Reference Manual PowerFlex 750-Series AC Drives Catalog Numbers 20F, 20G, 21G Original Instructions
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 lists the topics added to this revision.
Summary of Changes Notes: 4 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Table of Contents Preface Overview Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 What Is Not in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Allen-Bradley Drives Technical Support . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Product Certification. . . . . . . . . . . . . . . . .
Table of Contents Chapter 3 Diagnostics and Protection Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Current Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DC Bus Voltage/Memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Drive Overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Chapter 6 Integrated Motion on the EtherNet/ IP Network Applications for PowerFlex 755 AC Drives Additional Resources for Integrated Motion on the EtherNet/IP Network Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300 Coarse Update Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301 Control Modes for PowerFlex 755 Drives Operating on the Integrated Motion on the EtherNet/IP Network. . . . . . . . . . . . . . . . .
Table of Contents 8 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Preface Overview The purpose of this manual is to provide detailed information including operation, parameter descriptions, and programming. Who Should Use This Manual 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.
Preface Resource Description PowerFlex 750-Series Safe Torque Off User Manual, publication 750-UM002 These publications provide detailed information on installation, set up, and operation of the 750-Series safety option modules.
Preface Allen-Bradley Drives Technical Support Use one of the following methods to contact Automation and Control Technical Support. Online www.ab.com/support/abdrives Title Rockwell Automation Technical Support Product Certification Manual Conventions Email support@drives.ra.rockwell.com Telephone 262-512-8176 Online http://support.rockwellautomation.com/knowledgebase Product Certifications and Declarations of Conformity are available on the internet at www.rockwellautomation.
Preface General Precautions Qualified Personnel ATTENTION: Only qualified personnel familiar with adjustable frequency AC drives and associated machinery should plan or implement the installation, start-up and subsequent maintenance of the system. Failure to comply may result in personal injury and/or equipment damage. Personal Safety ATTENTION: To avoid an electric shock hazard, verify that the voltage on the bus capacitors has discharged completely before servicing.
Preface Product Safety ATTENTION: An incorrectly applied or installed drive can result in component 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. This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies. Static control precautions are required when installing, testing, servicing or repairing this assembly.
Preface Studio 5000 Environment The Studio 5000™ Engineering and Design Environment combines engineering and design elements into a common environment. The first element in the Studio 5000 environment is the Logix Designer application. The Logix Designer application is the rebranding of RSLogix™ 5000 software and will continue to be the product to program Logix5000™ controllers for discrete, process, batch, motion, safety, and drive-based solutions.
Chapter 1 Drive Configuration Topic Page Accel/Decel Time 16 Adjustable Voltage 17 Auto Restart 25 Auto/Manual 27 Automatic Device Configuration 34 Autotune 35 Auxiliary Power Supply 41 Bus Regulation 41 Configurable Human Interface Module Removal 52 Droop Feature 53 Duty Rating 53 Feedback Devices 54 Flying Start 54 Hand-Off-Auto 64 Masks 67 Owners 70 Power Loss 72 Process PID Loop 76 Reset Parameters to Factory Defaults 88 Sleep/Wake Mode 90 Start Permissives
Chapter 1 Drive Configuration Accel/Decel Time 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].
Drive Configuration Adjustable Voltage Chapter 1 As standard AC drive applications are expanding into new markets, new control methods are required to meet these market demands for electromagnetic applications. Some of these applications, listed below, use non-motor or nonstandard motors that require independent control of load frequency and voltage.
Chapter 1 Drive Configuration Overview Adjustable voltage control is enabled by setting P35 [Motor Ctrl Mode] to option 9 “Adj VltgMode.” This feature provides either three-phase and singlephase output voltage. The default mode is three-phase output voltage and is selected by P1131 [Adj Vltg Config].
Drive Configuration Parameter No. Chapter 1 Parameter Name Setting Description 1141 Adj Vltg DecTime n Secs Application dependent 1142 Adj Vltg Preset1 n VAC Application dependent 1153 Dead Time Comp n% Vary from 0% to 100%. Dead Time Comp is best set to 0% when output of the Sine wave Filter is fed into a transformer, to prevent or minimize DC Offset voltages. Refer to the PowerFlex 750-Series Programming Manual, publication 750PM001, for parameter descriptions and defaults.
Chapter 1 Drive Configuration Parameter No. Parameter Name Setting Description 60 Start Acc Boost 0 61 Run Boost 0 Set if there are DC offset voltages at load transformer input windings. 62 Break Voltage 0 63 Break Frequency 0 420 Drive OL Mode 1 “Reduce CLmt” Drive OL mode is set for reduce current limit, and not the PWM frequency as it must remain fixed. 1154 DC Offset Ctrl 1 “Enable” This turns off any offset control programmed in the firmware.
Drive Configuration Chapter 1 This is a plot showing output voltage, output current, and DC Bus voltage. Here you can see the current following the voltage in a typical PWM output. Single Phase - PWM into Resistor - No Reactor Voltage DC Bus Current This plot enlarges some of the pulses to see the current and its shape. Notice the tops have an abrupt change to them. Any rounding of the wave form at the top is due to the type of resistor used.
Chapter 1 Drive Configuration Below is the same plot with a reactor added in series. These waveform look like a sine wave and that is a function of how much inductance is added. However, the increased voltage drop must be accounted for. Single Phase - PWM into Resistor - No Reactor Voltage DC Bus Current Another option is to have a sine wave filter in the circuit. This lets unshielded cable to be used without the worry of PWM generated noise being injected into the facility.
Drive Configuration Chapter 1 The following is a plot of voltage and current at the reactor. The output of the drive is sent through a sine wave filter then to the reactor. The shape of the waveform is determined by the amount of capacitance in the sine wave filter. If you wanted to know what voltage you can expect at the three phase reactor, consider an example where the user has four reactors in series. The inductance of each is 1.2mH, 5mH, 5mH and 3mH. First item to calculate is XL for each reactor. .
Chapter 1 Drive Configuration So plug in the numbers. V = 14 × 5.35 × 1.73 = 129.8 So 14 amps is realized when the voltage is 129.8 on the output. A drive with a voltage rating of 240V AC could be selected. Below is a waveform of voltage and current at a resistor. The output of the drive runs through a sine wave filter. Then this is connected to a one to one transformer. This output is then sent to a bridge rectifier giving us pure DC.
Drive Configuration Chapter 1 cause of this anomaly is the introduction of the jerk function. This bit needs to be off during this condition. Mtr Options Cfg RW 32-bit Integer Motor Options Configuration Configuration of motor control-related functions. For motors above 200 Hz, a carrier frequency of 8 kHz or higher is recommended. Consider drive derate and motor lead distance restrictions.
Chapter 1 Drive Configuration 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 attempts to start at the end of the timing event. • P936 [Drive Status 2] Bit 0 “AutoRstr Act” indicates that the auto restart has been activated.
Drive Configuration Chapter 1 Aborting an Auto-Reset/Run Cycle During an Auto Reset/Run cycle the following actions/conditions abort the reset/run attempt process. • A 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. • P348 [Auto Rstrt Tries] is set to zero. • A Non-Resettable fault occurs. • Power to the drive is removed.
Chapter 1 Drive Configuration 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).
Drive Configuration Chapter 1 For analog input between the minimum and maximum, the drive derives 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.
Chapter 1 Drive Configuration If the request is not accepted, a message indicates 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 the Control screen. Stopped 0.
Drive Configuration Chapter 1 Example Scenario The drive has a HIM in port 1 and a 24V 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) Manual Control (Port 5, Input 3) Automatic Speed Reference (Port 14) Required Steps 1.
Chapter 1 Drive Configuration 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 causes 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 [DI ManRef AnlgHi], set P301 [Access Level] to 1 “Advanced.
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]).
Chapter 1 Drive Configuration Automatic Device Configuration Automatic Device Configuration (ADC) supports the automatic download of configuration data to a Logix controller that has an EtherNet/IP connection to a PowerFlex 755 drive (firmware 4.001 or later) and its associated peripherals ADC is supported in the following: • RSLogix 5000 software, version 20 or later • Studio 5000 environment, version 21 or later Project files (.
Drive Configuration Autotune Chapter 1 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, measured values of the motor parameters provide the best performance.
Chapter 1 Drive Configuration 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 at FLA]. P73 [IR Volt Drop], P87 [PM IR Voltage], P79 [Encdrlss VltComp], P74 [Ixo Voltage Drop], P75 [Flux Current Ref ], P93 [PM Dir Test Cur], and the Slip Frequency parameters are updated based on nameplate parameter values.
Drive Configuration Chapter 1 Table 3 - Autotune Value Source Control Mode Motor Type Feedback Select Autotune Rs Xo Idlt Rslt Id Rsld Slip Encrls Cemf PmOffset VF Induction NA 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
Chapter 1 Drive Configuration Individual Tests Some of the following tests are executed during an Autotune. Resistance Test This test is a Static test whether Static or Rotate is selected. Used to measure Stator resistance. Inductance Tests This test is 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 Ixo parameter and the PM test is placed into the IXd and IXq parameters.
Drive Configuration Chapter 1 we have a formula that isolates the connected inertia. For the variables, Tacc is the 100% rating of the drive in lb•ft. Let’s say I’m using a 10 Hp drive with a 10 Hp motor. We can rearrange the Horsepower formula below to solve for torque in lb•ft. T × Speed 5252 My motor is 10hp, 1785RPM, HP = ------------------------- HP × 5252 Speed and rearranging it to T = ----------------------- 10 × 5252 1785 So let’s plug in the numbers.
Chapter 1 Drive Configuration Autotune Parameters P71 [Autotune Torque] Typically the default value of 50% is 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. 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 a Rotate tune.
Drive Configuration Auxiliary Power Supply Chapter 1 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.
Chapter 1 Drive Configuration With bus regulation disabled, the bus voltage can exceed the operating limit and the drive faults to protect itself from excess voltage. 0V Fault @ Vbus Max Drive Output Shut Off 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.
Drive Configuration Chapter 1 Operation Bus voltage regulation begins when the bus voltage exceeds the bus voltage regulation setpoint Vreg and the switches shown in Figure 1 move to the positions shown.
Chapter 1 Drive Configuration The derivative term senses a rapid rise in the bus voltage and activates the bus regulator prior to actually reaching the bus voltage regulation setpoint Vreg . The derivative term is important because it minimizes overshoot in the bus voltage when bus regulation begins thereby attempting to avoid an overvoltage fault. The integral channel acts as the acceleration or deceleration rate and is fed to the frequency ramp integrator.
Drive Configuration Chapter 1 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.
Chapter 1 Drive Configuration Option 1 “Adjust Freq” If [Bus Reg Mode n] is set to 1 “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 5). For example, with a DC Bus Memory at 684V DC, the adjust frequency setpoint is 750V DC.
Drive Configuration Chapter 1 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 does not allow the DB transistor to fire any longer. Thus the bus voltage rises and trips on over voltage.
Chapter 1 Drive Configuration 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 oscilloscope and instrumentation. After all, it’s not known as “Ohm’s Suggestion.” The point is evident that the DB transistor is pulsing through the decel. Option 3 “Both DB 1st” If [Bus Reg Mode n] is set to 3 “Both DB 1st” Both regulators are enabled, and the operating point of the Dynamic Brake Regulator is lower than that of the Bus Voltage Regulator.
Drive Configuration Chapter 1 Figure 6 - PowerFlex 750-Series Bus Regulation – Both Adj First DC Bus Voltage DC Current Speed Fdbk 800 12 DC Bus 780 10 8 740 6 720 4 700 10 Volts = Base Speed DC Bus Volts Motor Speed 760 2 Brake Current 680 0 660 -0.2 0 0.2 0.4 0.6 0.8 1 1.2 -2 Seconds Flux Vector (FV) Control With the Regen Power Limit left at default, and a decel time of 0.
Chapter 1 Drive Configuration Sensorless Vector (SV) Control Because 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 DC Bus Voltage DC Current Speed Fdbk 900 14 DC Bus 800 12 700 10 DC Bus Volts Brake Current 8 500 400 6 Motor Speed 300 10 Volts = Base Speed 600 4 200 2 100 0 -0.15 0 0.05 0.25 0.45 0.65 0.85 1.05 1.
Drive Configuration Chapter 1 P375 [Bus Reg Level] Bus Regulation Level - Sets the turn-on bus voltage level for the bus voltage regulator and the dynamic brake. Table 5 - Turn On Bus Voltage P20 [Rated Volts] = Default Turn On Volts = Min/Max Setting = < 252V 375V 375V / 389V 252…503V 750V 750 / 779V 504…629V 937V 937 / 974V > 629V 1076V 1076 / 1118V While the following parameters are listed and editable in the drive, they typically do not need to be adjusted in any way.
Chapter 1 Drive Configuration P381 [Bus Reg Kp] Bus Regulator Proportional Gain - This determines how fast the bus regulator is activated. The higher the value the faster the drive reacts 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.
Drive Configuration Chapter 1 Droop Feature Droop is used to shed load and is usually used when a soft coupling of two motors is present in an application. The master drive speed regulates and the follower uses droop so it does not oppose the master. The input to the droop block is the commanded motor torque. The output of the droop block reduces the speed reference. P620 [Droop RPM at FLA] sets the amount of speed, in RPM, that the speed reference is reduced when at full load torque.
Chapter 1 Drive Configuration Feedback Devices There are three different feedback option modules available for PowerFlex 750Series AC Drives: • Single Incremental Encoder (20-750-ENC-1) • Dual Incremental Encoder (20-750-DENC-1) • 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.
Drive Configuration Chapter 1 Configuration Flying Start can be configured by setting P356 [FlyingStart Mode] to the following: • 0 “Disabled” • 1 “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 is the typical setting for this feature. Sweep The Frequency Sweep mode is used with output sine wave filters.
Chapter 1 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. As 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.
Drive Configuration Chapter 1 Flying Start - Sweep Slope A This plot shows when the drive starts 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 Frequency Speed Current 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].
Chapter 1 Drive Configuration 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. 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.
Drive Configuration Chapter 1 the rotating motor. See the previous plot when this parameter set to its lowest setting. PowerFlex 753 Flying Start - Rotating Load - P360 = 9000, Default = 75 Frequency Speed Current Note current dip. 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.
Chapter 1 Drive Configuration 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 sends current pulses to the motor in an attempt to excite the motor allowing the drive to detect the speed of the motor. This usually happens only at very low speeds.
Drive Configuration Chapter 1 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. PowerFlex 753 Flying Start - Rotating Reverse - Enhanced Mode Frequency Speed Current No Sweep necessary in Enhanced Mode P357 [FS Gain] Sweep mode - The amount of time the detection signal (current) must be below the setpoint.
Chapter 1 Drive Configuration 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.
Drive Configuration Chapter 1 Draft/wind blows idle fans in reverse direction. Restarting at zero speed and accelerating damages fans and could break belts. Flying start alleviates the problem. There could be occasions when the sweep as well as the CEMF 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.
Chapter 1 Drive Configuration Hand-Off-Auto 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. PowerFlex 750-Series drives do not 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.
Drive Configuration Chapter 1 automatically adds this time delay and makes sure that the system is ready to start before it receives the command. H O A +24V XOO DI 0: Stop OOX XOO DI 1: HOA Start Using Hand-Off-Auto with Auto/Manual To take control of the drive speed when switching from Auto to Hand on the HO-A switch, the Auto/Manual feature can be used. See Auto/Manual on page 27 for more on Auto/Manual Control.
Chapter 1 Drive Configuration For this circuit, set the following parameters (P301 [Access Level] must be set to 1 “Advanced” to see P563 [DI ManRef Sel]). Parameter No.
Drive Configuration Chapter 1 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. H +24V O A XOO DI 0: Stop OOX XOO DI 1: HOA Start OOX 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.
Chapter 1 Drive Configuration Parameter No. Parameter Name (2) Description 887 Write Mask Act Active status of write access for ports. Bit 15 “Security” determines if network security is controlling the write mask instead of this parameter. 888 Write Mask Cfg 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.
Drive Configuration Chapter 1 Example A PowerFlex 755 drive is controlled via the embedded ethernet (Port 13) remotely by a PLC. Normal operation prevents any type of control from being issued from the remote HIM (Port 2). However, the ability to manually control the drive via the HIM is needed in some cases. To assure these two modes of control, masks are set as follows.
Chapter 1 Owners Drive Configuration An owner is a parameter that contains one bit for each of the possible port adapters. The bits are set high (value of 1) when its adapter is currently issuing that command, and set low (Value of 0) when its adapter is not issuing that command. Parameters and Functions P919 [Stop Owner] indicates which port is issuing a valid stop command. P920 [Start Owner] indicates which port is issuing a valid start command.
Drive Configuration Chapter 1 Ownership Example The operator presses the HIM Stop button to stop the drive. When the operator attempts to restart the drive by pressing the HIM Start button, the drive does not restart. The operator needs to determine why the drive will not restart. The operator first views the Start Owner to see if the HIM is issuing a valid Start. When the start button on the HIM is pressed, a valid start is being issued as shown below. Stop Asserted 0.
Chapter 1 Drive 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 Definition Vbus The instantaneous DC bus voltage. Vmem The average DC bus voltage. A measure of the average bus voltage determined by heavily filtering bus voltage.
Drive Configuration Chapter 1 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.
Chapter 1 Drive Configuration The drive faults with a F4 “UnderVoltage” fault if the bus voltage falls below Vmin and the P460 [UnderVltg Action] is set to 3 “FltCoastStop.” The pre-charge relay opens if the bus voltage drops below Vopen and closes if the bus voltage rises above Vclose. If the bus voltage rises above Vrecover for 20 ms, the drive determines the power loss is over. The power loss alarm is cleared.
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.
Chapter 1 Drive Configuration Process PID Loop The internal PID function provides closed loop process control with proportional and integral control action. The function is designed to be used in applications that require simple control of a process without the use of a separate stand-alone loop controller. The PID function reads a process variable input to the drive and compares it to a desired setpoint stored in the drive.
Drive Configuration Chapter 1 When the PID is disabled the commanded speed is the ramped speed reference. Slip Adder + PID Fbk Open Loop Linear Ramp and S Curve Spd Ref PID Ref Slip Comp + Spd Cmd + Process PID Controller + PID Disabled Process PID Speed Control When the PID is enabled the output of the PID Controller is added to the ramped speed reference.
Chapter 1 Drive Configuration the drive turning the pump at the required speed, the pressure is maintained in the system. Pump Pressure Transducer Motor PID Feedback Desired Pressure P1067 [PID Ref Sel] However, when additional valves in the system are opened and the pressure in the system drops, the PID error alters its output frequency to bring the process back into control. When the PID is disabled the commanded speed is the ramped speed reference.
Drive Configuration Chapter 1 PID Output Select Parameter 1079 [PID Output Sel] • “Not Used” (0) - PID output is not applied to any speed reference. • “Speed Excl” (1) - PID output is the only reference applied to the speed reference. • “Speed Trim” (2) - PID output is applied to speed reference as a trim value. (Default) • “Torque Excl” (3) - PID output is only reference applied to torque reference. • “Torque Trim” (4) - PID output is applied to torque reference as a trim value.
Chapter 1 Drive Configuration sooner, however if the step is too large the drive can go into current limit and extend the acceleration. Diagram A Diagram B PID Enabled PID Preload Value PID Output Speed Command PID Preload Value = 0 PID Preload Value > 0 Preload command can be used when the PID has exclusive control of the commanded speed. With the integrator preset to the commanded speed there is no disturbance in commanded speed when PID is enabled.
Drive Configuration Chapter 1 Zero Clamp This feature limits the possible drive action to one direction only. Output from the drive is from zero to maximum frequency forward or zero to maximum frequency reverse. This removes the chance of doing a “plugging” type operation as an attempt to bring the error to zero. This bit is active only in trim mode. The PID has the option to limit operation so that the output frequency always has the same sign as the master speed reference.
Chapter 1 Drive Configuration Stop Mode When P370/371 [Stop Mode A/B] is set to 1 “Ramp” and a Stop command is issued to the drive, the PID loop continues to operate during the decel ramp until the PID output becomes more than the master reference. When set to 0 “Coast,” the drive disables PID and performs a normal stop. This bit is active in Trim mode only.
Drive Configuration Chapter 1 The drive must be in Run before the PID Enabled status can turn on. The PID remains disabled when the drive is jogged. The PID is disabled when the drive begins a ramp to stop, except when it is in Trim mode and the Stop mode bit in P1065 [PID Cfg] is enabled. When a digital input is configured as “PI Enable,” the PID Enable bit of P1066 [PID Control] must be turned On for the PID loop to become enabled.
Chapter 1 Drive Configuration PI Reset This feature holds the output of the integral function at zero. The term “anti windup” is often applied to similar features. It can be used for integrator preloading during transfer and can be used to hold the integrator at zero during “manual mode.” For example a process whose feedback signal is below the reference point, creating error. The drive increases its output frequency in an attempt to bring the process into control.
Drive Configuration Chapter 1 PID Status PID Status PID Status Status of the Process PI regulator. Data Type 1089 Values Read-Write Display Name Full Name Description RO 16-bit Integer Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved PID In Limit PID Reset PID Hold PID Enabled No. Group Process PID APPLICATIONS File P1089 [PID Status] parameter is a set of bits that indicate the status of the process PID controller.
Chapter 1 Drive Configuration Example Display P1090 [PID Ref Meter] and P1091 [PID Fdbk Meter] as positive and negative values. Feedback from our dancer comes into Analog Input 2 as a 0-10V DC signal.
Drive Configuration Chapter 1 PID Gains Parameters P1086 [PID Prop Gain], P1087 [PID Int Time], and P1088 [PID Deriv Time] determine the response of the PID. Proportional control (P) adjusts output based on size of the error (larger error = proportionally larger correction). If the error is doubled, then the output of the proportional control is doubled. Conversely, if the error is cut in half then the output of the proportional output is cut in half.
Chapter 1 Drive Configuration Example Set the PID lower and Upper limits to ±10% with Maximum Frequency set to 100 Hz. This lets the PID loop adjust the output of the drive ±10 Hz. P1081 [PID Upper Limit] must always be greater than P1082 [PID Lower Limit]. Once the drive has reached the programmed Lower and Upper PID limits, the integrator stops integrating and no further “windup” is possible. PID Output Mult P1080 [PID Output Mult] enables additional scaling of the PID loop output.
Drive Configuration Chapter 1 5. Use the up-down arrow keys to select Set Defaults. Stopped 0.00 Hz AUTO F MEMORY 00 ESC HIM CopyCat Set Defaults 6. Press the Enter (5) key to display the Set Defaults screen. Stopped 0.00 Hz Port 00 Set Defaults Stopped 0.00 Hz Port xx Set Defaults AUTO F Host and Ports (Preferred) This Port Only This Port Only ESC ESC INFO For Host Drive AUTO F INFO For Connected Peripheral 7. Use the up-down arrow keys select the appropriate action.
Chapter 1 Drive Configuration Sleep/Wake 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 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.
Drive Configuration Chapter 1 Requirements In addition to enabling 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]. • A sleep/wake reference must be selected in P351 [SleepWake RefSel]. • At least one of the 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].
Chapter 1 Drive Configuration For Invert function, refer to the [Anlg Inn LssActn] parameter. Normal operation requires that P354 [Wake Level] be set greater than P352 [Sleep Level]. However, there are no limits that prevent the parameter settings from crossing, but the drive will not start until such settings are corrected. These levels are programmable while the drive is running.
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].
Chapter 1 Drive Configuration Start Permissives 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 • • • • • • • No faults can be active. No Type 2 alarms can be active. The DI Enable input, if configured, must be closed.
Drive Configuration Chapter 1 Values Start Inhibits Start Inhibits Indicates which condition is preventing the drive from starting or running. Default Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 0 0 0 0 0 0 5 4 3 2 1 0 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].
Chapter 1 Drive Configuration Stop Modes 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 results in a normal stop command. However, when using TorqueProve, P1100 [Trq Prove Cfg] with Bit 0 enabled, [Stop Mode A/B] must be set to 1 “Ramp.” P392 [Stop Dwell Time] can also be used with a stop command.
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 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 can result in excessive motor heating).
Chapter 1 Drive Configuration DC Brake Bus Voltage Output Voltage Output Current Motor Speed Command Speed Stop Command (B) (C) (A) Time DC Hold Time This method uses DC injection of the motor to Stop and/or hold the load. DC Brake is selected by setting P370/371 [Stop Mode A/B] to 3 “DC Brake.” You can also choose the amount of time the braking is applied and the magnitude of the current used for braking with P395 [DC Brake Time] and P394 [DC Brake Level].
Drive Configuration Chapter 1 Ramp Bus Voltage Output Voltage Output Current Motor Speed Output Current Command Speed Output Voltage DC Hold Level Time Stop Command Zero Command Speed DC Hold Time This method uses drive output reduction to stop the load. Ramp To Stop is selected by setting parameters 370/371[Stop Mode A/B] to 1 “Ramp.” The drive ramps the frequency to zero based on the deceleration time programmed into parameters 537/538 [Decel Time 1/2].
Chapter 1 Drive Configuration Ramp to Hold Bus Voltage Bus Voltage Output Voltage Output Voltage Output Current Output Current Motor Speed Motor Speed Output Current Command Speed Command Speed Output Voltage DC Hold Level Stop Command Zero Command Speed DC Hold for indeterminate amount of time. Time Start Command This method combines two of the methods above.
Drive Configuration Chapter 1 Fast Brake Bus Voltage Output Voltage Output Current Motor Speed Command Speed Time Stop Command This method takes advantage of the characteristic of the induction motor whereby frequencies greater than zero (DC braking) can be applied to a spinning motor that provides more braking torque without causing the drive to regenerate: • On Stop, the drive output decreases based on the motor speed, keeping the motor out of the regen region.
Chapter 1 Drive Configuration Example Block Diagram Current Regulator Brake Level Bus Voltage Reference Gain Frequency Bus Voltage 102 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Drive Configuration Chapter 1 Current Limit Stop Bus Voltage Output Voltage Current Limit Output Current Motor Speed 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 normal stop as CurrentLimit Stop Current limit stop ramp rate is 0.
Chapter 1 Drive Configuration Example Current Limit - Lowered Limit Motor Current P685 Motor Speed DC Bus Voltage 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. Voltage Class 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.
Chapter 2 Feedback and I/O Analog Inputs Topic Page Analog Inputs 105 Analog Outputs 113 Digital Inputs 119 Digital Outputs 130 PTC Motor Thermistor Input 152 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-IN001, for valid ports.
Chapter 2 Feedback and I/O Analog Input Specifications Terminal Name Description Sh Shield Terminating point for wire shields when an EMC plate or conduit box is not installed. Ptc– Motor PTC (–) Ptc+ Motor PTC (+) Motor protection device (Positive Temperature Coefficient). 40 on Port X Bipolar, ±10V, 11 bit & sign, 2 k ohm minimum load. 4-20 mA, 11 bit & sign, 400 ohm maximum load.
Feedback and I/O Chapter 2 Analog Scaling [Anlg Inn Lo] [Anlg Inn 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).
Chapter 2 Feedback and I/O 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. P522 [Min Fwd Speed] P61 [Anlg In1 Hi] 10V P520 [Max Fwd Speed] Motor Operating Range Frequency Deadband 0…2.5 Volts Frequency Deadband 7.
Feedback and I/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 • P61 [Anlg In1 Hi] = 20 mA • P62 [Anlg In1 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.
Chapter 2 Feedback and I/O Example 6 • P255 [Anlg In 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 • P61 [Anlg In1 Hi] = 5V • P62 [Anlg In1 Lo] = 0V This configuration is used when the input signal is 0…5V. Here, minimum input (0V) represents 0 Hz and maximum input (5V) represents 60 Hz. This provides full scale operation from a 0…5V source. 5 4.5 4 Input Volts 3.5 3 2.5 2 1.5 1 0.
Feedback and I/O Chapter 2 Square Root The square root function can be applied to each analog input through the use of P256 [Anlg In Sqrt]. Enable the function if the input signal varies with the square of the quantity (for example drive speed) being controlled. If the mode of the input is bipolar voltage (-10…10V), then the square root function returns 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 or 50% and 0.5 = 0.
Chapter 2 Feedback and I/O Analog Input Loss Detection Signal loss detection can be detected for each analog input. P47 [Anlg In Loss Sts] bits 0, 1, 2 indicate if the signal is lost. Bit 0 indicates that one or both signals are lost. P53 [Anlg In0 LssActn] and P63 [Anlg In1 LssActn] defines what action the drive takes 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.
Feedback and I/O Analog Outputs Chapter 2 There are two analog outputs per I/O module. Up to five I/O modules can be mounted in the drive ports. See 750-IN001 for valid ports. Accessing the analog output parameters is done by selecting the port that the module is mounted in then accessing the Analog Output group of parameters. Analog Output Specifications Terminal Name Description Sh Shield Terminating point for wire shields when an EMC plate or conduit box is not installed.
Chapter 2 Feedback and I/O Analog Output Configuration Parameters 75 and 85 [Anlg Outn 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 No.
Feedback and I/O Chapter 2 Case 1 P77 [Anlg Out0 Data] P78 [Anlg Out0 DataHi] P79 [Anlg Out0 DataLo] P82 [Anlg Out0 Val] P80 [Anlg Out0 Hi] P81 [Anlg Out0 Lo] P76 [Anlg Out0 Stpt] Case 1: This shows P77 [Anlg Out0 Data] the units are consistent with the selection of P75 [Anlg Out0 Sel]. In this case, the analog out select is set to P3 [Mtr Vel Fdbk] and the units are in rpm. P80 [Anlg Out0 Hi], P81 [Anlg Out0 Lo], P78 [Anlg Out0 DataHi], and P79 [Anlg Out0 DataLo] are all at default.
Chapter 2 Feedback and I/O Case 2 P77 [Anlg Out0 Data] P78 [Anlg Out0 DataHi] P79 [Anlg Out0 DataLo] P82 [Anlg Out0 Val] [Anlg Outn Sel] = Mtr Vel [Anlg Outn Val] [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 Outn Val] is at maximum of 10.
Feedback and I/O Chapter 2 Case 3 P77 [Anlg Out0 Data] P78 [Anlg Out0 DataHi] P79 [Anlg Out0 DataLo] P82 [Anlg Out0 Val] P80 [Anlg Out0 Hi] P81 [Anlg Out0 Lo] [Anlg Outn Hi] = 8 [Anlg Outn Lo] = 2 [Anlg Outn Val] [Anlg Outn DataHi] = 1500 [Anlg Outn DataLo] = 500 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.
Chapter 2 Feedback and I/O 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 Out0 Sel] to 76 [Anlg Out0 Stpt]. Then map a datalink to P76 and you’ll be able to drive the analog output over a network.
Feedback and I/O Digital Inputs Chapter 2 Physical inputs are programmed to desired digital input functions. These parameters cannot be changed while the drive is running.
Chapter 2 Feedback and I/O 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.
Feedback and I/O Chapter 2 Functional Descriptions DI Enable Closing this input lets the drive 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 condition, and no fault is generated. If this function is not configured, the drive is considered enabled. IMPORTANT If the ENABLE (J1) jumper is removed, the Di 0 becomes a hardware enable.
Chapter 2 Feedback and I/O DI Start An open to closed transition while the drive is stopped causes 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 “Run” functions (not combined with direction) are used. An open input sets direction to forward. A closed input sets direction to reverse.
Feedback and I/O Chapter 2 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 stops 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.
Chapter 2 Feedback and I/O DI Speed Sel 2 0 DI Speed Sel 1 0 DI Speed Sel 0 0 Auto Reference Source (Parameter) Reference A (P545 [Spd Ref A Sel]) 0 0 1 Reference A (P545 [Spd Ref A Sel]) 0 1 0 Reference B (P550 [Spd Ref B Sel]) 0 1 1 Preset Speed 3 (P573 [Preset Speed 3]) 1 0 0 Preset Speed 4 (P574 [Preset Speed 4]) 1 0 1 Preset Speed 5 (P575 [Preset Speed 5]) 1 1 0 Preset Speed 6 (P576 [Preset Speed 6]) 1 1 1 Preset Speed 7 (P577 [Preset Speed 7]) Refer to Speed Reference
Feedback and I/O Chapter 2 DI BusReg Mode B This digital input function selects how the drive regulates 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 41 for more details.
Chapter 2 Feedback and I/O DI PID Hold If this input function is closed, the integrator for the Process PID loop is held at the current value. If this input function is open, the integrator for the Process PID loop is allowed to increase. DI PID Reset If this input function is closed, the integrator for the Process PI loop is reset to 0. If this input function is open, the integrator for the Process PI loop integrates normally. DI PID Invert If this input function is closed, the PI Error is inverted.
Feedback and I/O Chapter 2 DI PHdwr OvrTrvl, DI NHdwr OvrTrvl 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 needs to be cleared and the fault needs to be reset. The drive restarts (if given a new start command), and continues operation. It follows any speed reference, position reference, or torque reference.
Chapter 2 Feedback and I/O 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.
Feedback and I/O Chapter 2 Figure 10 - PowerFlex 750-Series Option Module [Dig In Sts] [Dig In Filt] In5 Filter [Dig In Filt Mask] In4 [Dig In Filt] Filter [Dig In Filt Mask] In3 [Dig In Filt] Filter [Dig In Filt Mask] [Dig In Filt] In2 Filter [Dig In Filt Mask] In1 [Dig In Filt] Filter [Dig In Filt Mask] [Dig In Filt] In0 Filter [Dig In Filt Mask] Com Rockwell Automation Publication 750-RM002B-EN-P - September 2013 129
Chapter 2 Feedback and I/O Digital Outputs The PowerFlex 753 has one transistor output and one relay output embedded on its main control board. The transistor output is on TB1 at the lower front of the main control board. Terminal Name Description Rating T0 Transistor Output 48V DC, 250 mA maximum load. Open drain output. Transistor Output 0 The relay output is on TB2 at the bottom of the main control board.
Feedback and I/O Chapter 2 Catalog number 20-750-2263C-1R2T provides one transistor output and two relay outputs on TB2 at the front of option module. Terminal Name Description Rating R0NC Relay 0 N.C. Output Relay 0 normally closed contact 240V AC, 24V DC, 2A max Resistive Only R0C Relay 0 Common Output Relay 0 common R0NO Relay 0 N.O.
Chapter 2 Feedback and I/O 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. 220 (1) Parameter Name Description Digital In Sts Status of the digital inputs resident on the main control board (Port 0). 227(1) Dig Out Setpoint Controls Relay or Transistor Outputs when chosen as the source.
Feedback and I/O Chapter 2 Related PowerFlex 753 selection parameter information is noted below. Parameter No. Parameter Name Description 230 RO0 Sel Selects the source that energizes the relay output. 240 TO0 Sel Selects the source that energizes 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.
Chapter 2 Feedback and I/O 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.
Feedback and I/O Chapter 2 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.
Chapter 2 Feedback and I/O Within the Numeric Edit tab we can configure the digital output for the desired function. See below.
Feedback and I/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. Level Conditions A desired level function needs to be programmed into the “Level Sel” parameter, depending on the output being used.
Chapter 2 Feedback and I/O 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. 1 Output Frequency Output frequency present at terminals T1, T2, and T3 (U, V & W). 2 Commanded SpdRef Value of the active Speed/Frequency Reference. 3 Mtr Vel Fdbk Estimated or actual motor speed, with feedback.
Feedback and I/O Chapter 2 Related PowerFlex 753 drives Level Select parameter information noted below. Parameter No. Parameter Name Description 230 RO0 Sel 231 RO0 Level Sel Selects the source of the level that is compared. 232 RO0 Level Sets the level compare value. 233 RO0 Level CmpSts Status of the level compare, and a possible source for a relay or transistor output. 240 TO0 Sel Selects the source that energizes the relay or transistor output.
Chapter 2 Feedback and I/O 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. Controlled By Digital Input A digital output can be programmed to be controlled by a digital input.
Feedback and I/O Chapter 2 Example In this example, the drive is utilizing a 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 [RO0 Sel] is programmed for Port 7: Dig In Sts.Input 1 and P20 [RO1 Sel] is programmed for Port 7: Dig In Sts.Input 3.
Chapter 2 Feedback and I/O 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.
Feedback and I/O Chapter 2 Example For this example, our setup includes a PowerFlex 755 utilizing a 20-750-2262C2R 24VDC I/O Option Module and a ControlLogix™ L63 processor. The drive’s Option Module, P10 [RO0 Sel] is configured for Port 7: Dig Out Setpoint.Relay Out 0. We are utilizing the Logix Designer application, which includes the Drives Add-On Profiles (AOPs).
Chapter 2 Feedback and I/O Utilizing the 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. The picture below shows the result of controlling the digital output over the network (yellow highlight). Controlled by DeviceLogix software DeviceLogix software control technology provides you with the flexibility to customize a drive to more closely match your application needs.
Feedback and I/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.
Chapter 2 Feedback and I/O The picture below shows the status of the DeviceLogix software inputs and outputs via P49 [DLX DigIn Sts] and P51 [DLX DigOut Sts2]. The picture below shows the status of the DeviceLogix software inputs and outputs via P1 [Dig In Sts] and P5 [Dig Out Sts]. Invert There is a logical invert function associated with the PowerFlex 750-Series drive’s digital outputs.
Feedback and I/O Chapter 2 Data Type Read-Write 753 Dig Out Invert Digital Output Invert Inverts the selected digital output. Values RO 16-bit Integer Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Trans Out 0 Relay Out 0 226 Group Display Name Full Name Description Digital Outputs FEEDBACK & I/O File PowerFlex 753 Invert parameter information noted below. No.
Chapter 2 Feedback and I/O On/Off Time Each 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.
Feedback and I/O Chapter 2 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.
Values 5 Dig Out Sts Digital Output Status Status of the digital outputs. Data Type Display Name Full Name Description RO 16-bit Integer Options Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Trans Out 1(2) Trans Out 0(1) Relay Out 0 No.
Feedback and I/O Chapter 2 Figure 12 - PowerFlex 750-Series Option Module Outputs Dig Out Invert 6 0 Relay Out0 Source RO0 Off Time Dig Out Sts 15 5 0 0 Parameter Selection Inv NC Timer Common 1 NO 14 RO0 On Time 10 RO0 Sel RO1/TO0 Off Time Dig Out Sts 25 Dig Out Invert 5 1 6 1 Relay Out1 Transistor Out0 Source 0 Parameter Selection NC Timer 1 Inv Common 24 RO1/TO0 On Time 20 RO1/TO0 Sel NO *-1R2T (1-Relay / 2-Transistor) I/O Modules Only Dig Out Invert 6 2 Transistor Out1 Source T
Chapter 2 Feedback and I/O PTC Motor Thermistor Input A PTC (Positive Temperature Coefficient) sensing device, also known as a motor thermistor, embedded in the motor windings can be monitored by the drive for motor thermal protection. The motor windings are typically equipped with three PTC sensors (one per phase) wired in series as shown in schematic below.
Feedback and I/O Chapter 2 Figure 14 - PTC Connection Configuration with PTC connected to PowerFlex 753 Main Control Board Port 0: P250 [PTC Cfg] = 0 “Ignore,” 1 “Alarm,” 2 “Flt Minor,” 3 “FltCoastStop,” 4 “Flt RampStop,” or 5 “Flt CL Stop” Status is shown in Port 0: P251 [PTC Sts] Configuration with Optional I/O Board Port X (I/O Module): P40 [PTC Cfg] = 0 “Ignore,” 1 “Alarm,” 2 “Flt Minor,” 3 “Flt CoastStop,” 4 “Flt RampStop,” or 5 “Flt CL Stop” Status is shown in Port X (I/O Module): P41 [PTC Sts] an
Chapter 2 Feedback and I/O Fault or Alarm Operation The reaction to an increased PTC resistance depends on the respective PTC configuration, such as alarm or fault. When the ATEX module is used, the result is always fault. When the PTC resistance exceeds 3.2 kOhm a fault or alarm is triggered. The function is reset when the resistance drops below 2.2 kOhm. A short circuit is detected when the resistance value drops below 100 Ohm.
Chapter 3 Diagnostics and Protection Alarms Topic Page Alarms 155 Current Limit 156 DC Bus Voltage/Memory 158 Drive Overload 158 Faults 162 Input Phase Loss Detection 166 Motor Overload 168 Overspeed Limit 172 Password 173 Real Time Clock 174 Reflected Wave 179 Security 185 Shear Pin 188 Slip Compensation 192 Slip Regulator 194 Alarms are indications of situations that are occurring within the drive or application that are annunciated to the user.
Chapter 3 Diagnostics and Protection In a Control Logix program do not set P410 [Motor OL Actn] to 1 “Alarm.” There is an anomaly in drives with firmware version 8.001 or earlier that prevents an overload from being asserted in P959 [Alarm Status A] and in P937 [Condition Sts 1] Bit 2 “Motor OL.” Neither of these parameters are used under this circumstance to initiate any programmed alarm routine.
Diagnostics and Protection Chapter 3 Figure 15 - Current Limit Frequency Fold-back Examples P7 [Output Current] P424 [Active Cur Lmt] P1 [Output Frequency] Frequency is folded back. Running at 60 Hz P3 [Mtr Vel Fdbk] Load is removed. Current limit set to 8 amps. Frequency is folded back more aggressively as the load continues to increase. Frequency Amps Load hits current limit. Gradual increase in load.
Chapter 3 Diagnostics and Protection DC Bus Voltage/Memory 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 precharge relay is closed during initial powerup, bus memory is set equal to bus voltage. Thereafter it is updated to the six-minute average of the instantaneous DC bus voltage. Bus memory is used as a comparison value to sense a power loss condition.
Diagnostics and Protection Chapter 3 Inverse Time Protection The following curves show an example of the boundary operations of a 20G1AxC770 drive. The curve is defined by the drive’s continuous rating and the respective overload capacities. These are voltage class and duty rating dependant and are configurable by P305 [Voltage Class] and P306 [Duty Rating]. This particular example has six different overload ratings.
Chapter 3 Diagnostics and Protection Normal Duty and Heavy Duty Operation Applications require different amounts of overload current. Sizing a drive for Normal Duty provides 110% for 60 seconds and 150% for 3 seconds. For a heavy duty application, one larger drive rating than the motor is used 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 and 180% for 3 seconds.
Diagnostics and Protection Chapter 3 drive temperature and a temperature rise that is a function of operating conditions. When the calculated junction temperature reaches a maximum limit, the drive faults. This fault cannot be disabled. This maximum junction temperature is stored on the power board EEPROM along with other information to define the operation of the drive overload function. These values are not user adjustable.
Chapter 3 Diagnostics and Protection Low Speed Operation When operation is below 5 Hz, the IGBT duty cycle is such that heat builds up more rapidly in the power device. The thermal manager increases the calculated IGBT temperature at low output frequencies and causes corrective action to take place sooner. Consult technical support when prolonged operation at low output frequencies is required so proper drive derating can be applied.
Diagnostics and Protection Chapter 3 The following data/conditions are captured and latched into non-volatile drive memory. • P952 [Fault Status A] P953 [Fault Status B] Indicates the occurrence of conditions that have been configured as faults. • P954 [Status1 at Fault] P955 [Status2 at Fault] Captures operating conditions of the drive at the time of the fault. • P957 [Fault Amps] Motor amps at the time of the fault. • P958 [Fault Bus Volts] DC Bus volts at time of the fault.
Chapter 3 Diagnostics and Protection Fault Code and Time Stamp The fault code with descriptive text for each entry can be viewed with a HIM. Once the fault code is displayed, pressing the enter key again on the HIM displays the time stamp associated with that fault code. The time stamp is the elapsed time since the fault occurred.
Diagnostics and Protection Chapter 3 Fault Configuration The drive can be configured such that some conditions do not trip the drive. The following is a brief list of drive configurable faults. Some of these faults are explained in more detail in their own section of this document. Accessories such as encoder or I/O cards have additional configurable faults. Refer to the Troubleshooting section of the PowerFlex 750-Series Programming Manual, publication 750-PM001.
Chapter 3 Diagnostics and Protection Input Phase Loss Detection Occasionally, three-phase power sources can fail on one phase while continuing to deliver power between the remaining 2 phases (single-phase). Operating above 50% output under this single-phase condition can damage the drive. If such a condition is likely, 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).
Diagnostics and Protection Chapter 3 If a fault action has been selected as a result of an input phase loss, P952 [Fault Status A] Bit 4 “InPhaseLoss” is set. If an alarm action is selected as a result for the input phase loss, P959 [Alarm Status A] Bit 4 “InPhaseLoss” is set.
Chapter 3 Diagnostics and Protection 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. Setting a larger value permits a higher bus voltage ripple without causing the drive to fault but also results in more heating in the bus capacitors shortening their life or possibly resulting in failure.
Diagnostics and Protection Chapter 3 Operation of the overload is based on three parameters. • P26 [Motor NP Amps] is the base value for motor protection. • P413 [Mtr OL Factor] is used to adjust for the service factor of the motor. Within the drive, motor nameplate FLA is multiplied by motor overload factor to select the rated current for the motor thermal overload.
Chapter 3 Diagnostics and Protection Continuous Rating Charging Overload Hz OL % = 10 OL % = 25 OL % = 50 Duty Cycle for the Motor Overload When the motor is cold, this function enables 3 minutes at 150%. When the motor is hot, it enables 1 minute at 150%. A continuous load of 102% is allowed to avoid nuisance faults. The duty cycle of the motor overload is defined as follows.
Diagnostics and Protection Chapter 3 The ratio of 1:20 is the same for all durations of 150%. When operating continuous at 100%, if the load increases to 150% for 1 second the load must then return to 100% for 20 seconds before another step to 150%.
Chapter 3 Diagnostics and Protection Table 10 - Other Parameters Overspeed Limit 172 Parameter No. Parameter Name Description 411 Mtr OL at Pwr Up Motor Overload at Power Up parameter configures the motor overload feature regarding the state of the overload counter at power up. • “Assume Cold” (0) – P418 [Mtr OL Counts] will be reset to zero the next time the drive is powered up.
Diagnostics and Protection Chapter 3 CIP Motion When a PowerFlex 755 drive is running as a CIP Motion drive, then attribute 695 “Motor Overspeed User Limit” specifies the overspeed trip point directly. This attribute has units of percent of motor rated speed. So, if attribute 695 is set to 120% then the overspeed fault occurs at or above 120% rated speed. Interior Permanent Magnet For Interior Permanent Magnet motor control mode, an additional limit is placed on the Speed Limit + Overspeed threshold.
Chapter 3 Diagnostics and Protection Real Time Clock The PowerFlex 755 is equipped with a real-time clock with a battery backup. This enables programming of real time in the drive, and keeping that time even if the drives power is removed. This enables 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.
Diagnostics and Protection Chapter 3 to advance to another field or press the ESC soft key to return to the previous screen. • Press the ► soft key to select the month in the top line, and use the numeric keys to enter the correct month. • Press the ► 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).
Chapter 3 Diagnostics and Protection 3. Click Display Alarms/Faults Dialog. A new dialog box appears. 4. Click the Device System Time tab.
Diagnostics and Protection Chapter 3 5. If necessary, change the values in the Set Time Zone and Set Device Time dialog boxes. 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.
Chapter 3 Diagnostics and Protection Figure 16 - PowerFlex 753 Main Control Board Figure 17 - PowerFlex 755 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.
Diagnostics and Protection Chapter 3 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 can result in permanent damage to the main control board. Reflected Wave Reflected waves are a phenomenon associated with long cables and fast changes in voltage levels. They were first identified on power transmission lines that are hundreds of miles long.
Chapter 3 Diagnostics and Protection Figure 18 - PWM Voltage at the Drive Output Terminals DC Bus Volts 0 Volts Ideally, the voltage waveform at the motor looks exactly the same as the output of the drive. However, the voltage at the motor has individual on/off pulses that make up the PWM voltage waveform along with a ringing that occurs at every switching transition. This is shown in Figure 19.
Diagnostics and Protection Chapter 3 When the voltage at the motor terminals exceeds the insulation rating of the motor, corona begins to appear. This corona deteriorates the insulation system, eventually leading to a fault to ground. Such a failure is shown below. The level of the DC bus voltage has a direct effect on the peak level of the ringing surge voltage. If the drive operates at 230V AC, the DC bus voltage is about 310V DC and two times peak only reaches 620Vpk.
Chapter 3 Diagnostics and Protection The Terminator Is it possible to match the surge impedance of the motor to the cable? There is a device called the terminator that does this, shown in the figure below. It is an RC network at the motor that matches the load surge impedance to the cable. Figure 20 shows the surge voltages when using the terminator. The overshoot is very low, with no ringing to speak of.
Diagnostics and Protection Chapter 3 A method to reduce just the dV/dt is to use shielded cable between the drive and the motor. The inherent capacitance between the lines and the shield help keep the surge voltage at 1200V up to 600 ft with PWM drives.
Chapter 3 Diagnostics and Protection Waveforms The waveforms A, B, and C in the figure below describe the different mitigations solutions shown on top of each other. A - Unprotected motor B - Line Reactor at the Drive C - Terminator or RWR Line-Line Motor Voltage (VPK) Figure 20 - Waveform Comparison Time (μs) Here are waveforms using a sine wave filter at 30 and 60 Hz. As you can see there are no issues with reflected wave when using a sine wave filter.
Diagnostics and Protection Security Chapter 3 The Security feature provides drive access protection. Ports This feature provides write access protection for individual communication ports in the drive. The HIM or communication modules with software tools can be used to change any port to read only. A password can also be used with the HIM to prevent writing to parameters through the keypad. See Password on page 173. The following drive peripherals can be used to control access.
Chapter 3 Diagnostics and Protection Any changes to P888 [Write Mask Cfg] will not take effect until one of the following three events occur. • Power is removed and reapplied. • A drive reset (not reset to defaults) is performed. • P887 [Write Mask Act] Bit 15 transitions from 1 to 0. The status of a port’s write access can be verified at P887 [Write Mask Act]. For example, to verify that write access was disabled, P887 [Write Mask Act] Bit 4 “Port 4” equals 0.
Diagnostics and Protection Chapter 3 When the writing capabilities of ports 1, 2, or 3 have been masked, via parameter 888 [Write Mask Cfg] or Network Security, the HIM displays the following message when trying to edit a parameter. • A6-HIM: Security is enabled. Access Denied • A3-HIM with Firmware that has Security Functionality: Security Enable.
Chapter 3 Diagnostics and Protection Shear Pin As a default, the drive folds back when the output current exceeds the current limit level. However, the shear pin feature can be used to instantly fault the drive when output current exceeds a programmed amount. Additionally, the drive can be programmed to ignore this condition during acceleration and deceleration which often requires current that otherwise causes a shear pin fault. Also, the condition can be ignored for a programmable amount of time.
Diagnostics and Protection Chapter 3 Shear Pin Time If an immediate action is to be taken, set shear pin time to 0. If the shear pin level is to be ignored for a period of time, enter that value into P437 [Shear Pin 1 Time] or P440 [Shear Pin 2 Time]. Generally, some value greater than 0 is entered in shear pin time to eliminate any faults on very short peak current spikes. Thus eliminating nuisance tripping.
Chapter 3 Diagnostics and Protection Shear Pin - Shock Load P7 [Output Current] P436 [Shear Pin1 Level] Motor Speed Drive Faults Shock Load Frequency Amps Shear Point 1 Level P3 [Mtr Vel Fdbk] Seconds Acceleration Fault Anomaly It is possible for the drive to trip during acceleration on a shear pin fault even when P434 [Shear Pin Cfg] Bits 0 or 1 in are set. This occurs when the accel time is set to something very small.
Diagnostics and Protection Chapter 3 to issue the actual fault at a higher current level or a slightly longer Shear Pin time. Shear Pin - Alarm then Fault P7 [Output Current] P952 [Fault Status A] P436 [Shear Pin1 Level] P959 [Alarm Status A] P439 [Shear Pin2 Level] P3 [Mtr Vel Fdbk] Drive Faults Motor Speed Shear Pin 2 Time Load Changes Shear Pin 1 Time Alarm Indication Alarm Indication Fault Indication Other Points The Shear Pin feature is not to be taken as a precise current reactionary feature.
Chapter 3 Diagnostics and Protection Slip Compensation When slip compensation mode is selected, the drive automatically adds the appropriate amount of output frequency to maintain a consistent motor speed independent of load. During drive commissioning, P621 [Slip RPM at FLA] is set based on entered motor nameplate information. This parameter can be adjusted to provide more or less compensation.
Diagnostics and Protection Chapter 3 The responsiveness to an impact load can be adjusted with P622 [Slip Comp BW]. However, too high setting can cause unstable operation and overshoot. Impact Load Removed Increasing Slip Comp Gain Speed Impact Load Applied Rotor Speed Reference Increasing Slip Comp Gain 0 0 Time Baking Line Application Example The diagram below shows a typical application for the slip compensation feature. The PLC controls the frequency reference for all four of the drives.
Chapter 3 Diagnostics and Protection Slip Regulator 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.
Chapter 4 Motor Control Topic Page Carrier (PWM) Frequency 196 Dynamic Braking 197 Flux Braking 216 Flux Regulator 218 Flux Up 218 High Resolution Feedback 220 Inertia Adaption 221 Inertia Compensation 223 Load Observer 225 Motor Control Modes 226 Motor Types 235 Notch Filter 244 Regen Power Limit 247 Speed Reference 251 Speed Regulation 260 Torque Reference 262 Speed Torque Position 266 Rockwell Automation Publication 750-RM002B-EN-P - September 2013 195
Chapter 4 Motor Control Carrier (PWM) Frequency P38 [PWM Frequency] sets the carrier frequency at which the inverter output IGBTs (Insulated Gate Bipolar Transistors) switch. In general, use the lowest possible switching frequency that is acceptable for the particular application. An increased carrier frequency causes less motor heating and lowers the audible noise from the motor.
Motor Control Dynamic Braking Chapter 4 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.
Chapter 4 Motor Control 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 is 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.
Motor Control Chapter 4 PWM Control 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 in a common bus configuration. Vdc Vdc_on+25 Vdc_on+25 –2.
Chapter 4 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 will not turn on, giving the impression that the drive is not functioning correctly or seeing one drive’s 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.
Motor Control Chapter 4 Here are two drives with PWM DB control on a common bus. Because one drive turns on at a certain duty cycle the bus voltage is likely to continue to rise guaranteeing that the other drive’s IGBT turns on (at a different duty cycle).
Chapter 4 Motor Control 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.
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. ω(t) 0 t1 t2 t3 t4 t1 + t4 t t1 t2 t3 t4 t1 + t4 t t1 t2 t3 t4 t1 + t4 t T(t) 0 P(t) 0 -Pb Dynamic Braking Module (no longer a Rockwell Automation product) Figure 22 shows a simplified schematic of a Chopper Module with Dynamic Brake Resistor.
Chapter 4 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.
Motor Control Chapter 4 3. The motor inertia and load inertia in kilogram-meters2, or lb•ft2. 4. 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 use the following variables. 2πN ω(t) = The motor shaft speed in Radians/second, or ωRad ⁄ s = ---------- RPM 60 N(t) = The motor shaft speed in Revolutions Per Minute, or RPM T(t) = The motor shaft torque in Newton-meters, 1.
Chapter 4 Motor Control t3 - t2 = total time of deceleration from rated speed to 0 speed, in seconds Pb = peak braking power, watts (1.0 HP = 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, the deceleration time, (t3 - t2), 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.
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.
Chapter 4 Motor Control Pdb = 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 gives a data point to be drawn on the curve of Figure 3.
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 is no application problem. If any portion of the line lies to the right of the constant temperature power curve of the Dynamic Brake Resistor, then there is an application problem.
Chapter 4 Motor Control t3 - t2 = total time of deceleration from the rated speed to 0 speed, seconds Pb = 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, (t3 - t2), 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.
Motor Control Drive Voltage (Volts AC) 230 Turn-On Voltage (Volts DC) 375 460 750 575 935 Cat. No. WA018 WA070 WA115 WB009 WB035 WB110 WC009 WC035 WC085 Chapter 4 Peak Transistor Current Minimum DB Resistor Rating (Amps) Value (Ohms) 50 9.0 200 2.3 400 1.25 25 37 100 9.0 400 2.5 25 46 75 15.5 400 3.0 Step 5 – Determine the Minimum Resistance Each chopper module in the table above has a minimum resistance associated with it.
Chapter 4 Motor Control The Dynamic Brake Resistor power rating in watts that is chosen will be equal to or greater than the value calculated in Step 7. Step 8 – Calculate the requires Watt-Seconds (joules) for the resistor To be sure the resistor’s thermal capabilities are not violated, a calculation to determine the amount of energy dissipated into the resistor is made. This determines the amount joules the resistor must be able to absorb.
Motor Control Chapter 4 Step 2 – Calculate the Peak Braking Power JT × ω 2 P b = ----------------t3 – t2 JT = Total inertia reflected to the motor shaft, kg•m2 ω = rated angular rotational speed, Rad ⁄ s = 2πN ---------60 N = Rated motor speed, RPM t3 - t2 = total time of deceleration from the rated speed to 0 speed, seconds Pb = 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.
Chapter 4 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 likely be damaged. Below is a table of minimum resistances for frame 2 through 7 PowerFlex 750-Series drives. Frame 2 3 4 5 6 7 400V ND kW 0.75 1.5 2.2 4.0 5.5 7.5 11 15 18.
Motor Control Chapter 4 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 (t3 - t2) = the time in seconds necessary for deceleration from rated speed to 0 speed, and t4 is the time in seconds before the process repeats itself, then the average duty cycle is (t3 - t2)/t4.
Chapter 4 Motor Control Flux Braking Flux Braking is an independent feature from the P370/371 [Stop Mode A/B] available in PowerFlex 750-Series drives. When enabled, flux braking is active during the decel ramp of a speed change. Flux braking changes the Volts per Hertz curve ratio outputting a higher voltage, relative to the normal V/Hz curve, to the motor causing over fluxing thus reducing the speed faster than just the decel ramp alone.
Motor Control Chapter 4 In the next plot all conditions are the same except the Flux Braking feature is enabled. Note the flux to the motor is increased and the decel time is shorter. Flux Braking - Enabled Id Torque Ref Motor Speed DC Bus Voltage Increased flux to the motor. Note the decel time. Compare to disabled. Finally the same test with the gains set to maximum levels. Slightly faster decel. The use of the gains vary with the connected load.
Chapter 4 Motor Control Flux Regulator 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 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, the current regulator becomes de-tuned.
Motor Control Chapter 4 Figure 24 - Flux Up Current versus Flux Up Time Flux Up Current Flux Up Current = Maximum DC Current Rated Flux Current Rated Motor Flux Motor Flux 0 T1 T2 T3 T4 Flux Up Time Once rated flux is reached in the motor, normal operation begins and the desired acceleration profile is achieved.
Chapter 4 Motor Control Read-Write Display Name Full Name Description Values 43 Flux Up Enable Flux Up Enable “Manual” (0) – Flux is established for P44 [Flux Up Time] before initial acceleration. “Automatic” (1) – Flux is established for a calculated time period based on motor nameplate data before acceleration. P44 [Flux Up Time] is not used. Flux Up Time Flux Up Time The amount of time the drive will use to try to achieve full motor stator flux.
Motor Control Inertia Adaption Chapter 4 Inertia adaption is used to compensate for lost motion, which occurs when a gear box and/or a springy coupling is present. Lost Motion describes the condition in which an input to a mechanism creates no corresponding displacement at the output. This is most noticeable in systems with large inertia ratios using a gearbox or flexible couplings. The term inertia adaption refers to how this function adapts or changes the dynamic inertia seen by the speed regulator.
Chapter 4 Motor Control Configuration Inertia adaption only works if there is valid inertia value entered in P76 [Total Inertia]. Total inertia is measured during an assisted startup procedure executed from the HIM or software wizard. The inertia tune can be executed manually by setting P70 [Autotune] to option 4 “Inertia Tune” and starting the drive.
Motor Control Chapter 4 Where is inertia adaption applied? • Any system with an inertia ratio greater than 3:1 that is plagued by gear noise or resonance that can’t achieve desired performance by ordinary tuning. (Inertia ratio is the ratio of system inertia to motor inertia.) • Most high performance tracking or electronic line shaft systems. • Most geared systems requiring higher bandwidths and stiffness.
Chapter 4 Motor Control • “Int Ramp Ref ” (1) – Inertia compensation is enabled. The function is configured to use the rate of change of P595 [Filtered Spd Ref ]. This is the typical setting that should be used for inertia compensation on a standalone drive. • “Ext Ramp Ref ” (2) – Inertia compensation is enabled. The function is configured to use the rate of change of P700 [Ext Ramped Ref ]. This setting is available for applications that supply a ramped speed reference external to the drive.
Motor Control Chapter 4 The PowerFlex 755 load observer feature compensates for and greatly reduces load disturbances and gives quicker system response. It minimizes the load torque requirements of the speed regulator. The load observer attempts to determine a load estimate value that matches the load torque present in the simplified load model. This is a simplified motor/load model.
Chapter 4 Motor Control Configuration Enable Load Observer by setting P704 [InAdp LdObs Mode] to 2 “LoadObserver.” The total inertia value P76 [Total Inertia] is required for this feature. Ideally it is measured during the inertia test as part of the drive startup. The next best approach is to manually enter a reasonably close (calculated) value. In Load Observer mode, P711 [Load Observer BW] is used to set the natural frequency of a low pass filter in radians per second (R/S).
Motor Control Chapter 4 • Induction FV (3) – Induction motor, flux vector control mode. Connected to an induction motor. Used when high performance precise speed regulation and/or position control closed loop is required. Can also be configured with direct Torque Reference input. Can also be used open loop with less precision. • PM VHz (4) – Permanent magnet motor, volts per Hertz control mode. Connected to a Surface Permanent Magnet motor (SPM) or Permanent Magnet Synchronous Motor (PMSM).
Chapter 4 Motor Control Volts/Hertz Volts/Hertz operation creates a fixed relationship between output voltage and output frequency. Volts/Hertz works the same for Permanent Magnet and SyncRel VHz as it does for induction VHz. The relationship can be defined in two ways by setting P65 [VHz Curve] to 0 “Custom V/Hz” or 1 “Fan/Pump.” V/Hz Control Frequency Ref. V/Hz V Ref.
Motor Control Chapter 4 1 = “Fan/Pump” When this option is chosen, the relationship is 1/x2. Therefore, at full frequency, full voltage is supplied. At 1/2 rated frequency, 1/4 voltage is applied. This pattern closely matches the torque requirement of a variable torque load (centrifugal fan or pump – load increases as speed increases) and offers the best energy savings for these applications.
Chapter 4 Motor Control PM and SyncRel Sensorless Vector Current Feedback - Total Current Resolver Torque 1 Est. Current Feedback V/Hz Control Speed Freq. Freq. Ref. Current Limit Elec. Freq. V/Hz Torque 1 Est. Vector Control V Ref. Voltage Control Gate Signals Inverter Motor V Vector The algorithms operate on the knowledge that motor current is the vector sum of the torque and flux producing components of current.
Motor Control Chapter 4 the economizer is inactive and Sensorless Vector motor control performs normally.
Chapter 4 Motor Control Flux Vector Control In Flux Vector mode, the flux and torque producing currents are independently controlled and speed is indirectly controlled by a torque reference. Alternatively, the drive can control torque instead of speed in flux vector mode. In either case, this mode can be operated either with or without feedback and will provide the fastest response to load changes. Flux Vector control is used with AC squirrel cage induction motors for high performance.
Motor Control Chapter 4 Permanent Magnet Motor Control Permanent magnet motor control is selected by setting P35 [Motor Ctrl Mode] to the appropriate choices of motor type. Refer to Appendix D of the PowerFlex 750-Series Programming Manual, publication 750-PM001 for compatible list of Allen-Bradley Servo motors and resolution criteria.
Chapter 4 Motor Control PM Flux Vector Control In flux vector mode, the flux and torque producing currents are independently controlled and speed is indirectly controlled by a torque reference. Alternatively, the drive can also control torque instead of speed in flux vector mode. In either case, this mode can be operated either with or without feedback and will provide the fastest response to load changes. High Performance and precise control will require encoder feedback.
Motor Control Motor Types Chapter 4 The following explanation and descriptions of AC motor types are condensed summaries derived from a variety of sources that focus on the history, evolution, and feature benefits of the variety of motor designs. These designs are utilized in all sectors of use and in vast variations of machinery, equipment, and processes.
Chapter 4 Motor Control AC Induction Motors P35 [Motor Ctrl Mode] induction motor options. • 0 = “Induction VHz” • 1 = “Induction SV” • 2 = “Induction Econ” • 3 = “Induction FV” AC Induction Motors (ACIMs) are the simplest and most rugged electric motor and consist of two basic electrical assemblies: the wound stator and the rotor assembly.
Motor Control Chapter 4 Polyphase AC Induction Motors Polyphase squirrel-cage AC motors are basically constant-speed machines, but some degree of flexibility in operating characteristics results from modifying the rotor slot design. These variations in AC motors produce changes in torque, current, and full-load speed. Evolution and standardization have resulted in four fundamental types of AC motors. There are five basic NEMA designs for AC motors: A, B, C, D, and F.
Chapter 4 Motor Control particularly suited to handle hard-to-start loads. Another useful characteristic of this motor is the sloping shape of its speed-torque curve. This lets the motor slow down during periods of peak loads, enabling any flywheel energy that has been stored by the load to be released. Typical applications include punch presses and press brakes. AC Motors - Design F exhibit low starting torque, low starting current, and low slip.
Motor Control Chapter 4 connected to the rotor windings. CAUTION! Because wound-rotor motors were not originally designed for use with inverters, the dielectric strength of the motor construction cannot withstand the reflected wave voltages that can get subjected at the motor connections (1.5 to 2.5 times drive’s bus voltage). Appropriate mitigation must be considered.
Chapter 4 Motor Control In large horsepower sizes applied to industrial loads, synchronous AC motors serve two important functions. First, AC motors provide highly efficient means of converting AC energy to mechanical power. Second, AC motors can operate at leading or unity power factor, thereby providing power-factor correction. There are two major types of synchronous AC motors: non-excited and directcurrent excited electric motors.
Motor Control Chapter 4 rotor structures similar to BLDC motors which contain permanent magnets. However, their stator structure resembles that of its ACIM cousin, where the windings are constructed in such a way as to produce a sinusoidal flux density in the air gap of the machine. As a result, they perform best when driven by sinusoidal waveforms.
Chapter 4 Motor Control take advantage of inherent advantages. In principle, there are no size limitations to IPM designs and these can be developed from small fractional horsepower to large – hundreds of Hp ratings, creating potential applications that can benefit from variable speed IPM control. Synchronous Reluctance Motors P35 [Motor Ctrl Mode] induction motor options. • 7 = “SyncRel VHz” • 8 = “SyncRel SV” Synchronous reluctance motors have an equal number of stator and rotor poles.
Motor Control Chapter 4 A linear electric motor in concept has rotary electric motor stator cores, unrolled out over a linear path. The circular stator becomes a linear stator, being defined as a single-sided linear induction electric motor (SLIM). Likewise, if the circular stator is cut into two sections and flattened, the electric motor becomes a doublesided linear induction electric motor (DLIM).
Chapter 4 Motor Control Notch Filter 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 P688 [Notch Fltr Atten] sets the attenuation of the notch filter in the vector control torque reference section. Attenuation is the ratio of the notch filter input signal to its output at the P687 [Notch Fltr Freq].
Motor Control Chapter 4 Figure 26 - Resonance Motor Torque Motor PU Roll PU The following represents the same mechanical gear train but with [Notch Filter Freq] set to 10.
Chapter 4 Motor Control 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 (before) and Txx (after) in position control. See the partial block diagram below.
Motor Control Regen Power Limit Chapter 4 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 can occur. When using the bus regulator [Regen Power Lmt] can be left at factory default, -50%.
Chapter 4 Motor Control RPL = -50% DC Bus Voltage Iq TrqRef P685 Motor Speed DB Active RPL = 100% DC Bus Voltage Iq TrqRef P685 DB Active 248 Rockwell Automation Publication 750-RM002B-EN-P - September 2013 Motor Speed
Motor Control Chapter 4 RPL = -200% DC Bus Voltage Iq TrqRef P685 Motor Speed DB Active NTL = -20% DC Bus Voltage Iq TrqRef P685 Rockwell Automation Publication 750-RM002B-EN-P - September 2013 Motor Speed 249
Chapter 4 Motor Control NTL = -50% DC Bus Voltage Iq TrqRef P685 Motor Speed NTL = -100% DC Bus Voltage 250 Iq TrqRef P685 Rockwell Automation Publication 750-RM002B-EN-P - September 2013 Motor Speed
Motor Control Chapter 4 The speed reference can come from a variety of sources.
Chapter 4 Motor Control Figure 29 - PowerFlex 755 Speed Reference Selection Overview Speed Reference Selection Spd Ref Command Spd Ref A Trim Ref A Ref A Auto + Speed Reference Control Trim % Ref A Spd Ref B Trim Ref B + Ref B Auto + Trim % Ref B Profiling/ Jogging/ Lift App/ Autotune/ Homing/ Overrides Selected Spd Ref Direction Mode Limited Spd Ref Limit Switch Control Skip Bands Speed Ref Stop / Torque Proving Fiber App.
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 [Spd Ref A Sel].
Chapter 4 Motor Control 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 equals a Reference of 30.0 Hz. If P300 is set to RPM, a 32-bit REAL Reference value of 1020.5 equals a Reference of 1020.5 RPM. Note that the commanded maximum speed can never exceed the value of drive P520 [Max Fwd Speed].
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) causes 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].
Chapter 4 Motor Control Trim The speed reference source, specified in P545 [Spd Ref A Sel] or P550 [Spd 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 750Series Trim Block Diagram below.
Motor Control Chapter 4 If the speed reference = 20 Hz and if the trim percentage = 25%, the resulting trim is 20 Hz x 25% = 5 Hz, which when added to the speed reference = 25 Hz. As the speed reference changes, the amount of trim also changes because it is a percent of the speed reference. If the trim percentage = -25%, then the resulting trim is 20 Hz x -25% = -5 Hz, the speed reference = 15 Hz.
Chapter 4 Motor Control Min/Max Fwd/Rev Speed Maximum and minimum speed limits are applied to the forward and reverse reference. The minimum speed limits create a band that the drive will not run continuously within, but ramps 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 is set to the Min Fwd Speed minimum.
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 line, along the graph. 2 [Commanded SpdRef] 546 [Spd Ref A Stpt] 520 [Max Fwd Speed] 522 [Min Fwd Speed] 523 [Min Rev Speed] 521 [Max Rev Speed] Maximum Frequency P37 [Maximum Freq] defines the maximum reference frequency. The actual output frequency can be greater as a result of slip compensation and other types of regulation.
Chapter 4 Motor Control Speed Regulation A 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.
Motor Control Chapter 4 Speed Loop Damping - P653 [Spd Loop Damping] Sets the damping factor of the vector speed loop’s characteristic equation. Damping affects the integral gain when a non-zero bandwidth has been entered. A damping factor of 1.0 is considered critical damping. Lowering the damping produces faster load disturbance rejection, but can cause a more oscillatory response. When the speed regulator bandwidth is zero, gains are set manually and damping factor has no effect.
Chapter 4 Motor Control Torque Reference The Torque Reference is a reference value in percent that represents the rated torque development capability of the motor. During the autotune process, measurements are made to determine the motor equivalent circuit including connected impedance from drive terminals to the motor.
Motor Control Chapter 4 Figure 30 - Torque Reference Path Speed Control – Regulator Max Fwd Speed 520 SReg Output Final Speed Ref 660 597 Limit Lead/Lag Filter Filtered SpdFdbk 640 Lead/Lag Filter PI Regulator 521 Speed Reg Kp 645 Speed Reg Ki 647 Speed Reg BW 636 Max Rev Speed Active Vel Fdbk 131 Droop RPM at FLA 620 Torque Reference ( Spd Reg Out ) Torque Control Actv SpTqPs Mode Torque Step 313 Inertia Adaption 686 + FrctnComp Mode 1560 FrctnComp Out 1567 Speed/ Torque/ Posi
Chapter 4 Motor Control Sel] and P680 [Trq Ref B Sel], the output can be summed together and along with the output of “Torque Trim,” to become P4 [Commanded Trq]. Figure 31 - Torque Control - Reference Scale and Trim Trq Ref B Sel * Note: Analog Hi, Lo scaling only used when Analog Input is selected 0.0 Trq Ref B Stpt Trq Ref A Sel Trq Ref A Stpt 676 0.
Motor Control Chapter 4 A digital torque value to be used as a possible source for P675 and P680 respectively. P677 [Trq Ref A AnlgHi] and P682 [Trq Ref B AnlgHi] - Torque Reference A, B Analog High Used only when an analog input is selected as a torque reference according to P676 or P681. Sets the torque value that corresponds to [Anlg Inn Hi] on an I/O module or on the main control (product dependent). This establishes scaling throughout the range.
Chapter 4 Motor Control Speed Torque Position The PowerFlex 750-Series drives have the ability to have four separate Speed Torque Position modes with the following parameters: • P309 [SpdTrqPsn Mode A] • P310 [SpdTrqPsn Mode B] • P311 [SpdTrqPsn 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 Trq Ref ] forced to a constant value of zero torque.
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 Trq Ref ] has the same source as in Sum mode.
Chapter 4 Motor Control Figure 32 - PowerFlex 755 Firmware Flowchart FrctnComp Out 1567 FrctnComp Mode 1560 Disabled 0 0 From Spd Ref Int Ramp Ref 1 [7A3] Ext Ramped Ref 2 700 Filtered SpdFdbk 3 640 InertiaTrqAdd Total Inertia FrctnComp Trig 1562 FrctnComp Hyst 1563 FrctnComp Time Inertia Adapt BW 705 FrctnComp Stick 706 1565 FrctnComp Slip ***INTERNAL CONDITION ONLY*** InertiaAdaptGain FrctnComp Rated Logic Ctrl State (Forced Spd) Zero Torque From Spd Reg [10I3] + 660 SReg Output
Motor Control Chapter 4 [Commanded Trq]. This parameter will be entered in units of Hz or RPM, depending on the value of P300 [Speed Units]. P315 [SLAT Dwell Time] - Speed Limited Adjustable Torque, Dwell Time Sets the time period that P641 [Speed Error] must exceed the P314 [SLAT Err Stpt] magnitude in order to return to min/max torque mode.
Chapter 4 Motor Control P690 [Limited Trq Ref ] - Limited Torque Reference Displays the torque reference value after filtering (P689), power limits, torque limits, and current limits have been applied. This parameter is the most effective VFD representative Torque Reference value to be monitored for motor load assessment and to be passed on to other drives for load sharing applications involving multiple drives. It represents the percent of the rated torque being developed at the motor shaft.
Motor Control Chapter 4 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] needs to be configured for “Anlg In0 Value.” When operating in a Torque mode, the motor current is adjusted to achieve the desired torque.
Chapter 4 Motor Control Figure 33 - Minimum Torque Speed without SLAT Internal Torque Command At Speed Relay Load Step (Decreased) Speed Feedback Torque Regulator Speed Regulator Or • The speed error becomes negative (the speed feedback becomes greater than the speed reference). This would force the control into speed regulator mode, a condition called Forced Speed Mode FSM.
Motor Control Chapter 4 Empirically setting values P314 [SLAT Err Stpt] and P315 [SLAT Dwell Time] other than default may help create even smoother transitions.
Chapter 4 Motor Control SLAT Maximum Mode Choose SLAT Maximum mode when material direction and speed reference is considered “Reverse” and a negative speed reference value for the Speed Regulator. The Speed Regulator output then creates a negative Torque Reference command value. In SLAT Maximum mode, a speed reference is typically configured to force the speed regulator into saturation (the speed reference is slightly below the speed feedback which is equivalent to maintain planned line speed).
Motor Control Chapter 4 With default parameter settings, this will occur when the speed error becomes negative. When forced speed mode is off, the drive will switch back to torque mode when the speed regulator output becomes less than the torque reference.
Chapter 4 Motor Control Notes: 276 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Chapter 5 Drive Features Data Logging Topic Page Data Logging 277 Energy Savings 282 High Speed Trending 283 Position Homing 292 This wizard logs the values of up to six parameters in a single drive at a specified interval for some period of time, with the minimum 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.
Chapter 5 Drive Features Depending if you click the wand icon or down arrow icon a particular wizard selection dialog box appears. Select the Data Logging Wizard. 3. Once the Welcome screen loads, click Next.
Drive Features Chapter 5 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. 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. 5. To add the parameter to the data log list, select the parameter on the leftside list and click the right arrow .
Chapter 5 Drive Features In the configuration example below, 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. 7. Click Next. This prompt for a save as dialog box that saves the data log information as a comma delimited *.csv file for use with Microsoft Excel or any other spreadsheet program.
Drive Features Chapter 5 8. To start the data logging, click Save. As the data logging begins, a Time Left timer counts down as a blue progress bar moves to the right. When the data logging has finished, a Logging Complete message is displayed. Each column’s width is adjustable.
Chapter 5 Drive Features Below is a spreadsheet example of data logged. Use a spreadsheet program to open the *.csv file. Energy Savings Setting the motor control mode P35 [Motor Ctrl Mode] to 2 “Induct Econ” or Induction Economizer mode enables 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.
Drive Features High Speed Trending Chapter 5 The high speed trending wizard configures the internal trending of the drive, downloads that trend configuration to the drive, and uploads 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.
Chapter 5 Drive Features 4. Once the Welcome screen loads, Click Next. 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.
Drive Features Chapter 5 • Trend Buffers – dictates the drive and/or peripheral parameters and diagnostic items that are trended. 5. To configure the Trigger Setup and Trend Buffers, click the Ellipse button .
Chapter 5 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. The best way to remove a parameter selection is to uncheck the check box in the Use column. “Not used” is downloaded instead of the selected parameter. The next time you launch the wizard, that buffer has no parameter set.
Drive Features Chapter 5 • The drive stops trending and is ready for uploading. 7. Click Download once the Download Succeeded message has appeared and the Trend Status is Ready.
Chapter 5 Drive Features 8. Click Start . The Trend Status is Running and Download, Upload and Start buttons are unavailable. 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.
Drive Features Chapter 5 The trending has ended when the Trend Status has changed from Finishing state to the Complete state. Click Upload . This prompts a process that uploads the trend data from the drive and saves the information as a comma delimited *.csv file for use with Microsoft Excel or any other spreadsheet program. Click Save to start the upload trend data process.
Chapter 5 Drive Features Below is an example of trended data. Use a spreadsheet program to open the *.csv file. Column C here lines up with what is displayed 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 may not have a use for the extra precision. You cannot get the data in column D from any other wizard or software tool.
Drive Features Chapter 5 Block Diagram Rockwell Automation Publication 750-RM002B-EN-P - September 2013 291
Chapter 5 Drive Features Position Homing 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.
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 or Return Home. To select the homing function from a parameter set Bit 0 “Find Home” or Bit 3 “Return Home” of P731 [Homing Control]. The homing sequence can be selected regardless of the mode selected in P313 [Actv SpTqPs Mode].
Chapter 5 Drive Features NOT Hold At Home, P731 Bit 7 If a position control type mode is selected in P313 [Actv SpTqPs Mode] the drive continues running, holding position and transferring position reference back to its previous source. If velocity control type mode is selected in P313 [Actv SpTqPs Mode] the drive continues running holding zero velocity and transferring velocity reference back to its previous source.
Drive Features Chapter 5 holding zero velocity; the drive then transfers velocity reference back to its previous source once it receives a start command. Marker Find Home Speed Speed Speed Control Position Pt-Pt Control Homing to Switch and Marker Pulse with Feedback Upon activation of homing the drive starts 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].
Chapter 5 Drive Features holding zero velocity; the drive then transfers velocity reference back to its previous source once it receives a start command. Marker DigIn Find Home Speed Speed Speed Control Position Pt-Pt Control Find Home DI without Feedback Device Upon activation of homing the drive starts 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].
Drive Features Chapter 5 holding zero velocity; drive then transfers velocity reference back to its previous source once it receives a start command. DigIn Find Home Speed Speed Speed Control Position Pt-Pt Control If P35[Motor Ctrl Mode] = 0 “Induction VHz” or 1 “Induction SV” The drive then ramps to zero at the rate set in P736 [Find Home Ramp]. If the drive travels passed the proximity switch during decel The drive reverses direction at a speed of 1/10 of P735 [Find Home Speed].
Chapter 5 Drive Features holding zero velocity; drive then transfers velocity reference back to its previous source once it receives a start command.
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 300 Coarse Update Rate 301 Control Modes for PowerFlex 755 Drives Operating on the Integrated Motion on the EtherNet/IP Network 301 Drive Nonvolatile (NV) Memory for Permanent Magnet Motor Configuration 308 Dual Loop Control 309 Dual-Port EtherNet/IP Option Module (ETAP) 315 Hardware Over Travel Considera
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Additional Resources for Integrated Motion on the EtherNet/IP Network Information These documents contain additional information on the Integrated Motion on the EtherNet/IP Network for PowerFlex 755 AC drive applications.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Coarse Update Rate The position loop for the PowerFlex 755 drive is updated at a rate of 1.024 ms (1024 µsec). 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.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications 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. The MDS instruction is similar to a Motion Axis Jog (MAJ) instruction, however the MDS instruction does not set the acceleration/deceleration rates.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Increase Speed The speed is changed by updating the speed reference and then re-executing the MDS instruction. Decrease Speed The speed is changed by updating the speed reference and then re-executing the MDS instruction.
Chapter 6 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 CommandTorque and/or TorqueTrim attributes.
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 is 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.
Chapter 6 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: • 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 Logix Designer application, Axis Prop
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: • Basic Volts/Hertz • Fan/Pump Volts/Hertz • Sensorless Vector • Induction FV The selection options of the axis configuration within the Logix Designer application Axis Properties, Frequency Control tab are shown here.
Chapter 6 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.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Dual Loop Control Chapter 6 This section explains how to configure a dual loop feedback application by using Integrated Motion on the EtherNet/IP Network for 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).
Chapter 6 Integrated Motion on the EtherNet/IP Network 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). 4. 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 A. 6. Click OK.
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. 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.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives 13. Select the Load Feedback category. 14. From the Type pull-down menu, choose the appropriate load feedback device. 15. From the Units pull-down menu, choose the appropriate value. 16. In the Cycle Resolution box, type the appropriate value for your device. 17. From the Startup Method pull-down menu, choose the appropriate value for your device. 18.
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.
Chapter 6 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. 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.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Dual-Port EtherNet/IP Option Module (ETAP) Chapter 6 The Dual-Port EtherNet/IP option module has two modes of operation, Adapter 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.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Hardware Over Travel Considerations When a PowerFlex 755 drive is configured for Integrated Motion on the EtherNet/IP Network none of the 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.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Integrated Motion on EtherNet/IP Instance to PowerFlex 755 Drive Parameter Cross-Reference Chapter 6 This section cross-references the Logix Designer Module Properties and Axis Properties instance to the corresponding PowerFlex 755 drive parameter.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Frequency Control Axis Properties Frequency Control Motion Axis Parameters 318 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 13 - 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 Control Method P65 [VHz Curve] Maximum Frequency P37 [Max
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Velocity Control Axis Properties Configuration General Axis Properties for Velocity Control Velocity Control Axis Properties 320 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Velocity Control Motion Axis Parameters Table 14 - 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 P309 [SpdTrqPsn Mode A] SLAT Set Point P314 [SLAT Err Stpt] SLAT Time Delay P315 [SLAT Dwell Time] Velocity Droop P620 [Droop RPM at FLA] V
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Torque Loop Axis Properties Configuration General Axis Properties for Torque Loop Torque Loop Axis Properties 322 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Torque Loop Motion Axis Parameters Table 15 - Torque Loop Instance to Parameter Cross Reference 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
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Position Loop Axis Properties Configuration General Axis Properties for Position Loop Position Loop Axis Properties 324 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Position Loop Motion Axis Parameters Table 16 - Position Loop Instance to Parameter Cross Reference Integrated Motion on EtherNet/IP Instance Drive Parameter Position Integrator Bandwidth P838 [Psn Reg Ki] 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 R
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Induction Motor Data Axis Properties Configuration Induction Motor Data Axis Properties Induction Motor Data Motion Axis Parameters 326 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 17 - 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
Chapter 6 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 Permanent Magnet Motor Data Motion Axis Parameters 328 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 19 - 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] Rota
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Motor Feedback Axis Properties Configuration Motor Feedback Axis Properties Motor Feedback Motion Axis Parameters 330 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 21 - 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 [FB0 IncAndSC PPR] UFB: P45 [FB1 IncAndSC PPR] Feedback n Turns UFB: P22 [FB0 SSI Turns] UFB: P52 [FB1 SSI Turns]
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Motor Load Feedback Motion Axis Parameters Table 22 - Motor Load Feedback Instance to Parameter Cross Reference 332 Integrated Motion on EtherNet/IP Instance Drive Parameter Feedback n Cycle Resolution ENC: P02 [Encoder PPR] DENC: P02 [Encoder 0 PPR] DENC: P12 [Encoder 1 PPR] UFB: P15 [FB0 IncAndSC PPR] UFB: P45 [FB1 IncAndSC PPR] Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Load Axis Properties Configuration Load Axis Properties Load Motion Axis Parameters Rockwell Automation Publication 750-RM002B-EN-P - September 2013 333
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Table 23 - Load Instance to Parameter Cross Reference Integrated Motion on EtherNet/IP Instance Drive Parameter Total Inertia 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.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Load Compliance Motion Axis Parameters Table 24 - Load Compliance Instance to Parameter Cross Reference Integrated Motion on EtherNet/IP Instance Drive Parameter Torque Low Pass Filter Bandwidth P659 [SReg Outfltr BW] Torque Notch Filter Frequency P687 [Notch Fltr Freq] Rockwell Automation Publication 750-RM002B-EN-P - September 2013 335
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Load Observer Axis Properties Configuration Load Observer Axis Properties Load Observer Motion Axis Parameters 336 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Table 25 - 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 Table 26 - Power Tab to Parameter Cross Reference Integrated Motion on EtherNet/IP Instanc
Chapter 6 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.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Figure 36 - Sample Motor Brake Code Rockwell Automation Publication 750-RM002B-EN-P - September 2013 339
Chapter 6 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 helps determine when to engage the brake in the event of a fault. Application considerations can also be factored into this decision.
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 by using on of the following programming software applications.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives 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.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 • 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 disconnects all downstream devices as well. To counter this disadvantage a ring topology could be employed. Ring Topology A ring topology, or device-level ring (DLR), is implemented in a similar fashion to linear topology.
Chapter 6 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) • 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.
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.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives PowerFlex 755 Drive Option Module Configuration and Restrictions 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.
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 750IN001. Dual-Port EtherNet/IP Option Module (20-750-ENETR) Follow the same installation and configuration instructions provided in the PowerFlex 750-Series AC Drives Installation Instructions, publication 750IN001.
Chapter 6 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. Regenerative Power Limit The amount of energy that the drive allows 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 is limited.
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.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Safe Speed Monitor Option Module (20-750-S1) Configuration When a PowerFlex 755 drive is configured for Integrated Motion on the EtherNet/IP Network the configuration of the Safe Speed Monitor functions are accomplished via a web page.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives TIP Chapter 6 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.
Chapter 6 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.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Speed Limited Adjustable Torque (SLAT) 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 Logix Designer application.
Chapter 6 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. 3. Select the Velocity Loop category. The Velocity Loop dialog box appears. 4. Click Parameters. The Motion Axis Parameters dialog box appears.
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. 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.
Chapter 6 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-RM003.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Supported Motors Chapter 6 The PowerFlex 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.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Manufacturer Notes WEG Electric Corp. WEG motors can 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.
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.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Cat. No. Base Speed KW Volts Amps Hz Torque (N•m) HPK-B2010E-MA42BA 2985 112 400 216 100 HPK-B2010E-SA42BA 2985 112 400 216 HPK-E1308E-MA42AA 2975 33.5 330 HPK-E1308E-MB44AA 2975 33.5 HPK-E1308E-MC44AA 2975 HPK-E1308E-SA42AA IM Amps R1 358 35 100 358 80 100 108 216 330 80 100 108 33.5 330 80 100 2975 33.5 330 80 HPK-E1308E-SB44AA 2975 33.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6 Third-Party Permanent Magnet Motors The PowerFlex 755 drive can support third-party permanent magnet motors without the need of custom profiles. However, the motor nameplate information sometimes needs to be modified. Rockwell Automation Technical Support requires the following information to assist you in modifying the motor data for use with the drive.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Motor Nameplate Voltage V Volts Motor Nameplate Power Pwr KW Poles p Table 28 - 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 Synchronous
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives System Tuning 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 the Logix Designer application. This topic describes the axis hookup tests, motor tests, and autotuning of the motion system required to measure the system inertia.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for 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: • 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.
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: • This test is best run with the motor disconnected from the load as the motor spins for some time and there are no travel limits. • When the test has been completed, click Accept Test Results to save the results.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Application Type: Specify the type of motion control application to be tuned: • 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.
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.
Chapter 6 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 tuning values based on the motor inertia.
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.
Chapter 6 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. The Manual Tuning window contains three sections: Manual Tuning Section: This section lets you customize the configuration of system tuning.
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 Loop Bandwidth, Integrator Bandwidth, Integrator Hold, and Error tolerance (when used as a Velocity Loop) values.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Using an Incremental Encoder with an MPx Motor 372 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 the Logix Designer application does not currently support MP-Series™ motors with incremental feedback catalog numbers, as shown below.
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 using the Integrated Motion on the EtherNet/IP Network. 1.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives 3. Select the Motor Feedback category. 4. From the Type pull-down menu, choose Digital AqB. 5. Click OK to save your configuration.
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives PowerFlex 755 Integrated Motion on the EtherNet/IP Network Block Diagrams Chapter 6 The block diagrams in this section highlight the Integrated Motion on the Ethernet/IP Network attributes and path used in PowerFlex 755 drives control.
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Block Diagram Table of Contents 376 Block Diagram Page Block Diagram Page Flux Vector Overview 377 Torque Control Overview - Interior Permanent Magnet Motor 398 VF (V/Hz), SV Overview 378 Torque Control - Reference Scale and Trim 399 Speed / Position Feedback 379 Torque Control - Torque 400 Speed Control - Reference Overview 380 Torque Control - Current, Induction Motor and Surface Permanent
765 848 Pos Pos Spd Rockwell Automation Publication 750-RM002B-EN-P - September 2013 572 573 574 575 576 577 Preset Speed 2 Preset Speed 3 Preset Speed 4 Preset Speed 5 Preset Speed 6 Preset Speed 7 Trim Ref TrimPct Ref x + PID Reference Selection PID Feedback Selection 1067 1072 PID Ref Sel PID Fdbk Sel 1086 1087 1088 PID Int Time PID Deriv Time 1091 313 Speed Profiling Selection 836 723 Jogging Selection x 1084 PID LP Filter BW Limit 1093 PID Output Meter 848 L
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 B Speed Ref Selection & Limits 572 573 574 575 576 577 Preset Speed 3 Preset Speed 4 Preset Speed 5 Preset Speed 6 Preset Speed 7 Trim Ref TrimPct Ref Speed Ref x + PID Fdbk Sel PID Ref Sel 1072 1067 PID Feedback Selection PID Reference Selection 1086 1087 1088 PID Int Time PID Deriv Time 1091 PID Fdbk Meter 1090 PID Ref Meter Jogging Selection D 1084 PID LP Filter BW Limit 1093 PID
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 128 C Control Mode/ Feedback Mode VF or SV & Open Loop Parameter Selection Alt Vel FdbkFltr Limited Trq Ref 690 494 – Torque Reference - Limited From Torq Ctrl Current [24a E2], [24b E2] 7 Derivative d dt 130 Alt Vel Feedback 127 141 Open Loop Virtual Encoder 5 141 600 – Output Frequency Torque Cur Fdbk 1 936 5 E 138 Simulator Fdbk 529 – Iq Current Feedback 137 3 Aux Vel Fdbk Sel 132 Aux Vel Fdb
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A VF or SV Flux Vector Spd Ref A + + + Ramped Vel Ref Virtual Encoder Ramped Speed Ref From PI Regulator (Trim Mode) V/F Ramp S-Curve Linear Ramp & S Curve Rate Select Linear Ramp & S Curve Vector Ramp S-Curve Ref B Auto Ref A Auto C Spd Ref Command Speed Reference Selection Presets 3-7 Auto DPI Ports 1-6 Manual ENet Spd Ref Trim % Ref B Trim Ref B Spd Ref B Trim % Ref A Trim Ref A B Droop x
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 548 B * * Speed Ref B Mult Speed Ref B Sel Other Ref Sources Spd Ref B AnlgHi 552 Spd Ref B AnlgLo 553 551 440 Kvff 554 550 Parameter Selection 549 Speed Ref A Mult Default Parameter Selection 875 876 Port 6 Reference 874 Port 4 Reference Port 5 Reference 873 Port 3 Reference 871 872 TrmPct RefA AnHi x E F * 612 Parameter Selection x Parameter Selection Default x 605 * 601 871 876 875 8
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A B 0 0 1 721 Running Speed Excl 16 1 0 Unipol Fwd Unipol Rev (+1) (-1) & 1 0 592 X 0 2 Rev Disable Unipolar 1 Bipolar 308 Direction Mode Speed Profiling 6 10 x 0 Speed 848 Position Mode 1 Position 0 1210 Profile Status Profiler ≠6 313 [23D5] Actv SpTqPs Mode Spd Ref From Spd Profiler [16H2] Selected Spd Ref Direction Mode Control Max Foward Command Logic 0 10 1093 PID En
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 Disabled From Process Ctrl [28E3] Speed Rate Ref 596 700 Ext Ramped Ref 17 B 1093 d dt 2 PID Output Meter 3 d dt 1 0 695 0 Inertia Dec Gain Drive Status 1 (Jogging) PID Output Sel (Speed Trim) 17 935 0 0 1 1079 ≠2 2 D 1 Feedforward 0 0 555 Torq FF To Torq Ctrl [23B3] 18 596 From Posit Reg [12I5] X 635 [35H3] Accel Time 2 536 535 541 Not Used 2 d dt 438 Position Loop Output 843
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 [6H4] 529 Skip Speed 3 Skip Speed Band 1093 935 0 1 17 1122 0 1121 Fiber Status 935 Drive Status 1 (Jogging) 1079 PID Output Sel (Speed Trim) 1 ≠2 0 0 2 17 1120 Fiber Control PI Speed Trim 1124 Traverse Dec 1123 1125 1126 Sync Time Traverse/ P-Jump Fiber Application Sync Speed Change C P Jump 370 Skip Speed 1 371 Skip Speed 2 Max Traverse 372 Skip Speed 3 Traverse Inc 373 Skip Speed Band
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 594 1 *Poles X B 621 Slip RPM at FLA LPF 622 1 *Poles Hz [NP Spd] [NP Freq] 120 1 RPM 1352 – Induction Motor Rated Slip Speed Iq Feedback (pu) Slip Comp BW 131 Active Vel Fdbk 454 – Velocity Feedback 464 - Kdr Droop RPM at FLA From Fdbk [3F2] 620 [NP Spd] [NP Freq] 120 1 RPM VF or SV (0-2,4,5,7,8) Flux Vector (3,6) Hz Filtered (100 R/S) Iq Feedback (pu) Ramped Spd Ref [8G2] 35 Motor Cntl Mod
From Fdbk [3F2] From Spd Ref [9C2] 131 Active Vel Fdbk 597 Final Speed Ref 453 Velocity Reference Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 638 639 SReg FB FltrGain SReg FB Fltr BW 640 642 ServoLck ks s -10% + - D 635 685 313 468 Velocity Integrator Preload 492 Torque Reference Selected Trq Ref Actv SpTqPs Mode 652 Spd Options Ctrl (SpdRegIntRes) (SpdRegIntHld) (Jog No Integ) PTP PsnRefStatus ( PTP Int Hold) [23D5] [23E2] 635 720 6 4 3 2
1247 1248 Step 1-16 Next 1237 Step 1-16 Action 1238 Rockwell Automation Publication 750-RM002B-EN-P - September 2013 772 773 774 DI Indx StepPrst 6 5 779 PTP Control X Index Position 770 [5A1] 3 2 Preset Psn 2 847 142 140 766 765 [3H4] Other Ref Sources Psn Fdbk [7H2] Virtual Enc Psn [7H2] Virtual EncDelay Psn Direct Stpt Psn Ref Select Parameter Selection Direct Position Reference Selection Change 1 Reverse Move Index Absolute Immediate 770 [N] [D] 790 789 PTP EG
[3H4] 847 Psn Fdbk From Homing [17H3] Other Ref Sources 823 Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 Other Ref Sources 847 721 Xzero Preset 721 725 Σ 836 Psn Actual 136 Psn Load Actual 825 826 LdPsn Fdbk Mult LdPsn Fdbk Div Parameter Selection Gear Rat [N] [D] Σ 837 780 Position Integral Feedback 4 [3H4] Load Psn FdbkSel Psn Fdbk 2 ReRef 1 0 + + - - 3 Gear Rat 835 ( Σ Motor Speed Gear Output Spd ) [13D4] Psn Gear Ratio Σ 848
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A 747 PsnWatch1 Select Other Ref Sources PsnWatch1 Stpt B 745 Parameter Selection PsnWatch1Dir 7 PsnWatch1 DtctIn 746 D 726 727 In Pos Psn Band In Pos Psn Dwell F PsnWatch2 Select 11 InPsn Detect Psn Reg Status 724 750 Other Ref Sources PsnWatch2 Stpt In Position Detect E In Position Detect PsnW1Detect 835 9 Psn Error [12D3] 724 Psn Reg Status PsnWtch1Arm 6 Position Watch 1 721 Position Con
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A 797 800 799 Parameter Selection 796 Parameter Selection PLL Psn Ref Sel Other Ref Sources PLL Psn Stpt PLL Ext Spd Sel Other Ref Sources PLL Ext Spd Stpt B 0 PLL Control PLL LPFilter BW PLL BW 795 Velocity FF 3 X X to V Conv 0 1 + - Ext Vel FF 2 PLL EPR Input 795 Loop Filter Velocity FF 1 PLL Rvls Input 804 0 1 795 X 812 805 EGR Accel Comp 3 X [ ] [ ] 795 811 VE 801 PL
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A 1400 1393 1396 PCAM Span X 1403 1404 PCAM Slope Begin PCAM Slope End 1391 1392 0 1406 1405 Types EndPnt - Pt Y 15 Pt Y 0 1437 1407 Virtual Encoder 0 - Off 1 - Single step 2 - Continuous 3 - Persistent C Pt X 15 Pt X 0 Parameter Selection 1399 Parameter Selection PCAM Main 1398 1395 PCAM PsnOfst Eps PCAM Span Y 1394 PCAM Psn Ofst PCAM Psn Select Other Ref Sources PCAM Psn Stpt PCAM Scale
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 1243 1244 1246 1247 1248 1233 1234 1235 1236 1237 1238 1239 Decel Value Dwell Batch Next Action Dig In 1217 1242 1232 Accel Abort Step AbortProfile Vel Override StrStepSel0 StrStepSel1 StrStepSel2 StrStepSel3 StrStepSel4 Step1 2 3 4 5 6 7 8 9 24 Step16 23 Step15 22 Step14 21 Step13 20 Step12 19 Step11 18 Step10 17 Step9 16 Step8 15 Step7 14 Step6 13 Step5 12 Step4 11
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 B C N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A Digin Blend Move vel Move accel Move decel Incremental Target pos N/A N/A Next Step Position > Value N/A Velocity Accel Decel Value Batch Next Next Step Condition DigIn # Dwell Posit Blend Action N/A N/A Next Step Time > Value N/A Move vel Move accel Move decel Total Time Digin Blend N/A N/A N/A N/A N/A N/A N/A N/A N/A Move vel Move accel Move decel C
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 847 Psn Fdbk 0 RP Unwind 1509 B 0 1511 RP Psn Out 1503 Parameter Selection Enable RP Pos Fdbk Sel Other Ref Sources 1502 1500 Roll Psn Config RP Pos Fdbk Stpt A *1 1508 X EGR EGR1 *1 + + ReRef 1505 Roll Psn Offset D 1500 Σ 2 1504 Roll Psn Preset 1500 Position Feedback Input 1 0 1 Preset Roll Psn Config Rereference Roll Psn Config E *1: Product need to be within 32-bits intege
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 135 847 1583 0 0 1589 SO Position Out 0 SO Cnts per Rvls 1587 Home DI 1 Pos Fdbk Sel Psn Fdbk SO Offset Marker Pulse Home DI 1580 SO Config A 1586 X EGR *1 SO Rvls Output [ ] [ ] C - Σ Position Feedback Input 594 1583 SO Offset ReCap + D Ramped Spd Ref *1: Product need to be within 32-bits integer range Gear Ratio SO Rvls Input SO EPR Input *1 1585 X 1584 ReCap Rising Edge B 4
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A 847 Psn Fdbk PsnTrqBst RefSel Other Ref Sources 1511 RP Psn Out B 1517 Parameter Selection + 1526 PsnTrqBst Trq Y3 PsnTrqBstPsnOfst 1518 + 1525 PsnTrqBst Trq Y2 PsnTrqBst UNWCnt 1519 Mod Modulo Divide by EPR 1527 PsnTrqBst Trq Y4 C D 0 1515 0 Boost Enable PsnTrqBst Ctrl Torque 1520 1523 PsnTrqBst Ps X4 1516 Enabled In Position 0 1 PsnTrqBst Sts 1524 G PsnTrqBst Ps X5 1521 PsnTr
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A Brake/Bus Config DC Bus Voltage Drive Voltage and Current Ratings Torq Trim Torq Ref 2 Torq Ref 1 Inertia Comp Spd Reg PI Out B Bus Voltage Regulator Torque Reference Scale and Trim Speed Reg Output Trim C + + Regen Power Limit Speed / Torque / Position Mode Select Select D + + Te Neg Torque Limit Pos Torque Limit Load Observer/ Estimator Notch Filter + - Torque Limit Select + Filtered Torque
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A Brake/Bus Config DC Bus Voltage Drive Voltage and Current Ratings Torq Trim Torq Ref 2 Torq Ref 1 Inertia Comp Spd Reg PI Out B Bus Voltage Regulator Torque Reference Scale and Trim Speed Reg Output Trim Speed / Torque / Position Mode Select Select + + Regen Power Limit C + + Te Neg Torque Limit Pos Torque Limit Load Observer/ Estimator Notch Filter Inertia Adaption + - Torque Limit Select
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 676 B 0.
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 3 From Torq Ref [22H4] From Spd Ref [7C4] 6 660 (Zero TrqStop) (Trq ModeStop) (Trq ModeJog) 40 SLAT Dwell Time Mtr Option Cnfg 181 DI SpTqPs Sel 0 0 315 1 2 Select Logic 1 0 [6A1], [6D2], [10D5], [11D2], [11I1], [12H5], [16H2] Actv SpTqPs Mode 313 314 834 – SLAT Setpoint 835 – SLAT Delay Time SLAT Err Stpt 1 182 1 DI SpTqPs Sel 1 0 1 11 Psn SpdlOrnt 312 1 10 9 Psn PLL Psn Direct 8 Psn Camming 7 Psn P2P
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 {Mtrng PwrLmt} 670 427 422 423 Current Lmt 2 6 421 Voltage Ref/ Limit Generation Current Lmt Sel {Mtr Vltg Lkg} + {Cur Lmt FV} Parameter Selection + 454 – Velocity Feedback 504 – Torque Limit - Positive {Trq Neg Lmt} Pos Torque Limit 800 426 131 Bus Regulator Motor Power Lmt {BusVltgFVLmt} {Regen PwrLmt} 625 – Regen Power Limit Regen Power Lmt From Fdbk [3F2] 671 Active Vel Fdbk {Trq Pos Lmt} Neg Torque Limit D
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A 671 689 Filtered Trq Ref 421 422 423 Current Lmt Sel Current Lmt 1 Current Lmt 2 {Mtr Vltg Lkg} {Trq Neg Lmt} Voltage Ref/ Limit Generation 670 Pos Torque Limit {Mtrng PwrLmt} 427 Bus Regulator 426 Motor Power Lmt {BusVltgFVLmt} {Regen PwrLmt} 131 Active Vel Fdbk Regen Power Lmt From Fdbk [3F2] {Trq Pos Lmt} Neg Torque Limit From Torq Ctrl [23H2] B + {Cur Lmt FV} Parameter Selection + C
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A 708 [23H2] 689 Filtered Trq Ref 0 Else 1 704 InAdp LdObs Mode Filter Sensorless Inertia Adaption Inertia Adapt BW 705 LPass 690 Limited Trq Ref System Model Total Inertia 1 [24a E2], [24b E2] Alternate Encoder Primary Encoder 494 – Torque Reference - Limited 1 0 Else X 709 Position 496 - Kj 809 - Kof 76 Total Inertia InertiaAdaptGain 706 X F IA LdObs Delay Position Speed Sensor ***INTE
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A 802 – Load Observer Torque Estimate Notch Filter Output B 707 689 671 Neg Torque Limit Filter LPass 0 Else 2 10 R/S Load Observer 704 Limit Torque Limits LPass Filter 711 690 Type 0 Load Observer / Estimator Sensorless 1 Else System Model Total Inertia 1 X Limited Trq Ref [24a E2], [24b E2] F G H I Alternate Encoder Primary Encoder 496 - Kj Total Inertia 76 Position 709 IA L
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 558 1077 PID Fdbk 558 4 9 Output Power 7 Output Current 5 Torque Cur Fdbk [22H4] Commanded Trq [29F2] MOP Reference Option Port: Analog In 1070 PID Setpoint [29F2] MOP Reference Option Port: Analog In A Float Types 1072 PID Fdbk Sel DI PID Hold 192 1069 PID Ref AnlgLo 1074 ҁ0 Parameter Selection 1066 PID Output Sel 1079 936 1 1 PID Control (PID Hold) 1089 PID Hold 10 3 0 0 [27G2]
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 [27I2] 1093 PID Output Meter A 1065 0 >0 + 1065 0 PID Cfg (Zero Clamp) 2 1 Torq Ref A Torq Ref B 558 >0 Trq Ref A Stpt 676 [29F2] MOP Reference PID Voltage Trim Output PID Voltage Output PID Cfg (Zero Clamp) 2 0 1 0 X Torque Trim 4 X 36 Maximum Voltage 0 1 1065 1 1 6 Ramped Spd Ref 594 To Spd Ref [7G1] OR [8G2] [6B2] Limited Spd Ref PID Cfg 593 [6H4] (Percent Ref) 6 558 Spd Ref A
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A 575 576 Preset Speed 5 Preset Speed 6 577 574 Preset Speed 4 Preset Speed 7 573 571 Preset Speed 1 Preset Speed 3 562 MOP Low Limit 572 561 MOP High Limit Preset Speed 2 567 Disabled (0) MOP Init Stpt B Parameter Selection Default 566 MOP Init Select C 559 1 178 MOP Inc Parameter Indirect 0 0 MOP Inc 559 0 Save MOP Ref (At Pwr Down) 0 0 Save MOP Ref (At Stop) 0 0 177 Parameter Indir
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 B 5 4 3 2 1 2 0 Dig In Fltr Mask 2 Dig In Fltr Mask 2 Dig In Fltr Mask 2 Dig In Fltr Mask 2 Dig In Fltr Mask 2 Dig In Fltr Mask Filter Filter Filter Filter Filter Filter Option Module Parameters – Reference Symbol Legend Com In0 In1 In2 In3 In4 In5 Inputs Inputs & Outputs – Digital A 1 0 A A≥B RO1/TO0 Level Source TO1 Sel 30 Parameter Selection 12 Parameter Selection B A
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 Current Voltage Current Voltage A - + - + - + - + 0 ADC 45 1 Anlg In Type ADC 45 Anlg In Type Ignore Set Input Hi Set Input Lo Hold Input Flt CL Stop Flt RampStop FltCoastStop Flt Continue Alarm 53 63 8 7 6 5 4 3 2 1 0 Loss Detection 8 7 6 5 4 3 2 1 0 Loss Detection Anlg In1 LssActn Set Input Hi Set Input Lo Hold Input Flt CL Stop Flt RampStop FltCoastStop Flt Contin
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 B C Com In0 In1 In2 2 1 0 Filter Filter Filter 3 Dig In Sts 12 Parameter Selection A B A≥B A
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 Current Voltage A - + - + ADC 45 0 Anlg In Type Set Input Hi Set Input Lo Hold Input Flt CL Stop Flt RampStop FltCoastStop Flt Continue Alarm Ignore Anlg In0 LssActn B 8 7 6 5 4 3 2 1 0 Loss Detection 53 C 1 0 56 Lead Lag 55 V/mA 50 Anlg In0 Value Pre Scaled Value (kn * s) + wn s + wn Loss Anlg In0 Filt BW Anlg In0 Filt Gn Anlg In Sqrt 46 Square Root 49 Anlg In Loss Sts Inp
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A PTC/Thermostat Input B - + Buffer & Comparator Motor PTC/Thermostat Input C Reset AND Logic Fault AND Logic D PTC Monitor 41 Thermostat Transistor Latch 14 PTC Selected Voltage Loss 3 13 Short Cirkt Over Temp 2 Thml Snsor OK 1 0 Motor PTC E F H I ATEX Relay Output NO Common PF755 Rev_9.
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 DeviceLogix Port 14 Embedded Ethernet Port 13 DPI Port 6 DPI Port 5 DPI Port 4 DPI Port 3 DPI Port 2 DPI Port 1 (Drv Mounted HIM) Digital Inputs A 15 15 0 15 0 15 0 15 0 15 0 15 0 15 0 15 0 0 B 324 325 326 327 Logic Mask Auto Mask Manual Cmd Mask Manual Ref Mask Masks C Write Mask Cfg 885 Port Mask Act 886 Logic Mask Act 887 Write Mask Act Masks Act Status Mask Evaluation Logic 888 E 919 920 92
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 380 381 Bus Reg Ki Bus Reg Kp 377 378 379 Bus Limit Kd Bus Limit ACR Ki Bus Limit ACR Kp 883 – External Shunt Power 884 – External Shunt Pulse Power 886 – External Shunt Resistance * 421 DB ExtPulseWatts 385 384 383 DB Ext Ohms DB Ext Watts 382 dc bus DB resistor Heatsink and Junction Degree Calculator Inverter Overload (IT) C DB Resistor Type Parameter Selection 881 – Shunt Regulator Resistor Type 376
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 - A [FrctnComp Hyst] - [FrctnComp Trig] + [FrctnComp Slip] + [FrctnComp Stick] [FrctnComp Hyst] D - - [FrctnComp Rated] - [FrctnComp Stick] - [FrctnComp Slip] + [Motor NP RPM] [FrctnComp Time] + [FrctnComp Trig] + Torque + [FrctnComp Rated] [FrctnComp Time] - [Motor NP RPM] C Friction Compensation Adjustments B + Speed E - G [FrctnComp Hyst] - [FrctnComp Trig] [FrctnComp Hyst] - + [FrctnComp Tr
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A 1 2 3 Minimum Freq 1550 VB Cur Thresh 1548 VB Current Rate 1546 D 1551 VB Rate Lag Freq 1549 VB Current Hyst 1547 VB Filt Flux Cur 1545 VB Flux Thresh 1543 VB Frequency 1541 VB Accel Rate 1539 VB Minimum 1537 VB Voltage 27 Motor NP Hertz VB Flux Lag Freq 1544 VB Min Freq 1542 VB Decel Rate 1540 4 1535 1538 VB Time 0 InductionVHz 35 Motor Cntl Mode VB Enable 0 VB Maximum OR
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 Parameter Selection d58 d59 B 0 1 d60 Dig Sw Real Out E Parameter Selection Sw Off Stpt Dint d62 d63 0 1 d64 Dig Sw Dint Out Diagnostic Tools D Sw On Stpt Dint Bit Source Dig Sw d61 Dint Sel Bit To Numeric Conversion Digital Switches C ‘d’ Prefix Refers to Diagnostic Item Number (ex.
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 6 5 4 3 2 1 A Parameter or Bit Trend Data Source C Computer Download Trend Configuration to Drive Trend Buffer 1 (circular, 1024 or 4096 samples) Trigger Condition Met Trigger Value Param A Trend Upload/Download Trend Buffer 3 (circular, 1024 or 4096 samples) Compare Options: >, <, =, ≠, ≥, or ≤ OR Computer Trend Buffer 4 (circular, 1024 or 4096 samples) Trend Buffer 5 (circular, 4096 samples) Param A Trigger Value (b
Appendix A 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 when using the Logix Designer application.
Appendix A Table 29 - Conditional Implementation Key Key Description IM Rotary or Linear Induction Motor (motor type) Linear Absolute Feedback Unit - meter; Feedback n Startup Method- absolute Linear Motor Linear PM motor or Linear Induction motor (motor type) LT LDT or Linear Displacement Transducer (feedback type) NV Motor NV or Drive NV (motor data source) O-Bits Optional bits associated with bit mapped attribute O-Enum Optional enumerations associated with attribute PM Rotary or Linear
Appendix A Table 30 - PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T Conditional Implementation 1313 Set Motor Data Source - R R R R O-Enum 1 = Database (Y) 2 = Drive NV (Y) 3 = Motor NV (N) 1315 Set Motor Type - R R R R O-Enum 1 = Rotary Permanent Magnet (Y) 2 = Rotary Induction (Y) 3 = Linear Permanent Magnet (N) 4 = Linear Induction (N) 1317 Set Motor Polarity - Y Y Y Y 1320 Set Motor Rated Peak Current - N N N N N-IM 1321
Appendix A Table 30 - PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T Conditional Implementation 1377 Set Actuator Diameter Unit N N N N N DScale 44 Set Feedback Unit Ratio - - Y N - 1401 Get Feedback 1 Serial Number N - N N N 1414 Set Feedback 1 Polarity Y - Y Y Y 1415 Set Feedback 1 Startup Method R - R R R O-Enum 1= Absolute (Y) 1420 Set Feedback 1 Data Length Y - Y Y Y TP,SS 1421 Set Feedback 1 Data Code
Appendix A Table 30 - PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T 370 Set Skip Speed 1 - Y - - - 371 Set Skip Speed 2 - Y - - - 372 Set Skip Speed 3 - Y - - - 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 377 Set* Ramp Deceleration - Y - Y - Derived 378 Set
Appendix A Table 30 - PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T 806 Set Load Observer Bandwidth - - Y Y N 807 Set Load Observer Integrator Bandwidth - - N N N 809 Set Load Observer Feedback Gain - - Y Y N 485 Set Acceleration Limit - N N N N 486 Set Deceleration Limit - N N N N 496 Set System Inertia - - R R N 825 Set Backlash Compensation Window - - N - - 498 Set Friction Compensation Sliding - -
Appendix A Table 30 - PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T Conditional Implementation 562 Set Commutation Self-Sensing Current - - N N N PM Motor only O-Value = # 563 Set Commutation Polarity - - N N N PM Motor only 250 Set Feedback Commutation Aligned - - Y Y Y O-Enum 2 = Motor Offset (N) 3 = Self-Sense (Y) 570 Set Frequency Control Method - R - - - O-Enum 128 = Fan/Pump Volts/Hertz (Y) 129 = Sensorless Vector (Y) 1
Appendix A Table 30 - PowerFlex 755 Safety Drive Module Optional Attributes ID Access Attribute N F P V T 706 Set Feedback Noise User Limit N N N N N 707 Set Feedback Signal Loss User Limit N N N N N 708 Set Feedback Data Loss User Limit N N N N N 730 Get Digital Inputs - Y Y Y Y 731 Set Digital Outputs - N N N N 732/267 Get Analog Input 1 - N N N N 733/268 Get Analog Input 2 - N N N N 734 Set Analog Output 1 - N N N N 735 Set Analog
Index A AC induction motors recommended 357 Accel/Decel 124 Accel/Decel Time 16 Adjustable Voltage 17 Alarms 155 Analog I/O 105 Analog Input Square Root 111 Analog Inputs 105 Analog Output 114 Analog Outputs 113 Analog Scaling 107 Auto Restart 25 Auto/Manual 27 Autotune 35 Auxiliary Fault 121 Auxiliary Power Supply 41 auxiliary power supply option module installation and configuration 347 axis configuration control modes 307 B Braking 216 bulletin HPK-series motors recommended 359 Bus Memory 158 Bus Regula
Index Flux Regulator 218 Flux Up 218 Flux Up Enable (No. 43) 220 Flux Up Time (No.
Index J Jog 123 Jog Forward Jog Reverse 122 Nonvolatile Memory 308 Notch Filter 244 O L Last StrtInhibit (No.
Index R Real Time Clock 174 Recommended AC induction motors 357 bulletin HPK-series motors 359 permanent magnet motors 358 Reflected Wave 179 Regen Power Limit 247 Restart, Auto 25 Ring topology Integrated Motion on the EtherNet/IP Network 343 Ring/star topology Integrated Motion on the EtherNet/IP Network 345 Run 122 Run Forward/Run Reverse 122 Speed Select 123 Speed Torque Position 266 Speed Torque Position Mode 124 Square Root Analog Input 111 Star Topology Integrated Motion on the EtherNet/IP Network
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