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pflex-rm003 - Rockwell Automation

1. Chapter 1 Detailed Drive Operation Bit Swap 1 Bit Swap 2 BitSwap 1A Data g BitSwap 2A Data i 7 BitSwap 1 Result Tink gt sen lage BitSwap 2 Beaute s Swap 864 1 866 _ Swap 869 gt Link BitSwap 1A Bit BitSwap 2A Bit Local I O Local I O Status BitSwap 1B Data Status BitSwap 2B Data Link 862 Link 7J H BitSwap 1B Bit BitSwap 2B Bit Bit Swap 3 Selector Switch i Sel Swtch Ctrl m aT BitSwap 3 Result gt 402201 02 03 04 004022 Bit 2 D 1 Swap 74 gt Link Saswenindd CTT selswich RealOut BitSwap 3A Bit Co2s Or i 1045 gt Local O i SelSwtch Indi np aan Pt Pt Status BitSwap 3B Data 1 l H I ba DintOut t Le with Rounding Posit Ref Link et SelSwich noe lt 1046 gt Link BitSwap 3B Bit SelSwtch In03 31 Point to Point Reference Setup e Link parameter 758 Pt Pt Posit Ref to parameter 1046 SelSwtch DIntOut The point to point reference comes from the output of the selector switch e Program parameters 1029 SelSwtch In00 through parameter 1032 SelSwtch In03 for the 4 positions desired Bit Swap 1 Setup Set parameter 860 BitSwap 1A Data 0 Parameter 860 BitSwap 1A Data sets up any data you would like to pass through to the result Set parameter 861 BitSwap 1A Bit 0 Parameter 861 BitSwap 1A Bit sets the bit t
2. No Correction 8 kHz Carrier Corrected 8 kHz Carrier 2 3 2 2 2 1 2 1 9 1 8 7 1 6 per Unit Vout Vbus 0 100 200 300 400 500 600 Cable Length Feet Without the correction the overvoltage increases to unsafe levels with increasing cable length for both carrier frequencies The patented modulation correction code reduces the overvoltage for both carrier frequencies and maintains a relatively flat overvoltage level for increasing cable lengths beyond 300 ft To determine the maximum recommended motor cable lengths for a particular drive refer to Cable Lengths for Motors on page 26 Refer to http www ab com support abdrives documentation index html for detailed technical papers Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives Installation Instructions publication DRIVES INOOL for detailed information See Speed Reference on page 145 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Security Detailed Drive Operation Chapter 1 The security feature provides write access protection for individual communication ports in a drive The PowerFlex 700S Phase II drive must be firmware version 3 003 or higher in order to support this feature In addition the following drive peripherals and software tools support the security feature Communication Peripherals e 20 COMMCE EtherNet IP v2 002 or higher e 20 COMM C Q Contro
3. The rated power of the motor may be entered in horsepower or in kilowatts This parameter determines the units on the following parameter Motor Poles 7 The number of motor poles only even numbers are allowed this may or may not appear on the nameplate wow Motor NP Hertz gt Motor NP RPM Motor NP Power on Motor NP Pwr Units o Rockwell Automation Publication PFLEX RMOO3E EN E January 2011 71 Chapter 1 Detailed Drive Operation Motor Overload 72 The overload capability applies to the rated speed range Normal Duty After continuous operation at the rated output current overload may be 110 rated output current I for 1 minute as long as it is followed by a period of load less than the rated current so that the output current over the duty cycle does not exceed the rated output current I Example If the duty cycle requires 110 rated output current for 1 minute of every 10 minutes the remaining 9 minutes must be at approximately 98 rated current or less to maintain output current less than 100 If the requirement is 1 minute out of 60 minutes the remaining 59 minutes must be at approximately 99 rated current or less Figure 17 Illustration of I Current l Heavy Duty Time After continuous operation at the rated output current overload may be 150 rated output current I for 1 minute as long
4. 2 N13 14 N10 14 2 Chapter 1 33 Chapter 1 o006 0007 Copy Cat 34 Detailed Drive Operation Figure 5 Reading Floating Point Datalinks in an SLC or PLC 5 Ov Move Source N11 112 0 lt Dest N13 113 Source N11 113 Copy File Source N13 112 Dest F12 5 Length 1 Figure 6 Writing Floating Point Datalinks in an SLC or PLC 5 COP Copy File Source F12 6 Dest N13 12 Length 2 Ow hbve Source N13 12 0 lt Dest N10 13 0 lt Ow Move Source N13 13 Dest N10 12 This feature allows you to upload a complete set of parameters to the LCD HIM This information can then be used as backup or can be transferred to another drive by downloading the memory in the HIM Generally the transfer process manages all conflicts Ifa parameter from HIM memory does not exist in the target drive the value stored is out of range for the drive or the parameter cannot be downloaded because the drive is running the download will stop and a text message will be issued The user than has the option of completely stopping the download or continuing after noting the discrepancy for the parameter that could not be downloaded These parameters can then be adjusted manually The LCD HIM will store a number of parameter sets memory dependant and each individual set can be named for clarity Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Current Limit Datalin
5. Terminal Blk The operator then checks parameter 677 Stop Owner and see that bit 0 Terminal Blk is set to 1 indicating that the Stop device wired to the digital input terminal block is open issuing a Stop command to the drive Stop Owner Bit Port Adapter gt DriveLogix gt Reserved gt 9 Int DPI Comm gt 5 Reserved Aux DPI Conn 1 Ext DPI Conn 2 gt Local HIM Terminal Bik Until the device wired to the digital input closes a permanent Start Inhibit condition exists and the drive will not restart 78 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Peak Detect There are two peak detectors that can be used to detect the peak for a parameter value Configuration e Link parameter 212 PkDtct1 In DInt or 213 PkDtct1 In Real to the parameter for which you want to detect a peak value depending on the data type e To detect positive peak values set parameter 210 PeakDtct Ctrl In bit 2 Peak1SelHigh 1 To detect negative peak values set parameter 210 PeakDtct Ctrl In bit 2 Peak1SelHigh 0 e The peak value is contained in parameter 215 PeakDetect1 Out e To reset the output of the peak detector toggle on then off parameter 210 PeakDtct Ctrl In bit 0 Peak 1 Set The output will match the value in parameter 214 PeakDtct1 Preset
6. 1044 below Rockwell Automation Publication PFLEX RMO03E EN E January 2011 201 Chapter 1 202 Detailed Drive Operation e Parameters 1029 Sel Swtch In00 1044 Sel Swtch In15 are the inputs to the selector switch All inputs are entered as Real values You may use the output of the selector switch as either Real or DInt A conversion is done to create the DInt value Parameter 1045 SelSwtch RealOut is the result of the selector switch inputs The output is loaded with the selected input based on parameter 1022 Sel Switch Ctrl bits 1 4 and bit 0 The output is only updated when Sel Switch Ctrl bit 0 is high If Sel Switch Ctrl bit 0 is not high the output will not be updated to the selected input If this parameter does not update check the setting of parameter 1000 UserFunct Enable bit 1 Sel Switches Parameter 1046 SelSwtch DIntOut is the value of parameter 1045 SelSwtch RealOut converted to a DInt value Use this value for point to point positioning values Using Digital Inputs and the Selector Switches to Control the Point to Point Position For an example using multiple bit swaps and the 16 position selector switch to control the point to point position with digital inputs refer to Position Loop Point to Point on page 96 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Dig Int Sel Dig In2 Sel Dig In3 Sel Dig Int Sel Dig In Sel Dig In6 Sel UserGen Sel0
7. Detailed Drive Operation Chapter 1 Parameter 11 Spd Ref Divide and parameter 13 Spd Ref2 Multi are linkable parameters This allows speed reference 1 and 2 to be scaled dynamically with an input signal if desired An example would be to have an analog input linked to the scale parameter The speed reference and the scale would then affect the value sent to the reference select block Speed Ref 1 Spd Ref1 Divide Speed Ref 2 Hi Spd Ref2 Multi 13 Jog Reference Two separate jog speeds can be used as a speed reference parameter 29 Jog Speed 1 or parameter 39 Jog Speed 2 For more information on jog speeds refer to Jog on page 65 Direction Control and Bipolar Reference The direction of rotation of the motor can be controlled by a forward reverse command or by the use of a bipolar signal For more information on direction control refer to Direction Control and Bipolar Reference on page 41 Speed Reference Limits Parameters 30 Min Spd Ref Lim and 31 Max Spd Ref Lim are used to set the forward and reverse speed limits for the speed reference Parameter 30 Min Spd Ref Lim sets the negative speed limit and parameter 31 Max Spd Ref Lim sets the positive speed limit These limits are set to 125 and 125 of parameter 4 Motor NP RPM by default Parameter 41 Limited Spd Ref contains the actual value of the limited speed reference Logic Ctrl State l l Limited Sped Ref Fr
8. Example N A D Deriv Gear Rat PositRef EGR Mul 745 PositRef EGR Div 746 lt 744 gt PositRef EGR Out Geared Position Reference In this example the encoders are mounted on the motors The motors are directly coupled to the load and we want the follower to run at four 4 times the speed of the master PPRm 1024PPR PPRf 1024PPR Ratiof Ratiom 41 where PPRm the PPR of the master encoder PPRf the PPR of the follower encoder Ratiof Ratiom the desired ratio between the follower speed and the master speed PositRef EGR Mul _ CPRf xRatiof _ 4096x4 PositRef EGR Div where CPRf CPRm CPRm x Ratiom 7 4096 x1 the counts per revolution of the follower feedback device For an incremental encoder this is four 4 times the encoder PPR For a Stegmann Hi Resolution encoder this is 1048576 For a resolver this is 65536 the counts per revolution of the master encoder For an incremental encoder this is four 4 times the encoder PPR For a Stegmann Hi Resolution encoder this is 1048576 For a resolver this is 65536 Solving for the lowest common denominator the 1024 values on the top and bottom cancel out so that PositRef EGR Mul _ 4 PositRef EGR Div 1 Therefore parameter 745 PositRef EGR Mul 4 and parameter 746 PositRef EGR Div 1 This will set up the position loop of the follower to move four 4 counts for every one 1 count of
9. Lead Lag Filter Lead When Kn is greater than one Kn gt 1 the lead lag filter operates as lead filter The original equation is re written into a term that can be used to utilize the lead function Wn is divided throughout the equation Two new terms are developed The lead term Wld is used to display the lead of the filter The lag term Wg is used to show the lag of the filter KnxX s wn S twn Knx s wn 1 s wn 1 s Wid 1 s Wig 1 wn Wig Wig Wld Kn Figure 11 Kn gt 1 Lead Filter gain kn Lead kn gt 1 Figure 11 above shows the bode plot of the lead function The lead term is used to counteract lags in the system The speed loop bandwidth appears to the position loop as a low pass filter or a lag The lead filter can be used to cancel the speed loop lag and replace it with a faster lag In the following example e The system appears as a lag with a 5 radians second response e The lead filter was set to compensate for the 5 radians second response Wld 5 e The lag filter was set to 50 radians second response W1g 50 e Knis set to Wlg Wld 50 5 10 e Wh is set to Wlg 50 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Figure 12 Lead Filter Added to System Step Response Amplitude 0 02 04 06 08 1 1 2 Time sec Figure 12 above shows the results of adding the lead lag The system had a resp
10. Parameter 365 Fdbk LsCnfg Pri and parameter 366 Fdbk LsCnfg Alt set the feedback loss configuration for each feedback device The primary feedback device should be configured to 1 Alarm The alternate feedback device should typically be configured to 2 FltCoastStop Settings for Fdbk LsCnfg Pri and Fdbk LsCnfg Alt 1 Alarm 2 FitCoastStop Rockwell Automation Publication PFLEX RMO03E EN E January 2011 143 Chapter 1 Detailed Drive Operation Speed Feedback Loss Ride Through Configuration Setting up the feedback loss ride through function requires the following steps 1 Enter a valid feedback device selection in parameter 222 Mtr Fdbk Sel Pri Enter a valid feedback device selection in parameter 223 Mtr Fdbk Sel Alt Default value is 2 Sensorless 3 Set parameter 365 Fdbk LsCnfg Pri to 1 Alarm Set parameter 366 Fdbk LsCnfg Alt to 2 FltCoastStop recommended but not necessary 5 Set the speed change detection level in parameter 224 TachSwitch Level from Alternate Device l Set parameter 153 Control Options bit 16 Auto Tach Sw to 1 for automatic switch over when Mtr Fdbk Sel Alt is not set to 2 Sensorless Set parameter 153 Control Options bit 19 Slip Comp En to 1 so that slip compensation is enabled when switching over to sensorless mode Logic Command TachLoss Rst Contr
11. Rockwell Otomasyon Ticaret A S Kar Plaza Is Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication PFLEX RMO03E EN E January 2011 Supersedes Publication PFLEX RMO003D EN E May 2007 Copyright 2011 Rockwell Automation Inc All rights reserved Printed in the U S A
12. When this bit is set to 1 it enables the internal brake transistor 7th IGBT When this bit is set to 0 the internal brake transistor is disabled Bit 1 Brake Extern When this bit is set to 1 it configures the brake operation for an external resistor In this case the external brake resistor protection is based on the peak watts entered into parameter 416 Brake PulseWatts and the continuous watts entered in parameter 417 Brake Watts When this bit is set to 0 it configures the brake operation for an internal resistor In this case parameters 416 Brake PulseWatts and 417 Brake Watts are not active Bit 2 Bus Ref High This bit configures whether bus regulation or dynamic braking turns on first This bit is only active when parameter 414 Brake Bus Cnfg bits 0 and 3 are both set to 1 When this bit is set to 1 the dynamic braking turns on first at the DC bus voltage set by parameter 415 Bus Reg Brake Ref and then the bus regulator turns on if the DC bus voltage continues to rise at the DC bus voltage set by 415 Bus Reg Brake Ref plus 4 5 When this bit is set to 0 the bus regulator turns on first at the DC bus voltage set by 415 Bus Reg Brake Ref and then the dynamic braking turns on when there are any transients above 415 Bus Reg Brake Ref Bit 3 Bus Reg En When this bit is set to 1 bus regulation is enabled When this bit is set to 0 bus regulation is disabled Rockwell Au
13. 4 In RSLogix5000 create a tag PF700S_P303_MotorTorqueRef of type REAL 5 Use the COP instruction to copy the DINT input tag for Datalink A1 PF700S LUserDefinedData 0 in this example to the tag PF700S_P303_MotorTorqueRef Rockwell Automation Publication PFLEX RMO03E EN E January 2011 29 Chapter 1 30 Detailed Drive Operation 6 The tag PF700S_P303_MotorTorqueRef contains the value of parameter 303 COP Copy File Source PF700S 1 UserDefinedData 0 Dest PF700S_P303_MotorTorqueRef Length 1 Explicit Messaging When using explicit messaging on DeviceNet ControlNet or Ethernet in the ControlLogix system the message type CIP Generic is used The data is transferred over ControlNet in the same data type as the parameter in the PowerFlex 700S Make sure that the data type for the Source and Destination tags in your ControlLogix message instruction matches the data type for the parameter in the PowerFlex 700S Also the Source Length in the ControlLogix message instruction must match the size of the Source data For example to send an explicit message to write to parameter 12 Speed Ref 2 which is a floating point 1 The Source Element tag would be of type REAL 2 The Source Length would be 4 bytes since a REAL data type takes up 4 bytes of data Message Configuration Message1 i La x Configuration Communication Tag Message Type cir Genetic ie Savea Set Attribute
14. FW TaskTime Sel 0 or 1 FIR filter setting taps 1 2 4 8 16 32 64 127 Spd Err Filt BW rad sec 2000 1500 1300 600 300 150 75 38 Noise bandwidth rad sec 400 300 220 120 60 30 18 8 FIR and P89 Spd Err Filt BW Settings when P146 FW TaskTime Sel 2 FIR filter setting taps 1 2 4 8 16 32 64 127 Spd Err Filt BW rad sec 4100 3200 2200 1300 600 300 150 75 Noise bandwidth rad sec 690 530 380 240 120 60 30 15 Sensorless Sensorless mode is used when zero speed or more than a 120 1 speed range is not required Parameter 226 Motor Speed Est contains the estimated motor speed used when sensorless mode is selected The estimated speed feedback is based on voltage feedback from the motor Parameter 227 Motor Posit Est is an estimated position for sensorless mode It is calculated based on parameter 226 Motor Speed Est and the value in parameter 225 Virtual Edge Rev Virtual Edge Rev is a user defined value for the number of pulses per motor revolution to Feedback Motor Speed Est g Selection Motor Posit Est Virtual Edge Rev Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Motor Simulator The simulator mode allows the drive to be operated without a motor connected and is meant for demo purposes only Ifa motor is connected with this mode selected very erratic and unpredictable op
15. IMPORTANT Zero Torque may excessively heat the motor if operated in this mode for extended periods of time A load or flux current is still present when the drive is operating in zero torque mode A motor with an extended speed range or separate cooling methods blower may be required Speed Regulation Mode Operating as a speed regulator is the most common and simplest mode to set up Examples of speed regulated applications are blowers conveyors feeders pumps saws and tools In a speed regulated application the speed regulator output generates the torque reference Note that under steady state conditions the speed feedback is steady while the torque reference is a constantly adjusting signal This is required to maintain the desired speed In a transient state the torque reference changes dramatically to compensate for a speed change A short duration change in speed is the result of increasing or decreasing the load very rapidly Note Inertia Torque Add and Friction Compensation Torque Add are summed with the output of the speed regulator See Inertia Compensation on page 62 and Friction Compensation on page 57 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 163 Chapter 1 164 Detailed Drive Operation Torque Regulation Mode A torque regulated application can be described as any process requiring some tension control An example is a winder or unwinder with material being drawn or pulled with a s
16. Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Analog Outputs Detailed Drive Operation Chapter 1 Analog Output Specifications There are two analog outputs differential configurable for 10V or 0 20 mA The D A digital to analog converter is 11 bits plus the sign bit Analog Output Configuration Parameters 831 and 838 Anlg Outx Sel are use to specify the signal used on Analog Outputs 1 and 2 respectively These parameters can be programmed to the following selections Bit Selection Corresponding Bit Selection Corresponding Parameter Parameter 0 User Select see below 15 Motor TrqRef 303 Motor Torque Ref 1 Output Freq 310 Output Freq 16 MtrTrqCurRef 305 Mtr Trq Curr Ref 2 Sel Spd Ref 40 Selected Spd Ref 17 Speed Ref 301 Motor Speed Ref 3 Output Curr 308 Output Current 18 Speed Fdbk 71 Filtered SpdFdbk 4 Trq Cur Iq 499 Trq Cur Fdbk Iq 19 Torque Est 471 Estimated Torque 5 Motor Flux 309 Motor Flux 20 Scl Spd Fdbk 72 Scaled Spd Fdbk 6 Output Power 311 Output Power 21 RampedSpdRef 43 Ramped Spd Ref 7 Output Volts 307 Output Voltage 22 Spd Reg Out 101 SpdReg Integ Out 8 DC Bus Volts 306 DC Bus Voltage 23 MOP Level 1090 MOP Level Real 9 Pl Reference 181 PI Reference 24 Trend 1 D
17. Setting Position Control bit 16 X Watch1 En 0 resets position detection Setting parameter 741 Position Status bit 8 Posit Watch1 1 indicates that the position set point has been passed Example e Set parameter 147 FW Functions En bit 22 PosWtch Dtct 1 e Link parameter 784 Posit Detct1 In to parameter 240 Encdr1 Position e Set parameter 780 PositDetct1 Stpt 100 000 counts e Set parameter 740 Position Control bit 17 X Watch1 Dir 1 e Set parameter 740 Position Control bit 16 X Watch En 1 104 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 e When parameter 240 Encdr1 Position becomes greater than 100 000 counts parameter 741 Position Status bit 8 Posit Watch1 is set to 1 Note that the position must pass 100 000 counts If the motor position is already past 100 000 counts when the position watch is enabled the position watch status bit will not detect the position until 100 000 counts is passed again e Set parameter 740 Position Control bit 16 X Watch1 En 0 to reset parameter 741 Position Status bit 8 Posit Watch 1 to 0 Position Loop ws Registration The PowerFlex 700S drive has the ability to capture the feedback position upon an event occurrence using registration When using DriveLogix Motion with the PowerFlex 700S the Motion Arm Registration MAR can be used to control regis
18. V Hz selects volts per hertz control e Pmag Motor selects control for permanent magnet motors e Test puts the drive in a test mode to perform the direction test Test is automatically selected during the direction test portion of the Start Up routine and does not need to be set manually by the user Next the motor control submenu asks you to select whether you have no dynamic braking an internal resistor for dynamic braking or an external resistor for dynamic braking When no dynamic braking is selected the bus regulator is turned on see Bus Regulation Braking on page 22 of this manual for more details Motor Data This submenu asks you to enter whether the motor power is in units of kW or Hp Then you are prompted to enter the motor nameplate data Accurate motor nameplate data is important for tuning the drive to the connected motor Rockwell Automation Publication PFLEX RMO03E EN E January 2011 19 Chapter 1 20 Detailed Drive Operation Feedback Configuration The Feedback Configuration submenu asks you to select the feedback device type Possible selections are Encoder 0 Encoder 1 Aux Speed Motor Sim or Option Card Encoder 0 and Encoder 1 are for the encoders on the I O board When Encoder 0 or Encoder 1 are selected you must also enter the encoder PPR Motor Sim is to simulate a motor when there is no motor connected to the drive Option Ca
19. direct data 181 Master PowerFlex 700S Setup 188 multiply block 183 reset 191 Slave PowerFlex 700S Setup 189 speed synchronization 187 T task times 192 test points 192 thermal regulator 192 time function generator 193 torque mode select 161 torque reference input 193 torque regulation mode 164 trending configuration 194 U unbalanced installations 196 ungrounded installations 196 user functions 197 add block 210 bit swap 197 compare block 209 controlling the MOP from a network or DriveLogix 200 controlling the MOP from digital inputs 200 delay timers 211 Dint to real converter 206 divide block 210 logic blocks 207 MOP 198 MOP configuration 199 multiply block 210 real to Dint converter 206 selector switches 200 subtract block 210 V virtual master reference 80 voltage class 211 W watts loss 212 Z zero torque mode 163 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechCo
20. position of the positioning device when an absolute device is not present The ability to use the Homing feature without a DriveLogix processor has been added in firmware version 3 003 The Homing feature will home to a switch or an encoder marker An additional digital input selection has been added to digital inputs 1 and 2 for use by the internal homing routine for the Home Switch Digital inputs 1 6 can be programmed for Find Home and Return Home in firmware version 4 001 The homing function supports separate acceleration and deceleration values The value specified in parameter 1122 Home Speed can be positive or negative when the value is negative the drive will run in the reverse direction The motor direction can also be controlled by setting bit 26 Home Dir in parameter 740 Position Control Parameter 1123 Home Position can now be programmed in firmware version 4 001 The actual position displayed in parameter 763 Position Actual will be updated to the value of Home Position after the homing sequence has completed Homing Sequence of Operation Descriptions Note The commanded positions are not reset to zero automatically when a homing sequence is initiated The user is responsible for setting the commanded position to zero before a homing sequence is initiated Note Home to Switch and Marker in the same homing command is not supported Home to Switch To home to a switch the following
21. which is a default of 0 e To hold the output of the peak detector at the present value set parameter 210 PeakDtct Ctrl In bit 1 Peak 1 Hold 1 The change bit parameter 211 PeakDtct Status bit 0 Peak 1 Chng is set to 1 for one scan if the peak detect value changes otherwise the change bit is set to 0 The change bit is also set to 0 if the detector is in Set or Hold mode PeakDtct Ctrl In Peak 1 Set PeakDtct Ctrl In Peak 1 Hold f PeakDtct Ctrl In PeakDtct1 Preset PeakDtct Status PeakiSelHigh 210 2 Peak Detect Lay Peak 1 Chng peak 2 se COA ne 2 Ca PkDtct2 In Real 217 D PkDtct2 In Dint PeakDtct Ctrl In Peak2SelHigh PkDtct1 In Real cae PkDtct1 In Dint l PeakDetect1 Out I I I I ey fo I I PeakDetect2 Out I PeakDtct2 Preset PeakDtct Status Lay 1 Peak 2 Chng Peak Detect Rockwell Automation Publication PFLEX RMO03E EN E January 2011 79 Chapter 1 Detailed Drive Operation Permanent Magnet Motors Phase Locked Loop 80 Example e Link parameter 213 PkDtct1 In Real to parameter 300 Motor Spd Fdbk e Verify that parameter 210 PeakDtct Ctrl In bit 0 Peak 1 Set and bit 1 Peak 1 Hold are set to 0 e For parameter 210 PeakDtct Ctrl In set bit 2 Peak1SelHigh 1
22. 0 32767 0 32489 52 lt Test F12 0 Dest N10 10 32489 52 lt 32490 lt High Lim 1 0 1 0 lt MOW Mowe Source 1 1 lt Dest N10 11 0 lt LiM MOV Limit Test Mowe Low Lim 0 0 Source F120 0 0 lt 32489 52 lt Test F12 0 Dest N10 10 32489 52 lt 32400 lt High Lim 32767 0 32767 0 lt MOV Move Source 0 0 lt Dest N10 11 0 lt r ORT r suB Greater Than A gt B Subtract Source A F 12 0 Source A F 12 0 32489 62 lt 32489 52 lt Source B 32767 0 Source B 655368 0 32767 0 lt 65536 0 lt Dest N10 10 32400 lt MOV Move Source 0 0 lt Dest N10 11 0 lt The feedback is also scaled so that base motor speed 32767 The PLC can only handle 16 bit integers so the feedback has to be handled differently to account for references above 32767 or below 32768 The following example shows how to read feedback values more than base motor speed and less than twice base motor speed Rockwell Automation Publication PFLEX RMO003E EN E January 2011 31 Chapter 1 32 0002 0003 Detailed Drive Operation GRT Greater Than A gt B Source A N11 110 Source B EQU Equal Source A N11 110 0 lt Source B 32768 0 Limit Test Low Lim 32767 0 32767 0 lt Test N11 110 High Lim 32767 0 Less Than A lt B Source A N11 110 0 lt Source B EQU Equal Source A N11 111 0 lt Source B 1 1 EQU Equal Source A N11 111 Source B EQU Equal Source A N11 111 Source B EQ
23. 1 1 1500 ns filter Table 16 Multiplier and Direction Settings Bit 5 21 4 20 Mult Directions Comments 0 0 2x fwd rev Counts rise fall of phase A phase B only used to find direction 0 1 4x fwd rev Counts rise fall of both A and B phases default setting 1 0 1x fwd only Counts rise of phase A Phase B ignored 1 1 2x fwd only Counts rise of phase A Phase B ignored Table 17 FIR Filter Settings Bit 12 28 11 27 10 26 Number of Taps 0 0 0 1 0 0 2 0 1 0 4 0 1 8 1 0 0 16 1 0 32 1 1 0 64 1 1 127 130 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Parameter 234 Encdr 0 1 Error indicates the status of the encoder when there is an error The encoder blocks generate position feedback seen in parameter 230 Encdr0 Position or parameter 240 Encdr1 Position Encoder position is in quadrature counts the drive counts 4x the encoder PPR per motor revolution The encoder blocks generate speed feedback seen in parameter 231 Encdr0 Spd Fdbk and parameter 241 Encdrl Spd Fdbk Encdr0 Spd Fdbk To Feedback Encoder 0 Selection Processing Encoder0 PPR Encdr 0 1 Cnfig Encdr1 Spd Fdbk To Feedback Selection Processing E Encoder1 PPR Encdr1 Position Linear Feedback Devices A Linear Feedback device requires a Multi Device Interface MDI feedback option card Refer t
24. 2000 indicates an old high resolution board and hexadecimal 2040 indicates a new high resolution board Stegmann Hi Resolution Encoder Feedback Option The position feedback seen in parameter 250 FB Opt0 Posit from a Stegmann Hi Resolution encoder counts at a rate of 1 048 576 counts per motor revolution Parameter 251 FB Opt0 Spd Fdbk contains the speed feedback from the Stegmann Hi Resolution encoder when connected at port 0 Parameter 259 Stegmann0 Cnfg is used to configure the Stegmann Hi Resolution encoder e Bit 5 Direction determines the counting direction If set to 0 the direction is forward or up If set to 1 the direction is reverse or down 134 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 e Bits 10 12 SmplRate btx configure the sample interval for measuring speed see Table 18 below Increasing the encoder sample interval improves speed measurement near zero speed Decreasing allows the speed control regulator to perform with high gains at high speeds e The remaining bits are reserved not used Table 18 FIR Filter Settings Bit 12 11 10 Number of Taps 0 0 0 1 0 0 1 2 0 1 0 4 0 1 1 8 1 0 0 16 1 0 1 32 1 1 0 64 1 1 1 127 Resolver Feedback Option The position feedback seen in parameter 250 FB Opt0 Posit from a resolver counts at a rate of 65 536 counts per motor re
25. 301 Position PI Regulator Lead Lag Offset Spd Ref Bypass2 from Follower Encoder Position Fdbk Motor Spd Encoder Fabk Spd Reg Droop ink Spd Reg P Gain Spd Reg Gain Spd Reg BW Speed Control Reference Task 2 from Master Speed Ref A Sel Selected Spd Ref Ramped Spd Ref Encoder gt 27 lt 40 lt a gt Speed Ref B Sel 28 Preset Speed 2 C15 Preset Speed 3 Cie X Preset Speed 4 C17 Preset Speed 5 Cas X Preset Speed 6 S Preset Speed 7 Linear Ramp amp S Curve Speed Ref Selection Speed Reference Selection For the position following mode to work properly there needs to be a feed forward speed reference for the speed loop of the drive to follow Speed Ref A Sel ED 0 Speed Ref 1 Spd Refi Divide 11 Speed Ref 2 2008 Spd Ref2 Multi For example to follow Encoder 1 link parameter 12 Speed Ref 2 to parameter 241 Encdr1 Spd Fdbk Set parameter 27 Speed Ref A Sel 2 Speed Ref 2 When a gear ratio is used in the position loop parameter 13 Spd Ref2 Multi must be setup to match the gear ratio set in the position loop Rockwell Automation Publication PFLEX RMO03E EN E January 2011 91 Chapter 1 92 Detailed Drive Operation Speed Reference Ramp The speed reference ramp should be disabled when using the drive as a position follower To disable the sp
26. 5 21 Description 0 0 Not Configured 0 1 Reverse 1 0 Forward 1 1 Both Directions Table 10 Filter Settings Bit 11 10 9 8 Input Filter Setting 0 0 0 0 Filter disabled 0 0 0 1 100 ns filter 0 0 1 0 200 ns filter 0 0 1 1 300 ns filter 0 1 0 0 400 ns filter 0 1 0 1 500 ns filter 0 1 1 0 600 ns filter 0 1 1 1 700 ns filter 0 0 0 800 ns filter default setting 0 0 1 900 ns filter 0 1 0 1000 ns filter 0 1 1 1100 ns filter 1 0 0 1200 ns filter 1 0 1 1300 ns filter 1 1 0 1400 ns filter 1 1 1 1500 ns filter 106 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 e Parameter 237 RegisLtch0 1 Ctrl configures the control for registration latch 0 and 1 Set bit 0 RLO Arm Req or 16 RL1 Arm Req to arm the registration logic for the next trigger event The particular latch will be armed and ready to be strobed on the next occurrence of the trigger input Set bit 1 RLODisarmReq or 17 RL1DisarmReq to disarm the registration logic for next trigger event e Parameter 238 RegisLtch0 1Stat indicates the control status of registration latch 0 and 1 Bit 0 RLO Armed or 16 RL1 Armed indicates the registration latch is armed Bit 1 RLO Found or 17 RL1 Found indicates the registration event has triggered the latch Rising edge of Arm requ
27. Belt When using a system with a gearbox or belts the backlash or lost motion can cause instability However a feature called inertia adaption can compensate for backlash or lost motion Follow the steps below to use inertia adaption 1 Identify motor and system inertia in seconds The motor inertia can be determined by performing an inertia test with the motor uncoupled from the load or the motor inertia in seconds can be calculated using the following formula _ WK x RPM 308 xT acc where WK is the inertia in lbft RPM is the base motor speed of the motor and Tec is the rated torque of the motor in lbft T c can be calculated by the following p HPx5252 ace RPM where Hp is the nameplate horsepower of the motor and RPM is the base motor speed of the motor System Inertia parameter 9 is determined by performing the inertia test with the load coupled or the value in seconds can be calculated using the formulas above if WK is known for the system 2 Set parameter 90 Spd Reg BW Do not exceed the bandwidth limit of curve 2 below based on the ratio of motor inertia to system inertia 160 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 3 Set parameter 133 Inert Adapt BW parameter 90 Spd Reg BW 4 Verify that the Lead Lag filters are off parameter 93 SRegFB Filt Gain 1 and parameter 95 SReg Out Filt Gain 1 to disable the filter
28. Chapter 1 Detailed Drive Operation This chapter explains PowerFlex 700S drive with Phase II control functions and application programming in detail Explanations are organized alphabetically by topic Refer to the Table of Contents for a listing of all topics in this chapter 700S Drive 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 See the PowerFlex 700S AC Drive Phase II Control Frames 1 6 Installation Instructions publication 20D IN024 or the PowerFlex 700H and 700S Frame 9 14 Drives Installation Manual publication PFLEX INO06 for detailed drive installation information See the PowerFlex 700S AC Drive Phase Il Control Programming Manual publication 20D PM001 for detailed drive start up information ATTENTION Only qualified personnel familiar with the PowerFlex Parameter 32 Accel Time 1 sets the rate at which the drive ramps up its output after a Start command or during an increase in commanded speed speed change The rate established is the result of the programmed acceleration time and the programmed motor rated speed set in parameter 4 Motor NP RPM Parameter 4 Motor NP RPM Accel Rate Parameter 32 Accel Time 1 Times are adjustable in 0 0001 second increments from 0 01 to 6553 5 seconds Alarms indicate conditions within the drive that could affect driv
29. Control Options Logie Ctr State Selected Spd Ref Limited Spd Ref Max Q Limit Q o xX H Applied LogicCmd Pe 2 Min Spd Ref Lim C30 Max Spd Ref Lim C31 152X20 K 152 21 T 1 i 1 Unipol Fwd 0 i 1 I l Unipol Rev 1 DPI is an enhanced SCANport that provides more functions and better performance SCANport was a CAN based Master Slave protocol created to provide a standard way of connecting motor control products and optional peripheral devices together It allows multiple up to 6 devices to communicate with a motor control product without requiring configuration of the peripheral SCANport and DPI both provide two basic message types called Client Server C S and Producer Consumer P C C S messages are used to transfer parameter and configuration information in the background relative to other message types P C messages are used for control and status information DPI adds a higher baud rate brand specific enabling Peer to Peer P P communication and Flash Memory programming support This communication interface is the primary way to interact with and control the drive ATTENTION A e PowerFlex 700S drives only support the DPI communication protocol e PowerFlex 700S drives will not communicate with SCANport devices e PowerFlex 700S drives do not support LED HIMs e PowerFlex 700S drives use a 450 mA device on the 12V DPI pow
30. Filt 3 configure a filter for the digital input 1 and 2 see Table 10 on page 106 The filter requires the input signal to be stable for the specified time period Input transitions within the filter time setting will be ignored Bits 8 11 add 100 ns filter per stage to external trigger Rockwell Automation Publication PFLEX RM003E EN E January 2011 105 Chapter 1 Detailed Drive Operation Table 6 Trigger Source Settings for Encoder 0 Bit 2 Bit 1 Description 0 0 Encoder 0 Z pulse AND Ext Trig A 0 1 Ext Trig B Digital Input 2 1 0 Ext Trig A Digital Input 1 1 1 Encoder 0 Primary Encoder Z phase Note When the Z pulse is selected as a trigger source registration latch port 0 is used for Encoder 0 regardless of the setting of bit 0 RLO Encoder1 Table 7 Trigger Source Settings for Encoder 1 Bit 18 Bit 17 Description 0 0 Encoder 1 Z pulse AND Ext Trig A 0 1 Ext Trig B Digital Input 2 1 0 Ext Trig A Digital Input 1 1 1 Encoder 1 Secondary Encoder Z phase Note When the Z pulse is selected as a trigger source registration latch port 1 is used for Encoder 1 regardless of the setting of bit 16 RL1 Encoder1 Table 8 Edge Selection Settings Bit 4 20 Bit 3 19 Description 0 0 Capture on rising edge 0 1 Capture on falling edge 1 0 Capture on both edges 1 1 Disable capture Table 9 Trigger Direction Settings Bit 6 22 Bit
31. Operation the position reference of the follower drives Parameter 735 PLL SpeedOut Adv provides a position reference that is advanced by one scan time of the drive s control loop PLL SpeedOut Adv should be sent over SynchLink to the follower drives and linked into the follower drives speed reference Figure 19 Sample Phase Locked Loop Configuration Local Drive Encdr1 a 7 ane Phase Locked Loop PLL Speed Out E Speed Control Reference Speed Control Regulator i shaft PLL Ext Spd Ref L pe Ref2 ae Motor Speed Ref Spd a GH COH ae muron GES ea H be nails f l Motor Spd Fdbk eae PLL Position Ref PLLSpeda W Ady Spe Rete Muhi j Speed Trim 2 from Encdro 300 735 Ei N i I 22 er Dre tot Hox Euer _ PLL Posit Qutadv fl a C Enedri Gear Rat i P i if Position Control i Position Na ial Posit Spd Torque Control rom ine Se a aa Pl gasses Output l Mtr Trq Curr Ref shaf I ay LL N SynchLink To y ee D Reguator Q18 Busvor 2 l ii amp P St Dif Data a ai Goat Fe Position Fdbk l t Regulator Tx00 i Torq Sel J rom EncdrO l i _7 es ee y be i Follower Drive SynchLink N Si Dir Data GD apy st Dir Data i Speed Control Reference f Speed Control Regulator a i j Speed Ref 2 Motor Speed Ref p 02 gt Eo i E 302 a E A 12 Linear Ramp l t 201 PI ascuve Motor Spd Fdbk Regulator Spd Ref2 Multi y Speed Trim 2 from Encd
32. Output Feed Forward The velocity reference is a feed forward signal that is normally used to secure zero tracking error in most systems However zero tracking error is not usually a requirement in point to point applications In many cases running less than 100 feed forward produces a more desirable overall response For applications requiring the quickest response possible consider using near 100 feed forward with S curve disabled and set control parameter 1134 bit 7 Cond Hold 88 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Position Output Example A material handling application uses the PPMP to move the materials from one position to another Turn on the position control and Motion Planner functions in the firmware e Set bits 16 PositionCtrl and 19 MotinPlanner of parameter 147 FW Functions En 1 The moves should be absolute e Set bit 0 Absolute of parameter 1134 PPMP Control 1 The desired speed for the moves is 1000 rpm e Set parameter 1136 PPMP Rev Spd Lim 1000 rpm e Set parameter 1137 PPMP Fwd Spd Lim 1000 rpm The desired acceleration time to base motor speed is 0 5 s e Set parameter 1139 PPMP Accel Time 0 5 s e Set parameter 1140 PPMP Decel Time 0 5 s Enable the position loop e Set parameter 151 Logic Command bit 13 Position En 1 e Set parameter 740 Position Control bit 1 Speed Out
33. Single w Source Element PF700S_P12_Speed ype Source Length 4 Bytes Service _ Code fio Hex Class Ir Hes ppetmstinr re Instance 12 Attribute Hex Teas O Enable Enable Waiting Start Done Done Length 0 Error Code Extended Error Code I Timed Out Error Path Error Text Cancel Apply Help PLC 5 or SLC System Reference Feedback Programming The reference is scaled so that base motor speed 32767 The PLC can only handle 16 bit integers so the reference has to be handled differently to account for references above 32767 or below 32768 The following example shows how Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 to transmit references more than base motor speed and less than twice base motor speed 0000 CPT 0001 Compute Dest Expression F120 32489 52 lt CF12 1 F12 4 32768 0 ADD Source B 32768 0 32768 0 lt Add Source A F 12 0 32489 52 lt Source B 65536 0 65536 0 lt Dest N10 10 32400 lt L__ IL EQU MOV Equal Move Source A F12 0 Source F12 0 32489 52 lt 32489 52 lt Source B 32768 0 Dest N10 10 32768 0 lt 32400 lt m Mov Nove Source 1 1 lt Dest N10 11 0 lt Li prov H Limit Test Mowe Low Lim 32767 0 Source F12
34. Spd Err Filt BW A typical value for this parameter is five times 5x the speed loop bandwidth parameter 90 Spd Reg BW There are several lead lag filters used in the PowerFlex 7008S The lead lag filter has two terms The first term is the filter gain Kn and the second term is the filter frequency Wn The filter can be used as lag to eliminate noise from entering the control loop The filter can be used as a lead to increase overall system performance To eliminate noise lag use with the light or heavy filter Kn Wn Light 0 7 35 Heavy jos dO Rockwell Automation Publication PFLEX RMO03E EN E January 2011 55 Chapter 1 Detailed Drive Operation Firmware Functions Flying Start 56 To use the lead function 1 Set Wld equal to the desired lead in radians second 2 Set Wlg equal to 5x Wld 3 Wn Wlg 4 Kn Wlg Wld The torque reference has a notch filter used to eliminate resonance signals The notch frequency is set by parameter 118 Notch Filt Freq This frequency is set to the mechanical resonance in hertz Parameter 147 FW Functions En allows the user to enable and display firmware functions in the drive When a function is disabled the parameters cannot be changed The parameters associated with the disabled function will not be displayed on the HIM module Parameter 149 FW FunctionsActl will display the actual functions that are enabled or disabled Changes to FW Functions En will ta
35. Spd Ref instead of Ramped Spd Ref for use in SynchLink applications See SynchLink on page 180 for more details Inertia Compensation Inertia compensation is used to calculate the level of torque required due to load inertia during speed changes For more information on inertia compensation see Inertia Compensation on page 62 Rockwell Automation Publication PFLEX RM003E EN E January 2011 149 Chapter 1 150 Detailed Drive Operation Friction Compensation The friction compensation block is used to calculate breakaway torque and the torque required to keep the motor running at a constant speed due to friction For more information on friction compensation see Friction Compensation on page 57 Virtual Encoder The virtual encoder can be used as a position master for position follower applications see Position Loop Follower Electronic Gearing on page 90 for details on position control The advantage of following a virtual encoder instead of actual encoder feedback is that the virtual encoder reference is much smoother and is not subject to noise The virtual encoder block generates a position counter based on the speed reference in parameter 43 Ramped Spd Ref Parameter 61 Virt Encoder EPR is used to specify the desired edges per revolution for the virtual encoder For example if parameter 61 is 4096 EPR this would be equivalent to a 1024 PPR quadrature encoder Parameter 62 Virt Encdr Posit is a 3
36. UserGen Sel 1 UserGen Sel2 UserGen Sel3 Sel Swtch Ctrl 01 02 03 04 Sel Switch 00 Sel Switch 01 Sel Switch 02 Sel Switch 03 Detailed Drive Operation Chapter 1 Using Digital Inputs and the Selector Switches to Configure Preset Speeds The digital inputs can be used to configure up to 16 preset speeds using the Selector Switches function Sel Swtch Ctrl i022 00 4 SelSwtch RealOut Real SelSwtch In0l 0 Binary Coded Real 1029 lt 1045 gt Decimal BCD SelSwtch Ind 1 H control that selects Real 1030 T l SelswieniDIntOut 1 of 16 inputs Pars Integer 1029 1044 that provides output to Par 1045 or Par SelSwtch Ind SelSwtch In0 Real with Rounding Real SelSwtch In12 Real SelSwtch In13 13 Real SelSwtch In14 14 Real SelSwtch In15 15 Real 1044 te 1046 BCD values Real of bits 01 04 of SelSwtch In0 7033 4 4 __ Par 1022 are ord Real together to select a SelSwtch In05 5 switch Bit 01 of Real ei 1022 is the LSB A SelSwtch In06 6 binary value of Real ma 0000 selects Par SelSwich 1029 A binary Sanie Realy 1036 value of 1111 SelSwtch In08 8 selects Par 1044 Real rm SelSwtch In09 9 Real 1038 SelSwtch In10 10 Real ry SelSwtch In11 11 O a S 83 Sg a Exa
37. Volts Hertz operation creates a fixed relationship between output voltage and output frequency Configuration Volts Hertz control is selected by setting parameter 485 Motor Ctrl Mode 3 V Hz Volts Hertz allows a wide variety of patterns using linear segments The default configuration is a straight line from zero to rated voltage and frequency This is the same volts hertz ratio that the motor would see if it were started across the line As seen in the diagram below the volts hertz ratio can be changed to provide increased torque performance when required The shaping takes place by programming five distinct points on the curve 1 Parameter 527 Start Acc Boost is used to create additional torque for breakaway from zero speed and acceleration of heavy loads at lower speeds 2 Parameter 528 Run Boost is used to create additional running torque at low speeds The value is typically less than the required acceleration torque The drive will lower the boost voltage to this level when running at low speeds not accelerating This reduces excess motor heating that could be caused if the higher starting acceleration boost level were used 3 Parameters 529 Break Voltage and 530 Break Frequency are used to increase the slope of the lower portion of the Volts Hertz curve providing additional torque Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 4 Parameters 1 Mo
38. analog inputs are not isolated However the analog inputs can be connected in series when using current mode Note that at 20 mA the voltage source must be capable of providing 10V DC at the drive terminals for one drive 20V DC is required for two drives and 30V DC is required for three drives Analog Input Configuration Once the Analog Input is converted via the A D converter parameters 803 809 and 815 Anlg Inx Offset can be applied Anlg Inx Offset has a range of 20V Parameters 801 807 and 813 Anlg Inx Value is the sum of the A D output and Anlg Inx Offset Anlg Inx Value is displayed as either voltage or mA depending on the dip switch setting of the input Parameters 802 808 and 814 Anlg Inx Scale scales Anlg Inx Value to the range of parameters 800 806 and 812 Anlg Inx Data A destination parameter such as a speed reference can then be linked to Anlg Inx Data Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Parameters 804 810 and 816 Al x Filt Gain and parameters 805 811 and 817 Anlg Inx Filt BW are used to filter the analog input data Refer to Lead Lag Filter on page 50 for detailed information Analog I O Units Alt Current oor 801 A Ig Int Val nig Int Value TB1 01 H A D TiD R gt 14bit X Anig Int Offset 803 Anlg In1 Scale Al 1 Filt Gain 804 Anlg Int Filt BW 805 Anlg Ini Data kn s wn 8
39. be produced at a 5 ms rate while peripheral command messages will be accepted by the drive as they occur i e change of state Based on these timings the following worst case conditions can occur independent of the baud rate and protocol Change of peripheral state Start Stop etc to change in the drive 10 ms Change in reference value to change in drive operation 10 ms Change in Datalink data value to change in the drive 10 ms Change of parameter value into drive 20 ms times the number of attached peripherals The maximum time to detect the loss of communication from a peripheral device is 500 ms The following timing specifications apply to DPI devices Host status messages only go out to peripherals once they log in and at least every 125 ms to all attached peripherals Peripherals will time out if more than 250 ms passes without a response Actual time is dependent on the number of peripherals attached The minimum time goal is 5 ms may have to be dependent on the Port Baud Rate DPI allows a minimum 5 ms status at 125 KB and 1ms status at 500 KB The host determines the Minimum Update Time MUT based on the number of attached peripherals Range of values from 2 125 ms Minimum goal time of 5 ms DPI allows 2 ms at 500 KB and 5 ms minimum at 125 KB Peripheral command messages including Datalinks generated on change of state but not faster than Host MUT and at least every 250 ms Host will time out ifit
40. enabled the integral term of the process regulator will be preset to start parameter 180 PI Output at the value set in PI Preload Parameter 187 PI Integ Time is the integral term for the regulator It is in units of 1 seconds For example when the PI Integ Time is 2 the integrator output equals 1 per unit in 1 second for 1 per unit error 1 per unit means 100 Automation Publication PFLEX RMO03E EN E January 2011 117 Chapter 1 118 Detailed Drive Operation The output of the integrator is limited by parameters 188 PI Integ HLim and 189 PI Integ LLim PI Integ HLim is in per unit and has a range from 0 8 A value of 1 for PI Integ HLim can represent base motor speed rated motor torque or 100 of some external function The output of the integrator after the integrator limits can be viewed in parameter 190 PI Integ Output Parameter 186 PI Prop Gain sets the proportional gain of the regulator For example when PI Prop Gain is 2 the output of the proportional block will equal 2 per unit in 1 second for a 1 per unit error The output of the integrator parameter 190 PI Integ Output and the output of the proportional block are summed together Process PI Limits To prevent the regulator output from exceeding a range an upper and lower limit can be programmed Parameter 191 PI High Limit sets the high limit for the PI Output signal PI High Limit is in per unit and has a range from 0 8 A v
41. for more details on setting up DriveLogix Selector Switches There are three different selector switches available 1 A switch that selects up to 16 floating point values The result is available as a DInt double integer or floating point 2 A switch that selects between two floating point values The result is floating point 3 A switch that selects between two DInt values The result is DInt Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 16 Position Selector Switch SelSwtch RealOut SelSwtch In00 1029 0 l PE To SelSwtch DintOut SelSwtch In02 Cost 7 m gt SelSwtch In03 with Rounding SelSwich In04 SelSwtch In05 SelSwtch In06 6 SelSwich In07 SelSwtch In08 SelSwtch In09 SelSwtch In10 SelSwtch In11 SelSwtch In12 oat 14 SelSwtch In13 T04 3 SolSwich Int4 043 i SelSwtchini5s GDS Configuration e Parameter 1022 Sel Switch Ctrl is the control parameter for the switches and selector switch user functions 16 input selector switches are controlled using bits 0 4 Bit 0 SSW DataPass updates the output If bit 0 is low the output is NOT updated with the selected input Bit 1 Sel Swtch 00 bit 4 Sel Swtch 03 are the binary coded decimal BCD selection of the 16 inputs to the switch Bit 1 is the least significant bit LSB See parameters 1029
42. in Total Inertia Integral gain may be manually adjusted by setting Spd Reg BW to a value of zero Units are per unit torque sec per unit speed For example when Spd Reg I Gain is 50 and the speed error is 1 the integral output will integrate from 0 to 50 motor rated torque in 1 second When parameter 153 Control Options bit 12 Jog NoInteg is turned on this tells the speed regulator not to use the integral gain during jog commands When parameter 151 Logic Command bit 5 SReg IntgHld is turned on the Integrator holds its output at the present level until the bit is turned off again When parameter 151 Logic Command bit 6 SReg IntgRst is turned on the output of the integrator is set to 0 When bit 6 is turned back off the integrator output starts integrating up again from 0 When parameter 153 Control Options bit 18 SpdRegPreset is turned on the value in parameter 303 Motor Torque Ref is added to the integrator output When bit 18 SpdRegPreset is turned off parameter 87 SReg Trq Preset default of 0 per unit is added to the integrator output Parameter 101 SpdReg Integ Out contains the value of the torque output from the integrator This parameter is in per unit so that a value of 1 equals rated motor torque Droop Droop is used to shed load and is usually used when a soft coupling of two motors is present in an application For more information on droop see
43. input frequency is equal to Wn Kn Another aspect to this filter is that there is a mild phase shift during the attenuation 50 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Figure 9 Kn lt 1 Lag Filter gain Lag kn lt 1 kn TOTO w rad sec Figure 10 below shows the bode plot of the lag configuration Kn is set to 0 7 and Wn is set to 35 radians second The time domain shows a 100 radians second sinusoidal input Notice that the phase shift between input and output are marginal Figure 10 Bode Plot and Time Domain of Lag Kn 0 7 w 35 Bode Diagram Phase deg Magnitude dB Frequency rad sec output 0 7 input 100 rad sec The lag configuration is good for eliminating unwanted noise and disturbance such as backlash There are two lead lag blocks used in the speed regulator loop One is in the forward path and the other is in the feedback path Kn Wn Forward Path Parameter 95 SRegOut FiltGain Parameter 96 SReg Out Filt BW Feedback Path Parameter 93 SRegFB Filt Gain Parameter 94 SReg FB Filt BW For moderate filtering e Set Kn 0 7 Wn 0 35 e For Heavy filtering e Set Kn 0 5 Wn 20 Both the Forward and Feedback filters can be set to the same value to increase their effectiveness Rockwell Automation Publication PFLEX RMO03E EN E January 2011 51 Chapter 1 52 Detailed Drive Operation
44. input to the DInt switch When parameter 1022 Sel Switch Ctrl bit 6 is high this input is updated to Par 1028 Swtch DInt 1 Out Parameter 1028 Swtch DInt 1 Out is the result of the switch The output is loaded with the selected input based on parameter 1022 Sel Switch Ctrl bit 6 If this parameter does not update check the setting of parameter 1000 UserFunct Enable bit 1 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 205 Chapter 1 Detailed Drive Operation Dint to Real and Real to Dint Converters The DInt to Real converter is used to convert a double integer parameter to a floating point value The resulting floating point value can then be linked to a floating point parameter The Real to DInt converter is used to convert a floating point parameter to a double integer value The resulting double integer value can then be linked to a floating point parameter Dint2Real1 Result Convert Dint2Real1 In DInt Real Ci049 gt Dint2Real1 Scale x Scale Real2DInt Result Convert Real2DInt In Real DiInt 10852 Real2DInt Scale x Scale Configuration e Parameter 1047 DInt2Real1In is the input value for DInt to Real value conversion e Parameter 1048 DInt2Reall1 Scale is the input value to scale the conversion from DInt to Real This is a multiplication to the input value after conversion to a Real value e Parameter 1049 DInt2Real1Result is the resultant output of the conversion form a DInt
45. is more then 500 ms Peer messages requests cannot be sent any faster than 2x of MUT Host must ping every port at least every 2 seconds Peripherals time if more then 3 seconds pass Host will wait a maximum of 10 ms 125 KB or 5 ms 500 KB for peripheral response to ping Peripherals typical response time is 1 ms Periphals allow only one pending explicit message i e ping response or peer request at a time Response to an explicit request or fragment must occur within 1 second or device will time out applies to Host or Peripheral Time out implies retry from beginning Maximum number of fragments per transaction is 16 Flash memory is exception with 22 fragments allowed Rockwell Automation Publication PFLEX RMO03E EN E January 2011 DriveLogix Drive Overload Detailed Drive Operation Chapter 1 e During Flash mode host stops ping but still supports status command messages at a 1 5 second rate drive will use 1 second rate Data transfer occurs via explicit message as fast as possible i e peripheral request host response peripheral request etc but only between two devices The MUT is based on the message type only A standard command and Datalink command could be transmitted from the same peripheral faster than the MUT and still be O K However two successive Datalink commands will have to be separated by the MUT See the DriveLogix 5730 Controller User Manual publication 20D UM003 Theory of Operation
46. monitor any test point for the brake protection 1 Duty Cycle Actual duty cycle of the dynamic brake IGBT where a value of 0 in parameter 419 Brake TP Data full open and 1 full on 2 Power Actual Actual power applied to the resistor Watts 3 Max BodyTemp Maximum temperature that the resistor body can handle C 4 Max ElemTemp Act Maximum temperature that the resistor element can handle C 5 BodyTemp Act Predicted temperature of the resistor body C 6 ElemTemp Act Predicted temperature of the resistor element C 7 BTmpTrip Stat Maximum resistor body temperature has been exceeded when parameter 419 Brake TP Data 1 8 ETmpTripStat Maximum resistor element temperature has been exceeded when parameter 419 Brake TP Data 1 9 Int DB Ohms Rating of the internal resistor when an internal resistor is installed Ohms 10 Data State A value of 0 in parameter 419 Brake TP Data initial state 1 internal resistor data loaded 2 external resistor data loaded 11 MC BrakeEnbl A value of 0 in parameter 419 Brake TP Data dynamic braking disabled 1 dynamic braking enabled 12 1 rdb Inverse of the resistance 1 Ohm 13 1 th_eb Inverse of the thermal impedance from the resistor element to body Watts C 14 1 ce Inverse of the resistor element thermal mass C W x sec 15 tamax Maximum ambient temperat
47. next sent to the command interpreter for processing Control The command interpreter decides ow and when to act on position input A set of control bits set the rules They are interpreted to mean either move an absolute number of counts or move incrementally by so many counts The command interpreter may be set to wait for an event or to execute the move immediately Executing a move in this context means passing a reference to the profile generator where it is acted upon now Table 3 Parameter 1134 PPMP Control Bit Name Description 0 Absolute See Table 4 on page 87 1 Incremental See Table 4 on page 87 2 Start Start move Effected on leading edge only 3 Reserved Not used 4 Scaling En Turns on the input scaling block Scale block output is in units of encoder counts 5 Over Ride En Enable velocity override multiplier Override is a multiplier to forward and reverse velocity limits S Curve En Enable S curve rounding S curve limits jerk 7 Cond Hold Conditional hold freezes the velocity regulator s integrator if position reference input changes This bit is recommended to be set if the profile is without S curve 8 Pause Brings the drive to a controlled stop as if it were coming into commanded position Releasing Pause will cause the profile generator to resume pursuit of a target position 9 Re Synch Forces the output position to equal parameter 763 Position Ac
48. of parameter 153 Control Options cannot be set when parameter 485 Motor Ctrl Mode is set to 2 PMag Motor Speed Feedback Loss Ride Through Operation Parameter 151 Logic Command bit 2 TackLoss Rst provides a manual switch between primary and alternate speed feedback devices with a 0 to 1 bit transition A transition from 1 to 0 does not cause a change in operation Parameter 152 Applied LogicCmd bit 2 TachLoss Rst shows the status of parameter 151 Logic Command bit 2 TachLoss Rst Setting parameter 153 Control Options bit 16 Auto Tach Sw to a value of 1 enables the automatic switching of speed feedback devices when a failure is detected Only automatic switching from the primary device specified in parameter 222 Mtr Fdbk Sel Pri to the alternate device specific in parameter 223 Mtr Fdbk Sel Alt is available With the exception of Sensorless mode switching from the alternate to the primary device must be done manually by setting parameter 151 Logic Command bit 2 TackLoss Rst from 0 to 1 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Parameter 155 Logic Status bit 12 Tach Loss Sw shows which speed feedback device is currently active A value of 0 in bit 12 indicates that the primary speed feedback device selected in Mtr Fdbk Sel Pri is active A value of 1 i
49. of publication e 10 Event Status Transmits the found bits for registration latch 0 1 status e 21 Dir Tx Data Use this selection to transmit a parameter Parameters 965 SL Dir Data Tx00 968 SL Dir Data Tx03 contain the values for direct data transmitted to SynchLink When 21 Dir Tx Data is selected the corresponding direct transmit parameter parameters 965 968 parameters can be linked to source parameters e 22 Dir Rx Data Use this selection to transmit data that was received on SynchLink straight through e 23 E0 Accum Use this selection to transmit Encoder 0 counts directly through before they enter the feedback control loop This eliminates the update delay of the feedback control loop e 24 El Accum Use this selection to transmit Encoder 1 counts directly through before they enter the feedback control loop This eliminates the update delay of the feedback control loop 182 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 e 25 Opt0 Accum Use this selection to transmit feedback option 0 counts directly through before they enter the feedback control loop This eliminates the update delay of the feedback control loop e 26 Optl Accum Use this selection to transmit feedback option 1 counts directly through before they enter the feedback control loop This eliminates the update delay of the feedback control
50. on page 128 section for information about feedback devices and speed regulation with and without a speed feedback device See the Speed PI Regulator on page 152 section for information about the speed regulator See the Torque Reference on page 193 section for information about choosing the output of the speed regulator as the reference to the torque loop Rockwell Automation Publication PFLEX RMO03E EN E January 2011 127 Chapter 1 Detailed Drive Operation Speed Position Feedback The speed feedback block selects the feedback device and scales the feedback signal This section will describe in detail how each of these functions operates Feedback Device Parameter 222 Mtr Fdbk Sel Pri selects the primary feedback device for motor speed and position feedback The possible settings for Mtr Fdbk Sel Pri are 0 Encoder 0 1 Encoder 1 e 2 Sensorless e 4 Motor Sim e 5 FB Opt Port0 Parameter 223 Mtr Fdbk Sel Alt selects an alternate feedback device when a feedback loss is detected on the primary device The possible settings for Mtr Fdbk Alt Sel are the same as the settings for Mtr Fdbk Sel Pri Encoder There is one standard encoder input A second encoder input board is optional The encoder inputs are rated for Incremental Dual Channel Quadrature type Isolated with differential transmitter output Line Drive The encoder inputs can accept SV DC or 12V DC selected
51. percentage of parameter 401 Rated Volts and the selected voltage class bisvoltape reference 2 x Par 401 Rated Volts ee 415 Bus Reg Brake Ref vpc For example with a 480V rated drive and BusReg Brake Ref 111 2 x 480 x 111 753 5 VDC bus voltage reference 100 Note When the low voltage class is selected an additional multiplier of 1 2 is used For example parameter 401 Rated Volts 400V AC then parameter 401 x 1 2 480 VAC is used to determine the bus voltage reference bus voltage reference Bx 490 12 NN 753 5 VDC In this case if a drive has a selected low voltage class but is run on a high voltage class AC line the dynamic brake will not automatically turn on Parameter 416 Brake PulseWatts sets the peak power reference for determining the protection for an external brake resistor Parameter 416 is active only if the configuration is selected for an external brake parameter 414 Brake Bus Cnfg bit 1 is set to 1 When the internal brake resistor is used then the protection is determined from the drive internal values Normally this value is specified by the 24 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 resistor vendor as the energy rating in Joules or a 1 second power rating in Watts with typical values in the range of 30 to 100 times higher than the resistors continuous power rating e Parameter 416 Brake PulseWatts Resi
52. position link parameter 758 Pt Pt Posit Ref to parameter 799 BasicIndx Output Refer to Position Loop Point to Point on page 96 for further details on using the point to point loop To use the indexer to control a position offset link parameter 753 Posit Offset 1 or parameter 754 Posit Offset 2 to parameter 799 BasicIndx Output Note that the position offset can be used in either the Point to Point Position or the Position Follower modes Parameter 798 BasicIndx Preset is a value that is preloaded into the indexer output on drive power up By default BasicIndx Preset is set to 0 Toggling parameter 740 Position Control bit 14 BscIndx Prst will also preload the value of BasicIndx Preset into the indexer output Controlling the Indexer from Digital Inputs Program one of the digital inputs parameters 825 Dig In1 Sel through 830 Dig In6 Sel to 21 Indx Step Toggle that digital input to index forward Program a second digital input parameters 825 Dig In1 Sel through 830 Dig In6 Sel to 22 Indx StepRev Toggle that digital input to index reverse Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Inertia Adaption Detailed Drive Operation Chapter 1 Controlling the Indexer from a Network or DriveLogix Toggle parameter 740 Position Control bit 12 BscIndx Step to index forward Toggle 740 Position Control bit 15 BscIndxStpRv to index reverse Position Contro
53. power returns the drive will continue normal operation after the disturbance passes However if the power returns causing a large inrush current precharge device is still bypassed drive damage is likely Note When parameter 406 Power Loss Mode is set to 0 Coast or 5 Flux Only and the drive is in a ride through condition the HIM displays the alarm icon bell the alarm queue displays F92 RideThru and bit 27 Reserved of parameter 328 Alarm Status 3 is set until incoming power returns or the drive faults Ride Through Timeout Fault Parameter 407 Power Loss Time sets the amount of time allowed to pass for the incoming power to return before a ride through fault occurs This limits the time within which an auto start for the drive could occur The default value for this time is 2 seconds with a minimum value of 0 seconds and a maximum value of 60 seconds The ride through timeout fault is shown in Parameter 321 Exception Event2 bit 8 RidethruTime The ride through timeout fault will inhibit the drive auto start function requiring a fault clear and commanded start to run the drive again ATTENTION The user must determine the safe amount of time allowed for the drive to automatically start Precharge Operation The drive will not run until the controller s precharge function has completed Also the precharge function in the drive runs independent of drive precharge hardware for the most part a
54. reference 6 Preset Spd 2 Parameter 15 Preset Spd 2 is selected as the speed reference 7 Preset Spd 3 Parameter 16 Preset Spd 3 is selected as the speed reference 9 Preset Spd5 Parameter 18 Preset Spd 5 is selected as the speed reference 10 Preset Spd 6 Parameter 19 Preset Spd 6 is selected as the speed reference h h h 8 Preset Spd 4 Parameter 17 Preset Spd 4 is selected as the speed reference h h h 11 Preset Spd 7 Parameter 20 Preset Spd 7 is selected as the speed reference 12 DPI Port 1 The speed reference comes from local drive mounted HIM 13 DPI Port 2 The speed reference comes from the external DPI communication module 14 DPI Port 3 The speed reference comes from the auxiliary external DPI communication module 16 DPI Port 5 The speed reference comes from the internal DPI communication module Speed Reference Scaling Parameter 10 Speed Ref 1 and parameter 12 Speed Ref 2 are real parameters with units of per unit where a value of 1 per unit equals base motor speed Speed reference 1 and 2 each have their own scaling blocks The speed reference value in parameter 10 Speed Ref 1 is divided by the scaling value set in parameter 11 Spd Ref1 Divide The speed reference value for parameter 12 Speed Ref 2 is multiplied by the scaling parameter 13 Spd Ref2 Multi Rockwell Automation Publication PFLEX RMO03E EN E January 2011
55. scaling 98 position reference selection 97 re reference 100 speed reference selection 97 tuning tips 99 position feedback 128 141 FIR filter 132 motor simulator 133 sensorless 132 position loop electronic gear ratio 93 enabling 92 encoder registration 105 feedback registration 108 follower electronic gearing 90 in position detect 96 jogging a position follower 95 output limits 94 position offset 94 position reference selection 92 position watch 104 registration 105 speed reference ramp 92 speed reference scaling 93 speed reference selection 91 tuning tips 95 power loss ride through 109 precharge ac input drive frames 5 and up 110 dc input drive frames 5 and up 110 drive frames 1 4 110 external 115 external power supply 116 motor sim mode 116 operation 112 staging 116 timeout fault 114 preset speeds 116 process PI loop 117 limits 118 output 118 reference and feedback 117 regulator 117 pulse elimination technique 119 PWM frequency 27 real master reference 80 real to Dint converter 206 Index reflected wave 119 RFI filter grounding 120 ride through configuration 111 operation 111 timeout fault 112 S scaled speed feedback 140 S curve 120 second order low pass filter 49 security 121 communication peripherals 121 software tools 121 selector switches 200 sensorless mode 122 drive frames 9 and up 123 flying start 123 gains 122 slip compensation 122 skip speeds 123 configuration 123 slip compen
56. selected in Parameter 223 Mtr Fdbk Sel Alt is active then after the reset the primary feedback device selected in Parameter 222 Mtr Fdbk Sel Pri will be used as the active speed feedback device The reset activation is prohibited if a failure is sensed in the speed feedback device to which the drive is switching The active device selection command is shown in parameter 152 Applied LogicCmd Manual switching between primary and alternate devices can be made while the drive is running The speed reference control loop consists of speed reference selection scaling jogging limiting ramping S curve and filtering Each part of the speed reference loop is explained in this section Speed Reference Selection The selection of the active speed reference can be made through digital inputs DPI communication command or DriveLogix The input selected by any of these sources is show in parameter 152 Applied LogicCmd bits 28 Spd Ref Sel0 29 Spd Ref Sell and 30 Spd Ref Sel2 Table 23 below shows the truth table for the selected speed reference based on Spd Ref Sel0 1 and 2 and Figure 23 on page 146 shows the diagram for the selected speed reference Table 23 Speed Reference Select Inputs 0 Auto Reference Source 0 Reference A 1 Reference B 0 Preset Speed 2 1 Preset Speed 3 0 Preset Speed 4 1 Preset Speed 5 0 Preset Speed 6 1 Preset Speed 7 OIO CO OY N O
57. the master Rockwell Automation Publication PFLEX RMO03E EN E January 2011 93 Chapter 1 94 Detailed Drive Operation Parameter 13 Spd Ref2 Multi is calculated Spd Ref2 Multi ES _ 4 4 Ration 1 Notice that the encoder PPRs should not be included in the calculation for Spd Ref2 Multi Spd Ref2 Multi is rounded to the 4th decimal place The position loop gear ratios will be exact so that the follower tracks at 4 times the master s speed Position Offset Offsets can be added to the position reference Offsets are used to make a correction move to synchronize the follower to the master position A Added to Position Reference After EGR Deriv X Offst SpdFilt Rate Lim LPass Posit Offset 1 753 Posit Offset 2 C754 Posit Offset Spd C755 Position Control 7 X Offset Pol TAY 05 a Bee Position Control ef Act X Offset Ref There are two offsets parameters 753 Posit Offset 1 and 754 Posit Offset 2 The offset speed must be entered in parameter 755 Posit Offset Spd if this is left at zero the move will not occur The position offset must be entered in counts of feedback because it is added to the position reference after the EGR scaling Offsets must be maintained to keep the position In other words if you enter 300 in the offset the position loop will move 300 counts extra If you zero the offset command the motor will return
58. to the previous position When it is necessary to zero the offset after a move without returning to the previous position set parameter 740 Position Control bit 5 XOff ReRef 1 Then set the offset value 0 Then set Position Control bit 5 XOff ReRef 0 The system will not make an offset move when bit 5 of Position Control is on Position Loop Output Limits Parameter 775 XReg Spd LoLim sets the negative speed limit at which the position regulator will output The default is set to 10 of the base motor speed Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Parameter 776 XReg Spd HiLim sets the positive speed limit at which the position regulator will output The default is set to 10 of the base motor speed In position follower the position loop only needs to trim the speed a small amount because the drive is setup to follow the master speed reference Therefore XReg Spd LoLim and XReg Spd HiLim can be left at the defaults Tuning Tips The speed regulator of the drive must be tuned prior to tuning the Position Loop Refer to Speed PI Regulator on page 152 of this manual for tips on tuning the speed regulator Typically parameter 768 PositReg P Gain should be set between 1 5th to 1 3rd of parameter 90 Spd Reg BW Parameter 768 PositReg P Gain may be set higher using lead compensation on the Position Regulator output Lead Lag filt
59. when the input is equal to 0 0000 The output is equal to parameter 204 LimGen Y axis Mx when the input is equal to 1 0000 The output is available as a positive output parameter 207 Limit Gen Hi Out and a negative output parameter 208 Limit Gen Lo Out Limit Gen Hi Out LimGen X axis In 206 Limit Gen Lo Out LimGen Y axis Mn LimGen Y axis Mx Rockwell Automation Publication PFLEX RMO03E EN E January 2011 65 Chapter 1 Detailed Drive Operation Links 66 Links are software connections between two parameters This allows one parameter to receive information from another parameter Parameter Type Parameter Symbol Source Provides information Source Destination Receives information lt Dest y v 4 Each destination parameter can only have one source parameter However source parameters may be linked to multiple destination parameters The information from the link always flows from the source to the destination parameter Dest Information Information o C Source D AOE C See j A Information Certain parameters can only be destination parameters Several default links are set in the drive as default Modifying these links or creating new parameter links can be done using a HIM or DriveExecutive software Each method is explained in detail below Using a HIM To link parameters using a HIM complete the following steps 1 From the parameter list access the des
60. 0 000 Then set parameter 911 SL Tx DirectSel0 1 SL Multiply to send the result in parameter 922 SL Real2DInt Out over SynchLink Buffered Data Buffered Data Receive Parameters Follower Parameters 934 SL Buf Data Rx00 951 SL Buf Data Rx17 contain values that you receive from SynchLink as buffered data Destination parameters can be linked to this buffered data Parameter 933 Rx Buf Data Type bits 0 17 select whether each word of buffered data that is transmitted is DInt double integer or real floating point When the bit is turned off it means the data received will be DInt When the bit is turned on it means the data received will be floating point The default is all DInt words Buffered Data Transmit Parameters Master Parameters 970 SL Buf Data Tx00 987 SL Buf Data Tx17 can be linked to source parameters that you want to send out SynchLink as buffered data Parameter 969 Tx Buf Data Type bits 0 17 select whether each word of buffered data that is transmitted is DInt double integer or real floating point When the bit is turned off it means the data transmitted will be DInt When the bit is turned on it means the data transmitted will be floating point The default is all DInt words SynchLink Diagnostics Parameters 894 SL CRC Err Accum 903 SL Error History provide diagnostic information for SynchLink Parameter 894 SL CRC Err Accum displays the total accumulated numb
61. 0 A 115 C for 14 34 A 100 C for 40 52 A e Bit 3 HS Pending indicates heatsink temperature is above 95 C for ratings 1 1 11 0 A 105 C for 14 34 A 90 C for 40 52 A e Bit 4 IT Trip indicates the drive has exceed the 3 second rating of either the 150 normal duty rating or 200 of the heavy duty rating e Bit 5 IT Pending indicates the drive OL integrator is at 50 of the time out time e Bit 6 IT Foldback indicates the drive closed loop current limit is in a fold back condition The value of the fold back is proportional to the calculated junction temperature e Bit 7 Jnc Over Temp indicates the junction temperature has exceeded the maximum temperature for the power semiconductor device For frame 9 drives only the drive over temperature fault is set at 92 C The fault is detected if the heat sink temperature parameter 313 Heatsink Temp or parameter 345 Drive OL JnctImp exceeds 125 C For frame 1 6 drives the open loop current limit is designed for 25 duty cycle at 110 output current However frame 9 drives allow 10 duty cycle at 110 output current The open loop current limit function cannot prevent the drive from having an over temperature fault Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Droop lt _ Filter 2 Order LPass ks Detailed Drive Operation Chapter 1 Droop is used to shed load and is usually used when a sof
62. 00 s wn Lead Lag Configuration Example This example illustrates how to setup a speed reference to follow a 0 10V analog input signal and null out a small amount of offset from the A D converter on the analog input e Parameter 803 AnlgIn1 Offset 0 0144V e Parameter 802 AnlgIn1 Scale 0 1 per 1V e Parameter 804 A 1 Filt Gain 1 e Parameter 805 AnlgIn1 Filt BW 0 e Parameter 10 Speed Ref 1 is linked to parameter 800 AnlgIn1 Data With a desired parameter 801 Anlg In1 Value of OV the drive was reading 0 0144V To null out analog input 1 parameter 803 Anlg In1 Offset was set to 0 0144V Parameter 10 Speed Ref 1 is a per unit parameter meaning that a value of 1 equates to base motor RPM Therefore to scale parameter 800 Anlg In1 Data to give us a value from 0 to 1 fora 0 10V signal parameter 802 Anlg In1 Scale was set to 0 1 per 1V Parameter 805 Anlg In1 Filt BW was set to 0 so that no filtering took place on analog input 1 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 15 Chapter 1 16 Detailed Drive Operation Analog Input Loss Detection Signal loss detection can be enabled for each analog input Parameters 1093 1094 and 1095 Anlg InxLossCnfg 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 selecti
63. 04 AddSub 3 Add 4105 AddSub 3 Subtret 1106 AddSub 2 Result lt AddSub 3 Result e The equation for using the Add Subtract blocks is as follows AddSub x Input AddSub x Add AddSub x Subtrct AddSub x Result Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Voltage Class Detailed Drive Operation Chapter 1 On Off Delay Timers This feature provides the ability to set two delay timers Each timer can be set for an On delay timer or Off delay timer The On delay timer defines the delay time between a False to True transition condition appears on the output condition and the corresponding change in state of an input output The Off delay timer defines the delay time between a True to False transition condition disappears on the output condition and the corresponding change in the state of the digital output The user defined on off delay timer is enabled by setting bit 6 Delay Timer of Par 1000 UserFunct Enable DelayTimer1 Stats 0 Timer Enabled DelayTimer1PrSet SLD ang Delay 1112 Timer Timing DelTmr1 TrigData C1108 CH timer 1 eae g DelTmr1 TrigBit a 1111 elayTimer1 Accum Link a word to DelTmrx TrigData to control the on or off delay timer The bit within the selected word that will control the delay timer is set by DelTmrx Trig Bit A positive value set in DelTmrx TrigBit selects an On delay timer and a negative value selects a
64. 107 Chapter 1 Detailed Drive Operation e To arm the registration again set parameter 237 RegisLtch0 1 Ctrl bit 0 RLO Arm Req 1 to arm the registration Parameter 238 RegisLtch0 1Stat bit 0 RLO Armed will be set to 1 again and bit 1 RLO Found will be set back to 0 until digital input 1 turns on again Note To disarm the registration if it has not been found you can set parameter 237 RegisLtch0 1Ctrl bit 1 RLODisarmReq 1 Parameter 237 RegisLtch0 1Ctrl bit 0 RLO Arm Req will be set back to 0 Then set parameter 237 RegisLtch0 1Ctrl bit 1 RLODisarmReq back to 0 Feedback Option 0 and 1 Registration There is one registration latch that can be configured for feedback option 0 and one registration latch that can be configured for feedback option 1 Note that for the feedback option port 0 and 1 registration the trigger source is always digital input 1 e Parameter 254 Opt0 1 RegisCnfg Configures the registration latch for port 0 and port 1 of the feedback option card Bits 3 O0 RLTrgEdg0 4 O00 RLTrgEdg1 19 O1 RLTrgEdg0 and 20 O1 RLTrgEdg1 select which trigger edges signal the position see Table 11 below Bits 5 O0 RL DirRev 6 O0 RL DirFwd 21 O1 RL DirRev and 22 O1 RL DirFwd set the direction of position capture see Table 12 below Bits 8 11 configure a digital filter for the registration trigger signal This filter can be use
65. 165 EGR Pos Output e Parameter 1166 EGR Pos Preset K 62 virt Encdr Posit Task 2 Output Selection Scan HED Vit Encar Diyed Task 2 EGR Contig VirtEncdrPositFast Task 1 Ramped Spd Ref Virtual Encoder Virt Encoder EPR EGR Pos Input EGR Pos Output Heidn Encdr Type HeidenhainO Cnf VrtIMasterEn VM irection j I Heidn VM Pos Ref Heidenhain _o QS Encoder Update Time Delay COF SL System Time at Position data update SL System Time at beginning of VScan VitiMaster PPR 1156 Heidn Mkr Offset Rockwell Automation Publication PFLEX RMO03E EN E January 2011 139 Chapter 1 Detailed Drive Operation Examples 1 A Quad B output of Heidenhain feedback 2048 PPR from each rotation of the virtual encoder Set parameter 61 Virt Encoder EPR 1048576 Link parameter 1155 Heidn VM Pos Ref to parameter 1160 VirtEncPositFast Set parameter 266 Heidn Encdr Type bit 6 VrtlMasterEn 1 Set parameter 1156 Heidn VM Enc PPR 2048 2 A Quad B output of Heidenhain feedback 2048 PPR from each rotation of Encoder0 input Set parameter 1000 UserFunct Enable bit 7 EGR Enable 1 Link parameter 1164 EGR Pos Input to parameter 762 Position Fdbk Set parameter 1161 EGR Config bit 0 1 Set parameter 1162 EGR Mul 256 Set parameter 1163 EGR Div 1 Link parameter 1155 Heidn VM Pos Ref to parame
66. 2 MOP Level DInt is the actual output value of the MOP as a DInt number This value is scaled by parameter 1091 MOP Scale DInt Rockwell Automation Publication PFLEX RMO03E EN E January 2011 199 Chapter 1 200 Detailed Drive Operation Controlling the MOP from Digital Inputs Program one of the digital inputs parameters 825 Dig In1 Sel 830 Dig In6 Sel to 23 MOP Inc Turn on the digital input to increase the MOP level at the rate programmed Program a second digital input parameters 825 Dig In1 Sel 830 Dig In6 Sel to 24 MOP Dec Turn on the digital input to decrease the MOP level at the rate programmed A digital input can also be programmed to 25 MOP Reset Turning on this digital input resets the MOP level to 0 Controlling the MOP from a Network or DriveLogix Turn on parameter 1086 MOP Control bit 0 Increase to increase the MOP level at the rate programmed Turn on parameter 1086 MOP Control bit 1 Decrease to decrease the MOP level at the rate programmed Parameter 1086 MOP Control bit 2 Reset can be toggled to reset the MOP level Parameter 1086 can be controlled from a network by using a Datalink Refer to Datalinks on page 1 35 for details on using Datalinks Parameter 1086 can be controlled from DriveLogix by linking it to one of the FromDriveLogix words parameters 602 622 See the DriveLogix 5730 Controller User Manual publication 20D UM003
67. 2 bit integer that contains the pulse count output of the virtual encoder block Parameter 63 Virt Encdr Dlyed is a 32 bit integer that contains the pulse count output of the virtual encoder block delayed by one scan of the speed reference loop This parameter can be used to send a virtual position reference over SynchLink for position follower applications Refer to SynchLink on page 180 for more details lt 62 Virt Encdr Posit Ramped Spd Ref from Ramp lt 43 gt J a 63 gt Virt Encdr Dlyed Virtual Encoder Delay Virt Encoder EPR Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Speed Reference Filter A lead lag filter for the selected speed reference can be turned on by setting parameter 153 Control Options bit 1 SRef LdLg En 1 Parameter 35 SpdRef Filt Gain sets the gain for the filter and parameter 36 SpdRef Filt BW sets the bandwidth for the filter For more information on lead lag filters see Lead Lag Filter on page 50 To Speed Reference Scale kn s wn s wn From Ramp Control Options SRef Filt En SpdRef Filt Gain SpdRef Filt BW C 36 Speed Reference Scaling The speed reference value up to this point is multiplied by the scaling parameter 38 Speed Ref Scale Speed Ref Scale is applied to all of the selected speed references as opposed to the
68. 36 counts per revolution e Speed regulator tuning directly affects the position loop performance The speed regulator should be tuned before the position loop e For best performance positioning should be used with a dynamic brake or regenerative system Overview The position follower feature in the PowerFlex 700S gives the user the ability to follow the position of a master motor without an external position controller The position loop adds to or subtracts from the speed reference using parameter 22 Speed Trim 2 to correct for the following error and keep the positions of both encoders locked The resulting motor speed reference enters the speed regulator loop Gear ratios can be set up to follow at different rates of speed and position Typical applications for a geared follower would be for a roller following another part of a machine and a filler and capper machine for bottling 90 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 The following is a block diagram overview of the position follower mode Position Control Task 2 Posit Spd Output PositReg P Gain 318 gt Aux Posit Ref Posit Reg Integ from Master N Encoder gt 43 gt D 770 Pl Speed Trim 2 ink Cos Speed Control Regulator Task 1 Regulator Motor Speed Ref Spd Reg PI Out 302 Gear Rat CDi
69. 4 Direct Words 8 Buffered Words Word Value Word Type Source Direct 0 Parameter 43 Ramped Spd Undefined DINT Undefined DINT Undefined DINT Undefined DINT Undefined DINT Undefined DINT Undefined DINT Undefined Undefined Undefined Undefined alalalalalala DINT DINT DINT DINT lalalalalala lelalalelal Lalalalala 4 Click OK to apply the settings and close the SynchLink dialog 5 To synchronize the speed references you must add a time delay to the S curve speed reference of the master by linking parameter 37 Spd Ref Bypass to parameter 45 Delayed Spd Ref Follower PowerFlex 700S Setup Receiving Drive 1 In the follower or receiving drive select the receiving format in the Receive Format field to match the size of the data transmitted from the master drive For this example select 4 Direct Words 8 Buffered Words 2 Below the Receive Format field for Direct Word 0 do the following a Click the arrow next to the Type field and select Real Rockwell Automation Publication PFLEX RMO03E EN E January 2011 189 Chapter 1 Detailed Drive Operation b Click the button to the right of the Used By field and select 12 Speed Ref 2 This means that parameter 12 will be linked to Direct Word 0 from SynchLink SynchLink Setup PowerFlex 700S 2 Data speed Ref Receive Format 4 Direct Words 8 Buffered Words zl Transmit Format Undefine
70. 4V DC Use Digital Input 1 and Digital Input 2 for position registration Digital Input 3 is 24V DC Sinking Shared Common for Digital Inputs 1 2 and 3 Digital Inputs 4 5 and 6 are 24V DC or 115V AC Sink Source They are configured for 24V DC or 115V AC via dip switches default 24V DC Shared Common for Digital Inputs 4 5 and 6 Digital Input 6 is a Hardware HW Enable by default A jumper is used to disable the HW Enable and use Digital Input 6 for other functions Rockwell Automation Publication PFLEX RMO03E EN E January 2011 37 Chapter 1 Detailed Drive Operation Digital Input Configuration Parameter 825 830 Dig Inx Sel can be set to the following values 0 Not Used 14 Normal Stop 28 PI Trim Rst 1 Enable 15 Spd Ref Sel0 29 Trend Trig 2 Clear Faults 16 Spd Ref Sel1 30 PreCharge En 3 Ext Fault 17 Spd Ref Sel2 31 a 4 Norm Stop CF 18 CurLim Stop 32 Hrd Ovrirvl 5 Start 19 Coast Stop 33 Hrd OvrTrvl 6 Reverse 20 AccelDecel2 34 UserGen Sel0 7 Run 21 Indx Step 35 UserGen Sel1 8 Reserved 22 Indx StpRev 36 UserGen Sel2 9 Reserved 23 MOP Inc 37 UserGen Sel3 10 Jog 1 24 MOP Dec 38 ExtFault Inv 11 Reserved 25 MOP
71. 83 3 102 5 4500000 0 1180 100 0 Time On s time in seconds at current level shown Time Off s time in seconds at 100 current Duty Cycle time on time on time off x 100 The On Time Off Time ratio is fixed If only 1 2 of the listed time is spent at a given level only 1 2 of the off time is necessary to reset the cycle 64 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Jog A jog reference is usually used to run the motor at some preset low speed Two separate jog speeds can be used as a speed reference parameter 29 Jog Speed 1 or parameter 39 Jog Speed 2 A jog could be initiated by a Digital Input by the Logic Command word from a DPI adapter such as a HIM or by the Logic Command word from DriveLogix In turn a valid jog command initiated from one of those adapters will turn on either bit 18 in parameter 152 Applied LogicCmd to select jog speed 1 or bit 23 in Applied LogicCmd to select jog speed 2 Note that the jog command is a maintained type of logic so that the jog speed will be active while the jog command bit is maintained Applied LogicCmd Selected Spd Ref 1 2 l Jog Speed 2 Gi Limit Generator The limit generator generates a high and low limit based on an input The input parameter 206 LimGen X axis In is a linkable destination The input range is 0 0000 to 1 0000 The output is equal to parameter 205 LimGen Y axis Mn
72. 85 for frames 1 6 drives and near 50 for frames 9 and up drives The test repeats three times Stator Resistance Test This test identifies the motor stator resistance and stores the value into parameter 491 StatorResistance The motor should not rotate during this test Stator Inductance Test This test identifies the motor stator inductance and stores the value into parameter 490 StatorInductance The motor should not rotate during this test Leakage Inductance Test This test measures the inductance characteristics of the motor A measurement of the motor inductance is required to determine references for the regulators that control torque The motor should not rotate during this test The test runs for approximately 1 minute and then stores the calculated value into parameter 492 Leak Inductance A typical value is between 15 and 25 Flux Current Test This test is used to identify the value of motor flux current required to produce rated motor torque at rated current When the flux test is performed the motor will rotate The drive accelerates the motor to the speed set in parameter 74 Atune Spd Ref default is 85 of base speed and then coasts for several seconds This cycle may repeat several times then decelerate to a low speed and shut off This test stores the value for flux current in parameter 488 Flux Current For Permanent Magnet Control the following motor tests are performed Sta
73. Also the Closed Loop IT function can limit the current output from the drive The Closed Loop IT function and the torque current reference are compared and the algebraic minimum is used for the torque current reference See the Drive Overload on page 45 section for a description of the Open Loop and Closed Loop IT functions Datalinks are used to transfer I O data from a communication adapter for example ControlNet 20 COMM C or DeviceNet 20 COMM D or EtherNet IP 20 COMM E to a controller Datalinks allow parameter values to be changed without using messaging Configuring Datalinks This section contains information on configuring the Datalink parameters in the PowerFlex 700S There are also parameters in the communication adapters that must be configured to use Datalinks Refer to the section on Using Datalinks in the individual adapter user manuals for more information e 20 COMM C ControlNet Adapter User Manual 20COMM UM003 e 20 COMM D DeviceNet Adapter User Manual 20COMM UM002 e 20 COMM E EtherNet IP Adapter User Manual 20COMM UM010 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 35 Chapter 1 36 Detailed Drive Operation Data In Parameters Parameters 651 DPI Data In A1 through 658 DPI Data In D2 are inputs to the drive from the controller and are used to write to parameters To write toa parameter that parameter must be linked to one of parameters 651 through 659 Then set t
74. Arm request will set the Armed status bit Bit 1 Opt0 Found or bit 17 Opt1 Found indicates the registration event has triggered the latch The rising edge of the Disarm request will clear the Armed status bit e Parameter 257 Opt 0 Regis Ltch displays the registration data of the feedback option card at port 0 The registration data is the position reference counter value latched by the external strobes The strobe signal used to trigger the latch is configurable by parameter 254 Opt0 1 RegisCnfg e Parameter 258 Opt 1 Regis Ltch displays the registration data of the feedback option card at port 1 The registration data is the position reference counter value latched by the external strobes The strobe signal used to trigger the latch is configurable by parameter 254 Opt0 1 RegisCnfg The precharge function provides a current limited charging of the drive s bus capacitor s and when charging is complete bypasses the current limiting device This current limited charging primarily protects the drive s input fuses and front end rectifiers or SCRs from excessive inrush current The bypass function is needed for normal drive operation to avoid overloading the current limiting device In general when precharge is active the current limiting device is in the circuit and when precharge is done the bypass device is active see exceptions below The ride through function can provide a motor coast p
75. Droop on page 47 Speed Regulator Output Limits The outputs from the proportional block and integrator block are summed together creating a torque reference This torque reference is limited by parameter 102 Spd Reg Pos Lim and parameter 103 Spd Reg Neg Lim Rockwell Automation Publication PFLEX RMO03E EN E January 2011 157 Chapter 1 Speed Regulator Tuning 158 Detailed Drive Operation Speed Regulator Output Filter Once the proportional and integrator blocks are summed the torque reference goes through a lead lag filter tuned by parameters 95 SRegOut FiltGain and 96 SReg Out Filt BW For more information on lead lag filters refer to Lead Lag Filter on page 50 Parameter 157 Logic Ctrl State bit 8 Spd Reg En indicates when the speed regulator is enabled When bit 8 Spd Reg En is enabled the speed regulator output is allowed to pass to the torque control loop Parameter 302 Spd Reg PI Out contains the filtered limited torque reference that was generated by the speed regulator Logic Ctrl State Spd Reg En l 0 o l 1 Spd Reg PI Out ji Lead Lag to Torque Control 4A 1 SRegOut FiltGain SReg Out Filt BW Basic Tuning with a Gear Box or Belt This section provides guidelines for basic tuning of the speed loop when the motor is coupled to the load through a gear box 1 Identify motor and system inertia in seconds The motor inertia can be determined by performing
76. E E 65 ETS AEE EE EE E E E 66 Usinga HIM rrer re tenete iann p E AOPE CEE as wax eons 66 Using Try EXC CUE G xisin stone aid ve caren wn gee ea 67 Masks erneer Ch dine drain R ane E a KR 68 Motor Control Mode dios eean aaa ware e A E Aaa 69 Field Oriented onttollc525 408 2525 xte neato secede rererere 69 Permanent Magnet Control ininonan sien aicbiwwsinas swernanaty 70 Volts Hertz Control v2 003 and later 0 0 0 e cece eee es 70 Motor Natmieplateti2442 e itava nei te Se eed 71 Motor Oy Chl Oadl esnan irana aea nia toh cena ak wea E E ana 72 Normal Ditty eaaeo neien eee eee a 72 Heayy Duty spirene tirne iin Siw Mead Seageds Ines saw 72 Motor Overload Memory Retention Per 2005 NEC 73 Motor Start and Stop Precautions wae n eave e ee eoteeta deus pees 74 Input Contactor Precautions oc i6s regs vo nae k wae Von uaateer yeas 74 Output Contactor Precaution 14303445465 h 5 Wek eens 5558 74 Mounting aare eat coe neal tte e ead ha E aA aaa ead crane 74 Output Devices ririri errira naaa taNal ol Midst an cal ae AEM Mol old 75 Drive Output Disconnection 3 c 6 ssswsseeetas von canted 75 Cable ermimaionc 25 tasadu cps aS vie eee e colsketuinsas Sota ea 75 COU DUE Reactor scsi tano oii Rina ooe kiana Gate 75 Output Displays ccd ceewelh ate dated aces A 76 Output Current Parameter 308 54 ead Geen aaa 76 Output Freq Parameter 310 scat Saccce con tswwteweeotaduaeas 76 Output Power Parameter 31 Vice custo itl
77. En 1 Set up the position reference from the Motion Planner e Link parameter 743 Aux Posit Ref to parameter 1143 PPMP Pos Output e Set parameter 742 Position Ref Sel 1 AuxPosit Ref Set up the speed reference for the feed forward from the Motion Planner e Link parameter 10 Speed Ref 1 to parameter 1142 PPMP Spd Output e Set parameter 11 Spd Refl Divide 1 Set parameter 27 Speed Ref A Sel 1 Speed Ref 1 e Set parameter 151 Logic Command bit 0 SpdRmp Dsbl 1 To perform a moye set the position that you would like to move to in parameter 1130 PPMP Pos Command and then toggle parameter 1134 PPMP Control bit 2 Start Rockwell Automation Publication PFLEX RMO03E EN E January 2011 89 Chapter 1 Detailed Drive Operation Position Loop Follower General facts about using the Position Loop for follower applications Electronic Gearing e Parameter 768 PositReg P Gain is used for tuning e Parameter 770 PositReg Integ is normally not needed for position following applications and is disabled by factory default e The number of position counts per revolution depends on the type of feedback device used When using an encoder for positioning the drive uses quadrature counts i e 1024 encoder 4096 counts per motor revolution When using a Stegmann Hi resolution encoder the drive counts 1048576 counts per revolution When using a resolver the drive counts 655
78. MOO3E EN E January 2011 Parameter 272 Reslvr0 SpdRatio specifies the speed ratio for the resolver option card at port 0 The speed ratio comes from the following formula Speed ratio electrical rev s mechanical rev s pole count 2 Parameter 273 Reslvr0 Carrier specifies the resolver carrier frequency for the resolver option card at port 0 Parameter 274 Reslvr0 In Volts specifies the resolver input voltage for the resolver option card at port 0 Parameter 275 Rslvr0 XfrmRatio specifies the resolver transformation ratio for the resolver opt ion card at port 0 Parameter 276 Reslvr0 CableBal specifies the resolver cable balance for the resolver option card at port 0 Parameter 269 0 The bits are defined as follows e Bit 0 Cable Tune indicates a cable tune is in progress Resolver0 Status indicates status of the resolver option card port e Bit 1 Tune Result indicates the tuning parameter type When set it indicates the tuning is using the parameter database When cleared it indicates the tuning is using derived data e Bit 2 Mtr Turning indicates that the motor is turning e Bit 3 Cable Comp 137 Chapter 1 138 Detailed Drive Operation Bit 4 Energized indicates the resolver is energized Bit 8 Open Wire indicates a problem with the cable open circuit Bit 9 Power Supply indicates problem with the option c
79. N E January 2011 Detailed Drive Operation Chapter 1 SynchLink Direct Data Direct Data Receive Parameters Follower Parameters 906 SL Rx DirectSel0 909 SL Rx DirectSel3 select what you want to do with direct received data The available settings for these parameters are e 0 No Data SynchLink received data is passed straight through Parameters 929 SL Dir Data Rx00 932 SL Dir Data Rx03 contain the values for direct data received from SynchLink When No Data is selected a destination parameter can be linked directly to the corresponding direct data receive parameter parameters 929 932 e 1 SL Multiply See details on Multiply Block on page 183 2 Event PO Parameter 917 SL Rx PO Regis receives value from registration latch 0 of transmitter e 3 Event P1 Parameter 918 SL Rx P1 Regis receives value from registration latch 1 of transmitter Event P1 is not functional over SynchLink at the time of publication e 10 Event Status Parameter 915 SL Rev Events receives registration found bits for registration latch 0 1 from registration of the transmitter Bit 0 is for registration latch 0 and bit 1 is for registration latch 1 IMPORTANT The clear bit in parameter 916 SL Clr Events of the receiving drive must be toggled to clear the corresponding found bit in parameter 915 before the receiving drive can receive a new value for the registration latch PO or P1 P
80. O O O Note to use Preset Speed 1 program parameter 27 Speed Ref A Sel or 28 Speed Ref B Sel 5 Preset Spd 1 Rockwell Automation Publication PFLEX RMOO3E EN E January 2011 145 Chapter 1 Detailed Drive Operation 146 Figure 23 Selected Speed Reference Applied LogicCmd Applied LogicCmd 152 28 29 30 152 418K 152 J23 Selected Speed Ref Speed Reference A Speed Reference B Jog Speed 1 C29 Preset Speed 2 Cs arid Jog Speed 2 l l l l l l l l l Preset Speed 3 GD 2 l l l l l l l l l l l Preset Speed 4 C 7 Preset Speed 5 C 5 Preset Speed 6 GD 6 Preset Speed 7 ED Parameter 27 Speed Ref A Sel and parameter 28 Speed Ref B Sel determine the source of Reference A and B Parameter 27 and 28 can be set to the following values Setting Description 0 Zero Speed _ Zero Speed is selected as the speed reference 1 Speed Ref 1 Parameter 10 Speed Ref 1 is selected as the speed reference 2 Speed Ref 2 Parameter 11 Speed Ref 2 is selected as the speed reference 3 Sum Sref 1 2 The sum of Speed Ref 1 and Speed Ref 2 is selected as the speed reference Note that there is no Speed Ref 3 parameter 4 MOP Level Speed reference from motor operated pot parameter 1090 MOP Level Real 5 Preset Spd 1 Parameter 14 Preset Spd 1 is selected as the speed
81. RENT FEEDBACK Flux Reg eri SPEED REF Speed Current Voltage Reg Reg Control Inverter TORQUE REF Vang Adaptive Controller AUTOTUNE PARAMETERS SPEED FEEDBACK Rockwell Automation Publication PFLEX RMO03E EN E January 2011 69 Chapter 1 70 Detailed Drive Operation Permanent Magnet Control Permanent magnet motor control is selected by setting parameter 485 Motor Ctrl Mode 2 Pmag Motor Permanent magnet motor control requires a Hi Resolution Stegmann encoder Heidenhain encoder or compatible resolver feedback on the motor Refer to the PowerFlex 700S AC Drive Phase II Control Frames 1 6 Installation Instructions publication 20D IN024 for a list of compatible Hi Resolution Stegmann encoders and resolvers Refer to the Heidenhain Feedback Option Card for PowerFlex 700S Phase I Drives Installation Instructions publication 20D INO17 for a list of compatible Heidenhain encoders Motor data and an autotune is required for correct operation in this mode Refer to Autotune on page 19 for details on the autotune Refer to PowerFlex 700S Permanent Magnet Motor Specifications in the PowerFlex 700S AC Drive Phase II Control Programming Manual publication 20D PM001 for a list of compatible Allen Bradley permanent magnet motors and motor data Volts Hertz Control v2 003 and later Volts Hertz control is used in fan pump or multi motor applications
82. Reference Manual Allen Bradley PowerFlex 700S AC Drives Phase II Control Firmware Revisions 1 xxx 4 XXxx Allen Bradley Rockwell Software 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 http 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 d
83. Reset 39 Home Switch 12 Reserved 26 PI Trim En 41 Find Home 13 Jog 2 27 PI Trim Hold 42 Return Home 1 Option 31 is Regis 1 Ltch for Digital Input 1 Regis 2 Ltch for Digital Input 2 and Reserved for all other Digital Inputs Values 34 UserGen Sel0 37 UserGen Sel3 send Binary Coded Decimal BCD data to Par 1022 Sel Switch Ctrl as follows Selection Sends Input to this bit in Par 1022 34 UserGen Sel0 Bit 1 Sel Switch 00 35 UserGen Sel1 Bit 2 Sel Switch 01 36 UserGen Sel2 Bit 3 Sel Switch 02 37 UserGen Sel3 Bit 4 Sel Switch 03 In addition the Digital inputs can be used for other functions by using parameter 824 Local I O Status and the Bit Swap and Selector Switch User Functions Refer to page 197 for an example of how to use the Bit Swap function and to page 203 for an example of how to use the Selector Switches user function Parameter 823 DigIn Debounce sets the filtering for each Digital Input Options g E E EJE EJ EJE EJE EJE EJEJE EE EEE EES EEE EE EEEIS Slaolelail olaljelal olalsl al l olale al slalsl al lolal sl al 6 Blo o oleo o io fio p fis fc Jt fst s ls e a m al alalnia al al sf lt lt l lt lt 8 COO OslasOlsyOasOosO so sosOslasaosaslasa sao s asosa aso yaaa soa s so so sasals a Default 10 1 lo Jo Jo lo h Jo jo Jo Jo 1 Jo fo Jo jo J1 Jo Jo Jo Jo l1 Jo Jo Jo Jo h Jo Jo lo
84. Rockwell Automation Publication PFLEX RMO03E EN E January 2011 121 Chapter 1 Detailed Drive Operation Sensorless Operation 122 Sensorless mode is used when zero speed or more than a 120 1 speed range is not required The drive is set for sensorless operation when parameter 485 Motor Ctrl Mode is set to 0 FOC and parameter 222 Mtr Fdbk Sel Pri 2 Sensorless Sensorless operation can also occur when the drive is configured for speed feedback ride through and parameter 223 Mtr Fdbk Sel Alt 2 Sensorless refer to Speed Feedback Loss Ride Through on page 141 for details Slip Compensation When the drive is configured for sensorless operation slip compensation should be enabled by setting parameter 153 Control Options bit 19 SlipComp En 1 The amount of slip compensation to provide is set in parameter 98 Slip RPM FLA If desired you may adjust parameter 98 to provide more or less slip Refer to Slip Compensation on page 126 for more details Sensorless Gains There are separate gains used to tune the speed regulator for sensorless operation This allows the user to set different gains for operation with feedback and sensorless operation when using speed feedback loss ride through Parameter 106 Srlss Spd Reg BW sets the speed regulator bandwidth in sensorless mode Increasing the value of Srlss Spd Reg BW makes the speed regulator more responsive Parameter 104 Srlss Spd Re
85. Servo Lock Servo lock is used for servo or positioning applications The effect of servo lock is to increase stiffness of the speed response to a load disturbance It behaves like a position regulator with velocity feed forward but without the pulse accuracy of a true position regulator The output of the servo lock block is summed with the filtered speed error Parameter 85 Servo Lock Gain sets the gain of an additional integrator in the speed regulator The units of Servo Lock Gain are radians second Gain should Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 normally be set to less than 1 3 speed regulator bandwidth or for the desired response Set Servo Lock Gain to zero to disable servo lock from Speed to Speed Gains Error Filter ks ServoLck Servo Lock Gain C85 E Speed Regulator Gains The speed regulator gains determine the response of the speed regulator See Basic Tuning with a Gear Box or Belt on page 158 for speed regulator tuning guidelines From Speed Reference nff SpdReg AntiBckup Ce FeedFwd To Speed Regulator Output kp c P Gain Spd Reg P Gain From Speed Error Spd Reg Neg Lim lt 101 gt SpdReg Integ Out Logic Command 151 05 SReg IntgHld E D SReg IntgRst 06 Spd Reg I Gain Control O
86. Set parameter 147 FW Function En bit 16 PositionCtrl 1 e Set parameter 151 Logic Command bit 1 SpdRamp Dsbl 1 e Set parameter 151 Logic Command bit 13 Position En 1 e Set parameter 742 Position Ref Sel 1 AuxPosit Ref e Link parameter 743 Aux Posit Ref to parameter 731 PLL Posit Out e Set parameter 745 PositRef EGR Mul 1 e Set parameter 746 PositRef EGR Div 1 Broadcast parameter 735 PLL SpeedOut Adv and parameter 732 PLL Posit OutAdy over SynchLink Setup the speed reference in the follower drives to follow PLL SpeedOut Adv received over Synchlink Setup the position reference in the follower drives to follow PLL Posit OutAdv received over Rockwell Automation Publication PFLEX RMO03E EN E January 2011 85 Chapter 1 Detailed Drive Operation Point to Point Motion Planner 86 Synchlink Refer to Position Loop Follower Electronic Gearing on page 90 for details on setting up the speed and position loop e Adjust parameter 730 PLL LPFilter BW for the best overall performance This function allows the drive to execute point to point position moves using a trapezoidal or S curve profile Adjustments can be made to the acceleration deceleration and S curve times Configuration Input and Scaling The primary input is command position The input goes immediately through a scale block whose output is command position with units of encoder counts The signal is
87. Status contains the status bit for the homing sequence Parameter 741 Position Status Properties Value Link Sinks Documentation NON CHANGEABLE Of X1Gain Lim 11 Posit Out En 22 Reserved 1 f XIGain HLim 121 Reserved 23 Reserved 20 Spd LLim 13 7 HomeRequired 24 Reserved 3 P X Spd HLim 147 Homing 25 Reserved 4 PtPtRRef Act 15 Homed 26 Reserved 5f XOffRRef Act 161 Reserved 27 Reserved 6 P Reserved 17 Reserved 28 Reserved 7 I Regulator On 18 Reserved 29 Reserved 8 P Posit Watch1 197 Reserved 30 Reserved 37 Posit Watch2 20 Reserved 31 Reserved 10 7 In Position 21 Reserved Internal Value fo Dec Hex Bin Range _ Value Internal Value Minimum OO000000000000000000000000000000 0 Maximum 11111111111111111111111111111111 4294967295 Default O000O0OOOOOOQOOOOOOOOOOOQOOOQOOO 0 Table 25 Parameter 741 Position Status Bits Bit Name Description 13 HomeRequired This bit is set when bit 24 Find Home of parameter 740 Position Control is set and the drive is waiting for a Start command 14 Homing Set when the drive is running the homing sequence 15 Homed Set when the homing sequence has completed Optional Features Parameter 740 Position Control contains two optional bits that can be used in conjunction with the homing sequence Table 26 Parameter 740 Position Control Bits Bit Name Description 25 Position Redefine When th
88. The following discussion assumes that the IT curve does not change with Pulse Width Modulated PWM carrier frequency or drive output frequency A drive has three rated current values a continuous current rating a 1 minute current rating and a 3 second current rating Typically the 1 minute rating will be close to 110 of the continuous rating and the 3 second rating will be close to 150 of the continuous rating This may vary from drive to drive to optimize the performance of each frame size In the following examples the one minute rating is 110 and the three second rating is 150 Open Loop Current Limit The drive can thermally allow 102 5 The 1 minute current rating assumes a duty cycle of 1 minute on followed by 3 minutes at 100 This results in an average current of 102 5 110 x 60 sec 100 x 180 sec average current 102 5 The 3 second current rating assumes a duty cycle of 3 seconds on followed by 57 seconds at 100 This results in an average current of 102 5 150 x 3 sec 100 x 57 sec average current 102 5 Typically the drive will have a 60 second rating of 110 of continuous current and a 3 second rating at 150 of the continuous current Under normal operating conditions the open loop function sets this current limit to the short term 3 second rating If the function detects an overload it lowers the limit to th
89. Time 1 GD SpdRamp Dsbl Decel Time 1 C33 51 01 e S Curve Time C34 Logic Command Spd S Crv En L157 02 Logic Ctrl State SRef SCrv En The drive can produce a linear or S curve ramp output signal The S curve ramp is used when parameter 151 Logic Command bit 1 Spd S Crv En is on and the ramp is not bypassed Parameter 34 S Curve Time sets the time in seconds that the S curve will be applied at the beginning and at the end of the ramp Half of the time specified in parameter 34 is added to the beginning of the ramp and Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 half to the end of the ramp as shown in the example below The result of the S curve block can be seen in parameter 43 Ramped Spd Ref Time in Seconds 0 5 sec 0 5 sec Accel Time 5 0 seconds S Curve Time 1 0 second Total Ramp Time 6 0 seconds Speed Reference Bypass and Delayed Speed Reference By default parameter 37 Spd Ref Bypass is linked to parameter 43 Ramped Spd Ref However if you wish to bypass the rest of the speed reference control loop Spd Ref Bypass can be linked to other parameters Ramped Spd Ref Spd Ref Bypass Delayed Spd Ref One Scan Delay Parameter 45 Delayed Spd Ref is delayed by one scan of the speed control loop Parameter 37 Spd Ref Bypass can be linked to Delayed
90. Torque Trim 115 1 Torque Step eee m m aes Ff Speed Error N e As o Spd Reg TP Sel N gt a Q o u T i O es F t lt 109 SLAT ErrorSetpnt CD Spd Reg TP Data SLAT Dwell Time 120 As shown in Figure 25 parameter 110 Speed TorqueMode is used to select the mode of operation Zero torque current is allowed when set to 0 Set to a value of 1 Speed Reg the drive and motor are operated in speed mode The torque command changes as needed to maintain the desired speed This is the default setting Set Speed TorqueMode to a value of 2 Torque Ref for torque mode In torque regulation mode the drive controls the desired motor torque The motor speed is the result of torque command and load present at the motor shaft Min and Max mode are selected by values 3 and 4 respectively These modes offer a combination of speed and torque operation The algebraic minimum or maximum of speed torque will be the operating point for the Min and Max modes The drive automatically switches from speed to torque mode or from torque to speed mode based on the dynamics of the motor load The Min mode is typically used with positive torque and forward speed operation the minimum of the two being closest to zero The Max mode i
91. U Equal Source A N11 111 0 lt Source B Source A N11 111 0 lt Source B CPT Compute Dest Expression Rockwell Automation Publication PFLEX RMO03E EN E January 2011 SUB Subtract Source A N11 110 0 lt Source B 65536 0 65536 0 lt Dest F12 2 0 0 lt O Veve Source 32768 0 32768 0 lt Dest F12 2 0 0 lt Source N11 110 Move Source N11 110 Fdd Source A N11 110 0 lt Source B 65536 0 65536 0 lt Dest F12 2 0 0 lt F12 2 32768 0 7 F12 4 0004 0005 Detailed Drive Operation Datalink Programming Datalinks are transmitted and received through messages on Ethernet ControlNet or DeviceNet and through block transfers on RIO The PLC and SLC are limited to 16 bit integers and floating point In order to send or receive floating point Datalinks we have to swap the LSW and MSW and utilize the COP copy instruction Because the PLC and SLC do not support 32 bit integers 32 bit Datalinks remain split into 2 16 bit integers The following examples are for transmitting and receiving the different types of Datalinks The following program examples are from an SLC but function the same in a PLC 5 Figure 3 Reading DINT Datalinks in an SLC or PLC 5 COP Length Figure 4 Writing DINT Datalinks in an SLC or PLC 5 COP Source Dest Length Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Copy File Source N11 114 Dest N13 114 Copy File
92. V DC 120V AC Max Load 2 A Rockwell Automation Publication PFLEX RMOO3E EN E January 2011 39 Chapter 1 Detailed Drive Operation Digital Output Configuration Parameters 845 and 850 Digital Outw Sel can be set to the following settings 0 User Select 0 At Setpt 1 20 Actual Dir 1 Not Fault 1 Above Setpt 2 21 Jogging 2 Not Alarm 2 At ZeroSpeed 22 In Position 3 Ready 13 Speed Limit 23 Posit Watch1 4 Running 4 CurrentLimit 24 Posit Watch2 5 Reserved 15 Torque Limit 25 Cmpr 1 A lt B 6 Reserved 6 Power Limit 26 Cmpr 1 A gt B 7 Enable On 7 Fault 27 Cmpr 2 A lt B 8 Active 8 Alarm 28 Cmpr 2 A gt B 9 At Speed 19 Command Dir In addition the digital output can be used for other functions when Digital Outx Sel is set to 0 User Select Example for user configured digital output This example will turn on the programmed digital output when Digital Input 1 is on e Parameter 845 Dig Out1 Sel 0 User Select e Parameter 846 Dig Out1 Data is linked to parameter 824 Local I O Status e Parameter 847 Dig Out Bit 1 Digital Output Status Bits Parameter 824 Local I O Status bits 16 18 display the status of the digital outputs and can be used for troubl
93. a type Example to write a floating point Datalink Parameter 125 Torque Pos Limit sets the positive torque limit for the motor Torque Pos Limit is a Real floating point parameter scaled in per unit a value of 1 000 is equivalent to 100 motor torque This example will write Torque Pos Limit with a Datalink 1 Link parameter 125 Torque Pos Limit to parameter 651 DPI Data In Al 2 Set parameter 650 DPI In DataType bit 0 DPI A1 Real 1 3 Verify that the Datalink is enabled in the 20 COMM module 4 In RSLogix5000 create a tag PF700S_P125_TorquePosLimit of type REAL 5 Use the COP instruction to copy the tag PF700S_P125_TorquePosLimit to the DINT output tag for Datalink A1 PF700S 0 UserDefinedData 0 in this example 6 A value of 1 000 in the tag PF700S_P125_TorquePosLimit will write a value of 1 000 to parameter 125 in the drive COP Copy Fite Source PF700S_P125_TorquePosLimit Dest PF700S 0 UserDetinedData 0 Length 1 Example to read a floating point Datalink Parameter 303 Motor Torque Ref displays the torque output to the motor Parameter 303 is a Real floating point parameter scaled in per unit a value of 1 000 is equivalent to 100 motor torque 1 Link parameter 660 DPI Data Out A1 to parameter 303 Motor Torque Ref 2 Set parameter 659 DPI Out DataType bit 0 DPI Al Real 1 3 Verify that the Datalink is enabled in the 20 COMM module
94. accuhiheututuggeredien A Ea 14 Configuration Example soccer sso sasaki isaa ee 14 Analog IAp tS s serei e en eE aE sense nies EAE EE EE 14 Analog Input Specifications sinc eee sh cise Vode eee nah ee ehes 14 Analog Input Conhigntationies s cssmieanedeeervevacear eens 14 Analog Input Loss Detection ayia aa chrome een se MAG eae wdd attire 16 Analog Outputs ft lected ection eias ni eee dinie inires 17 Analog Output Specifications ut way terdccesedetins wees onions 17 Analog Output Comme tation 5 sixes eeseasiyssos besy eee 17 Atop Manel es erreki ane R A ERRER E E E AA EE ASS 18 Autotune aruna Mita E a e ae i A oad ECE A a a a Eear 19 Autotune Start Up Mente vcr seas tane oe Caveats 19 Motor Control 3 scien gehen testes E A EA aera 19 Motor Dataene c GO E AE tania 19 Feedback Configuration ssssrsrsrrrrererrrrereresrer 20 Power Circuit Test case dsiondaapcnneas a a a es Preciere 20 Direction Vests eroro nir Corrina aA E E OE AE eines 20 Motor SL GSES sets fas e t aaa e AE E oh ator at drale 20 Inertia West secs aa nnii oe ei E aus UEP aa ae 21 Troubleshooting a MC Commissn Fail Fault during Autotune 22 Auxiliary Power Supply ickt eto 2 cto Ue re Cd ie bolls 22 Bus Regulation Braking ccisdsesvesnss wie SueG sone we as Karan 22 Des ription derenan eons to 3 E veka ed ena ieee sh esata 22 Technical lntormation 2j0320 3st Ooevdveblevtiasieaiheds 22 Bus Regulator Braking Configuration 0 00e essen 23 Cable Cont
95. ailed Drive Operation Chapter 1 The time function generator ramps the output of the function generator at the rate in parameter 202 Time Axis Rate e When parameter 153 Control Options bit 24 Time Axis En or parameter 151 Logic Command bit 3 Time Axis En 1 the output ramps from 0 0000 to 1 0000 at the rate set in Time Axis Rate e When parameter 153 Control Options bit 24 Time Axis En or parameter 151 Logic Command bit 3 Time Axis En 0 the output ramps from 1 0000 to 0 0000 at the rate set in Time Axis Rate 1 Time Axis Output Time Axis Rate C202 203X Control Options id Time Axis En Q53 a OR Time Func Generator Logic Command Time Axis En sty 3 When the PowerFlex 700S is operated in torque mode an external signal is used for a torque reference Refer to Figure 29 below for the firmware diagram Figure 29 Torque Reference Firmware Diagram Torque Ref 1 C111 Torque Ref1 Div ADA Torque Ref 2 L x Torque Ref2 Mult Torque Trim C5 Torque Reference Input Parameter 111 Torque Ref1 is used to supply an external reference for desired torque The scaling of this parameter is a per unit type where a value of 1 0 is equal to the rated motor torque Torque Ref1 is then divided by parameter 112 Torq Ref1 Div This defines the scaled Torque Ref1 Parameter 113 Torque Ref2 is used to supply an external reference for desired torque Th
96. ake or regenerative system Overview The point to point positioning feature gives the user the ability to position the load without an external position controller The point to point function of the position loop moves from the current location to the commanded location then holds that position until given a new reference or a stop command The position 96 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 loop can be scaled to different units other than feedback counts for example degrees or inches Typical applications for the point to point function would be turn tables and storage retrieval machines Posit Spd Output PositReg P Gain 318 C768 gt Point to Pt Pt Posit Ref Reference N Point C758 Selection TDT Mode PI Gear Rat Regulator Position Ref Sel Position fga Position Fdbk Offset Position Feedback Proportional Channel Selection Speed Reference Selection The speed reference should be set to zero speed when using point to point positioning For example set parameter 27 Speed Ref A Sel 0 Zero Speed Enabling the Position Loop The firmware function for the position loop must be turned on by setting parameter 147 FW Functions En bit 16 PositionCtrl 1 To enable the position loop set parameter 151 Logic Command bit 13 PositionEnbl 1 Then to allow the ou
97. al contains new and updated information This table contains the changes made to this revision Topic Removed content of previous Chapter 1 Specifications and Dimensions See the PowerFlex 700S AC Drives Phase Il Control Technical Data publication 20D TD002 for the most current specifications and drive dimension information Page NA Updated all references to the PowerFlex 700S AC Drive Phase I Control User Manual publication 20D UMO06 to the following publications as applicable e PowerFlex 700S AC Drive Phase II Control Programming Manual publication 20D PM001 PowerFlex 700S AC Drive Phase Il Control Frames 1 6 Installation Instructions publication 20D INO24 e PowerFlex 700H and 700S Frame 9 14 Drives Installation Manual publication PFLEX INO06 Multiple pages Updated the Permanent Magnet Motor Control section to include 70 information on Heidenhain encoders Updated the Ride Through Configuration section to describe the 111 conditions that will cause the RideThru F92 alarm to occur Rockwell Automation Publication PFLEX RM003E EN E January 2011 Summary of Changes 4 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Summary of Changes Detailed Drive Operation Table of Contents New and Updated Information 5 023 4420 2s cen eh ets ede e 3 Chapter 1 Accel TIE eee ee a E A A EE AE ARET 13 Alas Sse stead aed te ign ee ee eee 13 Configuration otchrnc
98. alue Parameter 769 Position Error is the result of parameter 747 Position Cmmd parameter 762 Position Fdbk Position Status myi In Position Position Error In Position Detect In Posit BW 782 In Posit Dwell C783 Parameter 782 In Posit BW sets the absolute number of position counts that parameter 769 Position Error must be within for parameter 741 Position Status bit 10 In Position to turn on Parameter 783 In Posit Dwell sets a delay time in seconds that parameter 769 Position Error must be within parameter 782 In Posit BW before parameter 741 Position Status bit 10 In Position turns on General facts about the point to point position loop e Uses only parameter 768 PositReg P Gain for tuning Parameter 770 PositReg Integ is not used in point to point mode e The number of position counts per revolution depends on the type of feedback device used When using an encoder for positioning the drive uses quadrature counts i e 1024 encoder 4096 counts per motor revolution When using a Stegmann Hi Resolution encoder the drive counts 1048576 counts per revolution When using a resolver the drive counts 65536 counts per revolution e Speed regulator tuning directly affects the position loop performance The speed regulator should be tuned before the position loop e For best performance positioning should be used with a dynamic br
99. alue of 1 for PI High Limit can represent base motor speed rated motor torque or 100 of some external function Process PI Output At this point of the process PI loop some conditions must be met in order to turn on the PI output otherwise the PI output is 0 The PI output can be turned on in one of two ways 1 Parameter 151 Logic Command bit 12 PI Trim En is turned on 1 and the drive is running The running state is indicated by parameter 155 Logic Status bit 1 Active 1 When both of these conditions are true parameter 157 Logic Ctrl State bit 31 ProcsItim En will be on 1 2 Parameter 153 Control Options bit 23 PI Trim EnOut is turned on 1 Now the PI output is used to trim speed torque or some external loop To trim the speed loop link parameter 21 Speed Trim 1 or parameter 23 Speed Trim 3 to parameter 180 PI Output To trim the torque loop link parameter 115 Torque Trim to parameter 180 PI Output To trim some other loop link the desired parameter to PI Output For example to use analog output 1 as a trim signal to other equipment link parameter 833 Anlg Out Real to PI Output Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Pulse Elimination Technique PET Reflected Wave Detailed Drive Operation Chapter 1 See Reflected Wave below Parameter 510 FVC Mode Config bit 9 ReflWaveComp enables reflected wave comp
100. ameters for the trigger use parameters 561 Trend TrigA Real and 563 Trend TrigB Real To trigger on a single bit link parameter 564 Trend Trig Data to the parameter that will be watched and set parameter 565 Trend Trig Bit to the bit that you want to watch in parameter 564 3 Up to four different parameters can be trended Link parameters 570 Trend In DInt or 571 Trend In Real 574 Trend In2 DInt or 575 Trend In2 Real 578 Trend In3 DInt or 579 Trend In3 Real and 582 Trend In4 DInt or 583 Trend In4 Real depending on the data type to the parameters you would like to trend 4 Set parameter 556 Trend Control bits 1 In 1 Real 4 In 4 Real to correspond to the data type for the parameters you are trending When the corresponding bit is off 0 the parameter will be DInt When the corresponding bit is on 1 the parameter will be Real 5 Set parameter 566 Trend PreSamples to the number of data points to store prior to the trend trigger pre trigger data This can be set between 0 and 1022 samples 6 Set parameter 556 Trend Control bit 0 Enbl Collect to enable the trend When the trend is triggered parameter 557 Trend Status bit 1 Triggered will be set When the trend has completed parameter 557 Trend Status bit 2 Complete will be set Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 7 To play back the data you c
101. an e Parameter 787 Xsync Gen Period sets the scan time of the synch generator The following options are available 0 0 5ms 1 1 msec 2 2 msec 3 4msec 4 8 msec The default setting is 1 1 ms Task Time Task times are adjustable for the 3 tasks in the drive e Task 1 includes the Speed Regulator Speed Position Feedback Torque Control Current Control Analog I O and Digital I O e Task 2 includes the Speed Reference Control Position Control and Process PI Control e Task 3 includes User Functions The times are set by parameter 146 FW TaskTime Sel as listed below Parameter 146 Task 1 Time Task 2 Time Task 3 Time 0 0 5 ms 2ms 8 ms 1 0 5 ms 1 ms 8 ms 2 0 25 ms 1 ms 8 ms After changing the task time in parameter 146 FW TaskTime Sel a drive reset must be performed via the HIM navigate from the Main Menu to Diagnostics gt Faults gt Reset Device or drive power must be cycled before the change will be active Parameter 148 FW TaskTime Actl will then display the actual task time Test Points Test points are used to monitor values in the drive for diagnostic information e xxxx TP Sel selects a value to monitor for diagnostics xxxx TP Data shows the value selected by xxxx TP Sel Thermal Regulator Refer to Drive Overload on page 45 192 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Time Function Generator Torque Reference Det
102. an inertia test with the motor uncoupled from the load or the motor inertia in seconds can be calculated using the following formula i WK x RPM gt 308 x i where WK is the inertia in Ibft RPM is the base motor speed of the motor and T is the rated torque of the motor in lbft T can be calculated using the following formula p HPx5252 acc RPM Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 where Hp is the nameplate horsepower of the motor and RPM is the base motor speed of the motor System Inertia parameter 9 is determined by performing the inertia test with the load coupled or the value in seconds can be calculated using the formulas above if WK is known for the system 2 Set the desired bandwidth in parameter 90 Spd Reg BW Do not exceed the bandwidth limit of curve 1 on page 160 based on the ratio of motor inertia to system inertia 3 Make parameter 89 Spd Err Filt BW 5 x parameter 90 Spd Reg BW Note For speed regulator bandwidths up to approximately 200 radians second parameter 89 Spd Err Filt BW can be left at the factory default of 700 radians second starting with v2 003 firmware because of the addition of an FIR finite infinite response filter 4 Turn off Lead Lag filters parameter 93 SRegFB Filt Gain 1 parameter 95 SRegOut FiltGain 1 5 Run the drive and observe its performance particularly gear noise cha
103. an monitor parameters 572 Trend Out1 DInt or 573 Trend Outl Real 576 Trend Out2 DInt or 577 Trend Out2 Real 580 Trend Out3 DInt or 581 Trend Out3 Real and 584 Trend Out4 DInt or 585 Trend Out4 Real depending on the data type The output parameters can be monitored in DriveObserver or you can link analog outputs to the output parameters and monitor the analog output with a chart recorder or oscilloscope Then set parameter 556 Trend Control bit 15 Auto Output to automatically play back the output trend data at the rate entered in parameter 559 Trend Rate Note that data can be played back at a slower rate than it was recorded by changing Trend Rate before turning on Trend Control bit 15 Auto Output Additional Trend Parameters Parameter 567 Trend Mark DInt marks the start of data for trend buffers that are using integer data The trend marker can be used to provide a scope trigger signal for the Auto Output function Parameter 568 Trend Mark Real marks the start of data for trend buffers that are using real data The trend marker can be used to provide a scope trigger signal for the Auto Output function Parameter 569 TrendBuff Pointer selects the trend buffer element to be displayed in the trend output parameters when the trend function is inactive not collecting data samples A zero value points to the element that corresponds to the trigger event Negative values point to pre trigger data Pos
104. and stop the motor can cause drive hardware damage The drive is designed to use control input signals that will start and stop the motor If an input device is used operation must not exceed one cycle per minute or drive damage will occur ATTENTION The drive stop enable control circuitry includes solid state components If hazards due to accidental contact with moving machinery or unintentional flow of liquid gas or solids exist an additional hardwired stop circuit may be required to remove the AC line to the drive An auxiliary braking method may be required Output Contactor Precaution A ATTENTION To guard against drive damage when using output contactors the following information must be read and understood One or more output contactors may be installed between the drive and motor s for the purpose of disconnecting or isolating certain motors loads If a contactor is opened while the drive is operating power will be removed from the respective motor but the drive will continue to produce voltage at the output terminals In addition reconnecting a motor to an active drive by closing the contactor could produce excessive current that may cause the drive to fault If any of these conditions are determined to be undesirable or unsafe an auxiliary contact on the output contactor should be wired to a drive digital input that is programmed as Enable This will cause the drive to execute a coast to stop cease output whenever an outpu
105. arameter 928 Rx Dir Data Type bits 0 3 select whether the direct data words received over SynchLink will be DInt double integer or real floating point data When the bit is turned off the received data will be DInt data When the bit is turned on the received data will be floating point data The default is all DInt words Rockwell Automation Publication PFLEX RMO03E EN E January 2011 181 Chapter 1 Detailed Drive Operation Rx Dir Data Type SLDir00 Real lt 928 00 T o Rx Word 00 Figure 27 Diagram of Direct Receive Data Word 00 SL Rx Direct SelO D SL Mult A In 924 SL Dir Data Rx00 Ly Use P929 SL Mult Base SL Mult Out from SL Hardware i tji Convert IH Dint Real Directly 2s SL Mult B In X 917 SL Rx PO Regis 918 gt SL Rx P1 Regis 915 gt SL Rev Events Direct Data Transmit Parameters Parameters 911 SL Tx DirectSel0 914 SL Tx DirectSel3 select what direct transmit data you want to send The most common settings for these parameters are e 0 No Data No data is selected for that transmit word e 1 SL Multiply See details on Multiply Block on page 183 e 2 Event PO Transmits registration value from registration latch 0 e 3 Event P1 Transmits registration value from registration latch 1 Event P1 is not functional over SynchLink at the time
106. arameter 98 Slip RPM FLA If desired the user may adjust parameter 98 to provide more or less slip As mentioned above induction motors exhibit slip which is the difference between the stator electrical frequency or output frequency of the drive and the induced rotor frequency The slip frequency translates into a slip speed resulting in a reduction in rotor speed as the load increases on the motor This can be seen by examining Figure 21 below Figure 21 Rotor Speed With Without Slip Compensation Slip Compensation Inactive Slip Compensation Slip Compensation Acti Acti Load Applied y No Load 0 5 p u Load 1 0 p u Load 1 5 p u Load Rotor Speed R Time Without slip compensation active as the load increases from no load to 150 of the motor rating the rotor speed decreases approximately proportional to the load With slip compensation the correct amount of slip compensation is added to the drive output frequency based on motor load Thus the rotor speed returns to the 126 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Speed Control Speed Mode Speed Regulation Detailed Drive Operation Chapter 1 original speed Conversely when the load is removed the rotor speed increases momentarily until slip compensation declines to zero The amount of slip added to the speed command is displayed in parameter 107 Slip RPM Meter Slip compensation also affects the dynamic speed ac
107. ard s power supply Bit 10 Diag Fail indicates the option card has failed its power up diagnostics Bit 11 Select OK Resolver Cable Tuning Tests Three tests are performed for resolver cable tuning Two of the tests are performed at power up and the third is performed when parameter 268 Resolver0 Cnfg bit 0 is set to 1 Test 1 Compensation for cable phase shift This test is run at drive power up and corrects for phase in the feedback signals Sine and Cosine signals The R D converter synthesized reference signal is held constant and the excitation signal is phase shifted to align the Sine and Cosine signals with the R D converter reference Test 2 Cable Resonance correction This test is run at drive power up and corrects for excessively high voltage on the Sine and Cosine feedback voltages Generally the excitation voltage is lower to reduce the feedback voltage for both signals Test 3 Voltage Balance This test compares the Sine and Cosine feedback signal amplitudes In this case the magnitudes of the two signals are adjusted until they are equal Note that one channel is held constant and the other is adjusted The voltage magnitudes can be different by as much as 15 and still not affect operation Follow these steps to run test 3 Set the drive stop mode to Coast to Stop Run the motor up in speed and stop the drive While the motor is spinning coasting to a stop set 268 Resol
108. as it is followed by a period of load less than the rated current so that the output current over the duty cycle does not exceed the rated output current Iy Example If the duty cycle requires 150 rated output current for 1 minute of every 10 minutes the remaining 9 minutes must be at approximately 92 rated current or less to maintain output current less than 100 If the requirement is 1 minute out Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 of 60 minutes the remaining 59 minutes must be at approximately 98 rated current or less Motor Overload Memory Retention Per 2005 NEC The PowerFlex 700S drive with Phase II control firmware 3 01 and higher has the ability to retain the motor overload count at power down per the 2005 NEC motor overtemperature requirement To enable motor overload memory retention set bit 20 Motor OL Ret of parameter 153 Control Options to 1 e To disable motor overload memory retention set bit 20 Motor OL Ret of parameter 153 Control Options to 0 The motor overload count value can be viewed in parameter 341 Mtr 12T Count Rockwell Automation Publication PFLEX RMO03E EN E January 2011 73 Chapter 1 Detailed Drive Operation Motor Start and Stop Input Contactor Precautions Precautions A ATTENTION A contactor or other device that routinely disconnects and reapplies the AC line to the drive to start
109. asurement near zero speed Decreasing allows the speed control regulator to perform with high gains at high speeds Table 19 Resolution Settings Bit Resolution 10 bits 12 bits default setting 14 bits 3 2 0 0 01 110 111 16 bits Table 20 Resolution and Least Significant Bits Used Resolution LSB Not Used Parameter 250 Increments by 16 bits All bits used 1 14 bits 2 LSB not used 4 12 bits 4 LSB not used 8 10 bits 6 LSB not used 64 The following table shows the maximum RPM of the motor depending on resolution setting Table 21 Resolution and Resolver Tracking Speed Resolution Maximum Carrier Tracking Speed for Tracking Speed Tracking Speed Frequency X1 Resolver for X2 Resolver for X5 Resolver 10 bits 34 kHz 55 K rpm 27 5 K rpm 11 K rpm 12 bits 24 kHz 13 8 K rpm 6 9 K rpm 2 76 K rpm 14 bits 14 kHz 3480 rpm 1740 rpm 696 rpm 16 bits 10 kHz 900 rpm 450 rpm 180 rpm Table 22 FIR Filter Settings Bit 12 28 11 27 10 26 Number of Taps 0 0 0 1 0 0 1 2 0 1 0 4 0 1 1 8 1 0 0 16 1 0 1 32 1 1 0 64 1 1 1 127 Parameter 277 Reslvr0 Type Sel specifies the type of resolver Reslvr0 Type Sel automatically sets parameters 272 Reslvr0 SpdRatio through 276 Reslvr0 CableBal Parameters 273 Reslvr0 Carrier through 276 Reslvr0 CableBal cannot be changed by the user Rockwell Automation Publicati
110. ate ProcsTrim En 155 amp 157 431 Control Options 151 12 PITrim enoun 8228 OR PI Reference Cat gt SN Filter PI Feedback 182 I L PI Output j Typically kp z 180 gt Linked to P22 LPass P Gain Limi is PI High Limit GD PI Lpass Filt BW C4 PI Prop Gain P p PI Lower Limit ki g 190 PI Integ Output Logic Command 14 Gain Limi PI Trim Hold lt P PI Trim Rst 15 PI Integ an Q gt PI Preload Rockwell PI Integ HLim PI Integ LLim 189 gt Process PI Reference and Feedback The process PI reference and feedback signals are the values set in parameters 181 PI Reference and 182 PI Feedback respectively PI Reference could be a set value or linked to a variable parameter such as an analog input Typically PI Feedback is linked to an analog input value received from a process line transducer The process PI reference and feedback values are compared and an error signal is created This error signal is sent to a low pass filter The filter bandwidth is set by parameter 184 PI Lpass Filt BW in radians second The output of the filter is sent to the process PI regulator Process PI Regulator Parameter 185 PI Preload presets the process time When the PI output is
111. band value will be clamped at the speed limit The center speed is recalculated based on the highest and lowest band values Fwd Speed Limit Adjusted Skip Speed 1 Skip Band w Recalculated Skip Frequency 0 RPM If the band is outside the speed limits the skip band is inactive Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Skip Speed 1 Inactive Skip Band Fwd Speed Limit 0 RPM 125 Chapter 1 Detailed Drive Operation Sl ip Compensation Note Slip compensation is only active when the motor feedback is set to sensorless mode or parameter 485 Motor Ctrl Mode 3 V Hz As the load on an induction motor increases the rotor speed or shaft speed of the motor decreases creating additional slip and therefore torque to drive the larger load This decrease in motor speed may have adverse effects on the process If speed control is required to maintain proper process control the slip compensation feature of the PowerFlex 700S drive can be enabled to more accurately regulate the speed of the motor without speed feedback When the slip compensation mode is selected the drive calculates an amount to increase the output frequency to maintain a consistent motor speed independent of load Slip Compensation Configuration Slip compensation is enabled by setting parameter 153 Control Options bit 19 SlipComp En 1 The amount of slip compensation to provide is set in p
112. based on parameter 410 PreChrg TimeOut PreCharge Delay PreChrg TimeOut 1 0 second Also see Precharge Staging on page 116 for common and shared bus drives below Precharge Control Functional Diagram PreCharge Delay Timer Ride Through Active Enabled PWM Active gt P472 Precharge Done H P555 bit 11 SET sg vant ray Bus Voltage Stable Low Bus Voltage p gt R aa Q Precharge Timeout Fault The precharge control logic has an associated precharge timeout fault to alert the user if the precharge has not completed within the timeout period Parameter 381 PreChrg Err Cnfg provides the configuration control for the precharge timeout fault Parameter 410 PreChrg TimeOut sets the period or delay for this timeout fault default 30 seconds The timeout timer is not started until the user requests a precharge either through the hardware input digital input or through parameter 411 PreChrg Control The precharge timeout fault is intended only to alert the user that there may be a problem in the precharge control The precharge fault for the most part does not affect the precharge operation If conditions change to complete or restart precharge the precharge control will function as described above independent of whether or not a precharge timeout fault has occurred If the dr
113. be false 0 NXOR When one of the bits compared is on the result will be false 0 When all of the bits are on or all of the bits are off the result will be true 1 Logic Config 1061 xx Pr 2 rarecececret eter eee 7 Logic Cmpr State Logic 1 Result And Nand 106A 00 Or Nor i Xor Logic 1A Data Logic 1A Bit Logic 1B Data Logic 1B Bit Logic 2A Data Logic 2A Bit Logic 2B Data i ball Logic 2B Bit Configuration e Parameter 1061 Logic Config set this parameter to configure the logic routine in parameters 1063 Logic 1A Data 1070 Logic 2B Bit The result of this logic routine is displayed in parameter 1062 Logic Cmpr State There are three configurable logic blocks as displayed above Each block can be configured as AND NAND OR NOR XOR or NXOR Select the functions as desired Multiple operation selection for one block will result in the first selection LSB being the active mode Rockwell Automation Publication PFLEX RMO03E EN E January 2011 207 Chapter 1 208 Detailed Drive Operation Parameter 1062 Logic Cmpr State bits 0 Logic 1 Rslt 1 Logic 2 Rslt and 2 Logic 3 Rslt display the logical states of the Logic routine parameters 1063 1070 A value of 0 False and 1 True Parameter 1063 Logic 1A Data selects the data word for the first input to Logic Block 1 See parameter 1061 Logic Confi
114. be set 1 The following owner is exclusive Direction Owner Non Exclusive Ownership Multiple devices can simultaneously issue the same command and multiple owner bits may be set 1 The following owners are non exclusive Stop Owner e Start Owner e Jog Owner Fault Clr Owner Rockwell Automation Publication PFLEX RMO03E EN E January 2011 77 Chapter 1 Detailed Drive Operation For 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 When the Start button is pressed on the HIM the display indicates that the command is coming from the HIM Parameter 678 Start Owner Bit 1 Local HIM 1 Start Owner Bit Port Adapter gt DriveLogix gt Reserved gt 2 Int DPI Comm gt 5 Reserved Aux DPI Conn Ext DPI Conn gt Local HIM gt Terminal Blk After the Start button was pressed and released bit 1 returns to 0 indicating that there is no maintained Start commands causing the drive to run Start Owner Bit Port Adapter gt DriveLogix Reserved gt 2 Int DPI Comm gt Reserved gt Aux DPI Conn Ext DPI Conn Local HIM gt
115. bit 6 or 22 may require changing parameter 153 Control Options bit 10 Motor Dir Rockwell Automation Publication PFLEX RMO03E EN E January 2011 129 Chapter 1 Detailed Drive Operation e Bit 7 Enc0 EdgTime or bit 23 Encl EdgTime configures the method of sampling used by the Velocity Position Loop VPL Setting the bit chooses Edge to Edge sampling while resetting the bit to zero chooses Simple Difference sampling Simple Difference sampling calculates speed by examining the difference between pulse counts over a fixed sample time Edge to Edge sampling adjusts the sample time to synchronize with the position count updates from the daughter card improving the accuracy of the speed calculation Bits 10 12 En0SmplRt bx or bits 26 28 En1SmpIRt bx sets the number of taps for a Finite Impulse Response FIR filter see Table 17 FIR Filter Settings Table 15 Encoder Input Filter Settings Bit 3 19 2 18 1 17 0 16 Encoder Bit Filter Settings 0 0 0 0 Filter disabled 0 0 0 1 100 ns filter 0 0 1 0 200 ns filter 0 0 1 1 300 ns filter 0 1 0 0 400 ns filter 0 1 0 1 500 ns filter 0 1 1 0 600 ns filter 0 1 1 1 700 ns filter 1 0 0 0 800 ns filter default setting 0 0 1 900 ns filter 0 1 0 1000 ns filter 0 1 1 1100 ns filter 1 0 0 1200 ns filter 1 0 1 1300 ns filter 1 1 0 1400 ns filter 1
116. bits must be controlled To configure the drive for 2 wire control with a current limit stop Set parameter 153 Control Options bit 8 3WireControl 0 To control from digital inputs e Set one of the parameters 825 830 Dig Inx Sel 7 Run To control from a communication network 20 COMM module 1 Turn on bit 1 Start in the logic command word to run 2 Toggle bit 8 CurrLimStop in the logic command word on and then off to perform a current limit stop Bit 1 Start in the logic command word must be turned off and back on to run again therefore technically there is no 2 Wire control with a coast stop on a network because two bits must be controlled Note In 2 wire mode parameter 153 Control Options bit 8 3WireControl 0 the HIM Start button is not functional Sta rt Up Refer to Autotune Start Up Menu on page 1 19 for Start Up information Stop Modes Refer to Start and Stop Modes on page 1 176 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 179 Chapter 1 SynchLink 180 Detailed Drive Operation This section contains information specific to PowerFlex 700S Phase II Control SynchLink parameters and gives an example of setting up SynchLink using DriveExecutive Please refer to the SynchLink System Design Guide publication 1756 TD008 for PowerFlex 700S SynchLink topologies hardware and wiring details A ATTENTION You cannot redefine a position
117. blication DRIVES INO01 for detailed information See Copy Cat on page 34 58 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 HIM Operations Indexer Detailed Drive Operation Chapter 1 The User Display The User Display is shown when module keys have been inactive for a predetermined amount of time The display can be programmed to show pertinent information Setting the User Display FS _ ee 1 Press the Up Arrow or Down Arrow to scroll to Operator Intrfc Press Enter Operator Intrfc 2 Press the Up Arrow or Down Arrow to scroll to User Change Password o O Display Press Enter S User Display Parameters 3 Select the desired user display Press Enter Scroll to the parameter that the user display will be based on 4 Press Enter Set a scale factor 5 Press Enter to save the scale factor and move to the last line 6 Press the Up Arrow or Down Arrow to change the text 7 Press Enter to save the new user display Setting the Properties of the User Display The following HIM parameters can be set as desired e User Display Enables or disables the user display e User Display 1 Selects which user display parameter appears on the top line of the user display e User Display 2 Selects which user display parameter appears on the bottom line of the user display e User Display Time Sets how many seconds will elapse after the last programming key is touched befo
118. ccelGain C57 Speed Comp CD ae InertiaDecelGain lt 55 E DeltaSpeedScale Contactors Refer to Motor Start and Stop Precautions on page 74 Circuit Breakers Fuses See the PowerFlex 700S AC Drives Phase II Control Technical Data publication 20D T D002 for Watts Loss data and curves Filters EMC Refer to CE Conformity on page 28 Refer to Start and Stop Modes on page 176 Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives Installation Instructions publication DRIVES IN001 for detailed information Rockwell Automation Publication PFLEX RMOO3E EN E January 2011 63 Chapter 1 Detailed Drive Operation IT Protection The drive s IT protection dictates the amount of overload capacitors and duty cycle Ratings are in the tables listed below Figure 16 shows expected times Figure 16 IT Curve 10000000 0 1000000 0 100000 0 10000 0 i 1000 0 100 0 10 0 1 0 sE S s s ps K as se S sS Current urrent ime n s fime s uty Cycle 15 j 57 B 145 3 4 58 5 6 140 3 9 59 6 3 135 47 61 71 130 5 7 63 8 3 125 1 4 66 10 0 120 10 4 73 12 5 115 17 8 89 16 7 114 20 7 95 17 9 113 24 7 104 19 2 112 3038 17 20 8 111 40 7 138 22 7 110 60 0 180 25 0 109 69 2 180 27 8 108 81 8 80 31 2 107 100 0 80 35 7 106 128 6 180 41 7 105 180 0 180 50 0 104 300 0 180 62 5 103 900 0 180
119. ch bit of parameter 824 Local I O Status is used Bit 4 of parameter 824 indicates that digital input 4 has turned on e The overall function of BitSwap 2 is that when digital input 4 turns on bit 1 is turned on as the result which is eventually passed through to control bit 1 Sel Swtch 00 of parameter 1022 Sel Switch Ctrl Bit Swap 3 Setup e Link parameter 870 BitSwap 3A Data to parameter 869 BitSwap 2 Result Parameter 870 BitSwap 3A Data sets up any data you would like to pass through to the result and is linked to the result from bit swap 2 e Set parameter 871 BitSwap 3A Bit 2 Parameter 871 BitSwap 3A Bit sets the bit that you would like to turn on in the result and is set to bit 2 because in order to use bit swap 3 to turn on bit 2 of parameter 1022 Sel Switch Ctrl e Link parameter 872 BitSwap 3B Data parameter 824 Local I O Status Parameter 872 Bit Swap 3B Data sets the data to compare e Set parameter 873 BitSwap 3B Bit 5 Parameter 873 BitSwap 3B Bit sets which bit of parameter 824 Local I O Status is used Bit 5 of parameter 824 indicates that digital input 5 has turned on e The overall function of BitSwap 3 is that when digital input 5 turns on bit 2 is turned on as the result which is eventually passed through to control bit 2 Sel Swtch 01 of parameter 1022 Sel Switch Ctrl Rockwell Automation Publication PFLEX RMO03E EN E January 2011 103 Chapter 1 Detailed Drive O
120. chanical stress is placed on the application increasing downtime and repair costs while decreasing productivity Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Friction Compensation Detailed Drive Operation Chapter 1 The flying start function works by using the voltage feedback from the motor to determine the speed of the motor When the speed is determined the drive provides flux up time for the motor Then the drive begins ramping the motor to the commanded speed from the speed determined by the voltage feedback This process will prevent an overcurrent trip and significantly reduce the time for the motor to reach its desired frequency Since the motor is picked up smoothly at its rotating speed and ramped to the proper speed little or no mechanical stress is present Note that if the voltage feedback from the motor is zero 0 the drive will ramp the motor up to the commanded speed from zero speed Configuration Sensorless flying start is enabled by setting parameter 153 Control Options bit 3 Flying Start 1 When set to zero 0 the sensorless flying start function is disabled The friction compensation block is used to calculate breakaway torque and the torque needed just to keep the motor running at a constant speed due to friction Parameter 64 FricComp Spd Ref is linked to parameter 43 Ramped Spd Ref The speed reference is needed because the torque needed due to friction is much more n
121. ck option cards to continue operation You must set Par 153 Control Options bit 17 Aux Pwr Sply to enable this feature Refer to the PowerFlex 7008 Auxiliary Control Power Supply Installation Instructions Part Number 20 24V AUX1 publication 20D IN021 for installation information e Refer to the PowerFlex 700S AC Drive Phase II Control Frames 1 6 Installation Instructions publication 20D IN024 or the PowerFlex 700H and 700S Frame 9 14 Drives Installation Manual publication PELEX IN006 for connection information Description This information serves as a supplement to the PowerFlex 700S AC Drive Phase II Control Programming Manual publication 20D PMO001 addressing items specific to the PowerFlex 700S drive bus regulation and dynamic braking Please refer to the Programming Manual for details on the 700S dynamic braking wiring and setup and the PowerFlex Dynamic Braking Resistor Calculator Selection Guide publication PFLEX AT001 for application techniques on dynamic braking Technical Information The bus regulator limits the maximum bus voltage for systems that do not have or have limited braking or regenerative capabilities The bus regulator limits the bus voltage by comparing the DC bus voltage feedback to a DC bus voltage reference It then limits the regenerative power allowed back onto the DC bus to keep the DC bus voltage at or below the reference value and prevent a DC Bus Overvolt fault Ro
122. ckwell Automation Publication PFLEX RMO03E EN E January 2011 BusReg Brake Volts 401 gt SZ Q gt Brake Bus Cnfg Brake Enable BusRef High Detailed Drive Operation Chapter 1 Dynamic braking uses a 7th insulated gate bipolar transistor IGBT and braking resistor to dissipate regenerative energy The drive switches the 7th IGBT on and off to keep the DC bus voltage at or below the DC bus voltage reference Parameters in the PowerFlex 700S drive specify whether the resistor is an internal or external resistor When an external resistor is used you can enter the resistance value in parameter 544 External DB Res This value can then be used to determine the power applied to the resistor and calculate its temperature for resistor protection Only resistors specifically designed for pulse and high energy dissipation dynamic braking should be used The PowerFlex 7008S drive allows you to select bus regulation dynamic braking or a combination of bus regulation and dynamic braking Torque Pos Limit Motor Spd Fdbk Mtring Power Lim Power Limit Calc Torque PosLim Actl Brake Bus Cnfg Bus Reg En Iq Actual Lim Torque NegLim Actl Torque Neg Limit Bus Regulator Braking Configuration Parameter 414 Brake Bus Cnfg determines the configuration of bus regulation and dynamic braking Parameter 414 is broken down into the following bits Bit 0 Brake Enable
123. configured as a torque follower If the mechanical connection to the load is severed the torque command to the drive will probably be greater than the motor unloaded will require to maintain the system speed This will cause the motor speed to increase until the torque command is met Setting parameter 335 Abs OverSpd Lim to the desired tolerance will cause the fault to occur when the motor speed exceeds the limit of Fwd Speed Lim or Rev Speed Lim Abs Overspd Lim 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 Table 2 Owner Parameters and Functions Parameter Name No Function Stop Owner 677 Indicates the ports adapters that are presently issuing a valid stop command Start Owner 678 Indicates the ports adapters that are presently issuing a valid start command Jog Owner 679 Indicates the ports adapters that are presently issuing a valid jog command Direction Owner 680 Indicates the ports adapter that currently has exclusive control of direction changes Fault Clr Owner 681 Indicates the ports adapters that are presently issuing a valid start command Ownership is either exclusive or non exclusive Exclusive Ownership Only one device at a time can control the drive and only one owner bit will
124. curacy ability to maintain speed during shock loading The effect of slip compensation during transient operation is illustrated in Figure 22 below Initially the motor is operating at some speed and no load At some time later an impact load is applied to the motor 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 When slip compensation is enabled the dynamic speed accuracy is dependent on the filtering applied to the torque current The filtering delays the speed response of the motor drive to the impact load and reduces the dynamic speed accuracy Reducing the amount of filtering applied to the torque current can increase the dynamic speed accuracy of the system However minimizing the amount of filtering can result in an unstable motor drive The user can adjust parameter 99 Slip Comp Gain to decrease or increase the filtering applied to the torque current and improve the system performance For parameter 99 a higher value decreases filtering and a lower value increases filtering Figure 22 Rotor Speed Response Due to Impact Load and Slip Compensation Gain Impact Load Removed Increasing Sli Impact Load y Comp rich j Applied 7 ee S a wo Rotor Speed x Increasing Slip Reference Comp Gain 0 ee O a AN Time See Speed Position Feedback
125. d Source REAL ii cS DINT DINT irect 3 DINT DINT DINT t DINT DINT DINT r 5 DNT DINT DINT Lalalalalalalatata lalate ooooooooooo fe e lili life fe ll lll I Time Keeper 3 Click OK to close the SynchLink Setup dialog box 4 To set the follower to use speed reference 2 set parameter 27 Speed Ref A Sel 2 Speed Ref 2 Note that speed reference 2 in the follower will contain the ramped speed from the master drive Because the speed reference is already ramped the ramp in the follower can be disabled by setting parameter 151 Logic Command bit 0 SpdRamp Dsbl 1 SynchLink Axis Follower Selection for DriveLogix Feedback Only Axis Parameter 701 FdbkAxis FdbkSel has the ability to follow a SynchLink axis from a ControlLogix chassis selection 11 FdbkAxis FdbkSel can be set to 11 SLBufIntRx10 When SynchLink is configured for 1 axis 3 direct 14 buffered the position counts are received on buffered word 10 The ControlLogix axis must be a linear axis rotary axis counts rollover to zero and cannot be used for the DriveLogix feedback only axis The DriveLogix motion feature can now use this as the master axis for gear ratio or position cams 190 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Reset SynchLink After setting up the configuration SynchLink must be reset on both drives in one of the follo
126. d on illegal encoder states and improper encoder switching patterns The rate of change of motor speed detection is determined by a rate of change greater than a user defined speed change Hardware detection of feedback loss for the feedback option cards is based on the type of device used and specific fault detection implemented on the feedback option card The rate of change of motor speed detection is the same implementation as for encoder feedback Speed feedback loss ride through is not allowed in position mode If the encoder loss ride through function was allowed in a positioning system it is likely that the alternate feedback device will supply an arbitrary position feedback value when an encoder loss is detected This in turn could result in unintended motion in the drive system ATTENTION Even though the encoder loss ride through function A attempts to automatically switch feedback devices with minimum disturbance a system disturbance will occur In some cases feedback device degradation may occur before complete failure takes place The user must determine if the encoder loss ride through function is appropriate for each application Permanent Magnet Motors Permanent Magnet motors require the use of an absolute feedback device for example a resolver Stegmann or Heidenhain device Therefore the speed feedback loss ride through function cannot be used with Permanent Magnet motors in other words bit 16 Auto Tach Sw
127. d reference is used In unipolar mode the speed reference is limited to a minimum value of zero 0 shown by the Max selection block in the diagram below In this case parameter 40 Selected Spd Ref supplies only the speed magnitude The direction is determined by parameter 152 Applied LogicCmd bits 20 Forward and 21 Reverse The forward reverse direction button on the HIM is one possible source for the Applied LogicCmd direction Rockwell Automation Publication PFLEX RMO03E EN E January 2011 41 Chapter 1 Detailed Drive Operation Drive Peripheral Interface DPI 42 bits The following chart explains the effect that the direction button on the HIM has based on the condition of the Bipolar SRef bit Bipolar SRef Reference Controlled by HIM HIM Direction Button Action Enabled Yes Changes the motor direction due to a HIM supplied or command signal Enabled No Has no effect on motor direction Direction determined by sign of Par 40 Selected SpdRef Disabled Yes Changes the motor direction due to a HIM supplied forward or reverse Applied LogicCmd bit Disabled No Changes the motor direction due to a HIM supplied forward or reverse Applied LogicCmd bit In either Bipolar or Unipolar mode the selected direction can be determined from the sign of parameter 41 Limited Spd Ref Positive values indicate forward rotation and negative values indicate reverse rotation
128. d so that the user may provide coordinated operation Ride Through Configuration The drive s response to a power disturbance can be selected in parameter 406 Power Loss Mode Table 13 Settings for Parameter 406 Power Loss Mode 0 Coast 2 Continue 5 Flux Only Coast default The coast mode stops power to the motor PWM disabled and the motor coasts until power returns or a fault occurs At the time when the motor PWM is disabled the precharge device bypass where controlled by the drive is also opened Then the precharge logic is reset so that the drive starts another precharge cycle After the incoming power returns and the precharge cycle has completed the drive restarts normal operation Continue This setting disables the ride through function In this case the drive will attempt to continue running the motor if the incoming power is disrupted If power returns before the drive has shut down the precharge device is bypassed and a large inrush current may occur In this case drive damage is likely Flux Only The drive s torque is set to zero when a power disturbance is detected The motor flux is continued until the disturbance goes away or until a power Rockwell Automation Publication PFLEX RM003E EN E January 2011 111 Chapter 1 112 Detailed Drive Operation down occurs extended power loss If the power loss duration is very short or there is sufficient input impedance to limit the inrush current when
129. d to reject spurious noise The filter works by waiting a programmed time before deciding that the signal is valid This waiting imposes a mandatory delay in the registration signal The filter delay is programmable in increments of 100 ns from 0 or no delay up to 700 ns Table 11 Edge Selection Settings Bit 4 20 Bit 3 19 Description 0 0 Capture on rising edge 0 1 Capture on falling edge 1 0 Capture on both edges 1 1 Disable capture Table 12 Direction Settings Bit 6 22 Bit 5 21 Description 0 0 Not Configured 0 1 Reverse 1 0 Forward 1 1 Both Directions 108 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Power Loss Ride Through Detailed Drive Operation Chapter 1 e Parameter 255 Opt0 1 RegisCtrl configures the registration control on port 0 and port 1 of the feedback option card Set bit 0 O0 Arm Req or bit 16 O1 Arm Req to arm the registration logic for the next trigger event The particular latch will be armed and ready to be strobed on the next occurrence of the trigger input Set bit 1 O0 DisarmReq or bit 17 O1 DisarmReq to disarm the registration logic for next trigger event e Parameter 256 Opt0 1 RegisStat indicates the registration control status on port 0 and port 1 of the feedback option card Bit 0 Opt0 Armed or bit 16 Opt1 Armed indicates the registration latch is armed The rising edge of the
130. der1 the Stegmann Feedback board or the Resolver Feedback board Only one may be set If using the Multi Device Interface board the registration input for the Rotary or Linear device being used is the Home Switch input for homing Refer to the Multi Device Interface for PowerFlex 700S Drive Installation Instructions publication 20D IN004 Firmware version 3 003 provides option 39 Home Switch in parameters 827 Dig In3 Sel 830 Dig In6 Sel These inputs do not function as a Home Switch and will be removed in a future firmware release Parameter 1120 Home Accel Time The homing sequence will accelerate to the speed set in parameter 1122 Home Speed at this rate It is only used during the homing sequence Parameter 1121 Home Decel Time The homing sequence will decelerate from the speed set in Home Speed at this rate when the selected home type event has occurred It is only used during the homing sequence Parameter 1122 Home Speed The homing sequence will attempt to accelerate to this speed This speed will be maintained until the home type event has occurred It is only used during the homing sequence Parameter 1123 Home Position Not supported in firmware version 3 003 The drive will be redefined to this position after the Homing sequence is complete Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Homing Status Parameter 741 Position
131. e Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 P119 SLAT Error Setpoint Speed Error lt 0 P120 SLAT Dwell Time Forced Speed Mode FSM Low Pass Pcie Filter Speed Error gt SLAT Setpoint for SLAT Time FSM State Controller Internal Torque Reference ITR Speed Regulator Application Dependant Speed PI Output SRO Reference Bias Regulator Speed Error Select Motor Speed Feedback External Torque Reference ETR Rockwell Automation Publication PFLEX RMO03E EN E January 2011 167 Chapter 1 Detailed Drive Operation 168 100 Paper Winder Application Example The drive is set for SLAT minimum mode so that the drive normally runs in torque mode and follows parameter 111 Torque Ref1 Torque reference 1 comes from an external controller and is approximately 60 of motor torque during the snapshot seen below The speed reference also from an external controller is set just above the speed feedback in order to saturate the speed regulator while in torque mode The following snapshot captures what occurs in the drive during a break in the web 500 5 Small amount of overshoot during web break 400 Motor Spd Fdbk RPM 300 Speed Regulator Saturated a 200 Speed Reg Out 100 Motor Torque Ref Speed Regulatoris preloaded with Motor Torque Ref Speed Error RPM Spe
132. e continuous level If the function is in the continuous level limit this can be lower Rockwell Automation Publication PFLEX RMO03E EN E January 2011 45 Chapter 1 Detailed Drive Operation Drive Over Temperature Frame 9 Only 46 than the motor current limit After a period of time typically 1 to 3 minutes the function returns the limit to the short term rating Closed Loop IT Function The drive will also adjust the torque current limit level based on the values in Parameter 358 Cur Ref TP Data parameter 313 Heatsink Temp and the thermal characteristics of the drive contained in the power EE memory Under normal operating conditions the function typically sets the limit at 250 of the continuous drive rating If the function determines that the power device junction temperature is approaching maximum it will reduce this limit to the level required to prevent additional heating of the inverter This level could be as low as the continuous rating of the drive output amps If the inverter temperature decreases the function will raise the limit to a higher level Drive Overload Status Drive Overload Status can be monitored in parameter 346 Drive OL Status e Bit 0 NTC Shorted indicates the Negative Temperature Coefficient NTC device has a short circuit e Bit 1 NTC Open indicates the NTC has an open circuit e Bit 2 HS Overlemp indicates heatsink temperature is above 105 C for ratings 1 1 11
133. e DInt to Real converter to convert one double integer parameter to a floating point value and use that value as an input to a compare block Logic Cmpr State Cmpr 1 A lt B Compare 1A Compare 1B Cmpr 1 A gt B Compare 2A Compare 2B Configuration e Parameter 1062 Logic Cmpr State bits 4 Cmpr 1 A lt B 7 Cmpr 2 A gt B display the logical states of the compare functions parameters 1071 Compare 1A 1074 Compare 2B A value of 0 False and 1 True e Parameter 1071 Compare 1A sets input A for the Compare 1 The results of the compare are displayed in parameter 1062 Logic Cmpr State Available functions are A lt B A gt B e Parameter 1072 Compare 1B sets input B for the Compare 1 The results of the compare are displayed in parameter 1062 Logic Cmpr State Available functions are A lt B A gt B e Parameter 1073 Compare 2A sets input A for the Compare 2 The results of the compare are displayed in Par 1062 Logic Cmpr State Available functions are A lt B A gt B e Parameter 1074 Compare 2B sets input B for the Compare 2 The results of the compare are displayed in Par 1062 Logic Cmpr State Available functions are A lt B A gt B Rockwell Automation Publication PFLEX RMO03E EN E January 2011 209 Chapter 1 210 Detailed Drive Operation Multiply Divide Blocks The multiply divide blocks are used to multi
134. e Parameter 215 PeakDetect1 Out will contain the positive peak value of Motor Spd Fdbk e To reset the output of the peak detector for parameter 210 PeakDtct Ctrl In toggle on and then off bit 0 Peak 1 Set See Appendix D of the PowerFlex 700S AC Drive Phase II Control Programming Manual publication 20D PMO001 for details on permanent magnet motors compatible with PowerFlex 700S Phase II drives Many processes are driven by a mechanical line shaft with an intermediate gear box or take off point to the load That way a precise phase or position can be maintained from one mechanical structure to another A printing press is a good example Each color applied must precisely be overlaid to hold registration and the system must be locked in phase to accomplish that task The trouble with the mechanical system is that it wears with time and is inflexible Replacing the mechanical line shaft with an Electronic Line Shaft ELS saves the cost of maintenance while providing the flexibility to re configure the system There are two fundamental configurations of an ELS 1 Virtual Master Reference A virtual master reference electronically generates and sends position and speed references to all follower drives Each drive is electronically position locked to a virtual reference generated by a Virtual Encoder VE There is no physical shaft or encoder to generate the reference 2 Real Master Reference A real master reference genera
135. e and application operation Alarms are selected during commissioning of the drive Examples of alarms include encoder loss communication loss or other exceptions within the drive A complete list of Alarms is included in the Troubleshooting chapter of the PowerFlex 700S AC Drive Phase II Control Programming Manual publication 20D PMO001 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 13 Chapter 1 Detailed Drive Operation Analog Inputs 14 Configuration Parameters 365 Fdbk LsCnfg Pri through 399 Position ErrCnfg program the response of the drive to various conditions Responses include Ignore Alarm Fault Coast Stop Fault Ramp Stop and Fault Current Limit Stop Parameters 326 Alarm Status 1 through 328 Alarm Status 3 identify any alarms that are active Configuration Example Parameter 376 Inv OL Pend Cnfg is set to a value of 1 Alarm This configures the drive to set the alarm bit parameter 326 Alarm Status 1 bit 15 Inv OL Pend when the inverter overload pending event occurs This alarm will allow the drive to continue running and the user can make the decision as to what action to take in relation to the alarm Analog Input Specifications There are three analog inputs Inputs 1 and 2 are differential configurable for 10V or 0 20 mA via dip switches The A D analog to digital converter is 13 bit plus the sign bit Input 3 is 0 10V only 10 bits and no sign bit The
136. e damage Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Ride Through Operation An incoming power loss to the drive is detected by a 22 drop in bus voltage or a bus voltage that drops below the undervoltage level as determined in parameter 408 Power Loss Level see table below The return of incoming power is detected by an 11 rise in bus voltage and a bus voltage level greater than the undervoltage level set in parameter 409 Line Undervolts If the undervoltage condition is selected as a fault parameter 393 BusUndervoltCnfg 2 FltCoastStop then the drive will not restart if the incoming power returns Upon sensing a power loss the drive can be configured to coast continue operation or change to flux only operation See Ride Through Configuration below 408 Power Loss Level Units RW 16 bit Sets the percentage of the bus voltage at which ride Default 22 1 Integer through begins and modulation ends Min Max 15 95 0 221 x 480Vac x J2 150Vde Scale 0 In cases where the precharge control is independent or external to the drive firmware the ride through function can still be used to stop PWM operation saving controller power and restart operation until after the return of power is sensed In this case the ride through sequence will not be directly coordinated with the precharge operation For external precharge hardware functionality is provide
137. e scaling of this parameter is a per unit type where a value of 1 0 is equal to the rated motor torque Torque Ref2 is then multiplied by parameter 114 Torq Ref2 Mult This defines the scaled Torque Ref2 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 193 Chapter 1 Trending 194 Detailed Drive Operation The torque reference can be utilized when a master slave multi drive system is configured The torque reference into the slave can be scaled to create the proper torque output Keep in mind that the motors may be different ratings and this function is used to help the system share the load Parameter 115 Torque Trim can be used to trim the torque For example Torque Trim can be limited to an analog input or to the Process PI output Once the scaling is complete on both Torque Ref1 and Torque Ref2 the output is summed with the output of the Torque Trim Trending can be used to trend up to 4 parameters with 1023 samples for each parameter at a rate between 0 2 ms and 1 second per sample Configuration 1 Set the trend rate in parameter 559 Trend Rate between 0 2 ms and 1000 ms 1 second There are a total of 1024 samples that will be taken at this rate 2 For the trigger two values can be compared or you can look at a single bit To compare two DInt parameters for the trigger use parameters 560 Trend TrigA DInt and 562 Trend TrigB DInt To compare two floating point par
138. ear zero speed than at higher speeds Friction compensation is enabled by setting parameter 151 Logic Command bit 11 Frict Comp to 1 Parameter 65 FricComp Setup is used to configure the friction compensation algorithm This is a packed word of 3 digits Each digit has a possible selection of 10 levels e The least significant digit sets the speed threshold in intervals of 0 0005 pu speed e The next middle digit sets the hysteresis band for the units digit in intervals of 0 0005 pu velocity e The most significant digit sets the number of time steps from stick to slip each step is 0 002 sec N N N Number of i Time Stops Units Hysteresis Rockwell Automation Publication PFLEX RMOO3E EN E January 2011 57 Chapter 1 Detailed Drive Operation Example FricComp Setup 524 means 5 time steps between stick and slip each of 0 002 sec duration 2 counts of hysteresis or 0 001 pu_speed each count is 0 0005 pu speed and 4 counts or 0 002 pu_speed is the trigger threshold each count is 0 0005 pu speed Parameter 66 FricComp Stick sets the torque reference needed to break away from zero speed Breakaway torque due to friction is always greater than running torque due to friction This parameter is in per unit so a value of 1 equals 100 motor torque Parameter 67 FricComp Slip sets the torque level to sustain very low speed once breakaway has been achieved Again the torque required to run very clo
139. ed 6 GateShutdown SCR gating has shutdown 7 SafeOff Enbl A Safe Off input is enabled 8 MC Config The drive is loading firmware for motor control 20 High BusVolt The bus voltage is too high Start and Stop Modes Start and stop modes refers to how you want to control the drive s start and stop functions There are two basic modes of start and stop control 3 wire and 2 wire 3 wire control indicates that the start and stop are momentary inputs 3 wire control also indicates that there is one input for the start command and one input for the stop command The term 3 wire comes from the fact that when using this type of control with digital inputs one wire is used for the start input one wire is used for the stop input and one wire is used for the common 2 wire control indicates that the start and stop are combined as one maintained input The input must be on to start and to remain running Then the same input is turned off to stop The term 2 wire comes from the fact then when using this type of control with digital inputs one wire is used for the combined start and stop input and one wire is used for the common For the stop command there are three different types of stopping that can be performed coast stop ramp stop and current limit stop 1 Coast Stop when in coast stop the drive acknowledges the stop command by shutting off the output transistors and releasing control of the motor The load motor will coast or free s
140. ed A winder is a good example for the application of the minimum speed torque Min Spd Trq operating mode Maximum speed torque Max Spd Trq mode would be used if both speed and torque are negative Figure 26 on page 165 illustrates how minimum speed torque mode operates The drive starts out operating as a torque regulator The torque reference causes the motor to operate at 308 rpm The speed reference is 468 rpm so the Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 minimum is to operate as a torque regulator While operating in torque regulation the load decreases and the motor speeds up Notice the torque command has not changed When the speed regulator comes out of saturation it clamps the speed and now the drive operates as a speed regulator The At Speed relay then closes Figure 26 Min Spd Trq Mode Operation Sum Speed Torque Mode Configuring the drive in this mode allows an external torque input to be summed with the torque command generated by the speed regulator This mode requires both a speed reference and a torque reference to be linked This mode can be used for applications that have precise speed changes with critical time constraints If the torque requirement and timing is known for a given speed change then the external torque input can be used to preload the integrator The timing of the speed chan
141. ed Error 7 becomes negative Web break occurs Torque Mode et Speed Mode gt 4 SLAT Maximum Mode In SLAT maximum mode you would typically configure a speed reference that forces the speed regulator into saturation the speed reference is slightly below the speed feedback In this case the drive would follow the torque reference until there was a breakage or slippage in the application In SLAT maximum mode the drive will switch from torque mode to speed mode when either one of the two following conditions occur e The output of the speed regulator becomes more than the torque reference This is the same condition that exists in maximum torque mode Or Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 The speed error becomes positive the speed feedback becomes less than the speed reference This is forced speed mode By forcing the drive to enter speed mode the transition occurs earlier than it would have in the maximum torque mode resulting in less velocity overshoot Parameter 119 SLAT ErrorSetpnt and parameter 120 SLAT Dwell Time allow you to set some hysteresis for turning off the forced speed mode They are set to 0 as default so that there is no hysteresis In SLAT maximum mode SLAT ErrorSetpnt sets how much more the speed feedback should be than the speed reference before turning off the forced speed mode SLAT Dwe
142. ed because Par 1045 and 1046 cannot be linked to Par 14 Preset Speed 1 See Multiply Divide Blocks on page 1 210 for more information e Set Par 1054 MulDiv 1 Mul 1 e Set Par 1055 MulDiv 1 Div equal to the motor nameplate RPMs This is required in order to scale the output of the multiply divide block to a per unit value because Par 14 Preset Speed 1 is scaled by Par 4 Motor NP RPM e Link Par 14 Preset Speed 1 to Par 1056 MulDiv 1 Result e Set Par 27 Speed Ref A Sel to 5 Preset Spd 1 e Set parameter 1029 Sel Swtch In00 to 0 e Set parameter 1030 Sel Swtch In01 to 100 e Set parameter 1031 Sel Swtch In02 to 200 e Set parameter 1032 Sel Swtch In03 to 400 e Set parameter 1033 Sel Swtch In04 to 600 to to to e Set parameter 1034 Sel Swtch In05 to 800 e Set parameter 1035 Sel Swtch In06 to 1200 e Set parameter 1036 Sel Swtch In07 to 1600 If digital input 2 is set high digital input 3 is set high and digital input 4 is set low the binary output to bits 1 3 of Par 1022 Sel Swtch Ctrl is 011 which selects Par 1032 Sel Swtch In03 The real data is output to Par 1045 and passed to Par 1053 MulDiv 1 Input In this multiply divide function block the output is scaled to a per unit value Therefore Par 14 Preset Speed 1 which is linked to Par 1056 MulDiv 1 Result will be scaled by Par 4 and contain a value of 400 rpm Two Po
143. ed error becomes negative the speed feedback becomes greater than the speed reference This is forced speed mode By forcing the drive to enter speed mode the transition occurs earlier than it would have in the minimum torque mode resulting in less velocity overshoot Parameters 119 SLAT ErrorSetpnt and 120 SLAT Dwell Time allow you to set some hysteresis for turning off the forced speed mode They are set to 0 as default so that there is no hysteresis In SLAT minimum mode SLAT ErrorSetpnt sets how much less the speed feedback should be than the speed reference before turning off the forced speed mode The SLAT dwell time sets how long the speed error must exceed the SLAT error set point before turning off the forced speed mode At the time that the drive switches from torque mode to forced speed mode the speed regulator output is loaded with the internal motor torque reference to create a smooth transition In order for the drive to switch from speed mode to torque mode forced speed mode if active must first be turned off Forced speed mode will turn off when the speed error is greater than the SLAT error set point for the SLAT dwell time With default parameter settings this will occur when the speed error becomes positive When forced speed mode is off the drive will switch back to torque mode when the speed regulator output becomes greater than the torque reference This is the same condition that exists in minimum torque mod
144. edback s2 6icade en waar Uel eA ete es 141 Speed Feedback Loss Ride Through 00 2c cee 141 Speed Relerentern ananiona act deu die ail his gem toda dead etn 145 Speed Reference Selection se 01055 vhed adeeb ee raseeaesatve rs 145 Speed Reference Scaling yo cs cictah oso sand k ake veneende sas 146 Jog Referent Oran sitar watt tent ei nea nS ERE 147 Direction Control and Bipolar Reference 00005 147 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 9 Table of Contents Speed Reference Mimitsces pec 4ecn ames Soe heiessudeieeee ee 147 Stop Command of ole alate AEE AAAA a opie ee twat early 148 A cel Decel Ramp and S Curve s 424 vende snsetda st eel au 148 Speed Reference Bypass and Delayed Speed Reference 149 Inertia Compehsationst rss iite ot aalehes eta aay ee es eae 149 Friction Compensation 4 vision cea vasdowededsawocdns danede s 150 Virtual PHeOdet nyc i eras spss Seaman RRR 150 Speed Reference Filter cover dition eeG 151 Speed Reference ScalinGis dakitna wets stvewaiete a iielunleuatatecng ace 151 Speed Trim scraped Yee etieal ies yada a een cee 151 Speed PI Regulator tain dn chiensiaerchwenyevngeteeeracemem nines 152 Speed Trini teia arn E T ese k el cae Ue Mt Ae kel Behl 152 Autotune Speed Reterenceiaane ced caron elena peleear es 153 Speed Reference Litt sti sind cit sae cyan orerap actag atest pdwte cid aetna 153 Current Limit Stop ersero derenin eeii eener bii 154 Speed Err
145. eed reference ramp set parameter 151 Logic Command bit 0 SpdRamp Dsbl 1 Enabling the Position Loop The firmware function for the position loop must be turned on by setting parameter 147 FW Functions En bit 16 PositionCtrl 1 To enable the position loop set parameter 151 Logic Command bit 13 Position En 1 Then to allow the output of the position loop to trim the speed set parameter 740 Position Control bit 1 Speed Out En 1 Position Reference Selection For a position follower application set parameter 742 Position Ref Sel 1 AuxPosit Ref The auxiliary position reference is generally used for position Posit Ref Sel Selected Position Reference following applications Interp Position Aux Posit Ref I a Pt Pt Posit Ref Link parameter 743 Aux Posit Ref to the position for the feedback device For example to follow Encoder 1 link parameter 743 Aux Posit Ref to parameter 240 Encdr1 Position Encoder 1 position becomes the position reference for the position loop Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Setting the Electronic Gear Ratio and Speed Reference Scaling The position reference can be scaled by using the Electronic Gear Ratio EGR scaling Parameters 745 PositRef EGR Mul and 746 PositRef EGR Div are used to scale the position reference Selected Position Reference
146. ei eon et 76 Output Voltage Parameter 307 estcsn cen gste etna 76 Oyersp ed Limit osieasenadesusteutet ta toe meals EDERE uous 76 OWNGIS ice eecne aaa Aee piel dahon co a dened 77 Exclusive Ownership accvckn eoeetvared Semel en cece ete Li Non Exclisive Ownership y lt 43 25324 gocrtk vacchddead es abeacee 77 Peak Gtr Cts enin ea A AEE aber nen E E esewen 79 Permanent Magnet Motors cies Ad neue neh hua rahe Bocas Nahas 80 Phase Locked Loopccseiuscsdddee eis ae ca ee de ee ds oe 80 Position Referen C res shanini tin Dake a a raa 81 Speed Reference Feed Forward si 0i3 c4si ge greeks 81 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 7 Table of Contents Noise Filtering rsrsr cxsgury ctaww ets saa E EEEE A EARED 82 Virtual Encoder 5 rhe ionni aaa a ae EE E a AAS 82 Electronic Gear Ratio vieneiste etek iaes pide sane edt ey 83 O tp t Secon arinen a ra r E E aati bess 83 Point to Point Motion Planner 325223 thre diay eos keke 86 Conhigutationigcctischd taractiadesrieoniwedees deur E 86 Profile Generator sce sate o S55 S nee sateen Saemaenees 88 Speed Output Feed Forward eosscotieitsstey ee evees tae aes 4 88 Posion O tp t sssri rika eae a a i 89 Position Loop Follower Electronic Gearing 005 90 OVENI EW ia asa EEE ERIE Ramee ketene hue yen atacand EEE 90 Speed Reference Selection 4 45 24 4 cl eves ness tou bed aa 91 Speed Reference RAMD aerosani pases E EEEE O ES 92 Enabling the Pos
147. ensation The pulses from a PWM inverter using IGBTs are very short in duration 50 ns 1 ms These short pulse times combined with the fast rise times 50 400 ns of the IGBT will result in excessive overvoltage transients at the motor Voltages in excess of twice the DC bus voltage 650V DC nominal at 480V input will occur at the motor and can cause motor winding failure The patented reflected wave correction software in the PowerFlex 700S will reduce these overvoltage transients from the drive to the motor The correction software modifies the PWM modulator to prevent PWM pulses less than a minimum time from being applied to the motor The minimum time between PWM pulses is 10 microseconds The modifications to the PWM modulator limit the overvoltage transient to 2 25 per unit volts line to line peak at 600 feet of cable 400 V Line 540V DC bus x 2 25 1215V 480 V Line 650V DC bus x 2 25 1463V 600 V Line 810V DC bus x 2 25 1823V The software is standard and requires no special parameters or settings The figure below shows the inverter line to line output voltage top trace and the motor line to line voltage bottom trace fora 10 Hp 460V AC inverter and an unloaded 10 Hp AC induction motor at 60 Hz operation 500 ft of 12 AWG cable connects the drive to the motor Inverter Line to Line Output Voltage er s Inverter vdis lt Ta gt lt f o t Motor Line to Line Voltage Ree a ee 500 V d
148. equal to the high value of the band skip plus 1 2 band the drive will set the output speed to the high value of the band See example A in Table 14 on page 125 If the commanded speed is less than the skip center speed and greater than or equal to the low value of the band skip minus 1 2 band the drive will set the output speed to the low value of the band See example C in Table 14 on page 125 Acceleration and deceleration are not affected by the skip speeds Normal accel decel will proceed through the band once the commanded speed is greater than the skip speed See example A amp B in Table 14 on page 125 This function affects only continuous operation within the band Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Table 14 Skip Speed Examples The skip speed will have hysteresis so the output does not toggle between high and low Fwd Speed Limit values Three distinct bands can be programmed If none of the skip bands touch oe each band has its own high low Skip Speed 1 Skip Band 1 Skip Speed 2 Skip Band 2 0 RPM If skip bands overlap or touch the center speed is recalculated based on the highest and lowest band values Skip Speed 1 E Adjusted Skip Speed 2 Skip Band w Recalculated Skip Frequency 0 RPM If a skip band s extends beyond the speed limits the highest
149. er 43 peer to peer operation 43 producer consumer operation 43 drive efficiency 47 drive homing without DriveLogix 170 configuration 173 optional features 175 sequence of operation 170 drive over temperature fault frame 9 46 drive overload theory of operation 45 DriveLogix 45 drives mounting 74 dynamic braking 23 47 E efficiency drive 47 electronic gearing 48 electronic line shaft real master reference 80 virtual master reference 80 F faults 48 configuration 48 configuration example 48 feedback devices encoder 128 linear 131 feedback option cards 133 field oriented control 21 filters 48 key words 48 lead lag 50 low pass filter 49 nomenclature 49 notch filter 53 second order 49 January 2011 213 Index 214 firmware functions 56 flying start 56 configuration 57 friction compensation 57 fuses 58 G grounding 58 high resistive installations 196 H high resistive ground installations 196 HIM copy cat function 34 memory 58 operation 59 user display 59 indexer funtion configuration 60 inertia adaption 61 configuration 62 inertia compensation 62 input devices circuit breakers 63 contactors 63 EMC filters 63 fuses 63 input power conditioning 63 instantaneous over current trip 35 IT protection 64 J jog 65 L lead lag filter 50 limit generator 65 links configure with DriveExecutive 67 configure with HIM 66 parameters 66 logic blocks 207 low pa
150. er of CRC Cycle Redundancy Check errors Clearing a fault resets this accumulator This data is visible on the SynchLink diagnostics tab of the Peer Communication window Rockwell Automation Publication PFLEX RMO03E EN E January 2011 185 Chapter 1 186 Detailed Drive Operation Parameter 895 SL CRC Error displays the number of CRC errors that occurred during the last test last 8 ms This data is visible on the SynchLink diagnostics tab of the Peer Communication window Parameter 896 SL BOF Err Accum displays the total accumulated number of BOF Beginning of Frame errors Clearing a fault resets this accumulator This data is visible on the SynchLink diagnostics tab of the Peer Communication window Parameter 897 SL BOF Error displays the number of BOF errors that occurred during the last test last 8 ms This data is visible on the SynchLink diagnostics tab of the Peer Communication window Parameter 898 SL CRC Err Limit identifies the number of CRC errors per test per 8 ms allowed before the drive declares a SynchLink CRC Error exception event Set this limit on the SynchLink diagnostics tab of the Peer Communication window Parameter 899 SL BOF Err Limit identifies the number of BOF errors per test per 8 ms allowed before the drive declares a SynchLink BOF Error exception event Set this limit on the SynchLink diagnostics tab of the Peer Communication window Parameter 900 SynchLink Rev indicates the curren
151. er supply Due to the typical load of a external DPI device of 140 mA there is a three DPI device limit Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Client Server C S messages operate in the background relative to other message types and are used for non control purposes The C S messages are based on a 10 ms ping event that allows peripherals to perform a single transaction in other words one C S transaction per peripheral per time period Message fragmentation because the message transaction is larger than the standard CAN message of eight data bytes is automatically handled by C S operation The following types of messaging are covered e Logging in peripheral devices e Read Write of parameter values e Access to all parameter information limits scaling default etc e User set access e Fault Alarm queue access e Event notification fault alarm etc e Access to all drive classes objects e g Device Peripheral Parameter etc Producer Consumer Operation Overview P C messages operate at a higher priority than C S messages and are used to control report the operation of the drive for example start stop etc A P C status message is transmitted every 5 ms by the drive and a command message is received from every change of state in any attached DPI peripheral Change of state is a button being pressed or error detected by a DPI peripheral P C me
152. eration will occur Parameter 228 MtrSpd Simulated contains the simulated speed feedback Parameter 229 MtrPosit Simulat contains the simulated position feedback It is calculated based on the simulated speed feedback and the value in parameter 225 Virtual Edge Rev Virtual Edge Rev is a user defined value for the number of pulses per motor revolution MtrSpd Simulated Motor Simulator To Feedback Spd Calc lt 29 gt Selection MtrPosit Simulat Virtual Edge Rev ED Feedback Option Cards There are three different feedback option cards that can be installed on the PowerFlex 700S Phase II drive 1 The Stegmann Hi Resolution Encoder feedback option card 2 The Resolver feedback option card 3 The Multi Device Interface MDI option card The MDI option card has an input for a Stegmann Hi Resolution Encoder and an input for a linear feedback device Only one of the option cards above can be physically installed on the drive at a time When the Stegmann Hi Resolution encoder option or Resolver option is installed the data is processed by feedback option card port 0 When the MDI option card is installed it has a Stegmann Hi Resolution encoder processed by feedback option card port 0 and a linear sensor processed by feedback option card port 1 Note that feedback option port 1 is used for position feedback only and cannot be used for motor feedback Parameter 250 FB Opt0 Posit contains the position feedback f
153. ering of the position regulator output is accomplished via the Speed Trim 2 filter Set parameter 25 STrim2 Filt Gain and parameter 26 SpdTrim2 Filt BW so that SpdTrim2 Filt BW Strim2 Filt Gain Speed Reg BW For example with parameter 90 Spd Reg BW 40 radians second set parameter 26 Spd Trim2 Filt BW 200 radians second and set parameter 25 STrim2 Filt Gain 5 The lead lag filter will effectively cancel the 1 40 sec lag This will allow a higher value for parameter 768 PositReg P Gain for increased stability Parameter 770 PositReg Integ is the integral gain for the position loop PositReg Integ can be used but is disabled by default and is normally not needed for position follower applications To enable PositReg Integ set parameter 740 Position Control bit 2 Integ En 1 When PositReg Integ is used parameter 772 XReg Integ LoLim and parameter 773 XReg Integ HiLim should be set with narrow limits approximately 10 and 10 of base motor speed Jogging a Position Follower Independent from the Master The jog can be performed while the position loop is enabled and while the position loop output is turned on Rockwell Automation Publication PFLEX RMO03E EN E January 2011 95 Chapter 1 Detailed Drive Operation Position Loop In Position Detect Position Loop Point to Point The In Position Detection determines if parameter 769 Position Error is within a user defined v
154. escribed in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures Fadl al oa IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley DriveExplorer DriveExecutive DriveLogix PowerFlex Rockwell Software Rockwell Automation Synchlink and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies New and Updated Information Summary of Changes This manu
155. eshooting the digital outputs When the bit in Local I O Status associated with the digital output is on this means that the logic in the drive is telling that digital output to turn on When the bit associated with the digital input is off this means that the logic in the drive is telling that digital output to turn off Options A mMm a gt BlBlBISlSlSS S88 SS slSlolcl B si slslsisisis 7 elelelel elelelelel elelele Sisl sjSlele e ele efeleseje tiejyjcle DP ODO OD ODO DI ODO DI DIO ODO ODO OI DO BIO O o OI ODIO O OD OD MO DSS E fl zal 8 3 18 8 318 8 3 8 31 ls P Pl3 83 318 8 S18 8 22 Slz 2 els C2 ee ee ee oe ee eS ee ee ee ee Be ee ee er ee ee ee ee ee e ee ee eS Co ea ey ea sy e Default Jo Jo Jo Jo Jo Jo Jo Jo Jo Jo Jo Jo Jo Jo Jo Jo Jo Jo To Jo Jo Jo Jo lo Jo Jo Jo fo Jo Jo Jo Jo mone Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 109 817 6 5 4 3 2 1 0 40 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Direction Control and Bipolar Reference Detailed Drive Operation Chapter 1 Digital Output On Off Delay Timers Each digital output has two user controlled timers associated with it One timer the On timer defines the delay time between a False to True transition condition appears on the output condition and the corresponding change in state of the digital output The second timer the Off timer defines the delay time between a True to False transitio
156. est will set the Armed status bit Rising edge of Disarm request will clear the Armed status bit Encoder 0 Example This example will set up registration to capture Encoder 0 position Digital input 1 will be the trigger e Parameter 236 RegisLtch0 1Cnfg Bit 0 RLO Encoder1 0 selects Encoder 0 Bit 1 RLO TrgSrc0 0 and 2 RLO TrgSrc1 1 selects digital input 1 for the trigger Bit 3 RLO TrgeEdge0 0 and 4 RLO TrgEdge1 0 configures the registration to capture position on the rising edge of digital input 1 Bit 5 RLO Dir Rev land 6 RLO Dir Fwd 1 configures the registration to capture position when Encoder 1 feedback is forward counting up or reverse counting down Allother bits left at default Note that bits 16 22 are for the second registration latch and are not used in this example e Set parameter 237 RegisLtch0 1Ctrl bit 0 RLO Arm Req 1 to arm the registration Parameter 238 RegisLtch0 1Stat bit 0 RLO Armed will be set to 1 e When digital input 1 turns on parameter 238 RegisLtch0 1Stat bit 1 RLO Found will be set to 1 and parameter 235 RegisLtch0 Value will contain the position counts of Encoder 0 that was captured Parameter 237 RegisLtch0 1Ctrl Bit 0 RSLO Arm Req will be set back to 0 when the registration is found Rockwell Automation Publication PFLEX RMO03E EN E January 2011
157. eter 369 Brake OL Cnfg determines how the drive reacts when the brake protection is exceeded Regardless of the setting in Brake OL Cnfg the drive prevents the 7th IGBT from switching when the brake resistor protection determined in Brake PulseWatts and Brake Watts is exceeded Some possible settings for this parameter are Par 369 Brake OL Cnfg Setting Drive Operation 0 Ignore The drive does not generate the Brake OL Trip fault or alarm 1 Alarm The drive generates a Brake OL Trip alarm but does not generate the Brake OL Trip fault 2 FltCoastStop The drive generates the Brake OL Trip fault and issues a coast stop 3 FitRampStop The drive generates the Brake OL Trip fault and issues a ramp stop 4 FitCurLimStop The drive generates the Brake OL Trip fault and issues a current limit stop Rockwell Automation Publication PFLEX RMOO3E EN E January 2011 25 Chapter 1 Detailed Drive Operation Cable Control Cable Lengths for Motors Cable Power Parameter 418 Brake TP Sel selects a value to monitor for diagnostics of the dynamic brake protection Parameter 419 Brake TP Data displays the data selected in parameter 418 Brake TP Sel Possible selections for parameter 418 Brake TP Sel are Par 418 Brake TP Sel Setting Description 0 Zero Do not
158. f 62 radians second One Hertz is equal to 27 radians second Figure 14 Resonance 62 rad oscillation no comp Motor Torque Motor PU Roll PU The small inset shows a better representation of resonant frequency better The PowerFlex 700S has a notch filter in the torque reference loop to eliminate such noise from the system The notch filter frequency is parameter 118 Notch Filt Freq Due to the fact that most mechanical frequencies are described in Hertz Notch Filt Freq is in Hertz as well Figure 15 on page 55 shows the same mechanical gear train as in Figure 14 above Notch Filt Freq is set to 10 54 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Figure 15 10 Hz Notch Notch 10Hz 62rad oscillation T T T T T I I Motor Torque Motor PU Roll PU 0 8 0 6 04 0 2 0 2 4 4 i 4 4 L L L 4 Conclusion There are several filters used in the PowerFlex 700S for various applications The process trim uses a simple low pass filter to eliminate undesirable noise in the feedback circuit The cut off frequency of the low pass filter is set by parameter 184 PI Lpass Filt BW Typical values would range from 15 20 radians second The speed loop uses a second order low pass filter after the speed error term is developed The cut off frequency of the second order low pass filter is set by parameter 89
159. filter is similar to a low pass filter however the magnitude rolls off twice as fast as a first order low pass filter Also the phase shift of a second order filter is from 0 to 180 compared to 0 to 90 of a first order filter Rockwell Automation Publication PFLEX RMO03E EN E January 2011 49 Chapter 1 Detailed Drive Operation Figure 8 Second Order Low Pass Filter Bode Diagram 0 10 System sys Frequency rad sec 9 85 20 E Magnitude dB 5 91 J Magnitude dB 30 p 40 50 Frequency Phase deg al 80 0 1 2 10 10 10 Frequency rad sec There is a second order low pass filter in the Speed Control Regulator This filter is located after the speed error signal The break frequency is set by parameter 89 Spd Err Filt BW The break frequency is set to five times 5x the Speed Loop Bandwidth This filter is used to attenuate any high frequency noise that the speed loop would not be able to control Lead Lag Filter The PowerFlex 700S incorporates a generic lead lag filter The filter has the following Laplace transfer function KnxX s wn Stwn Kn is the gain term for the filter and Wn is the frequency term for the filter Lead Lag Filter lag When Kn is less than one Kn lt 1 the filter behaves like a low pass filter Figure 9 on page 51 shows the lead lag in a lag configuration The unique aspect of this filter is that the gain stops once the
160. fo Jo Fe Se Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 109 8 7 6 5 4 3 210 38 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 High Speed Digital Inputs Local I O Status DigIn 1 824 01 A Wa SynchLink A a l E Prto 1 Bit Filter Debounce Dig In1 Sel RegisCnfg 823 01 02 825 Selector 08 09 Digln Debounce 03 04 10 11 05 Standard Digital Inputs Local I O Status i 4 No3 Oo o 7 H W E 823 11 12 Debounce Dig In3 Sel DigIn Debounce 13 14 Selector 15 Digital Input Status Bits Parameter 824 Local I O Status bits 1 through 6 give the status of the digital inputs When the bit in Local I O Status associated with the digital input is on this means that the drive recognizes that the digital input is on When the bit associated with the digital input is off this means that the drive recognizes that the digital input is off Digital Outputs Technical Information There are three digital outputs total e Two Digital Outputs are 24V DC Sourcing Sinking Open Collector Type Max Load Internal Source 150 mA External 750 mA The 3rd Output is a Relay Form C 24
161. g Parameter 1064 Logic 1A Bit selects the bit of Par 1063 for the first input to Logic Block 1 Note To invert the selected input enter the desired bit as negative Use 32 to invert bit 0 Parameter 1065 Logic 1B Data selects the data word for the second input to Logic Block 1 See parameter 1061 Logic Config Parameter 1066 Logic 1B Bit selects the bit of parameter 1065 Logic 1B Data for the second input to Logic Block 1 Note To invert the selected input enter the desired bit as negative Use 32 to invert bit 0 Parameter 1067 Logic 2A Data selects the data word for the first input to Logic Block 2 See parameter 1061 Logic Config Parameter 1068 Logic 2A Bit selects the bit of parameter 1067 Logic 2A Data for the first input to Logic Block 2 Note To invert the selected input enter the desired bit as negative Use 32 to invert bit 0 Parameter 1069 Logic 2B Data selects the data word for the second input to Logic Block 2 See parameter 1061 Logic Config Parameter 1070 Logic 2B Bit selects the bit of parameter 1069 Logic 2B Data for the second input to Logic Block 2 Note To invert the selected input enter the desired bit as negative Use 32 to invert bit 0 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Compare Blocks The compare block are used to compare two floating point values and indicate which value is larger It is possible to use th
162. g Kp sets the proportional gain of the speed regulator in sensorless mode It s value is automatically calculated based on the bandwidth setting in parameter 106 Srlss Spd Reg BW and parameter 9 Total Inertia Proportional gain may be manually adjusted by setting parameter 90 Spd Reg BW to a value of zero Units are per unit torque per unit speed For example when parameter 81 Spd Reg P Gain is 20 the proportional gain block will output 20 motor rated torque for every 1 error of motor rated speed Parameter 105 Srlss Spd Reg Ki sets the integral gain of the speed regulator in sensorless mode It s value is automatically calculated based on the bandwidth setting in Srlss Spd Reg BW and the inertia of the system in Total Inertia Integral gain may be manually adjusted by setting Spd Reg BW to a value of zero Units are per unit torque sec per unit speed For example when parameter 82 Spd Reg I Gain is 50 and the speed error is 1 the integral output will integrate from 0 to 50 motor rated torque in 1 second Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Skip Speeds Detailed Drive Operation Chapter 1 Sensorless Operation in Frames 9 and Up Drives In some installations with frames 9 and up drives it may be necessary to increase parameter 501 Torque En Dly if faults occur when the drive is started Parameter 501 Torque En Dly is used to delay the torque command to the motor until a pre
163. ge and the application of an external torque command change must be coordinated for this mode to be useful The Sum Spd Trq mode will then work as a feed forward to the torque regulator Speed Limited Adjustable Torque SLAT Min Mode and SLAT Max Mode The SLAT minimum and SLAT maximum modes are for applications that require a smooth transition from a torque mode to a speed mode operation for example web handling center winders and center unwinders where the drive is normally following a torque reference but a break or slippage could occur Direction of the applied torque and direction of the material movement determine whether SLAT minimum or SLAT maximum mode should be used Rockwell Automation Publication PFLEX RMO03E EN E January 2011 165 Chapter 1 166 Detailed Drive Operation SLAT Minimum Mode In SLAT minimum mode you would typically configure a speed reference that forces the speed regulator into saturation the speed reference is slightly above the speed feedback In this case the drive would follow the torque reference until there was a breakage or slippage in the application When the drive is following a torque reference torque mode in SLAT minimum mode either one of two conditions will force the drive into following the speed reference speed mode e The output of the speed regulator becomes less than the torque reference This is the same condition that exists in minimum torque mode Or e The spe
164. gulator also produces a high bandwidth response to speed command and load changes Figure 24 Overview of the Speed PI Regulator Loop Speed Trim 2 Spd Reg PI Out Motor Speed Ref PI Regulator gt Lead Lag Torque Control Lead Lag gt Motor Spd Fdbk Spd Reg Droop Spd Reg P Gain 81 ED Spd Reg I Gain Spd Reg BW The main purpose of the speed PI regulator is to produce a torque reference for the current regulator block The following sections describe each portion of the speed PI regulator Speed Trim The speed trim blocks are used to sum the speed reference from the speed reference control loop with speed trim values from other sources Parameter 22 Speed Trim 2 provides a trim value with a lead lag filter By default it is linked to the output of the position loop parameter 318 Posit Spd Output For more information on lead lag filters refer to Lead Lag Filter on page 50 Parameter 23 Speed Trim 3 provides a scalable speed trim value The speed reference value for Speed Trim 3 is multiplied by the scaling parameter 24 SpdTrim 3 Scale SpdTrim 3 Scale is a linkable parameter This allows speed trim 3 to be scaled dynamically with an input signal if desired An example would be to have an analog input linked to the scale parameter The speed trim and the scale would then affect the value sent to the summation block Rockwell Auto
165. hat you would like to turn on in the result and is set to bit 0 in order to use bit swap 1 to turn on bit 0 of parameter 1022 Sel Switch Ctrl Link parameter 862 Bit Swap 1B Data to parameter 824 Local 1 O Status Parameter 862 Bit Swap 1B Data sets the data to compare Set Parameter 863 BitSwap 1B Bit 3 BitSwap 1B Bit sets which bit of parameter 824 Local I O Status is used Bit 3 of parameter 824 indicates that digital input 3 has turned on The overall function of BitSwap 1 is that when digital input 3 turns on bit 0 is turned on as the result which is eventually passed through to control bit 0 SSW DataPass of parameter 1022 Sel Switch Ctrl 102 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Bit Swap 2 Setup e Link parameter 865 BitSwap 2A Data to parameter 864 BitSwap 1 Result Parameter 865 BitSwap 2A Data sets up any data you would like to pass through to the result and is linked to the result from bit swap 1 e Set parameter 866 BitSwap 2A Bit 1 Parameter 866 BitSwap 2A Bit sets the bit that you would like to turn on in the result and is set to bit 1 in order to use bit swap 2 to turn on bit 1 of parameter 1022 Sel Switch Ctrl e Link parameter 867 BitSwap 2B Data to parameter 824 Local I O Status Parameter 867 BitSwap 2B Data sets the data to compare e Set parameter 868 BitSwap 2B Bit 4 Parameter 868 BitSwap 2B Bit sets whi
166. he appropriate bit in parameter 650 DPI In DataType to indicate if that parameter is a DInt double integer or Real floating point Turn the bit off for DInt and turn the bit on for floating point A total of eight parameters can be written with the Data In Datalink parameters Example Configuration 1 Writing a DInt Parameter using a Datalink e Parameter 740 Position Control is linked to parameter 651 DPI Data In Al e Parameter 650 DPI In Datalype bit 0 DPI A1 Real is set to 0 The value that is sent to DPI Data In A1 from the controller will show up in Position Control Example Configuration 2 Writing a Real Parameter using a Datalink e Parameter 111 Torque Ref1 is linked to parameter 651 DPI Data In A1 e Parameter 650 DPI In Datalype bit 0 DPI A1 Real is set to 1 The value that is sent to DPI Data In A1 from the controller will show up in Torque Ref1 Data Out Parameters Parameters 660 DPI Data Out A1 through 667 DPI Data Out D2 are outputs from the drive to the controller and are used to read parameters To read to a parameter one of the parameters 660 through 667 must be linked to it Then set the appropriate bit in parameter 659 DPI Out DataType to indicate if that parameter is a DInt or floating point Turn the bit off for DInt and turn the bit on for floating point A total of eight parameters can be read with the Data Out parameters Example Configuration 1 Readi
167. he commanded frequency Output Power Parameter 311 This parameter displays the output kW of the drive Motor Power is the calculated product of the torque reference and motor speed feedback A 125 ms filter is applied to this result Positive values indicate motoring power negative values indicate regenerative power The output power is a calculated value and tends to be inaccurate at lower speeds It is not recommended for use as a process variable to control a process Output Voltage Parameter 307 Displays RMS line to line fundamental output voltage at the drive output terminals This data is averaged and updated every 50 ms The actual output voltage may be different than that determined by the sensorless vector or V Hz algorithms because it may be modified by features such as the Auto Economizer The absolute overspeed limit parameter 335 Abs OverSpd Lim is used to set a limit tolerance level below parameter 75 Rev Speed Limit and above parameter 76 Fwd Speed Limit that provides a safe working speed limit Example 1 The speed reference is set to equal parameter 76 Fwd Speed Lim Based on tuning of the drive the speed could overshoot the commanded speed If parameter 335 Abs OverSpd Lim is set to zero and an overshoot in speed occurs an absolute overspeed fault will occur Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Owners Detailed Drive Operation Chapter 1 Example 2 The drive is
168. he direction test Test is automatically selected during the direction test portion of the Start Up routine and does not need to be set manually by the user Field Oriented Control Permanent Magnet Motor Control and Volts Hertz Control are described in further detail below Field Oriented Control Field oriented control is used with AC squirrel cage induction motors for high performance Motor data and an autotune is required for correct operation in this mode refer to Autotune on page 19 for details Field oriented control is selected by setting parameter 485 Motor Ctrl Mode 0 FOC In field oriented control the drive takes the speed reference that is specified by the Speed Reference Selection block and compares it to the speed feedback The speed regulator uses Proportional and Integral gains to adjust the torque reference for the motor This torque reference attempts to operate the motor at the specified speed The torque reference is then converted to the torque producing component of the motor current This type of speed regulator produces a high bandwidth response to speed command and load changes In field oriented control the flux and torque producing currents are independently controlled Therefore you can send a torque reference directly instead of a speed reference The independent flux control also allows you to reduce the flux in order to run above base motor speed High Bandwidth Current Regulator CUR
169. hen parameter 728 PLL Ext Spd Ref is linked to the master drive s speed reference a master drive is one that controls the PLL encoder In this case set parameter 730 PLL LPFilter BW to the bandwidth of the master drive This will compensate for the drive s delayed response from input reference to output signal Master bandwidth can be approximated as the reciprocal of the small signal step response to 63 output Values ranging from 2 20 radians second would not be unreasonable for a master drive ACOMP When parameter 720 PLL Control bit 1 Ext Vel In 0 feed forward is selected from the X to V converter Set parameter 720 PLL Control bit 2 Trckng AComp 1 to provide acceleration compensation Bit 2 of parameter 720 PLL Control should be set to 0 when the feed forward comes from an external source unless the arrival of the external input is perfectly timed Noise Filtering Parameter 730 PLL LPFilter BW affects the level of filtering Input tracking is generally maintained regardless of this setting However in extreme cases an abrupt input change can occur and the drive should quickly respond There will always be a trade off between noise and PLL high frequency response that must be resolved by PLL bandwidth Encoder Placement Affects Noise The reference encoder can be mounted anywhere however it is best to choose a shaft that is minimally disturbed A stub shaft off of a relatively high kine
170. his is basically a resistor and bypass relay in series with the positive DC bus between the front end rectifier and the bus capacitor The bypass relay control is described below Also note that these drives can be wired for either AC line power or DC common bus The precharge function will work the same for either AC or DC power input Precharge Frames 5 and Up AC Input Stand Alone Drives For frames 5 and up AC input the precharge function is implemented with an SCR rectifier such that the SCRs are phase advanced to limit the inrush current into the bus capacitor s This phase advanced precharge is not controlled by the drive and should normally be completed by the minimum precharge time required by the drive The drive will not complete precharge until the bus voltage is stable and above the undervoltage level Precharge Frames 5 and Up DC Input Common Bus Drives There are two versions of the DC input or common bus drives The first has a resistor with an SCR bypass in series with the positive DC bus in front of the bus capacitor The second does not have any precharge hardware and is intended for user applications where the precharge hardware and control is provided by the user Drives with the resistor and SCR bypass internal have the same precharge control as frame 1 4 above ATTENTION In cases where the user is providing the precharge hardware and control incorrect configuration and or control may result in driv
171. his setting redefines where the zero position of the motor shaft will be Then set parameter 740 Position Control bit 9 SetZeroPosit 0 Parameters 745 PositRef EGR Mul and 746 PositRef EGR Div are not used in absolute mode Therefore the position reference is always scaled to feedback counts in absolute mode ATTENTION When absolute mode is on if the motor shaft is moved A while the drive is stopped or powered down the drive will move to the position reference set in parameter 758 Pt Pt Posit Ref when started For applications where the motor shaft should not move on the initial start load the value from parameter 763 Position Actual into parameter 758 Pt Pt Posit Ref before starting the drive Example to Control the Point to Point Position with Digital Inputs Digital Inputs can be used to control up to 16 positions for the point to point loop by using the Bit Swap and Selector Switches user functions This example is used to control the selector switch function block to select 4 different positions from digital inputs 4 and 5 note that we can select up to 16 positions with the selector switch but this example only uses 4 Once the desired position is selected digital input 3 is used to pass the chosen position through the switch to parameter 758 Pt Pt Posit Ref Rockwell Automation Publication PFLEX RMO03E EN E January 2011 101
172. hnique PET sc c icrwemnhaduesuatoreavadyaneey 119 Reflected Wave wis moisisisscseneererie ti veiled oE nrn DE 119 RFI Filter Grounding essri eede A a thes we 120 S GuUVe kea Eea a EE EE yan E AE A AES 120 SECUIILY kerana na ones Regu EEEE wees sheer EE EEE EEE 121 Communication Peripherals oneness 121 Software Toole 2seud rieu r d rA ec eS 121 Sensorless Operation eriei si a E EEEE aS 122 Slip Compensation wie 00 nies iad ie ee eee 122 Sensorless Gains den rnae enoaan Soa aoeen ee euw de beuban acne 122 Sensorless Operation in Frames 9 and Up Drives 123 Sensorless Flying Start ni4 sa kisancea rw eenepny ees ete eaem eens 123 Skip Speeds 2 0 ccdcd eE N E E de mhunter steers 2d 123 Gonhiguirationsisyssany ects ta aoa soaked wah ee eee GaN 123 Slip Compensito pesasi aieu hic aie abe ra eee Raph E 126 Slip Compensation Configuration s ssesrsrrerereree 126 Speed Control Speed Mode Speed Regulation 005 127 Speed Position Feedback Joc s20e 9545 24 a adidas oe eee ere 128 Feedback Devices it aiinuetesiteniar hi edaduh eerie is 128 Encoder seteutioled orc e ddd eee o a E eed hod 128 Linear Feedback Devices aiidch 25 25a Sees aah es aba 131 FIR Filter ser ano aa areas baxae EA 132 Setisopless2 na e e a aak held Cee Ae a D lh 132 Motor Simulator 404 2 Genet ee a 133 Feedback Option Cards 5 6 ote ot nel omend gets Meenas 133 Motor Speed Feedback and Scaled Speed Feedback 140 Position Fe
173. ime The value of parameter 504 PM AbsEncd Offst is determined by value in the absolute position sensor counter Back EMF Measures the permanent magnet motor CEMF motor voltage feedback coefficient and stores the value in parameter 523 PM Mtr CEMF Coef Inertia Test The final test is the inertia calculation The motor and load machine inertia is used to set the bandwidth of the speed regulator During the test the motor will accelerate to the speed set in parameter 74 Atune Spd Ref at a specified torque set by parameter 129 Atune Trq Ref The test then calculates the time in seconds to accelerate the motor at rated torque from zero to base speed and stores that value in parameter 9 Total Inertia Rockwell Automation Publication PFLEX RMO03E EN E January 2011 21 Chapter 1 Detailed Drive Operation Auxiliary Power Supply Bus Regulation Braking 22 Troubleshooting a MC Commissn Fail Fault during Autotune The MC Commissn Fail fault 23 occurs when either the Power Circuits diagnostics test fails or one of the Motor Tests fails To find out specifically why the fault occurred before clearing the fault check the bits in the following parameters 463 MC Diag Error 1 464 MC Diag Error 2 or 465 MC Diag Error 3 You can use an auxiliary power supply to keep the 700S control assembly energized when input power is de energized This allows the main control board controller and any feedba
174. imers ns cece insatntenrdwe 4l Direction Control and Bipolar Reference 00 e cee eee es l Drive Peripheral Interface DPI o n vaaacenp ieee kenimeuesndees 42 Client Server A sur E T bok al A bled te heed ta coll 43 Producer Consumer Operation Overview esreereeree 43 Peer to Peer Operation sssesssrersrerrerrrrrerrrrrrress 43 Diive Logikan reha a i tee tis eet hd nll E E ER 45 Dirive ONAE OTT o PEIE AAEE EA EE EE E EA T 45 Theory of Operation sssssseeesrrerrsrerrrrrerrrrerre 45 Drive Over Temperature Framed Onyon eroare Ovals ead aden eae Ae ola tated 46 Droop yi trara AKA Retin sche aes aa a AN ee er Sead 47 Dynami Braking jesen tirenn ve tibet E EN pE Vat aai 47 Efficieney enrere ee ARETE rans eats Cae einen ovale T EEAS 47 Electronic Gearing ei err enee rianan E ETE EEEE 48 aa Gas frees es E O E hy ae E EE E A A 48 Config ration ei Ae ne E AE a E E E E E EY 48 Configuration Example dsntaiinwiess4 vusieee eet weaetsieaces 48 EI EE EE esta a meatoia pss ples aie aie esi alcatel ay 48 Ke Wordsisi acincbaters Sa eels eyed ose aae hare deste theca Sirota 48 Nomenclatures cic cinctutdintidete pelle ch ate ttle ds te CEU e iN 49 Tow Pass FUG staat ovine cas uaa EE E E ET E 49 Second Order Low Pass Filter ccccecceceececececens 49 Lead Lag Filtet iii coud perennes Laas ade bie esol haw 50 Dobe Fil tet ed ane ok wa isch a ear betel aie tad coA deca wate eer tecae 53 C ncl si n ri
175. ing the switching frequency Refer to Figure 1 and Figure 2 below Note the output current at 2 kHz and 4 kHz The smoothing of the current waveform continues all the way to 10 kHz Figure 1 Current at 2 kHz PWM Frequency Stop 25 0kS s 322 Acas C4 RMS 11 68mV Saabs era 7B Ch4 10 0MVQ Figure 2 Current at 4 kHz PWM Frequency Tek Stop 25 0kS s 94 Acqgs C4 RMS 11 46mV Mz2 00ms Cha ThEmv Ch4 10 0mve The benefits of increased carrier frequency include less motor heating and lower audible noise An increase in motor heating is considered negligible and motor failure at lower switching frequencies is very remote The higher switching frequency creates less vibration in the motor windings and laminations making lower audible noise This may be desirable in some applications Some Rockwell Automation Publication PFLEX RM003E EN E January 2011 27 Chapter 1 Detailed Drive Operation CE Conformity Common Bus Systems Communications 28 undesirable effects of higher switching frequencies include derating ambient temperature vs load characteristics of the drive higher cable charging currents and higher potential for common mode noise A very large majority of all drive applications will perform adequately at 2 4 kHz Refer to the PowerFlex 700S AC Drive Phase II Control Frames 1 6 Ins
176. int 572 Trend Out Dint 10 Pl Feedback 182 PI Feedback 25 Trend 1 Real 573 Trend Out1 Real 11 Pl Error 183 PI Error 26 Trend 2 Dint 576 Trend Out2 Dint 12 Pl Output 180 PI Output 27 Trend 2 Real 577 Trend Out2 Real Additionally the analog output can be user configured for some other value by setting Anlg Outw Sel to 0 User Select and linking either parameter 832 or 839 Anlg Outx DInt to a DInt double integer parameter or linking parameter 833 or 840 Anlg Outx Real to a floating point real parameter Parameter 834 or 841 Anlg Outx Offset is added to Anlg Outx Real or Anlg Outx DInt before the scaling and limiting blocks The result of Anlg Outx Offset plus Anlg Outw Real or Anlg Outx DInt is limited by 10 times the value of parameter 835 or 842 Anlg Outx Scale Then that limited value is divided by the value of Anlg Outx Scale Parameter 836 or 843 Anlg Outx Zero is added after the scaling and limiting of the analog output value Anlg Outx Zero can be used to null out any offset from the D A converter Parameter 837 or 844 Anlg Outx Value displays the voltage or current value for the analog output Rockwell Automation Publication PFLEX RMO03E EN E January 2011 17 Chapter 1 Detailed Drive Operation Auto Manual 18 Anlg Out1 Dint C 832 Anlg Outi Real 833 Z f Analog 1 0 Units Dflt 18 AO1 Current A
177. ion of a group of drives Typical uses may include common bus or shared bus applications The precharge coordination can be open loop using different precharge delay times or could be closed loop by monitoring the precharge done status parameter 555 MC Status bit 11 PreChrg Done of each drive before the next drive in the sequence is enabled for precharge The maximum value for PreCharge Delay is limited by parameter 410 PreChrg TimeOut The maximum value for PreCharge Delay is determined by the following calculation e PreCharge Delay max PreChrg Timeout 1 Motor Sim Mode When motor simulation mode is selected the precharge requirements are ignored and the precharge done condition is not required to run the drive External Power Supply If the drive is used with an external power supply the user should not request precharge until the drive incoming power is available If the user does request precharge without incoming drive power a precharge timeout fault will occur if configured for a fault There are seven preset speeds available for use Refer to Speed Reference on page 145 for more information Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Process PI Loop Logic Status Running Logic Command PI Trim En lt 183 PI Error 0 0 Detailed Drive Operation Chapter 1 The drive has a process PI loop that can be used to trim speed torque or other functions Logic Ctrl St
178. is bit is set the position will be set to the position defined in parameter 1123 Home Position Parameter 1123 Home Position is not supported in firmware version 3 003 27 Return Home When this bit is set the drive will return to the home position at the speed set in parameter 1122 Home Speed Rockwell Automation Publication PFLEX RMO03E EN E January 2011 175 Chapter 1 Detailed Drive Operation Start Inhibits This section covers start inhibits displayed in parameter 156 Start Inhibits This parameter indicates the cause of no response to a start request Bit Name Description 0 Faulted The drive is faulted 1 No Enable No Enable is signal present 2 SW Ramp Stop A software ramp stop command is present 3 SW Coast Stp A software coast stop command is present 4 SW I Lim Stp A software current limit stop command is present 5 Power Loss A power loss has occurred 6 Power EE A power EEprom error has occurred 7 Flash Upgrd A Flash upgrade is in progress 8 Start A start command is present 9 Jog A Jog command is present 0 Encoder PPR A Encoder PPR error has occurred 1 Bus PreChrg Bus precharge has not completed 2 Digln Config A digital input configuration error has occurred 3 Motin Shtdwn A motion shutdown has occurred 4 PM Mtr Fdbk A permanent magnet motor feedback error has occurred 5 PositFdbkSel A position feedback selection configuration error has occurr
179. isnaces dade nree cancers ete 104 Position Loop Registrations asi vsiaiiniiaetet avons peeves tens 105 Encoder 0 and 1 Registration isi ia0 ois saves cories did ay 105 Feedback Option 0 and 1 Registration 0 0 000 sees 108 Power Loss Ride Through scics shape serene tedes apddaes ey aorndens 109 Precharge Frames le sig oewnds chetethee eee gone EE TE swe 110 Precharge Frames 5 and Up AC Input Stand Alone Drives 110 Precharge Frames 5 and Up DC Input Common Bus Drives 110 Ride Through Operate is sie a d wd tdctecsmrash mata acy nete tad vcameins 111 Ride Through Configuration ss cession p sawd diene stesead ake wd 111 8 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Table of Contents Ride Through Timeout Paultscccncxianawt vaurtetabaecwneeanas 112 Precharge Operation sidien e A trina ancl eget ote eed 112 Precharge Timeout Fault cesta ch eevee tage Ns 114 External Precharte ren rusiu wade dee e Laem aaa 115 Precharge Staging o Vi eae ah abou o a eaaa a e Mia 116 Motor Sin Modes eree aaa TR EE TEE 116 External Power Supplynuse0e45 5S cauienwen tsedaeeenSaeracast 116 Preset Speeds 35 eiiaoe aA E eee a2 116 Process PLLOOP ornina reinn a a a E a pats 117 Process PI Reference and Feedback 2s 44 4 4eh eevee aes 117 Process PI Regulator eniri iaa a E E EE E E 117 Process PL Dimits isise a a aaa ah AREA 118 Process PPOUtpUE resso penri sinet entr EEE EALER E OPT 118 Pulse Elimination Tec
180. ition Loop sic ws ue ciersnran cn Steg tener be wagverioves 92 Position Reference Selection 23 c 2i05 0 i av ce ee ereeentehees 92 Setting the Electronic Gear Ratio and Speed Reference Scaling 93 Position Offset ezoms pede as2 Sti se tales ne oneal os saree 94 Position Loop Output LiMIts sic cans svcce tabs reese oteownews ns 94 T nng pse neers Seren Rene ea PR e ae Oe eee Dy Dente are 95 Jogging a Position Follower Independent from the Master 95 Position Loop In Position Detect 5 oi chwas abit chaae teeuanerateaes 96 Position Loop Point to Polit 30 4 si 00s iss vea we eye eas 96 OVEIVIOW ss eee eae bis Ska touts Gaus barnes ees 96 Speed Reference Selections 5455 25 pnuda acess ls deaysusaezeeus ee 97 Enabling the Position Loop 1 46 ccavcndor ove eee vie sews pine ed 97 Position Reference Selection o4 01 4st covdude eeu ae eeote deed 97 Position Reference Scaling o o nousununeurrsurrrerrrrrrrrere 98 Position Offset sanert insanis gedin aan bye E S Aara 98 Point to Point Acceleration and Deceleration 99 Position Loop Output Limits s sssssssssrsssssssrrssrsses 99 Toning TAPS egy ae casa E E Redd E E I TESA 99 JOSPIN Eina etree Rec ds aa er E E E aS 100 Point to Point Re Reference 4 4 deri cori cety ca tae errre 100 Absolute Point to Point Positioning 0 0 e eee eee 101 Example to Control the Point to Point Position with Digital Inputs 101 Position Loop Position Watchis 2 cse
181. itive values point to post trigger data When the Auto Output function is running this parameter will automatically sequence through it s full range at a rate set by parameter 559 Trend Rate Rockwell Automation Publication PFLEX RMO03E EN E January 2011 195 Chapter 1 Detailed Drive Operation Trend Control In 1 Real Trend Int Dint G70 9 F Trend In Real 571 Trend Control Trend TrigA Dint Trend TrigA Real Trend TrigB Dint e Trend TrigB Real 563 2 Trend Trig Data ot Trend Trig Bit CDE Trend Control Enbl Collect Trend Data Trend Control In 2 Real seJ 2 Trend In2 Dint 574 1 0 Trend Mark Dint C67 Trend Mark Real C568 TrendBuffPointer Ungrounded Unbalanced or High Resistive Ground 569 1 BE Trend In2 Real 675 0 Trend Control 1 0 Trend Out1 Dint 1 572 Trend Out1 Real 1023 573 o 1023 In 3 Rean lt 2 3 Trend Control In 4 Real uF Trend In3 Dint 578 Trend In3 Real 579 1 Trend Out2 Dint 576 gt Trend Out2 Real 577 o 1023 Trend Status Triggered Trend Status Complete 557X 2 1 ojl Trend In4 Dint 582 gt Trend ina Real C58 a Trend Ou
182. its if the data for the multiply block is too large It contains the following bits Rockwell Automation Publication PFLEX RMO03E EN E January 2011 183 Chapter 1 184 Detailed Drive Operation e Bit 0 Local Ovflow The result of the multiply function is too large e Bit 1 Rx Ovflow The data received from SynchLink is too large e Bit 3 Ftol Ovflow In the master the data converted from floating point to integer is too large Multiply Block Receive Parameters Follower Select the direct word on which to use the multiply block by setting one of the parameters 906 SL Rx DirectSel0 909 SL Rx DirectSel3 to 1 SL Multiply Note that the receive parameter selected to use the multiply block in the follower must correspond to the transmit parameter selected to use the multiply block in the master e Parameter 924 SL Mult A In contains the value received from SynchLink after it was divided by parameter 923 SL Mult Base e Parameter 925 SL Mult B In contains the multiply scale factor to multiply by the value received from SynchLink Note that SL Mult B In can be a constant or can be linked to a source parameter e Parameter 923 SL Mult Base contains the base to convert integer data received from SynchLink back to real data Usually SL Mult Base will be set the same in the master and follower e Parameter 926 SL Mult Out contains the result of the multiply block A floating point des
183. iv Motor Initially the cable is in a fully charged condition A transient disturbance occurs by discharging the cable for approximately 4 ms The propagation delay between the inverter terminals and motor terminals is approximately 1 ms The small time between pulses of 4 ms does not provide sufficient time to allow the decay of the Rockwell Automation Publication PFLEX RM003E EN E January 2011 119 Chapter 1 Detailed Drive Operation RFI Filter Grounding S Curve 120 cable transient Thus the second pulse arrives at a point in the motor terminal voltage s natural response and excites a motor overvoltage transient greater than 2 p u The amplitude of the double pulsed motor overvoltage is determined by a number of variables These include the damping characteristics of the cable bus voltage and the time between pulses the carrier frequency modulation technique and duty cycle The plot below shows the per unit motor overvoltage as a function of cable length This is for no correction versus the modulation correction code for varied lengths of 12 AWG cable to 600 ft for 4 and 8 kHz carrier frequencies The output line to line voltage was measured at the motor terminals in 100 ft increments No Correction vs Correction Method at 4 kHz and 8 kHz Carrier Frequencies Vbus 650 fe 60 Hz 2 f No Correction 4 kHz Carrier 2 5 Corrected 4 kHz Carrier 24
184. ive does not complete precharge due to an unstable bus voltage then after the precharge timeout period the precharge control will complete precharge provided all of the other conditions for precharge are met This control is based on the precharge timeout status and is independent of whether or not the precharge timeout is configured as a fault alarm or ignored This feature could be useful in cases where bus disturbances are created by another drive in a common or shared bus installation Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Settings for parameter 381 PreChrg Err Cnfg 0 Ignore This setting disables the precharge timeout fault In this case the drive ignores condition three of the precharge operation described on page 112 so that the drive does not check for an unstable bus voltage Therefore after the precharge timeout period the precharge control will complete precharge providing all of the other conditions for precharge are met This feature could be useful in cases where bus disturbances are created by another drive in a common or shared bus installation 1 Alarm If precharge does not complete within the timeout period the drive does not fault but it sets an alarm bit in parameter 326 Alarm Status 1 bit 30 Precharge Er 2 FltCoastStop This is the factory default setting If precharge does not complete within the timeout period the dr
185. ive faults and disables the PWM output External Precharge In cases where the user must provide external drive precharge hardware and control the following should be considered e The current limit necessary to protect the drive and fuses e The breaking capability of the precharge device e The regenerative capability of the drive system Whether or not ride through control will be accommodated e Impedance isolation that may be needed between drives e Braking requirements e Sharing between drives e The power disconnect operation in the system The drive s precharge and ride through functions will still run even though the actual precharge hardware is not controlled by the drive The drive s enable parameter 155 Logic Status bit 0 Active precharge enable controlled with a digital input or parameter 411 PreChrg Control and precharge done parameter 555 MC Status bit 11 PreChrg Done parameters are available for the external precharge ride through control in cases where the users would like to provide coordinated operation between the external precharge and the drive s ride through operation Rockwell Automation Publication PFLEX RMO03E EN E January 2011 115 Chapter 1 Detailed Drive Operation Preset Speeds 116 Precharge Staging Parameter 472 PreCharge Delay can be used in conjunction with a precharge enable see condition one in Precharge Operation on page 112 to coordinate the precharge operat
186. ke a valve for issued commands Closing the valve setting a bit value to 0 stops the command from reaching the drive Opening the valve setting a bit value to 1 allows the command to pass through the mask into the drive Table 1 Mask Parameters and Functions Parameter Name No Function Write Mask 669 Determines which ports and adapters have write access to the drive parameters links etc Changes to this parameter only become effective when power is cycled the drive is reset or bit 15 Security of Par 712 Write Mask Act transitions from 1 to 0 Logic Mask 670 Determines which adapters can control the drive When the bit for a port or adapter is set to 0 the port or adapter will have no control functions except for stop Start Mask 671 Controls which adapters can issue start commands Jog Mask 672 Controls which adapters can issue jog commands Direction Mask 673 Controls which adapters can issue forward reverse direction commands Fault Clr Mask 674 Controls which adapters can clear a fault The individual bits for each parameter are as follows e Bit 0 Terminal Blk e Bit 1 Local HIM e Bit 2 Ext DPI Conn e Bit 3 Aux DPI Conn e Bit 5 Int DPI Comm e Bit 7 DriveLogix Example A customer s process is normally controlled by a remote PLC but the drive is mounted on the machine The customer does not want anyone to walk
187. ke affect immediately To view parameters in DriveExecutive for a firmware function that has just been turned on you can either create a new database after you have enabled the function in the drive or turn on the Show hidden parameters feature in DriveExecutive by selecting View gt Options gt Components ATTENTION The Flying Start function is only used for sensorless operation In all other cases the motor speed is known from the feedback device and a normal start may be used even if the motor is rotating provided the user has determined that the system is safe for re starting while rotating The flying start feature is used in sensorless mode to start into a rotating motor as quickly as possible and resume normal operation with a minimal impact on load or speed When a drive running in sensorless mode is started in its normal mode it initially applies a frequency of 0 Hz and ramps to the commanded speed 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 residual voltage on the spinning motor when the drive starts Even if the current limiter is fast enough to prevent an overcurrent trip it may take an unacceptable amount of time for synchronization to occur and for the motor to reach its desired frequency In addition larger me
188. ks Detailed Drive Operation Chapter 1 The following methods are available for a drive to use to protect itself from an overcurrent or overload condition e Instantaneous Over Current Trip This is a feature that instantaneously trips or faults the drive if the output current exceeds this value The value is fixed by hardware and is typically 250 of drive rated amps This feature cannot be disabled Software Over Current Trip This is a configurable trip function If parameter 377 Inv OL Trip Cnfg is set to 2 FltCoastStop Fault Coast to Stop the drive will trip on an inverter overload This will occur when the Open Loop or Closed Loop IT function has detected an overload condition See the Drive Overload on page 45 section for a description of the Open Loop and Closed Loop IT functions e Software Current Limit This feature selectively limits the current the drive will provide based on the several factors The value of parameter 356 Mtr Current Lim will limit the current to the user changeable level the range is 105 of motor flux current to 800 of the motor nameplate rated full load amps entered in parameter 2 Motor NP FLA The Open Loop IT function can also limit the output current if the calculation determines it is in the overload area of operation The Open Loop IT function and the motor current limit parameters are routed to a minimum selection the algebraic minimum of the inputs is used as the current limit
189. l can be controlled by from a network by using a Datalink Refer to Datalinks on page 35 for details Position Control can be controlled from DriveLogix by linking it to one of the FromDriveLogix words parameters 602 to 622 See the DriveLogix 5730 Controller User Manual publication 20D UMO003 Inertia adaption is used to compensate for lost motion which occurs when a gear box and or springy coupling is present Inertia adaption can allow the user to increase the speed regulator bandwidth by up to four 4 times For example a motor connected to a gearbox is shown Motor gear box Load This gearbox can be represented by a spring k and gear back lash BL Motor Load k BL When the speed of the motor increases there is a period of time represented by Ax before the teeth of the gearbox engage After that time there will be some twisting like a spring in the shaft after the teeth of the gearbox engage This lost motion causes mechanical instability and limits how high the speed regulator bandwidth can be set without causing instability Inertia adaption detects the lost motion and a higher speed regulator bandwidth can be achieved without instability f slope due to springy nature k of shafts after gearbox teeth engage gt lt gt AX backlash BL before gearbox teeth engage Rockwell Automation Publication PFLEX RMO03E EN E January 2011 61 Chapter 1 Detailed Drive Operation Iner
190. lNet v2 001 or higher 20 COMM D DeviceNet v2 001 or higher e 20 COMM S DF1 v1 003 or higher Software Tools e DriveExplorer v4 04 or higher DriveTools SP v4 01 or higher By default every DPI port in the drive is configured to allow write access To change write access on an individual DPI port change the bit setting of the associated port in parameter 669 Write Mask e Bit 0 Terminal Blk drive Bit 1 Local HIM DPI Port 1 e Bit 2 Ext DPI Conn DPI Port 2 e Bit 3 Aux DPI Conn DPI Port 3 e Bit 5 Int DPI Comm DPI Port 5 e Bit 7 DriveLogix A bit value of 0 masked read only access A bit value of 1 not masked read write access Any changes to Write Mask will not take effect until one of the following events happen e Power is removed and reapplied e A drive reset not reset to defaults is performed The status of a port s write access may be verified at parameter 712 Write Mask Act For example to verify that write access was disabled on DPI Port 1 bit 1 of Write Mask Act should equal bit 1 of Write Mask Note that bit 15 Security of Write Mask Act is for future use 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 Only This feature prevents the complete lockout of a drive with no way to regain write access
191. leared before another move is recognized Immediate mode Bit 2 Start of parameter 1135 PPMP Status is not used The commanded absolute position command interpreter acts immediately A move profile is initiated to Note When using Absolute mode with an absolute feedback device actual position can be redefined by setting parameter 757 Abs Posit Offset For example to redefine the actual position as 0 set parameter 757 parameter 762 Position Fdbk Parameter 1135 PPMP Status displays current operating status of the Point to Point Motion Planner Table 5 Parameter 1135 PPMP Status Bit Bit Name Description 0 _ Absolute Acknowledge Absolute mode 1 Incremental Acknowledge Incremental mode 2 Start Acknowledge a Start move 3 Reserved Not used 4 Scaling En Input Scaling is enabled 5 Over Ride En The velocity override multiplier is enabled 6 S Curve En S curve is enabled 7 Cond Hold Conditional hold is enabled 8 Pause A Pause is active 9 Re Synch A Re synchronization of the output position to the actual position is active 10 Zero Speed Profile velocity output command has reached zero Note actual position regulator output velocity may not have reached zero 11 Done A move has been completed to commanded position 12 Running ENABLE lt AND gt Position_enabled RUN will force a RESYNC command Rockwell Auto
192. lection will set the selected feedback of Par 222 Mtr Fdbk Sel Pri as the Position regulator s position feedback The following options are available Encoder 0 1 Encoder 1 3 Mtr Fdbk Pri 4 Motor Sim 5 FB Opt Port0 6 FB Opt Port1 Note Options 5 and 6 are only available when compatible feedback option card is installed Speed Feedback Loss Ride Through The speed feedback loss ride through function provides an automatic switch over from the primary motor speed feedback device to the alternate motor speed feedback device when a primary motor speed feedback device fault is sensed When this feature is not active the drive will automatically switch from an encoder to sensorless operation in the event of a primary encoder failure When an alternate speed feedback device other than Sensorless has been selected and has failed the switching will not be allowed and the drive will fault The active device can be monitored and manual switching between the primary and alternate devices is available This function is also referred to as tach loss switch over and encoder loss ride through Rockwell Automation Publication PFLEX RM003E EN E January 2011 141 Chapter 1 142 Detailed Drive Operation The drive determines that the encoder has faulted based on a combination of hardware detection and monitoring the rate of change of the motor speed The hardware fault detection is base
193. ll Time sets how long the speed error must be less than the SLAT error set point before turning off the forced speed mode At the time that the drive switches from torque mode to speed mode the speed regulator output is loaded with the value from the torque reference to create a smooth transition In order for the drive to switch from speed mode to torque mode forced speed mode if active must first be turned off Forced speed mode will turn off when the speed error is less than the SLAT error set point for the SLAT dwell time With default parameter settings this will occur when the speed error becomes negative When forced speed mode is off the drive will switch back to torque mode when the speed regulator output becomes less than the torque reference This is the same condition that exists in maximum torque mode P119 SLAT Error Setpoint Speed Error gt 0 P120 SLAT Dwell Time Forced Speed Mode FSM Low Pass or on ee ee A Filter Speed Error lt SLAT Setpoint for SLAT Time FSM State Controller Internal Torque Reference ITR Speed Regulator Application Output SRO Dependant Speed Reference Bias Motor Speed Feedback External Torque Reference ETR Rockwell Automation Publication PFLEX RMO03E EN E January 2011 169 Chapter 1 Detailed Drive Operation Standalone Drive Homing without DriveLogix Overview Many positioning applications require the ability to find the Home
194. loop Parameter 964 Tx Dir Data Type bits 0 3 select whether the direct data words transmitted over SynchLink will be DInt double integer or real floating point data When the bit is turned off it means the data transmitted will be DInt When the bit is turned on it means the data transmitted will be floating point The default is all DInt words Figure 28 Diagram of Direct Transmit Data Word 00 SL Tx DirectSelO SL Real2Dint Out D Convert i Tx Dir Data Type SL Real2Dint In 922 964 00 A Real DInt i SLDir00 Real SL Mult Base lt 923 x Base o i 0 SL Dir Tx Word 00 0 i to SL Hardware From Registration Latch 0 11 1 Convert i hd H RegisLtchO Value lt 235 I Real Dint 2 From Registration Latch 1 i 3j RegisLtch1 Value 239 SL Cir Events 916 ity f 211 SL Dir Data Tx00 965 H kg SL Dir Data Rx00 From Encdr0 Accum 23 Encdr0 Position lt 230 24 From Encdr1 Accum Encdr1 Position lt 240 a From Fdbk Opt0O Accum 26 FB Opto Posit lt 250 gt From Fdbk Opti Accum FB Opt1 Posit 252 Multiply Block SynchLink has the ability to take one of the direct data words and multiply it by a constant or parameter value for features such as draw control Parameters for the multiply block must be setup in the Master as well as the Follower drive Parameter 927 SL Mult State contains overflow b
195. lower to the master position A Added to Position Reference After EGR X Offst SpdFilt Posit Offset 1 C753 Posit Offset 2 754 Posit Offset Spd 755 Position Control o X Offset Pol 741N05 MORRI AN ie ef Ac Position Control X Offset Ref There are two offsets parameters 753 Posit Offset 1 and 754 Posit Offset 2 The offset speed must be entered in parameter 755 Posit Offset Spd if this is left at zero the move will not occur The position offset must be entered in counts 98 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 of feedback because it is added to the position reference after the EGR scaling Offsets must be maintained to keep the position For example if you enter 300 in the offset the position loop will move 300 counts extra If you zero the offset command the motor will return to the previous position When it is necessary to zero the offset after a move without returning to the previous position set parameter 740 Position Control bit 5 X Off ReRef 1 Then set the offset value 0 Then set Position Control bit 5 X Off ReRef 0 The system will not make an offset move when bit 5 of Position Control is set Point to Point Acceleration and Deceleration Parameter 759 Pt Pt Accel Time sets the acceleration time in seconds from zero to base motor speed Pa
196. lt of bit swap 1 will control parameter 151 The overall function of BitSwap 1 is that when digital input 3 turns on we turn on bit 1 Spd S Crv En of parameter 151 Logic Command For another example using multiple bitswaps and the 16 position selector switch to control the point to point position with digital inputs see Position Loop Point to Point on page 96 MOP The motor operated potentiometer MOP allows you to increase and decrease a DInt double integer or floating point value using two inputs The inputs can come from digital inputs a network or DriveLogix MOP Rate nn MOP Level Real Rate MOP Control Increment Decrement MOP Level Dint Convert 1092 Dint Real 1082 x Scale 1086 04 MOP High Limit 1088 MOP Low Limit 1089 MOP Scale Dint 198 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 MOP Configuration e Parameter 1086 MOP Control is use to configure and control the motor operated potentiometer The bits are as follows Bit 0 Increase if set increments the MOP level output from parameter 1087 MOP Rate to parameter 1088 MOP High Limit Bit 1 Decrease if set decrements the MOP level output from parameter 1087 MOP Rate to parameter 1088 MOP Low Limit Bit 2 Reset if set resets the MOP level output to zero and bits 0 Inc
197. mation Publication PFLEX RMO03E EN E January 2011 87 Chapter 1 Detailed Drive Operation Figure 20 Point to Point Motion Planner Block Diagram PPMP Control PPMP Scaled Cmd Scaling En PPMP Pos Command PPMP Pos Mul 1131 PPMP Pos Div FW Functions En MotinPlanner Car 19 amp Command Logic Command Position En Gas Interpreter PPMP Control PPMP Control Over Ride En Pause 1134 5 8 f 1 PPMP Rev Spd Lim l PPNP Over Ride l PPMP Fwd Spd Lim i T i C gt 1 i i 1 1 0 E i H W 1 1144 PPMP Pos To Go lt 1142 gt PPMP Spd Output Profile Gen I Pa S lt 1143 gt PPMP Pos Output gt l va l I PPMP Control Absolute o Kat 34 Incremental 1 Start 2 Cond Hold 7 PPMP Status Re Synch 9 U lt 1135 J 0 Absolute 1 Incremental 2 Start 3 Reserved 4 Scaling En 5 Over Ride En 6 SCurve En 7 Cond Hold 1139 PPMP Accel Time 8 Pause 9 Re Synch 10 Zero Speed 11 Done 12 Running Profile Generator 1140 PPMP Decel Time PPMP SCurve Time PPMP Control S Curve En TestPoints P1145 PPMP TP Select P1146 PPMP TP DataDint P1147 PPMP TP DataReal The profile generator executes a trapezoidal or s curve move Speed
198. mation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 The speed trim values are summed with the speed reference from the speed reference control loop Speed Trim 3 E xX aT SpdTrim 3 Scale 24 Spd Ref Bypass2 from Speed Ais gt To autotune Reference as gt 4x OX bypass Ovr Smpl aoe Posit Spd Output Speed Trim 2 318 ee acwee C22 gt nse wn from Position Control Lead Lag ee aie STrim2 Filt Gain C 25 ee D 7 J SpdTrim2 Filt BW C 26 Autotune Speed Reference During the inertia test the autotune speed reference is used instead of the output of the speed trim summation Parameter 74 Atune Spd Ref sets the speed for the inertia test Bit 4 Inrta Tst En of parameter 157 Logic Ctrl State turns on during the inertia test and allows the autotune speed reference to bypass the output of the speed trim summation Logic Ctrl State Inrta Tst En C157 04 from Speed Trim Autotune Bypass to Speed Limits Atune Spd Ref Speed Reference Limits At this point the summed speed reference is limited by parameters 75 Rev Speed Limit and parameter 76 Fwd Speed Limit These limits are set to 125 and 125 of parameter 4 Motor NP RPM by default The maximum value of Rev Speed Limit and Fwd Speed Limit are limited by parameter 532 Maximum Freq from Autotune to Current Bypas
199. mple Digital Input and Selector Switch Configuration In this example three digital inputs are used to control the status of bits 1 Sel Swtch 00 3 Sel Swtch 02 of parameter 1022 Sel Switch Ctrl to then select one of eight preset speeds configured in parameters 1029 1036 The binary coded decimal BCD output of bits 1 Sel Swtch 00 3 Sel Swtch 02 of parameter 1022 are or d together to select the desired parameter and preset speed e Set parameter 826 Dig In2 Sel to 34 UserGen Sel0 When digital input 2 is energized bit 1 Sel Swtch 00 of parameter 1022 is set high e Set parameter 827 Dig In3 Sel to 35 UserGen Sel1 When digital input 3 is energized bit 2 Sel Swtch 01 of parameter 1022 is set high e Set parameter 828 Dig In4 Sel to 36 UserGen Sel2 When digital input 2 is energized bit 3 Sel Swtch 02 of parameter 1022 is set high e Set bit 1 Sel Switches of Par 1000 UserFunct Enable to 1 enables the Selector Switch user function e Set bit 0 SSW DataPass of Par 1022 Sel Switch Ctrl to 1 enables the passing of the data from the selected parameter to Par 1045 SelSwtch RealOut and 1046 SelSwtch DIntOut Rockwell Automation Publication PFLEX RM003E EN E January 2011 203 Chapter 1 204 Detailed Drive Operation e Link Par 1045 SelSwtch RealOut to Par 1053 MulDiv 1 Input This multiply divide function block must be us
200. n condition disappears on the output condition and the corresponding change in the state of the digital output Either timer can be disabled by setting the corresponding delay time to 0 IMPORTANT Whether a particular type of transition False True or True False on an output condition results in an energized or de energized output depends on the output condition If a transition on an output condition occurs and starts a timer and the output condition goes back to its original state before the timer runs out then the timer will be aborted and the corresponding digital output will not change state For example in the diagram below parameter 845 Dig Out Sel is set to 14 CurrentLimit Relay Activates k gt CR10On Delay 2 Seconds Current Limit Occurs I I I I I I 0 5 10 Relay Does Not Activate gt CR1 On Delay 2 Seconds es Current Limit other gt The direction of rotation of the motor can be controlled by a forward reverse command or by the use of a bipolar signal Parameter 153 Control Options bit 0 Bipolar SRef selects this option When this bit is enabled 1 a bipolar speed reference is used In bipolar reference mode parameter 40 Selected Spd Ref indicates both the speed magnitude and the direction Positive speed reference values forward direction and negative speed reference values reverse direction When this bit is disabled a unipolar spee
201. n Off delay timer The status of the user defined on or off delay timer is displayed in DelayTimerxStats On Of Delay Delay Data Bit i og On i oo Off Delay i Delay Status Bit Digital Out Timer did not reach On Timer did not reach Off delay time delay time PowerFlex drives are sometimes referred to by voltage class This class identifies the general input voltage to the drive This general voltage includes a range of actual voltages For example a 400V class drive will have an input voltage range of 380 480VAC While the hardware remains the same for each class other variables such as factory defaults 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 using parameter 403 Voltage Class to reset a drive to a different setup within the voltage class range As an example consider a 480V drive This drive comes with factory default values of 480V 60 Hz with motor data defaulted for US motors Hp rated 1750 rpm etc By setting the Voltage Class parameter to Low Voltage this represents 400V in this case the defaults are changed to 400V 50 Hz settings with motor data for European motors kW rated 1500 rpm etc Rockwell Automation Publication PFLEX RMO03E EN E January 2011 211 Chapter 1 Detailed Drive Operation Watts Loss See the P
202. n bit 12 indicates that the alternate speed feedback device selected in Mtr Fdbk Sel Alt is active Parameter 222 Mtr Fdbk Sel Pri selects the primary speed feedback device It is not intended to use the sensorless selection as the primary or active speed feedback device as there is no feedback loss detection used with sensorless operation Parameter 223 Mtr Fdbk Sel Alt selects the alternate speed feedback device Any selection of feedback devices including sensorless operation is available providing a corresponding motor type and associated feedback device is present Settings for parameter 222 Mtr Fdbk Sel Pri and parameter 223 Mtr Fdbk Sel Alt Encoder 0 1 Encoder 1 2 Sensorless 4 Motor Sim FB Opt Port0 Parameter 224 TachSwitch Level sets the detection level for the automatic speed loss switch over routine A drop in feedback speed at the percent of rated speed over a 0 5 ms interval will cause a tach switch from primary to alternate device Setting this level lower will make the speed detection more sensitive and lower the minimum speed at which a speed switch could occur Setting this level higher will make the speed switch less sensitive and raise the minimum speed for speed switch detection Parameter 320 Exception Event bits 2 through 5 show the error status of the corresponding speed feedback device 2 EncdrO Loss 3 Encdr1 Loss 4 FB Opt0 Loss 5 FB Opti Loss
203. n is 2147483647 The Auto Manual function on the LCD HIM is not functional on the PowerFlex 700S drive with Phase II control Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Autotune Auto tuning is a procedure that involves running a group of tests on the motor drive combination Some tests are checking the drive hardware while others configure the drive parameters to maximize the performance of the attached motor The auto tuning procedure can be done using the Start Up menu on the HIM Autotune Start Up Menu The Start Up menu prompts the user for information and yes no responses as required The Motor Control Motor Data Feedback Configuration Power Circuit Test Direction Test Motor Tests and Inertia Measure submenus of the Start Up menu are all related to the autotuning of the drive motor combination and are covered in this section Motor Control The Motor Control submenu asks you to select the motor control operating mode which sets the parameter 485 Motor Ctrl Mode Choices are FOC FOC 2 Pmag Motor V Hz and Test e FOC selects field oriented control This should be the selection for AC squirrel cage induction motors e FOC 2 selects field oriented control and is only used for a specific type of AC induction motor with motor thermal feedback e For Phase II control V2 003 or later
204. nd the hardware control The drive will not restart precharge any time that the drive is running see Ride Through Operation on page 111 The drive control is in precharge or bus capacitor charging mode any time that the precharge is not done parameter 555 MC Status bit 11 PreChrg Done 0 This process is independent of whether or not the drive control actually controls the precharge hardware For the control to complete precharge and allow drive enable the following five conditions must be met Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 1 A user controlled precharge enable must be present The precharge enable can be provided by a hardware input or parameter configuration When one of the digital input selection parameters 825 830 Dig Inx Sel is set to 30 PreCharge En the hardware precharge control is selected and the digital input controls the user precharge enable If none of the digital inputs are set to precharge enable the control then uses parameter 411 PreChrg Control as the source for the precharge enable In this case when parameter 411 0 Hold PrChrg the precharge control is disabled held in precharge and the drive is inhibited from running Otherwise when parameter 411 1 Enbl PrChrg the user precharge is enabled Using a digital input for the precharge enable is recommended for common bus systems where a drive may be disc
205. nfg is set to a value of 2 FltCoastStop This configures the drive to set the fault bit 10 Mtr OL Trip in parameter 323 Fault Status 1 when the motor overload trip event occurs and the drive and motor to coast to a stop The PowerFlex 7008S has various filters used to assist in tuning the drive The following sections can be used to assist you in using these filters which use frequency and time domain analysis Key Words Frequency response radians filter notch Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Units radians sec Nomenclature Symbol Description of Symbol S Laplace Operator 0 Frequency Qo Cut off Frequency Low Pass Filter radians sec A low pass filter is designed to pass low frequencies and attenuate high frequencies The break point between high and low is called the cut off f requency Figure 7 Bode Plot Low Pass Filter 10 radians second Magnitude dB Phase deg Bode Diagram 30H 90 L Frequency L 10 10 Frequency rad sec The Process Control Loop has a low pass filter immediately after the error signal The break frequency is set by parameter 184 PI Lpass Filt BW The filter is used to eliminate unwanted noise in the feedback Typical range is between 10 radians second to 50 radians second Second Order Low Pass Filter A second order low pass
206. ng a DInt Parameter using a Datalink e Parameter 660 DPI Data Out A1 is linked to parameter 741 Position Status e Parameter 659 DPI Out DataType bit 0 DPI A1 Real is set to 0 The value from DPI Data Out A1 to the controller contains the value of Position Status Example Configuration 2 Reading a Real Parameter using a Datalink e Parameter 660 DPI Data Out A1 is linked to parameter 307 Output Voltage e Parameter 659 DPI Out DataType bit 0 DPI A1 Real is set to 1 The value from DPI Data Out A1 to the controller contains the value of Output Voltage Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Decel Time Digital Inputs Detailed Drive Operation Chapter 1 Parameter 33 Decel Time 1 sets the rate at which the drive ramps down its output during a ramp Stop command or during a decrease in commanded speed The rate established is the result of the programmed deceleration time and the programmed motor rated speed set in parameter 4 Motor NP RPM as follows Motor RPM Parameter 4 _ Decel Rate RPM sec Decel Time Parameter 33 Times are adjustable in 0 0001 second increments from 0 01 to 6553 5 seconds Programming zero seconds will cause the drive to use 0 1 second Technical Information There are a total of six Digital Inputs Digital Input 1 and Digital Input 2 are 12V DC or 24V DC Sinking Hi Speed They are configured for 12V DC or 24V DC via dip switches default 2
207. nlg Out1 Sel 831 Selector i Q D A TB1 09 Ho X Anlg Out1 Offset 334 A 12bit O TB1 10 Anlg Out1 Scale CDS 10 j Anlg Out Zero lt 837 Anlg Out1 Value 1 bd Example Configuration 1 This configuration sends the motor torque current reference value to a 0 10V analog output signal e Parameter 831 Anlg Out Sel 15 Motor TrqRef e Parameter 835 Anlg Outl Scale 0 1 per Volt Motor torque is a per unit value where a value of 1 corresponds to 100 motor torque Therefore parameter 831 Anlg Out1 Scale is set to 0 1 per 1V so that when Motor Torque Ref 1 p u the analog output 1 0 1 10V Example Configuration 2 This configuration sends parameter 763 Position Actual out to a 0 10V analog output signal e Parameter 831 Anlg Outl Sel 0 User Select e Parameter 832 Anlg Out DInt is linked to parameter 763 Position Actual e Parameter 835 Anlg Out1 Scale is set to 214748364 7 per Volt Parameter 763 Position Actual is an integer parameter with a range from 2147483648 to 2147483647 Parameter 832 Anlg Out1 DInt is used because parameter 763 Position Actual is an integer parameter Parameter 835 Anlg Out1 Scale is set to 214748364 7 per Volt so the analog output will provide 10V when the position is 2147483647 and will 10V when the positio
208. nnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Use the Worldwide Locator at http www rockwellautomation com support americas phone_en html or contact Canada your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature
209. o the PowerFlex 700S AC Drive Phase II Control Frames 1 6 Installation Instructions publication 20D IN024 for information on supported linear feedback devices Note the linear feedback devices can be used only for position feedback and are not used for motor speed feedback The position feedback displayed in parameter 252 FB Opt1 Posit counts at a rate which depends on the linear feedback sensor used Parameter 253 FB Optl Spd Fdbk contains the speed feedback from the linear feedback device Rockwell Automation Publication PFLEX RMO03E EN E January 2011 131 Chapter 1 132 Detailed Drive Operation FIR Filter The recommended setting for the FIR filter is eight taps when parameter 146 FW TaskTime Sel is set to 0 or 1 0 5ms for task 1 When parameter 146 FW TaskTime Sel is set to 2 0 25 ms for task 1 the recommended setting for the FIR filter is 16 taps This sets the noise bandwidth for 120 radians second The recommended setting reduces the effect of noisy feedback on the system but values above 120 radians second for the speed regulator bandwidth may not be effective In some cases it may be desirable to increase the noise bandwidth in order to allow a speed regulator bandwidth higher than 120 radians second The setting of the FIR filter and parameter 89 Spd Err Filt BW can be changed to achieve a higher noise bandwidth according to the following tables FIR and P89 Spd Err Filt BW Settings when P146
210. ocsaras ir ecric i iir aoad a ereptus aiii 173 Homing Status 5 eree Se ia Soares N EEEE LEE 175 Optional Features oc n eeneeneeneeueeneenrenerrrerrenr reee 175 Start MAIDS ee rane gabe a E E T E 176 Start and Stop Modes sxs e iiaia bron eee EAA 176 Configuring the Start and Stop for 3 Wire Control Momentary Start and SEO Nane e a nese cod ar A EE S 177 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Table of Contents Configuring the Start and Stop for 2 Wire Control Maintained Start BTS COP esre E E T are E EREE AAN 178 Se AOS EE EE EEEE EE EE EE 179 Stop MO 68 ates ipanaa EE a TE a E OIE aaa 179 Synch coche ccs alk fet oh tee a aa a a 180 SynchLink Configuration c lt 3caatcrdcloniave die beuaokanmenes 180 SynchLink Direct Data cv o55 45 panes os vate sgeh4e5 Romans 181 Multiply Block 2 eevee Sheree tee ay ieee ag 183 Butered at rtsaree we iisiolss weve sitet sees Mako aa a 185 Synch Dink Didgnosties ssccctcstes 0S 4A Se eed hens 999 185 Speed Synchronization Example lt 4 o 00eo oiaei unease esis 187 SynchLink Axis Follower Selection for DriveLogix Feedback Only ASKS 25 Bessa toca aa Sete arcades Bain aetna deh a eee Mele a DB OGRE 190 R set Synch Link 2 stg Baten chyna sidra mento Seamer ete aerate dad nae 191 Sync Generato 5 a techie ee iow een nee EO E REG 191 onfiguratiom aie eria n a a a nt aod eacaaarea pede 191 ashe ET AAEE E E E ET 192 West Points 2254 at a a a e aa a a Winks 192 Thermal Regulato
211. of parameter 90 Spd Reg BW Parameter 768 PositReg P Gain may be set higher using lead compensation on the Position Regulator output Lead Lag filtering of the position regulator output is accomplished via the Speed Trim 2 filter Set parameter 25 STrim2 Filt Gain and parameter 26 Spd Trim2 Filt BW so that SpdTrim2 Filt BW STrim2 Filt Gain Spd Reg BW For example with parameter 90 Spd Reg BW 40 radians second set parameter 26 SpdTrim2 Filt BW 200 radians second and set parameter 25 STrim2 Filt Gain 5 The lead lag filter will effectively cancel the 1 40 sec lag This will allow a higher parameter 768 PositReg P Gain for increased stability Parameter 761 Pt Pt Filt BW sets the bandwidth of a low pass filter which affects smoothness at the start of deceleration in point to point mode A high filter bandwidth will produce a more square deceleration torque one with a higher level of jerk Typical values are 5 100 radians second A zero value will bypass the filter Too high of a value in Pt Pt Filt BW will cause unstable operation at the end of the move The default 25 radians second Jogging The jog can be performed while the position loop output is enabled and while the position loop output is turned on Point to Point Re Reference Parameter 740 Position Control bit 10 Pt Pt ReRef allows the user to perform a position re reference when active When this bit is set the position refe
212. of the input encoder to the desired number of revolutions of the PLL output The PLL Rev Input and PLL Rev Output parameters are Dint values and should typically be reduced to the least common integer The encoder EPR value set in parameter 725 PLL EPR Input must be specified for the feedback device used Parameter 726 PLL EPR Output sets the output counts per revolution These parameters should not be reduced to the least common integer The drive internally multiplies PLL Rev Input by PLL EPR Input to calculate the EGR numerator The drive multiplies PLL Rev Output by PLL EPR Output to calculate the EGR denominator Output Section Parameter 731 PLL Posit Out should be linked to the position reference in the local drive The local drive implements the PLL and transmits the PLL data over SynchLink to the other drives Parameter 734 PLL Speed Out should be linked to the speed reference in the master drive Parameter 732 PLL Posit OutAdv provides a position reference that is advanced by one scan time of the drive s control loop The value of PLL Posit OutAdy should be sent over SynchLink to the follower drives and linked into Rockwell Automation Publication PFLEX RMO03E EN E January 2011 83 Chapter 1 Detailed Drive
213. ol Options AutoTach Sw FdbkLoss 199 J16 Detect g Motor Spd Fdbk peed Feedback 0 to Speed from Primary Device lt 300 gt Regulator Speed Feedback 1 Logic Status Tach Loss Sw Automatic and manual switching of feedback devices is inhibited if a loss is sensed on the device to which switching was to take place The drive will fault when it is configured for speed feedback loss ride through and the primary device fails when the alternate device has failed and is also configured to fault If the alternate device is not configured to fault then switching to the alternate device will be inhibited and operation on the primary feedback device will continue Note that operation on the primary device will continue even when the device fails since the device must be configured for an alarm to allow for automatic device switch over 144 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Speed Reference Detailed Drive Operation Chapter 1 Manual Speed Feedback Device Switching Parameter 151 Logic Command bit 2 TackLoss Rst provides a manual switch between active and non active primary or alternate speed feedback devices with a 0 to 1 bit transition Resetting bit 2 from a 1 to a 0 causes no change in operation The switch is from the active feedback device either primary or alternate to the non active feedback device For example if prior to the reset the alternate device
214. om Direction Control i lt 41 To Ramp l Limit 0 i Min Spd Ref Lim ED Max Spd Ref Lim Ca Rockwell Automation Publication PFLEX RMO03E EN E January 2011 147 Chapter 1 148 Detailed Drive Operation Stop Command When a stop command is issued parameter 157 Logic Ctrl State bit 0 Spd Ref En is set to 0 causing a zero speed to be selected When Logic Ctrl State bit 0 is set to 1 the selected speed or jog reference is used Accel Decel Ramp and S Curve Parameter 32 Accel Time 1 sets the acceleration time in seconds from 0 speed to the speed in parameter 4 Motor NP RPM Parameter 33 Decel Time 1 sets the deceleration time in seconds from the speed in parameter 4 Motor NP RPM to 0 The ramp rate in RPM sec can be determined For example the ramp rate for acceleration would be Motor NP RPM Accel Time The ramped reference can be viewed in parameter 43 Ramped Spd Ref The accel decel ramp generator can be bypassed for certain functions When parameter 151 Logic Command bit 0 SpdRamp Dsbl 1 the ramp is bypassed The output of the accel decel ramp can also be held at its present value by setting parameter 151 Logic Command bit 4 SpdRamp Hold 1 Logic Command SpdRamp Hold C51 04 Limited Spd Ref Ramped Spd Ref From Speed Reference Limits a Logic Ctrl State SRef Ramp En X5701 a e Ramp S Curve Logic Command Accel
215. on PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 The following are the possible resolver settings Par 277 Par 272 Par 273 Par 274 Par 275 Reslvr0 Type Sel Reslvr0 SpdRatio Reslvr0 Carrier Reslvr0 In Volts Reslvr0 XfrmRatio Description 0 Disabled 1 0 0 0 0 No resolver configured 1 T12014 2087x1 1 2381 26 0 4538 Tamagawa TS 2014N181E32 TS 2087N1E9 TS 2087N11E9 2 T2014 2087x2 2 2381 26 0 4538 Tamagawa TS 2014N182E32 TS 2087N2E9 TS 2087N12E9 3 T2014 2087x5 5 2381 26 0 4538 Tamagawa TS 2014N185E32 TS 2087N5E9 4 MPL 460v 4000 8 0 25 AB Motor with integrated Resolver 5 Reserved 9300 22 0 5 Not supported 6 Siemens 1FT6 4000 5 0 5 Siemens 1FT6 series Motors with integrated Resolver 7 PrkrHn ZX600 7000 4 25 0 4706 Parker Hannifin ZX600 series Motor with integrated Resolver 8 Reserved 2500 12 0 5 Not Supported for Speed Regulation 9 1326Ax 460v 4000 8 0 25 AB Motor with integrated Resolver 10 Reserved 9000 15 5 0 5013 Not Supported for Speed Regulation 11 Reserved 2500 7 17 Not Supported for Speed Regulation 12 Reserved 9300 22 0 5 Not Supported for Speed Regulation 13 Reserved 2000 6 36 0 5 Not Supported for Speed Regulation 14 AmciR11XC107 2381 26 0 4538 Advanced Micro Controls R11X C107 15 PowerTec R1 7 Not Used 16 PowerTec R1 E Not Used Rockwell Automation Publication PFLEX R
216. onnected and reconnected to the common bus system The digital input should be connected through an auxiliary contact on the cabinet disconnect switch Failure to provide a hardware disconnect precharge control may lead to very large inrush currents and associated drive damage if a reconnection is made before the drive can sense the power loss This precharge enable provides a user controlled permissive to the precharge function 2 The drive must not be in an undervoltage condition Parameter 409 Line Undervolts sets the undervoltage level as a percentage of drive rated volts parameter 401 Rated Volts An undervoltage is detected by comparing the value of parameter 306 DC Bus Voltage to the percentage of line voltage set in parameter 409 Line Undervolts times parameter 401 Rated Volts times the square root of 2 The undervoltage condition is displayed in parameter 555 MC Status bit 15 DC Bus Low 3 The drive bus voltage must be stable not rising The bus voltage stable condition is determined by comparing the bus voltage to a filtered value of the bus voltage Initially when power is applied to the drive the bus voltage will rise as determined by the limited current controlled by the precharge device The filtered value of bus voltage will lag behind the actual bus voltage until the bus capacitor charging is complete then the values will converge A difference between the filtered and actual bus voltage determines if the bus
217. ons 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 Value Action on Signal Loss Disabled default Fault Hold Input continue to use last frequency command Set Input Lo use parameter 30 Min Spd Ref Lim as frequency command Set Input Hi use parameter 31 Max Spd Ref Lim as frequency command Goto Preset use parameter 14 Preset Speed 1 as frequency command Hold OutFreq maintain last output frequency OD on AeA wy nr If the input is in current mode 4 mA is the normal minimum usable input value Any value below 3 2 mA will be interpreted by the drive as a signal loss and a value of 3 8 mA will be required on the input in order for the signal loss condition to end 4mA 3 8 mA 3 2 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 6V will be interpreted by the drive as a signal loss and a value of 1 9V 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
218. onse of 5 radians second By adding the lead lag filter the system response was increased to 50 radians second There is lead lag filter for the position loops speed reference The parameters are Kn Parameter 25 STrim2 Filt Gain Wn Parameter 26 SpdTrim2 Filt BW A typical use would be to set the lead function Wld to the velocity bandwidth parameter 90 Spd Reg BW and the lag W1g function to approximately five times 5x the lead term Notch Filter A Notch Filter is used to remove a specific frequency On analog inputs and outputs a notch filter could be used to eliminate any 60 Hz noise received from adjacent 120V digital input and output wires The PowerFlex 700S has a notch filter that is used to eliminate any resonant signal created by mechanical gear train The mechanical gear train consists of two masses the motor and the load and spring mechanical coupling between the two loads This is shown in Figure 13 below Figure 13 Mechanical Gear Train AAAA 8 BL N A Kspring 5 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 53 Chapter 1 Detailed Drive Operation The resonant frequency is defined by the following equation Jm Jload resonance Kspringx Jmx Jload e Jm is the motor inertia seconds e Jload is the load inertia seconds e Kspring is the coupling spring constant rad sec Figure 14 below shows a two mass system with a resonant frequency o
219. or sorei era aae an E E A moder 154 Servo Locks reia a a e tee ek eek oh ata os 154 Speed Regulator Gaines cian eyinesnd ntcsan Kunde cena eootwwents 155 Speed Regulation Anti Backupres soles Gave tains can eee ede 155 Proportional Galticneves ieee iad aa yaaeN eee eas 156 Integral Gaim ator nprahr om ci atenthestne sie ceed Renter atema hese ttes aneira 157 TOO R teases ticle soon treatise AROAN E E 157 Speed Regulater Output Limits c lt sduisadsnaiasseoienacoanets 157 Speed Regulator Output Filter sancwaw tases dvds oes ea eneant 158 Speed Regulator Tuning lt uiieverneemdew cota ngi neue vee aaes piws 158 Basic Tuning with a Gear Box or Belt ce vedarisnenietvievews 158 Advanced Tuning for the Speed Regulator with Gearbox or Belt 160 Speed Torque Mode ScleCtrs33 005 2 hata in dans eoaee eee taeagaceenire 161 Zero Porque Mode teses iien a TTAN E SE fede ere olla 163 Speed Regulation Mode siiccoancias srs eonieeaeweouetuaraeies 163 Torque Regulation Mode sssssersrsrrrrsrerrrrerrrrue 164 Min Speed Torque Mode and Max Speed Torque Mode 164 Sum Speed Torque Mode gs cie octane neh Polisi eeseasoe ae 165 Speed Limited Adjustable Torque SLAT Min Mode and SLAT Max Modenie Peden sd Rade deetee ea Meander A E A 165 Standalone Drive Homing without DriveLogix 04 170 CDV LVN a pct Bt Ste A ae a ease Neale Raid tae eo rete dP 170 Homing Sequence of Operation Descriptions 45 170 Configuration m
220. owerFlex 700S AC Drives Phase II Control Technical Data publication 20D TD002 for Watts Loss data and curves 212 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 A absolute point to point positioning 101 acceleration time 13 add block 210 alarms configuration 14 configuration example 14 analog inputs configuration 14 specifications 14 analog outputs configuration 17 specifications 17 auto manual function 18 autotune Direction Test 20 feedback configuration 20 Inertia test 21 MC Commissn Fail fault 22 motor control 19 motor data 19 motor tests 20 Power Circuit test 20 Start Up menu 19 auxiliary power supply 22 bipolar references 41 bus regulation braking description 22 technical information 22 bus regulator 22 C cable control 26 lengths for motors 26 power 26 trays 27 carrier PWM frequency 27 CE conformity 28 circuit breakers 58 common bus 28 communications 28 ControlLogix system 28 PLC 5 or SLC system 30 compare block 209 conduit 27 copy cat 34 current limit 35 D datalinks configuring 35 Rockwell Automation Publication PFLEX RM003E EN E Index deceleration time 37 delay timers 211 digital inputs configuration 38 status bits 39 technical information 37 digital outputs configuration 40 on off delay timers 41 status bits 40 technical information 39 Dint to real converter 206 direction control 41 dive start up 179 divide block 210 DPI client serv
221. p and to clear any faults 2 Seta second parameter 825 830 Dig Inx Sel 5 Start To control from a communication network 20 COMM module 1 Toggle bit 1 Start in the logic command word on and then off to perform a start 2 Toggle bit 0 Stop in the logic command word on and then off to perform a ramp stop To configure the drive for 3 wire control with a coast stop For parameter 153 Control Options set bit 8 3WireControl 1 To control from digital inputs 1 Set one of the parameters 825 830 Dig Inx Sel 19 Coast Stop 2 Seta second parameter 825 830 Dig Inx Sel 5 Start Rockwell Automation Publication PFLEX RMO03E EN E January 2011 177 Chapter 1 178 Detailed Drive Operation To control from a communication network 20 COMM module 1 Toggle bit 1 Start in the logic command word on and then off to perform a start 2 Toggle bit 9 CoastStop in the logic command word on and then off to perform a coast stop To configure the drive for 3 wire control with a current limit stop For parameter 153 Control Options set bit 8 3WireControl 1 To control from digital inputs 1 Set one of the parameters 825 830 Dig Inx Sel 18 CurLim Stop 2 Seta second parameter 825 830 Dig Inx Sel 5 Start To control from a communication network 20 COMM module 1 Toggle bit 1 Start in the logic command word on and then off to
222. pecific tension required The process also requires that another element set the speed Configuring the drive for torque regulation requires parameter 110 Speed TorqueMode to be set to 2 Torque Ref In addition a reference signal must be linked to the torque reference For example when analog input 1 is used for the reference link parameter 111 Torque Ref1 to parameter 800 Anlg In1 Data When operating in a torque mode the motor current will be adjusted to achieve the desired torque If the material being wound unwound breaks the load will decrease dramatically and the motor can potentially go into a runaway condition Torque Reference Parameter 111 Torque Ref1 is divided by parameter 112 Torq Refl Div Parameter 113 Torque Ref2 is multiplied by parameter 114 Torq Ref2 Mult Parameter 115 Torque Trim can be used to trim the torque For example Torque Trim can be linked to an analog input or to the Process PI output The final torque reference in torque mode is the sum of scaled Torque Ref1 scaled Torque Ref2 and Torque Trim Torque Ref 1 Torq Ref1 Div C112 lt n C14 Torque Ref 2 Torq Ref2 Multi Torque Trim Min Speed Torque Mode and Max Speed Torque Mode This operating mode compares the speed and torque commands The algebraically minimum value is used Instead of operating the drive as a pure torque regulator the runaway condition can be avoided by limiting the spe
223. peration itl a itl The position watch is used to determine when the position feedback reaches a osition Loop osition P P Watch user defined value There are two 2 position watches in the PowerFlex 7008S Position Actual Posit Detct1 In Sl Moar I Position Status Link GM l 7m X 08 Posit Watch1 Position Control X Watch 1 En SD 19 Position Watch 1 X Watch 1 Di C70 17 PositDetct1 Stpt Parameter 784 Posit Detct1 In sets the position feedback that you would like to watch By default Posit Detct1 In is linked to parameter 763 Position Actual Note In order for the value in parameter 763 Position Actual to change the firmware function for the position loop must be turned on by setting parameter 147 FW Functions En bit 16 Position Ctrl 1 and the position loop must be enabled by setting parameter 151 Logic Command bit 13 Position En 1 Parameter 780 PositDetct1 Stpt is used to set the position set point for which to watch Setting parameter 740 Position Control bit 17 X Watch1 Dir 1 causes the drive to detect when the position feedback becomes greater than the set point Setting Position Control bit 17 X Watch1 Dir 0 causes the drive to detect when the position feedback becomes less than the set point Setting parameter 740 Position Control bit 16 X Watch1 En 1 enables the position detection function to detect the next position
224. perform a Start 2 Toggle bit 8 CurrLimStop in the logic command word on and then off to perform a current limit stop Note In 3 wire mode all stops commanded by pressing the HIM Stop button are ramp stops Configuring the Start and Stop for 2 Wire Control Maintained Start and Stop To configure the drive for 2 wire control with a ramp stop Set parameter 153 Control Options bit 8 3WireControl 0 To control from digital inputs e Set one of the parameters 825 830 Dig Inx Sel 7 Run To control from a communication network 20 COMM module 1 Turn on bit 1 Start in the logic command word to run 2 Turn off bit 1 Start in the logic command word to perform a ramp stop Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 To configure the drive for 2 wire control with a coast stop Set parameter 153 Control Options bit 8 3 WireControl 0 To control from digital inputs e Set one of the parameters 825 830 Dig Inx Sel 7 Run To control from a communication network 20 COMM module 1 Turn on bit 1 Start in the logic command word to run 2 Toggle bit 9 CoastStop in the logic command word on and then off to perform a coast stop Bit 1 Start in the logic command word must be turned off and back on to run again therefore technically there is no 2 Wire control with a coast stop on a network because two
225. pin until the mechanical energy is dissipated 176 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 2 Ramp Stop when in ramp stop the drive acknowledges the stop command by ramping down the motor speed reference using the programmed parameter 33 Decel Time 1 maintaining control of the motor until the drive output reaches zero The output transistors are then shut off 3 Current Limit Stop when in current limit stop the drive acknowledges the stop command by setting the motor speed reference to zero causing the drive to bring the motor down to zero speed as fast as the power limits torque limits and current limits will allow When the drive output reaches zero the output transistors are shut off When different stop types are commanded at the same time the priority from highest priority to lowest is coast stop current limit stop and then ramp stop The remainder of this section describes how to configure the drive for the different start and stop modes Configuring the Start and Stop for 3 Wire Control Momentary Start and Stop To configure the drive for 3 wire control with a ramp stop For parameter 153 Control Options set bit 8 3WireControl 1 To control from digital inputs 1 Set one of the parameters 825 830 Dig Inx Sel 4 Norm Stop CF or 14 Normal Stop Norm Stop CF indicates that the same digital input is used as a sto
226. ply and divide floating point parameters It is possible to use the DInt to Real converter to convert one double integer parameter to a floating point value and use that value as an input to a multiply divide block MulDiv 1 Input 1053 MulDiv 1 Mul 1054 MulDiv 1 Div 1055 MulDiv 2 Input MulDiv 2 Mul 1058 MulDiv 2 Div Configuration MulDiv 1 Result MulDiv 2 Result e Parameter 1053 MulDiv 1 Input is the input value to be scaled as needed with the multiplication and division function This input will be multiplied by parameter 1054 MulDiv 1 Mul and then divided by parameter 1055 MulDiv 1 Div The result will be loaded to parameter 1056 MulDiv 1 Result Equation Par 1053 x Par 1054 Par 1055 Par 1056 e Parameter 1057 MulDiv 2 Input the input value to be scaled as needed This input will be multiplied by parameter 1058 MulDiv 2 Mul and then divided by parameter 1059 MulDiv 2 Div The result will be loaded to parameter 1060 MulDiv 2 Result Equation Par 1057 Par 1058 Par 1059 Par 1060 Add Subtract Blocks The add subtract blocks allow addition and subtraction of floating point parameters P1000 UserFunct Enable bit 05 AddSub Math is set to 1 to enable the Add Subtract user function and set to 0 to disable the function AddSub 2 Input 100 AddSub 2 Add 4101 AddSub 2 Subtret 1102 U AddSub 3 Input 11
227. proportional gain of the speed regulator It s value is automatically calculated based on the bandwidth setting in parameter 90 Spd Reg BW and parameter 9 Total Inertia Proportional gain may be manually adjusted by setting Spd Reg BW to a value of zero Units are per unit torque per unit speed For example when parameter 81 Spd Reg P Gain is 20 the proportional gain block will output 20 motor rated torque for every 1 error of motor rated speed The maximum value for Par 81 Spd Reg P Gain Par 90 Spd Reg BW x Par 9 Total Inertia Max Speed Regulator Total Inertia Par 9 Max Speed Regulator Bandwidth Par 90 Proportional Gain Par 81 475 05ms x OO 47 650 0 25 ms X 0 01 6 50 30 sensorless mode x 0 01 0 03 475 0 5 ms X 2 0 950 650 0 25 ms X 2 0 1300 30 sensorless mode x 2 0 60 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Integral Gain The speed droop is subtracted from the filtered speed error after the servo lock is added and the anti backup is subtracted This signal is then sent to the integral gain block The integral gain block outputs a torque command relative to the error integrated over a period of time Parameter 82 Spd Reg I Gain sets the integral gain of the speed regulator It s value is automatically calculated based on the bandwidth setting in Spd Reg BW and the inertia of the system
228. ptions Jog Nolnteg C53 12 Droop je Control Options SpdRegPreset 53 18 Spd Reg Droop 86 SReg Trq Preset Ca7 gt o Motor Torque Ref Speed Regulation Anti Backup Parameter 84 SpdReg AntiBckup modifies the drive s response to the speed reference With the value minimized the drive will follow the reference very closely minimizing error which is desirable for typical process applications Rockwell Automation Publication PFLEX RMOO3E EN E January 2011 155 Chapter 1 156 Detailed Drive Operation However it will exhibit some over shoot and under shoot Increasing the value of SpdReg AntiBckup decreases the over shoot and under shoot which is desirable where back up cannot be tolerated However this tends to increase the following error This parameter has no affect on the drive s response to load changes The recommended setting is 0 1 to 0 5 The following is an example of how the anti backup affects the speed regulator s response Over Shoot Over Shoot Reference Eror Feedback SpdReg AntiBckup 0 0 gt Feedback SpdReg AntiBckup 0 3 Under Shoot Under Shoot Proportional Gain The filtered speed error after the servo lock is added and the anti backup is subtracted is sent to the proportional gain block The proportional gain determines how much of a speed error occurs during a load transient Parameter 81 Spd Reg P Gain sets the
229. r ses eoe eet a a a r ok 192 Time Function Generator 0 cece cee cece ence ne eneeennes 193 Torque RELelONGesreooecgect talent aire e dee Met trent tele meter andre 193 Torque Reference Input cote ecd eand Se gave eee 193 Trending oS ers caret laduscieesaveas ENEE A OSO a E EERE 194 Configuration neen nna ee eae ad EE EEEE ERRA 194 Ungrounded Unbalanced or High Resistive Ground Installations 196 User Functions 4 fhe eee TE AEA T Aas 197 DIGS Ware Asa e vols teil teats a Gg keg hs PEE a 197 MOP erar a ace a eieod e ec oate ate a S 198 MOP Configuration VWicdudi cated leur eee dete Aouad ot 199 Controlling the MOP from Digital Inputs 04 200 Controlling the MOP from a Network or DriveLogix 200 Selector Switches andi tas heieiai ged bees neh niseneehs Rae 200 DInt to Real and Real to DInt Converters 0 00005 206 Logic Bleks cirri a E E E ERREA 207 Compare Blocks arkinen eaa E o e A 209 Multiply Divide Blocks no ususunenennerererrererererrern 210 Add Subtract Blocks o n tess Pe sasrsd SG Soa toate gel paps drs es 210 On Off Delay imiers sce senha terse basen hea ea ee outs 211 Voltage Class is ictid iuan ea ne snapuy AANE EEEa a 211 DVT A EO EEE EE E A E EE E Ee 212 UG E E E E edn BY RUE mG erika od 213 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 11 Table of Contents 12 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Accel Time Alarms
230. rO 300 J E C Position Control Posit Spd 1 Torque Control h i Apher Output l l Mtr Trq Curr Ref ee D N PI a m gt s D Regulator sia Bus Volt Gear Rat 4 S Power Position Fdbk Regulciot y memi Ene 7 ess aoo Example A print retrofit application will replace a mechanical line shaft The slave drives will electronically be phase locked to a folder that is controlled by an existing DC drive A reference encoder will be mounted to the folder with a 2 3 ratio from the main line shaft Rated line shaft speed is 1200 rpm A multitude of drives of different ratios are to be electronically geared off the line shaft e Set parameter 147 FW Functions En bit 24 Phase LockLp 1 to enable the Phase Locked Loop function To keep things organized reflect the PLL output to the old line shaft The slave units can then reconcile their gear ratio differences with EGR and scale speed accordingly e Set parameter 723 PLL Rev Input 2 e Set parameter 724 PLL Rev Output 3 e Set parameter 727 PLL VirtEncdrRPM 1200 ockwell Automation Publication EN E Janua 84 Rockwell Automation Publication PFLEX RMO03E EN E J 2011 Detailed Drive Operation Chapter 1 Note making parameter 727 PLL VirtEncdrRPM 1200 will scale PLL speed to a pu system ba
231. rameter 760 Pt Pt Decel Time sets the deceleration time in seconds from base motor speed to zero The Pt Pt Accel Time and Pt Pt Decel Time are only active in Point to Point mode The Default 10 seconds Position Loop Output Limits Parameter 775 XReg Spd LoLin sets the negative speed limit at which the position regulator will output The default is set to 10 of the base motor speed Set this to the negative speed at which you want the drive to run for point to point moves Parameter 776 XReg Spd HiLim sets the positive speed limit at which the position regulator will output The default is set to 10 of the base motor speed Set this to the positive speed at which you want the drive to run for point to point moves Tuning Tips The speed regulator of the drive must be tuned prior to tuning the Position Loop Refer to Speed PI Regulator on page 152 of this manual for tips on tuning the speed regulator Do not attempt to set the accel decel rates of the point to point position loop faster than can be accomplished by the system Attempting to set the accel decel rates faster than the system can handle will cause instability in the position loop Do not attempt to operate beyond the torque limits of the drive motor combination Rockwell Automation Publication PFLEX RMO03E EN E January 2011 99 Chapter 1 100 Detailed Drive Operation Typically parameter 768 PositReg P Gain should be set between 1 5th to 1 3rd
232. rd can be chosen when either the Resolver or Hi Resolution Encoder option cards are installed Power Circuit Test This submenu allows you to perform a diagnostic check to check the output section of the drive power circuit for shorts or open circuits Direction Test The direction test checks the actual direction relative to the commanded direction and checks for proper encoder feedback The test prompts you to answer if the motor direction is correct When it is not you can either power down and swap two of the motor leads or change the drive s logic to change the motor direction Then the test is performed again The test then checks if the feedback is positive When it is not you can either power down and swap two of the encoder signals or you can change the drive s logic to change the sign of the feedback Then the test is performed again Motor Tests This submenu performs the tests to measure the motor characteristics These tests can be performed with the motor coupled or uncoupled to the load but be aware that the motor will rotate during some of the tests Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 For Field Oriented Control the following motor tests are performed Autotune Slip Test The Slip Frequency test allows the drive to establish the slip frequency of the motor This value is displayed in parameter 486 Rated Slip Freq The test runs the motor at
233. re most efficient at full load and full speed 100 vs Spee 95 S 90 vs Load D S in 85 80 75 10 20 30 40 50 60 70 80 90 100 Speed Load Rockwell Automation Publication PFLEX RMO03E EN E January 2011 47 Chapter 1 Detailed Drive Operation Electronic Gearing Faults Filters 48 See Position Loop Follower Electronic Gearing on page 90 Faults occur due to conditions within and or outside the drive that could affect drive operation or application operation These events or conditions are considered to be of significant magnitude that drive operation should or must be discontinued Faults are reported to the user via the HIM communications and or contact outputs Faults are selected during commissioning of the drive Examples of faults include Encoder loss communication loss or other exceptions within the drive A complete list of faults is included in the Troubleshooting chapter of the PowerFlex 700S AC Drive Phase II Control Programming Manual publication 20D PMO001 Configuration Parameters 365 Fdbk LsCnfg Pri through 399 Position ErrCnfg program the response of the drive to various conditions Responses include Ignore Alarm Fault Coast Stop Fault Ramp Stop and Fault Current Limit Stop Parameters 323 Fault Status 1 through 325 Fault Status 3 indicated any faults that are active Configuration Example Parameter 371 Mtr OL Trip C
234. re the HIM displays the user display The indexer function takes a step increment and adds to or subtracts from a DInt parameter The indexer output would normally be used in conjunction with the point to point position loop or with a position offset Typical applications for the indexer are indexing conveyors such as a conveyor feeding a punch press Enabling the Indexer e The firmware function for the position loop must be turned on by setting parameter 147 FW Functions En bit 16 PositionCtrl 1 e Set parameter 740 Position Control bit 11 BscIndx Enbl 1 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 59 Chapter 1 60 Detailed Drive Operation Position Control Bsclndx Prst OR Bsclndx Step BsclndxStpRv C740 15 Bsclndx Rev C740 13 Basiclndx Step C797 Basiclndx Preset C798 Power up R L a A Position Control a0 11 Bscindx Enbl l ii Xx Jil 799 gt a 1 Badea Output Configuring the Indexer Parameter 797 BasicIndx Step sets the position units for each indexer step When the indexer is used in conjunction with the point to point loop parameters 745 PositRef EGR Mul and 746 PositRef EGR Div are used to scale the position reference The indexer could be used in conjunction with the point to point position loop or with a position offset To use the indexer to control the point to point
235. recharge and auto restart sequence of operation in the event of an input power dropout power loss and return First the drive stops pulse width modulation PWM operation coasting the motor and saving any remaining power stored in the drive s bus capacitor s for extended control logic operating time Next the precharge function limits the drive s inrush current in the event that the incoming power to the drive is restored Last after the power is restored and the precharge has completed auto Rockwell Automation Publication PFLEX RMO03E EN E January 2011 109 Chapter 1 110 Detailed Drive Operation restart allows the drive to continue normal operation by applying power to the motor again This operation is intended to protect the drive from excessive inrush currents in the presence of input AC line disturbances and allow the drive to continue normal operation without user intervention However there is also a concern for safe auto restart operation By default the drive is configured to fault and not auto restart if the power line dropout lasts more than two seconds ATTENTION The user must determine safe auto restart and fault configuration at the system and user level Incorrect selection s may result in personal injury due to machine motion Precharge Frames 1 4 The precharge implementation and control varies with drive size and type For frames 1 4 the precharge hardware is located on the power circuit board T
236. rement and 1 Decrement are inhibited Bit3 Reset Stop if set resets the MOP level output to zero when stop is set Bit 4 Reset PwrLs if set resets the MOP level output to zero when power is lost Note If either bit 3 or 4 is not set the MOP level output will be saved until bit 2 Reset is set e Parameter 1087 MOP Rate sets the rate of change increment or decrement for the MOP The setting 0 1 sec will equate to an increment or decrement of 0 1 for every second active If this value is used for the speed reference it equates to 10 of base speed every second for a total of 10 seconds until base speed is reached e Parameter 1088 MOP High Limit sets the upper limit for the MOP output The MOP cannot be incremented above this level e Parameter 1089 MOP Low Limit sets the lower limit for the MOP output The MOP cannot be decremented below this level e Parameter 1090 MOP Level Real or 1092 MOP Level DInt can be linked to the parameter that you wish to control via the MOP function For example link parameter 10 Speed Ref 1 to parameter 1090 MOP Level Real to control the value of speed reference 1 e Parameter 1091 MOP Scale DInt set this value for scaling of the DInt MOP output The MOP is calculated and controlled as a Real value MOP Use this scale to adjust for an integer value Use this parameter to scale the conversion from Par 1090 to Par 1092 e Parameter 109
237. rence in parameter 758 Pt Pt Posit Ref can be changed to the position value desired for the current location This can be used as a home setup by moving the load to the home position and then performing a position re reference Example Set parameter 740 Position Control bit 10 Pt Pt ReRef 1 Then set parameter 758 Pt Pt Posit Ref 0 If Pt Pt Posit Ref is set to a different number that will become the new position value After setting parameter 758 Pt Pt Posit Ref to the desired value set parameter 740 Position Control bit 10 Pt Pt ReRef 0 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Absolute Point to Point Positioning The Point to Point positioning mode may be configured to operate in an absolute mode The absolute mode allows the point to point position regulator to remain active at all times even when the drive is stopped and restarted An absolute feedback device such as a Stegmann Hi Resolution encoder can also be used in absolute mode in order to retain position feedback during power loss Stegmann Hi Resolution encoders provide absolute position feedback for up to 4096 motor revolutions To enable absolute mode set parameter 740 Position Control bit 6 AbsPositCtrl 1 To define zero position position the motor shaft to where you would like zero position to be Set parameter 740 Position Control bit 9 SetZeroPosit 1 T
238. roler irisi aiea eee aS TaN te a E 26 Cable Lengths for Motors ssssssssrsresrsrsrrerererrresrere 26 Cable Power detria E a a Ul setae es ie EE 26 Cable Traysand Conduit coegerit o rie AN EESE EEEE 27 Carrier PWM Frequency ossessi ienen rep i wees anai 27 CE Conformity sss cows eight a ee Gee TEES 28 Common Bus Systems srics catiolnowies way eueies SeaGiee a we tarnyayted 28 COnmmMnMCAHONG sene esses ae cna A T RE RERE RERS 28 ControlLogix System oaicsaskterscs etninv epee yeken ame eeaperies 28 PLG ORS LE Systems Malet hey sek ol eat als a te Ae EB lees 30 Copy CAB cco ni a eas caw aku nergy slau Maka ee wade AEN 34 Current Limit esierop ani innen nae ie tacoma bee E Ea 35 Data littkese eenei eraann A E E ERA 35 Configuring DatalinkS aeeie a ere o e aa ETR TES 35 Wecel Times 2425 sre a a EE E E E 37 Rockwell Automation Publication PFLEX RMOO3E EN E January 2011 5 Table of Contents Digital Inputs a5 chs cha tagaw EEEE ie EET EEA eee sean 37 Technical Information s ented dee hd oko ON aan iactrdecae 37 Digital Input Configuration ii cnntced ia eane en ee SA 38 Digital Input Status Bits anne avtatie es duane ah ae ae eee sanatiaes 39 Digital Outputs o clon e ater eet a chicks eh chau aaa E EEr 39 Technical lntotinationt cieksiadk toed babes oeeakcas es 39 Digital Output Configuration lt 9s cascesee sce sucs ces parecer 40 Digital Output Status Bits css cones e idle vee enceieees based x 40 Digital Output On Off Delay T
239. rom either the Stegmann Hi Resolution encoder or the resolver connected at port 0 Parameter 251 FB Opt0 Spd Fdbk contains the speed feedback from either the Stegmann Hi Resolution encoder or the resolver connected at port 0 Parameter 252 FB Optl Posit contains the position feedback from the linear sensor when the MDI option card is installed Rockwell Automation Publication PFLEX RM003E EN E January 2011 133 Chapter 1 Detailed Drive Operation Parameter 253 FB Opt1 Spd Fdbk contains the speed feedback from the linear sensor when the MDI option card is installed FB Opt0 Spd Fdbk Feedback lt 251 gt To Feedback Option Card 0 lt 250 Selection StegmannoO Cnfg HeidenhainO Cnfg Resolver0 Confg Fdbk Option ID FB Opto Posit Processing ReslvrO SpdRatio Reslvr0 Carrier lt lt 260 Stegmanno Status lt 264X HeidenhainO Stat 269 Resolver0 Status Reslvr0 In Volts RslvrO XfrmRatio ReslvrO CableBal Q XS ol Parameter 249 Fdbk Option ID displays information about the feedback option installed in feedback option card port 0 Options NN NNN NN NNN N NNN N NNN Module ID No Version No Revision No High Revision No Low e Bits 15 11 contain the module ID number e Bits 10 6 contain the version number e Bits 5 3 contain the revision number high e Bits 2 0 contain the revision number low Hexadecimal 1000 indicates a resolver hexadecimal
240. s 5 Enable inertia adaption parameter 132 Inert Adapt Sel bit 0 Inrtia Adapt 1 6 Enable the drive and adjust the bandwidth BW for the application but do not exceed curve 2 shown below When you adjust the BW you must set parameter 90 and parameter 133 to the same BW You may hear an unusual high frequency sound which indicates adaption is active 2004 kH Maximum regulator Bandwidth vs inertia Ratio with Gear Box an Bandwidth a OSE PR e a OT 10 20 30 40 50 Ratio system inertia motor inertia Speed T orque Mode Select Parameter 110 Speed TorqueMode is used to choose the operating mode for the drive The drive can be programmed to operate as a velocity regulator a torque regulator or a combination of the two Refer to the firmware flowchart shown in Figure 25 on page 162 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 161 Chapter 1 Detailed Drive Operation Figure 25 Firmware Flowchart pees lt i gt Logic Ctrl State Forced Spd 157 J10 f Speed Control Spd Reg PI Out rom Speed Control 5H4 0 Inertia Trq Add 1 4H gt 4 X FricComp Trq Add 1 4G4 D 1 Selected Trq Ref Torque Ref 1 Torque Ref1 Div 112 Torque Ref 2 C113 Xx Torque Ref2 Mult 114
241. s Limit Stop Rockwell Automation Publication PFLEX RMOO3E EN E January 2011 153 Chapter 1 154 Detailed Drive Operation Current Limit Stop When a current limit stop is commanded parameter 157 Logic Ctrl State bit 6 CurrLim Stop is set Then a zero speed reference command is sent into the speed regulator bypassing the ramp and speed trim Logic Ctrl State CurrLim Stop l from Speed Limits to Speed Error rn Speed Error The summed speed reference becomes parameter 301 Motor Speed Ref Then the filtered motor speed feedback parameter 300 Motor Spd Fdbk is subtracted from the motor speed reference to create a speed error There is a lead lag filter that can be used to filter the motor speed feedback The filter is setup by parameters 93 SRegFB Filt Gain and 94 SReg FB Filt BW The filtered speed feedback is configured in parameter 71 Filtered SpdFdbk The speed error can be filtered by a low pass filter by adjusting parameter 89 Spd Err Filt BW For more information on lead lag and low pass filters see Lead Lag Filter on page 50 Motor Speed Ref from Current Speed Error Limit Stop 01 100 P io Servo Filter Lock Motor Spd Fdbk aM Oider from kn s wn 300 LPass Feedback SEWN Spd Err Filt BW 7 gt Lead Lag Ce D Filtered SpdFdbk Ca SReg FB Filt Gain 93 SReg FB Filt BW C94
242. s opposite typically used with reverse speed and negative torque the maximum being the least negative closest to zero 162 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Sum mode is selected when Speed TorqueMode is set to a value of 5 This mode allows an external torque command to be added to the speed regulator output when desired Absolute Min mode is selected when Speed Torque Mode is set to a value of 6 This mode selects the smallest absolute algebraic value to regulate to when the torque reference and torque generated from the speed regulator are compared Speed Limited Adjustable Torque SLAT Min mode and SLAT Max mode are selected by values 7 and 8 respectively SLAT Min and SLAT Max are improvements on the previous values of the Min and Max modes values 3 and 4 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 This mode can be used for a cyclical application where throughput is a high priority The control logic can select zero torque during the rest portion of a machine cycle instead of stopping the drive When the cycle start occurs instead of issuing a start to the drive a speed regulator mode can be selected The drive will then immediately accelerate the motor without the need for flux up time
243. s transferred to parameter 763 Position Actual setting the Actual Position to a desired value for absolute moves from home and e the drive holds position and zero speed 7 The drive is ready for Point to Point Point to Point Motion Planner or Auxiliary Position moves to occur Return Home Active in firmware version 4 001 only If bit 27 Return Home of parameter 740 Position Control is set or a digital input programmed for Return Home is on the drive will run at the value specified in parameter 1122 Home Speed until the Home Position is reached IMPORTANT This function is active at anytime after a homing sequence has been completed and the drive is running 172 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Configuration Homing Type Detailed Drive Operation Chapter 1 Parameter 740 Position Control is used to configure the type of homing to be used Parameter 740 is also used to command a Find Home Parameter 740 Position Control Properties Ov Reserved 1M Speed Out En 27 IntegEn 3 T Integ Hold 47 X Offset Pol 5 XOff ReRef 6 AbsPositCtl 77 AbsoluteMode 87 zero Preset 3 SetZeroPosit 10 PLPtReRef Value Link Source Link Sinks Documentation 117 Bselndx Enbl 127 Bsclnds Step 137 Bsclndx Rev 147 Bsclndx Prst 157 BselndxStpRy 167 XWatchl En 17 M Watch Dir 18 XWatch2 En 19 V x Watch2 Dir 20 PtPtRmpS
244. sation 126 configuration 126 software links 66 software current limit 35 software over current trip 35 speed control 127 speed feedback 128 device selection 128 FIR filter 132 motor simulator 133 sensorless 132 speed feedback loss ride through 141 speed mode 127 speed mode select 161 speed PI regulator 152 autotune speed reference 153 current limit stop 154 droop 157 gains 155 integral gain 157 output filter 158 output limits 157 proportional gain 156 servo lock 154 speed error 154 speed reference limits 153 speed regulation anti backup 155 speed trim 152 speed reference accel decel ramp 148 bipolar reference 147 bypass 149 delayed 149 direction control 147 friction compensation 150 inertia compensation 149 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 215 Index 216 jog reference 147 lead lag filter 151 limits 147 scaling 146 151 S curve 148 selection 145 speed trim 1 151 stop command 148 virtual encoder 150 speed regulation 127 speed regulation mode 163 speed regulator advanced tuning with gearbox or belt 160 basic tuning with a gear box or belt 158 speed torque mode select 161 start and stop modes 176 configuring for 2 wire control 178 configuring for 3 wire control 177 start up drive 179 stop modes 179 subtract block 210 sum speed torque mode 165 sync generator 191 configuration 191 SynchLink axis follower selection 190 buffered data 185 configuration 180 diagnostics 185
245. se to 0 speed due to friction will be greater than the torque required to run at higher speeds due to friction This parameter is in per unit so a value of 1 equals 100 motor torque Parameter 68 FricComp Rated sets the torque needed to keep the motor running at base motor speed and with no process loading This parameter is in per unit so a value of 1 equals 100 motor torque The friction compensation algorithm assumes a linear or viscous component of friction between FricComp Slip and FricComp Rated The friction compensation block calculates the torque needed due to friction which shows up in parameter 69 FricComp Trq Add FricComp Trq Add is summed with the output of the inertia compensation block and the torque generated by the speed reference loop That summed torque enters the torque selection block refer to Torque Reference on page 193 for more information FricComp Spd Ref FricComp Trq Add L gt gt Ramped Spd Ref Logic Command toT 151 11 Friction Com O morgage Frict Comp p Control 7B3 Fuses and Circuit Breakers Grounding General HIM Memory FricComp Setup C65 FricComp Stick C66 FricComp Slip C 67 FricComp Rated Ces gt See the PowerFlex 7005 AC Drives Phase II Control Technical Data publication 20D TD002 for detailed information Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives Installation Instructions pu
246. sed on rated line speed This makes sense because there is no common base RPM of the motors given their different ratios Further analysis shows that a 2048 line encoder provides adequate resolution for unit to folder registration and it is easy to install The line encoder will be wired to encoder 1 e Set parameter 725 PLL EPR Input 8192 e Link parameter 721 PLL Position Ref to parameter 240 Encdrl Position All motors will be equipped with 2048 count per revolution encoders The PLL is set up for the equivalent edges per revolution e Set parameter 726 PLL EPR Output 2048 x 4 8192 Setup the folder s encoder speed reference as the feed forward because it is disturbance free e Link parameter 728 PLL Ext Spd Ref to parameter 241 Encdr1 Spd Fdbk e Set parameter 720 PLL Control bit 0 Vel FdFwd En 1 to enable the speed feed forward e Set parameter 720 PLL Control bit 1 Ext Vel In 1 to enable the external feed forward e Adjust parameter 729 PLL Ext SpdScale until you get zero at parameter 733 PLL FiltPositOut e Set parameter 730 PLL LPFilter BW to the equivalent bandwidth of the folder s DC drive In the local drive the drive implementing the PLL set up the speed and position loops to follow the PLL output e Link parameter 12 Speed Ref 2 to parameter 734 PLL Speed Out e Set parameter 13 Spd Ref2 Mutli 1 Set parameter 27 Speed Ref A Sel 2 Speed Ref 2 e
247. sequence of events occurs 1 The values of the following parameters are used to begin the homing routine e Parameter 1120 Home Accel Time e Parameter 1121 Home Decel Time e Parameter 1122 Home Speed Parameter 1123 Home Position firmware v4 001 only e Bit 26 Home Dir of parameter 740 Position Control e Bit 28 Home Switch of Position Control is set capturing the position 2 Bit 24 Find Home of parameter 740 Position Control is set or a digital input programmed for Find Home is on v4 001 170 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 IMPORTANT Do not set bit 24 in Position Control when a digital input is programmed for Find Home 3 When the drive is started it will run at the commanded value of Home Speed 4 When the Home Switch connected to a digital input transition occurs capturing the position the drive decelerates to zero speed 5 The drive moves back to the position captured at the switch transition 6 When the move to the captured position is complete the following occurs e Bit 15 Homed of parameter 741 Position Status is set e bit 13 HomeRequired of Position Status is turned off e for firmware version 4 001 only the value stored in parameter 1123 Home Position is transferred to parameter 763 Position Actual setting the actual position to a desired value for absol
248. set time to flux up the motor has completed Note The actual delay is twice the value of parameter 501 in firmware prior to v3 001 A value of 100 ms will actually wait 200 ms in a frame 9 and up PowerFlex 7008S drives Sensorless Flying Start Refer to Flying Start on page 56 Note Skip speeds are only active when parameter 485 Motor Ctrl Mode 3 V Hz Some machinery may have a resonant operating speed that must be avoided to minimize the risk of equipment damage To assure that the motor cannot continuously operate at one or more of these points skip speeds are used Configuration Speed Speed Reference gt a Drive Output i A bd i A i Skip 1 2 Band gt f rA 1050 RPM Skip Speed gt f 900 RPM Skip 1 2 Band F 4 4 7 i A 750 RPM Parameters 136 Skip Speed 1 138 Skip Speed 3 are available to set the speeds to be avoided The value programmed into the skip speed parameters sets the center point for an entire skip band of speeds The width of the band range of speed around the center point is determined by parameter 139 Skip Speed Band The range is split half above and half below the skip speed parameter value Rockwell Automation Publication PFLEX RMOO3E EN E January 2011 123 Chapter 1 124 Detailed Drive Operation If the commanded speed of the drive is greater than or equal to the skip center speed and less than or
249. sition Floating Point Switch Sel Switch Ctrl SW Real 1 On 1022 05 i SW Real 1 Output 0 SW Real 1 NC 41023 lt 1025 l SW Real 1 NO 02d 1 Configuration e Parameter 1022 Sel Switch Ctrl bit 5 SW Real 1 On activates the switch e Parameter 1023 Swtch Real 1 NC is the Normally Closed input to the Real switch When parameter 1022 Sel Switch Ctrl bit 5 is low this input is updated to parameter 1025 Swtch Real 1 Out Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Parameter 1024 Swtch Real 1 NO is the Normally Open input to the Real switch When parameter 1022 Sel Switch Ctrl bit 5 is high this input is updated to parameter 1025 Swtch Real 1 Out Parameter 1025 Swtch Real 1 Out is the result of the switch The output is loaded with the selected input based on parameter 1022 Sel Switch Ctrl bit 5 If this parameter does not update check the setting of parameter 1000 UserFunct Enable bit 1 2 Position Dint Switch SW Dint 1 Nc 4026 SW Dint 1 NO Sel Switch Ctrl SW Dint 1 On SW DiInt 1 Output Configuration Parameter 1022 Sel Switch Ctrl bit 6 SW DInt 1 On activates the switch Parameter 1026 Swtch DInt 1 NC is the Normally Closed input to the DInt switch When parameter 1022 Sel Switch Ctrl bit 6 is low this input is updated to Par 1028 Swtch DInt 1 Out Parameter 1027 Swtch DInt 1 NO is the Normally Open
250. specific scaling parameters for speed reference 1 and 2 Speed Ref Scale is a linkable parameter This allows the speed reference value to be scaled dynamically with an input signal if desired An example would be to have an analog input linked to the scale parameter The speed reference and the scale would then affect the value sent to the speed regulator Scaled Spd Ref lt 46 gt gt to Speed Trim from Speed Ref Filter Speed Ref Scale Speed Trim 1 At this point in the speed reference control loop parameter 21 Speed Trim 1 is added to the speed reference Speed Trim 1 can be used as a trim to the speed reference For example Speed Trim 1 can be linked to parameter 180 PI Output which is the output of the Process PI loop The resulting parameter 47 SpdRef SpdTrm1 is sent into the speed regulator loop XS SpdRef SpdTrm1 to Speed from Speed Regulator Ref Scale Speed Trim 1 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 151 Chapter 1 Detailed Drive Operation Speed PI Regulator 152 Spd Ref Bypass2 lt mme ae From Speed Ref Speed Trim 3 The drive takes the speed reference specified by the speed reference control loop and compares it to the speed feedback The speed regulator uses proportional and integral gains to adjust the torque reference sent to the motor This torque reference attempts to operate the motor at the specified speed This re
251. ss filter 49 masks 68 max speed torque mode 164 MC Commissn Fail fault troubleshooting 22 Rockwell Automation Publication PFLEX RMO03E EN E min speed torque mode 164 motor control modes field oriented control 69 permanent magnet control 70 volts hertz control 70 motor nameplate data 71 motor overload heavy duty 72 memory retention per 2005 NEC 73 normal duty 72 motor precautions input contactors 74 output contactors 74 motor speed feedback 140 mounting drives 74 multiply block 210 notch filter 53 0 off delay timer 211 on delay timer 211 output devices cable termination 75 drive output disconnection 75 output reactor 75 output displays output current 76 output frequency 76 output power 76 output voltage 76 overcurrent 35 overspeed limit 76 owners 77 exclusive ownership 77 non exclusive ownership 77 P parameters links 66 peak detectors 79 permanent magnet control 21 permanent magnet motors 80 PET 119 phase locked loop electronic gear ratio 83 noise filtering 82 output section 83 position reference 81 speed reference feed forward 81 virtual encoder 82 point to point motion planner configuration 86 January 2011 position output 89 profile generator 88 speed output feed forward 88 point to point position control digital inputs 101 point to point position loop 96 acceleration and deceleration 99 enabling 97 jogging 100 output limits 99 position offset 98 position reference
252. ssages are of a fixed size so support of message fragmentation is not required The following types of messaging are covered e Drive status running faulted etc e Drive commands start stop etc e Control logic parsing operations for example mask and owner parameters e Entering Flash programming mode e Soft login and logout of peripheral devices enabling disabling of peripheral control Peer to Peer Operation Peer to Peer messaging allows two devices to communicate directly rather than through the master or host drive They are the same priority as C S messages and will occur in the background Ifan LCD HIM is attached to the PowerFlex 700S drive it will be able to directly request off board parameters using Peer to Peer messages i e no proxy support needed in the drive PowerFlex 700S drives can use all six communication ports because Peer to Peer proxy operations are not needed All Peer to Peer operations occur without any intervention from the user regardless of proxy or normal P P operation no setup is required No Peer to Peer proxy operations are required while the drive is in Flash mode Rockwell Automation Publication PFLEX RMO03E EN E January 2011 43 Chapter 1 44 Detailed Drive Operation All the timing requirements specified in the DPI system Control and Messaging specifications are supported Peripheral devices will be scanned pinged at a 10 ms rate Drive status messages will
253. stors peak energy in Joules 1 s where the resistor package s peak energy rating is obtained from the resistor manufacturer When the resistor package s peak energy rating cannot be obtained there are a few other ways to approximate parameter 416 Brake PulseWatts 1 Brake PulseWatts 75 000 watts Ibs x Resistor element weight Ibs where 75 000 represents a specific heat of 0 11 cal Kg C steel or nichrome and a temperature rise of 350 C and the resistor element weight is the total weight of the resistor wire element in pounds not the entire weight of the resistor cage For example a resistor with a nichrome element that weights 10 Ib would have Parameter 416 Brake PulseWatts 75 000 x 10 750 000 Watts 2 Brake PulseWatts Time Constant x parameter 417 Brake Watts where the Time Constant equals the amount of time for the resistor to reach 63 of its rated temperature with applied rated watts parameter 417 Brake Watts Parameter 417 Brake Watts sets the continuous watts for determining the protection for an external brake Enter the continuous watt rating of the resistor cage found on the resistor cage nameplate or from the resistor manufacturer for this parameter This parameter is active only if the configuration is selected for an external brake Brake Bus Cnfg bit 1 set to 1 When the internal brake resistor is used then the protection is determined from the drive internal values Param
254. t Ah asa tees ie DAO acted A 55 Firmware Functions 000s cece cece cence een e ence ne eenneenes 56 Flying Start esi eeen a ve tenet eb clk Ghia Asa E 56 Configirationn lt 3 c Sse canistiad iar REEE S aa e aE ERS 57 Friction Comp nsation seserian nira ih eo sai iaa pE iasau 57 Fuses and Circuit Breakers 0 0 0 0 0 cccscccucuceccccucecuceeevus 58 Grounding Gonctal t 4 fsiGr sckihoueut angered ce SE see ceae tee tcecs 58 HIM Memorji sirenaren nin Ei es a EER EER EEE porns 58 HIM Operations ors pate enren nen ERES EO E ewan eens 59 TheUseit Displays urse daear aa E E E E A TR e 59 Eo E A E EE E EEE E E EE E E E 59 Configuring the Indexer n dud std a amram nig tia acetic gusseted veanasieees 60 Inertia Adaption nenaad aie aan cle ened BERR 61 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Table of Contents COnMGURAtIGi a 03 ct cnegewe enue eda EEE E E E R E S 62 Inertia Compensation ese inin ncn a Ea gl Oh ature ranean 62 Input Devices ordas Sls i dine R else wd l E A 63 Contactos enni nays a e e rade arh ach cate ee ea AN 63 Circuit Breakers Fuses sccunit sun aah ee aie aus 63 Filters EMC fics sete cache aa A A AETA 63 Inpe Modes ee ra a i e a dee ce E ddan ees ERTE 63 Input Power Conditioning s s ssrsresrersrrerererrrrsreres 63 LE Protection wer itdarsd eb Geiriau dena teeragee media aetathy A 64 JOro teia a Gelade tech ee EE Renae ON a VANSON R Aa 65 Limit Generatore occ oy n a a A E
255. t be specified for the feedback device used Speed Reference Feed Forward By default parameter 720 PLL Control bit 0 Vel FdFwd En 0 and the feed forward branch is disabled Even when feed forward is disabled the PLL effectively tracks the reference encoder and should be considered first There will be zero position error at constant ramp and in steady state speed The PLL will not track to zero error during a change in acceleration If the desired performance cannot be achieved without feed forward set parameter 720 PLL Control bit 0 Vel FdFwd En 1 The encoder speed is calculated automatically by the X to V conversion block However for systems with relatively high mechanical disturbances it may be advantageous to link parameter 728 PLL Ext Spd Ref to a speed input that is less noisy and then select that path by setting Parameter 720 PLL Control bit 1 Ext Vel In 1 When PLL Ext Spd Ref is used parameter 729 PLL Ext SpdScale can be used to calibrate the external speed reference Rockwell Automation Publication PFLEX RMO03E EN E January 2011 81 Chapter 1 82 Detailed Drive Operation Feed Forward Low Pass Filter Parameter 730 PLL LPFilter BW specifies the bandwidth of the speed feed forward low pass filter in units of radians second Setting this parameter to zero 0 bypasses filtering One use of the filter is to better time the feed forward and reference encoder signals w
256. t contactor is opened Mounting As a general rule drives should be mounted on a metallic flat surface in the vertical orientation If considering another orientation contact the Factory for additional data Refer to the PowerFlex 700S AC Drive Phase II Control Frames 1 6 Installation Instructions publication 20D IN024 or the PowerFlex 700H and 700S Frame 9 14 Drives Installation Manual publication PFLEX IN006 for mounting instructions and limitations 74 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Output Devices Detailed Drive Operation Chapter 1 Drive Output Disconnection ATTENTION Any disconnecting means wired to the drive output A terminals U V and W must be capable of disabling the drive if opened during drive operation If opened during drive operation the drive will continue to produce output voltage between U V and W An auxiliary contact must be used to simultaneously disable the drive PowerFlex 700S Phase II drives can be used with an output contactor between the drive and motor This contactor can be opened under load without damage to the drive It is recommended however that the drive have a programmed Enable input and that this input be opened at the same time as the output contactor See Digital Inputs on page 37 for more information Cable Termination Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives Installation Instructions publica
257. t coupling of two motors is present in an application The master drive speed regulates and the follower uses droop so it does not fight the master The input to the droop block comes from the torque output of the speed regulator before limiting The output of the droop block reduces the speed reference Parameter 86 Spd Reg Droop sets the amount of base motor speed that the speed reference is reduced by when at full load torque Spd Reg Droop is in units of per unit torque per unit speed For example when Spd Reg Droop is set to 0 1 and the drive is running at 100 rated motor torque the droop block would subtract 10 from the speed reference Logic Ctrl State Spd Reg En 1577 98 S ServoLck Dynamic Braking Efficiency kp P Gain Spd Reg P Gain Spd Reg Gain Spd Reg Neg Lim lt 101 SpdReg Integ Out Droop j eci a ooo Spd Reg Droop s wn kn s wn o Lead Lag SRegOut FiltGain SReg Out Filt BW Refer to Bus Regulation Braking on page 22 For resistor sizing refer to the PowerFlex Dynamic Braking Resistor Calculator Selection Guide publication PFLEX ATO001 Spd Reg PI Out to Torque Control 7A3 The following chart shows typical efficiency for PWM variable frequency drives regardless of size Drives a
258. t revision of the local SynchLink Programmable Logic firmware Parameter 901 SL System Rev indicates the system revision of the SynchLink network To be compatible on the network all nodes must have the same major revision Parameter 902 SL Error Status and parameter 903 SL Error History indicates the presence of SynchLink faults This data is visible on the SynchLink diagnostics tab of the Peer Communication window e Bit 0 Sync Loss indicates SynchLink communication has failed after it had been established e Bit 1 Rx Loss indicates the receive port is not receiving data and the receive port configuration is set to receive data e Bit 2 Many BOF Err indicates the number of Beginning Of Frame BOF errors exceeds limit set by Par 899 SL BOF Err Limit e Bit 3 Many CRC Err indicates the number of Cyclic Redundancy Check CRC errors exceeds limit set by Par 898 SL CRC Err Limit e Bit 4 Pckg Msg Err indicates the received package sequence number has not matched for 1 0 second Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 e Bit 5S Comm Frmt Er indicates the format of received data does not match the configuration of the receive port e Bit 6 Sys Rev Err indicates the system revision in the received data does not match the value of Par 900 SynchLink Rev e Bit 7 Mult TimeKpr indicates more than one node on the S
259. t3 Dint 1 A 580 Trend Out3 Real m gt 581 1023 Trend Out4 Dint Trend Out4 Real 585 Installations 196 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 See the PowerFlex 700S AC Drive Phase II Control Frames 1 6 Installation Instructions publication 20D IN024 or the PowerFlex 700H and 700S Frame 9 14 Drives Installation Manual publication PFLEX IN006 for details User Functions Detailed Drive Operation Chapter 1 There are several user functions available in the drive for custom control e Parameter 1000 UserFunct Enable is used to enable or disable user functions in the drive The drive does not require a drive reset for a change to take affect Bit 0 User Params enables use of user DInt and floating point parameters 1002 1021 Bit 1 Sel Switches enables a 16 selection switch a DInt switch and a Real switch Bit 2 Converts enables converters for Real to DInt or DInt to Real data Bit 3 Logic Functs enables blocks that can be configured as AND NAND OR NOR XOR or NXOR and enables the compare functions Bit 4 MulDiv Math enables multiply divide functions Bit 5 Add Sub enables addition subtraction functions Bit 6 Delay Timer enables the On Off delay timers function Bit 7 EGR enables the Electronic Gear Ratio EGR f
260. tallation Instructions publication 20D IN024 or the PowerFlex 700H and 700S Frame 9 14 Drives Installation Manual publication PFLEX IN006 for details Refer to Common Bus in the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives Installation Instructions publication DRIVES IN001 for detailed information There are some special considerations for communicating with a PowerFlex 700S drive through a 20 COMM module due to the use of DInt double integer and Real floating point type parameters How the data is handled depends somewhat on the type of controller used Therefore the considerations for ControlLogix and 16 bit controllers PLC 5 or SLC are explained separately ControlLogix System Speed Reference Feedback The DPI speed reference for the PowerFlex 7008S is scaled DPlIspeed reference to 700S Commanded RPM Base Motor Speed x 32767 The DPI speed feedback for the PowerFlex 700S is scaled Feedback RPM DPI feedback from 700S 32767 x Base Motor Speed Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Datalinks In the ControlLogix system Datalinks are transmitted as DInt In order to send or receive Real floating point parameters a COP copy instruction must be utilized The copy instruction in ControlLogix performs a bitwise copy Set the length of the copy instruction to a value appropriate for the destination dat
261. ter 1165 EGR Pos Output Set parameter 266 Heidn Encdr Type bit 6 VrtlMasterEn 1 Set parameter 1156 Heidn VM Enc PPR 2048 Motor Speed Feedback and Scaled Speed Feedback The motor speed feedback is selected according to the feedback device selection The value for motor speed feedback appears in parameter 300 Motor Spd Fdbk The speed feedback enters the speed regulation loop from Motor Spd Fdbk The filter for the speed feedback is shown in the speed regulation loop section A low pass filter branches off of the motor speed feedback This low pass filter filters out high frequency before displaying the speed feedback on the HIM 140 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Parameter 72 Scaled Spd Fdbk provides a user scalable speed feedback It is multiplied by the value in parameter 73 Spd Fdbk Scale Motor Spd Fdbk 300 to Speed Control To HIM Display Scaled Spd Fdbk Filter x Le LPass a Spd Fdbk Scale Position Feedback Parameter 777 PositionFdbk Sel selects the position feedback device for the position control loop The feedback device used for position control may be an independent selection from the motor speed control feedback device in Par 222 Mtr Fdbk Sel Pri If the position feedback will be the same as the Motor feedback select option 3 Mtr Fdbk Pri default value in PositionFdbk Sel This se
262. tes and sends position and speed references from an encoder attached to a physical shaft The encoder signal must first be conditioned to account for a number of issues before being sent The Phased Locked Loop PLL is used to condition the master encoder and re p generate the encoder signal so that it can be used as a master reference for the Rockwell Automation Publication PFLEX RMO03E EN E January 2011 PLL Ext SpdScale PLL Ext Spd Ref 728 PLL Position Ref C721 Detailed Drive Operation Chapter 1 drives The PLL is used in conjunction with SynchLink the speed loop and the position loop in order to synchronize drives together in an ELS system Figure 18 Phase Locked Loop Block Diagram PLL Control Ext Vel In PLL Control TD Trckng AComp XtoV Conv PLL Control Vel FaFwd En C20 2 PLL LPFilter BW T FW Functions En PhaseLockLp PLL Bandwidth anawit I m Lpf Wy x D lt 734 gt PLL Speed Out l lt 735 gt PLLSpeedOut Adv l lt 731 gt PLL Posit Out lt 732 gt PLL Posit OutAdv I lt 733 gt PLL FiltPosit Out 727 PLL VirtEncdrRPM PLL Rev Input O X X 726 PLL EPR Output PLL EPR Input gt PLL Rev Output Position Reference Parameter 721 PLL Position Ref should be linked to the encoder position The encoder Edges Per Revolution EPR value parameter 725 PLL EPR Input mus
263. tia Compensation 62 Configuration See Speed PI Regulator Advanced Tuning for the Speed Regulator with Gearbox or Belt on page 160 for details on using inertia adaption Inertia Total Inertia C9 Adaptation Motor Spd Fdbk Inert Adapt Sel 00 Inrtia Adapt Q2 Load Est 01 Inert Adapt BW 133 Inert Adapt Gain C134 Motor Torque Ref From Spd Torque x To Current Mode Selection Control Limit Torque Limits During speed changes a certain level of torque is required due to load inertia That level of torque is above the torque used to run at constant speed Inertia compensation calculates that torque based on the acceleration or deceleration rate Then that acceleration or deceleration torque can be fed forward into the torque control making for smoother accels and decels especially with high inertia loads Parameter 56 Inertia SpeedRef is linked to parameter 43 Ramped Spd Ref This becomes the speed reference that the inertia compensation block uses to calculate the acceleration or deceleration rate also known as the derivative of speed with respect to time Inertia compensation is enabled by turning on parameter 151 Logic Command bit 10 Inertia Comp Parameter 9 Total Inertia is calculated during the autotune and is used along with the calculated acceleration or deceleration rate to calculate the torque adder Parameter 57 Iner
264. tiaAccelGain determines the gain for the inertia compensation during acceleration A gain of 1 results in 100 compensation Parameter 58 InertiaDecelGain determines the gain for the inertia compensation during deceleration Parameter 60 DeltaSpeedScale is a multiplier for the torque output of the inertia compensation block It is used in center wind and center unwind applications to compensate for diameter build up Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Input Devices Input Modes Input Power Conditioning S Curve Spd Ref Inertia SpeedRef Detailed Drive Operation Chapter 1 The inertia compensation outputs the calculated torque to the parameter 59 Inertia Trq Add Inertia Trq Add is summed with the output of the friction compensation block and the torque generated by the speed reference loop That summed torque enters the torque selection block refer to Torque Reference on page 193 for more information Parameter 55 Speed Comp contains the rate of acceleration or deceleration calculated in the inertia compensation block This parameter is used in following applications Link parameter 23 Speed Trim 3 to Speed Comp and set parameter 24 SpdTrim 3 Scale to 0 002 to reduce position error in following applications Inertia Torq Add An gt link 7 Logic Command inertia Comp to Torque Inertia Comp 151 J10 Control 4B1 Total Inertia a InertiaA
265. tic energy roll should be considered The mechanical ratio that exists between where the encoder is mounted and where the preferred mounting location is can be factored into the Electronic Gear Ratio EGR Virtual Encoder The PLL s output is generated by a virtual encoder calibrated in Counts Per Revolution and a base RPM Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Base RPM Scaling The PLL in addition to providing position reference provides a speed reference to the drive as a feed forward This is normal operating practice to secure zero position error and optimal tracking of the follower drive The RPM setting in parameter 727 PLL VirtEncdrRPM determines 1 per unit speed output from the PLL The setting should be logical i e represent either base line speed or base motor speed Counts Per Revolution Parameter 726 PLL EPR Output sets the output counts per revolution This can be any value with the stipulation that is compatible with the slave drives feedback resolution In general resolution will not decrease as long as the EGR ratio is less than 1 It is better to allow the PLL to generate a high encoder count than to use a ratio to make up the difference in the slave drive Electronic Gear Ratio The EGR is used to scale the PLL input to the PLL output Parameters 723 PLL Rev Input and 724 PLL Rev Output set the ratio between the number of revolutions
266. tination parameter can be linked to SL Mult Out For example to receive a speed reference from the master and scale it by 0 5 e Set parameter 906 SL Rx DirectSel0 to 1 SL Multiply e Set parameter 925 SL Mult B In to 0 5 e Set parameter 923 SL Mult Base to 10 000 e Link parameter 10 Speed Ref 1 to parameter 926 SL Mult Out Multiply Block Transmit Parameters Master SynchLink sends across the multiply data as an integer Therefore floating point values are converted to DInt double integer before sent as multiply data e Parameter 923 SL Mult Base sets the value to multiply parameter 921 SL Real2DInt In to convert the floating point parameter to DInt Make sure SL Mult Base is set appropriately so that the DInt value sent across SynchLink has enough resolution e Parameter 921 SL Real2DInt In is linked to the parameter that you want to multiply and must be a floating point parameter Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 e Parameter 922 SL Real2DInt Out contains the integer value sent over SynchLink One of the SynchLink Transmit Direct Selects parameter 911 914 must be set to 1 SL Multiply to send the value over SynchLink For example to use the multiply block to scale the ramped speed reference and send it over SynchLink link parameter 921 SL Real2DInt In to parameter 43 Ramped Spd Ref Set parameter 923 SL Mult Base to 1
267. tination parameter you wish to use for the link This cannot be done from the ALT Parameter view window 2 Press ALT ALT then View This will display a window with the mode selection 3 Use the up and down arrow keys on the top row of buttons to select Defined Link and press Enter 4 When in this mode pressing the Select button will allow you to enter the source parameter number Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Using DriveExecutive To link parameters using DriveExecutive complete the following steps 1 Double click on the destination parameter in the parameter list The parameter XX edit dialog box displays 2 Click the Link Source tab 3 Click the Parameter radio button and select the desired source parameter in the Selected Parameter field Parameter 21 Speed Trim 1 Properties Value Link Source Link Sinks Documentation Link Source C No Link Parameter Find Parameter Ee Selected Parameter P 175 Setpt 2 Data P 176 Setpt2 TripPoint P 177 Setpt 2 Limit P 180 PI Output Available Drive Links 172 p tes Hel Total Drive Links 200 _Parametes Help Rockwell Automation Publication PFLEX RMO03E EN E January 2011 67 Chapter 1 Masks 68 Detailed Drive Operation A mask is a parameter that contains one bit for each of the possible DPI ports and adapters Each bit acts li
268. tion DRIVES IN001 for detailed information Output Reactor Bulletin 1321 Reactors can be used for drive input and output These reactors are specifically constructed to accommodate IGBT inverter applications with switching frequencies up to 20 kHz They have a UL approved dielectric strength of 4000 volts opposed to a normal rating of 2500 volts The first two and last two turns of each coil are triple insulated to guard against insulation breakdown resulting from high dv dt When using motor line reactors it is recommended that the drive PWM frequency be set to its lowest value to minimize losses in the reactors By using an output reactor the effective motor voltage will be lower because of the voltage drop across the reactor this may also mean a reduction of motor torque Rockwell Automation Publication PFLEX RMO03E EN E January 2011 75 Chapter 1 Detailed Drive Operation Output Display Overspeed Limit 76 Output Current Parameter 308 This parameter displays the measured RMS drive output current Parameter 297 Output Curr Disp is the integer equivalent of parameter 308 with a resolution of 1 10 amperes Output Freq Parameter 310 This parameter displays the actual output frequency of the drive The output frequency is created by a summation of commanded frequency and any active speed regulation such as slip compensation Proportional Integral PI loop or bus regulation The actual output may be different than t
269. tomation Publication PFLEX RMO03E EN E January 2011 23 Chapter 1 Detailed Drive Operation Set parameter 414 Brake Bus Cnfg for your configuration The following is a summary of possible settings for Brake Bus Cnfg Desired Operation Brake Bus Cnfg Setting Bit3 Bit2 Bit1 Bitd External regeneration 0 0 0 0 Dynamic braking with internal resistor Dynamic braking with external resistor Bus regulation only Bus regulation first then dynamic braking with internal resistor Dynamic braking with internal resistor first then bus regulation Bus regulation first then dynamic braking with external resistor Dynamic braking with external resistor first then bus regulation 3 3 53 colo Oo oO oO o oO 0 1 0 0 0 1 1 Parameter 415 BusReg Brake Ref sets the turn on bus voltage threshold for the bus regulator and the dynamic brake Actual values are modified by the configuration selected in Brake Bus Cnfg When using common DC bus drives adjustment of BusReg Brake Ref allows a limited coordination of brake operation with other drives For example when you have two common bus drives and one drive is larger than the other set the larger drive to turn on at a lower voltage than the smaller drive In this manner the smaller drive does not try to dissipate all of the dynamic braking energy Note Actual bus voltage reference values are determined as a
270. top 21 Reserved 22 Reserved 23 Reserved 24 Find Home 25 Pos Redefine 26 Home Dir 27 Return Home 28 Home Switch 29 Home Marker 30 f Reserved 31 Reserved Internal Value Parameter Help Dec Hex C Bin Range Value Internal Value Minimum OOO00000000000000000000000000000 0 Maximum 11111111111111111111111111111111 4294967295 Default 00000000000010100000000000000010 655362 Table 24 Parameter 740 Position Control Bits Bit Name Description 24 Find Home When this bit is on and the drive is started a homing sequence will be initiated 26 Home Dir When this bit is set the homing direction will be opposite of the Home Speed commanded in parameter 1122 Home Speed 28 Home Switch When this bit is set the homing sequence will look for the home switch to make a transition from it s current state when the homing sequence is started Do Not set with bit 29 Home Marker 29 Home Marker When set the homing sequence will look for the Marker pulse When the marker pulse is found the drive will decelerate and return to the position where the marker was found Do Not set with bit 28 Home Switch Rockwell Automation Publication PFLEX RMO03E EN E January 2011 173 Chapter 1 174 Detailed Drive Operation Home Switch Selection Parameters 825 Dig In1 Sel and 826 Dig In2 Sel are available to be set as the Home Switch when using Encoder0 Enco
271. tor NP Volts and 3 Motor NP Hertz set the upper portion of the curve to match the motor design and mark the beginning of the constant horsepower region 5 Parameters 531 Maximum Voltage and 532 Maximum Freq slope that portion of the curve used above base speed Maximum Voltage Motor NP Volts Break Voltage Start Acc Boost i Run Boost Break Motor NP Hertz Maximum Freq Frequency Motor Nameplate Parameter Name No Function Motor NP Volts The motor nameplate base voltage defines the output voltage when operating at rated current rated speed and rated temperature Motor NP FLA 2 The motor nameplate defines the output amps when operating at rated voltage rated speed and rated temperature It is used in the motor thermal overload and in the calculation of slip The motor nameplate base frequency defines the output frequency when operating at rated voltage rated current rated speed and rated temperature The motor nameplate RPM defines the rated speed when operating at motor nameplate base frequency rated current base voltage and rated temperature This is used to calculate slip The motor nameplate power is used together with the other nameplate values to calculate default values for motor parameters to and facilitate the commissioning process This may be entered in horsepower or in kilowatts as selected in the previous parameter or kW for certain catalog numbers and Hp for others
272. tor Resistance Test This test identifies the motor stator resistance and stores the value into parameter 522 PM Stator Resist The motor should not rotate during this test Stator Inductance Test This test identifies the motor stator inductance and stores the value into parameter 520 PM Q Inductance The motor should not rotate during this test Encoder Offset The absolute position sensor counter offset from the rotor flux center position for a Permanent Magnet PM motor This value is determined by an automated measurement procedure which uses parameter 505 PM TestWait Time 506 PM Test Idc Ramp 507 PM Test FreqRamp 508 PM Test Freq Ref and 509 PM Test Ref First the Flux Producing d axis current is applied to the stator starting with 0 A and with 0 Hz Current increases with the ramp rate defined by parameter 506 PM Test Idc Ramp to the peak current value defined by parameter 509 PM Test Ref The current is continuously applied at this level for the time interval defined by parameter 505 PM TestWait Time Then the DC excitation position will be changed by 90 electrical degrees with the frequency defined by parameter 508 PM Test Freq Ref and the rate change of the frequency defined by parameter 507 PM Test FreqRamp The 90 degree phase shifted d axis current with the current value defined by parameter 509 PM Test Ref is continuously applied for the time interval defined by parameter 505 PM TestWait T
273. tput of the position loop to trim the speed set parameter 740 Position Control bit 1 Speed Out En 1 Position Reference Selection For point to point positioning set parameter 742 Position Ref Sel 2 Pt to Pr Parameter 758 Pt Pt Posit Ref becomes the reference for the position Posit Ref Sel Selected Interp Position Position Reference Aux Posit Ref Ga Pt Pt Posit Ref Rockwell Automation Publication PFLEX RMOO3E EN E January 2011 97 Chapter 1 Detailed Drive Operation Position Reference Scaling Position reference can be entered in user units by using the EGR scaling Parameters 745 PositRef EGR Mul and 746 PositRef EGR Div are used to scale the position reference lt 744 gt PositRef EGR Out Geared Position Selected Position A Reference Reference Deriv PositRef EGR Mul PositRef EGR Div Example To use degrees of motor revolution for the positioning units scale as follows With a 1024 encoder on the motor this translates to 4096 counts per revolution quadrature position counts Parameter 745 PositRef EGR Mul 4096 Parameter 746 PositRef EGR Div 360 This scaling translates the position reference of 0 360 degrees to 0 4096 position counts This will allow you to enter degrees of motor rotation for the position reference Position Offset Offsets can be added to the position reference Offset are used to make a correction move to synchronize the fol
274. tration Encoder 0 and 1 Registration There are two registration latches where each one can be configured for Encoder 0 or Encoder 1 However when Z phase is selected as the trigger source registration latch 0 is dedicated to Encoder 0 and registration latch 1 is dedicated to Encoder 1 e Parameter 235 RegisLtch0 Value displays the registration data of port 0 and indicates the position reference counter value latched by the external strobes The strobe signal used to trigger the latch is configurable by Parameter 236 RegisLtch0 1 Cnfg e Parameter 236 RegisLtch0 1 Cnfg configures the registration latch at port 0 or port 1 to be used with Encoder 0 or Encoder 1 respectively Bits 0 RLO Encoderl and 16 RL1 Encoder1 select the encoder for the input source of latched data Setting bit 0 selects encoder 1 resetting the bit to zero selects encoder 0 Bits 1 RLO TrgSrc0 2 RLO TrgSrc1 17 RL1 TrgSrc0 and 18 RL1 TrgSrcl select the trigger source see Table 6 on page 106 Bits 3 RLO TrgEdge0 4 RLO TrgEdge1 19 RL1 TrgEdge0 and 20 RL1 TrgEdge1 select which edges signal the position see Table 8 on page 106 Bits 5 RLO Dir Rev 6 RLO Dir Fwd 21 RL1 Dir Rev and 22 RL1 Dir Fwd set the direction of position capture see Table 9 on page 106 Bits 8 SL DI Filt 0 9 SL DI Filt 1 10 SL DI Filt 2 and 11 SL DI
275. ts 0 3 EncO Filt bx or bits 16 19 Encl Filt bx configure the encoder input filter see Table 15 on page 130 The filter requires the input signal to be stable for the specified time period Input transitions within the filter time setting will be ignored Bits 0 3 or 16 19 add 100 ns filtering per stage to the encoder inputs Bits 4 Enc 4x and 5 Enc0 A Phs or 20 Encl 4x and 21 Encl A Phs determine how the encoder channel A and B signals will be interpreted Typically both encoder phases A and B are used so that direction information is available Parameter 230 Encdr0 Position counts up for forward rotation and down for reverse rotation If bit 5 or 21 is set then the B phase signal is ignored As a result the encoder position will only increase regardless of rotation direction Bits 4 and 5 or 20 and 21 together also determine the number of edges counted per encoder pulse see Table 16 on page 130 4x sampling counts both rise and fall of both A and B encoder phases hence 4 edges per pulse In 4x mode the encoder position will change by four times the encoder pulses per revolution PPR rating per encoder revolution for example 4x mode increments the value in Encdr0 Position by 4096 for one revolution of a 1024 PPR encoder Bit 6 EncO Dir or 22 Encl Dir inverts the channel A input thus reversing the direction of the feedback Note that changes in encoder direction
276. tter 6 If performance is smooth throughout the speed range the tuning test is done If gear noise or chatter is present continue with step 7 7 Reduce parameter 90 Spd Reg BW or progressively turn on the Lead Lag filters a through d below with d being the most aggressive Stop when the drive is sufficiently smooth a Parameter 95 SRegOut FiltGain 0 7 parameter 96 SReg Out Filt BW 35 b Parameter 95 SRegOut FiltGain 0 5 parameter 96 SReg Out Filt BW 20 c Parameter 95 SRegOut FiltGain and parameter 93 SRegFB Filt Gain 0 7 parameter 94 SReg FB Filt BW and parameter 96 Sreg Out Filt BW 35 d Parameter 95 SRegOut FiltGain and 93 SRegFB Filt Gain 0 5 parameter 94 SReg FB Filt BW and 96 SReg Out Filt BW 20 8 If gear noise or chatter is still present after turning on the filters repeat steps 2 through 7 with a lower speed regulator BW If the desired bandwidth cannot be achieved due to gear noise or chatter follow the procedure for Advanced Tuning for the Speed Regulator with Gearbox or Belt on page 160 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 159 Chapter 1 Detailed Drive Operation Maximum regulator Bandwidth vs inertia Ratio with Gear Box Curve 2 Bandwidth Ss Tes Le SLs LE E 10 20 30 40 50 KAS Ratio system inertia motor inertia Advanced Tuning for the Speed Regulator with Gearbox or
277. tual Re sync will automatically be performed on the leading edge of status RUN o Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Table 4 Parameter 1134 Bit 0 Absolute and Bit 1 Incremental Settings Chapter 1 Bit 1 Incremental Bit 0 Absolute Description of Operation 0 0 Default mode Subsequent moves are absolute with an offset of X Bit 2 Start of parameter 1135 PPMP Status is not used in this mode The commanded position from the scale block is noted call it value X The drive then takes the difference between any new commanded input and value X and then adds that difference to the exiting position l e if the drive is at a stand still it will remain at a stand still when enabled Absolute mode parameter 1135 PPMP Status a move profile is initiated to another move is recognized Absolute position is contained in parameter 763 Position Actual from the drive s position regulator Absolute mode is event driven On the leading edge of bit 2 Start of commanded absolute position The Start bit must be cleared before Incremental mode An incremental move is event driven Upon receipt of the leading edge of bit 2 Start of parameter 1135 PPMP Status a move profile is initiated that increments the output position by the specified amount The Start bit must be c
278. unction Bit 17 MOP enables the MOP motor operated potentiometer e Parameter 1001 UserFunct Actual will show the actual user functions enabled Bit Swap The bit swap function allows you to compare word A with word B and replace the selected bit from word A with the selected bit of word B BitSwap 1 Result BitSwap 1A Data BitSwap 1A Bit BitSwap 1B Data BitSwap 1B Bit Example of Using a Bit Swap and Digital Input for Custom Control This example uses a bit swap to enable and disable the S curve using digital input 3 e Set parameter 860 BitSwap 1A Data to 0 This parameter sets up any data you would like to pass through to the result Rockwell Automation Publication PFLEX RMO03E EN E January 2011 197 Chapter 1 Detailed Drive Operation e Set parameter 861 BitSwap 1A Bit 1 This parameter sets the bit that you would like to turn on in the result and is set to bit 1 because we want to use bit swap 1 to turn on bit 1 Spd S Crv En of parameter 151 Logic Command e Link parameter 862 Bit Swap 1B Data to parameter 824 Local I O Status Parameter 862 Bit Swap 1B Data sets the data that you would like to compare e Set parameter 863 BitSwap 1B Bit 3 This parameter indicates that bit 3 of parameter 824 is used Bit 3 of parameter 824 Local I O Status indicates that digital input 3 has turned on e Link parameter 151 Logic Command to parameter 864 BitSwap 1 Result The resu
279. up PowerFlex 700S 2 Data Speed Ref Receive Format Undefined x Transmit Format Undefined Source Refresh Values Master PowerFlex 700S Drive Setup Transmitting Drive 1 Inthe master or transmitting drive select the desired transmittal format in the Transmit Format field For this example select 4 Direct Words 8 Buffered Words 2 Below the Transmit Format field for Direct Word 0 do the following Click the arrow next to the Type field and select Parameter b Click the button to the right of the Source field and select 43 Ramped Spd Ref This setting is to transmit the ramped speed from the master SynchLink Setup PowerFlex 700S 2 Data speed Ref Receive Format Undefined Z Transmit Format 4 Direct Words 8 Buffered Words Source 43 Ramped Spd s DINT DINT DINT DINT DINT DINT DINT DINT DINT DINT DINT Parameter Undefined Undefined Undefined Undefined Undefined Undefined Undefined Undefined Undefined Undefined Undefined alata lalalalalala lalalaliii Le Lalalalala lalele I Time Keeper Apply Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 3 Check the Time Keeper box The master will be the time keeper for SynchLink SynchLink Setup PowerFlex 700S 2 Data Speed Ref Receive Format Undefined Transmit Format
280. up to the drive and reverse the motor because it would damage the process The local HIM Port 1 is configured with an operator s panel that includes a REV button To assure that only the PLC connected to Port 5 has direction control the Direction Mask can be set as follows Direction Mask Bit Setting 00100000 Port Adapter 76543210 This masks out the reverse function from all ports adapters except port adapter 5 making the local HIM Port 1 REV button inoperable See Owners on page 77 later in this chapter Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Motor Control Mode Parameter 485 Motor Ctrl Mode selects the type of motor control to use This parameter is set during the HIM assisted startup when asked to select the motor control mode The settings for Parameter 485 Motor Ctrl Mode are e 0 FOC selects field oriented control Field oriented control is used with AC squirrel cage induction motors for high performance e 1 FOC 2 selects field oriented control and is only used for a specific type of AC induction motor with motor thermal feedback Note This option is used only for motors manufactured by Reliance Electric Japan e 2 PMag Motor selects control for permanent magnet motors e 3 V Hz selects volts per hertz control This selection is available in v2 003 and later e 4 Test puts the drive in a test mode to perform t
281. ure of resistor C 16 1 th_ba Inverse of the thermal impedance from the resistor body to element Watts C 17 1 cb Inverse of the resistor body thermal mass C W x sec 18 DB IGBT Amp IGBT current rating Amps Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives Installation Instructions publication DRIVES INO01 for detailed information Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives Installation Instructions publication DRIVES INO01 for detailed information Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives Installation Instructions publication DRIVES INO01 for detailed information 26 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Cable Trays and Conduit Carrier PWM Frequency Detailed Drive Operation Chapter 1 Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives Installation Instructions publication DRIVES INO01 for detailed information See the PowerFlex 700S AC Drives Phase II Control Technical Data publication 20D T D002 for derating guidelines as they travel to carrier frequency Parameter 402 PWM Frequency sets the carrier frequency In general the lowest possible switching frequency that is acceptable for any particular application is the one that should be used There are several benefits to increas
282. ute moves from home and e the drive holds position and zero speed 7 The drive is ready for Point to Point Point to Point Motion Planner or Auxiliary Position moves to occur Home to Marker To home to a marker the following sequence of events occurs 1 The values of the following parameters are used to begin the homing routine e Parameter 1120 Home Accel Time e Parameter 1121 Home Decel Time e Parameter 1122 Home Speed e Bit 26 Home Dir of parameter 740 Position Control e Bit 29 Home Marker of Position Control is set capturing the position 2 Bit 24 Find Home of parameter 740 Position Control is set or a digital input programmed for Find Home is on firmware version 4 001 only IMPORTANT _ Do not set bit 24 in Position Control when a digital input is programmed for Find Home 3 When the Home Marker transition occurs the current position is captured 4 The drive decelerates to zero speed 5 The drive moves back to the position captured at the Home Marker transition Rockwell Automation Publication PFLEX RMO03E EN E January 2011 171 Chapter 1 Detailed Drive Operation 6 When the move to the Found position is complete the following occurs e bit 15 Homed of parameter 741 Position Status is set e bit 13 HomeRequired of Position Status is turned off e For firmware version 4 001 only the value stored in parameter 1123 Home Position i
283. value to a Real value after scaling e Parameter 1050 Real2DInt In is the input value for Real to DInt value conversion e Parameter 1051 Real2DInt Scale is the input value to scale the conversion from Real to DInt This is a multiplication to the input value after conversion to a DInt value e Parameter 1052 Real2DInt Result is the resultant output of the conversion form a Real value to a DInt value after scaling 206 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Logic Blocks The logic blocks are used to perform the logical operations AND NAND OR NOR XOR and NXOR on user specified bits of user specified parameters Description of Logic operations AND When all bits compared are on the result will be true 1 When one of the bits compared is off the result will be false 0 NAND When all bits compared are off the result will be false 0 When one of the bits compared is off the result will be true 1 OR When one or all of the bits compared are on the result will be true 1 When all of the bits compared are off the result will be false 0 NOR When one or all of the bits compared are on the result will be false 0 When all of the bits compared are off the result will be true 1 XOR exclusive OR When one of the bits compared is on the result will be true 1 When all of the bits are on or all of the bits are off the result will
284. ver0 Cnfg bit 0 to 1 The cable tuning should complete before the motor stops spinning Heidenhain Feedback Option Card The Quadrature Encoder output on the Heidenhain feedback option card allows an A Quad B output for encoder emulation of 2048 pulses per revolution of the Heidenhain device and for firmware version 4 001 programmable EPR and EGR functionality Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Virtual Encoder Output to the Heidenhain Option Card With firmware version 4 001 you can program the Heidenhain feedback option for a scalable virtual encoder output The virtual encoder output can be taken from the speed reference section or linked to other feedback parameters and be scaled to the desired EPR The following parameters provide this functionality e Bit 7 VM Direction of parameter 263 HeidenhainO Cnfg e Bits 0 VM Enc Out and 1 Emul Enc Out of parameter 264 Heidenhain0O Stat e Bit 6 VrtlMasterEn of parameter 266 Heidn Encdr Type e Parameter 267 Heidn Encdr PPR with a minimum value of 1 e Bit 7 EGR Enable of parameter 1000 UserFunct Enable e Parameter 1160 VirtEncPositFast e Parameter 1161 EGR Config e Parameter 1162 EGR Mul e Parameter 1163 EGR Div e Parameter 1164 EGR Pos Input only linkable to Pars 250 FB Opt0 Posit 762 Position Fdbk and 1160 VirtEncPositFast e Parameter 1
285. via dip switches There is a encoder supply on the drive that can be set for SV DC or 12V DC via dip switches 12V DC is the default setting An encoder offers good performance for both speed and torque regulation applications Encoder feedback is required for applications with high bandwidth response tight speed regulation torque regulation of 2 or when the motor is required to operate at less than 1 120th of its base speed 128 Rockwell Automation Publication PFLEX RMO03E EN E January 2011 Detailed Drive Operation Chapter 1 Parameters 232 Encoder0 PPR and 242 Encoder1 PPR set the pulse per revolution rating of the encoders These parameters have a range from 10 to 20000 PPR Parameter 156 Start Inhibits bit 10 Encoder PPR will be set if the PPR value doesn t correspond with any of the bold values in this table ws x mod75 mod125 mod225 mod 375 mod625 mod1125 1 75 125 225 375 625 1125 N 150 250 450 750 1250 2250 4 300 500 900 1500 2500 4500 co 600 1000 1800 3000 5000 9000 _ 6 1200 2000 3600 6000 10000 18000 32 2400 4000 7200 12000 20000 64 128 CO N OD Ae wy nr oO 256 co 512 10 1024 11 2048 12 4096 13 8192 14 16384 Parameter 233 Encdr 0 1 Config sets the configuration options for the encoders The function of the bits in Encdr 0 1 Config are as follows e Bi
286. voltage is stable 4 The drive must not be running PWM active except in coordination with ride through After the initial drive precharge has completed a power loss may present conditions for precharge to be restarted ex low bus voltage However if the drive output is active parameter 155 Logic Status bit 0 Active 1 the restart of precharge will be inhibited until the drive is stopped PWM not active Also refer to Power Loss Ride Through on page 109 for controller coordinated PWM disable and precharge operation If the drive is running and the user removes the precharge enable this condition will be ignored until the drive is disabled PWM stops Then the precharge function will be started again Rockwell Automation Publication PFLEX RMO03E EN E January 2011 113 Chapter 1 114 Detailed Drive Operation Digital Input 30 PreChrg En i Digital Input 30 Precharge Request O SEA PreChrg Control P411 1 Enable 0 Hold PreChrg 5 The drive precharge delay must be completed After conditions 1 through 4 above are met the time delay set in parameter 472 PreCharge Delay must be completed before the precharge device bypass is commanded If any of the above conditions become false during the precharge delay period the delay timer is reset If parameter 472 PreCharge Delay is set less than 200 ms then an internal 200 ms delay is used PreCharge Delay has a calculated maximum value
287. volution Parameter 251 FB Opt0 Spd Fdbk contains the speed feedback from the resolver when connected at port 0 Parameter 268 Resolver0 Config is used to configure the Resolver feedback option card The bits for Resolver0 Config are defined as follows e Setting bit 0 Cable Tune enables the cable tuning test resetting the bit to zero disables the test Refer to Resolver Cable Tuning Tests on page 138 for more information e Bit 1 is reserved not used e Bits 2 Resolution 0 and 3 Resolution 1 select the resolver resolution see Table 19 on page 136 The resolution setting determines the number of significant bits that are calculated in parameter 250 FB Opt0 Posit It does not affect the number of counts created per resolver revolution see Table 20 on page 136 However the resolution sets a limit on the maximum tracking speed see Table 21 on page 136 e Setting bit 4 Energize energizes the resolver resetting the bit to zero de energizes the resolver e Bit 5 Resolver Dir determines the counting direction If set to 0 direction is forward or up If set to 1 the direction is reverse or down Rockwell Automation Publication PFLEX RMO03E EN E January 2011 135 Chapter 1 136 Detailed Drive Operation e Bits 10 12 SmplRate btx configure the sample interval for measuring speed see Table 22 below Increasing the encoder sample interval improves speed me
288. when using SynchLink to communicate from a ControlLogix 1756 synch module to a PowerFlex 700S Phase II drive SynchLink Configuration Parameter 904 SL Node Cnfg contains the following four bits e Bit 0 Time Keeper This bit is turned on in the SynchLink master Only one node in a SynchLink network can be the time keeper e Bit 1 Reserved Not used e Bit 2 Sync Now This bit is turned on and all other bits off in the SynchLink Followers e Bit 3 Reset SL This bit can be turned on to reset SynchLink after a SynchLink configuration change instead of cycling power on the drive SynchLink data is transmitted as a combination of direct and buffered data Parameters 905 SL Rx CommFormat and 910 SL Tx CommFormat set the format for the receive and transmit data The following tables show the different formats for transmit and receive data and the respective SynchLink fiber optic update rates for the direct and buffered data Table 27 Receive Data Parameter 905 SL Rx CommFormat of Direct Words Direct Word Update of Buffered Words Buffered Word Update 7 2 50 uSec 18 0 5 ms 9 4 50 uSec 8 0 5 ms 17 4 50 Sec 18 1 ms Table 28 Transmit Data Parameter 910 SL Tx CommFormat of Direct Words Direct Word Update of Buffered Words Buffered Word Update 7 2 50 uSec 18 0 5 ms 9 4 50 uSec 8 0 5 ms 17 4 50 uSec 18 1 ms Rockwell Automation Publication PFLEX RMO03E E
289. wing ways e Set parameter 904 SL Node Cnfg bit 3 Reset SL 1 on the drives This bit will automatically transition back to 0 after SynchLink is reset OR e Perform a reset on the drives This can be done via the HIM by navigating from the Main Menu to Diagnostics gt Faults gt Reset Device OR e Cycle power on the drives Sync Generator The sync generator can be used to synchronize a parameter and delay it one scan This can be used in conjunction with SynchLink Refer to SynchLink on page 180 for more information Sync Generator Xsync In 1 788 Latch Xsync Out 1 i Xsync Out 2 l Xsync In 2 Latch Xsync Out 2 Dly 794 Xsync Out 3 Xsync Out 3 Dly Xsync In 3 Latch I SL System Time lt 317 gt 0 5ms aeia sync Status 786 gt 00 Sync Pulse 0 5ms 20787 Sync Pulse Generator 0 5ms Xsync Gen Period Configuration e Parameters 788 Xsync In 1 and 789 Xsync Out 1 can be used to synchronize a DInt parameter e Parameters 790 Xsync In 2 through 792 Xsync Out 2 Dly can be used to synchronize a DInt parameter and delay it one scan Rockwell Automation Publication PFLEX RMO03E EN E January 2011 191 Chapter 1 Detailed Drive Operation e Parameters 793 Xsync In 3 795 Xsync Out 3 Dly can be used to synchronize a floating point parameter and delay it one sc
290. ynchLink system is configured as a time keeper Speed Synchronization Example This example describes how to setup SynchLink to synchronize the ramped speed reference for two PowerFlex 700S Phase II drives using DriveExecutive DriveExecutive must be v3 01 with v3 03 patch installed or later To check if the patch is installed in DriveExecutive click Help gt Details to check component versions RADrvSynchLink dll must be version 3 3 or later Note that the SynchLink Setup dialog box in DriveExecutive configures the appropriate SynchLink parameters for you as you go through the setup Once connected to the drive in DriveExecutive select Drive gt Display SynchLink Bl File Edit view DA Peripheral Tools Window Help D g W amp Conec to Drive Undefined Nod Create Database la 0 PowerF of6 Overvi Upload from 0 PowerFlex 7005 2 EA Linear Download 0 PowerFlex 7005 2 Monito 23 Motor Dynam Display Datalinks 03 Speed Display SynchLink 03 Torque Display DriveLogix Q Proces Ga Positiot Faults Events and Alarms gt E8 Speedi a Utility Ea Comme Inputs User Fi E Defaull Groups Properties The SynchLink Setup dialog box displays as shown below This is the dialog box used to setup SynchLink Rockwell Automation Publication PFLEX RM003E EN E January 2011 187 Chapter 1 188 Detailed Drive Operation SynchLink Set

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