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70 Enhanced Control and 700 Vector Control - Mid

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3. PowerFlex 70 Power Rating Derating ND HP HD HP sess 4kHz 6kHz 8kHz 10 kHz 600 Volt 15 10 94 5 40 5 35 t 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 20 15 eg lt 5 40 50 60 70 80 90 100 of Rated Continuous Current 25 20 9 45 E 40 35 E 30 55 20 40 50 60 70 80 90 100 of Rated Continuous Current 30 25 amp E 5 lt 8 40 50 60 70 80 90 100 of Rated Continuous Current 40 30 945 40 35 E 30 lt x 25 20 1 40 50 60 70 80 90 100 of Rated Continuous Current 50 40 F g 45 Q E 40 2 3 30 lt 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 126 Derating Guidelines PowerFlex 700 Ambient Temperature Load 240V AC PowerFlex 700 Power Rating Derating ND HP HD HP ce SIKH cess 4 kHz 6kHz 8 kHz 10 kHz 240 Volt 0 5 5 0 0 33 3 0 None 75 5 0 S 45 40 35 30 lt 55 20 40 50 60 70 80 90 100 of Rated Continuous Current 10 15 7 5 10 None 20 15 e 5 lt 40 50 60 70 80 90 100 of
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5. 734V DC Table C Voltage Class DC Bus Memory Bus Reg Curve 1 Bus Reg Curve 2 240 325V DC Memory 50V 1 4V DC 325V DC lt DC Bus Memory lt 342V DC 375V DC gt 342V DC Memory 33V DC 480 650V DC Memory 100V DC Curve 1 8V DC 650V DC lt DC Bus Memory lt 685V DC 750V DC 685V DC Memory 65V DC 600 813V DC Memory 125V DC 1 10V DC 813V DC lt DC Bus Memory lt 856V DC 937V DC 856V DC Memory 81V DC 600 690V 933V DC Memory 143V DC 1 11V DC PowerFlex 700 933V DC lt DC Bus Memory lt 983V DC 1076V DC mS 586 983V DC Memory 93V DC Copy Cat PowerFlex drives have a feature called Copy Cat which provides a way to upload a complete set of parameters to the LCD HIM This information can then be used as backup or can be transferred to another drive NET ET The transfer process manages all conflicts If a parameter from HIM memory does not exist in the target drive or the value stored is out of range for the drive or the parameter cannot be downloaded because the drive is running the download will stop and a text message will be issued The remainder of the download can then be aborted or continued by acknowledging the discrepancy These parameters can then be adjusted manually The LCD HIM will store a number of parameter sets memory dependent and each individual set can be named 24 Current Limit Current L
6. 34 Digital Outputs Condition Description Economize The drive is currently reducing the output voltage to the motor to attempt to reduce energy costs during a lightly loaded situation Motor Overld The drive output current has exceeded the programmed Motor NP FLA and the electronic motor overload function is accumulating towards an eventual trip Power Loss The drive has monitored DC bus voltage and sensed a loss of input AC power that caused the DC bus voltage to fall below the fixed monitoring value 82 of DC bus Memory PI Enabled drive s process PID controller has been enabled see Process PID PI Hold The process PID integrator is being held see Process PID Drive Overld The drive is in a overload condition and will take action to avoid a fault or possibly fault if the load is not reduced see Drive Overload Digital Out Mask Function This feature provides a method for one of the digital outputs to change state based on monitoring of individual parameter bits An AND or OR function can be chosen to determine the output result based on the state of more than one bit in the selected source parameter Configuration Parameters 380 384 388 Digital Outx Sel applies the mask function to the selected value in Parameter 393 Dig Out Param A value of 31 chooses Mask 1 AND and a value of 32 chooses Mask 1 OR Note there is only one parameter P393
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9. 120 Derating Guidelines Derating Guidelines NEZ NET a ez 8 s P 2 Parameter Name amp Description Values 549 Flux Braking of normal output voltage Default 175 wv Gain adjustment for Flux Braking mode Min Max 100 250 Units 550 Ki Flying Start Default 150 v Integral gaing for Flying Start mode Min Max 20 5000 g Units 551 Ki DC Brake Default 25 v 2 Integral gain for DC Braking mode Min Max 0 500 Units 552 Dead Time Comp Default 75 v Voltage compensation for off time between PWM Min Max 50 100 switching events Units PowerFlex 70 amp 700 Altitude and Efficiency Frame Type Derate All Altitude 100 8 lt 90 3 tc 2 80 o 70 0 1 000 2 000 3 000 4000 5 000 6 000 Altitude m Efficiency 100 typical vs Speed 95 amp 90 vs Load iu 85 5 80 75 TT TT TT 7T T 4 10 20 30 40 50 60 70 80 100 Speed Load Derating Guidelines 121 PowerFlex 70 Ambient Temperature Load 240V AC PowerFlex 70 Power Rating Derating ND HP HD HP Eu kir 4 kHz 6kHz 8kHz 10 kHz 240 Volt 0 5 3 0 0 33 2
10. 153 Manual Conventions Reference Materials Preface Overview The purpose of this manual is to provide detailed drive information including operation parameter descriptions and programming This manual covers the PowerFlex 70EC and the PowerFlex 700VC Drives Some of the information presented applies to specific drives The following symbols will be used throughout to identify specific drive information Symbol Information pertains to m PowerFlex 70 Enhanced Control EC drive 9 PowerFlex 700 Vector Control VC drive E E In addition to the User Manual for your drive the following manuals are recommended for general drive information Title Publication Available Online at Wiring and Grounding Guidelines for PWM AC DRIVES INO01 Drives Preventive Maintenance of Industrial Control and DRIVES TD001 www rockwellautomation Drive System Equipment com literature Safety Guidelines for the Application Installation 501 1 1 and Maintenance of Solid State Control For Allen Bradley Drives Technical Support Title Online at Allen Bradley Drives Technical Support www ab com support abdrives To help differentiate parameter names and LCD display text from other text the following conventions will be used e Parameter Names will appear in brackets For example DC Bus Voltage e Display Text will appear in quotes For example Enabled e
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13. Slip Comp Slip Adder O gt m Open Loop Bh r L Isa gt Spd Cmd Process Pl Ref Process Controller 1 gt Enabled Speed Control 80 Process PID Loop PI Enabled PI Output Spd Cmd PID Configuration PI Configuration is a set of bits that select various modes of operation The value of this parameter can only be changed while the drive is stopped e Exclusive Mode see page 78 Invert Error This feature changes the sign of the error creating a decrease in output for increasing error and an increase in output for decreasing error An example of this might be an HVAC system with thermostat control In Summer rising thermostat reading commands an increase in drive output because cold air is being blown In Winter a falling thermostat commands an increase in drive output because warm air is being blown The PID has the option to change the sign of PID Error This is used when an increase in feedback should cause an increase in output The option to invert the sign of PID Error is selected in the PID Configuration parameter e Preload Integrator This feature allows the PID Output to be stepped to a preload value for better dynamic response when the PID Output is enabled Refer to the diagram below If PID is not enabled the PID Integrator may be initialized to the PID Pre load Value or the current value of the commanded speed Th
14. U GYGYGYGYGYGYGYGY eS QN A e 90 PowerFlex PowerFlex PowerFlex d PowerFlex Drive Drive Drive Drive gt A 8 4 i Encoder Feedback Closed Loop An encoder offers the best performance for both speed and torque regulation applications providing high bandwidth response tight speed regulation torque regulation and very low speed operation less than 1 120 of base motor speed e Motor Fdbk Type selects the type of encoder Quadrature dual channel Quad Check dual channel and detects loss of encoder signal when using differential inputs Single Chan pulse type single channel Single Check pulse type single channel and detects loss of encoder signal when using differential inputs Encoder PPR sets the number of encoder pulses per revolution Enc Pos Feedback displays the raw encoder count For single channel encoders this count will increase per rev by the amount in Encoder PPR For quadrature encoders this count will increase by 4 times the amount defined in Encoder In closed loop mode the drive uses proportional and integral gains to adjust the torque reference that is sent to the motor and produces a high bandwidth response to speed command and load changes 104 Speed Regulation Integral Gain The integral gain block outputs a torque command relative to t
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16. Control Inputs amp Outputs gt 6 Output Voltage 0 0 VAC 3 Output Current 0 0 Amps 1 Output Freq 0 0 Hz 2 Commanded Speed 0 0 24 Commanded Torque 0 0 _ 25 Speed Feedback 0 0 415 Encoder Speed 0 0 Control Overview 53 Motor Cntl Sel Sensrls Vect sg a 23 Speed Reference 3 0 0 Hz 4 Speed Control Reference 25 Speed Feedback gt Speed Control Regulator hil gt gt V Hz Control 3 1 Output Freq 3 0 0 Hz 4H Torq Current Ref gt 0 0 Amps Vector Control Process Control 138 PI Output Meter 0 0 80 Feedback Select E e ee Open Loop V Hz amp Vector Control Current Processing Motor Gear Load PowerFlex 700VC Block Diagrams 154 lt 9 vod Idd 1 L T S uod Idd 1 1 1 T A lt y uod Idd 1 1 lt uod Ida 1 1 na ME Z uod Idd 1ndino Id BEL 2 ME i uod Ida s jou enuen gL JE yr ip ene
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18. Tag Name Alias For Type Style HE PF70EC HighResSpdRef DINT Decimal Next the speed reference is written to the DINT tag PF70EC_HighResSpdRef Using the COP instruction the DINT tag is copied to 2 UserDefinedData tags The tag PF70EC O UserDefinedData 0 corresponds to Data In A1 the drive and the tag PF70EC O UserDefinedData 1 corresponds to Data In A2 COP Copy Fie Source PF70EC_HighResSpdRef Dest UserDefinedData O Length 2 Setting the tag PF70EC_HighResSpdRef to 2147483647 corresponds to Max Speed of the drive Important In 16 bit processors such as the SLC and PLC 5 there are no DINT data types so the high resolution speed reference remains split as 2 separate 16 bit words Input Phase Loss Detection Occasionally three phase power sources can fail on one phase while continuing to deliver power between the remaining 2 phases single phase Operating above 50 output under this single phase condition can damage the drive If such a condition is likely it is recommended that Input Phase Loss Detection be enabled The drive can be programmed to simply turn on an alarm bit or also fault the drive The drive accomplishes this by interpreting voltage ripple on the DC bus NET IET Configuration e Drive Alarm 1 parameter 259 bit 12 In Phase Loss 0 disabled 1 enabled e Fault Config 1 parameter 238 bit 8 In Phase Loss 0 disabled 1 enabled Lan
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23. 40 50 60 70 80 90 100 of Rated Continuous Current 25 20 Max Ambient Temp C 40 50 60 70 80 90 100 of Rated Continuous Current 124 Derating Guidelines PowerFlex 70 Power Rating Derating ND HP HD HP Soe KHz 4 kHz 6kHz 8kHz 10 kHz 480 Volt 30 25 g 45 40 N 5 x 5 2 30 N lt x 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 40 30 g amp E E z 40 50 60 70 80 90 100 of Rated Continuous Current 50 40 e 5 E 5 lt 40 50 60 70 80 90 100 of Rated Continuous Current PowerFlex 70 Power Rating Derating ND HP HD HP 4 kHz 6 kHz 8 kHz 10 kHz 600 Volt 0 5 5 0 0 33 3 0 None 7 5 5 0 _ g 4 mL 40 lt 30 lt 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 10 75 m sl SS 40 35 M i 55 20 Sw 40 50 60 70 80 90 100 of Rated Continuous Current Derating Guidelines 125
24. 40 50 60 70 80 90 100 of Rated Continuous Current 75 60 50 e 45 X E 40 55 30 x 20 40 50 60 70 80 90 100 of Rated Continuous Current 100 75 a E 5 lt 40 of Rated Continuous Current 50 60 70 80 90 100 Derating Guidelines 131 PowerFlex 700 Power Rating Derating ND HP HD HP zem uibus 4kHz 6kHz 8kHz 10 kHz 480 Volt 125 100 80 45 a 5 40 3 t 30 x 8 20 40 50 60 70 80 90 100 of Rated Continuous Current 150 125 E 5 40 50 60 70 80 90 100 of Rated Continuous Current 200 150 50 a 5 5 Q E lt 40 50 60 70 80 90 100 of Rated Continuous Current 600V AC PowerFlex 700 Power Rating Derating ND HP HD 2kHz ez 4 kHz 6kHz 8kHz 10 kHz 1 0 2 0 0 5 1 0 None 3 0 2 0 50 e 451 40 t 35 30 55 20 40 50 60 70 80 90 100 of Rated Continuous Current 5 0 3 0 Max Ambient Temp 40 50 60 70 80 90 100 of Rated Continuous Current 132 Derating Guidelines ND HP 7 5 HD HP 5 0 Derating 2kHz Max Ambient Temp C 6kHz 8kHz 600 Volt PowerFlex
25. Bit3 User Set 3 0 active 1 not active User Set Rules In Dynamic Mode all three user sets must have parameter settings even if only two of the user sets will be utilized e The desired settings for Dyn UserSet Cnfg must be saved as part of all three user sets e Switching between user sets occurs in less than 50 milliseconds but must be done while the drive is stopped Digital input settings in all three user sets must be equal for dynamic mode to operate even if the network control instead of digital input control is used to switch between user sets Voltage Class PowerFlex drives are sometimes referred to by voltage class which identifies the general input voltage to the drive Voltage class includes a range of voltages For example a 400V class drive will have an input voltage range of 380 480V AC While the hardware remains the same for each class other variables such as factory defaults catalog number and power unit ratings will change In most cases all drives within a voltage class can be reprogrammed to another drive in the class by resetting the defaults to something other than factory settings Refer to Reset Parameters on page 88 for an explanation of parameter reset options that are voltage class specific NET EI Voltage Class parameter 202 is required by the drive when parameter downloads occur and is generally not programmed individually Voltage Class provides a Low Voltag
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29. Maximum Voltage e e e i Motor Nameplate Voltage Increasing Load Rated Flux Current lt Reduced Flux Current minimum of 50 6 of Rated Flux Current Ir Voltage 0 0 Frequency Motor Nameplate Maximum Frequency Frequency Flux Vector Control In flux vector mode the flux and torque producing currents are independently controlled and speed is indirectly controlled by a torque reference Alternatively the drive can control torque instead of speed in flux vector mode In either case this mode can be operated either with or without feedback and will provide the fastest response to load changes 54 Motor Nameplate Data Figure 8 Flux Vector High Bandwidth Current Regulator Flux V mag m Reg 4 Voltage CURRENT FEEDBACK SPEED REF Speed Reg Reg Control Inverter TORQUE REF V ang Adaptive Controller AUTOTUNE PARAMETERS SPEED FEEDBACK Motor Nameplate These parameters provide motor information to the drive so the drive can both E Data S protect the motor and also make internal adjustments to provide the best Motor NP Volts The rated voltage as stated on the motor nameplate Motor NP FLA The rated full load amps as stated on the motor nameplate Motor NP Hz The rated base frequency as stated on
30. Y Reference Trimmed Reference B The source of the trim signal is selected through Trim In Sel parameter 117 selections for Speed Ref A and Speed Ref B are also valid choices for a trim source In addition Trim Setpoint parameter 116 is also available as a trim source Trim Out Select parameter 118 configures which speed reference s will be trimmed and whether the trim signal is either added as an absolute fixed amount over the speed range or a percent of the speed reference Bit 0 Trim Ref A 0 not trimmed 1 trimmed e Bit 1 Trim Ref B 0 not trimmed 1 trimmed e Bit 2 Add or 0 A specific value of the trim source provides an absolute amount of trim equal to a percent of Maximum Speed over entire speed range 1 A specific value of the trim source provides a percent amount of trim equal to a percent of the speed reference over the entire speed range If the trim source is an analog input Trim Hi and Trim Lo parameters 119 amp 120 scale the trim signal in units of either Hz or dependent on whether or not Add or mode is selected If the trim source is Trim Setpoint its units Hz or are also dependent on whether or not Add or mode is selected Example 1 Percent mode Maximum Speed 60 Trim In Select 2 Analog In 2 Trim Out Select bit 0 Speed Ref A 1 Trim Out Select bit 2 Add
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33. Example Parameter 242 Power Up Marker 88 4541 hours MSW 13decimal 1101 binary 216 218 219 851968 LSW 32573 851968 32573 884541 DC Bus Voltage 9 DC Bus Voltage is a measurement of the instantaneous value DC Bus Memory Memory S is a heavily filtered value or average bus voltage Just after the pre charge relay is closed during initial power up bus memory is set equal to bus voltage Thereafter it is updated by ramping at a very slow rate toward the instantaneous bus voltage DC Bus Voltage The filtered value ramps at approximately 2 4V DC per minute for a 480V AC drive Bus memory is used as a comparison value to sense a power loss condition If the drive enters a power loss state the bus memory will also be used for recovery e g pre charge control or inertia ride through upon return of the power source upon return of the power source Update of the bus memory is blocked during deceleration to prevent a false high value caused by a regenerative condition Digital Inputs Digital Input Configuration Inputs are configured for the required function by setting a Digital Inx Sel parameter one for each input These parameters cannot be changed while the drive is running NET NET Input Function Detailed Descriptions Stop Clear Faults An open input will cause the drive to stop and become not ready A closed input will allow the drive to run when given a Start or Run command
34. N 4 Max Ambient Temp a m 40 50 60 70 80 90 100 of Rated Continuous Current 22 18 5 e o a 4 Max Ambient Temp E 40 50 60 70 80 90 100 of Rated Continuous Current 30 22 a a Max Ambient Temp C 27 40 50 60 70 80 90 100 of Rated Continuous Current PowerFlex 70 Power Rating Derating Guidelines 123 Derating ND kW HD kW 2kHz 4 2 6kHz 8kHz 10 kHz 400 Volt 37 480V AC PowerFlex 70 Power Rating 30 a a Max Ambient Temp C 50 60 70 80 90 100 of Rated Continuous Current Derating ND HP HD HP 2kHz 4 kHz 6kHz 8kHz 10 kHz 480 Volt 0 5 7 5 0 33 5 0 None 10 7 5 sss SSS a 40 35 30 25 Max Ambient Temp C 20 40 50 60 70 80 90 100 of Rated Continuous Current 15 10 2 45 40 35 30 Max Ambient Temp C 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 20 15 Max Ambient Temp C
35. The figure on the left shows how DriveExplorer will respond when connected to a PowerFlex 70 EC drive that has security enabled on DPI Port 5 The 5 icon will also appear in the program window to indicate that the adapter you are communicating through has its port write access disabled The figure on the right shows how a HIM will respond when a write is attempted on a port that does not have write privileges Node Secuicd by Write Mask Cfg Parameter F Stopped Blauto Z P Node PowarFlex 70 EC The node is secured by the Write Mask M m AE parameter The software connected to the Access Denied drive via parl 5 Edits may only be made using ports 1 2 cr 3 When connected to a port configured for Read Only with programming tools that do not have security functionality errors will occur for any write attempt Examples of such tools are HIMs with older firmware earlier versions of Drive Tools or Drive Explorer and third party software See the following example messages when using tools that do not support the security function Parameter Operation Error BE gt Stopped The drive did accept value Analog In 2 For parameter 9D 2421 Device State Has Disabled Function 94 Shear Pin Shear Pin Skip Frequency EZ NET EI As a default the drive will fold back when the output current exceeds the current limit
36. desired value for current limit and shear pin fault e g 15 amps Application Example By programming the Shear Pin feature the drive will fault stopping the excess torque before mechanical damage occurs r Figure 15 Skip Frequency Command Frequenc quency Frequency Drive Output Frequency Safe Skip 1 2 Band gt Skip Frequency gt Skip 1 2 Band gt F F Time Skip Frequency 95 Some machines may have a resonant operating frequency vibration speed that is undesirable or could cause equipment damage To guard against continuous operation at one or more resonant points parameters 084 086 Skip Frequency 1 3 can be programmed The value programmed into a skip frequency parameter sets the center point for an entire skip band of frequencies The width of the band range of frequency around the center point is determined by Skip Freq Band parameter 87 The range is split half above and half below the skip frequency parameter If the commanded frequency is greater than or equal to the skip center frequency and less than or equal to the high value of the band skip plus 1 2 band the drive will set the output frequency to the high value of the band See A in Figure 15 If the commanded frequency is less than the skip center frequency and greater than or equal to the low value of the band skip minus 1 2 band the drive will set the o
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38. 048 199195 INC BLL les uj uu LLL 157 PowerFlex 700VC Block Diagrams 879687 712 o e z lt HUSY Jeu AU 2 2 Y _____________ uw 00 peeds cz ca V 00 paedg 18 00 ur peeds 00 wur peeds pSt peeds 28 oa 11 0 xen _ 2 z 18 yu xen lt L SnI8IS 602 lt FA Bor zig E USH 21607 1 2 SpoN uonoeig 061 gt Or z peads Bor 801 paadg Bor 001 Peiqesia eunjojny lt eunjojny 5507 Z U 226 peiqesiq 5801 ul _ 807 2 Isi 01607 enug LLZ zj peedg 5 5507 luy p ig LLZ spw peedg PowerFlex 700VC Block Diagrams 158 5295 001 g jeoeq evt 5295 0701 9090 p 5295 0701 g 1899Y Ly 00 NNIS 9L 5295 0101 spun peed 64
39. 106 Speed Torque Mode The Min mode is typically used with positive torque and forward speed operation the minimum of the two being closest to zero The Max mode is opposite typically used with reverse speed and negative torque the maximum being the least negative closest to zero Sum mode is selected when set to 5 This mode allows an external torque command to be added to the speed regulator output Zero Torque Mode Operation in zero torque mode allows the motor to be fully fluxed and ready to rotate when a speed command or torque command is given For a cyclical application where through put is a high priority this mode can be used 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 regulate mode can be selected The drive will then immediately accelerate 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 Flux current is still present when the drive is operating in zero torque mode motor with an extended speed range or separate cooling methods blower may be required Speed Regulation Mode Operating as a speed regulator is the most common and therefore simplest mode to setup Examples of speed regulated applications are blowers conveyors feeders pumps saws and tools
40. 30V Vmem 60V Vmem 75V Vclose Vmem 60V Vmem 120V Vmem 150V Virigger1 2 Vmem 60V Vmem 120V Vmem 150V Vtriggert 3 Vmem 90V Vmem 180V Vmem 225V Vopen Vmem 5 90V Vmem gt 180V Vmem 225V Vopen4 153V DC 305V DC 382V DC Vmin 153V DC 305V DC 382V DC Voff 5 200V DC Note 1 Vtrigger is adjustable these are the standard values Line Loss Mode Decel Line Loss Mode Continue 700 I 700 I Recover Recover 650 Close 650 H Close 600 __ 42 2 550 2 550 500 500 450 8 450 be 400 400 350 350 300 300 350 400 450 350 400 450 AC Input Volts Restart after Power Recovery AC Input Volts If a power loss causes the drive to coast and power recovers the drive will return to powering the motor if it is in a run permit state The drive is in a run permit state if e 3Wire Mode it is not faulted and if all Enable and Not Stop inputs are energized e 2 Wire Mode it is not faulted and if all Enable Not Stop and Run inputs are energized Power Loss 75 Power Loss Actions The drive is designed to operate at a nominal input voltage When voltage falls below this nominal value by a significant amount action can be taken to preserve the bus energy and keep the drive logic alive as long as possible The drive has three methods of dealing with low bus voltages e Coast Disable the drive and allow the motor to coast e Decel Decelerate t
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42. Analog In 1 Hi Lo The units displayed are determined by configuration of the input 10 Analog Outputs Analog Outputs Each drive has one or more analog outputs that can be used to annunciate a wide variety of drive operating conditions and values The user selects the analog output source by setting Analog Out Sel EI Configuration The analog outputs have 10 bits of resolution yielding 1024 steps The analog output circuit has a maximum 1 346 gain error and a maximum 100 mV offset error For a step from minimum to maximum value the output will be within 0 296 of its final value after 12ms Absolute default Certain quantities used to drive the analog output are signed e g the quantity can be both positive and negative The user has the option of having the absolute value value without sign of these quantities taken before the scaling occurs Absolute value is enabled separately for each analog output via the bit enumerated parameter Anlg Out Absolut Scaling The scaling for the analog output is defined by entering analog output voltages into two parameters Analog Out Lo and Analog Out Hi These two output voltages correspond to the bottom and top of the possible range covered by the quantity being output Scaling of the analog outputs is accomplished with low and high analog parameter settings that are associated with fixed ranges see User Manual for each target function Additionally the PowerFlex 7
43. Refer to the appropriate parameter description for your drive and the tables that follow for detailed operation PowerFlex 70 Parameter 192 AutoMan Cnfg PowerFlex 700 Parameter 192 Save HIM Ref Table A Parameter Bit Definitions Bit Definition 0 Save HIM Ref 0 Disabled 1 Enabled Saves the HIM reference at power down and reloads it at power up 1 Manual Mode 0 Disabled 1 Enabled Adds exclusive HIM start jog control while in manual mode 20 ManRefPrid 0 Disabled 1 Enabled Preloads the auto reference into the HIM upon transition from Auto to Manual 3 HIM Disable 0 HIM starts 1 HIM doesn t start HIM Start Jog operation while in 3 wire Auto mode 1 PowerFlex 70 Only PowerFlex 700 functionality is handled in parameter 193 Table Bit Combinations and Results Parameter 192 Auto Control HIM Manual Control Terminals Terminal Terminal Programmed HIM Starts Block Starts Starts Block Starts Bit3 Bit1 for Drive Y N Drive Y N Drive Y N Drive Y N 00 00 2 wire N Y N Y 3 wire Y Y Y Y 0 1 2 wire N Y Y N 3 wire Y Y Y N 1 0 2 wire Sameas00 Sameas00 Sameas00 Sameas00 3 wire Sameas00 Sameas00 Sameas00 00 1 1 2 wire N Y Y N 3 wire N Y Y N 1 Default setting 14 Auto Manual General Rules The following rules apply to the granting and releasing of Manual control 1 Manual control is reques
44. S Curve 89 Curve The S Curve function provides control of the rate of change of acceleration and deceleration also known as jerk S Curve helps control the transition from steady state speed to a change in speed By adjusting the percentage of S Curve applied the ramp takes the shape of an 5 This allows a smoother transition and produces less mechanical stress S 70EC NE Example with No S Curve 80 0 60 0 40 0 20 0 0 0 20 0 40 0 60 0 80 0 Hz 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 Seconds When S Curve is enabled it adds time to the overall acceleration by a percentage of the programmed acceleration time This is shown in the curves below which represent 0 25 50 and 100 S Curve Note that half of the S is added to beginning and half is added to the end of the ramp 70 0 60 0 50 0 40 0 Hz 30 0 20 0 10 0 0 0 0 0 0 5 1 0 1 5 2 0 2 5 3 0 3 5 4 0 Seconds The acceleration and deceleration times are independent but the same S Curve percentage is applied to both as shown in the following example 70 0 60 0 50 0 40 0 Hz 30 0 20 0 10 0 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 Seconds 90 S Curve Time to Accelerate When accelerating from 0 to maximum speed with maximum speed set to 60 Hz
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46. parameter 157 0 DC Brake Lvl selects parameter 158 as the source for the DC brake level j Analog in 1 2 in 2 e DC Brake Level parameter 158 sets the DC brake level in amps when parameter 157 DC Brake Lvl e DC Brake Time parameter 159 sets the amount of time that DC braking is applied after the ramp if any e Flux Braking parameter 166 0 Disabled 1 Enabled e Digital InX Sel parameters 361 366 13 Stop Mode setting a digital input to this function allows the use of a digital input to switch between Stop Mode open input and Stop Mode B closed input 110 Stop Modes Detailed operation Mode Description Coast to Stop Bus Voltage Output Voltage Output Current Motor Speed Command Speed Time S pam Coast Time is load dependent top Command Coast is selected by setting Stop Mode A B to a value of 0 When in Coast to Stop the drive acknowledges the Stop command by shutting off the drive output and releasing control of the motor The load and motor will coast until the kinetic energy is dissipated DC Brake to Stop Bus Voltage Output Voltage Output Current Motor Speed 0 Brake Level Time Sip B C A Command lt DC Brake Time gt This method uses DC injection of the motor to Stop and or hold the load DC Brake is selecte
47. regardless of the data in the Digital Input Data Logic parameter The following diagram shows the logical operation The condition of each digital input is ANDed with the ANDdata from DigIn DataLogic parameter 411 then ORed with the ORdata from DigIn DataLogic The result is fed to the assigned digital input function Int ORdata Output to Assigned Int ANDdata D Digln function Dion Condition AND The logical result output for each string of operations for a digital input can be viewed in the upper half of parameter 216 Dig In Status When the feature is enabled and the Input 6 Dedicated Enable Jumper is pulled the Data Logic function will still be performed on input 6 but will not interfere with the dedicated hardware path to the gate drive circuit Fast Stop When this input is opened the drive performs a Fast Stop See Stop Modes on page 109 for a description of this stopping method Speed Torque Select 1 2 and 3 These settings provide the ability to switch between different speed torque modes from digital input combinations See Speed Torque Mode on page 105 for a complete description of these modes and the digital input combinations that activate each mode Digital Outputs 33 User Set Select 1 and 2 These settings are used in the dynamic mode of user sets which provides switching between entire parameter sets from digital input combinations See User Sets on
48. 2 0 sec and S Curve 25 acceleration time is extended by 0 5 seconds 2 0 x 25 When accelerating to only 30 Hz the amount of jerk control S Curve is the same but the extended amount of acceleration time is different 70 0 60 0 50 0 40 0 Hz 30 0 20 0 10 0 00 4 0 0 0 5 1 0 15 2 0 25 3 0 Seconds Crossing Zero Speed When the commanded frequency passes through zero the frequency will S Curve to zero and then S Curve to the commanded frequency as shown 80 0 60 0 40 0 20 0 0 0 20 0 40 0 60 0 80 0 Hz 0 0 1 0 2 0 3 0 40 5 0 Seconds The following graph shows an acceleration time of 1 0 second After 0 75 seconds the acceleration time is changed to 6 0 seconds When the acceleration rate is changed the commanded rate is reduced to match the requested rate based on the initial S Curve calculation After reaching the new acceleration rate the S Curve is then changed to be a function of the new acceleration rate 70 0 60 0 50 0 400 30 0 20 0 10 0 0 0 0 0 1 0 2 0 3 0 40 5 0 Seconds Safe Off Scale Blocks BET BE E 58 NIN Safe Off 91 Refer to DriveGuard Safe Off User Manual publication PFLEX UMOOI See also Analog Scaling on page 4 and page 10 Scale blocks are used to scale a parameter value ScaleX In Valu
49. 30 Max Ambient Temp C 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 132 480V AC PowerFlex 700 Power Rating 110 50 Max Ambient Temp C 40 50 60 70 80 90 100 of Rated Continuous Current Derating ND HP HD HP 2kHz 4 kHz 6kHz 8kHz 10 kHz 480 Volt 0 5 10 0 33 7 5 None 15 10 50 45 40 35 30 Max Ambient Temp 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 20 15 50 45 40 35 30 25 Max Ambient Temp 20 40 50 60 70 80 90 100 of Rated Continuous Current 130 Derating Guidelines PowerFlex 700 Power Rating Derating ND HP HD HP khz usus 4kHz 6kHz 8kHz 10 kHz 480 Volt 25 20 eg amp E 5 lt 40 50 60 70 80 90 100 of Rated Continuous Current 30 25 None 40 30 5 lt 40 50 60 70 80 90 100 of Rated Continuous Current 50 40 eg rt 5 5 m E lt 40 50 60 70 80 90 100 of Rated Continuous Current 60 50 eg a E 5 lt
50. 40 50 60 70 80 90 100 of Rated Continuous Current 128 Derating Guidelines PowerFlex 700 Power Rating Derating ND kW HD kW 2 xeu 4 kHz 6kHz 8 kHz 10 kHz 400 Volt 18 5 15 50 45 40 N 55 30 N x N 20 40 50 60 70 80 90 100 of Rated Continuous Current 22 18 5 None 30 22 5 lt 40 50 60 70 80 90 100 of Rated Continuous Current 37 30 eg rt E 5 m E lt 40 50 60 70 80 90 100 of Rated Continuous Current 45 37 50 eg a E 5 lt 40 50 60 70 80 90 100 of Rated Continuous Current 55 45 50 zt Q 45 k 40 55 30 x 20 40 50 60 70 80 90 100 of Rated Continuous Current 75 55 a E 5 lt 40 50 60 70 80 90 100 of Rated Continuous Current PowerFlex 700 Power Rating Derating Guidelines 129 Derating ND kW HD kW 2kHz 4 kHz 6kHz 8kHz 10 kHz 400 Volt 90 75 50 45 40 35 30 Max Ambient Temp 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 110 90 50 45 40 35
51. 60 50 50 pe zy g 45 al 35 5 N 25 gt 20 M N 40 50 60 70 80 0 100 of Rated Continuous Current 75 60 amp E 5 lt s z 40 50 60 70 80 100 of Rated Continuous Current 100 75 50 9 5 40 E 5 35 i S d E93 5 20 40 50 60 70 80 100 of Rated Continuous Current 125 100 eg e 5 20 40 50 60 70 80 100 of Rated Continuous Current 133 134 Derating Guidelines PowerFlex 700 Power Rating Derating ND HP HD HP s D KHac decus 4 kHz 6kHz 8kHz 10 kHz 600 Volt 150 125 EMEN 45 40 S x 5 35 lt E 30 X 2 25 20 N 40 50 60 70 80 90 100 of Rated Continuous Current 690V AC PowerFlex 700 Power Rating Derating ND kW HD kW bss 4 kHz 6kHz 8kHz 10 kHz 690 Volt 45 55 37 5 45 None 75 55 5 m lt 20 40 50 60 70 80 90 100 of Rated Continuous Current 90 75 50 45 Des o 5 20 40 50 60 70 80 90 100 110 90 amp 5 2 x 20 40 50 60 70 80 90 100 of Rated Continuous Current 132 110 e H as 5 3 25 20 40 50 60 70 80 90 10
52. DC Brake Time and DC Brake Level are not zero the drive applies DC to the motor producing current at the DC Brake Level for the DC Brake Time 1 OnStop drive output will decrease according to the programmed pattern from its present value to zero The pattern may be linear or squared The output will decrease to zero at the rate determined by the programmed Maximum Freq and the programmed active Decel Time x 2 The reduction in output can be limited by other drive factors such as bus or current regulation When the output reaches zero the output is shut off 4 The motor if rotating will coast from its present speed for a time that is dependent on the mechanics of the system inertia friction etc e Ramp to Hold Bus Voltage ANNIS Bus Voltage Output Voltage Output Voltage Output Current Output Current Motor Speed Motor Speed OuputCurent SS Command Speed US Command Speed Output Voltage DC Brake Level Stop 7 Zero Command ma DC Brake Time Re issuing a Command Speed Start Command This method combines two of the methods above It uses drive output reduction to stop the load and DC injection to hold the load at zero speed once it has stopped 1 OnStop drive output will decrease according to the programmed pattern from its present value to zero The pattern may be linear or squared The output will decrease to zero at the rate determin
53. Id 221 1011007 5592014 OL 2 4 10998 d 5592014 10998 Id 590014 x oeqpee d 5592044 143 PowerFlex 70EC Block Diagrams p einjeipeno O adAL yap 100 2 unamasa zona 19S IO 89 I _ I Ydd y F F19j RNM I I ZH A dun 20 4 es HIA I N3 Sb S 0N3 sod 9u3 p p Jopoou3 P 2 e z ZH A wong i uep duo dis zzi 00 Jepoou3 1 peedg jepoou3 Sty 0 9 oN3 2 emucung AS I Japoou X 0 a T ns a zl e 1934 15095 uang anbiol dN 0 v 000 X 580d 100W 55841 X X yuaung enbio p 02 w 0 5 X 00 lt i X 09 x Lf maa fe 1981 NH 95 621 X ZH A 2 peeds oL DEANA duo diis 5 X sqy lt ZH 00 00 ndino 108195 xoeqpee 08
54. Manual Conventions 3 24 ORE ER 66 PESCE ERG SORE TSE eb Yo 1 Reference 4 1 General Precautions i42 eph Ebr re HER RE E b as aqu 2 Detailed Drive Operation Accel D cel Tame ee br ce RE a a EE es 3 PC 3 Analog Inputs ua she be eae a 4 Analog Outputs iius ive ss hd ibe DATI edd eddie ub gus 10 Auto Manual Lisa susu eee 13 Auto Restart osse Sh eura aaa 15 AULOUING e ias ERES 16 Bus Regulation sues Re IDEE s ade 18 Copy Cat epe e ER eU EHE 23 24 eid 24 DC Bus Voltage Memory 2 52 2 22 4 26 26 Digital Outp ts 22 24 aa es b rave naq hieu ARE EIER PENNE pae e PT 33 Direction Control RE bee een S uer de RR Rex ee ea 36 gc LETT 37 ee 39 Drive Overload see Ren Casas a aa aH Rak Rive wi 39 DfOOD b tmt RT RUN 42
55. Step transition Step Value Value Dwell Dwell Dwell Time X Dwell Time X Compare _ Dwell Time Value Batch Batch X Batch X X X Number Number Next Next Step NextStep Next Step Next Step Next Step X Stop X Function not applicable to this step type Position Regulated Step Parameters Position Indexer Speed Profiler Each of the Position Regulated steps has the following associated parameters or functions Step Type Encoder Absolute Encoder Incremental End Hold Position Value Position amp Direction Position amp Direction X Velocity Speed Speed X Accel Time Accel Rate Accel Rate X Decel Time Decel Rate Decel Rate X Next Step Condition At Position 1 At Position 21 At Position 21 Dwell Dwell Time Dwell Time Dwell Time Batch X Batch Number X Next Next Step Next Step X Stop X Function not applicable to this step type Homing Routine Each time the profile indexer is enabled the drive requires a home position to be detected The following options are available Homing to Marker Pulse with Encoder Feedback When Find Home is commanded the homing routine is run when a start command is issued The Homing bit 11 in Profile Status parameter 700 will be set while the homing routine is running The drive will ramp to the speed and direction set in Find Home Speed parameter 713 at the rate set in Find Home Ramp parameter 714 until the digital input def
56. Step X Velocity in the direction of the sign of Step X Velocity The drive then decelerates at Step X DecelTime to zero The Step X Value is programmed to the desired time for the total time of the accel run and decel of the step Each step has a 1 second time programmed in Step X Dwell which is applied to the end of each step After the dwell time expires the profile transitions to the next step The absolute step is used to send the profile back to the home position This is done by programming Step 4 Value to zero Timed Steps 350 50 250 55 45 aa 40 55 150 5s co 1 spun 50 13 33 53 73 93 113 133 153 50 Note there is no At Position indication when using timed steps 20 150 EncoderSpeed Profile Status Scaled 250 Step5 Step4 5 deis uang 350 Step 3 Step2 Step 1 ep 450 0 Time Encoder Speed 415 Profile Status 700 Units Traveled 701 Current Step StepX StepX Step X StepX StepX StepX Step X Step Step X Type Velocity AccelTime DecelTime Value Dwell Batch Next 1 Time 100 0 5 0 5 5 00 1 00 1 2 2 Time 200 0 5 0 5 5 00 1 00 1 3 3 Time 300 0 5 0 5 5 00 1 00 1 4 4 Encoder Abs 400 0 5 0 5 0 00 1 00 1 5 5 End N A N A 0 5 N A 0 00 N A N A 66 Position Indexer Speed Profiler Time Blend When started the
57. The ratio of 1 20 is the same for all durations of 150 When operating continuous at 100 if the load increases to 150 for 1 second the load must then return to 100 for 20 seconds before another step to 15096 Cold Trip Hot Trip Cold Trip Hot Trip Cold Trip Hot Trip FLA Time Time FLA Time Time FLA Time Time 105 6320 5995 155 160 50 205 66 14 110 1794 1500 160 142 42 210 62 12 115 934 667 165 128 36 215 58 11 120 619 375 170 115 31 220 54 10 125 456 240 175 105 27 225 51 10 130 357 167 180 96 23 230 48 9 135 291 122 185 88 21 235 46 8 140 244 94 190 82 19 240 44 8 145 209 74 195 76 17 245 41 7 150 180 60 200 70 15 250 39 7 Notch Filter BE KSEZHQD II Notch Filter 57 Important If the application requires high overload current for long durations e g 150 for 60 seconds heavy duty sizing between drive and motor will be required See Normal Duty and Heavy Duty Operation on page 39 A notch filter exists in the torque reference loop to reduce mechanical resonance created by a gear train Notch Filter Freq sets the center frequency for the 2 pole notch filter and Notch Filter K sets the gain Figure 9 Notch Filter Frequency Gain Notch Filter K 0 db x 5 Notch Filter Frequency Hz Example A mechanical gear train consists of two masses the motor and the load and spring mechanical coupling between the two loads See Figure 10 Figure 10 Mechani
58. called User Sets When the drive is stopped a HIM command or parameter command similar to Reset to Defaults can be used to load any of these user sets These methods are acceptable for occasional use of the User Sets and can be accessed in the HIM Memory Storage menu area named Device User Sets or through Load Frm Usr Set and Save To User Set parameters 198 amp 199 EZ Dynamic Mode If frequent or automated control of the user sets is required by an application Dynamic Mode is required not only to meet application requirements but also to avoid non volatile memory write cycle limitations In this mode either a parameter typically controlled by the network or digital inputs are used to quickly transfer complete User Sets to RAM without affecting any non volatile memory e Dyn UserSet Cnfg parameter 204 enables or disables dynamic selection of user sets and controls whether digital inputs or the network activates the users sets Bit 0 Dynamic Mode 0 disabled 1 enabled Bit 1 Ctrl Source 0 controlled from digital inputs 1 controlled from Dyn User Set Sel parameter 205 e Digital InX Sel parameters 361 366 define the functions assigned to each digital input and are used with Dynamic Mode only when user sets will be controlled from digital inputs parameter 204 xxxx xxxx xxxx xx0 rather than over the network 4 UserSet Sell the least significant bit of the bina
59. dNJOION Zy 141 p0146 0 001 1998310 1001 8y N IAJ AO S ndinO X sinduj E HO 919 112 ese aa Zia e SMES 012 sng 2 euoN d josised 9 sr 15 bi4 ylog gd Lq Lez iuodise sez 667 667 Ies z iuodise 922 195 L1uodise pez geq 21 Lez jeg qulodse sez 4 66v 66v 195 21005 oec 195 Liuodiso Bye Z iulodise ez 10459 sez 66v 66 195 21 04 59 962 195 Liuodiso 00 10210 612 84 duo Auq 812 E 21110 Mid 818 Lio ees 8 sng 291 1sn py v apon sng 19 zy fouenbei4 WMd LSH 3S Jojejnojeo pue 1e9H B HLTIO 218 Lio 1 9pow 10 091 sduy 022 RA ur uano grt 2289 sng 20 21 sdwy 000 queuing ep Ang 33 Md OLN eoieq J9M0d panunuod uann nbio PowerFlex 70EC Block Diagrams 148 Jejodiun apo 061
60. directly to a digital input When the input is closed the output will be energized and when the input is open the output will be de energized This linking will occur if two conditions exist The Input is configured for any choice other than Unused The Output is configured for the appropriate Input x Link Note that the output will be controlled by the state of the input even if the input has been assigned a normal function e g Start Jog See Exclusive Link on page 31 This selection provides a way to connect the input to the output without the output being used for another function Note the output still must be set for Input x Link Digital Output Timers Each digital output has two programmable timers The On Time specifies the delay between the appearance of the programmed condition and the corresponding digital output change of state The Off Time specifies the delay between the appearance of the programmed condition and the corresponding digital output change of state If a transition on an output condition occurs and starts a timer and the output condition goes back to its original state before the timer runs out then the timer will be aborted and the corresponding digital output will not change state Relay Activates lt gt CR1 Delay 2 Seconds Current Limit Occurs 0 5 10 Relay Does Not Activate gt CR1 On Delay 2 Secon
61. re closed Run w Comm other digital input settings prohibit communication devices from starting the drive Run w Comm allows communication adapters to start the drive even if the digital input Run w Comm is in the open state In addition the communication device must have given up its ownership in order for transitions on the Run w Comm digital input to take any action Start An open to closed transition while the drive is stopped will cause the drive to run in the current direction unless the Stop Clear Faults input function is open If Start is configured then Stop Clear Faults must also be configured Forward Reverse This function is one of the ways to provide direction control when the Start or functions not combined with direction are used An open input sets direction to forward A closed input sets direction to reverse If state of input changes and drive is running or jogging drive will change direction Jog Forward Jog Reverse Jog is a non latched command such as Run but overrides the normal speed reference and uses Jog Speed 1 An open to closed transition on one input or both inputs while the drive is stopped will cause the drive to jog unless the Stop Clear Faults input function is configured and open The table below describes the actions taken by the drive in response to various states of these input functions Jog Forwar
62. step For each Param Level step the drive ramps at Step X AccelTime to Step X Velocity in the direction of the sign of Step X Velocity The Step X Value is programmed to the parameter number to monitor The Step X Dwell is the value used to compare against the Step X Value The sign of Step X Value sets a less than or greater than comparison equals lt and equals gt When the comparison of Step X Value and Step X Dwell is satisfied the profile transitions to the next step The Encoder Abs step is used to send the profile back to the home position This is done by programming Step 4 Value to Zero In the example Step 1 2 3 Value is set to 701 The value of Units Traveled parameter 701 is now a greater than comparison with the step dwell parameters Step 1 Dwell 10 Step 2 Dwell 20 and Step 3 Dwell 30 When step 1 is beyond 10 Units Traveled the profile transitions to step 2 When step 2 is greater than 20 Units Traveled the profile transitions to step 3 The transition from step 3 to step 4 happens when Units Traveled is above 30 70 Position Indexer Speed Profiler Parameter Level 350 Step 3 Dwell Level 745 30 250 150 1 spun Step 2 Dwell Level 735 150 EncoderSpeed Profile Status Scaled Step 1 Dwell Level 725 250 350 days 1u uno Step 3 450 Time Encoder Speed 41
63. terminal block If it is closed the terminal block has exclusive control disabling all the DPI devices of drive logic including start reference selection acceleration rate selection etc The exception is the stop condition which can always be asserted from any connected control device The drive must be stopped and other devices must not own exclusive control in order for the terminal block to gain complete local control Clear Faults The Clear Faults digital input function allows an external device to reset drive faults through the terminal block An open to closed transition on this input will cause an active fault 1f any to be reset If this input is configured at the same time as Stop Clear Faults then only the Clear Faults input can cause faults to be reset Enable Closing this input allows the drive to run when a Start command is issued If the drive is already running when this input is opened the drive will coast and indicate not enabled on the HIM if present This is not considered a fault condition and no fault will be generated If this function is not configured the drive is considered enabled If multiple Enable inputs are configured then the drive will not run if any of the inputs are open Any of the digital inputs can be configured as Enable However Digital Input 6 can be configured as a Dedicated Hardware Enable by removing a jumper In this case the parameter setting for Di
64. the velocity of the step will be multiplied by Vel Override parameter 711 In the example below during step 1 the Vel Override was toggled The speed was multiplied by 150 causing the speed to be 150 RPM rather than 100 When released the speed resumed to the programmed Step 1 Velocity of 100rpm Position Indexer Speed Profiler 69 Encoder Incremental Blend w Velocity Override 350 250 Velocity Override 30 Complete syun Profile Status Encoder Speed days yuauing Time Encoder Speed 415 Profile Status 700 O Units Traveled 701 Current Step StepX Step X Step X StepX StepX StepX Step X Step Step X Type Velocity AccelTime DecelTime Value Dwell Batch Next 1 Enclnc Blend 100 0 5 0 5 10 00 0 00 1 2 2 Enclnc Blend 200 0 5 0 5 10 00 0 00 1 3 3 Blend 300 0 5 0 5 10 00 0 00 1 4 4 Encoder Abs 400 0 5 0 5 0 00 1 00 1 5 5 End N A N A 0 5 N A 0 00 N A N A Parameter Level Param Level When started the drive will ramp to the desired velocity hold speed and compare the programmed step value to the step dwell level The sign of the step value defines less than or greater than step dwell When true the profile will transition to the next step The example below shows a five step profile using Param Level steps followed by an Encoder Abs then an End
65. then Bus Reg Mode B selects which bus regulation mode to use If this input function is not configured then Bus Reg Mode A always selects which bus regulation mode to use PI Enable If this input function is closed and PI Control bit 0 enabled the operation of the Process PI loop will be enabled If this input function is open the operation of the Process PI loop will be disabled See Process PID Loop on page 77 PI Hold If this input function is closed the integrator for the Process PI loop will be held at the current value If this input function is open the integrator for the Process PI loop will be allowed to increase See Process PID Loop on page 77 PI Invert If this input function is closed the PI Error is inverted If this input function is open the PI Error is not inverted PI Reset If this input function is closed the integrator for the Process PI loop will be reset to 0 If this input function is open the integrator for the Process PI loop will integrate normally See Process PID Loop on page 77 Auxiliary Fault This input function is normally closed and allows external equipment to fault the drive When this input opens the drive will fault with the Auxiliary Input F2 fault code If this input function is not configured then the fault will not Digital Inputs 31 Local Control This input function allows exclusive control of all drive logic functions from the
66. 1 30000 Units 1 539 Freq Reg Kp Default 450 Proportional gain for frequency portion of torque Min Max 0 32767 regulator in FVC encoderless mode Units N A 540 Freq Reg Ki Default 2000 Min Max 0 32767 in FVC encoderless mode Units N A 541 55 Ang Comp Default 0 Voltage vector angle compensation for long motor Min Max 1023 1023 cables and switching characteristics in FVC Units N A encoderless mode 1024 1 revolution 542 Encdlss Vit Comp Default 128 Voltage compensation for long motor cables and Min Max 0 Rated Volts x 0 5 switching characteristics in encoderless mode Units VAC 543 Excitation Ki Default 44 Integral gain for current regulator during excitation Min Max 0 32767 phase of flying start Units N A 544 Excitation Kp Default 1800 Proportional gain for current regulator during Min Max 0 32767 excitation phase of flying start Units N A 545 In Phase Loss Lvl Default 325 Sensitivity of input phase loss detection 325 8 1V Min Max 10 1000 DC bus ripple ripple volts AC input VAC x 229 Units setting 546 Out Phase Loss Lvl Default 200 Sensitivity of output phase loss detection 200 is Min Max 1 400 approximately 5 drive rated current Units N A 547 Ki Fast Braking Default 1000 Integral gain for Fast Braking mode Min Max 0 32767 Units N A 548 Kp Fast Braking Default 2000 Min Max 0 32767 Units N A 119
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68. Applications require different amounts of overload current Sizing a drive for Normal Duty provides 110 for 60 seconds and 150 for 3 seconds For a heavy duty application one larger rating of a drive is used in comparison to the motor and therefore provides a larger amount of overload current in comparison to the motor rating Heavy duty sizing will provide at least 15096 for 60 seconds and 20096 for 3 seconds These percentages are with respect to the connected motor rating Inverse Time Protection The lower curve in Figure 2 shows the boundary of normal duty operation where the drive is rated to produce 110 of rated current for 60 seconds 150 of rated current for three seconds and 165 of rated current for 100 milliseconds The maximum value for current limit is 150 so the limit of 165 for 100 milliseconds should never be crossed If the load on the drive exceeds the level of current as shown on the upper curve current limit may fold back to 100 of the drive rating until the 10 90 or 5 95 duty cycle has been achieved For example 60 seconds at 11046 will be followed by 9 minutes at 10046 and 3 seconds at 15046 will be followed by 57 seconds at 10096 With the threshold for where to take action slightly above the rated level the drive will only fold back when drive ratings are exceeded If fold back of current limit is not enabled in Drive OL the drive will generate a F64 Drive Overload fault when operation exceeds the
69. C1 now controls the voltage output of Analog Out1 For example 2500 2 5V DC 5000 5 0V DC 7500 7 5V DC Auto Manual REZA NEZ Auto Manual 13 The purpose of the Auto Manual function is to permit temporary override of speed control or both speed control and start run stop control Each connected HIM or the control terminal block is capable of performing this function However only one device may own Manual control and must release the drive back to Auto control before another device can be granted Manual control The network or digital input control function named local has priority over the Auto Manual function The HIM can request or release Manual control by pressing the Alt key followed by the Auto Man key When the HIM is granted manual control the drive uses the speed reference in the HIM If desired the auto speed reference can be automatically preloaded into the HIM when entering HIM manual control so that the transition is smooth To use manual control from the terminal block a digital input must be programmed to the Auto Man selection In this case the speed control comes from the setting in TB Man Ref Sel and is limited to terminal block sources By default only the speed reference not Start or Jog control changes when toggling between Auto and Manual However it is possible for both Speed Reference and Start Jog control to change when toggling between Auto and Manual
70. In a speed regulated application the torque reference is generated by the speed regulator output Note that under steady state conditions the speed feedback is steady while the torque reference is a constantly adjusting signal This is required to maintain the desired speed At transient state the torque reference will change dramatically to compensate for a speed change A short duration change in speed is the result of increasing or decreasing the load very rapidly Torque Regulation Mode A torque regulated application can be described as any process that requires some tension control An example of this is a winder or unwind where material is being drawn or pulled with a specific tension required The process requires another element setting the speed Configuring the drive for torque regulation requires Speed Torque Mod to be set to 2 In addition a torque reference signal must be selected through Torque Ref A or Torque Ref B When operating in torque mode the motor current will be adjusted to achieve the desired torque If the material being wound unwound breaks the load will decrease dramatically and the motor can potentially go into a runaway condition Torque Reference Torque Ref A Hi and Torque Ref A Lo parameters 428 amp 429 are used to scale Torque Ref A only when Torque Ref A Sel parameter 427 is set to an analog output Torque Ref A is divided by Torq Ref A Div parameter 430 PF700VC only regard
71. Level be set greater than or equal to Sleep Level However there are no limits that prevent the parameter settings from crossing but the drive will not start until such settings are corrected These levels are programmable while the drive is running If Sleep Level is made greater than Wake Level while the drive is running the drive will continue to run as long as the analog input remains at a level that doesn t trigger the sleep condition Once the drive goes to sleep in this situation it will not be allowed to restart until the level settings are corrected increase wake or decrease sleep If however the levels are corrected prior to the drive going to sleep normal Sleep Wake operation will continue Timers Wake Time Sleep Time Timers will determine the length of time required for Sleep Wake levels to produce true functions These timers will start counting when the Sleep Wake levels are satisfied and will count in the opposite direction whenever the respective level is dissatisfied If the timer counts all the way to the user specified time it creates an edge to toggle the Sleep Wake function to the respective condition sleep or wake On power up timers are initialized to the state that does not permit a start condition When the analog signal satisfies the level requirement the timers start counting Interactive functions Separate start commands are also honored including a digital input start but only when t
72. Lowering current limit on a CT load will push the drive down to a region where the thermal issue becomes worse In this situation the thermal manager will increase the calculated losses in the power module to track the worst case IGBT For example if the thermal manager normally provides 150 for 3 seconds at high speeds it may only provide 150 for one second before generating a fault at low speeds Some applications may benefit from the disabling of current limit fold back Droop Droop is used to shed load and is usually used when a soft coupling of two motors is present in an application The master drive speed regulates and the follower uses droop so it does not oppose the master The input to the droop block is the commanded motor torque The output of the droop block reduces the speed reference Droop RPM FLA sets the amount of speed in RPM that the speed reference is reduced when at full load torque For example when Droop RPM FLA is set to 50 RPM and the drive is running at 100 rated motor torque the droop block would subtract 50 RPM from the speed reference NET EZ Faults 43 Faults Faults are conditions occurring within and or outside of the drive These conditions are by default considered to be important enough that drive operation is discontinued Faults are annunciated via the HIM communications and or digital outputs NET ET Once a fault occurs it is latched requiring a fault reset action If the
73. No Filtering PI Output No Filtering Scale Block Analog Output KINTANA In addition to the common selections an analog output can be driven by any available data The data can then be scaled before it reaches the output A Link function establishes a connection from the data to the input of a Scale Block The analog output selection Scale Block x makes the connection from the output of the scale block to the physical output Testpoint 1 Data 477 inti Out Hi 235 476 nti Scale 1 In Lo Out Lo Example Analog Output 2 set for 0 10V DC for Heat Sink Temp 0 100 Degrees C using Scale Block 1 Setup Link Scale1 In Value parameter 476 to Testpoint 1 Data param 235 Testpoint 1 Sel parameter 234 2 Heat Sink Temp Analog Out2 Sel parameter 345 20 Scale Block 1 Analog Out2 Hi parameter 346 10 000 Volts Analog Out2 0 parameter 347 0 000 Volts Scale In Hi parameter 477 100 Scale1 In Lo parameter 478 0 Network Controlled Analog Output Enables the analog outputs to be controlled by network Datalinks to the drive Example Analog Output 1 controlled by DataLink C1 Output 0 10V DC with DataLink values of 0 10000 Setup Data In C1 parameter 304 Analog Output 1 Setpoint Analog Out1 Sel parameter 342 24 Parameter Control Analog Out1 Hi parameter 343 10 000 Volts Analog Out Lo parameter 344 0 000 Volts The device that writes to DataLink
74. Reg Trim Default 1 0 Torque Regulator trim gain A larger value increases 0 5 1 5 the developed torque Typically used to compensate Units 0 1 for losses between developed and shaft torque 530 Slip Reg Enable Default 1 wv Enables or disables the slip frequency regulator Min Max 0 1 Units 1 531 Kp Slip Reg Default 256 vv Proportional gain for the slip frequency regulator Min Max 0 32767 Units 1 File No Diag Vector Cntl Parameter Name amp Description The delay that is enforced after a stop event prior to a flying start event A setting of 1000 0 5 seconds Integral gain for frequency portion of torque regulator Proportional gain for Fast Braking mode Engineering Parameters Values 532 Ki Slip Reg Default 64 Integral gain for the slip frequency regulator Min Max 0 32767 Units 1 533 Flux Reg Enable Default 1 Enables or disables the flux regulator Min Max 0 1 Units 1 534 Kp Flux Reg Default 64 Proportional gain for the flux regulator Min Max 0 32767 Units 1 535 Ki Flux Reg Default 32 Integral gain for the flux regulator Min Max 0 32767 Units 1 536 Ki Flux Braking Default 100 Proportional gain for the Flux Regulator Min Max 0 32767 Units 1 537 Kp Flux Braking Default 500 Integral gain for the Flux Regulator Min Max 0 32767 Units 1 538 Rec Delay Time Default 1000 Min Max
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76. The following words are used throughout the manual to describe an action Word Meaning Can Possible able to do something Cannot Not possible not able to do something May Permitted allowed Must Unavoidable you must do this Shall Required and necessary Should Recommended Should Not Not recommended 2 General Precautions General Precautions P Pb b b b 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 ATTENTION An incorrectly applied or installed drive can result in component damage or a reduction in product life Wiring or application errors such as undersizing the motor incorrect or inadequate AC supply or excessive ambient temperatures may result in malfunction of the system ATTENTION Only qualified personnel familiar with adjustable frequency AC drives and associated machinery should plan or implement the installation start up and subsequent maintenance of the system Failure to comply may result in personal injury and or equipment damage ATTENTION To avoid an electric shock hazard verify
77. be configured such that some conditions do not trip the drive Fault Config 1 is a 16 bit parameter enabling or disabling specific fault conditions see below Flux Braking 45 Following is a brief list of each configurable fault Some of these faults are explained in more detail in their own section of this document Fault Description Power Loss Undervoltage Reserved Motor Overload Shear Pin Auto Restart Tries Decel Inhibit Motor Thermistor Input Phase Loss Load Loss Reserved Shear Pin No Accel Output Phase Loss PTC Hardware O e k Flux Braking Flux braking is used to provide extra braking capability without the use of a brake resistor by taking advantage of the losses in a motor Flux braking can be used not only to brake a load to a complete stop but also to brake a load from one speed to a lesser speed For a complete list of methods that will bring the load to a complete stop see Stop Modes on page 109 lt 70 IET To enable flux braking 1 Bus Reg Mode A B must be set to 1 Adjust Freq to enable the bus regulator 2 Flux Braking must be set to 1 Enabled When enabled flux braking automatically increases the motor flux resulting in an increase of motor losses but only when braking is required In general the flux current is not increased when the motor is at
78. be tee RE ERE eb Ee e ede d e aie 88 Reset Parameters u u sees rex dr E ERU t Re ous 88 S CUNE a ki CET 89 Safe Off dns pit edid usa 91 Scale Blocks rep eR RES PE OG 91 SOCUOUY 92 She r Pin aaa q 94 SKIP FREQUENCY EP Rn 94 Sleep Mode cepe eee s ege eked Cir EM ea Cae 96 ii Table of Contents Appendix Index Speed Reference WES sya RUE 98 Speed Regulation epe e pee re RIP ERE aia ice 101 Speed Torque Mode csse So IR ue RUE RR ARV deeper RES E 105 Start db EE pique P gp ER yumuu sua 108 Stop Modes 4 ee epe neret 20 109 User Display eee cete ec ep ee a Ed CR OR 113 l eI DER 114 Voltage Class Scene dia bp ee eb uu ahhh ER dee Ede Ea pde Cea 115 Voltage Tolerance o ers eret he I EHE P e ese debes 116 Supplemental Information 117 Engineering Parameters 4 1 117 D rating Guidelines 24 caet nes Mee ae See ep Peed at 120 PowerFlex 70EC Block Diagrams 2 135 PowerFlex 700VC Block Diagrams
79. by hardware at a nominal value of 100 degrees C This fault is generally not used for overcurrent protection due to the thermal time constant of the heatsink It is an overload protection e Drive Overload Protection Refer to Drive Overload on page 39 Datalinks A Datalink is one of the mechanisms used by PowerFlex drives to transfer data to and from a programmable controller Datalinks allow a parameter value to be changed without using an Explicit Message or Block Transfer Datalinks consist of a pair of parameters that can be used independently for 16 bit transfers or in conjunction for 32 bit transfers Because each Datalink consists of a pair of parameters each Datalink occupies two 16 or 32 bit words in both the input and output image tables depending on configuration A parameter number is entered into the Datalink parameter The value that is in the corresponding output data table word in the controller is then transferred to the parameter whose number has been placed in the Datalink parameter The following example demonstrates this concept The object of the example is to change Accel and Decel times on the fly under PLC control NET ET The user makes the following PowerFlex drive parameter settings Data In A1 parameter 300 140 parameter number of Accel Time 1 Data In A2 parameter 301 142 parameter number of Decel Time 1 In the PLC data Table the user enters Word 3 as a value of 100 10 0 Secs and word 4
80. commissioning Slip RPM FLA is set based on entered motor nameplate information This parameter may be adjusted to provide more or less slip See Figure 18 for a comparison of operation with and without slip compensation This shows that over time slip compensation will correct for changes in load curved lines In contrast open loop operation shows that no correction is made based on load 102 Speed Regulation Figure 18 Rotor Speed with without Slip Compensation Open Loop Slip Compensation Slip Compensation Mode Active 1 5 p u Load gt Active Load Load gt Applied Applied 1 0 Load 3 Y Y No Load Y 0 5 Load amp 7 _ NENNEN _________ 22 s 1 0 5 p u Load 45 1 0 Load ta M ee 1 5 Load FLA im a Time Internally the drive converts the rated slip in RPM to rated slip in frequency To more accurately determine the rated slip frequency in hertz an estimate of flux current is necessary This parameter is either a default value based on motor nameplate data or the auto tune value The drive scales the amount of slip compensation to the motor rated current The amount of slip frequency added to the frequency command is then scaled by the sensed torque current indirect measurement of the load and displayed Slip compensation also affects the dynamic speed accuracy ability to maintain speed during sh
81. completed 1 Factory All active parameters are reset to values that match the voltage code e g 400V or 480V that was shipped 2 Low Voltage All active parameters are reset to values that match the lowest voltage within its class e g 400V e 3 High Voltage All active parameters are reset to values that match the highest voltage within its class e g 480V Reset command 2 would only be used if for example a 480V drive catalog code D was to be used on a 400V system and motor Reset command 3 would only be used if for example a 400V drive catalog code C was to be used on a 480V system and 460V motor Since reset commands 2 and 3 also reset all drive parameters they would normally only be used to initialize the drive for the proper voltage prior to making all other parameter settings Note that the setting for Voltage Select is also affected by reset commands 2 and 3 but using Voltage Select instead of Reset To Defalts will not initialize parameters such as Motor NP Volts and Motor NP Hertz When a reset command is executed it resets all parameters within the active parameter set normally used by the drive to operate User Sets additional memory areas for alternate parameter settings are unaffected by parameter reset functions Transferring a default set of parameters into a user set requires a parameter reset command followed by a Save To User Set command see User Sets on page 114
82. drive 20ms times the number of attached peripherals The maximum time to detect the loss of communication from a peripheral device is 500ms Table D Timing specifications contained in DPI and SCANport DPI Host status messages only go out to peripherals once they log in and at least every 125ms to all attached peripherals Peripherals time out if gt 250ms Actual time is dependent on number of peripherals attached Minimum time goal is 5ms may have to be dependent on Port Baud Rate DPI allows minimum 5ms status at 125k and 1ms status at 500k SCANport Host status messages only go out to peripherals once they log in Peripherals time out if 500ms If Peripheral receives incorrect status message type Peripheral generates an error Actual time is dependent on number of peripherals attached SCANport allows minimum rate of 5ms DPI Host determines MUT based on number of attached peripherals Range of values from 2 to 125ms Minimum goal time is 5ms DPI allows 2ms min at 500k and 5ms min at 125k SCANport No MUT DPI Peripheral command messages including Datalinks are generated on change of state but not faster than Host MUT and at least every 250ms Host will time out if gt 500ms SCANport Command messages are produced as a result of Host status message If no command response to Host status within 3 status scan times Host will time out on that peripheral DPI Peer message requests cannot be sent a
83. level However the shear pin feature can be used to instantly fault the drive when output current exceeds a programmed amount Additionally the drive can be programmed to ignore this condition during acceleration and deceleration which often requires current that would otherwise cause a shear pin fault Also the condition can be completely ignored for a programmable amount of time There are situations where a fast acceleration of the motor will cause the drive to output current to the motor near or at the current limit value for shear pin and fault the drive while in acceleration To avoid this condition set bit 11 in parameter 238 to 1 Using bit 11 in parameter 238 without bit 4 being 1 has no effect In addition a shear pin time needs to be set in parameter 189 This will allow current limit for shear pin time before faulting the drive A unique fault Shear Pin F63 will be generated if the function is activated and the condition occurs Configuration e P238 Fault Config 1 bit 4 Shear Pin 1 this enables the shear pin fault e P238 Fault Config 1 bit 11 ShearPNo Acc 1 this enables the ignore feature during accelerations e P189 Shear Pin Time desired amount of time to ignore the shear pin condition before a fault occurs e g 0 5 sec e P147 Current Lmt Sel Lim Val specifies the source of the current limit level Can also com from analog inputs e P148 Current Lmt Val
84. ohms 5V DC and must be cleared reset by a fault clear command see Faults on page 43 after the resistance has decreased below 3230 ohms 5V DC The drive will also fault if the PTC voltage drops below 0 2V DC indicating a shorted PTC PWM Frequency In general it is best to use the lowest possible PWM switching frequency that is acceptable for the application There are some benefits to increasing the PVM frequency Refer to Figure 13 and Figure 14 Note the output current at 2 kHz and 4 kHz The smoothing of the current waveform continues as the PWM frequency is increased NET NET Figure 13 Current at 2 kHz PWM Frequency Stop 25 0kS s 322 Acas C4 RMS 11 68mv D M2 b0mis Ch 117 8 Ch4 10 0mva Figure 14 Current at 4 kHz PWM Frequency Stop 25 0kS s 94 Acqs C4 RMS 11 46mv Ch4 10 0mvo MODICUS APTAM Higher PWM frequencies may result in less motor heating and lower audible noise The decrease in motor heating is considered negligible and motor failure at lower PWM frequencies is very remote The higher PWM frequency creates less vibration in the motor windings and laminations thus lower audible noise This may be desirable in some applications Some undesirable effects of higher switching frequencies include derating ambient temperature vs load characteristics of the drive hig
85. page 114 for a complete description of these modes and the digital input combinations that activate each mode Digital Input Conflict Alarms If the user configures the digital inputs so that one or more selections conflict with each other one of the digital input configuration alarms will be asserted As long as the Digital Input Conflict exists the drive will not start These alarms will be automatically cleared by the drive as soon as the parameters are changed to remove the conflicts Examples of configurations that cause an alarm are Configuring both the Start input function and the Run Forward input function at the same time Start is only used in 3 wire start mode and Run Forward is only used in 2 wire run mode so they should never be configured at the same time e Configuring the same toggle input function for instance Forward Reverse to more than one physical digital input simultaneously These alarms called Type 2 Alarms are different from other alarms in that it will not be possible to start the drive while the alarm is active It should not be possible for any of these alarms to occur while the drive is running because all digital input configuration parameters can only be changed while the drive is stopped Whenever one or more of these alarms is present the drive ready status will become not ready and the HIM will reflect a conflict message In addition the drive status lig
86. the motor nameplate Motor NP RPM The rated base speed in RPM as stated on the motor nameplate Motor NP Power The rated power as stated on the motor nameplate This may be entered in horsepower or in kilowatts as selected in Mtr NP Pwr Units parameter 46 Mtr NP Pwr Units Determines the units for Motor NP Power Possible settings are e 0 Horsepower units are displayed in HP e 1 kilowatts units are displayed in kW e 2 Convert HP converts units to HP from kW by dividing Motor NP Power by 0 746 PowerFlex 700VC Only e 3 Covert kW converts units to kW from HP by multiplying Motor NP Power by 0 746 PowerFlex 700VC Only Motor Poles Defines the number of poles in the motor Motor Poles is calculated automatically if the user enters the motor nameplate data through the Assisted Start up menu of an LCD HIM The number of motor poles is defined by where E P motor poles f base motor frequency Hz synchronous RPM at base motor frequency f Motor Overload 55 Motor Overload The motor overload protection feature uses an IT inverse time algorithm to model the temperature of the motor and follows the same curve as a physical class 10 overload device S 70EC RG Motor Overload Curve 100000 1 10000 S 8 Cold 1000 Hot 100 100 125 150 175 200 225 250 Fu
87. time of occurrence A fault queue will record the occurrence of each fault event that occurs while no other fault is latched A new fault event will not be logged to the fault queue if a previous fault has already occurred but has not yet been reset Only faults that actually trip the drive will be logged A fault that occurs while the drive is already faulted will be not be logged The fault queue is a first in first out FIFO queue Fault queue entry 1 will always be the most recent entry newest As new faults are logged existing entries will be shifted up by one If the queue is full when a fault occurs the oldest entry will be discarded The fault queue will be saved in nonvolatile storage at power loss thus retaining its contents through a power off on cycle 44 Faults Fault Code Text Fault Code x The fault code for each entry can be read in its respective read only parameter When viewed with a HIM only the fault code not text is displayed If viewed via a DPI peripheral communications network the queue is not accessed through parameters and a text string of up to 16 characters is also available Fault Time Fault x Time The drive has an internal drive under power timer that increments in value over the life of the drive and is saved in nonvolatile storage Each time the drive is powered down and then repowered the value of this timer is written to Power Up Marker parameter 242 The time is presented in
88. to Both Frq 1st Both regulators are enabled and the operating point of the Bus Voltage Regulator is lower than that of the Dynamic Brake Regulator The Bus Voltage Regulator setpoint follows the Reg Curve 2 below a DC Bus Memory of 650V DC and follows the DB Turn curve above DC Bus Memory of 650V DC Table The Dynamic Brake Regulator follows the DB Turn On and turn off curves For example with a DC Bus Memory at 684V DC the Bus Voltage Regulator setpoint is 742V DC and the Dynamic Brake Regulator will turn on at 750V DC and back off at 742V DC If Bus Reg Mode x is set to Adjust Freq The Bus Voltage Regulator is enabled The Bus Voltage Regulator setpoint follows Bus Reg Curve 1 below a DC Bus Memory of 650V DC and follows the DB Turn On above a DC Bus Memory of 650V DC Table C For example with a DC Bus Memory at 684V DC the adjust frequency setpoint is 750V DC 23 If Bus Reg Mode x is set to Both DB 1st Both regulators are enabled and the operating point of the Dynamic Brake Regulator is lower than that of the Bus Voltage Regulator The Bus Voltage Regulator setpoint follows the Turn On curve The Dynamic Brake Regulator follows the DB Turn On and turn off curves For example with a DC Bus Memory between 650 and 685V DC the Bus Voltage Regulator setpoint is 758V DC and the Dynamic Brake Regulator will turn on at 742V DC and back off at
89. xxx yyyy hours 4 decimal places Internally it will be accumulated in a 32 bit unsigned integer with a resolution of 0 35 seconds resulting in a rollover to zero every 47 66 years The time stamp value recorded in the fault queue at the time of a fault is the value of internal drive under power timer By comparing this value to the PowerUp Marker it is possible to determine when the fault occurred relative to the last drive power up Power Up Marker This is a copy of the factory drive under power timer at the most recent power up of the drive It is used to provide relevance of Fault x Time values with respect to the power up of the drive Resetting or Clearing a Fault A latched fault condition can be cleared by the following 1 An off to on transition on a digital input configured for fault reset or stop reset Setting Fault Clear to 1 2 3 A DPI peripheral several ways 4 Performing a reset to factory defaults via parameter write 5 Cycling power to the drive such that the control board goes through a power up sequence Resetting faults will clear the faulted status indication If any fault condition still exists the fault will relatch and another entry made in the fault queue Clearing the Fault Queue Performing a fault reset does not clear the fault queue This can be done from a menu selection of the HIM or from a DPI command through the communications port Fault Configuration The drive can
90. 0 of Base Speed 56 Motor Overload 3 Motor OL Hertz is used to further protect motors with limited speed ranges Since many motors do not have sufficient cooling ability at lower speeds the overload feature can be programmed to increase protection in the lower speed areas This parameter defines the frequency where derating the motor overload capacity should begin For all settings of overload Hz other than zero the overload capacity is reduced to 70 when output frequency is zero During DC injection braking the motor current may exceed 7046 of FLA but this will cause the motor overload to trip sooner than when operating at base speed At low frequencies the limiting factor may be the drive overload rather than the motor overload Changing Overload Hz 120 100 5 80 OLHz 10 s 60 OLHz 25 OLHz 50 o 20 0 10 20 30 40 50 60 70 80 90 100 a 2 LII Ani Duty Cycle for the Motor Overload When the motor is cold this function will allow 3 minutes at 15096 When the motor is hot it will allow 1 minute at 15096 A continuous load of 102 is allowed to avoid nuisance faults The duty cycle of the motor overload is defined as follows If operating continuous at 100 FLA and the load increases to 15096 FLA for 59 seconds and then returns to 10096FLA the load must remain at 100 FLA for 20 minutes to reach steady state 1 Minute 1 Minute lt 20 Minutes gt 150 100
91. 0 of Rated Continuous Current PowerFlex 70EC Block Diagrams 135 PowerFlex 70EC Block Diagrams 102 Preset Speed 2 Changeable Parameter Ms Bit Parameter Not Set 0 Bit 13 Spd Ref ID lt 70EC M o E N 11 MOP Frequency Read Only Parameter 271 Drive Logic Rslt _ a y Bitt2 spdretio Bit Parameter Set 1 96 TB Man Ref Sel Parameter is Read Only Analog In 1 while Drive is Running Drive Overview 12 DC Bus Voltage 682 7 VDC 9 Output Voltage Communication 20 90 VC J Network gt lt Adapters y 3 Output Current 0 00 Amps 1 Output Freq E 0 0 Hz 3 2 Commanded Freq 0 0 Hz 24 Commanded Torque 0 0 25 Speed Feedback 0 0 415 Encoder Speed Drive Control 0 0 Control Inputs amp Outputs Control Overview 53 Motor Cntl Sel Sensris Vect 69 1 gt 23 Speed Reference gt gt Speed 0 0 Hz Control Reference Speed Control 1 Output Freq 25 Speed Feedback gt Tm 1 V Hz 0 0 Hz V Hz amp Vector 4 gt y 441 Torq e is s gt Control T FVC Vector P nt Speed Control rocessing Feedback Select Motor ed Open Loop Gea
92. 0 motor torque from another drive We want to use the 200 to 200 range 2 5 to 2 5V of that motor torque and correspond it to 100 to 100 of the PI Reference o 25 2 Bo 15 eS 05 Be 05 G o 88 15 amp 25 100 80 60 40 20 0 20 40 60 80 100 PI Reference 92 Security Security REZA NET Parameter Settings Parameter Value Description Scale 1 In Hi 25V 2 5 V 200 torque from other drive Scale 1 In Lo 2 5V 2 5 V 200 torque from other drive PI Reference Sel 25 Scale The PI Reference becomes the output of the scale block Block1 Out PI Reference Hi 100 96 100 PI Reference corresponds to 200 torque from other drive PI Reference Lo 100 100 Reference corresponds to 200 torque from other drive Parameter Links CATT Scale In Hi PI Reference Hi 7460 Link Analog In2 Value Scale1 Out lt 2 gt 46 Scale In Value de gt PI Reference 478 Scale In Lo Reference Lo 461 Destination Parameter Description Scale1 In Value Analog In2 Value Scaling Analog In 2 value This feature provides write access protection for individual communication ports in a drive In addition the following drive peripherals and software tools support this security technology Communication Peripherals e 20 COMM E EtherNet IP v2 002 or higher e 20 COMM C Q ControlNet v2 001 or higher e 20 COMM D DeviceNet v2
93. 0 5 6 00 1 00 1 5 5 Param Level 50 0 5 0 5 701 0 00 1 6 6 End N A N A 0 5 N A 0 00 N A N A Encoder Incremental Blend EncIncrBlend When started the drive will ramp to the desired velocity and hold speed until the units of travel programmed is reached within tolerance window The profile will then transition to the next step and the drive will ramp to the speed of the new step without first going to zero speed The example below shows a five step profile The first three are EncIncrBlend steps followed an Encoder Abs step to zero then an End step For each EncIncrBlend step the drive ramps at Step X AccelTime to Step X Velocity in the direction of the sign of Step X Value The Step X Value is programmed to the desired units of travel for the step When the value programmed in Step X Value is reached the profile transitions to the next step The absolute step is used to send the profile back to the home position This is done by programming Step 4 Value to zero Encoder Incremental Blend 350 30 250 25 150 Complete 50 50 pajone1 150 EncoderSpeed Profile Status Scaled 250 350 450 deis 2 Time Encoder Speed 415 Profile Status 700 Units Traveled 701 Current Step 68 Position Indexer Speed Profiler StepX Step X Ste
94. 0 None 5 0 3 0 50 rT 9 45 Qa 5 40 5 E 30 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 7 5 5 0 80 h 45 5 40 35 E 30 x 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 10 7 5 eg 5 5 lt s z 40 50 60 70 80 90 100 of Rated Continuous Current 15 10 50 s 45 2 40 E 35 N 5 30 52 20 40 50 60 70 80 90 100 of Rated Continuous Current 20 15 amp E i 5 lt 40 50 60 70 80 90 100 of Rated Continuous Current 25 20 50 _ 45 M N 5 40 5 X 30 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 122 Derating Guidelines 400V AC PowerFlex 70 Power Rating Derating ND kW HD kW 2kHz 4 2 6kHz 8kHz 10 kHz 400 Volt 0 37 5 5 0 25 4 0 None 7 5 5 5 F a 35 30 25 Max Ambient Temp C 20 40 50 60 70 80 90 100 of Rated Continuous Current 11 7 5 50 1 4 45 40 35 30 Max Ambient Temp C 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 15 11 50 45 40 35 30 Max Ambient Temp C 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 18 5 15 e e a BoR
95. 00 1 4 4 Encoder Abs 400 0 5 0 5 0 00 1 00 1 5 5 End N A N A 0 5 N A 0 00 N A N A Digital Input When started the drive will ramp to the desired velocity and hold speed until the digital input programmed in the value transitions in the direction defined When this occurs the profile will transition to the next step and ramp to the programmed velocity without going to zero speed The example below shows a six step profile In each step the drive ramps at Step X AccelTime to Step X Velocity in the direction of the sign of Step X Velocity until a digital input is detected When the input is detected it transitions to the next step in the profile This continues through DigIn6 activating step 5 Step 5 is defined as a Parameter Level step Digital Inputs used in the profile must be defined as Prof Input Position Indexer Speed Profiler 67 Digital Inputs 350 H 250 2 150 5 o 5 g 150 250 2 350 Time Note Step 5 is a Parameter Level Step Encoder Speed 415 Profile Status 700 Units Traveled 701 Current Step Dig In Status 216 StepX Step X Step X StepX StepX StepX Step X Step Step X Type Velocity AccelTime DecelTime Value Dwell Batch Next 1 Digital Input 300 0 5 0 5 3 00 0 00 1 2 2 Digital Input 50 0 5 0 5 4 00 5 00 1 3 3 Digital Input 300 0 5 0 5 5 00 0 00 1 4 4 Digital Input 100 0 5
96. 00000000 PY HSE 265 Munoes sta Joy aM 269 uno s 0L11010000000000 SIM 965 11110 0000000000 PY uod 569 uwa uno s 151 PowerFlex 70EC Block Diagrams 0000000000000000 eng 1111010000000000 JeuMQ E907 262 1 18201 582 12007 ejpuis 1 0000000000000000 1111010000000000 dON 962 dON 82 dON lt 9 Idd 91815 0000000000000000 9 601 LLLLOLO000000000 Jaouenbas JeUMQ NEJ 662 JeuMQ JI 282 enug en lt 0000000000000000 1111010000000000 uod Ida J8UMO 8980 62 9290 282 t 1898q ___ __ ____ ra 0000000000000000 1111010000000000 lt JBUMO 1809Y 662 19UMQ 829v 82 PH lt lt 9 Em M Aumas lt I Zod Id lsi LLZ 21601 000000000000000
97. 001 or higher e 20 COMM S DF v1 003 or higher Software Tools e DriveExplorer v4 04 or higher e DriveTools SP v4 01 or higher By default every DPI port in the drive is configured to allow write access For additional information on DPI port locations and their assignments refer to HIM Overview in Appendix B of the User Manual To change write access on an individual DPI port change the bit setting of the associated port in Write Mask Cfg parameter 596 Bit 0 Host drive Bit 1 DPI Port 1 Bit2 DPI Port 2 e Bit 3 DPI Port 3 e Bit 4 DPI Port 4 PF700VC only e Bit 5 DPI Port 5 Bit value of 0 masked read only access Bit value of 1 not masked read write access Security 93 Any changes to Write Mask Cfg will not take effect until one of the following three events occur e Power is removed and reapplied e A drive reset not reset to defaults is performed e Write Mask Act parameter 597 bit 15 transitions from 1 to 0 The status of a port s write access may be verified at Write Mask Act For example to verify that write access was disabled on DPI Port 1 bit 1 should equal bit 1 in Write Mask Cfg The port that is being used to make security changes e g if using a network adapter connected to Port 5 can only change other ports not itself to Read This is to prevent the complete lockout of a drive with no future way to regain write access
98. 00VC contains an adjustable scale factor to override the fixed target range Examples This section gives a few examples of valid analog output configurations and describes the behavior of the output in each case Example 1 Unsigned Output Quantity Analog Out1 Sel Output Current Analog Out Lo 1 volt Analog 1 Hi 9 volts 10V M Analog Outi Hi 1 1 Analog Output Voltage 1 T 1 Analog 1 Lo D nh n nr N 0 200 Output Current Analog Outputs 11 Example 2 Unsigned Output Quantity Negative Slope Analog Out1 Sel Output Current Analog Out1 Lo 9 volts Analog Out1 Hi 1 volts 10V Analog Out1 Lo Analog Output Voltage Analog Out Hi t gt 0 200 Output Current This example shows that Analog Out1 Lo can be greater than Analog Out1 Hi The result is a negative slope on the scaling from original quantity to analog output voltage Negative slope could also be applied to any of the other examples in this section Example 3 Signed Output Quantity Absolute Value Enabled Analog Outi Sel Output Torque Current Analog Out1 Lo 1 volt Analog Hi 9 volts Anlg Out Absolut Analog Out1 Hi Analog Output Voltage Analog Lo 200 0 200 Output Torque Current pis 4 Signed Output Quant
99. 0V example shown see Table F for further information 76 Power Loss Decel This mode of operation is useful if the mechanical load is high inertia and low friction By recapturing the mechanical energy converting it to electrical energy and returning it to the drive the bus voltage is maintained As long as there is mechanical energy the ride through time is extended and the motor remains fully fluxed If AC input power is restored the drive can ramp the motor to the correct speed without the need for reconnecting The drive determines a power loss has occurred if the bus voltage drops below Vtrigger If the drive is running the inertia ride through function is activated The load is decelerated at the correct rate so that the energy absorbed from the mechanical load regulates the DC bus to the value Vinertia The inverter output is disabled and the motor coasts if the output frequency drops to zero or if the bus voltage drops below Vopen or if any of the run permit inputs are de energized If the drive is still in inertia ride through operation when power returns the drive immediately accelerates at the programmed rate to the set speed If the drive is coasting and it is in permit state the reconnect algorithm is run to match the speed of the motor The drive then accelerates at the programmed rate to the set speed 680V Bus Voltage 620V 560V 500V 407V 305V Motor S
100. 1 96 of base speed Operating Speed Range 40 1 80 1 80 1 120 1 1000 1 Speed Bandwidth 10 rad sec 20 rad sec 20rad sec 50rad sec gt 125 rad sec Torque Regulation N A N A N A lt 10 lt 5 Volts Hertz Volts Hertz operation creates a fixed relationship between output voltage and output frequency The relationship can be defined in two ways 1 Fan Pump When this option is chosen the relationship is 1 x2 Therefore for full frequency full voltage is supplied and for 1 2 rated frequency 1 4 voltage is applied etc This pattern closely matches the torque requirement of a variable torque load centrifugal fan or pump load increases as speed increases and offers the best energy savings for these applications Maximum Voltage 4 Base Voltage Nameplate Run Boost 4 Base Frequency Maximum Nameplate Frequency 52 Motor Control Modes 2 Custom Custom Volts Hertz allows a wide variety of patterns The default configuration is a straight line from zero to rated voltage and frequency As seen in the diagram below the volts hertz ratio can be changed to provide increased torque performance when required by programming 5 distinct points on the curve Start Boost Used to create additional torque for breakaway from zero speed and acceleration of heavy loads at lower speeds Run Boost Used to create additional running torque at low speeds The value is typically less than the required acceleration tor
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102. 1600 v This proportional gain adjusts the output voltage in Min Max 0 32767 response to the q and d axis motor currents A larger Units 1 value increases the output voltage change 523 Bus Utilization Default 95 0 wv This value sets the drive output voltage limit as a Min Max 85 0 100 0 percentage of the fundamental output voltage when Units 0 1 operating in 6 step mode Values above 95 increase harmonic content and jeopardize control stability This output voltage limit is strictly a function of input line and resulting bus voltage 524 PWM Type Sel Default 0 v E Allows selection of the active type A value of 0 Min Max 0 1 is default and results in a change of PWM method at Units 1 approximately 2 3 of rated motor frequency If this is unacceptable for harmonic or audible reasons a value of 1 disables the change 525 Torq Adapt Speed Default 10 0 Selects the operating frequency speed at which the 0 0 100 0 adaptive torque control regulators become active as Units 0 196 a percent of motor nameplate frequency 526 Torq Reg Enable Default 1 vv Enables or disables the torque regulator Min Max 0 1 Units 1 527 Torq Reg Default 32 Proportional gain for the torque regulator Min Max 0 32767 Unis 1 S 5 528 Ki Reg Default 128 v 8 Integral gain for the torque regulator Min Max 0 32767 gt Units 1 529 Torq
103. 5 40 862 5592014 9 dwey 141 PowerFlex 70EC Block Diagrams 1 6699 o I og 2H seu 806 1 1972 e 40 I g 9 S Hod Idd evodiga _ I uod Idd Toe 01 1 9 11 z uod end 16 9 26 ye 1 10 Hed id ER t 9 009 e T 1005 1959 4 zi 1 peeds 01 199 9S yoeqpee w 4 8890044 OL 005 e gpds 9594 e 9 9 peeds jasald 901 1 I 00 Spdg 95914 e en pads 18S91d SOL 1 I 06 95 jeseid e m t peedg 1eseid YOL 002 e a pdg 195914 e peeds 19seld 20 a dre 2 1 001 le 2096 1959 4 e 2 paeds yesald 201 jm 1 I 0 2 Id 559201 i 1 05 e peeds 18s9 d LOL m O Bess Id 5 01 IH 2 00 Tilo PRN _____ am NEN 9 1 19407 d
104. 5 Profile Status 700 Units Traveled 701 Current Step StepX Step X Step X StepX StepX StepX Step X Step Step X Type Velocity AccelTime DecelTime Value Dwell Batch Next 1 Param Level 100 0 5 0 5 701 10 00 1 2 2 Param Level 200 0 5 0 5 701 20 00 11 3 3 Param Level 300 0 5 0 5 701 30 00 11 4 4 Encoder Abs 400 0 5 0 5 0 00 1 00 1 5 5 End N A N A 0 5 N A 0 00 N A N A Note A negative number in the Step X Value will transition when the comparison is less than the Step X Dwell Position Regulator Step Types Encoder Incremental Encoder Incr This is a move increment from the current position in the direction distance and speed programmed When started the drive ramps to the desired velocity holds the speed then ramps to zero speed at the position desired within the tolerance window The example below shows a five step profile The first three are Encoder Incr steps followed by an Encoder Abs step to zero then an End step For each Encoder Incr step the drive ramps at Step X AccelTime to Step X Velocity in the direction of the sign of Step X Value then decelerates at the rate of Step X DecelTime to the position programmed in Step X Value which sets the desired units of travel for the step When the value programmed in Step X Value is reached within the tolerance window programmed in Encoder Pos Tol the At Position bit is se
105. 700 Power Rating 10 kHz TE 50 60 70 80 of Rated Continuous Current 100 7 5 Max Ambient Temp C 50 60 70 80 of Rated Continuous Current 100 15 10 Max Ambient Temp C 50 45 40 35 30 25 20 50 60 70 80 of Rated Continuous Current 20 15 Max Ambient Temp C 50 45 40 35 30 25 20 50 60 70 80 of Rated Continuous Current 25 20 Max Ambient Temp C 50 60 70 80 of Rated Continuous Current 30 25 Max Ambient Temp C 50 45 40 35 30 25 20 40 50 60 70 80 90 100 of Rated Continuous Current Derating Guidelines PowerFlex 700 Power Rating Derating ND HP HD HP KH nists 4 kHz 6kHz 8kHz 10 kHz 600 Volt 40 30 50 i 45 40 35 N E M lt 9 x gt 20 40 50 60 70 80 100 of Rated Continuous Current 50 40 ux E 45 E 40 5 35 59 x N lt 20 40 50 60 70 80 100 of Rated Continuous Current
106. 8jeu Id 19 07001 890813434 Id 097 lulodi s Id SEL lt 07 110 les eoueejed Id 921 OUOD SSeo0Jd Absolute Analog Output 10 Accel Decel Time 3 Alarms 3 Type 1 3 Type 2 3 Analog I O 4 Analog Input Square Root 8 Analog Inputs 4 Analog Outputs 10 Analog Scaling 4 Auto Restart 15 Auto Manual 13 29 Autotune 16 Auxiliary Fault 30 Bus Memory 26 Bus Regulation 18 C Carrier PWM Frequency 87 Clearing a Fault 44 Conflicts Digital Input 33 Copy Cat 23 Current Limit 24 D Data Motor Nameplate 54 Datalinks 24 DC Bus Voltage 26 Decel Time 3 Digital Input Conflicts 33 Digital Inputs 26 Digital Output Timers 35 Digital Outputs 33 Direction Control 36 DPI 37 Drive Guard 39 Drive Overload 39 Drive Thermal Manager 40 Droop 42 E Economizer Sensorless Vector 53 Encoder Feedback 103 Index Exclusive Link 31 Exclusive Mode 78 F Fast Stop 32 Fault Configuration 44 Fault Queue 43 Fault clearing 44 Faults 43 Flux Up 46 Flux Vector 51 Flying Start 47 Forward Reverse 28 H High Resolution Speed Reference 48 Homing Routine 63 Human Interface Module User Display 113 Input Thermistor 86 Input Phase Loss Detection 48 Inputs Analog 4 Digital 26 J Jog Forward Reverse 28 Jogging 61 L Language 49 Local Control 31 M Masks 49 Maximum frequency 101 MOP 50 MOP Incr
107. B Allen Bradley i I s G Power 70 Enhanced Control and 700 Vector Control Reference Manual Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls Publication SGI 1 1 available from your local Rockwell Automation sales office or online at www rockwellautomation com literature describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will 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 manu
108. Dig Out2 Level depending on the output s being used If the value for the specified function frequency current etc exceeds the programmed limit the output will activate If the value falls back below the limit the output will deactivate Notice that the Dig Outx Level parameters do not have units The drive assumes the units from the selected function For example if the selection is current the drive assumes that the value for Dig Outx Level is rated Amps If the selection is Temperature the drive assumes that the value for Dig Outx Digital Outputs 35 Level is degrees C No units will be displayed on HIMs offline tools devices communicating over a network PLC s etc The minimum and maximum value for Dig Outx Level is independent of the selection for Dig Outx Sel The following values can be annunciated Value Description At Freq The drive output frequency equals or exceeds the programmed Limit At Current The drive total output current exceeds the programmed Limit At Speed The drive Output Frequency has equalled the commanded frequency At Torque The drive output torque current component exceeds the programmed Limit At Temp The drive operating temperature exceeds the programmed Limit At Bus Volts The drive bus voltage exceeds the programmed Limit At PI Error The drive Process Loop error exceeds the programmed Limit Controlled by Digital Input A digital output can be linked
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110. ID loop without changing tuning of the PID loop PTC Motor Thermistor Input A PTC Positive Temperature Coefficient device also know as a motor thermistor embedded in the motor windings can be monitored by the drive for motor thermal protection NET NETZ Configuration and Operation The PTC is connected to either the dedicated PTC input PF700VC only or Analog input 1 along with a pull up resistor of 3 32k ohms see the specific product manual for a connection diagram Note Analog Input 2 does not support this function For connection to analog input 1 the drive can be configured as follows to either fault or alarm e Fault Config 1 parameter 238 Bit 7 1 enabled e Alarm Config 1 parameter 259 Bit 11 1 enabled e Fault and alarm message Motor Therm For connection to the dedicated PTC input PF700VC only the drive can be configured as follows to either fault or alarm e Fault Config 1 parameter 238 Bit 13 1 enabled e Alarm Config 1 parameter 259 Bit 18 1 enabled e Fault and alarm message HW Note If the drive is configured for both alarm and fault the alarm condition is ignored Alarm Operation An alarm will occur when the PTC resistance increases above 3230 ohms 5V DC but must decrease below 2153 ohms 4Vdc for the alarm condition to clear 87 Fault Operation A fault will occur when the PTC resistance increases above 3230
111. If Start is configured then Stop Clear Faults must also be configured Otherwise a digital input configuration alarm will occur Stop Clear Faults is an optional setting in all other cases An open to closed transition is interpreted as a Clear Faults request The drive will clear any existing faults If the Clear Faults input function is configured at the same time as Stop Clear Faults then it will not be possible to reset faults with the Stop Clear Faults input Digital Inputs 27 e Run Forward Run Reverse These settings cause the drive to run and with a specific direction as long as the configured input is held closed Also these 2 wire settings prevent any other connected device from starting the drive To use a 2 wire digital input setting that is compatible with start commands from a communication adapter see Run w Comm on page 28 An open to closed transition on one input or both inputs while the drive is stopped will cause the drive to run unless the Stop Clear Faults input function is configured and open The table below describes the basic action taken by the drive in response to particular states of these input functions Run Forward Run Reverse Action Open Open Drive stops terminal block relinquishes direction ownership Open Closed Drive runs in reverse direction terminal block takes direction ownership Closed Open Drive runs in forward directio
112. Limit Input Y x Start Command 100 50 Find Home Command 0 20 25 30 V 45 Speed Feedback 25 Profile Status 700 Dig In Status 216 Position Redefine When Pos is set the present position is established as home and Units Traveled is set to zero Position Indexer Speed Profiler 65 Disable Homing Requirement If a home position is not required the routine can be disabled by clearing Alarm Config 1 bit 17 Prof SetHome to 0 This will disable the alarm from being set when Pos Spd Prof mode is configured in Speed Torque Mod and will set the present position as home Once Homing is complete the Find Home command must be removed to allow the profile to be run If the Find Home command is not removed when the drive is started the routine will see that it is At Home and the drive will stop Velocity Regulator Step Types End The drive ramps to zero speed and stops the profile It clears the current step bits and sets the Complete bit 14 in Profile Status parameter 700 word Time When started the drive will ramp to the desired velocity hold the speed and then ramp to zero in the programmed time for the given step The example below shows a five step profile The first 3 are Time steps followed an Encoder Abs step to zero then an End step For each Time step the drive ramps at Step X AccelTime to
113. None 0 Open Loop Output Frequency Important Speed Reference A is the normal speed reference used To choose a source for this reference make a selection in Speed Ref A Sel parameter 90 Also when the network Logic Command Word is used to choose a speed reference refer to Appendix A in the PowerFlex 70 or 700 User Manual for detailed operation Speed Reference 99 Network Reference When a network communication adapter is selected as the speed reference a 16 bit word is used as the speed reference If Direction Mode parameter 190 is set to Bipolar the most significant bit MSB is used for direction control Otherwise the MSB is ignored The remaining 15 bits 32767 decimal provide the magnitude By default the maximum network value is scaled to Maximum Freq parameter 55 Using the default value of 130 Hz results in the following scaling relationship Example 1 Maximum Network Reference Maximum Frequency DIP Ref Select parameter 298 Max Freq Maximum Freq parameter 55 130 Hz Maximum Speed parameter 82 60 Hz Speed Reference Network value Maximum Freq x 32767 When full speed 60 Hz is desired the following network value must be sent 60 130 x 32767 15123 Maximum Freq parameter 55 cannot always simply be changed to 60 Hz so that the maximum network value is equal to 60 Hz An internal control rule between Maximum Frequency Overspeed Limit and Maximum Speed usually p
114. ON B 6 dOW LL 1 PN e is Jepoou3 ilg paads jepoou3 61 82 Es ee 14 gj lt T 1 2 xoeqpoo ZH 001 z ff __ I sum Sh 1 0001 e Dojeuy riu ges p pe 07 Id 197 1 0005 01 l gt Id SEL 01 10 ND 01 Id ZZL 1 qulodyas 0001 leg Id 921 Id 097 d 5592014 N IAJ AO d 5592014 PowerFlex 70EC Block Diagrams 142 806 0001 Id 297 les Id 92 sun enbio GG 0 queuing lt Pu seu Iz 35 9 9 06 IE S ud Idd Sod Idd I 01 1 21807 _ pol dois 9 18 HOd Idd e TH 4 HOd Idd dojg ung uoyeanyuo Id 21 01 4 s a ei 175
115. PID Reset or PID Hold inputs Torque Trim When Torque Trim is set to 1 the output of the process PID loop will be added to Torque Reference A and B instead of being added to the speed reference Torque Trim is only active in Flux Vector mode of Ref When using Process PID control the output can be selected as percent of the Speed Reference This works in Speed trim mode only not in Torque Trim or Exclusive Mode Examples 6 of Ref selected Speed Reference 43 Hz PID Output 10 Maximum Frequency 130 Hz 4 3 Hz will be added to the final speed reference of Ref not selected Speed Reference 43 Hz PID Output 1096 Maximum Frequency 130 Hz 13 0 Hz will be added to the final speed reference PID Control PI Control is a set of bits to dynamically enable and disable the operation of the process PID controller When this parameter is interactively written to from a network it must be done through a data link so the values are not written to EEprom e PI Enable The PID loop can be enabled disabled The Enabled status of the PID loop determines when the PID regulator output is part or all of the commanded speed The logic evaluated for the PID Enabled status is shown in the following ladder diagram The drive must be in Run before the PID Enabled status can turn on The PID will remain disabled when the drive is jogged The PID is disabled when the drive begins a ramp to stop except when it is in Trim mo
116. Rated Continuous Current 25 20 e a E 5 lt 20 40 50 60 70 80 90 100 of Rated Continuous Current 30 25 eg 5 lt 40 50 60 70 80 90 100 of Rated Continuous Current 40 30 80 45 5 40 35 t E 30 x 20 40 50 60 70 80 90 100 of Rated Continuous Current 50 40 5 lt 40 50 60 70 80 90 100 of Rated Continuous Current Derating Guidelines 127 PowerFlex 700 Power Rating Derating ND HP HD HP ekz sees 4kHz 6kHz 8kHz 10 kHz 240 Volt 60 50 80 45 5 40 3 t 30 x 8 20 40 50 60 70 80 90 100 of Rated Continuous Current 75 60 E 5 40 50 60 70 80 90 100 of Rated Continuous Current 100 75 eg a 5 5 lt 40 50 60 70 80 90 100 of Rated Continuous Current 400V AC PowerFlex 700 Power Rating Derating ND kW HD kW 2kHz 4 2 6kHz 8kHz 10 kHz 400 Volt 0 37 7 5 0 25 5 5 None 11 7 5 50 45 40 35 30 Max Ambient Temp 25 20 40 50 60 70 80 90 100 of Rated Continuous Current 15 11 50 45 40 35 30 25 Max Ambient Temp C 20
117. Speed Torque Mode The drive can be programmed to operate as a velocity regulator a torque regulator or a combination of the two as follows Speed Torque Mod lt 70EC 700 0 From Speed Regulator Process PI Config 224 08 0 From Torque Trim _ 1 Torque Ref A Hi 980 L Torque Ref A Sel Scale Torque Ref A Lo 4294 Torq Ref A Div Torque Ref B Hi BDH Torque Ref Sel Scale Torque Ref B Lo 433 700VC Only Torq Ref B Mult Speed Torque Mod parameter 88 is used to select the mode of operation Zero torque current is allowed when set to 0 When set to a 1 the drive motor is operated in speed mode The torque command changes as needed to maintain the desired speed A value of 2 selects torque mode In torque regulation mode the drive controls the desired motor torque The motor speed will be a result of the torque command and load present at the motor shaft Min and Max mode are selected by values 3 and 4 respectively These two modes offer a combination of speed and torque operation The algebraic minimum or maximum of speed torque will be the operating point The drive will automatically switch from speed to torque mode or from torque to speed based on the dynamics of the motor load
118. Word bit manipulation from a DPI device such as a communications interface Bits 4 amp 5 control direction Refer to the Logic Command Word information in Appendix A of the PowerFlex 70 or 700 User Manual 4 The sign of a reference signal such as a bipolar analog input or the 16th bit of a network reference Direction commands by various devices can be controlled using the Direction Mask See page 49 for details on masks Refer to Digital Inputs on page 26 and Analog Inputs on page 4 for more detail on the configuration and operating rules for direction control DPI 37 DPI Drive Peripheral Interface DPI is a CAN based Master Slave protocol created to provide a standard way of connecting motor control products and optional peripheral devices together It allows multiple up to 6 devices to communicate with a motor control product without requiring configuration of the peripheral DPI provides two basic message types called Client Server C S and Producer Consumer P C Client Server messages are used to transfer parameter and configuration information in the background relative to other message types Producer Consumer messages are used for control and status information Multiple devices can be attached to and communicate with drives at the same time This communication interface is the primary way to interact with and control the drive NET NETZ Important The PowerFlex 700 Vector Control option only supports t
119. X StepX StepX Step X Step Step X Velocity AccelTime DecelTime Value Dwell Batch Next 1 Encoder Incr 100 0 5 0 5 10 00 1 00 1 2 2 Encoder Incr 200 0 5 0 5 10 00 1 00 1 3 3 Encoder Incr 300 0 5 0 5 10 00 1 00 1 4 4 Encoder Abs 400 0 5 0 5 0 00 1 00 1 5 5 End N A N A 0 5 N A 0 00 N A N A End Hold Position The drive holds the last position and stops the profile after dwell time expires Encoder Absolute This is a move to an absolute position which is referenced from the home position When started the drive ramps to the desired velocity in the direction required holds the speed then ramps to zero speed at the position desired within the tolerance window Power Loss NETT RG Power Loss 73 The drive contains a sophisticated algorithm to manage initial application of power as well as recovery from a partial power loss event The drive also has programmable features that can minimize the problems associated with a loss of power in certain applications Terms The following terms are used internally by the drive and are defined below for a complete understanding of power loss functionality Term Definition Vbus The instantaneous DC bus voltage Vmem The average DC bus voltage A measure of the average bus voltage determined by heavily filtering bus voltage Just after the pre charge relay is closed during the initial power up bus pre charge bus m
120. age can exist long after the Stop command is issued The right combination of Brake Level and Brake Time must be determined to provide the safest most efficient stop profile on the diagram above Stop Modes 111 Mode Description Ramp Bus Voltage QE Qu CE Output Voltage Output Current Motor Speed Output Current Output Voltage Time C Brake Time Z Stop Zero Command Command Speed This method uses drive output reduction to stop the load Ramp is selected by setting Stop Mode to a value of 1 The drive will ramp the frequency to zero based on the deceleration time programmed into Decel Time 1 2 The normal mode of machine operation can utilize Decel Time 1 If the machine stop requires a faster deceleration than desired for normal deceleration Decel Time 2 can be activated with a faster rate selected When in Ramp mode the drive acknowledges the stop command by decreasing or ramping the output voltage and frequency to zero in a programmed period Decel Time maintaining control of the motor until the drive output reaches zero The drive output is then shut off The load and motor should follow the decel ramp Other factors such as bus regulation and current limit can alter the actual decal rate Ramp mode can also include a timed hold brake Once the drive has reached zero output hertz on a Ramp to Stop and both parameters
121. al 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 gt Important Identifies information that is critical for successful application understanding of the product ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you e identify a hazard e avoid the hazard e recognize the consequences Shock Hazard labels may be located on or inside the equipment e g drive or motor to alert people that dangerous voltage may be present Burn Hazard labels may be located on or inside the equipment e g drive or motor to alert people that surfaces may be at dangerous temperatures Po b DriveExplorer DriveExecutive and SCANport are trademarks of Rockwell Automation Inc PowerFlex and PLC are registered trademarks of Rockwell Automation Inc ControlNet is a trademark of ControINet International Ltd DeviceNet is a trademark of the Open DeviceNet Vendor Association Reference Information Table of Contents Overview
122. alink commands or standard commands will still have to be separated by the MUT however DriveGuard Drive Overload Wa Exo 70000 v DriveGuard 39 Refer to DriveGuard Safe Off User Manual publication PFLEX UMOOI The drive overload function has two separate protection schemes an inverse time protection based on current and thermal manager based on measured power module temperature and operating conditions The drive may fold back current limit when either of these methods detects a problem Any protection for the motor and associated wiring is provided by a Motor Thermal Overload feature The drive will monitor the temperature of the power module based on a measured temperature and a thermal model of the power module As the temperature rises the drive may lower the PWM frequency to decrease the switching losses in the power module If the temperature continues to rise the drive may reduce current limit to try to decrease the load on the drive If the drive temperature becomes critical the drive will generate a fault If the drive is operated in a low ambient condition the drive may exceed rated levels of current before the monitored temperature becomes critical To guard against this situation the drive thermal overload also includes an inverse time algorithm When this scheme detects operation beyond rated levels current limit may be reduced or a fault may be generated Normal Duty and Heavy Duty Operation
123. ample 1 A drive is faulted and the Run Level input is held closed the entire time Next the network issues a Clear Faults command or another digital input programmed for Clear Faults is closed The drive will immediately restart as long as the Run Level input is closed even if this input did not get opened and then re closed 28 Digital Inputs Example 2 A drive is faulted and the Run Level input is held closed the entire time Next the network issues a Stop Clear Faults command or another digital input programmed for Stop Clear Faults is activated or the Stop button is pressed on the HIM The drive will not restart until the Run Level input is opened and then re closed because the fault clearing method used was combined with a stop command Example 3 The drive is stopped by the network issuing a Stop Clear Faults command or another digital input programmed for Stop Clear Faults being activated or the Stop button being pressed on the HIM The drive will not restart until the Run Level input is opened and then re closed because the fault clearing method used was one that is combined with a stop command Example 4 The drive is stopped by opening a digital input that is programmed for Enable The Run Level input is held closed the entire time Next the Enable input is re closed The drive will immediately restart as long as the Run Level input is closed even if this input did not get opened and then
124. an overcurrent trip it may take an unacceptable amount of time for synchronization to occur and for the motor to reach its desired frequency In addition larger mechanical stress is placed on the application In Flying Start mode the drive s response to a start command is to synchronize with the motors speed frequency and phase and voltage The motor will then accelerate to the desired frequency This process will prevent an overcurrent trip and significantly reduce the time for the motor to reach its desired frequency Since the drive synchronizes with the motor at its rotating speed and ramps to the proper speed little or no mechanical stress is present Configuration Flying Start is activated by setting the Flying Start En parameter to Enable The gain can be adjusted to increase responsiveness Increasing the value in Flying StartGain increases the responsiveness of the Flaying Start Feature Application Example In some applications such as large fans wind or drafts may rotate the fan in the reverse direction when the drive is stopped If the drive were started in the normal manner its output would begin at zero Hz acting as a brake to bring the reverse rotating fan to a stop and then accelerating it in the correct direction This operation can be very hard on the mechanics of the system including fans belts and other coupling devices Cooling Tower Fans Draft wind blows idle fans in reverse direction Restart at z
125. andwidth increases the speed loop becomes more responsive and can track a faster changing speed reference Adjusting this parameter will cause the drive to calculate and change Ki Speed Loop and Kp Speed Loop gains Setting this parameter equal to zero allows manual adjustments to Ki and Kp Total Inertia Total Inertia represents the time in seconds for a motor coupled to a load to accelerate from zero to base speed at rated motor torque The drive calculates Total Inertia during the autotune inertia procedure Adjusting this parameter will cause the drive to calculate and change Ki Speed Loop and Kp Speed Loop gains Simulator The simulator mode allows the drive to be operated in a closed loop simulation mode without a motor connected and is meant for demo purposes only If a motor is connected with this mode selected very erratic and unpredictable operation will occur Speed Torque Mode 105 Speed Feedback Filter 01176491182 Fdbk Filter Select determines the type of filter to use for the speed feedback The filter is used to filter out high frequency signals noise by reducing the gain at high frequencies The selections for the filter are Select this Description To select this type of filter value No filter Gain 0 0 db Rad Sec A light 35 49 radian feedback filler Gain 1 0 db 6 db 70755 2 35 49 Rad Sec A heavy 20 40 radian feedback filter Gain 2 12 db 20 40 Rad Sec
126. are as follows 1 The drive is running and an auto resettable fault occurs tripping the drive 2 After the number of seconds in Auto Rstrt Delay the drive will automatically perform an internal Fault Reset resetting the faulted condition 3 The drive will then issue an internal Start command to start the drive 4 If another auto resettable fault occurs the cycle will repeat itself up to the number of attempts set in Auto Rstrt Tries 5 If the drive faults repeatedly for more than the number of attempts set in Auto Rstrt Tries with less than five minutes between each fault the auto reset run is considered unsuccessful and the drive remains in the faulted state 6 Aborting an Auto Reset Run Cycle see Aborting an Auto Reset Run Cycle for details 7 If the drive remains running for five minutes or more since the last without a fault or is otherwise stopped or reset the auto reset run is considered successful The entire process is reset to the beginning and will repeat on the next fault Beginning an Auto Reset Run Cycle The following conditions must be met when a fault occurs for the drive to begin an auto reset run cycle e The fault must be defined as an auto resettable fault e Auto Rstrt Tries setting must be greater than zero e The drive must have been running not jogging not autotuning and not stopping when the fault occurred Note that a DC Brake state is part of a stop sequence and
127. arge contactor Vmin The minimum value of Vopen Voff The bus voltage below which the switching power supply falls out of regulation Table E PF70EC Bus Levels Class 200 240 VAC 400 480 VAC 600 690 VAC Vslew 1 2V DC 2 4V DC 3 0V DC Vrecover Vmem 30V Vmem 60V Vmem 75V Vclose Vmem 60V Vmem 120V Vmem 150V Vtriggert Vmem 60V Vmem 120V Vmem 150V Vtrigger2 Vmem 90V Vmem 180V Vmem 225V Vopen 90V Vmem 180V Vmem 225V Vmin 204V DC 407V DC 509V DC 2 300V DC 74 DC Bus Volts 700 650 600 550 500 450 400 350 300 Power Loss Line Loss Mode Coast I Recover Close Trigger Open m d 350 400 AC Input Volts 450 Line Loss Mode Decel Line Loss Mode Coast 700 I 700 I Recover Recover Close Close Trigger 650 FI DR Trigger Open Open 600 a 600 9 5 2 550 550 m m 500 500 450 450 400 400 350 400 450 350 400 450 AC Input Volts AC Input Volts Table F PF700VC Bus Levels Class 200 240V AC 400 480V AC 600 690V AC Vrecover Vmem
128. as a value of 133 13 3 seconds On each I O scan the parameters in the PowerFlex drive are updated with the value from the data table Accel Time parameter 140 10 0 seconds output image table Word 3 value Decel Time parameter 142 13 3 seconds output image table Word 4 value Any time these values need to be changed the new values are entered into the data table and the parameters are updated on the next PLC I O scan Datalinks 25 Programmable Remote Adjustable Frequency Controller Communication AC Drive 1 0 Image Table Module Output Image Block Transfer Logic Command Analog Reference Datalink A MORD 3 X XXD Dataln 300 WORD 4 Data ln A2 301 WORD 5 Datalink A WORD 6 Data Out A1 310 WORD 7 Data Out A2 311 Parameter Number Input Image Block Transfer Logic Status Analog Feedback WORD 3 WORD 4 WORD 5 WORD 6 WORD 7 Rules for Using Datalinks e A Datalink consists of 4 words 2 for Datalink x IN and 2 for Datalink x Out They cannot be separated or turned on individually Only one communications adapter can use each set of Datalink parameters in a PowerFlex drive If more than one communications adapter is connected to a single drive multiple adapters must not try to use the same Datalink e Parameter settings in the drive determine the data passed through the Datalink mechanism e When Datalinks are used to chan
129. bit in the PID Control parameter is turned On then the PID integrator will stop changing Ifthe current limit or voltage limit is active then the PID is put into Hold DigInCfg Digln PI Status Hold Hold Hold y LJ DigInCfg PI Control Hold Hold W m Current Lmt or Volt Lmt PI Reset This feature holds the output of the integral function at zero The term anti windup is often applied to similar features It may be used for integrator preloading during transfer and can be used to hold the integrator at zero during manual mode For example a process whose feedback signal is below the reference point creating error The drive will increase its output frequency in an attempt to bring the process into control If however the increase in drive output does not zero the error additional increases in output will be commanded When the drive reaches programmed Maximum Frequency it is possible that a significant amount of integral value has been built up windup This may cause undesirable and sudden operation if the system were switched to manual operation and back Resetting the integrator eliminates this windup 84 Process PID Loop PID Status PI Status parameter is a set of bits that indicate the status of the process PID controller Enabled The loop is active and controlling the drive output e Hold A signal has been issued and the integ
130. block bit is set in the Direction Mask and Logic Mask parameters the terminal block becomes direction owner as soon as one or both of the Jog Forward or Jog Reverse input functions is closed Jog 1 Jog 2 These settings are similar to Forward and Reverse with the only difference being that direction is determined by another input or another device s command HIM or comm adapter In addition these settings will use either Jog Speed 1 or Jog Speed 2 respectively In unipolar mode the absolute value will be used along with a separate direction command In bipolar mode the polarity of Jog Speed 1 or Jog Speed 2 will determine the direction of jog Speed Select 1 2 and 3 Up to three digital inputs can be used to select the speed reference The open closed state of all speed select input functions combine to select which source is the speed reference Refer to Speed Reference on page 98 Auto Manual Refer to Auto Manual on page 13 The Auto Manual setting for a digital input works in conjunction with the overall Auto Manual function When this input is closed it overrides other speed references but only if another device HIM did not have ownership of the Manual state If the digital input is successful in gaining manual control the speed reference comes from TB Man Ref Sel which can be set to any of the analog inputs Accel 2 Decel 2 These digital input functions toggle between
131. cal Gear Train Bm BL A AAN Kspring 3 The resonant frequency is defined by the following equation Jm Jload resonance Jm x Jload Jm is the motor inertia seconds Jload is the load inertia seconds Kspring is the coupling spring constant rad2 sec Figure 11 shows a two mass system with a resonant frequency of 62 radians second 9 87 Hz One Hertz is equal to 2x radians second 58 Notch Filter Figure 11 Resonance rad oscillation no comp 16 14 12 Figure 12 represents the same mechanical gear train but with Notch Filter Freq set to 10 Figure 12 10 Hz Notch Notch 10Hz 62rad oscillation T T T T T T Motor Torque Motor PU Roll PU 1 6 T T T 1 4 1 2 0 8 0 6 0 4 0 2 0 2 4 6 8 10 12 14 16 18 20 Owners 59 Owners Owners are status parameters that show which peripheral devices HIMs comm ports etc are commanding or have exclusive control of specific control functions The list of devices also includes the drive s control terminal block NETT Exclusive Only one device at a time can control the drive and only one owner bit will be high The following owners are Exclusive Direction Owner e Reference Owner e Accel Owner e Decel Owner Local Owner Non Exclusive Multiple devices can simultaneously issue the same command and multiple owner bits may be high The followi
132. clusive control When PID Ramp Reference is selected in the PID Configuration parameter and PID is disabled the value used for the PID reference will be the PID feedback This will cause PID error to be zero Then when the PID is enabled the value used for the PID reference will ramp to the selected value for PID reference at the selected acceleration or deceleration rate After the PID reference reaches the selected value the ramp is bypassed until the PID is disabled and enabled again S curve is not available as part of the PID linear ramp Zero Clamp This feature limits the possible drive action to one direction only Output from the drive will be from zero to maximum frequency forward or zero to maximum frequency reverse This removes the chance of doing a plugging type operation as an attempt to bring the error to zero This bit is active only in trim mode The PID has the option to limit operation so that the output frequency will always have the same sign as the master speed reference The zero clamp option is selected in the PID Configuration parameter Zero clamp is disabled when PID has exclusive control of speed command For example if master speed reference is 10 Hz and the output of the PID results in a speed adder of 15 Hz zero clamp would limit the output frequency to not become less than zero Likewise if master speed reference is 10 Hz and the output of the PID results in a speed adder of 15 Hz zero clamp wo
133. condition that caused fault still exists when the fault is reset the drive will fault again and the fault will be latched again When a Fault Occurs 1 The drive is set as faulted causing the drive output to be immediately disabled and a coast to stop sequence to occur 2 The fault code is entered into the first buffer of the fault queue see Fault Queue below for rules 3 Additional data on the status of the drive at the time that the fault occurred is recorded Note that there is only a single copy of this information which is always related to the most recent fault queue entry Fault 1 Code parameter 243 When another fault occurs this data is overwritten with the new fault data The following data conditions are captured and latched into non volatile drive memory Status 1 Fault drive condition at the time of the fault Status 2 Fault drive condition at the time of the fault Alarm 1 Fault alarm condition at the time of the fault Alarm 2 Fault alarm conditions at the time of the fault Fault Amps output amps at time of fault Fault Bus Volts DC Bus volts at time of fault Fault Frequency or Fault Speed drive output frequency or speed at time of fault Fault Queue Faults are also logged into a fault queue such that a history of the most recent fault events is retained Each recorded event includes a fault code with associated text and a fault
134. connection from a common DC bus If the input is closed this indicates that the drive is connected to common DC bus and normal precharge handling can occur and that the drive can run start permissive If the physical input is open this indicates that the drive is disconnected from the common DC bus and thus the drive should enter the precharge state and initiate a coast stop immediately in order to prepare for reconnection to the bus If this input function is not configured then the drive assumes that it is always connected to the DC bus and no special precharge handling will be done Digital Input Data Logic Digital Input Data Logic performs logical operations on the condition of digital inputs with that of data contained in a parameter The output of the logical operation performs the function start stop preset speed etc that is assigned to the digital input An example of an appropriate application for this function is the temporary override of a conveyor sensor that is wired directly to a digital input In such a case a controller could write the data to the drive over a network to start a drive and then reset the data after the conveyor load clears the sensor thus allowing the sensor to stop the next load When this feature is enabled through bit 9 DigIn DatLog of Compensation parameter 56 the operation is performed If the feature is disabled the functions assigned to the digital inputs will operate directly
135. cy Acc Dec Rate Jerk Jerk d y Reference Frequency Output Frequency Ramp Clamp p gt Limits Integrator E Speed s Control Mode Frequency Set Point Maximum Frequency Minimum Speed Maximum Speed Overspeed Limit lt Frequency Reference to Ramp Control Speed Ref etc Speed Control Slip Comp Process PI etc 5 E lt 5 8 sw4 8 a Bus Voltage Regulation Point Vreg PI Gain Block st Bus Reg On Derivative Bus Voltage Vbus Gain Block Bus Voltage Regulator Bus Regulation 21 The derivative term senses a rapid rise in the bus voltage and activates the bus regulator prior to actually reaching the bus voltage regulation set point Vreg The derivative term is important since it minimizes overshoot in the bus voltage when bus regulation begins thereby attempting to avoid an over voltage fault The integral channel acts as the acceleration or deceleration rate and is fed to the frequency ramp integrator The proportional term is added directly to the output of the frequency ramp integrator to form the output frequency The output frequency is then limited to a maximum output frequency ATTENTION The adjust freq portion of the bus regulator function is extremely useful for preventing nuisance overvoltage faults resulting from aggressive decelerations overhauling loads and eccentric loads It force
136. d Jog Reverse Action Open Open Drive will stop if already jogging but can be started by other means Terminal block relinquishes direction ownership Open Closed Drive jogs in reverse direction Terminal block takes direction ownership Closed Open Drive jogs in forward direction Terminal block takes direction ownership Closed Closed Drive continues to jog in current direction but terminal block maintains direction ownership Digital Inputs 29 The drive will not jog while the drive is running or while the Stop Clear Faults input is open Start has precedence ATTENTION If a normal drive start command is received while the AN drive is jogging the drive will switch from jog mode to run mode The drive will not stop but may change speed and or change direction Important Direction control is an Exclusive Ownership function see Owners This means that only one control device terminal block DPI device HIM etc at a time is allowed to control direction at a time The terminal block must become direction owner before it can be used to control direction If another device is currently the direction owner as indicated by Direction Owner it will not be possible to jog the drive or change direction by using the terminal block digital inputs programmed for both Run and Direction control e g Run Fwd If another device is not currently the direction owner as indicated by Direction Owner and the terminal
137. d Setup parameters 705 719 See Position Indexer Speed Profiler on page 61 for complete description of this function Start Permissives Start permissives are conditions required to permit the drive to start in any mode run jog auto tune etc When all permissive conditions are met the drive is considered ready to start The ready condition is available as the drive ready status NET EI Permissive Conditions 1 No faults can be active No type2 alarms can be active 2 3 The TB Enable input if configured must be closed 4 The DC bus precharge logic must indicate it is a start permissive 5 All Stop inputs must be negated See special Digital Inputs Stops Configuration issues below 6 Noconfiguration changes parameters being modified can be in progress If all permissive conditions are met a valid start run or jog command will start the drive The status of all inhibit conditions except for item 6 above are reflected in Start Inhibits Stop Modes NETT NET Stop Modes 109 Several methods are available for braking or stopping a load as described in the table below Method Use When Application Requires Braking Power Ramp The fastest stopping time or fastest ramp time for speed changes Most if an external brake resistor or regenerative capability required for ramp external resistor times faster than the methods below or regenerative e High duty cycles freq
138. d by setting Stop Mode to a value of 3 The amount of time that braking will be applied is programmed in DC Brake Time and the magnitude of the current used for braking is programmed in and DC Brake Level This mode of braking will generate up to 40 of rated motor torque for braking and is typically used for low inertia loads with infrequent Stop cycles 1 Stop phase drive output goes to zero off 2 Drive outputs DC voltage on the last used phase at the level programmed in DC Brake Level parameter 158 This voltage causes a stopping brake torque If the voltage is applied for a time that is longer than the actual possible stopping time the remaining time will be used to attempt to hold the motor at zero speed decel profile on the diagram above 3 DC voltage to the motor continues for the amount of time programmed in DC Brake Time parameter 159 Braking ceases after this time expires 4 After the DC Braking ceases no further power is supplied to the motor The motor load may or may not be stopped The drive has released control of the motor load decel profile A on the diagram above 5 The motor if rotating will coast from its present speed for a time that is dependent on the remaining kinetic energy and the mechanics of the system inertia friction etc 6 Excess motor current and or applied duration could cause motor damage The user is also cautioned that motor volt
139. d greater than negative minimum it is set to the negative minimum If the minimum is not 0 hysteresis is applied at 0 to prevent bouncing between positive and negative minimums See below Max Spd Max Spd Min Spd MinSpd Band Min Max Spd T Max Spd Maximum frequency The maximum frequency defines the maximum reference frequency The actual output frequency may be greater as a result of slip compensation and other types of regulation Speed Regulation The drive achieves speed regulation by adjusting the output frequency to compensate for load changes NETZ 700 The Feedback Select parameter selects the speed regulation method as follows Open Loop e Slip Compensation e Encoder e Simulator Open Loop As the load on an induction motor increases the rotor shaft speed decreases creating slip and therefore torque to drive the load In open loop mode motor speed will be dependent on load changes and the drive will make no attempt to compensate The amount of speed change slip from no load to full load is a function of motor design but is typically 3 of base synchronous speed e g 3 of 1800 RPM 54 RPM This slip is constant across the speed range Slip Compensation When slip compensation mode is selected the drive automatically adds the appropriate amount of output frequency to maintain a consistent motor speed independent of load During drive
140. de and the Stop mode bit in PI Configuration is On Process PID Loop 83 When a digital input is configured as PI Enable the PID Enable bit of PI Control must be turned On for the PID loop to become enabled If a digital input is not configured as PI Enable and the PID Enable bit in PI Control is turned On then the PID loop may become enabled If the PID Enable bit of PI Control is left continuously then the PID may become enabled as soon as the drive goes into Run If analog input signal loss is detected the PID loop is disabled DigInCfg Digln PI Control PI Status Running Stopping Enable Enable Enable Signal Loss Enabled A O DiglnCfg PI Control PI Enable Enable PI Hold The Process PID Controller has the option to hold the integrator at the current value so if some part of the process is in limit the integrator will maintain the present value to avoid windup in the integrator The logic to hold the integrator at the current value is shown in the following ladder diagram There are three conditions under which Hold will turn On Ifa digital input is configured to provide PID Hold and that digital input is turned on then the PID integrator will stop changing Note that when a digital input is configured to provide PID Hold that takes precedence over the PID Control parameter Ifa digital input is not configured to provide PID Hold and the PID Hold
141. drive will ramp to the desired velocity and hold speed for the programmed time at which point it will transition to the next step and ramp to the programmed velocity without going to zero speed The example below shows a five step profile The first three are Time Blend steps followed by an Encoder Abs step to zero then an End step For each Time Blend step the drive ramps at Step X AccelTime to Step X Velocity in the direction of the sign of Step X Velocity The Step X Value is programmed to the desired time for the total time of the accel and run of the step When the value programmed in Step X Value is reached the profile transitions to the next step The absolute step is used to send the profile back to the home position This is done by programming Step 4 Value to zero Timed Steps Blended 350 m om 150 pajanea syun 19 35 Note there is no At Position indication when using timed steps a EncoderSpeed Profile Status Scaled m om deis 2 e Fi Time Encoder Speed 415 Profile Status 700 Units Traveled 701 Current Step StepX Step X Step X StepX StepX StepX Step X Step Step X Type Velocity AccelTime DecelTime Value Dwell Batch Next 1 Time Blend 100 0 5 0 5 5 00 0 00 1 2 2 Time Blend 200 0 5 0 5 5 00 0 00 1 3 3 Time Blend 300 0 5 0 5 5 00 0
142. ds Current Limit every other second d dl 5 J ore 10 36 Direction Control 4 Controlled by the Network This configuration is used when it is desired to control the digital outputs over network communications instead of a drive related function In this case Digital Out x Sel is set to Param Cntl in which case the bit value of DigOut Setpt parameter 379 energizes the respective digital output Bit 0 corresponds to output 1 Bit 1 corresponds to output 2 and so on To complete the configuration for control over a network a datalink must be established with Digital Out Setpt parameter 379 Example Digital Output 2 controlled by Data In B1 Setup Data In B1 parameter 302 379 Dig Out Setpt as the Data In target Digital Out2 Sel parameter 384 30 Param Cntl When Bit 1 of Data In B1 1 Digital Out 2 will be energized Direction Control Direction control of the drive is an exclusive ownership function Only one device can command direction at a time Direction is defined as the forward or reverse control of the drive output frequency not motor rotation Motor wiring and phasing determines its CW or CCW rotation Direction of the drive is controlled in one of four ways NET EI 1 2 Wire digital input selection such as Run Forward or Run Reverse 2 3 Wire digital input selection such as Forward Reverse Forward or Reverse 3 Control
143. e Valve x 60 Hz Output Volts Input Volts Signal Loss Signal loss detection can be enabled for each analog input The Analog In x Loss parameters control whether signal loss detection is enabled for each input and defines what action the drive will take when loss of any analog input signal occurs One of the selections for reaction to signal loss is a drive fault which will stop the drive All other choices make it possible for the input signal to return to a usable level while the drive is still running e Hold input e Set input Lo e Set input Hi Goto Preset 1 e Hold Output Frequency Analog Inputs Operation with Analog Selected as Operation with Analog Selected as 9 Analog In x Loss Normal Operation Process PID Fdbk Exclusive Mode Process PID Fdbk Trim Mode 0 Disabled default Disabled Disabled Disabled 1 Fault Faults Faults Faults 2 Hold Input Holds speed at last valid analog Disables PID and follows selected Disables PID and follows selected input level speed reference speed reference 3 Set Input Lo Follows the maximum of Minimum Disables PID and follows selected Disables PID and follows selected Speed or Speed Ref x Lo speed reference speed reference 4 Set Input Hi Follows the minimum of Maximum Disables PID and follows selected Disables PID and follows selected Speed or Speed Ref x Hi speed reference speed re
144. e and High Voltage setting The default value is dependent on the voltage that matches the catalog number e g 400V or 480V For example a drive shipped as 400V catalog code C will have a default of Low Voltage for Voltage Class A drive shipped as 480V catalog code D will have a default of High Voltage When a change is made to Voltage Class the continuous current rating of the drive will change by an amount equal to the published difference between catalog numbers 116 Voltage Tolerance Voltage Tolerance o9 Drive Rating Nominal Line Nominal Motor Drive Full Power Drive Operating 4 Voltage Voltage Range Range 200 240 200 200 200 264 180 264 208 208 208 264 240 230 230 264 380 480 380 380 380 528 342 528 400 400 400 528 480 460 460 528 500 600 600 575 575 660 432 660 600 575 575 660 475 759 690 690 690 759 475 759 Drive Full Power Range Nominal Motor Voltage to Drive Rated Voltage 10 Rated power is available across the entire Drive Full Power Range Drive Operating Range Lowest Nominal Motor Voltage 10 to Drive Rated Voltage 10 Drive Output is linearly derated when Actual Line Voltage is less than the Nominal Motor Voltage i lt gt Derated Power Range lt Full Power Range HP Motor Drive Output Drive Operating Range i Nominal Motor Voltage 10 gt Drive Rated Voltage Nominal Mo
145. e is linked to the parameter that you wish to scale ScaleX In Hi and ScaleX In Lo determine the high and low values for the input to the scale block ScaleX Out Hi and ScaleX Out Lo determine the corresponding high and low values for the output of the scale block ScaleX Out Value is the resulting output of the scale block There are 3 ways to use the output of the scale block 1 A destination parameter can be linked to ScaleX Out Value 2 PI Reference Sel and PI Feedback Sel can also use the output of the scale block by setting them to 25 Scale Block1 Out 26 Scale Block2 Out Note that when PI Reference Sel and PI Feedback Sel are set to use the scale blocks the Scale X Out Hi and Scale x Out Lo parameters are not active Instead PI Reference Hi and PI Reference Lo or PI Feedback Hi and PI Feedback Lo determine the scaling for the output of the scale block 3 Analog Outx Sel can be set to 20 Scale Block1 21 Scale Block2 22 Scale Block3 23 Scale Block4 Note that when the Analog Outputs are set to use the scale blocks the Scale x Out Hi and ScaleX Out Lo parameters are not active Instead Analog OutX Hi and Analog OutX Lo determine the scaling for the output of the scale block See Analog Outputs on page 10 Example Configuration In this configuration Analog In 2 is a 10V to 10V signal which corresponds to 800 to 80
146. e Disabled e Adjust Frequency e Dynamic Braking e Both with Dynamic Braking first e Both with Adjust Frequency first Bus Reg Mode A parameter 161 is the mode normally used by the drive unless the Bus Reg Md B digital input function is used to switch between modes instantaneously in which case Bus Reg Mode B parameter 162 becomes the active bus regulation mode 22 Bus Regulation The bus voltage regulation setpoint is determined from bus memory a means to average DC bus over a period of time The following tables and figure describe the operation Voltage Class DC Bus Memory DB On Setpoint DB Off Setpoint 240 342V DC 375V DC On 4V DC 342V DC Memory 33V DC 480 685V DC 750V DC On 8V DC 685V DC Memory 65V DC 600 856V DC 937V DC On 10V DC 856V DC Memory 81V DC 600 690V 983V DC 1076V DC On 11V DC PowerFlex 700 983V DC Memory 93V DC FramesS amp 6Only _______ _____ 880 815 750 DB On 685 650 DC Volts 3 320 360 460 484 528 576 AC Volts If Bus Reg Mode x is set to Dynamic Brak The Dynamic Brake Regulator is enabled In Dynamic Brak mode the Bus Voltage Regulator is turned off The Turn On and turn off curves apply For example with a DC Bus Memory at 684V DC the Dynamic Brake Regulator will turn on at 750V DC and turn back off at 742V DC If Bus Reg Mode x is set
147. e Limit switch activated and stop The diagram below shows the sequence of operation for homing to a limit switch with encoder feedback without a marker pulse Encoder Z Chan parameter 423 must be set to Pulse Input or Pulse Check Homing to Limit Switch 250 30 Homing XS 25 200 150 20 Units Traveled SNYEIS llJ01d 100 Home Limit Input Encoder Speed sns ul eybi Start Command Find Home Command 0 Encoder Speed 415 Profile Status 700 Units Traveled 701 Dig In Status 216 Homing to Limit Switch w o Encoder Feedback When Find Home is commanded the homing routine is run when a start command is issued The Homing bit 11 in Profile Status parameter 700 will be set while the homing routine is running The drive will ramp to the speed and direction set in Find Home Speed parameter 713 at the rate set in Find Home Ramp parameter 714 until the digital input defined as Home Limit is activated The drive will then decelerate to zero If the switch is no longer activated the drive will reverse direction at 1 10th the Find Home Speed to the switch position and then stop The Home Limit switch will be active when stopped The diagram below shows the sequence of operation for homing to a limit switch without encoder feedback Homing to Limit Switch No Feedback Homing At Home 150 Home
148. e fault 2 Alarms are conditions that are caused by improper programming and they prevent the drive from Starting until programming is corrected An example of a Type 2 alarm is when a Start function is assigned to a digital input without a Stop function also assigned to a digital input Alarm Status Indication Drive Alarm 1 Drive Alarm 2 Drive Alarm 1 is 16 bit parameter with each bit representing a specific Type 1 Alarm Drive Alarm 2 is 16 bit parameter with each bit representing a specific Type 2 Alarm For each Drive Alarm bit 0 alarm not active and 1 alarm active 4 Analog Inputs Configuration Type 2 Alarms are always enabled not configurable Type 1 Alarms will always be displayed in Drive Alarm 1 but can be configured to either mask or allow specific alarms from a turning on the Alarm bit within the Drive Status 1 parameter and b turning on a digital output when Digital Outx Sel is set to Alarm For each Alarm Config bit 0 alarm disabled and 1 alarm enabled Drive Alarm 1 1 1 Alarm Config 1 0 0 X x Active Inactive Inactive Alarm Alarm Alarm Analog Inputs Possible Uses of Analog Inputs The analog inputs provide data that can be used for the following purposes e Provide a value to Speed Ref A or Speed Ref B e Provide a trim signal to Speed Ref A or Speed Ref B Provide a r
149. e operation of Preload is selected in the PID Configuration parameter By default Pre load Command is off and the PID Load Value is zero causing a Zero to be loaded into the integrator when the PID is disabled As shown in diagram A below when the PID is enabled the PID output will start from zero and regulate to the required level When PID is enabled with PID Load Value is set to a non zero value the output begins with a step as shown in Diagram B below This may result in the PID reaching steady state sooner however if the step is too large the drive may go into current limit which will extend the acceleration Diagram A Diagram B PI Pre load Value 0 PI Pre load Value 0 Pre load command may be used when the PID has exclusive control of the commanded speed With the integrator preset to the commanded speed there is no disturbance in commanded speed when PID is enabled After PID is enabled the PID output is regulated to the required level Process PID Loop 81 PI Enabled PI Output Spd Cmd Pre load to Command Speed When the PID is configured to have exclusive control of the commanded speed and the drive is in current limit or voltage limit the integrator is preset to the commanded speed so that it knows where to resume when no longer in limit e Ramp Ref The PID Ramp Reference feature is used to provide a smooth transition when the PID is enabled and the PID output is used as a speed trim not ex
150. eased current or drive temperature When this parameter is Disabled the drive will not modify the frequency or current limit When set to Reduce the drive will only modify the PWM frequency Reduce CLim will only modify the current limit Setting this parameter to Both PWM 1st the drive will modify the PWM frequency first and then the current limit if necessary to keep the drive from faulting with a Drive Overload or Overtemperature fault Temperature Display The Drive s temperature is measured NTC in the IGBT module and displayed as a percentage of drive thermal capacity in Drive Temp This parameter is normalized to the thermal capacity of the drive frame dependent and displays thermal usage in of maximum 100 drive Trip A test point Heatsink temperature is available to read temperature directly in degrees C but cannot be related to the trip point since maximums are only given in 42 Droop Low Speed Operation When operation is below 4 Hz the IGBT duty cycle is such that heat will build up rapidly in the device The thermal manager will increase the calculated IGBT temperature at low output frequencies and will cause corrective action to take place sooner When the drive is in current limit the output frequency is reduced to try to reduce the load This works fine for a variable torque load but for a constant torque load reducing the output frequency does not lower the current load
151. ed Manual control cannot be granted to a device which is already assigned as a reference in Auto mode When a restore factory defaults is performed Manual control is aborted Auto Restart 15 Auto Restart The Auto Restart feature provides the ability for the drive to automatically perform a fault reset followed by a start attempt without user or application intervention This allows remote or unattended operation Only certain faults are allowed to be reset Certain faults Type 2 that indicate possible drive component malfunction are not resettable NET S 700 Caution should be used when enabling this feature since the drive will attempt to issue its own start command based on user selected programming Configuration Setting Auto Rstrt Tries to a value greater than zero will enable the Auto Restart feature Setting the number of tries equal to zero will disable the feature The Auto Rstrt Delay parameter sets the time in seconds between each reset run attempt The auto reset run feature supports the following status information Parameter 210 Drive Status 2 bit 8 Auto Rst Ctdn Provides indication that an Auto Restart attempt is presently timing out and the drive will start at the end of the timing event Parameter 210 Drive Status 2 bit 9 Auto Rst Act Indicates that the drive has been programmed for the Auto Restart function The typical steps performed in an Auto Reset Run cycle
152. ed by the programmed Maximum Freq and the programmed active Decel Time x 2 The reduction in output can be limited by other drive factors such as bus or current regulation 3 Whenthe output reaches zero 3 phase drive output goes to zero off and the drive outputs DC voltage on the last used phase at the level programmed in DC Brake Level parameter 158 This voltage causes a holding brake torque 4 DC voltage to the motor continues until a Start command is reissued or the drive is disabled 5 Ifa Start command is reissued DC Braking ceases and the drive returns to normal AC operation If an Enable command is removed the drive enters a not ready state until the enable is restored 112 Stop Modes Mode Description Fast Brake Bus Voltage Output Voltage Motor Speed Command Speed Time Stop Command This method takes advantage of the characteristic of the induction motor whereby frequencies greater than zero DC braking can be applied to a spinning motor that will provide more braking torque without causing the drive to regenerate 1 On Stop the drive output will decrease based on the motor speed keeping the motor out of the regen region This is accomplished by lowering the output frequency below the motor speed where regeneration will not occur This causes excess energy to be lost in the motor 2 The method uses a PI based bus regulator to regulate the bus voltage to a reference e
153. eference when the terminal block has assumed manual control of the reference EIS e Provide a reference and or feedback for the PI loop See Process PID Loop on page 77 e Provide an external and adjustable value for the current limit and DC braking level e Start and Stop control using the Sleep Wake mode e Provide a value to Torque Ref A or Torque Ref B Analog Scaling Analog In x Lo Analog In x Hi A scaling operation is performed on the value read from an analog input in order to convert it to units usable for some particular purpose The user controls the scaling by setting parameters that associate a low and high analog value e g in volts or mA with a low and high target e g Hz For many features such as Current Limit and DC Brake Level the target scaling values are fixed not adjustable to the minimum and maximum of the selected function However the PowerFlex 700 contains Scale Blocks for additional flexibility refer to page 91 Analog Inputs 5 Example 1 Anlg In Config bit 0 0 Voltage Speed Ref A Sel Analog In 1 Speed Ref A Hi 60 Hz Speed Ref A Lo 0 Hz Analog In 1 Hi 10V Analog In 1 Lo 0V This is the default setting where 0 volts represents 0 Hz and 10 volts represents 60 Hz providing 1024 steps 10 bit analog input resolution between 0 and 60 Hz 12 T T T Input Volts 0 6 12 18 4 30 36 42 48 54 6 Output Hertz Example 2 Cons
154. ement Decrement 30 Motor Control Mode 51 Motor Nameplate Data 54 Motor Overload 55 N Notch Filter 57 Outputs Analog 10 Index 2 Digital 33 Overload Drive 39 Owners 59 P Password 60 PI Enable 30 PI Hold 30 PI Invert 30 PI Reset 30 PID Configuration 80 Position Indexer 61 Position Loop Tuning 61 Position Regulated Step 63 Position Regulator Step 70 Power Loss 73 Power Loss Level 31 Power Up Marker 44 Process PID Loop 77 Profile Speed 61 Profile Command Control Word 62 PTC Motor Thermistor Input 86 PWM Frequency 87 R Reference Speed 98 Regen Power Limit 88 Reset Parameters 88 Reset Run 89 Restart Auto 15 Run Forward Run Reverse 27 S S Curve 89 Safe Off 91 Scale Blocks 91 Scaling Analog 4 Security 92 Sensorless Vector 52 Sensorless Vector w Economizer 53 Shear Pin 94 Signal Loss 8 Skip Frequency 94 Sleep Mode 96 Speed Feedback Filter 105 Speed Profile 61 Speed Reference 98 High Resolution 48 Speed Reference Trim 99 Speed Regulation 101 Speed Regulation Mode 106 Speed Select 29 Speed Trim Mode 77 Speed Units 108 Speed Torque Mode 105 Square Root Analog Input 8 Start Permissives 108 Stop Clear Faults 26 Stop Mode 30 Stop Modes 109 T Thermal Manager 40 Thermistor Input 86 Torque Regulation Mode 106 Type 1 Alarms 3 Type 2 Alarms 3 U User Display HIM 113 User Sets 114 V Vector Control 53 Veloc
155. emory is set equal to bus voltage Thereafter it is updated by ramping at a very slow rate toward Vbus The filtered value ramps at 2 4V DC per minute for a 480VAC drive An increase in Vmem is blocked during deceleration to prevent a false high value due to the bus being pumped up by regeneration Any change to Vmem is blocked during inertia ride through Vslew The rate of change of Vmem in volts per minute Vrecover The threshold for recovery from power loss Vtrigger threshold to detect power loss PowerFlex 700VC The level is adjustable The default is the value in the PF700 Bus Level table If Pwr Loss Lvl is selected as an input function AND energized Vtrigger is set to Vmem minus Power Loss Level Vopen is normally 60V DC below Vtrigger in a 480VAC drive Both Vopen and Vtrigger are limited to a minimum of Vmin This is only a factor if Power Loss Level is set to a large value PowerFlex 70EC This is a fixed value WARNING When using a value of Parameter 186 Power Loss Level larger than default the customer must provide a minimum line impedance to limit inrush current when the power line recovers The input impedance should be equal or greater than the equivalent of a 5 transformer with a VA rating 5 times the drive s input VA rating Vinertia The software regulation reference for Vpus during inertia ride through Vclose threshold to close the pre charge contactor Vopen The threshold to open the pre ch
156. ency 2 12 kHz 2 12 kHz Current Limit Active Current Limit 0 200 0 200 Temperature Analog Input m Drive Temperature Volts Overload x deg C total V dc IGBT Temperature Amps Volts xdeg C Output Frequency KHz Alarm IL mt Alarm On Off On Off Power Board Data The following is a generalization of the calculations done by the thermal manager The IGBT junction temperature TJ is calculated based on the measured drive temperature Tprive and a temperature rise that is a function of operating conditions When the calculated junction temperature reaches a maximum limit the drive will generate a fault This fault cannot be disabled This maximum junction temperature is stored on the power board along with other information to define the operation of the drive overload function These values are not user adjustable In addition to the maximum junction temperature there are thresholds that select the point at which the PWM frequency begins to fold back and the point at which current limit begins to fold back Alarm bits within Drive Alarm 1 provide status as to when the fold back points are being reached regardless of whether or not the drive is configured to fold back or not Drv OL Lvl 1 is the alarm bit for PWM fold back Drv OL Lvl 2 is the alarm bit for current limit fold back Configuration The Drive OL Mode allows the user to select the action s to perform with incr
157. ero damages fans breaks belts Flying start alleviates the problem 48 High Resolution Speed Reference Speed Reference reference from a communication network The high resolution 32 bit reference is scaled so that a value of 2147483647 corresponds to Maximum Freq parameter 55 if DPI Ref Select parameter 298 0 Max Freq or 2147483647 corresponds to Maximum Speed parameter 82 if DPI Ref Select 1 Max Speed High Resolution 9 e The high resolution speed reference provides a 32 bit as opposed to a 16 bit speed RIR vi To use the high resolution reference Speed Ref A Sel or Speed Ref B Sel is set to 30 HighRes Ref Then HighRes Ref parameter 308 is used as a reference through datalinks A pair of datalinks e g Al and A2 or and B2 etc must be set to write to HighRes Ref Example The following example writes the high resolution reference to a PF70EC on Ethernet from ControlLogix Drive Parameter Settings Speed Ref A Sel parameter 90 30 HighRes Ref DPI Ref Select parameter 298 1 Max Speed Data In A1 parameter 300 308 Data In A2 parameter 301 308 Data In A1 will contain the least significant word LSW of the speed reference and Data In A2 will contain the most significant word MSW of the speed reference ControlLogix Program A PF7OEC is added in I O Configuration Then a new tag of type DINT is created for the high resolution speed reference
158. f the error and by itself tends to be unstable The faster that the error is changing the larger change to the output Derivative control is usually used in torque trim mode and is usually not needed in speed mode For example winders using torque control rely on PD control not PI control Also PI BW Filter is useful in filtering out unwanted signal response in the PID loop The filter is a Radians Second low pass filter 86 Motor Thermistor Input PID Lower and Upper Limits Output Scaling The output value produced by the PID is displayed as 100 in PI Output Meter PI Lower Limit and PI Upper Limit are set as a percentage In exclusive or speed trim mode they scale the PID Output to a percentage of Maximum Freq In torque trim mode they scale the PID Output as a percentage of rated motor torque Example Set the PID lower and Upper limits to 10 with Maximum Frequency set to 100 Hz This will allow the PID loop to adjust the output of the drive 10 Hz PI Upper Limit must always be greater than PI Lower Limit Once the drive has reached the programmed Lower and Upper PID limits the integrator stops integrating and no further windup is possible PID Output Gain PI Output Gain allows additional scaling of the PID loop output Example The application is a velocity controlled winder As the roll builds up the output gain can be reduced to allow the dancer signal to be properly reacted to by the P
159. ference 5 Goto Preset1 Follows Preset Speed 1 Follows Preset Speed 1 Follows Preset Speed 1 6 Hold OutFreq Follows the last commanded output Disables PID and follows the last Disables PID and follows selected frequency commanded output frequency speed reference If the input is in current mode 4 mA is the normal minimum usable input value Any value below 2 0 mA will be interpreted by the drive as a signal loss and a value of 3 0 mA will be required on the input in order for the signal loss condition to end 4mA 3 0mA 2 0 mA Signal Loss End Signal Loss Condition Condition If the input is in unipolar voltage mode 2V is the normal minimum usable input value Any value below 1 0 volts will be interpreted by the drive as a signal loss and a value of 1 5 volts will be required on the input in order for the signal loss condition to end No signal loss detection is possible while an input is in bipolar voltage mode The signal loss condition will never occur even if signal loss detection is enabled 2V 1 9V 1 6V Signal Loss End Signal Loss Condition Condition Value Display Parameters are available in the Monitoring Group to view the actual value of an analog input regardless of its use in the application The value displayed includes the input value plus any factory hardware calibration value but does not include scaling information programmed by the user e g
160. g 750V by automatically decreasing output frequency at the proper rate 3 When the frequency is decreased to a point where the motor no longer causes the bus voltage to increase the frequency is forced to zero DC brake will be used to complete the stop if the DC Braking Time is non zero then the output is shut off 4 Useofthe current regulator ensures that over current trips don t occur and allow for an easily adjustable and controllable level of braking torque 5 Use of the bus voltage regulator results in a smooth continuous control of the frequency and forces the maximum allowable braking torque to be utilized at all times 6 Important For this feature to function properly the active Bus Reg Mode or B must be set to Adjust Freq and NOT be Disabled Test Example for Fast Braking TeK Run 250 S s Sample Bus Voltage Motor Speed Feedback Commanded Frequency DC Brake Current Near Zero Speed Motor Current iE 0 0 V sa W300ms c 36 00mV Chd 200mV User Display NETZ Implementation Block Diagram for Fast Braking Current Regulator User Display 113 Va Vb 0 gt PI gt T 0 Brake Vd Level M at x L IqFdbk IdFdbk 1 s fe Busvotage Frequency Bus Voltage The U
161. ganized alphabetically by topic Refer to the Table of Contents for a listing of topics Accel Decel Time Accel Time 1 2 Decel Time 1 2 70 EIS The Accel Time parameters set the rate at which the drive ramps its output frequency after a Start or Stop command or during a change in command frequency speed change The rate established is the result of the programmed Accel or Decel Time and the Maximum Frequency Maximum Speed _ Accel Rate Hz sec Maximum Speed Accel Time We Decel Rate Hz sec Two accel and decel times exist to allow the user to change rates the fly via PLC command or digital input Times are adjustable in 0 1 second increments from 0 0 seconds to 3600 0 seconds In its factory default condition the secondary accel decel times are not active if the related digital input functions or network commands have not been invoked Alarms Alarms are indications of situations that are occurring within the drive or application that should be annunciated to the user These situations may affect the drive operation or application performance Conditions such as Power Loss or Analog input signal loss can be detected and displayed for drive or operator action NET NETZ There are two types of alarms Type 1 Alarms are conditions that by themselves do not cause the drive to trip or shut down but they may be an indication that if the condition persists it may lead to a driv
162. ge a value in the drive the value is not written to the Non Volatile Storage EEprom memory The value is stored in volatile memory RAM and lost when the drive loses power 32 Bit Parameters using 16 Bit Datalinks To read and or write a 32 bit parameter using 16 bit Datalinks typically both Datalinks A B C D are set to the 32 bit parameter For example to read Parameter 09 Elapsed MWh both Datalink A1 and A2 are set to 9 Datalink A1 will contain the least significant word LSW and Datalink A2 the most significant word MSW In this example the parameter 9 value of 5 8MWh is read as a 58 in Datalink A1 Datalink Most Least Significant Word Data decimal A1 LSW 9 58 A2 MSW 9 0 Regardless of the Datalink combination x1 will always contain the LSW and x2 will always contain the MSW In the following examples Parameter 242 Power Up Marker contains a value of 88 4541 hours Datalink Most Least Significant Word Data decimal A1 LSW 242 32573 A2 Not Used 0 0 26 DC Bus Voltage Memory Datalink Most Least Significant Word Data decimal A1 Not Used 0 0 A2 MSW 242 13 Even if non consecutive Datalinks are used in the next example Datalinks A1 and B2 would not be used data is still returned in the same way Datalink Most Least Significant Word Data decimal A2 MSW 242 13 B1 LSW 242 32573 32 bit data is stored in binary as follows MSW 231 through 216 LSW 215 through 20
163. gital In6 Sel has no effect This hardware configuration bypasses software processing of the enable function and provides hardware protection against a drive run condition Refer to the User Manual for jumper locations Exclusive Link This function is used for exclusively controlling a digital output by activating a digital input It is used when no other functionality s desired for the input See Digital Outputs The state of any digital input can be passed through to a digital output by setting the value of a digital output configuration parameter Digital Outx Sel to Input Link The output will then be controlled by the state of the input even if the input is being used for a second function If the input is configured as Not used input function the link to the input is considered non functional Power Loss Level When the DC bus level in the drive falls below a certain level a power loss condition is created in the drive logic This function allows the user to select between two different power loss detection levels If the input is closed the drive will take its power loss level from Power Loss Level If the input is open the drive will use a power loss level designated by internal drive memory typically 82 of nominal If the input function is not configured then the drive always uses the internal power loss level 32 Digital Inputs e Precharge Enable This function is used to manage dis
164. guage 49 Language Seven languages are supported English Spanish German Italian French Portuguese and Dutch drive functions and information displayed on an LCD HIM are shown in the selected language The desired language can be selected by any of the following methods NET NET Oninitial drive power up a language choice screen appears Thelanguage choice screen can also be recalled at any time to change to a new language This is accomplished by pressing the Alt key followed by the Lang key e The language can also be changed by selecting the Language parameter 201 Load Loss Detection The output torque current is monitored by the drive and may be used to indicate a loss of load This can be used to indicate a mechanical problem with load or faulty wiring Both the threshold level and amount of time the condition must be present before action is taken is adjustable The drive can be programmed to simply turn on an alarm bit or also fault the drive Configuration e Load Loss level parameter 187 0 800 of rated motor torque based on entered nameplate data e Load Loss Time parameter 188 0 300 seconds e Alarm Config 1 parameter 259 bit 13 Load Loss 0 disabled 1 enabled e Fault Config 1 parameter 238 bit 9 Load Loss 0 disabled 1 enabled Masks A mask is a parameter that contains one bit for each of the possible communication ports Masking setting a bit s val
165. he DPI communication protocol It will not communicate with SCANport peripheral devices previous generation HIM and communication adapters Client Server Operation Client Server messages operate in the background relative to other message types and are used for non control purposes The Client Server messages are based on a 10ms ping event that allows peripherals to perform a single transaction e g one C S transaction per peripheral per time period Message fragmentation because the message transaction is larger than the standard CAN message of eight data bytes is automatically handled by Client Server operation The following types of messaging are covered Logging in peripheral devices e Read Write of parameter values Access to all parameter information limits scaling default etc e User set access e Fault Alarm queue access e Event notification fault alarm etc Access to all drive classes objects e g Device Peripheral Parameter etc Producer Consumer Operation Producer Consumer messages operate at a higher priority than Client Server messages and are used to control report the operation of the drive e g start stop etc A P C status message is transmitted every 5ms by the drive and a command message is received from every change of state in any attached DPI peripheral Change of state is a button being pressed or error detected by a DPI peripheral SCANport devices are slightly different i
166. he PID loop feedback signal The filter is a Radians Second low pass filter PID Gains The PI Prop Gain PI Integral Time and PI Deriv Time parameters determine the response of the PID Proportional control P adjusts output based on size of the error larger error proportionally larger correction If the error is doubled then the output of the proportional control is doubled Conversely if the error is cut in half then the output of the proportional output will be cut in half With only proportional control there is always an error so the feedback and the reference are never equal PI Prop Gain is unit less and defaults to 1 00 for unit gain With PI Prop Gain set to 1 00 and PID Error at 1 00 the PID output will be 1 00 of maximum frequency Integral control I adjusts the output based on the duration of the error The longer the error is present the harder it tries to correct The integral control by itself is a ramp output correction This type of control gives a smoothing effect to the output and will continue to integrate until zero error is achieved By itself integral control is slower than many applications require and therefore is combined with proportional control PI PI Integral Time is entered in seconds If PI Integral Time is set to 2 0 seconds and PI Error is 100 0046 the PI output will integrate from 0 to 100 0096 in 2 0 seconds Derivative Control D adjusts the output based on the rate of change o
167. he error integrated over a period of time Ki Speed Loop sets the integral gain of the speed regulator Its value is automatically calculated based on the bandwidth setting in Speed Desired BW Integral gain may be manually adjusted by setting Speed Desired BW to a value of zero Units are per unit torque sec per unit speed For example when Ki Speed Loop is 50 and the speed error is 1 the integral output will integrate from 0 to 5096 motor rated torque in 1 second Proportional Gain The proportional gain determines how much of a speed error occurs during a load transient Kp Speed Loop sets the proportional gain of the speed regulator Its value is automatically calculated based on the bandwidth setting in Speed Desired BW Proportional gain may be manually adjusted by setting Speed Desired BW to a value of zero Units are per unit torque per unit speed For example when Kp Speed Loop is 20 the proportional gain block will output 2096 motor rated torque for every 196 error of motor rated speed Feed Forward Gain The first section of the PI regulator is the feed forward block Kf Speed Loop allows the speed regulator to be dampened during speed changes To reduce speed overshoot reduce the value of Kf Speed Loop During auto tune the feed forward is left open no dampening Speed Desired BW Speed Desired BW sets the speed loop bandwidth and determines the dynamic behavior of the speed loop As b
168. he motor at a rate which will regulate the DC bus until the load s kinetic energy can no longer power the drive e Continue Allow the drive to power the motor down to 5096 of the nominal DC bus voltage When power loss occurs the Power Loss alarm bit in Drive Alarm 1 turns on if the respective bit in Alarm Config 1 is enabled If the Power Loss bit in Fault Config 1 is enabled the drive will fault with a F003 Power Loss Fault when the power loss event exceeds Power Loss Time The drive faults with a FO04 UnderVoltage fault if the bus voltage falls below V min and the UnderVoltage bit in Fault Config 1 is set The pre charge relay opens if the bus voltage drops below Vopen and closes if the bus voltage rises above Vclose If the bus voltage rises above Vrecover for 20 ms the drive determines the power loss is over The power loss alarm is cleared If the drive is in a Run Permit state the reconnect algorithm is run to match the speed of the motor The drive then accelerates at the programmed rate to the set speed Coast This is the default mode of operation The drive determines a power loss has occurred if the bus voltage drops below V trigger If the drive is running the inverter output is disabled and the motor coasts Bus Voltage EM 560V 500V 407V 305V Motor Speed Power Loss Output Enable Pre Charge Drive Fault 48
169. he sleep timer is not satisfied Once the sleep timer times out the sleep function acts as a continuous stop There are two exceptions to this which will ignore the Sleep Wake function 1 When a device is commanding local control 2 When a jog command is being issued 98 Speed Reference Speed Reference lt 70EC EZ When device is commanding local control the port that is commanding it has exclusive start control in addition to ref select essentially overriding the Sleep Wake function and allowing the drive to run in the presence of a sleep situation This holds true even for the case of Port 0 where a digital input start or run will be able to override a sleep situation Sleep Wake Sources The analog source for the sleep wake function can be any analog input whether it is being used for another function or not Configuring the sleep wake source is done through Sleep Wake Ref Also Analog In X Hi and Analog In X Lo parameters have no affect on the function However the factory calibrated result is used In addition the absolute value of the calibrated result is used thus making the function useful for bipolar direction applications The analog in loss function is unaffected and therefore operational with the Sleep Wake function but not tied to the sleep or wake levels The speed reference can come from a variety of sources that can be selected through digital inputs or via bit manipulation of the Netw
170. hen Direction Mode Bipolar the MOP reference will permit the decrement function to produce negative values If the drive is configured for Direction Mode Bipolar and then is changed to Unipolar MOP reference will also be clamped at zero if it was less than zero Motor Control Modes 51 Motor Cntl Sel selects the output mode of the drive The choices are e Custom Volts Hertz Used in multi motor or synchronous motor applications an Pump Volts Hertz Jsed for centrifugal fan pump variable torque applications to achieve maximum energy savings Motor Control Modes B NETT BSE Sensorless Vector Used for most constant torque applications Provides excellent starting acceleration and running torque Sensorless Vector w Economizer Used for additional energy savings in constant torque applications that have constant speed reduced load periods e Flux Vector Used when high performance speed regulation or torque regulation is required e Adjustable Voltage Typically used for non motor applications such as resistive loads welding equipment and power supplies but also linear motors The following table shows the performance differences between V Hz Sensorless Vector and Flux Vector Fan Pump and Flux Vector Custom V Hz with SVC with without Flux Vector Torque Mode with Slip Comp Slip Comp Feedback Feedback with Feedback Speed Regulation 0 5 0 5 0 1 0 1 0 00
171. her cable charging currents and higher potential for common mode noise See derating guidelines in the Appendix Also see the Wiring and Grounding document for PWM frequency limitations versus motor cable length A very large majority of all drive applications will perform adequately at 2 4 kHz 88 Regen Power Limit Regen Power Limit The Regen Power Lim is programmed as a percentage of the rated power The mechanical energy that is transformed into electrical power during a deceleration or overhauling load condition is clamped at this level Without the proper limit a bus overvoltage may occur NET EI When using the bus regulator Regen Power Lim can be left at factory default 5096 When using dynamic braking or a regenerative supply Regen Power Lim can be set to the most negative limit possible 800 When the user has dynamic braking or regenerative supply but wishes to limit the power to the dynamic brake or regenerative supply Regen Power Lim can be set to a level specified by the user Reset Parameters Resetting all drive parameters at once in the active memory being used by the drive is accomplished by choosing Reset Defalts through the Memory Storage area of the HIM main menu This command can also be executed from Reset To Defalts parameter 197 which also offers the following three choices NET e 0 Ready Parameter 197 returns to this value after the reset to defaults is
172. ht will be flashing yellow Refer to the User Manual for a complete list of Type 2 Alarms Digital Outputs Each digital output can be programmed to change state based on one of many different conditions These conditions fall into different categories as follows NETT RIG e Drive Status Conditions e g fault reverse etc e Exceeded Levels e g current frequency etc e Controlled by a Digital Input e Controlled by the Network 1 Drive Status Conditions Condition Description Fault A drive Fault has occurred and stopped the drive Alarm A Drive Type 1 or Type 2 Alarm condition exists Ready The drive is powered Enabled and no Start Inhibits exist It is ready to run Run The drive is outputting Voltage and frequency to the motor indicates 3 wire control either direction Forward Run The drive is outputting Voltage and frequency to the motor indicates 2 wire control in Forward Reverse Run The drive is outputting Voltage and frequency to the motor indicates 2 wire control in Reverse Auto Restart The drive is currently attempting the routine to clear a fault and restart the drive Powerup Run The drive is currently executing the Auto Restart or Run at Power Up function DC Braking The drive is currently executing either DC Brake or a Ramp to Hold Stop command and the DC braking voltage is still being applied to the motor Current Limit The drive is currently limiting output current
173. ider the following setup Anig In Config bit 0 0 voltage Speed Ref A Sel Analog In 1 Analog Int Hi 10V Analog Int Lo Speed Ref A Hi 60 Hz Speed Ref Lo 0 Hz Maximum Speed 45 Hz Minimum Speed 15 Hz This configuration is used when non default settings are desired for minimum and maximum speeds but full range 0 10V scaling from 0 60 Hz is still desired Analog In1 Hi Minimum Speed Maximum Speed 10V Motor Operating Range lt Frequency Deadband 7 5 10 Volts _ Frequency Deadband gt 0 2 5 Volts 4 Analog Ini Lo Command Frequency 1 0v T T T OHz 15 Hz 45 Hz 60 Hz Speed Ref A Lo Slope defined by Analog Volts Command Frequency Speed Ref A Hi In this example a deadband from 0 2 5 volts and from 7 5 10 volts is created Alternatively the analog input deadband could be eliminated while maintaining the 15 and 45 Hz limits with the following changes Speed Ref A Lo 15 Hz Speed Ref A Hi 45 kHz Analog Inputs Example 3 Anlg In Config bit 0 0 Voltage Speed Ref A Sel Analog In 1 Speed Ref A Hi 30 Hz Speed Ref Lo 0 Hz Analog In 1 Hi 10V Analog In 1 Lo 0V This is an application that only requires 30 Hz as a maximum output frequency but is still configured for full 10 volt input The result is that the resolutio
174. ified Wake Level and Stop sleep the drive when an analog signal is less than or equal to the specified Sleep Level Setting Sleep Wake Mode to Direct enables the sleep wake function to Work as described EI An Invert mode also exists which changes the logic so that an analog value less than or equal to Wake Level starts the drive and an analog value greater than or equal to Sleep Level stops the drive Sleep Wake Operation Drive Run Wake Up j Sleep Wake bi BR Function _ Go to Slee Start _ Stop Sleep Timer Satisfied Sleep Level Satisfied Wake Timer Satisfied _ Wake Level 1 igSleep 4 bey Satisfied Time Wake Level 7 NO Be ah a ee Nene Wake Time 3 Seconds Sleep Time 3 Seconds Analog Signal ma Requirements In addition to enabling the sleep function with Sleep Wake Mode at least one of the following assignments must be made to a digital input Enable Stop CF Run Run Fwd or Run Rev and the input must be closed All normal Start Permissives must also be satisfied Not Stop Enable Not Fault Not Alarm etc Conditions to Start Restart machine operation during the Wake mode Equipment damage and or personal injury can result if this parameter is used in an inappropriate application Do Not use this function without considering the
175. imit There are 5 ways that the drive can protect itself from overcurrent or overload situations EZ e Hardware Overcurrent This is a feature that instantly faults the drive if the output current exceeds this value The value is fixed by hardware and is typically 250 of drive rated amps The fault code for this feature is F12 HW Overcurrent This feature cannot be defeated or mitigated e Software Overcurrent This protection mode occurs when peak currents do not reach the Hardware Overcurrent value and are sustained long enough and high enough to damage certain drive components If this situation occurs the drives protection scheme will cause an F36 SW Overcurrent fault The point at which this fault occurs is fixed and stored in drive memory e Software Current Limit This is a feature that attempts to reduce current by folding back output voltage and frequency if the output current exceeds a programmable value The Current Lmt Val parameter is programmable between approximately 25 and 150 of drive rating The reaction to exceeding this value is programmable with Shear Pin Fault Enabling this parameter creates an F63 Shear Pin Fault Disabling this parameter causes the drive to use fold back to attempt load reduction e Heatsink Temperature Protection The drive constantly monitors the heatsink temperature If the temperature exceeds the drive maximum a Heatsink OvrTemp fault will occur The value is fixed
176. ined as Home Limit is activated The drive will then ramp to zero and then back up to first marker pulse prior to the Home Limit switch at 1 10th the Find Home Speed When on the marker pulse the At Home bit 13 is set in the Profile Status and the drive is stopped The diagram below shows the sequence of operation for homing to a marker pulse Encoder Z Chan parameter 423 must be set to Marker Input or Marker Check for this type of homing Homing to Marker 250 30 200 Homing At Home 25 150 Units Traveled B 5 aosd 100 50 Encoder Speed sls ul enbia 0 2 7 12 17 22 27 32 37 42 50 Start Command imi Home Limit Input 100 Find Home Command big as 0 Encoder Speed 415 Profile Status 700 Units Traveled 701 Dig In Status 216 a 64 Position Indexer Speed Profiler Homing to Limit Switch with Encoder Feedback When Find Home is commanded the homing routine is run when a start command is issued The Homing bit 11 in Profile Status parameter 700 will be set while the homing routine is running The drive will ramp to the speed and direction set in Find Home Speed parameter 713 at the rate set in Find Home Ramp parameter 714 until the digital input defined as Home Limit is activated The drive will then reverse direction at 1 10th the Find Home Speed to the point where the Hom
177. ity Absolute Value Disabled Analog Out1 Sel Output Torque Current Analog Out Lo 1 volt Analog Out1 Hi set to 9 volts Anlg Out Absolut Analog Output Voltage Analog Out1 Lo 200 0 200 Output Torque Current Example 5 Overriding the Default Analog Output Target Scaling Analog Output 1 set for 0 10V DC at 0 100 Commanded Torque Setup Analog Out1 Sel parameter 342 14 Commanded Torque Analog Out1 Hi parameter 343 10 000 Volts Analog Out Lo parameter 344 0 000 Volts Anlg Out1 Scale parameter 354 100 0 PowerFlex 700VC Only If Analog Out1 Lo 10 000 Volts the output will be 10 0 to 10 0V DC for 100 to 100 Commanded Torque If Anlg Out1 Scale 0 0 the default scaling listed in Analog Out Sel will be used This would be 0 10V DC for 0 800 torque 12 Analog Outputs Filtering Software filtering is performed on quantities that can be monitored as described in the following table The purpose of this filtering is to provide a signal and display that is less sensitive to noise and ripple Software Filters Quantity Filter Output Frequency No Filtering Commanded Frequency Filtered Output Current Filtered Output Torque Current Filtered Output Flux Current Filtered Output Power Filtered Output Voltage Filtered DC Bus Voltage Filtered PI Reference No Filtering PI Feedback No Filtering PI Error
178. ity Regulated Step 62 Voltage class 115 Voltage Tolerance 116 www 1 2 Zero Torque Mode 106 U S Allen Bradley Drives Technical Support Tel 1 262 512 8176 Fax 1 262 512 2222 Email support drives ra rockwell com Online www ab com support abdrives www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core E Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication October 2006 Copyright 2006 Rockwell Automation Inc All rights reserved Printed in USA
179. ive accelerates the motor to approximately two thirds of base speed and then coasts for several seconds IR Voltage Drop Test IR Voltage Drop is set by the IR voltage drop test and is used to provide additional voltage to offset the voltage drop developed across the stator resistance An accurate calculation of the IR Voltage Drop will ensure higher starting torque and better performance at low speed operation The motor does not rotate during this test Leakage Inductance Test Ixo Voltage Drop is set by the leakage inductance test and measures the inductance characteristics of the motor A measurement is required to determine references for the regulators that control torque The motor does not rotate during this test Inertia Test Total Inertia is set by the inertia test and represents the time in seconds for the motor coupled to a load to accelerate from zero to base speed at rated motor torque During this test the motor is accelerated to approximately 2 3 of base motor speed This test is performed during the Start up mode but can be manually performed by setting Inertia Autotune to Inertia Tune The Total Inertia and Speed Desired BW automatically determine the Ki Speed Loop and Kp Speed Loop gains for the speed regulator Autotune 17 Autotune Procedure for Sensorless Vector and Economizer The purpose of Autotune is to identify the motor flux current and stator resistance for use in Sensorless Vector Con
180. l and Hold 350 250 150 spun 50 At Position Encoder Speed Profile Status dag juaung Time Encoder Speed 415 Profile Status 700 Units Traveled 701 Current Step StepX Step X Step X StepX StepX StepX Step X Step Step X Type Velocity AccelTime DecelTime Value Dwell Batch Next 1 Encoder Incr 100 0 5 0 5 10 00 1 00 1 2 2 Encoder Incr 200 0 5 0 5 10 00 1 00 1 3 3 Encoder Incr 300 0 5 0 5 10 00 1 00 1 4 4 Encoder Abs 400 0 5 0 5 0 00 1 00 1 5 5 End N A N A 0 5 N A 0 00 N A N A 72 Position Indexer Speed Profiler Encoder Incremental with Velocity Override This profile is the same as Encoder Incr but contains the Velocity Override function During step 3 the Vel Override bit was set While active the Step 3 Velocity is multiplied by Vel Override In this example Vel Override is 15046 causing the speed to be 450rpm rather than 300 Encoder Incremental w Dwell and Velocity Override 500 30 400 300 Velocity Override 200 100 shun 0 100 200 EncoderSpeed Profile Status 300 400 deis 1u uno Step 3 500 Time Encoder Speed 415 Profile Status 700 Units Traveled 701 Current Step StepX Step X Step X Step
181. less of the source of Torque Ref A Torque Ref B Hi and Torque Ref B Lo Parameter 432 amp 433 are used to scale Torque Ref B only when Torque Ref B Sel parameter 431 is set to an analog output Torque Ref B is multiplied by Torq Ref B Mult regardless of the source of Torque Ref A Note Only the PF700VC has a second torque reference Torque Ref Speed Torque Mode 107 When the Process PID loop is setup for torque trim Process PI Config bit 8 Torque Trim is set to 1 the output of the Process PI Loop also becomes a torque reference The final torque reference in the Torque Mode is the sum of scaled Torque Ref A scaled Torque Ref B 700VC only and the output of the Process PID loop when it is set to trim torque Min Torq Spd and Max Torq Spd Modes These modes compare the speed and torque commands The smallest min mode or largest max mode of these two values is used These modes can be thought of as a Speed Limited Adjustable Torque operation Instead of operating the drive as a pure torque regulator the runaway condition can be avoided by limiting the speed to whatever speed reference the drive is programmed for A winder is a good example for the application of the Min Torq Spd operating mode Max mode would be used if both speed and torque are negative in which case the largest smallest negative value is the result Figure 20 illustrates how min mode operates The drive begins operating as a
182. ll Load Amps Motor NP FLA is used by the overload feature to establish the 100 level y axis shown in the graph above Setting the correct bit in Fault Config x to zero disables the motor thermal overload For multimotor applications more than one motor connected to one drive separate external overloads for each motor are required and the drive s motor overload can be disabled Operation of the overload is based on three parameters Motor NP FLA Motor OL Factor and Motor OL Hertz 1 Motor NP FLA is the base value for motor protection 2 Motor OL Factor is used to adjust for the service factor of the motor Within the drive motor nameplate FLA is multiplied by motor overload factor to select the rated current for the motor thermal overload This can be used to raise or lower the level of current that will cause the motor thermal overload to trip without the need to adjust the motor FLA For example if motor nameplate FLA is 10 Amps and motor overload factor is 1 2 then motor thermal overload will use 12 Amps as 100 Important Some motors have a service factor that is only for use with sine wave non drive power Check with the motor manufacturer to see if the nameplate service factor is valid or must be reduced when operated by a drive Changing Overload Factor 140 120 100 7 80 E OL 1 20 60 OL 1 00 o E 40 OL 0 80 20 0 10 20 30 40 50 60 70 80 90 10
183. ll be set to zero 10 Find Home This bit is used to command the Find Home routine 11 Vel Override When this bit is set the velocity of the present step will be multiplied by the value in Vel Override 12 31 Reserved Not used The bits in Profile Command can be set via DPI interface HIM or Comm or digital inputs When digital input s are programmed for Pos Sel 1 5 the starting step of the profile is exclusively controlled by the digital inputs The DPI interface value for bits 0 4 will be ignored If a digital input is configured for bit 8 11 functions of the Profile Command the DPI interface or the digital input can activate the command Velocity Regulated Step Parameters Each of the Velocity Regulated steps has the following associated parameters or functions Step Type Digital Encoder Parameter Time Time Blend Input Incremental Blend Level End Value Total Move Total Time Digital Input Position amp Direction Parameter X Time Number Number Velocity Speed amp _ Speed amp Speed amp Speed Speed amp X Direction Direction Direction Direction Accel Time Accel Rate Accel Rate Accel Rate Accel Rate Accel Rate X Decel Time Decel Rate Decel Rate Decel Rate Decel Rate Decel Rate Decel Rate Next Step Time Time greater Digital Input At Position Step Step Value At Zero Condition greaterthan than Step logic Value gt lt
184. lux Up Current versus Flux Up Time lt Flux Up Current Maximum DC Current 8 Rated Flux gon 1 Rated Motor Flux 5 Current gt z eee x uir p z Motor Flux T1 La T P T4 gt Flux Up Time Once rated flux is reached in the motor normal operation begins and the desired acceleration profile is achieved Figure 7 Rated Flux Reached Ir Voltage SVC Greater of IR Voltage or Voltage Boost V Hz we Stator Volta yw ge Rotor Speed dut Motor Flux mE x 27 Stator Freq Flux Up Voltage Flux Up gt lt gt Operation Time Flying Start 47 Flying Start The Flying Start feature is used to start into a rotating motor as quick as possible and resume normal operation with a minimal impact on load or speed NETT RIG When a drive is started in its normal mode it initially applies a frequency of 0 Hz and ramps to the desired frequency If the drive is started in this mode with the motor already spinning large currents will be generated An overcurrent trip may result if the current limiter cannot react quickly enough The likelihood of an overcurrent trip is further increased if there is a residual flux back emf on the spinning motor when the drive starts Even if the current limiter is fast enough to prevent
185. ly at that rate as long as the MOP inc or dec is asserted Asserting both MOP inc and dec inputs simultaneously will result in no change to the MOP reference Save MOP Ref is a parameter that provides configurability of the initial MOP reference value after a power down or Stop command Bit 0 0 Don t save reference on power down default 2 Save MOP reference on power down If the value is SAVE MOP Ref when the drive power returns the MOP reference is reloaded with the value from the non volatile memory When the bit is set to 0 the MOP reference defaults to zero when power is restored Bit 1 0 2 Reset MOP reference when STOP is asserted 1 Don t reset reference when STOP is finished default Important The MOP reset only occurs when a stop event completes and is not continuously cleared while the drive is stopped The reset only applies to the stop edge and not when a fault is detected Incrementing or decrementing the MOP frequency is independent of whether or not is being used as the speed reference See Speed Reference on page 98 for an explanation of activating a specific speed reference The MOP Frequency parameter shows the value of the MOP reference MOP handling with Direction Mode If the Direction Mode is configured for Unipolar then MOP decrement will clamp at zero not allowing the user to generate a negative MOP reference that is clamped off by the reference generation W
186. n terminal block takes direction ownership Closed Closed Drive continues to run in current direction but terminal block maintains direction ownership It is not necessary to program both Run Forward and Run Reverse These two functions will operate with or without each other Important Direction control is an Exclusive Ownership function see Owners This means that only one control device terminal block DPI device HIM etc at a time is allowed to control direction at a time The terminal block must become direction owner before it can be used to control direction If another device is currently the direction owner as indicated by Direction Owner it will not be possible to start the drive or change direction by using the terminal block digital inputs programmed for both Run and Direction control e g Run Fwd e Run This setting is similar to Forward and Reverse settings The only difference being that direction is determined by another input or another device s command HIM or comm adapter e RunLevel RunFwd Level and RunRev Level The non level version of these 2 wire control functions require a rising edge open to close transition in order for the drive to run As long as a separate Stop command is not issued these level versions do not require a rising edge the level alone no rising edge required determines whether or not the drive will run Ex
187. n of the input has been doubled providing 1024 steps between 0 and 30 Hz Input Volts 0 6 12 18 24 30 36 42 48 54 60 Output Hertz Example 4 Anlg In Config bit 0 1 Current Speed Ref A Sel Analog In 1 Speed Ref A Hi 60 Hz Speed Ref A Lo 0 Hz Analog In 1 Hi 20 mA Analog In 1 Lo 4 mA This configuration is referred to as offset In this case a 4 20 mA input signal provides 0 60 Hz output providing a 4 mA offset in the speed command taes tan SEE ed 20 16 12 Input mA 8 4 0 6 12 18 24 30 36 42 48 54 60 Output Hertz Example 5 Anlg In Config bit 0 0 Voltage Speed Ref A Sel Analog In 1 Speed Ref A Hi 0 Hz Speed Ref A Lo 60 Hz Analog In 1 Hi 10V Analog In 1 Lo 0V This configuration is used to invert the operation of the input signal Here maximum input 10 Volts represents 0 Hz and minimum input 0 Volts represents 60 Hz Input Volts 0 6 129 18 24 3 36 42 48 54 60 Output Hertz Analog Inputs 7 Example 6 Anlg In Config bit 0 0 Voltage Speed Ref A Sel Analog In 1 Speed Ref A Hi 60 Hz Speed Ref Lo 0 Hz Analog In 1 Hi 5V Analog In 1 Lo 0V This configuration is used when the input signal is 0 5 volts Here minimum input 0 Volts represents 0 Hz and maximum input 5 Volts rep
188. n that those peripherals transmit command messages upon reception of a drive status message rather than on detection of a change of state Producer Consumer messages are of fixed size so support of message fragmentation is not required The following types of messaging are covered e Drive status running faulted etc e Drive commands start stop logic parsing etc e Entering Flash programming mode e Soft login and logout of peripheral devices enabling disabling of peripheral control 38 Peer to Peer operation Peer to Peer messaging allows two devices to communicate directly rather than through the master or host e g drive They are the same priority as C S messages and will occur in the background If an LCD HIM is attached it will be able to directly access peripheral parameters e g communication adapter parameters using Peer to Peer messages Peripheral devices will be scanned at a 10ms rate Drive status messages will be produced at a 5ms rate while peripheral command messages will be accepted by the drive as they occur e g change of state Based on these timings the following Worst case conditions can occur independent of the baud rate and protocol e Change of peripheral state e g Start Stop etc to change in the drive 10ms e Change in reference value to change in drive operation 10ms e Change in Datalink data value to change in the drive 10ms e Change of parameter value into
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191. ng owners are Not Exclusive e Stop Start Owner Jog Owner Fault Clr Owner MOP Owner Example The operator presses the Stop button on the Local HIM to stop the drive When the operator attempts to restart the drive by pressing the HIM Start button the drive does not restart The operator needs to determine why the drive will not restart Start Owner 0 0 Tm X 6 co o m Adapter When the local Start button is pressed the display indicates that the command is coming from the HIM Stop Owner 0 0 Tf X 6 Oo o m 01 TT Adapter 1 0 The operator then checks the Stop Owner Notice that bit 0 is a value of 1 indicating that the Stop device wired to the digital input terminal block is open issuing a Stop command to the drive Until this device is reclosed a permanent Start Inhibit condition exists and the drive will not restart 60 Password Password By default the password is set to 00000 password protection disabled NETT Logging in to the Drive Example Displays 1 Press the Up or Down Arrow to enter your password Press Sel to move from digit to digit Login Enter Password RERNI 2 Press Enter to log in Logging Out Example Displays You are automatically logged out when the User Display appears If you want t
192. nowledge that motor current is the vector sum of the torque and flux producing components Values can be entered to identify the motor values or an autotune routine can be run to identify the motor values see Autotune on page 16 Sensorless vector offers better torque production and a wider speed range than V Hz However it may not be appropriate when more than one motor is connected to the same drive Motor Control Modes 53 In sensorless vector control the drive commands a specific amount of voltage to develop flux Maximum Voltage Base Voltage Nameplate Ir Voltage Base Frequency Maximum Nameplate Frequency Sensorless Vector w Economizer Economizer mode consists of the sensorless vector control with an additional energy savings function When steady state speed is achieved the economizer becomes active and automatically adjusts the drive output voltage based on applied load By matching output voltage to applied load the motor efficiency is optimized Reduced load commands a reduction in motor flux current The flux current is reduced as long as the total drive output current does not exceed 7596 of motor rated current as programmed in Motor NP FLA parameter 42 The flux current is not allowed to be less than 50 of the motor flux current as programmed in Flux Current Ref parameter 63 During acceleration and deceleration the economizer is inactive and sensorless vector motor control performs normally
193. ny faster than 2x of MUT SCANport No Peer message support DPI Host must ping every port at least one every 2 sec Peripherals time out if gt 3 sec Host will wait maximum of 10ms 125k or 5ms 500k for peripheral response to ping Peripherals typical response time is 1ms Peripherals only allow one pending explicit message e g ping response or peer request at a time SCANport Host waits at least 10ms for response to ping Host cannot send more than 2 event messages including ping to a peripheral within 5ms Peripherals typical response time is 1ms DPI Response to an explicit request or fragment must occur within 1 sec or device will time out applies to Host or Peripheral Time out implies retry from beginning Maximum number of fragments per transaction is 16 Flash memory is exception with 22 fragments allowed SCANport Assume same 1 sec time out Maximum number of fragments is 16 DPI During Flash mode host stops ping but still supports status command messages at a 1 5 sec rate Drive will use 1 sec rate Data transfer occurs via explicit message as fast as possible e g peripheral request host response peripheral request etc but only between two devices SCANport No Flash mode support The Minimum Update Time MUT is based on the message type only A standard command and Datalink command could be transmitted from the same peripheral faster than the MUT and still be O K Two successive Dat
194. o log out before that select log out from the Main Menu To change a password Step Key s Example Displays 1 Usethe Up Arrow or Down Arrow to scroll to Operator Intrfc Press Enter 62 Operator Intrfc 2 Select Change Password and press Change Password Enter User Display Parameters Enter the old password If a password qo 62 Password has not been set type 0 Press Enter Old Co 0 4 Entera new password 1 65535 NN Code 9999 Press Enter and verify the new password Press Enter to save the new password Position Indexer Speed Profiler S R NEZ Position Indexer Speed Profiler 61 Overview The profile indexer may be configured as a velocity regulator or a position regulator If position control is desired encoder feedback is required Parameter 088 Speed Torque Mod is used to select the Pos Spd Prof mode Sixteen steps are available with this feature Common Guidelines for all step types Direction Control The drive must be configured to allow the profile to control the direction This is accomplished by setting Direction Mode parameter 190 to Bipolar Limits Many threshold values can affect the performance of the profile indexer To help minimize the possibility of overshooting a position ensure that the following parameters are set for the best performance Regen Power Limit default is 50 and will likely require a greate
195. ock loading as illustrated in Figure 19 Initially the motor is operating at some speed and no load At some time later an impact load is applied and the rotor speed decreases as a function of load and inertia And finally the impact load is removed and the rotor speed increases momentarily until the slip compensation is reduced based on the applied load The responsiveness to an impact load be adjusted through Slip Comp Gain however too large of a gain can cause unstable operation and overshoot Figure 19 Rotor Speed Response Due to Impact Load and Slip Com Gain Impact Load Removed Increasing Sli Impact Load Gain i Applied o Rotor Speed Increasing Sip mua 0 dd Comp Gain Reference X 0 Time Speed Regulation 103 Application Example Baking Line The diagram below shows a typical application for the Slip Compensation feature The PLC controls the frequency reference for all four of the drives Drive 1 and Drive 3 control the speed of the belt conveyor Slip compensation will be used to maintain the RPM independent of load changes caused by the cutter or dough feed By maintaining the required RPM the baking time remains constant and therefore the end product is consistent Dough Stress Relief Cookie Line
196. oint is programmed as PID Setpoint and as the tension increases or decreases during winding the master speed is trimmed to compensate and maintain tension near the equilibrium point 78 Process PID Loop Equilibrium Point PI Reference Sel Y 10 Volts Master Speed Reference Dancer Pot LI PI Feedback Sel LC When the PID is disabled the commanded speed is the ramped speed reference Slip Adder PI Ref PIFbk Slip Comp 4 Linear Ramp Loop Spd Ref P cune xe Process 5 Process PI Controller PI Disabled Speed Control Spd Cmd When the PID is enabled the output of the PID Controller is added to the ramped speed reference Slip Adder PIRef PIFbk Exclusive Mode Spd Cmd Slip Comp O gt Spd Ret v s L i e cuve Process PI Process a Controller PI Enabled Speed Control In this mode the output of PID regulator is the speed reference and does not trim a master speed reference This mode is appropriate when speed is unimportant and the only thing that matters is satisfying the control loop In the pumping applicati
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198. on example below the reference or setpoint is the required pressure in the system The input from the transducer is the PID feedback and changes as the pressure changes The drive output frequency is then increased or decreased as needed to maintain system pressure regardless of flow changes With the drive turning the pump at the required speed the pressure is maintained in the system Process PID Loop 79 Pump Pressure Transducer Motor L 1 D 1 1 looocoo leeeoo leeeoo 5259 PI Feedback ooo Desired Pressure PI Reference Sel NM NS NS NS However when additional valves in the system are opened and the pressure in the system drops the PID error will alter its output frequency to bring the process back into control When the PID is disabled the commanded speed is the ramped speed reference Slip Comp Slip Adder O gt Loop Spd Ref ali piu BEP Br Spd Ond P Ref SK Process Controller t T PIFbk PI Disabled Speed Control When the PID is enabled the speed reference is disconnected and PID Output has exclusive control of the commanded speed passing through the linear ramp and s curve
199. op process control with proportional and integral control action The function is designed to be used in applications that require simple control of a process without the use of a separate stand alone loop controller NET The function reads a process variable input to the drive and compares it to a desired setpoint stored in the drive The algorithm will then adjust the output of the PID regulator changing drive output frequency to attempt zero error between the process variable and the setpoint The Process PID can be used to modify the commanded speed or can be used to trim torque There are two ways the PID Controller can be configured to modify the commanded speed e Speed Trim The PID Output can be added to the master speed reference Exclusive Control PID can have exclusive control of the commanded speed The mode of operation between speed trim exclusive control and torque trim is selected in the PI Configuration parameter Speed Trim Mode In this mode the output of the PID regulator is summed with a master speed reference to control the process This mode is appropriate when the process needs to be controlled tightly and in a stable manner by adding or subtracting small amounts directly to the output frequency speed In the following example the master speed reference sets the wind unwind speed and the dancer pot signal is used as a PID Feedback to control the tension in the system An equilibrium p
200. or 1 mode If the speed reference 20 Hz and Analog Input 2 1V the resulting trim will be 20 Hz x 10 2 0 Hz which when added to the speed reference is 20Hz As the speed reference changes the absolute amount of trim also changes since it is a percent of the speed reference For example if the speed reference changes to 40 Hz the amount of trim added is 40 Hz x 1096 4 0 Hz and so on Example 2 Add mode Maximum Speed 60 Trim In Select 2 Analog In 2 Trim Out Select bit 0 Speed Ref A 1 Trim Out Select bit 2 Add or Ref 0 Add mode If the speed reference 20 Hz and Analog Input 2 10V the resulting trim will be 60 Hz x 20 12 Hz which is added to the speed reference even as the speed reference changes For example if the speed reference changes to 40Hz the absolute amount of trim added remains equal to 60 Hz x 10 4 0 Hz and so on In this case a different absolute amount of trim would require a change at analog input 2 Speed Regulation 101 Min Max Speed Maximum and minimum speed limits are applied to the reference These limits apply to the positive and negative references The minimum speed limits will create a band that the drive will not run continuously within but will ramp through This is due to the positive and negative minimum speeds If the reference is positive and less than the positive minimum it is set to the positive minimum If the reference is negative an
201. or above rated speed At higher speeds field weakening is active and the motor flux current cannot be increased Because flux braking increases motor losses the duty cycle used with this method must be limited Check with the motor vendor for flux braking or DC braking application guidelines Also consider using external motor thermal protection 46 Flux Up Flux Up lt 70EC EZ AC induction motors require flux to be established before controlled torque can be developed To build flux voltage is applied There are two methods to flux the motor The first method is during a normal start Flux is established as the output voltage and frequency are applied to the motor While the flux is being established the unpredictable nature of the developed torque may cause the rotor to oscillate even though acceleration of the load may occur In the motor the acceleration profile may not follow the commanded acceleration profile due to the lack of developed torque Figure 5 Accel Profile during Normal Start No Flux Up Frequency Reference Stator Rotor Frequency Oscillation due N to flux being established Time The second method is Flux Up Mode In this mode DC current is applied to the motor so that the flux is established before rotation The flux up time period is based on the level of flux up current and the rotor time constant of the motor The flux up current is not user adjustable Figure 6 F
202. ork Logic Command Word HIM local or remote e Analog Input Preset Speed Parameter e Jog Speed Parameter e Network Communications e Process PI Loop e MOP Figure 16 Speed Reference Selection Digital Inx Select PI Exclusive Mode Default isive mm SpeedSel 3 2 1 Configuration Dive REFRER Pure Reference 7 ji rive Ref Rsit 9 Auto Speed Ref Options EBIEQTEXCUMOUO SO to follower drive for Speed Ref A Sel Parameter 090 000 Frequency Reference Speed Ref B Sel Parameter 093 01011 Preset Speed 2 Parameter 102 mil 110 Ski alg Auto Skip Clamp Preset Speed 3 Parameter 103 1 1 m Direction etc Preset Speed 4 Parameter 104 1 0 0 Y Preset Speed 5 Parameter 105 1 Min Max Speed Preset Speed 6 Parameter 106 10 Preset Speed 7 Parameter 107 1111 DPI Port Ref 1 6 See Parameter 209 FnnDPI Command Y Manual Speed Ref Options HIM Requesting Auto Manual T S Curve TB Man Ref Sel Parameter 096 Digital Input Post Ramp Jog Speed Parameter 100 Jog Command to follower drive for Speed Adders Speed Mode Frequency Reference PI Output 2 Process Pi Slip Compensation 1 Slip Comp
203. p X StepX StepX StepX Step X Step Step X Type Velocity AccelTime DecelTime Value Dwell Batch Next 1 Enclnc Blend 100 0 5 0 5 10 00 10 00 1 2 2 Enclnc Blend 200 0 5 0 5 10 00 0 00 1 3 3 Enclnc Blend 300 0 5 0 5 10 00 10 00 1 4 4 Encoder Abs 400 0 5 0 5 0 00 1 00 1 5 5 End N A N A 0 5 N A 0 00 N A N A Encoder Incremental Blend with Hold This profile is the same as the previous but contains the Hold function While the Hold is applied the step transition is inhibited When the Hold is released the step can then transition if the conditions to transition are satisfied Encoder Incremental Blend w Hold 350 Complete 250 150 Hold Input sun EncoderSpeed Profile Status Scaled d ls1u uno Time Encoder Speed 415 Profile Status 700 Units Traveled 701 Current Step StepX Step X Step X StepX StepX StepX Step X Step Step X Type Velocity AccelTime DecelTime Value Dwell Batch Next 1 Enclnc Blend 100 0 5 0 5 10 00 10 00 1 2 2 Enclnc Blend 200 0 5 0 5 10 00 10 00 1 3 3 Enclnc Blend 300 0 5 0 5 10 00 10 00 1 4 4 Encoder Abs 400 0 5 0 5 0 00 1 00 1 5 5 End N A N A 0 5 N A 0 00 N A N A Encoder Incremental Blend with Velocity Override This profile is the same as the EncIncrBlend but contains the Velocity Override function While the Vel Override is applied
204. peed Power Loss Output Enable Pre Charge Drive Fault 480V example shown see Table F for further information Half Voltage This mode provides the maximum power ride through The input voltage can drop to 50 and the drive is still able to supply drive rated current not drive rated power to the motor impedance must be provided to limit inrush current when the power line recovers The input impedance should be equal or greater than the equivalent of a 5 transformer with a VA rating 6 times the drive s input VA rating ATTENTION guard against drive damage a minimum line Process PID Loop 77 680V Bus Voltage 620V 560V 365V 305V Motor Speed B Power Loss Output Enable Pre Charge Drive Fault 480V example shown see Table F for further information Coast Input Decel Input KINONA These modes operate similarly to their non input versions but provide additional ride through time This is accomplished by early sensing of the power loss via an external device that monitors the power line This device provides a hardware signal which is connected to the drive through the pulse input because of its high speed capability Normally this hardware power loss input will provide a power loss signal before the bus drops to less than Vopen Process PID Loop The internal PID function provides closed lo
205. primary and secondary ramp rates For example with a digital input programmed for Accel 2 an open digital input follows Accel Time 1 A closed digital input follows Accel Time 2 Acc2 amp Dec2 This setting is similar to the Accel 2 and Decel 2 settings except that one digital input will toggle both Accel and Decel at the same time 30 Digital Inputs MOP Increment MOP Decrement These functions are used to increment and decrement the Motor Operated Potentiometer MOP value inside the drive The MOP is a reference value that can be incremented and decremented by external devices The MOP value will be retained through a power cycle In order for the drive to use the MOP value as the current speed reference either Speed Ref A Sel or Speed Ref B Sel must be set to MOP Refer to on page 50 Stop Mode B This digital input function selects between two different drive stop modes See also Stop Modes on page 109 If the input is open then Stop Mode A selects which stop mode to use If the input is closed then Stop Mode B selects which stop mode to use If this input function is not configured then Stop Mode A always selects which stop mode to use Bus Regulation Mode B This digital input function selects how the drive will regulate excess voltage on the DC bus See also Bus Regulation If the input is open then Bus Reg Mode A selects which bus regulation mode to use If the input is closed
206. que The drive will lower the boost voltage to this level when running at low speeds not accelerating This reduces excess motor heating that could be caused if the higher start accel boost level were used Break Voltage Frequency Used to increase the slope of the lower portion of the Volts hertz curve providing additional torque Motor Nameplate Voltage Frequency sets the upper portion of the curve to match the motor design Marks the beginning of the constant power region Maximum Voltage Frequency Slopes the portion of the curve used above base speed Maximum Voltage 4 lt gt Base Voltage 4 Nameplate Voltage Break Voltage Start Accel Boost Run Boost gt Break Base Frequency Maximum Frequency Nameplate Frequency Sensorless Vector Sensorless Vector mode uses a V Hz core enhanced by excellent current resolution a slip estimator a high performance current limiter and the vector algorithms CURRENT FEEDBACK TOTAL Current TORQUE EST Resolver CURRENT FEEDBACK V Hz Control SPEED gt FREQUENCY REF Current ELEC FREO VREF Voltage ds Limit Control Vector V VECTOR Control SLIP FREQUENCY Slip Estimator V Hz 1131 30801 TORQUE I EST The algorithms operate on the k
207. r 138 PI Output Meter 0 0 Motor amp Inverter Overload Load Process Control e J PowerFlex 70EC Block Diagrams 136 0 H dwey end e z Phagun zya uewoinv 261 S S Od Idd oH g ENUEN uod peojoid Idd 6 I9A91dON fouenber4 dON LL l0lu00 dON l l enuen 00 S uod Ida 2 uod Z Hod Idd l I 01 Idd jenueyy HO WIH 10 I uy H tenue d Mod n 01 30 jeu c uj 01 IH dniewog Z uod Ida enuen 81 lt pon 91 10 Jeu ul WIH 009 Idd I puewwog 140 Puau 1 uj L les jou ue 81 96 jeu UW 8 26 OMY Z16591 1 peedg seid 101 IL suodida X S oos ony 9196849 9 paads sald 901 X 6009190 00 195914 200190 9
208. r negative value A brake or other means of dissipating regenerative energy is recommended Current Lmt Sel amp Current Lmt Value By default these parameters are set to provide 150 of drive rating If lowered the performance may be degraded Bus Reg Mode A The default setting will adjust frequency to regulate the DC bus voltage under regenerative conditions This will most likely cause a position overshoot To resolve this select Dynamic Brak and size the load resistor for the application Bus Reg Mode B The default setting will adjust frequency to regulate the DC bus voltage under regenerative conditions This will most likely cause a position overshoot To resolve this select Dynamic Brak and size the load resistor for the application Speed Regulator The bandwidth of the speed regulator will affect the performance If the connected inertia is relatively high the bandwidth will be low and therefore a bit sluggish When programming the acceleration and deceleration rates for each step do not make them too aggressive or the regulator will be limited and therefore overshoot the desired position Position Loop Tuning Two parameters are available for tuning the position loop Pos Reg Filter parameter 718 is a low pass filter at the input of the position regulator Pos Reg Gain parameter 719 is a single adjustment for increasing or decreasing the responsiveness of the regulator By default these parameter
209. rated levels 40 Drive Overload Figure 2 Normal Duty Boundary of Operation 1 80 1 70 1 60 1 50 1 40 1 30 1 20 1 10 1 00 0 90 0 80 0 70 0 60 0 50 0 40 0 30 0 20 0 10 0 00 Current Level 1 00 10 00 100 00 1 000 00 Time Seconds Heavy Duty operation follows the same algorithm as Normal Duty but allows a larger percentage of rated current one size smaller motor The percentages are 150 for 60 seconds 200 for 3 seconds and 220 for 100 milliseconds see Normal Duty and Heavy Duty Operation on page 39 Figure 3 Heavy Duty Boundary of Operation 2 50 2 25 2 00 1 75 1 50 1 25 1 00 Current Level 0 75 0 50 0 25 0 00 1 00 10 00 100 00 1000 00 10000 00 Time Seconds Thermal Manager The thermal manager assures that the thermal ratings of the power module are not exceeded The operation of the thermal manager can be thought of as a function block with the inputs and outputs as shown below Drive Overload 41 Figure 4 Thermal Manager Inputs Outputs DTO Select DTO Fault mt Both On Off PWM Frequency Active PWM Frequ
210. rator is being held at its current value e Reset A signal has been issued and the integrator is being held at zero In Limit The loop output is being clamped at the value set in PI Upper Lower Limit PID Reference and Feedback The selection of the source for the reference signal is entered in the PID Reference Select parameter The selection of the source for the feedback signal is selected in the PID Feedback Select parameter The reference and feedback have the same limit of possible options Options include DPI adapter ports MOP preset speeds analog inputs pulse input encoder input and PID setpoint parameter The value used for reference is displayed in PID Reference as a read only parameter The value used for feedback is displayed in PID Feedback as a read only parameter These displays are active independent of PID Enabled Full scale is displayed as 4100 00 PID Reference and Feedback Scaling The PID reference can be scaled by using PI Reference Hi and PI Reference Lo PI Reference Hi determines the high value in percent for the PID reference PI Reference Lo determines the low value in percent for the PID reference The PID feedback can be scaled by using PI Feedback Hi and PI Feedback Lo PI Feedback Hi determines the high value in percent for the PID feedback PI Feedback Lo determines the low value in percent for the PID feedback Example The PID reference meter and PID feedback me
211. re known voltage drop across the stator resistance can be calculated Then set Autotune to 0 Ready and directly enter these values into the Flux Current and IR Voltage Drop parameters Autotune Procedure for Flux Vector For FVC vector control an accurate model of the motor must be used For this reason the motor data must be entered and the autotune tests should be performed with the connected motor Motor nameplate data must be entered into the following parameters for the Autotune procedure to obtain accurate results e Motor NP Volts e Motor NP FLA e Motor NP Hertz e Motor NP RPM e Motor NP Power e Motor Poles Next the Dynamic or Static Autotune should be performed 18 Bus Regulation Bus Regulation NET Refer to the Autotune Procedure for Sensorless Vector and Economizer on page 17 for a description of these tests After the Static or Dynamic Autotune the Inertia test should be performed The motor shaft will rotate during the inertia test During the inertia test the motor should be coupled to the load to find an accurate value The inertia test can be performed during the Start up routine on the LCD HIM The inertia test can also be run manually by setting Inertia Autotune to 1 Inertia Tune and then starting the drive Troubleshooting the Autotune Procedure If any errors are encountered during the Autotune process or the procedure is aborted by the user e drive paramete
212. resents 60 Hz This allows full scale operation from a 0 5 volt Source Input Volts 0 6 12 18 24 30 36 42 48 54 60 Output Hertz Example 7 Anlg In Config bit 0 0 Voltage Torque Ref A Sel Analog In 1 Torque Ref A Hi 20096 Torque Ref A Lo 0 Torque Ref A Div 1 PowerFlex 700VC Only This configuration is used when the input signal is 0 10 volts The minimum input of 0 volts represents a torque reference of 0 and maximum input of 10 volts represents a torque reference of 200 Input Volts 0 20 40 60 80 100 120 140 160 180 200 Torque Ref Analog Inputs Square Root The square root function can be applied to each analog input through the use of Analog In Sq Root The function should be enabled if the input signal varies with the square of the quantity e g drive speed being controlled If the mode of the input is bipolar voltage 10 to 10v then the square root function will return 0 for all negative voltages The function uses the square root of the analog value as compared to its full scale e g 5V 0 5 or 50 and 0 5 0 707 and multiplies it times the full scale of what it will control e g 60 Hz The complete function can be describes as Analog Value Analog In x Lo nadoon Cii Areolas ia x Speed Ref A Hi Speed Ref A Lo Speed Ref A Lo Setting high and low values to 10V 0 Hz and 60 Hz the expression reduces to Analog Valu
213. revents such a change However DPI Ref Select parameter 298 allows a setting which changes the scaling to Maximum Speed instead of Maximum Frequency as shown in the following example Example 2 Maximum Network Reference Maximum Speed DIP Ref Select parameter 298 Max Speed Maximum Freq parameter 55 130 Hz Maximum Speed parameter 82 60 Hz Speed Reference Network value Maximum Speed x 32767 When full speed 60 Hz is desired the following network value must be sent 60 60 x 32767 32767 Jog When the drive is not running pressing the HIM Jog button or a programmed Jog digital input will cause the drive to jog at a separately programmed jog reference This speed reference value is entered in Jog Speed parameter 100 Scaling of an Analog Speed Reference Refer to Analog Inputs on page 4 Polarity The reference can be selected as either unipolar or bipolar Unipolar is limited to positive values and supplies only the speed reference Bipolar supplies both the speed reference AND the direction command signals forward direction and signals reverse direction Trim If the speed reference is coming from the source specified in Speed Ref A Sel or Speed Ref B Sel it can be trimmed by variable amount 100 Speed Reference Figure 17 Trim Trim Enable Select A Trim B Both o None Reference gt Trimmed Reference
214. rs are not changed the appropriate fault code will be displayed in the fault queue e Autotune parameter is reset to 0 The following conditions will generate a fault during an Autotune procedure Incorrect stator resistance measurement Incorrect motor flux current measurement e Load too large e Autotune aborted by user Incorrect leakage inductance measurement Some applications create an intermittent regeneration condition The following example illustrates such a condition The application is hide tanning in which a drum is partially filled with tanning liquid and hides When the hides are being lifted on the left motoring current exists However when the hides reach the top and fall onto a paddle the motor regenerates power back to the drive creating the potential for an overvoltage fault When an AC motor regenerates energy from the load the drive DC bus voltage increases unless there is another means dynamic braking chopper resistor etc of dissipating the energy or the drive takes some corrective action prior to the overvoltage fault value Motoring Regenerating JC With bus regulation disabled the bus voltage can exceed the operating limit and the drive will fault to protect itself from excess voltage Bus Regulation 19 Single Seq De Fault Vbus Max E 1 Drive Output Shut Off ma Chl 100m
215. ru sc 43 FIX Braking osuere xA eee eU Be eui ies 45 BUX P MMC 46 PR 47 High Resolution Speed 48 Input Phase Loss D tection as detinuti eae E ERR oec doe Yi ede UR Roos 48 22220 PRX PER Bip ea ate Ee alia bie godly Re pei e a quia MP Gud 49 Load Loss Detection uuu u s lo eR RUE 49 gro Pie Sagas 49 MOP nmm 50 Motor Control Modes 51 Motor Nameplate Data 2 2 2 2222 a rude eee deeper deni E 54 Motor Overload u ur a a a ro dU ub cles Gap scd 55 Notchi Filter ua suy EE Rp ES UE OP esie d 57 Bru cl PT 59 Password i244 NERA EU OE EN Ee 60 Position Indexer Speed 1 61 Power LOSS Rep Sep AUR hed ER UE NU FURORI Oe aee e x e 73 Process PID LOOD 77 PTC Motor Thermistor 1 1 1 1 2 86 PWM Frequency iussa apt Re IRE bai PER DIRE EE qa ride rati cedes dad 87 Regen Power Limiti
216. ry combination that activates a specific user set 42 UserSet Sel2 the most significant bit of the binary combination that activates a specific user set These digital input functions control the user sets as follows Digital Input Set to 42 Digital Input Set to 41 UserSet Sel2 UserSet Sel1 User Set Open 0 Open 0 1 Open 0 Closed 1 2 Closed 1 Open 0 3 Closed 1 Closed 1 3 Dyn UserSet Sel parameter 205 is used in Dynamic Mode when user sets will be controlled from a network parameter 204 xxxx xxxx xxxx xx11 instead of digital inputs Bit 0 UserSet Sell 0 active 1 not active The least significant bit of the binary combination that activates a specific user set Bit 1 UserSet Sel2 0 active 1 not active The most significant bit of the binary combination that activates a specific user set Voltage Class 115 These parameter bits are normally written to over a network using Datalinks and control the user sets as follows Dyn UserSet Sel Dyn UserSet Sel Parameter 205 bit 1 Parameter 205 bit 0 User Set 0 0 1 0 1 2 1 0 3 1 1 3 e Dyn UserSet Actv parameter 206 reports the status of Dynamic Mode and which User Set is active Bit Definitions follow 0 Dynamic Mode 0 active 1 not active Bit 1 User Set 1 0 active 1 not active Bit2 User Set 2 0 active 1 not active
217. s are set at roughly a 6 1 ratio filter 25 gain 4 It is recommended that a minimum ratio of 4 1 be maintained Jogging A jog function is compatible with profiling but the drive must be in a stopped condition If the drive is presently running a profile the jog will be ignored The direction of the jog is controlled by the sign of the jog speed This can be manipulated via analog input scaling from a network communication device or with the HIM module 62 Position Indexer Speed Profiler Profile Command Control Word The profile indexer is controlled with Profile Command parameter 705 The bit definitions are as follows Bit Name Description 0 Start Step0 The binary value of these bits determines which step will be the starting step 1 Start Step 1 forthe profile when a start command is issued If the value of these bits are not 2 Start Step 2 1 16 the drive will not run since it does not have a valid step to start from Valid 3 Start Step 3 Examples 00011 step 3 01100 step 12 4 Start Step 4 57 Reserved Not used 8 Hold Step When set this command will inhibit the profile from transitioning to the next step when the condition s required are satisfied When the Hold command is released the profile will transition to the next step 9 Pos Redefine This bit is used to set the present position as Home When this bit is set Profile Status bit At Home will be set and the Units Traveled wi
218. s the output frequency to be greater than commanded frequency while the drive s bus voltage is increasing towards levels that would otherwise cause a fault However it can also cause either of the following two conditions to occur 1 Fast positive changes in input voltage more than a 10 increase within 6 minutes can cause uncommanded positive speed changes However an OverSpeed Limit fault will occur if the speed reaches Max Speed Overspeed Limit If this condition is unacceptable action should be taken to 1 limit supply voltages within the specification of the drive and 2 limit fast positive input voltage changes to less than 1096 Without taking such actions if this operation is unacceptable the adjust freq portion of the bus regulator function must be disabled see parameters 161 and 162 Actual deceleration times can be longer than commanded deceleration times However a Decel Inhibit fault is generated if the drive stops decelerating altogether If this condition is unacceptable the adjust freq portion of the bus regulator must be disabled see parameters 161 and 162 In addition installing a properly sized dynamic brake resistor will provide equal or better performance in most cases Important These faults are not instantaneous Test results have shown that they can take between 2 12 seconds to occur The drive can be programmed for one of five different modes to control the DC bus voltage
219. ser Display is shown when module keys have been inactive for a predetermined amount of time The display can be programmed to show pertinent information Setting the User Display Step 1 Press the Up Arrow or Down Arrow to scroll to Operator Intrfc Press Enter Press the Up Arrow or Down Arrow to scroll to User Display Press Enter Select the desired user display Press Enter Scroll to the parameter that the user display will be based on Press Enter Set a scale factor Press Enter to save the scale factor and move to the last line Press the Up Arrow or Down Arrow to change the text Press Enter to save the new user display Key s Setting the Properties of the User Display Example Displays Operator Intrfc Change Password User Display Parameters The following HIM parameters can be set as desired User Display Enables or disables the user display User Display 1 Selects which user display parameter appears on the top line of the user display User Display 2 Selects which user display parameter appears on the bottom line of the user display User Display Time Sets how many seconds will elapse after the last programming key is touched before the HIM displays the user display 114 User Sets User Sets Normal Mode The drive has additional parameter storage memory beyond what is being used for operation at any given time This additional memory is divided up into 3 areas
220. t in Profile Status In this example a dwell value held each of the first three steps At Position for 1 second After the Step X Dwell time expires the profile transitions to the next step The absolute step is used to send the profile back to the home position This is done by programming Step 4 Value to zero Position Indexer Speed Profiler 71 Encoder Incremental w Dwell 350 30 250 c 7 58 8 150 Complete s E 50 E 20 amp 5 a 70 90 110 130 150 170 190 210 50 15 At Position 2 150 o 10 3 8 250 2 3 u Step5 s 350 Step 4 5 5 Step 1 Step Step 3 450 0 Encoder Speed 415 Profile Status 700 Units Traveled 701 Current Step StepX StepX Step X StepX StepX StepX Step X Step Step X Type Velocity AccelTime DecelTime Value Dwell Batch Next 1 Encoder Incr 100 0 5 0 5 10 00 1 00 1 2 2 Encoder Incr 200 0 5 0 5 10 00 1 00 1 3 3 Encoder Incr 300 0 5 0 5 10 00 1 00 1 4 4 Encoder Abs 400 0 5 0 5 0 00 1 00 1 5 5 End N A N A 0 5 N A 0 00 N A N A Encoder Incremental with Hold This profile is the same as Encoder Incr but contains the Hold function During step 3 the Hold bit was set After some time At Position the Hold was removed which allowed the profile to transition to the next step Encoder Incremental w Dwel
221. table below and applicable local national amp international codes standards regulations or industry guidelines ATTENTION Enabling the Sleep Wake function can cause unexpected Sleep Mode 97 Table G Conditions Required to Start Drive 1 2 8 Input After Power Up After a Drive Fault After a Stop Command Reset by Reset by Clear HIM or TB HIM or TB Faults TB Stop Stop Closed Stop Closed Stop Closed Stop Closed Wake Signal Wake Signal Wake Signal Analog Sig gt Sleep Level 6 New Start or Run New Start or Run Cma 4 Enable Enable Closed Enable Closed Enable Closed Enable Closed Wake Signal 4 Wake Signal Wake Signal Analog Sig gt Sleep New Start or Run Level 6 New Start or Run Run Run Closed New Run 5 Run Closed New Run Run For Wake Signal Wake Signal Wake Signal Wake Signal Run Rev 1 When power is cycled if all conditions are present after power is restored restart will occur 2 If all conditions are present when Sleep Wake Mode is enabled the drive will start 3 The active speed reference is determined as explained in the User Manual The Sleep Wake function and the speed reference may be assigned to the same input 4 Command must be issued from HIM or network 5 Run Command must be cycled 6 Signal does not need to be greater than wake level Normal operation will require that Wake
222. ted through a one time request Auto Man toggle not continuously asserted Once granted the terminal holds Manual control until the Auto Man button is pressed again which releases Manual control e g back to Auto mode Manual control can be granted to a device only if another device does not presently own Manual control Local control has priority over Manual control and can terminate the manual state of a device Any connected HIM will indicate when it has been granted Manual control but will not indicate the manual status of other devices If the drive is configured such that the HIM can not select the reference via Reference Mask setting the drive will not allow the HIM to acquire Manual control If the Reference Mask for a device s port becomes masked while that device is in Manual control then Manual control will be released If a terminal has Manual control and clears its DPI logic mask allowing disconnect of the terminal then Manual control will be released If the drive is configured such that the HIM can be unplugged via logic mask setting then the drive will not allow the terminal to acquire Manual control The disconnect also applies to a HIM that executes a Logout If the Logic Mask for a device s port becomes masked while that device is in Manual control then Manual control will be released If a com loss fault occurs on a device that has Manual control then Manual control will be releas
223. ter should be displayed as positive and negative values Feedback from our dancer comes into Analog Input 2 as a 0 10V DC signal PI Reference Sel 0 PI Setpoint Setpoint 50 Feedback Sel 2 Analog In 2 Reference Hi 100 Reference Lo 100 Feedback Hi 100 Feedback Lo 0 Analog In 2 Hi 10V Analog In 2 Lo 0V PI Feedback Scaling Torque Ref A Sel Analog In 1 Analog In 2 Hi PI Feedback Hi 10V 10096 Analog In 1 Lo PI Feedback Lo 0 Now 5V corresponds to 50 on the PID Feedback and we will try to maintain a PID setpoint of 5096 5V Process PID Loop 85 Using Scale Blocks with PID Reference and Feedback Scale Blocks are included in the Reference and Feedback selections of the Process PID controller This selects the output of the scale block for use as Reference or Feedback to the Process PID PID Setpoint This parameter can be used as an internal value for the setpoint or reference for the process If PI Reference Sel points to this parameter the value entered here will become the equilibrium point for the process PID Error The PID Error is then sent to the Proportional and Integral functions which are summed together PID Error Filter PI BW Filter sets up a filter for the PID Error This is useful in filtering out unwanted signal response such as noise in t
224. that can feed this function with data and only 1 parameter P394 than can mask the data However each digital output can apply either the AND function or the OR function to the result before it takes action on a digital output The choices for parameter 393 are shown in the User Manual While monitoring the value of a particular choice for Parameter 393 Dig Out Param only the bits with a corresponding value of 1 in Parameter 394 Dig Out Mask will be monitored and passed through to the AND or OR digital output functions of the bits with zeros in the mask are ignored Example This example demonstrates how to turn on a digital output if dynamic braking is occurring the dynamic brake transistor is switching and bus frequency regulation is also occurring This would be an indication that the connected brake resistor is shunting energy but there is too much regeneration for that moment in time and the drive is not following its commanded decel rate P393 Dig Out Param Drive Sts 2 P380 Digital Out 1 Sel Mask 1 AND P394 Dig Out Mask 0000100010000000 Setting bits 7 and 11 of Dig Out Mask equal to 1 allows bit 7 DB Active and bit 11 Bus Freq Reg of Drive Status 2 to pass through to the AND function This way when both of these conditions occur together the digital output will turn on Exceeded Levels These functions require a level to be programmed into Dig Out Level and or
225. that the voltage on the bus capacitors has discharged before performing any work on the drive Measure the DC bus voltage at the DC amp DC terminals of the Power Terminal Block refer to the User Manual for location The voltage must be zero ATTENTION Risk of injury or equipment damage exists DPI or SCANport host products must not be directly connected together via 1202 cables Unpredictable behavior can result if two or more devices are connected in this manner ATTENTION An incorrectly applied or installed bypass system can result in component damage or reduction in product life The most common causes are e Wiring AC line to drive output or control terminals e Improper bypass or output circuits not approved by Allen Bradley Output circuits which do not connect directly to the motor Contact Allen Bradley for assistance with application or wiring ATTENTION Loss of control in suspended load applications can cause personal injury and or equipment damage Loads must always be controlled by the drive or a mechanical brake Parameters 600 611 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 Reference Information Detailed Drive Operation This chapter explains PowerFlex drive functions in detail Explanations are or
226. therefore is considered stopping 16 Autotune Autotune NET lt 700 Aborting an Auto Reset Run Cycle During an auto reset run cycle the following actions conditions will abort the reset run attempt process e Issuing a stop command from any source Note Removal of a 2 wire run fwd or run rev command is considered a stop assertion e Issuing a fault reset command from any source e Removal of the enable input signal e Setting Auto Rstrt Tries to zero e A fault which is not auto resettable e Removing power from the drive e Exhausting an Auto Reset Run Cycle After all Auto Rstrt Tries have been made and the drive has not successfully restarted and remained running for five minutes or more the auto reset run cycle will be considered exhausted and therefore unsuccessful In this case the auto reset run cycle will terminate and an additional fault Auto Rstrt Tries Auto Restart Tries will be issued if bit 5 of Fault Config 1 2 1 Description of parameters determined by the autotune tests Flux Current Test Flux Current Ref is set by the flux current test and is the reactive portion of the motor current portion of the current that is out of phase with the motor voltage and is used to magnetize the motor The flux current test is used to identify the value of motor flux current required to produce rated motor torque at rated current When the flux test is performed the motor will rotate The dr
227. tor Voltage gt Drive Rated Voltage 10 gt Actual Line Voltage Drive Input Example Calculate the maximum power of a 5 HP 460V motor connected to a 480V rated drive supplied with 342V Actual Line Voltage input e Actual Line Voltage Nominal Motor Voltage 74 3 e 74 3 x 5 HP 3 7 HP e 74 3 x 60 Hz 44 6 Hz At 342V Actual Line Voltage the maximum power the 5 HP 460V motor can produce is 3 7 HP at 44 6 Hz BHP qe MMHM erdi HP Motor Drive Output i 480V gt i 460V 528V Actual Line Voltage Drive Input 342V gt Appendix Supplemental Information Engineering Parameters RET IET the following parameters must only be changed by qualified service ATTENTION To guard against unstable or unpredictable operation A personnel The following parameters can only be viewed when 2 Reserved is selected in parameter 196 Param Access Lvl e eB ers i 2 Parameter Name amp Description Values 500 KI Current Limit Default 1500 Current Limit Integral gain This gain is applied to the 0 10000 current limit error signal to eliminate steady state Units 1 current limit error A larger value increases overshoot during a step of motor current load 501 KD Current Limit Default 500 wv Current Limit Derivative gain This gain is applied Min Max 0 10000 the sensed motor c
228. torque regulator The torque reference causes the motor to operate at 308 RPM The speed reference is 468 RPM so the minimum is to operate as a torque regulator While operating in torque regulation the load decreases and the motor speeds up Notice that the torque command has not changed When the speed regulator comes out of saturation it clamps the speed and now the drive operates as a speed regulator Figure 20 Min Mode Operation Internal Torque Command Load Step Decrease Speed Feedback Sum Mode This mode allows an external torque input to be summed with the torque command generated by the speed regulator and can be used for applications that have precise speed changes with critical time constraints If the torque requirement and timing are known for a given speed change then the external torque input can be used to preload the integrator The timing of the speed change and the application of an external torque command change must be coordinated for this mode to be useful The sum mode will then work as a feed forward to the torque regulator 108 Start Permissives Absolute Min Mode This mode regulates to the smallest absolute value of torque or speed when the torque reference and torque generated from the speed regulator are compared Position Speed Profile Mode 01118917182 The drive operates as a speed or position regulator as determined by the Profile Step parameters 720 877 an
229. trol and Economizer modes The user must enter motor nameplate data into the following parameters for the Autotune procedure to obtain accurate results Motor NP FLA Motor NP Volts Motor NP Hertz Motor NP Power Next the Dynamic or Static Autotune should be performed Dynamic the motor shaft will rotate during this test The dynamic autotune procedure determines both the stator resistance and motor flux current The test to identify the motor flux current requires the load to be uncoupled from the motor to find an accurate value If this is not possible then the static test can be performed e Static the motor shaft does not rotate during this test The static test determines only IR Voltage Drop This test does not require the load to be uncoupled from the motor The static and dynamic tests can be performed during the Start up routine on the LCD HIM The tests can also be run manually by setting the value of the Autotune parameter to 1 Static Tune or 2 Rotate Tune Alternate Methods for IR Voltage Drop amp Flux Current Ref If it is not possible or desirable to run the Autotune tests use one of the following two methods e When Autotune is set to 3 Calculate any changes made by the user to motor nameplate FLA HP Voltage or Frequency activates a new calculation This calculation is based on a typical motor with those nameplate values e Ifthe stator resistance and flux current of the motor a
230. ue to 0 stops the command from reaching the drive logic Unmasking setting a bit s value to 1 allows the command to pass through into the drive logic NET IET Example A customer s process is normally controlled by a remote PLC but the drive is mounted on the machine The customer does not want anyone to reverse the drive by pressing Reverse on the locally mounted HIM DPI port 1 because it would damage the process To assure that only the PLC connected to DPI port 5 has direction control the Direction Mask can be set as follows Direction Mask lofo 171 6 oa 4 BOS gt lo m gt o gt gt lo Adapter This masks out the reverse function from all communication ports except port 5 making the local HIM port 1 Reverse button inoperable Also see Owners on page 59 50 The Motor Operated Pot function uses either digital inputs or network commands to increment or decrement the speed reference at a programmed rate EZ The MOP has three components MOP Rate parameter e Save MOP Ref parameter e MOP Frequency parameter MOP increment input MOP decrement input The MOP rate is the rate at which the MOP reference will change when commanded to increment or decrement This rate is independent of acceleration and deceleration times MOP rate is defined in Hz sec The MOP reference will increase decrease linear
231. uent stops or speed changes The other device is methods may result in excessive motor heating connected Fast e Additional braking capability without use of an external brake resistor More than Flux Brake or regenerative unit but only effective during stop events not speed Braking or DC changes Brake Important For this feature to function properly the active Bus Reg Mode A or B must be set to Adjust Freq and NOT be Disabled Flux e Fastspeed changes and fast stopping time More than DC Braking Typical stop from speeds below 50 of base speed Flux Braking Brake will likely stop the load faster than Fast Brake in this case Important This can be used in conjunction with Ramp or Ramp to Hold for additional braking power or with Fast Brake or DC Brake for speed changes Important For this feature to function properly the active Bus Reg Mode A or B must be set to Adjust Freq and NOT be Disabled DC e Additional braking capability without use of external brake resistor or Less than above Brake regenerative units methods In addition to these modes the drive can be programmed for Coast and Ramp to Hold which are described in further detail in this section Configuration e Stop Brk Mode parameter 155 e Stop Brk Mode B parameter 156 0 Coast j Ramp 2 to Hold 3 DC Brake 4zFast Brake PowerFlex 70 amp 700 Only e DC Brk Lvl Sel
232. uld limit the output frequency to not become greater than zero Feedback Square Root This feature uses the square root of the feedback signal as the PID feedback This is useful in processes that control pressure since centrifugal fans and pumps vary pressure with the square of speed The PID has the option to take the square root of the selected feedback signal This is used to linearize the feedback when the transducer produces the process variable squared The result of the square root is normalized back to full scale to provide a consistent range of operation The option to take the square root is selected in the PID Configuration parameter 82 Process PID Loop e Stop Mode When Stop Mode is set to 1 and a Stop command is issued to the drive the PID loop will continue to operate during the decel ramp until the PID output becomes more than the master reference When set to 0 the drive will disable PID and perform a normal stop This bit is active in Trim mode only 100 0 75 0 50 0 25 0 0 0 25 0 50 0 75 0 100 0 100 0 750 500 250 0 0 25 0 50 0 75 0 100 0 Normalized SQRT Feedback Normalized Feedback Anti Wind Up When Anti Windup is set to 1 the PID loop will automatically prevent the integrator from creating an excessive error that could cause loop instability The integrator will be automatically controlled without the need for
233. urrent to anticipate a current limit Units 1 condition A larger value reduces overshoot of the current relative to the current limit value 502 Bus Reg ACR Kp Default 450 wv This proportional gain in conjunction with parameter Min Max 0 10000 60 adjusts the output frequency of the drive during a Units 1 bus limit or inertia ride through condition The output frequency is adjusted in response to an error in the active or torque producing current to maintain the active bus limit or inertia ride through bus reference A larger value of gain reduces the dynamic error of the active current 503 Jerk Default 900 Allows you to adjust the amount of S Curve or Jerk Min Max 2 30000 z applied to the Acc Dec rate To enable the Jerk Units 1 5 feature bit 1 of parameter 56 must be set high 504 Kp LL Bus Reg Default 500 wv This proportional gain adjusts the active current Min Max 0 10000 command during an inertia ride through condition in Units 1 response to a bus error A larger value of gain reduces the dynamic error of the bus voltage as compared to the bus voltage reference 505 Kd LL Bus Reg Default 500 wv Line Loss Bus Reg Kd is a derivative gain which is Min Max 0 10000 applied to the sensed bus voltage to anticipate Units 1 dynamic changes and minimize them A larger value reduces overshoot of the bus voltage relative to the inertia ride through bus voltage reference 506 Angl Stblt
234. utput frequency to the low value of the band See C in Figure 15 Skip Frequency Examples The skip frequency will have hysteresis so the output does not toggle between high andlow e Skip Band 1 Max Frequency values Three distinct bands can skip Frequency 1 be programmed If none ofthe I skip bands touch or overlap each band has its own high low limit 7 7 7 Skip Frequency 2 Skip Band 2 OHz If skip bands overlap or touch the center frequency is recalculated based on the highest and lowest band values 400 Hz Adjusted Skip Band wiRecalculated Skip Frequency Skip Frequency 1 Skip Frequency 2 If a skip band s extend beyond mE the max frequency limits the highest band value will be clamped at the max frequency limit The center frequency is recalculated based on the highest and lowest band values Max Frequency Skip w Recalculated Adjusted Skip Band Skip Frequency If the band is outside the limits the skip band is inactive 400 He Skip Frequency 1 ag 60 Hz Max Frequency 0Hz Acceleration and deceleration are not affected by the skip frequencies Normal accel decel will proceed through the band 96 Sleep Mode Sleep Mode The purpose of the Sleep Wake function is to Start wake the drive when an analog signal is greater than or equal to the spec
235. v Ch2 00mV M 1 005 1 47V Ch3 500mv With bus regulation enabled the drive can respond to the increasing voltage by advancing the output frequency until the regeneration is counteracted This keeps the bus voltage at a regulated level below the trip point Tek Stop Single Seq 1005 5 Zoom OX Vert 0 5X Hore C1RMS 677 8 V I ji DBBus Motor Speed Output Frequency 100 V M 1 005 Chis 682 V 2 00 V Ch4 2 00 V The bus voltage regulator takes precedence over acceleration deceleration See Eigure 1 Bus voltage regulation is selected by the user in the Bus Reg Mode parameter Operation Bus voltage regulation begins when the bus voltage exceeds the bus voltage regulation set point Vreg and the switches shown in Figure 1 move to the positions shown in Switch Positions for Bus Regulator Active SW 1 SW2 SW 3 SW 4 SW 5 Bus Regulation Limit Bus Reg Open Closed Don t Care 20 Bus Regulation Figure 1 Bus Voltage Regulator Current Limit and Frequency Ramp Current Limit i U Phase Motor Current erivative Gain agnitude acm Calculator W Phase Motor Current SW3 Current Limit Level gt Gain Block I Limit No Bus Reg 2 s E a g Limit 9 o SW 1 No Limit Limit Y No Bus Reg Frequen
236. y Gain Default 51 v v Angle Stability Gain adjusts the electrical angle to Min Max 0 32767 maintain stable motor operation An increase in the Units 1 value increases the angle adjustment 507 Volt Stblty Gain Default 93 wv Adjusts the output voltage to maintain stable motor Min Max 0 32767 operation An increase in the value increases the Units 1 output voltage adjustment 118 Engineering Parameters lt eB i 2 Parameter Name amp Description Values t t 508 Stability Filter Default 3250 wv The Stability Filter coefficient is used to adjust the Min Max 0 32767 bandwidth of a low pass filter The smaller the value Units 1 of this coefficient the lower the bandwidth of the filter 509 Lo Freq Reg Kpld Default 64 This proportional gain adjusts the output voltage at Min Max 0 32767 very low frequency in response to the reactive or Units 1 d axis motor current A larger value increases the output voltage change 510 Lo Freq Reg Kplq Default 64 v The proportional gain adjusts the output voltage at Min Max 0 32767 very low frequency in response to the active or Units 1 q axis motor current A larger value increases the output voltage change 511 Ki Cur Reg Default 44 wv This integral gain adjusts the output voltage in Min Max 0 32767 response to the q and d axis motor currents A larger Units 1 value increases the output voltage change 512 Kp Cur Reg Default

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