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Allen-Bradley PowerFlex 70 Enhanced Control Reference Manual Download Page 153

PowerFlex 70EC Block Diagrams

149

Selector

AND

OR

Digital In 1

I/O-1

Bit 9 - DigIn DatLog

56 - Compensation

Stop - CF

361 - Digital In1 Sel

Bit 0 - Digital In1

216 - Dig In Status

Bit 0 - In1 ANDdata

411 - DigIn DataLogic

Bit 8 - In1 ORdata

411 - DigIn DataLogic

Bit 8 - In1 DLogRslt

216 - Dig In Status

Start

362 - Digital In2 Sel

Bit 1 - Digital In2

216 - Dig In Status

Bit 1 - In2 ANDdata

411 - DigIn DataLogic

Bit 9 - In2 ORdata

411 - DigIn DataLogic

Bit 9 - In2 DLogRslt

216 - Dig In Status

Auto/ Manual

363 - Digital In3 Sel

Bit 2 - Digital In3

216 - Dig In Status

Bit 2 - In3 ANDdata

411 - DigIn DataLogic

Bit 10 - In3 ORdata

411 - DigIn DataLogic

Bit 13 - In6 DLogRsl

216 - Dig In Status

Speed Sel 1

364 - Digital In4 Sel

Bit 3 - Digital In4

216 - Dig In Status

Bit 3 - In4 ANDdata

411 - DigIn DataLogic

Bit 11 - In4 ORdata

411 - DigIn DataLogic

Bit 14 - Bit 14

216 - Dig In Status

Speed Sel 2

365 - Digital In5 Sel

Bit 4 - Digital In5

216 - Dig In Status

Bit 4 - In5 ANDdata

411 - DigIn DataLogic

Bit 12 - In5 ORdata

411 - DigIn DataLogic

Bit 12 - In5 DLogRsl

216 - Dig In Status

Speed Sel 3

366 - Digital In6 Sel

Bit 5 - In6 ANDdata

411 - DigIn DataLogic

Bit 5 - Digital In6

216 - Dig In Status

Bit 13 - In6 ORdata

411 - DigIn DataLogic

Bit 13 - In6 DLogRsl

216 - Dig In Status

1

0

✔

✔

Selector

AND

OR

Digital In 2

I/O-2

1

0

✔

Selector

AND

OR

Digital In 3

I/O-3

1

0

✔

Selector

AND

OR

Digital In 4

I/O-4

1

0

✔

Selector

AND

OR

Digital In 5

I/O-5

1

0

✔

Selector

AND

OR

Digital In 6

I/O-6

24V Common

I/O-7

Digital In Common

I/O-8

+24V DC

I/O-9

1

0

✔

Digit

al Inputs

Analog Inputs (contin

ued)

60.0

91 - Speed Ref A Hi

60.0

94 - Speed Ref B Hi

60.0

97 - TB Man Ref Hi

60.0

119 - Trim Hi

100.0  %

428 - Torque Ref A Hi

10.000

322 - Analog In 1 Hi

Bit 0 - Analog In 1

321 - Anlg In Sqr Root

100.0  %

460 - PI Reference Hi

100.0  %

462 - PI Feedback Hi

Bit 1 - Analog In 2

321 - Anlg In Sqr Root

10.000

325 - Analog In 2 Hi

0.000

323 - Analog In 1 Lo

0.000

326 - Analog In 2 Lo

0.0

92 - Speed Ref A Lo

0.0

95 - Speed Ref B Lo

0.0

98 - TB Man Ref Lo

0.0

120 - Trim Lo

0.0  %

429 - Torque Ref A Lo

-100.0  %

461 - PI Reference Lo

0.0  %

463 - PI Feedback Lo

In - Lo

Hi - Lo

SqRt

SqRt

Out

In

Out - Lo

Hi - Lo

0

0

Summary of Contents for PowerFlex 70 Enhanced Control

Page 1: ...Reference Manual 70 Enhanced Control and 700 Vector Control www abpowerflex com...

Page 2: ...Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell A...

Page 3: ...Control 36 DPI 37 DriveGuard 39 Drive Overload 39 Droop 42 Faults 43 Flux Braking 45 Flux Up 46 Flying Start 47 High Resolution Speed Reference 48 Input Phase Loss Detection 48 Language 49 Load Loss D...

Page 4: ...e 105 Start Permissives 108 Stop Modes 109 User Display 113 User Sets 114 Voltage Class 115 Voltage Tolerance 116 Appendix Supplemental Information 117 Engineering Parameters 117 Derating Guidelines 1...

Page 5: ...mple DC Bus Voltage Display Text will appear in quotes For example Enabled The following words are used throughout the manual to describe an action Symbol Information pertains to PowerFlex 70 Enhanced...

Page 6: ...the voltage on the bus capacitors has discharged before performing any work on the drive Measure the DC bus voltage at the DC DC terminals of the Power Terminal Block refer to the User Manual for loca...

Page 7: ...drive or application that should be annunciated to the user These situations may affect the drive operation or application performance Conditions such as Power Loss or Analog input signal loss can be...

Page 8: ...d or feedback for the PI loop See Process PID Loop on page 77 Provide an external and adjustable value for the current limit and DC braking level Start and Stop control using the Sleep Wake mode Provi...

Page 9: ...is 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 In this example a deadband from 0 2 5 volts and...

Page 10: ...Hz Analog In 1 Hi 20 mA Analog In 1 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 Example...

Page 11: ...l scale operation from a 0 5 volt source Example 7 Anlg In Config bit 0 0 Voltage Torque Ref A Sel Analog In 1 Torque Ref A Hi 200 Torque Ref A Lo 0 Torque Ref A Div 1 PowerFlex 700VC Only This config...

Page 12: ...values to 0V 10V 0 Hz and 60 Hz the expression reduces to Signal Loss Signal loss detection can be enabled for each analog input The Analog In x Loss parameters control whether signal loss detection i...

Page 13: ...alog In 1 Hi Lo The units displayed are determined by configuration of the input Analog In x Loss Normal Operation Operation with Analog Selected as Process PID Fdbk Exclusive Mode Operation with Anal...

Page 14: ...is enabled separately for each analog output via the bit enumerated parameter Anlg Out Absolut Scaling The scaling for the analog output is defined by entering analog output voltages into two paramete...

Page 15: ...Lo 1 volt Analog Out1 Hi set to 9 volts Anlg Out Absolut Example 5 Overriding the Default Analog Output Target Scaling Analog Output 1 set for 0 10V DC at 0 100 Commanded Torque Setup Analog Out1 Sel...

Page 16: ...g Out2 Hi parameter 346 10 000 Volts Analog Out2 Lo parameter 347 0 000 Volts Scale1 In Hi parameter 477 100 Scale1 In Lo parameter 478 0 Network Controlled Analog Output Enables the analog outputs to...

Page 17: ...en Auto and Manual However it is possible for both Speed Reference and Start Jog control to change when toggling between Auto and Manual Refer to the appropriate parameter description for your drive a...

Page 18: ...e Mask setting the drive will not allow the HIM to acquire Manual control If the Reference Mask for a device s port becomes masked while that device is in Manual control then Manual control will be re...

Page 19: ...ive is running and an auto resettable fault occurs tripping the drive 2 After the number of seconds in Auto Rstrt Delay the drive will automatically perform an internal Fault Reset resetting the fault...

Page 20: ...ue of motor flux current required to produce rated motor torque at rated current When the flux test is performed the motor will rotate The drive accelerates the motor to approximately two thirds of ba...

Page 21: ...ine on the LCD HIM The tests can also be run manually by setting the value of the Autotune parameter to 1 Static Tune or 2 Rotate Tune Alternate Methods for IR Voltage Drop Flux Current Ref If it is n...

Page 22: ...Autotune procedure Incorrect stator resistance measurement Incorrect motor flux current measurement Load too large Autotune aborted by user Incorrect leakage inductance measurement Bus Regulation Some...

Page 23: ...Bus voltage regulation is selected by the user in the Bus Reg Mode parameter Operation Bus voltage regulation begins when the bus voltage exceeds the bus voltage regulation set point Vreg and the swit...

Page 24: ...l Channel Bus Reg I Limit No Bus Reg Proportional Channel I Limit No Bus Reg Maximum Frequency Minimum Speed Maximum Speed Overspeed Limit Frequency Set Point Output Frequency Frequency Reference to R...

Page 25: ...esulting from aggressive decelerations overhauling loads and eccentric loads It forces the output frequency to be greater than commanded frequency while the drive s bus voltage is increasing towards l...

Page 26: ...of 650V DC Table C The Dynamic Brake Regulator follows the DB Turn On and turn off curves For example with a DC Bus Memory at 684V DC the Bus Voltage Regulator setpoint is 742V DC and the Dynamic Brak...

Page 27: ...m HIM memory does not exist in the target drive or the value stored is out of range for the drive or the parameter cannot be downloaded because the drive is running the download will stop and a text m...

Page 28: ...thermal time constant of the heatsink It is an overload protection Drive Overload Protection Refer to Drive Overload on page 39 Datalinks A Datalink is one of the mechanisms used by PowerFlex drives...

Page 29: ...t parameter For example to read Parameter 09 Elapsed MWh both Datalink A1 and A2 are set to 9 Datalink A1 will contain the least significant word LSW and Datalink A2 the most significant word MSW In t...

Page 30: ...Update of the bus memory is blocked during deceleration to prevent a false high value caused by a regenerative condition Digital Inputs Digital Input Configuration Inputs are configured for the requir...

Page 31: ...le to start the drive or change direction by using the terminal block digital inputs programmed for both Run and Direction control e g Run Fwd Run This setting is similar to Run Forward and Run Revers...

Page 32: ...mmunication device must have given up its ownership in order for transitions on the Run w Comm digital input to take any action Start An open to closed transition while the drive is stopped will cause...

Page 33: ...n unipolar mode the absolute value will be used along with a separate direction command In bipolar mode the polarity of Jog Speed 1 or Jog Speed 2 will determine the direction of jog Speed Select 1 2...

Page 34: ...Bus Reg Mode B selects which bus regulation mode to use If this input function is not configured then Bus Reg Mode A always selects which bus regulation mode to use PI Enable If this input function i...

Page 35: ...Any of the digital inputs can be configured as Enable However Digital Input 6 can be configured as a Dedicated Hardware Enable by removing a jumper In this case the parameter setting for Digital In6 S...

Page 36: ...the sensor thus allowing the sensor to stop the next load When this feature is enabled through bit 9 DigIn DatLog of Compensation parameter 56 the operation is performed If the feature is disabled the...

Page 37: ...y be changed while the drive is stopped Whenever one or more of these alarms is present the drive ready status will become not ready and the HIM will reflect a conflict message In addition the drive s...

Page 38: ...Digital Out 1 Sel Mask 1 AND P394 Dig Out Mask 0 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0 Setting bits 7 and 11 of Dig Out Mask equal to 1 allows bit 7 DB Active and bit 11 Bus Freq Reg of Drive Status 2 to pass...

Page 39: ...o programmable timers The On Time specifies the delay between the appearance of the programmed condition and the corresponding digital output change of state The Off Time specifies the delay between t...

Page 40: ...sive ownership function Only one device can command direction at a time Direction is defined as the forward or reverse control of the drive output frequency not motor rotation Motor wiring and phasing...

Page 41: ...per peripheral per time period Message fragmentation because the message transaction is larger than the standard CAN message of eight data bytes is automatically handled by Client Server operation The...

Page 42: ...rals once they log in Peripherals time out if 500ms If Peripheral receives incorrect status message type Peripheral generates an error Actual time is dependent on number of peripherals attached SCANpo...

Page 43: ...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 large...

Page 44: ...Figure 3 Heavy Duty Boundary of Operation Thermal Manager The thermal manager assures that the thermal ratings of the power module are not exceeded The operation of the thermal manager can be thought...

Page 45: ...OL Mode allows the user to select the action s to perform with increased current or drive temperature When this parameter is Disabled the drive will not modify the PWM frequency or current limit When...

Page 46: ...e power module to track the worst case IGBT For example if the thermal manager normally provides 150 for 3 seconds at high speeds it may only provide 150 for one second before generating a fault at lo...

Page 47: ...at the time of the fault Status 2 Fault drive condition at the time of the fault Alarm 1 Fault alarm condition at the time of the fault Alarm 2 Fault alarm conditions at the time of the fault Fault A...

Page 48: ...ssible to determine when the fault occurred relative to the last drive power up Power Up Marker This is a copy of the factory drive under power timer at the most recent power up of the drive It is use...

Page 49: ...aking must be set to 1 Enabled When enabled flux braking automatically increases the motor flux resulting in an increase of motor losses but only when braking is required In general the flux current i...

Page 50: ...is Flux Up Mode In this mode DC current is applied to the motor so that the flux is established before rotation The flux up time period is based on the level of flux up current and the rotor time con...

Page 51: ...y and phase and voltage The motor will then accelerate to the desired frequency This process will prevent an overcurrent trip and significantly reduce the time for the motor to reach its desired frequ...

Page 52: ...gram A PF70EC is added in I O Configuration Then a new tag of type DINT is created for the high resolution speed reference Next the speed reference is written to the DINT tag PF70EC_HighResSpdRef Usin...

Page 53: ...Loss level parameter 187 0 800 of rated motor torque based on entered nameplate data Load Loss Time parameter 188 0 300 seconds Alarm Config 1 parameter 259 bit 13 Load Loss 0 disabled 1 enabled Faul...

Page 54: ...non volatile memory When the bit is set to 0 the MOP reference defaults to zero when power is restored Bit 1 0 Reset MOP reference when STOP is asserted 1 Don t reset MOP reference when STOP is finis...

Page 55: ...rences between V Hz Sensorless Vector and Flux Vector Volts Hertz Volts Hertz operation creates a fixed relationship between output voltage and output frequency The relationship can be defined in two...

Page 56: ...rve to match the motor design Marks the beginning of the constant power region Maximum Voltage Frequency Slopes the portion of the curve used above base speed Sensorless Vector Sensorless Vector mode...

Page 57: ...50 of the motor flux current as programmed in Flux Current Ref parameter 63 During acceleration and deceleration the economizer is inactive and sensorless vector motor control performs normally Flux V...

Page 58: ...ermines the units for Motor NP Power Possible settings are 0 Horsepower units are displayed in HP 1 kilowatts units are displayed in kW 2 Convert HP converts units to HP from kW by dividing Motor NP P...

Page 59: ...d 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 This can be used...

Page 60: ...load of 102 is allowed to avoid nuisance faults The duty cycle of the motor overload is defined as follows If operating continuous at 100 FLA and the load increases to 150 FLA for 59 seconds and then...

Page 61: ...he gain Figure 9 Notch Filter Frequency Example A mechanical gear train consists of two masses the motor and the load and spring mechanical coupling between the two loads See Figure 10 Figure 10 Mecha...

Page 62: ...58 Notch Filter Figure 11 Resonance Figure 12 represents the same mechanical gear train but with Notch Filter Freq set to 10 Figure 12 10 Hz Notch...

Page 63: ...Jog Owner Fault Clr Owner MOP Owner Example The operator presses the Stop button on the Local HIM to stop the drive When the operator attempts to restart the drive by pressing the HIM Start button the...

Page 64: ...y logged out when the User Display appears If you want to log out before that select log out from the Main Menu Step Key s Example Displays 1 Use the Up Arrow or Down Arrow to scroll to Operator Intrf...

Page 65: ...mic Brak and size the load resistor for the application Bus Reg Mode B The default setting will adjust frequency to regulate the DC bus voltage under regenerative conditions This will most likely caus...

Page 66: ...served Not used 8 Hold Step When set this command will inhibit the profile from transitioning to the next step when the condition s required are satisfied When the Hold command is released the profile...

Page 67: ...k up to first marker pulse prior to the Home Limit switch at 1 10th the Find Home Speed When on the marker pulse the At Home bit 13 is set in the Profile Status and the drive is stopped The diagram be...

Page 68: ...ameter 700 will be set while the homing routine is running The drive will ramp to the speed and direction set in Find Home Speed parameter 713 at the rate set in Find Home Ramp parameter 714 until the...

Page 69: ...e step the drive ramps at Step X AccelTime to Step X Velocity in the direction of the sign of Step X Velocity The drive then decelerates at Step X DecelTime to zero The Step X Value is programmed to t...

Page 70: ...in the direction defined When this occurs the profile will transition to the next step and ramp to the programmed velocity without going to zero speed The example below shows a six step profile In ea...

Page 71: ...done by programming Step 4 Value to zero Encoder Incremental Blend Step Step X Type Step X Velocity Step X AccelTime Step X DecelTime Step X Value Step X Dwell Step X Batch Step X Next 1 Digital Inpu...

Page 72: ...ed to the programmed Step 1 Velocity of 100rpm Step Step X Type Step X Velocity Step X AccelTime Step X DecelTime Step X Value Step X Dwell Step X Batch Step X Next 1 EncInc Blend 100 0 5 0 5 10 00 0...

Page 73: ...r Abs step is used to send the profile back to the home position This is done by programming Step 4 Value to zero In the example Step 1 2 3 Value is set to 701 The value of Units Traveled parameter 70...

Page 74: ...n the value programmed in Step X Value is reached within the tolerance window programmed in Encoder Pos Tol the At Position bit is set in Profile Status In this example a dwell value held each of the...

Page 75: ...Step Step X Type Step X Velocity Step X AccelTime Step X DecelTime Step X Value Step X Dwell Step X Batch Step X Next 1 Encoder Incr 100 0 5 0 5 10 00 1 00 1 2 2 Encoder Incr 200 0 5 0 5 10 00 1 00 1...

Page 76: ...e home position When started the drive ramps to the desired velocity in the direction required holds the speed then ramps to zero speed at the position desired within the tolerance window Step Step X...

Page 77: ...gger The threshold to detect power loss PowerFlex 700VC The level is adjustable The default is the value in the PF700 Bus Level table If Pwr Loss Lvl is selected as an input function AND energized Vtr...

Page 78: ...mem 150V Vtrigger1 2 Vmem 60V Vmem 120V Vmem 150V Vtrigger1 3 Vmem 90V Vmem 180V Vmem 225V Vopen Vmem 90V Vmem 180V Vmem 225V Vopen4 153V DC 305V DC 382V DC Vmin 153V DC 305V DC 382V DC Voff 5 200V DC...

Page 79: ...with a F003 Power Loss Fault when the power loss event exceeds Power Loss Time The drive faults with a F004 UnderVoltage fault if the bus voltage falls below Vmin and the UnderVoltage bit in Fault Con...

Page 80: ...o 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 accelerat...

Page 81: ...s PID can be used to modify the commanded speed or can be used to trim torque There are two ways the PID Controller can be configured to modify the commanded speed Speed Trim The PID Output can be add...

Page 82: ...pressure in the system The input from the transducer is the PID feedback and changes as the pressure changes The drive output frequency is then increased or decreased as needed to maintain system pre...

Page 83: ...the speed reference is disconnected and PID Output has exclusive control of the commanded speed passing through the linear ramp and s curve PI Feedback Motor Pump Desired Pressure PI Reference Sel Pr...

Page 84: ...n the PID Output is enabled Refer to the diagram below If PID is not enabled the PID Integrator may be initialized to the PID Pre load Value or the current value of the commanded speed The operation o...

Page 85: ...pe 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 will always have the same sign as the...

Page 86: ...Examples of Ref selected Speed Reference 43 Hz PID Output 10 Maximum Frequency 130 Hz 4 3 Hz will be added to the final speed reference of Ref not selected Speed Reference 43 Hz PID Output 10 Maximum...

Page 87: ...input is not configured to provide PID Hold and the PID Hold bit in the PID Control parameter is turned On then the PID integrator will stop changing If the current limit or voltage limit is active th...

Page 88: ...as a read only parameter These displays are active independent of PID Enabled Full scale is displayed as 100 00 PID Reference and Feedback Scaling The PID reference can be scaled by using PI Reference...

Page 89: ...put will be cut in half With only proportional control there is always an error so the feedback and the reference are never equal PI Prop Gain is unit less and defaults to 1 00 for unit gain With PI P...

Page 90: ...of the PID loop PTC Motor Thermistor Input A PTC Positive Temperature Coefficient device also know as a motor thermistor embedded in the motor windings can be monitored by the drive for motor thermal...

Page 91: ...gure 13 Current at 2 kHz PWM Frequency Figure 14 Current at 4 kHz PWM Frequency Higher PWM frequencies may result in less motor heating and lower audible noise The decrease in motor heating is conside...

Page 92: ...tch the voltage code e g 400V or 480V that was shipped 2 Low Voltage All active parameters are reset to values that match the lowest voltage within its class e g 400V 3 High Voltage All active paramet...

Page 93: ...acceleration by a percentage of the programmed acceleration time This is shown in the curves below which represent 0 25 50 and 100 S Curve Note that half of the S is added to beginning and half is ad...

Page 94: ...the commanded frequency as shown The following graph shows an acceleration time of 1 0 second After 0 75 seconds the acceleration time is changed to 6 0 seconds When the acceleration rate is changed...

Page 95: ...el and PI Feedback Sel are set to use the scale blocks the Scale X Out Hi and Scale x Out Lo parameters are not active Instead PI Reference Hi and PI Reference Lo or PI Feedback Hi and PI Feedback Lo...

Page 96: ...change the bit setting of the associated port in Write Mask Cfg parameter 596 Bit 0 Host drive Bit 1 DPI Port 1 Bit 2 DPI Port 2 Bit 3 DPI Port 3 Bit 4 DPI Port 4 PF700VC only Bit 5 DPI Port 5 Bit va...

Page 97: ...The figure on the left shows how DriveExplorer will respond when connected to a PowerFlex 70 EC drive that has security enabled on DPI Port 5 The icon will also appear in the program window to indicat...

Page 98: ...in time needs to be set in parameter 189 This will allow current limit for shear pin time before faulting the drive A unique fault Shear Pin F63 will be generated if the function is activated and the...

Page 99: ...the drive will set the output frequency to the low value of the band See C in Figure 15 Acceleration and deceleration are not affected by the skip frequencies Normal accel decel will proceed through...

Page 100: ...must be made to a digital input Enable Stop CF Run Run Fwd or Run Rev and the input must be closed All normal Start Permissives must also be satisfied Not Stop Enable Not Fault Not Alarm etc Condition...

Page 101: ...determine the length of time required for Sleep Wake levels to produce true functions These timers will start counting when the Sleep Wake levels are satisfied and will count in the opposite direction...

Page 102: ...og Input Preset Speed Parameter Jog Speed Parameter Network Communications Process PI Loop MOP Figure 16 Speed Reference Selection Important Speed Reference A is the normal speed reference used To cho...

Page 103: ...Speed usually prevents such a change However DPI Ref Select parameter 298 allows a setting which changes the scaling to Maximum Speed instead of Maximum Frequency as shown in the following example Ex...

Page 104: ...urce is Trim Setpoint its units Hz or are also dependent on whether or not Add or mode is selected Example 1 Percent mode Maximum Speed 60 Trim In Select 2 Analog In 2 Trim Out Select bit 0 Speed Ref...

Page 105: ...regulation method as follows Open Loop Slip Compensation Encoder Simulator Open Loop As the load on an induction motor increases the rotor shaft speed decreases creating slip and therefore torque to d...

Page 106: ...ed in Figure 19 Initially the motor is operating at some speed and no load At some time later an impact load is applied and the rotor speed decreases as a function of load and inertia And finally the...

Page 107: ...se motor speed Motor Fdbk Type selects the type of encoder Quadrature dual channel Quad Check dual channel and detects loss of encoder signal when using differential inputs Single Chan pulse type sing...

Page 108: ...speed Feed Forward Gain The first section of the PI regulator is the feed forward block Kf Speed Loop allows the speed regulator to be dampened during speed changes To reduce speed overshoot reduce t...

Page 109: ...a result of the torque command and load present at the motor shaft Min and Max mode are selected by values 3 and 4 respectively These two modes offer a combination of speed and torque operation The a...

Page 110: ...by the speed regulator output Note that under steady state conditions the speed feedback is steady while the torque reference is a constantly adjusting signal This is required to maintain the desired...

Page 111: ...is the result Figure 20 illustrates how min mode operates The drive begins operating as a torque regulator The torque reference causes the motor to operate at 308 RPM The speed reference is 468 RPM so...

Page 112: ...run jog auto tune etc When all permissive conditions are met the drive is considered ready to start The ready condition is available as the drive ready status Permissive Conditions 1 No faults can be...

Page 113: ...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...

Page 114: ...at is longer than the actual possible stopping time the remaining time will be used to attempt to hold the motor at zero speed decel profile B on the diagram above 3 DC voltage to the motor continues...

Page 115: ...When the output reaches zero the output is shut off 4 The motor if rotating will coast from its present speed for a time that is dependent on the mechanics of the system inertia friction etc Ramp to H...

Page 116: ...proper rate 3 When the frequency is decreased to a point where the motor no longer causes the bus voltage to increase the frequency is forced to zero DC brake will be used to complete the stop if the...

Page 117: ...Sets how many seconds will elapse after the last programming key is touched before the HIM displays the user display Current Regulator PI PI 0 Brake Level IdCmd IqCmd T e IqFdbk IdFdbk PI Gain Bus Vol...

Page 118: ...or the network activates the users sets Bit 0 Dynamic Mode 0 disabled 1 enabled Bit 1 Ctrl Source 0 controlled from digital inputs 1 controlled from Dyn User Set Sel parameter 205 Digital InX Sel par...

Page 119: ...a range of voltages For example a 400V class drive will have an input voltage range of 380 480V AC While the hardware remains the same for each class other variables such as factory defaults catalog n...

Page 120: ...80 380 380 380 528 342 528 400 400 400 528 480 460 460 528 500 600 600 575 575 660 432 660 600 575 575 660 475 759 690 690 690 759 475 759 Drive Full Power Range Nominal Motor Voltage to Drive Rated V...

Page 121: ...ive or torque producing current to maintain the active bus limit or inertia ride through bus reference A larger value of gain reduces the dynamic error of the active current Default Min Max Units 450...

Page 122: ...6 step mode Values above 95 increase harmonic content and jeopardize control stability This output voltage limit is strictly a function of input line and resulting bus voltage Default Min Max Units 95...

Page 123: ...Units 2000 0 32767 N A 541 Encdlss Ang Comp Voltage vector angle compensation for long motor cables and switching characteristics in FVC encoderless mode 1024 1 revolution Default Min Max Units 0 1023...

Page 124: ...20 5000 551 Ki DC Brake Integral gain for DC Braking mode Default Min Max Units 25 0 500 552 Dead Time Comp Voltage compensation for off time between PWM switching events Default Min Max Units 75 50 1...

Page 125: ...us Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambie...

Page 126: ...bient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 3...

Page 127: ...60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 2 kHz 4 kHz 6 kHz 8 kHz 10 kHz 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40...

Page 128: ...0 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of...

Page 129: ...30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50...

Page 130: ...Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current...

Page 131: ...50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 o...

Page 132: ...C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45...

Page 133: ...0 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of...

Page 134: ...20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50...

Page 135: ...40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 10...

Page 136: ...5 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40...

Page 137: ...5 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40 45 50 40...

Page 138: ...0 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 2 kHz 4 kHz 6 kHz 8 kHz 10 kHz 20 25 30 35 40 45 50 40 50 60 70 80 90 100 of Rated Continuous Current Max Ambient Temp C 20 25 30 35 40...

Page 139: ...Amps 3 Output Current 0 0 Hz 1 Output Freq 0 0 Hz 2 Commanded Freq 0 0 24 Commanded Torque 0 0 25 Speed Feedback 0 0 415 Encoder Speed Motor Gear Load E1 Drive Control Control Inputs Outputs Communic...

Page 140: ...d 5 50 0 106 Preset Speed 6 60 0 107 Preset Speed 7 Not Used 274 DPI Port Select 0 275 DPI Port Value Bit 0 Save HIM Ref 192 AutoMan Cnfg Bit 2 ManRefPrld 192 AutoMan Cnfg 0 273 Drive Ramp Rslt X X X...

Page 141: ...X X X X 1 32767 1 32767 1 32767 1 32767 1 32767 65536 1 2 8 9 11 12 13 14 15 16 17 18 19 20 22 0 1 30 To Speed Reference Select B Preset Spd1 93 Speed Ref B Sel 60 0 94 Speed Ref B Hi 0 0 95 Speed Re...

Page 142: ...Preset Spd4 Preset Spd5 Preset Spd6 Preset Spd7 DPI Port 1 DPI Port 2 DPI Port 3 DPI Port 5 DPI Port 1 DPI Port 2 DPI Port 3 DPI Port 5 X X X X X X X X 1 32767 1 32767 1 32767 1 32767 1 2 8 9 11 12 13...

Page 143: ...Jog Speed 1 Bit 2 Jog 271 Drive Logic Rslt Bit 2 Command Dir 209 Drive Status 1 Unipolar 190 Direction Mode 0 0 1 0 0 0 1 1 1 2 1 2 3 4 5 6 0 0 1 1 2 Disabled Fault Hold Input Set Input Lo Set Input...

Page 144: ...22 Ramped Speed Max Freq 298 DPI Ref Select 130 0 Hz 55 Maximum Freq 60 0 82 Maximum Speed 0 272 Drive Ref Rslt 0 273 Drive Ramp Rslt 0 0 138 PI Output Meter 130 0 Hz 55 Maximum Freq Bit 9 of Ref 124...

Page 145: ...eed 4 40 0 105 Preset Speed 5 50 0 106 Preset Speed 6 60 0 107 Preset Speed 7 0 308 HighRes Ref Encoder MOP Level Master Ref Preset Spd1 Preset Spd2 Preset Spd3 Preset Spd4 Preset Spd5 Preset Spd6 Pre...

Page 146: ...17 18 19 20 30 22 8 9 10 11 12 13 14 15 16 17 18 19 20 30 22 In Lo Hi Lo Out Lo Hi Lo In Lo Hi Lo 1 65536 32767 32767 Analog In 1 Analog In 2 Analog In 1 Ref Analog In 2 Ref Setpoint In Lo Hi Lo To P...

Page 147: ...1 PI Hold 134 PI Status Bit 2 PI Reset 134 PI Status Bit 0 PI Enabled 134 PI Status Limit Limit Z 1 1 0 0 From Process PI Feedback Select From Process PI Digital Inputs Ramp X X R S R S s LPass K d S...

Page 148: ...Speed Limit 10 0 83 Overspeed Limit 60 0 82 Maximum Speed 0 0 Hz 1 Output Freq X X Limit Limit Kp Ki s P Gain I Gain 0 1 1 From Speed Feedback Select 1 5 120 Anti Windup Bus Voltage Current Limit Ope...

Page 149: ...0 429 Torque Ref A Lo Torque Setpt 427 Torque Ref A Sel 0 0 435 Torque Setpoint1 0 0 138 PI Output Meter Bit 4 Zero Clamp 124 PI Configuration Bit 0 PI Enabled 134 PI Status Bit 8 Torque Trim 124 PI...

Page 150: ...VAC 41 Motor NP Volts 12 3 Amps 42 Motor NP FLA 60 0 Hz 43 Motor NP Hertz 1760 RPM 44 Motor NP RPM 10 00 45 Motor NP Power 4 49 Motor Poles 9 8 VAC 62 IR Voltage Drop 4 92 Amps 63 Flux Current Ref 0...

Page 151: ...1 Bit 8 Drv OL Lvl 2 211 Drive Alarm 1 17 8 218 Drive Temp 0 0 219 Drive OL Count 499 234 Testpoint 1 Sel 499 236 Testpoint 2 Sel 0 235 Testpoint 1 Data 0 237 Testpoint 2 Data 499 234 Testpoint 1 Sel...

Page 152: ...nlg in Loss 259 Alarm Config 1 Bit 4 Anlg in Loss 211 Drive Alarm 1 Unipolar 190 Direction Mode Disabled 327 Analog In 2 Loss I O 16 I O 17 I O 14 I O 15 I O 20 I O 21 1 000 2 000 I O 18 I O 19 0 A D...

Page 153: ...gIn DataLogic Bit 12 In5 ORdata 411 DigIn DataLogic Bit 12 In5 DLogRsl 216 Dig In Status Speed Sel 3 366 Digital In6 Sel Bit 5 In6 ANDdata 411 DigIn DataLogic Bit 5 Digital In6 216 Dig In Status Bit 1...

Page 154: ...0000000101110 597 Write Mask Act 0000000000101111 276 Logic Mask Bit 15 Security 598 Logic Mask Act 0000000000101111 598 Logic Mask Act DPI Port 1 HIM DPI Port 2 DPI Port 3 DPI Port 5 Comm Terminal Bl...

Page 155: ...0000000101111 283 Fault Clr Mask 0000000000101111 284 MOP Mask 0000000000101111 285 Local Mask 0000000000000000 288 Stop Owner 0000000000000000 289 Start Owner 0000000000000000 291 Direction Owner 000...

Page 156: ...ecs 382 Dig Out1 OnTime 0 0 Secs 383 Dig Out1 OffTime Run 384 Digital Out2 Sel Bit 1 Digital Out2 217 Dig Out Status Bit 1 Digital Out2 379 Dig Out Setpt 0 0 385 Dig Out2 Level 0 0 Secs 386 Dig Out2 O...

Page 157: ...6 Output Voltage 0 0 Amps 3 Output Current 0 0 Hz 1 Output Freq 0 0 2 Commanded Speed 0 0 24 Commanded Torque 0 0 25 Speed Feedback 0 0 415 Encoder Speed Motor Gear Load E1 Drive Control Control Input...

Page 158: ...ID 271 Drive Logic Rslt Bit 12 Spd Ref ID 271 Drive Logic Rslt Bit 0 Excl Mode 124 PI Configuration 0 0 138 PI Output Meter B0 1 B0 1 Bit 15 Spd Ref ID 209 Drive Status 1 10 0 102 Preset Speed 2 20 0...

Page 159: ...ng Trim Select Trim Ref B Speed Ref B DPI Port 1 DPI Port 2 DPI Port 3 DPI Port 4 DPI Port 5 Analog In 2 90 Speed Ref A Sel 2147483647 414 Enc Pos Feedback 0 0 415 Encoder Speed 0 000 16 Analog In1 Va...

Page 160: ...V 12 V 13 V 14 V 15 V 16 V 17 V 21 V 22 5 0 20 0 103 Preset Speed 3 101 Preset Speed 1 30 0 104 Preset Speed 4 10 0 102 Preset Speed 2 40 0 105 Preset Speed 5 50 0 106 Preset Speed 6 60 0 107 Preset...

Page 161: ...90 Direction Mode Bit 2 Jog 271 Drive Logic Rslt Bit 2 Jog 271 Drive Logic Rslt 60 0 82 Maximum Speed 0 0 81 Minimum Speed Bit 2 Command Dir 209 Drive Status 1 10 0 100 Jog Speed 1 10 0 108 Jog Speed...

Page 162: ...e Logic Rslt Bit 4 Stopping 210 Drive Status 2 Bit 0 Ready 210 Drive Status 2 0 0 22 Ramped Speed 2147483647 273 Drive Ramp Rslt 0 0 146 S Curve 10 0 Secs 140 Accel Time 1 10 0 Secs 141 Accel Time 2 1...

Page 163: ...None 416 Fdbk Filter Sel 6 3 446 Kp Speed Loop 0 0 RPM 152 Droop RPM FLA 7 8 445 Ki Speed Loop 30 0 RPM 121 Slip RPM FLA None 416 Fdbk Filter Sel Limit 2 s 2 2 s 2 2nd Order Low Pass Filter Kp P Gain...

Page 164: ...ol Status Bit 7 PosPwrTrqLim 440 Control Status 0 0 138 PI Output Meter Torque Stpt1 427 Torque Ref A Sel 1 0 430 Torq Ref A Div Disabled 431 Torque Ref B Sel 1 0 434 Torq Ref B Mult 0 0 VAC 27 Rated...

Page 165: ...Testpoint 1 Data Bit 0 NegTrqCurLim 440 Control Status Bit 1 PosTrqCurLim 440 Control Status Enabled 526 Torq Reg Enable Ki s I Gain Limit Calc Current Limit Calculation Peak Torque Current Limit Amps...

Page 166: ...I Configuration 0 0 Rad 139 PI BW Filter 0 0 137 PI Error Meter 0 0 138 PI Output Meter 100 0 132 PI Upper Limit 100 0 131 PI Lower Limit Bit 3 PI InLimit 134 PI Status 100 0 132 PI Upper Limit 100 0...

Page 167: ...ection Control 36 DPI 37 Drive Guard 39 Drive Overload 39 Drive Thermal Manager 40 Droop 42 E Economizer Sensorless Vector 53 Encoder Feedback 103 Exclusive Link 31 Exclusive Mode 78 F Fast Stop 32 Fa...

Page 168: ...1 Scale Blocks 91 Scaling Analog 4 Security 92 Sensorless Vector 52 Sensorless Vector w Economizer 53 Shear Pin 94 Signal Loss 8 Skip Frequency 94 Sleep Mode 96 Speed Feedback Filter 105 Speed Profile...

Page 169: ......

Page 170: ...Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Power Control and Information Solutions Headquarters Pu...

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