximum speed limits Scaled to minimum and maximum speed limits Scaled to current limit value Default scaling
Run the crane up and down under full load. Adjust acceleration and deceleration rates if necessary.
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Troubleshooting Crane Setup - Encoderless
The following faults commonly occur during drive commissioning.
F4 "AC Undervoltage" · If the mains supply is still present, reduce the undervoltage level at P481 [UnderVolt Thresh].
F5 "Arm Overvoltage" · Verify the parameter settings as stated in Set Up the Drive on page 314.
F94 "TrqProve Spd Band" (Speed deviation fault) · This fault is active only when TorqProve is enabled. · The speed loop tuning is not correct. Increase P434 [Spd Reg BW] or P43 [Total Inertia]. If these values are too high, the regulator becomes unstable. · P1008 [Spd Reg Fdbk] should follow P113 [Ramp Out] as closely as possible. · The drive is going into current limit. The drive is undersized or acceleration / deceleration is set too fast. · The brake is not opening. Check for faulty brake operation.
For more fault information, see Chapter 4 Troubleshooting on page 219.
Manually Tuning the Speed Regulator for Firmware Revision 6.001 and Later
The calculation of Speed Loop gains was simplified in firmware revision 6.001 and later so that they are similar to other PowerFlex Architecture class drives. The value of parameter 434 [Spd Reg BW] now automatically determines the Speed Regulator gains (Kp and Ki). The Speed Regulator gains can still be entered manually by setting P434 [Spd Reg BW] to 0. There is also a separate bandwidth parameter for bypass mode, P448 [Spd Reg BW Bypass]. This parameter affects P459 [Spd Reg Kp Bypass] and P460 [Spd Reg Ki Bypass]. Follow these steps when converting to revision 6.001 and later from an earlier firmware revision:
1. Before installing PowerFlex DC firmware revision 6.001 or later, save the current drive-configuration data by using the HIM CopyCat function, or DriveExecutiveTM or Connected Components Workbench software.
2. Record the following parameter values:
Parameter
Value
87 [SpdReg Kp Pct]
88 [SpdReg Ki Pct]
1013 [Torque Const]
1030 [Spd Tune Inertia]
1031 [Spd Tune Friction]
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3. Download the PowerFlex DC firmware revision 6.001 or later. A F100 "EEPROM Error" fault occurs and all parameters are reset to the factory default values.
4. Download the saved HIM CopyCat or DriveExecutive configuration data to the drive. An error message/messages appears due to the change in major revision number.
5. Acknowledge the error/fault messages by selecting OK (DriveToolsTM SP or Connected Components WorkbenchTM software) or pressing the Esc key (HIM).
6. Verify that P1013 [Torque Const] equals the value that you recorded in the table in step 2.
7. See the table in step 2 to enter values for these parameters: · Enter the value that is recorded in table 2 for Par 1030 [Spd Tune Inertia] into Par 1014 [Inertia] · Enter the value that is recorded in table 2 for Par 1031 [Spd Tune Friction] into Par 1015 [Friction]
8. Verify that P1034 [Spd Reg Kp Pct] equals the value that is recorded in the table in step 2 for P87 [Spd Reg Kp Pct]. If the values are not equal, P434 [Spd Reg BW] can be adjusted to make P1034 [Spd Reg Kp Pct] the same as the original value for P87 [Spd Reg Kp Pct].
9. Set P434 [Spd Reg BW] = 0 and adjust P88 [Spd Reg Ki Pct] until P1035 is equal to the expected value.
10. Verify that P1035 [Spd Reg Ki Pct] equals the value that is recorded in the table in step 2 for P88 [Spd Reg Ki Pct].
If completed properly, the Speed Regulator performance is now the same as it was in the previous firmware revision. If desired, the Speed Regulator autotune (see page 109) can be executed to have the drive automatically determine the Speed-regulator gain values.
A summary of the basic relationships between Speed Regulator gains, bandwidth, and tuning for firmware revision 6.001 and later is shown here.
Damping (Par 436)
z
Inertia (P433)
J
Bandwidth (Par 434)
BW = Kp / J
Proportional Gain (Par 87) Kp = BW * J
Integral Gain (Par 88)
Ki = (BW * Kp)/(4 * z2)
Load Time Constant
Tc = Kp / Ki = (4 * z2) / BW = 1 / Wld
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Application Notes Appendix C
Multiple Motor Applications The PowerFlex DC drive can be used in multiple motor applications. The
motors can be configured for parallel or series connections.
IMPORTANT The PowerFlex DC drive is not designed for use with resistive or magnetic loads.
Considerations for Multiple Motors Connected in Parallel
Follow this guidance when using PowerFlex DC drives in multiple motor applications where the motors are connected in parallel:
· The horsepower, armature voltage, armature current, and rated speed ratings of all motors that are used in the application must match.
· Parameter 179 [Nom Mtr Arm Amps] must be equal to the sum of all motor armature current ratings.
· Install armature circuit overloads on each motor that is used in the application. The drive monitors the total current output for overload. However, the drive cannot detect an individual motor overload condition for motors connected in parallel.
· The motor fields must be connected in parallel from the drive output source.
· It is highly recommended that you install a field loss relay on each motor field.
· Motor over speed protection is required.
Considerations for Multiple Motors Connected in Series
Follow this guidance when using PowerFlex DC drives in multiple motor applications where the motors are connected in series:
· The horsepower, armature voltage, armature current, and rated speed ratings of all motors that are used in the application must match.
· The sum of the nameplate armature voltage ratings for all motors cannot exceed the maximum rated drive output voltage.
· The sum of the nameplate armature voltage ratings for all motors must be equal to the armature voltage set in parameter 175 [Rated Motor Volt].
· The motor fields must be connected in parallel from the drive output source.
· It is highly recommended that you install a field loss relay on each motor field.
· Monitor the individual motor voltages for balance. · Motor over speed protection is required.
The current and speed loop Autotune functions cannot be used with multiple motors. Complete the Manually Tuning the Speed Regulator for Firmware Revision 6.001 and Later procedures on page 317.
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Parameter 21 [Min Firing Angle] Configuration
Parameter 21 [Min Firing Angle] allows for the adjustment of the "Alpha" firing angle limit from the default of 25° to as low as 5°. The firing angle is the angle (point) in the sine-wave where the SCR turns on. The earlier in the sinewave that the SCR turns on, the more power is delivered to the motor. When the regulator demands more current to increase the motor speed, or to maintain the speed under an increased load, the regulator decreases the firing angle to deliver more power to the motor. When the motor is spinning, it acts as a generator and it develops a voltage that is opposite to the applied voltage from the power module CEMF (Counter Electromotive Force). To regulate the same current as speed is increased, the regulator reduces the firing angle, which applies more voltage to the motor. And the motor speed, low line voltage (either from the source or in the form of a soft line) necessitates a reduction in the firing angle to deliver proper regulator control of the motor. If the firing angle reaches the minimum limit, then the drive regulator is no longer effective when it "requests" more power to be delivered to the motor from the power module. The drive does not deliver the required power to the motor and the drive is unable to meet the needs of the application. The actual firing angle can be dynamically monitored in parameter 165 [Firing Angle]. If there is a concern whether firing angle limit is limiting the drive performance, it is recommended that you trend parameter 165 [Firing Angle] over a long enough period that represents the typical drive loading in the future. If the minimum firing angle is reached while monitoring, it is recommended that you reduced the angle in 5° increments. Confirm the adjustment with loading profiles that are typical between adjustments.
Do not reduce the firing angle limit too aggressively. Only reduce the firing angel to a value necessary to run the motor at full speed and operate with low line (-10%) and overload conditions that are required of the drive.
For regenerative drives, inverting fault protection must be provided in the form of a circuit breaker or fuses. Once an SCR turns on and starts to conduct current, it stays on (latches) until the incoming AC line reverse biases the SCR. If the AC line drops too low relative to the motor terminal voltage during regeneration, SCRs normally commutated off, remain on, and cause an inverting fault. The inverting fault protection is necessary to control the maximum current through the motor and power bridge during the fault.
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PID Function
Application Notes Appendix C
The PID function is used to increase or reduce the reference signal output to the speed or current regulator of the drive. The PID function can be used for nip-roll, winder/unwinder, roll doctor/salvage machine, pump, and extruder pressure control and extruder temperature-control applications. (See the complete "PID Control" block diagram on page 379.)
These examples are included for configuring the following applications:
· Speed winder with a load cell and tension control
Line speed signal (see Configure a Line Speed Signal on page 321) Closed loop dancer / load cell feedback (see Configure the Feedback
Signal in the Follower Drive/Drives on page 323) Tension set point (see Configure the Tension Set Point Signal in the
Follower Drive/Drives on page 324)
· Torque winder with a load cell and tension control
Line speed signal (see Configure a Line Speed Signal on page 321) Closed loop dancer / load cell feedback (see Configure the Feedback
Signal in the Follower Drive/Drives on page 323) Tension set point (see Configure the Tension Set Point Signal in the
Follower Drive/Drives on page 324)
Configure a Line Speed Signal
The line speed signal is the main reference for the speed or current regulator in the follower drive/drives.
In the Leader drive:
· Configure an analog output for the main speed reference (1 "Spd Ref Out")
In the Follower drive:
· Set Par 80 [Anlg In3 Sel] to 12 "UserDefined0"
· Set Par 786 [PID Source] to 19 "UsrDefined0" (Par 503).
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Line Speed Master
Reverse Forward
NIP-Roll
Load Cell 0 - +10V
M
E
Master Drive
Tension Set
M
E
-10V
Set
Slave Drive
Feedback
Line Speed Signal (Internal Ramp)
+10V Forward -10V Reverse Line Speed Reference
In addition you can configure the following:
· Enter the gain for the feed-forward signal in Par 787 [PID Source Gain]
· Monitor the feed-forward signal after the gain is applied in Par 758 [Feed Fwd PID]
P758 Feed Fwd PID
P786 PID Source
Gain
P787 PID Source Gain
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Configure the Feedback Signal in the Follower Drive/Drives
The feedback signal originates from a load cell or a closed loop dancer and is input to the drive via an analog input.
· Set Par 70 [Anlg In1 Sel] to 19 "PID Feedback".
Line Speed Master
Reverse Forward
NIP-Roll
Load Cell 0 - +10V
M
E
Master Drive
Tension Set
M
E
-10V
Slave
Set
Drive
Feedback
Line Speed Signal (Internal Ramp)
+10V Forward -10V Reverse Line Speed Reference
In addition you can configure the following:
· Par 763 [PID Feedback] contains the raw feedback counts from the analog input signal that is received from the transducer position (dancer) or tension (load cell)
· Monitor the tension set point for a torque winder application in Par 1194 [Act Ten Ref Pct]
· Configure the PID feedback gain in Par 1254 [PID Error Gain]
· Limit the PID correction error using Par 757 [PID Clamp]
· Monitor the actual error input to the PI and PD blocks in Par 759 [PID Error]
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P760 PID Setpoint 0
P761 PID Setpoint 1
P763 PID Feedback
P1254 PID Error Gain
+
+
+
P1194 Act Ten Ref Pct
P762 PID Setpoint Sel
+ +
P763 PID Feedback
P757 PID Clamp
P759 PID Error
Configure the Tension Set Point Signal in the Follower Drive/Drives
Configure the initial tension for the application in the Follower drive/drives:
· Set Par 75 [Anlg In2 Sel] to 17 "PID Setpt 0"
Line Speed Master
Reverse Forward
NIP-Roll
Load Cell 0 - +10V
M
E
Master Drive
Tension Set
M
E
-10V
Set
Slave Drive
Feedback
Line Speed Signal (Internal Ramp)
+10V Forward -10V Reverse Line Speed Reference
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In addition, configure the following in the Follower drive/drives: · Verify that Par 762 [PID Setpoint Sel] is set to 0 "Setpoint 0"
P760 PID Setpoint 0
P761 PID Setpoint 1
P762 PID Setpoint Sel
P763 PID Feedback
P1254 PID Error Gain
+
+
+
+ +
P763 PID Feedback
P1194 Act Ten Ref Pct
P757 PID Clamp
P759 PID Error
Reference Control
The drive speed command can be obtained from any of these sources: · Digital inputs that are configured as speed selects · A digital input that is configured for "Auto/Manual" · Reference Select bits of a command word (see Communication Configurations on page 240 for more information)
The actual source-parameter number is displayed in parameter 1329 [Speed Ref Source] with any modifications indicated in parameter 1330 [Spd Ref Sel Sts].
"Auto" Speed Sources
Analog input 1 is the default auto source for a command reference when these selections are configured:
· Parameter 70 [Anlg In1 Sel] (analog input 1) is set to "Speed Ref A" · All speed select digital inputs are open or not programmed
If any of the speed-select digital inputs are closed, the drive uses other parameters as the auto-speed command source.
"Manual" Speed Sources
The manual source for the speed command to the drive is one of these options: · A HIM request for manual control (see ALT Functions on page 282) · Control terminal block (analog input or MOP) if a digital input is programmed to "Auto/Manual"
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Speed Source Changes
The selection of the active speed reference can be made through the digital inputs, DPITM command, Jog button, or Auto/Manual HIM operation.
Figure 87 - Speed-reference Selection Chart
Auto Reference Options
[Digital Inx Sel]
Anlg In1-3 Sel
Speed Sel:
DPI P1-5 Select MOP Select
P44 [Speed Ref A]
3 2 1 0 0 0
Encoder Out Sel
Resolver Spd Sel
Anlg In1-3 Sel
DPI P1-5 Select MOP Select
P48 [Speed Ref B]
0 0 1
Encoder Out Sel
Resolver Spd Sel
P155 [Preset Speed 2]
0 1 0
P156 [Preset Speed 3]
0 1 1
P157 [Preset Speed 4]
1 0 0
P158 [Preset Speed 5]
1 0 1
P159 [Preset Speed 6]
1 1 0
P160 [Preset Speed 7]
1 1 1
Manual Reference Options HIM (P1-P5) Requesting Manual
Anlg In1-3 Sel P267 [TB Manual Ref] MOP Select
Digital Input Manual Sel
Anlg In1-3 Sel
P266 [Jog Speed]
P385 [Speed Ref Out]
Auto
Ref Cmd
Min Speed
Off
Limit
Jog
Man
Cmd
On
Speed Feedback
Trim Ramp
Ramp/ Speed Draw
Trim Speed/ Droop
Max Speed Limit
Speed Command
Speed Regulator
Motor
Torque Reference Source
The torque reference can only be supplied by an analog input, the HIM, or a network reference. You cannot switch between available sources while the drive is running. Digital inputs that are programmed as "Speed Sel 1, 2, 3" and the HIM Auto/Manual function (see Figure 87 on page 326) do not affect the active torque reference. The HIM, however, cannot acquire Manual Reference control while it is configured to supply the torque reference.
Auto/Manual Examples
PLC = Auto, HIM = Manual
A PLC controls a process when the drive is in Auto mode, but requires manual control from the HIM during set-up. The PLC issues the speed reference through a communication module that is installed in the drive (Port 5). Therefore, parameter 1327 [DPI P5 Select] is set to "Speed Ref A" with the drive running from the Auto source.
Acquire Manual Control
· Press ALT then Auto/Man on the HIM. When the HIM acquires manual control, the drive speed command comes from the HIM speed control keys.
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Release to Auto Control
· Press ALT then Auto/Man on the HIM again. When the HIM releases manual control, the drive speed-command returns to the PLC.
PLC = Auto, Terminal Block = Manual
A PLC controls a process when the drive is in Auto mode, but requires manual control from an analog potentiometer that is wired to the drive terminal block. The PLC issues the auto speed reference through a communication module that is installed in the drive (Port 5). Therefore, parameter 1327 [DPI P5 Select] is set to "Speed Ref A" with the drive running from the Auto source. Because analog input 2 issues the manual speed reference, parameter 75 [Anlg in2 Sel] is set to "TB Man Ref". The value of analog input 2 can be viewed in parameter 267 [TB Manual Ref ]. To switch between Auto and Manual, parameter 136 [Digital In4 Sel] is set to "Auto/ Manual".
Acquire Manual Control
· Close the digital input. With the input closed, the speed command comes from the pot.
Release to Auto Control
· Open the digital input. With the input open, the speed command returns to the PLC.
Auto/Manual Notes
1. Manual control is exclusive. If a HIM or terminal block takes manual control, no other device can take manual control until the Him or terminal block releases control.
2. If a HIM has manual control and power is removed from the drive, the drive returns to Auto mode when power is reapplied.
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Resolver Cable Balance Tuning Test
At drive power-up, the resolver feedback module automatically performs cable length compensation and resonance tuning for the attached resolver and cable. The status of the cable length compensation and resonance are identified in parameter 426 [Resolver Status], bit 3 "CableCompSts" and 10 "HardwareSts," respectively. The cable balance-tuning test can be performed to attempt the enhancement of the resolver performance. This optional test takes approximately 10 seconds to complete successfully.
ATTENTION: The motor rotates during this tuning procedure. Hazard of personal injury exists due to motor shaft rotation and/or machinery motion.
Performing the Cable Balance Tuning Test
WARNING: Remove power before you remove or make cable connections. When you remove or insert a cable connector with power applied, an electrical arc may occur. An electrical arc may cause these system events, which can cause personal injury or property damage. · An erroneous signal to system field devices, which can cause unintended
machine motion · An explosion in a hazardous environment Electrical arcing causes excessive wear to contacts on both the module and its mating connector. Worn contacts can create electrical resistance.
1. Remove and lock-out all incoming power to the drive.
2. Verify that the resolver feedback module has been correctly installed and wired in the drive according to the PowerFlex DC Drive Resolver Feedback Module Installation Instructions, publication 20P-IN071.
3. Apply power to the drive.
4. Verify that Par 422 [Fdbk Option ID] displays the appropriate module ID for the resolver feedback-module board that is installed in the drive.
5. Verify that the following parameters have been properly configured: · Parameter 423 [Reslvr Type Sel] (see page 139) · Parameter 424 [Reslvr Spd Ratio] (see page 139) · Parameter 425 [Resolver Config] (see page 140)
6. Set Par 414 [Fdbk Device Type] to 3 "Armature" (armature voltage feedback).
7. Run the drive at 50% of base speed (or at least 750 rpm when 10-bit resolution that is selected. Higher resolutions and x2, x5 resolvers have lower minimum speeds).
8. Verify that Par 426 [Resolver Status], bit 2 "ReslvrMinSpd" is not set.
9. Set Par 431 [Reslvr CableBal] to 1 "On" (this parameter automatically resets to zero after tuning is completed).
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10. Monitor Par 426 [Resolver Status], bits 0 "CableBalSts" and 1 "CableBalTest". The initial test typically takes approximately 10 seconds to complete successfully (subsequent tests more quickly). However, if the cable balance algorithm is unable to adapt to the cable, the test could be active for up to 60 seconds.
· For bit 0 "CableBalSts": 1 = the cable is not balanced or the test is active, and 0 = the cable is balanced (tuned).
· For bit 1 "CableBalTest": 0 = the cable balance (tuning) test is completed, and 1 = the cable cannot be balanced or the motor was not at minimum speed during the test.
11. Stop the drive. If the cable balance test fails, verify that the resolver is properly configured and connected to the drive. Repeat the test after addressing any issues.
12. Reconfigure Par 414 [Fdbk Device Type] to 4 "Resolver".
Resolver Type Selection
The following table provides a description and related attributes for the resolver types compatible with the PowerFlex DC drive and resolver feedback module. Where possible, specific compatible resolver models have been identified. Additional options are available for this parameter when a resolver with attributes that match is used (identified by the option "Resolver xx").
Table 93 - Resolver Type Attributes
Par 423 [Reslvr Type Sel] Option Resolver Catalog Numbers (Manufacturer) (1)
1 "2014x1/AMCI"
800123-R, -1R, -2R (Rel) TS-2014N181E32 (Tam) TS-2087N1E9 (Tam) TS-2087N11E9 (Tam) R11X-C10/7 (Adv)
2 "T2014x2/2087"
800123-S, -1S, -2S (Rel) TS-2014N182E32 (Tam) TS-2087N12E9 (Tam) TS-2087N2E9 (Tam)
3 "T2014x5/2087"
800123-T, 1T, 2T (Rel) TS-2014N185E32 (Tam) TS-2087N5E9 (Tam)
4 "Resolver 04"
5 "Resolver 05"
6 "Resolver 06"
7 "Resolver 07"
8 "Resolver 08"
9 "Resolver 09"
10 "Resolver 10"
11 "Resolver 11"
12 "Resolver 12"
13 "Resolver 13"
14 "Resolver 14"
15 "Resolver 15"
Par 424 [Reslvr Spd Ratio]
x1
Carrier Frequency
2381
Input Voltage
26
Transformer Ratio
0.4538
Feedback Amp Gain
0.5
Power Amp Voltage
45
x2
2381
26
0.4538
0.5
45
x5
2381
26
0.4538
0.5
45
x2
4000
8
0.25
0.92
14
x2
9300
22
0.5
0.5
45
x1
4000
5
0.5
0.92
14
x1
7000
4.25
0.4706
0.92
14
x1
2500
12
0.5
0.5
45
x2
4000
8
0.25
0.92
14
x2
9300
15.5
0.5013
0.5
45
x2
2500
7
1.7
0.5
45
x2
9300
22
0.5
0.5
45
x1
2000
6.36
0.5
0.92
14
x1
6500
8
0.5
0.5
14
x1
6500
8
0.5
0.5
14
(1) Abbreviations in this column indicate the following resolver manufacturers: Adv = Advanced Micro Controls, Inc. (AMCI), Rel = Reliance (-x = foot mounted, -1x = foot mounted, double shaft, -2x = flange-mounted), Tam = Tamagawa.
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Scale Blocks
Scale Block 1
The six individually configurable Scale Blocks let you link or rescale dissimilar parameter types (for example, integer vs. real) by using these functions:
· Multiply · Divide · Maximum and minimum limits · input and output offsets · absolute value
See Scale Block 1 block diagram for an example.
IMPORTANT The Scale Blocks functions are executed sequentially in the background, which can cause a delay in processing data between the input and output values. The amount of delay is dependent on the application.
The following rules apply to Scale Blocks: · All input [Scalex Input] and output [Scalex Output] values are specified as a parameter number (not parameter values). · Both Sink (read/write) and Source (read only) parameters can be used as input values ([Scalex Input]). · Only Sink (read/write) parameters can be used as the output value ([Scalex Output]). · Configuration parameters (parameters that can be changed only while the drive is stopped) can be used as the output value ([Scalex Output]). However, any value that is written to a configuration parameter does not take effect in the drive until it is stopped. · The output value is truncated to a whole number when different parameter types are used. For example, a real input value of 54.97% becomes an integer output value of 54 rpm. · Dividing by zero does not cause an error, but results in an output value of zero. · Turning off (setting = "0") the input parameter or changing the output parameter number does not reset or change the original output value. In other words, the output parameter remains at the last value written.
P488 Scale1 In Max
P484 Scale1 Input
P492 Scale1 In Abs
+
+
P489 Scale1 In Min
P490 Scale1 In Off
X P486 Scale1 Mul
P487 Scale1 Div
+
+
P491 Scale1 Out Off
P485 Scale1 Output
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SCR Diagnostic Tests
Application Notes Appendix C
Link Parameters Via the Scale Block Parameters
You can enter most parameter values directly. However, certain parameters can be "linked" by using the Scale Block parameters so the value of one parameter becomes the value of another.
For example, the value of an analog input 1, parameter 70 [Anlg In1 Sel], can be linked to parameter 660 [Accel Time 1]. Follow these steps to link parameters.
1. Set parameter 70 [Anlg In1 Sel] to 12 "UserDefined0". 2. Set parameter 484 [Scale1 Input] to "503" (the parameter number of
[UserDefined0]). 3. Set parameter 485 [Scale1 Output] to "660" (the parameter number of
[Accel Time 1]).
Rather than entering an acceleration time via the HIM, this link allows the value to change by varying the analog signal, providing additional flexibility for certain applications. Test this functionality for the desired response before applying to an application.
Two SCR diagnostic functions are available; (1) Open SCR, and (2) Shorted SCR. Each test is run to identify which SCR or SCR pair has failed, including multiple SCR failures. However, if the drive cannot determine the specific shorted SCR or SCR pair, a shorted SCR (b15) is indicated in Par 214 [SCR Diag Status] and bits 0...11 remain off (0). Each diagnostic function can be enabled/disabled independently (default is disabled) via parameter 213 [SCR Diag Test En] and each operate after the drive is started. Typically, enable the SCR diagnostic functions when a problem is suspected.
IMPORTANT A Shorted SCR diagnostic test should not be enabled at the same time as an Alpha Test.
When enabled, the Shorted SCR test pulses each SCR/pair immediately after a Start command (and the contactor is closed). The test results in a short delay before controlling the motor. If a shorted SCR is detected, a non-configurable fault is generated.
The Open SCR test monitors voltage and/or current and uses these adjustable parameters to determine when and if to initiate a fault or alarm:
· 215 [OpenSCR WarnLvl] · 217 [OpenSCR Threshold] · 218 [OpenSCR Trip Lvl]
You can configure parameter 216 [OpenSCR Flt Cfg] to indicate a fault or an alarm that is based on the Open SCR test results.
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Parameter 214 [SCR Diag Status] shows which SCR(s) were detected as failed (open or shorted).
Open SCR Test
Under normal drive operation, the load that each SCR carries is relatively equal, as shown in this image.
If one or more SCRs fail to turn on, a unique pattern of insufficient or missing current-pulses results, as shown in this image.
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S-curve Configuration
Application Notes Appendix C
Open SCR diagnostics detects SCRs that are not conducting by analyzing the level of current produced by each SCR pair firing. If an SCR(s) consistently fails to produce current at a level approximately equal to other SCRs that fired, the drive concludes that an open SCR has occurred.
The Open SCR diagnostic test calculates the percentage deviation of current feedback for each pair of SCRs from the average current feedback. The percent deviation must exceed the value set for Par 216 [OpenSCR Threshold] before the test proceeds to the next part of the diagnostic. In the next part, deviations from the average current are accumulated over time to eliminate transient effects from the calculation. When the deviations reach the value of Par 218 [OpenSCR Trip Lvl], an open SCR condition is annunciated based on Par 216 [OpenSCR Flt Cfg]. The open SCR(s) are indicated in Par 214 [SCR Diag Status].
You can configure the drive to indicate a warning that SCR operation is imbalanced before a fault is generated. This warning is only indicated in Par 214 [SCR Diag Status], bit 13 "OpenSCR Warn". To configure the drive to indicate a warning before a fault, set Par 215 [OpenSCR Warn Lvl] less than Par 218 [OpenSCR Trip Lvl]. To avoid nuisance open SCR events, such as an unbalanced AC supply line, use these parameters to increase the tolerance to the conditions that can trigger the event.
Shorted SCR Test
Once enabled, the shorted SCR test executes each time that the drive is started. This test introduces a delay of a few seconds before controlling the motor. If a shorted SCR is detected, a non-configurable fault (F89 [Shorted SCR]) is generated and also indicated in Par 214 [SCR Diag Status].
To enable S-shaped ramp (S-curve) operation in the drive, set Par 18 [Ramp Type Select] to 1 "S shaped." When S-curve operation is enabled, it allows for a smoother change in speed than a linear ramp.
Speed (rpm)
Time (s)
When S-curve is added to the ramp, the total length of time to perform a speed change increases. When accelerating, the S-curve does not exceed the maximum acceleration set by parameters 24 and 660 [Accel Time x]. Likewise, when decelerating, the S-curve does not exceed the maximum deceleration set
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by parameters 32 and 662 [Decel Time x]. When the S-curve times are much smaller (<20%) than the linear acceleration times, the speed profile is similar to a linear ramp (slightly delayed). As S-curve times are increased, more of the speed profile is spent in the "s" (non-linear) and less in the linear acceleration section. When s-curve and linear ramp times are equal, there is no longer any linear portion of the ramp (although maximum acceleration is reached at the mid-point of the total ramp). When S-curve time is larger than the linear ramp time, again there is no linear portion, and maximum acceleration is never reached. The same is true for deceleration ramps.
The total ramp time is independent of the change in the speed reference. So, it takes the same amount of time to make a 10 rpm change as it will for a 1000 rpm change. Do not "ramp" the reference externally to the drive while S-curve is enabled in the drive (it makes the ramp time longer).
When the S-shaped ramp <= Linear ramp, the S-shaped ramp speed profile is divided into three sections:
· Initial (positive) "S" (jerk) · Linear (constant acceleration) · Final (negative) "S" (jerk)
Total Ramp (T3)
Initial"S" Linear
(T1)
(T2)
Final "S" (T1)
Approximately half of the value of parameter 19 [S Curve Time] is added to the initial "S" and half of the value is added to the final "S."
When the S-shaped ramp > Linear ramp, the linear portion becomes zero.
To calculate the total ramp time when S-curve is enabled, the amount of time in each section of the profile must be determined. T1 = initial S and final S, and T2 = linear.
The total ramp time T3 = T1+T2+T1 (each ramp has two equal "S" portions and one linear portion). In the following equations, Ta = linear ramp time (Pars 24, 32, 660, and 662), Ts = S-curve time (Par 19).
For S-shaped ramp <= Linear ramp · T1 = (Ts * Ts) / (2 * Ta) · T2 = Ta T1
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For S-shaped ramp > Linear ramp · T1 = Ts/sqrt(2) · T2 = 0
Application Notes Appendix C
S-curve Acceleration Ramp Example:
Acceleration-ramp parameter configuration: · Par 18 [Ramp Type Select] = 1 "S shaped" · Par 660 [Accel Time 1] = 5 s (Ta) · Par 19 [S Curve Time] = 3.5 s (Ts)
In this case, S-shaped ramp <= Lramp, so T1 and T2 are calculated as: T1 = (3.5 * 3.5) / (2 * 5) T1 = 12.25 / 10 T1 = 1.23 s
T2 = 5 1.23 T2 = 3.78 s
The resulting total ramp time is calculated as: T3 = 1.23 + 3.78 + 1.23 T3 = 6.24 s
Therefore, the total acceleration-ramp time with S-curve enabled in this example increased the total ramp time without S-curve by 1.24 seconds.
Speed Regulation Functions The PowerFlex DC drive provides a flexible speed regulator circuit that can be
adapted to the requirements of various applications. The drive is set to PI regulation by default.
Adaptive Speed Regulator
The adaptive speed regulator function enables different gains of the speed regulator depending on the speed reference or another variable (adaptive reference). This feature allows optimum adaptation of the speed regulator to the specific application.
In v6.001 and later, the internal value of these gains is shown in Testpoints 575...580 (see Testpoint Codes and Functions on page 233). The internal
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value represents the equivalent firmware version 5.007 and earlier speed regulator gains.
P186 Adaptive Joint 1
P187 Adaptive Joint 2
P188 Adaptive P Gain1
P189 Adaptive I Gain1
P190 Adaptive P Gain2 P192 Adaptive P Gain3
P191 Adaptive I Gain2 P193 Adaptive I Gain3
P184 Adaptive Spd 1
P185 Adaptive Spd 2
P183 Adaptive Ref
The adaptive speed regulator is enabled when parameter 181 [Adaptive Spd En] = "1 Enabled". Normally the gain depends on the speed of the drive. It can, however, follow a variable reference that is defined in parameter 183 [Adaptive Ref ]. The type of regulation that is used is selected in parameter 182 [Adaptive Reg Typ]; 0 = "Speed", or 1 = "Adaptive Ref".
Parameters 184 [Adaptive Spd 1] and 185 [Adaptive Spd 2] are used to define the three ranges that can have different gains. A parameter set can be defined for each of these ranges, with each set containing an individually definable P and I component. The three sets of parameters are: 188 [Adaptive P Gain1] and 189 [Adaptive I Gain1], 190 [Adaptive P Gain2] and 191 [Adaptive I Gain2], and 192 [Adaptive P Gain3] and 193 [Adaptive I Gain3]). When the adaptive speed regulator is enabled, the first set of parameters is active until the speed specified in Par 184 [Adaptive Spd 1] or Par 183 [Adap Ref ] is reached.
Parameters 186 [Adaptive Joint 1] and 187 [Adaptive Joint 2] provide a smooth transition between the different parameter sets. The fields must be defined so that [Adaptive Joint 1] and [Adaptive Joint 2] do not overlap.
When the adaptive speed regulator is enabled, parameters 87 [Spd Reg Kp] and [Spd Reg Ki] parameters have no effect on the speed regulator. They do, however, retain their value and are active when the adaptive speed regulator is disabled.
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Configuring the Adaptive Speed Regulator
· Set Par 181 [Adaptive Spd En] = "1 Enabled"
· If the gain must be changed based on units other than the drive speed reference, set Par 182 [Adaptive Reg Typ] = 1 "Adaptive Ref". The adaptive reference is provided to the drive as an analog value via an analog input. For this reason, Par 183 [Adaptive Ref ] must be assigned to an analog input. The other possibility is to enter the value of Par 183 [Adaptive Ref ] via the HIM. In this case, the analog input is not necessary.
· Enter the appropriate values in Par 184 [Adaptive Spd 1] and Par 185 [Adaptive Spd 2] to define the three speed ranges. Values are expressed as a percentage of Par 45 [Max Ref Speed] and the maximum value of Par 183 [Adaptive Ref ].
· When Par 182 [Adaptive Reg Typ] = 0 "Speed", tuning is completed via Fine-Tuning the Regulators on page 349. In this case the following points must be considered:
· The value that is entered in Par 61 [TstGen Offset] must meet these constraints:
· Set to the low end of the speed range to be tuned
· Set outside the range of the values in parameters [Adaptive Joint x]
· Enter the step value in Par 60 [TstGen Amplitude], so that the speed remains inside the range to be tuned.
· The optimization is conducted separately for each range and the parameters of the regulator are set for each range with Pars [Adaptive P Gainx] and [Adaptive I Gainx].
· After the optimization of the different phases, review the entire speed range. By changing the value of [Adaptive Joint x], it is possible to reduce the instabilities present in the transients during the changes from one range to the other. Increasing the values transients are slighter.
· When Par 182 [Adaptive Reg Typ] = 1 "Adaptive Ref", tuning is application-specific.
· When the speed zero logic (see page 340) is disabled (factory default setting) and the drive is disabled, the gains of the speed regulator are active. These gains are set via Pars 188 [Adaptive P Gain1] and 189 [Adaptive I Gain1]. When the speed zero logic is enabled, the values set when the motor is stopped are valid.
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Speed Up Function
The Speed-up function is used to avoid oscillations in the presence of loads with a high moment of inertia. To enable the Speed-up function, set Par 1016 [SpdFuncSelect] to 0 "Speed Up." When this function is enabled, a D (derivative) value is added to the speed feedback circuit, which allows you to increase the integral gain of the speed regulator. It is also useful in the case of cyclical non-constant loads on the motor (for example, cams). The feedback that is applied to the speed regulator is made of two components:
· the motor speed
· the output signal from the Speed Up function
Figure 88 - Speed-Up function inactive Oscillation during a speed change due to a high moment of inertia. Top: Par 122 [Spd Feedback] Bottom: Par 199 [Arm Current Pct]
Figure 89 - Speed-up function active The same drive with Speed-up function active. Top: Par 122 [Spd Feedback] Bottom: Par 199 [Arm Current Pct]
Parameters that are used in the example: · Par 445 [Spd Up Gain Pct] = 50% · Par 446 [Speed Up Base] = 14 rpm/ms · Par 447 [Speed Up Filter] = 20 ms
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P101 Speed Thresh Pos P122 Spd Feedback P102 Speed Thresh Neg
Application Notes Appendix C
Speed Threshold Indicators
There are two speed threshold functions available that can be programmed via a digital output to provide indication of when the drive has exceeded certain set points.
Par 393 [Speed Threshold] displays whether the speed of the drive is above or below a set speed for clockwise and counter-clockwise rotation. Set the threshold speed for clockwise rotation in Par 101 [Speed Thresh Pos] and set the threshold speed for counter-clockwise rotation in Par 102 [Speed Thresh Neg]. You can specify a delay time in Par 103 [Threshold Delay] that must elapse before indication that the speed has fallen below the threshold values. Par 393 [Speed Threshold] can be assigned to a digital output. The assigned digital output changes state only at the clockwise (positive) speed threshold.
[Digital Outx Sel] = 2 "Spd Thresh"
P393 Speed Threshold
P103
0
t
Threshold Delay
The value of Par 394 [At Speed] identifies if the drive speed is equal or not equal to the set speed reference (in Par 118 [Speed Reg In]) before the speed regulator and ramp reference (if enabled) are applied. The speed above and below the speed reference at which indication occurs is set in Par 104 [At Speed Error]. Use Par 105 [At Speed Delay] to specify a delay time before indication that the speed reference is within the range set in Par 104 [At Speed Error] occurs. Par 394 [At Speed] can be assigned to a digital output.
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Appendix C Application Notes P118 Speed Reg In P122 Spd Feedback
P104 At Speed Error
P394 At Speed
[Digital Outx Sel] = 3 "At Speed"
P105
0
t
At Speed Delay
Speed Zero Function
The Speed Zero Logic determines the behavior of the drive when the motor is at zero speed. See the Speed Adaptive and Speed Zero Logic block diagram on page 374.
Configuring the Speed Zero Logic
It is possible to avoid drive creep when the motor is at zero speed by disabling the Integral section of the Speed regulator. By default, the output of the Integral portion of the Speed regulator is disabled (Par 123 [Spd Zero I En] = 0 "Disabled").
IMPORTANT If the speed regulator is disabled, the motor cannot receive a load when it is stopped. Therefore this function is not suitable for all applications!
Disable the output of the P gain of the Speed regulator by setting Par 126 [Spd Zero P Gain] to one of the following settings:
· If the speed reference is above the value set in Par 106 [Ref Zero Level]: Set Par 124 [Spd Ref Zero En] = 1 "Enabled"
· If the speed reference and/or the reaction are above the value set in Par 106 [Ref Zero Level], set Par 124 [Spd Ref Zero En] = 0 "Disabled"
Par 124 [Spd Ref Zero En] is active only when Par 125 [Spd Zero P En] = 1 "Enabled".
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Set the P gain for zero speed:
· If the P gain corresponds to the value set in Par 126 [Spd Zero P Gain], then set Par 125 [Spd Zero P En] = 1 "Enabled"
· If the P gain corresponds to the normal P gain, then set Par 125 [Spd Zero P En] = 0 "Disabled"
The P gain at zero speed is set via Par 126 [Spd Zero P Gain] when Par 125 [Spd Zero P En] = 1 "Enabled".
The value of Par 106 [Ref Zero Level] determines the threshold for the recognition of zero speed.
Speed Draw Function
The Speed Draw function can be used to apply a configurable speed ratio (set in Par 1017 [Speed Ratio]) to the main speed reference of the drive. This function is useful in a multi-drive system where a proportional speed increase between the motors is required. The range of parameter 1017 [Speed Ratio] can be set in one of these ways:
· 0...32767, if written in digital form
· 0...20000 (0V to +10V), if assigned to an analog input
The resulting speed value can be viewed in Par 1018 [Speed Draw Out] via an analog output.
Figure 90 - Speed Draw Example Master = 1000 RPM
1050 RPM
1100 RPM
M
Drive A Anlg Input
1
+ Line Speed
M
M
Drive B
Drive C
Anlg Input
1 2
Line Speed ratio 1 = +5%
+ Speed Ratio = 5.25V (10500 count)
Anlg Input
1 2
Line Speed ratio 2 = +10%
+ Speed Ratio = 5.5V (11000 count)
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Speed / Torque Mode Selection
Speed Draw Example Configuration
Drive A: · Set parameter 70 [Anlg In1 Sel] to 1 "Speed Ref A"
Drive B: · Set parameter 70 [Anlg In1 Sel] to 1 "Speed Ref A" · Set parameter 75 [Anlg In2 Sel] to 22 "Speed Ratio" · Set parameter 1017 [Speed Ratio] to 10500
Drive C: · Set parameter 70 [Anlg In1 Sel] to 1 "Speed Ref A" · Set parameter 75 [Anlg In2 Sel] to 22 "Speed Ratio" · Set parameter 1017 [Speed Ratio] to 11000
Parameter 241 [Spd Trq Mode Sel] is used to choose whether the drive operates as a speed regulator, a torque regulator, or a combination of the two. Each mode is discussed in more detail in this section. See the "Torque Mode Selection" block diagram on page 370 for more information.
This function is only available for firmware revision 3.001 and later.
Zero Torque Mode
Zero torque current is allowed when Par 241 [Spd Trq Mode Sel] is set to 0 "Zero Trq Ref". Operation in zero torque mode allows 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 regulation mode can be selected. The drive then immediately accelerates the motor without the need for "flux up" time.
IMPORTANT
Zero Torque may excessively heat the motor if operated in this mode for extended periods of time. No load or flux current is still present when the drive is operating in zero torque mode. A motor with an extended speed range or separate cooling methods (blower) may be required.
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Speed Regulation Mode
When Par 241 [Spd Trq Mode Sel] is set to 1 "Speed Reg" (default), the drive and motor are operated in speed mode. The torque command changes as necessary to maintain the desired speed. Operating as a speed regulator is the most common and simplest mode to configure. 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. Under steady state conditions, the speed feedback is steady while the torque reference is a constantly adjusting signal. This constant adjustment 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 rapidly.
Inertia compensation is summed with the output of the speed regulator.
Torque Regulation Mode
Par 241 [Spd Trq Mode Sel] is set to 2 "Torque Reg" for torque mode. In torque regulation mode, the drive controls the desired motor torque. The motor speed is the result of torque command and load present at the motor shaft. The reference signal is equal to the value of Par 39 [Torque Ref ]. A torque regulated application can be described as any process that requires some tension control. An example is a winder or unwinder with material being "drawn" or pulled with a specific tension required.
If the material that is being wound or unwound breaks, the load decreases dramatically and the motor can potentially go into an overspeed condition.
Speed Limited Adjustable Torque (SLAT) Min Mode and SLAT Max Mode
SLAT Min Mode (Par 241 [Spd Trq Mode Sel] set to 3) and SLAT Max Mode (Par 241 [Spd Trq Mode Sel] set to 4) are for applications that require a smooth transition from a torque mode to a speed mode of operation. Examples include: web handlers, center winders, and center unwinders, where the drive is normally following a torque reference but a break or slippage could occur. Direction of the applied torque and direction of the material movement determine whether SLAT Min or SLAT Max mode is used.
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Appendix C Application Notes
SLAT Min Mode
In SLAT Min mode, a speed reference that forces the speed regulator into saturation (the speed reference is slightly above the speed feedback) is typically configured. In this case, the drive follows the torque reference until there is a breakage or slippage in the application.
When the drive is following a torque reference (torque mode) in SLAT Min mode, one of two conditions forces the drive into following the speed reference (speed mode):
1. The output of the speed regulator becomes less than the torque reference.
2. The speed error becomes negative (the speed feedback becomes greater than the speed reference). A negative speed error indicates forced speed mode.
Parameter 15 [SLAT Err Stpt] and parameter 16 [SLAT Dwell Time] let you set some hysteresis for turning off the forced speed mode. They are set to "0" as default so that there is no hysteresis. In SLAT Min mode, Par 15 [SLAT Err Stpt] sets how much less the speed feedback is than the speed reference before turning off the forced speed mode. Par 16 [SLAT Dwell Time] sets how long the speed error must exceed the SLAT error set point before turning off the forced speed mode.
When the drive switches from torque mode to forced speed mode, the speedregulator integral part is pre-loaded with the InternalTorque Reference (ITR) or Par 14 [Selected TorqRef ] to create a smooth transition.
In order for the drive to switch from speed to torque mode, forced speed mode (if active) must first be turned off. Forced speed mode turns off when the speed error is greater than the SLAT error setpoint for the SLAT dwell time. With default parameter settings, forced speed mode turns off when the speed error becomes positive.
When Forced Speed Mode is off, the drive switches back to torque mode when the speed regulator output becomes greater than the torque reference.
Figure 91 - SLAT Min Mode Block Diagram
Par 15 [SLAT Err Stpt] Par 16 [SLAT Dwell Time]
Speed Error < 0
Low Pass
Off
On
Filter
Forced Speed Mode (FSM )
Speed Error > SLAT Setpoint for SLAT Dwell Time
FSM State Controller
Application Dependant Speed
Reference Bias
Motor Speed Feedback
External Torque Reference (ETR)
+ - Speed Error
PI Regulator
Speed Regulator Output (SRO)
FSM =On
Min
Off
Select
Internal Torque Reference (ITR)
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SLAT Max Mode
In SLAT Max mode, a speed reference that forces the speed regulator into saturation (the speed reference is slightly below the speed feedback) is typically configured. In this case, the drive follows the torque reference until there was a breakage or slippage in the application.
In SLAT Max mode, the drive switches from torque mode to speed mode when either one of the two following conditions occur:
1. The output of the speed regulator becomes more than the torque reference (speed mode).
2. The speed error becomes positive (speed mode). In other words, the speed feedback becomes less than the speed reference.
Parameter 15 [SLAT Err Stpt] and parameter 16 [SLAT Dwell Time] let you set some hysteresis for turning off the forced speed mode. They are set to "0" as default so that there is no hysteresis. In SLAT Max mode, Par 15 [SLAT Err Stpt] sets how much more the speed feedback is than the speed reference before turning off the forced speed mode. Par 16 [SLAT Dwell Time] sets how long the speed error must exceed the SLAT error set point before turning off the forced speed mode.
When the drive switches from torque mode to forced speed mode, the speedregulator integral part is pre-loaded with the InternalTorque Reference (ITR) or Par 14 [Selected TorqRef ] to create a smooth transition.
In order for the drive to switch from speed mode to torque mode, forced speed mode (if active) must first be turned off. Forced speed mode turns off when the speed error is less than the SLAT error setpoint for the SLAT Dwell Time. With default parameter settings, forced speed mode turns off when the speed error becomes negative.
When Forced Speed Mode is off, the drive switches back to torque mode when the speed regulator output becomes less than the torque reference.
Figure 92 - SLAT Max Mode Block Diagram
Par 15 [SLAT Err Stpt]
Par 16 [SLAT Dwell Time]
Low Pass Filter
Speed Error > 0
Off
On
Speed Error < -SLAT Setpoint for SLAT Time
FSM State Controller
Forced Speed Mode (FSM)
Application Dependant Speed
Reference Bias
Motor Speed Feedback
External Torque Reference (ETR)
+ - Speed Error
PI Regulator
Speed Regulator Output (SRO)
FSM =On
Max
Off
Select
Internal Torque Reference (ITR)
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Example:
The application is a paper winder. The drive is set for SLAT Min mode, so that the drive normally runs in torque mode and follows Par 39 [Torque Ref ]. [Torque Ref ] comes from an external controller and is approximately 60% of motor torque during the snapshot. The speed reference, also from an external controller, is set just above the speed feedback so the speed regulator is saturated while in torque mode. Figure 93 captures what occurs in the drive during a break in the web.
Figure 93 - SLAT Min Mode Trace Example
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Sum Mode
Sum mode is selected when Par 241 [Spd Torq Mode Sel] is set to 5 "Sum". In this mode, the reference is derived from the sum of the speed regulator output (Par 236 [Spd Reg Out Pct]) and the torque reference (Par 39 [Torque Ref ]). This mode can be used for applications that have precise speed changes with critical time constraints.
Torque Mode Selection Status Bits
Bits 7 "Forced Spd", 8 "Speed Mode", and 9 "Torque Mode" of parameter 382 [Drive Status 2] display the status of the speed/torque mode for the drive.
Par 241 [Spd Trq Mode Sel] 0 "Zero Trq Ref" 1 "Speed Reg" 2 "Torque Reg" 3 "SLAT Min" 4 "SLAT Max" 5 "Sum"
Par 382 [Drive Status 2]
Bit 7 "Forced Spd
Bit 8 "Speed Mode"
0
0
0
1
0
0
(1)
(2)
0
1
(1) b9 = not(b7 + b8), if b7=1 & b8=0, then b9=0.
Bit 9 "Torque Mode" (1) 1 0 1 b7 + b8 b7 + b8 1
(1) 3 "SLAT Min"
Bit 7 "Forced Spd Bit 8 "Speed Mode"
0 0 -> 1
1 1 -> 0
0 1
Not in Forced Speed Mode (FSM)
Speed error < 0 (i.e., Feedback > Reference), preload the speed regulator integrator with the value of Par 14 [Selected Torque Ref]
Forced Speed Mode (FSM), speed error < 0
Error (i.e., Reference - Feedback) > Par 15 [SLAT Err Stpt] for more than the value of Par 16 [SLAT Dwell Time]
Par 236 [Spd Reg Pct Out] > Par 39 [Torque Ref]
Par 236 [Spd Reg Pct Out] < Par 39 [Torque Ref]
(2) 4 "SLAT Max"
Bit 7 "Forced Spd Bit 8 "Speed Mode"
0 0 -> 1
1 1 -> 0
0 1
Not in Forced Speed Mode (FSM)
Speed error > 0 (i.e., Feedback < Reference), preload the speed regulator integrator with the value of Par 14 [Selected Torque Ref]
Forced Speed Mode (FSM), speed error > 0
Error (i.e., Reference - Feedback) < -Par 15 [SLAT Err Stpt] for more than the value of Par 16 [SLAT Dwell Time]
Par 236 [Spd Reg Pct Out] < Par 39 [Torque Ref]
Par 236 [Spd Reg Pct Out] > Par 39 [Torque Ref]
When Par 241 [Spd Trq Mode Sel] is changed to 1 "Speed Reg", the speed regulator integrator is preloaded with the value of Par 14 [Selected Torque Ref ]. When Par 241 [Spd Trq Mode] is changed to 5 "Sum", the speed regulator is preloaded with the value of Par 14 [Selected Torq Ref ]...39 [Torque Ref ].
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Start At Powerup
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The "Start At Powerup" function lets you resume running at commanded speed automatically after these conditions are met:
· Drive input power is restored · A run command is issued · All start permissive conditions are met (see Figure 94 - Start Permissives
Flow Diagram)
To enable this feature, parameter 1344 [Start At Powerup] must be set to 1 "Enable".
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.
In addition, A delay time of up to 10800 seconds (3 hours) can be programmed in parameter 1345 [Powerup Delay]. An automatic drive restart is not possible before the delay time has expired. If a "Start", "Run" or "Stop" command is asserted before the time in this parameter expires, the "Start At Powerup" function is aborted.
Figure 94 - Start Permissives Flow Diagram
Start At PowerUp
[Powerup Delay]
No
Time Expired?
Yes
All Start Permissives Met?
1. No fault conditions are present.
2. No Type 2 alarm conditions are present.
No
3. The terminal block programmed enable
input is closed.
4. All Stop inputs are maintained.
Yes
Is the terminal block Run,
No
Run Forward or Run Reverse
Input Closed?
Yes
Powerup Start
Powerup Terminated! Normal Mode
Until the time that is specified in parameter 1345 [Powerup Delay] elapses, these indications occur:
· An alarm indicator " " is displayed on the HIM · Bit 12 "PwrUp Start" of parameter 1380 [Drive Alarm 1] is set to "1"
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Fine-Tuning the Regulators
The PowerFlex DC drive control regulators have predefined values that are meant to provide consistent drive performance without performing any further configuration. One exception is the armature current regulator, which must always be tuned. When the armature current regulator has been tuned to meet the requirements of the application, the fine-tuning procedures for the other regulators are not necessary. However, the fine-tuning procedures can be used to optimize the output and control features of the drive.
The drive contains the following regulation circuits:
· Armature current regulator - The armature current auto-tuning procedure is run via Par 452 [CurrReg Autotune]. See Chapter 2 - Drive Start Up - Tune the Current Regulator on page 102.
· A manual procedure to adjust the armature inductance when the autotune steps yielded a value outside the recommended setting. See Manually Adjusting the Current Regulator Tune Settings on page 350.
· Field current regulator:
· A fine-tuning procedure is available. See Fine-Tuning the Field Current Regulator on page 352.
· Speed regulator - The speed auto-tuning procedure is run via Par 1027 [Spd Reg Autotune]. See Chapter 2 - Drive Start Up - Tune the Speed Regulator on page 109. A fine-tuning procedure is available. See FineTuning the Speed Regulator on page 354.
· Armature voltage regulator - A fine-tuning procedure is available. See Fine-Tuning the Voltage Regulator in the Field Converter on page 356.
To obtain a step function, the internal "Test generator" can be used. The goal of the fine-tuning procedures is to obtain an optimal step response. For example, it is recommended that you directly measure the step response for the field current regulator.
The field current can be directed to an analog output on the Terminal Block (with a 2 ms sample rate).
Using the Test Generator
The "Test Generator" function creates signals with a rectangular wave form based on a specific frequency and amplitude. The frequency and amplitude can be added to a configurable offset value, if needed. Par 58 [TstGen Output] determines which regulator input signal (reference) is used; torque current, field, ramp, or speed.
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Manually Adjusting the Current Regulator Tune Settings
While the drive is operating, the value of Par 587 [I Reg Error] is updated in response to changes in the current output to the motor. By manually applying current steps to the motor, this parameter can be used as an indication whether the current regulator in the drive is correctly tuned. Ideally, the value of Par 587 [I Reg Error] should be as near to zero as possible. However, values between 40 and 40 are acceptable during normal operation (because the drive is responding to changing current demands). Manually tuning the Current Regulator attempts to have Par 587 [I Reg Error] reach its lowest value in response to applied steps in current to the motor.
Adjustments to Par 587 [I Reg Error] are made by changing Par 454 [Arm Inductance] and by stepping the current to the motor. Par 587 [I Reg Error] values are valid only when the drive is operating under at least a 30% current load. The manual-tuning procedure progresses through larger current steps up to 100%. Par 454 [Arm Inductance] and Par 453 [Arm Resistance] are the current-regulator tuning parameters and typically do not match the motor data-sheet values.
Manual Current-loop Tuning
When attempting to tune the current loop manually, the current reference is stepped to values that can cause the motor to rotate even while the field is disabled (residual flux). If possible, the motor armature shaft should be locked to prevent rotation or decrease the maximum amplitude of current applied per step to minimize armature movement. Not locking the armature is optional only when an external speed-measurement device, such as an encoder or tachometer, is used. Armature rotation interferes with obtaining acceptable tuning values. Be sure to record all original parameter values that are changed as part of configuration for this test.
1. Disable the field regulator by setting Par 497 [Field Reg Enable] to 0 "Disabled".
For firmware revision 3.001 and later, make these parameter configurations: · Par 469 [Field Mode Sel] to 2 "External" · Par 414 [Fdbk Device Type] to 1 "Encoder" (a Type 2 alarm is
generated if Par 414 is set to 3 "Armature")
2. Verify that Par 351 [Field Current] is set to zero (0 or < 0.05 A).
3. For firmware revision 2.xxx and earlier, disable the speed regulator by setting Par 242 [Speed Reg En] to 0 "Disabled". For firmware revision 3.xxx and later, set Par 241 [Spd Trq Mode Sel] = 2 "Torque Reg.
4. Set/verify that Parameters 7 [Current Limit], 8 [Current Lim Pos] and 9 [Current Lim Neg] are at 100%.
5. Set Par 453 [Arm Resistance], calculated as:
(Par 175 [Rated Motor Volt] / Par 179 [Nom Mtr Arm Amps]) x 0.04
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6. Set Par 454 [Arm Inductance] to the minimum value (based on drive size).
7. Set Par 39 [Torque Ref ] to 30% (a percentage relative to Par 179 [Nom Mtr Arm Amps]).
8. Start the drive and observe the value of Par 587 [I Reg Err] for a few seconds; it should settle to a specific value. Verify that the motor shaft does not rotate (a small amount of movement, less than a revolution, is OK).
9. Stop the drive.
If a Speed Feedback Loss fault (F91) occurs, increase the value of Par 455 [Spd FB Loss Lvl] to its maximum value. a. If Par 587 [I Reg Err] is positive, increase the value of Par 454 [Arm
Inductance]. The value of parameter 587 determines the magnitude of change. Generally, make large increases (for example, double) when Par 587 is large (greater than 40) and smaller increases as Par 587 gets closer to zero. b. If Par 587 [I Reg Err] is negative, decrease the value of Par 454 [Arm Inductance]. Again, proportional to the magnitude of Par 587.
10. Repeat step 8 until Par 587 [I Reg Err] is as close to zero as possible. Values less than 20 are acceptable as close to zero. However, with some motors, the minimum value of Par 587 can only be 60 (especially at smaller current steps). With higher current steps, values can be less than 10 or less than 5.
11. Repeat steps 8 and 9 with Par 39 [Torque Ref ] set to 60% and then again at 100%. If motor rotation occurs, try lowering the current step value. The higher the current step, the better the tuning results are. If motor rotation still occurs enter the highest current step value that does not cause rotation but provides enough time for Par 587 to reach a stable value. Typically, a stable [I Reg Err] value can be obtained in less than 2 seconds.
12. The current loop should be tuned with the final values of Pars 453 [Arm Resistance] and 454 [Arm Inductance] and a small value in Par 587 [I Reg Err].
13. Restore these parameters to their original values: · 497 [Field Reg Enable] · 469 [Field Mode Sel] · 414 [Fdbk Device Type] · 242 [Speed Reg En] · 7 [Current Limit] · 8 [Current Lim Pos] · 9 [Current Lim Neg] · 455 [Spd FB Loss Lvl]
14. Unlock the motor armature (if necessary).
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15. Verify that the motor is attached to any normal application inertia (not process material).
16. Perform a speed regulator autotune by setting Par 1027 [Spd Reg Autotune] = 1 and pressing the Start button.
17. When autotuning completes, speed regulator tuning values should be automatically updated.
If the drive is configured as an armature voltage regulator (Par 414 = 3 "Armature"), the calculated gains (Par 87 and 88) may need to be adjusted. These adjustments are necessary because this type of regulator (voltage) is less responsive than a true speed regulator (that uses encoder or tachometer feedback).
Fine-Tuning the Field Current Regulator
IMPORTANT
In most cases motors with a direct current and an independent excitation work with a constant field (Par 469 [Field Mode Sel] = 0 "Base Speed"). In this case, it is not necessary to optimize the field current or armature voltage regulators.
This procedure is used for drives that use constant torque and power (mixed armature and field regulation). In these cases, it is necessary to configure the field converter according to this method.
IMPORTANT Do not issue a "Start"command to the drive during the field currentregulator fine-tuning procedure.
Follow these steps to fine-tune and optimize the field current regulator:
1. Configure the following parameters: · Set Par 467 [Max Fld Flux Pct] = 100% of the field rated current of the connected motor · Set Par 468 [Min Fld Curr Pct] = 0 · Set Par 91 [Fld Reg Kp] = 0.00 · Set Par 92 [Fld Reg Ki] = 0.00
2. Measure the field current by using an analog output by setting: · Par 66 [Anlg Out1 Sel] = 18 "Fld Current" · Par 67 [Anlg Out2 Sel] = 24 "Field Ref"
3. Configure the following parameters: · Set Par 497 [Field Reg Enable] = 1 "Enabled" (default) · Set Par 469 [Field Mode Sel] = 1 "Field Weaken" · Set Par 498 [Force Min Field] = 1 "Enabled"
4. Configure the following Test Generator parameters: · Set Par 58 [TstGen Output] = 3 "Field Ref" · Set Par 60 [TstGen Amplitude] = 70% of the field rated current of the motor (this setting allows the system overshoot).
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5. Increase the value of the Par 91 [Fld Reg Kp] until the overshoot of the field current (displayed in Par 234 [Fld Current Pct]) is lower than 4%.
6. Increase the value of Par 92 [Fld Reg Ki] until the overshoot is higher than 4%. Then, decrease the value of this parameter until it becomes slightly lower than 4%.
IMPORTANT Because of the relatively high field time constant, the rising speed of the field current is limited. The rising time with optimal tuning conditions could be up to 100 milliseconds.
7. Set Par 58 [TstGen Output] = 0 "NotConnected". 8. Set Par 498 [Force Min Field] = 0 "Disabled". 9. Set Par 468 [Min Fld Curr Pct] to the desired value. 10. Configure the analog outputs according to your application needs.
Field Current Regulator Tuning Examples
Figure 95 - Increase in the field current with oscillation Non-optimal response of the regulator. Top: Par 500 [Flux Ref Pct] Bottom: Par 234 [Fld Current Pct]
Figure 97 - Increase in the field current without oscillation This graph, as compared to the graph in Figure 95, shows an increase in [Fld Reg Kp] from 2% to 10% with [Fld Reg Ki] = 5%. Top: Par 500 [Flux Ref Pct] Bottom: Par 234 [Fld Current Pct]
Figure 96 - Too high of a time constant on the field The reduction of the field current depends on the field time constant. Therefore, the regulator has no influence on the flux current. Top: Par 500 [Flux Ref Pct] Bottom: Par 234 [Fld Current Pct]
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Fine-Tuning the Speed Regulator
Follow these steps to fine-tune and optimize the speed regulator:
1. Configure the following Test Generator parameters: · Set Par 58 [TstGen Output] = 4 "Ramp Ref" · Set Par 59 [TstGen Frequency] = 0.2 Hz · Set Par 60 [TstGen Amplitude] = 10% · Set Par 61 [TstGen Offset] = 20%
2. Measure the results on analog outputs 1 and 2 by setting: · Par 66 [Anlg Out1 Sel] = 8 "Spd Reg Out" · Par 67 [Anlg Out2 Sel] = 13 "Motor Curr".
3. Set Par 660 [Accel Time 1] = 0 sec. 4. Set Par 662 [Decel Time 1] = 0 sec. 5. Set Par 87 [Spd Reg Kp] = 0.00 6. 88 [Spd Reg Ki] = 0.00 7. Start the drive. 8. Increase the value of Par 87 [Spd Reg Kp] until the overshoot is lower
than 4% with the shortest possible acceleration or deceleration time. 9. Increase the value of Par 88 [Spd Reg Ki] until the overshoot is higher
than 4%. Then, decrease the value of this parameter until its value becomes slightly lower than 4%. 10. Stop the drive. 11. Set Par 58 [TstGen Output] = 0 "NotConnected".
IMPORTANT
When the "Bypass"function is enabled (Par 458 [SpdReg FB Bypass] = 1 "Enabled"), the drive is switched to armature feedback automatically when a "Speed fbk loss" fault occurs due to an encoder or tachometer feedback loss. In this case, you must repeat steps 1...9 of the "Fine-Tuning the Speed Regulator" procedure when the fault has been cleared. After an automatic switch to armature feedback, the speed regulator works with Pars 459 [SpdReg Kp Bypass] and 460 [SpdReg Ki Bypass] and the D (derivative) part of the speed regulator is automatically excluded.
When it is necessary to have different gains for the speed regulator above the speed range, you can utilize the adaptive speed regulator. For further information about this function, see the Adaptive Speed Regulator block diagram page 335.
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Figure 98 - [Spd Reg Kp] too low Top: Par 122 [Spd Feedback]
Bottom: Par 199 [Arm Current Pct]
[Spd Reg Kp] and [Spd Reg Ki] curves
Figure 100 - [Spd Reg Ki] too high Top: Par 122 [Spd Feedback] Bottom: Par 199 [Arm Current Pct]
Figure 99 - [Spd Reg Kp] too high Top: Par 122 [Spd Feedback]
Bottom: Par 199 [Arm Current Pct]
20.00 ms/DIV
Figure 101 - [Spd Reg Ki] correct Top: Par 122 [Spd Feedback]
Bottom: Par 199 [Arm Current Pct]
20.00 ms/DIV
20.00 ms/DIV
20.00 ms/DIV
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Fine-Tuning the Voltage Regulator in the Field Converter
IMPORTANT
In most cases, DC motors with independent excitation, work with a constant field (Par 469 [Field Mode Sel] = 0 "Base Speed"). In this case, it is not necessary to optimize the regulator of the field current and the regulator of the armature voltage.
When field weakening occurs, the voltage regulator keeps the armature voltage at a constant level. The critical point for this regulator is at the beginning of field weakening. Tune the regulator so that the armature voltage undergoes small changes.
IMPORTANT Before the optimization of the voltage regulator, the speed and field current regulators must have already been tuned. See Tune the Current Regulator on page 102 and Fine-Tuning the Field Current Regulator on page 352.
1. Configure the following Test Generator parameters: · Set Par 58 [TstGen Output] = 4 "Ramp Ref" · Set Par 59 [TstGen Frequency] = 0.2 Hz · Set Par 60 [TstGen Amplitude] = 10% · Set Par 61 [TstGen Offset] = to the switching point from the armature to the field regulation. For example: If Par 162 [Max Feedback Spd] = 2000 rpm, field weakening starts at 1500 rpm. Therefore, set Par 61 [TstGen Offset] = 75%.
2. Measure the field current and the armature voltage by using analog outputs 1 and 2, by setting: · Par 66 [Anlg Out1 Sel] = 18 "Fld Current" · Par 67 [Anlg Out2 Sel] = 14 "Motor Volts"
3. Start the drive.
4. Check the armature voltage via analog output 2. After a possible short oscillation, the voltage should remain constant. See the Field Voltage Regulator Tuning Examples examples on page 357. You can change the Proportional and Integral gains of the Field Voltage regulator via Pars 493 [Arm Volt Kp] and 494 [Arm Volt Ki].
5. Stop the drive.
6. Set Par 58 [TstGen Output] = 0 "NotConnected".
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Field Voltage Regulator Tuning Examples
Figure 102 - Field voltage oscillation Oscillation after a speed change where [Arm Volt Kp] = 10% and [Arm Volt Ki] = 80%. Top: Par 234 [Fld Current Pct] Bottom: Par 233 [Output Voltage]
Figure 104 - Optimal field regulation After a short transient, the field current and armature voltage are constant. [Arm Volt Kp] = 40%, [Arm Volt Ki] = 5%. Top: Par 234 [Fld Current Pct] Bottom: Par 233 [Output Voltage]
Figure 103 - Too small of a gain The armature voltage increases where [Arm Volt Kp] = 3% and [Arm Volt Ki] = 5%. Top: Par 234 [Fld Current Pct] Bottom: Par 233 [Output Voltage]
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Tuning the Field Current Curve
The function of the field current curve is to control the actual motor flux and then motor torque if the field goes into an overvoltage condition. Figure 105 illustrates the relationship between flux and flux current when the field current curve is defined versus not defined.
Complete these procedures in the order that is listed when tuning the field current curve:
· Field current regulator. See Fine-Tuning the Field Current Regulator on page 352.
· Field current curve tuning (Flux / if curve)
· Voltage regulator in the field converter. See Fine-Tuning the Voltage Regulator in the Field Converter on page 356.
Figure 105 - Curve Conversion Flux/Current
Par 234 [Fld Current Pct] Par 280 [Nom Mtr Fld Amps] @ 100%
Par 916 [Fld Const 90 Pct] Par 280 [Nom Mtr Fld Amps] @ 50%
Par 917 [Fld Const 70 Pct] Par 918 [Fld Const 40 Pct]
Curve A Curve B
40% 50% 70% 90% 100% Par 500 [Flux Ref Pct]
Examples:
· Curve A - If the default settings of the drive are retained, the flux current to flux reference remains linear when the value of Par 500 [Flux Ref Pct] changes. For example:
· If Par 467 [Max Fld Flux Pct] / Par 500 [Flux Ref Pct] = 100%, then Par 234 [Fld Current Pct] / Par 500 [Flux Ref Pct] = Par 280 [Nom Mtr Fld Amps]
· If Par 467 [Max Fld Flux Pct] / Par 500 [Flux Ref Pct] = 50%, then Par 234 [Fld Current Pct] / Par 500 [Flux Ref Pct] = 50% of Par 280 [Nom Mtr Fld Amps]
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Application Notes Appendix C
· Curve B - After the field current curve fine-tuning procedure is completed, the flux current to flux reference curve will be correct for the motor. See the Current-regulator block diagram on page 375.
Field-current Curve Tuning Procedure:
1. Reset the field current curve by setting Par 920 [Reset Fld Curve] to "1".
2. Configure the following parameters: · Enter the percentage (100%) of the maximum motor nameplate rated armature voltage in Par 921 [Out Volt Level] · Set Par 469 [Field Mode Sel] = 0 "Base Speed" · Set Par 467 [Max Fld Flux Pct] = 100%
3. Start the drive.
4. Increase the motor speed until the value (electromotive force) displayed in Par 233 [Output Voltage] corresponds to the value previously set in Par 175 [Rated Motor Volt].
5. Decrease the value of Par 467 [Max Fld Flux Pct] until the value displayed in Par 233 [Output Voltage] is equal to 90% of Par 175 [Rated Motor Volt]. When you have reached this value, read the value that is displayed in Par 234 [Fld Current Pct] and enter the value into Par 918 [Fld Const 90 Pct].
6. Decrease the value of Par 467 [Max Fld Flux Pct] until the value displayed in Par 233 [Output Voltage] is equal to 70% of Par 175 [Rated Motor Volt]. When you have reached this value, read the value that is displayed in Par 234 [Fld Current Pct] and enter the value into Par 917 [Fld Const 70 Pct].
7. Decrease the value of Par 467 [Max Fld Flux Pct] until the value displayed in Par 233 [Output Voltage] is equal to 40% of Par 175 [Rated Motor Volt]. When you have reached this value, read the value that is displayed in Par 234 [Fld Current Pct] and enter the value into Par 916 [Fld Const 40 Pct].
8. Stop the drive.
9. Set the desired method of field control in Par 469 [Field Mode Sel] (0 "Base Speed" or 1 "Field Weaken")
10. Reset the value of 467 [Max Fld Flux Pct] to 100%.
If you change the value of Par 175 [Rated Motor Volt] or par 280 [Nom Mtr Fld Amps], the field current curve must be retuned.
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359
Appendix C Application Notes
Notes:
360
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Control Block Diagrams
D Appendix
Topic
Page
PowerFlex DC Drive Overview
363
Digital Inputs/Outputs (Standard and Expansion) Mapping
364
Analog Inputs/Outputs Mapping
365
Speed Reference Selection
366
Speed Reference Generation
367
Ramp Reference Block
368
Speed Regulator
369
Torque Mode Selection
370
Droop Compensation - Inertia / Loss Compensation
371
Speed Feedback
372
Speed Regulator PI Block
373
Speed Adaptive and Speed Zero Logic
374
Current Regulator
375
Field Current Regulator
376
Motor Parameters
377
Speed Threshold / Speed Control
378
PID Control
379
Scale Blocks
380
User Defined Variables
381
Taper Current Limits
382
Unit Scaling
383
Test Generator
384
Speed Select Settings
384
Fault / Alarm Mapping
385
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361
Appendix D Control Block Diagrams
Diagram Conventions
Examples:
PXXX ParName
PXXX ParName
PXXX
= Parameter Number
ParName = Parameter Name
= Read / Write Parameter = Read Only Parameter
362
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PowerFlex DC Drive Overview
PowerFlex DC Drive Overview
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
P44 Speed Ref A
P48 Speed Ref B
P385 Speed Ref Out
P372 Spd Limit Active
0 1
P349 CurrLimit Active
0 1
Drive Reference, Feedback and Status
P110 Ramp In
P118 Speed Reg In
P588 AC Line Freq
P113 Ramp Out
P41 Current Reg In
P233 Output Voltage
P1018 Speed Draw Out
P122 Spd Feedback
P200 Arm Current
P346 Torque Positive
0
1
P347 Torque Negative
0 1
P393 Speed Threshold
Above Threshold (0)
Below Threshold (1)
P651 Spd Fdbk State
Error (0) OK (1)
P395 At Zero Speed
Equal (0)
Not Equal (1)
P394 At Speed
Not Equal (0) Equal (1)
P466 AC Line Voltage
P351 Field Current
P1052 Output Power
P381 Drive Status 1
0000111000001101
P1403 Start Inhibits
xx00000000000000
BASIC CONFIGURATION
P45 Max Ref Speed
P162 Max Feedback Spd
P175 Rated Motor Volt
P179 Nom Mtr Arm Amps
P280 Nom Mtr Fld Amps
P374 Drv Fld Brdg Cur
P2 Maximum Speed
P414 Fdbk Device Type
P660 Accel Time 1
P662 Decel Time 1
(2 ms)
Reference
Select
P110 Ramp In
Ramp
Analog In 1-3 DPI Port 1-5
MOP
Reference Generation
Terminal Block 2
P565 Dig In Term 1
Digital Inputs Status
Terminal Block 4
P569 Dig In Term 5
(8 ms)
Expansion I/O
P573 Dig In Term 9
P113 Ramp Out
P118 Speed Reg In
Speed Feedback
(2 ms)
Speed / Torque Regulator
Speed Regulator
Current Regulator
(2 ms) P122 Spd Feedback
P41 Current Reg In
(2.7 ms @ 60 Hz) (3.3 ms @ 50 Hz)
P566 Dig In Term 2
P567 Dig In Term 3
P568 Dig In Term 4
P570 Dig In Term 6
P571 Dig In Term 7
P572 Dig In Term 8
P574 Dig In Term 10
P575 Dig In Term 11
P576 Dig In Term 12
Digtal and Analog Input / Output Mapping
Fault / Alarm Mapping
Functions
External PID 2 ms Torque Winder 8 ms Scale Blocks - background
See Digital Inputs/Outputs (Standard and Expansion) Mapping on page 364 and Analog Inputs/Outputs Mapping on page 365
See Fault / Alarm Mapping on page 385
See PID Control on page 379 and Scale Blocks on page 380
P351 Field Current P500 Flux Ref Pct
P199 Arm Current Pct P233 Output Voltage
Motor Control
Field Control
C1
D1
(8 ms)
P280 Nom Mtr Fld Amps
P374 Drv Fld Brdg Cur
Control Block Diagrams Appendix D
363
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364
Digital Inputs
Terminal Block 2
12 DG1+
* P1276 Inversion In 1
16 DG1-
13 DG2+
F * P1277
Inversion In 2
16 DG2-
14 DG3+
F * P1278
Inversion In 3
16 DG3-
15 DG4+
F * P1279
Inversion In 4
F 16
DG4-
P133 Digital In1 Sel
P134 Digital In2 Sel
P135 Digital In3 Sel
P136 Digital In4 Sel
Terminal Block 4
31 DG5+
35 DG5-
32 DG6+
35 DG6-
33 DG7+
35 DG7-
34 DG8+
35 DG8-
*
P1280 Inversion In 5
F
*
P1281
Inversion In 6
F
*
P1282 Inversion In 7
F
P1283 Inversion In 8
F
P137 Digital In5 Sel
P138 Digital In6 Sel
P139 Digital In7 Sel
P140 Digital In8 Sel
Digital Inputs/Outputs Standard and Expansion I/O
(8 ms)
Drive Relay Outputs
Terminal Block 3
P145 Digital Out1 Sel
P1392 Relay Out 1 Sel
P1393 Inversion Relay 1
F
35
R1NO
36
R1COM
P146 Digital Out2 Sel
P629 Relay Out 2 Sel
P1275 Inversion Relay 2
F
75
R2NO
76
R2COM
P147 Digital Out3 Sel
P148 Digital Out4 Sel
Digital Outputs
P1267 Inversion out 1
F
P1268 Inversion out 2
F
P1269 Inversion out 3
F
P1270 Inversion out 4
F
Expansion Digital Inputs (Optional)
11 DG9+
15 DG9-
12 DG10+
15 DG10-
13 DG11+
15 DG11-
14
DG12+
15 DG12-
*
P1387 Inversion In 9
F
*
P1388 Inversion In 10
F
*
P1389 Inversion In 11
F
P1390 Inversion In 12
F
P141 Digital In9 Sel
P142 Digital In10 Sel
P143 Digital In11 Sel
P144 Digital In12 Sel
Expansion Digital Outputs (Optional)
P149 Digital Out5 Sel
P1271 Inversion Out 5
F
P150 Digital Out6 Sel
P151 Digital Out7 Sel
P152 Digital Out8 Sel
P1272 Inversion Out 6
F
P1273 Inversion Out 7
F
P1274 Inversion Out 8
F
26 D01
30 +24V DC
27 D02
30 +24V DC
28 D03
30 +24V DC
29 D04
30 +24V DC
6 D05
5 COM_DO
7 D06
5 COM_DO
8 D07
5 COM_DO
9 D08
5 COM_DO
Digital Inputs/Outputs (Standard and Expansion) Mapping
Appendix D Control Block Diagrams
365
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Analog Inputs Terminal Block 1
Analog Input 1
Ref_1+ 1
2 Ref_1-
P1404 Analog In1 Value
P71 Anlg In1 Config
P73 Anlg1 Tune Scale
HW
+
input
type
-
Volts
P72 Anlg In1 Scale
P74 Anlg In1 Offset
Analog Inputs / Outputs
(2 ms)
From Digital Reference Setting
P259 Anlg In1 Tune
P792 Anlg In1 Filter
F
P295 Anlg In1 Target
P70 Anlg In1 Sel
Window comparator
P1043 Anlg In1 Cmp Err
P1042 Anlg In1 Cmp
P1045 Anlg In1 Cmp Eq
Analog Input 2
Ref_2+ 3
4 Ref_2-
P1405 Analog In2 Value
P76 Anlg In2 Config
HW input type
+
-
P79 Anlg In2 Offset
P78 Anlg2 Tune Scale
Volts
P77 Anlg In2 Scale
Analog Input 3
Ref_3+ 5
6
Ref_3-
P1406 Analog In3 Value
P81 Anlg In3 Config
HW input type
+
-
P84 Anlg In3 Offset
P83 Anlg3 Tune Scale
Volts
P82 Anlg In3 Scale
P260 Anlg In2 Tune
P801 Anlg In2 Filter
P261 Anlg In3 Tune
P802 Anlg In3 Filter
P1044 Anlg In1 Cmp Dly
From Digital Reference Setting
F
P296 Anlg In2 Target
P75 Anlg In2 Sel
From Digital Reference Setting
F
P297 Anlg In3 Target
P80 Anlg In3 Sel
Analog Outputs
Terminal Block 3
P66 Anlg Out1 Sel
P62 Anlg Out1 Scale
P67 Anlg Out2 Sel
P63 Anlg Out2 Scale
Expansion Analog Outputs (Optional)
P68 Anlg Out3 Sel
P64 Anlg Out3 Scale
P69 Anlg Out4 Sel
P65 Anlg Out4 Scale
D
21
A AO1
C
22
1 ACOM
D
23
A AO2
C
24
2
ACOM
D
1
A AO3
C
2
1 ACOM
D
3
A AO4
C
4
2 ACOM
Analog Inputs/Outputs Mapping
Control Block Diagrams Appendix D
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366
P70 Anlg In1 Sel P75 Anlg In2 Sel P80 Anlg In3 Sel P1323 DPI P1 Select P1324 DPI P2 Select P1325 DPI P3 Select P1326 DPI P4 Select P1327 DPI P5 Select P1375 MOP Select P1021 Encoder Out Sel P430 Resolver Spd Sel
P70 Anlg In1 Sel P75 Anlg In2 Sel P80 Anlg In3 Sel P1375 MOP Select
P70 Anlg In1 Sel P75 Anlg In2 Sel P80 Anlg In3 Sel
P47 Speed Ref A Pct P44 Speed Ref A
P48 Speed Ref B P49 Speed Ref B Pct
Speed Reference Selection
Speed Sel 3
Speed Sel 2
Terminal Block Digital Inputs ("0" if not defined)
000
Speed Sel 1
(2 ms)
MOP Inc
(digital input)
INC
MOP Dec
DEC
(digital input)
P2 Maximum Speed
MAX
MOP Reset (digital input)
Reset
MOP
OUT
P1375 MOP Select
P155 Preset Speed 2
P156 Preset Speed 3
P157 Preset Speed 4
P158 Preset Speed 5
P159 Preset Speed 6
P160 Preset Speed 7
001
Auto / Manual
010
(Par 381 [Drive Status 1], b15)
b15
011 Auto (0)
100
101
110
111
MinimumSpeed Limit
P1 Minimum Speed
P5 Min Speed Fwd
Manual Source (Par 381 [Drive Status 1], b12...14)
b12
b13
b14
P267
000
TB Manual Ref
DPI Port 1 Reference
001
DPI Port 2 Reference
010
Manual (1)
P6 Min Speed Rev
P1 Minimum Speed
MIN ACCEL
P22 MOP Accel Time
DECEL
P30 MOP Decel Time
b02
Jog (Par 1328 [Drive Logic Rslt], b02)
Off (0)
P384 Spd Ref Out Pct P385 Spd Ref Out
To Speed Reference Generation Diagram (Speed Ramp Enabled)
DPI Port 3 Reference
011
DPI Port 4 Reference
100
DPI Port 5 Reference
101
To Speed Reference Generation Diagram (Speed Ramp Disabled)
P266
On (1)
Jog Speed
Speed Reference Selection
Appendix D Control Block Diagrams
367
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
P70 Anlg In1 Sel
P75 Anlg In2 Sel
P80 Anlg In3 Sel
P1323 DPI P1 Select
P1324 DPI P2 Select
P1325 DPI P3 Select
P1326 DPI P4 Select
P1327 DPI P5 Select
P1021 Encoder Out Sel
P430 Resolver Spd Sel
P782 PID Target
P1210 W Target
P42 Trim Ramp
P378 Trim Ramp Pct
P384 Spd Ref Out Pct P385 Spd Ref Out From Speed Reference Selection Diagram
From Speed Reference Selection Diagram
On Off
Speed Reference Generation
(2 ms)
0
Jog
(P1328 Drive Logic Res, b2)
Reverse Command (P381 Drive Status 1, b2)
Speed
P111 Ramp In Pct
P110 Ramp In
t Zero
Ramp Reference
T
P345 Zero Ramp Input
P384 Spd Ref Out Pct P385 Spd Ref Out
P70 Anlg In1 Sel
P75 Anlg In2 Sel
P80 Anlg In3 Sel
P782 PID Target
P1210 W Target
P114 Ramp Out Pct P113 Ramp Out
Speed
t
Zero
T
P344 Zero Ramp Output
P245 Speed Ramp En
On
Off
P1019 Spd Draw Out Pct
P1018 Speed Draw Out
P1017 Speed Ratio
Speed ratio 10000
Speed Draw
To Speed Regulator Diagram
Speed Reference Generation
Control Block Diagrams Appendix D
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368
From Speed Reference Generation Diagram Ramp Reference Input
P111 Ramp In Pct
P110 Ramp In
P1410 Jog Ramp Time
P660 Accel Time 1 P24 Accel Time 2
P662 Decel Time 1 P32 Decel Time 2
Accel/Decel 1/2 Command (digital input)
P665 S Curve Accel 1 P667 S Curve Accel 2
Linear S-Shaped
Ramp Reference Block
(2 ms)
0
t
P20 Ramp Delay
Ramping Function
P373 Freeze Ramp
T
Freeze Ramp Digital Input Command
Fast Stop
P38 Fast Stop Time
P18 Ramp Type Select
To Speed Reference Generation Diagram Ramp Reference Output
P666 S Curve Decel 1
P668 S Curve Decel 2
Ramp Reference Block
Appendix D Control Block Diagrams
369
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
P698 Load Comp
P236 Spd Reg Out Pct
Droop Compensation
+
-
low pass filter
P699 Enable Droop
P1007 Droop Out Pct P1006 Droop Out
Speed Regulator
(2 ms)
Inertia/Loss Comp
P1019 Spd Draw Out Pct P1018 Speed Draw Out
From Speed Reference Generation Diagram
P70 Anlg In1 Sel P75 Anlg In2 Sel P80 Anlg In3 Sel P1323 DPI P1 Select P1324 DPI P2 Select P1325 DPI P3 Select P1326 DPI P4 Select P1327 DPI P5 Select P1375 MOP Select P1021 Encoder Out Sel P430 Resolver Spd Sel P782 PID Target P1210 W Target
Speed Feedback
++
+
Speed Limits
P2 Maximum Speed P3 Max Speed Fwd P4 Max Speed Rev
P6 Min Speed Rev P5 Min Speed Fwd P1 Minimum Speed
P117 Speed Reg In Pct
P118 Speed Reg In
P1011 Spd Reg Err Pct
P1010 Spd Reg Err
+
-
P43 Trim Speed
P923 Act Spd Filter
P121 Spd Feedback Pct P122 Spd Feedback
32 ms sampled average
P924 Actual Speed
Speed up
P1016 SpdFuncSelect
kn*s+wn s+wn
Lead Lag
+
+
P1009 Spd Reg Fdbk Pct P1008 Spd Reg Fdbk
P461 Spd Fdbk Invert
P914 Spd FB Filt Gain P915 Spd FB Filt BW
P445 Spd Up Gain Pct
P447 Speed Up Filter
P446 Speed Up Base
Speed Up 0
Inertia/Loss 0
Off
P/I regulator includes anti-windup logic
Speed Reg P / I
P99 Spd Reg Kp Outpt P100 Spd Reg Ki Outpt
P232 Inertia Comp Out
P1016 SpdFuncSelect
0 Speed Up
Inertia/Loss 0
Off
To Torque Mode Select Diagram
P236 Spd Reg Out Pct
Limit
P95 Spd Reg Pos Lim
P96 Spd Reg Neg Lim
P382 Drive Status 2 b10 SpdRegPosLim b11 SpdRegNegLim
Hold Integrator with Spd Reg Pos/Neg Lim
kn*s+wn s+wn
Lead Lag
To Torque Mode Select Diagram
P238 SpdOut FiltGain
P239 SpdOut FiltBW
Speed Regulator
Control Block Diagrams Appendix D
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370
From Speed Regulator Block Diagram
Inertia Compensation Output
From Speed Regulator Block Diagram
P70 Anlg In1 Sel
P75 Anlg In2 Sel
P80 Anlg In3 Sel
P1323 DPI P1 Select
P1324 DPI P2 Select
P1325 DPI P3 Select
P1326 DPI P4 Select
P1327 DPI P5 Select
P782 PID Target
P1210 W Target
P39 Torque Ref
Torque Mode Selection
(2 ms)
P382 Drive Status 2 b7 Forced Spd
1
P241 Spd Trq Mode Sel
0.00
Zero Torque 0
Speed Reg 1
Torque Reg 2
SLAT Min 3 MIN
SLAT Max 4 MAX
++
Sum 5
P382 Drive Status 2 b7 Forced Spd b8 Speed Mode b9 Torque Mode
P14 Selected TorqRef 0
P15 SLAT Err Stpt P16 SLAT Dwell Time
P353
++
Zero Torque
Not Active
+
P40 Trim Torque
0 Active
P500 Flux Ref Pct
P463 Flux Filter BW
P17 Motor Trq Ref
n d
To Current Regulator Block Diagram
Torque Ref 0
P462 Flux Divide
P17 [Motor Trq Ref] is divided by the flux reference when P462 [Flux Divide] is set to 0 "Torque Ref".
Inertia Comp 1 1.00
Torque Mode Selection
Appendix D Control Block Diagrams
371
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P70 Anlg In1 Sel P75 Anlg In2 Sel P80 Anlg In3 Sel P782 PID Target P1210 W Target
P118 Speed Reg In
From Digital Setting or Analog Input
P698 Load Comp
P236 Spd Reg Out Pct
+
-
Droop Compensation
(2 ms)
P697 Droop Filter
low pass filter
P700 Droop Limit
P696 Droop Percent
P106 Ref Zero Level
Inertia/Loss Compensation
(2 ms)
P1014 Inertia
Speed
P1015 Friction
P500 Flux Ref Pct
n
+
d
1
P1013 Torque Const
0
1.00
Torque Ref
Inertia Comp 1
P462 Flux Divide
Inertia Compensation is divided by the flux reference when P462 [Flux Divide] is set to 1 "Inertia Comp".
P1012 Inertia C Filter
low pass filter
To Speed Regulator Droop Compensation
Output
To Speed Regulator Inertia/Loss Compensation
Output
Droop Compensation - Inertia / Loss Compensation
Control Block Diagrams Appendix D
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372
Speed Feedback Loss Fault (F91)
Speed Feedback
(2 ms)
P458 SpdReg FB Bypass
Enabled
Speed Feedback Loss Alarm
A
Motor
H
(no filtering)
P233 Armature Voltage
P414 = 3 Fdbk Device Type
Armature
% Armature Voltage
P175 Rated Motor Volt
P478 Spd Loss Flt Cfg
P455 Spd FB Loss Lvl
5%
P121 Spd Feedback Pct
% Speed
P162 Max Feedback Spd
Resolver
S in
+
Ref
-
+
C os
+-
Digital Encoder
P175 Rated Motor Volt
DC Tachometer
+ Tach
-
P562 Anlg Tach Gain
P1408 Tachometer Speed (no filtering)
P414 = 2 Fdbk Device Type
DC Tach
5
A+
6
A-
8
B+
1
B-
3
Z+
4
Z-
7
COM
P1022 Encoder Counts
Encoder Configuration
P169 Encoder PPR
P652 Encoder Err Chk
P170 Encoder Config
P563 Feedback Offset
(no filtering)
P420 Encoder Speed
+S
(2...16 ms moving average)
P414 = 1 Fdbk Device Type
Encoder
Tach follower P1021 Encoder Out Sel
2 +V
8
RefH
7
Shld
6
RefL
5
SinH
4
Shld
3
SinL
2
CosH
1
CosL
P427 Reslvr Position
Resolver Configuration
P423 Reslvr Type Sel
P424 Reslvr Spd Ratio
P425 Resolver Config
P428 Resolver Speed
(2...16 ms moving average)
P414 = 4 Fdbk Device Type
Resolver
Tach follower P430 Resolver Spd Sel
To Speed Regulator Speed Feedback Input
Speed Feedback
Appendix D Control Block Diagrams
373
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Speed P / I Base
P93 Spd Reg Kp Base P94 Spd Reg Ki Base
P70 Anlg In1 Sel P75 Anlg In2 Sel P80 Anlg In3 Sel P782 PID Target P1210 W Target
P459 SpdReg Kp Bypass
P460 SpdReg Ki Bypass
P183 Adapt ive Ref
P117 Speed Reg In Pct
P181 AdaptiveSpd En P182 AdaptiveReg Type
Speed Adaptive and
Speed Zero Logic
Speed Regulator PI Block
(2 ms)
Bypassgainsare used when P458 [SpdReg FB Bypass] = "Enabled" (1) and the Encoder or Tachometer signal is lost, causing Armature Voltage Feedback to be used.
P87 Spd Reg Kp
P188 Adaptive P Gain1 P190 Adaptive P Gain2 P192 Adaptive P Gain3
P118 Speed Reg In
P1009 Spd Reg Fdbk Pct P1008 Spd Reg Fdbk
P181 AdaptiveSpd En
F
P99 Spd Reg Kp Out
P444 Spd Reg P Filter
P643 SpdReg AntiBckup
+
-
+
P1010 Spd Reg Err
P1011 Spd Reg Err Pct
Anti-Windup
P88 Spd Reg Ki
P189 AdaptiveI Gain1 P191 AdaptiveI Gain1 P193 AdaptiveI Gain3
P181 AdaptiveSpd En
F
P100 Spd Reg Ki Out
+
+
P348 Lock Speed Integ
T
Anti-Windup
Zero
Torque Current Limits
To Speed Regulator Block Diagram PI Output
Speed Regulator PI Block
Control Block Diagrams Appendix D
Appendix D Control Block Diagrams
374
P188 Adaptive P Gain1
P190 Adaptive P Gain2
P192 Adaptive P Gain3
P189 Adaptive I Gain1
P191 Adaptive I Gain2
P193 Adaptive I Gain3
Speed Adaptive and Speed Zero Logic
(2 ms)
P186 Adaptive Joint 1
P187 Adaptive Joint 2
Gain
Speed Adaptive Function
P181 Adaptive Spd En
P182 Adaptive Reg Typ
Speed Adaptive and Speed Zero Logic
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Ramp Ref / Speed Ref
P123 Spd Zero I En
T
Speed
Speed Zero Logic
P126 Spd Zero P Gain P106 Ref Zero Level
Ref 0 level
&
&
P125 Spd Zero P En
T
&
Lock speed I
&
> =
Speed Zero
0
t
P108 Speed Zero Delay
>=
P184 Adaptive Spd 1
>=
Lock speed I
P124 Spd Ref Zero En
T
P185 Adaptive Spd 2
%
P183 Adaptive Ref
OR
P117 Spd Reg In Pct
375
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
P70 Anlg In1 Sel P75 Anlg In2 Sel P80 Anlg In3 Sel P1323 DPI P1 Select P1324 DPI P2 Select P1325 DPI P3 Select P1326 DPI P4 Select P1327 DPI P5 Select P782 PID Target P1210 W Target
From Torque Mode Selection Block Diagram
P715 Torq Limit Type T Lim MtrGen
T
T Lim PosNeg
To rq ue
Rev Brdg Cur Lim
Fwd Brdg Cur Lim
Speed
Fwd Brdg Cur Lim
-1% of Max Feedback Spd
Rev Brdg Cur Lim
+1% of Max Feedback Spd
Torque Limit Mtr Gen
Current Regulator
(3.3 ms @ 50Hz, 2.7 ms @ 60 Hz)
Current Limits
P7 Current Limit P8 Current Lim Pos P9 Current Lim Neg
P10 Cur Lim Pos Out P11 Cur Lim Neg Out
P782 PID Target P1210 W Target
P41 Current Reg In
di dt
P12 Current Rate Lim
Note that P453 and P454 are gains for the current regulator and may not match the physical characteristics of the motor.
P453 Arm Resistance
P454 Arm Inductance
+
-
Predictive Regulator
Predictive Regulator Includes Anti-Windup Logic
P199 Arm Current Pct P200 Arm Current
P13 Torq Red CurLim
Torque Reduction
P342 Torque Reduction
T
Torque Reduction Command
To rq ue
Fwd Brdg Cur Lim
Fwd Brdg Cur Lim
Rev Brdg Cur Lim
Speed
Rev Brdg Cur Lim
Torque Limit Pos Neg
Modulator
P233 Output Voltage
Go to Motor Parameters
DC Motor
Feedback (Option)
Current Regulator
Control Block Diagrams Appendix D
Appendix D Control Block Diagrams
376
P70 Anlg In1 Sel P75 Anlg In2 Sel P80 Anlg In3 Sel P782 PID Target P1210 W Target
P175 Rated Motor Volt
P233 Output Voltage
Voltage Reg P / I Base
P495 Arm Volt Kp Base P496 Arm Volt Ki Base
Field Current Regulator
(8 ms)
P921 Out Volt Level
+
_
P493 Arm Volt Kp
P494 Arm Volt Ki
Voltage regulator
Field Weaken T
Field Flux Limits
P467 Max Fld Flux Pct
Base Speed
P456 Fld Weaken Ratio
Motor Base Speed / P45 Max Ref Speed x 100
P469 Field Mode Select
P500 Flux Ref Pct
P919 Set Fld Curve P920 Reset Fld Curve
I field curve
P916 Fld Const 40 Pct P917 Fld Const 70 Pct P918 Fld Const 90 Pct
Field Current Limit
100%
P468 Min Fld Curr Pct
Must be set correctly to allow entire Field Weaken
range of operation
Field Current Regulator
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Energy saving
Max field current
Output Voltage
Min field current
P498 Force Min Field
P499 Field Economy En
Field Economy
Max field curr
Min field curr Spd=0 Thr
P107 Speed Zero Level
P468 Min Fld Curr Pct
P280 Nom Mtr Fld Amps
P476 Field Curve Out
+
_
P374 Rated Field Curr
P91 Fld Reg Kp
P92 Fld Reg Ki
Field Reg P / I Base
P97 Fld Reg Kp Base P98 Fld Reg Ki Base
Field reg P / I
P497 Field Reg Enable
T
P234 Fld Current Pct
Field Controller
C1
M
D1
P280 Nom Mtr Fld Amps
Output Voltage / Torque
Constant Torque
Motor Parameters
P175 Rated Motor Volt
Constant Power
Field Regulator Management
P469 Field Mode Sel
P374 Drv Fld Brdg Cur
P468 Min Fld Curr Pct
P467 Max Fld Curr Pct
PowReirsing
Motor Parameters
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
P456 Fld Weaken Ratio
P45 Max Ref Speed
P162 Max Feedback Spd
Speed
A (A1)
Note that P453 and P454 are gains for the current regulator and may not match the physical characteristics of the motor.
P453 Arm Resistance
P454 Arm Inductance
P199
Arm Current Pct
P200
P233 Output Voltage
Arm Current
M
P587
H
I Reg Error
(A2)
P280 Nom Mtr Fld Amps
C1
P351 Field Current
D1
Control Block Diagrams Appendix D
377
Appendix D Control Block Diagrams
378
Speed Threshold / Speed Control
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P122 Spd Feedback
P118 Speed Reg In
Speed Threshold / Speed Control
(2 ms)
P101 Speed Thresh Pos
P102 Speed Thresh Neg
P103
0
t
Threshold Delay
P122 Spd Feedback
[Digital Outx Sel] = 2 "Spd Thresh" P393 Speed Threshold
P104 At Speed Error
[Digital Outx Sel] = 3 "At Speed"
P394 At Speed
P105 At Speed Delay
0
t
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P786 PID Source
P70 Anlg In1 Sel P75 Anlg In2 Sel P80 Anlg In3 Sel
P760 PID Setpoint 0 P761 PID Setpoint 1
Gain
P787 PID Source Gain
P758 Feed Fwd PID
P695 PI Steady Thresh
Thr
P731 PID Steady Delay
Steady State
Thr 2
PID Control
(2 ms)
P765 PI Prop Gain PID P793 PI Init Prop Gn
sign PID
P762 PID Setpoint Sel
Gain Feed Fwd Sign: Pos Gain = -1 Neg Gain = +1
P769 Enable PI
T ON
P784 PI Upper Limit
+
P771 PI Output
P418 Real FF PID
+ S
+
P773 PID Output Scale
Gain
P1046 PID Accel Time
P1047 PID Decel Time
P1254 PID Error Gain
+
+
P763 PID Feedback (1)
P70 Anlg In1 Sel
P75 Anlg In2 Sel
P80 Anlg In3 Sel
P429 Resolver Pos Sel
P763 PID Feedback
P757 PID Clamp
P759 PID Error
(1) Feedback is added to the setpoint.
P764 PI Integral Gain P734 PI Init Intgl Gn
P768 PD Prop Gain 1 P788 PD Prop Gain 2 P790 PD Prop Gain 3
P766 PD Deriv Gain 1 P789 PD Deriv Gain 2 P791 PD Deriv Gain 3
P783 PI integr freeze
P767 PD Deriv Filter
P785 PI Lower Limit
P771 PI Output
P776 PI Central v1
P777 PI Central v2
P772 PID Output Sign
P779 PI Central v sel
P770 Enable PD
T
+
ON
P778 PI Central v3
P421 PD Output PID
P800 Diameter Calc St
P70 Anlg In1 Sel
P75 Anlg In2 Sel
P80 Anlg In3 Sel
Encoder Position
P414 Fdbk Device Type
Initial Diameter Calculator
P782 PID Target
P774 PID Output
P794 Diameter Calc
T
P799 Minimum Diameter P797 Gear Box Ratio P771 PI Output P795 DncrPosSpd P796 Max Deviation P798 Dancer Constant
PID Control
Control Block Diagrams Appendix D
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Scale Block 1
P484 Scale1 Input
Scale Block 2
P492 Scale1 In Abs
Scale Blocks
(background)
P488 Scale1 In Max
+
+
P489 Scale1 In Min
P490 Scale1 In Off
P557 Scale2 In Max
X
P486 Scale1 Mul
P553 Scale2 Input
+
X
+
P561 Scale2 In Abs
P558 Scale2 In Min
P559 Scale2 In Off
P555 Scale2 Mul
Note: Up to six scale blocks are available. Scale blocks 3-6 follow the same flow as scale blocks 1 and 2, shown here.
P487 Scale1 Div
P556 Scale2 Div
+
+
P491 Scale1 Out Off
P485 Scale1 Output
+
+
P560 Scale2 Out Off
P554 Scale2 Output
Scale Blocks
Appendix D Control Block Diagrams
P70 Anlg In1 Sel
P75 Anlg In2 Sel
P80 Anlg In3 Sel
P782 PID Target
P1210 W Target
User-Defined Parameters
Digital Inputs 1...12 can write to any User-Defined bit A0...A7
Digital Input
Target Param
Analog Input Target Param
Target Param
Analog Input
User Defined Variables
Digital Output
Digital Output
Analog Output Source Param
Source Param
Source Param
Analog Output
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
P503 UserDefined0
P504 UserDefined1
P505 UserDefined2
P506 UserDefined3
P507 UserDefined4
P508 UserDefined5
P509 UserDefined6
P519 UsrDefBitWrdA
P536 UsrDefBitWrdB
P66 Anlg Out1 Sel
P67 Anlg Out2 Sel
P68 Anlg Out3 Sel
P69 Anlg Out4 Sel
P786 PID Source
P1204 Line Spd Src
P1284 Ref Spd Src
General Parameters
P510 UserDefined7
P511 UserDefined8
P512 UserDefined9
P513 UserDefined10
P514 UserDefined11
Target Param
P515 UserDefined12
P516 UserDefined13
Digital Outputs 1...8 indicate the status of the User-Defined bit corresponding to its number (D.O.1 is bit 0, D.O.8 is bit 7).
Relay Output1 indicates User-Defined bit 14 Relay Output2 indicates User-Defined bit 15
P517 UserDefined14
P518 UserDefined15
Source Param
Control Block Diagrams Appendix D
381
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382
P750 TrqTpr Enable
Cur Lim Pos Out or
Cur Lim Neg Out
P751 TrqTpr Lim0
P752 TrqTpr Lim1
P753 TrqTpr Lim2 P754 TrqTpr Lim3 P755 TrqTpr Lim4
Taper Current Limits
P756 TrqTpr Spd
Motor Max Speed
Taper Current Limits
Appendix D Control Block Diagrams
Unit Scaling
Unit Scaling
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
User Defined Variable
Unit Scale Factor
P50 UsrDsplyMult0
X
P51 UsrDsplyDiv0
User Value Factor
P54 UsrValDiv1
X
P53 UsrValMult1
Control Variable
Control Block Diagrams Appendix D
383
Appendix D Control Block Diagrams
Test Generator Speed Select Settings
Test Generator
P58 TstGen Output
Generator Output
P60 TstGen Amplitude
Time
P59 TstGen Frequency
Speed Select Settings
P61 TstGen Offset
P402 Spd Select 2
0 0 0 0 1 1 1 1
P401 Spd Select 1
0 0 1 1 0 0 1 1
P400 Spd Select 0
0 1 0 1 0 1 0 1
Reference
P44 Speed Ref A
P48 Speed Ref B
P155 Preset Speed 2
P156 Preset Speed 3
P157 Preset Speed 4
P158 Preset Speed 5
P159 Preset Speed 6
P160 Preset Speed 7
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Fault / Alarm Mapping
Fault/Alarm Mapping
Control Block Diagrams Appendix D
"Arm Overvoltage" (F5)
P203 OverVolt Flt Cfg
0 = "Ignore" 1 = "Alarm" 2 = "Fault"
"Auxiliary Input" (F2)
P354 Aux Inp Flt Cfg
1 = "Alarm" 2 = "Fault" 3 = "Fast Stop" 4 = "Normal Stop" 5 = "CurrLim Stop"
"Motor Over Temp" (F16)
P365 OverTemp Flt Cfg
0 = "Ignore" 1 = "Alarm" 2 = "Fault" 3 = "Fast Stop" 4 = "Normal Stop" 5 = "CurrLim Stop"
"Fld Current Loss" (F6)
P473 FldLoss Flt Cfg
0 = "Ignore" 1 = "Alarm" 2 = "Fault"
"Speed Fdbk Loss" (F91)
P478 Spd Loss Flt Cfg
1 = "Alarm" 2 = "Fault"
"Motor Overload" (F7)
P479 MtrOvrld Flt Cfg
0 = "Ignore" 1 = "Alarm" 2 = "Fault"
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Appendix D Control Block Diagrams
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E Appendix
Installing a Communication Adapter
Communication Adapter Kits The following Communication Adapter kits are available for use with the
PowerFlex® DC drive:
Comm Option BACnet® MS/TP RS-485 Communication Adapter ControlNetTM Communication Adapter (Coax) DeviceNetTM Communication Adapter EtherNet/IPTM Communication Adapter HVAC Communication Adapter PROFIBUSTM DP Communication Adapter ControlNetTM Communication Adapter (Fiber) Remote I/O Communication Adapter (1) RS-485 DF1 Communication Adapter External Comms Power Supply DPITM External Communication Kit External DPI I/O Option Board(2) Compact I/O to DPI/SCANport Module Serial Null Modem Adapter Smart Self-powered Serial Converter (RS-232) includes 1203-SFC and 1202-C10 Cables Universal Serial BusTM (USB) Converter includes 2m USB, 20-HIM-H10 & 22-HIM-H10 Cables
Catalog Number 20-COMM-B 20-COMM-C 20-COMM-D 20-COMM-E 20-COMM-H 20-COMM-P 20-COMM-Q 20-COMM-R 20-COMM-S 20-XCOMMAC-PS1 20-XCOMMDC-BASE 20-XCOMMIO-OPT1 1769-SM1 1203-SNM 1203-SSS
1203-USB
(1) This item has Silver Series status. For information, refer to http://www.ab.com/silver. (2) For use only with External DPI Communication Kits 20-XCOMM-DC-BASE.
What The Communication Adapter Kit Includes
· Communication Adapter module w/captive screws · Internal Interface cable · Communication Adapter User Manual · Additional components, based on the option selected
Tools That You Need
· Phillips screwdriver
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Appendix E Installing a Communication Adapter
Safety Precautions
ATTENTION: Allow only qualified personnel familiar with drives, power products and associated machinery to plan or implement the installation, startup, configuration 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 all power to the drive has been removed before performing the following.
ATTENTION: This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies. Static control precautions are required when installing, testing, servicing or repairing this assembly. Component damage may result if ESD control procedures are not followed. If you are not familiar with static control procedures, reference A-B publication 8000-4.5.2, "Guarding Against Electrostatic Damage" or any other applicable ESD protection handbook.
Installing the Communication Adapter Module in the Drive
Follow these steps to install a communication adapter module:
WARNING: Remove power before making or breaking cable connections. When you remove or insert a cable connector with power applied, an electrical arc may occur. An electrical arc can cause personal injury or property damage by:
· sending an erroneous signal to your system's field devices, causing unintended machine motion
· causing an explosion in a hazardous environment Electrical arcing causes excessive wear to contacts on both the module and its mating connector. Worn contacts may create electrical resistance.
1. Remove and lock-out all incoming power to the drive.
L1 L2 L3
I
O
2. Disconnect the DPI cable from the HIM on the drive.
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Installing a Communication Adapter Appendix E
3. Remove the cover(s) from the drive:
Frame A
a. Remove the screws that secure the bottom cover to the drive, then slide the cover down and off the drive chassis.
PORT MOD NET A NET B
STS
=
Disconnect DPI cable.
b. Press in on the sides at the bottom edge of the top cover and at the same time pull the cover toward you to pull it partially off the drive chassis. Next, at the top of the drive, pull the cover forward, away from the drive, until the pins fit in the keyhole in the top of the cover, then carefully lift the cover off of the drive chassis.
IMPORTANT The HIM assembly is connected to the control board by a cable and therefore will not pull free from the drive until disconnected. See step 4 page 391 for instructions.
PORT MOD NET A NET B
STS
When metal pin fits in keyhole, lift cover off drive chassis.
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Appendix E Installing a Communication Adapter
Frames B and C
a. Loosen, but do not remove, the screws that secure the bottom cover to the drive, then slide the cover down and off the drive chassis.
Frame B shown =
Disconnect DPI cable.
b. Loosen, but do not remove, the screws that secure the top cover to the drive, then slide the cover up and off the drive chassis.
IMPORTANT
The HIM assembly is connected via a cable to the control board and therefore will not pull free from the drive until disconnected. See step 4 on page 391 for instructions.
Frame B shown
U
C
V
D
W
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Installing a Communication Adapter Appendix E
Frame D
a. Loosen, but do not remove, the Hexalobular head screws that secure the cover, containing the HIM cradle, to the drive frame. Then, slide the cover up until the screw heads line up with the key holes and lift the cover off the chassis.
IMPORTANT The HIM assembly is connected to the control board by a cable and therefore will not pull free from the drive until disconnected. See step 4 below for instructions.
=
Disconnect DPI cable.
4. Disconnect the HIM Communication cable from the connector on the upper right corner of the control board and set the cover aside.
All Frames (Frame A shown)
=
Pull tabs out to disconnect cable.
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391
Appendix E Installing a Communication Adapter
5. Secure and ground the Communication Adapter to the EMI Shield on the drive using the four captive screws.
IMPORTANT
All screws must be tightened, because the adapter is grounded through a screw to the EMI shield. Recommended tightening torque is 0.9 N·m (8 lb·in).
6. Connect the Internal Interface cable to the DPI connectors on the control board and the communication Adapter board.
=
Connect cable to DPI connectors on adapter and control board.
Secure adapter to EMI Shield with four (4) screws.
7. Refer to the Adapter's User Manual for network connection, commissioning, and configuration information.
8. Install the HIM Communication cable in reverse order or removal.
9. Install the drive covers in reverse order of removal.
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F Appendix
Optional Analog and Digital I/O Expansion Circuit Board
What This Option Board Provides
The optional I/O expansion circuit board(1) is mounted on the control circuit board of the drive and provides these additional I/O signals:
· Four Digital Inputs · Four Digital Outputs · Two Analog Outputs
This circuit board is catalog number 20P-S5V62.
Figure 106 - I/O Expansion Board Mounting Location
I/O Expansion Board
I/O Expansion Board Terminal Blocks
Control Board
Standard Drive I/O Terminal Blocks
I/O Expansion Board Wiring
Table 94 - Recommended Signal Wire Size
Wire Type and Size
Flexible (mm2) multi-core (mm2)
0.14...1.5
0.14...1.5
AWG 28...16
Tightening Torque
N·m (lb·in)
0.4 (3.5)
(1) The Analog and Digital I/O Expansion circuit board is not factory installed.
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Appendix F Optional Analog and Digital I/O Expansion Circuit Board
A 75 x 2.5 x 0.4 mm (3.0 x 0.1 x 0.02 in.) flathead screwdriver is recommended for connecting wire to the terminal block inputs. Strip the ends of the cables to a length of 6.5 mm (0.26 in.).
IMPORTANT
To improve the noise immunity it is recommended that you connect the common of the outputs (terminals 2, 4, 5 and 15 of the I/O Expansion board) with the ground (terminal 10 or 20) on the standard I/O terminal blocks on the control board. If this is not possible, these terminals must be grounded by means of a 0.1 mf/250V capacitor.
1 2 3 4 5 6 7 8 9 10
Table 95 - I/O Expansion Board Terminal Block 1 Designations
No. Signal 1 Analog Output 3 (+) 2 Analog Output 3 () 3 Analog Output 4 (+) 4 Analog Output 4 () 5 Digital Output Common 6 Digital Output 5 (+) 7 Digital Output 6 (+) 8 Digital Output 7 (+) 9 Digital Output 8 (+) 10 +24VDC
Description 10V, 5 mA maximum 10V, 5 mA maximum
Max volt. +30V, max cur. 50 mA
Drive supplied power for Digital Outputs. Max volt. +30V, max. cur. 80 mA.
Factory Default Config. Parameter 18"Fld Current" 68 [Anlg Out3 Sel]
14"Motor Volts" 69 [Anlg Out4 Sel]
26 "Alarm"
149 [Digital Out5 Sel]
11 12 13 14 15
Table 96 - I/O Expansion Board Terminal Block 2 Designations
No. Signal 11 Digital Input 9 12 Digital Input 10 13 Digital Input 11 14 Digital Input 12 15 Digital Input Common
Description
Factory Default
Max volt. +30V, max cur. 15V/3.2 mA, 24V/5 mA, and 30V/6.4 mA.
Config. Parameter
Figure 107 - I/O Expansion Board Wiring Diagram Control Board
I/O Expansion Board
S upply +24 V 0 V 24
Analog Outputs
Digital Outputs
Digital Inputs
3
4
5678
1 234
5
6789
10
9 10 11 12 11 12 13 14 15
+ 24 V 0V
19 18
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G Appendix
Optional 115V AC to 24V DC I/O Converter Circuit Board
What This Option Board Provides
The 115V AC to 24V DC I/O converter circuit board(1) allows you to convert 115V AC digital input signals to 24V DC digital input signals to provide an interface with the standard digital I/O terminal blocks on the PowerFlex® DC drive control circuit board. The circuit board contains the following I/O:
· Eight opto isolated 115V AC digital inputs
· Eight interface outputs for the digital inputs on control board of the drive(2)
· Two input terminals for the 24V DC power supply voltage
This circuit board is catalog number 20P-S520L.
Figure 108 - 115V AC to 24V DC I/O Converter Circuit Board Mounting Location
Control Board
I/O Converter Board
I/O Converter Board Terminal Blocks
Standard Drive I/O Terminal Blocks on Control Board
(1) The 115V AC to 24V DC I/O Converter circuit board is not factory installed. (2) If more than eight 115V AC digital input signals require conversion to 24V DC (i.e., the optional PowerFlex DC drive I/O Expansion
circuit board is used - see Appendix F), a second Converter board is required and must be sourced and wired independently from the 115V AC to 24V DC I/O Converter board mounted on the control board and be mounted in an appropriate enclosure external to the PowerFlex DC drive enclosure.
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Appendix G Optional 115V AC to 24V DC I/O Converter Circuit Board
I/O Converter Board Wiring
Table 97 - Recommended Signal Wire Size
Wire Type and Size
Flexible (mm2) multi-core (mm2)
0.14...1.5
0.14...1.5
AWG 28...16
Tightening Torque
N·m (lb·in)
0.4 (3.5)
A 75 x 2.5 x 0.4 mm (3.0 x 0.1 x 0.02 in.) flathead screwdriver is recommended for connecting wire to the terminal block inputs. Strip the ends of the cables to a length of 6.5 mm (0.26 in.).
Table 98 - I/O Converter Board M_IN Terminal Block Designations
1 2 3 4 5 6 7 8 COM
No. Signal 1 Digital Input 1 2 Digital Input 2 3 Digital Input 3 4 Digital Input 4 5 Digital Input 5 6 Digital Input 6 7 Digital Input 7 8 Digital Input 8 Com Digital Input Common
Description
Rated input voltage:115V AC ±10% 50...60Hz. ON input voltage: 115V AC ±10% OFF input voltage: 0 - 70V AC ON input current: 4...5.5 mA
Table 99 - I/O Converter Board M_OUT Terminal Block Designations
24V 1 2 3 4 5 6 7 8 0V
No. Signal 24V +24VDC Supply
1 Digital Output 1 2 Digital Output 2 3 Digital Output 3 4 Digital Output 4 5 Digital Output 5 6 Digital Output 6 7 Digital Output 7 8 Digital Output 8 0V 24V Common
Description 24V DC ±10%, 40 mA power supply. Max. load 120 mA. Supply power can be provided by the +24V DC supply on the control board I/O (terminal 19 see Figure 109 on page 397) or an external source (see Figure 110 on page 397). Output type: Open collector, PNP type with 15 k pull-down Output current: 10 mA max. Delay time hw OFF to ON: 5 ms (typ.) Delay time hw ON to OFF: 50 ms (typ.)
Common for the power supply. · If an internal supply is used, this terminal
must be wired to the digital input common (terminal 16 or 35) on the control board I/O. See Figure 109 on page 397. · If an external supply is used, this terminal must be wired to the external 24V DC supply common and the digital input common (terminal 16 or 35) on the control board I/O. See Figure 110 on page 397.
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Optional 115V AC to 24V DC I/O Converter Circuit Board Appendix G Figure 109 - I/O Converter Board with Internal Supply Wiring Diagram
Main Control Board
115V AC to 24V DC I/O Board
OPTO
OPTO
DC OUTPUT
15k 15k
AC INPUT
24V 1 2 3 4 5 6 7 8 0V M_OUT
1 2 3 4 5 6 7 8 COM M_IN
To Digital Inputs (Terminals 12-15, 31-34)
on Control Board
To Drive Supplied +24V DC (Terminal 19) on Control Board
To Digital Input Common (Terminal 16 or 35)
and 24V Supply Common (Terminal 18) on Control Board
Internal Wiring
External 115V AC Customer Wiring
Figure 110 - I/O Converter Board with External Supply Wiring Diagram
Main Control Board
115V AC to 24V DC I/O Board
OPTO
OPTO
DC OUTPUT
15k 15k
AC INPUT
24V 1 2 3 4 5 6 7 8 0V M_OUT
1 2 3 4 5 6 7 8 COM M_IN
To Drive Digital Inputs (Terminals 12-15, 31-34)
From External +24V DC Supply
To Digital Input Common (Terminal 16 or 35)
Internal Wiring
To External 24V DC Supply Common
External 115V AC Customer Wiring
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Appendix G Optional 115V AC to 24V DC I/O Converter Circuit Board
Notes:
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Index
Numerics
115V AC to 24V DC I/O converter board catalog number 395
2-wire control non-reversing 86 reversing 86
3-wire control 86, 87
A
AC input contactor configure 31 recommended 264
AC input line reactor recommended 264
AC input voltage 45 AC Line Freq (Par. No. 588) 130 AC Line Voltage (Par. No. 466) 130 AC Undervoltage fault 222 Acc Dec Filter (Par. No. 1212) 171 Accel Mask (Par. No. 596) 192 Accel Owner (Par. No. 605) 192 Accel Status (Par. No. 1188) 169 Accel Time 1 (Par. No. 660) 157 Accel Time 2 (Par. No. 24) 156 access
S.M.A.R.T. screen 282 Act Spd Filter (Par. No. 923) 143 Act Spd Reg BW (Par. No. 435) 153 Act Ten Ref Pct (Par. No. 1194) 170 Actual Comp (Par. No. 1213) 171 Actual Speed (Par. No. 924) 127 Actuator Delay (Par. No. 1266) 158 Adaptive I Gain1 (Par. No. 189) 160 Adaptive I Gain2 (Par. No. 191) 160 Adaptive I Gain3 (Par. No. 193) 160 Adaptive Joint 1 (Par. No. 186) 159 Adaptive Joint 2 (Par. No. 187) 160 Adaptive P Gain1 (Par. No. 188) 160 Adaptive P Gain2 (Par. No. 190) 160 Adaptive P Gain3 (Par. No. 192) 160 Adaptive Ref (Par. No. 183) 159 Adaptive Reg Typ (Par. No. 182) 159 Adaptive Spd 1 (Par. No. 184) 159 Adaptive Spd 2 (Par. No. 185) 159 Adaptive Spd En (Par. No. 181) 159 adaptive speed regulator
function 335
Adaptv Regulator group 159 ... 160
adjust current regulator 350
advanced parameter view 121
alarm
Arm Voltage 228 Auxiliary Input 228 BipolarCflct 228 BrakeSlipped 228 CntactrCflct 228 DigInCflcA 228 DigInCflctB 229 DigInCflctC 229 FB Cfg Cflct 229 Fld Current Loss 229 FldCfg Cflct 229 Motor Over Temp 229 Motor Overload 229 Open SCR 230 Ref Cflct 229 Spd Fdbk Err 230 Spd Fdbk Loss 230 Start At PowerUp 230 Torq Prov Cflct 230 visual notification 221 alarm type
non-configurable 220 user configurable 220
Alarms group 185 ... 188
Alpha Test (Par. No. 166) 146
ALT key
functions 282 analog and digital I/O expansion board
catalog number 393 Analog In1 Value (Par. No. 1404) 197
Analog In2 Value (Par. No. 1405) 197
Analog In3 Value (Par. No. 1406) 197
analog input
configure 292 wiring 85 analog inputs
signal comparison 293 wiring 85
Analog Inputs group 195 ... 197
analog output
wiring 85
Analog Outputs group 197 ... 198
analog tachometer
DIP switch 79 ground 34 terminal block 90 Anlg In1 Cmp (Par. No. 1042) 196
Anlg In1 Cmp Dly (Par. No. 1044) 196
Anlg In1 Cmp Eq (Par. No. 1045) 197
Anlg In1 Cmp Err (Par. No. 1043) 196
Anlg In1 Config (Par. No. 71) 195
Anlg In1 Filter (Par. No. 792) 196
Anlg In1 Offset (Par. No. 74) 196
Anlg In1 Scale (Par. No. 72) 195
Anlg In1 Sel (Par. No. 70) 195
Anlg In1 Target (Par. No. 295) 196
Anlg In1 Tune (Par. No. 259) 196
Anlg In2 Config (Par. No. 76) 195
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399
Index
Anlg In2 Filter (Par. No. 801) 196 Anlg In2 Offset (Par. No. 79) 196 Anlg In2 Scale (Par. No. 77) 195 Anlg In2 Sel (Par. No. 75) 195 Anlg In2 Target (Par. No. 296) 196 Anlg In2 Tune (Par. No. 260) 196 Anlg In3 Config (Par. No. 81) 195 Anlg In3 Filter (Par. No. 802) 196 Anlg In3 Offset (Par. No. 84) 196 Anlg In3 Scale (Par. No. 82) 195 Anlg In3 Sel (Par. No. 80) 195 Anlg In3 Target (Par. No. 297) 196 Anlg In3 Tune (Par. No. 261) 196 Anlg Out1 Scale (Par. No. 62) 197 Anlg Out1 Sel (Par. No. 66) 198 Anlg Out2 Scale (Par. No. 63) 197 Anlg Out2 Sel (Par. No. 67) 198 Anlg Out3 Scale (Par. No. 64) 197 Anlg Out3 Sel (Par. No. 68) 198 Anlg Out4 Scale (Par. No. 65) 197 Anlg Out4 Sel (Par. No. 69) 198 Anlg Tach Gain (Par. No. 562) 142 Anlg1 Tune Scale (Par. No. 73) 195 Anlg2 Tune Scale (Par. No. 78) 195 Anlg3 Tune Scale (Par. No. 83) 195
Applications file 161 ... 176
Arm Current (Par. No. 200) 128 Arm Current Pct (Par. No. 199) 128 Arm Inductance (Par. No. 454) 143 Arm Resistance (Par. No. 453) 143 Arm Test Angle (Par. No. 167) 146 Arm Volt Ki (Par. No. 494) 134 Arm Volt Ki Base (Par. No. 496) 135 Arm Volt Kp (Par. No. 493) 134 Arm Volt Kp Base (Par. No. 495) 135 Armature Overvoltage fault 222 armature terminals
wire size 51 Armature Voltage alarm 228 armature voltage feedback
terminal block, frame A 55 terminal block, frame B 55 terminal block, frame C 56 terminal block, frame D 56 terminals 54 wire size 54 At Speed (Par. No. 394) 180 At Speed Delay (Par. No. 105) 150 At Speed Error (Par. No. 104) 150 At Zero Speed (Par. No. 395) 180 auto speed sources 325 Auto/Manual examples 326 Autotune Cur Lim (Par. No. 1048) 145
Autotune group 143 ... 145
Aux Inp Flt Cfg (Par. No. 354) 185 Auxiliary Input alarm 228
Auxiliary Input fault 222
B
Base Omega (Par. No. 1163) 167 basic parameter view 119 Bipolar Conflict alarm 228 bipolar input
warning 82 bipolar signal
analog output 85 bipolar speed reference
analog input 85 block diagrams 361 brake resistor 269 Brake Test Torq (Par. No. 1114) 175 BrakeSlipped alarm 228 Brk Alarm Travel (Par. No. 1109) 174 Brk Release Time (Par. No. 1107) 174 Brk Set Time (Par. No. 1108) 174 Brk Slip Count (Par. No. 1110) 174
C
cable recommendations 44 spacing 44 spacing example 44 spacing notes 45
can't start drive 231 catalog number
115V AC to 24V DC I/O converter board 395 analog and digital I/O expansion board 393 Standalone Regulator 14 standard drive 13 CE Compliance General Considerations 40 CE Conformity 40 change speed source 326 changed parameters view 285 circuit breaker control circuit 43 clear faults 221 Clear Fault Que (Par. No. 263) 184 Close Loop Comp (Par. No. 1208) 170 Closed Loop En (Par. No. 1214) 171 Closing Speed (Par. No. 1262) 158 Comm Control group 191 common mode interference 82 communication logic command word 241 logic status word 242 programmable controller 240 communication adapter install 387 kits 387
400
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Index
Communications file 191 ... 194
compare
analog input signals 293 compensation
droop 302 configure
AC input contactor 31 analog input 292 DC output contactor 31 dynamic brake resistor 31 feedback signal 323 Klixon 64 line speed signal 321 minimum firing angle 320 programmable controller 240 PTC 64 start at powerup 348 tension set point signal 324 thermal switch 64 thermistor 64 Connected Components Workbench 95
Connected Components Workbench
software 115
Constant J Comp (Par. No. 1172) 168
contactor
AC input 264 configure 31 Contactor Conflict alarm 228
ContactorControl (Par. No. 1391) 202
contactors
DC output 269 control block diagrams 361
control circuit
input power 67 Control Config group 155
Copycat 285
corrective actions
for drive problems 231 cross reference
parameter name 207 parameter number 213 Cur Lim Neg Out (Par. No. 11) 128
Cur Lim Pos Out (Par. No. 10) 128
current configuration
field 61 Current Lim Neg (Par. No. 9) 136
Current Lim Pos (Par. No. 8) 136
Current Limit (Par. No. 7) 136
Current Meters group 128 ... 129
Current Rate Lim (Par. No. 12) 136
Current Reg In (Par. No. 41) 128
current regulator
adjust 350 tune settings 350 current/speed curve
function 294 CurrLimit Active (Par. No. 349) 178
CurrReg Autotune (Par. No. 452) 143
D
Dancer Constant (Par. No. 798) 166 data
save 285 Data In A1 (Par. No. 610) 193 Data In A2 (Par. No. 611) 193 Data In B1 (Par. No. 612) 193 Data In B2 (Par. No. 613) 193 Data In C1 (Par. No. 614) 193 Data In C2 (Par. No. 615) 193 Data In D1 (Par. No. 616) 193 Data In D2 (Par. No. 617) 193 Data In SelData (Par. No. 1320) 193 Data In Val Sel (Par. No. 1319) 193 data nameplate 12 Data Out A1 (Par. No. 618) 193 Data Out A2 (Par. No. 619) 193 Data Out B1 (Par. No. 621) 193 Data Out B2 (Par. No. 621) 193 Data Out C1 (Par. No. 622 193 Data Out C2 (Par. No. 623) 193 Data Out D1 (Par. No. 624) 193 Data Out D2 (Par. No. 625) 193 DataLinks group 193 DC contactor crimp lugs
kits 271 DC output contactor 269
configure 31 recommended 269 DC output voltage 46 Decel Mask (Par. No. 631) 193 Decel Owner (Par. No. 609) 192 Decel Status (Par. No. 1189) 169 Decel Time 1 (Par. No. 662) 157 Decel Time 2 (Par. No. 32) 156 defaults reset 285 definitions digital input option selections 200 digital output option selections 204 relay output option selections 204 diagnostic data viewing 284
Diagnostics group 178 ... 184
diagrams control block 361 power wiring 46
Diam Calc Dis (Par. No. 1161) 166 Diam Inc Dec En (Par. No. 1205) 168 Diam Init Filter (Par. No. 1206) 168 Diam Preset 0 (Par. No. 1164) 167 Diam Preset 1 (Par. No. 1165) 167 Diam Preset 2 (Par. No. 1166) 167 Diam Preset 3 (Par. No. 1167) 167 Diam Preset Sel (Par. No. 1168) 167 Diam Stdy Delay (Par. No. 1207) 168 Diam Threshold (Par. No. 1158) 166
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
401
Index
Diameter Calc (Par. No. 794) 165
Diameter Calc group 166 ... 168
Diameter Calc St (Par. No. 800) 166 Diameter Filter (Par. No. 1162) 167 Diameter Reached (Par. No. 1159) 166 Diameter Reset (Par. No. 1157) 166 Dig In Status (Par. No. 564) 202 Dig In Term 1 (Par. No. 565) 202 Dig In Term 10 (Par. No. 574) 202 Dig In Term 11 (Par. No. 575) 202 Dig In Term 12 (Par. No. 576) 202 Dig In Term 2 (Par. No. 566) 202 Dig In Term 3 (Par. No. 567) 202 Dig In Term 4 (Par. No. 568) 202 Dig In Term 5 (Par. No. 569) 202 Dig In Term 6 (Par. No. 570) 202 Dig In Term 7 (Par. No. 571) 202 Dig In Term 8 (Par. No. 572) 202 Dig In Term 9 (Par. No. 573) 202 Dig Out Status (Par. No. 581) 205 Digital In1 Sel (Par. No. 133) 199 Digital In10 Sel (Par. No. 142) 199 Digital In11 Sel (Par. No. 143) 199 Digital In12 Sel (Par. No. 144) 199 Digital In2 Sel (Par. No. 134) 199 Digital In3 Sel (Par. No. 135) 199 Digital In4 Sel (Par. No. 136) 199 Digital In5 Sel (Par. No. 137) 199 Digital In6 Sel (Par. No. 138) 199 Digital In7 Sel (Par. No. 139) 199 Digital In8 Sel (Par. No. 140) 199 Digital In9 Sel (Par. No. 141) 199 Digital Input Conflict A alarm 228 Digital Input Conflict B alarm 229 Digital Input Conflict C alarm 229
Digital Inputs group 199 ... 202
Digital Out1 Sel (Par. No. 145) 203 Digital Out2 Sel (Par. No. 146) 203 Digital Out3 Sel (Par. No. 147) 203 Digital Out4 Sel (Par. No. 148) 203 Digital Out5 Sel (Par. No. 149) 203 Digital Out6 Sel (Par. No. 150) 203 Digital Out7 Sel (Par. No. 151) 203 Digital Out8 Sel (Par. No. 152) 203 digital outputs
option definitions 204
Digital Outputs group 203 ... 206
dimensions frame A 20 frame B 21 frame C 22
frame D 23, 24
DIP switch
S0 77, 78 S1 77, 78 S10 77, 78 S11 77, 78 S12 77, 78 S14 61, 77, 78 S15 77, 78, 79 S18 77, 78 S2 77, 78 S20 77, 78 S21 77, 78 S3 77, 78 S4 77, 78, 79 S9 77, 78
Direction Mask (Par. No. 594) 192
Direction Mode (Par. No. 1322) 177
Direction Owner (Par. No. 603) 192
Discrete Speeds group 148 ... 149
DncrPosSpd (Par. No. 795) 165
DPI Baud Rate (Par. No. 589) 191
DPI Fdbk Select (Par. No. 1321) 191
DPI Inputs group 206
DPI P1 Select (Par. No. 1323) 206
DPI P2 Select (Par. No. 1324) 206
DPI P3 Select (Par. No. 1325) 206
DPI P4 Select (Par. No. 1326) 206
DPI P5 Select (Par. No. 1327) 206
DPI Port Sel (Par. No. 590) 191
DPI Port Value (Par. No. 1343) 191
drive
clearance 19 data nameplate 12 enclosure 19 firmware version 12 frame size 12 mount 19
mounting 19, 20
power wiring 45 problems 231 series number 12 start-up 93 status 220 storage 11 temperature 19 weights 20 Drive Alarm 1 (Par. No. 1380) 187
Drive Alarm 2 (Par. No. 1394) 188
Drive Checksum (Par. No. 332) 130
Drive Data group 129 ... 130
Drive Logic Rslt (Par. No. 1328) 182
Drive Memory group 177
Drive Overload fault 222
drive problems
drive starts, motor does not turn 232 drive will not start 231 motor does not reach commanded speed
232 motor reaches maximum speed
immediately 233 motor turning wrong direction 232
402
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Index
Drive Size (Par. No. 465) 130 drive starts, motor does not turn 232 Drive Status 1 (Par. No. 381) 179 Drive Status 2 (Par. No. 382) 180 Drive Type (Par. No. 300) 129 Drive Type Sel (Par. No. 201) 131 drive will not start 231 DriveTools SP 95 DriveTools SP software 115 droop compensation 302 Droop Filter (Par. No. 697) 157 Droop Limit (Par. No. 700) 158 Droop Out (Par. No. 1006) 127 Droop Out Pct (Par. No. 1007) 127 Droop Percent (Par. No. 696) 157 Drv Fld Brdg Cur (Par. No. 374) 132 Dsp Error fault 222 dynamic brake resistor
configure 31 recommended 269 using 32
Dynamic Control file 155 ... 160
Dynamic Friction (Par. No. 1175) 168
E
edit parameters 286
EEPROM Error fault 222 Elapsed Lifetime (Par. No. 235) 129 electrostatic discharge
precaution 18 EMC Directive
Installation Requirements 41 EMC Filters
Alternates 273 Alternates, EPCOS 278 Alternates, Rasmi 273 Alternates, Schaffner 275 EN 61800-3 Installation Requirements 41 Enable Droop (Par. No. 699) 158 enable input wiring 86 Enable PD (Par. No. 770) 163 Enable PI (Par. No. 769) 161 Enable PI PD (Par. No. 1258) 165 enclosure rating 19 encoder ground 34 terminal block 88 wiring 89 Encoder Config (Par. No. 170) 138 Encoder Counts (Par. No. 1022) 143 Encoder Err Chk (Par. No. 652) 142 Encoder Error fault 222 Encoder Out Sel (Par. No. 1021) 143
Encoder PPR (Par. No. 169) 138 Encoder Speed (Par. No. 420) 127 Ext FC Curr Hyst (Par. No. 410) 133
F
factory defaults reset 285
Fast Stop Status (Par. No. 1190) 169 Fast Stop Time (Par. No. 38) 158 Fault 1 Code (Par. No. 1351) 184 Fault 1 Time (Par. No. 1361) 185 Fault 10 Code (Par. No. 1360) 184 Fault 10 Time (Par. No. 1370) 185 Fault 2 Code (Par. No. 1352) 184 Fault 2 Time (Par. No. 1362) 185 Fault 3 Code (Par. No. 1353) 184 Fault 3 Time (Par. No. 1363) 185 Fault 4 Code (Par. No. 1354) 184 Fault 4 Time (Par. No. 1364) 185 Fault 5 Code (Par. No. 1355) 184 Fault 5 Time (Par. No. 1365) 185 Fault 6 Code (Par. No. 1356) 184 Fault 6 Time (Par. No. 1366) 185 Fault 7 Code (Par. No. 1357) 184 Fault 7 Time (Par. No. 1367) 185 Fault 8 Code (Par. No. 1358) 184 Fault 8 Time (Par. No. 1368) 185 Fault 9 Code (Par. No. 1359) 184 Fault 9 Time (Par. No. 1369) 185 Fault Arm Amps (Par. No. 1371) 185 Fault Clear (Par. No. 1347) 184 Fault Clr Mask (Par. No. 597) 192 Fault Clr Mode (Par. No. 1348) 184 Fault Clr Owner (Par. No. 606) 192 Fault Field Amps (Par. No. 1373) 185 fault queue 284 Fault Speed (Par. No. 1372) 185 fault type
non-configurable 219 user configurable 219 Fault Voltage (Par. No. 1374) 185 FaultCode (Par. No. 57) 129
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
403
Index
faults
AC Undervoltage 222 Arm Overvoltage 222 Auxiliary Input 222 clear 221 Drive Overload 222 Dsp Error 222 EEPROM Error 222 Encoder Error 222 Fld Current Loss 222 Fwd End Limit 222 Fwd Over Travel 222 Hardware Fault 222 Heatsink OvrTemp 223 Interrupt Error 223 Inverting Fault 223 Main Contactor 223 Motor Over Temp 223 Motor Overload 223 No Fault 223 Open SCR 223 Overcurrent 224 Overspeed 224 Params Defaulted 224 Port 1 Adapter 224 Port 1 DPI Loss 224 Port 2 Adapter 224 Port 2 DPI Loss 224 Port 3 Adapter 224 Port 3 DPI Loss 224 Port 4 Adapter 224 Port 4 DPI Loss 224 Port 5 Adapter 224 Port 5 DPI Loss 224 Power Failure 224 Resolver Error 224 Rev End Limit 224 Rev Over Travel 224 Shorted SCR 224 Spd Fdbk Loss 225 SSC Error 225 STune Aborted 225 STune CurLimit 225 STune FrictionLo 225 STune LoadHi 225 STune Overspeed 225 STune Stalled 225 STune Timeout 225 Sustained Curr 225 visual notification 221
Faults group 184 ... 185
Fdbk Device Type (Par. No. 414) 138
Fdbk Option ID (Par. No. 422) 138
Feed Fwd PID (Par. No. 758) 163
Feedback Configuration Conflict alarm 229
Feedback Offset (Par. No. 563) 142
feedback signal
configure 323
field current configuration 61 DC output voltage 46 input terminals 57 output terminals 57 terminal block, frame A 58 terminal block, frame B 59
terminal block, frame C 59, 60
terminal block, frame D 60 wire size 57
Field Config group 133 ... 136
Field Configuration Conflict alarm 229 field converter
tune voltage regulator 356 Field Current (Par. No. 351) 129 field current curve
tune 358 Field Current Loss alarm 229 Field Current Loss fault 222 field current regulator
tune 352 Field Curve Out (Par. No. 476) 129 Field Econ Delay (Par. No. 1407) 136 Field Economy En (Par. No. 499) 135 Field Mode Sel (Par. No. 469) 134 Field Reg Enable (Par. No. 497) 135 File-Group-Parameter list 285 Filt TorqCur Pct (Par. No. 928) 129 Final Diameter (Par. No. 1178) 169 fine tune
regulators 349 Firing Angle (Par. No. 165) 129 firmware version 12 Fld Const 40 Pct (Par. No. 916) 135 Fld Const 70 Pct (Par. No. 917) 135 Fld Const 90 Pct (Par. No. 918) 135 Fld Current Pct (Par. No. 234) 129 Fld Reg Ki (Par. No. 92) 133 Fld Reg Ki Base (Par. No. 98) 133 Fld Reg Kp (Par. No. 91) 133 Fld Reg Kp Base (Par. No. 97) 133 Fld Test Angle (Par. No. 168) 146 Fld Weaken Ratio (Par. No. 456) 133 FldLoss Flt Cfg (Par. No. 473) 186 FldLoss Flt Dly (Par. No. 475) 186 Float Tolerance (Par. No. 1111) 174 Flux Divide (Par. No. 462) 133 Flux Filter BW (Par. No. 463) 133 Flux Ref Pct (Par. No. 500) 129 Flying Start En (Par. No. 388) 152 Force Min Field (Par. No. 498) 135 frame A
armature converter terminals 51 dimensions 20 PE ground terminal 51 weights 20
404
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Index
frame B
armature converter terminals 52 dimensions 21 PE ground terminal 52 weights 21 frame C
armature converter terminals 52 dimensions 22 PE ground terminal 52 weights 22 frame D
armature converter terminals 53
dimensions 23, 24
PE ground terminal 53 terminal adapter kits 279 weights 25 frame size 12
Freeze Ramp (Par. No. 373) 156
Friction (Par. No. 1015) 144
functions
adaptive speed regulator 335 ALT key 282 current/speed curve 294 droop 302 PID 324 speed draw 341 speed regulation 335 speed threshold indicators 339 speed up 338 speed zero 340 fuses
control power circuit 43 frame A 243 frame B 243 frame C 251 frame D 251
input power circuit 43, 243
overvoltage clipping circuit board, frame D 263
pulse transformer circuit board, frame B 261 switching power supply circuit board 259 transient noise filter circuit board, frame C
262 Fwd End Limit fault 222
Fwd Over Travel fault 222
G
Gear Box Ratio (Par. No. 797) 165
ground
encoder 34 PE 34 power feeder 34 requirements 33 safety 34 tachometer 34 typical scheme 33
H
Hardware Fault 222
Heatsink Over Temperature fault 223
HIM
ALT key 282 connection 281 display 282 DPI Port 1 281 DPI Port 2 281 DPI Port 3 281 DPI Port 5 281 edit parameters 286 indicators 221 install 287 menu structure 284 menus 284 remove 287 status indicator 220 view parameters 286 HIM menus
Device Select 285 Diagnostics 284 Memory Storage 285 Parameter 285 Preferences 285
I
I Reg Error (Par. No. 587) 143
I/O converter circuit board
catalog number 395 install 395 terminal block 396 wire size 396 wiring diagrams 397 I/O expansion circuit board
catalog number 393 install 393 terminal block 394 wire 393 wire size 393 wiring diagram 394 Inertia (Par. No. 1014) 144
Inertia C Filter (Par. No. 1012) 143
Inertia Comp Out (Par. No. 232) 129
InertiaCompCnst (Par. No. 1191) 170
InertiaCompVar (Par. No. 1192) 170
Init Diam Calc group 165 ... 166
Initial Diameter (Par. No. 1177) 169
input
contactor 264 line reactor 264 potentiometer 85 voltage 45 input current
control circuit 43 input power
circuit protection 243 control circuit 67 fuses 251 input voltage
AC 45
Input/Output file 195 ... 206
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
405
Index
install communication adapter 387 HIM 287 I/O converter circuit board 395 I/O expansion circuit board 393
Int Acc Calc En (Par. No. 1183) 169 interference
common mode 82 Interrupt Error fault 223 Inversion In 1 (Par. No. 1276) 202 Inversion In 10 (Par. No. 1388) 202 Inversion In 11 (Par. No. 1389) 202 Inversion In 12 (Par. No. 1390) 202 Inversion In 2 (Par. No. 1277) 202 Inversion In 3 (Par. No. 1278) 202 Inversion In 4 (Par. No. 1279) 202 Inversion In 5 (Par. No. 1280) 202 Inversion In 6 (Par. No. 1281) 202 Inversion In 7 (Par. No. 1282) 202 Inversion In 8 (Par. No. 1283) 202 Inversion In 9 (Par. No. 1387) 202 Inversion Out 1 (Par. No. 1267) 205 Inversion Out 2 (Par. No. 1268) 205 Inversion Out 3 (Par. No. 1269) 205 Inversion Out 4 (Par. No. 1270) 205 Inversion Out 5 (Par. No. 1271) 205 Inversion Out 6 (Par. No. 1272) 205 Inversion Out 7 (Par. No. 1273) 205 Inversion Out 8 (Par. No. 1274) 205 Inversion Relay1 (Par. No. 1393) 206 Inversion Relay2 (Par. No. 1275) 205 Inverting Fault 223 isolation transformer
configuration 30 recommended 267 using 30
J
Jog Mask (Par. No. 593) 192 Jog Off Delay (Par. No. 1409) 149 Jog Owner (Par. No. 602) 192 Jog Ramp Time (Par. No. 1410) 157 Jog Speed (Par. No. 266) 148 Jog TW Enable (Par. No. 1256) 171 Jog TW Speed (Par. No. 1255) 171 joystick
wiring 85 jumper
SA-SB 67
K
kits communication adapter 387
Klixon configure 64
L
Language (Par. No. 302) 177 Last Stop Source (Par. No. 1402) 183 LED status
green, flashing 220 green, steady 220 red, flashing 220 red, steady 220 yellow, flashing 220 yellow, steady 220 LEDs 220 MOD 221 NET A 221 NET B 221 PORT 221 STS 220 lift drives 26 Limits group 148 Line Accel Pct (Par. No. 1184) 169 Line Decel Pct (Par. No. 1185) 169 Line FastStp Pct (Par. No. 1186) 169 line reactor configuration 30 recommended 264 using 30 Line Spd Gain (Par. No. 1156) 166 Line Spd Source (Par. No. 1204) 168 Line Spd Thresh (Par. No. 1155) 166 Line Speed Pct (Par. No. 1160) 166 line speed signal PID 321 link parameters 331 Load Comp (Par. No. 698) 157
Load Limits group 157 ... 158
Local Mask (Par. No. 599) 192 Local Owner (Par. No. 608) 192 Lock Speed Integ (Par. No. 348) 152 logic command word 241
Logic Mask (Par. No. 591) 191, 193
Logic Mask Act (Par. No. 1376) 193 logic status word 242 Low Voltage Directive
Installation Requirements 41 Low Voltage Directive and Electromagnetic
Compatibility Directive 40
M
Main Contactor fault 223 Man Ref Preload (Par. No. 210) 177 manual speed sources 325
Masks & Owners group 191 ... 193
Materl Width Pct (Par. No. 1173) 168 Max Deviation (Par. No. 796) 165 Max Diameter (Par. No. 1153) 166 Max Feedback Spd (Par. No. 162) 131
406
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Index
Max Fld Curr Pct (Par. No. 467) 134 Max Ref Speed (Par. No. 45) 131 Max Speed Fwd (Par. No. 3) 148 Max Speed Rev (Par. No. 4) 148 Maximum Speed (Par. No. 2) 148 menu
HIM 284 MicroPsnScalePct (Par. No. 1112) 174 Min Firing Angle (Par. No. 21) 131 Min Fld Curr Pct (Par. No. 468) 134 Min Speed Fwd (Par. No. 5) 148 Min Speed Rev (Par. No. 6) 148 Minimum Diameter (Par. No. 799) 166 minimum firing angle
configure 320 Minimum Speed (Par. No. 1) 148 MOD LED 221
Monitor file 126 ... 130
MOP Accel Time (Par. No. 22) 156 MOP Dec Active (Par. No. 397) 181 MOP Decel Time (Par. No. 30) 156 MOP Inc Active (Par. No. 396) 180 MOP Mask (Par. No. 598) 192 MOP Owner (Par. No. 607) 192 MOP Ref Config (Par. No. 249) 177 MOP Select (Par. No. 1375) 177
Motor Control file 131 ... 147 Motor Data group 131 ... 133
motor not reaching commanded speed 232 motor not turning 232 Motor Over Temperature alarm 229 Motor Over Temperature fault 223 Motor Overload alarm 229 Motor Overload fault 223 motor reaches maximum speed
immediately 233 Motor Trq Ref (Par. No. 17) 128 motor turning wrong direction 232 mount
drive 19 lift 26 mounting dimensions 20 weights 20 MtrOvrld Factor (Par. No. 333) 132 MtrOvrld Flt Cfg (Par. No. 479) 186 MtrOvrld Speed (Par. No. 334) 132 MtrOvrld Status (Par. No. 1290) 181 MtrOvrld Type (Par. No. 376) 132
N
NET A LED 221 NET B LED 221 Nom Mtr Arm Amps (Par. No. 179) 131 Nom Mtr Fld Amps (Par. No. 280) 132
numbered parameter list 285
O
Offs Accel Time (Par. No. 1198) 170 Open SCR alarm 230 Open SCR fault 223 Opening Delay (Par. No. 1263) 158 OpenSCR Flt Cfg (Par. No. 216) 147 OpenSCR Threshld (Par. No. 217) 147 OpenSCR Trip Lvl (Par. No. 218) 147 OpenSCR WarnLvl (Par. No. 215) 147 Out Volt Level (Par. No. 921) 136 Output Power (Par. No. 1052) 130 Output Voltage (Par. No. 233) 129 Overcurrent fault 224 OverCurrent Thr (Par. No. 584) 187 Overspeed fault 224 Overspeed Val (Par. No. 585) 187 OverTemp Flt Cfg (Par. No. 365) 185 OverVolt Flt Cfg (Par. No. 203) 185 overvoltage clipping circuit board, frame D
fuses 263
P
Param Access Lvl (Par. No. 211) 177 parameter access level
change 285 parameter files
Applications 161 ... 176 Communications 191 ... 194 Dynamic Control 155 ... 160 Input/Output 195 ... 206 Monitor 126 ... 130 Motor Control 131 ... 147 Speed Command 148 ... 154 Utility 177 ... 191
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
407
Index
parameter groups
Adaptv Regulator 159 ... 160 Alarms 185 ... 188 Analog Inputs 195 ... 197 Analog Outputs 197 ... 198 Autotune 143 ... 145
Comm Control 191 Control Config 155
Current Meters 128 ... 129
DataLinks 193
Diagnostics 178 ... 184 Diameter Calc 166 ... 168 Digital Inputs 199 ... 202 Digital Outputs 203 ... 206 Discrete Speeds 148 ... 149
DPI Inputs 206
Drive Data 129 ... 130
Drive Memory 177
Faults 184 ... 185 Field Config 133 ... 136 Init Diam Calc 165 ... 166
Limits 148
Load Limits 157 ... 158 Masks & Owners 191 ... 193 Motor Data 131 ... 133 PD Control 162 ... 163 PI Control 161 ... 162 PID Control 163 ... 165 Ramp Rates 155 ... 157
Reference Config 177 Restart Modes 159
Scale Blocks 175 ... 176 Security 193 ... 194 Speed Feedback 138 ... 143 Speed Meters 126 ... 128
Speed References 149
Speed Regulator 149 ... 154
Stop Modes 158
Test Generator 145 ... 147 Torq Attributes 136 ... 138 Torque Prove 173 ... 175 User Defined 188 ... 191 Winder Functions 168 ... 172
parameter views
advanced 121 basic 119 parameters
edit 286 organization 118 view 286
PD Control group 162 ... 163
PD Deriv Filter (Par. No. 767) 162
PD Deriv Gain 1 (Par. No. 766) 162
PD Deriv Gain 2 (Par. No. 789) 163
PD Deriv Gain 3 (Par. No. 791) 163
PD Output PID (Par. No. 421) 162
PD Prop Gain 1 (Par. No. 768) 163
PD Prop Gain 2 (Par. No. 788) 163
PD Prop Gain 3 (Par. No. 790) 163
PE ground
wire size 51 peripheral devices
view 285
PI Central v sel (Par. No. 779) 162 PI Central v1 (Par. No. 776) 161 PI Central v2 (Par. No. 777) 161 PI Central v3 (Par. No. 778) 161 PI Central vs0 (Par. No. 780) 162 PI Central vs1 (Par. No. 781) 162
PI Control group 161 ... 162
PI Init Intgl Gn (Par. No. 734) 161 PI Init Prop Gn (Par. No. 793) 162 PI integr freeze (Par. No. 783) 162 PI Integral Gain (Par. No. 764) 161 PI Lower Limit (Par. No. 785) 162 PI Output (Par. No. 771) 161 PI Prop Gain PID (Par. No. 765) 161 PI Steady Thrsh (Par. No. 695) 161 PI Upper Limit (Par. No. 784) 162 PID
feedback signal 323
function 321, 323, 324
line speed signal 321 PID Accel Time (Par. No. 1046) 165 PID Clamp (Par. No. 757) 163
PID Control group 163 ... 165
PID Decel Time (Par. No. 1047) 165 PID Error (Par. No. 759) 163 PID Error Gain (Par. No. 1254) 165 PID Feedback (Par. No. 763) 164 PID Output (Par. No. 774) 164 PID Output Scale (Par. No. 773) 164 PID Output Sign (Par. No. 772) 164 PID Setpoint 0 (Par. No. 760) 163 PID Setpoint 1 (Par. No. 761) 163 PID Setpoint Sel (Par. No. 762) 163 PID Source (Par. No. 786) 165 PID Source Gain (Par. No. 787) 165 PID Steady Delay (Par. No. 731) 161 PID Target (Par. No. 782) 164 Pollution Degree Ratings 43 Port 1 Adapter fault 224 Port 1 DPI Loss fault 224 Port 2 Adapter fault 224 Port 2 DPI Loss fault 224 Port 3 Adapter fault 224 Port 3 DPI Loss fault 224 Port 4 Adapter fault 224 Port 4 DPI Loss fault 224 Port 5 Adapter fault 224 Port 5 DPI Loss fault 224 PORT LED 221 Port Mask Act (Par. No. 1379) 194 potentiometer
wiring 85 power circuit
fuses 43 protection 43 Power Failure fault 224
408
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
Index
power feeder ground 34
power terminals armature converter 51
power wiring 45 AC input contactor 47 armature output terminals 51 armature voltage feedback terminals 54 contact terminals 64 DC output contactor 48 diagrams 46 dynamic brake 49 field input terminals 57 field output terminals 57 motor thermistor terminals 64 normally open contact terminals 64 PE (earth ground) terminal 51
Powerup Delay (Par. No. 1345) 159 preferences
HIM 285 Preset Speed 1 (Par. No. 154) 148 Preset Speed 2 (Par. No. 155) 148 Preset Speed 3 (Par. No. 156) 148 Preset Speed 4 (Par. No. 157) 148 Preset Speed 5 (Par. No. 158) 148 Preset Speed 6 (Par. No. 159) 148 Preset Speed 7 (Par. No. 160) 148 programmable controller
communication 240 configure 240 PTC configure 64 pulse transformer circuit board, frame B fuses 261
R
Ramp Delay (Par. No. 20) 156 Ramp In (Par. No. 110) 126 Ramp In Pct (Par. No. 111) 126 Ramp In Zero En (Par. No. 1265) 158 Ramp Out (Par. No. 113) 126 Ramp Out Pct (Par. No. 114) 126
Ramp Rates group 155 ... 157
Ramp Select 0 (Par. No. 403) 181 Ramp Select 1 (Par. No. 404) 181 Ramp Type Select (Par. No. 18) 155 Rated Motor Volt (Par. No. 175) 131 Real FF PID (Par. No. 418) 163 Ref Line Spd (Par. No. 1286) 172 Ref Spd Source (Par. No. 1284) 172 Ref Speed Gain (Par. No. 1285) 172 Ref Zero Level (Par. No. 106) 150 Reference Config group 177 Reference Conflict alarm 229 Reference Mask (Par. No. 595) 192 Reference Owner (Par. No. 604) 192 regulators
fine tune 349
Relay Out 1 Sel (Par. No. 1392) 206 Relay Out 2 Sel (Par. No. 629) 205 relay outputs
option definitions 204 terminals 64 remove HIM 287 Reset Defaults (Par. No. 258) 177 Reset Fld Curve (Par. No. 920) 136 Reset to Defaults 285 Reslvr Cable Bal (Par. No. 431) 141 Reslvr Error Cnt (Par. No. 432) 181 Reslvr Position (Par. No. 427) 141 Reslvr Spd Ratio (Par. No. 424) 139 Reslvr Type Sel (Par. No. 423) 139 Resolver Config (Par. No. 425) 140 Resolver Error fault 224 Resolver Pos Sel (Par. No. 429) 141 Resolver Spd Sel (Par. No. 430) 141 Resolver Speed (Par. No. 428) 127 Resolver Status (Par. No. 426) 141 Restart Modes group 159 Rev End Limit fault 224 Rev Over Travel fault 224 Roll Diameter (Par. No. 1154) 166
S
S Curve Accel 1 (Par. No. 665) 157 S Curve Accel 2 (Par. No. 667) 157 S Curve Decel 1 (Par. No. 666) 157 S Curve Decel 2 (Par. No. 668) 157 S Curve Time (Par. No. 19) 155 S.M.A.R.T. list screen
access 282 use 283 safety ground 34 SAR Volts Scale (Par. No. 464) 133 SA-SB jumper 67 save data 285 Save HIM Ref (Par. No. 209) 177 scale blocks link parameters 331
Scale Blocks group 175 ... 176
Scale1 Div (Par. No. 487) 175 Scale1 In Abs (Par. No. 492) 176 Scale1 In Max (Par. No. 488) 175 Scale1 In Min (Par. No. 489) 175 Scale1 In Off (Par. No. 490) 176 Scale1 Input (Par. No. 484) 175 Scale1 Mul (Par. No. 486) 175 Scale1 Out Off (Par. No. 491) 176 Scale1 Output (Par. No. 485) 175 Scale2 Div (Par. No. 556) 175 Scale2 In Abs (Par. No. 561) 176
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
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Index
Scale2 In Max (Par. No. 557) 175 Scale2 In Min (Par. No. 558) 175 Scale2 In Off (Par. No. 559) 176 Scale2 Input (Par. No. 553) 175 Scale2 Mul (Par. No. 555) 175 Scale2 Out Off (Par. No. 560) 176 Scale2 Output (Par. No. 554) 175 Scale3 Div (Par. No. 1221) 175 Scale3 In Abs (Par. No. 1226) 176 Scale3 In Max (Par. No. 1222) 175 Scale3 In Min (Par. No. 1223) 175 Scale3 In Off (Par. No. 1224) 176 Scale3 Input (Par. No. 1218) 175 Scale3 Mul (Par. No. 1220) 175 Scale3 Out Off (Par. No. 1225) 176 Scale3 Output (Par. No. 1219) 175 Scale4 Div (Par. No. 1230) 175 Scale4 In Abs (Par. No. 1235) 176 Scale4 In Max (Par. No. 1231) 175 Scale4 In Min (Par. No. 1232) 175 Scale4 In Off (Par. No. 1233) 176 Scale4 Input (Par. No. 1227) 175 Scale4 Mul (Par. No. 1229) 175 Scale4 Out Off (Par. No. 1234) 176 Scale4 Output (Par. No. 1228) 175 Scale5 Div (Par. No. 1239) 175 Scale5 In Abs (Par. No. 1244) 176 Scale5 In Max (Par. No. 1240) 175 Scale5 In Min (Par. No. 1241) 175 Scale5 In Off (Par. No. 1242) 176 Scale5 Input (Par. No. 1236) 175 Scale5 Mul (Par. No. 1238) 175 Scale5 Out Off (Par. No. 1243) 176 Scale5 Output (Par. No. 1237) 175 Scale6 Div (Par. No. 1248) 175 Scale6 In Abs (Par. No. 1253) 176 Scale6 In Max (Par. No. 1249) 175 Scale6 In Min (Par. No. 1250) 175 Scale6 In Off (Par. No. 1251) 176 Scale6 Input (Par. No. 1245) 175 Scale6 Mul (Par. No. 1247) 175 Scale6 Out Off (Par. No. 1252) 176 Scale6 Output (Par. No. 1246) 175 SCR Diag Status (Par. No. 214) 147 SCR Diag Test En (Par. No. 213) 146 Secondary, Ungrounded 35
Security group 193 ... 194
Selected TorqRef (Par. No. 14) 128 series number 12 set
DIP switch S14 61 DIP switch S15 79 DIP switch S4 79 Set Fld Curve (Par. No. 919) 135 set preferences HIM 285
Shorted SCR fault 224 SLAT Dwell Time (Par. No. 16) 155 SLAT Err Stpt (Par. No. 15) 155 Software Version (Par. No. 331) 130 sourcing digital output
wiring 87 Spd 0 Trip Delay (Par. No. 627) 158 Spd Band Intgrtr (Par. No. 1106) 174 Spd Draw Out Pct (Par. No. 1019) 128 Spd FB Filt BW (Par. No. 915) 143 Spd FB Filt Gain (Par. No. 914) 143 Spd FB Loss Lvl (Par. No. 455) 141 Spd Fdbk Control (Par. No. 457) 142 Spd Fdbk Invert (Par. No. 461) 142 Spd Fdbk Loss fault 225 Spd Fdbk State (Par. No. 651) 181 Spd Limit Active (Par. No. 372) 178 Spd Loss Flt Cfg (Par. No. 478) 186 Spd Match Acc (Par. No. 1196) 170 Spd Match Compl (Par. No. 1203) 170 Spd Match Dec (Par. No. 1197) 170 Spd Match Gain (Par. No. 1200) 170 Spd Match Torque (Par. No. 1216) 171 Spd Ref Sel Sts (Par. No. 1330) 183 Spd Ref Zero En (Par. No. 124) 151 Spd Reg Autotune (Par. No. 1027) 144 Spd Reg BW (Par. No. 434) 152 Spd Reg Damping (Par. No. 436) 153 Spd Reg Ki (Par. No. 88) 149 Spd Reg Ki Base (Par. No. 94) 143 Spd Reg Ki Outpt (Par. No. 100) 150 Spd Reg Kp (Par. No. 87) 149 Spd Reg Kp Base (Par. No. 93) 143 Spd Reg Kp Outpt (Par. No. 99) 149 Spd Reg Neg Lim (Par. No. 96) 149 Spd Reg Out Pct (Par. No. 236) 129 Spd Reg P Filter (Par. No. 444) 153 Spd Reg Pos Lim (Par. No. 95) 149 Spd Select 0 (Par. No. 400) 181 Spd Select 1 (Par. No. 401) 181 Spd Select 2 (Par. No. 402) 181 Spd Trq Mode Sel (Par. No. 241) 155 Spd Tune Inertia (Par. No. 1030) 144 Spd Up Gain Pct (Par. No. 445) 153 Spd Zero I En (Par. No. 123) 151 Spd Zero P En (Par. No. 125) 151 Spd Zero P Gain (Par. No. 126) 152 SpdFuncSelect (Par. No. 1016) 154 SpdOut FiltBW (Par. No. 239) 152 SpdOut FiltGain (Par. No. 238) 152 SpdReg AntiBckup (Par. No. 643) 154 SpdReg BW Bypass (Par. No. 448) 153 SpdReg FB Bypass (Par. No. 458) 142 SpdReg Ki Bypass (Par. No. 460) 154 SpdReg Ki Pct (Par. No. 1035) 144
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Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
SpdReg Kp Bypass (Par. No. 459) 153 SpdReg Kp Pct (Par. No. 1034) 144 SpdReg NegLmOut (Par. No. 90) 128 SpdReg PosLmOut (Par. No. 89) 128 SpdTune Friction (Par. No. 1031) 144 specifications
DC contactor crimp lug kits 271
Speed Command file 148 ... 154
Speed Demand En (Par. No. 1215) 171 Speed Dev Band (Par. No. 1105) 174 speed draw
function 341 Speed Draw Out (Par. No. 1018) 128 Speed Feedback (Par. No. 122) 127 Speed Feedback Error alarm 230
Speed Feedback group 138 ... 143
Speed Feedback Loss alarm 230 Speed Feedback Pct (Par. No. 121) 127 Speed Match (Par. No. 1195) 170
Speed Meters group 126 ... 128
speed pot 85 Speed Ramp En (Par. No. 245) 156 Speed Ratio (Par. No. 1017) 149 Speed Ref A (Par. No. 44) 126 Speed Ref A Pct (Par. No. 47) 126 Speed Ref B (Par. No. 48) 126 Speed Ref B Pct (Par. No. 49) 126 Speed Ref Out (Par. No. 385) 127 Speed Ref Out Pct (Par. No. 384) 127 Speed Ref Source (Par. No. 1329) 182 speed reference sources
auto 325 manual 325 Speed References group 149 Speed Reg En (Par. No. 242) 152 Speed Reg In (Par. No. 118) 127 Speed Reg In Pct (Par. No. 117) 126 speed regulation
function 335, 338, 339, 340, 341
speed regulator tune 354
Speed Regulator group 149 ... 154
speed source change 326
Speed Thresh Neg (Par. No. 102) 150 Speed Thresh Pos (Par. No. 101) 150 Speed Threshold (Par. No. 393) 180 speed threshold indicators
function 339 Speed Tune Aborted fault 225 Speed Tune Current Limit fault 225 Speed Tune Dir (Par. No. 1029) 144 Speed Tune Friction Low fault 225 Speed Tune Ki (Par. No. 1033) 144 Speed Tune Kp (Par. No. 1032) 144 Speed Tune Load High fault 225
Index
speed up function 338
Speed Up Base (Par. No. 446) 153 Speed Up Filter (Par. No. 447) 153 speed zero
function 340 Speed Zero Delay (Par. No. 108) 151 Speed Zero Level (Par. No. 107) 151 SSC Error fault 225 SSC Threshold (Par. No. 409) 186 Standalone Regulator
catalog number 14 standard drive
catalog number 13 standard I/O
terminal blocks 83 wire size 83 wiring examples 85 Start At Power Up alarm 230 start at powerup configure 348 Start At Powerup (Par. No. 1344) 159 Start Inhibits (Par. No. 1403) 184 Start Mask (Par. No. 592) 191 Start Owner (Par. No. 601) 192 start up drive 93 Static F Zero (Par. No. 1287) 172 Static Friction (Par. No. 1174) 168 status indicator HIM 220 status indicators 220 Status1 at Fault (Par. No. 1349) 184 Status2 at Fault (Par. No. 1350) 184 Stop Modes group 158 Stop Owner (Par. No. 600) 192 storage (drive) altitude 11 humidity 11 temperature 11 STS LED green, flashing 220 green, steady 220 red, flashing 220 red, steady 220 yellow, flashing 220 yellow, steady 220 STune Overspeed fault 225 STune Stalled fault 225 STune Timeout fault 225 Sustained Curr fault 225 switching power supply circuit board fuses 259
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
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Index
T
tachometer
DIP switch 79 ground 34 terminal block 90 Tachometer Speed (Par. No. 1408) 128
Taper Enable (Par. No. 1176) 169
TaskLoad 1 ms (Par. No. 1384) 183
TaskLoad 2 ms (Par. No. 1385) 183
TaskLoad 8 ms (Par. No. 1386) 183
TB Manual Ref (Par. No. 267) 149
temperature
drive 19 Tension Reduct (Par. No. 1179) 169
Tension Ref (Par. No. 1180) 169
Tension Scale (Par. No. 1181) 169
tension set point signal
configure 324 terminal adapter kits
frame D 279 terminal blocks
analog tachometer 90 armature converter, frame A 51 armature converter, frame B 52 armature converter, frame C 52 armature converter, frame D 53 armature voltage feedback, frame A 55 armature voltage feedback, frame B 55 armature voltage feedback, frame C 56 armature voltage feedback, frame D 56 control circuit power 67 encoder 88 field, frame A 58 field, frame B 59
field, frame C 59, 60
field, frame D 60 I/O converter circuit board 396 I/O expansion circuit board 394 motor thermistor 64 relay output 64 SA-SB 70 standard I/O 83 test generator
use 349
Test Generator group 145 ... 147
TestPoint Data (Par. No. 1382) 183
TestPoint Sel (Par. No. 1381) 183
testpoints 233
thermal switch
configure 64 thermistor
configure 64 Threshold Delay (Par. No. 103) 150
Time AccDec Min (Par. No. 1182) 169
Torq Attributes group 136 ... 138
Torq Cur Filter (Par. No. 926) 138
Torq Current Pct (Par. No. 1193) 170
Torq Limit Slew (Par. No. 1104) 174
Torq Limit Type (Par. No. 715) 158
Torq Prov Cflct alarm 230
Torq Prove Cfg (Par. No. 1100) 173 Torq Prove Setup (Par. No. 1101) 173 Torq Prove Sts (Par. No. 1103) 174 Torq Red CurLim (Par. No. 13) 157 Torque Const (Par. No. 1013) 144 Torque Negative (Par. No. 347) 178 Torque Positive (Par. No. 346) 178
Torque Prove group 173 ... 175
Torque Reduction (Par. No. 342) 137 Torque Ref (Par. No. 39) 136 torque reference source 326 Torque Winder En (Par. No. 1209) 170 Total Inertia (Par. No. 433) 152 TP Encls Config alarm
alarms TP Encls Config 230
transient noise filter circuit board, frame C fuses 262
Trim Ramp (Par. No. 42) 149 Trim Ramp Pct (Par. No. 378) 149 Trim Speed (Par. No. 43) 149 Trim Speed Pct (Par. No. 379) 149 Trim Torque (Par. No. 40) 137 Troubleshooting
Crane Setup Encoderless 317 Crane Setup with Encoder 313 troubleshooting 219 TrqTpr Enable (Par. No. 750) 137 TrqTpr Lim0 (Par. No. 751) 137 TrqTpr Lim1 (Par. No. 752) 137 TrqTpr Lim2 (Par. No. 753) 137 TrqTpr Lim3 (Par. No. 754) 137 TrqTpr Lim4 (Par. No. 755) 137 TrqTpr Spd (Par. No. 756) 138 TstGen Amplitude (Par. No. 60) 145 TstGen Frequency (Par. No. 59) 145 TstGen Offset (Par. No. 61) 145 TstGen Output (Par. No. 58) 145 tune current regulator 350 field current curve 358 field current regulator 352 speed regulator 354 voltage regulator 356
U
UnderVlt Flt Dly (Par. No. 470) 186 UnderVolt Thresh (Par. No. 481) 186 Ungrounded Secondary 35 unipolar speed reference
analog input 85
User Defined group 188 ... 191
user sets 285 UserDefined0 (Par. No. 503) 189 UserDefined1 (Par. No. 504) 189 UserDefined10 (Par. No. 513) 189
412
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
UserDefined11 (Par. No. 514) 189 UserDefined12 (Par. No. 515) 189 UserDefined13 (Par. No. 516) 189 UserDefined14 (Par. No. 517) 189 UserDefined15 (Par. No. 518) 189 UserDefined2 (Par. No. 505) 189 UserDefined3 (Par. No. 506) 189 UserDefined4 (Par. No. 507) 189 UserDefined5 (Par. No. 508) 189 UserDefined6 (Par. No. 509) 189 UserDefined7 (Par. No. 510) 189 UserDefined8 (Par. No. 511) 189 UserDefined9 (Par. No. 512) 189 UsrDefBitWrdA (Par. No. 519) 189 UsrDefBitWrdA0 (Par. No. 520) 190 UsrDefBitWrdA1 (Par. No. 521) 190 UsrDefBitWrdA10 (Par. No. 530) 190 UsrDefBitWrdA11 (Par. No. 531) 190 UsrDefBitWrdA12 (Par. No. 532) 190 UsrDefBitWrdA13 (Par. No. 533) 190 UsrDefBitWrdA14 (Par. No. 534) 190 UsrDefBitWrdA15 (Par. No. 535) 190 UsrDefBitWrdA2 (Par. No. 522) 190 UsrDefBitWrdA3 (Par. No. 523) 190 UsrDefBitWrdA4 (Par. No. 524) 190 UsrDefBitWrdA5 (Par. No. 525) 190 UsrDefBitWrdA6 (Par. No. 526) 190 UsrDefBitWrdA7 (Par. No. 527) 190 UsrDefBitWrdA8 (Par. No. 528) 190 UsrDefBitWrdA9 (Par. No. 529) 190 UsrDefBitWrdB (Par. No. 536) 190 UsrDefBitWrdB0 (Par. No. 537) 191 UsrDefBitWrdB1 (Par. No. 538) 191 UsrDefBitWrdB10 (Par. No. 547) 191 UsrDefBitWrdB11 (Par. No. 548) 191 UsrDefBitWrdB12 (Par. No. 549) 191 UsrDefBitWrdB13 (Par. No. 550) 191 UsrDefBitWrdB14 (Par. No. 551) 191 UsrDefBitWrdB15 (Par. No. 552) 191 UsrDefBitWrdB2 (Par. No. 539) 191 UsrDefBitWrdB3 (Par. No. 540) 191 UsrDefBitWrdB4 (Par. No. 541) 191 UsrDefBitWrdB5 (Par. No. 542) 191 UsrDefBitWrdB6 (Par. No. 543) 191 UsrDefBitWrdB7 (Par. No. 544) 191 UsrDefBitWrdB8 (Par. No. 545) 191 UsrDefBitWrdB9 (Par. No. 546) 191 UsrDsplyDiv0 (Par. No. 51) 188 UsrDsplyMult0 (Par. No. 50) 188 UsrValDiv1 (Par. No. 54) 188 UsrValMult1 (Par. No. 53) 188
Utility file 177 ... 191
Index
V
Variable J Comp (Par. No. 1171) 168 view
changed parameters 285 parameters 286 peripheral device parameters 285 voltage regulator tune 356
W
W Gain (Par. No. 1202) 170 W Offset (Par. No. 1199) 170 W Reference (Par. No. 1217) 171 W Target (Par. No. 1210) 171 warning
bipolar input 82 watts loss
data 236 weights
frame A 20 frame B 21 frame C 22 frame D 25
Winder Functions group 168 ... 172
Winder Side (Par. No. 1201) 170 Winder Type (Par. No. 1187) 167 wire size
armature terminals 51 armature voltage feedback 54 field 57 I/O converter circuit board 396 I/O expansion circuit board 393 PE ground 51 standard I/O 83 wiring 2-wire control non-reversing 86 2-wire control reversing 86
3-wire control 86, 87
bipolar signal 85 bipolar speed reference 85 enable input 86 encoder 89 I/O expansion circuit board 394 joystick 85 potentiometer 85 power 45 sourcing digital output 87 unipolar speed reference 85 wiring diagrams I/O converter circuit board 397 wiring examples standard I/O 85 Write Mask Act (Par. No. 1377) 194 Write Mask Cfg (Par. No. 1378) 194
Z
Zero Ramp Input (Par. No. 345) 156 Zero Ramp Output (Par. No. 344) 156
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
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Index
Zero Torque (Par. No. 353) 137 ZeroSpdFloatTime (Par. No. 1113) 175
414
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
PowerFlex Digital DC Drive User Manual
Rockwell Automation Publication 20P-UM001N-EN-P - July 2022
415
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