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PowerFlex 750-Series AC Drives Reference Manual

1. DC Bus Voltage DCCurrent Speed Fdbk DC Bus Over Voltage Trip i 800 mv M M
2. DC Bus Voltage DC Current Speed 800 14 780 12 10 760 a M Motor Speed PE 2 mw rj 5 Brake C 3 8 Brake Current a 5 4 700 N TON DRAN 660 T T T T T T T 2 0 2 0 0 2 04 0 6 0 8 1 12 Seconds The DB current seems as if it is decreasing toward the end of the decel This is just a result of the sweep time of the o scope and instrumentation After all it s not known as Ohms Suggestion The point is evident that the DB transistor is pulsing through the decel Option 3 Both DB 1st If Bus Reg Mode 7 is set to 3 Both DB Ist Both regulators are enabled and the operating point of the Dynamic Brake Regulator is lower than that of the Bus Voltage Regulator The Bus Voltage Regulator setpoint follows the DB Turn curve The Dynamic Brake Regulator follows the DB Turn On and turn off curves For example with a DC Bus Memory between 65
3. DC Bus Voltage DC Current Speed Fdbk 900 DCB 14 us 800 12 700 er 600 e 8 22 500 a gt Motor Speed gm 2 4004 Brake l4 v 300 Current 200 2 S NR 0 T T T 1 T 1 2 0 2 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 Seconds If the Regen Power Limit is opened up to say 100 the plot would look exactly the same as the Sensorless Vector mode plot show below Sensorless Vector SV Control Since the drive is not limiting the regen power the DB is able to dissipate the power the entire decel time before duty cycle considerations limits the DB capability PowerFlex 750 Series Bus Regulation Both DB First SV
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5. DC Bus Voltage DC Current Speed Fdbk 900 14 DC Bus 800 hen 12 700 F 10 600 ___ Brake Current 22 500 r8 H 9 p c 400 6 0 E Motor Speed 300 L 4 200 100 WM ii MM 0 15 0 05 0 25 0 45 0 65 0 85 1 05 1 25 1 45 Seconds 39 Chapter 1 40 Drive Configuration Table 2 Bus Regulation Curves Voltage Class DC Bus Memory Bus Reg Curve 1 Bus Reg Curve 2 lt 650V DC Memory 100V DC 480 650V DC lt DC Bus Memory lt 685V DC 750V DC Curve 1 8V DC gt 685V DC Memory 65V DC Level Gains The following parameters are Level Gains related to bus regulation P374 Bus Reg Lvl Cfg Bus Regulation Level Configuration Selects the reference used to determine the bus voltage regulation level for the bus voltage regulator and the reference used for the dynamic brake Bus Memory 0 References are determined based on P12 DC Bus Memory BusReg Level 1 References are determined based on the voltage set in P375 Bus Reg Level If coordinated operation of the dynamic brakes of a common bus system is desired use this selection and set the P375 Bus Reg Level to coordinate the brake operat
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10. Parameter No Parameter Name Description 936 Drive Status 2 Present operating condition of the drive 937 Condition Sts 1 Status of conditions that may or may not result in the drive taking action faulting based on configuration of protective functions 945 At Limit Status Status of dynamic conditions within the drive that are either active or a limit is being applied 952 Fault Status A Indicates the occurrence of conditions that have been configured as faults These conditions are from P937 Condition Sts 1 953 Fault Status B Indicates the occurrence of conditions that have been configured as faults 959 Alarm Status A Indicates the occurrence of conditions that have been configured as alarms These events are from P937 Condition Sts 1 960 Alarm Status B Indicates the occurrence of conditions that have been configured as alarms 961 Type 2 Alarms Indicates the occurrence of conditions that have been configured as alarms 1089 PID Status Status of the Process regulator 11032 Trq Prove Status Displays the status bits for TorqProve 12100 Profile Status Indicates status of speed profile position indexer control logic 184 Digital In Sts Status of the digital inputs 71865 Dig Out Setpoint Controls Relay or Transistor Outputs when chosen as the source Can be used to control outputs from a communication device using DataLinks 1396 ROO Level CmpSts Status ofthe level compare and a possib
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12. Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Along with normal modes of machine operation it is important to engage the brake in the event of a fault Fault status can be monitored in the Logix code and the brake can be engaged in the event of a fault Knowing what the configured Stop Action is will help determine when to engage the brake in the event of a fault Application considerations can also be factored into this decision This stop action is configured on the Axis Properties Actions screen as shown in this example gt Axis Properties Axis_01 DE Categories General Actions to Take Upon Conditions Motor Analyzer a Inverter Overload Action Hookup Tests Power Loss Action Polarity Autotune DANGER Modifying Exception Load Action settings may require Backlash programmatically stopping or Compliance Exceptions disabling the axis to protect Position Loop Bus Overvoltage Factory Limit StopDrive Refer to user manual for additional Velocity Loop Bus Power Loss StopDrive information Torque Current Loop Bus Undervoltage User Limit StopDrive Planner Control Module Overtemperature Factory Limit StopDrive Homing Converter AC Phase Short StopDrive Actions Converter AC Single Phase Loss StopDrive Drive Parameters Converter Ground Current Factory Limit StopDrive Parameter List Converter Ground Current User Limit
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14. NTL 50 DC Bus Voltage lq TrqRefP685 Motor Speed 10 NTL 100 Bus Voltage lq TrqRef P685 Motor Speed 100 0 3 0 2 07 12 17 22 27 32 37 42 Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Speed Reference Speed Reference Selection The speed reference can come from a variety of sources Some may be selected through digital inputs or via bit manipulation of the Network Logic Command Word e HIM local or remote e Analog Input Preset Speed Parameters Jog Speed Parameters e Auxiliary Velocity Feedback e Network Communication e Process PID Loop MOP Reference DeviceLogix software Figure 21 PowerFlex 753 Speed Reference Selection Overview Spd Ref Command Spd Ref A Speed Refe Control peed Reference Controi Trim gt ie a el Trim Ref A gt Spd Ref B Jogging Selected Spd Ref Oil Pump acti Limit r pd Ref B p Autotune Direction switch Skip gg Fiber Spe Ref Trim Ref B Auto Homing Mode Control _ Bands App lop Overrides Limit Trim Ref B xac From PI Regulator 1 Presets 3 7 Auto
15. In general the motor power rating speed torque and details regarding the Regenerative mode of operation will be needed to estimate what Chopper Module rating and Dynamic Brake Resistor value to use A rule of thumb to use is that a Dynamic Brake Module can be specified when regenerative energy is dissipated on an occasional or periodic basis When a drive is consistently operating in the Regenerative mode of operation serious consideration should be given to equipment that will transform the electrical energy back to the fixed frequency utility The peak regenerative power of the drive must be calculated to determine the maximum Ohmic value of the Dynamic Brake Resistor and to estimate the minimum current rating of the Chopper Module The Rating of the Chopper Module is chosen from the Brake Chopper Module manual Once the Chopper Module current rating is known a minimum Dynamic Brake Resistance value is also known A range of allowable Dynamic Brake Ohmic values is now known These values exist from the minimum value set by the Chopper Transistor current rating to a maximum value set by the peak regenerative power developed by the drive to decelerate or satisfy other regenerative applications If a Dynamic Brake Resistance value less than the minimum imposed by the choice of the Chopper Module is made and applied damage can occur to the Chopper Transistor If a Dynamic Brake Resistance value greater than the maxim
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20. Rockwell Automation Publication 750 RM002A EN P September 2012 273 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Cat No Base KW Volts Amps Hz Torque Peak Peak IM R1 R2 x1 X2 Xm Speed Nem Torque Amps Amps N m HPK B2010E MA42BA 2985 112 400 216 100 358 35 0 00519 0 00419 0 0626 0 097 12 03 HPK B2010E SA42BA 2985 112 400 216 100 358 35 0 00519 0 00419 0 0626 0 097 2 03 HPK E1308E MA42AA 2975 33 5 330 80 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1308E MB44AA 2975 33 5 330 80 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1308E MC44AA 2975 33 5 330 80 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1308E SA42AA 2975 33 5 330 80 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1308E SB44AA 2975 33 5 330 80 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1308E SC44AA 2975 33 5 330 80 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1609E MA42AA 2965 48 4 405 88 2 100 108 216 160 39 0 0233 0 0176 0 189 0 242 4 92 HPK E1613E SA42AA 2975 2 7 400 172 385 237 520 385 385 385 385 385 385 385 274 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Third Party Pe
21. ee E ik eas tint 271 System st eeu adeo pede den Meee ZI Using an Incremental Encoder with an MPx Motor 286 PowerFlex 755 Integrated Motion on the EtherNet IP Network Block 289 Rockwell Automation Publication 750 RM002A EN P September 2012 Table of Contents Appendix A Index Rockwell Automation Publication 750 RM002A EN P September 2012 5 Table of Contents Notes 6 Rockwell Automation Publication 750 RM002A EN P September 2012 Who Should Use This Manual What Is Not in This Manual Additional Resources Overview Preface The purpose of this manual is to provide detailed information including operation parameter descriptions and programming This manual is intended for qualified personnel You must be able to program and operate Adjustable Frequency AC Drive devices In addition you must have an understanding of the parameter settings and functions The purpose of this manual is to provide detailed drive information including operation parameter descriptions and programming The following table lists publications that provide information about PowerFlex 750 Series drives Resource PowerFlex 750 Series Drive Installation Instruction 750 11001 Description Provides the basic steps required to install a PowerFlex 750 Series AC drive PowerFlex 750 Series AC Drives Progra
22. Droop Max Speeds Frain Velocity Trim Regulator From Slip Comp V F Speed Control lt 4 Limit Max Speed Overspeed Limit Comp p Inertia Comp Torque Ref Friction Friction Comp lese ue d Speed Feedback Vector Ramp Status F F Ramp Status J Comp Torque Ref Status Filtered SpdFdbk Motor Spd Ref x 1 Velocity Reg Ref Vel Ref Filter Sr gt Frequency Ref Speed Status Refer to the PowerFlex 750 Series AC Drives Programming Manual publication 750 001 Appendix A for more details on the PowerFlex 755 Control Block Diagrams Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Network Reference Speed Reference A is the normal speed reference used To choose a source for this reference make a selection in P545 Speed Ref A Sel Also when the network Logic Command Word is used as the speed reference refer to the following documentation for details of operation e PowerFlex 750 Series AC Drives Programming Manual 750 PM001 PowerFlex 755 Drive Embedded EtherNet IP Adapter User Manual 750COM UMO001 PowerFlex 20 750 ENETR Dual port EtherNet IP Option Module User Manual 750COM UMO008 EtherNet IP Network Configuration User Manual ENET UM001 The Reference is a 32 bit REAL flo
23. sen Cum Dre 196 High Speed Trending Dueb estote gala aco oniany adeat cn n ud donet 197 Positi n Homing 206 Chapter 6 Additional Resources for Integrated Motion on the EtherNet IP Network Information cesses 214 Coarse Update Bate ward 215 Control Modes for PowerFlex 755 Drives Operating the Integrated Motion on the EtherNet IP Network 00 c 02 215 Drive Nonvolatile NV Memory for Permanent Magnet Motor Configuration x uu ua RUHK Eei SSIS 222 Dual Loop Control nube ide R qr 223 Dual Port EtherNet IP Option Module 229 Hardware Over Travel 230 Integrated Motion on EtherNet IP Instance to PowerFlex 755 Drive Parameter 231 Motor Brake Control x oreet Pee motae 252 Network Topologiesixsusds queue ea 99 oed te 255 PowerFlex 755 and Kinetix 7000 Drive Overload Rating Comparison for Permanent Magnet Motor Operation 259 PowerFlex 755 Drive Option Module Configuration and Resthictions s s ss edo LR x da 260 Regenetative Braking y e ens 261 Safe Speed Monitor Option Module 20 750 S1 Configuration 264 Speed Limited Adjustable Torque SLAT 267 Supported
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27. Motor Feedback Scaling Hookup Tests Polarity Autotune 3 Load Backlash Compliance bserver Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Gains Bandwidth 4051131 Herz Integrator Bandwidth Q0 Integrator Hold Disabled Velocity Feedforward 100 x Limits Error Tolerance 2 0901232 Lock Tolerance 0 01 Rockwell Automation Publication 750 RM002A EN P September 2012 Apply Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Position Loop Motion Axis Parameters Chapter 6 Categories General B Motor Motion Azis Parameters ieee Position Loop Parameter Group Model M Associated Page Analyzer Motor Feedback Load Feedback Scaling Hookup Tests Polarity Autotune D 2 Load Backlash Compliance 4 061131 Hz Observer 0 0 Hz Position Loop 100 0 Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Tune Cancel Table 12 Position Loop Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Position Integrator Bandwidth P838 Psn Re
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36. When viewed in electronic format PDF when printed in color the standard etwor Diagrams drive control attributes and path appear in blue and the Integrated Motion on the EtherNet IP Network attributes appear in black and the path appears in black and uses heavier line weights Standard Drive Control Limited Spd Ref Attributes and Path Skip Bands 6H4 Skip Bands 935 517 Drive Status 1 Jogging Skip Speed 2 527 gt 370 Skip Speed 1 371 Skip Speed 2 Skip Speed 3 528 372 Skip Speed 3 373 Skip Speed Band Skip Speed Band Integrated Motion on the Ethernet IP Network Attributes and Path Legend and Definitions Use the following legend and definitions when viewing the diagrams Definitions of the Per Unit system Symbol Legend 1 0 PU Position Distance traveled 1sec at Base Spd Pas 1 0 PU Speed Base Speed of the Motor 1 0 PU Torque Base Torque of the Motor Option Module Requires port number Read Only Parameter Read Write Parameter Read Only Parameter with Bit Enumeration Read Write Parameter with Bit Enumeration Provides additional information Enumerated Parameter Page and Coordinate 3A2 pg 3 Column Row 2 Constant value Prefix refers to Diagnostic Item Number ex d33 Diagnostic Item 33 Rockwell Automation Publication 750 RM002A EN P September 2012 289 Chapter 6 290 Int
37. ire Notch Fitr Atten 688 13 Load sum 5 Estimate 17 25 5 lt 707 1 Load Load Observer l Profiler 6 4 Total Inertia D Observer 2 l l Motor Acceleration i Disabled I Psn P2P 4 7 4 Feedback Estimator oH Psn 8 6 1 Load Observer BW 711 602 Commanded Trq Psn PLL 9 1005 l im 1102 InAdp LdObs Mode From Torq Ref gt lt 4 21 4 Psn Direct 10 11H 1 1295 16 2 1 Actv SpTqPs SpdTrqPsn Mode 1 ABCD SpdTrqPsn Mode 310 l ojo 1 Drive Status 1 1 SpdTrqPsn Mode C gt 935 21 22 23 iid 1 0 Select SpdTraPsn Mode D 1225 1 1 Logic Torque Mode PositionMode DI SpTqPs Sel 1 Speed Mode DI SpTqPs Sel 0 181 Mtr Option Cnfg Zero TrqStop Trq Modeston _ 40 o 1 2 Trq ModeJog Rockwell Automation Publication 750 RM002A EN P September 2012 SLAT Err Stpt 3147 SLAT Dwell Time 3155 Speed Torque Position Modes Zero Torque Operation in Zero Torque mode allows the motor to be fully fluxed and ready to rotate when a speed command or torque command is given This mode can be used for a cyclical application where throughput is a high priority The control logic can select zero torque during the rest portion of a machine cycle inste
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40. Apply 7e Axis Properties _ 755 gl xl Categories General E Motor z Parameter Group Velocity Loop Associated Page Analyzer Motor Feedback Scaling _ AccelerationFeedforwardGain 0 0 1 Hookup Tests SLATConfiguration SLAT Min SpeediTorque Polarity SLATSetPoint 2 0 Position Units s Autotune _ SLATTimeDelay 10 5 E Load _ elocityDroop 0 0 Position Units s Rated Compliance velocityIntegratorBandwidth 05134071 Hz bserver _ VelocityintegratorHold Disabled Velocity Loop _ VelocityintegratorPreload 0 0 Position Units s 2 Torque Current Loop _ VelocityLimitNegative 57 866665 Position Units s Planner _ VelocityLimitPositive 57 866665 Position Units s Homing velocityLockTolerance 0 2893333 Position Units s Actions _ VelocityLoopBandwidth 7 2197876 Hz i Drive Parameters _ velocityLowPassFiterBandwidth 0 0 Hz Parameter List VelocityNegativeFeedforwardGain 0 0 96 Status velocityottset 0 0 Position Units s Faults amp Alarms Tag RSLogix 5000 Program Commands When using SLAT with Integrated Motion on the Ethernet IP network you must start the PowerFlex 755 drive with the MDS instruction as shown below The Speed reference is sent in the MDS instruction Also the torque command is sent to AxisTag CommandTorque To make changes to the speed reference you will need to re trigger
41. WII L 10 700 TM 600 2 Motor Speed 500 ill 8 400 4 5 300 4 i 200 i Wh M TUA ee n _ n 0 0 1 02 03 04 0 5 0 6 07 Seconds External Resistor If the drive is set up for an external resistor and the resistor has been sized correctly and the regenerative power limit is set to a value that will allow the regenerative power to be fully dissipated the DB transistor will continue to fire throughout the decel time 36 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Figure 5 PowerFlex 750 Series Bus Regulation External Dynamic Brake Resistor
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44. ATTENTION Only qualified personnel familiar with adjustable frequency drives and associated machinery should plan or implement the installation start up and subsequent maintenance of the system Failure to comply may result in personal injury and or equipment damage Personal Safety A ATTENTION To avoid an electric shock hazard verify that the voltage on the bus capacitors has discharged completely before servicing Check the DC bus voltage at the Power Terminal Block by measuring between the DC and DC terminals between the DC terminal and the chassis and between the DC terminal and the chassis The voltage must be zero for all three measurements Hazard of personal injury or equipment damage exists when using bipolar input sources Noise and drift in sensitive input circuits can cause unpredictable changes in motor speed and direction Use speed command parameters to help reduce input source sensitivity Risk of injury or equipment damage exists DPI or SCANport host products must not be directly connected together via 1202 cables Unpredictable behavior can result if two or more devices are connected in this manner The drive start stop enable control circuitry includes solid state components If hazards due to accidental contact with moving machinery or unintentional flow of liquid gas or solids exists an additional hardwired stop circuit may be required to remove the AC line to the drive An auxiliary braking me
45. Drive Parameter ENC P02 Encoder PPR DENC P02 Encoder 0 PPR DENC P12 Encoder 1 PPR UFB P15 FBO IncAndSC PPR UFB P45 FB1 IncAndSC PPR 246 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Load Axis Properties Configuration Load Axis Properties Categories General Motor Model Analyzer Motor Feedback Scaling Hookup Tests Polarity Autotune G Backlash Compliance Observer Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Load Inertia Mass Load Coupling Use Load Ratio Load Ratio 0 0 Load Motor Inertia Motor Inertia 0 0 2 Total Inertia 0 0 Kg m 2 Inertia Mass Compensation System Inertia 00 Rated Rev s 2 System Acceleration 0 0 Rev s 2 100 Rated Active Load Compensation Torque Offset 0 0 Rated Load Motion Axis Parameters Chapter 6 Categories General S Motor i Model Analyzer Motor Feedback Scaling Hookup Tests Polarity Autotune Load Backlash Compliance Observer Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters ameter List Status Faults amp Alarms Tag Rockwell Automation Publication 750 RM002A EN P September 2012 Can
46. Motor Feedback Motion Axis Parameters Categories General S Motor 0 i Model Analyzer Motor Feedback Load Feedback Scaling Hookup Tests Polarity Autotune E Load Backlash Compliance Observer Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag RI Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 17 Motor Feedback Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Feedback n Accel Filter Bandwidth P705 Inertia Adapt BW Feedback n Cycle Resolution ENC P02 Encoder PPR DENC P02 Encoder 0 PPR DENC P12 Encoder 1 PPR UFB P15 FBO IncAndSC PPR UFB P45 FB1 IncAndSC PPR Feedback n Turns UFB P22 FBO SSI Turns UFB P52 FB1 SSI Turns Feedback n Type UFB P06 FBO Device Sel UFB P36 FB1 Device Sel Feedback n Velocity Filter Bandwidth P639 SReg FB Fitr BW Feedback n Velocity Filter Taps P126 Pri Vel FdbkFltr Motor Load Feedback Axis Properties Configuration Motor Load Feedback Axis Properties Axis Properties 755 Axis taks Categories General Load Feedback Device Specification id Device Function Load Side Feedback
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48. Operation of this control is accomplished by programming the controller to monitor the over travel limits via digital inputs and setting the desired action when over travel limits are exceeded Possible actions include but not limited to setting an alarm stopping the motion planner stopping the drive or performing a shutdown function The sample ladder logic code below depicts a possible solution for performing hardware over travel control the code is an example only and is not the only solution for monitoring hardware over travel limits Each individual application will determine the requirements for the necessary hardware over travel control This example monitors digital inputs and issues a motion axis stop if either input goes false and generates an output indicator that could be used to annunciate the stop 0 FE Axis01 Negitive Overtravel AENTRIData 2 1 1 y 230 Axis01_Positive_Overtravel Motion Axis Stop AENTR I Data 2 0 MAS Motion Axis Stop EN Axis Axis 01 Ga Motion Control Axis 01 Ctrl MAS 0 ER Stop Type All IP2 Monitoring the normally high Negitive Overtravel input issue motion axis stop and turn on indicator if input goes low Axis 01 Positive Overtravel Axis01 Pos O Travel PL Motion Axis Stop AS Motion Axis Stop EN Axis DN5 Motion Control Axis 01 Ctrl MAS 1 ER2 Stop Type IP5 Axis 01 NegitiveOvertravel Axis01 Meg
49. gt Exclusive Mode DPI Ports 1 6 Manual 3 ENet Spd Ref Vector Ramp S Curve Ramped Vel Ref Vel Ref i F Motor Spd Ref T Ramp amp 1 I x D _ Velocity Reg Filter S Curve i Ref Limit 1 From From Max Speed Pt Pt Profile PI Regulator Speed Ref 1 Generator Trim Mode Scale Rate Select From Pos Reg 1 Position Output Regulator Filter 1 V F Speed Control 1 Ramped T Linear Speed Ref L Ramp amp Frequency i S Curve Ref VER SG Limit Limit Max Speeds Max Speed Droop From i Overspeed Limit Velocity Trim Regulator S From l peed gt Status PI Regulator From Speed Feedback 1 gt Status Trim Mode Slip Comp Vector Ramp Status F F Ramp Status J Refer to the PowerFlex 750 Series AC Drives Programming Manual publication 750 PM001 Appendix for more details on the PowerFlex 753 Control Block Diagrams Rockwell Automation Publication 750 RM002A EN P September 2012 171 Chapter 4 Spd Ref A Motor Control Figure 22 PowerFlex 755 Speed Reference Selection Overview
50. 3 dus duio2uipi P r g E 4 Sed a bons 14 x 7r paey 50 2 sjueunsn py 325 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Variable Boost Voltage Overview Function Inputs Outputs 2 Kossa SNLVLS 8A SNLYLS 8A Bu yueung SNLVLS 8A SNLVLS 8A jsoog Xew 9 K9ESL gt lt _J SNLYLS 8A 9 9 4 1 4 v Koes gt lt SNLVLS 8A Kges K9ESL SNLVLS 8A Kges peiqeu3 gt SNLVLS 8A snes yesey eins 158 5 158 dwey aes 158 yeag ejes 158 yur ejas 158 jnejeq emis 1s8 sese bay 3Y E 0991 e Ors Js H jueun a 8791 lt Cirs gt gA xoo g dois 12319 eiqeua 6yuo9 ysoog ang Xni ll E lt spst XNA xni4
51. Enhanced 2 Sweep Disabled Disables the feature Enhanced An advanced mode that performs the motor reconnect quickly by using the motor s CEMF as a means of detection This mode would be the typical setting for this feature Sweep The Frequency Sweep mode is used with output sine wave filters It attempts a reconnect by outputting a frequency starting at P520 Max Fwd Speed P524 Overspeed Limit and decreasing according to a slope that is modified by P359 FS Speed Reg Ki until there is a change in the monitored current indicating the speed of the spinning motor has been found If the motor was not found from the forward sweep the drive will sweep in the reverse direction from P521 Max Rev Speed P524 Overspeed Limit Rockwell Automation Publication 750 RM002A EN P September 2012 45 Chapter1 Drive Configuration Scope Plots Flying Start Sweep Mode This plot shows a coasting motor When a start is commanded the output frequency jumps up to P520 Max Fwd Speed P524 Overspeed Limit at some current the sweep frequency decreases the current is monitored When the sweep frequency matches the frequency of the coasting motor the current reverses and detection is complete The motor is accelerated back to commanded speed 46 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Flying Start Sweep Slope A This plot shows when the drive st
52. Hd uonisod P i nny aynjosqy uwivis 91 gt lt X 82 didusd S pow dd IeA 0 00 JONUCD dd eal gt Z Bey enbioy joupmg 9 UONISOd Idd peeds did CEDE adt did 887 sazzl dag uesoy 8961 Grez 91 1 deis PIOH Wl did Z PALPAR ed sdb1ds deis 8 Xue PON 91 1 9915 0 enbioj 0297 yey voesdesns 7 0 K ELZL j aar 9171 deis X sez 91 1 deis 9 9U 4 J Y 9 8 301 Rockwell Automation Publication 750 RM002A EN P September 2012 104ju02 10je8eju uonisog 9 Upimpueg pee uonisod L84 54 195 NO usd PS usd zu T binds 3 INO usd you pds Lise 19j4 be pee uonisod 282 UM 5 UM 5 pds Bayusd jndino doo ger 483J4 jndjno Aouanbal4 YHON UOHISOd 282 be141 JuoiNusd udegaiJuoiNusd jur jur pds sog Baud vv8 IHW pds 9 K oqunpds G ed
53. PowerFlex 750 Series Drive Installation Instructions publication 750 IN001 Provides instructions for e Mechanical installation Connecting incoming power the motor and basic 1 0 PowerFlex 750 Series Drive Technical Data publication 750 TD001 Provides detailed information on Drive specifications Option specifications e Fuse and circuit breaker ratings Integrated Motion on the Ethernet IP Network User Manual publication MOTION UM003 Use this manual to configure an Integrated Motion on the Ethernet IP network application and to start up your motion solution using the ControlLogix system Logix5000 Controllers Motion Instructions Reference Manual publication MOTION RM002 Provides details about the motion instructions that are available for a Logix5000 controller Kinetix Motion Control Selection Guide publication GMC SG001 You can view or download publications at This selection guide is meant to help make initial decisions for the motion control products best suited for your system requirements In addition there are technical data publications with product specifications and design guide publications with selection information specific to each drive family to determine the accessories needed for your application The design guides also include the recommended motor cables performance specifications and torque speed rotary and force velocity linear curves for each drive and
54. jeg 7H D 9 60 165 Ald S 2092 eqs scele pergeu3 did jeje aia i 6801 snes did jeu did iA sels did 060 nepa 0201 Sj nw aid S onuo9 did r Eu dd pus 5 sed amp e ToD 2482 ueg 55247 M i Wy pueqpeeg 1013 aeos 4 60 je 9 y Pal 4 2 te ea m sed Bojeuy ane jndino did Gey dwey 2601 s UNN QD ueg q 404J3 Gan Kao dmo did ueg did Tomas tag aor GoD uur ul did e 1 smes did o m of uondo 92 eBeg suieiBerq 12018 18S 1 101 09 58592014 ued did did Id 9 d a 2 V Rockwell Automation Publication 750 RM002A EN P September 2012 318 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Process Control Sheet 2 5807 84 Cid Z Snes eau o1ez did
55. 120V Vmem 150V Vtrigger1 3 Vmem P451 P454 Power Vmem P451 P454 Power Vmem P451 P454 Power Loss A B Level Loss A B Level Loss A B Level Vopen Vmem P451 P454 Power Vmem P451 P454 Power Vmem P451 P454 Power Loss A B Level Loss A B Level Loss A B Level Vopen4 153V DC 305V DC 382V DC Vmin 153V DC 305V DC 382V DC Voff 200V DC 62 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 8 DC Bus Volts 8 Line Loss Mode Coast Recover loser Trigger ____ Open AC Input Volts In the following diagram the x axis across the bottom indicates what the input voltage is into the drive and the y axis indicates the corresponding DC Bus Voltage Then the levels of each event are indicated in the graph For example if I measure at the input of my drive 450 volts phase to phase I find that voltage across the bottom Now the various voltage levels can be derived according to that voltage level Line Loss Mode Decel Line Loss Mode Continue Recover Closer Trigger Recover Closer Trigger DC Bus Volts DC Bus Volts AC Input Volts AC Input Volts Restart after Power Recovery Ifa power loss causes the drive to coast and power recovers the drive will return to powering the motor if it is in a Run Permit state The drive is in a
56. 15 x Motion Servo On 2 8670723 4 The Manual Tuning window contains three sections Manual Tuning Section This section lets you customize the configuration of system tuning The following two selections can be made e System Bandwidth Changing this value will adjust the Position Loop and Velocity Loop response The value selected in this field will change the Application Type selection in the Autotune window Therefore care must be taken to NOT change this value after the individual gains have been manually configured System Dampening Changing this value will adjust both the Dampening factor and System Bandwidth values Lowering the System Dampening factor will dramatically increase the System Bandwidth Care must be taken when changing this value to avoid machine damage It is recommended that small incremental adjustments be made to the System Dampening while evaluating the overall system response This value will change the Application Type selection in the Autotune window Therefore care must be taken to NOT change this value after the individual gains have been manually configured Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Position Loop You can manually adjust the Loop Bandwidth Integrator Bandwidth Integrator Hold and Error Tolerance values Velocity Loop You can manually adjust the
57. 377 Set Ramp Deceleration Y Y Derived 378 Set Ramp Jerk Control Y Y 380 Set Flying Start Enable Y Y 445 Set Position Error Tolerance Time Y 781 Set Position Lead Lag Filter Bandwidth Y 782 Set Position Lead Lag Filter Gain Y 783 Set Position Notch Filter Frequency Y 446 Set Position Integrator Control R O Bits 1 Auto Preset 447 Set Position Integrator Preload N 790 Set Velocity Negative Feedforward Gain Y Y 464 321 Set Velocity Droop Y Y Y 465 Set Velocity Error Tolerance N N 466 Set Velocity Error Tolerance Time N N 467 Set Velocity Integrator Control R R 0 Bits 1 Auto Preset N 468 Set Velocity Integrator Preload 469 Set Velocity Low Pass Filter Bandwidth yi 470 327 Set Velocity Threshold N 471 Set Velocity Lock Tolerance 473 325 Set Velocity Limit Positive 474 326 Set Velocity Limit Negative 833 Set SLAT Configuration 834 Set SLAT Set Point 835 Set SLAT Time Delay 481 Set Acceleration Trim N N N 482 Get Acceleration Reference N N N 801 Get Load Observer Acceleration Estimate N 802 Get Load Observer Torque Estimate N 805 Set Load Observer Configuration N 0 Enum 1 Load Observer Only Y 2 Load Observer with Velocity Estimate 3 Velocity Estimate Only N 4 Acceleration Feedback Y 806 Set Load Observer Bandwidth
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59. Braked Released Permissives Before prior to allowing Axis 01 Brake Control Allowing Motion motion AENTR O Data 2 0 gt Axis01 Other Motion Permissive 01 Motion Permissive s l y Insert Application Based Motion Commands Here This must be true prior to allowing motion Axis01 Motion Permissive intr This rung combines any permissives that are required prior to engaging the motor brake Zero Speed For Demo Only is active when axis Could Represent any velocity fdbk is Other User Required Permissives below programed Permissives Before to allow Axis to be value Engaging Motor Brake Disabled Axis 01 Zero Speed 01 Other Disable Permissive Axis 01 Disable Permissive E This rung along with the next will engage the motor brake then after user programmed time issue a Moiton Servo Off command Motor Brake Control Required Permissives 0 Brake Engaged to allow Axis to be 1 Braked Released Disable Servo Disabled Axis 01 Brake Control Axis 01 Disable Axis 01 Disable Permissive pF AENTR O Data 2 0 gt TON Timer On Delay Timer Axis01 Brake EngageDelay Preset 250 Accum 0 Motion Servo Off Axis01 Brake EngageDelay DN Axis 01 ServoActionStatus Motion Servo Off Axis Axis 01 2 Motion Control Axis 01 Ctrl MSF Disable Servo Axis 1 Disable Rockwell Automation Publication 750 RM002A EN P September 2012 253
60. Dig Out Invert No 226 Main Control Board 127 No 6 Option Module 127 Dig Out Setpoint No 227 Main Control Board 122 No 7 Option Module 122 Dig Out Sts No 225 Main Control Board 129 No 5 Option Module 130 Digital Inputs 99 Digital Outputs 110 Digital Outputs Parameters 122 127 129 drive nonvolatile memory 222 Drive NV option 222 DriveLogix Controller 8 Drives Technical Support 9 dual loop control application 223 configuration 223 Dual Port EtherNet IP option module 229 install and configure 261 IP address assignment 229 port assignment 229 dynamic brake configure for Integrated Motion on the EtherNet IP Network 261 Dynamic Braking 143 dynamic IP address assignment by port 229 Enable 101 ETAP See Dual Port EtherNet IP option module F Feedback Devices 44 feedback option modules install and configure 260 Flux Regulator 161 Flux Up 162 Flux Up Enable No 43 164 Flux Up Time No 44 164 Flying Start 44 Forward Reverse Decel Limit 106 Forward Revese End Limit 106 Forward Reverse 102 frequency control RSLogix 5000 instance to parameter cross reference 233 Rockwell Automation Publication 750 RM002A EN P September 2012 339 Index 340 G General Precautions 10 Hand Off Auto Start 104 hardware over travel limits configure for Integrated Motion on the EtherNet IP Network 230 Human Interface Module Removal 42 incremental encoder feedback w
61. Figure 18 Notch Filter Frequency Gain Notch Filter K SE Notch Filter Frequency Hz Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Example A mechanical gear train consists of two masses the motor and the load and spring mechanical coupling between the two loads Mechanical Gear Train AAAA Bm BL NNNNNNNS Kspring ae The resonant frequency is defined by the following equation Jm Jload lm toad ResonanceHz Spring x Jm x Jload e Jmis the motor inertia seconds e Jload is the load inertia seconds e Kspring is the coupling spring constant rad2 sec The following graph shows a two mass system with a resonant frequency of 62 radians second 9 87 Hz One Hertz is equal to 2p radians second Figure 19 Resonance 16 Motor Torque Motor PU 14 Roll PU 12 0 2 4 6 8 10 12 14 16 18 20 The following represents the same mechanical gear train but with Notch Filter Freq set to 10 Rockwell Automation Publication 750 RM002A EN P September 2012 165 Chapter4 Motor Control Figure 20 10 Hz Notch 1 6 Motor Torque Motor PU 1 4 Roll PU 1 2 1 0 8 0 6 0 4 0 2 0 0 2 al 1 L 1 1 1 0 2 4 6 8 10 12 14 16 18 20 To see the effects of the notch filter use test points T65 and T73 in torque control T65 is before the filter and T73 after And test point Txx bef
62. Reserved Reserved Rockwell Automation Publication 750 RM002A EN P September 2012 129 Chapter 2 Feedback and 1 0 File Digital Outputs 130 Display Name Full Name Description Dig Out Sts Digital Output Status Status of the digital outputs Bit 1 Trans Out 0 for 1 0 Module model 20 750 2263C 1R2T Relay Out 1 for 1 0 Module models 20 750 2262C 2R and 20 750 2262D 2R 2 Bit 2 is used only by 1 0 Module 20 750 2263C 1R2T Block Diagrams Figure 11 PowerFlex 753 Drive ROO Off Time ARN 235 Dig Out Invert G 226 Relay 0 Options E E EEEZEZEEZEZEZEZEZEGSSS 5 55555 552 212 Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Output De energized Bit 15 14 13 12 11 109 8 7 6 5 4 3 2 1 0 1 Output Energized Dig Out Sts 225 e Common e Timer Source TOO Off Time ot 245 Dig Out Invert M 2 on 0 Transistor Source Dig Out Sts NO 8 24v Common Data 16 bit Integer aaa 2 TOO Sel TOO On Time SSS SS Se HS ee See ROO Level Sel oar ES 541 C231 ROO Level CmpSts TOO Level Sel CID TOO Level Source TOOLevel 242
63. Week Hour 1 zi Haur E RR Minute Minute e Set Device Time x Click on the Month or Year to change them hom Sun Mon Tue Wed Thu Fri Sat 29 30 3I b 2 73 74 5 6 7 8 9 10 11 4E 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 1 2 qu 18 29 da 17 19 18 Installing Battery To install the battery first locate the main control board The location of the main control board is in the far right location of the control POD The main control board for the PowerFlex 753 and 755 drives are shown below Rockwell Automation Publication 750 RM002A EN P September 2012 Diagnostics and Protection Chapter 3 Figure 13 PowerFlex 753 Main Control Board The battery is installed in pointer position 3 The battery receptacle requires a user installed CR1220 lithium coin cell battery that provides power to the Real Time Clock Installing a battery preserves the Real Time Clock setting in the event power to the drive is lost or cycled Approximate battery life is 4 5 years with drive unpowered or lifetime if drive is powered The battery should be installed with facing out Rockwell Automation Publication 750 RM002A EN P September 2012 141 Chapter3 Diagnostics and Protection Slip Regulator 142 Removing Battery To remove the battery simply use a screwdriver to press down on the metal tab going across the battery Prying the battery out of its holder may
64. eoinog 27 N wa bi ia ve 601 sazz ala up JejeyN NANO Aid px3enbio Gur 829 Wed baL Ies 1ndino aid i IHBjuy Wow 2 Boyeuy uondo wol4 0 j HH Bojeuy uondo wol4 mmejaa Coro pagesia 00 105 v jeu bur but n les v Jou DAL eae 289 jno bij dieju 197 oO z 2 uondo OIG f o i m 5 4 H 1 uondo 4 wea L Guredies 189 idis g you pagesia 00 089 95 Jes bap Lz eBeg suieiBeiq 12018 s 3ndu Bojeuy 9 25 5 enb4o Vou E 07 IH 3 0N V Rockwell Automation Publication 750 RM002A EN P September 2012 312 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Torque Control Torque s lois epo bj 0 oaz 9 6ju9 uondo a LVIS 0 195 Sd
65. stop command is issued from any source Removal of a 2 wire run fwd or run rev command is considered a stop assertion A fault reset command is issued from any source The enable input signal is removed e P348 Auto Rstrt Tries is set to zero ANon Resettable fault occurs e Power to the drive is removed The Auto Reset Run Cycle is exhausted After all Auto Rstrt Tries have been made and the drive has not successfully restarted and remained running for five minutes or more the auto reset run cycle will be considered exhausted and therefore unsuccessful In this case the auto reset run cycle will terminate and an F33 AuRsts Exhaust fault will be indicated by P953 Fault Status Bit 13 AuRstExhaust The purpose of the Auto Manual function is to permit temporary override of speed control and or exclusive ownership of logic start run direction control A manual request can come from any port including HIM digital input or other input module However only one port may own manual control and must release the drive back to auto control before another port can be granted manual control When in Manual mode the drive will receive its speed reference from the port that requested manual control unless otherwise directed by the Alternate Manual Reference Select Rockwell Automation Publication 750 RM002A EN P September 2012 15 Chapter 1 16 Drive Configuration The HIM can request Manual contr
66. the homing sequence will complete NOT Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding position and transferring position reference back to its previous source If velocity control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding zero velocity and transferring velocity reference back to its previous source Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding position drive will then transfer position reference back to its previous source once it receives a start command If velocity control type mode is selected in P313 Actv SpIqPs Mode the drive will continue Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Features Chapter 5 running holding zero velocity drive will then transfer velocity reference back to its previous source once it receives a start command A Marker Find Home Speed Speed Control Speed Position l Pt Pt Control Homing to Switch and Marker Pulse with Feedback Upon activation of homing the drive will start moving in Speed Control mode and ramp to the speed and direction set in P735 Find Home Speed at the rate set in P736 Find Home Ramp As the motor moves toward the limit proximity switch the marker pulse is triggering a register on the feedback mod
67. wn bi Wid pi sappy Wdy dooig N spur les gies peads did 9 809 uonosjes Joy peeds les VIY LL ies spiele rem no did I L CD Wise diis les 8 Jou peeds jeu pds m CD pds ASZHA lt gt 5 ves gt Jeu p dwey 195 v Joy peeds pio Bey pds ASZHA 5 3 6 8 9 soBed aouasajay J04ju02 peeds a Eu gt IBA annoy peeds 4 Id peeds ASZHA 12018 6 03uo2 paeds AS ZH A JA Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives rl Chapter 6 292 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Speed Position Feedback ZEL 195 IPA Xnv 1079905 puer leys BuisseooJg o aounos ee ee xny p xny y eqp 4 oA xny xnv moe les usd JenulA Joenus 100W qp4 enbio L Joyeinwis yoegpee4 jueun
68. 000 0 91 Anlg Out1 Lo 0 000 0 DK Cancel Level Conditions A desired level function needs to be programmed into the Level Sel parameter depending on the output being used If the value for the specified function frequency current and so forth is greater than equal to or less than the programmed limit dictated by the Level parameter the output will activate or deactivate depending on what the Sel parameter is configured for Notice that the Level Select parameters do not have units The drive assumes the units and the minimum maximum values from the selected parameter function For example if the Level Sel is programmed for P943 Drive Temp Pct which indicates operating temperature of the drive power section heat sink its units are in percentage of the maximum heat sink temperature with minimum maximum values of 200 200 percent Rockwell Automation Publication 750 RM002A EN P September 2012 117 For the PowerFlex 750 Series drives utilizing an Option Module the table below shows an overview of the selectable configurations for the drive s Digital Output Level Sel parameters Parameter No Parameter Name Description 1 Output Frequency Output frequency present at terminals T1 T2 and T3 U V amp W 2 Commanded Value of the active Speed Frequency Reference SpdRef 3 Mt
69. Analog Input 1 impedance 60 70 Analog Input 1 Current mode 0 20 mA 93 ohm input on Port X impedance 24VC 24 Volt Common Drive supplied logic input power 12A 43 24 Volt DC 7 200 mA max per 1 0 module 600 mA max per drive DIC Digital Input Common Common for Digital Inputs 0 5 Dio Digital Input 0 2AV DC Opto isolated 1 Di 1 Digital Input 1 Low State less than 5V DC on Port X Di2 Digital Input 2 2 High State a 20V DC 11 2 mA DC D3 nou 115V AC 50 60 Hz Opto isolated 7 Low State less than 30 AC Di4 Digital Input 4 High State greater than 100V AC Di5 Digital Input 5 ts DC 22620 or 115 Volts 22620 based on module catalog number Be sure applied voltage is source must be maintained at less than 160V with respect to PE Input provides high common mode 4 For CE compliance use shielded cable Cable length should not exceed 30 m 98 ft 5 1 0 Module parameters will also have a Port designation Rockwell Automation Publication 750 RM002A EN P September 2012 Feedbackandl O Chapter 2 Analog Scaling Anlg Inz Lo Anlg Inz Hi A scaling operation is performed on the value read from an analog input to convert it to units usable for some particular purpose Control the scaling by setting parameters that associate a low and high analog value in volts or mA with a low and high target in Hz Example 1 P255 Anlg In Type Bit 0 0 Voltage P545
70. Bit3 Reserved Port 3 Port 3 Port 3 Port 3 Port 3 Port 3 Port 3 Port 3 Input 3 Bit4 Reserved Port 4 Port 4 Port 4 Port 4 Port 4 Port 4 Port 4 Port 4 Input 4 Bit5 Reserved Port 5 Port 5 Port 5 Port 5 Port 5 Port 5 Port 5 Port 5 Input 5 Bit6 Reserved Port 6 Port 6 Port 6 Port 6 Port 6 Port 6 Port 6 Port 6 Reserved Bit7 Reserved Port 7 Reserved Reserved Reserved Port 7 Reserved Port 7 Port 7 Reserved Bit8 Reserved Port 8 Reserved Reserved Reserved Port 8 Reserved Port 8 Port 8 Reserved Bit9 Reserved Port 9 Reserved Reserved Reserved Port 9 Reserved Port 9 Port 9 Reserved Bit 10 Reserved Port 107 Reserved Reserved Reserved Port 102 Reserved Port 102 Port 107 Reserved Bit 11 Reserved Port 112 Reserved Reserved Reserved Port 112 Reserved Port 117 Port 117 Reserved Bit 12 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Bit 13 Reserved Port 130 Port 130 Port 13 Port 130 Port 13 Port 130 Port 130 Port 139 Reserved Bit 14 Reserved Port 14 Port 14 Port 14 Port 14 Port 14 Port 14 Port 14 Port 14 Reserved Bit 15 Reserved Reserved Reserved Reserved Reserved Security Security Security Security Reserved 1 Used only by the PowerFlex 753 main control board 3 4 60 PowerFlex 755 drives only Used only 1 0 Module models 20 750 2263C 1R2T and 20 750 2262C 2R Modules with 24V DC inputs 2 PowerFlex 755 Frame 8 drives and larger only Rockwell Automati
71. Bus voltage regulation begins when the bus voltage exceeds the bus voltage regulation setpoint and the switches shown in Figure 1 move to the positions shown Bus Regulation WI mr owe Figure 1 Bus Voltage Regulator Current Limit and Frequency Ramp Current Limit Derivative Gai Magnitude U Phase Motor Current t t Block he W Phase Motor Current SW3 Current Limit Level gt PiGain Block ee I Limit EY No Bus Reg z S E 0 Limit ni o SW1 T No Limit I Limit y No Bus Reg Frequency Acc Dec Rate Jerk Jerk No Limit fo rd A Reference Frequency Output Frequency gt 1 Ramp Clamp SW2 Integrator A Limits Bus Reg n Speed 505 Control Frequency Setpoint Te Mode Maximum Frequency Minimum Speed Maximum Speed Overspeed Limit z Frequency Reference to Ramp Control Speed Ref and so forth Speed Control Slip Comp Process PI and so forth Bus Voltage Regulation Point Vreg 2 A 32 5 E E sw4 s e a PlGainBlock P 5 Bus Reg Derivative Gain Block Bus Voltage Regulator Bus Voltage Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 The derivative term senses a rapid rise in the bus voltage an
72. Click Upload This will prompt a process that will upload the trend data from the drive and save the information as a comma delimited csv file for use with Microsoft Excel or any other spreadsheet program OOO 0 4 Save in a Desktop z p E My Documents My Recent Documents Desktop My Network Places Rockwell Work Mequon My Documents My Computer Mc File name X Places Save as type Comma Separated Values cs Cancel 2 Click Save to start the upload trend data process Rockwell Automation Publication 750 RM002A EN P September 2012 203 Chapter5 Drive Features Below is an example of trended data Use a spreadsheet program to open the csv file A B C D E F Trigger Time 1 6 1970 21 03 02 493990592 Sample amp Time From Trigger ms Port 0 1 Output Frequency Port 0 1 Output Frequency Internal Value Port 0 3 Mtr Vel Fdbk Port 0 3 Mtr Vel Fdbk Internal Value 499 2 048 0 18 0 1844133 0 0 500 1 024 0 2 0 1967048 0 0 501 0 0 21 0 2090035 0 01 0 006590744 502 1 024 0 22 0 221308 0 01 0 006590744 503 2 048 0 23 0 2336136 0 01 0 008272989 504 3 072 0 25 0 2458963 0 01 0 008272989 505 4 096 0 26 0 258179 0 01 0 01014278 506 5 12 0 27 0 2704785 0 01 0 01014278 507 6 144 0 28 0 2827779 0 01 0 01219858 508 7 168 0 3 0 2950927 0 01 0 01219858 509 8 192 0 31 0 3074133 0 01 0 01443886 510 9 216 0 32 0 3197084 0 01 0 01443886 511 10 24 0 33 0 3319962 0 0
73. Note that Anlg Outz Val remained zero Section 2 Here the Anlg Outz Hi was changed to 9 and Anlg Outz Lo was changed to 1 As the motor ramps up and down there is no change in the value or scaling of Anlg Outz Data Note that Anlg Outz Val is still zero Section 3 Now the Anlg Outz DataHi was changed to 1800 and Anlg Outz DataLo left at zero When started Anlg Outz Val starts at 1 and reaches 9 when the motor speed is at maximum Section In this section the Anlg Outz Hi and Anlg Outz Lo were reversed in value Now when the motor ramps up and down Anlg Outz Val is just the opposite It starts out at 9 and is at 1 at full speed Rockwell Automation Publication 750 RM002A EN P September 2012 95 Chapter 2 96 Feedback and 1 0 1800 1600 1400 1200 1000 800 600 400 200 Case 2 P77 Anlg Out0 Data 78 Anlg 0 10 DataHi 79 Anlg Out Datalo 82 Anlg Out0 Val Anlg Outn Sel Mtr Vel Anlg Outn DataHi 1500 Anlg Outn DataLo 500 When the motor speed reaches 500 rpm Anlg Outn Val begins to increase from 0 When the motor speed reaches 1500 rpm Anlg Out Val is at maximum of 10 100 200 300 400 500 600 700 800 900 Rockwell Automation Publication 750 RM002A EN P September 2012 1000 11 Anlg Outn Val Feedbackandl O Chapter 2 Case 3 P77 Anlg Out0 Data P7
74. O6 8 2 8 Enabled 7 0 000 Hz yg Connection DPI Back Med v Node 192 168 1 20 E B 0 PowerFlex 755 Diagrams 19 Parameter List Monitor Motor Control 2 Feedback amp 1 0 Port 7 Host Parameters Dig In Sts Dig In Filt Mask Controlled by DeviceLogix software DeviceLogix software control technology provides you with the flexibility to customize a drive to more closely match your application needs DeviceLogix software controls outputs and manages status information locally within the drive allowing you to operate the drive independently or complimentary to supervisory control helping to improve system performance and productivity You can use the PowerFlex 750 Series DeviceLogix software to read inputs write outputs and exclusively control the drive 124 Rockwell Automation Publication 750 RM002A EN P September 2012 FeedbackandI O Chapter 2 Example In the example below we are using two real world inputs such as limit switches being wired into a PowerFlex 750 Series Option Module and using a DeviceLogix software program to control a digital output The picture below shows the DeviceLogix software Digital Input configuration P33 DLX DIP 1 is configured for Port 7 Dig In Sts Input 1 and P35 DLX DIP 3 is configured for Port 7 Dig In Sts Input 3 This setup allows for us to bring in two real world inputs into DeviceLogix software
75. Parameter List i Status Faults amp Alarms Tag mm Categories Analyzer Bandwidth 14 761407 Hertz Motor Feedback Integrator Bandwidth 0 0 Hertz Load Feedback Scaling Integrator Hold Disabled Hookup Tests Acceleration Feedforward 0 0 EX Polarity Autotune El Load Limits Backlash Velocity Limit Positive 53 333332 revs s Compliance e rE Observer Velocity Limit Negative 53 333332 revs s Position Loop Lock Tolerance 0 26666665 revs s 234 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Velocity Control Motion Axis Parameters gt is Properties PFISS As Categories General B Motor Model Analyzer Motor Feedback Scaling Hookup Tests Polarity Autotune Load Compliance Observer Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag m Motion Axis Parameters Velocity Loop Parameter Group Manual Tune Table 10 Velocity Control Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Acceleration Feed Forward Gain P696 Inertia Acc Gain P697 Inertia Dec Gain SLAT Configuration P
76. Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 750 RM002A EN P September 2012 Copyright 2012 Rockwell Automation Inc All rights reserved Printed in the U S A
77. Port 0 ROO Level CmpSts Grt Than Internal Value Value 23301 Port 0 Drive Temp Pct Dec Hex Bin Internal Value 343 Range Dec Hex Bin Value Internal Value Minimum 000 0 a Maximum 15999915 15999915 ange Value Intemal Value EELS MM Minimum 0 0 Maximum 159999 159999 ok Cancel Default 0 0 Lm ca Controlled By Digital Input digital output can be programmed to be controlled by a digital input For example when the input is closed the output will be energized and when the input is open the output will be de energized Note that the output will be controlled by the state of the input even if the input has been assigned a normal drive function Start Jog and so forth Rockwell Automation Publication 750 RM002A EN P September 2012 FeedbackandI O Chapter 2 Example In this example the drive is utilizing 24V DC Two Relay Option Module in Port 7 One of the drive s digital input functions P164 DI Run Forward is programmed for Port 7 Digital In Sts Input 1 with Option Module P10 ROO Sel is programmed for Port 7 Dig In Sts Input 1 and P20 ROI Sel is programmed for Port 7 Dig In Sts Input 3 C DriveExecutive AB ETHIP 13192 168 1 20 PowerFlex 755 lt PowerFlex 7552 Pl File Edit View Drive Peripheral Tools Window Help D BEi amp o 0654 972 amp e Enabled gt 0 000 Hz as 4 2 Connection DPI Back Nex
78. Rslt 809 19 Jog2 Scaling of an Analog Speed Reference Refer to Analog Inputs on page 85 Polarity The polarity configuration can be selected as unipolar bipolar or reverse disabled via P307 Direction Mode When in Unipolar mode the sign of the speed reference value and therefore direction of motor rotation is determined by P879 Drive Logic Rslt Bit 4 Forward and Bit 5 Reverse When in Bipolar mode the sign of the speed reference value will determine the direction of motor rotation When in Reverse Disable mode negative speed reference values are rejected and a zero speed value is used in their place Direction Mode Control Direction Mode Bipolar 414 Rev Disable 2 0 Unipolar 0 pei r Foward Command j Logic _1 Fwd i 0 1 Unipol 1 pul Rockwell Automation Publication 750 RM002A EN P September 2012 175 Chapter4 Motor Control Trim The speed reference source specified in P545 Speed Ref A Sel or P550 Speed Ref B Sel can be trimmed by variable amount You have the option to trim the speed reference by a percentage of the reference and or by a fixed amount and can dictate whether it is a positive or negative value Refer to the PowerFlex 750 Series Trim Block Diagram below Speed Ref A Sel Note Analog Hi L
79. Set P172 DI Manual Ctrl to Port 5 I O Module gt 1 Dig In Sts gt 3 Input 3 Rockwell Automation Publication 750 RM002A EN P September 2012 19 Chapter 1 20 Drive Configuration 2 Set P328 Alt Man Ref Sel 871 Port 1 Reference 3 Set P331 Manual Preload 0000 0000 0000 0010 Bit 1 enables the preloading of the speed feedback value to the HIM at port 1 when the HIM is granted manual control Parameter 172 DI Manual Ctrl Prop 3 e Parameter 328 Alt Man Ref Sel Prop EJ e Parameter 331 Manual Preload Prop EJ Rango Digital Input Control A Digital Input can be configured to request manual control through P172 DI Manual Ctrl When setting up the Auto Manual masks digital inputs are configured through Bit 0 regardless of what port the module physically resides in A speed reference for Manual mode from a digital input can be set by selecting a port in P328 Alt Man Ref Sel This however will cause all manual requests to use that port as a reference whether the request was from the digital input or from a HIM A separate manual reference port for use only when the request comes from a digital input can be configured through P563 DI ManRef Sel To see P564 set P301 Access Level to 1 Advanced If P328 Alt Man Ref Sel is configured it will override P563 DI ManRef Sel and will provide the manual reference If P563 DI ManRef Sel is an analog input the max
80. This is Forced Speed mode By forcing the drive to enter Speed mode the transition occurs earlier than it would have in the Maximum Torque mode resulting in less velocity overshoot P314 SLAT Err Stpt and P315 SLAT Dwell Time lets you set some hysteresis for turning off the Forced Speed mode They are set to 0 as default so that there is no hysteresis In SLAT Maximum mode SLAT Err Stpt sets how much more the speed feedback should be than the speed reference before turning off the Forced Speed mode The SLAT Dwell Time sets how long the speed error must be less than the SLAT error set point before turning off the Forced Speed mode At the time that the drive switches from Torque mode to Speed mode the speed regulator output is loaded with the value from the torque reference to create a smooth transition In order for the drive to switch from Speed mode to Torque mode Forced Speed mode if active must first be turned off Forced Speed mode will turn off when the speed error is less than the SLAT error set point for the SLAT dwell time With default parameter settings this will occur when the speed error becomes negative Rockwell Automation Publication 750 RM002A EN P September 2012 189 Chapter4 Motor Control When Forced Speed mode is off the drive will switch back to Torque mode when the speed regulator output becomes less than the torque reference This is the same condition that exists in Maximum Torque mode SLA
81. Y Y N 807 Set Load Observer Integrator Bandwidth N N N 809 Set Load Observer Feedback Gain Y Y N Rockwell Automation Publication 750 RM002A EN P September 2012 335 Appendix Table 26 PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute F P T Conditional Implementation 485 Set Acceleration Limit N N N N 486 Set Deceleration Limit N N N 496 Set System Inertia R R N 825 Set Backlash Compensation Window 498 Set Friction Compensation Sliding N N 499 Set Friction Compensation Static N N 500 Set Friction Compensation Viscous N 826 421 Set Friction Compensation Window 827 Set Torque Lead Lag Filter Bandwidth N 828 Set Torque Lead Lag Filter Gain N 502 Set Torque Low Pass Filter Bandwidth N N N 503 Set Torque Notch Filter Frequency Y Y 506 Set Torque Rate Limit N N N 507 334 Set Torque Threshold N N N 508 Set Overtorque Limit Y Y Y Y 509 Set Overtorque Limit Time Y Y Y Y 510 Set Undertorque Limit Y Y Y Y 511 Set Undertorque Limit Time Y Y y Y 521 Get Operative Current Limit N N 522 Get Current Limit Source N N 524 Get Current Reference N N 525 Get Flux Current Reference N N 840 Set Current Disturbance N N 527 Get Current Error N N 528 Get Flux Current Error N N 52
82. calculate and change the speed regulator gains Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Speed Loop Damping Spd Loop Damping P653 Sets the damping factor of the vector speed loop s characteristic equation Damping will affect the integral gain when a non zero bandwidth has been entered A damping factor of 1 0 is considered critical damping Lowering the damping will produce faster load disturbance rejection but may cause a more oscillatory response When the speed regulator bandwidth is zero gains are set manually and damping factor has no effect Integral Gain Speed Reg Ki P647 Sets the integral gain of the speed regulator in FV Motor Control modes This value is automatically calculated based on the bandwidth setting in P636 Speed Reg BW P645 Speed Reg Kp and P653 Spd Loop Damping Integral gain may be manually adjusted by setting P636 Speed Reg to a value of zero Integral gain has effective scaling of per unit torque sec per unit speed Proportional Gain Speed Reg Kp 645 This value is automatically calculated based on the bandwidth setting in P636 Speed Reg BW and P76 Total Inertia The proportional gain may be manually adjusted by setting P636 Speed Reg BW to a value of zero Proportional gain has effective scaling of per unit torque per unit speed The maximum allowable value of this parameter is limited by P76 Total Inertia an
83. holding position and transferring position reference back to its previous source If velocity control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding zero velocity and transferring velocity reference back to its previous source Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding position drive will then transfer position reference back to its previous source once it receives a start command If velocity control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding zero velocity drive will then transfer velocity reference back to its previous source once it receives a start command Digln 1 Find Home Speed Speed Control Speed Position 1 Pt Pt Control Homing to Marker Pulse with Feedback Upon activation of homing the drive will start moving in Speed Control mode and ramp to the speed and direction set in P735 Find Home Speed at the rate set in P736 Find Home Ramp When the Marker Pulse input is set the position count is latched and is considered the home position count after the marker pulse is reached the drive will then ramp to zero in P736 Find Home Ramp The drive will then perform a point to point position move back to the home position count in speed of 1 10 of P735 Find Home Speed When the motor is At Position and At Zero Speed
84. seyon sng T sng sBuney juano jueunz pue quur yw enbjo sod Jojeuuns 3 lt _ bio pue peo 205 4 Z Jou buoy duiag eouelejoH jee 60 uonou4 enbJo jou 501 qur qur aeo qur pases Jed yey uang enbo L JON IA Spo jueunt lt bi lt uonisog T jew enbio E 1 pesay jpeeds deis pases ee 1107 eou uondepy d eaul D99CS Lam n0 4 ay pds eoz eBeg swesbeig NdS 1010W jueueuueg eoeung 3 WI 4000 04juo enb4o 3 ow Rockwell Automation Publication 750 RM002A EN P September 2012 310 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Torque Control Overview Interior Permanent Magnet Motor uonosjes pue Buisseooud juano Jou ayey yueung jueun ait lt bi bi T3 T E PI Jeu PI uonesuay Jur pue jur qoz eBeg 42019 Wal 4ojo 1 10u9ju
85. ul Bia Dm sew Bia sis Bia D rd ru 4O 00 L LOM a ui Big E uo 008 Ies 004 yseW ani Big v Cor 2913 x ON 2 w rd su Pores Tapera D gt eojnos Bi uouuo 4 5 ONE ea aN qe wie Bia sis Gb di 5 sjnduj eDeg sweibey 20 YO 00H 62 bed 42019 J eybiq sindino 9 sjnduJ sjndjno H 5 a 8 v 321 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Inputs and Outputs Analog 1 Lino ig IH duj 5 07 Lino 011ndu jes f e SPA mam EG Fg aeos Tapera e O _I
86. 2012 Drive Configuration Chapter 1 P360 FS Speed Reg Kp Sweep mode Sets level the current must drop below A larger value requires less change in current to indicate detection Enhanced mode It s the Kp in the speed regulator used in the detection process Used along with P357 P361 FS Excitation Ki Sweep mode Integral term used to control the initial output voltage Enhanced mode Integral term used in the current regulator which controls the motor excitation if the detection process deemed it necessary to excite the motor P362 FS Excitation Kp Sweep mode Proportional term used to control the initial output voltage Enhanced mode Proportional term used in the current regulator which controls the motor excitation if the detection process deemed it necessary to excite the motor P363 FS Reconnect Dly Delay time used between the issued start command and the start of the reconnect function This is mainly used for power loss situations so the restart doesn t occur too quickly causing possible faults P364 FS Msrmnt CurLvl There are two different measurement methods used when in Enhanced mode If this parameter is set to zero the second method is cancelled and reconnect will be attempted after the first measurement Any other level change in this parameter could help the second measurement routine Usually a higher number helps more Rockwell Automation Publication 750 RM002A EN P September 2012 53 C
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88. A les Aeleos Wvod Y uogogjes A seomog Y i p o o jeu juo Y WYO uonisoq 3091518194 snonuguo 2 0 0 WYO 5 Lore NYOd 305 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 919915 pz sidas videsis ZZ JON 61 erdais LZ IBA 8 zides 02 deis yasay J Lidas 6L awnsey 9 vies 9915115 id ordas g paddois gy Nov ego 1 K 096 eles daisias ia edes 7 p 8 snieis 2195 9915145 10 sdas gp uonisog Cl Hes 1a ezzL zs 2 uny Z oles dajsuis odes IBA IG 121 sdas g apon uonisod 01 das uejses OL IG tdas Z 6 6 days uoqy ia edas
89. Also a partial or complete date or time value will not update until you press the gt soft key to enter the data You will have to press the soft key a second time to advance to another field or press the ESC soft key to return to the previous screen Press the gt soft key to select the month in the top line and use the numeric keys to enter the correct month Press the gt soft key to select the day in the top line and use the numeric keys to enter the correct day 10 To set the time set the drive to the current time Press the gt soft key to select the hour in the top line and use the numeric keys to enter the correct hour Press the gt soft key to select the minutes in the top line and use the numeric keys to enter the correct minute Press the gt soft key to select the seconds in the top line and use the numeric keys to enter the correct seconds 11 Press the ESC soft key to return to the previous screen Setting the Real Time Clock via Drive Software To set the real time clock using a software package like DriveExecutive or DriveExplorer software the procedure is the same l First press the Located at the top center of the application i File Edit View Drive Peripheral Tools Window Help 5sHan s ohes e Enabled z 0000 S Connection DPI Back Next p PowerFlex 755 Port 0 Files Ei Bl Node 192 168 1 20 Motor Control
90. Analyzer Feedback Channel Feedback 2 Motor Feedback D e DoidAg Scaling Units Rev X Hookup Tests Digital AqB Polarity Autotune Load Cycle Interpolation 4 Feedback Counts per Cycle Backlash Compliance bserver Startup Method Incremental v Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Cycle Resolution 1024 Feedback Cycles Rev Effective Resolution 4096 Feedback Counts per Rev Manual Tune Cancel Apply Help Rockwell Automation Publication 750 RM002A EN P September 2012 245 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Motor Load Feedback Motion Axis Parameters Categories General Motor Model Analyzer Motor Feedback Load Feedback Scaling Hookup Tests Polarity Autotune Load Backlash Compliance Observer Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag D Motion Axis Parameters Parameter Group Load Feedback X 1024 Feedback Cycles Rev Incremental Digital R Feedback2Type Manual Tune Table 18 Motor Load Feedback Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Feedback n Cycle Resolution
91. Axis Parameters Categories General 1 i ame a i E Motor Parameter Group Motor Z Analyzer Scaling Hookup Tests Polarity Autotune E Load Compliance Observer Velocity Loop Torque Current Loop Planner Actions Drive Parameters Parameter List Status Faults amp Alarms Tag 242 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 15 Permanent Magnet Motor Data Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Motor Overload Limit P413 Mtr OL Factor Motor Rated Continuous Current P26 Motor NP Amps Motor Rated Output Power P30 Motor NP Power Motor Rated Peak Current P422 Current Limit 1 Motor Rated Voltage P25 Motor NP Volts Motor Type P35 Motor Cntl Mode Rotary Motor Poles P31 Motor Poles Rotary Motor Rated Speed P28 Motor NP RPM Permanent Magnet Motor Model Motion Axis Parameters Axis Properties PF755 Axis Categories B Motor Analyzer Voltage Constant 00 Scaling Hookup Tests Polarity Inductance Ls 0 0 Autotune Load Compliance Observer Velocity Loop Torque Current Loop Planner Actions Drive Parameters Parameter Lis
92. Chapter 6 Regulator Flux Vector Speed Control sazz apo sdb1ds iov gt papales 2322 vite 9 doug piHiuiBesipds sesnuibespds ceo suondo pds did SD Bey soualajey enbjo 267 bij Bayg LPB OPd J0je189ju Aj20 9A dy Bay peed GewJuapds inding Ajo0J8A 29 CEOD dy Bey peeds ps0 huo suando pds sl sseq1 55941 Z 189 9 Sy biol job pee1 J9PJO aZ L 1eS UMS UM s ux dy 19113 ssayosuag jndino Bess SVE 104002 1 297 les nnno Bays Bes pds Snes qur Joug SSY dnyognuy Baypds A INO gu 2 297 29 14 558 MOT G9 NJ 08100 Aora 997 fro Bou poods 2 0852 did hno Bess nod Md nn ye smes HUT IW Upimpueg Mo enbio 206 Ben Bay pds janis i eds 959 sman
93. Control Method P65 VHz Curve Maximum Frequency P37 Maximum Freq Overtorque Limit P436 Shear Pin1 Level Overtorque Limit Time P437 Shear Pin 1 Time Run Boost P61 Run Boost Skip Speed 1 P526 Skip Speed 1 Skip Speed 2 P527 Skip Speed 2 Skip Speed 3 P528 Skip Speed 3 Skip Speed Band P529 Skip Speed Band Start Boost P60 Start Acc Boost Undertorque Limit P442 Load Loss Level Undertorque Limit Time P443 Load Loss Time Velocity Droop P620 Droop RPM at FLA Velocity Limit Negative P521 Max Rev Speed Velocity Limit Positive P520 Max Fwd Speed Rockwell Automation Publication 750 RM002A EN P September 2012 233 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Velocity Control Axis Properties Configuration General Axis Properties for Velocity Control Axis Configuration Velocity Loop Analyzer Feedback Configuration Motor Feedback Motor Feedback Tube 5 Scaling pplication Type Basic Hookup Tests Loop Response Medium Polarity Motion G I Autotune otion Group MotionGroup New Group El Load Compliance Associated Module Observer Velocity Loop Module PF755_Drive X Torque Current Loop Module Type PowerFlex 755 EENET CM S1 Power Structure 2400 4 24 Normal Duty Homing Actions Axis Number 1 Drive Parameters
94. Electric Company Work well with PowerFlex 755 drives Baumuller Work well with PowerFlex 755 drives Elin Work well with PowerFlex 755 drives Electrical Apparatus Company EAC Induction motors work well with PowerFlex 755 drives Lenze Some Lenze motors have been stamped with synchronous speed versus slip speed Please contact Lenze to get the slip speed Marathon Electric Work well with PowerFlex 755 drives Marathon stamps all pertinent information on their nameplate including electrical model equivalent Reliance RPM AC motors are used in industry and work well with PowerFlex 755 drives Reuland Electric Company Inc Work well with PowerFlex 755 drives Reuland stamps the motor with synchronous speed and then supplies the slip frequency You must calculate the slip frequency in rpm and then subtract the slip rpm from the synchronous speed to get the slip speed Before contacting Rockwell Automation Technical Support please obtain the electrical specification sent with the motor Rockwell Automation 8720 and HPK motors work well with PowerFlex 755 drives See the appropriate motor manual for the proper nameplate voltage SEW EURODRIVE SEW EURODRIVE gear motors are widely used in industry and work well with PowerFlex 755 drives Some of the older motors were stamped with synchronous speed versus slip speed Please contact SEWS if the motor is stamped with synchronous speed If you are using an SEW motor with an int
95. Feedhack amp Tl fy 14 DeviceLogix This dialog box appears ITM x General Status and Feedback Process Display Component Details Product owerFlex 759 User Text PowerFlex 755 Configuration pew 654 Language Engish Database Source SP Protocol Support DPI Seties fa 3 DB Created Using DPI Revision Last Upload Unknown Connection DPI Access Level 2 Expert Harmony Path 138 Rockwell Automation Publication 750 RM002A EN P September 2012 Diagnostics and Protection Chapter 3 2 Click the Status and Feedback tab 3 Click Display Alarms Faults Dialog PowerFlex 755 Properties 0 2012 02 10 20 22 25 014 2012 02 10 20 22 20 159 Port 14 Adapter 2012 02 10 20 22 05 525 Port 2 DPI Loss 2012 02 10 18 15 27 880 App ID Changed 2012 02 10 18 06 03 330 3 Drive Powerup 2012 02 10 18 06 03 330 PowerFlex 755 Fault Event and Alarm Information Ce ON a 1 0 1 Rockwell Automation Publication 750 RM002A EN P September 2012 139 Chapter 3 140 Diagnostics and Protection 5 Ifnecessary change the values in the Set Time Zone and Set Device Time dialog boxes E GMT 06 00 Chicago gt 2 m Custom Time Zone Standard Time Blas in Minutes fe S Daylight Saving Time Change Minutes fe 1 r Dayliaht Saving Time Start p Daylight Saving Time End Month Disabled Month Paanuary Week sunday 223 Week 1
96. IGBT Uses the same formulas as previous and is very similar to the Chopper Module sizing Step 1 Determine the Total Inertia Jr opu Jd Jy Total inertia reflected to the motor shaft kilogram meters2 kgem or pound feet2 Jm motor inertia kilogram meters2 kgem or pound feet2 Ibeft2 GR The gear ratio for any gear between motor and load dimensionless load inertia kilogram meters2 kgem or pound feet2 lbeft2 1 0 Ibeft 0 04214011 kgem Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Step 2 Calculate the Peak Braking Power 3 JrX 3 1 Jy Total inertia reflected to the motor shaft kgem rated angular rotational speed Rad s d N Rated motor speed RPM t5 ty total time of deceleration from the rated speed to 0 speed seconds P peak braking power watts 1 0HP 746 Watts Compare the peak braking power to that of the rated motor power if the peak braking power is greater that 1 5 times that of the motor then the deceleration time tz t5 needs to be increased so that the drive does not go into current limit Use 1 5 times because the drive can handle 15096 current maximum for 3 seconds Peak power can be reduced by the losses of the motor and inverter Step 3 Calculating the Maximum Dynamic Brake Resistance Value v3 Ray db1 P V4 The value of DC bus voltage that the drive regulates at a
97. Loop Bandwidth Integrator Bandwidth Integrator Hold and Error tolerance when used as a Velocity Loop values Motion Generator Section The Motion Generator is a subset of the Motion Direct commands that lets you control the axis motion for tuning Additional Tune Section This section allows adjustment to multiple settings of the axis properties Feedforward Tab Lets you adjust the Velocity Feedforward percentage and Acceleration Feedforward percentage Compensation Tab Lets you adjust the System Inertia percentage and Torque Offset percentage Filters Tab Lets you adjust the Torque Low Pass Filter Bandwidth and Torque Notch Filter Frequency e Limits Tab Lets you adjust the Peak Torque Limit Positive Negative percentages and Velocity Limit Positive Negative Units per Second values Planner Tab Lets you adjust the Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Acceleration Jerk and Maximum Deceleration Jerk values Rockwell Automation Publication 750 RM002A EN P September 2012 285 Chapter 6 Using an Incremental Encoder with an MPx Motor 286 Categories General 5 Motor Model Analyzer Motor Feedback Scaling Hookup Tests Polarity Autotune Load Backlash Compliance Observer Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Tune Integrated
98. Magnet For Interior Permanent Magnet motor control mode an additional limit is placed on the Speed Limit Overspeed threshold This threshold is not allowed to exceed the setting in P1641 IPM Max Spd and is a check P1641 IPM Max Spd is set to the speed at which the motor will produce the voltage limit of the drive If the drive faults while the motor is rotating at this speed the motor will produce a voltage at the output of the drive This voltage could damage the drive if the limit is exceeded This limit is calculated while performing the rotate portion of the Autotune tests For example if P1641 calculated to be 57 82 Hz then the overspeed limit threshold will be set by the Speed Limit Overspeed Limit parameters and the results will be limited to a value of 57 82 Hz Rockwell Automation Publication 750 RM002A EN P September 2012 Real Time Clock Diagnostics and Protection Chapter 3 The PowerFlex 755 is equipped with a real time clock with a battery backup This allows for programming of real time in the drive and keeping that time even if the drives power is removed This allows actual timestamps instead of runtime timestamps for faults and events It is also used in the runtime accumulation of maintenance items such as total run time number of times fans are running and so forth Ifa battery is installed and the time values are set time will be accumulated Approximate battery life is 4 5 years with drive unpowered
99. Net 14 Disabled 2 Applications 15 DL From Net 15 Disabled fq Default Custom 16 DL From Net 16 Disabled 8 2 20 HIM x6 17 DL Net 01 Port 0 Output Current 2 namda aan 18 DL To Net 02 Disabled Rockwell Automation Publication 750 RM002A EN P September 2012 123 Chapter2 Feedback and 1 0 Utilizing RSLogix 5000 Drive Add On Profiles and a datalink we can use the created descriptive controller tag highlighted below to communicate over a network to control the relay output 10 edt Wem Search Loge Communications Window a Na vie E ee me eji LETT ver es ecc acc ac ae 2 G Unscheduled Programs Phases Motion Groups 22 Ungrouped Axes Add On Instructions AlarmHistory A1 MachneSTATE AO A PF753 755 Faceplate Phase2 AOI 1756 Badplane 1756 A10 0 1756463 360 DriveAOP Test 9 1 1756ENITR EN3TR 8 85 Ethemet 1796 EN3TR ENSTR PowerFlex TSS EENET PPTSS Drive 280000 0000 0000 0000 0000 0000 0000 0001 Binay ol Decimal The picture below shows the result of controlling the digital output over the network yellow highlight C DriveExecutive AB ETHIP 1192 168 1 20 PowerFlex 755 lt PowerFlex 7552 f File Edi View Drive Peripheral Tools Window Help OS B SR
100. OL K ceo smejs spueg diys suondo pds Joajag pue 10 28A 40 28A 4 4 eBeg 12018 snes e ug L soupds Jo4juo2 9 0 z9 dorsais E 9 3 a v 297 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 evel jeuly soy Jos pds Speed Control Reference Sheet 4 ____ __ cms mur 7 syur peeds xew peeds peeds pm Xew jur PUNT sir Joy 4 les 3ndino did peeds seis eAug LLK 986 6ZOL 1 0 0 1m a 19W MANO Ald 859204 ilz e601 gt lt paeds 6 8 z jeoeg 6 8 K 628 ges z je2eq 158 21601 eAug z eun jeooy usy Le X Ovs jeoeg jeooy aning s dues 872 Cees 0 z jooov 1
101. PCAM Setup Wizard Port 0 PowerFlex 755 Startup Wizard Port 0 DPI DSI Tech Support Wizard Rockwell Automation Publication 750 RM002A EN P September 2012 191 Chapter5 Drive Features 3 Once the Welcome screen loads click Next Jag Datal oggingWizard 1 of 3 Welcome This wizard will log the values of up to 6 parameters in a single drive at x intervals over y time period The information is saved as a comma deliminated csv file for use with Microsoft Excel or any other spreadsheet program Clicking the Next gt button will allow you to configure the data logger When data logging is completed click the Finish gt gt button to close the wizard If you click the Finish gt gt button before the data logging is completed only the data collected up to that point will be saved in the file You can cancel the wizard at any time by clicking the Cancel button or the Close icon All logged data will be lost and the file will be deleted Wizard Revision 3213 Cancel lt Back Next gt Finish gt gt 2 The data logging wizard can be configured to log up to six parameters at a minimum sample rate of one second for a specified time or number of samples Sample Interval 000 00 00 hhh mm ss Size of Capture Time DOO 00 00 hhh mm ss C Samples c Max 65000 Parameters To Log Bit Position 192 Rockwell Automation Publication 750 RM002A EN P Se
102. PowerFlex 755 AC Drives When the test has been completed click Accept Test Results to save the results Motor Feedback This test is used to test the polarity of the motor feedback e Click Start and manually rotate the motor in the positive direction for the distance indicated in the Test Distance box When the test has been completed click Accept Test Results to save the results Commutation When using a permanent magnet motor this test must be run first The Commutation test is used to measure the commutation offset angle for the permanent magnet motor e When the test has been completed click Accept Test Results to save the results Use the resulting Controller Offset value Marker This test is used to check for the marker pulse on an incremental encoder e Click Start and manually move the motor until a marker pulse is detected When the marker pulse is detected the test will stop Click Accept Test Results to save the results Motor Analyzer The Motor Analyzer category offers three choices for calculating or measuring motor electrical data o Axis Properties 4 755 Analyze Motor to Determine Motor Model Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Dynamic Motor Test This test is the most accurate test method to determine the motor model parameters When this test is run the Resist
103. Run Permit state if the following is true 3 Wire mode it is not faulted and if all Enable and Not Stop inputs are energized e 2 Wire mode it is not faulted and if all Enable Not Stop and Run inputs are energized Power Loss Modes The drive is designed to operate at a nominal input voltage When voltage falls below this nominal value by a significant amount action can be taken to preserve the bus energy and keep the drive logic alive as long as possible The drive has three methods of dealing with low bus voltages e Coast Disable the drive and allow the motor to coast default Decel Decelerate the motor at a rate that will regulate the DC bus until the load s kinetic energy can no longer power the drive Continue Allow the drive to power the motor down to 50 of the nominal DC bus voltage When power loss occurs P959 Alarm Status Bit 0 turns on if the P449 Power Loss Actn is set to 1 Alarm If the P449 Power Loss Actn is set to 3 FltCoastStop the drive will fault with a F3 Power Loss fault when the power loss event exceeds P452 455 Pwr Loss A B Time Rockwell Automation Publication 750 RM002A EN P September 2012 63 Chapter 1 Drive Configuration 64 The drive faults with 24 UnderVoltage fault if the bus voltage falls below Vmin and the P460 UnderVItgAction is set to 3 FltCoastStop The pre charge relay opens if the bus voltage drops below
104. S Bio sew aum 888 SL 0 SL suqiuul veis 21601 Jo 0 Le eBeg suieibeiq y2019 2160 J04ju02 Ajeoid ee 941 uod 9 Idd S Idd uod Idd Idd Idd uod Ida syndy 323 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 es ng JUNYS 788 JuNYS 288 986 sneMesindixa g zZyeH 100W LOOE peioejes eouejsise junug 988 031009 AJ 34 JO SREM aQ Cree ed 20 51 JoyejnBay 5 SSS SS eee ZH H AW Aue jeuonounj jou swyo 1015159 10191 junus 188 ZH peeds SIBJOWLIE x 1 gA dy sng Tosoh c 296 Di sng py yu sng dy pwr sng dy Bey sng w sng sng 088 Bay sng tLe Bay sng
105. Spd Ref A Sel Analog In 1 P547 Spd Ref A AnlgHi 60 Hz P548 Spd Ref A AnlgLo 0 Hz P61 AnlgIn1 Hi 10V P62 AnlgInl Lo 0V This is the default setting where 0 volts represents 0 Hz and 10 volts represents 60 Hz providing 1024 steps 10 bit analog input resolution between 0 and 60 Hz Input Volts Output Hertz Example 2 Consider the following setup P255 Anlg In Type Bit 0 0 voltage P545 Spd Ref A Sel Analog In 1 P61 AnlgIn1 Hi 10V P62 AnlgInl Lo 0V P547 Spd Ref A AnlgHi 60 Hz P548 Spd Ref A AnlgLo 0 Hz P520 Max Fwd Speed 45 Hz P522 Min Fwd Speed 15 Hz Rockwell Automation Publication 750 RM002A EN P September 2012 87 Chapter2 Feedback and 1 0 This configuration is used when non default settings are desired for minimum and maximum speeds but full range 0 10V scaling from 0 60 Hz is still desired P61 Anlg In1 Hil P522 Min Fwd Speed P520 Max Fwd Speed 10V pe 7 7 Motor Operating Range lt Frequency Deadband Frequency Deadband gt 0 2 5 Volts 7 5 10 Volts A Command Frequency P62 Anlg In1 Lo 7 on 45 Hz 60 Hz P548 Spd Ref A AnlgLo Slope defined by Analog Volts Command Frequency P547 Spd Ref A AnlgHi In this example a deadband from 0 2 5 volts and from 7 5 10 volts is created Alternatively the analog input deadband coul
106. T gt Sleep gt Safety gt Startup Reserved 7 Reserved S Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved amp 7 Reserved Reserved S Reserved C gt Reserved Reserved Reserved Reserved Default Bit Database 2 stop S Precharge Enable gt gt gt Faulted S Reserved un w gt Reserved N N N Mo 29 28 w 1 PowerFlex 755 drives only 0 False 1 True Bit 0 Faulted Drive is in a faulted state See P951 Last Fault Code Bit 1 Alarm A Type 2 alarm exists See P961 Type 2 Alarms Bit 2 Enable An Enable input is open Bit 3 Precharge Drive is in precharge See P321 Prchrg Control P11 DC Bus Volts Bit 4 Stop Drive is receiving a stop signal See P919 Stop Owner Bit 5 Database Database is performing a download operation Bit 6 Startup Startup is active and preventing a start Go to Start Up Routine and abort Bit 7 Safety Safety option module is preventing a start Bit 8 Sleep Sleep function is issuing a stop See P 350 Sleep Wake Mode P351 SleepWake RefSel Bit 9 Profiler Profile
107. Torque Cur Fdbk 7 Output Current 8 Output Voltage 11 DC Bus Volts 2 26 Jan 12 3 03 34 PM 645 641 03 34 6 0 0 0 0 0 554 53 3 26 12 3 03 35 PM 614 1610 03 35 6 0 0 0 0 0 554 54 4 26 Jan 12 3 03 36 PM 568 2564 03 36 6 0 0 0 0 0 554 54 5 26 Jan 12 3 03 37 PM 569 3565 03 37 6 0 0 0 0 0 554 54 6 26 Jan 12 3 03 38 PM 569 4565 03 38 6 0 0 0 0 0 554 54 7 26 Jan 12 3 03 39 PM 617 5613 03 39 6 0 0 0 0 0 554 54 8 26 Jan 12 3 03 40 PM 586 6582 03 40 6 0 0 0 0 0 554 55 9 26 Jan 12 3 03 41 681 7677 03 41 7 1 81 0 29 0 06 0 28 166 87 554 48 10 26 Jan 12 3 03 42 PM 682 8677 03 42 7 7 87 5 7 0 01 0 09 36 93 554 14 11 26 Jan 12 3 03 43 682 9678 03 43 7 13 88 11 71 0 01 0 1 75 56 554 13 2 26 12 3 03 44 730 10726 03 44 7 20 07 18 0 01 0 1 121 08 554 13 13 26 Jan 12 3 03 45 731 11727 03 45 7 26 06 23 98 0 01 0 08 167 21 554 13 Energy Savings 196 Setting the motor control mode P35 Motor Ctrl Mode to Induct Econ 2 or Induction Economizer mode will enable additional energy savings within the drive To be specific additional energy savings can be realized in constant torque applications that have constant speed reduced load periods Induction Economizer Induction Economizer mode consists of the sensorless vector control with an additional energy savings function When steady state speed is achieved the economizer becomes active and automatically adjusts the drive output voltage based on applied load By mat
108. Torque Current Loop Axis Number 1 h Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Tune Cancel Apply 9 Select the Motor Feedback category 10 From the Type pull down menu choose the appropriate motor feedback 11 In the Cycle Resolution box type the appropriate value for your device 12 From the Startup Method pull down menu choose the appropriate value for your device Axis Properties Dual Loop Axis Categories Motor Feedback Device Specification General G odel Device Function Motor Mounted Feedback Paani Analyzer Feedback Channel Feedback 1 Motor Feedback Type Dita Load Feedback j Digital Ade M Scaling Units Rev bd Hookup Tests Digital AqB Polarity Cycle Resolution 024 Feedback Cycles Rev Autotune Load Cycle Interpolation Feedback Counts per Cycle Backlash Effective Resolution 4096 Feedback Counts per Rev Compliance Observer Startup Method incremental Position Loop Velocity Loop Torque Current Loop Planner Homing Rockwell Automation Publication 750 RM002A EN P September 2012 225 Chapter 6 226 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 13 14 15 16 17 18 Select the Load Feedback category From the Type pull down menu choose the appropriate load feedback device From the Units pull down m
109. V20 5 8 1 1756 EN2TR 5 85 Ethernet fJ 1756EN2TR e EPowerFlex 55 EENET CM 51 DM1 The Module Properties dialog box appears Rockwell Automation Publication 750 RM002A EN P September 2012 261 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 2 Click the Power tab and configure the appropriate boxes according to your application Module Properties PowerFlex 755 51 4 1 oj x General Connection Time Syne Module Info Internet Protocol Port Configuration Associated Axes Power Digital Input 4 Power Structure 480 2 14 Normal Duty Advanced 20G11ND2P1 Regenerative Power Limit 50 000 Regulator Rated Bus Regulator Action shunt Regulator Shunt Regulator Resistor External C Internal External Shunt custom O External Shunt Resistance 31 000 Ohms External Shunt Power Kilowatts External Shunt Pulse Power 2 000 Kilowatts Status Offline OK Cancel Regenerative Power Limit The amount of energy that the drive will allow during regeneration If an external regenerative power supply or shunt dynamic brake resistor is used it is recommended that this value be set to 200 0 Important If this value is set too low the ability of the drive to stop a motor will be limited Bus Regulator Action Disabled This selection disables the drive s inte
110. Y Y IM 1322 Set Motor Overload Limit Y Y Y Y 1323 Set Motor Integral Thermal Switch N N N 1324 Set Motor Max Winding Temperature N N N 1325 Set Motor Winding To Ambient Capacitance N N N 1326 Set Motor Winding To Ambient Resistance N N N 2310 Set PM Motor Flux Saturation N N N PM Motor only 1339 Set PM Motor Rated Torque N N N Rotary PM Motor only 1340 Set PM Motor Torque Constant N N N Rotary PM Motor only 1342 Set PM Motor Rated Force N N N Rotary PM Motor only 1343 Set PM Motor Force Constant N N N Rotary PM Motor only 1330 Set Rotary Motor Inertia N Y Y N Rotary Motor only 1332 Set Rotary Motor Max Speed N N N Rotary Motor only 1333 Set Rotary Motor Damping Coefficient N N N Rotary Motor only 2311 Set Rotary Motor Fan Cooling Speed N N N Rotary Motor only 2312 Set Rotary Motor Fan Cooling Derating N N N N Rotary Motor only 1336 Set Linear Motor Mass N N N Linear Motor only 1337 Set Linear Motor Max Speed N N N Linear Motor only 1338 Set Linear Motor Damping Coefficient N N N Linear Motor only 2313 Set Linear Motor Integral Limit Switch N N N Linear Motor only 1349 Set Induction Motor Magnetization Reactance N N N Ind Motor only 1350 Set Induction Motor Rotor Resistance N N N N Ind Motor only 1352 Set Induction Motor Rated Slip Speed Y Y Y N Ind Motor only 1370 Set Load Type N N N DScale 1371 Set Transmission Ratio Input N N N DScale 1372 Set Transmission Ratio Output N N N DScale 1373 Set Actuator Type N N N DScale 13
111. a pue 224 usq 518 E 2 i IHW pds 9 0 27 V Jepooujg 195 Z 1980 usd Lp8d 9 usd onun pds g isio t JenulA s 9284 jenjov 5 TOPOS m pajqeus si uonounj 99 3 2 youeuresyo Z 501 0 om euo EIE E Jesyo uonisod SC 019Z 178d 43pJ usd usd Z O K pzz Ip E Ww si cad envoy Cus USd 8 ki usd S 0 19 12 4 0197 41 L 10u09 uonisod WW 393 usd 0 juod SHO di auByupesyo 0 1033002 1 uonisog ___ e 9 i c 92 Rockwell Automation Publication 750 RM002A EN P September 2012 302 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Position Control Aux Functions bb snes Bay sog ui 921 pueg usd ui 109 90 uonisoq ul gt uj zu xieMusd un yem UONISOd e zuoie usd 0108 85
112. allow you to configure the internal trending of the drive You can cancel the wizard at any time by clicking the Cancel button or the Close icon Any partially uploaded data will be lost Wizard Revision 3214 Back Next gt Finish The Configure Trend window lets you customize the following high speed trend details Trend Mode dictates number of trend buffers total number of samples and the minimum interval sample rate Pre Trigger samples dictates number of samples to include in the trend before the trigger Sample Interval the time interval between trend data samples Trigger Setup dictates how the data trend is triggered a Comparing two parameters b Comparing a parameter against a constant c A test bit in a parameter Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Features Chapter 5 Trend Buffers dictates the drive and or peripheral parameters and diagnostic items that will be trended High Speed Trend Wizard 2 of 2 vE Welcome Download Upload 5 To configure the Trigger Setup and Trend Buffers click the Ellipse button Welcome GE 8 buffers of 4096 samples minimum interval of 1 024 ms 0 1 024 Undefined Undefined Not used Not used Not used Not used 9949 Rockwell Automation Publication 750 RM002A EN P September 2012 199 Chapt
113. automatically and properly formatted This eliminates the need for data conversion using COP copy instructions ora UDDT to copy the DINT data into a REAL word The Reference and Feedback 32 bit REAL value represents drive speed The scaling for the speed Reference and Feedback is dependent on drive P300 Speed Units For example if P300 is set to Hz a 32 bit REAL Reference value of 30 0 would equal a Reference of 30 0 Hz If P300 is set to RPM a 32 bit REAL Rockwell Automation Publication 750 RM002A EN P September 2012 173 Chapter 4 174 Motor Control Reference value of 1020 5 would equal a Reference of 1020 5 RPM Note that the commanded maximum speed can never exceed the value of drive P520 Max Fwd Speed Table 8 shows example References and their results for a PowerFlex 755 drive that has its P300 Speed Units set to Hz P37 Maximum Freq set to 130 Hz P520 Max Fwd Speed set to 60 Hz When P300 Speed Units is set to RPM the other parameters are also in RPM Table 8 PowerFlex 755 Drive Example Speed Reference Feedback Scaling Network Reference Value Speed Command Value Output Speed Network Feedback Value _ 000 mm Jew C 65 0 65 Hz 60 Hz 60 0 325 32 5 Hz 32 5 Hz 325 0 0 0 Hz 0 0 32150 32 5 Hz 32 5 Hz 325 1 effects of values less than 0 0 depend on whether the PowerFlex 755 drive uses a Bipolar or Unipolar Direction mode See the drive do
114. equal to the value in P352 Sleep Level Setting P350 Sleep Wake Mode to 1 Direct enables the sleep wake function to work as described An Invert mode also exists which changes the logic so that an analog value less than or equal to P354 Wake Level starts the drive and an SleepWake RefSel signal greater than or equal to P352 Sleep Level stops the drive Related Sleep Wake parameters noted below Parameter Name Description Enables disables the Sleep Wake function Selects the source of the input controlling the sleep wake function Defines the SleepWake RefSel signal level that will stop the drive Defines the amount of time at or below 352 Sleep Level before a Stop is issued Defines the SleepWake RefSel signal level that will start the drive Defines the amount of time at or above 354 Wake Level before a Start is issued Parameter No 350 Sleep Wake Mode 351 SleepWake RefSel 352 Sleep Level 353 Sleep Time 354 Wake Level 355 Wake Time Sleep Wake Operation Drive Run Sleep Wake Function Start Stop Sleep Timer Satisfied Sleep Level Satisfied Wake Timer Satisfied Wake Level Satisfied Wake Level Sleep Level A VO A O Analog Signal E Example Conditions Wake Time 3 Seconds Sleep Time 3 Seconds 68 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Requirements In addition to enab
115. instantaneous DC Bus Voltage Bus memory is used as a comparison value to sense a power loss condition If the drive enters a power loss state the bus memory will also be used for recovery for example pre charge control or inertia ride through upon return of the power source Update of the bus memory is blocked during deceleration to prevent a false high value caused by a regenerative condition Occasionally three phase power sources can fail on one phase while continuing to deliver power between the remaining 2 phases single phase Operating above 50 output under this single phase condition can damage the drive If such a condition is likely we recommend that Input Phase Loss Detection be enabled The drive can be programmed to turn on an alarm bit or issue a drive fault minor or major The drive accomplishes this by interpreting voltage ripple on the DC bus Configuring Input Phase Loss Action P462 InPhase LossActn The following bits configure Input Phase Loss action Ignore 0 No action is taken This may seriously degrade the drive Alarm 1 Type 1 alarm indicated Flt Minor 2 Minor fault indicated If running drive continues to run Enable with P950 Minor Flt Cfg If not enabled acts like a major fault FltCoastStop 3 Major fault indicated Coast to Stop Flt RampStop 4 Major fault indicated Ramp to Stop e Flt CL Stop 5 Major fault indicated Cur
116. is closed the integrator for the Process PID loop will be held at the current value If this input function is open the integrator for the Process PID loop will be allowed to increase DI PID Reset If this input function is closed the integrator for the Process PI loop will be reset to 0 If this input function is open the integrator for the Process PI loop will integrate normally DI PID Invert If this input function is closed the PI Error is inverted If this input function is open the PI Error is not inverted DI Torque StptA This digital input function is used to force P676 Trq Ref A Stpt as the source for Torque Reference A regardless of the setting in P675 Trq Ref A Sel Used when the drive is in a mode that is commanding torque Refer to P309 Spd ItqPsn Mode A P310 SpdTrqPsn Mode B P311 Spd IrqPsn Mode C and P312 SpdTrqPsn Mode D DI Fwd End Limit DI Rev End Limit These digital input functions are used to trigger a Forward End Limit and or a Reverse End Limit The resulting action depends on whether the drive is operating as a speed torque or position regulator The mode of operation is indicated by P935 Drive Status 1 Bit 21 Speed Mode Bit 22 PositionMode and Bit 23 Torque Mode When the drive is operating as a speed regulator the resulting action is to execute a Fast Stop command After the drive stops in this case it will only restart in the opposite direction if given a new start com
117. line along the graph 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 i 1 1 1 1 1 i 1 1 1 1 1 4 1 1 1 1 1 1 1 1 1 1 1 1 4 1 1 1 1 1 T 1 1 1 1 1 521 Max Rev Speed 305 2 Commanded SpdRef Eno pas Pn 546 Spd Ref A Stpt L 520 Max Fwd Speed 522 Min Fwd Speed 523 Min Rev Speed Maximum Frequency P37 Maximum Freq defines the maximum reference frequency The actual output frequency may be greater as a result of slip compensation and other types of regulation Rockwell Automation Publication 750 RM002A EN P September 2012 179 Chapter4 Motor Control Speed Regulation 180 number of parameter are used to control speed regulation Overall Operation for Sensorless Vector Control and Volts per Hertz Control The drive takes the speed reference and adjusts it using a proportional and integral regulator to compensate for slip and the programmed limits Overall Operation for Flux Vector Control The drive takes the speed reference that is specified by the speed reference control loop and compares it to the speed feedback The speed regulator uses proportional and integral gains along with other advanced tuning features to adjust the torque reference that is sent to the motor The torque reference is used to operate the motor at the specified speed The regulator is designed for optimal bandwidth for changing
118. motor actuator combination http www rockwellautomation com literature To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative Software Tools Integrated Architecture Builder can be downloaded at http www rockwellautomation com en e tools configuration html Motion Analyzer can be downloaded at http motion analyzer com 214 Rockwell Automation Publication 750 RM002A EN P September 2012 Coarse Update Rate Control Modes for PowerFlex 755 Drives Operating on the Integrated Motion on the EtherNet IP Network Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 The position loop for the PowerFlex 755 drive is updated at a rate of 1 024 ms 1024 During each position loop update the drive can either read or write data to the embedded Ethernet port but cannot do both operations during the same update Therefore the drive can receive only new updates every other position loop update event To read new information from the Motion Planner that is controller the minimum coarse update rate must be 2 5 ms or greater to be sure that no data packets are lost If the PowerFlex 755 drive is operated at a coarse update rate of less than 2 5 ms data packets can be lost resulting in the drive interpolating between missed updates and or the drive may fault if enough data packets are missed c
119. operation when they are adjusted unwisely Rockwell Automation Publication 750 RM002A EN P September 2012 41 Chapter1 Drive Configuration Configurable Human Interface Module Removal 42 With the PowerFlex 750 Series the drives response to HIM communication loss removal is configurable This feature is available in drives with firmware revision 3 0 or later It is used to prevent unintended stopping of the drive by disconnecting the HIM However the HIM cannot be the sole source of a Stop command to enable this feature The configuration is similar to the communication adapter communication loss selections e 0 Fault e l Stop e 2 Zero Data e 3 Hold Last e Send Fault Config The default setting is 0 Fault The HIM can be connected to one 1 of 3 ports per the parameters below Each port is configured separately P865 DPI Pt1 Flt Actn to determine the fault action at port 1 P866 DPI Pt2 Flt Actn to determine the fault action at port 2 P867 DPI Pt3 Flt Actn to determine the fault action at port 3 If Send Flt Cfg is to be selected for the fault action then configure the appropriate parameter below e P868 DPI Pt1 Flt Ref to set the speed reference if the HIM at port 1 is disconnected P869 DPI Pt2 Flt Ref to set the speed reference if the HIM at port 2 is disconnected P870 DPI Pt3 Flt Ref to set the speed reference if the HIM at port 3 is disconnecte
120. or isolating the resistor from the DC bus The Chopper Transistor Voltage Control regulates the voltage of the DC bus during regeneration The average value of DC bus voltage is 375V DC for 230V AC input 750V DC for 460V AC input and 937 5V DC for 575V AC input The voltage dividers reduce the DC bus voltage to a low enough value that is usable in signal circuit isolation and control The DC bus feedback voltage from the voltage dividers is compared to a reference voltage to actuate the Chopper Transistor The Freewheel Diode FWD in parallel with the Dynamic Brake Resistor allows any magnetic energy stored in the parasitic inductance of that circuit to be safely dissipated during turn off of the Chopper Transistor Figure 15 Chopper Module Schematic DC Bus Voltage Bus Caps Divider Dynamic Brake gt To Resistor Contro Signal Common Crowbar p Voltage Chopper Divider Transistor Bus Caps Chopper Transistor Voltage Control To Voltage Fus Control To DC Bus Crowbar SCR Gate Sizing the Dynamic Brake Module Gather the following information 1 The nameplate power rating of the motor in watts kilowatts or horsepower 2 The nameplate speed rating of the motor in rpm or rps Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 3 The motor inertia and load inertia in kilogram meters2 or I
121. pajyep yeod 91J INAL S s 210 x BUYI x Ng 941 leay 1dis 3104 Geor SJUBJSUOD L v Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 zard High Speed Trending Wi Jayng puaa 0 9 puss 2 Jeyng 9 Jayng pueJ Jeyng puas ng 2 Jayng pueJ puss ASO 0 saying puel snsey peojumoq puss peojumoqypeojdn pua4 sejdues sejdues sejduies 9607 9607 sejduies 9607 9607 960t 960p 960p 960p 20 ZO enoo 20 201 20 Z Jo ZO puas Jig JO I4 seoinos pues Ajpeds SEA uu esje4 Jo anJ s PMSA PN 40 c ES e 1 PN 510 gt lt k
122. result in permanent damage to the main control board X The slip regulator is used to compensate for temperature changes in an induction motor when FOC is used The slip regulator uses a model of the motor to determine the desired d axis voltage for a given operating point A PI regulator is then used to change the drive s slip gain controlling the d axis motor voltage This in turn compensates for motor temperature resistance changes The operation of the slip regulator is limited to regions where there is sufficient voltage feedback or estimate for the regulator to converge As default the slip regulator is enabled This regulator should never be disabled If you feel you need to disable this function you should consult the factory for verification Rockwell Automation Publication 750 RM002A EN P September 2012 Dynamic Braking Chapter 4 Motor Control When an induction motor s rotor is turning slower than the synchronous speed set by the drive s output power the motor is transforming electrical energy obtained from the drive into mechanical energy available at the drive shaft of the motor This process is referred to as motoring When the rotor is turning faster than the synchronous speed set by the drive s output power the motor is transforming mechanical energy available at the drive shaft of the motor into electrical energy that can be transferred back into the utility grid This process is referred t
123. result is used thus making the function useful for bipolar direction applications The analog in loss function configured by the Anlg Inz LssActn parameter is unaffected and therefore operational with the sleep wake function but not tied to the sleep or wake levels and is triggered off the Anlg Inz Raw Value parameter Refer to the PowerFlex 750 Series AC Drives Programming Manual publication 750 PMO001 for more details Rockwell Automation Publication 750 RM002A EN P September 2012 71 Chapter1 Drive Configuration Start Permissives 72 Start permissives are conditions required to permit the drive to start in any mode such as run jog or auto tune When all permissive conditions are met the drive is considered ready to start The ready condition is confirmed through the ready status in P935 Drive Status 1 Permissive Conditions Na ve Y N No faults can be active No Type 2 alarms can be active The DI Enable input if configured must be closed The DC bus precharge logic must indicate it is a start permissive All Stop inputs must be negated nor any drive functions are issuing a stop No configuration changes parameters being modified can be in progress The drive s safety option module logic must be satisfied If a CIP Motion connection is active and if alignment is set to Not Aligned then the CommutNotCfg bit will be high on To clear this start inhibit from the Axis Properties
124. seconds Duty Rating Normal Not applicable Heavy 65 75 of normal One minute of 3 seconds of duty normal duty normal duty The Kinetix 7000 drive overload capability is specific for each power structure However the Kinetix 7000 can produce 100 current at 0 Hz With permanent magnet motors the torque is directly proportional to the current Therefore the overload ratings of the drive to which the motor is connected provides the torque overload capability of the motor Rockwell Automation Publication 750 RM002A EN P September 2012 259 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives PowerFlex 755 Drive Option Module Configuration and Restrictions 260 When the PowerFlex 755 drive is configured for an Integrated Motion on the EtherNet IP Network application only specific option modules are supported and in some cases the port in which the option module is installed in the control pod is restricted IMPORTANT The PowerFlex 750 Series 1 0 option modules 20 750 2262C 2R 20 750 2263C 1R2T 20 750 2262D 2R must not be used with the Integrated Motion on the EtherNet IP Network Supported Modules Valid Port Installation Location Cat No Option Module Name 20 750 S Safe Torque Off 6 20 750 51 Safe Speed Monitor 6 20 750 ENC Single Incremental Encoder 4 8 20 750 DENC Dual Incremental Encoder 4 8 20 750 UFB Universal Feedback
125. status light will be flashing yellow Refer to the PowerFlex 750 Series AC Drives Programming Manual publication 750 PM001 for a complete list of Type 2 Alarms Rockwell Automation Publication 750 RM002A EN P September 2012 107 DigIn Cfg B Digital input conflict Input functions that cannot exist at the same time have been selected Correct Digital Input configuration DigIn Cfg C Digital input conflict Input functions that cannot be assigned to the same digital input have been selected Correct Digital Input configuration Block Diagrams Figure 8 PowerFlex 753 Dig In Filt Mask Digital In Sts 22 2 220 72 1 2237 Dig In In Com 222 Dig In Filt Mask Ind 24V DQ Ind gt 115V AC Com Figure 9 PowerFlex 755 Digital In Sts 220 Ind 24V DO Ind gt 115V AC Com Rockwell Automation Publication 750 RM002A EN P September 2012 Feedbackandl O Chapter 2 Figure 10 PowerFlex 750 Series Option Module Dig In Sts Dig In Fi In5 2 Filter Dig In Filt Mask Dig In Fi In4 2 Filter Dig In Filt Mask Dig In Fi In3 eH Filter Dig In Filt Mask zz CD E Dig In Filt In2 2 ilter Dig In Filt Mask Dig In Filt Int e Filter Dig In Filt Mask Dig In Filt Ind ilter Dig In Filt Mask Com aH Rockwell Automation Publicatio
126. the Drive Add On Profiles AOPs affect ADC Configuring a PowerFlex 755 Drive firmware 4 001 or later for ADC ADC and Logix Memory e Storing the Drive s and Peripherals Firmware in the Logix Controller Firmware Supervisor Special Considerations When Using a DeviceLogix software Program Special Considerations When Using a 20 750 S1 Safe Speed Monitor Module e Monitoring the ADC Progress e Examples of potential issues and solutions Rockwell Automation Publication 750 RM002A EN P September 2012 23 Chapter1 Drive Configuration Autotune 24 The Autotune feature is used to measure motor characteristics The Autotune feature is made up of several individual tests each of which is intended to identify one or more motor parameters These tests require motor nameplate information to be entered into the drive parameters Although some of the parameter values can be changed manually the best performance of the drive will be with measured values of the motors parameters Each motor control mode requires its own set of tests to be performed The information obtained from these measurements is stored in the drives non volatile memory for use during operation of the drive The feature allows these tests to be separated into tests that don t require motor rotation Static Tune all tests within the selected control mode Rotate Tune or if the control mode requires the Inertia Inertia Tune The Autotune tests are sele
127. the EtherNet IP Network Applications for PowerFlex 755 AC Drives Torque Control Current Interior Permanent Magnet Motor ways uonoejoJd jeuueu quur queuing IBW Aa 1071402 uogoges 1 0 Zw juango yun nee jur jueuno L cm Jes jueun any lt gt o y ywq you lt gt PI zi 2129 jur eje jueung p Ur ee qun jeu queuing P4 A l 8b junsoqmobii 7L 976 Snes PI OL Sod n eBeyoA Cos enbio sod umd 2892 19202 Jeu poyu AW 82 ymd ve amp ez Ben bir 22 wey 92 As wT AND 407 yw 16 2129 lt lt eL p rat mM i xen rm uebey jur Jamog yw
128. the application type tuning defaults An X indicates that the system value is selected by default and that the Velocity and Acceleration Feedforward values will be set to 100 Position Loop Position Velocity Loop Velocity Integrator Hold Velocity Acceleration Bandwidth Integrator Bandwidth Integrator Feedforward Feedforward Bandwidth Bandwidth Custom X X Advanced tuning Basic X X Default tuning parameters Tracking X X X X X Winding unwinding flying shear and web control applications Point to Point X X X X Pick and place packaging cut to length Constant Speed X X X X Conveyors line shaft crank Rockwell Automation Publication 750 RM002A EN P September 2012 279 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 9 Axis Properties 4_755 nl x Categories General Tune Control Loop by Measuring Load Characteristics x P Application Perform Tune DANGER Starting tuning oe Type E procedure with controller in Analyzer e Start Stop Program or Run Mode causes Motor Feedback Medium z axis motion Sealing ee Tune Status Ready Hookup Tests ping Rigid Loop Parameters Tuned Polat oe rn fe Customize Gains to Tune PositionLoopBandwidth 2 8670723 Hz Load Position Integrator Bandwidth Positionintegrato
129. the drive uses is selected from any digital inputs residing on an attached I O module by P734 DI OL Home Limit There would be no marker pulse input associated with open loop homing Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Features Chapter 5 Homing Activation A homing function can be selected by either a digital input or a parameter The digital input is selected from any digital inputs residing on an attached I O module by Find Home Sel or Return Home Sel To select the homing function from a parameter set Bit 0 Find Home or Bit 3 Return Home of Homing Control Cnfg parameter The homing sequence can be selected regardless of the mode selected in P313 Actv SpIqPs Mode If the drive has a feedback option module a vector type control must be selected in Motor Cnd Mode parameter If there is no feedback option module any type of control can be selected When the Find Home function is selected by either a digital input or a parameter either Bit 1 Home Switch or Bit 2 Home Maker or both must be selected in Homing Control Cnfg parameter When the Return Home function is selected by either a digital input or a parameter a selection of Bit 1 Home Switch or Bit 2 Maker of Homing Control Cnfg parameter will be ignore To activate a Homing function a drive start command is required if the drive is stopped Ifa drive is running the drive must be At Zero Spe
130. the drive will fault While the option module uses the Manual mode it has no way to provide a speed reference or start the drive The following parameters must thus be configured P326 Manual Cmd Mask Turn off the bit corresponding to the safety option s port to allow modules installed in other ports to continue to control the drive when it is operating in Manual mode For example if the safety option is installed in port 6 then turn off Bit 6 in this parameter P327 Manual Ref Mask Turn on the bit corresponding to the safety option s port to allow the safety option to command the drive to use its Manual Speed Reference when it is operating in Manual mode For example if the safety option is installed in port 6 then turn on Bit 6 in this parameter P328 Alt Man Ref Sel Set this parameter to select the desired speed reference when the drive is operating in Manual mode For example set this parameter to the value Port 0 Preset Speed 1 to configure the drive to use its P571 Preset Speed 1 parameter as the Manual Speed Reference In this case the drive s P571 Preset Speed 1 parameter must be less than the P55 Safe Speed Limit parameter in the safety option to avoid causing an SLS Speed Fault See the Safe Speed Monitor Option Module for PowerFlex 750 Series AAC Drives Safety Reference Manual publication 750 RM001 for more information Rockwell Automation Publication 750 RM002A EN P September 2012 Automatic Dev
131. 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 DI Coast Stop With this digital input function an open input will cause the drive to Coast to Stop The drive acknowledges the stop command by shutting off the output transistors and releasing control of the motor The load motor will coast or free spin until the mechanical energy is dissipated Rockwell Automation Publication 750 RM002A EN P September 2012 101 Chapter 2 Feedback and 1 0 102 DI Start An open to closed transition while the drive is stopped will cause the drive to run in the current direction unless the Stop input function is open If Start is configured then a Stop must also be configured DI Fwd Reverse This digital input function is one of the ways to provide direction control when the Start or functions not combined with direction are used An open input sets direction to forward A closed input sets direction to reverse If state of input changes and drive is running or jogging drive will change direction DI Run Forward DI Run Reverse These digital input functions cause the drive to run and with a specific direction as longas the configured input is held closed Also these 2 wire settings prevent any oth
132. their respective companies Overview Drive Configuration Feedback and 1 0 Diagnostics and Protection Table of Contents Preface Who Should Use This Manual eee 7 What Is Not in This Manual das el co E eT ya 7 Additional Resources isis poter ERANT 7 Allen Bradley Drives Technical 9 Product 9 Manual Conventions eae 9 General Precautions 10 1 vv uod tur o P te e d a 13 Auto Restart de eR 13 Auto Man susce ee pde beu M rM eS bus de 15 Automatic Device cess Nee teed tees lene 23 poet Siig RTL ERE EMEND NE NOM 24 Auxiliary Power Supply wie te cauere 30 Bus Regulation TL 30 Configurable Human Interface Module Removal 42 Duty Ravine Deed Ud ds e ERES 43 44 Stake ou ciet vH iad cua opc den 44 duae eC ro aam d 55 Mas C m MC s 59 Powerlosss eem c Eabb ted ae eda HG 62 Reset Parameters Factory Defaultsa titan Mute 66 Sleep Wake Mode osea y dos a RU tede gra v
133. then the output is shut off e Use of the current regulator verifies that over current trips don t occur and allow for an easily adjustable and controllable level of braking torque Use of the bus voltage regulator results in a smooth continuous control of the frequency and forces the maximum allowable braking torque to be utilized at all times IMPORTANT __ For this feature to function properly the active Bus Reg Mode must be set to 1 Adjust Freq and not be 0 Disabled Rockwell Automation Publication 750 RM002A EN P September 2012 79 Chapter1 Drive Configuration Example Tek Run 250 S s Trig E iA J 18 WINY ast i 50070 the 1 00 VM 200ms Chi 1 36 V 20 Apr 2004 100mV Ch4 200mv 10 20 0 Block Diagram Current Regulator 1 0 Vb i Brake Ve IqFdbk IdFdbk Bus Voltage Reference E EE Frequency Bus Voltage 80 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Current Limit Stop Bus Voltage Output Voltage Current Limit Time Stop Command Zero Speed Current Limit stop is not typically set up as the normal Stop mode Usually the normal stop is programmed at some ramp rate For the current limit stop a digital input is used for the function However you certainly could set the no
134. to 0 stops the command from reaching the drive Opening the valve setting a bit value to 1 allows the command to pass through the mask into the drive Table 4 Mask Parameters and Functions Parameter Name Parameter Number Function Dig In Filt Mask 222 Digital Input Filter Mask Filters the selected digital input Logic Mask 324 Enables disables ports to control the logic command such as start and direction Does not mask Stop commands Auto Mask 325 Enables disables ports to control the logic command such as start and direction while in Auto mode Does not mask Stop commands Manual Cmd Mask 326 Enables disables ports to control the logic command such as start and direction while in Manual mode Does not mask Stop commands Manual Ref Mask 327 Enables disables ports to control the speed reference while in Manual mode When a port is commanding Manual mode the reference is forced to the commanding port if the respective bit in this parameter is set If an alternate speed reference source is desired use P328 Alt Man Ref Sel to select the source Port Mask Act 885 Active status for port communication Bit 15 Security determines if network security is controlling the logic mask instead of this parameter Logic Mask Ac 886 Active status of the logic mask for ports Bit 15 Security determines if network security is controlling the logic mask instead of this parameter Write Mask Act
135. trending e When the motor starts rotating forward the trend will start wrapping up e The drive will continue trending for about 3 7 seconds to use up the remaining 3596 samples Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Features Chapter 5 The drive will stop trending and be ready for uploading Speed Trend Wizard 2 of 2 8 buffers of 4096 samples minimum interval of 1 024 ms m 3 Pot 0 3 Mu Vel Parameter gt Trigger Value Port 0 1 Output Frequency Port 0 3 Mtr Vel Fdbk Port 0 11 DC Bus Volts V Port 0 7 Output Current v 7 Click Download m once the Download Succeeded message has appeared and the Trend Status is Ready High Speed Trend Wizard 2 of 2 8 buffers of 4096 samples minimum interval of 1 024 ms mi 5d pho H Port 0 3 Mtr Vel Fdbk Parameter gt Trigger Value ren amvar CS E rmon cewy Rh Rockwell Automation Publication 750 RM002A EN P September 2012 201 5 Drive Features 8 Click Start m The Trend Status is Running and Download Upload and Start buttons are unavailable 9 02 8 buffers of 4096 samples minimum interval of 1 024 ms o 3 fe pation La Port 0 1 Output Frequency Port 0 3 Mtr Vel Fdbk Port 0 11 DC Bus
136. type Conditional Implementation R R R 0 Bits 0 Fine Interpolation Y 1 Registration Auto rearm Y 2 Alarm Log Y 5 Hookup Test Y 6 Commutation Test Y 7 Motor Test Y 8 Inertia Test Y 9 Sensorless Control Y 30 Set Axis Configuration 0 Enum 0 Feedback Only Frequency Control Y 2 Position Loop Y 3 Velocity Loop Y 4 Torque Loop Y 31 Set Feedback Configuration 0 Enum 0 No Feedback V Y T Y 3 Load Feedback PVT N 4 Dual Feedback P Y 8 Dual Integrator Feedback P Y 45 Set Motion Scaling Configuration 0 Enum 1 Drive Scaling 1310 251 Motor Catalog Number N N N Dr NV 1313 332 Set Motor Data Source 0 Enum 1 Database Y 2 Drive NV Y 3 Motor NV N Rockwell Automation Publication 750 RM002A EN P September 2012 Table 26 PowerFlex 755 Safety Drive Module Optional Attributes Appendix A ID Access Attribute F P T Conditional Implementation 1315 Set Motor Type R R R R 0 Enum 1 Rotary Permanent Magnet Y 2 Rotary Induction Y 3 Linear Permanent Magnet N 4 Linear Induction N 1317 Set Motor Polarity Y 1320 Set Motor Rated Peak Current N N N N N IM 1321 Set Motor Rated Output Power
137. volts per minute Vrecover The threshold for recovery from power loss Vtrigger The threshold to detect power loss The level is adjustable The default is the value in the PowerFlex 750 Series Bus Level table If Pwr Loss Lvl is selected as an input function AND energized Vtrigger is set to Vmem minus Pwr Loss Level Vopen is normally 60V DC below Vtrigger in a 480VAC drive Both Vopen and Vtrigger are limited to a minimum of Vmin This is a factor only if Pwr Loss Level is set to a large value Important When using a value of P451 P454 Pwr Loss A B Level larger than default you must provide a minimum line impedance to limit inrush current when the power line recovers The input impedance should be equal or greater than the equivalent of a 5 transformer with a VA rating 5 times the drive s input VA rating Vinertia The software regulation reference for Vbus during inertia ride through Vclose The threshold to close the pre charge contactor Vopen The threshold to open the pre charge contactor Vmin The minimum value of Vopen Voff The bus voltage below which the switching power supply falls out of regulation Table 6 PowerFlex 750 Series Bus Levels Class 200 240 VAC 400 480 VAC 600 690 VAC Vslew 1 2V DC 2 4V DC 3 0V DC Vrecover Vmem 30V Vmem 60V Vmem 75V Vclose Vmem 60V Vmem 120V Vmem 150V Vtrigger1 2 Vmem 60V Vmem
138. we have a formula that isolates the connected inertia For the variables Tacc is the 100 rating of the drive in lbeft Let s say I m using a 10hp drive with a 10hp motor We can rearrange the Horsepower formula below to solve for torque in Ibeft Rockwell Automation Publication 750 RM002A EN P September 2012 27 Chapter 1 28 Drive Configuration My motor is 10hp 1785RPM HP TX Speed 5252 tA HP x 5252 and rearranging T Speed 10 x 5252 So let s plug in the numbers T T Ibeft 1785 And t comes from what the drive reports as seconds of inertia after running the inertia tune Let s say that the drive reported 2 12 seconds of inertia And now organizing the variables we have Tacc 29 42 22 12 1785 Tacc x 308 x t wx AN plugging these into the formula WK 2 10 76 After these calculations can conclude that the connected inertia is equal to 10 76 Ibeft Multiplying by 0 04214011 you get 0 453 kgem You may wonder what effect P71 Autotune Torque may have on these calculations Regardless of the value entered here the drive will interpolate as if this value was 100 So the seconds of inertia that is reported by the drive will always reflect 100 torque CEMF Test This is a Rotate test used to measure a PM motors Autotune Parameters Information about some other Autotune Parameters not covered above Autotune Parameters P71 Aut
139. within RSLogix 5000 software run a Commutation Test enter the proper value into the Offset and then set the Alignment to Controller Offset Axis Properties Axis_30 E inl x Categories Motor Feedback Device Specification General Device Function Motor Mounted Feedback Parameters Feedback Channel Feedback 1 Type Hookup Tests Units Rev z Polarity Hiperface puc ad Cycle Resolution 1024 Feedback Cycles Rev Backlash Cycle Interpolation 1024 Feedback Counts per Cycle Effective Resolution Feedback Counts per Rev Position Loop Startup Method 7 Velocity Loop Tums Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Alignment Faults amp Alarms Offset Tag Commutation Manual Tune Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 File If all permissive conditions are met a valid start run or jog command will start the drive The status of all current inhibit conditions are reflected in P933 Start Inhibits and the last inhibit conditions are reflected in P934 Last StrtInhibit details are shown below Display Name Full Name Description Data Type 933 Start Inhibits RO 32 bit Start Inhibits Integer Indicates which condition is preventing the drive from starting or running Options Reserved S CommutNotCfg Profiler
140. 0 0 14 DeviceLogix Host Parameters For Help press F1 Parameter color descriptions Changeable Run Read Only Read Only Linked Rockwell Automation Publication 750 RM002A EN P September 2012 85 Chapter 2 86 Feedback and 1 0 Analog Input Specifications 1 Not present on 120V versions 2 Digital Inputs are either 24 Vol correct for 1 0 module 3 Differential Isolation Externa immunity Terminal Name Description Related Param 5 Sh Shield Terminating point for wire shields when an Sh EMC plate or conduit box is not installed Ptc Motor PTC Motor protection device Positive 40 Pta Motor PTC Temperature Coefficient on Port X Qty Ao0 Analog Out 0 Bipolar 10V 11 bit amp sign 2k ohm 75 H A004 Analog Out 0 minimum load on Port X 4 20 mA 11 bit amp sign 400 ohm maximum Ao1 Analog Out 1 load 85 1 Analog Out 1 on Port X 10V 10 Volt Reference 2kohm minimum 10VC 10 Volt Common For and 10 Volt references 10V 10 Volt Reference 2k ohm minimum Ai0 Analog Input 0 Isolated 8 bipolar differential 11 bit amp 50 70 Ai0 Analog Input 0 sign on Port X Voltage mode 10V 88k ohm input Ai1
141. 0 115 230 135 28 8 0 037 0 0275 0 296 0 364 7 71 HPK B1308E MB44AA 2970 33 5 405 64 8 100 115 230 135 28 8 0 037 0 0275 0 296 0 364 7 71 HPK B1308E SA42AA 2970 33 5 405 64 8 100 115 230 135 28 8 0 037 0 0275 0 296 0 364 7 71 HPK B1308E SB44AA 2970 33 5 405 64 8 100 115 230 135 28 8 0 037 0 0275 0 296 0364 7 71 HPK B1609E MA42AA 2965 48 4 405 88 2 100 156 270 154 31 4 0 0326 0 0227 0 288 0 319 7 23 HPK B1609E SA42AA 2965 48 4 405 88 2 100 156 270 154 314 0 0326 0 0227 0288 0319 723 HPK B1609E SB44AA 2965 48 4 405 88 2 100 156 270 154 31 4 0 0326 0 0227 0 288 0 319 7 23 HPK B1609E X169 2965 48 4 460 88 2 154 156 270 154 154 154 154 154 154 154 HPK B1611E MA42AA 2975 57 408 105 7 100 183 400 240 47 6 0 0205 0 0152 0 167 0 219 4 82 HPK B1611E MB44AA 2975 57 408 105 7 100 183 400 240 47 6 0 0205 0 0152 0 167 0 219 4 82 HPK B1611E SA42AA 2975 57 408 105 7 100 183 400 240 47 6 0 0205 0 0152 0 167 0 219 4 82 HPK B1613E MA42AA 2970 73 7 407 135 3 100 237 520 312 545 0 0164 0 0127 0 136 0179 421 HPK B1613E MB44AA 2970 73 7 407 135 3 100 237 520 312 545 0 0164 0 0127 0 136 0179 421 HPK B1613E SA42AA 2970 73 7 407 135 3 100 237 520 312 54 5 0 0164 0 0127 0 136 0179 4 21 HPK B1613E SB44AA 2970 73 7 407 135 3 100 237 520 312 545 0 0164 0 0127 0 136 0179 421
142. 0 Hz If the speed reference 20 Hz and if the trim set point 10 Hz the speed reference would be 20 Hz 10 Hz 30 Hz If the trim set point 10 Hz then the speed reference would 10 Hz Example 3 The following example shows the configuration and resultant of utilizing both the perfect and fixed amount trim function P545 Speed Ref A Sel P546 Spd Ref A Stpt P546 Spd Ref A Stpt 20 00 Hz P608 TrmPct RefA Sel P609 IrmPct RefA Stpt P609 TemPct RefA Stpt 25 P600 Trim Ref A Sel P601 Trim Ref A Stpt P601 Trim Ref A Stpt 10 00 Hz P2 Commanded SpdRef 35 00 Hz If the speed reference 20Hz and if the trim percentage 25 that resulting trim will be 20 Hz x 25 5 Hz and if the trim set point 10 Hz the speed reference would be 20 Hz 5 Hz 10 Hz 35 Hz If the trim percentage 25 and the trim set point 10 Hz then the speed reference would 5 Hz Rockwell Automation Publication 750 RM002A EN P September 2012 177 Chapter 4 178 Motor Control Min Max Fwd Rev Speed Maximum and minimum speed limits are applied to the forward and reverse reference The minimum speed limits will create a band that the drive will not run continuously within but will ramp through This is due to the forward or reverse minimum speeds P522 Min Fwd Speed and P523 Min Rev Speed respectively If the reference is positive and less than the Min Fwd Speed it i
143. 0 and 685V DC the Bus Voltage Regulator setpoint is 750V DC and the Dynamic Brake Regulator will turn on at 742V DC and back off at 734V DC It is possible that the drive will react differently between Flux Vector mode and Sensorless Vector mode The important thing to remember here is that in SV control the drive does NOT use the value entered into P426 Regen Power Lmt Ifleft at default 50 and the decel is such that it creates a large amount of regen power the drive will again attempt to protect the resistor Consider the plots below Option 4 Both Frq Ist If Bus Reg Mode 7 is set to 4 Both Frq 1st Both regulators are enabled and the operating point of the Bus Voltage Regulator is lower than that of the Dynamic Brake Regulator The Bus Voltage Regulator setpoint follows the Bus Reg Curve 2 below a DC Bus Memory of 650V DC and follows the DB Turn Off curve above a DC Bus Memory of 650V DC Table 2 The Dynamic Brake Regulator follows the DB Turn On and turn off curves For example with a Rockwell Automation Publication 750 RM002A EN P September 2012 37 Chapter 1 Drive Configuration 38 DC Bus Memory at 684V DC the Bus Voltage Regulator setpoint is 742V DC and the Dynamic Brake Regulator will turn on at 750V DC and back off at 742V DC Below shows that upon a stop command the bus voltage rises immediately to a 5 point where the DB transistor turns on briefly bringing the vol
144. 00000000001 E53 Feedback amp 1 0 52 DLX Prog Cond a 53 DLX Operation LogicEnabled xl The picture below shows the status of the DeviceLogix software inputs and outputs via P1 Dig In Sts and P5 Dig Out Sts C DriveExecutive AB ETHIP 13192 168 1 20 PowerFlex 755 lt PowerFlex 7552 fl File Edi View Drive Peripheral Tools Window Help 2 e Enabled 0 000 Hz Connection DPI Port 7 Host Parameters Dig In Sts 100000001 Dig In Filt Mask Dig In Filt Dig a Back Mexde v 2 85 Node 192 168 1 20 E B 0 PowerFlex 755 o Diagrams 119 Parameter List Monitor W E Motor Control 0000000000000000 ROO Sel Port 14 DLX DigOut StsZ DLX DOPSts1 ROO Level Sel Disabled ROO Level 0 0 ROO Level CmpSts 0000000000000000 Invert There is a logical invert function associated with the PowerFlex 750 Series drive s digital outputs For the PowerFlex 753 it is configured by P226 Dig Out Invert and for the PowerFlex 750 Series Option Module it is configured by P6 Dig Out Invert This invert function changes the output status bit from a zero false state to a one true state and vice versa This logical invert function requires power to be applied to the drive s control module for the drive s logic to be active This can be obtained from powering up the drive s control module by either applying power to the d
145. 002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 When the axis configuration is set to Frequency Control you can select one of the following control methods that best suits the application e Basic Volts Hertz e Fan Pump Volts Hertz e Sensorless Vector e Induction FV The selection options of the axis configuration within the RSLogix 5000 Axis Properties Frequency Control tab are shown here SERE Properties AXES Basic Volts Hertz Categories General Frequency Control Motor Model Frequency Control Method Analyzer Basic Volts Hert Scaling Hookup Tests Maximum Voltage 230 0 Polarity Maximum Frequency 130 0 Planner Frequency Control Break Voltage 115 0 Actions Break Frequency 30 0 Drive Parameters Start Boost 85 Parameter List Status Run Boost 85 Faults amp Alarms Tag Limits Velocity Limit Positive Velocity Limit Negative Manual Tune 53 333332 53 333332 Volts RMS Hertz Volts RMS Hertz Volts RMS Volts RMS revs s revs s gt i Basic Volts Hertz Fan Pump Volts Hertz Sensorless Vector Sensorless Vector economy Cancel Apply Help This table contains the possible axis configurations and corresponding control modes of the PowerFlex 755 drive on the Integrated Motion on the EtherNet IP Network Axis Configuration P35 Motor Ctrl Mode P
146. 2 M12 5592014 m qur you pds Sm Jeu pds peur syw vL L p d xew peeds Cor mg w7 pug 18990 CoL SIS 95 P S 515 195 Jou pds eunjojny Syr peeds 041u02 5 0402 fouenba Speed Control Reference Sheet 2 ZH A 3 eug 15008 1299 usd Cave x ZHZ Jeu pds Jeoc usd uj L pajqeug snjeis 25009 ajqeuen 4235 use 6l z K 628 eAug i enel z peeds 199 Bor peeds C Bor 0LL ZL 926 5 bur smeis 9 sweibeig 0421W ddy 3417 2 J04juo2 paeds 9 L tedun 1 5 21607 t puewwo9g 4 0 sejoduin X a lt 0 pes
147. 2 0 01686212 Column C here lines up with what you would see in DriveExplorer or any other drive software tool Column D shows the value that the drive is using internally Column D has more accurate data but you will probably not have a use for the extra precision You cannot get the data in column D from any other wizard or software tool 204 Rockwell Automation Publication 750 RM002A EN P September 2012 Chapter 5 Drive Features suaquo ASD 0 suayng e es synsay ET puai peon nd A E puai sajdwes sajdwes sajdwes saiduies 9607 sajdwes 9607 sajdwes 960p 42 JeINDJI 960p JO COL JO COL ena JO enoo 4 9 1 5 sayng pualL Jong pualL saiduies 9607 JO Jegng yg 20 4 5 yng pussy Ayosds pue y ua PW anen PW SoZ g weied weed v v weed 002 t Ul Yq 159 10215000 0 1 1 OML eje
148. 215 Network Drive Nonvolatile NV Memory for Permanent Magnet Motor Configuration 222 Dual Loop Control 223 Dual Port EtherNet IP Option Module ETAP 229 Hardware Over Travel Considerations 230 Integrated Motion on EtherNet IP Instance to PowerFlex 755 Drive Parameter Cross Reference 231 Motor Brake Control 252 Network Topologies 255 PowerFlex 755 and Kinetix 7000 Drive Overload Rating Comparison for Permanent Magnet Motor 259 Operation PowerFlex 755 Drive Option Module Configuration and Restrictions 260 Regenerative Braking Resistor 261 Safe Speed Monitor Option Module 20 750 S1 Configuration 264 Speed Limited Adjustable Torque SLAT 267 Supported Motors 271 System Tuning 277 Using an Incremental Encoder with an MPx Motor 286 PowerFlex 755 Integrated Motion on the EtherNet IP Network Block Diagrams 289 Rockwell Automation Publication 750 RM002A EN P September 2012 213 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Additional Resources for These documents contain additional information on the Integrated Motion on Integrated Motion on the EtherNet IP Network Resource H PowerFlex 750 Series Drive Programming Manual Information publication 750 PM001 the EtherNet IP Network for PowerFlex 755 AC drive applications Description Provides detailed information on e 1 0 control and feedback options Parameters and programming Faults alarms and troubleshooting
149. 295 speed control reference sheet 2 block diagram 296 speed control reference sheet 3 block diagram 297 speed control reference sheet 4 block diagram 298 speed control reference sheet 5 block diagram 299 speed control reference block diagram 301 speed control reference overview block diagram 294 speed control regulator flux vector block diagram 300 speed position feedback block diagram 293 system tuning 277 torque control overview induction motor and surface permanent magnet motor block diagram 310 torque control overview interior permanent magnet motor block diagram 311 torque control current induction motor and surface permanent magnet motor block diagram 314 torque control current interior permanent magnet motor block diagram 315 torque control inertia adaption block diagram 316 torque control load observer estimator block diagram 317 torque control reference scale and trim block diagram 312 torque control torque block diagram 313 variable boost voltage overview function inputs outputs block diagram 326 VF V Hz SV overview block diagram 292 IP address assignment Dual Port EtherNet IP option module 229 Jog 103 Jog Forward Jog Reverse 102 L Last StrtInhibit No 934 73 linear topology Integrated Motion on the EtherNet IP Network 256 linear star topology Integrated Motion on the EtherNet IP Network 258 load RSLogix 5000 instance to parameter cross reference 248 load compliance
150. 309 SpdTrqPsn Mode A SLAT Set Point P314 SLAT Err Stpt SLAT Time Delay P315 SLAT Dwell Time Velocity Droop P620 Droop RPM at FLA Velocity Integrator Bandwidth P647 Speed Reg Ki Velocity Integrator Hold P635 Spd Options Ctrl Velocity Integrator Preload P652 SReg Trq Preset Velocity Limit Negative P521 Max Rev Speed Velocity Limit Positive P520 Max Fwd Speed Velocity Loop Bandwidth P645 Speed Reg Kp Velocity Low Pass Filter Bandwidth P644 Spd Err Fitr BW Velocity Negative Feed Forward Gain P643 SpdReg AntiBckup Velocity Offset P601 Trim Ref A Stpt Rockwell Automation Publication 750 RM002A EN P September 2012 235 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Torque Loop Axis Properties Configuration General Axis Properties for Torque Loop Categories Gensiahprassas a Model Axis Configuration Torque Loop Analyzer Feedback Configuration Motor Feedback gt Motor Feedback a pal IM SLM E Scaling Hookup Tests Motion Group MotionGroup GIGS Compliance Torque Current Loop Associated Module Homing A Actions Module PF755_Drive Drive Parameters Module Type PowerFlex 755 EENET CM S1 List Power Structure 240 4 24 Normal Duty Faults amp Alarms Axis Number 1 Tag Manual Tu
151. 4 6 20 750 5 Auxiliary Power Supply 8 20 750 ENETR Dual Port Ethernet IP 4and5 Ifan unsupported option module is installed the drive will stop responding and the HIM will display CONFIGURING Safety Option Modules 20 750 20 750 51 This restriction and configuration setting must be used when using either of these safety option modules with the Integrated Motion on the EtherNet IP Network e The option modules must be installed in port 6 of the drive control pod only The specific drive module and option catalog number must be selected when adding the drive to the I O tree in the project For example when adding a PowerFlex 755 drive with a Safe Speed Monitor option module choose 755 EENET CM SI Feedback Option Modules 20 750 ENC 20 750 DENC and 20 750 UFB Follow the same installation and configuration instructions provided in the PowerFlex 750 Series AC Drives Installation Instructions publication 750 1 001 Rockwell Automation Publication 750 RM002A EN P September 2012 Regenerative Braking Resistor Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Auxiliary Power Supply Option Module 20 750 APS Follow the same installation and configuration instructions provided in the PowerFlex 750 Series AC Drives Installation Instructions publication 750 INOO1 Dual Port EtherNet IP Option Module 20 750 ENETR Follow the same installation and c
152. 65 VHz Curve Frequency Control Basic Volts Hertz InductionVHz Custom V Hz Fan Pump Volts Hertz InductionVHz Fan Pump Sensorless Vector Induction SV Custom V Hz Sensorless Vector economy Induct Econ Custom V Hz Position Loop Induction FV Custom V Hz Velocity Loop Induction FV Custom V Hz Torque Loop Induction FV Custom V Hz Rockwell Automation Publication 750 RM002A EN P September 2012 221 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives For more detailed examples on PowerFlex 755 axis configurations refer to the Axis Configuration Examples for the PowerFlex 755 Drive chapter in the Integrated Motion on the Ethernet IP Network Configuration and Startup User Manual publication MOTION UM003 Frequency Only For information on the specific Frequency Control details see the Motion Instructions and Integrated Motion Control Modes appendix in the Logix5000 Controllers Motion Instructions Reference Manual publication MOTION RM002 Drive Nonvolatile NV A Kinetix drive can automatically read configuration data in a permanent magnet motor encoder s nonvolatile memory whereas the motor encoder configuration Memory for Permanent data must be manually entered and tuned in a PowerFlex 755 drive when Magnet Motor Configuration configuring the drive and a permanent magnet motor for operation on the Integrated Motion on the EtherNet IP Network The Drive NV option shown in the sc
153. 7 Rockwell Automation Publication 750 RM002A EN P September 2012 341 Index 342 T Technical Support 9 third party permanent magnet motors data modifications 275 torque loop RSLogix 5000 instance to parameter cross reference 237 torque mode 220 torque overload capability 259 Torque Setpoint 106 velocity control RSLogix 5000 instance to parameter cross reference 235 velocity mode 220 Rockwell Automation Publication 750 RM002A EN P September 2012 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical manuals technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools You can also visit our Knowledgebase at http www rockwellautomation com knowledgebase for FAQs technical information support chat and forums software updates and to sign up for product notification updates For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support Installation Assistance If you experience a problem within the first 24 hours of installatio
154. 72 15 8 50 50 D065 15 8 50 5 37 C072 79 100 50 D065 7 9 100 45 085 7 9 100 60 D077 7 9 100 55 C104 7 9 100 75 D096 7 9 100 6 55 C104 3 3 239 4 75 D096 3 3 239 4 75 C140 33 2394 100 D125 3 3 239 4 90 C170 33 2394 125 D156 3 3 239 4 110 205 33 2394 150 D186 3 3 239 4 132 260 3 3 239 4 200 D248 3 3 239 4 7 132 260 2 4 329 200 D248 2 4 329 160 302 2 4 329 250 D302 2 4 329 200 367 2 4 329 300 D361 24 329 250 456 1 65 478 8 350 D415 1 65 478 8 Step 5 Choosing the Dynamic Brake Resistance Value To avoid damage to this transistor and get the desired braking performance select a resistor with a resistance between the maximum resistance calculated in Step 3 and the minimum resistance of the drive IGBT 160 Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Flux Regulator Step 6 Estimating the Minimum Wattage requirements for the Dynamic Brake Resistor It is assumed that the application exhibits a periodic function of acceleration and deceleration If t5 t2 the time in seconds necessary for deceleration from rated speed to 0 speed and t is the time in seconds before the process repeats itself then the average duty cycle is t3 ty ty The power as a function of time is a linearly decreasing function from a value equal to the peak regenerative power to 0 after t2 seconds have elapsed The average power regenerated over the interval of ty seconds is Pb 2 The average p
155. 74 Set Actuator Lead N N N DScale 1375 Set Actuator Lead Unit N N N DScale 1376 Set Actuator Diameter N N N DScale 1377 Set Actuator Diameter Unit N N N DScale 44 Set Feedback Unit Ratio Y N 1401 Get Feedback 1 Serial Number N N Rockwell Automation Publication 750 RM002A EN P September 2012 333 Appendix Table 26 PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N T Conditional Implementation 1414 Set Feedback 1 Polarity 1415 Set Feedback 1 Startup Method R R R R 0 Enum 1 Absolute Y 1420 Set Feedback 1 Data Length Y Y Y TPSS 1421 Set Feedback 1 Data Code Y Y Y Y TPSS 1422 Set Feedback 1 Resolver Transformer Ratio N N N N RS 1423 Set Feedback 1 Resolver Excitation Voltage N N N N RS 1424 Set Feedback 1 Resolver Excitation Frequency N N N N RS 1425 Set Feedback 1 Resolver Cable Balance N N N N RS 2400 Set Feedback 1 Loss Action N N N N O Enum 1 Switch to Sensorless Fdbk N 2 Switch to Redundant Fdbk N 2403 Set Feedback 1 Velocity Filter Taps Y Y Y Y 2404 Set Feedback 1 Accel Filter Taps N N N N 1434 Set Feedback 1 Velocity Filter Bandwidth Y Y Y Y 1435 Set Feedback 1 Accel Filter Bandwidth Y Y Y Y 2405 Set Feedback 1 Battery Absolute N N N N TM 1451 Get Feedback 2 Serial Number N N N N 1464 S
156. 8 Anlg Out0 DataHi P79 Anlg 0 0 DataLo P82 Anlg Out0 Val P80 Anlg 0 0 Hi P81 Anlg Out0 Lo 1800 10 1600 8 1400 Anlg Outn Hi 8 Anlg Outn Lo 2 7 1200 Anlg Outn DataHi 1500 Anlg Outn DataLo 500 6 1000 E 5 5 D 800 4 600 3 400 2 When the motor speed reaches 500 rpm Anlg Outn Val begins to increase from 2 When the motor speed reaches 1500 rpm Anlg Outn Val is at maximum of 8 1 0 0 0 100 200 300 400 500 600 700 800 900 1000 1100 Absolute Default Certain quantities used to drive the analog output are signed for example the quantity can be both positive and negative You have the option of having the absolute value value without sign of these quantities taken before the scaling occurs Absolute value is enabled separately for each analog output via the bit enumerated P71 Analog Out Abs Rockwell Automation Publication 750 RM002A EN P September 2012 97 Chapter 2 98 Feedback and 1 0 Setpoint Setpoint is a possible source for an analog output It can be used to control an analog output from a communication device using a DataLink Change P75 Anlg Outx Sel to 76 Anlg Outx Stpt Then map a datalink to P76 and you ll be able to drive the analog output over a network Parameter 75 Sel Properties t e Value Numeric Edit Documentation Port 7 1 0 Module 24 24 Parameter 76 Anl
157. 83 ETAP would be required for this network topology this diagram illustrates an application using ETAPs For more information about applying a Dual Port EtherNet IP Option Module see the PowerFlex 20 750 ENETR Dual Port EtherNet IP Option Module User Manual publication 750COM UMO008 Although the ControlLogix is illustrated the CompactLogix controller could also be used Rockwell Automation Publication 750 RM002A EN P September 2012 257 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Advantages Disadvantages The advantages of a ring network include the following Simple installation Resilience to a single point of failure cable break or device failure e Fast recover time from a single point of failure The primary disadvantage of a ring topology is an additional setup for example active ring supervisor as compared to a linear or star network topology Linear Star Topology Network switches can be added to the end of the line creating a linear star topology Ethernet devices that do not have embedded switch technology can be connected in a star topology off of the switch RSLogix 5000 Version 19 and Higher ControlLogix a 1756 EN2T ar 1585J M8CBJM x Other EtherNet IP 1756 ENXTR EtherNet shielded Cable Compatible Devices ft Stratix 8000 E 1 p PowerFlex 755 PowerFlex 755 PowerFlex 755 PowerFlex 755 It is recommen
158. 887 Active status of write access for ports Bit 15 Security determines if network security is controlling the write mask instead of this parameter Write Mask Cfg 888 Enables disables write access parameters links and so forth for DPI ports Changes to this parameter become effective only when power is cycled the drive is reset or Bit 15 of P887 Write Mask Actv transitions from 1 to 0 Dig In Filt Mask 2 Digital Input Filter Mask Filters the selected digital input 1 Used only by the PowerFlex 753 main control board 2 Read only parameter 3 Used only by 1 0 Module models 20 750 2263C 1R2T and 20 750 2262C 2R Modules with 24V DC inputs Rockwell Automation Publication 750 RM002A EN P September 2012 59 Chapter1 Configuration The individual bits for each parameter are as follows Table 5 Mask Parameters with Bit Designations P222 DigIn P324 Logic P325 Auto P326 P327 P885 Port P886 Logic P887 Write P888 Write P2 DigIn Filt Mask Mask Mask Manual Manual Ref Mask Act Mask Act Mask Act Mask Cfg Filt Mask CmdMask Mask BitO Reserved Digital In Digital In Digital In Digital In Digital In Digital In Reserved Reserved Input 0 Bit1 Input 1 Port 1 Port 1 Port 1 Port 1 Port 1 Port 1 Port 1 Port 1 Input 1 Bit2 Input2 Port 2 Port 2 Port 2 Port 2 Port 2 Port 2 Port 2 Port 2 Input 2
159. 9 Get Current Feedback Y Y 530 Get Flux Current Feedback Y Y Y 553 Set Current Vector Limit M N N N 554 Set Torque Loop Bandwidth N N N 555 Set Torque Integral Time Constant N N N 556 Set Flux Loop Bandwidth N N N 557 Set Flux Integral Time Constant N N N 558 Set Flux Up Control Y Y Y Y Ind Motor only 0 Enum 1 Manual Delay Y 2 Automatic Delay Y 559 Set Flux Up Time Y Y Y Y Ind Motor only 562 Set Commutation Self Sensing Current N N N PM Motor only 0 Value 563 Set Commutation Polarity N N N PM Motor only 336 Rockwell Automation Publication 750 RM002A EN P September 2012 Table 26 PowerFlex 755 Safety Drive Module Optional Attributes Appendix A ID Access Attribute F T Conditional Implementation 250 Set Feedback Commutation Aligned Y Y Y 0 Enum 2 Motor Offset N 3 Self Sense Y 570 Set Frequency Control Method R 0 Enum 128 Fan Pump Volts Hertz Y 129 Sensorless Vector Y 130 Sensorless Vector Economy Y 600 Get Output Frequency R Y 610 Set Stopping Action R R R R 0 Enum 2 Ramped Decel Disable FPV Y 3 Current Decel Hold PV N 4 Ramped Decel Hold PV Y 128 DC Injection Brake IM Y 129 AC Injection Brake IM Y 612 Set Stopping Time Limit N N N 613 354 Set Resistive Brake Contact Delay N N N N PM Motor only 614 Set Mechanical Brake Control N N N N 615 Set Mechan
160. Analyzer Transmission Motor Feedback Ratio 0 Fee Load Feedback Scaling Hookup Tests Type none x Polarity Lead fi 0 MitimeterRev E Load Diameter 1 0 Milimeter Backlash z Compliance Scaling Observer Units Position Units Position Loop Scaling 30 0 Position Units per fio o ooo Loane v Velocity Loop Torque Current Loop Travel Planner Mode Cyclic Homing Actions Range fi 000 0 Position Units Drive Parameters Dnwind 90 0 P stion nite per fi 0 Parameter List Status 7 Soft Travel Limits Faults amp Alarms Maximum Positive Position Units Tag Maximum Negative 00 Position Units Manual Tune Cancel Apply Help The velocity loop is controlled by the motor encoder feedback Since a mechanical transmission exists between the motor and load side the scaling units are potentially different between the two encoders Rockwell Automation Publication 750 RM002A EN P September 2012 227 Chapter 6 228 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 24 To verify that the Motor to Load ratio is correct select the Parameter List category 25 View the value of the FeedbackUnitRatio parameter In this example the ratio is 5 1 or 5 motor encoder revolutions to per load encoder revolution Axis Properties Dual Loop Axis General Motor Model Analyzer Motor Feedback Load Feedback
161. Applications for PowerFlex 755 AC Drives 2 Open the PowerFlex 755 drive module and click the Associated Axis tab 3 From the Axis 1 pull down menu choose the feedback axis you created Dual Loop Axis in this example From the Motor Master Feedback Device pull down menu choose Port 5 Channel A 5 From the Load Feedback Device pull down menu choose Port 4 Channel 6 Click OK Module Properties Ethernet 1 PowerFlex 755 EENET CM S1 3 4 Port 5 Channel A 224 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 7 Open the Axis Properties for the feedback axis Dual_Loop_Axis 8 From the Feedback Configuration pull down menu choose Dual Feedback to allow the axis object to accept feedback from two sources Axis Properties Dual Loop Axis Categories Motor 8 Model Axis Configuration Position Loop Analyzer Feedback Configuration Dual Feedback Motor Feedback Application Tope Load Feedback muore Basic Scaling Loop Response Medium Hookup Tests Moti otion Group E New Grou Polarity MG ea Autotune Load Associated Module Backlash Compliance Module LineShaft_Drive S bserver Module Type PowerFlex 755 51 Position Loop Power Stucture 480 274 Normal Duty Velocity Loop
162. C DriveExecutive AB_ETHIP 1 192 168 1 20 PowerFlex 755 lt PowerFlex 7552 Pl File Edit View Drive Peripheral Tools Window Help D 2 7 0 Enabled 7 0 000 Hz SpA S Connection DPI Next gt v Port 14 Host Parameters 2 8 Node 192 168 1 20 Parameter Name Monitor Motor Control 2 Feedback amp 1 0 E B 0 PowerFlex 755 DLX In 12 Hola Diagrams DLX In 13 Disal zd 52 Parameter List DLX In 14 Disabled E 1 DLX In 15 ES DLX In 16 We then utilize a DeviceLogix software program so that when both Digital Input 1 and Digital Input 3 are true on the resultant is the DeviceLogix software Digital Output 1 DOP 1 turns on Function Block Editor USMEQJGOROFIN1 AB ETHIP 13192 168 1 20 Port 14 DeviceLogix gt Logic1 File Edit View Communications Tools Help gt 4 4 zr Moverogical Compute Math Compare Timer Counter Process BAND Digital Input 1 Boolean And i j Enableln EnableOut 5 Pelay Output O DOP 1 Digital Input3 The picture below shows that the Option Module P10 ROO Sel is configured for DeviceLogix software Port 14 DLX DigOut Sts2 DLX DOPSts1 This links together the DeviceLogix software Digital Output 1 DOP 1 to the drive s physical output such that when the DOP 1 is high on the drive s Opt
163. Current Loop K Apply Table 14 Induction Motor Model Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Induction Motor Flux Current Drive Parameter P75 Flux Current Ref Induction Motor Rated Slip Speed P621 Slip RPM at FLA Induction Motor Stator Leakage Resistance P74 Ixo Voltage Drop Induction Motor Rotor Leakage Resistance P74 Ixo Voltage Drop Induction Motor Stator Resistance P73 IR Voltage Drop 241 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Permanent Magnet Motor Data Axis Properties Configuration Permanent Magnet Motor Data Axis Properties Categories General m Model Data Source Nameplate Datasheet x Parameters Analyzer Catalog Number Scaling Hookup Tests Motor Type Rotary Permanent Magnet X Polarity Units Autotune nks S E Load Nameplate Datasheet Phase to Phase parameters Compliance ese ee Observer Rated Power 0 025 kw Pole Count 8 Velocity Loop Rated Voltage 2300 Volts RMS Torque Current Loop Planner Rated Speed 1600 0 en Actions Rated Current 0 22 Amps RMS Peak Current 0 0 Amps RMS Diva Paramore Motor Overload Limit 100 Rated Parameter List Status Faults amp Alarms Tag Permanent Magnet Motor Data Motion
164. Encoder Static OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Dynamic OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Encoderless Static OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Dynamic OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Inertia Tune The Inertia Autotune selection involves one test only Several parameters are updated from the test results Refer to the tables in the Individual Tests section temporary command initiates an inertia test of the motor load combination The motor will ramp up and down while the drive measures the amount of inertia This option applies only to FV modes selected in P35 Motor Ctrl Mode Final test results should be obtained with load coupled to the motor as long as the rotation doesnt damage the machine Test Dependencies When running the flux test the selected accel rate is used unless it is less than 10 seconds In this case 10 seconds is forced In the case of the Inertia test a 0 1 second accel rate is used The selected direction used during normal operation will be used for all rotation tests Also during any rotate test the normal speed limits are enforced The thermal manager is always being run in the 2ms loop which will provide protection during all of the Autotune tests 26 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Individual Tests Some of the following tests are executed during an Autotune R
165. Forward and Jog Reverse with the only difference being that direction is determined by another input or another device s command HIM or communication adapter In addition these settings will use either P556 Jog Speed 1 or P557 Jog Speed 2 respectively In Unipolar mode the absolute value will be used along with a separate direction command In Bipolar mode the polarity of P556 Jog Speed 1 or P557 Jog Speed 2 will determine the direction of jog DI Manual Ctrl The digital input function works in conjunction with the overall Auto Manual function When this input is closed it overrides other speed references but only if another device HIM did not have ownership of the Manual state If the digital input is successful in gaining manual control the speed reference comes from P563 DI ManRef Sel which can be set to any of the Analog Inputs Preset Speeds MOP Reference or an applicable Port Reference Associated with this digital input function there is the ability to configure the drive to switch smoothly from an automatic communicated speed reference to manual speed reference produced by the Human Interface Module HIM When the drive is commanded to switch from the automatic communicated speed reference to the manual reference via a digital input it preloads the last value from the speed feedback into the HIM Then the operator can modify the manual reference on the HIM This avoids a step change in speed that wou
166. Forward 179 DI Accel 2 196 DI Fwd End Limit 165 DI Run Reverse 180 DI Decel 2 197 DI Fwd Dec Limit 166 DI Jog 1 181 DI SqTqPs Sel 0 198 DI Rev End Limit 167 DI Jog 1 Forward 182 DI SqTqPs Sel 1 199 DI Rev Dec Limit 168 DI Jog 1 Reverse 185 DI Stop Mode B 200 DI PHdwr OvrTrvl 169 DI Jog 2 186 DI BusReg Mode B 201 DI NHdwr OvrTrvl Operation for DI Run type parameters can be defined by P150 Digital In Cfg Run Edge 0 Control function requires a rising edge open to close transition for the drive to run Run Level 1 Aslongasa separate Stop command is not issued the level alone no rising edge required determines whether the drive will run When set to 1 Run Level the absence of a run command is indicated asa stop asserted and P935 Drive Status 1 Bit 0 will be low ATTENTION Equipment damage and or personal injury may result ifthis parameter is used in an inappropriate application Do not use this function without considering applicable local national and international codes standards regulations or industry guidelines Rockwell Automation Publication 750 RM002A EN P September 2012 Feedbackandl O Chapter 2 Functional Descriptions DI Enable Closing this input allows the drive to run when a Start command is issued If the drive is already running when this input is opened the drive will coast stop and indicate not enabled on the HIM if present This is not considered a fault co
167. Host and Ports preferred Pop up Box Press the ENTER soft key to affirm and set most parameters for the Host Drive and port devices to factory defaults In this case refer to the Host Drive and port device user manuals for the settings that will NOT be restored or press the ESC soft key to cancel This Port Only Pop up Box WARNING Press the MOST soft key to set MOST settings for the selected port device to factory defaults In this case refer to the Host Drive User Manual for the settings that will NOT be restored Press the ALL soft key to set ALL settings for the selected port device to factory defaults or press the ESC soft key to cancel A pop up Fault warning display will follow the parameter changes This can be reset by pressing the clear soft key And the following confirm pop up box can be cleared by pressing the enter soft key Pressing the escape key twice will return the display to the Status screen Refer to the PowerFlex 20 HIM A6 C6S HIM Human Interface Module User Manual publication 20HIM UMO01 for further information on using the HIM and the resetting of parameters Rockwell Automation Publication 750 RM002A EN P September 2012 67 Chapter1 Drive Configuration Sleep Make Mode The purpose of the sleep wake function is to Start wake the drive when an SleepWake RefSel signal is greater than or equal to the value in P354 Wake Level and Stop sleep the drive when an analog signal is less than or
168. Ifanother Auto Reset Run fault occurs the cycle will repeat itself up to the number of attempts set in P348 Auto Rstrt Tries 5 Ifthe drive faults repeatedly for more than the number of attempts set in P348 Auto Rstrt Tries with less than five minutes between each fault the auto reset run is considered unsuccessful and the drive remains in the faulted state 6 Ifthe drive remains running for five minutes or more because the last reset run without a fault or is otherwise stopped or reset the auto reset run is considered successful The Auto Restart status parameters are reset and the process will repeat if another auto resettable fault occurs See Aborting an Auto Reset Run Cycle for information on how the Reset Run cycle can be aborted Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Auto Manual Beginning an Auto Reset Run Cycle The following conditions must be met when a fault occurs for the drive to begin an auto reset run cycle The fault type must be Auto Reset Run P348 Auto Rstrt Tries setting must be greater than zero The drive must have been running not jogging not auto tuning and not stopping when the fault occurred A DC Brake state is part of a stop sequence and therefore is considered stopping Aborting an Auto Reset Run Cycle Duringan auto reset run cycle the following actions conditions will abort the reset run attempt process e
169. Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives The PowerFlex 755 drive supports incremental encoder feedback when using a Rockwell Automation MPx motor However the Motor Device Specification category in the Axis Properties configuration for RSLogix 5000 does not currently support MP Series motors with incremental feedback catalog numbers as shown below Only MP Series motors with the suffix M Stegmann Multi turn Absolute or S Single Turn Absolute motors are supported Motor Device Specification Data Source Catalog Number Motor Type Units Catalog Number iv lt none gt Change Catalog Parameters Change Catalog Number Catalog Number MPL B310P M OK MPL B310P M MPL B310P S MPL B320P M MPL B320P S MPL B330P M MPL B330P S MPL B420P M MPL B420P 5 MPL B430H M MPL B430H S nonni Cancel Help Filters Voltage Family Feedback Type alb alb Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 To configure a PowerFlex 755 drive with an MPx motor equipped with incremental encoder feedback the MPx motor must be set up as a third party motor Follow these steps to configure an MPx motor with incremental encoder feedback for use with a PowerFlex 755 drive usi
170. N P September 2012 FeedbackandI O Chapter 2 DI BusReg Mode B This digital input function selects how the drive will regulate excess voltage on the DC bus If the input is open then P372 Bus Reg Mode A selects which bus regulation mode to use If the input is closed then P373 Bus Reg Mode B selects which bus regulation mode to use If this input function is not configured then P372 Bus Reg Mode A always selects which bus regulation mode to use See also Bus Regulation on page 30 for more details DI PwrLoss ModeB This digital input function selects between two different drive power loss modes If the input is open P450 Power Loss Mode A dictates the drive s action during the Power Loss mode If the input is closed P371 Stop Mode B dictates the drive s action during the power loss If this input function is not configured then P450 Power Loss Mode A will always dictate the drive s action during the power loss See also Power Loss on page 62 for more details DI Pwr Loss The drive contains a sophisticated algorithm to manage initial application of power as well as recovery from a partial power loss event This digital input function is used to force the drive into a power loss condition If this input is open the drive s internal algorithm dictates the power loss condition If the input is closed the algorithm is overridden and the drive is externally forced into a power lost condition P449 Power Loss conf
171. Number Keys Press the BE Manual key Press the Edit key to confirm that you want to switch to Manual mode If the request is accepted the HIM will show MAN in the top right corner The display does not indicate if the drive is in Manual but rather if that particular HIM has Manual control A HIM will still read AUTO if it does not Rockwell Automation Publication 750 RM002A EN P September 2012 17 Chapter 1 18 Drive Configuration have ownership of the Manual mode even if the drive itself is in Manual mode To see if the drive is in Manual mode check P935 Drive Status Bit 9 When a HIM has Manual control of the drive the drive will use the speed reference from the HIM unless overridden by P328 Alt Man Ref Sel To change the speed reference on the HIM navigate to the Status screen and press the middle soft key labeled REF If the request is not accepted a message will appear indicating that Manual Control is not permitted at this time The most likely causes are that manual control is disabled for the port or that another port currently has manual control To check which port has manual control look at P924 Manual Owner To release Manual mode from the HIM press the 8 Controls key to display the Control screen Control Screen Key Function Map corresponds to Navigation Number Keys Press the Bl Auto key Press the Edit key to confirm that y
172. P September 2012 155 Chapter 4 156 Motor Control t5 t total time of deceleration from the rated speed to 0 speed seconds Pp peak braking power watts 1 0HP 746 Watts Compare the peak braking power to that of the rated motor power if the peak braking power is greater that 1 5 times that of the motor then the deceleration time t2 needs to be increased so that the drive does not go into current limit Use 1 5 times because the drive can handle 15096 current maximum for 3 seconds Peak power can be reduced by the losses of the motor and inverter Step 3 Calculating che Maximum Dynamic Brake Resistance Value v3 b V4 The value of DC bus voltage that the chopper module regulates at and will equal 375V DC 750V DC or 937 5V DC Pp The peak braking power calculated in Step 2 The maximum allowable value for the dynamic brake resistor The choice of the Dynamic Brake resistance value should be less than the value calculated in Step 3 If the value is greater than the calculated value the drive can trip on DC bus overvoltage Remember to account for resistor tolerances Step 4 Choosing the Chopper Module The minimum current flowing through the chopper module transistor V4 The value of DC bus voltage chosen in Step 3 The value of the dynamic brake resistor calculated in Step 3 The value of Ij sets the minimum value of current rating for the Chopper Module Whe
173. P option module 229 position loop RSLogix 5000 instance to parameter cross reference 239 position mode 220 Positive Negative Hardware Over travel 107 Power Loss 62 Power Loss Mode 105 power tab RSLogix 5000 instance to parameter cross reference 251 Index Precautions General 10 Precharge 105 Real Time Clock 137 recommended ACinduction motors 271 bulletin HPK series motors 273 permanent magnet motors 272 Regen Power Limit 167 Restart Auto 13 ring topology Integrated Motion on the EtherNet IP Network 257 ring star topology Integrated Motion on the EtherNet IP Network 259 Run 102 Run Forward Run Reverse 102 safety option modules restrictions for Integrated Motion on the EtherNet IP Network 260 Scaling Analog 87 shunt regulator configuration for Integrated Motion on the EtherNet IP Network 261 Signal Loss 92 SLAT See Speed Limited Adjustable Torque Slip Regulator 142 software Integrated Architecture Builder 214 Motion Analyzer 214 Speed Limited Adjustable Torque configure for Integrated Motion on the EtherNet IP Network 267 Speed Reference 171 Speed Regulation 180 Speed Select 103 Speed Torque Position 182 Speed Torque Position Mode 104 Square Root Analog Input 91 star topology Integrated Motion on the EtherNet IP Network 255 Start 102 Start Inhibits No 933 73 Status 107 Stop 101 Stop Mode 104 Support Product 9 system tuning Integrated Motion on the EtherNet IP Network 27
174. Power DC Bus Voltage Scaling The scaling for the analog output is defined by entering analog output voltages into two parameters Analog Out1 Lo and Analog Out1 Hi These two output voltages correspond to the bottom and top of the possible range covered by the quantity being output Scaling of the analog outputs is accomplished with low and high analog parameter settings that are associated with fixed ranges see programming manual for each target function Additionally the PowerFlex 755 contains an adjustable scale factor to override the fixed target range P77 Anlg Outx Data and 82 Anlg Outx Val are described in the charts below Rockwell Automation Publication 750 RM002A EN P September 2012 P77 Anlg OutO Data P7Anlg 0 0 DataHi Feedbackandl O Chapter 2 Case 1 P79 Anlg Out0 DataLo P82 Anlg OutO Val P80 0 0 Hi P81 Anlg Out0 Lo P76 Anlg Out0 Stpt 1800 1600 1400 1200 1000 800 600 400 200 1000 ARI 1500 2000 2500 3000 3500 4000 Section 1 This shows P77 Anlg Outz Data the units will be consistent with the selection of Anlg Outz Select In this case the analog out select is set to Mtr Vel Fdbk So the units are in rpm Anlg Outz Hi Anlg Lo Anlg DataHi and Anlg Outz DataLo are all at default The motor was started and ramped to 1800 rpm
175. PowerFlex 750 Series Option Module s installed in the drive related Setpoint parameter information noted below Display Name Full Name Description Read Write Data Type 7 Dig Out Setpoint 16 bit Integer Digital Output Setpoint Controls Relay or Transistor Outputs when chosen as the source Can be used to control outputs from a communication device using DataLinks File 22 gt Options BEL 5 gt 92 gt 2 gt 2 2 gt 2 92 9 4 415 2 25 2 2 e 0920 2 020 9 02s sv Tala a la Output De energized 5 Default 0 o 0 p p o p jo op p pop pp Pe ed a Uutput Energize Bt 51413111109 8 6 5 4 2 10 1 Bit1 Trans Out 0 for 1 0 Module model 20 750 2263C 1R2T Relay Out 1 for 1 0 Module models 20 750 2262C 2R and 20 750 2262D 2R 2 Bit 2 is only used by 1 0 Module 20 750 2263C 1R2T 122 Rockwell Automation Publication 750 RM002A EN P September 2012 FeedbackandI O Chapter 2 Example For this example our setup includes a PowerFlex 755 utilizing a 20 750 2262C 2R24VDCI O Option Module and a ControlLogix L63 processor The drive s Option Module P10 ROO Sel is configured for Port 7 Dig Out Setpoint Relay Out 0 We are utilizing the RSLogix 5000 programming software which includes the Drives Add On Profile
176. RSLogix 5000 instance to parameter cross reference 249 load observer RSLogix 5000 instance to parameter cross reference 251 lost data packets 215 M Manaual Control 103 Manual Conventions 9 MAS instruction 218 MDS instruction configure 215 decrease speed sample code 217 increase speed sample code 217 ramp attributes 218 ramp attributes sample code 219 start sample code 216 torque mode sample code 218 minimum coarse update rate 215 Rockwell Automation Publication 750 RM002A EN P September 2012 MOP Increment Decrement 104 Motion Analyzer software 214 Motion Axis Stop See MAS instruction Motion Drive Start See MDS instruction Motion Servo Off See MSF instruction motor feedback RSLogix 5000 instance to parameter cross reference 245 motor load feedback RSLogix 5000 instance to parameter cross reference 246 MSF instruction 218 network topologies Integrated Motion on the EtherNet IP Network 255 nonvolatile memory 222 Notch Filter 164 0 option modules supported for Integrated Motion on the EtherNet IP Network 260 Outputs Analog 93 Digital 110 Overspeed Limit 136 P permanent magnet motor evaluation 275 specifications 275 permanent magnet motor data 222 RSLogix 5000 instance to parameter cross reference 243 permanent magnet motor model RSLogix 5000 instance to parameter cross reference 243 permanent magnet motors recommended 272 PID Enable Hold Reset Invert 105 port assignment Dual Port EtherNet I
177. Reference Manual Allen Bradley PowerFlex 750 Series AC Drives Catalog Numbers 20F 20G 21G Allen Bradley Rockwell Software Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http www rockwellautomation com literature describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this
178. Reserved Reserved Default Bit 9 rans Out 17 9 rans Out 07 2 gt Relay Out 0 a Reserved Reserved Trans Out 0 for 1 0 Module model 20 750 2263C 1R2T Relay Out 1 for 1 0 Module models 20 750 2262C 2R and 20 750 2262D 2R 2 Bit 2 is used only by 1 0 Module 20 750 2263C 1R2T 1 Bit 1 Example In this example the drive is utilizing a 24 two relay Option Module in Port 7 with P10 ROO Sel is programmed for Port 7 Dig In Sts Input 1 Notice below when the Invert bit for Relay Out 0 when the input status is true 1 the digital output status bit is false 0 QDriveExecutive AB ETHIP 1192 168 1 20 PowerFlex 755 lt PowerFlex 755 gt Pi File Edit View Drive Peripheral Tools Window Help 08 USR es AR e ele Enabled 0 000 Hz p Connection DPI Port 7 Host Parameters Back mp E S Node 192 168 1 20 Parameter Name Value 5 8 0 PowerFlex 755 Dig In Sts 0000000000000010 a 8 8 Diagrams Dig In Filt Mask 0000000000111111 2 19 Parameter List m 3 Monitor M Dig Out Setpoint Motor Control E fa Feedback 810 ROO Sel Port 7 Dig In Sts Input 1 ES 18i Feedback ROO Level Sel Disabled 1 127 Rockwell Automation Publication 750 RM002A EN P September 2012 Chapter 2 Feedback and 1 0 128 On Off Time Each
179. Resolution Allen Bradley S WE Automation Aj Singe Unt v Disabled 0 2381 RPM Sensors Door Control Output Single Unit Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 TIP The Safe Speed Monitor module parameters are not currently part of the Logix platform and therefore are not overwritten when a drive establishes a Integrated Motion on the EtherNet IP Network connection Therefore it is possible to program the Safe Speed Monitor functions with configuration software for example Connected Components Workbench or a HIM before a network connection is established This lets you save the safety configuration in the software application or HIM Configuration of the safety functions can be accomplished in one of the following ways e Program the Safe Speed Monitor functions and then download the program that includes the drive parameters to the Logix controller and establish the network connection e Inhibit the drive in the Logix 1 0 tree and program the Safe Speed Monitor functions e Disconnect the network cable between the drive and the controller and program the Safe Speed Monitor functions Configuring the Stop Command While there are different selections when operating the drive and Safe Speed Monitor option module in Standard mode versus the Integrated Motion on the Et
180. Rockwell Automation Publication 750 RM002A EN P September 2012 Figure 12 PowerFlex 750 Series Option Module Outputs M tm ims mim tm Semi ei im st il a i ROO OF Time Dig Out Sts d Dig Out Invert Nc Ri Pus H e Common nD 2 ROO Sel ROO On Time RO1TOO Off Time Dig Out Sts Dig Out Invert gnus l Source RO1 TOD On Time l 1R2T 1 Relay 2 Transistor VO Modules Only TO Of Time Dig Out Sts Dig Out Invert Ce or cert ate l TO1 Sel TO1 On Time Output Compare Feedback and 1 0 Chapter 2 4 ROO Level Sel RO1TOO Level Sel ROO Level CmpSts RO1TOO Level Source ROO Level RO1TOO Level Rockwell Automation Publication 750 RM002A EN P September 2012 ROWTOO Level CmpSts 1R2T 1 Relay 2 Transistor Modules Only 131 Chapter2 Feedback and 1 0 Notes 132 Rockwell Automation Publication 750 RM002A EN P September 2012 DC Bus Voltage Memory Input Phase Loss Detection Chapter 3 Diagnostics and Protection P11 DC Bus Volts is a measurement of the instantaneous value P12 DC Bus Memory is a heavily filtered value or average bus voltage Just after the pre charge relay is closed during initial powerup bus memory is set equal to bus voltage Thereafter it is updated to the 6 minute average of the
181. Scaling Hookup Tests Polarity Autotune Load Backlash Compliance Observer Pasition Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Motion Axis Parameters Parameter Group All gt Associated Page ame FeedbacktStartupMethod 4 Feedback Type Digital _ 159 1 T Hz of Delay Taps Passive Hemeoftset 0 0 Position Units x Manual Tune Cancel Apply If the velocity loop is not performing well that is not following the command and not accelerating or decelerating properly verify that this ratio is correct 26 Continue by tuning this axis Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Dual Port EtherNet IP Option The Dual Port EtherNet IP option module has two modes of operation Adapter Module ETAP mode default and Tap mode Operation Mode Selection The Tap mode is intended for use with PowerFlex 755 drives and uses the ENET3 DEVICE port as a connection point to transfer Integrated Motion on the EtherNet IP Network data to the PowerFlex 755 drive s embedded EtherNet IP adapter The operation mode is selected by using the Operating Mode jumper J4 For more information about set
182. Set System Value Class Name Axis Instance Name PF755_Axis Attribute Name RampJerkControl Source RampJerk 02 UpdateParameters Rockwell Automation Publication 750 RM002A EN P September 2012 219 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Position Mode Velocity Mode and Torque Mode Comparison The PowerFlex 755 supports the following axis configurations e Frequency Control with No Feedback Position Loop with Motor Feedback Dual Feedback or Dual Integral Feedback Velocity Loop with Motor Feedback or No Feedback Torque Loop with Motor Feedback The selection options of the axis configuration within the RSLogix 5000 Axis Properties General tab are shown here Axis Properties Axis03 Categories General B Motor Axis Conf F ERNAI xis Configuration Frequency Control M 4M Model S y Position Loop Analyzer Feedback Configuration No Feedback Velocity Loop Scaling Torque Loop Hookup Tests Polarity ceme Motion Group MotionGroup New Group Frequency Control Actions Drive Parameters Associated Module Parameter List MEI Status odule DriveD3 Z Faults amp Alarms Module Type PowerFlex 755 EENET CM S1 Power Structure 2400 4 24 Normal Duty Axis Number 1 Manual Tune Cancel Apply 220 Rockwell Automation Publication 750 RM
183. Speed Command Speed Time N Stop Command Coast Time is load dependent gt Coast is selected by setting Stop Mode A B to 0 Coast When in Coast to Stop the drive acknowledges the Stop command by shutting off the output and releasing control of the motor The load motor will coast or free spin until the kinetic energy is dissipated On Stop the drive output goes immediately to zero off No further power is supplied to the motor The drive has released control The motor will coast for a time that is dependent on the mechanics of the system Inertia friction and so forth Rockwell Automation Publication 750 RM002A EN P September 2012 75 Chapter 1 76 Drive Configuration DC Brake Bus Voltage Output Voltage Motor Speed m TN Stop Command lt DCHoldTime gt This method uses DC injection of the motor to Stop and or hold the load DC Brake is selected by setting Stop Mode A B to 3 DC Brake You can also choose the amount of time the braking will be applied and the magnitude of the current used for braking with DC Brake Time and DC Brake Level This mode of braking will generate up to 40 of rated motor torque for braking and is typically used for low inertia loads with infrequent Stop cycles On Stop 3 phase drive output goes to zero off e Drive outputs DC voltage on the last used phase to provide the current level programmed in P394 DC Bra
184. Speed Reference Selection addc ccc ee ye ety ow 71 Spd Ref Ref A Auto Trim Ref A Spd RefB B Trim Ref Ay Trim Ref Ref B Auto Trim Ref B Presets 3 7 Auto gt DPI Ports 1 6 Manual gt ENet Spd Ref gt Command Profiling m Limit Switch i Control Overrides Jogging Selected Spd Ref 1 Lift App Direction Autotune Mode gt Homing 1 1 PI Regulator i Exclusive Mode Limit Limited Spd Ref 1 Speed Ref Skip Fiber f Stop Torque Bands App Proving 172 Vector Speed Control Virtual i Speed Comp Vector Ramp S Curve Ramped Linear Vel Ref 1 I 1 1 1 1 1 1 1 1 1 1 1 I 1 VF or SV I V F Ramp S Curve Inertia IL Ramp amp S Curve 4 Ramp amp Rate Select _ Linear Speed Ref S Curve From PI Regulator Trim Mode From From Pt Pt Profile PI Regulator Speed Ref Scale Limit Max Speed Generator Trim Mode From Pos Reg Position gt Output Regulator Filter
185. StopDrive Status Converter Pre Charge Failure StopDrive Faults amp Alarms Current Limit Reduced StopDrive Decel Override StopDrive Enable Input Deactivated StopDrive viv 254 Rockwell Automation Publication 750 RM002A EN P September 2012 Network Topologies 1756 EN2T 1756 ENxTR Stratix 8000 Other EtherNet IP Network Compatible Devices RSLogix 5000 Version 19 and Later ControlLogix Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 This topic provides examples of network topologies that can be used when implementing an Integrated Motion on EtherNet IP Network application Star Topology A switch level star configuration is a traditional Ethernet network layout where devices are connected to a centralized network switch point to point The star configuration is most effective when the devices are located near a centrally located network switch In a star network topology all traffic that traverses the network that is device to device must pass through the central switch 1585J M8CBJM x Ethernet Shielded Cable PowerFlex 755 PowerFlex 755 PowerFlex 755 PowerFlex 755 It is recommended that a managed switch with a transparent and or boundary clock plus QoS and IGMP protocol support be used for this Network topology Although the ControlLogix is illustrated the CompactLogix controller could also be used Advantages Disadvantag
186. T Error Setpoint gt Speed Error 0 AN Forced Speed Low Pass Off m LIE i Filter SLAT Dwell Time gt Speed Error lt SLAT Setpoint for SLAT Time FSM State Controller i 4 i i FSM On Intemal Torque Speed 1 Reference ITR Application Output SRO Dependant Speed i Ref Bi eference Bias Shead Gitar Regulator Max Select Motor Speed gt Feedback Extemal Torque Reference ETR Sum Configuring the drive in this mode allows an external torque input to be summed with the torque command generated by the speed regulator This mode requires both a speed reference and a torque reference 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 190 Rockwell Automation Publication 750 RM002A EN P September 2012 Chapter 5 Data Logging Drive Features This wizard will log the values of up to six parameters in a single drive at a specified interval for some period of time with the minimu
187. Travel PL C2 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion EtherNet IP Instance to PowerFlex 755 Drive Parameter Cross Reference Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 This section cross references the RSLogix 5000 Module Properties and Axis Properties instance to the corresponding PowerFlex 755 drive parameter See the PowerFlex 755 Standard and Safety Drive Module Optional Attributes appendix in this manual for details on optional attributes and the corresponding control mode functionality supported by a PowerFlex 755 drive module Frequency Control Axis Properties Configuration General Axis Properties for Frequency Control 5 Axis Properties PF755_Axis Co Categories General Ej Motor Cece Model Axis Configuration Frequency Control Analyzer Feedback Configuration No Feedback Scaling Hookup Tests Polarity Planner Motion Group MotionGroup Z New Group Frequency Control _ Actions Drive Parameters Associated Module Parameter List Module Status QUAE LPEZSS Drive ORA Faults amp Alarms Module Type PowerFlex 755 EENET CM S1 Tag Power Structure 240 4 24 Normal Duty Axis Number 1 Manual Tune Apply Rockwell Automation Publication 750 RM002A EN P September 2012 231 Chapter6 Integrated Motion o
188. Units SI Watts or in the per unit system pu which is dimensionless for the most part In any event the final number must in Watts of power to estimate Dynamic Brake Ohmic value Calculations in this page will be demonstrated in SI units Speed Torque Power Profile The following figure is a typical dynamic braking application The top trace represents speed and is designated by the omega symbol In the profile the motor is accelerated to some speed it holds that speed for a period of time and is then decelerated This deceleration is not necessarily to zero speed The cycle is then repeated The middle trace represents motor torque Torque starts out high as the motor is accelerated then drops down to maintain the commanded speed Then the torque turns negative as the motor is decelerated The cycle is then repeated The bottom trace represents motor power Power increases as the motor speed increases Power decreases some to maintain the commanded speed then goes Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 negative when deceleration starts this point called Pb is the first value that needs to be calculated The cycle is then repeated e t Y Y Y Pp Dynamic Braking Module no longer a Rockwell Automation product Figure 15 shows a simplified schematic of a Chopper Module with Dynamic Brake Resistor The Chopper Module is shown con
189. Volts The trending is in process when you see the Trend Status is in the Finishing state You can stop the trend at any point in time by clicking Stop You can then upload all of the data gathered so far tigh Speed Trend ard 2 of 2 8 buffers of 4096 samples minimum interval of 1 024ms Port 0 3 Mtr Vel Fdbk Parameter gt Trigger Value E Port 0 1 Output Frequency m ownload plaad Port 0 3 Mtr Vel Fdbk Downloat 7 ha V Port 0 11 DC Bus Volts am 7 Output Current 8 Output 202 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Features Chapter 5 The trending has ended when the Trend Status has changed from Finishing state to the Complete state 3 High Speed Trend Wizard 2 of 2 Wizard Step Configure Trend Trend Mode PreT gger 500 2 samples Approx 510 ms Sample Interval 1 024 24 ms Approx 1 0 ms Trigger Setup Parameter A ES Trigger Condition Parameter A gt TriggerValue C Parameter B Bl Trigger Value o Trend Buffers Use Trend Parameter Bit Position Port 0 1 Qutput Frequency Port 0 3 Mtr Vel Fdbk Port 0 11 DC Bus Volts Port 0 7 Output Current Download Upload na ait Start Stop usus te 4949 XI 4 Close Back Nest Upload
190. Vopen and closes if the bus voltage rises above Vclose If the bus voltage rises above Vrecover for 20 ms the drive determines the power loss is over The power loss alarm is cleared If the drive is in a Run Permit state the reconnect algorithm is run to match the speed of the motor The drive then accelerates at the programmed rate to the set speed Coast This is the default mode of operation The drive determines a power loss has occurred if the bus voltage drops below Vtrigger If the drive is running the inverter output is disabled and the motor coasts Bus Voltage Motor Speed Power Loss Output Enable Pre Charge Drive Fault Decel This mode of operation is useful if the mechanical load is high inertia and low friction By recapturing the mechanical energy converting it to electrical energy and returning it to the drive the bus voltage is maintained As long as there is mechanical energy the ride through time is extended and the motor remains fully fluxed If AC input power is restored the drive can ramp the motor to the correct speed without the need for reconnecting The drive determines a power loss has occurred if the bus voltage drops below Vtrigger If the drive is running the inertia ride through function is activated The load is decelerated at the correct rate so that the energy absorbed from the mechanical load regulates the DC bus to the value Vinertia Rockwell Automation Publicati
191. Yelyoud BPOW sdbids hey 9 oe Lal uogas g _ peor 1 Sap IN 1 sapeon 1 wonsetes yapa bg SPIED uondo a yoeqpeey usd les yap usd 6L LL seBed 5 uogisod 291 Rockwell Automation Publication 750 RM002A EN P September 2012 8801 ALEC did 2801 90 9801 Aid uonejes qun en yoeqnee4 101 195 HAPS did T did Ald 0601 eousselee 7901 19S JOU Ald gt JOU Cd Jejew MANO Aid 92 seBed 5 sse2oud MANO jur peeds D 1 peads 9995 19501 Cozs peeds p 4 sus D 1eseJg ds 6 e Crus D peads 1eseJg Buisse2oJqd asi duieys 9 peads 1eseJg 9 qur peeds 2 peads dwey Pa sayur Coss D C12 gt peeds esad gt juaunoy sng dud uonoejes ate 102 jnduj dwey era les 8 Jes e jndino Z door Jes 1ndjno Ies Vey uiu
192. a Categories General Compliance Compensation Motor Model Torque Low Pass Filter Bandwidth 57 74087 Hertz Analyzer Torque Notch Filter Frequency 0 0 Hertz Motor Feedback Scaling Hookup Tests Polarity Autotune J Load Observer Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Tune OK Cancel Apply Help Table 20 Load Compliance Instance to Parameter Cross Reference Drive Parameter Torque Low Pass Filter Bandwidth P659 SReg OutfltrGain Torque Notch Filter Frequency P687 Notch Fltr Freq Integrated Motion on EtherNet IP Instance Rockwell Automation Publication 750 RM002A EN P September 2012 249 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Load Observer Axis Properties Configuration Load Observer Axis Properties lt Analyzer Bandwidth 00 Hertz Motor Feedback DUERME EIU Scaling Hookup Tests Polarity i Autotune S Load Backlash Compliance Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag eo Load Observer Motion Axis Parameters Analyzer Motor Feedback Scaling Hookup Tests Polarity i Autotune S Load B
193. acklash Compliance bserver Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag 250 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 21 Load Observer Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Load Observer Bandwidth P711 Load Observer BW Load Observer Configuration P704 InAdp LdObs Mode Load Observer Feedback Gain P706 InertiaAdaptGain Module Properties Power Tab Configuration Module Properties EN3TR PowerFlex 755 EENET CM 6 3 1 General Connection Time Syne Module Info Internet Protocol Port Configuration Associated me Power Digital Input 2 Power Structure 480V 65 Normal Duty 20G11ND065 RERO AR Regenerative Power Limit 50 000 Regulator Rated Bus Regulator Action Shunt Regulator Shunt Regulator Resistor Type External Internal External Shunt Custom External Shunt Resistance 79 000 Ohms External Shunt Power 0 1000 Kilowatts External Shunt Pulse Power 2 000 kilowatts Status Offline Apply Table 22 Power Tab to Parameter Cross Reference Integrated Motion on EtherNet IP I
194. ad of stopping the drive When the cycle start occurs instead of issuing a start to the drive a Speed Regulator mode can be selected The drive will then immediately accelerate the motor without the need for flux up time IMPORTANT Zero Torque may excessively heat the motor if operated in this mode for extended periods of time A load or flux currentis 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 185 Chapter 4 186 Motor Control Speed Regulation Operating as a speed regulator is the most common and simplest mode to set up Examples of speed regulated applications are blowers conveyors feeders pumps saws and tools In a speed regulated application the speed regulator output generates the torque reference Note that under steady state conditions the speed feedback is steady while the torque reference is a constantly adjusting 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 For the PowerFlex 755 drive the Inertia Compensation Inertia Adaption and the Friction Compensation influence the output of the speed regulator Torque Regulation A torque regulated application can be described as any process requiring some
195. age Class DC Bus Memory DB On Setpoint DB Off Setpoint lt 685V DC 750V DC On 8V DC 480 gt 685V DC Memory 65V DC 880 815 DB Turn On Z 750 685 650 DC Volts 320 360 460 484 528 576 AC Volts Option 0 Disabled If Bus Reg Mode is set to Disabled The Voltage Regulator is off and the DB transistor is disabled Energy returning to the DC bus will increase the voltage unchecked and will trip the drive on over voltage once the voltage threshold is reached Figure 2 PowerFlex 750 Series Bus Regulation Disabled DC Bus Voltage Speed Feedback 900 12 Over Voltage Trip Point 800 10 700 N 600 N 8 2 Stop Pressed Motor Coasts c 500 5 65 amp 400 300 4 200 F2 100 0 T T T T T T T T T 0 0 2 0 0 2 04 0 6 0 8 1 12 14 1 6 Seconds 34 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Option 1 Adjust Freq If Bus Reg Mode is set to Adjust Freq The Bus Voltage Regulator is enabled The Bus Voltage Regulator setpoint follows Bus Reg Curve 1 below a DC Bus Memory of 650V DC and follows the DB Turn On above a DC Bus Memory of 650V DC Table 3 For example with a DC Bus Memory at 684V DC the adjust frequency setpoint is 750V DC Below you can see the DC bus is being regulated as the spee
196. age will be displayed Time Collected 1 11 DC 1 26 2012 3 04 16 846 1 26 2012 3 04 17 847 1 26 2012 3 0 1 26 2012 3 1 26 2012 3 0 1 26 2012 3 0 1 26 2012 3 0 1 26 2012 31 1 26 2012 3 0 1 26 2012 3 1 26 2012 3 0 1 26 2012 3 0 1 26 2012 3 0 1 26 2012 3 0 1 26 2012 3 0 1 26 2012 3 0 1 26 2012 3 0 1 26 2012 3 04 33 1 26 2012 3 04 34 859 3837 46 06 51 83 57 81 60 60 60 60 5715 5117 45 33 39 38 30 64 26 76 20 67 14 58 8 57 2 52 0 37 88 43 98 49 81 55 75 59 85 60 60 60 58 9 53 24 47 41 41 46 32 99 28 84 22 75 16 65 10 65 4 53 0 28 0 09 015 0 36 018 017 018 017 018 018 021 0 36 015 0 09 0 08 0 08 0 07 0 09 0 08 0 27257 317 49 362 62 405 08 410 16 410 18 410 2 410 23 410 24 409 98 373 67 328 56 2831 231 19 186 21 140 94 33 49 14 0 55413 55413 55413 55413 55414 55413 554 14 554 14 55414 55413 55413 55412 55413 55412 55413 55413 55413 55412 554 14 X Each column s width is adjustable Rockwell Automation Publication 750 RM002A EN P September 2012 Cancel lt Back Next Frish 2 195 Chapter5 Drive Features Below is a spreadsheet example of data logged Use a spreadsheet program to open the csv file A B c D E F G H l J K 1 Date Time Millisecond Part Ellapsed Milliseconds Time Label 1 Output Frequency 3 Mtr Vel Fdbk 5
197. ample ladder logic code in Figure 26 on page 253 depicts a possible solution for performing brake control the code is an example only and is not the only solution for performing brake control Each individual application will determine the requirements for the necessary brake control 252 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Figure 26 Sample Motor Brake Code Rung To Enable The Motion Axis Enable Servo Motion Servo On Axis 01 Enable Axis 01 ServoActionStatus MSO Motion Servo On Axis Axis_01 2 Motion Control Axis 01 Ctrl MSO Enable Servo Axis 01 Enable This rung will monitor axis status If axis is enabled will start motor brake disengage timer once timmer complets will energizing output to disengage motor brake TON Axis 01 ServoActionStatus ons ONS Timer On Delay Timer Axis01 Brake DisengageDelay Preset 250 Accum 0 Axis01 Brake DisengageDelay TT Motor Brake Control 0 Brake Engaged 1 Braked Released Axis 01 Brake Control Axis01 Brake DisengageDelay DN AENTR O Data 2 0 gt This rung combines any permissives that are requierd prior to allowing motion on the motor shaft For Demo Only Motor Brake Control Could Represent any 0 Brake Engaged Other User This must be true 1
198. ance and Reactance 278 Rockwell Automation Publication 750 RM002A EN P September 2012 Application System Value Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 are measured then the motor is rotated to measure the flux current of the Induction motor The Rated Slip frequency is also calculated e This test is best run with the motor disconnected from the load as the motor will spin for some time and there are no travel limits When the test has been completed click Accept Test Results to save the results Static Motor Test This test is used if the motor cannot rotate freely or is already coupled to the load When this test is run the Resistance and Reactance are measured then the flux current of the motor is calculated The Rated Slip frequency is also calculated The motor will not turn during this test e When the test has been completed click Accept Test Results to save the results Calculate Model This method calculates the Resistance Reactance and Flux Current of the motor from basic model parameters and the motor parameters data No measurements are taken when using this calculation e Click Start to start the calculation e When the test has been completed click Accept Test Results to save the results Autotune inertia test The Autotune category measures the system inertia and calculates system bandwidth tuning numbers This table summarizes
199. and the Run Relay is energized No network or HIM control of the drive would be possible 0 42A O X00 C 010 Stop oX Start Relay DI1 HOA Start The above circuit can also be accomplished with a single digital input Unlike P161 DI Start P176 DI HOA Start can share the same physical input with P158 DI Stop The circuit can thus become the following 0 H A X00 DI 0 Stop and V O O HOA Start O 0 000 Start Relay Rockwell Automation Publication 750 RM002A EN P September 2012 57 Chapter1 Drive Configuration To use the H O A switch the run relay and allow for network or HIM control the circuit can be wired as in the figure below 0 H A 42A O X00 O 010 Stop 56 o X00 DI 1 HOA Start o9 oW Start Relay Here the stop input is high when the H O A switch is in the Hand or Auto position This eliminates the asserted stop caused when the stop input is low allowing for the drive to be started from several sources when the H O A switch is in the Auto position 58 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Masks A mask is a parameter that contains one bit for each of the possible ports for the respective PowerFlex 750 Series drive Each bit acts like a valve for issued commands Closing the valve setting a bit value
200. arameter Aux Vel Feedback C134 Selection Preset Auto 385 Qoi d Port 5 Reference lt 875 gt Port 5 Reference lt 875 gt N Port 1 Reference Default Port 6 Reference lt 876 gt Rort 6 References lt 876 Gis Preset5 Auto Sji Port 2 Reference 872 gt Anlg Int PortVal Anlg Int PortVal Preset6 Auto 1 Port 3 Reference lt 873 option port option port i 1 Port 4 Reference lt 874 gt Anlg In2 PortVal Anlg In2 PortVal Gi Preset7 Auto Le Q I Port Reference 875 option port option port DPI Man the Port 6 Reference I ED TrmPct RefA AnHi 6107 Trim RefA AnlgHi 602 872 gt DPI Pra 1814 Option Ports TrmPct RefA AnLo 611 Trim RefA AnlgLo 603 gt i Analog EtherNet 735 4 DPI Prt3 Man 1914 DeviceLogix 1 Spd X lt DPI Prt4 201 1 Spd Ref A AnlgLo 548 Speed Ref A Mult gt S18 or Pns van 21 H ED I 876 DPI Prt6 Man 22 He i i i i i Ce Disabled 0 Disabled 0 Disabled 0 in eNet man 29 L y Spd Ref B Stpt GD TrimPct RefB Stpt 613 Trim Ref B Stpt 201201 H DI ManRef Spd Ref B AnlgHi 22 TrmPet RefB Anhi 612 Qol Trim RefB Anighi 606 eM AnlgHi Ce bimn 164 Spd Ref B AnigLo S53 TrmPct RefB MED Trim RefB AnlgLo C607 Lo DI ManRef i e Parameter Parameter Parameter Parameter AnlgLo Other Ref Sou
201. art KEN Axis PF755 Axis C Motion Control MDS 0 KER Speed Speed 00 Speed Units Units per sec MDS 0 IP Start se gt IMPORTANT You must command zero torque in the CommandTorque and Torquelrim attributes before you use the Motion Axis Stop MAS instruction to stop a specific motion process on an axis or to stop the axis completely To use the MAS instruction you must set Change Decel to No Otherwise an instruction error may occur The deceleration rate is set based on the Ramp Deceleration attribute The Motion Servo Off MSF instruction is used to deactivate the drive output for the specified axis and to deactivate the axis servo loop If you execute an MSF instruction while the axis is moving the axis coasts to an uncontrolled stop Ramp Attributes The MDS instruction is validated if the Integrated Motion on EtherNet IP drive device supports the following five ramp attributes RampAcceleration RampDeceleration e RampVelocity Positive e RampVelocity Negative e Rampjerk Control 218 Rockwell Automation Publication 750 RM002A EN P September 2012 UpdateParameters Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 These ramp attributes are available only when the PowerFlex 755 drive axis configuration is set to Frequency Control or Velocity Loop These ramp attributes are not available when the axis configuration i
202. arts to sweep for the spinning motor the frequency sweep has a certain slope associated with it By modifying P359 FS Speed Reg Ki you can change the slope of this sweep PowerFlex 753 Flying Start Sweep Slope A Current Speed Frequency Note the slope of the frequency sweep Adjust P359 FS Speed Reg Ki Flying Start Sweep Slope B This plot shows the result of increasing P359 FS Speed Reg Ki The slope is extended PowerFlex 753 Flying Start Sweep Slope B Current Speed Frequency r Note the slope of the frequency sweep Adjust P359 FS Speed Reg Ki In the two samples shown above the motor was decelerating The sweep function and slope manipulation work the same if the motor was spinning at some constant speed Rockwell Automation Publication 750 RM002A EN P September 2012 47 Chapter1 Drive Configuration Flying Start Sweep Dip A This plot shows the effect of modifying P360 FS Speed Reg Kp In this plot a motor is spinning at some constant speed when the drive is issued a start command and the sweep routine is started Note the current dip when the parameter is set to it s lowest value and the drive has determined the frequency of the rotating motor See the next plot when this parameter set to it s highest setting 48 Rockwell Automation Publication 750 RM002A EN P S
203. ating point piece of control data produced by the controller and consumed by the adapter The Feedback is a 32 bit REAL floating point piece of status data produced by the adapter and consumed by the controller When using a ControlLogix controller the 32 bit REAL Reference is always DINT 1 in the output image and the 32 bit REAL Feedback is always DINT 1 in the input image when using the drive Add On Profile DINT 2 when using the Generic Profile For a PLC 5 SLC 500 or MicroLogix 1100 1400 controller the 32 bit REAL Reference word is always words 2 Least Significant Word and 3 Most Significant Word in the output image and the 32 bit REAL Feedback is always words 2 Least Significant Word and 3 Most Significant Word in the input image When using a drive Add On Profile the Reference and Feedback are automatically formatted properly and displayed as a controller tag When using the Generic Profile the I O image is integer based and the Reference and Feedback are floating point Because of this a COP Copy instruction or User Defined Data UDDT is required to correctly write values to the Reference and read values from the Feedback Refer to the PowerFlex 755 Embedded EtherNet IP Adapter User Manual or to the PowerFlex 20 750 ENETR Dual port EtherNet IP Option Module User Manual for ladder logic program examples When using the drive Add On Profile the controller tags for Reference and Feedback are
204. ause 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 cyde per minute or drive damage will occur Drive must not be installed in an area where the ambient atmosphere contains volatile or corrosive gas vapors or dust If the drive is not going to be installed for a period of time it must be stored in an area where it will not be exposed to a corrosive atmosphere Class 1 LED Product transmission equipment This product emits intense light and invisible ATTENTION Hazard of permanent eye damage exists when using optical radiation Do not look into module ports or fiber optic cable connectors Rockwell Automation Publication 750 RM002A EN P September 2012 11 Preface Notes 12 Rockwell Automation Publication 750 RM002A EN P September 2012 Accel Decel Time Auto Restart Chapter 1 Drive Configuration You can configure the drive s acceleration time and deceleration time Acceleration Time P535 Accel Time 1 and P536 Accel Time 2 set the acceleration rate for all speed changes Defined as the time to accelerate from 0 to motor nameplate frequency P27 Motor NP Hertz or to motor nameplate rated speed P28 Motor NP RPM The setting of Hertz or RPM is programmed in P300 Speed Units Selection between Acceleration Time 1 and Acceleration Time 2 is controlled by a digital input function see Digin Fun
205. beft The gear ratio if a gear is present between the motor and load GR 5 Review the Speed Torque Power profile of the application Equations used for calculating Dynamic Braking values will use the following variables t The motor shaft speed in Radians second or oRad s ARPM The motor shaft speed in Revolutions Per Minute or RPM The motor shaft torque in Newton meters 1 01 Ibeft 1 355818Nem Pi The motor shaft power in Watts 1 0HP 746 Watts Py The motor shaft peak regenerative power in Watts Step 1 Determine the Total Inertia GR x Jr Total inertia reflected to the motor shaft kilogram meters kgem or pound feec Ibeft Jm Motor inertia kilogram meters2 kgem or pound feet2 GR The gear ratio for any gear between motor and load dimentionless Load inertia kilogram meters2 kgem or pound feet2 Ibeft 1 0 04214011 kgem Step 2 Calculate the Peak Braking Power 2 JrX P b 1 Total inertia reflected to the motor shaft kgem 2nN rated angular rotational speed Rad s N Rated motor speed RPM Rockwell Automation Publication 750 RM002A EN P September 2012 151 Chapter 4 Motor Control 152 t5 ty total time of deceleration from rated speed to 0 speed in seconds Py peak braking power watts 1 0 HP 746 Watts Compare the peak braking power to that of the rated mot
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207. buo annoy uoneueusg qur BeA 671 YU enbio OS Fur DON DF jur enbJo sog furum 008 Lev jur JMO sng ze jur 629 X9 3p99 MOOleA sog Bi buo 6 rre e tzavz Toocl yur enbio 909 Jrzuzz Jey jueunj enbjo lt d 069 689 wol4 jou Jed papu PUBWWOD uano bI 029 4 peieyrJ enbio jurj amp ewunobit 8 82 wmd pz enbJo p6t jurisoginobiL 1 976 22 wmd Suan EZ 35 qur 92 ZZ SZ LZ gt Snes pwn yy 0 29A WdS 1010 1euBejy jueueuueg eoeuns X W1 O1JUOD anbio Ree 0 1 H 9 d d g Rockwell Automation Publication 750 RM002A EN P September 2012 314 Chapter 6 Integrated Motion on
208. can be used in both the PowerFlex 753 and 755 drives 20 750 2262C 2R 20 750 2263C 1R2T e Six24 VDC input terminals Labeled as Di0 Dil Di2 Di3 Di4 and Di5 Shared common DiC Located on TBI front of the option module 20 750 2262D 2R Six 115 VAC input terminals Labeled as Di0 Dil Di2 Di3 Di4 and Di5 Shared common terminal DiC Located on TBI front of the option module PowerFlex 750 Series Option Modules I O TB1 wiring examples are included in the PowerFlex 750 Series AC Drives Installation Instructions publication 750 INOOI Rockwell Automation Publication 750 RM002A EN P September 2012 99 Chapter 2 100 Feedback and 1 0 Configuration Digital inputs can be programmed to a desired function defined by Parameters 155 to 201 below These parameters cannot be changed while the drive is running Number ParameterName Number Parameter Name _ Number Parameter Name 170 DiJog2Fowad 187 DiPwiosModeB 156 DI Clear Fault 171 DI Jog 2 Reverse 188 DI Pwr Loss 157 DI Aux Fault 172 DI Manual Ctrl 189 DI Precharge 158 DI Stop 173 DI Speed Sel 0 190 DI Prchrg Seal 159 DI Cur Lmt Stop 174 DI Speed Sel 1 191 DI PID Enable 160 DI Coast Stop 175 DI Speed Sel 2 193 DI PID Hold 161 DI Start 176 DI HOA Start 193 DI PID Reset 162 DI Fwd Reverse 17 DI MOP Inc 194 DI PID Invert 163 DI Run 178 DI MOP Dec 195 DI Torque StptA 164 DI Run
209. ce Manual publication 750 RMO001 Description These publications provide detailed information on installation set up and operation of the 750 Series safety option modules Wiring and Grounding Guidelines for Pulse Width Modulated PWM AC Drives publication DRIVES INOO1 Provides basic information needed to properly wire and ground PWM AC drives PowerFlex AC Drives in Common Bus Configurations publication DRIVES ATO02 Provides basic information needed to properly wire and ground PWM AC drives using a common bus Safety Guidelines for the Application Installation and Maintenance of Solid State Control publication SGI 1 1 Provides general guidelines for the application installation and maintenance of solid state control A Global Reference Guide for Reading Schematic Diagrams publication 100 2 10 Provides a simple cross reference of common schematic wiring diagram symbols used throughout various parts of the world Guarding Against Electrostatic Damage publication 8000 452 Provides practices for guarding against Electrostatic damage ESD Product Certifications website http ab com Provides declarations of conformity certificates and other certification details The following publications provide necessary information when applying the Logix Processors Resource Logix5000 Controllers Common Procedures publication 1756 PM001 Description This publication links to a co
210. cel Apply 247 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Table 19 Load Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Total Inertia Drive Parameter P76 Total Inertia Torque Offset Torque Trim P686 Torque Step Torque Offset is summed together with the Torque Trim value which is sent synchronously to the drive every Coarse Update Period The Torque Trim value is available for real time active torque corrections and the Torque Offset value is available for constant system torque compensation Load Backlash Axis Properties Configuration Load Backlash Axis Properties gt Axis Properties PF755 Axis Categories General Backlash Compensation B Motor Model Reversal Offset 0 0 revs Analyzer Motor Feedback Scaling Hookup Tests Polarity Autotune B Load Backlash Compliance Observer Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Tune OK Cancel Apply Help e Reversal Offset resides in the controller s Motion Planner 248 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Load Compliance Motion Axis Parameters Axis Properties PF755_Axis um kajs
211. ching output voltage to applied load the motor efficiency is optimized Reduced load commands a reduction in motor flux current To optimize the performance of the Induction Economizer mode adjust the following parameters P47 Econ At Ref Ki Integral gain that determines the response of the output voltage when the output frequency is at reference P48 Econ At AccDec Ki Integral gain that determines the response of the output voltage when the output frequency is accelerating or decelerating to the reference setpoint P49 Econ At AccDec Kp Proportional gain that determines the response of the output voltage when the output frequency is accelerating or decelerating to the reference setpoint Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Features Chapter 5 High Speed Trending The high speed trending wizard will configure the internal trending of the drive download that trend configuration to the drive and will upload the trended data from the drive when finished This information is saved as a comma delimited csv file for use with Microsoft Excel or any other spreadsheet program The high speed trending can be configured to trend up to eight parameters with 4096 samples for each parameter at a minimum sample rate of 1 024 milliseconds It can also be configured to trend up to four parameters with 1024 samples for each parameter at a minimum sample rate of 256 microseconds These a
212. ck and 1 0 Example Below is an example of a PowerFlex 753 drive utilizing an embedded digital output Select Level Select and Level parameters being configured such that the output energizes when the drive s operating temperature of the drive power section heat sink in percentage of the maximum heat sink temperature is greater than 50 percent IIIS AB ETHIP 1192 158 1 21 PowerFlex 753 lt Powerflex 7532 f Fie Edit view Drive Peripheral Tools Window Help amp 8 Enabled 0 000 Hz mum Connection DPI Nexteb Ei l 192 168 1 21 Ei B 0 PowerFlex 753 9 3 Diagrams Parameter List Monitor Motor Control Ei C3 Feedback amp 1 0 Protection Speed Control Ea Torque Control Position Control H E Communication Diagnostics Ea Applications 9 Default Custom flg 1 20 HIM x6 8 98 6 20 COMM E 9 9 14 DeviceLogix 120 Port 0 Digital Outputs Group Parameters Dig Out Sts 0000000000000000 0 226 Dig Out Invert 0000000000000000 0 0000000000000 227 Dig Out Setpoint n 230 ROO Sel 231 ROO Level Sel ROO Level ROO Level CmpSts ROO Level CmpSts Grt Than 7 Drive Temp Pct Port Parameter Port 233 ROO Level CmpSts x Be 0 PowerFlex 753 X Bit Parameter O x 943 Drive Temp Pct 7 Value
213. configured for Integrated Motion on the EtherNet IP Network the configuration of the Safe Speed Monitor functions are accomplished via a web page Configuring the Safe Speed Functions The Safe Speed Monitor module web page differs from the Embedded EtherNet IP adapter port 13 web page that is enabled by setting adapter parameter P52 Web Enable to 1 Enabled The Safe Speed Monitor module web page is not accessible until the drive has established a network connection to a Logix processor and the Integrated Motion on the EtherNet IP Network connection has been established The web page is then accessed by entering the IP address of the drive into a web browser for example http 192 168 1 20 Currently safety configuration settings cannot be saved in the drive or downloaded to other drives Expand Minimize Safety 5 Process display 5 TCP IP configuration 5 Configure e mail Safety Configuration Safety Feedback Input Configuration Safe Stop Safe Limited Speed Safe Max Speed Safe Max Accel Safe Direction Configuration Summary Change Safety Password J Online user manuals 5 Software tools Web site V Launch my DriveExplorer sol SU Launch my DriveExecutive si E mail technical support lt 264 Change System Configuration System Configuration Operation Mode Reset Type Door Control Output Enable Lock Monitoring Overspeed Response Time Speed
214. cted through the P70 Autotune The feature provides a manual or automatic method for setting P73 IR Voltage Drop P74 Ixo Voltage Drop and P75 Flux Current Ref Valid only when P35 Motor Ctrl Mode is set to 1 Induction SV 2 Induct Econ or 3 Induction FV Other motor control modes such as Permanent Magnet and Interior Permanent magnet populate other parameters associated with those control modes See the autotune parameter set below Tests Four Autotune selections will be available in the PowerFlex 755 drive control All four selections are selected from the Autotune parameter P70 Autotune 0 Ready e 1 Calculate 2 Static Tune e 3 Rotate Tune e 4 Inertia Tune Ready Parameter returns to this setting following a Static Tune or Rotate Tune at which time another start transition is required to operate the drive in Normal mode It also permits manually setting P73 IR Voltage Drop P74 Ixo Voltage Drop and P75 Flux Current Ref Calculate When the Autotune parameter is set to Calculate default the drive uses motor nameplate data to automatically set P73 IR Voltage Drop P74 Ixo Voltage Drop P75 Flux Current Ref and P621 Slip RPM FLA IR Volt Drop PM IR Volt Drop Encdrlss VoltComp the Xo Volt Drop the Flux Current the PM DirTest Curr and the Slip Frequency parameters are updated based on nameplate parameter values When a nameplate parameter Rockwell Automation Publicatio
215. ctions in the PowerFlex 750 Series Programming Manual publication 750 PM001 or by Logic Command sent over a communication network or DeviceLogix software Adjustment range is 0 00 to 3600 00 seconds Deceleration Time P537 Decel Time 1 and P538 Decel Time 2 set the deceleration rate for all speed changes Defined as the time to decelerate from motor nameplate frequency P27 Motor NP Hertz or from motor nameplate rated speed P28 Motor NP RPM to 0 The setting of Hertz or RPM is programmed in P300 Speed Units Selection between Deceleration Time 1 and Deceleration Time 2 is controlled by a digital input function see Digin Functions in the PowerFlex 750 series Programming Manual 750 PM001 EN P or by Logic Command sent over a communication network or DeviceLogix software Adjustment range is 0 00 to 3600 00 seconds The Auto Restart feature provides the ability for the drive to automatically perform a fault reset followed by a start attempt without user or application intervention Provided the drive has been programmed with a 2 wire control scheme and the Run signal is maintained This allows remote or unattended operation Only certain faults are allowed to be reset Faults listed as Non Resettable in the programming manual indicate possible drive component malfunction and are not resettable Caution should be used when enabling this feature because the drive will attempt to issue its own start command based on user sel
216. cumentation for details 2 For this example drive P300 Speed Units is set to Hz 3 The drive runs at 60 Hz instead of 130 Hz or 65 Hz because drive P520 Max Fwd Speed sets 60 Hz as the maximum speed When a network communication adapter is selected as the speed reference a 32 bit word is used as the speed reference If P308 Direction Mode is set to 1 Bipolar the most significant bit MSB is used for direction control Otherwise the MSB is ignored IMPORTANT When a 20 Carrier 20 750 20COMM is used to install a 20 COMM adapter on a PowerFlex 750 Series drive the upper word Bits 16 31 of the Logic Command Word and Logic Status Word are not accessible The upper word is only used and accessible on PowerFlex 750 Series communication modules 20 750 and the embedded EtherNet IP on PowerFlex 755 drives Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Jog When the drive is not running pressing the HIM s Jog soft button or a programmed Jog digital input function or by Logic Command sent over a communication network will cause the drive to jog at a separately programmed jog reference This jog speed reference value is entered in P556 Jog Speed 1 or P557 Jog Speed 2 Jogging Drive Status 1 1 Jogging lt 5 17 Jog 0 Speed 1 55 Jog 0 1 Speed 2 I 1 I 1 31 3 2 Drive Logic Jog1
217. d constant value must be entered as the fault speed reference in this instance Rockwell Automation Publication 750 RM002A EN P September 2012 Duty Rating Drive Configuration Chapter 1 Applications require different amounts of overload current Normal Duty Sizing the drive for Normal Duty allows the use of the highest continuous output current rating of the drive and an overload rating of 110 for 60 seconds every 10 minutes and 150 for 3 seconds every minute Heavy Duty For heavy duty applications a drive one size larger than is required for the motor is used in the application and therefore provides a larger amount of overload current in comparison to the motor rating Heavy Duty sizing provides at least 150 for 60 seconds every 10 minutes and 180 for 3 seconds every minute Light Duty The Light Duty setting for a given normal duty rated drive provides a higher continuous output current but with limited overload capability When in light duty the drive will only allow for 110 for 60 seconds every 10 minutes The overload percentages are with respect to the connected motor rating The duty rating is programmed in P306 Duty Rating This parameter will be reset to the default setting ifa Set Defaults ALL is executed For drives rated under 7 5 kW 10 Hp the normal duty and heavy duty continuous current ratings are the same and will have the heavy duty overload settings When changing the Duty Ra
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219. d P646 Spd Reg Max Kp Feed Forward Gain SpeedReg AntiBckup P643 Allows control of over shoot under shoot in the step response of the Vector Control mode speed regulator Over shoot under shoot can be effectively eliminated with a setting of 0 3 which will remove backup of the motor shaft when zero speed is reached This parameter has no affect on the drive s response to load changes A value of zero disables this feature Servo Lock Gain Servo Lock Gain P642 PowerFlex 755 only Sets the gain of an additional integrator in the Vector Control mode speed regulator The effect of Servo Lock is to increase stiffness of the speed response to a load disturbance It behaves like a position regulator with velocity feed forward but without the pulse accuracy ofa true position regulator Gain should normally be set to less than 1 3 speed regulator bandwidth or for the desired response A value of zero disables this feature Rockwell Automation Publication 750 RM002A EN P September 2012 181 Chapter4 Motor Control Speed Torque Position 182 The PowerFlex 750 Series drives have the ability to have four separate Speed Torque Position modes with the following parameters P309 Spd IrqPsn Mode A P310 SpdTrqPsn Mode BJ P311 Spd IrqPsn Mode C P312 SpdTrqPsn Mode D Possible selections for the above Speed Torque Position parameters are as follows Zero Torque 0 Drive operates as a torque regulator with P685 Selected T
220. d aS qe qutd 68 Start PermissiVes i luas iere E RP wa ede EFE Ue USD POE 72 Stop Modessa de Eu ie s pu duced 7 Voltage Class see Vene DOR dn e UR HER 83 Chapter 2 Analog Der e uale rur 85 Analog Outputs uere eda e epe E eases 93 Digital queste tetas cep tbe in rac etr E EGRE 99 Digital MM 110 Chapter 3 DC Bus Voltage Memory iis sen ed oa neni ee Ra cR e Rete Patti 133 Input Phase Loss Detection uiuis ry sca a aes Radio eae 135 Oyerspeed Limit srate Ur tout uiti lo Pedes a Ta MM 136 Real ipe onec posted ori Reps 137 Ship Regulator itches es ene oL Edad eI Velvet epi ead dr has 142 Rockwell Automation Publication 750 RM002A EN P September 2012 3 Table of Contents Motor Control Drive Features Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 4 Dynamic Braking eee erc sees ond en E EN NEU TRE earache 143 Flux Regulator od 161 Jo 162 BIUBE qiia Ardara cue aun Eee beu eda dallo a etri dni 164 Power Limit sesos reiris AED RIA CENE 167 Speed Referente teretes iter ed cenare hd eire ie adivit 171 Speed UNE eU Eds Medie 180 Speed Torque Position IR MISC Ita 182 Chapter 5 Data OCG co eho baie an ARA eM eu both Meal dog au hd 191 Enctoy
221. d activates the bus regulator prior to actually reaching the bus voltage regulation setpoint Veg The derivative term is important since it minimizes overshoot in the bus voltage when bus regulation begins thereby attempting to avoid an over voltage fault The integral channel acts as the acceleration or deceleration rate and is fed to the frequency ramp integrator The proportional term is added directly to the output of the frequency ramp integrator to form the output frequency The output frequency is then limited to a maximum output frequency extremely useful for preventing nuisance overvoltage faults resulting from aggressive decelerations overhauling loads and eccentric loads It forces the output frequency to be greater than commanded frequency while the drive s bus voltage is increasing towards levels that would otherwise cause a fault However it can also cause either of the following two conditions to occur ATTENTION The adjust freq portion of the bus regulator function is 1 Fast positive changes in input voltage more than a 10 increase within 6 minutes can cause uncommanded positive speed changes However an OverSpeed Limit fault will occur if the speed reaches Max Speed Overspeed Limit If this condition is unacceptable action should be taken to 1 limit supply voltages within the specification of the drive and 2 limit fast positive input voltage changes to less than 10 If this operation is unacceptable a
222. d be eliminated while maintaining the 15 and 45 Hz limits with the following changes P548 Spd Ref A AnlgLo 15 Hz P547 Spd Ref A AnlgHi 45 Hz Example 3 P255 AnlgIn Type Bit 0 0 Voltage P545 Spd Ref A Sel Analog In 1 P547 Spd Ref A AnlgHi 30 Hz P548 Spd Ref A AnlgLo 0 Hz P61 AnlgIn1 Hi 10V e P62 AnlgInl Lo 0V This is an application that requires only 30 Hz as a maximum output frequency but is still configured for full 10 volt input The result is that the resolution of the input has been doubled providing 1024 steps between 0 and 30 Hz Input Volts Output Hertz 88 Rockwell Automation Publication 750 RM002A EN P September 2012 Feedbackandl O Chapter 2 Example 4 P255 Anlg In Type Bit 0 1 Current P545 Spd Ref A Sel Analog In 1 P547 Spd Ref A AnlgHi 60 Hz P548 Spd Ref A AnlgLo 0 Hz e P61 Anlg In1 Hi 20 mA e P62 AnlgInl Lo 4 mA This configuration is referred to as offset In this case a 4 20 mA input signal provides 0 60 Hz output providing a 4 mA offset in the speed command Input mA Output Hertz Example 5 e P255 In Type Bit 0 0 Voltage P545 Spd Ref A Sel Analog In 1 P547 Spd Ref A AnlgHi 0 Hz P548 Spd Ref A AnlgLo 60 Hz P61 AnlgIn1 Hi 10V e P62 AnlgInl Lo 0V This configuration is used to invert the operation of the input s
223. d by setting parameters 370 371 Stop Mode A B to 1 Ramp The drive will ramp the frequency to zero based on the deceleration time programmed into parameters 537 538 Decel Time 1 2 The normal mode of machine operation can utilize Decel Time 1 If the machine Stop requires a faster deceleration than desired for normal deceleration Decel Time 2 can be activated with a faster rate selected When in Ramp mode the drive acknowledges the Stop command by decreasing or ramping the output voltage and frequency to zero in a programmed period Decel Time maintaining control of the motor until the drive output reaches zero The drive output is then shut off The load motor should follow the decel ramp Other factors such as bus regulation and current limit can alter the actual decel rate Ramp mode can also include a timed hold brake Once the drive has reached zero output hertz on a Ramp to Stop and both parameters 395 DC Brake Time and P394 DC Brake Level are not zero the drive applies DC to the motor producing current at the DC Brake Level for the DC Brake Time On Stop drive output will decrease according to the programmed pattern from its present value to zero The pattern may be linear or squared The output will decrease to zero at the rate determined by the programmed P520 Max Fwd Speed or P521 Max Rev Speed and the programmed active Decel Time 7 The reduction in output can be limited by other drive factors such as b
224. d is sacrificed to be sure the drive does not trip on over voltage Figure 3 PowerFlex 750 Series Bus Regulation Adjust Frequency DC Bus Voltage Speed Feedback 900 12 DC bus is regulated under the over voltage trip point 800 700 600 500 400 DC Bus Volts paads aseg SHOA OL Motor stops in just under 7 seconds instead T of the programmed 1 second decel 100 Seconds Option 2 Dynamic Brak If Bus Reg Mode 7 is set to Dynamic Brak The Dynamic Brake Regulator is enabled In Dynamic Brake mode the Bus Voltage Regulator is turned off The DB Turn On and turn offcurves apply For example with a DC Bus Memory at 684V DC the Dynamic Brake Regulator will turn on at 750V DC and turn back off at 742V DC The Dynamic Brake mode can operate differently depending upon the setting of P382 DB Resistor Type either External or Internal Rockwell Automation Publication 750 RM002A EN P September 2012 35 Chapter1 Drive Configuration Internal Resistor If the drive is set up for an internal resistor there is a protection scheme built into the firmware such that if it is determined that too much power has been dissipated into the resistor the firmware will not allow the DB transistor to fire any longer Thus the bus voltage will rise and trip on over voltage Figure 4 PowerFlex 750 Series Bus Regulation Internal Dynamic Brake Resistor
225. ded digital output Sel parameter being configured such that the output energizes when a fault is present on the drive AB_ETHIP 1 192 168 1 21 Powerflex 753 PowerFlex 753 gt g File Edit View Drive Peripheral Tools Window Help amp 9 O 5 9 P e Oenabled i ch EVA Connection DPI Back Next gt v E S Node 192 168 1 21 Port 0 Digital Outputs Group Parameters ParameterName E B 0 PowerFlex 753 DES 9 58 Diagrams Dig Out Invert Parameter List 227 Eg Monitor 231 ROO Level Sel Motor Control 232 ROO Level Eid Feedback amp 233 RODLevelCmpsts 0000000000000000 Feedback 234 ROD On Time Value Numeric Edit Documentation Digin Functions 235 ROO Off Time Digital Inputs 240 TOO Sel Digital Outputs 241 TOO Level Sel ETT Motor PTC 242 TOO Level Patt Analog Inputs 243 TOO Level CmpSts fo PowerFlex 753 7 Analog Outputs 1244 TOO On Time RO pm m 245 TOO Off Time Fao 8 Drive Cfg Protection 35 Drive Status 1 z DA Bit W Speed Control Torque Control Position Control 2 Communication Diagnostics Faulted Value Por 0 Drive Status 1 Faulted 8 Applications internal Value 8 Default Custom mr flg 1 20 HIM x6 9 98 6 20 COMM E 14 DeviceLogix Hex Bin Range Value I
226. ded that a managed switch with a transparent and or boundary clock plus QoS and IGMP protocol support be used for this Network topology Although the ControlLogix controller is illustrated the CompactLogix controller could also be used 258 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Ring Star Topology Network switches can also be connected into a DLR via an Ethernet IP tap creating a ring star topology 1756 EN2T or 1756 ENxTR 1585J M8CBJM x EtherNet shielded Cable RSLogix 5000 Version 19 and Higher 1783 PowerFlex 755 PowerFlex 755 PowerFlex 755 PowerFlex 755 Other EtherNet IP Compatible Devices Stratix 8000 It is recommended that a managed switch with a transparent and or boundary clock plus QoS and IGMP protocol support be used for this Network topology Although the ControlLogix controlloer is illustrated the CompactLogix controller could also be used e PowerFlex 755 drive can be configured for a normal duty or heavy dut owerFlex 755 and Kinetix 7 lex 755 d be configured f l duty or heavy duty 7000 Drive Overload Ratin g operation The heavy duty rating has a lower continuous current rating and therefore can produce more current during an overload Comparison for Permanent Magnet Motor Operation om omm 50 100 One minute 3
227. digital output has two user controlled timers associated with it The On timer defines the delay time between a False to True transition condition appears on the output condition and the corresponding change in state of the digital output The Off timer defines the delay time between a True to False transition condition disappears on the output condition and the corresponding change in the state of the digital output Either timer can be disabled by setting the corresponding delay time to zero PowerFlex 753 On Off parameters noted below Parameter No Parameter Name Description 234 ROO On Time Sets the ON Delay time for the digital outputs This is the time between the occurrence of a condition and activation of the relay 235 ROO Off Time Sets the OFF Delay time for the digital outputs This is the time between the disappearance of a condition and de activation of the relay 244 TOO On Time Sets the ON Delay time for the digital outputs This is the time between the occurrence of a condition and activation of the relay or transistor 245 TOO Off Time Sets the OFF Delay time for the digital outputs This is the time between the disappearance of a condition and de activation of the relay or transistor Depending on the PowerFlex 750 Series Option Module s installed On Off parameters noted below Parameter No Parameter Name Description 14 R00 On Time Sets the ON Delay time fo
228. duio J dnjes pue4 J peojuwoq sejdues DuiusiuiJ sejdues 1865u aid yeg Block Diagram snjejs Jo Apeay peojumoq sn 952 Jo sw T aidwes Sajdwes Jo 960p 0 T auo sn 952 jo sejdtues peor Jo Jo 5 ZO JO sedes Jo siejinq 8 uoge4nByuo ejduies pow puslL JON D dois D pJeziM puell p ds uBiH pas 205 Rockwell Automation Publication 750 RM002A EN P September 2012 Chapter5 Drive Features Position Homing 206 The Homing function is a standalone function of the drive that moves the motor to a home position defined by a switch that is connected to a homing input on a feedback option module digital input resident on the Main Control Board or on an I O option module if there is no feedback module This function is typically run only once after the drive is powered up or if the drive has become lost If a universal feedback option module is used the homing input is part of the general Registration hardware To perform the homing sequences that require this module the drive will have to configure the Registration function on the mo
229. dule itself If a Position Absolute move is made it is necessary to have performed either a Find Home or a Position Redefine procedure at some time after drive powerup Until this is done Bit 19 Home Not Set in Profile Status will remain set preventing the profile from executing The Find Home state is entered from the Initialize Step state when the profile is enabled with the Find Home bit set in the Profile Command parameter The drive will perform a procedure to establish the home position The procedure consists of a move in Speed mode at the specified Find Home Speed A digital input is used to sense when the home position limit switch has been traversed If there is an encoder the registration logic is used to latch the motor position when the limit switch is reached as the home position The Find Home function will handle three possible cases Switch and Marker Switch only and Marker only Homing Input Selection With Feedback Device Both the universal feedback option modules and the encoder feedback option modules provide a dedicated homing input The homing input on the feedback module that is selected by P135 Mtr Pos Fdbk Sel is used for homing If the marker pulse from an encoder is used in the homing function it is also selected by P135 Mtr Pos Fdbk Sel Without Feedback Device If the drive does not have a feedback module and a selection in P135 Mtr Psn Fdbk Sel of simulator feedback is made the homing input that
230. e Integrated Motion on EtherNet IP Instance Drive Parameter Flux Up Control P43 Flux Up Enable Forced to Automatic Flux Up Time P44 Flux Up Time Overtorque Limit P436 Shear Pin1 Level Overtorque Limit Time P437 Shear Pin 1 Time Torque Limit Negative P671 Neg Torque Limit Torque Limit Positive P670 Pos Torque Limit Undertorque Limit P442 Load Loss Level Undertorque Limit Time P443 Load Loss Time Rockwell Automation Publication 750 RM002A EN P September 2012 237 Chapter 6 238 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Position Loop Axis Properties Configuration General Axis Properties for Position Loop Model Analyzer Motor Feedback Scaling Hookup Tests Polarity Autotune B Load Backlash Compliance Observer Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Axis Configuration Feedback Configuration Application Type Loop Response Motion Group Associated Module MotionGroup New Group Module Module Type Power Structure Axis Number 55 PowerFlex 755 EENET CM 480V 654 Normal Duty 1 Apply Categories General Motor Model o Analyzer
231. e Drive Scaling Drive device supports drive scaling functionality DScale Motion Scaling Configuration set to Drive Scaling E21 EnDat 2 1 feedback type E22 EnDat 2 2 feedback type E Encoder based control a feedback device is present Encoderless or sensorless control a feedback device in not present HI Hiperface feedback type IM Rotary or Linear Induction Motor motor type Rockwell Automation Publication 750 RM002A EN P September 2012 331 Appendix Table 26 PowerFlex 755 Safety Drive Module Optional Attributes ID 19 Access Set Attribute Axis Features Table 25 Conditional Implementation Key Key Linear Absolute Description Feedback Unit meter Feedback n Startup Method absolute Linear Motor Linear PM motor or Linear Induction motor motor type LDT or Linear Displacement Transducer feedback type NV Motor NV or Drive NV motor data source 0 Bits Optional bits associated with bit mapped attribute 0 Enum Optional enumerations associated with attribute PM Rotary or Linear Permanent Magnet motor motor type Rotary Absolute Feedback Unit rev Feedback n Startup Method absolute Rotary Motor Rotary PM motor or Rotary Induction motor motor type SC Sine Cosine feedback type SL Stahl SSI feedback type SS SSI feedback type Tamagawa feedback type TP Digital Parallel feedback type TT Digital AqB feedback
232. e Dynamic Brake Module is not sufficiently low consider using up to three Dynamic Brake Modules in parallel such that the parallel Dynamic Brake resistance is less than Rdb1 calculated in Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Step 3 If the parallel combination of Dynamic Brake Modules becomes too complicated for the application consider using a Brake Chopper Module with a separately specified Dynamic Brake Resistor Step 5 Estimate average power It is assumed that the application exhibits a periodic function of acceleration and deceleration If t5 t2 the time in seconds necessary for deceleration from rated speed to 0 speed and ty is the time in seconds before the process repeats itself then the average duty cycle is 4 The power as a function of time is a linearly decreasing function from a value equal to the peak regenerative power to 0 after t5 seconds have elapsed The average power regenerated over the interval of t5 seconds is Pb 2 The average power in watts regenerated over the period is 5 1 f 2 P Average dynamic brake resistor dissipation in watts t5 t Elapsed time to decelerate from rated speed to 0 speed in seconds t4 Total cycle time or period of process in seconds Pp Peak braking power in watts The Dynamic Brake Resistor power rating of the Dynamic Brake Module sin
233. e MDS Instruction If you are using the MDS instruction the drive will accelerate and decelerate at the planner Max Acceleration and Deceleration values To set the RampAcceleration and RampDeceleration you will need to use SSV instructions to change the ramp rates Below is an example of the SSV instructions e Set the RampAcceleration RampDeceleration attribute to x revs sec e Class Name Axis e Instance Name Axis Name e Attribute Name RampAcceleration RampDeceleration Source Tag for value Example Velocity Speed command is 30 revs sec and you want to reach that speed from zero in 6 5 seconds Ramp Acceleration would need to be set to 4 615 revs sec Set the Acceleration in the RampAcceleration if you want to change from the Planner max acceleration units Revs Sec 2 Change Accel SSV Set System Value Class Name Axis Instance Name CIP_PF755 Attribute Name RampAcceleration Source AxisAcceleration 1000 0 Set the Deceleration in the RampDeceleration if you want to change from the Planner max Deceleration units Revs Sec 2 Change_Decel SSV Set System Value Class Name Axis Instance Name CIP_PF755 Attribute Name RampDeceleration Source AxisDeceleration 00 270 Rockwell Automation Publication 750 RM002A EN P September 2012 Supported Motors Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 The PowerF
234. e current regulator becomes de tuned This regulator should never be disabled If you feel you need to disable this function you should consult the factory for verification AC induction motors require flux to be established before controlled torque can be developed To build flux voltage is applied There are two methods to flux the motor The first method is Automatic during a normal start Flux is established as the output voltage and frequency are applied to the motor While the flux is being established the unpredictable nature of the developed torque may cause the rotor to oscillate even though acceleration of the load may occur In the motor the acceleration profile may not follow the commanded acceleration profile due to the lack of developed torque Figure 16 Accel Profile during Normal Start No Flux Up Frequency _________________________ Reference Rated Flux 5 5 Stator Rotor Oscillation due to flux being established 02 The second method is Manual In this mode DC current is applied to the motor so that the flux is established before rotation The flux up time period is based on the level of flux up current and the rotor time constant of the motor The flux up current is not user adjustable Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Figure 17 Flux Up Current versus Flux Up Time amp Flux Up Current Ma
235. ected programming Rockwell Automation Publication 750 RM002A EN P September 2012 13 Chapter 1 14 Drive Configuration Configuration Setting P348 Auto Rstrt Tries to a value greater than zero will enable the Auto Restart feature Setting the number of tries equal to zero will disable the feature ATTENTION Equipment damage and or personal injury may result if this parameter is used in an inappropriate application Do not use this function without considering applicable local national and international codes standards regulations or industry guidelines P349 Auto Rstrt Delay sets the time in seconds between each reset run attempt The auto reset run feature supports the following status information P936 Drive Status 2 Bit 1 AuRstrCntDwn Provides indication that an Auto Restart attempt is presently counting down and the drive will attempt to start at the end of the timing event e P936 Drive Status 2 Bit 0 AutoRstr Act Indicates that the auto restart has been activated Operation The typical steps performed in an Auto Reset Run cycle are as follows 1 The drive is running and an Auto Reset Run fault occurs thus initiating the fault action of the drive 2 After the number of seconds in P349 Auto Rstrt Delay the drive will automatically perform an internal Fault Reset resetting the faulted condition 3 The drive will then issue an internal Start command to start the drive
236. ectly or seeing one drives brake IGBT failing consistently while the other drives are fine Looking at the below diagram it shows the DC bus level for two drives on common bus The delta between these voltages are exaggerated for clarity As the voltage increases the Drive 1 IGBT turns on and decreases the voltage level before Drive 2 sees voltage high enough to be told to turn on This results in Drive 1 doing all the dynamic braking Now this situation could be alright as long as the minimum ohmic value for resistance is not violated and the regen event isn t so great that a single resistor can t handle the power Of course if there is a large regen event where the voltage continues to rise after Drive 1 has turned on Drive 2 will fire its IGBT when it reaches the voltage limit A Vac Vac on DB IGBT Drive 1 off t DB IGBT Drive 2 on off t 146 Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Here are two drives with PWM DB control on a common bus Since one drive will turn on at a certain duty cycle the bus voltage will likely continue to rise guaranteeing that the other drive s IGBT will turn on at a different duty cycle A Vac Drive 2 Vac on L Vac oft Se Vac DB IGBT Drive 1 ih Lh od off t DB IGBT Drive 2 off t How to Select A Chopper Module and Dynamic Brake Resistor
237. ed state when the function is selected Drive Stopped During Activation If the drive is stopped a start command to drive is required to activate a homing sequence Drive Started and At Zero Speed During Activation If the drive has already started and At Zero Speed the rising edge or toggled bit will activate and latch the homing sequence Drive Started and not At Zero Speed During Activation If the drive has already started and not At Zero Speed the rising edge will be ignored and the homing sequence will not start Homing to Limit Switch with Feedback Upon activation of homing the drive will start moving in Speed Control mode and ramp to the speed and direction set in P735 Find Home Speed at the rate set in P736 Find Home Ramp When the limit proximity switch is reached the Homing Input is set The position count is latched and is considered the home position count The drive will then ramp to zero at the rate set in P736 Find Home Ramp The drive will then perform a point to point position move back to the home position count in speed of 1 10 of P735 Find Home Speed When the motor is At Position and At Zero Speed the homing sequence will complete Rockwell Automation Publication 750 RM002A EN P September 2012 207 Chapter 5 208 Drive Features NOT Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running
238. ed in P394 DC Brake Level This voltage causes a holding brake torque DC voltage to the motor continues until a Start command is reissued or the drive is disabled Ifa Start command is reissued DC Braking ceases and the drive returns to normal AC operation Ifan Enable command is removed the drive enters a Not Ready state until the enable is restored 78 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Fast Brake Bus Voltage Output Voltage Motor Speed Time Stop Command This method takes advantage of the characteristic of the induction motor whereby frequencies greater than zero DC braking can be applied to a spinning motor that will provide more braking torque without causing the drive to regenerate On Stop the drive output will decrease based on the motor speed keeping the motor out of the regen region This is accomplished by lowering the output frequency below the motor speed where regeneration will not occur This causes excess energy to be lost in the motor e The method uses a PI based bus regulator to regulate the bus voltage to a reference that is 750V by automatically decreasing output frequency at the proper rate When the frequency is decreased to a point where the motor no longer causes the bus voltage to increase the frequency is forced to zero DC brake will be used to complete the stop if the DC Braking Time is non zero
239. efore the process repeats itself then the average duty cycle is t3 ty ty The power as a function of time is a linearly decreasing function from a value equal to the peak regenerative power to 0 after t5 t2 seconds have elapsed The average power regenerated over the interval of t3 seconds is Pb 2 The average power in watts regenerated over the period t is CM CE P average dynamic brake resistor dissipation watts t5 t Elapsed time to decelerate from rated speed to 0 speed seconds t4 Total cycle time or period of process seconds Pp Peak braking power watts Rockwell Automation Publication 750 RM002A EN P September 2012 157 Chapter 4 158 Motor Control The Dynamic Brake Resistor power rating in watts that will be chosen should be equal to or greater than the value calculated in Step 7 Step 8 Calculate the requires Watt Seconds joules for the resistor In order to be sure that the resistors thermal capabilities are not violated a calculation to determine the amount of energy dissipated into the resistor will be made This will determine the amount joules the resistor must be able to absorb Pe 6 5 x y Required watt seconds of the resistor t3 ty Elapsed time to decelerate from b speed to 000 speed seconds Peak braking power watts Internal Brake IGBT for PowerFlex 755 Drives Sizing Resistors for an internal DB IGBT Sizing resistors for the internal DB
240. egral brake please verify that the brake is properly suppressed for noise Rockwell Automation Publication 750 RM002A EN P September 2012 271 Chapter 6 272 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Manufacturer Notes WEG Electric Corp WEG motors may have a start winding and a run winding Always wire the drive to the run winding Wittenstein Work well with PowerFlex 755 drives Wound rotor manufacturers Wound Rotors work with PowerFlex 755 drives You must short the external resistors when using these motors Permanent Magnet Motors Most permanent magnet motors are compatible with the PowerFlex 755 drive You must obtain the motor manufacturer s specification for the motor prior to contacting Rockwell Automation Technical Support PowerFlex 755 drives cannot accept a resolver Therefore the motors must have either a pulse encoder or absolute feedback device for example SSI Heidenhain Stegmann Sick hyperface This list contains the name of manufacturers that produce motors that are recommended for use with PowerFlex 755 drives Manufacturer Notes Baldor Electric Company Work well with PowerFlex 755 drives Verify that you are using either the Surface Mount SM or Interior Mounted IPM motors and select the appropriate control algorithm KollMorgan Work well with PowerFlex 755 drives Oswald Electric Motors PowerTec Work well with PowerF
241. egrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Block Diagram Table of Contents Block Diagram Page Block Diagram Page Flux Vector Overview 291 Torque Control Overview Induction Motor and 310 Surface Permanent Magnet Motor VF V Hz SV Overview 292 Torque Control Overview Interior Permanent 311 Magnet Motor Speed Position Feedback 293 Torque Control Reference Scale and Trim 312 Speed Control Reference Overview 294 Torque Control Torque 313 Speed Control Reference Sheet 1 295 Torque Control Current Induction Motor and 314 Surface Permanent Magnet Motor Speed Control Reference Sheet 2 296 Torque Control Current Interior Permanent 315 Magnet Motor Speed Control Reference Sheet 3 297 Torque Control Inertia Adaption 316 Speed Control Reference Sheet 4 298 Torque Control Load Observer Estimator 317 Speed Control Reference Sheet 5 299 Process Control Sheet 1 318 Speed Control Regulator Flux Vector 300 Process Control Sheet 2 319 Position Control Reference 301 MOP Control 320 Position Control Regulator 302 Inputs and Outputs Digital 321 Position Control Aux Functions 303 Inputs and Outputs Analog 322 Position Control Phase Locked Loop 304 Control Logic 323 Position Control Position CAM 305 Inverter Overload IT 324 Position Control Profiler Indexer Sheet 1 306 Friction Compensation 325 P
242. ell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 External Shunt Resistance Enter the resistance of the external resistor connected to the drive terminal block connections BR1 and BR2 Verify that the resistance is equal to or greater than the minimum resistance for the drive capabilities See Minimum Dynamic Brake Resistance in the PowerFlex 750 Series AC Drives Technical Data publication 750 TD001 External Shunt Power Enter the continuous power dissipation rating kW of the external resistor Failure to specify the correct value can cause the drive to either stop sending energy to the resistor prematurely or overheat the resistor For example if an 800 W rated resistor is installed enter 0 8 in this field External Shunt Pulse Power 3 Click OK The Watt Second or Joules rating kW of the resistor This is the amount of energy that the resistor can withstand for one second to reach the maximum temperature Failure to specify the correct value can cause the drive to either Stop sending energy to the resistor prematurely or overheat the resistor Rockwell Automation Publication 750 RM002A EN P September 2012 263 Chapter 6 Safe Speed Monitor Option Module 20 750 S1 Configuration Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives When a PowerFlex 755 drive is
243. enu choose the appropriate value In the Cycle Resolution box type the appropriate value for your device From the Startup Method pull down menu choose the appropriate value for your device In the Turns box type the appropriate value for your device Axis Properties Dual Loop Axis Analyzer Motor Feedbacl ac k Scaling Hookup Tests Torque Current Loop Planner Feedback Device Specification Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 19 Select the Scaling category 20 From the Load Type pull down menu choose the appropriate value for your device This example uses a Rotary Transmission 21 In the Transmission Ratio boxes type the appropriate values for your device This example uses a ratio of 5 1 22 In the Scaling Units box type the appropriate value for your device 23 In the Scaling Position Units box type the appropriate value for your device This example uses 30 position units for every 1 0 load encoder revolution on a rotary axis for example a dial that unwinds to zero position after 90 units accumulate Axis Properties Dual Loop Axis Categories Scaling to Convert Motion from Controller Units to User Defined Units General E Motor Model Load Type Rotary Transmission z Parameters
244. eparated Values csv 7 Cancel Rockwell Automation Publication 750 RM002A EN P September 2012 8 To start the data logging click Save Drive Features Chapter 5 As the data logging begins you will see a Time Left timer counting down as well as a blue progress bar moving to right ingWizard 3 of 3 A xj Time Collected 3 7 amp TI 1 26 2012 3 03 34 645 0 0 0 0 0 554 53 1 26 2012 3 03 35 614 0 0 0 0 0 554 54 1 26 2012 3 03 36 568 0 0 0 0 0 554 54 1 26 2012 3 03 37 569 0 0 0 0 0 554 54 1 26 2012 3 03 38 569 0 0 0 0 0 554 54 1 26 2012 3 03 39 617 0 0 0 0 0 554 54 1 26 2012 3 03 40 586 0 0 0 0 0 554 55 1 26 2012 3 03 41 681 1 81 0 29 0 06 0 28 166 87 554 48 1 26 2012 303 42 682 7 87 57 0 01 0 09 36 93 55414 1 26 2012 3 03 43 682 13 88 11 71 0 01 01 75 56 554 13 1 26 2012 3 03 44 730 20 07 18 0 01 01 121 08 55413 1 26 2012 3 03 45 731 26 06 23 98 0 01 0 08 167 21 554 13 1 26 2012 3 03 46 731 32 12 30 04 0 0 08 212 67 554 12 1 26 2012 3 03 47 732 38 13 36 05 0 01 01 257 85 55413 1 26 2012 303 48 733 44 17 42 05 0 015 304 41 564 13 1 26 2012 3 03 49 733 50 19 48 1 0 01 03 348 57 564 14 1 26 2012 3 03 50 734 52 77 53 44 0 0 31 39417 55413 1 26 2012 303 51 688 46 99 49 14 0 01 0 41 385 55 55413 1 26 2012 3 03 52 735 40 82 42 89 0 02 022 340 63 564 13 lt Back Next gt Finish gt gt 2 When the data logging has finished a Logging Complete mess
245. epeo s 98 usd i pued VIN __ ano jeo9p 1890p e o ___ 19990 pejqeue si uonouny ueuM 2 z VIN eoe ano 18998 SAO je00e 8002 BAOW eoo vr 1 VIN AOW AOW AOW AOW AOW LERN i iausi usd xayo das pueg ufq puajq pue giisod uonov r ysenbey O K OGL euoHpud O LEZ paads ed 1 snjeys 10302 VIN VIN VIN VIN VIN YIN ubia anen uonisueg enjeA uonipuo 4 178 pejsoy lt uonisod VIN VIN VIN uoysod dejs VIN days days K N VIN VIN VIN das ON K N usd I VIN 9028 9028 VIN VIN VIN 49eg ___ ew yamg VIN VIN VIN VIN 4 22 4 sod yeBue sodiebie lt gt VIN jejueuiemu VIN VIN VIN 1 6921 1 VIN 1898p 829p VIN VIN VIN 1898p 19290 usq VIN jeooe eo 18992 AOW VIN VIN VIN 18092 1853 usd OL 1 VIN AOW VIN VIN VIN Ie eo
246. eptember 2012 Drive Configuration Chapter 1 Flying Start Sweep Dip B This plot shows the effect of modifying P360 FS Speed Reg Kp In this plot a motor that is spinning at some constant speed when the drive is issued a start command and the sweep routine is started Note the current dip when the parameter is set to it s highest value and the drive has determined the frequency of the rotating motor See the previous plot when this parameter set to it s lowest setting Rockwell Automation Publication 750 RM002A EN P September 2012 49 Chapter1 Drive Configuration Flying Start Sweep Reverse Rotating Motor This plot shows the Sweep mode when the motor is rotating opposite from the commanded frequency It starts the same as explained above If it didn t detect the motor s speed as it reaches 3 Hz it begins to sweep in the opposite direction From here the process continues the same as before 50 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Flying Start Enhanced Mode This plot shows a very short time base of the Enhanced mode If the drive detects the counter EMF of the motor it can instantly re connect to the motor and accelerate to the commanded speed If the drive cannot measure the CEMF this is where the plot picks up it will send current pulses to the motor in an attempt to excite the motor allowing the drive to detect the speed of the motor This usually happe
247. er 2 File Group Example For example in the diagram below a digital output is configured for P935 Drive Status 1 Bit 27 Cur Limit the On Time is programmed for two seconds and the Off Time is programmed for 0 seconds Relay Activates lt gt On Delay 2 Seconds Current Limit Occurs 0 5 10 Relay Does Not Activate lt gt On Delay 2 Seconds Cyclic Current Limit every other second 0 5 10 Status The Dig Out Sts parameter displays the status of the digital outputs and can be used for troubleshooting the digital outputs When the bit in associated with the digital output is on this means that the logic in the drive is telling that digital output to turn on When the bit associated with the digital input is off this means that the logic in the drive is telling that digital output to turn off PowerFlex 753 related Status parameter information noted below Display Name Full Name Description Read Write Data Type RO 16 bit 225 Dig Out Sts Digital Output Status Integer Status of the digital outputs Options 0 Condition False 1 Condition True Digital Outputs Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Default Bit 5 S Reserved Reserved MO Reserved Trans Out 0 gt RelayOut 0 S Reserved S
248. er 5 200 Drive Features 6 Select the parameter that you want to log by selecting the Port and then scroll through the parameter lists file folders diagnostic items or use the find function and click Apply Select Items in Tree to choose list 0 PowerFlex 755 480V 654 18 Parameter List Monitor Motor Control Feedback amp 1 0 a Drive Cfg Parameter Name 1 Output Frequency 2 Commanded SpdRef 3 Mtr Vel Fdbk 4 Commanded Trq 5 Torque Cur Fdbk 6 Flux Cur Fdbk 1 Output Current i Pans yrs gl Find Nest Prev Cancel The best way to remove a parameter selection is to uncheck the check box in the Use column Trend Buffers Trend Parameter Bit Position 4 Port 0 7 Output Current Port 0 8 Output Voltage IV Pott 0 11 DC Bus Volts Not used will be downloaded instead of the selected parameter The next time that you launch the wizard that buffer will have no parameter set In the example below the trend buffers are configured with five drive parameters consisting of Output Frequency Motor Velocity Feedback DC Bus Voltage Output Current Output Voltage parameter values The trend is configured for a total of 4096 samples that will include 500 samples before the trigger at a sample rate of 1 024 ms The trigger of the high speed trend will be the Motor Velocity Feedback greater than zero This means the following The drive will start
249. er connected device from starting the drive An open to closed transition on one input or both inputs while the drive is stopped will cause the drive to run unless the Stop input function is configured and open The table below describes the basic action taken by the drive in response to particular states of these input functions Run Forward Run Reverse Action Open Open Drive stops terminal block relinquishes direction ownership Open Closed Drive runs in reverse direction terminal block takes direction ownership Closed Open Drive runs in forward direction terminal block takes direction ownership Closed Closed Drive continues to run in current direction but terminal block maintains direction ownership It is not necessary to program both Forward and Reverse These two functions will operate with or without each other IMPORTANT Direction control is an Exclusive Ownership function see Owners This means that only one control device terminal block DPI device HIM and so forth at a time is allowed to control direction at a time The terminal block must become direction owner before it can be used to control direction If another device is currently the direction owner as indicated by P922 Dir Owner it will not be possible to start the drive or change direction by using the terminal block digital inputs programmed for both Run and Direction control for example Run Fwd DI Run Th
250. er curve of the Dynamic Brake Resistor then there is an application problem The application problem is that the Dynamic Brake Resistor is exceeding its rated temperature during the interval that the transient power curve is to the right of the resistor power curve capacity It would be prudent to parallel another Dynamic Brake Module or apply a Brake Chopper Module with a separate Dynamic Brake Resistor Sizing the Chopper and Resistors Chopper and Resistors no longer a Rockwell Automation product Sizing the chopper module is the same as the dynamic brake module with a couple of added steps Since the chopper is separate from the resistors an additional calculation for current needs to be made Additionally a calculation for watt seconds or joules needs to be made for resistor sizing Step 1 Determine the Total Inertia Jr2Ja GR x Jy Total inertia reflected to the motor shaft kilogram meters2 kgem or pound feet2 motor inertia kilogram meters2 kgem or pound feet2 Ibeft2 GR the gear ratio for any gear between motor and load dimensionless load inertia kilogram meters2 kgem or pound feet2 lbefc 1 0 lbefc 0 04214011 kgem Step 2 Calculate the Peak Braking Power Eius h t Jr Total inertia reflected to the motor shaft kgem 2nN rated angular rotational speed Rad s m N Rated motor speed RPM Rockwell Automation Publication 750 RM002A EN
251. erFlex 755 AC Drives Speed Control Reference Sheet 5 ZH basg ZH yoy onbio 299 0 ouo 6 4204 9 Jo4juo2 qur ywr peedsieAQ ABY PM xe lt sa ATNO NOILIGNOD i 218 ed peeds Jou pds pedwey i yap peeds doo uedo rog E x 4ojeinBay peeds AS bald pds gt Jojeubeju dwey ty Bay pds ASZHA i uo ies jeu p9edS PU peedgxew jum aouaajay Ayoojan egy meis ZH D lt gt bei4 nmm _ Bulea 2 ee cine u 0 re Id 29 Josueg ym x Lig ASZHA peeds jur t ayey dwey Cos dwey 4 HID dy Bey pds ASZHA juaunj sng Spy dwey 238
252. erates energy from the load the drive DC bus voltage increases unless there is another means of dissipating the energy such as a dynamic braking chopper resistor or the drive takes some corrective action prior to the overvoltage fault value Motoring Regenerating Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 With bus regulation disabled the bus voltage can exceed the operating limit and the drive will fault to protect itself from excess voltage OV Fault Vpus Max 1 Single Seq 500 5 5 Pace ere ee eee Drive Output Shut Off P di Chl 100mv Ch2 00mV M 1 005 Ch3 s 1 47 V Ch3 500mV With bus regulation enabled the drive can respond to the increasing voltage by advancing the output frequency until the regeneration is counteracted This keeps the bus voltage at a regulated level below the trip point Tek Stop Single Seq 100 S s cha zoom Vert Q 5X Hore C1 RMS 677 8 V DB Bus Motor Speed Output Frequency 3 tnt 100 M T 00s Cri 682 Ch3 2 007 Ch4 200v The bus voltage regulator takes precedence over acceleration deceleration Select bus voltage regulation in the Bus Reg mode parameter Rockwell Automation Publication 750 RM002A EN P September 2012 31 Chapter1 Drive Configuration Operation
253. erence Rockwell Automation Publication 750 RM002A EN P September 2012 Feedbackandl O Chapter 2 DI PHdwr OvrIrvl DI NHdwr OvrIrvl These digital input functions are used to trigger a Positive Hardware Over travel and or a Negative Hardware Over travel The resulting action is to immediately fault and produce zero torque After the drive is stopped the condition will need to be cleared and the fault will need to be reset The drive will restart if given a new start command and continue operation It will follow any speed reference position reference or torque reference The drives direction is not modified or limited after the restart This function is usually used with a limit switch in a position beyond the End Limit as an extra safety limit to prevent torque from damaging the machine in an over travel situation Status For the PowerFlex 753 main control board Digital Inputs Di 0 1 and 2 P220 Dig In Sts bits 0 1 and 2 represents its respective inputs status For the PowerFlex 755 main control board Digital Inputs Di 0 P220 Dig In Sts Bit 0 represents its respective digital input status For the PowerFlex 750 Series Option Module Digital Inputs Di 0 1 2 3 4 and 5 P1 Dig In Sts bits 0 1 2 3 4 and 5 represents its respective digital input status When the bit associated with the digital input is on depicted by a 1 this means that the drive recognizes that the digital input is on When the bit ass
254. es The advantage of a star network is that if a point to point connection is lost to an end device the rest of the network will remain operational The primary disadvantage of a star topology is that all end devices must typically be connected back to a central location which increases the amount of cable infrastructure that is required and also increases the number of available ports required by the central switch leading to a higher cost per node solution Rockwell Automation Publication 750 RM002A EN P September 2012 255 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Linear Topology In a linear topology the devices are linked together via a two port embedded switch or through an EtherNet IP network tap 1783 ETAP instead of being connected back to a centralized network switch RSLogix 5000 Version 19 and Higher ControlLogix A 1756 7777 1585J M8CBJM x EtherNet shielded Cable Point I O PowerFlex 755 PowerFlex 755 PowerFlex 755 PowerFlex 755 Either a Dual Port EtherNet IP Option Module or an EtherNet IP network tap 1783 ETAP would be required for this network topology this diagram illustrates an application using the dual port option card For more information about applying a Dual Port EtherNet IP Option Module see the PowerFlex 20 750 ENETR Dual Port EtherNet IP Option Module User Manual publication 750COM UMO008 Alth
255. esistance Test This test will be a Static test whether Static or Rotate is selected Used to measure Stator resistance Inductance Tests This test will be a Static test whether Static or Rotate is selected One test is used for Induction motors and a another is used for PM motors The result from the Induction test is placed into the XO parameter and the PM test is placed into the IXd and IXq parameters Flux Test This test will be a Rotate test that measures the current under a no load condition The results are used for the flux current If a Static test is used the resulting value is from a lookup table Slip Test This test will be a Rotate test that measures the difference between the rotor speed and the stator speed This measurement is taken during acceleration PM Offset Test This test may create a small amount of motor movement so will need to be performed with the Rotate selection The test will read the encoder position when the drive outputs zero hertz Inertia Test This test is a stand alone test that is used to measure the system inertia The drive sets this value in P76 Total Inertia as seconds of inertia This reflects the time it takes to accelerate the load at 10096 torque to base speed This information can be very useful in determining the total inertia in that is connected to a motor shaft 2 Using the following formula Tacc UR AN 308 7 Tacc x 308 x t and rearranging it to WK AN
256. et Feedback 2 Polarity Y Y Y Y 1465 Set Feedback 2 Startup Method R R R R 0 Enum 1 Absolute Y 1470 Set Feedback 2 Data Length Y Y Y Y TPSS 171 Set Feedback 2 Data Code Y Y Y Y TPSS 1472 Set Feedback 2 Resolver Transformer Ratio N N N N RS 1473 Set Feedback 2 Resolver Excitation Voltage N N N N RS 1474 Set Feedback 2 Resolver Excitation Frequency N N N N RS 1475 Set Feedback 2 Resolver Cable Balance N N N N RS 2450 Set Feedback 2 Loss Action N N N N 0 Enum 1 Switch to Sensorless Fdbk N 2 Switch to Redundant Fdbk N 2453 Set Feedback 2 Velocity Filter Taps N N N N 2454 Set Feedback 2 Accel Filter Taps N N N N 1484 Set Feedback 2 Velocity Filter Bandwidth N N N N 1485 Set Feedback 2 Accel Filter Bandwidth N N N N 2455 Set Feedback 2 Battery Absolute N N N N TM 365 Get Position Fine Command Y 366 Get Velocity Fine Command Y Y 367 Get Acceleration Fine Command N N N 370 Set Skip Speed 1 371 Set Skip Speed 2 372 Set Skip Speed 3 334 Rockwell Automation Publication 750 RM002A EN P September 2012 Table 26 PowerFlex 755 Safety Drive Module Optional Attributes Appendix A ID Access Attribute F P V T Conditional Implementation 373 Set Skip Speed Band Y 374 Set Ramp Velocity Positive Y Y Derived 375 Set Ramp Velocity Negative Y Y Derived 376 Set Ramp Acceleration Y Y Derived
257. ew av I v8 gt iW 8 jeu peeds le 195 uew atv ree a lt o Y las Jou UW IG 195 d Jeu les gies Coss 195 Jey peeds 1 uonosjes ___1 Seo2Junog Jay uogosjes 3 SseoJnog m 5 Jes 5 JeujO I s92Jnog Jay joa catch c 9 ouy 9 gie PdL 8 pds 119 795 P gt 909 tHBluv uiu NE 19 Huy dus 98 IHBluy Joy uew xibo1 eg hoe 09 dis a iis gieu 185 g jeu pds og vena 0 paiqesiq 0 paiqesiq 0 peigesia J z uei 91d Idd 9 8 pjewuojpee 4 e lt v jeu v jeu pds 1 uei HAM Ort 1 Hike 728 m x gt x J Cavs HBluv v jeu pds uem sud ida 628 gt 4 6L L my3 Bojeuy Coos Woy Gig Denuv wey
258. ference until there was a breakage or slippage in the application When the drive is following a torque reference Torque mode in SLAT Minimum mode either one of two conditions will force the drive into following the speed reference Speed mode The output of the speed regulator becomes less than the torque reference This is the same condition that exists in Minimum Torque mode Or Rockwell Automation Publication 750 RM002A EN P September 2012 Application Dependant Speed Reference Bias Motor Speed Feedback Extemal Torque Reference ETR Motor Control Chapter 4 The speed error becomes negative the speed feedback becomes greater than the speed reference This is Forced Speed mode By forcing the drive to enter Speed mode the transition occurs earlier than it would have in the Minimum Torque mode resulting in less velocity overshoot P314 SLAT Err Stpt and P315 SLAT Dwell Time let you to set some hysteresis for turning off the Forced Speed mode They are set to 0 as default so that there is no hysteresis In SLAT Minimum mode SLAT Err Stpt sets how much less the speed feedback should be than the speed reference before turning off the Forced Speed mode The SLAT Dwell Time sets how long the speed error must exceed the SLAT error set point before turning off the Forced Speed mode At the time that the drive switches from Torque mode to Forced Speed mode the speed regulator output is loaded with the i
259. g Position Integrator Hold P721 Position Control Position Lead Lag Filter Bandwidth P834 Psn Out Fltr BW Position Lead Lag Filter Gain P833 Psn Out FltrGain Position Loop Bandwidth P839 Psn Reg Kp Position Notch Filter Frequency P830 PsnNtchFltrFreq Velocity Feed Forward Gain P549 Spd Ref A Mult Rockwell Automation Publication 750 RM002A EN P September 2012 239 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Induction Motor Data Axis Properties Configuration Induction Motor Data Axis Properties Data Source Analyzer Catalog Number Change Catalog Scaling Hookup Tests Motor Type Rotary Induction X Polarity Units Autotune nix E AE ELLET Load Nameplate Datasheet Phase to Phase parameters Compliance SN GO Ue lial ccc Observer Rated Power 0 025 kw Pole Count 4 Velocity Loop Rated Voltage 230 0 Volts RMS Rated Frequency 60 0 Hetz Torque Current Loop Planner Rated Speed 1600 0 RPM Actions Rated Current 0 22 Amps RMS Drive Parameters Parameter List Status Faults amp Alarms Tag Motor Overload Limit 100 0 Rated Categories General B Motor b Model Analyzer Scaling Hookup Tests Polarity Autotune B Load Compliance Observer Velocity Loop Torque Current Loop Planner Actions Drive Pa
260. g Stpt 8Ve 50 Anlg In0 Value 60 Anlg In1 Value 76 Anig Out0 Stpt Value Port 7 Stpt Internal Value 70076 Dec C Hex C Bin Range Value Value Minimum 0 0 159999 159999 Default 3 3 Rockwell Automation Publication 750 RM002A EN P September 2012 Digital Inputs Feedbackandl O Chapter 2 Physical inputs are programmed to desired digital input functions These parameters cannot be changed while the drive is running Technical Information The PowerFlex 753 drive has a total of three digital inputs located on its main control board e Di0 Configured for 115 VAC or 24 VDC Shared common DiC between and DiOdc terminals Located on TB3 bottom of the main control board e Dil and Di2 Configured for 24 VDC Shared common DiC for Dil and Di2 Located on TBI lower front of the main control board PowerFlex 753 Main Control Board I O TBI wiring examples are included in the PowerFlex 750 Series AC Drives Installation Instructions publication 750 INOOI The PowerFlex 755 drive has a total of one digital input located on its main control board Di0 configured for 115 VAC or 24 VDC Shared common DiC between and Di0dc terminals Located on bottom of the main control board There are also PowerFlex 750 Series option modules that expand the amount of digital inputs that
261. g input to have no control over the speed 0 H A 4A o oX0 C DIO Stop c 00X X00 cpu DI 1 HOA Start and Manual Control Analog IN 0 DI Manual Dm Speed Reference Speed Potentiometer For this circuit set the following parameters P301 Access Level must be set to 1 Advanced to see P563 DI ManRef Sel Number Parameter Name Value 158 DI Stop Digital Input 0 172 DI Manual Control Digital Input 1 176 DI HOA Start Digital Input 1 324 Logic Mask XXXXXXXXXXXXXXXT Digital In 326 Manual Cmd Mask XXXXXXXXXXXXXXXT Digital In 327 Manual Ref Mask XXXXXXXXXXXXXXXT Digital In 563 DI Manual Reference Select Anlg In0 Value The drive should now request Manual mode start and track the reference speed coming from the Analog Input when the H O A switches to Hand The HIM will still read Auto This display changes only when the HIM has control of Manual mode Rockwell Automation Publication 750 RM002A EN P September 2012 21 Chapter 1 22 Drive Configuration Safe Limited Speed Safe Limited Speed through the PowerFlex Safe Speed Monitor Option Module uses Manual mode to control the speed of the drive When Safe Limited Speed monitoring is enabled the safety module requests manual control of the drive If the drive does not reach a safe speed as defined on the option module by P55 Safe Speed Limit and within P53 LimSpd Mon Delay
262. g values based on the motor inertia If selected the motor inertia is measured during the test and is stored in the Rotary Motor Inertia attribute Travel Limit Enter a value that specifies the maximum distance to travel for the selected tune operation when the system has a limited travel distance If the tuning test cannot complete within the distance specified the tune will fail and fault the axis Speed Enter a value that specifies the speed of the tune operation A speed that translates to a minimum of 2596 ofthe motor nameplate RPM is recommended Torque Enter a value in the range of 0 300 that specifies the torque value to be applied to the tune operation The default value is 100 Direction Choose the direction of the move for the tune operation The available values include e Forward Unidirectional default e Reverse Unidirectional e Forward Bi Directional e Reverse Bi Directional Run the Autotune To start the autotune procedure click Start When the Measure Inertia using Tune Profile check box is selected the request to start a tune is issued to the controller Any pending edits in this dialog box need to be applied before you start the test Ifyou have pending edits a message box appears informing you that pending edits will be applied prior to executing the test Click Yes to apply the pending edits If you choose No the test will not be executed Clicking Start issues a Motion Direct command to the contr
263. gesia peadg yesalg 1 9 lt 6 8 gt usy 9 601 2 o 0195 LIPS 2195 Vew p 3 Jed PAS p jy C009 809 peeds eg v Jou es vjeu SIS 95 pds gt 195 v jeu WHL pJeAuo4 pee pdg 0 pagesia Sugjespouquuu pd Sjeuoquiu pos lt 919 gt ZH si samos joy spun peeds pueben JoquiAs e2uoJ9Jes jequinN onsouBeiq 0 Auc Buiress sati INO dieju 09 9 IH Bojeuy 9jON L aoualajay Joyuo2 peeds i 9 4 3 a 2 8 195 v Jeu peeds 295 Rockwell Automation Publication 750 RM002A EN P September 2012 9 9 105 v Jeu p Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 peo1 9 snmejs 61 yr ywr xe juepuedeq peo LZS_ peads XEN IDOA PLP 029 peeds xe L 9 rsod peeds Aes ZZS paeds paeds jasalg eunjojny 2822 eval 12
264. gix 5000 will populate the Nameplate Datasheet Phase to Phase parameters information with the data that is stored in the database Record this information for reference Then change the Data Source selection to Nameplate Datasheet The configuration is transferred to the new selection The motor data is the same regardless ofthe selected feedback device Rockwell Automation Publication 750 RM002A EN P September 2012 287 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 3 Select the Motor Feedback category From the Type pull down menu choose Digital AqB Categories General Motor Feedback Device Specification Motor ates Device Function Motor Mounted Feedback Analyzer Feedback Channel Feedback 1 Motorikesdback Not Specified Scaling M i igital AgB Polarity Autotune 5 Load Backlash Compliance Observer Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag 5 Click OK to save your configuration 288 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 PowerFlex 755 Integ rated Si Me iam this no PR d on the thernet etwork attributes and path used in PowerFlex 755 drives control
265. gly or two in parallel that will be chosen must be greater than the value calculated in Step 5 If it is not then a Brake Chopper Module with the suitable Dynamic Brake Resistor must be specified for the application Step 6 Calculate Percent Average Load The calculation of AL is the Dynamic Brake Resistor load expressed as a percent Pdb is the sum of the Dynamic Brake Module dissipation capacity and is obtained from the table in Step 4 This will give a data point for a line to be drawn on the curve in Figure 3 The number calculated for AL must be less than 100 If AL is greater than 100 an error was made in a calculation or the wrong Dynamic Brake Module was selected P AL 100 Pap AL Average load in percent of Dynamic Brake Resistor Average dynamic brake resistor dissipation calculated in Step 5 Watts Rockwell Automation Publication 750 RM002A EN P September 2012 153 Chapter 4 154 Motor Control Steady state power dissipation capacity of resistors obtained from the table in Step 4 Watts Step 7 Calculate Percent Peak Load The calculation of PL in percent gives the percentage of the instantaneous power dissipated by the Dynamic Brake Resistors relative to the steady state power dissipation capacity of the resistors This will give a data point to be drawn on the curve of Figure 3 The number calculated for PL will commonly fall between 300 and 600 for the Dynamic Brake Module
266. gs P305 Voltage Class is required by the drive when parameter downloads occur and is generally not programmed individually This parameter provides a Low Voltage and High Voltage setting The default value is dependent upon the voltage that matches the catalog number for example 400V or 480V For example a drive shipped as 400V catalog code C will have a default of Low Voltage for P305 Voltage Class A drive shipped as 480V catalog code D will have a default of High Voltage When a change is made to P305 Voltage Class the continuous current rating of the drive will change by an amount equal to the published difference between catalog numbers With a change to the current rating P422 Current Limit 1 and P423 Current Limit 2 should also be reviewed Also note that a Reset to Defaults AII will reset the voltage to the original factory setting Rockwell Automation Publication 750 RM002A EN P September 2012 83 Chapter1 Drive Configuration Notes 84 Rockwell Automation Publication 750 RM002A EN P September 2012 Chapter 2 Analog Inputs Feedback and 1 0 There are two analog inputs per I O module Up to four I O modules can be mounted in the drive ports See the PowerFlex 750 Series Installation Instructions publication 750 1001 for valid ports Accessing the analog input parameters is done by selecting the port in which the module is mounted then accessing the Analog Inpu
267. guyai4 joy padwey pq 811 dwogups4 1991 Iud joy dwey WOES pagesia uondepy x E Joooy yoeqpeo WR od 1 erau o 8101 lr 0 peo1 108 cone 967 zz suieiBerg 42019 pagesia eeu 1981 Gost i enbio enb4o apow 4 9 E v 313 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Torque Control Current Induction Motor and Surface Permanent Magnet Motor jur ND eAgov ed 1010N 61 9poi AS 10 El ur Jw fw Sey oema jeuueu J MOd z jur juan aA tyw yuanoj yaun Jag jur Jua ung jur ejes yuauNg 2129 queuing by 4 queuing xnj4 Pl OES 9 2 ibl 285 bi XN 4 juang bj enbio xd anbio sod oaov qur en
268. hapter 1 Drive Configuration 54 Cooling Tower Fans Application Example In some applications such as large fans wind or drafts may rotate the fan in the reverse direction when the drive is stopped If the drive were started in the normal manner its output would begin at zero Hz acting as a brake to bring the reverse rotating fan to a stop and then accelerating it in the correct direction This operation can be very hard on the mechanics of the system including fans belts and other coupling devices Draft wind blows idle fans in reverse direction Restarting at zero speed and accelerating damages fans and could break belts Flying start alleviates the There could be occasions when the sweep as well as the detection fails at low speeds This is due to the low levels of motor detection signals It has been discovered that Sweep mode is more successful in these cases than Enhanced mode When in Sweep mode the frequency is always swept in the direction of the commanded frequency first Motor detection at low speeds can be difficult Rather than get a false detection the sweep will reverse at 3 Hz Rockwell Automation Publication 750 RM002A EN P September 2012 Hand Off Auto Drive Configuration Chapter 1 Many legacy drive installations included a circuit such as a Hand Off Auto switch that provided 3 wire start and stop signals simultaneously to the drive The PowerFlex 750 series drives will no
269. he analog input to have no control over the speed 0 H 4 w o oW C DIO Stop O 00 olo X00 6826 DI 1 HOA Start and Manual Control Analog IN 0 DI Manual FIO Speed Reference Speed Potentiometer 56 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 For this circuit set the following parameters P301 Access Level must be set to 1 Advanced to see P563 DI ManRef Sel Number Parameter Name Value 158 DI Stop Digital Input 0 172 DI Manual Control Digital Input 1 176 DI HOA Start Digital Input 1 324 Logic Mask XXXXXXXXXXXXXXX1 Digital In 326 Manual Cmd Mask XXXXXXXXXXXXXXX1 Digital In 327 Manual Ref Mask XXXXXXXXXXXXXXX1 Digital In 563 DI Manual Reference Select Anlg In0 Value The drive should now request Manual mode start and track the reference speed coming from the Analog Input when the H O A switches to Hand The HIM will still read Auto This display changes only when the HIM has control of Manual mode Using Hand Off Auto with a Start Relay The Hand Off Auto switch can also be wired to ability to start the drive through a separate start relay In the circuit below the run relay will close the circuit to both the stop and start inputs when the H O A switch is in Auto Using this option would allow the drive to start only if the H O A switch is in Hand or if itin Auto
270. herNet IP Network mode the equivalent functions operate the same In the Integrated Motion on the EtherNet IP Network mode of operation the Stop Command is programmed in the Actions Category of the Module Properties dialog box It is important to realize that there is no option to have a ramped stop selected here only current limit and motor brake options are available These selections do not ensure that a consistent ramp will be implemented each time If a repeatable ramped stop is desired then the user can program a Stop Monitor Delay as a part of the Safe Speed Monitor configuration and then monitor the Safe Speed inputs from the controller and issue a ramped stop prior to the safety core issuing the Stop Command signal as shown in this diagram Rockwell Automation Publication 750 RM002A EN P September 2012 265 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Programmed ramp stop to be issued during Stop Monitoring Delay Axis Properties Category Stop Action takes place here Timing Diagram for Safe Stop 1 Stop Request Stop Monitoring Delay i Stop Delay Safe Torque off Active Standstill Speed Time SS In Signal SS Out Signal Motion Power Stop Command m DC Out Output 2 1 This signal is internal between the safety option module and the drive 2 The DC_Out output is shown configured as Power to Release 266 Roc
271. ical Brake Release Delay N N N N 616 Set Mechanical Brake Engage Delay N N N N 870 Set DC Injection Brake Current Y Y Y Y Ind Motor only 872 Set DC Injection Brake Time Y Y Y Y Ind Motor only 871 Set Flux Braking Enable Y Y Y Y Ind Motor only 627 Set Power Loss Action Y Y Y Y 0 Enum 2 Decel Regen Y 628 Set Power Loss Threshold Y Y Y Y 629 Set Shutdown Action N N N N 0 Enum 1 Drop DC Bus 630 Set Power Loss Time Y Y Y 637 Get Converter Capacity N N N N 638 262 Get Bus Regulator Capacity N N N N 646 Set Motor Overload Action N N N N 0 Enum 1 Current Foldback N 647 Set Inverter Overload Action Y Y Y 0 Enum 1 Current Foldback Y 128 Reduce PWM Rate Y 129 PWM Foldback Y 659 Get CIP Axis Alarms Y Y Y Y 904 Get CIP Axis Alarms RA Y Y Y Y 695 Set Motor Overspeed User Limit Y Y Y Y 697 Set Motor Thermal Overload User Limit Y Y Y Y 699 Set Inverter Thermal Overload User Limit N N N N 706 Set Feedback Noise User Limit N N N N 707 Set Feedback Signal Loss User Limit N N N N 708 Set Feedback Data Loss User Limit N N N N Rockwell Automation Publication 750 RM002A EN P September 2012 337 Appendix Table 26 PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P T Conditional Implementation 730 Get Digital Inputs Y Y Y Y 731 Set Digital Outputs N N N 732 267 Get Analog Input 1 N N N 733 268 Ge
272. ice Configuration Drive Configuration Chapter 1 Automatic Device Configuration ADC is a RSLogix 5000 software version 20 or later feature that supports the automatic download of configuration data upon the Logix controller establishing an EtherNet IP network connection to a PowerFlex 755 drive firmware 4 001 or later and its associated peripherals A RSLogix 5000 software version 16 or later project adc file contains the configuration settings for any PowerFlex drives in the project When the project is downloaded to the Logix controller these settings are also transferred and reside in the controllers memory Prior to ADC in RSLogix 5000 software version 20 downloading PowerFlex 755 configuration data was a manual process where you would open the Drive tab in the respective Drive Add On Profile AOP in RSLogix 5000 and click the Download icon ADC in RSLogix 5000software version 20 now automates this process ADC can also work in tandem with Firmware Supervisor If Firmware Supervisor is set up and enabled for a drive Exact Match keying must be used the drive peripheral will be automatically upgraded if necessary prior to any ADC operation for that port Information on Automatic Device Configuration ADC can be found in the PowerFlex 755 Embedded EtherNet IP Adapter User Manual publication 750COM UMO01 Chapter 4 Configuring the I O includes the following topics e Description of the ADC functionality e How
273. ied by adding a time delay to the start signal By changing Digital Input 1 from DI Start to DI Hand Off Auto Start the drive Rockwell Automation Publication 750 RM002A EN P September 2012 55 Chapter1 Drive Configuration will automatically add this time delay and be sure that the system is ready to start before it receives the command 4 w o o DIO Stop DIT HOA Start Using Hand Off Auto with Auto Manual In order to take control of the drive speed when switching from Auto to Hand on the H O A switch the Auto Manual feature can be used See PowerFlex 750 Auto Manual for more on Auto Manual Control In the circuit below a speed potentiometer was added to the analog input to provide a speed reference to the drive When the H O A switch is moved from Auto to Hand the digital input block will request manual control and issue a start command to the drive If the digital input port receives manual control the drive will accelerate to the reference speed from the analog input All attempts to change the speed except from the analog input will be blocked If the drive is stopped while in Hand switch the H O A switch to Off and then back to Hand to restart the drive If another port has manual control of the drive but does not have exclusive ownership of the logic commands due to P326 Manual Mask turning the switch to Hand will cause the drive to begin moving but for t
274. ignal Here maximum input 10V represents 0 Hz and minimum input represents 60 Hz Input Volts Output Hertz Rockwell Automation Publication 750 RM002A EN P September 2012 89 Chapter 2 90 Feedback and 1 0 Example 6 P255 AnlgIn Type Bit 0 0 Voltage P545 Spd Ref A Sel Analog In 1 P547 Spd Ref A AnlgHi 60 Hz P548 Spd Ref A AnlgLo 0 Hz e P61 AnlgIn1 Hi 5V e P62 AnlgInl Lo 0V This configuration is used when the input signal is 0 5V Here minimum input OV represents 0 Hz and maximum input 5V represents 60 Hz This allows full scale operation from a 0 5V source Input Volts Output Hertz Example 7 P255 P675 P677 P678 Anlg In Type Bit 0 0 Voltage Ref A Sel Analog In 1 Ref A AnlgHi 200 Ref A AnlgLo 0 eee c This configuration is used when the input signal is 0 10V The minimum input of OV represents a torque reference of 0 and maximum input of 10V represents a torque reference of 200 Input Volts 0 20 40 60 80 100 110 140 160 180 200 Torque Ref Rockwell Automation Publication 750 RM002A EN P September 2012 FeedbackandI O Chapter 2 Square Root The square root function can be applied to each analog input through the use of Analog In Sq Root The function should be enabled if the input signal varies with the square of the quantity for example drive speed bei
275. igures the drives response to a power loss time out condition and P452 Pwr Loss Mode A or P455 Pwr Loss Mode B will set the time that the drive will remain in Power Loss mode before a fault occurs See also Power Loss on page 62 for more details DI Precharge This digital input function is used to manage disconnection from a common DC bus If the input is closed this indicates that the drive is connected to common DC bus and normal precharge handling can occur and that the drive can run start permissive If the physical input is open this indicates that the drive is disconnected from the common DC bus and thus the drive should enter the precharge state and initiate a coast stop immediately to prepare for reconnection to the bus If this input function is not configured then the drive assumes that it is always connected to the DC bus and no special precharge handling will be done DI Prchrg Seal This digital input function is used to force a unique fault when an external precharge circuit opens P323 Prchrg Err Cfg dictates the action taken when an external precharge circuit has opened DI PID Enable If this digital input function is closed the operation of the Process PID loop will be enabled If this input function is open the operation of the Process PID loop will be disabled Rockwell Automation Publication 750 RM002A EN P September 2012 105 Chapter 2 106 Feedback and 1 0 DI PID Hold If this input function
276. ill then transfer position reference back to its previous source once it receives a start command If velocity control type mode is selected in P313 Actv SpIqPs Mode the drive will continue Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Features Chapter 5 running holding zero velocity drive will then transfer velocity reference back to its previous source once it receives a start command Digln 1 Find Home Speed Speed Control Speed Position l Pt Pt Control If P35 Motor Ctrl Mode 0 Induction VHz or 1 Induction SV The drive will then ramp to zero at the rate set in P736 Find Home Ramp If the drive travels passed the proximity switch during decel The drive will then reverse direction at a speed of 1 10 of P735 Find Home Speed The drive must then receive a rising edge of the proximity switch followed by a falling edge pulse Upon receiving the falling edge pulse the drive will decel at rate set in P736 Find Home Ramp When the motor is At Zero Speed the homing sequence will complete If the drive remains on proximity switch during decel The drive will reverse direction at a speed of 1 10 of P735 Find Home Speed When the falling edge of the limit proximity switch is reached the drive decel at rate set in P736 Find Home Ramp When the motor is At Zero Speed the homing sequence will complete NOT Hold At Home P731 Bit 7 If a position control ty
277. ime is not as restrictive Each of these methods will dissipate energy in the motor use care to avoid motor overheating Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Braking Methods Method Use when application Requires Braking Power Coast Power is removed from the motor and it coasts to zero speed None Ramp The fastest stopping time or fastest ramp time for speed changes external The most brake resistor or regenerative capability required for ramp times faster than the methods below High duty cycles frequent stops or speed changes The other methods may result in excessive motor heating Ramp to Hold Same as ramp above only when zero speed is reach the drive outputs a DC Same as Ramp brake current to be sure the motor shaft doesn t move after it has stopped This continues until the drive is started again DC Brake DC braking is immediately applied does not follow programmed decel ramp Lessthan Ramp or May have to adjust P397 DC Brake Kp Fast Brake DCBrkAutoOff Applies DC braking until zero speed is reached or DC brake time is reached Less than Ramp or whichever is shorter Fast Brake Current Lmt Max torque current applied until zero speed Big Stuff Fast Brake High slip braking for maximum braking performance above base speed More than DC Brake DC Brake Auto Off Coast Bus Voltage bo M Output Voltage Motor
278. imum and minimum speeds can be configured through P564 DI ManRef AnlgHi and P565 DI ManRef AnlgLo For analog input between the minimum and maximum the drive will derive the speed from these parameters through linear interpolation Hand Off Auto The Auto Manual feature can be used in conjunction with a Hand Off Auto Start to create a H O A switch that starts the drive and requests manual control at the same time allowing for a local speed reference to control the drive See Hand Off Auto on page 55 for more details on the Hand Off Auto Start feature Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 In the circuit below a speed potentiometer was added to the analog input to provide a speed reference to the drive When the H O A switch is moved from Auto to Hand the digital input block will request manual control and issue a start command to the drive If the digital input port receives manual control the drive will accelerate to the reference speed from the analog input All attempts to change the speed except from the analog input will be blocked If the drive is stopped while in Hand switch the H O A switch to Off and then back to Hand to restart the drive If another port has manual control of the drive but does not have exclusive ownership of the logic commands due to P326 Manual Mask turning the switch to Hand will cause the drive to begin moving but for the analo
279. in Range Value Intemal Value Minimum 00000000000000000000000000000000 0 00000000000000000011111111111111 16383 Default 00000000000000000000000000000000 0 Rockwell Automation Publication 750 RM002A EN P September 2012 Diagnostics and Protection Chapter 3 If an alarm action is selected as a result for the input phase loss P959 Alarm Status A Bit 4 InPhaseLoss will be set Value Documentation NON CHANGEABLE PowerLoss 11 AusFdbkLoss 22 11 12 PosFdbkLoss 2347 27 Motor OL 13 Reserved Ar 597177 14 Gnd wWaming 25 4 InPhaseLoss 15 7 Task Overrun 26 OutPhasektss 167 20 Decellnhib ike 28 ShearPin1 187 Z3 8 Shear Pin2 Tm 30 PrifdbkLoss 220 Sra 10 AltFdbkLoss fab Intemal Value 0 Dec C Hex Bin Range Value Intemal Value Minimum 00000000000000000000000000000000 Maximum 00000000000000001111111111111111 55535 Default 00000000000000000000000000000000 0 OK Cancel P463 InPhase Loss Lvl Sets the threshold at which the DC bus voltage ripple triggers an F17 Input Phase Loss fault Input phase loss is assumed when the DC bus voltage ripple exceeds the tolerance set by this parameter for a certain time period of time Settinga larger value permits a higher bus voltage ripple without causing the drive to fault but also would allow more heating in the bus capacitors shortening the
280. in a normal stop command However when using TorqueProve P1100 Trq Prove Cfg with Bit 0 enabled Stop Mode must be set to 1 Ramp A Stop Dwell Time P392 can also be used with a stop command This can be used to set an adjustable time between detecting zero speed and turning off the drive output The PowerFlex 750 series offers several methods for stopping a load The stop method or mode is defined by parameters 370 371 Stop Mode A B These modes include the following e Coast Ramp Ramp to Hold DC Brake DC Brake Auto Off e Current Limit e Fast Brake Additionally P388 Flux Braking can be selected separately not part of the Stop mode selection to provide additional braking during a Stop command or when reducing the speed command For Stop commands this will provide additional braking power during Ramp or Ramp to Hold selections only If Fast Brake or DC Brake is used Flux Braking will be active only during speed changes if enabled A Ramp selection will always provide the fastest stopping time ifa method to dissipate the required energy from the DC bus is provided that is Dynamic Braking resistor regenerative brake and so forth The PowerFlex Dynamic Braking Selection Guide presented in Appendix A of the Reference Manual explains Dynamic Braking in detail The alternative braking methods to external hardware brake requirements can be enabled if the stopping t
281. in its normal mode it initially applies a frequency of 0 Hz and ramps to the desired frequency If the drive is started in this mode with the motor already spinning large currents will be generated An over current trip may result if the current limiter cannot react quickly enough The likelihood of an over current trip is further increased if there is a residual flux back emf on the spinning motor when the drive starts Even if the current limiter is fast enough to prevent an over current trip it may take an unacceptable amount of time for synchronization to occur and for the motor to reach its desired frequency In addition larger mechanical stress is placed on the application In Hying Start mode the drive response to a start command is to synchronize with the motors speed frequency and phase and voltage The motor will then accelerate to the commanded frequency This process will prevent an over current trip and significantly reduce the time for the motor to reach its commanded frequency Since the drive synchronizes with the motor at its rotating speed and ramps to the proper speed little or no mechanical stress is present The Sweep function is currently not in the PowerFlex 750 Series drives frame 8 and larger Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Configuration Flying Start can be configured by setting P356 FlyingStart Mode to the following e 0 Disabled e 1
282. ink iis omes tone parameters e buon bor f div i orice to download database hom You must dovnload configuration to the drive to ensure that the dive and communication module configuiations ate consittert with each other match revision and upload the configuration of an onine drive dick Match Deve Create Database Web Update Mah Dive Lx 7E Cancel Below is picture of the PowerFlex 755 drive Datalink configuration from DriveExecutive lt span id fck_dom_range_temp_1332343477042_759 gt driveExecutive AB_ETHIP 1 192 168 1 20 PowerFlex 755 lt PowerFlex 755 gt fl File Edi View Drive Peripheral Tools Window Help DG BH amp e Enabled 7 0 000 Hz Eys Connection DPI Back v Port 13 Host Parameters 85 192 168 1 20 E 0 PowerFlex 755 ols Diagrams DL From Net 02 T Parameter List E DL From Net 03 Disabled Ga Monitor 4 DL From Net 04 Disabled 5 DL From Net 05 Disabled 1 Motor Control 6 DL From Net 06 Disabled Feedback amp 1 0 7 DL From Net 07 Disabled Drive Cfg DL From Net 08 Disabled Protection 9 DL From Net 09 Disabled Speed Control 10 DL From Net 10 Disabled Torque Control 11 DL From Net 11 Disabled Position Control 12 DL From Net 12 Disabled Communication 13 DL From Net 13 Disabled Diagnostics 14 DL From
283. ion Module relay output energizes C DriveExecutive AB ETHIP 13192 168 1 20 PowerFlex 755 lt PowerFlex 755 gt fl File Edi View Drive Peripheral Tools Window Help 02 2181 2 15 10 Enabled 0000 Hz Connection DPI Back Port 7 Host Parameters amp fl Node 192 168 1 20 ParameterName 5 8 0 PowerFlex 755 1 Dig In Sts 0000000000001010 18 Diagrams E w T Bi Mask 11111 119 Parameter List B 6 200 el Se ROO Level 13 ROO Level CmpSts 0000000000000000 Rockwell Automation Publication 750 RM002A EN P September 2012 125 Chapter 2 Feedback and 1 0 126 The picture below shows the status of the DeviceLogix software inputs and outputs via P49 DLX DigIn Sts and P51 DLX DigOut Sts2 C DriveExecutive AB ETHIP 13192 168 1 20 PowerFlex 755 lt PowerFlex 7555 Pl Edi View Drive Peripheral Tools Window Help 02 2181 2 15 059 2 6 e Enabled 0 000 Hz Ej Connection DPI Port 14 Host Parameters Parameter Name 4 v Next gt v Ei Node 192 168 1 20 DLX DIP 14 Disabled 5 8 0 PowerFlex 755 ofS Diagrams g a 15 E 4 8 LX 6 disabled 22 h ae List DLX DigIn Sts 0000000000000101 a 50 DLX DigOut Sts 00000000000000000000000000000000 2 lator Control 51 DLX DigOut 552 000000000000000000000
284. ion Motor Nameplate Voltage Volts Motor Nameplate Power Pwr KW Poles p Rockwell Automation Publication 750 RM002A EN P September 2012 275 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Table 24 Drive Motor Parameter Values Parameter Value Units P1 Motor Nameplate volts Vrms Volts P2 Motor Nameplate Amps Amps P3 Motor Nameplate Frequency HZ P4 Motor Nameplate RPM RPM P5 Motor Name Plate Power KW P7 Pole Pairs Zpu IXO Voltage drop Volts IR Voltage Droop Volts P523 Back Emf Volts Provide a Speed Torque profile like in this example synchronous motor torque speed diagram for converter drive AC motor frequency controlled Power kW E z Fi E overload torque overload power rated power S1 rated torque Speed 1 276 Rockwell Automation Publication 750 RM002A EN P September 2012 System Tuning Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 When using the Integrated Motion on the Ethernet IP Network connection with the PowerFlex 755 drive the tuning of the motion system is accomplished via RSLogix 5000 This topic describes the axis hookup tests motor tests and autotuning of the motion system required to measure the system inertia Manual tuning of the axis is also described in this section For addi
285. ion of the common bus drives P375 Bus Reg Level Bus Regulation Level Sets the turn on bus voltage level for the bus voltage regulator and the dynamic brake Table 3 Turn On Bus Voltage P20 RatedVolts DefaultTurnOnVolts Min MaxSetting lt 252V 375V 375V 389V 252 503V 750V 750 779 504 629 937 937 974V gt 6291 1076V 1076 11187 While the following parameters are listed and editable in the drive they typically do not need to be adjusted in any way Care should taken when adjusting since undesired operation may occur in another aspect of motor control P376 Bus Limit Kp Bus Limit Proportional Gain Allows for a progressively faster decel when the drive is behind the programmed decel time by making the bus limiter more responsive A higher value means the drive will try to decrease decel time This parameter is valid only in NON Flux Vector modes P377 Bus Limit Kd Bus Limit Derivative Gain Lets you force the bus limit sooner The higher the value the quicker the bus limit will be hit and regulation starts May actually Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 regulate below the typical setpoint 750VDC for 460V drive Too high a value and normal operation of the motor may be affected 60 60 5 Hz oscillation This parameter is valid only in NON Flux Vector modes P378 Bus Limit ACR Ki Bus Limit Active Current Regula
286. is digital input function is similar to Run Forward and Run Reverse settings The only difference being that direction is determined by another input or another devices command HIM or communication adapter DI Jog 1 Forward DI Jog 1 Reverse DI Jog 2 Forward DI Jog 2 Reverse Jog is a non latched command such as Run but overrides the normal speed reference and uses P556 Jog Speed 1 or P557 Jog Speed 2 respectively An open to closed transition on one input or both inputs while the drive is stopped will cause the drive to jog unless the Stop input function is configured Rockwell Automation Publication 750 RM002A EN P September 2012 Feedbackandl O Chapter 2 and open The table below describes the actions taken by the drive in response to various states of these input functions Jog Forward Jog Reverse Action Open Open Drive will stop if already jogging but can be started by other means Terminal block relinquishes direction ownership Open Closed Drive jogs in reverse direction Terminal block takes direction ownership Closed Open Drive jogs in forward direction Terminal block takes direction ownership Closed Closed Drive continues to jog in current direction but terminal block maintains direction ownership The drive will not jog while the drive is running or while the Stop input is open Start has precedence DI Jog 1 DI Jog 2 These digital input functions are similar to Jog
287. ith an MPx motor configure 286 induction motor data RSLogix 5000 instance to parameter cross reference 241 induction motor model RSLogix 5000 instance to parameter cross reference 241 Input Phase Loss Detection 133 Inputs Analog 85 Digital 99 Integrated Architecture Builder software 214 Integrated Motion on the EtherNet IP Network control logic block diagram 323 control modes 215 diagnostic tools block diagram 327 flux vector overview block diagram 291 friction compensation block diagram 325 high speed trending wizard block diagram 328 inputs and outputs analog block diagram 322 inputs and outputs digital block diagram 321 inverter overload IT block diagram 324 MOP control block diagram 320 option modules supported 260 position control aux functions block diagram 303 position control homing block diagram 307 position control phase locked loop block diagram 304 position control position CAM block diagram 305 position control profiler indexer sheet 1 block diagram 306 position control profiler indexer sheet 2 block diagram 307 position control regulator block diagram 302 position control aux functions position oriented torque boost block diagram 309 position control aux functions roll position indicator block diagram 308 process control sheet 1 block diagram 318 process control sheet 2 block diagram 319 safety option module restrictions 260 speed control reference sheet 1 block diagram
288. jndu dwey qme anl bea yoy basg seod 1 Buieos 141 jndino peads 05 dN 4 oo IIS 009 peecs ISP x JOIN uononpu 2921 d ur1 pdsje o K SHE E snes qur iv mm jum per Was dys 129 zH bey yrs peeds z uur lt 269 os n V 1418 815 peeds 45 uononpul 292 y9eqp 4 bi a diis 242 wos ZH Iqp4 e nov xoeqpee4 vGt Lex vov Wei gt 021 pds an L H nd yoeqpse bi 5 4 001 pasay 8 29 2 0 AS 40 JA 298 Jeu pds padwey G J wa levon Bey pds oL Jes jeuiJ AI90I9A EGY 90 91 qur euid Jeyv Jou pds GD AUD 0 Ly 299 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives
289. ke Level This voltage causes a stopping brake torque If the voltage is applied for a time that is longer than the actual possible stopping time the remaining time will be used to attempt to hold the motor at zero speed decel profile B on the diagram above e DC voltage to the motor continues for the amount of time programmed in P395 DC BrakeTime Braking ceases after this time expires e After the DC Braking ceases no further power is supplied to the motor The motor load may or may not be stopped The drive has released control of the motor load decel profile A on the diagram above The motor if rotating will coast from its present speed for a time that is dependent on the remaining kinetic energy and the mechanics of the system inertia friction and so forth Excess motor current and or applied duration could cause motor damage Motor voltage can exist long after the Stop command is issued The right combination of Brake Level and Brake Time must be determined to provide the safest most efficient stop decel profile C on the diagram above Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Ramp Bus Voltage Output Voltage Output Current Motor Speed Output Current Command Speed Stop Command gf Zero Command Speed A DC Hold Time This method uses drive output reduction to stop the load Ramp To Stop is selecte
290. kwell Automation Publication 750 RM002A EN P September 2012 Speed Limited Adjustable Torque SLAT Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 This topic describes how to configure a PowerFlex 755 AC drive with embedded Ethernet IP for Speed Limited Adjustable Torque SLAT operation using an Integrated Motion on the Ethernet IP network in RSLogix 5000 software For more information on SLAT refer to the following publications See Speed Limited Adjustable Torque SLAT Min Mode and SLAT Max Mode in the PowerFlex 700S AC Drives with Phase II Control Reference Manual publication PFLEX RM0023 See Slat Configuration in the Integrated Motion on the Ethernet IP Network Reference Manual publication MOTION RMO003 Add a PowerFlex 755 Drive Module to Your Project See the Integrated Motion on the Ethernet IP Network Configuration and Startup User Manual publication MOTION UM003 for specific instructions on adding a PowerFlex 755 with embedded Ethernet IP drive module to your RSLogix 5000 project An example Module Properties dialog box for a PowerFlex 755 with embedded Ethernet IP is shown here lll Module Properties EN27 PowerFlex 755 EENET CM S1 2 1 Miei xj General Connection Time Sync Module Info Intenet Protocol Port Configuration Associated Axes Power Digital Input all Type PowerFlex 755 EENET CM S1 PowerFlex 755 AC Drive via Embedded Ether
291. larm indicated Flt Minor 2 Minor fault indicated If running drive continues to run Enable with P950 Minor Flt Cfg If not enabled acts like a major fault e FltCoastStop 3 Major fault indicated Coast to Stop Flt RampStop 4 Major fault indicated Ramp to Stop Flt CL Stop 5 Major fault indicated Current Limit Stop Hold Input 6 Holds input at last value Set Input Lo 7 Sets input to P52 Anlg In0 Lo or P62 AnlgInl Set Input Hi 8 Sets input to P51 AnlgInO Hi or P61 Anlg Inl Hi Ifthe input is in Current mode 4 mA is the normal minimum usable input value Any value below 3 2 mA will be interpreted by the drive as a signal loss and a value of 3 8 mA will be required on the input for the signal loss condition to end Ifthe input is in Unipolar Voltage mode 2V is the normal minimum usable input value Any value below 1 6V will be interpreted by the drive as a signal loss and a value of 1 9V will be required on the input for the signal loss condition to end No signalloss detection is possible while an input is in Bipolar Voltage mode The signal loss condition will never occur even if signal loss detection is enabled Rockwell Automation Publication 750 RM002A EN P September 2012 Feedback and 1 0 Chapter 2 Analog Outputs There are two analog outputs per I O module Up to five I O modules can be mounted in the drive
292. ld otherwise occur from the switch Use this feature by configuring P328 Alt Man Ref Sel P331 Manual Preload P172 DI Manual Ctrl and P563 DI ManRef Sel This feature requires revision 2 001 of 20 HIM AG firmware or later DI Speed Sel 0 1 and 2 These digital input functions can be used to select the speed reference The open closed state of all the speed select digital input functions combine to select which source is the speed reference Rockwell Automation Publication 750 RM002A EN P September 2012 103 Chapter2 Feedback and 1 0 DiSpeedSel2 DiSpeedSel1 DiSpeedSel0 Auto Reference Source Parameter _ 09 0 0 dJ ReeneAP55 0 0 1 Reference A P545 0 1 0 Reference B P550 0 1 1 Preset Speed 3 P573 1 0 0 Preset Speed 4 P574 1 0 1 Preset Speed 5 P575 1 1 0 Preset Speed 6 P576 1 1 1 Preset Speed 7 P577 Refer to Speed Reference on page 171 for more details DI HOA Start This digital input function that allows for Hand Off Auto control It functions like a three wire start signal with the exception that it does not require the DI Stop to be high for a full input cycle before the drive looks for a rising edge on DI HOA Start Use this feature by configuring P176 DI HOA Start DI MOP Inc DI MOP Dec These digital input functions are used to increment and decrement the Motor Operated Potentiometer value inside the drive The isa reference val
293. le source for a relay or transistor output 50 DLX DigOut Sts Provides the individual on off status of the DLX Logic Command word bits 5127 DLX DigOut 5152 Provides the individual on off status of the 16 DLX DOPs 1 PowerFlex 753 drives only 2 PowerFlex 755 drives only 3 Option modules can be used in Ports 4 5 and 6 of PowerFlex 753 drives 4 Option modules can be used in Ports 4 5 6 7 and 8 of PowerFlex 755 drives 5 Port 14 DeviceLogix software parameters Refer the PowerFlex 750 Series AC Drives Programming Manual for specific parameter bit level details Related PowerFlex 753 selection parameter information is noted below Parameter No Description 230 800 Sel Selects the source that will energize the relay output 240 TOO Sel Selects the source that will energize the relay or transistor output Depending on the PowerFlex 750 Series Option Module or Modules installed in the drive related selection parameter information is noted below Parameter No Parameter Name Description 10 ROO Sel Selects the source that will energize the relay output 20 Sel or TOO Sel Selects the source that will energize the relay or transistor output 30 T01 Sel Selects the source that will energize the transistor output Rockwell Automation Publication 750 RM002A EN P September 2012 FeedbackandI O Chapter 2 Example Below is an example of a PowerFlex 753 drive s utilizing an embed
294. lex 755 can be used with a variety of both induction and permanent magnet PM motors AC Induction Motors An AC induction motor uses slip between the rotor and the stator to create torque Some motor manufacturers specify the synchronous speed instead of slip speed on the motor nameplate For example a 4 pole 60 hertz motor has a synchronous speed of 1800 rpm The drive algorithm cannot use the synchronous speed it needs the slip rpm The slip rpm is the rotor speed when the stator is at rated frequency and the motor is at full load The rotor will slip behind the stator to create the torque For a 4 pole 60 hertz motor the slip rpm range is 1700 1790 rpm If the nameplate is showing synchronous speed in our example 1800 rpm please contact the motor manufactures to receive the slip rpm Some AC motors have two voltage ratings a high voltage and a low voltage Follow the motor manufacture s wiring diagram to correctly wire the motor for the proper voltage All motor manufactures provide an electrical specification including an electrical model equivalent If you believe that the PowerFlex drive family is not producing the correct motor torque please contact the motor manufacturer to receive the electrical specification prior to contacting Rockwell Automation Technical Support This list contains the name of manufacturers that produce motors that are recommended for use with PowerFlex 755 drives Manufacturer Notes Baldor
295. lex 755 drives but cannot use resolver feedback Rockwell Automation MPL MPM and RDB motors work well with PowerFlex drives Use Heidenhain feedback for RDB motors Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Compatible HPK Motors The following table contains a list of specifications for Bulletin HPK Series high power asynchronous motors that are compatible with PowerFlex 750 Series drives This information is provided to help configure PowerFlex 750 Series drives with the appropriate motor data Cat No Base KW Volts Amps Hz Torque Peak Peak IM R1 R2 x1 X2 Xm Speed Nem Torque Amps Amps HPK B1307C MM2AA 1465 17 1 400 34 2 50 112 260 80 15 8 0 181 0119 0 65 0 704 147 1307 2 1465 17 1 400 342 50 112 260 80 15 8 0 181 0119 0 65 0704 147 HPK B1307E MA42AA 2970 29 8 405 57 5 100 96 165 104 26 1 0 0485 0 0338 0 371 0423 8 79 HPK B1307E MB44AA 2970 29 8 405 57 5 100 96 165 104 26 1 0 0485 0 0338 0 371 0 423 8 79 HPK B1307E MC44AA 2970 29 8 405 57 5 100 96 165 104 26 1 0 0485 0 0338 0 371 0 423 8 79 HPK B1307E SA42AA 2970 29 8 405 57 5 100 96 165 104 26 1 0 0485 0 0338 0 371 0423 8 79 HPK B1307E SB44AA 2970 29 8 405 57 5 100 96 165 104 26 1 0 0485 0 0338 0 371 0423 8 79 HPK B1308E MA42AA 2970 33 5 405 64 8 10
296. life or possible failure The default value of 325 is equal to the expected ripple level for a full rated motor running at half load with single phase input This is just a different way of saying that if you know you are going to run single phase the drive should be derated by 5096 Loading conditions on the motor could also have an effect on this parameter Particularly shock loads Rockwell Automation Publication 750 RM002A EN P September 2012 135 Chapter3 Diagnostics and Protection Overspeed Limit 136 An overspeed condition results when the motor speed falls outside of its normal operating range The forward motor rotation limit is P520 Max Fwd Speed P524 Overspeed Limit and the reverse motor rotation limit is P521 Max Rev Speed P524 Overspeed Limit In Flux Vector Control mode or Scalar Control mode with encoder the motor speed used is a 2msec averaged value of P131 Active Vel Fdbk In Scalar Control mode without an encoder the overspeed check uses P1 Output Frequency The overspeed condition must exist for at least 16 milliseconds before it causes a fault to occur CIP Motion When a PowerFlex 755 drive is running as a CIP Motion drive then attribute 695 Motor Overspeed User Limit will specify the overspeed trip point directly This attribute has units of percent of motor rated speed So if attribute 695 is set to 12096 then the overspeed fault will occur at or above 12096 rated speed Interior Permanent
297. ling the sleep function with P350 Sleep Wake Mode the following conditions must be met A proper value must be programmed for P352 Sleep Level and P354 Wake Level sleep wake reference must be selected in P351 SleepWake RefSel Atleast one ofthe following must be programmed and input closed in P155 DI Enable P158 DI Stop P163 DI Run P164 DI Run Forward or P165 DI Run Reverse Conditions to Start Restart ATTENTION Enabling the sleep wake function can cause unexpected machine operation during the Wake mode Equipment damage and or personal injury can result if this parameter is used in an inappropriate application Do not use this function without considering the Table 7 below and applicable local national and international codes standards regulations or industry guidelines Table 7 Conditions Required to Start Drive 1 2 3 Input After Powerup After a Drive Fault After a Stop Command Reset by HIM or Software Stop Reset by HIM Network Software or HIM Network Software or Digital Input Digital Input Clear Faults Stop Stop Stop Closed Stop Closed Stop Closed Stop Closed Wake Signal Wake Signal Wake Signal Direct mode New Start or Run Command New Start or Run Command SleepWake RefSel Signal gt Sleep Level Invert mode SleepWake RefSel Signal Sleep Level 9 New Start or Run Command Enable Enable Closed Enable Closed Enable Closed Enable Clo
298. llection of programming manuals that describe how you can use procedures that are common to all Logix5000 controller projects Logix5000 Controllers General Instructions publication 1756 RM003 Provides a programmer with details about each available instruction for a Logix based controller Logix5000 Controllers Process Control and Drives Instructions publication 1756 RM006 Provides a programmer with details about each available instruction for a Logix based controller The following publications provide information that is useful when planning and installing communication networks Resource ContolNet Coax Tap Installation Instructions publication 1786 5 7 Description Provides procedures and specifications for the installation of ControlNet coaxial taps ContolNet Fiber Media Planning and Installation Guide publication CNET INOO1 Provides basic information for fiber cable planning and installation You can view or download publications at http www rockwellautomation com literature To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative Rockwell Automation Publication 750 RM002A EN P September 2012 Allen Bradley Drives Technical Support Product Certification Manual Conventions Preface Use one of the following methods to contact Automation and Control Technical Support Onli
299. m sample rate one second The information is saved as a comma delimited csv file for use with Microsoft Excel or any other spreadsheet program Clicking Next lets you configure the data logger When data logging is completed click Finish to close the wizard If you click Finish before the data logging is completed only the data collected up to that point will be saved in the file You can cancel the wizard at any time by clicking Cancel or the Close icon All logged data will be lost and the file will be deleted Configuration Example 1 Connect to the drive that you want to trend via DriveExecutive DriveExplorer RSLogix 5000 Drive AOPs or Connected Components Workbench software tool 2 2 Click the Show Wizardicon Depending if you click the wand icon or down arrow icon a particular wizard selection dialog box will appear Select the Data Logging Wizard Available Wizards E Startup Wizards PowerFlex 755 Startup Wizard 224 Application Wizards PowerFlex 755 Profile Setup Wizard PowerFlex 755 PCAM Setup Wizard PowerFlex 755 Homing Setup Wizard Cg Diagnostic Wizards High Speed Trend Wizard DPI DSI Tech Support Wizard Data Logging Wizard Select Cancel 2 Browse Selected Port Port 0 Data Logging Wizard Port 0 High Speed Trend Wizard Port 0 PowerFlex 755 Profile Setup Wizard Port 0 PowerFlex 755 Homing Setup Wizard Port 0 PowerFlex 755
300. mand This function is usually used with a limit switch near the point at which the drive should stop When the drive is operating as a torque regulator the resulting action is to execute a Fast Stop command After the drive stops in this case it will restart and continue operation if given a new start command When the drive is operating as a position regulator the resulting action is to execute a Fast Stop command After the drive stops in this case it will restart and continue to move towards the position reference if given a new start command DI Fwd Dec Limit DI Rev Dec Limit These digital input functions are used to trigger a Forward Decel Limit and or a Reverse Decel Limit The resulting action depends on whether the drive is operating as a speed torque or position regulator The mode of operation is indicated by P935 Drive Status 1 Bit 21 Speed Mode Bit 22 PositionMode and Bit 23 Torque Mode When the drive is operating as a speed regulator the resulting action is to override the speed reference and decelerate to Preset Speed 1 This function is usually used with a limit switch and initiates the slowing down process prior to encountering the End Limit When the drive is operating as a torque regulator the drive ignores this signal and continues operating at its torque reference When the drive is operating as a position regulator the drive ignores this signal and continues moving towards its position ref
301. manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures gt gt gt IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley Rockwell Software Rockwell Automation PowerFlex ControlLogix DeviceLogix DriveExecutive DriveExplorer DriveLogix Kinetix MicroLogix MP Series PLC 5 RSLogix SCANport SLC Stratix 6000 Stratix 8000 and Stratix 8300 are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of
302. me 0 0 Secs 25 RO1 Off Time 0 0 Secs As you can see with the picture above when the Digital Inputs 1 pink highlight and 3 yellow highlight are true on their respective Digital Outputs are true on as well Controlled by Network This configuration is used when it is desired to control the digital outputs over network communication instead of a drive related function In the case for the PowerFlex 753 embedded digital outputs P227 Dig Out Setpoint is utilized and in the case for the PowerFlex 750 Series Option Module P7 Dig Out Setpoint is utilized To complete the configuration for control over a network a datalink must be configured for the respective Digital Output Setpoint parameter Rockwell Automation Publication 750 RM002A EN P September 2012 121 Chapter2 Feedback and 1 0 Related PowerFlex 753 Setpoint parameter information noted below Display Name 2 Full Name v Description sz ra _ 227 BEL Dig Out Setpoint RO 16 bit Digital Output Setpoint Integer 2 Controls Relay or Transistor Outputs when chosen as the source Can be used to control outputs from a communication device using DataLinks E IS SS SS tion Fal Default 0 o o o o o o o o o fo oj oo Condition True Bit 15 14 13 12 11 109 8 7 6 5 43 2 1 0 Depending on the
303. mmed to change state based on one of many different conditions These conditions may fall into different categories as follows e Drive status conditions fault alarm and reverse Level conditions DC bus voltage current and frequency Controlled by a digital input Controlled by the network Controlled by DeviceLogix software Drive Status Conditions For PowerFlex 750 Series drives utilizing an option module the table below shows an overview of the selectable configurations for the drive s digital output Sel parameters Parameter No Parameter Name Description 220 J Digital In Sts Status of the digital inputs resident on the main control board Port 0 2270 RO1 Sel 00 Sel Selects the source that will energize the relay or transistor output 23300 ROO Level CmpSts Status of the level compare and a possible source for a relay or transistor output 720 PsnRefStatus Displays the current operating status of the Point To Point Position Planner in the Position Referencing 724 Psn Reg Status Indicates status of position control logic 730 Homing Status Indicates status of position control logic 933 Start Inhibits Indicates which condition is preventing the drive from starting or running 935 Drive Status 1 Present operating condition of the drive Rockwell Automation Publication 750 RM002A EN P September 2012 111 Chapter 2 112 Feedback and 1 0
304. mming Manual publication 750 PM001 Provides detailed information on 1 0 control and feedback options e Parameters and programming Faults alarms and troubleshooting PowerFlex 750 Series AC Drives Technical Data publication 750 TD001 Provides detailed information on Drive specifications Option specifications Fuse and circuit breaker ratings PowerFlex 20 HIM A6 C6S HIM Human Interface Module User Manual publication 20HIM UM001 Provides detailed information on HIM components operation features PowerFlex 750 Series AC Drives Hardware Service Manual Frame 8 and Larger publication 750 TG001 Provides detailed information on Preventive maintenance e Component testing e Hardware replacement procedures PowerFlex 755 Drive Embedded EtherNet IP Adapter User Manual publication 750COM UM001 PowerFlex 750 Series Drive DeviceNet Option Module User Manual publication 750COM UM002 PowerFlex 7 Class Network Communication Adapter User Manuals publications 750COM UMxxx These publications provide detailed information on configuring using and troubleshooting PowerFlex 750 Series communication option modules and adapters Rockwell Automation Publication 750 RM002A EN P September 2012 7 Preface Resource PowerFlex 750 Series Safe Torque Off User Manual publication 750 UM002 Safe Speed Monitor Option Module for PowerFlex 750 Series AC Drives Safety Referen
305. mode The position control is active in Direct mode and uses its Direct Position Reference Psn SpdlOrnt 11 PowerFlex 755 Drive operates in the Positioning mode to position the load side of a machine to P1582 SO Setpoint These modes selections only apply to the Flux Vector control modes in P35 Motor Ctrl Mode options 3 Induction 6 PM FV and 10 IPM FV These parameters select between speed regulation torque regulation or position regulation operation of the drive The source of P685 Selected Trq Ref will be determined by the selection in these parameters when P181 DI SpIqPs Sel 0 and P182 DI SpIqPs Sel 1 have selected Disabled or selected bits that are logic low In P935 Drive Status 1 three bits are provided that indicate the Regulation mode of the drive when it is running Bit 21 Speed Mode will become set when the drive is running with the speed regulator active Similarly Bit 22 PositionMode and Bit 23 Torque Mode indicate when their respective regulation modes are active Under some conditions the active Torque mode may be forced into Speed mode regardless of the setting of Speed Torque Position P313 Actv SpIqPs Mode will indicate this and will reflect the mode selection that is in use Rockwell Automation Publication 750 RM002A EN P September 2012 183 Chapter4 Motor Control Figure 23 PowerFlex 753 Firmware Flowchart Logic Ctrl State Forced Spd Zero To
306. mon for Digital Inputs 0 5 Dio Digital Input 0 24V DC Opto isolated 1 Di1 Digital Input 1 2 Low State less than 5V DC on Port X Di2 Digital Input 2 2 High State greater than 20V DC 11 2 mA DC TE SEDES 115V AC 50 60 Hz Opto isolated p Low State less than 30V AC 014 Digital Input 4 High State greater than 100V AC 015 Digital Input 5 1 Not present on 120V versions 2 Digital Inputs are either 24 Volts DC 2262C or 115 Volts AC 22620 based on module catalog number Be sure applied voltage is correct for 1 0 module 3 Differential Isolation External source must be maintained at less than 160V with respect to PE Input provides high common mode immunity 4 For CE compliance use shielded cable Cable length should not exceed 30 m 98 ft 5 1 0 Module parameters will also have Port designation Rockwell Automation Publication 750 RM002A EN P September 2012 93 Chapter 2 94 Feedback and 1 0 Analog Output Configuration Parameters 75 and 85 Anlg Outz Select are use to specify the signal used on Analog Outputs 1 and 2 respectively These parameters can be programmed to the following selections Parameter Selection Output Frequency Commanded Speed Ref Motor Velocity Feedback Commanded Torque Torque Current Feedback Flux Current Feedback Output Current Output Voltage NI MY wl Output
307. motor selected is permanent magnet The value for these parameters are determined by a rotate tune only Interior Permanent Magnet Motors Parameters P1630 through P1647 are all populated by an autotune when the motor selected is interior permanent magnet The value for these parameters are determined by a rotate tune only Rockwell Automation Publication 750 RM002A EN P September 2012 29 Chapter1 Drive Configuration Auxiliary Power Supply Bus Regulation 30 The optional Auxiliary Power Supply module 20 750 APS is designed to provide power to a single drive s control circuitry in the event incoming supply power to the drive is removed or lost When connected to a user supplied 24V DC power source the communication network functions remain operational and on line A DeviceNet program can also continue to run and control any associated input and outputs The auxiliary power supply module is designed to power all peripherals I O and connected feedback devices Some applications create an intermittent regeneration condition The following example illustrates such a condition The application is hide tanning in which a drum is partially filled with tanning liquid and hides When the hides are being lifted on the left motoring current exists However when the hides reach the top and fall onto a paddle the motor regenerates power back to the drive creating the potential for an overvoltage fault When an AC motor regen
308. n review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Canada Use the Worldwide Locator at http www rockwellautomation com support americas phone_en html or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com iterature www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV
309. n 750 RM002A EN P September 2012 Drive Configuration Chapter 1 value is changed the Autotune parameters are updated based on the new nameplate values When using Calculate updated values come from a lookup table Static Tune When the Autotune parameter is set to Static only tests that do not create motor movement are run A temporary command that initiates a non rotational motor stator resistance test for the best possible automatic setting of P73 IR Voltage Drop in all valid modes and a non rotational motor leakage inductance test for the best possible automatic setting of P74 Ixo Voltage Drop in a Flux Vector FV mode A start command is required following initiation of this setting Used when motor cannot be rotated Rotate Tune The actual tests performed when Static and Rotate Tune selections are made differ for the available motor control modes Feedback Type and motor type selected The tests performed are dependent on the settings of parameters Motor Cntl Mode Pri Vel Fdbk Sel and Autotune The parameters that are updated are then dependent on the tests run and in some cases calculated values for some parameters will be used to update other parameters Refer to Table 1 A temporary command initiates a Static Tune and is then followed by a rotational test for the best possible automatic setting of P75 Flux Current Ref In Flux Vector FV mode with encoder feedback a test for the best possible automatic setti
310. n 750 RM002A EN P September 2012 109 Chapter2 Feedback and 1 0 Digital Outputs 110 The PowerFlex 753 has one transistor output and one relay output embedded on its main control board The transistor output is located on at the lower front of the main control board Terminal Name Description Rating TO Transistor Output 0 Transistor Output 48V DC 250 mA maximum load Open drain output The relay output is located on TB2 at the bottom of the main control board Terminal Name Description Rating RONC Relay 0 N C Output Relay 0 normally closed 240V AC 24V DC 2A max contact Resistive Only ROC Relay 0 Common Output Relay 0 Common RONO Relay 0 0 Output Relay 0 normally open contact 240V AC 24V DC 2A max General Purpose Inductive Resistive Refer to the PowerFlex 750 Series AC Drives Installation Instructions publication 750 1001 for PowerFlex 753 Main Control Board I O wiring examples The PowerFlex 755 has no outputs embedded on its Main Control Board There are PowerFlex 750 Series Option Modules that expand the amount of digital outputs that can be used in both the PowerFlex 753 and 755 drives Catalog numbers 20 750 2262C 2R and 20 750 2262D 2R provide two relay outputs located on TB2 at the front of option module Terminal Name Description Rating RONC Relay 0 N C Output Relay 0 normally closed 240V AC 24V DC 2A max contact Re
311. n the Chopper Module choice has been made the current rating of the Module Transistor must be greater than or equal to the calculated value for Ig See the table below for rating values Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Drive Voltage Turn On Voltage Cat No Peak Transistor Current Minimum DB Resistor Volts AC Volts DC Rating Amps Value Ohms 230 375 WA018 50 9 0 WA070 200 2 3 WA115 400 1 25 460 750 WB009 25 37 WB035 100 9 0 WB110 400 2 5 575 935 009 25 46 WC035 75 15 5 WC085 400 3 0 Step 5 Determine the Minimum Resistance Each chopper module in the table above has a minimum resistance associated with it If a resistance lower than the value show in the table is connected to the chopper module the brake transistor will most likely be damaged Step 6 Choosing the Dynamic Brake Resistance Value To avoid damage to this transistor and get the desired braking performance select a resistor with a resistance between the maximum resistance calculated in Step 3 and the minimum resistance of the selected chopper module Step 7 Estimating the Minimum Wattage requirements for the Dynamic Brake Resistor It is assumed that the application exhibits a periodic function of acceleration and deceleration If t3 t2 the time in seconds necessary for deceleration from rated speed to 0 speed and t is the time in seconds b
312. n the EtherNet IP Network Applications for PowerFlex 755 AC Drives Frequency Control Axis Properties Categories General Frequency Gontsal E Motor 2 Model Frequency Control Method Basic Volts Hertz Analyzer Basic Volts Hertz Scaling SS Se Hookup Tests Maximum Voltage 230 0 Volts RMS Polarity Maximum Frequency 130 0 Hertz _ _ _ Break Voltage 115 0 Volts RMS Frequency Control Break Frequency 30 0 Hertz Start Boost 85 Volts RMS Run Boost 85 Volts RMS Limits Velocity Limit Positive 53 333332 revs s Velocity Limit Negative 53 333332 revs s Manual Tune Frequency Control Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Tune 232 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 9 Frequency Control Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Break Frequency P63 Break Frequency Break Voltage P62 Break Voltage Current Vector Limit P422 Current Limit 1 Flux Up Control P43 Flux Up Enable Forced to Automatic Flux Up Time P44 Flux Up Time Frequency
313. nal loop bandwidth values by a factor of the Load Ratio 1 Measure Inertia using Tune Profile Check this box to calculate the inertia tuned values as part of the autotune The Inertia Test results are shown in the Inertia Tuned grid control bottom right of the dialog box when the test completes When Measure Inertia using Tune Profile is selected as a part of the Autotune test the PowerFlex 755 drive will first jog or rotate the motor in a single direction to remove any backlash present in the system as depicted in the chart below After the backlash has been removed the bump profile is then applied to measure the system inertia system acceleration Note that systems with a mechanical restriction or travel limit may not complete the Autotune test AutotuneTrend TBS Friday June 15 2012 Profile to Measure Inertia Backlash Removal 10 46 25 AM 10 46 25 10 46 25 10 46 26 10 46 26 10 46 27 AM cation vae __ io E Rockwell Automation Publication 750 RM002A EN P September 2012 281 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Motor with Load Choose this selection to calculate tuning values based on the load inertia If selected the load inertia is measured and then applied to the Total Inertia attribute or Total Mass attribute The Load Ratio is also updated Uncoupled Motor Choose this selection to calculate tunin
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315. nd the necessary actions cannot be taken the adjust freq portion of the bus regulator function must be disabled see parameters 161 and 162 2 Actual deceleration times can be longer than commanded deceleration times However a Decel Inhibit fault is generated if the drive stops decelerating altogether If this condition is unacceptable the adjust freq portion of the bus regulator must be disabled see parameters 161 and 162 In addition installing a properly sized dynamic brake resistor will provide equal or better performance in most cases Important These faults are not instantaneous Test results have shown that they can take between 2 12 seconds to occur Bus Regulation Modes The drive can be programmed for one of five different modes to control the DC bus voltage e Disabled e Adjust Frequency e Dynamic Braking Both with Dynamic Braking first Both with Adjust Frequency first P372 Bus Reg Mode A is the mode normally used by the drive unless the DI BusReg Mode digital input function is used to switch between modes instantaneously in which case P373 Bus Reg Mode B becomes the active bus regulation mode Rockwell Automation Publication 750 RM002A EN P September 2012 33 Chapter1 Drive Configuration The bus voltage regulation setpoint is determined from bus memory a means to average DC bus over a period of time The following tables and figure describe the operation Volt
316. nd will equal 375V DC 750V DC or 937 5V DC depending on input voltage Pp The peak braking power calculated in Step 2 Rap The maximum allowable value for the dynamic brake resistor The choice of the Dynamic Brake resistance value should be less than the value calculated in Step 3 If the value is greater than the calculated value the drive can trip on DC bus overvoltage Remember to account for resistor tolerances Rockwell Automation Publication 750 RM002A EN P September 2012 159 Chapter4 Motor Control Step 4 Determine the Minimum Resistance Each drive with an internal DB IGBT has a minimum resistance associated with it If a resistance lower than the minimum value for a given drive is connected the brake transistor will most likely be damaged Below is a table of minimum resistances for frame 2 through 7 PowerFlex 750 Series drives Frame 400V 480V ND kW Catalog Code Min Resistance Max DB Current NDHP Catalog Code Min Resistance DB Current 2 0 75 QP1 31 6 25 1 0 D2P1 31 6 25 15 825 31 6 25 2 0 D3P4 31 6 25 22 5 0 31 6 25 3 0 D5P0 31 6 25 4 0 C8P7 31 6 25 5 0 31 6 25 5 5 C011 31 6 25 7 5 D011 31 6 25 7 5 015 31 6 25 10 5014 31 6 25 11 022 22 6 34 9 15 0022 22 6 34 9 3 15 C030 31 6 25 20 D027 31 6 25 18 5 C037 31 6 25 25 D034 31 6 25 22 C043 16 6 47 6 30 D040 16 6 47 6 4 30 C060 15 8 50 40 D052 15 8 50 37 C0
317. ndition and no fault will be generated If this function is not configured the drive is considered enabled IMPORTANT If the ENABLE J1 jumper is removed the 010 becomes a hardware enable For the PowerFlex 753 010 is found TB3 and for the PowerFlex 755 01015 found on combination of the hardware enable and a software enable may be utilized however the drive will not run ifany of the inputs are open DI Clear Fault The Clear Fault digital input function allows an external device to reset drive faults through the terminal block An open to closed transition on this input will cause an active fault if any to be reset DI Aux Fault This input function is normally closed and allows external equipment to fault the drive When this input opens the drive will fault with the Auxiliary Input F2 fault code If this input function is not configured then the fault will not occur DI Stop An open input will cause the drive to stop and become Not Ready A closed input will allow the drive to run when given a Start or Run command If Start is configured then Stop must also be configure otherwise a digital input configuration alarm will occur P370 Stop Mode A and P371 Stop Mode B will dictate the drive s stop action Refer to Stop Modes on page 74 for more details DI Cur Lmt Stop With this digital input function an open input will cause the drive to current limit stop The drive acknowledges
318. ndu B n in BLY sjndu H 9 M Rockwell Automation Publication 750 RM002A EN P September 2012 322 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Le GL pewesed les seupds JeuMQ 199 8S JOY 926 pewesed 62 pewesed 82 Olesjewpds zi IOVAO ETIEN VES St zz 2 LL JOUMO 226 92 jeed or JeuMQ 226 YSEW Jes ZZE pewesed sz 60 Jaumo Lz6 pv SM 188 pur Jenuey 92 peneseH V 80 JOUMO ueiS 026 py 21607 988 Sew ony SZE peus D 1035 616 ASEW HOd 988 xsey 21601 pze 0 peweseM Z asianey 50 i H SL peweseH 02 prew03 70 6L sneg iea co uny 20 dosuruno Lb wes 10 i dos eoo 9 00 SJ2UMQ SN E S PY SASEN 0 va ua A SL 0 si 0 Le SL im 2160 af 31607 uonen e 3 xselN 071 0 SL SY 2160 usa a ii a 48 1248 1242 0 1244 Ie39 1299 SL Jou pds 21607 E
319. ne Apply Torque Loop Axis Properties Categories lorqueJGurrentilnop asiste iuit LSE LOTT iie ttti ttti Analyzer Motor Feedback Scaling Hookup Tests Polarity Limits G Load Peak Torque Limit Positive 100 0 Rated Compliance Torque Current Loop Peak Torque Limit Negative 100 0 Rated Homing Actions Drive Parameters Parameter List ow Status i Faults amp Alarms Tag a 236 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Torque Loop Motion Axis Parameters Ass Properties PFISS Ai Categories General Motion Axis Parameters B Motor Model Parameter Group Terque Current Loop Analyzer Motor Feedback Sealing _ FluxUpControl No Delay Hookup Tests _ FluxUpTime 0 0 s Polarity _ OvertorqueLimit 200 0 Motor Rated B Load OvertorqueLimitTime 0 0 5 Compliance _ TorqueLimitNegative 100 0 Motor Rated Torque Current Loop _ TorqueLimitPositive 100 0 Motor Rated Homing _ UndertorqueLimit 10 0 Motor Rated Actions UndertorqueL imitTime 00 5 Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Tune OK Cancel Apply Table 11 Torque Loop Instance to Parameter Cross Referenc
320. ne Email Telephone www ab com support abdrives support drives ra rockwell com 262 512 8176 Title Online Rockwell Automation Technical http support rockwellautomation com knowledgebase Support Product Certifications and Declarations of Conformity are available on the internet at www rockwellautomation com products certification In this manual we refer to PowerFlex 750 Series Adjustable Frequency AC Drives as drive PowerFlex 750 PowerFlex 750 drive or PowerFlex 750 AC drive Specific drives within the PowerFlex 750 Series may be referred to as PowerFlex 753 PowerFlex 753 drive or PowerFlex 753 AC drive PowerFlex 755 PowerFlex 755 drive or PowerFlex 755 AC drive To help differentiate parameter names and LCD display text from other text the following conventions will be used Parameter Names will appear in brackets after the Parameter Number For example P308 Direction Mode Display text will appear in quotes For example Enabled The following words are used throughout the manual to describe an action Word Meaning Can Possible able to do something Cannot Not possible not able to do something May Permitted allowed Must Unavoidable you must do this Shall Required and necessary Should Recommended Should Not Not recommended Rockwell Automation Publication 750 RM002A EN P September 2012 9 Preface General Precautions Qualified Personnel
321. nected to the positive and negative DC bus conductors of an AC PWM Drive The two series connected Bus Caps are part of the DC bus filter ofthe AC Drive The significant power components of the Chopper Module are the protective fusing the Crowbar SCR the Chopper Transistor an IGBT the Chopper Transistor Voltage Control hysteretic voltage comparator and a freewheel diode for the Dynamic Brake Resistor The protective fuse is sized to work in conjunction with the Crowbar SCR Sensing circuitry within the Chopper Transistor Voltage Control determines if abnormal conditions exist within the Chopper Module One of these abnormal conditions is a shorted Chopper Transistor If this condition is sensed the Chopper Transistor Voltage Control will fire the Crowbar SCR shorting the DC Rockwell Automation Publication 750 RM002A EN P September 2012 149 Chapter 4 150 Motor Control bus and melting the fuse links This action isolates the Chopper Module from the DC bus until the problem can be resolved The Chopper Transistor is an Isolated Gate Bipolar Transistor IGBT There are several transistor ratings that are used in the various Chopper Module ratings The most important rating is the collector current rating of the Chopper Transistor that helps to determine the minimum Ohmic value used for the Dynamic Brake Resistor The Chopper Transistor is either ON or OFF connecting the Dynamic Brake Resistor to the DC bus and dissipating power
322. net CI Vendor Allen Bradley Parent EN27 Ethemet Address Name PF755 Private Network 192 1681 4 Description __ IPAddess 10 91 24 126 zl C Host Name Module Definition Change Revision 21 Electronic Keying Compatible Module Connection Motion Power Structure 480V 2 1A Normal Duty Status Offline Cancel Apply Help Create and Configure an Axis for the PowerFlex 755 Drive 1 See the Integrated Motion on the Ethernet IP Network Configuration and Startup User Manual publication MOTION UM003 for specific instructions on creating and configuring the axis for the PowerFlex 755 drive Rockwell Automation Publication 750 RM002A EN P September 2012 267 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives 2 In the General dialog from the Axis Configuration pull down menu choose Velocity Loop Anl x Categories General General __ 6 6__ _ _ _ 969 6_ 969 _ _ _ El Motor Axis Configuration Velocity Loop Analyzer Feedback Configuration Motor Feedback Motor Feedback hes Scaling Application Type Constant Speed z Hookup Tests Loop Response Low Polarity Motion Group mao lew Group otion Group Training S 1 Load Compliance Associated Module Observer ule rm o Velocity Loop Module PF 55 Torque C
323. ng controlled If the mode of the input is bipolar voltage 10 10V then the square root function will return 0 for all negative voltages The function uses the square root of the analog value as compared to its full scale for example 5V 0 5 or50 and 0 5 0 707 and multiplies it times the full scale of what it will control for example 60 Hz The complete function can be describes as follows Analog Value Analog In x Lo x Speed Ref A Hi Speed Ref A Lo Speed Ref A Lo Analog In x Hi Analog In x Lo Setting high and low values to 10V 0 Hz and 60 Hz the expression reduces to the following Analog Valu x 60 Hz 10V Rockwell Automation Publication 750 RM002A EN P September 2012 91 Chapter 2 92 Feedback and 1 0 Analog Input Loss Detection Signal loss detection can be detected for each analog input P47 Anlg In Loss Sts bits 0 1 2 will indicate if the signal is lost Bit O indicates that one or both signals are lost P53 AnlgInO LssActn and P63 Anlg In1 LssActn defines what action the drive will take when loss of any analog input signal occurs Selects drive action when an analog signal loss is detected Signal loss is defined as an analog signal less than 1V or 2 mA The signal loss event ends and normal operation resumes when the input signal level is greater than or equal to 1 5V or 3 mA Ignore 0 No action is taken Alarm 1 Type 1 a
324. ng of P621 Slip RPM FLA is also run A start command is required following initiation of this setting IMPORTANT If using rotate tune for a Sensorless Vector SV mode the motor should be uncoupled from the load or results may not be valid With a Flux Vector FV mode either a coupled or uncoupled load will produce valid results Caution must be used when connecting the load to the motor shaft and then performing an autotune Rotation during the tune process may exceed machine limits Rockwell Automation Publication 750 RM002A EN P September 2012 25 Chapter1 Drive Configuration Table 1 Autotune Value Source Mode Type Select VF Induction Static ON OFF OFF OFF OFF ON OFF OFF OFF OFF Dynamic ON OFF OFF OFF ON ON OFF OFF OFF OFF PM NA Static ON OFF OFF OFF OFF OFF OFF OFF OFF OFF Dynamic ON OFF OFF OFF OFF OFF OFF OFF OFF OFF Reluctance NA Static ON OFF OFF OFF OFF OFF OFF OFF OFF OFF Dynamic ON OFF OFF OFF ON OFF OFF OFF OFF OFF FV Induction Encoder Static ON ON ON OFF OFF OFF OFF OFF OFF OFF Dynamic ON ON OFF OFF ON OFF ON OFF OFF OFF Encoderless Static ON ON ON ON OFF OFF OFF OFF OFF OFF Dynamic ON ON ON ON ON ON OFF ON OFF OFF PM Encoder Static OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Dynamic ON ON OFF OFF OFF OFF OFF OFF ON ON Encoderless Static ON ON OFF OFF OFF OFF OFF OFF OFF OFF Dynamic ON ON OFF OFF OFF OFF OFF OFF ON OFF Reluctance
325. ng the Integrated Motion on the EtherNet IP Network 1 In the Axis Properties dialog box for the drive select these options as shown below From the Data Source pull down menu choose Nameplate Datasheet From the Motor Type pull down menu choose Rotary Permanent Magnet 2 You must manually enter the Nameplate Datasheet Phase to Phase parameters information See Appendix D Permanent Magnet Motors in the PowerFlex 750 Series AC Drives Programming Manual publication 750 PMOOI for a list of motor nameplate specification data Categories _ General Motor Device Specification i Model Data Source Nameplate Datasheet Analyzer Motor Feedback M Scaling Motor Type Rotary Permanent Magnet Hookup Tests A Polarit Units y mn Nameplate Datasheet Phase to Phase parameters Loa Backlash Rated Power 0 0 kw Pole Count 8 Compliance Rated Voltage 00 Volts RMS Observer Position Loop Rated Speed 0 0 RPM Velocity Loop Rated Current 0 0 Amps RMS Peak Current 0 0 Amps RMS Motor Overload Limit 1000 Rated Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag TIP If you do not have a Programming Manual readily available from the Data Source pull down menu choose Catalog Number Then from the Motor Type pull down menu choose the equivalent motor with the M Stegmann Multi turn Absolute device RSLo
326. ns only at very low speeds Once the drive has detected the motor it will accelerate to the commanded speed Rockwell Automation Publication 750 RM002A EN P September 2012 51 Chapter 1 52 Drive Configuration Flying Start Enhanced Mode Reverse Here is a motor spinning in the opposite direction of the commanded speed In Enhanced mode the detection takes a very short time and the motor is controlled to zero speed and accelerated to the commanded speed P357 FS Gain Sweep mode The amount of time the detection signal current must be below the setpoint A very short time entered could cause false detections Too long of a time and detection could be missed Enhanced mode It s the Kp in the current regulator used in the detection process Used along with P358 P358 FS Ki Sweep mode Integral term in voltage recovery indirectly connected to time higher value may shorten recovery time but may cause unstable operation Enhanced mode It s the Ki in the current regulator used in the detection process Used along with P357 P359 FS Speed Reg Ki Sweep mode The amount of time to sweep the frequency A short time entered will produce a steep slope on the frequency A higher value longer time will produce a flatter frequency sweep Shown above Enhanced mode It s the Ki in the speed regulator used in the detection process Used along with P358 Rockwell Automation Publication 750 RM002A EN P September
327. nstance Drive Parameter Regenerative Power Limit P426 Regen Power Lmt Bus Regulator Action P372 Bus Reg Mode A Shunt Regulator Resistor Type P382 DB Resistor Type External Shunt Resistance P383 DB Ext Ohms External Shunt Power P384 DB Ext Watts External Shunt Pulse Power P385 DB ExtPulseWatts Rockwell Automation Publication 750 RM002A EN P September 2012 251 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Motor Brake Control When a PowerFlex 755 drive is configured for Integrated Motion on the EtherNet IP Network none of the I O option modules are supported Normal means of having the drive control the brake and utilizing drive s I O are not supported Motor brake control must be user configured in the Logix controller The basic functionality involved is to enable the drive using an MSO instruction verify that the drive is enabled and then apply power to disengage the motor brake The specific motor used and the application will often dictate a time delay between when the drive is enabled and the brake is disengaged A very similar sequence is followed with disabling the drive using an MSF instruction In this case the brake would be engaged and after user configured amount of time the drive would be disabled Figure 25 depicts this operation Figure 25 Timing Diagram Enable H 1 1 1 n Brake MSO MSF Time The s
328. ntemal Value Minimum 000 0 Maximum 15999915 15999915 Default 0 00 0 Example For parameters that are not configurable through the parameter properties Value tab pull down graphic user interface GUI you can utilize the Numeric Edit tab to alternatively configure the digital output for a desired function Below is an example of a PowerFlex 755 drive utilizing a PowerFlex 750 Series option module s digital output Sel parameter being configured such that the output energizes when an alarm is present on one of the drive s inverter section Rockwell Automation Publication 750 RM002A EN P September 2012 113 Chapter2 Feedback and 1 0 You can see below that you cannot select Port 10 Inverter section in the Value tab pull down GUI El Node 10 91 24 150 b em e z D 1 000000000000 89 8 Diagrams h Parameter 10 ROO Sel Properties SR op AE 0000000000000000 0 0000000000000100 Disabled zi 0000000000000000 10000 11 Two Converters la 13 EtherNet IP Bla 14 DeviceLogix EE 10 Two Inverters 0 000 0000 114 Rockwell Automation Publication 750 RM002A EN P September 2012 Feedback and 1 0 Chapter2 We look through the Port 10 Inverter section parameters and find that P13 Alarm Status Bit 0 shows if there is an active alarm on Inverter 1 section Alarm Status Properties I at Ej E E r js r zl 5 z l m Bi
329. nternal motor torque reference to create a smooth transition In order for the drive to switch from Speed mode to Torque mode Forced Speed mode if active must first be turned off Forced Speed mode will turn off when the speed error is greater than the SLAT error set point for the SLAT dwell time With default parameter settings this will occur when the speed error becomes positive When Forced Speed mode is off the drive will switch back to Torque mode when the speed regulator output becomes greater than the torque reference This is the same condition that exists in Minimum Torque mode SLAT Error Setpoint Speed Error 0 SLAT Dwell Time dd Es Forced Speed Low Pass Of On bows us HB gt P Filter 2 gt 298 Speed Error gt 51 Setpoint for SLAT Time FSM State Controller po E 1 FSM On Internal Torque Reference ITR PI Output SRO gt Regulator i Speed Error g Min Off Select Rockwell Automation Publication 750 RM002A EN P September 2012 187 Chapter 4 188 Motor Control Paper Winder Application Example The drive is set for SLAT Minimum mode so that the drive normally runs in Torque mode and follows P675 Trq Ref A Sel Trq Ref A Sel is coming from an exter snapshot shown below The speed reference als
330. o scaling only used when an P 1 Speed Ref Source 1 d Prefix Refers to Diagnostic Item Number 433 Reference Symbol Legend Speed Units 230 Analog Input lected 020g Hz RPM SpdTrimPrcRefSrc Disabled 0 Spd Trim Source Spd Ref A Stpt TrmPct RefA Sel Trim Ref A Sel Spd Ref Sel Sts Preset Speed 1 608 gog ef Ref Rel ii dis 802 sai SPA Ref Command reset Spee 26H3 Drive Logic Rslt ere 6 14 13 12 d7 Preset Speed 3 T Disabled 0 Disabled 0 Drive Status 1 935 9 14 13 12 11 10 Tesetopee Man Rof Ref Ref Ref Ref 1 To Preset Speed 5 575 TrimPct RefA Stpt Default Trim Ref A Stpt Default ETE 1 5 Ref 2 Ref A Auto 4 H 641 reset Speed 6 1 Preset Speed 7 Port 1 Reference Port 1 Reference lt 871 gt Ref B Auto 2 I Lb Port 2 Reference lt 872 gt Port 2 Reference lt 872 gt h 1 MOP Reference 558 Port 3 Reference lt 7 gt Port 3 Reference 8735 C 573 gt 3 Aut 2183 Port 4 Reference 8745 Port 4 Reference lt 874 gt ED 4 T P
331. o as regeneration On most AC PWM drives the AC power available from the fixed frequency utility grid is first converted into DC power by means of a diode rectifier bridge or controlled SCR bridge before being inverted into variable frequency AC power These diode or SCR bridges are very cost effective but can handle power in only one direction and that direction is the motoring direction If the motor is regenerating the bridge is unable to conduct the necessary negative DC current and the DC bus voltage will increase until the drive trips off due to a Bus Overvoltage trip There are bridge configurations using either SCRs or Transistors that have the ability to transform DC regenerative electrical energy into fixed frequency utility electrical energy but are expensive A much more cost effective solution is to provide a Transistor Chopper on the DC bus of the AC PWM drive that feeds a power resistor which transforms the regenerative electrical energy into thermal heat energy which is dissipated into the local environment This process is generally called Dynamic Braking with the Chopper Transistor and related control and components called the Chopper Module and the power resistor called the Dynamic Brake Resistor The entire assembly of Chopper Module with Dynamic Brake Resistor is sometime referred to as the Dynamic Brake Module Chopper Modules are designed to be applied in parallel if the current rating is insufficient for the ap
332. o from an external controller is nal controller and is approximately 6096 of motor torque during the set just above the speed feedback to saturate the speed regulator while in Torque mode The following snapshot captures what occurs in the drive during a break in the web 500 400 300 4 200 100 Small amount of overshoot during web break Motor Spd Fdbk RPM Speed Regulator Saturated Speed Reg Out Speed Regulator is preloaded Motor Torque Ref 7 with Motor Torque Ref Speed Error RPM A Speed Error becomes negative P a S E Web break occurs Rockwell Autom Torque Mode mja Speed Mode ation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 SLAT Max In SLAT Maximum mode you would typically configure a speed reference that forces the speed regulator into saturation the speed reference is slightly below the speed feedback In this case the drive would follow the torque reference until there was a breakage or slippage in the application In SLAT Maximum mode the drive will switch from Torque mode to Speed mode when either one of the two following conditions occur The output of the speed regulator becomes more than the torque reference This is the same condition that exists in Maximum Torque mode Or The speed error becomes positive the speed feedback becomes less than the speed reference
333. ociated with the digital input is off represented by a 0 this means that the drive recognizes that the digital input is off Configuration Conflicts If you configure the digital inputs so that one or more selections conflict with each other one of the digital input configuration alarms will be asserted As long as the Digital Input Conflict exists the drive will not start These alarms will be automatically cleared by the drive as soon as the parameters are changed to remove the conflicts These are examples of configurations that cause an alarm Configuring both the Start input function and the Run Forward input function at the same time Start is used only in 3 wire Start mode and Run Forward is used only in 2 wire Run mode so they should never be configured at the same time Configuring the same toggle input function for instance Fwd Reverse to more than one physical digital input simultaneously These alarms called Type 2 Alarms are different from other alarms in that it will not be possible to start the drive while the alarm is active It should not be possible for any of these alarms to occur while the drive is running because all digital input configuration parameters can be changed only while the drive is stopped Whenever one or more of these alarms is present the drive ready status will become not ready and the HIM will reflect a conflict message In addition the drive
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335. oje1euac jeu peedg 10 Id 214d wol4 xqp4pds paiay Jeu eAI2 5 Jeu pds D IA pedwey b di 5 dwey 10329A Jey enbuo dwog uonou4 uonou4 1epoou3 babe 4 09 104 U09 peeds 10739A dwog eau 4 4 eau epojN enisnpxa3 wol4 AS 20 JA 4 jeu pds NI p lenue 9 SHOd HE ony SjeseJd 8194 Jeu pds payajes spueg epow s cm ape fe amm 29914 dys d Iddy uri Jeu pas JBurbGor peyur 2 aduasajay paads p suieibeig yoojg M8IAI9AQ 92U819J8M Jo1juo2 peedg 8194 lai pds JOY 1 Pl tyjguur MEN la V jeu pds Jey pds uonrajag aauasajay poeds 9 Rockwell Automation Publication 750 RM002A EN P September 2012 294 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives ies seu eWay TOPS Jou la X E 062 u
336. ol by pressing the Controls key followed by the Manual key Manual control is released by pressing the Controls key followed by Auto When the HIM is granted manual control the drive uses the speed reference in the HIM If desired the auto speed reference can be automatically preloaded into the HIM when entering HIM manual control so that the transition is smooth Manual control can also be requested through a digital input To do this a digital input has to be set to request Manual control through P172 DI Manual Control Digital Input Manual control requests can be configured to use their own alternative speed reference to control the drive Digital inputs can also be used in conjunction with Hand Off Auto Start to create 3 way HOA switch that incorporates Manual mode The Safe Speed Monitor Option Module uses Manual mode to control the speed of the drive when entering Safe Limited Speed monitoring Auto Manual Masks The port configuration of the Auto Manual feature is performed through a set of masks Together these masks set which ports can control the speed and or logic control of the drive as well as which ports can request Manual control The masks are configured by setting a 1 or 0 in the bit number that corresponds to the port Bit 1 for port 1 Bit 2 for port 2 and so forth Digital Inputs are always configured through Bit 0 regardless of what port the module physically resides in If both Manual Ref Mask and Manual Cmd Ma
337. oller which causes any parameters used by the motion direct command to validate before starting the test If the Motion Direct command does not execute due to an error condition an error message appears and the Test State returns to the Ready state Click Stop to terminate an autotune operation that was started from a source other than Start on this Autotune dialog box When an Autotune is started from Start on this dialog box Stop is unavailable When the autotune has completed click Accept Tuned Values to accept the tuning results and before you can change any tuning categories 282 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Manual Tune The Integrated Motion on the Ethernet IP network axis includes a method for manual tuning the axis gains Clicking Manual Tune as indicated in the example here opens the Manual Tuning window Tune Control Loop by Measuring Load Characteristics oc Rockwell Automation Publication 750 RM002A EN P September 2012 283 Chapter 6 284 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Manual Tuning Window Tuning gains are measured in Hertz in the Integrated Motion on the Ethernet IP network connection compared to the radians second in the stand alone drive 6 283185 Rad Sec 1 Hz n Kj Motion Console V4_755
338. ome PowerFlex drives allow the Va og level DB Threshold to be adjusted if the application required it Setting this level lower will make the dynamic braking more responsive but could lead to excessive DB activation Vac Vac on Vac off on off t Switched from 50 Hz to 100 Hz Rockwell Automation Publication 750 RM002A EN P September 2012 PWM Control Motor Control Chapter 4 This type of control to operate the brake IGBT is similar to the way output voltage to the motor is controlled As the DC bus voltage increases and hits some predetermined limit the brake IGBT is turned on off according to a control algorithm switched at 1 kHz This type of control virtually eliminates bus ripple The big advantage is when this type of control is a common bus configuration Vac A Vic 25 25 2 5 Vic on um l gt t Brake IGBT on off gt t Duty Cycle Linear PWM Hysteretic Full on lt gt lt gt gt 100 90 H _ Duty Cycle 750 772 5 775 DC Bus Voltage Rockwell Automation Publication 750 RM002A EN P September 2012 145 Chapter4 Motor Control Common DC Bus Applications In a common bus configuration when a dynamic braking resistor is installed on each drive sharing the DC bus it s possible that the brake IGBT in some drives may not turn on giving the impression that the drive is not functioning corr
339. on 750 RM002A EN P September 2012 Drive Configuration Chapter 1 The inverter output is disabled and the motor coasts if the output frequency drops to zero or if the bus voltage drops below Vopen or if any of the Run Permit inputs are de energized If the drive is still in inertia ride through operation when power returns the drive immediately accelerates at the programmed rate to the set speed If the drive is coasting and it is in a Run Permit state the reconnect algorithm is run to match the speed of the motor The drive then accelerates at the programmed rate to the set speed Bus Voltage Motor Speed Power Loss Output Enable Pre Charge Drive Fault Continue This mode provides the maximum power ride through The input voltage can drop to 50 and the drive is still able to supply drive rated current not drive rated power to the motor ATTENTION To guard against drive damage a minimum line impedance must be provided to limit inrush current when the power line recovers The input impedance should be equal or greater than the equivalent of a 5 transformer with a rating 6 times the drive s input VA rating Rockwell Automation Publication 750 RM002A EN P September 2012 65 Chapter1 Drive Configuration Reset Parameters to Factory Defaults as explained below If the value for Power Loss Level is greater than 18 of DC Bus Memory you must provide a minimum line impedance to limit inru
340. on Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Example You are controlling a PowerFlex 755 drive via the embedded ethernet Port 13 remotely by a PLC In normal operation he would like to prevent any type of controls being issued from the remote HIM Port 2 However in some cases he would still like the ability to manually control the drive via the HIM To assure these two modes of control masks can be set as follows Parameter 324 Logic Mask Properties Parameter 325 Auto Mask Properties Value Documentation Value Documentation Digital In 8 Port 8 Digital In 8 Reserved Pot 3 Port 3 1 v Reserved 2 v Port 2 10 Reserved 10 Reserved 3 v Port 3 11 Reserved 31 Port 3 11 Reserved 4 Port 4 12 Reserved 4 Port4 12 Reserved 5 v Pot5 13 Port 13 5 v Pot5 13 Port 13 amp Port 6 14 Port 14 v Port 6 14 Port 14 71 Port 15 7 Bit 15 7 Reserved 15 f Bit15 Parameter 326 Manual Mask Properties Parameter 327 Manual Ref Mask Properties Value Documentation Value Documentation This masks out disables the remote HIM Port 2 to control the logic Digital In 8 Reserved OM Digital In 8 Reserved 1 Pott J Reserved 1 Pot Reserved 2 v Port 2 10 Reserved 2 v Pott 2 10 Reserved 3 v Port 3 11 Reserved 3 Port 3 11 Reserved 4 v P
341. on the Integrated Motion on the EtherNet IP Network for a PowerFlex 755 drive See the Integrated Motion on the EtherNet IP Network Configuration and Startup User Manual publication MOTION UM003 for more information on configuring a PowerFlex 755 drive Dual Loop Application Description A dual loop control application uses two encoders one mounted on the motor typical and one mounted on the load as depicted in this block diagram The two encoders are connected to the PowerFlex 755 drive via separate feedback option modules one installed in port 5 and another installed in port 4 Motor Load Mechanical Transmission 5 1 ratio Gearbox and Belt Motor Master Feedback Load Feedback Device Device Port 5 Channel A Port 4 Channel A PowerFlex 755 Drive PowerFlex 755 Drive Dual Loop Control Configuration These steps assume that you have created an axis for the PowerFlex 755 drive in the Motion group and added a new PowerFlex 755 drive module in RSLogix 5000 See the Integrated Motion on the EtherNet IP Network Configuration and Startup User Manual publication MOTION UM003 for complete procedures Follow these steps to configure the dual loop control encoder axis 1 Create a feedback axis in the Motion group for the encoders Dual_Loop_Axis in this example Rockwell Automation Publication 750 RM002A EN P September 2012 223 Chapter6 Integrated Motion on the EtherNet IP Network
342. onStatus Integrated Motion on the EtherNet IP Network Applications PowerFlex 755 AC Drives Increase Speed Chapter 6 The speed is changed by updating the speed reference and then re executing the MDS instruction INCREASE SPEED Will step increase the speed command by 5 each time the IncSpeed bit is toggled until the Ramp Velocity Positive limit has been reached IncONS LEQ ADD MDS ONS Less Than or Eql A lt B Add Motion Drive Start CEN Source PF7SS_Axis ActualVelocity Source A PF755 Axis ActualVelocity Axis PF755 Axis G 14 9994 14 9994 Motion Control MDS 1 CER Source B RampVelPos Source B 5 Speed Speed 25 06 14 9996 Dest Speed Speed Units Units per sec 14 9996 GRT IncSpeed MD Greater Than A gt B Source A PF755 Axis ActualVelocity 14 9994 Source B RampVelPos 250 MDS 1 IP Decrease Speed The speed is changed by updating the speed reference and then re executing the MDS instruction DECREASE SPEED Will step increase the speed command by Srevs sec each time the DecSpeed bit is toggled until the Ramp Velocity Negative limit has been reached DecSpeed PF755 Axis ServoActionStatus F DecONS GEQ SUB MDS Grtr Than A gt B Subtract Motion Drive Start Source PF7SS_Axis ActualVelocity Source A PF755 Axis ActualVeloci
343. onfiguration instructions provided in the PowerFlex 750 Series AC Drives Installation Instructions publication 750 INOO1 When using a PowerFlex 755 drive with a dynamic brake shunt regulator in an Integrated Motion on the Ethernet IP network the dynamic brake must be set up as part of the I O connection of the PowerFlex 755 embedded Ethernet IP module EENET CM xx properties Failure to set up the dynamic brake correctly could lead to mechanical damage of the machine Dynamic brake shunt resistor sizing is not covered in this document For more information on resistor sizing see the Drives Engineering Handbook publication DEH 1300 10 1 0 Configuration for a Dynamic Brake shunt regulator Follow these steps to configure a dynamic brake shunt regulator for a PowerFlex 755 drive in RSLogix 5000 1 In the I O Configuration double click the PowerFlex 755 EENET CM xx module and select Properties 2 9 T Controller Organizer 5 9 Controller Training 20 A Controller Tags 9 Controller Fault Handler E Power Up Handler 51 9 Tasks 2 68 MainTask 2 MainProgram Unscheduled Programs Phases 5125 Motion Groups HB 6 my_group X v4 755 C3 Ungrouped Axes EI Add On Instructions Ei 3 Data Types ER User Defined ER Strings Cj Add On Defined Predefined Module Defined 3 Trends amp amp x 1 0 Configuration 1756 Backplane 1756 410 0 1756 L73 Training
344. onsecutively Rockwell Automation recommends a minimum coarse update rate of 3 ms for the PowerFlex 755 drive Integrated Motion on the EtherNet IP network is a feature available with firmware revision 2 xxx and later for PowerFlex 755 drives This feature provides a common user experience as with Kinetix 6500 drives when used with Logix controllers revision 19 and later on the EtherNet IP network e The same motion profile in RSLogix 5000 provides common configuration experience The PowerFlex 755 drive uses the Motion Properties Axis Properties and the same motion attributes as the Kinetix 6500 drive e The same RSLogix 5000 motion instructions provide a common programming experience Refer to the Integrated Motion on EtherNet IP appendix in the PowerFlex 750 Series AC Drives Programming Manual publication 750 PM001 for more information Motion Drive Start MDS Instruction For information regarding the MDS instruction refer to the Logix5000 Controllers Motion Instructions Reference Manual publication MOTION RM002 For the PowerFlex 755 drive the MDS instruction is valid only when the axis configuration is set to one of these control modes e Frequency Control e Velocity Loop e Torque Loop The MDS instruction is not valid when the axis configuration is set to Position Loop Rockwell Automation Publication 750 RM002A EN P September 2012 215 Chapter 6 216 Integrated Motion on the EtherNet IP Network Ap
345. opaS Tauer eg aez eez 196 o Bey pds oL yap o Ud APS xoeqpee4J ud LDJA ED 4 OMS sso piqpJ IzHvz K9 6 5 E 20 9 snes y xoeqpo94 2072 pared Ms oiny AQP lt 14 99 puo pds 293 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Speed Control Reference Overview f snes dwey 4 4 snijejs dwey 103A snes xoeqpee peeds i dis 1 wol4 sns peeds JoyeinBay ic A ywr wol4 peeds xew speeds xew epo Id dooiq 8 J A eano 5 4 die Joy peeds qeaury 1 peeds 4 A i 19114 jndjnpg 011504 i Bay sod pales i aed epog _ POW m J
346. or lifetime if drive is powered The real time clock on the drive may be set two different ways It can either be set from the HIM or from Drive Executive Drive Explorer Setting the Real Time Clock via Drive HIM 1 Access the Status screen 2 If Port 00 Host Drive is not shown above the ESC soft key use the uc 20 key to scroll to Port 00 3 Press the key to display its last viewed folder 4 Useche DEN key to scroll to PROPERTIES folder 5 Use the m key to select Set Date and Time 6 Press the Enter key to display its last viewed folder 7 Press the EDIT soft key to access the Set Date and Time mode screen which highlights the present time zone line 8 To select the time zone set the drive to the current time zone Press the ZONES soft key to display the Select Time Zone screen e Use the i key to select your basic time zone region for example Full List e Press the Enter key to enter your selection e Use the key to select your specific time zone for example Chicago and press the Enter key to enter it 9 To set the date set the drive to the current date Press the A soft key to select the year in the top line and use the numeric keys to enter the correct year Rockwell Automation Publication 750 RM002A EN P September 2012 137 Chapter3 Diagnostics and Protection To delete an erroneous date or time entry use the lt soft key
347. or power if the peak braking power is greater that 1 5 times that of the motor the deceleration time t3 t5 needs to be increased so that the drive does not go into current limit Use 1 5 times because the drive can handle 150 current maximum for 3 seconds Peak power can be reduced by the losses of the motor and inverter Step 3 Calculating the Maximum Dynamic Brake Resistance Value V4 The value of DC bus voltage that the chopper module regulates at and will equal 375V DC 750V DC or 937 5V DC Pp The peak braking power calculated in Step 2 The maximum allowable value for the dynamic brake resistor The choice of the Dynamic Brake resistance value should be less than the value calculated in Step 3 If the value is greater than the calculated value the drive can trip on DC bus overvoltage Remember to account for resistor tolerances Step 4 Choosing the correct Dynamic Brake Module Cat No Resistance Wattage 240 Volt KA005 28 ohms 666 watts KA010 13 2 ohms 1650 watts KA050 N A N A 460 Volt KB005 108 ohms 1500 watts KB010 52 7 ohms 2063 watts KB050 10 5 ohms 7000 watts 600 Volt KC005 108 ohms 1500 watts KC010 52 7 ohms 2063 watts KC050 15 8 ohms 8000 watts In the table above choose the correct Dynamic Brake Module based upon the resistance value being less than the maximum value of resistance calculated in Step 3 If the Dynamic Brake Resistor value of on
348. ore and Txx after in position control See the partial block diagram below TP132 Notch Filter 166 Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Regen Power Limit The P426 Regen Power Lmt is programmed as a percentage of the rated power The mechanical energy that is transformed into electrical power during a deceleration or overhauling load condition is clamped at this level Without the proper limit a bus overvoltage may occur When using the bus regulator Regen Power Lim can be left at factory default 50 When using dynamic braking or a regenerative supply Regen Power Lim can be set to the most negative limit possible 800 When you have dynamic braking or regenerative supply but want to limit the power to the dynamic brake or regenerative supply Regen Power Lim you can set a specific level Values in this parameter are valid only in a Flux Vector mode The following series of plots describes the difference between changing Regen Power Limit versus changing the Negative Torque Limit The beginning part of every plot is identical this is the acceleration of the motor Once the stop is commanded and deceleration begins note the red trace in each This represents torque current Since power is proportional to speed as the speed decreases the torque current increases allowing more power to be dissipated Note the speed feedback in the RPL 20 the
349. osition Control Profiler Indexer Sheet 2 307 Variable Boost Voltage Overview Function 326 Position Control Homing Inputs Outputs Position Control Aux Functions Roll Position 308 Diagnostic Tools 327 Indicator Position Control Aux Functions Position 309 High Speed Trending Wizard 328 Oriented Torque Boost Rockwell Automation Publication 750 RM002A EN P September 2012 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Flux Vector Overview Uopejeuec enbior Buisse oJqd queuing Jonuo5 10 29A weg 203 jeu bi TONES peo uondepy egau Jeu S 195 NANO did Old jou onbio c deis enbioy uonoejes epow uonisod jenbio ES pow sdb1ds Nov 089 les g jeu bay 5 9 Ies v Jeu bip paseya 4 dwog 4 14 48381 3Nd3NO Ald B801 did w aid Ma4 ueg doi Q2 9801 uleg did 1601 yoegpes 210 a a 1 aid s i lt 0601 did
350. ot4 12 7 Reserved 4 Pot4 12 7 Reserved 5 v Port 5 13 Port 13 57 Pot5 13 Port 13 amp v Port 6 14 Port 14 Pot 14 Pot14 7 Reserved 15 7 Bit 15 7 Reserved 15 7 Bitis command word such as start jog and direction when the drive is in Auto mode and allows enables the HIM to control the logic command word when the drive is in Manual mode Rockwell Automation Publication 750 RM002A EN P September 2012 61 Chapter1 Configuration Power Loss The drive contains a sophisticated algorithm to manage initial application of power as well as recovery from a partial power loss event The drive also has programmable features that can minimize the problems associated with a loss of power in certain applications Terms and Definitions Term Vbus Definition The instantaneous DC bus voltage Vmem The average DC bus voltage A measure of the average bus voltage determined by heavily filtering bus voltage Just after the pre charge relay is closed during the initial power up bus pre charge bus memory is set equal to bus voltage Thereafter it is updated by ramping at a very slow rate toward Vbus The filtered value ramps at 2 4V DC per minute for a 480VAC drive An increase in Vmem is blocked during deceleration to prevent a false high value due to the bus being pumped up by regeneration Any change to Vmem is blocked during inertia ride through Vslew The rate of change of Vmem in
351. otune Torque Typically the default value of 50 will be sufficient for most applications You have the option of increasing this value or decreasing the value P73 IR Voltage Drop The voltage drop due to resistance P74 Ixo Voltage Drop The voltage drop due to Inductance Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 P75 Flux Current Ref The current necessary to flux up the motor This value come from a lookup table for Static tunes and is measured during Rotate tune Obviously a rotate tune will give more accurate results P76 Total Inertia Reported as seconds of inertia See description above P77 Inertia Test Lmt A number entered in this parameter will limit the inertia tune test to a maximum number of revolutions If violated the drive will fault on Autotune Inertia Fault 144 Also when a value is entered and the drive determines that the number of revolutions will be exceeded it goes into a decel and stops before the value is exceeded P78 Encdrlss AngComp and P79 Encdrlss VitComp These parameters are valid only for Flux Vector motor control mode and open loop P78 is populated only by a rotate tune P79 is populated by a Static measurement P80 PM Cfg This configuration parameter allows certain tests to be performed based on the motor connected Permanent Magnet Motors Parameters P81 through P93 and P120 are all populated by an autotune when the
352. ou want to switch to Auto mode HIM Preload Before taking a manual control speed reference from a HIM the drive can preload its current speed into the HIM to provide a smooth transition Without this feature the drive would immediately transition to whatever speed was last used in the HIM before the operator has a chance to make their adjustment Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 With this feature the drive will maintain its current speed until the operator sets the speed to the desired manual reference With Manual Preload Current Speed Desired Manual Speed Last Speed Used in HIM Without Manual Preload Manual Mode Desired Speed Requested Set in HIM The Auto Manual HIM Preload is configured through P331 Manual Preload Ports 1 2 and 3 can be configured to have the speed reference preloaded into the HIM by setting bits 1 2 and 3 respectively Example Scenario The drive has a HIM in port 1 anda 24 DC I O module in port 5 You want to select manual control from a digital input 3 on the I O module You want the embedded EtherNet IP port to be the source for the speed reference in Automatic mode and the HIM to be the source for the speed reference in Manual mode Manual Speed Reference HIM DPI Port 1 e Manual Control Port 5 Input 3 4a Automatic Speed Reference Port 14 q Required Steps 1
353. ough the ControlLogix controller is illustrated the CompactLogix controller could also be used Advantages Disadvantages The advantages of a linear network include the following The topology simplifies installation by eliminating long cable runs back to a centralized switch The network can be extended over a longer distance since individual cable segments can be up to 100m The network supports up to 50 mixed devices per line The primary disadvantage of a linear topology is that a connection loss or link failure will disconnect all downstream devices as well To counter this disadvantage a ring topology could be employed 256 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Ring Topology A ring topology or device level ring DLR is implemented in a similar fashion to linear topology However an extra connection is made from the last device on the line to the first closing the loop or ring It is crucial to configure the Ring Supervisor before connecting your linear topology into a ring topology ControlLogix 1585J M8CBJM x 8 Ethernet shielded Cable 1756 ENXTR 777 1783 ETAP 1783 ETAP 1783 ETAP 1783 ETAP 1783 ETAP Point I O HMI PowerFlex 755 PowerFlex 755 PowerFlex 755 PowerFlex 755 Either a Dual Port EtherNet IP Option Module or an Ethernet IP network tap 17
354. output 241 100 Level Sel Selects the source of the level that will be compared 242 TOO Level Sets the level compare value 243 TOO Level CmpSts Status of the level compare and a possible source for the transistor output Depending on the PowerFlex 750 Series Option Module s installed in the drive related Level Select parameter information noted below Parameter No Parameter Name Description 10 ROO Sel Selects the source that will energize the relay output 11 ROO Level Sel Selects the source of the level that will be compared 12 ROO Level Sets the level compare value 13 ROO Level CmpSts Status of the level compare and a possible source for a relay or transistor output 20 Sel T00 Sel Selects the source that will energize the relay or transistor output 21 Level Sel or Selects the source of the level that will be compared TOO Level Sel 22 Level or TOO Sets the level compare value Level 23 RO1 Level CmpSts Status ofthe level compare and a possible source for a relay or transistor or TOO Level output CmpSts 30 T01 Sel Selects the source that will energize the transistor output 31 T01 Level Sel Selects the source of the level that will be compared 32 Level Sets the level compare value 10 ROO Sel Selects the source that will energize the relay output Rockwell Automation Publication 750 RM002A EN P September 2012 119 Chapter2 Feedba
355. ower in watts regenerated over the period t is Do ALD av ty 2 Average dynamic brake resistor dissipation in watts t5 t Elapsed time to decelerate from rated speed to 0 speed in seconds t4 Total cycle time or period of process in seconds Pp Peak braking power in watts The Dynamic Brake Resistor power rating in watts that will be chosen should be equal to or greater than the value calculated in Step 6 Step 7 Calculate the requires Watt Seconds joules for the resistor In order to be sure that the resistors thermal capabilities are not violated a calculation to determine the amount of energy dissipated into the resistor will be made This will determine the amount joules the resistor must be able to absorb Pys h x gt Required watt seconds of the resistor t3 ty Elapsed time to decelerate from b speed to 0 speed seconds Pp Peak braking power watts The flux regulator is used to control and limit the overall fundamental voltage applied to an induction motor when FOC is used The flux regulator controls field weakening above base speed and maintains voltage margin for a current Rockwell Automation Publication 750 RM002A EN P September 2012 161 Chapter 4 Motor Control Flux Up 162 regulator A variation of the induction motor flux regulator is used for PM motors for operation above base speed As default the flux regulator is enabled When disabled th
356. pe mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding position and transferring position reference back to its previous source If velocity control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding zero velocity and transferring velocity reference back to its previous source Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding position drive will then transfer position reference back to its previous source once it receives a start command If velocity control type mode is selected in P313 Actv SpIqPs Mode the drive will continue Rockwell Automation Publication 750 RM002A EN P September 2012 211 212 Chapter5 Drive Features running holding zero velocity drive will then transfer velocity reference back to its previous source once it receives a start command Digln Find Home Speed Speed Control Speed Position Pt Pt Control Rockwell Automation Publication 750 RM002A EN P September 2012 Chapter 6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Topic Page Additional Resources for Integrated Motion on the EtherNet IP Network Information 214 Coarse Update Rate 215 Control Modes for PowerFlex 755 Drives Operating on the Integrated Motion on the EtherNet IP
357. plication One Chopper Module is the designated Master Chopper Module while any other Modules are the designated Follower Modules Two lights have been provided on the front of the enclosure to indicate Chopper Module operation the DC Power light and the Brake On light The DC Power light will be lit when DC power has been applied to the Chopper Module The Brake On light will be lit when the Chopper Module is operating or chopping and will be a flickering type of indication Rockwell Automation Publication 750 RM002A EN P September 2012 143 Chapter 4 144 Motor Control Update As of December of 2010 Rockwell Automation no longer has a Chopper Module product as well as a Dynamic Braking Module product The light configuration stated above was specific to the Rockwell Automation product How it Works There are two different types of control for dynamic braking hysteretic control and PWM control Each used by themselves in a standard stand alone product has no advantage over the other The preferred control would be the PWM method when the application is common DC bus This advantage is described below Hysteretic Control The hysteretic method of dynamic braking uses a voltage sensing circuit to monitor the DC bus As the DC bus voltage increases to the V4 on level the brake IGBT is turned on and is left on until the voltage drops to the oglevel which is not so desirable in common DC bus applications see below S
358. plications for PowerFlex 755 AC Drives Motion Drive Start Instruction Configuration The MDS instruction is configured in a similar fashion to most motion instructions as seen in this example MDS Motion Drive Start aedem Selected Axis Axis PF755 Axis 4 Motion Control MDS 0 Speed Speed 25 0 f Speed Units Units per sec Motion Instruction Tag Speed Reference Units per sec or of Maximum The MDS instruction is similar to a Motion Axis Jog MAJ instruction however the MDS instruction does not set the acceleration deceleration rates The acceleration rate is dynamically set by the ramp attributes configured in a Set System Value SSV instruction See Ramp Attributes on page 218 Note that PF755_Axis was configured for revolutions Therefore the speed units are revs sec Motion Drive Start MDS Sample Code Start START The MDS instruction is used to activate the direct control of velocity for the specified axis The instruction performs an axis enable sequence and then presets the DirectVelocityControlStatus Command attribute if the selected drive supports direct control Start MDS j E Motion Drive Start Axis PF755 Axis 2 Motion Control MDS 0 KER Speed Speed x 150 Speed Units Units per sec Start gt Rockwell Automation Publication 750 RM002A EN P September 2012 IncSpeed PF755 Axis ServoActi
359. ports See 750 IN001 for valid ports Accessing the analog output parameters is done by selecting the port in which the module is mounted then accessing the Analog Output group of parameters Analog Output Specifications Terminal Name Description Related Param 9 Sh Shield Terminating point for wire shields when an Sh EMC plate or conduit box is not installed Ptc Motor PTC Motor protection device Positive 40 Pta Motor PTC Temperature Coefficient on Port X Ao0 Analog Out 0 Bipolar 10V 11 bit amp sign 2 k ohm 75 A004 Analog Out 0 minimum load on Port X 4 20 mA 11 bit amp sign 400 ohm maximum Ao1 Analog Out 1 load 85 Ao14 Analog Out 1 on Port X 10V 10 Volt Reference 2k ohm minimum 10VC 10 Volt Common For and 10 Volt references 10V 10 Volt Reference 2k ohm minimum Ai0 Analog Input 0 Isolated B bipolar differential 11 bit amp 50 70 Ai0 Analog Input 0 sign on Port X nalog Input 0 Voltage mode 10V 88k ohm input EEE Ail Analog Input 1 impedance 60 70 Ail Analog Input 1 Current mode 0 20 mA 93 ohm input on Port X impedance Em 24NC 24 Volt Common Drive supplied logic input power 0 4241 24 200 mA max per 1 0 module 600 mA max per drive DIC Digital Input Common Com
360. prevent the parameter settings from crossing but the drive will not start until such settings are corrected These levels are programmable while the drive is running If P352 Sleep Level is made greater than P354 Wake Level while the drive is running the drive will continue to run as long as the P351 SleepWake RefSel signal remains at a level that doesn t trigger the sleep condition P353 Sleep Time is also factored into this as well Once the drive goes to sleep in this situation it will not be allowed to restart until the level settings are corrected increase P354 Wake Level or decrease P352 Sleep Level If however the levels are corrected prior to the drive going to sleep normal Sleep Wake operation will continue Timers P353 Sleep Time P355 Wake Time Timers will determine the length of time required for Sleep Wake levels to produce true functions These timers will start counting when the Sleep Wake levels are satisfied and will count in the opposite direction whenever the respective level is dissatisfied If the timer counts all the way to the user specified time it creates an edge to toggle the Sleep Wake function to the respective condition sleep or wake On powerup timers are initialized to the state that does not permit a start condition When the analog signal satisfies the level requirement the timers start counting Interactive Functions Separate start commands are also honored including a digital inp
361. ptember 2012 Drive Features Chapter 5 4 To find a parameter that you want to log select the Port and then scroll through the parameter lists file folders diagnostic items or use the find function Jig Datal oggingWizard 2 of 3 File Select Items in Tree to choose list Sample Interval 000 00 00 hhh mm ss 0 PowerFlex 755 480 65A Size of Capture gu 000 00 00 hhhimm ss otor Control Feedback amp 170 C Samples Max 65000 Protection Parameters To Log Smead Cantal Parameter List in 0 PowerFlex 755 480V 654 Dutput Frequency Commanded SpdRef Mtr Vel Fdbk Commanded Trq Torque Cur Fdbk Flux Cur Fdbk Output Current Output Voltage n FERA e WARTS 300 4 0 e gt z Cancel lt Back Next gt 2 5 add the parameter to the data log list select the parameter on the left side list and click the right arrow gt i You will see that parameter appear in the first available line entry on the right side 6 To remove a parameter from the data log list select the parameter on the right side and click the left arrow lt You will see that parameter disappear from that line entry and all subsequent entries will move up Rockwell Automation Publication 750 RM002A EN P September 2012 193 Chapter 5 Drive Features 194 In the configuration example belo
362. r Vel Fdbk Estimated or actual motor speed with feedback 4 Commanded Trq Final torque reference value after limits and filtering are applied Percent of motor rated 5 Torque Cur Fdbk Based on the motor the amount of current that is in phase with the fundamental voltage component 6 Flux Cur Fdbk Amount of current that is out of phase with the fundamental voltage component 7 Output Current The total output current present at terminals T1 T2 and T3 U V amp W 8 Output Voltage Output voltage present at terminals T1 T2 and T3 U V amp W 9 Output Power Output power present at terminals T1 T2 and T3 U V amp W 10 Output PowrFctr Output power factor 11 DC Bus Volts DC bus voltage 13 Elapsed MWH Accumulated output energy of the drive 14 Elapsed kWH Accumulated output energy of the drive 260 Anlg Ind Value Value of the Analog input after filter square root and loss action 418 Mtr OL Counts Accumulated percentage of motor overload 419 Mtr OL Trip Time Displays the inverse of the motor overload time 558 MOP Reference Value of the MOP Motor Operated Potentiometer Reference to be used as a possible source for P545 and P550 707 Load Estimate Displays an estimated load torque value for the drive 940 Drive OL Count Indicates power unit overload IT in percentage 943 Drive Temp Pct Indicates operating temperature of the drive power section heat sink in percentage of the maximum heat sink temperature 1090 PID Ref Meter Presen
363. r enbio be gt lt APA wos IBA wq sod but Cue jur WO 689 Jeu bij pasaya Wal 100W Joubey jueueuueg Juan enb4Jo b ste 40329A 1 H 315 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Torque Control Inertia Adaption eae wor xoeqpee J 4010 uondepy M 967 30 608 jeo ureoijdepyenjeu ypimpueg o99 v C901 xoeqpeeJ 1 plil 1depy LHzz adh 1 aA INO TWNYALNI j0sues peeds 9 96 omg 5807 xqpJ snes enug pz suieiBeig 12018 uondepy o4juo enb4o p B AOA 29114 mad 129 ywn onbo fea po qur enbio sod lepo wass Hn SqOP1 VI un 1929y AOA J9ylJ S T 10 A 14 uopsog 72009 i enbio za 129 eez jeu bay Jeu ba poyur poyoyiJ enbJo
364. r function is issuing a stop See P1210 Profile Status Bit 10 CommutNotCfg The associated PM motor commutation function has not been configured for use Status 32 bit RO Integer 934 Last StrtInhibit Last Start Inhibit Displays the Inhibit that prevented the last Start signal from starting the drive Bits will be cleared after the next successful start sequence See parameter 933 Start Inhibits for bit descriptions Options Reserved S gt CommutNotCfg S PProfilier gt Sleep Safety 9 Startup Database gt Stop Reserved Reserved Reserved S Reserved Reserved Reserved Reserved gt Reserved Reserved Reserved Reserved Reserved Reserved Reserved Precharge gt Enable gt gt gt Faulted Default Bit Reserved S Reserved S gt Reserved 8 lt Reserved Reserved gt Reserved N N N N co an un 0 False 1 True Rockwell Automation Publication 750 RM002A EN P September 2012 Chapter1 Drive Configuration Stop Modes 74 Stop Mode A B can be configured as a method of stopping the drive when a stop command is given A normal stop command and the run input changing from true to false will result
365. r the digital outputs This is the time between the occurrence of a condition and activation of the relay 15 ROO Off Time Sets the OFF Delay time for the digital outputs This is the time between the disappearance of a condition and de activation of the relay 24 On Time or Sets the ON Delay time for the digital outputs This is the time between TOO On Time the occurrence of a condition and activation of the relay or transistor 25 Off Time or Sets the OFF Delay time for the digital outputs This is the time between TOO Off Time the disappearance of a condition and de activation of the relay or transistor 34 On Time Sets the ON Delay time for the digital outputs This is the time between the occurrence of a condition and activation of the transistor 35 T01 Off Time Sets the OFF Delay time for the digital outputs This is the time between the disappearance of a condition and de activation of the transistor Whether a particular type of transition False to True or True to False on an output condition results in an energized or de energized output depends on the output condition Ifa transition on an output condition occurs and starts a timer and the output condition goes back to its original state before the timer runs out then the timer will be aborted and the corresponding digital output will not change state Rockwell Automation Publication 750 RM002A EN P September 2012 FeedbackandI O Chapt
366. rBand 0 0 Hz ioi Velocity Integrator Bandwidth VelocityLoopBandwidth 11 468289 zl nmpsance Advanced Compensation Iv Velacity Feedforward Posi P Grover 5 N Load Parameters Tuned osition Loop Acceleration Feedforward Velocity Loop IN Torque Current Loop JZ Torque Low Pass Filler MaximumAcceleration 00 Po Planner MaximumDeceleration 00 Pa Homing Measure Inertia using Tune Profile Systeminertia 0 0 Actions Motor with Load Uncoupled Motor e Accept Tuned Values e Drive Parameters Parameter List Travel po Position Units Status Limit 4 5 Faults amp Alarms Speed Joo e Position Units s Tag Torque 00 0 Rated Direction Forward Unidirectional Manual Tune Cancel Apply Application Type Specify the type of motion control application that will be tuned e Custom This option lets you select the type of gains to use in the system You can individually select gains to be used with the check boxes that display below Customize Gains to Tune heading Basic This selection is used for applications where following error and final position is not critical Basic tuning gains include Position Loop proportional and Velocity Loop proportional Tracking This selection provides the most aggressive tuning It is used to keep following error to a minimum and applies to both Velocity Feedforward and Acceleration Feedforward This tuning selection uses Po
367. rameters Parameter List Status Faults amp Alarms I m 240 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 13 Induction Motor Data Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance Drive Parameter Induction Motor Rated Frequency P27 Motor NP Hertz Motor Overload Limit P413 Mtr OL Factor Motor Rated Continuous Current P26 Motor NP Amps Motor Rated Output Power P30 Motor NP Power Motor Rated Voltage P25 Motor NP Volts Motor Type P35 Motor Cntl Mode Rotary Motor Poles P31 Motor Poles Rotary Motor Rated Speed P28 Motor NP RPM Induction Motor Model Axis Properties Configuration Induction Motor Model Motion Axis Parameters X Axis Properties PF755 Axis Categories General Motor Analyzer Scaling Hookup Tests Polarity Autotune Load Compliance Observer Velocity Loop Planner Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Tune Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Model Phase to Phase Parameters Rated Flux Current 0 1653788 Amps RMS Rated Slip Speed 200 0 RPM Stator Leakage X1 0 0 hms Rotor Leakage 42 00 Ohms Stator Resistance A1 96 1 Ohms Torque
368. rces Selection Other Ref Sources Y Selection Other Ref Sources Selection 9 Selection DI Man Ref sel 563 Speed Ref B Sel TrmPct RefB Sel Trim Ref B Sel 6047 ARMS i C329 x hern CREDERE Alt Man Sel 2 Alt Man Go FzS EX gt Ref AnLo E Speed Ref B Mult NN Equi amer MOREM Mos Example 1 The following example shows the configuration and resultant of the percent trim function P545 Speed Ref A Sel P546 Spd Ref A Stpt 0546 Spd Ref A Stpt 20 00 Hz P608 TrmPct RefA Sel P609 IrmPct RefA Stpt P609 IrmPct RefA Stpt 25 P2 Commanded SpdRef 25 00 Hz 176 Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 If the speed reference 20 Hz and if the trim percentage 25 the resulting trim will be 20 Hz x 25 5 Hz which when added to the speed reference would 25 Hz As the speed reference changes the amount of trim also changes since it is a percent of the speed reference If the trim percentage 25 then the resulting trim will be 20 Hz x 2596 5 Hz the speed reference would 15 Hz Example 2 The following example shows the configuration and resultant of the fixed amount trim function P545 Speed Ref A Sel P546 Spd Ref A Stpt P546 Spd Ref A Stpt 20 00 Hz e P600 Trim Ref A Sel P601 Trim Ref A Stpt P601 Trim Ref A Stpt 10 00 Hz P2 Commanded SpdRef 30 0
369. re defined by the drive Future drives may offer different options The PowerFlex 755 drives have the High Speed Trending functionality PowerFlex 753 drives do not have the High Speed Trending functionality You can run only one wizard at a time Configuration Example 1 Connect to the drive that you want to trend via DriveExecutive DriveExplorer RSLogix 5000 Drive AOPs or Connected Components Workbench software tool 2 Click the Show Wizardicon 7 Depending if you click the wand icon or down arrow icon a particular wizard selection dialog box will appear 3 Select the High Speed Trend Wizard A Available Wizards E El Gg Startup Wizards PowerFlex 755 Startup Wizard E Application Wizards PowerFlex 755 Profile Setup Wizard PowerFlex 755 PCAM Setup Wizard PowerFlex 755 Homing Setup Wizard E Diagnostic Wizards High Speed Trend Wizard DPI DSI Tech Support Wizard Data Logging Wizard Rockwell Automation Publication 750 RM002A EN P September 2012 197 Chapter 5 Drive Features 198 4 Once the Welcome screen loads Click Next 3 High Speed Trend Wizard 1 of 2 Wizard Step Welcome Welcome Configure This wizard will configure the internal trending of the drive and will upload that the trended data This information is saved as a comma delimited csv file for use with Microsoft Excel or any other spreadsheet program Clicking the Next button will
370. reen example below lets you start up a PowerFlex 755 drive and permanent magnet motor using the motor encoder data that is entered and stored in the drive s nonvolatile memory This is useful for a drive running in standalone mode that is being converted to operation on an Integrated Motion on the EtherNet IP Network Use these settings to configure the drive module e Verify that the correct motor encoder data is present in the drive In the Axis Properties for the drive module select the Motor category and from the Data Source pull down menu choose Drive NV Verify that the feedback selection in the appropriate drive parameter matches the selection in the Motor Feedback category for the axis gt Axis Properties 4_755 loj xi Categories General Motor Device Specification Model Data Source Drive NV Parameters Analyzer Motor Feedback Scaling Hookup Tests Polarity Autotune E Load Backlash Compliance bserver Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Units Rev X Manual Tune Apply 222 Rockwell Automation Publication 750 RM002A EN P September 2012 Dual Loop Control Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 This section explains how to configure a dual loop feedback application
371. regulator and the magnitude of the speed regulator s output relative to the torque reference Sum 5 Drive operates as a speed regulator P685 Selected Trq Ref comes from P660 SReg Output plus torque adders summed with P4 Commanded Profilier 6 PowerFlex 755 Drive uses the Speed Profiler Position Indexer function The drive operates as either a speed or position regulator Mode of operation will depend on the configuration of the Step Types in the Profiler Indexer table Psn 7 Drive operates as a position regulator P685 Selected Trq Ref has the same source as in Sum mode The position control is active in Point to Point mode and uses its Point to point position reference Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 Psn Camming 8 PowerFlex 755 Drive operates as a position regulator P685 Selected Trq Ref has the same source as in Sum mode The position control is active in Position CAM mode and uses its PCAM Planner position and speed reference Psn PLL 9 PowerFlex 755 Drive operates as a position regulator P685 Selected Ref has the same source as in Sum mode The position control is active in Position Phase Lock Loop mode and uses its PLL Planner position and speed reference Psn Direct 10 Drive operates as a position regulator P685 Selected Trq Ref has the same source as in Sum
372. rent Limit Stop Rockwell Automation Publication 750 RM002A EN P September 2012 133 Chapter 3 134 Diagnostics and Protection An input phase loss will be indicated in P937 Condition Sts 1 Bit 4 InPhaseLoss Parameter 937 Condition Sts 1 Propertie Value Documentation NON CHANGEABLE Power Loss 11 AusFdbkLoss 1 UnderVoltage 12 7 PosFdbkLoss 2 Motor OL 13 EstPrchrgErr 14 Gndwarming 4 InPhaseLoss 15 7 Bit 15 OutPhase uss 16T B Decel Inhib 1717 Bit 17 Shear Pin1 1817 Bit18 8 Shear Pin 2 1917 8 Pr FdbkLoss 201 10 7 AltFdbkLoss 211 Biz Intemal Value 0 C Hex C Bin r Range Value Intemal Value Minimum 00000000000000000000000000000000 Maximum 00000000000000000111111111111111 32767 Default 00000000000000000000000000000000 0 OK Cancel If a fault action has been selected as a result of an input phase loss P952 Fault Status A Bit 4 InPhaseLoss will be set Parameter 952 Fault Status A Propertie X Value Documentation NON CHANGEABLE Power Loss 11 AusFdbkLoss 17 12 PosFdbkLoss 2 Motor OL 13 EstPrehrgErr Load Loss 1417 Bir 14 4 InPhaseLoss 1517 Bit 15 QutPhasske 167 Bit 1t Decellnhib VE 8 7 ShearPin1 1877 8 Shear Pin 2 1917 Bitig PrifdbkLoss 201 20 10 AltFdbkLoss 21017 Bz Internal Value 0 C Hex B
373. rive s input section or from an external 24VDC being wired into the Auxiliary Power Supply Option Module Rockwell Automation Publication 750 RM002A EN P September 2012 FeedbackandI O Chapter 2 File l Group File 10 No 226 Digital Outputs PowerFlex 753 Invert parameter information noted below Display Name Full Name cs Description Ss a RO 16 bit Dig Out Invert Integer Digital Output Invert Inverts the selected digital output Options 0 Condition False 1 Condition True Reserved Reserved Reserved 2 Reserved Reserved Reserved Reserved Reserved gt Reserved 7 Reserved Reserved Reserved Reserved S Reserved Default Bit 7 9 TrnsOut0 gt Relay Out 0 w Depending on the PowerFlex 750 Series Option Module s installed Invert parameter information noted below Display Name Full Name Description Read Write Data Type Dig Out Invert RW 16 bit Digital Output Invert Integer Inverts the selected digital output Options Reserved S 2 Reserved gt Reserved 99 Reserved Reserved gt Reserved gt Reserved Reserved Reserved 0 Output Not Inverted 1 Output Inverted
374. rive will follow its normal automatic speed reference even in Manual mode Alternate Manual Reference Select By default the speed reference used in Manual mode comes from the port that requested manual control For example if a HIM in port 1 requests manual control the speed reference in Manual mode will come from port 1 If instead it is desired to use an a different speed reference P328 Alt Man Ref Sel can be used The port selected in the parameter will be used for manual reference regardless of which port requested manual control as long as the port in manual control is allowed to set the manual reference per P327 Manual Ref Mask If P328 Alt Man Ref Sel is an analog input the maximum and minimum speeds can be configured through P329 Alt Man Ref AnHi and P330 Alt Man Ref AnLo For analog input between the minimum and maximum the drive will derive the speed from these parameters through linear interpolation The P328 Alt Man Ref Sel manual reference overrides all other manual speed references including P563 DI ManRef Sel HIM Control Manual Control can be requested through an HIM device attached to port 1 2 or 3 The proper bits must be set in the masks P324 Logic Mask P326 Manual Cmd Mask and P327 Manual Ref Mask for the port that the HIM is attached To request control through the HIM press the Controls key to display the Control screen Control Screen Key Function Map corresponds to Navigation
375. rmal stop as CurrentLimit Stop Current limit stop ramp rate is 0 1 second and is not programmable Example Current Limit Stop DC Bus Voltage Motor Current 685 Motor Speed DC Bus Voltage In this example the current limit was set high enough to allow the full rating of the drive to be used in the stop sequence Rockwell Automation Publication 750 RM002A EN P September 2012 81 Chapter1 Drive Configuration Example Current Limit Lowered Limit DC Bus Voltage Motor Current P685 Motor Speed DC Bus Voltage In this example the current limit was set at some value such that when the stop was issued the output current was clamped at that setting Note the decel time is extended 82 Rockwell Automation Publication 750 RM002A EN P September 2012 Voltage Class Drive Configuration Chapter 1 PowerFlex drives are sometimes referred to by voltage class which identifies the general input voltage to the drive P305 Voltage Class includes a range of voltages For example a 400V class drive will have an input voltage range of 380 480V AC While the hardware remains the same for each class other variables such as factory defaults catalog number and power unit ratings will change In most cases the voltage of a drive can be reprogrammed to another value within the class by resetting the defaults to something other than factory settin
376. rmanent Magnet Motors The PowerFlex 755 drive can support third party permanent magnet motors without the need of custom profiles However the motor nameplate information may need to be modified Rockwell Automation Technical Support requires the following information to assist you in modifying the motor data for use with the drive Please complete the following tables and email the information to Rockwell Automation Technical Support at support drives ra rockwell com Table 23 Permanent Magnet Motor Specifications and Evaluation Motor Manufacturer Model Number Feedback Device Type of Feedback If resolver please complete resolver information Feedback Manufacturer Feedback Model Number Technical Specifications Item Symbol Value Units Notes Maximum Mechanical Speed n rpm Continuous Stall Torque Ms Nm This should be RMS not 0 peak Continuous Stall Current A A This should be RMS not 0 peak Peak Torque Mj Nm This should be RMS not 0 peak Torque Weight Ratio Tw Nm Kg EMF Constant Ke Vs rad Vs 1000rpm Torque constant Kt Nm A Reluctance Torque Tr Nm with respect to Stall Torque Winding Resistance R Ohms line to line Winding Inductance L mH line to line Rotor Inertia J kg m2 Mechanical Time Constant ms Electrical Time Constant Te ms Mass M Kg Radial Load Fr N Axial Load Fa N Insulation Protect
377. rnal DC bus voltage regulation feature Select this option if there is an external regenerative brake or regenerative line supply connected to the drive DC bus Shunt Regulator This selection is used when either an external shunt resistor is connected to the drive or the internal IGBT will be controlling the power dissipation to the resistor the type of shunt resistor is selected below Adjustable Frequency This selection allows the drive to either change the torque limits or ramp rate of the velocity to control the DC bus voltage This option is not recommended for positioning applications because it will override the velocity and the system will overshoot or may not stop Shunt then Adjustable Frequency This selection allows the Shunt resistor to absorb as much energy as it is designed for then transitions to adjustable frequency control if the limit of the resistor has been reached Adjustable Frequency then Shunt This selection allows for adjustable frequency control of the DC bus If adjustable frequency control cannot maintain the DC bus within limits the shunt resistor will be activated Shunt Regulator Resistor Select the type of resistor connected to the drive Internal resistors include Type 20 750 DB1 D1 or 20 750 DB1 D2 for frames 1 and 2 drives respectively External identifies that a user selected resistor is used External Shunt When using an external shunt resistor select Custom 262 Rockw
378. rq Ref forced to a constant value of zero torque Speed Reg 1 Drive operates as a speed regulator P685 Selected Trq Ref comes from P660 SReg Output plus P699 Inertia Comp Out Torque Ref 2 Drive operates as a torque regulator P685 Selected Trq Ref comes from P4 Commanded Trq Under some conditions such as jogging or performing a ramp to stop operation the drive will automatically bypass this selection and temporarily switch to Speed Regulation mode SLAT Min 3 Drive operates in Speed Limited Adjustable Torque Minimum select mode This is a special mode of operation used primarily in web handling applications The drive will typically operate as a torque regulator provided that the P4 Commanded Trq value is algebraically smaller in value than the speed regulator s output The drive may automatically enter Speed Regulation mode based on conditions within the speed regulator and the magnitude of the speed regulator s output relative to the torque reference SLAT 4 Drive operates in Speed Limited Adjustable Torque Maximum select mode This is a special mode of operation used primarily in web handling applications The drive will typically operate as a torque regulator provided that the P4 Commanded Trq value is algebraically larger in value than the speed regulator s output The drive may automatically enter Speed Regulation mode based on conditions within the speed
379. rque Q INTERNAL CONDITION ONLY Min Max Cntrl Forced Spd 0 Selected Speed Reg 1 on 0 From Spd Reg SOO 1013 SReg Output Reg 2 L 1 1 10D5 SLAT JU 9 71 Mi 4 i Mex 4 NE Max 1 1 Notch Fitr Freq 1 1 Notch Fltr Atten Sum 5 Commanded Trq 1 From Torq Ref gt lt 4 16H4 PsnP2P 7 l H ME Psn Direct 101 1005 1103 12 6 Actv SpTqPs SpdTrqPsn Mode A ED 865 1 Mode Select SpdTrqPsn Mode B 310 EE ojo Drive Status 1 gt 1 SpdTrqPsn Mode C GM gt 935 21 22 23 Lilo Select SpdTrqPsn Mode D 3125 gt i pdTrqPsn Mode iji Logic Torque Mode PositionMode DI SpTaPs Sel 1 182 Speed Mode DI SpTqPs Sel 0 181 5 184 SLAT Err Stpt SLAT Dwell Time 3155 Mtr Option Cnfg Cao o 1 Zero TrqStop Trq ModeStop Trq ModeJog Rockwell Automation Publication 750 RM002A EN P September 2012 Filtered Trq Ref To Torq Ctrl Current 18B2 Motor Control Chapter 4 Figure 24 PowerFlex 755 Firm
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381. s 330 Rockwell Automation Publication 750 RM002A EN P September 2012 PowerFlex 755 Standard and Safety Drive Module Optional Attributes The following table specifies what optional attribute and corresponding control mode functionality is supported by a PowerFlex 755 drive module Y The attribute enum bit is supported N The attribute enum bit is not supported The attribute is required RSLogix 5000 software Control Modes No Control Mode Frequency Control Mode Position Control Mode V Velocity Control Mode Torque Control Mode For more information on the Control Modes see Integrated Motion on the Ethernet IP Network Reference Manual publication MOTION RM003 The Integrated Motion on the Ethernet IP Network Reference Manual provides a programmer with details about the Integrated Motion on the Ethernet IP Network Control Modes Control Methods and AXIS CIP DRIVE Attributes Table 25 Conditional Implementation Key Key Description Special device specific semantics needed from Co Controller only attribute controller attribute that resides only in controller C D Yes The attribute is replicated in the drive CScale Motion Scaling Configuration set to Controller Scaling Derived Implementation rules follow another attribute Dr Drive replicated attribute controller attribute that is replicated in driv
382. s A calculated number for PL of less than 100 indicates that the Dynamic Brake Resistor has a higher steady state power dissipation capacity than is necessary PL 100 PL Peak load in percent of Dynamic Brake Resistor Py Peak braking power calculated in Step 2 Watts Steady state power dissipation capacity of resistors obtained from the table in Step 4 Watts Step 8 Plot PL and AL on Curve Draw a horizontal line equal to the value of AL Average Load in percent as calculated in Step 6 This value must be less than 100 Pick a point on the vertical axis equal to the value of PL Peak Load in percent as calculated in Step 7 This value should be greater the 100 Draw a vertical line at t3 ty seconds such that the line intersects the AL line at right angles Label the intersection Point 1 Draw a straight line from PL on the vertical axis to Point 1 on the AL line This line is the power curve described by the motor as it decelerates to minimum speed KA KB KC Transient Power Capacity 600 500 400 300 Power 200 100 0 Time Seconds Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 If the line you drew lies to the left of the constant temperature power curve of the Dynamic Brake Resistor then there will be no application problem Ifany portion of the line lies to the right of the constant temperature pow
383. s AOPs This gives us the ability to communicate and control the PowerFlex 755 drive over its embedded ethernet port via a datalink P7 Dig Out Setpoint Relay Out 0 Below is a picture of the PowerFlex 755 drive Datalink configuration within RSLogix 5000 aos Window 18 ej AA 22 8188 1 81 z 9l Controller 1G0_DrivenCe_Test General Connection Module Info Configuration Dive DB controller tags eka Wie P7_DigOutSetpoint Paent EN3TR EhemetAddeszs amp S 755 Modue 22 Unscheduled Programs Phases Motion Groups Ungrouped Axes 8 Add On Instructions iz AlarmHistory AOI 5 _ dg PF753 755 Faceplate Phase2 AOL Data Types User Defined Strings amp Cg Add On Defined Eh Predefined Modue Defined 22 Trends Yo Configuration e 1756 Backplane 1756 A10 fh 0 1756 453 0_ _ amp fj 1 17S6 enste tav 65 S2 HD Normal Duy z Td Parameter names selected for the Input and Output Data appear Connector Parameters vie Datairks tente ones ve Moc Don Das tye ot Format M project Actual data transles between corticiler and drive is delemined by Datal
384. s set to the Min Fwd Speed minimum If the reference is negative and greater than Min Rev Speed minimum it is set to the Min Rev Speed minimum If the minimum is not 0 hysteresis is applied at 0 to prevent bouncing between the Min Fwd Speed and Min Rev Speed minimums If the reference is greater than the forward or reverse maximum speeds P520 Max Fwd Speed and P521 Max Rev Speed respectively the speed reference is clamped to the their respective maximum limit Speed Ref Limits Min Speed Max Speed Limits Limits Th LLL H Limit Limit eee Min Fwd Speed C522 Min Rev Speed C623 Max Fwd Speed Max Rev Speed C521 Internal Load Dependent Max Limit l Lift Application Trq Prove Status Powerflex 755 toadTestAcw C109 5 See example below P520 Max Fwd Speed 60 Hz P521 Max Rev Speed 60 Hz e P522 Min Fwd Speed 20 Hz P523 Min Rev Speed 20 Hz P545 Spd Ref A Sel P546 Spd Ref A Setpoint The picture below depicts how the Min Max Fwd Rev Speed bands and its influence the drive The BLUE line depicts the desired speed reference set point Rockwell Automation Publication 750 RM002A EN P September 2012 r3 20 0 10 0 Motor Control Chapter 4 and the RED line depicts the drive s commanded speed reference actual Notice there are different results depicted by the grey dotted
385. s set to Torque Loop or Position Loop This table provides a cross reference between the PowerFlex 755 Integrated Motion on the EtherNet IP Network Motion Ramp Attributes and the corresponding drive parameters Ramp Attribute Drive Parameter RampAcceleration P535 Accel Time 1 RampDeceleration P537 Decel Time RampVelocity Positive P520 Max Fwd Speed RampVelocity Negative P521 Max Rev Speed RampJerk Control P540 S Curve Accel P541 S Curve Decel Ramp Attribute Sample Code The Ramp Attributes listed in the previous section are accessible via a RSLogix 5000 Set System Value SSV instruction as shown in this example UPDATE PARAMETERS The MDS instruction requires 5 ramp attributes accessible via SSV instruction 1 Ramp Acceleration 2 Ramp Deceleration 3 Ramp Velocity Positive 4 Ramp Velocity Negative 5 Ramp Jerk Control Set System Value Class Name Axis Instance Name PF755 Axis Attribute Name RampAcceleration Source RampAcc 25 0 3 SSV Set System Value z Class Name Axis Instance Name PF755 Axis Attribute Name RampDeceleration Source RampDec 25 0 6 SSV Set System Value Class Instance Name PF755 Axis Attribute Name RampVelocityPositive Source RampVelPos 25 0 SSV Set System Value m Class Name Axis Instance Name PF755 Axis Attribute Name RampVelocityNegative Source RampVelNeg 25 0 6 SSV
386. sed Wake Signal Wake Signal Wake Signal Direct mode New Start or Run Command SleepWake RefSel Signal gt Sleep Level Invert mode SleepWake RefSel Signal Sleep Level New Start or Run Command Run Run Closed New Run Command Run Closed New Run Command Run Forward Wake Signal Wake Signal Wake Signal Direct mode Run Reverse 6 Run Command must be cycled 1 When power is cycled if all conditions are present after power is restored restart will occur 2 Ifall conditions are present when Sleep Wake Mode is enabled the drive will start 3 The active speed reference The Sleep Wake function and the speed reference may be assigned to the same input 4 Cannot use P159 DI Cur Lmt Stop or P160 DI Coast Stop as the only Stop Input This will cause the drive to go into a Sleep Cfg Alarm Event No 161 5 Command must be issued from HIM TB or network 7 SleepWake Ref Sel signal does not need to be greater than the wake level 8 SleepWake Ref Sel signal does not need to be less than the wake level Rockwell Automation Publication 750 RM002A EN P September 2012 SleepWake RefSel Signal gt Sleep Level Invert mode SleepWake Signal lt Sleep Level 9 69 Chapter 1 70 Drive Configuration For Invert function refer to the Anlg Inz LssActn parameter Normal operation will require that P354 Wake Level be set greater than P352 Sleep Level However there are no limits that
387. sh current when the power line recovers The input impedance should be equal to or greater than the equivalent of a 596 transformer with a rating 5 times the drives input VA rating ATTENTION Drive damage can occur if proper input impedance is not provided 1 Access the Status Screen on the 20 HIM A6 or 20 HIM CS6 Human Interface Module Use the left right arrow keys to scroll to the port of the device whose parameters you want to set to factory defaults for example Port 00 for the Host Drive or the respective port number for the drives connected peripherals Press the Folder key next to the green Start key to display its last viewed folder Use the left right arrow keys to scroll to the Memory folder 5 Use the up down arrow keys to select Set Defaults Set Defaults Press the Enter 5 key to display the Set Defaults screen Host and Ports Preferred This Port Only For Host Drive For Connected Peripheral 7 Use the up down arrow keys select the appropriate action Host and Ports Preferred Selects the Host device and all ports for a factory default action 66 Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 This Port Only Selects only this port for a factory default action For a description of a selected menu item press the INFO soft key 8 Press the Enter 5 key to display the warning pop up box to reset defaults
388. sistive Only ROC Relay 0 Common Output Relay 0 common RONO Relay 0 0 Output Relay 0 normally open contact 240V AC 24V DC 2A max General Purpose Inductive Resistive RINC Relay 1 N C Output Relay 1 normally closed 240V AC 24V DC 2A max contact Resistive Only ROC Relay 1 Common Relay 1 common Output RONC Relay 0 N C Output Relay 0 normally closed 240V AC 24V DC 2A max contact Resistive Only Rockwell Automation Publication 750 RM002A EN P September 2012 FeedbackandI O Chapter 2 Catalog number 20 750 2263C 1R2T provides one transistor output and two relay outputs located on TB2 at the front of option module Terminal Name Description Rating RONC Relay 0 N C Output Relay 0 normally closed 240V AC 24V DC 2A max contact Resistive Only ROC Relay 0 Common Relay 0 common Output RONO Relay 0 0 Output Relay 0 normally open contact 240V AC 24V DC 2A max General Purpose Inductive Resistive TO Transistor Output 0 Transistor Output 24VDC 1A max TC Transistor Output Transistor Output Common 24VDC 0 4 Max for U L applications Common Resistive Transistor Output 1 Transistor Output 24VDC 1A max 24VDC 0 4 Max for U L applications Resistive Refer to the PowerFlex 750 Series AC Drives Installation Instructions publication 750 IN001 for PowerFlex 750 Series Option Module I O wiring examples Configuration Each digital output can be progra
389. sition Loop proportional Velocity Loop proportional and Velocity Loop integral Point to Point This selection is used for applications that use a move to position and do not need to include a following error Tuning gains for this selection include Position Loop proportional Position Loop integral and Velocity Loop proportional e Constant Speed This selection is used for constant speed applications It is designed to keep velocity error to a minimum It applies both Velocity Feedforward and uses Position Loop proportional Velocity Loop proportional and Velocity Loop integral 280 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Loop Response The Loop Response attribute is used to determine the responsiveness of the control loops Specifically the Loop Response attribute is used to determine the value for the Damping Factor Z used in calculating individual gain values High 0 8 Medium 1 0 Low 1 5 Load Coupling The Load Coupling attribute is used to determine how the loop gains are de rated based on the Load Ratio In high performance applications with relatively low Load Ratio values or rigid mechanics typically Rigid is selected The gains are not de rated For applications with relatively high Load Ratios and compliant mechanics Compliant is selected The autotune algorithm divides the nomi
390. sk for a particular port are set to 0 that port will be unable to request manual control P324 Logix Mask Logic Mask enables and disables the ports from issuing logic commands such as start and direction in any mode Stop commands from any port are not masked and will still stop the drive P325 Auto Mask Auto Mask enables and disables the ports from issuing logic commands such as start and direction while in Auto mode Stop commands from any port are not masked and will still stop the drive P326 Manual Comd Mask Manual Command Mask enables and disables the ports from exclusively controlling logic commands such as start and direction while in Manual mode Ifa port assumes Manual control and the corresponding bit for the port in the Manual Cmd Mask is set no other port will be able to issue logic commands Stop commands from any port are not masked and will still stop the drive P327 Manual Ref Mask Manual Reference Mask enables and disables the ports from controlling the speed reference while in Manual mode Ifa port assumes manual control and the Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 corresponding bit for the port in the Manual Ref Mask is set the drive will be commanded to the speed reference from that port An alternate speed reference can be commanded using P328 Alt Man Ref Sel If the respective bit for the manual control port is not set then the d
391. slower the motor gets the faster it s brought to zero speed and the torque current increases The higher the value in Regen Power Limit the more power is allow to pass through Focus on the torque current red trace as you scroll through the plots and note the change in the shape as the regen power limit was increase Then see how it is clamped at a particular level when Negative Torque Limit is changed RPL 20 DC Bus Voltage TrqRef P685 Motor Speed lt DBActive Rockwell Automation Publication 750 RM002A EN P September 2012 167 Chapter4 Motor Control 50 DC Bus Voltage lq TrqRefP685 Motor Speed lt Active gt 100 100 DC Bus Voltage lq TrqRefP685 Motor Speed E DB Active 100 0 3 02 07 12 17 22 27 3 2 37 168 Rockwell Automation Publication 750 RM002A EN P September 2012 Motor Control Chapter 4 RPL 200 Bus Voltage lq TrqRefP685 Motor Speed DB Active od 15 0 3 0 2 07 17 22 27 32 37 NTL 20 DC Bus Voltage lq TrqRefP685 Motor Speed 800 15 100 0 3 0 2 07 12 17 22 27 32 87 42 Rockwell Automation Publication 750 RM002A EN P September 2012 169 Chapter 4 170 Motor Control
392. speed and load If an alternate feedback device is used with automatic tachometer switchover the alternate values of these parameters will be used Desired Speed Regulator Bandwidth Speed Reg BW P636 The Speed Regulator Bandwidth sets the speed loop bandwidth and determines the dynamic behavior of the speed loop As bandwidth increases the speed loop becomes more responsive and can track a faster changing speed reference A change to this parameter will cause an automatic update of P645 Speed Reg Kp P647 Speed Reg Ki and P644 Spd Err Filt BW To disable the automatic gain and filter update set this parameter to a value of zero The configuration settings for Inertia Adaption PowerFlex 755 only will also be automatically selected when this feature is enabled The maximum allowable value of this parameter will be limited by the ratio of P646 Spd Reg Max Kp to P76 Total Inertia and the type of speed feedback source in use encoder versus open loop For operation following an automatic tach switchover the bandwidth specified in P648 Alt Speed Reg BW will be used Total Inertia of Motor and Load Total Inertia P76 The Total Inertia is the time in seconds for a motor coupled to its load to accelerate from zero to base speed at rated motor torque This value is calculated during an Inertia Tune after the motor has ramped up to speed and down and back down to zero speed Adjusting this parameter will cause the drive to
393. stablished for a calculated time period based on motor E nameplate data before acceleration P44 Flux Up Time is not used E 44 Flux Up Time Units Secs RW 2 Flux Up Time Default 0 0000 Applications This function is usually associated with applications that require extended acceleration times Out of the box the drive is set to Automatic and will attempt to get full motor stator flux based on motor nameplate information In some cases the loading and ramp curve during acceleration could have an adverse affect on the drive s thermal manager Some applications include mining conveyors or large centrifuges This function gives you the ability to manually be sure the motor stator is fully fluxed up before acceleration by manually assigning a flux up time It can produce a better acceleration at low frequencies without excessive current A notch filter exists in the torque reference loop to reduce mechanical resonance created by a gear train P687 Notch Fltr Freq sets the center frequency for the 2 pole notch filter and Notch Fltr Atten Sets the attenuation of the notch filter located in the Vector control torque reference section Attenuation is the ratio of the notch filter input signal to its output at the 687 Fltr Freq An attenuation of 30 means that the notch output is 1 30th of the input at the specified frequency The notch filter is valid only in Flux Vector Motor Control modes P35
394. t Rockwell Automation Publication 750 RM002A EN P September 2012 115 Chapter2 Feedback and 1 0 Within the Numeric Edit tab we can configure the digital output for the desired function See below Heks eae Parameter 10 ROO Sel Properties 9 Drive Cfg isi Protection 1 9 04 Speed Control delg 91 Torque Control value 10 Two Inverters 11 Two Converters 13 EtherNet IP Bla 14 DeviceLogix 0 000 116 Rockwell Automation Publication 750 RM002A EN P September 2012 FeedbackandI O Chapter 2 Once the parameter is configured within the Numeric Edit tab you can Click OK or you can go back to the Value tab to see what populates in the pull down GUI then Click OK B File Edit View Drive Peripheral Tools Window Help 5 amp amp ele Enabled gt 0000 Hz Connection DPI Back Next E S Node 10 91 24 150 E B 0 PowerFlex 755 1 58 Diagrams Parameter List 1 Monitor Motor Control Feedback amp Drive Cfg 1 Protection Speed Control Torque Control Communication E 8 9 8 A 8 El F Diagnostics Default Custom 2 20 HIM x6 4 Module 24V 18 Host Parameters Host Groups Default Custom fla 10 Two Inverters 11 Two Converters 13 E
395. t gt v Port 0 Digin Functions Group Parameters ly Node 192 168 1 20 ParmetrNam _ Ei B 0 PowerFlex 755 150 Digital In Cfg 4 155 DI Enable Di pee 156 DI Clear Fault Disabled Parameter List ze 157 DI Aux Fault Disabled EI 158 DI Stop Disabled EI El E E Monitor E Motor Control 159 DI Cur Lmt Stop Disabled p a 160 DI Coast Stop Disabled 161 DI Start Disabled 162 DI Fwd Reverse Disabled in Functions Control Board 10 Drive Cfg Protection 163 DI Run Disabled ES 64 DI Run Forward Port 7 Dig In Sts Input 1 LL bled E 65 DI Run Reverse C DriveExecutive AB ETHIP 1192 168 1 20 PowerFlex 755 lt PowerFlex 7557 Pl File Edi View Drive Peripheral Tools Window Help D Mi amp alo is 04A 8 7e e eno z loo Eds Connection DPI Port 7 Host Parameters ParameterName Se Back Next v 2 8 Node 192 168 1 20 B 0 PowerFlex 755 1 Dig In Sts 8 58 Diagrams 2 Dig In Fit Mask 0000000000111111 19 Parameter List 5 Epa eee cil ms Monitor Motor Control 0000000000000000 Digin Functions Control Board 10 Drive Cfg Protection 23 Speed Control Torque Control Position Control Communication Diagnostics rh Acedio ire ROO Level CmpSts ROO On Time RO1 Level 0 0 23 RO1 Level CmpSts 0000000000000000 24 RO1 On Ti
396. t Status Faults amp Alarms Tag Resistance Rs 0 0 Manual Tune General Motor Model Phase to Phase Parameters labais Volts RMS KRPM 0K Apply Help Table 16 Permanent Magnet Motor Model Instance to Parameter Cross Reference Integrated Motion on EtherNet IP Instance PM Motor Rotary Voltage Constant Drive Parameter P86 PM CEMF Voltage PM Motor Resistance P87 PM IR Voltage PM Motor Inductance P88 PM IXq Voltage P89 PM IXd Voltage Rockwell Automation Publication 750 RM002A EN P September 2012 243 Chapter 6 244 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Motor Feedback Axis Properties Configuration Motor Feedback Axis Properties Categories Generel Motor Feedback Device Specification E Motor 2 3x Model Device Function Motor Mounted Feedback c Analyzer Feedback Channel Feedback 1 Motor Feedback Type Load Feedback i Hinetioce Scaling Units Rev X Hookup Tests Hiperface Polarity M Autt ne Cycle Resolution m Feedback Cycles Rev Load Cycle Interpolation 1024 Feedback Counts per Cycle Backlash Effective Resolution 1048576 Counts per Rev Compliance Observer Startup Method Absolute Position Loop 1 Velocity Loop Torque Current Loop Planner
397. t Analog Input 2 N N N 734 Set Analog Output 1 N N N 735 Set Analog Output 2 N N N 750 Set Local Control N N N N 0 Enum 1 Conditionally Allowed N 2 Allowed 980 242 Get Guard Status Y Y Y Y 981 243 Get Guard Faults Y Y Y Y 338 Rockwell Automation Publication 750 RM002A EN P September 2012 Absolute Analog Output 94 ACinduction motors recommended 271 Accel Decel 104 Accel Decel Time 13 Analog 1 0 85 Analog Input Square Root 91 Analog Inputs 85 Analog Outputs 93 Analog Scaling 87 Auto Restart 13 Auto Manual 15 Autotune 24 Auxiliary Fault 101 Auxiliary Power Supply 30 auxiliary power supply option module installation and configuration 261 axis configuration control modes 221 bulletin HPK series motors recommended 273 Bus Memory 133 Bus Regulation 30 Bus Regulation Mode 105 C Clear Fault 101 coarse update rate 215 Coast Stop 101 Configuration Conflicts 107 configure hardware over travel limits 230 incremental encoder feedback with an MPx motor 286 MDS instruction 216 Control Mode axis attributes no control mode 331 position control mode 331 torque control mode 331 velocity control mode 331 control modes axis configuration 221 Integrated Motion on the EtherNet IP Network 215 Controller DriveLogix 8 Conventions Manual 9 Current Limit Stop 101 Index D data packets lost 215 DC Bus Voltage 133 Decel Time 13 DHCP persistence IP address assignment 229
398. t group of parameters AB_ETHP AWO 91 2236 PowerFiex 755 PowerFlex 7555 Sok Edt View Drive Peripheral Tool Window laix 5 047560 ve Stop Jog1 Start Dir Speed Reference Cw Show Labels OC OG ww Enabled 7 O000RPM see Connection DPI Back fl Node 10 91 52 236 Parameter N Units Internal amp 0 PowerFlex 755 Analog In Type 0000000000000000 000000000000 amp fig 1 20 HIM x6 Analog In Sqrt 0 0000000000000000 000000000000 5 Universal FE Anlg In Loss Sts 7 0000000000000000 000000000000 6 Encoder Anig Ind Value 0 10 000 20 000 Arig Ind Hi T 0 41200000 10 000 20 000 Vds rta 2 Arig InOLo 0000000000 10 000 20 000 A Host Parameters nig LssActn Ignore Set Input Hi Host Groups Ino Rawal 0 OxBBA3D70A 0 10 000 20 000 31 Digital Inputs Anig In0 Fit Gn Ox3F800000 5 00 5 00 18 Digital Outputs Anig In0 Fit Ew 0x 00000000 0 0 500 0 i Motor PTC Int Value Ox3CO3126F 0 10 000 20 000 8 Analog Inputs Anig Int Hi 041200000 10 000 20 000 3 Analog Outputs Anig Ini Lo 0 00000000 0 10 000 20 000 i Predictive Main Arig Int LssActn 0 Ignore Set Input Hi Default Custom Angin Rawal 0 0x3C03126F 20 000 fy 8 Aux PwrSply 247 Anig In1 Fit Gn 4 0 3 800000 4 5 00 13 EtherNet IP 66 AnlgIni Fit Bw T Ox00000000 0 50
399. t start unless there is a full input cycle between the stop and start signals P176 DI HOA Start adds a delay to the start signal allowing the required time interval between the start and stop signals This enables the use of a single 3 wire control circuit to start and stop the drive Hand Off Auto Start If Digital Input Start and Digital Input Hand Off Auto Start are both configured the drive will alarm DigIn Cfg B You cannot use both Digital Input Start and Digital Input Hand Off Auto Start at the same time Hand Off Auto Example A Motor Control Cabinet has an Hand Off Auto switch wired as shown in the figure below 0 w o o9 DIO Stop 00X er up O 1 X00 011 Start When the switch is turned to Off the switch is open between the source and Stop DI 0 and between Stop and Start DI 1 This causes the drive to be in an asserted stop When the switch is turned to Auto the control signal reaches the Stop input but not the Start This allows the drive to be stopped and started by another location When the switch is turned to Hand both the Stop and Start ports are energized In order for the drive to start the Stop signal must be received prior to the Start With the wiring above the signals are nearly simultaneous too fast to be sure that the drive is ready to start This causes the switch to either be unreliable or not work at all This can be remed
400. t value of the reference signal 1091 PID Fdbk Meter Present value of the PI feedback signal 1092 PID Error Meter Present value of the error 1093 PID Output Meter Present value of the output 15672 FrctnComp Out Displays the torque reference output of the Friction Compensation function 508 Anlg Ind Value Value of the Analog input after filter square root and loss action 6084 Anlg In1 Value Value of the Analog input after filter square root and loss action 90 979 DLX Real Out SP1 Eight 32 bit Real scratchpad registers for DLX program output use SP8 1 PowerFlex 753 drives only 2 PowerFlex 755 drives only 3 Option modules can be used in Ports 4 5 and 6 of PowerFlex 753 drives 4 Option modules can be used in Ports 4 5 6 7 and 8 of PowerFlex 755 drives 5 Port 14 DeviceLogix software parameters Rockwell Automation Publication 750 RM002A EN P September 2012 Feedbackandl O Chapter 2 Related PowerFlex 753 drives Level Select parameter information noted below Parameter No Parameter Name Description 230 ROO Sel Selects the source that will energize the relay output 231 ROO Level Sel Selects the source of the level that will be compared 232 ROO Level Sets the level compare value 233 ROO Level CmpSts Status of the level compare and a possible source for a relay or transistor output 240 T00 Sel Selects the source that will energize the relay or transistor
401. tage down to a point where the bus regulator can regulate the bus by adjusting the output frequency speed Figure 6 PowerFlex 750 Series Bus Regulation Both Adj First DC Bus Voltage DC Current Speed Fdbk 800 12 DC Bus 780 760 I e m et 8 a e 5 D 720 4 3 700 2 Brake Current 680 0 660 T ig T T T T T 2 0 2 0 0 2 04 0 6 0 8 1 12 Seconds Flux Vector FV Control With the Regen Power Limit left at default and a decel time of 0 1 seconds the drive is limiting the amount of power to a point where the resistor could be heating up due to duty cycle considerations So the drive stops the DB transistor from firing and switches to Adjust Frequency to regulate the bus and then allows another DB pulse and then back to adjust frequency and so on until the bus voltage remains below the trigger level Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Rockwell Automation Publication 750 RM002A EN P September 2012 Figure 7 PowerFlex 750 Series Bus Regulation Both DB First FV
402. tension control An example is a winder or unwinder with material being drawn or pulled with a specific tension required The process also requires that another element set the speed Configuring the drive for torque regulation requires P309 SpdTrqPsn Mode A to be set to 2 Torque Ref In addition a reference signal must be linked to the torque reference For example when Analog Input 0 is used for the torque reference P675 Trq Ref A Sel will need to be configured for 0 Value When operating in Torque mode the motor current will be adjusted to achieve the desired torque If the material being wound or unwound breaks the load will decrease dramatically and the motor can potentially go into a runaway condition Speed Limited Adjustable Torque SLAT Min and SLAT Max The SLAT minimum and SLAT Maximum modes are for applications that require a smooth transition from a Torque mode to a Speed mode operation for example web handling center winders and center unwinders where the drive is normally following a torque reference but a break or slippage could occur Direction of the applied torque and direction of the material movement determine whether SLAT minimum or SLAT Maximum mode should be used SLAT Min In SLAT Minimum mode you would typically configure a speed reference that forces the speed regulator into saturation the speed reference is slightly above the speed feedback In this case the drive would follow the torque re
403. the MDS instruction Axis Enable MDS JE Motion Drive Start EN Axis _ 755 E XDN Motion Control Start CIP PF755 ER Speed Speed Command IP 550 Speed Units Units per sec Source torque_Command 15 0 Dest CIP PF755 CommandTorque 00 To use the Motion Axis Stop MAS instruction you must set Change Decel to No Otherwise an instruction error will occur The deceleration rate is set based on the Ramp Deceleration attribute Rockwell Automation Publication 750 RM002A EN P September 2012 269 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives To view help for the MDS instructions right click MDS in the function block and choose Instruction Help or select the instruction and press F1 Additionally see Speed Limited Adjustable Torque SLAT Min Mode and SLAT Max Mode in the PowerFlex 700S AC Drives with Phase II Control Reference Manual publication PFLEX RMO03 Motion Drive Start d Cut Instruction Axis Copy Instruction Cu amp C Motion Control St ga ES Speed Sp Le Speed Units Delete Instruction Del Add Ladder Element Alt ns i Edit Main Operand Description Ctrl D Move Save Instruction Defaults Source Clear Instruction Default Dest CIP 2 Remove Force GoTo Instruction Help Changing the Accel Decel Times for th
404. therNet IP 9 80 14 DeviceLogix B Eg Pg For Help press F1 Port 4 Host Parameters ParameterName Dig In Sts Dig In Filt Mask 0000000000000000 0 0000000000000000 0000000000111111 63 4 0 0000000000111111 00 Dig In Filt ms M 2 0000000000000000 00 0 0000000000000000 00 Parameter 10 ROO Sel Properties ROD Level CmpSts 20 Sel Disabled Value Numeric Edit Documentation 21 ROlLevelsel Disabled 22 Level 00 23 1 Level CmpSts 0000000000000000 40 Cfg Ignore xl Port 41 PTC Sts 0000000000000100 42 PTC Raw Value 5 00 4 45 Anla In Type 0000000000000000 Parameter 50 Anlg Ind Value 0 005 fis Alarm Status 7 Bes 51 nig Ind Hi 10 000 52 Anlg Ind Lo 0 000 Bit 60 Anlg Ini Value 0 005 o Inverter 1 x 61 Anio Int Hi 10 000 62 Int Lo 0 000 Value 70 Anlg Out Port 10 Alarm Status Inverter 1 75 Anla Out Sel Port 0 Mtr Vel Fdbk 77 Anlg Out0 Data 0 000 29 imema Value 73 Ang DataHi 90 000 10001300 79 DataLo 0 000 C Hex Bin 80 Hi 10 000 81 Arig Outd Lo 0 000 82 Val 0 000 Range 85 Anlg Out1 Sel Port 0 Output Current EX Value Intemal Value 87 Anlg Outi Data 0 000 3 88 Anlg DataHi 1420 000 Minimum 000 0 89 Anlg Outi DataLo 0 000 Maximum 15999915 15999915 90 Anla Out1 Hi 10 000 Default
405. thod may be required Hazard of personal injury or equipment damage due to unexpected machine operation exists if the drive is configured to automatically issue a Start or Run command Do not use these functions without considering applicable local national and international codes standards regulations or industry guidelines 10 Rockwell Automation Publication 750 RM002A EN P September 2012 Preface Product Safety damage or a reduction in product life Wiring or application errors such as under sizing the motor incorrect or inadequate AC supply or excessive surrounding air temperatures may result in malfunction of the system ATTENTION An incorrectly applied or installed drive can result in component This drive contains ESD Electrostatic Discharge sensitive parts and assemblies Static control precautions are required when installing testing servicing or repairing this assembly Component damage may result if ESD control procedures are not followed If you are not familiar with static control procedures reference Guarding Against Electrostatic Damage publication 8000 4 5 2 or any other applicable ESD protection handbook Configuring an analog input for 0 20 mA operation and driving it from a voltage source could cause component damage Verify proper configuration prior to applying input signals A contactor or other device that routinely disconnects and reapplies the AC line to the drive to start and stop the motor can c
406. ting parameters 422 Current Limit 1 and 423 Current Limit 2 should also be reviewed Refer to the PowerFlex 750 Series AC Drives Technical Data publication 750 TD001 for continuous and overload current ratings for each catalog number Rockwell Automation Publication 750 RM002A EN P September 2012 43 Chapter1 Drive Configuration Feedback Devices Flying Start There are three different feedback option modules available for PowerFlex 750 Series AC Drives Single Incremental Encoder 20 750 ENC 1 e Dual Incremental Encoder 20 750 DENC 1 e Universal Feedback 20 750 UFB 1 The Dual Incremental Encoder and Universal Feedback modules each support up to two encoders while the Single Incremental Encoder supports one encoder Multiple feedback option modules can be installed in the drive however there isa limit of two feedback modules if using Integrated Motion on EtherNet IP For more information on the option modules including specifications and wiring information see the PowerFlex 750 Series AC Drives Installation Instructions publication 750 IN001 For more information on encoder feedback options including connections and compatibility see Appendix E of the PowerFlex 750 Series AC Drives Programming Manual publication 750 PM001 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
407. ting the Operating Mode jumper see the PowerFlex 20 750 ENETR Dual Port EtherNet IP Option Module User Manual publication 750COM UMO008 IP Address Assignment If the PowerFlex 755 drive is connected to a Stratix 6000 or Stratix 8000 managed Ethernet switch and the drive is set for BOOTP mode the dynamic IP address assignment by port Stratix 6000 or DHCP persistence Stratix 8000 feature will set the IP address for the drive For more details see the Stratix 6000 Ethernet Managed Switch User Manual publication 1783 UMO001 or the Stratix 8000 and Stratix 8300 Ethernet Managed Switches User Manual publication 1783 UM003 Option Module Placement Install the Dual Port EtherNet IP option module in Port 4 or 5 of the PowerFlex 755 drive control pod When operating in Tap mode drive Port 6 cannot be used Rockwell Automation Publication 750 RM002A EN P September 2012 229 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Hardware Over Travel Considerations Monitoring the normally high Positive Overtravel input issue motion axis stop and turn on indicator if input goes low When a PowerFlex 755 drive is configured for Integrated Motion on the EtherNet IP Network none ofthe I O option modules are supported Therefore inputs associated with over travel limits must be wired into controller input modules and then control must be programmed in the Logix Controller
408. tional information on axis attributes and the RSLogix 5000 software Control Modes and Methods see the Integrated Motion on the Ethernet IP Network Reference Manual publication MOTION RM003 For start up assistance of a Integrated Motion on the EtherNet IP Network Axis see the Integrated Motion on the Ethernet IP Network Configuration and Startup User Manual publication MOTION UMO003 This topic assumes that you have completed all the steps necessary to configure the drive module Axis Hookup Tests The axis Hookup tests are the first tests to run when autotuning an axis If you are using a permanent magnet motor in your application the Commutation test must be run first as part of the Hookup tests Axis Properties 4 755 Bl x Test Motor and Feedback Device Wiring Pol Autotune Load Backlash Compliance Observer Faults amp Alarms Tag Motor and Feedback This test is used to run the motor and verify the correct direction of rotation and will also test the motor feedback for the proper direction The Test Distance value can be defined to be sure that the system does not rotate too far e Click Start to initiate the test The test will complete and prompt you to verify that the motor rotation direction was correct Rockwell Automation Publication 750 RM002A EN P September 2012 277 Integrated Motion on the EtherNet IP Network Applications for
409. tor Integral Gain If you find your system makes the regulator unstable or oscillatory a lower value in this parameter will settle out the oscillations This parameter is valid only in NON Flux Vector modes P379 Bus Limit ACR Kp Bus Limit Active Current Regulator Proportional Gain Determines the responsiveness of the active current and therefore regenerated power and bus voltage Raising this value can cause the output frequency when in bus limit to become noisy or jittery Too low a value can cause the bus limit function to malfunction and result in a over voltage fault This parameter is valid only in NON Flux Vector modes P380 Bus Reg Ki Bus Regulator Integral Gain When regulating the DC bus the voltage tends to swing above and below the voltage setpoint in what may look like a ringing oscillation This parameter affects that behavior The lower the value the less oscillation should occur This parameter is valid only in Flux Vector modes P381 Bus Reg Kp Bus Regulator Proportional Gain This will determine how fast the bus regulator will activate The higher the value the faster the drive will react once the DC voltage setpoint is reached This parameter is valid only in Flux Vector modes Once again the likelihood of these parameters needing adjustment is highly unlikely In fact some descriptions related to the functionality of these parameters are intentionally left out of this text to eliminate undesired motor
410. ty Axis PF755 Axis 10 0006 10 0006 Motion Control 5 2 ER Source B RampVelNeg Source B 5 Speed Speed y 25 0 10 000601 Dest Speed Speed Units Units per sec 10 000601 4 GRT DecSpeed lt 0 gt Greater Than gt Source A PF755 Axis ActualVelocity 10 0006 Source B RampVelNeg 25 0 MDS 2 IP Rockwell Automation Publication 750 RM002A EN P September 2012 217 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Torque Mode When the axis configuration is in Torque Loop the Speed attribute within the MDS instruction is not used to command the speed of the drive The speed is determined by the amount of torque specified in the Command Torque and or TorqueTrim attributes Used to write a Torque value into the CommandTorque attribute WriteDirectTorque MOV Move Source DirectTorque 14 046 Dest PF755 Axis CommandTorque 140 4 Used to write a Torque value into the TorqueTrim attribute WriteTorqueTrim gt Move Source TorqueTrim 11 046 Dest PF755 Axis TorqueTrim 11 0 4 START The MDS instruction is used to activate the direct control of torque for a specified axis The instruction performs an axis enable sequence and then presets the DirectTorqueControlStatus Command attribute if the selected drive supports direct control Start MDS 3 JE Motion Drive St
411. ty reference back to its previous source once it receives a start command A Marker Digln 1 Find Home Speed Speed Control Speed Position 1 Pt Pt Control Find Home DI without Feedback Device Upon activation of homing the drive will start moving in Speed Control mode and ramp to the speed and direction set in P735 Find Home Speed at the rate set in P736 Find Home Ramp When the limit proximity switch is reached the Homing Input is set If P35 Motor Ctrl Mode 3 Induction FV P847 Psn Fdbk count is latched and is considered the home position count The drive will then ramp to zero at the rate set in P736 Find Home Ramp The drive will then perform a point to point position move back to the home position count in speed of 1 10 of P735 Find Home Speed When the motor is At Position and At Zero Speed the homing sequence will complete NOT Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding position and transferring position reference back to its previous source If velocity control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding zero velocity and transferring velocity reference back to its previous source Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding position drive w
412. ue that can be incremented and decremented by external devices The MOP value has a configurable preload and will be retained through a power cycle For the drive to use the MOP value as the current speed reference either P545 Speed Ref A Sel P550 Speed Ref B Sel or P563 DI ManRef Sel must be set to MOP Reference DI Accel 2 DI Decel 2 These digital input functions toggle between primary and secondary ramp rates For example with a digital input programmed to P179 DI Accel 2 an open digital input follows P535 Accel Time 1 A closed digital input follows P536 Accel Time 2 DI SpIqPs Sel 0 and 1 These digital input functions provide the ability to switch between different Speed Torque Position modes P309 SpdTrqPsn Mode A P310 SpdTrqPsn Mode P311 Spd IrqPsn Mode C and P312 SpdTrqPsn Mode D from digital input combinations See Speed Torque Position on page 182 for a complete description of these modes and the digital input combinations that activate each mode DIStop Mode B This digital input function selects between two different drive Stop modes If the input is open then P370 Stop Mode selects which Stop mode to use If the input is closed then P371 Stop Mode B selects which Stop mode to use If this input function is not configured then P370 Stop Mode A always selects which Stop mode to use See also Stop Modes on page 74 for more details 104 Rockwell Automation Publication 750 RM002A E
413. ule to latch the current position count When the limit proximity switch is reached the Homing Input is set The last maker pulse position count that was latched prior to the Homing Input being set is considered the home position count The drive will then ramp to zero at the rate set in P736 Find Home Ramp The drive will then perform a point to point position move back to the home position count in speed of 1 10 of P735 Find Home Speed When the motor is At Position and At Zero Speed the homing sequence will complete NOT Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding position and transferring position reference back to its previous source If velocity control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding zero velocity and transferring velocity reference back to its previous source Hold At Home P731 Bit 7 If a position control type mode is selected in P313 Actv SpIqPs Mode the drive will continue running holding position drive will then transfer position reference back to its previous source once it receives a start command If velocity control type mode is selected in P313 Actv SpIqPs Mode the drive will continue Rockwell Automation Publication 750 RM002A EN P September 2012 209 Chapter 5 210 Drive Features running holding zero velocity drive will then transfer veloci
414. um Rockwell Automation Publication 750 RM002A EN P September 2012 147 Chapter 4 Motor Control 148 imposed by the choice of the peak regenerative drive power is made and applied the drive can trip off due to transient DC bus overvoltage problems Once the choice of the approximate Ohmic value of the Dynamic Brake Resistor is made the wattage rating of the Dynamic Brake Resistor can be made The wattage rating of the Dynamic Brake Resistor is estimated by applying the knowledge of the drive motoring and regenerating modes of operation The average power dissipation of the Regenerative mode must be estimated and the wattage of the Dynamic Brake Resistor chosen to be slightly greater than the average power dissipation of the drive If the Dynamic Brake Resistor has a large thermodynamic heat capacity then the resistor element will be able to absorb a large amount of energy without the temperature of the resistor element exceeding the operational temperature rating Thermal time constants in the order of 50 seconds and higher satisfy the criteria of large heat capacities for these applications If a resistor has a small heat capacity the temperature of the resistor element could exceed the maximum temperature limits during the application of pulse power to the element and could exceed the safe temperature limits of the resistor The peak regenerative power can be calculated in English units Horsepower in The International System of
415. urrent Loop Module Type PowerFlex 755 EENET CM Planner Power Structure 480v 214 Normal Duty Homing Actions Axis Number i Drive Parameters Parameter List Status Faults amp Alarms Tag OK Cancel Help 3 Select the Velocity Loop category The Velocity Loop dialog box appears 4 Click Parameters Categories General E Motor Model e Parameters Analyzer Bandwidth f 2197876 Hertz Motor Feedback Integrator Bandwidth 0 51 34071 Hertz Scaling Hookup Tests Integrator Hold Disabled Polarity Acceleration Feedforward 00 EX Autotune Load Compliance Limits bserver Velocity Limit Positive 57 866665 Position Units s Velocity Loop Cip Me re E Torque Current Loop Velocity Limit Negative 57 866665 Position Units s Planner Lock Tolerance o 2893333 Position Units s Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Tune Cancel Apply The Motion Axis Parameters dialog box appears 268 Rockwell Automation Publication 750 RM002A EN P September 2012 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 5 Configure the SLAT parameters See Slat Configuration in the Integrated Motion on the Ethernet IP Network Reference Manual publication MOTION RM003 for a complete list and descriptions of the SLAT parameters Manual Tune OK
416. us or current regulation When the output reaches zero the output is shut off The motor if rotating will coast from its present speed for a time that is dependent on the mechanics of the system inertia friction and so forth Rockwell Automation Publication 750 RM002A EN P September 2012 77 Chapter1 Drive Configuration Ramp to Hold Bus Voltage Bus Voltage Output Voltage Output Voltage Output Current Output Current Motor Speed Output Current Command Speed 3 Motor Speed Command Speed Output Voltage DC Hold Level Y 228 lt DC Hold for indeterminate amount of time Time Stop Command m Zero Command Speed Start Command This method combines two of the methods above It uses drive output reduction to stop the Load and DC injection to hold the load at zero speed once it has stopped On Stop drive output will decrease according to the programmed pattern from its present value to zero The pattern may be linear or squared The output will decrease to zero at the rate determined by the programmed Maximum Freq and the programmed active Decel Time x The reduction in output can be limited by other drive factors such as bus or current regulation e When the output reaches zero 3 phase drive output goes to zero off and the drive outputs DC voltage on the last used phase to provide the current level programm
417. ut start but only when the sleep timer is not satisfied Once the sleep timer times out the sleep function acts as a continuous stop There are two exceptions to this which will ignore the Sleep Wake function 1 When a device is commanding local control that is HIM in Manual mode or a digital input programmed to P172 DI Manual Ctrl 2 When a jog command is being issued When a device is commanding local control the port that is commanding it has exclusive start control in addition to ref select essentially overriding the Sleep Wake function and allowing the drive to run in the presence of a sleep situation This holds true even for the case if digital input is programmed to P172 DI Manual Ctrl a digital input start or run will be able to override a sleep situation Rockwell Automation Publication 750 RM002A EN P September 2012 Drive Configuration Chapter 1 Sleep Wake Sources The P351 SleepWake RefSel signal source for the sleep wake function can be any analog input whether it is being used for another function or not a DeviceLogix software source P90 DLX Real OutSP1 thru P97 DLX Real OutSP8 or a valid numeric edit configuration Configuring the sleep wake source is done through P351 SleepWake RefSel Also AnlgInz Hi and Anlg Inz Lo parameters have no effect on the function however the factory calibrated result Anlg Inz Value parameter is used In addition the absolute value of the calibrated
418. w the data logging wizard is configured to log six drive parameters consisting of Output Frequency Motor Velocity Feedback Torque Current Feedback Output Current Output Voltage and DC Bus Voltage parameter values oggingWizard 2 of 3 x File Select Items in Tree to choose list Sample Interval 000 00 01 hhh mm ss Size of Capture Time 1000 01 00 hhh mm ss Motor Control Feedback amp 1 0 C Samples co Max 65000 Parameters To Log Bit Position E NES aniol Raard in zi Output Frequency Pr 1 Parameter List in 0 PowerFlex 755 480V 654 Mtr Vel Fdbk Pr 3 Torque Cur Fdbk Pr 5 Commanded Trq 5 Torque Cur Fdbk Output Current Pr 7 6 Flux Cur Fdbk 7 Dutput Current Output Voltage Pr 8 8 Output Voltage 0 DC Bus Volts Pr 11 9 Output Power 10 Output Powr Fetr 11 DC Bus Volts TOY FEST DSO ma lt Next gt Finis 2 7 Click Next This will prompt save as dialog box that will save the data log information as acomma delimited csv file for use with Microsoft Excel or any other spreadsheet program Save in a Desktop 7 My Recent Documents Desktop My Documents E My Computer My Network Places Rockwell Work Mequon My Documents My Computer LU File name Places Save as type Comma S
419. ware Flowchart InertiaTrgAdd 708 24B4 Inertia lt Adaption Total Inertia Inertia i Motor Acceleration Adaption Disabled Feedback 0 0 Filtered SpdFdbk lt 640 3 FrctnComp Mode FrctnComp Out 1567 Disabled 0 0 gt Friction Spd Ref Int Ramp Ref 4 n 1561 FrctnComp Trig EX Hampe He 2 Hyst 1564 FrctnComp Stick 1565 FrctnComp Slip 1566 FrctnComp Rated Zero Torque Logic Ctrl State Forced Spd i INTERNAL CONDITION ONLY Min Max Cntr Forced Spd Inertia Adapt BW InertiaAdaptGain 706 R 1 1 1 Ref I 0 Selected Filtered Trq Trq Ref Speed Reg 1 oi oj rane To Torq Ctrl From Spd Reg Current 1013 SReg Output Torq Reg 2 23a B2 92 gine iL TT 1005 Notch 23b B2 sur 24D2 Inertia Comp Out cd Min Min 4 A T 25D2 orque From Spd Ref 1 Step 7 4 siat at Notch Fltr Freq 687 or 4
420. weled asion lt suondo lt suondo 19 SUONEO 1591 y weed uL 5 weed 5 K weed uonipuoo 46641 ling sieyng e ul jq 159 juejsuo e oj JejeueJeg eJeduio oM dnjes pueJ uoneinByuog pue peojuwoq dois PW zu sn 9gz 10 sui WNW jeasaquy uonipuo x M Burysiul4 105 sieyng 0 10 960p 0 0 19661 s jdwes JeDBuj e1d 1eujes dois d d euo Sn 992 Jo sejdwes 20 JO 5 id deApesu Spo pus i SW ZO JO sejduies 960p Jo sjeyng 8 peonumed Snjejs JON 9 12018 O peeds erie pJeziM pueJ H E 9 e Rockwell Automation Publication 750 RM002A EN P September 2012 328 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Notes Rockwell Automation Publication 750 RM002A EN P September 2012 329 Chapter6 Integrated Motion on the EtherNet IP Network Applications for PowerFlex 755 AC Drive
421. ximum DC Current Rated Motor Flux Motor Flux S S Rated Flux m B Current E E TT 24 22 i got pd 4 27 1 4 4 14 ___________ Flux Up Time Once rated flux is reached in the motor normal operation begins and the desired acceleration profile is achieved Rated Flux Reached IR Voltage SVC Greater of IR Voltage or Voltage Boost V Hz Flux Up P all Stator Voltage Voltage i Rotor Speed Motor Flux Fee ea Stator Freq e 2 ge 2 i lt lt HuxUp 4 Normal Operation gt Time Once rated flux is reached in the motor normal operation begins and the desired acceleration profile is achieved Rockwell Automation Publication 750 RM002A EN P September 2012 163 Chapter4 Motor Control Display Name Full Name Description File Group Flux Up Enable flux before accelerating Notch Filter 164 The amount of time the drive will use to try to achieve full motor stator flux When a Min Max 0 0000 5 0000 Start command is issued DC current at P26 Motor NP Amps level is used to build stator Parameters Read Write Default 1 Automatic 32 bit Flux Up Enable Options 0 Manual Integer Manual 0 Flux is established for P44 Flux Up Time before initial acceleration 1 Automatic S Automatic 1 Flux is e

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