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Application Notes

Appendix D-7

Process PI for Standard Control

The internal PI function of the Reach Drive provides closed loop process control with
proportional and integral control action. The function is designed for use in
applications that require simple control of a process without external control devices.
The PI function allows the microprocessor of the drive to follow a single process
control loop.

The PI function reads a process variable input to the drive and compares it to a
desired setpoint stored in the drive. The algorithm will then adjust the output of the PI
regulator, changing drive output frequency to try and make the process variable equal
the setpoint.

It can operate as trim mode by summing the PI loop output with a master speed
reference.

Or, it can operate as control mode by supplying the entire speed reference. This
method is identified as “exclusive mode.”

Figure D.8 – Trim Mode

Figure D.9 – Control Mode

+

Spd Cmd

Process PI

Controller

Linear Ramp

& S-Curve

+

+

+

PI Enabled

Speed Control

Spd Ref

PI Ref

PI Fbk

Slip Adder

Open

Loop

Slip

Comp

Process

PI

Spd Cmd

Process PI

Controller

Linear Ramp

& S-Curve

+

+

PI Enabled

Speed Control

Spd Ref

PI Ref

PI Fbk

Slip Adder

Open

Loop

Slip

Comp

Process

PI

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Summary of Contents for CNMD180W0ENNNC1

Page 1: ...Instruction Manual Reach Drive User Manual Manufactured for DBT D2 3561 ...

Page 2: ...and maintain zero speed The user is responsible for assuring safe conditions for operating personnel by providing suitable guards audible or visual alarms or other devices to indicate that the drive is operating or may operate at or near zero speed Failure to observe this precaution could result in severe bodily injury or loss of life ATTENTION Do not install modification kits with power applied t...

Page 3: ...3 Power Termination Location Notes 2 6 2 5 I O Wiring 2 7 2 5 1 I O Terminal Designations 2 8 2 5 2 Encoder Terminal Block 2 11 2 5 3 Signal and Control Wire Types 2 12 2 5 4 The I O Control Board 2 14 2 5 5 I O Terminal Blocks 2 14 2 5 6 Hardware Enable Circuitry 2 15 2 5 7 Resistance Temperature Detector RTD Board 2 15 2 5 7 1 Connections 2 17 2 5 7 2 Hardware 2 17 2 5 7 3 Microcontroller Softwa...

Page 4: ...2 DBT Reach Drive User Manual Appendix A Technical Specifications A 1 Appendix B Logic Command Status Words B 1 Appendix C HIM Overview C 1 Appendix D Application Notes D 1 ...

Page 5: ...tances parameter names are shown as the parameter name followed by the parameter number For example Ramped Speed 22 1 3 Identifying the Drive by Nameplate Each Reach Drive can be identified by its nameplate Figure 1 1 Identifying the Drive by Nameplate 198 270 432 528 Nom CoolantPressure 25psig Input 3Phase 47 63Hz MFD in2006onAUG15 3Sec OverloadAmps 1Min OverloadAmps ContinuousAmps BaseHz default...

Page 6: ...mber The model number is on the shipping label and drive nameplate The model number includes the drive and any factory installed options Table 1 1 Reach Drive Model Numbers Part Model Number Reach Drive CNMD180W0ENNNC1 ControNet Comm Adapter Fiber Kit CNM CNETGF 11 Pump Control Adapter Kit CNM PCTRL 11 Dynamic Brake Resistor Kit CNM R2 019P600 ...

Page 7: ...mum of 600 volts If a system ground fault monitor RCD is to be used only Type B adjustable devices should be used to avoid nuisance tripping ATTENTION The following information is merely a guide for proper installation Rockwell Automation cannot assume responsibility for the compliance or the noncompliance to any code national local or otherwise for the proper installation of this drive or associa...

Page 8: ...d by other equipment on the line or by events such as lightning strikes ATTENTION Power distribution to Reach Drives is intended to be from the ungrounded secondary of the system s step down transformer Protective MOVs the EMISnubberBoard and commonmode capacitors 3 places in the drive have been disconnected They should typically be reconnected in any application where the power distribution at th...

Page 9: ...und PE must be connected to system ground Ground impedance must conform to the requirements of national and local industrial safety regulations and or electrical codes The integrity of all ground connections should be periodically checked For installations within a cabinet a single safety ground point or ground bus bar connected directly to building steel should be used All circuits including the ...

Page 10: ...or cable shield should be connected to this terminal on the drive drive end and the motor frame motor end A shield terminating cable gland may also be used When shielded cable is used for control and signal wiring the shield should be grounded at the source end only not at the drive end Table 2 1 Power Termination Locations Notes Terminal Description Notes BR1 DC Brake DB Resistor Connection BR2 D...

Page 11: ...e separated from sensitive circuits As an approximate guide allow a spacing of 0 3 meters 1 foot for every 10 meters 32 8 feet of length In all cases long parallel runs must be avoided Do not use cable with an insulation thickness less than or equal to 15 mils 0 4mm 0 015 in Use Copper wire only Wire gauge requirements and recommendations are based on 75 degrees C Do not reduce wire gauge when usi...

Page 12: ...T Reach Drive User Manual 2 4 3 Power Termination Location Notes Figure 2 3 Power Termination Locations DC and DC DC BUS TEST POINT DC BUS TEST POINT Figure 2 4 Power Termination Locations BR1 and BR2 BR1 BR2 ...

Page 13: ...t referenced to earth ground and are designed to greatly reduce common mode interference Grounding these terminals can cause signal noise Figure 2 5 Power Termination Locations U V W R S T T S R ATTENTION Configuring an analog input for 0 20mA operation and driving it from a voltage source could cause component damage Verify proper configuration prior to applying input signals ATTENTION Hazard of ...

Page 14: ... Analog Out 1 2 Bipolar current output is not bipolar 10V 4 20mA 11 bit and sign voltage mode limit current to 5 mA Current mode maxz load resistance is 400 ohms 340 347 7 Analog Out 1 8 Analog Out 2 9 Analog Out 2 10 HW PTC Input 1 1 8k ohm PTC Internal 3 32k ohm pull up resistor 238 259 11 Digital Out 1 N C 4 Fault Max Resistive Load 240V AC 30V DC 1200VA 150W Max Current 5A Min Load 10mA Max In...

Page 15: ...M an 30 Digital In 4 Speed Sel 1 31 Digital In 5 Speed Sel 2 32 Digital In 6 Hardware Enable Speed Sel 3 1 Important 4 20mA operation requires a jumper at terminals 17 and 18 or 19 and 20 Drive damage may occur if jumper is not installed 2 These inputs outputs are dependant on a number of parameters see Rel Param 3 Differential Isolation External source must be maintained at less than 160V with re...

Page 16: ...T Reach Drive User Manual Figure 2 6 I O Plug 32 POSITION I O PLUG REMOVE FROM CONTROL PCB TERMINATE WIRE HARNESS TO PLUG THEN MATE PLUG TO HEADER AND FASTEN SCREWS TO 7 in lbs SCREW ON PLUG NUT ON PCB HEADER ...

Page 17: ...r B NOT Quadrature B input 3 Encoder B 2 Encoder A NOT Single channel or quadrature A input 1 Encoder A Table 2 4 Sample Encoder Wiring I O Connection Example I O Connection Example Encoder Power 1Internal Drive Power Internal drive 12V DC 250mA 1 SHLD connection is on drive chassis Encoder Power External Power Source Encoder Signal Single Ended Dual Channel Encoder Signal Differential Dual Channe...

Page 18: ... 30 m 100 ft Combined 97302 2 9730 is 3 individually shielded pairs 2 channel power If 3 channel is required use 9728 0 196 mm2 24AWG individually shielded Encoder Pulse I O 30 to 152 m 100 to 500 ft Signal 9730 97282 0 196 mm2 24AWG individually shielded Power 87903 3 8790 is 1 shielded pair 0 750 mm2 18 AWG Combined 98924 4 9892 is 3 individually shielded pairs 3 channel 0 332 22 AWG 1 shielded ...

Page 19: ... Digital I O Type Wire Type s Description Minimum Insulation Rating Unshielded Per US NEC or applicable national or local code 300V 60 degrees C 140 degrees F Shielded Multi conductor shielded cable such as Belden 8770 or equiv 0 750 mm2 18AWG 3 conductor shielded ...

Page 20: ...n can result in severe equipment damage bodily injury or loss of life Table 2 7 I O Terminal Block Specifications No Name Description Wire Size Range4 Torque Maximum Minimum Maximum Recommended 1 I O Terminal Block Signal control connections 2 1 mm2 14 AWG 0 30 mm2 22 AWG 0 6 N m 5 2 lb in 0 6 N m 5 2 lb in 2 Encoder Terminal Block Encoder power signal connections 0 75 mm2 18 AWG 0 196 mm2 24 AWG ...

Page 21: ...Digital In 6 See tables 2 5 and 2 6 for more information 1 Remove the I O Control board 2 Locate and remove Jumper 10 on the Main Control Board see Figure 2 7 3 Re assemble the I O Control board 4 Wire enable to Digital In 6 5 Verify that Digital In6 Sel 366 is set to 1 Enable 2 5 7 Resistance Temperature Detector RTD Board Up to eight RTD or NTC negative temperature coefficient temperature sensor...

Page 22: ...2 16 DBT Reach Drive User Manual Figure 2 8 RTD Board PIN 12 PIN 1 PIN 1 PIN 6 RTD PC BOARD RTD PC BOARD ASSEMBLED IN ENCLOSURE ...

Page 23: ... the sensor inputs will not be isolated on the RTD board 2 5 7 2 Hardware The hardware consists of a single PC board with two wired connectors one for temperature sensors and the second for power and I O signals Figure 2 9 RTD Board Connections 1 2 3 1 2 3 S1 S2 J3 I O J2 RTD Inputs J2 13 1 12 24 Mode Time Gain 1 6 7 12 Table 2 8 J2 RTD Board I O Function Position I O Function 1 24V COM 2 LOUT1 CO...

Page 24: ...sing a high quality rail to rail instrumentation amplifier with gain adjustment To accomodate a variety of sensors and temperature ranges an amplifier boosts the analog sensor voltage in order to increase the temperature resolution Discrete gains of x10 through x80 are selectable through DIP switch settings A 4th order low pass filter rejects normal mode noise at the analog input with a cutoff fre...

Page 25: ...DIP switches to determine the operational mode of the RTD board A single Mode switch determines whether the board uses an internal timebase or the digital input as a clock to step through the eight analog input channels When using the internal timebase the other two DIP switches select one of four clock periods Figure 2 10 Scaled Analog Output for RTD Board Analog Multiplexer SA 1 of 8 SB 1 of 8 A...

Page 26: ...ture sensor channels When the Mode switch S2 1 is down closed the board uses the digital input as an external clock to sequentially cycle through the eight temperature sensor channels The analog output channel advances with both the rising and falling edges of the digital input In both modes the active channel is output as a 3 bit binary address on the RTD board s digital outputs An inactive outpu...

Page 27: ...arameter limits or selections Note that a negative Hz value indicates reverse rotation Default Factory default setting Access Parameter access level 0 Basic reduced parameter set 1 Standard 2 Advanced full parameter set Path Menu selections to reach specified parameter The path is indicated in this manner File Group See also Associated parameters that may provide additional or related information ...

Page 28: ... phase with the fundamental voltage component 1 Output Freq Range 400 0 Hz 0 1 Hz Default Read Only Access 0 Path Monitor Metering See also 2 Commanded Speed Range P 082 Maximum Speed 0 1 Hz or 0 1 RPM Default Read Only Access 0 Path Monitor Metering See also 79 3 Output Current Range 0 0 to Drive Rated Amps x 2 0 1 A Default Read Only Access 0 Path Monitor Metering See also 4 Torque Current Range...

Page 29: ...Volts 0 1 VAC Default Read Only Access 0 Path Monitor Metering See also 7 Output Power Range 0 to Drive Rated kW x 2 0 1 kW Default Read Only Access 0 Path Monitor Metering See also 8 Output Powr Fctr Range 0 00 to 1 00 0 01 Default Read Only Access 2 Path Monitor Metering See also 9 Elapsed MWh Range 0 0 to 214 748 352 0 MWh 0 1 MWh Default Read Only Access 2 Path Monitor Metering See also 10 Ela...

Page 30: ...ly Access 1 Path Monitor Metering See also 79 12 DC Bus Voltage Range 0 to Based on Drive Rating 0 1 VDC Default Read Only Access 1 Path Monitor Metering See also 13 DC Bus Memory Range 0 to Based on Drive Rating 0 1 VDC Default Read Only Access 2 Path Monitor Metering See also 14 Elapsed kWh Range 0 to 429 496 729 5 kWh 0 1 kWh Default Read Only Access 1 Path Monitor Metering See also 16 17 Analo...

Page 31: ... speed after Accel Decel and S Curve are applied The summed value of ramped speed process PI and droop When FVC Vector mode is selected droop will not be added 18 PTC HW Value Range 0 00 to 5 00 Volts 0 01 Volts Default Read Only Access 2 Path Monitor Metering See also 21 Spd Fdbk No Filt Range Default Read Only Access 2 Path Monitor Metering See also 22 Ramped Speed Range 400 0 Hz or 24 000 0 RPM...

Page 32: ...Torque Range 800 0 0 1 Default Read Only Access 0 Path Monitor Metering See also 53 FV 25 Speed Feedback Range 400 0 Hz or 24 000 0 RPM 0 1 Hz or 0 1 RPM Default Read Only Access 1 Path Monitor Metering See also 26 Rated kW Range 0 00 to 3000 00 kW 0 01 kW Default Read Only Access 0 Path Monitor Drive Data See also 27 Rated Volts Range 0 0 to 65535 0 VAC 0 1 VAC Default Read Only Access 0 Path Mon...

Page 33: ...amps The motor nameplate FLA defines the output amps when operating at rated voltage rated speed and rated temperature It is used in the motor thermal overload and in the calculation of slip 29 Control SW Ver Range 0 000 to 65535 000 0 001 Default Read Only Access 0 Path Monitor Drive Data See also 196 40 Motor Type Range 0 Induction 1 Synchr Reluc 2 Synchr PM Default 0 Induction Access 2 Path Mot...

Page 34: ...he motor power units to be used This parameter determines the units for Motor NP Power 45 Convert HP Converts all power units to Horsepower Convert kW Converts all power units to kilowatts 43 Motor NP Hertz Range 5 0 to 400 0 Hz 0 1 Hz Default Based on Drive Type Access 1 Path Motor Control Motor Data See also 44 Motor NP RPM Range 60 0 to 25200 0 RPM 0 1 RPM Default 1780 RPM Access 1 Path Motor C...

Page 35: ...tly loaded Total Inertia 450 will have to be estimated if uncoupled for tuning of the speed loop or separately adjust Ki 445 and Kp 446 Sensrls Vect Maintains consistent magnetizing current up to base speed Voltage increases as a function of load 47 Motor OL Hertz Range 0 0 to Motor NP Hz 0 1 Hz Default Motor NP Hz 3 Access 2 Path Motor Control Motor Data See also 42 220 48 Motor OL Factor Range 0...

Page 36: ... drive will output Sets the maximum allowable frequency the drive will output Note that this is not maximum speed which is set in parameter 82 Refer to figure 3 1 54 Maximum Voltage Range Rated Volts x 0 25 to Rated Volts 0 1 VAC Default Drive Rated Volts Access 2 Path Motor Control Torq Attributes See also 55 Maximum Freq Range 5 0 to 420 0 Hz 0 1 Hz Default 110 0 or 130 0 Hz Access 2 Path Motor ...

Page 37: ...owable Speed Reference Range Allowable Output Frequency Range Bus Regulation or Current Limit Maximum Freq 55 Motor NP Hz 43 0 Break Frequency 72 Max Speed 82 Min Speed 81 Output Freq Limit V o l t a g e 56 Compensation Range See figure 3 2 Default See figure 3 2 Access 2 Path Motor Control Torq Attributes See also Figure 3 2 Compensation 56 1 0 1 1 1 0 x 0 x x x x x x x 10 0 1 2 3 4 5 6 7 8 9 11 ...

Page 38: ...he PWM frequency from decreasing to 2 kHz at low operating frequencies in FVC Vector mode without encoder Manual 0 Flux is established for Flux Up Time 58 before acceleration Auto 1 Flux is established for a calculated time period based on motor nameplate data Flux Up Time 58 is not used Sets the amount of time the drive will use to try to achieve full motor stator flux When a start command is iss...

Page 39: ...Rotate Tune 2 A temporary command that initiates a Static Tune followed by a rotational test for the best possible automatic setting of Flux Current Ref 63 In FVC Vector mode with encoder feedback a test for the best possible automatic setting of Slip RPM FLA is also run A start command is required following initiation of this setting The parameter returns to Ready 0 following the test at which ti...

Page 40: ...ector Specifies motor torque applied to the motor during the flux current and inertia tests performed during an autotune 62 IR Voltage Drop Range 0 0 to Motor NP Volts x 0 25 0 1 VAC Default Based on Drive Rating Access 1 Path Motor Control Torq Attributes See also 53 61 63 Flux Current Ref Range 0 00 to Motor NP FLA 0 01 Amps Default Based on Drive Rating Access 1 Path Motor Control Torq Attribut...

Page 41: ...leration when Custom V Hz mode is selected Sets the boost level for steady state or deceleration when Fan Pmp V Hz or Custom V Hz modes are selected Sets the voltage the drive will output at Break Frequency 72 67 Inertia Autotune Range 0 Ready 1 Inertia Tune Default 0 Ready Access 1 Path Motor Control Torq Attributes See also 53 450 FV 69 Start Acc Boost Range 0 0 to Motor NP Volts x 0 25 0 1 VAC ...

Page 42: ...ed based parameters to RPM and changes the value proportionately Selects the source for motor speed feedback Note that all selections are available when using Process PI 72 Break Frequency Range 0 0 to Maximum Freq 0 1 Hz Default Motor NP Freq x 0 25 Access 2 Path Motor Control Volts per Hertz See also 53 71 79 Speed Units Range 0 Hz 1 RPM 2 Convert Hz 3 Convert RPM Default 0 Hz Access 0 Path Spee...

Page 43: ...n encoder signal The user is responsible for ensuring that the driven machinery all drive train mechanisms and application material are capable of safe operation at the maximum operating speed of the drive Overspeed detection in the drive determines when the drive shuts down The factory default for overspeed detection is set to 10 0 Hz or 300 0 RPM greater than the Maximum Speed 82 Failure to obse...

Page 44: ...ault 10 0 Hz or 300 0 RPM Access 2 Path Speed Command Spd Mode Limits See also 55 79 82 ATTENTION The user is responsible for ensuring that the driven machinery all drive train mechanisms and application material are capable of safe operation at the maximum operating speed of the drive Overspeed detection in the drive determines when the drive shuts down The factory default for overspeed detection...

Page 45: ... Hz 0 1 Hz Default 0 0 Hz Access 2 Path Speed Command Spd Mode Limits See also 84 85 86 88 Speed Torque Mod Range 0 Zero Torque 1 Speed Reg 2 Torque Reg 3 Min Torq Spd 4 Max Torq Spd 5 Sum Torq Spd 6 Absolute Min 7 Pos Spd Prof Default 1 Speed Reg Access 1 Path Speed Command Spd Mode Limits See also 53 FV ATTENTION When selecting operation in a torque mode configuration the user is responsible for...

Page 46: ...to regulate to when the torque reference and torque generated from the speed regulator are compared Pos Spd Prof 7 Drive operates as a speed or position regulator as determined by the steps configured by the Profile Step parameters 720 877 and Setup parameters 705 719 Selects the only control source for these logic commands Start Run Jog Direction Clear Faults Stop Any attached HIM Stop Key is alw...

Page 47: ...e LCD HIM while the drive is running may cause an abrupt speed change if the LCD HIM is the selected reference source but is not the selected control source The drive will ramp to the reference level provided by the HIM at the rate specified in Accel Time 1 140 Accel Time 2 141 Decel Time 1 142 and Decel Time 2 143 Be aware that an abrupt speed change may occur depending upon the new reference lev...

Page 48: ...ng may cause an abrupt speed change if the LCD HIM is the selected reference source The drive will ramp to the reference level provided by the HIM at the rate specified in Accel Time 1 140 Accel Time 2 141 Decel Time 1 142 and Decel Time 2 143 Be aware that an abrupt speed change may occur depending upon the new reference level and the rate specified in these parameters Failure to observe this pre...

Page 49: ...5 Scale Block 1 26 Scale Block 2 27 Scale Block 3 28 Scale Block 4 Default 11 Preset Spd 1 Access 0 Path Speed Command Speed References Speed Command Control Src Select See also 2 91 93 101 107 117 120 192 194 213 272 273 361 366 ATTENTION Removing and replacing the LCD HIM while the drive is running may cause an abrupt speed change if the LCD HIM is the selected reference source The drive will ra...

Page 50: ...ake Ref 179 Scales the upper value of the TB Man Ref Sel selection when the source is an analog input 94 Speed Ref B Hi Range Maximum Speed 0 1 Hz or 0 01 RPM Default Maximum Speed Access 1 Path Speed Command Speed References See also 79 93 190 95 Speed Ref B Lo Range Maximum Speed 0 1 Hz or 0 01 RPM Default 0 0 Access 1 Path Speed Command Speed References See also 79 90 93 190 96 TB Man Ref Sel R...

Page 51: ...8 TB Man Ref Lo Range Maximum Speed 0 1 Hz or 0 01 RPM Default 0 0 Access 1 Path Speed Command Speed References See also 79 96 99 Pulse Input Ref Range 400 0 Hz or 24000 0RPM 0 1 Hz or 0 1 RPM Default Read Only Access 0 Path Speed Command Speed References See also 100 Jog Speed 1 Range Maximum Speed 0 1 Hz or 0 1 RPM Default 10 0 Hz or 300 0 RPM Access 0 Path Speed Command Discrete Speeds See also...

Page 52: ...1 Preset Speed 1 5 0 Hz or 150 RPM 0 102 Preset Speed 2 10 0 Hz or 300 RPM 2 103 Preset Speed 3 20 0 Hz or 600 RPM 2 104 Preset Speed 4 30 0 Hz or 900 RPM 2 105 Preset Speed 5 40 0 Hz or 1200 RPM 2 106 Preset Speed 6 50 0 Hz or 1500 RPM 2 107 Preset Speed 7 60 0 Hz or 1800 RPM 2 108 Jog Speed 2 Range Maximum Speed 0 1 Hz or 0 1 RPM Default 10 0 Hz or 300 0 RPM Access 0 Path Speed Command Discrete ...

Page 53: ...tpoint 1 Analog In 1 2 Analog In 2 3 6 Reserved 7 Pulse In 8 Encoder 9 MOP Level 10 Reserved 11 Preset Spd 1 12 Preset Spd 2 13 Preset Spd 3 14 Preset Spd 4 15 Preset Spd 5 16 Preset Spd 6 17 Preset Spd 7 18 Local HIM 19 DPI Port 2 20 DPI Port 3 21 DPI Port 4 22 Network 23 24 Reserved 25 Scale Block 1 26 Scale Block 2 27 Scale Block 3 28 Scale Block 4 Default 1 Analog In 1 Access 2 Path Speed Comm...

Page 54: ...selected in Feedback Select 80 Figure 3 4 Trim Out Select 118 0 0 0 0 0 0 0 0 0 0 0 0 0 0 x 0 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Condition True 0 Condition False x Reserved Bit R e a d y A c t i v e R u n n i n g J o g g i n g S t o p p i n g D C B r a k i n g A u t o T u n i n g D B A c t i v e A u t o R s t C t d n A u t o R s t A c t C u r r L i m i t B u s F r e q R e g M o t o r O v e r ...

Page 55: ...p Gain Range 1 0 to 100 0 0 1 Default 40 0 Access 2 Path Speed Command Slip Comp See also 80 121 122 123 Slip RPM Meter Range 300 0 RPM 0 1 RPM Default Read Only Access 2 Path Speed Command Slip Comp See also 80 121 122 124 PI Configuration Range See figure 3 5 Default See figure 3 5 Access 2 Path Speed Command Process PI See also 124 138 Figure 3 5 PI Configuration 124 0 0 0 0 0 0 0 0 0 0 x x x x...

Page 56: ...e action to one direction only Output from the drive will be from zero to maximum frequency forward or zero to maximum frequency reverse Bit 5 Feedback Sqrt Square Root Feedback Enables disables the option of using the square root of the feedback signal as the PI feedback This is used for pressure control because fans and pumps vary pressure with the square of the speed Bit 6 Stop Mode Enabled A S...

Page 57: ...trim which takes the output of the PI regulator and sums it with a master speed reference to control the process Process control which takes the output of the PI regulator as the speed command No master speed reference exists and the PI output directly controls the drive output Note that Feedback Select 80 must be set to Process PI 2 Bit 0 PI Enable Enables disables the operation of the PI loop No...

Page 58: ...3 6 Reserved 7 Pulse In 8 Encoder 9 MOP Level 10 Master Ref 11 Preset Spd 1 12 Preset Spd 2 13 Preset Spd 3 14 Preset Spd 4 15 Preset Spd 5 16 Preset Spd 6 17 Preset Spd 7 18 Local HIM 19 DPI Port 2 20 DPI Port 3 21 DPI Port 4 22 Network 23 24 Reserved 25 Scale Block 1 26 Scale Block 2 27 Scale Block 3 28 Scale Block 4 Default 0 PI Setpoint Access 2 Path Speed Command Process PI See also 124 138 1...

Page 59: ...In 1 2 Analog In 2 3 6 Reserved 7 Pulse In 8 Encoder 9 MOP Level 10 Master Ref 11 Preset Spd 1 12 Preset Spd 2 13 Preset Spd 3 14 Preset Spd 4 15 Preset Spd 5 16 Preset Spd 6 17 Preset Spd 7 18 Local HIM 19 DPI Port 2 20 DPI Port 3 21 DPI Port 4 22 Network 23 24 Reserved 25 Scale Block 1 26 Scale Block 2 27 Scale Block 3 28 Scale Block 4 Default 0 PI Setpoint Access 2 Path Speed Command Process PI...

Page 60: ...wer Limit 131 130 PI Prop Gain Range 0 00 to 100 00 0 01 Default 1 00 Access 2 Path Speed Command Process PI See also 124 138 131 PI Lower Limit Range 400 0 Hz or 800 0 0 1 Hz or 01 Default Maximum Freq or 100 Access 2 Path Speed Command Process PI See also 79 124 138 132 PI Upper Limit Range 400 0 Hz or 800 0 0 1 Hz or 0 1 Default Maximum Freq 0r 100 Access 2 Path Speed Command Process PI See als...

Page 61: ...is being reset to zero Bit 3 PI InLimit Is set to 1 to indicate when the PI output equals positive limit or negative limit Present value of the PI reference signal 134 PI Status Range See figure 3 7 Default Read Only Access 2 Path Speed Command Process PI See also 124 138 Figure 3 7 PI Status 134 0 0 0 0 x x x x x x x x x x x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Condition True 0 Condition Fal...

Page 62: ...er 136 PI Fdback Meter Range 100 0 0 1 Default Read Only Access 2 Path Speed Command Process PI See also 124 138 137 PI Error Meter Range 200 0 0 1 Default Read Only Access 2 Path Speed Command Process PI See also 124 138 138 PI Output Meter Range 100 0 Hz or 800 0 0 1 Hz or 0 1 Default Read Only Access 2 Path Speed Command Process PI See also 124 138 139 PI BW Filter Range 0 0 to 240 0 Radians 0 ...

Page 63: ...e fly using a building automation system command or digital input if configured Enables disables dynamic brake operation when drive is stopped DB may operate when drive is stopped DB may operate if input voltage becomes too high Disabled DB will only operate when drive is running Enabled DB will only operate when the drive is energized 140 141 Accel Time 1 Accel Time 2 Range 0 0 to 3600 0 0 1 sec ...

Page 64: ... allowed the exceed this value Sets the responsiveness of the current limit 146 S Curve Range 0 to 100 0 1 Default 0 Access 0 Path Dynamic Control Ramp Rates See also 140 143 147 Current Lmt Sel Range 0 Curr Lim Val 1 Analog In 1 2 Analog In 2 Default 0 Cur Lim Val Access 2 Path Dynamic Control Load Limits See also 146 149 148 Current Lmt Val Range Based on Drive Type 0 1 Amps Default Rated Amps x...

Page 65: ...et to FVC Vector the drive will run at 2kHz carrier frequency when operating below 6 Hz Selects amount of droop that the speed reference is reduced when at full load torque Zero disables the droop function Important Selecting Slip Comp with Feedback Select 80 in conjunction with Droop RPM FLA may produce undesirable results 150 Drive OL Mode Range 0 Disabled 1 Reduce CLim 2 Reduce PWM 3 Both PWM 1...

Page 66: ... 0 0 0 1 Default 50 0 Access 1 Path Dynamic Control Load Limits See also 53 154 Current Rate Lim Range 1 0 to 800 0 0 1 Default 400 0 Access 1 Path Dynamic Control Load Limits See also 155 156 Stop Mode A Stop Mode B Range 0 Coast 1 Ramp 2 Ramp to Hold 3 DC Brake 4 Fast Brake Default 155 1 Ramp 156 0 Coast Access 155 0 156 2 Path Dynamic Control Stop Brake Modes See also 157 159 ATTENTION The driv...

Page 67: ...155 156 158 159 158 DC Brake Level Range 0 to Rated Amps x 1 5 0 1 Amps Default Rated Amps x 1 5 Access 1 Path Dynamic Control Stop Brake Modes See also 40 157 159 ATTENTION If a hazard of injury due to movement of equipment or material exists an auxiliary mechanical braking device must be used to stop the motor Failure to observe this precaution could result in severe bodily injury or loss of lif...

Page 68: ...nal block If a dynamic brake resistor is connected to the drive Bus Reg Mode A and Bus Reg Mode B must be set to option 2 3 or 4 160 Bus Reg Ki Range 0 to 5000 1 Default 450 Access 2 Path Dynamic Control Stop Brake Modes See also 161 162 161 162 Bus Reg Mode A Bus Reg Mode B Range 0 Disabled 1 Adjust Freq 2 Dynamic Brak 3 Both DB 1st 4 Both Frq 1st Default Mode A 0 Disabled Mode B 0 Disabled Acces...

Page 69: ...rive and 2 limit fast positive input voltage changes to less than 10 Without taking such actions if this operation is unacceptable the adjust freq portion of the bus regulator function must be disabled see parameters 161 and 162 Actual deceleration times can be longer than commanded deceleration times however a Decel Inhibit fault is generated if the drive stops decelerating altogether If this con...

Page 70: ...grammed delay time in seconds before a start command is accepted after a power up 164 Bus Reg Kp Range 0 to 10000 Default 1500 Access 2 Path Dynamic Control Stop Brake Modes See also 165 Bus Reg Kd Range 0 to 10000 Default 1000 Access 2 Path Dynamic Control Stop Brake Modes See also 166 Flux Braking Range 0 Disabled 1 Enabled Default 0 Disabled Access 2 Path Dynamic Control Stop Brake Modes See al...

Page 71: ...r to the motor when all start conditions are met If the drive is running from the terminal block Start At PowerUp is enabled and a fault occurs the drive coasts to rest and generates a fault In this case resetting and clearing the fault immediately restarts the drive without any change to the start or stop input states When this function is enabled the user must ensure that automatic start up of t...

Page 72: ... will be logged in the fault queue The auto restart feature is disabled when the drive is stopping and during autotuning Note that a DC Hold state is considered stopping The following conditions will abort the reset run process Issuing a stop command from any control source Note that removal of a 2 wire run fwd or run rev command is considered a stop command Issuing a fault reset command from any ...

Page 73: ... When enabled the following conditions must be met A proper value must be programmed for Wake Level 180 and Sleep Level 182 A speed reference must be selected in Speed Ref A Sel 90 At least one of the following must be programmed and input closed in Digital Inx Sel 361 366 Enable Stop CF Run Run Forward Run Reverse 175 Auto Rstrt Delay Range 0 5 to 10800 0 sec 0 1 sec Default 1 0 sec Access 1 Path...

Page 74: ...evel5 Start Run Cmd Enable Enable Closed Wake Signal Enable Closed Wake Signal Start Run Cmd4 Enable Closed Wake Signal Enable Closed Direct Mode Analog Sig Sleep Level5 Invert Mode Analog Sig Sleep Level5 Start Run Cmd Run Run For Run Rev Run Closed Wake Signal Run Cmd4 Wake Signal Run Closed Wake Signal Run Cmd4 Wake Signal 1 When power is cycled restart will occur if all conditions above are me...

Page 75: ...ltage is 82 of DC Bus Memory and Power Loss Mode is set to Decel 181 Wake Time Range 0 0 to 1000 0 Secs 0 1 sec Default 0 0 sec Access 1 Path Dynamic Control Restart Modes See also 180 182 Sleep Level Range 4 000 mA 0 000 V Wake Level 0 001 mA 0 001 V Default 5 000 mA 5 000 V Access 1 Path Dynamic Control Restart Modes See also 183 183 Sleep Time Range 0 0 to 1000 0 secs 0 1 sec Default 0 0 sec Ac...

Page 76: ...arm will occur 185 Power Loss Timer Range 0 0 to 60 0 sec 0 1 sec Default 0 5 sec Access 1 Path Dynamic Control Power Loss See also 184 186 Power Loss Level Range 0 0 to 999 9 0 1 VDC Default Drive Rated Volts Access 1 Path Dynamic Control Power Loss See also ATTENTION If the value for Power Loss Level 186 is greater than 18 of DC Bus Memory 13 the user must provide a minimum line impedance to lim...

Page 77: ... 0 secs 0 1 sec Default 0 0 secs Access 2 Path Dynamic Control Power Loss See also 187 189 Shear Pin Time Range 0 0 to 30 0 secs 0 1 sec Default 0 0 secs Access 1 Path Dynamic Control Load Limits See also 238 190 Direction Mode Range 0 Unipolar 1 Bipolar 2 Reverse Dis Default 0 Unipolar Access 0 Path Utility Direction Config See also 91 92 320 327 361 366 ATTENTION When using bipolar analog inputs...

Page 78: ...HIM HIM Disable Inactive HIM Start Jog Direction and Clear Fault commands are functional Active HIM Start Jog Direction and Clear Fault commands are disabled Enables disables a feature to automatically load the present auto frequency reference value into the HIM when Manual is selected Allows smooth speed transition from Auto to Manual 192 Save HIM Ref Range See figure 3 8 Default See figure 3 8 A...

Page 79: ... 3 9 Default See figure 3 9 Access 2 Path Utility MOP Config See also Figure 3 9 Save MOP Ref 194 0 x x 0 x x x x x x x x x x x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Save 0 Do Not Save x Reserved Bit Factory Default Bit Values A t P o w r D o w n A t S t o p Nibble 1 Nibble 2 Nibble 3 Nibble 4 195 MOP Rate Range 0 2 to Maximum Frequency 0 1 Hz sec 6 0 to Maximum Frequency 0 1 RPM sec Default 1...

Page 80: ...erSet Cnfg 204 Dynamic Mode bit 0 Enabled 1 197 Reset to Defalts Range 0 Ready 1 Factory 2 Low Voltage 3 High Voltage Default 0 Ready Access 0 Path Utility Drive Memory See also 41 47 54 55 62 63 69 72 82 148 158 198 Load Frm Usr Set Range 0 Ready 1 User Set 1 2 User Set 2 3 User Set 3 Default 0 Ready Access 1 Path Utility Drive Memory See also 199 ATTENTION The Reach Drive can be configured to us...

Page 81: ...ved 199 Save To User Set Range 0 Ready 1 User Set 1 2 User Set 2 3 User Set 3 Default 0 Ready Access 1 Path Utility Drive Memory See also 198 200 Reset Meters Range 0 Ready 1 MWh 2 Elapsed Time Default 0 Ready Access 1 Path Utility Drive Memory See also 201 Language Range 0 Not Selected 1 English 2 Francais 3 Espanol 4 Italiano 5 Deutsch 7 Portugues 10 Nederlands Default 0 Not Selected Access 2 Pa...

Page 82: ...02 Voltage Class Range 2 Low Voltage 3 High Voltage 4 5 Reserved Default Based on Drive Type Access 2 Path Utility Drive Memory See also 41 47 54 55 62 63 69 72 82 148 158 203 Drive Checksum Range 0 to 65535 1 Default Read Only Access 2 Path Utility Drive Memory See also 204 Dyn UserSet Cnfg Range See figure 3 10 Default See figure 3 10 Access 2 Path Utility Drive Memory See also Figure 3 10 Dyn U...

Page 83: ...severe bodily injury or loss of life 205 Dyn UserSet Sel Range See figure 3 11 Default See figure 3 11 Access 2 Path Utility Drive Memory See also Figure 3 11 Dyn UsrSet Sel ATTENTION The Reach Drive can be configured to use multiple saved parameter user sets Caution must be utilized to ensure that each user set is programmed for proper operation for the application Recalling an improperly program...

Page 84: ...5 6 7 8 9 11 12 13 14 15 1 Condition True 0 Condition False x Reserved Bit R e a d y A c t i v e C o m m a n d D i r A c t u a l D i r A c c e l e r a t i n g D e c e l e r a t i n g A l a r m F a u l t e d A t S p e e d L o c a l I D 0 1 L o c a l I D 1 1 L o c a l I D 2 1 S p d R e f I D 0 2 S p d R e f I D 1 2 S p d R e f I D 2 2 S p d R e f I D 3 2 Bits 2 Description Bits 1 Description 15 14 1...

Page 85: ... t o R s t A c t C u r r L i m i t B u s F r e q R e g M o t o r O v e r l d D P I a t 5 0 0 k R e s e r v e d P T C H W 211 Drive Alarm 1 Range See figure 3 15 Default Read Only Access 1 Path Utility Diagnostics See also 212 Figure 3 15 Drive Alarm 1 211 0 0 0 0 0 0 x 0 0 0 0 0 0 0 0 0 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Condition True 0 Condition False x Reserved Bit P r e c h r g A c t v U ...

Page 86: ... i g I n C f l c t A D i g I n C f l c t B D i g I n C f l c t C B i p o l r C f l c t M t r T y p C f l c t N P H z C f l c t M a x F r q C f l c t V H z N e g S l o p e I R V l t s R a n g F l x A m p s R a n g S p d R e f C f l c t I x o V l t R a n g S l e e p C o n f i g T B R e f C f l c t P T C C o n f l i c t B r k S l i p p e d x x x 0 x x x x x x x x x x x x 26 16 17 18 19 20 21 22 23 24...

Page 87: ...16 Preset Spd 6 17 Preset Spd 7 18 Local HIM 19 DPI Port 2 20 DPI Port 3 21 DPI Port 4 22 Network 23 Reserved 24 Auto Tune 25 Jog Speed 2 26 Scale Block 1 27 Scale Block 2 28 Scale Block 3 29 Scale Block 4 30 Pos Spd Ref 31 Position Reg 32 Micro Pos 33 Homing 34 Decel Switch 35 End Switch 36 Unipolar Lim 37 Rev Dis Lim 38 Max Spd Lim 39 Min Spd Lim 40 Rev Spd Lim 41 Load Trq Lim Default Read Only ...

Page 88: ...I P o r t 3 D P I P o r t 4 D P I P o r t 5 215 Last Stop Source Range 0 Pwr Removed 1 Local HIM 2 DPI Port 2 3 DPI Port 3 4 Reserved 5 Network 6 Reserved 7 Digital In 8 Fault 9 Not Enabled 10 Sleep 11 Jog 12 Autotune 13 Precharge Default Read Only Access 2 Path Utility Diagnostics See also 361 366 216 Dig In Status Range See figure 3 18 Default Read Only Access 2 Path Utility Diagnostics Inputs O...

Page 89: ...ead Only Access 2 Path Utility Diagnostics Inputs Outputs Digital Outputs See also 380 384 Figure 3 19 Dig Out Status 276 0 0 x 0 x x x x x x x x x x x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Output Energized 0 Output De energized x Reserved Bit D i g i t a l O u t 1 D i g i t a l O u t 2 D i g i t a l O u t 3 218 Drive Temp Range 0 to 100 0 degC 0 1 degC Default Read Only Access 2 Path Utility ...

Page 90: ...ut speed of the drive at the time of the last fault Captures and displays motor amps at the time of the last fault 220 Motor OL Count Range 0 0 to 100 0 1 0 Default Read Only Access 2 Path Utility Diagnostics See also 47 48 221 Mtr OL Trip Time Range 0 0 to 99999 1 Default Read Only Access 2 Path Utility Diagnostics See also 220 224 Fault Speed Range 0 0 to Maximum Freq 0 1 Hz 0 0 to Maximum Speed...

Page 91: ...eserved Bit R e a d y A c t i v e C o m m a n d D i r A c t u a l D i r A c c e l e r a t i n g D e c e l e r a t i n g A l a r m F a u l t e d A t S p e e d L o c a l I D 0 L o c a l I D 1 L o c a l I D 2 S p d R e f I D 0 S p d R e f I D 1 S p d R e f I D 2 S p d R e f I D 3 Nibble 1 Nibble 2 Nibble 3 Nibble 4 228 Status 2 Fault Range See figure 3 21 Default Read Only Access 2 Path Utility Diagn...

Page 92: ... 17 18 19 20 21 22 23 24 25 27 28 29 30 31 1 Condition True 0 Condition False x Reserved Bit P r o f S e t H o m e P T C H W R e s e r v e d x 230 Alarm 2 Fault Range See figure 3 23 Default Read Only Access 1 Path Utility Diagnostics See also 211 221 230 Figure 3 23 Alarm 2 Fault 230 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Condition True 0 Condition False x Reserve...

Page 93: ...ues that are not accessible through parameters See the Testpoint Codes and Functions in chapter 12 for a list of codes and functions The present value of the function selected in Testpoint 2 Sel 236 234 Testpoint 1 Sel Range 0 to 65535 1 Default 499 Access 2 Path Utility Diagnostics See also 235 235 Testpoint 1 Data Range 2147483648 1 Default Read Only Access 2 Path Utility Diagnostics See also 23...

Page 94: ... x 1 0 0 0 1 0 0 0 x 0 0 0 x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Enabled 0 Disabled x Reserved Bit Factory Default Bit Values P o w e r L o s s U n d e r V o l t a g e M o t o r O v e r L d S h e a r P i n A u t R s t T r i e s D e c e l I n h i b t M o t o r T h e r m I n P h a s e L o s s L o a d L o s s S h e a r P N o A c c O u t P h a s e L o s s P T C H W R e s e r v e d R e s e r v e ...

Page 95: ... A negative value indicates a fault occurred before the most recent power up A positive value indicates a fault occurred after the most recent power up 242 Power Up Marker Range 0 0000 to 214748 3647 Hr 0 0001 Hr Default Read Only Access 2 Path Utility Faults See also 244 246 248 250 252 254 256 258 243 245 247 249 251 253 255 257 Fault 1 Code Fault 2 Code Fault 3 Code Fault 4 Code Fault 5 Code Fa...

Page 96: ... h r g A c t v U n d e r V o l t a g e P o w e r L o s s S t r A t P w r U p A n l g i n L o s s I n t D B R e s O H D r v O L L v l 1 D r v O L L v l 2 D e c e l I n h i b t W a k i n g M o t o r T h e r m I n P h a s e L o s s L o a d L o s s G r o u n d W a r n B r k S l i p p e d 0 0 x x x x x x x x x x x x x 26 16 17 18 19 20 21 22 23 24 25 27 28 29 30 31 1 Condition True 0 Condition False x ...

Page 97: ...3 26 Default Read Only Access 2 Path Communication Comm Control See also Figure 3 26 Drive Logic Rslt 271 0 1 1 0 0 0 0 1 0 1 1 1 0 0 0 0 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Condition Active 0 Condition Inactive x Reserved Bit S t o p S t a r t J o g C l e a r F a u l t F o r w a r d R e v e r s e L o c a l C o n t r l M o p I n c A c c e l 1 A c c e l 2 D e c e l 1 D e c e l 2 S p d R e f I D...

Page 98: ...ip comp PI etc Selects which DPI port reference value will appear in DPI Port Value 275 Value of the DPI reference selected in DPI Port Sel 274 272 Drive Ref Rslt Range 32767 1 Default Read Only Access 2 Path Communication Comm Control See also 273 Drive Ramp Rslt Range 32767 1 Default Read Only Access 2 Path Communication Comm Control See also 274 DPI Port Sel Range 0 Not Used 1 DPI Port 1 2 DPI ...

Page 99: ...Access 2 Path Communication Masks Owners See also 288 297 Figure 3 27 Logic Mask 276 1 1 1 1 1 1 x x x x x x x x x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Control Permitted 0 Control Mask x Reserved Bit D i g i t a l I n D P I P o r t 1 D P I P o r t 2 D P I P o r t 3 D P I P o r t 4 D P I P o r t 5 Factory Default Bit Values 277 Start Mask Range See figure 3 27 Default See figure 3 27 Access 2 ...

Page 100: ... figure 3 27 Default See figure 3 27 Access 2 Path Communication Masks Owners See also 288 297 280 Reference Mask Range See figure 3 27 Default See figure 3 27 Access 2 Path Communication Masks Owners See also 288 297 281 Accel Mask Range See figure 3 27 Default See figure 3 27 Access 2 Path Communication Masks Owners See also 288 297 282 Decel Mask Range See figure 3 27 Default See figure 3 27 Ac...

Page 101: ... 297 285 Local Mask Range See figure 3 27 Default See figure 3 27 Access 2 Path Communication Masks Owners See also 288 297 286 Manual Mask Range See figure 3 28 Default See figure 3 28 Access 2 Path Communication Masks Owners See also Figure 3 28 Manual Mask 286 1 1 1 1 x x x x x x x x x x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 0 Control is disabled 1 Control is enabled x Reserved Bit T e r m i ...

Page 102: ...ure 3 29 Manual Owner 287 1 1 1 1 x x x x x x x x x x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 0 Control is disabled 1 Control is enabled x Reserved Bit T e r m i n a l B l k D P I P o r t 3 D P I P o r t 2 D P I P o r t 4 Default Value R e s e r v e d 1 L o c a l O I M N e t w o r k ...

Page 103: ...0 1 0 0 x x x x x x x x x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Issuing Command 0 No Command x Reserved Bit D i g i t a l I n D P I P o r t 1 D P I P o r t 2 D P I P o r t 3 D P I P o r t 4 D P I P o r t 5 R e s e r v e d Nibble 1 Nibble 2 Nibble 3 Nibble 4 289 Start Owner Range See figure 3 30 Default Read Only Access 2 Path Communication Masks Owners See also 276 285 290 Jog Owner Range See ...

Page 104: ...P command frequency 292 Reference Owner Range See figure 3 30 Default Read Only Access 2 Path Communication Masks Owners See also 276 285 293 Accel Owner Range See figure 3 30 Default Read Only Access 2 Path Communication Masks Owners See also 276 285 294 Decel Owner Range See figure 3 30 Default Read Only Access 2 Path Communication Masks Owners See also 276 285 295 Fault Clr Owner Range See figu...

Page 105: ...apters are locked out and non functional Local control can only be obtained when the drive is not running Scales DPI on maximum frequency or maximum speed 297 Local Owner Range See figure 3 30 Default Read Only Access 2 Path Communication Masks Owners See also 276 285 298 DPI Ref Scale Range 0 Max Freq 1 Max Speed Default 0 Max Freq Access 2 Path Communication Comm Control See also ...

Page 106: ...ion board manual for datalink information 299 DPI Fdbk Select Range 0 Output Freq 1 Command Spd 2 Output Amps 3 Torque Amps 4 Flux Amps 5 Output Power 6 Output Volts 7 DC Bus Volts 8 PI Reference 9 PI Feedback 10 PI Error 11 PI Output 12 Motor OL 13 Drive OL 14 CommandedTrq 15 MtrTrqCurRef 16 Speed Ref 17 Speed Fdbk 18 Pulse ln Ref 19 Reserved 20 Scale Block 1 21 Scale Block 2 22 Scale Block 3 23 ...

Page 107: ...hile the drive is stopped cannot be used as Datalink inputs Entering a parameter of this type will disable the link Vector Control Will not be updated until drive is stopped Refer to the appropriate communications option board manual for datalink information Parameter number whose value will be written from a communications device data table 302 303 Data In B1 Link B Word 1 Data In B2 Link B Word ...

Page 108: ...mber whose value will be written to a communications device data table Parameter number whose value will be written to a communications device data table 310 311 Data Out A1 Link A Word 1 Data Out A2 Link A Word 2 Range 0 to 611 1 Default 0 Disabled Access 2 Path Communication Datalinks See also 312 313 Data Out B1 Link B Word 1 Data Out B2 Link B Word 2 Range 0 to 611 1 Default 0 Disabled Access ...

Page 109: ... x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Current 0 Voltage x Reserved Bit Factory Default Bit Values A n a l o g I n 1 A n a l o g I n 2 Analog ln 1 Bit Term 0 to 10 VDC or 10 to 10 VDC Bit 0 0 1 2 17 to 18 not jumpered 4 to 20 mA Bit 0 1 1 2 17 to 18 jumpered Analog ln 2 Bit Term 0 to 10 VDC or 10 to 10 VDC Bit 1 0 3 4 19 to 20 not jumpered 4 to 20 mA Bit 1 1 3 4 19 to 20 jumpered 321 Anlg In S...

Page 110: ...Hi Range 0 000 to 20 000 mA 0 001 mA 10 000 V 0 001 V 0 0 to 10 000 V 0 001 V Default 20 000 mA Access 0 Path Inputs Outputs Analog Inputs See also 91 92 Analog Input Scaling Example Assume Speed Ref A Sel Analog In 1 Minimum Freq 0 Hz Maximum Freq 60 Hz Analog In 1 Lo 0 0 V Analog In 1 Hi 10 0 V This is the default setting where minimum input 0 V represents Minimum Speed and maximum input 10 V re...

Page 111: ...y command 4 Set Input Hi use Maximum Speed as frequency command 5 Go to Preset1 use Preset 1 as frequency command 6 Hold OutFreq maintain last output frequency Default 0 Disabled Access 2 Path Inputs Outputs Analog Inputs See also 91 92 190 ATTENTION Setting parameter 324 to a value greater than 1 allows the input signal to return to a usable level while the drive is running If a lost analog signa...

Page 112: ...t output frequency Default 0 Disabled Access 2 Path Inputs Outputs Analog Inputs See also 91 92 ATTENTION Setting parameter 327 to a value greater than 1 allows the input signal to return to a usable level while the drive is running If a lost analog signal is restored while the drive is running the drive will ramp to the restored reference level at the rate specified in Accel Time 1 140 Accel Time...

Page 113: ...served Bit Factory Default Bit Values A n a l o g O u t 1 A n a l o g O u t 2 342 345 Analog Out1Sel Analog Out2 Sel Range 0 Output Freq 1 Command Freq 2 Output Amps 3 Torque Amps 4 Flux Amps 5 Output Power 6 Output Volts 7 DC Bus Volts 8 PI Reference 9 PI Feedback 10 PI Error 11 PI Output 12 Motor OL 13 Drive OL 14 CommandedTrq 15 MtrTqrCurRef 16 Speed Ref 17 Speed Fdbk 18 Pulse ln Ref 19 Torque ...

Page 114: ...Rated 6 Output Volts 0 Volts 0 Volts 120 Rated Input Volts 7 DC Bus Volts 0 Volts 0 Volts 200 Rated Input Volts 8 PI Reference 100 0 100 9 PI Feedback 100 0 100 10 PI Error 100 0 100 11 PI Output 100 0 100 12 Motor OL 0 0 100 13 Drive OL 0 0 100 14 CommandedTrq 800 Rated 0 800 Rated 15 MtrTrqCurRef 200 Rated 0 200 Rated 16 Speed Ref Maximum Speed 0 Hz RPM Maximum Speed 17 Speed Fdbk Maximum Speed ...

Page 115: ...ale in place of the default 800 343 346 Analog Out1 Hi Analog Out2 Hi Range 0 000 to 20 000 mA or 10 000 V 0 001 mA or 0 001 V Default 20 000 mA or 10 000 V Access 1 Path Inputs Outputs Analog Outputs See also 340 342 344 347 Analog Out1 Lo Analog Out2 Lo Range 0 000 to 20 000 mA or 10 000 V 0 001 mA or 0 001 V Default 0 000 mA or 0 000 V Access 1 Path Inputs Outputs Analog Outputs See also 340 34...

Page 116: ...3 12 Jog Reverse 3 13 Stop Mode B 14 Bus Reg Md B 15 Speed Sel 1 16 Speed Sel 2 17 Speed Sel 3 18 Auto Manual 19 Reserved 20 Acc2 Dec2 21 Accel 2 22 Decel 2 23 MOP Inc 24 MOP Dec 25 HIM Control 26 PI Enable 27 PI Hold 28 PI Reset 29 Pwr Loss Lvl 30 Precharge En 31 Spd Trq Sel1 32 Spd Trq Sel2 33 Spd Trq Sel3 34 Jog2 35 PI Invert 36 Torque Setpt1 37 Micro Pos 38 Fast Stop 39 Decel Limit 40 End Limi...

Page 117: ...ts the Stop button cannot be used to clear a fault condition 2 Typical 3 wire Inputs Only 3 wire functions are allowed Including 2 wire selections will cause a type 2 alarm 3 Typical 2 wire Inputs Only 2 wire functions are allowed Including 3 wire selections will cause a type 2 alarm 361 362 363 364 365 366 Digital In1 Sel Digital In2 Sel Digital In3 Sel Digital In4 Sel Digital In5 Sel Digital In6...

Page 118: ... at the same time as Stop Clear Faults then only the Clear Faults input can actually cause faults to be reset 3 Aux Fault If the function loss input is open a fault is generated The function loss input is active at all times regardless of the selected logic control source Important The function loss input is not intended for a fast output power kill The drive will not fault until the software dete...

Page 119: ...e drive will stop The purpose of this input function is to allow a 2 wire start while the direction is being controlled by some other function 8 and 9 Run Forward and Run Reverse If the terminal block is the control source an open to closed transition on one or both inputs while the drive is stopped will cause the drive to run unless the Stop Clear Faults input function is configured and open If o...

Page 120: ...are called the Speed Select input functions The current open closed state of all Speed Select input functions combine to select which source is the current speed reference There are 7 possible combinations of open closed states for the three input functions and thus 7 possible parameters can be selected The 7 parameters are Speed Ref A Sel and Preset Speed 2 through Preset Speed 7 If the Speed Sel...

Page 121: ... Manual digital input must be opened and closed again to regain control of the manual reference If this input is open then the terminal block does not request manual control of the reference If no control device including the terminal block is current requesting manual control of the reference then the drive will use the normal reference selection mechanisms 20 Acc2 Dec2 A single input function is...

Page 122: ...active or stopped state is not affected unless no HIM is present On a closed to open transition manual control is released if active and the selected auto reference is used The logic source select override is removed The edge level sense start configuration is imposed LevelSense Start 26 PI Enable If this input function is closed the operation of the Process PI loop will be enabled If this input f...

Page 123: ...ables a fast stop to zero speed using a zero decel time 41 42 UserSet Sel 0 Disabled 1 Enabled 43 45 Run Level RunFwd Level RunRev Level Provides a run level input They do not require a transition for enable or fault but a transition is still required for a stop ATTENTION Changing parameter 89 to Terminal Blk or Network while Start At PowerUp is enabled may start the drive if a start command is on...

Page 124: ... binary value of these inputs is used to select the starting step number for the profile 57 Prof Input Profile Input Must be chosen if Step X Type is set to Dig Input and the digital input value that is entered in Step X Value is the value of this digital input selector Type 2 Alarms Some digital input programming may cause conflicts that result in a Type 2 alarm For example Digital In1 Sel set to...

Page 125: ...utx Sel 380 384 388 which should be set to 30 Param Cntl 379 Dig Out Setpt Range See figure 3 35 Default See figure 3 35 Access 2 Path Inputs Outputs Digital Outputs See also 380 Figure 3 35 Dig Out Setpt 0 0 x 0 x x x x x x x x x x x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Output Energized 0 Output De energized x Reserved Bit D i g i t a l O u t 1 D i g i t a l O u t 2 D i g i t a l O u t 3 ...

Page 126: ... Motor Overld 20 Power Loss 21 Input 1 Link 22 Input 2 Link 23 Input 3 Link 24 Input 4 Link 25 Input 5 Link 26 Input 6 Link 27 PI Enable 28 PI Hold 29 Drive Overld 30 Param Cntl 31 Mask 1 AND 32 Mask 1 OR 33 Prof at Pos 34 Prof Enabled 35 Prof Running 36 Prof Holding 37 Prof At Home 38 Prof Complete 39 Prof Homing 40 Prof Dwell 41 Prof Batch 42 Prof Step 1 43 Prof Step 2 44 Prof Step 3 45 Prof Ste...

Page 127: ... 56 Prof Step 15 57 Prof Step 16 58 TB in Manual Default 380 1 Fault 384 4 Run 388 4 Run Access 1 Path Inputs Outputs Digital Outputs See also 1 4 12 48 53 137 147 157 184 218 381 383 385 386 390 380 384 388 Digital Out1 Sel Digital Out2 Sel Digital Out3 Sel 381 385 389 Digital Out1 Level Digital Out2 Level Digital Out3 Level Range 0 0 to 819 2 0 1 Default 0 0 Access 1 Path Inputs Outputs Digital ...

Page 128: ...Out3 OffTime Range 0 00 to 600 00 sec 0 1 sec Default 0 00 sec Access 2 Path Inputs Outputs Digital Outputs See also 380 392 Dig Out Invert Range See figure 3 36 Default See figure 3 36 Access 2 Path Inputs Outputs Digital Outputs See also Figure 3 36 Dig Out Invert 0 0 x 0 x x x x x x x x x x x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Inverted 0 Not Inverted x Reserved Bit Factory Default Bit Va...

Page 129: ...veAlarm2 6 StartInhibit 7 Digln Status 8 DrvSts1Flt 9 DrvSts2Flt 10 AlrmSts1Flt 11 AlrmSts2Flt 12 LogicCmdRslt 13 Stop Owner 14 Start Owner 15 Jog Owner 16 Dir Owner 17 Ref Owner 18 Accel Owner 19 Decel Owner 20 FltRst Owner 21 MOP Owner 22 Local Owner 23 Limit Status 24 PortMaskAct 25 WriteMaskAct 26 LogicMaskAct 27 TorqProvCnfg 28 TorqProvSet 29 TorqProvSts 30 Profile Sts 31 Profile Cmd Default ...

Page 130: ...s used option 2 or 3 in sensorless vector or V Hz mode select 2 Reverse Dis in Direction Mode 190 Figure 3 37 Dig Out Mask Selected Value 0 0 0 0 1 1 0 0 1 1 1 1 0 0 0 0 Mask 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 Result Output On Selected Value 0 0 0 0 1 1 0 0 1 1 1 1 0 0 0 0 Mask 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 Result Output Off 0 0 x 0 x x x x x x x x x x x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Ou...

Page 131: ... as option 1 or 3 to detect the loss of an encoder signal The user is responsible for ensuring that the driven machinery all drive train mechanisms and application material are capable of safe operation at the maximum operating speed of the drive Overspeed detection in the drive determines when the drive shuts down The factory default for overspeed detection is set to 10 0 Hz or 300 0 RPM greater ...

Page 132: ...lter Latches the raw encoder count at each marker pulse 416 Fdbk Filter Sel Range 0 None 1 Light 2 Heavy Default 0 None Access 1 Path Motor Control Speed Feedback See also 419 Notch Filter Freq Range 0 0 to 500 0 Hz 0 1 Hz Default Read Only Access 1 Path Motor Control Speed Feedback See also 53 FV 420 Notch Filter K Range 0 1 to 0 9 Hz 0 1 Hz Default 0 3 Hz Access 1 Path Motor Control Speed Feedba...

Page 133: ...l Block will be used as a Pulse or Marker Input Options 1 and 3 detect a loss of signal when using differential inputs regardless of the Feedback Select 80 setting When option 2 or 3 are used with Profile Indexer Mode the homing routine will position to the nearest marker pulse off of the home limit switch 422 Pulse ln Scale Range 2 to 20000 1 Default 64 Access 1 Path Motor Control Speed Feedback ...

Page 134: ... 0 Torque Stpt1 1 Analog ln 1 2 Analog ln 2 3 17 Reserved 18 DPI Port 1 19 DPI Port 2 20 DPI Port 3 21 DPI Port 4 22 DPI Port 5 23 Reserved 24 Disabled 25 Scale Block 1 26 Scale Block 2 27 Scale Block 3 28 Scale Block 4 29 Torque Stpt2 Default 427 0 Torque Stpt1 431 24 Disabled Access 1 Path Motor Control Torq Attributes See also 53 FV 428 432 Torque Ref A Hi Torque Ref B Hi Range 800 0 0 1 Defaul...

Page 135: ...ue reference value The reference will not be allowed to exceed this value 430 Torq Ref A Div Range 0 1 to 3276 7 0 1 Default 1 0 Access 1 Path Motor Control Torq Attributes See also 53 FV 434 Torq Ref B Mult Range 3276 7 0 1 Default 1 0 Access 1 Path Motor Control Torq Attributes See also 53 FV 435 Torque Setpoint1 Range 800 0 0 0 Default 0 0 Access 1 Path Motor Control Torq Attributes See also 53...

Page 136: ...gure 3 38 Default Read Only Access 1 Path Motor Control Torq Attributes See also 53 FV Figure 3 38 Control Status 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Condition True 0 Condition False x Reserved Bit N e g T r q C u r L i m P o s T r q C u r L i m N e g F l x C u r L i m P o s F l x C u r L i m N e g T r q L i m i t P o s T r q L i m i t N e g P w r T r q L i m P ...

Page 137: ...ed BW 449 or an auto tune is performed Typically manual adjustment of this parameter is needed only if system inertia cannot be determined through an autotune Speed Desired BW 449 is set to 0 when a manual adjustment is made to this parameter Controls the feed forward gain of the speed regulator Setting of the Kf gain greater than zero reduces speed feedback overshoot in reponse to a step change i...

Page 138: ...45 and Kp Speed Loop 447 gains Value of the speed regulator output Sets a limit on speed in the negative direction when in FVC Vector mode Used in bipolar mode only A value of zero disables this parameter and uses Maximum Speed for reverse speed limit 449 Speed Desired BW Range 0 0 to 250 0 Radian sec 0 1 Radian sec Default 0 0 Radians sec Access 2 Path Speed Command Speed Regulator See also 53 FV...

Page 139: ...he source 459 PI Deriv Time Range 0 00 to 100 00 secs 0 01 sec Default 0 0 sec Access 2 Path Speed Command PI Process See also FV 460 PI Reference Hi Range 100 00 0 1 Default 100 0 Access 2 Path Speed Command PI Process See also 461 PI Reference Lo Range 100 00 0 1 Default 100 0 Access 2 Path Speed Command PI Process See also 462 PI Feedback Hi Range 100 00 0 1 Default 100 0 Access 2 Path Speed Co...

Page 140: ... Output Gain Range 8 000 0 001 Default 1 000 Access 2 Path Speed Command PI Process See also 138 476 482 488 494 Scale1 ln Value Scale2 ln Value Scale3 ln Value Scale4 ln Value Range 32767 000 0 001 Default 0 00 Access 2 Path Utility Scaled Blocks See also 477 483 489 495 Scale1 ln Hi Scale2 ln Hi Scale3 ln Hi Scale4 ln Hi Range 32767 000 0 001 Default 0 00 Access 2 Path Utility Scaled Blocks See ...

Page 141: ...e3 ln Lo Scale4 ln Lo Range 32767 000 0 001 Default 0 00 Access 2 Path Utility Scaled Blocks See also 479 485 491 497 Scale1 Out Hi Scale2 Out Hi Scale3 Out Hi Scale4 Out Hi Range 32767 000 0 001 Default 0 00 Access 2 Path Utility Scaled Blocks See also 480 486 492 498 Scale1 Out Lo Scale2 Out Lo Scale3 Out Lo Scale4 Out Lo Range 32767 000 0 001 Default 0 00 Access 2 Path Utility Scaled Blocks See...

Page 142: ...o Position digital input to change the speed command while the drive is running Preload Sel 0 uses the last torque for preload 1 uses TorqRef A if commanded direction is forward and TorqRef B for reverse 481 487 493 499 Scale1 Out Value Scale2 Out Value Scale3 Out Value Scale4 Out Value Range 32767 000 0 001 Default Read Only Access 2 Path Utility Scaled Blocks See also 600 TorqProve Cnfg Range Se...

Page 143: ...e Sets the amount of time before a fault is issued when Spd Dev Band 602 is outside its threshold 601 TorqProve Setup Range See figure 3 40 Default See figure 3 40 Access 2 Path Applications Torque Proving See also Figure 3 40 TorqProve Setup 0 0 0 0 x x x x x x x x x x x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Enabled 0 Disabled x Reserved Bit Factory Default Bit Values F a s t S t o p M i c r ...

Page 144: ...l be closed in Encoderless Torque Prove mode Defines the amount of delay time between commanding the brake to be set and the start of brake proving 604 Brk Release Time Range 0 00 to 10 00 sec 0 01 sec Default 0 10 sec Access 2 Path Applications Torque Proving See also 605 ZeroSpdFloatTime Range 0 1 to 500 0 sec 0 1 sec Default 5 0 sec Access 2 Path Applications Torque Proving See also 606 Float T...

Page 145: ...ss Torque Prove mode Sets the percent of speed reference to be used when micropositioning has been selected Motor must come to a stop before this setting will take effect 608 TorqLim SlewRate Range 0 5 to 300 0 sec 0 1 sec Default 10 0 sec Access 2 Path Applications Torque Proving See also 609 BrkSlip Count Range 0 to 65535 1 Default 250 Access 2 Path Applications Torque Proving See also 610 Brk A...

Page 146: ... 5 6 7 8 9 11 12 13 14 15 1 Enabled 0 Disabled x Reserved Bit E n d L i m i t A c t v D e c e l L i m A c t v M i c r o P o s A c t v B r k S l i p A l a r m B r a k e S e t L o a d T e s t A c t v R e f L o a d L i m t d 631 Rod Load Torque Range 0 00 to 32000 00 ft lb 0 01 ft lb Default Read Only Access 2 Path Applications Oil Well Pump See also 632 TorqAlarm Level Range 0 00 to 5000 00 ft lb 0 ...

Page 147: ...sheave on the pump 634 TorqAlarm Dwell Range 0 0 to 60 0 sec 0 1 sec Default 0 0 sec Access 2 Path Applications Oil Well Pump See also 635 TorqAlrm Timeout Range 0 0 to 600 0 sec 0 1 sec Default Read Only Access 2 Path Applications Oil Well Pump See also 636 TorqAlrm TO Act Range 0 Resume 1 Fault Drive Default 0 Resume Access 2 Path Applications Oil Well Pump See also 637 PCP Pump Sheave Range 0 2...

Page 148: ...ll parameters 1 Pump Jack Sets parameters and bindings based on Pump Jack type oil well 2 PC Oil Well Sets parameters and bindings based Progressive Cavity type Pumps 638 Max Rod Torque Range 0 0 to 3000 0 ft lb 0 1 ft lb Default 500 0 ft lb Access 2 Path Applications Oil Well Pump See also 639 Min Rod Speed Range 0 0 to 199 0 RPM 0 1 RPM Default 0 0 RPM Access 2 Path Applications Oil Well Pump Se...

Page 149: ...he gearbox ratio The ratio is typically specified as X 1 Sets the sheave diameter on the motor 642 Gearbox Rating Range 16 to 2560 Kin lbs 0 1 Kin Lb Default 640 0 Kin Lb Access 2 Path Applications Oil Well Pump See also 643 Gearbox Sheave Range 0 25 to 100 00 inches 0 01 inch Default 0 25 Inch Access 2 Path Applications Oil Well Pump See also 644 Gearbox Ratio Range 1 00 to 40 00 0 01 Default 1 0...

Page 150: ...ngle phase loads connected to the U and V phases Not designed to operate single phase motors 1 3 Phase Operates three phase loads 646 Total Gear Ratio Range 0 00 to 32000 00 0 01 Default Read Only Access 2 Path Applications Oil Well Pump See also 647 DB Resistor Range 0 0 to 100 0 Ohms 0 1 Default 10 4 Access 2 Path Applications Oil Well Pump See also 648 Gearbox Limit Range 0 0 to 200 0 0 1 Defau...

Page 151: ... input 651 Adj Volt Select Range 0 Reserved 1 Analog In 1 2 Analog In 2 3 6 Reserved 7 8 Not Used 9 MOP Level 10 Reserved 11 17 Preset Volt 1 7 18 22 DPI Port 1 5 Default 2 Analog In 2 Access 2 Path Applications Adjust Voltage See also 652 Adj Volt Ref Hi Range 100 0 of Drive Rated Volts 0 1 Default 100 0 Access 2 Path Applications Adjust Voltage See also 653 Adj Volt Ref Lo Range 100 0 of Drive R...

Page 152: ...dj Volt Preset 2 Adj Volt Preset 3 Adj Volt Preset 4 Adj Volt Preset 5 Adj Volt Preset 6 Adj Volt Preset 7 Range 0 0 Drive Rated Volts 0 1 VAC Default 0 0 VAC Access 2 Path Applications Adjust Voltage See also 661 Min Adj Voltage Range 0 0 Drive Rated Volts 0 1 VAC Default 0 0 VAC Access 2 Path Applications Adjust Voltage See also 662 Adj Volt Command Range 0 0 Drive Rated Volts 0 1 VAC Default Re...

Page 153: ...og In 2 3 6 Reserved 7 8 Not Used 9 MOP Level 10 Reserved 11 17 Preset Volt 1 7 18 22 DPI Port 1 5 24 Output Power 25 Out Current Default 2 Analog In 2 Access 2 Path Applications Adjust Voltage See also 670 Adj Volt Trim Hi Range 0 0 to 100 0 of Drive Rated Volts 0 1 Default 100 0 Access 2 Path Applications Adjust Voltage See also 671 Adj Volt Trim Lo Range 0 0 to 100 0 of Drive Rated Volts 0 1 De...

Page 154: ...ue will be the time it takes to ramp the voltage from Maximum Voltage 54 to Min Adj Voltage 661 An S curve can be applied to the ramp using Adj Volt S Curve 677 Important This ramp and Decel Time 1 142 and Decel Time 2 143 must ramp to zero for the drive to stop Sets the percentage of accel or decel timet to be applied to the voltage ramp as S curve Time is added 1 2 at the beginning and 1 2 at th...

Page 155: ... Step 3 Step 4 Step 5 Step 6 Step 7 Step 8 Step 9 Step 10 Step 11 Step 12 Step 13 Step 14 Step 15 Step 16 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 5 6 7 8 9 11 12 13 14 15 1 Enabled 0 Disabled x Reserved Bit S t e p C u r r e n t P r o f i l e P r o f E n a b l e d R u n n i n g H o l d i n g H o m i n g A t P o...

Page 156: ...steps using encoder units Sets the number of encoder counts equal to one unit A 1024 RPM quadrature encoder has 4096 pulses in one revolution 705 Profile Command Range See figure 3 43 Default See figure 3 43 Access 2 Path Pos Spd Profile ProfSetup Status See also Figure 3 43 Profile Command 0 0 0 0 0 x x x 0 0 0 0 x x x x 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 1 Enabled 0 Disabled x Reserved Bit Fa...

Page 157: ... of the Find Home moves Sets the error signal filter in the position regulator 711 Vel Override Range 10 0 to 150 0 0 1 Default 100 0 Access 2 Path Pos Spd Profile ProfSetup Status See also 713 Find Home Speed Range 50 0 of Maximum Speed 0 1 Hz or 0 1 RPM Default 10 0 of Maximum Speed Access 2 Path Pos Spd Profile ProfSetup Status See also 714 Find Home Ramp Range 0 0 to 3600 0 sec 0 1sec Default ...

Page 158: ...ime 719 Pos Reg Gain Range 0 0 to 200 0 0 1 Default 4 0 Access 2 Path Pos Spd Profile ProfSetup Status See also 720 730 740 750 760 770 780 790 800 810 820 830 840 850 860 870 Step 1 Type Step 2 Type Step 3 Type Step 4 Type Step 5 Type Step 6 Type Step 7 Type Step 8 Type Step 9 Type Step 10 Type Step 11 Type Step 12 Type Step 13 Type Step 14 Type Step 15 Type Step 16 Type Range 0 End 1 Time 2 Time...

Page 159: ... step value determines when to transition to next step The following step types use the point to point position regulator 4 Encoder Incr Drive ramps to step velocity holds speed then ramps to zero at encoder position defined by step value within position tolerance window 6 Enc Absolute Drive ramps to step velocity in direction required holds speed then ramps to zero at position within tolerance wi...

Page 160: ...es 721 731 741 751 761 771 781 791 801 811 821 831 841 851 861 871 Step 1 Velocity Step 2 Velocity Step 3 Velocity Step 4 Velocity Step 5 Velocity Step 6 Velocity Step 7 Velocity Step 8 Velocity Step 9 Velocity Step 10 Velocity Step 11 Velocity Step 12 Velocity Step 13 Velocity Step 14 Velocity Step 15 Velocity Step 16 Velocity Range Maximum Speed 0 1 Hz or 0 1 RPM Default 0 0 Access 2 Path Pos Sp...

Page 161: ... Step 1 AccelTime Step 2 AccelTime Step 3 AccelTime Step 4 AccelTime Step 5 AccelTime Step 6 AccelTime Step 7 AccelTime Step 8 AccelTime Step 9 AccelTime Step 10 AccelTime Step 11 AccelTime Step 12 AccelTime Step 13 AccelTime Step 14 AccelTime Step 15 AccelTime Step 16 AccelTime Range 0 0 to 3600 0 sec 0 1 sec Default 10 0 sec Access 2 Path Pos Spd Profile Profile Step 1 16 See also ...

Page 162: ...873 Step 1 DecelTime Step 2 DecelTime Step 3 DecelTime Step 4 DecelTime Step 5 DecelTime Step 6 DecelTime Step 7 DecelTime Step 8 DecelTime Step 9 DecelTime Step 10 DecelTime Step 11 DecelTime Step 12 DecelTime Step 13 DecelTime Step 14 DecelTime Step 15 DecelTime Step 16 DecelTime Range 0 0 to 3600 0 sec 0 1 sec Default 10 0 sec Access 2 Path Pos Spd Profile Profile Step 1 16 See also ...

Page 163: ...puts active high and a makes them active low Parameter Level Parameter Number Encoder Units 724 734 744 754 764 774 784 794 804 814 824 834 844 854 864 874 Step 1 Value Step 2 Value Step 3 Value Step 4 Value Step 5 Value Step 6 Value Step 7 Value Step 8 Value Step 9 Value Step 10 Value Step 11 Value Step 12 Value Step 13 Value Step 14 Value Step 15 Value Step 16 Value Range Based on Step x Type 0 ...

Page 164: ... next step is executed 725 735 745 755 765 775 785 795 805 815 825 835 845 855 865 875 Step 1 Dwell Step 2 Dwell Step 3 Dwell Step 4 Dwell Step 5 Dwell Step 6 Dwell Step 7 Dwell Step 8 Dwell Step 9 Dwell Step 10 Dwell Step 11 Dwell Step 12 Dwell Step 13 Dwell Step 14 Dwell Step 15 Dwell Step 16 Dwell Range Based on Step x Type 0 01 Default 00 0 Access 2 Path Pos Spd Profile Profile Step 1 16 See a...

Page 165: ...06 816 826 836 846 856 866 876 Step 1 Batch Step 2 Batch Step 3 Batch Step 4 Batch Step 5 Batch Step 6 Batch Step 7 Batch Step 8 Batch Step 9 Batch Step 10 Batch Step 11 Batch Step 12 Batch Step 13 Batch Step 14 Batch Step 15 Batch Step 16 Batch Range 0 to 1000000 1 Default 1 Access 2 Path Pos Spd Profile Profile Step 1 16 See also ...

Page 166: ...p 3 Next Step 4 Next Step 5 Next Step 6 Next Step 7 Next Step 8 Next Step 9 Next Step 10 Next Step 11 Next Step 12 Next Step 13 Next Step 14 Next Step 15 Next Step 16 Next Range 1 to 16 1 Default Step 1 2 Step 2 3 Step 3 4 Step 4 5 Step 5 6 Step 6 7 Step 7 8 Step 8 9 Step 9 10 Step 10 11 Step 11 12 Step 12 13 Step 13 14 Step 14 15 Step 15 16 Step 16 0 Access 2 Path Pos Spd Profile Profile Step 1 1...

Page 167: ...justs the output frequency of the drive during a bus limit or inertia ride through condition The output frequency is adjusted in response to an error in the active 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 ATTENTION To guard against unstable or unpredictable operation the...

Page 168: ...s voltage to anticipate and minimize dynamic changes A larger value reduces overshoot of the bus voltage relative to the inertia ride through bus voltage reference Angle Stability Gain adjusts the electrical angle to maintain stable motor operation An increase in the value increases the angle adjustment 503 Jerk Range 2 to 30000 1 Default 900 Access 2 Path Utility Diag Motor Cntl See also 504 Kp L...

Page 169: ...otor current A larger value increases the output voltage change The proportional gain adjusts the output voltage at very low frequency in response to the active or q axis motor current A larger value increases the output voltage change 507 Volt Stblty Gain Range 0 to 32767 1 Default 93 Access 2 Path Utility Diag Motor Cntl See also 508 Stability Filter Range 0 to 32767 1 Default 3250 Access 2 Path...

Page 170: ...rger value increases the output voltage change Reserved Do not adjust Reserved Do not adjust 511 KI Cur Reg Range 0 to 32767 1 Default 44 Access 2 Path Utility Diag Motor Cntl See also 512 Kp Cur Reg Range 0 to 32767 1 Default 1600 Access 2 Path Utility Diag Motor Cntl See also 513 PWM DAC Enable Range 0 to 1 1 Default 0 Access 2 Path Utility Diag DACS See also 514 515 516 517 DAC47 A DAC47 B DAC4...

Page 171: ... value of 0 is default and results in a change of PWM method at approximately 2 3 of rated motor frequency If this is unacceptable for harmonic or audible reasons a value of 1 disables the change 518 Host DAC Enable Range 0 to 1 1 Default 0 Access 2 Path Utility Diag DACS See also 519 520 521 522 DAC55 A DAC55 B DAC55 C DAC55 D Range 0 to 7432 1 Default 0 Access 2 Path Utility Diag DACS See also 5...

Page 172: ... torque regulator Integral gain for the torque regulator 525 Torque Adapt Spd Range 0 0 to 100 0 0 1 Default 10 0 Access 2 Path Utility Diag Vector Cnt See also 526 Torq Reg Enable Range 0 to 1 1 Default 1 Access 2 Path Utility Diag Vector Cnt See also 527 Kp Torque Reg Range 0 to 32767 1 Default 32 Access 2 Path Utility Diag Vector Cnt See also 528 Ki Torque Reg Range 0 to 32767 1 Default 128 Acc...

Page 173: ... slip frequency regulator Integral gain for the slip frequency regulator 529 Torque Reg Trim Range 0 5 to 1 5 0 1 Default 1 00 Access 2 Path Utility Diag Vector Cnt See also 530 Slip Reg Enable Range 0 to 1 1 Default 1 Access 2 Path Utility Diag Vector Cnt See also 531 Kp Slip Reg Range 0 to 32767 1 Default 256 Access 2 Path Utility Diag Vector Cnt See also 532 Ki Slip Reg Range 0 to 32767 1 Defau...

Page 174: ... Range 0 to 1 1 Default 1 Access 2 Path Utility Diag Vector Cnt See also 534 Kp Flux Reg Range 0 to 32767 1 Default 64 Access 2 Path Utility Diag Vector Cnt See also 535 Ki Flux Reg Range 0 to 32767 1 Default 32 Access 2 Path Utility Diag Vector Cnt See also 536 Kp Flux Brake Range 0 to 32767 1 Default 100 Access 2 Path Utility Diag Motor Cntl See also 537 Ki Flux Brake Range 0 to 32767 1 Default ...

Page 175: ...utotune for Encoderless FVC 538 Rec Delay Time Range 1 to 30000 1 Default 1000 Access 2 Path Utility Diag Motor Cntl See also 539 Ki Freq Reg Range 0 to 32767 1 Default 450 Access 2 Path Utility Diag Vector Cnt See also 540 Kp Freq Reg Range 0 to 32767 1 Default 2000 Access 2 Path Utility Diag Vector Cnt See also 541 Encdlss Ang Comp Range 1023 to 1023 1 Default 0 Access 2 Path Utility Diag Vector...

Page 176: ...lator for excitation of Flying start Input phase loss detection level 542 Encdlss Vlt Comp Range 0 to 115 1 Default 6 1 Access 2 Path Utility Diag Vector Cnt See also 543 Excitation Ki Range 0 to 32767 1 Default 44 Access 2 Path Utility Diag Vector Cnt See also 544 Excitation Kp Range 0 to 32767 1 Default 1800 Access 2 Path Utility Diag Vector Cnt See also 545 ln Phaseloss Lvl Range 10 to 1000 1 D...

Page 177: ...00 1 Default 200 Access 2 Path Utility Diag Vector Cnt See also 547 Ki Fast Brake Range 0 to 32767 1 Default 1000 Access 2 Path Utility Diag Vector Cnt See also 548 Kp Fast Brake Range 0 to 32767 1 Default 2000 Access 2 Path Utility Diag Vector Cnt See also 549 Flux Braking Range 100 to 250 1 Default 175 Access 2 Path Utility Diag Vector Cnt See also 550 Flying Start Ki Range 20 to 5000 1 Default ...

Page 178: ...also 595 Port Mask Actv Range See figure 3 44 Default Read Only Access 2 Path Utility Security See also Figure 3 44 Port Mask Actv 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 Bit Factory Default Bit Values H o s t D P I P o r t 1 D P I P o r t 2 D P I P o r t 5 D P I P o r t 4 D P I P o r t 3 R e s e r v e d R e s e r v e d R e s e r v e d R e s e r v e d R e s e r v e d R e s e r v e d R e s e r v e d ...

Page 179: ... 3 4 5 6 7 8 9 11 12 13 14 15 Bit Factory Default Bit Values D P I P o r t 1 D P I P o r t 2 D P I P o r t 5 D P I P o r t 4 D P I P o r t 3 R e s e r v e d R e s e r v e d R e s e r v e d 0 1 x 0 0 x x x x x x x 1 1 1 1 597 Write Mask Actv Range See figure 3 46 Default Read Only Access 2 Path Utility Security See also Figure 3 46 Write Mask Actv 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 Bit Factory D...

Page 180: ...Figure 3 47 Logic Mask Actv 10 0 1 2 3 4 5 6 7 8 9 11 12 13 14 15 Bit Factory Default Bit Values D P I P o r t 1 D P I P o r t 2 D P I P o r t 5 D P I P o r t 4 D P I P o r t 3 R e s e r v e d R e s e r v e d R e s e r v e d R e s e r v e d R e s e r v e d R e s e r v e d R e s e r v e d R e s e r v e d R e s e r v e d R e s e r v e d S e c u r i t y 1 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 ...

Page 181: ...ys to determine the status of the drive and to troubleshoot problems that may occur User configurable and non configurable alarms User configurable and non configurable faults Entries in the fault queue Drive status parameters ATTENTION Only qualified electrical personnel familiar with the construction and operation of this equipment and the hazards involved should install adjust operate or servic...

Page 182: ...it parameters Drive Alarm 1 211 and Drive Alarm 2 212 indicate the status of type 1 and type 2 alarms respectively Refer to chapter 10 for the parameter descriptions Table 4 1 Types of Alarms Type Alarm Description User Configurable These alarms alert the operator of conditions that if left untreated may lead to a fault condition The drive continues to operate during the alarm condition The alarms...

Page 183: ... 17 Digital input functions are in conflict Combinations marked with a will cause an alarm Dig In ConflictB 18 Digital input functions are in conflict Combinations marked with a will cause an alarm Dig In ConflictC 19 More than one physical input has been configured to the same input function Multiple configurations are not allowed for the following input functions Acc2 Dec2 Accel 2 Decel 2 Jog Jo...

Page 184: ...ared a digital input is configured as Set Home and input is True parameter 705 bit 9 is Enabled parameter 700 bit 13 At Home is Enabled position regulator will set this bit if device is home ln Phase Loss 13 The DC bus ripple has exceeded the level set in Phase Loss Level 545 IntDBRes OvrHeat 6 The drive has temporarily disabled the dynamic braking regulator because the resistor temperature has ex...

Page 185: ...ot set to FVC Vector and Feedback Select 80 is not set to Encoder or Simulator and Speed Torque Mod 88 7 Pos Spd Prof a Step Type is configured for Dig Input and the Step Value is greater than 6 less than 6 or zero or the digital input selected with Digital lnx Sel is not set to 57 Prof Input Cleared if none of the above occur PTC Conflict 31 PTC is enabled for Analog ln 1 which is configured as a...

Page 186: ...in Torq Perf Mode 53 and the V Hz slope is negative Waking 11 The Wake timer is counting toward a value that will start the drive Table 4 3 Alarm Names Cross Referenced by Alarm Numbers No 1 1 Alarm numbers not listed are reserved for future use Alarm No 1 Alarm No 1 Alarm 1 Precharge Active 13 ln Phase Loss 25 IR Volts Range 2 UnderVoltage 14 Load Loss 26 FluxAmps Ref Rang 3 Power Loss 15 Ground ...

Page 187: ...ng fault entries are shifted for example entry 1 will move to entry 2 Once the queue is full older faults are discarded from the queue as new faults occur All entries in the fault queue are retained if power is lost The Time Stamp For each entry in the fault queue the system also displays a fault code and time stamp value The time stamp value is the value of an internal drive under power timer at ...

Page 188: ...fault pop up from the LCD HIM screen Step 2 Address the condition that caused the fault The cause must be corrected before the fault can be cleared Step 3 After corrective action has been taken clear the fault using one of the following Setting Fault Clear 240 to Clear Faults 1 Issuing a Stop Clear Faults command from the control source Resetting faults will clear the faulted status indication If ...

Page 189: ...for the programmed number of Auto Rstrt Tries 174 Enable disable with Fault Config 1 238 Correct the cause of the fault and manually clear AutoTune Aborted 80 The autotune procedure was canceled by the user or a fault occurred Restart procedure Auxiliary Input 2 Input is open Check remote wiring Cntl Bd Overtemp 55 The temperature sensor on the Main Control Board detected excessive heat 1 Check Ma...

Page 190: ...eue function was performed FluxAmpsRef Rang 78 The value for flux amps determined by the autotune procedure exceeds the programmed Motor NP FLA 42 1 Reprogram Motor NP FLA 42 with the correct motor nameplate value 2 Repeat Autotune 61 Ground Fault 13 A current path to Earth ground greater than 25 of drive rating Check the motor and external wiring to the drive output terminals for a grounded condi...

Page 191: ...oming power for a missing phase blown fuse IR Volts Range 77 The drive autotuning default is Calculate and the value calculated for IR Drop Volts is not in the range of acceptable values Re enter motor nameplate data IXo VoltageRange 87 Voltage calculated for motor inductive impedance exceeds 25 of Motor NP Volts 41 1 Check for proper motor sizing 2 Check for correct programming of Motor NP Volts ...

Page 192: ...h line voltage or transient conditions Bus overvoltage can also be caused by motor regeneration Extend the decel time or install dynamic brake option Parameter Chksum 100 The checksum read from the board does not match the checksum calculated 1 Restore defaults 2 Reload user set if used Params Defaulted 48 The drive was commanded to write default values to EEPROM 1 Clear the fault or cycle power t...

Page 193: ...eck for damaged output transistors 2 Replace drive Pulse ln Loss 92 Z channel is selected as a pulse input and no signal is present 1 Check wiring 2 Replace pulse generator Pwr Brd Chksum1 104 The checksum read from the EEPROM does not match the checksum calculated from the EEPROM data Clear the fault or cycle power to the drive Pwr Brd Chksum2 105 The checksum read from the board does not match t...

Page 194: ...hksum 102 UserSet3 Chksum 103 Table 4 6 Fault Names Cross Referenced by Fault Number No 1 Fault No 1 Fault No1 Fault 2 Auxiliary Input 29 Analog In Loss 87 IXo VoltageRange 3 Power Loss 39 Phase V to Grnd 88 Software Fault 4 UnderVoltage 40 Phase W to Grnd 89 Software Fault 5 OverVoltage 41 Phase UV Short 90 Encoder Quad Err 7 Motor Overload 42 Phase VW Short 91 Encoder Loss 8 Heatsink OvrTemp 43 ...

Page 195: ...us 0 02 Heatsink Temp 0 03 Active Cur Limit 0 04 Active PWM Freq 4 05 Lifetime MegaWatt Hours2 2 Use the equation below to calculate total Lifetime MegaWatt Hours 0 06 Life Run Time 0 07 Life Pwr Up Time 0 08 Life Pwr Cycles 0 09 Life MW HR Fract 2 0 10 MW HR Fract Unit 2 0 11 MCN Life Time 0 12 Raw Analog ln 1 0 13 Raw Analog ln 2 0 16 CS Msg Rx Cnt 0 17 CS Msg Tx Cnt 0 18 CS Timeout Cnt 0 19 CS ...

Page 196: ... the last 16 faults that have occurred in the fault queue To access the fault queue press or select Faults View Fault Queue from the Diagnostics Menu off of the main screen Figure 4 1 Accessing the Fault Queue FAULT ALARM Diagnostics Faults SEL PARAM DIAG STARTUP Alarms Drive Status Device Select Device Name Diagnostics SEL PARAM DIAG STARTUP Alarms Drive Status Device Select Device Name Faults Fa...

Page 197: ...ound on drive output Short Circuit Trip Phase to phase on drive output Intermittent Overload 110 overload capability for up to 1 minute 150 overload capability for up to 3 seconds Current Limit Capability Proactive Current Limit programmable from 20 to 160 of rated output current Independently programmable proportional and integral gain Electronic Motor Overload Protection Class 10 protection with...

Page 198: ...placement to a constant acceleration of 5G 10 500 Hz 1 octave min 10 sweep cycles 3 axis Random 0 05g2 Hz 10 Hz to 500 Hz 3 axes at 30 minutes axis Table A 4 Input Specifications Input Voltage 480 V RMS 10 15 Operate to 50 with reduced power 30 minimum for precharge Note The Reach Drive requires a 3 input impedance Input Frequency Range 47 to 63 Hz Line to Neutral Phase Imbalance Tolerance 2 Table...

Page 199: ...l Mode 0 1 of base speed across 120 1 speed range 120 1 operating range 50 rad sec bandwidth Speed Regulation with Feedback Vector Control Mode 0 001 of base speed across 120 1 speed range 1000 1 operating range 250 rad sec bandwidth Torque Regulation Torque Regulation without Feedback 5 600 rad sec bandwidth Torque Regulation with Feedback 2 2500 rad sec bandwidth Selectable Motor Control Sensorl...

Page 200: ...cifications Output Voltage 0 to 460 V RMS at nominal 480 V RMS input Output will be 460 V RMS Output Frequency Range 0 to 420 Hz Switching Frequency 4 kHz Base 2 4 8 10 KHz selectable with derating Derating at 8 and 10 KHz Continuous Output Power 100 KW 150 HP Continuous Output Current 180 Amps RMS Peak Output Current 3 sec maximum 270 Amps RMS 3 sec 60 sec Peak Output Current 60 sec 198 Amps RMS ...

Page 201: ...ng a minimum of 10mA per channel Maximum input frequency is 250 kHz The Encoder Interface Board accepts 12VDC square wave with a minimum high state voltage of 7 0VDC 12 volt encoder Maximum low state voltage is 0 4VDC Table A 9 Dynamic Brake Resistor Regen DC Bus Voltage Vd 790 Volts Minimum Ohms External Brake Resistor 11 0 Ohms Table A 10 Auxillary Power Supplies 24 V 3 isolated supplies at 0 02...

Page 202: ...A 6 DBT Reach Drive User Manual Figure A 1 Dimensions Front View Figure A 2 Dimensions Side View 275 3 278 4 250 8 288 1 297 3 BOTTOM FRONT 47 5 349 2 BACK SIDE ...

Page 203: ...the block transfer If attribute 10 is selected for the block transfer values will be written only to RAM and will not be saved by the drive This is the preferred attribute for continuous tranfers If attribute 9 is selected each program scan will complete a write to the drives non volatile memory EEprom Since the EEprom has a fixed number of allowed writes continuous block transfers will quickly da...

Page 204: ...ts 0 Not Clear Faults 1 Clear Faults X X Direction 00 No Command 01 Forward Command 10 Reverse Command 11 Hold Present Direction X Local Control 0 No Local Control 1 Local Control X MOP Increment 0 Not Increment 1 Increment X X Accel Rate 00 No Command 01 Use Accel Time 1 10 Use Accel Time 2 11 Use Present Time X X Decel Rate 00 No Command 01 Use Accel Time 1 10 Use Accel Time 2 11 Use Present Tim...

Page 205: ...ecelerating X Alarm 0 No Alarm 1 Alarm X Fault 0 No Fault 1 Fault X At Speed 0 Not at Reference 1 At Reference X X X Local Control 000 Port 0 TB 001 Port 1 010 Port 2 011 Port 3 100 Port 4 101 Port 5 110 Reserved 111 No Local X X X X Reference Source 0000 Ref A Auto 0001 Ref B Auto 0010 Preset 2 Auto 0011 Preset 3 Auto 0100 Preset 4 Auto 0101 Preset 5 Auto 0110 Preset 6 Auto 0111 Preset 7 Auto 100...

Page 206: ...B 4 DBT Reach Drive Manual ...

Page 207: ...ll Numeric Keypad 20 HIM A5 LCD Programmer Only Table A 2 NEMA 4 HIM Model Numers Model Number Description 20 HIM C3S Remote Panel Mount Full Numeric Keypad Small Footprint Typically used for upgrading from the NEMA 1 HIM Bezel 20 HIM C5S Remote Panel Mount Full Numeric Keypad Small Footprint Typically used for upgrading from the NEMA 1 HIM Bezel ...

Page 208: ... top line of the HIM display can be configured with DPI Fdbk Select 299 Vector firmware 3 xxx and later Figure 1 1 Table A 3 LCD Display Elements Display Description Direction Drive Status Alarm Auto Man Information Commanded or Output Frequency Programming Monitoring Troubleshooting DPI F Power Loss Auto 0 0 Hz Main Menu Diagnostics Parameter Device Select ...

Page 209: ...the selection of how parameters will be viewed or detailed information about a parameter or component Lang Displays the language selection screen Auto Man Switches between Auto and Manual Modes Remove Allows HIM removal without causing a fault if the HIM is not the last controlling device and does not have Manual control of the drive Exp Allows value to be entered as an exponent Not available on R...

Page 210: ...ructure Memory Storage Him CopyCat Device User Sets Reset To Defaults Device HIM Device HIM Delete HIM Set Introduction PowerFlex 700 Connected DPI Devices Device Select Parameter Preferences Drive Identity Change Password User Dspy Lines User Dspy Time User Dspy Video Reset User Dspy Contrast FGP File File 1 Name File 2 Name File 3 Name FGP Group Group 1 Name Group 2 Name Group 3 Name FGP Paramet...

Page 211: ...aults View fault queue or fault information clear faults or reset drive Status Info View parameters that display status information about the drive Device Version View the firmware version and hardware series of components HIM Version View the firmware version and hardware series of the HIM Table A 6 Memory Storage Menu Option Description HIM Copycat Device HIM Device HIM Save data to a HIM set lo...

Page 212: ... data that appears when the HIM is not being used for programming User Dspy Time Set the wait time for the User Display or enable disable it User Dspy Video Select Reverse or Normal video for the Frequency and User Display lines Reset User Dspy Return all the options for the User Display to factory default values Table A 7 Preferences Menu Option Description ...

Page 213: ...ar 6 Press Enter to edit the parameter 7 Press the Up Arrow or Down Arrow to change the value If desired press Sel to move from digit to digit letter to letter or bit to bit The digit or bit that you can change will be highlighted 8 Press Enter to save the value If you want to cancel a change press Esc 9 Press the Up Arrow or Down Arrow to scroll through the parameters in the group or press Esc to...

Page 214: ...ink except parameter values that contain an integer representing an ENUM text choice These are not allowed since the integer is not actual data it represents a value Table B 6 lists the parameters that can be destinations All links must be established between equal data types parameter value formatted in floating point can only source data to a destination parameter value that is also floating poi...

Page 215: ...Producers Volts Hertz This technology follows a specific pattern of voltage and frequency output to the motor regardless of the motor being used The shape of the V Hz curve can be controlled a limited amount but once the shape is determined the drive output is fixed to those values Given the fixed values each motor will react based on its own speed torque characteristics Figure D 1 External Brake ...

Page 216: ... currents in the motor true control of torque is achieved High bandwidth current regulators remain active with or without encoder feedback to produce outstanding results This technology is excellent for those applications where torque control rather than mere torque production is key to the success of the process These include web handling demanding extruders and lifting applications such as hoist...

Page 217: ...onds If the motor had been operating at 100 for over 30 minutes the drive will run at 150 of FLA for 60 seconds These values assume the drive is operating above Motor OL Hertz 47 and that Motor OL Factor 48 is set to 1 00 Operation below 100 current causes the temperature calculation to account for motor cooling Motor OL Hertz 47 defines the frequency where motor overload capacity derate should be...

Page 218: ...speed band that will allow a speed regulator such as encoder feedback or slip compensation to increase the output frequency above maximum speed in order to maintain maximum motor speed The figure below illustrates a typical Custom V Hz profile Minimum Speed is entered in Hertz and determines the lower speed reference limit during normal operation Maximum Speed is entered in Hertz and determines th...

Page 219: ...48V DC bus If the drive were to react to a fixed voltage for line loss detect i e 533V DC then normal operation would occur for nominal line installations However if a lower nominal line voltage of 440V AC was used then nominal DC bus voltage would be only 594V DC If the drive were to react to the fixed 533V level only 10 for line loss detect any anomaly might trigger a false line loss detection L...

Page 220: ...the user can set a trigger point for line loss detect The adjustable trigger level is set using Power Loss Level 186 Figure D 6 Power Loss Mode Coast Figure D 7 Power Loss Mode Decel Nominal 73 Bus Voltage Motor Speed Output Enable Power Loss Nominal 82 Bus Voltage Motor Speed Output Enable Power Loss ...

Page 221: ...oint stored in the drive The algorithm will then adjust the output of the PI regulator changing drive output frequency to try and make the process variable equal the setpoint It can operate as trim mode by summing the PI loop output with a master speed reference Or it can operate as control mode by supplying the entire speed reference This method is identified as exclusive mode Figure D 8 Trim Mod...

Page 222: ...de is configured in PI Configuration jogging or the signal loss protection for the analog input s is sensing a loss of signal If a digital input has been configured to PI Enable two events are required to enable the loop the digital input must be closed AND bit 0 of the PI Control parameter must be 1 Figure D 10 PI Loop Logic Drive Running Drive Ramping to Stop Drive Jogging Bit 0 of PI Control 1 ...

Page 223: ...oop will become enabled as soon as the drive goes into run Figure D 11 PI Enable PI Enabled Spd Cmd PI Output PI Pre load Value PI Pre load Value 0 PI Pre load Value 0 Pre load to Command Speed PI Enabled Spd Cmd PI Output Start at Spd Cmd 100 0 75 0 50 0 25 0 0 0 25 0 50 0 75 0 Normalized Feedback Normalized SQRT Feedback 100 0 75 0 50 0 25 0 0 0 25 0 50 0 75 0 100 0 ...

Page 224: ...32 131 4 134 4 Limit 8 X Scale 432 427 Torque Ref A Sel Selector 431 Torque Ref B Sel Selector 0 124 4 0 124 4 Zero Clamp 0 1 Preload 0 1 Fdbk Sqrt 0 1 1 0 Enable 0 Commanded Speed 0 1 Enable 0 1 0 124 0 23 Zero Clamp 0 1 Selector Z 1 PI Output Meter 135 134 134 134 137 2 134 134 136 138 Enable 0 Read Only Parameter Read Write Parameter Read Only Parameter w Bit Enum Read Write Parameter w Bit Enu...

Page 225: ...gure D 14 Rev Speed Limit 454 Set to a Non zero Value Forward Speed Reverse Speed Maximum Speed Maximum Speed Minimum Speed 0 10V 10V Forward Speed Reverse Speed Maximum Speed Maximum Speed Minimum Speed 0 Minimum Speed 0 10V 10V Forward Speed Reverse Speed Limit Maximum Speed 10V 10V Reverse Speed ...

Page 226: ...int is determined by Skip Freq Band 87 The range is split half above and half below the skip frequency parameter If the commanded frequency of the drive is greater than or equal to the skip center frequency and less than or equal to the high value of the band skip plus 1 2 band the drive will set the output frequency to the high value of the band See A in D 14 If the commanded frequency is less th...

Page 227: ...programmed If none of the skip bands touch or overlap each band has its own high low limit If skip bands overlap or touch the center frequency is recalculated based on the highest and lowest band values If a skip band s extend beyond the max frequency limits the highest band value will be clamped at the max frequency limit The center frequency is recalculated based on the highest and lowest band v...

Page 228: ... remains above Wake Level 180 or below when Invert mode is active for a time greater than Wake Time 180 Sleep A Stop command generated when the analog input value remains below Sleep Level 182 or above when Invert mode is active for a time greater than Sleep Time 182 Speed Reference The active speed command to the drive as selected by drive logic and Speed Ref x Sel Start Command A command generat...

Page 229: ...uired Input was Chosen Meet all Conditions Close Input Reset Fault Yes Yes Stop or Enable Run Run Forward or Run Reverse Yes Yes Drive Running No Direct Invert No No No No No No Issue a Start Command HIM Network or TB Open Close Input Consult Factory No Consult Factory Which Mode is Selected Invert or Direct 1 Sleep Wake Ref must be set to the analog input that will control Start Stop functions 2 ...

Page 230: ...werup Delay 167 After the time expires the drive will start if all of the start permissive conditions are met Before that time restart is not possible Stop Mode The Reach Drive offers several methods for stopping a load The method mode us defined by Stop Brk Mode A B 155 and 156 These modes include Coast Ramp Ramp to Hold DC Brake Fast Brake Figure D 17 Start at PowerUp Powerup Delay Time Expired ...

Page 231: ...tor use care to avoid motor overheating Table D 3 describles several braking capability examples Table D 3 Braking Method Examples Method Use When Application Requires Braking Power 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 ch...

Page 232: ...riction 1 On Stop the Reach Drive output goes immediately to zero off 2 No further power is supplied to the motor The drive has released control 3 The motor will coast for a time that is dependent on the mechanics of the system inertia friction etc Coast Time is load dependent Stop Command Time Output Voltage Output Current Motor Speed ...

Page 233: ...me the remaining time will be used to attempt to hold the motor at zero speed 3 DC voltage to the motor continues for the amount of time programmed in DC Brake Time 159 Braking ceases after this time expires 4 After the DC Braking ceases no further power is supplied to the motor The motor may or may not be stopped The drive has released control 5 The motor if rotating will coast from its present s...

Page 234: ...programmed Maximum Freq 55 and the programmed active Decel Time x 2 The reduction in output can be limited by other drive factors such as such as bus or current regulation 3 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 Mode Description DC Hold Time DC Ho...

Page 235: ...such as bus or current regulation 3 When the output reaches zero 3 phase drive output goes to zero off and the drive outputs DC voltage on the last used phase at the level programmed in DC Brake Level 158 This voltage causes a holding brake torque 4 DC voltage to the motor continues until a Start command is reissued or the drive is disabled 5 If a Start command is reissued DC Braking ceases and he...

Page 236: ... Decel Time x This is accomplished by lowering the output frequency below the motor speed where regeneration will not occur This causes energy to be lost in the motor 2 The reduction in output can be limited by other drive factors such as bus or current regulation 3 When the output reaches very near zero DC brake will automatically be used to complete the stop whenthe output is shut off Mode Descr...

Page 237: ...ge 380 400 380 380 380 528 342 528 400 400 400 528 460 460 528 Drive Full Power Range Nominal Motor Voltage to Drive Rated Voltage 10 Rated power is available across the entire Drive Full Power Range Drive Operating Range Lowest Nominal Motor Voltage 10 to Drive Rated Voltage 10 Drive Output is linearly derated when Actual Line Voltage is less than the Nominal Motor Voltage HP Motor Drive Output A...

Page 238: ...Appendix D 24 DBT Reach Drive User Manual ...

Page 239: ...3 84 Analog In 1 Loss 324 3 85 Analog In 2 Hi 325 3 85 Analog In 2 Lo 326 3 85 Analog In 2 Loss 327 3 86 Analog In1 Value 16 3 4 Analog In2 Value 17 3 4 Analog In3 Value 3 4 Analog Out Config 340 3 86 Analog Out1 Hi 343 3 89 Analog Out1 Lo 344 3 89 Analog Out1 Scale 354 3 89 Analog Out1 Sel 342 3 87 Analog Out2 Hi 346 3 89 Analog Out2 Lo 347 3 89 Analog Out2 Scale 355 3 89 Analog Out2 Sel 345 3 87...

Page 240: ... 124 DB Resistor 647 3 124 DB Resistor Type 163 3 43 DB While Stopped 145 3 37 DC Brake Level 158 3 41 DC Brake Lvl Sel 157 3 41 DC Brake Time 159 3 41 DC Bus Memory 13 3 4 DC Bus Voltage 12 3 4 Decel Mask 282 3 74 Decel Owner 294 3 78 Decel Time 1 142 3 37 Decel Time 2 143 3 37 Defaults Resetting to C 5 Diagnostic Data Viewing C 5 Diagnostic Parameters 4 15 Dig In Status 216 3 62 Dig Out Invert 3...

Page 241: ...241 3 68 Fault Clr Mask 283 3 74 Fault Clr Owner 295 3 78 Fault Config 1 238 3 68 Fault Queue C 5 Fault queue accessing using LCD HIM 4 16 time stamp 4 7 Fault Speed 224 3 64 Faults about 4 7 clearing 4 8 descriptions and corrective actions 4 9 fault queue 4 7 names cross referenced by numbers 4 14 types 4 7 Fdbk Filter Sel 416 3 106 Feedback Select 80 3 16 Filter RFI 2 5 Find Home Ramp 714 3 131 ...

Page 242: ...x Brake 536 3 148 Kp Flux Reg 534 3 148 Kp Freq Reg 540 3 149 Kp LL Bus Reg 504 3 142 Kp Slip Reg 531 3 147 Kp Speed Loop 446 3 111 Kp Torque Reg 527 3 146 L Language 201 3 55 Last Stop Source 215 3 62 LCD HIM see HIM LCD Linking Parameters C 8 ln Phaseloss Lvl 545 3 150 Load Frm Usr Set 198 3 54 Load Loss Level 187 3 50 Load Loss Time 188 3 51 Local Mask 285 3 75 Local Owner 297 3 79 Logic 3 154 ...

Page 243: ...edback Lo 463 3 113 PI Feedback Sel 128 3 33 PI Integral Time 129 3 33 PI Lower Limit 131 3 34 PI Output Gain 464 3 114 PI Output Meter 138 3 36 PI Preload 133 3 34 PI Prop Gain 130 3 34 PI Ref Meter 135 3 35 PI Reference Hi 460 3 113 PI Reference Lo 461 3 113 PI Reference Sel 126 3 32 PI Setpoint 127 3 32 PI Status 134 3 35 PI Upper Limit 132 3 34 Port 3 152 Port Mask Actv 595 3 152 Ports DPI Typ...

Page 244: ...ale4 Out Hi 497 3 115 Scale4 Out Lo 498 3 115 Scale4 Out Value 499 3 116 Setting Preferences C 5 Shear Pin Time 189 3 51 SHLD Terminal 2 4 Skip Freq Band 87 3 19 Skip Frequency D 12 Skip Frequency 1 84 3 19 Skip Frequency 2 85 3 19 Skip Frequency 3 86 3 19 Sleep Level 182 3 49 Sleep Time 183 3 49 Sleep Wake Mode D 14 Sleep Wake Mode 178 3 47 Sleep Wake Ref 179 3 48 Slip Comp Gain 122 3 29 Slip Reg...

Page 245: ... 3 134 Step 16 AccelTime 872 3 135 Step 16 Batch 876 3 139 Step 16 DecelTime 873 3 136 Step 16 Dwell 875 3 138 Step 16 Next 877 3 140 Step 16 Type 870 3 132 Step 16 Value 874 3 137 Step 16 Velocity 871 3 134 Step 2 AccelTime 732 3 135 Step 2 Batch 736 3 139 Step 2 DecelTime 733 3 136 Step 2 Dwell 735 3 138 Step 2 Next 737 3 140 Step 2 Type 730 3 132 Step 2 Value 734 3 137 Step 2 Velocity 731 3 134...

Page 246: ... 634 3 121 TorqAlarm Level 632 3 120 TorqAlarm TO Act 636 3 121 TorqAlrm 3 121 TorqAlrm Timeout 635 3 121 TorqLim SlewRate 608 3 119 TorqProv Setup 601 3 117 TorqProve Cnfg 600 3 116 Torque Adapt Spd 525 3 146 Torque Current 4 3 2 Torque Prove Sts 612 3 120 Torque Ref A Hi 428 3 108 Torque Ref A Lo 429 3 108 Torque Ref A Sel 427 3 108 Torque Ref B Hi 432 3 108 Torque Ref B Lo 433 3 108 Torque Ref ...

Page 247: ......

Page 248: ... ra rockwell com Online www ab com support abdrives Trademarks not belonging to Rockwell Automation are property of their respective companies Publication D2 3561 January 2007 Supersedes November 2006 Copyright 2006 Rockwell Automation Inc All Rights Reserved Printed in USA P N 339220 P02 ...

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