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Reference Manual Adjustable Frequency AC Drive

1. lo 320 0 12 60 Frame 5 100 HP 480 V 55kW 400V 34 9 1 37 Dia 107 6 4 24 22 2 0 87 Dia 927 2 47 Dia EU 2 Places 2 Places Removable Junction Box Z 7 Owe 7 HSS ETS e 241 9 8 52 Au ae 223 5 w 8 80 E 188 5 Wi WS 5 7 42 184 3 7 26 de 153 7 4 6 05 96 0 ka SR b Y v lg EC 65 0 2 56 93 0 3 66 gt 109 4 29 y 131 4 5 17 lt 193 7 60 A 297 3 11 70 Frame 6 123 5 4 86 34 9 1 37 Dia 22 2 0 87 Dia 112 9 4 44 Par PIDE 4 Places Removable Junction Box o ob a M WH 7 eS o D Te Gate D ZIN O 275 5 P WW je a I I D oo 219 0 2 0 8 62 DI op 0000 6 ote f 8 75 148 5 BOOS AO d 685 a ORO OOO do 116 6 OO OOOO O 4 59 ORG On i E 420 POOOGO0 oobo LW H 67 3 2 65 150 0 5 91 215 0 8 46 280 0 DI D I 22 2 0 87 Dia 2 Places 62 7 2 47 Dia 2 Places
2. 480 0 18 90 5 0 0 20 400 0 15 75 gt lt 363 3 14 32 gt 14 0 0 55 2400 9 45 gt gt 9 0 0 35 lt 339 5 13 37 5 13 ra to soami a og Nameplate Wire Way 1150 0 45 28 1120 0 44 09 Nene y 7 A O y E gt 9 0 0 35 Lifting Hole 21 0 0 83 Dimensions are in millimeters and inches Weight kg lbs Drive Drive amp Packaging 480 18 9 1150 45 28 13 37 400 15 75 44 09 142 9 315 176 9 390 Specifications amp Dimensions 1 17 Figure 1 7 PowerFlex 700S Bottom View Dimensions Frame 1 2 amp 3 Frame 1 173 5 6 83 152 5 6 00 132 5 5 22 25 5 100 72 5 2 85 0 0 Le OOOO 108 0 4 25 135 0 5 31 140 9 5 55 161 0 6 34 Frame 3 All Drives except 50 HP 480V 170 3 6 70 159 7 6 29 37 3 1 47 Dia Ca 2 places 22 2 0 87 Dia 28 7 1 13 Dia 2 places T 167 9 6 61 153 9 06 6 08 130 5 5 14 1 87 7 3 45 94 0 37 0 131 0 5 166 162 0 6 38 202 2 7 96 1 252 0 9 92 65 0 2 56 L 104 3 4 11 122 2 4 81 137 7 5 42 7 39 m Frame 2 22 4
3. Unipol Fwd 1 4 i 1 1 Unipol Rev 1 2 Jil FricComp Rated eB InertiaAccelGain Cs7 gt 59 lt gt O InertiaDecelGain Speed Comp to Torque 55 Control 4B 1 FricComp Spd Ref E FricComp TorqAdd Pee ss St ie Seege 20440 ag i Tek ka A I Inertia SpeedRef i Logic Command ae coe lo Tora I n Frict Comp Control 4B2 link C86 lt gt At FricComp Setup 141 Logic Command Inertia Comp 451110 inertia Comp FricComp Stick 142 l Total Inertia FricComp Slip 143 I Inertia Torq Add CH I U I H DeltaSpeedScale 1 Ramped Spd Ref S Curve Spd Ref Spd Ref Bypass SE Filtered Spd Ref eg Lon s fink E AAA Spd Trim1 SpdRef x lt s gt Ramp Carve Control Options ele Jet GE SRef Filt En e to Speed Control Accel Time SpdRef Filt Gain al peed Ref Scale Renat MAJ 33 S Curve Time Link 21 Logic Commana Der Time SpdRef Filt BW asa SpdRamp Dsbl PO OC Speed Trim 1 Ge 00 f Inv 1 0 A One BS Delayed Sed Rer Control 5G2 oji Scan ZER Lee lt 187 Jo Delay Logic Command eer SE S
4. Message Configuration MsgBlockTransferRead c xl Configuration Communication Tag Message Type Block Transfer Read Number Of Elements 20 16 bit Integers Destination Element RIO_BT_Response_Data v New Tag O Enable Enable Waiting O Start Done Done Length 20 Error Code Extended Error Code I Timed Out Error Path Error Text Cancel Help The communication tab of the block transfer message read is setup the same as the block transfer message write The block transfer messages on RIO are limited to 16 bit integers Therefore 32 bit parameters are split into 16 bit integers in the block transfer request and response data In order to write or read floating point or 32 bit integers the COP copy instruction must be utilized The copy instruction in ControlLogix performs a bitwise copy Set the length of the copy instruction to a value appropriate for the destination data type For example 3 When copying a floating point value into an integer register the length will be 2 A single precision IEEE floating point value uses 32 bits These means 2 16 bit integers are required to properly transmit the data 4 When copying 2 integer values the low and high word of 32 bit data into a floating point register the length will be 1 SLC PLC 5 System Reference Feedback Programming The reference is scaled so that base motor speed 32768 The SLC PLC 5 does not use DINT and only ha
5. Anlgin2FitBW mm AIx Filt Gain and Anlg Inx Filt BW are used to filter the analog input data Analog Outputs Anlg Outi Offset C i Anlg Out Integer a O lt 816 gt gt Anlg Outt Volts NZ j si N es Anlg Outi Real RE a X O TB1 B5 Anlg Out Scale C 817 2 10 x Ca Anlg Out Zero 4 Detailed Drive Operation 2 3 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 803 Anlg Inl Offset 0 0144V 802 Anlg In1 Scale 0 1 per 1V 804 Anlg In Filt Gain 1 805 Anlg In1Filt BW 0 10 Spd Ref 1 is linked to 800 Anlg Inl Data With a desired Anlg In1 Volts of OV the drive was reading 0 0144V To null out analog input 1 Anlg Inl Offset was set to 0 0144V Spd Ref 1 is a per unit parameter meaning that a value of 1 equates to base motor RPM Therefore to scale Anlg In1 Data to give us a value from O to 1 for a 0 10V signal Anlg Inl Scale was set to 0 1 per 1V Anlg In1 Filt BW was set to 0 so that no filtering took place on analog input 1 Analog Output Specifications There are 2 analog outputs located on TB1 Row B Bottom Terminals Each output outputs a 10V bipolar differential signal The D A converter is 12 bits including the sign 11 bits plus the sign bit Analog Output Configuration The analog outputs can be
6. 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 10ms ping event that allows peripherals to perform a single transaction i e one C S transaction per peripheral per time period Message fragmentation because the message transaction is larger than the standard CAN message of eight data bytes is automatically handled by C S operation The following types of messaging are covered Logging in peripheral devices Read Write of parameter values Access to all parameter information limits scaling default etc User set access Fault Alarm queue access Event notification fault alarm etc 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 e g start stop etc A P C status message is transmitted every Sms by the drive and a command message is received from every change of state in any attached DPI peripheral Change of state is a button being pressed or error detected by a DPI peripheral P C messages are of a fixed size so support of message fragmentation is not required The following types of messaging are covered Drive status running faulted etc Drive commands start stop etc Control logic parsing operations e g m
7. Parameter 45 Delayed Spd Ref is delayed by one scan of the speed control loop Spd Ref Bypass can be linked to Delayed Spd Ref instead of S Curve Spd Ref for use in SynchLink applications See SynchLink 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 Friction Compensation The friction compensation block is used to calculate breakaway torque and the torque needed just to keep the motor running at a constant speed due to friction For more information on friction compensation see Friction Compensation Virtual Encoder The virtual encoder block generates a position counter based on the speed reference in S Curve Spd Ref Parameter 61 Virt Encoder PPR is used to specify the desired pulses per revolution for the virtual encoder The virtual encoder block will count at a rate of 4 times Virt Encoder PPR per one revolution of the motor For example if Virt Encoder PPR is 1024 the virtual encoder block will count at a rate of 4096 units per one revolution of the motor Parameter 62 Virt Encdr Posit is a 32 bit integer that contains the pulse count output of the virtual encoder block This parameter is used for position follower applications see the Follower section of the Position Loop Parameter 63 Virt Encdr Dlyed is a 32 bit integer that
8. To control from digital inputs 1 Set parameter 839 DigIn2 Sel 1 Normal Stop or 5 Stop CF Stop CF indicates that the same digital input is used as a stop and a clear fault 2 Set parameter 840 Digln3 Sel 2 Start To control from a communication network 1 To perform a ramp stop toggle bit 0 Normal Stop in the logic command word on and then off 2 To perform a start toggle bit 1 Start in the logic command word on and then off To configure the drive for 3 wire control with a coast stop For parameter 153 Control Options set bit 8 3WireControl to on 1 and set bits 3 2WCurrLimStp and 9 2W CoastStop to off 0 To control from digital inputs 1 Set parameter 839 DigIn2 Sel 10 Coast Stop 2 Set parameter 840 DigIn3 Sel 2 Start To control from a communication network 1 To perform a coast stop toggle bit 9 Coast Stop in the logic command word on and then off 2 To perform a start toggle bit 1 Start in the logic command word on and then off 2 134 Detailed Drive Operation To configure the drive for 3 wire control with a current limit stop For parameter 153 Control Options set bit 8 3WireControl to on 1 and set bits 3 2WCurrLimStp and 9 2W CoastStop to off 0 To control from digital inputs 1 Set parameter 839 DigIn2 Sel 9 Current Limit Stop 2 Set parameter 840 DigIn3 Sel 2 Start To control from a commun
9. Undefined Nod Create Database E EJ 0 PowerF Connect to Last Node 1 13 Linear Upload From 0 nae S a La Monito GE EE 23 Motor oad 7005DL C Dynam Peer Communication R speed ZE i psp Faults and Alarms 5 23 Torque Z C Proces Non volatile Memory GQ Positiot Groups Ea Speed Pr a i besi IEA A dialog box similar to the one shown below displays This is the dialog box used to setup SynchLink communication PowerFlex 7005DL Peer Communication Setup SynchLink Receive Format No Receive Data y SynchLink Transmk Format No Transmit Data r Multiplier Block Setup Receive word to multipa None Mutiplier Base Value 0000 900090 Multipber Value 000000 Source Parameter None z Transmitted Direct Words Source 2 No Data D no Da a z Ne Data gt ik No Data z no Data 7 3 No Data o Data gt Item No Data 4 SynchLink Node Configuration Transmitted Buffered Data parameter values None z None 4 None None A None v None y None y None pe None z 2 142 Detailed Drive Operation Master PowerFlex 700S Drive Setup Transmitting Drive 1 In the master or transmitting drive select the desired transmittal format in the SynchLink Transmit Format field For this example select 4 Direct Words 8 Buffered Words 2 In the Transmitted Direct Word
10. DL GL Ol sel vol 82 ve 89 Gi Z 8d9ados VN 98 380 N0p 98 320 N0pL L GL SZL 9 DL 9 02 9 9 87 EL zej SCH L t e dvadoe 1 OV HOA 802 SREM pStequiny DOE elqelteny N EN REN UN gn pun vsej UNE woo vu sduy GH aN n 8qunN uonedissiq gaje puey yang aiqeisnipy UHM 19 18 S JOJO WOY L ZOLZE aen esny Aejaq sdwy indjno sbuyeyinduy Buyey dH 3 Dags JaM0d nau Aejaq aw uoy aw Juawe 3 eng HO sajon 104 GG abed ess 9 sawesy SG2IA8Q UO NI9JOIH INdU DY HOA 802 Detailed Drive Operation 2 50 YN gt 00r 009 009 osz Osp Osz Olv 808 gei 8el 661 OLL YN 00 092 WEI ose oss ose 06 98 09 LL DC cel 9 0920002 YN osz 00s 009 osz G E Osz ele mei OLE 92k vol 06 YN R 007 009 009 osz ost osz 682 Oce SOZ 8bL 661 Ol 9 gs0Zo003 YN osz 00p oss 002 00 ooz 082 Olz ObL 0L 96L SZ YN osz 00S 009 osz GLE osz SSZ 48L OZL Gei POL 06 9 0219007 YN gt OSL 00 Dt OSL Gee OsL Dei 851 SOL 92 LLL ss YN s DG 007 oss 002 00 002 ole P ll Ott 0L 6bL SS SL 9 OpLOGOC YN gt Z OSL GLE SZE Gel 002 SZL 891 Pi 96 pi 616 Sp gt YN z osz GLE 00s osL SLE OSL 94 HL Gel 668 lal cc S GeLOQOC YN OSL 00 00 OLL SL OlL 01 gei G8
11. Parameter 37 Spd Ref Bypass Click on the Link Data tab Value Link Data Documentation m Link Source C No Link Parameter Find Parameter Ir Net Selected Parameter P 1048 SL Rx Optl Regis ES SL Dir Int Rest P 1055 SL Dir Real Rx0 P 1056 SL Dir Int Rxl Function Block Block Nodes JS Available Drive Links 1 Total Drive Links 200 Parameter Help 9 Select P 1055 SL Dir Real Rx0 in the Selected Parameters list 10 Click the OK button to accept the setting 2 146 Detailed Drive Operation Sync Generator Note that by linking to Spd Ref Bypass of the follower we bypassed the ramp and S Curve of the follower This is because the reference is already ramped and S Curved by the master This way both drives follow exactly the same ramp Cycle Power e You must power down all drives before SynchLink changes take effect e First apply power to the Master The SynchLink LED should be solid green The SynchLink LED is on the top right of the MCB and is visible through the window on the control assembly e When power is applied to the follower s the SynchLink LED on the follower should be a solid light after about 1 minute The synch 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 2 135 for more information Sync Generator lt 789 gt Xsync
12. 1 1 1300 ns filter 0 00 1 1 1300 ns filter 0 11 00 0 1400 ns filter 0 11 00 1 500 ns filter O 1 1 00 600ns filter O 11 1 700ns filter 1 0 0 10 800 ns filter default setting 1 JO 00 J1 900nsfilter 1 00 1 O 1000nsfilter 1 0 1 1 1100nsfilter 1 1 10 00 1200ns filter 1 1 00 1 11300 ns filter 1 1 1 00 1400nsfilter 1 1 1 1 1500nsfilter 2 80 Detailed Drive Operation Position Loop Position Watch P237 Port0 Regis Ctrl Configures control for Port O Registration Setting Bit O 1 is the arm request to capture the position on the next trigger event Setting Bit 1 1 is the disarm request to capture on the next trigger event P238 Port0 Regis Stat Port 0 Registration Status Bit 0 Armed indicates the registration latch is armed and waiting for a trigger Bit 1 Found indicates the registration event has occurred and the value is stored in P235 Port0 Regis Ltch The position watch is used to determine when the position feedback reaches a user defined value There are two 2 position watches in the PowerFlex 700S Position Actual Posit Detct1 In lt T Link GD Position Control J 16K Ge X Watch 1 En lt gt Position Watch 1 X Watch 1 Dir 17 PositDetct1 Stpt Parameter 784 Posit Detctl In sets the position feedback that you would like to watch By default Posit Detctl In is linked to parameter 763 Position Actual Position Status Posit Wat
13. 369 5 14 53 348 9 13 76 Ln 0 al y d 8 0 0 31 gt lt d Lifting Holes 3 Places 031 4 Places pe Dimensions are in millimeters and inches ham loam a 6 69 758 8 29 9 201 8 7 94 192 0 7 56 TEZ 28 4 62 5 O Refer to Table 1 B for frame information e Weights include HIM DriveLogix controller with ControlNet daughtercard Hi Resolution Encoder Option and 20 COMM C ControlNet adapter Approx Weight e kg Ibs Drive amp Packaging 29 03 63 9 Frame o 1 14 Specifications amp Dimensions Figure 1 4 PowerFlex 700S Frame 5 369 4 14 54 70 1 2 76 D EE TEEN 6 50 0 26 6 50 0 26 7 5 0 30 7 5 0 30 m H 9 ol p SE o e o gie ooo DOOOO d e 369 0 14 53 83855 B E i Overall gi 349 5 13 76 Gar Frame 5 gy RIIT E el I eS IL je oF E mm D 689 6 27 15 JI Overall II Height II L Glen vi eP al ef To 6 50 0 26 A gt in a A Conduit Box NOT Present On 75 HP Frame 5 Dimensions are in millimeters and inches Frame A B c D E Approx Weight kg lbs 5 308 9 12 16 644 5 25 37 275 4 10 84 225 0 8 86 625 0 24 61 37 19 82 O Refer to Table 1 B for frame infor
14. Detailed Drive Operation Setting the EGR Electronic Gear Ratio and Speed Reference Scaling Position reference can be entered in user units by using the EGR scaling Parameters 745 PositRef EGR Mul and 746 PositRef EGR Div are used to scale the position reference gt 744 gt PositRef EGR Out Accum Selected position A N Geared position reference D reference Deriv Gear Rat PositRef EGR Mul 745 PositRef EGR Div 746 Example In this example the encoders are mounted on the motors The motors are directly coupled to the load and we want the follower to run at 4 times the speed of the master PPRm 1024 PPR PPRf 1024 PPR Ratiof Ratiom 4 1 where PPRm the PPR of the master encoder PPRf the PPR of the follower encoder Ratiof Ratiom the desired ratio between the follower speed and the master speed PositRef EGR Mul _ CPRf Ratiof _ 4096 4 PositRef EGR Div CPRm Ratiom 4096 1 where CPRf the counts per revolution of the follower feedback device For an incremental encoder this is 4 times the encoder PPR For a Stegmann Hi Res encoder this is 1048576 For a Resolver this is 65536 CPRm the counts per revolution of the master encoder For an incremental encoder this is 4 times the encoder PPR For a Stegmann Hi Res encoder this is 1048576 For a Resolver this is 65536 Solving for the lowest common denominator the 1024s on the top and botto
15. Figure 2 24 Writing Floating Point Block Transfer Data in an SLC PLC 5 Afloating point is sent across a RIO BT MSG as 2 16 bit integers To write afloating point datalink comecthy in the SLC you must first the floating point address into 2 16 bit integers md then swap the high md low 16 bit integers N16 16 LSW of Parameter to Write N16 17 MSW of Parameter to Write N14 16 MSW of Parameter for RIO BT MSG Write N14 17 LSW of Parameter for RIO BT MSG Write F12 5 Floating Point Parameter Value 0009 Copy File RFI Filter Grounding Refer to Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES IN001 for detailed information This publication is available online at http literature rockwellautomation com literature S Curve See Speed Reference on page 2 113 Speed Control Speed Mode See Speed Position Feedback section for information about feedback devices and Speed Regulati on speed regulation with and without a speed feedback device See the Speed PI Regulator section for information about the speed regulator See the Torque Reference section for information about choosing the output of the speed regulator as the reference to the torque loop 2 102 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 func
16. LSW Speed Ref DPI Feedback Wi Datalink A1 Data Out A1 Datalink A1 CT Data Out A1 Datalink A2 Data Out A2 Datalink A2 pall Data Out A2 Datalink B1 Data Out B1 Datalink B1 pall Data Out B1 Datalink B2 Data Out B2 Datalink B2 pall Data Out B2 Datalink C1 Data Out C1 Datalink C1 CT Data Out C1 Datalink C2 Data Out C2 Datalink C2 pall Data Out C2 Datalink D1 n Data Out D1 Datalink D1 lt Data Out D1 Datalink D21 he Data Out D2 Data Out D2 CIP Generic Message Source and Destination Tags Message Le Message Butter Handler Bits 0 15 only of parameter 155 Logic Status appear in the Input Image table of the ControlLogix controller 2 The speed feedback sent from the PowerFlex 7008 to the 20 COMM D is not affected by parameter 73 Spd Fdbk Scale Furthermore the PowerFlex 700S automatically coverts parameter 72 Scaled Spd Fdbk which is a floating point parameter to a double integer before the value is transferred to the 20 COMM D To setup the PowerFlex 700S to follow a speed reference from the 20 COMM D Parameter 691 DPI Ref Select must be set to Port 5 Parameter 16 Speed Ref Sel must be set to Speed Ref DPI Reference and Feedback values are floating point values in the PowerFlex 7008 Use the following logic to transmit and receive reference and feedback data as integer data Transmitted Reference Floating Point Reference RPM x 32768 Base Motor RPM Feedback rece
17. O O OO O O 6 0 ms max setting Detailed Drive Operation 2 109 Resolver Sample Interval Bit 15 14 13 12 Settings 1 6 0 ms 0 6 0 ms 1 6 0 ms 1 1 1 1 1 1 IA Parameter 270 Reslvr0 SpdRatio specifies the speed ratio for the resolver option card at port 0 The speed ratio comes from the following formula Speed ratio electrical revolutions mechanical revolutions pole count 2 Parameter 271 Reslvr0 Carrier specifies the resolver carrier frequency for the resolver option card at port 0 Parameter 272 Reslvr0 In Volts specifies the resolver input voltage for the resolver option card at port 0 Parameter 273 Rslvr0 XfrmRatio specifies the resolver transform ratio for the resolver option card at port 0 Parameter 274 Reslvr0 CableBal specifies the resolver cable balance for the resolver option card at port 0 Parameter 267 Reslvr0 Status indicates status of the resolver option card port 0 e Bit 0 Cable Status indicates that the cable tuning test is in progress e Bit 1 Tune Result indicates the tuning parameter type When set it indicates the tuning is using the parameter database When cleared it indicates the tuning is using derived data Bit 2 Mtr Turning indicates that the motor is turning Bit 3 Cable Comp indicates Bit 4 Energized indicates the resolver is energized Bit 8 Open Wire indicates a problem with the cable open circuit Bit 9
18. Switch Control bit 2 SW Real 1 On activates the switch e The value of parameter 1374 SW Real 1 NO is moved into parameter 1376 SW Real 1 Output when bit 2 SW Real 1 On of parameter 1370 Switch Control is on e The value of parameter 1375 SW Real 1 NC is moved into parameter 1376 SW Real 1 Output when bit 2 SW Real 1 On of parameter 1370 Switch Control is off e SW Real I Output contains the value of either SW Real I NO or SW Real 1 NC Time Axis Generator Ramps the output of the function generator at the rate in parameter 200 Time Axis Rate e When parameter 183 PI Command bit 1 Time Lim En or parameter 151 Logic Command bit 3 Time Axis En 1 the output ramps from 0 0000 to 1 0000 at the Time Axis Rate set in Time Axis Rate e When parameter 183 PI Command bit 1 Time Lim En or parameter 151 Logic Command bit 3 Time Axis En 0 the output ramps from 1 0000 to 0 0000 at the Time Axis Rate set in Time Axis Rate Time Axis Output Time Axis Rate PI Command Time Lim En Logic Command Gs a Time Axis En 183 1 2 152 Detailed Drive Operation Voltage Class Limit Generator The limit generator generates a high and low limit based on an input e The input parameter 206 LimGen X axis In is a linkable destination for floating point parameters The input range is 0 0000 to 1 0000 e The output is equal to parameter 205 LimGen Y axis Mn when the inpu
19. limited to 16 bit integers and floating point Because the SLC PLC 5 does not support 32 bit integers 32 bit integer Datalinks remain split into 2 16 bit integers In order to send or receive floating point Datalinks we have to swap the LSW and MSW and utilize the COP copy instruction The following examples are for transmitting and receiving the floating point Datalinks but do not show the logic for the block transfer I O messages See Chapter 4 of the 20 COMM R User Manual for an example program for the block transfer I O messages Detailed Drive Operation 2 99 Figure 2 19 Reading DINT datalinks in an SLC PLC 5 A DINT datalink is sent across RIO as 2 16 bit intergers There is no DINT datatype in the SLC so to read the data we will copy the DINT into 2 16 bit intergers N11 114 LSW Datalink A2 Out from RIO BT Read N11 115 MSW Datalink A2 Out from RIO BT Read N13 114 LSW Datalink A2 Out N13 115 MSW Datalink A2 Out Copy File 9004 Source N11 114 Dest N13 114 Length 2 Figure 2 20 Writing DINT Datalinks in an SLC PLC 5 A DINT datalink is sent across RIO as 2 16 bit intergers There is no DINT datatype in the SLC so to write the data we use 2 16 bit intergers in the SLC N13 14 LSW Datalink A2 In N13 15 MSW Datalink A2 In N10 14 LSW Datalink A2 in for RIO BT Write N10 15 MSW Datalink A2 in for RIO BT Write Copy File 0005 Source Dest Length Figure 2 21 Reading Floating Point Datalinks in a
20. or when the motor is required to operate at less than 1 100th its base speed Encoderx PPR sets the pulse per revolution rating of the encoder This parameter has a range from 10 to 20000 PPR Detailed Drive Operation 2 103 Encdrx Config sets the configuration option for the encoder The bits for Encder x Config are broken down as follows Bit 0 Enc Filt bt0 Bit 1 Enc Filt bi Bit 2 Enc Filt bt2 Bit 3 Enc Filt bt3 Bit 4 Endr 4x Bit 5 Encdr A Phs Bit 6 Encdr Dir Bit 7 Reserved not used Bit 8 Reserved not used Bit 9 Edge Time Bit 10 Reserved not used Bit 11 Reserved not used Bit 12 SmplRate bt0 Bit 13 SmplRate btl Bit 14 SmplRate bt2 Bit 15 SmplRate bt3 Bits 16 to 31 Reserved not used The function of the bits in Encdrx Config is explained here Bits O Enc Filt bt0 1 Enc Filt bt1 2 Enc Filt bt2 and 3 Enc Filt bt3 configure encoder input filter see Table 2 F Encoder Input Filter Settings 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 4 Encdr 4x and 5 Encdr A Phs determine how the encoder channel A and B signals will be interpreted Typically both encoder phases A and B are used so that direction information is available The parameter 230 Encdr0 Position counts up for forward rotation and down for reverse rota
21. parameter 17 Jog Speed 1 or 18 Jog Speed 2 For more information on jog speeds see Jog Stop Command When a stop command is issued parameter 157 Logic Ctrl State bit 0 Spd Ref En is set to 0 causing a zero speed to be selected When Logic Ctrl State bit 0 is set to 1 the selected speed or jog reference is used Logic Ctrl State o Y Direction Control and Bipolar Reference The direction of rotation of the motor can be controlled by a forward reverse command or by the use of a bipolar signal For more information on direction control see Direction Control and Bipolar Reference Speed Limits The next section sets the forward and reverse speed limits for the speed reference Parameter 31 Fwd Speed Limit sets the positive speed limit in RPM Parameter 30 Rev Speed Limit sets the negative speed limit in RPM Parameter 41 Limited Spd Ref contains value in RPM of the limited speed reference Limited Spd Ref Rev Speed Limit Fwd Speed Limit Accel Decel Ramp and S Curve The accel decel ramp generator can be bypassed for certain functions When parameter 151 Logic Command bit 0 SpdRamp Dsbl is on the ramp is bypassed Otherwise the reference is ramped according to the rates determined by parameters 32 Accel Time and 33 Decel Time For example the ramp rate for acceleration would be Motor NP RPM Accel Time The ramped reference can be viewed in parameter 42 Ramped Spd
22. 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 percentage of parameter 401 Rated Volts and the selected voltage class J2 x Par 401 Rated Volts x Par 415 Bus Reg Brake Ref VDC bus voltage reference 100 For example with a 480V rated drive and BusReg Brake Ref 111 bus voltage reference Bx E 753 5 VDC 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 1 2 480 VAC is used to determine the bus voltage reference bus voltage reference 1240012111 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 Pulse Watts sets the peak power reference for determining the protection for an external brake resistor Parameter 416 is active only if the configuration is selected for an external brake parameter 414 Bus Brake Cnfg bit 1 is set to 1 When the internal brake resistor is used then the protection is determined from the drive internal values Normally this value is specified by the resistor vendor as the energy rating in Joules or a 1 second power rating in Watts with typical values in the range of 30 to 100 times higher than the resist
23. 0 88 Dia 28 7 1 13 Dia 2 Places 3 Places 160 3 if z 6 31 153 7 wi 6 05 L 114 9 O O Ni Disses 171 0 6 73 201 4 7 93 242 4 9 54 Frame 3 50 HP 480V Normal Duty Drive 170 3 6 70 349 137 Di i la pea daw 159 7 6 29 2 Places 7 1 13 Dia 46 7 1 84 Dia 2 Places 2 X 2 Places ooh Sh W HH 167 9 J 162 9 d 187 3 6 61 o 6 4 737 130 5 IT wm 5 14 Il 3 ald H Mie 1 L 87 7 3 45 94 0 3 70 L 131 0 5 16 202 2 7 96 252 9 92 Dimensions are in millimeters and inches 1 18 Specifications amp Dimensions Figure 1 8 PowerFlex 700S Bottom View Dimensions Frame 4 5 amp 6 Phase Frame 4 47 0 1 85 Dia 760 299 At D A 2 Places 54 1 2 13 Dia lt 65 3 2 57 2 Places 65 0 2 56 26 8 1 06 36 8 1 45 51 5 2 03 e 63 8 2 51 gt lt 112 8 4 44 180 8 7 12 Frame 5 75 HP 480 V 55kW 400V 169 0 6 65 1 34 9 1 37 Dia 158 2 6 23 1 _ 2 Places ka c rl a 65 0 2 56 93 0 3 66 110 0 4 33
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25. 1 58 5000 MPL B320P 460 3 2 281 3 4220 1 30 8 5 0 2 94 5000 MPL B330P 460 4 3 258 7 3880 1 70 8 7 0 4 18 5000 MPL B420P 460 45 255 3 3830 1 90 8 9 2 4 74 5000 MPL B430P 460 6 5 233 3 3500 2 40 8 12 0 6 55 5000 MPL B4520P 460 6 0 260 7 3910 2 50 8 17 0 6 10 5000 MPL B4530F 460 5 0 167 3 2510 2 20 8 13 4 8 36 3000 MPL B4530K 460 78 198 0 2970 2 60 8 19 1 8 36 4000 MPL B4540F 460 6 4 187 3 2810 3 00 8 16 3 10 20 3000 MPL B4560F 460 8 3 144 7 2170 3 20 8 25 5 14 10 3000 MPL B520K 460 8 1 208 0 3120 3 50 8 23 3 10 70 4000 MPL B540K 460 14 5 177 3 2660 5 40 8 42 4 19 40 4000 MPL B560F 460 14 5 123 3 1850 5 40 8 42 4 27 90 3000 MPL B580F 460 18 4 132 7 1990 7 10 8 66 5 34 00 3000 MPL B580J 460 22 6 101 3 1520 5 40 8 66 5 34 00 3800 MPL B640F 460 22 7 106 0 1590 6 10 8 46 0 36 70 3000 MPL B660F 460 27 2 81 3 1220 6 15 8 67 9 48 00 3000 MPL B680D 460 24 0 123 3 1850 9 30 8 66 5 48 00 2000 MPL B680F 460 33 9 79 3 1190 7 50 8 67 9 60 00 3000 MPL B860D 460 33 6 96 0 1440 12 50 8 67 5 83 00 2000 MPL B880C 460 33 6 72 7 1090 12 60 8 69 0 110 00 1500 MPL B880D 460 40 3 86 7 1300 15 00 8 113 2 110 00 2000 MPL B960B 460 29 7 78 7 1180 16 00 8 63 6 130 00 1200 MPL B960C 460 38 9 76 0 1140 14 80 8 88 4 124 30 1500 MPL B960D 460 50 2 98 0 1470 20 00 8 102 5 130 00 2000 MPL B980B 460 31 8 72 0 1080 17 00 8 70 7 150 00 1000 MPL B980C 460 48 2 67 3 1010 16 80 8 99 0 158 20 1500 MPL B980D 460 63 6 93 3 1400 22 00 8 141 4 150 00 2000 MPG A004 031 230 1 8 222 7 3340 0 21 8
26. 10 Actual Line Voltage Drive Input Example Calculate the maximum power of a 5 HP 460V motor connected to a 480V rated drive supplied with 342V Actual Line Voltage input e Actual Line Voltage Nominal Motor Voltage 74 3 74 3 x 5 HP 3 7 HP e 74 3 x 60 Hz 44 6 Hz At 342V Actual Line Voltage the maximum power the 5 HP 460V motor can produce is 3 7 HP at 44 6 Hz a E u HE e No Drive Output HP Motor Drive Output 480V gt i 460V gt 528V Actual Line Voltage Drive Input 342V gt i See Watts Loss on page 2 153 Mounting Specifications amp Dimensions 1 7 Figure 1 1 Minimum Mounting Clearance Requirements E one w d z 101 6mm No Adhesive Label 4 0 in see below v With Adhesive Label see below E GK opi 101 6mm z 8 4 0 in ya ya A ge Sr NT dae Eh C gt Lo D ano y 50 8mm 2 0 in 4 101 6mm i j 40in a 9 de z ej eco 50 8mm 2 0 in OT OIG o Ja 4 0 in o Ya si I e L SS YE Tr Je 3 Tr 1 8 Specifications amp Dimensions Derating Guidelines PowerFlex 700S Altitude and Efficiency Frame Type Derate All Altitude 100 3 Z 90 E S 80 70 0 1 000 2 000 3 000 4 000 5 000 6 000 Altitude m ger typical 1 za vs Speed 95 T 90 vs Load E ii 85
27. 10ms Change in reference value to change in drive operation 10ms Change in Datalink data value to change in the drive 10ms Change of parameter value into drive 20ms times the number of attached peripherals The maximum time to detect the loss of communication from a peripheral device is 500ms The following timing specifications apply to DPI devices e Host status messages only go out to peripherals once they log in and at least every 125ms to all attached peripherals Periphals will time out if more than 250ms passes without a response Actual time is dependent on the number of peripherals attached The minimum time goal is 5ms may have to be depen dent on the Port Baud Rate DPI allows a minimum 5ms status at 125k and lms status at 500k e The host determines the Minimum Update Time MUT based on the number of attached peripherals Range of values from 2 to 125ms Minimum goal time of 5ms DPI allows 2ms at 500k and 5ms minimum at 125k e Peripheral command messages including Datalinks generated on change of state but not faster than Host MUT and at least every 250ms Host will time out if it is more then 500ms e 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 10ms 125k or 5ms 500k for peripheral response to ping Peripherals typical response time is 1ms Periphals allow only
28. 1144 4 5 lt gt 119 4 4 7 gt 136 4 5 37 gt 197 4 7 77 lt 347 4 13 7 297 4 11 7 397 4 15 6 Dimensions are in millimeters and inches Specifications amp Dimensions 1 19 Figure 1 9 PowerFlex 700S Bottom View Dimensions Frame 9 372 5 14 67 245 53 Lo 2925 11 52 gt pe lt 142 5 5 61 j 59 0 2 32 7 y M sA 7 54 100 12 884 7 Thee O OT gt IK K Dimensions are in millimeters and inches 285 0 11 22 H 1 20 Specifications amp Dimensions Notes efesotomasyon com Chapter 2 Accel Time Alarms Detailed Drive Operation This chapter explains PowerFlex 700S drive functions in detail Explanations are organized in alphabetically by topic Refer to the Table of Contents for a listing of topics in this chapter PowerFlex 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 Refer to Chapter 2 Start Up of the PowerFlex 700S High Performance AC Drive Phase I Control User Manual publication 20D UM001 for detailed information on applying power to a drive ATTENTION Only qualified personnel familiar with the Parameter 32 Accel Time
29. 1162 SL Buf Real Tx00 through 1196 SL Buf Real Tx17 would be used Buffered Data Receive Parameters Odd parameters 1073 SL Buf Int Rx00 through 1131 SL Buf Int Rx29 contain integer values that you receive from SynchLink as buffered data Destination Detailed Drive Operation 2 139 parameters that are integers can be linked to this buffered data Note that at this time the maximum number of buffered words that can be received over SynchLink is 18 so only odd parameters 1073 SL Buf Int Rx00 through 1107 SL Buf Int Rx17 would be used Even parameters 1074 SL Buf Real Rx00 through 1132 SL Buf Real Rx29 contain floating point values that you receive from SynchLink as buffered data Destination parameters that are floating point values can be linked to this buffered data Note that at this time the maximum number of buffered words that can be received over SynchLink is 18 so only even parameters 1074 SL Buf Real Rx00 through 1108 SL Buf Real Rx17 would be used Table 2 1 SynchLink Transmit Block Diagram Direct Tx Data Select 0 1 2 3 Tx Port Comm Format 402140221028 1024 0 26 0 17 SycnhLink T Fiber x Tx Format gt so Synchlink Event Data Reeg Tansnit Port Registration Latches Local Data Tx to PO Regis Latch Select 2 Downstream Select 3 Node P1 Regis Latch eg i Select 8 Tx Axis Si Opt 0 Regis Ltch
30. 153 Watts Loss The following table lists watts loss data for PowerFlex 700S drives running at full load full speed and factory default PWM frequency of 4kHz Table 2 M 480V Watts Loss at Full Load Speed 4kHz Drive ND HP 480V AC Total Watt Loss 0 5 92 1 103 2 117 3 135 5 210 75 243 10 271 15 389 20 467 25 519 30 543 40 708 50 e 60 e 75 e 100 e 125 e 150 e Includes HIM 8 Information not available at time of publication 2 154 Detailed Drive Operation Notes efesotomasyon com Numerics 20 COMM C 2 13 20 COMM D 2 21 20 COMM R 2 90 A Accel Time 2 1 Al x Filt Gain 2 2 Alarms 2 1 Analog Input Configuration 2 2 Analog Inputs 2 2 Anlg Inx Data 2 2 Anlg Inx Filt BW 2 2 Anlg Inx Offset 2 2 Anlg Inx Scale 2 2 Anlg Inx Volts 2 2 Anlg Out Real 2 3 Anlg Outx Integer 2 3 Anlg Outx Scale 2 4 Anlg Outx Zero 2 4 Applied LogicOmd 2 111 Atune Spd Ref 2 7 Atune Torq Ref 2 7 Auto Restart 2 4 Auto Manual 2 4 Autotune Direction Test 2 5 Feedback Configuration 2 5 Inertia Test 2 7 Motor Control 2 5 Motor Data 2 5 Motor Tests 2 6 Power Circuit Test 2 5 Start Up Menu 2 5 Troubleshooting 2 7 Auxiliary Power Supply 2 7 Basic tuning with a gearbox or belt 2 125 Bus Regulation 2 7 C Cable Trays and Conduit 2 11 Index Cable Control 2 11 Cable Motor Lengths 2 11 Cable Power 2 11 Carrier PWM Frequency 2 11 CE Confor
31. 2 through 5 show the error status of the corresponding speed feedback device 2 Encdr0 Loss 3 Encdri Loss 4 FB Opt0 Loss 5 FB Opti Loss Parameter 365 Fdbk LsCnfg Pri and parameter 366 Fdbk LsCnfg Alt set the feedback loss configuration for each feedback device The primary feedback device should be configured to 1 Alarm The alternate feedback device should typically be configured to 2 FltCoastStop Settings for Fdbk LsCnfg Pri and Fdbk LsCnfg Alt 1 Alarm 2 FiiCoastStop 2 112 Detailed Drive Operation Parameter 510 FVC Mode Config bit 22 SrLss RdThru must be set to 1 if sensorless operation is selected in Mtr Fdbk Sel Alt In all other cases Parameter 510 bit 22 should be set to 0 Speed Feedback Loss Ride Through Operation Setting up the feedback loss ride through function requires the following steps 1 Enter a valid feedback device selection in parameter 222 Mtr Fdbk Sel Pri 2 Enter a valid feedback device selection in parameter 223 Mtr Fdbk Sel Alt 3 Setting parameter 365 Fdbk LsCnfg Pri to 1 Alarm 4 Setting parameter 366 Fdbk LsCnfg Alt to 2 FltCoastStop recommended but not necessary un Setting the speed change detection level in parameter 224 TachSwitch Level 6 Setting parameter 153 Control Options bit 16 Auto Tach Sw to 1 for automatic switch over 7 Setting parameter 510 FVC Mode Config bit 22 SrLssRdThru to 1 when sens
32. 214 PeakDtctl Preset which is a default of 0 e To hold the output of the peak detector at the present value turn on parameter 210 PeakDtct Ctrl In bit 1 Peak 1 Hold The change bit parameter 211 PeakDtct Status bit O Peak 1 Chng is set to true for one scan if the peak detect value changes otherwise the change bit is set to False The change bit is also set to False if the detector is in Set or Hold mode PeakDtct Ctrl In ED 6 Peak 2 Sel Peak Ctrl Status 211 0 Peak 1 Chng 211 1 Peak 2 Chng PeakDtct1 Ctrl In PeakDtct2 Ctrl In H 210 1 Peak 1 Hold Hido CE r d 5 Peak 2 Hold pr lt gt Gr Be PeakDtett Ctrl In Seon Coe i PeakDtct2 Ctrl In 0 Peak 1 Set ct2 In Real C2 210 4 Peak 2 Set PeakDtct2 In Int 216 NG i i Peak Detect Out i i GE H HK ON 1 NE gt 219 i PeakDtct1 Preset Era H i PeakDtct2 Preset C NOTE The change bit Peak x Chng where x 1 or 2 is set TRUE if the peak detect value changes otherwise the change bit is set FALSE Change is also set to FALSE if the detector is in HOLD or SET 2 150 Detailed Drive Operation Example e Link parameter 213 PkDtctl In Real to parameter 300 Motor Spd Fdbk e Verify that parameter 210 PeakDtct Ct
33. 240 480 600 240 480 600 240 480 600 Phase Phase Total 160J 320J 2804 320 280 300J Phase Ground Total 220J 380J 3604 410J 360 370 User Functions PkDtet In Real 213 PeakDtct1 In Int PeakDtct1 Ctrl In 210 2 Peak 1 Sel Peak Ctrl Status Detailed Drive Operation 2 149 PowerFlex drives contain protective MOVs and common mode capacitors that are referenced to ground To guard against drive damage these devices should be disconnected if the drive is installed on an ungrounded distribution system where the line to ground voltages on any phase could exceed 125 of the nominal line to line voltage Refer to your PowerFlex User Manual 20D UMO001 for details There are several user functions available in the drive for custom control Peak Detect There are 2 peak detectors that can be used to detect the peak for a parameter value Configuration e Link parameter 213 PkDtct1 In Real or parameter 212 PkDtct1 In Int to the parameter that you wish to detect a peak depending on the data type e To detect positive peak values turn on parameter 210 PeakDtct Ctrl In bit 2 Peak Sel To detect negative peak values turn off parameter 210 PeakDtct Ctrl In bit 2 Peak1 Sel e The peak value is contained in parameter 215 Peak Detect Out e To reset the output of the peak detector toggle on and then off parameter 210 PeakDtct Ctrl In bit O Peak 1 Set The output will match the value in parameter
34. 380 N 520 320 0 08 08 0 0s 0 ve GS cej Ola c 02 03 Y Sk 03 z cco3dos VN 910 384 W 910 380 W 9L0 3c0 W D 0s 09 D 07 D i gsc Z8L ZL O91 ys 0s Fi OL St L ZLO3003 YN 010 38 M 010 380 N 0L0 300 W GL 07 Ov GL Ge SL 8L FEL HE Ob 66 0s GZ 0L L LLO3dOS VN 0L0 384 W 010 380 N 010 420 W SI 0 GE OL D DL FEL 66 6 18 82 05 v S GZ L 0d63003 YN z 98 380 N 98 320 GL 03 02 6 CL 6 26 19 V9 GG es 0s L D Si bd935q02 VN 07d 380 W Ovd Hc0O W 2 GL EI 9 6 9 6S ERT 6 ES DE 0s t H L 6de3003 YN E Gcd 300 W D SL DL D 9 D 87 ge Le L L oS 7 L Zi b Z dc3003 YN SS 918 320 W E GL 9 H v H D Qi ZI yl EI 0s t F0 L L 2dt300Z IO 009 SHEM g 2qunN BojeJeo ojqejleny on XEN igy XW rn uN gN py UW 2ee Cu mue WAY sdwy Jo ZHY GH ON Gr J9QqUINN uoyedissig SUE usun s qejsn py yum 1911815 10401 WOY L jAOADAROLd SERA esny asny ejeg oul sdwy ndmgo sbuney jnduj due bey Guney z got 19MOG UNa 10JON unag Aerea SWIL UON juaua 3 eng INMd dH i sajon 10 CC aBed 908 9 SOWEJ4 saugt UONOSJOJd NU JY HOA 009 Detailed Drive Operation 2 55 690 Volt AC Input Protection Devices See Notes below Drive ay KW i Dual Element Time Non Time Delay Circuit 8 Motor Cireyit Power Catalog E Rating PWM Freq Temp Input Ratings Output Amps Delay Fuse Fuse
35. 4 0 0 60 6000 MPG A010 031 230 2 1 189 3 2840 0 36 8 6 0 1 21 4875 MPG A010 091 230 0 9 295 3 4430 0 19 8 2 3 0 41 5900 MPG A025 031 230 9 9 181 0 1810 0 88 12 19 8 4 65 5200 MPG A025 091 230 3 0 168 0 1680 0 52 12 8 5 2 95 5625 MPG A050 031 230 24 7 120 0 1200 1 50 12 53 0 11 90 2510 MPG A050 091 230 5 0 275 0 2750 0 75 12 15 6 2 60 3775 MPG A110 031 230 20 2 122 0 1220 2 20 12 53 0 17 20 2875 MPG A110 091 230 17 0 184 0 1840 1 60 12 33 2 8 30 3500 Detailed Drive Operation 2 69 Motor NP System Cont Motor NP Volts Motor NP FLA A Frequency Motor NP RPM Motor NP Motor Current peak Stall Torque Motor Max Model Number line to line V rms rms Hz oper rpm Power KW _ Poles Arms N m RPM rpm MPG B010 031 460 1 6 162 7 2440 0 34 8 44 1 33 6450 MPG B010 091 460 0 7 357 3 5360 0 23 8 15 0 41 6450 MPG B025 031 460 4 0 219 0 2190 0 92 12 11 3 4 02 4838 MPG B025 091 460 1 9 175 0 1750 0 54 12 5 2 2 95 5900 MPG B050 031 460 16 3 92 0 920 1 20 12 32 5 12 40 2510 MPG B050 091 460 3 4 290 0 2900 0 79 12 9 9 2 60 4560 MPG B110 031 460 12 9 112 0 1120 2 00 12 31 1 17 00 2420 MPG B110 091 460 10 6 184 0 1840 1 60 12 20 5 8 30 3500 1326AB B410G 460 2 5 118 0 3540 1 00 4 T 2 70 5000 1326AB B410J 460 3 5 165 0 4950 1 40 4 10 4 2 70 7250 1326AB B420E 460 2 8 70 0 210
36. BD Allen Bradley Adjustable Frequency AC Drive Phase I Control Reference Manual EE NW 4 Y H H ml B H UI z p Automation dr i tan H 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 ab com manuals gi 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 the Rockwell Automation 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 the Rockwell Automation cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation with respect to use of information circuits equipment or software des
37. Breaker Protector Dissipation Number ND HD kHz oc Amps kVA Cont 1Min 3Sec Min2 Max 2 Min Max 2 Max UD Max Watts 20DF052 5145 4 50 46 9 56 1 52 57 78 60 110 60 175 175 NA 37 5 4 50 40 1 48 0 46 69 92 50 90 50 150 150 NA 20DF060 5155 4 50 57 7 168 9 60 op 90 80 125 80 225 225 NA 45 l4 50 469 56 1 52 78 104 60 110 60 175 175 NA 20DF082 5 75 2 50 79 0 94 4 82 90 123 100 200 100 375 375 NA 2 50 57 7 689 60 90 120 80 125 80 225 225 NA 20DF098 5 90 2 40 94 7 113 98 108 127 125 200 125 375 375 NA 75 2 40 79 0 944 82 123 140 100 200 100 375 375 NA 20DF119 6 110 2 50 115 187 119 131 179 150 250 150 400 NA 9 2 50 94 7 113 98 147 196 125 200 125 375 NA 20DF142 6 132 2 50 138 165 142 156 213 175 300 175 450 NA 110 2 50 115 137 119 179 238 150 250 150 400 NA Notes 1 Minimum protection device size is the lowest rated device that supplies maximum protection without nuisance tripping 2 Maximum protection device size is the highest rated device that supplies drive protection For US NEC minimum size is 125 of motor FLA Ratings shown are maximum 3 Circuit Breaker inverse time breaker For US NEC minimum size is 125 of motor FLA Ratings shown are maximum 4 Motor Circuit Protector instantaneous trip circuit breaker For US NEC minimum size is 125 of motor FLA Ratings shown are maximum 5 Bulletin 140M w
38. Dest CNet_700S_Ref_Float 22114 959 lt Expression CNet_Ref_RPM Motor_Base_Speed Speed_Conversion_Constant MOV Move Source CNet_Ref_Float 22114 959 Dest PowerFlex700S_02 0 Data 1 22115 e Detailed Drive Operation 2 17 Feedback RPM 700S Feedback 32767 x Base Motor Speed Convert Speed Feedback from 7005 via 20 COMM C Feedback is returned as a 0 to 32767 number for 0 to Base Speed Move MOV Source PowerFlex700S_02 1 Data 2 22114 959 Dest CNet_700S_Fdbk_Float 34969 0 lt Compute Dest CNet_700S_Fdbk 1897 Expression CNet_700S_Fdbk_Float Speed_Conversion_Constant Motor_Base_Speed Datalinks Programming In the ControlLogix system Datalinks are transmitted over ControlNet as 32 bit integers DINT In order to send or receive floating point a COP copy instruction must be utilized The copy instruction in ControlLogix performs a bitwise copy Set the length of the copy instruction to a value appropriate for the destination data type For example when copying a DINT data type to a REAL data type the length would be one since both data types contain 32 bits of data Figure 2 5 All Datalinks Selected is for all Datalinks selected Figure 2 5 All Datalinks Selected Copy data from ControlLogix Processor to 20 COMM C for 7005 Data Links COP Copy File Source PF700_Float_Data 10 Dest PowerFlex700S_02 0 Data 2 Length 8 Copy data from 20 COMM C to Floating Point data file Parameter 723 must
39. Detailed Drive Operation Digln 3 Sel can be set to the following values Value Description Value Description 0 Not Used 9 CurLim Stop 1 Normal Stop 10 Coast Stop 2 Start 11 Aux Fault 3 Run 12 AuxFault Inv 4 Clear Faults 13 User Select 5 Stop CF 23 Logix Motion 6 Jog 1 24 Hrd OvrTrvl 7 Jog 2 25 Hrd OvrTrvl 8 Fwd Reverse Digln x Debounce sets a delay time to allow any bounce in the digital input to settle out This parameter has a range of 0 to 15 5 milliseconds When Digln x Sel is set to User Select the function of the digital input is determined by the following e DigIn x Data determines any bits that should be permanently set DigIn x Data sets the value of DigIn x User Data except for the bit chose in DigIn x Bit e DigIn x Data determines the bit you wish to toggle based on whether the digital input is on or off e DigIn x User Data will have the same bits that are set in DigIn x Data Then the bit that was chosen in Digin x Bit will toggle based on whether the digital input is on or off A designation sink parameter is then linked to DigIn x User Data so that it determines the value of that sink parameter Configuration Example Digln 1 will be setup to determine the value of Speed Ref Sel Digln 1 will toggle Speed Ref Sel between a value of 1 Speed R
40. Drive Links 200 _Parameter Help 2 62 Detailed Drive Operation Masks Motor Control Mode Motor Nameplate A mask is a parameter that contains one bit for each of the possible adapters Each bit acts like a valve for issued commands Closing the valve setting a bit value to 0 stops the command from reaching the DriveLogix Opening the valve setting a bit value to 1 allows the command to pass through the mask into the DriveLogix Table 2 C Mask Parameters and Functions Parameter Function Logic Mask Determines which adapters can control the drive When the bit for an adapter is set to 0 the adapter will have no control functions except for stop Start Mask Controls which adapters can issue start commands Jog Mask Controls which adapters can issue jog commands Direction Mask Controls which adapters can issue forward reverse direction commands Fault Clr Mask Controls which adapters can clear a fault The individual bits for each parameter are as follows Bit 0 Digital Input Bit 1 Adapter 1 Bit 2 Adapter 2 Bit 3 Adapter 3 Bit 4 Not Used Bit 5 Adapter 5 Bit 6 Not Used Bit 7 DriveLogix Example A customer s process is normally controlled by a remote PLC but the drive is mounted on the machine The customer does not want anyone to walk up to the drive and reverse the motor because it would damage the process The local HIM drive mount
41. Lead Lag Filter on page 2 40 Parameter 157 Logic Ctrl State bit 8 Spd Reg En indicates when the speed regulator is enabled When Spd Reg En is on this allows the speed regulator output to pass to the torque control loop Parameter 302 Spd Reg PI Out contains the filtered limited torque reference that was generated by the speed regulator Detailed Drive Operation 2 125 Logic Ctrl State Spd Reg En I 0 0 Spd Reg PI Out 1 6302 to Torque Control 4A1 kn s wn s wn SRegOut FiltGain SReg Out Filt BW Speed Regulator Tuning Basic Tuning Procedure with a Gearbox or Belt 1 Identify motor and system inertia in seconds The motor inertia can be determined by performing an inertia test with the motor uncoupled from the load or the motor inertia in seconds can be calculated using the following formula y _WK xRPM 308x7 where WK is the inertia in Ibft RPM is the base motor speed of the motor and Tace 15 the rated torque of the motor in Ibft Ticc can be calculated by the following r _ HPx5252 2 RPM where HP is the nameplate horsepower of the motor and RPM is the base motor speed of the motor System Inertia parameter 9 Total Inertia is determined by performing the inertia test with the load coupled or the value in seconds can be calculated using the formulas above if WK is known for the system 2 126 Detailed Drive Operation Bandwidth Set the desired
42. 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 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 voltage is stable The drive must not be running PWM active except in coordination with ride through After the initial drive precharge has completed a power loss may present conditions for precharge to be restarted ex low bus voltage However if the drive output is active parameter 155 Logic Status bit 0 Enabled the restart of precharge will be inhibited until the drive is stopped PWM not active Also refer to Power Loss Ride Through 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 The drive precharge delay must be comple
43. Out MOV Move Source NOS p lt Dest N13 De rco L Copy File ZE Source M134 Dest WF12 5 1 Writing Floating Point Block Datalinks in a SLC PLC 5 Along pont dzalink is sere across DericeNet as 2 16 dit itegers To write a lotne pore datalink correctly im the SLC you must first copy the floating point into 2 integers then swap the high and low 16 bit integers F12 6 Datalink Al n N14 4 MSW Datalink Al In N14 5 LSW Datalink Al In N10 4 LSW Datalink Al Into send over DeviceNet N10 5 MSW Datalink Al Into send over DeviceNet Source Nits 0 lt Dest N10 5 0 lt p Mov Move Source N14 5 0 lt Dest N104 Explicit Messaging Explicit messaging is used to configure the drive and monitor data from the drive Chapter 6 of the 20 COMM D User Manual shows the format of the explicit message request and response data in an SLC and PLC 5 Because the SLC PLC 5 does not support 32 bit integers 32 bit integer data from the explicit message request and response data remains split into 2 16 bit integers In order to send or receive floating point data the Least Significant Word LSW and Most Significant Word MSW must be swapped and the COP copy instruction must be utilized The following examples are for transmitting and receiving floating point data for explicit messages 2 26 Detailed Drive Operation Reading Floating Point Explicit Message Data in an SLC PLC 5 A fl
44. Out 1 791 gt Xsync Out 2 Xsync Out 2 Dly Delay Ta Xsync Out 3 One Xsync Out 3 Dly Scan Xsync In 1 Xsync In 2 C790 Xsync In 3 C793 SL System Time Xsync Status lt 186 00 Sync Pulse 0 5ms 20787 Sync Pulse Generator Xsync Gen Period Test Points Thermal Regulator Torque Reference Detailed Drive Operation 2 147 Configuration e Parameters 788 Xsync In 1 and 789 Xsync Out 1 can be used to synchronize a Dint parameter e Parameters 790 Xsync In2 through 792 Xsynch Out 2 Dly can be used to synchronize a Dint parameter and delay it one scan e Parameters 793 Xsync In3 through 795 Xsynch Out 3 Dly can be used to synchronize a floating point parameter and delay it one scan e Parameter 787 Xsync Gen Period sets the scan time of the synch generator The following options are available 0 2 msec 3 16 msec 4 msec 4 32 msec 2 8 msec The default setting is 1 4 msec Test points are used to monitor values in the drive for diagnostic information xxxx TP Sel selects a value to monitor for diagnostics xxxx TP Data shows the value selected by xxxx TP Sel Refer to Drive Overload on page 2 34 When the PowerFlex 700S is operated in Torque mode an external signal is used for a Torque reference Refer to Figure 2 30 for the firmware diagram Figure 2 30 Torque Reference F
45. Power Supply indicates problem with the option card s power supply Bit 10 Diag Fail indicates the option card has failed its power up diagnostics Bit 11 Select OK indicates Motor Position Feedback The motor position feedback is selected according to the feedback device selection The value for motor position feedback appears in parameter 762 Mtr Posit Fdbk Mtr Posit Fdbk is in counts From there the position feedback enters the position control loop Motor Speed Feedback and Scaled Speed Feedback The motor speed feedback is selected according to the feedback device selection The value for motor speed feedback appears in parameter 300 Motor Spd Fdbk Motor Spd Fdbk is in RPM From there the speed feedback enters the speed regulation loop The filter for the speed feedback is shown in the speed regulation loop section Branching off of the motor speed feedback there is a low pass filter This low pass filter filters out high frequency before displaying the speed feedback on the HIM Parameter 72 Scaled Spd Fdbk provides a user scalable speed feedback It is multiplied by the value in parameter 73 Spd Fdbk Scale 2 110 Detailed Drive Operation Motor Spd Fdbk to Speed Control 3A4 To HIM Display Scaled Spd Fdbk lt a gt Spd Fdbk Scale Speed Feedback Loss Ride Through The speed feedback loss ride through function provides an automatic switch over from the primary motor speed
46. Ref 2 116 Detailed Drive Operation Accel Time ED Decel Time ES 151 JO o m Ramped SpdRef p 7 S Curve Spd Ref Ramp S Curve S Curve Time Logic Command Spd S Crv En 110 o1 amp Logic 157 301 Logic Ctrl State SRef Ramp En 01 1 0 Logic Ctrl State 157 gt 02 99 0 1 lt 157 Joz SRef SCrv En Logic The drive can produce a linear ramp output or an s curve signal The s curve is used when Logic Command bit 1 Spd S Curve En is on and the ramp is not bypassed Parameter 34 S Curve Time sets the time that the s curve will be applied at the beginning and at the end of the ramp Half of the time specified in parameter 34 is added to the beginning of the ramp and half to the end of the ramp as shown in the example below The result of the s curve block can be seen in parameter 43 S Curve Spd Ref Time in Seconds 0 5 sec 0 5 sec Accel Time 5 0 seconds S Curve Time 1 0 second Total Ramp Time 6 0 seconds Speed Reference Bypass and Delayed Speed Reference By default parameter 37 Spd Ref Bypass is linked to S Curve Spd Ref However if you wish to bypass the rest of the speed reference control loop Spd Ref Bypass gives the capability to link to other parameters Detailed Drive Operation 2 117 S Curve Spd Ref Spd Ref Bypass T Co Delayed Spd Ref One Scan Delay
47. Select 0 lt i gt Ke Opt 1 Regis Ltch a_i Not Used O Tx Dir Size x Dir Data Type 1 Real AD Tx Buff Size 312 110 E Tx Pkg Si nt Real a lt 18 gt x Pkg size SL Dir type Tat 4141 1143 Select 21 a lt i gt Tx Seq Cnt elect SL Dir type Tx1 Direct F Ki Tx Index 0 SL Dir type Tx2 Transmit S Lp Tx Index 1 1451140 Data SL Dir ype DB Oe lt gt Tx Index 2 Select 22 Direct passthrough Data from Rx Encoder 0 Accum my EA lect 24 Encoder 1 Accum dE Select 25 Opt 0 Accum lt 250 gt Opt 1 Accum Select 26 Not Used Coordinated System Time Tx Buf Data Type 1 real Tx Port Comm Format 116031 D Int Real Buf type E MICA Buffered Transmit Data w R Buffered 2 Transmit Buf type L 1219 1220 2 Data SL Comm TP Sel 226 gt SL Comm TP Data 2 140 Detailed Drive Operation Figure 2 29 Sync hLink Receive Block Diagram Rx Port Comm Format Daten See Table 1 on page 12 of SynchLink System Spec Defines number of Axis Buffered amp Direct words Se Ji Direct Rx Data Select gt Rx Format 0 1 2 3 SL Mult Base fs Selector 1011 1012 11013 X 1014 0 10 Synchlink SL Mult A In Receive Port SL Mult A In Data Rx to Rx Direct Upstream Data Nod
48. and 2 are 24VDC open collector sinking logic They are rated 25mA maximum Figure 2 6 is an example of how Digital Outputs 1 and 2 would be used with a light Note The transistor in the diagram is the internal circuitry of the Digital Output When the logic for Digital Output 1 becomes true the transistor turns on tying the transistor s collector to ground and completing the circuit Then the light will turn on Figure 2 6 Digital Outputs 76 ze JE e 24VDC Sinking 7 Ouput Digital Output Logic Digital Output Common Return E Digital Output 3 is a relay output rated for 24VDC The relay output is rated 5A 24VDC for a resistive load and 2A 24VDC for an inductive load 2 30 Detailed Drive Operation Digital Output Configuration Local I O Status 824 gt 16 Output Relay ae Eia Q TB2 B5 Relay Out Data 841 O 8 Z TB2 B4 N Relay Out Bit 842 LAN Local I O Status lt 824 gt 17 Aux Out 1 7 Q TB1 T6 Dig Out 1 Data e d TB1 15 Data Out 1 Bit ut 1 Bit 844 Q TB1 T4 Local I O Status Return Common 1 824 Dig Out 2 Data Cess be Data Out 2 Bit 846 CO Aux Out 2 de The Relay x Data parameter and Dig Out x Data parameters are linked to a parameter used to turn on the digital output The Relay x Bit para
49. 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 145 FricComp TorqAdd FricComp TorqAdd is summed with the output of the inertia compensation block and the torque generated by the speed reference loop That summed torque enters the torque selection block refer to Torgue Reference for more information S Curve Spd Ref FricComp Spd Ref L FricComp TorqAdd ED E HE A E lt gt il Friction Comp to Torque Control 4B2 FricComp Setup Ca FricComp Stick C142 FricComp Slip C143 FricComp Rated C144 The following tables provide drive ratings including continuous minute and 3 second and recommended AC line input fuse and circuit breaker information Both types of short circuit protection are acceptable for UL and IEC requirements Sizes listed are the recommended sizes based on 40 C and the U S N E C Other country state or local codes may require different ratings Fusing If fuses are chosen as the desired protection method refer to the recommended types listed below If available amp ratings do not match the tables provided the closest fuse rating that exceeds the drive rating shou
50. 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 Set the appropriate 414 Bus Brake Config for your configuration The following is a summary of possible settings for Bus Brake Config Bus Brake Config Desired Operation Setting External regeneration 0000 Dynamic braking with internal resistor 0001 Dynamic braking with external resistor 0011 Bus regulation only 1000 Bus regulation first then dynamic braking with internal resistor 1001 Detailed Drive Operation 2 9 Dynamic braking with internal resistor first then bus regulation 1101 Bus regulation first then dynamic braking with external resistor 1011 Dynamic braking with external resistor first then bus regulation 1111 Parameter 415 Bus Reg Brake Ref sets the turn on bus voltage threshold for the bus regulator and the dynamic brake Actual values are modified by the configuration selected in Bus Brake Config When using common DC bus drives adjustment of Bus Reg Brake Ref allows a limited coordination of brake operation with other drives For example when you have two common bus drives and one drive is larger than the other set the larger drive to turn on at a lower
51. contains the pulse count output of the virtual encoder block delayed by one scan of the speed reference loop This parameter can be used to send a virtual position reference over SynchLink for position follower applications S Curve Spd Ref lt 62 gt Virt Encdr Posit One lt 63 gt vir Encdr Dlyed Scan Virt Encoder PPR Delay Virtual Encoder 2 118 Detailed Drive Operation Speed Reference Filter A lead lag filter can be turned on by setting parameter 153 Control Options bit 1 Sref Filt En on Parameter 35 SpdRef Filt Gain sets the gain for the filter and parameter 36 SpdRef Filt BW sets the bandwidth for the filter Filtered Spd Ref kn s wn s wn Control Options 153 Hot lead SRef Filt En SpdRef Filt Gain SKS SpdRef Filt BW 36 Speed Reference Scale The speed reference value up to this point is multiplied by the scaling parameter 38 Speed Ref Scale Speed Ref Scale is applied to all of the selected speed references as opposed to the specific scaling parameters for speed reference 1 and 2 Speed Ref Scale is a linkable parameter This allows the speed reference value to be scaled dynamically with an input signal if desired An example would be to have an analog input linked to the scale parameter The speed reference and the scale would then affect the value sent to the speed regulator Scaled Spd Ref ME gt S
52. feedback device to the alternate motor speed feedback device when a primary motor speed feedback device fault is sensed If the alternate speed feedback device has failed the switching will not be allowed and the drive will fault The active device can be monitored and manual switching between the primary and alternate devices is available This function has also been referred to as tach loss switch over and encoder loss ride through The drive determines that the encoder has faulted based on a combination of hardware detection and monitoring the rate of change of the motor speed The hardware fault detection is based on illegal encoder states and improper encoder switching patterns The rate of change of motor speed detection is determined by a rate of change greater than a user defined speed change Hardware detection of feedback loss for the feedback option cards is based on the type of device used and specific fault detection implemented on the feedback option card The rate of change of motor speed detection is the same implementation as for encoder feedback 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 attempts to automatically switch feedback dev
53. has detected an overload condition See the Drive Overload 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 Mtr Current Lim parameter setting will limit the current to the user changeable level range is 105 of Motor Flux Current to 800 of the motor nameplate entered in 2 Motor NP FLA The Open Loop IT function can also limit the output current if the calculation determines it is in the overload area of operation The Open Loop IT function and the Motor Current Limit parameters are routed to a minimum selection the algebraic minimum of the inputs is used as the current limit Also the Closed Loop IT function can limit the current output by the drive The Closed Loop IT function and the Torque Current Reference are compared and the algebraic minimum is used for the Torque Current Reference See the Drive Overload 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 i e ControlNet 20 COMM C DeviceNet 20 COMM D to a controller Datalinks allow parameter values to be changed without using messaging Configuring Datalinks This section contains information on configuring the Datalink parameters for the PowerFlex 7005 There are also parameters in the communication adapters that must be configured to
54. has to be handled differently to account for references above 32767 or below 32768 The example on the following page shows how to transmit references less than twice base motor speed Calculate a speed reference based on 32768 base motor speed F12 0 32 bit Hosting point speed reference counts F12 1 speedreference RPM F12 4 base motor speed RPM CPT Compare Det F12 0 00 lt Bpression F12 11F12 4 327680 Corwert the 32 b amp floating point speed n wawe into 2 16 bit integas to send wa Device Net F120 32ba douing port spesdn wawe comnts N102 LSW of speed reference to sand over DeviceNet comas N103 MSW of speed reference to cand over DeviceNet comas Less Than A lt B SomeA F n 00 lt SomeB 327680 32768 ge 327670 32767 De ORT Crester Than A gt B Source A 2 24 Detailed Drive Operation The feedback is also scaled so that base motor speed 32768 The SLC PLC 5 does not use DINT and only handles 16 bit integers so the feedback has to be handled differently to account for references above 32767 or below 32768 The following example shows how to read feedback values less than twice base motor speed Corwen the speed feedback that comes over DeviceNet as 2 16 bit naegers irgo a 32 bit Dog be poirt feedback N9 2 LSW of speed teecack tom DeviceNet counts N9 3 MSW of speed feedback from DeviceNet counts F12 2 32 ba flowing
55. 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 to 100 rad sec A zero value will bypass the filter Too high of a value in Pt Pt Filt BW will cause unstable operation at the end of the move The Default 25 rad sec Jogging When you want to jog the PowerFlex 7008S turn off parameter 740 Position Control bit 1 Speed Out En to disable the position loop output Point to Point Re Reference Parameter 740 Position Control bit 10 Pt Pt ReRef allows the user to perform a position redefine when active When this bit is set the position reference in parameter 758 Pt Pt Posit Ref can be changed to the position value desired for the current location This can be used as a home zero setup by moving the load to the home position Example Set parameter 740 Position Control bit 10 Pt Pt ReRef 1 Then set parameter 758 Pt Pt Posit Ref 0 Also if Pt Pt Posit Ref is set to a different number that will become the new position value After setting Pt Pt Posit Ref to the desired value set Position Control bit 10 Pt Pt ReRef 0 The PowerFlex 700S drive has the ability to capture the feedback position upon an event occurrence There are two registration registers that can b
56. not have their own scaling blocks Speed Reference Select Parameter 16 Speed Ref Sel selects which one of the seven input signals is acknowledged as the reference Speed Ref Sel could be changed through a controller or through a digital input see Digital Inputs for an example Speed Ref Sel Speed Ref 1 ED A Spd Ref1 Divide Cu Speed Ref 2 O M Spd Ref2 Multi Ca 4 3 Speed Ref 4 Y 5 Speed Ref 5 Ce Speed Ref DPI Speed Ref Sel can be set to the following values a Setting Description 0 Zero Speed Zero Speed is selected as the speed reference 1 Spd Ref 1 Speed Ref 1 is selected as the speed reference 2 SpdRef2 Speed Ref 2 is selected as the speed reference 3 Spd Ref3 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 SpdRef4 Speed Ref 4 is selected as the speed reference 5 SpdRef5 Speed Ref 5 is selected as the speed reference 6 Spd Ref DPI Speed Ref DPI is selected as the speed reference The source of parameter 20 Speed Ref DPI is selected by parameter 691 DPI Ref Select DPI Ref Select can be set to one of the following 1 Local HIM 2 Ext DPI Conn 3 Aux DPI Conv or 5 Int DPI Conn 4 Reserved is not used Detailed Drive Operation 2 115 Jog Reference Two separate jog speeds can be used as a speed reference
57. of parameter 747 Position Cmmd parameter 762 Mtr Posit Fdbk Position Status Position Error In Position In Position Detect In Posit BW 782 In Posit Dwell 783 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 Position Loop Point to Point Detailed Drive Operation 2 75 Technical Information First a few general facts about the Point to Point Position Loop 1 Uses only parameter 768 PositReg P Gain for tuning Parameter 770 Posit Reg Integ is not used in point to point mode 2 The number of position counts per revolution depends on the type of feedback device used a When using an encoder for positioning the drive uses quadrature counts i e 1024 encoder 4096 counts per motor revolution b When using a Stegmann absolute hi resolution encoder the drive counts 1048576 counts per revolution c When using a Resolver the drive counts 65536 counts per revolution 3 Speed regulator tuning directly affects the position loop performance The speed regulator should be tuned before the position loop 4 For best performance positioning shoul
58. 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 sec 18 DB IGBT Amp IGBT current rating Amps Parameter 419 Brake TP Data displays the data selected in parameter 418 Brake TP Sel Refer to Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOO1 for detailed information This publication is available online at http literature rockwellautomation com literature Refer to Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOO1 for detailed information This publication is available online at http literature rockwellautomation com literature Refer to Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES IN001 for detailed information This publication is available online at http literature rockwellautomation com literature Refer to Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOO1 for detailed information This publication is available online at http literature rockwellautomation com literature See Chapter for derating guidelines as they travel to carrier frequency Parameter 402 PWM Frequency sets the switching frequency In general the lowest possible sw
59. on it means the data transmitted will be floating point Odd parameters 1141 SL Dir Int Tx0 through 1147 SL Dir Int Tx3 contain the integer values for data transmitted to SynchLink These parameters can be linked to integer source parameters Detailed Drive Operation 2 137 Even parameters 1142 SL Dir Real Tx0 through 1148 SL Dir Real Tx3 contain the floating point values for data transmitted to SynchLink These parameters can be linked to floating point source parameters Direct Data Receive Parameters Even parameters 1054 SL Dir Int Rx0 through 1060 SL Dir Int Rx3 contain the integer values for data received from SynchLink An integer destination parameter can be linked to these parameters Odd parameters 1055 SL Dir Real Rx0 through 1061 SL Dir Real Rx3 contain the floating point values for data received from SynchLink A floating point destination parameter can be linked to these parameters Multiply Block SynchLink has the ability to take one of the direct data words received from SynchLink and multiply it by a constant or parameter value for features such as draw control The multiply function is handled at the hardware level to ensure the highest possible execution speeds Because of this the multiply function is integer based Preparing Floating Point Data in the Transmitting Drive If the received data to be multiplied is floating point it must first be converted from floating point to integer in the trans
60. output of the speed trim summation Parameter 19 Atune Spd Ref sets the speed for the inertia test Bits 4 5 and 8 in parameter 157 Logic Ctrl State control when the Atune Spd Ref is used e Bit 4 Inrta Tst En turns on during the inertia test and allows the autotune speed reference to bypass the output of the speed trim summation e Bit5 J Tst FulSpd indicates that the inertia test reached the speed set in Atune Spd Ref e Bit 8 Spd Reg En Indicates that the output of the speed regulator is enabled and the output is allowed to enter the torque loop Logic Ctrl State 04 Inrta Tst En C157 Ja Logic Ctrl State J Tst FulSpd Spd Reg En Speed Reference Limits At this point the summed speed reference is limited by parameters 30 Rev Speed Limit and 31 Fwd Speed Limit Those limits are set at 2187 5 RPM and 2187 5 RPM default Detailed Drive Operation 2 121 esch Limit Rev Speed Limit C30 Fwd Speed Limit 31 Current Limit Stop When a current limit stop is commanded Logic Ctrl State bit 6 CurrLim Stop is set Then a O speed reference command is sent into the speed regulator bypassing the ramp and speed trimming Logic Ctrl State 157 CurrLim Stop Speed Error The summed speed reference becomes parameter 301 Motor Speed Ref Then the filtered motor speed feedback is subtracted from the motor speed reference to create a speed error There is a lead lag filter that ca
61. resetting the bit to zero disables the test This test automatically runs on power up to measure the IR drop in the resolver cable Bit 1 Reserved not used Bits 2 Resolution 0 and bit 3 Resolution 1 select the resolver resolution see Table 2 J Resolution Settings Setting bit 4 Energize energizes the resolver resetting the bit to zero de energizes it Bit 5 Resolver Dir determines counting direction If clear direction is forward or up If set the direction is reverse or down Bit 9 Reserved not used Bits 10 Reserved not used Bit 12 15 SmplRate bt 0 SmplRate bt3 configure the sample interval for measuring speed refer to Table 2 K Resolver Sample Interval Increasing the resolver sample interval improves speed measurement near zero speed Decreasing the resolver sample interval allows the speed control regulator to perform with high gains at high speeds Table 2 J Resolution Settings Bit 3 2 0 O 10 bit resolution 0 I 12bitresolution default setting 1 0 14 bit resolution 1 1 16 but resolution Table 2 K Resolver Sample Interval Bit Resolver Sample Interval Settings 0 5 ms a a W DO 0 5 ms min setting 1 0 ms 1 5 ms 2 0 ms default setting 2 5 ms 3 0 ms 3 5 ms 4 0 ms 4 5 ms 5 0 ms 5 5 ms ao jo 200 a O lalO x O mm O O O O O O O O O OO oO O O O o
62. that the Start button on the HIM is issuing a command x o Ze ES a ageger E EI oO a gt aa0 sg zls 3 5 33 35D l ol 5l o olo gt GZI lt Z lt lt lt PO Start Owner Bit 7 16151413121110 Adapter 0 00 0 0 JO 0 1110 When the local Start button is pressed the display indicates that the command is coming from the HIM Digital Input Start Owner Bit Adapter Adapter 1 Terminal Block DriveLogix Not Used S Adapter 5 Not Used Adapter 3 N Adapter 2 The Start Owner indicates that there is not any maintained Start commands causing the drive to run Digital Input Stop Owner Bit Adapter Terminal Block DriveLogix Not Used 9 Adapter 5 Not Used Adapter 3 Adapter 2 Adapter 1 The operator then checks the Stop Owner Notice that bit 0 is a value of 1 indicating that the Stop device wired to the Digital Input terminal block is open issuing a Stop command to the drive Until this device is closed a permanent Start Inhibit condition exists and the drive will not restart 2 68 Detailed Drive Operation Permanent Magnet Motors The following table contains a list of specifications for the permanent magnet motors compatible with PowerFlex 700S drives Note that you mus
63. 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 Over Temperature Frame 9 Only Droop Detailed Drive Operation 2 35 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 OverTemp indicates heatsink temperature is above 105 C for ratings 1 1 11 0A 115 C for 14 34A 100 C for 40 52A e Bit 3 HS Pending indicates heatsink temperature is above 95 C for ratings 1 1 11A 105 C for 14 34A 90 C for 40 52A 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
64. through 394 VoltFdbkLossCnfg and parameters 940 Sft OvrTrvlCnfg through 944 Positin Err Cnfg program the response of the drive to various conditions Responses include Ignore Alarm Fault Coast Stop Fault Ramp Stop and Fault Current Limit Stop Parameters 323 Fault Status 1 through 325 Fault Status 3 indicated any faults that are active Application Example Parameter 371 Mtr OL Trip Cnfg is set to a value of 2 FltCoastStop This configures the drive to set the fault bit parameter 323 Fault Status 1 bit 10 Mtr OL Trip when the motor overload trip event occurs The PowerFlex 700s has various filters used to assist tuning of the drive The following section will assist the user in using the filter using frequency and time domain analysis Key Words Frequency response radians filter notch Nomenclature Symbol Description of Symbol Units s Laplace Operator Frequency radians sec Oco Cut off Frequency radians sec Low Pass Filter A low pass filter is designed to pass low frequencies and attenuate high frequencies The break point between high and low is called the cut off frequency Detailed Drive Operation 2 39 Figure 2 7 Bode Plot Low Pass Filter 0 10 rad sec Bode Diagram Magnitude dB Phase deg 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 Th
65. used to enter a gear ratio for the speed reference SynchLink Setup From Controller To Controles SynchLink Receive Format 4 Direct Words 8 Bulfered Words zl SynchLink Transm Format No Transmit Data r Multiplier Block Setup Transmitted Direct Words Receive word to multiply None y Se Le Multiples Base Valve 10000 000000 RE BJ FP Multipher Value fi 000000 2 e a s Source Parameter wane y 3 NcDas gt No Data E r Transmitted Buffered Data parameter values nr None 7 None y nr None z None E 3 Click the SynchLink Node Configuration button Detailed Drive Operation 2 145 4 In the Parameter 1000 SL Node Cnfg Properties dialog box verify that only the Sync Now box is checked this is the factory default Parameter 1000 SL Node Cnfg Properties Value Link Data Documentation Attributes DI d 1 7 Reserved 2 Y Sync Now 37 a ec lea de fr ta OfRWN OHn w Di Internal Value fa Parameter Help Dec C Hex Bin Range Value Internal Value Minimum 0000000000000000 0 Maximum 0000000000000111 7 Default 0000000000000100 4 Click the OK button The SynchLink communication dialog box re displays Click the OK button to accept the settings You must link the speed reference bypass of the follower to Word O of Direct Data coming over SynchLink To do this open the Properties dialog box for
66. which is the integer equivalent of parameter 308 with internal storage in 1 10 Amps 10 1 0amp Output Frequency Parameter 310 This parameter displays the actual output frequency of the drive The output frequency is created by a summation of commanded frequency and any active speed regulator such as slip compensation PI Loop bus regulator The actual output may be different than the 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 125ms 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 milliseconds 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 2 66 Detailed Drive Operation Overspeed Limit Owners The absolute overspeed limit parameter parameter 335 Abs OverSpd Lim is an adjustable setting This sets a limit tolerance below parameter 30 Rev Speed Lim and above parameter
67. winder is a good example for the application of the Min Spd Trq operating mode Max mode would be used if both speed and torque are negative Figure 2 28 illustrates how min mode operates The drive starts out operating as a torque regulator The torque reference causes the motor to operate at 308rpm The speed reference is 468rpm so the minimum is to operate as a torque regulator While operating in torque regulation the load decreases and the motor speeds up Notice the torque command has not changed When the speed regulator comes out of saturation it clamps the speed and now the drive operates as a speed regulator The At Speed Relay then closes Detailed Drive Operation 2 131 Figure 2 28 Min Mode Operation Speed Relay km Sum Mode Configuring the drive in this mode allows an external torque input to be summed with the torque command generated by the speed regulator The drive requires both a speed reference and a torque reference to be linked This mode can be used for applications that have precise speed changes with critical time constraints If the torque requirement and timing is known for a given speed change then the external torque input can be used to preload the integrator The timing of the speed change and the application of an external torque command change must be coordinated for this mode to be useful The sum mode will then work as a feed forward to the torque regulator Zero Torque Mode Operatio
68. 0 1 10 4 8 5 5 00 3000 1326AB B420H 460 5 5 137 3 4120 2 20 4 15 6 5 10 6000 1326AB B430E 460 3 9 67 7 2030 1 40 4 11 7 6 60 3000 1326AB B430G 460 5 6 114 3 3430 2 30 4 16 8 6 40 5000 1326AB B515E 460 6 1 70 3 2110 2 30 4 18 3 10 40 3000 1326AB B515G 460 9 5 88 7 2660 2 90 4 28 5 10 40 5000 1326AB B520E 460 6 7 71 0 2130 2 90 4 20 1 13 00 3000 1326AB B520F 460 8 8 70 3 2110 2 90 4 26 4 13 10 3500 1326AB B530E 460 9 5 74 3 2230 4 20 4 28 5 18 00 3000 1326AB B720E 460 17 5 70 0 2100 6 80 4 52 5 30 90 3500 1326AB B720F 460 27 5 117 0 3510 11 70 4 66 5 31 80 5000 1326AB B730E 460 22 8 78 3 2350 9 60 4 66 5 39 00 3350 1326AB B740C 460 20 9 52 3 1570 8 70 4 62 7 53 00 2200 1326AB B740E 460 32 0 79 7 2390 12 70 4 66 5 50 80 3400 0 0 1326AS B310H 460 0 8 204 5 4090 0 30 6 2 4 0 70 6200 1326AS B330H 460 2 1 204 5 4090 0 90 6 6 0 2 10 6500 1326AS B420G 460 2 6 179 0 3580 1 20 6 78 3 20 5250 1326AS B440G 460 5 4 149 0 2980 2 00 6 16 2 6 40 5250 1326AS B460F 460 6 2 148 5 2970 2 80 6 18 6 9 00 4300 1326AS B630F 460 78 142 7 2140 2 40 8 18 5 10 70 4500 1326AS B660E 460 11 8 100 7 1510 3 40 8 29 8 21 50 3000 1326AS B690E 460 19 0 87 3 1310 5 00 8 41 3 36 40 3000 1326AS B840E 460 21 2 79 3 1190 4 70 8 39 5 37 60 3000 1326AS B860C 460 17 6 77 3 1160 6 00 8 44 4 49 30 2000 1326AH B330F 460 2 1 0 0 3000 0 75 9 0 3000 1326AH B440F 460 3 3 0 0 2500 1 22 13 8 2500 1326AH B540F 460 11 1 0 0 2500 2 60 47 2 2500 3050R 7 390 66 0 50 0 500 30 00 12 132 0 500 11050R 7 390 2
69. 0 60 70 80 90 100 of Output FLA 37 kW e Open 4 10 kHz e NEMA Type g 5 e IP20 A le 30 5 6 kHz g 20 a 10 kHz z 5 40 8kH 0 40 50 60 70 80 90 100 of Output FLA 460V 30 HP e Open 2 10 kHz None e NEMA Type1 e P20 40HP e Open 6 10 kHz e NEMA Type1 o e P20 g 2 E o 50 HP e Open 6 10 kHz e NEMA Type1 2 e P20 3 40 50 60 70 80 90 100 of Output FLA Specifications amp Dimensions 1 11 ND Frame Voltage Rating Enclosure Frequency Derate 5 400V 55 kW e Open 2 8 kHz None e NEMA Type e P20 460V 75 HP e Open 2 8 kHz None e NEMA Type1 e P20 100HP je Open 4 kHz None e NEMA Type1 6 8 kHz e P20 Max Surrounding Air Temp C 50 45 6 kHz 40 35 30 25 8 kHz 20 40 50 60 70 of Output FLA 80 90 100 Consult the factory for further derate information at other frequencies Dimensions Table 1 B PowerFlex 700S Frames The following are the PowerFlex 700S dimensions nput 208 240 400V 480V 600V Frame ND HP HD HP ND kW HD kW ND HP HD HP ND HP HD HP ND HP 2 1 5 7 5 5 5 10 7 5 10 7 5 3 2 11 75 15 10 15 10 5 3 1 75 5 10 1 5 15 11 20 15 20 15 2 18 5 15 25 20 25 20 15 10 22 18 5 30 25 30 25 20 15 30 22 40 30 40 30 3 37 30 50 40 50 40 25 20 45 37 60 50
70. 093 616 GGZ a 99 9 0928003 VN z osz 00S 00s See ose See 80 99 LLL 109 91 09 YN Se z a 007 009 009 00 ost 00 80 Erz L c OGL 802 F GL 9 6Lados VN e osz osp 00s 002 00 002 00 See Ost 60S ll DG YN osz 00S 00s See ose Gee 997 G6 LLL 109 29 09 9 rGLadOZ VN DCL 00 007 Sel See Sel SZL DCL POL ESE 86 07 VN w 053 GLE 00S GLI SZZ sz GLL t OEL lw cal 0S S O amp laaoe YN 0006 NANO WO L ost 00 ose Sel 002 Sel SZL CL c6 Foe Lv8 0 VN E OSL ose Sly OS WEN DL EI cel D I Ob ELL Oti S volados YN 0006 NINO Wo L gt DCL ose ose DL 003 OLL 961 LEL c6 Foe Lv8 Ge DEI 0808003 VN 0006 NNO Wo l 001 00 00 06 GLI 06 vel 6 CHL 6S cl 03 Szi b 0208002 YN 0089 NNO WO L z 00 002 002 08 Gel 08 98 v9 99 Pz Gis SL D i cg08Q0c VN 00 9 NINO NOp L SyO 48 INOFL 02 SLL SZL 09 001 09 S il LEG ERR 09L Stt DL Sk lt voados YN 000b NINO NOpL c60 38 NOPL 0s Gel Sel Ov W I Ov 905 HEI cce ZOL 963 Sl OL z 8e0aaoe VN 00G2 NINO WOfl S29 384 W0YL G20 380 WOFl G20 320 MOpL 0 00L 00L 0 0s 0 HEI 8 0 CG ER DE S SZ L Gene VN 020 383 N0pL 0 0 380 WOPL 020 320 WOrl oe 02 0 oz GE D i 9e 6L SZL D St e S Stogdoe YN 9L0 381 WObl 9L 0 380 WOPL 9LO HGO WOPL GL 0p 07 Cl D CL JL Let BE ve G6 H L 94698003 VN 0L0 384 NObl OLO 380 NOp L OLO JGO WOPL GL 0 0
71. 0OLO 320 MNO0pL SL 0 0 DL SL Ol CL 88 08 LG 69 D S Il Odsaaoe SEL 98 380 N0p 98 329 NO0pL 2 03 D 9 DL 9 GL Ed 0G ce 6 H Odsddoe JIL 0pa 380 NObvL 0yva 320 NO0pL DH SL CL v 8 v 09 St ve ce 9e SL Z vdeadoe 01 z E G28 460 WOPl SL 8 9 ce P L Yb 91 S20 bl L bdeaaoe 10A 08 SHEM tjs eqwnN DOE qEJIENY ton XN tory XEN rzy XEW py UW ry XEW YN ee UWE luog md sdwy GH ON l See uoljedissiq roo 9Buey yuana ajqeysnipy YM 1911815 1010 NOLL NES asn4 esny ejag aun sdwy yndjng sbuyey Induj Buney dH E gar J9MOd unang Aejaq 8WIj u0N juaua 3 eng sejon 104 gg abed 208 9 8WEJ4 seoiaag 1011991014 Indu JY HOA 08p 2 53 Detailed Drive Operation syd sud sed z 08 13d z oer syd ed z 059 sud sed z gp syd syd YN 7 0021 0091 edt 0021 ed 006 sudiad ooe sydued 006 ou 26 099 Obs 0g9 oe syd syd 1edz 000L 13d Z 009 syd jed z 082 sud sed z 008 syd syd YN z 0002 0002 13d 0002 49d OOOL syd aad oog sud sed ooo S60L ep 0 209 DEI 009 LL oezaaoz syd syd sad 068 Jedz GZE syd sad z 099 sud Jed zeg syd syd YN 0021 0091 8d L 00ZL Jed og sydued t ooe sudiad1 og 290L 988 06S 06b 06S og sud sud iedz
72. 18 0 50 0 500 110 00 12 436 0 500 PET Pulse Elimination Technique See Reflected Wave 2 70 Detailed Drive Operation Position Loop Follower Electronic Gearing from from from Master Encdr N gt C743 gt di I Follower Encd Master Encdr Position Control 2ms Aux Posit Ref Technical Information General facts about using the Position Loop for follower applications 1 Parameter 768 PositReg P Gain is used for tuning 2 Parameter 770 Posit Reg Integ is normally not needed for position following applications and is disabled by factory default 3 The number of position counts per revolution depends on the type of feedback device used a When using an encoder for positioning the drive uses quadrature counts i e 1024 encoder 4096 counts per motor revolution b When using a Stegmann absolute hi resolution encoder the drive counts 1048576 counts per revolution c When using a Resolver the drive counts 65536 counts per revolution 4 Speed regulator tuning directly affects the position loop performance The speed regulator should be tuned before the position loop 5 For best performance positioning should be used with a dynamic brake or regenerative system Overview The position follower feature gives the user the ability to follow the position of a master motor without an external position controller The position loop adds to or subtracts from the speed reference using parameter 22 S
73. 18 INTs The tag cannot be DINT The destination tag will contain the speed feedback data and data from the Data Out parameters of the drive Message Configuration RIO_7005_BT_10 Read A xl Configuration Communication Tag Message Type Block Transfer Read Number Of Elements 18 16 bit Integers Destination Element FIO_7005_BT_I X New Tag Enable Enable Waiting O Start Done Done Length 18 Error Code Extended Error Code I Timed Out Error Path Error Text Cancel Apply Help The communication tab of the block transfer I O read is setup the same as the block transfer I O write Reference Feedback Programming Because the PowerFlex 700S is based on 32 bit and floating point parameters some special data handling is required when using Remote I O To setup the PowerFlex 700S to follow a speed reference from the 20 COMM R parameter 691 DPI Ref Select must be set to Port 5 Parameter16 Speed Ref Sel must be set to Speed Ref DPI Reference and Feedback values are floating point values in the PowerFlex 700S Use the following logic to transmit and receive reference and feedback data as integer data 32768 Transmitted Reference counts Floating point Reference RPM x _ _ Base motor RPM Speed Reference Via Remote I O to a PowerFlex 7005 using a 20 COMM R module The first move instruction is only for visual indication of the speed reference Cal
74. 3 3 102 5 4500000 180 100 0 Time On s time at current level shown Time Off s time at 100 current Duty Cycle time on time on time of 100 The On Times Off Times ratio is fixed If only 1 2 of the listed time is spent at a given level the only 1 2 the off time is necessary to reset the cycle 1 6 Specifications amp Dimensions Input Voltage Range Tolerance Heat Dissipation Drive Nominal Line Nominal Motor Drive Full Operating Drive Rating Voltage Voltage Power Range Range 200 240 200 200t 200 264 180 264 208 208 208 264 240 230 230 264 380 400 380 380T 380 528 342 528 400 400 400 528 480 460 460 528 500 600 600 5751 575 660 432 660 Frames 1 4 Only 500 690 600 5751 575 660 475 759 Frames 5 amp 6 Only 690 690 690 759 475 759 Drive Full Power Range Nominal Motor Voltage to Drive Rated Voltage 10 Rated current is available across the entire Drive Full Power Range Drive Operating Range TAL Nominal Motor Voltage 10 to Drive Rated Voltage Drive Output is linearly derated when Actual Line Voltage is less than the Nominal Motor Voltage z H 5 H 2 i H o o a 5 i i 3 lt _ Derated Power Range No Drive i i Output i lt Full Power Range gt Ge Le Drive Operating Range gt Nominal Motor Voltage 10 i Drive Rated Voltage i Nominal Motor Voltage gt Drive Rated Voltage
75. 31 Fwd Speed Lim that is allowable This can be used as a safe working speed limit Example 1 Speed reference is set to equal parameter 31 Fwd Speed Lim Based on tuning of the drive the speed could overshoot the commanded speed If parameter 335 Abs OverSpd Lim is set equal to the forward speed limit and an overshoot is speed occurs the drive will fault on an absolute overspeed Example 2 Drive is configured as a torque follower If the mechanical connection to the load is severed the torque command to the drive will probably be greater than the motor unloaded will require to maintain the system speed This will cause the motor speed to increase until the torque command is met Setting parameter 335 Abs OverSpd Lim to the safe motor speed will cause the fault to occur when the motor speed increase beyond this limit An owner is a parameter that contains one bit for each of the possible adapters The bits are set high value of 1 when its adapter is currently issuing that command and set low when its adapter is not issuing that command Table 2 D Owner Parameters and Functions Parameter Function Stop Owner Indicates the adapters that are presently issuing a valid stop command Start Owner Indicates the adapters that are presently issuing a valid start command Jog Owner Indicates the adapters that are presently issuing a valid jog command Direction Owner _ Indicates the adapter that currently has exclus
76. 53 Control Options bit 9 is on and bits 3 and 8 are off all other stop commands become coast stops because of the priority of the stop Start Up Stop Modes SynchLink Detailed Drive Operation 2 135 types For example if you try to command a ramp stop or current limit stop from a communication network the drive will still perform a coast stop To configure the drive for 2 wire control with a current limit stop For parameter 153 Control Options set bits 3 2WCurrLimStp to on 1 and bits 8 3WireControl and 9 2W CoastStop to off 0 To control from digital inputs Set parameter 839 DigIn2 Sel 3 Run To control from a communication network To perform a current limit stop Toggle bit 1 Start in the logic command word on and then off To control from the HIM Hold down the start button to run and release the start button to perform a current limit stop Note When parameter 153 Control Options bit 3 is on and bits 8 and 9 are off the ramp normal stop becomes a current limit stop For example if you try to command a ramp stop from a communication network the drive will still perform a current limit stop A coast stop can still be performed by commanding a coast stop Refer to Autotune on page 2 4 for Autotune portion of Start Up Refer to Start Stop Modes on page 2 132 This section contains information specific to PowerFlex 700S SynchLink parameters and gives an examp
77. 6 64 86 110 JKS 110 20DC072 3 37 30 80 5 43 5 72 84 112 150 JKS 150 20DC085 4 45 95 1 51 3 85 94 128 200 JKS 200 37 80 5 43 5 72 108 144 150 JKS 150 20DH105 O 5 55 117 4 63 4 105 116 158 200 JKS 200 45 95 1 51 3 85 128 170 200 JKS 200 20DH125 O 5 55 139 8 75 5 125 138 163 225 JKS 225 45 91 9 63 7 96 144 168 150 Not Available at time of Print 20DH140 O 6 75 158 4 85 6 140 154 210 300 JKS 300 55 117 4 63 4 105 158 210 200 JKS 200 20DH170 6 90 192 4 103 9 170 187 255 350 JKS 350 75 158 4 85 6 140 210 280 300 JKS 300 20DH205 6 110 232 125 3 205 220 289 400 JKS 400 90 192 4 103 9 170 255 313 350 JKS 350 20DH261 9 132 z 312 161 261 287 410 500 170M6608 110 245 127 205 308 410 500 170M6608 20DH300 9 160 gt 359 186 300 330 500 630 170M6610 132 293 152 245 368 490 630 170M6610 20DH385 10 200 460 238 385 424 600 700 170M6611 160 359 186 300 450 600 700 170M6611 20DH460 10 250 S 550 284 460 506 770 900 170M6613 200 460 238 385 578 770 900 170M6613 20DH500 10 250 z 598 309 500 550 750 1000 170M6614 200 502 260 420 630 840 1000 170M6614 2 56 Detailed Drive Operation kW Rating DC Input Ratings Output Amps Non Time Delay Fuse Drive Catalog Number Frame ND HD Amps kW Cont 1 Min 3 S
78. 60 50 4 30 25 40 30 55 45 75 60 75 60 5 50 40 100 75 100 75 60 50 75 55 125 100 75 60 90 75 150 125 110 90 s 6 132 110 200 150 200 150 9 250 200 z 300 250 z ES 350 300 10 450 350 1 12 Specifications amp Dimensions Figure 1 2 PowerFlex 700S Frame 1 3 Frame 1 Shown 12 5 0 49 R TT A D 7 0 0 28 np Ab 6 i OOOOO 7 FU 7 0 0 28 ne P Dimensions are in millimeters and inches Weight kg Ibs Frame o A B c D E Drive 1 200 0 7 87 389 0 15 31 202 8 7 98 175 0 6 89 375 0 14 76 11 3 24 92 2 285 0 11 22 389 0 15 31 202 7 7 98 250 0 9 84 375 0 14 76 18 4 40 57 3 285 0 11 22 564 0 22 20 202 7 7 98 250 0 9 84 550 0 21 65 26 6 58 65 O Refer to Table 1 B for frame information e Weights include HIM DriveLogix controller with ControlNet daughtercard Hi Resolution Encoder Option and 20 COMM C ControlNet adapter Specifications amp Dimensions 1 13 Figure 1 3 PowerFlex 700S Frame 4 A lt D 13 0 0 55 gt lt 7 0 0 27 2 Places 7 5 0 30 pa 4 se 15 1 0 59 0 gt FP z LU o n 1 d A 1
79. 7 SL Mult A In 2 138 SL Mult B In 2 138 SL Mult Base 2 137 SL Mult Out 2 138 Index 4 SL Mult State 2 137 2 138 SL Node Cnfg 2 136 SL Rx Comm Frmt 2 136 SL Rx DirectSel0 2 136 SL Rx DirectSel3 2 136 SL Tx DirectSel0 2 136 SL Tx DirectSel3 2 136 Spd Fdbk Scale 2 15 Spd Ref 1 2 3 Spd Ref Bypass 2 143 2 145 Speed Ref 2 2 18 2 22 Speed Ref Sel 2 16 2 22 Start Owner 2 66 Stop Owner 2 66 TachSwitch Level 2 111 2 112 Torque Ref 1 2 20 Tx Buf Data Type 2 138 Tx Dir Data Type 2 136 Permanent Magnet Control 2 6 Permanent Magnet Motors 2 68 PET 2 69 PI Loop 2 86 Posit Detct1 In 2 80 PositDetct1 Stpt 2 80 Position Actual 2 80 Position Control 2 80 Position Loop Follower Electronic Gearing 2 70 In Position Detect 2 74 Point to Point 2 75 Registration 2 78 Position Loop Position Watch 2 80 Position Status 2 80 Power Loss 2 81 Preset Speeds 2 86 Process Pl Loop 2 86 Process PI Limits 2 87 Process PI Output 2 87 Process PI Reference and Feedback 2 87 Process PI Regulator 2 87 PWM Frequency 2 11 R Reflected Wave 2 88 Remote I O Adapter ControlLogix System 2 90 Datalink Programming 2 94 Reference Feedback Programming 2 93 RFI Filter Grounding 2 101 Ride Through 2 81 S S Curve Spd Ref 2 59 S Curve 2 101 Second Order Low Pass Filter 2 39 Specification Heat Dissipation 1 6 Input Output Ratings 1 5 Speed Comp 2 59 Speed Control 2 101 Speed Feedback 2 102 Speed Mode 2 101 Speed PI Regulator 2 119 Autotun
80. 80 75 T T T T T T T T T 10 20 30 40 50 60 70 80 90 100 Speed Load Specifications amp Dimensions 1 9 ND Frame Voltage Rating Enclosure Frequency Derate 1 400V 11 kW e Open 2 6kHz e NEMA Type1 o e P20 40 50 60 70 80 90 100 of Output FLA 460V 15 HP e Open 2 6kHz e NEMA Type 2 e P20 of Output FLA 2 400V 15kW e Open e NEMA Type1 2 3 e IP20 5 e p 45 3 40 A 10 kHz 3 35 40 50 60 70 80 90 100 of Output FLA 460V 20 HP e Open 10 kHz e NEMA Type L 50 IP20 48 T 10 kHz 46 Ed 5 4 w 40 50 60 70 80 90 100 of Output FLA 25HP e Open 6 10 kHz e NEMA Type1 o e P20 a z 40 50 60 70 80 90 100 of Output FLA 1 10 Specifications amp Dimensions Frame ND Voltage Rating Enclosure Frequency Derate 400V 18 5kW e Open 6 10 kHz e NEMA Type e 04 e P20 5 49 E 6 kHz gt 30 E 20 8 kHz B 49 e 10 kHz 0 40 50 60 70 80 90 100 of Output FLA 400V 22 kW e Open 2 10 kHz None e NEMA Type1 e P20 30kW e Open 6 10 kHz e NEMA Type1 y 50 e P20 3 S ep 2 30 8 kHz E 20 S 10 kHz 10 40 5
81. 9 04d 4948918 asny Aejaq au uoy asny Aejaq au Juawea 4 eng sdwy nding sbuney jnduj Buney dH 3 amO J8MOd YUM 16 1E JO OW WOY 19 1030 n3119 i sajon 10 abed 99S 6 8WEJ4 SJAA 019393014 INdU DY HOA 087 Detailed Drive Operation 2 54 VN osz GLE GLE DCL EI OSI Gel Gal LLL Z Sek YN gt osz 007 00p SZL 00 sz Pl kE Sel H 0SL 9 vvL3003 YN z 5 DCL GLE Sle Sel 002 Sel 66 996 676 0s z 001 VN gt osz G E IS DCL osz OSL z Gel cel JL 0s H Gal 9 9213007 YN 0006 NWO W z E 00L 00 00 00 SZL 001 gel Olt Z2 Eat eel 07 cl sl YN z Se Os GLE GLE Sel 002 Gcl D l 60L 66 996 6 c6 07 H 001 S 6603002 VN 00 9 NWO W 00 DG osz 06 Sel 06 OCL v6 9 G09 CH 0s Z 09 YN 0006 NWO N 00L 00 00 06 os 06 EI 98 ZL VSL eel 0s H GZ S 203003 VN 00 9 NWO W 00L See Gee 08 Sel 08 POL EI 79 9 09 78S 0s Z 0S 09 yv 290400c YN 00E9 NWO N a 00L 002 002 09 OLL 09 CH GI9 CPI 96b Lly 03 Pl Ob OS cso3dos VN 0007 NWO Sv0 384 N 00L DCL WEI 0s 06 0s 9 8h Li 16 926 0s t 0 OF 1vo3003 YN 000y NINO c60 381 IN e a 0s Sel Gel Ov 02 07 vS GOV ce Foe v6c oS t Se DEI ceo3d0s YN 00SZ NWO 0 384 N 0s 001 00L Ge 09 se vv EE BEZ 8ve 05 t D I Se e 303003 YN 00Gc NNO G00 4384 W G20
82. 979 001 929 osz oss 009 ec o6r OSe OL oosoaoz YN 008 008 0001 00s 008 oos oul aer see Wel ul ooz YN 008 0021 0021 SZS 006 G 9 oul 909 Oh ziej r OSe OL ogpoaoz YN z 009 008 008 SZE Gig Gze 009 OSy 00 poz meim YN 008 008 0001 00s 008 009 009 tey S8 192 226 002 01 sseoaoz YN 007 002 099 Sze 008 Gze oer s98 oc oo m ie YN S 00p 008 008 gle 9 9 GZE 008 EC 00 poz m i 09L e 00 0d0Z YN 00 009 oss osz 00p osz orl 808 soz eil toc oll YN 007 002 002 93 009 Gee ol 282 19 UU gel zel 6 L9zod0Z HOA 00 SIEM i i 3 F 989 Ul m JeqwnN Slequiny Boejeg O qEJIEAY XEN pry Xen zy XBW mun ra XBW yun g ke ul sdwy GH ON 3 Goen uogdiesig rojtej BUEH juan ejqejsn py 40 99 04d enpaig asny ejag 8WIj uoN asny Aejaq au jueua 3 eng sdwy inding suey Buneyna e aaa J9MOd ULM 19 48IS JOJOW WOY L NINO 103014 DIEN mdu sejon 01 GG abed 39S 6 SAWEAJ SADASG UOID3J01H INdU DY HOA OOP Detailed Drive Operation 2 52 YN gt DG 00s 009 Gee 007 Sed 09 ozz 08L 545 69L OSL YN z 007 002 002 00 oss 00 26 H il 8bc v l 062 00 9 8peda0c YN a a osz Osy 009 002 Ose 003 cle vez D l cel lvl Sek YN s osz 00s 009 Se
83. Adjustable from 0 5 to 4 0 seconds Intermittent Overload 110 Overload capability for up to 1 minute 110 Overload capability for up to 1 minute 150 Overload capability for up to 3 seconds 150 Overload capability for up to 3 seconds Current Limit Capability Independent Motoring and Regenerative Power Limits programmable to 800 of rated output current Independent Motoring and Regenerative Power Limits programmable to 800 of rated output current Electronic Motor Overload Protection Class 10 protection with speed sensitive response Investigated by U L to comply with N E C Article 430 ULL File E59272 volume 12 Class 10 protection with speed sensitive response Investigated by U L to comply with N E C Article 430 ULL File 59272 volume 12 1 4 Specifications amp Dimensions Category Specification Frames 1 6 Frames 9 amp up Feedback Encoder Inputs 2 Dual Channel Plus Marker Isolated with differential transmitter Dual Channel Plus Marker Isolated with differential transmitter Output Line Drive Incremental Dual Channel Quadrature type Output Line Drive Incremental Dual Channel Quadrature type Encoder Voltage Supply 5V DC or 12 V DC 320 mA channel 5V DC or 12 V DC 320 mA channel 5V DC requires an external power supply 5V DC requires an external power supply 12 V DC minimum high state voltage of 7V DC maximum low 12 V DC minimum high state voltage of 7V DC maximum low sta
84. Block 2 137 Slave PowerFlex 700S Setup 2 144 Speed Synchronization Example 2 141 Technical Information 2 135 T TachSwitch Level 2 111 2 112 Test Points 2 147 Thermal Regulator 2 147 Torque Reference 2 147 Torque Select 2 128 Total Inertia 2 7 U Unbalanced Distribution Systems 2 148 2 149 Ungrounded Distribution Systems 2 148 2 149 Ungrounded Distribution Systems 2 148 User Display HIM 2 57 User Functions 2 149 Index 6 efesotomasyon com EI www rockwellautomation com Power Conirol and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core E Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication PFLEX RM002C EN E September 2005 Supersedes PFLEX RM002B EN E August 2003 Copyright O 2005 Rockwell Automation Inc All rights reserved Printed in USA
85. Bradley 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 Output Display Detailed Drive Operation 2 65 recommended however that the drive have a programmed Enable input and that this input be opened at the same time as the output contactor Cable Termination Refer to Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOO1 for detailed information This publication is available online at http literature rockwellautomation com literature 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 Output Current Parameter 308 Displays measured RMS drive output current Parameter 297 Output Curr Disp
86. Curr Ref e Anlg Outl Scale 0 1 per Volt Mtr TrqCurr Ref is a real parameter expressed in per unit Therefore a value of 1 corresponds to 100 motor torque Anlg Our Real is used because Mtr TrqCurr Ref is a real parameter Anlg Out Scale is set to 0 1 per 1V so that when Mtr TrqCurr Ref 1p u the analog output 1 0 1 10V Example Configuration 2 This configuration sends Position Error out to a 0 10V analog output signal e Anlg Outl Integer is linked to Position Error e Anlg Outl Scale is set to 214748664 8 per Volt Position Error is an integer parameter with a range from 2147483648 to 2147483648 Anlg Out Integer is used because Position Error is an integer parameter Anlg Out Scale is set to 214748364 8 per Volt so the analog output will give 10V when the position error is 2147483648 and will give 10V when the position error is 2147483648 The Auto Manual function on the LCD HIM is not functional on the PowerFlex 700S Auto tuning is a procedure that involves running a group of tests on the motor drive combination Some tests are checking the drive hardware while others configure the drive parameters to maximize the performance of the attached motor The auto tuning procedure can be completed using the Start Up menu of the HIM Please refer to Chapter 2 Start Up of the PowerFlex 700S High Performance AC Drive Phase I Control User Manual publication 20D UMO001 for inform
87. Current Data Out A1 Real is used and Dlink OutDataType bit 0 is set to 1 because Output Current is a real parameter Decel Time DeviceNet 20 COMM D Detailed Drive Operation 2 21 Parameter 33 Decel Time sets the rate at which the drive ramps down its output during a ramp Stop command or during a decrease in commanded speed The rate established is the result of the programmed Decel Time and the programmed motor rated speed parameter 4 Motor NP RPM as follows Motor RPM Parameter 4 _ Decel Rate RPM sec Decel Time Parameter 33 Times are adjustable in 0 0001 second increments from 0 01 to 6553 5 seconds This serves as a supplement to the PowerFlex DeviceNet Adapter Users Manual publication 20COMM UM002 addressing items specific to the PowerFlex 700S Please refer to the user manual for details on 20 COMM D set up configuration I O messaging and Eing Technical Information The 20 COMM D device must be v1 005 firmware or later in order to be used with the PowerFlex 700S The Logic Command and Logic Status are 16 bits plus a 16 bit pad word for a total of 32 bit data The bit definitions of the Logic Command word follow the same pattern as parameter 158 Drive Logic Rslt The bit definitions of the Logic Status word follow the same pattern as bits 0 15 of parameter 155 Logic Status Reference Feedback and Datalinks are 32 bit data This means with just the Logic Command Status and Speed Ref Fdbk I O enab
88. Debounce Digin2 Data 830 Ext Filt 2 Pine Bes gg cera 236 y 11 Return Common Digin 3 Sel 840 e Selections per Par 840 ae Va TB1 T3 A y g SyncLink 03 lt o3 TB1 14 Q i Bit Filter Debounce Digln3 User Data Porto Regis i Bit Cnfg ATA Selector Ext Filt 0 Yos 837 Combine O j Digln 3 Debounce teri 246 aria 246 J Digin3 Data 834 Digin3 Bit DigIn 1 Sel can be set to the following values Value Description Description 0 Not Used Fwd Reverse 1 Normal Stop Cur Lim Stop 2 Start Coast Stop 3 Run Aux Fault 4 Clear Faults Aux Fault Inv 5 Stop CF User Select 6 Jog 1 Precharge Disc 7 Jog 2 DigIn 2 Sel can be set to the following values Value Description Value Description 0 Not Used 14 Normal Stop 1 Enable 15 Spd Ref Sel1 2 Clear Faults 16 Spd Ref Sel2 3 Ext Fault 17 Spd Ref Sel3 4 Norm Stop CF 18 CurLim Stop 5 Start 19 Coast Stop 6 Reverse 21 Bsclndx Step 7 Run 22 BsclndxStpRv 8 Fwd Reverse 26 PI Trim En 9 CurLim Stop 29 Trend Trig 10 Jog 1 30 PreCharge En 11 Aux Fault 31 Regis 1 Lich 12 AuxFault Inv 32 Hrd OvtTrvl 13 Jog 2 33 Hrd OvrTrvl 2 28
89. Filt BW A typical use would be to set the lead function Wld to the velocity bandwidth parameter 90 Spd Reg BW and the lag Wlg function to approximately five times 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 60Hz noise received from adjacent 120 volt 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 2 13 Detailed Drive Operation 2 43 Figure 2 13 Mechanical Gear Train AAAA Bm BL N A Kspring Jload The resonant frequency is defined by the following equation Jm Jload JK j resonance spring x load Jm is the motor inertia seconds Jload is the load inertia seconds Kspring is the coupling spring constant rad sec Figure 2 14 shows a two mass system with a resonant frequency of 62 radians second One Hertz is equal to 27 radians second Figure 2 14 Resonance 62 rad oscillation no comp 1 6 T T T T T T T Motor Torque Motor PU Roll PU The small inset shows a better representation of resonant frequency better The PowerFlex 700S has a notch filter in the torque reference loo
90. IC 1761 CBLPMO2 to 1761 NET AIC 1761 CBLPA00 to 1761 NET AIC 1761 CBLPA00 to 1761 NET AIC 1756 CP3 directly to controller 1756 CP3 directly to controller 1747 CP3 directly to controller 1747 CP3 directly to controller category 3 2 category 3 2 Flex I O Connection Up to 8 modules Up to 8 modules FLEXBUS Current Output 640 mA maximum 5 1V dc 640 mA maximum 5 1V dc Cable 4100 CCF3 4100 CCF3 Input Output Ratings Specifications amp Dimensions 1 5 Each PowerFlex has heavy duty torque capabilities The drive ratings can be found on pages 2 49 2 56 Also see Drive Overload on page 2 34 The drive s IT protection dictates overload cap s amount and duty cycle Ratings are in the tables listed below Table 1 A shows expected times Table 1 A IT Curve 10000000 0 1000000 0 100000 0 10000 0 o 2 g 1000 0 E 100 0 10 0 1 0 de op ojo olo go de ole ae oo go go CZ N A Ro S V H Current Current Time On s Time Off s Duty Cycle 150 3 0 57 5 0 145 3 4 58 5 6 140 3 9 59 6 3 135 4 7 61 7A 130 5 7 63 8 3 125 7 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 117 20 8 111 40 7 138 22 7 110 60 0 180 25 0 109 69 2 180 27 8 108 81 8 180 31 2 107 100 0 180 35 7 106 128 6 180 41 7 105 180 0 180 50 0 104 300 0 180 62 5 103 900 0 180 8
91. Lengths Refer to http www ab com support abdrives documentation index html for detailed technical papers 2 90 Detailed Drive Operation Remote I O Adapter This serves as a supplement to the PowerFlex Remote I O Adapter Users Manual 20 COMM R publication 20COMM UM004 addressing items specific to the PowerFlex 700S Please refer to the User Manual for details on 20 COMM R set up configuration rack configurations and block transfers General facts about the 20 COMM gt R refer to Chapter 4 of the PowerFlex Remote I O Adapter Users Manual for details 1 Remote I O RIO is based on 16 bit integer values 2 Can only be configured as a 1 4 or 72 rack When configured as a 4 rack the reference and feedback are transmitted through block transfer I O When configured as a Ya rack the reference and feedback are transmitted through discrete I O See Chapter 4 of the 20 COMM R User Manual for examples of programming the discrete and block transfer I O 3 Datalinks are transferred to and from the drive by block transfer I O ControlLogix System Here is the I O image table for the ControlLogix system and a 20 COMM R configured as a rack Notice that the first 2 words of the image table are Discrete T O the rest of the data comes across as Block Transfer I O DPI Adapter PowerFlex 700S BT Control Logic Command Reference SpeedRef DPI Reference Datalink A1 r Data In A1 Int Datalink A1 dt Data In A1 Datalink A2
92. N Boe d 2 33 Drive Overload euer San 2 34 Drive Over Temperature Frame 9 Only 3 4 cowie white tan ede ENEE fake ae Cage A 2 35 DIOOP Ze 62 Boe ead Sebi MEG oS ice EE WG eda NOW ER W ea ot ede Seen HEA E E 2 35 Dynamic Braking cuasi ow ain eda een oe saa ede 2 36 AS goers 0 hee dia Zeen Sian eet Se beta taba beet JI sie nde nta woe 2 36 Electr nic Geann ec owy ena ta Saeko tous ge bie ge ha Ghia 2 36 CE Conformity isaac dE dante Bia eee Weg arate eee hae oe 2 36 Et A A dd iy abacus Boas ae Uns cad A 2 38 Flying Start wa Sege Ee Head cia dE ee eh ee ee ee ee eet 2 45 Friction Compensation eeens o ARA A OOO a a ee ead gw ated 2 47 Fuses and Circuit Breakers 2 48 Grounding Generali a Nee EE ee th et eke cota Pe ent A 2 57 FIM MEMORY ose det e Canada Meee eae ENNEN hoe ENEE ets 2 57 HIM Operations EE ph i Raed eee Ps ede ENEE e 2 57 Inertia Adaptation euer adds wina hs Gina adie wen PALO de 2 58 Inertia Compensation maoa E Tee lea ee hd ean A 2 59 Input DEVICES s z wo Ina OE WA R W a nel A GE WT ES E E 2 59 Input Mod s 3421 64 Roy w w MN KW eh BE Hea Widzi Mialo eb eee 2 60 Input Power Conditioning 2 0 0 0 eee cece teens 2 60 VOB A A A A Ii 2 60 LOS ee ee ee E ech deed eA bdo 2 60 MASK ia fob ass eaves Zeche eles ee ee 2 62 Motor Control Mode s m see wad o i ee tab be EE Ged Gea en abe 2 62 Motor Nameplates seg we Woe chia Se EE A USEK eal wen hie 2 62 Motor Overload 6404 aera ona othe vee Wns EA e N 2 63 Motor St
93. Oe at eatin tae nals 2 132 Stary StopiMOdES wia sevens EEN ona oai W STO eee W eae el Gee dae oat A 2 132 Start Up EE 2 135 ee EE 2 135 Synchbink hes seh bee ee A eee Se Ve A 2 135 SYNC Generator ed bee ee P o a Ne ENA eg poka ed Re 2 146 Test POIS 2022 5 tong nha babel ies Ge dg See et a moet ei Eege ia hee rada 2 147 Index Torque Reference vise ca eters Ll Seek re a ale da Ee dod A oa Ar dA AA 2 147 Unbalanced or Ungrounded Distribution Systems 00 00 0000 08 2 148 User Functons e ENN shale bead a ak SESS eens Sane sate ts 2 149 Voltage Class 1 ogee oo Pe NENNEN SO EE OD BRA Pha eae eb ea bees 2 152 Watts EOS d sis it Sok ae Sibyl te eh WE She healed dg 2 153 efesotomasyon com Chapter 1 Specifications amp Dimensions PowerFlex 700S Specifications Category Specification Frames 1 6 Frames 9 amp up Protection 200 208V 240V 380 400V 480V 600V 690V 380 400V 480V 600V 690V Drive Drive Drive Drive Drive Drive Drive Drive 500V Drive Drive Drive AC Input Overvoltage Trip 247VAC 285VAC 475VAC 570VAC 690VAC 863VAC 475VAC 570VAC 611VAC 690VAC 863VAC Bus Overvoltage Trip 350VDC 405VDC 675VDC 810VDC 1013VDC 1164VDC 675VDC 810VDC 810VDC 1013VDC 1164VDC Bus Undervoltage Trip Adjustable Adjustable Nominal Bus Voltage 281VDC 324VDC 540VDC 648VDC 810VDC 931VDC 540VDC 648VDC 645VDC 810VDC 931VDC Heat Sink Thermistor Monitored by micro
94. Out B1 Datalink B1 Data Out B1 Datalink B2 7 Data Out B2 Datalink B2 Data Out B2 Datalink C1 r Data Out C1 Datalink C1 Data Out C1 Datalink C2 7 Data Out C2 Datalink C2 Data Out C2 Datalink D1 T Data Out D1 Datalink D1 Data Out D1 Datalink C2 Data Out D2 Datalink C2 Data Out D2 Message Message Buffer Handler 2 91 1 Bits 0 15 only of parameter 155 Logic Status appear in the Input Image table of the ControlLogix controller 2 The speed feedback sent from the PowerFlex 700S to the 20 COMM R is not affected by parameter 73 Spd Fdbk Scale Furthermore the PowerFlex 700S automatically converts parameter 72 Scaled Spd Fdbk which is a floating point parameter to an integer format before the value is transferred to the 20 COMM R When the 20 COMM CR is configured as a 72 rack the Reference and Feedback values become words 2 and 3 in the Discrete I O The mapping for the Datalinks sent over block transfer I O stays the same Words 0 and 1 in the block transfer I O become buffers The following example shows the message instructions for the block transfer I O In this example the 20 COMM R was setup as a rack RIO_7005_BT_I0_Write EN Seer T RIO_ 00S_BT_lO_Read EN ype Block Transfer Write Message Control RIO_7005_BT_IO_Write L MSG Type Block Transfer Read SC Message Control RIO_7005_BT_IO_Read M 2 92 Detailed Drive Operation For the block transfe
95. PI Output is enabled the integral term of the process regulator will be preset to start PI Output at the value set in PI Preload PI Integ Time is the integral term for the regulator It is in units of 1 seconds For example when the PI Integ Time is 2 the integrator output equals 1 per unit in 1 second for 1 per unit error 1 per unit means 100 The output of the integrator is limited by PI Integ Hlim and PI Integ Llim PI Integ Hlim is in per unit and has a range from 0 to 8 A value of 1 for PI Integ Hlim can represent base motor speed rated motor torque or 100 of some external function The output of the integrator after the integrator limits can be viewed in PI Integ Output The PI Prop Gain sets the proportional gain of the regulator For example when PI Prop Gain is 2 the output of the proportional block will equal 2 per unit in 1 second for a Iper unit error The output of the integrator PI integ Output and the output of the proportional block are summed together Process PI Limits To prevent the regulator output from exceeding a range an upper and lower limit can be programmed PI High Limit sets the high limit for the PI Output signal PI High Limit is in per unit and has a range from 0 to 8 A value of 1 for PI High Limit can represent base motor speed rated motor torque or 100 of some external function Process Pl Output At this point of the process PI loop some conditions
96. Ref Positive values indicate forward rotation and negative values indicate reverse rotation Selected Spd Ref Control Options 153 a RE a 2 ojl Max I RE 0 y x rl Applied Logic Cmd 152 20 lt 152 Y 21 T 1 I Unipol Fwd 1 H A I I Unipol Rev 1 DPI is an enhancement to SCANport that provides more functions and better performance SCANport was a CAN based Master Slave protocol created to provide a standard way of connecting motor control products and optional peripheral devices together It allows 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 2 32 Detailed Drive Operation programming support This communication interface is the primary way to interact with and control the drive ATTENTION e The PowerFlex 7008 only supports the DPI communication pro tocol e The PowerFlex 700S will not communicate with SCANport devices e The PowerFlex 700S does not support LED HIMs
97. S 250 20DJ180 6 150 204 1 132 2 180 198 270 400 JKS 400 125 171 2 110 9 156 234 312 300 JKS 300 20DJ248 6 200 248 273 392 550 150 180 270 360 400 20DJ261 9 200 299 186 261 287 410 500 170M6608 150 235 146 205 308 40 500 170M6608 20DJ300 9 250 343 213 300 330 500 630 170M6610 200 281 174 245 368 490 630 170M6610 20DJ385 10 300 441 274 385 424 600 700 170M6611 250 343 213 300 450 600 700 170M6611 20DJ460 10 350 527 327 460 506 770 900 170M6613 300 441 274 385 578 770 900 170M6613 20DJ500 10 450 572 356 500 550 750 1000 170M6614 350 481 299 420 630 840 1000 170M6614 20DJ590 11 500 676 420 590 649 956 a 2 per 170M6610 phs 450 595 370 520 780 956 8 2 per 170M6610 pns 20DJ650 11 500 744 463 650 715 1062 We 2 per 170M6611 phs 500 676 420 590 885 1062 700 2 per phs 170M6611 20DJ730 11 600 836 520 730 803 1095 700 2 per phs 170M6611 500 744 463 650 975 1170 700 2 per phs 170M6611 Also applies to P voltage class e The power source to Common Bus inverters must be derived from AC Voltages 600V or less as defined in NFPA70 Art 430 18 NEC Battery supplies or MG sets are not included The following devices were validated to break current of the derived power DC Bus Disconnects Allen Bradley Bulletin No 1321 30 to 400 A Bulletin No 194 30 to 400 A ABB OESA 600 amp 800 A OESL all sizes Fuses Bussmann Type JKS all sizes Type 170M Case Sizes 1 2 and 3 Ferraz Shawmut Type H
98. SJ all sizes For any other devices please contact the factory e Also applies to R voltage class Grounding General HIM Memory HIM Operations Detailed Drive Operation 2 57 Refer to Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INO01 for detailed information This publication is available online at http literature rockwellautomation com literature See Copy Cat 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 Step GTO Example Displays 1 Press the Up Arrow or Down Arrow to scroll to Operator Intric Press Enter LA A Operator Intrfc Change Password 2 Press the Up Arrow or Down Arrow to scroll User Display to User Display Press Enter lt 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 p
99. STrim2 Filt Gain 28 a Epa Ran en pd Reg En SpdTrim2 FiltBw C26 Logic Ctrl State 757 Yog Spd Reg En SpdReg AntiBckup Motor Speed Ref lt gt ojl Speed Error e mi Spd Reg PI Out 100 AA E k ES E Sen p saa Motor Spd Fdbk ks kn sjt wn E s H ES Limit Lead La io Tongue Copa sewn Su n SRegOut FiltGain g MA1 from Feedback 9H2 a 71 P Ce ServoLo Spd Reg Pos Lim Gaz Spd Reg P Gai Filtered SpdFdbk po Spd Reg Neg Lim 103 SReg Out Filt BW SReg FB Filt Gain C93 gt Servo Lock Gain ki Cm SpdReg Integ Out SReg FB Filt BW s Reena Control Options rez Y 12 aa Jog Nolnteg Speed Reg Git CSC g L Integ Hold Spd Reg Gain Speed Reg Ctrl gq Y og Droop Integ Reset Speed Reg Ctrl Preset Sel lt gt EL Spd Reg Droop gt gt oy SReg Torq Preset 87 e 471 1 Motor Torque Ref lt 303 The main purpose of the speed PI regulator is to produce a torque reference for the current regulator block The following section will describe each portion of the speed PI regulator Speed Trim The speed trim blocks are used to sum the speed reference from the speed reference control loop with speed trim values from other sources Spd Trim1 SpdRef cont
100. Spd 157 gt 10 from Speed Control 8H4 Inertia Torq Add 302 2H4 FricComp TorqAdd 2H8 Torque Ref 1 Cm 5 Torq Refi Div 112 o org Reft Div a Ll x M Torque Ref 2 113 e M y Torque Trim CU Min Torq Ref2 Multi 0 59 1 l l 145 J ZIL i Min e 31 Torque Step 116 l l X L Detailed Drive Operation 2 129 As shown in Figure 2 27 parameter 110 Spd Trq Mode Sel is used to select the mode of operation Zero torque current is allowed when set to zero 0 Set to a value of 1 the drive and motor are operated in speed mode The torque command changes as needed to maintain the desired speed Set Spd Trq Mode Sel to a value of two 2 for torque mode In torque regulation mode the drive controls the desired motor torque The motor speed is the result of torque command and load present at the motor shaft Min and Max mode are selected by values three 3 and four 4 respectively These modes offer a combination of speed and torque operation The algebraic minimum or maximum of speed torque will be the operating point for the Min and Max modes The drive automatically switches from speed to torque mode or from torque to speed based on the dynamics of the motor load The Min mode is typically used with positive torque an
101. ain may be set higher using lead compensation on the Position Regulator Output Lead Lag filtering of the position regulator output is accomplished via the speed trim 2 filter Set parameters 25 Strim2 Filt Gain and 26 SpdTrim2 Filt BW so that SpdTrim2 Filt BW Strim2 Filt Gain Speed Reg BW For example with parameter 90 Spd Reg BW 40 rad sec set parameter 26 SpdTrim2 Filt BW 200 rad sec 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 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 parameters 772 XReg Integ LoLim and 773 XReg Integ HiLim should be set with narrow limits Jogging a Position Follower Independent from the Master v1 xx When you want to jog the PowerFlex 700S follower drive independently turn off parameter 740 Position Control bit 1 Posit Spd Output to disable the position loop output v2 xx The jog can be performed while the position loop output is enabled The In Position Detection determines if parameter 769 Position Error is within a user defined value Parameter 769 Position Error is the result
102. ains the value of the speed reference from the speed reference control loop plus the value from Speed Trim 1 Speed Trim 1 is setup by default to come from the process PI loop Parameter 22 Speed Trim 2 provides a trim value with a lead lag filter that is added to Spd Trim1 SpdRef By default it is linked to the output of the position loop For more information on lead lag filters refer to Lead Lag Filter on page 2 40 Parameter 23 Speed Trim 3 provides a scalable speed trim value that is added to Spd Trim1 SpdRef The speed reference value for Speed Trim 3 is multiplied by the scaling parameter 24 Spd Trim 3 Scale Spd Trim 3 Scale is a linkable 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 2 120 Detailed Drive Operation The speed trim values are summed with the speed reference from the speed reference control loop Speed Trim 3 Ey SpdTrim 3 Scale Car X from Speed Control Spd Trim1 SpdRef 4x Reference 2H4 Posit Spd Output Speed Trim 2 from Position Control 6H3 or 7H4 Lead Lag STrim2 Filt Gain 25 SpdTrim2 Filt BW C 26 Autotune Speed Reference kn s wn s wn During the inertia test the autotune speed reference is used instead of the
103. apter 5 of the 20 COMM R User Manual shows the format of the block transfer request and response data in an SLC and PLC 5 Because the SLC PLC 5 does not support 32 bit integers 32 bit integer data from the block transfer request and response data remains split into 2 16 bit integers In order to send or receive floating point data we have to swap the LSW and MSW and utilize the COP copy instruction The following examples are for transmitting and receiving floating point data for block transfer messages but do not show the logic for the block transfer explicit messages themselves See Chapter 5 of the 20 COMM R User Manual for an example program for the block transfer explicit messages Figure 2 23 Reading Floating Point Block Transfer Data in an SLC PLC 5 Afloatimg point is sent across a RIO BT MSG as 2 16 bit integers To read afloatmg point datalink correctly inthe SLC you must first swap the high and low 16 bit mtegers md then copy the 2 integers into afloatmg point address N15 112 LSW of Parameter from BT MSG Read N15 113 MSW of Parameter from BT MSG Read N16 112 MSW of Parameter Read N16 113 LSW of Parameter Read F12 10 Floating Point Parameter Value Read MOV Move Source N15 112 25612 lt Dest N16 113 16128 Mov H Move Source N15 113 128 lt Dest N16 112 O lt emm Hl Copy File Source 4N15 112 Dest HF12 10 Length 1 Detailed Drive Operation 2 101
104. arameter appears on the top line of the user display e User Display 2 Selects which user display parameter appears on the bottom line of the user display e User Display Time Sets how many seconds will elapse after the last programming key is touched before the HIM displays the user display 2 58 Detailed Drive Operation Inertia Adaptation Inertia adaptation is used to compensate for lost motion which occurs when a gear box and or springy coupling is present Inertia adaptation can allow the user to increase the speed regulator bandwidth by up to four 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 adaptation detects the lost motion and a higher speed regulator bandwidth can be achieved without instability slope due to springy nature k of shafts A after gearbox teeth engage AX backlash BL before gearbox teeth engage Configuration See Speed Regulator Tuning Advanced Tuning for the Speed Regul
105. art Stop Precautions 0 0 cece eee eee eee nee 2 64 MOUNN S EE EE 2 64 Output Devices sire techy oie La iwa kard oka ate eine EE ees 2 64 Output Display eee 58 040 eh e eee eee Cw ha EA ee Vu 2 65 Oversp ed Limit ode eech deene We deda Bio degt Pa i ene aly 2 66 OWMNETS di Ae BELG SERS RS WO EW ee ree bd eet Dira ie 2 66 Permanent Magnet Motors 2 68 PEL eet aio es oh A eee ee ee Seah eee aol 2 69 Position Loop Follower Electronic Geang t 0 0c cece eee eee 2 70 Position Loop In Position Detect 0 0 0 eee ee eens 2 74 Position Loop Point to Pont 2 75 Position Loop Registration 0 0 0 eee cece eee e enna 2 78 Position Loop Position Watch 2 80 Power Loss Ride Through 2 0 0 eee ec cee ene nee nea 2 81 Preset Speeds catador 2 86 Process PL Tag ia ld tie Fe ins ohhh tae we era wl Bt ade 2 86 Refl cted Wave sep hee hed pias ob eee ee ee a ae ee ee Se ee s 2 88 Remote I O Adapter 20 COMM CR 0 0 0 0 ccc aaa aaa aaa nee 2 90 RFI Filter Grounding reesi ce ari EES NEEN ee en eee hee eee KA 2 101 EHNEN neh tee ens 04 meas data ROA ee Ge awl oa See ae Ree ee ae 2 101 Speed Control Speed Mode Speed Regulation 0 0 0 0 eee 2 101 Speed Position Feedback 2 102 Speed Referencia swe Oho owt bead a si oj i a BR we 2 113 Speed PlRegulator ome ep ote be EE dree esos Didone ges Midas gab gd 2 119 Speed Torque Selectos srl eee reel Wiebe ani ve eA ey se tie elms 2 128 SAA a od Vea
106. ask and owner parameters Entering Flash programming mode Soft login and logout of peripheral devices enabling disabling of peripheral control Peer to Peer Operation Peer to Peer messaging allows two devices to communicate directly rather than through the master or host i e drive They are the same priority as C S messages and will occur in the background If an 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 DriveLogix Detailed Drive Operation 2 33 are not needed All Peer to Peer operations occur without any intervention from the user regardless whether proxy or normal P P operation no setup is required No Peer to Peer proxy operations are required while the drive is in Flash mode All the timing requirements specified in the DPI system Control and Messaging specifications are supported Peripheral devices will be scanned pinged at a 10ms rate Drive status messages will be produced at a 5ms 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 e g Start Stop etc to change in the drive
107. ata In A1 Int 2 20 Data In A1 Real 2 20 Data Out A1 Int 2 20 Decel Time 2 21 Delayed Spd Ref 2 143 Dig Out 1 Bit 2 30 Dig Out 1 Data 2 30 Digln 1 Bit 2 28 Digln 1 Data 2 28 Digln 1 Sel 2 28 Digln 1 User Data 2 28 Direction Mask 2 62 Direction Owner 2 66 Dlink OutDataTyp 2 94 Dlink OutDataType 2 16 2 20 Index 3 DPI Ref Select 2 16 2 22 Drive Logic Rslt 2 15 2 21 Encdr1 Position 2 80 Exception Eventi 2 111 2 112 Fault Clr Owner 2 66 Fdbk LsCnfg Alt 2 111 2 112 Fdbk LsCnfg Pri 2 111 2 112 FVC Mode Config 2 112 FW Functions En 2 80 Jog Owner 2 66 Local I O Status 2 29 Logic Command 2 80 2 110 2 112 Logic Status 2 15 2 30 MC Diag Error 1 2 7 MC Diag Error 2 2 7 MC Diag Error 3 2 7 Motor Ctrl Mode 2 5 Motor NP FLA 2 62 Motor NP Hz 2 62 Motor NP Power 2 63 Motor NP Pwr Units 2 63 Motor NP RPM 2 1 2 21 2 62 Motor NP Volts 2 62 Motor Poles 2 63 Mtr Fdbk Sel Alt 2 111 2 112 2 113 Mtr Fdbk Sel Pri 2 111 2 112 2 113 Mtr TrqCurr Ref 2 4 Output Curr Disp 2 65 Output Current 2 20 Posit Detct1 In 2 80 PositDetct1 Stpt 2 80 Position Actual 2 80 Position Control 2 20 2 80 Position Error 2 4 Position Status 2 20 2 80 Rated Volts 2 9 Real to Int In 2 137 Real to Int Out 2 137 S Curve Spd Ref 2 137 2 142 SL Dir Int Rx0 2 137 SL Dir Int Rx3 2 137 SL Dir Int Tx0 2 136 2 137 SL Dir Int Tx3 2 136 SL Dir Real Rx0 2 137 2 145 SL Dir Real Rx3 2 137 SL Dir Real Tx0 2 137 SL Dir Real Tx3 2 13
108. ation PP gt wa Detailed Drive Operation 2 61 Each destination parameter can only have one source parameter However source parameters may be linked to multiple destination parameters The information from the link always flows from the source to the destination parameter Information Information Several default links are set in the drive as default Modifying these links can be done two ways Information OZ Using the HIM Access the destination parameter you wish to use for the link This cannot be done from the ALT Parameter view window only the parameter list When you access the parameter you want to edit press the ALT then the View button This will display a window with the mode selection Use the up down arrow keys on the top row of buttons to select Defined Link and press Enter When in this mode pressing the Select button will allow you to enter the source parameter number Using Drive Executive Double click on the destination parameter The parameter XX dialog box displays Click on the Link Source tab Select the Parameter radio button and select the source parameter in the Selected Parameter field Parameter 21 Speed Trim 1 Properties Value Link Source Link Sinks Documentation Link Source C No Link e Parameter Eind Parameter es Selected Parameter P 175 Setpt 2 Data P 176 pt2 TripPoint P 177 Setpt 2 Limit t2 280 DE OuEpuiE Available Drive Links 172 p Total
109. ation on starting up the PowerFlex 700S AC drive and running the auto tune procedure Detailed Drive Operation 2 5 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 will be 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 FOC2 Pmag Motor and Test e FOC selects field oriented control This should be the selection for AC squirrel cage induction motors e FOC selects field oriented control and is only used for a specific type of AC induction motor with motor thermal feedback e Pmag Motor selects control for permanent magnet motors e Test puts the drive in a test mode to perform the direction test Test is automatically selected during the direction test portion of the Start Up routine and does not need to be set manually by the user Next the motor control submenu 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 s
110. ator with Gearbox or Belt on page 2 127 for details on using inertia adaptation Total Inertia Ca SE Motor Spd Fdbk Inert Adapt Sel 00 Inrtia Adapt Qa Load Est Inert Adapt BW Inert Adapt Gain 01 Motor Torque Ref From Spd Torque X To Current Mode Selection p Control Limit Torque Limits Inertia Compensation Input Devices Detailed Drive Operation 2 59 During speed changes a certain level of torque is required due to load inertia That level of torque is above the torque used to run at constant speed Inertia compensation calculates that torque based on the acceleration or deceleration rate Then that acceleration or deceleration torque can be fed forward into the torque control making for smoother accels and decels especially with high inertia loads Parameter 56 Inertia SpeedRef is linked to parameter 43 S Curve Spd Ref This becomes the speed reference that the inertia compensation block uses to calculate the acceleration or deceleration rate also known as the derivative of speed with respect to time Inertia compensation is enabled by turning on parameter 151 Logic Command bit 10 Inertia Comp Parameter 9 Total Inertia is calculated during the autotune and is used along with the calculated acceleration or deceleration rate to calculate the torque adder Parameter 57 InertiaAccelGain determines the ga
111. bandwidth in parameter 90 Spd Reg BW Do not exceed the bandwidth limit of curve in the following chart based on the ratio of motor inertia to system inertia Maximum regulator Bandwidth vs inertia Ratio with Gear Box SM ee ee j ERLE 10 20 30 40 50 Ratio system inertia motor inertia Make parameter 89 Spd Err Filt BW 5 parameter 90 Spd Reg BW Note For speed regulator bandwidths up to approximately 200 rad sec parameter 89 Spd Err Filt BW can be left at the factory default of 700 rad sec starting with v2 003 firmware because of the addition of a finite infinite response FIR filter Turn off Lead Lag filters parameter 93 SregFB Filt Gain 1 parameter 95 SregOut FiltGain 1 Run the drive and observe its performance particularly gear noise chatter If performance is smooth throughout the speed range the test is complete and no further adjustments are necessary If gear noise or chatter is present reduce parameter 90 Spd Reg BW or progressively turn on the lead lag filters a through d with d being the most aggressive Stop when performance is sufficiently smooth a Parameter 95 SregOut FiltGain 0 7 parameter 96 SregOut Filt BW 35 b Parameter 95 SregOut FiltGain 0 5 parameter 96 SregOut Filt BW 20 c parameter 95 SregOut FiltGain and parameter 93 SRegFB Filt Gain 0 7 parameter 94 SReg FB Filt BW and parameter 96 SregOut F
112. be set to real data links on the 700S COP Copy File Source PowerFlex7005_02 l Data 3 Dest PF700_Float_Data 0 Length 8 Explicit Messaging When using explicit messaging in the ControlLogix system the message type CIP Generic is used The data is transferred over ControlNet in the same data type as the parameter in the PowerFlex 700S Make sure the data type for the Source and 2 18 Detailed Drive Operation Copy Cat Destination tags in your ControlLogix message instruction matches the data type in the PowerFlex 700S Also the Number of Elements in the ControlLogix message instruction must match the size of the Source data For example to send an explicit message to write to parameter 12 Speed Ref 2 which is a floating point 1 The Source and Destination tags would be of type REAL 2 The Number of Elements would be 4 bytes since a REAL data type takes up 4 bytes of data Message Configuration CNet_Message_Explicit Configuration Communication Tag Message Tope A Service Code 10 Hex Source cn el_Message_Data 0 w Class name fi Hex Num Of Elements la Bytes Instance name 12 Destination EN et_Message_Datall0 Attribute name fi Hex New Tag J Enable 2 Enable Waiting Start Dore Done Length 0 A Error Code FF Timed Out Extended Error Code Cancel Hep For other types of messages refer to the 20 COMM C user manual This feature allows yo
113. ce these over voltage transients from a VFD to the motor The correction software modifies the PWM modulator to prevent PWM pulses less than a minimum time from being applied to the motor The minimum time between PWM pulses is 10 microseconds The modifications to the PWM modulator limit the over voltage transient to 2 25 per unit volts line to line peak at 600 feet of cable 400 V Line 540V DC bus x 2 25 1215V 480 V Line 650V DC bus x 2 25 1463V 600 V Line 810V DC bus x 2 25 1823 V The software is standard and requires no special parameters or settings E d 500 e Inverter V div d 1670 Ve 500 Motor V div The above figure shows the inverter line to line output voltage top trace and the motor line to line voltage bottom trace for a 10 HP 460V AC inverter and an unloaded 10 HP AC induction motor at 60 Hz operation 500 ft of 12 AWG cable connects the drive to the motor Detailed Drive Operation 2 89 Initially the cable is in a fully charged condition A transient disturbance occurs by discharging the cable for approximately 4ms The propagation delay between the inverter terminals and motor terminals is approximately lms The small time between pulses of 4ms does not provide sufficient time to allow the decay of the cable transient Thus the second pulse arrives at a point in the motor terminal voltage s natural response and excites a motor
114. ch1 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 PositDetctl Stpt is used to set the position set point for which to watch Setting parameter 740 Position Control bit 17 X Watch 1 Dir 1 causes the drive to detect when the position feedback becomes greater than the set point Setting Position Control bit 17 X Watch 1 Dir 0 causes the drive to detect when the position feedback becomes less than the set point Setting parameter 740 Position Control bit 16 X Watch 1 En 1 enables the position detection function to detect the next position Setting Position Control bit 16 X Watch 1 En O 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 Detctl In to parameter 240 Encdr1 Position e Set parameter 780 PositDetct1 Stpt 100000 counts e Set parameter 740 Position Control bit 17 X Watch 1 Dir 1 e Set parameter 740 Position Control bit 16 X Watch 1 En 1 e When parameter 240 Encdr1 Position becomes greate
115. crease overall system performance To eliminate noise lag use with the light or heavy filter Kn Wn Light 0 7 35 Heavy 05 Cd 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 Flying Start Detailed Drive Operation 2 45 The Flying Start feature is used to start into a rotating motor as quick as possible and resume normal operation with a minimal impact on load or speed When a drive is started in its normal mode it initially applies a frequency of 0 Hz and ramps to the commanded speed If the drive is started in this mode with the motor already spinning large currents will be generated An overcurrent trip may result if the current limiter cannot react quickly enough The likelihood of an overcurrent trip is further increased if there is residual voltage on the spinning motor when the drive starts Even if the current limiter is fast enough to prevent an overcurrent trip it may take an unacceptable amount of time for synchronization to occur and for the motor to reach its desired frequency In addition larger mechanical stress is placed on the application increasing downtime and repair costs while decreasing productivity The sensorless fl
116. cribed in this manual Reproduction of the contents of this manual in whole or in part without written permission of the Rockwell Automation is prohibited Throughout this manual we use notes to make you aware of safety considerations circumstances that can lead to personal injury or death property ATTENTION Identifies information about practices or damage or economic loss Attentions help you e identify a hazard e avoid the hazard e recognize the consequences Important Identifies information that is especially important for successful application and understanding of the product Shock Hazard labels may be located on or inside the drive to h alert people that dangerous voltage may be present DriveExplorer DriveTools32 and SCANport are trademarks of Rockwell Automation PLC is a registered trademark of Rockwell Automation ControlNet is a trademark of ControlNet International Ltd DeviceNet is a trademark of the Open DeviceNet Vendor Association COLOR KEYED is a registered trademark of Thomas amp Betts Corporation efesotomasyon com Summary of Changes This information summarizes the changes made to this manual since the last release Manual Updates Change See Page Updated specifications and dimensions 1 1 Alarms section updated 2 1 Added Copy Cat section 2 18 Digital Inputs section updated 2 26 Direction Co
117. culate the reference as a DINT based on 32768 base motor speed Then copy the DINT into 2 16 bit tags sent over Remote I O MOV RIO_700S_Ref_RPM 1765 0 lt RIO_700S_Ref_RPM 1765 0 lt RIO_700S_Ref_DINT 32768 RIO_700S_Ref_RPM RIO_700S_Base_Motor_Speed 32768 Copy File Source RIO_700S_Ref_DINT Dest RIO_7005_BT_0 0 Length 2 2 94 Detailed Drive Operation Base Motor RPM Floating point Feedback RPM Feedback received counts x 32768 Speed Feedback Via RIO from a PowerFlex 7005 using a 20 COMM R module First copy the MSW and LSW of the speed reference from RIO into 1 DINT tag Then calculate RPM based on 32768 base motor speed COP Copy File Source RIO_7005_BT_I 0 Dest RIO_700S_Fdbk_DINT Length 1 Compute Dest RIO_7005_Fdbk_RPM 0 0 Expression RIO_7005_Fdbk_DINT 32768 RIO0_7005_Base_M otor_Speed Datalink Programming To read datalinks the bits in parameter 723 Dlink OutDataTyp must be set appropriately for each Datalink to select whether the data is floating point or DINT Because the datalinks are transmitted and received through block transfers the data type in the controller is limited to 16 bit integers To write or read floating point or 32 bit integers the COP copy instruction must be utilized The copy instruction in ControlLogix performs a bitwise copy Set the length of the copy instruction to a value appropriate for the destination data type For example 1 When copyi
118. d be used with a dynamic brake or regenerative system Overview The Point to Point positioning feature gives the user the ability to position the load without an external position controller The Point to Point function of the position loop moves from current location to commanded location then holds that position until given a new reference or a stop command The position loop can be scaled to different units other than feedback counts i e Degrees or Inches Typical applications for the Point to Point function would be turn tables and storage retrieval machines PositReg P Gain C318 Point to Reference Point Pt Pt Posit Ref Selection Mode Pl Regulator Position Offset Position Feedback Proportional Channel Selection Posit Ref Sel Position Fdbk Speed Reference Selection The speed reference should be set to zero speed when using point to point positioning For example set parameter 16 Speed Ref Sel 0 Zero Speed Enabling the Position Loop To enable the position loop set parameter 151 Logic Command bit 13 PositionEnbl 1 2 76 Detailed Drive Operation Selected position reference 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 point to point positioning set parameter 742 Posit Ref Sel 2 Pt to Pt Parameter 758 Pt Pt Posit Ref becomes the reference for t
119. d forward speed operation the minimum of the two being closest to zero The Max mode is opposite typically used with reverse speed and negative torque the maximum being the least negative closest to zero Sum mode is selected when Spd Trq Mode Sel is set to a value of 5 This mode allows an external torque command to be added to the speed regulator output when desired Speed Regulation Mode Operating as a speed regulator is the most common and simplest mode to set up Examples of speed regulated applications are blowers conveyors feeders pumps saws and tools 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 2 59 and Friction Compensation on page 2 47 Torque Regulation Mode A torque regulated application can be described as any process requiring some tension control An example is a winder or unwinder with material being drawn or pulled with a specific tension requi
120. d in parameter 755 Posit Offset Speed if this is left at zero the move will not occur The position offset must be entered in counts of feedback because it is added to the position reference after the EGR scaling Offsets must be maintained to keep the position i e if you enter a 300 in the offset the position loop will move 300 counts extra If you zero the offset command the motor will return to the previous position When it is necessary to zero the offset after a move without returning to the previous position set parameter 740 Position Control bit 5 Xoff ReRef 1 Then set the offset value 0 Then set Position Control bit 5 Xoff ReRef 0 The system will not make an offset move when Position Control bit 5 Xoff ReRef is on Point to Point Acceleration and Deceleration Parameter 759 Pt Pt Accel Time sets the acceleration time in seconds from zero to base motor speed Parameter 760 Pt Pt Decel Time sets the deceleration time in seconds from base motor speed to zero The Pt Pt Accel Time and Pt Pt Decel Time are only active in Point to Point mode The Default 10 seconds Position Loop Output Limits Parameter 772 Xreg Spd LoLim sets the negative speed limit at which the position regulator will output The default is set to 10 of the base motor speed Set this to the negative speed at which you want the drive to run for point to point moves Parameter 773 Xreg Spd HiLim sets the positive speed limit at w
121. e 00y See 042 86 08L tr 691 OS 9 O8 adoe VN a 2 E DG GLE 00s SL osz SLL osz 88L Sct 601 LEL 00L VN osz osp 009 002 ose 00 ved cZtL 9glL cal Lvl Szk 9 9S aq0e YN i Sel ose ose Sel 002 Sel 894 vr 96 6rl 106 GL YN gt z DCL GLE 00s WEI DG os 94 8EL Sel 926 JIL OOF S Se adoe YN 0006 NNO Wo l 00L 00 00 00 0Z 00 ys DLL Al 109 Ed 09 YN Sel ose ose Sel 002 Sel vol 901 96 6 106 G S 9600002 YN 0006 NAO WOFL 001 osz osz 08 Gel 08 DEI 86 D I 9 6b 96 D VN 0006 NAO WOPL 00 00 00 001 W I 00 9tL G8 ZZ L09 eel 09 p 2200003 VN 0006 NAO WOFL 00 osz osz 08 Gel 08 POL 82 39 9 6b 9 6S 07 os G900002 804 00 9 NAO WOPL 02 002 002 09 OL 09 08 09 cs 66 Cp 06 0v zsoaaoz EG 0007 NWO OPL SvO 484 WOrl 09 osL OSH 09 06 0s 89 L Ov Foe LOE Sc D I Ovoddoe 61S 0007 NWO Obl Gh0 381 NOPL 0s Sel Sel 07 02 07 aj SOp ve 690 ole oz Szi z peoadoz L9v 0007 NWO Obl 260 384 WOPL WI 001 00 se 09 se vv EE Le 900 87a GL D i 200003 68 00Sc NINO 0p L 929 384 W0tL Gc0 280 NObl S 0 420 W0rl 0 08 08 Ge 0s ER EE cha co 99 661 DL Sti 230000 L 9L0 383 N0b 9LO 380 NObL 910 320 WOrl 02 D os GLb 0 SZL col sol vl vol Gel sl OL L vLogddos eve 910 384 WOvl 9LO 380 NOp L 9LO 320 MObL GL Ob 07 GL D GL Gol Lal LL 62 EL S GZ L LLOGQOZ Ole 0L0 384 WObl 0L0 380 WObL
122. e Operation 2 47 Settings for parameter 222 Motor Fdbk Sel and 223 Mtr Fdbk Alt Sel Value Description Encoder 0 Encoder 1 Sensorless Reserved Motor Sim FB Opt Port0 FB Opt Port1 o or A ow P CH Parameter 451 SrLss Preset Spd sets the initial frequency for the flying start frequency search This value should always be set greater than the expected motor speed to avoid regeneration and the chance of an over voltage fault Parameter 510 FOC Mode Config bit 23 SrLssFStrtEn determines whether flying start is enabled or disabled Setting this parameter to 1 enables the flying start function When set to 0 the flying start function is disabled Parameter 510 FOC Mode Config bit 26 FS PresetSpd set to 1 uses parameter 451 SrLss Preset Spd as initial frequency for the flying start When set to 0 the flying start frequency search uses the last known frequency The friction compensation block is used to calculate breakaway torque and the torque needed just to keep the motor running at a constant speed due to friction Parameter 140 FricComp Spd Ref is linked to parameter 43 S Curve Spd Ref The speed reference is needed because the torque needed due to friction is much more near 0 speed than at higher speeds Friction compensation is enabled by setting parameter 151 Logic Command bit 11 Frict Comp to 1 Parameter 141 FricComp Setup is used to configure the
123. e Selector Rx Axis Size KS SL Mult B In Tx Multiply Data Rx Dir Size Rx Buff Size S o Local Overflow 1 Rx Overflow Rx Pkg Size lt 8 gt Rx Seq Cnt q lt gt Rx PO Register Rx Index 0 40 Rx P1 Register Rx Index 1 lt i gt Rx DO Latch Rx Index 2 minx 4 gt sel 2 10 Event Rx D1 Latch Latches Rx D2 Latch Upstream Rx D3 Latch Rx Opt 0 Regis Rx Opt 1 Regis Receive Events Int Real 1054 X 1055 gt SL Dir type Rx 0 lt 1056 1057 SL Dir type Rx 1 Available for I Tx sel 2 10 lt 1058 1059 gt SL Dir type Px2 passthrough lt 1060 1061 gt SL Dir type Rx 3 SS Int Real Coordinated System SL Buf type Rx 00 Time SL Buf type Rx 01 Int Real lt 1073 gt SL Buf type Rx 02 Buffered i i R ec eive 64 Parameters U Data B gt gt FS See 11321131 S Buf type Rx 31 Detailed Drive Operation 2 141 Speed Synchronization Example This example describes how to setup SynchLink to synchronize the ramped s curved speed reference for two PowerFlex 7008 drives using DriveExecutive Note that the Peer Communication setup in DriveExecutive configures the appropriate SynchLink parameters for you as you go through the setup Once connected to the drive select Peer Communication from the Drive menu on the Menu bar DriveExecutive Lite SynchLink_Demo dno lt PowerFle El File Edit View Drive Peripheral Tools Window Help D cm Gd Connect to Drive
124. e Speed Reference 2 120 Current Limit Stop 2 121 Droop 2 124 Integral Gain 2 123 Proportional Gain 2 122 Servo Lock 2 121 Speed Error 2 121 Speed Reference Limits 2 120 Speed Regulation Anti Backup 2 122 Speed Regulator Output Filter 2 124 Speed Regulator Output Limits 2 124 Speed Trim 2 119 Speed Ref Sel 2 28 Speed Reference 2 113 Accel Decel Ramp and S Curve 2 115 Direction Control and Bipolar Reference 2 115 Friction Compensation 2 117 Inertia Compensation 2 117 Jog Reference 2 115 Speed Limits 2 115 Speed Reference Bypass and Delayed Speed Reference 2 116 Speed Reference Filter 2 118 Speed Reference Scale 2 118 Speed Reference Scaling 2 113 Speed Reference Select 2 114 Speed Trim1 2 118 Stop Command 2 115 Virtual Encoder 2 117 Speed Reference Select 2 118 Speed Regulation 2 101 Index 5 Speed Trim 3 2 59 V Speed Position Feedback Voltage Class 2 152 Encoder 2 102 Feedback Device 2 102 Feedback Option Cards 2 106 W Motor Position Feedback 2 109 Watts Loss 2 153 Motor Simulator 2 105 www 1 1 2 36 Motor Speed Feedback and Scaled Speed Feedback 2 109 Sensorless 2 105 Speed Trim3 Scale 2 59 Start Inhibits 2 132 Start Stop Modes Configuring the Start and Stop for 2 Wire Control 2 134 Configuring the Start and Stop for 3 Wire Control 2 133 Start Up 2 135 Stop Modes 2 135 Surrounding Air Derates 1 8 SynchLink Buffered Data 2 138 Configuration 2 136 Direct Data 2 136 Master PowerFlex 700S Setup 2 142 Multiply
125. e check mark is not set then the datalink is not set for an Integer value From DriveExecutive Parameter 723 DLink OutDataT yp Properties x Value Link Data Documentation Parameter does not allow changes while the drive is running OW ai OutReal 1 A20utReal 2 Y BI OutReal 3 B20ut Real 4 Y C1 Out Real 5 Y C20ut Real 6 D1 Out Real Bit 6 Undefined 3 Undefmed t 10 Undefined 1 Undefined BitlzUndefned 3 Undefined Bit 14 Undefined K K wi B RAJ K S st cc b u m el naun owen 7M D20utReal Bit 1S Undefined Intemal Value 255 Dec C Hex Bin Range Value Internal Value Minimum 00000000 0 Maximum 11111111 255 Default 00000000 0 ControlLogix Programming To setup the PowerFlex 700S drive to follow a speed reference from the 20 COMM C parameter 691 DPI Ref Select must be set to Port 5 Parameter 16 Speed Ref Sel must be set to Speed Ref DPI Reference and Feedback values are floating point values in the PowerFlex 700S Use the following logic to transmit and receive reference and feedback data as unsigned integer data Commanded RPM Base Motor Speed 32767 Reference to 700S Speed Reference Via ControlNet to a PowerFlex 7005 using a 20 COMM C module The first move instruction is only for visual indication of the speed reference Move MOV Source CNet_Ref_RPM 1200 0 lt Dest CNet_Ref_RPM 1200 0 lt Compute
126. e configured Digital Input 1 is 24VDC and Digital Inputs 2 and 3 can accept a 12 24VDC signal There is a 24VDC power supply on the I O board to supply power for those inputs Digital Inputs 2 and 3 are high speed digital inputs with a maximum input frequency of 350 kHz Digital Input Configuration Detailed Drive Operation 2 27 TB1 T10 7 RES TB1 T11 Lei 24VDC Common Logic Common Digin 1 Sel 838 gt TB1 T9 7 l A R a 82201 lt 824 01 po TB1 T8 O Local I O Status CT a 829 Debounce Digin 1 A Digin1 User Data TB1 T7 A a 829 id S 9 Digln 1 Debounce Selector Bit lt 828 gt SE Combine a N i Digin1 Data 826 m 82400 gt Local I O Status Digln1 Dr 825 Debounce Enable In En In Debounce Return Common Digin 2 Sel 840 des Selections per Par 839 TB1 15 Q 34 SyncLink NM 824X02 82402 TB1 16 Es Local I O Status T Porto Regis Bit Filter Debounce Digln 2 Digln2 User Data Cnfg _ Selector Bit gt Ext Fit O gt 08 833 Combine gt A igin 2 Debe e fe rn 236 09 Digln 2
127. e configured You may also see DriveLogix Motion instruction Motion Arm Registration MAR Detailed Drive Operation 2 79 Port 0 Example Sequence of events Registration for Port 0 is configured using the parameters below After configuration the Registration latch is armed After the registration event occurs the Found bit will be turned on This indicates that the position of the event has been trapped in the Registration Latch parameter e P235 Port0 Regis Ltch Displays the captured position after the event occurs e P236 Port0 Regis Cnfg Configures the Registration event Encoder Selection Bit 0 Description 0 Select Encoder0 to trap position 1 Select Encoder1 to trap position Trigger Source Bit 2 Bit 1 Description 0 0 Digital Input 1 and Encoder 0 Z phase 0 1 Digital Input 3 Default setting 1 0 Digital Input 2 1 1 Encoder 0 Z phase Edge Selection Settings Bit 4 Bit 3 Description 0 0 Capture on Rising Edge 0 1 Capture on Falling Edge 1 0 Capture on Both Edges 1 1 Disable Capture Trigger Source Bit 6 Bit 5 Description 0 0 Disable Capture 0 1 Capture during Reverse Rotation 1 0 Capture during Forward Rotation 1 1 Capture during either Rotation Filter Settings Bit 11 10 9 8 Input Filter Setting 0 0 10 0 Filter disabled 0 10 00 1 100ns filter 0 00 1 0 200ns filter 0 00
128. e does not exceed the rated output current ly Time 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 of 60 minutes the remaining 59 minutes must be at approximately 98 rated current or less 2 64 Detailed Drive Operation Motor Start Stop Precautions Mounting Output Devices Input Contactor Precautions and reapplies the AC line to the drive to start and stop the motor can cause drive hardware damage The drive is designed to use control input signals that will start and stop the motor If an input device is used operation must not exceed one cycle per minute or drive damage will occur q ATTENTION A contactor or other device that routinely disconnects ATTENTION The drive start stop enable control circuitry includes solid state components If hazards due to accidental contact with moving machinery or unintentional flow of liquid gas or solids exist an additional hardwired stop circuit may be required to remove the AC line to the drive An auxiliary braking method may be required Output Contactor Precaution 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 I
129. e filter is used to eliminate unwanted noise in the feedback Typical range is between 10 rad sec to 50 rad sec Second Order Low Pass Filter A second order low pass filter is similar to a low pass filter however the magnitude rolls off twice as fast as a first order low pass filter Also the phase shift of a second order filter is from 0 to 180 compared to 0 to 90 of a first order filter Figure 2 8 Second Order Low Pass Filter Bode Diagram 0 GV K a 10 System sys Frequency rad sec 9 85 Magnitude dB 5 91 T Magnitude dB Phase deg 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 2 40 Detailed Drive Operation Lead Lag Filter The PowerFlex 700S incorporates a generic lead lag filter The filter has the following Laplace transfer function Knxs wn S wn Kn is the gain term for the filter and Wn is the frequency term for the filter Lead Lag Filter lag When Kn is less than one Kn lt l the filter behaves like a low pass filter Figure 2 9 Kn lt 1 Lag Filter gain gt w rad sec Figure 2 9 shows the lead
130. e motor speed but does not show the logic for the block transfer I O messages See Chapter 4 of the 20 COMM R User Manual for an example program for the block transfer I O messages 2 98 Detailed Drive Operation Convert the speed feedback that comes over RIO as 2 16 bit intergers into a 32 bit floating feedback N11 10 LSW of speed feedback from RIO counts N11 111 MSW of speed feedback from RIO counts F12 2 32 bit floating point speed feedback counts GE counts GRT EQU SUB 0002 Greater Than A gt B Equal Subtract Source A N11 110 Source A N11 111 Source A N11 110 0 lt 0 lt 0 lt Source B Source B 1 SourceB 65536 0 1 65536 0 lt Dest F12 2 EQU MOW Equal Move Source A N11 110 SourceA N11 111 Source 32768 0 0 lt Source B 32768 0 32768 0 lt Dest LIM Limit Test Low Lim 32767 0 32767 0 lt Source N11 110 Test N11 110 Dest Source N11 110 Test N11 110 0 lt High Lim 32767 0 32767 0 lt LES Greater Than A lt B Source A N11 110 Source A N11 110 0 lt Source B SourceB 65536 0 Convert the speed feedback into an RPM value F12 3 speed feedback RPM F12 2 32 bit floating point speed feedback counts F12 4 base motor speed RPM CPT 0003 Compute Dest F12 3 0 0 lt Expression F12 2 I 32768 0 F12 4 Datalink Programming Datalinks are transmitted and received through block transfers The SLC PLC S is
131. e necessary when using sensorless feedback Spd Reg P Gain Integral Gain The speed droop is subtracted from the filtered speed error after the servo lock is added and the anti backup is subtracted This signal is then sent to the integral gain block The integral gain block outputs a torque command relative to the error integrated over a period of time Parameter 82 Spd Reg I Gain sets the integral gain of the speed regulator It s value is automatically calculated based on the bandwidth setting in Spd Reg BW and Total Inertia Integral gain may be manually adjusted by setting Spd Reg BW to a value of zero Units are per unit torque sec per unit speed For example when Spd Reg I Gain is 50 and the speed error is 1 the integral output will integrate from 0 to 50 motor rated torque in second Adjustments to parameters 474 Freq Reg We BW and 475 Freq Reg Wr BW may be necessary when using sensorless feedback When parameter 153 Control Options bit 12 Jog Nolnteg is turned on this tells the speed regulator not to use the integral gain during jog commands When Parameter 80 Speed Reg Ctrl bit 2 Integ Hold is turned on the Integrator holds its output at the present level until the bit is turned off again When Speed Reg Ctrl bit 3 Integ Reset is turned on the output of the integrator is set to 0 When the Integ Reset bit is turned back off the integrator output starts integrating up again fro
132. ec Fuse Bussmann Style or Equiv 20DH590 11 500 706 365 590 649 956 ka 2per 170M6610 phs 450 622 322 520 780 956 630 2 per 170M6610 pns 20DH650 11 500 777 402 650 715 1062 w 2per 170M6611 phs 500 706 365 590 885 1062 w 2per 170M6611 phs 20DH730 11 600 873 452 730 803 1095 de 2per 170M6611 phs 500 777 402 650 975 1170 d 2per 170M6611 pns 650 Volt DC Input Protection Devices HP Rating DC Input Ratings Output Amps Non Time Delay Fuse Drive Catalog Number Frame ND HD Amps kw Cont 1 Min 3 Sec Fuse Bussmann Style or Equiv 20DD2P1 0 1 0 75 1 9 1 2 24 24 3 2 6 JKS 6 20DD3P4 0 2 1 5 3 0 2 0 3 4 45 6 0 6 JKS 6 20DD5P0 0 3 2 45 29 5 0 55 LB 10 JKS 10 20DD8P0 0 5 3 8 1 5 2 8 0 8 8 12 15 JKS 15 20DD011 0 75 5 11 1 7 2 11 12 1 16 5 20 JKS 20 20DD014 1 10 7 5 14 7 9 5 14 16 5 22 30 JKS 30 20DD022 1 15 10 23 3 15 1 22 24 2 33 45 JKS 45 20DD027 2 20 15 28 9 18 8 27 33 44 60 JKS 60 20DD034 2 25 20 36 4 23 6 34 40 5 54 70 JKS 70 20DD040 3 30 25 42 9 27 8 40 51 68 80 JKS 80 20DD052 3 40 30 55 7 36 1 52 60 80 100 JKS 100 20DD065 3 50 40 69 7 45 4 65 78 104 150 JKS 150 20DD077 4 60 84 5 54 7 77 85 116 150 JKS 150 50 67 9 45 4 65 98 130 150 JKS 150 20DJ096 5 75 105 3 68 3 96 106 144 200 JKS 200 60 84 5 54 7 77 116 154 150 JKS 150 20DJ125 5 100 137 1 88 9 125 138 163 250 JKS 250 75 105 3 68 3 96 144 168 200 JKS 200 20DJ156 6 125 171 2 110 9 156 172 234 300 JKS 300 100 137 4 88 9 125 188 250 250 JK
133. ed In bipolar reference mode Par 40 Selected Spd Ref indicates both the speed magnitude and the direction Positive speed reference values forward direction and negative speed reference values reverse direction When this bit is disabled a unipolar speed reference is used In unipolar mode the speed reference is limited to a minimum value of zero 0 shown by the Max selection block as shown in the diagram below In this case Par 40 Selected Spd Ref supplies only the speed magnitude The direction is determined by Par 153 Applied LogicCmd bits 20 UniPol Fwd and 21 UniPol Rev The forward reverse direction button on the HIM is one possible source for the Applied Logic Command direction bits The following chart explains the effect that the direction button on the HIM has based on the condition of the Bipolar SRef bit Bipolar Reference Controlled By HIM HIM Direction Button Enabled Yes Changes the motor direction due to a HIM supplied or command signal Enabled No Has no effect on motor direction Direction determined by sign of Par 40 Selected SpdRef Disabled Yes Changes the motor direction due to a HIM supplied forward or reverse Applied LogicCmd bit Disabled No Changes the motor direction due to a HIM supplied forward or reverse Applied LogicCmd bit In either Bipolar or Unipolar mode the selected direction can be determined from the sign of Par 41 Limited Spd
134. ed Adapter 1 is configured with an operator s panel that includes a REV Button To assure that only the PLC connected to Adapter 5 has direction control the Direction Mask can be set as follows Direction Mask 00100000 Adapter 76543210 This masks out the reverse function from all adapters except Adapter 5 making the local HIM Adapter 1 REV button inoperable See Owners later in this chapter or PowerFlex 700S User Manual for more information See Autotune on page 2 4 Motor NP Volts The motor nameplate base voltage defines the output voltage when operating at rated current rated speed and rated temperature Motor NP FLA The motor nameplate defines the output amps when operating at rated voltage rated speed and rated temperature It is used in the motor thermal overload and in the calculation of slip Motor NP Hz The motor nameplate base frequency defines the output frequency when operating at rated voltage rated current rated speed and rated temperature Motor NP RPM The motor nameplate RPM defines the rated speed when operating at motor nameplate base frequency rated current base voltage and rated temperature This is used to calculate slip Motor Overload Detailed Drive Operation 2 63 Motor NP Power The motor nameplate power is used together with the other nameplate values to calculate default values for motor parameters to and facilitate the commissioni
135. ef 1 and 5 Speed Ref 5 e DigIn 1 Sel User Select e DigIn 1 Data 0000 0000 0000 0000 0000 0000 0000 0001 e DigIn 1 Bit 2 This means when we toggle Digital Input 1 bit 2 of DigIn 1 User Data will toggle When Digital Input 1 is off DigIn 1 User Data will be equal to DigIn 1 Data In other words DigIn 1 User Data will equal 0000 0000 0000 0000 0000 0000 0000 0001 a value of 1 When Digital Input 1 is on DigIn 1 User Data will be equal to DigIn 1 Data plus whatever bit was set in DigIn 1 Bit In other words DigIn 1 User Data will equal 0000 0000 0000 0000 0000 0000 0000 0101 a value of 5 Speed Ref Sel is linked to DigIn 1 User Data Now Speed Ref Sel will toggle between a value of 1 and 5 Digital Outputs Detailed Drive Operation 2 29 Digital Input Status Bits Local I O Status bits 0 4 give the status of the digital inputs and can be used for troubleshooting the digital inputs The bits are broken down as follows Bit 0 Enable Input Bit 1 Digital Input 1 Bit 2 Digital Input 2 Bit 3 Digital Input 3 When the bit in Local I O Status associated with the digital input is on this means the PowerFlex 700S sees that the digital input is on When the bit associated with the digital input is off this means the PowerFlex 700S sees the digital input is off Technical Information There are 3 digital outputs on the I O board Digital Outputs 1
136. either the Hi Resolution Encoder or the Resolver connected at port 0 Parameter 250 FB Opt0 Posit contains the position feedback from either the Hi Resolution Encoder or the Resolver connected at port 0 Parameter 277 FB Opt Spd Fdbk contains the speed feedback from the Temposonics linear sensor when the MDI option is installed Parameter 276 FB Opt Posit contains the position feedback from the Temposonics linear sensor when the MDI option is installed Detailed Drive Operation 2 107 FB Opto Spd Fdbk Hi Res0 Config Feedback Reslvr0 Config Option Card 0 FB Opt0 Posit Fdbk Option ID 249 gt Processing Rslvr0 Spd Ratio oo Reslvr0 Carrier Co Reslvr0 In Volts C272 Rslvr0 XfrmRatio Reslvr0 CableBa FB Opti Spd Fdbk FB Opt1 Posit Hi Res0 Status Reslvr0 Status Parameter 249 Fdbk Option ID displays information about the feedback option installed in feedback option card port 0 This information is read from the feedback option card Bits 15 11 will be a value of 2000 hex for an old hi resolution option card and a value of 2020 hex for a new hi resolution option card Hi Resolution Encoder Feedback Option The position feedback seen in FB Opt0 Posit from a Hi Resolution Encoder counts at a rate of 1 048 576 counts per motor revolution Parameter 259 Hi Res0 Config is used to configure the Hi Resolution Encoder e Bit 5 Hi Res Dir determines counting direction If clear d
137. elected the bus regulator is turned on see Bus Regulation Braking of this manual for more details Motor Data This submenu asks you to enter whether the motor power is in units of kW or HP Then you are prompted to enter the motor nameplate data Accurate motor nameplate data is important for tuning the drive to the connected motor Feedback Configuration The Feedback Configuration submenu asks 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 are for the encoders on the I O board When Encoder 0 or Encoder 1 are selected you must also enter the encoder ppr Motor Sim is to simulate a motor when there is no motor connected to the drive Option Card can be chosen when either the Resolver or Hi Resolution Encoder option cards are installed Power Circuit Test This submenu allows you to perform a diagnostic check to check the output section of the drive power circuit for shorts or open circuits 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 2 6 Detailed Drive Operation of the motor leads or change the drive s logic to change the motor direction Then the test is pe
138. election from Master Encdr CG Spd Ref2 Multi 13 Speed Ref Sel For example link parameter 12 Speed Ref 2 to parameter 241 Encdr1 Spd Fdbk Set parameter 16 Speed Ref Sel 1 Speed Ref 1 This generates the speed command from the master encoder input If a gear ratio is used in the position loop parameter 13 Spd Ref2 Multi must be setup to match the gear ratio set in the position loop Selected Spd Ref 40 Speed Reference Ramp The speed reference ramp should be disabled when using the drive as a position follower To disable the speed reference ramp set parameter 151 Logic Command bit 0 SpdRamp Dsbl 1 Enabling the Position Loop To enable the position loop set parameter 151 Logic Command bit 13 PositionEnbl 1 Then to allow the output of the position loop to trim the speed set parameter 740 Position Control bit 1 Speed Out En 1 Position Reference Selection For a position follower application set parameter 742 Posit Ref Sel 1 Aux PositRef This uses counts from a linked source for the position reference to the position loop Posit Ref Sel Interp Position Selected Position Reference Aux PositRef Pt Pt Posit Ref Link parameter 742 Aux Posit Ref to the position for the feedback device For example link parameter 742 Aux Posit Ref to parameter 240 Encdr1 Position Encoder 1 position becomes the position reference for the position loop CY oi 2 72
139. elects the format of data to be received It can be set to OA OD 0B No data OA 2D 18B 2 direct words and 18 buffered words OA 4D 8B 4 direct words and 8 buffered words OA 4D 18B 4 direct words and 18 buffered words Parameters 1011 SL Rx DirectSel0 through 1014 SL Rx DirectSel3 select what you want to do with received data The most common settings for these parameters are e No Data SynchLink received data is passed straight through e SL Multiply See Multiply Block on page 2 137 for details Parameter 1020 SL Tx Comm Frmt selects the format of data to be transmitted It can be set to OA OD OB No data OA 2D 18B 2 direct words and 18 buffered words OA 4D 8B 4 direct words and 8 buffered words OA 4D 18B 4 direct words and 18 buffered words Parameters 1021 SL Tx DirectSel0 through 1024 SL Tx DirectSel3 select what transmit data you wish to send The most common settings for these parameters are e No Data No data is selected for that transmit word e Dir Tx Data Use this selection to transmit a parameter SynchLink Direct Data Direct Data Transmit Parameters Parameter 1140 Tx Dir Data Type bits 0 through 3 select whether the direct data words transmitted over SynchLink will be integer or floating point When the bit is turned off it means the data transmitted will be integer When the bit is turned
140. ements of the following codes standards IEC 61800 2 Adjustable speed electrical power drive systems General requirements IEC 61800 5 1 Adjustable speed electrical power drive systems Safety requirements NFPA 70 US National Electrical Code UL and cUL Listed to UL508C and CAN CSA 22 2 No 14 95 Marked for all applicable European Directives EMC Directive 89 336 EEC Emissions EN 61800 3 Adjustable Speed electrical power drive systems Part 3 Immunity EN 61800 3 Second Environment Restricted Distribution Low Voltage Directive 73 23 EEC EN 50178 Electronic Equipment for use in Power Installations Marked for all applicable European Directives EMC Directive 89 336 EEC Emissions EN 61800 3 Adjustable Speed electrical power drive systems Part 3 Low Voltage Directive 73 23 EEC EN 50178 Electronic Equipment for use in Power Installations ny ebe TUV Rheinland m TUV Rheinland applies to frames 1 6 200 400V and frames 5 amp 6 690V only TUV Functional Safety Report only for frames 1 4 600V no FS mark on the label TUV functional safety report only no FS mark on the label 1 2 Specifications amp Dimensions Category Specification Frames 1 6 Frames 9 amp up Environment Altitude 1000 m 3300 ft max without derating 1000 m 3300 ft max without derating Surrounding Air Temperature Based on drive rating refer to Drive Frame chapters witho
141. emory 2 57 Operations 2 57 HS OverTemp 2 35 HS Pending 2 35 Human Interface Module User Display 2 57 Inertia Adaptation 2 58 Inertia Compensation 2 59 Inertia Torq Add 2 59 InertiaAccelGain 2 59 Input Devices 2 59 Input Modes 2 60 Input Power Conditioning 2 60 Input Output Ratings 1 5 IT Foldback 2 35 IT Pending 2 35 IT Trip 2 35 J Jnc Over Temp 2 35 Jog 2 60 L Lead Lag Filter 2 40 Links 2 60 Logic Command 2 59 2 80 2 110 2 112 Low Pass Filter 2 38 Low Voltage Directive 2 36 M Masks 2 62 Motor Control Mode 2 62 Motor Fdbk Sel 2 102 Motor Nameplate 2 62 Motor Overload 2 63 Motor Start Stop 2 64 Mounting 2 64 Mounting Dimensions 2 64 Mtr Fdbk Alt Sel 2 102 Mtr Fdbk Sel Alt 2 111 2 112 2 113 Mtr Fdbk Sel Pri 2 111 2 112 2 113 N Notch Filter 2 42 NTC Open 2 35 NTC Shorted 2 35 0 Output Devices Drive Output Disconnection 2 64 Output Reactor 2 65 Output Display Current 2 65 Frequency 2 65 Power 2 65 Voltage 2 65 Overcurrent 2 19 Overspeed Limit 2 66 Owners 2 66 P Parameter Access Level 2 68 Parameters Accel Time 2 1 Anlg In1 Data 2 3 Anlg In1 Offset 2 3 Anlg Int Scale 2 3 Anlg Int Volts 2 3 Anlg Ini Data 2 3 Anlg Int Filt Gain 2 3 Anlg In1 Offset 2 3 Anlg In1 Scale 2 3 Anlg In1Filt BW 2 3 Anlg Out Integer 2 4 Applied LogicCmd 2 111 Brake PulseWatts 2 9 Brake TP Data 2 11 Brake TP Sel 2 10 Bus Reg Brake Ref 2 8 Bus Brake Cnfg 2 8 Control Options 2 111 2 112 D
142. ency Electronic Gearing CE Conformity See Bus Regulation Braking This module contains a second order thermal model of the internal For resistor sizing refer to the PowerFlex Dynamic Braking Resistor Calculator Selection Guide publication PFLEX ATOO1 This publication is available online at http literature rockwellautomation com literature The following chart shows typical efficiency for PWM variable frequency drives regardless of size Drives are most efficient at full load and full speed 100 vs Speed CO a vs Load Efficiency 10 20 30 40 50 60 70 80 90 100 Speed Load See Position Loop Follower Electronic Gearing Conformity with the Low Voltage LV Directive and Electromagnetic Compatibility EMC Directive has been demonstrated using harmonized European Norm EN standards published in the Official Journal of the European Communities PowerFlex drives comply with the EN standards listed below when installed according to the User and Reference Manual Declarations of Conformity are available online at http www ab com certification Low Voltage Directive 73 23 EEC e EN50178 Electronic equipment for use in power installations e EN60204 1 Safety of machinery Electrical equipment of machines EMC Directive 89 336 EEC EN61800 3 Adjustable speed electrical power drive systems Part 3 EMC product standard including specific test methods Detailed Dri
143. equency search 7f A 1 gt ag from last known Y 3 motor al j 5 0 8 50 speed 3 0 6 tracking lost Rotor Speed Found ra frequency 0 E 0 4 Pwm stopped 5 Y Accel to set speed and resume normal operation 0 2 _ drive re started 0 0 2 4 6 8 Time seconds Motor Frequency Figure 2 17 Sensorless Flying Start From Preset Speed Flying Start Frequency Search SS Frequency Search started at 100 speed 2 wm stopped Accel to set speed and sh resume normal operation CH Flux up time rotor speed found SN Py Frequency o drive re started 2 3 running at 506 speed Speed not found Frequency Search re starjed at 100 speed 0 5 10 15 20 25 30 35 Time seconds motor frequency actual motor speed Sensorless Flying Start Configuration Parameters 30 Rev Speed Limit and 31 Fwd Speed Limit must be set to magnitudes greater than the value set in parameter 451 SrLss Preset Spd to avoid over speed faults during the preset frequency search Parameter 222 Motor Fdbk Sel selects the primary speed feedback device This parameter must be set to 2 for sensorless flying start if this is the active feedback device Parameter 223 Mtr Fdbk Alt Sel selects the alternate speed feedback device This parameter must be set to 2 for sensorless flying start if this is the active feedback device Friction Compensation Detailed Driv
144. erval 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 Time The value of parameter 504 PM AbsEnc Offst is determined by value in the absolute position sensor counter Back EMF Measures the permanent magnet motor CEMF motor voltage feedback coefficient and stores the value in parameter 523 PM Mtr CEMF Coef Auxiliary Power Supply Bus Regulation Braking Detailed Drive Operation 2 7 Inertia Test The final test is the inertia calculation The motor and load machine inertia is used to set the bandwidth of the speed regulator During the test the motor will accelerate to the speed set in parameter 19 Atune Spd Ref at a specified torque set by parameter 129 Atune Torq Ref The test then calculates the time in seconds to accelerate the motor at rated torque from zero to base speed and stores that value in parameter 9 Total Inertia Troubleshooting a MC Commissn Fail Fault during Autotune The MC Commissn Fail fault occurs when either the Power Circuits diagnostics test fails or one of the Motor Tests fails To find ou
145. etter metal conduit or equivalent attention All shielded cables should terminate with proper shielded connector Conditions in Table 2 B PowerFlex 700S EN61800 3 EMC Compatibility Table 2 B PowerFlex 700S EN61800 3 EMC Compatibility 1 o Frame s Second Environment First Environment Restricted Distribution Restrict Motor Cable to 30 m 98 ft Restrict Motor Cable to 150 m 492 ft Any Drive and Option Any Drive and Option External Filter Required Vv Vv Vv 1 External filters for First Environment installations and increasing motor cable lengths in Second Environment installations are available Roxburgh models KMFA RF3 for UL installations and MIF or Schaffner FN3258 and FN258 models are recommended Refer to http www deltron emcon com and http www mtecorp com USA or http www schaffner com respectively 2 38 Faults Filters Detailed Drive Operation Faults occur due to conditions within and or outside the drive that could affect drive operation or application operation These events or conditions are considered to be of significant magnitude that drive operation should or must be discontinued Faults are brought to the user s attention via the HIM communications and or contact outputs Faults are selected during commissioning of the drive Example of faults include Encoder loss communication loss or other exceptions within the drive Configuration Parameters 365 Fdbk LsCnfg Pri
146. f 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 iEnable i This will cause the drive to execute a coast to stop cease output whenever an output contactor is opened q ATTENTION To guard against drive damage when using output As a general rule drives should be mounted on a metallic flat surface in the vertical orientation If considering other orientation contact the Factory for additional data Refer to the Chapter 1 Installation Wiring in the PowerFlex 7008 User Manual publication 20D UMOO1 for mounting instructions and limitations This publication is available online at http literature rockwellautomation com literature Drive Output Disconnection 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 W An auxiliary contact must be used to simultaneously disable the drive q ATTENTION Any disconnecting means wired to the drive output Allen
147. flow The data received from SynchLink is too large Bit 2 Not used Bit 3 Ftol Ovflow In the transmitting drive the data converted from floating point to integer is too large For example to receive the S curved speed reference from the master and scale it by 0 5 set parameter 1011 SL Rx DirectSel 0 to SL Multiply Set parameter 1031 SL Mult B In to 0 5 Set parameter 1032 SL Mult Base to 10 000 Link parameter 37 Spd Ref Bypass equal to parameter 1033 SL Mult Out Buffered Data Buffered Data Transmit Parameters Parameter 1160 Tx Buf Data Type bits 0 through 29 select whether each word of buffered data that is transmitted is integer or floating point Data is transmitted as integer when a bit is turned off Data is transmitted as floating point when a bit is turned on Odd parameters 1161 SL Buf Int Tx00 through 1219 SL Buf Int Tx29 are linked to integer parameters that you want to send out over SynchLink as buffered data Note that at this time the maximum number of buffered words that can be sent over SynchLink is 18 so only odd parameters 1161 SL Buf Int Tx00 through 1195 SL Buf Int Tx17 would be used Even parameters 1162 SL Buf Real Tx00 through 1220 SL Buf Real Tx29 are linked to floating point parameters that you want to send out over SynchLink as buffered data Note that at this time the maximum number of buffered words that can be sent over SynchLink is 18 so only odd parameters
148. 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 NNN Number of Time Stops Units Hysteresis Example Fsetup 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 2 48 Detailed Drive Operation Fuses and Circuit Breakers Parameter 142 FricComp Stick sets the torque reference needed to break away from zero speed Breakaway torque due to friction is always greater than running torque due to friction This parameter is in per unit so a value of 1 equals 100 motor torque Parameter 143 FricComp Slip sets the torque level to sustain very low speed once breakaway has been achieved Again the torque required to run very close to 0 speed due to friction will be greater than the torque required to run at higher speeds due to friction This parameter is in per unit so a value of 1 equals 100 motor torque Parameter 144 FricComp Rated sets the torque needed to keep the motor running
149. he flux test is performed the motor will rotate The drive accelerates the motor to the speed set in parameter 19 Atune Spd Ref default is 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 Stator Resistance Test This test identifies the motor stator resistance and stores the value into parameter 522 PM Stator Resist The motor should not rotate during this test Stator Inductance Test This test identifies the motor stator inductance and stores the value into parameter 520 PM Q Inductance and 521 PM D Inductance The motor should not rotate during this test Encoder Offset The absolute position sensor counter offset from the rotor flux center position for a Permanent Magnet PM motor This value is determined by an automated measurement procedure which uses parameter 505 PM TestWait Time 506 PM Test Idc Ramp 507 PM Test FreqRamp 508 PM Test Freq Ref and 509 PM Test Ref First the Flux Producing d axis current is applied to the stator starting with OA and with O Hz Current increases with the ramp rate defined by parameter 506 PM Test ldc Ramp to the peak current value defined by parameter 509 PM Test I Ref The current is continuously applied at this level for the time int
150. he position Posit Ref Sel Interp Position Aux PositRef Selected Position l i Reference Pt Pt Posit Ref 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 gt PositRef EGR Out Accum Geared position reference 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 Detailed Drive Operation 2 77 Position Offset Offsets can be added to the position reference Offset are used to make a correction move to sync the follower to the master position Added to position A reference after EGR Deriv Posit Offset 1 756 Posit Offset 2 Filter Posit Offset Spd Rate Lim LPass Position Control X Offset Pol Position Control X Offset Ref Position Status X OffRefActl There are two offsets parameters 753 Posit Offset 1 and 754 Posit Offset 2 The offset speed must be entere
151. he speed control regulator to perform with high gains at high speeds 2 104 Detailed Drive Operation Table 2 F Bit 3 Ra eee M ML be O O O O O CO Ree Re R O O O OFF FF OOO DV Table 2 G Bit 5 0 0 1 1 A 0 1 0 1 Table 2 H Encoder Input Filter Settings Encoder Bit Filter Settings Filter disabled 100 ns filter 200 ns filter 300 ns filter 400 ns filter 500 ns filter 600 ns filter 700 ns filter 800 ns filter default setting 900 ns filter 1000 ns filter 1100 ns filter 1200 ns filter 1300 ns filter 1400 ns filter 1500 ns filter OD e e ooe ALO O OOO ea ra O ra OF Or Or Or Or Ch Multiplier and Direction Settings Mult Directions Comments 2x fwd rev Counts rise fall of phase A phase B only used to find direction 4x fwd rev Counts rise fall of both A and B phases default set ting 1x fwd only Counts rise of phase A Phase B ignored 2X fwdonly Counts rise of phase A Phase B ignored Encoder Sample Interval Settings Bit 15 14 13 12 Encoder Sample Interval Settings 0 Rh M M a R M M M O O O Ei O O 0 Fe R o E a eh Eh aa A SE EA ES 0 0 0 5 ms 0 5 ms min setting 1 0 ms 1 5 ms 2 0 ms default setting 2 5 ms 3 0 ms 3 5 ms 4 0 ms 4 5 ms 5 0 ms 5 5 ms 6 0 ms max setting 6 0 ms 6 0 ms 6 0 ms pa IE AO O FR a m O DO a O a OA GE A O ke Se Detailed Drive Opera
152. hich 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 of this manual for tips on tuning the speed regulator 2 78 Detailed Drive Operation Position Loop Registration Do not attempt to set the accel decel rates of the point to point position loop faster than can be accomplished by the system Attempting to set the accel decel rates faster than the system can handle will cause instability in the position loop Do not attempt to operate beyond the torque limits of the drive motor combination Typically parameter 768 PositReg P Gain should be set between 1 5th to 1 3rd of parameter 90 Spd Reg BW Parameter 768 PositReg P Gain may be set higher using lead compensation on the Position Regulator Output Lead Lag filtering of the position regulator output is accomplished via the speed trim 2 filter Set parameters 25 Strim2 Filt Gain and 26 SpdTrim2 Filt BW so that SpdTrim2 Filt BW Strim2 Filt Gain Speed Reg BW For example with parameter 90 Spd Reg BW 40 rad sec set parameter 26 SpdTrim2 Filt BW 200 rad sec 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 PositReg P Gain for
153. hoot and under shoot Increasing the value of this term decreases the over shoot and under shoot which is desirable where back up cannot be tolerated However this tends to increase the following error This parameter has no affect on the drive s response to load changes The recommended setting is 0 1 to 0 5 from Motor Speed Ref The following is an example of how the anti backup affects the speed regulator s response Over Shoot _ Over Shoot oat Error gt yq di Relerence Enor m Feedback SpdReg AniiBckup 0 0 gt a R Feedback SpdReg AntiBckup 0 3 Under Shoot N 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 proportional gain of the speed regulator It s value is automatically calculated based on the bandwidth setting in parameter 90 Detailed Drive Operation 2 123 Spd Reg BW and parameter 9 Total Inertia Proportional gain may be manually adjusted by setting Spd Reg BW to a value of zero Units are per unit torque per unit speed For example when Spd Reg P Gain is 20 the proportional gain block will output 20 motor rated torque for every 1 error of motor rated speed Adjustments to parameters 474 Freq Reg We BW and 475 Freq Reg Wr BW may b
154. ication network 1 To perform a current limit stop toggle bit 8 CurrLim Stop in the logic command word on and then off 2 To perform a start toggle bit 1 Start in the logic command word on and then off Note In 3 wire mode all stops commanded from pressing the HIM stop button are ramp stops Configuring the Start and Stop for 2 Wire Control Maintained Start and Stop To configure the drive for 2 wire control with a ramp stop For parameter 153 Control Options set bits 3 2WCurrLimStp 8 3WireControl and 9 2W CoastStop to off 0 To control from digital inputs Set parameter 839 Digln2 Sel 3 Run To control from a communication network To perform a ramp stop toggle bit 1 Start in the logic command word on and then off To control from the HIM Hold down the start button to run and release the start button to perform a ramp stop To configure the drive for 2 wire control with a coast stop For parameter 153 Control Options set bit 9 2W CoastStop to on 1 and set bits 3 2WCurrLimStp and 8 3WireControl off 0 To control from digital inputs Set parameter 839 Digln2 Sel 3 Run To control from a communication network To perform a coast stop toggle bit 1 Start in the logic command word on and then off To control from the HIM Hold down the start button to run and release the start button to perform a coast stop Note When P1
155. ices 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 ATTENTION Even though the encoder loss ride through function Speed Feedback Loss Ride Through Configuration Parameter 151 Logic Command bit 2 TackLoss Rat 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 Detailed Drive Operation 2 111 Parameter 152 Applied LogicCmd bit 2 TachLoss Rst shows the status of parameter 151 Logic Command bit 2 TachLoss Rst switch Setting parameter 153 Control Options bit 16 Auto Tach Sw to a value of 1 enables the automatic switching of speed feedback devices when a failure is detected A value of 0 disables the automatic switching of speed feedback devices Only automatic switching from the primary device specified in parameter 222 Mtr Fdbk Sel Pri to the alternate device specific in parameter 223 Mtr Fdbk Sel Alt is available Switching from the alternate to the primary device must be done manually by setting parameter 151 Logic Command bit 2 TackLoss Rst from 0 to 1 Parameter 155 Logic Status bit 12 Tach Loss Sw shows which speed feedback device is currentl
156. ie iene Gea Dewees haa eda she 1 8 DIMENSIONS lt s ccas cea soy o ee EEN ee HE Ee ee ee d 1 11 Detailed Drive Operation Accel TIME sarra ae ate aid ae A EEN Bes 2 1 E LEE 2 1 Analog Tuts se a ywa EE heal org hin Waal ang Wha wea we WA ae WEL le hla 2 2 Analog Outputs 0 een nee iii 2 3 AUtO Manilal es ection sea uke atti Sack area Soe EENEG APE 2 4 AUTO UNE sa z swo dda cig Eet EE ae kate sacked anew den wale dae dee Bey 2 4 Auxiliary Power Supp 2 7 Bus Regulation Braking 2 7 Cable Control EE 2 11 Cable Motor Lengths 20 0 eee eee e ene 2 11 Cable POWEL dos as w wie ER ee o RARE OO 2 11 Cable Trays and Conduit cs SEENEN ies adas YW dE da ra ENEE 2 11 Carrier PWM Frequency 2 11 Common Bus SystemS s23 NNN NEEN eee ee ane ea ve eek EEN ENEE 2 12 COMMUMNICAHOMS ee ia ea he ee hee EEN ee b da EEN hee ao dr 2 12 ControlNet OO COMM C aaa aaa aaa aaa aria 2 13 Copy Cat wi ses rr oa de eh See eh Se ee ee eee ee 2 18 Current Limit EE 2 19 Datalink enee ods a ah eda alee Qua Sine Soe he aoe ated a eke aes ale Dae 2 19 Decel Time 3 d ne se laws ds tetany Be Ee GA 2 21 DeviceNet OO COMM Di nee ene ens 2 21 Digital puts veia wa gue hd edhe BE o tee anata 2 26 Digital Outputs cus laa tte cowie Sado AE eda dE deen A Nee a eda de 2 29 Direction Control and Bipolar Reference 00 0 eee eee 2 31 Drive Peripheral Interface OP 2 31 DriveLogik oo possi coda ead Sha bes EN be he See EEN ede EE
157. ilt BW 35 d parameter 95 SregOut FiltGain and parameter 93 SRegFB Filt Gain 0 5 parameter 94 SReg FB Filt BW and parameter 96 SregOut Filt BW 20 Detailed Drive Operation 2 127 7 If gear noise or chatter is still present after turning on the filters repeat steps 2 through 6 with a lower speed regulator BW parameter 90 Spd Reg BW 8 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 below Advanced Tuning for the Speed Regulator with Gearbox or Belt When using a system with a gearbox or belts the backlash or lost motion can cause instability The inertia adaptation feature can be used to alleviate this instability Follow the steps below to use inertia adaptation 1 Identify 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 y WK BEN 308x7 where WK is the inertia in Ibft RPM is the base motor speed of the motor and Tacc 15 the rated torque of the motor in Ibft T can be calculated by the following r HPx5252 e RPM where HP is the nameplate horsepower of the motor and RPM is the base motor speed of the motor System Inertia parameter 9 Total Inertia is determined by performing the inertia test with the l
158. in for the inertia compensation during acceleration A gain of results in 100 compensation Parameter 58 InertiaDecelGain determines the gain for the inertia compensation during deceleration Parameter 60 DeltaSpeedScale is a multiplier for the torque output of the inertia compensation block It is used in center wind and center unwind applications to compensate for diameter build up The inertia compensation outputs the calculated torque to the parameter 59 Inertia Torq Add Inertia Torq Add is summed with the output of the friction compensation block and the torque generated by the speed reference loop That summed torque enters the torque selection block refer to Torque Reference 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 SpeedTrim3 Scale to 0 002 to reduce position error in following applications S Curve Spd Ref Inertia SpeedRef Inertia Torq Add z An lt 43 gt Link ER AL 2 Logic Command o Torque inertia Comp Ce 10 niertia comp Control 4B1 Total Inertia Ca InertiaAccelGain 57 Speed Comp InertiaDecelGain 4 55 gt DeltaSpeedScale Co Contactors Refer to Motor Start Stop Precautions Circuit Breakers Fuses Refer to Fu
159. inting For information on the 1336R Regen unit see Bus Regulation Braking Refer to Common Bus publication DRIVES INOO1 for detailed information See individual adapters ControlNet 20 COMM C DeviceNet 20 COMM D Remote I O Adapter 20 COMM R etc ControlNet 20 COMM C Detailed Drive Operation 2 13 This information serves as a supplement to the PowerFlex ControlNet Adapter Users Manual publication 20COMM UM003 addressing items specific to the PowerFlex 700S Please refer to the User Manual for details on 20 COMM C set up configuration I O messaging and explicit messaging This document does not apply to the DriveLogix communications to the 700S Setup Information Parameters 25 M S Input and 26 M S Output of the 20 COMM C must be configured for the Datalinks that are to be used If changes are made to these parameters or others parameter 9 Reset Module must be set to reset module for the change to take effect Set rotary switches to the correct node address Node 02 is used for all Datalinks in this example To use the 20 COMM C on the PowerFlex 700S with ControlLogix use following setup when adding to the ControlNet device list Use the values from Table 2 A Node Configuration Input and Output Sizes for the input and output sizes The Configuration Assembly Instance 6 and Configuration Size 0 Type CONTROLNET MODULE Generic ControlNet Module Parent ControNet Connection Parameters Assemb
160. irection is forward or up If set the direction is reverse or down e Bits12 SmplRate bt0 15 SmplRate bt3 configure the sample interval for measuring speed see Table 2 1 Encoder Sample Interval 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 2 1 Encoder Sample Interval Bit 15 14 13 12 Encoder Sample Interval Settings 0 0 0 0 0 5 ms 00 0 1 0 0 10 1 0ms 0 0 1 1 15ms 0 1 00 0 1 O 1 2 5 ms 0 1 10 3 0ms 0 1 1 1 3 5 ms 1 0 0 0 40ms 1 0 0 1 45 ms 10 1 0 5 0 ms 10 1 1 5 5ms 1 1 0 0 1 1 0 1 60ms 1 1 1 0 60ms 1 1 1 1 60ms 0 5 ms min setting 2 0 ms default setting 6 0 ms max setting 2 108 Detailed Drive Operation Parameter 260 Hi Rest Status indicates faults on the Hi Resolution Encoder Feedback Option Bit 8 Open Wire indicates an open wire fault Bit 9 Power Fail indicates the failure of the power supply Bit 10 Diag Fail indicates the option board failed its power up diagnostic test Bit 11 Msg Checksum indicates a message checksum fault Bit 12 Time Out Err indicates a RS 485 time out fault The remaining bits are reserved not used Resolver Feedback Option Parameter 266 Reslvr0 Config is used to configure the resolver feedback option Setting bit O Cable Tune enables the cable tuning test
161. irmware Diagram Torque Ref 1 Torque Ref1 Div Torque Ref 2 Torque Ref2 Mult Torque Reference Input Parameter 111 Torque Ref 1 is used to supply an external reference for desired torque The scaling of this parameter is a per unit type where a value of 1 0 is equal to the rated motor torque The range is from 2200000000 to 2200000000 Torque Ref 1 is then divided by parameter 112 Torq Refl Div This defines the scaled Torque Ref 1 2 148 Detailed Drive Operation Unbalanced or Ungrounded Distribution Systems Parameter 113 Torque Ref 2 is used to supply an external reference for desired torque The scaling of this parameter is a per unit type where a value of 1 0 is equal to the rated motor torque The range is from 2200000000 to 2200000000 Torque Ref 2 is then multiplied by parameter 114 Torq Ref2 Mult This defines the scaled Torque Ref 2 The torque reference can be utilized when a master slave multi drive system is configured The torque reference into the slave can be scaled to create the proper torque output Keep in mind that the motors may be different ratings and this function is used to help the system share the load Parameter 115 Torque Trim can be used to trim the torque For example Torque Trim can be limited to an analog input or to the Process PI output Once the scaling is complete on both Torque Ref 1 and Torque Ref 2 the output is summed with the output of the Torque Tri
162. itching frequency that is acceptable for any particular application is the one that should be used There are several benefits to increasing the switching frequency Refer to Figure 2 1 and Figure 2 2 Note the output current at 2 kHz and 4kHz The smoothing of the current waveform continues all the way to 10 kHz 2 12 Detailed Drive Operation Common Bus Systems Communications Figure 2 1 Current at 2kHz PWM Frequency lt Stop 25 0kS s 322 Acqs C4 RMS 11 68mV Saabs CRA TT EMV Ch4 10 0mvQ Figure 2 2 Current at 4kHz PWM Frequency Tek Stop 25 0kS s 94 Acgs C4 RMS 11 46mv M2 66ms Cha 11 8mv ch4 10 0mvQ2 The benefits of increased carrier frequency include less motor heating and lower audible noise An increase in motor heating is considered negligible and motor failure at lower switching frequencies is very remote The higher switching frequency creates less vibration in the motor windings and laminations making lower audible noise This may be desirable in some applications Some undesirable effects of higher switching frequencies include derating ambient temperature vs load characteristics of the drive higher cable charging currents and higher potential for common mode noise A very large majority of all drive applications will perform adequately at 2 4 kHz Information not available at time of pr
163. ith adjustable current range should have the current trip set to the minimum range that the device will not trip 6 Manual Self Protected Type E Combination Motor Controller UL listed for 208 Wye or Delta 240 Wye or Delta 480Y 277 or 600Y 347 Not UL listed for use on 480V or 600V Delta Delta systems 7 The AIC ratings of the Bulletin 140M Motor Protector may vary See publication 140M SG001 H 20BC085 current rating is limited to 45 degrees C ambient E 20BC205 current rating is limited to 40 degrees C ambient 540 Volt DC Input Protection Devices Footnotes found on page 56 Maximum allowable rating by US NEC Exact size must be chosen for each installation kW Rating DC Input Ratings Output Amps Non Time Delay Fuse Drive Catalog Number Frame ND HD Amps kW Cont 1 Min 3 Sec Fuse Bussmann Style or Equiv 2 540 Volt DC Input 20DC2P1 1 0 75 0 55 all Bl 21 2 4 3 2 6 JKS 6 20DC3P5 1 1 5 0 75 3 7 2 0 3 5 4 5 6 0 8 JKS 8 20DC5P0 1 22 15 53 2 9 5 0 58 78 10 JKS 10 20DC8P7 1 4 3 0 9 3 5 0 8 7 9 9 13 2 20 JKS 20 20DC011 1 5 5 4 12 6 6 8 1 5 13 17 4 25 JKS 25 20DC015 1 7 5 5 5 16 8 9 1 15 4 17 2 23 1 30 JKS 30 20DC022 1 11 T5 24 13 22 24 2 33 45 JKS 45 20DC030 2 15 11 33 2 17 9 30 33 45 60 JKS 60 20DC037 2 18 5 15 40 9 22 1 37 45 60 80 JKS 80 20DC043 3 22 18 5 47 5 25 7 43 56 74 90 JKS 90 20DC056 3 30 22 61 9 33 4 5
164. ive 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 16 bit Sets the bus voltage level at which ride through begins and modulation ends When bus Default 22 1 Integer voltage falls below this level the drive prepares for an automatic reset Enter a Min Max 15 95 percentage of the bus voltage derived from the high voltage setting for the voltage class For example on a 400 480V drive 0 221 x 480Vac x J2 150Vdc In cases where the precharge control is independent or external to the drive firmware the ride through function can still be used to stop PWM operation saving controller power and restart operation after the return of power is sensed In this case ride through sequence will not be directly coordinated with the precharge operation For external precharge hardware functionality is provided so that the user may provide coordinated operation Ride Through Configuration The drive s response to a power disturbance can be selected in parameter 406 Power Loss Mode Settings for Parameter 406 Power Loss Mode Coast Reserved Continue Reserved Reserved Flux Only a0 2 NP O 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
165. ive control of direction changes Fault Clr Owner Indicates the adapters that are presently issuing a valid start command The bits for each parameter are broken down as follows Bit 0 Digital Input Bit 1 Adapter 1 Bit2 Adapter 2 Bit 3 Adapter 3 Bit 4 Not Used Bit 5 Adapter 5 Bit 6 Not Used Bit 7 DriveLogix Ownership falls into two categories 1 Exclusive Only one adapter at a time can issue the command and only one bit in the parameter will be high 2 Non Exclusive Multiple adapters can simultaneously issue the same command and multiple bits may be high Some ownership must be exclusive that is only one Adapter at a time can issue certain commands and claim ownership of that function For example it is not allowable to have one Adapter command the drive to run in the forward direction while another Adapter is issuing a command to make the drive run in reverse Direction Control therefore is exclusive ownership Detailed Drive Operation 2 67 Conversely any number of adapters can simultaneously issue Stop Commands Therefore Stop Ownership is not exclusive Example The operator presses the Stop button on the Local HIM to stop the drive When the operator attempts to restart the drive by pressing the HIM Start button the drive does not restart The operator needs to determine why the drive will not restart The operator first views the Start owner to be certain
166. ived x Base Motor RPM Floating point Feedback RPM 32768 In the ControlLogix system Datalinks are transmitted over DeviceNet as 32 bit integers DINT In order to send or receive floating point a COP copy instruction must be used The copy instruction in ControlLogix performs a bitwise copy Set the length of the copy instruction to a value appropriate for the destination data type For example when copying a DINT data type to a REAL data type the length would be one 1 since both data types contain 32 bits of data When using explicit messaging in the ControlLogix system the message type CIP Generic is used The data is transferred over DeviceNet in the same data type as the parameter in the PowerFlex 700S Make sure that the data type for the Source and Destination tags in your ControlLogix message instruction matches the data type in the PowerFlex 700S Also the Number of Elements in the ControlLogix message instruction must match the size of the Source data For example to send an explicit message to write to parameter12 Speed Ref 2 which is floating point 1 The Source and Destination tags would be type REAL 2 The Number of Elements would be 4 bytes since a REAL data type takes up 4 bytes of data Detailed Drive Operation 2 23 SLC PLC 5 System Reference Feedback Programming The reference is scaled so that base motor speed 32768 The SLC PLC 5 does not use DINT and only handles 16 bit integers so the reference
167. l 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 BI mptTrip 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 internal resistor when internal resistor is installed Ohms Cable Control Cable Motor Lengths Cable Power Cable Trays and Conduit Carrier PWM Frequency Detailed Drive Operation 2 11 10 Data State A value of 0 in parameter 419 Brake TP Data initial state 1 internal resistor data loaded 2 external resistor data loaded 11 MC BrakeEnbl A value of 0 in parameter 419 Brake TP Data dynamic braking disabled 1 dynamic braking enabled 12 1 rdb Inverse of the resistance 1 Ohms 13 1 th_eb Inverse of the thermal impedance from the resistor element to body Watts C 14 1 ce Inverse of the resistor element thermal mass C W sec 15 tamax Maximum ambient temperature
168. lag in a lag configuration The unique aspect of this filter is that the gain stops once the input frequency is equal to Wn Kn Another aspect to this filter is that there is a mild phase shift during the attenuation Figure 2 10 shows the bode plot of the lag configuration Kn is set to 0 7 and Wn is set to 35 rad sec The time domain shows a 100 rad sec sinusoidal input Notice that the phase shift between input and output are marginal Figure 2 10 Bode Plot and Time Domain of Lag Kn 0 7 w 35 Bode Diagram Phase deg Magnitude dB y gt 10 10 10 10 Frequency rad sec output 0 7 input 100 rad sec 0 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Detailed Drive Operation 2 41 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 Set Kn 0 7 Wn 0 35 For Heavy filtering Set Kn 0 5 Wn 20 Both the Forward and Feedback filters can be set to the same value to increase their effectiveness Lead Lag Filter Lead When Kn is greater than one Kn gt 1 the lead lag filter operates as lead filter The original equation is re writ
169. larm If the precharge does not complete within the timeout period the drive does not fault but it sets an alarm bit in parameter 326 Alarm Status 1 bit 30 Precharge Er 2 FltCoastStop This is the factory default setting If the precharge does not complete within the timeout period the drive faults and disables the PWM output External Precharge In cases where the user must provide external drive precharge hardware and control the user should consider the current limit necessary to protect the drive and fuses the breaking capability of the precharge device the regenerative capability of the drive system whether or not ride through control will be accommodated impedance isolation that may be needed between drives braking requirements and sharing between drives and the power disconnect operation in a system The drive s precharge and ride through functions will still run even though the actual precharge hardware is not controlled by the drive The drive s enable parameter 155 Logic Status bit 0 Enabled precharge enable controlled with a digital input or parameter 411 PreChrg Control and precharge done parameter 555 MC Status bit 11 PreChrg Done parameters are available for the external precharge ride through control in cases where the users would like to provide coordinated operation between the external precharge and the drive s ride through operation 2 86 Detailed Drive Operation Preset Speeds Process Pl Lo
170. ld be chosen IEC BS88 British Standard Parts 1 amp 2 1 EN60269 1 Parts 1 amp 2 type gG or equivalent should be used UL UL Class CC T RK1 or J must be used Circuit Breakers The non fuse listings in the following tables include both circuit breakers inverse time or instantaneous trip and 140M Self Protecting Motor Starters If one of these is chosen as the desired protection method the following requirements apply IEC and UL Both types of devices are acceptable for IEC and UL installations 2 49 Detailed Drive Operation VN 007 WEI WEI Ose oss ose OLY SOE S02 FOL 691 G VN E E 007 009 009 osz osp osz 06 982 093 296 Eez OOF 9 09zga0z YN gt osz ost 009 003 00 003 80 lec gl 109 sv 09 VN osz GLS 009 Gee 007 Gee 88 L i t 672 08 G 9 c6L8Q002 VN DG Sle 005 SZL EI SZL 097 G6L OEL DR cal os YN z 053 ost 009 003 00 002 80 lee pst 109 StL 09 9 psLacdos YN m OS 00 00p Sel Gee Sel SZL 96L voL 907 86 Ov YN E a 053 GLE 00S GLI EI GLI SZL EPL 0 L 20S cal 0S S ELO YN 0006 NNIO WOrl gt 001 00 00 001 SZL 00L 09 DCL 08 Es Z 0 YN gt a DCL 00 00y Gel See Gel SLL GLL pol 9 0
171. le of setting up the PowerFlex 700S SynchLink using DriveExecutive Please refer to the SynchLink System Design Guide publication 1756 TD008 for PowerFlex 700S SynchLink topologies hardware and wiring details Technical Information SynchLink data is transmitted as a combination of direct and buffered data The following table shows the different formats supported by the PowerFlex 700S for transmit receive data and the respective SynchLink fiber update rates for the direct and buffered data of Direct Words Direct Word Update of Buffered Words Buffered Word Update 2 50 Sec 18 0 5 ms 4 50 Sec 18 1 ms 4 50 Sec 8 0 5 ms 2 136 Detailed Drive Operation SynchLink Configuration Parameter 1000 SL Node Cnfg is broken down into 3 bits e Bit 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 2 Reserved Not used e Bit 3 Synch Now Selecting this bit enables the Synch Now synchronization mode This mode will cause the drive s system clock to synchronize to the time keeper as quickly as possible Deselecting this bit enables the Synch Fast synchronization mode This method will take longer to synchronize the drive s system clock to the time keeper but has less impact on other tasks running in the drive Synchronization only occurs on a drive power up or initialization Parameter 1010 SL Rx Comm Frmt s
172. led the 20 COMM D would map 8 bytes of I O in the DeviceNet Scanner With the Logic Command Status Speed Ref Fdbk and all of the Datalinks enabled the 20 COMM D would have a total of 40 bytes of I O mapped in the DeviceNet scanner The I O Image table for a ControlLogix system is shown DeviceNet D I ControlLogix Adapter PowerFlex 700S Output Image O Data 0 DINT 0 Logic Command Drive Logic 1 Pad Word O Data 1 DINT 2 Reference SpeedRef DPI 3 Reference O Data 2 DINT 4 Datalink A1 Data In A1 Int 5 Datalink A1 Data In A1 O Data 3 DINT 6 Datalink A2 Data In A2 Int z Datalink A2 Data In A2 O Data 4 DINT 8 Datalink B1 Data In B1 Int 9 Datalink B1 Data In B1 O Data 5 DINT 1 Datalink B2 Data In B2 Int 1 Datalink B2 Data In B2 O Datal6 DINT 1 Datalink C1 Data In C1 Int 1 Datalink C1 Data In C1 O Data 7 DINT il Datalink C2 Data In C2 Int 1 Datalink C2 Data In C2 O Data 8 DINT 1 Datalink D1 Data In D1 Int 1 Datalink D1 Data In D1 O Data 9 DINT 1 Datalink C2 Data In D2 Int 1 Datalink C2 Data In D2 1 The speed reference comes into the 20 COMM D as a double integer The PowerFlex 7008 firmware automatically converts that speed reference into floating point so that parameter 20 Speed Ref DPI is a floating point value 2 22 Detailed Drive Operation DeviceNet DPI PowerFlex 700S ControlLogix Adapter Input Image 0 Logic Status Logic Status Pad Word paj Feedback
173. linked to either an integer parameter or a real parameter Use Anlg Outx Real when you are linking to a real parameter and use Anlg Outx Integer when you are linking to an integer parameter y D A C gt Limit 12bit S TB1 B6 Shield i 9 181 84 w Anlg Out2 Offset g Anlg Out2 Integer 816 Anlg Outi Volts Anlg Out2 Real _ 181 85 X D A Y Limit 12bit SER Anlg Out2 Scale e2 gt 10 x C e t Anlg on Zero 1 e 2 4 Detailed Drive Operation Auto Manual Autotune Anlg Outx Offset is added to Anlg Outx Real or Anlg Outx Integer before the scaling and limiting blocks Anlg Outx Offset has a range of 20V The result of Anlg Outx Offset plus Anlg Outx Real or Anlg Outx Integer is limited by 10 times the value of Anlg Outx Scale Then that limited value is divided by the value of Anlg Outx Scale Anlg Outx Zero is added after the scaling and limiting of the analog output value Anlg Outx Zero can be used to null out any offset from the D A converter Example Configuration 1 This configuration sends the motor torque current reference value to a 0 10V analog output signal e Anlg Outl Real is linked to Mtr Trq
174. ly 3 Instance Sie Name PowerFlex 005_02 Input fi 11 3 32 bit Description 2 Qutput fe fio 2 32 bit Configuration fe fo ES ESCH Comm Format Da a DINT ESI i Node 2 Cancel Fri Hep Table 2 A Node Configuration Input and Output Sizes Node Configured for Input Size Output Size Logic Command Reference and Logic Status Feedback only 3 2 Plus Datalink A 5 4 Plus Datalink B 7 6 Plus Datalink C 9 8 Plus Datalink D 11 10 The following data structures will be added to the ControlLogix processor for the communications with the 20 COMM C module and drive 2 14 Detailed Drive Operation a s Module Defined M AB 1756_DHRIO L0 DI AB 1756_DNB_496Bytes 0 0 D I AB 1756_DNB_500Bytes 1 0 M AB 1756_DNB_CommandRegister0 0 M AB 1756_ DNB _StatusPegisterli0 TTS EWC _DINT_40Bytes 0 0 AB CONTROLNET_MODULE_DINT_44Bytes 1 0 IQ ABRIO_4IOGROUP 0 0 E a WO Configuration H 1 1756 DNB dneti o H 2 1756 DHRIO B Remote_1 0 9 B lt 007 0 1 2 gt RIO ADAPTER COMMR H 5 1756 CNB A ControlNet 8 2 CONTROLNET MODULE PowerFlex7008_02 Example Tag names Outputs to the Drive PowerFlex700S_02 O 0 9 Inputs from the Drive PowerFlex700S_02 I 0 10 word 0 reserved Figure 2 3 Using Bits in ControlLogix is an example using Bits in the ControlLogix processor to write to the output bits associated to parameter 158 Drive Logic Rsl
175. ly Block in the Receiving Drive Select on which received direct word to use the multiply block by setting one of the following parameters 1011 SL Rx DirectSel0 1012 SL Rx DirectSel1 1013 SL Rx DirectSel2 or 1014 SL Rx DirectSel3 to 1 SL Multiply The receive 2 138 Detailed Drive Operation parameter selected to multiply in the receiving drive must correspond to the transmit parameter selected to be multiplied from the transmitting drive The result of the multiply function can be used in the receiving drive or transmitted directly to another drive Parameter 1030 SL Mult A In contains the value received from SynchLink after it was divided by SL Mult Base Parameter 1031 SL Mult B In contains the multiply scale factor to multiply by the value received from SynchLink Note that SL Mult B In could be a constant or linked to a source parameter Parameter 1032 SL Mult Base contains the base to convert integer data received from SynchLink back to floating point data Usually SL Mult Base will be set the same in the transmitting and receiving drive Parameter 1033 SL Mult Out contains the result of the multiply block A destination parameter can be linked to SL Mult Out Parameter 1034 SL Mult State contains overflow bits if the data for the multiply block is too large It is broken down into the following bits Bit 0 Local Ovflow The result of the multiply function is too large Bit 1 Rx Ov
176. m Unbalanced Distribution Systems This drive is designed to operate on three phase supply systems whose line voltages are symmetrical Surge suppression devices are included to protect the drive from lightning induced overvoltages between line and ground Where the potential exists for abnormally high phase to ground voltages in excess of 125 of nominal or where the supply ground is tied to another system or equipment that could cause the ground potential to vary with operation suitable isolation is required for the drive Where this potential exists an isolation transformer is strongly recommended Ungrounded Distribution Systems All drives are equipped with an MOV Metal Oxide Varistor that provides voltage surge protection and phase to phase plus phase to ground protection which is designed to meet IEEE 587 The MOV circuit is designed for surge suppression only transient line protection not continuous operation With ungrounded distribution systems the phase to ground MOV connection could become a continuous current path to ground Energy ratings are listed below Exceeding the published phase to phase or phase to ground energy ratings may cause physical damage to the MOV R Joules J 4 Phase to Phase MOV Rating Three Phase S Joules J Includes 2 Phase Phase MOVs AC Input dy T Joules J 4 Phase to Ground MOV Rating Includes Phase Phase amp Phase Ground MOVs Ground 2 Device Rating V AC
177. m 0 When Speed Reg Ctrl bit 1 Preset Sel is turned on the value in parameter 303 Motor Torque Ref is added to the integrator output When Preset Sel is turned off parameter 87 Sreg Torq Preset default of 0 per unit is added to the integrator output Parameter 101 SpdReg Integ Out contains the value of the torque output from the integrator This parameter is in per unit so that a value of 1 equals rated motor torque 2 124 Detailed Drive Operation Control Options Jog Nolnteg Speed Reg Ctrl Integ Hold Speed Reg Ctrl Integ Reset 02 03 gt gi a K101 gt SpdReg Integ Out 12 Gain Spd Reg Gain 0 SReg Torq Preset Motor Torque Ref ee Droop Droop is used to shed load and is usually used when a soft coupling of two motors is present in an application For more information on droop see the section titled Droop Speed Regulator Output Limits The outputs from the proportional block and integrator block are summed together creating a torque reference This torque reference is limited by parameter 102 Spd Reg Pos Lim and 103 Spd Reg Neg Lim Output from Proportional Block Output from Integrator Block Spd Reg Pos Lim Spd Reg Neg Lim Speed Regulator Output Filter Now the torque reference goes through a lead lag filter tuned by parameter 95 SregOut FiltGain and 96 Sreg Out Filt BW For more information on lead lag filters refer to
178. m cancel out so that PositRef EGR Mul 4 PositRef EGR Div 1 Therefore parameter 745 PositRef EGR Mul 4 and parameter 746 PositRef EGR Div 1 This will set up the position loop of the follower to move 4 counts for every 1 count of the master Detailed Drive Operation 2 73 Spd Ref 2 Multi is calculated Ratiof _ 4 Spd Ref2 Multi Sp Ratiom 1 4 Notice that the encoder PPRs should not be included in the calculation for parameter 13 Spd Ref2 Multi Spd Ref2 Multi is rounded to the 4th decimal place The position loop gear ratios will be exact so that the follower tracks at 4 times the master s speed Position 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 Added to position A preference after EGR Deriv Posit Offset 1 R ra a Posit Offset 2 Filter 756 Posit Offset Spd Sl Rate Lim LPass Position Control X Offset Pol Ge DE RA e efAct Position Control X Offset Ref Os There are two offsets parameters 753 Posit Offset 1 and 754 Posit Offset 2 The offset speed must be entered in parameter 755 Posit Offset Speed if this is left at zero the move will not occur The position offset must be entered in counts of feedback because it is added to the position reference after the EGR scaling Offsets must be maintained to keep the p
179. m the drive to the controller and are used to read parameters A total of 8 parameters can be read with the Data Out parameters In the 700S each parameter is either a 32 bit integer or a 32 bit floating point real This means that the datalink parameters are 32 bits Parameter 723 Dlink OutDataTyp is used to select whether each of the 8 Data Out data is an integer or real To read a 16 bit or 32 bit integer parameter one of the Data Out x Int parameters must be linked to the desired integer parameter Then the bit corresponding to the Data In x Int parameter in Dlink OutDataType is set to 0 To read to a real parameter one of the Data Out x Real parameters must be linked to the desired real parameter Then bit corresponding to the Data Out x Real parameter in Dlink OutData Type is set to 1 Example Configuration 3 Reading an Integer Parameter Using a Datalink e 724 Data Out Al Int is linked to 741 Position Status e 723 Dlink OutData Type bit 0 is set to 0 The value from Data Out A1 Int to the controller contains the value of Position Status Data Out AT Int is used and Dlink OutDataType bit 0 is set to O because Position Status is an integer parameter Example Configuration 4 Reading a Real Parameter using a Datalink e Data Out A1 Real is linked to Output Current e Dlink OutDataType bit 1 is set to 1 The value from Data Out A1 Real to the controller contains the value of Output
180. mation e Weights include HIM DriveLogix controller with ControlNet daughtercard Hi Resolution Encoder Option and 20 COMM C ControlNet adapter When using the supplied junction box 100 HP drives Only add an additional 45 1 mm 1 78 in to this dimension Specifications amp Dimensions 1 15 Figure 1 5 PowerFlex 700S Frame 6 8 5 0 33 we 466 7 18 38 ee er 6 50 0 26 el A gt 718 0 0 71 15 5 0 61 42 Places 360 6 14 20 Detail 8 0 0 31 5 lt D gt Kns 0 45 e c To Glo of A z ej a 2 i q 369 0 14 53 349 5 13 76 z Zoe O Cry Se Thi S E B H o o o i N Y H Q o a S e 126 3 Lifting Holes 4 Places 4 97 12 7 0 50 Dia Y Dimensions are in millimeters and inches Approx Weight e kg lbs Drive and Frame o A Max B C Max D E Drive Packaging 6 403 80 15 90 1850 00 33 46 275 50 10 85 1300 00 11 81 825 0 157 5 70 31 154 70 89 09 196 00 Refer to Table 1 B for frame information e Weights include HIM DriveLogix controller with ControlNet daughtercard Hi Resolution Encoder Option and 20 COMM C ControlNet adapter When using the supplied junction box 100 HP drives Only add an additional 45 1 mm 1 78 in to this dimension 1 16 Specifications amp Dimensions Figure 1 6 PowerFlex 700S Frame 9
181. meter and Dig Out x Bit parameters select which bit of the data you wish to use to turn on the digital output Configuration Example This example configures Digital Output 1 for Enabled Enabled indicates the inverter section of the drive is active IGBTs switching e Dig Out I Data is linked to Logic Status e Dig Out Bit is set to 0 When the Enabled bit of Logic Status turns on Digital Output 1 turns on Digital Output Status Bits Local I O Status bits 16 18 give the status of the digital outputs and can be used for troubleshooting the digital outputs The bits are broken down as follows e Bit 16 Digital Output 3 Output Relay e Bit 17 Digital Output 1 Aux Out 1 e Bit 18 Digital Output 2 Aux Out 2 When the bit in Local I O Status associated with the digital output is on this means that the logic in the PowerFlex 700S is telling that digital output to turn on When the bit associated with the digital output is off this means that the logic in the PowerFlex 700S is telling that digital output to turn off Direction Control and Bipolar Reference Drive Peripheral Interface DPI Detailed Drive Operation 2 31 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 us
182. mitting drive A floating point to integer conversion has been provided for this purpose Parameter 1032 SL Mult Base sets the value to multiply parameter 1035 Real to Int In before sending it out over SynchLink Make sure this parameter is set appropriately so that the integer value sent over SynchLink has enough resolution Parameter 1034 SL Mult State contains overflow bits if the data for the multiply block is too large It is broken down into the following bits Bit 0 Local Ovflow The result of the multiply function is too large Bit 1 Rx Ovflow The data received from SynchLink is too large Bit 2 Not used Bit 3 Ftol Ovflow In the master the data converted from floating point to integer is too large Parameter 1035 Real to Int In is linked to the parameter that you want to multiply Parameter 1036 Real to Int Out contains the integer value sent over SynchLink One of the SynchLink direct integer transmit words parameter 1141 1143 1145 or 1147 must be linked to parameter 1036 to send the value over SynchLink For example to use the multiply block to scale the s curved speed reference and send it over SynchLink link parameter 1035 Real to Int In to parameter 43 S Curve Spd Ref Set parameter 1032 SL Mult Base to 10 000 Then link parameter 1141 SL Dir Int Tx0 to parameter 1036 Real to Int Out Set parameter 1021 SL Tx DirectSLO 21 Dir Tx Data Configuring the Multip
183. mity 2 36 Circuit Breakers 2 48 Common Bus Systems 2 12 Communication 2 12 Conduit Cable Trays 2 11 Control Options 2 31 2 111 2 112 ControlNet 2 13 ControlLogix Programming 2 16 Datalinks Programming 2 17 Explicit Messaging 2 17 Setup Information 2 13 Technical Information 2 14 Copy Cat 2 18 Current Limit 2 19 D Datalinks Configuration 2 19 Decel Time 2 21 DeltaSpeedScale 2 59 Derating Guidelines 1 8 DeviceNet 2 21 Technical Information 2 21 Digln 1 Sel 2 27 Digln 2 Sel 2 27 Digln 3 Sel 2 28 Digln x Data 2 28 Digln x Debounce 2 28 Digln x User Data 2 28 Digital Inputs 2 26 Digital Outputs 2 29 Dimensions 1 11 Direction Control Bipolar Reference 2 31 Distribution Systems 2 148 2 149 Unbalanced 2 148 Ungrounded 2 148 DPI 2 31 Drive OL JnctTmp 2 35 Index 2 Drive OL Status 2 35 Drive Overload 2 34 DriveLogix 2 33 Dynamic Braking 2 36 E Efficiency 2 36 Electronic Gearing 2 36 EMC Directive 2 36 EMC Directive 2 36 Encdr x Config 2 103 Encdr1 Position 2 80 Encoder x PPR 2 102 Exception Event 2 111 2 112 F Faults 2 38 Fdbk LsCnfg Alt 2 111 2 112 Fdbk LsCnfg Pri 2 111 2 112 Field Oriented Control 2 6 Filters 2 38 Frame 1 2 3 Dimensions 1 12 Frame 5 Dimensions 1 14 Frame Bottom View Dimensions 1 17 Friction Compensation 2 47 Functions 2 149 Fuses 2 48 FVC Mode Config 2 112 FW Functions En 2 80 G Grounding General 2 57 H Heat Dissipation 1 6 Heatsink Temp 2 35 HIM M
184. must be met to turn on the PI output otherwise the PI output is 0 The PI output can be turned on in one of two ways 1 Logic Command bit 12 ProcsTrim En is turned on and the drive is running The running state is indicated by Logic Status bit 1 When both of these conditions are true Logic Ctrl State bit 31 ProcessTrim En will be on 2 PI Command bit 0 Enable is turned on 2 88 Detailed Drive Operation Reflected Wave Now the PI output is used to trim speed torque or some external loop To trim the speed loop link Speed Trim 2 or Speed Trim 3 to PI Output To trim the torque loop link Torque Trim to the PI Output To trim some other loop link the desired parameter to PI Output For example to use analog output 1 as a trim signal to other equipment link Anlg Out 1 Real to PI Output Parameter 510 FOC Mode Config bit 9 ReflWaveComp enables reflected wave compensation The pulses from a Pulse Width Modulation PWM inverter using IGBTs are very short in duration 50 nanoseconds to 1 millisecond These short pulse times combined with the fast rise times 50 to 400 nanoseconds of the IGBT will result in excessive over voltage transients at the motor 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 redu
185. n SCR rectifier such that the SCRs are phase advanced to limit the inrush current into the bus capacitor s This phase advanced precharge is not controlled by the drive and should normally be completed by the minimum precharge time required by the drive The drive will not complete precharge until the bus voltage is stable and above the under voltage level Precharge Frames 5 and Higher DC Input Common Bus Drives There are two versions of these DC Input or common bus drives The first has a resistor with an SCR bypass in series with the positive DC bus in front of the bus capacitor The second does not have any precharge hardware and is intended for user applications where 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 2 82 Detailed Drive Operation hardware and control incorrect configuration and or control may result ATTENTION In cases where the user is providing the precharge A in drive damage Ride Through Operation An incoming power loss to the drive is detected by a 22 volt drop in bus voltage or a bus voltage that drops below the under voltage level 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 then the dr
186. n SLC PLC 5 A floating point datalink is sent across RIO as 2 16 bit intergers To read a floating point datalink correctly in the SLC you must first swap the high and low 16 bit intergers and then copy the 2 intergers into a floating point address N11 112 LSW Datalink A1 Out from RIO BT Read N11 111 MSW Datalink A1 Out from RIO BT Read N13 112 MSW Datalink A1 Out N13 113 LSW Datalink A1 Out MOW N12 5 Datalink A1 Out Move Source N11 112 21158 lt Dest F13 113 23873 lt MOW Move Source N11 113 17447 lt Dest F13 112 COP Copy File Source Dest Length 2 100 Detailed Drive Operation 0008 Figure 2 22 Writing Floating Point Datalinks in an SLC PLC 5 A floating point datalink is sent across RIO as 2 16 bit intergers To write a floating point datalink correctly in the SLC you must first copy the floating point into 2 intergers then swap the high and low 16 bit intergers F12 6 Datalink A1 In N13 12 MSW Datalink A1 In N13 13 LSW Datalink A1 In N10 12 LSW Datalink A1 In from RIO BT Write N10 13 MSW Datalink A1 In from RIO BT Write cop Copy File Source F12 6 Dest F13 12 Length 2 MOV Move Source N13 12 16800 lt Dest N10 13 Explicit Block Transfer Messaging Explicit block transfer messaging is used to configure the drive and monitor data from the drive This type of block transfer is different than the block transfer used to transmit and receive datalinks Ch
187. n be used as set speeds See the Speed Reference for more information The drive has a process PI loop that can be used to trim speed torque or some other function Logic Ctrl State ProcsTrim En amp 157 531 OR PI Command de ees 20 155 gt 1 PI Reference Ce Filter o PI Output 180 gt PI Feedback 182 LPass kp AN 1 U Lpass Filt BwC184 P Gain Limit OS PI High Limit 191 PI Prop Gain PI Lower Limit 192 gt 190 gt PI Preload Gain Limit PI Integ Output PI Integ Time Pl Integ HLim 188 PI Integ LLim Detailed Drive Operation 2 87 Process PI Reference and Feedback The reference and feedback signals are the values present in PI Reference and PI Feedback PI Reference could be a set value or linked to a variable parameter such as an analog input Typically PI Feedback is linked to an analog input value received from a process line transducer The reference and feedback values are compared and an error signal is created This error signal is sent to a low pass filter The filter bandwidth is set by PI Lpass Filt BW in radian second The output of the filter is sent to the process PI regulator Process PI Regulator PI Preload presets the process time When the
188. n be used to filter the motor speed feedback The filter is setup by parameters 95 Sreg FB Filt Gain and 94 Sreg FB Filt BW The filtered speed feedback is seen in parameter 71 Filtered SpdFdbk The speed error is filtered by a low pass filter by adjusting Spd Err Filt BW Filter 2rd Order LPass Motor Speed Ref Motor Spd Fdbk Lead Lag Filtered SpdFdbk SReg FB Filt Gain SReg FB Filt BW C94 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 2 122 Detailed Drive Operation Parameter 85 Servo Lock Gain sets the gain of an additional integrator in the speed regulator The units of Servo Lock Gain are rad sec Gain should normally be set to less than 1 3 speed regulator bandwidth or for the desired response Set Servo Lock Gain to zero to disable Servo Lock Servo Lock Gain Speed Regulation Anti Backup Parameter 84 SpdReg Anti Bckup modifies the drive s response to the speed reference With the value minimized the drive will follow the reference very closely minimizing error which is desirable for typical process applications However it will exhibit some over s
189. n 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 through put 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 regulate mode can be selected The drive will then immediately accelerate the motor without the need for flux up time Note Zero Torque may excessively heat the motor if operated in this mode for extended periods of time No load or flux current is still present when the drive is operating in zero torque mode A motor with an extended speed range or separate cooling methods blower may be required 2 132 Detailed Drive Operation Start Inhibits Start Stop Modes Absolute Min Mode Absolute Min Mode selects the smallest absolute algebraic value to regulate to when the torque reference and torque generated from the speed regulator are compared This section covers Start Inhibits parameter 156 Run Inhibit Stat This parameter indicates the cause of no response to a start request Bit 0 Description 0 Drive is Faulted 1 No Enable signal present 2 Software Ramp Stop request present 3 Software Coast Stop request present 4 Software Current Limit Stop request present 5 Power Loss 6 P
190. n the internal brake resistor is used then the protection is determined from the drive internal values Parameter 369 Brake OL Cnfg determines how the drive reacts when the brake protection is exceeded Regardless of the parameter 369 Brake OL Cnfg setting the drive does not command the 7th IGBT to switch when the brake resistor protection is exceeded Some possible settings for this parameter are Parameter 369 Brake OL Cnfg Setting Drive Operation 0 Ignore The drive does not generate the fault 38 Brake OL Trip or alarm Brake OL Trip 1 Alarm The drive generates an alarm Brake OL Trip but does not generate the fault 38 Brake OL Trip 2 FitCoastStop The drive generates the fault 38 Brake OL Trip and issues a coast stop 3 FitRampStop The drive generates the fault 38 Brake OL Trip and issues a ramp stop 4 FitCurLimStop The drive generates the fault 38 Brake OL Trip and issues a current limit stop Parameter 418 Brake TP Sel selects a value to monitor for diagnostics of the dynamic brake protection Possible selections for parameter 418 Brake TP Sel are Parameter 418 Brake TP Sel Setting Description 0 Zero Do not monitor any test point for the brake protection 1 Duty Cycle Actual duty cycle of the dynamic brake IGBT where a value of 0 in parameter 419 Brake TP Data ful
191. ndle 16 bit integers so the reference has to be handled differently to account for references above 32767 or below 32768 The following example shows how to transmit references less than twice base motor speed but does not show the logic for the block transfer I O messages See Chapter 4 of the 20 COMM R User Manual for an example program for the block transfer I O messages Detailed Drive Operation 2 97 Calculate a speed reference based on 32768 base motor speed F12 0 32 bit floating point speed reference counts F12 1 speed reference RPM F12 4 base motor speed RPM CPT 0000 Compute Dest F12 0 0 0 lt Convert the 32 bit floating point speed reference into 2 16 bit intergers to Seas 2 Expression _ F12 1 1 F12 4 32768 0 send over RIO F12 0 32 bit floating point speed reference counts N10 10 LSW of speed reference to send over RIO counts S ADD N10 11 MSW of speed reference to send over RIO counts 0001 E Less Than a Less Than A lt B Source A y Source A F12 0 Source B F12 0 0 0 lt 32768 0 32768 0 lt Source B GRT Greater Than A gt B Source A 65536 0 The feedback is also scaled so that base motor speed 32768 The SLC PLC 5 does not use DINT and only handle 16 bit integers so the feedback has to be handled differently to account for references above 32767 or below 32768 The following example shows how to read feedback values less than twice bas
192. ng a floating point value into an integer register the length will be 2 A single precision IEEE floating point value uses 32 bits This means 2 16 bit integers are required to properly transmit the data 2 When copying 2 integer values the low and high word of 32 bit data into a floating point register the length will be 1 Explicit Block Transfer Messaging Explicit block transfer messaging is used to configure the drive and monitor data from the drive This type of block transfer is different than the block transfer used to transmit and receive datalinks Chapter 5 of the 20 COMM R User Manual shows the format of the block transfer request and response data in ControlLogix The following example shows the message instructions for the explicit block transfer message write and read PerformMessagingRequest MsgBlockTransferRead EN RIO_700S_BT_IO_ReadEN RIO_7005_BT_IO_whrite EN BlockTransferStatus 9 ft A lt lt lt lt lt lt lt lt lt lt ProckTiansterstatus 10 MSG J Type Block Transfer Write EN Message Control MsgBlockTransferwrite pD GER PerformMessagingRequest MsgBlockTransferwrite EN BIO 2005 BT IO Read EN AIO_700S_BT_IO_Write EN BlockTransferStatus 10 Il E cl H lt lt lt lt I MSG Type Block Transfer Read HEN Message Control MsgBlockTransferRead DN L lt ER gt Detailed Drive Operation 2 95 For the block transfer message
193. ng process This may be entered in horsepower or in kilowatts as selected in the previous parameter or kW for certain catalog numbers and HP for others Motor NP Pwr Units The rated power of the motor may be entered in horsepower or in kilowatts This parameter determines the units on the following parameter Motor Poles The number of motor poles only even numbers are allowed this may or may not appear on the nameplate The overload capability applies to the rated speed range Low Overload After continuous operation at the rated output current overload may be 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 2 18 Illustration of I Current l 1 4 xl m High Overload After continuous operation at the rated output current overload may be 150 rated output current ly 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 cycl
194. nt Data In A2 O Data 4 DINT Datalink B1 r Data In B1 Int Data In B1 O Data 5 DINT Datalink B2 T Data In B2 Int b Data In B2 O Data 6 DINT Datalink C1 7 Data In C1 Int 1 Data In C1 O Data 7 DINT Datalink C2 r Data In C2 Int eg Data In C2 O Data 8 DINT Datalink D1 7 Data In D1 Int E Data In D1 O Data 9 DINT Datalink D2 Data In D2 Int Data In D2 ControlLogix Output Image Data 1 DINT Logic Status 16 Drive Logic I Data 2 DINT Feedback 16 SpeedRef DPI Data 3 DINT Datalink A1 r Data In A1 Int d Data In A1 Data 4 DINT Datalink A2 r Data In A2 Int d Data In A2 Data 5 DINT Datalink B1 r Data In B1 Int SE Data In B1 1 Data 6 DINT Datalink B2 T Data In B2 Int on Data In B2 Data 7 DINT Datalink C1 g Data In C1 Int SH Data In C1 Data 8 DINT Datalink C2 r Data In C2 Int i Data In C2 Data 9 DINT Datalink D1 Data In D1 Int cee Data In D1 Data 10 DINT Datalink D2 7 Data In D2 Int i Data In D2 CIP Generic Message Message Message Source and Destination Buffer Handler Tags Bits 0 15 2 Not affected by parameter 73 Spd Fdbk Scale I Data 0 is reserved 2 16 Detailed Drive Operation Parameter 723 Dlink OutDataType needs to be set for the type of data used The most common will be Real Data i e Current Voltage Torque are all Real Values in the drive The PowerFlex 700S drive default for this parameter is all Datalinks set for Integer values If th
195. ntrol and Bipolar Reference section updated 2 31 Added Drive Overload Temperature Frame 9 Only section 2 35 Updated the Efficiency section 2 36 Updated the Faults section 2 38 New Flying Start section 2 45 Updated drive ratings tables in the Fuses and Circuit Brakers section 2 48 Updated the HIM Operations section 2 57 Added compatible PMM tables to the Permanent Magnet Motors section 2 68 Updated the Position Loop Follower Electronic Gearing section 2 70 Added the Position Loop In Position Detect section 2 74 Updated the Position Loop Point to Point section 2 75 Added the Position Loop Registration section 2 78 Updated the Power Loss Ride Through section 2 81 Added the Reflected Wave section 2 88 Updated the Speed Position Feedback section 2 102 Updated the Speed PI Regulator section 2 119 Updated the Speed Torque Selection section 2 128 Updated the User Functions section 2 149 soc 2 Notes Table of Contents Summary of Changes Chapter 1 Chapter 2 Important User Information 1 2 Manual Updates serenissimi racar ada 1 1 Specifications Dimensions PowerFlex 700S Specifications 0 0 0 cece eee eens 1 1 Input Output Ratings EE 1 5 Input Voltage Rangelolerance eee ene ees 1 6 Heat Dissipation isoset degt deet ge edo Are geet ane oh ceed Shaw dats 1 6 MOUnUING EE 1 7 Derating Guidelines 24 aoc GG t
196. o the non active device For example if prior to the reset the alternate Speed Reference Speed Ref 1 C 10 Speed Ref 2 12 Speed Ref Sel Spd Ref Divide 11 U l 4 x Spd Ref2 Multi 13 Speed Ref4 Gq oj oy 1 1 i lt 0 Jog Speed 1 I I I Te Gi i o Max HU Limit MN o4 x H H Applied LogicCmd Rev Speed Limit Jog Speed 2 PRE 152 DI Sa Speed Ref 5 E Speed Ref DPI set the desired portin param 691 Detailed Drive Operation 2 113 device selected in Parameter 223 Mtr Fdbk Sel Alt is active then after the reset the primary feedback device selected in Parameter 222 Mtr Fdbk Sel Pri will be used as the active speed feedback device The reset activation is prohibited if a failure is sensed in the speed feedback device to which the drive is switching The active device selection command is shown in parameter 152 Manual switching between primary and alternate devices can be made while the drive is running The speed reference control loop consists of speed reference scaling speed reference selection jogging speed reference limiting ramping s curve and filtering Each of these features is described in greater detail below Figure 2 25 Overall Speed Reference Loop Applied LogicCmd Logic Ctrl State 152 518 152 123 Control Options Selected Spd Ref Limited Spd Ref
197. oad 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 in the following chart based on the ratio of motor inertia to system inertia 2 128 Detailed Drive Operation Speed Torque Select Spd Reg PI Out Maximum regulator Bandwidth vs inertia Ratio with Gear Box Bandwidth SETA EET j ene pen 10 20 30 40 50 Ratio system inertia motor inertia 3 Set parameter 133 Inert Adapt BW parameter 90 Spd Reg BW 4 Verify that Lead Lag filters are off Parameter 93 SRegFB Filt Gain 1 and parameter 95 SReg Out Filt Gain 1 to disable the filters 5 Enable inertia adaptation parameter 132 Inert Adapt Sel bit 0 Inertia Adapt i 6 Enable the drive and adjust the BW for the application but do not exceed curve 2 as shown in the chart above When you adjust the BW you must set Spd Reg BW and Inert Adapt BW to the same BW 7 You may hear an unusual high frequency sound which indicates adaptation is active The Speed Torque Mode Select parameter is used to choose the operating mode for the drive The drive can be programmed to operate as a velocity regulator a torque regulator or a combination of the two Refer to the firmware flowchart shown in Firmware FlowchartFigure 2 27 Figure 2 27 Firmware Flowchart Spd Torq ModeSel 110 Logic Ctrl State Forced
198. oating point parameter is sent across DeviceNet explicit messaging as 2 16 bit integers To read a floating point parameter correcthy m the SLC you must first swap the high md low 16 bit integers and then copy the 2 mtegers into afloatmg point address N20 53 LSW of Parameter from DeviceNet Explicit Message Single Parameter Read N20 54 MSW of Parameter from DeviceNet Explicit Message Single Parameter Read N13 100 MSW of Parameter Read N13 101 LSW of Parameter Read F12 10 Floating Point Parameter Value Read 0002 0003 Digital Inputs A floating point parameter is sent across Device Net explicit messaging as 2 16 bit integers To write a floating point parameter correctly m the SLC you must first copy the floating poirt into 2 integers then swap the high md low 16 bit integers F12 20 Floating Point Parameter Value to Write N14 100 MSW of Parameter Value to Write N14 101 LSW of Parameter Vahue to Write N20 16 LSW of Parameter Value for DeviceNet Explicit Message Single Parameter Write N20 17 MSW of Parameter Value for DeviceNet Explicit Message Single Parameter Write Source N13 100 Dest F12 10 Length 1 Writing Floating Point Explicit Message Data in an SLC PLC 5 COP Copy File Source HF12 20 Dest N14 100 Technical Information There are 4 digital inputs on the I O board One of the inputs is dedicated for the Enable and cannot be configured The other 3 inputs can b
199. 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 time that will be A allowed for the drive to auto 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 and the hardware control The drive will not restart precharge any time that the drive is running see ride through above The drive control is in precharge or bus capacitor charging mode any time that the precharge is not done see parameter 555 MC Status bit 11 PreChrg Done This is independent of whether or not the drive control actually controls the precharge hardware For the control to complete precharge and allow drive enable See Parameter 156 Run Inhibit Stat the following conditions must be met 1 A user controlled precharge enable must be present The precharge enable can be provided by hardware input or parameter configuration This selection is determined by the setting of parameter 838 Digin1 Sel When parameter 838 is set to 14 PreChrg Disc then the hardware precharge control is selected and digital input 1 controls the use
200. one pending explicit message i e ping response or peer request at a time e Response to an explicit request or fragment must occur within second or device will time out applies to Host or Peripheral Time out implies retry from beginning Maximum number of fragments per transaction is 16 Flash memory is exception with 22 fragments allowed During Flash mode host stops ping but still supports status command mes sages 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 Controller User Manual publication 20D UM002 2 34 Detailed Drive Operation Drive Overload Theory of Operation The following discussion assumes that the IT curve does not change with Pulse Width Modulated PWM carrier frequency or drive output frequency A drive 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 f
201. op Logic Status Running Logic Command ProcsTrim En Precharge Staging Parameter 472 PreCharge Delay can be used in conjunction with precharge enable see 1 above to coordinate the precharge operation of a group of drives Typical uses may include common 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 bit 11 of each drive before the next drive in the sequence is enabled for precharge The maximum value for PreCharge Delay is limited by parameter 410 PreChrg Timeout The maximum value for Precharge Delay is determined by the following calculation Precharge Delay Max PreChrg Timeout 1 Motor Sim Mode When the motor simulation mode is selected the precharge requirements are ignored and the precharge done condition is not needed for running the drive External Power Supply If the drive is used with an external power supply the user should not request a precharge until the drive incoming power is available If the user does request a precharge without incoming drive power a precharge timeout fault will occur if configured for a fault Note The default for parameter 838 Digln 1 Sel has changed from the value of 14 PreChrg Disc to O none in firmware release version 1 17 and later There are no Preset Speed parameters However the Speed Reference parameters ca
202. or s continuous power rating Parameter 416 Brake Pulse Watts Resistors peak energy in Joules 1 Sec where the resistor package s peak energy rating is obtained from the resistor manufacturer When the resistor package s peak energy rating cannot be obtained there are a few other ways to approximate parameter 416 Brake Pulse Watts 2 10 Detailed Drive Operation 1 Brake Pulse Watts 75 000 watts lbs 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 Ibs would have Parameter 416 Brake Pulse Watts 75 000 x 10 750 000 Watts Brake Pulse Watts Time Constant x parameter 417 Brake Watts where the Time constant equals the amount of time for the resistor to reach 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 Bus Brake Cnfg bit 1 set to 1 Whe
203. orless operation is selected in parameter 223 Logic Command TachLoss Rst 151 2 Control Options AutoTach Sw FdbkLoss 153 16H Detect Motor Spd Fdbk Speed Feedback 0 to Speed from Primary Device J 300 gt Regulator 1 Speed Feedback from Alternate Device I H Logic Status TachLoss Sw Automatic and manual switching of feedback devices is inhibited if a loss in parameter 320 Exception Eventl bits 2 4 as appropriate is sensed on the device to which switching was to take place The drive will fault when it is configured for speed feedback loss ride through and the primary device fails when the alternate device has failed and is also configured to fault If the alternate device is not configured to fault then switching to the alternate device will be inhibited and operation on the primary feedback device will continue Note that operation on the primary device will continue even with that device s failure since that fault must be configured for an alarm to allow for automatic device switch over Manual Speed Feedback Device Switching Parameter 151 Logic Command bit 2 TackLoss Rst provides a manual switch between active and non active primary or alternate speed feedback devices with a 0 to 1 bit transition Resetting bit 2 from a 1 to a 0 causes no change in operation The switch is between the active feedback device either primary or alternate t
204. osition i e if you enter a 300 in the offset the position loop will move 300 counts extra If you zero the offset command the motor will return to the previous position When it is necessary to zero the offset after a move without returning to the previous position set parameter 740 Position Control bit 5 Xoff ReRef 1 Then set the offset value 0 Then set Position Control bit 5 Xoff ReRef 0 The system will not make an offset move when Position Control bit 5 Xoff ReRef is on 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 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 2 74 Detailed Drive Operation Position Loop In Position Detect Tuning Tips The speed regulator of the drive must be tuned prior to tuning the Position Loop Refer to Speed PI Regulator 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 G
205. over voltage transient greater than 2 pu The amplitude of the double pulsed motor over voltage is determined by a number of variables These include the damping characteristics of the cable bus voltage and the time between pulses the carrier frequency modulation technique and duty cycle The plot below shows the per unit motor overvoltage as a function of cable length This is for no correction versus the modulation correction code for varied lengths of 12 AWG cable to 600 feet for 4 and 8 kHz carrier frequencies The output line to line voltage was measured at the motor terminals in 100 feet increments No Correction vs Correction Method at 4 kHz and 8 kHz Carrier Frequencies Vbus 650 fe 60 Hz 2 6 NoCorrection 4 kHz Carrier 2 5 Corrected 4kHz Carrier 24 No Correction 8 kHz Carrier Corrected 8 kHz Carrier 2 23 2 s 22 3 SH A chte ol 3 28 3 2 et SE 2 19 ae SS 1 8 7 1 7 1 6 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 feet To determine the maximum recommended motor cable lengths for a particular drive refer to Cable Motor
206. ower EE prom error 7 Flash upgrade in progress 8 Start request present H Jog request present 10 Encoder PPR error 11 Bus Precharge not complete 12 Digital input configuration error 13 Motin Shtdwn 14 Permanent Magnet motor Feedback Error Description This section serves as a supplement to the PowerFlex 700S Users Manual 20D UM001 addressing items specific to the PowerFlex 700S start and stop modes Technical Information The start and stop mode refers to how you want the drive s start and stop to be controlled There are two basic modes of start and stop control 3 wire and 2 wire 3 wire control indicates that the start and stop are momentary inputs 3 wire control also indicates that there is one input for the start command and one input for the stop command The term 3 wire comes from the fact that when using this type of control with digital inputs one wire is used for the start input one wire is used for the stop input and one wire is used for the common 2 wire control indicates that the start and stop are combined as one maintained input The input must be on to start and to remain running Then the same input is turned off to stop The term 2 wire comes from the fact then when using this type of control with digital inputs one wire is used for the combined start stop input and one wire is used for the common For the stop command there are three different types of stopping that can be performed coast stop ram
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208. p stop and current limit stop Detailed Drive Operation 2 133 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 spin until the mechanical energy is dissipated 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 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 to on 1 and set bits 3 2WCurrLimStp and 9 2W CoastStop to off 0
209. p 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 2 15 shows the same mechanical gear train as in Figure 2 14 Notch Filt Freq is set to 10 2 44 Detailed Drive Operation Figure 2 15 10Hz Notch Notch 10Hz 62rad oscillation T T T T I I Motor Torque Motor PU Roll PU 0 8 0 6 0 4 0 2 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 by parameter 89 Spd Err Filt BW 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 700S The lead lag filter has two terms The first term is the filter gain Kn and the second term is the filter frequency Wn The filter can be used as lag to eliminate noise from entering the control loop The filter can be used as a lead to in
210. pd S Crv En er AMPED 4 0 Logic CH State 62 X Virt Encdr Posit Ce e DI S SRef SCrv En w intemal Virtual Encoder One Logic Scan 63 gt Virt Encdr Dlyed Virt Encoder PPR Loser Speed Reference Scaling The first section of the reference selection block is speed reference scaling Both speed reference 1 and 2 have parameters associated with them to scale the values Refer to Figure 2 25 Speed Ref 1 C10 Spd Ref1 Divide Cu Speed Ref 2 CEO y Spd Ref2 Multi C13 2 114 Detailed Drive Operation Parameter 10 Speed Ref 1 and parameter 12 Speed Ref 2 are real parameters with units of per unit where a value of 1 per unit equals base motor speed Both Speed Ref 1 and Speed Ref 2 have their own scaling blocks The speed reference value in Speed Ref 1 is divided by the scaling parameter 11 Speed Refl Divide Speed Ref Divide cannot be changed while running and cannot be linked to by another parameter The speed reference value for Speed Ref 2 is multiplied by the scaling parameter 13 Speed Ref2 Multi Speed Ref2 Multi is a linkable parameter This allows speed reference 2 to be scaled dynamically with an input signal if desired An example would be to have an analog input linked to the scale parameter The speed reference and the scale would then affect the value sent to the reference select block Parameters 14 Speed Ref 4 15 Speed Ref 5 and 20 Speed Ref DPI are in display units of RPM and do
211. peed 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 By default Speed Trim 1 is linked to the output of the Process PI loop The resulting parameter 47 Spd Trim1 SpdRef is sent into the speed regulator loop Spd Trim1 SpdRef to Speed Control Regulator PI Output Link from Process Speed Trim 1 Control Detailed Drive Operation 2 119 Speed Pl Regulator The drive takes the speed reference specified by the speed reference control loop and compares it to the speed feedback The speed regulator uses proportional and integral gains to adjust the torque reference sent to the motor This torque reference attempts to operate the motor at the specified speed This regulator also produces a high bandwidth response to speed command and load changes Figure 2 26 Overview of the Speed PI Regulator Loop Speed Trim 3 gt x SpaTrim 3 Scale 24 Logic Ctrl State q57Nfo Logic Ctrl State G57 Nos Inrta Tst En CurrLim Stop from Speed Control Spd Trim1 SpdRef Reference 2H4 E d o i o keem e 4x gt Gorza Autotune at Limit REN Posit Spd Output Speed Trim 2 Bypass d SF wn from Position Atuna Spd Ref QD Control 6H3 or 7H4 Lead Lag Logic Ctrl State lt 157 Y 5 J Tst FulSpd
212. peed 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 The following is a block diagram overview of the position follower mode Gear Rat gt Position Offset gt PI Regulator Mtr Posit FB EN LS nA Set Steed eg GE D r Ze Set e eh ere D t e Speed Control Reference 2ms Selected Spd Ref Speed Control Regulator 0 5ms Spd Reg PI Out Z S Curve Spd Ref Speed Trim 2 Motor Speed Ref Speed Ref Sel l I I Speed Ref1 mi gt l Co PI I Motor Spd Fdbk Spd Ref BH Linear Ramp m ES Regulator Speed Ref amp S Curve co Encdr Speed Ref 2 Selection Cie Spd Reg P Gain l Spd Ref2 Multi 13 Spd Reg Gain wm SE Spd Reg BW X Detailed Drive Operation 2 71 Speed Reference Selection For the position following mode to work properly there needs to be a speed reference to the speed loop of the drive to follow Speed Ref 1 C 10 gt Spd Ref1 Divide C 11 X Speed Ref Speed Ref 2 S
213. poke spasd feedback counts 0002 Conrat the sperdieedback into an RPM value P12 3 speed feedback RPM F12 2 3202 Rowing pote pied fiaidat comes F12 4 base motor speed RPM 0003 Datalink Programming EQU Source A Source E m2 pe 327680 32768 0 lt EQU Eqal Source A Source B m3 p lt RV 32768 D lt 1 Dest DEE k 00 lt 327670 32767 0 lt wa Equal Source A Source B Compute Dest H F12 21327680 Fl24 Epression Datalinks are transmitted and received through block transfer I O The SLC PLC 5 is limited to 16 bit integers and floating point Because the SLC PLC 5 does not support 32 bit integers 32 bit integer datalinks remain split into 2 16 bit integers In order to send or receive floating point datalinks the LSW and MSW must be swapped and the COP copy instruction must be utilized The following examples are for transmitting and receiving the floating point Datalinks 0004 Detailed Drive Operation 2 25 Reading Floating Point Datalink in a SLC PLC 5 Aflouing poira datalink is sent across DeviceNet as 2 16 bi ntegurs To read afloating point datalink comectly ithe SLC yoummst frst sp the high and low 16 bz integers md then copy the 2 integers into a floating point address N9 4 LSW Datalink Al Out fom DericeNet N13 5 LSW Datalink Al Out F12 5 Datalink Al
214. processor overtemp trip Monitored by microprocessor overtemp trip Drive Overcurrent Trip Software Current Limit Hardware Current Limit Instantaneous Current Limit Calculated value 105 of motor rated to 200 of drive rated 105 of 3 sec rating 158 210 143 of 3 sec rating 215 287 Calculated value 105 of motor rated to 200 of drive rated 360 of rated Heavy Duty current typical Line Transients Up to 6000 volts peak per IEEE C62 41 1991 up to 6000 volts peak per IEEE C62 41 1991 Control Logic Noise Immunity Showering arc transients up to 1500V peak Showering arc transients up to 1500V peak Power Ride Thru 15 milliseconds at full load 15 milliseconds at full load Logic Control Ride Thru 0 25 sec drive not running 0 25 seconds drive not running Ground Fault Trip Phase to ground on drive output Phase to ground on drive output Short Circuit Trip Phase to phase on drive output Phase to phase on drive output Agency Certification The drive is designed to meet applicable requirements of the following codes standards IEC 61800 2 Adjustable speed electrical power drive systems General requirements IEC 61800 5 1 Adjustable speed electrical power drive systems Safety requirements NFPA 70 US National Electric Code NEMA 250 Enclosures for Electrical Equipment UL and cUL Listed to UL508C and CAN CSA 22 2 No 14 95 The drive is designed to meet applicable requir
215. r Data In A2 Int O Data 0 O Data 1 BT_Out 0 BT_Out 1 BT_Out 2 BT_Out 3 BT_Out 4 BT_Out 5 BT_Out 6 BT_Out 7 BT_Out 8 BT_Out 9 BT_Out 1 BT_Out 1 BT_Out 1 BT_Out 1 BT_Out 1 BT_Out 1 BT_Out 1 BT_Out 1 Datalink A2 he Data In A2 Datalink B1 r Data In B1 Int Datalink B1 d Data In B1 Datalink B2 r Data In B2 Int Datalink B2 Data In B2 Datalink C1 r Data In C1 Int Datalink C1 hee Data In C1 Datalink C2 Data In C2 Int Datalink C2 ee Data In C2 Datalink D1 r Data In D1 Int Datalink D1 ho Data In D1 Datalink C2 TE Data In D2 Int Datalink C2 d Data In D2 m mm m m m m sch VM D NOU P A MM sch EH 1 The speed reference comes into the 20 COMM R as 2 16 bit integers The PowerFlex 700S firmware automatically converts that speed reference into floating point so that parameter 20 Speed Ref DPI is a floating point value 11 12 RIO ControlLogix O Data 0 O Data 1 BT_Out 0 BT_Out 1 BT_Out 2 BT_Out 3 BT_Out 4 BT_Out 5 BT_Out 6 BT_Out 7 BT_Out 8 BT_Out 9 BT_Out 1 BT_Out 1 BT_Out 1 BT_Out 1 BT_Out 1 BT_Out 1 BT_Out 1 BT_Out 1 BT Message Source and Destination Tags mmm ech ech ech sch sch OO NOU AWD HO Detailed Drive Operation DPI Adapter PowerFlex 700S BT Control Logic Status Logic Command Reference Scaled Spd Fdbk Reference Datalink A1 Data Out A1 Datalink A1 Data Out A1 Datalink A2 7 Data Out A2 Datalink A2 i Data Out A2 Datalink B1 7 Data
216. r I O write the source tag RIO_700S_BT_O must be an array of 18 INTs This tag cannot be DINT The source tag will contain the speed reference data and the data sent to the Data In parameters of the drive Message Configuration RIO_7005_BT_10_Write Configuration Communication Tag Message Type Transfer Write Source Element RIO_7005_B TO gt New Tag Number Of Elements 18 gt 16 bit Integers Enable Enable Waiting O Start Done Done Length 0 Error Code 1610001 Extended Error Code 16 0076_0100 I Timed Out Error Path Error Text Connection failure Cancel ply Hep The Path in the communication tab of the block transfer I O write is the name of the DH RIO scanner module The Module Address sets the channel of the DH RIO scanner used and the rack group and slot of the 20 COMM R Message Configuration RIO_7005_BT_I0_Write Configuration Communication Tag Path RemtelO Browse Remote_1_0 Module Address BIO Channe Te Rack fi Octal o E Slot 0 v Cache Connections e C ControlNet Group Connected O Enable Enable Waiting O Start Done Done Length 0 Error Code 16H0001 Extended Error Code 16 0076_0100 I Timed Out Error Path Error Text Connection failure Cancel Apply Help Detailed Drive Operation 2 93 For the block transfer I O read the destination tag RIO_700S_BT_I must be an array of
217. r precharge enable If parameter 838 is set to any other value i e not set to 14 then the control uses parameter 411 PreChrg Control as the source for the precharge enable In this case when PreChrg Control is set to zero the precharge control is disabled held in precharge and the drive is inhibited from running see parameter 156 Run Inhibit Stat Otherwise when PreChrg Control is set to one the user precharge is enabled Using a Digital Input for the precharge enable is recommended for common bus systems where a drive may be disconnected and reconnected to the common bus system The Digital Input should be connected through an auxiliary contact on the cabinet disconnect switch Failure to provide a hardware disconnect precharge control may lead to very large inrush currents and associated drive damage if a reconnection is made before the drive can sense the power loss This precharge enable provides a user controlled permissive to the precharge function 2 84 Detailed Drive Operation PreChrg Selection P838 PreChrg Disc 14 select 14 0 Digital Input 1 PreChrg Control P411 1 Enable 0 Hold PreChrg The drive must not be in an undervoltage condition Parameter 409 Line Undervolts sets the under voltage level as a percent of drive rated volts parameter 401 Rated Volts An undervoltage is detected by comparing the parameter 306 DC Bus Voltage to the percent of line voltage set in parameter 409
218. r than 100000 counts parameter 741 Position Status bit 8 Posit Watch1 is set to 1 Note that the position must pass 100000 counts If the motor position is already past 100000 counts when the position watch is enabled the position watch status bit will not detect the position until 100000 counts is passed again e Set parameter 740 Position Control bit 16 X Watch 1 En 0 to reset parameter 741 Position Status bit 8 Posit Watch1 to O Power Loss Ride Through Detailed Drive Operation 2 81 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 circuit and when precharge is done the bypass device is active see exceptions below The ride through function can provide a motor coast precharge and auto restart sequence of operation in the event of an input power dropout power loss and return First the drive stops PWM operation coasting the motor and saving any remaining power stored in the drive s bus capacitor s for extended control logic operating time Next the precharge function limits the drive s inrush curren
219. red The process requires another element setting the speed Configuring the drive for torque regulation requires Spd Trq Mode Sel to be set to 2 In addition a reference signal must be linked to the Torque Reference If an analog signal is used for the reference link parameter 800 Anlg In Data to parameter 111 Torque Ref 1 When operating in a torque mode the motor current will be adjusted to achieve the desired torque If the material being wound unwound breaks the load will decrease dramatically and the motor can potentially go into a runaway condition 2 130 Detailed Drive Operation Torque Ref 1 Torq Ref1 Div Torque Ref 2 Torq Ref2 Multi Torque Trim C115 Torque Reference Parameter 111 Torque Ref 1 is divided by parameter 112 Torq Ref1 Div Parameter 113 Torque Ref 2 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 the Torque Mode is the sum of scaled Torque Ref 1 scaled Torque Ref 2 and Torque Trim Min Mode Max Mode This operating mode compares the speed and torque commands The algebraically minimum value is used This mode can be thought of as a Speed Limited Adjustable Torque operation Instead of operating the drive as a pure torque regulator the runaway condition can be avoided by limiting the speed A
220. regulation without feedback Speed regulation without feedback 0 1 of base speed across 120 1 speed range 120 1 operating range 50 rad sec bandwidth 0 1 of base speed across 120 1 speed range 120 1 operating range 50 rad sec bandwidth Speed regulation with feedback 0 001 of base speed across 120 1 speed range 1000 1 operating range 300 rad sec bandwidth Speed regulation with feedback 0 001 of base speed across 120 1 speed range 1000 1 operating range 300 rad sec bandwidth Torque Regulation Torque Regulation without feedback 10 600 rad sec bandwidth Torque Regulation without feedback 10 600 rad sec bandwidth Torque Regulation with feedback 2 2500 rad sec bandwidth Torque Regulation with feedback 5 2500 rad sec bandwidth Selectable Motor Control Field Oriented Control with and without a feedback device and permanent magnet motor control Field Oriented Control with and without a feedback device and permanent magnet motor control Stop Modes Multiple programmable stop modes including Ramp Coast Multiple programmable stop modes including Ramp Coast and Current Limit and Current Limit Accel Decel Independently programmable accel and decel times adjustable Independently programmable accel and decel times adjustable from 0 to 6553 5 in 0 1 second increments from 0 to 6553 5 in 0 1 second increments S Curve Time Adjustable from 0 5 to 4 0 seconds
221. rformed 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 For Field Oriented Control the following motor tests are performed Stator Resistance Test This test identifies the motor stator resistance and stores the value into parameter 491 StatorResistance The motor should not rotate during this test Stator Inductance Test This test identifies the motor stator inductance and stores the value into parameter 490 Statorlnductance 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 Leaklnductance 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 t
222. rl In bit O Peak 1 Set and bit 1 Peak 1 Hold are off e For parameter 210 PeakDtct Ctrl In turn on bit 2 Peak Sel e Parameter 215 Peak Detect Out will contain the positive peak value of Motor Spd Fdbk e To reset the output of the peak detector parameter 210 PeakDtct Ctrl In toggle on and then off bit O Peak 1 Set Selector Switches There are two 2 different selector switches available 1 A switch that selects between two 2 Dint values The result is Dint 2 A switch that selects between two 2 floating point values The result is floating point 2 Position Dint Switch Switch Control SW Int 1 On C4370 1 SW Int 1 NO 4374 SW Int 1 NC 4372 oj lt 1373 gt SW Int 1 Output Configuration e Parameter 1370 Switch Control bit 1 SW Int 1 On activates the switch e The value of parameter 1371 SW Int 1 NO is moved into parameter 1373 SW Int 1 Output when bit 1 SW Int 1 On of parameter 1370 Switch Control is on e The value of parameter 1372 SW Int I NC is moved into parameter 1373 SW Int 1 Output when bit 1 SW Int 1 On of parameter 1370 Switch Control is off e SW Int I Output contains the value of either SW Int 1 NO or SW Int 1 NC Detailed Drive Operation 2 151 2 Position Floating Point Switch Switch Control SW Int 1 On C370 1 SW Int 1 NO 4374 1 W Int 1 NC 4372 1373 SW Int 1 Output Configuration e Parameter 1370
223. ro frequency and if the motor speed is not found perform a start from zero speed If the motor speed could reverse or increases to a larger speed a pull out or over voltage fault could occur If a reversal or increase in motor speed could occur the preset frequency search should be used Preset Frequency Search The preset frequency search starts the frequency search at the value set in parameter 451 SrLss Preset Spd From this initial search frequency the search will move towards zero Once zero frequency is reached the algorithm will reset to the opposite direction at the same initial frequency and again search toward zero If zero is reached a second time the drive will perform a start from zero speed The preset frequency search routine may take the longest to execute The value entered 2 46 Detailed Drive Operation into parameter 451 SrLss Preset Spd should always be greater than the expected speed of the motor If the motor speed is greater than the initial search frequency overvoltage trips could occur or the algorithm may not find the correct motor speed If the flying start function is active and the drive is started with the motor at zero speed the flying start search will add considerable extra delay to actually starting the motor Figure 2 16 Sensorless Flying Start From Last Known Speed Flying Start Frequency Search 1 4 tracking rotor speed 1 2 e i RE S j Fr
224. rom drive to drive to optimize the performance of each frame size In the following examples the 1 minute rating is 110 and the 3 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 60 sec 100 180 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 3 sec 100 57 sec average current 102 5 Typically the drive will have a sixty second rating of 110 of continuous current and a three second rating at 150 of the continuous current Under normal operating conditions the open loop function sets this current limit to the short term three second rating If the function detects an overload it lowers the limit to the continuous level If the function is in the continuous level limit this can be lower than the Motor Current limit After a period of time typically one to three minutes the function returns the limit to the short term rating Closed Loop IT Function The drive will also adjust the Torque Current limit level based on the values in Parameter 358 Iq Ref Limited parameter 313 Heatsink Temp and the thermal characteristics of
225. rough the hardware input Digital Input 1 or through parameter 411 PreChrg Control The precharge timeout fault is intended only to alert the user that there may be a problem in the precharge control The precharge fault for the most part does not affect the precharge operation As conditions would change to complete or restart precharge the precharge control will function as described above independent of whether or not a precharge timeout fault has occurred If the drive does not complete precharge due to an unstable bus voltage then after the precharge timeout period the precharge control will complete precharge providing all of other conditions for precharge are met This control is based on the precharge timeout status and independent of whether or not the precharge timeout is configured as a fault warning or none This feature could be useful in cases where bus disturbances are created by another drive in a common or shared bus installation Settings for parameter 381 PreChrg Err Cnfg 0 Ignore This disables the precharge timeout fault With this setting the drive ignores condition 3 above so that the drive does not check for an unstable bus voltage Then after the precharge timeout period the precharge control will complete precharge providing all of the other conditions for precharge are met This feature could be useful in cases where bus disturbances are created by another drive in a common or shared bus installation 1 A
226. s section select Drive Parameter in the Source 0 field and parameter 43 S Curve Spd Ref in the Item 0 field PowerFlex 700SDL Peer Communication Setup x SynchLink Setup From Controller To Controles SynchLink Receive Format No Receive Data D SynchLink Transm Format 4 Direct Words 8 Buffered words y r Multiplier Block Setup m Transmitted Direct Words p 5 Source Item Receive word to multiply None y D Drive Parameter 43 Curve Spd Ref Muttiplier Base Value 19009 000090 iF No Data Ne Data gt Multipker Value 1 000000 2 Noa y eo 7 Source Parameter None z ts No Da a No Data z SynchLink Node Configuration r Transmitted Buffered Data parameter values a Wado Naj sl SES ma ai 3 GES Pood el Wad2 Woe osa 2 ieee wada toa sl cr eee i E Wad n al E Wad5 Won Ti ee TRAE Wade tna z S ERE Word Non od Kee cee 3 Click the SynchLink Node Configuration button Detailed Drive Operation 2 143 4 In the Parameter 1000 SL Node Cnfg Properties dialog box uncheck Sync Now and check the Time Keeper box The master drive is now the time keeper for SynchLink Parameter 1000 SL Node Cnfg Properties ri xl Value Link Data Documentation Attributes D jw Time Keeper 1 7 Reserved 2 7 Sync Now ved Internal Value fil Parameter Help Dec C He
227. ses and Circuit Breakers 2 60 Detailed Drive Operation Input Modes Input Power Conditioning Jog Links Filters EMC Refer to CE Conformity Refer to Start Stop Modes Refer to Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES IN001 for detailed information This publication is available online at http literature rockwellautomation com literature A jog reference is usually used to run the motor at some preset low speed Two separate jog speeds can be used as a speed reference parameter 17 Jog Speed 1 or parameter 18 Jog Speed 2 A jog could be initiated by a Digital Input by the Logic Command word from a DPI Adapter such as a HIM or by the Logic Command word from DriveLogix In turn a valid jog command initiated from one of those adapters will turn on 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 SSES Du D Jog Speed 1 11 U IN Jog Speed 2 Links are software connections between two parameters This allows one parameter to receive information from another parameter Provides information Parameter Type Parameter Symbol Source au A RI Source NS ye Destination Receives inform
228. sets the rate at which the drive ramps up its output after a Start command or during an increase in desired speed speed change The rate established is the result of the programmed Accel Time and the programmed motor rated speed parameter 4 Motor NP RPM Parameter 4 Motor NP RPM _ Accel Rate Parameter 32 Accel Time Times are adjustable in 0 0001 second increments from 0 01 to 6553 5 seconds Alarms indicate conditions within the drive that could affect drive operation or application operation Alarms are selected during commissioning of the drive Examples of alarms include Encoder loss communication loss or other exceptions within the drive Configuration Parameters 365 Fdbk LsCnfg Pri through 394 VoltFdbkLossCnfg and parameters 940 Sft OvrTrvlCnfg through 944 Positin Err Cnfg program the response of the drive to various conditions Responses include Ignore Alarm Fault Coast Stop Fault Ramp Stop and Fault Current Limit Stop Parameters 326 Alarm Status 1 through 328 Alarm Status 3 indicated any alarms that are active Application Example Parameter 376 Inv Ol Pend Cnfg is set to a value of 1 Alarm This configures the drive to set the alarm bit parameter 326 Alarm Status 1 bit 15 Inv OL Pend 2 2 Detailed Drive Operation Analog Inputs when the inverter overload pending event occurs This alarm will allow the drive to continue running The user can make the decision as to what action to
229. ss speed range 0 98 across speed range Efficiency 97 5 at rated amps nominal line volts 97 5 at rated amps nominal line volts Max Short Circuit Current Maximum short circuit current rating to match specified fuse lt 200 000 Amps Rating circuit breaker capability Using Recommended Fuse lt 200 000 Amps or Circuit Breaker Type Maximum Drive to Motor Power Ratio The drive to motor rating cannot exceed a 2 1 ratio The drive to motor rating cannot exceed a 2 1 ratio Category Control Specification Specifications amp Dimensions 1 3 Method Induction Motor Brushless Motor Frames 1 6 Sine coded PWM with programmable carrier frequency Indirect Self Organized Field Oriented Control Current regulated Ratings apply to all drives refer to the Derating Guidelines on page 1 8 The drive can be supplied as 6 pulse or 12 pulse ina configured package Frames 9 amp up Sine coded PWM with programmable carrier frequency Indirect Self Organized Field Oriented Control Current regulated Ratings apply to all drives refer to the Derating Guidelines on page 1 8 The drive can be supplied as 6 pulse or 12 pulse ina configured package Carrier Frequency Drive rating 4 kHz Settings 2 4 8 10 kHz Drive rating 2 kHz Settings 2 4 8 10 kHz Output Voltage Range 0 to rated motor voltage 0 to rated motor voltage Output Frequency Range 0 320 Hz 0 320 Hz Speed Control Speed
230. t PowerFlex700S_02 O 0 0 9 map to parameter 158 Drive Logic Rslt Figure 2 3 Using Bits in ControlLogix PF700S_Start PowerFlex700S_02 0 Data 0 1 Leg PF700S_Normal_Stop PowerFlex700S_02 0 Data 0 0 PF700S_Jog1 PowerFlex700S_02 0 Data 0 2 PF700S_Clear_Fault PowerFlex700S_02 0 Data 0 3 PF700S_UniPol_Fwd PowerFlex700S_02 0 Data 0 4 PF700S_UniPol_Rev PowerFlex700S_02 0 Data 0 5 PF700S_Jog2 PowerFlex700S_02 0 Data 0 7 PF700S_CurrLim_Stop PowerFlex700S_02 0 Data 0 8 PF700S_Coast Stop PowerFlex700S_02 0 Data 0 9 Technical Information To use the 20 COMM C with the PowerFlex 700S the 20 COMM C must be v1 003 firmware or later Detailed Drive Operation 2 15 The Logic Command and Logic Status are 32 bit data but only the first 16 are used The bit definitions of the Logic Command word follow the same pattern as parameter 158 Drive Logic Rslt The bit definitions of the Logic Status word follow the same pattern as bits 0 15 of parameter 155 Logic Status Reference and Feedback are 16 bit unsigned integer data Datalinks are 32 bit data Figure 2 4 ControlLogix I O shows I O Image table for a ControlLogix system Figure 2 4 ControlLogix UO ControlNet DPI ControlLogix Adapter PowerFlex 700S Output Image O Data 0 DINT Logic Cmd 16 Drive Logic O Data 1 DINT Reference 16 SpeedRef DPI O Data 2 DINT Datalink A1 r Data In A1 Int le Data In A1 O Data 3 DINT Datalink A2 r Data In A2 I
231. t have a high resolution Stegmann or compatible resolver Table 2 E Motor Name Plate and Rating Specifications Motor NP System Cont Motor NP Volts Motor NP FLA A Frequency Motor NP RPM Motor NP Motor Current peak Stall Torque Motor Max Model Number line to line V rms rms Hz oper rpm Power KW _ Poles Arms N m RPM rpm Parameter 1 2 3 4 5 7 MPL A310P 230 3 4 294 0 4410 0 73 8 9 9 1 58 5000 MPL A310F 230 2 1 185 3 2780 0 46 8 6 6 1 58 3000 MPL A320P 230 6 4 271 3 4070 1 30 8 20 9 3 05 5000 MPL A320H 230 4 6 208 7 3130 1 00 8 13 6 3 05 3500 MPL A330P 230 8 5 280 7 4210 1 80 8 26 9 4 08 5000 MPL A420P 230 9 0 268 7 4030 2 00 8 32 5 4 74 5000 MPL A430P 230 11 9 234 0 3510 2 20 8 47 4 5 99 5000 MPL A430H 230 8 6 184 7 2770 1 80 8 31 8 6 21 3500 MPL A4520P 230 12 4 234 0 3510 2 20 8 35 4 5 99 5000 MPL A4520K 230 10 6 223 3 3350 2 10 8 30 4 5 99 4000 MPL A4530F 230 9 5 144 7 2170 1 90 8 29 7 8 36 2800 MPL A4530K 230 14 4 196 0 2940 2 50 8 43 8 8 13 4000 MPL A4540C 230 6 6 93 3 1400 1 50 8 20 5 10 20 1500 MPL A4540F 230 13 0 162 0 2430 2 60 8 38 2 10 20 3000 MPL A520K 230 16 3 208 0 3120 3 50 8 46 0 10 70 4000 MPL A540K 230 29 3 180 7 2710 5 50 8 84 9 19 40 4000 MPL A560F 230 29 3 125 3 1880 5 50 8 84 9 27 90 3000 MPL B310P 460 1 7 290 0 4350 0 72 8 3 0
232. t in the event that the incoming power to the drive is restored Last after the power is restored and the precharge has completed ride through allows the drive to continue normal operation applying power to the motor again This operation is intended to protect the drive from excessive inrush currents in the presence of input AC line disturbances and allows the drive to continue normal operation without user intervention However there is also a concern for safe auto restart operation By default the drive is configured to fault and not auto restart if the power line dropout lasts more than two seconds configuration at the system and user level Incorrect selection s may ATTENTION The user must determine safe auto restart and fault A result in personal injury due to machine motion Precharge Frames 1 through 4 The precharge implementation and control varies with drive size and type For frames 1 through 4 the precharge hardware is located on the power circuit board This is basically a resistor and bypass relay in series with the positive DC bus between the front end rectifier and the bus capacitor The bypass relay control is described below Also note that these drives can be wired for either AC line power or DC common bus The precharge function will work the same for either AC or DC power input Precharge Frames 5 and Higher AC Input Stand Alone Drives For frames 5 and higher AC Input the precharge function is implemented with a
233. t is equal to 0 0000 e The output is equal to parameter 204 LimGen Y axis Mx when the input is equal to 1 0000 e The output is available as a positive output parameter 207 Limit Gen Hi Out and a negative output parameter 208 Limit Gen Lo Out Limit Gen Hi Out LimGen X axis In Limit Gen Lo Out LimGen Y axis Mn LimGen Y axis Mx 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 400 Volt 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 catalog number and power unit ratings will change In most cases all drives within a voltage class can be reprogrammed to another drive in the class by resetting the defaults to something other than factory settings Parameter 403 Voltage Class can be used to reset a drive to a different setup within the voltage class range a As an example consider a 480 volt drive This drive comes with factory default values for 480V 60 Hz with motor data defaulted for U S motors HP rated 1750 RPM etc By setting the Voltage Class parameter to Low Voltage this represents 400V in this case the defaults are changed to 400V 50 Hz settings with motor data for European motors kW rated 1500 RPM etc Detailed Drive Operation 2
234. t specifically why the fault occurred before clearing the fault check the bits in the following parameters 552 MC Diag Error 1 553 MC Diag Error 2 or 554 MC Diag Error 3 You may use an auxiliary power supply to keep the 700S Control Assembly energized when input power is de energized This allows the Main Control Board DriveLogix controller and any feedback option cards to continue operation Refer to User Manual for connection information Frames 1 6 Refer to the Auxiliary Power Supply option 20 24V AUX1 and publication PFLEX INO10 Frames 9 amp Up You must set Par 153 Control Options bit 17 Aux Pwr Sply to enable this feature Auxiliary Power Supply Specifications Voltage Current Min Power Min 24V DC 5 3A 75W Description This information serves as a supplement to the PowerFlex 70058 Phase I Control User Manual publication 20D UM001 addressing items specific to the PowerFlex 700S bus regulation and dynamic braking Please refer to the User Manual for details on the PowerFlex 700S dynamic braking wiring and setup and the PowerFlex Dynamic Braking Resistor Calculator Selection Guide publication PFLEX AT001 for application techniques on dynamic braking These publications are available online at http literature rockwellautomation com literature Technical Information The bus regulator limits the maximum bus voltage for systems that do not have or have limited braking or regenera
235. take in relation to the alarm Analog Input Specifications There are 2 analog inputs located on TB1 Row B Bottom Terminals Each input accepts a 10V or 1V bipolar differential signal Dip switches SW1 1 and SW1 2 are used to select whether the analog inputs are 10V or 1V The A D converter is 14 bits including the sign bit 13 bits plus the sign bit Analog Input Configuration Once the Analog Input is converted Anlg Inx Offset can be applied This parameter has a range of 20V Anlg Inx Volts is the sum of the A D output and Anlg Inx Offset Anlg Inx Volts are displayed as 10V Anlg Inx Scale scales Anlg Inx Volts to the range of Anlg Inx Data A destination parameter such as a speed reference can then be linked to Anlg Inx Data Tania O 7 lt a gt Anlg Int Volts A D 1B1 B10 e 14bit 4 l Anlg In1 Data 4 kn s wn p X S wn 800 Anlg Int Offset C 803 P Lead Lag Ang Int Scale C w gt At Fit Gain 84 gt Anlg Int Fit BW TA Shield SK TB1 B9 Xf ale 807 Anlg In2 Volts TB1 B8 Y 4 i A AID 14bit Anlg In2 Data TB1 B7 A i kn s wn i X s wn 806 Poczte Anlg In2 Offset G 809 p Lead Lag Anlg In2 Scale 808 ATA AI 2 Filt Gain 810
236. te voltage of 0 4V DC state voltage of 0 4V DC Maximum Input Frequency 400 kHz 500 kHz Stegmann Option Encoder Voltage Supply 11 5V DC 130 mA 11 5V DC 130 mA Hi Resolution Feedback Sine Cosine 1V P P Offset 2 5 Sine Cosine 1V P P Offset 2 5 Maximum Cable Length 182 m 600 ft 182 m 600 ft RS 485 Interface Hi Resolution Feedback Option card obtains the following Hi Resolution Feedback Option card obtains the following information via the Hiperface RS 485 interface shortly after information via the Hiperface RS 485 interface shortly after power up Address Command Number Mode Number of turns power up Address Command Number Mode Number of Number of Sine Cos cycles Checksum turns Number of Sine Cos cycles Checksum Customer I O Plug P1 Hi Allen Bradley PN S94262912 Allen Bradley PN 94262912 Res Weidmuller PN BL3 50 90 12BK Weidmuller PN BL3 50 90 12BK Resolver Option Excitation Frequency 2400 Hz 2400 Hz Excitation Voltage 4 25 26 Vrms 4 25 26 Vrms Operating Frequency Range 1 10 kHz 1 10 kHz Resolver Feedback Voltage 2V 300 mV 2V 300 mV Maximum Cable Length 304 8 meters 1000 ft 304 8 meters 1000 ft DriveLogix User Available MemoryBase 256 kbytes 256 kbytes With Memory Expansion 768 kbytes 768 kbytes Board Battery 1756 BA1 Allen Bradley PN 94194801 0 59g lithium 1756 BA1 Allen Bradley PN 94194801 0 59g lithium Serial Cable 1761 CBLPM02 to 1761 NET A
237. ted After conditions 1 through 4 above are met parameter 472 PreCharge Delay must be completed before the precharge device bypass is commanded If any of the above conditions become false during the precharge delay period the delay timer is reset If parameter 472 PreCharge Delay is set less than 200 msec then an internal 200 msec delay is used Parameter 472 PreCharge Delay has a calculated maximum value based on parameter 410 PreChrg TimeOut PreCharge Delay PreChrg TimeOut 1 0 second Also see precharge staging for common and shared bus drives below Precharge Control Functional Diagram Ride Through Active Enabled PWM Active Bus Voltage Stable Low Bus Voltage E E o select not 14 Precharge Request PreCharge Delay Timer gt R aa Q P472 Precharge Done gt P555 bit 11 SO R ca A Reset Detailed Drive Operation 2 85 Precharge Timeout Fault The precharge control logic has an associated precharge timeout fault to alert the user if the precharge is not completed within the timeout period Parameter 381 PreChrg Err Cnfg provides the configuration control for the precharge timeout fault Parameter 410 PreChrgTimeout sets the period or delay for this timeout fault default 30 seconds The timeout timer is not started until the user requests a precharge either th
238. ten 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 Wlg is used to show the lag of the filter Knxs wn S wn Knxs wn 1 s wn 1 s Wld 1 s Wlg 1 wn Wilg Kn PIE Wid Figure 2 11 Kn gt 1 Lead Filter Figure 2 11 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 2 42 Detailed Drive Operation In the following example The system appears as a lag with a 5 radian second response The lead filter was set to compensate for the 5 radian second response Wld 5 The lag filter was set to 50 radian second response Wlg 50 Knis set to Wlg Wld 50 5 10 Wnis set to Wlg 50 Figure 2 12 Lead Filter Added to System Step Response Amplitude 0 0 2 0 4 06 0 8 1 1 2 Time sec Figure 2 12 shows the results of adding the lead lag The system had a response 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
239. 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 The drive over temperature is 90 C The fault is detected if the heat sink temperature parameter 313 Heatsink Temp or parameter 345 Drive OL JnctTmp exceeds 90 C The open loop current limit is originally designed for 25 of the duty cycle at 110 output current On the other side the High Horsepower drive allows 10 of duty cycle at 110 output current The open loop current limit function can not protect the drive over temperature fault Droop is used to shed load and is usually used when a soft coupling of two motors is present in an application The master drive speed regulates and the follower uses droop so it does not fight the master The input to the droop block comes from the torque output of the speed regulator before limiting The output of the droop block reduces the speed reference Parameter 86 Spd Reg Droop sets the amount of base motor speed that the speed reference is reduced when at full load torque Spd Reg Droop is in units of per unit torque per unit speed For example when Spd Reg Droop is set to 0 1 and the drive is running at 100 rated motor torque the droop block would subtract 10 from the speed reference 4 Droop Spd Reg Droop EY 2 36 Detailed Drive Operation Dynamic Braking Effici
240. tion If bit 5 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 together also determine the number of edges counted per encoder pulse see Table 2 G_Multiplier and Direction Settings 4x sampling counts both rise and fall of both A and B encoder phases hence 4 edges per pulse In 4x mode the encoder position will change by four times the encoder pulses per revolution rating PPR per encoder revolution e g it increments the value in parameter 230 Encdr0 Position by 4096 for one revolution of a 1024 PPR encoder Bit 6 Encdr Dir inverts the channel A input thus reversing the direction of the feedback Bit 9 Edge Time configures the method of sampling used by the Velocity Position Loop VPL Setting the bit chooses Edge to Edge sampling while resetting the bit to zero chooses Simple Difference sampling Simple Difference sampling calculates speed by examining the difference between pulse counts over a fixed sample time Edge to Edge sampling adjusts the sample time to synchronize with the position count updates from the daughter card improving the accuracy of the speed calculation Bits 12 SmplRate bt0 through 15 SmplRate bt3 configure the sample interval for measuring speed see Table 2 F Encoder Input Filter Settings Increasing the encoder sample interval improves speed measurement near zero speed Decreasing allows t
241. tion 2 105 Encdrx Error indicates the error status of the encoder when there is an error The bits for Encdrx Error are broken down as follows Bit 0 EncdrMissing Bit 1 Quad Loss Bit 2 Phase Loss Bit 3 Phase Level The encoder block generates speed feedback seen in Encdrx Spd Fdbk Encdrx Spd Fdbk is in units of RPM The encoder block also generates a position feedback seen in Encdrx Position Encdrx Position is in counts Encdr0 Spd Fdbk Encoder 0 Processing Encdr0 Error Encdr0 Position Encoder0 PPR 232 Encdr0 Config 233 Sensorless Sensorless mode is used when zero speed or more than a 120 1 speed range is not required Parameter 548 Est Speed Fdbk contains the estimated motor speed used when sensorless mode is selected The estimated speed feedback is based on voltage feedback from the motor Est Speed Fdbk is scaled so that a value of 4096 equals parameter 4 Motor NP RPM The estimated speed feedback is converted to RPM which can be seen in parameter 74 Motor Spd Est Parameter 75 MtrSpd Est Posit is an estimated position for sensorless mode It is calculated based on Est Speed Fdbk and the value in parameter 226 Virtual Edge Rev Virtual Edge Rev is a user defined value for the number of pulses per motor revolution Est Speed Fdbk Motor Spd Est lt a MtrSpd Est Posit Virtual Edge Rev Motor Simulator The sim
242. tions operates Feedback Device Parameter 222 Motor Fdbk Sel selects the feedback device for motor speed and position feedback The possible settings for Motor Fdbk Sel are 0 Encoder 0 1 Encoder 1 2 Sensorless 3 Reserved this setting is not used 4 Motor Sim 5 FB Opt Port0 6 FB Opt Port Parameter 223 Mtr Fdbk Alt Sel selects an alternate feedback device when a feedback loss is detected on the primary device The possible settings for Mtr Fdbk Alt Sel are the same as the possible settings for Motor Fdbk Sel Speed regulation with a Feedback Sensor 0 001 of Top Speed over a 100 1 Speed Range Speed regulation sensorless 0 5 of Top Speed Over a 120 1 typical Speed Range Encoder There are 2 encoder inputs on the standard I O board of the PowerFlex 700S They are located at TB2 Row T Top and TB2 Row B Bottom The encoder inputs are rated for Incremental Dual Channel Quadrature type Isolated with differential transmitter Output Line Drive The encoder inputs can accept 5V DC or 12V DC There is a 12V DC supply on the drive that can be used to supply power for the encoders An external 5VDC power supply is required when the encoder requires a 5V DC supply An encoder offers the best performance for both speed and torque regulation applications Encoder feedback is required for applications with high bandwidth response tight speed regulation torque regulation of 2
243. tive capabilities The bus regulator limits the bus voltage by comparing the DC bus voltage feedback to a DC bus voltage reference 2 8 Detailed Drive Operation It then limits the regenerative power allowed back onto the DC bus to keep the DC bus voltage at or below the reference value and prevent a DC Bus Overvolt fault Dynamic braking uses a 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 specify whether the resistor is an internal or external resistor For an external resistor the user can program the resistor specifications for protection of the resistor Only resistors specifically designed for pulse and high energy dissipation dynamic braking should be used The PowerFlex 700S allows the user to select bus regulation dynamic braking or a combination of bus regulation and dynamic braking Bus Reg Brake Ref Motor Spd Fdbk lt 300 gt Power 15 Mtring Power Lim 127 Limit Calc foo DC Bus Voltage Regen Power Lim 4 Torque PosLim Actl Rated Volts lt 306 gt Min 123 401 x Sao gt 7 Torque Pos Limit C125 X 8 Bus Volt d a p Es ka Iq Act
244. u to upload a complete set of parameters to the LCD HIM This information can then be used as backup or can be transferred to another drive by downloading the memory Generally the transfer process manages all conflicts If a 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 Current Limit Datalinks Detailed Drive Operation 2 19 Mtr Current Lim 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 e Software Over Current Trip This is a configurable trip function If parameter 377 Inv OL Trip Cnfg is set to Fault Coast to Stop the drive will trip on inverter overload This will occur when the Open Loop or Closed Loop IT function
245. ual Lim Torque NegLim Actl Brake Bus Confg cn 353 p Max 124 Brake Enable 00 Brake Bus Cnfg BusRef Hi Lo 02 amp Bus Reg En 03 Torque Neg Limit Bus Regulator Braking Configuration Parameter 414 Bus Brake Cnfg determines the configuration of bus regulation and dynamic braking Parameter 414 is broken down into the following bits Bit 0 Brake Enable When this bit is set to 1 it enables the internal brake transistor 7th IGBT When this bit is set to 0 then the internal brake transistor is disabled Bit 1 Brake Extern When this bit is set to a 1 it configures the brake operation for an external resistor Then the external brake resistor protection is based on the peak watts entered into parameter 416 Brake PulseWatts and the continuous watts entered in parameter 417 Brake Watts When this bit is set to 0 it configures the brake operation for an internal resistor Then 416 Brake PulseWatts and 417 Brake Watts are not active Bit 2 BusRef Hi Lo This bit configures whether bus regulation or dynamic braking turns on first This bit is only active when parameter 414 Bus Brake Cnfg bits 0 and 3 are both set to 1 When this bit is set to 1 the dynamic braking turns on first at the DC bus voltage set by parameter 415 Bus Reg Brake Ref and then the bus regulator turns on if the DC bus voltage continues to rise at the DC bus voltage set by 415 Bus Reg Brake Ref plus 4 5 When this
246. ulator mode allows the drive to be operated without a motor connected and is meant for demo purposes only If a motor is connected with this mode selected very erratic and unpredictable operation will occur 2 106 Detailed Drive Operation Parameter 76 MtrSpd Simulated contains the simulated speed feedback and is scaled in units of RPM Parameter 70 MtrSpd Sim Posit contains the simulated position feedback It is calculated based on the simulated speed feedback and the value in Virtual Edge Rev Virtual Edge Rev is a user defined value for the number of pulses per motor revolution MtrSpd Simulated Motor 76 gt Simulator 16 a y 70 gt gt Accum MtrSpd Sim Posit Spd Calc Virtual Edge Rev 226 Feedback Option Cards There are 3 different feedback option cards that can be installed on the PowerFlex 700S 1 The Hi Resolution Encoder Feedback Option Card 2 The Resolver Feedback Option Card 3 The MDI Multi Device Interface Option Card Only one of the option cards above can be physically installed on the drive at a time When the Hi Resolution Encoder Option or Resolver Option are installed their data is processed by feedback option card port 0 When the MDI Option is installed it has a Hi Resolution Encoder processed by feedback option card port 0 and a Temposonics linear sensor processed by feedback option card port 1 Parameter 251 FB Opt0 Spd Fdbk contains the speed feedback from
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248. use Datalinks Refer to the ControlNet 20 COMM C and DeviceNet 20 COMM D sections for more information Data In Parameters Data In x Int and Data In x Real parameters are inputs to the drive from the controller and are used to write to parameters A total of 8 parameters can be written with the Data In parameters In the 700S each parameter is either a 16 bit integer a 32 bit integer or a 32 bit floating point real This means the datalinks parameters are 32 bits To write to a 16 bit or 32 bit integer parameter that parameter must be linked to one of the Data In x Int parameters To write to a real parameter that parameter must be linked to one of the Data In x Real parameters 2 20 Detailed Drive Operation Example Configuration 1 Writing an Integer parameter using a Datalink e 740 Position Control is linked to 707 Data In A1 Int The value that is sent to Data In A1 Int from the controller will show up in Postion Control Data In A1 Int is used because Position Control is an integer parameter Example Configuration 2 Writing a Real Parameter using a Datalink e 111 Torque Ref 1 is linked to 708 Data In A1 Real The value that is sent to Data In A1 Real from the controller will show up in Torque Ref 1 Data In Al Real is used because Torque Ref 1 is a real integer parameter Data Out Parameters Data Out x Int and Data Out x Real parameters are outputs fro
249. ut Derating Open Type 0 to 50 C 32 to 122 F IP20 0 to 50 C 32 to 122 F NEMA Type 1 0 to 40 C 32 to 104 F IP56 NEMA Type 4X 0 to 40 C 32 to 104 F Note Frames 9 amp 10 are rated 0 to 40 C 32 to 104 F surrounding air Storage Temperature all 40 to 70 C 40 to 158 F 40 to 70 degrees C 40 to 158 degrees F const Relative Humidity 5 to 95 non condensing 5 to 95 non condensing Shock 10G peak for 11 ms duration 1 0 ms 15G peak for 11ms duration 1 0 ms Vibration 0 152 mm 0 006 in displacement 1G peak 5 5 Hz 2 mm 0 0787 in displacement 1G peak EN50178 EN60068 2 6 Atmosphere Important Drive must not be installed in an area where the ambient atmosphere contains volatile or corrosive gas vapors or dust If the drive is not going to be installed for a period of time it must be stored in an area where it will not be exposed to a corrosive atmosphere Electrical AC Input Gem Voltage Tolerance See Input Voltage Range Tolerance on page 1 6 for Full Power and Operating Range Frequency Tolerance 47 63 Hz 47 63 Hz Input Phases Three phase input provides full rating for all drives Single phase operation provides 50 of rated current Three phase input provides full rating for all drives Single phase operation provides 50 of rated current DC Input Voltage Tolerance 10 of Nominal Bus Voltage above Displacement Power Factor 0 98 acro
250. ve Operation 2 37 General Notes If the adhesive label is removed from the top of the drive the drive must be installed in an enclosure with side openings less than 12 5 mm 0 5 in and top openings less than 1 0 mm 0 04 in to maintain compliance with the LV Directive The motor cable should be kept as short as possible in order to avoid electromagnetic emission as well as capacitive currents Use of line filters in ungrounded systems is not recommended PowerFlex drives may cause radio frequency interference if used in a residential or domestic environment The user is required to take measures to prevent interference in addition to the essential requirements for CE compliance listed below if necessary Conformity of the drive with CE EMC requirements does not guarantee an entire machine or installation complies with CE EMC requirements Many factors can influence total machine installation compliance Essential Requirements for CE Compliance Conditions 1 6 listed below must be satisfied for PowerFlex drives to meet the requirements of EN61800 3 1 2 5 6 Standard PowerFlex 700S CE compatible drive Review important precautions attentions statements throughout this document and the PowerFlex 700S User Manual publication 20D UMO001 before installing drive Grounding as described on page 1 4 of the user manual Output power control I O and signal wiring must be braided shield cable with a coverage of 75 or b
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252. when the motor PWM is disabled the precharge device bypass where controlled by the drive is also opened Then the precharge logic is reset so that the drive starts another precharge cycle After the incoming power returns and the precharge cycle has completed the drive restarts normal operation Continue Disables the ride through function and will attempt to continue running if the incoming power is disrupted If the power returns before the drive has shut down the precharge device will be bypassed and a large inrush current may occur In this case drive damage is likely if the inrush current is large Detailed Drive Operation 2 83 Flux Only The drive s torque is set to zero when a power disturbance is detected The motor flux is continued until the disturbance goes away or until a power down occurs extended power loss If the power loss is of a very short duration or there is sufficient input impedance to limit the inrush current when power returns the drive will continue normal operation after the disturbance passes However if the power returns causing a large inrush current precharge device is still bypassed drive damage is likely Ride Through Timeout Fault Parameter 407 Power Loss Time sets the duration or time delay allowed for the incoming power to return before a ride through fault occurs This limits the time where an auto start for the drive could occur The default value for this time is 2 seconds with a minimum value
253. write the source tag RIO_BT_Request_Data must be an array of 20 30 or 60 INTs depending on how much data the user wants to send in the message This tag cannot be DINT Message Configuration MsgBlockTransferWrite Configuration Communication Tag Message Type Block Transfer Write Source Element RIO_BT_Request_Data z New Tag Number Of Elements feo 16 bit Integers Enable Enable Waiting O Start Done Done Length 20 Error Code Extended Error Code I Timed Out Error Path Error Text Cancel zen Hep The Path in the communication tab of the block transfer message write is the name of the DH RIO scanner module The Module Address sets the channel of the DH RIO scanner used and the rack group and slot of the 20 COMM R Message Configuration MsgBlockTransferWrite Configuration Communication Tag Path bone LD 0 Browse Remote_1_0 Module Address RIO Channel 8 y Rack fi Octal ControlNet Group H Slot fo Y Connected JW Cache Connections e Enable Enable Waiting O Start Done Done Length 20 Error Code Extended Error Code I Timed Out Error Path Error Text Cancel Apply Help 2 96 Detailed Drive Operation For the block transfer message read the destination tag RIO_BT_Response_Data must be an array of 20 30 or 60 INTs depending on how much data the user is receiving This tag cannot be DINT
254. x Bin Range Value Internal Value Minimum 0000000000000000 0 Maximum 0000000000000111 7 Default 0000000000000100 A Cancel 5 Click the OK button The SynchLink communication dialog box re displays 6 Click the OK button to accept the settings 7 To synchronize the speed references you must add a time delay to the S Curve speed reference of the master To do this open the Properties dialog box for Parameter 37 Spd Ref Bypass 8 Click on the Link Data tab Parameter 37 Spd Ref Bypass Properties j x Value Link Data Documentation r Link Source C No Link e Parameter Find Parameter Next Selected Parameter P 42 Ramped Spd Ref P 43 S Curve Spd Ref P 45 Delayed S Function Block Block ss Node Available Drive Links 1 P ter Hel Total Drive Links 200 _Paranete Help MS 9 Select P 45 Delayed Spd Ref in the Selected Parameter list 10 Click the OK button to accept the setting 2 144 Detailed Drive Operation Follower PowerFlex 700S Setup Receiving Drive 1 In the slave drive select 4 Direct Words 8 Buffered Words in the SynchLink Receive Format field to mat drive 2 If desired the multiply block ch the size of the data transmitted from the master can be used to change the scaling of one of the Direct Words coming from the master to the follower For example the multiply block might be
255. y active A value of 0 in bit 12 indicates that the primary speed feedback device selected in Mtr Fdbk Sel Pri is active A value of 1 in bit 12 indicates that the alternate speed feedback device selected in Mtr Fdbk Sel Alt is active 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 0 Encoder 0 3 Reserved 1 Encoder 1 4 Motor Sim 2 Sensorless 5 FB Opt Port 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 mSec interval will cause a tach switch from primary to alternate device Setting this level lower will make the speed detection more sensitive and lower the minimum speed at which a speed switch could occur Setting this level higher will make the speed switch less sensitive and raise the minimum speed for speed switch detection Parameter 320 Exception Event1 bits
256. ying start function implements a frequency search algorithm that searches for the rotor speed and when found provides flux up time for the motor before transitioning to normal operation The frequency search algorithm searches for a motor voltage that corresponds with the excitation current applied to the motor This function is useful where very large inertia systems that would take an extended period to come to a stop if a drive trip would occur or in cases where an external source may be moving the motor before the drive would be started The PowerFlex 700S Phase I must be version 1 017 or later to support flying start ATTENTION The user must determine the safe frequency search configuration at the system level Incorrect selection s may result in A personal injury due to machine motion 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 providing the user has determined that the system is safe for re starting while rotating Sensorless Flying Start Operation There two modes available for the frequency search last known frequency and preset frequency search Last Know Frequency The last know frequency is the fastest method of flying start with an initial search frequency starting at the last known operating frequency This mode will search from the last known frequency toward ze

Reference Manual Adjustable Frequency AC Drive

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