Reference Manual PowerFlex 700S Adjustable Frequency AC Drive, Phase I Control Catalog Numbers 20D
Important User Information Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.
Summary of Changes This manual contains new and updated information. New and Updated Information This table contains the changes made to this revision. Topic See Removed the Specification and Dimension information (Chapter 1) 20D-UM001 Removed fuse and circuit breaker information and tables 20D-UM001 Changes to this manual for previous revisions are included in Appendix A History of Changes on page 183.
Summary of Changes Notes: 4 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013
Table of Contents Preface Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Chapter 1 Detail Drive Configuration and Operation Accel Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Configuration: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Explicit Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Copy Cat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Current Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Datalinks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Configuring Datalinks . .
Table of Contents HIM Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . HIM Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The User Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Inertia Adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Configuration: . . . . . . . . . . . . . . . . .
Table of Contents Tuning Tips. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Jogging a Position Follower Independent from the Master . . . . . . . 87 Position Loop - In Position Detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Position Loop - Point to Point. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Technical Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Explicit Block Transfer Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . RFI Filter Grounding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . S-Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed Control, Speed Mode, Speed Regulation . . . . . . . . . . . . . . . . . . . . Speed PI Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Zero Torque Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 Absolute Min Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 Start Inhibits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 Start/Stop Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 Description . . . . . . . . . . . . . . . . . .
Preface The purpose of this manual is to provide detailed drive programming and operation information. Additional Resources These documents contain additional information concerning related products from Rockwell Automation. Resource Description PowerFlex 700S High Performance AC Drive, Phase I Control User Manual, publication 20D-UM001 Provides the basic information needed to install, startup and troubleshoot the PowerFlex 700S Phase I Control AC drive.
Preface Notes: 12 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013
Chapter 1 Detail Drive Configuration and Operation This chapter explains PowerFlex 700S drive functions in detail. Explanations are organized in alphabetically by topic. Refer to the Table of Contents for a listing of topics in this chapter. ATTENTION: Only qualified personnel familiar with the PowerFlex 700S Drive and associated machinery should plan or implement the installation, start-up and subsequent maintenance of the system. Failure to comply may result in personal injury and/or equipment damage.
Chapter 1 Detail Drive Configuration and Operation Application Example: Parameter 376 [Inv Ol Pend Cnfg] is set to a value of 1 “Alarm”. This configures the drive to set the alarm bit, parameter 326 [Alarm Status 1] bit 15 “Inv OL Pend” when the inverter overload pending event occurs. This alarm will allow the drive to continue running. The user can make the decision as to what action to take in relation to the alarm.
Detail Drive Configuration and Operation Chapter 1 Configuration Example: This example illustrates how to setup a speed reference to follow a 0…10V analog input signal and null out a small amount of offset from the A/D converter on the analog input. • 803 [Anlg ln1 Offset] = -0.0144V • 802 [Anlg ln1 Scale] = 0.1 per 1V • 804 [Anlg ln1 Filt Gain] = 1 • 805 [Anlg ln1Filt BW] = 0 • 10 [Spd Ref 1] is linked to 800 [Anlg ln1 Data] With a desired [Anlg In1 Volts] of 0V, the drive was reading 0.0144V.
Chapter 1 Detail Drive Configuration and Operation Analog Output Configuration The analog outputs can be linked to either an integer parameter or a real parameter. Use [Anlg Outx Real] when you are linking to a real parameter and use [Anlg Outx Integer] when you are linking to an integer parameter.
Detail Drive Configuration and Operation Chapter 1 [Mtr TrqCurr Ref ] is a real parameter expressed in per unit. Therefore a value of 1 corresponds to 100% motor torque. [Anlg Out1 Real] is used because [Mtr TrqCurr Ref ] is a real parameter. [Anlg Out1 Scale] is set to 0.1 per 1V so that when [Mtr TrqCurr Ref ] = 1p.u., the analog output = 1 / 0.1 = 10V. Example Configuration 2: This configuration sends [Position Error] out to a 0-10V analog output signal.
Chapter 1 Detail Drive Configuration and Operation Motor Control The Motor Control submenu asks you to select the motor control operating mode which sets the parameter 485 [Motor Ctrl Mode]. Choices are “FOC,” “FOC2,” “Pmag Motor” and “Test.” • “FOC” selects field oriented control. This should be the selection for AC squirrel cage induction motors • “FOC2” selects field oriented control and is only used for a specific type of AC induction motor with motor thermal feedback.
Detail Drive Configuration and Operation Chapter 1 Direction Test The direction test checks the actual direction relative to the commanded direction, and checks for proper encoder feedback. The test prompts you to answer if the motor direction is correct. When it is not, you can either power down and swap two of the motor leads, or change the drive’s logic to change the motor direction. Then the test is performed again. The test then checks if the feedback is positive.
Chapter 1 Detail Drive Configuration and Operation Inertia Test The final test is the inertia calculation. The motor and load (machine) inertia is used to set the bandwidth of the speed regulator. During the test the motor will accelerate to the speed set in parameter 19 [Atune Spd Ref ] at a specified torque set by parameter 129 [Atune Torq Ref ].
Detail Drive Configuration and Operation Chapter 1 Technical Information The bus regulator limits the maximum bus voltage for systems that do not have (or have limited) braking or regenerative capabilities. The bus regulator limits the bus voltage by comparing the DC bus voltage feedback to a DC bus voltage reference. It then limits the regenerative power allowed back onto the DC bus to keep the DC bus voltage at or below the reference value and prevent a “DC Bus Overvolt” fault.
Chapter 1 Detail Drive Configuration and Operation Set the appropriate 414 [Bus/Brake Config] for your configuration.
Detail Drive Configuration and Operation Chapter 1 Watts) with typical values in the range of 30 to 100 times higher than the resistor’s continuous power rating. Parameter 416 [Brake Pulse Watts] = (Resistors peak energy in Joules)/1 second; where the resistor package’s peak energy rating is obtained from the resistor manufacturer.
Chapter 1 Detail Drive Configuration and Operation Parameter 418 [Brake TP Sel] selects a value to monitor for diagnostics of the dynamic brake protection. Possible selections for parameter 418 [Brake TP Sel] are: Parameter 418 [Brake TP Sel] Description Setting 0 - “Zero” Do not monitor any test point for the brake protection. 1 - “Duty Cycle” Actual duty cycle of the dynamic brake IGBT where a value of 0 in parameter 419 [Brake TP Data] = full open and 1 = full on.
Detail Drive Configuration and Operation Carrier (PWM) Frequency Chapter 1 See the PowerFlex 700S Drives with Phase II Control, Technical Data, publication 20D-TD002, for derating guidelines as they travel to carrier frequency. Parameter 402 [PWM Frequency] sets the switching frequency. In general, the lowest possible switching frequency that is acceptable for any particular application is the one that should be used. There are several benefits to increasing the switching frequency.
Chapter 1 Detail Drive Configuration and Operation CE Conformity Compliance with the Low Voltage (LV) Directive and Electromagnetic Compatibility (EMC) Directive has been demonstrated using harmonized European Norm (EN) standards published in the Official Journal of the European Communities. PowerFlex drives comply with the EN standards listed below when installed according to the PowerFlex 700S AC Drives Phase I Control User and Reference Manuals.
Detail Drive Configuration and Operation Chapter 1 To use the 20-COMM-C on the PowerFlex 700S with ControlLogix use following setup when adding to the ControlNet device list. Use the values from Table 2 for the input and output sizes. The Configuration Assembly Instance = 6 and Configuration Size = 0.
Chapter 1 Detail Drive Configuration and Operation Example: Tag names: Outputs to the Drive - PowerFlex700S_02:O[0] … [9] Inputs from the Drive - PowerFlex700S_02:I[0] … [10] word [0] reserved Figure 3 is an example using Bits in the ControlLogix processor to write to the output bits associated to parameter 158 [Drive Logic Rslt] PowerFlex700S_02:O[0].0….9 map to parameter 158 [Drive Logic Rslt] Figure 3 - Using Bits in ControlLogix PF700S_Start PowerFlex700S_02:0.Data[0].
Detail Drive Configuration and Operation Chapter 1 Figure 4 - ControlLogix I/O ControlNet DPI ControlLogix Adapter PowerFlex 700S Output Image O.Data[0] DINT 0 Logic Cmd (16- P158 Drive Logic O.Data[1] DINT 1 Reference (16 P20 SpeedRef DPI O.Data[2] DINT 2 Datalink A1 O.Data[3] DINT 3 Datalink A2 O.Data[4] DINT 4 Datalink B1 O.Data[5] DINT 5 Datalink B2 O.Data[6] DINT 6 Datalink C1 O.Data[7] DINT 7 Datalink C2 O.Data[8] DINT 8 Datalink D1 O.
Chapter 1 Detail Drive Configuration and Operation Parameter 723 [Dlink OutDataType] needs to be set for the type of data used. The most common will be Real Data (in other words, Current, Voltage, Torque are all Real values in the drive). The PowerFlex 700S drive default for this parameter is all Datalinks set for Integer values. If the check mark is not set then the datalink is not set for an Integer value (From DriveExecutive).
Detail Drive Configuration and Operation Chapter 1 ControlLogix Programming To setup the PowerFlex 700S drive to follow a speed reference from the 20COMM-C, parameter 691 [DPI Ref Select] must be set to “Port 5.” Parameter 16 [Speed Ref Sel] must be set to “Speed Ref DPI.” Reference and Feedback values are floating-point values in the PowerFlex 700S. Use the following logic to transmit and receive reference and feedback data as unsigned integer data.
Chapter 1 Detail Drive Configuration and Operation Datalink Programming In the ControlLogix system, Datalinks are transmitted over ControlNet as 32 bit integers (DINT). In order to send or receive floating point a COP (copy) instruction must be utilized. The copy instruction in ControlLogix performs a bitwise copy. Set the length of the copy instruction to a value appropriate for the destination data type.
Detail Drive Configuration and Operation Chapter 1 For other types of messages refer to the 20-COMM-C user manual. Copy Cat This feature allows you to upload a complete set of parameters to the LCD HIM. This information can then be used as backup or can be transferred to another drive by downloading the memory. Generally, the transfer process manages all conflicts.
Chapter 1 Detail Drive Configuration and Operation Current to 800% of the motor nameplate entered in 2 [Motor NP FLA]. The Open Loop IT function can also limit the output current if the calculation determines it is in the overload area of operation. The Open Loop IT function and the Motor Current Limit parameters are routed to a minimum selection, the algebraic minimum of the inputs is used as the current limit. Also, the Closed Loop IT function can limit the current output by the drive.
Detail Drive Configuration and Operation Chapter 1 Example Configuration 2: Writing a Real Parameter using a Datalink: • 111 [Torque Ref 1] is linked to 708 [Data In A1 Real] The value that is sent to [Data In A1 Real] from the controller will show up in [Torque Ref 1]. [Data In A1 Real] is used because [Torque Ref 1] is a real integer parameter. “Data Out” Parameters [Data Out x Int] and [Data Out x Real] parameters are outputs from the drive to the controller and are used to read parameters.
Chapter 1 Detail Drive Configuration and Operation Decel Time Parameter 33 [Decel Time] sets the rate at which the drive ramps down its output during a ramp Stop command or during a decrease in commanded speed.
Detail Drive Configuration and Operation Chapter 1 COMM-D would have a total of 40 bytes of I/O mapped in the DeviceNet scanner. The I/O Image table for a ControlLogix system is shown. DeviceNet DPI ControlLogix Output Image O.Data[0] DINT 1 O.Data[1] DINT O.Data[2] DINT O.Data[3] DINT O.Data[4] DINT O.Data[5] DINT O.Data[6] DINT O.Data[7] DINT O.Data[8] DINT O.
Chapter 1 Detail Drive Configuration and Operation To setup the PowerFlex 700S to follow a speed reference from the 20-COMM-D, Parameter 691 [DPI Ref Select] must be set to “Port 5.” Parameter 16 [Speed Ref Sel] must be set to “Speed Ref DPI.” Reference and Feedback values are floating-point values in the PowerFlex 700S. Use the following logic to transmit and receive reference and feedback data as integer data.
Detail Drive Configuration and Operation Chapter 1 SLC/PLC-5 System Reference/Feedback Programming The reference is scaled so that base motor speed = 32768. The SLC/PLC-5 does not use DINT, and only handles 16 bit integers, so the reference has to be handled differently to account for references above 32767 or below -32768. The example on the following page shows how to transmit references less than twice base motor speed.
Chapter 1 Detail Drive Configuration and Operation The feedback is also scaled so that base motor speed = 32768. The SLC/PLC-5 does not use DINT, and only handles 16 bit integers, so the feedback has to be handled differently to account for references above 32767 or below -32768. The following example shows how to read feedback values less than twice base motor speed. Datalink Programming Datalinks are transmitted and received through block transfer I/O.
Detail Drive Configuration and Operation Chapter 1 Figure 6 - Reading Floating-Point Datalink in a SLC/PLC-5 Figure 7 - Writing Floating-Point Block Datalinks in a SLC/PLC-5 Explicit Messaging Explicit messaging is used to configure the drive and monitor data from the drive. Chapter 6 of the 20-COMM-D User Manual shows the format of the explicit message request and response data in an SLC and PLC-5.
Chapter 1 Detail Drive Configuration and Operation Figure 8 - Reading Floating-Point Explicit Message Data in an SLC/PLC-5 Figure 9 - Writing Floating-Point Explicit Message Data in an SLC/PLC-5 Digital Inputs Technical Information There are four digital inputs on the I/O board. One of the inputs is dedicated for the Enable and cannot be configured. The other three inputs can be configured. Digital Input 1 is 24VDC and Digital Inputs 2 and 3 can accept a 12…24VDC signal.
Detail Drive Configuration and Operation Chapter 1 Figure 10 - Digital Input Configuration 24 VDC TB1-T10 24 VDC Common TB1-T11 {Logic Common} DigIn 1 Sel 838 TB1-T9 824 01 TB1-T8 829 TB1-T7 824 01 Local I/O Status (DigIn 1) Debounce DigIn1 User Data Selector DigIn 1 Debounce Bit 828 Combine DigIn1 Data 825 Debounce 824 00 Local I/O Status (Enable In) DigIn1 Bit 826 827 En In Debounce {Return "Common"} DigIn 2 Sel Selections per Par 839 840 TB1-T5 SyncLink 824 02 TB1-T6 Port0
Chapter 1 Detail Drive Configuration and Operation [DigIn 2 Sel] can be set to the following values: Value Description Value Description 0 “Not Used” 14 “Normal Stop” 1 “Enable” 15 “Spd Ref Sel1” 2 “Clear Faults” 16 “Spd Ref Sel2” 3 “Ext Fault” 17 “Spd Ref Sel3” 4 “Norm Stop-CF” 18 “CurLim Stop” 5 “Start” 19 “Coast Stop” 6 “Reverse” 21 “BscIndx Step” 7 “Run” 22 “BscIndxStpRv” 8 “Fwd/Reverse” 26 “PI Trim En” 9 “CurLim Stop” 29 “Trend Trig” 10 “Jog 1” 30 “PreCh
Detail Drive Configuration and Operation Chapter 1 • [DigIn x User Data] will have the same bits that are set in [DigIn x Data]. Then the bit that was chosen in [Digin x Bit] will toggle based on whether the digital input is on or off. A designation (sink) parameter is then linked to [DigIn x User Data] so that it determines the value of that sink parameter Configuration Example DigIn 1 will be setup to determine the value of [Speed Ref Sel].
Chapter 1 Detail Drive Configuration and Operation Digital Outputs Technical Information There are three digital outputs on the I/O board. Digital Outputs 1 and 2 are 24VDC open collector (sinking logic). They are rated 25 mA maximum. Figure 11 - is an example of how Digital Outputs 1 and 2 would be used with a light. Note: The transistor in the diagram is the internal circuitry of the Digital Output.
Detail Drive Configuration and Operation Chapter 1 The [Relay x Data] parameter and [Dig Out x Data] parameters are linked to a parameter used to turn on the digital output. The [Relay x Bit] parameter and [Dig Out x Bit] parameters select which bit of the data you wish to use to turn on the digital output. Configuration Example This example configures Digital Output 1 for “Enabled.” “Enabled” indicates the inverter section of the drive is active (IGBTs switching).
Chapter 1 Detail Drive Configuration and Operation button on the HIM is one possible source for the [Applied Logic Command] direction bits. The following chart explains the effect that the direction button on the HIM has based on the condition of the “Bipolar SRef ” bit: Bipolar Reference Controlled By HIM? HIM Direction Button Enabled Yes Changes the motor direction due to a HIM supplied (+) or (-) command signal. Enabled No Has no effect on motor direction.
Detail Drive Configuration and Operation Chapter 1 The 3 second current rating assumes a duty cycle of 3 seconds on, followed by 57 seconds at 100%. This results in an average current of 102.5%. 150% * 3 s + 100%*57 s average current = ------------------------------------------- = 102.5% 60 s Typically the drive will have a 60 second rating of 110% of continuous current and a 3 second rating at 150% of the continuous current.
Chapter 1 Detail Drive Configuration and Operation Drive Overtemperature (Frame 9 Only) The drive overtemperature is 90 °C. The fault is detected if the heat-sink temperature, parameter 313 [Heatsink Temp] or parameter 345 [Drive OL JnctTmp] exceeds 90 °C. The open loop current limit is originally designed for 25% of the duty cycle at 110% output current. On the other side, the High Horsepower drive allows 10% of duty cycle at 110% output current.
Detail Drive Configuration and Operation Chapter 1 Producer/Consumer Operation Overview P/C messages operate at a higher priority than C/S messages and are used to control/report the operation of the drive (for example start, stop, etc.). A P/C status message is transmitted every 5 ms (by the drive) and a command message is received from every change of state in any attached DPI peripheral. Change of state is a button being pressed or error detected by a DPI peripheral.
Chapter 1 Detail Drive Configuration and Operation The following timing specifications apply to DPI devices: • Host status messages only go out to peripherals once they log in and at least every 125 ms (to all attached peripherals). Peripherals will time-out if more than 250 ms passes without a response. Actual time is dependent on the number of peripherals attached. The minimum time goal is 5 ms (may have to be dependent on the Port Baud Rate).
Detail Drive Configuration and Operation Droop Chapter 1 Droop is used to “shed” load and is usually used when a soft coupling of two motors is present in an application. The master drive speed regulates and the follower uses droop so it does not “fight” the master. The input to the droop block comes from the torque output of the speed regulator before limiting. The output of the droop block reduces the speed reference.
Chapter 1 Faults Detail Drive Configuration and Operation Faults occur due to conditions within and/or outside the drive that could affect drive operation or application operation. These events or conditions are considered to be of significant magnitude that drive operation should or must be discontinued. Faults are brought to the user’s attention via the HIM, communication and/or contact outputs. Faults are selected during commissioning of the drive.
Detail Drive Configuration and Operation Chapter 1 Low Pass Filter A low pass filter is designed to pass low frequencies and attenuate high frequencies. The break point between high and low is called the cut off frequency. Figure 13 - Bode Plot Low Pass Filter (wco = 10 rad/sec) The Process Control Loop has a low pass filter immediately after the error signal. The break frequency is set by parameter 184 [PI Lpass Filt BW]. The filter is used to eliminate unwanted noise in the feedback.
Chapter 1 Detail Drive Configuration and Operation There is a second order low pass filter in the Speed Control-Regulator. This filter is located after the speed error signal. The break frequency is set by parameter 89 [Spd Err Filt BW]. The break frequency is set to five times (5x) the Speed Loop Bandwidth. This filter is used to attenuate any high frequency noise that the speed loop would not be able to control. Lead-Lag Filter The PowerFlex 700S incorporates a generic lead lag filter.
Detail Drive Configuration and Operation Chapter 1 Figure 16 - Bode Plot and Time Domain of Lag The lag configuration is good for eliminating unwanted noise and disturbance such as backlash. There are two lead-lag blocks used in the speed regulator loop. One is in the forward path and the other is in the feedback path.
Chapter 1 Detail Drive Configuration and Operation The lead term (Wld) is used to display the lead of the filter. The lag term (Wlg) is used to show the lag of the filter. Kn × s + wn----------------------------s + wn Kn × s ⁄ ( wn + 1 ) --------------------------------------------s ⁄ ( wn + 1 ) s--------------------------------⁄ ( Wld + 1 )s ⁄ ( Wlg + 1 ) wn = Wlg Kn = Wlg ---------Wld Figure 17 shows the bode plot of the lead function. The lead term is used to counteract lags in the system.
Detail Drive Configuration and Operation Chapter 1 Figure 18 shows the results of adding the lead-lag. The system had a response of 5 rad/sec. By adding the lead-lag filter the system response was increased to 50 rad/sec. Figure 18 - Lead Filter Added to System There is lead lag filter for the position loops speed reference. The parameters are Kn = Parameter 25 [STrim2 Filt Gain], Wn = Parameter 26 [SpdTrim2 Filt BW].
Chapter 1 Detail Drive Configuration and Operation The resonant frequency is defined by the following equation: resonance = ( Jm + Jload ) Kspring × --------------------------------Jm × Jload • Jm is the motor inertia (seconds). • Jload is the load inertia (seconds). • Kspring is the coupling spring constant (rad2/sec). Figure 20 shows a two mass system with a resonant frequency of 62 rad/sec. One Hertz is equal to 2p rad/sec.
Detail Drive Configuration and Operation Chapter 1 Figure 21 - 10 Hz Notch Conclusion There are several filters used in the PowerFlex 700S for various applications. The process trim uses a simple low pass filter to eliminate undesirable noise in the feedback circuit. The cut off frequency of the low pass filter is set by parameter 184 [PI Lpass Filt BW]. Typical values would range from 15…20 rad/sec. The speed loop uses a second order low pass filter after the speed error term is developed.
Chapter 1 Detail Drive Configuration and Operation Flying Start The Flying Start feature is used to start into a rotating motor, as quick as possible, and resume normal operation with a minimal impact on load or speed. When a drive is started in its normal mode it initially applies a frequency of 0 Hz and ramps to the commanded speed. If the drive is started in this mode with the motor already spinning, large currents will be generated.
Detail Drive Configuration and Operation Chapter 1 Preset Frequency Search The preset frequency search starts the frequency search at the value set in parameter 451 [SrLss Preset Spd]. From this initial search frequency the search will move towards zero. Once zero frequency is reached the algorithm will reset to the opposite direction at the same initial frequency and again search toward zero. If zero is reached a second time the drive will perform a start from zero speed.
Chapter 1 Detail Drive Configuration and Operation Sensorless Flying Start Configuration Parameters 30 [Rev Speed Limit] and 31 [Fwd Speed Limit] must be set to magnitudes greater than the value set in parameter 451 [SrLss Preset Spd] to avoid over speed faults during the preset frequency search. Parameter 222 [Motor Fdbk Sel] selects the primary speed feedback device. This parameter must be set to “2” for sensorless flying start if this is the active feedback device.
Detail Drive Configuration and Operation Chapter 1 Parameter 141 [FricComp Setup] is used to configure the friction compensation algorithm. This is a packed word of 3 digits. Each digit has a possible selection of 10 levels. • The least significant digit sets the speed threshold in intervals of 0.0005 pu speed. • The next (middle) digit sets the hysteresis band for the “units” digit in intervals of 0.0005 pu velocity.
Chapter 1 Detail Drive Configuration and Operation Grounding, General See the Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC Drives, publication DRIVES-IN001, for detailed information. HIM Memory See Copy Cat on page 33. HIM Operations The User Display The User Display is shown when module keys have been inactive for a predetermined amount of time. The display can be programmed to show pertinent information. Set the User Display Step Key(s) Example Displays 1.
Detail Drive Configuration and Operation Inertia Adaptation Chapter 1 Inertia adaptation is used to compensate for lost motion, which occurs when a gear box and/or “springy” coupling is present. Inertia adaptation can allow the user to increase the speed regulator bandwidth by up to four times.
Chapter 1 Detail Drive Configuration and Operation Configuration: See Speed Regulator Tuning - Advanced Tuning for the Speed Regulator with Gearbox or Belt on page 129 for details on using inertia adaptation.
Detail Drive Configuration and Operation Chapter 1 summed torque enters the torque selection block (refer to Torque Reference on page 175 for more information). Parameter 55 [Speed Comp] contains the rate of acceleration or deceleration calculated in the inertia compensation block. This parameter is used in following applications. Link parameter 23 [Speed Trim 3] to [Speed Comp] and set parameter 24 [SpeedTrim3 Scale] to 0.002 to reduce position error in following applications.
Chapter 1 Detail Drive Configuration and Operation speed 2. Note that the jog command is a maintained type of logic, so that the jog speed will be active while the jog command bit is maintained. Applied LogicCmd 152 18 0 Jog Speed 1 17 152 23 0 1 1 18 Jog Speed 2 Links Links are software connections between two parameters. This allows one parameter to receive information from another parameter.
Detail Drive Configuration and Operation Chapter 1 Using DriveExecutive Double-click on the destination parameter. The parameter XX dialog box displays. Click on the Link Source tab. Select the Parameter radio button and select the source parameter in the Selected Parameter field.
Chapter 1 Detail Drive Configuration and Operation Masks A mask is a parameter that contains one bit for each of the possible adapters. Each bit acts like a valve for issued commands. Closing the valve (setting a bit value to 0) stops the command from reaching the DriveLogix. Opening the valve (setting a bit value to 1) allows the command to pass through the mask into the DriveLogix.
Detail Drive Configuration and Operation Motor Nameplate Chapter 1 [Motor NP Volts] The motor nameplate base voltage defines the output voltage, when operating at rated current, rated speed, and rated temperature. [Motor NP FLA] The motor nameplate defines the output amps, when operating at rated voltage, rated speed, and rated temperature. It is used in the motor thermal overload, and in the calculation of slip.
Chapter 1 Detail Drive Configuration and Operation Figure 24 - Illustration of IL Current IL 1.1 x IL 1 minute 9 minutes Time High Overload After continuous operation at the rated output current, overload may be 150% rated output current (IH) for 1 minute as long as it is followed by a period of load less than the rated current so that the output current over the duty cycle does not exceed the rated output current (IH).
Detail Drive Configuration and Operation Chapter 1 Motor Start/Stop Precautions Input Contactor ATTENTION: A contactor or other device that routinely disconnects and reapplies the AC line to the drive to start and stop the motor can cause drive hardware damage. The drive is designed to use control input signals that will start and stop the motor. If an input device is used, operation must not exceed one cycle per minute or drive damage will occur.
Chapter 1 Detail Drive Configuration and Operation Output Devices Drive Output Disconnection ATTENTION: Any disconnecting means wired to the drive output terminals U, V and W must be capable of disabling the drive if opened during drive operation. If opened during drive operation, the drive will continue to produce output voltage between U, V, W. An auxiliary contact must be used to simultaneously disable the drive.
Detail Drive Configuration and Operation Chapter 1 Output Power (Parameter 311) This parameter displays the output kW of the drive. Motor Power is the calculated product of the torque reference and motor speed feedback. A 125 ms filter is applied to this result. Positive values indicate motoring power; negative values indicate regenerative power. The output power is a calculated value and tends to be inaccurate at lower speeds. It is not recommended for use as a process variable to control a process.
Chapter 1 Detail Drive Configuration and Operation The bits for each parameter are broken down as follows: • Bit 0 - “Digital Input” • Bit 1 - “Adapter 1” • Bit2 - “Adapter 2” • Bit 3 - “Adapter 3” • Bit 4 - Not Used • Bit 5 - “Adapter 5” • Bit 6 - Not Used • Bit 7 - “DriveLogix” Ownership falls into two categories: • Exclusive: Only one adapter at a time can issue the command and only one bit in the parameter will be high.
Detail Drive Configuration and Operation Chapter 1 DriveLogix Not Used Adapter 5 Not Used Adapter 3 Adapter 2 Adapter 1 Terminal Block Digital Input The [Start Owner] indicates that there is not any maintained Start commands causing the drive to run. Stop Owner Bit Adapter # 7 6 5 4 3 2 1 0 0 0 0 0 0 0 1 0 The operator then checks the Stop Owner. Notice that bit 0 is a value of “1,” indicating that the Stop device wired to the Digital Input terminal block is open, issuing a Stop command to the drive.
Chapter 1 Detail Drive Configuration and Operation Par. No. 1 [Motor NP Volts] Par. No. 2 [Motor NP FLA] Par. No. 3 [Motor NP Frequency] Par. No. 4 [Motor NP RPM] Par. No. 5 [Motor NP Power] Par. No. 7 [Motor Poles] Current peak (A rms) System Cont. Stall Torque (N-m) Motor Max RPM (line to line V rms) (A rms) (Hz) (oper. rpm) (KW) Model No. MPL-B420P 460 4.5 255.3 3830 MPL-B430P 460 6.5 233.3 3500 1.90 8 9.2 4.74 5000 2.40 8 12.0 6.55 5000 MPL-B4520P 460 6.0 260.
Model No. Par. No. 1 [Motor NP Volts] Par. No. 2 [Motor NP FLA] Par. No. 3 [Motor NP Frequency] Par. No. 4 [Motor NP RPM] Par. No. 5 [Motor NP Power] (line to line V rms) (A rms) (Hz) (oper. rpm) (KW) Detail Drive Configuration and Operation Chapter 1 Par. No. 7 [Motor Poles] Motor Max RPM Current peak (A rms) System Cont. Stall Torque (N-m) MPG-B050-091 460 3.4 290.0 2900 0.79 12 9.9 2.60 4560 MPG-B110-031 460 12.9 112.0 1120 2.00 12 31.1 17.
Chapter 1 Detail Drive Configuration and Operation Position Loop - Follower (Electronic Gearing) Technical Information General facts about using the Position Loop for follower applications: • Parameter 768 [PositReg P Gain] is used for tuning. • Parameter 770 [Posit Reg Integ] is normally not needed for position following applications and is disabled by factory default.
Detail Drive Configuration and Operation Chapter 1 The following is a block diagram overview of the position follower mode: Position Control (2ms) from Master Encdr Posit Spd Output Aux Posit Ref 743 318 [N] [D] Gear Rat + Position Offset from Follower Encdr PI Regulator Mtr Posit FB 762 Speed Control - Regulator (0.
Chapter 1 Detail Drive Configuration and Operation Enabling the Position Loop To enable the position loop, set parameter 151 [Logic Command] bit 13 “PositionEnbl” = 1. Then to allow the output of the position loop to trim the speed set parameter 740 [Position Control] bit 1 “Speed Out En” = 1. Position Reference Selection For a position follower application set parameter 742 [Posit Ref Sel] = 1 “Aux PositRef ”. This uses counts from a linked source for the position reference to the position loop.
Detail Drive Configuration and Operation Chapter 1 where: PPRm PPRf Ratiof:Ratiom = the PPR of the master encoder = the PPR of the follower encoder = the desired ratio between the follower speed and the master speed [PositRef EGR Mul] CPRf Ratiof 4096 4 = = [PositRef EGR Div] CPRm Ratiom 4096 1 where: CPRf CPRm = the counts per revolution of the follower feedback device. For an incremental encoder this is 4 times the encoder PPR. For a Stegmann Hi-Res encoder this is 1048576.
Chapter 1 Detail Drive Configuration and Operation There are two offsets, parameters 753 [Posit Offset 1] and 754 [Posit Offset 2]. The offset speed must be entered in parameter 755 [Posit Offset Speed] - if this is left at zero the move will not occur. The position offset must be entered in counts of feedback because it is added to the position reference after the EGR scaling. Offsets must be maintained to keep the position (i.e.
Detail Drive Configuration and Operation Chapter 1 Parameter 770 [PositReg Integ] is the integral gain for the position loop. [PositReg Integ] can be used but is disabled by default and is normally not needed for position follower applications. To enable [PositReg Integ], set parameter 740 [Position Control], bit 2 “Integ En” = 1. When [PositReg Integ] is used, parameters 772 [XReg Integ LoLim] and 773 [XReg Integ HiLim] should be set with narrow limits.
Chapter 1 Detail Drive Configuration and Operation • When using an encoder for positioning, the drive uses quadrature counts, i.e., 1024 encoder = 4096 counts per motor revolution. • When using a Stegmann absolute hi-resolution encoder, the drive counts 1048576 counts per revolution. • When using a Resolver, the drive counts 65536 counts per revolution. • Speed regulator tuning directly affects the position loop performance. The speed regulator should be tuned before the position loop.
Detail Drive Configuration and Operation Chapter 1 Position Reference Selection For point to point positioning set parameter 742 [Posit Ref Sel] = 2 “Pt to Pt”. Parameter 758 [Pt-Pt Posit Ref ] becomes the reference for the position. Posit Ref Sel Interp Position 749 Aux PositRef 743 Pt-Pt Posit Ref 758 742 Selected Position Reference 0 1 2 Position Reference Scaling Position reference can be entered in user units by using the EGR scaling.
Chapter 1 Detail Drive Configuration and Operation Position Offset Offsets can be added to the position reference. Offset are used to make a correction move to sync the follower to the master position.
Detail Drive Configuration and Operation Chapter 1 Point to Point Acceleration and Deceleration Parameter 759 [Pt-Pt Accel Time] sets the acceleration time in seconds from zero to base motor speed. Parameter 760 [Pt-Pt Decel Time] sets the deceleration time in seconds from base motor speed to zero. The [Pt-Pt Accel Time] and [Pt-Pt Decel Time] are only active in Point to Point mode. The Default = 10 seconds.
Chapter 1 Detail Drive Configuration and Operation For example, with parameter 90 [Spd Reg BW] = 40 rad/sec, set parameter 26 [SpdTrim2 Filt BW] = 200 rad/sec and set parameter 25 [Strim2 Filt Gain] = 5. The lead/lag filter will effectively cancel the 1/40 second lag. This will allow a higher [PositReg P Gain] for increased stability. Parameter 761 [Pt-Pt Filt BW] sets the bandwidth of a low pass filter which affects smoothness at the start of deceleration in point to point mode.
Detail Drive Configuration and Operation Chapter 1 Parameter 780 [PositDetct1 Stpt] is used to set the position set point for which to watch. Setting parameter 740 [Position Control] bit 17 “X Watch 1 Dir” = 1 causes the drive to detect when the position feedback becomes greater than the set point. Setting [Position Control] bit 17 “X Watch 1 Dir” = 0 causes the drive to detect when the position feedback becomes less than the set point.
Chapter 1 Detail Drive Configuration and Operation Position Loop - Registration The PowerFlex 700S drive has the ability to capture the feedback position upon an event occurrence. There are two registration registers that can be configured. You may also see DriveLogix Motion instruction Motion Arm Registration (MAR). Port 0 Example Sequence of events: Registration for Port 0 is configured using the parameters below. After configuration the Registration latch is armed.
Detail Drive Configuration and Operation Chapter 1 Table 6 - Filter Settings Bit Input Filter Setting 11 10 9 8 0 0 0 0 Filter disabled 0 0 0 1 100 ns filter 0 0 1 0 200 ns filter 0 0 1 1 300 ns filter 0 0 1 1 300 ns filter 0 1 0 0 400 ns filter 0 1 0 1 500 ns filter 0 1 1 0 600 ns filter 0 1 1 1 700 ns filter 1 0 0 0 800 ns filter (default setting) 1 0 0 1 900 ns filter 1 0 1 0 1000 ns filter 1 0 1 1 1100 ns filter 1 1 0 0 1200 ns f
Chapter 1 Detail Drive Configuration and Operation restored and the precharge has completed, ride through allows the drive to continue normal operation, applying power to the motor again. This operation is intended to protect the drive from excessive inrush currents in the presence of input AC line disturbances and allows the drive to continue normal operation without user intervention. However, there is also a concern for safe auto-restart operation.
Detail Drive Configuration and Operation Chapter 1 Ride Through Operation An incoming power loss to the drive is detected by a 22% drop in bus voltage or a bus voltage that drops below the under voltage level. The return of incoming power is detected by an 11% rise in bus voltage and a bus voltage level greater than the undervoltage level set in parameter 409 [Line Undervolts].
Chapter 1 Detail Drive Configuration and Operation Flux Only: The drive's torque is set to zero when a power disturbance is detected. The motor flux is continued until the disturbance goes away or until a power down occurs (extended power loss). If the power loss is of a very short duration or there is sufficient input impedance to limit the inrush current when power returns, the drive will continue normal operation after the disturbance passes.
Detail Drive Configuration and Operation Chapter 1 For the control to complete precharge and allow drive enable (See Parameter 156 [Run Inhibit Stat]), the following conditions must be met: 1. A user-controlled precharge enable must be present. The precharge enable can be provided by hardware input or parameter configuration. This selection is determined by the setting of parameter 838 [Digin1 Sel].
Chapter 1 Detail Drive Configuration and Operation 5. The drive precharge delay must be completed. After conditions 1…4 above are met, parameter 472 [PreCharge Delay] must be completed before the precharge device bypass is commanded. If any of the above conditions become false during the precharge delay period, the delay timer is reset. If parameter 472 [PreCharge Delay] is set less than 200 ms then an internal 200 ms delay is used.
Detail Drive Configuration and Operation Chapter 1 Settings for parameter 381 [PreChrg Err Cnfg]: “0 “Ignore”: This disables the precharge timeout fault. With this setting the drive ignores condition 3 above so that the drive does not check for an unstable bus voltage. Then after the precharge timeout period the precharge control will complete precharge providing all of the other conditions for precharge are met.
Chapter 1 Detail Drive Configuration and Operation Motor Sim Mode When the motor simulation mode is selected the precharge requirements are ignored and the precharge done condition is not needed for running the drive. External Power Supply If the drive is used with an external power supply, the user should not request a precharge until the drive incoming power is available. If the user does request a precharge without incoming drive power a precharge timeout fault will occur (if configured for a fault).
Detail Drive Configuration and Operation Chapter 1 Process PI Reference and Feedback The reference and feedback signals are the values present in [PI Reference] and [PI Feedback]. [PI Reference] could be a set value or linked to a variable parameter such as an analog input. Typically [PI Feedback] is linked to an analog input value received from a process line transducer. The reference and feedback values are compared and an error signal is created. This error signal is sent to a low pass filter.
Chapter 1 Detail Drive Configuration and Operation Process PI Output At this point of the process PI loop, some conditions must be met to turn on the PI output (otherwise the PI output is 0). The PI output can be turned on in one of two ways: • [Logic Command] bit 12 - “ProcsTrim En” is turned on and the drive is running. The running state is indicated by [Logic Status] bit 1. When both of these conditions are true, [Logic Ctrl State] bit 31 “ProcessTrim En” will be on.
Detail Drive Configuration and Operation Chapter 1 400 V Line = 540V DC bus x 2.25 = 1215V 480 V Line = 650V DC bus x 2.25 = 1463V 600 V Line = 810V DC bus x 2.25 = 1823 V The software is standard and requires no special parameters or settings.
Chapter 1 Detail Drive Configuration and Operation No Correction vs Correction Method at 4 kHz and 8 kHz Carrier Frequencies - Vbus = 650, fe = 60 Hz 2.6 No Correction 4 kHz Carrier Corrected 4 kHz Carrier No Correction 8 kHz Carrier Corrected 8 kHz Carrier 2.5 per Unit Vout/Vbus 2.4 2.3 2.2 2.1 2 1.9 1.8 1.7 1.6 0 100 200 300 400 Cable Length (Feet) 500 600 Refer to http://www.ab.com/support/abdrives/documentation/index.html for detailed technical papers.
Detail Drive Configuration and Operation RIO DPI ControlLogix O.Data[0] O.
Chapter 1 Detail Drive Configuration and Operation RIO DPI Adapter ControlLogix Outp INT INT INT INT INT INT INT INT INT INT INT INT INT INT INT INT INT INT INT INT O.Data[0] O.
Detail Drive Configuration and Operation Chapter 1 For the block transfer I/O write, the source tag RIO_700S_BT_O must be an array of 18 INTs. This tag cannot be DINT. The source tag will contain the speed reference data and the data sent to the Data In parameters of the drive. The “Path” in the communication tab of the block transfer I/O write is the name of the DH+/RIO scanner module. The “Module Address” sets the channel of the DH+/RIO scanner used, and the rack, group and slot of the 20-COMM-R.
Chapter 1 Detail Drive Configuration and Operation For the block transfer I/O read, the destination tag RIO_700S_BT_I must be an array of 18 INTs. The tag cannot be DINT. The destination tag will contain the speed feedback data and data from the Data Out parameters of the drive. The communication tab of the block transfer I/O read is setup the same as the block transfer I/O write.
Detail Drive Configuration and Operation Chapter 1 Reference and Feedback values are floating-point values in the PowerFlex 700S. Use the following logic to transmit and receive reference and feedback data as integer data. 32768 Transmitted Reference (counts) = [Floating point Reference (RPM) × ---------------------------------------------[ Base motor RPM ] Speed Reference Via Remote I/O to a PowerFlex 700S using a 20-COMM-R module.
Chapter 1 Detail Drive Configuration and Operation Example: • When copying a floating-point value into an integer register, the length will be 2. A single precision IEEE floating-point value uses 32-bits. This means two, 16-bit integers are required to properly transmit the data. • When copying two integer values (the low and high word of 32-bit data) into a floating-point register, the length will be 1.
Detail Drive Configuration and Operation Chapter 1 The “Path” in the communication tab of the block transfer message write is the name of the DH+/RIO scanner module. The “Module Address” sets the channel of the DH+/RIO scanner used, and the rack, group and slot of the 20-COMM-R. For the block transfer message read, the destination tag RIO_BT_Response_Data must be an array of 20, 30, or 60 INTs (depending on how much data the user is receiving). This tag cannot be DINT.
Chapter 1 Detail Drive Configuration and Operation For example: When copying a floating-point value into an integer register, the length will be 2. A single precision IEEE floating-point value uses 32-bits. These means two, 16bit integers are required to properly transmit the data. When copying two integer values (the low and high word of 32-bit data) into a floating-point register, the length will be 1.
Detail Drive Configuration and Operation 0000 0001 Calculate a speed reference based on 32768 = base motor speed. F12:0 = 32 bit floating point speed reference (counts) F12:1 = speed reference (RPM) F12:4 = base motor speed (RPM) Chapter 1 CPT Compute Dest Convert the 32 bit floating point speed reference into 2, 16 bit intergers to send over RIO.
Chapter 1 Detail Drive Configuration and Operation Convert the speed feedback that comes over RIO as 2, 16 bit intergers into a 32 bit floating feedback.
Detail Drive Configuration and Operation Chapter 1 Figure 26 - Reading DINT datalinks in an SLC/PLC-5 0004 A DINT datalink is sent across RIO as 2, 16 bit intergers. There is no DINT datatype in the SLC, so to read the data we will copy the DINT into 2, 16 bit intergers.
Chapter 1 Detail Drive Configuration and Operation Figure 29 - Writing Floating-Point Datalinks in an SLC/PLC-5 A floating point datalink is sent across RIO as 2, 16 bit intergers. To write a floating point datalink correctly in the SLC, you must first copy the floating point into 2 intergers, then swap the high and low 16 bit intergers.
Detail Drive Configuration and Operation Chapter 1 Figure 30 - Reading Floating-Point Block Transfer Data in an SLC/PLC-5 Figure 31 - Writing Floating-Point Block Transfer Data in an SLC/PLC-5 RFI Filter Grounding See the Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC Drives, publication DRIVES-IN001, for detailed information. S-Curve See Speed Reference on page 130.
Chapter 1 Detail Drive Configuration and Operation The drive takes the speed reference specified by the speed reference control loop and compares it to the speed feedback. The speed regulator uses proportional and integral gains to adjust the torque reference sent to the motor. This torque reference attempts to operate the motor at the specified speed. This regulator also produces a high bandwidth response to speed command and load changes.
Detail Drive Configuration and Operation Chapter 1 parameter. This allows speed trim 3 to be scaled “dynamically” with an input signal if desired. An example would be to have an analog input linked to the scale parameter. The speed trim and the scale would then affect the value sent to the summation block. The speed trim values are summed with the speed reference from the speed reference control loop.
Chapter 1 Detail Drive Configuration and Operation • Bit 8 - “Spd Reg En” Indicates that the output of the speed regulator is enabled and the output is allowed to enter the torque loop. Logic Ctrl State (Inrta Tst En) 157 04 0 Autotune Bypass 1 19 Atune Spd Ref Logic Ctrl State 157 5 (J Tst FulSpd) 8 (Spd Reg En) Speed Reference Limits At this point the summed speed reference is limited by parameters 30 [Rev Speed Limit] and 31 [Fwd Speed Limit]. Those limits are set at -2187.5 RPM and 2187.
Detail Drive Configuration and Operation Chapter 1 There is a lead/lag filter that can be used to filter the motor speed feedback. The filter is setup by parameters 95 [Sreg FB Filt Gain] and 94 [Sreg FB Filt BW]. The filtered speed feedback is seen in parameter 71 [Filtered SpdFdbk]. The speed error is filtered by a low pass filter by adjusting [Spd Err Filt BW].
Chapter 1 Detail Drive Configuration and Operation This parameter has no affect on the drive's response to load changes. The recommended setting is 0.1 to 0.5. from Motor Speed Ref nff FeedFwd SpdReg AntiBckup 84 The following is an example of how the anti-backup affects the speed regulator’s response. Proportional Gain The filtered speed error (after the servo lock is added and the anti-backup is subtracted) is sent to the proportional gain block.
Detail Drive Configuration and Operation Chapter 1 gain block. The integral gain block outputs a torque command relative to the error integrated over a period of time. Parameter 82 [Spd Reg I Gain] sets the integral gain of the speed regulator. It's value is automatically calculated based on the bandwidth setting in [Spd Reg BW] and [Total Inertia]. Integral gain may be manually adjusted by setting [Spd Reg BW] to a value of zero. Units are (per unit torque/sec) / (per unit speed).
Chapter 1 Detail Drive Configuration and Operation Droop Droop is used to “shed” load and is usually used when a soft coupling of two motors is present in an application. For more information on droop, see the section titled “Droop”. Speed Regulator Output Limits The outputs from the proportional block and integrator block are summed together, creating a torque reference. This torque reference is limited by parameter 102 [Spd Reg Pos Lim] and 103 [Spd Reg Neg Lim].
Detail Drive Configuration and Operation Chapter 1 Speed Regulator Tuning Basic Tuning Procedure with a Gearbox or Belt 1. Identify motor and system inertia (in seconds). The motor inertia can be determined by performing an inertia test with the motor uncoupled from the load, or the motor inertia in seconds can be calculated using the following formula: where WK2 is the inertia in lbft2, RPM is the base motor speed of the motor, and Tacc is the rated torque of the motor in lb•ft.
Chapter 1 Detail Drive Configuration and Operation 2. Set the desired bandwidth in parameter 90 [Spd Reg BW]. Do not exceed the bandwidth limit of curve 1 in the following chart (based on the ratio of motor inertia to system inertia). 3. Make parameter 89 [Spd Err Filt BW] = 5 * parameter 90 [Spd Reg BW]. Note: For speed regulator bandwidths up to approximately 200 rad/sec, parameter 89 [Spd Err Filt BW] can be left at the factory default of 700 rad/sec starting with v2.
Detail Drive Configuration and Operation Chapter 1 d. Parameter 95 [SregOut FiltGain] and parameter 93 [SRegFB Filt Gain] = 0.5; Parameter 94 [SReg FB Filt BW] and parameter 96 [SregOut Filt BW] = 20 7. If gear noise or chatter is still present after turning on the filters, repeat steps 2 through 6 with a lower speed regulator BW (parameter 90 [Spd Reg BW]). 8.
Chapter 1 Detail Drive Configuration and Operation 2. Set parameter 90 [Spd Reg BW]. Do not exceed the bandwidth limit of curve 2 in the following chart (based on the ratio of motor inertia to system inertia). 3. Set parameter 133 [Inert Adapt BW] = parameter 90 [Spd Reg BW] 4. Verify that Lead Lag filters are off: Parameter 93 [SRegFB Filt Gain] = 1 Parameter 95 [SReg Out Filt Gain] = 1 to disable the filters. 5. Enable inertia adaptation, parameter 132 [Inert Adapt Sel] bit 0 “Inertia Adapt” = 1. 6.
Detail Drive Configuration and Operation Applied LogicCmd 16 Speed Ref Sel 10 Speed Ref 1 Spd Ref1 Divide 11 Speed Ref 2 12 Spd Ref2 Multi 0 / 14 Speed Ref 5 15 Speed Ref DPI * 0 0 Jog Speed 1 1 17 2 X 13 Speed Ref 4 152 + 18 152 Logic Ctrl State 23 157 0 Control Options 0 0 152 20 4 (Unipol Fwd) +1 5 (Unipol Rev) -1 152 Inertia SpeedRef Ramped Spd Ref Inv Logic Command (Spd S Crv En) 151 01 11 142 143 InertiaAccelGain 57 FricComp Rated 144 InertiaDecelGain
Chapter 1 Detail Drive Configuration and Operation speed reference and the scale would then affect the value sent to the reference select block. Parameters 14 [Speed Ref 4], 15 [Speed Ref 5], and 20 [Speed Ref DPI] are in display units of RPM and do not have their own scaling blocks. Speed Reference Select Parameter 16 [Speed Ref Sel] selects which one of the seven input signals is acknowledged as the reference.
Detail Drive Configuration and Operation Chapter 1 Jog Reference Two separate jog speeds can be used as a speed reference - parameter 17 [ Jog Speed 1] or 18 [ Jog Speed 2]. For more information on jog speeds see Jog. Stop Command When a stop command is issued, parameter 157 [Logic Ctrl State] bit 0 - “Spd Ref En” is set to 0, causing a zero speed to be selected. When [Logic Ctrl State] bit 0 is set to 1, the selected speed or jog reference is used.
Chapter 1 Detail Drive Configuration and Operation Accel/Decel Ramp and S-Curve The accel/decel ramp generator can be bypassed for certain functions. When parameter 151 [Logic Command] bit 0 - “SpdRamp Dsbl” is on, the ramp is bypassed. Otherwise, the reference is ramped according to the rates determined by parameters 32 [Accel Time] and 33 [Decel Time]. For example, the ramp rate for acceleration would be [Motor NP RPM]/[Accel Time]. The ramped reference can be viewed in parameter 42 [Ramped Spd Ref ].
Detail Drive Configuration and Operation Chapter 1 Speed Reference Bypass and Delayed Speed Reference By default, parameter 37 [Spd Ref Bypass] is linked to [S Curve Spd Ref ]. However, if you wish to bypass the rest of the speed reference control loop, [Spd Ref Bypass] gives the capability to link to other parameters. S Curve Spd Ref 43 Spd Ref Bypass Link One Scan 37 Delayed Spd Ref 45 Delay Parameter 45 [Delayed Spd Ref ] is delayed by one scan of the speed control loop.
Chapter 1 Detail Drive Configuration and Operation Parameter 63 [Virt Encdr Dlyed] is a 32 bit integer that contains the pulse count output of the virtual encoder block delayed by one scan of the speed reference loop. This parameter can be used to send a virtual position reference over SynchLink for position follower applications.
Detail Drive Configuration and Operation Chapter 1 Speed Trim 1 At this point in the speed reference control loop, parameter 21 [Speed Trim 1] is added to the speed reference. By default, [Speed Trim 1] is linked to the output of the Process PI loop. The resulting parameter 47 [Spd Trim1 SpdRef ] is sent into the speed regulator loop.
Chapter 1 Detail Drive Configuration and Operation Isolated with differential transmitter Output (Line Drive). The encoder inputs can accept 5V DC or 12V DC. There is a 12V DC supply on the drive that can be used to supply power for the encoders. An external 5VDC power supply is required when the encoder requires a 5V DC supply. An encoder offers the best performance for both speed and torque regulation applications.
Detail Drive Configuration and Operation Chapter 1 [Encdrx Config] sets the configuration option for the encoder.
Chapter 1 Detail Drive Configuration and Operation • Bit 9 “Edge Time” configures the method of sampling used by the Velocity Position Loop (VPL). Setting the bit chooses “Edge to Edge” sampling, while resetting the bit to zero chooses “Simple Difference” sampling. “Simple Difference” sampling calculates speed by examining the difference between pulse counts over a fixed sample time.
Detail Drive Configuration and Operation Chapter 1 Table 9 - Encoder Sample Interval Settings Bit 15 14 13 12 Encoder Sample Interval Settings 0 0 0 0 0.5 ms 0 0 0 1 0.5 ms (min. setting) 0 0 1 0 1.0 ms 0 0 1 1 1.5 ms 0 1 0 0 2.0 ms (default setting) 0 1 0 1 2.5 ms 0 1 1 0 3.0 ms 0 1 1 1 3.5 ms 1 0 0 0 4.0 ms 1 0 0 1 4.5 ms 1 0 1 0 5.0 ms 1 0 1 1 5.5 ms 1 1 0 0 6.0 ms (max. setting) 1 1 0 1 6.0 ms 1 1 1 0 6.0 ms 1 1 1 1 6.
Chapter 1 Detail Drive Configuration and Operation Sensorless Sensorless mode is used when zero speed or more than a 120:1 speed range is not required. Parameter 548 [Est Speed Fdbk] contains the estimated motor speed, used when sensorless mode is selected. The estimated speed feedback is based on voltage feedback from the motor. [Est Speed Fdbk] is scaled so that a value of 4096 equals parameter 4 [Motor NP RPM].
Detail Drive Configuration and Operation Chapter 1 Feedback Option Cards There are three different feedback option cards that can be installed on the PowerFlex 700S: • The Hi-Resolution Encoder Feedback Option Card • The Resolver Feedback Option Card • The Multi Device Interface (MDI) Option Card Only one of the option cards above can be physically installed on the drive at a time.
Chapter 1 Detail Drive Configuration and Operation Hi-Resolution Encoder Feedback Option The position feedback (seen in [FB Opt0 Posit]) from a Hi-Resolution Encoder counts at a rate of 1,048,576 counts per motor revolution. Parameter 259 [Hi Res0 Config] is used to configure the Hi-Resolution Encoder. • Bit 5 “Hi Res Dir” determines counting direction. If clear, direction is forward or up. If set, the direction is reverse or down.
Detail Drive Configuration and Operation Chapter 1 Resolver Feedback Option Parameter 266 [Reslvr0 Config] is used to configure the resolver feedback option. Setting bit 0 “Cable Tune” enables the cable tuning test, resetting the bit to zero disables the test. This test automatically runs on power up to measure the IR drop in the resolver cable. • Bit 1 “Reserved” (not used) • Bits 2 “Resolution 0" and bit 3 “Resolution 1" select the resolver resolution (see Table 11).
Chapter 1 Detail Drive Configuration and Operation Table 12 - Resolver Sample Interval Bit 15 14 13 12 Resolver Sample Interval Settings 0 0 0 0 0.5 ms 0 0 0 1 0.5 ms (min. setting) 0 0 1 0 1.0 ms 0 0 1 1 1.5 ms 0 1 0 0 2.0 ms (default setting) 0 1 0 1 2.5 ms 0 1 1 0 3.0 ms 0 1 1 1 3.5 ms 1 0 0 0 4.0 ms 1 0 0 1 4.5 ms 1 0 1 0 5.0 ms 1 0 1 1 5.5 ms 1 1 0 0 6.0 ms (max. setting) 1 1 0 1 6.0 ms 1 1 1 0 6.0 ms 1 1 1 1 6.
Detail Drive Configuration and Operation Chapter 1 Parameter 267 [Reslvr0 Status] indicates status of the resolver option card port 0. • Bit 0 “Cable Status” indicates that the cable tuning test is in progress. • Bit 1 “Tune Result” indicates the tuning parameter type. When set, it indicates the tuning is using the parameter database. When cleared, it indicates the tuning is using derived data. • Bit 2 “Mtr Turning” indicates that the motor is turning.
Chapter 1 Detail Drive Configuration and Operation Motor Speed Feedback and Scaled Speed Feedback The motor speed feedback is selected according to the feedback device selection. The value for motor speed feedback appears in parameter 300 [Motor Spd Fdbk]. [Motor Spd Fdbk] is in RPM. From there, the speed feedback enters the speed regulation loop. The filter for the speed feedback is shown in the speed regulation loop section. Branching off of the motor speed feedback, there is a low pass filter.
Detail Drive Configuration and Operation Chapter 1 Speed feedback loss ride through is not allowed in position mode. If the encoder loss ride through function was allowed in a positioning system it is likely that the alternate feedback device will supply an arbitrary position feedback value when an encoder loss is detected. This, in turn, could result in unintended motion in the drive system.
Chapter 1 Detail Drive Configuration and Operation Settings for parameter 222 [Mtr Fdbk Sel Pri] and parameter 223 [Mtr Fdbk Sel Alt]: 0= Encoder 0 3= Reserved 1= Encoder 1 4= Motor Sim 2= Sensorless 5= FB Opt Port0 Parameter 224 [TachSwitch Level] sets the detection level for the automatic speed loss switch over routine. A drop in feedback speed at the percent of rated speed over a 0.5 ms interval will cause a tach switch from primary to alternate device.
Detail Drive Configuration and Operation Chapter 1 5. Setting the speed change detection level in parameter 224 [TachSwitch Level]. 6. Setting parameter 153 [Control Options] bit 16 “Auto Tach Sw” to 1 for automatic switch over. 7. Setting parameter 510 [FVC Mode Config] bit 22 “SrLssRdThru” to 1 when sensorless operation is selected in parameter 223.
Chapter 1 Detail Drive Configuration and Operation The Speed/Torque Mode Select parameter is used to choose the operating mode for the drive. The drive can be programmed to operate as a velocity regulator, a torque regulator, or a combination of the two. See the firmware flowchart shown in Figure 34 on page 152Figure 34 -.
Detail Drive Configuration and Operation Chapter 1 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.
Chapter 1 Detail Drive Configuration and Operation Min Mode / Max Mode This operating mode compares the speed and torque commands. The algebraically minimum value is used. This mode can be thought of as a Speed Limited Adjustable Torque operation. Instead of operating the drive as a pure torque regulator, the “runaway” condition can be avoided by limiting the speed. A winder is a good example for the application of the Min Spd/Trq operating mode.
Detail Drive Configuration and Operation Chapter 1 Zero Torque Mode Operation in zero torque mode allows the motor to be fully fluxed and ready to rotate when a speed command or torque command is given. This mode can be used for a cyclical application where through put is a high priority. The control logic can select zero torque during the “rest” portion of a machine cycle instead of stopping the drive.
Chapter 1 Detail Drive Configuration and Operation Start/Stop Modes Description This section serves as a supplement to the PowerFlex 700S Drive User Manual, publication 20D-UM001, addressing items specific to the PowerFlex 700S start and stop modes. Technical Information The start and stop mode refers to how you want the drive's start and stop to be controlled. There are two basic modes of start and stop control: 3-wire and 2wire. 3-wire control indicates that the start and stop are momentary inputs.
Detail Drive Configuration and Operation Chapter 1 Configuring the Start and Stop for 3-Wire Control (Momentary Start and Stop) To configure the drive for 3-wire control with a ramp stop: For parameter 153 [Control Options], set bit 8 “3WireControl” to on (1) and set bits 3 “2WCurrLimStp” and 9 “2W CoastStop” to off (0). To control from digital inputs: 1. Set parameter 839 [DigIn2 Sel] = 1 “Normal Stop” or = 5 “Stop - CF”.
Chapter 1 Detail Drive Configuration and Operation To configure the drive for 3-wire control with a current limit stop: For parameter 153 [Control Options], set bit 8 “3WireControl” to on (1) and set bits 3 “2WCurrLimStp” and 9 “2W CoastStop” to off (0). To control from digital inputs: 1. Set parameter 839 [DigIn2 Sel] = 9 “Current Limit Stop” 2. Set parameter 840 [DigIn3 Sel] = 2 “Start” To control from a communication network: 1.
Detail Drive Configuration and Operation Chapter 1 To configure the drive for 2-wire control with a coast stop: For parameter 153 [Control Options], set bit 9 “2W CoastStop” to on (1) and set bits 3 “2WCurrLimStp” and 8 “3WireControl” off (0). To control from digital inputs: • Set parameter 839 [DigIn2 Sel] = 3 “Run” To control from a communication network: • To perform a coast stop, toggle bit 1 “Start” in the logic command word on and then off.
Chapter 1 Detail Drive Configuration and Operation Start-Up See Autotune on page 17. Stop Modes See Start/Stop Modes on page 156. SynchLink This section contains information specific to PowerFlex 700S SynchLink parameters and gives an example of setting up the PowerFlex 700S SynchLink using DriveExecutive. See the SynchLink System Design Guide, publication 1756-TD008, for PowerFlex 700S SynchLink topologies, hardware, and wiring details.
Detail Drive Configuration and Operation Chapter 1 Parameters 1011 [SL Rx DirectSel0] through 1014 [SL Rx DirectSel3] select what you want to do with received data. The most common settings for these parameters are: • “No Data” - SynchLink received data is passed straight through. • “SL Multiply” - See Multiply Block on page 162 for details. Parameter 1020 [SL Tx Comm Frmt] selects the format of data to be transmitted. It can be set to: • “0A, 0D, 0B” - No data.
Chapter 1 Detail Drive Configuration and Operation Multiply Block SynchLink has the ability to take one of the direct data words received from SynchLink and multiply it by a constant or parameter value for features such as draw control. The multiply function is handled at the hardware level to ensure the highest possible execution speeds. Because of this, the multiply function is integer based.
Detail Drive Configuration and Operation Chapter 1 result of the multiply function can be used in the receiving drive, or transmitted directly to another drive. Parameter 1030 [SL Mult A In] contains the value received from SynchLink after it was divided by [SL Mult Base]. Parameter 1031 [SL Mult B In] contains the multiply scale factor to multiply by the value received from SynchLink. Note that [SL Mult B In] could be a constant or linked to a source parameter.
Chapter 1 Detail Drive Configuration and Operation Buffered Data Receive Parameters Odd parameters 1073 [SL Buf Int Rx00] through 1131 [SL Buf Int Rx29] contain integer values that you receive from SynchLink as buffered data. Destination parameters that are integers can be linked to this buffered data. Note that at this time, the maximum number of buffered words that can be received over SynchLink is 18, so only odd parameters 1073 [SL Buf Int Rx00] through 1107 [SL Buf Int Rx17] would be used.
Detail Drive Configuration and Operation Chapter 1 Figure 36 - SynchLink Transmit Block Diagram Direct Tx Data Select 1 3 2 0 1021 235 P1 Regis Latch 245 Opt 0 Regis Ltch 253 Opt 1 Regis Ltch XXX 1023 Tx Port Comm Format 1024 (0-26) 1020 (0-17) SycnhLink Fiber Tx Direct Data Selector 1033 Event Data Registration Latches (Local) P0 Regis Latch 1022 Tx Format Selector Synchlink Transmit Port Data (Tx) to Downstream Node (Select = 2) (Select = 3) (Select = 8) 15 Tx Axis Size (Select = 9
Chapter 1 Detail Drive Configuration and Operation Figure 37 - Sync hLink Receive Block Diagram See Table 1 on page 12 of SynchLink System Spec. Defines number of Axis, Buffered & Direct words.
Detail Drive Configuration and Operation Chapter 1 Speed Synchronization Example: This example describes how to setup SynchLink to synchronize the ramped, scurved speed reference for two PowerFlex 700S drives using DriveExecutive. Note that the Peer Communication setup in DriveExecutive configures the appropriate SynchLink parameters for you as you go through the setup. Once connected to the drive, select Peer Communication from the Drive menu on the menu bar.
Chapter 1 Detail Drive Configuration and Operation Master PowerFlex 700S Drive Setup (Transmitting Drive) 1. In the master, or transmitting drive, select the desired transmittal format in the SynchLink Transmit Format field. For this example, select 4 Direct Words, 8 Buffered Words. 2. In the Transmitted Direct Words section, select Drive Parameter in the Source 0 field and parameter “43 - S Curve Spd Ref ” in the Item 0 field. 3. Click 168 .
Detail Drive Configuration and Operation Chapter 1 The Parameter 1000 - SL Node Cnfg Properties dialog box opens. 4. Clear the Sync Now check box. 5. Check the Time Keeper check box. The master drive is now the time keeper for SynchLink. 6. Click OK. The SynchLink communication dialog box re-opens. 7. Click OK. To synchronize the speed references, you must add a time delay to the SCurve speed reference of the master. 8. Open the Properties dialog box for Parameter 37 [Spd Ref Bypass].
Chapter 1 Detail Drive Configuration and Operation 9. Click the Link Data tab. 10. Select (P 45) Delayed Spd Ref in the Selected Parameter list. 11. Click OK.
Detail Drive Configuration and Operation Chapter 1 Follower PowerFlex 700S Setup (Receiving Drive) 1. In the slave drive, select 4 Direct Words, 8 Buffered Words in the SynchLink Receive Format field, to match the size of the data transmitted from the master drive. 2. If desired, the multiply block can be used to change the scaling of one of the Direct Words coming from the master to the follower. For example, the multiply block might be used to enter a gear ratio for the speed reference. 3. Click .
Chapter 1 Detail Drive Configuration and Operation The Parameter 1000 - SL Node Cnfg Properties dialog box opens. 4. Verify that only the Sync Now check box is checked (this is the factory default). 5. Click OK. The SynchLink communication dialog box re-opens. 6. Click OK, You must link the speed reference bypass of the follower to Word 0 of Direct Data coming over SynchLink. 7. Open the Properties dialog box for Parameter 37 [Spd Ref Bypass]. 8. Click on the Link Data tab.
Detail Drive Configuration and Operation Chapter 1 9. Select (P 1055 SL Dir Real Rx0) in the Selected Parameters list. 10. Click OK. Note that by linking to [Spd Ref Bypass] of the follower, the ramp and S-Curve of the follower were bypassed. This is because the reference is already ramped and S-Curved by the master. This way, both drives follow exactly the same ramp. Cycle Power You must power down all drives before SynchLink changes take effect. 1. Remove power from all drives. 2.
Chapter 1 Detail Drive Configuration and Operation Sync Generator The sync generator can be used to synchronize a parameter and delay it one scan. This can be used in conjunction with SynchLink (Refer to SynchLink on page 160 for more information). Sync Generator Xsync In 1 788 Xsync In 2 790 Latch Latch One Scan 789 Xsync Out 1 791 Xsync Out 2 792 Xsync Out 2 Dly 794 Xsync Out 3 795 Xsync Out 3 Dly Delay Xsync In 3 793 Latch One Scan Delay SL System Time 0.5ms 317 786 0.
Detail Drive Configuration and Operation Chapter 1 Thermal Regulator See Drive Overload on page 48. Torque Reference When the PowerFlex 700S is operated in Torque mode, an external signal is used for a Torque reference. Refer to Figure 38 - for the firmware diagram.
Chapter 1 Detail Drive Configuration and Operation Unbalanced or Ungrounded Distribution Systems Unbalanced Distribution Systems This drive is designed to operate on three-phase supply systems whose line voltages are symmetrical. Surge suppression devices are included to protect the drive from lightning induced overvoltages between line and ground.
Detail Drive Configuration and Operation Chapter 1 There are several user functions available in the drive for custom control. User Functions Peak Detect There are two peak detectors that can be used to detect the peak for a parameter value. Configuration: • Link parameter 213 [PkDtct1 In Real] or parameter 212 [PkDtct1 In Int] to the parameter that you wish to detect a peak, depending on the data type. • To detect positive peak values, turn on parameter 210 [PeakDtct Ctrl In] bit 2 “Peak1 Sel”.
Chapter 1 Detail Drive Configuration and Operation • Parameter 215 [Peak Detect1 Out] will contain the positive peak value of [Motor Spd Fdbk]. • To reset the output of the peak detector, parameter 210 [PeakDtct Ctrl In] toggle on and then off bit 0 “Peak 1 Set”. Selector Switches There are two different selector switches available: • A switch that selects between two Dint values. The result is Dint. • A switch that selects between two floating-point values. The result is floating point.
Detail Drive Configuration and Operation Chapter 1 Two Position Floating Point Switch Switch Control (SW Int 1 On) SW Int 1 NO 1371 SW Int 1 NC 1372 1370 1 1 0 1373 SW Int 1 Output Configuration: • Parameter 1370 [Switch Control] bit 2 “SW Real 1 On” activates the switch. • The value of parameter 1374 [SW Real 1 NO] is moved into parameter 1376 [SW Real 1 Output] when bit 2 “SW Real 1 On” of parameter 1370 [Switch Control] is on.
Chapter 1 Detail Drive Configuration and Operation Limit Generator The limit generator generates a high and low limit based on an input. • The input parameter 206 [LimGen X axis In] is a linkable destination for floating point parameters. The input range is 0.0000…1.0000. • The output is equal to parameter 205 [LimGen Y axis Mn] when the input is equal to 0.0000. • The output is equal to parameter 204 [LimGen Y axis Mx] when the input is equal to 1.0000.
Detail Drive Configuration and Operation Watts Loss Chapter 1 The following table lists watts loss data for PowerFlex 700S drives running at full load, full speed, and factory default PWM frequency of 4 kHz. Table 13 - 480V Watts Loss at Full Load/Speed, 4 kHz (1) Drive ND HP @ 480V AC Total Watt Loss 0.5 92 1 103 2 117 3 135 5 210 7.
Chapter 1 Detail Drive Configuration and Operation Notes: 182 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013
Appendix A History of Changes This appendix summarizes the revisions to this manual. Reference this appendix if you need information to determine what changes have been made across multiple revisions. This may be especially useful if you are deciding to upgrade your hardware or firmware based on information added with previous revisions of this manual.
Appendix A History of Changes Notes: 184 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013
Index Numerics 20-COMM-C 26 20-COMM-D 36 20-COMM-R 106 A Accel Time 13 Al x Filt Gain 14 Alarms 13 Analog Input Configuration 14 Analog Inputs 14 Anlg Inx Data 14 Anlg Inx Filt BW 14 Anlg Inx Offset 14 Anlg Inx Scale 14 Anlg Inx Volts 14 Anlg Out Real 16 Anlg Outx Integer 16 Anlg Outx Scale 16 Anlg Outx Zero 16 Applied LogicCmd 149 Atune Spd Ref 20 Atune Torq Ref 20 Auto Restart 17 Auto/Manual 17 Autotune Direction Test 19 Feedback Configuration 18 Inertia Test 20 Motor Control 18 Motor Data 18 Motor Tests
Index N FW Functions En 93 G Grounding, General 66 H Heatsink Temp 50 HIM Memory 66 Operations 66 HS OverTemp 49 HS Pending 49 Human Interface Module User Display 66 I Inertia Adaptation 67 Inertia Compensation 68 Inertia Torq Add 68 InertiaAccelGain 68 Input Devices 69 Input Modes 69 Input Power Conditioning 69 IT Foldback 49 IT Pending 49 IT Trip 49 J Jnc Over Temp 49 Jog 69 L Lead-Lag Filter 56 Links 70 Logic Command 68, 92, 149, 151 Low Pass Filter 55 M Masks 72 Motor Control Mode 72 Motor Fdbk
Index Parameters, Continued FVC Mode Config 150 FW Functions En 93 Jog Owner 77 Local I/O Status 45 Logic Command 92, 149, 151 Logic Status 28, 47 MC Diag Error 1 20 MC Diag Error 2 20 MC Diag Error 3 20 Motor Ctrl Mode 18 Motor NP FLA 73 Motor NP Hz 73 Motor NP Power 73 Motor NP Pwr Units 73 Motor NP RPM 13, 36, 73 Motor NP Volts 73 Motor Poles 73 Mtr Fdbk Sel Alt 149, 150, 151 Mtr Fdbk Sel Pri 149, 150, 151 Mtr TrqCurr Ref 17 Output Curr Disp 76 Output Current 35 Posit Detct1 In 92, 93 PositDetct1 Stpt 9
Index Speed Reference 130 Accel/Decel Ramp and S-Curve 134 Direction Control and Bipolar Reference 133 Friction Compensation 135 Inertia Compensation 135 Jog Reference 133 Speed Limits 133 Speed Reference Bypass and Delayed Speed Reference 135 Speed Reference Filter 136 Speed Reference Scale 136 Speed Reference Scaling 131 Speed Reference Select 132 Speed Trim1 137 Stop Command 133 Virtual Encoder 135 Speed Reference Select 137 Speed Regulation 119 Speed Trim 3 69 Speed/Position Feedback Encoder 137 Feedba
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